@1629769123.16EDT = =tMAIN =mMAIN_scheduler @EDT1629769125.03 #"core_reset"Sent BREAK + #t@47380 receive with ifg=0x80, ie=0xFD + #@54827 sendCRC with ifg=0x20, ie=0x7F + #@55274 sendCRC with ifg=0x20, ie=0x7F #@56860 sendCRC with ifg=0x08, ie=0x5F + #@37347 idle with ifg=0x00, ie=0x75 + #@45145 select with ifg=0x10, ie=0xF5 + #@45785 receive with ifg=0x10, ie=0xFD #@46419 receive with ifg=0x10, ie=0xFD + #@47052 receive with ifg=0x10, ie=0xFD #@47380 receive with ifg=0x80, ie=0xFD + #@54827 sendCRC with ifg=0x20, ie=0x7F #@55274 sendCRC with ifg=0x20, ie=0x7F + #@56860 sendCRC with ifg=0x08, ie=0x5F #@45620 initial with ifg=0x00, ie=0xF5 + #>OVERRUN< ESP2 v3.41 I2C Gateway v3.20 +8 #>OVERRUN< ESP2 v3.41 I2C Gateway v3.20 for core bus +203 !o:Instrument::ISUSCore:\ @name" ISUS: @refi`: @configS:Instrument::Configuration: name@:calFileName0:sampleCmd"TS: prompt"\ :statusCmd"C:sampleTimeouti#:promptTimeouti:statusTimeouti: retriesi:strToPrompt"W: pace0: echoF +97 #Configuration for don (12651-03) 10/9/20 brent@mbari.org\ /home/esp/esp2/type/shallow/don/configure.rb\ +387 "Can"  /A@   /A@ + #tPolling Can every 10:00 +2855 #-> GoodNews.email "Updated to ESP Linux 2.73" +2 .GoodNews.email "Updated to ESP Linux 2.73" +1799 #-> exit +3 #mEXIT @1629769178.70EDT @1632403069.43EDT = =mMAIN_scheduler =tMAIN @EDT1632403071.32 #"core_reset"Sent BREAK +2 #t@2273 idle with ifg=0x00, ie=0x75 + #>RESET< ESP2 v3.41 I2C Gateway v3.20 +207 #>RESET< ESP2 v3.41 I2C Gateway v3.20 for core bus +207 !o:Instrument::ISUSCore:\ @name" ISUS: @refi,e: @configS:Instrument::Configuration: name@:calFileName0:sampleCmd"TS: prompt"\ :statusCmd"C:sampleTimeouti#:promptTimeouti:statusTimeouti: retriesi:strToPrompt"W: pace0: echoF +98 #Configuration for don (12651-03) 10/9/20 brent@mbari.org\ /home/esp/esp2/type/shallow/don/configure.rb\ +396 "Can" :%"v +  :%"v + #tPolling Can every 10:00 +2 #Cleanly exited at 21:39:38EDT23-Aug-21 +785 #-> ESP.ready! +3 #Powering core bus +550 .Gate.power :raw,:ON +2 "sampler") +52 ) +2 "core"  +2 "collection"' +2 ' +4 "core"  + "processing"% +2 % +3 "core"  +5 "collection"' 9\ +2 ' 0\ + ' -\ +4 "processing"% 9\ +2 % 2\ + % *\ +2 % 0\ +4 "sampler")&\ + "collection"'% +4 "core" %  +2 .tCS.configure :default +2 "collection"'#P d@b +3 "processing"%% +2 "core" %O\ +2 .tPS.configure :default +2 "processing"%#A d`xb +3 "sampler")% +2 "core" %   +2 .tSS.configure :default +2 "sampler")#.0X access 2 +2 "storage"(;% +3 "core" %Q p j \ A +2 "manipulator"&<% +4 "core" %\ 1 = $F + "manipulator"&=& +4 "core" &2 c "z +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 + "storage"(>(K +666 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (?& +3 "core" &K   C\  +379 #t-> access 3 +2 "storage"(@% +3 "core" %Q a [ I\ A +2 "manipulator"&A% +4 "core" %\ 1 4 $F +2 "manipulator"&B& +3 "core" &2 5 "z +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 7 + "storage"(C([ +348 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (D& +2 "core" &[ # $ "\  +564 #t-> access 4 +2 "storage"(E% +3 "core" %R p h o\ @ +2 "manipulator"&F% +4 "core" %\ 1 $F + "manipulator"&G& +4 "core" &2 I "z +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 1 + "storage"(H(B +1941 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (I& +3 "core" &E\ \  \ +656 #t-> access 5 +2 "storage"(J% +3 "core" %R _ i \ @ +2 "manipulator"&K% +4 "core" %\ 1 I $F + "manipulator"&L& +4 "core" &2 "z +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"(M(  +366 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (N& +3 "core" & \ \  $\  +3545 #t-> require 'shuffle.rb' +1305 #-> 5.times {shuffle 2..5} +2 #Shuffling pucks in tube 2 of [2..5] +2 #Loading generic puck from tube 2 into Collection Clamp + "collection"'O& +4 "core" &c\ \ + .tHand.open +2 "manipulator"&P1 +54 "core" 1 +2 "manipulator"&Q% +4 "core" % \ 1 ` $F +2 "storage"(R% +3 "core" %S r u\ ? +2 "storage"(S. +3 "core" .(  + "storage"(T& +4 "core" &  u o \ +2 "storage"(U& +3 "core" &  p o\ +2 "manipulator"&V& +3 "core" &2 8 "z +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&W(; +3 "core" ( + "manipulator"&X& +4 "core" &2  "z +2 "storage"(Y& +4 "core" &  p i @\ +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&Z'Ѐ +92 "core" ' +2 "storage"([& +4 "core" &  q y \ +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(\\'e +284 "core" ' +2 "storage"(]- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (^& +3 "core" &  h n \ +2 "manipulator"&_& +4 "core" &2 _ "z +2 .tElbow.seek 2 + "manipulator"&`(; +4 "core" ( + "manipulator"&a& +4 "core" &2  "z +2 "storage"(b& +3 "core" &  8\ +3 .tForearm.seek 2 + 300 counts + "manipulator"&c' +22 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&d/ +53 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&e& +2 "storage"(f'N +7 "core" &2 t r L "z + "manipulator"&g% +4 "core" %  h +2 .tForearm.seek :retract +2 "manipulator"&h'\ +97 "core" ' + .tElbow.seek CC +2 "manipulator"&i( +145 "core" ' + ."downElevator"SE.stop + "storage"(5 +4 "core" ( + "manipulator"&j& +4 "core" & " 7 9$ + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &k& +3 "core" & " : 9$ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&l'| +103 "core" ' +2 "manipulator"&m& +4 "core" & " 9$ +2 "manipulator"&n% +4 "core" %σ D +2 "collection"'o& +4 "core" &c\ \ +2 "collection"'p& +5 "core" &c\ \ +2 .tCC.seek :closed +2 "collection"'q(] +4 "core" &c\ \ +8 &|N\ %i +9 &NV\ 9 +9 &\ N +10 &ab\ O +9 &#c\ O +10 &d\ O +9 & j\ O +9 &"hd\ P +10 &$+`\ O +9 &%d\ P +9 &'b\ O +10 &)q`\ O +9 &+3f\ O +9 &,d\ O +10 &.d\ P +9 &0xe\ P +10 &2;g\ O +9 &3g\ O +9 &5`\ O +10 &7b\ O +9 &9E`\ O +9 &;c\ O +10 &<f\ O +9 &>c\ O +10 &@Mc\ O +9 &Bd\ O +9 &Ce\ O +10 &Ed\ O +9 &GQj\ P +9 &Is|\ Q +10 &J5R\ S +9 &L\ W +10 &N@\ Y +9 &P{\ Y +9 &Qkq\ Z +10 &S\\d\ Z +9 &U?LR\ \\ +9 &W>D\ [\ +10 &X17\ ] +9 &Z$+\ ] +10 &\\B\ J +9 &]V: \ - +9 &]m \ I +6 ( +2 "collection"'p& +4 #tCollection Clamp onSpring/offSpring for 10/26 samples, on/off torque 1.97 + .Hand.open + "manipulator"&r1 +4 "core" &]b\ I +48 1 +2 "manipulator"&s% +4 "core" % π +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&t'\ +100 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp +2 "processing"%u& +4 "core" &[S\  + "manipulator"&v% +4 "core" %\ 1 k $t +2 "storage"(w% +3 "core" %F ? B t\  +2 "storage"(x. +3 "core" .(  + "storage"(y& +4 "core" &  B B \ + "storage"(z& +4 "core" &  C B \ +2 "manipulator"&{& +4 "core" &  8 + "manipulator"&|% +4 "core" %\ 1  $t +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&}(; +161 "core" ( + "manipulator"&~& +4 "core" &C G  + "storage"(& +5 "core" &  H Y o\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&'Ѐ +100 "core" ' + "storage"(& +4 "core" &  Y c\ +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"('e +280 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +2 "core" &  T = O\ +2 "manipulator"&& +4 "core" &C   + .tElbow.seek 2 +2 "manipulator"&(; +3 "core" ( +2 "manipulator"&& +3 "core" &C   +2 "storage"( & +4 "core" &  ] ]\ +2 .tForearm.seek 2 + 300 counts + "manipulator"&\ ' +11 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"& / +65 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"& & +3 "storage"( 'N +7 "core" &C q p 3  +2 "manipulator"&% +4 "core" % r q g H +2 .tForearm.seek :retract +2 "manipulator"&'\ +89 "core" ' +2 .tElbow.seek PC +2 "manipulator"&(c +168 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +89 "core" ( +3 "manipulator"&& +4 "core" &b  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &b j  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&'[ +100 "core" ' + "manipulator"&& +5 "core" &b T  + "manipulator"&% +4 "core" %X  +2 "processing"%& +4 "core" &[U\  +2 "processing"%& +5 "core" &[T\  +2 .tPC.seek :closed +2 "processing"%(Z +4 "core" &[:\  +8 &6J\ ,~ +9 &fJ\ @ +10 &6}A\ O +9 &_B\ N +10 &bE\ O +9 &~aA\ N +9 &!@`H\ N +10 &#^B\ N +9 &$bK\ N +9 &&cL\ N +10 &(I_I\ N +9 &*\ aL\ N +10 &+bK\ N +9 &-bL\ O +9 &/OdL\ O +10 &1bM\ N +9 &2cI\ N +9 &4^I\ N +10 &6WbK\ O +9 &8cH\ N +10 &9aL\ N +9 &;_L\ N +9 &=`bC\ N +10 &?!bH\ O +9 &@c;\ N +9 &B`H\ N +10 &DhcE\ N +9 &F(e>\ O +10 &GnI\ P +9 &I{I\ Q +9 &KbD\ S +10 &M H\ T +9 &NJ\ U +9 &PH\ U +10 &RfJ\ T +9 &T'J\ U +10 &UK\ U +9 &WM\ U +9 &YkM\ B +10 &Zt=L\ Z +9 &ZBF\ 5 +5 ( +2 "processing"%& +4 #tProcessing Clamp onSpring/offSpring for 9/25 samples, on/off torque 1.60 + .Hand.open +2 "manipulator"&1 +3 "core" &Z.H\ 5 +52 1 +2 "manipulator"&% +4 "core" % X > +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +94 "core" ' +2 "processing"%"& +4 "core" &Z.N\ 5 +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 + "manipulator"&%% +4 "core" %\ + f !U + "storage"('% +4 "core" %T  " \  + "storage"(). +4 "core" .(  + "storage"((& +4 "core" &  " ! \ +2 "storage"(& +3 "manipulator"&& +6 "core" &  ! " \ + &c  +4 .tElbow.reconfigure :tight + ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +2 "storage"(#]kK-0-\ b +3 "manipulator"&#(c +4 ."raiseStack"SE.seek :beamBreak +2 "storage"(,'e +2 "core" ( + "manipulator"&-& +4 "core" &c f  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &.& +3 "core" &c   +2 .tForearm.seek PC + "manipulator"&/'[ +95 "core" ' + .tHand.close +2 "manipulator"&0/ +59 "core" / +2 .tPC.seek :open +2 "processing"%1(p +88 "core" ' + "storage"(2- +4 "core" -'e + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +2 ."raiseStack"SE.seek :place +2 "storage"(3'B +34 "core" ' +260 ( + "storage"(4& +4 "core" &  [ ? \ \ +2 "manipulator"&5& +4 "core" &c   + "manipulator"&6% +4 "core" % o  +2 .tForearm.seek :retract +2 "manipulator"&7'\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&8(; +244 "core" ( + "manipulator"&9& +4 "core" &4 | "{ +2 "storage"(:& +3 "core" &  B C \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&;'Ѐ +95 "core" ' + .tHand.open + "manipulator"&<1 +59 "core" 1 +2 "storage"(=- +3 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate +2 "storage"(!' +23 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.83 Pucks below Top Plate + "storage"(?' +45 "core" ' +2 #tLights, camera, ACTION! + "storage"(@- +4 "core" -' +2 "storage"(A& +3 "core" &  X\ +2 "manipulator"&B& +4 "core" &5  "z + .tElbow.seek 2 +2 "manipulator"&>(; +4 "core" ( + "manipulator"&D& +4 "core" &5 2 "z +2 "storage"(E& +4 "core" &  '\ +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&F'Ѐ +3 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"(G'M +59 "core" ' +2 "manipulator"&C& +4 "core" &5 "z +2 "storage"(I& +3 "core" &  C E \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&J'ξ +33 "core" ' + .tElbow.hold +2 "manipulator"&K, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.07 Pucks below Top Plate + "storage"(L'7 +37 "core" ' +2 "manipulator"&H% +4 "core" %] . 6 dz +2 "storage"(N& +4 "core" &  Y\ + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 2 + 319 counts +2 "manipulator"&O' +18 "core" ' +2 "manipulator"&P& +4 "core" &5 r ~ "z +2 "storage"(Q& +4 "core" &  \\ d\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts +2 "manipulator"&R'Ѐ +17 "core" ' + "storage"(S% +39 "core" %9 _ [ ,\ +15 ."downElevator"SE.seek :down +4 "storage"(T'N +98 (U% +2 "core" %9 E E\ U\\ +2 "manipulator"&V% +4 "core" %t {  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&X'\ +87 "core" ' +62 ' + ."downElevator"SE.stop + "storage"(5 +3 (Y& +4 "core" &  /  S\ + "collection"'[& +4 "core" &]a\ I +2 #tStoring generic puck in Collection Clamp to tube 2 + "manipulator"&$% +4 "core" %\ % 8 +2 "storage"(&% +4 "core" %Q D E \  + "storage"(]. +3 "core" .(  +2 "storage"(^& +3 "core" &  ? 5 \ +2 "storage"( & +4 "core" &  < @ e\ + "manipulator"&_& +4 "core" &6  "y +2 .tElbow.seek 2 +2 "manipulator"&a(; +3 "core" ( + "manipulator"&b& +4 "core" &6  "y +2 "storage"(d& +4 "core" &  9 > \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&e'Ѐ +93 "core" ' + "storage"(g& +5 "core" &  f d\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(W'e +283 "core" ' + "storage"(Z- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&j& +3 "core" &6  "y +2 "storage"(k& +3 "core" &  [ \\ \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&\\'ξ +35 "core" ' +2 .tElbow.hold +2 "manipulator"&c, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(m- +2 "core" -' +2 .tSE.seek 0.12 Pucks below Top Plate +2 "storage"(n's +30 "core" ' + "manipulator"&o% +5 "core" %Y " & Ȳ + "storage"(`& +4 "core" &  w\ + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 318 counts +2 "manipulator"&f' +18 "core" ' +2 "manipulator"&h& +4 "core" &6 } e "y +2 "storage"(+& +3 "core" &  Z d\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&r'Ѐ +18 "core" ' +2 .tSE.seek 1.12 Pucks below Top Plate +2 "storage"(s'b +52 "core" ' +2 "manipulator"&u& +4 "core" &6  9 "y +2 "manipulator"&v% +4 "core" %i w ~ ? +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&w'\ +88 "core" ' +2 .tElbow.seek CC +2 "manipulator"&x( +147 "core" ( +2 "manipulator"&y& +4 "core" && 3 =B + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &z& +3 "core" &&  =B +2 .tForearm.seek CC +2 "manipulator"&p'| +102 "core" ' + .tHand.close +2 "manipulator"&{/ +59 "core" / +2 .tCC.seek :open +2 "collection"'|(p +411 "core" ( + "storage"(l& +4 "core" &  j _ \ +2 "storage"(~& +3 "core" &  Z Z\ +2 "manipulator"&& +3 "core" & R 8" +2 "manipulator"&% +4 "core" % { C +2 .tForearm.seek :retract + "manipulator"&i'\ +100 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&t(; +161 "core" ( + "manipulator"&& +5 "core" &0 Z + "storage"(& +4 "core" &  q\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 2 + "manipulator"&'ξ +112 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"& 1 +59 "core" 1 +2 "manipulator"& % +4 "core" % p   v  +2 "storage"( & +4 "core" &  C E\ + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 315 counts +2 "manipulator"&' +17 "core" ' + "manipulator"&}& +4 "core" &0 o Z +2 "storage"(& +4 "core" &  +\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&'Ѐ +15 "core" ' + "storage"(\ % +5 "core" %` 3\ +2 ."downElevator"SE.seek :down +3 "storage"('N +99 (% +3 "core" %O9 \ UZ +2 "manipulator"&% +4 "core" %{ t ~ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +87 "core" ' +56 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 3 of [2..5] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"'& +5 "core" &\ + "manipulator"&% +4 "core" %\ ( C +2 "storage"( % +4 "core" %V %\  + "storage"(. +4 "core" .(  + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(*( +349 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (& +2 "core" & 9 9 \  +2 "manipulator"&& +4 "core" &0 { + .tElbow.seek 3 +2 "manipulator"&"(D +25 "core" ( +2 "manipulator"&%& +4 "core" &< G # + "storage"('& +4 "core" & z } 5\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&)' +93 "core" ' + "storage"((& +5 "core" & \  + .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"('e +284 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" & s { G\  +2 "manipulator"&-& +3 "core" &E V "{ +2 .tElbow.seek 3 +2 "manipulator"&.(D +3 "core" ( + "manipulator"&& +4 "core" &E "{ +2 "storage"(0& +3 "core" & } } \  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&2'y +10 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +62 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&& +3 "storage"('N +8 "core" &E  "{ + "manipulator"&4% +4 "core" % o  R +2 .tForearm.seek :retract +2 "manipulator"&,'\ +92 "core" ' +2 .tElbow.seek CC +2 "manipulator"&5( +146 "core" ( +2 "manipulator"&6& +4 "core" &$ ;7 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 "core" ' + "manipulator"&/& +2 ."downElevator"SE.stop +5 "storage"(5 +2 "core" &$  ;7 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&9'| +97 "core" ' + "manipulator"&:& +4 "core" &$ ^ ;7 +2 "manipulator"&#% +4 "core" %| . +2 "collection"'<& +4 "core" &\ +3 "collection"'=& +5 "core" &\ +3 .tCC.seek :closed +3 "collection"'@(] +3 "core" &\ +6 & 9\ %f +9 &hU\ 8 +10 &~\ L +9 &qa\ O +9 &4a\ O +10 &e\ O +9 & g\ N +9 &"yf\ O +10 &$<b\ O +9 &%b\ O +10 &'b\ O +9 &)c\ O +9 &+Db\ O +10 &-b\ N +9 &.f\ O +9 &0d\ O +10 &2Lf\ O +9 &4 c\ O +10 &5`\ N +9 &7c\ O +9 &9Tb\ O +10 &;c\ N +9 &<c\ O +9 &>b\ N +10 &@\\f\ O +9 &Bb\ O +10 &Cb\ O +9 &Eb\ O +9 &Gdg\ O +10 &I!s\ P +9 &Jo\ R +9 &L\ V +10 &NQ\ X +9 &P\ Y +10 &Q\ Y +9 &Sty\ Z +9 &URci\ Z +10 &WSY\ Z +9 &XCK\ \\ +9 &Z7;\ ] +10 &\\S*0\ I +9 &]`<!%\ %o +10 &]w  \ O +5 ( +2 "collection"'=& +4 #tCollection Clamp onSpring/offSpring for 10/26 samples, on/off torque 1.96 + .Hand.open + "manipulator"&A1 +4 "core" &]h #\ O +52 1 + "manipulator"&B% +4 "core" % { +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&D'\ +91 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%E& +5 "core" &I\ + "manipulator"&7% +4 "core" %\ )  H +2 "storage"(C% +3 "core" %U   5\  +2 "storage"(I. +3 "core" .( + "storage"(3& +4 "core" & (  6\  +2 "storage"(H& +3 "core" &   \  +2 "manipulator"&N& +4 "core" & "  9' +2 "manipulator"&!% +3 "core" %\ ) \ H +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&P(D +163 "core" ( + "manipulator"&Q& +5 "core" &8 ^ D + "storage"(S& +4 "core" & F E D\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&8' +92 "core" ' +2 "storage"(;& +4 "core" & \\ \\\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(?'e +280 "core" ' +2 "storage"(F- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (U& +2 "core" & A 8 \  +2 "manipulator"&V& +3 "core" &9  C +2 .tElbow.seek 3 +2 "manipulator"&>(D +9 "core" ( + "manipulator"&G& +4 "core" &? b n +2 "storage"(J& +4 "core" & ; A \  +2 .tForearm.seek 3 + 300 counts + "manipulator"&O'y +20 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&Y/ +61 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&[& +3 "storage"($'N +6 "core" &C v ~ d j +2 "manipulator"&&% +4 "core" % o q s + .tForearm.seek :retract +2 "manipulator"&]'\ +98 "core" ' +2 .tElbow.seek PC +2 "manipulator"&^(c +158 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +96 "core" ( +2 "manipulator"&L& +4 "core" &m ' +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 & & +2 "core" &m A +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&_'[ +103 "core" ' + "manipulator"&b& +4 "core" &m  +2 "manipulator"&d% +4 "core" %\\ q +2 "processing"%R& +3 "core" &e\ +2 "processing"%g& +5 "core" &g\ +2 .tPC.seek :closed +2 "processing"%T(Z +4 "core" &K\  +52 &-M\ *y +6 &cQ\ ? + &9~I\ O + &]I\ N + &cH\ N &`S\ N +4 &!B_O\ N +9 &#_U\ N +10 &$bP\ N +9 &&b5\ N +9 &(KaE\ N +10 &* `>\ N +9 &+`>\ N +10 &-a]\ N +9 &/Sb=\ N +9 &1`?\ N +10 &2aH\ N +9 &4`>\ N +9 &6\\a=\ N +10 &8`U\ N +9 &9_/\ N +10 &;`B\ N +9 &=daD\ N +9 &?%cJ\ N +10 &@cB\ N +9 &Bb<\ N +9 &Dkd;\ N +10 &F+eF\ O +9 &GmL\ O +10 &I}J\ Q +9 &KbJ\ T +9 &M$&\ T +10 &NE\ U +9 &PI\ U +9 &Ri/\ T +10 &T)H\ U +9 &UL\ U +10 &WJ\ U +9 &YmL\ C +9 &Zv>H\ Y +10 &ZLK\ 7 +5 ( +2 "processing"%g& +4 #tProcessing Clamp onSpring/offSpring for 9/25 samples, on/off torque 1.59 + .Hand.open +2 "manipulator"&K1 +3 "core" &Z>G\ 7 +58 1 + "manipulator"&X% +5 "core" % \\ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&Z'\ +94 "core" ' +2 "processing"%j& +4 "core" &Z=M\ 7 +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&k% +4 "core" %\ ' + +2 "storage"(m% +4 "core" %]  /\  + "storage"(o. +3 "core" .( + "storage"(`& +4 "core" &   r\  +2 "storage"(h& +3 "manipulator"&+& +7 "core" &   s\  + &m +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +3 "storage"(#]kK-0-\ b +2 .tElbow.seek PC +4 "manipulator"&u(c +3 ."raiseStack"SE.seek :beamBreak +2 "storage"(v'e +3 "core" ( + "manipulator"&e& +4 "core" &m W +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &a& +3 "core" &m A +2 .tForearm.seek PC + "manipulator"&W'[ +95 "core" ' + .tHand.close + "manipulator"&\\/ +60 "core" / +2 .tPC.seek :open +2 "processing"%f(p +93 "core" ' + "storage"(n- +3 "core" -'e +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(y'B +32 "core" ' +260 ( + "storage"(z& +4 "core" & 7 @ !\  +2 "manipulator"&r& +4 "core" &m  + "manipulator"&c% +4 "core" % f  +3 .tForearm.seek :retract + "manipulator"&{'\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&w(D +255 "core" ( + "manipulator"&q& +4 "core" &I $ +2 "storage"(l& +4 "core" & C B \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&~' +92 "core" ' + .tHand.open + "manipulator"&1 +60 "core" 1 +2 "storage"(- +4 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate + "storage"(' +27 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(' +52 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(p- +3 "core" -' +2 "storage"(x& +3 "core" & J\  +2 "manipulator"& & +4 "core" &I l $ +2 .tElbow.seek 3 + "manipulator"& (D +4 "core" ( + "manipulator"& & +4 "core" &I W $ +2 "storage"(}& +4 "core" & \  +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&' +3 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.11 Pucks below Top Plate + "storage"(\ 'M +62 "core" ' + "manipulator"&i& +5 "core" &I ( $ + "storage"(& +5 "core" & D E `\  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&'M +33 "core" ' + .tElbow.hold +2 "manipulator"&t, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"('7 +25 "core" ' + "manipulator"&% +5 "core" %We  ȵ + "storage"(& +5 "core" &\ z\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 310 counts +3 "manipulator"&'σ +18 "core" ' + "manipulator"& & +4 "core" &8 j 3 & +2 "storage"(& +4 "core" & Z [\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&s' +22 "core" ' +2 "storage"(% +4 "core" %@ \\ [\  +3 ."downElevator"SE.seek :down +3 "storage"('N +98 (M% +4 "core" %9 C B \ U[ + "manipulator"&% +4 "core" %  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +97 "core" ' +52 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (%& +4 "core" &\  P Q\  + "collection"''& +4 "core" &]g "\ O +2 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&(% +4 "core" %\ 1 $s +2 "storage"(% +4 "core" %S B + \  + "storage"(. +3 "core" .( +2 "storage"(& +3 "core" & 5 ? (\  +2 "storage"(& +4 "core" & B B \  + "manipulator"&-& +4 "core" &:  & +2 .tElbow.seek 3 +2 "manipulator"&(D +3 "core" ( + "manipulator"&0& +4 "core" &: a & +2 "storage"(& +4 "core" & 5 5\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&' +103 "core" ' +2 "storage"(4& +4 "core" & 9 = ?\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"("'e +281 "core" ' +2 "storage"()- +3 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&6& +3 "core" &? ? % +2 "storage"(/& +4 "core" & E E \  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&'M +34 "core" ' +2 .tElbow.hold +2 "manipulator"&2, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(:- +3 "core" -' +2 .tSE.seek 0.12 Pucks below Top Plate +2 "storage"(#'r +28 "core" ' +2 "manipulator"&<% +4 "core" %\\Z : 8 M ɲ + "storage"(.& +4 "core" & n\  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 3 + 315 counts +2 "manipulator"&'ψ +17 "core" ' +2 "manipulator"&,& +4 "core" &= k % + "storage"(|& +4 "core" & \\ \\\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&A' +19 "core" ' +2 .tSE.seek 1.12 Pucks below Top Plate +2 "storage"(B'a +46 "core" ' +2 "manipulator"&E& +4 "core" &= q q & % +2 "manipulator"&7% +4 "core" % s p :  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&C'\ +90 "core" ' + .tElbow.seek CC +2 "manipulator"&I( +147 "core" ( + "manipulator"&3& +4 "core" &$  <> +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &H& +3 "core" &% ' <> +2 .tForearm.seek CC +2 "manipulator"&N'| +97 "core" ' +2 .tHand.close + "manipulator"&=/ +57 "core" / + .tCC.seek :open +2 "collection"'!(p +411 "core" ( + "storage"(9& +5 "core" & } ~ c\  + "storage"(Q& +4 "core" & { r r\  + "manipulator"&S& +4 "core" &" Q :1 + "manipulator"&;% +4 "core" % x D  +2 .tForearm.seek :retract +2 "manipulator"&5'\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&D(D +162 "core" ( +2 "manipulator"&F& +4 "core" &A (  + "storage"(U& +4 "core" & \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 + "manipulator"&V'M +109 "core" ' +2 .tElbow.hold + "manipulator"&G, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&J1 +56 "core" 1 + "manipulator"&Y% +5 "core" % ^s \  ] ' + "storage"([& +4 "core" & F E \  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 317 counts +2 "manipulator"&&'ϊ +18 "core" ' + "manipulator"&P& +4 "core" & m   +2 "storage"(8& +4 "core" & a\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&?' +10 "core" ' +2 "storage"(O% +4 "core" %\\ d\ +2 ."downElevator"SE.seek :down +4 "storage"(L'N +99 ( % +3 "core" %C9 z t\ TY +2 "manipulator"&>% +4 "core" % t 8 + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&b'\ +94 "core" ' +50 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 4 of [2..5] +2 #Loading generic puck from tube 4 into Collection Clamp + "collection"'d& +5 "core" &\ + "manipulator"&R% +4 "core" %\ . #h +2 "storage"($% +4 "core" %U \  + "storage"(]. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 + "storage"(1(, +353 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (K& +2 "core" &,~+ D : \  +2 "manipulator"&X& +4 "core" & %  + .tElbow.seek 4 +2 "manipulator"&j(* +21 "core" ( + "manipulator"&k& +4 "core" && t c +2 "storage"(m& +3 "core" &,~ } ~ \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&o' +95 "core" ' + "storage"(`& +4 "core" &,~ \  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(g'e +284 "core" ' + "storage"(+- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (h& +3 "core" &,~ u } \  +2 "manipulator"&e& +3 "core" &'  b +2 .tElbow.seek 4 +2 "manipulator"&a(* +3 "core" ( + "manipulator"&_& +4 "core" &'  b +2 "storage"(\\& +3 "core" &,~ 9\  +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&n'Z +19 "core" ' +3 .tForearm.reconfigure :loose +43 "manipulator"&#Q@2^d^b +11 .tHand.close +2 "manipulator"&^/ +56 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&Z& +2 "storage"(T'N +7 "core" &' t t Z b + "manipulator"&z% +4 "core" % Q t ~ +2 .tForearm.seek :retract +2 "manipulator"&r'\ +90 "core" ' + .tElbow.seek CC +2 "manipulator"&v( +159 "core" ' + ( +2 ."downElevator"SE.stop +2 "manipulator"&c& +2 "storage"(5 +7 "core" &   . + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &W& +3 "core" &  | . +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&q'| +103 "core" ' +2 "manipulator"&l& +4 "core" &  d . +2 "manipulator"&u% +4 "core" %q S g + "collection"'& +4 "core" &\ +3 "collection"'& +4 "core" &\ +2 .tCC.seek :closed +2 "collection"'p(] +4 "core" &\  +9 &0\ +z +10 &c\ ? +9 &J\ O +9 &b\ N +10 &j\ O +9 &h\ O +10 &!Sc\ O +9 &#d\ O +9 &$e\ O +10 &&e\ O +9 &(]b\ N +9 &*e\ N +10 &+e\ N +9 &-d\ O +10 &/cg\ O +9 &1&c\ N +9 &2e\ N +10 &4b\ N +9 &6lc\ N +9 &8/`\ N +10 &9b\ N +9 &;b\ N +10 &=tg\ N +9 &?7e\ N +9 &@d\ N +10 &Bb\ N +9 &D}e\ N +9 &F>d\ N +10 &Gh \ O +9 &Iw\ Q +10 &KvT\ S +9 &M-\ W +9 &N\ X +10 &P\ Y +9 &Rl\ Y +9 &T-rz\ Z +10 &Ucl\ Z +9 &WY]\ [ +10 &YkIQ\ \\ +9 &[,<B\ ] +9 &\\}-4\ < +10 &]')*\ $j +9 &]\\)(\ H +2 ( +2 "collection"'& +3 #tCollection Clamp onSpring/offSpring for 9/25 samples, on/off torque 1.94 +2 .Hand.open + "manipulator"&x1 +56 "core" 1 +2 "manipulator"& % +4 "core" % t  d +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"& '\ +90 "core" ' +2 #tLoading generic puck from tube 4 into Processing Clamp + "processing"%}& +4 "core" &~y\ +2 "manipulator"&{% +4 "core" %\ ( ; > + "storage"(i% +4 "core" %Q E F \  +2 "storage"(. +3 "core" .(,~ +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"(y(, +3 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (& +3 "core" &,\ \  \  +2 "manipulator"&& +4 "core" &  . + "manipulator"&% +4 "core" %\ ( % > +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"& (* +152 "core" ( +2 "manipulator"&& +4 "core" &" l +2 "storage"(& +3 "core" &,~ \\ \\\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&w' +93 "core" ' + "storage"(~& +5 "core" &,~ Y c\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('e +283 "core" ' + "storage"(M- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" &,~ T > \  + "manipulator"&& +4 "core" &$  +2 .tElbow.seek 4 +2 "manipulator"& (* +3 "core" ( + "manipulator"&\ & +4 "core" &$  +2 "storage"(& +4 "core" &,~ \\ \\\  +2 .tForearm.seek 4 + 300 counts + "manipulator"&'Z +26 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&%/ +59 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&'& +3 "storage"(('N +8 "core" &$ r ~ N + "manipulator"&% +4 "core" % | z +2 .tForearm.seek :retract +2 "manipulator"&'\ +91 "core" ' + .tElbow.seek PC +2 "manipulator"&(c +165 "core" ' + ."downElevator"SE.stop + "storage"(5 +83 "core" ( +2 "manipulator"&& +4 "core" &l ] +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &l | +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&-'[ +100 "core" ' +2 "manipulator"&0& +4 "core" &l  +2 "manipulator"&% +3 "core" %a  +2 "processing"%s& +4 "core" &~\ +2 "processing"%4& +5 "core" &~\ +2 .tPC.seek :closed +2 "processing"%(Z +4 "core" &~=\  +8 &-7\ +z +10 &d\ ? +9 &:|[\ N +10 &`1\ N +9 &b/\ N +9 &^z\ N +10 &!CaV\ N +9 &#]3\ N +10 &$_\ M +9 &&b\ N +9 &(K^R\ N +10 &* ]-\ N +9 &+^7\ N +9 &-`K\ M +10 &/Sc7\ N +9 &1d\ N +9 &2e%\ N +10 &4^@\ N +9 &6\\a_\ M +9 &8b\ N +10 &9cH\ N +9 &;c;\ N +10 &=c_7\ N +9 &?%cP\ N +9 &@a\ N +10 &Bbw\ N +9 &Dk`2\ N +10 &F-b \ N +9 &Gk\ O +9 &Ix\ P +10 &KeF\ R +9 &M#\ T +9 &N6\ T +10 &P#\ T +9 &RgF\ T +10 &T(J\ U +9 &U(\ U +9 &W:\ U +10 &Yn \ B +9 &Z{D\ X +9 &Zg\ ) +3 ( +2 "processing"%4& +2 #tProcessing Clamp onSpring/offSpring for 9/25 samples, on/off torque 1.57 + .Hand.open + "manipulator"&t1 +57 "core" 1 +2 "manipulator"&% +4 "core" % a  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&)'\ +93 "core" ' +2 "processing"%6& +4 "core" &Z7\ ) +2 #tImaging generic puck in Processing Clamp while storing it to tube 4 + "manipulator"&/% +4 "core" %\ % 2 +2 "storage"(:% +4 "core" %T 8 ? \  + "storage"(<. +3 "core" .(, + "storage"(.& +4 "core" &,~ ? 7 e\  +3 "storage"(,& + "manipulator"&|& +8 "core" &,~ 8 B Q\  + &l +3 ."raiseStack"SE.reconfigure :place +2 .tElbow.reconfigure :tight +4 "storage"(#]kK-0-\ b +4 "manipulator"&$&.,(\ #b +3 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +2 "storage"(E'e + "manipulator"&7(c +5 "core" ( +2 "manipulator"&& +3 "core" &l s +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &l 7 +2 .tForearm.seek PC +2 "manipulator"&"'[ +96 "core" ' + .tHand.close +2 "manipulator"&/ +57 "core" / +2 .tPC.seek :open +2 "processing"%(p +90 "core" ' +2 "storage"(#- +3 "core" -'e +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(3'B +34 "core" ' +257 ( +2 "storage"(H& +4 "core" &,~ Z >\  + "manipulator"&A& +4 "core" &l  + "manipulator"&2% +4 "core" % W ; +2 .tForearm.seek :retract +2 "manipulator"&='\ +100 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&C(* +253 "core" ( +2 "manipulator"&@& +4 "core" && l # + "storage"(9& +4 "core" &,~ F E R\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&Q' +94 "core" ' +2 .tHand.open + "manipulator"&S1 +53 "core" 1 +2 "storage"(;- +4 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate +2 "storage"(F' +24 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(U' +51 "core" ' + #tLights, camera, ACTION! +2 "storage"(N- +3 "core" -' +2 "storage"(I& +4 "core" &,~ P\  + "manipulator"&J& +4 "core" && l # +2 .tElbow.seek 4 + "manipulator"&Y(* +4 "core" ( + "manipulator"&[& +4 "core" &&  # +2 "storage"(P& +4 "core" &,~ n\  +2 .tForearm.seek 4 + 450 counts + "manipulator"&8' +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"(O'M +61 "core" ' +2 "manipulator"&5& +4 "core" &&  # + "storage"( & +4 "core" &,~ 8 7 u\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&>'. +35 "core" ' + .tElbow.hold +2 "manipulator"&D, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"(V'7 +22 "core" ' + "manipulator"&d% +5 "core" %>`  ȴ + "storage"(R& +5 "core" &,~ \  + .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 4 + 316 counts + "manipulator"&&'j +17 "core" ' +2 "manipulator"&$& +4 "core" & # & +2 "storage"(]& +4 "core" &,~ g c\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&B' +18 "core" ' +2 "storage"(?% +4 "core" %; \\ Z\  +3 ."downElevator"SE.seek :down +4 "storage"(L'N +99 (*% +2 "core" %; ; A w\ U] +2 "manipulator"&K% +5 "core" % s ~  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&X'\ +90 "core" ' +64 ' + ."downElevator"SE.stop + "storage"(5 +3 (k& +4 "core" &,~ > 0\  + "collection"'m& +4 "core" &]_''\ H +2 #tStoring generic puck in Collection Clamp to tube 4 + "manipulator"&`% +4 "core" %\ * F +2 "storage"(G% +4 "core" %R E ; R\  + "storage"(b. +3 "core" .(, +2 "storage"(+& +3 "core" &,~ E C P\  +2 "storage"(h& +4 "core" &,~ ; @ w\  + "manipulator"&e& +4 "core" & % +2 .tElbow.seek 4 +2 "manipulator"&_(* +12 "core" ( + "manipulator"&\\& +4 "core" &7 h # +2 "storage"(^& +4 "core" &,~ B D \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&Z' +96 "core" ' +2 "storage"(z& +4 "core" &,~ \\ Z\  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(j'e +286 "core" ' +2 "storage"(o- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&c& +2 "core" &K  m +2 "storage"(W& +4 "core" &,~ 8 9 s\  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +44 "manipulator"&#Q@2^d^b +12 .tForearm.seek 4 +2 "manipulator"&g'. +36 "core" ' + .tElbow.hold +2 "manipulator"&n, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(l- +3 "core" -' +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(a'm +36 "core" ' +2 "manipulator"&u% +4 "core" %4U = ; { ʱ + "storage"(& +4 "core" &,~ 8\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 306 counts + "manipulator"&T'` +16 "core" ' +2 "manipulator"&r& +4 "core" &' ) % +2 "storage"(!& +4 "core" &,~ [ Z\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&x' +19 "core" ' +2 .tSE.seek 1.11 Pucks below Top Plate +2 "storage"( '\\ +47 "core" ' + "manipulator"&}& +5 "core" &' t s u % + "manipulator"&{% +5 "core" % s r 9  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&i'\ +90 "core" ' + .tElbow.seek CC +2 "manipulator"&( +156 "core" ( + "manipulator"&& +5 "core" &, [ Bh + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &, ) Bh +2 .tForearm.seek CC +2 "manipulator"&'| +94 "core" ' +2 .tHand.close + "manipulator"&/ +60 "core" / +2 .tCC.seek :open +2 "collection"'q(p +410 "core" ( +2 "storage"(& +4 "core" &,~ } s \  + "storage"(& +4 "core" &,~ o o \  + "manipulator"&~& +4 "core" &&  >I +2 "manipulator"&1% +3 "core" % ρ   +2 .tForearm.seek :retract +2 "manipulator"&v'\ +189 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"& (* +153 "core" ( + "manipulator"&M& +5 "core" &1 % + "storage"(& +4 "core" &,~ \  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 4 +2 "manipulator"&'. +111 "core" ' + .tElbow.hold +2 "manipulator"&\ , +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&1 +53 "core" 1 +2 "manipulator"&%% +5 "core" % >r   P ¹* + "storage"('& +4 "core" &,~ B ? u\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 316 counts + "manipulator"&'j +17 "core" ' + "manipulator"& & +4 "core" & q C + +2 "storage"(w& +4 "core" &,~ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&' +18 "core" ' +2 "storage"(% +4 "core" %X \ +3 ."downElevator"SE.seek :down +3 "storage"('N +99 (% +3 "core" %9 q\ TY +2 "manipulator"& % +4 "core" % ~   +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&0'\ +94 "core" ' +50 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 5 of [2..5] +2 #Loading generic puck from tube 5 into Collection Clamp + "collection"'& +5 "core" &\ + "manipulator"&s% +4 "core" %\ / @ #k +2 "storage"((% +4 "core" %N y h\  + "storage"(. +3 "core" .(, +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 + "storage"(f(<< +351 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (t& +3 "core" &<9 + / \  +2 "manipulator"&& +3 "core" & * +2 .tElbow.seek 5 +2 "manipulator"&6( +20 "core" ( +2 "manipulator"&/& +4 "core" & } M + "storage"(:& +4 "core" &<9 z } Z\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&<' +91 "core" ' +2 "storage"(.& +4 "core" &<9 B\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(|'e +285 "core" ' + "storage"(,- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (4& +3 "core" &<9 o t A\  +2 "manipulator"&& +3 "core" &  M +2 .tElbow.seek 5 +2 "manipulator"&( +22 "core" ( +2 "manipulator"&-& +4 "core" & q   +2 "storage"(& +4 "core" &<9 \  +2 .tForearm.seek 5 + 300 counts + "manipulator"&#'[ +20 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&/ +58 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&)& +2 "storage"('N +6 "core" & u t .  +2 "manipulator"&H% +4 "core" % Q r { ` +2 .tForearm.seek :retract +2 "manipulator"&A'\ +91 "core" ' + .tElbow.seek CC +2 "manipulator"&E( +156 "core" ( + "manipulator"&2& +5 "core" &\ # :. + ' + ."downElevator"SE.stop +3 .tElbow.reconfigure :loose +2 "storage"(5 +2 "manipulator"&$ &.,(#b +4 &"& +2 "core" &\ " F :. +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&@'| +93 "core" ' +2 "manipulator"&9& +4 "core" & #  :- +2 "manipulator"&7% +4 "core" %υ  \ +2 "collection"'S& +4 "core" &\ +2 "collection"';& +5 "core" &\ +2 .tCC.seek :closed +2 "collection"'N(] +4 "core" &\ +8 &9\ $e +9 &jV\ 8 +9 &\ M +10 &{e\ N +9 &=c\ N +9 &d\ N +10 & h\ O +9 &"g\ O +10 &$Dd\ O +9 &&e\ O +9 &'c\ N +10 &)`\ N +9 &+Mc\ N +9 &-`\ N +10 &.g\ O +9 &0f\ O +10 &2Tg\ O +9 &4e\ O +9 &5b\ N +10 &7c\ N +9 &9^b\ N +9 &; c\ N +10 &<c\ N +9 &>e\ N +9 &@fb\ N +10 &B(d\ N +9 &Cc\ N +10 &E_\ N +9 &Glf\ O +9 &I,m\ O +10 &J\ Q +9 &L/\ U +10 &NY\ X +9 &P\ X +9 &Q\ Y +10 &Sz\ Y +9 &UZks\ Z +9 &W]d\ Z +10 &XOV\ [ +9 &Z@I\ \\ +10 &\\Z5<\ H +9 &]iD+/\ $m +9 &]}**\ X +3 ( +2 "collection"';& +2 #tCollection Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.94 + .Hand.open + "manipulator"&I1 +60 "core" 1 +2 "manipulator"&J% +4 "core" % υ x \ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&['\ +96 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp +2 "processing"%P& +4 "core" &\ + "manipulator"&=% +4 "core" %\ + = !Q +2 "storage"(5% +4 "core" %T \  + "storage"( . +3 "core" .(<9 +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 + "storage"(d(<< +8 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (3& +3 "core" &<9 \  + "manipulator"&R& +4 "core" & # % :- +2 "manipulator"&F% +3 "core" %\ +  !Q +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&$( +158 "core" ( +2 "manipulator"&]& +4 "core" & +2 "storage"(?& +3 "core" &<9 4 5 )\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&C' +93 "core" ' + "storage"(Q& +4 "core" &<9 Y C =\  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(U'e +282 "core" ' +2 "storage"(*- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (K& +2 "core" &<9 ; B u\  +2 "manipulator"&8& +4 "core" &  \ + .tElbow.seek 5 +2 "manipulator"&Y( +7 "core" ( +2 "manipulator"&O& +49 "core" &   +2 "storage"(>& +4 "core" &<9 8 >\  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&&'[ +19 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&k/ +63 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&m& +2 "storage"(`'N +8 "core" &  p { a + "manipulator"&G% +4 "core" % P q q +2 .tForearm.seek :retract +2 "manipulator"&b'\ +91 "core" ' +2 .tElbow.seek PC +2 "manipulator"&V(c +163 "core" ' + ."downElevator"SE.stop + "storage"(5 +83 "core" ( + "manipulator"&+& +4 "core" &h U +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &h& +3 "core" &h q +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&e'[ +101 "core" ' + "manipulator"&\\& +5 "core" &h K + "manipulator"&^% +4 "core" %V L +2 "processing"%B& +4 "core" &\ +2 "processing"%z& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%L(Z +4 "core" &{\  +8 &-\ +z +10 &d\ ? +9 &>}\ O +9 &^\ N +10 &a{\ N +9 &b;\ N +9 &!H`}\ N +10 &#\ `\ N +9 &$\\|\ N +9 &&`\ N +10 &(P^\ N +9 &*_\ M +10 &+_\ N +9 &-]\ N +9 &/Xb~\ N +10 &1^\ N +9 &2`\ M +9 &4_\ M +10 &6``\ N +9 &8"c\ N +10 &9]\ N +9 &;_\ N +9 &=gb\ N +10 &?)b\ N +9 &@az\ N +9 &B`\ N +10 &Dp_\ N +9 &F1c}\ N +10 &Gn\ O +9 &Iu~\ P +9 &Kj\ R +10 &M(\ T +9 &N\ T +9 &P\ T +10 &Rm\ T +9 &T-\ U +10 &U\ U +9 &W\ U +9 &Yr~\ B +10 &Z{A\ U +9 &Z\ * +2 ( +2 "processing"%z& +3 #tProcessing Clamp onSpring/offSpring for 9/25 samples, on/off torque 1.58 + .Hand.open +2 "manipulator"&D1 +59 "core" 1 +2 "manipulator"&X% +4 "core" % V 4 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +52 "manipulator"&o'\ +107 "core" ' + "processing"%c& +4 "core" &Z\ * +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 + "manipulator"&W% +4 "core" %\   +2 "storage"(l% +4 "core" %S . 4 4\  + "storage"(u. +3 "core" .(<9 +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 + "storage"((<< +4 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (r& +2 "manipulator"&!& +4 "core" &<:\ P f\  +6 ."raiseStack"SE.reconfigure :place +2 "storage"(#]kK-0-\ b +3 "core" &h  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +2 "manipulator"&}(c +3 ."raiseStack"SE.seek :beamBreak +2 "storage"({'e +2 "core" ( +2 "manipulator"&Z& +4 "core" &h  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &_& +3 "core" &h  +2 .tForearm.seek PC +2 "manipulator"&j'[ +94 "core" ' + .tHand.close +2 "manipulator"&g/ +53 "core" / +2 .tPC.seek :open +2 "processing"%T(p +97 "core" ' + "storage"(a- +4 "core" -'e + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('B +47 "core" ' +237 ( + "storage"(& +4 "core" &<9 B B \  +2 "manipulator"&x& +3 "core" &h  +2 "manipulator"&n% +4 "core" % m 0 +2 .tForearm.seek :retract + "manipulator"&'\ +93 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&i( +242 "core" ( +2 "manipulator"&p& +4 "core" & , +2 "storage"(& +3 "core" &<9   J\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&' +93 "core" ' + .tHand.open +2 "manipulator"&~1 +59 "core" 1 +2 "storage"(1- +4 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate +2 "storage"(' +23 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(M' +51 "core" ' +2 #tLights, camera, ACTION! + "storage"(- +4 "core" -' +2 "storage"(& +3 "core" &<9 q\  +2 "manipulator"&& +4 "core" & 7 , +2 .tElbow.seek 5 + "manipulator"&%( +4 "core" ( + "manipulator"&'& +4 "core" &  , +2 "storage"( & +3 "core" &<9 7\  +3 .tForearm.seek 5 + 450 counts + "manipulator"&w' +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"('M +57 "core" ' +2 "manipulator"&v& +4 "core" & y , +2 "storage"(& +4 "core" &<9 B C \  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"& '/ +32 "core" ' +2 .tElbow.hold + "manipulator"& , +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"('7 +26 "core" ' + "manipulator"&% +5 "core" %<g * + A Ŷ + "storage"(& +5 "core" &<9 P\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 313 counts +2 "manipulator"&s'h +17 "core" ' + "manipulator"&(& +5 "core" & | n ? % + "storage"(& +5 "core" &<9 E E \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"& ' +21 "core" ' + "storage"(% +5 "core" %< . > \ +2 ."downElevator"SE.seek :down +3 "storage"('N +99 (y% +3 "core" %<;   a\ TZ +2 "manipulator"&t% +4 "core" % e  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +89 "core" ' +59 ' + ."downElevator"SE.stop + "storage"(5 +3 (/& +4 "core" &<9 N # -\  + "collection"':& +4 "core" &]v-2\ X +2 #tStoring generic puck in Collection Clamp to tube 5 + "manipulator"&.% +4 "core" %\ % 3 +2 "storage"(\ % +4 "core" %D > 0\  + "storage"(0. +3 "core" .(<< +2 "storage"(,& +3 "core" &<9 % 2 %\  +2 "storage"(4& +4 "core" &<9 A ? '\  + "manipulator"&& +4 "core" & - % +2 .tElbow.seek 5 +2 "manipulator"&-( +30 "core" ( +2 "manipulator"&& +4 "core" & }  +2 "storage"(& +3 "core" &<9 B B \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&)' +105 "core" ' +2 "storage"(H& +4 "core" &<9 Y Y\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(6'e +279 "core" ' + "storage"(<- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&2& +3 "core" & p q '  + "storage"("& +4 "core" &<9 [ X \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&|'/ +31 "core" ' + .tElbow.hold +2 "manipulator"&#, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(9- +3 "core" -' +2 .tSE.seek 0.12 Pucks below Top Plate +2 "storage"(7'q +27 "core" ' + "manipulator"&S% +5 "core" %Ch  Y Ķ + "storage"(& +4 "core" &<9 r\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 320 counts +2 "manipulator"&'o +17 "core" ' + "manipulator"&A& +5 "core" & k  ' + "storage"(q& +4 "core" &<9 3 ?\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&I' +11 "core" ' +2 .tSE.seek 1.12 Pucks below Top Plate +2 "storage"(J'` +52 "core" ' + "manipulator"&P& +5 "core" & | ' + "manipulator"&=% +5 "core" % | 3 +2 .tForearm.reconfigure :loose +7 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&5'\ +94 "core" ' +2 .tElbow.seek CC +2 "manipulator"& ( +149 "core" ( +2 "manipulator"&;& +4 "core" &# m :1 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &3& +2 "core" &"  :1 +2 .tForearm.seek CC +2 "manipulator"&R'| +98 "core" ' +2 .tHand.close + "manipulator"&F/ +57 "core" / +2 .tCC.seek :open + "collection"'@(p +411 "core" ( +2 "storage"(]& +4 "core" &<9 p t '\  + "storage"(?& +4 "core" &<9 v v T\  + "manipulator"&f& +4 "core" & !  8 +2 "manipulator"&Q% +3 "core" % h % +2 .tForearm.seek :retract +2 "manipulator"&E'\ +94 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&[( +159 "core" ( + "manipulator"&*& +4 "core" & 8  +2 "storage"(K& +4 "core" &<9 \  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 5 +2 "manipulator"&8'/ +109 "core" ' + .tElbow.hold +2 "manipulator"&O, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&>1 +58 "core" 1 +2 "manipulator"&k% +4 "core" % B ! J U + "storage"(m& +4 "core" &<9 D C \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 319 counts +2 "manipulator"&G'n +17 "core" ' + "manipulator"&$& +4 "core" & m J +2 "storage"(C& +4 "core" &<9 *\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&U' +20 "core" ' + "storage"(&% +5 "core" %\\ ,\ +2 ."downElevator"SE.seek :down +4 "storage"(+'N +99 (h% +2 "core" %O9 }\ UZ +2 "manipulator"&Y% +4 "core" % } \  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +51 "manipulator"&\\'\ +90 "core" ' +6 ' + ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 2 of [2..5] +2 #Loading generic puck from tube 2 into Collection Clamp + "collection"'^& +3 "core" &\ +2 "manipulator"&B% +4 "core" %\ ( e A +2 "storage"(`% +3 "core" %T \  +2 "storage"(b. +3 "core" .(<< +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 +2 "storage"((  +994 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (D& +3 "core" &    \ + "manipulator"&X& +4 "core" & n J +2 .tElbow.seek 2 +2 "manipulator"&z(; +26 "core" ( +2 "manipulator"&c& +4 "core" &H  + "storage"(W& +4 "core" &  i i \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&l'Ѐ +97 "core" ' +2 "storage"(u& +4 "core" &  \ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(r'e +283 "core" ' +2 "storage"(!- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (Z& +2 "core" &  q { D\ +2 "manipulator"&_& +4 "core" &H   + .tElbow.seek 2 +2 "manipulator"&e(; +14 "core" ( + "manipulator"&g& +4 "core" &E   +2 "storage"(d& +4 "core" &  m g x\ +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&a' +10 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&V/ +55 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&o& +2 "storage"(L'N +7 "core" &E s s 0  +2 "manipulator"&% +3 "core" % s s T G +2 .tForearm.seek :retract +2 "manipulator"&x'\ +93 "core" ' + .tElbow.seek CC +2 "manipulator"&n( +149 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +3 "core" ( +2 "manipulator"&{& +4 "core" &$ > ;2 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &j& +3 "core" &#  ;2 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&p'| +93 "core" ' +2 "manipulator"&& +4 "core" &$ ` ;2 +2 "manipulator"&}% +4 "core" %υ 8  +2 "collection"'~& +4 "core" &\ +2 "collection"'1& +5 "core" &\ +2 .tCC.seek :closed +3 "collection"'(] +4 "core" &\ +5 & 8\ $e +10 &eU\ 8 +9 &\ L +9 &uc\ N +10 &7f\ N +9 &e\ N +9 & h\ N +10 &"|h\ N +9 &$>e\ N +10 &&c\ N +9 &'d\ N +9 &)e\ N +10 &+Ee\ O +9 &- c\ N +9 &.g\ O +10 &0e\ O +9 &2Mg\ O +10 &4f\ O +9 &5b\ N +9 &7c\ N +10 &9Ya\ M +9 &;e\ N +9 &<b\ N +10 &>c\ N +9 &@_c\ N +10 &Bd\ O +9 &Cc\ N +9 &Eb\ N +10 &Gfe\ N +9 &I#p\ P +9 &Ju\ R +10 &L\ V +9 &NR\ X +10 &P\ Y +9 &Q\ Y +9 &St{\ Z +10 &UTbi\ Z +9 &WTY\ Z +9 &XCK\ \\ +10 &Z3;\ ] +9 &\\X'-\ H +9 &]\\<!\ * +9 &]\ X +5 ( +2 "collection"'1& +4 #tCollection Clamp onSpring/offSpring for 10/26 samples, on/off torque 1.93 +2 .Hand.open + "manipulator"&1 +4 "core" &]\ X +57 1 +2 "manipulator"&% +4 "core" % υ B  + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&''\ +99 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp + "processing"% & +4 "core" &\ +2 "manipulator"&% +3 "core" %\ 1 $p +2 "storage"(v% +4 "core" %I  u\  + "storage"(. +4 "core" .(  + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"((  +29 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (& +3 "core" &  a\  +2 "manipulator"&& +3 "core" & " P 9( +2 "manipulator"&% +4 "core" %\ 1  $p +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&((; +174 "core" ( +2 "manipulator"&& +4 "core" &A\ P \\ + "storage"(& +4 "core" &    d\ " +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&i'Ѐ +93 "core" ' + "storage"(& +4 "core" &  C < (\ " +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(M'e +284 "core" ' + "storage"(y- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (t& +3 "core" &   ! u\ . + "manipulator"&w& +4 "core" &B\  [ +2 .tElbow.seek 2 + "manipulator"&%(; +4 "core" ( +2 "manipulator"&& +3 "core" &B\  [ +2 "storage"( & +4 "core" &    _\ . +2 .tForearm.seek 2 + 300 counts + "manipulator"&/' +20 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&s/ +60 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&:& + "storage"(.'N +7 "core" &B\ t s t [ +2 "manipulator"&\ % +4 "core" % r s P +2 .tForearm.seek :retract +2 "manipulator"&0'\ +97 "core" ' + .tElbow.seek PC +2 "manipulator"&,(c +165 "core" ' + ."downElevator"SE.stop + "storage"(5 +94 "core" ( +2 "manipulator"&& +4 "core" &i I +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &4& +3 "core" &i Z +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&'[ +103 "core" ' +2 "manipulator"&& +4 "core" &i  +2 "manipulator"&% +3 "core" %F D +2 "processing"% & +4 "core" &\ +2 "processing"%H& +6 "core" &\ +2 .tPC.seek :closed +2 "processing"%(Z +4 "core" &\ +7 & +N\ #` +10 &VUl\ 8 +9 &\ L +9 &h\\\ N +10 &+]\ N +9 &]\ N +10 & _\ N +9 &"q\\\ N +9 &$3]\ N +10 &%b\ N +9 &'b\ N +9 &)yb\ N +10 &+;a\ N +9 &,c\ N +10 &._\ N +9 &0_\ M +9 &2C`\ N +10 &4\\\ N +9 &5_\ M +9 &7^\ M +10 &9K^\ N +9 &; ]\ N +10 &<]\ M +9 &>`\ N +9 &@R_\ N +10 &B`\ N +9 &Ca\ N +9 &Eb\ N +10 &GWh\ O +9 &It\ P +10 &J\ R +9 &L\ S +9 &NP\ T +10 &P\ T +9 &Q\ T +10 &S\ T +9 &UW\ T +9 &W\ U +10 &X\ U +9 &Z8Ox\ 0 +9 &Z.\ ( +6 ( +2 "processing"%H& +4 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.58 + .Hand.open + "manipulator"& 1 +4 "core" &Z\ ( +55 1 + "manipulator"&% +4 "core" % F ; +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&<'\ +93 "core" ' +2 "processing"%2& +4 "core" &Z\ ( + #tImaging generic puck in Processing Clamp while storing it to tube 2 +2 "manipulator"&"% +3 "core" %\ ' 8 + +2 "storage"(9% +4 "core" %T   w\  + "storage"(S. +3 "core" .(  +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"((  +50 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +4 (A& +3 "core" &  &\ +2 "manipulator"&q& +4 ."raiseStack"SE.reconfigure :place +4 "storage"(#]kK-0-\ b +2 "core" &i  +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +2 "storage"(P'e + "manipulator"&=(c +5 "core" ( +2 "manipulator"&)& +3 "core" &i ` +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &-& +2 "core" &i +2 .tForearm.seek PC +2 "manipulator"&6'[ +94 "core" ' +2 .tHand.close + "manipulator"&|/ +57 "core" / +2 .tPC.seek :open +2 "processing"%(p +91 "core" ' + "storage"(7- +3 "core" -'e +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(;'B +46 "core" ' +244 ( +2 "storage"(3& +4 "core" &   '\ + "manipulator"&I& +4 "core" &i +2 "manipulator"&#% +3 "core" % F  +2 .tForearm.seek :retract +2 "manipulator"&F'\ +104 "core" ' +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +52 "manipulator"&5(; +253 "core" ( + "manipulator"&N& +5 "core" &8  "~ + "storage"(]& +4 "core" &  B ) \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts +2 "manipulator"&?'Ѐ +99 "core" ' + .tHand.open +2 "manipulator"&f1 +56 "core" 1 +2 "storage"(Q- +4 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate +2 "storage"(*' +22 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(K' +51 "core" ' +2 #tLights, camera, ACTION! + "storage"(R- +4 "core" -' + "storage"( & +4 "core" &  y w ,\ +2 "manipulator"&>& +4 "core" &9 > "} +2 .tElbow.seek 2 + "manipulator"&k(; +4 "core" ( + "manipulator"&m& +4 "core" &9 ' "} +2 "storage"($& +4 "core" &  w y \ +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&C'Ѐ +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"(&'M +59 "core" ' + "manipulator"&E& +5 "core" &9 s p + "} + "storage"(h& +5 "core" &  5 % \ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&Y'ξ +35 "core" ' + .tElbow.hold +2 "manipulator"&[, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"(8'7 +21 "core" ' +2 "manipulator"&^% +5 "core" %T ȱ + "storage"(G& +5 "core" &  \ + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 303 counts +2 "manipulator"&B' +19 "core" ' + "manipulator"&`& +4 "core" &W q w A _ +2 "storage"(b& +4 "core" &  E E P\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&J'Ѐ +15 "core" ' +2 "storage"(U% +5 "core" %: . ; S\ +2 ."downElevator"SE.seek :down +3 "storage"(+'N +99 (% +3 "core" %v8   \ U^ +2 "manipulator"&D% +4 "core" %r } t  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&X'\ +87 "core" ' +67 ' + ."downElevator"SE.stop + "storage"(5 +3 (c& +4 "core" & \  M {\ + "collection"'W& +4 "core" &]#%\ X +2 #tStoring generic puck in Collection Clamp to tube 2 + "manipulator"&u% +4 "core" %\ & B +2 "storage"(O% +4 "core" %P   Y\  +2 "storage"(\\. +3 "core" .(  + "storage"(!& +4 "core" &   / @\ +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 + "storage"(Z(  +50 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (_& +3 "core" &  )  \ \ + "manipulator"&g& +4 "core" &W _ +2 .tElbow.seek 2 +2 "manipulator"&d(; +26 "core" ( +2 "manipulator"&V& +4 "core" &@ V  + "storage"(o& +4 "core" &  B > -\ \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&'Ѐ +108 "core" ' +2 "storage"(z& +4 "core" &  \\ ^ \ \ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(l'e +285 "core" ' + "storage"({- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&j& +3 "core" &@ s p D  +2 "storage"(r& +3 "core" &  8 - ?\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&a'ξ +36 "core" ' + .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(}- +3 "core" -' +2 .tSE.seek 0.12 Pucks below Top Plate +2 "storage"(~'p +24 "core" ' + "manipulator"&e% +4 "core" %Q ) * 9 ư +2 "storage"(L& +4 "core" &  z\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 320 counts +2 "manipulator"&x' +17 "core" ' + "manipulator"&@& +4 "core" &A h w   +2 "storage"(& +4 "core" &  8 6 :\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&'Ѐ +23 "core" ' +2 .tSE.seek 1.12 Pucks below Top Plate +2 "storage"( '_ +48 "core" ' +2 "manipulator"&& +4 "core" &A p s /  +2 "manipulator"&v% +4 "core" %Ч r q + +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +87 "core" ' +2 .tElbow.seek CC +2 "manipulator"&1( +156 "core" ( + "manipulator"&& +5 "core" &% x <? + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &$ " <? +2 .tForearm.seek CC + "manipulator"&'| +96 "core" ' + .tHand.close + "manipulator"&p/ +62 "core" / + .tCC.seek :open +2 "collection"'(p +411 "core" ( +2 "storage"(& +4 "core" &  } s \  + "storage"(& +4 "core" &  t w :\  + "manipulator"&& +4 "core" &!  9% + "manipulator"&n% +4 "core" % ϐ +2 .tForearm.seek :retract +2 "manipulator"&''\ +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&y(; +173 "core" ( +2 "manipulator"&t& +4 "core" &7\ T +2 "storage"(w& +3 "core" &  g h o\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 2 +2 "manipulator"&'ξ +108 "core" ' +2 .tElbow.hold +2 "manipulator"& , +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&s1 +54 "core" 1 +2 "manipulator"&:% +5 "core" % p   q ¸ +2 "storage"(\ & +3 "core" &  5 5 E\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 316 counts + "manipulator"&(' +19 "core" ' + "manipulator"&i& +4 "core" &m n U  +2 "storage"(M& +4 "core" &  |\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&/'Ѐ +18 "core" ' +2 "storage"(% +4 "core" %b k\ +2 ."downElevator"SE.seek :down +4 "storage"(4'N +100 (%% +2 "core" %E< \ TZ +2 "manipulator"&% +5 "core" %Ђ   - +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +87 "core" ' +54 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 3 of [2..5] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"' & +5 "core" &\ + "manipulator"&.% +4 "core" %\ & k 5 +2 "storage"(0% +4 "core" %Z \ \  +2 "storage"(T. +3 "core" .(  +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"( ( +350 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (& +3 "core" & C 8 \  +2 "manipulator"&2& +3 "core" &m   +2 .tElbow.seek 3 +2 "manipulator"&"(D +17 "core" ( +2 "manipulator"&9& +4 "core" &F   +2 "storage"(S& +3 "core" & ^\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&H' +101 "core" ' + "storage"(A& +4 "core" & J\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(q'e +284 "core" ' + "storage"()- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (-& +2 "core" & n l\  +2 "manipulator"&& +4 "core" &F   + .tElbow.seek 3 +2 "manipulator"&|(D +3 "core" ( + "manipulator"&& +4 "core" &F   +2 "storage"(7& +3 "core" & O\  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&,'y +17 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +51 .tHand.close +2 "manipulator"&a\ N +9 &@ec\ N +10 &B(d\ M +9 &Cc\ N +10 &E_\ N +9 &Gle\ N +9 &I(r\ P +10 &J~\ Q +9 &L!\ V +9 &NX\ X +10 &P\ Y +9 &Q\ Y +9 &S\ Y +10 &UWnx\ [ +9 &Wbi\ [ +10 &XT[\ [\ +9 &ZEK\ \\ +9 &\\Z5;\ I +13 &]gB-/\ #k +6 &]+-\ _ +7 ( +3 "collection"'R& +3 #tCollection Clamp onSpring/offSpring for 10/26 samples, on/off torque 1.96 +2 .Hand.open + "manipulator"&>1 +4 "core" &],-\ _ +59 1 + "manipulator"&m% +5 "core" % w Y + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&$'\ +98 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%F& +5 "core" &\ + "manipulator"&E% +4 "core" %\ 3 \ %x +2 "storage"(h% +4 "core" %T\ \  U\  + "storage"(^. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 +2 "storage"(;( +2 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (G& +3 "core" &3 ,\  +2 "manipulator"&*& +3 "core" &$ \ <> +2 "manipulator"&`% +4 "core" %\ 3 . %x +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&b(D +154 "core" ( + "manipulator"&U& +4 "core" &D \ +2 "storage"(5& +4 "core" &  r\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&?' +96 "core" ' +2 "storage"(K& +4 "core" & B D \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('e +282 "core" ' + "storage"(D- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (C& +2 "core" &   \  +2 "manipulator"&k& +4 "core" &D  \ +2 .tElbow.seek 3 +2 "manipulator"&&(D +3 "core" ( + "manipulator"&Y& +4 "core" &D  \ + "storage"(c& +4 "core" & > 7 \  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&B'y +24 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&W/ +63 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&u& +3 "storage"(O'N +8 "core" &D p q a \ + "manipulator"&\\% +5 "core" % ς | w +2 .tForearm.seek :retract + "manipulator"&8'\ +94 "Can"i _] +3 "core" ' +2 .tElbow.seek PC +2 "manipulator"&!(c +158 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +77 "core" ( +2 "manipulator"&_& +5 "core" &d a E + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &g& +2 "core" &d U E +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&V'[ +103 "core" ' + "manipulator"&J& +5 "core" &d t E + "manipulator"&o% +4 "core" %` +2 "processing"%z& +4 "core" &\ +3 "processing"%+& +6 "core" &\ +2 .tPC.seek :closed + "processing"%(Z +4 "core" &\  +9 &/|\ +z +9 &c\ > +9 &>{\ N +10 &Z\ M +9 &`\ N +9 &^\ M +10 &!G_\ N +9 &# `\ N +9 &$`\ N +10 &&b\ N +9 &(O\\\ N +10 &*\\\ N +9 &+]\ M +9 &-_\ N +10 &/W`\ N +9 &1b\ N +10 &2^\ N +9 &4]\ N +9 &6_`\ N +10 &8 b\ N +9 &9]\ M +9 &;^\ N +10 &=f`\ N +9 &?(`\ N +9 &@`\ N +10 &B]\ M +9 &Do^\ N +10 &F0b\ N +9 &Gm\ O +9 &Iv\ Q +10 &Kg\ S +9 &M&\ T +9 &N\ T +10 &P\ T +9 &Rl\ T +10 &T,\ U +9 &U\ U +9 &W\ U +10 &Yr\ B +9 &ZzB\ V +9 &Z\ ' +3 ( +2 "processing"%+& +2 #tProcessing Clamp onSpring/offSpring for 9/25 samples, on/off torque 1.61 + .Hand.open +2 "manipulator"&[1 +57 "core" 1 + "manipulator"&X% +4 "core" % ` \\ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&{'\ +101 "core" ' + "processing"%j& +5 "core" &Zo\ ' + #tImaging generic puck in Processing Clamp while storing it to tube 3 +2 "manipulator"&r% +3 "core" %\ 1 l $u +2 "storage"(}% +4 "core" %U\ \  C\  + "storage"(e. +4 "core" .( + "storage"(L& +4 "core" &\ \  >\  +2 "storage"(@& +5 "manipulator"&& +4 "core" &\ \  @\  + &d E +3 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +3 "storage"(#]kK-0-\ b +3 "manipulator"&$&.,(\ #b +4 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +2 "storage"('e + "manipulator"&v(c +5 "core" ( +2 "manipulator"&& +4 "core" &d B E + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &d& +2 "core" &d U E +2 .tForearm.seek PC +2 "manipulator"&l'[ +93 "core" ' + .tHand.close + "manipulator"&a/ +56 "core" / + .tPC.seek :open +2 "processing"%x(p +98 "core" ' +2 "storage"(~- +3 "core" -'e + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('B +42 "core" ' +241 ( +2 "storage"(& +4 "core" &   j\  + "manipulator"&& +4 "core" &d  E +2 "manipulator"&% +4 "core" % g  + .tForearm.seek :retract +2 "manipulator"&p'\ +94 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&(D +250 "core" ( + "manipulator"&& +4 "core" &D  !w +2 "storage"(& +4 "core" &   \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&' +101 "core" ' +2 .tHand.open + "manipulator"&1 +57 "core" 1 + "storage"(n- +4 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate +2 "storage"(t' +24 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(w' +51 "core" ' + #tLights, camera, ACTION! +2 "storage"(- +3 "core" -' +2 "storage"(1& +4 "core" & \  + "manipulator"&s& +4 "core" &E \\ !v +2 .tElbow.seek 3 +2 "manipulator"&:(D +3 "core" ( +2 "manipulator"&\ & +3 "core" &E  !v +2 "storage"(i& +4 "core" & Z\  +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&M' +3 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"('M +61 "core" ' +2 "manipulator"&'& +4 "core" &E r s !v +2 "storage"(%& +4 "core" & 8 5 h\  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&'M +36 "core" ' +2 .tElbow.hold +2 "manipulator"&y, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"('7 +22 "core" ' +2 "manipulator"& % +55 "core" %VY : : p ɲ +3 "storage"((& +4 "core" & .\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 309 counts +2 "manipulator"&.'ς +16 "core" ' + "manipulator"&0& +5 "core" &6 v ) # +2 "storage"(T& +4 "core" & A A |\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"& ' +13 "core" ' + "storage"(/% +5 "core" %@ B B \ +2 ."downElevator"SE.seek :down +4 "storage"(4'N +98 (Z% +3 "core" %9   {\ U^ +2 "manipulator"&% +4 "core" % u % +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&2'\ +90 "core" ' +67 ' + ."downElevator"SE.stop + "storage"(5 +3 (9& +4 "core" & M\ \  +2 "collection"'S& +3 "core" &],/\ _ +2 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&A% +4 "core" %\ - "] +2 "storage"( % +4 "core" %U   \  +2 "storage"(. +3 "core" .( + "storage"()& +4 "core" &   \  +2 "storage"(-& +3 "core" &   t\  +2 "manipulator"&& +4 "core" &7 # +2 .tElbow.seek 3 + "manipulator"&(D +15 "core" ( + "manipulator"&7& +4 "core" &M ; % +2 "storage"(<& +4 "core" &   \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&' +93 "core" ' +2 "storage"(I& +4 "core" & $ 4 \  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"("'e +278 "core" ' +2 "storage"(H- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&6& +2 "core" &S A $ +2 "storage"(N& +4 "core" &   e\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&q'M +30 "core" ' +2 .tElbow.hold +2 "manipulator"&,, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(=- +3 "core" -' +2 .tSE.seek 0.12 Pucks below Top Plate +2 "storage"(f's +27 "core" ' + "manipulator"&|% +4 "core" %ae  ȵ +2 "storage"(Q& +4 "core" & w\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 320 counts +2 "manipulator"&3'ύ +18 "core" ' +2 "manipulator"&P& +4 "core" &L m y ? % +2 "storage"(& +3 "core" & % \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&>' +18 "core" ' +2 .tSE.seek 1.12 Pucks below Top Plate +2 "storage"(m'b +50 "core" ' +2 "manipulator"&F& +5 "core" &M  % + "manipulator"&E% +4 "core" %  D +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&h'\ +89 "core" ' +2 .tElbow.seek CC +2 "manipulator"&^( +149 "core" ( + "manipulator"&R& +4 "core" &$ ! ;8 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &G& +2 "core" &# * ;8 +2 .tForearm.seek CC +2 "manipulator"&*'| +93 "core" ' + .tHand.close +2 "manipulator"&`/ +64 "core" / +2 .tCC.seek :open +2 "collection"'](p +410 "core" ( +2 "storage"(U& +4 "core" & u p <\  +2 "storage"(5& +3 "core" & v v J\  +2 "manipulator"& & +3 "core" &  7 +2 "manipulator"&K% +3 "core" % ό  +2 .tForearm.seek :retract +2 "manipulator"&#'\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&$(D +169 "core" ( +2 "manipulator"&D& +4 "core" &? 3 L +2 "storage"(C& +3 "core" & z 7\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 + "manipulator"&k'M +111 "core" ' + .tElbow.hold +2 "manipulator"&Y, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&c1 +60 "core" 1 +2 "manipulator"&W% +4 "core" % To   ĸ +2 "storage"(u& +3 "core" & $ 4 t\  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 3 + 307 counts +2 "manipulator"&\\'π +18 "core" ' + "manipulator"&b& +4 "core" &' h . d +2 "storage"(?& +4 "core" & b\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&' +18 "core" ' + "storage"(B% +5 "core" %f r\ +2 ."downElevator"SE.seek :down +3 "storage"(_'N +99 (g% +3 "core" %>6 \ TY +2 "manipulator"&&% +3 "core" % } +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&J'\ +93 "core" ' +51 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 4 of [2..5] + #Loading generic puck from tube 4 into Collection Clamp + "collection"'o& +5 "core" &\ +2 "manipulator"&z% +4 "core" %\ / #g + "storage"(O% +4 "core" %V x N\  +2 "storage"(8. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 + "storage"((, +354 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 ([& +3 "core" &, C B \  + "manipulator"&X& +4 "core" &' d +2 .tElbow.seek 4 +2 "manipulator"&j(* +3 "core" ( + "manipulator"&r& +4 "core" &' l d +2 "storage"(}& +3 "core" &, r p 2\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&e' +100 "core" ' + "storage"(L& +4 "core" &, \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(+'e +290 "core" ' + "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (@& +2 "core" &, t { }\  +2 "manipulator"&& +4 "core" &( ~ c +2 .tElbow.seek 4 + "manipulator"&d(* +3 "core" ( +2 "manipulator"&V& +4 "core" &( $ c + "storage"(a& +4 "core" &, h g h\  +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&~'Z +12 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&!/ +61 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&{& +2 "storage"('N +8 "core" &(  c + "manipulator"&% +4 "core" % Q  R +2 .tForearm.seek :retract +2 "manipulator"&'\ +96 "core" ' +2 .tElbow.seek CC + "manipulator"&( +148 "core" ' + ."downElevator"SE.stop + "storage"(5 +4 "core" ( +2 "manipulator"&& +3 "core" &$ A ;8 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &l& +2 "core" &# ) ;8 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&'| +114 "core" ' + "manipulator"&& +4 "core" &$ V ;7 +2 "manipulator"&v% +4 "core" %q 4 +2 "collection"'& +4 "core" &\ +3 "collection"'n& +4 "core" &\ +3 .tCC.seek :closed + "collection"'(] +5 "core" &\  +8 &1\ +{ +10 &b\ > +9 &D\ O +10 & b\ M +9 &h\ N +9 &g\ N +10 &!Md\ N +9 &#e\ N +9 &$c\ N +10 &&e\ N +9 &(Vd\ N +10 &*b\ M +9 &+c\ N +9 &-b\ N +10 &/]d\ N +9 &1e\ N +9 &2e\ N +10 &4c\ N +9 &6ea\ N +9 &8(`\ N +10 &9c\ N +9 &;_\ N +10 &=nb\ N +9 &?0a\ N +9 &@b\ N +10 &Bf\ N +9 &Dwa\ M +9 &F7e\ N +10 &Gg\ N +9 &Iu\ P +10 &Kpa\ R +9 &M&\ W +9 &N\ X +10 &P\ Y +9 &Re\ Y +9 &T%y\ Z +10 &Ulp\ Z +9 &W^c\ Z +10 &YdNV\ \\ +9 &[$AH\ ] +9 &\\{4;\ 7 +10 &]#.1\ 'q +9 &]s./\ O +2 ( +2 "collection"'n& +3 #tCollection Clamp onSpring/offSpring for 9/25 samples, on/off torque 1.98 +2 .Hand.open + "manipulator"&11 +53 "core" 1 + "manipulator"&s% +5 "core" % u 3 + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&\ '\ +94 "core" ' +2 #tLoading generic puck from tube 4 into Processing Clamp +52 "processing"%i& +5 "core" &\ +2 "manipulator"&p% +3 "core" %\ 0 4 #c +2 "storage"('% +4 "core" %N   \  + "storage"(%. +4 "core" .(, + "storage"(& +4 "core" &,   L\  + "storage"( & +4 "core" &,   ^\  +2 "manipulator"&t& +3 "core" &# 5 :- +2 "manipulator"&(% +4 "core" %\ / 6 #c +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&0(* +155 "core" ( +2 "manipulator"&T& +4 "core" &) + + "storage"(& +4 "core" &, B B r\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&/' +97 "core" ' +2 "storage"(& +4 "core" &, Z [\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(w'e +283 "core" ' +2 "storage"(M- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (Z& +2 "core" &, 8 A 3\  +2 "manipulator"&& +4 "core" &*  +2 .tElbow.seek 4 +2 "manipulator"&:(* +3 "core" ( + "manipulator"&& +4 "core" &* s + "storage"(& +4 "core" &, B A \  +2 .tForearm.seek 4 + 300 counts +3 "manipulator"&9'Z +20 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&./ +62 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&S& +2 "storage"(A'N +7 "core" &* q p ] +2 "manipulator"& % +3 "core" % R s } +2 .tForearm.seek :retract +2 "manipulator"&'\ +88 "core" ' +2 .tElbow.seek PC +2 "manipulator"&(c +167 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +85 "core" ( +2 "manipulator"&)& +5 "core" &e  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &-& +2 "core" &e  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&'[ +105 "core" ' + "manipulator"&7& +4 "core" &e 4 +2 "manipulator"&<% +4 "core" %U ' +2 "processing"% & +4 "core" &\ +2 "processing"%I& +5 "core" &\ +2 .tPC.seek :closed + "processing"%4(Z +4 "core" &\  +9 &-~|\ +z +9 &ez\ ? +9 &Az\ N +10 &]\ M +9 &c\ M +10 &`\ M +9 &!Jb\ N +9 &# ]\ M +10 &$Z\ M +9 &&]\ M +9 &(S\\\ M +10 &*`\ M +9 &+`\ M +9 &-a\ M +10 &/[c\ M +9 &1a\ M +10 &2b}\ M +9 &4\\~\ M +9 &6c\\\ M +10 &8%]\ M +9 &9\\\ M +9 &;\\\ M +10 &=k`\ M +9 &?,c\ N +10 &@a\ N +9 &B\\\ M +9 &Dsb\ M +10 &F4d\ N +9 &Gi\ N +9 &It\ P +10 &Ko\ Q +9 &M+\ S +10 &N\ S +9 &P\ T +9 &Rq\ S +10 &T0\ T +9 &U\ U +9 &W\ U +10 &Yu\ B +9 &Zx>\ Z +10 &Z \ + +2 ( +2 "processing"%I& +3 #tProcessing Clamp onSpring/offSpring for 9/25 samples, on/off torque 1.59 + .Hand.open +2 "manipulator"&y1 +62 "core" 1 + "manipulator"&2% +5 "core" % X  } + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&H'\ +89 "core" ' +2 "processing"%6& +4 "core" &Z"\ + +2 #tImaging generic puck in Processing Clamp while storing it to tube 4 + "manipulator"&N% +4 "core" %\ ( v J + "storage"(=% +4 "core" %U \  +2 "storage"(|. +3 "core" .(, + "storage"(Q& +4 "core" &,  k\  +2 "storage"(P& +3 "manipulator"&& +6 "core" &,   \  + &e +4 .tElbow.reconfigure :tight + ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +4 "storage"(#]kK-0-\ b + .tElbow.seek PC +4 "manipulator"&F(c +4 ."raiseStack"SE.seek :beamBreak +2 "storage"(E'e +2 "core" ( +2 "manipulator"&& +4 "core" &e + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &e +2 .tForearm.seek PC +2 "manipulator"&"'[ +96 "core" ' +2 .tHand.close + "manipulator"&q/ +63 "core" / +2 .tPC.seek :open +2 "processing"%3(p +85 "core" ' + "storage"(f- +4 "core" -'e + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(R'B +42 "core" ' +254 ( + "storage"(G& +4 "core" &, C B \  +2 "manipulator"&>& +4 "core" &e  + "manipulator"&,% +4 "core" % Z  + .tForearm.seek :retract +2 "manipulator"&`'\ +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&h(* +256 "core" ( + "manipulator"& & +5 "core" &+ 4 "y + "storage"(U& +4 "core" &, A A \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&5' +100 "core" ' + .tHand.open + "manipulator"& 1 +54 "core" 1 +2 "storage"(K- +3 "core" -'B +3 .tSE.seek -0.16 Pucks below Top Plate + "storage"(D' +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(C' +51 "core" ' +2 #tLights, camera, ACTION! + "storage"(*- +4 "core" -' + "storage"(^& +4 "core" &, T\  +2 "manipulator"&c& +4 "core" &+ "y +2 .tElbow.seek 4 +2 "manipulator"&W(* +3 "core" ( + "manipulator"&u& +4 "core" &+ , "y +2 "storage"(b& +4 "core" &, U\  +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&?' +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"(B'M +62 "core" ' +2 "manipulator"&#& +4 "core" &+ { "y +2 "storage"(g& +3 "core" &, 4 4\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&&'. +35 "core" ' + .tElbow.hold +2 "manipulator"&$, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"(k'7 +24 "core" ' +2 "manipulator"&o% +4 "core" %:Q 7 9 G ʰ +2 "storage"(\\& +4 "core" &, R\  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 4 + 312 counts + "manipulator"&z'f +18 "core" ' + "manipulator"&O& +5 "core" &  % + "storage"(8& +4 "core" &, : D f\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&m' +17 "core" ' +2 "storage"(% +4 "core" %? Y Y\ +3 ."downElevator"SE.seek :down +4 "storage"(_'N +98 (;% +2 "core" %98 : ? C\ TZ +2 "manipulator"&[% +4 "core" % s s Q  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&X'\ +90 "core" ' +58 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (r& +4 "core" &,  . !\  + "collection"'}& +4 "core" &]p1.\ O +2 #tStoring generic puck in Collection Clamp to tube 4 + "manipulator"&L% +4 "core" %\ ( > 9 +2 "storage"(Y% +4 "core" %H 4 5 \  + "storage"(J. +3 "core" .(, +2 "storage"(& +3 "core" &, 4 ? !\  +2 "storage"(@& +4 "core" &, 4 5 \  + "manipulator"&& +4 "core" & L % +2 .tElbow.seek 4 +2 "manipulator"&V(* +13 "core" ( + "manipulator"&a& +5 "core" &@  \\ + "storage"(!& +4 "core" &, C B \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&{' +101 "core" ' +2 "storage"(& +4 "core" &, [ Y\  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(j'e +283 "core" ' + "storage"(e- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&& +3 "core" &I\ H S +2 "storage"(l& +3 "core" &, U X \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&+'. +34 "core" ' +2 .tElbow.hold +2 "manipulator"&~, +3 "core" , +2 .tElbow.reconfigure :tight +52 "manipulator"&$&.,(\ #b +3 "storage"(- +2 "core" -' +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(v'n +29 "core" ' + "manipulator"&d% +5 "core" %?` + +  Ǵ + "storage"(& +4 "core" &, \  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 4 + 317 counts +2 "manipulator"&'k +18 "core" ' +2 "manipulator"&& +5 "core" &  $ + "storage"(]& +4 "core" &, > 8\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&1' +18 "core" ' +2 .tSE.seek 1.11 Pucks below Top Plate +2 "storage"(s'] +47 "core" ' +2 "manipulator"&i& +4 "core" & v r 9 $ +2 "manipulator"&n% +4 "core" % q s 1 +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&p'\ +89 "core" ' +2 .tElbow.seek CC +2 "manipulator"&'( +167 "core" ( + "manipulator"&%& +4 "core" & V +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" & V +2 .tForearm.seek CC + "manipulator"& '| +97 "core" ' +2 .tHand.close + "manipulator"&t/ +53 "core" / +2 .tCC.seek :open +2 "collection"'((p +411 "core" ( + "storage"(& +5 "core" &, \  + "storage"(T& +4 "core" &, _\  + "manipulator"&& +4 "core" &\ V +2 "manipulator"&% +3 "core" % ϋ +2 .tForearm.seek :retract +2 "manipulator"&'\ +96 "core" ' +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&\ (* +151 "core" ( + "manipulator"&M& +4 "core" &4  +2 "storage"(Z& +4 "core" &, \  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 4 +2 "manipulator"&'. +114 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&1 +57 "core" 1 +2 "manipulator"&.% +5 "core" % ?k   H ÷ + "storage"(S& +4 "core" &, 4 5 <\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 317 counts +2 "manipulator"& 'k +16 "core" ' + "manipulator"&0& +5 "core" & n   + "storage"(/& +4 "core" &, \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&w' +22 "core" ' +2 "storage"(9% +4 "core" %\\ ?\ +2 ."downElevator"SE.seek :down +3 "storage"()'N +99 (-% +3 "core" %F: \ U[ +2 "manipulator"&:% +4 "core" % {  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&7'\ +92 "core" ' +49 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 5 of [2..5] + #Loading generic puck from tube 5 into Collection Clamp +2 "collection"'<& +4 "core" &\ +2 "manipulator"& % +3 "core" %\ * F +2 "storage"(A% +4 "core" %\\ {\  +2 "storage"(. +3 "core" .(, +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 + "storage"(x(<< +352 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (y& +2 "core" &<: X Z\  +2 "manipulator"&2& +4 "core" &  + .tElbow.seek 5 +2 "manipulator"&6( +17 "core" ( +2 "manipulator"&N& +4 "core" & ? + "storage"(=& +4 "core" &<: i D\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&|' +106 "core" ' +2 "storage"(Q& +4 "core" &<: ]\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(P'e +291 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (I& +3 "core" &<: O\  +2 "manipulator"&& +4 "core" & | = + .tElbow.seek 5 +2 "manipulator"&( +17 "core" ( +2 "manipulator"&& +4 "core" & | w + "storage"(q& +4 "core" &<: M\  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&f'[ +24 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +64 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"&H& + "storage"(4'N +7 "core" & u s +2 "manipulator"&G% +4 "core" % R q z +2 .tForearm.seek :retract + "manipulator"&E'\ +97 "core" ' +2 .tElbow.seek CC +2 "manipulator"&>( +144 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +9 "core" ( + "manipulator"&,& +4 "core" &   6 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &"& +2 "core" &  , 6 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"& '| +97 "core" ' +2 "manipulator"&U& +4 "core" &  { 6 +2 "manipulator"&F% +4 "core" %τ a +2 "collection"' & +4 "core" &\ +2 "collection"'K& +5 "core" &\ +2 .tCC.seek :closed +3 "collection"'*(] +3 "core" &\ +6 &\ 6 +9 &G\ 1 +9 &?r\ F +10 &k\ N +9 &`\ N +9 &jc\ N +10 & ,f\ N +9 &!e\ N +10 &#e\ N +9 &%tb\ M +9 &'5e\ N +10 &(d\ N +9 &*b\ M +10 &,{c\ N +9 &.<g\ N +9 &/e\ N +10 &1f\ N +9 &3c\ N +9 &5Db\ N +10 &7b\ N +9 &8_\ N +9 &:c\ N +10 &b\ N +10 &?g\ N +9 &Ab\ N +9 &CUb\ N +10 &E`\ M +9 &Fb\ N +9 &Hg\ O +10 &JTu\ Q +9 &L:h\ T +10 &M\ X +9 &O\ X +9 &QD\ Y +10 &S\ Z +10 &T}\ Z +8 &Vls\ [\ +10 &XF`d\ [\ +9 &ZOV\ ] +10 &[AG\ ^ +9 &]'O38\ 4 +9 &] 03\ T +6 ( + "collection"'K& +4 "core" &]o43\ T +2 #tCollection Clamp onSpring/offSpring for 9/26 samples, on/off torque 2.00 + .Hand.open +2 "manipulator"&^1 +63 "core" 1 +2 "manipulator"&c% +4 "core" % σ > +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&u'\ +92 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp + "processing"%b& +5 "core" &\ + "manipulator"&`% +4 "core" %\ ( J + "storage"(#% +4 "core" %G 4 2 A\  +2 "storage"(g. +3 "core" .(<< + "storage"(R& +4 "core" &<:  " \  + "storage"(o& +5 "core" &<: 2 # \  + "manipulator"&\\& +4 "core" & y 5 + "manipulator"&D% +4 "core" %\ )  J +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&O( +157 "core" ( + "manipulator"&8& +4 "core" &   +2 "storage"(& +3 "core" &<: : 7 <\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&h' +93 "core" ' + "storage"(5& +5 "core" &<: Y Y\  + .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(C'e +282 "core" ' +2 "storage"(;- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 ([& +2 "core" &<: @ 6 \  +2 "manipulator"&?& +4 "core" &   +2 .tElbow.seek 5 + "manipulator"&W( +4 "core" ( + "manipulator"&B& +4 "core" &   + "storage"(&& +4 "core" &<: 7 7\  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&r'[ +19 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&z/ +58 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&}& + "storage"(L'N +6 "core" & t t +  +2 "manipulator"&Y% +4 "core" % Z { t | +2 .tForearm.seek :retract +2 "manipulator"&J'\ +95 "core" ' + .tElbow.seek PC +2 "manipulator"&(c +157 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +90 "core" ( + "manipulator"&k& +4 "core" &j = +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &@& +3 "core" &j N +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&'[ +104 "core" ' +2 "manipulator"&a& +4 "core" &j  +2 "manipulator"&!% +4 "core" %e _ +2 "processing"%m& +4 "core" &\ +3 "processing"%& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%_(Z +4 "core" &\ +7 & +\ #b +9 &\\V\ 8 +10 &\ L +9 &rZ\ M +10 &3`\ N +9 &_\ N +9 & b\ N +10 &"z_\ M +9 &$;`\ N +9 &%_\ M +10 &'Z\ N +9 &)^\ N +10 &+D[\ M +9 &-]\ M +9 &._\ M +10 &0]\ M +9 &2Ka\ N +9 &4Z\ M +10 &5]\ M +9 &7`\ M +10 &9T\\\ M +9 &;a\ N +9 &<\\\ N +10 &>a\ N +9 &@[]\ N +9 &B]\ M +10 &C[\ N +9 &E\\\ N +9 &G`g\ O +10 &I o\ O +9 &J\ R +10 &L\ S +9 &NY\ T +9 &P\ T +10 &Q\ T +9 &S\ T +10 &U^\ U +9 &W \ U +9 &X\ U +10 &Z;In\ + +9 &Z C\ , +5 ( +2 "processing"%& +4 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.58 +2 .Hand.open + "manipulator"&$1 +4 "core" &Z!\ , +54 1 +2 "manipulator"&X% +4 "core" % e +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&e'\ +102 "core" ' +2 "processing"%& +4 "core" &Z \ , + #tImaging generic puck in Processing Clamp while storing it to tube 5 +2 "manipulator"&l% +3 "core" %\ 6 & +2 "storage"(% +4 "core" %S   a\  + "storage"(d. +4 "core" .(<< + "storage"(& +4 "core" &<:   \\\  +2 "storage"(& +4 "manipulator"&]& +4 "core" &<:   5\  +2 &j  +2 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +6 "manipulator"&$&.,(\ #b +2 "storage"(#]kK-0-\ b +3 .tElbow.seek PC +5 "manipulator"&i(c +3 ."raiseStack"SE.seek :beamBreak +2 "storage"(n'e +2 "core" ( +2 "manipulator"&{& +3 "core" &j D +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &V& +2 "core" &j d +3 .tForearm.seek PC + "manipulator"&j'[ +95 "core" ' + .tHand.close +2 "manipulator"&+/ +64 "core" / +2 .tPC.seek :open +2 "processing"%(p +88 "core" ' + "storage"(v- +4 "core" -'e + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(%'B +40 "core" ' +253 ( + "storage"(& +4 "core" &<: @ A o\  +2 "manipulator"&1& +3 "core" &j  +2 "manipulator"&~% +4 "core" % e + +2 .tForearm.seek :retract + "manipulator"&t'\ +91 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&p( +245 "core" ( +2 "manipulator"&& +4 "core" & s . +2 "storage"(& +3 "core" &<: 3 4 \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&T' +93 "core" ' + .tHand.open +2 "manipulator"&1 +59 "core" 1 +2 "storage"(- +4 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate +2 "storage"(M' +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.83 Pucks below Top Plate + "storage"(Z' +52 "core" ' + #tLights, camera, ACTION! + "storage"( - +4 "core" -' +2 "storage"('& +4 "core" &<: e\  + "manipulator"&& +4 "core" & K . +2 .tElbow.seek 5 + "manipulator"&.( +4 "core" ( + "manipulator"&S& +4 "core" & J . + "storage"(0& +4 "core" &<: ]\  +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&/' +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"(9'M +64 "core" ' + "manipulator"&& +4 "core" &  . +2 "storage"(-& +4 "core" &<: 7 B \  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 + "manipulator"&:'/ +35 "core" ' + .tElbow.hold +2 "manipulator"&\ , +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"('7 +24 "core" ' + "manipulator"&<% +5 "core" %9e ) , , Ƶ + "storage"( & +5 "core" &<: \  + .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 5 + 310 counts + "manipulator"& 'e +17 "core" ' +2 "manipulator"&A& +4 "core" & { % +2 "storage"(& +4 "core" &<: * -\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&s' +18 "core" ' +2 "storage"(w% +4 "core" %@ Y [\ +3 ."downElevator"SE.seek :down +3 "storage"()'N +99 (% +2 "core" %66 4 4\ U\\ +2 "manipulator"&y% +5 "core" % v  * +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&2'\ +90 "core" ' +58 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (N& +4 "core" &<: -  \  +2 "collection"'=& +4 "core" &]n56\ T + #tStoring generic puck in Collection Clamp to tube 5 +2 "manipulator"&Q% +4 "core" %\ ) z J + "storage"(% +4 "core" %F 4 > !\  + "storage"(7. +3 "core" .(<< +2 "storage"(& +4 "core" &<: 5 4 \  + "storage"(I& +4 "core" &<: 6 4 \  +2 "manipulator"&& +4 "core" & % + .tElbow.seek 5 +2 "manipulator"&( +31 "core" ( + "manipulator"&q& +5 "core" &  + "storage"(& +4 "core" &<: ; 8 e\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&H' +94 "core" ' +2 "storage"(G& +4 "core" &<: Y Y\  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(6'e +278 "core" ' +2 "storage"(|- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&,& +2 "core" &  +2 "storage"("& +4 "core" &<: E C \  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 + "manipulator"&P'/ +35 "core" ' + .tElbow.hold +2 "manipulator"&f, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(U- +3 "core" -' +2 .tSE.seek 0.12 Pucks below Top Plate +2 "storage"(F'q +36 "core" ' +2 "manipulator"& % +4 "core" %?U * ) J Ʊ + "storage"(& +4 "core" &<: \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 316 counts + "manipulator"&4'k +17 "core" ' +2 "manipulator"&E& +4 "core" & _ x .  + "storage"((& +4 "core" &<: [ Y\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&^' +18 "core" ' +2 .tSE.seek 1.12 Pucks below Top Plate +2 "storage"(c'` +48 "core" ' +2 "manipulator"&b& +4 "core" & o p -  +2 "manipulator"&`% +4 "core" % r q C + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&#'\ +96 "core" ' +2 .tElbow.seek CC +2 "manipulator"&g( +164 "core" ( + "manipulator"&R& +4 "core" & + 7 A` +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &K& +3 "core" & +  A` +2 .tForearm.seek CC +2 "manipulator"&o'| +97 "core" ' +2 .tHand.close + "manipulator"&\\/ +63 "core" / +2 .tCC.seek :open + "collection"'D(p +411 "core" ( +2 "storage"( & +4 "core" &<: { w I\  + "storage"(8& +4 "core" &<: v v r\  + "manipulator"&& +4 "core" && \\ >K + "manipulator"&5% +4 "core" % j +2 .tForearm.seek :retract +2 "manipulator"&>'\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&u( +154 "core" ( + "manipulator"&;& +4 "core" & z  +2 "storage"([& +3 "core" &<: \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 5 +2 "manipulator"&?'/ +109 "core" ' + .tElbow.hold +2 "manipulator"&B, +54 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&&1 +63 "core" 1 +2 "manipulator"&z% +5 "core" % > # } M + "storage"(}& +4 "core" &<: ) ) 6\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 315 counts +2 "manipulator"&Y'j +17 "core" ' + "manipulator"&O& +4 "core" & h I A +2 "storage"(h& +4 "core" &<: i\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&C' +20 "core" ' +2 "storage"(r% +4 "core" %d X\ +3 ."downElevator"SE.seek :down +3 "storage"(k'N +99 (@% +2 "core" %k; \ TY +2 "manipulator"&W% +5 "core" % {  + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&a'\ +90 "core" ' +47 ' +2 ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 2 of [2..5] +2 #Loading generic puck from tube 2 into Collection Clamp + "collection"'!& +4 "core" &\ +2 "manipulator"&m% +4 "core" %\ * !S + "storage"(L% +5 "core" %D W\  + "storage"(J. +3 "core" .(<< +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 + "storage"(3(  +987 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 ($& +2 "core" &  X H A\ +2 "manipulator"&X& +4 "core" & A +2 .tElbow.seek 2 +2 "manipulator"&(; +34 "core" ( + "manipulator"&l& +5 "core" &9 "  + "storage"(& +4 "core" &  \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&d'Ѐ +105 "core" ' + "storage"(& +5 "core" &  +\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('e +278 "core" ' +2 "storage"(]- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +2 "core" &  +\ +2 "manipulator"&{& +3 "core" &9 p q K  +2 .tElbow.seek 2 +2 "manipulator"&V(; +3 "core" ( + "manipulator"&& +4 "core" &9 r w   +3 "storage"(+& +3 "core" &  >\ +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&v' +19 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +59 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&e& + "storage"(_'N +7 "core" &9 {  +2 "manipulator"&% +4 "core" % j  +2 .tForearm.seek :retract +2 "manipulator"&1'\ +99 "core" ' +2 .tElbow.seek CC + "manipulator"&n( +140 "core" ' + ."downElevator"SE.stop + "storage"(5 +13 "core" ( + "manipulator"&~& +4 "core" &" :+ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &j& +2 "core" &# 6 :+ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&'| +97 "core" ' + "manipulator"&& +5 "core" &# k :+ +2 "manipulator"&i% +4 "core" %σ   +2 "collection"'& +4 "core" &\ +2 "collection"'& +5 "core" &\ +2 .tCC.seek :closed +2 "collection"' (] +4 "core" &\  +9 &/\ +| +9 &d\ ? +9 &I}\ N +10 & b\ M +9 &e\ N +10 &g\ N +9 &!Qg\ N +9 &#e\ N +10 &$c\ N +9 &&h\ N +9 &([e\ M +10 &*c\ M +9 &+c\ M +9 &-f\ N +10 &/cd\ M +9 &1#e\ N +10 &2c\ N +9 &4_\ M +9 &6ja\ N +10 &8,b\ N +9 &9b\ N +9 &;_\ M +10 &=sf\ M +9 &?4_\ N +10 &@a\ M +9 &Bc\ N +9 &D{`\ M +10 &F<`\ N +13 &Gh\ N +5 &Iy\ P +10 &KtX{\ R +9 &M*\ W +10 &N\ W +9 &P\ X +9 &Rj\ Y +10 &T*r{\ Y +9 &Udj\ \\ +9 &WTZ\ Z +10 &YgBJ\ \\ +9 &[&3:\ ] +10 &\\'-\ ; +9 &]& %\ %m +9 &]m !\ M +3 ( +2 "collection"'& +2 #tCollection Clamp onSpring/offSpring for 9/25 samples, on/off torque 1.99 +2 .Hand.open + "manipulator"&'1 +53 "core" 1 +2 "manipulator"&% +4 "core" % σ  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&S'\ +92 "core" ' + #tLoading generic puck from tube 2 into Processing Clamp +2 "processing"%0& +4 "core" &\ + "manipulator"&t% +4 "core" %\ ' k ? +2 "storage"(% +3 "core" %> 4 5\ \ +2 "storage"(-. +3 "core" .(  + "storage"(%& +4 "core" &  : < b\ +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 +2 "storage"(<(  +29 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 ( & +2 "core" &  ]\ +2 "manipulator"&M& +4 "core" &" 9( + "manipulator"&A% +4 "core" %\ ( ? +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&(; +169 "core" ( + "manipulator"&w& +5 "core" &8 ` M + "storage"(p& +4 "core" &  9 - U\ # +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&T'Ѐ +111 "core" ' +2 "storage"(Z& +4 "core" &  Z ^ u\ # +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"('e +285 "core" ' + "storage"(y- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (/& +3 "core" &  9 ; #\ / + "manipulator"&.& +4 "core" &8\ |  M +2 .tElbow.seek 2 + "manipulator"&9(; +4 "core" ( + "manipulator"&:& +4 "core" &8\ | ' M + "storage"(N& +4 "core" &  Y Y\ / +2 .tForearm.seek 2 + 300 counts +2 "manipulator"& ' +24 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&=/ +53 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&Q& + "storage"('N +6 "core" &8 r | 2 M +2 "manipulator"&7% +4 "core" % r p  +2 .tForearm.seek :retract +2 "manipulator"&'\ +93 "core" ' +3 .tElbow.seek PC +2 "manipulator"&(c +153 "core" ' + ."downElevator"SE.stop + "storage"(5 +100 "core" ( + "manipulator"&I& +5 "core" &j F + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &j +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&q'[ +96 "core" ' + "manipulator"&& +4 "core" &j +2 "manipulator"&s% +4 "core" %V + "processing"%G& +4 "core" &\ +2 "processing"%)& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%\ (Z +4 "core" &\ +7 & +\ #a +9 &\\V{\ 8 +10 &\ L +9 &p]\ N +10 &3]\ M +9 &\\\ M +9 & `\ N +10 &"yY\ M +9 &$;_\ M +9 &%_\ M +10 &'[\ M +9 &)_\ M +10 &+C_\ M +9 &-b\ N +9 &.`\ N +10 &0Z\ M +9 &2K`\ M +9 &4 Z\ M +10 &5_\ M +9 &7`\ M +10 &9S_\ M +9 &;`\ N +9 &<\\\ M +10 &>]\ N +9 &@[`\ M +10 &B]\ M +9 &C`\ M +9 &Eb\ N +10 &G`g\ N +9 &Ip\ P +9 &J\ Q +10 &L\ S +9 &NX\ T +9 &P\ S +10 &Q\ S +9 &S\ T +10 &U^\ T +9 &W \ T +9 &X\ U +10 &Z=Lp\ +~ +9 &Z\ 4\ ) +5 ( +2 "processing"%)& +4 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.57 +2 .Hand.open + "manipulator"&21 +3 "core" &Z\ ) +49 1 + "manipulator"&|% +5 "core" % V E +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&,'\ +91 "core" ' +2 "processing"%"& +4 "core" &Z\ ) + #tImaging generic puck in Processing Clamp while storing it to tube 2 +2 "manipulator"&U% +3 "core" %\ %  8 +2 "storage"( % +4 "core" %H . % ,\  + "storage"(. +3 "core" .(  +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 + "storage"(E(  +46 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 ((& +5 "manipulator"&b& + "core" &  ~\ +5 ."raiseStack"SE.reconfigure :place +3 "storage"(#]kK-0-\ b +2 "core" &j  +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC + ."raiseStack"SE.seek :beamBreak +3 "manipulator"&`(c +2 "storage"(H'e +55 "core" ( +3 "manipulator"&& +3 "core" &j  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &6& +2 "core" &j n +3 .tForearm.seek PC + "manipulator"&P'[ +96 "core" ' + .tHand.close +2 "manipulator"&4/ +59 "core" / +2 .tPC.seek :open +2 "processing"%F(p +88 "core" ' + "storage"(R- +4 "core" -'e + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(K'B +37 "core" ' +256 ( + "storage"(^& +4 "core" &  B B w\ +2 "manipulator"&f& +4 "core" &j - + "manipulator"&\\% +4 "core" % W  +2 .tForearm.seek :retract +2 "manipulator"&#'\ +105 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&*(; +254 "core" ( +2 "manipulator"& & +4 "core" &A 7 "| +2 "storage"(8& +4 "core" &  3 6 \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&'Ѐ +102 "core" ' +2 .tHand.open +2 "manipulator"&51 +63 "core" 1 +2 "storage"(;- +4 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate +2 "storage"([' +22 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(o' +49 "core" ' +2 #tLights, camera, ACTION! + "storage"(g- +4 "core" -' + "storage"(&& +4 "core" &  W\ +2 "manipulator"&z& +4 "core" &A - "| + .tElbow.seek 2 +2 "manipulator"&}(; +3 "core" ( +2 "manipulator"&O& +4 "core" &A  "| + "storage"(h& +5 "core" &  ]\ +2 .tForearm.seek 2 + 450 counts + "manipulator"&>'Ѐ +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.11 Pucks below Top Plate + "storage"(r'M +59 "core" ' + "manipulator"&u& +4 "core" &A s s [ "| +2 "storage"(@& +4 "core" &  9 K \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&W'ξ +36 "core" ' + .tElbow.hold +2 "manipulator"&?, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"(!'7 +27 "core" ' + "manipulator"&m% +5 "core" %Z + 4 & Dz + "storage"(Y& +5 "core" &  \ + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 309 counts +2 "manipulator"&L' +19 "core" ' + "manipulator"&J& +5 "core" &W t x , f + "storage"(c& +5 "core" &  Y Y\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&C'Ѐ +20 "core" ' +2 "storage"(k% +4 "core" %= Y Z\ +3 ."downElevator"SE.seek :down +3 "storage"(x'N +99 ($% +2 "core" %F9 A ? Z\ U] +2 "manipulator"&X% +4 "core" %Z q s y  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&l'\ +86 "core" ' +62 ' + ."downElevator"SE.stop + "storage"(5 +3 (& +4 "core" &  /  /\ +2 "collection"'& +4 "core" &]k&*\ M + #tStoring generic puck in Collection Clamp to tube 2 +2 "manipulator"&B% +3 "core" %\ % 8 +2 "storage"(a% +4 "core" %B A D \  + "storage"(]. +4 "core" .(  + "storage"(& +4 "core" &  : A t\ +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 + "storage"({(  +32 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (& +2 "core" &  \ $ +2 "manipulator"&+& +4 "core" &W ` f +2 .tElbow.seek 2 + "manipulator"&(; +27 "core" ( + "manipulator"&e& +5 "core" &: i  + "storage"(& +4 "core" &  V L \ ' +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&'Ѐ +93 "core" ' + "storage"(d& +4 "core" &  Y Y\ ' +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(~'e +285 "core" ' + "storage"(j- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&& +3 "core" &: q s  +2 "storage"(v& +3 "core" &  L 7 \ 4 +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&'ξ +34 "core" ' +2 .tElbow.hold + "manipulator"&i, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(- +3 "core" -' +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(V'm +25 "core" ' + "manipulator"&_% +5 "core" %R * * E ư + "storage"(1& +4 "core" &  {\ 4 + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 2 + 309 counts +2 "manipulator"&D' +18 "core" ' +2 "manipulator"&'& +4 "core" &E i v h  +2 "storage"(& +3 "core" &  B : \ 4 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&0'Ѐ +16 "core" ' +2 .tSE.seek 1.11 Pucks below Top Plate +2 "storage"(t'\\ +49 "core" ' + "manipulator"&& +5 "core" &E s r e  + "manipulator"&-% +5 "core" %z s q d + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&%'\ +87 "core" ' +2 .tElbow.seek CC + "manipulator"&( +169 "core" ( +2 "manipulator"& & +4 "core" &% ~ 1 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &M& +2 "core" &% / 1 +2 .tForearm.seek CC +2 "manipulator"&A'| +96 "core" ' + .tHand.close + "manipulator"&/ +62 "core" / + .tCC.seek :open +2 "collection"'w(p +411 "core" ( + "storage"(p& +4 "core" &  f l S\ 4 +2 "storage"(3& +4 "core" &  | } e\ 4 + "manipulator"&n& +4 "core" &%  1 + "manipulator"&Z% +4 "core" % σ  +2 .tForearm.seek :retract +2 "manipulator"&S'\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&y(; +164 "core" ( + "manipulator"&/& +5 "core" &6 b 3 + "storage"(.& +4 "core" &  y p\ 4 +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 2 + "manipulator"&:'ξ +107 "core" ' +2 .tElbow.hold +2 "manipulator"&N, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&=1 +56 "core" 1 +2 "manipulator"&Q% +4 "core" % i  Z ö + "storage"(7& +4 "core" &  4 5 6\ 4 + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 309 counts +2 "manipulator"&' +18 "core" ' + "manipulator"&T& +4 "core" &a ` x L  +2 "storage"(& +4 "core" &  \ 4 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"& 'Ѐ +17 "core" ' + "storage"(I% +4 "core" %` \ +3 ."downElevator"SE.seek :down +3 "storage"('N +99 (9% +2 "core" %\\4 \ TX +2 "manipulator"&% +5 "core" %w s p + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&s'\ +90 "core" ' +48 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 3 of [2..5] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"'G& +4 "core" &\ +2 "manipulator"&% +4 "core" %\ - J + "storage"(% +5 "core" %A \  + "storage"(. +3 "core" .(  +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 + "storage"(2( +346 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (|& +2 "core" &, C O M\  +2 "manipulator"&"& +4 "core" &a  + .tElbow.seek 3 +52 "manipulator"&U(D +44 "core" ( + "manipulator"& & +5 "core" &?\  ] + "storage"(& +4 "core" & \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&)' +102 "core" ' + "storage"((& +5 "core" & '\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(b'e +281 "core" ' +2 "storage"(- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (6& +3 "core" & \  + "manipulator"&q& +4 "core" &A\ r r j [ +2 .tElbow.seek 3 +2 "manipulator"&<(D +3 "core" ( + "manipulator"&4& +4 "core" &A w s i [ + "storage"(& +4 "core" & \  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&R'y +21 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&,/ +57 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&\ & +2 "storage"(^'N +7 "core" &A\ M [ +2 "manipulator"&H% +4 "core" % ~ r + .tForearm.seek :retract +2 "manipulator"&f'\ +96 "core" ' +2 .tElbow.seek CC +2 "manipulator"&\\( +140 "core" ( + "manipulator"&P& +5 "core" & f / + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 "core" ' +2 "manipulator"& & + ."downElevator"SE.stop +6 "storage"(5 +2 "core" & / +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&8'| +96 "core" ' +2 "manipulator"&`& +4 "core" & ' / +2 "manipulator"&5% +4 "core" %y >  +2 "collection"';& +4 "core" &\ +2 "collection"'g& +4 "core" &\ +3 .tCC.seek :closed + "collection"'&(] +5 "core" &\  +9 &2\ *z +9 &d\ ? +9 &R~\ N +10 &`\ M +9 &h\ N +9 &j\ N +10 &![c\ N +9 &#e\ N +10 &$g\ N +9 &&e\ N +9 &(dd\ M +10 &*&c\ M +9 &+_\ M +10 &-a\ M +9 &/kg\ N +9 &1,h\ N +10 &2d\ M +9 &4`\ M +9 &6td\ M +10 &85^\ N +9 &9b\ N +9 &;^\ M +10 &={e\ N +9 &?=c\ N +10 &Ac\ M +9 &Be\ N +9 &D_\ M +10 &FFb\ M +9 &Hj\ O +10 &Is\ O +9 &K}X\ R +9 &M2\ W +10 &N\ X +9 &P\ Y +9 &Rr\ Y +10 &T1~\ Z +9 &Uow\ [\ +9 &Wah\ [ +10 &YnTY\ ] +9 &[.EK\ ^ +10 &\\s4;\ > +9 &]'12\ &p +9 &]n/0\ N +3 ( +2 "collection"'g& +2 #tCollection Clamp onSpring/offSpring for 9/25 samples, on/off torque 1.98 +2 .Hand.open + "manipulator"&z1 +63 "core" 1 +2 "manipulator"&O% +4 "core" % y   +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&h'\ +101 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%#& +5 "core" &\ + "manipulator"&u% +4 "core" %\ 3 G % + "storage"(@% +4 "core" %E % 3\  +2 "storage"(m. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(K( +3 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (Y& +3 "core" &+ \  +2 "manipulator"&[& +3 "core" & f / +2 "manipulator"&J% +4 "core" %\ 3 w % +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&c(D +179 "core" ( + "manipulator"&k& +5 "core" &: U N + "storage"(*& +4 "core" & 4 4 \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&' +102 "core" ' + "storage"(o& +5 "core" & = Y\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"($'e +276 "core" ' +2 "storage"(X- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (>& +2 "core" &   \  +2 "manipulator"&}& +4 "core" &< g L + .tElbow.seek 3 +2 "manipulator"&r(D +3 "core" ( +2 "manipulator"&W& +3 "core" &< t L +2 "storage"(& +4 "core" & ? 4\  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&L'y +19 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +63 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&B& +4 "storage"(a'N +5 "core" &< q t Q L +2 "manipulator"&]% +4 "core" % p q z a +2 .tForearm.seek :retract +2 "manipulator"&'\ +97 "core" ' + .tElbow.seek PC +2 "manipulator"&!(c +158 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +95 "core" ( +2 "manipulator"&& +5 "core" &^  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &+& +2 "core" &^ B +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&e'[ +101 "core" ' + "manipulator"&& +5 "core" &^ s + "manipulator"&C% +5 "core" %\\ c + "processing"%d& +4 "core" &\ +2 "processing"%x& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%E(Z +4 "core" &\ +8 & +\ #b +9 &]W\ 7 +10 &\ L +9 &n]\ M +10 &/]\ N +9 &]\ M +9 & \\\ M +10 &"vY\ M +9 &$8_\ M +9 &%]\ N +10 &']\ M +9 &)~Z\ M +9 &+@^\ M +10 &-_\ N +9 &._\ N +10 &0`\ M +9 &2G_\ N +9 &4 ]\ N +10 &5]\ M +9 &7Z\ M +9 &9PZ\ M +10 &;`\ M +9 &<^\ M +10 &>a\ N +9 &@W_\ N +9 &B\\\ M +10 &CZ\ M +9 &E^\ M +9 &G]g\ N +10 &Ip\ P +9 &J\ Q +9 &L\ S +10 &NU\ T +9 &P\ T +10 &Q\ S +9 &S\ T +9 &U[\ T +10 &W\ T +9 &X\ U +10 &Z:Kp\ , +9 &Z 4\ ) +5 ( +2 "processing"%x& +4 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.57 +2 .Hand.open + "manipulator"&?1 +3 "core" &Z\ ) +49 1 + "manipulator"&l% +5 "core" % \\ K + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&j'\ +94 "core" ' + "processing"%& +5 "core" &Z\ ) + #tImaging generic puck in Processing Clamp while storing it to tube 3 +2 "manipulator"&v% +3 "core" %\ - K "Y +2 "storage"(% +4 "core" %K   \  +2 "storage"(_. +3 "core" .( + "storage"(1& +4 "core" & \  + "storage"('& +4 "manipulator"&& +4 "core" & 1 " \ \  + &^ $ +4 .tElbow.reconfigure :tight + ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +2 "storage"(#]kK-0-\ b +2 "manipulator"&(c +5 ."raiseStack"SE.seek :beamBreak +2 "storage"(-'e +2 "core" ( +2 "manipulator"&& +3 "core" &^  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &^ +2 .tForearm.seek PC +2 "manipulator"&~'[ +97 "core" ' + .tHand.close + "manipulator"&/ +60 "core" / +2 .tPC.seek :open +2 "processing"%D(p +91 "core" ' + "storage"(V- +4 "core" -'e + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place + "storage"( 'B +34 "core" ' +257 ( + "storage"(M& +4 "core" & C B u\  +2 "manipulator"&0& +3 "core" &^ u +2 "manipulator"&i% +5 "core" % h +2 .tForearm.seek :retract + "manipulator"&'\ +94 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 + "manipulator"&%(D +254 "core" ( + "manipulator"& & +4 "core" &; ? # +2 "storage"(p& +3 "core" &   N\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&3' +96 "core" ' + .tHand.open +2 "manipulator"&n1 +58 "core" 1 +2 "storage"(Z- +3 "core" -'B +3 .tSE.seek -0.16 Pucks below Top Plate + "storage"(/' +23 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(.' +51 "core" ' + #tLights, camera, ACTION! +2 "storage"(A- +3 "core" -' +2 "storage"(& +3 "core" & U\  +2 "manipulator"&=& +4 "core" &< _ # +2 .tElbow.seek 3 +51 "manipulator"&Q(D +5 "core" ( + "manipulator"&7& +5 "core" &< # + "storage"(T& +4 "core" & \  +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&' +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.11 Pucks below Top Plate + "storage"(I'M +63 "core" ' +2 "manipulator"&S& +4 "core" &< o # +2 "storage"(9& +4 "core" & 5 8 ^\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&'M +32 "core" ' +2 .tElbow.hold +2 "manipulator"&y, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.07 Pucks below Top Plate + "storage"(:'7 +24 "core" ' + "manipulator"&G% +5 "core" %[_ , 8 ȳ + "storage"(& +5 "core" & p\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 314 counts +2 "manipulator"&'χ +16 "core" ' +2 "manipulator"&& +4 "core" &)  % +2 "storage"(& +4 "core" & 8 : d\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&t' +19 "core" ' +2 "storage"( % +4 "core" %; Y > A\ +3 ."downElevator"SE.seek :down +3 "storage"('N +99 ({% +3 "core" %8 8 4\ U\\ +2 "manipulator"&|% +4 "core" % q o I  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&"'\ +91 "core" ' +57 ' + ."downElevator"SE.stop + "storage"(5 +3 ( & +4 "core" & .  *\  +2 "collection"'& +4 "core" &]q11\ N + #tStoring generic puck in Collection Clamp to tube 3 +2 "manipulator"&(% +4 "core" %\ - E "_ + "storage"(N% +4 "core" %C 4 >\  +2 "storage"(s. +3 "core" .( + "storage"(& +4 "core" & 4 4\  +2 "storage"(6& +4 "core" & 4 4\  + "manipulator"&q& +4 "core" &*  % +2 .tElbow.seek 3 +7 "manipulator"&4(D +16 "core" ( + "manipulator"&& +5 "core" &G - + + "storage"(,& +4 "core" & 3 4\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&\ ' +107 "core" ' + "storage"(H& +5 "core" & Y Y\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(U'e +281 "core" ' +2 "storage"()- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&P& +2 "core" &M [ * +2 "storage"( & +4 "core" & B B i\  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 + "manipulator"&b'M +33 "core" ' + .tElbow.hold +2 "manipulator"&R, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(`- +2 "core" -' +2 .tSE.seek 0.12 Pucks below Top Plate +2 "storage"(5's +30 "core" ' +2 "manipulator"&;% +4 "core" %_e 7 8 6 ɵ + "storage"(<& +4 "core" & \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 318 counts + "manipulator"&^'ϋ +14 "core" ' +2 "manipulator"&f& +4 "core" &f e  ' + "storage"(w& +4 "core" & Y Y\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&z' +11 "core" ' +2 .tSE.seek 1.12 Pucks below Top Plate +2 "storage"(O'b +47 "core" ' +2 "manipulator"&#& +4 "core" &f = ' +2 "manipulator"&u% +4 "core" %  Q $ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&@'\ +93 "core" ' +2 .tElbow.seek CC +2 "manipulator"&g( +164 "core" ( + "manipulator"&m& +4 "core" &$ w 1 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &Y& +3 "core" &$ 1 +2 .tForearm.seek CC +2 "manipulator"&['| +96 "core" ' + .tHand.close + "manipulator"&J/ +59 "core" / + .tCC.seek :open +2 "collection"'8(p +411 "core" ( + "storage"(k& +4 "core" & l n \  +2 "storage"(*& +4 "core" & y | c\  + "manipulator"&2& +4 "core" &$ 1 + "manipulator"&\\% +4 "core" % ς   +2 .tForearm.seek :retract + "manipulator"&o'\ +101 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&h(D +159 "core" ( + "manipulator"&X& +5 "core" &? $  + "storage"(>& +4 "core" & } { 7\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 + "manipulator"&}'M +111 "core" ' + .tElbow.hold +2 "manipulator"&W, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&1 +62 "core" 1 +2 "manipulator"&% +5 "core" % ^z E 9 + "storage"(B& +4 "core" & C E \  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 317 counts + "manipulator"&]'ϊ +18 "core" ' + "manipulator"&c& +5 "core" & h v   + "storage"(& +4 "core" & R\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&$' +21 "core" ' + "storage"(L% +4 "core" %j \ +3 ."downElevator"SE.seek :down +3 "storage"('N +99 (+% +2 "core" %^= \ TZ +2 "manipulator"&r% +4 "core" % v ~ +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +90 "core" ' +52 ' +2 ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 4 of [2..5] + #Loading generic puck from tube 4 into Collection Clamp +2 "collection"'C& +4 "core" &\ + "manipulator"&d% +4 "core" %\ + 2 !W +2 "storage"(a% +4 "core" %E \  + "storage"(. +4 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"(F(, +355 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (?& +2 "core" &, H C \  +2 "manipulator"&l& +3 "core" &  +2 .tElbow.seek 4 +2 "manipulator"&(* +19 "core" ( + "manipulator"&v& +5 "core" &.\ + ] + "storage"(& +4 "core" &, o z C\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&_' +92 "core" ' + "storage"(1& +5 "core" &, ?\  + .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(''e +278 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (x& +3 "core" &, h [\  +2 "manipulator"&& +3 "core" &2\  Y +2 .tElbow.seek 4 +2 "manipulator"&(* +3 "core" ( + "manipulator"&e& +4 "core" &2\ Y +2 "storage"(& +3 "core" &, \  +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&V'Z +17 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&!/ +56 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&j& +2 "storage"(E'N +6 "core" &2\ s q ; Y +2 "manipulator"&M% +4 "core" % N q s m +2 .tForearm.seek :retract +2 "manipulator"&0'\ +89 "core" ' +2 .tElbow.seek CC +2 "manipulator"&-( +150 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +15 "core" ( + "manipulator"&i& +5 "core" &  Z + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &~& +3 "core" & J Z +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"& '| +93 "core" ' +2 "manipulator"&p& +4 "core" &\ L Z +2 "manipulator"&% +4 "core" %| 9 + "collection"'n& +4 "core" &\ +2 "collection"'Z& +7 "core" &\ +56 .tCC.seek :closed +4 "collection"'A(] +4 "core" &\ + &\ + &\ + &\ + &\ + &\ + &\ +2 & 8\ $e +8 &hV\ 8 +9 &\ L +10 &{c\ N +9 &>c\ M +10 &f\ N +9 & i\ N +9 &"h\ N +10 &$Ee\ N +9 &&b\ M +9 &'`\ M +10 &)b\ M +9 &+Ne\ M +9 &-d\ N +10 &.h\ M +9 &0d\ M +10 &2Ve\ M +9 &4e\ M +9 &5e\ M +10 &7d\ M +9 &9^c\ M +9 &; c\ M +10 &<c\ M +9 &>_\ M +10 &@f`\ M +9 &B'd\ N +9 &Cc\ N +10 &E`\ N +9 &Gnb\ M +10 &I*p\ O +9 &J{\ Q +9 &L*\ U +10 &NY\ W +9 &P\ X +9 &Q\ X +10 &S\ Y +9 &UWov\ [ +9 &Wah\ Z +10 &XT[\ [ +9 &ZGL\ \\ +10 &\\]8=\ H +9 &]b>/2\ ){ +9 &]/0\ ^ +3 ( +2 "collection"'Z& +2 #tCollection Clamp onSpring/offSpring for 10/26 samples, on/off torque 1.94 +2 .Hand.open + "manipulator"&1 +60 "core" 1 + "manipulator"&=% +4 "core" % | * +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +100 "core" ' + #tLoading generic puck from tube 4 into Processing Clamp + "processing"%7& +5 "core" &\ + "manipulator"&T% +4 "core" %\ 3  %| +2 "storage"(S% +4 "core" %;  \ \ + "storage"(9. +4 "core" .(,~ +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"( (, +3 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (/& +3 "core" &, \  + "manipulator"&G& +4 "core" &\ @ Z +2 "manipulator"&% +4 "core" %\ 3 %| +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&(* +159 "core" ( +2 "manipulator"&& +4 "core" &* J 2 +2 "storage"( & +3 "core" &, \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&%' +93 "core" ' + "storage"(3& +5 "core" &, , < e\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(.'e +278 "core" ' + "storage"({- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (|& +3 "core" &,   I\  + "manipulator"&& +4 "core" &+ S 1 +2 .tElbow.seek 4 +2 "manipulator"&Q(* +3 "core" ( + "manipulator"&I& +4 "core" &+ 6 1 + "storage"(& +4 "core" &,   \  +2 .tForearm.seek 4 + 300 counts +2 "manipulator"& 'Z +19 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&/ +54 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"(('N +7 "core" &+ { s 6 1 + "manipulator"&N% +4 "core" % ] { v +2 .tForearm.seek :retract +2 "manipulator"&s'\ +95 "core" ' +2 .tElbow.seek PC + "manipulator"&(c +157 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +95 "core" ( + "manipulator"&:& +4 "core" &h +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &6& +3 "core" &h  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&q'[ +105 "core" ' + "manipulator"&& +4 "core" &h p  +2 "manipulator"&,% +4 "core" %Y 1 s +2 "processing"%t& +4 "core" &\ +2 "processing"%H& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%(Z +4 "core" &\ +6 & +K\ #a +10 &^W\ 7 +9 &\ L +9 &q\\\ M +10 &4\\\ M +9 &^\ M +9 & `\ M +10 &"y]\ M +9 &$;]\ M +10 &%]\ M +9 &']\ M +9 &)_{\ M +10 &+C]J\ M +9 &-`\ M +9 &.]\ M +10 &0^\ M +9 &2J_\ M +10 &4 Z\ M +9 &5]\ M +9 &7^\ M +10 &9S^\ M +9 &;`\ M +9 &<\\\ M +10 &>`\ M +9 &@Z`\ M +10 &B_\ N +9 &C]\ M +9 &E`\ M +10 &Gbe\ M +9 &Ip\ O +9 &J~\ Q +10 &L\ R +9 &NX\ S +10 &P\ T +9 &Q\ S +9 &S\ T +10 &U^\ T +9 &W\ T +9 &X\ T +10 &Z<Lo\ - +9 &Z*\ ( +6 ( +2 "processing"%H& +3 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.54 +2 .Hand.open + "manipulator"&y1 +4 "core" &Z\ ( +51 1 +2 "manipulator"&"% +4 "core" % Y  s +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&)'\ +94 "core" ' +2 "processing"%P& +4 "core" &Z\ ( +2 #tImaging generic puck in Processing Clamp while storing it to tube 4 + "manipulator"& % +4 "core" %\ - N "^ + "storage"(`% +4 "core" %E\ \  0\  +2 "storage"(;. +3 "core" .(, + "storage"(<& +4 "core" &,\ \  ;\  +2 "storage"(f& +4 "manipulator"&w& +4 "core" &,\ \  :\  + &h % +3 ."raiseStack"SE.reconfigure :place +2 .tElbow.reconfigure :tight +5 "storage"(#]kK-0-\ b + "manipulator"&$&.,(\ #b +5 .tElbow.seek PC +2 "manipulator"&#(c +3 ."raiseStack"SE.seek :beamBreak +2 "storage"(u'e +2 "core" ( +2 "manipulator"&\ & +3 "core" &h  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &4& +2 "core" &h +2 .tForearm.seek PC +2 "manipulator"&U'[ +98 "core" ' + .tHand.close +2 "manipulator"&b/ +60 "core" / + .tPC.seek :open +2 "processing"%^(p +85 "core" ' + "storage"(5- +4 "core" -'e + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +2 ."raiseStack"SE.seek :place +2 "storage"(m'B +43 "core" ' +254 ( + "storage"(Y& +5 "core" &,   v\  + "manipulator"&z& +4 "core" &h ^ + "manipulator"&R% +4 "core" % ^ +2 .tForearm.seek :retract +2 "manipulator"&J'\ +97 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&@(* +255 "core" ( + "manipulator"&&& +4 "core" &) Q # +2 "storage"(k& +4 "core" &,   k\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&*' +99 "core" ' +2 .tHand.open + "manipulator"&21 +63 "core" 1 +2 "storage"(\\- +3 "core" -'B +3 .tSE.seek -0.16 Pucks below Top Plate + "storage"(X' +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(>' +51 "core" ' +2 #tLights, camera, ACTION! + "storage"([- +4 "core" -' + "storage"(g& +4 "core" &, z '\  + "manipulator"&& +4 "core" &* # +2 .tElbow.seek 4 +2 "manipulator"&(* +3 "core" ( + "manipulator"&B& +4 "core" &* # +2 "storage"(c& +4 "core" &, | | j\  +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&' +3 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"(L'M +62 "core" ' + "manipulator"&o& +4 "core" &* # +2 "storage"(+& +4 "core" &,   \  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&r'. +34 "core" ' +2 .tElbow.hold + "manipulator"&h, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"(}'7 +22 "core" ' +2 "manipulator"&C% +4 "core" %;N E D  ˯ +2 "storage"(]& +5 "core" &, ]\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 313 counts +2 "manipulator"&d'g +16 "core" ' + "manipulator"&a& +5 "core" & l  & + "storage"(& +5 "core" &, 3 4 \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&O' +17 "core" ' +2 "storage"($% +4 "core" %@ A ? n\ +3 ."downElevator"SE.seek :down +3 "storage"('N +99 (K% +2 "core" %8   k\ U] +2 "manipulator"&?% +5 "core" % R +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&l'\ +89 "core" ' +59 ' + ."downElevator"SE.stop + "storage"(5 +3 (v& +4 "core" &,\  P\  +2 "collection"'& +3 "core" &]12\ ^ +2 #tStoring generic puck in Collection Clamp to tube 4 + "manipulator"&1% +4 "core" %\ + L !Q +52 "storage"(W% +5 "core" %B   +\ \ + "storage"(. +4 "core" .(, + "storage"(& +4 "core" &,   \  + "storage"(x& +4 "core" &,   .\  + "manipulator"&& +4 "core" & " & +2 .tElbow.seek 4 +2 "manipulator"&e(* +11 "core" ( +2 "manipulator"&& +4 "core" &:  "| +2 "storage"(!& +4 "core" &,  \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&j' +102 "core" ' +2 "storage"(M& +4 "core" &, @ A a\  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('e +277 "core" ' +2 "storage"(_- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&i& +3 "core" &= D "y + "storage"(~& +4 "core" &, 8 A G\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&''. +34 "core" ' + .tElbow.hold +2 "manipulator"&V, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(p- +3 "core" -' +2 .tSE.seek 0.12 Pucks below Top Plate +2 "storage"('p +28 "core" ' +2 "manipulator"&n% +4 "core" %>Y 9 : l ʲ +2 "storage"(& +3 "core" &, ?\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 316 counts +2 "manipulator"&E'j +15 "core" ' + "manipulator"&0& +5 "core" & m z " & + "storage"(8& +4 "core" &, A 8 <\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&' +19 "core" ' +2 .tSE.seek 1.12 Pucks below Top Plate +2 "storage"(='_ +47 "core" ' + "manipulator"&7& +5 "core" & r r F & + "manipulator"&T% +5 "core" % s s I  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&S'\ +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&9( +149 "core" ( + "manipulator"&Z& +5 "core" &' q >I + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &/& +2 "core" &'  >I +2 .tForearm.seek CC +2 "manipulator"&G'| +96 "core" ' + .tHand.close +2 "manipulator"&/ +59 "core" / +2 .tCC.seek :open +2 "collection"' (p +411 "core" ( + "storage"(& +4 "core" &, s t h\  +2 "storage"( & +4 "core" &, p t 4\  + "manipulator"&F& +4 "core" &% 2 8 + "manipulator"&3% +5 "core" % m . + .tForearm.seek :retract +2 "manipulator"&-'\ +101 "core" ' +5 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +4 .tElbow.seek 4 +2 "manipulator"&(* +156 "core" ( +2 "manipulator"&{& +4 "core" &4 * \ +2 "storage"(|& +3 "core" &, f g \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 4 +2 "manipulator"&'. +113 "core" ' +2 .tElbow.hold + "manipulator"&I, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&1 +54 "core" 1 +2 "manipulator"&% +5 "core" % <o   ¸ + "storage"(& +4 "core" &, B B z\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 314 counts + "manipulator"&N'h +18 "core" ' + "manipulator"&& +5 "core" & l ( + "storage"(%& +4 "core" &, \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&.' +19 "core" ' + "storage"( % +5 "core" %\\ _\ +2 ."downElevator"SE.seek :down +3 "storage"(:'N +99 (6% +3 "core" %"; *\ TZ +2 "manipulator"&Q% +4 "core" % q s '  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +96 "core" ' +42 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 5 of [2..5] +2 #Loading generic puck from tube 5 into Collection Clamp + "collection"',& +5 "core" &\ + "manipulator"&t% +4 "core" %\ 3 %y +2 "storage"((% +4 "core" %B \  + "storage"(s. +3 "core" .(, +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 + "storage"(D(<< +348 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (y& +3 "core" &<; ? L O\  +2 "manipulator"&"& +3 "core" & | ' +2 .tElbow.seek 5 +2 "manipulator"&P( +14 "core" ( +2 "manipulator"& & +4 "core" &\ - M + "storage"(`& +4 "core" &<; } } \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&;' +100 "core" ' + "storage"(<& +5 "core" &<; +\  + .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(w'e +281 "core" ' + "storage"(f- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (H& +2 "core" &<; r t .\  +2 "manipulator"&\ & +4 "core" & 8 L +2 .tElbow.seek 5 + "manipulator"&4( +4 "core" ( + "manipulator"&q& +4 "core" &  L + "storage"(b& +4 "core" &<; \\\  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&5'[ +10 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +59 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&)& + "storage"('N +7 "core" &  L +2 "manipulator"&Y% +4 "core" % X  ( +2 .tForearm.seek :retract + "manipulator"&u'\ +101 "core" ' +2 .tElbow.seek CC +2 "manipulator"&z( +142 "core" ' + ( + "manipulator"&R& + ."downElevator"SE.stop +6 "storage"(5 +3 "core" & 5 / +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &U& +3 "core" & a / +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&&'| +107 "core" ' +3 "manipulator"&k& +4 "core" &  / + "manipulator"&#% +4 "core" %{  +2 "collection"'2& +4 "core" &\ +3 "collection"'\\& +4 "core" &\ +2 .tCC.seek :closed +2 "collection"'[(] +5 "core" &\  +8 &0\ +{ +9 &b\ > +10 &H\ N +9 & _\ M +9 &g\ M +10 &c\ M +9 &!Rc\ M +10 &#g\ M +9 &$g\ M +9 &&e\ N +10 &(Ze\ M +9 &*`\ M +10 &+b\ N +9 &-b\ M +9 &/ag\ N +10 &1#e\ N +9 &2a\ M +9 &4_\ M +10 &6kb\ M +9 &8,a\ M +9 &9a\ M +10 &;]\ L +9 &=qc\ N +10 &?5b\ M +9 &@c\ M +9 &Be\ M +10 &D{b\ M +9 &F=c\ M +9 &Gg\ N +10 &Ir\ O +9 &Kwo\ Q +10 &M,\ \ V +9 &N\ W +9 &P\ X +10 &Rj\ X +9 &T*\ Y +9 &U{\ Z +10 &Wjr\ Z +9 &Yg]c\ \\ +10 &[(OV\ \\ +9 &\\|AF\ 4 +9 &]&;?\ "d +10 &]r=<\ P +2 ( + "collection"'\\& +4 #tCollection Clamp onSpring/offSpring for 9/25 samples, on/off torque 1.96 + .Hand.open + "manipulator"&g1 +60 "core" 1 +2 "manipulator"&% +4 "core" % {  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&B'\ +100 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp +6 "processing"%c& +4 "core" &\ + "manipulator"&J% +4 "core" %\ 6 & +2 "storage"(o% +3 "core" %B $ 4 %\  +2 "storage"(+. +3 "core" .(<< + "storage"(C& +4 "core" &<; 3 . n\  +2 "storage"(m& +3 "core" &<; ' : \  +2 "manipulator"&]& +4 "core" & H / + "manipulator"&X% +4 "core" %\ 6 i & +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&a( +160 "core" ( + "manipulator"&& +4 "core" &  +2 "storage"($& +3 "core" &<; B D o\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&@' +99 "core" ' +2 "storage"(*& +4 "core" &<; Y [\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(>'e +280 "core" ' + "storage"(K- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (?& +52 "core" &<; B 7 \  +3 "manipulator"&& +4 "core" &   + .tElbow.seek 5 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&L& +3 "core" & b  +2 "storage"(r& +4 "core" &<; 8 ; ?\  +2 .tForearm.seek 5 + 300 counts + "manipulator"&v'[ +22 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&d/ +63 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& + "storage"(1'N +7 "core" & p s 5  +2 "manipulator"&W% +4 "core" % Y r r Z +2 .tForearm.seek :retract +2 "manipulator"&}'\ +97 "core" ' +2 .tElbow.seek PC +2 "manipulator"&(c +156 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +87 "core" ( +2 "manipulator"&& +4 "core" &g d +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &x& +3 "core" &g  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&'[ +101 "core" ' + "manipulator"&& +5 "core" &g 6 + "manipulator"&!% +5 "core" %O  + "processing"%O& +4 "core" &\ +3 "processing"%M& +5 "core" &\ +3 .tPC.seek :closed +3 "processing"%(Z +4 "core" &\ +5 &\ 0 +9 &Fk\ 1 +10 &6t\ E +9 &e\ N +9 &\\\ M +10 &b]\ M +9 & $[\ M +9 &!^\ M +10 &#]\ M +9 &%j]\ M +10 &'+]\ N +9 &(\\\ M +9 &*\\\ M +10 &,r_\ M +9 &.4Z\ M +9 &/[\ M +10 &1_\ M +9 &3z_\ M +10 &5<\\\ M +9 &6X\ M +9 &8_\ N +10 &:\\\ M +9 &\\\ M +10 &?`\ N +9 &A`\ M +10 &CLZ\ M +9 &E`\ M +9 &Ff\ N +10 &Hm\ O +9 &JJ|\ Q +9 &L\ S +10 &M\ T +9 &O\ T +10 &QJ\ S +9 &S\ \ T +9 &T\ T +10 &V\ T +9 &XO\ T +9 &Y{v\ (} +10 &Z,{\ 7 +9 ( +3 "processing"%M& +2 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.56 +2 .Hand.open + "manipulator"&h1 +4 "core" &Z\ * +54 1 +2 "manipulator"&l% +4 "core" % O H +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&_'\ +91 "core" ' +2 "processing"%i& +4 "core" &Z\ * +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 + "manipulator"&~% +4 "core" %\ % f 7 + "storage"(p% +4 "core" %Q   ]\ + "storage"(n. +3 "core" .(<< +2 "storage"(& +4 "core" &<;   e\  +2 "storage"(0& +2 "manipulator"&8& +6 "core" &<;   e\  + &g +4 .tElbow.reconfigure :tight + ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +3 "storage"(#]kK-0-\ b +2 .tElbow.seek PC +4 "manipulator"&7(c +3 ."raiseStack"SE.seek :beamBreak +2 "storage"(T'e +3 "core" ( +2 "manipulator"&j& +4 "core" &g  + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &e& +2 "core" &g ; +2 .tForearm.seek PC +2 "manipulator"&'[ +99 "core" ' + .tHand.close +2 "manipulator"&'/ +59 "core" / +2 .tPC.seek :open +2 "processing"%E(p +85 "core" ' + "storage"(- +4 "core" -'e + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(Z'B +34 "core" ' +262 ( + "storage"(/& +5 "core" &<; 8 5 0\  + "manipulator"&& +4 "core" &g N +2 "manipulator"&V% +3 "core" % T L +2 .tForearm.seek :retract +2 "manipulator"&'\ +99 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&S( +245 "core" ( + "manipulator"&A& +4 "core" &  0 +2 "storage"(& +3 "core" &<; 4 4\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"& ' +92 "core" ' + .tHand.open + "manipulator"&F1 +54 "core" 1 +2 "storage"(3- +3 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate +2 "storage"({' +25 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(|' +51 "core" ' +2 #tLights, camera, ACTION! + "storage"(G- +4 "core" -' + "storage"(9& +4 "core" &<; e\  + "manipulator"&& +4 "core" &  0 +2 .tElbow.seek 5 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&& +4 "core" & m 0 + "storage"(& +4 "core" &<; \  +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&%' +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"( 'M +69 "core" ' +2 "manipulator"&-& +4 "core" & Q 0 +2 "storage"(6& +4 "core" &<; B B \  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 + "manipulator"&Q'/ +33 "core" ' +2 .tElbow.hold + "manipulator"&, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"('7 +21 "core" ' + "manipulator"&,% +5 "core" %>r s Ĺ+ + "storage"(t& +4 "core" &<; x\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 315 counts +2 "manipulator"&N'j +16 "core" ' +2 "manipulator"&(& +4 "core" &  w  $ +2 "storage"(s& +4 "core" &<; Y Y\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&=' +19 "core" ' +2 "storage"(.% +4 "core" %? Z ]\ +3 ."downElevator"SE.seek :down +3 "storage"(:'N +99 ( % +2 "core" %v: B 8 \ U^ +2 "manipulator"&y% +5 "core" % H  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&"'\ +90 "core" ' +63 ' + ."downElevator"SE.stop + "storage"(5 +3 ( & +4 "core" &<; &  +\  + "collection"'`& +4 "core" &]q<@\ P +2 #tStoring generic puck in Collection Clamp to tube 5 + "manipulator"&<% +4 "core" %\ + c !M +2 "storage"(I% +4 "core" %K 4 4 '\ + "storage"(. +3 "core" .(<< +2 "storage"(f& +3 "core" &<; 5 > .\  +2 "storage"(H& +4 "core" &<; 6 4 0\  + "manipulator"&\ & +4 "core" & X $ +2 .tElbow.seek 5 +2 "manipulator"&q( +48 "core" ( + "manipulator"&b& +5 "core" & B e + "storage"(& +4 "core" &<; C B \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&)' +99 "core" ' +2 "storage"(Y& +4 "core" &<; Y =\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(P'e +283 "core" ' + "storage"(;- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&R& +3 "core" & & e +2 "storage"(U& +3 "core" &<; 3 5 |\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&w'/ +34 "core" ' + .tElbow.hold +2 "manipulator"&5, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(k- +2 "core" -' +2 .tSE.seek 0.12 Pucks below Top Plate +2 "storage"(#'r +32 "core" ' + "manipulator"&2% +4 "core" %9U 7 8 : ɱ +2 "storage"(4& +4 "core" &<; A\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 310 counts +2 "manipulator"&'e +17 "core" ' + "manipulator"&u& +5 "core" & k { ^ "y + "storage"( & +5 "core" &<; - )\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&g' +24 "core" ' +2 .tSE.seek 1.12 Pucks below Top Plate + "storage"('a +49 "core" ' +2 "manipulator"&c& +4 "core" & r s Q "y + "manipulator"&J% +4 "core" % q r J +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&o'\ +96 "core" ' +2 .tElbow.seek CC +50 "manipulator"&\\( +148 "core" ( +2 "manipulator"&+& +4 "core" &# 7 ;6 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &C& +3 "core" &#  ;6 +2 .tForearm.seek CC +2 "manipulator"&m'| +94 "core" ' + .tHand.close +2 "manipulator"&]/ +61 "core" / +2 .tCC.seek :open + "collection"'X(p +411 "core" ( +2 "storage"(&& +4 "core" &<; h m z\  + "storage"(& +4 "core" &<; } | ^\  +2 "manipulator"&$& +4 "core" & #  :+ + "manipulator"&*% +4 "core" % u   +2 .tForearm.seek :retract + "manipulator"&z'\ +101 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&B( +157 "core" ( +2 "manipulator"&K& +4 "core" & + "storage"(?& +4 "core" &<; m\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 5 +2 "manipulator"&'/ +111 "core" ' +2 .tElbow.hold +2 "manipulator"&L, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&r1 +60 "core" 1 +3 "manipulator"&d% +4 "core" % >| " ^ C +2 "storage"(& +3 "core" &<; V L -\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 315 counts + "manipulator"&W'j +17 "core" ' +2 "manipulator"&a& +4 "core" & { + +2 "storage"(@& +3 "core" &<; a\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&>' +19 "core" ' +2 "storage"(v% +4 "core" %^ H\ +3 ."downElevator"SE.seek :down +3 "storage"('N +99 (x% +3 "core" %L< \ TZ + "manipulator"&% +4 "core" %  s  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +99 "core" ' +40 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 2 of [2..5] +2 #Loading generic puck from tube 2 into Collection Clamp + "collection"'!& +5 "core" &\ + "manipulator"&O% +4 "core" %\ $  +2 "storage"(1% +4 "core" %K ~\  +2 "storage"(}. +3 "core" .(<< +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 + "storage"(^(  +988 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (h& +3 "core" &  Y e \ + "manipulator"&l& +4 "core" & * + +2 .tElbow.seek 2 +2 "manipulator"&i(; +28 "core" ( + "manipulator"&~& +4 "core" &F ~ i O \ +2 "storage"(p& +4 "core" &  8\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&n'Ѐ +90 "core" ' +2 "storage"(& +4 "core" &  \ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(0'e +285 "core" ' + "storage"(8- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (M& +3 "core" &  m\ +2 "manipulator"&j& +3 "core" &F r r ] \ +2 .tElbow.seek 2 +2 "manipulator"&e(; +7 "core" ( + "manipulator"&& +4 "core" &A k y x + "storage"('& +5 "core" &  W\ +2 .tForearm.seek 2 + 300 counts + "manipulator"&' +30 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&/ +60 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&_& + "storage"('N +8 "core" &A p s 4 + "manipulator"&/% +4 "core" %  q s X +2 .tForearm.seek :retract +2 "manipulator"&T'\ +93 "core" ' +2 .tElbow.seek CC +2 "manipulator"&( +145 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +4 "core" ( +2 "manipulator"&V& +4 "core" &# ;4 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &$  ;4 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&A'| +102 "core" ' +2 "manipulator"&& +4 "core" &$ ;4 +2 "manipulator"&7% +4 "core" %σ 8 + "collection"'F& +4 "core" &\ +2 "collection"'3& +5 "core" &\ +3 .tCC.seek :closed +3 "collection"'G(] +4 "core" &\ +5 &\ 6 +9 &G\ 1 +10 &>s\ E +9 &k\ N +9 &`\ M +10 &hg\ N +9 & *f\ N +9 &!b\ N +10 &#b\ M +9 &%q`\ M +10 &'2c\ N +9 &(b\ N +9 &*_\ N +10 &,z_\ M +9 &.:d\ N +10 &/`\ N +9 &1b\ N +9 &3`\ M +10 &5Ca\ M +9 &7b\ N +9 &8\\\ M +10 &:_\ N +9 & `\ M +10 &?_\ N +9 &A`\ M +10 &CSc\ M +9 &E^\ M +9 &F`\ M +10 &Hj\ O +9 &JPz\ Q +9 &L\ )X\ T +10 &M\ X +9 &O\ X +10 &QB\ Y +9 &S\ Y +9 &Tqy\ Z +10 &Vaj\ Z +9 &XCTZ\ [\ +9 &YCK\ ] +10 &[3;\ \\ +9 &]%O*/\ 5 +10 &])'\ "e +8 ( +4 "collection"'3& +2 #tCollection Clamp onSpring/offSpring for 9/26 samples, on/off torque 2.02 +2 .Hand.open + "manipulator"&91 +3 "core" &]**\ !` +61 1 +2 "manipulator"&% +4 "core" %  N + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +96 "core" ' +3 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%& +4 "core" &\ +2 "manipulator"&% +4 "core" %\ 1 , $q +2 "storage"(-% +3 "core" %:   |\ +2 "storage"(6. +3 "core" .(  + "storage"(Z& +4 "core" &    .\ +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 2 + "storage"(,(  +28 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (t& +2 "core" &  9\ % +2 "manipulator"&{& +4 "core" &# :* +2 "manipulator"&(% +3 "core" %\ 1 ' $q +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&s(; +164 "core" ( +2 "manipulator"&.& +4 "core" &4 & 5 +2 "storage"(S& +3 "core" &   H\ ( +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"& 'Ѐ +93 "core" ' + "storage"(|& +5 "core" & ? A \ ( + .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"( 'e +280 "core" ' + "storage"(y- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (%& +2 "core" &    8\ 1 +2 "manipulator"&& +4 "core" &4  5 + .tElbow.seek 2 +2 "manipulator"& (; +3 "core" ( +2 "manipulator"&Q& +4 "core" &4  5 + "storage"(N& +4 "core" &  %  6\ 1 +2 .tForearm.seek 2 + 300 counts +2 "manipulator"& ' +24 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&`/ +53 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&<& +2 "storage"(I'N +7 "core" &4 |  5 + "manipulator"&% +4 "core" % ~ ~ +2 .tForearm.seek :retract +2 "manipulator"&'\ +92 "core" ' +2 .tElbow.seek PC + "manipulator"&f(c +162 "core" ' + ."downElevator"SE.stop + "storage"(5 +89 "core" ( +2 "manipulator"&H& +4 "core" &l ) +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &\ & +3 "core" &l F +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&b'[ +101 "core" ' +2 "manipulator"&& +4 "core" &l 9 +2 "manipulator"&=% +3 "core" %M T +2 "processing"%Y& +4 "core" &\ +2 "processing"%:& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%(Z +4 "core" &\  +8 &/}\ *y +10 &f\ ? +9 &Cy\ N +9 &Y\ M +10 &_\ M +9 &_\ M +10 &!M_\ M +9 &#[\ M +9 &$]\ M +10 &&]\ N +9 &(U\\\ M +9 &*]\ M +10 &+\\\ N +9 &-]\ N +9 &/\\_\ N +10 &1]\ N +9 &2^\ N +10 &4\\\ N +9 &6e]\ M +9 &8'Z\ M +10 &9Y\ M +9 &;]\ M +9 &=m\\\ M +10 &?/]\ M +9 &@a\ M +10 &BY\ M +9 &Du_\ M +9 &F5c\ N +10 &Gi\ O +9 &Iv\ P +9 &Kn\ R +10 &M-\ S +9 &N\ T +10 &P\ T +9 &Rt\ S +9 &T3\ T +10 &U\ T +9 &W\ T +9 &Yx\ A +55 &Z{?\ U +2 &Z\ ) + ( +2 &Z\ ) +3 &Z\ ) +3 &Z\ ) + &Z\ ) +3 "processing"%:& +2 #tProcessing Clamp onSpring/offSpring for 8/25 samples, on/off torque 1.60 +2 .Hand.open + "manipulator"&"1 +4 "core" &Z\ ) +53 1 +2 "manipulator"&;% +4 "core" % M d +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&R'\ +100 "core" ' +2 "processing"%U& +4 "core" &Z\ ) +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 + "manipulator"&k% +4 "core" %\ 6 p & +2 "storage"(2% +4 "core" %S\ \  2\  +2 "storage"(4. +3 "core" .(  +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"(u(  +39 "Can"h\ ~| +7 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 ( & +4 "core" &  W\ +2 "manipulator"&c& +2 ."raiseStack"SE.reconfigure :place +6 "storage"(#]kK-0-\ b +2 "core" &l 0 +3 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +2 ."raiseStack"SE.seek :beamBreak +4 "manipulator"&J(c + "storage"()'e +5 "core" ( +2 "manipulator"&q& +4 "core" &l + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &P& +3 "core" &l a +2 .tForearm.seek PC +2 "manipulator"&w'[ +94 "core" ' +2 .tHand.close + "manipulator"&/ +63 "core" / +2 .tPC.seek :open + "processing"%#(p +85 "core" ' +2 "storage"(+- +3 "core" -'e +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(g'B +33 "core" ' +267 ( + "storage"(C& +4 "core" &  7 5 \ + "manipulator"&5& +4 "core" &l  +2 "manipulator"&]% +3 "core" % ]   +2 .tForearm.seek :retract +2 "manipulator"&o'\ +91 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&[(; +256 "core" ( +2 "manipulator"&&& +4 "core" &D "x + "storage"(& +4 "core" &    8\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts +2 "manipulator"&$'Ѐ +102 "core" ' +2 .tHand.open + "manipulator"&*1 +61 "core" 1 +2 "storage"(K- +4 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate +2 "storage"(?' +26 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(m' +56 "core" ' +2 #tLights, camera, ACTION! + "storage"(\\- +4 "core" -' + "storage"(r& +4 "core" &  q z >\ +2 "manipulator"&d& +3 "core" &D c "x +2 .tElbow.seek 2 +2 "manipulator"&(; +3 "core" ( +2 "manipulator"&a& +3 "core" &D { ( "x +2 "storage"(@& +4 "core" &  m j \ +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&v'Ѐ +13 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.11 Pucks below Top Plate + "storage"(z'M +60 "core" ' + "manipulator"&x& +5 "core" &D k "x + "storage"(& +4 "core" &    &\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&B'ξ +36 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"(!'7 +25 "core" ' +2 "manipulator"&O% +4 "core" %Z " ' Dz +2 "storage"(W& +4 "core" &  \ + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 310 counts +2 "manipulator"&1' +18 "core" ' + "manipulator"&}& +5 "core" &T | i + h + "storage"(& +4 "core" &  B B \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&>'Ѐ +20 "core" ' +2 "storage"(% +4 "core" %9 = -\ +3 ."downElevator"SE.seek :down +4 "storage"(D'N +98 (h% +2 "core" %:9  \ U\\ +2 "manipulator"&l% +5 "core" %V o r ? " +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&~'\ +87 "core" ' +61 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (p& +4 "core" & \  O\ +2 "collection"'& +4 "core" &]/0\ !` + #tStoring generic puck in Collection Clamp to tube 2 +2 "manipulator"&L% +4 "core" %\ ' ; + "storage"(% +4 "core" %>   S\ +2 "storage"(8. +3 "core" .(  + "storage"(M& +4 "core" &    E\ +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 +2 "storage"(j(  +29 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (& +3 "core" &  \ ' +2 "manipulator"&'& +3 "core" &T ~ h +2 .tElbow.seek 2 +2 "manipulator"&(; +28 "core" ( +2 "manipulator"&_& +4 "core" &< s  + "storage"(/& +4 "core" & 4 5\ , +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&i'Ѐ +107 "core" ' + "storage"(n& +5 "core" & [ Y\ , +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(V'e +283 "core" ' + "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&0& +3 "core" &< q s K  + "storage"(& +4 "core" &  B B r\ 1 +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&'ξ +35 "core" ' +2 .tElbow.hold +2 "manipulator"&7, +56 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(F- +2 "core" -' +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(e'm +25 "core" ' + "manipulator"&% +4 "core" %O )  ǯ +2 "storage"(T& +3 "core" &  \ 1 +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 318 counts +2 "manipulator"&X' +18 "core" ' +2 "manipulator"&9& +4 "core" &< x ^   +2 "storage"(& +3 "core" &  B E \ 1 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&'Ѐ +18 "core" ' +2 .tSE.seek 1.11 Pucks below Top Plate +2 "storage"('\\ +48 "core" ' +2 "manipulator"&-& +4 "core" &< s q \\  +2 "manipulator"&6% +4 "core" %] r s T  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&3'\ +87 "core" ' +2 .tElbow.seek CC +2 "manipulator"&Z( +166 "core" ( +2 "manipulator"&t& +5 "core" &$ v ;8 + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &{& +2 "core" &# F ;8 +2 .tForearm.seek CC +2 "manipulator"&('| +95 "core" ' +2 .tHand.close + "manipulator"&A/ +54 "core" / + .tCC.seek :open +2 "collection"'.(p +411 "core" ( + "storage"(S& +4 "core" &  | w Y\ 1 +2 "storage"(^& +4 "core" &  v v y\ 1 + "manipulator"&|& +4 "core" &# ;8 + "manipulator"&% +4 "core" %  +2 .tForearm.seek :retract +2 "manipulator"&'\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&y(; +169 "core" ( + "manipulator"&%& +4 "core" &; M +2 "storage"(& +3 "core" &  w X\ 1 +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 2 +2 "manipulator"&Q'ξ +107 "core" ' + .tElbow.hold +2 "manipulator"&N, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&`1 +64 "core" 1 +2 "manipulator"&<% +5 "core" % m  { ÷ + "storage"(& +4 "core" &  4 5 W\ 1 +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 313 counts + "manipulator"&s' +67 "core" ' +2 "manipulator"& & +4 "core" &j i i  + "storage"( & +4 "core" &  Y\ 1 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"& 'Ѐ +22 "core" ' +2 "storage"(H% +4 "core" %` z\ +3 ."downElevator"SE.seek :down +3 "storage"(\ 'N +98 ( % +4 "core" %97 \ TZ + "manipulator"&% +5 "core" %О p z q +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&='\ +96 "core" ' +41 ' +2 ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 3 of [2..5] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"'Y& +4 "core" &\ +2 "manipulator"&I% +4 "core" %\ 5  +2 "storage"(% +3 "core" %E \ \ +2 "storage"(E. +3 "core" .(  +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 +2 "storage"("( +347 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (;& +2 "core" &3 f [ \  +2 "manipulator"&U& +4 "core" &j f  + .tElbow.seek 3 +2 "manipulator"&k(D +21 "core" ( + "manipulator"&2& +4 "core" &J o   +2 "storage"(4& +4 "core" & p\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&:' +98 "core" ' + "storage"( & +5 "core" & {\  + .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(c'e +288 "core" ' +2 "storage"(q- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (P& +2 "core" & n\  +2 "manipulator"&b& +3 "core" &J M  +2 .tElbow.seek 3 +2 "manipulator"&(D +3 "core" ( +2 "manipulator"&,& +3 "core" &J E  +2 "storage"(+& +3 "core" & \  +3 .tForearm.seek 3 + 300 counts + "manipulator"&f'y +11 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&R/ +56 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"()'N +7 "core" &J $  +2 "manipulator"&C% +3 "core" % }  + +2 .tForearm.seek :retract +2 "manipulator"&5'\ +93 "core" ' +2 .tElbow.seek CC +2 "manipulator"&]( +147 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +9 "core" ( + "manipulator"&w& +5 "core" &' r >M + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &&& +4 "core" &'  >M + .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&'| +104 "core" ' +2 "manipulator"&J& +4 "core" &' F >L + "manipulator"&*% +4 "core" %s N +2 "collection"'K& +4 "core" &\ +2 "collection"'\\& +6 "core" &\ +2 .tCC.seek :closed +3 "collection"'r(] +3 "core" &\ +6 &\ 6 +9 &G~\ 1 +9 &<s\ E +10 &i\ N +9 &`\ M +9 &g`\ M +10 & )c\ M +9 &!h\ N +10 &#`\ M +9 &%o_\ M +9 &'0d\ N +10 &(c\ N +9 &*_\ M +9 &,wc\ M +10 &.9d\ M +9 &/b\ M +10 &1g\ N +9 &3~c\ N +9 &5B_\ M +10 &7`\ M +9 &8a\ M +9 &:c\ M +10 & b\ M +10 &?`\ M +9 &Ab\ N +9 &CPc\ N +10 &E`\ M +9 &Fb\ N +9 &Hm\ N +10 &JP{\ P +9 &L\ )[\ S +10 &M\ W +9 &O\ X +9 &QB\ X +10 &S\ Y +9 &T|\ Z +9 &Vqv\ Z +10 &X@_f\ [ +9 &YQY\ \\ +10 &[CI\ \\ +9 &]%P7;\ 5 +9 &] 12\ ^ +9 ( +3 "collection"'\\& +3 #tCollection Clamp onSpring/offSpring for 9/26 samples, on/off torque 2.03 + .Hand.open +2 "manipulator"&d1 +3 "core" &]}44\ [ +52 1 + "manipulator"&a% +4 "core" % l +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&@'\ +93 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%o& +4 "core" &{\ +2 "manipulator"&x% +4 "core" %\ # ( + "storage"(% +4 "core" %?  %\  +2 "storage"(g. +3 "core" .( + "storage"(O& +4 "core" &   +\  + "storage"(W& +4 "core" &  $ I\  +2 "manipulator"&?& +3 "core" &" :+ +2 "manipulator"&}% +4 "core" %\ # r ( +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&(D +154 "core" ( +2 "manipulator"&& +4 "core" &G  + "storage"([& +4 "core" & - *\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&$' +94 "core" ' +2 "storage"(m& +4 "core" & Y Y\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(h'e +280 "core" ' + "storage"(l- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (v& +3 "core" &   Y\  +2 "manipulator"&& +3 "core" &G  +2 .tElbow.seek 3 +2 "manipulator"&z(D +3 "core" ( + "manipulator"&B& +4 "core" &G  + "storage"(p& +4 "core" & A B +\  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&1'y +11 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +58 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&L& +2 "storage"('N +7 "core" &G  + "manipulator"&8% +4 "core" % ρ p 1 +2 .tForearm.seek :retract +2 "manipulator"&M'\ +100 "core" ' + .tElbow.seek PC +2 "manipulator"&!(c +154 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +96 "core" ( + "manipulator"&& +5 "core" &k  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &'& +4 "core" &k X +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&_'[ +98 "core" ' +2 "manipulator"&/& +4 "core" &k +2 "manipulator"&>% +3 "core" %R J +2 "processing"%n& +4 "core" &{\ +3 "processing"%D& +6 "core" &{\ +2 .tPC.seek :closed +2 "processing"%u(Z +4 "core" &{\ +6 & 1\ #a +10 &SU\ 7 +9 &\ L +9 &d[\ M +10 &&]\ M +9 &[\ M +10 & _\ M +9 &"mY\ M +9 &$.]\ M +10 &%]\ M +9 &'Z\ M +9 &)t]\ M +10 &+5]\ N +9 &,_\ M +10 &.`\ M +9 &0{]\ N +9 &2>_\ M +10 &4Z\ M +9 &5]\ M +9 &7]\ M +10 &9F[\ M +9 &;^\ N +10 &<\\\ M +9 &>`\ N +9 &@M^\ N +10 &B]\ N +9 &C]\ M +9 &E_\ N +10 &GUf\ N +9 &It\ P +10 &J\ Q +9 &L\ S +9 &NL\ S +10 &P \ T +9 &Q\ T +9 &S\ T +10 &US\ T +9 &W\ T +10 &X\ U +9 &Z5Px\ . +9 &Z\\\ 7 +6 ( +2 "processing"%D& +3 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.61 +2 .Hand.open + "manipulator"&1 +4 "core" &Z4\ 6 +52 1 + "manipulator"&~% +4 "core" % R X +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +91 "core" ' +2 "processing"%0& +4 "core" &Z4\ 6 +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&% +4 "core" %\ '  9 +2 "storage"(F% +3 "core" %R\ \  5\  +2 "storage"(. +3 "core" .( + "storage"(T& +4 "core" &\ \  \  +2 "storage"(9& +2 "manipulator"&& +6 "core" & C \  +2 &k C +3 ."raiseStack"SE.reconfigure :place +2 .tElbow.reconfigure :tight +3 "storage"(#]kK-0-\ b +4 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +2 ."raiseStack"SE.seek :beamBreak +3 "manipulator"&-(c +2 "storage"(6'e +5 "core" ( + "manipulator"&i& +4 "core" &k E +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +4 "core" &k +2 .tForearm.seek PC + "manipulator"&V'[ +95 "core" ' + .tHand.close +2 "manipulator"&/ +63 "core" / + .tPC.seek :open +2 "processing"%X(p +88 "core" ' +2 "storage"(e- +3 "core" -'e +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +2 ."raiseStack"SE.seek :place +2 "storage"(t'B +38 "core" ' +255 ( +2 "storage"({& +4 "core" & B 8 Y\  + "manipulator"&& +4 "core" &k  +52 "manipulator"&7% +4 "core" % X M +2 .tForearm.seek :retract +2 "manipulator"&A'\ +95 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&3(D +276 "core" ( +2 "manipulator"&G& +4 "core" &O .  + "storage"(S& +4 "core" & 5 5 3\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&^' +104 "core" ' + .tHand.open + "manipulator"&|1 +63 "core" 1 +2 "storage"(- +4 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate +2 "storage"(%' +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(' +53 "core" ' + #tLights, camera, ACTION! +2 "storage"((- +3 "core" -' +2 "storage"(Z& +4 "core" & \  + "manipulator"&`& +4 "core" &O r s \\  +2 .tElbow.seek 3 +2 "manipulator"&<(D +8 "core" ( + "manipulator"&& +4 "core" &L k v W  +2 "storage"( & +4 "core" & 4\  +2 .tForearm.seek 3 + 450 counts +2 "manipulator"& ' +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"('M +63 "core" ' + "manipulator"&H& +4 "core" &L q r G  +2 "storage"(y& +4 "core" & Y Z\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"& 'M +34 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"(Q'7 +22 "core" ' +2 "manipulator"&Y% +5 "core" %a] ( ) ų + "storage"(s& +5 "core" & i\  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 3 + 320 counts +2 "manipulator"&I'ύ +17 "core" ' + "manipulator"&& +5 "core" & n   + "storage"(E& +5 "core" & [ Y\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&' +18 "core" ' + "storage"( % +5 "core" %> X Y \ +2 ."downElevator"SE.seek :down +4 "storage"(\ 'N +99 (j% +4 "core" %9 4 5\ U] + "manipulator"&;% +5 "core" % p s + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&U'\ +90 "core" ' +57 ' + ."downElevator"SE.stop + "storage"(5 +3 (2& +4 "core" &  1 a\  + "collection"'4& +4 "core" &]}24\ [ +2 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"& % +4 "core" %\ * L +2 "storage"(N% +4 "core" %J > 8 \  + "storage"(=. +3 "core" .( +2 "storage"(q& +3 "core" & B B \  +2 "storage"(P& +4 "core" & B B \  + "manipulator"&b& +4 "core" &   +2 .tElbow.seek 3 +2 "manipulator"&,(D +24 "core" ( +2 "manipulator"&+& +4 "core" &B X & +2 "storage"(R& +3 "core" & 4 4 \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&' +102 "core" ' +2 "storage"(C& +4 "core" & - < #\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(k'e +280 "core" ' + "storage"(:- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&w& +31 "core" &C V & + "storage"(&& +5 "core" & % 4 :\  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&c'M +34 "core" ' +2 .tElbow.hold + "manipulator"&f, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(J- +2 "core" -' +3 .tSE.seek 0.12 Pucks below Top Plate + "storage"(*'s +31 "core" ' + "manipulator"&K% +4 "core" %[V 7 8 ? ʱ +2 "storage"(& +4 "core" & \  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 314 counts + "manipulator"&)'χ +18 "core" ' + "manipulator"&5& +4 "core" &; } k  ' +2 "storage"(.& +4 "core" & 9 ? \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&d' +17 "core" ' +2 .tSE.seek 1.12 Pucks below Top Plate + "storage"(a'b +51 "core" ' + "manipulator"&o& +5 "core" &; r p : ' + "manipulator"&x% +5 "core" % q q F + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +90 "core" ' + .tElbow.seek CC +2 "manipulator"&g( +162 "core" ( +2 "manipulator"&O& +4 "core" &" :, + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &W& +3 "core" &"  :, +2 .tForearm.seek CC + "manipulator"&?'| +104 "core" ' + .tHand.close +2 "manipulator"&\\/ +60 "core" / +2 .tCC.seek :open +2 "collection"'}(p +410 "core" ( + "storage"(& +4 "core" & 0\  +2 "storage"(& +4 "core" & \  + "manipulator"&[& +4 "core" &! 9% + "manipulator"&m% +5 "core" % q [ +2 .tForearm.seek :retract + "manipulator"&]'\ +90 "core" ' +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&@(D +157 "core" ( + "manipulator"&l& +5 "core" &K g  + "storage"(v& +4 "core" & \  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 3 +2 "manipulator"&'M +109 "core" ' + .tElbow.hold +2 "manipulator"&B, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&p1 +63 "core" 1 +2 "manipulator"&% +4 "core" % _p   M ¸ + "storage"(L& +4 "core" & - 7 )\  + .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 3 + 318 counts + "manipulator"&8'ϋ +16 "core" ' + "manipulator"&& +5 "core" & w _  + "storage"($& +4 "core" & \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&h' +19 "core" ' +2 "storage"(1% +4 "core" %^ T\ +2 ."downElevator"SE.seek :down +3 "storage"('N +99 ('% +3 "core" %=@ \ V\\ +2 "manipulator"&z% +4 "core" % o o . +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&/'\ +90 "core" ' +48 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 4 of [2..5] + #Loading generic puck from tube 4 into Collection Clamp + "collection"'>& +5 "core" &\ +2 "manipulator"&n% +3 "core" %\ + !Q +2 "storage"(% +4 "core" %? \ + "storage"(M. +3 "core" .( + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"(#(, +354 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (& +3 "core" &, 7 4\  + "manipulator"&~& +4 "core" &  +2 .tElbow.seek 4 +2 "manipulator"&0(* +17 "core" ( + "manipulator"&& +4 "core" && b +2 "storage"(F& +3 "core" &, i h i\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&' +95 "core" ' + "storage"(T& +4 "core" &, \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"('e +280 "core" ' +2 "storage"(9- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (D& +2 "core" &, [ d \  +2 "manipulator"&i& +4 "core" &)\  _ + .tElbow.seek 4 +2 "manipulator"&(* +3 "core" ( +2 "manipulator"&_& +3 "core" &)\  _ +2 "storage"(& +3 "core" &, \  +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&e'Z +20 "core" ' +2 .tForearm.reconfigure :loose +53 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&!/ +59 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&& +3 "storage"(u'N +6 "core" &)\ v  B _ +2 "manipulator"&{% +4 "core" % P | t { +2 .tForearm.seek :retract +2 "manipulator"&'\ +97 "core" ' + .tElbow.seek CC +2 "manipulator"&6( +144 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +4 "core" ( +2 "manipulator"&7& +4 "core" &$ ) ;7 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &V& +3 "core" &$ p ;7 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&G'| +100 "core" ' +2 "manipulator"&S& +4 "core" &$ L ;7 +2 "manipulator"&-% +4 "core" %υ  +2 "collection"'|& +5 "core" &\ +2 "collection"'& +5 "core" &\ +2 .tCC.seek :closed +3 "collection"'((] +3 "core" &\ +6 &\ 6 +9 &I\ 0 +10 &;r\ E +9 &i\ M +9 &`\ M +12 &dc\ N +7 & 'g\ M +9 &!b\ M +10 &#b\ M +9 &%na\ M +9 &'/f\ M +10 &(c\ M +9 &*c\ M +10 &,v^\ M +9 &.7c\ M +9 &/e\ M +10 &1e\ N +9 &3~b\ M +9 &5?b\ M +10 &7^\ M +9 &8`\ M +10 &:c\ M +9 & b\ M +10 &?b\ M +9 &Ab\ M +9 &COe\ M +10 &Ea\ M +9 &Fb\ M +10 &Hj\ N +9 &JO{\ P +9 &L %[\ S +10 &M\ V +9 &O\ W +9 &QA\ X +10 &S\ X +9 &Tty\ Z +10 &Vgk\ Y +9 &X@V]\ [ +9 &YHP\ \\ +10 &[;C\ \\ +9 &]$S05\ 0 +9 &]..\ U +6 ( +2 "collection"'& +4 #tCollection Clamp onSpring/offSpring for 9/26 samples, on/off torque 2.01 + .Hand.open + "manipulator"&Z1 +4 "core" &]}-.\ T +49 1 + "manipulator"&`% +5 "core" % ς ? +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +92 "core" ' +2 #tLoading generic puck from tube 4 into Processing Clamp + "processing"% & +4 "core" &\ +2 "manipulator"&A% +4 "core" %\ % m 7 + "storage"(H% +4 "core" %B   \ +2 "storage"(y. +3 "core" .(,~ +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"(t(, +3 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (Y& +3 "core" &,\ \ \ \  +2 "manipulator"&s& +5 "core" &# ] ;4 + "manipulator"&%% +4 "core" %\ % B 7 +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&(* +176 "core" ( + "manipulator"&E& +5 "core" &7 A P + "storage"( & +4 "core" &, B B i\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&3' +92 "core" ' + "storage"(^& +5 "core" &, [ Y\  + .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"('e +279 "core" ' + "storage"(j- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (;& +2 "core" &,   W\  +2 "manipulator"& & +4 "core" &: [ M + .tElbow.seek 4 +2 "manipulator"&<(* +25 "core" ( +2 "manipulator"&& +4 "core" &2 } w d  + "storage"( & +4 "core" &, D E W\  +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&2'Z +20 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&I/ +62 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&4& +2 "storage"( 'N +7 "core" &2 q { m  +2 "manipulator"&N% +3 "core" % Q q o Z +2 .tForearm.seek :retract +2 "manipulator"&='\ +99 "core" ' +2 .tElbow.seek PC +2 "manipulator"&q(c +155 "core" ' + ."downElevator"SE.stop + "storage"(5 +92 "core" ( +2 "manipulator"&Q& +4 "core" &f K +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &P& +3 "core" &f F +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&b'[ +95 "core" ' +2 "manipulator"&+& +4 "core" &f S + "manipulator"&R% +4 "core" %^ 4 +2 "processing"%& +4 "core" &\ +2 "processing"%C& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%\ (Z +4 "core" &}\ +6 & 3\ $c +10 &_U\ 7 +9 &\ L +9 &pZ\ M +10 &1]\ M +9 &]\ M +10 & `\ M +9 &"x\\\ M +9 &$:^\ M +10 &%]\ M +9 &'\\\ M +9 &)]\ M +10 &+B]\ M +9 &-_\ M +10 &._\ M +9 &0[\ M +9 &2I_\ M +10 &4 Z\ M +9 &5\\\ M +9 &7[\ M +10 &9Q]\ M +9 &;]\ M +10 &<Y\ M +9 &>`\ N +9 &@Y]\ M +10 &B\\\ M +9 &C]\ M +9 &E_\ M +10 &G`d\ N +9 &Io\ O +10 &J\ Q +9 &L\ S +9 &NV\ T +10 &P\ T +9 &Q\ T +9 &S\ T +10 &U^\ T +9 &W\ T +10 &X\ T +9 &Z<Mr\ - +9 &Z)\ ) +6 ( +2 "processing"%C& +3 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.58 + .Hand.open +2 "manipulator"&1 +3 "core" &Z\ ) +50 1 + "manipulator"&U% +4 "core" % ^ ~ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&:'\ +91 "core" ' +2 "processing"%w& +4 "core" &Z\ ) +2 #tImaging generic puck in Processing Clamp while storing it to tube 4 + "manipulator"&&% +4 "core" %\ ( r G + "storage"(J% +4 "core" %C  \ +2 "storage"(K. +3 "core" .(, + "storage"(& +4 "core" &,  \  +2 "storage"(5& +4 "manipulator"&.& +3 "core" &, Q $ \  +2 &f . +2 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +2 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +2 "storage"(#]kK-0-\ b +3 "manipulator"&o(c +6 ."raiseStack"SE.seek :beamBreak +2 "storage"(x'e +3 "core" ( + "manipulator"&& +4 "core" &f  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &,& +3 "core" &f +2 .tForearm.seek PC +2 "manipulator"&k'[ +94 "core" ' +2 .tHand.close + "manipulator"&c/ +65 "core" / + .tPC.seek :open +2 "processing"%)(p +83 "core" ' +2 "storage"(*- +3 "core" -'e +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(O'B +33 "core" ' +265 ( + "storage"(W& +5 "core" &, A B T\  + "manipulator"&d& +4 "core" &f  +2 "manipulator"&f% +3 "core" % h T +2 .tForearm.seek :retract +2 "manipulator"&\\'\ +93 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&(* +271 "core" ( +2 "manipulator"&r& +4 "core" &7 Y + "storage"(& +4 "core" &, 4 4\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&' +99 "core" ' + .tHand.open +2 "manipulator"&[1 +63 "core" 1 + "storage"(m- +4 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate +2 "storage"(l' +23 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(v' +56 "core" ' + #tLights, camera, ACTION! +2 "storage"(?- +3 "core" -' +2 "storage"(g& +3 "core" &, Z\  +2 "manipulator"&p& +4 "core" &7  +2 .tElbow.seek 4 + "manipulator"&(* +13 "core" ( +2 "manipulator"&L& +4 "core" &3 m  +2 "storage"(& +4 "core" &, \  +2 .tForearm.seek 4 + 450 counts + "manipulator"&$' +4 "core" ' + .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"(1'M +62 "core" ' + "manipulator"&]& +4 "core" &3   +2 "storage"('& +4 "core" &, B B \  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&z'. +33 "core" ' + .tElbow.hold +2 "manipulator"&@, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"('7 +73 "core" ' +2 "manipulator"&>% +4 "core" %BZ  % Ų + "storage"(n& +4 "core" &, \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 320 counts +2 "manipulator"&8'n +16 "core" ' +2 "manipulator"&& +4 "core" & { v N +2 "storage"(M& +4 "core" &, Y Y\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&a' +20 "core" ' +2 "storage"(h% +4 "core" %> Y [\ +2 ."downElevator"SE.seek :down +3 "storage"('N +99 ("% +3 "core" %[9 4 5 \ U] +2 "manipulator"&% +4 "core" % p p ; ) +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&~'\ +90 "core" ' +56 ' + ."downElevator"SE.stop + "storage"(5 +3 (& +4 "core" &, /  >\  + "collection"'F& +4 "core" &]}24\ T +2 #tStoring generic puck in Collection Clamp to tube 4 +2 "manipulator"&T% +4 "core" %\ - "] + "storage"(B% +4 "core" %; 4 4 \ +2 "storage"(/. +3 "core" .(, + "storage"(9& +4 "core" &, B > )\  +2 "storage"(D& +4 "core" &, 7 B |\  + "manipulator"&i& +4 "core" & +2 .tElbow.seek 4 + "manipulator"&_(* +24 "core" ( +2 "manipulator"&& +4 "core" &* 1 $ + "storage"(!& +4 "core" &, 4 4\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&' +101 "core" ' +2 "storage"({& +4 "core" &, - < \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(0'e +279 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&7& +2 "core" &. 4 # +2 "storage"(V& +4 "core" &,   {\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&'. +30 "core" ' +2 .tElbow.hold +2 "manipulator"&e, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(S- +2 "core" -' +2 .tSE.seek 0.12 Pucks below Top Plate +2 "storage"(-'o +31 "core" ' +2 "manipulator"&|% +4 "core" %@Y 7 5 2 ɲ + "storage"(& +4 "core" &, a\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 318 counts + "manipulator"&u'l +16 "core" ' + "manipulator"&& +5 "core" & z a s & + "storage"(}& +4 "core" &, 6 3\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&Z' +17 "core" ' +2 .tSE.seek 1.12 Pucks below Top Plate +2 "storage"(`'^ +41 "core" ' + "manipulator"& & +5 "core" & p o  & + "manipulator"&A% +4 "core" % p q   +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&H'\ +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&y( +151 "core" ( + "manipulator"&Y& +4 "core" &\ %  <@ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &\ %  <@ +2 .tForearm.seek CC +2 "manipulator"&s'| +94 "core" ' + .tHand.close +2 "manipulator"&%/ +56 "core" / +2 .tCC.seek :open +2 "collection"'G(p +411 "core" ( + "storage"(E& +4 "core" &, | w I\  +2 "storage"( & +3 "core" &, s u 6\  +2 "manipulator"&#& +4 "core" &\ % <@ + "manipulator"&^% +4 "core" % ϋ  +2 .tForearm.seek :retract + "manipulator"&6'\ +102 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&(* +158 "core" ( + "manipulator"&j& +4 "core" &5  +2 "storage"(;& +4 "core" &, g r }\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 4 +2 "manipulator"& '. +114 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"& 1 +59 "core" 1 +2 "manipulator"&I% +5 "core" % Ao   ¸ + "storage"(4& +4 "core" &, 8 B \  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 319 counts + "manipulator"&N'm +16 "core" ' +2 "manipulator"&& +4 "core" & j  +2 "storage"(3& +3 "core" &, \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&' +19 "core" ' +2 "storage"(2% +4 "core" %a g\ +3 ."downElevator"SE.seek :down +3 "storage"(Q'N +99 (P% +3 "core" %,> \ U[ + "manipulator"&<% +4 "core" % q q z  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&+'\ +96 "core" ' +40 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 5 of [2..5] +2 #Loading generic puck from tube 5 into Collection Clamp + "collection"'R& +5 "core" &\ +2 "manipulator"&% +4 "core" %\ 3 " %x + "storage"( % +4 "core" %: y\ \ +2 "storage"(=. +3 "core" .(, +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 + "storage"(X(<< +352 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (& +2 "core" &<9 C 9 d\  +2 "manipulator"&U& +4 "core" &   +2 .tElbow.seek 5 + "manipulator"&w( +18 "core" ( + "manipulator"&&& +5 "core" &  > + "storage"(J& +4 "core" &<9 g e y\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&K' +93 "core" ' +2 "storage"(& +4 "core" &<9 T\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(.'e +280 "core" ' + "storage"(5- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (C& +3 "core" &<9 Z \  +2 "manipulator"&& +3 "core" &  = +2 .tElbow.seek 5 +2 "manipulator"&,( +18 "core" ( +2 "manipulator"&b& +4 "core" &  + "storage"(c& +4 "core" &<9 \  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&*'[ +21 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&q/ +59 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&:& +2 "storage"(\ 'N +8 "core" & o q K + "manipulator"&W% +4 "core" % Y q o T +2 .tForearm.seek :retract +2 "manipulator"&x'\ +93 "core" ' + .tElbow.seek CC +2 "manipulator"&d( +146 "core" ' + ."downElevator"SE.stop + "storage"(5 +7 "core" ( + "manipulator"&f& +4 "core" &" \\ :0 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &k& +2 "core" &# N :0 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&r'| +95 "core" ' +2 "manipulator"&& +4 "core" &# t :/ +2 "manipulator"&o% +3 "core" %τ h +2 "collection"'[& +4 "core" &\ +3 "collection"'m& +4 "core" &\ +2 .tCC.seek :closed +2 "collection"'?(] +5 "core" &\  +7 &0\ +z +10 &c\ > +9 &M~\ N +9 &a\ M +10 &d\ M +9 &g\ M +10 &!Vf\ M +9 &#d\ M +9 &$`\ M +10 &&d\ M +9 &(_e\ M +9 &*!b\ M +10 &+a\ M +9 &-a\ M +10 &/ec\ N +9 &1(c\ M +9 &2`\ M +10 &4`\ M +9 &6n`\ M +9 &81`\ M +10 &9`\ M +9 &;`\ M +10 &=wd\ M +9 &?9`\ M +9 &@c\ M +10 &Bb\ M +9 &D`\ M +9 &FB`\ M +10 &He\ M +9 &Iu\ O +10 &Kzm\ Q +9 &M0\ V +9 &N\ W +10 &P\ X +9 &Rn\ X +9 &T.\ Y +10 &Uy\ Z +9 &Wiq\ Z +10 &Yl]a\ \\ +9 &[.LS\ \\ +9 &\\{@C\ 2 +10 &]"8<\ %l +8 ( +3 "collection"'m& +3 #tCollection Clamp onSpring/offSpring for 9/25 samples, on/off torque 1.98 +2 .Hand.open + "manipulator"&g1 +3 "core" &]99\ _ +49 1 + "manipulator"&p% +4 "core" % τ ] +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&L'\ +144 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp + "processing"%\\& +4 "core" &\ +2 "manipulator"&% +3 "core" %\ * a E +2 "storage"(]% +4 "core" %;  \ + "storage"('. +4 "core" .(<9 + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"(O(<< +7 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (l& +4 "core" &<92\  \  +2 "manipulator"&>& +3 "core" &" F 9& +2 "manipulator"&n% +4 "core" %\ ) E +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&( +158 "core" ( + "manipulator"&M& +5 "core" & & \ + "storage"(& +4 "core" &<9 B 8 \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&' +93 "core" ' +2 "storage"(h& +4 "core" &<9 X = \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(v'e +280 "core" ' + "storage"($- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 ("& +3 "core" &<9   |\  +2 "manipulator"&& +3 "core" & \ \ +2 .tElbow.seek 5 +2 "manipulator"&( +7 "core" ( +2 "manipulator"&1& +4 "core" &  N + "storage"(z& +4 "core" &<9 3 4\  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&'[ +24 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&8/ +58 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&F& + "storage"(T'N +6 "core" &  q p _ +2 "manipulator"&B% +4 "core" % f s p - +2 .tForearm.seek :retract +2 "manipulator"&/'\ +92 "core" ' + .tElbow.seek PC +2 "manipulator"&9(c +158 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +84 "core" ( + "manipulator"&& +5 "core" &j D +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &D& +2 "core" &j +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&i'[ +101 "core" ' + "manipulator"&& +5 "core" &j v +2 "manipulator"&!% +3 "core" %G  +2 "processing"%a& +4 "core" &\ +3 "processing"%{& +6 "core" &\ +2 .tPC.seek :closed + "processing"%(Z +4 "core" &\  +9 &/~\ *y +9 &e\ ? +9 &Dy\ N +10 &Y\ M +9 &_\ M +9 &Y\ M +10 &!M]\ M +9 &#]\ M +10 &$]\ M +9 &&_\ M +9 &(U^\ M +10 &*]\ N +9 &+]\ M +9 &-]\ M +10 &/\\_\ N +9 &1^\ M +10 &2a\ M +9 &4^\ M +9 &6e]\ M +10 &8&^\ N +9 &9]\ M +9 &;\\\ M +10 &=n]\ M +9 &?/a\ M +10 &@_\ M +9 &B[\ M +9 &Du_\ M +10 &F6b\ N +9 &Gl\ O +9 &Iu\ O +10 &Kp\ R +11 &M-\ S +10 &N\ S +7 &P\ S +9 &Rr\ T +10 &T3\ T +9 &U\ T +9 &W\ T +10 &Yx\ A +9 &Zx=\ \\ +10 &Z\ ) +2 ( +2 "processing"%{& +2 #tProcessing Clamp onSpring/offSpring for 9/25 samples, on/off torque 1.62 + .Hand.open +2 "manipulator"&@1 +60 "core" 1 + "manipulator"&~% +5 "core" % G  + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +100 "core" ' +2 "processing"%7& +4 "core" &Z\ ) + #tImaging generic puck in Processing Clamp while storing it to tube 5 +2 "manipulator"&V% +3 "core" %\ 6 6 & +2 "storage"(S% +4 "core" %:   \ \ + "storage"(|. +4 "core" .(<9 + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"((<< +3 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (& +3 "core" &<: \  +2 "manipulator"&}& +2 ."raiseStack"SE.reconfigure :place +6 "storage"(#]kK-0-\ b +2 "core" &j  +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +2 "storage"( 'e + "manipulator"&A(c +5 "core" ( + "manipulator"&& +4 "core" &j p +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &_& +2 "core" &j d +3 .tForearm.seek PC + "manipulator"&0'[ +95 "core" ' + .tHand.close + "manipulator"&/ +58 "core" / +2 .tPC.seek :open +2 "processing"%u(p +88 "core" ' + "storage"(-- +3 "core" -'e +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +2 ."raiseStack"SE.seek :place +2 "storage"(Y'B +34 "core" ' +260 ( + "storage"(& +4 "core" &<9 B 8 W\  +2 "manipulator"&Z& +4 "core" &j  + "manipulator"&e% +4 "core" % Y   +2 .tForearm.seek :retract +2 "manipulator"&%'\ +91 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&H( +257 "core" ( +2 "manipulator"&(& +4 "core" &  % + "storage"(E& +4 "core" &<9   6\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"& ' +104 "core" ' + .tHand.open +2 "manipulator" +61 "core" 1 +2 "storage"(^- +3 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate +2 "storage"(j' +23 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(;' +51 "core" ' +2 #tLights, camera, ACTION! + "storage"(s- +4 "core" -' + "storage"(y& +4 "core" &<9 N\  +2 "manipulator"& & +4 "core" &  % + .tElbow.seek 5 +2 "manipulator"&I( +4 "core" ( + "manipulator"&4& +4 "core" &  % +2 "storage"(& +4 "core" &<9 \  +2 .tForearm.seek 5 + 450 counts + "manipulator"&3' +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.11 Pucks below Top Plate + "storage"(2'M +59 "core" ' + "manipulator"&6& +5 "core" & r r ' % + "storage"(P& +4 "core" &<9 4 8 P\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&<'/ +34 "core" ' +2 .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"( '7 +27 "core" ' +2 "manipulator"&R% +4 "core" %?n ) ) Ƹ +2 "storage"(& +4 "core" &<9 /\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 316 counts + "manipulator"&N'k +19 "core" ' +2 "manipulator"& & +4 "core" & c x T $ +2 "storage"(=& +4 "core" &<9 7 , \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&`' +19 "core" ' +2 "storage"(% +4 "core" %9 = Z\ +3 ."downElevator"SE.seek :down +3 "storage"(Q'N +99 (t% +2 "core" %0? $  \ U] +2 "manipulator"&% +5 "core" % z u R  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&U'\ +91 "core" ' +57 ' + ."downElevator"SE.stop + "storage"(5 +3 (&& +4 "core" &<9 M A\  +2 "collection"'J& +4 "core" &]>=\ _ + #tStoring generic puck in Collection Clamp to tube 5 +2 "manipulator"&% +3 "core" %\ ) F +2 "storage"(% +4 "core" %> 4 4\ +2 "storage"(+. +3 "core" .(<< + "storage"(5& +4 "core" &<9 9 5 \  +2 "storage"(C& +4 "core" &<9 4 5\  + "manipulator"&& +9 "core" & I $ +2 .tElbow.seek 5 +2 "manipulator"&b( +3 "core" ( + "manipulator"&c& +8 "core" & : $ +2 "storage"(q& +4 "core" &<9 7 5 \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&:' +104 "core" ' + "storage"(W& +4 "core" &<9 Y Y\  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(w'e +282 "core" ' + "storage"(K- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&f& +53 "core" &  s q 3 # +2 "storage"(k& +4 "core" &<9 5 4 N\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 + "manipulator"&.'/ +34 "core" ' +2 .tElbow.hold + "manipulator"&*, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(- +3 "core" -' +2 .tSE.seek 0.12 Pucks below Top Plate +2 "storage"(o'q +30 "core" ' + "manipulator"&[% +4 "core" %;d   o õ +2 "storage"(,& +4 "core" &<9 u\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 312 counts +2 "manipulator"&\ 'g +18 "core" ' +2 "manipulator"&x& +5 "core" & q y = $ + "storage"(G& +4 "core" &<9 9 @ \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&g' +25 "core" ' +2 .tSE.seek 1.12 Pucks below Top Plate +2 "storage"(p'` +46 "core" ' +2 "manipulator"&m& +4 "core" & p F $ +2 "manipulator"&\\% +5 "core" % q r  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +90 "core" ' + .tElbow.seek CC +2 "manipulator"&]( +140 "core" ( +2 "manipulator"&'& +4 "core" & q . + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &l& +3 "core" &  . +2 .tForearm.seek CC + "manipulator"&>'| +99 "core" ' +2 .tHand.close + "manipulator"&n/ +60 "core" / +2 .tCC.seek :open +2 "collection"'r(p +410 "core" ( +2 "storage"(M& +4 "core" &<9 y \  + "storage"(& +4 "core" &<9 s { t\  + "manipulator"&X& +4 "core" & - . + "manipulator"&h% +4 "core" % u  +2 .tForearm.seek :retract +2 "manipulator"&d'\ +92 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&L( +166 "core" ( +2 "manipulator"&$& +4 "core" & a P + "storage"("& +4 "core" &<9 t\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 5 +2 "manipulator"&'/ +108 "core" ' +2 .tElbow.hold + "manipulator"&1, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&z1 +63 "core" 1 +2 "manipulator"&8% +5 "core" % Bv  = ú7 + "storage"(F& +4 "core" &<9 B C \  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 319 counts + "manipulator"&B'n +17 "core" ' + "manipulator"&& +4 "core" &\  h E W +2 "storage"(& +4 "core" &<9 \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&v' +21 "core" ' +2 "storage"(% +4 "core" %` \ +3 ."downElevator"SE.seek :down +3 "storage"('N +99 (D% +2 "core" %.< \ SX +2 "manipulator"&% +5 "core" % } }   +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +96 "core" ' +43 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 2 of [2..5] +2 #Loading generic puck from tube 2 into Collection Clamp + "collection"'!& +5 "core" &\ + "manipulator"&a% +5 "core" %\ 1 t $o + "storage"(T% +4 "core" %< \ \ +2 "storage"(/. +3 "core" .(<< +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"()(  +989 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (@& +3 "core" &  E H $\ +2 "manipulator"&~& +4 "core" &\ k V +2 .tElbow.seek 2 + "manipulator"&7(; +33 "core" ( + "manipulator"&V& +5 "core" &A :  + "storage"(S& +4 "core" &  x ;\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&|'Ѐ +109 "core" ' +2 "storage"({& +4 "core" &  P\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('e +278 "core" ' +2 "storage"(}- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +2 "core" &  \ +2 "manipulator"&_& +3 "core" &A r r M  +2 .tElbow.seek 2 +2 "manipulator"&i(; +3 "core" ( + "manipulator"&& +4 "core" &A X R h  +2 "storage"(O& +4 "core" &  \ +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&-' +15 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&9/ +60 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& + "storage"('N +7 "core" &A p p   +2 "manipulator"&% +4 "core" % p q  K +2 .tForearm.seek :retract + "manipulator"& '\ +93 "core" ' + .tElbow.seek CC +2 "manipulator"&Z( +149 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +2 "core" ( +2 "manipulator"&e& +4 "core" &\  0 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &0& +2 "core" &\  0 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&('| +100 "core" ' + "manipulator"&E& +5 "core" &\  ~ 0 + "manipulator"&A% +4 "core" %v +3 "collection"'#& +4 "core" &\ +2 "collection"'^& +5 "core" &\ +2 .tCC.seek :closed +2 "collection"'s(] +5 "core" &\ +6 &8\ $e +9 &jW\ 8 +10 &\ L +9 &`\ M +9 &Bb\ M +10 &d\ M +9 & f\ M +9 &"e\ M +10 &$Jc\ M +9 && e\ M +10 &'^\ M +9 &)c\ M +9 &+Sb\ M +10 &-b\ L +9 &.e\ M +9 &0a\ M +10 &2Xe\ N +9 &4c\ M +10 &5b\ M +9 &7a\ M +9 &9c_\ M +10 &;%`\ M +9 &<^\ M +9 &>a\ M +10 &@ja\ M +9 &B+c\ M +10 &Ca\ M +9 &E_\ M +9 &Grd\ M +10 &I.s\ O +9 &J\ Q +9 &L,\ U +10 &N]\ W +9 &P\ X +10 &Q\ X +9 &S\ Y +9 &U\\t|\ Z +10 &Wfn\ Z +9 &XU\\\ [ +9 &ZGK\ \\ +10 &\\a8=\ H +9 &]f?.2\ #l +9 &]-.\ T +6 ( +2 "collection"'^& +4 #tCollection Clamp onSpring/offSpring for 10/26 samples, on/off torque 1.96 + .Hand.open +2 "manipulator"&y1 +3 "core" &]}.0\ T +52 1 + "manipulator"& % +4 "core" % v  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&4'\ +94 "core" ' + #tLoading generic puck from tube 2 into Processing Clamp + "processing"%& +5 "core" &\ +2 "manipulator"&%% +3 "core" %\ % ^ 6 +2 "storage"(6% +4 "core" %; 4 >\ +2 "storage"(P. +3 "core" .(  + "storage"(R& +4 "core" &  4 4\ +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"(Y(  +32 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (& +2 "core" &  S w\ \ +2 "manipulator"&j& +5 "core" &  0 +2 "manipulator"& % +3 "core" %\ % 6 +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&=(; +157 "core" ( +2 "manipulator"&& +4 "core" &6 _  + "storage"(H& +4 "core" &  * /\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"& 'Ѐ +110 "core" ' + "storage"(;& +5 "core" &  _ Z v\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(t'e +276 "core" ' + "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (3& +2 "core" &  - 6\  +2 "manipulator"&I& +4 "core" &6 q r Z  + .tElbow.seek 2 +2 "manipulator"&2(; +3 "core" ( + "manipulator"&<& +4 "core" &6 y } N  +2 "storage"(&& +3 "core" &  7 7\  +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&N' +15 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&J/ +57 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& + "storage"('N +8 "core" &6 s t 1  +50 "manipulator"&+% +5 "core" % p r 8 ^ +2 .tForearm.seek :retract +2 "manipulator"&5'\ +90 "core" ' +2 .tElbow.seek PC +2 "manipulator"& (c +105 "core" ' + ."downElevator"SE.stop + "storage"(5 +140 "core" ( +2 "manipulator"&C& +5 "core" &j U + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &j g +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&c'[ +107 "core" ' + "manipulator"&q& +5 "core" &j ~ t  + "manipulator"&`% +5 "core" %O q u U + "processing"%W& +4 "core" &\ +3 "processing"%Q& +5 "core" &~\ +2 .tPC.seek :closed +2 "processing"%(Z +4 "core" &\ +7 & 3\ #a +9 &`W\ 7 +9 &\ L +10 &sZ\ M +9 &6\\\ M +10 &\\\ M +9 & _\ M +9 &"|\\\ M +10 &$=]\ M +9 &%\\\ M +9 &'\\\ M +10 &)\\\ M +9 &+F]\ M +10 &-]\ M +9 &.^\ M +9 &0Z\ M +10 &2N]\ M +9 &4\\\ M +9 &5]\ M +10 &7]\ M +9 &9W\\\ M +10 &;]\ M +9 &<Z\ M +9 &>_\ N +10 &@]]\ M +9 &B Z\ M +9 &C]\ M +10 &E^\ M +9 &Gce\ N +10 &I!r\ O +9 &J\ Q +9 &L\ S +10 &NZ\ T +9 &P\ T +9 &Q\ T +10 &S\ T +9 &Ua\ T +10 &W"7\ T +9 &X\ T +9 &Z=In\ +} +10 &Z 4\ + +5 ( +2 "processing"%Q& +4 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.60 + .Hand.open +2 "manipulator"&U1 +3 "core" &Z \ + +58 1 +2 "manipulator"&K% +4 "core" % U R +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&f'\ +94 "core" ' +2 "processing"%k& +4 "core" &Z \ + +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 + "manipulator"&% +4 "core" %\ 1 $t + "storage"([% +4 "core" %>   ]\ + "storage"(,. +3 "core" .(  +2 "storage"(x& +4 "core" &  U n\  +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"(G(  +12 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (m& +2 "manipulator"&\\& +4 "core" &  `\ & +5 ."raiseStack"SE.reconfigure :place +3 "storage"(#]kK-0-\ b +2 "core" &j ( +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +2 ."raiseStack"SE.seek :beamBreak +3 "manipulator"&:(c +2 "storage"(b'e +5 "core" ( + "manipulator"&w& +4 "core" &j p + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &.& +3 "core" &j L +3 .tForearm.seek PC + "manipulator"&\ '[ +96 "core" ' +2 .tHand.close + "manipulator"&o/ +61 "core" / +2 .tPC.seek :open +2 "processing"%'(p +88 "core" ' + "storage"(l- +4 "core" -'e + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +2 ."raiseStack"SE.seek :place +2 "storage"(g'B +35 "core" ' +259 ( + "storage"(*& +4 "core" &  5 4 \ 3 +2 "manipulator"&n& +4 "core" &j  + "manipulator"&% +4 "core" % o   +2 .tForearm.seek :retract +2 "manipulator"&?'\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&M(; +258 "core" ( + "manipulator"&& +5 "core" &> y "| + "storage"(X& +5 "core" &    \ 3 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&h'Ѐ +94 "core" ' + .tHand.open +2 "manipulator"&$1 +56 "core" 1 +2 "storage"("- +4 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate +2 "storage"(>' +22 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(]' +51 "core" ' + #tLights, camera, ACTION! +2 "storage"(z- +3 "core" -' +2 "storage"(8& +4 "core" &  .\ 4 + "manipulator"&F& +4 "core" &?  "{ +2 .tElbow.seek 2 + "manipulator"&(; +3 "core" ( +2 "manipulator"&& +4 "core" &? o "{ + "storage"(& +4 "core" &  \ 4 +3 .tForearm.seek 2 + 450 counts + "manipulator"&d'Ѐ +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.11 Pucks below Top Plate + "storage"(D'M +59 "core" ' +2 "manipulator"&& +4 "core" &?  "{ + "storage"(L& +4 "core" &  D C m\ 4 +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&'ξ +35 "core" ' + .tElbow.hold +2 "manipulator"&!, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"(B'7 +21 "core" ' +2 "manipulator"&a% +4 "core" %e   * ŵ +2 "storage"(T& +4 "core" &  s\ 4 + .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 2 + 310 counts + "manipulator"&/' +16 "core" ' +2 "manipulator"&p& +5 "core" &[\ } | i _ +2 "storage"(v& +4 "core" &  4 E\ 4 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&'Ѐ +17 "core" ' + "storage"(% +5 "core" %? Y Y\ +2 ."downElevator"SE.seek :down +4 "storage"(@'N +99 (~% +4 "core" %D9 > A 5\ U^ + "manipulator"&V% +4 "core" % s z +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&S'\ +86 "core" ' +61 ' + ."downElevator"SE.stop + "storage"(5 +3 ({& +4 "core" &    \ 4 + "collection"'1& +4 "core" &]}15\ T +2 #tStoring generic puck in Collection Clamp to tube 2 + "manipulator"&% +4 "core" %\ * !M +2 "storage"(}% +4 "core" %; 4 3\ \ + "storage"(. +3 "core" .(  +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 + "storage"(_(  +47 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (& +2 "core" &  \ +2 "manipulator"&O& +4 "core" &[\  _ +2 .tElbow.seek 2 + "manipulator"&9(; +25 "core" ( +2 "manipulator"&& +4 "core" &> ^  +2 "storage"(& +3 "core" &  B B \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&7'Ѐ +98 "core" ' +2 "storage"(|& +4 "core" &  Z Y\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(e'e +276 "core" ' + "storage"(0- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&& +3 "core" &> s q u  +2 "storage"(-& +4 "core" &  L : \ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&E'ξ +33 "core" ' +2 .tElbow.hold + "manipulator"&A, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(#- +2 "core" -' +3 .tSE.seek 0.11 Pucks below Top Plate + "storage"(i'n +26 "core" ' + "manipulator"&% +5 "core" %R  % ư + "storage"( & +4 "core" &  \ +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 2 + 313 counts +2 "manipulator"&r' +17 "core" ' +2 "manipulator"&y& +4 "core" &> ^ v \  + "storage"( & +4 "core" &  6 ? /\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&'Ѐ +18 "core" ' +2 .tSE.seek 1.11 Pucks below Top Plate + "storage"(%'] +51 "core" ' + "manipulator"&6& +4 "core" &> q p A  +2 "manipulator"&P% +4 "core" %{ q r K +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&R'\ +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"&^( +167 "core" ( + "manipulator"&& +4 "core" &*  @X +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +4 &j& +9 "core" &* o @X +3 .tForearm.seek CC +53 "manipulator"& '| +97 "core" ' + .tHand.close +2 "manipulator"&(/ +52 "core" / +2 .tCC.seek :open +2 "collection"'(p +410 "core" ( + "storage"(H& +5 "core" &  t u !\ + "storage"()& +4 "core" &  p o #\ + "manipulator"&;& +4 "core" &% =F +2 "manipulator"&Z% +4 "core" % σ < + .tForearm.seek :retract +2 "manipulator"&4'\ +92 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&(; +158 "core" ( +2 "manipulator"&3& +4 "core" &C ]  + "storage"(I& +4 "core" &  \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 2 +2 "manipulator"&<'ξ +107 "core" ' + .tElbow.hold +2 "manipulator"&&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&J1 +61 "core" 1 +2 "manipulator"&% +4 "core" % s 9 $ + "storage"(+& +4 "core" &  ? 7 L\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 320 counts + "manipulator"&=' +18 "core" ' + "manipulator"& & +4 "core" &D ` w >  +2 "storage"(t& +4 "core" &  a\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&N'Ѐ +23 "core" ' + "storage"(C% +5 "core" %` \ +2 ."downElevator"SE.seek :down +3 "storage"('N +99 (2% +3 "core" %; 7\ U\\ +2 "manipulator"&q% +4 "core" %Д q s B +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&`'\ +88 "core" ' +49 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 3 of [2..5] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"'W& +5 "core" &\ + "manipulator"&% +5 "core" %\ ( / C + "storage"(5% +4 "core" %: \ +2 "storage"(u. +3 "core" .(  +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(U( +363 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (K& +3 "core" & 9 9 \  + "manipulator"&k& +4 "core" &D _  +2 .tElbow.seek 3 + "manipulator"&(D +4 "core" ( + "manipulator"&[& +4 "core" &D H  +2 "storage"(,& +3 "core" & \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&x' +95 "core" ' +2 "storage"(Q& +4 "core" & Q\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(m'e +280 "core" ' + "storage"(\\- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (w& +3 "core" & \  +2 "manipulator"&.& +3 "core" &D   +2 .tElbow.seek 3 +2 "manipulator"&c(D +3 "core" ( + "manipulator"&o& +4 "core" &D   +2 "storage"(Y& +3 "core" & \  +3 .tForearm.seek 3 + 300 counts + "manipulator"&l'y +11 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"& / +54 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&f& +2 "storage"('N +7 "core" &D =  + "manipulator"&*% +4 "core" % ~ C  +2 .tForearm.seek :retract +2 "manipulator"&n'\ +93 "core" ' +2 .tElbow.seek CC +2 "manipulator"&b( +149 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +13 "core" ( +2 "manipulator"&& +4 "core" &% <: + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &\ & +3 "core" &% <: +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&'| +96 "core" ' + "manipulator"&X& +5 "core" &% u <9 + "manipulator"&:% +5 "core" %z + "collection"'$& +4 "core" &\ +3 "collection"'"& +6 "core" &\ +2 .tCC.seek :closed +2 "collection"'z(] +3 "core" &\ +9 & 8\ %f +9 &jV\ 7 +9 &\ L +10 &{b\ M +9 &>`\ M +9 &b\ M +10 & e\ M +9 &"e\ M +10 &$Db\ M +9 &&d\ M +9 &'^\ M +10 &)c\ M +9 &+Lc\ M +9 &-b\ M +10 &.c\ N +9 &0c\ M +10 &2Tg\ M +9 &4c\ M +9 &5a\ M +10 &7a\ M +9 &9^`\ M +9 &;c\ M +10 &<`\ L +9 &>a\ M +10 &@f`\ M +9 &B(b\ M +9 &C`\ L +10 &E`\ M +9 &Glg\ M +10 &I+n\ N +9 &J\ Q +9 &L0\ U +10 &NW\ W +9 &P\ W +9 &Q\ W +10 &S\ Y +9 &UX\ Z +9 &Wnu\ Y +10 &X^f\ [\ +9 &ZNV\ [ +10 &\\[@F\ H +9 &]c=6;\ $n +9 &]{57\ R +3 ( + "collection"'"& +3 #tCollection Clamp onSpring/offSpring for 10/26 samples, on/off torque 1.98 +2 .Hand.open + "manipulator"&81 +63 "core" 1 + "manipulator"&F% +4 "core" % y  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +98 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%& +5 "core" &\ + "manipulator"&?% +4 "core" %\ 6 ( & +2 "storage"(% +4 "core" %C   *\ + "storage"(L. +3 "core" .( +2 "storage"(a& +3 "core" &  \  +2 "storage"(T& +4 "core" & \  + "manipulator"&g& +4 "core" &" v :/ +2 "manipulator"&p% +4 "core" %\ 6 & + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&>(D +155 "core" ( + "manipulator"&v& +5 "core" &9  + "storage"(& +4 "core" & B B \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&M' +97 "core" ' + "storage"(h& +4 "core" & [ [ \  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(]'e +282 "core" ' + "storage"(~- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (V& +3 "core" & 4 @\  + "manipulator"&d& +4 "core" &9 >  +2 .tElbow.seek 3 + "manipulator"&(D +13 "core" ( + "manipulator"&D& +4 "core" &: ; , +2 "storage"(& +4 "core" & B D \  +2 .tForearm.seek 3 + 300 counts + "manipulator"&{'y +20 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&// +53 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&1& + "storage"('N +7 "core" &: } , +2 "manipulator"&}% +4 "core" % n } z V +2 .tForearm.seek :retract +2 "manipulator"&'\ +92 "core" ' +2 .tElbow.seek PC +2 "manipulator"&B(c +161 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +86 "core" ( +2 "manipulator"&& +4 "core" &l 7 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &O& +2 "core" &l | +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&'[ +102 "core" ' + "manipulator"&& +4 "core" &l O +2 "manipulator"&% +4 "core" %W k + "processing"%|& +4 "core" &\ +3 "processing"%@& +5 "core" &\ +3 .tPC.seek :closed +3 "processing"%G(Z +3 "core" &\ +5 &\ 0 +9 &Gv\ 1 +10 &3r\ E +9 &b\ N +9 &\\\ M +10 &]]\ M +9 & ]\ N +10 &!\\\ M +9 &#\\\ M +9 &%f]\ M +10 &''\\\ M +9 &(X\ M +9 &*Z\ M +10 &,mZ\ M +9 &./Y\ M +10 &/_\ N +9 &1]\ M +9 &3u^\ M +10 &58\\\ M +9 &6[\ M +9 &8Z\ M +10 &:~X\ M +9 &<>Z\ N +10 &>^\ N +9 &?_\ M +9 &A`\ M +10 &CG_\ M +9 &E]\ N +9 &Fa\ N +10 &Hn\ O +9 &JEz\ Q +10 &L\ S +9 &M\ S +9 &O\ T +10 &QE\ S +9 &S\ T +9 &T\ T +10 &V\ T +9 &XI\ U +10 &Yyu\ + +9 &Z'hp\ / +9 ( +3 "processing"%@& +3 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.58 + .Hand.open +2 "manipulator"&!1 +3 "core" &Z\ ( +58 1 + "manipulator"&S% +4 "core" % W  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&0'\ +91 "core" ' +2 "processing"%& +4 "core" &Z\ ( +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 +52 "manipulator"&-% +4 "core" %\ ' ; +2 "storage"(#% +4 "core" %N   L\ \ +2 "storage"(. +3 "core" .( + "storage"( & +4 "core" &   U\  +2 "storage"(y& +4 "manipulator"& & +4 "core" & . # \  +2 &l  +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +4 "storage"(#]kK-0-\ b + .tElbow.seek PC +4 "manipulator"&6(c +4 ."raiseStack"SE.seek :beamBreak +2 "storage"(P'e +2 "core" ( +2 "manipulator"&7& +3 "core" &l +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &9& +2 "core" &l  +3 .tForearm.seek PC + "manipulator"&e'[ +96 "core" ' + .tHand.close +2 "manipulator"&E/ +61 "core" / +2 .tPC.seek :open +2 "processing"%r(p +86 "core" ' + "storage"(i- +3 "core" -'e +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('B +50 "core" ' +244 ( +2 "storage"(j& +4 "core" & : @ P\  + "manipulator"&& +4 "core" &l  +2 "manipulator"&A% +4 "core" % R + .tForearm.seek :retract +2 "manipulator"&('\ +96 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&R(D +252 "core" ( + "manipulator"&s& +4 "core" &= T !r +2 "storage"(H& +4 "core" & D B \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&)' +95 "core" ' + .tHand.open +2 "manipulator"&;1 +58 "core" 1 +2 "storage"(Z- +3 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate +2 "storage"(3' +26 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(I' +53 "core" ' + #tLights, camera, ACTION! +2 "storage"( - +3 "core" -' +2 "storage"(^& +3 "core" & #\  +2 "manipulator"&J& +4 "core" &=  !r +2 .tElbow.seek 3 + "manipulator"&(D +3 "core" ( +2 "manipulator"&+& +4 "core" &=  !r + "storage"( & +4 "core" & \  +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&t' +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"(C'M +64 "core" ' + "manipulator"&4& +5 "core" &= ; !r + "storage"(2& +4 "core" & 7 ? n\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&q'M +33 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.07 Pucks below Top Plate + "storage"(<'7 +25 "core" ' + "manipulator"&W% +4 "core" %_b ( $ Ǵ +2 "storage"(=& +4 "core" & d\  + .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 3 + 318 counts + "manipulator"&'ϋ +17 "core" ' + "manipulator"&5& +5 "core" &(  # + "storage"(u& +5 "core" & 8 ;\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&%' +20 "core" ' +2 "storage"(N% +4 "core" %@ Y Z\ +3 ."downElevator"SE.seek :down +3 "storage"('N +99 (_% +2 "core" %: 4 4\ U\\ +2 "manipulator"&K% +4 "core" % q p :  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&k'\ +89 "core" ' +59 ' + ."downElevator"SE.stop +2 "storage"(5 +2 ([& +4 "core" &  . \  +2 "collection"',& +4 "core" &]v9;\ R + #tStoring generic puck in Collection Clamp to tube 3 +2 "manipulator"&Q% +3 "core" %\ .  "Y +2 "storage"(&% +4 "core" %? 5 5 \ +2 "storage"(`. +3 "core" .( + "storage"(\\& +4 "core" & 8 5\  +2 "storage"(w& +4 "core" & 4 4\  + "manipulator"&.& +4 "core" &)  # +2 .tElbow.seek 3 +2 "manipulator"&o(D +13 "core" ( + "manipulator"&Y& +5 "core" &E C ) + "storage"( & +4 "core" & 4 4\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&f' +103 "core" ' + "storage"(*& +4 "core" & A Y \  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"('e +286 "core" ' +2 "storage"(x- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&& +3 "core" &J & ( +2 "storage"(\ & +3 "core" & -  :\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&m'M +32 "core" ' +2 .tElbow.hold + "manipulator"&l, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(X- +2 "core" -' +3 .tSE.seek 0.12 Pucks below Top Plate + "storage"(:'u +31 "core" ' + "manipulator"&$% +4 "core" %]_ 7 8 $ ʳ +2 "storage"(c& +3 "core" & g\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 316 counts +2 "manipulator"&'ω +18 "core" ' +2 "manipulator"&n& +4 "core" &I s  ( +2 "storage"(& +3 "core" & Y [\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&8' +12 "core" ' +2 .tSE.seek 1.12 Pucks below Top Plate +2 "storage"(F'd +40 "core" ' +2 "manipulator"&& +4 "core" &J  ( +2 "manipulator"&?% +4 "core" %  6 + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +89 "core" ' + .tElbow.seek CC +2 "manipulator"&L( +158 "core" ( + "manipulator"&"& +4 "core" &* l @[ +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &a& +3 "core" &)  @[ +2 .tForearm.seek CC + "manipulator"&T'| +99 "core" ' + .tHand.close +2 "manipulator"&g/ +58 "core" / + .tCC.seek :open +2 "collection"'p(p +411 "core" ( + "storage"(& +4 "core" & w v Z\  +2 "storage"(v& +4 "core" & r u 7\  +2 "manipulator"&& +4 "core" &1" r :. + "manipulator"&h% +4 "core" % ψ O +2 .tForearm.seek :retract + "manipulator"&b'\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&(D +161 "core" ( + "manipulator"&~& +4 "core" &? ~  +2 "storage"(V& +4 "core" & \  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 +2 "manipulator"&d'M +106 "core" ' + .tElbow.hold +2 "manipulator"&D, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&1 +61 "core" 1 +2 "manipulator"&/% +4 "core" % a 6 Y + "storage"(1& +4 "core" & 9 B \  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 320 counts +2 "manipulator"&}'ύ +18 "core" ' + "manipulator"&>& +4 "core" & ^ x z \ +2 "storage"(M& +4 "core" & \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&]' +10 "core" ' +2 "storage"({% +4 "core" %i \ +3 ."downElevator"SE.seek :down +3 "storage"('N +99 (O% +3 "core" %4< \ U[ +2 "manipulator"&% +3 "core" % p s & 7 +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +94 "core" ' +46 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 4 of [2..5] + #Loading generic puck from tube 4 into Collection Clamp +2 "collection"'& +4 "core" &\ + "manipulator"&|% +52 "core" %\ 5  & +3 "storage"(% +5 "core" %< \ + "storage"(. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 + "storage"('(, +350 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (!& +3 "core" &,% 8 J }\  +2 "manipulator"&S& +3 "core" & 0 \ +2 .tElbow.seek 4 +2 "manipulator"&(* +20 "core" ( +2 "manipulator"&-& +4 "core" &- W +2 "storage"(@& +3 "core" &, r l \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&#' +101 "core" ' + "storage"(& +4 "core" &, \  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"( 'e +280 "core" ' +2 "storage"( - +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (y& +3 "core" &, r j \  + "manipulator"&7& +4 "core" &2\  R +2 .tElbow.seek 4 + "manipulator"&9(* +4 "core" ( + "manipulator"&& +4 "core" &2\  R + "storage"(E& +4 "core" &, \  +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&i'Z +10 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&B/ +56 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&0& +2 "storage"(G'N +7 "core" &2\  R +2 "manipulator"&j% +3 "core" % V   +2 .tForearm.seek :retract +2 "manipulator"&P'\ +97 "core" ' +2 .tElbow.seek CC +2 "manipulator"&( +138 "core" ( +2 "manipulator"&A& +5 "core" & c - ' +2 ."downElevator"SE.stop +3 .tElbow.reconfigure :loose +2 "storage"(5 +2 "manipulator"&$ &.,(#b +4 &e& +2 "core" & - +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&s'| +104 "core" ' +2 "manipulator"&H& +4 "core" & { - +2 "manipulator"&6% +4 "core" %υ | + "collection"';& +4 "core" &\ +3 "collection"'Z& +5 "core" &\ +2 .tCC.seek :closed +2 "collection"' (] +4 "core" &\  +8 &2\ *z +10 &c\ > +9 &I{\ N +9 & _\ M +10 &c\ M +9 &c\ N +9 &!Qc\ N +10 &#c\ N +9 &$b\ M +10 &&b\ N +9 &([b\ M +9 &*b\ M +10 &+`\ M +9 &-`\ M +9 &/cb\ M +10 &1$c\ M +9 &2_\ M +10 &4_\ M +9 &6j`\ M +9 &8-_\ M +10 &9`\ M +9 &;b\ M +9 &=t_\ M +10 &?6^\ M +9 &@`\ M +10 &Ba\ M +9 &D{`\ M +9 &F>`\ M +10 &Ge\ M +9 &Ir\ O +9 &Kv]\ Q +10 &M+\ V +9 &N\ V +10 &P\ W +9 &Rk\ X +10 &T*}\ Y +9 &Unu\ Y +9 &Wag\ Z +9 &YhPX\ \\ +10 &[*DJ\ \\ +9 &\\{5<\ 4 +10 &]%24\ #g +9 &]w04\ S +2 ( +2 "collection"'Z& +3 #tCollection Clamp onSpring/offSpring for 9/25 samples, on/off torque 1.99 + .Hand.open +2 "manipulator"&^1 +56 "core" 1 +2 "manipulator"&J% +5 "core" % } \ + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&+'\ +94 "core" ' +2 #tLoading generic puck from tube 4 into Processing Clamp +2 "processing"% & +4 "core" &\ + "manipulator"&(% +5 "core" %\ - u "` + "storage"(4% +4 "core" %: 7 = 8\ \ +2 "storage"(2. +3 "core" .(, + "storage"(& +4 "core" &, 4 4\  + "storage"(W& +4 "core" &, 4 4\  +2 "manipulator"&=& +4 "core" & f - + "manipulator"&3% +4 "core" %\ - = "` +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&5(* +152 "core" ( +2 "manipulator"&u& +3 "core" &1 ; +2 "storage"(N& +4 "core" &, ) * T\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&R' +100 "core" ' + "storage"()& +5 "core" &, Y [\  + .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(I'e +279 "core" ' + "storage"(_- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (K& +3 "core" &, 5 @ \  + "manipulator"&t& +4 "core" &2  +2 .tElbow.seek 4 + "manipulator"&(* +4 "core" ( + "manipulator"&C& +4 "core" &2 > + "storage"(q& +4 "core" &, C ? \  +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&['Z +22 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&/ +55 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&,& + "storage"(Q'N +7 "core" &2 q r +2 "manipulator"&&% +4 "core" % ^ q q 3 +2 .tForearm.seek :retract +2 "manipulator"&`'\ +95 "core" ' +2 .tElbow.seek PC +2 "manipulator"&\\(c +158 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +89 "core" ( + "manipulator"&<& +4 "core" &e I +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &w& +3 "core" &e 4 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&.'[ +98 "core" ' +2 "manipulator"&Y& +4 "core" &e +2 "manipulator"& % +3 "core" %c < +2 "processing"%%& +4 "core" &\ +2 "processing"%*& +5 "core" &\ +3 .tPC.seek :closed + "processing"%(Z +5 "core" &\  +9 &/}\ *y +9 &d\ > +10 &Ax\ N +9 &X\ M +9 &]\ M +10 &\\\ M +9 &!K^\ M +10 &# Z\ M +9 &$Z\ M +9 &&]\ M +10 &(Q[\ N +9 &*[\ M +9 &+\\\ M +10 &-^\ M +9 &/Y^\ N +10 &1]\ M +9 &2_\ M +9 &4]\ M +10 &6b\\\ M +9 &8$Z\ M +9 &9]\ M +10 &;[\ M +9 &=j]\ M +10 &?+b\ N +9 &@^\ M +9 &BY\ M +10 &Dq]\ N +9 &F2_\ N +9 &Gf\ N +10 &Ip\ P +9 &Kn\ Q +10 &M*\ S +9 &N\ T +9 &P\ S +10 &Rn\ T +9 &T/\ T +9 &U\ U +10 &W\ U +9 &Yt\ B +10 &Z|A\ T +9 &Z\ ( +2 ( +2 "processing"%*& +3 #tProcessing Clamp onSpring/offSpring for 9/25 samples, on/off torque 1.61 + .Hand.open +2 "manipulator"&1 +53 "core" 1 +2 "manipulator"&k% +4 "core" % c  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&x'\ +92 "core" ' +2 "processing"%& +4 "core" &Z\ ( +2 #tImaging generic puck in Processing Clamp while storing it to tube 4 + "manipulator"&\ % +4 "core" %\ '  = +2 "storage"(X% +3 "core" %G   +\ +2 "storage"($. +3 "core" .(, + "storage"(c& +4 "core" &,   \  +3 "storage"(n& +2 "manipulator"&& +6 "core" &,  / \  + &e Y +3 ."raiseStack"SE.reconfigure :place +2 .tElbow.reconfigure :tight +4 "storage"(#]kK-0-\ b +3 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +2 "manipulator"&(c +3 ."raiseStack"SE.seek :beamBreak + "storage"(?'e +3 "core" ( +2 "manipulator"&f& +3 "core" &e +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &o& +2 "core" &e e +2 .tForearm.seek PC +2 "manipulator"&'[ +99 "core" ' + .tHand.close + "manipulator"&m/ +60 "core" / +2 .tPC.seek :open +2 "processing"%(p +84 "core" ' +2 "storage"(:- +4 "core" -'e + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +2 ."raiseStack"SE.seek :place +2 "storage"("'B +35 "core" ' +262 ( + "storage"(a& +4 "core" &, 5 4\  +2 "manipulator"&8& +4 "core" &e + "manipulator"&l% +4 "core" % o +2 .tForearm.seek :retract +2 "manipulator"&g'\ +100 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&(* +245 "core" ( + "manipulator"&z& +5 "core" &+ @ / + "storage"(& +4 "core" &,   M\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&v' +103 "core" ' + .tHand.open +2 "manipulator"&1 +53 "core" 1 +2 "storage"(h- +3 "core" -'B +3 .tSE.seek -0.16 Pucks below Top Plate + "storage"(~' +25 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(V' +103 "core" ' + #tLights, camera, ACTION! +2 "storage"(T- +3 "core" -' +2 "storage"(L& +4 "core" &, \  + "manipulator"&& +4 "core" &+ / +2 .tElbow.seek 4 +2 "manipulator"&/(* +4 "core" ( + "manipulator"&1& +4 "core" &+ H / +2 "storage"(>& +4 "core" &, &\  +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&M' +3 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"({'M +62 "core" ' +2 "manipulator"&b& +4 "core" &+  / +2 "storage"(O& +4 "core" &, 4 4\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&'. +32 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.07 Pucks below Top Plate + "storage"(d'7 +24 "core" ' +2 "manipulator"&% +4 "core" %>U   c ȱ +2 "storage"(|& +4 "core" &, {\  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 4 + 316 counts +2 "manipulator"&}'j +16 "core" ' +2 "manipulator"&F& +4 "core" & u {  g +2 "storage"(& +4 "core" &, Z [\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&' +17 "core" ' +2 "storage"(]% +4 "core" %A W Z \\\ +3 ."downElevator"SE.seek :down +3 "storage"('N +99 (U% +2 "core" %H9 6 4\ V_ +2 "manipulator"&!% +9 "core" % p p  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&S'\ +95 "core" ' +48 ' + ."downElevator"SE.stop + "storage"(5 +3 (-& +4 "core" &, 6 M X\  + "collection"'@& +4 "core" &]u77\ S +2 #tStoring generic puck in Collection Clamp to tube 4 + "manipulator"&% +4 "core" %\ 4 %~ +2 "storage"(D% +4 "core" %8 4 4\ +2 "storage"(. +3 "core" .(, + "storage"( & +4 "core" &, 3 4\  +2 "storage"(y& +4 "core" &, 4 4\  + "manipulator"&7& +4 "core" & g +2 .tElbow.seek 4 +2 "manipulator"&(* +19 "core" ( + "manipulator"&E& +4 "core" &/ 1 # +2 "storage"(B& +4 "core" &, 4 4\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&0' +101 "core" ' +2 "storage"(j& +4 "core" &, A V [\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('e +283 "core" ' + "storage"(#- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&A& +3 "core" &2 x "} + "storage"(e& +4 "core" &, 9 5\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"& '. +34 "core" ' +2 .tElbow.hold +2 "manipulator"&i, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(H- +3 "core" -' +2 .tSE.seek 0.12 Pucks below Top Plate +2 "storage"(6'p +31 "core" ' + "manipulator"&;% +5 "core" %7R 8 : 5 ʰ + "storage"(9& +4 "core" &, \  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 309 counts +2 "manipulator"&G'c +16 "core" ' + "manipulator"&P& +4 "core" &+ a }  # +2 "storage"(p& +4 "core" &, Y Y\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&^' +18 "core" ' +2 .tSE.seek 1.12 Pucks below Top Plate +2 "storage"(J'_ +41 "core" ' + "manipulator"& & +4 "core" &+ { t d # +2 "manipulator"&(% +4 "core" % r u +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&4'\ +90 "core" ' +2 .tElbow.seek CC + "manipulator"&2( +137 "core" ( +2 "manipulator"&& +4 "core" & / + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &W& +3 "core" &  / +2 .tForearm.seek CC + "manipulator"&Z'| +96 "core" ' +2 .tHand.close + "manipulator"&=/ +65 "core" / + .tCC.seek :open +2 "collection"'3(p +411 "core" ( + "storage"(s& +4 "core" &, z\  +2 "storage"(u& +3 "core" &, l g \  +2 "manipulator"&N& +3 "core" & / +2 "manipulator"&)% +4 "core" % ϐ +2 .tForearm.seek :retract +2 "manipulator"&'\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&+(* +173 "core" ( + "manipulator"&_& +5 "core" &0 Q + "storage"(K& +4 "core" &, c\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 4 + "manipulator"&t'. +114 "core" ' + .tElbow.hold +2 "manipulator"&C, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&q1 +53 "core" 1 +2 "manipulator"&% +4 "core" % ?h - , [ ƶ +2 "storage"(,& +3 "core" &, 4 4\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 317 counts + "manipulator"&&'k +16 "core" ' +2 "manipulator"&5& +5 "core" & { s 0 j + "storage"(R& +4 "core" &, #\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&I' +18 "core" ' + "storage"([% +5 "core" %c s\ +2 ."downElevator"SE.seek :down +3 "storage"(<'N +99 (w% +3 "core" %9 -\ TY + "manipulator"&% +4 "core" % z }  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&Y'\ +101 "core" ' +37 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 5 of [2..5] +2 #Loading generic puck from tube 5 into Collection Clamp + "collection"' & +5 "core" &\ + "manipulator"&%% +4 "core" %\ v d +2 "storage"(Q% +4 "core" %8 d\ + "storage"(`. +3 "core" .(, +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 + "storage"(r(<< +353 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (& +2 "core" &<: ^ Z\  +2 "manipulator"&k& +4 "core" &  g +2 .tElbow.seek 5 + "manipulator"&( +19 "core" ( +2 "manipulator"&\ & +4 "core" & { k n +2 "storage"(X& +3 "core" &<: Y\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&$' +91 "core" ' +2 "storage"(c& +4 "core" &<: \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"('e +278 "core" ' +2 "storage"(n- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (*& +2 "core" &<: \  +2 "manipulator"&f& +4 "core" & * + .tElbow.seek 5 +2 "manipulator"&o( +8 "core" ( + "manipulator"&.& +4 "core" &\  m < +2 "storage"(m& +4 "core" &<: \  +2 .tForearm.seek 5 + 300 counts + "manipulator"&:'[ +22 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&\\/ +59 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&x& + "storage"('N +7 "core" &\  q q ) +2 "manipulator"&a% +4 "core" % Y q s S +2 .tForearm.seek :retract + "manipulator"&?'\ +89 "core" ' + .tElbow.seek CC +2 "manipulator"&8( +148 "core" ( + "manipulator"&l& +5 "core" & ~ , + .tElbow.reconfigure :loose +4 "manipulator"&$ &.,(#b + "core" ' +2 "manipulator"&& + ."downElevator"SE.stop +6 "storage"(5 +2 "core" &  , +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&z'| +102 "core" ' +2 "manipulator"&& +4 "core" & [ , +52 "manipulator"&% +5 "core" %q 2 +2 "collection"'& +3 "core" &\ +3 "collection"'h& +4 "core" &\ +2 .tCC.seek :closed +2 "collection"'g(] +4 "core" &\  +9 &1\ +{ +10 &c\ > +9 &N}\ N +9 &_\ M +10 &b\ L +9 &d\ M +9 &!X_\ M +10 &#c\ N +9 &$b\ M +9 &&c\ M +10 &(_b\ M +9 &*"a\ M +10 &+`\ M +9 &-`\ L +9 &/gb\ M +10 &1(c\ N +9 &2c\ M +9 &4`\ M +10 &6q`\ M +9 &83b\ M +10 &9^\ M +9 &;_\ L +9 &=xd\ M +10 &?;_\ M +9 &@`\ L +9 &Bb\ M +10 &D`\ M +9 &FCd\ M +10 &He\ M +9 &It\ O +9 &K|s\ Q +10 &M2\ \ U +9 &N\ W +9 &P\ X +10 &Rq\ X +9 &T/\ Y +10 &U\ Y +9 &Wqz\ Z +9 &Ylek\ \\ +10 &[.W[\ \\ +9 &\\zIM\ 3 +10 &]"AB\ )w +9 &]>@\ \\ +2 ( +2 "collection"'h& +3 #tCollection Clamp onSpring/offSpring for 9/25 samples, on/off torque 1.99 + .Hand.open +2 "manipulator"&T1 +56 "core" 1 + "manipulator"&L% +5 "core" % q  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +95 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp + "processing"%1& +5 "core" &\ + "manipulator"&>% +4 "core" %\ -  "a +2 "storage"(b% +4 "core" %C 5 8\ + "storage"(O. +4 "core" .(<9 + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"("(<< +2 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (~& +3 "core" &<;\ \  \  + "manipulator"&& +4 "core" &  , +2 "manipulator"&|% +4 "core" %\ - 2 "a +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&F( +159 "core" ( +2 "manipulator"&& +4 "core" &  E  + "storage"(]& +4 "core" &<: B C \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&' +99 "core" ' + "storage"(v& +5 "core" &<: Y X _\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(V'e +278 "core" ' + "storage"(U- +41 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (!& +2 "core" &<: C : \  +2 "manipulator"&M& +4 "core" &    + .tElbow.seek 5 +2 "manipulator"&/( +3 "core" ( +2 "manipulator"&{& +3 "core" &  0  +2 "storage"(& +4 "core" &<: = 7 \  +2 .tForearm.seek 5 + 300 counts + "manipulator"&-'[ +17 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&}/ +55 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&@& +2 "storage"('N +7 "core" &  p s -  + "manipulator"&D% +4 "core" % O } { x +2 .tForearm.seek :retract +2 "manipulator"&'\ +98 "core" ' +2 .tElbow.seek PC + "manipulator"& (c +152 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +97 "core" ( + "manipulator"&d& +4 "core" &[ 9 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &y& +3 "core" &[ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&7'[ +103 "core" ' +2 "manipulator"&E& +4 "core" &[ f + "manipulator"&B% +4 "core" %P +2 "processing"%& +4 "core" &\ +2 "processing"%j& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%(Z +4 "core" &\ +8 & +\ #a +10 &\\W\ 7 +9 &\ L +9 &o[\ M +10 &0\\\ M +9 &\\\ N +9 & ]\ M +10 &"w\\\ M +9 &$8\\\ M +9 &%\\\ M +10 &'X\ M +9 &)~\\\ M +10 &+AW\ M +9 &-]\ N +10 &.]\ M +9 &0Z\ M +9 &2G]\ N +9 &4\ \\L\ M +10 &5W\ M +9 &7\\\ M +10 &9PY\ M +9 &;\\\ N +9 &<Z\ M +10 &>`\ N +9 &@X\\\ M +9 &B[\ M +10 &C\\\ M +9 &EY\ M +10 &G]c\ N +9 &Im\ O +9 &J\ Q +10 &L\ S +9 &NU\ T +9 &P\ T +10 &Q\ T +9 &S\ T +10 &U[\ T +9 &W\ U +9 &X\ U +10 &Z;Mq\ - +9 &Zk\ = +9 ( +2 &Z/\ 6 +2 "processing"%j& +2 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.62 + .Hand.open +2 "manipulator"&1 +64 "core" 1 + "manipulator"&S% +5 "core" % P + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&#'\ +94 "core" ' + "processing"%A& +5 "core" &Z.\ 6 + #tImaging generic puck in Processing Clamp while storing it to tube 5 + "manipulator"&e% +4 "core" %\ ' : : +2 "storage"(H% +4 "core" %J   }\ + "storage"(;. +4 "core" .(<< + "storage"(9& +4 "core" &<:   {\  + "storage"(P& +4 "manipulator"&p& +4 "core" &<:   j\  + &[ U +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +3 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +2 "storage"(#]kK-0-\ b +2 "manipulator"& (c +5 ."raiseStack"SE.seek :beamBreak +2 "storage"(('e +2 "core" ( +2 "manipulator"&0& +4 "core" &[  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &[ +2 .tForearm.seek PC +2 "manipulator"&'[ +95 "core" ' + .tHand.close +2 "manipulator"& / +61 "core" / +2 .tPC.seek :open +2 "processing"%G(p +84 "core" ' +2 "storage"(- +4 "core" -'e + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +2 ."raiseStack"SE.seek :place +2 "storage"(W'B +47 "core" ' +250 ( + "storage"(6& +4 "core" &<: 8 4 B\  +2 "manipulator"&^& +3 "core" &[  +2 "manipulator"&i% +4 "core" % Q  + .tForearm.seek :retract +2 "manipulator"&='\ +99 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&4( +253 "core" ( + "manipulator"& & +5 "core" & + "storage"(s& +5 "core" &<:   F\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&u' +105 "core" ' + .tHand.open +2 "manipulator"&N1 +56 "core" 1 +2 "storage"()- +4 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate +2 "storage"(_' +22 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(K' +51 "core" ' +2 #tLights, camera, ACTION! + "storage"(Z- +4 "core" -' + "storage"(2& +4 "core" &<: \  +2 "manipulator"&q& +4 "core" & r { + .tElbow.seek 5 +2 "manipulator"&( +8 "core" ( + "manipulator"&,& +5 "core" &  l + "storage"(5& +4 "core" &<: \  +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&R' +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.11 Pucks below Top Plate + "storage"(['M +63 "core" ' + "manipulator"&& +4 "core" &  r ~ +2 "storage"(w& +4 "core" &<: X Y\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&'/ +33 "core" ' + .tElbow.hold +2 "manipulator"&+, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"(t'7 +23 "core" ' + "manipulator"& % +5 "core" %Co   } ø +2 "storage"(%& +4 "core" &<: 7\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 320 counts + "manipulator"&&'o +17 "core" ' + "manipulator"&Q& +5 "core" & k Z ; + "storage"(`& +5 "core" &<: ) H\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&J' +11 "core" ' +2 "storage"(I% +4 "core" %A Y Y\ +3 ."downElevator"SE.seek :down +3 "storage"(<'N +99 ('% +3 "core" % 8 > A \ U\\ +2 "manipulator"&% +4 "core" % | ~ 7 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&k'\ +33 "Can"[\ \\Z +64 "core" ' +56 ' + ."downElevator"SE.stop +52 "storage"(5 +3 (\ & +4 "core" &<: S\ $ \  +2 "collection"'X& +4 "core" &]~DC\ \\ +2 #tStoring generic puck in Collection Clamp to tube 5 + "manipulator"&c% +4 "core" %\ 8 ' +2 "storage"(C% +3 "core" %D & 8 \ +2 "storage"(Y. +3 "core" .(<< + "storage"(n& +4 "core" &<: 8 4\  +2 "storage"(*& +4 "core" &<: 5 8\  + "manipulator"&f& +4 "core" & ; +2 .tElbow.seek 5 +2 "manipulator"&.( +15 "core" ( + "manipulator"&m& +4 "core" &\ _ +2 "storage"(\\& +4 "core" &<: $ 4 \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&x' +107 "core" ' +2 "storage"(a& +4 "core" &<: [ [ \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('e +283 "core" ' + "storage"($- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&l& +3 "core" &\ r r d _ +2 "storage"(& +3 "core" &<: ; 7 \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&'/ +34 "core" ' + .tElbow.hold +2 "manipulator"&:, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(- +2 "core" -' +3 .tSE.seek 0.12 Pucks below Top Plate + "storage"(o'q +47 "core" ' + "manipulator"&% +4 "core" %:k ) ( Ʒ +2 "storage"(& +3 "core" &<: v\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 311 counts +2 "manipulator"&'f +18 "core" ' +2 "manipulator"&?& +4 "core" & w l 7 m + "storage"(3& +4 "core" &<: 3 ) 4\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&T' +22 "core" ' +3 .tSE.seek 1.12 Pucks below Top Plate +2 "storage"(L'` +49 "core" ' +2 "manipulator"&1& +4 "core" & } }  m +2 "manipulator"&>% +4 "core" % } } f +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&b'\ +89 "core" ' +2 .tElbow.seek CC +2 "manipulator"&O( +143 "core" ( +2 "manipulator"&h& +4 "core" & - +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &~& +3 "core" & l - +2 .tForearm.seek CC +2 "manipulator"&'| +95 "core" ' +2 .tHand.close + "manipulator"&|/ +61 "core" / +2 .tCC.seek :open +2 "collection"'z(p +411 "core" ( + "storage"(& +4 "core" &<: w y\  +2 "storage"(]& +3 "core" &<: g f v\  +2 "manipulator"&r& +3 "core" & - +2 "manipulator"&v% +4 "core" % φ \ +2 .tForearm.seek :retract + "manipulator"&8'\ +94 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&( +162 "core" ( + "manipulator"&U& +4 "core" & M 4 +2 "storage"(!& +3 "core" &<: \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 5 +2 "manipulator"&M'/ +113 "core" ' +2 .tElbow.hold +2 "manipulator"&{, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&1 +62 "core" 1 +2 "manipulator"&}% +4 "core" % =e  ) U ŵ + "storage"(@& +4 "core" &<: 3 5 \  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 5 + 314 counts +2 "manipulator"&D'i +16 "core" ' +2 "manipulator"&F& +4 "core" & l > ? + "storage"(& +4 "core" &<: P\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&V' +18 "core" ' + "storage"(-% +5 "core" %e \ +2 ."downElevator"SE.seek :down +3 "storage"(d'N +99 (y% +3 "core" %< \ U[ +2 "manipulator"&/% +4 "core" % o o <  + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&E'\ +96 "core" ' +40 ' + ."downElevator"SE.stop + "storage"(5 +57390 "Can"i +<: +25351 #t-> access 2 +3 "storage"(B% +3 "core" %: #\ +2 "manipulator"&% +4 "core" %\ 3 8 %x + "manipulator"&& +4 "core" &  > + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"((K +353 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (& +2 "core" &K F E 7\  +3064 #t-> access 3 +3 "storage"(% +3 "core" %: \ + "manipulator"&S% +4 "core" %\ 3 D %x +2 "manipulator"&A& +3 "core" & 8 > +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 7 +2 "storage"(e([ +376 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (H& +3 "core" &[ \ +598 #t-> access 4 +3 "storage"(;% +3 "core" %: -\ + "manipulator"&9% +4 "core" %\ 3 " %x +2 "manipulator"&j& +3 "core" & 6 > +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 1 +2 "storage"(p(B +1938 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (P& +4 "core" &C   H\ @1632833139.37EDT = =tMAIN =mMAIN_scheduler @EDT1632833141.26 #"core_reset"Sent BREAK +2 #t@58563 idle with ifg=0x00, ie=0x75 + #>RESET< ESP2 v3.41 I2C Gateway v3.20 +208 #>RESET< ESP2 v3.41 I2C Gateway v3.20 for core bus +205 !o:Instrument::ISUSCore:\ @name" ISUS: @refi b: @configS:Instrument::Configuration: name@:calFileName0:sampleCmd"TS: prompt"\ :statusCmd"C:sampleTimeouti#:promptTimeouti:statusTimeouti: retriesi:strToPrompt"W: pace0: echoF +97 #Configuration for don (12651-03) 10/9/20 brent@mbari.org\ /home/esp/esp2/type/shallow/don/configure.rb\ +395 "Can" 6&" +  6&" + #tPolling Can every 10:00 +35870 #-> ESP.ready! +3 #Powering core bus +569 .Gate.power :raw,:ON +2 "sampler") +56 ) +3 "core"  + "collection"' +3 ' +3 "core"  + "processing"% +2 % +3 "core"  +5 "collection"' 9\ +2 ' 0\ +2 ' -\ +4 "processing"% 9\ +2 % 2\ +2 % *\ +2 % 0\ +3 "sampler")&\ +2 "collection"'% +3 "core" %  +2 .tCS.configure :default +2 "collection"'#P d@b +2 "processing"%% +3 "core" %u\ +2 .tPS.configure :default +2 "processing"%#A d`xb +2 "sampler")% +3 "core" %   + .tSS.configure :default +3 "sampler")#.0X  +  + ."rdyProcessing"PSV.dial :air +3 "manipulator"&% +4 ."rdySampler"CSV.dial :waste1 +2 "processing"%  + "collection"' +6 "core" % Y ^  +  +4 ."rdyProcessing"PS.reconfigure :default +2 ."rdySampler"SSV.dial :spit,avoiding: :exhaust +3 .tForearm.reconfigure :loose +2 "processing"%#A d`xb + "sampler") +4 "manipulator"&#@2^d^b +3 ."rdyProcessing"PS.home.seek 0ml +5 .tForearm.home.seek :retract + "processing"%' +2 "manipulator"&'\ +4 "core"  + "sampler")  +5 "core" +2 ."readyCS"CS.reconfigure :fast +4 ."rdySampler"SS.reconfigure :default +4 "collection"'#d @b + "sampler")#.0X access 6 +3 "storage"(;% +3 "core" %D F < \ B + "manipulator"&<% +4 "core" %\ - : "3 +2 "manipulator"&=& +3 "core" && !p +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 + "storage"(>( +357 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (?& +2 "core" & \  \ +704 #t-> access 5 +2 "storage"(@% +4 "core" %D < 9 E\ B + "manipulator"&A% +4 "core" %\ - "3 +2 "manipulator"&B& +3 "core" && !p +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 + "storage"(C(  +357 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (D& +3 "core" &  |\ +1195 #t-> require 'shuffle.rb' +2259 #-> 5.times {shuffle 4..6} +2 #Shuffling pucks in tube 4 of [4..6] +2 #Loading generic puck from tube 4 into Collection Clamp + "collection"'E& +3 "core" &]\  +2 .tHand.open + "manipulator"&F1 +56 "core" 1 +2 "manipulator"&G% +4 "core" % \ - N "3 + "storage"(H% +4 "core" %D F F >\ B + "storage"(I. +3 "core" .(  +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"(J(, +677 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (K& +3 "core" &,\ \ \  +2 "manipulator"&L& +39 "core" && !p +7 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&M(* +4 "core" ( + "manipulator"&N& +4 "core" && 4 !p +2 "storage"(O& +3 "core" &, 9 @ \  +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&P' +95 "core" ' + "storage"(Q& +4 "core" &, [ H\  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(R'e +271 "core" ' +2 "storage"(S- +3 "core" -'e +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek :pick + "storage"(T' +28 "core" ' +3 .tSE.seek :down +2 "storage"(U'N +267 "core" ' + .tSE.stop + "storage"(5 +3 "manipulator"&V% +4 "core" % {  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&W'\ +96 "core" ' + !to:Puck::Error: mesg"Tube 4 is Empty:bt["4/home/esp/esp2/utils/puckmoves.rb:367:in `load'"4/home/esp/esp2/utils/puckmoves.rb:357:in `loop'"4/home/esp/esp2/utils/puckmoves.rb:357:in `load'"8/home/esp/esp2/utils/puckmoves.rb:958:in `loadPuck'"4/home/esp/esp2/utils/shuffle.rb:24:in `shuffle'"!(ESP):5:in `each_with_index'"1/home/esp/esp2/utils/shuffle.rb:18:in `each'" 5.times {shuffle 5..7} +2 #Shuffling pucks in tube 5 of [5..7] +2 #Loading generic puck from tube 5 into Collection Clamp + "collection"'X& +4 "core" &]\  + "manipulator"&Y% +5 "core" %\ *  K + "storage"(Z% +4 "core" %? v p 3\  + "storage"([. +3 "core" .(, +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 + "storage"(\\(<< +356 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (]& +2 "core" &<;   \  +2 "manipulator"&^& +4 "core" && ) !p +2 .tElbow.seek 5 +2 "manipulator"&_( +25 "core" ( + "manipulator"&`& +4 "core" &   +2 "storage"(a& +3 "core" &<: p u K\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts + "manipulator"&b' +100 "core" ' +2 "storage"(c& +4 "core" &<: o k I\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(d'e +282 "core" ' + "storage"(e- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (f& +3 "core" &<: O V I\  + "manipulator"&g& +4 "core" &   +2 .tElbow.seek 5 + "manipulator"&h( +4 "core" ( + "manipulator"&i& +4 "core" &    +2 "storage"(j& +3 "core" &<: o u \  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&k'[ +20 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&l/ +54 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&m& +2 "storage"(n'N +8 "core" &  s s z  + "manipulator"&o% +4 "core" % T s s ` +2 .tForearm.seek :retract +2 "manipulator"&p'\ +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"&q( +149 "core" ' + ."downElevator"SE.stop + "storage"(5 +14 "core" ( + "manipulator"&r& +5 "core" & ' _ >H + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &s& +3 "core" & '  >H +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&t'| +100 "core" ' +2 "manipulator"&u& +4 "core" &7 : 8 +2 "manipulator"&v% +4 "core" %π + "collection"'w& +4 "core" &]\  +2 "collection"'x& +5 "core" &]\  +2 .tCC.seek :closed +2 "collection"'y(] +5 "core" &]\  +6 &rN\ &k +9 &IW\ : +10 &\ N +9 &ec\ O +10 &'e\ O +9 &h\ O +9 & m\ O +10 &"jh\ P +9 &$.c\ O +9 &%h\ O +10 &'d\ O +9 &)se\ O +10 &+4f\ P +9 &,e\ O +9 &.j\ O +10 &0{g\ O +9 &2=e\ O +9 &3g\ O +10 &5b\ O +9 &7c\ N +9 &9Gb\ O +10 &; h\ O +9 &<c\ O +10 &>d\ O +9 &@Nh\ O +9 &Be\ O +10 &Cd\ O +9 &Eh\ O +10 &GUl\ O +9 &Iq\ Q +9 &Js\ R +10 &L)\ V +9 &ND\ X +10 &P\ Y +9 &Q\ Y +9 &S\ Z +10 &UD\ [ +9 &W\ Z +9 &Xu{\ \\ +10 &Zho\ \\ +9 &\\GY_\ I +10 &]X:RT\ , +9 &]lNP\ F +5 ( +2 "collection"'x& +4 #tCollection Clamp onSpring/offSpring for 10/26 samples, on/off torque 1.92 + .Hand.open +2 "manipulator"&z1 +3 "core" &]fPQ\ F +55 1 + "manipulator"&{% +5 "core" % { + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&|'\ +93 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp + "processing"%}& +5 "core" &]\  + "manipulator"&~% +4 "core" %\ #  ' + "storage"(% +4 "core" %?   c\  +2 "storage"(. +3 "core" .(<< + "storage"(& +4 "core" &<:   V\  +2 "storage"(& +3 "core" &<:   `\  +2 "manipulator"&& +4 "core" &7 9 8 + "manipulator"&% +4 "core" %\ # M ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&( +151 "core" ( +2 "manipulator"&& +4 "core" & L  +2 "storage"(& +3 "core" &<: 5 8 t\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"& ' +102 "core" ' +2 "storage"(\ & +4 "core" &<: B @ r\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"( 'e +283 "core" ' + "storage"( - +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 ( & +3 "core" &<: E e\  +2 "manipulator"&& +3 "core" &   +2 .tElbow.seek 5 + "manipulator"&( +4 "core" ( + "manipulator"&& +4 "core" & Q  + "storage"(& +4 "core" &<:  y\  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&'[ +11 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +63 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& + "storage"('N +7 "core" & A  +2 "manipulator"&% +4 "core" % Q  I +2 .tForearm.seek :retract +2 "manipulator"&'\ +92 "core" ' +2 .tElbow.seek PC +2 "manipulator"&(c +157 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +82 "core" ( + "manipulator"&& +4 "core" &Y O / +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &Y  / +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&'[ +92 "core" ' + "manipulator"&"& +4 "core" &Y 8 / +2 "manipulator"&%% +3 "core" %Y  +3 "processing"%'& +4 "core" &]\  +2 "processing"%)& +5 "core" &]\  +2 .tPC.seek :closed +3 "processing"%((Z +3 "core" &]\  +6 &^ \ C +9 &J\ 3 +10 &&t\ G +9 &i\ O +10 &`\ N +9 &Td{\ O +9 & b{\ N +10 &!_{\ N +9 &#a\ N +9 &%]_\ N +10 &'^\ N +9 &(b\ N +10 &*_\ N +9 &,ebz\ N +9 &.'c\ N +10 &/c\ N +9 &1bx\ O +9 &3lbu\ O +10 &5/_\ N +9 &6]\ N +10 &8b\ O +9 &:u`\ N +9 &<7\\\ N +10 &=c\ N +9 &?`{\ N +9 &A}eP\ N +10 &C?b\ N +9 &Ea\ O +10 &Fi\ O +9 &Hn\ P +9 &J>~\ Q +10 &K\ S +9 &M\ T +9 &O{\ T +10 &Q<\ U +9 &R\ U +10 &T\ U +9 &V\ U +9 &XB\ U +10 &Y||\ , +9 &Z(h\ / +9 ( +3 "processing"%)& +3 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.53 + .Hand.open + "manipulator"&1 +4 "core" &Z\ ( +52 1 + "manipulator"&% +4 "core" % Y w +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&#'\ +91 "core" ' +2 "processing"%,& +5 "core" &Z\ ( + #tImaging generic puck in Processing Clamp while storing it to tube 5 +2 "manipulator"&-% +4 "core" %\ %  6 + "storage"(.% +4 "core" %B   \  + "storage"(/. +3 "core" .(<< +2 "storage"(0& +3 "core" &<: " P T\  +2 "storage"(1& +5 "manipulator"&2& +3 "core" &<:   Y\  + &Y / +4 ."raiseStack"SE.reconfigure :place +2 .tElbow.reconfigure :tight +3 "storage"(#]kK-0-\ b +5 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +2 ."raiseStack"SE.seek :beamBreak +3 "manipulator"&3(c + "storage"(4'e +6 "core" ( + "manipulator"&5& +4 "core" &Y d / +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &6& +2 "core" &Y / +2 .tForearm.seek PC +2 "manipulator"&7'[ +95 "core" ' + .tHand.close +2 "manipulator"&8/ +63 "core" / + .tPC.seek :open +2 "processing"%9(p +90 "core" ' + "storage"(:- +3 "core" -'e +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +2 ."raiseStack"SE.seek :place +2 "storage"(;'B +34 "core" ' +255 ( +2 "storage"(<& +4 "core" &<: B ) P\  + "manipulator"&=& +4 "core" &Y / + "manipulator"&!% +4 "core" % h 7 +2 .tForearm.seek :retract +2 "manipulator"&?'\ +94 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&@( +253 "core" ( + "manipulator"&A& +4 "core" & $ # +2 "storage"(B& +4 "core" &<:   a\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&>' +93 "core" ' +2 .tHand.open + "manipulator"&D1 +64 "core" 1 +3 "storage"(E- +3 "core" -'B +3 .tSE.seek -0.16 Pucks below Top Plate + "storage"(F' +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(G' +54 "core" ' +2 #tLights, camera, ACTION! + "storage"(H- +4 "core" -' + "storage"(I& +4 "core" &<: @\  + "manipulator"&C& +4 "core" & d # +2 .tElbow.seek 5 +2 "manipulator"&K( +3 "core" ( + "manipulator"&L& +4 "core" & ) # +2 "storage"(N& +4 "core" &<: Y\  +2 .tForearm.seek 5 + 450 counts + "manipulator"&O' +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +50 .tSE.seek -0.11 Pucks below Top Plate + "storage"(Q'M +58 "core" ' + "manipulator"&$& +3 "core" &  # +2 "storage"(&& +5 "core" &<: + B \  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&S'/ +32 "core" ' +2 .tElbow.hold +2 "manipulator"& , +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"(R'7 +27 "core" ' +2 "manipulator"&V% +4 "core" %Ce ' !  ǵ +2 "storage"(T& +3 "core" &<: {\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 320 counts + "manipulator"&U'o +17 "core" ' +2 "manipulator"&P& +4 "core" & q 5 $ +2 "storage"(X& +4 "core" &<: B B \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&Y' +17 "core" ' + "storage"(Z% +5 "core" %3 B B [\ +2 ."downElevator"SE.seek :down +4 "storage"(['N +99 (J% +3 "core" %8 \ U^ +2 "manipulator"&]% +4 "core" % r p L +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&^'\ +101 "core" ' +51 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (`& +3 "core" &<: 4 " 7\  +2 "collection"'a& +4 "core" &]dYX\ F +2 #tStoring generic puck in Collection Clamp to tube 5 + "manipulator"&c% +4 "core" %\ \   +2 "storage"(M% +3 "core" %R 5 5 /\  +2 "storage"(W. +3 "core" .(<< + "storage"(e& +4 "core" &<: B E \  +2 "storage"(f& +3 "core" &<: B B \  +2 "manipulator"&g& +4 "core" &  $ +2 .tElbow.seek 5 + "manipulator"&i( +4 "core" ( + "manipulator"&j& +4 "core" & $ + "storage"(l& +4 "core" &<: 3 E z\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&m' +97 "core" ' +2 "storage"(o& +4 "core" &<: 7 6 \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(_'e +283 "core" ' + "storage"(b- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&r& +3 "core" &  # +2 "storage"(s& +3 "core" &<:   \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&d'/ +33 "core" ' + .tElbow.hold +2 "manipulator"&k, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(u- +2 "core" -' +2 .tSE.seek 0.12 Pucks below Top Plate +2 "storage"(v'p +29 "core" ' + "manipulator"&h% +4 "core" %?Y : 9 H ɲ +2 "storage"(w& +4 "core" &<: x\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 316 counts + "manipulator"&n'k +17 "core" ' + "manipulator"&p& +3 "core" & y o  $ +3 "storage"(+& +4 "core" &<: C E M\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&z' +21 "core" ' +2 .tSE.seek 1.12 Pucks below Top Plate +2 "storage"({'_ +52 "core" ' + "manipulator"&}& +5 "core" & ~ } $ + "manipulator"&~% +4 "core" % } ~ A  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +96 "core" ' +2 .tElbow.seek CC +2 "manipulator"&( +148 "core" ( +2 "manipulator"&& +4 "core" && $ =G + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" && M =G +2 .tForearm.seek CC +2 "manipulator"&x'| +99 "core" ' + .tHand.close + "manipulator"&/ +54 "core" / +2 .tCC.seek :open + "collection"'(p +411 "core" ( +2 "storage"(& +4 "core" &<: f _ <\  + "storage"(t& +4 "core" &<: [ Z\  + "manipulator"&& +4 "core" &8 N 5 +2 "manipulator"&\ % +3 "core" % { l +2 .tForearm.seek :retract + "manipulator"&q'\ +95 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 + "manipulator"&|( +154 "core" ( + "manipulator"& & +4 "core" & @  +2 "storage"( & +4 "core" &<: z } d\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 5 + "manipulator"&'/ +109 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&1 +64 "core" 1 +2 "manipulator"&% +4 "core" % Bo  ¸" + "storage"(& +4 "core" &<:   r\  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 5 + 319 counts +2 "manipulator"&'n +16 "core" ' +2 "manipulator"&& +4 "core" & h   +2 "storage"( & +3 "core" &<: \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"& ' +21 "core" ' + "storage"(% +5 "core" %a \ +2 ."downElevator"SE.seek :down +4 "storage"('N +99 (% +3 "core" %H9 p r b\ T[ +2 "manipulator"&% +4 "core" % s y o + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&"'\ +91 "core" ' +51 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 6 of [5..7] +2 #Loading generic puck from tube 6 into Collection Clamp + "collection"'%& +4 "core" &\ +2 "manipulator"&'% +4 "core" %\ ( v @ +2 "storage"(% +4 "core" %T x } \  + "storage"(. +3 "core" .(<< +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"(*(K +348 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (& +3 "core" &K   e\  +2 "manipulator"&& +3 "core" & A  +2 .tElbow.seek 6 +2 "manipulator"&,( +19 "core" ( + "manipulator"&-& +4 "core" & m +2 "storage"(.& +4 "core" &K Z Z 6\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&/'< +101 "core" ' + "storage"(0& +5 "core" &K )\  + .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(2'e +285 "core" ' +2 "storage"(1- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 ()& +2 "core" &K v | 4\  +2 "manipulator"&5& +4 "core" & y f m +2 .tElbow.seek 6 + "manipulator"&6( +3 "core" ( +2 "manipulator"&& +3 "core" & q E m +2 "storage"(8& +4 "core" &K i l \  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&:'Ϧ +21 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +57 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"&#& + "storage"(('N +7 "core" & | l + "manipulator"&<% +4 "core" % Ϝ +2 .tForearm.seek :retract +2 "manipulator"&='\ +93 "core" ' + .tElbow.seek CC +2 "manipulator"&4( +149 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +7 "core" ( +2 "manipulator"&!& +4 "core" &# i ;3 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &7& +3 "core" &# ;2 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&A'| +103 "core" ' + "manipulator"&B& +4 "core" &" 4 :0 +2 "manipulator"&3% +4 "core" %q } +2 "collection"'D& +4 "core" &\ +2 "collection"'E& +6 "core" &\ +2 .tCC.seek :closed + "collection"'H(] +5 "core" &\ +7 &8\ $d +9 &gU\ 8 +10 &~\ L +9 &qc\ O +9 &5`\ N +10 &e\ O +9 & h\ N +10 &"ye\ O +9 &$=d\ N +9 &%f\ N +10 &'c\ N +9 &)h\ O +9 &+Dh\ O +10 &-e\ O +9 &.g\ N +10 &0e\ O +9 &2Lk\ O +9 &4h\ N +10 &5e\ N +9 &7c\ O +9 &9Ub\ N +10 &;g\ N +9 &<e\ N +10 &>e\ O +9 &@\\d\ O +9 &Bf\ N +10 &Cb\ N +9 &Eb\ O +9 &Gde\ O +10 &I"r\ P +9 &J\ S +10 &LC\ V +9 &NN\ Y +10 &P\ Y +9 &Q\ Z +9 &S\ Z +10 &UQ\ [ +9 &W\ Z +10 &X\ [ +9 &Z{\ \\ +9 &\\Ult\ I +10 &]`;cf\ %n +9 &]y_a\ M +5 ( +2 "collection"'E& +4 #tCollection Clamp onSpring/offSpring for 10/26 samples, on/off torque 1.93 + .Hand.open + "manipulator"&I1 +4 "core" &]o_b\ M +55 1 + "manipulator"&C% +4 "core" % q ; +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&L'\ +96 "core" ' +2 #tLoading generic puck from tube 6 into Processing Clamp + "processing"%N& +5 "core" &2\ + "manipulator"&?% +4 "core" %\ /  #f +2 "storage"($% +3 "core" %B < \  +2 "storage"(&. +3 "core" .(K + "storage"(;& +4 "core" &K\  G\  + "storage"(F& +4 "core" &K\ '\ ' B\  +2 "manipulator"&V& +4 "core" &"  :/ + "manipulator"&T% +4 "core" %\ /  #e +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 + "manipulator"&P( +166 "core" ( + "manipulator"&X& +4 "core" & | 2 +2 "storage"(@& +3 "core" &K   \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&Z'< +101 "core" ' + "storage"(>& +5 "core" &K > \\\  + .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(G'e +280 "core" ' +2 "storage"(J- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (]& +2 "core" &K   ;\  +2 "manipulator"&O& +4 "core" & ~ }  2 +2 .tElbow.seek 6 + "manipulator"&K( +4 "core" ( + "manipulator"&Q& +3 "core" & { 2 +2 "storage"(S& +4 "core" &K   \  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&`'Ϧ +15 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&U/ +108 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&a& +3 "storage"(c'N +7 "core" &  2 +2 "manipulator"&M% +4 "core" % ϩ   +2 .tForearm.seek :retract + "manipulator"&W'\ +99 "core" ' +2 .tElbow.seek PC + "manipulator"&R(c +151 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +99 "core" ( +2 "manipulator"&e& +4 "core" &m ~ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &f& +2 "core" &m X +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&g'[ +100 "core" ' + "manipulator"&j& +4 "core" &m i +2 "manipulator"&l% +4 "core" %S & +2 "processing"%Y& +4 "core" &\ +2 "processing"%o& +5 "core" &\ +2 .tPC.seek :closed + "processing"%[(Z +4 "core" &z\  +9 &0~\ *y +9 &d\ ? +9 &M~\ O +10 &\\\ N +9 &b\ N +9 &\\\ N +10 &!U`\ O +9 &#_\ N +10 &$^\ N +9 &&b\ N +9 &(`_\ N +10 &*"_\ N +9 &+`\ N +9 &-`\ N +10 &/fb\ N +9 &1(`\ N +10 &2b\ O +9 &4_\ N +9 &6p`\ N +10 &80cU\ N +9 &9_\ N +9 &;_\ N +10 &=v`\ N +9 &?8d\ N +10 &@c\ N +9 &B]\ N +9 &D`\ N +10 &F?e\ O +9 &Gm\ P +10 &Iy\ Q +9 &Kx\ S +9 &M7\ T +10 &N\ T +9 &P\ T +9 &R|\ T +10 &T<\ U +9 &U\ U +9 &W\ U +10 &Y\ C +9 &Zz7\ !c +10 &Z#\ - +2 ( + "processing"%o& +3 #tProcessing Clamp onSpring/offSpring for 9/25 samples, on/off torque 1.59 +2 .Hand.open + "manipulator"& 1 +60 "core" 1 + "manipulator"&^% +5 "core" % S 4 + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&b'\ +95 "core" ' +2 "processing"%r& +4 "core" &Z\ - +2 #tImaging generic puck in Processing Clamp while storing it to tube 6 + "manipulator"&s% +4 "core" %\ + u !Q + "storage"(u% +4 "core" %B\ \  F\  +2 "storage"(h. +3 "core" .(K + "storage"(w& +4 "core" &K\  \ \  +2 "storage"(p& +5 "manipulator"&+& +4 "core" &K\ \  \  + &m w +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +3 "storage"(#]kK-0-\ b +2 .tElbow.seek PC +5 "manipulator"&}(c +3 ."raiseStack"SE.seek :beamBreak + "storage"(~'e +3 "core" ( + "manipulator"&m& +4 "core" &m a +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &i& +2 "core" &m N +2 .tForearm.seek PC +2 "manipulator"&_'[ +97 "core" ' + .tHand.close + "manipulator"&d/ +57 "core" / +2 .tPC.seek :open + "processing"%n(p +93 "core" ' +2 "storage"(v- +3 "core" -'e + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('B +44 "core" ' +245 ( + "storage"(& +4 "core" &K \  +2 "manipulator"&z& +3 "core" &m % +2 "manipulator"&k% +4 "core" % R X + .tForearm.seek :retract +2 "manipulator"&'\ +98 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&( +265 "core" ( + "manipulator"&y& +5 "core" & , + "storage"(& +4 "core" &K P -\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&t'< +104 "core" ' +2 .tHand.open + "manipulator"&1 +60 "core" 1 +2 "storage"(\ - +3 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate +2 "storage"( ' +23 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.83 Pucks below Top Plate + "storage"( ' +51 "core" ' +2 #tLights, camera, ACTION! + "storage"(x- +4 "core" -' +2 "storage"(& +4 "core" &K p\  + "manipulator"&& +4 "core" & q { ~ +2 .tElbow.seek 6 +2 "manipulator"&( +3 "core" ( + "manipulator"&& +4 "core" & { s +2 "storage"(& +3 "core" &K 4\  +2 .tForearm.seek 6 + 450 counts +2 "manipulator"& '< +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.11 Pucks below Top Plate + "storage"('M +62 "core" ' +2 "manipulator"&q& +4 "core" & p p  + "storage"(& +4 "core" &K B C \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&'z +33 "core" ' + .tElbow.hold +2 "manipulator"&|, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.07 Pucks below Top Plate + "storage"('7 +23 "core" ' +2 "manipulator"&%% +4 "core" %΁r   ? ¹' +2 "storage"(& +4 "core" &K k\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 307 counts + "manipulator"&''ϭ +21 "core" ' + "manipulator"&& +5 "core" & l / + "storage"(& +4 "core" &K B C \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&{'< +17 "core" ' +2 "storage"( % +4 "core" %: C H h\  +2 ."downElevator"SE.seek :down +4 "storage"('N +99 (\\% +3 "core" %<   \ U^ + "manipulator"&% +4 "core" %+ ~ ~  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +88 "core" ' +65 ' + ."downElevator"SE.stop + "storage"(5 +3 (-& +4 "core" &K  O T\  + "collection"'.& +4 "core" &]neg\ M +2 #tStoring generic puck in Collection Clamp to tube 6 + "manipulator"&0% +4 "core" %\ & + +2 "storage"(% +3 "core" %Q ;\  +2 "storage"(". +3 "core" .(K + "storage"(1& +4 "core" &K  \  +2 "storage"()& +3 "core" &K ]\  +2 "manipulator"&5& +4 "core" & / + .tElbow.seek 6 +2 "manipulator"&( +19 "core" ( +2 "manipulator"&8& +4 "core" & Q & + "storage"(& +4 "core" &K   {\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&#'< +93 "core" ' +2 "storage"(<& +4 "core" &K B ? '\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(,'e +282 "core" ' +2 "storage"(/- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&!& +2 "core" &  & +2 "storage"(7& +4 "core" &K V / $\  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&2'z +30 "core" ' +2 .tElbow.hold + "manipulator"&:, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(B- +2 "core" -' +3 .tSE.seek 0.12 Pucks below Top Plate + "storage"(3't +30 "core" ' +2 "manipulator"&D% +4 "core" %Όm ) * $ Ƹ" + "storage"(6& +4 "core" &K \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 318 counts + "manipulator"&('ϸ +17 "core" ' +2 "manipulator"&=& +4 "core" & x o u $ +2 "storage"(& +3 "core" &K 8 > o\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts + "manipulator"&I'< +17 "core" ' +2 .tSE.seek 1.12 Pucks below Top Plate +2 "storage"(C'c +47 "core" ' +2 "manipulator"&N& +5 "core" & r s c $ + "manipulator"&?% +4 "core" %E p m $ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&$'\ +86 "core" ' +2 .tElbow.seek CC +2 "manipulator"&&( +148 "core" ( + "manipulator"&;& +4 "core" && q =E +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &F& +3 "core" && =E +2 .tForearm.seek CC +2 "manipulator"&E'| +104 "core" ' + .tHand.close + "manipulator"&V/ +55 "core" / +2 .tCC.seek :open +2 "collection"'T(p +415 "core" ( +2 "storage"(A& +4 "core" &K v t :\  +2 "storage"(X& +3 "core" &K u q T\  +2 "manipulator"&@& +3 "core" &# c :/ +2 "manipulator"&>% +3 "core" % m H +2 .tForearm.seek :retract +2 "manipulator"&4'\ +99 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 + "manipulator"&L( +160 "core" ( + "manipulator"&J& +4 "core" & I  +2 "storage"(]& +4 "core" &K v v o\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 6 +2 "manipulator"&O'z +109 "core" ' + .tElbow.hold +2 "manipulator"&Q, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&S1 +61 "core" 1 +2 "manipulator"&U% +4 "core" % ΍{ a F + "storage"(a& +4 "core" &K \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 319 counts + "manipulator"&M'Ϲ +18 "core" ' + "manipulator"&P& +4 "core" & ^ x S  +2 "storage"(Z& +4 "core" &K =\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&G'< +21 "core" ' +2 "storage"(`% +4 "core" %a O\ +2 ."downElevator"SE.seek :down +4 "storage"(e'N +98 (f% +3 "core" %K8 { s h\ UZ +2 "manipulator"&K% +4 "core" %= q p D # +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&j'\ +91 "core" ' +49 ' + ."downElevator"SE.stop +2 "storage"(5 +2 #tShuffling pucks in tube 7 of [5..7] +2 #Loading generic puck from tube 7 into Collection Clamp +2 "collection"'l& +4 "core" &\ + "manipulator"&Y% +4 "core" %\ +  !R +2 "storage"(c% +4 "core" %F o z\ +2 "storage"(W. +3 "core" .(K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 7 +42 "storage"(9([ +366 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 ( & +2 "core" &[   [\  +2 "manipulator"&^& +3 "core" &  +2 .tElbow.seek 7 +2 "manipulator"&r( +18 "core" ( + "manipulator"&s& +4 "core" & " y +2 "storage"(u& +4 "core" &[ t p $\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&h'k +104 "core" ' +2 "storage"(w& +4 "core" &[ G\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(o'e +288 "core" ' + "storage"(p- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (+& +3 "core" &[ o t \  +2 "manipulator"&m& +3 "core" & r r G y +2 .tElbow.seek 7 +2 "manipulator"&i( +3 "core" ( + "manipulator"&g& +4 "core" & q r U y +2 "storage"(d& +3 "core" &[ \  +2 .tForearm.seek 7 + 300 counts +2 "manipulator"&v' +28 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&R/ +64 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&b& + "storage"(['N +8 "core" & q r : y + "manipulator"&% +4 "core" %  q s O  +2 .tForearm.seek :retract +2 "manipulator"&z'\ +99 "core" ' +2 .tElbow.seek CC + "manipulator"&~( +146 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +10 "core" ( +2 "manipulator"&k& +4 "core" && A =B +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &_& +3 "core" && =B +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&y'| +107 "core" ' + "manipulator"&& +5 "core" && , =A + "manipulator"&}% +4 "core" %{ l +2 "collection"'& +4 "core" &\ +2 "collection"'\ & +5 "core" &\ +2 .tCC.seek :closed +2 "collection"'x(] +4 "core" &\  +8 &0\ +z +10 &b\ > +9 &F\ O +9 &c\ N +10 &g\ O +9 &j\ N +9 &!Oe\ N +10 &#i\ O +9 &$e\ N +10 &&j\ N +9 &(Vf\ N +9 &*d\ N +10 &+c\ N +9 &-e\ N +9 &/^g\ N +10 &1 j\ N +9 &2g\ N +10 &4c\ N +9 &6hc\ N +9 &8*f\ N +10 &9g\ N +9 &;b\ M +9 &=pd\ N +10 &?2b\ N +9 &@e\ N +10 &Bc\ N +9 &Dwb\ N +9 &F:c\ N +10 &Gf\ N +9 &It\ P +9 &Ks\ R +10 &M)F\ V +9 &N\ X +10 &P\ X +9 &Rg\ Y +9 &T'\ Z +10 &U\ Z +9 &W\ [ +9 &Yf\ \\ +10 &[~\ ` +9 &\\nw\ 4 +9 &]$jk\ $j +10 &]yik\ R +2 ( +2 "collection"'\ & +3 #tCollection Clamp onSpring/offSpring for 8/25 samples, on/off torque 1.88 + .Hand.open + "manipulator"&1 +54 "core" 1 + "manipulator"&% +4 "core" % { @ +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +89 "core" ' +2 #tLoading generic puck from tube 7 into Processing Clamp + "processing"%& +4 "core" &\ +2 "manipulator"&% +4 "core" %\ & 0 +2 "storage"(q% +3 "core" %C\ '\ ' \ +2 "storage"(. +3 "core" .([ + "storage"(%& +4 "core" &[\ $\  <\  + "storage"(& +4 "core" &[\ \ \  +2 "manipulator"&& +4 "core" & # G :1 + "manipulator"& % +4 "core" %\ &  0 +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 7 + "manipulator"&( +162 "core" ( +2 "manipulator"&& +4 "core" & $ + "storage"( & +4 "core" &[ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&'k +92 "core" ' + "storage"(t& +5 "core" &[ B B t\  + .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"( 'e +281 "core" ' + "storage"(\\- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +2 "core" &[\ \  o\  +2 "manipulator"& & +4 "core" & { n + .tElbow.seek 7 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&& +3 "core" & ^ x A +2 "storage"(& +4 "core" &[   l\  +2 .tForearm.seek 7 + 300 counts +2 "manipulator"&-' +23 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&'/ +57 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&.& + "storage"(0'N +7 "core" & s s O +2 "manipulator"&% +4 "core" % q s V + .tForearm.seek :retract +2 "manipulator"&"'\ +93 "core" ' +2 .tElbow.seek PC +2 "manipulator"&(c +158 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +76 "core" ( + "manipulator"&1& +4 "core" &m  E O +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &)& +3 "core" &m P O +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC + "manipulator"&5'[ +109 "core" ' + "manipulator"&8& +5 "core" &m m j O + "manipulator"&% +4 "core" %` {  +2 "processing"%{& +4 "core" &\ +2 "processing"%<& +5 "core" &\ +2 .tPC.seek :closed +3 "processing"%(Z +3 "core" &5\ +6 & 1y\ #b +10 &^W\ 8 +9 &\ L +10 &o^>\ N +9 &2]\ N +9 &^\ N +10 & b\ M +9 &"y_\ M +9 &$;`\ M +10 &%`\ M +9 &']\ M +9 &)_<\ M +10 &+Bb3\ N +9 &-c3\ N +10 &.b|\ N +9 &0_y\ M +9 &2K_\ M +10 &4 `\ N +9 &5b\ N +9 &7b\ N +10 &9Rb\ N +9 &;b\ N +10 &<\\\ N +9 &>_\ N +10 &@Z_P\ N +9 &B`\ M +9 &C_\ M +9 &Ec\ N +10 &G_h\ O +9 &Ip\ O +10 &JV\ Q +9 &LN\ T +9 &NXu\ T +10 &P\ T +9 &Q\ T +9 &SP\ U +10 &U^L\ T +9 &WV\ U +10 &X}\ U +9 &Z<Lr\ , +9 &Z3\ + +6 ( + "processing"%<& +5 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.58 + .Hand.open + "manipulator"&|1 +4 "core" &Z!\ + +55 1 + "manipulator"&% +4 "core" % ` m +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&/'\ +98 "core" ' + "processing"%!& +4 "core" &Z \ + +2 #tImaging generic puck in Processing Clamp while storing it to tube 7 + "manipulator"&7% +4 "core" %\ + J !W +2 "storage"(B% +3 "core" %C\ \  =\  +2 "storage"(D. +3 "core" .([ + "storage"(6& +4 "core" &[\ \ \  +2 "storage"(=& +2 "manipulator"&& +7 "core" &[\ \ \  + &m O +3 ."raiseStack"SE.reconfigure :place +2 .tElbow.reconfigure :tight +5 "storage"(#]kK-0-\ b +3 "manipulator"&$&.,(\ #b +4 ."raiseStack"SE.seek :beamBreak +2 .tElbow.seek PC +2 "storage"(N'e + "manipulator"&?(c +5 "core" ( + "manipulator"&#& +4 "core" &m O +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &m ; O +2 .tForearm.seek PC +2 "manipulator"&,'[ +95 "core" ' +2 .tHand.close + "manipulator"&2/ +57 "core" / +2 .tPC.seek :open + "processing"%((p +93 "core" ' +2 "storage"(3- +4 "core" -'e +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(;'B +34 "core" ' +253 ( +2 "storage"(F& +4 "core" &[  5\  +2 "manipulator"&I& +3 "core" &m  O +2 "manipulator"&:% +3 "core" % R  +2 .tForearm.seek :retract +2 "manipulator"&V'\ +99 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 7 +2 "manipulator"&$( +253 "core" ( + "manipulator"&H& +4 "core" & 5 # +2 "storage"(A& +4 "core" &[\ \ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&X'k +95 "core" ' + .tHand.open +2 "manipulator"&@1 +55 "core" 1 +2 "storage"(>- +3 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate +2 "storage"(J' +23 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(]' +53 "core" ' +2 #tLights, camera, ACTION! + "storage"(E- +3 "core" -' +2 "storage"(&& +4 "core" &[ 8\  +2 "manipulator"&S& +3 "core" & # +2 .tElbow.seek 7 +2 "manipulator"&U( +3 "core" ( +2 "manipulator"&a& +3 "core" & 9 # +2 "storage"(P& +4 "core" &[ u\  +2 .tForearm.seek 7 + 450 counts + "manipulator"&Z'k +4 "core" ' + .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"(`'M +61 "core" ' + "manipulator"&4& +5 "core" &  # + "storage"(f& +4 "core" &[\ \ \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 7 +2 "manipulator"&K'Ω +33 "core" ' + .tElbow.hold +2 "manipulator"&L, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"(O'7 +23 "core" ' + "manipulator"&l% +5 "core" %μx f »B + "storage"(M& +5 "core" &[ \  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 7 + 319 counts + "manipulator"&Y' +19 "core" ' + "manipulator"&c& +5 "core" & w r & # + "storage"(W& +4 "core" &[  ! X\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&C'k +19 "core" ' + "storage"(G% +5 "core" %> B B \ +2 ."downElevator"SE.seek :down +4 "storage"(e'N +99 (*% +3 "core" %9\ \  Y\ U^ +2 "manipulator"& % +4 "core" %X o p 0 +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&^'\ +86 "core" ' +60 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (s& +4 "core" &[\ \  \  + "collection"'u& +4 "core" &]xfg\ R +54 #tStoring generic puck in Collection Clamp to tube 7 + "manipulator"&w% +4 "core" %\ ' ' > +2 "storage"(Q% +3 "core" %C  \ +2 "storage"(j. +3 "core" .([ + "storage"(p& +4 "core" &[ I 4\  +2 "storage"(+& +3 "core" &[  =\  +2 "manipulator"&m& +4 "core" & # +2 .tElbow.seek 7 + "manipulator"&g( +4 "core" ( + "manipulator"&d& +4 "core" & < # +2 "storage"(R& +4 "core" &[ M ,\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&b'k +103 "core" ' +2 "storage"(& +4 "core" &[ B B \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(r'e +280 "core" ' + "storage"(h- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&k& +3 "core" & r s L # +2 "storage"(_& +3 "core" &[   i\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 7 +2 "manipulator"&o'Ω +33 "core" ' + .tElbow.hold + "manipulator"&v, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(- +3 "core" -' +2 .tSE.seek 0.12 Pucks below Top Plate + "storage"(}'o +28 "core" ' + "manipulator"&i% +4 "core" %λ{ ¼L +2 "storage"(& +4 "core" &[ r\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 7 + 318 counts + "manipulator"&[' +17 "core" ' + "manipulator"&z& +5 "core" &  h # + "storage"(T& +4 "core" &[  \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&'k +17 "core" ' +2 .tSE.seek 1.12 Pucks below Top Plate +2 "storage"('^ +52 "core" ' +2 "manipulator"&& +4 "core" & u z C # +2 "manipulator"&% +4 "core" %a y l E +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&q'\ +89 "core" ' +2 .tElbow.seek CC +2 "manipulator"&( +147 "core" ( +2 "manipulator"&%& +4 "core" &% <: +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +4 "core" &% E <: +2 .tForearm.seek CC + "manipulator"&'| +96 "core" ' + .tHand.close + "manipulator"& / +54 "core" / +2 .tCC.seek :open + "collection"'\ (p +411 "core" ( +2 "storage"(y& +4 "core" &[ Z Y\  + "storage"(& +4 "core" &[ Y [\  + "manipulator"& & +4 "core" & y 8 + "manipulator"&t% +4 "core" % ϋ t +2 .tForearm.seek :retract + "manipulator"&~'\ +98 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 7 +2 "manipulator"&( +154 "core" ( +2 "manipulator"&\\& +4 "core" & 7 + "storage"(& +4 "core" &[ p s 5\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 7 + "manipulator"& 'Ω +109 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&1 +60 "core" 1 +2 "manipulator"&'% +4 "core" % ν /  V T + "storage"(.& +4 "core" &[   \  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 7 + 320 counts + "manipulator"&' +18 "core" ' + "manipulator"&& +4 "core" & ^ x , +2 "storage"(& +4 "core" &[ ^\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"& 'k +18 "core" ' +2 "storage"(-% +4 "core" %] \\\ +3 ."downElevator"SE.seek :down +3 "storage"(1'N +98 ()% +3 "core" %A< } | ]\ U\\ +2 "manipulator"&% +4 "core" %T q r D +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&8'\ +91 "core" ' +48 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 5 of [5..7] +2 #Loading generic puck from tube 5 into Collection Clamp + "collection"'& +5 "core" &\ + "manipulator"&{% +4 "core" %\ - w "Z +2 "storage"(0% +4 "core" %F u p #\  + "storage"(". +3 "core" .([ +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 + "storage"(n(<< +676 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (|& +3 "core" && +5 "core" &\ +2 .tCC.seek :closed +2 "collection"'E(] +4 "core" &\  +8 &0\ *y +9 &d\ ? +10 &P\ O +9 &`\ N +9 &f\ N +10 &h\ N +9 &!Yg\ N +10 &#i\ N +9 &$c\ N +9 &&c\ N +10 &(bc\ N +9 &*#b\ N +9 &+c\ N +10 &-c\ N +9 &/ie\ N +10 &1+c\ N +9 &2b\ N +9 &4a\ N +10 &6sb\ N +9 &85_\ N +9 &9`\ N +10 &;`\ N +9 &={g\ N +10 &?=a\ N +9 &@e\ N +9 &Bd\ N +10 &Db\ N +9 &FEc\ N +10 &Hg\ O +9 &Iu\ P +9 &K{\ S +10 &M1\ W +9 &N\ W +10 &P\ X +9 &Rs\ Y +9 &T2\ Z +9 &U\ Z +10 &W\ Z +9 &Yo\ ] +9 &[3z\ \\ +10 &\\{kp\ 2 +10 &]ci\ &o +9 &]gi\ !b +2 ( + "collection"'>& +4 #tCollection Clamp onSpring/offSpring for 9/25 samples, on/off torque 1.96 + .Hand.open + "manipulator"&&1 +57 "core" 1 + "manipulator"&S% +4 "core" % p d +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&a'\ +95 "core" ' + #tLoading generic puck from tube 5 into Processing Clamp +2 "processing"%P& +4 "core" &\ + "manipulator"&V% +4 "core" %\ +  !T +2 "storage"(4% +3 "core" %J w\ +2 "storage"(f. +3 "core" .(c\ N +3 "Can"T fc +6 "core" &@V_|\ N +10 &B^\ N +9 &C]{\ N +9 &E_\ N +10 &G\\h\ O +9 &In\ P +9 &J\ R +10 &L{\ S +10 &NS\ T +9 &P\ T +9 &Q{\ U +9 &S\ U +10 &UZ{\ U +9 &W\ U +10 &X\ U +9 &Z9Lr\ - +9 &Z.\ * +6 ( + "processing"%& +5 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.59 + .Hand.open + "manipulator"&L1 +4 "core" &Z\ * +55 1 + "manipulator"&^% +4 "core" % N W +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&h'\ +98 "core" ' +2 "processing"%k& +4 "core" &Z\ * +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 + "manipulator"&_% +4 "core" %\ 3 %{ + "storage"(% +4 "core" %T K\  +2 "storage"(i. +3 "core" .(<9 + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"((<< +8 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (z& +4 "core" &<9 \ + "manipulator"&T& +5 ."raiseStack"SE.reconfigure :place +3 "storage"(#]kK-0-\ b +2 "core" &m 7  +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +2 "manipulator"&(c +3 ."raiseStack"SE.seek :beamBreak +2 "storage"('e +3 "core" ( + "manipulator"&b& +4 "core" &m   +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &g& +3 "core" &m  +2 .tForearm.seek PC +2 "manipulator"&r'[ +97 "core" ' +2 .tHand.close + "manipulator"&o/ +55 "core" / +2 .tPC.seek :open +2 "processing"%[(p +92 "core" ' +2 "storage"(}- +3 "core" -'e +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(%'B +35 "core" ' +254 ( + "storage"(& +4 "core" &<9\ \  \ +2 "manipulator"&& +4 "core" &m .  +2 "manipulator"&v% +3 "core" % F $ +2 .tForearm.seek :retract +2 "manipulator"& '\ +95 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&q( +254 "core" ( + "manipulator"&x& +4 "core" &  $ +2 "storage"(y& +65 "core" &<9\ \ \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&' +101 "core" ' + .tHand.open +2 "manipulator"& 1 +52 "core" 1 +2 "storage"(t- +4 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate + "storage"(\\' +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.83 Pucks below Top Plate + "storage"(' +53 "core" ' +2 #tLights, camera, ACTION! + "storage"(- +4 "core" -' +2 "storage"(& +3 "core" &<8 ! $ \ +2 "manipulator"&& +4 "core" &\  q $ +2 .tElbow.seek 5 + "manipulator"&'( +4 "core" ( + "manipulator"&.& +4 "core" &\  R $ + "storage"(& +4 "core" &<8   \ +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&' +3 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.11 Pucks below Top Plate + "storage"(-'M +62 "core" ' + "manipulator"&~& +5 "core" &\  $ + "storage"()& +4 "core" &<8 \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&'/ +33 "core" ' + .tElbow.hold +2 "manipulator"&, +72 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"( '7 +27 "core" ' + "manipulator"&% +4 "core" %3Z * 3 U Dz +2 "storage"({& +4 "core" &<8 "\ +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 5 + 304 counts +2 "manipulator"&'_ +17 "core" ' + "manipulator"&0& +5 "core" &>\ h  T + "storage"("& +4 "core" &<8\ '\ & J\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&' +24 "core" ' + "storage"( % +4 "core" %>  p\ +3 ."downElevator"SE.seek :down +3 "storage"(1'N +99 (9% +3 "core" %78 ?\ V_ +2 "manipulator"&|% +4 "core" % o q  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +96 "core" ' +56 ' + ."downElevator"SE.stop + "storage"(5 +3 (7& +3 "core" &<8 T\ +2 "collection"'B& +4 "core" &]jk\ !b +2 #tStoring generic puck in Collection Clamp to tube 5 + "manipulator"&6% +4 "core" %\ 3 ; %{ +2 "storage"(% +3 "core" %F \ +2 "storage"(8. +3 "core" .(<9 + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"((<< +12 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (=& +3 "core" &<9 \  +2 "manipulator"&#& +4 "core" &>\ T +2 .tElbow.seek 5 + "manipulator"&5( +41 "core" ( + "manipulator"&2& +4 "core" & / "} +2 "storage"(& +3 "core" &<9 e\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&/' +95 "core" ' + "storage"(F& +4 "core" &<9\ \  `\  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(!'e +279 "core" ' + "storage"(D- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&N& +3 "core" & "} + "storage"(,& +4 "core" &<9 \  \  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 + "manipulator"&<'/ +35 "core" ' + .tElbow.hold +2 "manipulator"&3, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(A- +3 "core" -' +2 .tSE.seek 0.11 Pucks below Top Plate + "storage"(?'n +28 "core" ' +2 "manipulator"&@% +4 "core" %2Q   3 Ȱ + "storage"(& +4 "core" &<9 l\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 303 counts + "manipulator"&'^ +19 "core" ' + "manipulator"&I& +4 "core" &E i f 5 +2 "storage"(\ & +4 "core" &<9\ $\  L\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&&' +18 "core" ' +2 .tSE.seek 1.11 Pucks below Top Plate +2 "storage"(S'] +43 "core" ' + "manipulator"&P& +4 "core" &F u } 4 +2 "manipulator"&V% +4 "core" % } }  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&4'\ +97 "core" ' +2 .tElbow.seek CC + "manipulator"&f( +159 "core" ( +2 "manipulator"&>& +4 "core" & , N Bh +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &;& +2 "core" & , & Bh +2 .tForearm.seek CC +2 "manipulator"&M'| +102 "core" ' + .tHand.close + "manipulator"&J/ +62 "core" / + .tCC.seek :open +2 "collection"'H(p +411 "core" ( +2 "storage"(W& +4 "core" &<9 8 ? G\  + "storage"(G& +4 "core" &<9 C C \  + "manipulator"&n& +4 "core" &+ { Ae + "manipulator"&X% +4 "core" % m +2 .tForearm.seek :retract +2 "manipulator"&:'\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&a( +206 "core" ( + "manipulator"&*& +5 "core" &   + "storage"( & +4 "core" &<9 Y Y\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 5 +2 "manipulator"&Z'/ +109 "core" ' +2 .tElbow.hold + "manipulator"&`, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&K1 +62 "core" 1 +2 "manipulator"&Y% +4 "core" % ?r # w + + "storage"(u& +4 "core" &<9\  \  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 5 + 316 counts +2 "manipulator"&O'k +18 "core" ' + "manipulator"&c& +4 "core" &; ^ x  z +2 "storage"($& +4 "core" &<9 i i \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&]' +22 "core" ' + "storage"(s% +5 "core" %b I\ +2 ."downElevator"SE.seek :down +4 "storage"(p'N +99 (+% +3 "core" %4> q | \ V] +2 "manipulator"&U% +4 "core" % _ s 1 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&d'\ +96 "core" ' +40 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 6 of [5..7] + #Loading generic puck from tube 6 into Collection Clamp +2 "collection"'R& +4 "core" &\ +2 "manipulator"&C% +4 "core" %\ 4 %y + "storage"(w% +4 "core" %> v p L\ +2 "storage"(Q. +3 "core" .(<9 +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 + "storage"(((K +351 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (L& +3 "core" &K   \  +2 "manipulator"&^& +3 "core" &; z +2 .tElbow.seek 6 +2 "manipulator"&k( +28 "core" ( +2 "manipulator"&_& +4 "core" & > + "storage"(& +4 "core" &K Z Y\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&i'< +103 "core" ' +2 "storage"(& +4 "core" &K f l ~\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(z'e +281 "core" ' + "storage"(T- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (b& +3 "core" &K d X \  + "manipulator"&g& +4 "core" &  > +2 .tElbow.seek 6 + "manipulator"&m( +4 "core" ( + "manipulator"&o& +4 "core" &  > + "storage"(l& +4 "core" &K Y Y\  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&}'Ϧ +10 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&j/ +61 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"&h& + "storage"(e'N +7 "core" & 8 > + "manipulator"&% +4 "core" % ϫ h , +2 .tForearm.seek :retract +2 "manipulator"&'\ +92 "core" ' +2 .tElbow.seek CC +2 "manipulator"&( +149 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +8 "core" ( +2 "manipulator"&v& +4 "core" &+ U Ad +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &r& +3 "core" &+ b Ad +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&x'| +106 "core" ' +2 "manipulator"&& +4 "core" & + l Ac +2 "manipulator"&y% +4 "core" %y l +2 "collection"' & +4 "core" &\ +2 "collection"'t& +5 "core" &\ +3 .tCC.seek :closed + "collection"'(] +4 "core" &\  +9 &0\ +{ +9 &d\ ? +10 &I~\ O +9 &]\ N +9 &d\ N +10 &f\ N +9 &!Ra\ N +9 &#c\ N +10 &$`\ N +9 &&b\ N +10 &([b\ N +9 &*b\ N +9 &+_\ M +10 &-b\ N +9 &/cd\ N +9 &1#e\ O +10 &2c\ N +9 &4`\ N +10 &6l`\ N +9 &8._\ N +9 &9_\ N +10 &;`\ M +9 &=sb\ N +9 &?6`\ N +10 &@c\ N +9 &Be\ N +9 &D{a\ N +10 &F>b\ N +9 &Gf\ N +10 &Iz\ Q +9 &Ksv\ T +9 &M*\ W +10 &N\ W +9 &P\ Y +10 &Rj\ Y +9 &T*\ Z +9 &U\ [\ +10 &W\ [\ +9 &Yg\ ] +10 &[)t\ ] +9 &\\{io\ 5 +9 &]!af\ (u +9 &]zce\ R +3 ( + "collection"'t& +4 #tCollection Clamp onSpring/offSpring for 9/25 samples, on/off torque 1.99 + .Hand.open + "manipulator"&1 +57 "core" 1 + "manipulator"&% +4 "core" % e +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&.'\ +98 "core" ' +2 #tLoading generic puck from tube 6 into Processing Clamp + "processing"%& +5 "core" &\ + "manipulator"& % +4 "core" %\ - p "a + "storage"(~% +4 "core" %? K\  +2 "storage"(). +3 "core" .(K + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"(%(K +6 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (\\& +3 "core" &K \  + "manipulator"&& +4 "core" & + Ac +2 "manipulator"&{% +3 "core" %\ - u "a +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&0( +157 "core" ( + "manipulator"&q& +5 "core" & ? + "storage"("& +4 "core" &K M  $\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&'< +95 "core" ' + "storage"(& +5 "core" &K   Z\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"( 'e +279 "core" ' + "storage"(- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 ('& +2 "core" &K\ \  \  +2 "manipulator"&9& +4 "core" & + .tElbow.seek 6 +2 "manipulator"&|( +3 "core" ( + "manipulator"&-& +4 "core" & ` +2 "storage"(& +3 "core" &K\ &\ $ \  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&'Ϧ +11 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&7/ +63 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&B& +2 "storage"(6'N +6 "core" &  +2 "manipulator"&% +4 "core" % ϣ G ) +2 .tForearm.seek :retract +2 "manipulator"&8'\ +101 "core" ' +2 .tElbow.seek PC +2 "manipulator"& (c +149 "core" ' + ."downElevator"SE.stop + "storage"(5 +100 "core" ( +2 "manipulator"&=& +4 "core" &k ? +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &#& +3 "core" &k  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&2'[ +100 "core" ' +2 "manipulator"&& +4 "core" &k m +2 "manipulator"&% +3 "core" %Y N +2 "processing"%F& +4 "core" &\ +2 "processing"%1& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%(Z +4 "core" &0\  +8 &,~9\ +{ +10 &d9\ ? +9 &By1\ N +9 &]M\ N +10 &c9\ N +9 &]|\ M +9 &!J^9\ N +10 &# [J\ N +9 &$\\U\ M +10 &&bV\ N +9 &(SZ4\ N +9 &*\\{\ M +10 &+\\y\ M +9 &-_\ N +10 &/[`\ N +9 &1]\ N +9 &2`\ N +10 &4`6\ N +9 &6c`{\ N +10 &8%]\ N +9 &9Z?\ N +9 &;\\\ M +9 &=k^\ N +10 &?-a\ N +9 &@_\ N +10 &B]\ N +9 &Ds^\ N +9 &F5c\ N +10 &Gnw\ O +9 &Iy~\ Q +10 &KmY\ R +9 &M*\ T +10 &N\ U +9 &PY\ U +9 &Ro\ T +10 &T/\ U +9 &U\ U +9 &WQ\ U +9 &Yt}\ C +10 &Zv<T\ ` +9 &Z \ ) +3 ( + "processing"%1& +3 #tProcessing Clamp onSpring/offSpring for 9/25 samples, on/off torque 1.60 + .Hand.open +2 "manipulator"&1 +60 "core" 1 + "manipulator"&% +4 "core" % X [ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&D'\ +101 "core" ' + "processing"%N& +4 "core" &Z\ ) +2 #tImaging generic puck in Processing Clamp while storing it to tube 6 + "manipulator"&,% +4 "core" %\ .  #k +2 "storage"(A% +3 "core" %C .\  +2 "storage"(@. +3 "core" .(K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 + "storage"((K +6 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (I& +4 "core" &K \  +2 "manipulator"&\ & +2 ."raiseStack"SE.reconfigure :place +56 "storage"(#]kK-0-\ b +2 "core" &k +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +3 ."raiseStack"SE.seek :beamBreak +2 "manipulator"&P(c + "storage"(V'e +6 "core" ( + "manipulator"&/& +4 "core" &k +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &5& +3 "core" &k +2 .tForearm.seek PC +2 "manipulator"&!'[ +96 "core" ' + .tHand.close +2 "manipulator"&'B +35 "core" ' +251 ( + "storage"(;& +4 "core" &K  v\  +2 "manipulator"&&& +4 "core" &k e +2 "manipulator"&3% +3 "core" % o   +2 .tForearm.seek :retract +2 "manipulator"&J'\ +92 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&4( +247 "core" ( +2 "manipulator"&E& +4 "core" & ? + "storage"(W& +4 "core" &K\ \  \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&G'< +94 "core" ' +2 .tHand.open + "manipulator"&n1 +54 "core" 1 +2 "storage"(X- +3 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate +2 "storage"(M' +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(*' +52 "core" ' +2 #tLights, camera, ACTION! +2 "storage"( - +3 "core" -' +2 "storage"(f& +4 "core" &K c Y \  + "manipulator"&K& +4 "core" & @ ? +2 .tElbow.seek 6 +2 "manipulator"&Y( +3 "core" ( + "manipulator"&u& +4 "core" & A ? +2 "storage"(c& +3 "core" &K W V \  +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&$'< +20 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.11 Pucks below Top Plate + "storage"(s'M +63 "core" ' + "manipulator"&:& +5 "core" & s } ? + "storage"(+& +4 "core" &K   \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&U'z +30 "core" ' + .tElbow.hold +2 "manipulator"&a, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.07 Pucks below Top Plate + "storage"(Z'7 +24 "core" ' +2 "manipulator"&R% +4 "core" %Ό{ ¼F +2 "storage"(O& +4 "core" &K i\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 318 counts + "manipulator"&C'ϸ +16 "core" ' +2 "manipulator"&w& +4 "core" & s y , $ +2 "storage"(Q& +4 "core" &K   \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&S'< +17 "core" ' + "storage"(]% +5 "core" %? &  '\ +2 ."downElevator"SE.seek :down +4 "storage"(p'N +98 (% +3 "core" %3:\ \  \ U] +2 "manipulator"&L% +4 "core" %> q r O +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&^'\ +95 "core" ' +53 ' + ."downElevator"SE.stop + "storage"(5 +3 (_& +4 "core" &K\ ,\  +2 "collection"'& +3 "core" &]vfh\ R +2 #tStoring generic puck in Collection Clamp to tube 6 + "manipulator"&% +4 "core" %\ 3 %v +2 "storage"(`% +4 "core" %<\ \  \ + "storage"(d. +3 "core" .(K +2 "storage"(T& +4 "core" &K\ \  \  + "storage"(b& +4 "core" &K\ \ \  +2 "manipulator"&g& +4 "core" & $ +2 .tElbow.seek 6 + "manipulator"&o( +51 "core" ( +2 "manipulator"&l& +4 "core" & ~ % + "storage"(j& +4 "core" &K\ \  \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&h'< +100 "core" ' +2 "storage"(& +4 "core" &K  m\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(k'e +277 "core" ' + "storage"(i- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&v& +3 "core" & % +2 "storage"(r& +3 "core" &K\ \  t\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&z'z +122 "core" ' + .tElbow.hold +2 "manipulator"&}, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(- +2 "core" -' +3 .tSE.seek 0.12 Pucks below Top Plate + "storage"(y'y +28 "core" ' + "manipulator"&m% +4 "core" %΍u  ĺ4 +2 "storage"( & +4 "core" &K \  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 6 + 319 counts + "manipulator"&e'Ϲ +18 "core" ' + "manipulator"&& +5 "core" & m } 2 # + "storage"(H& +4 "core" &K \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&'< +15 "core" ' +2 .tSE.seek 1.12 Pucks below Top Plate +2 "storage"('h +50 "core" ' +2 "manipulator"&& +4 "core" & r s - # +2 "manipulator"& % +4 "core" %H p p + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&~'\ +89 "core" ' + .tElbow.seek CC +2 "manipulator"&)( +161 "core" ( + "manipulator"&t& +4 "core" &, Bj +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &\\& +3 "core" &, } Bj +2 .tForearm.seek CC +2 "manipulator"&'| +96 "core" ' + .tHand.close + "manipulator"&{/ +53 "core" / + .tCC.seek :open +2 "collection"'x(p +411 "core" ( + "storage"(q& +4 "core" &K 7 ? \  +2 "storage"("& +3 "core" &K B B \  +2 "manipulator"&(& +4 "core" &%& >M + "manipulator"&% +4 "core" % |  +2 .tForearm.seek :retract + "manipulator"&'\ +93 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 + "manipulator"&.( +152 "core" ( +2 "manipulator"&& +4 "core" & $ + "storage"('& +4 "core" &K X Y \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 6 + "manipulator"&9'z +108 "core" ' + .tElbow.hold + "manipulator"&-, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&1 +56 "core" 1 +2 "manipulator"&7% +4 "core" % Ή~ M +2 "storage"(B& +3 "core" &K   e\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 315 counts + "manipulator"&'ϵ +20 "core" ' + "manipulator"&0& +5 "core" & z | ! + "storage"(& +4 "core" &K y n\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"& '< +11 "core" ' + "storage"(% +4 "core" %n y U\ +3 ."downElevator"SE.seek :down +3 "storage"(='N +99 (#% +3 "core" %9 z v \\\ UZ + "manipulator"&|% +4 "core" %G q p D +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +137 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +31 "core" ' + #tShuffling pucks in tube 7 of [5..7] +2 #Loading generic puck from tube 7 into Collection Clamp + "collection"'& +5 "core" &\ + "manipulator"&F% +4 "core" %\ / #c + "storage"(6% +4 "core" %; t v E\ +2 "storage"(8. +3 "core" .(K + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 7 +2 "storage"([([ +343 "core" ( +2 .tSC.configure :limp +52 "storage"($\ 1b +3 (& +2 "core" &[   [\  +2 "manipulator"&& +4 "core" & ! + .tElbow.seek 7 +2 "manipulator"&N( +22 "core" ( +2 "manipulator"&,& +4 "core" & K ~ + "storage"(A& +4 "core" &[ v v k\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&@'k +101 "core" ' + "storage"(1& +4 "core" &[ \  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(I'e +282 "core" ' +2 "storage"(\ - +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (/& +2 "core" &[ f h n\  +2 "manipulator"&5& +4 "core" & a _ ~ +2 .tElbow.seek 7 + "manipulator"&2( +4 "core" ( + "manipulator"&<& +4 "core" & _ W : ~ + "storage"(%& +4 "core" &[ \  +2 .tForearm.seek 7 + 300 counts +2 "manipulator"&?' +28 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"& / +63 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&D& +2 "storage"('N +8 "core" & u r > ~ + "manipulator"&;% +4 "core" % r s F +2 .tForearm.seek :retract +2 "manipulator"&&'\ +93 "core" ' + .tElbow.seek CC +2 "manipulator"&3( +151 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +3 "core" ( +2 "manipulator"&V& +3 "core" &# ; :1 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &!& +2 "core" &" c :1 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&E'| +100 "core" ' +2 "manipulator"&W& +4 "core" &# ; :1 +2 "manipulator"&P% +4 "core" %~  + "collection"'n& +4 "core" &\ +2 "collection"'X& +5 "core" &\ +3 .tCC.seek :closed + "collection"' (] +5 "core" &\ +7 & 8\ $e +9 &nV\ 8 +9 &\ L +10 &^\ N +9 &Dc\ N +10 &b\ M +9 & f\ N +9 &"e\ M +10 &$Lc\ N +9 &&g\ N +9 &'a\ M +10 &)b\ M +9 &+Td\ N +10 &-c\ N +9 &.e\ N +9 &0g\ N +10 &2\\b\ N +9 &4c\ M +9 &5c\ M +10 &7c\ N +9 &9e`\ M +10 &;'_\ M +9 &<c\ N +9 &>c\ N +10 &@mc\ M +9 &B/b\ M +9 &Cb\ M +10 &Ec\ N +9 &Gsd\ N +10 &I3l\ O +9 &J}\ P +9 &LHv\ U +10 &Na\ W +9 &P!\ X +10 &Q\ X +9 &S\ Y +9 &U`\ Z +10 &W#\ Z +9 &X\ [\ +9 &Z\ ] +10 &\\dz~\ H +9 &]f=os\ $n +10 &]vlo\ P +2 ( +2 "collection"'X& +2 #tCollection Clamp onSpring/offSpring for 10/26 samples, on/off torque 1.94 + .Hand.open +2 "manipulator"&f1 +56 "core" 1 +2 "manipulator"&K% +5 "core" % |  + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&u'\ +93 "core" ' +2 #tLoading generic puck from tube 7 into Processing Clamp + "processing"%c& +4 "core" &\ +2 "manipulator"&J% +3 "core" %\ % v 4 +2 "storage"(:% +4 "core" %<\ \  b\ +2 "storage"(+. +3 "core" .([ + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 7 +2 "storage"(>([ +3 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (R& +2 "core" &[! ?\  +2 "manipulator"&O& +4 "core" &! . 8 + "manipulator"&M% +4 "core" %\ %  4 +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 7 +2 "manipulator"&w( +157 "core" ( + "manipulator"&Q& +4 "core" & 3 \ +2 "storage"(]& +3 "core" &[ ! % 7\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts + "manipulator"&4'k +94 "core" ' +2 "storage"(G& +4 "core" &[ A @ \  + .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(*'e +282 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +2 (L& +3 "core" &[ F (\  +2 "manipulator"&$& +3 "core" & < \ +2 .tElbow.seek 7 +2 "manipulator"&Y( +8 "core" ( + "manipulator"&s& +4 "core" & 2 +2 "storage"(U& +3 "core" &[ \  +2 .tForearm.seek 7 + 300 counts +2 "manipulator"&_' +22 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&C/ +55 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"('N +8 "core" & p r W + "manipulator"&`% +4 "core" % q r & +2 .tForearm.seek :retract +2 "manipulator"&d'\ +96 "core" ' +2 .tElbow.seek PC +2 "manipulator"&T(c +157 "core" ' + ."downElevator"SE.stop + "storage"(5 +86 "core" ( + "manipulator"&Z& +4 "core" &e 3 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &b& +3 "core" &e L +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&g'[ +105 "core" ' + "manipulator"&l& +5 "core" &e m ] + "manipulator"&j% +4 "core" %O  z  +2 "processing"%S& +4 "core" &\ +2 "processing"%& +5 "core" &$\ +2 .tPC.seek :closed + "processing"%p(Z +4 "core" &D\  +9 &/3\ +z +9 &c8\ > +10 &={\ N +9 &]A\ M +9 &b}\ M +10 &`\ M +9 &!Fb\ N +10 &# ]\ M +9 &$_\ M +9 &&b\ M +10 &(O`\ M +9 &*_\ M +10 &+`\ M +9 &-\\\ N +9 &/Vb\ N +10 &1`|\ N +9 &2]R\ N +9 &4aS\ M +10 &6_a\ M +9 &8 b\ N +9 &9^\ M +10 &;\\\ M +9 &=g\\\ M +10 &?(`\ N +9 &@aW\ N +9 &B[\ N +10 &Dm`\ N +9 &F/^\ N +9 &GjZ\ O +10 &Iu\ P +9 &Ki\ R +10 &M'\ S +9 &N\ T +9 &P\ T +10 &Rj\ T +9 &T,\ T +10 &U\ U +9 &WS\ U +9 &Yq}\ B +9 &Z{A\ U +10 &Z\ ) +2 ( +2 "processing"%& +3 #tProcessing Clamp onSpring/offSpring for 9/25 samples, on/off torque 1.58 + .Hand.open + "manipulator"&a1 +54 "core" 1 + "manipulator"&^% +5 "core" % O q + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&i'\ +95 "core" ' +2 "processing"%v& +4 "core" &Z\ ) +2 #tImaging generic puck in Processing Clamp while storing it to tube 7 + "manipulator"&r% +4 "core" %\ - j "\\ + "storage"(% +4 "core" %O\ \ & \ \ +2 "storage"(m. +3 "core" .([ + "storage"( & +4 "core" &[\  \  +2 "storage"(& + "manipulator"&H& +7 "core" &[\ \ \  + &e r +3 ."raiseStack"SE.reconfigure :place +2 .tElbow.reconfigure :tight +5 "storage"(#]kK-0-\ b +4 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +3 ."raiseStack"SE.seek :beamBreak +3 "manipulator"&(c + "storage"( 'e +6 "core" ( + "manipulator"&h& +4 "core" &e m + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &o& +3 "core" &e O +2 .tForearm.seek PC +2 "manipulator"&k'[ +96 "core" ' + .tHand.close + "manipulator"&z/ +57 "core" / +2 .tPC.seek :open + "processing"%e(p +93 "core" ' +2 "storage"(y- +4 "core" -'e + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(t'B +43 "core" ' +245 ( + "storage"(\\& +3 "core" &[   \  +2 "manipulator"&& +4 "core" &e 0 +2 "manipulator"&}% +4 "core" % ^ M + .tForearm.seek :retract +2 "manipulator"&{'\ +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 7 +2 "manipulator"&~( +247 "core" ( + "manipulator"&& +4 "core" & \  +2 "storage"(q& +3 "core" &[   y\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&"'k +98 "core" ' + .tHand.open + "manipulator"&(1 +52 "core" 1 +2 "storage"(- +4 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate + "storage"(' +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.83 Pucks below Top Plate + "storage"('' +55 "core" ' + #tLights, camera, ACTION! + "storage"(- +53 "core" -' +3 "storage"()& +4 "core" &[ i i \  + "manipulator"&& +4 "core" & e  +2 .tElbow.seek 7 + "manipulator"&7( +10 "core" ( +2 "manipulator"&B& +4 "core" &   + "storage"(0& +4 "core" &[ q \  +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&'k +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"('M +61 "core" ' +2 "manipulator"&& +4 "core" &   +2 "storage"(#& +4 "core" &[   &\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 7 +2 "manipulator"&|'Ω +32 "core" ' +2 .tElbow.hold + "manipulator"&., +5 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.07 Pucks below Top Plate + "storage"(9'7 +24 "core" ' +2 "manipulator"&% +4 "core" %κr a ' +2 "storage"(& +4 "core" &[ \  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 7 + 317 counts + "manipulator"&F' +17 "core" ' +2 "manipulator"&& +4 "core" & { v d  +2 "storage"(6& +4 "core" &[ 4 5 6\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&8'k +17 "core" ' + "storage"( % +5 "core" %> 6 ? \ +2 ."downElevator"SE.seek :down +4 "storage"(='N +99 (% +3 "core" %<   T\ U^ +2 "manipulator"&% +4 "core" %c p r 6 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +86 "core" ' +62 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (,& +4 "core" &[\ % V $\  +2 "collection"'A& +4 "core" &]rnm\ P +2 #tStoring generic puck in Collection Clamp to tube 7 + "manipulator"&1% +4 "core" %\ %  8 +2 "storage"(-% +3 "core" %Q   "\ \ +2 "storage"(. +3 "core" .([ +2 "storage"(\ & +4 "core" &[   m\  + "storage"(/& +4 "core" &[   \  +2 "manipulator"&5& +3 "core" & &  +2 .tElbow.seek 7 +2 "manipulator"&<( +8 "core" ( +2 "manipulator"&%& +4 "core" & v  + "storage"( & +4 "core" &[ \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&D'k +88 "core" ' +2 "storage"(;& +4 "core" &[ 4 8 \  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(N'e +283 "core" ' + "storage"(@- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&V& +3 "core" & C  +2 "storage"(!& +4 "core" &[   K\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 7 +2 "manipulator"&I'Ω +30 "core" ' + .tElbow.hold + "manipulator"&?, +5 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(W- +3 "core" -' +2 .tSE.seek 0.12 Pucks below Top Plate + "storage"(P'o +33 "core" ' +2 "manipulator"&n% +4 "core" %ν{  A C +2 "storage"(2& +3 "core" &[ \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 7 + 320 counts + "manipulator"&' +19 "core" ' + "manipulator"&&& +5 "core" & { h   + "storage"(x& +4 "core" &[ 4 4 \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&f'k +23 "core" ' +2 .tSE.seek 1.12 Pucks below Top Plate +2 "storage"(K'^ +47 "core" ' + "manipulator"&c& +5 "core" & s q 7  + "manipulator"&J% +4 "core" %Д r r W +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&:'\ +88 "core" ' +2 .tElbow.seek CC +2 "manipulator"&+( +143 "core" ( +2 "manipulator"&X& +4 "core" & R 0 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &R& +2 "core" & ^ 0 +2 .tForearm.seek CC +2 "manipulator"&O'| +95 "core" ' + .tHand.close + "manipulator"&M/ +65 "core" / +2 .tCC.seek :open + "collection"'E(p +411 "core" ( +2 "storage"(Q& +4 "core" &[ v j \  + "storage"(]& +4 "core" &[ [ Y #\  + "manipulator"&[& +4 "core" & Z , + "manipulator"&G% +4 "core" % e ( +2 .tForearm.seek :retract +2 "manipulator"&3'\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 7 + "manipulator"&u( +159 "core" ( +2 "manipulator"&& +4 "core" & , +2 "storage"(L& +3 "core" &[ v v Y\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 7 + "manipulator"&$'Ω +113 "core" ' + .tElbow.hold +2 "manipulator"&s, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&U1 +56 "core" 1 +2 "manipulator"&C% +4 "core" % λ{ 2  k H + "storage"(& +4 "core" &[   0\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 7 + 318 counts + "manipulator"&`' +18 "core" ' + "manipulator"&w& +5 "core" & q v 2 + "storage"(4& +4 "core" &[ z\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&*'k +23 "core" ' +2 "storage"(_% +4 "core" %Y \ +2 ."downElevator"SE.seek :down +3 "storage"(Z'N +99 (b% +3 "core" %1; | { \ U\\ +2 "manipulator"&Y% +5 "core" %Њ r r . +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&l'\ +88 "core" ' +49 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 5 of [5..7] + #Loading generic puck from tube 5 into Collection Clamp +2 "collection"'j& +4 "core" &\ +2 "manipulator"&S% +3 "core" %\ & x < +2 "storage"(% +4 "core" %@ | } \ \ + "storage"(d. +3 "core" .([ +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 +2 "storage"((<< +679 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (a& +2 "core" &<= /  \ +2 "manipulator"&^& +4 "core" &  +2 .tElbow.seek 5 + "manipulator"&v( +35 "core" ( + "manipulator"&r& +4 "core" &  o +2 "storage"(& +4 "core" &<> v u U\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&m' +93 "core" ' +2 "storage"( & +4 "core" &<> \ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(H'e +277 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +2 "core" &<< l } g\ +2 "manipulator"&h& +4 "core" &   +2 .tElbow.seek 5 + "manipulator"&o( +4 "core" ( + "manipulator"&g& +4 "core" &  > + "storage"(z& +4 "core" &<< k r H\ +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&y'[ +26 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&T/ +61 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&i& + "storage"(p'N +8 "core" &  r p ! +2 "manipulator"&\\% +4 "core" % w r q ! +2 .tForearm.seek :retract + "manipulator"&'\ +88 "core" ' +2 .tElbow.seek CC +2 "manipulator"&}( +157 "core" ' + ."downElevator"SE.stop + "storage"(5 +4 "core" ( + "manipulator"& & +4 "core" &' 1 >M +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &k& +3 "core" &' j >M +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&'| +152 "core" ' +2 "manipulator"&q& +4 "core" &' >M +2 "manipulator"&% +3 "core" %s +52 "collection"'(& +4 "core" &\ +2 "collection"'& +5 "core" &\ +2 .tCC.seek :closed +2 "collection"'(] +4 "core" &\ +8 & 7\ $d +10 &iV\ 7 +9 &\ L +9 &yb\ M +10 &9b\ N +9 &`\ N +10 & c\ N +9 &"b\ N +9 &$C_\ M +10 &&f\ M +9 &'c\ M +9 &)a\ M +10 &+K`\ M +9 &- d\ M +9 &.g\ N +10 &0g\ M +9 &2Sd\ M +10 &4b\ N +9 &5`\ N +9 &7`\ M +10 &9[b\ M +9 &;`\ M +9 &<a\ N +10 &>`\ M +9 &@d_\ M +10 &B$b\ N +9 &C_\ M +9 &E`\ N +10 &Gja\ N +9 &I'n\ O +9 &J\ R +10 &L']\ V +9 &NU\ X +10 &P\ X +9 &Q\ Y +10 &S\ Z +9 &UW\ Z +9 &W\ Z +9 &X\ [ +10 &Z\ ] +9 &\\Otz\ K +9 &]mFjn\ ] +10 &](km\ &s +9 &]\\gi\ F +3 ( + "collection"'& +3 #tCollection Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.96 +2 .Hand.open + "manipulator"&{1 +56 "core" 1 +2 "manipulator"&)% +4 "core" % s S +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +100 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp +2 "processing"%B& +4 "core" &s\ + "manipulator"&0% +4 "core" %\ 6 r & +2 "storage"(% +4 "core" %S\ \  ?\  + "storage"(#. +3 "core" .(<< +2 "storage"(t& +3 "core" &<<\ \  \ +2 "storage"(& +4 "core" &<<\ \  \ +2 "manipulator"&& +3 "core" &% U <@ +2 "manipulator"&% +4 "core" %\ 6  & +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&( +162 "core" ( +2 "manipulator"&6& +4 "core" & 7 * + "storage"( & +4 "core" &<<   N\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&~' +98 "core" ' +2 "storage"("& +5 "core" &<< A ? \ + .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(''e +282 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (& +3 "core" &<9   J\ + "manipulator"&& +4 "core" &  * +2 .tElbow.seek 5 + "manipulator"&7( +13 "core" ( +2 "manipulator"&& +4 "core" & K !q + "storage"(|& +4 "core" &<9   4\ +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&,'[ +19 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&F/ +53 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&A& +3 "storage"(1'N +7 "core" & p q * m + "manipulator"&-% +4 "core" % T o q  +2 .tForearm.seek :retract +2 "manipulator"&'\ +98 "core" ' +2 .tElbow.seek PC + "manipulator"&\ (c +156 "core" ' + ."downElevator"SE.stop + "storage"(5 +97 "core" ( + "manipulator"&9& +4 "core" &k m +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &/& +2 "core" &k +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&5'[ +105 "core" ' + "manipulator"&%& +4 "core" &k +2 "manipulator"& % +4 "core" %c < +2 "processing"%8& +3 "core" &\ +2 "processing"%;& +5 "core" &\ +2 .tPC.seek :closed + "processing"%=(Z +5 "core" &:\  +9 &.~3\ *y +9 &e<\ ? +10 &Cy/\ O +9 &Y=\ N +9 &a;\ N +10 &]B\ N +9 &!M\\+\ N +9 &#]5\ N +10 &$_8\ N +9 &&_+\ N +10 &(VZ<\ M +9 &*Z'\ M +9 &+\\{\ M +10 &-\\B\ N +9 &/]cM\ N +9 &1 \\9\ M +10 &2_8\ M +9 &4\\4\ N +10 &6e_@\ N +9 &8'`3\ N +9 &9]<\ N +10 &;`Q\ M +9 &=m`\ N +9 &?/_F\ N +10 &@`}\ M +9 &B]\ M +9 &Dv]Z\ M +10 &F6c?\ N +9 &Gk>\ O +10 &IsB\ P +9 &KqB\ R +10 &M->\ T +9 &NQ\ T +9 &P\ T +9 &Rr\ T +10 &T3C\ T +10 &U3\ U +9 &WP\ T +9 &YyQ\ A +10 &Zy=\ Y +9 &Z\ ) +2 ( +2 "processing"%;& +3 #tProcessing Clamp onSpring/offSpring for 9/25 samples, on/off torque 1.61 + .Hand.open + "manipulator"&.1 +54 "core" 1 + "manipulator"&% +4 "core" % c d +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&@'\ +100 "core" ' + "processing"%V& +5 "core" &Z\ ) + #tImaging generic puck in Processing Clamp while storing it to tube 5 +2 "manipulator"&!% +3 "core" %\ 1 H $m +2 "storage"(W% +4 "core" %V \  1\  + "storage"(n. +3 "core" .(<< +2 "storage"(2& +4 "core" &<9 E\  t\ +2 "storage"(&& +3 "manipulator"&x& +6 "core" &<9 " \ + &k +3 ."raiseStack"SE.reconfigure :place +2 .tElbow.reconfigure :tight +5 "storage"(#]kK-0-\ b +3 "manipulator"&$&.,(\ #b +4 ."raiseStack"SE.seek :beamBreak +2 .tElbow.seek PC +2 "storage"(c'e +3 "manipulator"&J(c +3 "core" ( +2 "manipulator"&D& +4 "core" &k  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &<& +3 "core" &k +2 .tForearm.seek PC +2 "manipulator"&N'[ +95 "core" ' +2 .tHand.close + "manipulator"&I/ +64 "core" / +2 .tPC.seek :open +2 "processing"%(p +82 "core" ' + "storage"(P- +3 "core" -'e +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(X'B +35 "core" ' +265 ( + "storage"(R& +4 "core" &<9   f\ +2 "manipulator"&f& +3 "core" &k  +2 "manipulator"&?% +3 "core" % d 5 +2 .tForearm.seek :retract +2 "manipulator"&M'\ +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&:( +262 "core" ( +2 "manipulator"& & +4 "core" & + "storage"(Q& +4 "core" &<9   z\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&]' +109 "core" ' +2 .tHand.open +2 "manipulator"&[1 +60 "core" 1 +2 "storage"(G- +4 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate + "storage"(' +23 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(L' +49 "core" ' +2 #tLights, camera, ACTION! + "storage"(O- +4 "core" -' + "storage"(+& +4 "core" &<8 \ +2 "manipulator"&U& +3 "core" & } | +2 .tElbow.seek 5 +2 "manipulator"&C( +7 "core" ( + "manipulator"&& +4 "core" &  k +2 "storage"(w& +4 "core" &<8 \ +2 .tForearm.seek 5 + 450 counts + "manipulator"&4' +22 "core" ' + .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"(_'M +63 "core" ' + "manipulator"&3& +4 "core" &   +2 "storage"(b& +4 "core" &<7 7 5 u\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&Y'/ +33 "core" ' + .tElbow.hold +2 "manipulator"&u, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"($'7 +24 "core" ' +2 "manipulator"&j% +4 "core" %>d   ] õ +2 "storage"(`& +4 "core" &<7 {\ + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 315 counts + "manipulator"&S'j +17 "core" ' +2 "manipulator"&& +4 "core" &' ] w @  +2 "storage"(d& +4 "core" &<7 Y [\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&K' +21 "core" ' + "storage"(*% +5 "core" %? O X \ +2 ."downElevator"SE.seek :down +4 "storage"(Z'N +98 (>% +3 "core" %< ? 4\ U] +2 "manipulator"&a% +4 "core" % p o   +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&^'\ +91 "core" ' +58 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (r& +4 "core" &<7\  E \ +2 "collection"'& +4 "core" &]Zml\ F +2 #tStoring generic puck in Collection Clamp to tube 5 + "manipulator"& % +4 "core" %\ + 3 !N + "storage"(s% +54 "core" %J 4 4\ \ +3 "storage"(l. +3 "core" .(<< + "storage"(& +4 "core" &<7 8 4 &\ + "storage"(& +4 "core" &<7 4 3\ +2 "manipulator"&h& +3 "core" &' 6  +2 .tElbow.seek 5 +2 "manipulator"&g( +13 "core" ( +2 "manipulator"&z& +4 "core" & M  + "storage"(T& +4 "core" &<7 B A \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&i' +91 "core" ' + "storage"(\\& +5 "core" &<7 Y X \ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(v'e +281 "core" ' +2 "storage"(m- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"& & +2 "core" &   +2 "storage"(k& +4 "core" &<7 2 % F\ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 + "manipulator"&H'/ +34 "core" ' + .tElbow.hold + "manipulator"&y, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(o- +2 "core" -' +2 .tSE.seek 0.12 Pucks below Top Plate +2 "storage"(q'o +39 "core" ' +2 "manipulator"&% +4 "core" %<U ' ( % ű + "storage"((& +4 "core" &<7 \ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 313 counts + "manipulator"&p'h +17 "core" ' +2 "manipulator"&& +4 "core" && \\ v , | +2 "storage"(E& +4 "core" &<7 = 8\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&{' +19 "core" ' +2 .tSE.seek 1.12 Pucks below Top Plate +2 "storage"()'^ +47 "core" ' +2 "manipulator"&B& +4 "core" && H E  | +2 "manipulator"&0% +4 "core" % o p +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +97 "core" ' +2 .tElbow.seek CC +2 "manipulator"&#( +154 "core" ( +2 "manipulator"&t& +4 "core" &  ^ , +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &  7 , +2 .tForearm.seek CC +2 "manipulator"&'| +93 "core" ' +2 .tHand.close + "manipulator"&/ +58 "core" / +2 .tCC.seek :open +2 "collection"'(p +414 "core" ( + "storage"(& +4 "core" &<7 v ` h\ +2 "storage"(6& +3 "core" &<7 [ Y \ \ +2 "manipulator"& & +4 "core" &  , + "manipulator"&"% +4 "core" % π +2 .tForearm.seek :retract + "manipulator"&}'\ +94 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&( +167 "core" ( +2 "manipulator"&& +4 "core" &  6 +2 "storage"(& +3 "core" &<7 v v l\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 5 +2 "manipulator"&'/ +108 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&|1 +59 "core" 1 +2 "manipulator"&F% +4 "core" % Ax  y @ +2 "storage"(A& +4 "core" &<7   \ + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 318 counts + "manipulator"&-'m +18 "core" ' + "manipulator"&& +4 "core" &> ^ w   +2 "storage"(~& +4 "core" &<7 k\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&'' +20 "core" ' +2 "storage"(,% +4 "core" %X \ +3 ."downElevator"SE.seek :down +3 "storage"(9'N +98 (/% +3 "core" %a9 { | \ UZ +2 "manipulator"&7% +4 "core" % p p +  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&%'\ +95 "core" ' +46 ' +2 ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 6 of [5..7] + #Loading generic puck from tube 6 into Collection Clamp +2 "collection"' & +4 "core" &\ +2 "manipulator"&8% +4 "core" %\ 1 $n +2 "storage"(1% +4 "core" %A v v k\ + "storage"(. +3 "core" .(<< +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 + "storage"(e(K +357 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (.& +3 "core" &K   N\  +2 "manipulator"&& +3 "core" &>  +2 .tElbow.seek 6 +2 "manipulator"&V( +16 "core" ( + "manipulator"&!& +4 "core" & S \ +2 "storage"(W& +3 "core" &K _ v 7\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&n'< +93 "core" ' +2 "storage"(2& +4 "core" &K \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(;'e +279 "core" ' +2 "storage"(x- +3 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (&& +3 "core" &K u s 6\  +2 "manipulator"&D& +3 "core" & \ \ +2 .tElbow.seek 6 +2 "manipulator"&<( +3 "core" ( + "manipulator"&5& +4 "core" & " \ +2 "storage"(I& +3 "core" &K r o \  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&P'Ϧ +11 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&\ / +52 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"&@& "storage"(='N +8 "core" &  \ + "manipulator"&c% +4 "core" % Ϩ  , +2 .tForearm.seek :retract +2 "manipulator"&R'\ +96 "core" ' + .tElbow.seek CC +2 "manipulator"&f( +149 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +12 "core" ( + "manipulator"&?& +5 "core" & & =G + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &N& +2 "core" & &  =G +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"& '| +99 "core" ' + "manipulator"&Q& +4 "core" & & O =G +2 "manipulator"&J% +4 "core" %} +2 "collection"'[& +3 "core" &\ +3 "collection"'G& +5 "core" &\ +2 .tCC.seek :closed + "collection"'O(] +4 "core" &\  +9 &0\ +z +9 &c\ > +10 &>~\ N +9 &a\ N +9 &g\ N +10 &c\ N +9 &!Fc\ N +9 &#d\ N +10 &$b\ M +9 &&g\ N +10 &(Pb\ M +9 &*e\ N +9 &+c\ M +10 &-d\ N +9 &/Wb\ N +9 &1d\ N +10 &2b\ M +9 &4`\ M +10 &6__\ N +9 &8"a\ M +9 &9b\ M +10 &;]\ M +9 &=h_\ M +9 &?*_\ M +10 &@b\ M +9 &Be\ N +10 &Dp_\ M +9 &F2`\ M +9 &Ge\ N +10 &Iu\ P +9 &Kh~\ S +9 &M\ W +10 &N\ X +9 &P\ X +9 &R_\ Y +10 &T\ Z +9 &U\ Z +10 &W\ [ +9 &Y\\\ \\ +9 &[|\ ] +10 &\\zot\ ; +9 &](fj\ &q +9 &]nhj\ L +3 ( + "collection"'G& +4 #tCollection Clamp onSpring/offSpring for 9/25 samples, on/off torque 1.97 + .Hand.open + "manipulator"&+1 +60 "core" 1 + "manipulator"&U% +4 "core" % { ; +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +91 "core" ' +3 #tLoading generic puck from tube 6 into Processing Clamp + "processing"%w& +4 "core" &=\ +2 "manipulator"&M% +3 "core" %\ & : +2 "storage"(3% +3 "core" %E\ \  )\ +2 "storage"(b. +4 "core" .(K + "storage"(X& +4 "core" &K\ \  \  + "storage"(j& +4 "core" &K\ \  '\  +2 "manipulator"&`& +4 "core" & &  =G + "manipulator"&% +4 "core" %\ ' " : +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 + "manipulator"&( +163 "core" ( + "manipulator"&d& +5 "core" & I  + "storage"(*& +4 "core" &K   \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&:'< +92 "core" ' +2 "storage"(]& +4 "core" &K A > p\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(L'e +281 "core" ' + "storage"(>- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (a& +45 "core" &K   q\  +10 "manipulator"&4& +4 "core" & t r y  +2 .tElbow.seek 6 + "manipulator"&C( +3 "core" ( +2 "manipulator"&_& +3 "core" & q x =  +2 "storage"(Y& +4 "core" &K   v\  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&r'Ϧ +22 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&S/ +54 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"( 'N +7 "core" & q q #  +2 "manipulator"&s% +4 "core" % Ϛ p o +2 .tForearm.seek :retract +2 "manipulator"&$'\ +101 "core" ' +2 .tElbow.seek PC +2 "manipulator"&l(c +150 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +93 "core" ( +2 "manipulator"&& +4 "core" &j } +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &j  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC + "manipulator"&h'[ +101 "core" ' + "manipulator"&z& +5 "core" &j ; + "manipulator"&T% +4 "core" %S  +2 "processing"%K& +4 "core" &\ +2 "processing"%\\& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%Z(Z +4 "core" &;\ +8 & *8\ #b +9 &ZV;\ 7 +10 &6\ L +9 &i]<\ N +9 &,]B\ M +10 &\\<\ M +9 & a?\ N +9 &"q\\?\ N +10 &$4^>\ M +9 &%`;\ N +10 &'\\;\ N +9 &)y]?\ N +9 &+;\\9\ N +10 &,\\:\ M +9 &.\\:\ N +9 &0[:\ M +10 &2C\\:\ N +9 &4_>\ M +10 &5_9\ M +9 &7_;\ M +9 &9L_9\ M +10 &; bC\ N +9 &<\\=\ M +10 &>]=\ N +9 &@S]8\ N +9 &B\\A\ M +10 &C\\8\ N +9 &E_9\ N +9 &GYg9\ N +10 &Ip=\ P +9 &J:\ Q +10 &LC\ S +9 &NQ;\ T +9 &P=\ S +9 &Q:\ T +10 &S9\ T +10 &UX<\ T +9 &W>\ T +9 &X<\ T +10 &Z7Ls;\ / +9 &Z.8\ ( +5 ( +2 "processing"%\\& +4 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.61 + .Hand.open +2 "manipulator"&u1 +3 "core" &Z@\ ( +55 1 +2 "manipulator"&^% +4 "core" % S u +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&m'\ +105 "core" ' +2 "processing"% & +4 "core" &Z\ ( + #tImaging generic puck in Processing Clamp while storing it to tube 6 +2 "manipulator"&k% +4 "core" %\   + "storage"(o% +4 "core" %H  \ \ + "storage"(. +3 "core" .(K +2 "storage"((& +4 "core" &K P 0\  + "storage"(& +5 "manipulator"&E& +3 "core" &K   6\  +2 &j  +3 ."raiseStack"SE.reconfigure :place +2 .tElbow.reconfigure :tight +4 "storage"(#]kK-0-\ b +3 "manipulator"&$&.,(\ #b +3 ."raiseStack"SE.seek :beamBreak +4 .tElbow.seek PC +2 "storage"(B'e + "manipulator"&0(c +5 "core" ( + "manipulator"&i& +4 "core" &j  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &g& +3 "core" &j / +2 .tForearm.seek PC +2 "manipulator"&v'[ +94 "core" ' +2 .tHand.close + "manipulator"&H/ +63 "core" / +2 .tPC.seek :open + "processing"%p(p +84 "core" ' +2 "storage"(q- +3 "core" -'e +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(t'B +39 "core" ' +258 ( +2 "storage"(& +4 "core" &K 4 % F\  + "manipulator"&{& +4 "core" &j  +2 "manipulator"&y% +4 "core" % o  + .tForearm.seek :retract +2 "manipulator"&'\ +94 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 + "manipulator"&( +256 "core" ( +2 "manipulator"&& +4 "core" & 5  + "storage"(& +4 "core" &K   7\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&6'< +109 "core" ' +2 .tHand.open + "manipulator"& 1 +55 "core" 1 +2 "storage"("- +4 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate + "storage"(' +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(' +53 "core" ' + #tLights, camera, ACTION! +2 "storage"(- +3 "core" -' +2 "storage"(#& +4 "core" &K 6\  +2 "manipulator"&|& +3 "core" & } r  +2 .tElbow.seek 6 +2 "manipulator"&F( +3 "core" ( + "manipulator"&A& +4 "core" & | ]  +2 "storage"(& +4 "core" &K \  +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&~'< +15 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"(,'M +63 "core" ' + "manipulator"&}& +5 "core" &   + "storage"(/& +4 "core" &K   "\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&7'z +30 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"('7 +23 "core" ' +2 "manipulator"& % +4 "core" %Άx ` »: +2 "storage"(-& +4 "core" &K \  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 312 counts + "manipulator"&8'ϲ +17 "core" ' + "manipulator"&1& +5 "core" &\ l I T + "storage"(& +4 "core" &K B B \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&)'< +17 "core" ' +2 "storage"('% +4 "core" %@ X = 4\  +2 ."downElevator"SE.seek :down +4 "storage"(9'N +99 (% +2 "core" %=  \ U^ +2 "manipulator"&.% +4 "core" %) | y  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&'\ +87 "core" ' +62 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (!& +4 "core" &K Q\  -\  +2 "collection"'W& +4 "core" &]mhk\ L +2 #tStoring generic puck in Collection Clamp to tube 6 + "manipulator"&2% +4 "core" %\ ' < +2 "storage"(% +3 "core" %F  \ \ +2 "storage"(%. +3 "core" .(K + "storage"(x& +4 "core" &K   $\  + "storage"(&& +4 "core" &K   \  +2 "manipulator"&D& +4 "core" &\ T + .tElbow.seek 6 +2 "manipulator"&5( +15 "core" ( +2 "manipulator"&I& +4 "core" &\ ] \\ +2 "storage"(\ & +4 "core" &K  N\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&@'< +102 "core" ' +2 "storage"(c& +5 "core" &K A Y\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(V'e +281 "core" ' +2 "storage"(n- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&?& +2 "core" &\ o o 3 \\ +2 "storage"(N& +4 "core" &K   \  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 + "manipulator"&;'z +32 "core" ' + .tElbow.hold +2 "manipulator"&P, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(Q- +3 "core" -' +2 .tSE.seek 0.12 Pucks below Top Plate + "storage"(J't +44 "core" ' + "manipulator"&[% +5 "core" %΄u ĺ3 + "storage"(<& +4 "core" &K \  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 6 + 310 counts + "manipulator"&='ϰ +12 "core" ' + "manipulator"&R& +5 "core" & l  !v + "storage"(& +98 "core" &K ) ) 9\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&+'< +18 "core" ' +2 .tSE.seek 1.12 Pucks below Top Plate +2 "storage"(U'c +50 "core" ' +2 "manipulator"&w& +4 "core" & o p ~ !v +2 "manipulator"&M% +4 "core" % ~ { c  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&3'\ +92 "core" ' + .tElbow.seek CC +52 "manipulator"&b( +142 "core" ( + "manipulator"&X& +5 "core" &  0 + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &j& +3 "core" &  0 +2 .tForearm.seek CC + "manipulator"&G'| +104 "core" ' +2 .tHand.close + "manipulator"&`/ +53 "core" / +2 .tCC.seek :open +2 "collection"'(p +411 "core" ( + "storage"( & +4 "core" &K v u U\  +2 "storage"(d& +3 "core" &K u v f\  +2 "manipulator"&*& +4 "core" &  0 + "manipulator"&]% +4 "core" % q  s +2 .tForearm.seek :retract +2 "manipulator"&f'\ +95 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&( +159 "core" ( + "manipulator"&>& +4 "core" & E +2 "storage"(a& +4 "core" &K X X <\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 6 +2 "manipulator"&4'z +108 "core" ' + .tElbow.hold +2 "manipulator"&_, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&Y1 +55 "core" 1 +2 "manipulator"&S% +4 "core" % Ή{ " C +2 "storage"(& +4 "core" &K   \  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 315 counts + "manipulator"&s'ϵ +12 "core" ' + "manipulator"&& +5 "core" & ] u   + "storage"(:& +4 "core" &K g\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&L'< +17 "core" ' + "storage"(r% +5 "core" %j \ +2 ."downElevator"SE.seek :down +4 "storage"('N +99 (% +3 "core" %< u s \ U[ +2 "manipulator"&C% +4 "core" %9 q p  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&z'\ +89 "core" ' +49 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 7 of [5..7] +2 #Loading generic puck from tube 7 into Collection Clamp + "collection"'T& +5 "core" &\ + "manipulator"&K% +4 "core" %\ # / * +2 "storage"( % +4 "core" %? f f \ +2 "storage"($. +3 "core" .(K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 7 +2 "storage"(([ +354 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (u& +2 "core" &[   \  +2 "manipulator"&^& +3 "core" & X  +2 .tElbow.seek 7 + "manipulator"& ( +22 "core" ( + "manipulator"&k& +4 "core" & { +2 "storage"(o& +4 "core" &[ z s 5\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&'k +93 "core" ' +2 "storage"(\\& +4 "core" &[ \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(('e +281 "core" ' +2 "storage"(E- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +2 "core" &[ { q a\  +2 "manipulator"&i& +3 "core" & p o  { +2 .tElbow.seek 7 + "manipulator"&g( +4 "core" ( + "manipulator"&h& +4 "core" & w _ H { +2 "storage"(H& +3 "core" &[ f f _\  +2 .tForearm.seek 7 + 300 counts +2 "manipulator"&q' +17 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&l/ +64 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&m& +2 "storage"(Z'N +7 "core" & p o * { +2 "manipulator"&% +4 "core" % q r E +2 .tForearm.seek :retract + "manipulator"&B'\ +93 "core" ' +2 .tElbow.seek CC +2 "manipulator"&{( +149 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +12 "core" ( + "manipulator"&y& +4 "core" &(  ?P +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &v& +2 "core" &( * ?P +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&'| +97 "core" ' + "manipulator"&& +5 "core" &' >N + "manipulator"&0% +4 "core" %υ +2 "collection"' & +4 "core" &\ +2 "collection"'"& +6 "core" &\ +2 .tCC.seek :closed +3 "collection"'(] +3 "core" &\ +5 &\ 7 +10 &H\ 1 +9 &@q\ E +10 &h\ N +9 &_\ M +9 &ib\ M +10 & )h\ N +9 &!d\ N +9 &#f\ N +10 &%pa\ N +9 &'3b\ M +10 &(a\ N +9 &*c\ N +9 &,yb\ M +10 &.;`\ M +9 &/c\ M +9 &1c\ M +10 &3a\ M +9 &5Bb\ N +10 &7b\ N +9 &8`\ M +9 &:c\ N +10 & b\ N +9 &?c\ N +10 &Ab\ N +9 &CSe\ M +10 &Eb\ M +9 &Fa\ N +9 &Hg\ N +10 &JSr\ P +9 &L y\ S +9 &M\ V +10 &O\ X +9 &QE\ X +10 &S\ Y +9 &T\ Z +9 &V\ Z +10 &XC\ [\ +9 &Z\ \\ +9 &[~\ \\ +10 &]'Qou\ 2 +9 &]gq\ W +9 ( +3 "collection"'"& +3 #tCollection Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.97 + .Hand.open + "manipulator" +4 "core" &]eqq\ O +55 1 + "manipulator"&|% +4 "core" % υ  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&A'\ +91 "core" ' +2 #tLoading generic puck from tube 7 into Processing Clamp +2 "processing"%& +4 "core" &\ + "manipulator"&% +4 "core" %\ ' w A +2 "storage"(}% +3 "core" %D   g\ +2 "storage"(/. +3 "core" .([ + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 7 + "storage"(t([ +4 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 ( & +3 "core" &[ \  +2 "manipulator"&-& +3 "core" &# | ;7 +2 "manipulator"&% +4 "core" %\ ' [ A +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 7 + "manipulator"&1( +170 "core" ( + "manipulator"&& +4 "core" &  +2 "storage"('& +3 "core" &[ 5 4 \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&'k +101 "core" ' + "storage"(6& +5 "core" &[ @ : ;\  + .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"('e +280 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (.& +2 "core" &[ X U\  +2 "manipulator"&~& +4 "core" &   +2 .tElbow.seek 7 +2 "manipulator"&F( +3 "core" ( +2 "manipulator"&,& +3 "core" &   +2 "storage"(7& +3 "core" &[ \  +2 .tForearm.seek 7 + 300 counts +2 "manipulator"&!' +10 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&8/ +53 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&W& +2 "storage"(2'N +6 "core" & q q &  +2 "manipulator"&% +4 "core" % o p  < +2 .tForearm.seek :retract +2 "manipulator"&%'\ +90 "core" ' +2 .tElbow.seek PC +2 "manipulator"&x(c +161 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +84 "core" ( + "manipulator"&& +4 "core" &b m +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &&& +2 "core" &b  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&D'[ +101 "core" ' +2 "manipulator"&I& +4 "core" &b +2 "manipulator"&\ % +4 "core" %M + "processing"%)& +4 "core" &?\ +2 "processing"%c& +5 "core" &<\ +2 .tPC.seek :closed + "processing"%9(Z +5 "core" &@\  +10 &.B\ *y +9 &c:\ > +10 &>y<\ N +9 &ZC\ M +9 &]A\ M +10 &_D\ M +9 &!GaB\ M +9 &# ]D\ M +10 &$]<\ M +9 &&`A\ M +9 &(O_C\ M +10 &*]=\ N +9 &+];\ M +10 &-ZA\ M +9 &/V]B\ N +9 &1^C\ N +10 &2`<\ M +9 &4ZC\ M +10 &6_ZC\ M +9 &8 a<\ N +9 &9\\B\ M +10 &;]B\ M +9 &=f]<\ N +9 &?(]?\ N +10 &@a<\ N +9 &B]C\ M +10 &Do[D\ M +9 &F1_9\ M +9 &GhA\ O +10 &IrC\ P +9 &KkC\ Q +9 &M'C\ S +10 &NC\ T +9 &P@\ T +9 &RlB\ T +10 &T-=\ T +10 &UB\ T +9 &W=\ U +9 &Yp?\ B +10 &Z|CA\ W +54 &Z@\ ' +10 ( +7 "processing"%c& +3 #tProcessing Clamp onSpring/offSpring for 9/25 samples, on/off torque 1.61 + .Hand.open +2 "manipulator"&1 +3 "core" &ZA\ ' + &Z=\ ' + &Z<\ ' + &Z:\ ' + &ZB\ ' + &Z>\ ' +56 1 + "manipulator"&% +4 "core" % M +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&n'\ +93 "core" ' + "processing"%?& +5 "core" &Z\ ' + #tImaging generic puck in Processing Clamp while storing it to tube 7 +2 "manipulator"&N% +4 "core" %\ % 6 +2 "storage"(Q% +3 "core" %G   y\ +2 "storage"([. +3 "core" .([ +2 "storage"(<& +4 "core" &[   {\  + "storage"(R& +2 "manipulator"&& +8 "core" &b + &[   Q\  +3 ."raiseStack"SE.reconfigure :place +2 .tElbow.reconfigure :tight +5 "storage"(#]kK-0-\ b +4 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +3 ."raiseStack"SE.seek :beamBreak +4 "manipulator"&@(c + "storage"(w'e +5 "core" ( + "manipulator"&M& +4 "core" &b +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &5& +3 "core" &b +2 .tForearm.seek PC +2 "manipulator"&V'[ +95 "core" ' + .tHand.close + "manipulator"&;/ +59 "core" / + .tPC.seek :open +2 "processing"%=(p +91 "core" ' +2 "storage"(J- +3 "core" -'e +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(X'B +39 "core" ' +248 ( + "storage"(j& +5 "core" &[   \  + "manipulator"&+& +4 "core" &b  + "manipulator"&P% +4 "core" % G  +2 .tForearm.seek :retract +2 "manipulator"&`'\ +100 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 7 + "manipulator"&3( +255 "core" ( + "manipulator"&O& +4 "core" & . +2 "storage"( & +4 "core" &[   +\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&d'k +103 "core" ' + .tHand.open + "manipulator"&*1 +60 "core" 1 +2 "storage"(]- +3 "core" -'B +3 .tSE.seek -0.16 Pucks below Top Plate + "storage"(>' +26 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(a' +54 "core" ' +2 #tLights, camera, ACTION! + "storage"(G- +3 "core" -' +2 "storage"(b& +4 "core" &[ \  +2 "manipulator"&Y& +3 "core" &  +2 .tElbow.seek 7 +2 "manipulator"&S( +8 "core" ( + "manipulator"&& +4 "core" & 6 +2 "storage"(& +3 "core" &[ \  +3 .tForearm.seek 7 + 450 counts + "manipulator"&:'k +25 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.11 Pucks below Top Plate + "storage"(r'M +58 "core" ' +2 "manipulator"&f& +4 "core" & q r 5 +2 "storage"(& +3 "core" &[ A B \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 7 +2 "manipulator"&C'Ω +33 "core" ' +2 .tElbow.hold + "manipulator"&, +5 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.07 Pucks below Top Plate + "storage"(4'7 +27 "core" ' +2 "manipulator"&T% +4 "core" %μu  T 0 +2 "storage"(K& +4 "core" &[ s\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 7 + 319 counts +2 "manipulator"&s' +18 "core" ' +2 "manipulator"& & +4 "core" & w u E +2 "storage"($& +4 "core" &[ ) ) \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&U'k +17 "core" ' + "storage"(L% +5 "core" %? B Z \ \ +2 ."downElevator"SE.seek :down +4 "storage"('N +98 (e% +3 "core" %58 2 % A\ U] +2 "manipulator"&u% +4 "core" %l q r , +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&^'\ +89 "core" ' +62 ' + ."downElevator"SE.stop + "storage"(5 +3 (k& +4 "core" &[\  O \  + "collection"'o& +4 "core" &]ejo\ O +2 #tStoring generic puck in Collection Clamp to tube 7 + "manipulator"&\\% +4 "core" %\ %  3 +2 "storage"(_% +4 "core" %? 4 8\ + "storage"(z. +3 "core" .([ +2 "storage"(E& +4 "core" &[ 4 4\  + "storage"(& +4 "core" &[ 4 4\  +2 "manipulator"&i& +4 "core" &  +2 .tElbow.seek 7 + "manipulator"&h( +3 "core" ( +2 "manipulator"&H& +4 "core" &  + "storage"(l& +4 "core" &[ 4 8\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&m'k +91 "core" ' +2 "storage"(& +5 "core" &[ G X 0\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"( 'e +283 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&y& +2 "core" & 8 +2 "storage"(v& +4 "core" &[   \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 7 + "manipulator"&('Ω +34 "core" ' +2 .tElbow.hold + "manipulator"&q, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(- +2 "core" -' +3 .tSE.seek 0.11 Pucks below Top Plate + "storage"(0'n +31 "core" ' + "manipulator"& % +4 "core" %εd    õ +2 "storage"(g& +3 "core" &[ \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 7 + 312 counts + "manipulator"&Z' +16 "core" ' +2 "manipulator"&B& +4 "core" & w ` 1 +2 "storage"(& +3 "core" &[ ) * (\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&#'k +22 "core" ' +2 .tSE.seek 1.11 Pucks below Top Plate +2 "storage"(|'] +41 "core" ' +2 "manipulator"&& +4 "core" & s r @ +2 "manipulator"&% +4 "core" %z o q [ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&}'\ +89 "core" ' + .tElbow.seek CC +2 "manipulator"&/( +165 "core" ( +2 "manipulator"&"& +4 "core" &( r ?Q + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 & & +3 "core" &( ?Q +2 .tForearm.seek CC + "manipulator"&-'| +95 "core" ' + .tHand.close + "manipulator"&/ +56 "core" / + .tCC.seek :open +2 "collection"'(p +411 "core" ( + "storage"(& +4 "core" &[ ] X \  +2 "storage"('& +4 "core" &[ X X m\  + "manipulator"&& +4 "core" &)" 9$ +2 "manipulator"&6% +3 "core" % w  +2 .tForearm.seek :retract + "manipulator"&{'\ +94 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 7 +2 "manipulator"&A( +155 "core" ( +2 "manipulator"&& +4 "core" & ` +2 "storage"(.& +3 "core" &[ | } \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 7 +2 "manipulator"&~'Ω +112 "core" ' + .tElbow.hold + "manipulator"&,, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&71 +58 "core" 1 + "manipulator"&8% +5 "core" % ιy 1 = + "storage"(W& +4 "core" &[   2\  + .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 7 + 316 counts + "manipulator"&' +18 "core" ' + "manipulator"&1& +3 "core" & ` x * +2 "storage"(& +5 "core" &[ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&'k +21 "core" ' +2 "storage"(!% +4 "core" %[ =\ +2 ."downElevator"SE.seek :down +55 "storage"('N +47 (&% +3 "core" %? g j \ U] +2 "manipulator"&F% +4 "core" %K p p   +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&I'\ +86 "core" ' +106 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 5 of [5..7] +2 #Loading generic puck from tube 5 into Collection Clamp + "collection"'\ & +5 "core" &\ + "manipulator"&)% +4 "core" %\ &  < +2 "storage"(2% +4 "core" %? w :\ +2 "storage"(%. +3 "core" .([ +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"(p(<< +678 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (& +3 "core" &c\ M +9 &?c\ M +10 &Ab\ M +9 &C\\c\ M +10 &E`\ M +9 &Fc\ M +9 &Hn\ N +10 &J[x\ P +9 &LV\ S +9 &M\ V +10 &O\ W +9 &QM\ X +10 &S \ Y +9 &T\ Z +9 &V\ Y +10 &XM\ Z +9 &Z \ \\ +9 &[{\ a +10 &])Mmr\ 0 +9 &]kl\ J +6 ( + "collection"']& +4 #tCollection Clamp onSpring/offSpring for 8/26 samples, on/off torque 2.02 +2 .Hand.open + "manipulator"&b1 +4 "core" &]]km\ I +55 1 + "manipulator"&Y% +4 "core" % π + +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +93 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp + "processing"%& +5 "core" &\ + "manipulator"&`% +4 "core" %\ '  : +2 "storage"(f% +4 "core" %L 2 % B\ + "storage"(. +3 "core" .(& +4 "core" & 2 . +2 "manipulator"&K% +4 "core" %\ '  : +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 + "manipulator"& ( +160 "core" ( + "manipulator"&$& +4 "core" & b +2 "storage"(L& +4 "core" &<< A A \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 5 + 450 counts + "manipulator"&3' +100 "core" ' + "storage"(d& +5 "core" &<< Y X @\  + .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(a'e +279 "core" ' + "storage"(e- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (u& +3 "core" &<9 4 @ \  +2 "manipulator"&:& +3 "core" &  +2 .tElbow.seek 5 +2 "manipulator"&S( +3 "core" ( + "manipulator"&r& +4 "core" & R + "storage"(C& +4 "core" &<9 C D \  +2 .tForearm.seek 5 + 300 counts + "manipulator"&k'[ +21 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&s/ +54 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&o& +2 "storage"(\\'N +7 "core" & q r 4 +2 "manipulator"&_% +4 "core" % V r p 6 + .tForearm.seek :retract +2 "manipulator"&z'\ +90 "core" ' +2 .tElbow.seek PC +2 "manipulator"&E(c +156 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +90 "core" ( +2 "manipulator"&4& +4 "core" &h z X + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &h [ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&i'[ +100 "core" ' + "manipulator"&H& +4 "core" &h +2 "manipulator"&l% +4 "core" %H ^ +2 "processing"%U& +4 "core" &\ +2 "processing"%& +6 "core" &\ +2 .tPC.seek :closed +3 "processing"%(Z +4 "core" &E\ +6 &H\ 5 +9 &F}=\ 0 +9 &?rC\ E +10 &eE\ M +9 &_F\ M +10 &g]<\ N +9 & *^B\ M +9 &!YC\ M +10 &#]C\ M +9 &%q[?\ M +9 &'3_@\ M +10 &(\\C\ M +9 &*]D\ M +10 &,x[C\ M +9 &.9]=\ N +9 &/_=\ N +10 &1^A\ M +9 &3_B\ M +9 &5C]D\ M +10 &7\\C\ M +9 &8\\B\ M +10 &:\\B\ M +9 & bB\ M +10 &?aB\ M +9 &A]C\ M +9 &CR[D\ M +10 &E`C\ M +9 &FgB\ N +10 &HlC\ O +9 &JQ{:\ P +10 &L?\ R +9 &MH\ S +9 &OD\ T +9 &QOB\ T +10 &SA\ S +9 &TC\ T +9 &VB\ T +10 &XT<\ U +10 &Yz{C\ (} +9 &Z(y=\ 7 +8 ( +3 "processing"%& +4 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.60 + .Hand.open + "manipulator"&1 +4 "core" &Z B\ - +61 1 + "manipulator"&^% +4 "core" % H # +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +91 "core" ' +2 "processing"%y& +4 "core" &Z :\ - +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 + "manipulator"&v% +4 "core" %\ % 7 + "storage"(% +4 "core" %:   x\ + "storage"( . +4 "core" .(<9 + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"(g(<< +8 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (B& +4 "core" &<9\  O \ + "manipulator"&& +5 ."raiseStack"SE.reconfigure :place +3 "storage"(#]kK-0-\ b +2 "core" &h +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +3 ."raiseStack"SE.seek :beamBreak +3 "manipulator"&(c + "storage"('e +5 "core" ( +2 "manipulator"&m& +3 "core" &h +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &h& +3 "core" &h +2 .tForearm.seek PC + "manipulator"& '[ +95 "core" ' +2 .tHand.close + "manipulator"&(/ +63 "core" / +2 .tPC.seek :open +2 "processing"%Z(p +84 "core" ' +2 "storage"(0- +4 "core" -'e + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place + "storage"("'B +32 "core" ' +265 ( + "storage"( & +3 "core" &<9 A A j\ +2 "manipulator"&#& +4 "core" &h  +2 "manipulator"&q% +58 "core" % H 7 +2 .tForearm.seek :retract +2 "manipulator"&'\ +100 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&}( +254 "core" ( + "manipulator"&& +5 "core" & [ "} + "storage"(& +4 "core" &<9   \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&'' +101 "core" ' +2 .tHand.open + "manipulator"&1 +54 "core" 1 + "storage"(6- +4 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate +2 "storage"(' +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(.' +51 "core" ' + #tLights, camera, ACTION! +2 "storage"(-- +3 "core" -' +2 "storage"(/& +4 "core" &<7 z z #\ +2 "manipulator"&7& +3 "core" & c "| +2 .tElbow.seek 5 +2 "manipulator"&8( +3 "core" ( +2 "manipulator"&W& +4 "core" &  "| + "storage"(1& +5 "core" &<7 y w \ +2 .tForearm.seek 5 + 450 counts + "manipulator"&' +24 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"(!'M +62 "core" ' + "manipulator"&{& +5 "core" & e p N "| + "storage"(&& +4 "core" &<7 C B k\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&F'/ +36 "core" ' +2 .tElbow.hold + "manipulator"&A, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.07 Pucks below Top Plate + "storage"(~'7 +23 "core" ' +2 "manipulator"&% +5 "core" %6]    ų + "storage"(\ & +4 "core" &<7 '\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 307 counts + "manipulator"&)'b +18 "core" ' + "manipulator"&2& +5 "core" &? { 5 > + "storage"(%& +4 "core" &<7 Y Y \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&|' +19 "core" ' + "storage"(% +5 "core" %? Z X e\ +3 ."downElevator"SE.seek :down +4 "storage"('N +97 (t% +3 "core" %< 9 6 \ U] +2 "manipulator"&% +4 "core" % q q 9 +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +95 "core" ' +53 ' + ."downElevator"SE.stop + "storage"(5 +3 (N& +4 "core" &<7\  T q\ + "collection"'Q& +4 "core" &]]kn\ I +2 #tStoring generic puck in Collection Clamp to tube 5 + "manipulator"&<% +4 "core" %\ 1 y $u +2 "storage"(,% +5 "core" %E $ 2\ +4 "storage"(I. +6 "core" .(<9 +6 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +7 .tSC.seek 5 +3 "storage"((<< +11 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (R& +2 "core" &<9 =\  +2 "manipulator"&M& +4 "core" &?  > +2 .tElbow.seek 5 +2 "manipulator"&D( +41 "core" ( +2 "manipulator"&;& +4 "core" & E d +2 "storage"(x& +4 "core" &<8 1 8\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&n' +98 "core" ' + "storage"(j& +4 "core" &<8 > 3\  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(?'e +277 "core" ' + "storage"([- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&w& +3 "core" & D d +2 "storage"(V& +3 "core" &<8 5 9\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&c'/ +133 "core" ' +2 .tElbow.hold + "manipulator"&J, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"( - +3 "core" -' +2 .tSE.seek 0.12 Pucks below Top Plate + "storage"(@'o +30 "core" ' +2 "manipulator"&*% +4 "core" %3U ) *  Ʊ + "storage"(5& +4 "core" &<8 [\  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 5 + 304 counts +2 "manipulator"&9'_ +16 "core" ' + "manipulator"&+& +4 "core" &E ` t E  +2 "storage"(& +4 "core" &<8 1 = \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&b' +19 "core" ' +2 .tSE.seek 1.12 Pucks below Top Plate +2 "storage"(Y'^ +48 "core" ' +2 "manipulator"&& +4 "core" &E p q 3  + "manipulator"&`% +4 "core" % p q   +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&f'\ +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&( +149 "core" ( +2 "manipulator"&]& +4 "core" &# :. + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &T& +3 "core" &# :. +2 .tForearm.seek CC +2 "manipulator"&>'| +99 "core" ' + .tHand.close + "manipulator"&K/ +58 "core" / +2 .tCC.seek :open +2 "collection"'O(p +411 "core" ( + "storage"($& +4 "core" &<8 Y X \  +2 "storage"(L& +3 "core" &<8 X X Z\  +2 "manipulator"&p& +4 "core" & . 7 + "manipulator"&d% +4 "core" % ρ V +2 .tForearm.seek :retract + "manipulator"&P'\ +93 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 + "manipulator"&( +157 "core" ( + "manipulator"&e& +4 "core" &    +2 "storage"(u& +4 "core" &<8 { q (\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 5 +2 "manipulator"&:'/ +110 "core" ' +2 .tElbow.hold + "manipulator"&r, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&C1 +60 "core" 1 +2 "manipulator"&s% +5 "core" % Bo   + "storage"(o& +4 "core" &<8   q\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 319 counts + "manipulator"&_'n +17 "core" ' +2 "manipulator"& & +4 "core" &6 ` w ' +2 "storage"(3& +4 "core" &<8 \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&a' +21 "core" ' +2 "storage"(k% +4 "core" %^ E\ +2 ."downElevator"SE.seek :down +3 "storage"(4'N +99 (% +3 "core" % ; l \ TY +2 "manipulator"&S% +4 "core" % p r   +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&H'\ +90 "core" ' +50 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 6 of [5..7] +2 #Loading generic puck from tube 6 into Collection Clamp + "collection"'l& +4 "core" &\ +2 "manipulator"&U% +4 "core" %\ -  "\\ +2 "storage"(\\% +4 "core" %M f e b\ + "storage"(z. +4 "core" .(<9 + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"(=(K +352 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (& +2 "core" &K 5 9 a\  +2 "manipulator"&^& +3 "core" &6 g +2 .tElbow.seek 6 + "manipulator"&y( +14 "core" ( + "manipulator"&v& +4 "core" &  +2 "storage"(& +4 "core" &K o o\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"& '< +97 "core" ' + "storage"(& +4 "core" &K F\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(B'e +280 "core" ' +2 "storage"(- +3 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (m& +3 "core" &K r v Y\  +2 "manipulator"&h& +3 "core" &   +2 .tElbow.seek 6 + "manipulator"&i( +4 "core" ( + "manipulator"&(& +62 "core" & )  +2 "storage"(X& +3 "core" &K n i R\  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&0'Ϧ +19 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&E/ +53 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& + "storage"('N +8 "core" & [  + "manipulator"& % +4 "core" % ϣ +2 .tForearm.seek :retract +2 "manipulator"&'\ +99 "core" ' +2 .tElbow.seek CC +2 "manipulator"&#( +141 "core" ' + ."downElevator"SE.stop + "storage"(5 +12 "core" ( +2 "manipulator"&q& +4 "core" &" :/ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 & & +2 "core" &# X :/ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&'| +103 "core" ' +2 "manipulator"&& +4 "core" &# 5 :/ +2 "manipulator"&% +4 "core" %z  +2 "collection"'& +4 "core" &\ +2 "collection"'6& +7 "core" &\ +2 .tCC.seek :closed +2 "collection"'-(] +4 "core" &\ +5 &\ 5 +9 &I\ 0 +10 &:q\ E +9 &g\ M +9 &_\ N +10 &ba\ N +9 & $a\ N +10 &!`\ N +9 &#`\ M +9 &%k]\ M +10 &'-b\ M +9 &(c\ M +9 &*c\ M +10 &,s]\ M +9 &.5c\ M +10 &/_\ N +9 &1d\ N +9 &3z`\ N +10 &5<`\ N +9 &6`\ M +9 &8\\\ M +10 &:a\ N +9 &a\ N +9 &?b\ N +9 &A^\ M +10 &CM_\ M +9 &E\\\ M +9 &F`\ N +10 &Hi\ O +9 &JM{\ P +10 &LO|\ T +9 &M\ X +9 &O~\ W +10 &Q>\ X +9 &R\ Y +9 &T\ Z +10 &V~\ Z +9 &X@\ Z +10 &Y\ \\ +9 &[z\ [ +9 &]%cos\ 3 +10 &]mm\ 0 +9 &]xkk\ N +5 ( +2 "collection"'6& +4 #tCollection Clamp onSpring/offSpring for 9/26 samples, on/off torque 2.05 +2 .Hand.open + "manipulator"&/1 +4 "core" &]pkk\ N +54 1 +2 "manipulator"&7% +5 "core" % w  + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&W'\ +98 "core" ' +2 #tLoading generic puck from tube 6 into Processing Clamp + "processing"%1& +4 "core" &\ +2 "manipulator"&% +4 "core" %\ 4 %w +2 "storage"({% +3 "core" %:\ \  X\ +2 "storage"(&. +3 "core" .(K + "storage"("& +4 "core" &K\ \  y\  + "storage"(& +4 "core" &K\ \  v\  +2 "manipulator"&\ & +4 "core" &" ; 9' +2 "manipulator"&% +3 "core" %\ 4  %w +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&2( +164 "core" ( +2 "manipulator"&%& +4 "core" &  + "storage"(& +4 "core" &K \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&}'< +101 "core" ' +2 "storage"('& +4 "core" &K 2 - \  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(.'e +278 "core" ' +2 "storage"(t- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +2 "core" &K /  \  +2 "manipulator"&& +4 "core" &   + .tElbow.seek 6 +2 "manipulator"&8( +4 "core" ( + "manipulator"&!& +4 "core" &   + "storage"(F& +4 "core" &K > 4\  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&N'Ϧ +10 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&)/ +61 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&Q& +2 "storage"(<'N +7 "core" & j  +2 "manipulator"&,% +3 "core" % Ϭ R , +2 .tForearm.seek :retract +2 "manipulator"&I'\ +93 "core" ' +2 .tElbow.seek PC +2 "manipulator"&~(c +158 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +84 "core" ( + "manipulator"&R& +4 "core" &k E +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &M& +3 "core" &k +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&;'[ +102 "core" ' + "manipulator"&x& +4 "core" &k +2 "manipulator"&|% +4 "core" %b o +2 "processing"%j& +4 "core" &\ +2 "processing"%& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%g(Z +4 "core" &M\ +8 & 1P\ #b +9 &\\VD\ 8 +9 &~R\ L +10 &r]F\ N +9 &5]R\ M +10 &ZE\ M +9 & ]?\ M +9 &"{^:\ M +10 &$<[<\ N +9 &%]B\ N +9 &'Z>\ M +10 &)_D\ M +9 &+D_@\ N +9 &-_<\ N +10 &.^C\ N +9 &0Z<\ M +10 &2M^=\ M +9 &4_:\ M +9 &5_=\ M +10 &7[9\ M +9 &9UZ:\ M +9 &;Z<\ N +10 &<\\>\ M +9 &>_@\ M +10 &@\\\\H\ N +9 &B\\>\ M +9 &C`=\ M +10 &E\\A\ M +9 &Gbj<\ N +9 &IpB\ P +10 &J;\ Q +9 &L;\ S +9 &NZ?\ T +10 &PA\ T +9 &Q=\ T +10 &S<\ T +9 &Ua>\ T +9 &W!C\ U +10 &X=\ T +9 &Z=JmC\ + +9 &Z ;:\ * +6 ( + "processing"%& +5 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.61 + .Hand.open + "manipulator"&A1 +4 "core" &Z?\ * +52 1 + "manipulator"&% +4 "core" % b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&['\ +101 "core" ' +2 "processing"%w& +4 "core" &Z;\ * + #tImaging generic puck in Processing Clamp while storing it to tube 6 +2 "manipulator"&V% +3 "core" %\ 8 T ' +2 "storage"( % +4 "core" %E\ \ \ + "storage"(*. +3 "core" .(K +2 "storage"(5& +3 "core" &K\ \ \  +2 "storage"(+& +3 "manipulator"&& +5 "core" &K\ \  q\  + &k +4 ."raiseStack"SE.reconfigure :place +2 .tElbow.reconfigure :tight +3 "storage"(#]kK-0-\ b +4 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +2 ."raiseStack"SE.seek :beamBreak +2 "manipulator"&n(c + "storage"('e +6 "core" ( + "manipulator"&`& +4 "core" &k d + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &D& +3 "core" &k 5 +2 .tForearm.seek PC +2 "manipulator"&?'[ +95 "core" ' + .tHand.close +2 "manipulator"&c/ +55 "core" / +2 .tPC.seek :open + "processing"%9(p +93 "core" ' +2 "storage"(@- +3 "core" -'e +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(]'B +39 "core" ' +249 ( +2 "storage"(T& +4 "core" &K 8 9 \  +2 "manipulator"&b& +3 "core" &k  +2 "manipulator"&J% +4 "core" % c  + .tForearm.seek :retract +2 "manipulator"&K'\ +91 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 + "manipulator"&f( +232 "Can"N RO +20 "core" ( + "manipulator"&G& +4 "core" & !p +2 "storage"($& +3 "core" &K  \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&L'< +107 "core" ' +2 .tHand.open + "manipulator"&p1 +52 "core" 1 +2 "storage"(d- +3 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate +2 "storage"(e' +25 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(u' +51 "core" ' +2 #tLights, camera, ACTION! + "storage"(>- +3 "core" -' +2 "storage"(& +4 "core" &K P\  + "manipulator"&C& +4 "core" & p p  !p +2 .tElbow.seek 6 +2 "manipulator"&s( +3 "core" ( + "manipulator"&o& +4 "core" & z v  !p +2 "storage"( & +3 "core" &K @\  +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&3'< +22 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"(k'M +59 "core" ' +2 "manipulator"&P& +4 "core" & 4 !p + "storage"(& +4 "core" &K   x\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&S'z +30 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +61 .tSE.seek 0.07 Pucks below Top Plate + "storage"(:'7 +23 "core" ' + "manipulator"&l% +5 "core" %Έu / ĺ0 + "storage"(_& +4 "core" &K \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 314 counts + "manipulator"&U'ϴ +17 "core" ' + "manipulator"&\\& +5 "core" & u }  # + "storage"(z& +5 "core" &K A B \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&Y'< +22 "core" ' +2 "storage"(a% +4 "core" %@ A A \ +3 ."downElevator"SE.seek :down +3 "storage"(4'N +98 (% +3 "core" %9   \ V^ +2 "manipulator"&% +5 "core" %2 g m +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&^'\ +95 "core" ' +52 ' + ."downElevator"SE.stop + "storage"(5 +3 (v& +4 "core" &K\ \ A \  +2 "collection"'& +4 "core" &]pnng\ N + #tStoring generic puck in Collection Clamp to tube 6 +2 "manipulator"&% +4 "core" %\ 1 $n +2 "storage"(r% +4 "core" %?   i\ + "storage"(H. +3 "core" .(K +2 "storage"(& +3 "core" &K \  U\  +2 "storage"(m& +4 "core" &K S "\  +2 "manipulator"&h& +4 "core" & # +2 .tElbow.seek 6 + "manipulator"&(( +17 "core" ( +2 "manipulator"&X& +4 "core" & Q # +2 "storage"(E& +3 "core" &K   \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&'< +94 "core" ' +2 "storage"( & +4 "core" &K 6 @ 6\  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(y'e +283 "core" ' +2 "storage"( - +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +2 "manipulator"&q& +3 "core" &  # +2 "storage"( & +4 "core" &K   @\  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 + "manipulator"&B'z +32 "core" ' + .tElbow.hold +2 "manipulator"&0, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(- +2 "core" -' +3 .tSE.seek 0.12 Pucks below Top Plate + "storage"('t +33 "core" ' + "manipulator"&% +4 "core" %~k ( +  Ƿ +2 "storage"(i& +4 "core" &K e\  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 6 + 304 counts + "manipulator"&'Ϫ +21 "core" ' + "manipulator"&& +5 "core" & h y X $ + "storage"(O& +4 "core" &K 4 3 /\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&/'< +17 "core" ' +2 .tSE.seek 1.12 Pucks below Top Plate +2 "storage"(7'c +47 "core" ' +2 "manipulator"&1& +4 "core" & p p  $ +2 "manipulator"&% +4 "core" %3 s q I +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&{'\ +87 "core" ' +2 .tElbow.seek CC +2 "manipulator"&&( +157 "core" ( +2 "manipulator"&"& +4 "core" &* @X + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &6& +3 "core" &* Z @X +2 .tForearm.seek CC + "manipulator"&'| +96 "core" ' +2 .tHand.close + "manipulator"&\ / +63 "core" / +2 .tCC.seek :open + "collection"'(p +414 "core" ( +2 "storage"(& +4 "core" &K u _ a\  + "storage"(%& +4 "core" &K Y N Q\  +2 "manipulator"&& +3 "core" &% =A +2 "manipulator"&'% +4 "core" % x +2 .tForearm.seek :retract +2 "manipulator"&#'\ +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&W( +156 "core" ( + "manipulator"&t& +5 "core" &  + "storage"(& +4 "core" &K { t <\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 6 +2 "manipulator"&'z +107 "core" ' +2 .tElbow.hold + "manipulator"&!, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&F1 +59 "core" 1 +2 "manipulator"&)% +4 "core" % ΅y   B + "storage"(Q& +4 "core" &K   f\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 311 counts +2 "manipulator"&,'ϱ +17 "core" ' + "manipulator"&2& +4 "core" & j v D $ +2 "storage"(}& +4 "core" &K \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&.'< +18 "core" ' +2 "storage"(N% +4 "core" %c 0\ +3 ."downElevator"SE.seek :down +3 "storage"(R'N +98 (M% +3 "core" %}= m f o\ U[ +2 "manipulator"&8% +4 "core" %  p q  \ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&x'\ +92 "core" ' +48 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 7 of [5..7] +2 #Loading generic puck from tube 7 into Collection Clamp + "collection"'|& +4 "core" &\ +2 "manipulator"&j% +4 "core" %\ / #g +2 "storage"(<% +4 "core" %C | | Z\ + "storage"(I. +3 "core" .(K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 7 + "storage"(Z([ +354 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (A& +3 "core" &[   S\  +2 "manipulator"&& +3 "core" & $ +2 .tElbow.seek 7 +2 "manipulator"&w( +22 "core" ( +2 "manipulator"&V& +4 "core" & Q j + "storage"( & +4 "core" &[ p t ;\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&*'k +94 "core" ' + "storage"(5& +4 "core" &[ \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('e +280 "core" ' +2 "storage"(- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (+& +2 "core" &[ p \  +2 "manipulator"&`& +4 "core" & p q  j + .tElbow.seek 7 +2 "manipulator"&D( +3 "core" ( +2 "manipulator"&;& +3 "core" & z u & j +2 "storage"(c& +3 "core" &[ \  +2 .tForearm.seek 7 + 300 counts +2 "manipulator"&@' +23 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&~/ +52 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&[& +2 "storage"(g'N +6 "core" & r q 7 j +2 "manipulator"&T% +4 "core" % p p 2 +2 .tForearm.seek :retract +2 "manipulator"&b'\ +92 "core" ' +2 .tElbow.seek CC +2 "manipulator"&( +149 "core" ' + ( + "manipulator"&J& +2 ."downElevator"SE.stop +5 "storage"(5 +3 "core" & k / +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &?& +3 "core" & / +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&G'| +94 "core" ' + "manipulator"&$& +4 "core" & / +2 "manipulator"&n% +4 "core" %ς  +2 "collection"'p& +3 "core" &\ +3 "collection"'d& +6 "core" &\ +2 .tCC.seek :closed +2 "collection"'>(] +4 "core" &z\ +7 & /p\ $d +9 &\\W_\ 8 +9 &Z\ L +10 &p`\ N +9 &4b\ M +10 &ek\ M +9 & a_\ N +9 &"x`^\ N +10 &$;_\ M +9 &%`x\ N +9 &'a\ M +10 &)_o\ M +9 &+Ccg\ M +10 &-ae\ M +9 &.a\ M +9 &0c\ M +10 &2Je\ N +9 &4 c\ N +9 &5`\ M +10 &7^i\ M +9 &9S_k\ M +10 &;]g\ M +9 &<ac\ M +9 &>^j\ M +10 &@[bq\ M +9 &Bck\ M +9 &C_l\ M +10 &Eal\ M +9 &Gb`o\ N +10 &I#jv\ N +9 &J{y\ P +10 &LUw\ T +9 &NOt\ W +9 &Pr\ W +9 &Qq\ X +10 &Sx\ Y +9 &UOz\ Z +10 &Wx\ Z +9 &Xn\ [\ +9 &Zi\ \\ +10 &\\Q}j\ I +9 &]X<sxl\ - +9 &]rtg\ T +6 ( + "collection"'d& +5 #tCollection Clamp onSpring/offSpring for 10/26 samples, on/off torque 1.98 + .Hand.open + "manipulator"&1 +4 "core" &]}sul\ T +55 1 +2 "manipulator"&C% +4 "core" % ς  +2 .tForearm.reconfigure :loose +52 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&o'\ +100 "core" ' +2 #tLoading generic puck from tube 7 into Processing Clamp +2 "processing"% & +4 "core" &\ + "manipulator"&K% +4 "core" %\ 3 S %| +2 "storage"(P% +3 "core" %8\ \  d\ +2 "storage"(. +3 "core" .([ +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 7 +2 "storage"(]([ +3 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (e& +3 "core" &[+ +\  +2 "manipulator"&l& +4 "core" & / +2 "manipulator"&_% +3 "core" %\ 3 %| +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 7 +2 "manipulator"&\\( +155 "core" ( + "manipulator"&f& +4 "core" &  +2 "storage"(z& +4 "core" &[   p\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&L'k +106 "core" ' +2 "storage"(a& +4 "core" &[ A X /\  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(u'e +283 "core" ' + "storage"(3- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (& +3 "core" &[   K\  +2 "manipulator"&& +4 "core" & o p +2 .tElbow.seek 7 + "manipulator"&s( +4 "core" ( + "manipulator"&k& +3 "core" & u v ( +2 "storage"(S& +4 "core" &[ 9 5\  +2 .tForearm.seek 7 + 300 counts +2 "manipulator"&v' +28 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&U/ +53 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& +3 "storage"('N +7 "core" & r s J +2 "manipulator"&r% +4 "core" % q p  +2 .tForearm.seek :retract +2 "manipulator"&H'\ +95 "core" ' +3 .tElbow.seek PC + "manipulator"&(c +158 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +85 "core" ( +2 "manipulator"&:& +4 "core" &m + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &m& +3 "core" &m +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC + "manipulator"&h'[ +101 "core" ' + "manipulator"&X& +4 "core" &m o +2 "manipulator"&E% +4 "core" %W +2 "processing"%Y& +4 "core" &I\ +2 "processing"% & +4 "core" &\ +2 .tPC.seek :closed +2 "processing"%4(Z +5 "core" &\ \ +9 &/L\ *x +10 &c)\ > +9 &@y?\ N +9 &YE\ M +10 &_M\ N +9 &\\\ N +9 &!I_K\ M +10 &# \\'\ M +9 &$YO\ M +10 &&`S\ M +9 &(P\\S\ N +9 &*[F\ M +10 &+Z\ M +9 &-Z!\ M +9 &/Xa\ N +10 &1]K\ N +9 &2^I\ N +10 &4ZF\ M +9 &6a_I\ M +9 &8#`D\ M +10 &9Y=\ M +9 &;Z=\ M +9 &=h]C\ N +10 &?*]J\ N +9 &@aC\ N +10 &B]B\ N +9 &Dp_C\ N +9 &F2];\ N +10 &GhF\ N +9 &IuD\ P +9 &KkH\ R +10 &M(>\ T +9 &N<\ T +10 &P:\ T +9 &RnC\ T +9 &T/C\ T +10 &U?\ U +9 &WF\ U +9 &YsE\ B +10 &Z{B>\ W +9 &ZD\ ( +2 ( +2 "processing"% & +3 #tProcessing Clamp onSpring/offSpring for 9/25 samples, on/off torque 1.61 + .Hand.open +2 "manipulator"&1 +53 "core" 1 +2 "manipulator"&^% +4 "core" % W \\ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"& '\ +100 "core" ' +2 "processing"%q& +4 "core" &ZD\ ( +2 #tImaging generic puck in Processing Clamp while storing it to tube 7 + "manipulator"& % +4 "core" %\ 6 ( & + "storage"(% +4 "core" %K\ \  \ +2 "storage"(. +3 "core" .([ + "storage"(i& +4 "core" &[ \ w\  +2 "storage"(& +4 "manipulator"&O& +4 "core" &[\ \  \  + &m ? +3 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +4 "storage"(#]kK-0-\ b +4 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +2 "manipulator"&1(c +3 ."raiseStack"SE.seek :beamBreak +2 "storage"('e +3 "core" ( + "manipulator"&& +4 "core" &m h + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &(& +3 "core" &m I +2 .tForearm.seek PC +2 "manipulator"&y'[ +96 "core" ' + .tHand.close + "manipulator"&B/ +55 "core" / +2 .tPC.seek :open +2 "processing"%(p +94 "core" ' +2 "storage"(- +3 "core" -'e + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"("'B +33 "core" ' +251 ( + "storage"(6& +4 "core" &[   \  +2 "manipulator"&/& +4 "core" &m  + "manipulator"&0% +4 "core" % \\  +2 .tForearm.seek :retract +2 "manipulator"&\ '\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 7 +2 "manipulator"&{( +247 "core" ( + "manipulator"&-& +4 "core" & < H +2 "storage"(& +4 "core" &[   \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&%'k +109 "core" ' +2 .tHand.open + "manipulator"&1 +55 "core" 1 +2 "storage"('- +4 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate + "storage"(t' +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(' +53 "core" ' + #tLights, camera, ACTION! +2 "storage"(- +3 "core" -' +2 "storage"(&& +4 "core" &[ I\  +2 "manipulator"&F& +3 "core" & o o L H +2 .tElbow.seek 7 +2 "manipulator"&)( +3 "core" ( +2 "manipulator"&Q& +3 "core" & y _ N H +2 "storage"(2& +4 "core" &[ P\  +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&}'k +18 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.11 Pucks below Top Plate + "storage"(N'M +58 "core" ' +2 "manipulator"&#& +4 "core" & 0 H +2 "storage"(M& +3 "core" &[ 9 9 .\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 7 +2 "manipulator"&8'Ω +35 "core" ' + .tElbow.hold +2 "manipulator"&W, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"('7 +25 "core" ' +2 "manipulator"&|% +4 "core" %κz I : + "storage"(j& +4 "core" &[ K\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 7 + 317 counts + "manipulator"&,' +17 "core" ' +2 "manipulator"&<& +4 "core" & g v H +2 "storage"(I& +4 "core" &[ 3 4 \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&7'k +17 "core" ' + "storage"(.% +5 "core" %? E 8 \ +2 ."downElevator"SE.seek :down +4 "storage"(R'N +99 (=% +3 "core" %;   u\ U] +2 "manipulator"&A% +4 "core" %a } } +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +86 "core" ' +60 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (V& +4 "core" &[ P\  \  + "collection"' & +4 "core" &]|nt\ T +2 #tStoring generic puck in Collection Clamp to tube 7 + "manipulator"&5% +4 "core" %\ & A +2 "storage"(!% +3 "core" %=   D\ +2 "storage"(x. +3 "core" .([ + "storage"(& +4 "core" &[   \  + "storage"(+& +4 "core" &[   \  +2 "manipulator"&`& +3 "core" & H +2 .tElbow.seek 7 +2 "manipulator"&;( +3 "core" ( +2 "manipulator"&c& +4 "core" & } H +2 "storage"(~& +3 "core" &[ \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&['k +93 "core" ' + "storage"(T& +4 "core" &[ : 8\  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(w'e +282 "core" ' + "storage"(*- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&J& +3 "core" &  H +2 "storage"(?& +42 "core" &[ T Y\  +13 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 7 +2 "manipulator"&'Ω +31 "core" ' +2 .tElbow.hold + "manipulator"&@, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"($- +2 "core" -' +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(n'n +29 "core" ' + "manipulator"&p% +5 "core" %μh p Ķ + "storage"(D& +4 "core" &[ \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 7 + 319 counts + "manipulator"&g' +17 "core" ' +2 "manipulator"&b& +4 "core" & { X H +2 "storage"(& +3 "core" &[ 3 4\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&'k +18 "core" ' +2 .tSE.seek 1.11 Pucks below Top Plate + "storage"(C'] +54 "core" ' + "manipulator"&d& +5 "core" & } } V H + "manipulator"& % +4 "core" %j ~ }  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&K'\ +93 "core" ' +2 .tElbow.seek CC +2 "manipulator"&P( +141 "core" ( +2 "manipulator"&& +4 "core" & l 0 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &e& +3 "core" & 0 +2 .tForearm.seek CC + "manipulator"&l'| +96 "core" ' +2 .tHand.close + "manipulator"&_/ +63 "core" / +2 .tCC.seek :open + "collection"'G(p +411 "core" ( + "storage"(f& +5 "core" &[ n s L\  + "storage"(z& +4 "core" &[ u u I\  + "manipulator"&Z& +4 "core" & , + "manipulator"&a% +4 "core" % u  +2 .tForearm.seek :retract +2 "manipulator"&'\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 7 + "manipulator"&o( +162 "core" ( +2 "manipulator"&3& +4 "core" &   +2 "storage"(& +3 "core" &[ p j K\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 7 +2 "manipulator"&'Ω +105 "core" ' +2 .tElbow.hold + "manipulator"&k, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&S1 +59 "core" 1 +2 "manipulator"&U% +4 "core" % μ ! = + "storage"(& +4 "core" &[ 8 < \  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 7 + 319 counts + "manipulator"&r' +18 "core" ' + "manipulator"&\\& +4 "core" & R g t  +2 "storage"(L& +4 "core" &[ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&u'k +21 "core" ' +2 "storage"(v% +4 "core" %^ T\ +3 ."downElevator"SE.seek :down +3 "storage"(:'N +98 (m% +3 "core" %~9 \ TY +2 "manipulator"&s% +4 "core" %C s q 7  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&X'\ +87 "core" ' +53 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 5 of [5..7] +2 #Loading generic puck from tube 5 into Collection Clamp + "collection"'E& +4 "core" &\ +2 "manipulator"&Y% +4 "core" %\ ' D B +2 "storage"(% +3 "core" %A \ +2 "storage"(H. +3 "core" .([ +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 5 + "storage"(9(<< +675 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (& +2 "core" & p\ +2 "manipulator"&^& +4 "core" & Y  +2 .tElbow.seek 5 + "manipulator"&q( +37 "core" ( + "manipulator"& & +4 "core" & /  +2 "storage"(& +3 "core" &<@ m t 3\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts + "manipulator"&' +100 "core" ' +2 "storage"(i& +4 "core" &<@ \ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(O'e +280 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 ( & +2 "core" &<< m } m\ +2 "manipulator"&& +4 "core" &   + .tElbow.seek 5 +2 "manipulator"&(( +10 "core" ( + "manipulator"&h& +5 "core" &   + "storage"(B& +4 "core" &<< v u 8\ +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&'[ +21 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&/ +54 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"& & + "storage"(4'N +7 "core" & o p E  +2 "manipulator"&6% +3 "core" % X s r  +2 .tForearm.seek :retract +2 "manipulator"&/'\ +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"&0( +153 "core" ' +2 ."downElevator"SE.stop +2 "storage"(5 +3 "core" ( + "manipulator"&& +4 "core" &% 2 <= + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &y& +3 "core" &% C <= +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&-'| +100 "core" ' +2 "manipulator"&& +4 "core" &% < <= +2 "manipulator"&1% +4 "core" %ρ X +2 "collection"'& +4 "core" &\ +2 "collection"''& +5 "core" &\ +2 .tCC.seek :closed + "collection"'(] +5 "core" &}\  +9 &0}\ +{ +9 &c\ > +10 &M|\ N +9 &`~\ M +9 &bm\ M +10 &b|\ M +9 &!U`|\ N +10 &#ez\ M +9 &$bx\ M +9 &&_\ M +10 &(^`\ M +9 &*!bz\ M +9 &+_n\ M +10 &-bx\ M +9 &/fcq\ M +10 &1'e~\ N +9 &2bx\ N +9 &4\\q\ M +10 &6n_n\ M +9 &81\\y\ M +10 &9_r\ M +9 &;^z\ M +9 &=v`t\ M +10 &?9`r\ M +9 &@as\ M +9 &B]s\ M +10 &D~`y\ M +9 &F?`z\ N +9 &Hey\ N +10 &Itv\ P +9 &Kwz\ S +10 &M.'o\ V +9 &Nz\ W +9 &P{\ X +10 &Rlr\ Y +9 &T+x\ Z +9 &Uz\ [\ +10 &W\ [ +9 &Yj\ \\ +10 &[,~}\ \\ +9 &\\{pwy\ 5 +9 &]&kmz\ #h +10 &]rklt\ O +2 ( + "collection"''& +4 #tCollection Clamp onSpring/offSpring for 9/25 samples, on/off torque 2.00 + .Hand.open + "manipulator"&&1 +54 "core" 1 + "manipulator"&F% +4 "core" % π d +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&Q'\ +98 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp + "processing"%2& +5 "core" &\ + "manipulator"&\ % +4 "core" %\ /  #j + "storage"(#% +4 "core" %B\  [\ +2 "storage"(M. +3 "core" .(]\ M +9 &@hZ@\ M +9 &B*ZD\ M +10 &C_B\ N +9 &E^K\ N +10 &Gme\ N +9 &I,l\ O +9 &J\ R +10 &L/\ T +9 &NdC\ T +9 &P&I\ T +10 &QC\ T +9 &SH\ T +10 &UjJ\ U +9 &W+Q\ U +9 &XI\ U +10 &ZEHjI\ *z +9 &Z3E\ , +5 ( +2 "processing"%T& +4 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.60 +2 .Hand.open + "manipulator"&W1 +3 "core" &Z D\ , +59 1 + "manipulator"&% +4 "core" % e B +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&*'\ +101 "core" ' + "processing"%J& +4 "core" &Z D\ , +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 + "manipulator"&?% +4 "core" %\ 6 \ & +2 "storage"($% +4 "core" %C\ \  \ + "storage"(p. +3 "core" .(<< +2 "storage"(D& +4 "core" &<9\ \  \  +2 "storage"(b& +2 "manipulator"&& +6 "core" &<9\ \  \  + &k O +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +3 "storage"(#]kK-0-\ b +2 "manipulator"&d(c +6 ."raiseStack"SE.seek :beamBreak +2 "storage"( 'e +2 "core" ( +2 "manipulator"&[& +3 "core" &k 5 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &;& +2 "core" &k c +2 .tForearm.seek PC +2 "manipulator"&w'[ +95 "core" ' +2 .tHand.close + "manipulator"&/ +64 "core" / +2 .tPC.seek :open +2 "processing"%g(p +83 "core" ' +2 "storage"(n- +3 "core" -'e + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('B +31 "core" ' +267 ( + "storage"(e& +4 "core" &<9 5 ( >\  +2 "manipulator"&& +4 "core" &k @ + "manipulator"&@% +4 "core" % a ' +2 .tForearm.seek :retract + "manipulator"&_'\ +98 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&K( +250 "core" ( + "manipulator"&>& +4 "core" & \ " X +2 "storage"(f& +4 "core" &<9   c\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&z' +99 "core" ' +2 .tHand.open + "manipulator"&Z1 +55 "core" 1 +2 "storage"(a- +4 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate + "storage"(3' +25 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(' +51 "core" ' +2 #tLights, camera, ACTION! + "storage"(l- +4 "core" -' + "storage"(P& +4 "core" &<7 V V D\ + "manipulator"&S& +4 "core" & W +2 .tElbow.seek 5 + "manipulator"&U( +4 "core" ( + "manipulator"&& +4 "core" & C W + "storage"(\\& +4 "core" &<7 W V ~\ +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&L' +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"(v'M +63 "core" ' + "manipulator"&& +4 "core" & W +2 "storage"(m& +4 "core" &<7   Q\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&s'/ +30 "core" ' + .tElbow.hold +2 "manipulator"&o, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"('7 +24 "core" ' +2 "manipulator"&E% +4 "core" %=h   ö +2 "storage"(r& +4 "core" &<7 \ + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 5 + 314 counts + "manipulator"&Y'i +17 "core" ' +2 "manipulator"&& +5 "core" &8 { > - + "storage"(H& +5 "core" &<7 : 6 \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&C' +18 "core" ' +2 "storage"(u% +4 "core" %8 A B \ +3 ."downElevator"SE.seek :down +3 "storage"(:'N +99 (]% +3 "core" %8   0\ U] + "manipulator"&% +4 "core" % r o +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&^'\ +97 "core" ' +51 ' + ."downElevator"SE.stop +2 "storage"(5 +2 ( & +4 "core" &<7\  Q Q\ +2 "collection"'& +4 "core" &]ploy\ O +2 #tStoring generic puck in Collection Clamp to tube 5 + "manipulator"&i% +4 "core" %\ 6 & & +2 "storage"(k% +3 "core" %=   k\ +2 "storage"(X. +3 "core" .(<< + "storage"(& +4 "core" &<7   e\ + "storage"( & +4 "core" &<7  \ +2 "manipulator"&& +3 "core" &8 > - +2 .tElbow.seek 5 +2 "manipulator"&h( +42 "core" ( + "manipulator"&B& +5 "core" & d $ + "storage"(& +4 "core" &<7   \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"& ' +94 "core" ' +2 "storage"(6& +4 "core" &<7 7 4 8\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +8 .tSE.seek :beamBreak + "storage"(q'e +281 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +2 "core" &  $ +2 "storage"(y& +4 "core" &<7\ \  h\ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 + "manipulator"&O'/ +35 "core" ' + .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(- +2 "core" -' +2 .tSE.seek 0.12 Pucks below Top Plate +2 "storage"(1'o +28 "core" ' +2 "manipulator"&% +4 "core" %0Q   _ Ȱ + "storage"((& +4 "core" &<7 \ +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 5 + 301 counts +2 "manipulator"&4'\\ +16 "core" ' +2 "manipulator"&/& +4 "core" &G { o A + "storage"(G& +4 "core" &<7 > G %\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&&' +18 "core" ' +2 .tSE.seek 1.12 Pucks below Top Plate + "storage"(F'^ +52 "core" ' +2 "manipulator"&2& +4 "core" &G } } A + "manipulator"&\ % +4 "core" % ~ }  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&#'\ +95 "core" ' +2 .tElbow.seek CC + "manipulator"&M( +144 "core" ( + "manipulator"&'& +4 "core" & F / +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &|& +3 "core" & / +2 .tForearm.seek CC +2 "manipulator"&j'| +94 "core" ' + .tHand.close +2 "manipulator"&t/ +60 "core" / + .tCC.seek :open +2 "collection"'-(p +411 "core" ( + "storage"(I& +4 "core" &<7 | w L\ +2 "storage"(.& +4 "core" &<7 u u n\ + "manipulator"&9& +4 "core" & . + "manipulator"&%% +4 "core" % |  +2 .tForearm.seek :retract +50 "manipulator"&0'\ +103 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&Q( +164 "core" ( +2 "manipulator"&=& +4 "core" & 6 + "storage"(A& +4 "core" &<7 c _ z\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 5 +2 "manipulator"&}'/ +113 "core" ' + .tElbow.hold +2 "manipulator"&N, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&81 +52 "core" 1 +2 "manipulator"&,% +4 "core" % Ak   z · +2 "storage"( & +4 "core" &<7   \ + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 5 + 318 counts + "manipulator"&!'m +18 "core" ' +2 "manipulator"&<& +4 "core" &E _ s   + "storage"({& +4 "core" &<7 4\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&' +10 "core" ' + "storage"(V% +5 "core" %^ 5\ +2 ."downElevator"SE.seek :down +4 "storage"('N +99 (+% +3 "core" %7= f e \ U[ +2 "manipulator"&)% +4 "core" % p o ! 8 +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&c'\ +91 "core" ' +46 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 6 of [5..7] + #Loading generic puck from tube 6 into Collection Clamp +2 "collection"'~& +4 "core" &t\ +2 "manipulator"&7% +4 "core" %\ / #f + "storage"(5% +4 "core" %A r h \ +2 "storage"(x. +3 "core" .(<< +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"((K +351 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (W& +2 "core" &K B A ]\  +2 "manipulator"&& +4 "core" &E  +2 .tElbow.seek 6 +2 "manipulator"&J( +15 "core" ( +2 "manipulator"&?& +4 "core" & #  + "storage"($& +4 "core" &K v v [\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&p'< +94 "core" ' + "storage"(T& +4 "core" &K -\  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(D'e +282 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (b& +3 "core" &K { s Y\  +2 "manipulator"&[& +3 "core" & o  +2 .tElbow.seek 6 +2 "manipulator"&;( +4 "core" ( + "manipulator"&`& +4 "core" &   +2 "storage"(& +3 "core" &K i 5\  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&n'Ϧ +11 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +53 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&*& + "storage"(R'N +7 "core" & q s Z  +2 "manipulator"&e% +4 "core" % ϛ p q < ; + .tForearm.seek :retract +2 "manipulator"& '\ +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&( +155 "core" ' + ( + "manipulator"&@& +3 ."downElevator"SE.stop +4 "storage"(5 +3 "core" &'  >L +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &w& +2 "core" &' N >L +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&>'| +94 "core" ' +2 "manipulator"&f& +4 "core" &' P >J + "manipulator"&d% +4 "core" %w +2 "collection"'Z& +4 "core" &\ +3 "collection"'a& +4 "core" &~\ +3 .tCC.seek :closed + "collection"'l(] +4 "core" &\ +8 &8\ $e +9 &iW\ 8 +10 &\ L +9 &_{\ M +10 &A`~\ M +9 &bp\ N +9 & cr\ N +10 &"_z\ M +9 &$I`\ M +9 &&\ bv\ N +10 &'`m\ M +9 &)b{\ M +10 &+R_s\ M +9 &-bj\ M +9 &.cp\ M +10 &0`s\ M +9 &2Zbo\ M +9 &4bt\ M +10 &5`s\ M +9 &7`o\ M +10 &9b_o\ M +9 &;$`y\ M +9 &<_t\ M +10 &>`|\ M +9 &@j`{\ M +9 &B+a}\ M +10 &Cbt\ M +9 &E_|\ M +10 &Grcq\ M +9 &I.oq\ O +9 &J}\ Q +10 &LL~\ V +9 &N]|\ W +9 &Py\ X +10 &Q~\ X +9 &S{\ Y +10 &U\\{\ Z +9 &W}\ Z +9 &X|\ \\ +10 &Zy\ ] +9 &\\Ztz|\ J +9 &]c<lmu\ %q +10 &]|ij}\ R +2 ( +2 "collection"'a& +3 #tCollection Clamp onSpring/offSpring for 10/26 samples, on/off torque 2.02 + .Hand.open +2 "manipulator"&P1 +59 "core" 1 +2 "manipulator"&S% +4 "core" % w  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +91 "core" ' +2 #tLoading generic puck from tube 6 into Processing Clamp + "processing"%\\& +5 "core" &"\ + "manipulator"&_% +4 "core" %\ * !S + "storage"(% +4 "core" %I\ \  \ +2 "storage"(m. +3 "core" .(K + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"(E(K +21 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (& +3 "core" &K\ \  \ +2 "manipulator"&r& +3 "core" &%  <= +2 "manipulator"&% +5 "core" %\ * !S +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&3( +158 "core" ( + "manipulator"&H& +4 "core" & - +2 "storage"(u& +4 "core" &K   +\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&K'< +93 "core" ' +2 "storage"(z& +4 "core" &K A ? \ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('e +283 "core" ' + "storage"(]- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (& +3 "core" &K   _\ + "manipulator"&L& +4 "core" & H +2 .tElbow.seek 6 + "manipulator"&U( +4 "core" ( + "manipulator"&v& +4 "core" & 9 + "storage"(s& +4 "core" &K   R\ +2 .tForearm.seek 6 + 300 counts +2 "manipulator"& 'Ϧ +11 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&Y/ +63 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& + "storage"(i'N +7 "core" & h +2 "manipulator"&k% +3 "core" % Ϟ ! , +2 .tForearm.seek :retract +2 "manipulator"&X'\ +93 "core" ' +2 .tElbow.seek PC +2 "manipulator"&(c +160 "core" ' + ."downElevator"SE.stop + "storage"(5 +77 "core" ( + "manipulator"&& +4 "core" &m ( +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 & & +3 "core" &m  ( +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&'[ +105 "core" ' + "manipulator"&B& +4 "core" &m / ( +2 "manipulator"&% +3 "core" %` h +2 "processing"%C& +5 "core" &\ +2 "processing"%6& +5 "core" &\ +2 .tPC.seek :closed + "processing"%:(Z +4 "core" &"\ \ +9 &0~\ )w +9 &c\ > +9 &>y\ N +10 &Y\ M +9 &`\ M +9 &Y\ M +10 &!F\\\ M +9 &#Z\ N +10 &$\\\ M +9 &&\\\ M +9 &(N_\ M +10 &*]\ M +9 &+Z\ M +9 &-^\ M +10 &/Va\ M +9 &1\\\ M +10 &2a\ N +9 &4]\ M +9 &6]^\ N +10 &8 ^J\ M +9 &9Z\ M +9 &;^\ M +10 &=e]\ N +9 &?(]\ M +10 &@_\ M +9 &B^\ N +9 &Dm]\ N +10 &F/c\ N +9 &Gj\ O +9 &Iv\ P +10 &Kg\ R +9 &M$\ T +10 &N\ T +9 &P/\ T +9 &Ri\ T +10 &T*\ U +9 &U\ U +9 &W\ U +10 &Yp\ B +9 &Z{C\ X +10 &Z\ ) +2 ( + "processing"%6& +4 #tProcessing Clamp onSpring/offSpring for 9/25 samples, on/off torque 1.61 + .Hand.open + "manipulator"&o1 +63 "core" 1 + "manipulator"&^% +5 "core" % _ [ + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +99 "core" ' + "processing"%& +4 "core" &Z\ ) +2 #tImaging generic puck in Processing Clamp while storing it to tube 6 + "manipulator"&y% +4 "core" %\ 3 %{ +2 "storage"(% +3 "core" %P\ \  &\ +2 "storage"(. +3 "core" .(K + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 6 +52 "storage"(((K +3 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (/& +2 "manipulator"&G& +5 "core" &K\ \ \ +2 &m ( +5 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +3 "storage"(#]kK-0-\ b +2 "manipulator"&2(c +4 ."raiseStack"SE.seek :beamBreak +2 "storage"(\ 'e +3 "core" ( + "manipulator"& & +4 "core" &m  ( +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &h& +3 "core" &m ( +2 .tForearm.seek PC +2 "manipulator"&q'[ +94 "core" ' +2 .tHand.close + "manipulator"&O/ +57 "core" / +2 .tPC.seek :open +2 "processing"%4(p +90 "core" ' +2 "storage"(1- +3 "core" -'e +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(''B +46 "core" ' +244 ( +2 "storage"(|& +4 "core" &K !  \ + "manipulator"&&& +4 "core" &m  ( + "manipulator"&% +4 "core" % _  +3 .tForearm.seek :retract +2 "manipulator"&t'\ +95 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 + "manipulator"&#( +260 "core" ( +2 "manipulator"&& +4 "core" & E # +2 "storage"(I& +3 "core" &K\ &\  \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts + "manipulator"&.'< +94 "core" ' + .tHand.open +2 "manipulator"&91 +64 "core" 1 +2 "storage"(%- +3 "core" -'B +3 .tSE.seek -0.16 Pucks below Top Plate + "storage"(j' +23 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.83 Pucks below Top Plate + "storage"(=' +51 "core" ' +3 #tLights, camera, ACTION! + "storage"(A- +4 "core" -' + "storage"(M& +4 "core" &K j i \ + "manipulator"&8& +4 "core" &  # +2 .tElbow.seek 6 + "manipulator"&,( +13 "core" ( +2 "manipulator"& & +4 "core" & $ 5 + "storage"(<& +4 "core" &K \ +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&{'< +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"(V'M +61 "core" ' +2 "manipulator"&0& +4 "core" & u 5 +2 "storage"(+& +4 "core" &K   s\ + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&)'z +29 "core" ' +2 .tElbow.hold +2 "manipulator"&Q, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"(}'7 +24 "core" ' +2 "manipulator"&~% +4 "core" %΋~  " ½O +2 "storage"(7& +4 "core" &K >\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 317 counts + "manipulator"&5'Ϸ +17 "core" ' + "manipulator"&!& +5 "core" & p : % + "storage"(x& +4 "core" &K 3 8 p\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&F'< +17 "core" ' + "storage"(% +5 "core" %A 5 7 \ +2 ."downElevator"SE.seek :down +4 "storage"('N +98 ("% +3 "core" %/;   c\ U^ +2 "manipulator"&W% +4 "core" %- q o +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +95 "core" ' +52 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (?& +4 "core" &K \  =\ +2 "collection"'$& +4 "core" &]xmo{\ R +2 #tStoring generic puck in Collection Clamp to tube 6 + "manipulator"&T% +4 "core" %\ 5 $ & +2 "storage"(N% +3 "core" %A\ \  5\ +2 "storage"(c. +3 "core" .(K +2 "storage"(& +3 "core" &K\ \  7\ +2 "storage"(b& +4 "core" &K\  ?\ +2 "manipulator"&[& +4 "core" & , % + .tElbow.seek 6 +2 "manipulator"&`( +51 "core" ( + "manipulator"&& +4 "core" & E "} +2 "storage"(& +4 "core" &K  C `\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&*'< +98 "core" ' + "storage"(e& +4 "core" &K 3 $ r\ +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(J'e +283 "core" ' +2 "storage"(p- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&@& +3 "core" &  "} +2 "storage"(w& +4 "core" &K\ \  g\ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&D'z +29 "core" ' + .tElbow.hold +2 "manipulator"&n, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(f- +2 "core" -' +2 .tSE.seek 0.12 Pucks below Top Plate +2 "storage"(d'z +29 "core" ' + "manipulator"&Z% +5 "core" %·u   ź5 + "storage"(;& +4 "core" &K \ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 313 counts + "manipulator"&R'ϳ +17 "core" ' + "manipulator"& & +5 "core" & m 8 # + "storage"(-& +4 "core" &K $ 3 3\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&P'< +20 "core" ' +2 .tSE.seek 1.12 Pucks below Top Plate +2 "storage"(S'i +41 "core" ' + "manipulator"&\\& +4 "core" & f m " # +2 "manipulator"&_% +4 "core" %- q o +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +88 "core" ' + .tElbow.seek CC +2 "manipulator"&m( +140 "core" ( +2 "manipulator"&a& +4 "core" & . + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" & d . +2 .tForearm.seek CC +2 "manipulator"&r'| +109 "core" ' +2 .tHand.close + "manipulator"&/ +63 "core" / +2 .tCC.seek :open +2 "collection"'>(p +410 "core" ( +2 "storage"(H& +4 "core" &K f l N\ + "storage"(u& +4 "core" &K | r )\ + "manipulator"&& +4 "core" & / . + "manipulator"&z% +4 "core" % } O +3 .tForearm.seek :retract + "manipulator"&'\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&( +163 "core" ( + "manipulator"&]& +4 "core" &  +2 "storage"(& +4 "core" &K u v L\ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 6 +2 "manipulator"&L'z +104 "core" ' +2 .tElbow.hold + "manipulator"&v, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&s1 +60 "core" 1 +2 "manipulator"&Y% +3 "core" % ΍  @ +2 "storage"(& +4 "core" &K 4 3 \ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 319 counts + "manipulator"&k'Ϲ +16 "core" ' +3 "manipulator"&3& +4 "core" & y q P  +2 "storage"(K& +3 "core" &K \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&'< +11 "core" ' + "storage"( % +4 "core" %p \ +2 ."downElevator"SE.seek :down +4 "storage"('N +99 ( % +2 "core" %3? l g 5\ UZ +2 "manipulator"&U% +4 "core" %H p p  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&B'\ +91 "core" ' +48 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 7 of [5..7] + #Loading generic puck from tube 7 into Collection Clamp +2 "collection"'& +4 "core" &\ +2 "manipulator"&C% +3 "core" %\ - "Z +2 "storage"(i% +4 "core" %> f f Q\ +2 "storage"(X. +52 "core" .(K +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 7 +2 "storage"(g([ +359 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (o& +2 "core" &[ 9 5 5\  +2 "manipulator"&^& +4 "core" &  +2 .tElbow.seek 7 +2 "manipulator"&( +3 "core" ( + "manipulator"&y& +4 "core" & X  +2 "storage"(& +4 "core" &[ v t j\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&'k +89 "core" ' + "storage"(6& +4 "core" &[ A\  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(G'e +282 "core" ' + "storage"(/- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 ( & +3 "core" &[ s p A\  +2 "manipulator"&h& +4 "core" &   +2 .tElbow.seek 7 + "manipulator"&( +4 "core" ( + "manipulator"&O& +4 "core" & Q  + "storage"(E& +4 "core" &[ e f V\  +2 .tForearm.seek 7 + 300 counts +2 "manipulator"&1' +25 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +63 "core" / +2 ."downElevator"SE.seek :down +5 "manipulator"&& + "storage"(:'N +7 "core" & o o   +2 "manipulator"&|% +4 "core" % q p  + .tForearm.seek :retract +2 "manipulator"&&'\ +93 "core" ' + .tElbow.seek CC +2 "manipulator"&\ ( +148 "core" ' + ."downElevator"SE.stop + "storage"(5 +36 "core" ( + "manipulator"&& +4 "core" &' [ >J +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &q& +3 "core" &' >J +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC + "manipulator"&'| +100 "core" ' + "manipulator"&I& +4 "core" &'  >J +2 "manipulator"&2% +4 "core" %φ  +2 "collection"'9& +4 "core" &\ +2 "collection"'%& +5 "core" &\ +2 .tCC.seek :closed +2 "collection"'A(] +5 "core" &\ +7 & 7\ $e +9 &hW\ 8 +10 &\ L +9 &^\ M +9 &B_\ M +10 &`\ M +9 & b\ M +9 &"c\ M +10 &$J]\ M +9 && a\ M +9 &'`\ M +10 &)^\ M +9 &+R_\ M +10 &-`z\ M +9 &.b\ M +9 &0_\ M +10 &2Y_\ M +9 &4c\ M +9 &5_}\ M +10 &7_\ M +9 &9a]z\ M +10 &;#]\ M +9 &<^}\ M +9 &>_x\ M +10 &@jby\ M +9 &B+`~\ M +9 &C_r\ M +10 &E^q\ M +9 &Gpat\ N +10 &I1iv\ N +9 &Jyy\ P +9 &LQ{u\ T +10 &N]o\ W +9 &Px\ X +9 &Qw\ Y +10 &Sz\ Y +9 &U\\t\ Z +10 &Wr\ Z +9 &X\ \\ +9 &Zz\ ] +10 &\\_}z\ I +9 &]a:svu\ , +9 &]{qrs\ W +3 ( + "collection"'%& +3 #tCollection Clamp onSpring/offSpring for 10/26 samples, on/off torque 2.01 +2 .Hand.open + "manipulator"&M1 +54 "core" 1 + "manipulator"&8% +4 "core" % z +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"& '\ +100 "core" ' + #tLoading generic puck from tube 7 into Processing Clamp +2 "processing"%<& +4 "core" &\ + "manipulator"&t% +4 "core" %\ 6 J & +2 "storage"(0% +3 "core" %8\ \  \  +2 "storage"(+. +3 "core" .([ +2 "storage"('& +3 "core" &[\ \  \  +2 "storage"(~& +4 "core" &[\ $\  )\  +2 "manipulator"&7& +4 "core" &! ` 9& + "manipulator"&j% +4 "core" %\ 6 & +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 7 +2 "manipulator"&!( +160 "core" ( + "manipulator"&x& +5 "core" &  + "storage"(& +4 "core" &[   Y\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&#'k +106 "core" ' +2 "storage"(.& +4 "core" &[ Y A J\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(='e +283 "core" ' + "storage"("- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (W& +2 "core" &[   \  +2 "manipulator"&{& +4 "core" & q p 6  +2 .tElbow.seek 7 + "manipulator"&,( +4 "core" ( + "manipulator"&V& +4 "core" & w \\   + "storage"()& +4 "core" &[ 5 4\  +2 .tForearm.seek 7 + 300 counts +2 "manipulator"&?' +25 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&5/ +54 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&$& +2 "storage"(T'N +7 "core" & p o 8  +2 "manipulator"&N% +4 "core" % q q  +2 .tForearm.seek :retract +2 "manipulator"&c'\ +94 "core" ' +2 .tElbow.seek PC +2 "manipulator"&(c +153 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +82 "core" ( +2 "manipulator"&}& +4 "core" &n  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &b& +3 "core" &n  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&['[ +111 "core" ' + "manipulator"&& +5 "core" &n q  + "manipulator"&% +4 "core" %O F Q +2 "processing"%F& +4 "core" &\ +2 "processing"%e& +4 "core" &\ +2 .tPC.seek :closed +2 "processing"%(Z +4 "core" &\ +7 & +\ #b +10 &ZV\ 7 +9 &\ L +9 &n\\\ M +10 &0\\\ M +9 &]\ M +9 & _\ N +10 &"v[\ M +9 &$8]\ M +10 &%]\ M +9 &'\\\ M +9 &)~]\ M +10 &+?]\ M +9 &-_\ M +9 &.\\\ M +10 &0_\ N +9 &2G]\ M +10 &4\ ]\ M +9 &5]\ M +9 &7]\ M +10 &9OY\ M +9 &;]\ N +9 &<\\\ M +10 &>`\ N +9 &@V]\ N +10 &B]\ N +9 &C]\ N +9 &EZ\ M +10 &G]d\ N +9 &Im\ O +9 &J}\ Q +10 &L<\ S +9 &NS\ T +10 &P<\ T +9 &Q\ T +9 &S\ T +10 &UZ\ T +9 &W\ U +9 &X\ T +10 &Z:Nt\ . +9 &Z.\ ' +6 ( +2 "processing"%e& +3 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.57 +2 .Hand.open + "manipulator"&Q1 +4 "core" &Z\ ' +48 1 +2 "manipulator"&% +4 "core" % O  Q +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&p'\ +101 "core" ' + "processing"%@& +4 "core" &ZG\ ' +2 #tImaging generic puck in Processing Clamp while storing it to tube 7 + "manipulator"&w% +4 "core" %\ 8 ' +2 "storage"(f% +3 "core" %8\ \  \ +2 "storage"(Z. +3 "core" .([ + "storage"(;& +4 "core" &[\ \  r\  +2 "storage"( & +2 "manipulator"&-& +7 "core" &[\ \  \  + &n  +3 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +3 "storage"(#]kK-0-\ b +4 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +2 ."raiseStack"SE.seek :beamBreak +2 "manipulator"&\\(c +3 "storage"(_'e +5 "core" ( + "manipulator"&*& +4 "core" &m +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &`& +2 "core" &m > +2 .tForearm.seek PC +2 "manipulator"&J'[ +96 "core" ' + .tHand.close + "manipulator"&D/ +53 "core" / + .tPC.seek :open +2 "processing"%R(p +96 "core" ' + "storage"(a- +3 "core" -'e +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('B +40 "core" ' +246 ( + "storage"(d& +5 "core" &[   h\  + "manipulator"&P& +4 "core" &m ) + "manipulator"&n% +4 "core" % X  +2 .tForearm.seek :retract + "manipulator"&'\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 7 +2 "manipulator"&( +259 "core" ( + "manipulator"&l& +5 "core" &  \ + "storage"(H& +4 "core" &[ M \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&u'k +94 "core" ' + .tHand.open + "manipulator"&1 +58 "core" 1 +2 "storage"(z- +4 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate +2 "storage"(]' +26 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(' +54 "core" ' +2 #tLights, camera, ACTION! +52 "storage"(r- +3 "core" -' +2 "storage"(m& +4 "core" &[ (\  + "manipulator"&s& +4 "core" &  \ +2 .tElbow.seek 7 + "manipulator"&Y( +4 "core" ( + "manipulator"&& +4 "core" &  \ +2 "storage"(3& +3 "core" &[ h j \  +3 .tForearm.seek 7 + 450 counts + "manipulator"&K'k +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"( 'M +62 "core" ' + "manipulator"&& +5 "core" & Y \ + "storage"( & +4 "core" &[   p\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 7 +2 "manipulator"&U'Ω +33 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"(L'7 +23 "core" ' +2 "manipulator"&% +4 "core" %λr + +2 "storage"(C& +4 "core" &[ \  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 7 + 318 counts + "manipulator"&i' +25 "core" ' +2 "manipulator"&k& +4 "core" & r y  \ +2 "storage"(X& +4 "core" &[ B D i\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&S'k +15 "core" ' +2 "storage"(% +4 "core" %: 1 ) 9\  +2 ."downElevator"SE.seek :down +4 "storage"('N +99 ((% +3 "core" %>   r\ U_ +2 "manipulator"&o% +4 "core" %Z q q ,  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&^'\ +87 "core" ' +60 ' + ."downElevator"SE.stop + "storage"(5 +3 (y& +4 "core" &[\  O >\  + "collection"'& +4 "core" &]sr}\ W +2 #tStoring generic puck in Collection Clamp to tube 7 + "manipulator"&6% +4 "core" %\ (  F +2 "storage"(v% +4 "core" %G  ]\ + "storage"(B. +3 "core" .([ + "storage"(/& +4 "core" &[   \  +2 "storage"( & +4 "core" &[   \  + "manipulator"&h& +4 "core" & \ +2 .tElbow.seek 7 + "manipulator"&O( +4 "core" ( + "manipulator"&E& +4 "core" & z  \ +2 "storage"(& +3 "core" &[   ;\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&'k +93 "core" ' +2 "storage"(|& +4 "core" &[ C B [\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('e +280 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&G& +3 "core" & q q S \ +2 "storage"(& +4 "core" &[  |\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 7 + "manipulator"&q'Ω +33 "core" ' + .tElbow.hold +2 "manipulator"&1, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(- +3 "core" -' +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(I'n +36 "core" ' +2 "manipulator"&2% +4 "core" %κo n ¸! + "storage"(9& +4 "core" &[ \  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 7 + 317 counts + "manipulator"&:' +17 "core" ' +2 "manipulator"&&& +4 "core" & _ w , \ +2 "storage"(>& +3 "core" &[ 4 3 \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&M'k +16 "core" ' +2 .tSE.seek 1.11 Pucks below Top Plate +2 "storage"(8'] +47 "core" ' +2 "manipulator"&<& +5 "core" & p o  \ + "manipulator"&t% +4 "core" %g p q  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&0'\ +88 "core" ' + .tElbow.seek CC +2 "manipulator"&+( +148 "core" ( +2 "manipulator"&'& +4 "core" & / + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &~& +2 "core" & ~ / +3 .tForearm.seek CC + "manipulator"&%'| +96 "core" ' +2 .tHand.close + "manipulator"&7/ +53 "core" / +2 .tCC.seek :open +2 "collection"'j(p +411 "core" ( + "storage"(& +4 "core" &[ w t ;\  +2 "storage"(x& +3 "core" &[ v u d\  +2 "manipulator"&& +4 "core" &\  - + "manipulator"&.% +4 "core" % k +2 .tForearm.seek :retract +2 "manipulator"&\ '\ +92 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 7 +2 "manipulator"& ( +151 "core" ( +2 "manipulator"&"& +4 "core" & 1  + "storage"(W& +4 "core" &[ o o\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 7 +2 "manipulator"&{'Ω +111 "core" ' + .tElbow.hold +2 "manipulator"&V, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&)1 +53 "core" 1 +2 "manipulator"&5% +4 "core" % μ| 9 C + "storage"($& +4 "core" &[  % \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 7 + 319 counts + "manipulator"&N' +18 "core" ' +2 "manipulator"&!& +4 "core" & p t  +2 "storage"(#& +3 "core" &[ (\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&='k +21 "core" ' + "storage"(?% +4 "core" %\\ #\ +2 ."downElevator"SE.seek :down +4 "storage"(}'N +99 (b% +2 "core" %; g j T\ TY +2 "manipulator"&,% +4 "core" %i o n !  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +92 "core" ' +48 ' + ."downElevator"SE.stop + "storage"(5 +23568 "Can" )=: +60002 s (>: +60002 V (>; +60002 H (>; +60002 B '?< +60002 3 (>; +60002 4 (>: +60002 5 (>; +60002 V (>; +60001 k )>; +60002 ~ (>; +60002  (>; +60002  (>; +60002 { )>; +60002 u '>; +60002 o (>; +60002  (>; @1634238625.46EDT = =tMAIN =mMAIN_scheduler @EDT1634238627.35 #"core_reset"Sent BREAK +2 #t@46131 idle with ifg=0x00, ie=0x75 + #>RESET< ESP2 v3.41 I2C Gateway v3.20 +208 #>RESET< ESP2 v3.41 I2C Gateway v3.20 for core bus +207 !o:Instrument::ISUSCore:\ @name" ISUS: @refi0d: @configS:Instrument::Configuration: name@:calFileName0:sampleCmd"TS: prompt"\ :statusCmd"C:sampleTimeouti#:promptTimeouti:statusTimeouti: retriesi:strToPrompt"W: pace0: echoF +99 #Configuration for don (12651-03) 10/9/20 brent@mbari.org\ /home/esp/esp2/type/shallow/don/configure.rb\ +392 "Can" 7&" +  7&" + #tPolling Can every 10:00 +11 !o:Storage::Warning: mesg"Uncleanly Exited:bt[ "8/home/esp/esp2/utils/storage.rb:438:in `readPucks!'"6/home/esp/esp2/utils/storage.rb:627:in `restore!'"-/home/esp/esp2/lib/esp.rb:115:in `shell'"7/home/esp/esp2/lib/schedule.rb:481:in `initialize'"0/home/esp/esp2/lib/thread.rb:738:in `start'"7/home/esp/esp2/lib/schedule.rb:474:in `initialize'"'/home/esp/esp2/lib/schedule.rb:472 +603 #-> ESP.ready! +4 #Powering core bus +533 .Gate.power :raw,:ON +3 "sampler") +55 ) +3 "core"  +2 "collection"' +2 ' +3 "core"  +2 "processing"% + % +4 "core"  +4 "collection"' 9\ +2 ' 0\ +2 ' -\ +4 "processing"% 9\ +3 % 2\ + % *\ +2 % 0\ +4 "sampler")&\ +2 "collection"'% +3 "core" %  + .tCS.configure :default +3 "collection"'#P d@b +2 "processing"%% +3 "core" %\ +2 .tPS.configure :default +2 "processing"%#A d`xb +2 "sampler")% +3 "core" %   +2 .tSS.configure :default +2 "sampler")#.0X require 'shuffle.rb' +2741 #-> 5.times {shuffle 5..7} +2 #Shuffling pucks in tube 5 of [5..7] +2 #Loading generic puck from tube 5 into Collection Clamp + "collection"';& +3 "core" &^\  +2 .tHand.open +2 "manipulator"&<1 +57 "core" 1 + "manipulator"&=% +4 "core" % \ / Y #< +2 "storage"(>% +4 "core" %P ^ e b\ B + "storage"(?. +4 "core" .(,~ + .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 + "storage"(@(<< +348 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (A& +3 "core" &<: # " X\  +2 "manipulator"&B& +3 "core" &+ X "x +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&C( +27 "core" ( +2 "manipulator"&D& +4 "core" &   +2 "storage"(E& +3 "core" &<: h h H\  +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&F' +94 "core" ' + "storage"(G& +4 "core" &<: d g \  +37 .tSE.reconfigure :pick +8 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(H'e +286 "core" ' +2 "storage"(I- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (J& +3 "core" &<: ` Y\  + "manipulator"&K& +4 "core" &  /  +2 .tElbow.seek 5 +2 "manipulator"&L( +3 "core" ( + "manipulator"&M& +4 "core" &  |  +2 "storage"(N& +3 "core" &<: ~ } \  +3 .tForearm.seek 5 + 300 counts + "manipulator"&O'[ +24 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&P/ +56 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&Q& +2 "storage"(R'N +7 "core" &  t 2  +2 "manipulator"&S% +4 "core" % T s l + .tForearm.seek :retract +2 "manipulator"&T'\ +96 "core" ' +2 .tElbow.seek CC +2 "manipulator"&U( +146 "core" ' + ."downElevator"SE.stop + "storage"(5 +15 "core" ( +2 "manipulator"&V& +4 "core" &, " e Bg +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &W& +2 "core" &- Bg +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&X'| +108 "core" ' + "manipulator"&Y& +5 "core" &- l Bf + "manipulator"&Z% +4 "core" %s & +2 "collection"'[& +4 "core" &^\  +3 "collection"'\\& +5 "core" &^y\  +2 .tCC.seek :closed + "collection"'](] +5 "core" &^\  +7 &uN\ %i +9 &GV{\ 9 +10 &\ N +9 &^e\ O +9 & g\ O +10 &kw\ O +9 & jx\ O +10 &"di\ O +9 &$'ax\ O +9 &%g|\ O +10 &'dx\ O +9 &)ne\ O +9 &+/f|\ O +10 &,fz\ N +9 &.j\ O +10 &0uh\ O +9 &26i\ O +9 &3g \ P +10 &5_\ O +9 &7~g\ O +9 &9Ag\ N +10 &;e\ N +9 &<g\ O +10 &>e\ O +9 &@Ie\ N +9 &B g\ O +10 &Ce\ O +9 &Ed\ N +9 &GNh\ O +10 &I r\ Q +9 &J}\ R +9 &L <\ V +10 &N=~\ X +9 &Oy\ X +10 &Qy\ Y +9 &S\ Y +9 &U=\ [ +10 &Wz\ Z +9 &X}\ \\ +10 &Z}z\ ] +9 &\\Bvxy\ I +9 &]V9hm}\ +~ +10 &]piix\ G +5 ( +2 "collection"'\\& +4 #tCollection Clamp onSpring/offSpring for 10/26 samples, on/off torque 1.91 + .Hand.open +2 "manipulator"&^1 +3 "core" &]gkkx\ G +55 1 + "manipulator"&_% +4 "core" % s B +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&`'\ +97 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp + "processing"%a& +4 "core" &\\#\  +2 "manipulator"&b% +4 "core" %\ 0 z #f + "storage"(c% +4 "core" %9 ! ! *\ + "storage"(d. +4 "core" .(<9 + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"(e(<< +3 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (f& +3 "core" &<:\  [\  +2 "manipulator"&g& +3 "core" &4# ;8 +2 "manipulator"&h% +4 "core" %\ 0 Z #f +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&i( +155 "core" ( + "manipulator"&j& +5 "core" & Y  + "storage"(k& +4 "core" &<: D D :\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&l' +92 "core" ' +2 "storage"(m& +4 "core" &<: A 9 \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(n'e +282 "core" ' + "storage"(o- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (p& +3 "core" &<:  ! \  +2 "manipulator"&q& +4 "core" &   +2 .tElbow.seek 5 + "manipulator"&r( +3 "core" ( +2 "manipulator"&s& +3 "core" &  +2 "storage"(t& +4 "core" &<: D C \  +2 .tForearm.seek 5 + 300 counts + "manipulator"&u'[ +12 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&v/ +54 "core" / +3 ."downElevator"SE.seek :down +2 "manipulator"&w& +2 "storage"(x'N +8 "core" & s q  +2 "manipulator"&y% +4 "core" % O  \\ +2 .tForearm.seek :retract +2 "manipulator"&z'\ +92 "core" ' +2 .tElbow.seek PC +2 "manipulator"&{(c +158 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +77 "core" ( +2 "manipulator"&|& +4 "core" &_ 6 D + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &}& +3 "core" &_ | D +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&~'[ +99 "core" ' +2 "manipulator"&& +4 "core" &_  D + "manipulator"&% +4 "core" %\\ } +2 "processing"%& +4 "core" &\\,\  +2 "processing"%& +5 "core" &\\\  +2 .tPC.seek :closed +2 "processing"%(Z +4 "core" &\\\  +8 &5\ +| +10 &f\ @ +9 &4| \ O +9 &^\ N +10 &b\ N +9 &}_\ N +9 &!?a\ N +10 &#_ \ N +9 &$^ \ M +10 &&`\ \ N +9 &(H^\ N +9 &*\ _\ \ N +10 &+b\ N +9 &-` \ N +9 &/Oe\ N +10 &1`\ N +9 &2c \ N +10 &4b\ N +9 &6Xc \ N +9 &8`\ M +10 &9_ \ N +9 &;_ \ M +9 &=``\ \ N +10 &?"b\ \ N +9 &@` \ N +10 &B` \ N +9 &Dh` \ N +9 &F(a\ N +10 &Gk\ \ O +9 &Iv \ P +9 &Kc\ \ R +10 &M\ T +9 &N\ T +10 &P\ U +9 &Rc \ U +9 &T$ \ U +10 &Uv\ T +9 &W\ U +9 &Yj \ B +10 &Zt>\ X +9 &Z:\ 4 +6 ( + "processing"%& +5 #tProcessing Clamp onSpring/offSpring for 9/25 samples, on/off torque 1.59 + .Hand.open + "manipulator"&1 +4 "core" &Z4\ \ 4 +48 1 +2 "manipulator"&% +4 "core" % \\ T +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +99 "core" ' + "processing"%& +5 "core" &Z4)\ 4 + #tImaging generic puck in Processing Clamp while storing it to tube 5 + "manipulator"& % +4 "core" %\ 4 : %w +2 "storage"(\ % +4 "core" %E G `\  +2 "storage"( . +3 "core" .(<< + "storage"( & +4 "core" &<: G d\  +2 "storage"( & + "manipulator"&& +7 "core" &<:\ )\ * d\  + &_ e D +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +3 "storage"(#]kK-0-\ b +2 "manipulator"&(c +5 ."raiseStack"SE.seek :beamBreak + "storage"('e +3 "core" ( + "manipulator"&& +4 "core" &_  D +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +4 "core" &_ [ D + .tForearm.seek PC +2 "manipulator"&'[ +96 "core" ' +2 .tHand.close + "manipulator"&/ +53 "core" / +2 .tPC.seek :open +2 "processing"%(p +97 "core" ' +2 "storage"(- +3 "core" -'e +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('B +32 "core" ' +252 ( + "storage"(& +5 "core" &<: C C \  + "manipulator"&& +4 "core" &_  D +2 "manipulator"&% +4 "core" % b  +2 .tForearm.seek :retract + "manipulator"&'\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&"( +250 "core" ( + "manipulator"&%& +5 "core" & # + "storage"('& +4 "core" &<:   M\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&)' +103 "core" ' + .tHand.open + "manipulator"&(1 +57 "core" 1 +2 "storage"(- +4 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate +2 "storage"(' +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.83 Pucks below Top Plate + "storage"(#' +56 "core" ' +2 #tLights, camera, ACTION! + "storage"(,- +4 "core" -' + "storage"(-& +4 "core" &<: Y\  +2 "manipulator"&.& +4 "core" &  # + .tElbow.seek 5 +2 "manipulator"&/( +4 "core" ( + "manipulator"&0& +4 "core" &  # +2 "storage"(1& +4 "core" &<: m\  +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&2' +3 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"(3'M +64 "core" ' + "manipulator"&4& +5 "core" & + # + "storage"(5& +4 "core" &<: D G \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&6'/ +36 "core" ' + .tElbow.hold +2 "manipulator"&7, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.07 Pucks below Top Plate + "storage"(8'7 +25 "core" ' + "manipulator"&9% +5 "core" %8W D H 2 ˲ + "storage"(:& +4 "core" &<: R\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 309 counts + "manipulator"&;'d +18 "core" ' +2 "manipulator"&<& +4 "core" & # +2 "storage"(=& +4 "core" &<: R G 4\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&>' +21 "core" ' +2 "storage"(?% +4 "core" %: [ ^ \  +3 ."downElevator"SE.seek :down +3 "storage"(!'N +99 (A% +3 "core" %9 5 " R\ U] +2 "manipulator"&B% +5 "core" %  q L + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&D'\ +93 "core" ' +59 ' + ."downElevator"SE.stop + "storage"(5 +3 (E& +4 "core" &<: #  W\  +2 "collection"'G& +3 "core" &]\\op\ G +2 #tStoring generic puck in Collection Clamp to tube 5 + "manipulator"&$% +5 "core" %\ 2 h "_ + "storage"(&% +4 "core" %S   a\  +2 "storage"(I. +3 "core" .(<< + "storage"(J& +4 "core" &<:   f\  + "storage"( & +4 "core" &<:   l\  +2 "manipulator"&K& +4 "core" & I # + .tElbow.seek 5 +2 "manipulator"&M( +4 "core" ( + "manipulator"&N& +4 "core" & " # +40 "storage"(P& +14 "core" &<:   q\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&Q' +105 "core" ' + "storage"(S& +5 "core" &<: ^ ] +\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(C'e +282 "core" ' +2 "storage"(F- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&V& +3 "core" &  j "~ + "storage"(W& +4 "core" &<: 8 9 k\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&H'/ +33 "core" ' +2 .tElbow.hold +2 "manipulator"&O, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(Y- +2 "core" -' +2 .tSE.seek 0.12 Pucks below Top Plate +2 "storage"(L'p +30 "core" ' + "manipulator"&Z% +5 "core" %<_ ; C ɴ + "storage"([& +4 "core" &<: _\  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 5 + 313 counts +2 "manipulator"&R'h +17 "core" ' + "manipulator"&T& +5 "core" & j 2 # + "storage"(+& +4 "core" &<: 9 9 o\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&^' +19 "core" ' +2 .tSE.seek 1.12 Pucks below Top Plate +2 "storage"(_'_ +47 "core" ' + "manipulator"&a& +5 "core" & w 6 # + "manipulator"&b% +5 "core" % | q  + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&c'\ +93 "core" ' +2 .tElbow.seek CC +2 "manipulator"&d( +148 "core" ( +2 "manipulator"&\\& +4 "core" &% _ << +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &f& +3 "core" &% p << +2 .tForearm.seek CC +2 "manipulator"&g'| +101 "core" ' + .tHand.close + "manipulator"&h/ +59 "core" / +2 .tCC.seek :open + "collection"'X(p +411 "core" ( +2 "storage"(j& +4 "core" &<: h h ;\  + "storage"(k& +4 "core" &<: ] [ "\  +2 "manipulator"&m& +3 "core" &% [ 9$ +2 "manipulator"&@% +4 "core" % ω @ +2 .tForearm.seek :retract + "manipulator"&U'\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&`( +159 "core" ( +2 "manipulator"&o& +4 "core" & I  +2 "storage"(p& +3 "core" &<: | \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 5 +2 "manipulator"&q'/ +110 "core" ' + .tElbow.hold +2 "manipulator"&s, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&t1 +57 "core" 1 +2 "manipulator"&v% +4 "core" % Ar    ¹* + "storage"(w& +4 "core" &<: $ % :\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 318 counts + "manipulator"&y'm +18 "core" ' + "manipulator"&i& +5 "core" & n   + "storage"(l& +4 "core" &<: b\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&n' +11 "core" ' + "storage"(u% +5 "core" %[ ^\ +2 ."downElevator"SE.seek :down +4 "storage"(|'N +99 (}% +3 "core" %2; w | \ U[ +2 "manipulator"&r% +4 "core" % ~  4 +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +90 "core" ' +48 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 6 of [5..7] +2 #Loading generic puck from tube 6 into Collection Clamp + "collection"'& +5 "core" &\ + "manipulator"&% +4 "core" %\ ) h I +2 "storage"(x% +4 "core" %? { \ +2 "storage"(z. +3 "core" .(<< +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"(*(K +352 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (& +2 "core" &K F D \  +2 "manipulator"&& +4 "core" &  +2 .tElbow.seek 6 + "manipulator"&( +32 "core" ( + "manipulator"& & +4 "core" & \ +2 "storage"(\ & +4 "core" &K ~ ~ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"& '< +92 "core" ' + "storage"( & +4 "core" &K Q\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"('e +285 "core" ' + "storage"( - +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (& +3 "core" &K v  \\\  +2 "manipulator"&& +4 "core" & , \ + .tElbow.seek 6 +2 "manipulator"&( +4 "core" ( +2 "manipulator"&~& +3 "core" & 9 \ +2 "storage"(& +4 "core" &K v X\  +2 .tForearm.seek 6 + 300 counts + "manipulator"&'Ϧ +24 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&{/ +58 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& +2 "storage"('N +7 "core" & | b \ +2 "manipulator"&% +4 "core" % Ϩ { p +2 .tForearm.seek :retract +2 "manipulator"&'\ +96 "core" ' +2 .tElbow.seek CC +2 "manipulator"&( +142 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +12 "core" ( +2 "manipulator"&& +4 "core" &'  9 >K +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &' Y >K +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&%'| +101 "core" ' +2 "manipulator"&'& +4 "core" &' . >I +2 "manipulator"&% +4 "core" %ρ +2 "collection"'(& +4 "core" & &\ +2 "collection"'& +5 "core" &\ +2 .tCC.seek :closed +2 "collection"',(] +4 "core" & \  +9 &0 \ +z +9 &c \ ? +10 &G \ O +9 & c \ O +9 &g \ N +10 &i \ O +9 &!Nf \ O +10 &#g\ O +9 &$e\ O +9 &&g \ O +10 &(Xg \ O +9 &*b \ O +9 &+b \ N +10 &-h\ O +9 &/af \ N +10 &1!h \ O +9 &2f\ O +9 &4g \ O +10 &6jc \ N +9 &8+d \ N +9 &9a \ N +10 &;e \ N +9 &=pe \ O +9 &?3b \ N +10 &@b \ O +9 &Bc \ O +10 &Dy_ \ N +9 &F:c \ O +9 &Gi #\ O +10 &Iv \ Q +9 &Krx \ S +10 &M) $\ W +9 &N #\ W +9 &P\ Y +10 &Rk \ Y +9 &T) \ Z +9 &U \ Z +10 &W\ [\ +9 &Yi\ \\ +9 &[+ \ \\ +10 &\\|ux\ 4 +9 &]$no \ #h +10 &]rlm \ N +2 ( + "collection"'& +4 #tCollection Clamp onSpring/offSpring for 9/25 samples, on/off torque 1.94 + .Hand.open + "manipulator"&-1 +60 "core" 1 + "manipulator"&.% +5 "core" %  r +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&0'\ +94 "core" ' + #tLoading generic puck from tube 6 into Processing Clamp +2 "processing"%1& +4 "core" &#\ + "manipulator"&% +4 "core" %\ # N + +2 "storage"(4% +4 "core" %>\ \  \  + "storage"(5. +4 "core" .(K + "storage"(& +4 "core" &K P \  + "storage"(9& +4 "core" &K\ \  ?\  +2 "manipulator"&:& +4 "core" &% W <? + "manipulator"&% +4 "core" %\ # Z + +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 + "manipulator"&<( +162 "core" ( + "manipulator"&=& +4 "core" & x \ +2 "storage"(?& +4 "core" &K C D \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&"'< +98 "core" ' + "storage"()& +4 "core" &K C C \  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(#'e +281 "core" ' + "storage"(A- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (B& +2 "core" &K   \  +2 "manipulator"&2& +4 "core" & , \ +2 .tElbow.seek 6 +2 "manipulator"&/( +3 "core" ( + "manipulator"&3& +4 "core" & I \ +2 "storage"(6& +3 "core" &K   \  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&;'Ϧ +10 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&E/ +59 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&G& + "storage"($'N +7 "core" & , \ + "manipulator"&&% +4 "core" % Ϭ ' +2 .tForearm.seek :retract +2 "manipulator"&I'\ +96 "core" ' +2 .tElbow.seek PC +2 "manipulator"&8(c +156 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +89 "core" ( + "manipulator"&J& +4 "core" &i F +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 & & +2 "core" &i r +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&K'[ +95 "core" ' +2 "manipulator"&N& +4 "core" &i 7 +2 "manipulator"&P% +4 "core" %V  + "processing"%>& +4 "core" &3\ +2 "processing"%S& +5 "core" &1\ +2 .tPC.seek :closed +2 "processing"%!(Z +4 "core" &\  +8 &/\ +z +10 &b \ > +9 &:}\ O +10 &_\ N +9 &ay\ N +9 &_\ N +10 &!D_\ N +9 &#]\ M +9 &$]\ \ N +10 &&_ \ M +9 &(K_ \ N +10 &*] \ N +9 &+]\ N +9 &-_\ \ N +10 &/Rb\ N +9 &1`\ N +10 &2`\ N +9 &4^ \ N +9 &6\\_\ \ N +10 &8` \ N +9 &9] \ N +9 &;^\ N +10 &=cc \ N +9 &?$a\ N +9 &@`\ N +10 &B`\ N +9 &Dk_\ N +10 &F+c\ O +9 &Gk \ O +9 &Ix\ \ Q +10 &Kc \ T +9 &M"\ \ T +10 &N \ T +9 &P\ \ U +9 &Rg\ U +10 &T*\ \ T +9 &U\ U +9 &W \ U +10 &Ym \ B +9 &Zt; \ \\ +9 &ZC \ 4 +6 ( + "processing"%S& +5 #tProcessing Clamp onSpring/offSpring for 9/25 samples, on/off torque 1.60 + .Hand.open + "manipulator"&71 +4 "core" &Z4 \ 4 +52 1 + "manipulator"&D% +4 "core" % V Q +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&F'\ +141 "core" ' +2 "processing"%V& +4 "core" &Z4\ 4 +2 #tImaging generic puck in Processing Clamp while storing it to tube 6 + "manipulator"&W% +4 "core" %\ ) & I +2 "storage"(Y% +4 "core" %B\ \ \  +2 "storage"(Z. +3 "core" .(K + "storage"([& +4 "core" &K\ \  \  +2 "storage"(T& +3 "manipulator"&+& +6 "core" &K\ \ \  + &i > +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +3 "storage"(#]kK-0-\ b +2 .tElbow.seek PC +4 "manipulator"&a(c +3 ."raiseStack"SE.seek :beamBreak +2 "storage"(b'e +2 "core" ( +2 "manipulator"&Q& +4 "core" &i D +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &M& +2 "core" &i +2 .tForearm.seek PC +2 "manipulator"&C'[ +97 "core" ' +2 .tHand.close + "manipulator"&H/ +60 "core" / +2 .tPC.seek :open + "processing"%R(p +90 "core" ' + "storage"(L- +4 "core" -'e + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(\\'B +34 "core" ' +257 ( +2 "storage"(f& +4 "core" &K % ! C\  +2 "manipulator"&^& +3 "core" &i  +2 "manipulator"&O% +4 "core" % N  +2 .tForearm.seek :retract +2 "manipulator"&h'\ +95 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&c( +248 "core" ( + "manipulator"&]& +5 "core" &\ [ + "storage"(j& +4 "core" &K R # \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&k'< +107 "core" ' + .tHand.open + "manipulator"&m1 +63 "core" 1 +2 "storage"(@- +4 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate +2 "storage"(o' +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.83 Pucks below Top Plate + "storage"(p' +51 "core" ' +2 #tLights, camera, ACTION! + "storage"(g- +4 "core" -' + "storage"(d& +4 "core" &K u\  +2 "manipulator"&t& +4 "core" & ~ I Z +2 .tElbow.seek 6 +2 "manipulator"&v( +3 "core" ( +2 "manipulator"&w& +4 "core" & } S Z + "storage"(i& +4 "core" &K \  +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&l'< +20 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"(u'M +61 "core" ' +2 "manipulator"&U& +4 "core" &\ h Z +2 "storage"(}& +4 "core" &K $ # V\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&r'z +27 "core" ' +2 .tElbow.hold + "manipulator"&`, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"(q'7 +22 "core" ' +3 "manipulator"&% +4 "core" %Ή   þ_ +2 "storage"(& +4 "core" &K 4\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 315 counts + "manipulator"&x'ϵ +18 "core" ' +2 "manipulator"&y& +4 "core" & } 9 # +2 "storage"(z& +4 "core" &K C C \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&_'< +16 "core" ' +2 "storage"(n% +5 "core" %? @ F \ +3 ."downElevator"SE.seek :down +3 "storage"(|'N +98 (e% +5 "core" %8 " ! \ U] + "manipulator"&% +4 "core" %3   +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +88 "core" ' +58 ' + ."downElevator"SE.stop +2 "storage"(5 +2 ( & +5 "core" &K X\ & A\  + "collection"'\ & +4 "core" &]tst\ N +2 #tStoring generic puck in Collection Clamp to tube 6 + "manipulator"& % +4 "core" %\ & 7 +2 "storage"(s% +4 "core" %@ ! ! !\  + "storage"(. +4 "core" .(K + "storage"( & +4 "core" &K ! ! .\  +2 "storage"(& +4 "core" &K " $ "\  + "manipulator"&& +4 "core" & h # +2 .tElbow.seek 6 +2 "manipulator"&~( +29 "core" ( +2 "manipulator"&& +4 "core" & T  + "storage"({& +4 "core" &K   \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&'< +93 "core" ' +2 "storage"(& +4 "core" &K B 8 j\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('e +284 "core" ' + "storage"( - +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&& +3 "core" & B  +2 "storage"(& +4 "core" &K A D n\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 + "manipulator"&'z +31 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"('- +3 "core" -' +2 .tSE.seek 0.12 Pucks below Top Plate +2 "storage"('r +28 "core" ' + "manipulator"&(% +5 "core" %Ήs   ú8 + "storage"(& +4 "core" &K S\  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 6 + 315 counts +2 "manipulator"&'ϵ +17 "core" ' + "manipulator"&& +5 "core" & i X * + "storage"(X& +4 "core" &K C C c\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts + "manipulator"&-'< +20 "core" ' +2 .tSE.seek 1.12 Pucks below Top Plate +2 "storage"(.'a +47 "core" ' + "manipulator"&1& +5 "core" & } 0 * +2 "manipulator"&% +4 "core" %* } y +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&4'\ +87 "core" ' +2 .tElbow.seek CC + "manipulator"&5( +162 "core" ( +2 "manipulator"&& +4 "core" & { 5\ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &9& +3 "core" & 2 5\ +2 .tForearm.seek CC +2 "manipulator"&'| +96 "core" ' + .tHand.close + "manipulator"&:/ +63 "core" / +2 .tCC.seek :open +2 "collection"'(p +411 "core" ( + "storage"(%& +5 "core" &K p j y\  + "storage"(=& +4 "core" &K e _ -\  +2 "manipulator"&?& +3 "core" & - 5\ +2 "manipulator"&)% +4 "core" % ω } + .tForearm.seek :retract +2 "manipulator"&'\ +91 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 + "manipulator"&0( +155 "core" ( + "manipulator"&A& +5 "core" & ] + "storage"(B& +4 "core" &K z \  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 6 +2 "manipulator"&2'z +107 "core" ' +2 .tElbow.hold + "manipulator"&3, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&61 +53 "core" 1 +2 "manipulator"&E% +4 "core" % Ήz   L + "storage"(G& +4 "core" &K   p\  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 6 + 315 counts + "manipulator"&&'ϵ +17 "core" ' +2 "manipulator"&<& +4 "core" & $ 6 +2 "storage"("& +4 "core" &K ^\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&#'< +16 "core" ' + "storage"(;% +5 "core" %\\ W\ +2 ."downElevator"SE.seek :down +4 "storage"(J'N +99 ( % +3 "core" %?; m o \ U[ +2 "manipulator"&/% +4 "core" %H O +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&N'\ +88 "core" ' +51 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 7 of [5..7] + #Loading generic puck from tube 7 into Collection Clamp +2 "collection"'P& +4 "core" & \ +2 "manipulator"&>% +4 "core" %\ % r / + "storage"($% +5 "core" %F |\  + "storage"(I. +3 "core" .(K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 7 +2 "storage"(([ +357 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (7& +2 "core" &[ ^ p P\ +2 "manipulator"&D& +4 "core" & 6 +2 .tElbow.seek 7 + "manipulator"&S( +4 "core" ( + "manipulator"&V& +4 "core" & T 6 +2 "storage"(W& +4 "core" &[ { } E\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&Y'k +96 "core" ' +2 "storage"(Z& +4 "core" &[ ~ '\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(['e +285 "core" ' + "storage"(+- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (T& +3 "core" &[ r ^ \ + "manipulator"&Q& +4 "core" & / 6 +2 .tElbow.seek 7 + "manipulator"&M( +4 "core" ( + "manipulator"&K& +4 "core" & 4 6 + "storage"(H& +4 "core" &[ p p a\ +2 .tForearm.seek 7 + 300 counts +2 "manipulator"&L' +10 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&8/ +61 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&F& +2 "storage"(!'N +7 "core" &  6 + "manipulator"&f% +4 "core" % P +2 .tForearm.seek :retract +2 "manipulator"&^'\ +95 "core" ' +2 .tElbow.seek CC + "manipulator"&b( +148 "core" ' + ."downElevator"SE.stop + "storage"(5 +4 "core" ( + "manipulator"&O& +4 "core" && =C +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &C& +2 "core" && =C +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&]'| +98 "core" ' + "manipulator"&j& +5 "core" && =C +41 "manipulator"&a% +14 "core" %π  +2 "collection"'m& +4 "core" & \ +2 "collection"'@& +5 "core" &\ +2 .tCC.seek :closed +2 "collection"'g(] +4 "core" &\  +8 &0 \ +z +10 &c \ ? +9 &K \ O +9 &`\ N +10 &g}\ O +9 &j \ O +10 &!Sd \ O +9 &#e\ O +9 &$e\ O +10 &&g\ N +9 &([gs\ O +9 &*dr\ O +10 &+c \ \ O +9 &-e \ N +9 &/dg \ N +10 &1%h\ O +9 &2b \ N +10 &4b &\ N +9 &6la \ N +9 &8-b \ O +10 &9c\ N +9 &;c\ N +10 &=te \ N +9 &?6`\ N +9 &@c \ N +10 &Bb \ O +9 &D{c !\ O +9 &F=c \ O +10 &Ghy\ O +9 &Is|\ Q +9 &Kx\ R +10 &M0 S \ V +9 &N \ X +10 &P \ X +9 &Rm\ Y +9 &T.\ Y +10 &U \ Z +9 &W \ Z +9 &Yj \ ] +10 &[. \ \\ +9 &\\z \ 3 +10 &](x{ \ C +8 ( +3 "collection"'@& +3 #tCollection Clamp onSpring/offSpring for 9/25 samples, on/off torque 1.97 +2 .Hand.open + "manipulator"&d1 +3 "core" &]P|| \ > +58 1 + "manipulator"&t% +5 "core" %  5 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&w'\ +92 "core" ' +3 #tLoading generic puck from tube 7 into Processing Clamp + "processing"%i& +5 "core" &:\ + "manipulator"&h% +4 "core" %\ ( C B + "storage"(U% +4 "core" %=  / 4\  +2 "storage"(}. +3 "core" .([ +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 7 +2 "storage"(\\([ +2 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (& +3 "core" &[  ! r\ +2 "manipulator"&& +4 "core" &$ M ;5 + "manipulator"&o% +4 "core" %\ ( P B +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 7 +2 "manipulator"&y( +160 "core" ( + "manipulator"&z& +5 "core" &   + "storage"(n& +4 "core" &[ 8 8 a\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&c'k +114 "core" ' +2 "storage"(k& +4 "core" &[ } ~ \ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(p'e +278 "core" ' +2 "storage"(e- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +2 "core" &[ ] g \ +2 "manipulator"&l& +4 "core" & r   + .tElbow.seek 7 +2 "manipulator"&v( +3 "core" ( +2 "manipulator"&u& +3 "core" & } q  +2 "storage"(r& +4 "core" &[ [ ]\ +2 .tForearm.seek 7 + 300 counts +2 "manipulator"& ' +26 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&x/ +57 "core" / +2 ."downElevator"SE.seek :down +5 "manipulator"&\ & + "storage"( 'N +7 "core" &  q  + "manipulator"&s% +4 "core" % | = +2 .tForearm.seek :retract +2 "manipulator"&'\ +98 "core" ' + .tElbow.seek PC +2 "manipulator"& (c +171 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +74 "core" ( +2 "manipulator"&q& +4 "core" &f E +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &f - +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&'[ +96 "core" ' +2 "manipulator"&& +4 "core" &f +2 "manipulator"&{% +4 "core" %\\ n +2 "processing"%_& +3 "core" &3\ +2 "processing"%& +6 "core" &&\ +2 .tPC.seek :closed +2 "processing"%|(Z +5 "core" &\ +6 &\ *\ #b +10 &YV>\ 8 +9 & \ L +10 &k] \ N +9 &.] \ N +9 &] \ N +10 & ^\ N +9 &"u\\\ M +9 &$5b\ \ N +10 &%^ \ M +9 &'_\ M +10 &)|b\ N +9 &+?] \ M +9 &,a\ N +10 &.^\ N +9 &0_\ M +9 &2G_\ M +10 &4 _\ M +9 &5b;\ N +10 &7\\\ M +9 &9O^\ M +9 &;_s\ M +10 &<[ \ M +10 &>_\ \ N +8 &@Vb\ N +10 &B^\ N +9 &Cb \ N +10 &Eb\ N +9 &G]h\ N +9 &Ip \ P +10 &J \ Q +9 &L \ S +10 &NS\ T +9 &Pt\ T +9 &Q<\ S +10 &S1\ T +9 &UZ \ T +9 &W-\ U +10 &X \ U +9 &Z:Mr\ - +9 &Z. \ * +6 ( + "processing"%& +5 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.58 + .Hand.open + "manipulator"&`1 +4 "core" &Z\ * +49 1 + "manipulator"&% +4 "core" % \\ ] +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"& '\ +94 "core" ' +2 "processing"%& +4 "core" &Z \ * +2 #tImaging generic puck in Processing Clamp while storing it to tube 7 + "manipulator"&% +4 "core" %\ % 5 +2 "storage"('% +4 "core" %O  0 \  + "storage"((. +3 "core" .([ + "storage"(& +4 "core" &[   T\ +2 "storage"(& +5 "manipulator"&X& +4 "core" &[ 0  \ + &f F +3 ."raiseStack"SE.reconfigure :place +2 .tElbow.reconfigure :tight +4 "storage"(#]kK-0-\ b +2 "manipulator"&$&.,(\ #b +5 .tElbow.seek PC +2 "manipulator"&1(c +3 ."raiseStack"SE.seek :beamBreak + "storage"('e +3 "core" ( +2 "manipulator"&& +4 "core" &f = + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &~& +3 "core" &f h +2 .tForearm.seek PC +2 "manipulator"&'[ +95 "core" ' + .tHand.close + "manipulator"&/ +62 "core" / + .tPC.seek :open +2 "processing"%(p +88 "core" ' +2 "storage"(- +4 "core" -'e + ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('B +35 "core" ' +258 ( +2 "storage"(9& +4 "core" &[ C D b\ + "manipulator"&-& +4 "core" &f y +2 "manipulator"&% +4 "core" % a + .tForearm.seek :retract +2 "manipulator"&:'\ +94 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 7 +2 "manipulator"&4( +251 "core" ( +2 "manipulator"&,& +4 "core" & "x +2 "storage"(%& +3 "core" &[ C C d\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&='k +94 "core" ' +2 .tHand.open + "manipulator"&?1 +62 "core" 1 + "storage"()- +4 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate +2 "storage"(A' +23 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(B' +53 "core" ' + #tLights, camera, ACTION! +2 "storage"(- +3 "core" -' +2 "storage"(5& +4 "core" &[ ]\ +2 "manipulator"&6& +4 "core" & "x + .tElbow.seek 7 +2 "manipulator"&E( +3 "core" ( +2 "manipulator"&G& +3 "core" & 4 "x +2 "storage"(<& +4 "core" &[ Z\ +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&"'k +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.11 Pucks below Top Plate + "storage"(;'M +63 "core" ' + "manipulator"&& +5 "core" & $ "x + "storage"( & +4 "core" &[ C D \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 7 + "manipulator"&/'Ω +33 "core" ' + .tElbow.hold +2 "manipulator"&0, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"(2'7 +23 "core" ' + "manipulator"&P% +5 "core" %μx   û? + "storage"(>& +5 "core" &[\  q\ + .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 7 + 319 counts + "manipulator"&&' +17 "core" ' +2 "manipulator"&$& +4 "core" &  H !w +2 "storage"(I& +4 "core" &[ \\ [\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&.'k +17 "core" ' + "storage"(#% +5 "core" %; g e \  +3 ."downElevator"SE.seek :down +3 "storage"(J'N +98 (*% +3 "core" %: C C \ U^ +2 "manipulator"&7% +5 "core" %m q | +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&D'\ +87 "core" ' +61 ' + ."downElevator"SE.stop + "storage"(5 +3 (V& +4 "core" &[  5 \ +2 "collection"'W& +4 "core" &]P{{ \ > + #tStoring generic puck in Collection Clamp to tube 7 +2 "manipulator"&Z% +4 "core" %\ % 7 + "storage"(3% +4 "core" %? C D j\ +2 "storage"(N. +3 "core" .([ + "storage"(+& +4 "core" &[ F C\ +2 "storage"(T& +4 "core" &[ E D\ + "manipulator"&Q& +4 "core" & !w +2 .tElbow.seek 7 +2 "manipulator"&K( +3 "core" ( +2 "manipulator"&H& +4 "core" & D !w + "storage"(8& +4 "core" &[ C C C\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&F'k +92 "core" ' +2 "storage"(f& +4 "core" &[ e ] <\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(S'e +280 "core" ' + "storage"(Y- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&O& +2 "core" &  !w +2 "storage"(C& +4 "core" &[ = : j\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 7 +2 "manipulator"&['Ω +32 "core" ' +2 .tElbow.hold + "manipulator"&L, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(j- +3 "core" -' +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(a'n +28 "core" ' +2 "manipulator"&M% +4 "core" %ηr   Ĺ, + "storage"(m& +4 "core" &[ Y\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 7 + 314 counts + "manipulator"&!' +17 "core" ' +2 "manipulator"&^& +4 "core" & j . !w +2 "storage"(& +4 "core" &[ Z \\\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&d'k +19 "core" ' +55 .tSE.seek 1.11 Pucks below Top Plate + "storage"(t'] +53 "core" ' + "manipulator"&i& +4 "core" & | P !w +2 "manipulator"&h% +4 "core" %N  7  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&U'\ +87 "core" ' +2 .tElbow.seek CC + "manipulator"&}( +148 "core" ( +2 "manipulator"&@& +4 "core" &#  :1 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &# C :1 +2 .tForearm.seek CC +2 "manipulator"&'| +95 "core" ' +2 .tHand.close + "manipulator"&o/ +62 "core" / + .tCC.seek :open +2 "collection"'](p +411 "core" ( + "storage"(z& +5 "core" &[ p i \ + "storage"(n& +4 "core" &[ [ \\ \ +2 "manipulator"&& +4 "core" & 7 + "manipulator"&k% +4 "core" % π l +2 .tForearm.seek :retract +2 "manipulator"&b'\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 7 + "manipulator"&w( +158 "core" ( + "manipulator"&e& +5 "core" &   + "storage"(& +4 "core" &[ w m (\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 7 +2 "manipulator"&l'Ω +107 "core" ' + .tElbow.hold +2 "manipulator"&u, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&r1 +61 "core" 1 + "manipulator"&x% +5 "core" % ν / . y + "storage"(\ & +4 "core" &[ F E &\ + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 7 + 320 counts + "manipulator"&s' +19 "core" ' + "manipulator"&y& +5 "core" & y ` 5  + "storage"(c& +4 "core" &[ 0\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&p'k +19 "core" ' +2 "storage"( % +4 "core" %\\ F\ +3 ."downElevator"SE.seek :down +3 "storage"(q'N +99 (% +2 "core" %H; y w q\ TZ +2 "manipulator"&v% +4 "core" %J  q   +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +88 "core" ' +51 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 5 of [5..7] +2 #Loading generic puck from tube 5 into Collection Clamp + "collection"'{& +64 "core" & \ + "manipulator"&_% +5 "core" %\ & 9 + "storage"( % +4 "core" %C R\ \ +2 "storage"(. +3 "core" .([ + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"(R(<< +674 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (`& +3 "core" &<>  3 \ \ + "manipulator"&& +4 "core" & (  +2 .tElbow.seek 5 +2 "manipulator"&( +22 "core" ( + "manipulator"&& +4 "core" & _ +2 "storage"('& +4 "core" && +4 "core" &! 9( +2 "manipulator"&A% +4 "core" %\ 3 % +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&$( +161 "core" ( + "manipulator"&I& +5 "core" &  4  + "storage"(#& +4 "core" &<;   q\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&4' +103 "core" ' +2 "storage"(=& +4 "core" &<; ] ] \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(B'e +283 "core" ' + "storage"(*- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (7& +2 "core" &<9 7 B \  +2 "manipulator"&"& +4 "core" &  ~ p (  + .tElbow.seek 5 +2 "manipulator"&E( +3 "core" ( +2 "manipulator"&;& +4 "core" &  ~ N  + "storage"(/& +4 "core" &<9 E G\  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&V'[ +24 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&&/ +59 "core" / +2 ."downElevator"SE.seek :down +5 "manipulator"&W& + "storage"(Z'N +6 "core" &  |  +2 "manipulator"&3% +4 "core" % W }  +2 .tForearm.seek :retract + "manipulator"&N'\ +92 "core" ' +2 .tElbow.seek PC +2 "manipulator"&+(c +163 "core" ' + ."downElevator"SE.stop + "storage"(5 +87 "core" ( +2 "manipulator"&2& +4 "core" &k p +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &T& +3 "core" &k P +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&Q'[ +102 "core" ' +2 "manipulator"&H& +4 "core" &k \\ +2 "manipulator"&8% +4 "core" %M h +2 "processing"%.& +4 "core" &-\ +2 "processing"%f& +6 "core" &\ +2 .tPC.seek :closed +2 "processing"%J(Z +5 "core" &\ +5 &\ 1 +10 &G%\ 1 +9 &1sr\ E +10 &h\ N +9 &Z\ N +9 &\\\\\ M +10 & _I\ N +9 &!_\ M +9 &#]\ M +10 &%c_ \ N +9 &'&`\ \ M +10 &(\\z\ N +9 &*_\ M +9 &,k] \ N +10 &..\\ \ M +9 &/` \ N +9 &1_\ \ N +10 &3t\\ \ M +9 &56^ \ M +10 &6a \ M +9 &8]\ \ N +9 &:|`\ M +10 &\ 9 +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 + "manipulator"&C% +4 "core" %\ / - #h +2 "storage"(j% +3 "core" %U\ \ \  +2 "storage"(M. +3 "core" .(<9 +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"(m(<< +7 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (^& +4 "core" &<9 \  \ + "manipulator"&& +3 ."raiseStack"SE.reconfigure :place +7 "storage"(#]kK-0-\ b +2 "core" &k = +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 ."raiseStack"SE.seek :beamBreak +4 .tElbow.seek PC +45 "storage"(i'e +12 "manipulator"&h(c +5 "core" ( + "manipulator"&F& +4 "core" &k C +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &K& +3 "core" &k 0 +2 .tForearm.seek PC +2 "manipulator"&S'[ +95 "core" ' + .tHand.close +2 "manipulator"&[/ +61 "core" / +2 .tPC.seek :open +2 "processing"%!(p +84 "core" ' +2 "storage"(a- +3 "core" -'e +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(@'B +30 "core" ' +264 ( + "storage"(& +4 "core" &<9 C C \ +2 "manipulator"&d& +4 "core" &k  + "manipulator"&L% +4 "core" % U t +2 .tForearm.seek :retract +2 "manipulator"&o'\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&U( +248 "core" ( + "manipulator"&g& +5 "core" &\ ^ X + "storage"(z& +4 "core" &<9 / ( c\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&n' +103 "core" ' +2 .tHand.open + "manipulator"&1 +61 "core" 1 +2 "storage"(k- +3 "core" -'B +3 .tSE.seek -0.16 Pucks below Top Plate + "storage"(e' +25 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(' +51 "core" ' +2 #tLights, camera, ACTION! + "storage"(- +4 "core" -' + "storage"(}& +4 "core" &<7 x v E\ +2 "manipulator"&r& +4 "core" & X + .tElbow.seek 5 +2 "manipulator"&x( +4 "core" ( + "manipulator"&\ & +4 "core" & c X +2 "storage"(y& +4 "core" &<7 X Y\ +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&c' +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"( 'M +61 "core" ' +2 "manipulator"&b& +4 "core" & . X +2 "storage"(& +4 "core" &<7 $ # %\ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 5 + "manipulator"&v'/ +33 "core" ' + .tElbow.hold +2 "manipulator"&w, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"(l'7 +22 "core" ' +2 "manipulator"&s% +4 "core" %:\\ - 4 Ƴ +2 "storage"(t& +5 "core" &<7 p\ + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 311 counts +2 "manipulator"&{'f +17 "core" ' + "manipulator"&_& +5 "core" &4 l '  + "storage"( & +4 "core" &<7 8 8 A\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&' +19 "core" ' + "storage"(p% +5 "core" %< \\ ]\ +2 ."downElevator"SE.seek :down +4 "storage"(q'N +98 (\\% +4 "core" %A   \ V` +2 "manipulator"&`% +4 "core" % { } +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +91 "core" ' +57 ' + ."downElevator"SE.stop + "storage"(5 +3 (& +4 "core" &<7 O\  :\ +2 "collection"''& +4 "core" &]o|\ M + #tStoring generic puck in Collection Clamp to tube 5 +2 "manipulator"&% +4 "core" %\ - f "^ + "storage"(u% +4 "core" %@   \ \ +2 "storage"(. +3 "core" .(<9 + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"((<< +11 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (& +3 "core" &<9\ \  \  +2 "manipulator"&& +4 "core" &4  +2 .tElbow.seek 5 +2 "manipulator"&( +19 "core" ( +2 "manipulator"&& +4 "core" &   +2 "storage"( & +4 "core" &<8 C , \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"& ' +99 "core" ' +2 "storage"(9& +4 "core" &<8 @ C W\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"('e +280 "core" ' + "storage"((- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" &  +2 "storage"(& +3 "core" &<8   \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&X'/ +34 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(%- +2 "core" -' +2 .tSE.seek 0.12 Pucks below Top Plate +2 "storage"(1'o +29 "core" ' + "manipulator"&?% +5 "core" %6P 9 8 S ǰ + "storage"(~& +4 "core" &<8 6\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 307 counts +2 "manipulator"&|'b +17 "core" ' + "manipulator"&-& +5 "core" &) o z  s + "storage"(]& +4 "core" &<8 A F \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&5' +21 "core" ' +2 .tSE.seek 1.12 Pucks below Top Plate + "storage"(6'^ +47 "core" ' +2 "manipulator"&<& +4 "core" &)  ~ a s +2 "manipulator"&:% +4 "core" % e }  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +89 "core" ' +2 .tElbow.seek CC +2 "manipulator"& ( +156 "core" ( +2 "manipulator"&)& +4 "core" && - =D + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" && S =D +2 .tForearm.seek CC +2 "manipulator"&>'| +96 "core" ' +2 .tHand.close + "manipulator"&A/ +60 "core" / +2 .tCC.seek :open + "collection"',(p +411 "core" ( +2 "storage"(I& +4 "core" &<8 v k $\  +2 "storage"(#& +3 "core" &<8 Z Z \  +2 "manipulator"&R& +4 "core" &! 0 9$ + "manipulator"&=% +4 "core" % u +2 .tForearm.seek :retract +2 "manipulator"&'\ +91 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&G( +162 "core" ( +2 "manipulator"&*& +4 "core" &  +2 "storage"(7& +3 "core" &<8 ~  j\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 5 +2 "manipulator"&"'/ +110 "core" ' +2 .tElbow.hold + "manipulator"&;, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&/1 +54 "core" 1 +2 "manipulator"&&% +4 "core" % Bx " g 9 + "storage"(W& +4 "core" &<8 C C \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 319 counts + "manipulator"&3'n +18 "core" ' + "manipulator"&$& +5 "core" &3 p /  + "storage"(4& +4 "core" &<8 $\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&B' +13 "core" ' + "storage"(V% +5 "core" %Y \ +2 ."downElevator"SE.seek :down +3 "storage"(2'N +99 (T% +3 "core" %; |\ TY +2 "manipulator"&E% +4 "core" % } R % + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&H'\ +95 "core" ' +43 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 6 of [5..7] +2 #Loading generic puck from tube 6 into Collection Clamp + "collection"'8& +5 "core" & \ + "manipulator"&.% +4 "core" %\ 6 o & +2 "storage"(Z% +4 "core" %G ~ ~ \ + "storage"(N. +4 "core" .(<9 + .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 + "storage"((K +351 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (0& +4 "core" &K% O D 1\  +2 "manipulator"&D& +4 "core" &3 l  +50 .tElbow.seek 6 +3 "manipulator"&O( +35 "core" ( + "manipulator"&C& +5 "core" & 6 ; + "storage"(j& +4 "core" &K p p \ \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&M'< +97 "core" ' +2 "storage"(f& +4 "core" &K g\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(^'e +288 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (F& +3 "core" &K v } 6\  +2 "manipulator"&K& +4 "core" &  ; + .tElbow.seek 6 +2 "manipulator"&Q( +3 "core" ( +2 "manipulator"&[& +3 "core" &  ; +2 "storage"(P& +4 "core" &K } ~ \  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&+'Ϧ +11 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&a/ +58 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&Y& +3 "storage"(J'N +7 "core" &  ; +2 "manipulator"&% +4 "core" % ϝ  ) +2 .tForearm.seek :retract +2 "manipulator"&i'\ +94 "core" ' + .tElbow.seek CC +2 "manipulator"&d( +149 "core" ' +3 ."downElevator"SE.stop + "storage"(5 +3 "core" ( + "manipulator"&L& +4 "core" &$ 2 ;6 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &S& +2 "core" &$ < ;6 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&g'| +105 "core" ' +2 "manipulator"&z& +5 "core" &$ ;6 + "manipulator"&h% +4 "core" %}  +2 "collection"'& +4 "core" &\ +2 "collection"'k& +6 "core" &\ +2 .tCC.seek :closed +2 "collection"'(] +4 "core" &x\  +8 &1\ *y +9 &cw\ ? +10 &I~\ O +9 & b\ N +9 &e\ N +10 &g\ N +9 &!Pez\ O +10 &#fv\ O +9 &$cw\ N +9 &&c\ N +10 &(Ye\ N +9 &*c\ N +9 &+`\ N +10 &-`\ N +9 &/bd\ N +10 &1#f\ N +9 &2b\ N +9 &4c\ N +10 &6k`\ N +9 &8,`\ N +9 &9` \ N +10 &;`\ M +9 &=rc\ N +10 &?4b}\ N +9 &@e \ N +9 &Be \ N +10 &Dz`\ N +9 &F<b\ N +10 &Ggx\ O +9 &Isw\ P +9 &Ks\ S +10 &M)#v\ W +9 &N\ W +9 &Pz\ Y +10 &Rh\ Z +9 &T)\ Z +9 &U \ [ +10 &W \ [ +9 &Yhz\ \\ +10 &[*\ \\ +9 &\\y\ 7 +9 &]*{~\ $l +10 &]t{|v\ P +2 ( +2 "collection"'k& +3 #tCollection Clamp onSpring/offSpring for 9/25 samples, on/off torque 1.98 + .Hand.open +2 "manipulator"&}1 +59 "core" 1 +2 "manipulator"&r% +4 "core" % ^ , +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&\ '\ +100 "core" ' +2 #tLoading generic puck from tube 6 into Processing Clamp + "processing"%y& +4 "core" &\ +2 "manipulator"&o% +4 "core" %\ 3 % +2 "storage"(b% +4 "core" %L\ \  M\  + "storage"(. +4 "core" .(K + "storage"(s& +4 "core" &K\ (\ " T\  +2 "storage"(@& +4 "core" &K\ \ % \  + "manipulator"&t& +4 "core" &# ] ;6 + "manipulator"&e% +4 "core" %\ 3 % +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 + "manipulator"&_( +159 "core" ( +2 "manipulator"& & +4 "core" & ,  +2 "storage"(p& +3 "core" &K   T\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&U'< +96 "core" ' + "storage"(n& +5 "core" &K 8 A 3\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"('e +281 "core" ' + "storage"(\\- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (`& +3 "core" &K   K\  +2 "manipulator"&c& +4 "core" &   + .tElbow.seek 6 +2 "manipulator"&x( +3 "core" ( +2 "manipulator"& & +3 "core" &   +2 "storage"(v& +4 "core" &K   t\  +2 .tForearm.seek 6 + 300 counts + "manipulator"&'Ϧ +10 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&{/ +55 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&'& +2 "storage"('N +8 "core" &   + "manipulator"&u% +4 "core" % Ϩ  , +2 .tForearm.seek :retract +2 "manipulator"&'\ +94 "core" ' + .tElbow.seek PC +2 "manipulator"&l(c +159 "core" ' + ."downElevator"SE.stop + "storage"(5 +86 "core" ( + "manipulator"&& +5 "core" &k c + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &k R +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&'[ +101 "core" ' + "manipulator"& & +4 "core" &k r +2 "manipulator"&% +4 "core" %W +2 "processing"%9& +4 "core" &5\ +2 "processing"%q& +6 "core" &6\ +3 .tPC.seek :closed +3 "processing"%m(Z +3 "core" &\ +6 &\ 5 +9 &G\ 0 +9 &Aq\ E +10 &h \ N +9 &]\ M +10 &ha \ N +9 & +c \ N +9 &!` \ M +10 &#a\ N +9 &%q^\ N +9 &'3[ \ N +10 &(Z\ \ N +9 &*Z \ N +10 &,z]\ M +9 &.;^\ N +9 &/_\ M +10 &1] \ M +9 &3]\ N +9 &5C_ \ N +10 &7_\ \ N +9 &8]\ N +10 &:Z \ N +9 & `\ N +10 &?]\ M +9 &A` \ N +9 &CS]\ N +10 &E\\\ N +9 &Fe\ O +10 &Hn\ O +9 &JO~\ R +9 &L \ \ T +10 &M\ T +9 &O\ T +10 &QN \ U +9 &S\ U +9 &T \ T +10 &V \ U +9 &XV \ U +9 &Yz{ \ ) +10 &Z(y \ 7 +8 ( +3 "processing"%q& +3 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.57 + .Hand.open +2 "manipulator"&w1 +3 "core" &Z \ - +58 1 +2 "manipulator"&% +4 "core" % W # +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&('\ +94 "core" ' +2 "processing"%& +4 "core" &Z\ \ - +2 #tImaging generic puck in Processing Clamp while storing it to tube 6 + "manipulator"&% +4 "core" %\ - w "^ +2 "storage"(%% +3 "core" %R\ \ % \ +2 "storage"(?. +3 "core" .(K + "storage"(~& +4 "core" &K\ \ % \  +2 "storage"(-& +2 "manipulator"&]& +7 "core" &K\ )\ ( U\  + &k 9 +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +2 "storage"(#]kK-0-\ b +2 "manipulator"&<(c +6 ."raiseStack"SE.seek :beamBreak + "storage"(:'e +3 "core" ( + "manipulator"& & +4 "core" &k O +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &k A +2 .tForearm.seek PC +2 "manipulator"&'[ +95 "core" ' +2 .tHand.close + "manipulator"&X/ +58 "core" / +2 .tPC.seek :open +2 "processing"%|(p +90 "core" ' + "storage"(1- +4 "core" -'e + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"()'B +34 "core" ' +257 ( + "storage"(& +5 "core" &K   g\  + "manipulator"&5& +4 "core" &k $ +2 "manipulator"&% +4 "core" % d  + .tForearm.seek :retract +2 "manipulator"&A'\ +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 + "manipulator"&( +244 "core" ( + "manipulator"&& +5 "core" & { 4 + "storage"(I& +4 "core" &K ! ! \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&#'< +92 "core" ' +2 .tHand.open + "manipulator"&R1 +57 "core" 1 +2 "storage"(=- +3 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate +2 "storage"(*' +25 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(7' +53 "core" ' + #tLights, camera, ACTION! +2 "storage"(>- +3 "core" -' +2 "storage"( & +4 "core" &K \  +2 "manipulator"&/& +4 "core" & 4 + .tElbow.seek 6 +2 "manipulator"&&( +3 "core" ( +2 "manipulator"&W& +4 "core" & ( 4 +2 "storage"($& +3 "core" &K b\  +54 .tForearm.seek 6 + 450 counts + "manipulator"&4'< +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"(V'M +62 "core" ' +2 "manipulator"&& +4 "core" & / 4 +2 "storage"(T& +4 "core" &K # z\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&E'z +31 "core" ' + .tElbow.hold +2 "manipulator"&G, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"("'7 +24 "core" ' +2 "manipulator"&8% +4 "core" %·x   3 û9 +2 "storage"(.& +4 "core" &K \  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 313 counts + "manipulator"&Z'ϳ +17 "core" ' +2 "manipulator"&3& +4 "core" &  5 "} +2 "storage"(N& +4 "core" &K , 4 \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&6'< +23 "core" ' + "storage"(B% +5 "core" %A D C\ +3 ."downElevator"SE.seek :down +3 "storage"(2'N +98 (% +3 "core" %: ! ! \ V_ +2 "manipulator"&0% +4 "core" %H ~ |  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&D'\ +93 "core" ' +56 ' + ."downElevator"SE.stop + "storage"(5 +3 (C& +3 "core" &K \  &\  +2 "collection"'j& +4 "core" &]r|~ \ P +2 #tStoring generic puck in Collection Clamp to tube 6 + "manipulator"&f% +4 "core" %\ 3 4 %x +2 "storage"(;% +4 "core" %B  \ + "storage"(H. +4 "core" .(K + "storage"(& +4 "core" &K   x\  +2 "storage"(F& +4 "core" &K   \  +2 "manipulator"&K& +4 "core" & m "} + .tElbow.seek 6 +2 "manipulator"&[( +31 "core" ( +2 "manipulator"&P& +4 "core" & Z \ +2 "storage"(a& +3 "core" &K ! # n\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&Y'< +96 "core" ' + "storage"(& +5 "core" &K G D .\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(O'e +284 "core" ' + "storage"(M- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&L& +3 "core" &  \ +2 "storage"(S& +3 "core" &K  1 -\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&^'z +31 "core" ' + .tElbow.hold +2 "manipulator"&+, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(z- +2 "core" -' +2 .tSE.seek 0.12 Pucks below Top Plate +2 "storage"(h't +43 "core" ' + "manipulator"&% +4 "core" %Όq \  ù$ +2 "storage"(Q& +4 "core" &K @\  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 6 + 318 counts + "manipulator"&J'ϸ +17 "core" ' + "manipulator"&i& +5 "core" & p c  + "storage"(,& +4 "core" &K C D \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&}'< +20 "core" ' +2 .tSE.seek 1.12 Pucks below Top Plate +3 "storage"(r'c +46 "core" ' +2 "manipulator"&y& +4 "core" & } ~  +2 "manipulator"&o% +4 "core" %! u | +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&b'\ +87 "core" ' +2 .tElbow.seek CC +2 "manipulator"&( +159 "core" ( + "manipulator"&k& +4 "core" &, G Bl +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &s& +3 "core" &, 9 Bl +2 .tForearm.seek CC +2 "manipulator"&@'| +94 "core" ' +2 .tHand.close + "manipulator"&t/ +64 "core" / +2 .tCC.seek :open +2 "collection"'e(p +411 "core" ( + "storage"(g& +4 "core" &K [ d \  +2 "storage"( & +4 "core" &K g g >\  + "manipulator"&p& +4 "core" &(& 0 >K +2 "manipulator"&n% +3 "core" % ω 8 +2 .tForearm.seek :retract +2 "manipulator"&d'\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&\ ( +157 "core" ( +2 "manipulator"&\\& +4 "core" & b +2 "storage"(`& +3 "core" &K l } \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 6 +2 "manipulator"&c'z +107 "core" ' + .tElbow.hold +2 "manipulator"& , +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&v1 +62 "core" 1 +2 "manipulator"&{% +5 "core" % Ά{  \ w K + "storage"('& +4 "core" &K 6 + 8\  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 6 + 312 counts +2 "manipulator"&u'ϲ +17 "core" ' +2 "manipulator"&_& +4 "core" & i   +2 "storage"(U& +3 "core" &K g\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&'< +16 "core" ' +2 "storage"(% +4 "core" %\\ \ +3 ."downElevator"SE.seek :down +3 "storage"('N +98 (% +3 "core" %D8 g i \ SX +2 "manipulator"&x% +5 "core" %3 ~  + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"& '\ +94 "core" ' +45 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 7 of [5..7] +2 #Loading generic puck from tube 7 into Collection Clamp + "collection"'& +4 "core" &\ +2 "manipulator"&9% +4 "core" %\ 3 %{ + "storage"(% +4 "core" %C { t \ +2 "storage"(. +4 "core" .(K + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 7 +2 "storage"(!([ +353 "core" ( +2 .tSC.configure :limp +3 "storage"($\ 1b +2 (w& +2 "core" &[   C\  +2 "manipulator"&& +4 "core" &  +2 .tElbow.seek 7 + "manipulator"&( +22 "core" ( + "manipulator"&& +5 "core" & ? t + "storage"(%& +4 "core" &[ p p N\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&?'k +95 "core" ' + "storage"(~& +5 "core" &[ $\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(q'e +286 "core" ' + "storage"(-- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (]& +3 "core" &[ y \  +2 "manipulator"& & +3 "core" & r | o t +2 .tElbow.seek 7 +2 "manipulator"&( +3 "core" ( + "manipulator"&& +4 "core" & ~ V t +2 "storage"(X& +3 "core" &[ } )\  +2 .tForearm.seek 7 + 300 counts +2 "manipulator"&1' +22 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&l/ +60 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&(& +2 "storage"(m'N +8 "core" & ~ U t + "manipulator"&% +4 "core" %   +2 .tForearm.seek :retract +2 "manipulator"&:'\ +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&5( +147 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +6 "core" ( + "manipulator"&& +5 "core" &% <= + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &%  <= +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&'| +108 "core" ' +2 "manipulator"&I& +4 "core" &% X <= +2 "manipulator"&<% +3 "core" %r c +2 "collection"'R& +4 "core" &\ +2 "collection"'=& +6 "core" &\ +2 .tCC.seek :closed +3 "collection"'>(] +5 "core" &u\ +5 &t\ 5 +61 &Fu\ 1 +5 &?ss\ E + &ks\ N + &`t\ N +2 &ibu\ N +3 & +et\ N +2 &!e\ N + &#dz\ N +9 &%rbv\ M +9 &'2e\ N +9 &(cv\ N +10 &*at\ N +9 &,ycv\ N +9 &.:cs\ N +10 &/e\ N +9 &1b\ N +10 &3b\ N +9 &5Bby\ N +9 &7`u\ N +10 &8_\ M +9 &:c \ N +9 & e\ N +9 &?h \ N +10 &Ag{\ N +9 &CSe\ N +9 &Eav\ M +10 &Feu\ N +9 &Hiw\ N +9 &JUxt\ P +10 &L t\ S +9 &M,\ W +10 &O\ X +9 &QFy\ X +9 &St\ Y +10 &Tt\ Z +9 &Vu\ [ +9 &XCr\ [ +10 &Zs\ ] +9 &[s\ \\ +10 &]&Pu\ 5 +9 &]t\ ] +9 ( +2 &]}v\ Z +2 "collection"'=& +2 #tCollection Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.98 +2 .Hand.open + "manipulator"& 1 +54 "core" 1 +2 "manipulator"&/% +4 "core" % r +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&W'\ +97 "core" ' +2 #tLoading generic puck from tube 7 into Processing Clamp + "processing"%$& +5 "core" &\ + "manipulator"&A% +4 "core" %\ 3 %w +2 "storage"(% +4 "core" %;\ '\  1\ + "storage"(T. +4 "core" .([ + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 7 +2 "storage"()([ +2 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (*& +2 "core" &[ d\  +2 "manipulator"&8& +4 "core" &# :. +2 "manipulator"&.% +3 "core" %\ 3 %w +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 7 +2 "manipulator"&3( +178 "core" ( + "manipulator"&N& +5 "core" & ) E + "storage"(& +4 "core" &[   [\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&B'k +109 "core" ' +2 "storage"(#& +4 "core" &[ @ ; M\  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(7'e +282 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (0& +3 "core" &[   N\  +2 "manipulator"&4& +3 "core" & |  o E +2 .tElbow.seek 7 +2 "manipulator"&&( +3 "core" ( + "manipulator"&V& +4 "core" & z a E +2 "storage"(E& +3 "core" &[ C C \  +2 .tForearm.seek 7 + 300 counts +2 "manipulator"&Z' +24 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&C/ +63 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&j& + "storage"(f'N +7 "core" &  x E + "manipulator"&;% +4 "core" % } m +2 .tForearm.seek :retract +2 "manipulator"&H'\ +88 "core" ' +2 .tElbow.seek PC +2 "manipulator"&(c +168 "core" ' + ."downElevator"SE.stop + "storage"(5 +81 "core" ( +2 "manipulator"&"& +4 "core" &j  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &F& +2 "core" &j < +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&K'[ +107 "core" ' +2 "manipulator"&P& +4 "core" &j   +2 "manipulator"&a% +4 "core" %P u  D +2 "processing"%6& +4 "core" &\ +2 "processing"%& +6 "core" &6\ +2 .tPC.seek :closed +2 "processing"%2(Z +5 "core" &\ +7 & 1\ #b +9 &]W \ 8 +10 &\ L +9 &tZ\ M +9 &4]\ N +10 &\\ \ M +9 & a\ M +9 &"{_\ M +10 &$<_ \ N +9 &%^ \ N +10 &']\ M +9 &)[ \ N +9 &+D]\ N +10 &-b \ M +9 &.b\ N +9 &0_\ N +10 &2L^\ N +9 &4[ \ M +10 &5^\ N +9 &7_\ N +9 &9U] \ M +10 &;\\\ N +9 &<]\ M +9 &>_ \ M +10 &@]\\\ M +9 &B^\ M +10 &Ca\ N +9 &E_\ \ N +9 &Gcg\ N +10 &I r\ P +9 &J \ Q +10 &Lr\ S +9 &NZ \ T +9 &P\ T +10 &Q\ S +9 &S\ T +9 &U_\ U +10 &W!w\ U +9 &X\ U +9 &Z>Lp \ + +10 &Z\ 5\ * +5 ( +2 "processing"%& +4 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.58 + .Hand.open + "manipulator"&G1 +4 "core" &Z\ * +55 1 + "manipulator"&D% +5 "core" % P  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&M'\ +91 "core" ' + "processing"%L& +5 "core" &Z \ * + #tImaging generic puck in Processing Clamp while storing it to tube 7 +2 "manipulator"&S% +4 "core" %\ * I + "storage"(z% +4 "core" %L\ $\ & _\  +2 "storage"(. +3 "core" .([ + "storage"(Q& +4 "core" &[\ (\ ( X\  +2 "storage"(i& +3 "manipulator"&,& +6 "core" &[\ (\ ' e\  + &j +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +3 "storage"(#]kK-0-\ b +2 .tElbow.seek PC +4 "manipulator"&y(c +4 ."raiseStack"SE.seek :beamBreak + "storage"(o'e +3 "core" ( + "manipulator"&Y& +4 "core" &j W +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &[& +2 "core" &j Y +2 .tForearm.seek PC +2 "manipulator"&O'[ +95 "core" ' + .tHand.close + "manipulator"&^/ +63 "core" / +2 .tPC.seek :open +2 "processing"%J(p +85 "core" ' +2 "storage"(h- +3 "core" -'e +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(k'B +45 "core" ' +251 ( + "storage"(s& +4 "core" &[  \  +2 "manipulator"&}& +4 "core" &j h +2 "manipulator"&+% +4 "core" % J 4 +2 .tForearm.seek :retract +2 "manipulator"&t'\ +99 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 7 +2 "manipulator"&b( +248 "core" ( +2 "manipulator"&& +4 "core" & L  + "storage"(g& +4 "core" &[\ '\ % I\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts +2 "manipulator"& 'k +102 "core" ' + .tHand.open +2 "manipulator"&p1 +63 "core" 1 +2 "storage"(n- +3 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate +2 "storage"(\\' +23 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(`' +53 "core" ' + #tLights, camera, ACTION! +2 "storage"(@- +3 "core" -' +2 "storage"(& +4 "core" &[ \  +2 "manipulator"&v& +4 "core" &  |  + .tElbow.seek 7 +2 "manipulator"&{( +9 "core" ( +2 "manipulator"&'& +4 "core" & r  + "storage"(_& +4 "core" &[ \  +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&U'k +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"('M +62 "core" ' + "manipulator"&d& +4 "core" & r   +2 "storage"(& +4 "core" &[ C C 6\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 7 +2 "manipulator"&x'Ω +34 "core" ' + .tElbow.hold +2 "manipulator"&\ , +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"(c'7 +22 "core" ' +2 "manipulator"&% +5 "core" %μr \ 1 ¹* + "storage"(9& +4 "core" &[ \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 7 + 319 counts +2 "manipulator"&u' +18 "core" ' +2 "manipulator"&& +4 "core" & |  +2 "storage"(& +4 "core" &[ C E N\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&r'k +25 "core" ' + "storage"(% +5 "core" %A < I s\ +2 ."downElevator"SE.seek :down +4 "storage"('N +99 (% +3 "core" %8 # ! \ U] +2 "manipulator"&w% +4 "core" %Б x | ? +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +87 "core" ' +61 ' + ."downElevator"SE.stop + "storage"(5 +3 (& +4 "core" &[\ % W ?\  + "collection"'%& +4 "core" &]| \ Z +2 #tStoring generic puck in Collection Clamp to tube 7 + "manipulator"&~% +4 "core" %\ ' 0 = +2 "storage"( % +3 "core" %= $ $ "\ +2 "storage"( . +3 "core" .([ + "storage"(-& +4 "core" &[ $ $ \  +2 "storage"(]& +54 "core" &[ # " \  +3 "manipulator"& & +3 "core" &   +2 .tElbow.seek 7 +2 "manipulator"&( +9 "core" ( + "manipulator"&X& +5 "core" & N  + "storage"(l& +4 "core" &[   \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&('k +102 "core" ' + "storage"(& +5 "core" &[ < I [\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"('e +282 "core" ' +2 "storage"(?- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" & t |  + "storage"(& +4 "core" &[   \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 7 +2 "manipulator"&q'Ω +32 "core" ' + .tElbow.hold +2 "manipulator"&1, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(I- +2 "core" -' +3 .tSE.seek 0.12 Pucks below Top Plate + "storage"(<'o +32 "core" ' + "manipulator"&R% +5 "core" %λu   0 + "storage"(& +4 "core" &[ H\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 7 + 318 counts + "manipulator"&m' +18 "core" ' +2 "manipulator"&:& +4 "core" & n $  +2 "storage"(e& +4 "core" &[ C C \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"& 'k +22 "core" ' +2 .tSE.seek 1.12 Pucks below Top Plate +2 "storage"(/'^ +50 "core" ' + "manipulator"&$& +5 "core" & ~   + "manipulator"&A% +4 "core" %B ~ t  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +87 "core" ' + .tElbow.seek CC +2 "manipulator"&T( +161 "core" ( + "manipulator"&=& +4 "core" &+ A` +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &*& +2 "core" &+  A` +2 .tForearm.seek CC +2 "manipulator"&8'| +96 "core" ' + .tHand.close + "manipulator"&./ +62 "core" / + .tCC.seek :open +2 "collection"'(p +411 "core" ( + "storage"(N& +5 "core" &[ q i g\  + "storage"(& +4 "core" &[ _ d X\  +2 "manipulator"&!& +4 "core" &!$  <? + "manipulator"&5% +4 "core" % z l  +2 .tForearm.seek :retract +2 "manipulator"&#'\ +96 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 7 +2 "manipulator"&W( +156 "core" ( + "manipulator"&& +4 "core" & O +2 "storage"(0& +4 "core" &[ p p \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 7 + "manipulator"&4'Ω +109 "core" ' + .tElbow.hold +2 "manipulator"&V, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&E1 +57 "core" 1 +2 "manipulator"&C% +4 "core" % ν a f + "storage"(j& +4 "core" &[ C C\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 7 + 320 counts + "manipulator"&;' +19 "core" ' +2 "manipulator"&3& +4 "core" & x } O +2 "storage"(B& +4 "core" &[ ^\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&7'k +11 "core" ' +2 "storage"(Z% +4 "core" %d V\ +3 ."downElevator"SE.seek :down +3 "storage"("'N +99 (F% +2 "core" %\\8 { \ UZ +2 "manipulator"&&% +4 "core" %v s r # +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&P'\ +91 "core" ' +46 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 5 of [5..7] + #Loading generic puck from tube 5 into Collection Clamp +2 "collection"'a& +4 "core" &\ +2 "manipulator"&6% +4 "core" %\ 1 $t +2 "storage"(f% +4 "core" %< ~ ~ \ \ +2 "storage"(H. +3 "core" .([ +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"(|(<< +680 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (G& +2 "core" &<= ! ) \ +2 "manipulator"&D& +4 "core" & ( +2 .tElbow.seek 5 +2 "manipulator"&L( +20 "core" ( + "manipulator"&S& +4 "core" &\ i V +2 "storage"(z& +4 "core" &<> v r \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&' +96 "core" ' +2 "storage"(Q& +4 "core" &<> | o H\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(i'e +280 "core" ' + "storage"(,- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (& +3 "core" &<< ] \\ G\ +2 "manipulator"&Y& +3 "core" &\  V +2 .tElbow.seek 5 +2 "manipulator"&[( +3 "core" ( + "manipulator"&K& +4 "core" &\ Q V +2 "storage"(^& +3 "core" &<< [ \\ \ +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&h'[ +25 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +53 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&M& + "storage"(2'N +8 "core" &\ ~ V + "manipulator"&s% +4 "core" % g } R +2 .tForearm.seek :retract +2 "manipulator"&o'\ +94 "core" ' +2 .tElbow.seek CC +2 "manipulator"&}( +149 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +3 "core" ( +2 "manipulator"&+& +3 "Can" GC +2 "core" &)  9 @Z +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &O& +3 "core" &( I @Z +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&'| +101 "core" ' + "manipulator"&g& +5 "core" &( x ?R + "manipulator"&y% +4 "core" %υ Q +2 "collection"'p& +4 "core" &\ +3 "collection"'n& +5 "core" &t\ +2 .tCC.seek :closed +2 "collection"'@(] +4 "core" &r\ +7 & 8t\ $e +9 &iWt\ 8 +10 &r\ L +9 &z_s\ N +9 &=`\ N +10 &ew\ N +9 & e\ N +10 &"ct\ N +9 &$Dbr\ N +9 &&cr\ N +10 &'es\ N +9 &)cu\ N +9 &+M`r\ N +10 &-as\ N +9 &.cs\ N +10 &0cs\ N +9 &2Tds\ N +9 &4cr\ N +10 &5`s\ M +9 &7ar\ M +9 &9^_s\ M +10 &; `r\ M +9 &<cr\ N +10 &>cs\ N +9 &@ecr\ N +9 &B(bt\ M +10 &C`r\ M +9 &E^q\ N +9 &Gmbx\ N +10 &I+ps\ O +9 &Jq\ Q +10 &L7lz\ V +9 &NXp\ X +9 &Pr\ Y +10 &Qt\ Y +9 &S\ Z +9 &UXs\ Z +10 &Wq\ Z +9 &X\ \\ +10 &Zs\ ] +9 &\\[t\ I +9 &]hBr\ "i +10 &]yr\ Q +2 ( +2 "collection"'n& +3 #tCollection Clamp onSpring/offSpring for 10/26 samples, on/off torque 1.95 + .Hand.open + "manipulator"&1 +54 "core" 1 + "manipulator"&v% +4 "core" % v d +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&''\ +107 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp + "processing"%_& +4 "core" &0\ +2 "manipulator"&t% +4 "core" %\ C  + "storage"(d% +4 "core" %N $ $ \ \ +2 "storage"(. +3 "core" .(<< + "storage"(k& +4 "core" &<< $ $ !\ +2 "storage"(& +4 "core" &<< $ $ \ + "manipulator"&9& +4 "core" &% q =B +2 "manipulator"&\\% +4 "core" %\ e  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&( +164 "core" ( + "manipulator"&& +5 "core" & k  + "storage"(& +4 "core" &<< 8 8 S\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&b' +97 "core" ' +2 "storage"( & +4 "core" &<< A E \ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(`'e +283 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (w& +3 "core" &<9 !  \ +2 "manipulator"&U& +4 "core" &   +2 .tElbow.seek 5 +51 "manipulator"&{( +4 "core" ( +2 "manipulator"&& +4 "core" &   + "storage"(x& +4 "core" &<9   t\ +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&u'[ +26 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&/ +60 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&%& +2 "storage"(~'N +8 "core" & t } -  + "manipulator"& % +4 "core" % | q s ~ +2 .tForearm.seek :retract +2 "manipulator"& '\ +89 "core" ' +2 .tElbow.seek PC +2 "manipulator"&-(c +161 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +74 "core" ( +3 "manipulator"&c& +4 "core" &_  F +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &]& +3 "core" &_ c F +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"& '[ +91 "core" ' + "manipulator"&X& +5 "core" &_ 7 F +2 "manipulator"&l% +3 "core" %d Q +2 "processing"%r& +4 "core" &3\ +2 "processing"%& +5 "core" &7\ +2 .tPC.seek :closed +2 "processing"%(Z +4 "core" &\ +8 & 1\ #a +10 &^W\ 7 +9 &\ L +9 &m^\ N +10 &/]\ N +9 &[\ M +9 & [\ N +10 &"u]\ N +9 &$7]\ N +9 &%^\ M +10 &'Z\ M +9 &)~\\\ M +10 &+@Z\ M +9 &-]\ M +9 &.a\ N +10 &0`\ N +9 &2G^\ N +9 &4 ]\ N +10 &5^ \ N +9 &7_\ M +10 &9OZ\ N +9 &;_ \ N +9 &<]\ N +10 &>b\ M +9 &@Y^\ M +9 &Ba\ \ N +10 &C` \ M +9 &E\\\ N +10 &G^e\ N +9 &Ir \ P +9 &J}\ Q +10 &Lx\ S +9 &NU\ T +9 &P \ T +10 &Q\ T +9 &S\ T +10 &UZ\ U +9 &W \ U +9 &X\ \ T +10 &Z<Px\ \ )z +9 &Zb\ \ 6 +9 ( +3 "processing"%& +3 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.56 + .Hand.open + "manipulator"&\ 1 +4 "core" &Z(\ 3 +55 1 + "manipulator"&% +4 "core" % d +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&?'\ +92 "core" ' + "processing"%& +5 "core" &Z(&\ 3 + #tImaging generic puck in Processing Clamp while storing it to tube 5 + "manipulator"&% +4 "core" %\ ( v C +2 "storage"(I% +4 "core" %S\ (\ ' a\  +2 "storage"(R. +3 "core" .(<< +2 "storage"(& +3 "core" &<9\ (\ ( \ +2 "storage"(:& +4 "manipulator"&e& +4 "core" &<9\ (\ ( B\ + &_ u F +3 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +3 "storage"(#]kK-0-\ b +4 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +3 "manipulator"&$(c +3 ."raiseStack"SE.seek :beamBreak +3 "storage"(A'e +3 "core" ( + "manipulator"&(& +4 "core" &_ l F +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &_ z F +2 .tForearm.seek PC +2 "manipulator"&'[ +95 "core" ' + .tHand.close + "manipulator"&q/ +62 "core" / + .tPC.seek :open +2 "processing"%m(p +91 "core" ' +2 "storage"(<- +3 "core" -'e +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(='B +33 "core" ' +257 ( +2 "storage"(*& +4 "core" &<9 C + L\ + "manipulator"& & +4 "core" &_  F +2 "manipulator"&1% +4 "core" % j   +2 .tForearm.seek :retract + "manipulator"&.'\ +93 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&( +257 "core" ( +2 "manipulator"&>& +4 "core" & ( + "storage"(N& +4 "core" &<9   U\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&' +93 "core" ' + .tHand.open + "manipulator"&!1 +59 "core" 1 + "storage"(5- +4 "core" -'B +3 .tSE.seek -0.16 Pucks below Top Plate + "storage"(' +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(0' +52 "core" ' +2 #tLights, camera, ACTION! + "storage"(8- +4 "core" -' + "storage"(T& +4 "core" &<8 a b \ +2 "manipulator"&E& +4 "core" & ( + .tElbow.seek 5 +2 "manipulator"&C( +4 "core" ( + "manipulator"&j& +4 "core" & y ( +2 "storage"(3& +4 "core" &<7 X \\\ +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&B' +3 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"(Z'M +62 "core" ' +2 "manipulator"&#& +4 "core" &  ( +2 "storage"(F& +4 "core" &<7   \ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&&'/ +31 "core" ' + .tElbow.hold +2 "manipulator"&W, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.07 Pucks below Top Plate + "storage"(4'7 +23 "core" ' + "manipulator"&a% +5 "core" %8g * + W Ŷ + "storage"(6& +5 "core" &<7 [\ + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 309 counts + "manipulator"&f'd +18 "core" ' +2 "manipulator"&;& +4 "core" &D\ y m g ` +2 "storage"(H& +4 "core" &<7 C F \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&/' +22 "core" ' + "storage"(7% +5 "core" %= 9 @ \ +2 ."downElevator"SE.seek :down +5 "storage"("'N +98 ()% +3 "core" %Z6 # ! \ TZ +2 "manipulator"&G% +5 "core" % } s +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&D'\ +97 "core" ' +49 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (S& +4 "core" &<7\ \  S\ + "collection"'z& +4 "core" &]u\ Q +2 #tStoring generic puck in Collection Clamp to tube 5 + "manipulator"&Q% +5 "core" %\ 6 C & + "storage"(V% +4 "core" %E   5\ +2 "storage"(P. +3 "core" .(<< + "storage"(,& +4 "core" &<7   \ +2 "storage"(& +4 "core" &<7   \ + "manipulator"&Y& +4 "core" &D\ N ` +2 .tElbow.seek 5 +2 "manipulator"&K( +22 "core" ( + "manipulator"&^& +4 "core" &  S  +2 "storage"(& +4 "core" &<7 ! # \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&M' +101 "core" ' +2 "storage"(s& +4 "core" &<7 ? 8 {\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(L'e +276 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&+& +2 "core" &    +2 "storage"(O& +4 "core" &<7 0  \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&i'/ +24 "core" ' +2 .tElbow.hold + "manipulator"&h, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(g- +2 "core" -' +3 .tSE.seek 0.12 Pucks below Top Plate + "storage"(y'p +27 "core" ' +2 "manipulator"&p% +4 "core" %B Q +2 "storage"([& +3 "core" &<7 \ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 319 counts + "manipulator"&2'n +18 "core" ' + "manipulator"&o& +4 "core" && n  r +2 "storage"(& +4 "core" &<7 E F *\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&' +21 "core" ' +2 .tSE.seek 1.12 Pucks below Top Plate +2 "storage"(v'_ +49 "core" ' +2 "manipulator"&_& +4 "core" && q q g r +2 "manipulator"&t% +4 "core" % { ~ # +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&d'\ +88 "core" ' +2 .tElbow.seek CC +2 "manipulator"&( +154 "core" ( + "manipulator"&n& +55 "core" &# : :0 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &k& +2 "core" &#  :0 +2 .tForearm.seek CC +2 "manipulator"&'| +97 "core" ' + .tHand.close + "manipulator"&9/ +62 "core" / + .tCC.seek :open +2 "collection"'\\(p +411 "core" ( + "storage"(& +5 "core" &<7 p p \ + "storage"(& +4 "core" &<7 q i \ +2 "manipulator"&& +4 "core" & 7 + "manipulator"& % +4 "core" % ρ +2 .tForearm.seek :retract +2 "manipulator"&}'\ +97 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&'( +156 "core" ( +2 "manipulator"&& +4 "core" &  +2 "storage"(w& +4 "core" &<7 { } \ + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 5 +2 "manipulator"&U'/ +113 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&x1 +63 "core" 1 +2 "manipulator"&% +5 "core" % Ao  ¸# + "storage"(%& +4 "core" &<7   {\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 318 counts + "manipulator"& 'm +17 "core" ' +2 "manipulator"&& +4 "core" &4 } d +2 "storage"(b& +3 "core" &<7 "\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&`' +22 "core" ' +2 "storage"(u% +4 "core" %c 5\ +3 ."downElevator"SE.seek :down +3 "storage"(c'N +98 (]% +3 "core" %-9 \ TY +2 "manipulator"&{% +4 "core" % q { +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&X'\ +94 "core" ' +45 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 6 of [5..7] + #Loading generic puck from tube 6 into Collection Clamp +2 "collection"'l& +5 "core" &m\ + "manipulator"&r% +5 "core" %\ 3 ` %z + "storage"(~% +4 "core" %? j i \ +2 "storage"( . +3 "core" .(<< +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"(J(K +361 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (\ & +3 "core" &K% C C \  +2 "manipulator"&& +4 "core" &4  +2 .tElbow.seek 6 +2 "manipulator"&( +33 "core" ( +2 "manipulator"&& +4 "core" & l L +2 "storage"(I& +3 "core" &K p o \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&R'< +99 "core" ' +2 "storage"(& +4 "core" &K G\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(e'e +281 "core" ' + "storage"(:- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (& +4 "core" &K } t U\  + "manipulator"&(& +4 "core" & N J +2 .tElbow.seek 6 +2 "manipulator"&( +3 "core" ( +2 "manipulator"& & +4 "core" &  J + "storage"(q& +5 "core" &K j j \  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&<'Ϧ +11 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&-/ +55 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&?& +2 "storage"('N +7 "core" & 6 J +2 "manipulator"&*% +4 "core" % ϫ  % +2 .tForearm.seek :retract + "manipulator"& '\ +93 "core" ' +2 .tElbow.seek CC +2 "manipulator"&A( +148 "core" ( + ' + "manipulator"&1& +3 ."downElevator"SE.stop +4 "storage"(5 +3 "core" &$ 0 ;4 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &# O ;4 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&>'| +104 "core" ' +2 "manipulator"&N& +4 "core" &$ ;4 +2 "manipulator"&$% +4 "core" %υ O +2 "collection"'!& +4 "core" &\ +2 "collection"'5& +5 "core" &r\ +2 .tCC.seek :closed +2 "collection"'8(] +4 "core" &r\ +7 &>r\ $e +10 &eVq\ 8 +9 &n\ M +9 &zap\ N +10 &<cq\ N +9 &ap\ N +10 & ep\ N +9 &"co\ M +9 &$Dcu\ N +10 &&fn\ N +9 &'cx\ M +10 &)`t\ N +9 &+Mdo\ M +9 &-et\ N +10 &.gt\ N +9 &0gy\ N +9 &2Scq\ N +10 &4cp\ N +9 &5bo\ N +9 &7_r\ M +10 &9]_o\ M +9 &;bm\ N +10 &<ao\ N +9 &>_p\ N +9 &@dat\ N +10 &B'`y\ M +9 &Cat\ N +9 &E_z\ N +10 &Gkdu\ N +9 &I'p~\ P +10 &Js\ R +9 &L&Y}\ V +9 &NXs\ W +10 &Px\ X +9 &Qu\ Y +9 &S}\ Z +10 &UXu\ Z +9 &W\ Z +10 &Xx\ \\ +9 &Zu\ \\ +9 &\\[v\ I +10 &]hB\ "h +9 &]|u\ T +2 ( +2 "collection"'5& +3 #tCollection Clamp onSpring/offSpring for 10/26 samples, on/off torque 1.96 +2 .Hand.open + "manipulator"&T1 +53 "core" 1 + "manipulator"&E% +5 "core" % L  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&j'\ +92 "core" ' +2 #tLoading generic puck from tube 6 into Processing Clamp + "processing"%3& +5 "core" & \ + "manipulator"&.% +4 "core" %\ ' ? : +2 "storage"(#% +4 "core" %8\ \  f\ +2 "storage"(F. +3 "core" .(K + "storage"(a& +4 "core" &K\ #\  b\  +2 "storage"(=& +4 "core" &K\ $\ ' &\  + "manipulator"&6& +4 "core" &# + :/ +2 "manipulator"&% +4 "core" %\ ' 9 : +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&;( +151 "core" ( +2 "manipulator"&H& +4 "core" & \\ +2 "storage"(7& +4 "core" &K # $ 1\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&'< +106 "core" ' +2 "storage"(& +4 "core" &K ? \\ \  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(0'e +277 "core" ' + "storage"()- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (G& +3 "core" &K ; B \  +2 "manipulator"&B& +3 "core" & t s +2 .tElbow.seek 6 +2 "manipulator"&C( +3 "core" ( + "manipulator"&Z& +4 "core" & | + "storage"(&& +4 "core" &K E C\  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&S'Ϧ +26 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&f/ +59 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"&z& + "storage"(Q'N +6 "core" & q +2 "manipulator"&V% +4 "core" % Ϥ ~ W +2 .tForearm.seek :retract +2 "manipulator"&P'\ +96 "core" ' +2 .tElbow.seek PC + "manipulator"&,(c +156 "core" ' + ."downElevator"SE.stop + "storage"(5 +94 "core" ( + "manipulator"&4& +5 "core" &l " + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &l | +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&Y'[ +100 "core" ' + "manipulator"&^& +5 "core" &l L + "manipulator"&% +4 "core" %] l +2 "processing"%/& +4 "core" &\ +2 "processing"%s& +5 "core" &\ +3 .tPC.seek :closed +3 "processing"%"(Z +3 "core" &\ +5 &\ 1 +10 &G\ 1 +9 &3s\ E +10 &g\ N +9 &_\ M +9 &^_\ N +10 & !^\ M +9 &![\ M +9 &#]\ N +10 &%f\\\ N +9 &')_\ M +10 &(Z\ M +9 &*\\\ M +9 &,n`\ N +10 &.0^\ N +9 &/\\\ M +9 &1^\ M +10 &3x[\ M +9 &59_\ M +10 &6Z\ M +9 &8]\ M +9 &:^\ M +10 &]\ M +9 &?\\ \ M +10 &A`\ N +9 &CH[ \ N +10 &E\ \\\ N +9 &Fc\ N +9 &Hp\ P +10 &JG{\ Q +9 &L\ T +9 &M\ T +10 &O\ T +9 &QF\ T +10 &S \ T +9 &T\ U +9 &V\ U +10 &XJ\ U +9 &Yzx \ + +9 &Z'h \ / +9 ( +3 "processing"%s& +3 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.57 + .Hand.open +2 "manipulator"&W1 +3 "core" &Z\ ( +55 1 + "manipulator"&D% +4 "core" % ] 9 +2 .tForearm.reconfigure :loose +52 "manipulator"&#Q@2^d^b +4 .tForearm.seek :retract +2 "manipulator"&'\ +96 "core" ' + "processing"%+& +5 "core" &Z \ ( + #tImaging generic puck in Processing Clamp while storing it to tube 6 + "manipulator"&O% +4 "core" %\ 0 R $p +2 "storage"(g% +4 "core" %?\ &\  '\ \ +2 "storage"(p. +3 "core" .(K + "storage"([& +4 "core" &K\ \  \  +2 "storage"(o& +3 "manipulator"&& +6 "core" &K\ \ \  + &l W +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +3 "storage"(#]kK-0-\ b +2 .tElbow.seek PC +4 "manipulator"&_(c +4 ."raiseStack"SE.seek :beamBreak + "storage"(t'e +3 "core" ( + "manipulator"&M& +4 "core" &l 5 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &K& +2 "core" &l  +3 .tForearm.seek PC + "manipulator"&L'[ +95 "core" ' + .tHand.close +2 "manipulator"&i/ +56 "core" / +2 .tPC.seek :open +2 "processing"%2(p +91 "core" ' + "storage"(y- +3 "core" -'e +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(n'B +34 "core" ' +257 ( + "storage"(& +4 "core" &K  [\  +2 "manipulator"&k& +4 "core" &l A + "manipulator"&h% +4 "core" % d f +2 .tForearm.seek :retract +2 "manipulator"&9'\ +93 "core" ' +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&d( +251 "core" ( + "manipulator"&@& +5 "core" & B # + "storage"(& +4 "core" &K\ \ I\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&'< +103 "core" ' +2 .tHand.open + "manipulator"&1 +64 "core" 1 +2 "storage"( - +4 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate +2 "storage"(' +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(w' +51 "core" ' + #tLights, camera, ACTION! + "storage"(- +4 "core" -' +2 "storage"(& +4 "core" &K W\  +2 "manipulator"&x& +4 "core" &  # + .tElbow.seek 6 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&%& +4 "core" & ? # + "storage"(& +4 "core" &K r\  +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&b'< +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.11 Pucks below Top Plate + "storage"(u'M +58 "core" ' + "manipulator"&}& +5 "core" & s q K # + "storage"(]& +4 "core" &K # # %\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&{'z +31 "core" ' +2 .tElbow.hold +2 "manipulator"&', +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"(U'7 +23 "core" ' + "manipulator"&l% +5 "core" %Ό{  n ļF +2 "storage"( & +4 "core" &K "\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 318 counts + "manipulator"&r'ϸ +17 "core" ' +2 "manipulator"&~& +4 "core" &  < # +2 "storage"( & +4 "core" &K # ! \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&v'< +17 "core" ' + "storage"(`% +5 "core" %= & C s\ +2 ."downElevator"SE.seek :down +3 "storage"(c'N +99 (|% +3 "core" %;  z\ U] +2 "manipulator"&\ % +4 "core" %7 t q ` +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +90 "core" ' +60 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (& +5 "core" &K\ \  \  + "collection"'I& +4 "core" &]~\ T +2 #tStoring generic puck in Collection Clamp to tube 6 + "manipulator"&% +4 "core" %\ ' z ; +2 "storage"(% +4 "core" %A \ \ + "storage"(X. +3 "core" .(K +2 "storage"(:& +4 "core" &K   \  + "storage"(& +5 "core" &K $ W \  + "manipulator"&(& +4 "core" & # +2 .tElbow.seek 6 +2 "manipulator"& ( +3 "core" ( + "manipulator"&q& +4 "core" & # +2 "storage"(-& +3 "core" &K   t\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&?'< +102 "core" ' +2 "storage"(*& +4 "core" &K D F L\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('e +283 "core" ' + "storage"(R- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&1& +3 "core" & ~ C # +2 "storage"(& +3 "core" &K   \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 + "manipulator"&e'z +31 "core" ' + .tElbow.hold +2 "manipulator"&<, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(N- +2 "core" -' +2 .tSE.seek 0.12 Pucks below Top Plate +2 "storage"($'t +29 "core" ' + "manipulator"&!% +4 "core" %Ύr + , O ƹ) +2 "storage"(& +4 "core" &K %\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 320 counts + "manipulator"&'Ϻ +18 "core" ' + "manipulator"& & +5 "core" & j 5 "~ + "storage"(\\& +4 "core" &K ! ! E\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&T'< +19 "core" ' +2 .tSE.seek 1.12 Pucks below Top Plate +2 "storage"(E'c +48 "core" ' +2 "manipulator"&3& +4 "core" & r u "~ +2 "manipulator"&.% +4 "core" %7 p q i * +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&#'\ +86 "core" ' +2 .tElbow.seek CC +2 "manipulator"&F( +168 "core" ( +2 "manipulator"&a& +4 "core" & O f + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &=& +2 "core" & f +2 .tForearm.seek CC +2 "manipulator"&6'| +95 "core" ' +2 .tHand.close + "manipulator"&5/ +52 "core" / +2 .tCC.seek :open + "collection"'(p +411 "core" ( +2 "storage"(H& +4 "core" &K j s -\  +2 "storage"(>& +3 "core" &K } } }\  +2 "manipulator"&7& +4 "core" & f + "manipulator"&% +5 "core" % i   + .tForearm.seek :retract +2 "manipulator"&A'\ +93 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&j( +150 "core" ( + "manipulator"&)& +4 "core" & z +2 "storage"(G& +4 "core" &K { s f\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 6 + "manipulator"&B'z +106 "core" ' + .tElbow.hold +2 "manipulator"&Z, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&&1 +56 "core" 1 +2 "manipulator"&f% +5 "core" % Ύ ! q i + "storage"(z& +4 "core" &K C C \  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 6 + 320 counts +2 "manipulator"&V'Ϻ +11 "core" ' +2 "manipulator"&;& +4 "core" & ~  4 +2 "storage"(& +4 "core" &K [\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&0'< +19 "core" ' +2 "storage"(S% +4 "core" %e g\ +2 ."downElevator"SE.seek :down +4 "storage"(4'N +98 (% +3 "core" %)< i x J\ U\\ +2 "manipulator"&C% +4 "core" % |  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&^'\ +87 "core" ' +51 ' +51 ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 7 of [5..7] + #Loading generic puck from tube 7 into Collection Clamp +2 "collection"'& +4 "core" &\ +2 "manipulator"&/% +4 "core" %\ ( 8 ? +2 "storage"(Q% +3 "core" %> i i "\  +2 "storage"(P. +3 "core" .(K +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 7 +2 "storage"(m([ +357 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (W& +2 "core" &[% D 8 \  +2 "manipulator"&D& +4 "core" &  4 +2 .tElbow.seek 7 +2 "manipulator"&s( +13 "core" ( +2 "manipulator"&+& +4 "core" & 4 +2 "storage"(O& +4 "core" &[ s { k\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&g'k +105 "core" ' +2 "storage"(p& +4 "core" &[ 3\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(['e +282 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (o& +3 "core" &[ b\  +2 "manipulator"&M& +4 "core" & q p X + .tElbow.seek 7 +2 "manipulator"&K( +8 "core" ( +2 "manipulator"&Y& +4 "core" & P r W +2 "storage"(i& +4 "core" &[ a\  +2 .tForearm.seek 7 + 300 counts + "manipulator"&y' +15 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&,/ +62 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& + "storage"("'N +7 "core" & p s ' +2 "manipulator"&% +4 "core" % v v H B +2 .tForearm.seek :retract +2 "manipulator"&k'\ +98 "core" ' +2 .tElbow.seek CC +2 "manipulator"&t( +143 "core" ' + ."downElevator"SE.stop + "storage"(5 +17 "core" ( + "manipulator"&h& +5 "core" &*   @\\ + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &L& +3 "core" &* - @\\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&@'| +106 "core" ' +2 "manipulator"&& +4 "core" &* z @[ +2 "manipulator"&_% +4 "core" %q ` +2 "collection"'& +4 "core" &\ +2 "collection"' & +5 "core" &{\ +2 .tCC.seek :closed +2 "collection"'(] +4 "core" &\ +7 & 8\ $e +9 &hU\ 7 +10 &~\ L +9 &wb|\ M +9 &8c\ N +10 &d}\ N +9 & c\ N +9 &"}f~\ N +10 &$Ba\ M +9 &&f|\ N +10 &'d}\ M +9 &)b\ M +9 &+Ig{\ M +10 &- e}\ M +9 &.c~\ N +9 &0g}\ N +10 &2Qh{\ M +9 &4a~\ M +10 &5c~\ M +9 &7b}\ N +9 &9Y`~\ M +10 &;c{\ M +9 &<b}\ N +9 &>b\ N +10 &@ad}\ M +9 &B#`~\ M +10 &Ca\ M +9 &Eb\ M +9 &Gib\ M +10 &I'p|\ O +9 &J~\ Q +9 &La\ T +10 &NW\ V +9 &P}\ X +10 &Q\ X +9 &S}\ Y +9 &UU\ Z +10 &W}\ Z +9 &X\ [\ +10 &Z~\ \\ +9 &\\W\ I +9 &]c?\ #l +10 &]z\ P +5 ( + "collection"' & +5 #tCollection Clamp onSpring/offSpring for 10/26 samples, on/off torque 1.95 + .Hand.open +2 "manipulator"&1 +3 "core" &]p}\ P +55 1 + "manipulator"&x% +5 "core" % q | +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&%'\ +98 "core" ' +2 #tLoading generic puck from tube 7 into Processing Clamp + "processing"%& +5 "core" &\ + "manipulator"&9% +4 "core" %\ 6 & +2 "storage"(}% +3 "core" %<\ \  \ +2 "storage"(]. +3 "core" .([ + "storage"(l& +4 "core" &[\ \ ' C\  +2 "storage"(n& +4 "core" &[\ %\  7\  + "manipulator"& & +4 "core" &%  =C +2 "manipulator"&~% +3 "core" %\ 6  & +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 7 +2 "manipulator"&( +160 "core" ( + "manipulator"& & +5 "core" & #  + "storage"(`& +4 "core" &[  \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&d'k +96 "core" ' + "storage"(& +4 "core" &[ ? \\ j\  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(w'e +283 "core" ' +2 "storage"(|- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (\ & +2 "core" &[  0 \  +2 "manipulator"&b& +4 "core" & s q g  + .tElbow.seek 7 +2 "manipulator"&( +3 "core" ( + "manipulator"&u& +4 "core" & i R  +2 "storage"({& +3 "core" &[ C B \  +2 .tForearm.seek 7 + 300 counts +2 "manipulator"&' +28 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&r/ +61 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&I& + "storage"('N +7 "core" & t s ^  +2 "manipulator"&% +4 "core" % v {  + .tForearm.seek :retract +2 "manipulator"&X'\ +90 "core" ' +2 .tElbow.seek PC +2 "manipulator"&:(c +166 "core" ' + ."downElevator"SE.stop + "storage"(5 +83 "core" ( +2 "manipulator"&U& +4 "core" &d " + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &d  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&('[ +103 "core" ' +2 "manipulator"&q& +4 "core" &d 4 +2 "manipulator"&-% +4 "core" %d 2 + "processing"%v& +4 "core" &\ +2 "processing"%*& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%c(Z +4 "core" &\ +7 & +\ #a +9 &WV\ 8 +9 &~\ L +10 &mY\ M +9 &.]\ N +10 &]\ N +9 & Z\ M +9 &"vZ\ M +10 &$6]\ N +9 &%Y\ M +9 &'^\ N +10 &)|]\ N +9 &+?]\ M +10 &-_\ N +9 &.`\ M +9 &0\\\ M +10 &2F_\ N +9 &4\\\ N +9 &5\\\ N +10 &7Z\ M +9 &9OZ\ M +10 &;`\ N +9 &<\\\ N +9 &>`\ N +10 &@WZ\ M +9 &B]\ N +9 &C` \ N +10 &E_\ M +9 &G[e\ O +10 &Im \ O +9 &J \ Q +9 &L\ S +10 &NR\ T +9 &P\ T +9 &Q\ \ T +10 &S \ T +9 &UZ\ T +10 &W\ U +9 &X \ U +9 &Z:Mr\ \ - +10 &Z-\ * +5 ( + "processing"%*& +5 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.59 + .Hand.open +2 "manipulator"&'1 +3 "core" &Z\ * +49 1 + "manipulator"&% +4 "core" % d  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&R'\ +98 "core" ' + "processing"%1& +4 "core" &Z7\ * +2 #tImaging generic puck in Processing Clamp while storing it to tube 7 + "manipulator"&% +4 "core" %\ 1 $u +2 "storage"(N% +4 "core" %Q\ (\  \ +2 "storage"(!. +3 "core" .([ + "storage"(& +4 "core" &[\ \  U\  +2 "storage"( & +4 "manipulator"&\\& +5 "core" &[\ \  N\  + &d & +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +2 "storage"(#]kK-0-\ b +2 "manipulator"&3(c +6 ."raiseStack"SE.seek :beamBreak +2 "storage"(.'e +3 "core" ( + "manipulator"&?& +4 "core" &d  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 & & +2 "core" &d  +2 .tForearm.seek PC +2 "manipulator"&'[ +99 "core" ' + .tHand.close +2 "manipulator"&e/ +62 "core" / +2 .tPC.seek :open +2 "processing"%(p +83 "core" ' +3 "storage"($- +3 "core" -'e + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(a'B +43 "core" ' +251 ( + "storage"(=& +5 "core" &[  \  + "manipulator"&T& +4 "core" &d 3 +2 "manipulator"&<% +3 "core" % l J +2 .tForearm.seek :retract +2 "manipulator"&5'\ +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 7 + "manipulator"&#( +252 "core" ( + "manipulator"&8& +4 "core" & i f +2 "storage"(H& +21 "core" &[   \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&>'k +101 "core" ' +2 .tHand.open + "manipulator"&71 +64 "core" 1 +2 "storage"(- +4 "core" -'B +53 .tSE.seek -0.16 Pucks below Top Plate +2 "storage"()' +25 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(G' +49 "core" ' +2 #tLights, camera, ACTION! + "storage"(6- +4 "core" -' +2 "storage"(F& +3 "core" &[ ,\  +2 "manipulator"&&& +4 "core" &   f +2 .tElbow.seek 7 +2 "manipulator"&f( +3 "core" ( + "manipulator"&z& +4 "core" & } x y f +2 "storage"(;& +4 "core" &[ u\  +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&'k +10 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"(S'M +64 "core" ' +2 "manipulator"&A& +4 "core" &  . f +2 "storage"(& +4 "core" &[ E C\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 7 +2 "manipulator"&C'Ω +32 "core" ' +2 .tElbow.hold +2 "manipulator"&j, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"(B'7 +24 "core" ' +2 "manipulator"&% +5 "core" %ζ  S p + "storage"(V& +4 "core" &[\  :\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 7 + 313 counts +2 "manipulator"&E' +19 "core" ' + "manipulator"&/& +5 "core" & O f + "storage"(Q& +4 "core" &[ C C \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&P'k +23 "core" ' +2 "storage"(0% +5 "core" %? @ 8 G\ +2 ."downElevator"SE.seek :down +3 "storage"(4'N +99 (J% +3 "core" %6   \ U^ +2 "manipulator"&W% +4 "core" %v ~   +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&D'\ +97 "core" ' +56 ' + ."downElevator"SE.stop + "storage"(5 +3 (+& +4 "core" &[ V\ % (\  +2 "collection"'O& +3 "core" &]o\ P +2 #tStoring generic puck in Collection Clamp to tube 7 + "manipulator"&p% +4 "core" %\ 6 B & +2 "storage"(Z% +4 "core" %G ! "\ \ +2 "storage"(^. +3 "core" .([ + "storage"(& +4 "core" &[ ! ! %\  +2 "storage"(o& +4 "core" &[ ! ! \  +2 "manipulator"&M& +3 "core" & f +2 .tElbow.seek 7 +2 "manipulator"&Y( +3 "core" ( +2 "manipulator"&i& +4 "core" & 2 f +2 "storage"(,& +4 "core" &[ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&'k +96 "core" ' +2 "storage"(& +4 "core" &[ @ B \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(s'e +283 "core" ' + "storage"(g- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&h& +3 "core" &  f +2 "storage"(L& +3 "core" &[ ! # \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 7 +2 "manipulator"&['Ω +28 "core" ' + .tElbow.hold +2 "manipulator"&y, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(- +3 "core" -' +2 .tSE.seek 0.12 Pucks below Top Plate + "storage"(_'o +44 "core" ' + "manipulator"&K% +5 "core" %μ 8 f f + "storage"(& +4 "core" &[ \  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 7 + 319 counts +2 "manipulator"&"' +19 "core" ' + "manipulator"&k& +5 "core" & n < f + "storage"(& +4 "core" &[ F C \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&'k +19 "core" ' +2 .tSE.seek 1.12 Pucks below Top Plate +2 "storage"(x'^ +47 "core" ' + "manipulator"&& +5 "core" & ~ < f + "manipulator"&9% +4 "core" %J }   +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&}'\ +95 "core" ' +2 .tElbow.seek CC +2 "manipulator"&]( +151 "core" ( + "manipulator"&l& +5 "core" &* @] + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 & & +3 "core" &* % @] +2 .tForearm.seek CC + "manipulator"&n'| +95 "core" ' + .tHand.close + "manipulator"& / +54 "core" / +2 .tCC.seek :open + "collection"'~(p +411 "core" ( +2 "storage"(@& +4 "core" &[ o u |\  + "storage"( & +4 "core" &[ q i \  +2 "manipulator"&`& +3 "core" &#" ? :1 +2 "manipulator"&% +4 "core" % ϐ 8  + .tForearm.seek :retract +2 "manipulator"&t'\ +97 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 7 +2 "manipulator"&%( +171 "core" ( +2 "manipulator"&|& +4 "core" & 8 +2 "storage"(\ & +4 "core" &[ q s t\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 7 + "manipulator"&b'Ω +107 "core" ' + .tElbow.hold +2 "manipulator"&u, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&{1 +55 "core" 1 +2 "manipulator"&r% +5 "core" % ν~ @ 0 N + "storage"(I& +4 "core" &[ B C <\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 7 + 320 counts + "manipulator"&' +17 "core" ' + "manipulator"&& +4 "core" & i 8 +2 "storage"(d& +4 "core" &[ V\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&w'k +18 "core" ' +2 "storage"(% +4 "core" %W ^\ +3 ."downElevator"SE.seek :down +3 "storage"(U'N +98 (% +3 "core" %F9 w \ TX +2 "manipulator"&% +4 "core" %T { d +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&q'\ +86 "core" ' +53 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 5 of [5..7] +2 #Loading generic puck from tube 5 into Collection Clamp + "collection"'-& +5 "core" &\ + "manipulator"&v% +4 "core" %\ ( K +2 "storage"(% +4 "core" %B M\ + "storage"(X. +3 "core" .([ +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 +2 "storage"(2(<< +670 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 ('& +2 "core" &]\ M +9 &Ac\ M +10 &Bcw\ N +9 &D_|\ M +9 &FEcx\ N +10 &Hd}\ N +9 &Iu\ P +9 &K|\ S +10 &M4:|\ V +9 &N{\ W +10 &P|\ X +9 &Rs\ Y +9 &T4\ Y +10 &U\ Z +9 &W|\ Z +9 &Yqz\ \\ +10 &[4\ \\ +9 &\\z~\ 1 +10 &]&~\ ^ +8 ( +3 "collection"'& +3 #tCollection Clamp onSpring/offSpring for 9/25 samples, on/off torque 1.98 + .Hand.open +2 "manipulator"&61 +3 "core" &]p\ O +61 1 +2 "manipulator"&F% +4 "core" % }  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&&'\ +96 "core" ' + #tLoading generic puck from tube 5 into Processing Clamp +2 "processing"%z& +4 "core" &\ +2 "manipulator"&;% +3 "core" %\ - < "[ +2 "storage"(A% +4 "core" %?   \ +2 "storage"(. +3 "core" .(& +4 "core" &<< D = Q\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(G'e +280 "core" ' + "storage"(J- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (W& +3 "core" &<9   \ +2 "manipulator"&& +4 "core" &  + .tElbow.seek 5 +2 "manipulator"&f( +4 "core" ( + "manipulator"&S& +4 "core" &  + "storage"(C& +4 "core" &<9 C C \ +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&E'[ +17 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&+/ +61 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&O& +2 "storage"(p'N +8 "core" & ~ ~ + "manipulator"&Z% +4 "core" % P p o Q +2 .tForearm.seek :retract +2 "manipulator"&^'\ +91 "core" ' +2 .tElbow.seek PC + "manipulator"&B(c +157 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +90 "core" ( + "manipulator"&& +5 "core" &f Y +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &o& +2 "core" &f +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&M'[ +103 "core" ' + "manipulator"&i& +4 "core" &f  +2 "manipulator"&,% +4 "core" %d v +2 "processing"%P& +3 "core" &\ +2 "processing"%& +5 "core" &\ +2 .tPC.seek :closed +3 "processing"%4(Z +4 "core" &\ +6 &;#\ $c +9 &gT*\ 7 +10 &\ L +9 &x\\\ M +10 &9]\ M +9 &Y\ M +9 & `\ M +10 &"]\ M +9 &$@]\ N +9 &&\\\ M +10 &']\ M +9 &)]\ N +10 &+I\\\ M +9 &-\ _\ N +9 &._\ M +10 &0Z\ M +9 &2Q[#\ M +9 &4]\ M +10 &5]\ N +9 &7]\ N +10 &9ZW\ M +9 &;]\ N +9 &<Y\ M +10 &>`\ N +9 &@`^ \ N +9 &B#Z\ M +10 &CZ\ N +9 &E]\ N +10 &Gfd\ N +9 &I%m\ O +9 &J|\ Q +10 &L\ S +9 &N^\ T +9 &P \ T +10 &Q\ T +9 &S\ T +10 &Ue\ T +9 &W%\ U +9 &X\ T +10 &Z?Ij\ *| +9 &ZC\ + +5 ( +2 "processing"%& +4 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.58 +2 .Hand.open + "manipulator"&j1 +4 "core" &Z\ + +48 1 + "manipulator"&D% +5 "core" % d ] +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&g'\ +100 "core" ' +2 "processing"%h& +4 "core" &ZE\ + +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 + "manipulator"&L% +4 "core" %\ 6 c & +2 "storage"(% +3 "core" %@ \  "\ +2 "storage"(K. +3 "core" .(<< + "storage"(& +4 "core" &<9\ '\ ( t\ +2 "storage"(k& +4 "manipulator"&& +4 "core" &<9\ '\ ' u\ +2 &f 5 +3 ."raiseStack"SE.reconfigure :place +2 .tElbow.reconfigure :tight +3 "storage"(#]kK-0-\ b +4 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +2 ."raiseStack"SE.seek :beamBreak +3 "manipulator"&(c +2 "storage"(9'e +5 "core" ( + "manipulator"&& +4 "core" &f  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &Y& +3 "core" &f 9 +2 .tForearm.seek PC +2 "manipulator"&s'[ +93 "core" ' +2 .tHand.close + "manipulator"&[/ +55 "core" / +2 .tPC.seek :open +2 "processing"%"(p +94 "core" ' + "storage"(_- +4 "core" -'e + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place + "storage"(l'B +35 "core" ' +253 ( + "storage"( & +4 "core" &<9 +  \\\ +2 "manipulator"&& +4 "core" &f V + "manipulator"&y% +4 "core" % g e +2 .tForearm.seek :retract +2 "manipulator"& '\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&}( +253 "core" ( + "manipulator"&& +5 "core" & "~ + "storage"(@& +4 "core" &<9 [\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"& ' +94 "core" ' + .tHand.open + "manipulator"&`1 +63 "core" 1 +2 "storage"(- +4 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate + "storage"(|' +26 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(\ ' +51 "core" ' + #tLights, camera, ACTION! +2 "storage"(n- +3 "core" -' +2 "storage"(]& +4 "core" &<7 W W \ +2 "manipulator"&{& +4 "core" &  "} + .tElbow.seek 5 +2 "manipulator"&r( +3 "core" ( +2 "manipulator"&I& +4 "core" & ] "} + "storage"(& +4 "core" &<7 X W \ +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&d' +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.11 Pucks below Top Plate + "storage"('M +63 "core" ' + "manipulator"&t& +5 "core" &  "} + "storage"(& +4 "core" &<7 S\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&'/ +33 "core" ' + .tElbow.hold +2 "manipulator"&%, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"(b'7 +25 "core" ' + "manipulator"&-% +5 "core" %6a * , O ƴ + "storage"(v& +4 "core" &<7 \ +2 .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 5 + 307 counts +2 "manipulator"&'b +17 "core" ' +2 "manipulator"&& +4 "core" &;  5 C +2 "storage"(X& +4 "core" &<7 C C\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&x' +19 "core" ' +2 "storage"(w% +4 "core" %< : @ z\ +3 ."downElevator"SE.seek :down +3 "storage"(U'N +99 (m% +3 "core" %,9   \ U] +2 "manipulator"&'% +4 "core" % q +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +99 "core" ' +48 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (& +4 "core" &<7 1  \ +2 "collection"'N& +4 "core" &]p\ O +2 #tStoring generic puck in Collection Clamp to tube 5 +2 "manipulator"&% +3 "core" %\    +2 "storage"(u% +4 "core" %< E E\ +2 "storage"(q. +3 "core" .(<< + "storage"( & +4 "core" &<7 F F\ +2 "storage"(*& +4 "core" &<7 E C\ + "manipulator"&?& +4 "core" &;  C +2 .tElbow.seek 5 +2 "manipulator"&(( +21 "core" ( +2 "manipulator"&e& +4 "core" & p   +2 "storage"(:& +3 "core" &<7 7 8 B\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&R' +93 "core" ' +2 "storage"(=& +4 "core" &<7 ; A \ +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(1'e +276 "core" ' +2 "storage"(!- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&<& +3 "core" &   + "storage"(& +4 "core" &<7 ? B 2\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&\\'/ +32 "core" ' + .tElbow.hold +2 "manipulator"&$, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"( - +2 "core" -' +3 .tSE.seek 0.12 Pucks below Top Plate + "storage"(H'o +36 "core" ' +2 "manipulator"&3% +4 "core" %A] ) ) y ų +2 "storage"(7& +3 "core" &<7 P\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 318 counts + "manipulator"&c'm +18 "core" ' + "manipulator"&.& +4 "core" && i v 1  +2 "storage"(~& +4 "core" &<7 7 @ B\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&6' +20 "core" ' +2 .tSE.seek 1.12 Pucks below Top Plate +2 "storage"(F'^ +47 "core" ' +2 "manipulator"&z& +4 "core" && p p 4  +2 "manipulator"&;% +4 "core" % p p +  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&A'\ +96 "core" ' +2 .tElbow.seek CC +2 "manipulator"&( +162 "core" ( + "manipulator"&& +5 "core" &* _ @Y + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &*  @Y +3 .tForearm.seek CC +2 "manipulator"&V'| +101 "core" ' +2 .tHand.close + "manipulator"&)/ +58 "core" / +2 .tCC.seek :open +2 "collection"'8(p +411 "core" ( + "storage"(Q& +4 "core" &<7 Z Y\ +2 "storage"(0& +3 "core" &<7 g g \ +2 "manipulator"&2& +4 "core" &$  <9 +2 "manipulator"&>% +3 "core" % m  +2 .tForearm.seek :retract +2 "manipulator"&T'\ +98 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&&( +157 "core" ( +2 "manipulator"&J& +4 "core" & B  +2 "storage"(W& +3 "core" &<7  } \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 5 +2 "manipulator"&'/ +107 "core" ' + .tElbow.hold +2 "manipulator"&S, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&C1 +55 "core" 1 +2 "manipulator"&+% +4 "core" % C| n F +2 "storage"(O& +3 "core" &<7 C C\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 320 counts +2 "manipulator"&Z'o +20 "core" ' +2 "manipulator"&/& +4 "core" &= h `  +2 "storage"(#& +3 "core" &<7 \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&G' +18 "core" ' + "storage"(E% +5 "core" %\\ \ +2 ."downElevator"SE.seek :down +3 "storage"('N +99 (o% +3 "core" %; k\ SX + "manipulator"&f% +5 "core" % p p  b + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&i'\ +93 "core" ' +45 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 6 of [5..7] +2 #Loading generic puck from tube 6 into Collection Clamp + "collection"',& +4 "core" &~\ +2 "manipulator"&P% +4 "core" %\ 6  & +2 "storage"(p% +5 "core" %= h i x\ + "storage"(^. +3 "core" .(<< +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 + "storage"((K +352 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (j& +2 "core" &K C C \  +2 "manipulator"&D& +4 "core" &=  +2 .tElbow.seek 6 +2 "manipulator"&h( +12 "core" ( +2 "manipulator"&L& +4 "core" & K  + "storage"(& +4 "core" &K q o k\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&K'< +96 "core" ' + "storage"(& +4 "core" &K =\  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"('e +282 "core" ' + "storage"(k- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (& +3 "core" &K u u O\  +2 "manipulator"&& +4 "core" &   + .tElbow.seek 6 +2 "manipulator"&Y( +4 "core" ( +2 "manipulator"&M& +3 "core" &   +2 "storage"([& +4 "core" &K { \  +2 .tForearm.seek 6 + 300 counts + "manipulator"&_'Ϧ +24 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&B/ +54 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&g& + "storage"(4'N +7 "core" & p p b  +2 "manipulator"& % +4 "core" % Ϣ z q T +2 .tForearm.seek :retract + "manipulator"&'\ +97 "core" ' + .tElbow.seek CC +2 "manipulator"&y( +147 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +7 "core" ( +2 "manipulator"&9& +4 "core" &&  =B +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &s& +2 "core" && ? =B +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&'| +108 "core" ' + "manipulator"&@& +5 "core" && L =A + "manipulator"&% +4 "core" %w * +2 "collection"'`& +4 "core" &\ +2 "collection"'& +5 "core" &\ +2 .tCC.seek :closed +2 "collection"'n(] +5 "core" &|\ +7 &7\ $d +9 &mWx\ 7 +10 &r\ L +9 &}aq\ M +9 &?du\ M +10 &`w\ N +9 & bu\ N +10 &"bp\ N +9 &$G`r\ M +9 &&d|\ N +10 &'at\ N +9 &)`s\ M +9 &+Ocq\ M +10 &-eq\ M +9 &.cs\ N +9 &0bw\ N +10 &2Vbp\ N +9 &4e~\ N +10 &5by\ M +9 &7d|\ M +9 &9_ax\ M +10 &;!c}\ M +9 &<b|\ M +9 &>`t\ M +10 &@gey\ M +9 &B)fs\ M +10 &Cew\ M +9 &Ecw\ N +9 &Gnfs\ N +10 &I-o~\ O +9 &J}\ Q +9 &L0ay\ V +10 &N[  x\ W +9 &P{\ W +10 &Qz\ W +9 &S\ Y +9 &U\\x\ Y +10 &Wy\ Y +9 &Xy\ Z +10 &Zn\ [ +9 &\\_w\ H +9 &]e>z\ $n +10 &]ky\ O +2 ( + "collection"'& +4 #tCollection Clamp onSpring/offSpring for 10/26 samples, on/off torque 1.95 + .Hand.open + "manipulator"&]1 +57 "core" 1 + "manipulator"&{% +4 "core" % a  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&I'\ +95 "core" ' +2 #tLoading generic puck from tube 6 into Processing Clamp + "processing"%& +4 "core" &,\ +2 "manipulator"& % +4 "core" %\ - + "` + "storage"(t% +4 "core" %C   \ +2 "storage"(. +3 "core" .(K + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 6 + "storage"(l(K +6 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (-& +3 "core" &K2 \  +2 "manipulator"&v& +3 "core" &$ * ;5 +2 "manipulator"&|% +4 "core" %\ - = "` +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +52 .tElbow.seek 6 +2 "manipulator"&( +163 "core" ( +2 "manipulator"&X& +4 "core" &  + "storage"(w& +4 "core" &K C B\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&}'< +94 "core" ' +2 "storage"( & +4 "core" &K ^ \\\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(\ 'e +281 "core" ' +2 "storage"(m- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 ('& +2 "core" &K # " \  +2 "manipulator"&d& +4 "core" &   +2 .tElbow.seek 6 +2 "manipulator"&r( +3 "core" ( + "manipulator"&& +4 "core" &   +2 "storage"(& +3 "core" &K B C \  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&'Ϧ +24 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +55 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&N& + "storage"('N +7 "core" & s q l  +2 "manipulator"&u% +4 "core" % Ϧ s z o + .tForearm.seek :retract +2 "manipulator"&q'\ +94 "core" ' +2 .tElbow.seek PC +2 "manipulator"& (c +157 "core" ' + ."downElevator"SE.stop + "storage"(5 +89 "core" ( + "manipulator"&b& +5 "core" &j  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &*& +2 "core" &j D +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&?'[ +101 "core" ' + "manipulator"&e& +5 "core" &j < + "manipulator"&:% +4 "core" %X g +2 "processing"%x& +4 "core" &3\ +2 "processing"%=& +5 "core" &4\ +2 .tPC.seek :closed +4 "processing"%U(Z +3 "core" &.\ +5 &2\ 2 +10 &F,\ 1 +9 &0r1\ E +10 &d*\ N +9 &[1\ M +9 &Z^2\ M +10 & ]3\ N +9 &![/\ M +9 &#\\'\ N +10 &%b[0\ M +9 &'$]1\ M +10 &(\\3\ M +9 &*].\ M +9 &,j]0\ M +10 &.,Z/\ M +9 &/_-\ M +9 &1^2\ M +10 &3r\\.\ M +9 &55Y/\ M +10 &6^/\ M +9 &8_%\ N +9 &:z\\,\ M +10 &<<^-\ M +9 &=_/\ N +9 &?Z&\ M +10 &Ab,\ N +9 &CD^+\ M +10 &E\\$\ M +9 &Fh*\ N +9 &Hn.\ O +10 &JBz.\ Q +9 &K.\ S +9 &M.\ S +10 &O!\ S +9 &Q@$\ T +10 &S,\ T +9 &T/\ T +9 &V'\ T +10 &XF,\ U +9 &Yxx#\ - +9 &Z&j#\ E +9 ( +3 "processing"%=& +3 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.57 + .Hand.open +2 "manipulator"&%1 +3 "core" &Z4%\ 5 +58 1 +2 "manipulator"&% +4 "core" % X U +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&!'\ +102 "core" ' + "processing"%<& +4 "core" &Z46\ 5 +2 #tImaging generic puck in Processing Clamp while storing it to tube 6 + "manipulator"&% +4 "core" %\ 8  ' +2 "storage"( % +4 "core" %>\ $\ \ \ + "storage"(3. +3 "core" .(K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 +2 "storage"(7(K +6 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (.& +2 "manipulator"&~& +4 "core" &K g\  +5 ."raiseStack"SE.reconfigure :place +3 "storage"(#]kK-0-\ b +3 "core" &j  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +2 ."raiseStack"SE.seek :beamBreak +4 "manipulator"&z(c + "storage"(;'e +5 "core" ( + "manipulator"&R& +4 "core" &j 6 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &(& +2 "core" &j  +2 .tForearm.seek PC +2 "manipulator"&1'[ +95 "core" ' + .tHand.close +2 "manipulator"&\\/ +64 "core" / +2 .tPC.seek :open +2 "processing"%c(p +83 "core" ' +2 "storage"(H- +3 "core" -'e +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('B +47 "core" ' +251 ( + "storage"(& +5 "core" &K C 8 r\  + "manipulator"&6& +4 "core" &j  +2 "manipulator"&$% +4 "core" % ^   + .tForearm.seek :retract +2 "manipulator"&)'\ +94 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&A( +246 "core" ( +2 "manipulator"&5& +4 "core" & 7 9 +2 "storage"(Q& +3 "core" &K   ?\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&0'< +91 "core" ' +2 .tHand.open + "manipulator"&21 +57 "core" 1 + "storage"(>- +4 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate +2 "storage"(J' +23 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(W' +51 "core" ' +2 #tLights, camera, ACTION! + "storage"(V- +4 "core" -' + "storage"(& +4 "core" &K \  +2 "manipulator"&C& +4 "core" &  8 + .tElbow.seek 6 +2 "manipulator"&+( +4 "core" ( + "manipulator"&O& +4 "core" &  8 +2 "storage"(/& +4 "core" &K s\  +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&#'< +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"(E'M +61 "core" ' + "manipulator"&T& +4 "core" &  8 +2 "storage"(o& +4 "core" &K C C \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&f'z +29 "core" ' +2 .tElbow.hold +2 "manipulator"&&, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"('7 +23 "core" ' + "manipulator"&,% +5 "core" %΍{   u ¼H + "storage"(P& +4 "core" &K \ !\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 319 counts + "manipulator"&Z'Ϲ +18 "core" ' +2 "manipulator"&p& +5 "core" & { ~ e # + "storage"(^& +5 "core" &K 7 7 @\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&F'< +17 "core" ' + "storage"(G% +5 "core" %? \\ \\\ +2 ."downElevator"SE.seek :down +4 "storage"('N +99 (a% +3 "core" %7 3 % 3\ T[ +2 "manipulator"&j% +4 "core" %4 q s +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&D'\ +89 "core" ' +59 ' + ."downElevator"SE.stop + "storage"(5 +3 (L& +4 "core" &K\ % ^ R\  + "collection"'& +4 "core" &]gu\ O +2 #tStoring generic puck in Collection Clamp to tube 6 + "manipulator"&% +5 "core" %\ ' N ; + "storage"(S% +4 "core" %? 8 @ #\ +2 "storage"(i. +3 "core" .(K + "storage"(k& +4 "core" &K B C \  + "storage"(& +4 "core" &K > B @\  +2 "manipulator"&& +4 "core" & ? # +2 .tElbow.seek 6 + "manipulator"&M( +30 "core" ( +2 "manipulator"&[& +4 "core" & " +2 "storage"(B& +4 "core" &K C B \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&g'< +99 "core" ' +2 "storage"( & +4 "core" &K \\ >\  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(h'e +278 "core" ' +2 "storage"(K- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +2 "manipulator"&9& +3 "core" & U +2 "storage"(s& +4 "core" &K D D Z\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&'z +29 "core" ' + .tElbow.hold +2 "manipulator"&_, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(@- +2 "core" -' +2 .tSE.seek 0.12 Pucks below Top Plate +2 "storage"('y +27 "core" ' + "manipulator"&Y% +5 "core" %΍k M ķ +51 "storage"(`& +4 "core" &K J\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 319 counts +2 "manipulator"&4'Ϲ +16 "core" ' +2 "manipulator"&& +4 "core" & ~  % +2 "storage"(8& +4 "core" &K E F P\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&]'< +17 "core" ' +2 .tSE.seek 1.12 Pucks below Top Plate +2 "storage"({'h +50 "core" ' + "manipulator"&& +5 "core" & z 5 % + "manipulator"& % +4 "core" %@ }  O +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&t'\ +90 "core" ' + .tElbow.seek CC +2 "manipulator"&( +151 "core" ( +2 "manipulator"&& +4 "core" &% : <9 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &-& +3 "core" &% G <9 +2 .tForearm.seek CC +2 "manipulator"&v'| +97 "core" ' + .tHand.close +2 "manipulator"&|/ +63 "core" / +2 .tCC.seek :open +2 "collection"'(p +410 "core" ( + "storage"(X& +5 "core" &K u j (\  + "storage"(w& +4 "core" &K Y Y #\  +2 "manipulator"&& +3 "core" &$  ;8 +2 "manipulator"& % +4 "core" % τ   +2 .tForearm.seek :retract +2 "manipulator"&y'\ +94 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&I( +163 "core" ( + "manipulator"&m& +5 "core" & I  + "storage"('& +4 "core" &K o p 8\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 6 + "manipulator"&d'z +106 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&1 +54 "core" 1 +2 "manipulator"&% +4 "core" % ΍  4 o + "storage"(N& +4 "core" &K B B :\  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 6 + 319 counts +2 "manipulator"&u'Ϲ +16 "core" ' + "manipulator"&& +5 "core" & w m N  + "storage"(}& +4 "core" &K T\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&\ '< +19 "core" ' + "storage"(% +5 "core" %l :\ +2 ."downElevator"SE.seek :down +4 "storage"(b'N +99 (*% +3 "core" %"> y \ U] +2 "manipulator"&r% +4 "core" % p q #  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&e'\ +87 "core" ' +51 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 7 of [5..7] + #Loading generic puck from tube 7 into Collection Clamp +2 "collection"':& +4 "core" &\ +2 "manipulator"&x% +4 "core" %\ ' J < +2 "storage"(% +4 "core" %: y a\ +2 "storage"(q. +3 "core" .(K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 7 +2 "storage"("([ +355 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (%& +2 "core" &[ ~ e\ +2 "manipulator"&& +4 "core" & _  +2 .tElbow.seek 7 + "manipulator"&<( +22 "core" ( +2 "manipulator"&& +4 "core" & ` m +2 "storage"( & +3 "core" &[ j i \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&3'k +91 "core" ' +2 "storage"(=& +4 "core" &[ M\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(.'e +281 "core" ' +2 "storage"(~- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (R& +2 "core" &[ [ g [\ +2 "manipulator"&(& +4 "core" & q t $ m +2 .tElbow.seek 7 +2 "manipulator"&?( +3 "core" ( + "manipulator"&\\& +4 "core" & q P m + "storage"(l& +4 "core" &[ \ +2 .tForearm.seek 7 + 300 counts +2 "manipulator"&H' +21 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"& / +64 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&!& + "storage"(U'N +8 "core" & q q m + "manipulator"&% +4 "core" % u t = +2 .tForearm.seek :retract +2 "manipulator"&;'\ +98 "core" ' +2 .tElbow.seek CC +2 "manipulator"&6( +145 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +20 "core" ( + "manipulator"&$& +5 "core" &  8 + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &1& +3 "core" & * 8 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&5'| +99 "core" ' + "manipulator"&Q& +5 "core" & A 8 + "manipulator"&z% +4 "core" %ς 7 +2 "collection"'2& +5 "core" &\ +2 "collection"'>& +4 "core" &\ +3 .tCC.seek :closed + "collection"'V(] +5 "core" &\ +7 & 8\ $e +9 &gV\ 8 +10 &\ M +9 &_\ M +9 &@b\ N +10 &`\ M +9 & d\ M +9 &"g\ N +10 &$Hc\ N +9 &&\ c\ N +10 &'c\ M +9 &)e\ M +9 &+Pc\ N +10 &-c\ M +9 &.h\ M +9 &0b~\ N +10 &2Yf\ M +9 &4by\ M +10 &5_\ M +9 &7ax\ N +9 &9a`t\ M +10 &;#b\ M +9 &<`\ M +9 &>c\ M +10 &@ic\ M +9 &B+c{\ M +10 &Cc\ M +9 &E`\ N +9 &Gpc\ N +10 &I0k\ N +9 &J}\ Q +9 &Lf\ T +10 &N]\ W +9 &P \ X +10 &Q\ W +9 &S\ X +9 &U\\\ Z +10 &W }\ Y +9 &X\ [ +10 &Z\ [ +9 &\\S\ \ M +9 &]^8\ *| +10 &]h\ H +2 ( + "collection"'>& +4 #tCollection Clamp onSpring/offSpring for 10/26 samples, on/off torque 2.00 + .Hand.open +2 "manipulator"&1 +53 "core" 1 + "manipulator"&C% +4 "core" % ς +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&O'\ +92 "core" ' +2 #tLoading generic puck from tube 7 into Processing Clamp + "processing"%/& +4 "core" &2\ +2 "manipulator"&)% +3 "core" %\ - "X +2 "storage"(T% +4 "core" %K \  +2 "storage"(o. +3 "core" .([ + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 7 +2 "storage"(,([ +3 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (& +3 "core" &[   r\ + "manipulator"&P& +5 "core" &$  6 + "manipulator"&p% +4 "core" %\ -  "X +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 7 +2 "manipulator"&J( +154 "core" ( + "manipulator"&^& +5 "core" & > \ + "storage"(G& +4 "core" &[ D C \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&A'k +92 "core" ' +2 "storage"(0& +4 "core" &[ f _\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(W'e +283 "core" ' +2 "storage"(a- +3 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (j& +3 "core" &[ < $ f\ +2 "manipulator"&#& +3 "core" & s s c \ +2 .tElbow.seek 7 +2 "manipulator"&+( +3 "core" ( + "manipulator"&E& +4 "core" & x ` ( \ +2 "storage"(f& +3 "core" &[ B B \ +2 .tForearm.seek 7 + 300 counts +2 "manipulator"&L' +22 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&Z/ +60 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&& + "storage"('N +8 "core" & s r \ + "manipulator"&S% +4 "core" % s | +2 .tForearm.seek :retract +2 "manipulator"&i'\ +96 "core" ' +2 .tElbow.seek PC +2 "manipulator"&k(c +158 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +96 "core" ( +2 "manipulator"&& +5 "core" &d ;  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &d :  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&'[ +93 "core" ' +2 "manipulator"&[& +53 "core" &d  +3 "manipulator"&B% +4 "core" %Q  +2 "processing"%F& +4 "core" &'\ +2 "processing"% & +5 "core" &D\ +2 .tPC.seek :closed +2 "processing"%(Z +5 "core" &+\ \ +8 &/~.\ *y +9 &d3\ > +10 &Cx2\ N +9 &\\3\ M +10 &_5\ M +9 &\\3\ M +9 &!L\\3\ M +10 &#[-\ M +9 &$[3\ M +9 &&]1\ N +10 &(U\\2\ M +9 &*\\3\ M +10 &+\\.\ M +9 &-]3\ M +9 &/[_/\ N +10 &1]/\ M +9 &2^2\ M +9 &4\\3\ M +10 &6d]/\ M +9 &8&].\ M +10 &9Y2\ M +9 &;\\1\ M +9 &=l]-\ M +10 &?.a-\ M +9 &@`-\ N +9 &B^1\ M +10 &Dt[-\ M +9 &F6^,\ M +10 &Gg0\ O +9 &Iq.\ O +9 &Kn-\ R +10 &M,/\ S +9 &N/\ S +9 &P+\ S +10 &Rr.\ S +9 &T2-\ T +10 &U-\ T +9 &W%\ T +9 &Yw*\ A +10 &Zw=0\ [ +9 &Z(\ ( +2 ( +2 "processing"% & +3 #tProcessing Clamp onSpring/offSpring for 9/25 samples, on/off torque 1.61 + .Hand.open + "manipulator"&&1 +63 "core" 1 +2 "manipulator"&D% +4 "core" % Q +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&K'\ +92 "core" ' + "processing"%9& +5 "core" &ZC\ ( + #tImaging generic puck in Processing Clamp while storing it to tube 7 + "manipulator"&s% +4 "core" %\ '  B +2 "storage"(@% +4 "core" %M ! \ +2 "storage"(Y. +3 "core" .([ + "storage"(`& +4 "core" &[ ! \ +2 "storage"(& +4 "manipulator"&8& +5 "core" &[ ! #\ + &d  +4 ."raiseStack"SE.reconfigure :place +2 .tElbow.reconfigure :tight +4 "storage"(#]kK-0-\ b +4 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +3 ."raiseStack"SE.seek :beamBreak +3 "manipulator"&(c +2 "storage"( 'e +5 "core" ( + "manipulator"&g& +4 "core" &d   +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &M& +2 "core" &d   +3 .tForearm.seek PC +2 "manipulator"&h'[ +95 "core" ' + .tHand.close + "manipulator"&/ +59 "core" / +2 .tPC.seek :open +2 "processing"%4(p +87 "core" ' + "storage"(- +4 "core" -'e + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('B +33 "core" ' +260 ( + "storage"(-& +5 "core" &[ C C \ + "manipulator"&]& +4 "core" &e   +2 "manipulator"&_% +3 "core" % \\   +2 .tForearm.seek :retract +2 "manipulator"&|'\ +94 "core" ' +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 7 + "manipulator"&t( +241 "core" ( + "manipulator"&n& +5 "core" & R 6 + "storage"(X& +4 "core" &[   \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&w'k +111 "core" ' +2 .tHand.open + "manipulator"&1 +53 "core" 1 +2 "storage"( - +4 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate +2 "storage"(m' +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.83 Pucks below Top Plate + "storage"('' +55 "core" ' + #tLights, camera, ACTION! + "storage"(v- +4 "core" -' +2 "storage"(& +4 "core" &[ l\ + "manipulator"&& +4 "core" &   g 6 +2 .tElbow.seek 7 +2 "manipulator"&( +3 "core" ( + "manipulator"&N& +4 "core" & ~ 7 6 +2 "storage"(& +4 "core" &[ \ +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&}'k +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.11 Pucks below Top Plate + "storage"('M +66 "core" ' + "manipulator"&y& +5 "core" & q $ 6 + "storage"(*& +4 "core" &[ 7 8 m\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 7 +2 "manipulator"&r'Ω +36 "core" ' + .tElbow.hold +2 "manipulator"&I, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.07 Pucks below Top Plate + "storage"(d'7 +26 "core" ' +2 "manipulator"&:% +4 "core" %λ~   Q +2 "storage"(x& +4 "core" &[\ \ \ + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 7 + 318 counts +2 "manipulator"&u' +16 "core" ' +2 "manipulator"&& +4 "core" & | h 6 +2 "storage"(q& +4 "core" &[ [ \\\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&{'k +20 "core" ' + "storage"(\ % +5 "core" %> \\ \\\ +2 ."downElevator"SE.seek :down +4 "storage"(b'N +99 (7% +3 "core" %69 ? B \ U^ +2 "manipulator"&%% +4 "core" %F r ~ M  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +87 "core" ' +61 ' + ."downElevator"SE.stop + "storage"(5 +3 (& +4 "core" &[  P F\ + "collection"' & +4 "core" &]h\ H +2 #tStoring generic puck in Collection Clamp to tube 7 + "manipulator"&=% +4 "core" %\ + a > +2 "storage"(% +4 "core" %@ C B \ +2 "storage"(e. +3 "core" .([ + "storage"(~& +4 "core" &[ B B \ +2 "storage"(R& +4 "core" &[ B ? \ + "manipulator"&(& +4 "core" & A 6 +2 .tElbow.seek 7 +2 "manipulator"&\\( +3 "core" ( + "manipulator"&l& +4 "core" & ) 6 +2 "storage"( & +4 "core" &[ C B \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&!'k +94 "core" ' + "storage"(& +4 "core" &[ \\ >\ +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(<'e +282 "core" ' +2 "storage"(3- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&$& +2 "core" &  6 +2 "storage"(1& +4 "core" &[ B > @\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 7 +2 "manipulator"&.'Ω +30 "core" ' + .tElbow.hold +2 "manipulator"&H, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(Q- +2 "core" -' +2 .tSE.seek 0.12 Pucks below Top Plate +2 "storage"(z'o +30 "core" ' +2 "manipulator"&?% +4 "core" %λ{   ¼C + "storage"(2& +5 "core" &[ \  a\ + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 7 + 318 counts + "manipulator"&U' +17 "core" ' +2 "manipulator"&;& +4 "core" & l { 6 +2 "storage"(& +4 "core" &[ G W 0\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&'k +23 "core" ' +2 .tSE.seek 1.12 Pucks below Top Plate + "storage"(C'^ +47 "core" ' +2 "manipulator"&/& +4 "core" & } 6 +2 "manipulator"&)% +4 "core" %Д |  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&T'\ +87 "core" ' +2 .tElbow.seek CC +2 "manipulator"&o( +149 "core" ( +2 "manipulator"&& +5 "core" & j 8 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &>& +3 "core" & ! 8 +2 .tForearm.seek CC +2 "manipulator"&P'| +101 "core" ' + .tHand.close +2 "manipulator"&p/ +53 "core" / +2 .tCC.seek :open + "collection"'5(p +414 "core" ( +2 "storage"(^& +4 "core" &[ u k (\ + "storage"(G& +4 "core" &[ [ Y ?\ +2 "manipulator"&0& +3 "core" &- ; 4 +2 "manipulator"&"% +4 "core" %  2 + .tForearm.seek :retract +2 "manipulator"&6'\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 7 + "manipulator"&O( +150 "core" ( +2 "manipulator"&a& +4 "core" &  +2 "storage"(j& +3 "core" &[ x } G\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 7 +2 "manipulator"&#'Ω +108 "core" ' +2 .tElbow.hold + "manipulator"&E, +4 "core" , +51 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&f1 +52 "core" 1 +3 "manipulator"&Z% +4 "core" % μ . # +2 "storage"(& +3 "core" &[ F E L\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 7 + 319 counts + "manipulator"&S' +17 "core" ' +2 "manipulator"&J& +4 "core" & _ z 8 +2 "storage"(A& +4 "core" &[ 3\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&W'k +18 "core" ' +2 "storage"(L% +4 "core" %a ?\ +3 ."downElevator"SE.seek :down +3 "storage"('N +99 (% +3 "core" %+9 n x \\\ U[ +2 "manipulator"&+% +4 "core" %t s | p +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&['\ +91 "core" ' +48 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 5 of [5..7] +2 #Loading generic puck from tube 5 into Collection Clamp + "collection"'B& +5 "core" &\ + "manipulator"&F% +4 "core" %\ * - !U +2 "storage"(% +4 "core" %; \ +2 "storage"(i. +3 "core" .([ +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"(c(<< +667 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (&& +2 "core" &<> g Y \ +2 "manipulator"&D& +4 "core" & : +2 .tElbow.seek 5 +2 "manipulator"&9( +20 "core" ( + "manipulator"&s& +4 "core" & 2 b +2 "storage"(@& +4 "core" & +9 &H}\ N +9 & _\ M +10 &d\ M +9 &b\ M +10 &!Qc\ M +9 &#g\ N +9 &$b\ M +10 &&d\ N +9 &(Yc\ M +9 &*c\ M +10 &+b\ M +9 &-b\ N +10 &/ae\ M +9 &1#b\ M +9 &2`\ M +10 &4`\ M +9 &6ja\ M +10 &8+b\ M +9 &9b\ M +9 &;`\ M +10 &=qb\ M +9 &?4c\ M +9 &@c\ N +10 &Bb\ M +9 &Dz_\ M +9 &F;b\ M +10 &Gh\ N +9 &Iu\ O +10 &Ks\ R +9 &M)>\ V +9 &N\ W +10 &P\ X +9 &Rj\ X +9 &T)\ Y +10 &U\ Z +9 &W\ Z +10 &Yh\ [ +9 &[)\ \\ +9 &\\u\ > +10 &]/\ "h +9 &]h\ H +2 ( +2 "collection"' & +3 #tCollection Clamp onSpring/offSpring for 9/25 samples, on/off torque 1.97 +2 .Hand.open + "manipulator"&1 +62 "core" 1 +2 "manipulator"&% +4 "core" % ς # +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&N'\ +97 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp + "processing"%& +5 "core" &&\ + "manipulator"&|% +4 "core" %\ /  #e +2 "storage"(y% +3 "core" %? #\ +2 "storage"(*. +3 "core" .(a/\ N +10 &@\\_/\ M +9 &B\\1\ M +9 &C`4\ M +10 &E_5\ M +9 &Gbd3\ N +9 &I o4\ O +10 &J}/\ Q +9 &L2\ S +10 &NY3\ T +9 &P3\ T +9 &Q4\ T +10 &S3\ T +9 &U`0\ T +9 &W!.\ T +10 &X4\ T +9 &Z<Ii0\ +} +9 &Z <-\ ) +6 ( + "processing"%& +5 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.57 +2 .Hand.open + "manipulator"&I1 +4 "core" &Z.\ ) +51 1 + "manipulator"&% +4 "core" % d < +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&3'\ +93 "core" ' +2 "processing"%$& +4 "core" &Z,\ ) +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 + "manipulator"&1% +4 "core" %\ %  8 +2 "storage"(Q% +4 "core" %A   .\ + "storage"(?. +4 "core" .(<< + "storage"(2& +4 "core" &<8   \ +2 "storage"(;& + "manipulator"&& +7 "core" &<8  % 4\ + &l  O +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +3 "storage"(#]kK-0-\ b +2 "manipulator"&/(c +5 ."raiseStack"SE.seek :beamBreak +2 "storage"()'e +2 "core" ( +2 "manipulator"&!& +4 "core" &l O + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &\\& +3 "core" &l O +2 .tForearm.seek PC +51 "manipulator"&<'[ +99 "core" ' + .tHand.close + "manipulator"&./ +57 "core" / +2 .tPC.seek :open +2 "processing"%U(p +41 "core" ' +2 "storage"(z- +3 "core" -'e +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('B +34 "core" ' +305 ( +2 "storage"(>& +4 "core" &<8 C + e\ +2 "manipulator"&& +4 "core" &l  O + "manipulator"&H% +4 "core" % h h +2 .tForearm.seek :retract +2 "manipulator"&p'\ +100 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&T( +245 "core" ( + "manipulator"&V& +5 "core" & D \\ + "storage"(^& +4 "core" &<8   \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&G' +108 "core" ' + .tHand.open + "manipulator"&01 +60 "core" 1 +2 "storage"("- +4 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate +2 "storage"(a' +22 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(j' +49 "core" ' +2 #tLights, camera, ACTION! + "storage"(P- +4 "core" -' + "storage"(o& +4 "core" &<7 ^\ +2 "manipulator"&f& +4 "core" & s t i \\ +2 .tElbow.seek 5 +2 "manipulator"&Z( +3 "core" ( + "manipulator"&& +4 "core" & r y P \\ +2 "storage"(J& +4 "core" &<7 R\ +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&A' +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.11 Pucks below Top Plate + "storage"(6'M +62 "core" ' +2 "manipulator"&L& +4 "core" & r \\ +2 "storage"(& +4 "core" &<7 F 8 \ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&O'/ +36 "core" ' + .tElbow.hold +2 "manipulator"&+, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"(#'7 +23 "core" ' + "manipulator"&B% +5 "core" %6d ' * e ŵ +2 "storage"(F& +4 "core" &<7 \ + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 5 + 307 counts +2 "manipulator"&S'b +17 "core" ' +2 "manipulator"&& +4 "core" &5 ~ % +2 "storage"(i& +4 "core" &<7 \\ Z\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&C' +18 "core" ' +2 "storage"(W% +4 "core" %> Z Y\ +3 ."downElevator"SE.seek :down +3 "storage"('N +99 (,% +3 "core" %; B C \ U\\ +2 "manipulator"&&% +4 "core" % | S  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&D'\ +90 "core" ' +57 ' + ."downElevator"SE.stop + "storage"(5 +3 (s& +4 "core" &<7 /  <\ +2 "collection"'@& +4 "core" &]`\ H +2 #tStoring generic puck in Collection Clamp to tube 5 + "manipulator"&`% +4 "core" %\ +  !U +2 "storage"(E% +4 "core" %? B ? \ + "storage"([. +3 "core" .(<< +2 "storage"(8& +4 "core" &<7 B B \ +2 "storage"(& +4 "core" &<7 B A \ + "manipulator"&g& +4 "core" &5  % +2 .tElbow.seek 5 +2 "manipulator"&( +40 "core" ( + "manipulator"&& +5 "core" & ] # + "storage"(k& +4 "core" &<7 ? B l\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&K' +95 "core" ' +2 "storage"(-& +4 "core" &<7 ? \\ \ +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(9'e +276 "core" ' +2 "storage"(Y- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&_& +3 "core" &  "~ + "storage"(h& +4 "core" &<7 E D o\ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"& '/ +34 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(X- +2 "core" -' +2 .tSE.seek 0.12 Pucks below Top Plate +2 "storage"('o +36 "core" ' +2 "manipulator"&% +4 "core" %8] * , ^ Ƴ + "storage"(M& +4 "core" &<7 p\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 309 counts + "manipulator"&'d +17 "core" ' +2 "manipulator"& & +4 "core" &C m > +2 "storage"(5& +4 "core" &<7 Z >\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&' +18 "core" ' +2 .tSE.seek 1.12 Pucks below Top Plate +2 "storage"('^ +47 "core" ' + "manipulator"&& +5 "core" &C |  > + "manipulator"&|% +4 "core" % {  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&y'\ +90 "core" ' +2 .tElbow.seek CC + "manipulator"&*( +150 "core" ( + "manipulator"& & +5 "core" &# t :0 + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &:& +3 "core" &# F :0 +2 .tForearm.seek CC + "manipulator"&x'| +94 "core" ' +2 .tHand.close + "manipulator"&m/ +57 "core" / +2 .tCC.seek :open + "collection"'n(p +411 "core" ( +2 "storage"(q& +4 "core" &<7 t j \ + "storage"(\ & +4 "core" &<7 Y Y $\ +2 "manipulator"&c& +3 "core" &"  9' +2 "manipulator"&w% +3 "core" % ύ  +2 .tForearm.seek :retract +2 "manipulator"&]'\ +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&N( +163 "core" ( + "manipulator"&7& +4 "core" &  +2 "storage"(%& +4 "core" &<7 n y ^\ + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 5 +2 "manipulator"&}'/ +109 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&r1 +53 "core" 1 +2 "manipulator"&u% +4 "core" % Cz } ; + "storage"( & +4 "core" &<7 B C\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 320 counts + "manipulator"&'o +18 "core" ' + "manipulator"&& +4 "core" &7 S j  +2 "storage"(t& +4 "core" &<7 \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&'' +11 "core" ' + "storage"(% +5 "core" %[ \ +2 ."downElevator"SE.seek :down +4 "storage"(d'N +99 (R% +3 "core" %C> T\ UZ +2 "manipulator"&% +4 "core" % s t c 4 + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&l'\ +91 "core" ' +49 ' + ."downElevator"SE.stop +2 "storage"(5 +2 #tShuffling pucks in tube 6 of [5..7] +2 #Loading generic puck from tube 6 into Collection Clamp + "collection"' & +5 "core" &\ + "manipulator"&{% +4 "core" %\ - q "Z +2 "storage"(=% +4 "core" %P a\ \ +2 "storage"(e. +3 "core" .(<< +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 + "storage"(4(K +355 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (I& +3 "core" &K% X H j\  +2 "manipulator"&& +3 "core" &7   +2 .tElbow.seek 6 +2 "manipulator"&$( +28 "core" ( +2 "manipulator"&1& +4 "core" &  > +2 "storage"(Q& +3 "core" &K ~ } \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&?'< +93 "core" ' + "storage"(2& +4 "core" &K -\  +2 .tSE.reconfigure :pick +51 "storage"(#]K-0-\ b +5 .tSE.seek :beamBreak + "storage"(;'e +282 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (& +3 "core" &K q t V\  +2 "manipulator"&!& +4 "core" & ; + .tElbow.seek 6 +2 "manipulator"&\\( +4 "core" ( + "manipulator"&(& +4 "core" & ; +2 "storage"(.& +3 "core" &K [\  +3 .tForearm.seek 6 + 300 counts +2 "manipulator"&z'Ϧ +21 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&~/ +59 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&3& +2 "storage"(b'N +7 "core" & r ; +2 "manipulator"&)% +4 "core" % ϡ |  +2 .tForearm.seek :retract +2 "manipulator"&>'\ +95 "core" ' + .tElbow.seek CC +2 "manipulator"&( +150 "core" ( + ' + ."downElevator"SE.stop +3 "manipulator"&H& + "storage"(5 +8 "core" & $ ;5 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &<& +3 "core" & $  ;5 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&V'| +109 "core" ' +2 "manipulator"&^& +4 "core" & $ [ ;5 +2 "manipulator"&/% +4 "core" %u 0 +2 "collection"'0& +4 "core" &\ +2 "collection"'"& +6 "core" &\ +2 .tCC.seek :closed + "collection"'P(] +4 "core" &\  +9 &2\ *y +9 &e\ ? +10 &N~\ O +9 &_\ M +10 &e\ N +9 &e\ N +9 &!Yb\ M +10 &#b\ N +9 &$`\ M +9 &&b\ M +10 &(``\ N +9 &*#c\ M +10 &+c\ N +9 &-b\ M +9 &/ib\ M +10 &1*c\ N +9 &2d\ N +9 &4b\ M +10 &6p^\ N +9 &82`\ N +10 &9_\ N +9 &;`\ M +9 &=xc\ N +10 &?;`\ M +9 &@`\ M +9 &B`\ N +10 &D`\ M +9 &FB^\ N +10 &Hd\ N +9 &Iv\ P +9 &Ky\ S +10 &M.5\ W +9 &N \ X +9 &P\ Y +10 &Ro\ Y +9 &T/\ Z +10 &U\ [ +9 &W\ [\ +9 &Yl\ ] +10 &[.\ ] +9 &\\{\ 3 +10 &]+\ "f +8 ( +3 "collection"'"& +3 #tCollection Clamp onSpring/offSpring for 9/25 samples, on/off torque 1.98 + .Hand.open +2 "manipulator"&o1 +3 "core" &]p\ U +52 1 + "manipulator"&f% +5 "core" % ] 1 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +100 "core" ' +2 #tLoading generic puck from tube 6 into Processing Clamp + "processing"%J& +4 "core" &(\ +2 "manipulator"&p% +4 "core" %\ 3  %w + "storage"(L% +4 "core" %D\ \  E\ +2 "storage"(. +3 "core" .(K + "storage"(B& +4 "core" &K\ \  D\  +2 "storage"(& +4 "core" &K\ \  G\  + "manipulator"&F& +4 "core" & $ ;5 +2 "manipulator"&a% +3 "core" %\ 3 E %w +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&( +166 "core" ( + "manipulator"&i& +4 "core" & v  +2 "storage"(W& +4 "core" &K   \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&T'< +92 "core" ' + "storage"(G& +4 "core" &K B Z e\  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(j'e +282 "core" ' + "storage"(,- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (&& +3 "core" &K !  G\  + "manipulator"&A& +4 "core" & U  +2 .tElbow.seek 6 + "manipulator"&Z( +4 "core" ( + "manipulator"&6& +4 "core" & o  +2 "storage"(O& +4 "core" &K 3 % X\  +2 .tForearm.seek 6 + 300 counts + "manipulator"&s'Ϧ +21 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&S/ +53 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&@& +2 "storage"(`'N +7 "core" & s t d  +2 "manipulator"&E% +4 "core" % ϡ s t g +2 .tForearm.seek :retract +2 "manipulator"&['\ +89 "core" ' +2 .tElbow.seek PC +2 "manipulator"&8(c +161 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +87 "core" ( + "manipulator"&#& +5 "core" &c + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 && +2 "core" &c +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&g'[ +104 "core" ' + "Can" SR +3 "manipulator"&& +4 "core" &c  +2 "manipulator"&k% +4 "core" %[  + "processing"%C& +4 "core" &7\ +2 "processing"%-& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%(Z +4 "core" &u\  +9 &.~.\ *x +10 &d,\ > +9 &Ay\ N +9 &Zi\ M +10 &Z(\ N +9 &ZJ\ M +10 &!J\\A\ M +9 &# \\/\ M +9 &$YJ\ M +10 &&]E\ M +9 &(P\\/\ N +9 &*[*\ N +10 &+\\<\ N +9 &-]%\ N +10 &/XaB\ N +9 &1],\ N +9 &2_+\ M +10 &4]<\ M +9 &6aY.\ M +9 &8#\\2\ M +10 &9XI\ M +9 &;Z7\ M +10 &=i])\ M +9 &?*\\\ N +9 &@\\~\ N +10 &B^$\ N +9 &Dp]q\ N +9 &F2\\>\ N +10 &Gk3\ O +9 &IvC\ P +10 &Kh0\ S +9 &M(.\ T +9 &N4\ T +10 &PI\ T +9 &RnM\ T +10 &T/,\ T +9 &U*\ U +9 &W\ U +10 &Ys\ B +9 &Zz@;\ U +9 &Z;,\ 6 +6 ( + "processing"%-& +4 #tProcessing Clamp onSpring/offSpring for 9/25 samples, on/off torque 1.62 +2 .Hand.open + "manipulator"&+1 +4 "core" &Z4.\ 6 +55 1 + "manipulator"&D% +4 "core" % [ S +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&Y'\ +101 "core" ' + "processing"%_& +5 "core" &Z4f\ 6 + #tImaging generic puck in Processing Clamp while storing it to tube 6 + "manipulator"&h% +4 "core" %\ 1 $t +2 "storage"(X% +4 "core" %N\ \ \ + "storage"(. +4 "core" .(K + "storage"(M& +4 "core" &K\ \  T\  +2 "storage"( & + "manipulator"&5& +8 "core" &K\ \ \  + &c { +3 ."raiseStack"SE.reconfigure :place +2 .tElbow.reconfigure :tight +4 "storage"(#]kK-0-\ b +3 "manipulator"&$&.,(\ #b +4 ."raiseStack"SE.seek :beamBreak +2 .tElbow.seek PC +2 "storage"('e + "manipulator"&|(c +5 "core" ( + "manipulator"&K& +4 "core" &c +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &c  +2 .tForearm.seek PC +2 "manipulator"&9'[ +96 "core" ' + .tHand.close + "manipulator"& / +54 "core" / +2 .tPC.seek :open + "processing"%(p +90 "core" ' + "storage"(- +4 "core" -'e + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +2 ."raiseStack"SE.seek :place +2 "storage"( 'B +45 "core" ' +247 ( +2 "storage"(:& +4 "core" &K  \  +2 "manipulator"&& +3 "core" &c G +2 "manipulator"&% +4 "core" % [  +2 .tForearm.seek :retract +2 "manipulator"&m'\ +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&y( +257 "core" ( +2 "manipulator"&v& +4 "core" & # +2 "storage"(q& +3 "core" &K N \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&\ '< +91 "core" ' +2 .tHand.open + "manipulator"&c1 +57 "core" 1 +2 "storage"(w- +3 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate +2 "storage"(7' +31 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(%' +49 "core" ' +2 #tLights, camera, ACTION! + "storage"(x- +4 "core" -' +2 "storage"(*& +3 "core" &K f\  +2 "manipulator"&r& +4 "core" & E # +2 .tElbow.seek 6 +2 "manipulator"&u( +3 "core" ( + "manipulator"& & +4 "core" & - # +2 "storage"(& +4 "core" &K f\  +2 .tForearm.seek 6 + 450 counts + "manipulator"&t'< +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.11 Pucks below Top Plate + "storage"('M +57 "core" ' +2 "manipulator"&]& +4 "core" &  # +2 "storage"(R& +4 "core" &K   <\  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +53 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&'z +29 "core" ' +2 .tElbow.hold +2 "manipulator"&N, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"(}'7 +30 "core" ' + "manipulator"& % +5 "core" %΋r ) , 5 ƹ% + "storage"({& +4 "core" &K \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 317 counts + "manipulator"&='Ϸ +19 "core" ' + "manipulator"&& +5 "core" & ~ ~  $ + "storage"(e& +5 "core" &K C B \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&'< +17 "core" ' +2 "storage"('% +4 "core" %4 D = g\ +3 ."downElevator"SE.seek :down +3 "storage"(d'N +99 (% +3 "core" %'8  \ U\\ +2 "manipulator"&I% +4 "core" %> r p K +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +95 "core" ' +55 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (1& +4 "core" &K\ \  \  +2 "collection"'Q& +5 "core" &]p\ U + #tStoring generic puck in Collection Clamp to tube 6 + "manipulator"&2% +4 "core" %\ 8 ' +2 "storage"(% +4 "core" %P   f\ +2 "storage"(l. +3 "core" .(K + "storage"(& +5 "core" &K   b\  + "storage"(& +4 "core" &K \  +2 "manipulator"&!& +4 "core" & $ + .tElbow.seek 6 +2 "manipulator"&(( +4 "core" ( + "manipulator"&.& +4 "core" & k $ +2 "storage"(~& +4 "core" &K   c\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&3'< +103 "core" ' + "storage"()& +5 "core" &K L E U\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"($'e +282 "core" ' + "storage"(?- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&H& +3 "core" & ) $ +2 "storage"(<& +4 "core" &K & 4 N\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 6 + "manipulator"&;'z +35 "core" ' + .tElbow.hold +2 "manipulator"&z, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(^- +2 "core" -' +2 .tSE.seek 0.12 Pucks below Top Plate +2 "storage"(/'s +43 "core" ' + "manipulator"&\\% +5 "core" %·Y 8 : } ˲ + "storage"(0& +4 "core" &K \  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 6 + 313 counts +2 "manipulator"&b'ϳ +18 "core" ' +2 "manipulator"&>& +4 "core" & n ~ < # +2 "storage"(n& +4 "core" &K   F\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&o'< +15 "core" ' +2 .tSE.seek 1.12 Pucks below Top Plate +2 "storage"(f'b +48 "core" ' +2 "manipulator"&J& +4 "core" & t t 6 # +2 "manipulator"&p% +4 "core" %H p r 4 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&L'\ +95 "core" ' +2 .tElbow.seek CC +2 "manipulator"&( +168 "core" ( + "manipulator"&B& +4 "core" & j +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &"& +2 "core" &  j +2 .tForearm.seek CC +2 "manipulator"&'| +94 "core" ' +2 .tHand.close + "manipulator"&F/ +57 "core" / +2 .tCC.seek :open +2 "collection"'a(p +410 "core" ( + "storage"(V& +4 "core" &K i n \  +2 "storage"(i& +4 "core" &K } } \  + "manipulator"&W& +4 "core" & _ j + "manipulator"&G% +4 "core" % ~ x  +2 .tForearm.seek :retract +2 "manipulator"&'\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 + "manipulator"&( +151 "core" ( +2 "manipulator"&,& +4 "core" & u  +2 "storage"(&& +4 "core" &K g i \  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 6 +2 "manipulator"&A'z +107 "core" ' + .tElbow.hold +2 "manipulator"&6, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&O1 +55 "core" 1 +2 "manipulator"&S% +4 "core" % Ή Y +2 "storage"(@& +4 "core" &K B ? \  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 315 counts + "manipulator"&E'ϵ +20 "core" ' + "manipulator"&& +4 "core" & o  +2 "storage"(T& +4 "core" &K Q\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&j'< +17 "core" ' +2 "storage"(s% +4 "core" %e T\ +3 ."downElevator"SE.seek :down +3 "storage"(#'N +98 (% +3 "core" %/8 \ TY +2 "manipulator"&Z% +4 "core" %1 q s n +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +94 "core" ' +45 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 7 of [5..7] +2 #Loading generic puck from tube 7 into Collection Clamp + "collection"'k& +4 "core" &\ +2 "manipulator"&C% +4 "core" %\ 5 & + "storage"(`% +4 "core" %; } } \ +2 "storage"([. +4 "core" .(K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 7 + "storage"(U([ +349 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (+& +3 "core" &[ 7 ? ]\  + "manipulator"&D& +4 "core" & I  +2 .tElbow.seek 7 +2 "manipulator"&_( +26 "core" ( + "manipulator"&h& +5 "core" & E p + "storage"(X& +4 "core" &[ p u A\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&'k +102 "core" ' + "storage"(M& +5 "core" &[ 9\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(-'e +287 "core" ' +2 "storage"(5- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 ( & +2 "core" &[ \\\  +2 "manipulator"&K& +4 "core" & v r p + .tElbow.seek 7 +2 "manipulator"&( +4 "core" ( + "manipulator"&g& +4 "core" & v } t p +2 "storage"( & +4 "core" &[ $\  +2 .tForearm.seek 7 + 300 counts +2 "manipulator"&' +28 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&8/ +52 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&Y& +2 "storage"('N +7 "core" & r r p + "manipulator"&:% +4 "core" % r q M +2 .tForearm.seek :retract +2 "manipulator"&'\ +95 "core" ' +2 .tElbow.seek CC +2 "manipulator"&( +150 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +16 "core" ( +2 "manipulator"&& +4 "core" &! 2 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &9& +3 "core" &! 2 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&v'| +105 "core" ' +2 "manipulator"&q& +5 "core" &! 5 2 + "manipulator"&|% +4 "core" %v * +2 "collection"'c& +4 "core" &\ +2 "collection"'w& +5 "core" &\ +2 .tCC.seek :closed +2 "collection"'x(] +4 "core" &\ +7 &>\ $e +10 &iV\ 7 +9 &\ L +9 &{_\ M +10 &<`\ M +9 &]\ M +9 & c\ N +10 &"c\ N +9 &$D_\ M +10 &&`\ M +9 &']\ M +9 &)`\ M +10 &+K`\ N +9 &- `\ N +9 &.d\ N +10 &0c\ N +9 &2Sd\ N +10 &4b\ N +9 &5\\\ M +9 &7b\ M +10 &9\\_\ M +9 &;\\\ M +9 &<_\ M +10 &>\\\ N +9 &@c_\ N +10 &B&]\ M +9 &C_\ M +9 &E`\ M +10 &Gl`\ M +9 &I)h\ O +9 &Jz\ Q +10 &Lk\ T +9 &NV#\ X +10 &P\ X +9 &Q\ Y +55 &S\ Y +4 &UV\ Z + &W\ [ +2 &X\ [ + &Z\ ] +3 &\\Z\ I + &]bB\ (y +8 &]\ V +2 ( +2 "collection"'w& +3 #tCollection Clamp onSpring/offSpring for 10/26 samples, on/off torque 1.99 + .Hand.open +2 "manipulator"&*1 +60 "core" 1 + "manipulator"&r% +5 "core" % v  + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"& '\ +91 "core" ' +2 #tLoading generic puck from tube 7 into Processing Clamp + "processing"%& +5 "core" &|\ + "manipulator"&m% +4 "core" %\ % 6 +2 "storage"(]% +4 "core" %8   S\  + "storage"(R. +3 "core" .([ +2 "storage"( & +4 "core" &[ #  `\  + "storage"(7& +4 "core" &[  i\  +2 "manipulator"& & +4 "core" &$  1 + "manipulator"&{% +4 "core" %\ & 6 +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 7 +2 "manipulator"&( +154 "core" ( +2 "manipulator"&e& +4 "core" &   + "storage"(y& +4 "core" &[   \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&''k +99 "core" ' + "storage"(\ & +5 "core" &[ B B \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(%'e +279 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (I& +3 "core" &[   \  +2 "manipulator"&t& +4 "core" &   + .tElbow.seek 7 +2 "manipulator"&u( +3 "core" ( + "manipulator"&& +4 "core" &   +2 "storage"(& +4 "core" &[   \  +2 .tForearm.seek 7 + 300 counts + "manipulator"&1' +11 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&=/ +54 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&Q& +2 "storage"(2'N +7 "core" & S  +2 "manipulator"&% +4 "core" % : ? +2 .tForearm.seek :retract + "manipulator"&l'\ +91 "core" ' +2 .tElbow.seek PC +2 "manipulator"&}(c +160 "core" ' + ."downElevator"SE.stop + "storage"(5 +89 "core" ( + "manipulator"&& +5 "core" &c ] + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &c +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&!'[ +101 "core" ' + "manipulator"&.& +5 "core" &c c +2 "manipulator"&~% +3 "core" %` r +2 "processing"%& +4 "core" &\ +2 "processing"%)& +6 "core" &t\ +3 .tPC.seek :closed +3 "processing"%d(Z +3 "core" &|\ +5 &\ , +9 & F\ 1 +9 &:r|\ E +10 &d\ N +9 &\\\ N +9 &c\\v\ N +10 & %]}\ N +9 &!\\\ N +9 &#\\~\ M +10 &%l\\}\ M +9 &'.X~\ M +10 &(]x\ M +9 &*\\\ M +9 &,t]p\ M +10 &.6]v\ M +9 &/_}\ N +9 &1\\n\ M +10 &3|]{\ M +9 &5>]}\ M +10 &7]}\ M +9 &8_w\ M +9 &:Zk\ N +10 &_u\ N +9 &?\\q\ N +10 &A\\t\ N +9 &CNZp\ M +10 &E[h\ M +9 &Feq\ N +9 &Hj}\ O +10 &JMzt\ P +9 &Lq\ S +9 &Mm\ T +10 &Or\ U +9 &QKr\ T +10 &S r\ T +9 &T|\ T +9 &Vo\ U +10 &XPm\ U +9 &Yzxn\ ) +9 &Z'mp\ 3 +9 ( +3 "processing"%)& +3 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.55 + .Hand.open +2 "manipulator"&N1 +3 "core" &Ze\ * +58 1 +2 "manipulator"&% +4 "core" % `  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&?'\ +96 "core" ' + "processing"%H& +4 "core" &Zo\ * +2 #tImaging generic puck in Processing Clamp while storing it to tube 7 + "manipulator"&<% +4 "core" %\ - "_ +2 "storage"(^% +3 "core" %@\ \ $ \ +2 "storage"(\\. +3 "core" .([ +2 "storage"(0& +3 "core" &[\ $\  \  +2 "storage"(>& +4 "manipulator"&n& +4 "core" &[\ &\ $ \  +2 &c L +2 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +3 "storage"(#]kK-0-\ b +2 .tElbow.seek PC +5 "manipulator"&J(c +3 ."raiseStack"SE.seek :beamBreak + "storage"(p'e +3 "core" ( + "manipulator"&3& +4 "core" &c  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &(& +3 "core" &c ; +2 .tForearm.seek PC +2 "manipulator"&$'[ +95 "core" ' +2 .tHand.close + "manipulator"&;/ +58 "core" / +2 .tPC.seek :open +2 "processing"%b(p +89 "core" ' +2 "storage"(/- +4 "core" -'e + ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(B'B +46 "core" ' +246 ( + "storage"("& +4 "core" &[   <\  +2 "manipulator"&o& +4 "core" &c c + "manipulator"&z% +4 "core" % e V +2 .tForearm.seek :retract +2 "manipulator"&F'\ +108 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 7 +2 "manipulator"&L( +260 "core" ( +2 "manipulator"&P& +4 "core" & B % +2 "storage"(V& +3 "core" &[ \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&i'k +105 "core" ' +2 .tHand.open + "manipulator"&W1 +52 "core" 1 +2 "storage"(G- +4 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate +2 "storage"(,' +22 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(&' +51 "core" ' + #tLights, camera, ACTION! + "storage"(- +4 "core" -' +2 "storage"(& +4 "core" &[ e\  + "manipulator"&O& +4 "core" &  % +2 .tElbow.seek 7 +2 "manipulator"&S( +3 "core" ( +2 "manipulator"&@& +4 "core" & r % + "storage"(& +4 "core" &[ k\  +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&T'k +18 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"(s'M +60 "core" ' + "manipulator"&& +4 "core" & k % +2 "storage"(& +4 "core" &[   \  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 7 +2 "manipulator"&Z'Ω +30 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"(A'7 +23 "core" ' + "manipulator"&k% +5 "core" %μ   g + "storage"(C& +4 "core" &[ ?\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 7 + 319 counts + "manipulator"&E' +17 "core" ' + "manipulator"&`& +5 "core" & p z @ % + "storage"([& +4 "core" &[ 4 4 ,\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&f'k +17 "core" ' + "storage"(j% +5 "core" %A B C f\ +2 ."downElevator"SE.seek :down +3 "storage"(#'N +99 (4% +3 "core" %W9   N\ U^ +2 "manipulator"&+% +4 "core" %e t s k +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&D'\ +88 "core" ' +65 ' + ."downElevator"SE.stop + "storage"(5 +3 (h& +4 "core" &[\ \ B\  +2 "collection"'X& +4 "core" &]}\ V + #tStoring generic puck in Collection Clamp to tube 7 +2 "manipulator"&M% +4 "core" %\ ) J +2 "storage"(6% +4 "core" %F   U\ + "storage"(. +3 "core" .([ +2 "storage"(5& +4 "core" &[   a\  +2 "storage"( & +3 "core" &[   \  +2 "manipulator"&K& +4 "core" & % + .tElbow.seek 7 +2 "manipulator"&g( +4 "core" ( + "manipulator"& & +4 "core" & % +2 "storage"(8& +4 "core" &[   g\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&Y'k +98 "core" ' +2 "storage"(:& +4 "core" &[  % \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(_'e +280 "core" ' +53 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +2 "core" &  % +2 "storage"(9& +4 "core" &[\ \  b\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 7 +2 "manipulator"&-'Ω +29 "core" ' +2 .tElbow.hold +2 "manipulator"&, +3 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(- +3 "core" -' +2 .tSE.seek 0.12 Pucks below Top Plate +2 "storage"(q'o +31 "core" ' +2 "manipulator"&|% +4 "core" %μ~ ½N +2 "storage"(c& +3 "core" &[ \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 7 + 319 counts +2 "manipulator"&' +16 "core" ' +2 "manipulator"&& +4 "core" &  m o % +2 "storage"(a& +4 "core" &[ ? 5 M\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&*'k +17 "core" ' +2 .tSE.seek 1.12 Pucks below Top Plate +2 "storage"(r'^ +41 "core" ' + "manipulator"&& +4 "core" & q p + % +2 "manipulator"&m% +4 "core" %_ s s H +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&]'\ +87 "core" ' + .tElbow.seek CC +2 "manipulator"&R( +150 "core" ( + "manipulator"& & +4 "core" &% << +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &7& +2 "core" &% \ << +2 .tForearm.seek CC +2 "manipulator"&w'| +97 "core" ' +2 .tHand.close + "manipulator"& / +59 "core" / + .tCC.seek :open +2 "collection"'{(p +414 "core" ( + "storage"(v& +4 "core" &[ w q ;\  +2 "storage"(e& +3 "core" &[ f r\  +2 "manipulator"&y& +4 "core" &' C 6 + "manipulator"&\ % +4 "core" % ώ  +2 .tForearm.seek :retract +2 "manipulator"&'\ +91 "core" ' +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 7 +2 "manipulator"& ( +149 "core" ( +2 "manipulator"&& +4 "core" & U  +2 "storage"(I& +3 "core" &[ ~ } x\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +4 .tForearm.seek 7 + "manipulator"&t'Ω +107 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&1 +54 "core" 1 +2 "manipulator"&=% +4 "core" % μ n + "storage"(Q& +4 "core" &[ E E _\  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 7 + 319 counts +2 "manipulator"&' +18 "core" ' + "manipulator"&& +4 "core" & h v   +2 "storage"('& +4 "core" &[ 3\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&%'k +20 "core" ' + "storage"(1% +5 "core" %` r\ +2 ."downElevator"SE.seek :down +3 "storage"('N +99 (% +3 "core" %,= z u\ U[ +2 "manipulator"&u% +4 "core" %U q p / +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&.'\ +87 "core" ' +51 ' + ."downElevator"SE.stop +2 "storage"(5 @946686216.12EST = =tMAIN =mMAIN_scheduler @EST946686218.00 #"core_reset"Sent BREAK +2 #t@40382 idle with ifg=0x00, ie=0x75 + #ESP2 v3.41 I2C Gateway v3.20 +8 #ESP2 v3.41 I2C Gateway v3.20 for core bus +206 !o:Instrument::ISUSCore:\ @name" ISUS: @configS:Instrument::Configuration: name@:calFileName0:sampleCmd"TS: prompt"\ :statusCmd"C:sampleTimeouti#:promptTimeouti:statusTimeouti: retriesi:strToPrompt"W: pace0: echoF: @refih +98 #Configuration for don (12651-03) 10/9/20 brent@mbari.org\ /home/esp/esp2/type/shallow/don/configure.rb\ +393 "Can"x ;#!x + x ;#!x #tPolling Can every 10:00 +11 !o:Storage::Warning: mesg"7Invalid entry in line 65 of /var/log/esp/real.puck:bt["8/home/esp/esp2/utils/storage.rb:399:in `readPucks!'"2/home/esp/esp2/utils/storage.rb:397:in `each'"8/home/esp/esp2/utils/storage.rb:397:in `readPucks!'"(eval):2:in `eachRaw'"(eval):2:in `each'"8/home/esp/esp2/utils/storage.rb:372:in `readPucks!'"2/home/esp/esp2/utils/storage.rb:371:in `open'"8/home/esp/esp2/utils/storage.rb:371:in `readPucks!'"6/home/esp/esp2/utils/storage.rb:627:in `restore!'"-/home/esp/esp2/lib/esp.rb:115:in `shell'"7/home/esp/esp2/lib/schedule.rb:481:in `initialize'"0/home/esp/esp2/lib/thread.rb:738:in `start'"7/home/esp/esp2/lib/schedule.rb:474:in `initialize'"'/home/esp/esp2/lib/schedule.rb:472 +10 !o:Storage::Warning: mesg"Uncleanly Exited:bt[ "8/home/esp/esp2/utils/storage.rb:438:in `readPucks!'"6/home/esp/esp2/utils/storage.rb:627:in `restore!'"-/home/esp/esp2/lib/esp.rb:115:in `shell'"7/home/esp/esp2/lib/schedule.rb:481:in `initialize'"0/home/esp/esp2/lib/thread.rb:738:in `start'"7/home/esp/esp2/lib/schedule.rb:474:in `initialize'"'/home/esp/esp2/lib/schedule.rb:472 +526 #-> ESP.ready! +3 #Powering core bus +544 .Gate.power :raw,:ON +2 "sampler") +59 ) +2 "core"  +2 "collection"' +2 ' +3 "core"  +2 "processing"% +2 % +3 "core"  +5 "collection"' 9\ +2 ' 0\ +2 ' -\ +4 "processing"% 9\ +2 % 2\ + % *\ +2 % 0\ +4 "sampler")&\ +2 "collection"'% +2 "core" %u  +2 .tCS.configure :default +2 "collection"'#P d@b +3 "processing"%% +2 "core" %<\ +2 .tPS.configure :default +2 "processing"%#A d`xb +2 "sampler")% +3 "core" % { r \ + .tSS.configure :default +2 "sampler")#.0X +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +7 .tForearm.seek retracted + "manipulator"&&'\ +3 "core" ' +2 "manipulator"&'% +3 "core" %\ 0 9 #C +2 "processing"%(& +4 "collection"')& +4 "core" &6\ + &d\ +2 ."openPC"PC.reconfigure :default +2 .tCC.reconfigure :default +4 "processing"%$x2 ^22b +2 "collection"'$x2 ^22b +3 ."openPC"PC.home.seek :open +3 .tCC.home.seek :open + "processing"%*(p +3 "collection"'+(p +353 "core" ( +19 ( +2 "collection"', +3 "core"  +2 "processing"%- +3 "core" U + "processing"%. +3 "core" ? +2 "processing"%/ +3 "core"  +2 "collection"'0% +3 "core" %~\ +2 "processing"%1% +4 "core" %D\ + "sampler")2% +4 "core" %6 z t \ +2 "collection"'3& +4 "core" &]\ \ + "processing"%4& +4 "core" &V\  +2 "manipulator"&5% +3 "core" %\ / #B +2 "manipulator"&6& +3 "core" & t > +2 "storage"(7& +4 "core" &, Y Y\  + "storage"(8% +4 "core" %K V X D\ D +2 "collection"'99 +3 "core" 9sv + "processing"%:9 +3 "core" 9 +823 #t-> require 'shuffle.rb' +1057 #-> 2.times {shuffle 5..7} +2 #Shuffling pucks in tube 5 of [5..7] + #Loading generic puck from tube 5 into Collection Clamp + "collection"';& +3 "core" &]d\ \ +2 .tHand.open + "manipulator"&<1 +57 "core" 1 + "manipulator"&=% +4 "core" % \ / X #B +2 "storage"(>% +4 "core" %K v u O\ D + "storage"(?. +4 "core" .(, + .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 + "storage"(@(<< +350 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (A& +2 "core" &<9  . -\  +2 "manipulator"&B& +3 "core" & g > +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +43 .tElbow.seek 5 +2 "manipulator"&C( +21 "core" ( +2 "manipulator"&D& +4 "core" &\  B  + "storage"(E& +4 "core" &<9 j ] z\  +2 .tForearm.seek 5 + 450 counts + "manipulator"&F' +99 "core" ' + "storage"(G& +4 "core" &<9 g m \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(H'e +285 "core" ' +2 "storage"(I- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +2 (J& +3 "core" &<9 g g [\  +2 "manipulator"&K& +4 "core" &\    + .tElbow.seek 5 +2 "manipulator"&L( +3 "core" ( +2 "manipulator"&M& +3 "core" &\    +2 "storage"(N& +4 "core" &<9 \  +2 .tForearm.seek 5 + 300 counts + "manipulator"&O'[ +22 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&P/ +63 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&Q& +2 "storage"(R'N +7 "core" &\  r p H  +2 "manipulator"&S% +3 "core" % R p p +2 .tForearm.seek :retract +2 "manipulator"&T'\ +98 "core" ' +2 .tElbow.seek CC + "manipulator"&U( +142 "core" ' + ."downElevator"SE.stop + "storage"(5 +11 "core" ( + "manipulator"&V& +4 "core" &$ ;7 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &W& +3 "core" &$ X ;7 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&X'| +98 "core" ' + "manipulator"&Y& +5 "core" &$ O ;7 + "manipulator"&Z% +5 "core" %z  + "collection"'[& +4 "core" &]~\ \ +3 "collection"'\\& +6 "core" &]{\ \ +2 .tCC.seek :closed + "collection"'](] +5 "core" &]_\ \ +6 &uOc\ &j +10 &NYa\ 9 +9 &]\ N +9 &f`a\ N +10 &'cb\ O +9 &e`\ O +10 & jb\ P +9 &"mea\ O +9 &$0e_\ N +10 &%g_\ O +9 &'ha\ O +9 &)ujc\ O +10 &+7da\ O +9 &,i`\ O +9 &.ma\ O +10 &0|g_\ O +9 &2>h^\ O +10 &4f[\ O +9 &5^`\ N +9 &7fb\ N +14 &9Gbc\ O +5 &; gd\ O +10 &<eb\ O +9 &>b^\ O +9 &@Oc]\ O +10 &Bf`\ N +9 &CeX\ O +9 &Eg}\\\ O +10 &GUmhrV\ O +9 &IrGV]\ P +10 &J$X\ R +9 &La\ U +9 &NExx^\ X +10 &Pvwa\ X +9 &Qiqb\ Y +9 &Sae^\ Y +10 &UEUZW\ Z +9 &WKOa\ Z +9 &X@CW\ \\ +10 &Z4:\\\ ] +9 &\\F'*]\ I +10 &]X8"X\ *| +9 &]\ uT\ G +5 ( +2 "collection"'\\& +4 #tCollection Clamp onSpring/offSpring for 10/26 samples, on/off torque 1.91 + .Hand.open + "manipulator"&^1 +4 "core" &]g^\ G +49 1 + "manipulator"&_% +4 "core" % z D +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&`'\ +92 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp + "processing"%a& +4 "core" &V\  +2 "manipulator"&b% +3 "core" %\ *  K +2 "storage"(c% +4 "core" %; 7 5 \ \ + "storage"(d. +3 "core" .(<9 +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"(e(<< +7 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +2 (f& +3 "core" &<:\ \  \  +2 "manipulator"&g& +4 "core" &#  :+ + "manipulator"&h% +4 "core" %\ *  K +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&i( +156 "core" ( + "manipulator"&j& +5 "core" & A  + "storage"(k& +4 "core" &<9 Y Y\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts + "manipulator"&l' +94 "core" ' +2 "storage"(m& +4 "core" &<9 [ \\\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(n'e +278 "core" ' + "storage"(o- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (p& +2 "core" &<9 * -\  +2 "manipulator"&q& +4 "core" &   +2 .tElbow.seek 5 + "manipulator"&r( +3 "core" ( + "manipulator"&s& +9 "core" &  + "storage"(t& +5 "core" &<9 Y Y\  +2 .tForearm.seek 5 + 300 counts + "manipulator"&u'[ +19 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&v/ +63 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&w& +2 "storage"(x'N +6 "core" & q (  +2 "manipulator"&y% +4 "core" % ] z 0 + .tForearm.seek :retract +2 "manipulator"&z'\ +90 "core" ' +2 .tElbow.seek PC + "manipulator"&{(c +164 "core" ' + ."downElevator"SE.stop + "storage"(5 +86 "core" ( + "manipulator"&|& +5 "core" &i P + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &}& +3 "core" &i p +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&~'[ +101 "core" ' +2 "manipulator"&& +4 "core" &i  + "manipulator"&% +5 "core" %d + "processing"%& +5 "core" &V\  +2 "processing"%& +4 "core" &V\  +2 .tPC.seek :closed +2 "processing"%(Z +4 "core" &V=\  +8 &4>\ +| +10 &d?\ ? +9 &%}\ O +9 &\\>\ N +10 &aB\ N +9 &n^<\ N +9 &!/`>\ N +10 &"]=\ N +9 &$^D\ N +9 &&va<\ N +10 &(7b<\ N +9 &)_<\ M +10 &+_I\ N +9 &-~`L\ N +9 &/?`D\ N +10 &1`K\ N +9 &2`=\ M +10 &4_A\ N +9 &6GcD\ N +9 &8 `D\ M +10 &9_K\ N +9 &;b=\ N +9 &=Pb>\ N +10 &?b;\ N +9 &@`C\ N +9 &B`=\ N +10 &DW_<\ N +9 &Fb>\ N +10 &GnA\ O +9 &IxM\ P +9 &KTI\ R +10 &MA\ T +9 &N@\ T +10 &PE\ T +9 &RU?\ T +9 &T>\ T +10 &UB\ U +9 &W?\ U +9 &Y[=\ B +10 &Zj;z9\ 'q +9 &Z*=\ , +5 ( +2 "processing"%& +4 #tProcessing Clamp onSpring/offSpring for 9/25 samples, on/off torque 1.58 + .Hand.open + "manipulator"&1 +4 "core" &Z[\ , +52 1 +2 "manipulator"&% +4 "core" % d D +2 .tForearm.reconfigure :loose + "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +100 "core" ' + "processing"%& +5 "core" &Zb\ , + #tImaging generic puck in Processing Clamp while storing it to tube 5 + "manipulator"& % +4 "core" %\ 1  $p +2 "storage"(\ % +4 "core" %L   \  + "storage"( . +3 "core" .(<< +2 "storage"( & +3 "core" &<9   \  +2 "storage"( & +2 "manipulator"&& +7 "core" &<9   }\  + &i  +4 .tElbow.reconfigure :tight + ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +3 "storage"(#]kK-0-\ b +2 .tElbow.seek PC +4 "manipulator"&(c +3 ."raiseStack"SE.seek :beamBreak +2 "storage"('e +2 "core" ( +2 "manipulator"&& +3 "core" &i  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &i +2 .tForearm.seek PC + "manipulator"&'[ +97 "core" ' + .tHand.close + "manipulator"&/ +57 "core" / +2 .tPC.seek :open +2 "processing"%(p +91 "core" ' +2 "storage"(- +3 "core" -'e +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place + "storage"('B +34 "core" ' +257 ( + "storage"(& +4 "core" &<9 Y =\  +2 "manipulator"&& +4 "core" &i  + "manipulator"&% +4 "core" % k  +2 .tForearm.seek :retract + "manipulator"&'\ +92 "core" ' + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&"( +249 "core" ( + "manipulator"&%& +5 "core" & ? ^ + "storage"('& +4 "core" &<9 B D ;\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts + "manipulator"&(' +102 "core" ' +2 .tHand.open + "manipulator"&)1 +61 "core" 1 +2 "storage"(- +4 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate + "storage"(' +24 "core" ' + .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.83 Pucks below Top Plate + "storage"(#' +52 "core" ' +2 #tLights, camera, ACTION! + "storage"(,- +3 "core" -' +2 "storage"(-& +4 "core" &<9 R\  + "manipulator"&.& +4 "core" &\ w g ^ + .tElbow.seek 5 +2 "manipulator"&/( +3 "core" ( + "manipulator"&0& +5 "core" &\ | R ^ + "storage"(1& +4 "core" &<9 \  +2 .tForearm.seek 5 + 450 counts + "manipulator"&2' +4 "core" ' +2 .tSE.reconfigure :gently + "storage"(#QK-0-\ b +3 .tSE.seek -0.11 Pucks below Top Plate + "storage"(3'M +63 "core" ' + "manipulator"&4& +5 "core" & s q l ^ + "storage"(5& +4 "core" &<9 Y [\  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +6 "manipulator"&6'/ +34 "core" ' +2 .tElbow.hold + "manipulator"&7, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate + "storage"(8'7 +24 "core" ' +2 "manipulator"&9% +4 "core" %A[ 7 7 L ɳ +2 "storage"(:& +4 "core" &<9\  '\  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 5 + 318 counts + "manipulator"&;'m +17 "core" ' +2 "manipulator"&<& +4 "core" & { ~ !r + "storage"(=& +4 "core" &<9 f f\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&>' +22 "core" ' + "storage"(?% +5 "core" %@ _ u #\  +2 ."downElevator"SE.seek :down +3 "storage"(!'N +99 (A% +3 "core" %`: : ? \ U] +2 "manipulator"&B% +4 "core" % s s `  +2 .tForearm.reconfigure :loose + "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&D'\ +88 "core" ' +62 ' + ."downElevator"SE.stop + "storage"(5 +2 (E& +4 "core" &<9 6 ; #\  +2 "collection"'G& +4 "core" &]e++G\ G +2 #tStoring generic puck in Collection Clamp to tube 5 "manipulator"&$% +4 "core" %\ % f 0 +2 "storage"(&% +51 "core" %M Y Y\  + "storage"(I. +3 "core" .(<< +2 "storage"(J& +3 "core" &<9 Y Y\  +2 "storage"( & +4 "core" &<9 Y Y\  + "manipulator"&K& +4 "core" & !r +2 .tElbow.seek 5 + "manipulator"&M( +17 "core" ( + "manipulator"&N& +4 "core" & * * +2 "storage"(P& +4 "core" &<9 A Y\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&Q' +99 "core" ' +2 "storage"(S& +4 "core" &<9 Y Y\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(C'e +280 "core" ' +2 "storage"(F- +3 "core" -' +2 .tSE.configure :default + "storage"(#QK-0-\ b +3 "manipulator"&V& +3 "core" &= v "y +2 "storage"(W& +3 "core" &<9 7 ; \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&H'/ +34 "core" ' + .tElbow.hold + "manipulator"&O, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(Y- +2 "core" -' +2 .tSE.seek 0.12 Pucks below Top Plate +2 "storage"(Z'p +27 "core" ' + "manipulator"&[% +4 "core" %<T 8 7 / ̱ +2 "storage"(L& +4 "core" &<9 \  + .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 5 + 313 counts + "manipulator"&R'h +14 "core" ' + "manipulator"&T& +4 "core" &( m 8 % +2 "storage"(+& +4 "core" &<9 X Y \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&^' +20 "core" ' +2 .tSE.seek 1.12 Pucks below Top Plate + "storage"(_'_ +46 "core" ' +2 "manipulator"&a& +5 "core" &) q r $ + "manipulator"&b% +4 "core" % r r <  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&c'\ +97 "core" ' + .tElbow.seek CC +2 "manipulator"&d( +146 "core" ( +2 "manipulator"&f& +4 "core" &"  :1 + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &\\& +2 "core" &# :1 +2 .tForearm.seek CC +2 "manipulator"&g'| +107 "core" ' +2 .tHand.close + "manipulator"&h/ +57 "core" / +2 .tCC.seek :open + "collection"'X(p +408 "core" ( +2 "storage"(j& +4 "core" &<9 =\  + "storage"(k& +4 "core" &<9 \  + "manipulator"&@& +4 "core" &# :0 + "manipulator"&m% +4 "core" % r Z +2 .tForearm.seek :retract + "manipulator"&U'\ +90 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 + "manipulator"&`( +155 "core" ( +2 "manipulator"&o& +4 "core" &   +2 "storage"(p& +3 "core" &<9 \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 5 + "manipulator"&q'/ +113 "core" ' + .tElbow.hold + "manipulator"&s, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&t1 +56 "core" 1 +2 "manipulator"&v% +5 "core" % Br   g ù$ + "storage"(w& +4 "core" &<9 B C \  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 319 counts + "manipulator"&y'n +17 "core" ' +2 "manipulator"&i& +4 "core" & } * + "storage"(l& +4 "core" &<9 k\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&n' +18 "core" ' +2 "storage"(u% +4 "core" %[ \ +2 ."downElevator"SE.seek :down +3 "storage"(|'N +99 (}% +3 "core" %G8 `\ U[ +2 "manipulator"&r% +4 "core" % p z O  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&'\ +95 "core" ' +49 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 6 of [5..7] + #Loading generic puck from tube 6 into Collection Clamp + "collection"'& +5 "core" &F\ + "manipulator"&% +4 "core" %\ 3 %v +2 "storage"(x% +3 "core" %U \  +2 "storage"(z. +3 "core" .(<< +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 6 + "storage"(*(K +350 "core" ( +2 .tSC.configure :limp + "storage"($\ 1b +3 (& +2 "core" &K C B \  +2 "manipulator"&& +4 "core" & * + .tElbow.seek 6 +2 "manipulator"&( +29 "core" ( + "manipulator"& & +5 "core" & d + "storage"(\ & +4 "core" &K q h C\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"& '< +95 "core" ' +2 "storage"( & +4 "core" &K ;\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"( 'e +292 "core" ' + "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +2 (& +3 "core" &K w e \  +2 "manipulator"&& +3 "core" & +2 .tElbow.seek 6 + "manipulator"&( +3 "core" ( +2 "manipulator"&~& +3 "core" & y +2 "storage"(& +4 "core" &K \  +2 .tForearm.seek 6 + 300 counts + "manipulator"&'Ϧ +22 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&{/ +55 "core" / +3 ."downElevator"SE.seek :down +2 "manipulator"&& +3 "storage"('N +8 "core" & t s _ + "manipulator"&% +5 "core" % ϟ s s ` + .tForearm.seek :retract +2 "manipulator"&'\ +97 "core" ' + .tElbow.seek CC +2 "manipulator"&( +143 "core" ' + ."downElevator"SE.stop + "storage"(5 +11 "core" ( + "manipulator"&& +5 "core" &*  _ @\\ + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &*  @\\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&%'| +103 "core" ' + "manipulator"&'& +5 "core" &* x @[ +2 "manipulator"&% +4 "core" % +2 "collection"')& +4 "core" &m\ +2 "collection"'& +5 "core" &T\ +2 .tCC.seek :closed + "collection"',(] +5 "core" &T\ +8 &9]\ $c +9 &lT]\ 8 +9 &~Y\ L +10 &wcS\ O +9 &:aS\ O +9 &bU\ O +10 & f]\ O +9 &"gU\ O +9 &$CeX\ N +10 &&eS\ O +9 &'bR\ N +9 &)iQ\ O +10 &+JgQ\ O +9 &- cR\ N +10 &.gO\ O +9 &0jW\ O +9 &2ReL\ O +10 &4jP\ O +9 &5bF\ N +9 &7`F\ N +10 &9[`R\ N +9 &;aP\ N +10 &<aG\ N +9 &>cI\ N +9 &@bfT\ O +10 &B$bS\ O +9 &CbI\ N +9 &EgX\ N +10 &Gjhv}N\ O +9 &I(sZgM\ P +10 &J 9P\ R +9 &L[\ V +9 &NWU\ X +10 &PO\ X +9 &QY\ Y +9 &SuxH\ Y +10 &UXgkW\ Z +9 &WX`M\ Z +10 &XLQM\ \\ +9 &Z@EQ\ ] +9 &\\[18N\ I +10 &]hB**R\ "i +9 &]P'(U\ > +2 ( +2 "collection"'& +3 #tCollection Clamp onSpring/offSpring for 10/26 samples, on/off torque 1.93 + .Hand.open + "manipulator"&-1 +63 "core" 1 +2 "manipulator"&.% +4 "core" % u z +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&0'\ +93 "core" ' + #tLoading generic puck from tube 6 into Processing Clamp + "processing"%1& +5 "core" &\ + "manipulator"&% +4 "core" %\ # + + "storage"(4% +4 "core" %> 6 2\  +2 "storage"(5. +3 "core" .(K +2 .tSC.reconfigure :tight + "storage"($\ .\ 1~b +3 .tSC.seek 6 + "storage"(9(K +22 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +2 (& +3 "core" &K ; 6 c\ +2 "manipulator"&:& +4 "core" &*  @X + "manipulator"&% +4 "core" %\ #  + +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&<( +159 "core" ( + "manipulator"&=& +5 "core" & F + "storage"(?& +4 "core" &K X X T\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&"'< +98 "core" ' +2 "storage"((& +4 "core" &K e r |\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(#'e +281 "core" ' + "storage"(A- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (B& +2 "core" &K u t Q\ +2 "manipulator"&2& +4 "core" & s p 0 + .tElbow.seek 6 +2 "manipulator"&/( +3 "core" ( + "manipulator"&3& +4 "core" & } w z + "storage"(6& +4 "core" &K o o \ +3 .tForearm.seek 6 + 300 counts + "manipulator"&E'Ϧ +19 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&;/ +54 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&G& +2 "storage"($'N +7 "core" &  + "manipulator"&&% +4 "core" % ϛ  +2 .tForearm.seek :retract +2 "manipulator"&8'\ +95 "core" ' +2 .tElbow.seek PC + "manipulator"&I(c +154 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +101 "core" ( + "manipulator"&J& +6 "core" &` + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 & & +3 "core" &` +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC + "manipulator"&K'[ +102 "core" ' + "manipulator"&N& +5 "core" &` g + "manipulator"&P% +4 "core" %Z L +2 "processing"%>& +4 "core" &\ +2 "processing"%S& +4 "core" &\ +2 .tPC.seek :closed +2 "processing"%!(Z +4 "core" &\ +8 & 1I\ #a +9 &^UQ\ 7 +9 &$\ L +10 &l`\ N +9 &/`\ N +9 &d\ N +10 & f\ N +9 &"u^\ N +10 &$7d\ N +9 &%c\ M +9 &'`\ M +10 &)}c\ N +9 &+?a\ N +14 &-b\ M +5 &.`\ N +9 &0`\ M +10 &2H`\ M +9 &4 _\ M +9 &5b>\ N +10 &7`\ N +9 &9P]H\ M +9 &;`>\ M +10 &<cM\ M +9 &>cP\ M +10 &@W`K\ N +9 &B`P\ M +9 &C_M\ N +10 &EeM\ M +9 &G\\mP\ O +9 &IuQ\ P +10 &J?\ Q +55 &LL\ S +2 &NUI\ T + &PI\ T + &QJ\ T + &SM\ T + &U[M\ T +4 &WN\ U +10 &XM\ U +9 &Z<PxK\ + +10 &Z/I\ ) +5 ( +2 "processing"%S& +4 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.54 .Hand.open + "manipulator"&71 +4 "core" &ZE\ ) +53 1 + "manipulator"&D% +4 "core" % Z ) +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&F'\ +95 "core" ' + "processing"%V& +4 "core" &Z?\ ) +2 #tImaging generic puck in Processing Clamp while storing it to tube 6 + "manipulator"&W% +4 "core" %\ + Q !R + "storage"(Y% +4 "core" %E 8 > n\  +2 "storage"([. +3 "core" .(K + .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 + "storage"(L(K +3 "core" ( +2 .tSC.configure :limp + "storage"($\ 1b +4 (T& + "manipulator"&+& +4 "core" &K > 7 j\ +4 ."raiseStack"SE.reconfigure :place +2 "storage"(#]kK-0-\ b +3 "core" &` p +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +2 ."raiseStack"SE.seek :beamBreak + "manipulator"&a(c +2 "storage"(b'e +5 "core" ( +2 "manipulator"&Q& +4 "core" &` T + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &M& +3 "core" &` r +3 .tForearm.seek PC + "manipulator"&C'[ +99 "core" ' + .tHand.close +2 "manipulator"&H/ +52 "core" / +2 .tPC.seek :open + "processing"%R(p +98 "core" ' + "storage"(Z- +4 "core" -'e + ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(f'B +34 "core" ' +250 ( +2 "storage"(\\& +4 "core" &K X X F\ +2 "manipulator"&^& +3 "core" &` +2 "manipulator"&O% +3 "core" % ]  +2 .tForearm.seek :retract +2 "manipulator"&h'\ +94 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&c( +255 "core" ( + "manipulator"&]& +4 "core" & D "~ +2 "storage"(j& +4 "core" &K ) ) J\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts + "manipulator"&k'< +104 "core" ' + .tHand.open + "manipulator"&@1 +63 "core" 1 +2 "storage"(m- +4 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate + "storage"(o' +38 "core" ' + .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.83 Pucks below Top Plate + "storage"(p' +52 "core" ' +2 #tLights, camera, ACTION! + "storage"(g- +3 "core" -' +2 "storage"(d& +3 "core" &K y\ +2 "manipulator"&t& +4 "core" &  "} + .tElbow.seek 6 +2 "manipulator"&v( +3 "core" ( + "manipulator"&w& +4 "core" & P "} +2 "storage"(i& +4 "core" &K \ +2 .tForearm.seek 6 + 450 counts + "manipulator"&l'< +6 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"(u'M +61 "core" ' +2 "manipulator"&U& +4 "core" & r s Z "} +2 "storage"(}& +4 "core" &K X b \ + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 + "manipulator"&r'z +33 "core" ' + .tElbow.hold + "manipulator"&`, +4 "core" , +2 .tElbow.reconfigure :tight + "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"(q'7 +28 "core" ' +2 "manipulator"&% +4 "core" %·j ) ) 1 Ƿ +2 "storage"(y& +3 "core" &K\ \ \ +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 6 + 313 counts +2 "manipulator"&'ϳ +17 "core" ' + "manipulator"&x& +5 "core" & v { = !q +2 "storage"(z& +3 "core" &K d ] 3\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts + "manipulator"&_'< +17 "core" ' + "storage"(n% +5 "core" %9 u t /\ +2 ."downElevator"SE.seek :down +3 "storage"(|'N +99 (e% +3 "core" %79 [ Y {\ U\\ +2 "manipulator"&% +4 "core" %: u | +2 .tForearm.reconfigure :loose + "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +88 "core" ' +60 ' + ."downElevator"SE.stop + "storage"(5 +3 ( & +4 "core" &K : 7 Z\ +2 "collection"'\ & +3 "core" &]N-.Z\ > +2 #tStoring generic puck in Collection Clamp to tube 6 + "manipulator"& % +4 "core" %\ ' @ ? +2 "storage"(s% +4 "core" %G Y Y x\  + "storage"(. +3 "core" .(K +2 "storage"(& +3 "core" &K S W \ +2 "storage"(& +4 "core" &K X X j\ + "manipulator"&& +4 "core" & !q + .tElbow.seek 6 +2 "manipulator"&~( +3 "core" ( + "manipulator"&& +5 "core" & S !q + "storage"({& +4 "core" &K Y Y *\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&'< +99 "core" ' +2 "storage"(& +5 "core" &K Z [\ + .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"('e +281 "core" ' +2 "storage"( - +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +2 "manipulator"&& +3 "core" & g !q +2 "storage"(& +4 "core" &K Y Y\ + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 + "manipulator"& 'z +29 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"('- +3 "core" -' +2 .tSE.seek 0.12 Pucks below Top Plate + "storage"('r +30 "core" ' +2 "manipulator"&)% +4 "core" %΅j + * 5 Ƿ + "storage"(& +4 "core" &K\ \  \ + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 311 counts + "manipulator"&'ϱ +17 "core" ' + "manipulator"&& +4 "core" & n x o "x +2 "storage"(X& +4 "core" &K K N H\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts + "manipulator"&-'< +18 "core" ' +2 .tSE.seek 1.12 Pucks below Top Plate + "storage"(.'a +40 "core" ' +2 "manipulator"&1& +4 "core" & r q _ "x +2 "manipulator"&% +4 "core" %A r r ] +2 .tForearm.reconfigure :loose + "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&4'\ +88 "core" ' + .tElbow.seek CC +2 "manipulator"&5( +158 "core" ( + "manipulator"&& +4 "core" &,  Bk +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +2 "core" &,  Bk +2 .tForearm.seek CC +2 "manipulator"&:'| +100 "core" ' + .tHand.close + "manipulator"&/ +60 "core" / +2 .tCC.seek :open + "collection"'%(p +412 "core" ( + "storage"(=& +4 "core" &K Y X\ +2 "storage"(?& +3 "core" &K X X :\ +2 "manipulator"&*& +3 "core" &,  Bk +2 "manipulator"&(% +4 "core" % π  +2 .tForearm.seek :retract + "manipulator"&'\ +91 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 + "manipulator"&0( +157 "core" ( + "manipulator"&A& +5 "core" & + "storage"(B& +4 "core" &K x '\ + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 6 + "manipulator"&2'z +107 "core" ' + .tElbow.hold +2 "manipulator"&3, +3 "core" , +2 .tElbow.reconfigure :tight + "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&61 +56 "core" 1 +2 "manipulator"&;% +4 "core" % ΋~ ; c Q + "storage"(G& +4 "core" &K A B j\ +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 6 + 317 counts + "manipulator"&&'Ϸ +17 "core" ' + "manipulator"&<& +5 "core" & l U 4 + "storage"("& +4 "core" &K &\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&#'< +17 "core" ' + "storage"(E% +5 "core" %e 8\ +2 ."downElevator"SE.seek :down +3 "storage"(J'N +99 ( % +3 "core" %%< \ TZ + "manipulator"&/% +4 "core" %; ~ }  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&N'\ +91 "core" ' +51 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 7 of [5..7] +2 #Loading generic puck from tube 7 into Collection Clamp + "collection"'P& +4 "core" &Q\ + "manipulator"&>% +4 "core" %\ - "X +2 "storage"($% +4 "core" %K \ + "storage"(8. +3 "core" .(K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 7 + "storage"(([ +354 "core" ( +2 .tSC.configure :limp + "storage"($\ 1b +3 (7& +2 "core" &[ B C i\  +2 "manipulator"&D& +4 "core" & @ 4 + .tElbow.seek 7 +2 "manipulator"&V( +26 "core" ( + "manipulator"&W& +5 "core" &  s + "storage"(Y& +4 "core" &[ e f \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts + "manipulator"&['k +91 "core" ' +2 "storage"(T& +4 "core" &[ \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(S'e +287 "core" ' +2 "storage"(+- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +2 (Q& +3 "core" &[ %\  +2 "manipulator"&M& +3 "core" & p p + s +2 .tElbow.seek 7 + "manipulator"&K( +3 "core" ( +2 "manipulator"&H& +3 "core" & } y T s +2 "storage"(9& +3 "core" &[ D\  +3 .tForearm.seek 7 + 300 counts + "manipulator"&Z' +20 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&I/ +54 "core" / +3 ."downElevator"SE.seek :down +2 "manipulator"&F& +3 "storage"(!'N +8 "core" & s s Y s + "manipulator"&\\% +9 "core" % r r O +42 .tForearm.seek :retract +11 "manipulator"&^'\ +91 "core" ' +2 .tElbow.seek CC + "manipulator"&O( +95 "core" ' + ."downElevator"SE.stop + "storage"(5 +59 "core" ( +2 "manipulator"&b& +4 "core" &% 5 <= +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &C& +3 "core" &% D <= +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&]'| +93 "core" ' +2 "manipulator"&j& +5 "core" &% <= + "manipulator"&a% +5 "core" %τ i  + "collection"'@& +4 "core" &}\ +3 "collection"'m& +4 "core" &{\ +2 .tCC.seek :closed +2 "collection"'g(] +4 "core" &a\  +9 &1h\ *x +9 &b\\\ > +10 &;^\ O +9 &c^\ N +9 &hR\ O +10 &g`\ O +10 &!Bd`\ O +9 &#je\ O +9 &$e`\ N +9 &&e_\ N +10 &(Jf[\ O +9 &* eX\ O +9 &+ec\ N +10 &-b]\ N +9 &/Rc`\ O +9 &1h[\ O +10 &2gX\ O +9 &4d]\ O +10 &6\\bZ\ N +9 &8cY\ N +9 &9cV\ N +10 &;bW\ N +9 &=ceV\ N +9 &?&f]\ N +10 &@gY\ O +9 &Be_\ N +10 &Dl`b\ N +9 &F-c^\ N +9 &Gdy|`\ O +10 &IrclX\ P +9 &Kh+B_\ R +10 &M ^\ V +9 &Nf\ X +9 &P[\ X +10 &R]V\ Y +9 &T[\ Z +9 &Urx[\ [ +10 &Wbi_\ Z +9 &YZVZX\ \\ +10 &[CKX\ \\ +9 &\\{7:U\ 9 +9 &]'04^\ $j +10 &]k/0\\\ J +2 ( +2 "collection"'m& +3 #tCollection Clamp onSpring/offSpring for 9/25 samples, on/off torque 1.91 + .Hand.open + "manipulator"&d1 +60 "core" 1 +2 "manipulator"&t% +4 "core" % τ  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&w'\ +91 "core" ' +2 #tLoading generic puck from tube 7 into Processing Clamp + "processing"%h& +4 "core" &\ +2 "manipulator"&i% +4 "core" %\ ( B + "storage"(U% +4 "core" %; 5 8\ +2 "storage"(}. +3 "core" .([ +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 7 + "storage"(f([ +7 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (& +3 "core" &[\ \  \  + "manipulator"&y& +4 "core" &" \\ :- +2 "manipulator"&o% +3 "core" %\ ( \\ B +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 7 + "manipulator"&x( +158 "core" ( +2 "manipulator"&z& +4 "core" & C + "storage"(n& +5 "core" &[ M A _\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts + "manipulator"&c'k +95 "core" ' +2 "storage"(k& +4 "core" &[ [ [ \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(p'e +276 "core" ' +2 "storage"(e- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" &[ ) Q \  + "manipulator"&l& +4 "core" &  + .tElbow.seek 7 +2 "manipulator"&v( +3 "core" ( + "manipulator"&u& +4 "core" & = +2 "storage"(r& +3 "core" &[ X X a\  +2 .tForearm.seek 7 + 300 counts + "manipulator"& ' +10 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&/ +64 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&\ & + "storage"( 'N +8 "core" &  + "manipulator"&s% +4 "core" % ^ 9 +2 .tForearm.seek :retract +2 "manipulator"&'\ +90 "core" ' + .tElbow.seek PC +2 "manipulator"&(c +159 "core" ' + ."downElevator"SE.stop + "storage"(5 +84 "core" ( +2 "manipulator"&q& +4 "core" &m g  + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &m  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&'[ +103 "core" ' +2 "manipulator"&& +4 "core" &m  + "manipulator"&{% +4 "core" %T m +2 "processing"%_& +4 "core" &\ +2 "processing"%& +5 "core" &\ +2 .tPC.seek :closed + "processing"%|(Z +4 "core" &\  +9 &.~\ *y +10 &d\ ? +9 &;{8\ O +9 &]=\ M +10 &b\ N +9 &b\ M +10 &!E`\ N +9 &#\\\ M +9 &$]\ N +10 &&c\ N +9 &(M]\ N +9 &*b\ N +10 &+b\ N +9 &-b\ N +9 &/Ud\ N +10 &1]\ N +9 &2]\ N +10 &4b\ N +9 &6]a\ N +9 &8^\ N +10 &9]\ M +9 &;_\ M +9 &=eb\ N +10 &?'`\ N +9 &@a\ N +10 &B_\ M +9 &DmcE\ N +9 &F/f\ N +10 &GkF\ O +9 &Iv\ P +10 &Ki\ R +9 &M'\ S +9 &N\ T +10 &P>\ T +9 &RkL\ T +9 &T,"\ T +10 &U\ T +9 &WK\ T +9 &YpO\ B +10 &Z|C=\ W +9 &ZL\ ( +2 ( +2 "processing"%& +3 #tProcessing Clamp onSpring/offSpring for 9/25 samples, on/off torque 1.59 + .Hand.open + "manipulator"&`1 +64 "core" 1 + "manipulator"&% +4 "core" % T e +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"& '\ +102 "core" ' + "processing"%& +4 "core" &Z=\ ( +2 #tImaging generic puck in Processing Clamp while storing it to tube 7 + "manipulator"&% +4 "core" %\ 3 %~ +2 "storage"('% +4 "core" %>   \  + "storage"(). +3 "core" .([ + "storage"(& +4 "core" &[   2\  +2 "storage"(& +5 "manipulator"&X& +4 "core" &[   g\  + &m  +3 ."raiseStack"SE.reconfigure :place + .tElbow.reconfigure :tight +4 "storage"(#]kK-0-\ b +3 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +2 ."raiseStack"SE.seek :beamBreak +2 "manipulator"&1(c + "storage"('e +6 "core" ( + "manipulator"&& +4 "core" &m F  + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &~& +2 "core" &m  +2 .tForearm.seek PC +2 "manipulator"&'[ +96 "core" ' + .tHand.close + "manipulator"& / +58 "core" / +2 .tPC.seek :open + "processing"%(p +89 "core" ' +2 "storage"(- +4 "core" -'e + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +2 ."raiseStack"SE.seek :place +2 "storage"('B +43 "core" ' +247 ( +2 "storage"(& +4 "core" &[ A A ?\  + "manipulator"&-& +4 "core" &m   +2 "manipulator"&% +4 "core" % Y  +2 .tForearm.seek :retract + "manipulator"&'\ +94 "core" ' + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 7 + "manipulator"&4( +245 "core" ( + "manipulator"&,& +4 "core" &  8 +2 "storage"(=& +4 "core" &[ B B 2\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts + "manipulator"&?'k +99 "core" ' + .tHand.open + "manipulator"&*1 +54 "core" 1 +2 "storage"((- +3 "core" -'B +3 .tSE.seek -0.16 Pucks below Top Plate + "storage"(A' +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.83 Pucks below Top Plate + "storage"(B' +51 "core" ' + #tLights, camera, ACTION! +2 "storage"(:- +3 "core" -' +2 "storage"(5& +3 "core" &[ \  +2 "manipulator"&6& +3 "core" & . 8 +2 .tElbow.seek 7 +2 "manipulator"&;( +3 "core" ( + "manipulator"&G& +4 "core" &  8 + "storage"(<& +5 "core" &[ s\  +2 .tForearm.seek 7 + 450 counts + "manipulator"&"'k +15 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"(E'M +62 "core" ' + "manipulator"&& +4 "core" & r p T 8 +2 "storage"( & +4 "core" &[ W X \  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 7 + "manipulator"&/'Ω +34 "core" ' +2 .tElbow.hold + "manipulator"&0, +4 "core" , +2 .tElbow.reconfigure :tight + "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"(2'7 +23 "core" ' +2 "manipulator"&P% +4 "core" %θ~ _ M + "storage"(>& +4 "core" &[\ "\ % .\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 7 + 315 counts + "manipulator"&&' +17 "core" ' + "manipulator"&$& +5 "core" & h " 8 + "storage"(8& +5 "core" &[ Z X G\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&.'k +18 "core" ' + "storage"(#% +5 "core" %; i t \  +2 ."downElevator"SE.seek :down +3 "storage"(J'N +99 (L% +2 "core" %9 A A \ U] +2 "manipulator"&7% +5 "core" %W ~ } +2 .tForearm.reconfigure :loose + "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&D'\ +88 "core" ' +62 ' + ."downElevator"SE.stop + "storage"(5 +2 (W& +4 "core" &[ .  &\  +2 "collection"'Y& +4 "core" &]j13X\ J + #tStoring generic puck in Collection Clamp to tube 7 + "manipulator"&T% +4 "core" %\ +  !Q +2 "storage"(3% +4 "core" %J A > K\  + "storage"(N. +3 "core" .([ +2 "storage"(+& +3 "core" &[ , 5 )\  +2 "storage"(Q& +4 "core" &[ 7 4\  + "manipulator"&M& +4 "core" & 8 +2 .tElbow.seek 7 + "manipulator"&H( +3 "core" ( + "manipulator"&9& +4 "core" & K 8 +2 "storage"(I& +3 "core" &[ 9 -\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&F'k +94 "core" ' +2 "storage"(\\& +4 "core" &[ X Y \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(V'e +279 "core" ' +2 "storage"([- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +2 "manipulator"&S& +3 "core" &  8 + "storage"(b& +4 "core" &[ , 8 N\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 7 +2 "manipulator"&C'Ω +32 "core" ' +2 .tElbow.hold + "manipulator"&Z, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(j- +2 "core" -' +54 .tSE.seek 0.12 Pucks below Top Plate +2 "storage"(a'o +27 "core" ' + "manipulator"&@% +4 "core" %κr  ù- +2 "storage"(K& +3 "core" &[ \  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 7 + 317 counts + "manipulator"&!' +17 "core" ' +2 "manipulator"&^& +4 "core" & m a 8 + "storage"(%& +5 "core" &[ X X G\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts + "manipulator"&d'k +17 "core" ' +3 .tSE.seek 1.12 Pucks below Top Plate + "storage"(t'^ +47 "core" ' +2 "manipulator"&h& +4 "core" & ~ ~  8 + "manipulator"&i% +4 "core" %l z ~ 5 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&U'\ +88 "core" ' +2 .tElbow.seek CC + "manipulator"&}( +159 "core" ( +2 "manipulator"&m& +4 "core" &* @^ + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &* @^ +2 .tForearm.seek CC + "manipulator"&y'| +96 "core" ' +2 .tHand.close + "manipulator"&o/ +54 "core" / + .tCC.seek :open +2 "collection"'](p +408 "core" ( + "storage"(z& +4 "core" &[ n s _\  +2 "storage"(n& +4 "core" &[ s s \  + "manipulator"&& +4 "core" && ^ >O + "manipulator"&k% +4 "core" % e s +2 .tForearm.seek :retract + "manipulator"&O'\ +93 "core" ' + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 7 + "manipulator"&w( +157 "core" ( + "manipulator"&e& +4 "core" & m +2 "storage"(& +4 "core" &[ \  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 7 + "manipulator"&l'Ω +107 "core" ' + .tElbow.hold + "manipulator"&u, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&r1 +57 "core" 1 +2 "manipulator"&% +4 "core" % μ v g +2 "storage"(\ & +3 "core" &[ X X [\  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 7 + 319 counts + "manipulator"&s' +19 "core" ' +2 "manipulator"&x& +4 "core" & p g +2 "storage"(c& +3 "core" &[ m\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&p'k +16 "core" ' + "storage"( % +5 "core" %Y \ +2 ."downElevator"SE.seek :down +3 "storage"(q'N +99 (% +3 "core" %@8 \ \ UZ +2 "manipulator"&v% +3 "core" %h r s U +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +90 "core" ' +49 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 5 of [5..7] +2 #Loading generic puck from tube 5 into Collection Clamp + "collection"'{& +4 "core" &\ + "manipulator"&_% +4 "core" %\ % \\ 1 +2 "storage"( % +4 "core" %? A\ \ + "storage"(. +3 "core" .([ +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"(R(<< +671 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (`& +3 "core" &<< [ ]\ + "manipulator"&& +4 "core" & +2 .tElbow.seek 5 + "manipulator"&( +34 "core" ( + "manipulator"&& +4 "core" & o  +2 "storage"('& +4 "core" &<< x 7\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts + "manipulator"&)' +94 "core" ' +2 "storage"(& +4 "core" &<< I\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"('e +278 "core" ' + "storage"(X- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +2 "core" &<; t t \ +2 "manipulator"&& +4 "core" & k  + .tElbow.seek 5 +2 "manipulator"&~( +7 "core" ( + "manipulator"&& +4 "core" & Z  +2 "storage"( & +3 "core" &<; e g \ +2 .tForearm.seek 5 + 300 counts + "manipulator"&'[ +26 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&/ +52 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"& & +2 "storage"(|'N +7 "core" & r r U  + "manipulator"&% +4 "core" % X s r )  +2 .tForearm.seek :retract +2 "manipulator"&-'\ +92 "core" ' + .tElbow.seek CC +2 "manipulator"&( +149 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +9 "core" ( + "manipulator"&& +4 "core" &* A` +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &+  A` +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&,'| +101 "core" ' +2 "manipulator"&=& +4 "core" &+ @ A` +2 "manipulator"&1% +3 "core" %υ | +2 "collection"'*& +4 "core" &\ +2 "collection"'(& +6 "core" &\ +2 .tCC.seek :closed + "collection"':(] +4 "core" &a\  +8 &1i\ *z +10 &ce\ ? +9 &M_\ O +10 &_]\ N +9 &g_\ O +10 &ef\ O +9 &!Uca\ O +9 &#d_\ O +10 &$ed\ N +9 &&_c\ N +9 &(^b\\\ N +10 &*!a`\ N +9 &+bf\ N +9 &-c_\ O +10 &/fe\\\ N +9 &1(ed\ N +10 &2c`\ N +9 &4b^\ N +9 &6ob_\ N +10 &82bY\ N +9 &9b[\ N +9 &;`c\ N +10 &=wca\ N +9 &?8b_\ N +10 &@b^\ N +9 &B_^\ N +9 &D~ba\ N +10 &F@b^\ N +9 &Heu{`\ O +9 &ItXec\ P +10 &Kx3`\ S +9 &M0d\ W +9 &Nc\ X +10 &P^\ X +9 &Ro[\ Y +10 &T/x}^\ Z +9 &Uko^\ Z +9 &W^b_\ [ +10 &YmPS^\ \\ +9 &[0?H]\ \\ +9 &\\{49c\ 2 +10 &]&+-]\ B +9 ( +3 "collection"'(& +2 #tCollection Clamp onSpring/offSpring for 9/25 samples, on/off torque 1.98 + .Hand.open + "manipulator"&51 +4 "core" &]N//`\ > +52 1 + "manipulator"&6% +4 "core" % {  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +7 .tForearm.seek :retract + "manipulator"&G'\ +94 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp + "processing"%<& +4 "core" &\ +2 "manipulator"&% +4 "core" %\ %  / + "storage"(% +4 "core" %D A A \ + "storage"( . +3 "core" .(<< +2 "storage"(& +3 "core" &<; @ A \ +2 "storage"(P& +4 "core" &<; A A \ + "manipulator"&>& +4 "core" &*  @Y + "manipulator"&A% +4 "core" %\ % h / +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&$( +161 "core" ( +2 "manipulator"&8& +4 "core" & N  +2 "storage"(#& +3 "core" &<; K M \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&4' +102 "core" ' + "storage"(?& +4 "core" &<; s s \ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(B'e +277 "core" ' +2 "storage"(L- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +2 (7& +3 "core" &<9 X X ^\ +2 "manipulator"&"& +3 "core" &   +2 .tElbow.seek 5 + "manipulator"&;( +3 "core" ( + "manipulator"&E& +4 "core" & K  +2 "storage"(/& +3 "core" &<9 [ [\ +2 .tForearm.seek 5 + 300 counts + "manipulator"&W'[ +11 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&&/ +59 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&Y& + "storage"(T'N +8 "core" & )  + "manipulator"&3% +4 "core" % X % / +2 .tForearm.seek :retract +2 "manipulator"&N'\ +96 "core" ' +2 .tElbow.seek PC + "manipulator"&+(c +151 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +96 "core" ( +2 "manipulator"&2& +4 "core" &^  +2 .tElbow.reconfigure :loose + "manipulator"&$ &.,(#b +3 &Q& +2 "core" &^  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&M'[ +104 "core" ' + "manipulator"&9& +5 "core" &^ F + "manipulator"&I% +4 "core" %a  +2 "processing"%.& +3 "core" &\ +2 "processing"%\\& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%J(Z +4 "core" &\  +9 &.}\ +z +10 &c\ > +9 &=|\ N +9 &]\ N +10 &a\ N +9 &\\\ N +9 &!Fb\ N +10 &#^\ N +9 &$[\ M +9 &&^\ M +10 &(N\\\ N +9 &*` \ M +10 &+\\\ N +9 &-^\ M +9 &/Uc\ N +10 &1]\ N +9 &2b\ N +10 &4]\ N +9 &6^\\\ N +9 &8 a\ N +10 &9`\ N +9 &;\\\ N +9 &=f`\ N +10 &?(c\ N +9 &@c\ N +10 &Ba \ N +9 &Dn`\ N +9 &F0_\ N +10 &Gj\ O +9 &Iv \ P +9 &Ki\ R +10 &M'\ S +9 &N\ S +10 &P\ T +9 &Rm\ S +9 &T+\ U +10 &U\ U +9 &W \ T +9 &Yp\ B +10 &ZyA\ U +9 &Z7 \ 5 +6 ( + "processing"%\\& +4 #tProcessing Clamp onSpring/offSpring for 9/25 samples, on/off torque 1.58 + .Hand.open + "manipulator"&01 +4 "core" &Z.\ 5 +55 1 +2 "manipulator"&D% +4 "core" % a \\ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&['\ +95 "core" ' +2 "processing"%S& +4 "core" &Z.\ 5 +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 + "manipulator"&b% +3 "core" %\ - "^ +2 "storage"(j% +4 "core" %= 9 9 \  + "storage"(@. +3 "core" .(<< + "storage"(K& +4 "core" &<9 : 9 &\ +2 "storage"(^& +5 "manipulator"&%& +4 "core" &<9 9 &\ + &^  +45 .tElbow.reconfigure :tight +12 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +2 "storage"(#]kK-0-\ b +3 .tElbow.seek PC +3 "manipulator"&h(c +4 ."raiseStack"SE.seek :beamBreak + "storage"(i'e +2 "core" ( +2 "manipulator"&F& +4 "core" &^ @ + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &H& +3 "core" &^ +2 .tForearm.seek PC + "manipulator"&V'[ +99 "core" ' +2 .tHand.close + "manipulator"&C/ +57 "core" / +2 .tPC.seek :open + "processing"%!(p +91 "core" ' +2 "storage"(a- +3 "core" -'e +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place + "storage"(m'B +36 "core" ' +258 ( +2 "storage"(& +9 "core" &<9 Y Y\ + "manipulator"&d& +5 "core" &^ + "manipulator"&Z% +4 "core" % ` +2 .tForearm.seek :retract + "manipulator"&o'\ +100 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 + "manipulator"&U( +253 "core" ( +2 "manipulator"&g& +4 "core" & l $ + "storage"(z& +4 "core" &<9 A B J\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&n' +100 "core" ' + .tHand.open + "manipulator"&1 +54 "core" 1 +2 "storage"(k- +3 "core" -'B +3 .tSE.seek -0.16 Pucks below Top Plate + "storage"(e' +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.83 Pucks below Top Plate + "storage"(' +55 "core" ' +2 #tLights, camera, ACTION! + "storage"(y- +4 "core" -' + "storage"(}& +4 "core" &<7 5\ +2 "manipulator"&r& +3 "core" & $ +2 .tElbow.seek 5 + "manipulator"&( +4 "core" ( + "manipulator"&\ & +4 "core" & Y $ + "storage"(x& +5 "core" &<7 :\ +2 .tForearm.seek 5 + 450 counts + "manipulator"&c' +4 "core" ' + .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.11 Pucks below Top Plate + "storage"( 'M +58 "core" ' + "manipulator"&O& +4 "core" & $ +2 "storage"(& +4 "core" &<7 X X V\ + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 + "manipulator"&v'/ +31 "core" ' +2 .tElbow.hold + "manipulator"&w, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate + "storage"(l'7 +27 "core" ' +2 "manipulator"&{% +4 "core" %._ ) ) # ƴ +2 "storage"(_& +3 "core" &<7\ \  \ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 299 counts + "manipulator"& 'Z +17 "core" ' +2 "manipulator"&s& +4 "core" &E z u C +2 "storage"(& +4 "core" &<7 K J \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts + "manipulator"&t' +17 "core" ' + "storage"(p% +5 "core" %: s s \ +2 ."downElevator"SE.seek :down +4 "storage"(q'N +99 (f% +3 "core" %A: X X O\ U^ + "manipulator"&`% +4 "core" % y t i +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +92 "core" ' +55 ' + ."downElevator"SE.stop + "storage"(5 +3 (& +4 "core" &<7 : ? J\ +2 "collection"''& +3 "core" &]N0/Q\ > +2 #tStoring generic puck in Collection Clamp to tube 5 + "manipulator"&% +4 "core" %\ + !V + "storage"(u% +4 "core" %; W X S\ \ +2 "storage"(. +3 "core" .(<< + "storage"(X& +4 "core" &<7 X X W\ + "storage"(& +5 "core" &<7 X X L\ + "manipulator"&& +4 "core" &E C +2 .tElbow.seek 5 + "manipulator"&( +20 "core" ( + "manipulator"& & +4 "core" &  @  +2 "storage"(& +3 "core" &<7 Z Z\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts + "manipulator"& ' +94 "core" ' +2 "storage"(& +4 "core" &<7 s s \ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"('e +279 "core" ' +2 "storage"()- +3 "core" -' +2 .tSE.configure :default + "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" &    + "storage"(& +4 "core" &<7 K J Z\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 + "manipulator"&'/ +32 "core" ' +2 .tElbow.hold + "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(=- +2 "core" -' +3 .tSE.seek 0.12 Pucks below Top Plate + "storage"(1'p +38 "core" ' + "manipulator"&*% +5 "core" %2U ) ) 2 Ʊ + "storage"(~& +4 "core" &<7\ \  7\ + .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 5 + 303 counts +2 "manipulator"&|'^ +16 "core" ' +2 "manipulator"&-& +4 "core" &2 ^ w  m +2 "storage"(]& +3 "core" &<7 U M d\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&5' +17 "core" ' +2 .tSE.seek 1.12 Pucks below Top Plate +2 "storage"(6'_ +46 "core" ' + "manipulator"&<& +5 "core" &2 r y j m + "manipulator"&% +5 "core" % r q e + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +91 "core" ' +2 .tElbow.seek CC + "manipulator"& ( +159 "core" ( +2 "manipulator"&& +4 "core" &&  =C + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &P& +3 "core" && ; =C +2 .tForearm.seek CC +2 "manipulator"&('| +95 "core" ' + .tHand.close + "manipulator"&>/ +54 "core" / +2 .tCC.seek :open + "collection"'A(p +411 "core" ( +3 "storage"(,& +4 "core" &<7 s s &\ + "storage"(8& +4 "core" &<7 s s \ + "manipulator"&#& +4 "core" &# e :, + "manipulator"&?% +4 "core" % ϋ Q +2 .tForearm.seek :retract + "manipulator"&'\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&G( +156 "core" ( +2 "manipulator"&L& +4 "core" &  + "storage"(7& +4 "core" &<7 \ +2 .tElbow.reconfigure :limp + "manipulator"&$ ,(b +3 .tForearm.seek 5 + "manipulator"&"'/ +110 "core" ' +2 .tElbow.hold + "manipulator"&E, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&/1 +64 "core" 1 +2 "manipulator"&&% +4 "core" % ;u : 1 + "storage"(Y& +4 "core" &<7 2 , M\ + .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 5 + 312 counts + "manipulator"&3'g +16 "core" ' +2 "manipulator"&$& +4 "core" &; v ^ M  +2 "storage"(4& +3 "core" &<7 X\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&B' +19 "core" ' + "storage"(W% +5 "core" %\\ \ +2 ."downElevator"SE.seek :down +3 "storage"(2'N +100 (Q% +3 "core" % 8 3\ TZ + "manipulator"&;% +4 "core" % q s R  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&9'\ +90 "core" ' +48 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 6 of [5..7] + #Loading generic puck from tube 6 into Collection Clamp + "collection"'I& +4 "core" &}~\ +2 "manipulator"&.% +4 "core" %\ + !N + "storage"(T% +5 "core" %H \ \ + "storage"(N. +3 "core" .(<< +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"((K +354 "core" ( + .tSC.configure :limp +52 "storage"($\ 1b +3 (0& +3 "core" &K G , \  +2 "manipulator"&D& +3 "core" &;  +2 .tElbow.seek 6 + "manipulator"&S( +13 "core" ( +2 "manipulator"&b& +4 "core" &   + "storage"(j& +4 "core" &K \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&@'< +88 "core" ' + "storage"(K& +5 "core" &K \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(%'e +281 "core" ' +2 "storage"(^- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +2 (\\& +3 "core" &K i \  +2 "manipulator"&F& +3 "core" & g  +2 .tElbow.seek 6 + "manipulator"&H( +4 "core" ( + "manipulator"&M& +4 "core" & 4  + "storage"(C& +4 "core" &K \  +3 .tForearm.seek 6 + 300 counts + "manipulator"&a'Ϧ +10 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&+/ +59 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&[& +2 "storage"(J'N +7 "core" & >  + "manipulator"&% +4 "core" % Ϝ C + +2 .tForearm.seek :retract +2 "manipulator"&i'\ +98 "core" ' +2 .tElbow.seek CC + "manipulator"&d( +148 "core" ' + ."downElevator"SE.stop + "storage"(5 +5 "core" ( + "manipulator"&Z& +4 "core" &" :+ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &V& +3 "core" &# h :+ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&g'| +98 "core" ' +2 "manipulator"&z& +4 "core" &# a :+ + "manipulator"&h% +4 "core" %u S +2 "collection"'& +4 "core" &}\ +2 "collection"'k& +5 "core" &}\ +2 .tCC.seek :closed + "collection"'y(] +4 "core" &}d\  +9 &0e\ *y +10 &dd\ ? +9 &7]\ O +9 &_d\ N +10 &ed\ O +9 &}ec\ O +9 &!Bb]\ N +10 &#fe\ N +9 &$ae\ N +10 &&d\\\ N +9 &(Idb\ N +9 &* `a\ N +10 &+b]\ N +9 &-cd\ N +10 &/Qg]\ N +9 &1hR\ N +9 &2`Y\ N +10 &4c\\\ N +9 &6Ya^\ N +9 &8a\\\ N +10 &9`\\\ N +9 &;`^\ N +9 &=bb_\ N +10 &?#ba\ N +10 &@d\\\ O +9 &Bcd\ N +9 &Dia\\\ N +9 &F+aa\ N +10 &Giu{]\ O +9 &IuXda\ P +9 &Kc4]\ S +10 &Mc\ W +9 &Nb\ X +10 &P]\ Y +9 &R[[\ Y +9 &T}`\ Z +10 &Unr_\ [ +9 &W_e]\ Z +10 &YWTXb\ ] +9 &[DJa\ \\ +9 &\\{7>^\ < +10 &]-04c\ #i +9 &]e./\\\ F +2 ( +2 "collection"'k& +3 #tCollection Clamp onSpring/offSpring for 9/25 samples, on/off torque 1.97 + .Hand.open + "manipulator"&}1 +57 "core" 1 +2 "manipulator"&r% +4 "core" % u h +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&\ '\ +91 "core" ' + #tLoading generic puck from tube 6 into Processing Clamp + "processing"%x& +5 "core" &\ + "manipulator"&o% +4 "core" %\ % 8 + "storage"(O% +4 "core" %F ; 6 \ \ +2 "storage"(. +3 "core" .(K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 6 + "storage"({(K +4 "core" ( +2 .tSC.configure :limp + "storage"($\ 1b +3 (_& +2 "core" &K\ !\  !\  +2 "manipulator"&m& +4 "core" &! G 8! + "manipulator"&s% +4 "core" %\ & 8 +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 + "manipulator"&e( +160 "core" ( + "manipulator"&& +5 "core" & P  + "storage"(p& +4 "core" &K W X d\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts + "manipulator"&U'< +93 "core" ' + "storage"(n& +4 "core" &K u ` :\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"('e +281 "core" ' + "storage"(f- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +2 (`& +3 "core" &K , ) R\  +2 "manipulator"&c& +4 "core" &  + .tElbow.seek 6 +2 "manipulator"&( +3 "core" ( + "manipulator"& & +4 "core" & { Q  + "storage"(v& +4 "core" &K X W `\  +2 .tForearm.seek 6 + 300 counts + "manipulator"&'Ϧ +22 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"& / +53 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&'& +2 "storage"('N +7 "core" & r s p  + "manipulator"&u% +5 "core" % ϥ r r _ +2 .tForearm.seek :retract + "manipulator"&'\ +96 "core" ' +2 .tElbow.seek PC + "manipulator"&X(c +158 "core" ' + ."downElevator"SE.stop + "storage"(5 +79 "core" ( +2 "manipulator"&& +4 "core" &f G B + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &l& +2 "core" &g A +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&'[ +102 "core" ' + "manipulator"& & +5 "core" &g 0 A + "manipulator"&% +4 "core" %W g +2 "processing"%t& +4 "core" &\ +3 "processing"%& +4 "core" &\ +2 .tPC.seek :closed + "processing"%q(Z +5 "core" &\  +10 &-~\ +z +9 &d\ ? +9 &;{\ O +10 &\\\ M +9 &c\ N +9 &]\ N +10 &!F^\ M +9 &#_\ M +9 &$\\\ M +10 &&b \ N +9 &(M_\ N +10 &*`\ N +9 &+^\ N +9 &-\\\ N +10 &/UbD\ N +9 &1`#\ N +10 &2\\G\ N +9 &4[\ M +9 &6^^J\ M +10 &8];\ N +9 &9Z\ M +9 &;\\G\ M +10 &=e` \ N +9 &?'cL\ N +10 &@cL\ N +9 &B]N\ M +9 &Dm^I\ N +10 &F.eN\ N +9 &GmK\ O +9 &ItJ\ P +10 &KfN\ S +9 &M%M\ T +9 &N8\ T +10 &PK\ T +9 &RkH\ T +10 &T+N\ T +9 &UN\ U +9 &W\ T +10 &YpJ\ B +9 &Z{CK\ X +9 &ZM\ ) +3 ( +2 "processing"%& +2 #tProcessing Clamp onSpring/offSpring for 9/25 samples, on/off torque 1.59 + .Hand.open + "manipulator"&w1 +64 "core" 1 + "manipulator"&% +4 "core" % W l +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&)'\ +98 "core" ' + "processing"%& +4 "core" &ZL\ ) +2 #tImaging generic puck in Processing Clamp while storing it to tube 6 + "manipulator"&% +4 "core" %\ / #j +2 "storage"(=% +4 "core" %F 7 % 5\ + "storage"(*. +3 "core" .(K + "storage"(~& +4 "core" &K 9 9\  +2 "storage"(-& +3 "manipulator"&]& +6 "core" &K 8 8\  + &g < A +2 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +5 "storage"(#]kK-0-\ b +2 "manipulator"&$&.,(\ #b +5 .tElbow.seek PC +2 ."raiseStack"SE.seek :beamBreak + "manipulator"&<(c +2 "storage"('e +6 "core" ( + "manipulator"& & +5 "core" &g  A + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &g  A +2 .tForearm.seek PC + "manipulator"&'[ +96 "core" ' + .tHand.close + "manipulator"&/ +57 "core" / +2 .tPC.seek :open + "processing"%|(p +92 "core" ' +2 "storage"(1- +3 "core" -'e +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place + "storage"('B +34 "core" ' +258 ( +2 "storage"(P& +9 "core" &K L = \  +4 "manipulator"&5& +8 "core" &g  A +2 "manipulator"&% +8 "core" % ^  +3 .tForearm.seek :retract +3 "manipulator"&>'\ +92 "core" ' +4 .tElbow.reconfigure :tight +4 "manipulator"&$&.,(\ #b +4 .tElbow.seek 6 +3 "manipulator"&( +69 #"reset-modem"Session Begun +3 #-> Gate.cycleModemPower! 5 +2 .Gate.cycleModemPower! 5 +2 #Session Ended +170 "core" ( +4 "manipulator"&:& +8 "core" &\ & T +3 "storage"(,& +8 "core" &K A A \  +4 .tForearm.reconfigure :tight +5 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +3 "manipulator"&8'< +93 "core" ' +8 .tHand.open +4 "manipulator" +53 "core" 1 +7 "storage"(?- +9 "core" -'B +6 .tSE.seek -0.16 Pucks below Top Plate +3 "storage"(L' +27 "core" ' +2 .tSE.reconfigure :seal +53 "storage"(#QK-0-\ b +2 .tSE.seek -0.83 Pucks below Top Plate + "storage"(7' +54 "core" ' +3 #tLights, camera, ACTION! + "storage"((- +3 "core" -' +2 "storage"( & +3 "core" &K \ \  +2 "manipulator"&/& +3 "core" &\  S +2 .tElbow.seek 6 +2 "manipulator"&&( +3 "core" ( + "manipulator"&Y& +5 "core" &\  S + "storage"($& +4 "core" &K "\  +2 .tForearm.seek 6 + 450 counts + "manipulator"&4'< +4 "core" ' +3 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"(W'M +60 "core" ' +2 "manipulator"&& +4 "core" &\  S +2 "storage"(Q& +4 "core" &K W X S\  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 + "manipulator"&;'z +33 "core" ' + .tElbow.hold + "manipulator"&G, +4 "core" , +2 .tElbow.reconfigure :tight + "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.07 Pucks below Top Plate + "storage"("'7 +23 "core" ' +2 "manipulator"&I% +4 "core" %΃`   c ȴ +2 "storage"(.& +4 "core" &K \  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 309 counts + "manipulator"&3'ϯ +17 "core" ' +2 "manipulator"&T& +4 "core" & ~ ( & +2 "storage"(N& +4 "core" &K X X S\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&6'< +16 "core" ' +2 "storage"(B% +4 "core" %A W W n\ +3 ."downElevator"SE.seek :down +3 "storage"(2'N +99 (R% +3 "core" %6 A A \ U] +2 "manipulator"&0% +4 "core" %: N +2 .tForearm.reconfigure :loose + "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&D'\ +92 "core" ' +57 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (b& +4 "core" &K  # \  + "collection"'j& +4 "core" &]e22X\ F +2 #tStoring generic puck in Collection Clamp to tube 6 + "manipulator"&K% +4 "core" %\ . #d + "storage"(E% +4 "core" %? A A w\ \ + "storage"(9. +3 "core" .(K +2 "storage"(^& +4 "core" &K A A \  +2 "storage"(\\& +4 "core" &K A A \  +2 "manipulator"&F& +4 "core" & & + .tElbow.seek 6 +2 "manipulator"&M( +27 "core" ( + "manipulator"&C& +4 "core" & +2 "storage"(+& +4 "core" &K K T 0\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&['< +104 "core" ' +2 "storage"(& +4 "core" &K s s\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(S'e +283 "core" ' + "storage"(@- +4 "core" -' +2 .tSE.configure :default + "storage"(#QK-0-\ b +3 "manipulator"&Z& +3 "core" & r t  + "storage"(V& +5 "core" &K X W \\\  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose + "manipulator"&#Q@2^d^b +3 .tForearm.seek 6 + "manipulator"&%'z +32 "core" ' + .tElbow.hold + "manipulator"&a, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(z- +3 "core" -' +2 .tSE.seek 0.12 Pucks below Top Plate +2 "storage"(h's +31 "core" ' + "manipulator"&% +5 "core" %΅\\  % Ƴ + "storage"(H& +4 "core" &K\ \  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 311 counts + "manipulator"&J'ϱ +16 "core" ' +2 "manipulator"&i& +4 "core" & k 8  +2 "storage"(A& +3 "core" &K J K :\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&}'< +17 "core" ' +3 .tSE.seek 1.12 Pucks below Top Plate + "storage"(r'b +40 "core" ' + "manipulator"&x& +4 "core" & q o )  +2 "manipulator"&o% +4 "core" %6 s r F +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&O'\ +93 "core" ' +2 .tElbow.seek CC + "manipulator"&( +152 "core" ( + "manipulator"&_& +4 "core" &#  :* +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &k& +3 "core" &# H :* +2 .tForearm.seek CC +2 "manipulator"&m'| +97 "core" ' +2 .tHand.close + "manipulator"&s/ +60 "core" / +2 .tCC.seek :open + "collection"'g(p +408 "core" ( +2 "storage"(& +4 "core" &K r r\  + "storage"(p& +4 "core" &K r s\  + "manipulator"&& +4 "core" &"  9) + "manipulator"&n% +4 "core" % ω  +2 .tForearm.seek :retract + "manipulator"&d'\ +91 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 + "manipulator"&\ ( +158 "core" ( + "manipulator"&f& +5 "core" & + "storage"(`& +4 "core" &K \  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 6 + "manipulator"&c'z +107 "core" ' + .tElbow.hold +2 "manipulator"& , +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&v1 +57 "core" 1 +3 "manipulator"& % +4 "core" % Ό~ Q M +2 "storage"('& +3 "core" &K A A t\  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 6 + 318 counts + "manipulator"&u'ϸ +14 "core" ' + "manipulator"&e& +4 "core" & z h 4  +2 "storage"(U& +3 "core" &K 7\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&'< +21 "core" ' +2 "storage"(% +4 "core" %d O\ +2 ."downElevator"SE.seek :down +3 "storage"('N +99 (l% +4 "core" %57 \ TZ + "manipulator"&% +4 "core" %^ o z x +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"& '\ +87 "core" ' +51 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 7 of [5..7] +2 #Loading generic puck from tube 7 into Collection Clamp + "collection"'& +4 "core" &|\ + "manipulator"&t% +5 "core" %\ ( E + "storage"(% +4 "core" %< \ + "storage"(. +4 "core" .(K + .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 7 + "storage"(!([ +354 "core" ( +2 .tSC.configure :limp + "storage"($\ 1b +3 (w& +2 "core" &[ / * \  +2 "manipulator"&& +4 "core" &  + .tElbow.seek 7 +2 "manipulator"&( +20 "core" ( + "manipulator"&& +4 "core" &  +2 "storage"(=& +4 "core" &[ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts + "manipulator"&*'k +107 "core" ' + "storage"(& +4 "core" &[ M\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(~'e +287 "core" ' + "storage"(-- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (]& +2 "core" &[ 7\  +2 "manipulator"& & +3 "core" & p r   +2 .tElbow.seek 7 + "manipulator"&( +4 "core" ( +2 "manipulator"&& +3 "core" & h p I  +2 "storage"(& +4 "core" &[ ]\  +2 .tForearm.seek 7 + 300 counts +2 "manipulator"&1' +23 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&X/ +54 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&)& +2 "storage"(q'N +7 "core" & r q l  + "manipulator"&P% +5 "core" % r r N +6 .tForearm.seek :retract +2 "manipulator"&'\ +90 "core" ' + .tElbow.seek CC +2 "manipulator"&5( +146 "core" ' + ."downElevator"SE.stop + "storage"(5 +6 "core" ( +2 "manipulator"&& +4 "core" &# :, +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &#  :, +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +52 .tForearm.seek CC +2 "manipulator"&:'| +99 "core" ' +2 "manipulator"&,& +4 "core" &# s :, +2 "manipulator"&<% +3 "core" %υ +2 "collection"'#& +5 "core" &_\ +2 "collection"'?& +6 "core" &]\ +2 .tCC.seek :closed +2 "collection"'>(] +3 "core" &]\ +6 &]\ 5 +9 &H_\ 1 +10 &=p[\ E +9 &j]\ O +10 &a_\ M +9 &ddc\ N +14 & %ge\ N +5 &!h[\ N +9 &#f^\ N +9 &%lb`\ N +10 &'.c\\\ N +9 &(c\\\ N +9 &*cc\ M +10 &,uc`\ N +9 &.6gb\ N +10 &/e_\ N +9 &1ec\ N +9 &3zb^\ O +10 &5?b`\ N +9 &7ba\ N +9 &8`c\ M +10 &:bc\ N +9 &ea\ N +9 &?ed\ N +9 &Ab\\\ N +10 &COd[\ N +9 &EeX\ M +9 &Fbi\ N +10 &Hmv{\\\ O +9 &JPv\\i^\ P +10 &L\ 5c\ S +9 &M^\ W +9 &Oe\ X +10 &Q@^\ X +9 &S^\ Y +10 &T~e\ Z +9 &Vpw^\ Z +9 &XAae]\ [ +10 &YRV]\ \\ +9 &[EJe\ ` +9 &]"P6:`\ 5 +10 &] /4b\ T +5 ( +2 "collection"'?& +4 #tCollection Clamp onSpring/offSpring for 9/25 samples, on/off torque 2.04 + .Hand.open + "manipulator"&(1 +3 "core" &]v22d\ S +53 1 +2 "manipulator"& % +4 "core" % ρ F +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&/'\ +93 "core" ' +2 #tLoading generic puck from tube 7 into Processing Clamp + "processing"%Y& +9 "core" &\ + "manipulator"&$% +4 "core" %\ '  ; +2 "storage"(% +3 "core" %? $  '\ +2 "storage"(Q. +3 "core" .([ +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 7 + "storage"(([ +3 "core" ( +2 .tSC.configure :limp + "storage"($\ 1b +3 (I& +3 "core" &[\ \  G\  + "manipulator"&.& +4 "core" &  7 +2 "manipulator"&T% +3 "core" %\ ' 5 ; +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 7 +2 "manipulator"&L( +157 "core" ( + "manipulator"&N& +5 "core" &  + "storage"(B& +4 "core" &[ 8 = "\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&'k +95 "core" ' + "storage"(8& +5 "core" &[ X X \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(7'e +281 "core" ' + "storage"(R- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (0& +2 "core" &[ 9 9\  +2 "manipulator"&4& +4 "core" &   + .tElbow.seek 7 +2 "manipulator"&&( +3 "core" ( + "manipulator"&W& +4 "core" & 0  + "storage"(;& +4 "core" &[ @ ; \  +2 .tForearm.seek 7 + 300 counts + "manipulator"&b' +22 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&3/ +59 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&j& + "storage"(K'N +8 "core" & r p M  + "manipulator"&E% +5 "core" % z o 6 + .tForearm.seek :retract +2 "manipulator"&9'\ +95 "core" ' +2 .tElbow.seek PC + "manipulator"&^(c +157 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +78 "core" ( + "manipulator"&"& +4 "core" &j  S +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &\\& +3 "core" &j z S +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&F'[ +104 "core" ' +2 "manipulator"&C& +4 "core" &j S +2 "manipulator"&+% +3 "core" %b +2 "processing"%6& +4 "core" &\ +2 "processing"%& +5 "core" &\ +2 .tPC.seek :closed + "processing"%2(Z +5 "core" &\ +7 & *\ #b +9 &WW\ 8 +10 &\ L +9 &k[\ N +9 &-]\ N +10 &\\\ M +9 & _\ M +9 &"s_\ N +10 &$4^\ N +9 &%\\\ M +10 &']\ M +9 &)|_\ M +9 &+=Z\ N +10 &-a\ M +9 &.]\ N +9 &0]\ M +10 &2E`\ N +9 &4]\ N +9 &5`\ M +10 &7_\ N +9 &9M]\ N +10 &;_\ N +9 &<] \ N +9 &>b\ M +10 &@U]\ N +9 &B_\ N +10 &C\\\ M +9 &E`\ N +9 &G[j\ N +10 &In\ O +9 &J~\ Q +9 &L\ S +10 &NS\ T +9 &P\ S +14 &Q\ T +5 &S\ U +9 &U[\ T +10 &W5\ T +9 &X\ T +9 &Z:Ms\ - +10 &Z.\ ) +5 ( +2 "processing"%& +4 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.57 + .Hand.open + "manipulator"&G1 +3 "core" &Z\ ) +59 1 +2 "manipulator"&D% +4 "core" % b  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&@'\ +94 "core" ' + "processing"%Z& +4 "core" &Z\ ) +2 #tImaging generic puck in Processing Clamp while storing it to tube 7 + "manipulator"&V% +3 "core" %\ % s 1 +2 "storage"(z% +4 "core" %?  \  + "storage"(. +3 "core" .([ +2 "storage"(H& +3 "core" &[  \  +2 "storage"(i& +4 "manipulator"&A& +4 "core" &[   \  +2 &j S +3 ."raiseStack"SE.reconfigure :place + .tElbow.reconfigure :tight +4 "storage"(#]kK-0-\ b +2 "manipulator"&$&.,(\ #b +5 .tElbow.seek PC +3 ."raiseStack"SE.seek :beamBreak +2 "manipulator"&x(c + "storage"(o'e +5 "core" ( + "manipulator"&[& +4 "core" &j " S +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &M& +3 "core" &j S +2 .tForearm.seek PC + "manipulator"&S'[ +95 "core" ' + .tHand.close + "manipulator"&%/ +53 "core" / +2 .tPC.seek :open + "processing"%J(p +98 "core" ' +2 "storage"(h- +3 "core" -'e +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place + "storage"(_'B +34 "core" ' +250 ( +2 "storage"(k& +4 "core" &[ 8 9 #\  + "manipulator"&}& +4 "core" &j  S +2 "manipulator"&a% +3 "core" % e  +2 .tForearm.seek :retract + "manipulator"&s'\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 7 + "manipulator"&O( +249 "core" ( +2 "manipulator"&y& +4 "core" &  "y +2 "storage"(& +3 "core" &[  \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&p'k +92 "core" ' +2 .tHand.open + "manipulator"&1 +58 "core" 1 +2 "storage"(n- +4 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate + "storage"(f' +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(`' +53 "core" ' +2 #tLights, camera, ACTION! + "storage"(m- +3 "core" -' +2 "storage"(& +3 "core" &[ 2\  +2 "manipulator"&v& +4 "core" &  "x + .tElbow.seek 7 +2 "manipulator"& ( +3 "core" ( + "manipulator"&'& +4 "core" &  "x +2 "storage"(e& +4 "core" &[ .\  +2 .tForearm.seek 7 + 450 counts + "manipulator"&U'k +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"('M +60 "core" ' +2 "manipulator"&d& +4 "core" &  "x +2 "storage"(l& +3 "core" &[ 4 :\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose + "manipulator"&#Q@2^d^b +2 .tForearm.seek 7 +2 "manipulator"&'Ω +33 "core" ' + .tElbow.hold + "manipulator"&\ , +4 "core" , +2 .tElbow.reconfigure :tight + "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"(c'7 +26 "core" ' +2 "manipulator"&% +4 "core" %μ~ l ½N +2 "storage"(t& +4 "core" &[ |\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 7 + 319 counts + "manipulator"&u' +25 "core" ' +2 "manipulator"&& +5 "core" & w q "x + "storage"(& +4 "core" &[ + , )\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&r'k +21 "core" ' + "storage"(% +5 "core" %= W X W\ +2 ."downElevator"SE.seek :down +3 "storage"('N +99 ({% +3 "core" %; 6 8\ T[ +2 "manipulator"&w% +4 "core" %K p p   +2 .tForearm.reconfigure :loose +53 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +87 "core" ' +11 ' + ."downElevator"SE.stop + "storage"(5 +3 (& +4 "core" &[ ! P -\  + "collection"'=& +5 "core" &]w34c\ S + #tStoring generic puck in Collection Clamp to tube 7 + "manipulator"&% +4 "core" %\ & < +2 "storage"( % +4 "core" %A 9 8 \ \ + "storage"( . +4 "core" .([ + "storage"(-& +4 "core" &[ 9 9 \  + "storage"(]& +9 "core" &[ 9 9 \  +2 "manipulator"& & +4 "core" & i !w + .tElbow.seek 7 +2 "manipulator"&( +3 "core" ( + "manipulator"&& +4 "core" & !w +2 "storage"(X& +4 "core" &[ 8 9 \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts + "manipulator"&)'k +101 "core" ' +2 "storage"(P& +4 "core" &[ X W B\  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"('e +282 "core" ' + "storage"(*- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +2 "core" & s q ! !w +2 "storage"(& +4 "core" &[ @ @ B\  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 7 + "manipulator"&~'Ω +33 "core" ' + .tElbow.hold + "manipulator"&1, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(- +2 "core" -' +2 .tSE.seek 0.12 Pucks below Top Plate + "storage"(,'o +31 "core" ' + "manipulator"&<% +4 "core" %λ{ g ¼I +2 "storage"(#& +3 "core" &[\ O\  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 7 + 318 counts +2 "manipulator"&q' +18 "core" ' + "manipulator"&& +4 "core" & } m Z !w +2 "storage"(g& +4 "core" &[ ( + \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&('k +21 "core" ' +2 .tSE.seek 1.12 Pucks below Top Plate +2 "storage"( '^ +46 "core" ' +2 "manipulator"&Y& +4 "core" & q p  !w +2 "manipulator"&$% +4 "core" %} z p  +2 .tForearm.reconfigure :loose + "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +94 "core" ' +2 .tElbow.seek CC + "manipulator"&Q( +153 "core" ( + "manipulator"&?& +5 "core" &* @] + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &I& +3 "core" &* @] +2 .tForearm.seek CC + "manipulator"&.'| +100 "core" ' + .tHand.close +2 "manipulator"&T/ +61 "core" / +2 .tCC.seek :open + "collection"':(p +408 "core" ( +2 "storage"(N& +4 "core" &[ q r A\  +2 "storage"(B& +3 "core" &[ r r\  +2 "manipulator"&!& +3 "core" &," :+ +2 "manipulator"&8% +4 "core" %   + .tForearm.seek :retract +2 "manipulator"&5'\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 7 +2 "manipulator"&/( +155 "core" ( + "manipulator"&R& +4 "core" & Q \ +2 "storage"(0& +4 "core" &[ \  +2 .tElbow.reconfigure :limp + "manipulator"&$ ,(b +3 .tForearm.seek 7 + "manipulator"&4'Ω +110 "core" ' + .tElbow.hold +2 "manipulator"&W, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&;1 +56 "core" 1 +2 "manipulator"&3% +4 "core" % ν 7  m q + "storage"(j& +4 "core" &[ X W i\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 7 + 320 counts + "manipulator"&E' +19 "core" ' + "manipulator"&L& +5 "core" & s x 0 \ +2 "storage"(& +3 "core" &[ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&7'k +26 "core" ' + "storage"(b% +5 "core" %b \ +2 ."downElevator"SE.seek :down +3 "storage"("'N +99 (\\% +3 "core" %E; \ UZ +2 "manipulator"&&% +4 "core" %V r p ) + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&C'\ +86 "core" ' +53 ' + ."downElevator"SE.stop + "storage"(5 +3784 "Can"m +>< +20140 #t-> Hand +2413 #-> Arm + "manipulator"&+& +3 "core" & E \ +2 "manipulator"&6% +4 "core" %\ ' F 9 +5581 #t-> Elbow + "manipulator"&K& +4 "core" &  \ +4913 #t-> Forearm + "manipulator"&9% +3 "core" %\ ' L 9 +3952 #t-> Arm.pick + "storage"(|& +3 "core" &[ *\  +2 "manipulator"&G& +4 "core" &  \ +2 .tElbow.seek 7 + "manipulator"&D( +3 "core" ( + "manipulator"&Z& +3 "core" &  \ +2 "storage"(V& +3 "core" &[ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&z'k +104 "core" ' + "manipulator"&& +87 "core" & o p \ +2 "manipulator"&H% +4 "core" %c d h [  +1211 #t-> Arm.home + "manipulator"&A& +3 "core" & o q  \ +2 "manipulator"&i% +3 "core" %c l c {  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +87 "core" ' +2 .tElbow.seek :home + "manipulator"&[( +233 "core" ( + "manipulator"&M& +4 "core" & . F +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &F& +2 "core" & r F +2 .tForearm.seek :home + "manipulator"&%' +40 "core" ' +2 "manipulator"&h& +4 "core" & S F + "manipulator"&^% +4 "core" % r  +440 #t-> Arm + "manipulator"&@& +3 "core" & ` F +2 "manipulator"&2% +4 "core" % N  +601 #t-> Arm.ready! + .Forearm.reconfigure :loose +2 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&k'\ +70 "core" ' +2 ."closeHand"Hand.close +3 .tElbow.jog 1500 +2 "manipulator"&}/ + &a* +52 "core" / +2 * +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 .tElbow.home.seek :clear + "manipulator"&o(d +248 "core" ( +2 "manipulator"&S& +4 "core" &d B "~ + "manipulator"&y% +4 "core" % \ 6 X & +348 #t-> Arm + "manipulator"&& +3 "core" &d H "~ +2 "manipulator"&x% +4 "core" % \ 6 z & +4722 #"reset-modem"Session Begun +3 #-> Gate.cycleModemPower! 5 +2 .Gate.cycleModemPower! 5 +2 #Session Ended +2505 #t-> Elbow.seek 3 + .Elbow.seek 3 +2 "manipulator"&(D +96 "core" ( + "manipulator"&n& +4 "core" &> i +1230 #t-> Elbow.seek + !o:ArgumentError: mesg"(wrong number of arguments (0 for 1):bt[ "(ESP):15:in `seek'"(ESP):15:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +1365 #-> Elbow.seek 2 +2 .Elbow.seek 2 + "manipulator"&m(; +2 "core" ( +2 "manipulator"&& +4 "core" &>  i +418 #t-> Elbow.seek 4 + .Elbow.seek 4 +2 "manipulator"&v(* +23 "core" ( + "manipulator"&'& +4 "core" &7 x  +690 #t-> Elbow.seek 1 + .Elbow.seek 1 + "manipulator"&e(c +28 "core" ( + "manipulator"&s& +4 "core" &g ! * +1809 #t-> Elbow.seek 2 +2 .Elbow.seek 2 + "manipulator"&d(; +31 "core" ( +2 "manipulator"&l& +4 "core" &1 h ` +3263 #t-> Arm.pick + "storage"(& +3 "core" &[ \  +2 "manipulator"&_& +4 "core" &1 ` +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 7 + "manipulator"&t( +83 "core" ( +2 "manipulator"&f& +3 "core" & "x +2 "storage"(& +3 "core" &[ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&'k +99 "core" ' +3 "manipulator"&& +4 "core" &  "x + "manipulator"&O% +4 "core" %p ] \ +2861 "Can"_ +?= +7274 #t-> Hand.open + .Hand.open +2 "manipulator"&p1 +63 "core" 1 +925 #t-> Hand.close + .Hand.close + "manipulator"&`/ +60 "core" / +1294 #t-> PC.close + "manipulator"&{& +4 "core" & "x +2 !to:Arm::Error: mesg"@Cannot hold puck in Processing Clamp because Hand is closed:@checkpoint: omitted:bt["E/home/esp/esp2/utils/misc.rb:414:in `closeAndVerifyPuckPresence'"0/home/esp/esp2/utils/misc.rb:485:in `close'",/home/esp/esp2/lib/msg.rb:68:in `retry'"0/home/esp/esp2/utils/misc.rb:484:in `close'"5/home/esp/esp2/lib/thread.rb:74:in `recoverable'"0/home/esp/esp2/utils/misc.rb:483:in `close'"(ESP):23:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +801 #-> Hand.open + .Hand.open + "manipulator"&w1 +59 "core" 1 +370 #t-> PC.close + !o:Arm::Error: mesg"3Claim Arm, then retry closing Processing Clamp:@checkpoint: omitted:bt["E/home/esp/esp2/utils/misc.rb:415:in `closeAndVerifyPuckPresence'"0/home/esp/esp2/utils/misc.rb:485:in `close'",/home/esp/esp2/lib/msg.rb:68:in `retry'"0/home/esp/esp2/utils/misc.rb:484:in `close'"5/home/esp/esp2/lib/thread.rb:74:in `recoverable'"0/home/esp/esp2/utils/misc.rb:483:in `close'"(ESP):25:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +1048 #-> PC + "processing"%U& +3 "core" &\ +358 #t-> PC.close +2 !o:Arm::Error: mesg"3Claim Arm, then retry closing Processing Clamp:@checkpoint: omitted:bt["E/home/esp/esp2/utils/misc.rb:415:in `closeAndVerifyPuckPresence'"0/home/esp/esp2/utils/misc.rb:485:in `close'",/home/esp/esp2/lib/msg.rb:68:in `retry'"0/home/esp/esp2/utils/misc.rb:484:in `close'"5/home/esp/esp2/lib/thread.rb:74:in `recoverable'"0/home/esp/esp2/utils/misc.rb:483:in `close'"(ESP):27:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +1116 #-> CC + "collection"' & +3 "core" &"\ +237 #t-> CC.close +2 !o:Arm::Error: mesg"3Claim Arm, then retry closing Collection Clamp:@checkpoint: omitted:bt["E/home/esp/esp2/utils/misc.rb:415:in `closeAndVerifyPuckPresence'"5/home/esp/esp2/utils/misc.rb:485:in `closeClamp'",/home/esp/esp2/lib/msg.rb:68:in `retry'"5/home/esp/esp2/utils/misc.rb:484:in `closeClamp'"5/home/esp/esp2/lib/thread.rb:74:in `recoverable'"5/home/esp/esp2/utils/misc.rb:483:in `closeClamp'"0/home/esp/esp2/utils/misc.rb:503:in `close'"(ESP):29:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +694 #-> Arm.home + "manipulator"&& +3 "core" & | "x +2 "manipulator"&% +4 "core" % o  + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +90 "core" ' +2 .tElbow.seek :home + "manipulator"&u( +238 "core" ( + "manipulator"&=& +4 "core" & % Y +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +2 "core" & ; Y +2 .tForearm.seek :home +2 "manipulator"& ' +49 "core" ' + "manipulator"& & +4 "core" & v ^ & Y +2 "manipulator"&-% +3 "core" % p p   +371 #t-> PC.close +2 !o:Arm::Error: mesg"3Claim Arm, then retry closing Processing Clamp:@checkpoint: omitted:bt["E/home/esp/esp2/utils/misc.rb:415:in `closeAndVerifyPuckPresence'"0/home/esp/esp2/utils/misc.rb:485:in `close'",/home/esp/esp2/lib/msg.rb:68:in `retry'"0/home/esp/esp2/utils/misc.rb:484:in `close'"5/home/esp/esp2/lib/thread.rb:74:in `recoverable'"0/home/esp/esp2/utils/misc.rb:483:in `close'"(ESP):31:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +650 #-> ClaimArm +2 !o:NameError: mesg"$uninitialized constant ClaimArm: name: ClaimArm:bt["(ESP):32:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +736 #-> Claim.arm + !o:NameError: mesg"!uninitialized constant Claim: name:\ Claim:bt["(ESP):33:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +201 #-> Arm + "manipulator"&c& +3 "core" & p o Y +2 "manipulator"&]% +4 "core" % e h   +316 #t-> PC.close +2 !o:Arm::Error: mesg"3Claim Arm, then retry closing Processing Clamp:@checkpoint: omitted:bt["E/home/esp/esp2/utils/misc.rb:415:in `closeAndVerifyPuckPresence'"0/home/esp/esp2/utils/misc.rb:485:in `close'",/home/esp/esp2/lib/msg.rb:68:in `retry'"0/home/esp/esp2/utils/misc.rb:484:in `close'"5/home/esp/esp2/lib/thread.rb:74:in `recoverable'"0/home/esp/esp2/utils/misc.rb:483:in `close'"(ESP):35:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +809 #-> Arm.ready! +2 .Forearm.reconfigure :loose +2 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract + "manipulator"& '\ +67 "core" ' + ."closeHand"Hand.close +3 .tElbow.jog 1500 +3 "manipulator"&/ + &X* +47 "core" * + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 .tElbow.home.seek :clear +2 "manipulator"&P(d +4 "core" / +242 ( + "manipulator"&r& +4 "core" &d !w +2 "manipulator"&% +3 "core" % \ * !P +327 #t-> CC.close + "manipulator"&\ & +4 "core" &d R !w +2 !to:Arm::Error: mesg"@Cannot hold puck in Collection Clamp because Hand is closed:@checkpoint: omitted:bt["E/home/esp/esp2/utils/misc.rb:414:in `closeAndVerifyPuckPresence'"5/home/esp/esp2/utils/misc.rb:485:in `closeClamp'",/home/esp/esp2/lib/msg.rb:68:in `retry'"5/home/esp/esp2/utils/misc.rb:484:in `closeClamp'"5/home/esp/esp2/lib/thread.rb:74:in `recoverable'"5/home/esp/esp2/utils/misc.rb:483:in `closeClamp'"0/home/esp/esp2/utils/misc.rb:503:in `close'"(ESP):37:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +360 #-> PC.close + "manipulator"&& +4 "core" &d !w +2 !to:Arm::Error: mesg"@Cannot hold puck in Processing Clamp because Hand is closed:@checkpoint: omitted:bt["E/home/esp/esp2/utils/misc.rb:414:in `closeAndVerifyPuckPresence'"0/home/esp/esp2/utils/misc.rb:485:in `close'",/home/esp/esp2/lib/msg.rb:68:in `retry'"0/home/esp/esp2/utils/misc.rb:484:in `close'"5/home/esp/esp2/lib/thread.rb:74:in `recoverable'"0/home/esp/esp2/utils/misc.rb:483:in `close'"(ESP):38:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +835 #-> Hand.open + .Hand.open +2 "manipulator"&*1 +59 "core" 1 +285 #t-> PC.close +2 !o:Arm::Error: mesg"3Claim Arm, then retry closing Processing Clamp:@checkpoint: omitted:bt["E/home/esp/esp2/utils/misc.rb:415:in `closeAndVerifyPuckPresence'"0/home/esp/esp2/utils/misc.rb:485:in `close'",/home/esp/esp2/lib/msg.rb:68:in `retry'"0/home/esp/esp2/utils/misc.rb:484:in `close'"5/home/esp/esp2/lib/thread.rb:74:in `recoverable'"0/home/esp/esp2/utils/misc.rb:483:in `close'"(ESP):40:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +25997 #"reset-modem"Session Begun +3 #-> Gate.cycleModemPower! 5 +2 .Gate.cycleModemPower! 5 +2 #Session Ended +13870 "Can"V *A? +46845 #"reset-modem"Session Begun +3 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +13149 "Can"X +?= +47565 #"reset-modem"Session Begun +2 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +12430 "Can"R +@= +60002 K +?= @EDT1635775417.12 I *A? +60003 J *B? +60001 B *B@ +60001 ? +?> +60002 @ +?= +60002 7 +@> +60002 2 +@> +16503 #t-> Flush.CC +2 #Loading FlushPuck into Collection Clamp from FlushPuck::Garage + "collection"'& +3 "core" &mnJ\ +2 "manipulator"&& +3 "core" &d K !w +2 "manipulator"&% +3 "core" % \ + @ !P +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek FlushPuck::Garage + "manipulator"&<(, +140 "core" ( + "manipulator"&#& +4 "core" &, 3 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +2 "core" &,  3 +2 .tForearm.seek :garage + "manipulator"&g' +101 "core" ' + .tHand.close +2 "manipulator"&Y/ +61 "core" / +2 "manipulator"&$& +4 "core" &, W 3 + "manipulator"&)% +4 "core" %  #  + .tForearm.seek :retract +2 "manipulator"&'\ +100 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC + "manipulator"&( +299 "core" ( +2 "manipulator"&~& +3 "core" &  ^ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &q& +2 "core" & r ^ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&,'| +100 "core" ' + "manipulator"&?& +4 "core" &\ T ^ +2 "manipulator"&I% +3 "core" %{ +2 "collection"'(& +4 "core" &no\ +2 "collection"'1& +4 "core" &np\ +2 .tCC.seek :closed +2 "collection"'T(] +4 "core" &pp\  +9 &1no\ *y +9 &bop\ ? +10 &Dpo\ O +9 &coo\ O +9 &jop\ O +10 &mmo\ O +9 &!Mfpp\ O +10 &#eoq\ O +9 &$enp\ O +9 &&ior\ O +10 &(Uhpq\ O +9 &*goq\ N +9 &+dpp\ N +10 &-hmo\ O +9 &/]joq\ O +9 &1ioq\ O +10 &2jnp\ O +9 &4cpn\ N +10 &6f`op\ N +9 &8)fop\ N +9 &9fmo\ N +10 &;`lp\ N +9 &=mhoo\ O +9 &?/flo\ O +10 &@ekm\ O +9 &Bioo\ O +10 &Dvamm\ N +9 &F8cnn\ N +9 &Gg\\e\ O +10 &IpDN\ P +9 &Kuz0\ Q +9 &M*\ V +10 &N\ W +9 &P\ X +10 &Rh\ Y +9 &T)\ Y +9 &U\ [ +10 &W\ [ +9 &Yft{\ \\ +9 &[(mr\ \\ +10 &\\|bf\ 4 +9 &]#`b\ (t +10 &]ubc\ U +2 ( + "collection"'1& +3 #tCollection Clamp onSpring/offSpring for 9/25 samples, on/off torque 1.90 + "collection"'& +4 "core" &]rdf\ U +2 .tHand.open + "manipulator"&>1 +62 "core" 1 +2 "manipulator"&N% +4 "core" % b [ + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&B'\ +92 "core" ' +403 #t-> Flush.PC +2 #Loading FlushPuck into Processing Clamp from Collection Clamp + "processing"%!& +3 "core" &]\ +2 "manipulator"&8& +4 "core" &  ^ +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC + "manipulator"&R( +3 "core" ( + "manipulator"&0& +4 "core" &  ^ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &.& +3 "core" &  ^ +2 .tForearm.seek CC + "manipulator"&Q'| +95 "core" ' +2 .tHand.close + "manipulator"&;/ +55 "core" / +2 .tCC.seek :open + "collection"'3(p +410 "core" ( +2 "manipulator"&j& +4 "core" &\ ^ + "manipulator"&L% +4 "core" % ` + .tForearm.seek :retract +2 "manipulator"&'\ +92 "core" ' +2 .tElbow.reconfigure :tight + "manipulator"&$&.,(\ #b +3 .tElbow.seek PC + "manipulator"&b(c +354 "core" ( + "manipulator"&5& +4 "core" &f  +2 .tElbow.reconfigure :loose + "manipulator"&$ &.,(#b +3 &\\& +2 "core" &f Z +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC + "manipulator"&&'[ +103 "core" ' +2 "manipulator"&/& +4 "core" &f W +2 "manipulator"&4% +4 "core" %Q c + "processing"%E& +4 "core" &[\ +2 "processing"% & +4 "core" &_\ +2 .tPC.seek :closed + "processing"%7(Z +5 "core" &b\  +57 &.{b\ *y +2 &c_\ > + &<}^\ N + &_e\ M &d_\ N + &`^\ M +3 &!EbV\ M +9 &#b]\ M +10 &$b^\ M +9 &&da\ M +9 &(La\\\ N +10 &*b]\ M +9 &+a[\ N +9 &-ea\ M +10 &/Teb\ N +9 &1c\\\ N +10 &2b[\ N +9 &4b^\ M +9 &6]cZ\ M +10 &8b_\ N +9 &9]c\ M +9 &;b[\ M +10 &=eb]\ M +9 &?'cZ\ M +10 &@e\\\ N +9 &Ba_\ N +9 &DmcX\ M +10 &F/c]\ M +9 &Ghc\ N +9 &It^\ O +10 &KjW\ Q +9 &M&\\\ S +10 &N\\\ T +9 &PW\ T +9 &Rj^\ T +10 &T+a\ T +9 &UY\ T +9 &WY\ T +10 &Ym]\ B +9 &Zt;`\ ^ +10 &Z3a\ 2 +5 ( + "processing"% & +4 #tProcessing Clamp onSpring/offSpring for 9/25 samples, on/off torque 1.53 + "processing"%"& +4 "core" &Z)]\ 2 +2 &Z)Y\ 2 + .tHand.open + "manipulator"&+1 +63 "core" 1 +2 "manipulator"&6% +4 "core" % Q h +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&K'\ +93 "core" ' +2 "collection"'9& +4 "core" &pq\ +3317 #t-> Flush.garage +2 #Garaging FlushPuck in Processing Clamp + "manipulator"&|& +3 "core" &f  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC + "manipulator"&G(c +3 "core" ( + "manipulator"&Z& +4 "core" &f 4 + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &V& +3 "core" &f \ +2 .tForearm.seek PC + "manipulator"&'[ +94 "core" ' +2 .tHand.close + "manipulator"&H/ +53 "core" / +2 .tPC.seek :open +2 "processing"%W(p +394 "core" ( +2 "manipulator"&C& +4 "core" &f ? +2 "manipulator"&A% +3 "core" % S K +2 .tForearm.seek :retract + "manipulator"&i'\ +99 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage +2 "manipulator"&z(, +122 "core" ( +2 "manipulator"&M& +4 "core" &,   + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &F& +3 "core" &,   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :garage + "manipulator"&h' +98 "core" ' + .tHand.open + "manipulator"&^1 +63 "core" 1 +2 "manipulator"&D% +4 "core" % T +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&'\ +94 "core" ' +1527 #t-> PC.close + !o:Arm::Error: mesg"3Claim Arm, then retry closing Processing Clamp:@checkpoint: omitted:bt["E/home/esp/esp2/utils/misc.rb:415:in `closeAndVerifyPuckPresence'"0/home/esp/esp2/utils/misc.rb:485:in `close'",/home/esp/esp2/lib/msg.rb:68:in `retry'"0/home/esp/esp2/utils/misc.rb:484:in `close'"5/home/esp/esp2/lib/thread.rb:74:in `recoverable'"0/home/esp/esp2/utils/misc.rb:483:in `close'"(ESP):44:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +1044 #-> Hand +918 #-> PC + "processing"%@& +3 "core" &X\ +3671 #t-> SE + "storage"(2% +3 "core" %C \ +1853 #t-> Hand +772 #-> Arm +2 "manipulator"&}& +3 "core" &,   +2 "manipulator"&%% +3 "core" %\ # < ) +504 #t-> Elbow +2 "manipulator"&[& +3 "core" &,   +1563 #t-> Forearm + "manipulator"&S% +3 "core" %\ # ) +771 #t-> Arm.pick +2 "storage"(y& +3 "core" &[ i\  + "manipulator"&a& +4 "core" &, L  +2 "manipulator"&% +3 "core" %\ # ' ) +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 7 + "manipulator"&x( +173 "core" ( +2 "manipulator"&n& +4 "core" &  "} + "storage"(o& +4 "core" &[ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts + "manipulator"&'k +100 "core" ' + "manipulator"&& +4 "core" & < "} +2 "manipulator"&'% +3 "core" %m T  +4902 #t-> Hand +712 #-> Clamp + "collection"'m& +4 "core" &pp\ + "processing"%s& +4 "core" &U\ +2960 #t-> Arm + "manipulator"&v& +3 "core" &  "} +2 "manipulator"&l% +4 "core" %m 5  +1521 #t-> Arm.to PC + "manipulator"&e& +3 "core" & "} +2 "manipulator"&% +4 "core" %m (  +2 .tForearm.reconfigure :loose + "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&_'\ +95 "core" ' +2 .tElbow.seek PC + "manipulator"&f(c +256 "core" ( +2 "manipulator"&& +4 "core" &l + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &l U +2 .tForearm.seek PC + "manipulator"&O'[ +94 "core" ' +2 "manipulator"&d& +4 "core" &l } + "manipulator"&k% +4 "core" %R 3  +5171 #t-> Hand.open +355 #-> Hand.close + .Hand.close + "manipulator"&p/ +58 "core" / +472 #t-> PC.close +2 "manipulator"&`& +3 "core" &l  +2 "manipulator"&{% +4 "core" % R   + "processing"%w& +4 "core" &Z\ +2 "processing"%U& +4 "core" &V\ +2 .tPC.seek :closed + "processing"% (Z +5 "core" &W\ \ +9 &/\\\ *y +10 &e\\\ ? +9 &E|i\ N +9 & _q\ M +10 &dh\ M +9 &b_\ M +10 &!Ocg\ M +9 &#ab\ M +9 &$_c\ N +10 &&ad\ M +9 &(W]e\ M +9 &*bV\ M +10 &+_\\\ M +9 &-`d\ M +10 &/^cc\ N +9 &1"_c\ M +9 &2d^\ M +10 &4`g\ M +9 &6gcl\ M +9 &8)ai\ M +10 &9b`\ M +9 &;`b\ M +10 &=o^X\ M +9 &?1eW\ M +9 &@eg\ M +10 &Bce\ M +9 &Dvb\\\ N +9 &F9ae\ M +10 &Gbd\ N +9 &IbV\ M +10 &K]`\ M +9 &M@d\\\ N +9 &Obg\ N +10 &Pc]\ N +9 &Rcv\ M +9 &TJak\ M +10 &V eb\ M +9 &WcX\ N +9 &Ye_\ ; +10 &Z3So\ = +9 &Zi\ \ +3 ( + "processing"%U& +3 #tProcessing Clamp onSpring/offSpring for 9/25 samples, on/off torque 1.01 +2 !o:Slide::Error\ : mesg"(No Puck Clamped in Processing Clamp:@checkpoint: omitted: @reply0:@axisName"Processing Clamp:bt["E/home/esp/esp2/utils/misc.rb:475:in `closeAndVerifyPuckPresence'"0/home/esp/esp2/utils/misc.rb:485:in `close'",/home/esp/esp2/lib/msg.rb:68:in `retry'"0/home/esp/esp2/utils/misc.rb:484:in `close'"5/home/esp/esp2/lib/thread.rb:74:in `recoverable'"0/home/esp/esp2/utils/misc.rb:483:in `close'"(ESP):59:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +3065 #-> PC.open +2 .PC.seek :open + "processing"%(p +391 "core" ( +2 "processing"%& +3 "core" &k\ +1116 #t-> SE.up +2 .SE.seek :up + "storage"('x +257 "core" ' B ] \ y +3 !to:Slide::Error\ : mesg".Storage Elevator overCurrent at Top Plate:@checkpoint: omitted: @replyo:I2C::Servo::AbsMove3Reply : @error:overCurrent: @tagi: @sourcei-: @channeli: @statusIS:I2C::Servo::Status: enabledT: pastRLSF: pastFLSF:pastThresholdF: lostF: homeF: positioniΌ: velocityi: currenti:pwmi:erri: inPressiB : outPressi] :deltaPressi : voltagef13.32551202749141~: @type2F:@destinationi%:@axisName"Storage Elevator:bt["2/home/esp/esp2/lib/slide.rb:587:in `raiseErr'"7/home/esp/esp2/lib/slide.rb:350:in `unlimitedSeek'"5/home/esp/esp2/lib/thread.rb:74:in `recoverable'"7/home/esp/esp2/lib/slide.rb:323:in `unlimitedSeek'"6/home/esp/esp2/lib/scale.rb:93:in `unlimitedSeek'"./home/esp/esp2/lib/slide.rb:314:in `seek'"0/home/esp/esp2/lib/slide.rb:357:in `moveTo'"-/home/esp/esp2/utils/misc.rb:340:in `up'"(ESP):61:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +454 "Can"2 .;9 +2031 #t-> Arm.pick +2 "storage"(=& +3 "core" &[ K\  + "manipulator"&& +4 "core" &l  +2 "manipulator"&t% +3 "core" % R   +2 .tForearm.seek :retract + "manipulator"& '\ +92 "core" ' +2 .tElbow.reconfigure :tight + "manipulator"&$&.,(\ #b +3 .tElbow.seek 7 + "manipulator"&-( +252 "core" ( +2 "manipulator"&& +3 "core" & U # +2 "storage"(c& +3 "core" &[ 6\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&]'k +71 "core" ' ; +2 !to:Slide::Error\ : mesg")Forearm speedErr between CC and home:@checkpoint: omitted: @replyo:I2C::Servo::AbsMove3Reply : @error: speedErr: @tagib: @sourcei+: @channeli: @statusIS:I2C::Servo::Status: enabledT: pastRLSF: pastFLSF:pastThresholdF: lostF: homeF: positioni : velocityi: currenti:pwmi:erri: inPressi : outPressi :deltaPressi; : voltagef12.579316642120766: @type2F:@destinationi%:@axisName" Forearm:bt["2/home/esp/esp2/lib/slide.rb:587:in `raiseErr'"7/home/esp/esp2/lib/slide.rb:350:in `unlimitedSeek'"5/home/esp/esp2/lib/thread.rb:74:in `recoverable'"7/home/esp/esp2/lib/slide.rb:323:in `unlimitedSeek'"./home/esp/esp2/lib/slide.rb:314:in `seek'",/home/esp/esp2/lib/slide.rb:358:in `to'"8/home/esp/esp2/lib/slide.rb:74:in `inConfiguration'",/home/esp/esp2/lib/slide.rb:358:in `to'"1/home/esp/esp2/utils/misc.rb:100:in `extend'",/home/esp/esp2/lib/msg.rb:68:in `retry'"0/home/esp/esp2/utils/misc.rb:98:in `extend'",/home/esp/esp2/utils/misc.rb:34:in `to'"0/home/esp/esp2/utils/misc.rb:116:in `place'"//home/esp/esp2/utils/misc.rb:120:in `pick'"(ESP):62:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 + #Retry #1 of 3 + "manipulator"&% +4 "core" %  ~  1 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"& '\ +64 "core" ' +2 "storage"(u& +4 "core" &[ T\  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 .tElbow.seek 7 +2 "manipulator"&r( +19 "core" ( + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&'k +70 "core" '  ߞ +2 !to:Slide::Error\ : mesg")Forearm speedErr between CC and home:@checkpoint: omitted: @replyo:I2C::Servo::AbsMove3Reply : @error: speedErr: @tagi": @sourcei+: @channeli: @statusIS:I2C::Servo::Status: enabledT: pastRLSF: pastFLSF:pastThresholdF: lostF: homeF: positioni: velocityi: currenti:pwmi:erri: inPressi : outPressi :deltaPressi : voltagef12.569498281786942d: @type2F:@destinationi%:@axisName" Forearm:bt["2/home/esp/esp2/lib/slide.rb:587:in `raiseErr'"7/home/esp/esp2/lib/slide.rb:350:in `unlimitedSeek'"5/home/esp/esp2/lib/thread.rb:74:in `recoverable'"7/home/esp/esp2/lib/slide.rb:323:in `unlimitedSeek'"./home/esp/esp2/lib/slide.rb:314:in `seek'",/home/esp/esp2/lib/slide.rb:358:in `to'"8/home/esp/esp2/lib/slide.rb:74:in `inConfiguration'",/home/esp/esp2/lib/slide.rb:358:in `to'"1/home/esp/esp2/utils/misc.rb:100:in `extend'",/home/esp/esp2/lib/msg.rb:85:in `retry'"0/home/esp/esp2/utils/misc.rb:98:in `extend'",/home/esp/esp2/utils/misc.rb:34:in `to'"0/home/esp/esp2/utils/misc.rb:116:in `place'"//home/esp/esp2/utils/misc.rb:120:in `pick'"(ESP):62:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 + #Retry #2 of 3 + "manipulator"&X% +4 "core" % x s 6 / +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&\ '\ +69 "core" ' + "storage"(& +4 "core" &[ O\  +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 .tElbow.seek 7 + "manipulator"&*( +3 "core" ( +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts + "manipulator"&'k +72 "core" ' [ +2 !to:Slide::Error\ : mesg")Forearm speedErr between CC and home:@checkpoint: omitted: @replyo:I2C::Servo::AbsMove3Reply : @error: speedErr: @tagi: @sourcei+: @channeli: @statusIS:I2C::Servo::Status: enabledT: pastRLSF: pastFLSF:pastThresholdF: lostF: homeF: positioni: velocityi: currenti:pwmi:erri: inPressi : outPressi :deltaPressi[ : voltagef12.574407461953854W : @type2F:@destinationi%:@axisName" Forearm:bt["2/home/esp/esp2/lib/slide.rb:587:in `raiseErr'"7/home/esp/esp2/lib/slide.rb:350:in `unlimitedSeek'"5/home/esp/esp2/lib/thread.rb:74:in `recoverable'"7/home/esp/esp2/lib/slide.rb:323:in `unlimitedSeek'"./home/esp/esp2/lib/slide.rb:314:in `seek'",/home/esp/esp2/lib/slide.rb:358:in `to'"8/home/esp/esp2/lib/slide.rb:74:in `inConfiguration'",/home/esp/esp2/lib/slide.rb:358:in `to'"1/home/esp/esp2/utils/misc.rb:100:in `extend'",/home/esp/esp2/lib/msg.rb:85:in `retry'"0/home/esp/esp2/utils/misc.rb:98:in `extend'",/home/esp/esp2/utils/misc.rb:34:in `to'"0/home/esp/esp2/utils/misc.rb:116:in `place'"//home/esp/esp2/utils/misc.rb:120:in `pick'"(ESP):62:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 + #Retry #3 of 3 + "manipulator"&% +4 "core" % y r 8 - +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +68 "core" ' +2 "storage"(#& +4 "core" &[ `\  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 .tElbow.seek 7 + "manipulator"&( +4 "core" ( + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +54 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&P'k +70 "core" ' $ +4 !to:Slide::Error\ : mesg")Forearm speedErr between CC and home:@checkpoint: omitted: @replyo:I2C::Servo::AbsMove3Reply : @error: speedErr: @tagiU: @sourcei+: @channeli: @statusIS:I2C::Servo::Status: enabledT: pastRLSF: pastFLSF:pastThresholdF: lostF: homeF: positioni: velocityi: currenti:pwmi:erri: inPressi : outPressi :deltaPressi$ : voltagef12.574407461953854W : @type2F:@destinationi%:@axisName" Forearm:bt["2/home/esp/esp2/lib/slide.rb:587:in `raiseErr'"7/home/esp/esp2/lib/slide.rb:350:in `unlimitedSeek'"5/home/esp/esp2/lib/thread.rb:74:in `recoverable'"7/home/esp/esp2/lib/slide.rb:323:in `unlimitedSeek'"./home/esp/esp2/lib/slide.rb:314:in `seek'",/home/esp/esp2/lib/slide.rb:358:in `to'"8/home/esp/esp2/lib/slide.rb:74:in `inConfiguration'",/home/esp/esp2/lib/slide.rb:358:in `to'"1/home/esp/esp2/utils/misc.rb:100:in `extend'",/home/esp/esp2/lib/msg.rb:85:in `retry'"0/home/esp/esp2/utils/misc.rb:98:in `extend'",/home/esp/esp2/utils/misc.rb:34:in `to'"0/home/esp/esp2/utils/misc.rb:116:in `place'"//home/esp/esp2/utils/misc.rb:120:in `pick'"(ESP):62:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +803 #-> Arm.home + "manipulator"&Y& +3 "core" & c j + + "manipulator"&$% +4 "core" % b ` #  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&)'\ +67 "core" ' +2 .tElbow.seek :home + "manipulator"& ( +252 "core" ( +2 "manipulator"&g& +4 "core" &  + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &<& +3 "core" & Q  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :home + "manipulator"&~' +39 "core" ' + "manipulator"&q& +4 "core" &   +2 "manipulator"&?% +3 "core" %\  ; +378 #t-> SE.down + .SE.seek :down +2 "storage"(I'N +263 "core" ' + "storage"((% +4 "core" %X u I\ ? +11942 #t-> Forearm.retract + .Forearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +37 "core" ' + "manipulator"&:% +4 "core" %\ " {  +5762 #t-> Puck.stackPuck + "storage"(& +3 "core" &[ \  +2 "storage"(>& +4 "core" &[ ]\  +2 "manipulator"&N& +3 "core" &  +2 "manipulator"&1% +3 "core" %\ "  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 7 +2 "manipulator"&,( +225 "core" ( + "manipulator"&!& +4 "core" & w  I +2 "storage"(8& +3 "core" &[ }\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +2 .tForearm.seek 7 + "manipulator"&0'Ω +99 "core" ' + .tElbow.hold + "manipulator"&., +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&;1 +55 "core" 1 + !to:LocalJumpError : mesg"no block given:@exit_value0: @reason: noreason:bt[ "9/home/esp/esp2/utils/puckmoves.rb:303:in `stackPuck'"(ESP):66:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +4537 #-> Forearm.retract +2 .Forearm.seek :retract + "manipulator"&'\ +99 "core" ' +2 "manipulator"&B% +4 "core" %\ . e #h +614 #t-> Hand.close + .Hand.close + "manipulator"&T/ +63 "core" / +425 #t-> Puck.stackPuck + "storage"(j& +3 "core" &[ \  +2 "storage"(L& +4 "core" &[ H\  +2 "manipulator"&Q& +3 "core" & I +2 .tElbow.seek 7 + "manipulator"&R( +3 "core" ( +2 "manipulator"&5& +4 "core" & I + "storage"(\\& +4 "core" &[ x K\  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 7 + "manipulator"&/'Ω +98 "core" ' +2 .tElbow.hold + "manipulator"&4, +3 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&E1 +62 "core" 1 +2 !to:LocalJumpError : mesg"no block given:@exit_value0: @reason: noreason:bt[ "9/home/esp/esp2/utils/puckmoves.rb:303:in `stackPuck'"(ESP):69:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +691 #-> Hand.close + .Hand.close + "manipulator"&/ +55 "core" / +947 #t-> Forearm.retract +2 .Forearm.seek :retract + "manipulator"&J'\ +102 "core" ' + "manipulator"&"% +4 "core" %\ 3 o %y +8111 #t-> Arm + "manipulator"&+& +3 "core" &  I +2 "manipulator"&6% +4 "core" %\ 3  %y +1929 #t-> PC.close + "manipulator"&9& +3 "core" &  I +3 !to:Arm::Error: mesg"@Cannot hold puck in Processing Clamp because Hand is closed:@checkpoint: omitted:bt["E/home/esp/esp2/utils/misc.rb:414:in `closeAndVerifyPuckPresence'"0/home/esp/esp2/utils/misc.rb:485:in `close'",/home/esp/esp2/lib/msg.rb:68:in `retry'"0/home/esp/esp2/utils/misc.rb:484:in `close'"5/home/esp/esp2/lib/thread.rb:74:in `recoverable'"0/home/esp/esp2/utils/misc.rb:483:in `close'"(ESP):73:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +2804 #-> Puck.stackHeight + "storage"( % +3 "core" %X \ ? +2 .tSE.seek :down +2 "storage"(&'N +3 "core" ' +2 .tSE.stop + "storage"(5 + .tHand.open + "manipulator"&|1 +53 "core" 1 +2 "manipulator"&Z% +4 "core" % \ 3 k %y +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 1 + "storage"(V(B +1940 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (H& +2 "core" &E ' ' F\ +2 "manipulator"&b& +3 "core" &  I +2 "manipulator"&K% +3 "core" % \ 3 . %y +2 .tElbow.seek 1 + "manipulator"&7(c +40 "core" ( +2 "manipulator"&C& +4 "core" &m  + "storage"(A& +4 "core" &E ~\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 1 + 450 counts +2 "manipulator"&M'Ф +102 "core" ' + "storage"(F& +4 "core" &E "\ +2 .tSE.reconfigure :place +2 "storage"(#]kK-0-\ b +3 .tSE.seek :beamBreak + "storage"('e +271 "core" ' + "storage"(G- +3 "core" -'e +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (^% +2 "core" %a z \ +2 ."downElevator"SE.seek :down +3 "storage"(D'N +99 (i% +4 "core" %uG \ V_ + "manipulator"&h% +4 "core" %К f d w  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&@'\ +91 "core" ' +66 ' + ."downElevator"SE.stop + "storage"(5 +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"(2(  +355 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +2 (}& +3 "core" &  S N 5\  +2 "manipulator"&%& +3 "core" &m !  +2 .tElbow.seek 2 + "manipulator"&[(; +14 "core" ( + "manipulator"&S& +5 "core" &D ` + "storage"(y& +4 "core" &  { \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts + "manipulator"&a'Ѐ +98 "core" ' + "storage"(& +4 "core" &  z \\\  +2 .tSE.reconfigure :place +2 "storage"(#]kK-0-\ b +3 .tSE.seek :beamBreak + "storage"(n'e +270 "core" ' +2 "storage"(o- +3 "core" -'e +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +2 (% +3 "core" %^ \ +2 ."downElevator"SE.seek :down +3 "storage"(''N +99 (z% +3 "core" %= \ U\\ +2 "manipulator"&% +4 "core" %s  5 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&m'\ +97 "core" ' +60 ' + ."downElevator"SE.stop + "storage"(5 +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 + "storage"(s( +355 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +2 (v& +3 "core" & O I '\  + "manipulator"&l& +4 "core" &D I ` +2 .tElbow.seek 3 + "manipulator"&e(D +3 "core" ( +2 "manipulator"&& +3 "core" &D _ ` +2 "storage"(& +3 "core" & \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&' +102 "core" ' +2 "storage"(& +4 "core" & | \  +2 .tSE.reconfigure :place +2 "storage"(#]kK-0-\ b +3 .tSE.seek :beamBreak + "storage"(x'e +270 "core" ' +2 "storage"(d- +3 "core" -'e + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (k% +3 "core" %^ \ +2 ."downElevator"SE.seek :down +3 "storage"(_'N +99 (p% +3 "core" %C  ,\ V^ +2 "manipulator"&`% +3 "core" %  ! +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&{'\ +90 "core" ' +68 ' + ."downElevator"SE.stop + "storage"(5 +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 + "storage"(w(, +352 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (W& +2 "core" &,~ W Y '\  +2 "manipulator"&U& +4 "core" &D  ` + .tElbow.seek 4 +2 "manipulator"& (* +10 "core" ( + "manipulator"&& +4 "core" &,  ] +2 "storage"(& +3 "core" &,} \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&=' +93 "core" ' + "storage"(& +4 "core" &,} | #\  +2 .tSE.reconfigure :place +2 "storage"(#]kK-0-\ b +3 .tSE.seek :beamBreak + "storage"(t'e +271 "core" ' + "storage"(O- +4 "core" -'e + .tSE.configure :default +52 "storage"(#QK-0-\ b +4 (% +2 "core" %` \ +3 ."downElevator"SE.seek :down +3 "storage"(c'N +100 (f% +2 "core" %A { !\ V_ +2 "manipulator"&]% +4 "core" %   +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&'\ +90 "core" ' +68 ' +2 ."downElevator"SE.stop + "storage"(5 +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 5 + "storage"(u(<< +353 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (& +3 "core" &<; W R \  + "manipulator"&X& +4 "core" &, ] +2 .tElbow.seek 5 + "manipulator"& ( +33 "core" ( + "manipulator"&& +4 "core" & _ !s +2 "storage"(& +4 "core" &<; z\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts + "manipulator"&' +103 "core" ' +2 "storage"(-& +4 "core" &<; \  +2 .tSE.reconfigure :place +2 "storage"(#]kK-0-\ b +3 .tSE.seek :beamBreak + "storage"( 'e +306 "core" ' +2 "storage"(#- +3 "core" -'T + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (r% +3 "core" % P \ +3 ."downElevator"SE.seek :down +3 "storage"(\ 'N +100 (P% +3 "core" %4 \ TY + "manipulator"&*% +4 "core" %   +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&'\ +98 "core" ' +34 ' + ."downElevator"SE.stop + "storage"(5 +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 + "storage"(Y(K +350 "core" ( +2 .tSC.configure :limp + "storage"($\ 1b +3 ($& +3 "core" &K L J Q\  + "manipulator"&g& +4 "core" &  !r +2 .tElbow.seek 6 + "manipulator"&<( +24 "core" ( +2 "manipulator"&& +4 "core" & 6  + "storage"(q& +4 "core" &K z\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&?'< +100 "core" ' +2 "storage"()& +4 "core" &K ~ Y\  +2 .tSE.reconfigure :place +2 "storage"(#]kK-0-\ b +3 .tSE.seek :beamBreak + "storage"(('e +303 "core" ' + "storage"(:- +4 "core" -'X + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (~% +2 "core" % W { \ +3 ."downElevator"SE.seek :down +3 "storage"('N +100 (>% +2 "core" %; \ TY +2 "manipulator"&N% +4 "core" %)  , + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&1'\ +98 "core" ' +33 ' + ."downElevator"SE.stop +2 "storage"(5 +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 7 + "storage"(!([ +349 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (8& +2 "core" &[ N P\  +2 "manipulator"& & +4 "core" & '  + .tElbow.seek 7 +2 "manipulator"&;( +32 "core" ( + "manipulator"&& +4 "core" &\ \\ +2 "storage"(,& +3 "core" &[ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&B'k +93 "core" ' + "storage"(0& +4 "core" &[ \  +2 .tSE.reconfigure :place +2 "storage"(#]kK-0-\ b +3 .tSE.seek :beamBreak + "storage"(T'e +303 "core" ' +2 "storage"(j- +3 "core" -'N +2 .tSE.configure :default + "storage"(#QK-0-\ b +3 (L% +2 "core" % L } z 2\ +3 ."downElevator"SE.seek :down +2 "storage"(Q'N +100 (5% +3 "core" %9 \ TY + "manipulator"&\\% +4 "core" %b  a +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&E'\ +94 "core" ' +36 ' + ."downElevator"SE.stop + "storage"(5 +6815 "Can"6 ,>< +2896 #t-> Puck.count 7 + "storage"(.% +3 "core" %E \ \ +2 .tSE.seek :down +2 "storage"('N +3 "core" ' + .tSE.stop + "storage"(5 +2 "manipulator"&R% +4 "core" %\ . : #k +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 7 + "storage"(([ +3 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 ("& +2 "core" &[ d i x\  +2 "manipulator"&/& +4 "core" &\  \\ + .tElbow.seek 7 +2 "manipulator"&+( +3 "core" ( + "manipulator"&6& +5 "core" &\ | \\ + "storage"(9& +4 "core" &[ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts +2 "manipulator"& 'k +93 "core" ' + "storage"(|& +4 "core" &[ 8\  +2 .tSE.reconfigure :place +2 "storage"(#]kK-0-\ b +3 .tSE.seek :beamBreak + "storage"(Z'e +310 "core" ' + "storage"(I- +3 "core" -'N +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +2 (&% +3 "core" % L \ +2 ."downElevator"SE.seek :down +3 "storage"('N +99 (H% +3 "core" %8: \ TZ +2 "manipulator"&b% +3 "core" %r  Z +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&K'\ +89 "core" ' +45 ' + ."downElevator"SE.stop + "storage"(5 +4043 #t-> Arm.reset +732 #-> Puck.count 7 + "storage"(C% +3 "core" %G \ +2 .tSE.seek :down + "storage"(A'N +3 "core" ' + .tSE.stop + "storage"(5 +2 "manipulator"&F% +4 "core" %\ %  5 +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 7 + "storage"(4([ +2 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (J& +3 "core" &[ g o s\  + "manipulator"&G& +4 "core" &  \\ +2 .tElbow.seek 7 + "manipulator"&^( +3 "core" ( +2 "manipulator"&i& +3 "core" & 1 \\ +2 "storage"(h& +4 "core" &[ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts + "manipulator"&'k +102 "core" ' +2 "storage"(M& +3 "core" &[ \  +2 .tSE.reconfigure :place +2 "storage"(#]kK-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(D'e +310 "core" ' +2 "storage"(V- +3 "core" -'N +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (}% +2 "core" % L \ +3 ."downElevator"SE.seek :down +3 "storage"(%'N +100 (S% +2 "core" %4 6\ TX +2 "manipulator"&y% +4 "core" %R  7 + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +96 "core" ' +32 ' + ."downElevator"SE.stop + "storage"(5 +29007 #t-> Forearm + "manipulator"&7% +3 "core" %\ 5  & +1051 #t-> Forearm.to 3 +2 .Forearm.seek 3 + "manipulator"&@'M +99 "core" ' + "manipulator"&o% +4 "core" %L k  +8629 #t-> Forearm.to garage + .Forearm.seek :garage + "manipulator"&' +20 "core" ' + "manipulator"&z% +4 "core" % \\ u  9 +1413 #t-> Arm.home + "manipulator"&& +3 "core" &\ d k \\ +2 "manipulator"&n% +4 "core" % o r # 9 +2 .tForearm.seek :retract + "manipulator"&a'\ +91 "core" ' + .tElbow.seek :home +2 "manipulator"&'( +258 "core" ( + "manipulator"&2& +4 "core" & *  + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &v& +3 "core" & /  +2 .tForearm.seek :home + "manipulator"&l' +41 "core" ' +2 "manipulator"&& +4 "core" & }   + "manipulator"&% +4 "core" %  ' +169 #t-> Forearm.to garage +2 .Forearm.seek :garage + "manipulator"&' +75 "core" 'Ԡ l +2 !to:Slide::Error\ : mesg")Forearm speedErr at CC + 1316 counts:@checkpoint: omitted: @replyo:I2C::Servo::AbsMove3Reply : @error: speedErr: @tagi\ : @sourcei+: @channeli: @statusIS:I2C::Servo::Status: enabledT: pastRLSF: pastFLSF:pastThresholdF: lostF: homeF: positioni: velocityi: currenti:pwmi:erri: inPressi : outPressi :deltaPressil : voltagef12.608771723122238D: @type2F:@destinationi%:@axisName" Forearm:bt["2/home/esp/esp2/lib/slide.rb:587:in `raiseErr'"7/home/esp/esp2/lib/slide.rb:350:in `unlimitedSeek'"5/home/esp/esp2/lib/thread.rb:74:in `recoverable'"7/home/esp/esp2/lib/slide.rb:323:in `unlimitedSeek'"./home/esp/esp2/lib/slide.rb:314:in `seek'",/home/esp/esp2/lib/slide.rb:357:in `to'"(ESP):82:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +1872 #-> Arm.garage +2 "manipulator"&[& +3 "core" & o j s  +2 "manipulator"&m% +3 "core" %Ֆ d ` t \ +2 .tForearm.seek :retract +2 "manipulator"&d'\ +87 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage +2 "manipulator"&k(, +116 "core" ( + "manipulator"&p& +4 "core" &, _ J +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &`& +3 "core" &, J +2 .tForearm.seek :garage + "manipulator"&x' +101 "core" ' +2 "manipulator"&& +4 "core" &, k J + "manipulator"&_% +4 "core" % , J +1431 #t-> Forearm.force -80 + .Forearm.force -80 + "manipulator"&5 +2 &s% +3 "core" % . J +1121 #t-> Arm.ready! +2 .Forearm.reconfigure :loose +2 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract + "manipulator"&W'\ +153 "core" ' +2 ."closeHand"Hand.close +3 .tElbow.jog 1500 + "manipulator"&U/ +2 &* +51 "core" / +25 * +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 .tElbow.home.seek :clear + "manipulator"&(d +308 "core" ( + "manipulator"&& +4 "core" &d\  ] +2 "manipulator"&e% +3 "core" % \ 8 + ' +4548 "Can"B +@> +15839 #t-> Forearm.coast + .Forearm.coast + "manipulator"&5 +2 &{% +3 "core" % \ _ $ +44155 "Can": 074 +60002 ! 164 +60002   174 +60002   075 +60002  274 +60002  175 +60002  174 +60002  064 +60002  264 +9363 #t-> exit +5 #mEXIT @1635786311.15EDT @1636047864.56EDT = =mMAIN_scheduler =tMAIN @EDT1636047866.42 #"core_reset"Sent BREAK +2 #t@41596 idle with ifg=0x00, ie=0x75 + #>RESET< ESP2 v3.41 I2C Gateway v3.20 +208 #>RESET< ESP2 v3.41 I2C Gateway v3.20 for core bus +204 !o:Instrument::ISUSCore:\ @name" ISUS: @refi}e: @configS:Instrument::Configuration: name@:calFileName0:sampleCmd"TS: prompt"\ :statusCmd"C:sampleTimeouti#:promptTimeouti:statusTimeouti: retriesi:strToPrompt"W: pace0: echoF +97 #Configuration for don (12651-03) 10/9/20 brent@mbari.org\ /home/esp/esp2/type/shallow/don/configure.rb\ +383 "Can" <%"w +  <%"w + #tPolling Can every 10:00 +10 !o:Storage::Warning: mesg"7Invalid entry in line 65 of /var/log/esp/real.puck:bt["8/home/esp/esp2/utils/storage.rb:399:in `readPucks!'"2/home/esp/esp2/utils/storage.rb:397:in `each'"8/home/esp/esp2/utils/storage.rb:397:in `readPucks!'"(eval):2:in `eachRaw'"(eval):2:in `each'"8/home/esp/esp2/utils/storage.rb:372:in `readPucks!'"2/home/esp/esp2/utils/storage.rb:371:in `open'"8/home/esp/esp2/utils/storage.rb:371:in `readPucks!'"6/home/esp/esp2/utils/storage.rb:627:in `restore!'"-/home/esp/esp2/lib/esp.rb:115:in `shell'"7/home/esp/esp2/lib/schedule.rb:481:in `initialize'"0/home/esp/esp2/lib/thread.rb:738:in `start'"7/home/esp/esp2/lib/schedule.rb:474:in `initialize'"'/home/esp/esp2/lib/schedule.rb:472 +9 !o:Storage::Warning: mesg"8Invalid entry in line 126 of /var/log/esp/real.puck:bt["8/home/esp/esp2/utils/storage.rb:399:in `readPucks!'"2/home/esp/esp2/utils/storage.rb:397:in `each'"8/home/esp/esp2/utils/storage.rb:397:in `readPucks!'"(eval):2:in `eachRaw'"(eval):2:in `each'"8/home/esp/esp2/utils/storage.rb:372:in `readPucks!'"2/home/esp/esp2/utils/storage.rb:371:in `open'"8/home/esp/esp2/utils/storage.rb:371:in `readPucks!'"6/home/esp/esp2/utils/storage.rb:627:in `restore!'"-/home/esp/esp2/lib/esp.rb:115:in `shell'"7/home/esp/esp2/lib/schedule.rb:481:in `initialize'"0/home/esp/esp2/lib/thread.rb:738:in `start'"7/home/esp/esp2/lib/schedule.rb:474:in `initialize'"'/home/esp/esp2/lib/schedule.rb:472 +5 #Cleanly exited at 13:05:11EDT01-Nov-21 +1049 #-> ESP.ready! +3 #Powering core bus +537 .Gate.power :raw,:ON +2 "sampler") +24 ) +2 "core"  +2 "collection"' +2 ' +4 "core"  + "processing"% +2 % +3 "core"  +5 "collection"' 9\ + ' 0\ +2 ' -\ +4 "processing"% 9\ +2 % 2\ +2 % *\ +2 % 0\ +4 "sampler")&\ + "collection"'% +4 "core" % + .tCS.configure :default +3 "collection"'#P d@b +2 "processing"%% +3 "core" %-\ + .tPS.configure :default +3 "processing"%#A d`xb +2 "sampler")% +3 "core" %\ \ {q + .tSS.configure :default +2 "sampler")#.0X\  +2 "manipulator"&5% +4 "core" %\ 4 M %M + "manipulator"&6& +4 "core" &8 ? + "storage"(7& +5 "core" &, ] \\\  + "storage"(8% +4 "core" %I ] ]\ J + "collection"'99 +4 "core" 9nr + "processing"%:9 +4 "core" 9| +784 #t-> exit +6 #mEXIT @1636047942.61EDT @1638202465.17EST = =mMAIN_scheduler =tMAIN @EST1638202467.07 #"core_reset"Sent BREAK +2 #t@14135 idle with ifg=0x00, ie=0x75 + #>RESET< ESP2 v3.41 I2C Gateway v3.20 +208 #>RESET< ESP2 v3.41 I2C Gateway v3.20 for core bus +205 !o:Instrument::ISUSCore:\ @name" ISUS: @refie: @configS:Instrument::Configuration: name@:calFileName0:sampleCmd"TS: prompt"\ :statusCmd"C:sampleTimeouti#:promptTimeouti:statusTimeouti: retriesi:strToPrompt"W: pace0: echoF +98 #Configuration for don (12651-03) 10/9/20 brent@mbari.org\ /home/esp/esp2/type/shallow/don/configure.rb\ +381 "Can"\  ;&" + \  ;&" + #tPolling Can every 10:00 +11 !o:Storage::Warning: mesg"7Invalid entry in line 65 of /var/log/esp/real.puck:bt["8/home/esp/esp2/utils/storage.rb:399:in `readPucks!'"2/home/esp/esp2/utils/storage.rb:397:in `each'"8/home/esp/esp2/utils/storage.rb:397:in `readPucks!'"(eval):2:in `eachRaw'"(eval):2:in `each'"8/home/esp/esp2/utils/storage.rb:372:in `readPucks!'"2/home/esp/esp2/utils/storage.rb:371:in `open'"8/home/esp/esp2/utils/storage.rb:371:in `readPucks!'"6/home/esp/esp2/utils/storage.rb:627:in `restore!'"-/home/esp/esp2/lib/esp.rb:115:in `shell'"7/home/esp/esp2/lib/schedule.rb:481:in `initialize'"0/home/esp/esp2/lib/thread.rb:738:in `start'"7/home/esp/esp2/lib/schedule.rb:474:in `initialize'"'/home/esp/esp2/lib/schedule.rb:472 +9 !o:Storage::Warning: mesg"8Invalid entry in line 126 of /var/log/esp/real.puck:bt["8/home/esp/esp2/utils/storage.rb:399:in `readPucks!'"2/home/esp/esp2/utils/storage.rb:397:in `each'"8/home/esp/esp2/utils/storage.rb:397:in `readPucks!'"(eval):2:in `eachRaw'"(eval):2:in `each'"8/home/esp/esp2/utils/storage.rb:372:in `readPucks!'"2/home/esp/esp2/utils/storage.rb:371:in `open'"8/home/esp/esp2/utils/storage.rb:371:in `readPucks!'"6/home/esp/esp2/utils/storage.rb:627:in `restore!'"-/home/esp/esp2/lib/esp.rb:115:in `shell'"7/home/esp/esp2/lib/schedule.rb:481:in `initialize'"0/home/esp/esp2/lib/thread.rb:738:in `start'"7/home/esp/esp2/lib/schedule.rb:474:in `initialize'"'/home/esp/esp2/lib/schedule.rb:472 +5 #Cleanly exited at 13:45:42EDT04-Nov-21 +722 #-> ESP.ready! +3 #Powering core bus +546 .Gate.power :raw,:ON +2 "sampler") +54 ) +2 "core"  +2 "collection"' +2 ' +3 "core"  +2 "processing"% +2 % +3 "core"  +5 "collection"' 9\ +2 ' 0\ +2 ' -\ +4 "processing"% 9\ +2 % 2\ + % *\ +2 % 0\ +4 "sampler")&\ +2 "collection"'% +2 "core" % \ +2 .tCS.configure :default +2 "collection"'#P d@b +3 "processing"%% +3 "core" %e\ + .tPS.configure :default +2 "processing"%#A d`xb +3 "sampler")% +2 "core" %\ K\ D \ +2 .tSS.configure :default +2 "sampler")#.0X Flush.CC +2 #Loading FlushPuck into Collection Clamp from FlushPuck::Garage +2 "collection"';& +3 "core" &X\  + .tHand.open +2 "manipulator"&<1 +61 "core" 1 + "manipulator"&=& +4 "core" &. @ "y +2 "manipulator"&>% +3 "core" % \ ) { & +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek FlushPuck::Garage + "manipulator"&?(, +182 "core" ( +2 "manipulator"&@& +4 "core" &, e 7 + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &A& +3 "core" &, x 7 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :garage +2 "manipulator"&B' +105 "core" ' + .tHand.close +2 "manipulator"&C/ +56 "core" / +2 "manipulator"&D& +38 "core" &, z 7 +8 "manipulator"&E% +4 "core" %  + .tForearm.seek :retract +2 "manipulator"&F'\ +100 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&G( +281 "core" ( + "manipulator"&H& +5 "core" &&  =G + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &I& +3 "core" && J =G +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&J'| +99 "core" ' +2 "manipulator"&K& +4 "core" && P =G +2 "manipulator"&L% +3 "core" %{ { +2 "collection"'M& +4 "core" &X\  +2 "collection"'N& +5 "core" &X\  +2 .tCC.seek :closed +2 "collection"'O(] +4 "core" &X\ \  +8 &5!\ ,~ +9 &e\ @ +10 &,~\ O +9 &c\ O +10 &i\ O +9 &rg\ O +9 &!4g\ O +10 &"h\ O +9 &$e\ N +9 &&|g\ N +10 &(=d\ O +9 &*e\ N +10 &+h#\ O +9 &-d\ O +9 &/Df\ O +10 &1h\ O +9 &2g\ O +9 &4b\ O +10 &6M_\ O +9 &8`\ O +10 &9`\ O +9 &;b\ N +10 &=Vc\ N +9 &?c$\ O +9 &@e\ N +9 &Be"\ O +10 &D^c!\ N +9 &Ff\ O +10 &Gi#\ O +9 &Ir^n#\ P +9 &K\\z;%\ R +10 &M\ V +9 &NCK\ X +9 &P3<\ Y +10 &RO)/\ Y +9 &T%&\ Z +10 &U\ [ +9 &W  \ [ +9 &YL"\ ] +10 &[#\ ` +9 &\\\ ? +9 &]~,\ $m +10 &]h#\ G +2 ( +2 "collection"'N& +2 #tCollection Clamp onSpring/offSpring for 8/25 samples, on/off torque 1.87 +2 "collection"'P& +3 "core" &]g\ G +2 .tHand.open + "manipulator"&Q1 +61 "core" 1 +2 "manipulator"&R% +4 "core" % n 7 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&S'\ +92 "core" ' +7955 #t-> Flush.garage +2 #Garaging FlushPuck in Collection Clamp + "manipulator"&T& +4 "core" &#! ( 9' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&U( +29 "core" ( + "manipulator"&V& +4 "core" & F  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &W& +2 "core" & o  +2 .tForearm.seek CC +2 "manipulator"&X'| +95 "core" ' +2 .tHand.close + "manipulator"&Y/ +55 "core" / +2 .tCC.seek :open +2 "collection"'Z(p +410 "core" ( +2 "manipulator"&[& +4 "core" &   + "manipulator"&\\% +4 "core" % φ  +2 .tForearm.seek :retract + "manipulator"&]'\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek :garage + "manipulator"&^(, +281 "core" ( +2 "manipulator"&_& +4 "core" &, U  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &`& +3 "core" &, i  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :garage +2 "manipulator"&a' +109 "core" ' +2 .tHand.open + "manipulator"&b1 +56 "core" 1 +2 "manipulator"&c% +4 "core" %  &  + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&d'\ +95 "core" ' +2250 #t-> Arm.garage +2 "manipulator"&e& +3 "core" &, j  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage +2 "manipulator"&f(, +3 "core" ( + "manipulator"&g& +4 "core" &,   +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &h& +3 "core" &,  +2 .tForearm.seek :garage + "manipulator"&i' +103 "core" ' + "manipulator"&j& +4 "core" &,  +2 "manipulator"&k% +3 "core" % 0 " +850 #t-> Hand.close + .Hand.close +2 "manipulator"&l/ +56 "core" / +705 #t-> Arm.home +2 "manipulator"&m& +3 "core" &,   + "manipulator"&n% +4 "core" %   $ +2 .tForearm.seek :retract +2 "manipulator"&o'\ +102 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek :home + "manipulator"&p( +108 "core" ( + "manipulator"&q& +5 "core" & 6 D + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &r& +2 "core" & ^ D +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :home +2 "manipulator"&s' +40 "core" ' + "manipulator"&t& +4 "core" & ~ " D +2 "manipulator"&u% +3 "core" % 3 A +724 #t-> Arm.garage +2 "manipulator"&v& +3 "core" &  D +2 "manipulator"&w% +4 "core" %  A + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&x'\ +43 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage +2 "manipulator"&y(, +113 "core" ( + "manipulator"&z& +9 "core" &, P + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &{& +2 "core" &, U +7 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :garage +2 "manipulator"&|' +105 "core" ' +2 "manipulator"&}& +4 "core" &, + "manipulator"&~% +4 "core" % B +35475 #t-> Forearm.home.to :retract +2 .Forearm.reconfigure :loose +2 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&'\ +159 "core" ' +2 "manipulator"&% +4 "core" %\ @  + +893 #t-> Arm.garage +2 "manipulator"&& +3 "core" &, t +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage + "manipulator"&(, +25 "core" ( +2 "manipulator"&& +4 "core" &, m * +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +2 "core" &, 7 * +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :garage +2 "manipulator"&' +110 "core" ' +2 "manipulator"&& +4 "core" &, V * + "manipulator"&% +4 "core" %  7 +576 #t-> Forearm.home.to :retract + .Forearm.reconfigure :loose +3 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"& '\ +155 "core" ' +2 "manipulator"&\ % +4 "core" %\ 9 - ( +886 "Can" 'EB +270 #t-> Arm +2 "manipulator"& & +3 "core" &, x * +2 "manipulator"& % +4 "core" %\ 9 6 ( +1769 #t-> Arm.garage +2 "manipulator"& & +3 "core" &,  * +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek :garage + "manipulator"&(, +3 "core" ( + "manipulator"&& +4 "core" &, $ * +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &, D * +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek :garage + "manipulator"&' +98 "core" ' +2 "manipulator"&& +4 "core" &, z * + "manipulator"&% +4 "core" % +296 #t-> Hand.open +2 .Hand.open + "manipulator"&1 +59 "core" 1 +403 #t-> Forearm.home.to :retract +2 .Forearm.reconfigure :loose +2 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&'\ +149 "core" ' + "manipulator"&% +4 "core" %\ 5 , & +13756 #t-> Forearm.home.to :retract +2 .Forearm.reconfigure :loose +2 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&'\ +83 "core" ' +2 "manipulator"&% +4 "core" %\ *  !W +664 #t-> Arm.garage +2 "manipulator"&& +3 "core" &,  * +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek :garage + "manipulator"&(, +3 "core" ( +2 "manipulator"&& +4 "core" &,  * + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &"& +2 "core" &,  * +2 .tForearm.seek :garage +2 "manipulator"&%' +104 "core" ' +2 "manipulator"&'& +4 "core" &, ; * + "manipulator"&)% +4 "core" % 6 +1356 #t-> Forearm.home.to :retract +2 .Forearm.reconfigure :loose +2 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&('\ +142 "core" ' +2 "manipulator"&% +4 "core" %\ ( L J +40704 "Can" *C? +30999 #t-> Forearm.retract +3 .Forearm.seek :retract + "manipulator"&'\ +2 "core" ' +2 "manipulator"&#% +4 "core" %\ (  J +697 #t-> Arm.garage +2 "manipulator"&,& +3 "core" &,  * +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage +2 "manipulator"&-(, +3 "core" ( + "manipulator"&.& +4 "core" &,  * +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &/& +3 "core" &, o * +2 .tForearm.seek :garage + "manipulator"&0' +100 "core" ' +2 "manipulator"&1& +4 "core" &, R * + "manipulator"&2% +4 "core" % [ % +215 #t-> Forearm.retract +2 .Forearm.seek :retract +2 "manipulator"&3'\ +95 "core" ' +2 "manipulator"&4% +4 "core" %\ )  K +881 #t-> Forearm.extend +2 !o:ArgumentError: mesg"(wrong number of arguments (0 for 1):bt[ "(ESP):21:in `extend'"(ESP):21:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +2168 #-> Forearm.coast +2 .Forearm.coast + "manipulator"&5 +2 &5% +3 "core" %\  ! +631 #t-> Arm.garage +2 "manipulator"&6& +3 "core" &, q o < * +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage +2 "manipulator"&7(, +2 "core" ( +2 "manipulator"&8& +3 "core" &, z h 2 * +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &9& +3 "core" &, c l j * +2 .tForearm.seek :garage + "manipulator"&:' +100 "core" ' +2 "manipulator"&;& +4 "core" &, $ * + "manipulator"&<% +4 "core" % + " +217 #t-> Forearm.coast +2 .Forearm.coast + "manipulator"&5 +2 &=% +3 "core" %τ^  +2352 #t-> Forearm.legend +5396 #-> Forearm.retract +2 .Forearm.seek :retract +2 "manipulator"&>'\ +87 "core" ' +2 "manipulator"&@% +3 "core" %\ ' 4 B +1399 #t-> Forearm.force -100 +2 .Forearm.force -100 + "manipulator"&5 +3 &A% +2 "core" % X  +1390 #t-> Forearm.retract +2 .Forearm.seek :retract +2 "manipulator"&$'\ +97 "core" ' +2 "manipulator"&C% +4 "core" %\ 2 % +342 #t-> Arm.PC +2 "manipulator"&D& +3 "core" &, * +2 "manipulator"&E% +4 "core" %\ 3 % +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek :PC +38 "manipulator"&&(c +122 "core" ( +2 "manipulator"&B& +4 "core" &d ~ L + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &H& +3 "core" &d  L +2 .tForearm.seek PC +2 "manipulator"&I'[ +95 "core" ' + "manipulator"&?& +4 "core" &d  L +2 "manipulator"&K% +3 "core" %Q , +296 #t-> Forearm.retract +2 .Forearm.seek :retract +2 "manipulator"&L'\ +91 "core" ' +2 "manipulator"&M% +4 "core" %\ +  "Y +503 #t-> Forearm.force -100 +2 .Forearm.force -100 + "manipulator"&5 +3 &F% +3 "core" %} 2 @ +1265 #t-> Forearm.retract +2 .Forearm.seek :retract + "manipulator"&*'\ +102 "core" ' + "manipulator"&P% +4 "core" %\ < ? * +545 #t-> Forearm.force -50 + .Forearm.force -50 + "manipulator"&5 +3 &Q% +3 "core" %   +1235 #t-> Forearm.retrac +2 !o:NoMethodError : mesgu:NameError::message0undefined method `retrac' for Forearm:Slide: name: retrac: args[:bt[ "8/home/esp/esp2/lib/slide.rb:396:in `method_missing'"(ESP):34:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +396 #-> Forearm.retract +2 .Forearm.seek :retract +2 "manipulator"&R'\ +92 "core" ' +2 "manipulator"&N% +4 "core" %\ 0 H $n +1471 #t-> Arm.garage +2 "manipulator"&J& +3 "core" &d L +2 "manipulator"&T% +4 "core" %\ 0 $n +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage +2 "manipulator"&V(, +121 "core" ( +2 "manipulator"&W& +4 "core" &,  + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &Y& +2 "core" &,  +2 .tForearm.seek :garage +2 "manipulator"&G' +100 "core" ' + "manipulator"&S& +4 "core" &, ~  + "manipulator"&O% +4 "core" % K } +247 #t-> Forearm.retract +2 .Forearm.seek :retract +2 "manipulator"&['\ +99 "core" ' +2 "manipulator"&\\% +4 "core" %\ 4 n & +2128 #t-> Forearm.force -50;delay 2;Hand.close + .Forearm.force -50 +2 "manipulator"&5 +2 .tdelay 2 seconds +202 .Hand.close + "manipulator"&X/ +54 "core" / +3053 #t-> Arm.garage + "manipulator"&_& +3 "core" &, M  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek :garage + "manipulator"&`(, +3 "core" ( +2 "manipulator"&U& +4 "core" &, ~  + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &b& +3 "core" &, m  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :garage + "manipulator"&c' +25 "core" ' +2 "manipulator"&]& +4 "core" &, G  + "manipulator"&a% +4 "core" %  } +199 "Can" 'GD +555 #t-> Hand.open +2 .Hand.open + "manipulator"&e1 +54 "core" 1 +438 #t-> Arm.home +2 "manipulator"&g& +3 "core" &, #  +2 "manipulator"&h% +4 "core" %  S } +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&j'\ +96 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek :home + "manipulator"&k( +113 "core" ( + "manipulator"&^& +4 "core" & F f +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &d& +3 "core" & f +2 .tForearm.seek :home + "manipulator"&l' +44 "core" ' + "manipulator"&m& +4 "core" &  f +2 "manipulator"&n% +3 "core" % r v , % +351 #t-> Arm.garage +2 "manipulator"&q& +3 "core" & p p f + "manipulator"&r% +4 "core" % % % +2 .tForearm.seek :retract +2 "manipulator"&t'\ +35 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage +2 "manipulator"&u(, +129 "core" ( + "manipulator"&i& +4 "core" &,  2 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &f& +3 "core" &,  2 +2 .tForearm.seek :garage +2 "manipulator"&o' +93 "core" ' +2 "manipulator"&v& +4 "core" &, 8 2 + "manipulator"&w% +4 "core" %  +4810 #t-> Forearm.retract +2 .Forearm.seek :retract +2 "manipulator"&z'\ +100 "core" ' + "manipulator"&{% +4 "core" %\ < y ) +3987 #t-> Forearm.force -100 +2 .Forearm.force -100 +2 "manipulator"&5 +2 &s% +3 "core" % C  +653 #t-> Forearm.retract +2 .Forearm.seek :retract +2 "manipulator"&}'\ +96 "core" ' +2 "manipulator"&~% +4 "core" %\ 8 @ ( +351 #t-> Forearm.retract + .Forearm.seek :retract +2 "manipulator"&p'\ +3 "core" ' +2 "manipulator"&x% +4 "core" %\ 8 L ( +430 #t-> Forearm.force -100 +2 .Forearm.force -100 + "manipulator"&5 +2 &% +3 "core" %8 M r +1836 #t-> Hand.close +2 .Hand.close + "manipulator"&|/ +56 "core" / +345 #t-> Forearm.retract +2 .Forearm.seek :retract +2 "manipulator"&'\ +96 "core" ' +2 "manipulator"&% +4 "core" %\ 1 b %x +319 #t-> Forearm.force -100 + .Forearm.force -100 + "manipulator"&5 +3 &% +3 "core" % 3 N +605 #t-> Hand.open +2 .Hand.open + "manipulator"&1 +64 "core" 1 +3371 #t-> Forearm.retract +2 .Forearm.seek :retract + "manipulator"&'\ +101 "core" ' + "manipulator"&y% +4 "core" %\ ? Y , +551 #t-> Forearm.force +2 !o:ArgumentError: mesg"(wrong number of arguments (0 for 1):bt[ "(ESP):53:in `force'"(ESP):53:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +1095 #-> Forearm.force -50 + .Forearm.force -50 +2 "manipulator"&5 +2 &% +3 "core" % " + +28403 #t-> exit +5 #mEXIT @1638204772.90EST @1638205182.71EST = =mMAIN_scheduler =tMAIN @EST1638205184.57 #"core_reset"Sent BREAK +2 #t@415 receive with ifg=0x10, ie=0xFD + #@1061 receive with ifg=0x10, ie=0xFD + #@1718 receive with ifg=0x10, ie=0xFD + #@2365 receive with ifg=0x10, ie=0xFD #@3013 receive with ifg=0x10, ie=0xFD + #@3661 receive with ifg=0x10, ie=0xFD #@4309 receive with ifg=0x10, ie=0xFD + #@4635 receive with ifg=0x80, ie=0xFD #@44894 idle with ifg=0x00, ie=0x75 + #ESP2 v3.41 I2C Gateway v3.20 +9 #ESP2 v3.41 I2C Gateway v3.20 for core bus +206 !o:Instrument::ISUSCore:\ @name" ISUS: @configS:Instrument::Configuration: name@:calFileName0:sampleCmd"TS: prompt"\ :statusCmd"C:sampleTimeouti#:promptTimeouti:statusTimeouti: retriesi:strToPrompt"W: pace0: echoF: @refic +98 #Configuration for don (12651-03) 10/9/20 brent@mbari.org\ /home/esp/esp2/type/shallow/don/configure.rb\ +380 "Can" %LI +  %LI + #tPolling Can every 10:00 +11 !o:Storage::Warning: mesg"7Invalid entry in line 65 of /var/log/esp/real.puck:bt["8/home/esp/esp2/utils/storage.rb:399:in `readPucks!'"2/home/esp/esp2/utils/storage.rb:397:in `each'"8/home/esp/esp2/utils/storage.rb:397:in `readPucks!'"(eval):2:in `eachRaw'"(eval):2:in `each'"8/home/esp/esp2/utils/storage.rb:372:in `readPucks!'"2/home/esp/esp2/utils/storage.rb:371:in `open'"8/home/esp/esp2/utils/storage.rb:371:in `readPucks!'"6/home/esp/esp2/utils/storage.rb:627:in `restore!'"-/home/esp/esp2/lib/esp.rb:115:in `shell'"7/home/esp/esp2/lib/schedule.rb:481:in `initialize'"0/home/esp/esp2/lib/thread.rb:738:in `start'"7/home/esp/esp2/lib/schedule.rb:474:in `initialize'"'/home/esp/esp2/lib/schedule.rb:472 +10 !o:Storage::Warning: mesg"8Invalid entry in line 126 of /var/log/esp/real.puck:bt["8/home/esp/esp2/utils/storage.rb:399:in `readPucks!'"2/home/esp/esp2/utils/storage.rb:397:in `each'"8/home/esp/esp2/utils/storage.rb:397:in `readPucks!'"(eval):2:in `eachRaw'"(eval):2:in `each'"8/home/esp/esp2/utils/storage.rb:372:in `readPucks!'"2/home/esp/esp2/utils/storage.rb:371:in `open'"8/home/esp/esp2/utils/storage.rb:371:in `readPucks!'"6/home/esp/esp2/utils/storage.rb:627:in `restore!'"-/home/esp/esp2/lib/esp.rb:115:in `shell'"7/home/esp/esp2/lib/schedule.rb:481:in `initialize'"0/home/esp/esp2/lib/thread.rb:738:in `start'"7/home/esp/esp2/lib/schedule.rb:474:in `initialize'"'/home/esp/esp2/lib/schedule.rb:472 +5 #Cleanly exited at 11:52:52EST29-Nov-21 +510 #-> ESP.ready? +502 #-> ESP.ready! +154 "sampler") +3 ) + "core"  +2 "collection"' +2 ' +3 "core"  +2 "processing"% + % +3 "core"  +5 "collection"' 9\ +2 ' 0\ +2 ' -\ +4 "processing"% 9\ +2 % 2\ +2 % *\ +2 % 0\ +4 "sampler")&\ +2 "collection"'% +3 "core" %\ + .tCS.configure :default +3 "collection"'#P d@b +2 .tCS.hold + "collection"'+ +5 "core" + + .tCS.configure :default +3 "collection"'#P d@b +2 "processing"%% +3 "core" %\ + .tPS.configure :default +3 "processing"%#A d`xb +2 "sampler")% +3 "core" %5\ H\ @ \ + .tSS.configure :default +3 "sampler")#.0X 4 0\ K + "collection"'& +4 "core" &\ + "processing"%& +3 "core" &^\  +2 "collection"' +3 "core"  +2 "collection"'  +3 "core"  +2 "collection"'! +3 "core"  + "processing"%" +3 "core"  +2 "processing"%# +3 "core" U + "processing"%$ +3 "core" ? +2 "processing"%% +3 "core"  + "sampler")& +4 "core"  + "collection"''% +4 "core" %\ +2 "processing"%(% +4 "core" %\ +2 "sampler"))% +4 "core" %5\ J\ B \ +2 "collection"'*& +3 "core" &\ +2 "processing"%+& +4 "core" &^\  + "manipulator"&,% +4 "core" %  ; + "manipulator"&-& +4 "core" &, U 2 +2 "storage"(.& +4 "core" &, 6 8 S\  +2 "storage"(/% +3 "core" %F 6 9 A\ K +2 "collection"'09 +3 "core" 9 +2 "processing"%19 +3 "core" 9 +469 #t-> Arm +2 "manipulator"&2& +4 "core" &,  2 + "manipulator"&3% +5 "core" %  ; +930 #t-> Arm.ready! +2 .Forearm.reconfigure :loose +3 "manipulator"&#@2^d^b + .tForearm.home.seek :retract +2 "manipulator"&4'\ +138 "core" ' +2 ."closeHand"Hand.close +3 .tElbow.jog 1500 +2 "manipulator"&5/ +2 &6* +57 "core" / +8 * + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 .tElbow.home.seek :clear +2 "manipulator"&7(d +318 "core" ( +2 "manipulator"&8& +4 "core" &d "{ +2 "manipulator"&9% +4 "core" % \ 0 * $t +746 #t-> Arm.PC +2 "manipulator"&:& +3 "core" &d "{ + "manipulator"&;% +4 "core" % \ . $t +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek :PC +2 "manipulator"&<(c +205 "core" ( + "manipulator"&=& +4 "core" &d P +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &>& +3 "core" &d t +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&?'[ +103 "core" ' + "manipulator"&@& +4 "core" &d P +2 "manipulator"&A% +3 "core" %O ,  +1671 #t-> Arm.home +2 "manipulator"&B& +3 "core" &d c +2 "manipulator"&C% +4 "core" %O i  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&D'\ +100 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek :home +2 "manipulator"&E( +59 "core" ( + "manipulator"&F& +4 "core" & R  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &G& +3 "core" &   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek :home +36 "manipulator"&H' +51 "core" ' + "manipulator"&I& +4 "core" & X  +2 "manipulator"&J% +3 "core" % " A +231 #t-> exit +6 #mEXIT @1638205260.08EST @1638208592.42EST = =tMAIN =mMAIN_scheduler @EST1638208594.25 #"core_reset"Sent BREAK +2 #t@3080 receive with ifg=0x10, ie=0xFD + #@3724 receive with ifg=0x10, ie=0xFD + #@4382 receive with ifg=0x10, ie=0xFD #@5028 receive with ifg=0x10, ie=0xFD + #@5676 receive with ifg=0x10, ie=0xFD + #@6325 receive with ifg=0x10, ie=0xFD #@6973 receive with ifg=0x10, ie=0xFD + #@7299 receive with ifg=0x80, ie=0xFD #@26259 idle with ifg=0x00, ie=0x75 + #ESP2 v3.41 I2C Gateway v3.20 +8 #ESP2 v3.41 I2C Gateway v3.20 for core bus +202 !o:Instrument::ISUSCore:\ @name" ISUS: @configS:Instrument::Configuration: name@:calFileName0:sampleCmd"TS: prompt"\ :statusCmd"C:sampleTimeouti#:promptTimeouti:statusTimeouti: retriesi:strToPrompt"W: pace0: echoF: @refibc +94 #Configuration for don (12651-03) 10/9/20 brent@mbari.org\ /home/esp/esp2/type/shallow/don/configure.rb\ +363 "Can" $NK +  $NK + #tPolling Can every 10:00 +10 !o:Storage::Warning: mesg"7Invalid entry in line 65 of /var/log/esp/real.puck:bt["8/home/esp/esp2/utils/storage.rb:399:in `readPucks!'"2/home/esp/esp2/utils/storage.rb:397:in `each'"8/home/esp/esp2/utils/storage.rb:397:in `readPucks!'"(eval):2:in `eachRaw'"(eval):2:in `each'"8/home/esp/esp2/utils/storage.rb:372:in `readPucks!'"2/home/esp/esp2/utils/storage.rb:371:in `open'"8/home/esp/esp2/utils/storage.rb:371:in `readPucks!'"6/home/esp/esp2/utils/storage.rb:627:in `restore!'"-/home/esp/esp2/lib/esp.rb:115:in `shell'"7/home/esp/esp2/lib/schedule.rb:481:in `initialize'"0/home/esp/esp2/lib/thread.rb:738:in `start'"7/home/esp/esp2/lib/schedule.rb:474:in `initialize'"'/home/esp/esp2/lib/schedule.rb:472 +10 !o:Storage::Warning: mesg"8Invalid entry in line 126 of /var/log/esp/real.puck:bt["8/home/esp/esp2/utils/storage.rb:399:in `readPucks!'"2/home/esp/esp2/utils/storage.rb:397:in `each'"8/home/esp/esp2/utils/storage.rb:397:in `readPucks!'"(eval):2:in `eachRaw'"(eval):2:in `each'"8/home/esp/esp2/utils/storage.rb:372:in `readPucks!'"2/home/esp/esp2/utils/storage.rb:371:in `open'"8/home/esp/esp2/utils/storage.rb:371:in `readPucks!'"6/home/esp/esp2/utils/storage.rb:627:in `restore!'"-/home/esp/esp2/lib/esp.rb:115:in `shell'"7/home/esp/esp2/lib/schedule.rb:481:in `initialize'"0/home/esp/esp2/lib/thread.rb:738:in `start'"7/home/esp/esp2/lib/schedule.rb:474:in `initialize'"'/home/esp/esp2/lib/schedule.rb:472 +5 #Cleanly exited at 12:01:00EST29-Nov-21 +4325 #-> ESP.ready? +489 #-> ESP.ready! +153 "sampler") +2 ) +2 "core"  +2 "collection"' +2 ' +3 "core"  + "processing"% +3 % +2 "core"  +5 "collection"' 9\ +2 ' 0\ +2 ' -\ +4 "processing"% 9\ +2 % 2\ +2 % *\ + % 0\ +4 "sampler")&\ +2 "collection"'% +3 "core" %\ + .tCS.configure :default +3 "collection"'#P d@b +2 .tCS.hold + "collection"'+ +3 "core" + + .tCS.configure :default +3 "collection"'#P d@b +2 "processing"%% +3 "core" %7\ + .tPS.configure :default +3 "processing"%#A d`xb +2 "sampler")% +3 "core" %5\ @\ < \ + .tSS.configure :default +3 "sampler")#.0X Hand +392 #-> Hand.open +2 .Hand.open + "manipulator"&31 +59 "core" 1 +549 #t-> Arm.to Flush + "manipulator"&4& +3 "core" &   +2 "manipulator"&5% +4 "core" % D A +2 .tForearm.seek :retract +2 "manipulator"&6'\ +35 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek FlushPuck +2 "manipulator"&7(, +106 "core" ( + "manipulator"&8& +4 "core" &, F  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &9& +3 "core" &,   +2 .tForearm.seek :garage + "manipulator"&:' +103 "core" ' +2 "manipulator"&;& +4 "core" &,  +2 "manipulator"&<% +4 "core" % q O +413 #t-> Hand.close + .Hand.close + "manipulator"&=/ +53 "core" / +1098 #t-> 5.times {Forearm.retract; Forearm.force -100; delay 1.5; log.comment Forearm.position} +2 .Forearm.seek :retract +2 "manipulator"&>'\ +94 "core" ' +2 .tForearm.force -100 + "manipulator"&5 +3 .tdelay 1.5 seconds +151 "manipulator"&?% +3 "core" %L z l X ў Arm.releaseAt :garage +2 "manipulator"&H& +3 "core" &,   +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek :garage + "manipulator"&I(, +3 "core" ( + "manipulator"&J& +4 "core" &, +  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &K& +3 "core" &, L  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :garage +2 "manipulator"&L' +25 "core" ' + .tHand.open +2 "manipulator"&M1 +59 "core" 1 +2 "manipulator"&N% +4 "core" %  L +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&O'\ +99 "core" ' + "manipulator"&P& +4 "core" &,   +2 "manipulator"&Q% +4 "core" %\ 7 ( +712 #t-> Flush.to CC + #Loading FlushPuck into Collection Clamp from FlushPuck::Garage +2 "collection"'R& +3 "core" & \ +2 "manipulator"&S& +4 "core" &,  + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek FlushPuck::Garage +2 "manipulator"&T(, +3 "core" ( + "manipulator"&U& +4 "core" &, ,  + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &V& +2 "core" &,  +2 .tForearm.seek :garage +2 "manipulator"&W' +101 "core" ' + .tHand.close +2 "manipulator"&X/ +58 "core" / + "manipulator"&Y& +4 "core" &, Z  +2 "manipulator"&Z% +4 "core" % 2 | + .tForearm.seek :retract +2 "manipulator"&['\ +103 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC + "manipulator"&\\( +273 "core" ( +2 "manipulator"&]& +4 "core" &&  8 =C + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &^& +2 "core" && =C +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&_'| +102 "core" ' +2 "manipulator"&`& +4 "core" && =C + "manipulator"&a% +4 "core" %υ } +2 "collection"'b& +3 "core" &1\ +3 "collection"'c& +4 "core" &6\ +2 .tCC.seek :closed +2 "collection"'d(] +4 "core" &5\ +7 & 80\ $e +10 &eV0\ 8 +9 &~/\ M +9 &nc0\ O +10 &0c-\ O +9 &f1\ O +9 & f-\ P +10 &"uf0\ P +9 &$:c1\ O +10 &%b2\ O +9 &'b2\ N +9 &)fR\ O +10 &+Cf4\ N +9 &-e0\ O +9 &.j2\ O +10 &0f0\ O +9 &2Ih1\ O +10 &4 g-\ O +9 &5d'\ O +9 &7d)\ O +10 &9Qc$\ O +9 &;b@\ O +9 &<f=\ O +10 &>b3\ O +9 &@Zc)\ O +10 &Bc"\ O +9 &Cb'\ O +9 &Ee%\ O +10 &Gbgz-\ O +9 &I!mVgK\ P +9 &J|"78\ Q +10 &L3\ T +9 &NR)41\ W +10 &P!'/\ Y +9 &Q,\ Y +9 &S0\ Y +10 &UP/\ Z +9 &W)\ Z +9 &X'\ [ +10 &Z\ \\ +9 &\\O!\ I +10 &][9(\ / +9 &]l'\ G +5 ( +2 "collection"'c& +4 #tCollection Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.89 + "collection"'e& +4 "core" &]g3\ G + &]g'\ G +2 .tHand.open + "manipulator"&f1 +62 "core" 1 +2 "manipulator"&g% +4 "core" % q W +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&h'\ +91 "core" ' +640 #t-> Flush.garage + #Garaging FlushPuck in Collection Clamp +2 "manipulator"&i& +3 "core" &&  8 +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&j( +26 "core" ( + "manipulator"&k& +4 "core" &  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &l& +3 "core" &  +2 .tForearm.seek CC + "manipulator"&m'| +95 "core" ' +2 .tHand.close + "manipulator"&n/ +63 "core" / +2 .tCC.seek :open + "collection"'o(p +410 "core" ( +2 "manipulator"&p& +4 "core" & *  + "manipulator"&q% +4 "core" % w  + .tForearm.seek :retract +2 "manipulator"&r'\ +92 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage +2 "manipulator"&s(, +270 "core" ( + "manipulator"&t& +4 "core" &,   +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &u& +3 "core" &, K  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :garage +2 "manipulator"&v' +98 "core" ' +2 .tHand.open + "manipulator"&w1 +55 "core" 1 + "manipulator"&x% +4 "core" %  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&y'\ +98 "core" ' +40241 "Can" $OL +58512 !to:SignalException: mesg" SIGHUP:\ signoi:bt["+/home/esp/esp2/lib/esp.rb:77:in `join'"1/home/esp/esp2/lib/esp.rb:77:in `mainThread'""/home/esp/esp2/lib/esp.rb:327 +5 #mEXIT @1638209785.48EST @1638295794.41EST = =mMAIN_scheduler =tMAIN @EST1638295796.24 #"core_reset"Sent BREAK +2 #t@60928 sendCRC with ifg=0x20, ie=0x7F + #@62750 sendCRC with ifg=0x08, ie=0x5F + #@14136 idle with ifg=0x84, ie=0x75 #@14821 select with ifg=0x10, ie=0xF5 + #@15470 receive with ifg=0x10, ie=0xFD + #@16118 receive with ifg=0x10, ie=0xFD #@16766 receive with ifg=0x10, ie=0xFD + #@17093 receive with ifg=0x80, ie=0xFD #@15914 idle with ifg=0x00, ie=0x75 + #ESP2 v3.41 I2C Gateway v3.20 +9 #ESP2 v3.41 I2C Gateway v3.20 for core bus +202 !o:Instrument::ISUSCore:\ @name" ISUS: @configS:Instrument::Configuration: name@:calFileName0:sampleCmd"TS: prompt"\ :statusCmd"C:sampleTimeouti#:promptTimeouti:statusTimeouti: retriesi:strToPrompt"W: pace0: echoF: @refiaa +94 #Configuration for don (12651-03) 10/9/20 brent@mbari.org\ /home/esp/esp2/type/shallow/don/configure.rb\ +362 "Can"- #QO + - #QO + #tPolling Can every 10:00 +10 !o:Storage::Warning: mesg"7Invalid entry in line 65 of /var/log/esp/real.puck:bt["8/home/esp/esp2/utils/storage.rb:399:in `readPucks!'"2/home/esp/esp2/utils/storage.rb:397:in `each'"8/home/esp/esp2/utils/storage.rb:397:in `readPucks!'"(eval):2:in `eachRaw'"(eval):2:in `each'"8/home/esp/esp2/utils/storage.rb:372:in `readPucks!'"2/home/esp/esp2/utils/storage.rb:371:in `open'"8/home/esp/esp2/utils/storage.rb:371:in `readPucks!'"6/home/esp/esp2/utils/storage.rb:627:in `restore!'"-/home/esp/esp2/lib/esp.rb:115:in `shell'"7/home/esp/esp2/lib/schedule.rb:481:in `initialize'"0/home/esp/esp2/lib/thread.rb:738:in `start'"7/home/esp/esp2/lib/schedule.rb:474:in `initialize'"'/home/esp/esp2/lib/schedule.rb:472 +10 !o:Storage::Warning: mesg"8Invalid entry in line 126 of /var/log/esp/real.puck:bt["8/home/esp/esp2/utils/storage.rb:399:in `readPucks!'"2/home/esp/esp2/utils/storage.rb:397:in `each'"8/home/esp/esp2/utils/storage.rb:397:in `readPucks!'"(eval):2:in `eachRaw'"(eval):2:in `each'"8/home/esp/esp2/utils/storage.rb:372:in `readPucks!'"2/home/esp/esp2/utils/storage.rb:371:in `open'"8/home/esp/esp2/utils/storage.rb:371:in `readPucks!'"6/home/esp/esp2/utils/storage.rb:627:in `restore!'"-/home/esp/esp2/lib/esp.rb:115:in `shell'"7/home/esp/esp2/lib/schedule.rb:481:in `initialize'"0/home/esp/esp2/lib/thread.rb:738:in `start'"7/home/esp/esp2/lib/schedule.rb:474:in `initialize'"'/home/esp/esp2/lib/schedule.rb:472 +6 #Cleanly exited at 13:16:25EST29-Nov-21 +1138 #-> ESP.ready! +155 "sampler") + ) +2 "core"  +2 "collection"' +2 ' +2 "core"  +2 "processing"% +2 % +3 "core"  +5 "collection"' 9\ +2 ' 0\ +2 ' -\ +3 "processing"% 9\ +2 % 2\ +2 % *\ +2 % 0\ +4 "sampler")&\ +2 "collection"'% +2 "core" %))\ +3 .tCS.configure :default +2 "collection"'#P d@b +2 .tCS.hold +2 "collection"'+ +3 "core" + + .tCS.configure :default +2 "collection"'#P d@b +3 "processing"%% +2 "core" %\\\ +2 .tPS.configure :default +2 "processing"%#A d`xb +2 "sampler")% +4 "core" %5 \ + .tSS.configure :default +2 "sampler")#.0X %z + "manipulator"&.& +4 "core" &, N  + "storage"(/& +4 "core" &, N O \  +2 "storage"(0% +3 "core" %F H G \ K +2 "collection"'19 +3 "core" 9 +2 "processing"%29 +3 "core" 9 +1277 #t-> Arm.garage +2 "manipulator"&3& +3 "core" &, f  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage +2 "manipulator"&4(, +3 "core" ( + "manipulator"&5& +4 "core" &, }  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &6& +2 "core" &, Q  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :garage + "manipulator"&7' +110 "core" ' + "manipulator"&8& +4 "core" &, |  +2 "manipulator"&9% +3 "core" % u  +279 #t-> Hand.close +2 .Hand.close +2 "manipulator"&:/ +55 "core" / +526 #t-> Arm.retract +2 .Hand.open + "manipulator"&;1 +59 "core" 1 + "manipulator"&<% +4 "core" %  e  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&='\ +94 "core" ' +2 "manipulator"&>& +4 "core" &, 2  +2 "manipulator"&?% +3 "core" %\ & ? +4023 #t-> Arm.garage +2 "manipulator"&@& +3 "core" &,  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage +2 "manipulator"&A(, +2 "core" ( +2 "manipulator"&B& +3 "core" &, g  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &C& +3 "core" &,  +2 .tForearm.seek :garage + "manipulator"&D' +95 "core" ' +2 "manipulator"&E& +4 "core" &,   + "manipulator"&F% +4 "core" %  +302 #t-> Hand.close +2 .Hand.close + "manipulator"&G/ +53 "core" / +838 #t-> Forearm.retract +2 .Forearm.seek :retract +2 "manipulator"&H'\ +139 "core" ' +2 "manipulator"&I% +4 "core" %\ 3  %y +6734 #t-> Forearm.force -100 +2 .Forearm.force -100 + "manipulator"&5 +2 &J% +3 "core" % "  +7037 #t-> Forearm.retract +2 .Forearm.seek :retract +2 "manipulator"&K'\ +96 "core" ' + "manipulator"&L% +4 "core" %\ 0  %} +321 #t-> Arm.PC +2 "manipulator"&M& +3 "core" &,   +2 "manipulator"&N% +4 "core" %\ 0  %} + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek :PC +2 "manipulator"&O(c +120 "core" ( +2 "manipulator"&P& +4 "core" &m G  + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &Q& +2 "core" &m :  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&R'[ +105 "core" ' + "manipulator"&S& +4 "core" &m i  +2 "manipulator"&T% +3 "core" %I ` +605 #t-> PC.close +2 "manipulator"&U& +4 "core" &m   + "manipulator"&V% +4 "core" %I  +2 "processing"%W& +3 "core" &^e\  +3 "processing"%X& +4 "core" &^h\  +2 .tPC.seek :closed +2 "processing"%Y(Z +4 "core" &^j\  +8 &4p\ , +10 &fi\ @ +9 &1|i\ O +10 &_r\ N +9 &cj\ N +9 &zbh\ N +10 &!=dw\ M +9 &"^j\ M +10 &$ci\ N +9 &&bg\ N +9 &(E\\j\ M +10 &*^i\ M +9 &+bi\ M +9 &-^m\ N +10 &/Ldi\ N +9 &1bg\ M +9 &2^h\ N +10 &4^i\ N +9 &6Ubg\ M +10 &8bi\ N +9 &9`h\ N +9 &;`j\ M +10 &=]bp\ M +9 &?_j\ N +9 &@ch\ N +10 &B`r\ N +9 &De\\k\ M +10 &F&]p\ N +9 &Ggh\ N +9 &Irg\ O +10 &Kc~j\ Q +9 &Mg\ S +10 &Nv\ T +9 &Pi\ T +9 &Rcp\ S +10 &T%o\ S +9 &Ug\ T +9 &Wj\ T +10 &Ygr\ B +9 &Zq;t\ ^ +9 &Z Em\ 0 +6 ( + "processing"%X& +4 #tProcessing Clamp onSpring/offSpring for 9/25 samples, on/off torque 1.55 +2 "processing"%Z& +4 "core" &Z"m\ 0 + &Z"m\ 0 +6991 #t-> PC.open +2 .PC.seek :open +2 "processing"%[(p +393 "core" ( + "processing"%\\& +4 "core" &g\ +543 #t-> Forearm.retract +2 .Forearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&]'\ +99 "core" ' +2 "manipulator"&^% +4 "core" %\ 6  ' +6734 #t-> Arm.garage +2 "manipulator"&_& +3 "core" &m  + "manipulator"&`% +4 "core" %\ 6  ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek :garage + "manipulator"&a(, +136 "core" ( + "manipulator"&b& +4 "core" &, M  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &c& +3 "core" &,   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :garage +2 "manipulator"&d' +109 "core" ' +2 "manipulator"&e& +4 "core" &, @  + "manipulator"&f% +4 "core" % z - +1603 #t-> Forearm.retract +2 .Forearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&g'\ +98 "core" ' +2 "manipulator"&h% +4 "core" %\ (  K +934 #t-> Forearm.force -25 +2 .Forearm.force -25 + "manipulator"&5 +3 &i% +3 "core" %\   +1027 #t-> Forearm.force -100 +2 .Forearm.force -100 + "manipulator"&5 +2 &j% +3 "core" % ^  +712 #t-> Forearm.retract +2 .Forearm.seek :retract +2 "manipulator"&k'\ +99 "core" ' + "manipulator"&l% +4 "core" %\ :  ) +634 #t-> Forearm.force -50 +2 .Forearm.force -50 + "manipulator"&5 +3 &m% +2 "core" %\ #p ( +480 #t-> Forearm.retract +2 .Forearm.seek :retract +2 "manipulator"&n'\ +99 "core" ' + "manipulator"&o% +4 "core" %\ 8 j ( +514 #t-> Forearm.force -40 +2 .Forearm.force -40 + "manipulator"&5 +3 &p% +3 "core" %  o  +1564 #t-> Forearm.retract +2 .Forearm.seek :retract +2 "manipulator"&q'\ +80 "core" ' + "manipulator"&r% +4 "core" %\ 2 j %v +734 #t-> Forearm.force -30 +2 .Forearm.force -30 + "manipulator"&5 +3 &s% +2 "core" %\ 4 [ | +1070 #t-> Forearm.retract +2 .Forearm.seek :retract +2 "manipulator"&t'\ +62 "core" ' + "manipulator"&u% +4 "core" %\ . T #h +903 #t-> Forearm.PC +2 .Forearm.seek PC +2 "manipulator"&v'[ +100 "core" ' +2 "manipulator"&w% +4 "core" %o d w +783 #t-> Forearm.retract +2 .Forearm.seek :retract +2 "manipulator"&x'\ +96 "core" ' +2 "manipulator"&y% +4 "core" %\ (  L +462 #t-> Arm.PC +2 "manipulator"&z& +3 "core" &,   +2 "manipulator"&{% +3 "core" %\ (  L +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek :PC + "manipulator"&|(c +121 "core" ( + "manipulator"&}& +4 "core" &j b O + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &~& +26 "core" &j  O + .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&'[ +92 "core" ' +2 "manipulator"&& +4 "core" &j ! O + "manipulator"&% +4 "core" %e X  +631 #t-> Forearm.retract +2 .Forearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +94 "core" ' + "manipulator"&% +4 "core" %\ & s  9 +728 #t-> Forearm.force -30 + .Forearm.force -30 + "manipulator"&5 +3 &% +3 "core" %\ \ Y  +837 #t-> PC.close +2 "manipulator"&& +3 "core" &j  O +2 "manipulator"& % +4 "core" %F r +2 !to:Arm::Error: mesg"@Cannot hold puck in Processing Clamp because Hand is closed:@checkpoint: omitted:bt["E/home/esp/esp2/utils/misc.rb:414:in `closeAndVerifyPuckPresence'"0/home/esp/esp2/utils/misc.rb:485:in `close'",/home/esp/esp2/lib/msg.rb:68:in `retry'"0/home/esp/esp2/utils/misc.rb:484:in `close'"5/home/esp/esp2/lib/thread.rb:74:in `recoverable'"0/home/esp/esp2/utils/misc.rb:483:in `close'"(ESP):30:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +4846 "Can" &ML +2664 #t-> Forearm.retract +2 .Forearm.seek :retract +2 "manipulator"& '\ +62 "core" ' + "manipulator"& % +4 "core" %\ 0 # $n +712 #t-> Forearm.force -120 +2 .Forearm.force -120 +2 !o:RangeError: mesg"*-120% max force while forcing Forearm:@checkpoint: omitted:bt["2/home/esp/esp2/lib/i2c/servo.rb:440:in `send'"2/home/esp/esp2/lib/i2c/servo.rb:470:in `send'"0/home/esp/esp2/lib/i2c/msg.rb:276:in `send'"9/home/esp/esp2/lib/i2c/servo.rb:1740:in `applyForce'"//home/esp/esp2/lib/slide.rb:439:in `force'",/home/esp/esp2/lib/msg.rb:68:in `retry'"//home/esp/esp2/lib/slide.rb:439:in `force'"5/home/esp/esp2/lib/thread.rb:74:in `recoverable'"//home/esp/esp2/lib/slide.rb:436:in `force'"(ESP):32:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +1191 #-> Forearm.force -99 + .Forearm.force -99 +2 "manipulator"&5 +2 &% +3 "core" % 3  +537 #t-> Forearm.retract +2 .Forearm.seek :retract +2 "manipulator"&'\ +94 "core" ' + "manipulator"&% +4 "core" %\ '  E +2836 #t-> Arm.garage +2 "manipulator"&& +3 "core" &j  O +2 "manipulator"&% +4 "core" %\ (  E + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage + "manipulator"&(, +144 "core" ( + "manipulator"&& +4 "core" &,   + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &, H  + .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :garage +2 "manipulator"&' +107 "core" ' +2 "manipulator"&& +4 "core" &,   + "manipulator"&% +4 "core" % , B +51574 "Can"> TS +11952 #t-> Forearm.retract +2 .Forearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +102 "core" ' + "manipulator"&% +4 "core" %\ 6  ' +905 #t-> Forearm.jog 1000 +2 .Forearm.jog 1000 + "manipulator"&) +25 "core" ) \ l l b +3 !to:Slide::Error\ : mesg"/Forearm speedErr at retracted + 549 counts:@checkpoint: omitted: @replyo:I2C::Servo::RelMove3Reply : @error: speedErr: @tagi$: @sourcei+: @channeli: @statusIS:I2C::Servo::Status: enabledT: pastRLSF: pastFLSF:pastThresholdF: lostF: homeT: positioni : velocityi: currenti\ :pwmig:erri: inPressil : outPressil :deltaPressi : voltagef12.510588119783996e: @type2F:@destinationi%:@axisName" Forearm:bt[ "2/home/esp/esp2/lib/slide.rb:587:in `raiseErr'"-/home/esp/esp2/lib/slide.rb:298:in `jog'"5/home/esp/esp2/lib/thread.rb:74:in `recoverable'"-/home/esp/esp2/lib/slide.rb:273:in `jog'"(ESP):37:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +1096 #-> Forearm.jog -1000 +2 .Forearm.jog -1000 +2 "manipulator"& ) +26 "core" ) +2 "manipulator"&!% +3 "core" % z n  +1100 #t-> Forearm.jog 200 +2 .Forearm.jog 200 +2 "manipulator"&") +18 "core" ) + "manipulator"&#% +4 "core" %|\ [ l 2  +3620 #t-> Forearm.jog -200 +2 .Forearm.jog -200 +2 "manipulator"&$)8 +19 "core" ) + "manipulator"&%% +4 "core" % u _ u +2607 #t-> Forearm.jog -2000 +2 .Forearm.jog -2000 +2 "manipulator"&&)0 +34 "core" ) + "manipulator"&'% +4 "core" % 8  +1665 #t-> Forearm.jog -5000 +2 .Forearm.jog -5000 +2 "manipulator"&()x +51 "core" ) + "manipulator"&)% +4 "core" %L s Z [ +1182 #t-> Forearm.jog 5000 +2 .Forearm.jog 5000 +2 "manipulator"&*) +51 "core" ) +2 "manipulator"&+% +4 "core" % X h N +678 #t-> Forearm.retract +2 .Forearm.seek :retract +2 "manipulator"&,'\ +40 "core" ' +2 "manipulator"&-% +4 "core" %\ 1 - "Y +1359 #t-> Forearm.jog -10000 +2 .Forearm.jog -10000 +2 "manipulator"&.) +69 "core" ) + "manipulator"&/% +4 "core" %   / +1660 #t-> Forearm.retract +2 .Forearm.seek :retract +2 "manipulator"&0'\ +74 "core" ' +2 "manipulator"&1% +4 "core" %\ +  !T +31565 "Can"X $OM +16902 #t-> Forearm.retract +2 .Forearm.seek :retract +2 "manipulator"&2'\ +3 "core" ' + "manipulator"&3% +4 "core" %\ *  !T +762 #t-> Arm.stretch! +2 .Forearm.seek :retract +2 "manipulator"&5'\ +4 "core" ' + .tElbow.seek :hammer +2 "manipulator"&6(* +184 "core" ( +2 "manipulator"&8& +4 "core" &, 7 $ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek retracted +2 "manipulator"&9'\ +5 "core" ' + "manipulator"&% +4 "core" %\ /  #> +2 "manipulator"&& +4 "core" &,  $ + "manipulator"&:% +4 "core" %\ /  #> +3597 #t-> Arm.garage +2 "manipulator"&;& +3 "core" &,  $ +2 "manipulator"&<% +4 "core" %\ /  #> +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage +2 "manipulator"&>(, +235 "core" ( + "manipulator"&?& +4 "core" &, S  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &7& +3 "core" &,   +2 .tForearm.seek :garage + "manipulator"&@' +108 "core" ' + "manipulator"&B& +4 "core" &, f  +2 "manipulator"&C% +4 "core" % 6 . +572 #t-> Arm.retract +2 .Hand.open + "manipulator"&E1 +56 "core" 1 + "manipulator"&F% +4 "core" %  b / +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&4'\ +96 "core" ' +2 "manipulator"&=& +4 "core" &,  +  + "manipulator"&G% +4 "core" %\ &  9 +1572 #t-> Arm.garage +2 "manipulator"&I& +3 "core" &,   +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage +2 "manipulator"&D(, +2 "core" ( +2 "manipulator"&J& +3 "core" &,   +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &H& +2 "core" &,   +3 .tForearm.seek :garage + "manipulator"&L' +97 "core" ' +2 "manipulator"&M& +4 "core" &,  + "manipulator"&N% +4 "core" % b +309 #t-> Hand.close +2 .Hand.close + "manipulator"&P/ +55 "core" / +678 #t-> Forearm.retract +2 .Forearm.seek :retract +2 "manipulator"&Q'\ +98 "core" ' + "manipulator"&S% +4 "core" %\ &  < +34493 "Can"' %OL +60002 ! $NL +1007 #t-> exit +6 #mEXIT @1638298812.30EST @1639753015.49EST = =mMAIN_scheduler =tMAIN @EST1639753019.00 #"core_reset"Sent BREAK +2 #t@7907 idle with ifg=0x00, ie=0x75 + #>RESET< ESP2 v3.41 I2C Gateway v3.20 +208 #>RESET< ESP2 v3.41 I2C Gateway v3.20 for core bus +206 !o:Instrument::ISUSCore:\ @name" ISUS: @refia: @configS:Instrument::Configuration: name@:calFileName0:sampleCmd"TS: prompt"\ :statusCmd"C:sampleTimeouti#:promptTimeouti:statusTimeouti: retriesi:strToPrompt"W: pace0: echoF +98 #Configuration for don (12651-03) 10/9/20 brent@mbari.org\ /home/esp/esp2/type/shallow/don/configure.rb\ +398 "Can" 9%"u +  9%"u + #tPolling Can every 10:00 +11 !o:Storage::Warning: mesg"7Invalid entry in line 65 of /var/log/esp/real.puck:bt["8/home/esp/esp2/utils/storage.rb:399:in `readPucks!'"2/home/esp/esp2/utils/storage.rb:397:in `each'"8/home/esp/esp2/utils/storage.rb:397:in `readPucks!'"(eval):2:in `eachRaw'"(eval):2:in `each'"8/home/esp/esp2/utils/storage.rb:372:in `readPucks!'"2/home/esp/esp2/utils/storage.rb:371:in `open'"8/home/esp/esp2/utils/storage.rb:371:in `readPucks!'"6/home/esp/esp2/utils/storage.rb:627:in `restore!'"-/home/esp/esp2/lib/esp.rb:115:in `shell'"7/home/esp/esp2/lib/schedule.rb:481:in `initialize'"0/home/esp/esp2/lib/thread.rb:738:in `start'"7/home/esp/esp2/lib/schedule.rb:474:in `initialize'"'/home/esp/esp2/lib/schedule.rb:472 +9 !o:Storage::Warning: mesg"8Invalid entry in line 126 of /var/log/esp/real.puck:bt["8/home/esp/esp2/utils/storage.rb:399:in `readPucks!'"2/home/esp/esp2/utils/storage.rb:397:in `each'"8/home/esp/esp2/utils/storage.rb:397:in `readPucks!'"(eval):2:in `eachRaw'"(eval):2:in `each'"8/home/esp/esp2/utils/storage.rb:372:in `readPucks!'"2/home/esp/esp2/utils/storage.rb:371:in `open'"8/home/esp/esp2/utils/storage.rb:371:in `readPucks!'"6/home/esp/esp2/utils/storage.rb:627:in `restore!'"-/home/esp/esp2/lib/esp.rb:115:in `shell'"7/home/esp/esp2/lib/schedule.rb:481:in `initialize'"0/home/esp/esp2/lib/thread.rb:738:in `start'"7/home/esp/esp2/lib/schedule.rb:474:in `initialize'"'/home/esp/esp2/lib/schedule.rb:472 +6 #Cleanly exited at 14:00:12EST30-Nov-21 +629 #-> ESP.ready! +4 #Powering core bus +536 .Gate.power :raw,:ON +2 "sampler") +37 ) +2 "core"  +2 "collection"' +2 ' +3 "core"  +2 "processing"% +2 % +3 "core"  +4 "collection"' 9\ +2 ' 0\ + ' -\ +4 "processing"% 9\ +2 % 2\ +2 % *\ +2 % 0\ +4 "sampler")&\ +2 "collection"'% +3 "core" %`b  + .tCS.configure :default +3 "collection"'#P d@b +2 "processing"%% +2 "core" %\ +2 .tPS.configure :default +2 "processing"%#A d`xb +3 "sampler")% +2 "core" % X Q  +2 .tSS.configure :default +2 "sampler")#.0X require 'shuffle.rb' +1300 #-> 3.times {shuffle 5..7} +2 #Shuffling pucks in tube 5 of [5..7] +2 #Loading generic puck from tube 5 into Collection Clamp + "collection"';& +3 "core" &[`b+\  +2 .tHand.open + "manipulator"&<1 +57 "core" 1 + "manipulator"&=% +5 "core" % \ % 4  + "storage"(>% +4 "core" %F < 8 M\ D + "storage"(?. +3 "core" .(, +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"(@(<< +175 "core" ' o +3 (R7 +2 .tSC.stop +2 "storage"(6 +4 .tSE.seek :down +2 "storage"(A'N +4 "core" (2z X N }\ # + ' + .tSE.stop + "storage"(5 +2 "manipulator"&B% +5 "core" % B U V - +2 !to:Slide::Error\ : mesg"8Elbow positionErr at 1 during Storage Carousel move:@checkpoint: omitted: @replyo:I2C::Servo::AbsMove3Reply : @error:positionErr: @tagi): @sourcei+: @channeli: @statusIS:I2C::Servo::Status: enabledT: pastRLSF: pastFLSF:pastThresholdF: lostF: homeF: positioniR: velocityi<: currenti:pwmi:erri: inPressi : outPressi :deltaPressi : voltagef12.348585174275897X: @type2F:@destinationi%:@axisName"\ Elbow:bt["2/home/esp/esp2/lib/slide.rb:587:in `raiseErr'"3/home/esp/esp2/lib/slide.rb:36:in `initialize'"3/home/esp/esp2/lib/i2c/servo.rb:1680:in `call'"6/home/esp/esp2/lib/i2c/servo.rb:1680:in `deliver'"3/home/esp/esp2/lib/i2c/msg.rb:605:in `process'"2/home/esp/esp2/lib/msg.rb:212:in `initialize'",/home/esp/esp2/lib/msg.rb:209:in `loop'"2/home/esp/esp2/lib/msg.rb:209:in `initialize'"7/home/esp/esp2/lib/schedule.rb:481:in `initialize'"0/home/esp/esp2/lib/thread.rb:738:in `start'"7/home/esp/esp2/lib/schedule.rb:474:in `initialize'"'/home/esp/esp2/lib/schedule.rb:472 +1977 #-> Hand +192 #-> Arm +2 "manipulator"&C& +3 "core" &L W X  +2 "manipulator"&D% +4 "core" % B X W - +638 #t-> Arm.home + "manipulator"&E& +4 "core" &L X X   + "manipulator"&F% +5 "core" % B f W E - +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek :home +2 "manipulator"&G( +34 "core" ( ~ +2 !to:Slide::Error\ : mesg"&Elbow speedErr between 1 and bolt:@checkpoint: omitted: @replyo:I2C::Servo::AbsMove3Reply : @error: speedErr: @tagiL: @sourcei+: @channeli: @statusIS:I2C::Servo::Status: enabledT: pastRLSF: pastFLSF:pastThresholdF: lostF: homeF: positioni: velocityi: currenti:pwmi:erri: inPressi: outPressi:deltaPressi~ : voltagef12.412404516445754: @type2F:@destinationi%:@axisName"\ Elbow:bt["2/home/esp/esp2/lib/slide.rb:587:in `raiseErr'"7/home/esp/esp2/lib/slide.rb:350:in `unlimitedSeek'"5/home/esp/esp2/lib/thread.rb:74:in `recoverable'"7/home/esp/esp2/lib/slide.rb:323:in `unlimitedSeek'"./home/esp/esp2/lib/slide.rb:314:in `seek'",/home/esp/esp2/lib/slide.rb:358:in `to'"8/home/esp/esp2/lib/slide.rb:74:in `inConfiguration'",/home/esp/esp2/lib/slide.rb:358:in `to'",/home/esp/esp2/utils/misc.rb:33:in `to'"8/home/esp/esp2/utils/misc.rb:38:in `method_missing'"(ESP):6:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +4304 #-> access 4 +2 "storage"(H% +3 "core" %? r\  +2 "manipulator"&I% +4 "core" % \ X V { + "manipulator"&J& +4 "core" &T Z _  f +2 .tSC.seek 1 + "storage"(K(B +1117 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +2 (L& +3 "core" &D   \ +1595 #t-> Arm.home +2 "manipulator"&M& +3 "core" &T Z X  f +2 "manipulator"&N% +3 "core" % \ X X { +2 .tElbow.seek :home +2 "manipulator"&O( +242 "core" ( + "manipulator"&P& +4 "core" & u U F +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &Q& +3 "core" & _ Y 7 F +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :home + "manipulator"&R' +37 "core" ' +2 "manipulator"&S& +4 "core" & | l S F + "manipulator"&T% +4 "core" % q r @ +525 #t-> 3.times {shuffle 5..7} +3 #Shuffling pucks in tube 5 of [5..7] + #Loading generic puck from tube 5 into Collection Clamp +2 "collection"'U& +3 "core" &[`a0\  +2 "manipulator"&V% +4 "core" % r p +2 .tForearm.seek :retract + "manipulator"&W'\ +38 "core" ' +2 "storage"(X% +4 "core" %? \  + "storage"(Y. +3 "core" .(E +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"(Z(<< +1304 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 ([& +3 "core" &<: $ $ W\  + "manipulator"&\\& +4 "core" &  F + "manipulator"&]% +4 "core" %\    +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&^( +241 "core" ( + "manipulator"&_& +5 "core" &  ' + "storage"(`& +4 "core" &<9 ~ } I\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&a' +94 "core" ' + "storage"(b& +4 "core" &<9 x | b\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(c'e +285 "core" ' + "storage"(d- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (e& +3 "core" &<9 Z e\  + "manipulator"&f& +4 "core" & \\ ' +2 .tElbow.seek 5 + "manipulator"&g( +4 "core" ( + "manipulator"&h& +4 "core" & x ' + "storage"(i& +4 "core" &<9 Y Z\  +2 .tForearm.seek 5 + 300 counts + "manipulator"&j'[ +24 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&k/ +63 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&l& + "storage"(m'N +8 "core" & r s - ' + "manipulator"&n% +4 "core" % X | +2 .tForearm.seek :retract +2 "manipulator"&o'\ +88 "core" ' +2 .tElbow.seek CC + "manipulator"&p( +154 "core" ' + ( +2 ."downElevator"SE.stop +3 "manipulator"&q& +2 "storage"(5 +6 "core" &. < Cm + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &r& +2 "core" &. O Cm +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&s'| +98 "core" ' + "manipulator"&t& +5 "core" &, / Bl + "manipulator"&u% +4 "core" %l  +2 "collection"'v& +4 "core" &[aa&\  +2 "collection"'w& +6 "core" &[ca"\  +2 .tCC.seek :closed +3 "collection"'x(] +4 "core" &[ac)\  +4 &__c'\ D +10 &Ha`.\ 2 +9 & r`b2\ F +9 &n``2\ O +10 &d_b0\ O +9 &Hg`a)\ O +10 & h`b)\ P +9 &!g_c.\ O +9 &#h_a3\ O +10 &%Qb^a)\ O +9 &'f_b/\ P +9 &(c`a-\ O +10 &*e_a-\ O +9 &,Zd^a(\ O +10 &.g]b-\ O +9 &/g\\b*\ O +9 &1e^`)\ O +10 &3ag^a/\ O +9 &5#e]a-\ O +10 &6b]`-\ O +9 &8b^a+\ O +9 &:ie^`)\ O +10 &<-c__,\ N +9 &=f^_)\ O +9 &?e]`-\ O +10 &Aqc]`-\ O +9 &C3h^a.\ O +9 &Dc^`-\ O +10 &Fh@N1\ O +9 &Htq-0\ Q +10 &J3~+\ R +9 &Kr0\ U +9 &M0\ X +10 &Of,\ X +9 &Q',\ Y +9 &R  -\ Y +10 &T/\ Z +9 &Vg0\ [ +10 &X'.\ [ +9 &Y+\ ] +9 &[+\ \\ +10 &]b0\ + +9 &]'\ G +9 ( +2 &]_-\ D +2 "collection"'w& +3 #tCollection Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.97 + .Hand.open +2 "manipulator"&y1 +63 "core" 1 +2 "manipulator"&z% +4 "core" % k  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&{'\ +92 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp + "processing"%|& +4 "core" &YE\  +2 "manipulator"&}% +4 "core" %\ % ! 2 + "storage"(~% +4 "core" %@ \  + "storage"(. +3 "core" .(<9 +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 + "storage"((<< +2 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (& +3 "core" &<: t\  +2 "manipulator"&& +3 "core" & * \\ @Z +2 "manipulator"&% +4 "core" %\ % c 2 + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&( +163 "core" ( + "manipulator"&& +4 "core" &\    +2 "storage"(& +3 "core" &<: C E \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&' +107 "core" ' +2 "storage"( & +4 "core" &<: d _ [\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(\ 'e +277 "core" ' + "storage"( - +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 ( & +2 "core" &<: C = ]\  +2 "manipulator"& & +4 "core" &\  ~ {  + .tElbow.seek 5 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&& +4 "core" &\  a u H  + "storage"(& +4 "core" &<: \\ \\\  +2 .tForearm.seek 5 + 300 counts + "manipulator"&'[ +25 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +55 "core" / +2 ."downElevator"SE.seek :down +5 "manipulator"&& +2 "storage"('N +6 "core" &\  t   + "manipulator"&% +4 "core" % \\ q q q +2 .tForearm.seek :retract +2 "manipulator"&'\ +88 "core" ' +2 .tElbow.seek PC +2 "manipulator"&(c +160 "core" ' + ."downElevator"SE.stop + "storage"(5 +94 "core" ( + "manipulator"&& +5 "core" &Y [ + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &Y - +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&'[ +105 "core" ' + "manipulator"&& +5 "core" &Y R + "manipulator"&"% +4 "core" %Z { +2 "processing"%%& +4 "core" &YI\  +2 "processing"%'& +5 "core" &YJ\  +2 .tPC.seek :closed + "processing"%((Z +4 "core" &Y\  +9 &6\ ,~ +9 &f\ @ +9 &1y\ O +10 &]\ N +9 &`\ N +10 &z_\ N +9 &!<b\ N +9 &"`\ N +10 &$\\\ N +9 &&_\ M +9 &(D_\ N +10 &*`k\ M +9 &+`r\ N +10 &-`s\ N +9 &/Lb`\ N +9 &1`\ N +10 &2d\\\ N +9 &4^^\ N +9 &6Scq\ N +10 &8`\ N +9 &9]\ N +10 &;_\ M +9 &=\\_\ N +9 &?a\ N +10 &@^\ N +9 &B_\ N +9 &Ddbu\ N +10 &F%f\ N +9 &Gm\ O +10 &Ix\ P +9 &K^\ R +9 &M\ T +10 &N\ U +9 &P\ T +9 &Ra\ T +10 &T"\ T +10 &U\ T +9 &W\ U +9 &Yg\ B +9 &Zq<\ \\ +10 &ZC\ 4 +5 ( +2 "processing"%'& +4 #tProcessing Clamp onSpring/offSpring for 9/25 samples, on/off torque 1.58 + .Hand.open + "manipulator"&)1 +4 "core" &Z3\ 4 +55 1 +2 "manipulator"&% +4 "core" % Z  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +91 "core" ' +2 "processing"%#& +4 "core" &Z3\ 4 +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 + "manipulator"&,% +4 "core" %\ # ' + "storage"(-% +4 "core" %D\ \ " \  + "storage"(.. +3 "core" .(<< +2 "storage"(/& +4 "core" &<:\ \  d\  +2 "storage"(0& +2 "manipulator"&1& +7 "core" &<: D \ \  + &Y +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +4 "storage"(#]kK-0-\ b + "manipulator"&2(c +5 ."raiseStack"SE.seek :beamBreak +2 "storage"(3'e +2 "core" ( +2 "manipulator"&4& +4 "core" &Y b + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &5& +3 "core" &Y W +2 .tForearm.seek PC + "manipulator"&6'[ +96 "core" ' + .tHand.close +2 "manipulator"&7/ +62 "core" / +2 .tPC.seek :open +2 "processing"%8(p +85 "core" ' + "storage"(9- +4 "core" -'e + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +2 ."raiseStack"SE.seek :place +2 "storage"(:'B +34 "core" ' +263 ( + "storage"(;& +4 "core" &<:   \  +2 "manipulator"&<& +4 "core" &Z  + "manipulator"&=% +4 "core" % I  +2 .tForearm.seek :retract + "manipulator"&>'\ +101 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&?( +240 "core" ( +2 "manipulator"&&& +4 "core" & v V +2 "storage"($& +49 "core" &<:   h\  +4 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&B' +102 "core" ' +2 .tHand.open + "manipulator"&!1 +61 "core" 1 +2 "storage"(@- +4 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate +2 "storage"( ' +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.83 Pucks below Top Plate + "storage"(A' +54 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(C- +3 "core" -' +2 "storage"(D& +4 "core" &<: { y Q\  + "manipulator"&E& +4 "core" & | V +2 .tElbow.seek 5 +2 "manipulator"&F( +9 "core" ( + "manipulator"&G& +5 "core" &  $ + "storage"(H& +4 "core" &<: z 6\  +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&I' +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"(J'M +57 "core" ' + "manipulator"&L& +4 "core" & 1 $ +2 "storage"(M& +4 "core" &<: B B \  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 + "manipulator"&N'/ +29 "core" ' + .tElbow.hold +2 "manipulator"&P, +5 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.07 Pucks below Top Plate + "storage"(Q'7 +28 "core" ' +2 "manipulator"&S% +4 "core" %=  a +2 "storage"(T& +4 "core" &<: \  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 5 + 314 counts + "manipulator"&U'i +16 "core" ' +2 "manipulator"&V& +4 "core" & w v # +2 "storage"(X& +4 "core" &<: F E \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&Y' +18 "core" ' + "storage"(R% +5 "core" %4 9 ? C\ +2 ."downElevator"SE.seek :down +4 "storage"(K'N +99 ([% +3 "core" %<   \ U^ +2 "manipulator"&\\% +4 "core" %  } / +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&]'\ +90 "core" ' +61 ' + ."downElevator"SE.stop + "storage"(5 +3 (_& +4 "core" &<:\  N \  + "collection"'`& +4 "core" &]V "\ D +2 #tStoring generic puck in Collection Clamp to tube 5 + "manipulator"&O% +4 "core" %\ ' O B +2 "storage"(b% +4 "core" %F   W\  + "storage"(W. +3 "core" .(<< + "storage"(d& +4 "core" &<:   \  +2 "storage"(e& +4 "core" &<:  \  + "manipulator"&f& +4 "core" &  "~ +2 .tElbow.seek 5 +2 "manipulator"&h( +31 "core" ( + "manipulator"&i& +4 "core" &\    +2 "storage"(k& +4 "core" &<: B B \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&l' +93 "core" ' +2 "storage"(n& +4 "core" &<: F F .\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(^'e +281 "core" ' +2 "storage"(a- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&q& +3 "core" &\    + "storage"(r& +4 "core" &<:   d\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&c'/ +27 "core" ' + .tElbow.hold +2 "manipulator"&j, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(t- +3 "core" -' +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(u'n +30 "core" ' +2 "manipulator"&v% +4 "core" %A ` + "storage"(g& +4 "core" &<:\  C\  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 5 + 318 counts + "manipulator"&m'm +17 "core" ' +2 "manipulator"&o& +4 "core" & l   + "storage"(+& +4 "core" &<: G 9 z\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&y' +17 "core" ' +2 .tSE.seek 1.11 Pucks below Top Plate +2 "storage"(z'] +41 "core" ' + "manipulator"&|& +5 "core" & p q s  + "manipulator"&}% +4 "core" % q p 4  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&~'\ +88 "core" ' + .tElbow.seek CC +2 "manipulator"&( +154 "core" ( +2 "manipulator"&w& +4 "core" &'  >M + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &' Y >M +2 .tForearm.seek CC + "manipulator"&'| +97 "core" ' + .tHand.close + "manipulator"&/ +54 "core" / + .tCC.seek :open +2 "collection"'s(p +411 "core" ( + "storage"(& +5 "core" &<: \\ >\  + "storage"(& +4 "core" &<: 7 8 ^\  + "manipulator"&Z& +4 "core" &% <? + "manipulator"& % +4 "core" % ϐ +2 .tForearm.seek :retract + "manipulator"&p'\ +91 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&{( +163 "core" ( + "manipulator"& & +4 "core" &   +2 "storage"( & +4 "core" &<: o p \  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 5 +2 "manipulator"& '/ +106 "core" ' + .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&1 +61 "core" 1 +2 "manipulator"&% +4 "core" % B  v + "storage"(& +4 "core" &<:   \  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 5 + 319 counts +3 "manipulator"&'n +17 "core" ' + "manipulator"&& +4 "core" & n  +2 "storage"(& +4 "core" &<: n T\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&\ ' +18 "core" ' +2 "storage"(% +4 "core" %b \ +2 ."downElevator"SE.seek :down +3 "storage"('N +99 (% +3 "core" %9 p s u\ U[ +2 "manipulator"&% +4 "core" % q t b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +104 "core" ' +33 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 6 of [5..7] + #Loading generic puck from tube 6 into Collection Clamp +2 "collection"'"& +4 "core" &be\ +2 "manipulator"&%% +3 "core" %\ ~ R +2 "storage"(% +4 "core" %? %\  + "storage"(. +3 "core" .(<< +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 + "storage"(*(K +352 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 ()& +3 "core" &K C F \  + "manipulator"&& +4 "core" & { B  +2 .tElbow.seek 6 + "manipulator"&#( +32 "core" ( +2 "manipulator"&,& +4 "core" & n  + "storage"(-& +4 "core" &K 1\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&.'< +98 "core" ' +2 "storage"(/& +4 "core" &K 5\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(1'e +291 "core" ' + "storage"(0- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 ('& +3 "core" &K | w \  + "manipulator"&4& +4 "core" & t q w  +2 .tElbow.seek 6 + "manipulator"&5( +7 "core" ( +2 "manipulator"&& +4 "core" & u }  +2 "storage"(7& +3 "core" &K i C\  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&9'Ϧ +16 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&/ +62 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&& + "storage"(('N +8 "core" & R  + "manipulator"&;% +4 "core" % ϩ   +2 .tForearm.seek :retract +2 "manipulator"&3'\ +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"&<( +147 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +4 "core" ( +2 "manipulator"&=& +4 "core" && 7 =A + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &6& +3 "core" && =A +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&&'| +108 "core" ' +2 "manipulator"&$& +5 "core" && T =A + "manipulator"&2% +4 "core" %| ~ +2 "collection"'!& +4 "core" &ad\ +2 "collection"'@& +5 "core" &cc\ +2 .tCC.seek :closed +3 "collection"'C(] +3 "core" &cd\ +6 &`e#\ 5 +9 &Hab"\ 1 +10 &3oac!\ E +9 &n`c'\ O +10 &aec\ N +9 &Xgbc$\ N +9 & kad\ O +10 &!gac\ O +9 &#ec`\ N +9 &%_fac\ O +10 &'"iac!\ N +9 &(gba\ N +9 &*ccb\ N +10 &,hbce\ N +9 &.*ebc\ N +10 &/g`c\ N +9 &1jae \ O +9 &3ofbc \ O +10 &51d`c\ O +9 &6cac\ N +9 &8eac\ N +10 &:xhbc\ N +9 &<;e`b\ N +10 &=g`e\ N +9 &?e`b\ N +9 &Acbd$\ N +10 &CBibc\ N +9 &Egab \ N +10 &FgV[$\ O +9 &HoAL&\ O +9 &JC)-\ Q +10 &K+\ T +9 &M[_$\ X +9 &OuZ_"\ X +10 &Q6U[.\ X +9 &RJR%\ Y +10 &T@D*\ Y +9 &Vu29\ Z +9 &X5',\ [\ +10 &Y %\ \\ +9 &[ %\ \\ +9 &]!]!\ * +10 &]\ I +9 ( +2 "collection"'@& +3 #tCollection Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.93 +2 .Hand.open + "manipulator"&D1 +4 "core" &]g!\ F +54 1 +2 "manipulator"&E% +4 "core" % |  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&G'\ +96 "core" ' + #tLoading generic puck from tube 6 into Processing Clamp +2 "processing"%H& +4 "core" &\ + "manipulator"&>% +4 "core" %\    +2 "storage"(L% +3 "core" %= \  +2 "storage"(M. +3 "core" .(K + "storage"(:& +4 "core" &K V ^\  +2 "storage"(S& +4 "core" &K   Z\  + "manipulator"&T& +4 "core" &% L <9 + "manipulator"& % +5 "core" %\    +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +42 "manipulator"&V( +176 "core" ( +2 "manipulator"&X& +4 "core" &  O + "storage"(R& +5 "core" &K C C \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&?'< +99 "core" ' +2 "storage"(B& +3 "core" &K B B \  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(A'e +286 "core" ' + "storage"([- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (\\& +3 "core" &K\ \ ' ?\  +2 "manipulator"&I& +4 "core" &  O + .tElbow.seek 6 +2 "manipulator"&F( +18 "core" ( +2 "manipulator"&J& +4 "core" &\  ^ + "storage"(N& +4 "core" &K   g\  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&_'Ϧ +20 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&U/ +57 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&`& +2 "storage"(O'N +7 "core" &\  ^ +2 "manipulator"&b% +4 "core" % ύ  +2 .tForearm.seek :retract + "manipulator"&W'\ +99 "core" ' +2 .tElbow.seek PC +2 "manipulator"&d(c +155 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +98 "core" ( + "manipulator"&Q& +4 "core" &k  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &e& +3 "core" &k T +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&f'[ +104 "core" ' +2 "manipulator"&i& +4 "core" &k  + "manipulator"&k% +5 "core" %J e +2 "processing"%Y& +4 "core" &9\ +2 "processing"%n& +4 "core" &\ +2 .tPC.seek :closed +2 "processing"%K(Z +4 "core" &\ +8 &\ $\ #` +9 &YU\ 8 +10 &b\ L +9 &k]\ N +9 &.\\#\ N +10 &]\ N +9 & ^\ N +10 &"u[\ M +9 &$7^\ M +9 &%`,\ M +10 &'\\\ N +9 &)|`\ N +9 &+?[\ M +10 &-a\ M +9 &.`\ N +10 &0]\ N +9 &2G]\ M +9 &4]\ N +10 &5]\ N +9 &7[\ N +9 &9O[\ M +10 &;_\ N +9 &<\\\ N +10 &>_\ N +9 &@W\\\ M +9 &B_\ N +10 &C]\ N +9 &E^\ M +9 &G[j\ O +10 &Iq\ P +9 &J\ R +10 &L\ S +9 &NT\ T +9 &P\ T +10 &Q\ T +9 &S\ T +9 &U\\\ T +10 &W\ T +9 &X\ T +10 &Z:Nv\ . +9 &Z-\ ) +5 ( +2 "processing"%n& +4 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.59 + .Hand.open +2 "manipulator"&P1 +3 "core" &Z\ ) +59 1 + "manipulator"&]% +4 "core" % J +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&a'\ +93 "core" ' +2 "processing"%q& +4 "core" &Z\ ) + #tImaging generic puck in Processing Clamp while storing it to tube 6 +2 "manipulator"&r% +4 "core" %\ # r + + "storage"(t% +4 "core" %R " R\  +2 "storage"(v. +3 "core" .(K + "storage"(g& +4 "core" &K N \  +2 "storage"(o& +5 "manipulator"&+& +4 "core" &K  e\  + &k w +3 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +4 "storage"(#]kK-0-\ b +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +3 ."raiseStack"SE.seek :beamBreak +3 "manipulator"&|(c + "storage"(}'e +5 "core" ( + "manipulator"&l& +4 "core" &k t +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &h& +3 "core" &k  +2 .tForearm.seek PC +2 "manipulator"&^'[ +95 "core" ' +2 .tHand.close + "manipulator"&c/ +60 "core" / +2 .tPC.seek :open + "processing"%m(p +91 "core" ' +2 "storage"(u- +3 "core" -'e +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(w'B +30 "core" ' +260 ( + "storage"(& +5 "core" &K + " d\  + "manipulator"&y& +4 "core" &k  + "manipulator"&j% +4 "core" % R   +2 .tForearm.seek :retract +2 "manipulator"&'\ +93 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&~( +260 "core" ( +2 "manipulator"&x& +4 "core" & ( + "storage"(& +5 "core" &K   \  + .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&'< +98 "core" ' + .tHand.open +2 "manipulator"&Z1 +62 "core" 1 +2 "storage"( - +4 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate + "storage"( ' +26 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.83 Pucks below Top Plate + "storage"( ' +52 "core" ' + #tLights, camera, ACTION! +2 "storage"(- +3 "core" -' +2 "storage"(& +4 "core" &K w y T\  + "manipulator"&& +4 "core" & h ( +2 .tElbow.seek 6 + "manipulator"&( +3 "core" ( +2 "manipulator"&& +4 "core" & G ( + "storage"(& +4 "core" &K w y \  +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&'< +13 "core" ' + .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"('M +58 "core" ' + "manipulator"&p& +5 "core" & ( + "storage"(& +4 "core" &K B 8 \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&'z +35 "core" ' + .tElbow.hold +2 "manipulator"&{, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"( '7 +27 "core" ' +2 "manipulator"&"% +4 "core" %΁f  s ö +2 "storage"(%& +4 "core" &K !\  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 6 + 307 counts + "manipulator"&'ϭ +18 "core" ' + "manipulator"&& +5 "core" & k w C & + "storage"(& +5 "core" &K B B \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&z'< +24 "core" ' + "storage"(\ % +5 "core" %8 C C \ +2 ."downElevator"SE.seek :down +4 "storage"('N +98 (% +3 "core" %'<   b\ U^ +2 "manipulator"&)% +4 "core" %U  } +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +87 "core" ' +63 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (,& +4 "core" &K\ " \\ V\  +2 "collection"'-& +4 "core" &]f\  \ F + #tStoring generic puck in Collection Clamp to tube 6 +2 "manipulator"&/% +4 "core" %\ ) K G + "storage"(% +4 "core" %E ! " \  + "storage"(. +3 "core" .(K +2 "storage"(0& +4 "core" &K \  + "storage"('& +4 "core" &K \  + "manipulator"&4& +4 "core" &  & +2 .tElbow.seek 6 + "manipulator"&( +27 "core" ( +2 "manipulator"&7& +4 "core" & J + "storage"(& +5 "core" &K   o\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&'< +96 "core" ' + "storage"(;& +5 "core" &K ? 7 k\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(#'e +284 "core" ' +2 "storage"(.- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&=& +3 "core" &  + "storage"(6& +4 "core" &K B C P\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 + "manipulator"&1'z +36 "core" ' + .tElbow.hold +2 "manipulator"&9, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"($- +2 "core" -' +2 .tSE.seek 0.12 Pucks below Top Plate +2 "storage"(2'p +29 "core" ' + "manipulator"&!% +4 "core" %~_   - +2 "storage"(5& +4 "core" &K \  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 304 counts + "manipulator"&('Ϫ +12 "core" ' + "manipulator"&3& +5 "core" & | N  + "storage"(s& +4 "core" &K B B \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&D'< +18 "core" ' +2 .tSE.seek 1.12 Pucks below Top Plate +2 "storage"(E'_ +49 "core" ' + "manipulator"&H& +5 "core" & p q d  + "manipulator"&>% +4 "core" %, p q > +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&L'\ +88 "core" ' + .tElbow.seek CC +2 "manipulator"&M( +150 "core" ( + "manipulator"&:& +4 "core" &$ 1 ;5 +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &S& +3 "core" &# ~ ;5 +2 .tForearm.seek CC + "manipulator"&@'| +99 "core" ' + .tHand.close +2 "manipulator"&T/ +55 "core" / + .tCC.seek :open +2 "collection"' (p +411 "core" ( +2 "storage"(&& +4 "core" &K ] ] \  +2 "storage"(X& +4 "core" &K V [ \  + "manipulator"&R& +4 "core" &" G 9( + "manipulator"&B% +4 "core" % t  +2 .tForearm.seek :retract + "manipulator"&<'\ +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 + "manipulator"&G( +157 "core" ( + "manipulator"&[& +4 "core" &  +2 "storage"(\\& +3 "core" &K q u ?\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 6 +2 "manipulator"&I'z +107 "core" ' +2 .tElbow.hold + "manipulator"&J, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&N1 +62 "core" 1 +2 "manipulator"&U% +4 "core" % Ύ #   + "storage"(`& +4 "core" &K ! " \  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 6 + 320 counts +2 "manipulator"&b'Ϻ +45 "core" ' +11 "manipulator"&V& +4 "core" & p { 9 1 + "storage"(?& +4 "core" &K J\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&A'< +15 "core" ' + "storage"(_% +5 "core" %d .\ +2 ."downElevator"SE.seek :down +4 "storage"(Q'N +99 (e% +3 "core" %*9 x ~ \ U[ +2 "manipulator"&F% +4 "core" %> s t Y +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&i'\ +88 "core" ' +50 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 7 of [5..7] +2 #Loading generic puck from tube 7 into Collection Clamp + "collection"'k& +4 "core" &`c \ +2 "manipulator"&Y% +4 "core" %\ %  8 + "storage"(O% +4 "core" %G o o\  +2 "storage"(W. +3 "core" .(K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 7 +2 "storage"(8([ +349 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (P& +3 "core" &[   \  +2 "manipulator"&]& +4 "core" &  1 + .tElbow.seek 7 +2 "manipulator"&q( +27 "core" ( + "manipulator"&r& +4 "core" & S s +2 "storage"(t& +4 "core" &[ o p \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&v'k +96 "core" ' +2 "storage"(g& +4 "core" &[ "\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(n'e +291 "core" ' + "storage"(+- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (o& +3 "core" &[ p a \  + "manipulator"&l& +4 "core" & t r s s +2 .tElbow.seek 7 +2 "manipulator"&h( +3 "core" ( + "manipulator"&f& +4 "core" & y r s +2 "storage"(c& +4 "core" &[ | } \  +2 .tForearm.seek 7 + 300 counts +2 "manipulator"&u' +35 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&d/ +55 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&a& +2 "storage"(K'N +7 "core" & t s +2 "manipulator"&% +4 "core" % ~ 0 +2 .tForearm.seek :retract + "manipulator"&y'\ +92 "core" ' +2 .tElbow.seek CC + "manipulator"&}( +151 "core" ' + ."downElevator"SE.stop + "storage"(5 +5 "core" ( + "manipulator"&j& +4 "core" &( w ?Q +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &^& +2 "core" &( ^ ?Q +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&x'| +94 "core" ' + "manipulator"&& +5 "core" &' e >O +2 "manipulator"&|% +4 "core" %t .  +2 "collection"'Z& +4 "core" &`a \ +2 "collection"' & +5 "core" &_b(\ +2 .tCC.seek :closed +2 "collection"'(] +5 "core" &a`\ +6 & 1ab&\ $d +9 &dUcb'\ 8 +10 &_b+\ L +9 &uebb$\ M +9 &6gbd-\ N +10 &gbd.\ N +9 & fbc*\ N +10 &"{dba(\ N +9 &$=b`b0\ N +9 &%e`d#\ O +10 &'dac)\ O +9 &)dce&\ N +10 &+Edab \ N +9 &-ebb%\ N +9 &.g`b*\ O +10 &0e`c-\ O +9 &2Mcbb+\ N +9 &4cba%\ N +10 &5cab\ N +9 &7bac(\ N +10 &9Ucaa!\ N +9 &;eae$\ N +9 &<c`b*\ N +10 &>d_b+\ N +9 &@]`ab-\ N +9 &Bgbb1\ N +10 &Ce^c+\ N +9 &Eb`b-\ N +9 &GdbS[.\ O +10 &I$mAK4\ O +9 &J~(0\ Q +10 &L3\ U +9 &NSjk0\ W +9 &Pgj*\ W +10 &Q_b+\ Y +9 &SRY/\ Y +9 &USEL5\ Z +10 &W6?'\ Z +9 &X*13\ [\ +10 &Z #8\ \\ +9 &\\W )\ H +9 &]]: 3\ ){ +10 &])\ \\ +5 ( +2 "collection"' & +4 #tCollection Clamp onSpring/offSpring for 10/26 samples, on/off torque 1.92 + .Hand.open + "manipulator"&1 +4 "core" &]9\ \\ +55 1 +2 "manipulator"&% +4 "core" % t n  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +100 "core" ' +2 #tLoading generic puck from tube 7 into Processing Clamp + "processing"%& +5 "core" &\ + "manipulator"&% +4 "core" %\ 4 * %x +2 "storage"(p% +4 "core" %? \  + "storage"(. +3 "core" .([ +2 "storage"(w& +4 "core" &[ r\  + "storage"("& +4 "core" &[ P\  + "manipulator"&%& +4 "core" &$  ;8 +2 "manipulator"& % +4 "core" %\ 4  %x +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 7 +2 "manipulator"&( +157 "core" ( + "manipulator"&& +4 "core" &  +2 "storage"(\ & +3 "core" &[\ \  \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&~'k +90 "core" ' + "storage"(& +5 "core" &[ \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"( 'e +281 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 ()& +3 "core" &[\ \  (\  +2 "manipulator"&& +3 "core" &  +2 .tElbow.seek 7 +2 "manipulator"&( +3 "core" ( + "manipulator"&& +4 "core" & R + "storage"(& +4 "core" &[\ \  >\  +2 .tForearm.seek 7 + 300 counts +2 "manipulator"&' +20 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&,/ +53 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&-& + "storage"(/'N +7 "core" & p z m +2 "manipulator"&% +4 "core" % p p @ +2 .tForearm.seek :retract + "manipulator"&'\ +89 "core" ' + .tElbow.seek PC +2 "manipulator"&0(c +163 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +74 "core" ( +2 "manipulator"& & +4 "core" &n 6 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &'& +3 "core" &n  6 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&4'[ +107 "core" ' +2 "manipulator"&7& +4 "core" &n j 6 + "manipulator"&% +4 "core" %X |  +2 "processing"%z& +4 "core" &\ +2 "processing"%;& +4 "core" &\ +3 .tPC.seek :closed + "processing"%(Z +5 "core" &\ +6 & *\ #` +10 &ZV\ 7 +9 &\ L +9 &g_\ N +10 &*[\ N +9 &\\\ N +10 & c$\ N +9 &"q_\ M +9 &$2b\ N +10 &%^\ N +9 &'`\ M +9 &)x`\ \ N +10 &+;]\ M +9 &,`\ N +10 &.`\ M +9 &0]\ M +9 &2C`\ M +10 &4]\ M +9 &5]i\ N +9 &7\\\ M +10 &9Ja\ N +9 &; a\ N +10 &<]}\ N +9 &>]\ N +9 &@R\\\ N +10 &B]\ M +9 &C\\\ N +9 &Ea\ M +10 &GYg\ N +9 &In\ O +10 &J}\ Q +9 &L\ T +9 &NO\ T +10 &P\ S +9 &Qh\ T +9 &S\ T +10 &UX\ T +9 &Wc\ T +10 &X\ U +9 &Z9Px\ , +9 &Z Y\ 7 +6 ( + "processing"%;& +5 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.56 + .Hand.open + "manipulator"&{1 +4 "core" &Z>\ 7 +58 1 + "manipulator"&% +5 "core" % X  + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&.'\ +95 "core" ' +2 "processing"%=& +4 "core" &Z>\ 7 +2 #tImaging generic puck in Processing Clamp while storing it to tube 7 + "manipulator"&6% +4 "core" %\ 3 %w +2 "storage"($% +4 "core" %F &\  + "storage"(!. +3 "core" .([ +2 "storage"(5& +4 "core" &[ \  + "storage"(3& +3 "manipulator"&s& +7 "core" &[ |\  + &n g 6 +3 ."raiseStack"SE.reconfigure :place +2 .tElbow.reconfigure :tight +5 "storage"(#]kK-0-\ b +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +3 ."raiseStack"SE.seek :beamBreak +3 "manipulator"&H(c + "storage"(>'e +5 "core" ( + "manipulator"&& +4 "core" &m o , + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &m & , +2 .tForearm.seek PC + "manipulator"&#'[ +102 "core" ' + .tHand.close +2 "manipulator"&1/ +63 "core" / + .tPC.seek :open +2 "processing"%((p +77 "core" ' +2 "storage"(2- +3 "core" -'e + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(:'B +35 "core" ' +272 ( + "storage"(S& +5 "core" &[\ \  \  + "manipulator"&D& +4 "core" &m  , + "manipulator"&9% +4 "core" % Y  +2 .tForearm.seek :retract + "manipulator"&T'\ +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 7 + "manipulator"&L( +247 "core" ( + "manipulator"&C& +5 "core" &  I + "storage"(&& +21 "core" &[\ \  (\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&X'k +95 "core" ' +2 .tHand.open + "manipulator"&R1 +58 "core" 1 +2 "storage"(B- +3 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate +2 "storage"([' +25 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(\\' +50 "core" ' + #tLights, camera, ACTION! +2 "storage"(@- +3 "core" -' +2 "storage"(M& +4 "core" &[ X Y R\  + "manipulator"&N& +4 "core" &  I +2 .tElbow.seek 7 + "manipulator"&U( +4 "core" ( + "manipulator"&`& +4 "core" &  I + "storage"(V& +5 "core" &[ X W e\  +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&?'k +3 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"(_'M +60 "core" ' +2 "manipulator"&<& +4 "core" & ' I +2 "storage"(e& +4 "core" &[\ \  \  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 7 +2 "manipulator"&F'Ω +27 "core" ' +2 .tElbow.hold + "manipulator"&G, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +56 .tSE.seek 0.07 Pucks below Top Plate + "storage"(I'7 +23 "core" ' +2 "manipulator"&k% +4 "core" %λ L +2 "storage"(Y& +4 "core" &[ \  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 7 + 318 counts + "manipulator"&b' +17 "core" ' + "manipulator"&O& +4 "core" & p  I +2 "storage"(W& +4 "core" &[   i\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&E'k +22 "core" ' + "storage"(A% +5 "core" %<   \ +2 ."downElevator"SE.seek :down +4 "storage"(Q'N +99 (*% +3 "core" %q>\ \ \ V_ +2 "manipulator"&P% +4 "core" %Љ  s +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&]'\ +94 "core" ' +53 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (r& +4 "core" &[ \  + "collection"'t& +4 "core" &] \ \\ +2 #tStoring generic puck in Collection Clamp to tube 7 + "manipulator"&g% +4 "core" %\ 1  $q +2 "storage"(J% +4 "core" %A\ \  \  + "storage"(i. +3 "core" .([ +2 "storage"(+& +4 "core" &[\ \  \  + "storage"(o& +4 "core" &[\ \  d\  +2 "manipulator"&l& +3 "core" &  I +2 .tElbow.seek 7 +2 "manipulator"&f( +3 "core" ( +2 "manipulator"&c& +4 "core" & < I + "storage"(d& +4 "core" &[\ \ \ D\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&a'k +94 "core" ' +3 "storage"(& +4 "core" &[  h\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(q'e +282 "core" ' + "storage"(v- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&j& +4 "core" & a I + "storage"(^& +4 "core" &[\ \  f\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 7 + "manipulator"&n'Ω +31 "core" ' +2 .tElbow.hold + "manipulator"&u, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(- +2 "core" -' +3 .tSE.seek 0.11 Pucks below Top Plate + "storage"(|'m +29 "core" ' + "manipulator"&Z% +5 "core" %κ Y + "storage"(h& +4 "core" &[ \  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 7 + 317 counts + "manipulator"&K' +19 "core" ' + "manipulator"&y& +4 "core" & y p  I +2 "storage"( & +4 "core" &[   p\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&'k +15 "core" ' +2 .tSE.seek 1.11 Pucks below Top Plate +2 "storage"('\\ +47 "core" ' +2 "manipulator"&& +4 "core" &\ q y ` I +2 "manipulator"&% +4 "core" %i t p w +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&p'\ +87 "core" ' +2 .tElbow.seek CC + "manipulator"&( +159 "core" ( +2 "manipulator"&w& +4 "core" &/ u Dz + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 & & +3 "core" &/  Dz +2 .tForearm.seek CC + "manipulator"&"'| +100 "core" ' + .tHand.close + "manipulator"&%/ +60 "core" / +2 .tCC.seek :open + "collection"' (p +411 "core" ( +2 "storage"(x& +4 "core" &[ [ > \  + "storage"(& +4 "core" &[ C 9 \  + "manipulator"&\ & +4 "core" &5' u >K +2 "manipulator"&% +4 "core" % y Z + .tForearm.seek :retract +2 "manipulator"&}'\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 7 + "manipulator"&( +159 "core" ( +2 "manipulator"&& +4 "core" &   +2 "storage"()& +4 "core" &[ n o A\  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 7 +2 "manipulator"&'Ω +107 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&1 +61 "core" 1 +2 "manipulator"&,% +4 "core" % θ + +2 "storage"(-& +4 "core" &[ C E \  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 7 + 315 counts + "manipulator"&' +19 "core" ' + "manipulator"&& +4 "core" & g >  +2 "storage"(~& +4 "core" &[ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts +2 "manipulator"& 'k +18 "core" ' +2 "storage"(% +4 "core" %W D\ +2 ."downElevator"SE.seek :down +4 "storage"( 'N +98 ('% +3 "core" %R; } } \ U[ +2 "manipulator"&% +4 "core" %T p q 3 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&7'\ +87 "core" ' +51 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 5 of [5..7] +2 #Loading generic puck from tube 5 into Collection Clamp +2 "collection"'& +4 "core" &_c\ + "manipulator"&z% +4 "core" %\ %  8 +2 "storage"(/% +4 "core" %A ~ } \  + "storage"(. +3 "core" .([ +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 + "storage"(m(<< +670 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 ({& +3 "core" &<< E B \ + "manipulator"&& +4 "core" &   +2 .tElbow.seek 5 + "manipulator"&=( +34 "core" ( + "manipulator"&6& +4 "core" & H  +2 "storage"($& +4 "core" &<= n o >\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&!' +93 "core" ' +2 "storage"(5& +5 "core" &<= ~ w q\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(;'e +285 "core" ' + "storage"(s- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (3& +3 "core" &<; p ` \ + "manipulator"&& +4 "core" &   +2 .tElbow.seek 5 + "manipulator"&( +8 "core" ( +2 "manipulator"&4& +4 "core" & j + "storage"(1& +4 "core" &<; z | a\ +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&2'[ +10 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&0/ +53 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&.& +2 "storage"('N +7 "core" & q r 2 +2 "manipulator"&>% +4 "core" % _ t s b , + .tForearm.seek :retract +2 "manipulator"&S'\ +95 "core" ' +2 .tElbow.seek CC +2 "manipulator"&D( +142 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +13 "core" ( +2 "manipulator"&9& +4 "core" &* Z @^ + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &#& +2 "core" &* P @^ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&C'| +100 "core" ' + "manipulator"&&& +5 "core" &*  @] + "manipulator"&H% +4 "core" %}  +2 "collection"'R& +4 "core" &bc.\ +2 "collection"'B& +5 "core" &`a0\ +2 .tCC.seek :closed +3 "collection"'@(] +3 "core" &]b%\ +6 & 7^`)\ $d +10 &cV`b7\ 8 +9 &_c-\ L +9 &r``c6\ N +10 &4ccb-\ N +9 &bac3\ N +10 & hab9\ O +9 &"zf`c6\ N +9 &$=b`a<\ N +10 &%h`a/\ N +9 &'eac3\ N +9 &)e_c&\ N +10 &+Ff`c0\ N +9 &-b_a+\ N +9 &.h`b+\ N +10 &0f`c'\ O +9 &2Lh_b/\ N +10 &4f_`-\ N +9 &5b`c+\ O +9 &7ba_+\ N +10 &9Va^c(\ N +9 &;bb_!\ N +9 &<b_b$\ N +10 &>da`.\ N +9 &@^c`c,\ N +10 &B d`b+\ N +9 &Cc_a.\ M +9 &Ec^`.\ N +10 &GefSV0\ N +9 &I"t:E2\ P +9 &J'\ Q +10 &L/\ U +9 &NQWZ'\ X +10 &PWZ)\ X +9 &QNS2\ Y +9 &SFL2\ Y +10 &UQ>A(\ Z +9 &W274\ Z +10 &X%+6\ [ +9 &Z-\ \\ +9 &\\U\ #\ H +10 &]Z6%\ , +9 &]0\ !a +5 ( +2 "collection"'B& +4 #tCollection Clamp onSpring/offSpring for 10/26 samples, on/off torque 1.94 +2 .Hand.open + "manipulator"&M1 +3 "core" &]-\ !a +58 1 +2 "manipulator"&N% +4 "core" % } +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&`'\ +91 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp + "processing"%V& +5 "core" &\ + "manipulator"&T% +4 "core" %\ ' C B + "storage"(<% +4 "core" %C \  +2 "storage"(e. +3 "core" .(<< + "storage"(:& +4 "core" &<; \  N\ + "storage"([& +4 "core" &<; S\ + "manipulator"&k& +4 "core" &(  ?V +2 "manipulator"&Y% +4 "core" %\ ' s B + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&O( +165 "core" ( +2 "manipulator"&W& +4 "core" &  K + "storage"(L& +4 "core" &<;\ \  \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&A' +94 "core" ' +2 "storage"(X& +4 "core" &<; 8\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(\\'e +283 "core" ' +2 "storage"(?- +3 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (*& +3 "core" &<7 k\ + "manipulator"&P& +4 "core" &  J +2 .tElbow.seek 5 + "manipulator"&U( +16 "core" ( +2 "manipulator"&_& +4 "core" & : $ + "storage"(F& +4 "core" &<7 .\ +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&r'[ +10 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +45 .tHand.close +12 "manipulator"&b/ +55 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&t& + "storage"(g'N +7 "core" &  $ +2 "manipulator"&J% +4 "core" % Q  1 +2 .tForearm.seek :retract +2 "manipulator"&i'\ +100 "core" ' +2 .tElbow.seek PC +2 "manipulator"&+(c +153 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +99 "core" ( +2 "manipulator"&I& +4 "core" &h E +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &o& +3 "core" &h & +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&l'[ +110 "core" ' +2 "manipulator"&c& +4 "core" &h f A +2 "manipulator"&d% +4 "core" %X |  + "processing"%E& +4 "core" &\ +2 "processing"%& +5 "core" &\ +2 .tPC.seek :closed +4 "processing"%Q(Z +3 "core" &\ +5 &\ 0 +10 &F\ 1 +9 &-r\ E +10 &h\ N +9 &Z\ M +9 &W\\\ M +10 & `\ M +9 &!]\ M +9 &#]\ N +10 &%^\\\ N +9 &' ]\ N +10 &(]\ M +9 &*_z\ M +9 &,g^k\ M +10 &.)\\g\ M +9 &/b\ N +9 &1]^\ M +10 &3o`\ M +9 &51]\ M +10 &6[\ M +9 &8b\ M +10 &:v]\ N +9 &<9]\ M +9 &=b\ N +9 &?_\ N +10 &Ac\ M +9 &C@_\ N +10 &E_\ N +9 &Ff\ N +9 &Hk\ O +10 &J@{\ P +9 &K\ R +9 &M\ T +10 &O|\ T +9 &Q>\ T +10 &R\ T +9 &T\ T +9 &V\ T +10 &XC\ U +9 &Yyy\ - +10 &Z%j\ K +9 &Z@\ 9 +2 ( +2 "processing"%& +3 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.54 + .Hand.open +2 "manipulator"&G1 +62 "core" 1 +2 "manipulator"&]% +4 "core" % Y w +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&v'\ +96 "core" ' +2 "processing"%j& +4 "core" &Z>\ 9 +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 + "manipulator"&^% +4 "core" %\ 4  %x +2 "storage"(% +4 "core" %N \  + "storage"(Z. +3 "core" .(<< +2 "storage"(h& +4 "core" &<7 \ +2 "storage"(y& +3 "manipulator"& & +5 "core" &<7 \ + &h { +3 ."raiseStack"SE.reconfigure :place +2 .tElbow.reconfigure :tight +5 "storage"(#]kK-0-\ b +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +3 ."raiseStack"SE.seek :beamBreak +2 "manipulator"&(c + "storage"('e +5 "core" ( +2 "manipulator"&a& +4 "core" &h  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &f& +3 "core" &h y +2 .tForearm.seek PC + "manipulator"&q'[ +97 "core" ' + .tHand.close +2 "manipulator"&n/ +54 "core" / +2 .tPC.seek :open +2 "processing"%K(p +96 "core" ' + "storage"(|- +4 "core" -'e + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +2 ."raiseStack"SE.seek :place +2 "storage"(w'B +32 "core" ' +251 ( + "storage"( & +4 "core" &<7\ \  9\ +2 "manipulator"&& +4 "core" &h  + "manipulator"&u% +4 "core" % L  +2 .tForearm.seek :retract + "manipulator"&%'\ +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&p( +253 "core" ( + "manipulator"&& +4 "core" & @ % +2 "storage"(x& +4 "core" &<7\ \  6\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&' +100 "core" ' + .tHand.open + "manipulator"&\ 1 +59 "core" 1 +2 "storage"(- +3 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate +2 "storage"(' +23 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"()' +54 "core" ' +2 #tLights, camera, ACTION! + "storage"("- +4 "core" -' + "storage"(& +4 "core" &<6 ? . Y\ + "manipulator"&& +5 "core" & % + .tElbow.seek 5 +2 "manipulator"&,( +4 "core" ( + "manipulator"&-& +4 "core" & % + "storage"(& +4 "core" &<6 2 ( $\ +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&~' +3 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.11 Pucks below Top Plate + "storage"('M +59 "core" ' +2 "manipulator"&}& +4 "core" & j % +2 "storage"('& +3 "core" &<6\ \ \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&'/ +30 "core" ' +2 .tElbow.hold + "manipulator"&, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate + "storage"('7 +25 "core" ' + "manipulator"&% +5 "core" %7| J + "storage"(z& +5 "core" &<6 \ + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 5 + 308 counts + "manipulator"&'c +18 "core" ' + "manipulator"&/& +5 "core" &<\ i ? T + "storage"(& +4 "core" &<6   Y\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&' +17 "core" ' +2 "storage"( % +4 "core" %A   \ +2 ."downElevator"SE.seek :down +4 "storage"( 'N +98 (8% +3 "core" %9\ \ \ U] +2 "manipulator"&{% +4 "core" % { +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +95 "core" ' +56 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (6& +4 "core" &<6 C\ +2 "collection"'$& +4 "core" &] #\ !a +2 #tStoring generic puck in Collection Clamp to tube 5 + "manipulator"&5% +4 "core" %\ 6 & + "storage"(% +4 "core" %S \ \  +2 "storage"(7. +3 "core" .(<< + "storage"(s& +4 "core" &<6\ \  \ + "storage"(3& +4 "core" &<6 \ ]\ + "manipulator"&& +4 "core" &<\  T +2 .tElbow.seek 5 +2 "manipulator"&4( +22 "core" ( + "manipulator"&1& +4 "core" &  V  +2 "storage"(0& +4 "core" &<6\ \  \ \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&.' +99 "core" ' +5 "storage"(>& +6 "core" &<6   g\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(='e +280 "core" ' + "storage"(!- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&9& +3 "core" &  L  + "storage"(#& +4 "core" &<6\ \  A\ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 5 + "manipulator"&;'/ +30 "core" ' +2 .tElbow.hold + "manipulator"&2, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(&- +2 "core" -' +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(H'm +29 "core" ' + "manipulator"&R% +5 "core" %@v 2 5 + "storage"(& +4 "core" &<6 Q\ + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 317 counts + "manipulator"&'l +18 "core" ' +2 "manipulator"&S& +4 "core" &) { h @ l + "storage"( & +4 "core" &<6  \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&M' +10 "core" ' +2 .tSE.seek 1.11 Pucks below Top Plate + "storage"(N'\\ +48 "core" ' + "manipulator"&V& +4 "core" &) s s _ l +2 "manipulator"&T% +4 "core" % r o V +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&<'\ +88 "core" ' + .tElbow.seek CC +2 "manipulator"&e( +161 "core" ( + "manipulator"&:& +4 "core" &' 8 >O +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &[& +3 "core" &' _ >O +2 .tForearm.seek CC + "manipulator"&B'| +96 "core" ' + .tHand.close +2 "manipulator"&k/ +53 "core" / +2 .tCC.seek :open +52 "collection"'Y(p +413 "core" ( +2 "storage"(C& +4 "core" &<6 Y [ \ + "storage"(W& +4 "core" &<6 Y Y\ + "manipulator"&L& +4 "core" &" :0 +2 "manipulator"&X% +4 "core" % l u +2 .tForearm.seek :retract + "manipulator"&D'\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&`( +159 "core" ( +2 "manipulator"&?& +4 "core" &   +2 "storage"(*& +4 "core" &<6 n u \ + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 5 +2 "manipulator"&P'/ +104 "core" ' + .tElbow.hold +2 "manipulator"&_, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&F1 +60 "core" 1 +2 "manipulator"&b% +4 "core" % A  +2 "storage"(t& +4 "core" &<6 B A \ + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 318 counts +2 "manipulator"&J'm +18 "core" ' +2 "manipulator"&O& +4 "core" &1 r S  +2 "storage"(A& +4 "core" &<6 \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&\\' +20 "core" ' + "storage"(r% +4 "core" %_ U\ +3 ."downElevator"SE.seek :down +4 "storage"(I'N +99 (o% +3 "core" %9 w 0\ UZ + "manipulator"&U% +5 "core" % U i   +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&c'\ +93 "core" ' +45 ' + ."downElevator"SE.stop +2 "storage"(5 +2 #tShuffling pucks in tube 6 of [5..7] +2 #Loading generic puck from tube 6 into Collection Clamp + "collection"'d& +5 "core" &ab\ + "manipulator"&E% +5 "core" %\ 1  $p + "storage"(g% +4 "core" %E y o ^\  +2 "storage"(i. +3 "core" .(<< +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 + "storage"(((K +355 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (G& +3 "core" &K& " 5 8\  + "manipulator"&]& +4 "core" &1   +2 .tElbow.seek 6 +2 "manipulator"&j( +31 "core" ( +2 "manipulator"&^& +4 "core" &\ y X + "storage"(& +4 "core" &K Y Y \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&Z'< +91 "core" ' + "storage"(& +4 "core" &K x K\  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(h'e +283 "core" ' +2 "storage"( - +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (y& +3 "core" &K X Z\  + "manipulator"&a& +4 "core" &\  X +2 .tElbow.seek 6 + "manipulator"&f( +4 "core" ( + "manipulator"&l& +4 "core" &\  X + "storage"(n& +4 "core" &K q v 6\  +2 .tForearm.seek 6 + 300 counts + "manipulator"&|'Ϧ +11 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&+/ +62 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&v& + "storage"(Q'N +8 "core" &\  X + "manipulator"& % +5 "core" % ϟ  8 +2 .tForearm.seek :retract + "manipulator"&'\ +91 "core" ' +2 .tElbow.seek CC + "manipulator"&u( +151 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +7 "core" ( +2 "manipulator"&& +4 "core" &/ v Dw + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &q& +3 "core" &/ _ Dw +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&'| +104 "core" ' +2 "manipulator"&x& +4 "core" &/  Dw +2 "manipulator"&% +4 "core" %o G + "collection"'\ & +4 "core" &_c(\ +2 "collection"'& +5 "core" &^`8\ +2 .tCC.seek :closed +2 "collection"'"(] +4 "core" &`a5\ +8 &8`a5\ $c +9 &cUaa8\ 8 +10 &^a+\ L +9 &t``b1\ N +9 &7caa6\ N +10 &b``3\ N +9 & faa-\ N +9 &"{f^a5\ N +10 &$=c^a0\ N +9 &&e`a1\ N +10 &'ca_2\ M +9 &)cab2\ N +9 &+Gc``4\ N +10 &-\ b_a4\ M +9 &.g_a2\ N +9 &0ebc3\ N +10 &2Nf^_3\ N +9 &4e_a4\ N +9 &5c`_,\ M +10 &7b]`0\ N +9 &9W`_a+\ N +10 &;a]b-\ M +9 &<`__3\ N +9 &>ba_3\ N +10 &@_baa3\ N +9 &B"c`b4\ M +9 &Cb``-\ N +10 &E`\\`3\ N +9 &GgePU7\ N +10 &I#t8B6\ P +9 &J4\ R +9 &L6\ V +10 &NQjk1\ X +9 &Pdh.\ X +9 &Q]b0\ X +10 &STX(\ Z +9 &USGL2\ Z +10 &W;?/\ Z +9 &X.5)\ ] +9 &Z!'3\ \\ +10 &\\V-\ I +9 &]_; 3\ (w +9 &]3\ ] +6 ( + "collection"'& +5 #tCollection Clamp onSpring/offSpring for 10/26 samples, on/off torque 1.99 + .Hand.open +2 "manipulator"&1 +3 "core" &]\  3\ ] +55 1 +2 "manipulator"&% +4 "core" % m G +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&-'\ +92 "core" ' +2 #tLoading generic puck from tube 6 into Processing Clamp + "processing"%& +5 "core" &\ + "manipulator"&%% +4 "core" %\ %  4 + "storage"(}% +4 "core" %> g\  + "storage"('. +3 "core" .(K +2 "storage"(& +4 "core" &K\  \  + "storage"(z& +4 "core" &K\  \  + "manipulator"&w& +4 "core" &8&  =F +2 "manipulator"&/% +4 "core" %\ % ! 4 +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&( +161 "core" ( + "manipulator"&& +4 "core" &   +2 "storage"( & +4 "core" &K\ \  4\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&p'< +101 "core" ' + "storage"(& +5 "core" &K B A \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"()'e +283 "core" ' + "storage"(8- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 ({& +2 "core" &K   \  +2 "manipulator"&~& +3 "core" & s s U  +2 .tElbow.seek 6 +2 "manipulator"&,( +3 "core" ( + "manipulator"&& +4 "core" & | r f  + "storage"(& +4 "core" &K a\  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&6'Ϧ +21 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +58 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&$& +2 "storage"(5'N +7 "core" & 5  + "manipulator"&% +4 "core" % ϫ G +2 .tForearm.seek :retract +2 "manipulator"&7'\ +97 "core" ' +2 .tElbow.seek PC +2 "manipulator"&(c +153 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +93 "core" ( +2 "manipulator"&s& +5 "core" &e o + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &3& +3 "core" &e +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&'[ +105 "core" ' + "manipulator"&1& +4 "core" &e < +2 "manipulator"&0% +4 "core" %] +2 "processing"%& +4 "core" &4\ +2 "processing"%>& +4 "core" &5\ +2 .tPC.seek :closed +2 "processing"% (Z +4 "core" &\  +8 &2\ *x +10 &b\ > +9 &Ty\ N +9 &Z\ M +10 &`\ N +9 &Z\ N +10 &!]]\ M +9 &#]\ N +9 &$\\\ N +10 &&\\\ N +9 &(e_\ M +9 &*&Zy\ N +10 &+_$\ N +9 &-_\ N +10 &/la\ N +9 &1/_&\ M +9 &2\\b\ N +10 &4Z\ M +9 &6u\\\ M +9 &86\\\ N +10 &9Z\ N +9 &;Z\ N +10 &=|_\ N +9 &?=c\ N +9 &A]\ N +10 &B\\\ M +9 &D`\ N +9 &FE]\ N +10 &Hh\ O +9 &Iy\ P +10 &K}\ S +9 &M<\ T +9 &N\ S +10 &P\ S +9 &R\ T +9 &TC\ T +10 &V\ T +9 &W\ T +10 &Y\ A +9 &Z9\ U +9 &Z\ * +3 ( + "processing"%>& +3 #tProcessing Clamp onSpring/offSpring for 9/25 samples, on/off torque 1.61 +2 .Hand.open + "manipulator"&1 +60 "core" 1 + "manipulator"&% +4 "core" % ] ? +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&!'\ +95 "core" ' + "processing"%9& +4 "core" &Z\ * +2 #tImaging generic puck in Processing Clamp while storing it to tube 6 +2 "manipulator"&#% +4 "core" %\ - W "` + "storage"(&% +4 "core" %G ]\  + "storage"(R. +55 "core" .(K + "storage"(& +4 "core" &K J\  +2 "storage"(S& +2 "manipulator"& & +7 "core" &K >\  + &e H +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +4 "storage"(#]kK-0-\ b + "manipulator"&V(c +7 ."raiseStack"SE.seek :beamBreak +2 "storage"(T'e +2 "core" ( +2 "manipulator"&.& +4 "core" &e I + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &4& +3 "core" &e  +2 .tForearm.seek PC + "manipulator"&='[ +94 "core" ' +2 .tHand.close + "manipulator"&;/ +57 "core" / +2 .tPC.seek :open +2 "processing"%(p +95 "core" ' +2 "storage"(H- +3 "core" -'e + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(:'B +38 "core" ' +247 ( +2 "storage"([& +4 "core" &K\ \ $ \  +2 "manipulator"&M& +4 "core" &e  + "manipulator"&2% +4 "core" % l   +2 .tForearm.seek :retract +2 "manipulator"&k'\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 + "manipulator"&<( +257 "core" ( +2 "manipulator"&@& +4 "core" & 4 % +2 "storage"(C& +4 "core" &K x\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&W'< +93 "core" ' + .tHand.open +2 "manipulator"&L1 +58 "core" 1 +2 "storage"(X- +3 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate +2 "storage"(?' +26 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.83 Pucks below Top Plate + "storage"(*' +51 "core" ' +3 #tLights, camera, ACTION! + "storage"(B- +3 "core" -' +2 "storage"(e& +4 "core" &K A P T\  + "manipulator"&F& +4 "core" &  % +2 .tElbow.seek 6 + "manipulator"&b( +4 "core" ( + "manipulator"&t& +4 "core" &  % +2 "storage"(O& +4 "core" &K W X \  +2 .tForearm.seek 6 + 450 counts + "manipulator"&A'< +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"(r'M +61 "core" ' + "manipulator"&D& +5 "core" &  % + "storage"(o& +4 "core" &K\ \ \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&U'z +35 "core" ' + .tElbow.hold +2 "manipulator"&`, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"(P'7 +26 "core" ' + "manipulator"&d% +5 "core" %uk  · + "storage"(E& +4 "core" &K R\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 295 counts + "manipulator"&J'ϡ +18 "core" ' +2 "manipulator"&g& +4 "core" & s $ +2 "storage"(i& +4 "core" &K\ \  h\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&N'< +16 "core" ' +2 "storage"(\\% +4 "core" %?   T\ +3 ."downElevator"SE.seek :down +4 "storage"(I'N +99 (m% +3 "core" %; 4\ U^ +2 "manipulator"&G% +4 "core" %: ~ | +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&]'\ +95 "core" ' +57 ' + ."downElevator"SE.stop + "storage"(5 +3 (^& +4 "core" &K s\  + "collection"'& +4 "core" &]\ ] +2 #tStoring generic puck in Collection Clamp to tube 6 + "manipulator"&% +4 "core" %\ 5 & +2 "storage"(_% +3 "core" %F 8\  +2 "storage"(c. +3 "core" .(K + "storage"( & +4 "core" &K >\  + "storage"(y& +4 "core" &K Q\  +2 "manipulator"&a& +4 "core" & T $ + .tElbow.seek 6 +2 "manipulator"&l( +3 "core" ( + "manipulator"&n& +4 "core" & M $ +2 "storage"(+& +4 "core" &K K\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&v'< +102 "core" ' + "storage"( & +5 "core" &K  :\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(j'e +283 "core" ' + "storage"(Z- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" &  $ + "storage"(q& +4 "core" &K\ \  i\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 + "manipulator"&h'z +33 "core" ' +2 .tElbow.hold + "manipulator"&|, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(x- +2 "core" -' +3 .tSE.seek 0.12 Pucks below Top Plate + "storage"('p +31 "core" ' + "manipulator"&f% +4 "core" %t`    ô +2 "storage"(\ & +3 "core" &K \  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 6 + 294 counts +2 "manipulator"&Q'Ϡ +12 "core" ' + "manipulator"&& +4 "core" & j d $ +2 "storage"(Y& +4 "core" &K\ \  :\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&'< +16 "core" ' +2 .tSE.seek 1.12 Pucks below Top Plate +2 "storage"('_ +49 "core" ' + "manipulator"&& +5 "core" & z G $ + "manipulator"&%% +4 "core" %: y | _ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&}'\ +88 "core" ' +2 .tElbow.seek CC + "manipulator"&'( +156 "core" ( +2 "manipulator"&& +4 "core" &+ a Ae +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &z& +2 "core" &+ % Ae +2 .tForearm.seek CC +2 "manipulator"&'| +102 "core" ' + .tHand.close + "manipulator"&w/ +55 "core" / +2 .tCC.seek :open +2 "collection"'/(p +411 "core" ( + "storage"(& +4 "core" &K [ Y\  + "storage"(& +4 "core" &K Y [\  + "manipulator"& & +4 "core" &* . @Y +2 "manipulator"&% +4 "core" % z  + .tForearm.seek :retract +2 "manipulator"&u'\ +93 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 + "manipulator"&-( +157 "core" ( + "manipulator"&8& +4 "core" &   +2 "storage"({& +3 "core" &K o n\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 6 +2 "manipulator"&~'z +106 "core" ' + .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&1 +48 "Can" OM +5 "core" 1 +2 "manipulator"&% +4 "core" % Ό  + "storage"($& +4 "core" &K 4 4\  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 6 + 318 counts +2 "manipulator"&'ϸ +16 "core" ' +2 "manipulator"&& +4 "core" & z ~ Z 2 +2 "storage"(p& +4 "core" &K \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&)'< +19 "core" ' +2 "storage"(6% +4 "core" %c H\ +2 ."downElevator"SE.seek :down +3 "storage"(s'N +99 (3% +3 "core" %A? r { j\ V[ +2 "manipulator"&,% +4 "core" % s r X  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&1'\ +87 "core" ' +51 ' + ."downElevator"SE.stop +2 "storage"(5 +2 #tShuffling pucks in tube 7 of [5..7] +2 #Loading generic puck from tube 7 into Collection Clamp +2 "collection"'0& +4 "core" &`b5\ + "manipulator"&% +4 "core" %\ &  < +2 "storage"(5% +4 "core" %O k | \  + "storage"(7. +52 "core" .(K +3 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 7 +2 "storage"(K([ +347 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (& +2 "core" &[ D B \  +2 "manipulator"&& +4 "core" &  2 +2 .tElbow.seek 7 + "manipulator"&9( +24 "core" ( + "manipulator"&#& +5 "core" &   + "storage"(&& +4 "core" &[ | | \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&R'k +100 "core" ' + "storage"(>& +4 "core" &[ \  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"('e +285 "core" ' + "storage"(S- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 ( & +3 "core" &[ ^ o w\  + "manipulator"&.& +4 "core" & ;  +2 .tElbow.seek 7 + "manipulator"&4( +4 "core" ( + "manipulator"&& +4 "core" & m   + "storage"(;& +4 "core" &[ o q >\  +2 .tForearm.seek 7 + 300 counts +2 "manipulator"&H' +11 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +59 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&!& + "storage"( 'N +8 "core" & |  + "manipulator"&[% +4 "core" % | % S +2 .tForearm.seek :retract +2 "manipulator"&M'\ +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"&2( +149 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +3 "core" ( +2 "manipulator"&T& +4 "core" &$ j ;8 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &=& +3 "core" &# ;8 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&@'| +100 "core" ' + "manipulator"&C& +5 "core" &$ / ;7 + "manipulator"&V% +4 "core" % + +2 "collection"'L& +4 "core" &``'\ +3 "collection"'X& +5 "core" &a_6\ +2 .tCC.seek :closed +2 "collection"'B(] +4 "core" &aa5\ +7 & 7`_6\ $d +9 &iV^`4\ 8 +10 &]`7\ L +9 &a]`6\ M +9 &@h]_7\ M +10 &e]a5\ N +9 & j^a6\ N +9 &"d^`7\ N +10 &$Gcaa6\ N +9 &&g`_6\ N +10 &'d]`5\ M +9 &)h^b8\ M +9 &+Oi\\a7\ N +10 &-f_^5\ M +9 &.f]`5\ N +10 &0d]_7\ N +9 &2Xf__6\ M +9 &4h__7\ N +9 &5f\\_4\ M +10 &7e]^7\ M +9 &9`c\\a7\ M +10 &;"b\\^5\ M +9 &<a^`)\ M +9 &>g]_1\ M +10 &@gg^_6\ N +9 &B)e\\_5\ N +9 &Cd]`6\ M +10 &Ed_]6\ M +9 &GoeSW:\ N +10 &I.kAI7\ O +9 &J})7\ P +9 &L6\ T +10 &N\\gj7\ W +9 &Pdh7\ W +9 &Q]a6\ X +10 &SPV5\ Y +9 &U\\EI6\ Z +10 &W7>6\ Y +9 &X)/7\ _ +9 &Z!7\ \\ +10 &\\_ 6\ H +9 &]iB 6\ "i +9 &]V7\ @ +3 ( + "collection"'X& +4 #tCollection Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.94 + .Hand.open + "manipulator"&e1 +60 "core" 1 + "manipulator"&F% +4 "core" % { K +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&t'\ +91 "core" ' +2 #tLoading generic puck from tube 7 into Processing Clamp +2 "processing"%O& +4 "core" &\ + "manipulator"&k% +4 "core" %\ ' U = +2 "storage"(D% +4 "core" %B \  + "storage"(o. +3 "core" .([ +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 7 + "storage"(:([ +8 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (d& +2 "core" &[ \  +2 "manipulator"&E& +4 "core" &" h 9# + "manipulator"&?% +4 "core" %\ ' = +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 7 + "manipulator"&g( +170 "core" ( +2 "manipulator"&i& +4 "core" &\ b I + "storage"(\\& +5 "core" &[ A ? \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&<'k +98 "core" ' + "storage"(W& +4 "core" &[ \\ >\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(*'e +282 "core" ' + "storage"(m- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (G& +2 "core" &[  3 9\  +2 "manipulator"&A& +4 "core" & I + .tElbow.seek 7 +2 "manipulator"&b( +3 "core" ( +2 "manipulator"&r& +3 "core" & . I +2 "storage"(U& +4 "core" &[ D C T\  +2 .tForearm.seek 7 + 300 counts + "manipulator"&^' +11 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&J/ +63 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&& + "storage"('N +7 "core" & s r n I + "manipulator"&_% +4 "core" % t u / M +2 .tForearm.seek :retract +2 "manipulator"&c'\ +96 "core" ' + .tElbow.seek PC +2 "manipulator"& (c +154 "core" ' + ."downElevator"SE.stop + "storage"(5 +86 "core" ( + "manipulator"&P& +4 "core" &h x ' K +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &y& +2 "core" &h  K +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&a'[ +105 "core" ' + "manipulator"&n& +5 "core" &h B K + "manipulator"&+% +4 "core" %F  +2 "processing"%N& +4 "core" &\ +2 "processing"% & +4 "core" &\ +2 .tPC.seek :closed +2 "processing"%I(Z +5 "core" &\ +6 & 1\ #a +10 &YT\ 7 +9 &\ L +9 &j[\ M +10 &+]\ N +9 &\\\ M +9 & _\ M +10 &"sYw\ M +9 &$5]\ M +10 &%]\ M +9 &']\ M +9 &){Z\ M +10 &+=]\ M +9 &,`\ M +9 &._\ M +10 &0]\ M +9 &2D^\ M +10 &4Z\ M +9 &5\\\ M +9 &7\\\ M +10 &9L]\ M +9 &;_\ M +9 &<[\ N +10 &>_\ N +9 &@S_\ N +10 &B_\ M +9 &C[\ M +9 &E^\ M +10 &G[e\ N +9 &Ik\ O +9 &J\ Q +10 &L\ S +9 &NQ\ T +10 &P\ T +9 &Q\ T +9 &S\ T +10 &UY\ T +9 &W\ T +10 &X\ T +9 &Z9Nu\ / +9 &Z*\ ' +6 ( + "processing"% & +4 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.59 +2 .Hand.open + "manipulator"&`1 +4 "core" &Z\ ' +52 1 + "manipulator"&]% +4 "core" % F ] +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&Z'\ +98 "core" ' + "processing"%& +4 "core" &Z\ ' +2 #tImaging generic puck in Processing Clamp while storing it to tube 7 + "manipulator"&q% +4 "core" %\ 5  & +2 "storage"(x% +4 "core" %D   \\\  + "storage"(f. +3 "core" .([ + "storage"(\ & +4 "core" &[   \  +2 "storage"(& +2 "manipulator"&Y& +7 "core" &[   h\  + &h K +3 ."raiseStack"SE.reconfigure :place +2 .tElbow.reconfigure :tight +5 "storage"(#]kK-0-\ b +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +3 ."raiseStack"SE.seek :beamBreak +2 "manipulator"&(c + "storage"(%'e +5 "core" ( +2 "manipulator"&v& +4 "core" &h V K + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &l& +3 "core" &h @ K +2 .tForearm.seek PC + "manipulator"&j'[ +95 "core" ' +2 .tHand.close + "manipulator"&h/ +57 "core" / +2 .tPC.seek :open + "processing"%Q(p +94 "core" ' +2 "storage"(- +4 "core" -'e + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('B +43 "core" ' +243 ( + "storage"(z& +5 "core" &[ ? D Q\  + "manipulator"&& +4 "core" &h r t B K + "manipulator"&|% +5 "core" % _ s s H  +2 .tForearm.seek :retract + "manipulator"&w'\ +99 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 7 +2 "manipulator"&}( +243 "core" ( +2 "manipulator"&"& +4 "core" & M I + "storage"(& +4 "core" &[  O\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&'k +99 "core" ' +2 .tHand.open + "manipulator"& 1 +60 "core" 1 +2 "storage"(- +3 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate +2 "storage"(8' +24 "core" ' +52 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"({' +56 "core" ' +2 #tLights, camera, ACTION! + "storage"(- +3 "core" -' +2 "storage"('& +4 "core" &[ 3\  + "manipulator"&& +4 "core" & K I +2 .tElbow.seek 7 + "manipulator"&( +4 "core" ( + "manipulator"&$& +4 "core" &  I + "storage"(& +4 "core" &[ \  +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&p'k +17 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"(6'M +63 "core" ' + "manipulator"&u& +4 "core" & z  I +2 "storage"(3& +4 "core" &[ 6 7 [\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 7 +2 "manipulator"&,'Ω +33 "core" ' + .tElbow.hold +2 "manipulator"&-, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"(~'7 +21 "core" ' + "manipulator"&0% +5 "core" %λ  + "storage"(& +5 "core" &[\ \ \  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 7 + 318 counts + "manipulator"&' +19 "core" ' +2 "manipulator"&5& +4 "core" & v i x I +2 "storage"(7& +4 "core" &[ Y [\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&'k +16 "core" ' +2 "storage"()% +4 "core" %9 Y X \  +2 ."downElevator"SE.seek :down +4 "storage"(s'N +99 ((% +2 "core" %> 5 4\ U^ +2 "manipulator"&% +4 "core" %f r q < +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +87 "core" ' +62 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (#& +4 "core" &[   {\  +2 "collection"'&& +4 "core" &]V \ @ +2 #tStoring generic puck in Collection Clamp to tube 7 + "manipulator"&>% +4 "core" %\ + d !O + "storage"(% +4 "core" %I > 4 >\  +2 "storage"(1. +3 "core" .([ + "storage"(S& +4 "core" &[ 4 4 )\  + "storage"( & +4 "core" &[ A B L\  +2 "manipulator"&.& +4 "core" &  I + .tElbow.seek 7 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&;& +3 "core" & V I +2 "storage"(& +4 "core" &[ A A \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&!'k +96 "core" ' +2 "storage"([& +5 "core" &[ G Y\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(9'e +282 "core" ' +2 "storage"(R- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +2 "manipulator"&T& +3 "core" & V I +2 "storage"(=& +3 "core" &[ B D S\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 7 +2 "manipulator"&'Ω +30 "core" ' + .tElbow.hold +2 "manipulator"&H, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(C- +2 "core" -' +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(V'm +28 "core" ' +2 "manipulator"&L% +4 "core" %θ s  +2 "storage"(4& +4 "core" &[\ \ \  O\  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 7 + 315 counts +2 "manipulator"& ' +18 "core" ' +2 "manipulator"&M& +4 "core" & | l & I + "storage"(/& +4 "core" &[ [ Y\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&e'k +16 "core" ' +2 .tSE.seek 1.11 Pucks below Top Plate + "storage"(F'\\ +41 "core" ' +2 "manipulator"&O& +4 "core" & o r = I + "manipulator"&k% +5 "core" %T q t :  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&D'\ +87 "core" ' +2 .tElbow.seek CC +2 "manipulator"&o( +156 "core" ( + "manipulator"&X& +4 "core" &+ Ab +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &d& +3 "core" &+ P Ab +2 .tForearm.seek CC + "manipulator"&E'| +97 "core" ' + .tHand.close + "manipulator"&?/ +63 "core" / +2 .tCC.seek :open +2 "collection"'@(p +410 "core" ( +2 "storage"(i& +4 "core" &[ X X E\  + "storage"(\\& +4 "core" &[ f \\\  + "manipulator"&K& +4 "core" &$ << + "manipulator"&W% +5 "core" % i  + .tForearm.seek :retract +2 "manipulator"&2'\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 7 + "manipulator"&t( +156 "core" ( +2 "manipulator"&m& +4 "core" & 7 \ +2 "storage"(G& +4 "core" &[ | | B\  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 7 +2 "manipulator"&A'Ω +102 "core" ' +2 .tElbow.hold +2 "manipulator"&r, +56 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&U1 +54 "core" 1 +2 "manipulator"&J% +4 "core" % ε 8 + "storage"(& +4 "core" &[ 7 7 _\  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 7 + 312 counts +2 "manipulator"&_' +18 "core" ' + "manipulator"&g& +4 "core" & Q i \ +2 "storage"(<& +3 "core" &[ 7\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&*'k +23 "core" ' + "storage"(^% +5 "core" %a \ +2 ."downElevator"SE.seek :down +3 "storage"(P'N +99 (y% +3 "core" %U9 l s \ U[ + "manipulator"&b% +5 "core" %Џ s t _ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&n'\ +96 "core" ' +43 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 5 of [5..7] +2 #Loading generic puck from tube 5 into Collection Clamp + "collection"'+& +3 "core" &]`&\ +2 "manipulator"&N% +4 "core" %\ 5 i & + "storage"(% +4 "core" %F | | x\  + "storage"(c. +3 "core" .([ +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"((<< +680 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (`& +2 "core" &<>   Z\ +2 "manipulator"&]& +4 "core" &  \ + .tElbow.seek 5 +2 "manipulator"&( +21 "core" ( + "manipulator"&q& +5 "core" &\  U + "storage"(x& +4 "core" &e[^1\ M +10 &?e]_/\ M +9 &Af\\]-\ N +10 &CJb]]2\ N +9 &E d^`6\ M +9 &FeUY/\ N +10 &HlCL.\ N +9 &JJ~ .1\ P +10 &L0\ T +9 &M_b1\ W +9 &O{ab5\ X +10 &Q>X^/\ W +9 &RNU2\ Y +9 &TDH/\ Z +10 &Vv8=/\ \\ +9 &X<-12\ [ +9 &Y%0\ \\ +10 &[2\ b +9 &]!\\ 4\ - +10 &].\ S +8 ( +2 &]s&\ N +2 "collection"'& +4 #tCollection Clamp onSpring/offSpring for 8/26 samples, on/off torque 2.00 + .Hand.open + "manipulator"&1 +57 "core" 1 +2 "manipulator"&'% +4 "core" % r 7 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +92 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp +2 "processing"%$& +4 "core" &4\ + "manipulator"&% +4 "core" %\ % 8 +2 "storage"(u% +4 "core" %N\ &\ $ P\  + "storage"(3. +3 "core" .(<< +2 "storage"(& +3 "core" &<;\ \  \ +2 "storage"(0& +4 "core" &<;\ \ % \ + "manipulator"&& +4 "core" &\ ' P >I +2 "manipulator"&8% +4 "core" %\ %  8 +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&5( +158 "core" ( +2 "manipulator"&7& +4 "core" &  \ + "storage"()& +4 "core" &<;   P\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&}' +102 "core" ' + "storage"(& +4 "core" &<; [ [\ +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"({'e +285 "core" ' + "storage"((- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (& +3 "core" &<8 5 &\ + "manipulator"&p& +4 "core" & s s o \ +2 .tElbow.seek 5 + "manipulator"&( +4 "core" ( + "manipulator"&6& +4 "core" & x Z 4 \ + "storage"(,& +4 "core" &<8 D D \ +2 .tForearm.seek 5 + 300 counts + "manipulator"&#'[ +15 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +52 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&&& +2 "storage"(>'N +7 "core" & q t ! \ +2 "manipulator"&% +4 "core" % S v z P 8 +2 .tForearm.seek :retract + "manipulator"&1'\ +98 "core" ' +2 .tElbow.seek PC + "manipulator"&S(c +151 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +99 "core" ( +2 "manipulator"&~& +4 "core" &f } + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 & & +2 "core" &f +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&.'[ +101 "core" ' +2 "manipulator"&;& +4 "core" &f +2 "manipulator"&% +3 "core" %V +2 "processing"%& +4 "core" &5\ +2 "processing"%[& +5 "core" &6\ +2 .tPC.seek :closed + "processing"%s(Z +5 "core" & \ \ +8 &/~\ *x +9 &c'\ > +10 &@w\ N +9 &[\ N +10 &^\ M +9 &Y\ M +9 &!H_\ M +10 &# Z\ M +9 &$\\\ M +9 &&Z\ M +10 &(O\\\ N +9 &*\\\ M +10 &+\\\ M +9 &-Y\ M +9 &/X]\ M +10 &1Z\ M +9 &2^~\ N +9 &4\\l\ M +10 &6a]U\ M +9 &8"_z\ M +10 &9\\\ M +9 &;Z\ M +9 &=h\\\ M +10 &?*`\ M +9 &@`O\ M +9 &BY\ M +10 &Do]\ N +9 &F1_\ N +10 &Gg\ N +9 &Iqj\ O +9 &Kk\ R +10 &M)\ S +9 &N\ T +9 &P\ S +10 &Rm\ T +9 &T.\ T +9 &U\ T +10 &W\ U +9 &Ys\ A +10 &Z~D\ V +9 &Z\ & +2 ( +2 "processing"%[& +3 #tProcessing Clamp onSpring/offSpring for 9/25 samples, on/off torque 1.62 + .Hand.open + "manipulator"&-1 +61 "core" 1 + "manipulator"&% +4 "core" % U = +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&R'\ +96 "core" ' +2 "processing"%T& +4 "core" &Z\ & + #tImaging generic puck in Processing Clamp while storing it to tube 5 +2 "manipulator"&=% +3 "core" %\ . #g +2 "storage"(C% +4 "core" %I\ \ \  + "storage"(L. +3 "core" .(<< +2 "storage"(4& +4 "core" &<8\ \ \ +2 "storage"(M& +3 "manipulator"&/& +4 "core" &<8\ \ \ +2 &f + .tElbow.reconfigure :tight +4 ."raiseStack"SE.reconfigure :place +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +4 "storage"(#]kK-0-\ b + "manipulator"&O(c +6 ."raiseStack"SE.seek :beamBreak +2 "storage"(k'e +2 "core" ( +2 "manipulator"&!& +4 "core" &f + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &f +3 .tForearm.seek PC + "manipulator"&9'[ +100 "core" ' + .tHand.close +2 "manipulator"&/ +55 "core" / + .tPC.seek :open +2 "processing"% (p +91 "core" ' +2 "storage"(V- +3 "core" -'e +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +2 ."raiseStack"SE.seek :place +2 "storage"(X'B +33 "core" ' +257 ( + "storage"(d& +4 "core" &<7   p\ +2 "manipulator"&e& +4 "core" &f  + "manipulator"&H% +4 "core" % a  +2 .tForearm.seek :retract +2 "manipulator"&?'\ +97 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&D( +256 "core" ( +2 "manipulator"&B& +4 "core" &   & + "storage"(i& +4 "core" &<7\ \ # R\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&\\' +103 "core" ' +2 .tHand.open + "manipulator"&K1 +58 "core" 1 +2 "storage"(W- +4 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate + "storage"(m' +26 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.83 Pucks below Top Plate + "storage"(G' +50 "core" ' +2 #tLights, camera, ACTION! + "storage"(E- +4 "core" -' + "storage"(o& +4 "core" &<6 f w n\ + "manipulator"&U& +4 "core" &  s q B & +2 .tElbow.seek 5 + "manipulator"&J( +4 "core" ( + "manipulator"&& +4 "core" &  u ; & + "storage"(g& +4 "core" &<6 o V 1\ +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&<' +3 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.11 Pucks below Top Plate + "storage"(2'M +62 "core" ' + "manipulator"&^& +5 "core" &  p q 2 & + "storage"(t& +4 "core" &<6   m\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&y'/ +32 "core" ' + .tElbow.hold +2 "manipulator"&b, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"(A'7 +22 "core" ' +2 "manipulator"&+% +4 "core" %1u  0 +2 "storage"(_& +4 "core" &<6 }\ + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 5 + 302 counts +2 "manipulator"&N'] +16 "core" ' + "manipulator"&& +5 "core" &? | ~ g c + "storage"(c& +5 "core" &<6 A A \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&F' +17 "core" ' +2 "storage"(*% +4 "core" %< ; *\  +2 ."downElevator"SE.seek :down +4 "storage"(P'N +98 (:% +3 "core" %=   E\ U^ +2 "manipulator"&`% +4 "core" % { +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&]'\ +95 "core" ' +55 ' + ."downElevator"SE.stop +54 "storage"(5 +2 (q& +4 "core" &<6\ \  8\ +2 "collection"'x& +4 "core" &]s*\ N +2 #tStoring generic puck in Collection Clamp to tube 5 + "manipulator"&\ % +4 "core" %\ 6 & + "storage"(r% +4 "core" %T M\  \  +2 "storage"(n. +3 "core" .(<< + "storage"(& +4 "core" &<6   7\ +2 "storage"( & +4 "core" &<6 O \ + "manipulator"&v& +4 "core" &? c +2 .tElbow.seek 5 + "manipulator"&a( +23 "core" ( +2 "manipulator"&h& +4 "core" & =  + "storage"( & +4 "core" &<6   q\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&Z' +111 "core" ' +2 "storage"(z& +4 "core" &<6 Y Y\ +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"('e +282 "core" ' + "storage"(f- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&%& +3 "core" & r q V  + "storage"(j& +4 "core" &<6 D D B\ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&Y'/ +32 "core" ' +2 .tElbow.hold + "manipulator"&, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(l- +2 "core" -' +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"('l +30 "core" ' + "manipulator"&% +4 "core" %@s ) +2 "storage"( & +4 "core" &<6 \ + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 5 + 317 counts + "manipulator"&I'l +18 "core" ' +2 "manipulator"&& +4 "core" &' { i g  + "storage"(@& +5 "core" &<6 D D \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&' +10 "core" ' +2 .tSE.seek 1.11 Pucks below Top Plate +2 "storage"(''[ +42 "core" ' +2 "manipulator"&$& +5 "core" &' s r `  + "manipulator"&% +4 "core" % o r < ) +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&u'\ +93 "core" ' +2 .tElbow.seek CC +2 "manipulator"&3( +156 "core" ( + "manipulator"&& +4 "core" &# ] ;4 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &0& +2 "core" &$ 3 ;4 +2 .tForearm.seek CC +2 "manipulator"&'| +97 "core" ' +2 .tHand.close + "manipulator"&/ +52 "core" / +2 .tCC.seek :open +2 "collection"'8(p +410 "core" ( +2 "storage"("& +4 "core" &<6 [ [\ + "storage"(7& +4 "core" &<6 [ Z\ + "manipulator"&)& +4 "core" & 8 + "manipulator"&% +4 "core" % z +2 .tForearm.seek :retract +2 "manipulator"&|'\ +91 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&( +156 "core" ( + "manipulator"&(& +4 "core" & N  +2 "storage"(& +4 "core" &<6 t p '\ + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 5 +2 "manipulator"&p'/ +103 "core" ' + .tElbow.hold +2 "manipulator"&6, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&,1 +58 "core" 1 +2 "manipulator"&% +4 "core" % @ _ + "storage"(&& +4 "core" &<6 6 7 \ + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 5 + 317 counts +2 "manipulator"&'l +16 "core" ' +2 "manipulator"&5& +4 "core" &6 r q W  +2 "storage"(}& +3 "core" &<6 6\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&{' +19 "core" ' + "storage"(#% +5 "core" %` 1\ +2 ."downElevator"SE.seek :down +4 "storage"(~'N +98 ( % +3 "core" %`; t .\ TZ + "manipulator"&% +5 "core" % q m @ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&;'\ +95 "core" ' +44 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 6 of [5..7] + #Loading generic puck from tube 6 into Collection Clamp +2 "collection"'& +4 "core" &]^#\ + "manipulator"&% +5 "core" %\ 3  %{ + "storage"(>% +4 "core" %D | | o\  +2 "storage"(1. +3 "core" .(<< +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"(Q(K +357 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (-& +3 "core" &K B B [\  + "manipulator"&& +4 "core" &6 7  +2 .tElbow.seek 6 + "manipulator"&T( +14 "core" ( + "manipulator"&=& +4 "core" & a  +2 "storage"(C& +4 "core" &K v v \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&L'< +98 "core" ' + "storage"(4& +5 "core" &K \  + .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(['e +277 "core" ' +2 "storage"(/- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (M& +2 "core" &K r q $\  +2 "manipulator"&!& +3 "core" & >  +2 .tElbow.seek 6 +2 "manipulator"&( +3 "core" ( + "manipulator"&.& +4 "core" & ] I  + "storage"(& +4 "core" &K j | W\  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&V'Ϧ +17 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&S/ +63 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&R& +2 "storage"(s'N +7 "core" & .  +2 "manipulator"&d% +4 "core" % Ϝ H +2 .tForearm.seek :retract + "manipulator"&e'\ +98 "core" ' +2 .tElbow.seek CC +2 "manipulator"&k( +143 "core" ' + ."downElevator"SE.stop + "storage"(5 +9 "core" ( +2 "manipulator"&H& +4 "core" &$ p ;6 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &9& +3 "core" &$  ;6 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&B'| +104 "core" ' + "manipulator"&i& +5 "core" &$  ;6 + "manipulator"&O% +4 "core" %q  +2 "collection"'K& +4 "core" &]a"\ +2 "collection"'W& +4 "core" &^]%\ +3 .tCC.seek :closed + "collection"'E(] +6 "core" &^_/\ +7 & 8\\^/\ $d +9 &gT[^/\ 7 +10 &^_4\ L +9 &va[_/\ M +9 &8b]`/\ M +10 &c]^3\ M +9 & f^`0\ N +9 &"}g]_3\ N +10 &$Ac]]2\ M +9 &&g\\]1\ N +10 &'d\\^0\ M +9 &)c]_/\ M +9 &+Hh\\`.\ M +10 &-\ e^`6\ M +9 &.j^_1\ M +9 &0d_^/\ M +10 &2Qf]^3\ M +9 &4g^^-\ N +10 &5c\\_.\ M +9 &7c]],\ M +9 &9Yc]`.\ M +10 &;c\\^.\ M +9 &<e]_.\ M +9 &>e]]/\ M +10 &@_d\\^,\ N +9 &B"e^^;\ M +10 &Cf]`;\ M +9 &Ec\\^3\ M +9 &GgdOV?\ N +10 &I%n7D8\ O +9 &J4\ Q +12 &L{;\ U +10 &NTgg2\ W +10 &Pcg5\ W +6 &Q\\`:\ W +9 &SMT:\ X +9 &UUDJ>\ Y +10 &W7=0\ Y +9 &X+0-\ [ +9 &Z$7\ [ +10 &\\W1\ H +9 &][7\ 2\ 0 +10 &]v0\ K +5 ( +2 "collection"'W& +4 #tCollection Clamp onSpring/offSpring for 10/26 samples, on/off torque 1.94 + .Hand.open +2 "manipulator"&o1 +3 "core" &]o5\ K +55 1 + "manipulator"&U% +4 "core" % q G +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +94 "core" ' +2 #tLoading generic puck from tube 6 into Processing Clamp + "processing"%g& +4 "core" &\ +2 "manipulator"&?% +4 "core" %\ /  #j + "storage"(^% +4 "core" %E\ \  4\  +2 "storage"(t. +3 "core" .(K + "storage"(+& +4 "core" &K\ \  G\  +2 "storage"(X& +4 "core" &K\ \  n\  + "manipulator"&_& +4 "core" &! _ 9( +2 "manipulator"&% +4 "core" %\ /  #j +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&m( +159 "core" ( +2 "manipulator"&c& +4 "core" &  \ + "storage"(*& +4 "core" &K   ~\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&D'< +94 "core" ' + "storage"(\\& +4 "core" &K X G z\  +2 .tSE.reconfigure :pick +54 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(G'e +283 "core" ' + "storage"(:- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (`& +2 "core" &K : A A\  +2 "manipulator"&<& +4 "core" & p v \ +2 .tElbow.seek 6 + "manipulator"&J( +4 "core" ( + "manipulator"&2& +4 "core" & | \ + "storage"(y& +4 "core" &K D D \  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&q'Ϧ +24 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&N/ +59 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&A& +2 "storage"(x'N +8 "core" & r s h \ +2 "manipulator"&\ % +4 "core" % ϥ r r ; +2 .tForearm.seek :retract + "manipulator"&r'\ +96 "core" ' +2 .tElbow.seek PC + "manipulator"&n(c +152 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +84 "core" ( +2 "manipulator"&& +4 "core" &k  J + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 & & +2 "core" &k } J +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&v'[ +93 "core" ' +2 "manipulator"&h& +4 "core" &l c I +2 "manipulator"& % +4 "core" %d & + "processing"%F& +4 "core" &\ +3 "processing"%z& +4 "core" &4\ +2 .tPC.seek :closed +2 "processing"%P(Z +4 "core" &\ \ +10 &/}\ *x +9 &c\ > +9 &?w\ N +10 &[\ M +9 &_\ M +9 &\\\ \ M +10 &!G_\ M +9 &# Z\ M +10 &$[\ M +9 &&]\ M +9 &(O[\ M +10 &*[\ M +9 &+[\ M +9 &-^\ M +10 &/W_\ M +9 &1Y\ M +10 &2]O\ M +9 &4\\\ M +9 &6`[\ M +10 &8!\\O\ M +9 &9[\ M +9 &;]\ M +10 &=h\\\ M +9 &?)`\ M +10 &@_\ M +9 &B]\ N +9 &Do\\\ M +10 &F0\\\ N +9 &Ghf\ N +9 &Is\ P +10 &Kix\ R +9 &M&\ T +10 &N\ T +9 &P\ S +9 &Rm\ S +10 &T. \ T +9 &U\ T +9 &W\ T +10 &Yq\ B +9 &Z{C\ V +9 &Z\ ' +3 ( + "processing"%z& +3 #tProcessing Clamp onSpring/offSpring for 9/25 samples, on/off torque 1.60 +2 .Hand.open + "manipulator"&b1 +57 "core" 1 + "manipulator"&]% +5 "core" % d U +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&f'\ +92 "core" ' +2 "processing"%%& +4 "core" &Z\ ' +2 #tImaging generic puck in Processing Clamp while storing it to tube 6 + "manipulator"&j% +4 "core" %\ , "Y + "storage"(l% +4 "core" %C   R\  + "storage"(. +4 "core" .(K + "storage"( & +4 "core" &K 3 <\  +2 "storage"(& +2 "manipulator"&@& +7 "core" &K\ \  0\  + &l I +3 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +4 "storage"(#]kK-0-\ b +2 "manipulator"&$&.,(\ #b +6 .tElbow.seek PC + "manipulator"&$(c +3 ."raiseStack"SE.seek :beamBreak +3 "storage"('e +2 "core" ( +2 "manipulator"&Z& +4 "core" &l I + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &a& +3 "core" &l I +2 .tForearm.seek PC + "manipulator"&'[ +97 "core" ' + .tHand.close + "manipulator"&Y/ +60 "core" / +2 .tPC.seek :open + "processing"%I(p +88 "core" ' +3 "storage"(- +4 "core" -'e + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +2 ."raiseStack"SE.seek :place +2 "storage"('B +37 "core" ' +252 ( +2 "storage"(0& +4 "core" &K   o\  + "manipulator"&& +4 "core" &l 8 I + "manipulator"&% +5 "core" % ` _ + .tForearm.seek :retract +2 "manipulator"&'\ +91 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 + "manipulator"&u( +245 "core" ( +2 "manipulator"&w& +4 "core" & Z + "storage"("& +4 "core" &K   g\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&7'< +92 "core" ' +2 .tHand.open + "manipulator"&)1 +52 "core" 1 +2 "storage"(- +3 "core" -'B +3 .tSE.seek -0.16 Pucks below Top Plate + "storage"((' +21 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(' +51 "core" ' + #tLights, camera, ACTION! +2 "storage"(- +3 "core" -' +2 "storage"(3& +4 "core" &K X\  + "manipulator"&,& +4 "core" &\ = Z +2 .tElbow.seek 6 + "manipulator"&( +4 "core" ( + "manipulator"&&& +4 "core" &\ w Z + "storage"(5& +4 "core" &K M\  +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&}'< +3 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.11 Pucks below Top Plate + "storage"(#'M +62 "core" ' + "manipulator"&|& +5 "core" &\ q Z + "storage"( & +4 "core" &K   $\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 + "manipulator"&'z +32 "core" ' +2 .tElbow.hold + "manipulator"&, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.07 Pucks below Top Plate + "storage"(p'7 +23 "core" ' +2 "manipulator"&% +4 "core" %·r  ; ' +2 "storage"(& +4 "core" &K p\  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 6 + 313 counts +2 "manipulator"&'ϳ +18 "core" ' +2 "manipulator"&>& +4 "core" & p - ' +2 "storage"(1& +4 "core" &K   N\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&''< +20 "core" ' + "storage"({% +5 "core" %= 7 > \ +2 ."downElevator"SE.seek :down +3 "storage"(~'N +99 (% +3 "core" %:   ^\ U] +2 "manipulator"&-% +4 "core" %&  ~  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +87 "core" ' +61 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (=& +4 "core" &K E\  \  +2 "collection"'C& +4 "core" &]n(\ K +2 #tStoring generic puck in Collection Clamp to tube 6 + "manipulator"&4% +4 "core" %\ ' A + "storage"(6% +4 "core" %E   $\  + "storage"(;. +3 "core" .(K +2 "storage"(/& +4 "core" &K   C\  + "storage"(M& +4 "core" &K   s\  + "manipulator"&!& +4 "core" & & +2 .tElbow.seek 6 +2 "manipulator"&.( +28 "core" ( +2 "manipulator"&& +4 "core" & o + "storage"(S& +4 "core" &K 7 > \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&R'< +105 "core" ' +2 "storage"(d& +4 "core" &K Z [ \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(T'e +281 "core" ' + "storage"(L- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&H& +3 "core" & s o K + "storage"(9& +4 "core" &K V L =\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 + "manipulator"&['z +35 "core" ' + .tElbow.hold +2 "manipulator"&V, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(i- +2 "core" -' +2 .tSE.seek 0.12 Pucks below Top Plate +2 "storage"(O'p +29 "core" ' + "manipulator"&K% +5 "core" %΋\\  8 + "storage"(& +4 "core" &K \  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 317 counts + "manipulator"&s'Ϸ +16 "core" ' +2 "manipulator"&e& +4 "core" & h z ,  +2 "storage"(8& +4 "core" &K D B \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&o'< +21 "core" ' +2 .tSE.seek 1.12 Pucks below Top Plate +2 "storage"(U'_ +47 "core" ' +2 "manipulator"&g& +4 "core" & o p '  +52 "manipulator"&?% +4 "core" %J s p 0 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&^'\ +87 "core" ' +2 .tElbow.seek CC + "manipulator"&t( +158 "core" ( + "manipulator"&+& +4 "core" &+ Ae +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &X& +2 "core" &+ Ae +2 .tForearm.seek CC +2 "manipulator"&W'| +96 "core" ' + .tHand.close +2 "manipulator"&_/ +62 "core" / +2 .tCC.seek :open +2 "collection"'(p +411 "core" ( + "storage"(B& +4 "core" &K X X )\  +2 "storage"(c& +3 "core" &K Y X \  +2 "manipulator"&*& +4 "core" &( * ?V + "manipulator"&\\% +4 "core" %   +2 .tForearm.seek :retract + "manipulator"&k'\ +97 "core" ' +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&( +156 "core" ( + "manipulator"&:& +5 "core" & Z + "storage"(`& +4 "core" &K p u R\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 6 + "manipulator"&<'z +107 "core" ' + .tElbow.hold +2 "manipulator"&2, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&y1 +58 "core" 1 +2 "manipulator"&N% +5 "core" % Ύ ! q w + "storage"(A& +4 "core" &K A A X\  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 6 + 320 counts +2 "manipulator"&\ 'Ϻ +17 "core" ' +2 "manipulator"&m& +4 "core" & _ r J 3 +2 "storage"(D& +4 "core" &K \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&G'< +23 "core" ' + "storage"(q% +5 "core" %b C\ +2 ."downElevator"SE.seek :down +4 "storage"('N +100 ( % +4 "core" %; f s q\ U[ +2 "manipulator"&J% +4 "core" %E t r h  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&h'\ +87 "core" ' +47 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 7 of [5..7] + #Loading generic puck from tube 7 into Collection Clamp +2 "collection"' & +4 "core" &]`3\ +2 "manipulator"&F% +4 "core" %\ * - !T + "storage"(x% +4 "core" %< m s =\ \ +2 "storage"(r. +3 "core" .(K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 7 +2 "storage"( ([ +354 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (b& +2 "core" &[   :\  +2 "manipulator"&]& +4 "core" & & 3 + .tElbow.seek 7 +2 "manipulator"&%( +25 "core" ( + "manipulator"&j& +5 "core" & ) k + "storage"(l& +4 "core" &[ r y H\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&'k +89 "core" ' + "storage"( & +5 "core" &[ M\  + .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(@'e +279 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (z& +2 "core" &[ q s "\  +2 "manipulator"&Z& +4 "core" & r q 9 k +2 .tElbow.seek 7 + "manipulator"&a( +4 "core" ( + "manipulator"&v& +4 "core" & v g 8 k + "storage"(Y& +4 "core" &[ l g j\  +2 .tForearm.seek 7 + 300 counts + "manipulator"&' +18 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&n/ +57 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&f& + "storage"(P'N +8 "core" & s s Y k + "manipulator"&0% +4 "core" % r o L +2 .tForearm.seek :retract +2 "manipulator"&'\ +96 "core" ' + .tElbow.seek CC +2 "manipulator"&( +146 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +15 "core" ( + "manipulator"&& +5 "core" &+ T Ac + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &+  Ac +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&w'| +105 "core" ' +2 "manipulator"&"& +4 "core" &+ p Ab + "manipulator"&$% +4 "core" %v W +2 "collection"')& +4 "core" &[]1\ +2 "collection"'& +5 "core" &^^&\ +2 .tCC.seek :closed +2 "collection"'(] +4 "core" &[]=\ +8 &8[]=\ $d +10 &kW_^9\ 7 +9 &^\\7\ L +9 &{bZ]@\ M +10 &<e]^A\ N +9 &f^_:\ M +9 & c[]@\ N +10 &"c]]>\ N +9 &$E`\\]@\ M +10 &&h[_?\ N +9 &'c\\]B\ M +9 &)gZ^A\ M +10 &+Le\\^=\ N +9 &-c\\]>\ M +9 &.e[_=\ M +10 &0c]]B\ N +9 &2Tb[^C\ N +10 &4e\\]7\ N +9 &5c\\]B\ N +9 &7cZ_8\ M +10 &9^^[]:\ M +9 &; cZ^>\ M +9 &<b\\\\;\ M +10 &>b[_C\ N +9 &@dcZ^>\ N +9 &B'`\\_D\ M +10 &C`\\]C\ M +9 &E_\\^F\ M +10 &GlbTXB\ N +9 &I,k?KB\ N +9 &J|+B\ P +10 &LD\ T +9 &NZihA\ V +9 &Pcj=\ X +10 &Q_b@\ X +9 &STYB\ Y +10 &UZHMD\ Y +9 &W<BB\ Y +9 &X.5E\ [\ +10 &Z#(A\ \\ +9 &\\]A\ H +9 &]e>  A\ $o +10 &]v @\ Q +2 ( +2 "collection"'& +3 #tCollection Clamp onSpring/offSpring for 10/26 samples, on/off torque 1.96 + .Hand.open +2 "manipulator"&31 +53 "core" 1 + "manipulator"&,% +5 "core" % l r + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&&'\ +92 "core" ' +2 #tLoading generic puck from tube 7 into Processing Clamp +2 "processing"%5& +4 "core" &4\ + "manipulator"&% +4 "core" %\ ' < +2 "storage"(|% +3 "core" %B\ #\  *\  +2 "storage"( . +3 "core" .([ +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 7 +2 "storage"(([ +3 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (& +3 "core" &[+ \  +2 "manipulator"&& +4 "core" && * >K + "manipulator"&>% +4 "core" %\ ' < +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 7 +2 "manipulator"&(( +155 "core" ( + "manipulator"&1& +4 "core" &  +2 "storage"({& +3 "core" &[   \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&u'k +110 "core" ' + "storage"(7& +5 "core" &[ A Y Y\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('e +276 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (-& +3 "core" &[ 4 @\  +2 "manipulator"&}& +3 "core" & s r V  +2 .tElbow.seek 7 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&#& +3 "core" & ~ } h  +2 "storage"(& +4 "core" &[ D E \  +2 .tForearm.seek 7 + 300 counts + "manipulator"&=' +15 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +54 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&C& + "storage"(4'N +8 "core" & y p f  + "manipulator"&6% +4 "core" % u { ] F +2 .tForearm.seek :retract +2 "manipulator"&;'\ +94 "core" ' +2 .tElbow.seek PC +2 "manipulator"&/(c +156 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +92 "core" ( + "manipulator"&p& +4 "core" &l +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &M& +3 "core" &l +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&!'[ +105 "core" ' + "manipulator"&& +5 "core" &l ] + "manipulator"&S% +4 "core" %P # +2 "processing"%'& +4 "core" &\ +2 "processing"%d& +5 "core" &\ +2 .tPC.seek :closed +3 "processing"%~(Z +3 "core" &\ +6 &:\ $d +10 &oU\ 7 +9 &\ L +9 &[\ M +10 &@\\\ N +9 &\\\ N +9 & _\ N +10 &"Z\ M +9 &$I]\ M +10 &&\ \\\ N +9 &'[\ M +9 &)Y\ M +10 &+Q\\\ M +9 &-\\\ M +9 &.]\ M +10 &0]\ M +9 &2Y^\ M +10 &4Z\ M +9 &5\\\ M +9 &7Z\ M +10 &9a^\ M +9 &;"^\ N +57 &<\\\ M +3 &>^\ M + &@h`\ N + &B*^\ N + &C]\ N + &E]\ N +2 &Goc\ N +9 &I.k\ O +9 &J{\ Q +10 &L\ T +9 &Ne\ T +10 &P)\ S +9 &Q\ T +9 &S\ T +10 &Um\ T +9 &W.\ T +9 &X\ T +10 &ZFGl\ *z +9 &Z\ A\ 0 +6 ( + "processing"%d& +4 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.58 +2 .Hand.open + "manipulator"&1 +4 "core" &Z%\ 0 +55 1 + "manipulator"&% +4 "core" % P , +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&L'\ +98 "core" ' +2 "processing"%H& +4 "core" &Z%\ 0 +2 #tImaging generic puck in Processing Clamp while storing it to tube 7 + "manipulator"&9% +4 "core" %\ 8 M ' +2 "storage"(i% +3 "core" %F \  +2 "storage"(K. +3 "core" .([ + "storage"(& +4 "core" &[ /\  +2 "storage"(e& +5 "manipulator"&8& +4 "core" &[ U\  + &l +3 ."raiseStack"SE.reconfigure :place +4 .tElbow.reconfigure :tight +4 "storage"(#]kK-0-\ b +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +3 ."raiseStack"SE.seek :beamBreak +2 "manipulator"&g(c + "storage"(?'e +6 "core" ( +2 "manipulator"&R& +4 "core" &l ) + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &.& +3 "core" &l = +2 .tForearm.seek PC +2 "manipulator"&T'[ +97 "core" ' + .tHand.close +2 "manipulator"&[/ +62 "core" / +2 .tPC.seek :open +2 "processing"%s(p +85 "core" ' +2 "storage"(O- +3 "core" -'e +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(+'B +43 "core" ' +253 ( + "storage"(X& +4 "core" &[  X\  +2 "manipulator"&o& +4 "core" &l Q + "manipulator"&V% +4 "core" % X L  +2 .tForearm.seek :retract + "manipulator"&_'\ +92 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 7 +2 "manipulator"&^( +254 "core" ( +2 "manipulator"&E& +4 "core" & O $ + "storage"(B& +4 "core" &[\ \  e\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&c'k +94 "core" ' +2 .tHand.open + "manipulator"&*1 +61 "core" 1 +2 "storage"(\\- +4 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate +2 "storage"(:' +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(`' +51 "core" ' +2 #tLights, camera, ACTION! + "storage"(W- +4 "core" -' + "storage"(t& +4 "core" &[ u &\  +2 "manipulator"&y& +4 "core" &  $ +2 .tElbow.seek 7 + "manipulator"&N( +4 "core" ( + "manipulator"&A& +4 "core" & < $ + "storage"(m& +4 "core" &[ \  +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&D'k +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"(q'M +59 "core" ' + "manipulator"&k& +4 "core" & $ +2 "storage"( & +4 "core" &[   B\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 7 + "manipulator"&J'Ω +29 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.07 Pucks below Top Plate + "storage"(<'7 +36 "core" ' + "manipulator"& % +4 "core" %λ ; +2 "storage"(\ & +4 "core" &[ q\  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 7 + 318 counts +2 "manipulator"&F' +17 "core" ' +2 "manipulator"&x& +4 "core" & w o $ +2 "storage"(r& +4 "core" &[ > 4 4\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&U'k +15 "core" ' + "storage"(G% +5 "core" %8 B D \ +2 ."downElevator"SE.seek :down +4 "storage"('N +98 (Q% +3 "core" %z: C \ U] +2 "manipulator"&b% +4 "core" %S ~ ~   +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&]'\ +87 "core" ' +61 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (j& +4 "core" &[\ \ \ \  +2 "collection"'l& +4 "core" &]v@\ Q +2 #tStoring generic puck in Collection Clamp to tube 7 + "manipulator"& % +4 "core" %\ ) L J + "storage"(2% +4 "core" %C   V\  +2 "storage"(h. +3 "core" .([ + "storage"(& +4 "core" &[   +\  + "storage"(z& +4 "core" &[   \  +2 "manipulator"&Z& +3 "core" &  $ +2 .tElbow.seek 7 +2 "manipulator"&v( +3 "core" ( + "manipulator"&Y& +4 "core" & \\ $ + "storage"(n& +4 "core" &[   \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&f'k +92 "core" ' +2 "storage"(0& +4 "core" &[ 4 4 y\  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(%'e +283 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" & $ + "storage"(& +4 "core" &[  \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 7 + "manipulator"&@'Ω +31 "core" ' + .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"("- +2 "core" -' +3 .tSE.seek 0.11 Pucks below Top Plate + "storage"($'n +43 "core" ' +2 "manipulator"&a% +4 "core" %κ   k + "storage"()& +4 "core" &[ \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 7 + 317 counts + "manipulator"&P' +19 "core" ' + "manipulator"&& +5 "core" & j v $ + "storage"(& +4 "core" &[ 1 $ S\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&3'k +17 "core" ' +2 .tSE.seek 1.11 Pucks below Top Plate +2 "storage"(,'] +51 "core" ' +2 "manipulator"&5& +4 "core" & } a $ +2 "manipulator"&% +4 "core" %h { +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&|'\ +88 "core" ' + .tElbow.seek CC +2 "manipulator"& ( +150 "core" ( + "manipulator"&& +4 "core" &' < >H +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &' % >H +2 .tForearm.seek CC +2 "manipulator"&'| +97 "core" ' +2 .tHand.close + "manipulator"&>/ +63 "core" / +2 .tCC.seek :open + "collection"'w(p +414 "core" ( +2 "storage"(1& +4 "core" &[ X [\  + "storage"({& +4 "core" &[ Y X\  + "manipulator"& & +4 "core" &$ 8 + "manipulator"&7% +4 "core" % r +2 .tForearm.seek :retract + "manipulator"&'\ +92 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 7 +2 "manipulator"&&( +153 "core" ( + "manipulator"&& +4 "core" & H  +2 "storage"(-& +4 "core" &[ u t 4\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 7 +2 "manipulator"&}'Ω +107 "core" ' +2 .tElbow.hold + "manipulator"&#, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&1 +52 "core" 1 +2 "manipulator"&% +4 "core" % μ  +2 "storage"(C& +3 "core" &[ B A \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 7 + 319 counts + "manipulator"&6' +18 "core" ' +2 "manipulator"&(& +5 "core" & r s \\  + "storage"(u& +4 "core" &[ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts +53 "manipulator"&'k +15 "core" ' +2 "storage"(=% +4 "core" %` @\ +2 ."downElevator"SE.seek :down +4 "storage"(p'N +99 (M% +2 "core" %.: h f "\ UZ +2 "manipulator"&% +4 "core" %n r s K +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +86 "core" ' +53 ' + ."downElevator"SE.stop + "storage"(5 +26657 "Can"{ )>; +3003 #t-> exit +6 #mEXIT @1639754260.36EST @1640115032.21EST = =tMAIN =mMAIN_scheduler @EST1640115035.73 #"core_reset"Sent BREAK +2 #t@575 idle with ifg=0x00, ie=0x75 +2 #>RESET< ESP2 v3.41 I2C Gateway v3.20 +214 #>RESET< ESP2 v3.41 I2C Gateway v3.20 for core bus +420 !o:Instrument::ISUSCore:\ @name" ISUS: @refi :b: @configS:Instrument::Configuration: name@:calFileName0:sampleCmd"TS: prompt"\ :statusCmd"C:sampleTimeouti#:promptTimeouti:statusTimeouti: retriesi:strToPrompt"W: pace0: echoF +201 #Configuration for don (12651-03) 10/9/20 brent@mbari.org\ /home/esp/esp2/type/shallow/don/configure.rb\ +776 "Can"\ @%#} +2 \ @%#} +2 #tPolling Can every 10:00 +14 #Cleanly exited at 10:17:40EST17-Dec-21 +2407 #-> ESP.ready! +5 #Powering core bus +579 .Gate.power :raw,:ON +3 "sampler") +34 ) +5 "core"  +4 "collection"' +4 ' +6 "core"  +4 "processing"% +2 % +6 "core"  +11 "collection"' 9\ +6 ' 0\ +6 ' -\ +14 "processing"% 9\ +6 % 2\ +6 % *\ +2 % 0\ +8 "sampler")&\ +5 "collection"'% +8 "core" %im  +2 .tCS.configure :default +6 "collection"'#P d@b +4 "processing"%% +5 "core" %\ +6 .tPS.configure :default +3 "processing"%#A d`xb +4 "sampler")% +6 "core" %\ \   +4 .tSS.configure :default +3 "sampler")#.0X require 'shuffle.rb' +1116 #-> 25.times {shuffle 5..7} +4 #Shuffling pucks in tube 5 of [5..7] +4 #Loading generic puck from tube 5 into Collection Clamp +4 "collection"';& +6 "core" &Zlm\  +4 .tHand.open + "manipulator"&<1 +61 "core" 1 +4 "manipulator"&=% +8 "core" % \ /  #A +2 "storage"(>% +9 "core" %J \ C +4 "storage"(?. +6 "core" .(,~ +2 .tSC.reconfigure :tight +6 "storage"($\ .\ 1~b +2 .tSC.seek 5 +4 "storage"(@(<< +351 "core" ( +3 .tSC.configure :limp +4 "storage"($\ 1b +4 (A& +8 "core" &<; g 9\  +4 "manipulator"&B& +9 "core" &3 F +2 .tElbow.reconfigure :tight +6 "manipulator"&$&.,(\ #b +4 .tElbow.seek 5 +4 "manipulator"&C( +18 "core" ( +4 "manipulator"&D& +9 "core" & &  +2 "storage"(E& +8 "core" &<; \  +4 .tForearm.seek 5 + 450 counts +4 "manipulator"&F' +94 "core" ' +4 "storage"(G& +8 "core" &<; h\  +4 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +8 .tSE.seek :beamBreak + "storage"(H'e +287 "core" ' +4 "storage"(I- +8 "core" -' +75 .tSE.configure :default +16 "storage"(#QK-0-\ b +4 (J& +6 "core" &<; \  +4 "manipulator"&K& +8 "core" &   +4 .tElbow.seek 5 + "manipulator"&L( +7 "core" ( +4 "manipulator"&M& +7 "core" &   +2 "storage"(N& +8 "core" &<; d\  +4 .tForearm.seek 5 + 300 counts +4 "manipulator"&O'[ +14 "core" ' +2 .tForearm.reconfigure :loose +4 "manipulator"&#Q@2^d^b +4 .tHand.close +4 "manipulator"&P/ +53 "core" / +5 ."downElevator"SE.seek :down +9 "manipulator"&Q& + "storage"(R'N +16 "core" & B  +4 "manipulator"&S% +6 "core" % ` t x b 4 +4 .tForearm.seek :retract +5 "manipulator"&T'\ +99 "core" ' +4 .tElbow.seek CC +4 "manipulator"&U( +126 "core" ' +2 ."downElevator"SE.stop +2 "storage"(5 +26 "core" ( +2 "manipulator"&V& +9 "core" &$  ;7 +2 .tElbow.reconfigure :loose +4 "manipulator"&$ &.,(#b +4 &W& +9 "core" &$ 3 ;7 +7 .tForearm.reconfigure :tight +7 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek CC +4 "manipulator"&X'| +98 "core" ' +3 "manipulator"&Y& +11 "core" &$ 7 ;7 +2 "manipulator"&Z% +8 "core" %}  +4 "collection"'[& +8 "core" &Zmm\  +4 "collection"'\\& +10 "core" &Zmo\  +4 &Znq\  +4 .tCC.seek :closed +6 "collection"'](] +8 "core" &Zmo\  +4 &Zln\  +6 &5mo\ +} +8 &eoo\ @ +8 &4lo\ N +13 &dno\ N +7 &kln\ O +10 &yljn\ O +10 &!<hmn\ N +8 &"hmo\ N +12 &$eoo\ O +10 &&jmn\ O +6 &(Cknm\ O +11 &*hlm\ O +8 &+hnm\ N +11 &-jlo\ O +11 &/Kjjo\ O +7 &1 nln\ O +11 &2kmm\ N +8 &4hkn\ N +8 &6Tekl\ N +11 &8bkm\ N +8 &9fll\ N +11 &;bkm\ N +9 &=\\hln\ N +8 &?ekk\ N +10 &@ijk\ N +11 &Bhil\ O +7 &Ddghl\ N +11 &F&jXc\ N +8 &Gl6C\ O +11 &Iy\ Q +9 &K^o\ S +10 &M\ W +10 &N\ W +8 &P\ X +10 &RV\ Y +9 &T\ Y +8 &Utz\ Z +12 &Whn\ Z +8 &YUZ_\ \\ +10 &[KQ\ \\ +10 &\\z=C\ > +8 &]+79\ #j +10 &]_68\ G +2 ( +6 "collection"'\\& +6 #tCollection Clamp onSpring/offSpring for 9/25 samples, on/off torque 1.90 +4 .Hand.open + "manipulator"&^1 +6 "core" &]^99\ G +49 1 +2 "manipulator"&_% +8 "core" % | a +4 .tForearm.reconfigure :loose +6 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +5 "manipulator"&`'\ +101 "core" ' +4 #tLoading generic puck from tube 5 into Processing Clamp +4 "processing"%a& +6 "core" &]\  +4 "manipulator"&b% +8 "core" %\ 4 ? %v +2 "storage"(c% +7 "core" %C i g \  +4 "storage"(d. +6 "core" .(<< +2 "storage"(e& +8 "core" &<; i h \  +4 "storage"(f& +7 "core" &<; m <\  +3 "manipulator"&g& +8 "core" &  8" +4 "manipulator"&h% +7 "core" %\ 4 : %v +4 .tElbow.reconfigure :tight +6 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +4 "manipulator"&i( +168 "core" ( +4 "manipulator"&j& +10 "core" & , . +2 "storage"(k& +8 "core" &<; O\  +4 .tForearm.reconfigure :tight +4 "manipulator"&#Q@2^d^\ b +5 .tForearm.seek 5 + 450 counts +4 "manipulator"&l' +101 "core" ' +2 "storage"(m& +13 "core" &<; J\  +4 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +7 .tSE.seek :beamBreak +5 "storage"(n'e +281 "core" ' +4 "storage"(o- +6 "core" -' +3 .tSE.configure :default +5 "storage"(#QK-0-\ b +5 (p& +8 "core" &<; ^\  +2 "manipulator"&q& +8 "core" &  - +4 .tElbow.seek 5 +4 "manipulator"&r( +6 "core" ( +4 "manipulator"&s& +8 "core" & - +2 "storage"(t& +8 "core" &<; <\  +4 .tForearm.seek 5 + 300 counts +4 "manipulator"&u'[ +11 "core" ' +2 .tForearm.reconfigure :loose +6 "manipulator"&#Q@2^d^b +4 .tHand.close + "manipulator"&v/ +60 "core" / +4 ."downElevator"SE.seek :down +9 "manipulator"&w& +2 "storage"(x'N +14 "core" &  - +2 "manipulator"&y% +8 "core" % Z  2 +4 .tForearm.seek :retract +4 "manipulator"&z'\ +96 "core" ' +2 .tElbow.seek PC +4 "manipulator"&{(c +140 "core" ' +2 ."downElevator"SE.stop +4 "storage"(5 +110 "core" ( +4 "manipulator"&|& +7 "core" &h +4 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +4 &}& +8 "core" &h / +4 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek PC +4 "manipulator"&~'[ +94 "core" ' +4 "manipulator"&& +8 "core" &h  +2 "manipulator"&% +9 "core" %_  +3 "processing"%& +8 "core" &]\  +4 "processing"%& +10 "core" &]\  +10 .tPC.seek :closed + "processing"%(Z +10 "core" &]\  +5 &]\  +2 &sN\ %i +6 &HW\ 9 +12 &\ M +8 &d_\ N +8 &(`\ M +13 &]\ N +6 & b\ N +11 &"n[\ M +10 &$0]\ M +7 &%a\ M +13 &'a\ M +7 &)v`\ M +8 &+8[\ M +12 &,c\ N +7 &.`\ M +11 &0~^\ M +9 &2@]\ M +7 &4\\\ M +12 &5a\ M +9 &7_\ N +10 &9H`\ M +9 &;\ b\ M +8 &<]\ N +12 &>`\ N +10 &@P\\\ M +6 &B]\ M +11 &C\\\ M +9 &E\\\ M +8 &GVg\ N +11 &In\ O +11 &J~\ Q +10 &L\ S +6 &NN\ S +11 &P\ S +10 &Q\ T +9 &S\ T +9 &UU\ T +12 &W\ T +5 &X\ T +11 &Z8Ry\ )y +9 &Zf\ 8 +8 ( +4 "processing"%& +6 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.56 +4 .Hand.open + "manipulator"&1 +8 "core" &Z0\ 4 +51 1 +2 "manipulator"&% +8 "core" % _ F +4 .tForearm.reconfigure :loose +5 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +5 "manipulator"&'\ +94 "core" ' +2 "processing"%& +9 "core" &Z0\ 4 +3 #tImaging generic puck in Processing Clamp while storing it to tube 5 +5 "manipulator"& % +6 "core" %\ +  ? +4 "storage"(\ % +8 "core" %G ~ } \  +2 "storage"( . +6 "core" .(<< +4 "storage"( & +7 "core" &<; } ~ \  +4 "storage"( & +2 "manipulator"&& +14 "core" &<;  ~ \  +2 &h  +6 .tElbow.reconfigure :tight +4 ."raiseStack"SE.reconfigure :place +12 "manipulator"&$&.,(\ #b +2 "storage"(#]kK-0-\ b +7 .tElbow.seek PC +10 "manipulator"&(c +9 ."raiseStack"SE.seek :beamBreak + "storage"('e +5 "core" ( +4 "manipulator"&& +8 "core" &h +2 .tElbow.reconfigure :loose +6 "manipulator"&$ &.,(#b +5 && +8 "core" &h  +4 .tForearm.seek PC +4 "manipulator"&'[ +95 "core" ' +2 .tHand.close +4 "manipulator"&/ +64 "core" / +4 .tPC.seek :open +4 "processing"%(p +54 "core" ' +2 "storage"(- +6 "core" -'e +5 ."raiseStack"SE.configure :default +4 "storage"(#QK-0-\ b +7 ."raiseStack"SE.seek :place +4 "storage"('B +38 "core" ' +274 ( +2 "storage"(& +10 "core" &<; d\  +2 "manipulator"&& +8 "core" &h +2 "manipulator"&% +8 "core" % ] +6 .tForearm.seek :retract +4 "manipulator"&'\ +97 "core" ' +4 .tElbow.reconfigure :tight +5 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +4 "manipulator"&"( +245 "core" ( +5 "manipulator"&%& +9 "core" & f H +2 "storage"('& +8 "core" &<; g g n\  +4 .tForearm.reconfigure :tight +4 "manipulator"&#Q@2^d^\ b +5 .tForearm.seek 5 + 450 counts +4 "manipulator"&)' +96 "core" ' +3 .tHand.open + "manipulator"&(1 +57 "core" 1 +4 "storage"(- +8 "core" -'B +4 .tSE.seek -0.16 Pucks below Top Plate + "storage"(' +25 "core" ' +4 .tSE.reconfigure :seal +4 "storage"(#QK-0-\ b +6 .tSE.seek -0.83 Pucks below Top Plate + "storage"(#' +55 "core" ' +4 #tLights, camera, ACTION! + "storage"(,- +8 "core" -' +2 "storage"(-& +9 "core" &<;\ \  K\  +4 "manipulator"&.& +8 "core" & G +2 .tElbow.seek 5 +4 "manipulator"&/( +6 "core" ( +4 "manipulator"&0& +8 "core" &  G +2 "storage"(1& +8 "core" &<;\ \  i\  +4 .tForearm.seek 5 + 450 counts +4 "manipulator"&2' +6 "core" ' +4 .tSE.reconfigure :gently +4 "storage"(#QK-0-\ b +4 .tSE.seek -0.11 Pucks below Top Plate +4 "storage"(3'M +62 "core" ' +2 "manipulator"&4& +12 "core" &  G +3 "storage"(5& +8 "core" &<; _\  +4 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +6 .tForearm.reconfigure :loose +5 "manipulator"&#Q@2^d^b +4 .tForearm.seek 5 +4 "manipulator"&6'/ +33 "core" ' +4 .tElbow.hold + "manipulator"&7, +8 "core" , +2 .tElbow.reconfigure :tight +4 "manipulator"&$&.,(\ #b +7 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +6 .tSE.seek 0.07 Pucks below Top Plate + "storage"(8'7 +26 "core" ' +4 "manipulator"&9% +9 "core" %C|   ¼E +2 "storage"(:& +8 "core" &<; ] Z\  +4 .tForearm.force -20 +4 "manipulator"&5 +5 .tForearm.seek 5 + 320 counts +3 "manipulator"&;'o +18 "core" ' +4 "manipulator"&<& +10 "core" & r , & +7 "storage"(=& +8 "core" &<; O\  +4 .tForearm.reconfigure :tight +6 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 5 + 450 counts + "manipulator"&>' +23 "core" ' +4 "storage"(?% +11 "core" %? Z\ +4 ."downElevator"SE.seek :down +8 "storage"(!'N +98 (A% +5 "core" %> } 2\ V_ +4 "manipulator"&B% +7 "core" % s v ] +4 .tForearm.reconfigure :loose +4 "manipulator"&#Q@2^d^b +4 .tForearm.seek :retract +4 "manipulator"&D'\ +90 "core" ' +51 ' +2 ."downElevator"SE.stop +4 "storage"(5 +4 (E& +8 "core" &<; v z -\  +2 "collection"'G& +9 "core" &]]\ G +2 #tStoring generic puck in Collection Clamp to tube 5 +4 "manipulator"&$% +8 "core" %\ ( S = +4 "storage"(&% +7 "core" %L U\ +2 "storage"(I. +6 "core" .(<< +2 "storage"(J& +7 "core" &<; >\  +4 "storage"( & +9 "core" &<; $\  +2 "manipulator"&K& +8 "core" & & +4 .tElbow.seek 5 + "manipulator"&M( +31 "core" ( +4 "manipulator"&N& +10 "core" & t +2 "storage"(P& +8 "core" &<; T\  +4 .tForearm.reconfigure :tight +4 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 5 + 450 counts +5 "manipulator"&Q' +117 "core" ' +4 "storage"(S& +8 "core" &<; f\  +4 .tSE.reconfigure :pick +85 "storage"(#]K-0-\ b +26 .tSE.seek :beamBreak +4 "storage"(C'e +276 "core" ' +4 "storage"(F- +8 "core" -' +2 .tSE.configure :default +6 "storage"(#QK-0-\ b +4 "manipulator"&H& +8 "core" & ~ w ~ +2 "storage"(V& +8 "core" &<; O\  +2 .tElbow.reconfigure :limp +6 "manipulator"&$ ,(b +4 .tForearm.reconfigure :loose +6 "manipulator"&#Q@2^d^b +6 .tForearm.seek 5 +4 "manipulator"&W'/ +34 "core" ' +4 .tElbow.hold + "manipulator"&O, +8 "core" , +2 .tElbow.reconfigure :tight +6 "manipulator"&$&.,(\ #b +4 "storage"(L- +6 "core" -' +4 .tSE.seek 0.12 Pucks below Top Plate +4 "storage"(Y'o +30 "core" ' +4 "manipulator"&Z% +8 "core" %=r   ¹% +2 "storage"([& +8 "core" &<; Z Z\  +2 .tForearm.force -20 +4 "manipulator"&5 +6 .tForearm.seek 5 + 314 counts + "manipulator"&R'i +21 "core" ' +2 "manipulator"&T& +11 "core" & /  +2 "storage"(*& +8 "core" &<; <\  +4 .tForearm.reconfigure :tight +6 "manipulator"&#Q@2^d^\ b +5 .tForearm.seek 5 + 450 counts +4 "manipulator"&^' +22 "core" ' +4 .tSE.seek 1.12 Pucks below Top Plate +4 "storage"(_'^ +40 "core" ' +4 "manipulator"&\\& +8 "core" & u r  +4 "manipulator"&a% +8 "core" % q u +4 .tForearm.reconfigure :loose +4 "manipulator"&#Q@2^d^b +4 .tForearm.seek :retract +4 "manipulator"&b'\ +96 "core" ' +4 .tElbow.seek CC +5 "manipulator"&c( +167 "core" ( +4 "manipulator"&d& +10 "core" &\  # / +2 .tElbow.reconfigure :loose +6 "manipulator"&$ &.,(#b +4 &e& +6 "core" &\  " / +4 .tForearm.seek CC +4 "manipulator"&f'| +97 "core" ' +2 .tHand.close +4 "manipulator"&g/ +55 "core" / +2 .tCC.seek :open +4 "collection"'h(p +412 "core" ( +3 "storage"(X& +8 "core" &<; |\  +4 "storage"(j& +8 "core" &<; q\  +2 "manipulator"&k& +8 "core" &\  < / +2 "manipulator"&U% +8 "core" % ψ   +4 .tForearm.seek :retract +4 "manipulator"&m'\ +93 "core" ' +4 .tElbow.reconfigure :tight +4 "manipulator"&$&.,(\ #b +4 .tElbow.seek 5 +4 "manipulator"&`( +162 "core" ( +4 "manipulator"&o& +8 "core" & 0  +2 "storage"(p& +8 "core" &<; y\  +4 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +6 .tForearm.seek 5 +2 "manipulator"&q'/ +112 "core" ' +2 .tElbow.hold +4 "manipulator"&s, +7 "core" , +4 .tElbow.reconfigure :tight +4 "manipulator"&$&.,(\ #b +6 .tHand.open +2 "manipulator"&t1 +57 "core" 1 +4 "manipulator"&v% +8 "core" % > b +2 "storage"(w& +8 "core" &<; u x \  +4 .tForearm.force -20 + "manipulator"&5 +10 .tForearm.seek 5 + 315 counts + "manipulator"&y'j +18 "core" ' +2 "manipulator"&i& +10 "core" & x ~ >  +2 "storage"(l& +8 "core" &<; l\  +4 .tForearm.reconfigure :tight +4 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 5 + 450 counts +4 "manipulator"&n' +20 "core" ' +7 "storage"(u% +8 "core" %e \ +4 ."downElevator"SE.seek :down +8 "storage"(|'N +95 (}% +6 "core" %< o\ U[ +4 "manipulator"&r% +6 "core" % r r  +4 .tForearm.reconfigure :loose +6 "manipulator"&#Q@2^d^b +5 .tForearm.seek :retract +4 "manipulator"&'\ +91 "core" ' +34 ' +2 ."downElevator"SE.stop +4 "storage"(5 +4 #tShuffling pucks in tube 6 of [5..7] +4 #Loading generic puck from tube 6 into Collection Clamp +4 "collection"'& +7 "core" &\ +2 "manipulator"&% +9 "core" %\ + h !V +4 "storage"(x% +8 "core" %G \  +2 "storage"(z. +8 "core" .(<< +4 .tSC.reconfigure :tight +4 "storage"($\ .\ 1~b +4 .tSC.seek 6 +4 "storage"(+(K +354 "core" ( +4 .tSC.configure :limp +4 "storage"($\ 1b +5 (& +8 "core" &K \  +2 "manipulator"&& +8 "core" & +  +4 .tElbow.seek 6 + "manipulator"&( +21 "core" ( +4 "manipulator"& & +8 "core" &\ o V +4 "storage"(& +7 "core" &K \  +5 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +4 "manipulator"&\ '< +93 "core" ' +3 "storage"( & +8 "core" &K \  +4 .tSE.reconfigure :pick +4 "storage"(#]K-0-\ b +8 .tSE.seek :beamBreak + "storage"( 'e +288 "core" ' +4 "storage"(- +7 "core" -' +4 .tSE.configure :default +4 "storage"(#QK-0-\ b +7 ( & +6 "core" &K @\  +4 "manipulator"&& +8 "core" &\ S U +2 .tElbow.seek 6 +4 "manipulator"&( +6 "core" ( +2 "manipulator"&~& +8 "core" &\ g U +4 "storage"(& +7 "core" &K `\  +4 .tForearm.seek 6 + 300 counts +4 "manipulator"&'Ϧ +15 "core" ' +2 .tForearm.reconfigure :loose +7 "manipulator"&#Q@2^d^b +2 .tHand.close +4 "manipulator"&{/ +60 "core" / +4 ."downElevator"SE.seek :down +5 "manipulator"&& +10 "storage"('N +12 "core" &\ | v U +4 "manipulator"&% +8 "core" % Ϛ ~ D +4 .tForearm.seek :retract +4 "manipulator"&'\ +99 "core" ' +5 .tElbow.seek CC +4 "manipulator"&( +124 "core" ' +2 ."downElevator"SE.stop +3 "storage"(5 +35 "core" ( +2 "manipulator"&& +8 "core" & 9 5 +4 .tElbow.reconfigure :loose +4 "manipulator"&$ &.,(#b +4 && +8 "core" & 6 5 +4 .tForearm.reconfigure :tight +4 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek CC +4 "manipulator"&%'| +99 "core" ' +5 "manipulator"&'& +9 "core" & 5 +2 "manipulator"&% +8 "core" %υ  +4 "collection"'(& +8 "core" &z|\ +4 "collection"'& +10 "core" &||\ +7 .tCC.seek :closed +4 "collection"',(] +8 "core" &{|\ +5 &z~\ +2 &{|\ 4 +6 &F{|\ 1 +11 &8q||\ E +10 &o{{\ O +9 &ez|\ N +12 &`hx}\ N +6 & !ky|\ O +10 &!k||\ N +9 &#kx|\ N +8 &%hey{\ N +11 &'+fy{\ N +10 &(gy{\ N +10 &*gz|\ N +9 &,qczz\ N +7 &.3hyz\ N +10 &/hyz\ O +10 &1iy{\ O +8 &3xfxz\ N +11 &5;hxz\ N +9 &6ez{\ N +10 &8cz{\ N +9 &:hxz\ N +8 &fy|\ N +9 &?hy{\ N +9 &Agyy\ N +10 &CJjxy\ N +10 &Edwy\ N +9 &Fhbl\ N +9 &Hs7G\ O +8 &JI\ Q +11 &Ll\ T +9 &M \ W +10 &O~\ W +9 &Q?\ X +9 &S\ X +10 &T\ Y +9 &V~\ Z +10 &X@\ Z +9 &Y\ \\ +9 &[\ \\ +10 &]$a\ 0 +9 &]\ [ +8 ( +2 &]\ T +4 "collection"'& +8 #tCollection Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.94 +4 .Hand.open + "manipulator"&-1 +8 "core" &]\ T +52 1 +2 "manipulator"&.% +9 "core" % τ a +4 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +4 .tForearm.seek :retract +4 "manipulator"&'\ +94 "core" ' +5 #tLoading generic puck from tube 6 into Processing Clamp + "processing"%0& +10 "core" &\ +4 "manipulator"&1% +8 "core" %\ ' s > +4 "storage"(4% +7 "core" %C q z \  +4 "storage"(5. +4 "core" .(K +4 "storage"(& +8 "core" &K } { \  +2 "storage"(& +8 "core" &K q s D\  +2 "manipulator"&9& +9 "core" & o 5 +4 "manipulator"&:% +7 "core" %\ ' ; > +5 .tElbow.reconfigure :tight +6 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +4 "manipulator"&"( +152 "core" ( +5 "manipulator"&<& +11 "core" & & +2 "storage"()& +8 "core" &K j k \  +4 .tForearm.reconfigure :tight +4 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 6 + 450 counts +4 "manipulator"&='< +103 "core" ' +4 "storage"(#& +9 "core" &K V\  +4 .tSE.reconfigure :pick +6 "storage"(#]K-0-\ b +6 .tSE.seek :beamBreak +2 "storage"(?'e +283 "core" ' +3 "storage"(2- +9 "core" -' +2 .tSE.configure :default +6 "storage"(#QK-0-\ b +4 (/& +6 "core" &K {\  +5 "manipulator"&A& +7 "core" & ~ R +4 .tElbow.seek 6 + "manipulator"&B( +6 "core" ( +4 "manipulator"&3& +9 "core" &  f +2 "storage"(6& +9 "core" &K X\  +4 .tForearm.seek 6 + 300 counts +4 "manipulator"&;'Ϧ +20 "core" ' +2 .tForearm.reconfigure :loose +6 "manipulator"&#Q@2^d^b +7 .tHand.close + "manipulator"&E/ +64 "core" / +4 ."downElevator"SE.seek :down +6 "manipulator"&G& +4 "storage"(8'N +14 "core" &  +4 "manipulator"&$% +8 "core" % ϡ   +4 .tForearm.seek :retract + "manipulator"&&'\ +96 "core" ' +4 .tElbow.seek PC +4 "manipulator"&I(c +135 "core" ' +2 ."downElevator"SE.stop +2 "storage"(5 +115 "core" ( +2 "manipulator"&J& +9 "core" &k 7 +3 .tElbow.reconfigure :loose +4 "manipulator"&$ &.,(#b +6 & & +5 "core" &k \ +4 .tForearm.reconfigure :tight +6 "manipulator"&#Q@2^d^\ b +5 .tForearm.seek PC +4 "manipulator"&K'[ +97 "core" ' +4 "manipulator"&N& +9 "core" &k ( +2 "manipulator"&P% +8 "core" %e ? +4 "processing"%>& +8 "core" &\ +4 "processing"%S& +10 "core" &\ +3 .tPC.seek :closed +6 "processing"%!(Z +8 "core" &\ +2 &\ \ +6 &.}\ *y +8 &e\ ? +11 &D{\ O +9 & Z\ M +9 &]\ N +10 &^\ N +9 &!O]\ M +10 &#Z\ M +9 &$Z\ M +8 &&b\ M +11 &(W\\\ M +12 &*`\ M +5 &+`\ M +11 &-^\ M +9 &/^e\ N +10 &1 _\ N +9 &2`\ N +8 &4]\ N +11 &6f^\ N +9 &8(`\ N +8 &9^\ M +12 &;[\ M +8 &=o\\\ M +10 &?1`\ M +9 &@c\ M +8 &B\\\ M +11 &Dv\\\ N +9 &F7b\ N +8 &Gm\ O +11 &Iw\ P +8 &Kq\ R +11 &M.\ T +9 &N\ T +10 &P\ S +9 &Ru\ S +9 &T5\ T +10 &U\ T +9 &W\ U +9 &Yy\ B +11 &Zx;\ ^ +9 &Z\ + +2 ( +6 "processing"%S& +6 #tProcessing Clamp onSpring/offSpring for 9/25 samples, on/off torque 1.61 +4 .Hand.open +2 "manipulator"&71 +8 "core" &Z\ + +49 1 +2 "manipulator"&D% +8 "core" % e t +4 .tForearm.reconfigure :loose +4 "manipulator"&#Q@2^d^b +4 .tForearm.seek :retract +4 "manipulator"&F'\ +95 "core" ' +5 "processing"%H& +9 "core" &Z\ + +2 #tImaging generic puck in Processing Clamp while storing it to tube 6 +4 "manipulator"&V% +8 "core" %\ ' d > +2 "storage"(L% +8 "core" %M g h 7\  +4 "storage"(Z. +92 "core" .(K +25 "storage"([& +9 "core" &K _ d\  +4 "storage"(T& +4 "manipulator"&*& +12 "core" &K g _ '\  +4 &k j +4 .tElbow.reconfigure :tight +5 ."raiseStack"SE.reconfigure :place +8 "manipulator"&$&.,(\ #b +2 "storage"(#]kK-0-\ b +6 .tElbow.seek PC +10 "manipulator"&\\(c +10 ."raiseStack"SE.seek :beamBreak + "storage"(a'e +6 "core" ( +2 "manipulator"&Q& +8 "core" &k t +4 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +4 &M& +9 "core" &k +4 .tForearm.seek PC +2 "manipulator"&C'[ +97 "core" ' +4 .tHand.close +4 "manipulator"&W/ +56 "core" / +4 .tPC.seek :open +4 "processing"%R(p +59 "core" ' +2 "storage"(Y- +8 "core" -'e +2 ."raiseStack"SE.configure :default +6 "storage"(#QK-0-\ b +5 ."raiseStack"SE.seek :place +4 "storage"(d'B +37 "core" ' +271 ( +2 "storage"(e& +9 "core" &K } ~ q\  +4 "manipulator"&^& +8 "core" &k v +2 "manipulator"&O% +8 "core" % h +4 .tForearm.seek :retract +4 "manipulator"&g'\ +93 "core" ' +4 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +4 .tElbow.seek 6 +4 "manipulator"&b( +268 "core" ( +2 "manipulator"&]& +11 "core" &  +2 "storage"(X& +8 "core" &K p q /\  +4 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +5 .tForearm.seek 6 + 450 counts +4 "manipulator"&j'< +100 "core" ' +2 .tHand.open +4 "manipulator"&k1 +62 "core" 1 +5 "storage"(U- +5 "core" -'B +4 .tSE.seek -0.16 Pucks below Top Plate +4 "storage"(o' +33 "core" ' +2 .tSE.reconfigure :seal +6 "storage"(#QK-0-\ b +7 .tSE.seek -0.83 Pucks below Top Plate + "storage"(p' +57 "core" ' +4 #tLights, camera, ACTION! + "storage"(f- +6 "core" -' +4 "storage"(c& +8 "core" &K\ \ \ \  +4 "manipulator"&t& +8 "core" & +4 .tElbow.seek 6 +4 "manipulator"&v( +7 "core" ( +4 "manipulator"&w& +6 "core" & g +4 "storage"(i& +6 "core" &K\ \  \  +6 .tForearm.seek 6 + 450 counts + "manipulator"&l'< +6 "core" ' +4 .tSE.reconfigure :gently +6 "storage"(#QK-0-\ b +5 .tSE.seek -0.11 Pucks below Top Plate +4 "storage"(m'M +65 "core" ' +2 "manipulator"&u& +9 "core" &  +2 "storage"(`& +8 "core" &K s q S\  +4 .tElbow.reconfigure :limp +5 "manipulator"&$ ,(b +5 .tForearm.reconfigure :loose +6 "manipulator"&#Q@2^d^b +5 .tForearm.seek 6 +4 "manipulator"&}'z +33 "core" ' +4 .tElbow.hold + "manipulator"&r, +8 "core" , +2 .tElbow.reconfigure :tight +6 "manipulator"&$&.,(\ #b +5 .tSE.reconfigure :default +6 "storage"(#QK-0-\ b +4 .tSE.seek 0.07 Pucks below Top Plate +4 "storage"(q'7 +24 "core" ' +4 "manipulator"&y% +7 "core" %΄q  \ y ¹. +2 "storage"(& +7 "core" &K C C \  +5 .tForearm.force -20 + "manipulator"&5 +6 .tForearm.seek 6 + 310 counts + "manipulator"&'ϰ +20 "core" ' +4 "manipulator"&x& +8 "core" & { ~ P 1 +4 "storage"(_& +7 "core" &K u \  +4 .tForearm.reconfigure :tight +4 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 6 + 450 counts +4 "manipulator"&z'< +21 "core" ' +2 "storage"(n% +8 "core" %< =\  +6 ."downElevator"SE.seek :down +5 "storage"(|'N +102 (@% +4 "core" %F; o { ^\ U^ +4 "manipulator"&% +8 "core" %& { m  +4 .tForearm.reconfigure :loose +7 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +4 "manipulator"&'\ +89 "core" ' +44 ' +2 ."downElevator"SE.stop + "storage"(5 +4 ( & +8 "core" &K t q l\  +4 "collection"'& +8 "core" &]\ T +2 #tStoring generic puck in Collection Clamp to tube 6 +4 "manipulator"& % +8 "core" %\ % 3 +2 "storage"(s% +10 "core" %C { q :\ +4 "storage"(. +6 "core" .(K +2 "storage"(& +9 "core" &K p p 1\  +4 "storage"( & +6 "core" &K q p \  +4 "manipulator"&& +8 "core" & Z 1 +4 .tElbow.seek 6 +4 "manipulator"&~( +19 "core" ( +4 "manipulator"&& +8 "core" & x !r +2 "storage"({& +8 "core" &K } { \  +4 .tForearm.reconfigure :tight +6 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +4 "manipulator"&'< +103 "core" ' +4 "storage"(& +8 "core" &K h g x\  +4 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +5 .tSE.seek :beamBreak +4 "storage"('e +281 "core" ' +2 "storage"(\ - +6 "core" -' +4 .tSE.configure :default +3 "storage"(#QK-0-\ b +6 "manipulator"& & +6 "core" & ~ 6 !r +3 "storage"(& +8 "core" &K { \  +2 .tElbow.reconfigure :limp +4 "manipulator"&$ ,(b +6 .tForearm.reconfigure :loose +4 "manipulator"&#Q@2^d^b +6 .tForearm.seek 6 +2 "manipulator"&'z +37 "core" ' +2 .tElbow.hold + "manipulator"&, +9 "core" , +2 .tElbow.reconfigure :tight +6 "manipulator"&$&.,(\ #b +2 "storage"(- +6 "core" -' +6 .tSE.seek 0.12 Pucks below Top Plate + "storage"(''q +30 "core" ' +2 "manipulator"&% +8 "core" %}_ $ 4 ( ȴ +4 "storage"((& +7 "core" &K $ $ 5\  +2 .tForearm.force -20 +4 "manipulator"&5 +6 .tForearm.seek 6 + 303 counts + "manipulator"&'ϩ +18 "core" ' +4 "manipulator"&& +8 "core" & } "y +4 "storage"(h& +7 "core" &K  \  +4 .tForearm.reconfigure :tight +5 "manipulator"&#Q@2^d^\ b +5 .tForearm.seek 6 + 450 counts +5 "manipulator"&-'< +22 "core" ' +4 .tSE.seek 1.12 Pucks below Top Plate + "storage"(.'` +51 "core" ' +2 "manipulator"&0& +9 "core" & x r | "y +4 "manipulator"&% +8 "core" %C r v ^ +4 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +5 .tForearm.seek :retract +5 "manipulator"&1'\ +91 "core" ' +4 .tElbow.seek CC +4 "manipulator"&4( +147 "core" ( +2 "manipulator"&5& +11 "core" &\ $ e ;7 +2 .tElbow.reconfigure :loose +4 "manipulator"&$ &.,(#b +7 && +4 "core" &\ $ 3 ;7 +4 .tForearm.seek CC +4 "manipulator"&'| +103 "core" ' +2 .tHand.close +2 "manipulator"&9/ +58 "core" / +3 .tCC.seek :open +5 "collection"':(p +412 "core" ( +5 "storage"(%& +9 "core" &K G\  +2 "storage"(<& +9 "core" &K V\  +2 "manipulator"&)& +8 "core" &&  8 +3 "manipulator"&#% +6 "core" % τ +4 .tForearm.seek :retract +4 "manipulator"&'\ +92 "core" ' +4 .tElbow.reconfigure :tight +4 "manipulator"&$&.,(\ #b +5 .tElbow.seek 6 +4 "manipulator"&( +155 "core" ( +4 "manipulator"&2& +8 "core" &   +2 "storage"(/& +8 "core" &K \  +2 .tElbow.reconfigure :limp +6 "manipulator"&$ ,(b +4 .tForearm.seek 6 +4 "manipulator"&A'z +109 "core" ' +4 .tElbow.hold + "manipulator"&3, +8 "core" , +2 .tElbow.reconfigure :tight +6 "manipulator"&$&.,(\ #b +2 .tHand.open +4 "manipulator"&61 +64 "core" 1 +2 "manipulator"&E% +10 "core" % · # f +2 "storage"(G& +8 "core" &K z v\  +2 .tForearm.force -20 +4 "manipulator"&5 +4 .tForearm.seek 6 + 313 counts +7 "manipulator"&$'ϳ +18 "core" ' +2 "manipulator"&"& +9 "core" & } $ 0 +2 "storage"(=& +8 "core" &K \  +4 .tForearm.reconfigure :tight +4 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 6 + 450 counts +4 "manipulator"&?'< +20 "core" ' +2 "storage"(;% +8 "core" %d 6\ +4 ."downElevator"SE.seek :down +10 "storage"(J'N +99 ( % +7 "core" %V< S\ T[ +5 "manipulator"&B% +6 "core" %0 { K +4 .tForearm.reconfigure :loose +6 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +4 "manipulator"&N'\ +93 "core" ' +29 ' +3 ."downElevator"SE.stop +5 "storage"(5 +6 #tShuffling pucks in tube 7 of [5..7] + #Loading generic puck from tube 7 into Collection Clamp +5 "collection"'P& +5 "core" &{}\ +4 "manipulator"&>% +8 "core" %\ % I 5 +2 "storage"(8% +7 "core" %G W\  +4 "storage"(&. +8 "core" .(K +4 .tSC.reconfigure :tight +4 "storage"($\ .\ 1~b +4 .tSC.seek 7 +4 "storage"(([ +379 "core" ( +4 .tSC.configure :limp +4 "storage"($\ 1b +4 (7& +6 "core" &[ `\ +2 "manipulator"&D& +15 "core" & [ 0 +4 .tElbow.seek 7 +3 "manipulator"&H( +29 "core" ( +4 "manipulator"&V& +8 "core" & a +4 "storage"(S& +8 "core" &[ \ +4 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 7 + 450 counts +4 "manipulator"&L'k +98 "core" ' +4 "storage"(Z& +6 "core" &[ >\ +4 .tSE.reconfigure :pick +4 "storage"(#]K-0-\ b +6 .tSE.seek :beamBreak +4 "storage"(['e +286 "core" ' +3 "storage"(*- +8 "core" -' +2 .tSE.configure :default +6 "storage"(#QK-0-\ b +5 (T& +8 "core" &[ F\ +2 "manipulator"&K& +8 "core" &  a +4 .tElbow.seek 7 +2 "manipulator"&Q( +6 "core" ( +4 "manipulator"&M& +8 "core" & ) a +2 "storage"(W& +8 "core" &[ \ +4 .tForearm.seek 7 + 300 counts + "manipulator"&Y' +17 "core" ' +2 .tForearm.reconfigure :loose +4 "manipulator"&#Q@2^d^b +4 .tHand.close +4 "manipulator"&I/ +59 "core" / +4 ."downElevator"SE.seek :down +8 "manipulator"&F& +3 "storage"(!'N +14 "core" & {  a +2 "manipulator"&a% +8 "core" % u | I +4 .tForearm.seek :retract +4 "manipulator"&e'\ +99 "core" ' +5 .tElbow.seek CC + "manipulator"&^( +130 "core" ' +2 ."downElevator"SE.stop +4 "storage"(5 +32 "core" ( +2 "manipulator"&O& +10 "core" & *  @] +4 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +4 &C& +9 "core" & * @] +5 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +5 .tForearm.seek CC + "manipulator"&]'| +101 "core" ' +2 "manipulator"&X& +10 "core" &:# 9 :, +3 "manipulator"&\\% +8 "core" %υ : +4 "collection"'k& +8 "core" &xx\ +4 "collection"'U& +10 "core" &vy\ +6 .tCC.seek :closed +115 "collection"'f(] +37 "core" &uy\ +2 &uy\ +4 &wx\ +2 &xx\ +2 &vw\ +2 &ww\ +2 &ux\ +2 &uy\ +2 &xy\ +2 &vw\ +4 &xx\ +2 &wx\ +4 &xv\ +3 &vx\ +4 &xy\ +2 &wx\ +2 &xy\  +2 &/wx\ +z +2 &bwy\ > +7 &Hxy\ N +2 &\ eww\ N +2 &ew{\ N +2 &hvy\ N +6 &!Ohwx\ N +8 &#jvx\ N +9 &$gwx\ N +8 &&gvz\ N +15 &(Yetw\ N +4 &*hvx\ N +9 &+hux\ N +11 &-ewx\ N +9 &/`hux\ N +9 &1"hvw\ N +10 &2gvw\ N +8 &4dvu\ M +12 &6jcww\ M +9 &8+hsw\ N +7 &9guw\ N +12 &;dvw\ N +7 &=qdvw\ N +11 &?4bwy\ M +10 &@hvw\ N +6 &Bevu\ M +14 &Dzctx\ M +7 &F<enx\ M +10 &GiXc\ N +9 &Iv/B\ P +13 &Kv\ Q +7 &M-b\ U +8 &N?D\ W +9 &P-7\ W +11 &Rl%\ X +8 &T+\ Y +10 &U\ Y +9 &W\ Z +9 &Yi\ [ +10 &[+\ [ +9 &\\{\ 4 +10 &]%\ !b +9 &]s\ N +4 ( +4 &]s\ N +3 "collection"'U& +5 #tCollection Clamp onSpring/offSpring for 9/25 samples, on/off torque 1.89 +4 .Hand.open + "manipulator"&g1 +66 "core" 1 +2 "manipulator"&c% +8 "core" % z C +4 .tForearm.reconfigure :loose +4 "manipulator"&#Q@2^d^b +4 .tForearm.seek :retract +5 "manipulator"&t'\ +93 "core" ' +4 #tLoading generic puck from tube 7 into Processing Clamp +4 "processing"%w& +8 "core" &\ +2 "manipulator"&i% +8 "core" %\ + L A +5 "storage"(u% +8 "core" %G p p\  +2 "storage"(`. +6 "core" .([ +4 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +7 .tSC.seek 7 +3 "storage"(d([ +4 "core" ( +4 .tSC.configure :limp +4 "storage"($\ 1b +5 (o& +5 "core" &[ p p \ +4 "manipulator"&y& +8 "core" &:" 2 :, +2 "manipulator"&% +8 "core" %\ + E A +4 .tElbow.reconfigure :tight +4 "manipulator"&$&.,(\ #b +4 .tElbow.seek 7 +5 "manipulator"&b( +161 "core" ( +2 "manipulator"&x& +10 "core" &   +2 "storage"(j& +8 "core" &[ j g \ +4 .tForearm.reconfigure :tight +4 "manipulator"&#Q@2^d^\ b +5 .tForearm.seek 7 + 450 counts +4 "manipulator"&_'k +97 "core" ' +2 "storage"(p& +11 "core" &[ `\ +4 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +6 .tSE.seek :beamBreak +4 "storage"(n'e +282 "core" ' +2 "storage"(l- +8 "core" -' +2 .tSE.configure :default +4 "storage"(#QK-0-\ b +6 (@& +5 "core" &[ h i \ +4 "manipulator"&v& +6 "core" &   +5 .tElbow.seek 7 + "manipulator"&( +8 "core" ( +4 "manipulator"&m& +8 "core" & %  +2 "storage"(}& +8 "core" &[ C\ +4 .tForearm.seek 7 + 300 counts +4 "manipulator"&' +13 "core" ' +2 .tForearm.reconfigure :loose +6 "manipulator"&#Q@2^d^b +5 .tHand.close + "manipulator"& / +61 "core" / +7 ."downElevator"SE.seek :down +7 "manipulator"&& +4 "storage"( 'N +14 "core" & y  +4 "manipulator"&q% +7 "core" % } x W +4 .tForearm.seek :retract + "manipulator"&s'\ +94 "core" ' +4 .tElbow.seek PC +3 "manipulator"&(c +138 "core" ' +4 ."downElevator"SE.stop +4 "storage"(5 +116 "core" ( +2 "manipulator"&& +10 "core" &Z   +3 .tElbow.reconfigure :loose +4 "manipulator"&$ &.,(#b +4 & & +10 "core" &Z s  +5 .tForearm.reconfigure :tight +4 "manipulator"&#Q@2^d^\ b +5 .tForearm.seek PC +4 "manipulator"&'[ +94 "core" ' +4 "manipulator"&& +7 "core" &Z  +4 "manipulator"&{% +9 "core" %[ K  +2 "processing"%z& +9 "core" &\ +4 "processing"%& +10 "core" &\ +6 .tPC.seek :closed +4 "processing"%|(Z +8 "core" &\ +3 &\ +4 & 2\ #a +8 &]V\ 7 +11 &\ L +9 &p_\ M +10 &3]\ M +9 &_\ M +9 & `\ M +9 &"w_\ M +11 &$9_\ M +7 &%_\ M +12 &'_\ M +10 &)_\ M +7 &+B]\ M +10 &-b\ M +8 &.a\ M +11 &0`\ M +9 &2I_\ M +8 &4 ^\ M +11 &5_\ M +9 &7_\ M +8 &9Q_\ M +11 &;a\ M +8 &<]\ M +12 &>`\ M +7 &@Z\\\ M +9 &B`\ M +11 &Ca\ M +9 &E_\ M +9 &G`g\ N +10 &Ip\ O +8 &J\ Q +12 &L\ S +8 &NX\ S +11 &P\ T +8 &Q\ T +8 &S\ T +11 &U^\ T +9 &W \ T +8 &X\ T +11 &Z;Ks\ , +10 &Z.\ ) +4 ( +4 "processing"%& +6 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.56 +4 .Hand.open + "manipulator"&r1 +7 "core" &Z\ ) +57 1 +2 "manipulator"&% +8 "core" % [ 7  +4 .tForearm.reconfigure :loose +6 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +4 "manipulator"&\ '\ +97 "core" ' +4 "processing"% & +8 "core" &Z\ ) +4 #tImaging generic puck in Processing Clamp while storing it to tube 7 + "manipulator"&% +8 "core" %\ + !P +2 "storage"(% +9 "core" %? Z Z\  +2 "storage"(. +8 "core" .([ +2 "storage"((& +8 "core" &[ \\ [ +\ +4 "storage"(& +9 "manipulator"&h& +8 "core" &[ i o #\ +2 &[ 2  +7 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +7 "storage"(#]kK-0-\ b +4 "manipulator"&$&.,(\ #b +8 .tElbow.seek PC +4 "manipulator"&0(c +6 ."raiseStack"SE.seek :beamBreak +4 "storage"('e +4 "core" ( +4 "manipulator"&& +8 "core" &[ T  +2 .tElbow.reconfigure :loose +6 "manipulator"&$ &.,(#b +7 &~& +8 "core" &[  +4 .tForearm.seek PC +2 "manipulator"&'[ +97 "core" ' +3 .tHand.close + "manipulator"&/ +61 "core" / +2 .tPC.seek :open +4 "processing"%(p +62 "core" ' +2 "storage"('- +9 "core" -'e +2 ."raiseStack"SE.configure :default +6 "storage"(#QK-0-\ b +4 ."raiseStack"SE.seek :place +3 "storage"(5'B +46 "core" ' +263 ( +4 "storage"(& +13 "core" &[ { \ +10 "manipulator"&-& +8 "core" &[  +4 "manipulator"&% +6 "core" % b  +4 .tForearm.seek :retract +4 "manipulator"&9'\ +94 "core" ' +2 .tElbow.reconfigure :tight +6 "manipulator"&$&.,(\ #b +2 .tElbow.seek 7 +4 "manipulator"&1( +259 "core" ( +2 "manipulator"&,& +10 "core" & r  +2 "storage"(%& +8 "core" &[ ~ ~ \ +4 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +7 .tForearm.seek 7 + 450 counts +2 "manipulator"&<'k +98 "core" ' +4 .tHand.open + "manipulator"&)1 +58 "core" 1 +4 "storage"(#- +6 "core" -'B +4 .tSE.seek -0.16 Pucks below Top Plate +4 "storage"(2' +25 "core" ' +2 .tSE.reconfigure :seal +6 "storage"(#QK-0-\ b +4 .tSE.seek -0.83 Pucks below Top Plate +5 "storage"(/' +53 "core" ' +4 #tLights, camera, ACTION! +4 "storage"(- +6 "core" -' +4 "storage"(4& +8 "core" &[\ \ \ +2 "manipulator"&6& +8 "core" &   +4 .tElbow.seek 7 + "manipulator"&E( +9 "core" ( +2 "manipulator"&G& +6 "core" &   +6 "storage"("& +8 "core" &[\ \  \ +4 .tForearm.seek 7 + 450 counts + "manipulator"&='k +11 "core" ' +3 .tSE.reconfigure :gently +6 "storage"(#QK-0-\ b +4 .tSE.seek -0.11 Pucks below Top Plate +4 "storage"('M +65 "core" ' +4 "manipulator"&;& +8 "core" &   +2 "storage"(& +11 "core" &[ | #\ +2 .tElbow.reconfigure :limp +6 "manipulator"&$ ,(b +5 .tForearm.reconfigure :loose +7 "manipulator"&#Q@2^d^b +2 .tForearm.seek 7 +5 "manipulator"& 'Ω +32 "core" ' +2 .tElbow.hold +5 "manipulator"&B, +7 "core" , +4 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +6 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +3 .tSE.seek 0.07 Pucks below Top Plate +4 "storage"(A'7 +25 "core" ' +2 "manipulator"&$% +8 "core" %λ v +4 "storage"(P& +8 "core" &[ \\ Z\ +4 .tForearm.force -20 +2 "manipulator"&5 +7 .tForearm.seek 7 + 318 counts +2 "manipulator"&>' +26 "core" ' +2 "manipulator"&8& +8 "core" &  ;  +4 "storage"(.& +7 "core" &[ Q\ +4 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 7 + 450 counts +4 "manipulator"&&'k +17 "core" ' +2 "storage"(?% +10 "core" %; S\  +4 ."downElevator"SE.seek :down +7 "storage"(J'N +99 (+% +6 "core" %L: s z M\ U] +4 "manipulator"&7% +5 "core" %g | +4 .tForearm.reconfigure :loose +6 "manipulator"&#Q@2^d^b +5 .tForearm.seek :retract +4 "manipulator"&D'\ +92 "core" ' +39 ' +2 ."downElevator"SE.stop + "storage"(5 +6 (V& +8 "core" &[ ~ ~ \ +4 "collection"'S& +8 "core" &]s\ N +4 #tStoring generic puck in Collection Clamp to tube 7 + "manipulator"&Z% +8 "core" %\ . #j +2 "storage"(3% +8 "core" %B ~ ~ \  +4 "storage"(N. +9 "core" .([ +2 "storage"(*& +8 "core" &[ ~ ~ \ +4 "storage"(T& +6 "core" &[   \ +4 "manipulator"&K& +8 "core" &  +2 .tElbow.seek 7 +4 "manipulator"&M( +6 "core" ( +4 "manipulator"&W& +8 "core" & d  +4 "storage"(I& +7 "core" &[ { B\ +4 .tForearm.reconfigure :tight +6 "manipulator"&#Q@2^d^\ b +10 .tForearm.seek 7 + 450 counts +2 "manipulator"&F'k +104 "core" ' +4 "storage"(a& +8 "core" &[ [\ +4 .tSE.reconfigure :pick +4 "storage"(#]K-0-\ b +6 .tSE.seek :beamBreak +4 "storage"(H'e +282 "core" ' +4 "storage"(L- +7 "core" -' +5 .tSE.configure :default +2 "storage"(#QK-0-\ b +8 "manipulator"&[& +9 "core" & u {  +3 "storage"(O& +8 "core" &[ 3\ +3 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +5 .tForearm.reconfigure :loose +7 "manipulator"&#Q@2^d^b +6 .tForearm.seek 7 +4 "manipulator"&C'Ω +33 "core" ' +2 .tElbow.hold +4 "manipulator"&Y, +6 "core" , +4 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +4 "storage"(Q- +4 "core" -' +6 .tSE.seek 0.12 Pucks below Top Plate + "storage"(X'o +31 "core" ' +2 "manipulator"&\\% +10 "core" %θ w j +2 "storage"(k& +8 "core" &[ > G \ +2 .tForearm.force -20 +5 "manipulator"&5 +4 .tForearm.seek 7 + 315 counts +4 "manipulator"&!' +23 "core" ' +2 "manipulator"&e& +10 "core" & | {  +2 "storage"(:& +8 "core" &[ U\ +4 .tForearm.reconfigure :tight +5 "manipulator"&#Q@2^d^\ b +5 .tForearm.seek 7 + 450 counts +4 "manipulator"&g'k +18 "core" ' +4 .tSE.seek 1.12 Pucks below Top Plate + "storage"(c'^ +50 "core" ' +4 "manipulator"&w& +9 "core" & t |  +121 "manipulator"&U% +8 "core" %d v | +4 .tForearm.reconfigure :loose +4 "manipulator"&#Q@2^d^b +5 .tForearm.seek :retract +4 "manipulator"&i'\ +92 "core" ' +8 .tElbow.seek CC +2 "manipulator"&u( +162 "core" ( +2 "manipulator"&`& +8 "core" &* @^ +4 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +6 &o& +4 "core" &*  @^ +4 .tForearm.seek CC +4 "manipulator"&y'| +104 "core" ' +3 .tHand.close +5 "manipulator"&/ +59 "core" / +4 .tCC.seek :open +2 "collection"'](p +410 "core" ( +4 "storage"(x& +9 "core" &[ [\ +2 "storage"(j& +12 "core" &[ U\ +4 "manipulator"&& +7 "core" &< 8 7 +4 "manipulator"&p% +7 "core" % s * +4 .tForearm.seek :retract + "manipulator"&^'\ +100 "core" ' +4 .tElbow.reconfigure :tight +4 "manipulator"&$&.,(\ #b +5 .tElbow.seek 7 +4 "manipulator"&t( +160 "core" ( +2 "manipulator"&l& +10 "core" & x  +2 "storage"(@& +8 "core" &[ l\ +4 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +6 .tForearm.seek 7 + "manipulator"&v'Ω +108 "core" ' +2 .tElbow.hold +4 "manipulator"&m, +8 "core" , +2 .tElbow.reconfigure :tight +6 "manipulator"&$&.,(\ #b +5 .tHand.open +5 "manipulator"&}1 +63 "core" 1 +4 "manipulator"& % +13 "core" % μ  +2 "storage"(& +8 "core" &[ i j {\ +2 .tForearm.force -20 +4 "manipulator"&5 +6 .tForearm.seek 7 + 319 counts + "manipulator"&q' +21 "core" ' +2 "manipulator"&b& +10 "core" & { ^  +2 "storage"(_& +8 "core" &[ a\ +4 .tForearm.reconfigure :tight +4 "manipulator"&#Q@2^d^\ b +5 .tForearm.seek 7 + 450 counts +6 "manipulator"&n'k +14 "core" ' +2 "storage"(% +8 "core" %b D\ +4 ."downElevator"SE.seek :down +7 "storage"('N +100 ( % +5 "core" %+< P\ U\\ +4 "manipulator"&% +7 "core" %n t | # +4 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +4 .tForearm.seek :retract +4 "manipulator"&'\ +93 "core" ' +32 ' +2 ."downElevator"SE.stop +4 "storage"(5 +6 #tShuffling pucks in tube 5 of [5..7] + #Loading generic puck from tube 5 into Collection Clamp +3 "collection"'{& +8 "core" &tx\ +4 "manipulator"&z% +7 "core" %\ 1 $n +4 "storage"( % +8 "core" %F \  +2 "storage"(s. +8 "core" .([ +2 .tSC.reconfigure :tight +6 "storage"($\ .\ 1~b +5 .tSC.seek 5 +4 "storage"(R(<< +671 "core" ( +4 .tSC.configure :limp +3 "storage"($\ 1b +5 (r& +7 "core" & +9 &Kuu\ N +8 &esu\ M +10 &krt\ N +10 &lrv\ N +8 &!Tgtv\ N +13 &#jrt\ M +7 &$jqt\ N +8 &&hqt\ M +14 &(]frt\ M +6 &*esv\ M +10 &+grv\ M +11 &-htt\ M +7 &/ehsv\ M +10 &1'jrt\ M +10 &2frs\ N +7 &4hsu\ M +11 &6mgqt\ M +8 &80gsu\ M +13 &9eqs\ M +7 &;gss\ M +8 &=tgru\ N +13 &?7dsu\ M +7 &@fsq\ M +9 &Biru\ M +10 &D}gst\ M +8 &F>glt\ N +11 &HmT_\ N +9 &I|1?\ O +8 &Kw\ R +11 &M0]\ U +9 &NKR\ V +10 &P=D\ W +9 &Ro,4\ X +11 &T0%\ X +8 &U\ Y +9 &W \ Z +10 &Ym\ [\ +10 &[-\ \\ +10 &\\{\ 2 +8 &]!\ $j +10 &]\ ] +4 ( +6 "collection"'#& +4 #tCollection Clamp onSpring/offSpring for 9/25 samples, on/off torque 1.91 +5 .Hand.open + "manipulator"&41 +6 "core" &]\ ] +49 1 +5 "manipulator"&9% +7 "core" % } N  +4 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +4 .tForearm.seek :retract +5 "manipulator"&6'\ +98 "core" ' +5 #tLoading generic puck from tube 5 into Processing Clamp +6 "processing"%G& +8 "core" &\ +2 "manipulator"&"% +8 "core" %\ - Y "Y +4 "storage"(;% +9 "core" %K ] \\\  +2 "storage"(. +6 "core" .('[ +32 "core" ' +4 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +4 .tHand.close +4 "manipulator"&V/ +65 "core" / +4 ."downElevator"SE.seek :down +10 "manipulator"&S& "storage"(Z'N +18 "core" &  } A  +2 "manipulator"&A% +8 "core" % W  ~ c +4 .tForearm.seek :retract +4 "manipulator"&3'\ +92 "core" ' +2 .tElbow.seek PC +4 "manipulator"&N(c +142 "core" ' +4 ."downElevator"SE.stop + "storage"(5 +105 "core" ( +2 "manipulator"&*& +8 "core" &m   +4 .tElbow.reconfigure :loose +4 "manipulator"&$ &.,(#b +4 &T& +6 "core" &m  +4 .tForearm.reconfigure :tight +5 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek PC +6 "manipulator"&K'[ +92 "core" ' +4 "manipulator"&W& +8 "core" &m Q  +4 "manipulator"&I% +8 "core" %c E  +4 "processing"%&& +8 "core" &\ +4 "processing"%a& +8 "core" &\ +9 .tPC.seek :closed +3 "processing"%J(Z +14 "core" &\ +2 &\ +2 &\ 1 +6 & H\ 1 +8 &5r\ E +11 &e\ N +7 &]\ M +11 &`]\ M +10 & "_\ M +7 &!Y\ M +11 &#\\\ M +9 &%j\\\ M +8 &',]\ M +11 &(\\\ M +8 &*]\ L +11 &,p]\ M +9 &.2^\ M +8 &/[\ M +11 &1]\ M +9 &3yZ\ M +8 &5;\\\ M +11 &6\\\ M +10 &8_\ M +9 &:]\ M +10 &_\ M +12 &?`\ M +9 &Aa\ N +7 &CK^\ M +11 &E ]\ M +8 &F`\ N +12 &Hj\ O +8 &JIx\ P +10 &L\ R +9 &M\ S +9 &O\ T +10 &QG\ T +10 &S \ T +7 &T\ T +11 &V\ T +10 &XM\ T +9 &Y{y\ (~ +11 &Z+|\ 6 +5 ( +4 &Z\ * +6 "processing"%a& +6 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.56 +2 .Hand.open +4 "manipulator"&B1 +6 "core" &Z\ * +51 1 +2 "manipulator"&D% +8 "core" % c  +4 .tForearm.reconfigure :loose +4 "manipulator"&#Q@2^d^b +5 .tForearm.seek :retract +4 "manipulator"&L'\ +94 "core" ' +4 "processing"%[& +5 "core" &Z\ * +4 #tImaging generic puck in Processing Clamp while storing it to tube 5 +2 "manipulator"&O% +8 "core" %\ + !N +4 "storage"(Q% +8 "core" %O Z [\  +2 "storage"(\\. +7 "core" .(<9 +4 .tSC.reconfigure :tight +5 "storage"($\ .\ 1~b +4 .tSC.seek 5 + "storage"(k(<< +12 "core" ( +2 .tSC.configure :limp +6 "storage"($\ 1b +5 (e& +2 "manipulator"&:& +16 "core" &<9 Z \\ \ \ +4 &m  +5 .tElbow.reconfigure :tight +4 ."raiseStack"SE.reconfigure :place +8 "manipulator"&$&.,(\ #b +6 .tElbow.seek PC +7 "storage"(#]kK-0-\ b +2 "manipulator"&w(c +11 ."raiseStack"SE.seek :beamBreak +4 "storage"(F'e +6 "core" ( +2 "manipulator"&M& +8 "core" &m  +2 .tElbow.reconfigure :loose +6 "manipulator"&$ &.,(#b +114 &H& +3 "core" &m  +7 .tForearm.seek PC + "manipulator"&U'[ +99 "core" ' +4 .tHand.close + "manipulator"&C/ +20 "core" ' +2 "storage"(!- +6 "core" -'e +4 ."raiseStack"SE.configure :default +5 "storage"(#QK-0-\ b +7 ."raiseStack"SE.seek :place +5 "storage"(X'B +12 "core" / +4 .tPC.seek :open +4 "processing"%`(p +18 "core" ' +377 ( +4 "storage"(o& +10 "core" &<9 g g k\ \ +3 "manipulator"&g& +8 "core" &m a  +2 "manipulator"&Y% +9 "core" % [ j +4 .tForearm.seek :retract +4 "manipulator"&'\ +95 "core" ' +4 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +5 .tElbow.seek 5 +2 "manipulator"&i( +244 "core" ( +4 "manipulator"&f& +9 "core" & 1 J +2 "storage"(x& +8 "core" &<9 \\ ]\ \ +4 .tForearm.reconfigure :tight +6 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 5 + 450 counts +4 "manipulator"&j' +98 "core" ' +2 .tHand.open +4 "manipulator"&1 +55 "core" 1 +4 "storage"(p- +8 "core" -'B +3 .tSE.seek -0.16 Pucks below Top Plate +4 "storage"(l' +24 "core" ' +4 .tSE.reconfigure :seal +6 "storage"(#QK-0-\ b +5 .tSE.seek -0.83 Pucks below Top Plate +4 "storage"(@' +53 "core" ' +4 #tLights, camera, ACTION! + "storage"(y- +10 "core" -' +4 "storage"(u& +8 "core" &<7 \ +2 "manipulator"&}& +9 "core" &  J +2 .tElbow.seek 5 +4 "manipulator"& ( +6 "core" ( +4 "manipulator"&& +8 "core" &  J +2 "storage"(b& +8 "core" &<7 \ +4 .tForearm.seek 5 + 450 counts +4 "manipulator"&_' +6 "core" ' +5 .tSE.reconfigure :gently +9 "storage"(#QK-0-\ b +6 .tSE.seek -0.11 Pucks below Top Plate + "storage"(^'M +61 "core" ' +2 "manipulator"&& +11 "core" & h J +2 "storage"(t& +8 "core" &<7 \\ [\ +4 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +6 .tForearm.reconfigure :loose +4 "manipulator"&#Q@2^d^b +4 .tForearm.seek 5 +4 "manipulator"& '/ +30 "core" ' +2 .tElbow.hold +4 "manipulator"&, +7 "core" , +4 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +7 .tSE.reconfigure :default +4 "storage"(#QK-0-\ b +6 .tSE.seek 0.07 Pucks below Top Plate + "storage"(v'7 +30 "core" ' +2 "manipulator"&{% +8 "core" %B * n +4 "storage"(q& +8 "core" &<7 C C \ +4 .tForearm.force -20 +2 "manipulator"&5 +6 .tForearm.seek 5 + 319 counts + "manipulator"&z'n +19 "core" ' +2 "manipulator"& & +10 "core" &2 z  +2 "storage"(c& +9 "core" &<7 p p \ +5 .tForearm.reconfigure :tight +6 "manipulator"&#Q@2^d^\ b +7 .tForearm.seek 5 + 450 counts +4 "manipulator"&s' +11 "core" ' +2 "storage"(n% +10 "core" %5 z p C\ +4 ."downElevator"SE.seek :down +6 "storage"('N +98 (d% +6 "core" %9 \\ [\ U^ +4 "manipulator"&r% +8 "core" % ~  * +4 .tForearm.reconfigure :loose +4 "manipulator"&#Q@2^d^b +5 .tForearm.seek :retract +4 "manipulator"&'\ +93 "core" ' +40 ' +2 ."downElevator"SE.stop +3 "storage"(5 +3 (& +9 "core" &<7 R Y N\ +4 "collection"'& +10 "core" &]\ ] +2 #tStoring generic puck in Collection Clamp to tube 5 +3 "manipulator"&% +8 "core" %\ - "\\ +2 "storage"(m% +11 "core" %C e g \  +2 "storage"(. +6 "core" .(<9 +4 .tSC.reconfigure :tight +4 "storage"($\ .\ 1~b +4 .tSC.seek 5 +4 "storage"(h(<< +15 "core" ( +2 .tSC.configure :limp +4 "storage"($\ 1b +4 (& +8 "core" &<9 6 R a\  +6 "manipulator"&& +7 "core" &2 I  +2 .tElbow.seek 5 +4 "manipulator"&( +41 "core" ( +2 "manipulator"&& +10 "core" & > # +2 "storage"(& +8 "core" &<8 g h W\  +4 .tForearm.reconfigure :tight +4 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 5 + 450 counts +4 "manipulator"&\ ' +95 "core" ' +4 "storage"(& +8 "core" &<8 [ \\\  +2 .tSE.reconfigure :pick +6 "storage"(#]K-0-\ b +6 .tSE.seek :beamBreak +4 "storage"( 'e +276 "core" ' +4 "storage"(- +5 "core" -' +2 .tSE.configure :default +6 "storage"(#QK-0-\ b +5 "manipulator"&(& +9 "core" & p # +2 "storage"(& +11 "core" &<8 g h S\  +2 .tElbow.reconfigure :limp +6 "manipulator"&$ ,(b +4 .tForearm.reconfigure :loose +6 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +4 "manipulator"&'/ +34 "core" ' +2 .tElbow.hold +4 "manipulator"&', +6 "core" , +4 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +4 "storage"(~- +6 "core" -' +5 .tSE.seek 0.11 Pucks below Top Plate +4 "storage"(%'m +27 "core" ' +2 "manipulator"&0% +8 "core" %:k   9 ÷ +2 "storage"()& +8 "core" &<8 $ $ \  +2 .tForearm.force -20 +4 "manipulator"&5 +6 .tForearm.seek 5 + 311 counts + "manipulator"&|'f +19 "core" ' +4 "manipulator"&& +8 "core" &A L ; +2 "storage"(]& +9 "core" &<8 ] ]\  +4 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +7 .tForearm.seek 5 + 450 counts + "manipulator"&4' +17 "core" ' +4 .tSE.seek 1.11 Pucks below Top Plate +4 "storage"(9'\\ +52 "core" ' +4 "manipulator"&G& +7 "core" &A {  ; +4 "manipulator"&#% +7 "core" % ~ p - +7 .tForearm.reconfigure :loose +6 "manipulator"&#Q@2^d^b +4 .tForearm.seek :retract +4 "manipulator"&"'\ +91 "core" ' +2 .tElbow.seek CC +4 "manipulator"&;( +159 "core" ( +2 "manipulator"&& +8 "core" &, L Bg +4 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +4 &2& +6 "core" &- 2 Bg +4 .tForearm.seek CC +4 "manipulator"&$'| +95 "core" ' +2 .tHand.close +5 "manipulator"&P/ +54 "core" / +4 .tCC.seek :open + "collection"',(p +412 "core" ( +4 "storage"(<& +4 "core" &<8 _\  +5 "storage"(8& +8 "core" &<8 `\  +4 "manipulator"&R& +8 "core" &1# ;5 +2 "manipulator"&-% +8 "core" % Ϗ C +4 .tForearm.seek :retract +2 "manipulator"&/'\ +98 "core" ' +4 .tElbow.reconfigure :tight +4 "manipulator"&$&.,(\ #b +4 .tElbow.seek 5 +4 "manipulator"&6( +162 "core" ( +2 "manipulator"&=& +9 "core" & *  +2 "storage"(+& +8 "core" &<8 \  +2 .tElbow.reconfigure :limp +6 "manipulator"&$ ,(b +4 .tForearm.seek 5 +4 "manipulator"&E'/ +112 "core" ' +2 .tElbow.hold +4 "manipulator"&, +5 "core" , +4 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +5 .tHand.open +4 "manipulator"& 1 +57 "core" 1 +4 "manipulator"&V% +7 "core" % @ V +2 "storage"(S& +9 "core" &<8 t +\  +2 .tForearm.force -20 +4 "manipulator"&5 +7 .tForearm.seek 5 + 317 counts + "manipulator"&A'l +17 "core" ' +4 "manipulator"&1& +8 "core" &8 } ~ ] x +4 "storage"(.& +9 "core" &<8 W\  +4 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 5 + 450 counts +4 "manipulator"&?' +13 "core" ' +4 "storage"(>% +9 "core" %^ r\ +4 ."downElevator"SE.seek :down +6 "storage"(*'N +98 (T% +6 "core" %P; S\ TZ +4 "manipulator"&7% +8 "core" % s s . +4 .tForearm.reconfigure :loose +5 "manipulator"&#Q@2^d^b +4 .tForearm.seek :retract +5 "manipulator"&W'\ +97 "core" ' +25 ' +3 ."downElevator"SE.stop +4 "storage"(5 +5 #tShuffling pucks in tube 6 of [5..7] + #Loading generic puck from tube 6 into Collection Clamp +3 "collection"'I& +8 "core" &sw\ +3 "manipulator"&&% +7 "core" %\ / f #i +4 "storage"(Z% +8 "core" %G f\  +2 "storage"(3. +8 "core" .(<9 +2 .tSC.reconfigure :tight +6 "storage"($\ .\ 1~b +4 .tSC.seek 6 +4 "storage"((K +354 "core" ( +3 .tSC.configure :limp +6 "storage"($\ 1b +4 (B& +7 "core" &K \  +2 "manipulator"&D& +8 "core" &8 u x +4 .tElbow.seek 6 +2 "manipulator"&[( +39 "core" ( +2 "manipulator"&O& +8 "core" &\ ] +4 "storage"(a& +8 "core" &K \  +108 .tForearm.reconfigure :tight +4 "manipulator"&#Q@2^d^\ b +5 .tForearm.seek 6 + 450 counts +5 "manipulator"&Q'< +96 "core" ' +4 "storage"(\\& +9 "core" &K i\  +6 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +6 .tSE.seek :beamBreak +4 "storage"(e'e +283 "core" ' +4 "storage"(:- +6 "core" -' +5 .tSE.configure :default +4 "storage"(#QK-0-\ b +6 (M& +5 "core" &K \  +2 "manipulator"&H& +8 "core" &\  \\ +4 .tElbow.seek 6 + "manipulator"&K( +8 "core" ( +2 "manipulator"&5& +8 "core" &\  \\ +2 "storage"(!& +8 "core" &K h\  +4 .tForearm.seek 6 + 300 counts +4 "manipulator"&N'Ϧ +12 "core" ' +5 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +4 .tHand.close +4 "manipulator"&C/ +62 "core" / +6 ."downElevator"SE.seek :down +5 "manipulator"&L& +4 "storage"(F'N +14 "core" &\  \\ +5 "manipulator"&J% +8 "core" % Ϯ  9 +4 .tForearm.seek :retract + "manipulator"&o'\ +94 "core" ' +4 .tElbow.seek CC + "manipulator"&g( +138 "core" ' +2 ."downElevator"SE.stop +3 "storage"(5 +6 "core" ( +4 "manipulator"&Y& +8 "core" &# [ :- +2 .tElbow.reconfigure :loose +6 "manipulator"&$ &.,(#b +5 &U& +9 "core" &# t :- +4 .tForearm.reconfigure :tight +4 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek CC +4 "manipulator"&f'| +96 "core" ' +2 "manipulator"&x& +9 "core" &# + :- +2 "manipulator"&w% +12 "core" %τ  +4 "collection"'& +8 "core" &sr\ +4 "collection"'p& +11 "core" &qw\ +4 &qv\ +6 .tCC.seek :closed + "collection"'y(] +10 "core" &ru\ +2 &st\ 5 +7 &Gqt\ 1 +10 &Aqss\ E +9 &krt\ N +10 &drt\ M +7 &lers\ M +12 & ,jrt\ N +8 &!kqt\ M +8 &#eqr\ M +11 &%rerr\ N +10 &'5ept\ M +7 &(cqu\ M +13 &*aqt\ M +6 &,{eqt\ M +11 &.=jot\ M +9 &/cru\ M +9 &1for\ N +10 &3apq\ M +9 &5Eapq\ M +10 &7eps\ M +10 &8bos\ M +7 &:gpr\ M +11 &fpq\ M +8 &?jqt\ N +11 &Agss\ M +9 &CUerq\ M +8 &Edoq\ M +12 &Fbbj\ M +7 &HnKW\ O +11 &JR 3\ Q +9 &L \ T +10 &M\\d\ W +10 &OOU\ V +8 &QF@E\ X +10 &S08\ X +8 &T#(\ Y +9 &V\ Y +11 &XH \ Z +10 &Z\ [ +8 &[\ [\ +10 &]'L\ 3 +11 &] \ N +4 ( +4 "collection"'p& +6 #tCollection Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.98 +4 .Hand.open + "manipulator"&u1 +6 "core" &]g\ N +54 1 +2 "manipulator"&% +8 "core" % τ 4  +4 .tForearm.reconfigure :loose +6 "manipulator"&#Q@2^d^b +4 .tForearm.seek :retract + "manipulator"&}'\ +100 "core" ' +4 #tLoading generic puck from tube 6 into Processing Clamp + "processing"%& +11 "core" &\ +4 "manipulator"&b% +7 "core" %\ 1 + $m +4 "storage"(% +8 "core" %M p i\  +4 "storage"(t. +7 "core" .(K +2 "storage"(X& +8 "core" &K p o \  +2 "storage"(l& +8 "core" &K p p \  +4 "manipulator"&{& +5 "core" &!  8" +4 "manipulator"&q% +8 "core" %\ 1 $m +4 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +4 .tElbow.seek 6 +4 "manipulator"&i( +156 "core" ( +4 "manipulator"& & +7 "core" & ) +2 "storage"(j& +8 "core" &K } ~ \  +4 .tForearm.reconfigure :tight +4 "manipulator"&#Q@2^d^\ b +5 .tForearm.seek 6 + 450 counts +4 "manipulator"&c'< +89 "core" ' +4 "storage"(@& +8 "core" &K 3\  +4 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +6 .tSE.seek :beamBreak +4 "storage"(n'e +284 "core" ' +4 "storage"(_- +7 "core" -' +4 .tSE.configure :default +3 "storage"(#QK-0-\ b +6 (d& +4 "core" &K i \  +4 "manipulator"& & +7 "core" & +2 .tElbow.seek 6 +4 "manipulator"&r( +6 "core" ( +4 "manipulator"&^& +7 "core" &  +3 "storage"( & +7 "core" &K g j \  +4 .tForearm.seek 6 + 300 counts +2 "manipulator"&z'Ϧ +23 "core" ' +2 .tForearm.reconfigure :loose +6 "manipulator"&#Q@2^d^b +5 .tHand.close + "manipulator"&/ +58 "core" / +4 ."downElevator"SE.seek :down +10 "manipulator"&& "storage"('N +14 "core" & ~ ~ +2 "manipulator"&v% +7 "core" % Ϟ |  +4 .tForearm.seek :retract +4 "manipulator"&m'\ +92 "core" ' +4 .tElbow.seek PC +4 "manipulator"&(c +145 "core" ' +2 ."downElevator"SE.stop +4 "storage"(5 +107 "core" ( +6 "manipulator"&& +11 "core" &[ [  +3 .tElbow.reconfigure :loose +4 "manipulator"&$ &.,(#b +4 && +8 "core" &[ B  +4 .tForearm.reconfigure :tight +4 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek PC +4 "manipulator"&s'[ +103 "core" ' +2 "manipulator"&& +8 "core" &\\ ]  +4 "manipulator"&% +8 "core" %Z & +2 "processing"%& +7 "core" &\ +4 "processing"%& +10 "core" &\ +8 .tPC.seek :closed + "processing"%k(Z +8 "core" &\ +2 &\  +6 &.~\ *y +10 &d\ > +10 &Cx\ N +8 &\\\ M +10 &_\ M +11 &\\\ M +7 &!N^\ M +10 &#Z\ M +8 &$\\\ M +11 &&]\ M +9 &(V_\ M +8 &*\\\ M +11 &+\\\ M +9 &-]\ M +8 &/]_\ M +11 &1]\ M +8 &2]\ M +11 &4]\ M +11 &6f]\ M +6 &8'\\\ M +11 &9]\ M +9 &;\\\ M +8 &=n]\ M +11 &?/`\ M +8 &@_\ M +11 &B^\ M +12 &Ds^\ N +5 &F6`\ M +11 &Gj\ O +11 &Iu\ O +6 &Km\ R +11 &M,\ S +8 &N\ S +11 &P\ S +9 &Rq\ T +10 &T2\ T +9 &U\ T +9 &W\ T +10 &Yx\ A +9 &Zw<\ Z +9 &Z2\ 3 +5 ( +4 "processing"%& +6 #tProcessing Clamp onSpring/offSpring for 9/25 samples, on/off torque 1.61 +4 .Hand.open +2 "manipulator"&1 +8 "core" &Z)\ 3 +55 1 +4 "manipulator"&% +9 "core" % Z  +2 .tForearm.reconfigure :loose +6 "manipulator"&#Q@2^d^b +4 .tForearm.seek :retract +4 "manipulator"&'\ +93 "core" ' +4 "processing"%(& +8 "core" &Z)|\ 3 +4 #tImaging generic puck in Processing Clamp while storing it to tube 6 + "manipulator"&% +8 "core" %\ % E 8 +4 "storage"(~% +5 "core" %G [ ` V\  +4 "storage"(0. +6 "core" .(K +2 "storage"()& +8 "core" &K ] ] \  +2 "storage"(& +9 "manipulator"&]& +11 "core" &K o ] \  +2 &\\ 0  +6 .tElbow.reconfigure :tight +9 ."raiseStack"SE.reconfigure :place +10 "manipulator"&$&.,(\ #b +6 .tElbow.seek PC +6 "storage"(#]kK-0-\ b +2 "manipulator"&G(c +16 ."raiseStack"SE.seek :beamBreak + "storage"(#'e +6 "core" ( +4 "manipulator"&\ & +9 "core" &\\ 2  +2 .tElbow.reconfigure :loose +6 "manipulator"&$ &.,(#b +4 && +8 "core" &\\ g  +4 .tForearm.seek PC + "manipulator"& '[ +97 "core" ' +4 .tHand.close +2 "manipulator"&/ +60 "core" / +4 .tPC.seek :open + "processing"%|(p +66 "core" ' +2 "storage"(%- +8 "core" -'e +2 ."raiseStack"SE.configure :default +6 "storage"(#QK-0-\ b +4 ."raiseStack"SE.seek :place +4 "storage"('B +35 "core" ' +268 ( +4 "storage"(2& +8 "core" &K j \  +3 "manipulator"&4& +10 "core" &\\   +3 "manipulator"&'% +7 "core" % e  +6 .tForearm.seek :retract + "manipulator"&P'\ +94 "core" ' +2 .tElbow.reconfigure :tight +6 "manipulator"&$&.,(\ #b +5 .tElbow.seek 6 +5 "manipulator"&"( +243 "core" ( +2 "manipulator"&& +8 "core" & 6 h +4 "storage"(<& +5 "core" &K | } V\  +4 .tForearm.reconfigure :tight +7 "manipulator"&#Q@2^d^\ b +5 .tForearm.seek 6 + 450 counts + "manipulator"&8'< +95 "core" ' +4 .tHand.open +2 "manipulator"&R1 +66 "core" 1 +3 "storage"(-- +8 "core" -'B +4 .tSE.seek -0.16 Pucks below Top Plate + "storage"(=' +28 "core" ' +4 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +4 .tSE.seek -0.83 Pucks below Top Plate +4 "storage"(+' +57 "core" ' +3 #tLights, camera, ACTION! +4 "storage"($- +6 "core" -' +4 "storage"(;& +8 "core" &K\ \ \  +3 "manipulator"& & +8 "core" &  h +4 .tElbow.seek 6 + "manipulator"&V( +9 "core" ( +3 "manipulator"&S& +8 "core" &  h +2 "storage"(1& +8 "core" &K\ \ \  +4 .tForearm.seek 6 + 450 counts +5 "manipulator"&.'< +10 "core" ' +4 .tSE.reconfigure :gently +119 "storage"(#QK-0-\ b +10 .tSE.seek -0.11 Pucks below Top Plate +4 "storage"(/'M +60 "core" ' +4 "manipulator"&>& +7 "core" &  h +4 "storage"(6& +7 "core" &K i g \  +2 .tElbow.reconfigure :limp +6 "manipulator"&$ ,(b +4 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +4 .tForearm.seek 6 +4 "manipulator"&T'z +36 "core" ' +3 .tElbow.hold +3 "manipulator"&7, +9 "core" , +2 .tElbow.reconfigure :tight +9 "manipulator"&$&.,(\ #b +5 .tSE.reconfigure :default +7 "storage"(#QK-0-\ b +4 .tSE.seek 0.07 Pucks below Top Plate +5 "storage"(E'7 +26 "core" ' +4 "manipulator"&I% +8 "core" %΁c * + R ŵ +4 "storage"(A& +8 "core" &K C C {\  +2 .tForearm.force -20 +4 "manipulator"&5 +3 .tForearm.seek 6 + 307 counts +4 "manipulator"&&'ϭ +19 "core" ' +5 "manipulator"&Z& +8 "core" & t s > h +3 "storage"(9& +9 "core" &K ]\  +4 .tForearm.reconfigure :tight +7 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 6 + 450 counts +4 "manipulator"&3'< +19 "core" ' +4 "storage"(?% +9 "core" %: P\ +4 ."downElevator"SE.seek :down +8 "storage"(*'N +98 (h% +4 "core" %>< p p i\ U] +4 "manipulator"&B% +8 "core" %4 ~ " +4 .tForearm.reconfigure :loose +4 "manipulator"&#Q@2^d^b +4 .tForearm.seek :retract +4 "manipulator"&D'\ +89 "core" ' +46 ' +2 ."downElevator"SE.stop +3 "storage"(5 +3 (O& +8 "core" &K p o v\  +5 "collection"'a& +8 "core" &]f\ N +2 #tStoring generic puck in Collection Clamp to tube 6 +4 "manipulator"&\\% +6 "core" %\ &  8 +4 "storage"(% +8 "core" %P |\  +2 "storage"(W. +7 "core" .(K +4 "storage"(:& +11 "core" &K { \  +2 "storage"(M& +8 "core" &K | +\  +2 "manipulator"&H& +9 "core" & h +3 .tElbow.seek 6 +5 "manipulator"&5( +6 "core" ( +2 "manipulator"&!& +9 "core" & F h +2 "storage"(C& +9 "core" &K { \  +4 .tForearm.reconfigure :tight +4 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 6 + 450 counts +3 "manipulator"&L'< +105 "core" ' +4 "storage"(J& +10 "core" &K \  +4 .tSE.reconfigure :pick +5 "storage"(#]K-0-\ b +10 .tSE.seek :beamBreak + "storage"(['e +283 "core" ' +2 "storage"(Q- +6 "core" -' +4 .tSE.configure :default +4 "storage"(#QK-0-\ b +7 "manipulator"&Y& +7 "core" & | q x h +2 "storage"(U& +8 "core" &K \  +2 .tElbow.reconfigure :limp +6 "manipulator"&$ ,(b +4 .tForearm.reconfigure :loose +7 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +4 "manipulator"&e'z +40 "core" ' +2 .tElbow.hold +4 "manipulator"&N, +7 "core" , +4 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +4 "storage"(x- +6 "core" -' +4 .tSE.seek 0.12 Pucks below Top Plate +4 "storage"(K'q +30 "core" ' +2 "manipulator"&w% +10 "core" %}T 5 7 + DZ +2 "storage"(& +8 "core" &K ) 5 &\  +2 .tForearm.force -20 +4 "manipulator"&5 +5 .tForearm.seek 6 + 303 counts + "manipulator"&F'ϩ +20 "core" ' +2 "manipulator"&o& +10 "core" & | v h +2 "storage"(,& +9 "core" &K I\  +4 .tForearm.reconfigure :tight +4 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 6 + 450 counts +4 "manipulator"&u'< +19 "core" ' +5 .tSE.seek 1.12 Pucks below Top Plate + "storage"('` +54 "core" ' +2 "manipulator"&& +10 "core" & ~ B h +4 "manipulator"&p% +8 "core" %1 { q U +4 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +5 .tForearm.seek :retract +4 "manipulator"&b'\ +95 "core" ' +4 .tElbow.seek CC + "manipulator"&( +156 "core" ( +4 "manipulator"&t& +9 "core" &- Cn +2 .tElbow.reconfigure :loose +6 "manipulator"&$ &.,(#b +4 &X& +7 "core" &- 3 Cn +4 .tForearm.seek CC +2 "manipulator"&l'| +100 "core" ' +3 .tHand.close +4 "manipulator"&{/ +66 "core" / +2 .tCC.seek :open +4 "collection"'q(p +413 "core" ( +2 "storage"(f& +8 "core" &K <\  +4 "storage"( & +8 "core" &K .\  +2 "manipulator"&j& +8 "core" &,  Bl +2 "manipulator"&@% +8 "core" % ώ   +4 .tForearm.seek :retract +4 "manipulator"&g'\ +98 "core" ' +4 .tElbow.reconfigure :tight +6 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +4 "manipulator"&}( +156 "core" ( +2 "manipulator"&_& +10 "core" & T +2 "storage"(d& +8 "core" &K K\  +2 .tElbow.reconfigure :limp +6 "manipulator"&$ ,(b +5 .tForearm.seek 6 +4 "manipulator"& 'z +111 "core" ' +2 .tElbow.hold +4 "manipulator"&^, +6 "core" , +4 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +4 .tHand.open +4 "manipulator"& 1 +57 "core" 1 +4 "manipulator"&% +8 "core" % Ό +4 "storage"(& +8 "core" &K l n m\  +3 .tForearm.force -20 +5 "manipulator"&5 +4 .tForearm.seek 6 + 318 counts +4 "manipulator"&v'ϸ +20 "core" ' +2 "manipulator"&i& +8 "core" & u } +5 "storage"(c& +8 "core" &K H\  +4 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 6 + 450 counts +4 "manipulator"&n'< +21 "core" ' +2 "storage"(z% +8 "core" %a S\ +4 ."downElevator"SE.seek :down +8 "storage"('N +98 (% +4 "core" %{; O\ TZ +4 "manipulator"&r% +8 "core" %A q q s  +4 .tForearm.reconfigure :loose +4 "manipulator"&#Q@2^d^b +5 .tForearm.seek :retract +4 "manipulator"&'\ +89 "core" ' +34 ' +2 ."downElevator"SE.stop +4 "storage"(5 +4 #tShuffling pucks in tube 7 of [5..7] +4 #Loading generic puck from tube 7 into Collection Clamp +2 "collection"'& +9 "core" &ou\ +5 "manipulator"&% +8 "core" %\ & T = +2 "storage"(% +10 "core" %I \  +4 "storage"(m. +6 "core" .(K +4 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +4 .tSC.seek 7 +5 "storage"(`([ +357 "core" ( +2 .tSC.configure :limp +4 "storage"($\ 1b +6 (& +4 "core" &[  ,\  +4 "manipulator"&& +8 "core" & p +2 .tElbow.seek 7 +5 "manipulator"&(( +21 "core" ( +2 "manipulator"&& +9 "core" &   +2 "storage"(& +8 "core" &[ \  +4 .tForearm.reconfigure :tight +6 "manipulator"&#Q@2^d^\ b +5 .tForearm.seek 7 + 450 counts +4 "manipulator"&~'k +97 "core" ' +2 "storage"(0& +8 "core" &[ \  +4 .tSE.reconfigure :pick +6 "storage"(#]K-0-\ b +5 .tSE.seek :beamBreak +4 "storage"()'e +290 "core" ' + "storage"(]- +8 "core" -' +4 .tSE.configure :default +3 "storage"(#QK-0-\ b +8 (& +4 "core" &[ O\  +4 "manipulator"&\ & +9 "core" & s q O  +2 .tElbow.seek 7 +4 "manipulator"&( +6 "core" ( +4 "manipulator"&s& +8 "core" & t v  +2 "storage"(& +8 "core" &[ @\  +4 .tForearm.seek 7 + 300 counts + "manipulator"&' +24 "core" ' +2 .tForearm.reconfigure :loose +6 "manipulator"&#Q@2^d^b +4 .tHand.close + "manipulator"&%/ +56 "core" / +4 ."downElevator"SE.seek :down +5 "manipulator"&& +6 "storage"(k'N +16 "core" & q p e  +3 "manipulator"&#% +8 "core" % { v +4 .tForearm.seek :retract +4 "manipulator"&2'\ +69 "Can" (HG +26 "core" ' +5 .tElbow.seek CC +2 "manipulator"&4( +129 "core" ' +4 ."downElevator"SE.stop +2 "storage"(5 +31 "core" ( +2 "manipulator"&'& +10 "core" &, # Bg +3 .tElbow.reconfigure :loose +4 "manipulator"&$ &.,(#b +4 & & +7 "core" &,  Bg +4 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +8 .tForearm.seek CC +5 "manipulator"&'| +105 "core" ' +2 "manipulator"&<& +8 "core" &, + Bg +4 "manipulator"&G% +8 "core" %{  +3 "collection"'R& +7 "core" &qr\ +5 "collection"'-& +11 "core" &qs\ +4 .tCC.seek :closed +7 "collection"'$(] +8 "core" &or\ +2 &os\ +8 &7qs\ $d +6 &dVpr\ 8 +10 &pr\ L +9 &|crt\ M +10 &?epu\ M +9 &epr\ M +9 & gqs\ M +10 &"fqs\ M +10 &$Egrr\ M +7 &&fpt\ N +11 &'eqs\ N +8 &)eor\ M +11 &+Lgpt\ N +116 &-est\ M +6 &.grt\ M +23 &0hrr\ N +4 &2Thps\ N +2 &4gpr\ N +2 &5cpr\ M +2 &7`nt\ M + &9]dpq\ M +2 &; epr\ M +2 &<cqq\ M +2 &>dno\ M +6 &@ecpr\ M +2 &B'bqr\ M +2 &C`qp\ M +2 &Ebqr\ M +2 &Glgbk\ N +2 &I-mQZ\ N +4 &J|,<\ P +5 &L\ T +2 &N[ny\ V +6 &P[e\ W +11 &QLU\ X +10 &S?C\ X +9 &U[.5\ Y +11 &W&\ Y +8 &X\ \\ +9 &Z\ [ +11 &\\^\ H +6 &]e>\ $n +12 &]}\ X +4 ( +6 "collection"'-& +6 #tCollection Clamp onSpring/offSpring for 10/26 samples, on/off torque 1.93 +3 .Hand.open +4 "manipulator"&;1 +6 "core" &]v\ X +54 1 +2 "manipulator"&P% +8 "core" % v Z +4 .tForearm.reconfigure :loose +4 "manipulator"&#Q@2^d^b +4 .tForearm.seek :retract +6 "manipulator"& '\ +97 "core" ' +2 #tLoading generic puck from tube 7 into Processing Clamp +4 "processing"%S& +8 "core" &\ +2 "manipulator"&1% +9 "core" %\ %  6 +2 "storage"(% +9 "core" %A q o \  +4 "storage"(=. +6 "core" .([ +2 .tSC.reconfigure :tight +6 "storage"($\ .\ 1~b +4 .tSC.seek 7 +4 "storage"(>([ +4 "core" ( +4 .tSC.configure :limp +5 "storage"($\ 1b +4 (6& +9 "core" &[ C U \  +4 "manipulator"&"& +7 "core" &(  ?S +2 "manipulator"&8% +9 "core" %\ %  6 +4 .tElbow.reconfigure :tight +7 "manipulator"&$&.,(\ #b +2 .tElbow.seek 7 +4 "manipulator"&I( +165 "core" ( +4 "manipulator"&A& +8 "core" &   +2 "storage"(Z& +8 "core" &[ {  p\  +6 .tForearm.reconfigure :tight +6 "manipulator"&#Q@2^d^\ b +5 .tForearm.seek 7 + 450 counts +5 "manipulator"&9'k +93 "core" ' +3 "storage"(+& +9 "core" &[ w A\  +4 .tSE.reconfigure :pick +6 "storage"(#]K-0-\ b +7 .tSE.seek :beamBreak +4 "storage"(?'e +282 "core" ' +4 "storage"(.- +7 "core" -' +4 .tSE.configure :default +3 "storage"(#QK-0-\ b +6 (V& +4 "core" &[ i \  +4 "manipulator"&h& +8 "core" &   +2 .tElbow.seek 7 +4 "manipulator"&B( +8 "core" ( +4 "manipulator"&/& +8 "core" &   +2 "storage"(T& +8 "core" &[ g i \  +4 .tForearm.seek 7 + 300 counts +4 "manipulator"&&' +23 "core" ' +2 .tForearm.reconfigure :loose +4 "manipulator"&#Q@2^d^b +7 .tHand.close +4 "manipulator"&O/ +57 "core" / +4 ."downElevator"SE.seek :down +8 "manipulator"&a& +2 "storage"(\\'N +17 "core" & q s a  +2 "manipulator"&E% +9 "core" % p p  +4 .tForearm.seek :retract +2 "manipulator"&'\ +95 "core" ' +3 .tElbow.seek PC +4 "manipulator"&W(c +140 "core" ' +2 ."downElevator"SE.stop +2 "storage"(5 +109 "core" ( +5 "manipulator"&:& +8 "core" &i  +2 .tElbow.reconfigure :loose +6 "manipulator"&$ &.,(#b +2 &M& +8 "core" &i  +4 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek PC +4 "manipulator"&H'[ +105 "core" ' +4 "manipulator"&!& +8 "core" &i Y +4 "manipulator"&C% +7 "core" %Y +2 "processing"%3& +8 "core" &\ +4 "processing"%J& +10 "core" &\ +7 .tPC.seek :closed +4 "processing"%*(Z +13 "core" &\ +2 &\ +2 &\ 2 +6 &F\ 1 +11 &3s\ E +7 &e\ N +8 &^\ M +11 &_]\ M +8 & "]\ M +11 &!]\ M +9 &#`\ M +8 &%h\\\ M +13 &'+\\\ L +7 &(\\\ M +10 &*[\ L +9 &,o]\ M +8 &.1\\\ M +11 &/^\ M +9 &1\\\ M +8 &3v\\\ M +12 &59\\\ M +8 &6\\\ M +8 &8^\ M +13 &:\\\ M +6 &]\ M +9 &?]\ M +8 &Ab\ M +11 &CH]\ M +8 &E\ ]\ M +9 &F`\ N +13 &Hi\ N +6 &JHy\ P +11 &L\ R +10 &M\ S +9 &O\ T +10 &QF\ S +9 &S\ S +11 &T\ S +7 &V\ S +14 &XL\ T +4 &Yzx\ * +9 &Z'h\ / +9 ( +4 "processing"%J& +7 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.57 +4 .Hand.open + "manipulator"&71 +8 "core" &Z\ ( +57 1 +2 "manipulator"&D% +8 "core" % X  +4 .tForearm.reconfigure :loose +4 "manipulator"&#Q@2^d^b +4 .tForearm.seek :retract +6 "manipulator"&Q'\ +92 "core" ' +4 "processing"%Y& +8 "core" &Z\ ( +4 #tImaging generic puck in Processing Clamp while storing it to tube 7 + "manipulator"&U% +8 "core" %\ ' 6 9 +4 "storage"(x% +8 "core" %P e _ \  +2 "storage"(w. +6 "core" .([ +2 "storage"(& +8 "core" &[ _ [ *\  +4 "storage"(o& +4 "manipulator"&,& +15 "core" &[ g g C\  +2 &i  +6 .tElbow.reconfigure :tight +4 ."raiseStack"SE.reconfigure :place +10 "manipulator"&$&.,(\ #b +6 .tElbow.seek PC +5 "storage"(#]kK-0-\ b +4 "manipulator"&(c +14 ."raiseStack"SE.seek :beamBreak +4 "storage"(p'e +4 "core" ( +4 "manipulator"&L& +6 "core" &i 0 +4 .tElbow.reconfigure :loose +4 "manipulator"&$ &.,(#b +4 &5& +8 "core" &i +4 .tForearm.seek PC +2 "manipulator"&['[ +97 "core" ' +4 .tHand.close +2 "manipulator"&e/ +65 "core" / +2 .tPC.seek :open +4 "processing"%F(p +57 "core" ' +2 "storage"(K- +8 "core" -'e +2 ."raiseStack"SE.configure :default +5 "storage"(#QK-0-\ b +6 ."raiseStack"SE.seek :place +4 "storage"(t'B +42 "core" ' +269 ( +4 "storage"(X& +13 "core" &[ r p &\  +2 "manipulator"&u& +8 "core" &i k +2 "manipulator"&N% +10 "core" % ] w +4 .tForearm.seek :retract + "manipulator"&{'\ +98 "core" ' +4 .tElbow.reconfigure :tight +4 "manipulator"&$&.,(\ #b +5 .tElbow.seek 7 +5 "manipulator"&b( +256 "core" ( +2 "manipulator"&y& +10 "core" &  % +2 "storage"(f& +8 "core" &[ _ e\  +4 .tForearm.reconfigure :tight +4 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 7 + 450 counts +4 "manipulator"& 'k +101 "core" ' +4 .tHand.open +4 "manipulator"&j1 +61 "core" 1 +2 "storage"(@- +8 "core" -'B +4 .tSE.seek -0.16 Pucks below Top Plate +4 "storage"(_' +25 "core" ' +2 .tSE.reconfigure :seal +6 "storage"(#QK-0-\ b +5 .tSE.seek -0.83 Pucks below Top Plate +4 "storage"(d' +53 "core" ' +4 #tLights, camera, ACTION! + "storage"(l- +6 "core" -' +4 "storage"(& +8 "core" &[\ \  \  +2 "manipulator"& & +10 "core" &  % +5 .tElbow.seek 7 +5 "manipulator"&( +6 "core" ( +3 "manipulator"&& +7 "core" &  % +4 "storage"(i& +8 "core" &[\ \  ^\  +4 .tForearm.seek 7 + 450 counts + "manipulator"&c'k +8 "core" ' +4 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +4 .tSE.seek -0.11 Pucks below Top Plate +4 "storage"(g'M +65 "core" ' +2 "manipulator"&z& +8 "core" &  A % +4 "storage"(}& +9 "core" &[ { N\  +2 .tElbow.reconfigure :limp +6 "manipulator"&$ ,(b +4 .tForearm.reconfigure :loose +6 "manipulator"&#Q@2^d^b +3 .tForearm.seek 7 +5 "manipulator"&'Ω +34 "core" ' +3 .tElbow.hold +4 "manipulator"&r, +8 "core" , +2 .tElbow.reconfigure :tight +6 "manipulator"&$&.,(\ #b +7 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +4 .tSE.seek 0.07 Pucks below Top Plate + "storage"( '7 +27 "core" ' +2 "manipulator"&v% +8 "core" %κ _ +4 "storage"(& +8 "core" &[ E > \  +4 .tForearm.force -20 + "manipulator"&5 +6 .tForearm.seek 7 + 317 counts + "manipulator"&' +25 "core" ' +2 "manipulator"&& +8 "core" & | v % +4 "storage"(& +8 "core" &[ g g \  +4 .tForearm.reconfigure :tight +6 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 7 + 450 counts + "manipulator"&m'k +22 "core" ' +2 "storage"(n% +9 "core" %> j h \  +4 ."downElevator"SE.seek :down +6 "storage"('N +99 (% +5 "core" %< h g V\ U^ +2 "manipulator"&% +14 "core" %[  ( +4 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +4 .tForearm.seek :retract +5 "manipulator"&'\ +90 "core" ' +41 ' +2 ."downElevator"SE.stop +4 "storage"(5 +4 (& +8 "core" &[ e V\  +4 "collection"'& +8 "core" &]v\ X +4 #tStoring generic puck in Collection Clamp to tube 7 + "manipulator"&0% +9 "core" %\ ( G E +4 "storage"(^% +8 "core" %N o q l\  +2 "storage"(. +6 "core" .([ +4 "storage"(]& +7 "core" &[ p p L\  +2 "storage"(& +8 "core" &[ s p )\  +2 "manipulator"&\ & +9 "core" & f % +2 .tElbow.seek 7 +4 "manipulator"&s( +7 "core" ( +4 "manipulator"&& +7 "core" & % +4 "storage"(%& +116 "core" &[ p o\  +4 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 7 + 450 counts +4 "manipulator"&'k +104 "core" ' +2 "storage"(#& +8 "core" &[ ~ ~ \  +4 .tSE.reconfigure :pick +6 "storage"(#]K-0-\ b +5 .tSE.seek :beamBreak +4 "storage"(('e +286 "core" ' +2 "storage"(~- +8 "core" -' +2 .tSE.configure :default +6 "storage"(#QK-0-\ b +4 "manipulator"&)& +10 "core" & + % +2 "storage"('& +8 "core" &[ s p p\  +2 .tElbow.reconfigure :limp +6 "manipulator"&$ ,(b +5 .tForearm.reconfigure :loose +6 "manipulator"&#Q@2^d^b +3 .tForearm.seek 7 +3 "manipulator"& 'Ω +33 "core" ' +4 .tElbow.hold +2 "manipulator"&, +8 "core" , +2 .tElbow.reconfigure :tight +6 "manipulator"&$&.,(\ #b +4 "storage"(- +6 "core" -' +4 .tSE.seek 0.12 Pucks below Top Plate +4 "storage"(<'o +46 "core" ' +2 "manipulator"&G% +8 "core" %η = ^ +4 "storage"(R& +8 "core" &[ C C \  +2 .tForearm.force -20 +4 "manipulator"&5 +4 .tForearm.seek 7 + 314 counts +4 "manipulator"&k' +19 "core" ' +2 "manipulator"&2& +10 "core" & } w c % +2 "storage"(q& +7 "core" &[ z \  +4 .tForearm.reconfigure :tight +6 "manipulator"&#Q@2^d^\ b +5 .tForearm.seek 7 + 450 counts +4 "manipulator"&;'k +18 "core" ' +4 .tSE.seek 1.12 Pucks below Top Plate +4 "storage"(P'^ +54 "core" ' +2 "manipulator"&S& +10 "core" & p r q % +2 "manipulator"&-% +8 "core" %O ~ ~  +4 .tForearm.reconfigure :loose +5 "manipulator"&#Q@2^d^b +4 .tForearm.seek :retract +4 "manipulator"&1'\ +88 "core" ' +4 .tElbow.seek CC +5 "manipulator"&( +163 "core" ( +2 "manipulator"&=& +8 "core" && P >L +4 .tElbow.reconfigure :loose +5 "manipulator"&$ &.,(#b +4 &6& +6 "core" && >L +4 .tForearm.seek CC +5 "manipulator"&"'| +98 "core" ' +4 .tHand.close +2 "manipulator"&8/ +64 "core" / +5 .tCC.seek :open +4 "collection"'(p +413 "core" ( +3 "storage"(A& +9 "core" &[ \\\  +2 "storage"(Z& +8 "core" &[ `\  +2 "manipulator"&`& +8 "core" &%# ;7 +2 "manipulator"&4% +7 "core" % p " +4 .tForearm.seek :retract +4 "manipulator"&+'\ +93 "core" ' +4 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +5 .tElbow.seek 7 +5 "manipulator"& ( +158 "core" ( +2 "manipulator"&.& +10 "core" & o  +2 "storage"(V& +8 "core" &[ ~\  +4 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +6 .tForearm.seek 7 + "manipulator"&h'Ω +108 "core" ' +2 .tElbow.hold +4 "manipulator"&/, +9 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +4 .tHand.open +4 "manipulator"&T1 +64 "core" 1 +4 "manipulator"&O% +13 "core" % ι % +4 "storage"(a& +8 "core" &[ j i \  +2 .tForearm.force -20 +4 "manipulator"&5 +4 .tForearm.seek 7 + 316 counts +4 "manipulator"&E' +18 "core" ' +4 "manipulator"&I& +8 "core" & ~ v  +2 "storage"(9& +9 "core" &[ a\  +4 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +5 .tForearm.seek 7 + 450 counts +3 "manipulator"&?'k +20 "core" ' +2 "storage"(&% +8 "core" %e k\ +6 ."downElevator"SE.seek :down +8 "storage"(:'N +98 (M% +6 "core" %e: D\ TZ +4 "manipulator"&B% +8 "core" %U p q 5 +4 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +4 .tForearm.seek :retract +4 "manipulator"&!'\ +87 "core" ' +37 ' +2 ."downElevator"SE.stop +3 "storage"(5 +3 #tShuffling pucks in tube 5 of [5..7] +4 #Loading generic puck from tube 5 into Collection Clamp +2 "collection"'C& +9 "core" &qq\ +4 "manipulator"&3% +8 "core" %\ %  8 +4 "storage"(\\% +7 "core" %> (\ +2 "storage"(. +8 "core" .([ +2 .tSC.reconfigure :tight +6 "storage"($\ .\ 1~b +5 .tSC.seek 5 +4 "storage"(|(<< +677 "core" ( +2 .tSC.configure :limp +4 "storage"($\ 1b +4 (7& +8 "core" &<> \ +4 "manipulator"&D& +8 "core" &   +2 .tElbow.seek 5 +4 "manipulator"&Y( +36 "core" ( +4 "manipulator"&J& +8 "core" &  +2 "storage"(U& +8 "core" & +11 &Lpr\ N +7 &cqs\ M +11 &gpr\ M +10 &err\ M +7 &!Tgqr\ N +11 &#iqp\ M +10 &$gpt\ N +9 &&for\ M +9 &(^enr\ M +8 &* fqr\ M +13 &+cor\ M +10 &-dpq\ M +5 &/egrs\ M +11 &1'ipo\ M +10 &2hpq\ M +9 &4crr\ M +9 &6neor\ M +8 &80bqr\ M +10 &9cpu\ M +11 &;bpr\ M +9 &=weor\ M +9 &?8cpr\ M +9 &@fmr\ M +10 &Beqs\ N +9 &D}cpq\ M +8 &F?ekq\ M +11 &Hk^e\ N +10 &IuGS\ O +7 &Kx )\ R +11 &M.{\ V +10 &Nhp\ W +10 &PW^\ W +8 &RpIO\ W +10 &T.7?\ Y +11 &U)3\ Y +7 &W!\ Y +10 &Yl \ [ +10 &[0\ [ +8 &\\{\ 2 +10 &]$\ #f +9 &]x\ R +11 ( +2 &]w\ R +6 "collection"'@& +6 #tCollection Clamp onSpring/offSpring for 9/25 samples, on/off torque 1.95 +3 .Hand.open +2 "manipulator"&1 +6 "core" &]w\ R +54 1 +2 "manipulator"&{% +8 "core" % } 9  +4 .tForearm.reconfigure :loose +6 "manipulator"&#Q@2^d^b +5 .tForearm.seek :retract +4 "manipulator"& '\ +102 "core" ' +4 #tLoading generic puck from tube 5 into Processing Clamp +4 "processing"%& +8 "core" &\ +2 "manipulator"&i% +8 "core" %\ 6  & +4 "storage"(z% +8 "core" %E g g `\  +2 "storage"(}. +6 "core" .( +8 &Dx\ N +11 &[\ M +10 &b\ M +9 &\\\ M +9 &!N^\ M +8 &#Y\ M +11 &$[\ L +10 &&_\ M +8 &(W\\\ L +11 &*\\\ M +8 &+_\ M +10 &-[\ M +9 &/\\b\ M +8 &1 ]\ M +11 &2[\ M +10 &4\\\ M +7 &6f_\ M +11 &8'[\ M +9 &9Z\ M +10 &;_\ M +9 &=o]\ L +8 &?/`\ M +10 &@_\ M +10 &B^\ M +8 &Dv]\ M +11 &F8_\ M +9 &Gj\ N +10 &Iu\ O +9 &Kq\ Q +10 &M-\ S +9 &N\ T +8 &P\ S +14 &Rr\ S +5 &T2\ T +10 &U\ T +10 &W\ T +9 &Yw\ B +10 &Zu:\ ` +9 &Z\ ) +4 ( +4 &Z\ ) +4 "processing"%& +4 #tProcessing Clamp onSpring/offSpring for 9/25 samples, on/off torque 1.60 +4 .Hand.open + "manipulator"&r1 +55 "core" 1 +4 "manipulator"&% +8 "core" % c > +4 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +4 .tForearm.seek :retract +4 "manipulator"&~'\ +94 "core" ' +3 "processing"%)& +8 "core" &Z\ ) +4 #tImaging generic puck in Processing Clamp while storing it to tube 5 +4 "manipulator"&'% +8 "core" %\ ) C +4 "storage"(% +8 "core" %Q [ Z\  +2 "storage"(G. +6 "core" .(<9 +4 .tSC.reconfigure :tight +4 "storage"($\ .\ 1~b +4 .tSC.seek 5 +4 "storage"(R(<< +9 "core" ( +2 .tSC.configure :limp +6 "storage"($\ 1b +5 (2& +8 "manipulator"&q& +12 "core" &<9 [ Z\ +2 &i ) +6 .tElbow.reconfigure :tight +6 ."raiseStack"SE.reconfigure :place +7 "manipulator"&$&.,(\ #b +4 "storage"(#]kK-0-\ b +4 .tElbow.seek PC +8 "manipulator"&S(c +8 ."raiseStack"SE.seek :beamBreak +4 "storage"('e +3 "core" ( +4 "manipulator"&-& +8 "core" &i o +2 .tElbow.reconfigure :loose +6 "manipulator"&$ &.,(#b +6 &s& +11 "core" &i +5 .tForearm.seek PC +3 "manipulator"&('[ +97 "core" ' +4 .tHand.close + "manipulator"& / +64 "core" / +4 .tPC.seek :open + "processing"%k(p +55 "core" ' +2 "storage"(<- +8 "core" -'e +2 ."raiseStack"SE.configure :default +6 "storage"(#QK-0-\ b +4 ."raiseStack"SE.seek :place +3 "storage"(='B +36 "core" ' +282 ( +2 "storage"(6& +8 "core" &<9 p p \ +2 "manipulator"&;& +9 "core" &i  +4 "manipulator"&% +7 "core" % g   +6 .tForearm.seek :retract + "manipulator"&8'\ +94 "core" ' +4 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +4 .tElbow.seek 5 +4 "manipulator"&1( +256 "core" ( +5 "manipulator"&$& +8 "core" &  & +3 "storage"(A& +8 "core" &<9 [ \\\ +4 .tForearm.reconfigure :tight +4 "manipulator"&#Q@2^d^\ b +8 .tForearm.seek 5 + 450 counts + "manipulator"&Z' +102 "core" ' +4 .tHand.open +4 "manipulator"&`1 +53 "core" 1 +4 "storage"(4- +8 "core" -'B +4 .tSE.seek -0.16 Pucks below Top Plate +4 "storage"(.' +23 "core" ' +4 .tSE.reconfigure :seal +4 "storage"(#QK-0-\ b +5 .tSE.seek -0.83 Pucks below Top Plate +3 "storage"(V' +53 "core" ' +2 #tLights, camera, ACTION! +4 "storage"("- +6 "core" -' +6 "storage"(& +9 "core" &<7 \  +3 "manipulator"&T& +9 "core" &  & +4 .tElbow.seek 5 +4 "manipulator"&O( +8 "core" ( +2 "manipulator"&a& +9 "core" &  & +4 "storage"(I& +8 "core" &<7 \  +4 .tForearm.seek 5 + 450 counts + "manipulator"&9' +11 "core" ' +4 .tSE.reconfigure :gently +4 "storage"(#QK-0-\ b +4 .tSE.seek -0.11 Pucks below Top Plate +4 "storage"(+'M +62 "core" ' +2 "manipulator"&&& +8 "core" & y & +4 "storage"( & +8 "core" &<7 ~ ~ \  +2 .tElbow.reconfigure :limp +4 "manipulator"&$ ,(b +6 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +4 .tForearm.seek 5 +4 "manipulator"&M'/ +37 "core" ' +2 .tElbow.hold +4 "manipulator"&B, +9 "core" , +2 .tElbow.reconfigure :tight +4 "manipulator"&$&.,(\ #b +6 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +4 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"(h'7 +25 "core" ' +4 "manipulator"&E% +8 "core" %;u  s º8 +2 "storage"(C& +11 "core" &<7 C D \  +2 .tForearm.force -20 +4 "manipulator"&5 +6 .tForearm.seek 5 + 312 counts +2 "manipulator"&3'g +18 "core" ' +4 "manipulator"&\\& +8 "core" &;\  ~ ^ Y +4 "storage"(P& +8 "core" &<7 g g \  +4 .tForearm.reconfigure :tight +4 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 5 + 450 counts +4 "manipulator"&' +20 "core" ' +2 "storage"(?% +8 "core" %: g g \  +6 ."downElevator"SE.seek :down +8 "storage"(:'N +99 (>% +8 "core" %A Z d \ V_ +4 "manipulator"&7% +9 "core" % }  +4 .tForearm.reconfigure :loose +4 "manipulator"&#Q@2^d^b +4 .tForearm.seek :retract +5 "manipulator"&D'\ +92 "core" ' +37 ' +2 ."downElevator"SE.stop + "storage"(5 +7 (J& +8 "core" &<7 j p \  +2 "collection"'U& +8 "core" &]v\ R +2 #tStoring generic puck in Collection Clamp to tube 5 +4 "manipulator"&w% +7 "core" %\ . #c +4 "storage"(/% +8 "core" %M p p \  +2 "storage"(!. +6 "core" .(<9 +4 .tSC.reconfigure :tight +6 "storage"($\ .\ 1~b +2 .tSC.seek 5 +4 "storage"(o(<< +15 "core" ( +2 .tSC.configure :limp +5 "storage"($\ 1b +5 (,& +8 "core" &<9 d W P\  +6 "manipulator"&L& +11 "core" &;\ Y +2 .tElbow.seek 5 +4 "manipulator"&H( +25 "core" ( +2 "manipulator"&e& +8 "core" &  +4 "storage"(W& +8 "core" &<8 z p 6\  +4 .tForearm.reconfigure :tight +4 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 5 + 450 counts +4 "manipulator"&Q' +104 "core" ' +2 "storage"(p& +12 "core" &<8 } ~ \  +2 .tSE.reconfigure :pick +6 "storage"(#]K-0-\ b +6 .tSE.seek :beamBreak +5 "storage"(Y'e +279 "core" ' +2 "storage"(x- +8 "core" -' +2 .tSE.configure :default +7 "storage"(#QK-0-\ b +6 "manipulator"&N& +9 "core" &   +2 "storage"(& +7 "core" &<8 ~ ~ \  +4 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +6 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +5 .tForearm.seek 5 +4 "manipulator"&['/ +29 "core" ' +4 .tElbow.hold +3 "manipulator"&K, +8 "core" , +2 .tElbow.reconfigure :tight +4 "manipulator"&$&.,(\ #b +5 "storage"(f- +5 "core" -' +4 .tSE.seek 0.11 Pucks below Top Plate +4 "storage"(5'm +31 "core" ' +2 "manipulator"&% +8 "core" %?v  L 8 +4 "storage"(j& +8 "core" &<8 B C P\  +2 .tForearm.force -20 +4 "manipulator"&5 +4 .tForearm.seek 5 + 316 counts +4 "manipulator"&*'k +18 "core" ' +2 "manipulator"&X& +11 "core" &4 } t ] +4 "storage"(& +8 "core" &<8 j i \  +4 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 5 + 450 counts +4 "manipulator"&' +21 "core" ' +4 .tSE.seek 1.11 Pucks below Top Plate + "storage"({'\\ +49 "core" ' +2 "manipulator"&& +8 "core" &4 q t I ] +4 "manipulator"&@% +110 "core" % q t p  +4 .tForearm.reconfigure :loose +6 "manipulator"&#Q@2^d^b +4 .tForearm.seek :retract +4 "manipulator"&i'\ +96 "core" ' +4 .tElbow.seek CC + "manipulator"&z( +159 "core" ( +2 "manipulator"&}& +10 "core" && =A +2 .tElbow.reconfigure :loose +5 "manipulator"&$ &.,(#b +4 &_& +8 "core" && =A +4 .tForearm.seek CC +5 "manipulator"&v'| +97 "core" ' +4 .tHand.close + "manipulator"&/ +62 "core" / +5 .tCC.seek :open + "collection"'y(p +412 "core" ( +4 "storage"(& +8 "core" &<8 3\  +2 "storage"( & +9 "core" &<8 Q\  +4 "manipulator"&|& +7 "core" &! 1 9# +2 "manipulator"&u% +8 "core" % υ r +4 .tForearm.seek :retract + "manipulator"&d'\ +93 "core" ' +5 .tElbow.reconfigure :tight +6 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +4 "manipulator"& ( +163 "core" ( +4 "manipulator"&c& +7 "core" &   +4 "storage"(& +9 "core" &<8 o\  +2 .tElbow.reconfigure :limp +7 "manipulator"&$ ,(b +4 .tForearm.seek 5 + "manipulator"&'/ +112 "core" ' +2 .tElbow.hold +4 "manipulator"&g, +8 "core" , +2 .tElbow.reconfigure :tight +4 "manipulator"&$&.,(\ #b +5 .tHand.open +4 "manipulator"&1 +65 "core" 1 +6 "manipulator"&% +12 "core" % A u n +2 "storage"(& +8 "core" &<8 x g \  +2 .tForearm.force -20 +4 "manipulator"&5 +4 .tForearm.seek 5 + 318 counts +4 "manipulator"& 'm +17 "core" ' +4 "manipulator"&b& +8 "core" &2 | t g o +2 "storage"(& +8 "core" &<8 \  +4 .tForearm.reconfigure :tight +6 "manipulator"&#Q@2^d^\ b +5 .tForearm.seek 5 + 450 counts +5 "manipulator"&n' +22 "core" ' +4 "storage"(% +10 "core" %[ E\ +5 ."downElevator"SE.seek :down +8 "storage"(]'N +96 (% +6 "core" %? d\ U] +2 "manipulator"&% +8 "core" % p s M +4 .tForearm.reconfigure :loose +6 "manipulator"&#Q@2^d^b +6 .tForearm.seek :retract +4 "manipulator"&'\ +93 "core" ' +29 ' +4 ."downElevator"SE.stop + "storage"(5 +6 #tShuffling pucks in tube 6 of [5..7] +2 #Loading generic puck from tube 6 into Collection Clamp +5 "collection"'%& +8 "core" &os\ +2 "manipulator"&m% +10 "core" %\ , f "_ +6 "storage"(0% +6 "core" %D \  +4 "storage"(^. +5 "core" .(<9 +4 .tSC.reconfigure :tight +6 "storage"($\ .\ 1~b +3 .tSC.seek 6 +4 "storage"(F(K +352 "core" ( +4 .tSC.configure :limp +3 "storage"($\ 1b +6 (r& +4 "core" &K j X\  +4 "manipulator"&& +7 "core" &2 s o +2 .tElbow.seek 6 +5 "manipulator"&)( +44 "core" ( +2 "manipulator"&'& +8 "core" & Y !q +4 "storage"(& +8 "core" &K B\  +4 .tForearm.reconfigure :tight +5 "manipulator"&#Q@2^d^\ b +7 .tForearm.seek 6 + 450 counts + "manipulator"&'< +99 "core" ' +2 "storage"(G& +8 "core" &K -\  +4 .tSE.reconfigure :pick +6 "storage"(#]K-0-\ b +9 .tSE.seek :beamBreak + "storage"(q'e +287 "core" ' +4 "storage"(2- +6 "core" -' +4 .tSE.configure :default +3 "storage"(#QK-0-\ b +6 (-& +4 "core" &K U\  +4 "manipulator"&s& +7 "core" &  !p +4 .tElbow.seek 6 +3 "manipulator"&\ ( +8 "core" ( +3 "manipulator"&t& +8 "core" &  !p +2 "storage"( & +8 "core" &K Y\  +4 .tForearm.seek 6 + 300 counts +4 "manipulator"&<'Ϧ +13 "core" ' +2 .tForearm.reconfigure :loose +6 "manipulator"&#Q@2^d^b +3 .tHand.close +5 "manipulator"&/ +62 "core" / +4 ."downElevator"SE.seek :down +10 "manipulator"&~& "storage"(#'N +16 "core" &  !p +4 "manipulator"&% +8 "core" % ϡ  ; +4 .tForearm.seek :retract + "manipulator"&6'\ +94 "core" ' +2 .tElbow.seek CC +4 "manipulator"&;( +132 "core" ' +2 ."downElevator"SE.stop +4 "storage"(5 +20 "core" ( +2 "manipulator"&& +8 "core" &- O Cs +4 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +6 &(& +3 "core" &-  Cs +4 .tForearm.reconfigure :tight +5 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +4 "manipulator"&$'| +97 "core" ' +4 "manipulator"&A& +11 "core" &-  Cs +2 "manipulator"&S% +8 "core" %p a  +4 "collection"'`& +8 "core" &ns\ +4 "collection"'4& +9 "core" &pr\ +6 .tCC.seek :closed +4 "collection"'"(] +8 "core" &os\ +2 &qq\  +9 &0pq\ +z +7 &cpr\ > +8 &Npr\ N +8 &bor\ M +11 &gpp\ M +9 &hnr\ N +8 &!Ufoq\ N +11 &#gor\ M +9 &$bqr\ M +8 &&enr\ M +13 &(_err\ M +6 &*!eoq\ M +11 &+cmq\ M +11 &-epr\ M +6 &/ffrp\ M +11 &1(gor\ M +9 &2bpq\ M +10 &4bqt\ M +9 &6obos\ M +8 &81bpp\ M +11 &9brr\ M +10 &;bor\ M +7 &=whop\ M +13 &?8coq\ M +7 &@enp\ N +8 &Bcop\ M +14 &D~bor\ M +5 &F@dko\ M +12 &Hj^f\ N +8 &IzKT\ P +8 &Kx(\ R +12 &M/\ V +7 &Ns|\ W +10 &Pek\ X +10 &RpVZ\ X +8 &T.EM\ Y +11 &U7<\ [\ +9 &W&-\ Z +10 &Yn\ [\ +9 &[* \ ] +9 &\\\ 6 +9 &]"\ (s +10 &]t\ O +4 ( +6 "collection"'4& +7 #tCollection Clamp onSpring/offSpring for 9/25 samples, on/off torque 2.00 + .Hand.open +2 "manipulator"&1 +6 "core" &]r\ O +47 1 +4 "manipulator"&8% +8 "core" % p  +4 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +4 .tForearm.seek :retract +4 "manipulator"&T'\ +99 "core" ' +5 #tLoading generic puck from tube 6 into Processing Clamp + "processing"%a& +8 "core" &\ +2 "manipulator"&I% +7 "core" %\ /  #h +4 "storage"(&% +8 "core" %C o _ _\ +2 "storage"( . +6 "core" .(K +4 "storage"(=& +8 "core" &K [ \\ \  +2 "storage"(.& +8 "core" &K d r 5\  +2 "manipulator"&E& +7 "core" &0%  =E +4 "manipulator"&C% +6 "core" %\ / 4 #h +4 .tElbow.reconfigure :tight +6 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +4 "manipulator"&1( +157 "core" ( +4 "manipulator"&\\& +9 "core" & ? +2 "storage"(Z& +8 "core" &K } ~ \  +4 .tForearm.reconfigure :tight +4 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 6 + 450 counts +4 "manipulator"&P'< +97 "core" ' +3 "storage"(V& +8 "core" &K j i \  +4 .tSE.reconfigure :pick +6 "storage"(#]K-0-\ b +7 .tSE.seek :beamBreak + "storage"(?'e +283 "core" ' +2 "storage"(9- +8 "core" -' +2 .tSE.configure :default +6 "storage"(#QK-0-\ b +4 (>& +6 "core" &K  \  +4 "manipulator"&O& +6 "core" &  +4 .tElbow.seek 6 +3 "manipulator"&7( +6 "core" ( +4 "manipulator"&+& +8 "core" &  +2 "storage"(M& +8 "core" &K j l x\  +4 .tForearm.seek 6 + 300 counts +4 "manipulator"&3'Ϧ +12 "core" ' +2 .tForearm.reconfigure :loose +4 "manipulator"&#Q@2^d^b +4 .tHand.close +4 "manipulator"&J/ +64 "core" / +4 ."downElevator"SE.seek :down +10 "manipulator"&U& "storage"(w'N +15 "core" & q p +2 "manipulator"&h% +8 "core" % Ϭ w < : +4 .tForearm.seek :retract +4 "manipulator"&/'\ +94 "core" ' +4 .tElbow.seek PC + "manipulator"&!(c +147 "core" ' +2 ."downElevator"SE.stop +4 "storage"(5 +101 "core" ( +4 "manipulator"&,& +8 "core" &e & +2 .tElbow.reconfigure :loose +6 "manipulator"&$ &.,(#b +4 &L& +8 "core" &e y +5 .tForearm.reconfigure :tight +4 "manipulator"&#Q@2^d^\ b +7 .tForearm.seek PC +4 "manipulator"&e'[ +93 "core" ' +4 "manipulator"&& +10 "core" &e  +2 "manipulator"&W% +8 "core" %Z  +4 "processing"%p& +8 "core" &\ +4 "processing"%:& +11 "core" &\ +6 .tPC.seek :closed + "processing"%R(Z +9 "core" &\ +2 &\  +8 &/~\ *y +8 &e\ > +8 &Fx\ M +10 & Z\ M +10 &^\ M +8 &^\ M +11 &!P[\ M +9 &#Z\ L +10 &$[\ L +9 &&]\ L +8 &(Y[\ L +13 &*\\\ L +7 &+^\ M +8 &-[\ L +11 &/_`\ M +10 &1#\\\ L +7 &2]\ M +11 &4`\ M +8 &6hY\ M +10 &8*Z\ M +12 &9\\\ L +6 &;\\\ M +13 &=p`\ M +7 &?3_\ L +10 &@_\ M +9 &B]\ M +8 &Dx]\ M +13 &F9_\ M +7 &Gk\ O +8 &It\ O +14 &Kp\ R +8 &M0\ S +7 &N\ S +10 &P\ S +8 &Rt\ S +114 &T5\ T +17 &U\ T +2 &W\ T +13 &Y{\ A +6 &Zv9\ !b +2 &Z \ * +2 ( +10 &Z\ * +2 &Z\ * +2 &Z\ * +2 &Z\ * +2 &Z\ * +2 &Z\ * +8 &Z\ * +2 &Z\ * +4 &Z\ * +2 &Z\ * +2 &Z\ * +2 &Z\ * +2 &Z\ * +2 &Z\ * +7 "processing"%:& +8 #tProcessing Clamp onSpring/offSpring for 5/25 samples, on/off torque 1.56 + .Hand.open +4 "manipulator"&B1 +6 "core" &Z\ * +2 &Z\ * +45 1 +2 "manipulator"&D% +8 "core" % Z o +4 .tForearm.reconfigure :loose +6 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +4 "manipulator"&x'\ +94 "core" ' +4 "processing"%N& +8 "core" &Z\ * +3 #tImaging generic puck in Processing Clamp while storing it to tube 6 +2 "manipulator"&% +8 "core" %\ * 9 !R +2 "storage"(f% +8 "core" %U _ e l\  +4 "storage"(. +6 "core" .(K +3 "storage"(j& +6 "core" &K i p \  +4 "storage"(X& +8 "manipulator"&& +8 "core" &K q j #\  +2 &e +6 .tElbow.reconfigure :tight +6 ."raiseStack"SE.reconfigure :place +9 "manipulator"&$&.,(\ #b +4 "storage"(#]kK-0-\ b +4 .tElbow.seek PC +7 "manipulator"&(c +9 ."raiseStack"SE.seek :beamBreak +4 "storage"(@'e +4 "core" ( +4 "manipulator"&Q& +8 "core" &e 1 + .tElbow.reconfigure :loose +5 "manipulator"&$ &.,(#b +6 &H& +8 "core" &e +4 .tForearm.seek PC +5 "manipulator"&Y'[ +99 "core" ' +4 .tHand.close + "manipulator"&[/ +56 "core" / +4 .tPC.seek :open + "processing"%*(p +66 "core" ' +2 "storage"(5- +9 "core" -'e +2 ."raiseStack"SE.configure :default +5 "storage"(#QK-0-\ b +6 ."raiseStack"SE.seek :place +4 "storage"(}'B +36 "core" ' +265 ( +4 "storage"(_& +8 "core" &K z s e\  +2 "manipulator"&& +8 "core" &e b +2 "manipulator"&K% +7 "core" % W l +4 .tForearm.seek :retract +4 "manipulator"&'\ +95 "core" ' +4 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +4 .tElbow.seek 6 +4 "manipulator"&i( +269 "core" ( +3 "manipulator"&l& +8 "core" & )  +4 "storage"(& +8 "core" &K ~ ~ \  +4 .tForearm.reconfigure :tight +4 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 6 + 450 counts +4 "manipulator"& '< +101 "core" ' +2 .tHand.open + "manipulator"&|1 +65 "core" 1 +5 "storage"(u- +8 "core" -'B +6 .tSE.seek -0.16 Pucks below Top Plate +4 "storage"(c' +27 "core" ' +3 .tSE.reconfigure :seal +8 "storage"(#QK-0-\ b +5 .tSE.seek -0.83 Pucks below Top Plate +4 "storage"(' +55 "core" ' +2 #tLights, camera, ACTION! +4 "storage"(v- +8 "core" -' +4 "storage"(z& +8 "core" &K\ \ \  +4 "manipulator"&& +6 "core" &   +4 .tElbow.seek 6 + "manipulator"&( +8 "core" ( +2 "manipulator"&& +8 "core" &   +2 "storage"(b& +8 "core" &K\ \  \  +4 .tForearm.seek 6 + 450 counts +4 "manipulator"&'< +20 "core" ' +4 .tSE.reconfigure :gently +6 "storage"(#QK-0-\ b +4 .tSE.seek -0.11 Pucks below Top Plate +4 "storage"(d'M +63 "core" ' +2 "manipulator"&& +10 "core" & s s l  +2 "storage"( & +9 "core" &K X\  +4 .tElbow.reconfigure :limp +5 "manipulator"&$ ,(b +6 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +4 .tForearm.seek 6 +4 "manipulator"&'z +39 "core" ' +2 .tElbow.hold +4 "manipulator"&, +8 "core" , +2 .tElbow.reconfigure :tight +4 "manipulator"&$&.,(\ #b +7 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +6 .tSE.seek 0.07 Pucks below Top Plate + "storage"('7 +25 "core" ' +2 "manipulator"& % +10 "core" %{Y )  Ų +2 "storage"(%& +8 "core" &K C C \  +3 .tForearm.force -20 +3 "manipulator"&5 +8 .tForearm.seek 6 + 301 counts +2 "manipulator"&m'ϧ +20 "core" ' +4 "manipulator"&0& +9 "core" & u s  +2 "storage"({& +8 "core" &K G\  +4 .tForearm.reconfigure :tight +6 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 6 + 450 counts +4 "manipulator"&^'< +18 "core" ' +2 "storage"(n% +11 "core" %: M\ \ +4 ."downElevator"SE.seek :down +7 "storage"(]'N +97 (o% +7 "core" %@ s z \ V_ +4 "manipulator"&r% +8 "core" %( o q A  +4 .tForearm.reconfigure :loose +4 "manipulator"&#Q@2^d^b +4 .tForearm.seek :retract +5 "manipulator"&'\ +89 "core" ' +46 ' +2 ."downElevator"SE.stop + "storage"(5 +6 ('& +7 "core" &K z ~ C\  +4 "collection"'& +8 "core" &]g\ O +2 #tStoring generic puck in Collection Clamp to tube 6 +3 "manipulator"&G% +8 "core" %\ ( u C +4 "storage"(g% +9 "core" %D i l R\  +2 "storage"(. +6 "core" .(K +4 "storage"(2& +7 "core" &K w ~ \  +2 "storage"(-& +8 "core" &K o z \  +4 "manipulator"&s& +6 "core" & s  +4 .tElbow.seek 6 + "manipulator"&t( +8 "core" ( +5 "manipulator"& & +8 "core" &  +2 "storage"(& +9 "core" &K v z W\  +4 .tForearm.reconfigure :tight +4 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 6 + 450 counts +4 "manipulator"&~'< +103 "core" ' +4 "storage"(& +8 "core" &K =\  +4 .tSE.reconfigure :pick +5 "storage"(#]K-0-\ b +6 .tSE.seek :beamBreak +4 "storage"()'e +281 "core" ' +2 "storage"(- +8 "core" -' +2 .tSE.configure :default +6 "storage"(#QK-0-\ b +4 "manipulator"&& +8 "core" & r r  +2 "storage"(q& +8 "core" &K V\  +2 .tElbow.reconfigure :limp +6 "manipulator"&$ ,(b +4 .tForearm.reconfigure :loose +6 "manipulator"&#Q@2^d^b +3 .tForearm.seek 6 +5 "manipulator"&('z +38 "core" ' +4 .tElbow.hold + "manipulator"&<, +10 "core" , +3 .tElbow.reconfigure :tight +7 "manipulator"&$&.,(\ #b +4 "storage"(A- +5 "core" -' +6 .tSE.seek 0.12 Pucks below Top Plate + "storage"(\ 'q +33 "core" ' +2 "manipulator"&S% +8 "core" %{M 3 ) T ǯ +4 "storage"(`& +8 "core" &K   y\  +2 .tForearm.force -20 +4 "manipulator"&5 +6 .tForearm.seek 6 + 301 counts + "manipulator"&#'ϧ +21 "core" ' +2 "manipulator"&6& +8 "core" & | t N  +4 "storage"(y& +8 "core" &K "\  +4 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 6 + 450 counts +4 "manipulator"&'< +25 "core" ' +4 .tSE.seek 1.12 Pucks below Top Plate +4 "storage"(8'` +49 "core" ' +4 "manipulator"&a& +8 "core" & s t a  +4 "manipulator"&I% +8 "core" %b r q c +3 .tForearm.reconfigure :loose +5 "manipulator"&#Q@2^d^b +5 .tForearm.seek :retract + "manipulator"&4'\ +88 "core" ' +4 .tElbow.seek CC +4 "manipulator"&&( +162 "core" ( +4 "manipulator"& & +7 "core" &, < Bg +2 .tElbow.reconfigure :loose +6 "manipulator"&$ &.,(#b +3 &=& +8 "core" &,  Bg +4 .tForearm.seek CC + "manipulator"&.'| +109 "core" ' +4 .tHand.close +3 "manipulator"&E/ +64 "core" / +5 .tCC.seek :open + "collection"'C(p +411 "core" ( +2 "storage"($& +8 "core" &K \  +4 "storage"(\\& +7 "core" &K B\  +2 "manipulator"&Z& +8 "core" &' E >O +2 "manipulator"&V% +8 "core" % x V +4 .tForearm.seek :retract + "manipulator"&;'\ +99 "core" ' +2 .tElbow.reconfigure :tight +6 "manipulator"&$&.,(\ #b +4 .tElbow.seek 6 +4 "manipulator"&T( +157 "core" ( +4 "manipulator"&9& +8 "core" & A \ +2 "storage"(>& +8 "core" &K \  +2 .tElbow.reconfigure :limp +6 "manipulator"&$ ,(b +4 .tForearm.seek 6 +4 "manipulator"&O'z +111 "core" ' +2 .tElbow.hold + "manipulator"&+, +11 "core" , + .tElbow.reconfigure :tight +8 "manipulator"&$&.,(\ #b +4 .tHand.open +4 "manipulator"&M1 +60 "core" 1 +3 "manipulator"&J% +9 "core" % ΅ q +4 "storage"(U& +8 "core" &K n j 0\  +2 .tForearm.force -20 +4 "manipulator"&5 +4 .tForearm.seek 6 + 311 counts +4 "manipulator"&h'ϱ +19 "core" ' +2 "manipulator"&1& +11 "core" & ~ s u +2 "storage"(P& +8 "core" &K <\  +4 .tForearm.reconfigure :tight +4 "manipulator"&#Q@2^d^\ b +6 .tForearm.seek 6 + 450 counts +3 "manipulator"&?'< +124 "core" ' +4 "storage"(3% +8 "core" %c I\ +4 ."downElevator"SE.seek :down +8 "storage"(,'N +97 (L% +6 "core" %w? Z\ U\\ +2 "manipulator"&7% +9 "core" %5 r s ] +4 .tForearm.reconfigure :loose +6 "manipulator"&#Q@2^d^b +5 .tForearm.seek :retract + "manipulator"&'\ +90 "core" ' +35 ' +2 ."downElevator"SE.stop +7 "storage"(5 +5 #tShuffling pucks in tube 7 of [5..7] +4 #Loading generic puck from tube 7 into Collection Clamp +2 "collection"'W& +10 "core" &pp\ +2 "manipulator"&p% +8 "core" %\ ' g = +4 "storage"(w% +8 "core" %O O\  +2 "storage"(/. +8 "core" .(K +2 .tSC.reconfigure :tight +6 "storage"($\ .\ 1~b +4 .tSC.seek 7 + "storage"(k([ +352 "core" ( +2 .tSC.configure :limp +4 "storage"($\ 1b +5 (B& +9 "core" &[ /\  +6 "manipulator"&D& +8 "core" & Y +2 .tElbow.seek 7 +4 "manipulator"&N( +37 "core" ( +4 "manipulator"&& +10 "core" &\ W +2 "storage"(:& +8 "core" &[ ]\  +4 .tForearm.reconfigure :tight +7 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 7 + 450 counts + "manipulator"&f'k +94 "core" ' +4 "storage"(& +8 "core" &[ \  +4 .tSE.reconfigure :pick +6 "storage"(#]K-0-\ b +6 .tSE.seek :beamBreak + "storage"(j'e +282 "core" ' +2 "storage"(- +8 "core" -' +2 .tSE.configure :default +4 "storage"(#QK-0-\ b +6 (X& +5 "core" &[ X\  +4 "manipulator"&Q& +8 "core" &\ - W +2 .tElbow.seek 7 +4 "manipulator"&H( +6 "core" ( +4 "manipulator"&e& +8 "core" &\ f W +5 "storage"([& +8 "core" &[ \  +4 .tForearm.seek 7 + 300 counts +2 "manipulator"&5' +29 "core" ' +2 .tForearm.reconfigure :loose +4 "manipulator"&#Q@2^d^b +4 .tHand.close +4 "manipulator"&!/ +63 "core" / +4 ."downElevator"SE.seek :down +5 "manipulator"&x& +4 "storage"(R'N +17 "core" &\ { Q W +2 "manipulator"&@% +8 "core" % q s +4 .tForearm.seek :retract +4 "manipulator"&_'\ +99 "core" ' +2 .tElbow.seek CC +4 "manipulator"&( +129 "core" ' +2 ."downElevator"SE.stop +3 "storage"(5 +24 "core" ( +2 "manipulator"&K& +8 "core" &+ 7 Aa +4 .tElbow.reconfigure :loose +4 "manipulator"&$ &.,(#b +4 &Y& +11 "core" &+  Aa +4 .tForearm.reconfigure :tight +5 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek CC +4 "manipulator"&l'| +109 "core" ' +4 "manipulator"&& +9 "core" &+  A_ +2 "manipulator"&% +9 "core" %y y +2 "collection"'|& +8 "core" &qq\ +4 "collection"'u& +10 "core" &or\ +6 .tCC.seek :closed +4 "collection"'v(] +8 "core" &qq\ +2 &nq\  +6 &0pq\ +z +8 &dqr\ > +11 &Poq\ N +10 &cpr\ M +9 &hpq\ M +10 &gnp\ M +8 &!Ycoq\ M +11 &#hpq\ M +8 &$eps\ M +8 &&dnp\ M +12 &(benp\ M +11 &*$coq\ M +5 &+bps\ M +11 &-bpo\ M +8 &/icpq\ M +11 &1,hpq\ M +10 &2epq\ M +7 &4boq\ M +12 &6tcns\ L +8 &85bpp\ M +9 &9fnp\ M +11 &;app\ L +6 &={eqq\ M +11 &?=`qr\ M +10 &@enp\ M +8 &Bdnr\ M +11 &D`oo\ M +9 &FFdnr\ L +8 &Hheh\ M +11 &IrV]\ O +8 &K(C\ P +12 &M5\ U +8 &N}\ W +10 &Pjt\ W +8 &Rs^b\ X +10 &T3KR\ X +10 &U=B\ Y +9 &W.5\ Y +8 &Yp'\ [ +12 &[4\ [ +8 &\\y\ 2 +10 &]&\ \\ +8 ( +6 "collection"'u& +8 #tCollection Clamp onSpring/offSpring for 9/25 samples, on/off torque 1.94 +4 .Hand.open +2 "manipulator"&1 +6 "core" &]g\ O +2 &]g\ O +47 1 +2 "manipulator"&z% +9 "core" % y  +4 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +4 .tForearm.seek :retract +4 "manipulator"&'\ +93 "core" ' +5 #tLoading generic puck from tube 7 into Processing Clamp +3 "processing"%& +9 "core" &m\ +4 "manipulator"&b% +9 "core" %\ .  #c +4 "storage"(% +8 "core" %? p p \ \ +4 "storage"( . +5 "core" .([ +2 .tSC.reconfigure :tight +6 "storage"($\ .\ 1~b +5 .tSC.seek 7 +4 "storage"(}([ +5 "core" ( +4 .tSC.configure :limp +4 "storage"($\ 1b +6 (c& +4 "core" &[ C W \  +4 "manipulator"& & +8 "core" &%  =B +2 "manipulator"&%% +8 "core" %\ .  #c +4 .tElbow.reconfigure :tight +4 "manipulator"&$&.,(\ #b +5 .tElbow.seek 7 +4 "manipulator"&i( +160 "core" ( +2 "manipulator"& & +8 "core" &  +4 "storage"(0& +8 "core" &[ j i \  +4 .tForearm.reconfigure :tight +4 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 7 + 450 counts +4 "manipulator"&{'k +103 "core" ' +3 "storage"(& +8 "core" &[ \  +5 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +6 .tSE.seek :beamBreak +4 "storage"(n'e +280 "core" ' +2 "storage"(- +8 "core" -' +2 .tSE.configure :default +5 "storage"(#QK-0-\ b +6 (o& +5 "core" &[ u v\  +4 "manipulator"&& +8 "core" & s q d  +2 .tElbow.seek 7 +4 "manipulator"&r( +6 "core" ( +5 "manipulator"&d& +8 "core" & v {  +2 "storage"(& +8 "core" &[ :\  +4 .tForearm.seek 7 + 300 counts + "manipulator"&m' +16 "core" ' +6 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +4 .tHand.close +4 "manipulator"&'/ +53 "core" / +7 ."downElevator"SE.seek :down +7 "manipulator"&& +5 "storage"(G'N +14 "core" & s s l  +6 "manipulator"&% +7 "core" % r s g S +4 .tForearm.seek :retract + "manipulator"&g'\ +98 "core" ' +2 .tElbow.seek PC +4 "manipulator"&(c +137 "core" ' +2 ."downElevator"SE.stop +2 "storage"(5 +98 "core" ( +6 "manipulator"&2& +8 "core" &k 1 G +2 .tElbow.reconfigure :loose +6 "manipulator"&$ &.,(#b +4 &-& +9 "core" &k f G +4 .tForearm.reconfigure :tight +4 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek PC +4 "manipulator"&s'[ +107 "core" ' +4 "manipulator"& & +8 "core" &k { G +4 "manipulator"&% +8 "core" %P {  z +4 "processing"%^& +6 "core" &\ +4 "processing"%& +10 "core" &\ +6 .tPC.seek :closed +4 "processing"%](Z +9 "core" &\ +2 &\  +4 &/}\ *y +10 &e\ > +8 &Fw\ M +10 & U\ M +11 &\\\ L +7 &Z\ L +11 &!P\\ \ M +10 &#\\ \ L +8 &$[\ L +12 &&\\\ M +5 &(X^6\ M +12 &*]\ M +10 &+\\r\ M +7 &-Z4\ M +11 &/``\ \ M +9 &1"Z\ M +8 &2Z \ M +11 &4Zr\ L +8 &6i[\ L +10 &8)Z\ M +11 &9Z:\ L +7 &;Z\ M +11 &=p]\ M +9 &?1\\\ M +8 &@]\ M +13 &B\\H\ M +6 &Dx_\ M +11 &F9aH\ M +9 &GeB\ N +8 &Is\ O +11 &Kr\ Q +9 &M0\ S +9 &N+\ S +10 &Pz\ T +8 &Rt>\ S +11 &T5\ T +10 &U\ T +9 &W,\ T +9 &Y{\ A +9 &Zu9\ !b +13 &Z\ ) +2 ( +4 "processing"%& +7 #tProcessing Clamp onSpring/offSpring for 9/25 samples, on/off torque 1.62 +4 .Hand.open + "manipulator"&1 +6 "core" &Z\ ) +60 1 +2 "manipulator"&% +10 "core" % Q l y +2 .tForearm.reconfigure :loose +6 "manipulator"&#Q@2^d^b +4 .tForearm.seek :retract +4 "manipulator"&'\ +89 "core" ' +4 "processing"%& +9 "core" &Z\ ) +4 #tImaging generic puck in Processing Clamp while storing it to tube 7 + "manipulator"&q% +9 "core" %\ * @ +3 "storage"(A% +9 "core" %O p p \  +2 "storage"(S. +6 "core" .([ +5 "storage"(`& +9 "core" &[ p r\  +4 "storage"(6& +6 "manipulator"&y& +7 "core" &[ p p \  +4 &k  G +6 ."raiseStack"SE.reconfigure :place +6 .tElbow.reconfigure :tight +5 "storage"(#]kK-0-\ b +4 "manipulator"&$&.,(\ #b +14 .tElbow.seek PC + "manipulator"&a(c +8 ."raiseStack"SE.seek :beamBreak + "storage"(~'e +6 "core" ( +2 "manipulator"&I& +8 "core" &k  G +2 .tElbow.reconfigure :loose +6 "manipulator"&$ &.,(#b +5 &t& +8 "core" &k G +4 .tForearm.seek PC + "manipulator"&)'[ +104 "core" ' +2 .tHand.close +2 "manipulator"&(/ +56 "core" / +2 .tPC.seek :open +4 "processing"%#(p +61 "core" ' +4 "storage"(\ - +9 "core" -'e +2 ."raiseStack"SE.configure :default +6 "storage"(#QK-0-\ b +6 ."raiseStack"SE.seek :place +3 "storage"( 'B +38 "core" ' +267 ( +5 "storage"(=& +8 "core" &[ } | \  +2 "manipulator"&& +8 "core" &k  G +2 "manipulator"&<% +9 "core" % [  +132 .tForearm.seek :retract +6 "manipulator"&E'\ +101 "core" ' +2 .tElbow.reconfigure :tight +6 "manipulator"&$&.,(\ #b +4 .tElbow.seek 7 +4 "manipulator"&4( +243 "core" ( +2 "manipulator"&"& +10 "core" &  G +2 "storage"($& +8 "core" &[ p p N\  +4 .tForearm.reconfigure :tight +4 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 7 + 450 counts +4 "manipulator"&\\'k +90 "core" ' +4 .tHand.open + "manipulator"&Z1 +59 "core" 1 +4 "storage"(V- +7 "core" -'B +4 .tSE.seek -0.16 Pucks below Top Plate +4 "storage"(9' +26 "core" ' +4 .tSE.reconfigure :seal +4 "storage"(#QK-0-\ b +7 .tSE.seek -0.83 Pucks below Top Plate + "storage"(>' +56 "core" ' +2 #tLights, camera, ACTION! +4 "storage"(.- +6 "core" -' +4 "storage"(&& +8 "core" &[\ \  \  +4 "manipulator"&M& +8 "core" &  G +4 .tElbow.seek 7 +4 "manipulator"&J( +10 "core" ( +2 "manipulator"&U& +8 "core" &  G +2 "storage"(1& +8 "core" &[\ \ \  +4 .tForearm.seek 7 + 450 counts +4 "manipulator"&P'k +6 "core" ' +4 .tSE.reconfigure :gently +6 "storage"(#QK-0-\ b +4 .tSE.seek -0.11 Pucks below Top Plate +4 "storage"(;'M +61 "core" ' +5 "manipulator"&T& +8 "core" &  G +5 "storage"(3& +9 "core" &[ i g K\  +2 .tElbow.reconfigure :limp +6 "manipulator"&$ ,(b +4 .tForearm.reconfigure :loose +6 "manipulator"&#Q@2^d^b +5 .tForearm.seek 7 + "manipulator"&O'Ω +34 "core" ' +2 .tElbow.hold +4 "manipulator"&L, +9 "core" , +3 .tElbow.reconfigure :tight +4 "manipulator"&$&.,(\ #b +6 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +6 .tSE.seek 0.07 Pucks below Top Plate + "storage"(7'7 +25 "core" ' +4 "manipulator"&h% +8 "core" %θ +2 "storage"(W& +12 "core" &[ \\ ]\  +2 .tForearm.force -20 +4 "manipulator"&5 +6 .tForearm.seek 7 + 315 counts + "manipulator"&p' +18 "core" ' +4 "manipulator"&w& +8 "core" & } \\ G +3 "storage"(8& +8 "core" &[ R\  +4 .tForearm.reconfigure :tight +6 "manipulator"&#Q@2^d^\ b +5 .tForearm.seek 7 + 450 counts +4 "manipulator"&/'k +19 "core" ' +4 "storage"(?% +8 "core" %@ C\  +4 ."downElevator"SE.seek :down +9 "storage"(,'N +94 (F% +6 "core" %<= q p \ U_ +2 "manipulator"&B% +10 "core" %a ~ ~  +4 .tForearm.reconfigure :loose +4 "manipulator"&#Q@2^d^b +5 .tForearm.seek :retract +5 "manipulator"&D'\ +89 "core" ' +49 ' +3 ."downElevator"SE.stop + "storage"(5 +5 (& +8 "core" &[ | s \  +4 "collection"':& +8 "core" &]f\ O +2 #tStoring generic puck in Collection Clamp to tube 7 +3 "manipulator"&% +8 "core" %\ * !N +2 "storage"(+% +7 "core" %J ~ ~ \  +4 "storage"(. +6 "core" .([ +4 "storage"(& +8 "core" &[ ~ } \  +2 "storage"(X& +8 "core" &[ { \  +2 "manipulator"&Q& +8 "core" & G +4 .tElbow.seek 7 + "manipulator"&e( +6 "core" ( +4 "manipulator"&[& +9 "core" &  G +2 "storage"(!& +8 "core" &[ { P\  +4 .tForearm.reconfigure :tight +7 "manipulator"&#Q@2^d^\ b +5 .tForearm.seek 7 + 450 counts +4 "manipulator"&x'k +95 "core" ' +4 "storage"(@& +7 "core" &[ q\  +4 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +6 .tSE.seek :beamBreak +4 "storage"(N'e +282 "core" ' +2 "storage"(f- +8 "core" -' +2 .tSE.configure :default +4 "storage"(#QK-0-\ b +6 "manipulator"&j& +8 "core" & l G +2 "storage"(K& +8 "core" &[ X\  +2 .tElbow.reconfigure :limp +6 "manipulator"&$ ,(b +7 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +4 .tForearm.seek 7 +4 "manipulator"&Y'Ω +36 "core" ' +3 .tElbow.hold +4 "manipulator"&5, +8 "core" , +2 .tElbow.reconfigure :tight +6 "manipulator"&$&.,(\ #b +5 "storage"(H- +6 "core" -' +4 .tSE.seek 0.12 Pucks below Top Plate +4 "storage"('o +31 "core" ' +2 "manipulator"&% +8 "core" %ζ~  ' R +4 "storage"(|& +9 "core" &[ 9 = t\  +4 .tForearm.force -20 +3 "manipulator"&5 +4 .tForearm.seek 7 + 313 counts +3 "manipulator"&R' +20 "core" ' +2 "manipulator"&_& +10 "core" & | 2 G +2 "storage"(C& +9 "core" &[ M\  +4 .tForearm.reconfigure :tight +4 "manipulator"&#Q@2^d^\ b +5 .tForearm.seek 7 + 450 counts +4 "manipulator"&'k +20 "core" ' +4 .tSE.seek 1.12 Pucks below Top Plate +4 "storage"(z'^ +50 "core" ' +2 "manipulator"&& +9 "core" & s | ~ G +2 "manipulator"&u% +8 "core" %\\ ~  \\  +4 .tForearm.reconfigure :loose +6 "manipulator"&#Q@2^d^b +4 .tForearm.seek :retract + "manipulator"&b'\ +88 "core" ' +4 .tElbow.seek CC +4 "manipulator"&( +150 "core" ( +2 "manipulator"& & +8 "core" &%  <@ +4 .tElbow.reconfigure :loose +5 "manipulator"&$ &.,(#b +4 &c& +6 "core" &% <@ +4 .tForearm.seek CC +4 "manipulator"& '| +97 "core" ' +4 .tHand.close +2 "manipulator"&%/ +57 "core" / +2 .tCC.seek :open +4 "collection"'l(p +412 "core" ( +3 "storage"( & +9 "core" &[ >\  +5 "storage"(0& +8 "core" &[ \  +3 "manipulator"&k& +8 "core" &" J 9& +2 "manipulator"&% +8 "core" % z X +4 .tForearm.seek :retract +2 "manipulator"&'\ +94 "core" ' +2 .tElbow.reconfigure :tight +6 "manipulator"&$&.,(\ #b +4 .tElbow.seek 7 +4 "manipulator"&( +161 "core" ( +4 "manipulator"&& +8 "core" &   +2 "storage"(o& +8 "core" &[ ^\  +4 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +6 .tForearm.seek 7 +4 "manipulator"&'Ω +104 "core" ' +5 .tElbow.hold + "manipulator"&d, +12 "core" , +4 .tElbow.reconfigure :tight +4 "manipulator"&$&.,(\ #b +5 .tHand.open +3 "manipulator"&1 +57 "core" 1 +4 "manipulator"&'% +7 "core" % ν 1 +2 "storage"(& +8 "core" &[ K\  +2 .tForearm.force -20 +4 "manipulator"&5 +6 .tForearm.seek 7 + 320 counts + "manipulator"&' +21 "core" ' +5 "manipulator"&i& +9 "core" & u q  +2 "storage"({& +9 "core" &[ @\  +4 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 7 + 450 counts +4 "manipulator"&n'k +23 "core" ' +2 "storage"(m% +10 "core" %c 1\ +4 ."downElevator"SE.seek :down +5 "storage"(2'N +101 (-% +4 "core" %B :\ U\\ +4 "manipulator"&r% +8 "core" %U s r Q +4 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +6 .tForearm.seek :retract +2 "manipulator"& '\ +90 "core" ' +35 ' +2 ."downElevator"SE.stop +2 "storage"(5 +6 #tShuffling pucks in tube 5 of [5..7] +4 #Loading generic puck from tube 5 into Collection Clamp + "collection"'& +8 "core" &oq\ +4 "manipulator"&^% +7 "core" %\ ( Q D +2 "storage"(G% +7 "core" %F \  +4 "storage"(g. +6 "core" .([ +2 .tSC.reconfigure :tight +7 "storage"($\ .\ 1~b +4 .tSC.seek 5 +4 "storage"(*(<< +677 "core" ( +2 .tSC.configure :limp +4 "storage"($\ 1b +6 (& +5 "core" &H +4 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +7 &)& +4 "core" &' >H +4 .tForearm.reconfigure :tight +6 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek CC +4 "manipulator"&"'| +97 "core" ' +3 "manipulator"&$& +10 "core" &' >H +4 "manipulator"&a% +10 "core" %w  +4 "collection"'Z& +8 "core" &ps\ +4 "collection"'V& +10 "core" &oq\ +8 .tCC.seek :closed + "collection"'.(] +10 "core" &oq\ +2 &or \  +4 &1pp\ *z +9 &epq\ ? +11 &Q~qq\ \ N +9 &^os\ M +7 &ept \ M +12 &gpr\ M +11 &![cqr\ M +6 &#hpr\ N +11 &$enp\ M +8 &&eqq\ M +11 &(dfrs\ M +9 &*'dpr\ M +8 &+cnq\ L +11 &-dpq\ M +9 &/kgqq\ M +8 &1,gpq\ N +11 &2epq\ M +8 &4cpr\ M +11 &6scop\ M +11 &85bop\ M +6 &9bop\ M +13 &;`pq\ M +7 &=|cqs\ M +8 &?>bpo\ M +12 &@dpr\ N +7 &Bcqp\ M +11 &D_ms\ M +9 &FEbkr\ M +8 &Hdeh\ N +11 &IvT]\ P +10 &K~8\ R +9 &M4\ V +9 &Nz\ W +8 &Pis\ X +11 &RtYa\ X +9 &T4IO\ Y +10 &U=A\ [ +11 &W/1\ Z +7 &Yr#\ [ +10 &[/\ ] +9 &\\\ 0 +8 &]+\ _ +9 ( +4 &]a\ I +6 "collection"'V& +6 #tCollection Clamp onSpring/offSpring for 9/25 samples, on/off torque 1.99 +2 .Hand.open +4 "manipulator"&&1 +6 "core" &]^\ I +48 1 +2 "manipulator"&M% +10 "core" % w >  +2 .tForearm.reconfigure :loose +6 "manipulator"&#Q@2^d^b +5 .tForearm.seek :retract +4 "manipulator"&E'\ +98 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp +4 "processing"%U& +8 "core" &E\ +2 "manipulator"&1% +9 "core" %\ / 0 #i +2 "storage"(T% +8 "core" %= p p \ \ +2 "storage"(3. +8 "core" .(& +8 "core" &<: .\  +4 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +7 .tSE.seek :beamBreak +4 "storage"(?'e +288 "core" ' +2 "storage"(P- +8 "core" -' +2 .tSE.configure :default +6 "storage"(#QK-0-\ b +5 (F& +7 "core" &<9 } z \  +2 "manipulator"&J& +8 "core" &  +2 .tElbow.seek 5 +4 "manipulator"&B( +7 "core" ( +7 "manipulator"&;& +8 "core" & , +2 "storage"(O& +8 "core" &<9 z | \  +4 .tForearm.seek 5 + 300 counts +4 "manipulator"&p'[ +10 "core" ' +4 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +4 .tHand.close +4 "manipulator"&/ +65 "core" / +4 ."downElevator"SE.seek :down +11 "manipulator"&:& +5 "storage"('N +14 "core" & 2 +2 "manipulator"&7% +9 "core" % ` t 7 +4 .tForearm.seek :retract + "manipulator"&+'\ +101 "core" ' +4 .tElbow.seek PC + "manipulator"&(c +141 "core" ' +4 ."downElevator"SE.stop + "storage"(5 +107 "core" ( +4 "manipulator"&& +11 "core" &g " +2 .tElbow.reconfigure :loose +4 "manipulator"&$ &.,(#b +4 &X& +7 "core" &g * +4 .tForearm.reconfigure :tight +5 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek PC +4 "manipulator"&Q'[ +106 "core" ' +2 "manipulator"&[& +8 "core" &g E +4 "manipulator"&!% +8 "core" %K  +4 "processing"%/& +8 "core" &4\ +4 "processing"%@& +16 "core" & \ +2 & \ +4 .tPC.seek :closed +6 "processing"%,(Z +8 "core" &\ +2 &\  +6 &0}\ *x +10 &d\ > +11 &@x2\ N +8 &Y\ M +8 &` \ M +11 &Z\ L +9 &!I]\ \ M +8 &# W\ M +12 &$X\ M +9 &&\\\ M +9 &(RZ\ M +9 &*Y\ M +8 &+Y\ M +11 &-Z\ \ L +10 &/Z^\ M +7 &1_\ M +12 &2`\ M +8 &4]\ M +8 &6bY\ M +10 &8%[\ L +9 &9Z\ L +11 &;Z\ M +9 &=i]\ M +8 &?,\\ \ M +11 &@]\ M +9 &B]\ L +8 &Dr]\ M +14 &F3b\ M +5 &Gh \ N +11 &Ir\ O +9 &Km\ Q +10 &M) \ S +9 &N\ \ S +9 &P\ S +10 &Rn\ S +10 &T/\ T +7 &U\ S +11 &W\ T +9 &Yt\ \ A +10 &ZzA\ T +10 &Z\ ( +7 ( +3 &Z \ ( +6 "processing"%@& +4 #tProcessing Clamp onSpring/offSpring for 9/25 samples, on/off torque 1.62 +4 .Hand.open +2 "manipulator"&L1 +6 "core" &Z\ ( +60 1 +2 "manipulator"&D% +10 "core" % K c +2 .tForearm.reconfigure :loose +6 "manipulator"&#Q@2^d^b +5 .tForearm.seek :retract + "manipulator"&f'\ +102 "core" ' +3 "processing"%j& +8 "core" &Z8\ ( +4 #tImaging generic puck in Processing Clamp while storing it to tube 5 + "manipulator"&K% +6 "core" %\ 3 O %y +4 "storage"(H% +8 "core" %G p p \  +2 "storage"(. +6 "core" .(<9 +4 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +4 .tSC.seek 5 +4 "storage"(|(<< +10 "core" ( +2 .tSC.configure :limp +6 "storage"($\ 1b +5 (_& +8 "core" &<9 o m e\ \ +2 "manipulator"&C& +6 ."raiseStack"SE.reconfigure :place +12 "storage"(#]kK-0-\ b +5 ."raiseStack"SE.seek :beamBreak +3 "storage"('e +6 "core" &g  +4 .tElbow.reconfigure :tight +4 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +4 "manipulator"&u(c +10 "core" ( +2 "manipulator"&x& +9 "core" &g +3 .tElbow.reconfigure :loose +6 "manipulator"&$ &.,(#b +5 &e& +9 "core" &g +3 .tForearm.seek PC +4 "manipulator"&N'[ +97 "core" ' +4 .tHand.close + "manipulator"&Y/ +65 "core" / +3 .tPC.seek :open +4 "processing"%R(p +30 "core" ' +3 "storage"(- +7 "core" -'e +5 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +6 ."raiseStack"SE.seek :place +4 "storage"( 'B +38 "core" ' +297 ( +2 "storage"(c& +11 "core" &<9 { \ \ +2 "manipulator"&& +8 "core" &g  +2 "manipulator"&5% +8 "core" % g   +4 .tForearm.seek :retract +3 "manipulator"&%'\ +92 "core" ' +4 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +6 .tElbow.seek 5 +5 "manipulator"&b( +249 "core" ( +4 "manipulator"&v& +8 "core" &\ ? Z +2 "storage"( & +8 "core" &<9 z n b\ \ +4 .tForearm.reconfigure :tight +4 "manipulator"&#Q@2^d^\ b +5 .tForearm.seek 5 + 450 counts +5 "manipulator"&0' +104 "core" ' +2 .tHand.open +2 "manipulator"&k1 +66 "core" 1 +5 "storage"(- +7 "core" -'B +4 .tSE.seek -0.16 Pucks below Top Plate +4 "storage"(' +26 "core" ' +5 .tSE.reconfigure :seal +4 "storage"(#QK-0-\ b +5 .tSE.seek -0.83 Pucks below Top Plate +5 "storage"(o' +53 "core" ' +4 #tLights, camera, ACTION! + "storage"( - +8 "core" -' +5 "storage"(& +8 "core" &<7\ \ 6\ +4 "manipulator"&& +8 "core" &\ r r D Z +4 .tElbow.seek 5 + "manipulator"&'( +8 "core" ( +4 "manipulator"&& +8 "core" & s 5 +2 "storage"(i& +8 "core" &<7\ V\ +4 .tForearm.seek 5 + 450 counts +4 "manipulator"&{' +6 "core" ' +4 .tSE.reconfigure :gently +7 "storage"(#QK-0-\ b +4 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"('M +61 "core" ' +3 "manipulator"&m& +11 "core" & ~ ~  5 +2 "storage"(& +8 "core" &<7 _\ +4 .tElbow.reconfigure :limp +4 "manipulator"&$ ,(b +6 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +4 .tForearm.seek 5 +4 "manipulator"&-'/ +34 "core" ' +2 .tElbow.hold +4 "manipulator"&r, +5 "core" , +2 .tElbow.reconfigure :tight +107 "manipulator"&$&.,(\ #b +11 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +4 .tSE.seek 0.07 Pucks below Top Plate +4 "storage"('7 +27 "core" ' +4 "manipulator"&% +7 "core" %?}  H +2 "storage"(& +8 "core" &<7 \\ Z\ +4 .tForearm.force -20 + "manipulator"&5 +6 .tForearm.seek 5 + 316 counts +2 "manipulator"&^'k +19 "core" ' +2 "manipulator"&G& +8 "core" &7 ~   +4 "storage"(z& +8 "core" &<7 Y\ +4 .tForearm.reconfigure :tight +4 "manipulator"&#Q@2^d^\ b +5 .tForearm.seek 5 + 450 counts +5 "manipulator"&g' +24 "core" ' +2 "storage"(n% +8 "core" %9 g\ +6 ."downElevator"SE.seek :down +5 "storage"(2'N +101 (}% +4 "core" %< ~ ~ \ U\\ +4 "manipulator"&% +8 "core" % u s  +4 .tForearm.reconfigure :loose +4 "manipulator"&#Q@2^d^b +4 .tForearm.seek :retract +4 "manipulator"&'\ +96 "core" ' +38 ' +5 ."downElevator"SE.stop + "storage"(5 +5 (& +9 "core" &<7 | q R\ +2 "collection"'q& +8 "core" &]^\ I +4 #tStoring generic puck in Collection Clamp to tube 5 + "manipulator"&S% +8 "core" %\ 1 U $r +2 "storage"(d% +10 "core" %N i j {\ +4 "storage"( . +5 "core" .(<9 +4 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +4 .tSC.seek 5 +4 "storage"(y(<< +15 "core" ( +2 .tSC.configure :limp +4 "storage"($\ 1b +5 (6& +8 "core" &<9 T m A\  +4 "manipulator"&I& +8 "core" &7  +4 .tElbow.seek 5 + "manipulator"&s( +23 "core" ( +4 "manipulator"&(& +8 "core" & V  +2 "storage"(& +8 "core" &<9 t 7\  +4 .tForearm.reconfigure :tight +6 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 5 + 450 counts +5 "manipulator"&' +103 "core" ' +3 "storage"(~& +8 "core" &<9 \  +4 .tSE.reconfigure :pick +6 "storage"(#]K-0-\ b +7 .tSE.seek :beamBreak + "storage"('e +285 "core" ' +3 "storage"(A- +9 "core" -' +2 .tSE.configure :default +6 "storage"(#QK-0-\ b +5 "manipulator"&<& +8 "core" &   +2 "storage"(`& +8 "core" &<8 v\  +2 .tElbow.reconfigure :limp +6 "manipulator"&$ ,(b +5 .tForearm.reconfigure :loose +6 "manipulator"&#Q@2^d^b +3 .tForearm.seek 5 +4 "manipulator"&)'/ +33 "core" ' +2 .tElbow.hold +4 "manipulator"&\ , +9 "core" , +2 .tElbow.reconfigure :tight +4 "manipulator"&$&.,(\ #b +5 "storage"($- +8 "core" -' +4 .tSE.seek 0.11 Pucks below Top Plate + "storage"(t'l +29 "core" ' +4 "manipulator"&a% +8 "core" %>i  7 ¶ +2 "storage"(Z& +8 "core" &<8 8 @ 4\  +2 .tForearm.force -20 +4 "manipulator"&5 +7 .tForearm.seek 5 + 315 counts +2 "manipulator"&]'j +19 "core" ' +2 "manipulator"&=& +8 "core" &/ { s Q X +4 "storage"(l& +8 "core" &<8 3\  +4 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 5 + 450 counts +4 "manipulator"&&' +19 "core" ' +4 .tSE.seek 1.11 Pucks below Top Plate +4 "storage"(M'[ +52 "core" ' +4 "manipulator"&U& +7 "core" &/ s r , X +2 "manipulator"&V% +9 "core" % r p ;  +4 .tForearm.reconfigure :loose +4 "manipulator"&#Q@2^d^b +4 .tForearm.seek :retract +4 "manipulator"&1'\ +91 "core" ' +4 .tElbow.seek CC +5 "manipulator"&T( +158 "core" ( +3 "manipulator"&3& +12 "core" &% ( <= +2 .tElbow.reconfigure :loose +4 "manipulator"&$ &.,(#b +5 &9& +9 "core" &% n <= +3 .tForearm.seek CC + "manipulator"&h'| +102 "core" ' +4 .tHand.close + "manipulator"&W/ +67 "core" / +2 .tCC.seek :open +4 "collection"'"(p +411 "core" ( +4 "storage"(w& +8 "core" &<8 d\  +2 "storage"(\\& +8 "core" &<8 F\  +4 "manipulator"&*& +8 "core" &% <: +5 "manipulator"&>% +6 "core" % s +4 .tForearm.seek :retract +4 "manipulator"&'\ +92 "core" ' +4 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +4 .tElbow.seek 5 +4 "manipulator"&E( +165 "core" ( +2 "manipulator"&P& +8 "core" & A  +4 "storage"(F& +8 "core" &<8 1\  +2 .tElbow.reconfigure :limp +6 "manipulator"&$ ,(b +4 .tForearm.seek 5 + "manipulator"&J'/ +110 "core" ' +2 .tElbow.hold +4 "manipulator"&;, +10 "core" , +2 .tElbow.reconfigure :tight +4 "manipulator"&$&.,(\ #b +4 .tHand.open +4 "manipulator"&O1 +56 "core" 1 +4 "manipulator"&% +8 "core" % C p +2 "storage"(:& +8 "core" &<8 | &\  +4 .tForearm.force -20 + "manipulator"&5 +7 .tForearm.seek 5 + 320 counts +2 "manipulator"&7'o +19 "core" ' +2 "manipulator"&4& +8 "core" &/ q s #  +4 "storage"(8& +8 "core" &<8 :\  +4 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 5 + 450 counts +4 "manipulator"&?' +14 "core" ' +4 "storage"(p% +8 "core" %b "\ +4 ."downElevator"SE.seek :down +8 "storage"('N +97 (X% +7 "core" %*@ <\ U\\ +4 "manipulator"&B% +8 "core" % r p A . +4 .tForearm.reconfigure :loose +4 "manipulator"&#Q@2^d^b +5 .tForearm.seek :retract +4 "manipulator"&['\ +93 "core" ' +29 ' +2 ."downElevator"SE.stop +3 "storage"(5 +4 #tShuffling pucks in tube 6 of [5..7] +2 #Loading generic puck from tube 6 into Collection Clamp +4 "collection"'!& +8 "core" &pp\ +2 "manipulator"&/% +7 "core" %\ . p #c +4 "storage"(% +8 "core" %B i\ +2 "storage"(+. +8 "core" .(<9 +2 .tSC.reconfigure :tight +6 "storage"($\ .\ 1~b +5 .tSC.seek 6 +4 "storage"(#(K +354 "core" ( +4 .tSC.configure :limp +4 "storage"($\ 1b +5 (L& +8 "core" &K \  +2 "manipulator"&D& +8 "core" &/ f  +4 .tElbow.seek 6 + "manipulator"&@( +15 "core" ( +2 "manipulator"&j& +9 "core" & D  +2 "storage"(K& +8 "core" &K \  +4 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +7 .tForearm.seek 6 + 450 counts + "manipulator"&H'< +95 "core" ' +4 "storage"(& +7 "core" &K i\  +4 .tSE.reconfigure :pick +4 "storage"(#]K-0-\ b +6 .tSE.seek :beamBreak +4 "storage"(_'e +280 "core" ' +5 "storage"(C- +6 "core" -' +4 .tSE.configure :default +6 "storage"(#QK-0-\ b +4 (x& +6 "core" &K \  +4 "manipulator"&e& +6 "core" & { s  +4 .tElbow.seek 6 + "manipulator"&Q( +18 "core" ( +2 "manipulator"&Y& +9 "core" & r r 5  +4 "storage"( & +8 "core" &K \  +4 .tForearm.seek 6 + 300 counts + "manipulator"&'Ϧ +24 "core" ' +4 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +4 .tHand.close +2 "manipulator"&/ +56 "core" / +6 ."downElevator"SE.seek :down +8 "manipulator"&f& +4 "storage"(,'N +14 "core" & q p 5  +4 "manipulator"&% +8 "core" % Ϣ s s ^ +4 .tForearm.seek :retract + "manipulator"&c'\ +92 "core" ' +2 .tElbow.seek CC +4 "manipulator"&( +132 "core" ' +4 ."downElevator"SE.stop +2 "storage"(5 +15 "core" ( +3 "manipulator"&5& +9 "core" &$ ;3 +4 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +5 &N& +8 "core" &$ ;3 +4 .tForearm.reconfigure :tight +5 "manipulator"&#Q@2^d^\ b +5 .tForearm.seek CC +5 "manipulator"&v'| +104 "core" ' +2 "manipulator"& & +8 "core" &$  ;2 +4 "manipulator"&u% +8 "core" %v +4 "collection"'k& +9 "core" &oq\ +4 "collection"'& +10 "core" &or\ +6 .tCC.seek :closed +5 "collection"' (] +11 "core" &oq\ +2 &or\ +2 &oq \  +6 &0ps \ +z +10 &cqr\ > +9 &O}oq \ N +8 &bps\ M +11 &epr\ M +8 &gor\ M +11 &!Wepp\ M +9 &#gpp\ M +8 &$dqq\ N +11 &&bno\ M +8 &(``qs\ M +9 &*!bpr \ M +12 &+^mp\ M +7 &-cqq \ M +13 &/gemq \ M +7 &1)`ps\ M +8 &2apq\ M +11 &4cor \ M +9 &6n`mp\ N +8 &81`pr\ M +11 &9_qr \ M +9 &;\\oq\ M +10 &=xboo\ M +11 &?9`op\ \ M +7 &@`no\ M +10 &Bboq\ N +9 &D`op\ M +8 &FAbkp\ M +13 &Hefi\ N +7 &IuU_\ P +11 &Kx6\ S +8 &M1\ V +10 &Nx \ W +10 &Pip\ X +9 &RpXa\ \ X +9 &T0HO\ Y +11 &U9B\ Y +6 &W,2\ \ Z +11 &Yo$\ [\ +9 &[/  \ \\ +8 &\\t\ : +12 &](\ $j +119 &]x\ S +14 ( +6 &]v\ S +2 &]v\ S +4 &]v\ S +6 &]v\ S +2 &]v \ S +2 &]v\ S +6 &]w\ S +2 &]v \ S +2 &]w\ S +4 &]v\ \ S +2 &]w\ \ S +2 &]v\ S +2 &]v \ S +4 &]w \ S +2 &]v \ S +3 &]w\ \ S +2 &]w \ S +2 &]v\ \ S +4 &]v\ S +6 "collection"'& +6 #tCollection Clamp onSpring/offSpring for 9/25 samples, on/off torque 2.02 +2 .Hand.open +4 "manipulator"&%1 +6 "core" &]v \ S +51 1 +2 "manipulator"&% +10 "core" % m 1 +2 .tForearm.reconfigure :loose +6 "manipulator"&#Q@2^d^b +5 .tForearm.seek :retract +4 "manipulator"&'\ +93 "core" ' +4 #tLoading generic puck from tube 6 into Processing Clamp + "processing"%& +9 "core" &\ \ +4 "manipulator"&i% +7 "core" %\ ' Z > +4 "storage"(m% +8 "core" %? p p <\  +2 "storage"(. +6 "core" .(K +4 "storage"( & +5 "core" &K r v @\  +4 "storage"(& +8 "core" &K p p \  +4 "manipulator"&b& +8 "core" &# % :/ +2 "manipulator"&0% +8 "core" %\ ' e > +6 .tElbow.reconfigure :tight +4 "manipulator"&$&.,(\ #b +5 .tElbow.seek 6 +5 "manipulator"&o( +161 "core" ( +2 "manipulator"&& +8 "core" & V  +4 "storage"(& +8 "core" &K o \  +4 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +7 .tForearm.seek 6 + 450 counts + "manipulator"&G'< +101 "core" ' +4 "storage"(z& +6 "core" &K O\  +4 .tSE.reconfigure :pick +6 "storage"(#]K-0-\ b +7 .tSE.seek :beamBreak + "storage"({'e +284 "core" ' +2 "storage"(n- +9 "core" -' +2 .tSE.configure :default +6 "storage"(#QK-0-\ b +4 ('& +8 "core" &K j `\  +2 "manipulator"&}& +8 "core" & W  +4 .tElbow.seek 6 + "manipulator"&( +7 "core" ( +4 "manipulator"&& +7 "core" & I  +4 "storage"(-& +5 "core" &K P\  +6 .tForearm.seek 6 + 300 counts +2 "manipulator"&^'Ϧ +23 "core" ' +2 .tForearm.reconfigure :loose +4 "manipulator"&#Q@2^d^b +5 .tHand.close +4 "manipulator"&/ +65 "core" / +4 ."downElevator"SE.seek :down +8 "manipulator"&q& +2 "storage"(S'N +18 "core" & r q Z  +2 "manipulator"&% +9 "core" % Ϣ r r Z +4 .tForearm.seek :retract +2 "manipulator"&d'\ +96 "core" ' +4 .tElbow.seek PC +4 "manipulator"& (c +137 "core" ' +4 ."downElevator"SE.stop + "storage"(5 +105 "core" ( +2 "manipulator"&6& +11 "core" &k m +2 .tElbow.reconfigure :loose +7 "manipulator"&$ &.,(#b +3 &I& +8 "core" &k W +4 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +5 .tForearm.seek PC +5 "manipulator"&('[ +100 "core" ' +2 "manipulator"&& +11 "core" &k k +2 "manipulator"&g% +8 "core" %` +4 "processing"%~& +8 "core" &9\ +4 "processing"%2& +9 "core" &\ +5 .tPC.seek :closed +4 "processing"%|(Z +10 "core" &\ +5 &\ +2 &:\ $d +10 &fU\ 7 +7 &}\ K +8 &xY\ M +11 &<Z\ L +10 &[\ M +7 & `\ M +12 &"Z \ M +8 &$C_ \ M +10 &&_\ M +9 &'[\ L +8 &)Z \ M +11 &+K] \ M +9 &- Z\ M +8 &.\\\ \ M +13 &0Z\ L +9 &2S[\ M +6 &4Y \ L +12 &5Z\ M +7 &7Y\ L +13 &9ZY\ M +7 &;[\ M +8 &<Yv\ M +11 &>`\ M +9 &@a\\\ M +8 &B#\\\ M +11 &C\\\ M +8 &E\\ \ M +11 &Ggg\ N +9 &I%p\ O +8 &J \ Q +11 &L\ S +9 &N^\ T +10 &P \ \ T +12 &Q\ \ S +5 &S\ T +12 &Ug \ S +8 &W&y\ T +10 &X\ \ U +10 &ZAIk\ \ *z +7 &Z ;1\ ) +5 ( +6 "processing"%2& +6 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.59 + .Hand.open +2 "manipulator"&r1 +7 "core" &ZH\ ) +52 1 +2 "manipulator"&% +8 "core" % ` . +4 .tForearm.reconfigure :loose +6 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +4 "manipulator"&A'\ +94 "core" ' +4 "processing"%<& +8 "core" &Z \ ) +2 #tImaging generic puck in Processing Clamp while storing it to tube 6 +4 "manipulator"&`% +6 "core" %\ ) D +4 "storage"($% +8 "core" %D u q !\  +2 "storage"(a. +6 "core" .(K +4 "storage"(Z& +8 "core" &K r u ;\  +2 "storage"(=& +8 "manipulator"&l& +10 "core" &K p r\  +2 &k +6 .tElbow.reconfigure :tight +4 ."raiseStack"SE.reconfigure :place +10 "manipulator"&$&.,(\ #b +6 .tElbow.seek PC +5 "storage"(#]kK-0-\ b +5 "manipulator"&U(c +9 ."raiseStack"SE.seek :beamBreak +6 "storage"(V'e +5 "core" ( +4 "manipulator"&& +8 "core" &k A +2 .tElbow.reconfigure :loose +6 "manipulator"&$ &.,(#b +6 &s& +8 "core" &k / +4 .tForearm.seek PC +3 "manipulator"&'[ +102 "core" ' +2 .tHand.close +4 "manipulator"&)/ +58 "core" / +4 .tPC.seek :open +4 "processing"%](p +53 "core" ' +2 "storage"(t- +8 "core" -'e +2 ."raiseStack"SE.configure :default +5 "storage"(#QK-0-\ b +6 ."raiseStack"SE.seek :place +4 "storage"(3'B +35 "core" ' +281 ( +2 "storage"(9& +8 "core" &K } ~ \  +2 "manipulator"&&& +8 "core" &k _ +4 "manipulator"&\ % +7 "core" % k + +7 .tForearm.seek :retract + "manipulator"&W'\ +102 "core" ' +2 .tElbow.reconfigure :tight +6 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +5 "manipulator"&1( +262 "core" ( +2 "manipulator"&.& +8 "core" &  $ +4 "storage"(w& +9 "core" &K z p /\  +4 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +5 .tForearm.seek 6 + 450 counts +4 "manipulator"&\\'< +103 "core" ' +4 .tHand.open +4 "manipulator"&*1 +53 "core" 1 +4 "storage"(>- +8 "core" -'B +4 .tSE.seek -0.16 Pucks below Top Plate + "storage"(P' +27 "core" ' +5 .tSE.reconfigure :seal +4 "storage"(#QK-0-\ b +6 .tSE.seek -0.83 Pucks below Top Plate +3 "storage"(F' +53 "core" ' +2 #tLights, camera, ACTION! +4 "storage"(h- +6 "core" -' +4 "storage"(T& +8 "core" &K\ \ \  +4 "manipulator"&O& +8 "core" & * $ +4 .tElbow.seek 6 +2 "manipulator"&( +8 "core" ( +3 "manipulator"&:& +8 "core" &  $ +2 "storage"(4& +23 "core" &K\ \ \  +4 .tForearm.seek 6 + 450 counts +4 "manipulator"&8'< +8 "core" ' +5 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +4 .tSE.seek -0.11 Pucks below Top Plate +4 "storage"('M +63 "core" ' +2 "manipulator"&p& +10 "core" & s r G $ +2 "storage"(E& +8 "core" &K j j \  +4 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +6 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +4 .tForearm.seek 6 +4 "manipulator"&X'z +39 "core" ' +2 .tElbow.hold +4 "manipulator"&B, +10 "core" , +2 .tElbow.reconfigure :tight +4 "manipulator"&$&.,(\ #b +6 .tSE.reconfigure :default +4 "storage"(#QK-0-\ b +6 .tSE.seek 0.07 Pucks below Top Plate + "storage"(J'7 +28 "core" ' +3 "manipulator"&!% +9 "core" %zQ : 8 $ ɰ +2 "storage"(7& +8 "core" &K   \  +4 .tForearm.force -20 + "manipulator"&5 +6 .tForearm.seek 6 + 300 counts + "manipulator"&/'Ϧ +21 "core" ' +2 "manipulator"&& +11 "core" & u u J $ +2 "storage"(M& +8 "core" &K h i \  +6 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 6 + 450 counts +4 "manipulator"&+'< +22 "core" ' +2 "storage"(?% +11 "core" %> w\ +4 ."downElevator"SE.seek :down +5 "storage"('N +101 (y% +4 "core" %!= Z \\\ U^ +4 "manipulator"&L% +8 "core" %! s s  +4 .tForearm.reconfigure :loose +6 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +5 "manipulator"&D'\ +93 "core" ' +45 ' +2 ."downElevator"SE.stop +2 "storage"(5 +6 (j& +8 "core" &K n p \  +2 "collection"'K& +8 "core" &]k \ S +4 #tStoring generic puck in Collection Clamp to tube 6 + "manipulator"&% +8 "core" %\ - "` +4 "storage"(;% +7 "core" %L o p\  +2 "storage"([. +6 "core" .(K +2 "storage"(C& +9 "core" &K u q ;\  +4 "storage"(x& +6 "core" &K o p \  +4 "manipulator"&e& +8 "core" & $ +3 .tElbow.seek 6 + "manipulator"&Y( +7 "core" ( +4 "manipulator"& & +9 "core" & \\ $ +3 "storage"(& +9 "core" &K u { ?\  +3 .tForearm.reconfigure :tight +6 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 6 + 450 counts +4 "manipulator"&f'< +96 "core" ' +3 "storage"(& +10 "core" &K i o\  +2 .tSE.reconfigure :pick +112 "storage"(#]K-0-\ b +8 .tSE.seek :beamBreak +4 "storage"(@'e +278 "core" ' +4 "storage"(H- +6 "core" -' +4 .tSE.configure :default +3 "storage"(#QK-0-\ b +6 "manipulator"&5& +4 "core" &  $ +4 "storage"(_& +8 "core" &K j i ?\  +3 .tElbow.reconfigure :limp +4 "manipulator"&$ ,(b +7 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +4 .tForearm.seek 6 +4 "manipulator"&N'z +37 "core" ' +2 .tElbow.hold +4 "manipulator"&, +7 "core" , +3 .tElbow.reconfigure :tight +4 "manipulator"&$&.,(\ #b +4 "storage"(Q- +5 "core" -' +4 .tSE.seek 0.12 Pucks below Top Plate +2 "storage"( 'q +28 "core" ' +2 "manipulator"&u% +10 "core" %}\\ 4 * b dz +2 "storage"(k& +8 "core" &K C C g\  +2 .tForearm.force -20 +4 "manipulator"&5 +9 .tForearm.seek 6 + 303 counts + "manipulator"&,'ϩ +19 "core" ' +4 "manipulator"&c& +8 "core" & } u l $ +4 "storage"("& +8 "core" &K } ~ \  +4 .tForearm.reconfigure :tight +4 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 6 + 450 counts +4 "manipulator"&%'< +21 "core" ' +4 .tSE.seek 1.12 Pucks below Top Plate + "storage"('` +53 "core" ' +6 "manipulator"&& +6 "core" & r q l $ +4 "manipulator"&% +8 "core" %; } } +4 .tForearm.reconfigure :loose +6 "manipulator"&#Q@2^d^b +5 .tForearm.seek :retract +5 "manipulator"&i'\ +91 "core" ' +4 .tElbow.seek CC + "manipulator"&m( +150 "core" ( +4 "manipulator"&& +8 "core" &$  ;6 +2 .tElbow.reconfigure :loose +6 "manipulator"&$ &.,(#b +5 & & +6 "core" &$ e ;6 +4 .tForearm.seek CC + "manipulator"&'| +105 "core" ' +4 .tHand.close + "manipulator"&b/ +56 "core" / +4 .tCC.seek :open +5 "collection"'0(p +410 "core" ( +2 "storage"(v& +8 "core" &K 1\  +4 "storage"(& +8 "core" &K /\  +2 "manipulator"&& +8 "core" &#  :+ +2 "manipulator"&% +8 "core" % p  ~ +4 .tForearm.seek :retract +4 "manipulator"&z'\ +91 "core" ' +7 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +4 .tElbow.seek 6 +4 "manipulator"&( +161 "core" ( +2 "manipulator"&n& +9 "core" &  +3 "storage"('& +8 "core" &K >\  +2 .tElbow.reconfigure :limp +6 "manipulator"&$ ,(b +6 .tForearm.seek 6 +3 "manipulator"&}'z +114 "core" ' +2 .tElbow.hold +4 "manipulator"&, +8 "core" , +3 .tElbow.reconfigure :tight +4 "manipulator"&$&.,(\ #b +5 .tHand.open +5 "manipulator"&-1 +66 "core" 1 +4 "manipulator"&% +8 "core" % ~  X +2 "storage"(q& +8 "core" &K } | R\  +2 .tForearm.force -20 +4 "manipulator"&5 +7 .tForearm.seek 6 + 304 counts + "manipulator"&'Ϫ +20 "core" ' +4 "manipulator"&o& +7 "core" & t } +2 "storage"(G& +8 "core" &K Y\  +4 .tForearm.reconfigure :tight +5 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 6 + 450 counts +6 "manipulator"&{'< +18 "core" ' +4 "storage"(^% +8 "core" %c \ +4 ."downElevator"SE.seek :down +5 "storage"(6'N +101 (I% +4 "core" %9A ;\ U] +4 "manipulator"&% +8 "core" %. r s a  +4 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +6 .tForearm.seek :retract +2 "manipulator"&'\ +91 "core" ' +34 ' +2 ."downElevator"SE.stop + "storage"(5 +7 #tShuffling pucks in tube 7 of [5..7] +4 #Loading generic puck from tube 7 into Collection Clamp +3 "collection"'g& +12 "core" &oq\ +2 "manipulator"&~% +8 "core" %\ &  9 +4 "storage"(S% +8 "core" %B \ +4 "storage"(d. +5 "core" .(K +6 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +4 .tSC.seek 7 +4 "storage"(R([ +355 "core" ( +3 .tSC.configure :limp +6 "storage"($\ 1b +4 (r& +8 "core" &[ \  +2 "manipulator"&& +7 "core" & . +4 .tElbow.seek 7 + "manipulator"&<( +16 "core" ( +4 "manipulator"&`& +8 "core" &   +3 "storage"(2& +8 "core" &[ |\  +4 .tForearm.reconfigure :tight +4 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 7 + 450 counts +4 "manipulator"&$'k +100 "core" ' +2 "storage"(a& +11 "core" &[ '\  +4 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +6 .tSE.seek :beamBreak +4 "storage"(Z'e +285 "core" ' +4 "storage"(=- +4 "core" -' +2 .tSE.configure :default +6 "storage"(#QK-0-\ b +5 (l& +9 "core" &[ 6\  +2 "manipulator"&& +8 "core" & 5  +6 .tElbow.seek 7 + "manipulator"&s( +7 "core" ( +5 "manipulator"&(& +6 "core" & %  +6 "storage"()& +8 "core" &[ \  +4 .tForearm.seek 7 + 300 counts +2 "manipulator"&t' +11 "core" ' +4 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +5 .tHand.close +5 "manipulator"& / +59 "core" / +5 ."downElevator"SE.seek :down +5 "manipulator"&A& +8 "storage"(|'N +12 "core" & r r  +4 "manipulator"&V% +8 "core" % q { v R +4 .tForearm.seek :retract +3 "manipulator"&9'\ +92 "core" ' +4 .tElbow.seek CC +3 "manipulator"&&( +133 "core" ' +2 ."downElevator"SE.stop +4 "storage"(5 +17 "core" ( +2 "manipulator"&\ & +8 "core" &\ $ ;8 +4 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +4 && +8 "core" &\ $ k ;8 +4 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek CC +4 "manipulator"&.'| +110 "core" ' +2 "manipulator"&w& +9 "core" & $  ;7 +4 "manipulator"&U% +8 "core" %ς h +4 "collection"'*& +8 "core" &os\ +4 "collection"'>& +8 "core" &pq\ +6 .tCC.seek :closed +4 "collection"'h(] +13 "core" &qr\ +4 &pq\ &7np\ $e +8 &hVpp\ 7 +7 &nr\ L +12 &z_np\ M +10 &=cop\ M +7 &clq\ M +11 & eqr\ M +9 &"eoq\ N +10 &$Dcnq\ M +10 &&epr\ M +7 &'bpq\ M +11 &)bps\ M +9 &+Lcpr\ M +8 &-cpq\ L +11 &.gmq\ M +9 &0for\ M +10 &2Sgnq \ M +9 &4epq\ M +8 &5bqq\ M +11 &7bqr\ M +9 &9^`oq\ L +8 &;`oq\ M +12 &<`or\ M +8 &>bor\ M +10 &@dbor\ M +9 &B%cop\ M +8 &Cbor\ M +10 &E`op\ M +10 &Gkbjk\ M +11 &I+jch\ N +8 &JyOY \ P +9 &L\ T +10 &NX \ W +10 &Pz \ W +7 &Qgl\ X +12 &SV[\ X +8 &UWEM\ Z +10 &W7?\ X +9 &X).\ [ +10 &Z  \ [ +9 &\\[ \ H +9 &]a?\ (x +8 &]\ \ ^ +4 ( +6 "collection"'>& +6 #tCollection Clamp onSpring/offSpring for 10/26 samples, on/off torque 1.92 +2 .Hand.open +4 "manipulator"&T1 +6 "core" &]\ ^ +48 1 +2 "manipulator"&W% +10 "core" % ς . +2 .tForearm.reconfigure :loose +6 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +4 "manipulator"&O'\ +97 "core" ' +4 #tLoading generic puck from tube 7 into Processing Clamp +2 "processing"%:& +10 "core" &4\ +2 "manipulator"&4% +8 "core" %\ 1 ' $m +4 "storage"(p% +9 "core" %= g g b\ +4 "storage"(E. +6 "core" .([ +2 .tSC.reconfigure :tight +6 "storage"($\ .\ 1~b +5 .tSC.seek 7 + "storage"(3([ +6 "core" ( +4 .tSC.configure :limp +4 "storage"($\ 1b +4 (P& +6 "core" &[ F 3 R\  +4 "manipulator"&!& +10 "core" &!  9( +2 "manipulator"&1% +8 "core" %\ 1 # $m +4 .tElbow.reconfigure :tight +4 "manipulator"&$&.,(\ #b +4 .tElbow.seek 7 +4 "manipulator"&7( +162 "core" ( +3 "manipulator"&& +10 "core" &   +5 "storage"(\\& +9 "core" &[ p o \  +4 .tForearm.reconfigure :tight +4 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 7 + 450 counts +4 "manipulator"&M'k +108 "core" ' +2 "storage"(F& +10 "core" &[ {\  +2 .tSE.reconfigure :pick +6 "storage"(#]K-0-\ b +5 .tSE.seek :beamBreak +4 "storage"(?'e +285 "core" ' +4 "storage"(8- +6 "core" -' +4 .tSE.configure :default +3 "storage"(#QK-0-\ b +5 (y& +7 "core" &[ p p \  +2 "manipulator"&& +8 "core" & s r P  +4 .tElbow.seek 7 + "manipulator"&L( +5 "core" ( +4 "manipulator"&& +8 "core" & r s H  +2 "storage"(X& +8 "core" &[ z s \  +4 .tForearm.seek 7 + 300 counts +4 "manipulator"&/' +18 "core" ' +2 .tForearm.reconfigure :loose +6 "manipulator"&#Q@2^d^b +2 .tHand.close +107 "manipulator"&j/ +30 "Can" #XW +29 "core" / +4 ."downElevator"SE.seek :down +8 "manipulator"&K& +2 "storage"(J'N +16 "core" & s r R  +2 "manipulator"&% +8 "core" % s r [ J +4 .tForearm.seek :retract +4 "manipulator"&;'\ +96 "core" ' +7 .tElbow.seek PC + "manipulator"&[(c +140 "core" ' +2 ."downElevator"SE.stop +4 "storage"(5 +101 "core" ( +4 "manipulator"&C& +8 "core" &c  +2 .tElbow.reconfigure :loose +6 "manipulator"&$ &.,(#b +6 &x& +9 "core" &c  +4 .tForearm.reconfigure :tight +4 "manipulator"&#Q@2^d^\ b +5 .tForearm.seek PC +4 "manipulator"&e'[ +104 "core" ' +4 "manipulator"& & +7 "core" &c e  +4 "manipulator"&% +9 "core" %Y U +4 "processing"%+& +9 "core" &5\ +4 "processing"%& +8 .tPC.seek :closed +8 "core" &\ +2 "processing"%(Z +14 "core" &\ +2 &\ 2 +6 &F}\ 0 +10 &0s\ E +8 &c\ M +11 &Y\ L +10 &[[\ M +7 & \\\ M +11 &!Z\ L +9 &#Z\ M +12 &%d]\ \ M +7 &'&Y\ M +8 &(Z\ L +11 &*Y\ M +9 &,k^ \ M +8 &./Z\ L +11 &/\\\ M +8 &1[\ M +11 &3tY\ M +9 &57Z\ L +10 &6Y\ M +9 &8_\ M +9 &:{X \ M +10 &<>Y\ M +10 &>\\v\ M +7 &?[6\ M +11 &A_y\ M +10 &CE\\\ M +7 &EZ\ M +11 &F_\ N +9 &Hg\ N +8 &JDu\ P +12 &K\ R +7 &M\ S +11 &O7\ T +9 &QA\ T +10 &S\ T +10 &T\ S +10 &V\ T +7 &XH\ T +13 &Yyv<\ + +5 &Z'c6\ - +9 ( +7 "processing"%& +8 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.58 +4 .Hand.open +2 "manipulator"&B1 +7 "core" &ZE\ ( +2 &Z\ ( +46 1 +4 "manipulator"&D% +10 "core" % Y 1 +5 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +5 .tForearm.seek :retract +5 "manipulator"&H'\ +93 "core" ' +4 "processing"%5& +8 "core" &Z\ ( +4 #tImaging generic puck in Processing Clamp while storing it to tube 7 + "manipulator"&_% +8 "core" %\ *  !M +4 "storage"(Q% +7 "core" %D ] ]\  +5 "storage"(u. +6 "core" .([ +2 "storage"(k& +8 "core" &[ ] ]\  +4 "storage"(c& +3 "manipulator"&"& +12 "core" &[ ] \\\  +2 &c \  +6 .tElbow.reconfigure :tight +6 ."raiseStack"SE.reconfigure :place +9 "manipulator"&$&.,(\ #b +6 "storage"(#]kK-0-\ b +2 .tElbow.seek PC +10 "manipulator"&(c +8 ."raiseStack"SE.seek :beamBreak +3 "storage"('e +4 "core" ( +4 "manipulator"&f& +8 "core" &c $  +2 .tElbow.reconfigure :loose +6 "manipulator"&$ &.,(#b +5 &Y& +8 "core" &c L  +5 .tForearm.seek PC + "manipulator"&@'[ +103 "core" ' +3 .tHand.close + "manipulator"&N/ +59 "core" / +5 .tPC.seek :open +4 "processing"%,(p +57 "core" ' +3 "storage"( - +9 "core" -'e +2 ."raiseStack"SE.configure :default +6 "storage"(#QK-0-\ b +4 ."raiseStack"SE.seek :place +4 "storage"('B +34 "core" ' +276 ( +4 "storage"( & +9 "core" &[ _ k V\  +2 "manipulator"&%& +8 "core" &c   +4 "manipulator"&% +6 "core" % j  +6 .tForearm.seek :retract + "manipulator"&b'\ +101 "core" ' +2 .tElbow.reconfigure :tight +6 "manipulator"&$&.,(\ #b +4 .tElbow.seek 7 + "manipulator"&i( +249 "core" ( +2 "manipulator"& & +12 "core" & T > +3 "storage"(v& +9 "core" &[ g g a\  +4 .tForearm.reconfigure :tight +4 "manipulator"&#Q@2^d^\ b +5 .tForearm.seek 7 + 450 counts +4 "manipulator"&'k +96 "core" ' + .tHand.open +4 "manipulator"&1 +62 "core" 1 +4 "storage"(- +9 "core" -'B +4 .tSE.seek -0.16 Pucks below Top Plate + "storage"(n' +25 "core" ' +4 .tSE.reconfigure :seal +4 "storage"(#QK-0-\ b +6 .tSE.seek -0.83 Pucks below Top Plate +4 "storage"('' +54 "core" ' +4 #tLights, camera, ACTION! +3 "storage"(- +8 "core" -' +2 "storage"(m& +8 "core" &[ \  +4 "manipulator"&-& +9 "core" &  > +5 .tElbow.seek 7 + "manipulator"&( +6 "core" ( +5 "manipulator"&q& +7 "core" &  > +2 "storage"(o& +9 "core" &[ G\  +4 .tForearm.seek 7 + 450 counts +4 "manipulator"&G'k +18 "core" ' +4 .tSE.reconfigure :gently +6 "storage"(#QK-0-\ b +5 .tSE.seek -0.11 Pucks below Top Plate +6 "storage"(z'M +65 "core" ' +2 "manipulator"&^& +9 "core" & u ~ > +4 "storage"(& +8 "core" &[ p p \  +2 .tElbow.reconfigure :limp +6 "manipulator"&$ ,(b +5 .tForearm.reconfigure :loose +6 "manipulator"&#Q@2^d^b +5 .tForearm.seek 7 +4 "manipulator"&I'Ω +34 "core" ' +2 .tElbow.hold +4 "manipulator"&, +5 "core" , +4 .tElbow.reconfigure :tight +4 "manipulator"&$&.,(\ #b +7 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +6 .tSE.seek 0.07 Pucks below Top Plate +7 "storage"(}'7 +25 "core" ' +2 "manipulator"&g% +8 "core" %ι | +5 "storage"(& +8 "core" &[ C B \  +2 .tForearm.force -20 +4 "manipulator"&5 +5 .tForearm.seek 7 + 316 counts +4 "manipulator"&~' +20 "core" ' +2 "manipulator"&S& +10 "core" & ~ / > +2 "storage"(& +8 "core" &[ v p I\  +4 .tForearm.reconfigure :tight +4 "manipulator"&#Q@2^d^\ b +5 .tForearm.seek 7 + 450 counts +5 "manipulator"&d'k +20 "core" ' +5 "storage"({% +10 "core" %@ ~ ~ \  +4 ."downElevator"SE.seek :down +8 "storage"(6'N +96 (#% +6 "core" %< ] ]\ V_ +4 "manipulator"&r% +8 "core" %[ } p +4 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +6 .tForearm.seek :retract +3 "manipulator"&'\ +89 "core" ' +46 ' +2 ."downElevator"SE.stop +4 "storage"(5 +4 (`& +8 "core" &[ U Y \  +3 "collection"'2& +8 "core" &]\ ^ +2 #tStoring generic puck in Collection Clamp to tube 7 +4 "manipulator"&a% +7 "core" %\ & = +2 "storage"(% +9 "core" %I Z Y\ +4 "storage"(. +7 "core" .([ +2 "storage"(=& +8 "core" &[ Z Z\  +4 "storage"(l& +8 "core" &[ Z Z\  +2 "manipulator"&& +10 "core" & + > +3 .tElbow.seek 7 +3 "manipulator"&(( +6 "core" ( +4 "manipulator"&)& +8 "core" & > +2 "storage"( & +7 "core" &[ Z Z\  +4 .tForearm.reconfigure :tight +5 "manipulator"&#Q@2^d^\ b +6 .tForearm.seek 7 + 450 counts + "manipulator"&A'k +108 "core" ' +2 "storage"(V& +10 "core" &[ ~ ~ \  +3 .tSE.reconfigure :pick +4 "storage"(#]K-0-\ b +6 .tSE.seek :beamBreak +4 "storage"(<'e +283 "core" ' +3 "storage"($- +8 "core" -' +4 .tSE.configure :default +4 "storage"(#QK-0-\ b +6 "manipulator"&\ & +5 "core" &  = +4 "storage"(Z& +8 "core" &[ y p\  +4 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +5 .tForearm.reconfigure :loose +6 "manipulator"&#Q@2^d^b +2 .tForearm.seek 7 +4 "manipulator"&'Ω +35 "core" ' +4 .tElbow.hold + "manipulator"&t, +8 "core" , +2 .tElbow.reconfigure :tight +6 "manipulator"&$&.,(\ #b +3 "storage"(s- +6 "core" -' +6 .tSE.seek 0.12 Pucks below Top Plate + "storage"(w'o +28 "core" ' +2 "manipulator"&U% +12 "core" %η{ C +2 "storage"(*& +8 "core" &[   q\  +2 .tForearm.force -20 +4 "manipulator"&5 +4 .tForearm.seek 7 + 314 counts +4 "manipulator"&|' +19 "core" ' +2 "manipulator"&9& +10 "core" & ~ m = +2 "storage"(0& +8 "core" &[ u p\  +4 .tForearm.reconfigure :tight +5 "manipulator"&#Q@2^d^\ b +5 .tForearm.seek 7 + 450 counts +4 "manipulator"&T'k +24 "core" ' +4 .tSE.seek 1.12 Pucks below Top Plate +4 "storage"(W'^ +51 "core" ' +2 "manipulator"&:& +8 "core" & z p = +4 "manipulator"&>% +8 "core" %Ж  s +4 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +4 .tForearm.seek :retract +4 "manipulator"&4'\ +91 "core" ' +2 .tElbow.seek CC +3 "manipulator"&p( +152 "core" ( +2 "manipulator"&E& +8 "core" &# :/ +4 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +4 &P& +7 "core" &# :/ +5 .tForearm.seek CC + "manipulator"&!'| +97 "core" ' +4 .tHand.close + "manipulator"&1/ +55 "core" / +5 .tCC.seek :open +102 "collection"'.(p +418 "core" ( +2 "storage"(& +8 "core" &[ 7\  +4 "storage"(\\& +8 "core" &[ W\  +2 "manipulator"&R& +8 "core" && 5 +2 "manipulator"&&% +9 "core" % v +5 .tForearm.seek :retract +4 "manipulator"&F'\ +100 "core" ' +4 .tElbow.reconfigure :tight +4 "manipulator"&$&.,(\ #b +4 .tElbow.seek 7 +4 "manipulator"&O( +151 "core" ( +3 "manipulator"&8& +8 "core" & 7 +4 "storage"(y& +8 "core" &[ M\  +2 .tElbow.reconfigure :limp +6 "manipulator"&$ ,(b +5 .tForearm.seek 7 +4 "manipulator"&'Ω +109 "core" ' +3 .tElbow.hold +5 "manipulator"&, +8 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +4 .tHand.open +4 "manipulator"&X1 +65 "core" 1 +3 "manipulator"&j% +8 "core" % μ O +4 "storage"(K& +8 "core" &[ i i \  +2 .tForearm.force -20 +5 "manipulator"&5 +3 .tForearm.seek 7 + 319 counts +4 "manipulator"&' +19 "core" ' +2 "manipulator"&7& +9 "core" & w | +2 "storage"(M& +8 "core" &[ \ \  +4 .tForearm.reconfigure :tight +6 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 7 + 450 counts +4 "manipulator"&?'k +19 "core" ' +2 "storage"(/% +10 "core" %b $\ +4 ."downElevator"SE.seek :down +6 "storage"(C'N +100 (x% +4 "core" %$< _\ U[ +4 "manipulator"&L% +8 "core" %l p r + +4 .tForearm.reconfigure :loose +4 "manipulator"&#Q@2^d^b +5 .tForearm.seek :retract +5 "manipulator"& '\ +91 "core" ' +32 ' +3 ."downElevator"SE.stop +2 "storage"(5 +6 #tShuffling pucks in tube 5 of [5..7] +4 #Loading generic puck from tube 5 into Collection Clamp +3 "collection"'& +8 "core" &or\ \ +4 "manipulator"&+% +9 "core" %\ ' c : +2 "storage"(J% +10 "core" %B \ +2 "storage"(;. +6 "core" .([ +4 .tSC.reconfigure :tight +6 "storage"($\ .\ 1~b +4 .tSC.seek 5 + "storage"(](<< +679 "core" ( +4 .tSC.configure :limp +3 "storage"($\ 1b +4 (B& +6 "core" &<> i `\ +4 "manipulator"&D& +8 "core" & g +2 .tElbow.seek 5 +4 "manipulator"&5( +20 "core" ( +4 "manipulator"&& +8 "core" &\ r Y +2 "storage"(_& +8 "core" &<@ 1\ +4 .tForearm.reconfigure :tight +4 "manipulator"&#Q@2^d^\ b +5 .tForearm.seek 5 + 450 counts +4 "manipulator"&Q' +105 "core" ' +2 "storage"(u& +9 "core" &<@ \ +4 .tSE.reconfigure :pick +4 "storage"(#]K-0-\ b +8 .tSE.seek :beamBreak +4 "storage"(k'e +284 "core" ' +3 "storage"("- +6 "core" -' +4 .tSE.configure :default +4 "storage"(#QK-0-\ b +6 (c& +3 "core" &<; m\ +4 "manipulator"&f& +6 "core" &\ q u Y +5 .tElbow.seek 5 +4 "manipulator"&Y( +6 "core" ( +4 "manipulator"&e& +6 "core" &\ { u  Y +4 "storage"(N& +6 "core" &<; \ +4 .tForearm.seek 5 + 300 counts +4 "manipulator"& '[ +18 "core" ' +2 .tForearm.reconfigure :loose +7 "manipulator"&#Q@2^d^b +4 .tHand.close + "manipulator"&[/ +66 "core" / +6 ."downElevator"SE.seek :down +5 "manipulator"&H& +4 "storage"('N +15 "core" &\  Y +4 "manipulator"&% +9 "core" % c  * +4 .tForearm.seek :retract + "manipulator"& '\ +96 "core" ' +4 .tElbow.seek CC +5 "manipulator"&%( +129 "core" ' +2 ."downElevator"SE.stop +5 "storage"(5 +21 "core" ( +2 "manipulator"&& +8 "core" &* Q @\\ +4 .tElbow.reconfigure :loose +5 "manipulator"&$ &.,(#b +4 &@& +8 "core" &* r @\\ +4 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek CC +4 "manipulator"& '| +109 "core" ' +5 "manipulator"&v& +8 "core" &* @[ +5 "manipulator"&% +6 "core" %u +4 "collection"'& +8 "core" &pq\ \ +4 "collection"'& +10 "core" &pr\ +7 .tCC.seek :closed + "collection"'(] +8 "core" &pu\ +6 &qs\ +7 &7pt\ $d +6 &gVqr\ 7 +7 &nr\ L +8 &{bpr\ M +11 &=`oq\ M +9 &bqr\ M +8 & dor\ M +11 &"dqs\ M +9 &$Dbpr\ M +8 &&cpq\ M +13 &'aqs\ M +6 &)bpq\ M +10 &+Lbpr\ M +10 &-bms\ M +8 &.dpp\ M +13 &0doq\ M +7 &2Tdor\ M +8 &4coq\ M +12 &5aqp\ M +7 &7bpr\ M +11 &9]cop\ M +9 &;_qq\ M +9 &<`qq\ M +10 &>boq\ M +9 &@fapq\ L +8 &B&crq\ M +11 &Cbpr\ M +8 &Eaoq\ L +11 &Glcjp\ M +9 &I)peg\ O +8 &J~BT\ Q +11 &L\ U +9 &NY\ V +11 &Ps~\ W +8 &Qem\ X +8 &SV\\\ X +13 &UZGM\ Y +7 &W7< \ Y +10 &X)0\ [\ +9 &Z"\ [\ +9 &\\] \ G +10 &]d>\ #k +9 &] \ Q +4 ( +6 "collection"'& +9 #tCollection Clamp onSpring/offSpring for 10/26 samples, on/off torque 1.95 + .Hand.open + "manipulator"&m1 +8 "core" &]k \ Q +52 1 +2 "manipulator"&b% +8 "core" % u f +4 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +4 "manipulator"&-'\ +99 "core" ' +4 #tLoading generic puck from tube 5 into Processing Clamp + "processing"%q& +10 "core" &3\ +4 "manipulator"&o% +8 "core" %\ 3  %~ +2 "storage"(^% +8 "core" %O Z Y\ +2 "storage"(. +6 "core" .(\ +5 "processing"%V& +11 "core" &;\ +6 .tPC.seek :closed + "processing"%6(Z +8 "core" &\ +2 &\  +7 &.|!\ *y +8 &e\ > +12 &Fv\ M +11 &\ U\ M +10 &^\ M +6 &Y \ M +8 &!O_\ M +11 &#X\ L +9 &$Y\ L +10 &&Z\ M +9 &(X]\ M +9 &*\\\ M +10 &+\\\ M +9 &-Y\ M +8 &/a\\\ L +11 &1"Z\ M +9 &2^\ M +8 &4\\D\ M +11 &6hY\ M +10 &8)X\ M +9 &9Y\ M +11 &;Y\ \ M +6 &=oWv\ M +13 &?0\\\ M +8 &@\\\ M +8 &BW\ M +11 &DvZ\ M +8 &F8^\ M +10 &Gc\ N +10 &Ir;\ P +7 &Kq \ R +11 &M-7\ T +10 &N4\ T +10 &P\ T +9 &Rs\ T +9 &T56\ T +9 &UA\ T +13 &W<\ U +6 &Yy\ A +9 &Zv;x\ ^ +9 &Z \ * +3 ( +6 "processing"%V& +6 #tProcessing Clamp onSpring/offSpring for 9/25 samples, on/off torque 1.63 +4 .Hand.open +2 "manipulator"&1 +7 "core" &Z\ * +56 1 +2 "manipulator"&% +11 "core" % W & +2 .tForearm.reconfigure :loose +6 "manipulator"&#Q@2^d^b +4 .tForearm.seek :retract +4 "manipulator"&$'\ +93 "core" ' +108 "processing"%\ & +11 "core" &Z\ * +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 +3 "manipulator"&Z% +8 "core" %\ '  ? +4 "storage"(s% +7 "core" %? o p \  +2 "storage"(U. +9 "core" .(<< +2 "storage"(*& +8 "core" &<9 q u +\ \ +4 "storage"(9& +4 "manipulator"&0& +14 "core" &<9 q v \ \ +2 &c R +7 .tElbow.reconfigure :tight +5 ."raiseStack"SE.reconfigure :place +8 "manipulator"&$&.,(\ #b +5 "storage"(#]kK-0-\ b +4 .tElbow.seek PC +13 "manipulator"&:(c +7 ."raiseStack"SE.seek :beamBreak +3 "storage"(>'e +5 "core" ( +2 "manipulator"&A& +10 "core" &c p R +2 .tElbow.reconfigure :loose +5 "manipulator"&$ &.,(#b +4 &(& +6 "core" &c # R +4 .tForearm.seek PC +3 "manipulator"&<'[ +100 "core" ' +4 .tHand.close +2 "manipulator"&/ +66 "core" / +4 .tPC.seek :open +4 "processing"%|(p +54 "core" ' +3 "storage"(w- +11 "core" -'e +2 ."raiseStack"SE.configure :default +5 "storage"(#QK-0-\ b +7 ."raiseStack"SE.seek :place +4 "storage"(E'B +37 "core" ' +272 ( +3 "storage"(P& +8 "core" &<9 } z C\ \ +4 "manipulator"&T& +8 "core" &c  R +2 "manipulator"&t% +8 "core" % e  +4 .tForearm.seek :retract +4 "manipulator"&1'\ +92 "core" ' +4 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +5 .tElbow.seek 5 +4 "manipulator"&4( +245 "core" ( +2 "manipulator"&h& +10 "core" & S +2 "storage"(& +8 "core" &<9 p o -\ \ +4 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 5 + 450 counts +4 "manipulator"&\\' +105 "core" ' + .tHand.open +4 "manipulator"&R1 +57 "core" 1 +4 "storage"(&- +8 "core" -'B +4 .tSE.seek -0.16 Pucks below Top Plate +2 "storage"(8' +27 "core" ' +4 .tSE.reconfigure :seal +4 "storage"(#QK-0-\ b +4 .tSE.seek -0.83 Pucks below Top Plate +4 "storage"(y' +53 "core" ' +4 #tLights, camera, ACTION! + "storage"(!- +6 "core" -' +5 "storage"(p& +8 "core" &<7 \ +2 "manipulator"&X& +8 "core" & w  S +4 .tElbow.seek 5 +4 "manipulator"&j( +7 "core" ( +4 "manipulator"&K& +8 "core" & ~ | S +2 "storage"(7& +8 "core" &<7 ~\ +4 .tForearm.seek 5 + 450 counts +4 "manipulator"&M' +9 "core" ' +4 .tSE.reconfigure :gently +4 "storage"(#QK-0-\ b +6 .tSE.seek -0.11 Pucks below Top Plate + "storage"(F'M +59 "core" ' +3 "manipulator"&/& +8 "core" & s s j S +4 "storage"(O& +8 "core" &<7 x $\ +2 .tElbow.reconfigure :limp +6 "manipulator"&$ ,(b +5 .tForearm.reconfigure :loose +8 "manipulator"&#Q@2^d^b +6 .tForearm.seek 5 +5 "manipulator"&x'/ +32 "core" ' +2 .tElbow.hold +4 "manipulator"&L, +8 "core" , +5 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +4 "storage"(#QK-0-\ b +6 .tSE.seek 0.07 Pucks below Top Plate + "storage"('7 +30 "core" ' +2 "manipulator"&% +11 "core" %B d +3 "storage"(& +11 "core" &<7 < 9 '\ +2 .tForearm.force -20 +4 "manipulator"&5 +4 .tForearm.seek 5 + 319 counts +4 "manipulator"&+'n +17 "core" ' +4 "manipulator"&J& +8 "core" &; | ~ >  +4 "storage"(W& +7 "core" &<7 X\ +4 .tForearm.reconfigure :tight +4 "manipulator"&#Q@2^d^\ b +5 .tForearm.seek 5 + 450 counts +5 "manipulator"&;' +23 "core" ' +3 "storage"(?% +8 "core" %; A\ +6 ."downElevator"SE.seek :down +8 "storage"(C'N +98 (3% +6 "core" %? r u \ U^ +4 "manipulator"&B% +8 "core" % { u f  +4 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +4 .tForearm.seek :retract +5 "manipulator"&D'\ +92 "core" ' +45 ' +3 ."downElevator"SE.stop +4 "storage"(5 +4 (& +8 "core" &<7 p p N\ +2 "collection"'_& +9 "core" &]k\ Q +4 #tStoring generic puck in Collection Clamp to tube 5 + "manipulator"&u% +9 "core" %\ . #i +3 "storage"(% +7 "core" %R s } \  +5 "storage"( . +6 "core" .(<< +3 "storage"("& +6 "core" &<7 q p \ +4 "storage"(c& +8 "core" &<7 p r <\ +2 "manipulator"&f& +11 "core" &;  +6 .tElbow.seek 5 + "manipulator"&e( +21 "core" ( +2 "manipulator"&N& +8 "core" & j  +4 "storage"([& +8 "core" &<7 ~ ~ \ +4 .tForearm.reconfigure :tight +5 "manipulator"&#Q@2^d^\ b +6 .tForearm.seek 5 + 450 counts + "manipulator"&H' +105 "core" ' +2 "storage"(& +10 "core" &<7 i i \ +2 .tSE.reconfigure :pick +6 "storage"(#]K-0-\ b +7 .tSE.seek :beamBreak +4 "storage"(5'e +278 "core" ' +2 "storage"(Q- +8 "core" -' +2 .tSE.configure :default +6 "storage"(#QK-0-\ b +7 "manipulator"&& +8 "core" &   +4 "storage"(k& +8 "core" &<7 } } \ +2 .tElbow.reconfigure :limp +6 "manipulator"&$ ,(b +4 .tForearm.reconfigure :loose +4 "manipulator"&#Q@2^d^b +4 .tForearm.seek 5 +4 "manipulator"&@'/ +30 "core" ' +2 .tElbow.hold +4 "manipulator"& , +9 "core" , +2 .tElbow.reconfigure :tight +4 "manipulator"&$&.,(\ #b +5 "storage"(Y- +7 "core" -' +4 .tSE.seek 0.11 Pucks below Top Plate +3 "storage"(v'n +31 "core" ' +4 "manipulator"&% +9 "core" %@m p  +2 "storage"(& +8 "core" &<7 F F\ +2 .tForearm.force -20 +4 "manipulator"&5 +7 .tForearm.seek 5 + 317 counts +2 "manipulator"&'l +19 "core" ' +4 "manipulator"& & +8 "core" && r s F  +2 "storage"(.& +9 "core" &<7 ,\ +4 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 5 + 450 counts +4 "manipulator"&m' +19 "core" ' +4 .tSE.seek 1.11 Pucks below Top Plate + "storage"(b'] +47 "core" ' +2 "manipulator"&q& +9 "core" && s r  +2 "manipulator"&% +7 "core" % p r 1 +6 .tForearm.reconfigure :loose +7 "manipulator"&#Q@2^d^b +4 .tForearm.seek :retract + "manipulator"&o'\ +98 "core" ' +5 .tElbow.seek CC +2 "manipulator"&^( +164 "core" ( +4 "manipulator"&& +8 "core" &+ [ Ac +2 .tElbow.reconfigure :loose +6 "manipulator"&$ &.,(#b +5 &n& +8 "core" &+ \\ Ac +4 .tForearm.seek CC + "manipulator"&g'| +110 "core" ' +2 .tHand.close +2 "manipulator"&i/ +67 "core" / +2 .tCC.seek :open +4 "collection"' (p +411 "core" ( +2 "storage"(& +8 "core" &<7 1\ +4 "storage"(S& +9 "core" &<7 4\ +2 "manipulator"&]& +10 "core" &&  >O +2 "manipulator"&%% +9 "core" % s / +4 .tForearm.seek :retract + "manipulator"&''\ +96 "core" ' +2 .tElbow.reconfigure :tight +9 "manipulator"&$&.,(\ #b +4 .tElbow.seek 5 +4 "manipulator"&-( +154 "core" ( +4 "manipulator"&G& +7 "core" &  l +2 "storage"(& +8 "core" &<7 )\ +2 .tElbow.reconfigure :limp +6 "manipulator"&$ ,(b +4 .tForearm.seek 5 +4 "manipulator"&#'/ +107 "core" ' +2 .tElbow.hold +4 "manipulator"&z, +7 "core" , +3 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +9 .tHand.open +2 "manipulator"&I1 +64 "core" 1 +4 "manipulator"&`% +8 "core" % C  +4 "storage"(2& +8 "core" &<7 I\ +4 .tForearm.force -20 + "manipulator"&5 +8 .tForearm.seek 5 + 320 counts +2 "manipulator"&}'o +17 "core" ' +4 "manipulator"&& +8 "core" &: s r 3  +2 "storage"(& +7 "core" &<7 P\ +4 .tForearm.reconfigure :tight +6 "manipulator"&#Q@2^d^\ b +8 .tForearm.seek 5 + 450 counts + "manipulator"&{' +22 "core" ' +4 "storage"(~% +8 "core" %^ -\ +4 ."downElevator"SE.seek :down +8 "storage"(='N +95 (l% +7 "core" %> K\ U] +2 "manipulator"&r% +8 "core" % s p F  +4 .tForearm.reconfigure :loose +4 "manipulator"&#Q@2^d^b +5 .tForearm.seek :retract +4 "manipulator"&)'\ +93 "core" ' +32 ' +2 ."downElevator"SE.stop +2 "storage"(5 +6 #tShuffling pucks in tube 6 of [5..7] + #Loading generic puck from tube 6 into Collection Clamp +101 "collection"' & +15 "core" &qr\ +3 "manipulator"&d% +8 "core" %\ .  #d +4 "storage"(a% +8 "core" %= x\ +2 "storage"(. +6 "core" .(<< +4 .tSC.reconfigure :tight +6 "storage"($\ .\ 1~b +2 .tSC.seek 6 +5 "storage"(,(K +352 "core" ( +2 .tSC.configure :limp +5 "storage"($\ 1b +4 (& +8 "core" &K \  +4 "manipulator"&& +8 "core" &:  +4 .tElbow.seek 6 + "manipulator"&\ ( +17 "core" ( +6 "manipulator"&V& +8 "core" & }  +2 "storage"(Z& +9 "core" &K 4\  +4 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 6 + 450 counts +6 "manipulator"&s'< +98 "core" ' +4 "storage"(U& +8 "core" &K \  +4 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +9 .tSE.seek :beamBreak + "storage"(*'e +290 "core" ' +2 "storage"(0- +8 "core" -' +2 .tSE.configure :default +6 "storage"(#QK-0-\ b +4 (9& +6 "core" &K L\  +4 "manipulator"&& +8 "core" & p s @  +2 .tElbow.seek 6 +4 "manipulator"&A( +6 "core" ( +4 "manipulator"&(& +8 "core" & s q  + "storage"(& +7 "core" &K \  +4 .tForearm.seek 6 + 300 counts +4 "manipulator"&w'Ϧ +24 "core" ' +2 .tForearm.reconfigure :loose +4 "manipulator"&#Q@2^d^b +4 .tHand.close +4 "manipulator"&/ +59 "core" / +6 ."downElevator"SE.seek :down +6 "manipulator"&$& +4 "storage"(6'N +14 "core" & s q K  +4 "manipulator"&>% +8 "core" % Ϧ p s / +4 .tForearm.seek :retract + "manipulator"&P'\ +97 "core" ' +4 .tElbow.seek CC +4 "manipulator"&T( +124 "core" ' +4 ."downElevator"SE.stop + "storage"(5 +27 "core" ( +2 "manipulator"&t& +10 "core" &$ ;2 +2 .tElbow.reconfigure :loose +6 "manipulator"&$ &.,(#b +5 &<& +7 "core" &$ ;2 +4 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +5 .tForearm.seek CC +4 "manipulator"&h'| +103 "core" ' +2 "manipulator"&& +11 "core" &$ ;2 +2 "manipulator"&:% +8 "core" %y +4 "collection"'R& +9 "core" &nq\ +4 "collection"'&& +10 "core" &po\ +7 .tCC.seek :closed +2 "collection"'!(] +10 "core" &pq\ +2 &nq\  +4 &0pq\ *y +9 &cop\ > +12 &Q~oq\ M +8 &cpp\ L +8 &cqr\ M +11 &gqr\ L +11 &!Ydor\ M +6 &#fos\ M +12 &$hoq\ M +6 &&epq\ L +12 &(ccoq\ L +9 &*%bnq\ L +8 &+bps\ L +11 &-coq\ L +9 &/idps\ M +8 &1+eos\ M +11 &2cpq\ M +8 &4bop\ M +11 &6saoq\ L +11 &84cos\ M +6 &9epq\ M +11 &;`np\ M +9 &=zgqo\ M +10 &?<`os\ M +11 &@cnr\ M +6 &Bbop\ M +11 &Dbpr\ M +9 &FDfmr\ M +8 &Hhhl\ M +14 &Iw]b\ O +6 &K{?\ R +10 &M0\ V +10 &N\ V +7 &Ptz \ X +11 &Rrdl \ X +9 &T0TZ\ Y +10 &UDL\ Z +9 &W5;\ Y +10 &Yp'0\ [\ +8 &[1 \ [ +10 &\\{  \ 1 +8 &]$ \ "d +10 ( +6 "collection"'&& +8 #tCollection Clamp onSpring/offSpring for 9/25 samples, on/off torque 1.98 + .Hand.open + "manipulator"&p1 +8 "core" &]} \ U +2 &]}\ U +46 1 +2 "manipulator"&1% +10 "core" % y $ +2 .tForearm.reconfigure :loose +6 "manipulator"&#Q@2^d^b +7 .tForearm.seek :retract +3 "manipulator"&X'\ +92 "core" ' +4 #tLoading generic puck from tube 6 into Processing Clamp +4 "processing"%K& +7 "core" &+\ +2 "manipulator"&7% +8 "core" %\ + !N +4 "storage"(/% +9 "core" %> ] i .\ +2 "storage"(O. +6 "core" .(K +4 "storage"(E& +9 "core" &K n [\  +2 "storage"(8& +8 "core" &K Y Z\  +4 "manipulator"&& +7 "core" &# :1 +4 "manipulator"&% +5 "core" %\ * !N +4 .tElbow.reconfigure :tight +6 "manipulator"&$&.,(\ #b +6 .tElbow.seek 6 +7 "manipulator"&4( +157 "core" ( +2 "manipulator"&J& +8 "core" &   +4 "storage"(\\& +8 "core" &K ~ ~ \  +4 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 6 + 450 counts +4 "manipulator"&W'< +97 "core" ' +3 "storage"(y& +8 "core" &K n j \  +4 .tSE.reconfigure :pick +6 "storage"(#]K-0-\ b +7 .tSE.seek :beamBreak + "storage"(?'e +282 "core" ' +4 "storage"(M- +9 "core" -' +5 .tSE.configure :default +3 "storage"(#QK-0-\ b +4 (j& +8 "core" &K w | :\  +2 "manipulator"&3& +8 "core" &   +4 .tElbow.seek 6 + "manipulator"&B( +7 "core" ( +4 "manipulator"&F& +8 "core" &   +2 "storage"(x& +8 "core" &K m v \  +4 .tForearm.seek 6 + 300 counts +4 "manipulator"&+'Ϧ +21 "core" ' +4 .tForearm.reconfigure :loose +4 "manipulator"&#Q@2^d^b +4 .tHand.close +4 "manipulator"&/ +55 "core" / +5 ."downElevator"SE.seek :down +10 "manipulator"&_& "storage"('N +17 "core" &   +2 "manipulator"&u% +8 "core" % ώ E  +4 .tForearm.seek :retract +4 "manipulator"&'\ +100 "core" ' +3 .tElbow.seek PC +4 "manipulator"& (c +131 "core" ' +4 ."downElevator"SE.stop + "storage"(5 +124 "core" ( +3 "manipulator"&"& +8 "core" &^ D  +4 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +4 &c& +6 "core" &^  +4 .tForearm.reconfigure :tight +4 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek PC +4 "manipulator"&f'[ +98 "core" ' +6 "manipulator"&N& +11 "core" &^   +2 "manipulator"&[% +9 "core" %P   +2 "processing"%;& +8 "core" &A\ +4 "processing"%& +10 "core" &D\ +4 &'\ +4 .tPC.seek :closed +5 "processing"%C(Z +6 "core" &\ +4 &(\ 1 +10 &G~ \ 1 +9 &6s\ E +8 &b\ M +12 &Y.\ M +11 &b]#\ M +6 & $Y \ M +9 &!Z\ M +11 &#]*\ M +9 &%k\\#\ M +9 &'-](\ M +8 &(])\ M +12 &*]#\ M +8 &,s^\ M +10 &.5X\ M +9 &/\\\ M +8 &1](\ M +11 &3{](\ M +9 &5=X,\ M +8 &6X\ M +12 &8_!\ M +8 &:\\)\ M +9 &Z\ M +8 &?[&\ M +11 &A^\ L +9 &CM\\\ M +8 &E_\ M +11 &Fb\ M +9 &Hl\ O +8 &JJy\ P +11 &L\ S +8 &M!\ S +11 &O\ T +9 &QI!\ S +10 &S\ ,\ T +11 &T!\ S +7 &V\ T +10 &XO\ T +8 &Yyv\ )~ +10 &Z)v\ 4 +8 ( +7 "processing"%& +8 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.57 +2 .Hand.open +4 "manipulator"&L1 +7 "core" &Z\ * +2 &Z\ * +51 1 +4 "manipulator"&D% +10 "core" % P  +9 .tForearm.reconfigure :loose +12 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +4 "manipulator"&Q'\ +93 "core" ' +4 "processing"%& +8 "core" &Z\ * +2 #tImaging generic puck in Processing Clamp while storing it to tube 6 +4 "manipulator"&k% +8 "core" %\ ( 5 H +2 "storage"(Y% +8 "core" %@ [ Z\ +2 "storage"(. +8 "core" .(K +4 "storage"(& +11 "core" &K Y Z\  +4 "storage"( & +4 "manipulator"&.& +14 "core" &K Z [\  +2 &_  +6 ."raiseStack"SE.reconfigure :place +4 .tElbow.reconfigure :tight +6 "storage"(#]kK-0-\ b +7 "manipulator"&$&.,(\ #b +5 .tElbow.seek PC +5 ."raiseStack"SE.seek :beamBreak +5 "manipulator"&q(c +2 "storage"('e +12 "core" ( +2 "manipulator"&H& +8 "core" &_   +2 .tElbow.reconfigure :loose +6 "manipulator"&$ &.,(#b +5 &e& +8 "core" &_ j  +4 .tForearm.seek PC + "manipulator"&5'[ +102 "core" ' +4 .tHand.close +2 "manipulator"&@/ +60 "core" / +6 .tPC.seek :open +5 "processing"%(p +48 "core" ' +3 "storage"(v- +6 "core" -'e +2 ."raiseStack"SE.configure :default +5 "storage"(#QK-0-\ b +6 ."raiseStack"SE.seek :place +4 "storage"('B +34 "core" ' +289 ( +4 "storage"(n& +8 "core" &K p q \  +2 "manipulator"&m& +8 "core" &_ .  +2 "manipulator"& % +7 "core" % [ M +4 .tForearm.seek :retract +4 "manipulator"&i'\ +96 "core" ' +4 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +4 .tElbow.seek 6 +4 "manipulator"&o( +253 "core" ( +2 "manipulator"&& +10 "core" &  \ +2 "storage"(& +8 "core" &K Z Z\  +4 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 6 + 450 counts +4 "manipulator"&S'< +111 "core" ' +2 .tHand.open +5 "manipulator"&]1 +59 "core" 1 +4 "storage"(%- +8 "core" -'B +4 .tSE.seek -0.16 Pucks below Top Plate +4 "storage"(G' +129 "core" ' +4 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +6 .tSE.seek -0.83 Pucks below Top Plate + "storage"(' +52 "core" ' +2 #tLights, camera, ACTION! +4 "storage"(g- +6 "core" -' +4 "storage"(^& +8 "core" &K \  +2 "manipulator"&I& +8 "core" & z s \ +4 .tElbow.seek 6 +4 "manipulator"&`( +9 "core" ( +2 "manipulator"&2& +8 "core" & { 1  +4 "storage"(& +8 "core" &K \  x\  +4 .tForearm.seek 6 + 450 counts +4 "manipulator"&'< +20 "core" ' +4 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +4 .tSE.seek -0.11 Pucks below Top Plate +4 "storage"(''M +62 "core" ' +4 "manipulator"&~& +8 "core" &   +4 "storage"(-& +8 "core" &K p q %\  +2 .tElbow.reconfigure :limp +6 "manipulator"&$ ,(b +4 .tForearm.reconfigure :loose +6 "manipulator"&#Q@2^d^b +4 .tForearm.seek 6 +4 "manipulator"&l'z +32 "core" ' +3 .tElbow.hold +4 "manipulator"&r, +8 "core" , +2 .tElbow.reconfigure :tight +6 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +6 "storage"(#QK-0-\ b +4 .tSE.seek 0.07 Pucks below Top Plate +4 "storage"(#'7 +29 "core" ' +2 "manipulator"&}% +8 "core" %y\\ ( ( ų +4 "storage"( & +8 "core" &K   \  +2 .tForearm.force -20 +4 "manipulator"&5 +6 .tForearm.seek 6 + 299 counts +2 "manipulator"&b'ϥ +14 "core" ' +4 "manipulator"&d& +8 "core" & } p r ' +4 "storage"(a& +8 "core" &K i n \  +4 .tForearm.reconfigure :tight +4 "manipulator"&#Q@2^d^\ b +5 .tForearm.seek 6 + 450 counts +4 "manipulator"&'< +17 "core" ' +4 "storage"({% +8 "core" %= i g O\ +4 ."downElevator"SE.seek :down +8 "storage"(='N +96 (% +6 "core" %dD Z Z \ Va +4 "manipulator"&% +8 "core" %H | ~ +4 .tForearm.reconfigure :loose +4 "manipulator"&#Q@2^d^b +4 .tForearm.seek :retract +4 "manipulator"&'\ +93 "core" ' +40 ' +2 ."downElevator"SE.stop +3 "storage"(5 +3 (V& +8 "core" &K n Z\  +4 "collection"'Z& +8 "core" &]{\ U +2 #tStoring generic puck in Collection Clamp to tube 6 +4 "manipulator"&U% +8 "core" %\ , "^ +2 "storage"(z% +9 "core" %B o u\ +2 "storage"(). +6 "core" .(K +4 "storage"(0& +6 "core" &K u o !\  +4 "storage"(9& +8 "core" &K u q d\  +2 "manipulator"&& +8 "core" & ' +4 .tElbow.seek 6 +2 "manipulator"&(( +19 "core" ( +2 "manipulator"&& +10 "core" & | "x +2 "storage"(& +8 "core" &K o q \  +4 .tForearm.reconfigure :tight +4 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 6 + 450 counts +4 "manipulator"&$'< +110 "core" ' +4 "storage"(>& +7 "core" &K i j n\  +10 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +6 .tSE.seek :beamBreak +4 "storage"(\ 'e +278 "core" ' +4 "storage"(s- +6 "core" -' +4 .tSE.configure :default +3 "storage"(#QK-0-\ b +6 "manipulator"&t& +4 "core" & { } !w +4 "storage"(*& +8 "core" &K o o Y\  +2 .tElbow.reconfigure :limp +4 "manipulator"&$ ,(b +6 .tForearm.reconfigure :loose +4 "manipulator"&#Q@2^d^b +4 .tForearm.seek 6 +4 "manipulator"&<'z +39 "core" ' +4 .tElbow.hold + "manipulator"&w, +8 "core" , +2 .tElbow.reconfigure :tight +4 "manipulator"&$&.,(\ #b +4 "storage"(A- +6 "core" -' +6 .tSE.seek 0.12 Pucks below Top Plate + "storage"('r +34 "core" ' +2 "manipulator"&:% +8 "core" %{Q 6 7 > ɰ +4 "storage"(R& +8 "core" &K # # (\  + .tForearm.force -20 +3 "manipulator"&5 +4 .tForearm.seek 6 + 301 counts +4 "manipulator"&6'ϧ +12 "core" ' +4 "manipulator"&P& +8 "core" & u s _ # +4 "storage"( & +6 "core" &K i i \  +4 .tForearm.reconfigure :tight +6 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 6 + 450 counts +4 "manipulator"&p'< +16 "core" ' +4 .tSE.seek 1.12 Pucks below Top Plate +4 "storage"(1'a +40 "core" ' +4 "manipulator"&K& +8 "core" & | } # +4 "manipulator"&7% +6 "core" %9 o { H +4 .tForearm.reconfigure :loose +6 "manipulator"&#Q@2^d^b +4 .tForearm.seek :retract +4 "manipulator"&&'\ +89 "core" ' +2 .tElbow.seek CC +4 "manipulator"&/( +158 "core" ( +2 "manipulator"&O& +8 "core" &*  @\\ +4 .tElbow.reconfigure :loose +4 "manipulator"&$ &.,(#b +4 &E& +6 "core" &*  @[ +4 .tForearm.seek CC +4 "manipulator"&8'| +96 "core" ' +4 .tHand.close + "manipulator"&/ +55 "core" / +4 .tCC.seek :open +4 "collection"'(p +414 "core" ( +2 "storage"(h& +8 "core" &K R\  +4 "storage"(J& +8 "core" &K 7\  +4 "manipulator"&\\& +5 "core" && R >O +4 "manipulator"&y% +8 "core" % ώ * +4 .tForearm.seek :retract + "manipulator"&T'\ +94 "core" ' +4 .tElbow.reconfigure :tight +4 "manipulator"&$&.,(\ #b +4 .tElbow.seek 6 +4 "manipulator"&X( +165 "core" ( +4 "manipulator"&M& +7 "core" &  < +4 "storage"(j& +5 "core" &K 8\  +4 .tElbow.reconfigure :limp +4 "manipulator"&$ ,(b +6 .tForearm.seek 6 + "manipulator"&3'z +109 "core" ' +4 .tElbow.hold + "manipulator"&F, +7 "core" , +2 .tElbow.reconfigure :tight +6 "manipulator"&$&.,(\ #b +2 .tHand.open +4 "manipulator"&x1 +60 "core" 1 +4 "manipulator"&% +10 "core" % Ή + [ ` +2 "storage"(_& +8 "core" &K  } \  +2 .tForearm.force -20 +2 "manipulator"&5 +6 .tForearm.seek 6 + 315 counts +2 "manipulator"&u'ϵ +20 "core" ' +4 "manipulator"&4& +8 "core" & } ~ P +2 "storage"(W& +8 "core" &K S\  +4 .tForearm.reconfigure :tight +4 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 6 + 450 counts +4 "manipulator"&?'< +25 "core" ' +2 "storage"(+% +8 "core" %g u\ +4 ."downElevator"SE.seek :down +8 "storage"("'N +98 (c% +4 "core" %N< a\ U\\ +4 "manipulator"&B% +8 "core" %? ~ } 6 ) +4 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +4 .tForearm.seek :retract +4 "manipulator"&N'\ +89 "core" ' +39 ' +2 ."downElevator"SE.stop + "storage"(5 +6 #tShuffling pucks in tube 7 of [5..7] + #Loading generic puck from tube 7 into Collection Clamp +4 "collection"'[& +8 "core" &rr\ +2 "manipulator"&;% +8 "core" %\ + !T +4 "storage"(% +8 "core" %@ 3\ +2 "storage"(. +8 "core" .(K +2 .tSC.reconfigure :tight +6 "storage"($\ .\ 1~b +4 .tSC.seek 7 + "storage"(|([ +359 "core" ( +2 .tSC.configure :limp +6 "storage"($\ 1b +4 (L& +8 "core" &[ } ?\  +2 "manipulator"&D& +8 "core" & O +4 .tElbow.seek 7 +2 "manipulator"&( +23 "core" ( +2 "manipulator"&& +8 "core" & 8  +4 "storage"(k& +8 "core" &[ 1\  +4 .tForearm.reconfigure :tight +4 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 7 + 450 counts +4 "manipulator"&Y'k +102 "core" ' +4 "storage"(& +8 "core" &[ *\  +4 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +6 .tSE.seek :beamBreak +4 "storage"('e +291 "core" ' +3 "storage"(.- +6 "core" -' +4 .tSE.configure :default +3 "storage"(#QK-0-\ b +4 ( & +5 "core" &[ k\  +4 "manipulator"&H& +7 "core" & q s W  +3 .tElbow.seek 7 +4 "manipulator"&e( +6 "core" ( +3 "manipulator"&f& +7 "core" & r q `  +4 "storage"(@& +7 "core" &[ \  +4 .tForearm.seek 7 + 300 counts + "manipulator"&v' +18 "core" ' +2 .tForearm.reconfigure :loose +6 "manipulator"&#Q@2^d^b +2 .tHand.close +4 "manipulator"& / +64 "core" / +4 ."downElevator"SE.seek :down +8 "manipulator"&Q& +4 "storage"(C'N +14 "core" & y u  +4 "manipulator"&% +6 "core" % z q Y +4 .tForearm.seek :retract +4 "manipulator"&n'\ +94 "core" ' +4 .tElbow.seek CC + "manipulator"&m( +132 "core" ' +2 ."downElevator"SE.stop +4 "storage"(5 +29 "core" ( +2 "manipulator"& & +10 "core" &\  > / +2 .tElbow.reconfigure :loose +4 "manipulator"&$ &.,(#b +6 &5& +6 "core" &\   / +4 .tForearm.reconfigure :tight +101 "manipulator"&#Q@2^d^\ b +6 .tForearm.seek CC +4 "manipulator"&'| +105 "core" ' +4 "manipulator"&& +8 "core" &\  S / +2 "manipulator"&q% +9 "core" %} _ +2 "collection"']& +8 "core" &ps\ +4 "collection"'%& +10 "core" &qq$\ +6 .tCC.seek :closed +2 "collection"'i(] +8 "core" &qr\ +2 &ns \  +6 &1qt\ *y +9 &dnp \ > +10 &O}mt\ M +9 &cpq\ M +8 &goo\ M +11 &dqq \ M +9 &!Ydpq\ M +8 &#hpq\ M +11 &$boq\ M +9 &&gpr\ M +10 &(acnp\ M +9 &*#arr\ M +8 &+enp\ L +11 &-gpr\ M +9 &/jcqs\ L +8 &1+fqq \ M +11 &2ior\ M +9 &4`or\ M +10 &6q`qr\ M +9 &83bpq\ M +8 &9cmq\ M +11 &;`oq\ L +9 &=ygpq\ M +8 &?<eps#\ L +11 &@cpp"\ M +9 &Bdpq\ M +10 &D_nr$\ M +9 &FC`mp\ M +8 &Hejm%\ M +11 &Iubi\ O +9 &K}<Q!\ Q +10 &M4\ U +9 &N%\ W +9 &P|\ W +10 &Rrkq$\ W +9 &T1Za\ X +8 &ULR\ Y +11 &W=E\ Y +9 &Yo-5\ [\ +9 &[1%\ [\ +10 &\\t $\ = +9 &]#\ &o +10 &]j\ I +2 ( +2 "collection"'%& +7 #tCollection Clamp onSpring/offSpring for 9/25 samples, on/off torque 1.95 +4 .Hand.open + "manipulator"&g1 +8 "core" &]i\ I +47 1 +2 "manipulator"&^% +8 "core" % [  +4 .tForearm.reconfigure :loose +6 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +4 "manipulator"&I'\ +94 "core" ' +4 #tLoading generic puck from tube 7 into Processing Clamp +2 "processing"%2& +10 "core" &<\ +2 "manipulator"&% +8 "core" %\ & G : +4 "storage"(% +8 "core" %@ ~ } \ +2 "storage"(~. +5 "core" .([ +4 "storage"(-& +8 "core" &[ } ~ \  +2 "storage"(G& +8 "core" &[ ~ } \  +2 "manipulator"&}& +9 "core" &  . +2 "manipulator"&o% +8 "core" %\ & : +4 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +4 .tElbow.seek 7 +4 "manipulator"& ( +168 "core" ( +2 "manipulator"&S& +8 "core" &  @ +4 "storage"(d& +8 "core" &[ i 2\  +4 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 7 + 450 counts +4 "manipulator"&a'k +94 "core" ' +4 "storage"(& +8 "core" &[ C\  +4 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +6 .tSE.seek :beamBreak +4 "storage"({'e +281 "core" ' +2 "storage"(- +8 "core" -' +2 .tSE.configure :default +6 "storage"(#QK-0-\ b +4 (& +8 "core" &[ w l \  +2 "manipulator"&& +8 "core" & E @ +4 .tElbow.seek 7 + "manipulator"&`( +6 "core" ( +4 "manipulator"&'& +6 "core" &  @ +4 "storage"(l& +8 "core" &[ j i \  +4 .tForearm.seek 7 + 300 counts +4 "manipulator"&b' +26 "core" ' +2 .tForearm.reconfigure :loose +6 "manipulator"&#Q@2^d^b +4 .tHand.close + "manipulator"&V/ +59 "core" / +6 ."downElevator"SE.seek :down +9 "manipulator"&Z& + "storage"(U'N +16 "core" & } } @ +2 "manipulator"&#% +8 "core" % | ~ +4 .tForearm.seek :retract +4 "manipulator"&z'\ +100 "core" ' +4 .tElbow.seek PC +4 "manipulator"&)(c +135 "core" ' +2 ."downElevator"SE.stop +4 "storage"(5 +101 "core" ( +3 "manipulator"&0& +8 "core" &m q G +2 .tElbow.reconfigure :loose +6 "manipulator"&$ &.,(#b +4 &9& +6 "core" &m e m G +4 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek PC +4 "manipulator"&'[ +106 "core" ' +2 "manipulator"&& +9 "core" &m } d G +2 "manipulator"&% +8 "core" %Y }  +4 "processing"%& +8 "core" &0\ +4 "processing"%>& +8 "core" & \ +6 .tPC.seek :closed +4 "processing"%=(Z +9 "core" &\ +2 &-\  +4 &/}(\ *y +10 &d+\ > +8 &Jv,\ M +11 & Y,\ M +9 &]-\ M +8 &Z,\ L +11 &!T\\3\ L +9 &#\\.\ M +8 &$\\3\ L +11 &&Z2\ L +8 &([\\4\ M +11 &*W2\ M +9 &+\\3\ M +8 &-Y3\ L +12 &/c]3\ M +8 &1%Y/\ M +8 &2[2\ M +11 &4\\/\ M +8 &6kX.\ M +11 &8-Y,\ M +9 &9W,\ M +8 &;X+\ M +11 &=s^.\ M +9 &?5`.\ M +8 &@\\.\ L +11 &BZ,\ M +9 &D{_,\ M +10 &F=^,\ M +9 &Gg-\ N +8 &Ir,\ O +11 &Ku-\ Q +9 &M2-\ S +10 &N,\ T +9 &P,\ T +9 &Rv,\ T +10 &T8)\ T +9 &U)\ T +10 &W(\ T +9 &Y{-\ B +9 &Zx80\ ` +10 &Z .\ + +2 ( +6 "processing"%>& +6 #tProcessing Clamp onSpring/offSpring for 9/25 samples, on/off torque 1.61 +2 .Hand.open +4 "manipulator"&r1 +6 "core" &Z!+\ + +53 1 +4 "manipulator"&% +8 "core" % Y  +4 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +4 .tForearm.seek :retract +4 "manipulator"&s'\ +92 "core" ' +2 "processing"%t& +8 "core" &Z!\ + +4 #tImaging generic puck in Processing Clamp while storing it to tube 7 +2 "manipulator"&*% +7 "core" %\ + !W +4 "storage"(A% +8 "core" %; o u /\ +2 "storage"(:. +6 "core" .([ +4 "storage"(R& +8 "core" &[ p q \  +2 "storage"(P& +10 "manipulator"& & +8 "core" &[ q u /\  +2 &m G +6 .tElbow.reconfigure :tight +4 ."raiseStack"SE.reconfigure :place +12 "manipulator"&$&.,(\ #b +2 "storage"(#]kK-0-\ b +6 .tElbow.seek PC +8 "manipulator"&K(c +7 ."raiseStack"SE.seek :beamBreak +3 "storage"(7'e +6 "core" ( +2 "manipulator"&$& +8 "core" &m G +2 .tElbow.reconfigure :loose +6 "manipulator"&$ &.,(#b +4 &(& +8 "core" &m w G +4 .tForearm.seek PC + "manipulator"&\ '[ +98 "core" ' +2 .tHand.close +2 "manipulator"& } { R\ +2 "storage"(N. +6 "core" .([ +4 "storage"(.& +8 "core" &[ ~ ~ \  +2 "storage"( & +8 "core" &[ l g \  +4 "manipulator"&H& +8 "core" & < +2 .tElbow.seek 7 +4 "manipulator"&f( +7 "core" ( +4 "manipulator"&@& +8 "core" & Z < +2 "storage"( & +8 "core" &[ k j \  +4 .tForearm.reconfigure :tight +6 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 7 + 450 counts +4 "manipulator"&Q'k +103 "core" ' +2 "storage"(& +10 "core" &[ [\  +4 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +6 .tSE.seek :beamBreak +4 "storage"('e +276 "core" ' +4 "storage"(Y- +8 "core" -' +2 .tSE.configure :default +6 "storage"(#QK-0-\ b +4 "manipulator"&& +8 "core" &  } < +2 "storage"( & +8 "core" &[ \  +2 .tElbow.reconfigure :limp +6 "manipulator"&$ ,(b +4 .tForearm.reconfigure :loose +6 "manipulator"&#Q@2^d^b +2 .tForearm.seek 7 +4 "manipulator"&5'Ω +32 "core" ' +4 .tElbow.hold + "manipulator"&v, +8 "core" , +2 .tElbow.reconfigure :tight +6 "manipulator"&$&.,(\ #b +2 "storage"(e- +8 "core" -' +4 .tSE.seek 0.12 Pucks below Top Plate + "storage"('o +29 "core" ' +2 "manipulator"&q% +10 "core" %μ ! _ +2 "storage"(]& +12 "core" &[ 8 8 L\  +3 .tForearm.force -20 +6 "manipulator"&5 +10 .tForearm.seek 7 + 319 counts + "manipulator"&C' +22 "core" ' +2 "manipulator"&n& +10 "core" & { P 9 +2 "storage"(& +8 "core" &[ O\  +4 .tForearm.reconfigure :tight +4 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 7 + 450 counts +4 "manipulator"&g'k +21 "core" ' +4 .tSE.seek 1.12 Pucks below Top Plate +4 "storage"(^'^ +52 "core" ' +4 "manipulator"&2& +8 "core" & s y 9 +4 "manipulator"&% +8 "core" %h z o  +4 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +4 .tForearm.seek :retract +4 "manipulator"&%'\ +89 "core" ' +2 .tElbow.seek CC +4 "manipulator"&( +158 "core" ( +2 "manipulator"&~& +8 "core" &+  Ac +4 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +4 &-& +6 "core" &+  Ac +4 .tForearm.seek CC +4 "manipulator"&G'| +102 "core" ' +4 .tHand.close + "manipulator"&}/ +61 "core" / +4 .tCC.seek :open +4 "collection"'o(p +411 "core" ( +2 "storage"(& +8 "core" &[ Z\  +4 "storage"(S& +8 "core" &[ g\  +2 "manipulator"&d& +8 "core" &$#  ;7 +2 "manipulator"&m% +8 "core" % σ S +4 .tForearm.seek :retract +4 "manipulator"&'\ +100 "core" ' +2 .tElbow.reconfigure :tight +6 "manipulator"&$&.,(\ #b +4 .tElbow.seek 7 +3 "manipulator"&I( +158 "core" ( +2 "manipulator"&& +10 "core" & e  +2 "storage"(& +8 "core" &[ "\  +2 .tElbow.reconfigure :limp +6 "manipulator"&$ ,(b +4 .tForearm.seek 7 +4 "manipulator"&'Ω +109 "core" ' +4 .tElbow.hold +4 "manipulator"&', +8 "core" , +2 .tElbow.reconfigure :tight +4 "manipulator"&$&.,(\ #b +4 .tHand.open +4 "manipulator"&l1 +56 "core" 1 +4 "manipulator"&V% +10 "core" % ι \\ +2 "storage"(Z& +8 "core" &[ 5\  +2 .tForearm.force -20 +4 "manipulator"&5 +6 .tForearm.seek 7 + 316 counts + "manipulator"&#' +21 "core" ' +2 "manipulator"& & +8 "core" & t | `  +4 "storage"(a& +8 "core" &[ \  +4 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 7 + 450 counts +4 "manipulator"&{'k +19 "core" ' +4 "storage"(b% +8 "core" %a #\ +3 ."downElevator"SE.seek :down +8 "storage"(0'N +95 (9% +6 "core" %; 9\ T[ +4 "manipulator"&`% +8 "core" %a o p <  +4 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +4 .tForearm.seek :retract +4 "manipulator"&'\ +99 "core" ' +27 ' +2 ."downElevator"SE.stop +3 "storage"(5 +6 #tShuffling pucks in tube 5 of [5..7] + #Loading generic puck from tube 5 into Collection Clamp +4 "collection"'& +8 "core" &nt'\ +2 "manipulator"&% +10 "core" %\ 8 ' +4 "storage"(U% +6 "core" %; 9\ \ +4 "storage"(z. +6 "core" .([ +4 .tSC.reconfigure :tight +4 "storage"($\ .\ 1~b +4 .tSC.seek 5 +4 "storage"((<< +672 "core" ( +4 .tSC.configure :limp +3 "storage"($\ 1b +4 (r& +6 "core" &<< 5\ +4 "manipulator"&& +8 "core" &  +2 .tElbow.seek 5 +4 "manipulator"&t( +22 "core" ( +2 "manipulator"&*& +9 "core" &\  \\ +2 "storage"(>& +8 "core" &<< i\ +4 .tForearm.reconfigure :tight +4 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 5 + 450 counts +4 "manipulator"&A' +96 "core" ' +5 "storage"(:& +8 "core" &<< /\ +4 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +6 .tSE.seek :beamBreak +4 "storage"(R'e +277 "core" ' +4 "storage"( - +6 "core" -' +3 .tSE.configure :default +4 "storage"(#QK-0-\ b +6 (P& +5 "core" &<; \ +4 "manipulator"&$& +8 "core" &\ z \\ +2 .tElbow.seek 5 +4 "manipulator"&(( +6 "core" ( +4 "manipulator"&& +6 "core" &\ C \\ +4 "storage"(<& +10 "core" &<; +\ +4 .tForearm.seek 5 + 300 counts + "manipulator"&'[ +23 "core" ' +2 .tForearm.reconfigure :loose +4 "manipulator"&#Q@2^d^b +4 .tHand.close +4 "manipulator"&)/ +64 "core" / +4 ."downElevator"SE.seek :down +10 "manipulator"&s& "storage"(='N +16 "core" &\ p q * \\ +2 "manipulator"&7% +8 "core" % W r q ^ +4 .tForearm.seek :retract +4 "manipulator"&E'\ +99 "core" ' +4 .tElbow.seek CC + "manipulator"&p( +130 "core" ' +2 ."downElevator"SE.stop +4 "storage"(5 +15 "core" ( +2 "manipulator"&w& +8 "core" &# ) :1 +2 .tElbow.reconfigure :loose +6 "manipulator"&$ &.,(#b +2 &\ & +8 "core" &# _ :1 +6 .tForearm.reconfigure :tight +4 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +4 "manipulator"&!'| +99 "core" ' +2 "manipulator"&h& +10 "core" &# l :1 +2 "manipulator"&K% +8 "core" %r 3 +4 "collection"'\\& +8 "core" &qr\ +4 "collection"'y& +8 "core" &or5\ +8 .tCC.seek :closed + "collection"'8(] +8 "core" &or,\ +2 &qr3\  +6 &0pr5\ +z +9 &dqr4\ > +11 &M~rs4\ N +9 &aos1\ M +10 &gqr*\ M +9 &cqr.\ M +8 &!Xcnr0\ M +11 &#crr'\ M +9 &$cqp+\ M +8 &&fpq1\ M +11 &(acot+\ L +9 &*"bms)\ M +10 &+_ps"\ M +9 &-crt\ L +9 &/gcps \ M +10 &1*cos$\ M +9 &2cqp%\ M +8 &4`qq&\ L +11 &6p`pq$\ M +9 &82aqs\ M +10 &9bor%\ M +8 &;`nr&\ M +9 &=xfrq&\ M +10 &?:^pq%\ M +10 &@cqp&\ M +8 &Bcrr&\ M +11 &D`ps&\ M +9 &FBakr%\ M +10 &Hglm&\ M +9 &Is`h%\ O +8 &Kz-H&\ Q +11 &M/&\ V +9 &N%\ W +10 &Px'\ X +9 &Rqhn&\ W +9 &T1Ya'\ X +10 &UIR&\ Y +9 &W;B&\ Y +8 &Ym+4&\ [ +11 &[0#%\ [\ +9 &\\o %\ C +10 &]#$\ #g +9 &]~$\ T +4 ( +4 &]~\ T +4 "collection"'y& +4 #tCollection Clamp onSpring/offSpring for 9/25 samples, on/off torque 1.99 +4 .Hand.open +2 "manipulator"&/1 +65 "core" 1 +2 "manipulator"&% +8 "core" % r +4 .tForearm.reconfigure :loose +6 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +4 "manipulator"&x'\ +94 "core" ' +4 #tLoading generic puck from tube 5 into Processing Clamp + "processing"%_& +8 "core" &;\ +4 "manipulator"&4% +8 "core" %\ + b !S +4 "storage"(+% +8 "core" %> Z Z\ \ +2 "storage"(X. +6 "core" .(<< +3 "storage"(O& +8 "core" &<; _ i "\ +3 "storage"(M& +6 "core" &<; Y Y\ +4 "manipulator"&u& +8 "core" &# x :* +2 "manipulator"&[% +8 "core" %\ + K !S +4 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +6 .tElbow.seek 5 +2 "manipulator"&&( +156 "core" ( +4 "manipulator"&& +9 "core" &   +2 "storage"(J& +8 "core" &<; } } \ +4 .tForearm.reconfigure :tight +4 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 5 + 450 counts +4 "manipulator"&1' +95 "core" ' +3 "storage"(j& +8 "core" &<; y k \ +4 .tSE.reconfigure :pick +106 "storage"(#]K-0-\ b +6 .tSE.seek :beamBreak +4 "storage"(?'e +278 "core" ' +2 "storage"(W- +8 "core" -' +2 .tSE.configure :default +6 "storage"(#QK-0-\ b +4 (,& +8 "core" &<9 } { _\ +2 "manipulator"&L& +8 "core" &   +4 .tElbow.seek 5 + "manipulator"&( +8 "core" ( +2 "manipulator"&T& +6 "core" &   +4 "storage"(c& +8 "core" &<9 } ~ \ +4 .tForearm.seek 5 + 300 counts + "manipulator"&;'[ +13 "core" ' +4 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +4 .tHand.close +4 "manipulator"&/ +60 "core" / +6 ."downElevator"SE.seek :down +10 "manipulator"&3& "storage"(k'N +14 "core" & \\  +4 "manipulator"&% +8 "core" % Z s 4 +4 .tForearm.seek :retract + "manipulator"&F'\ +96 "core" ' +2 .tElbow.seek PC +4 "manipulator"&N(c +143 "core" ' +2 ."downElevator"SE.stop +4 "storage"(5 +90 "core" ( +4 "manipulator"&.& +9 "core" &l ] B +2 .tElbow.reconfigure :loose +6 "manipulator"&$ &.,(#b +2 && +8 "core" &l H B +4 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek PC +4 "manipulator"& '[ +104 "core" ' +2 "manipulator"&H& +10 "core" &l B +2 "manipulator"&@% +8 "core" %c +4 "processing"% & +8 "core" &\ +4 "processing"%& +8 "core" &-\ +9 .tPC.seek :closed + "processing"%"(Z +8 "core" &7\ +2 &.\ \ +8 &/|2\ *x +6 &dB\ > +10 &Cw<\ N +10 &Td\ M +8 &[9\ M +11 &Y,\ M +8 &!MZ+\ M +11 &#XB\ M +9 &$XG\ M +8 &&Z+\ L +11 &(UZ9\ M +9 &*Yo\ M +8 &+X#\ M +11 &-Y\ M +8 &/^\\@\ M +11 &1 Y'\ M +9 &2ZF\ M +8 &4YH\ M +11 &6eXK\ M +9 &8'Zw\ M +10 &9Y@\ M +9 &;Yb\ M +8 &=nZ*\ M +11 &?/\\+\ M +9 &@\\2\ M +8 &BV=\ M +11 &DuY-\ M +9 &F6\\-\ M +8 &Gc)\ N +11 &Iq1\ P +8 &KqI\ Q +11 &M,\ S +9 &N\ T +10 &Po\ S +9 &Rq}\ T +9 &T2\ T +10 &U,\ T +9 &W0\ T +8 &Ywz\ A +11 &Zv;~\ ` +9 &Z \ ) +6 ( +4 "processing"%& +6 #tProcessing Clamp onSpring/offSpring for 9/25 samples, on/off torque 1.64 +4 .Hand.open +2 "manipulator"&B1 +6 "core" &Z!\ ) +50 1 +2 "manipulator"&D% +8 "core" % c  +4 .tForearm.reconfigure :loose +6 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +4 "manipulator"&Y'\ +99 "core" ' +4 "processing"%& +8 "core" &Z3\ ) +4 #tImaging generic puck in Processing Clamp while storing it to tube 5 + "manipulator"& % +8 "core" %\ 5 & +4 "storage"(e% +7 "core" %A e _ C\ +2 "storage"(q. +6 "core" .(<< +2 "storage"(]& +8 "core" &<9 g f -\ +4 "storage"(n& +8 "manipulator"&& +8 "core" &<9 g g d\ +2 &l B +6 .tElbow.reconfigure :tight +4 ."raiseStack"SE.reconfigure :place +10 "manipulator"&$&.,(\ #b +5 "storage"(#]kK-0-\ b +3 .tElbow.seek PC +10 "manipulator"&2(c +6 ."raiseStack"SE.seek :beamBreak +3 "storage"('e +6 "core" ( +2 "manipulator"&Q& +8 "core" &l B +2 .tElbow.reconfigure :loose +6 "manipulator"&$ &.,(#b +4 &f& +8 "core" &l h B +4 .tForearm.seek PC + "manipulator"&'[ +98 "core" ' +4 .tHand.close +2 "manipulator"&5/ +57 "core" / +4 .tPC.seek :open + "processing"%C(p +63 "core" ' +2 "storage"(- +8 "core" -'e +2 ."raiseStack"SE.configure :default +6 "storage"(#QK-0-\ b +4 ."raiseStack"SE.seek :place +3 "storage"(~'B +33 "core" ' +274 ( +4 "storage"(-& +8 "core" &<9 o o \ +2 "manipulator"&g& +8 "core" &l  B +2 "manipulator"&v% +8 "core" % g  +4 .tForearm.seek :retract +4 "manipulator"&}'\ +93 "core" ' +2 .tElbow.reconfigure :tight +6 "manipulator"&$&.,(\ #b +4 .tElbow.seek 5 +4 "manipulator"&%( +251 "core" ( +2 "manipulator"&i& +10 "core" & ] # +2 "storage"(& +8 "core" &<9 [ Z\ +4 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +6 .tForearm.seek 5 + 450 counts + "manipulator"&S' +106 "core" ' +2 .tHand.open +4 "manipulator"&d1 +64 "core" 1 +4 "storage"(m- +8 "core" -'B +4 .tSE.seek -0.16 Pucks below Top Plate + "storage"(' +28 "core" ' +4 .tSE.reconfigure :seal +4 "storage"(#QK-0-\ b +6 .tSE.seek -0.83 Pucks below Top Plate + "storage"(' +52 "core" ' +4 #tLights, camera, ACTION! + "storage"(G- +6 "core" -' +4 "storage"(& +8 "core" &<7 e\ +2 "manipulator"&l& +8 "core" &  # +4 .tElbow.seek 5 + "manipulator"&V( +7 "core" ( +3 "manipulator"&Z& +8 "core" & V # +2 "storage"( & +8 "core" &<7 W\ +4 .tForearm.seek 5 + 450 counts +4 "manipulator"&a' +7 "core" ' +4 .tSE.reconfigure :gently +6 "storage"(#QK-0-\ b +2 .tSE.seek -0.11 Pucks below Top Plate +4 "storage"('M +59 "core" ' +4 "manipulator"&b& +8 "core" & r p  # +2 "storage"(I& +7 "core" &<7 ~ } \ +4 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +6 .tForearm.reconfigure :loose +4 "manipulator"&#Q@2^d^b +4 .tForearm.seek 5 +4 "manipulator"&9'/ +35 "core" ' +2 .tElbow.hold +4 "manipulator"&`, +8 "core" , +2 .tElbow.reconfigure :tight +4 "manipulator"&$&.,(\ #b +6 .tSE.reconfigure :default +4 "storage"(#QK-0-\ b +6 .tSE.seek 0.07 Pucks below Top Plate + "storage"('7 +29 "core" ' +4 "manipulator"&% +8 "core" %?z 9 A +2 "storage"(#& +9 "core" &<7 8 ? \ +2 .tForearm.force -20 +4 "manipulator"&5 +6 .tForearm.seek 5 + 316 counts + "manipulator"&'k +21 "core" ' +4 "manipulator"&U& +7 "core" &D | 2 B +4 "storage"(^& +8 "core" &<7 j i f\ +4 .tForearm.reconfigure :tight +5 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 5 + 450 counts +4 "manipulator"&z' +26 "core" ' +2 "storage"({% +10 "core" %3 x i \ +4 ."downElevator"SE.seek :down +8 "storage"(0'N +98 (|% +4 "core" %!D Y Y\ V` +4 "manipulator"&r% +8 "core" %  { +4 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +4 .tForearm.seek :retract +4 "manipulator"&'\ +97 "core" ' +40 ' +2 ."downElevator"SE.stop + "storage"(5 +4 (*& +8 "core" &<7 ^ \\ \ +4 "collection"'>& +8 "core" &]|\ T +2 #tStoring generic puck in Collection Clamp to tube 5 +4 "manipulator"&:% +8 "core" %\ 1  $t +2 "storage"('% +8 "core" %K j t \ \ +4 "storage"(. +6 "core" .(<< +2 "storage"( & +8 "core" &<7 q v \ +5 "storage"(P& +8 "core" &<7 Z _ n\ +2 "manipulator"&$& +8 "core" &D " B +4 .tElbow.seek 5 + "manipulator"&( +22 "core" ( +2 "manipulator"&<& +9 "core" & X  +2 "storage"()& +8 "core" &<7 u o #\ +4 .tForearm.reconfigure :tight +4 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 5 + 450 counts +4 "manipulator"&s' +105 "core" ' +4 "storage"(7& +8 "core" &<7 o\ +4 .tSE.reconfigure :pick +4 "storage"(#]K-0-\ b +6 .tSE.seek :beamBreak +4 "storage"(t'e +280 "core" ' +2 "storage"(A- +8 "core" -' +2 .tSE.configure :default +6 "storage"(#QK-0-\ b +4 "manipulator"&w& +8 "core" & p r ,  +2 "storage"(R& +8 "core" &<7 r p 3\ +2 .tElbow.reconfigure :limp +6 "manipulator"&$ ,(b +6 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +4 .tForearm.seek 5 +4 "manipulator"&\ '/ +30 "core" ' +2 .tElbow.hold +4 "manipulator"&, +6 "core" , +2 .tElbow.reconfigure :tight +6 "manipulator"&$&.,(\ #b +4 "storage"(h- +6 "core" -' +4 .tSE.seek 0.11 Pucks below Top Plate +4 "storage"(('m +31 "core" ' +4 "manipulator"&K% +7 "core" %=o s  +2 "storage"(\\& +8 "core" &<7 B C \ +2 .tForearm.force -20 +4 "manipulator"&5 +4 .tForearm.seek 5 + 314 counts +4 "manipulator"&='i +16 "core" ' +4 "manipulator"&E& +8 "core" &- s r 4  +2 "storage"(o& +8 "core" &<7 } } \ +4 .tForearm.reconfigure :tight +6 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 5 + 450 counts +4 "manipulator"&/' +21 "core" ' +4 .tSE.seek 1.11 Pucks below Top Plate +4 "storage"('\\ +49 "core" ' +4 "manipulator"&_& +8 "core" &- q q 7  +100 "manipulator"&y% +12 "core" % q r [ +4 .tForearm.reconfigure :loose +4 "manipulator"&#Q@2^d^b +4 .tForearm.seek :retract +4 "manipulator"&4'\ +92 "core" ' +4 .tElbow.seek CC + "manipulator"&+( +162 "core" ( +4 "manipulator"&X& +8 "core" &* R @W +2 .tElbow.reconfigure :loose +6 "manipulator"&$ &.,(#b +4 &O& +8 "core" &* N @W +4 .tForearm.seek CC + "manipulator"&M'| +96 "core" ' +4 .tHand.close + "manipulator"&u/ +54 "core" / +4 .tCC.seek :open +4 "collection"'[(p +410 "core" ( +2 "storage"(!& +8 "core" &<7 X\ +4 "storage"(& +8 "core" &<7 .\ +2 "manipulator"&J& +8 "core" &" : :1 +2 "manipulator"&j% +8 "core" % φ   +4 .tForearm.seek :retract +4 "manipulator"&p'\ +93 "core" ' +4 .tElbow.reconfigure :tight +4 "manipulator"&$&.,(\ #b +4 .tElbow.seek 5 +3 "manipulator"&x( +157 "core" ( +4 "manipulator"&W& +10 "core" & " \ +2 "storage"(,& +8 "core" &<7 \ +4 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +6 .tForearm.seek 5 + "manipulator"&L'/ +114 "core" ' +2 .tElbow.hold +4 "manipulator"&T, +6 "core" , +4 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +4 .tHand.open +4 "manipulator"&c1 +63 "core" 1 +3 "manipulator"&% +10 "core" % B m o +2 "storage"(3& +8 "core" &<7 h i \ +2 .tForearm.force -20 +4 "manipulator"&5 +4 .tForearm.seek 5 + 319 counts +4 "manipulator"&'n +18 "core" ' +2 "manipulator"&&& +10 "core" &7 s r 8  +2 "storage"(1& +8 "core" &<7 \ +4 .tForearm.reconfigure :tight +4 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 5 + 450 counts +4 "manipulator"&?' +23 "core" ' +2 "storage"(;% +10 "core" %b \ +4 ."downElevator"SE.seek :down +8 "storage"(.'N +98 (% +4 "core" %> %\ U] +4 "manipulator"&% +8 "core" % q q Z  +4 .tForearm.reconfigure :loose +4 "manipulator"&#Q@2^d^b +6 .tForearm.seek :retract +4 "manipulator"&H'\ +92 "core" ' +31 ' +2 ."downElevator"SE.stop +2 "storage"(5 +7 #tShuffling pucks in tube 6 of [5..7] +4 #Loading generic puck from tube 6 into Collection Clamp + "collection"'@& +8 "core" &sr\ +4 "manipulator"& % +8 "core" %\ . d #b +2 "storage"(k% +8 "core" %> b\ \ +4 "storage"(F. +6 "core" .(<< +4 .tSC.reconfigure :tight +4 "storage"($\ .\ 1~b +4 .tSC.seek 6 +4 "storage"(6(K +361 "core" ( +2 .tSC.configure :limp +3 "storage"($\ 1b +4 (B& +6 "core" &K i 3\  +4 "manipulator"&D& +6 "core" &7 Q  +4 .tElbow.seek 6 + "manipulator"&( +14 "core" ( +4 "manipulator"&& +8 "core" &   +2 "storage"( & +8 "core" &K 3\  +4 .tForearm.reconfigure :tight +4 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 6 + 450 counts +4 "manipulator"&e'< +95 "core" ' +2 "storage"(q& +9 "core" &K \  +4 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +6 .tSE.seek :beamBreak +4 "storage"(]'e +282 "core" ' +2 "storage"(n- +8 "core" -' +2 .tSE.configure :default +6 "storage"(#QK-0-\ b +6 (& +5 "core" &K i\  +4 "manipulator"&Q& +8 "core" & p q B  +2 .tElbow.seek 6 +4 "manipulator"&f( +6 "core" ( +4 "manipulator"& & +8 "core" & p r (  +2 "storage"(5& +8 "core" &K \  +4 .tForearm.seek 6 + 300 counts +4 "manipulator"&'Ϧ +21 "core" ' +2 .tForearm.reconfigure :loose +6 "manipulator"&#Q@2^d^b +4 .tHand.close + "manipulator"&N/ +56 "core" / +4 ."downElevator"SE.seek :down +5 "manipulator"&Y& +4 "storage"("'N +14 "core" & q s 9  +4 "manipulator"&% +7 "core" % Ϝ q p  +4 .tForearm.seek :retract +2 "manipulator"&-'\ +92 "core" ' +2 .tElbow.seek CC +4 "manipulator"&g( +137 "core" ' +2 ."downElevator"SE.stop +2 "storage"(5 +15 "core" ( +4 "manipulator"&v& +5 "core" &% <? +4 .tElbow.reconfigure :loose +4 "manipulator"&$ &.,(#b +4 && +8 "core" &% <? +4 .tForearm.reconfigure :tight +4 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek CC +4 "manipulator"&i'| +104 "core" ' +2 "manipulator"&& +8 "core" &%  <? +4 "manipulator"&2% +8 "core" %` 4 +4 "collection"'d& +7 "core" &rr5\ +4 "collection"'m& +7 "core" &ot4\ +8 .tCC.seek :closed + "collection"'G(] +8 "core" &op5\ +2 &os4\  +5 &1oq3\ *z +10 &dps4\ > +10 &N|pq3\ M +9 &aqt2\ M +8 &cos4\ L +11 &eoq4\ M +9 &!Wbpp0\ M +8 &#cmr0\ M +11 &$bpp/\ M +9 &&bpr/\ M +10 &(abqq0\ L +9 &*"bps1\ M +8 &+`qr#\ L +10 &-boq$\ L +10 &/gcpq%\ M +8 &1)cqp/\ M +11 &2bop&\ M +9 &4^oq\ M +10 &6p_qr$\ M +9 &82_pp%\ M +8 &9cpr&\ M +11 &;app%\ M +9 &=x`pr%\ M +8 &?:]pr#\ M +11 &@apr&\ M +9 &Bbor&\ L +8 &Dapr$\ L +11 &FB`mp&\ M +8 &Hgkn&\ M +11 &Iv`h&\ O +9 &Ky'F&\ R +10 &M0&\ V +9 &N&\ W +9 &P}%\ W +10 &Rqmt'\ W +9 &T/\\d)\ Y +9 &ULU%\ Y +10 &W<G&\ Y +9 &Yn07&\ [\ +10 &[.&'\ \\ +9 &\\{&\ 1 +9 &]( &\ a +8 ( +5 "collection"'m& +6 #tCollection Clamp onSpring/offSpring for 9/25 samples, on/off torque 2.02 + .Hand.open +4 "manipulator"&}1 +6 "core" &]\ !\ W +57 1 +4 "manipulator"&% +8 "core" % ` ~ +2 .tForearm.reconfigure :loose +6 "manipulator"&#Q@2^d^b +4 .tForearm.seek :retract + "manipulator"&l'\ +94 "core" ' +4 #tLoading generic puck from tube 6 into Processing Clamp + "processing"%Z& +8 "core" &p\ +4 "manipulator"& % +8 "core" %\ ( I D +4 "storage"(b% +5 "core" %: Y Z\ \ +4 "storage"(I. +5 "core" .(K +4 "storage"(~& +8 "core" &K Y Y\  +2 "storage"(& +8 "core" &K Y c\  +2 "manipulator"&& +8 "core" &% Q <? +4 "manipulator"&#% +7 "core" %\ ) * D +4 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +6 .tElbow.seek 6 + "manipulator"&%( +161 "core" ( +3 "manipulator"&U& +7 "core" & e +2 "storage"(S& +9 "core" &K o o \  +4 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 6 + 450 counts +4 "manipulator"&^'< +94 "core" ' +2 "storage"(& +8 "core" &K k o W\  +4 .tSE.reconfigure :pick +6 "storage"(#]K-0-\ b +6 .tSE.seek :beamBreak +2 "storage"({'e +282 "core" ' +2 "storage"(a- +8 "core" -' +2 .tSE.configure :default +5 "storage"(#QK-0-\ b +5 (V& +6 "core" &K  } \  +4 "manipulator"&|& +6 "core" & q q E +4 .tElbow.seek 6 +2 "manipulator"&r( +6 "core" ( +4 "manipulator"&& +5 "core" & v 4 +6 "storage"(9& +6 "core" &K i g \  +4 .tForearm.seek 6 + 300 counts +4 "manipulator"&'Ϧ +22 "core" ' +2 .tForearm.reconfigure :loose +4 "manipulator"&#Q@2^d^b +4 .tHand.close +4 "manipulator"&*/ +53 "core" / +4 ."downElevator"SE.seek :down +5 "manipulator"&>& +4 "storage"(:'N +14 "core" & q r X +4 "manipulator"&% +8 "core" % Ϡ s s 1 +4 .tForearm.seek :retract + "manipulator"&''\ +92 "core" ' +3 .tElbow.seek PC +4 "manipulator"&(c +142 "core" ' +4 ."downElevator"SE.stop + "storage"(5 +111 "core" ( +3 "manipulator"& & +8 "core" &l +4 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +4 &P& +8 "core" &l < +4 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek PC +4 "manipulator"&$'[ +104 "core" ' +2 "manipulator"&<& +9 "core" &l +3 "manipulator"&)% +8 "core" %U +4 "processing"%z& +7 "core" &r\ +4 "processing"%7& +10 "core" &w\ +5 .tPC.seek :closed +4 "processing"%0(Z +8 "core" &n\ +4 &p\  +4 &.}x\ *y +8 &dl\ > +11 &Cvn\ M +9 &Xo\ M +8 &Z-\ M +11 &Y{\ L +9 &!K[s\ M +8 &#Vq\ M +11 &$Xe\ M +8 &&Zo\ M +11 &(TYg\ M +9 &*Yq\ L +8 &+Wo\ M +11 &-Xl\ M +9 &/Z\\e\ M +8 &1Y\ N +11 &2Z\ M +8 &4Xn\ M +11 &6bXe\ M +9 &8$Yc\ M +8 &9Xc\ M +11 &;XO\ N +9 &=lXd\ M +8 &?-\\h\ M +11 &@\\e\ M +8 &BZj\ M +11 &DqZd\ N +9 &F4\\f\ M +8 &Gea\ O +11 &Irj\ P +9 &Klk\ R +10 &M)h\ T +9 &NS\ T +8 &Pl\ S +10 &Roi\ T +124 &T0l\ T +4 &Uk\ U +4 &Wl\ T +2 &Ytl\ B +2 &Z|Ao\ T +4 &Ze\ ) +2 ( &Zp\ ) +2 &Zk\ ) +2 &Zo\ ) +4 &Ze\ ) +2 &Ze\ ) +2 &Zc\ ) +2 &Zo\ ) +2 &Zd\ ) +2 &Zi\ ) +2 &Zp\ ) +6 "processing"%7& +8 #tProcessing Clamp onSpring/offSpring for 5/25 samples, on/off torque 1.60 + .Hand.open + "manipulator"&`1 +6 "core" &Zd\ ) +2 &Zk\ ) +49 1 +2 "manipulator"&% +8 "core" % U B +4 .tForearm.reconfigure :loose +4 "manipulator"&#Q@2^d^b +4 .tForearm.seek :retract +4 "manipulator"&A'\ +100 "core" ' +4 "processing"%w& +8 "core" &Zb\ ) +4 #tImaging generic puck in Processing Clamp while storing it to tube 6 + "manipulator"&R% +8 "core" %\ 6 & +4 "storage"(h% +9 "core" %A \\ \\\ +2 "storage"(K. +6 "core" .(K +4 "storage"(\\& +6 "core" &K Y \\\  +4 "storage"(E& +9 "manipulator"&o& +7 "core" &K \\ \\\  +2 &l $ +6 .tElbow.reconfigure :tight +6 ."raiseStack"SE.reconfigure :place +8 "manipulator"&$&.,(\ #b +6 .tElbow.seek PC +8 "storage"(#]kK-0-\ b +2 "manipulator"&_(c +14 ."raiseStack"SE.seek :beamBreak + "storage"(y'e +6 "core" ( +2 "manipulator"&s& +8 "core" &l +2 .tElbow.reconfigure :loose +5 "manipulator"&$ &.,(#b +4 && +6 "core" &l \ +4 .tForearm.seek PC +4 "manipulator"&t'[ +96 "core" ' +4 .tHand.close + "manipulator"&\ / +65 "core" / +4 .tPC.seek :open +4 "processing"%=(p +55 "core" ' +3 "storage"((- +6 "core" -'e +4 ."raiseStack"SE.configure :default +4 "storage"(#QK-0-\ b +6 ."raiseStack"SE.seek :place +4 "storage"(X'B +33 "core" ' +276 ( +2 "storage"(O& +8 "core" &K t v "\  +4 "manipulator"&/& +8 "core" &l Y +2 "manipulator"&% +8 "core" % \\ { +4 .tForearm.seek :retract + "manipulator"&u'\ +94 "core" ' +4 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +4 .tElbow.seek 6 +4 "manipulator"&4( +249 "core" ( +2 "manipulator"&8& +10 "core" &\ T +2 "storage"(!& +8 "core" &K ] Z \  +4 .tForearm.reconfigure :tight +4 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 6 + 450 counts +4 "manipulator"&'< +98 "core" ' +4 .tHand.open + "manipulator"&J1 +65 "core" 1 +4 "storage"(j- +8 "core" -'B +4 .tSE.seek -0.16 Pucks below Top Plate + "storage"(W' +26 "core" ' +4 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +4 .tSE.seek -0.83 Pucks below Top Plate +4 "storage"(,' +52 "core" ' +4 #tLights, camera, ACTION! + "storage"(M- +6 "core" -' +4 "storage"(+& +8 "core" &K \  +2 "manipulator"&c& +8 "core" &\ / T +4 .tElbow.seek 6 +4 "manipulator"&( +6 "core" ( +4 "manipulator"&3& +8 "core" &\  T +2 "storage"(&& +8 "core" &K 6\  +4 .tForearm.seek 6 + 450 counts +4 "manipulator"&1'< +8 "core" ' +2 .tSE.reconfigure :gently +6 "storage"(#QK-0-\ b +4 .tSE.seek -0.11 Pucks below Top Plate +4 "storage"(p'M +62 "core" ' +2 "manipulator"&;& +10 "core" &\  T +2 "storage"(x& +8 "core" &K p r \  +4 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +6 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +4 .tForearm.seek 6 +4 "manipulator"&'z +32 "core" ' +4 .tElbow.hold + "manipulator"&, +8 "core" , +2 .tElbow.reconfigure :tight +6 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +6 "storage"(#QK-0-\ b +4 .tSE.seek 0.07 Pucks below Top Plate +4 "storage"(L'7 +26 "core" ' +4 "manipulator"&% +7 "core" %΁g  n Ŷ +2 "storage"(@& +8 "core" &K "  \  +4 .tForearm.force -20 +4 "manipulator"&5 +6 .tForearm.seek 6 + 307 counts + "manipulator"& 'ϭ +20 "core" ' +2 "manipulator"&k& +8 "core" & E ( +4 "storage"(& +8 "core" &K o o ,\  +4 .tForearm.reconfigure :tight +4 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 6 + 450 counts +4 "manipulator"&F'< +27 "core" ' +4 "storage"(?% +8 "core" %< } } \ +4 ."downElevator"SE.seek :down +8 "storage"(.'N +95 (% +6 "core" %> d ^\ V_ +2 "manipulator"&B% +9 "core" %V u s - +4 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +5 .tForearm.seek :retract +2 "manipulator"&D'\ +89 "core" ' +48 ' +2 ."downElevator"SE.stop +3 "storage"(5 +4 (& +8 "core" &K Z Z\  +4 "collection"' & +8 "core" &]&\ W +2 #tStoring generic puck in Collection Clamp to tube 6 +4 "manipulator"&q% +7 "core" %\ + # !P +2 "storage"(T% +8 "core" %E Y Z\ \ +4 "storage"(H. +6 "core" .(K +2 "storage"(n& +8 "core" &K Z Y\  +2 "storage"(& +7 "core" &K Y Z\  +4 "manipulator"&Q& +8 "core" & P ( +2 .tElbow.seek 6 +4 "manipulator"& ( +30 "core" ( +3 "manipulator"&5& +8 "core" & N  +2 "storage"(N& +8 "core" &K q v L\  +4 .tForearm.reconfigure :tight +6 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +4 "manipulator"&Y'< +100 "core" ' +4 "storage"(& +7 "core" &K z r X\  +3 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +6 .tSE.seek :beamBreak +4 "storage"('e +282 "core" ' +2 "storage"(e- +8 "core" -' +2 .tSE.configure :default +4 "storage"(#QK-0-\ b +6 "manipulator"&v& +7 "core" & z  +4 "storage"(]& +6 "core" &K f ^\  +4 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +4 .tForearm.reconfigure :loose +6 "manipulator"&#Q@2^d^b +3 .tForearm.seek 6 +4 "manipulator"&'z +33 "core" ' +2 .tElbow.hold +4 "manipulator"&, +5 "core" , +4 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +6 "storage"(f- +4 "core" -' +4 .tSE.seek 0.12 Pucks below Top Plate +4 "storage"('r +32 "core" ' +2 "manipulator"&2% +10 "core" %Άh   C ö +2 "storage"(d& +8 "core" &K '  8\  +2 .tForearm.force -20 +2 "manipulator"&5 +6 .tForearm.seek 6 + 312 counts + "manipulator"&"'ϲ +21 "core" ' +2 "manipulator"&-& +10 "core" & z l @ +2 "storage"([& +8 "core" &K k i \  +4 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +6 .tForearm.seek 6 + 450 counts + "manipulator"&}'< +25 "core" ' +4 .tSE.seek 1.12 Pucks below Top Plate +4 "storage"('a +47 "core" ' +4 "manipulator"&Z& +7 "core" & p z / @ +4 "manipulator"&m% +8 "core" %S s s B +4 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +4 .tForearm.seek :retract +4 "manipulator"& '\ +94 "core" ' +4 .tElbow.seek CC +4 "manipulator"&b( +161 "core" ( +2 "manipulator"&I& +9 "core" &+  A` +2 .tElbow.reconfigure :loose +4 "manipulator"&$ &.,(#b +4 &~& +8 "core" &+ ` A` +2 .tForearm.seek CC +4 "manipulator"&'| +98 "core" ' +4 .tHand.close + "manipulator"&/ +54 "core" / +4 .tCC.seek :open + "collection"'#(p +411 "core" ( +4 "storage"(i& +8 "core" &K ^\  +2 "storage"(U& +8 "core" &K 3\  +2 "manipulator"&S& +8 "core" &* @[ +2 "manipulator"&% +7 "core" % Ϗ 5 +4 .tForearm.seek :retract +4 "manipulator"&g'\ +93 "core" ' +4 .tElbow.reconfigure :tight +4 "manipulator"&$&.,(\ #b +4 .tElbow.seek 6 +4 "manipulator"&l( +159 "core" ( +2 "manipulator"&a& +10 "core" &   +2 "storage"(V& +8 "core" &K \  +2 .tElbow.reconfigure :limp +6 "manipulator"&$ ,(b +4 .tForearm.seek 6 +4 "manipulator"&|'z +109 "core" ' +2 .tElbow.hold +4 "manipulator"&, +6 "core" , +4 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +6 .tHand.open + "manipulator"&91 +144 "core" 1 +4 "manipulator"&*% +8 "core" % Ύ N t +4 "storage"(>& +8 "core" &K } } \  +2 .tForearm.force -20 +2 "manipulator"&5 +6 .tForearm.seek 6 + 320 counts + "manipulator"&'Ϻ +20 "core" ' +2 "manipulator"&%& +8 "core" & p t v K +4 "storage"(^& +8 "core" &K \  +4 .tForearm.reconfigure :tight +4 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 6 + 450 counts +4 "manipulator"&{'< +18 "core" ' +4 "storage"(% +90 "core" %c \ +21 ."downElevator"SE.seek :down +6 "storage"( 'N +98 (P% +5 "core" %s> \ U\\ +4 "manipulator"&r% +8 "core" %6 z | } +4 .tForearm.reconfigure :loose +4 "manipulator"&#Q@2^d^b +4 .tForearm.seek :retract +4 "manipulator"&<'\ +89 "core" ' +35 ' +2 ."downElevator"SE.stop +4 "storage"(5 +6 #tShuffling pucks in tube 7 of [5..7] +4 #Loading generic puck from tube 7 into Collection Clamp +4 "collection"')& +7 "core" &or$\ +2 "manipulator"&z% +8 "core" %\ ) G +4 "storage"(:% +8 "core" %D J\ +2 "storage"('. +8 "core" .(K +2 .tSC.reconfigure :tight +6 "storage"($\ .\ 1~b +4 .tSC.seek 7 +4 "storage"(C([ +381 "core" ( +2 .tSC.configure :limp +6 "storage"($\ 1b +4 (`& +8 "core" &[ \ +2 "manipulator"&& +7 "core" &\ K +4 .tElbow.seek 7 +4 "manipulator"&w( +8 "core" ( +2 "manipulator"&7& +8 "core" & Z ' +4 "storage"(R& +8 "core" &[ :\ +4 .tForearm.reconfigure :tight +6 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts +5 "manipulator"&h'k +103 "core" ' +2 "storage"(K& +10 "core" &[ F\ +2 .tSE.reconfigure :pick +5 "storage"(#]K-0-\ b +6 .tSE.seek :beamBreak +4 "storage"(\\'e +289 "core" ' +2 "storage"(o- +8 "core" -' +4 .tSE.configure :default +3 "storage"(#QK-0-\ b +6 (E& +4 "core" &[ \ +4 "manipulator"&s& +7 "core" &  ' +2 .tElbow.seek 7 +4 "manipulator"&( +11 "core" ( +4 "manipulator"&$& +8 "core" & .  +3 "storage"(\ & +8 "core" &[ I\ +4 .tForearm.seek 7 + 300 counts +2 "manipulator"&(' +12 "core" ' +4 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +4 .tHand.close +4 "manipulator"&/ +54 "core" / +4 ."downElevator"SE.seek :down +5 "manipulator"&A& +4 "storage"(0'N +14 "core" & s -  +4 "manipulator"&y% +8 "core" % p p T +4 .tForearm.seek :retract + "manipulator"&O'\ +96 "core" ' +4 .tElbow.seek CC +4 "manipulator"&/( +135 "core" ' +4 ."downElevator"SE.stop +2 "storage"(5 +20 "core" ( +2 "manipulator"&& +8 "core" &, ! Bh +4 .tElbow.reconfigure :loose +4 "manipulator"&$ &.,(#b +4 &t& +8 "core" &, k Bh +4 .tForearm.reconfigure :tight +4 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek CC +4 "manipulator"&8'| +101 "core" ' +2 "manipulator"&!& +10 "core" &, Bh +2 "manipulator"&_% +8 "core" %{ p +4 "collection"'J& +8 "core" &qs4\ +4 "collection"'j& +10 "core" &pq*\ +6 .tCC.seek :closed + "collection"'M(] +8 "core" &qp1\ +3 &pr-\  +5 &1pq7\ *z +11 &for2\ ? +9 &Q}qp3\ N +8 &_qp3\ M +11 &gps2\ L +9 &dqs4\ L +8 &!\\cpr3\ M +11 &#gos2\ M +9 &$cpq5\ L +11 &&crs3\ M +8 &(dfpr4\ M +8 &*&`nq2\ M +11 &+_os3\ L +9 &-cpr3\ L +8 &/ldor1\ M +11 &1-hpq0\ M +9 &2cpp3\ L +10 &4bps-\ L +9 &6t`nr1\ M +8 &87eqr/\ L +11 &9_oo1\ M +9 &;art2\ M +8 &=}app1\ L +11 &??`rr-\ L +9 &Adnq0\ M +10 &Beoq,\ M +9 &Dcqs\ L +8 &FGcnr*\ L +11 &Hejm%\ M +9 &Iscg)\ N +8 &KAU'\ Q +11 &M6\ U +8 &N\ W +11 &P \ W +9 &Runv\ W +10 &T4ag\ X +9 &UPW\ Z +9 &WCH\ Y +10 &Yq/6\ [ +9 &[3!*\ [ +9 &\\|!\ / +10 &]+ %\ _ +7 ( +4 &]l \ \ K +6 "collection"'j& +6 #tCollection Clamp onSpring/offSpring for 9/25 samples, on/off torque 1.93 +2 .Hand.open +4 "manipulator"&+1 +6 "core" &]m  !\ K +52 1 +4 "manipulator"&u% +8 "core" % { +2 .tForearm.reconfigure :loose +4 "manipulator"&#Q@2^d^b +4 .tForearm.seek :retract +4 "manipulator"&c'\ +91 "core" ' +4 #tLoading generic puck from tube 7 into Processing Clamp +4 "processing"%3& +8 "core" &\ +2 "manipulator"&&% +8 "core" %\ + G !P +4 "storage"(;% +6 "core" %O w u T\ +4 "storage"(x. +6 "core" .([ +3 "storage"(X& +8 "core" &[ w u T\ +2 "storage"(W& +7 "core" &[ q o &\ +4 "manipulator"&& +8 "core" && s >O +2 "manipulator"&@% +8 "core" %\ +  !P +4 .tElbow.reconfigure :tight +4 "manipulator"&$&.,(\ #b +4 .tElbow.seek 7 +4 "manipulator"&4( +160 "core" ( +2 "manipulator"&k& +10 "core" &  +2 "storage"(& +8 "core" &[ i i \ +4 .tForearm.reconfigure :tight +4 "manipulator"&#Q@2^d^\ b +5 .tForearm.seek 7 + 450 counts +4 "manipulator"&'k +109 "core" ' +4 "storage"(,& +8 "core" &[ \ +4 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +6 .tSE.seek :beamBreak +4 "storage"(?'e +285 "core" ' +2 "storage"(1- +6 "core" -' +4 .tSE.configure :default +3 "storage"(#QK-0-\ b +6 (& +5 "core" &[ M\ +4 "manipulator"&& +8 "core" & o q +2 .tElbow.seek 7 +4 "manipulator"&B( +6 "core" ( +4 "manipulator"&p& +6 "core" & r s Z +4 "storage"(& +8 "core" &[ 0\ +4 .tForearm.seek 7 + 300 counts +2 "manipulator"& ' +18 "core" ' +2 .tForearm.reconfigure :loose +4 "manipulator"&#Q@2^d^b +4 .tHand.close +4 "manipulator"&/ +59 "core" / +6 ."downElevator"SE.seek :down +6 "manipulator"& & +4 "storage"(q'N +14 "core" & q q @ +6 "manipulator"&L% +8 "core" % p q  O +4 .tForearm.seek :retract + "manipulator"&T'\ +98 "core" ' +4 .tElbow.seek PC +4 "manipulator"&H(c +132 "core" ' +4 ."downElevator"SE.stop + "storage"(5 +113 "core" ( +4 "manipulator"&n& +8 "core" &b +2 .tElbow.reconfigure :loose +6 "manipulator"&$ &.,(#b +4 && +8 "core" &b +3 .tForearm.reconfigure :tight +5 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek PC +4 "manipulator"&Q'[ +102 "core" ' +4 "manipulator"&5& +9 "core" &b + +2 "manipulator"&N% +8 "core" %C +4 "processing"%F& +8 "core" &\ +4 "processing"%& +7 "core" &\ +8 .tPC.seek :closed + "processing"%.(Z +8 "core" &\ +2 &\  +7 &3\ *x +11 &d}\ > +8 &Zu\ M +11 &Xu\ M +9 &[}\ M +8 &Y\ L +11 &!aZ}\ M +9 &##X|\ M +8 &$Y|\ M +11 &&Y~\ M +8 &(jY{\ M +11 &*-Y|\ M +9 &+Xz\ L +8 &-Zt\ M +11 &/r\\{\ M +9 &13Yr\ M +9 &2Zz\ M +10 &4Vm\ M +8 &6zYq\ M +11 &8<Ym\ M +9 &9Ws\ M +8 &;Ym\ M +11 &=Yj\ M +9 &?CYe\ M +8 &A\\s\ M +11 &B\\l\ M +8 &DZk\ N +11 &FJ\\j\ N +9 &H\ cm\ N +8 &Ios\ P +11 &Kn\ R +9 &M@q\ T +9 &Ol\ T +10 &Pk\ T +9 &Ro\ T +10 &TGp\ T +9 &Vn\ T +10 &Wn\ T +9 &Yq\ A +9 &Z9o\ O +9 &Zr\ * +2 ( +2 "processing"%& +10 #tProcessing Clamp onSpring/offSpring for 9/25 samples, on/off torque 1.63 + .Hand.open +2 "manipulator"&1 +7 "core" &Zm\ * +48 1 +4 "manipulator"&D% +7 "core" % C ' +4 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +4 .tForearm.seek :retract +4 "manipulator"&e'\ +98 "core" ' +2 "processing"%v& +8 "core" &Zq\ * +4 #tImaging generic puck in Processing Clamp while storing it to tube 7 + "manipulator"&]% +8 "core" %\ / ' #e +4 "storage"(f% +6 "core" %A [ _\ +4 "storage"(2. +6 "core" .([ +2 "storage"(d& +8 "core" &[ Z Y\ +4 "storage"(-& +4 "manipulator"&[& +14 "core" &[ n h .\ +2 &b 4 +6 .tElbow.reconfigure :tight +4 ."raiseStack"SE.reconfigure :place +10 "manipulator"&$&.,(\ #b +6 .tElbow.seek PC +6 "storage"(#]kK-0-\ b +4 "manipulator"&Z(c +14 ."raiseStack"SE.seek :beamBreak +2 "storage"(m'e +6 "core" ( +2 "manipulator"&Y& +8 "core" &b +4 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +4 & & +6 "core" &b o +4 .tForearm.seek PC +4 "manipulator"&'[ +98 "core" ' +4 .tHand.close + "manipulator"&/ +66 "core" / +2 .tPC.seek :open +4 "processing"%"(p +57 "core" ' +3 "storage"(- +6 "core" -'e +2 ."raiseStack"SE.configure :default +5 "storage"(#QK-0-\ b +6 ."raiseStack"SE.seek :place +4 "storage"(I'B +46 "core" ' +266 ( +4 "storage"(~& +8 "core" &[ ~ } \ +2 "manipulator"&}& +8 "core" &b  +2 "manipulator"&% +8 "core" % m  +4 .tForearm.seek :retract + "manipulator"&'\ +99 "core" ' +4 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +4 .tElbow.seek 7 +104 "manipulator"& ( +262 "core" ( +2 "manipulator"&G& +8 "core" & < & +4 "storage"(i& +5 "core" &[ u q \ +6 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 7 + 450 counts +4 "manipulator"&U'k +87 "Can" %PO +5 "core" ' +2 .tHand.open +4 "manipulator"&S1 +64 "core" 1 +4 "storage"(- +8 "core" -'B +4 .tSE.seek -0.16 Pucks below Top Plate + "storage"(a' +28 "core" ' +3 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +4 .tSE.seek -0.83 Pucks below Top Plate +4 "storage"(V' +53 "core" ' +4 #tLights, camera, ACTION! + "storage"(- +8 "core" -' +2 "storage"(b& +8 "core" &[ ]\ +4 "manipulator"&9& +7 "core" &  & +4 .tElbow.seek 7 +2 "manipulator"&*( +7 "core" ( +2 "manipulator"&>& +8 "core" &  & +2 "storage"(g& +8 "core" &[ P\ +4 .tForearm.seek 7 + 450 counts +4 "manipulator"&%'k +6 "core" ' +4 .tSE.reconfigure :gently +6 "storage"(#QK-0-\ b +4 .tSE.seek -0.11 Pucks below Top Plate +4 "storage"(^'M +62 "core" ' +2 "manipulator"&& +10 "core" & & +2 "storage"(l& +8 "core" &[ z m g\ +4 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +6 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +4 .tForearm.seek 7 +4 "manipulator"&P'Ω +34 "core" ' +4 .tElbow.hold +2 "manipulator"&|, +8 "core" , +2 .tElbow.reconfigure :tight +6 "manipulator"&$&.,(\ #b +6 .tSE.reconfigure :default +4 "storage"(#QK-0-\ b +4 .tSE.seek 0.07 Pucks below Top Plate +4 "storage"(r'7 +27 "core" ' +2 "manipulator"&% +8 "core" %ε T +4 "storage"()& +8 "core" &[ C D\ +2 .tForearm.force -20 +4 "manipulator"&5 +4 .tForearm.seek 7 + 312 counts +4 "manipulator"&z' +21 "core" ' +2 "manipulator"&:& +10 "core" & r r T $ +2 "storage"(& +8 "core" &[ \ +4 .tForearm.reconfigure :tight +6 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 7 + 450 counts +4 "manipulator"&''k +24 "core" ' +2 "storage"({% +10 "core" %> 1\ +4 ."downElevator"SE.seek :down +8 "storage"( 'N +98 (6% +4 "core" %mA ` j \ V_ +4 "manipulator"&`% +8 "core" %Ѓ s q > +4 .tForearm.reconfigure :loose +4 "manipulator"&#Q@2^d^b +4 .tForearm.seek :retract +4 "manipulator"&'\ +96 "core" ' +43 ' +2 ."downElevator"SE.stop +2 "storage"(5 +6 (7& +8 "core" &[ e q\ +2 "collection"'R& +8 "core" &]m\ !\ K +4 #tStoring generic puck in Collection Clamp to tube 7 +2 "manipulator"&K% +8 "core" %\ 8 M ' +4 "storage"(% +8 "core" %> u w d\ \ +2 "storage"(<. +6 "core" .([ +4 "storage"(o& +8 "core" &[ v q /\ +2 "storage"(E& +8 "core" &[ u q J\ +2 "manipulator"&s& +8 "core" &  $ +4 .tElbow.seek 7 + "manipulator"&$( +19 "core" ( +2 "manipulator"&\ & +8 "core" & X  +4 "storage"(& +8 "core" &[ q u \ +4 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 7 + 450 counts +4 "manipulator"&A'k +105 "core" ' +2 "storage"(y& +10 "core" &[ 3\ +4 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +6 .tSE.seek :beamBreak +4 "storage"(w'e +278 "core" ' +4 "storage"(h- +6 "core" -' +4 .tSE.configure :default +3 "storage"(#QK-0-\ b +4 "manipulator"&\\& +6 "core" & { { b  +4 "storage"(& +8 "core" &[ g h \ +2 .tElbow.reconfigure :limp +4 "manipulator"&$ ,(b +6 .tForearm.reconfigure :loose +4 "manipulator"&#Q@2^d^b +4 .tForearm.seek 7 +4 "manipulator"&t'Ω +33 "core" ' +4 .tElbow.hold + "manipulator"&(, +8 "core" , +2 .tElbow.reconfigure :tight +6 "manipulator"&$&.,(\ #b +4 "storage"(- +6 "core" -' +4 .tSE.seek 0.12 Pucks below Top Plate +4 "storage"(!'p +32 "core" ' +2 "manipulator"&_% +10 "core" %ι{   C +2 "storage"(J& +8 "core" &[ 8 7 \ +2 .tForearm.force -20 +4 "manipulator"&5 +6 .tForearm.seek 7 + 316 counts +2 "manipulator"&0' +21 "core" ' +4 "manipulator"&O& +7 "core" &  y X  +4 "storage"(#& +8 "core" &[ \ +4 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +6 .tForearm.seek 7 + 450 counts + "manipulator"&+'k +21 "core" ' +4 .tSE.seek 1.12 Pucks below Top Plate +4 "storage"(u'_ +49 "core" ' +4 "manipulator"&3& +8 "core" & r |  +4 "manipulator"&&% +8 "core" %j y r _  +4 .tForearm.reconfigure :loose +4 "manipulator"&#Q@2^d^b +4 .tForearm.seek :retract +4 "manipulator"&j'\ +94 "core" ' +2 .tElbow.seek CC +4 "manipulator"&;( +173 "core" ( +4 "manipulator"&x& +8 "core" & 3 b +2 .tElbow.reconfigure :loose +6 "manipulator"&$ &.,(#b +2 &X& +8 "core" & k b +4 .tForearm.seek CC + "manipulator"&W'| +106 "core" ' +2 .tHand.close +4 "manipulator"&/ +63 "core" / +2 .tCC.seek :open +4 "collection"'@(p +411 "core" ( +2 "storage"(8& +8 "core" &[ k\ +4 "storage"(k& +8 "core" &[ \ +2 "manipulator"&& +8 "core" & b +2 "manipulator"&/% +8 "core" % s ; u +4 .tForearm.seek :retract + "manipulator"&,'\ +92 "core" ' +4 .tElbow.reconfigure :tight +4 "manipulator"&$&.,(\ #b +4 .tElbow.seek 7 +4 "manipulator"&c( +154 "core" ( +4 "manipulator"&1& +8 "core" & n +2 "storage"(& +8 "core" &[ 5\ +3 .tElbow.reconfigure :limp +5 "manipulator"&$ ,(b +4 .tForearm.seek 7 +4 "manipulator"&'Ω +111 "core" ' +2 .tElbow.hold + "manipulator"&p, +8 "core" , +3 .tElbow.reconfigure :tight +6 "manipulator"&$&.,(\ #b +2 .tHand.open +4 "manipulator"&1 +61 "core" 1 +5 "manipulator"&% +8 "core" % ι R +2 "storage"( & +8 "core" &[ x \ +2 .tForearm.force -20 +4 "manipulator"&5 +4 .tForearm.seek 7 + 316 counts +4 "manipulator"&L' +19 "core" ' +4 "manipulator"&4& +8 "core" & r r D +2 "storage"(& +8 "core" &[ s\ +4 .tForearm.reconfigure :tight +4 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 7 + 450 counts +4 "manipulator"&?'k +19 "core" ' +2 "storage"( % +8 "core" %e Q\ +4 ."downElevator"SE.seek :down +8 "storage"(n'N +98 (% +4 "core" %\\? !\ U[ +4 "manipulator"&B% +8 "core" %g q r 7 +4 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +4 .tForearm.seek :retract +4 "manipulator"&5'\ +89 "core" ' +37 ' +2 ."downElevator"SE.stop +4 "storage"(5 +6 #tShuffling pucks in tube 5 of [5..7] +4 #Loading generic puck from tube 5 into Collection Clamp +2 "collection"'N& +9 "core" &ot$\ +2 "manipulator"&F% +8 "core" %\ ) 8 H +4 "storage"(q% +8 "core" %H \\\ \ +2 "storage"(T. +8 "core" .([ +2 .tSC.reconfigure :tight +6 "storage"($\ .\ 1~b +4 .tSC.seek 5 +4 "storage"(=(<< +667 "core" ( +2 .tSC.configure :limp +6 "storage"($\ 1b +4 (& +4 "core" & +9 &S~rq*\ M +8 &bpt*\ M +11 &gps2\ M +9 &hpo1\ M +10 &!\\bqs2\ M +9 &#crq4\ M +8 &$frs>\ M +11 &&fpr9\ M +9 &(e`rr8\ M +8 &*'`os3\ M +11 &+cqt3\ M +8 &-cqu2\ M +11 &/mcoq2\ M +9 &1.gqr3\ M +8 &2bss3\ M +11 &4dps1\ M +9 &6ucps3\ M +8 &87drp2\ M +11 &9bqs4\ M +9 &;^qr&\ L +10 &=~cps2\ L +9 &?@`nr$\ L +8 &Acqq=\ L +11 &Bboq8\ L +9 &D`qs5\ L +8 &FFeor7\ M +11 &Hhlo8\ M +8 &Ivcj2\ O +11 &K2M(\ Q +9 &M7;\ U +8 &N2\ V +11 &P~5\ W +9 &Ruov3\ X +10 &T6bg&\ X +9 &UPW$\ Y +8 &WDI\ Y +11 &Yt3;#\ [ +9 &[5#,,\ [\ +8 &\\y/\ 0 +11 &]' &\ Z +7 ( +4 &]p  \ N +6 "collection"'& +6 #tCollection Clamp onSpring/offSpring for 9/25 samples, on/off torque 1.96 +2 .Hand.open +4 "manipulator"&b1 +6 "core" &]q\  $\ N +58 1 +2 "manipulator"&9% +10 "core" % q +2 .tForearm.reconfigure :loose +6 "manipulator"&#Q@2^d^b +4 .tForearm.seek :retract +4 "manipulator"&'\ +94 "core" ' +4 #tLoading generic puck from tube 5 into Processing Clamp +2 "processing"%>& +8 "core" &\ +4 "manipulator"&g% +8 "core" %\ /  #c +2 "storage"(% +8 "core" %M w w |\ +2 "storage"(l. +6 "core" .( +10 &Hu\ N +9 & W\ M +8 &Z}\ M +11 &Y}\ M +9 &!RZ}\ M +8 &#V~\ M +11 &$Y}\ M +9 &&Z~\ L +8 &(YY\ M +11 &*Z\ L +8 &+Y}\ M +11 &-Y{\ M +9 &/bZz\ M +8 &1$Z\ M +11 &2Z{\ M +9 &4\\{\ M +8 &6iY{\ M +11 &8,Z}\ M +8 &9\\|\ M +11 &;Y\ M +9 &=q\\v\ M +8 &?2[p\ M +11 &@\\y\ M +9 &BWs\ M +10 &Dx[{\ M +9 &F9\\q\ N +8 &Gc{\ N +10 &Iq}\ P +10 &Ktz\ Q +10 &M0z\ S +9 &Nw\ T +9 &Px\ S +9 &Rv|\ S +10 &T6n\ T +8 &Uw\ T +11 &Wm\ T +9 &Y{s\ A +10 &Zw9v\ ` +9 &Z q\ * +4 ( +6 "processing"%y& +4 #tProcessing Clamp onSpring/offSpring for 9/25 samples, on/off torque 1.64 +4 .Hand.open +2 "manipulator"&|1 +6 "core" &Zw\ * +47 1 +4 "manipulator"&% +8 "core" % J +4 .tForearm.reconfigure :loose +4 "manipulator"&#Q@2^d^b +4 .tForearm.seek :retract +4 "manipulator"&h'\ +94 "core" ' +2 "processing"%\\& +10 "core" &Zq\ * +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 +4 "manipulator"&% +8 "core" %\ ) D +2 "storage"(% +8 "core" %> q t 9\  +2 "storage"(_. +6 "core" .(<9 +4 .tSC.reconfigure :tight +6 "storage"($\ .\ 1~b +2 .tSC.seek 5 +4 "storage"(J(<< +9 "core" ( +4 .tSC.configure :limp +4 "storage"($\ 1b +6 (O& +7 "core" &<9 n p \ +2 "manipulator"&#& +8 ."raiseStack"SE.reconfigure :place +8 "storage"(#]kK-0-\ b +6 ."raiseStack"SE.seek :beamBreak + "storage"(3'e +6 "core" &l 9 +4 .tElbow.reconfigure :tight +4 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +4 "manipulator"&&(c +8 "core" ( +2 "manipulator"&A& +8 "core" &l y 9 +2 .tElbow.reconfigure :loose +6 "manipulator"&$ &.,(#b +4 &$& +8 "core" &l 9 +4 .tForearm.seek PC +2 "manipulator"&w'[ +97 "core" ' +2 .tHand.close +4 "manipulator"&t/ +58 "core" / +3 .tPC.seek :open + "processing"%0(p +42 "core" ' +2 "storage"(!- +8 "core" -'e +2 ."raiseStack"SE.configure :default +5 "storage"(#QK-0-\ b +6 ."raiseStack"SE.seek :place +4 "storage"(x'B +34 "core" ' +294 ( +2 "storage"(X& +8 "core" &<9 } } \ +2 "manipulator"&+& +8 "core" &l u 9 +4 "manipulator"&(% +6 "core" % m L  +4 .tForearm.seek :retract +4 "manipulator"&'\ +97 "core" ' +4 .tElbow.reconfigure :tight +6 "manipulator"&$&.,(\ #b +4 .tElbow.seek 5 + "manipulator"&j( +255 "core" ( +4 "manipulator"&M& +8 "core" & j & +2 "storage"(8& +8 "core" &<9 c f /\ +4 .tForearm.reconfigure :tight +4 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 5 + 450 counts +4 "manipulator"&k' +101 "core" ' +4 .tHand.open +4 "manipulator"&1 +58 "core" 1 +4 "storage"(/- +8 "core" -'B +4 .tSE.seek -0.16 Pucks below Top Plate +4 "storage"(1' +26 "core" ' +4 .tSE.reconfigure :seal +4 "storage"(#QK-0-\ b +6 .tSE.seek -0.83 Pucks below Top Plate + "storage"(' +52 "core" ' +4 #tLights, camera, ACTION! +2 "storage"(W- +8 "core" -' +2 "storage"(;& +8 "core" &<7 `\  +2 "manipulator"&& +8 "core" & & +4 .tElbow.seek 5 +4 "manipulator"&( +6 "core" ( +4 "manipulator"& & +8 "core" & & +2 "storage"(4& +8 "core" &<7 \  +4 .tForearm.seek 5 + 450 counts +3 "manipulator"&' +18 "core" ' +4 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +4 .tSE.seek -0.11 Pucks below Top Plate +4 "storage"(,'M +65 "core" ' +2 "manipulator"& & +8 "core" & G & +4 "storage"(c& +8 "core" &<7 ~ ~ p\  +2 .tElbow.reconfigure :limp +6 "manipulator"&$ ,(b +4 .tForearm.reconfigure :loose +6 "manipulator"&#Q@2^d^b +4 .tForearm.seek 5 + "manipulator"&'/ +35 "core" ' +4 .tElbow.hold +2 "manipulator"&B, +8 "core" , +2 .tElbow.reconfigure :tight +4 "manipulator"&$&.,(\ #b +6 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +6 .tSE.seek 0.07 Pucks below Top Plate + "storage"('7 +29 "core" ' +2 "manipulator"&N% +112 "core" %0l   · +2 "storage"(L& +9 "core" &<7 B C \  +4 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 5 + 301 counts +4 "manipulator"&F'\\ +20 "core" ' +2 "manipulator"&q& +8 "core" &H } D I +4 "storage"(u& +8 "core" &<7 }\  +4 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 5 + 450 counts +4 "manipulator"&T' +18 "core" ' +4 "storage"(?% +8 "core" %: C\ +4 ."downElevator"SE.seek :down +8 "storage"(n'N +95 (C% +6 "core" %? b Z\ V_ +4 "manipulator"&% +8 "core" % } } +4 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +6 .tForearm.seek :retract + "manipulator"&D'\ +93 "core" ' +43 ' +4 ."downElevator"SE.stop + "storage"(5 +6 (]& +8 "core" &<7 q v \  +2 "collection"'& +8 "core" &]q\  \ N +4 #tStoring generic puck in Collection Clamp to tube 5 + "manipulator"&2% +8 "core" %\ - 4 "[ +4 "storage"(p% +7 "core" %> r z `\ +2 "storage"(5. +5 "core" .(<9 +4 .tSC.reconfigure :tight +4 "storage"($\ .\ 1~b +4 .tSC.seek 5 +4 "storage"(-(<< +13 "core" ( +2 .tSC.configure :limp +6 "storage"($\ 1b +4 ([& +8 "core" &<9 \\ 7 Y\  +4 "manipulator"&Y& +6 "core" &H I +4 .tElbow.seek 5 +4 "manipulator"&Q( +22 "core" ( +4 "manipulator"&& +7 "core" & ?  +4 "storage"(H& +8 "core" &<8 } } \  +4 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +6 .tForearm.seek 5 + 450 counts + "manipulator"&e' +102 "core" ' +4 "storage"(m& +8 "core" &<8 g i \  +4 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +6 .tSE.seek :beamBreak +4 "storage"(v'e +278 "core" ' +4 "storage"(f- +6 "core" -' +3 .tSE.configure :default +4 "storage"(#QK-0-\ b +5 "manipulator"&d& +4 "core" & s  +4 "storage"(& +8 "core" &<8 } } \  +2 .tElbow.reconfigure :limp +6 "manipulator"&$ ,(b +4 .tForearm.reconfigure :loose +6 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +4 "manipulator"&'/ +33 "core" ' +2 .tElbow.hold +4 "manipulator"&, +6 "core" , +4 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +6 "storage"( - +4 "core" -' +4 .tSE.seek 0.11 Pucks below Top Plate +4 "storage"(G'l +28 "core" ' +2 "manipulator"&i% +8 "core" %=f z µ +4 "storage"(S& +8 "core" &<8 C 8 \  +2 .tForearm.force -20 +4 "manipulator"&5 +4 .tForearm.seek 5 + 314 counts +4 "manipulator"&.'i +18 "core" ' +2 "manipulator"&~& +8 "core" &$ r r 7  +4 "storage"(@& +8 "core" &<8 g i \  +4 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 5 + 450 counts +4 "manipulator"&b' +19 "core" ' +4 .tSE.seek 1.11 Pucks below Top Plate + "storage"(9'[ +52 "core" ' +2 "manipulator"&>& +10 "core" &$ p p #  +2 "manipulator"&% +8 "core" % q q  +4 .tForearm.reconfigure :loose +6 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +4 "manipulator"&g'\ +94 "core" ' +4 .tElbow.seek CC + "manipulator"&( +167 "core" ( +2 "manipulator"&l& +8 "core" &*  @[ +4 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +4 &a& +6 "core" &) L @[ +4 .tForearm.seek CC +3 "manipulator"&'| +94 "core" ' +4 .tHand.close +2 "manipulator"&)/ +58 "core" / +4 .tCC.seek :open +4 "collection"'Z(p +411 "core" ( +2 "storage"(:& +8 "core" &<8 d\  +4 "storage"(U& +8 "core" &<8 \  +2 "manipulator"&=& +8 "core" &&  =B +2 "manipulator"&V% +8 "core" % ρ \  +4 .tForearm.seek :retract +4 "manipulator"&}'\ +97 "core" ' +2 .tElbow.reconfigure :tight +6 "manipulator"&$&.,(\ #b +4 .tElbow.seek 5 + "manipulator"&( +161 "core" ( +3 "manipulator"&%& +8 "core" & k +4 "storage"(*& +8 "core" &<8 D\  +2 .tElbow.reconfigure :limp +6 "manipulator"&$ ,(b +4 .tForearm.seek 5 + "manipulator"&6'/ +110 "core" ' +4 .tElbow.hold + "manipulator"&^, +8 "core" , +2 .tElbow.reconfigure :tight +6 "manipulator"&$&.,(\ #b +2 .tHand.open +4 "manipulator"&P1 +62 "core" 1 +4 "manipulator"&7% +10 "core" % B B i +2 "storage"(R& +8 "core" &<8 h n \  +2 .tForearm.force -20 +2 "manipulator"&5 +6 .tForearm.seek 5 + 319 counts + "manipulator"&K'n +20 "core" ' +2 "manipulator"& & +9 "core" &- r p  +4 "storage"(& +8 "core" &<8 i\  +4 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 5 + 450 counts +4 "manipulator"&{' +23 "core" ' +2 "storage"(z% +8 "core" %_ )\ +4 ."downElevator"SE.seek :down +5 "storage"(o'N +99 (E% +6 "core" %? (\ V\\ +4 "manipulator"&`% +8 "core" % r p , +4 .tForearm.reconfigure :loose +4 "manipulator"&#Q@2^d^b +4 .tForearm.seek :retract +4 "manipulator"&\ '\ +98 "core" ' +25 ' +2 ."downElevator"SE.stop +4 "storage"(5 +4 #tShuffling pucks in tube 6 of [5..7] +3 #Loading generic puck from tube 6 into Collection Clamp +4 "collection"'& +7 "core" &pr*\ +2 "manipulator"&'% +8 "core" %\ 1 $u +4 "storage"(r% +8 "core" %> K\  +2 "storage"(. +8 "core" .(<9 +2 .tSC.reconfigure :tight +6 "storage"($\ .\ 1~b +4 .tSC.seek 6 +4 "storage"("(K +350 "core" ( +2 .tSC.configure :limp +6 "storage"($\ 1b +4 (|& +6 "core" &K j \  +2 "manipulator"&& +10 "core" &-  +2 .tElbow.seek 6 +4 "manipulator"&\\( +15 "core" ( + "manipulator"&& +10 "core" &  +2 "storage"(y& +8 "core" &K 6\  +4 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 6 + 450 counts +4 "manipulator"&'< +95 "core" ' +4 "storage"(_& +7 "core" &K \  +4 .tSE.reconfigure :pick +4 "storage"(#]K-0-\ b +6 .tSE.seek :beamBreak +4 "storage"(O'e +281 "core" ' +4 "storage"(#- +6 "core" -' +3 .tSE.configure :default +6 "storage"(#QK-0-\ b +4 (A& +7 "core" &K Z\  +2 "manipulator"&$& +8 "core" & ~ y  +4 .tElbow.seek 6 + "manipulator"&s( +6 "core" ( +4 "manipulator"&t& +8 "core" & u z }  +2 "storage"(I& +8 "core" &K \  +4 .tForearm.seek 6 + 300 counts + "manipulator"&!'Ϧ +14 "core" ' +2 .tForearm.reconfigure :loose +6 "manipulator"&#Q@2^d^b +4 .tHand.close + "manipulator"&\ +2 &oq5\ +4 .tCC.seek :closed + "collection"'W(] +12 "core" &qtC\ +2 &qqC\ 6 +8 &HqsE\ 0 +8 &>rqtB\ E +11 &gpt5\ M +9 &bqrE\ M +8 &icprF\ M +11 & +botG\ M +8 &!crr;\ M +11 &#bqrC\ M +9 &%raqsD\ M +8 &'4bqrG\ M +11 &(cprH\ M +9 &*]orE\ M +10 &,z`rrA\ M +9 &.<`prF\ M +9 &/bqrF\ M +10 &1`pqA\ M +9 &3arrF\ M +8 &5D`psJ\ M +11 &7aos9\ M +9 &8_rt@\ M +8 &:eosB\ M +11 &aosE\ M +10 &?fqsA\ M +9 &A`qqE\ M +8 &CTcqr9\ M +11 &EcqsE\ M +9 &FeoqF\ M +8 &HjgnG\ N +11 &JQ}\\fD\ P +10 &L +9\ S +9 &MB\ V +9 &OA\ W +8 &QEB\ W +11 &SluC\ X +9 &T^eA\ X +10 &VNU@\ Y +9 &XF>F9\ Z +9 &Z07C\ [ +10 &[&A\ Z +9 &](Q7\ 0 +9 &] 8\ S +8 ( +4 &]r  A\ P +2 "collection"'/& +8 #tCollection Clamp onSpring/offSpring for 9/26 samples, on/off torque 2.03 +4 .Hand.open + "manipulator"&;1 +8 "core" &]r  ?\ P +51 1 +4 "manipulator"&% +107 "core" % q u +6 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +4 .tForearm.seek :retract +4 "manipulator"&'\ +97 "core" ' +4 #tLoading generic puck from tube 6 into Processing Clamp +4 "processing"% & +8 "core" &\ +2 "manipulator"&4% +8 "core" %\ 1 $t +4 "storage"( % +6 "core" %> v w b\  +4 "storage"(c. +6 "core" .(K +4 "storage"(x& +8 "core" &K u v #\  +2 "storage"(1& +8 "core" &K v v m\  +4 "manipulator"&N& +6 "core" &! 9) +4 "manipulator"&j% +8 "core" %\ 1  $t +4 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +6 .tElbow.seek 6 +2 "manipulator"&k( +164 "core" ( +2 "manipulator"&& +8 "core" & +4 "storage"(L& +8 "core" &K } } \  +4 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +6 .tForearm.seek 6 + 450 counts + "manipulator"&q'< +109 "core" ' +2 "storage"(u& +10 "core" &K W\  +4 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +6 .tSE.seek :beamBreak +4 "storage"('e +278 "core" ' +4 "storage"(?- +6 "core" -' +4 .tSE.configure :default +4 "storage"(#QK-0-\ b +6 (& +4 "core" &K |\  +4 "manipulator"&,& +8 "core" & q p  +2 .tElbow.seek 6 +4 "manipulator"&C( +8 "core" ( +2 "manipulator"&& +8 "core" & q p 7 +4 "storage"(& +7 "core" &K 0\  +4 .tForearm.seek 6 + 300 counts + "manipulator"&F'Ϧ +29 "core" ' +2 .tForearm.reconfigure :loose +4 "manipulator"&#Q@2^d^b +4 .tHand.close +4 "manipulator"&]/ +56 "core" / +6 ."downElevator"SE.seek :down +10 "manipulator"&& "storage"(2'N +14 "core" & p p  +4 "manipulator"&% +8 "core" % Ϛ q p  +4 .tForearm.seek :retract + "manipulator"&p'\ +98 "core" ' +4 .tElbow.seek PC +4 "manipulator"&5(c +140 "core" ' +4 ."downElevator"SE.stop + "storage"(5 +102 "core" ( +4 "manipulator"&[& +10 "core" &k % +2 .tElbow.reconfigure :loose +4 "manipulator"&$ &.,(#b +4 &Y& +8 "core" &k +4 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +4 "manipulator"&'[ +104 "core" ' +4 "manipulator"&H& +8 "core" &k +4 "manipulator"&T% +7 "core" %K +4 "processing"%m& +8 "core" &|\ +4 "processing"%n& +12 "core" &~\ +6 .tPC.seek :closed +6 "processing"%J(Z +6 "core" &\ +4 &\ +2 &}\ 3 +8 &H~\ 0 +8 &5s\ E +10 &`\ M +10 &Y\ L +8 &`Y~\ M +11 & #Z~\ M +9 &!Y|\ L +10 &#Z\ M +9 &%iX|\ M +8 &',Y|\ L +10 &(X\ M +10 &*X\ L +8 &,pZ\ M +11 &.1Y\ M +9 &/Y}\ N +10 &1Y\ M +9 &3xX~\ M +8 &5:X}\ M +11 &6Xw\ M +9 &8Y}\ M +8 &:Y{\ M +11 &[\ M +8 &?U\ M +11 &A]}\ M +7 &CHZ}\ N +12 &E Z|\ M +9 &F]\ N +8 &Hi\ O +11 &JGy|\ Q +9 &L\ S +9 &M\ T +10 &O|\ T +8 &QE{\ T +11 &S}\ T +9 &T\ T +10 &V}\ U +9 &XKy\ U +9 &Y|ty\ (| +10 &Z*x\ J +9 &Z&y\ 0 +6 ( +4 &Z%z\ 0 +4 "processing"%n& +8 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.61 + .Hand.open +2 "manipulator"&B1 +6 "core" &Z%t\ 0 +50 1 +2 "manipulator"&D% +8 "core" % K U +4 .tForearm.reconfigure :loose +6 "manipulator"&#Q@2^d^b +4 .tForearm.seek :retract + "manipulator"&f'\ +98 "core" ' +4 "processing"%d& +8 "core" &Z&q\ 0 +4 #tImaging generic puck in Processing Clamp while storing it to tube 6 + "manipulator"&% +8 "core" %\ . #k +2 "storage"( % +8 "core" %C \\ Z \ +4 "storage"(i. +6 "core" .(K +2 "storage"(S& +9 "core" &K ] d \  +4 "storage"(~& +6 "manipulator"&@& +10 "core" &K g g D\  +2 &k +6 .tElbow.reconfigure :tight +4 ."raiseStack"SE.reconfigure :place +10 "manipulator"&$&.,(\ #b +6 .tElbow.seek PC +6 "storage"(#]kK-0-\ b +2 "manipulator"&>(c +14 ."raiseStack"SE.seek :beamBreak +4 "storage"('e +6 "core" ( +2 "manipulator"&e& +8 "core" &k K +2 .tElbow.reconfigure :loose +6 "manipulator"&$ &.,(#b +4 &Q& +8 "core" &k ' +4 .tForearm.seek PC + "manipulator"&v'[ +97 "core" ' +2 .tHand.close + "manipulator"&/ +56 "core" / +4 .tPC.seek :open +4 "processing"%.(p +69 "core" ' +4 "storage"(G- +6 "core" -'e +2 ."raiseStack"SE.configure :default +6 "storage"(#QK-0-\ b +6 ."raiseStack"SE.seek :place +4 "storage"(l'B +41 "core" ' +254 ( +4 "storage"(a& +8 "core" &K r | 1\  +2 "manipulator"&b& +8 "core" &k  +4 "manipulator"&% +8 "core" % a  +4 .tForearm.seek :retract + "manipulator"&)'\ +95 "core" ' +4 .tElbow.reconfigure :tight +4 "manipulator"&$&.,(\ #b +4 .tElbow.seek 6 +4 "manipulator"&g( +247 "core" ( +2 "manipulator"&& +10 "core" & D +2 "storage"(:& +8 "core" &K w q g\  +4 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +6 .tForearm.seek 6 + 450 counts + "manipulator"&U'< +103 "core" ' +4 .tHand.open +2 "manipulator"&=1 +58 "core" 1 +4 "storage"(V- +6 "core" -'B +4 .tSE.seek -0.16 Pucks below Top Plate +4 "storage"(%' +25 "core" ' +4 .tSE.reconfigure :seal +4 "storage"(#QK-0-\ b +4 .tSE.seek -0.83 Pucks below Top Plate +4 "storage"(*' +54 "core" ' +4 #tLights, camera, ACTION! + "storage"(- +8 "core" -' +2 "storage"(& +8 "core" &K <\  +2 "manipulator"&P& +7 "core" & x D +4 .tElbow.seek 6 +4 "manipulator"&7( +6 "core" ( +4 "manipulator"&R& +7 "core" & 1 D +4 "storage"( & +7 "core" &K W\  +4 .tForearm.seek 6 + 450 counts +2 "manipulator"&'< +18 "core" ' +4 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +4 .tSE.seek -0.11 Pucks below Top Plate +4 "storage"(}'M +62 "core" ' +2 "manipulator"&z& +10 "core" & q n  D +2 "storage"(& +8 "core" &K P\  +4 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +6 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +7 .tForearm.seek 6 + "manipulator"&E'z +36 "core" ' +2 .tElbow.hold +4 "manipulator"&`, +8 "core" , +2 .tElbow.reconfigure :tight +4 "manipulator"&$&.,(\ #b +6 .tSE.reconfigure :default +4 "storage"(#QK-0-\ b +6 .tSE.seek 0.07 Pucks below Top Plate + "storage"(6'7 +25 "core" ' +2 "manipulator"&K% +8 "core" %Έo   ] ø +4 "storage"(& +8 "core" &K B B \  +2 .tForearm.force -20 +4 "manipulator"&5 +6 .tForearm.seek 6 + 314 counts +2 "manipulator"&''ϴ +21 "core" ' +2 "manipulator"&r& +10 "core" & u G & +2 "storage"(9& +8 "core" &K g h `\  +4 .tForearm.reconfigure :tight +6 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 6 + 450 counts +4 "manipulator"&'< +22 "core" ' +4 "storage"({% +7 "core" %= t \ +4 ."downElevator"SE.seek :down +8 "storage"(o'N +95 (-% +7 "core" %? O Z\ V` +4 "manipulator"&|% +8 "core" %4  +4 .tForearm.reconfigure :loose +4 "manipulator"&#Q@2^d^b +4 .tForearm.seek :retract +4 "manipulator"&'\ +93 "core" ' +41 ' +2 ."downElevator"SE.stop +3 "storage"(5 +4 (& +8 "core" &K c r\  +4 "collection"'y& +8 "core" &]r \ ;\ P +2 #tStoring generic puck in Collection Clamp to tube 6 +4 "manipulator"&_% +8 "core" %\ . #h +2 "storage"(^% +8 "core" %E v t 7\ +4 "storage"(\ . +6 "core" .(K +2 "storage"(#& +8 "core" &K q o 9\  +4 "storage"(A& +8 "core" &K v q @\  +2 "manipulator"&$& +8 "core" & & +4 .tElbow.seek 6 +2 "manipulator"&t( +31 "core" ( +4 "manipulator"&I& +9 "core" & +2 "storage"(<& +8 "core" &K } s y\  +4 .tForearm.reconfigure :tight +4 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 6 + 450 counts +4 "manipulator"&h'< +106 "core" ' +4 "storage"(3& +8 "core" &K \  +4 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +6 .tSE.seek :beamBreak +4 "storage"(\\'e +280 "core" ' +2 "storage"(- +8 "core" -' +2 .tSE.configure :default +4 "storage"(#QK-0-\ b +8 "manipulator"&(& +4 "core" & r p +4 "storage"(O& +8 "core" &K \  +2 .tElbow.reconfigure :limp +6 "manipulator"&$ ,(b +105 .tForearm.reconfigure :loose +5 "manipulator"&#Q@2^d^b +4 .tForearm.seek 6 + "manipulator"&w'z +38 "core" ' +2 .tElbow.hold +4 "manipulator"&!, +6 "core" , +2 .tElbow.reconfigure :tight +6 "manipulator"&$&.,(\ #b +4 "storage"(s- +6 "core" -' +4 .tSE.seek 0.12 Pucks below Top Plate +4 "storage"(8's +30 "core" ' +2 "manipulator"&&% +8 "core" %΅]   X ó +4 "storage"(& +7 "core" &K B B \  +2 .tForearm.force -20 +4 "manipulator"&5 +6 .tForearm.seek 6 + 311 counts + "manipulator"& 'ϱ +21 "core" ' +4 "manipulator"&X& +7 "core" & | } c $ +2 "storage"(Z& +7 "core" &K \\\  +5 .tForearm.reconfigure :tight +4 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 6 + 450 counts +4 "manipulator"&;'< +21 "core" ' +6 .tSE.seek 1.12 Pucks below Top Plate + "storage"('b +42 "core" ' +4 "manipulator"&/& +8 "core" & o o ) $ +2 "manipulator"& % +8 "core" %A p o  +4 .tForearm.reconfigure :loose +6 "manipulator"&#Q@2^d^b +4 .tForearm.seek :retract +4 "manipulator"&4'\ +89 "core" ' +3 .tElbow.seek CC +4 "manipulator"& ( +151 "core" ( +4 "manipulator"&c& +8 "core" &% - <= +2 .tElbow.reconfigure :loose +6 "manipulator"&$ &.,(#b +4 &x& +6 "core" &%  <= +4 .tForearm.seek CC + "manipulator"&1'| +98 "core" ' +2 .tHand.close +2 "manipulator"&N/ +63 "core" / +4 .tCC.seek :open +4 "collection"'j(p +411 "core" ( +2 "storage"(M& +8 "core" &K \  +4 "storage"(& +6 "core" &K {\  +4 "manipulator"&L& +8 "core" &" 9$ +2 "manipulator"&+% +8 "core" % ψ  +4 .tForearm.seek :retract +2 "manipulator"&u'\ +102 "core" ' +2 .tElbow.reconfigure :tight +6 "manipulator"&$&.,(\ #b +4 .tElbow.seek 6 + "manipulator"&( +157 "core" ( +4 "manipulator"&?& +8 "core" &   +2 "storage"(& +8 "core" &K \  +4 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +6 .tForearm.seek 6 +2 "manipulator"&,'z +111 "core" ' +4 .tElbow.hold +2 "manipulator"&, +8 "core" , +2 .tElbow.reconfigure :tight +6 "manipulator"&$&.,(\ #b +2 .tHand.open +4 "manipulator"&1 +60 "core" 1 +6 "manipulator"&]% +8 "core" % Ά r +2 "storage"(& +8 "core" &K l } \  +2 .tForearm.force -20 +4 "manipulator"&5 +6 .tForearm.seek 6 + 312 counts + "manipulator"&'ϲ +19 "core" ' +2 "manipulator"&k& +10 "core" & { r * +2 "storage"(q& +8 "core" &K \  +4 .tForearm.reconfigure :tight +4 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 6 + 450 counts +4 "manipulator"&'< +18 "core" ' +4 "storage"(F% +8 "core" %l \ +4 ."downElevator"SE.seek :down +8 "storage"(['N +96 (Y% +6 "core" %> \ U] +2 "manipulator"&C% +8 "core" %6 q o * +4 .tForearm.reconfigure :loose +6 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +4 "manipulator"&H'\ +95 "core" ' +32 ' +2 ."downElevator"SE.stop +3 "storage"(5 +6 #tShuffling pucks in tube 7 of [5..7] + #Loading generic puck from tube 7 into Collection Clamp +4 "collection"'T& +7 "core" &qr>\ +2 "manipulator"&m% +8 "core" %\ 6 & +4 "storage"(2% +8 "core" %D A\ +2 "storage"(p. +8 "core" .(K +2 .tSC.reconfigure :tight +6 "storage"($\ .\ 1~b +4 .tSC.seek 7 +4 "storage"(0([ +381 "core" ( +2 .tSC.configure :limp +4 "storage"($\ 1b +6 (B& +4 "core" &[ Y\ +4 "manipulator"&D& +8 "core" & ~ * +2 .tElbow.seek 7 +4 "manipulator"&d( +23 "core" ( +2 "manipulator"&& +10 "core" & o +2 "storage"(n& +8 "core" &[ A\ +4 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 7 + 450 counts +4 "manipulator"& 'k +102 "core" ' +2 "storage"(i& +10 "core" &[ \ +2 .tSE.reconfigure :pick +6 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +4 "storage"(S'e +282 "core" ' +5 "storage"(~- +6 "core" -' +2 .tSE.configure :default +6 "storage"(#QK-0-\ b +4 (@& +8 "core" &[ \ +2 "manipulator"&e& +8 "core" &  o +4 .tElbow.seek 7 + "manipulator"&Q( +6 "core" ( +4 "manipulator"&& +7 "core" & P o +2 "storage"(& +7 "core" &[ w\ +4 .tForearm.seek 7 + 300 counts +4 "manipulator"&G' +19 "core" ' +4 .tForearm.reconfigure :loose +4 "manipulator"&#Q@2^d^b +4 .tHand.close +4 "manipulator"&5/ +61 "core" / +6 ."downElevator"SE.seek :down +8 "manipulator"&f& +2 "storage"(J'N +14 "core" & > o +2 "manipulator"&a% +9 "core" % ! +4 .tForearm.seek :retract + "manipulator"&'\ +101 "core" ' +2 .tElbow.seek CC +4 "manipulator"&b( +129 "core" ' +2 ."downElevator"SE.stop +4 "storage"(5 +32 "core" ( +4 "manipulator"&& +8 "core" &+ _ Ab +4 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +4 &v& +6 "core" &+ Ab +4 .tForearm.reconfigure :tight +4 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek CC +4 "manipulator"&'| +104 "core" ' +2 "manipulator"&:& +4 "core" & +  A_ + "manipulator"&>% +4 "core" %ς 6 +2 "collection"'=& +4 "core" &rs?\ +2 "collection"'V& +4 "core" &sr?\ +2 .tCC.seek :closed +2 "collection"'(] +4 "core" &qsU\  +9 &0rqV\ +z +9 &cstU\ > +10 &O}prU\ M +9 &astQ\ L +10 &crsT\ M +9 &gpoS\ M +9 &!XapsO\ M +10 &#`srS\ M +9 &$bppO\ M +9 &&bsrJ\ M +10 &(``qsI\ M +9 &*#`ptQ\ L +10 &+`prG\ L +9 &-aprA\ L +9 &/gbqs=\ M +10 &1*cqt:\ M +9 &2`psC\ M +9 &4`qtC\ M +10 &6pcosD\ M +9 &82^rt?\ M +9 &9crtB\ M +10 &;bosD\ L +9 &=xbnu?\ M +10 &?;_otD\ L +9 &@corF\ L +9 &BaopF\ L +10 &D`rrG\ L +9 &FCbprG\ L +9 &HdlqH\ M +10 &IsjjH\ O +9 &K|H\\F\ Q +10 &M2G\ U +9 &NG\ V +9 &PF\ V +10 &RpuzG\ X +9 &T0akH\ X +10 &US[G\ Y +9 &WELF\ Y +9 &Yo6=H\ [ +10 &["%.E\ ` +9 &\\F\ / +9 &]* F\ ] +9 ( +3 "collection"'V& +3 #tCollection Clamp onSpring/offSpring for 8/25 samples, on/off torque 1.98 +2 .Hand.open + "manipulator"&1 +4 "core" &]a G\ K +60 1 +2 "manipulator"&)% +4 "core" % y a +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&P'\ +96 "core" ' + #tLoading generic puck from tube 7 into Processing Clamp +2 "processing"%R& +4 "core" &\ + "manipulator"& % +4 "core" %\ -  "^ +2 "storage"(z% +4 "core" %A t o\ + "storage"(. +3 "core" .([ +2 "storage"(l& +3 "core" &[ u o\ +2 "storage"(%& +4 "core" &[ v w X\ + "manipulator"&K& +4 "core" && H >N + "manipulator"&% +4 "core" %\ -  "^ +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 7 + "manipulator"&g( +155 "core" ( + "manipulator"&r& +4 "core" &  +2 "storage"(U& +4 "core" &[ \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&9'k +89 "core" ' + "storage"(*& +4 "core" &[ G\ +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"({'e +280 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +2 (-& +3 "core" &[ n m\ + "manipulator"&7& +5 "core" &   + .tElbow.seek 7 +2 "manipulator"&|( +23 "core" ( +2 "manipulator"&}& +4 "core" & 6 % +2 "storage"(E& +4 "core" &[ } } m\ +2 .tForearm.seek 7 + 300 counts + "manipulator"&'' +21 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +67 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&y& +2 "storage"(_'N +7 "core" & p ) % +2 "manipulator"&6% +4 "core" % p + +2 .tForearm.seek :retract + "manipulator"&^'\ +97 "core" ' +2 .tElbow.seek PC + "manipulator"&\ (c +161 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +80 "core" ( + "manipulator"&#& +82 "core" &` C +3 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &A& +3 "core" &` C +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&$'[ +104 "core" ' + "manipulator"&I& +5 "core" &`  C + "manipulator"&<% +5 "core" %O  + "processing"%& +4 "core" &0\ +2 "processing"%3& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%o(Z +4 "core" &o\  +9 &24\ *x +10 &bL\ = +9 &@x\ N +9 &W\ L +10 &[\ M +9 &WS\ M +9 &!JZ\ M +10 &# Z\ L +9 &$X\ L +10 &&Z\ M +9 &(R\\\ M +9 &*\\\ M +10 &+W\ M +9 &-X\ L +9 &/Y[\ M +10 &1Y\ M +9 &2^\ M +10 &4Y\ M +9 &6a\\\ M +9 &8%Z\ L +10 &9Y\ M +9 &;Y\ M +9 &=jY\ M +10 &?,[\ M +9 &@\\\ M +9 &BZ\ M +10 &DqW\ M +9 &F2\\\ M +10 &Gc\ N +9 &Iq\ P +9 &Kk\ R +10 &M(\ S +9 &N\ S +9 &P\ S +10 &Rm\ T +9 &T.\ T +10 &U\ T +9 &W\ U +9 &Yr\ B +10 &Zt;\ b +9 &Z\ * +2 ( +2 "processing"%3& +3 #tProcessing Clamp onSpring/offSpring for 9/25 samples, on/off torque 1.63 + .Hand.open +2 "manipulator"&`1 +63 "core" 1 + "manipulator"&% +4 "core" % O +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&'\ +93 "core" ' +2 "processing"%(& +4 "core" &Z\ * + #tImaging generic puck in Processing Clamp while storing it to tube 7 +2 "manipulator"&O% +4 "core" %\ ) ~ E + "storage"(s% +4 "core" %O r y X\ + "storage"(&. +3 "core" .([ +2 "storage"(& +4 "core" &[ u q :\ +2 "storage"(X& +2 "manipulator"&Z& +7 "core" &[ p z '\ + &` C +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +4 "storage"(#]kK-0-\ b + "manipulator"&/(c +5 ."raiseStack"SE.seek :beamBreak + "storage"( 'e +3 "core" ( + "manipulator"&h& +4 "core" &` W C + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &t& +3 "core" &` T C +2 .tForearm.seek PC + "manipulator"&\\'[ +96 "core" ' + .tHand.close +2 "manipulator"&w/ +61 "core" / +2 .tPC.seek :open + "processing"% (p +87 "core" ' + "storage"(8- +3 "core" -'e +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(c'B +33 "core" ' +259 ( + "storage"(x& +5 "core" &[ { n U\ + "manipulator"&;& +4 "core" &` C + "manipulator"&!% +4 "core" % l  +2 .tForearm.seek :retract +2 "manipulator"&N'\ +91 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 7 + "manipulator"&4( +244 "core" ( + "manipulator"&W& +4 "core" & K +2 "storage"(M& +4 "core" &[ } s \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&'k +101 "core" ' + .tHand.open +2 "manipulator"&L1 +56 "core" 1 +2 "storage"(+- +4 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate + "storage"(?' +23 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.83 Pucks below Top Plate + "storage"(' +50 "core" ' +2 #tLights, camera, ACTION! + "storage"(1- +4 "core" -' + "storage"( & +4 "core" &[\ '\ ' b\ +2 "manipulator"&& +3 "core" &\ z o B K +2 .tElbow.seek 7 +2 "manipulator"&]( +3 "core" ( + "manipulator"&& +4 "core" &\ | i K +2 "storage"(k& +4 "core" &[\ \  8\ +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&q'k +14 "core" ' + .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"(u'M +63 "core" ' + "manipulator"&F& +4 "core" & } } K +2 "storage"(& +4 "core" &[ k\ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 7 + "manipulator"&Y'Ω +35 "core" ' +2 .tElbow.hold + "manipulator"&C, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.07 Pucks below Top Plate + "storage"(,'7 +22 "core" ' + "manipulator"&T% +4 "core" %ζ~  . U +2 "storage"(& +4 "core" &[ [ \\\ + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 7 + 313 counts + "manipulator"&m' +18 "core" ' +2 "manipulator"&2& +4 "core" & j 0 D +2 "storage"(& +4 "core" &[ #\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&p'k +24 "core" ' +2 "storage"(% +4 "core" %9 M\  +2 ."downElevator"SE.seek :down +3 "storage"(['N +100 ("% +3 "core" %~G r } \ V` +2 "manipulator"&B% +4 "core" %Е } r +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&D'\ +88 "core" ' +60 ' + ."downElevator"SE.stop + "storage"(5 +3 (& +3 "core" &[ d [ A\ +2 "collection"'n& +4 "core" &]a\  (\ K + #tStoring generic puck in Collection Clamp to tube 7 +2 "manipulator"&i% +4 "core" %\ + !O + "storage"(% +4 "core" %: g g q\ +2 "storage"(H. +3 "core" .([ + "storage"(~& +4 "core" &[ h m c\ + "storage"(@& +4 "core" &[ i f {\ +2 "manipulator"&e& +4 "core" & D + .tElbow.seek 7 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&& +4 "core" & D + "storage"(5& +4 "core" &[ i i g\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&f'k +93 "core" ' + "storage"(a& +4 "core" &[ <\ +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(d'e +277 "core" ' + "storage"( - +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&S& +3 "core" & 1 D +2 "storage"(& +3 "core" &[ }\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 7 + "manipulator"&v'Ω +31 "core" ' + .tElbow.hold +2 "manipulator"&G, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(Q- +3 "core" -' +2 .tSE.seek 0.12 Pucks below Top Plate + "storage"(:'p +28 "core" ' + "manipulator"&>% +4 "core" %λy n @ +2 "storage"(=& +4 "core" &[ < 9 \ + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 7 + 318 counts + "manipulator"&J' +18 "core" ' + "manipulator"&& +5 "core" &  k ] D + "storage"(j& +4 "core" &[ s\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&'k +20 "core" ' +2 .tSE.seek 1.12 Pucks below Top Plate +2 "storage"()'_ +42 "core" ' +2 "manipulator"&R& +4 "core" & | s D + "manipulator"& % +4 "core" %[ p y +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&z'\ +88 "core" ' +2 .tElbow.seek CC +2 "manipulator"&( +157 "core" ( +2 "manipulator"&V& +4 "core" &,  Bl +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &l& +3 "core" &, r Bl +2 .tForearm.seek CC + "manipulator"&%'| +95 "core" ' + .tHand.close + "manipulator"&K/ +63 "core" / +2 .tCC.seek :open +2 "collection"'(p +410 "core" ( +2 "storage"(& +4 "core" &[ \ + "storage"(r& +78 "core" &[ "\ + "manipulator"&U& +4 "core" &5% C <9 +2 "manipulator"&*% +4 "core" % τ   +2 .tForearm.seek :retract + "manipulator"&b'\ +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 7 +2 "manipulator"&P( +153 "core" ( + "manipulator"&& +5 "core" & + "storage"(-& +52 "core" &[ >\ +4 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 7 + "manipulator"&7'Ω +108 "core" ' +2 .tElbow.hold + "manipulator"&}, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&E1 +53 "core" 1 +2 "manipulator"&% +4 "core" % θ # q + "storage"(y& +4 "core" &[ m R\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 7 + 315 counts + "manipulator"&6' +21 "core" ' + "manipulator"&g& +5 "core" & \\ v & + "storage"(9& +4 "core" &[ t\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&{'k +17 "core" ' +2 "storage"('% +4 "core" %Y *\ +2 ."downElevator"SE.seek :down +4 "storage"(|'N +99 (#% +2 "core" %7< f\ U\\ +2 "manipulator"&A% +4 "core" %_ p p / +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&I'\ +91 "core" ' +48 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 5 of [5..7] +2 #Loading generic puck from tube 5 into Collection Clamp + "collection"'<& +4 "core" &rr3\ +2 "manipulator"&% +4 "core" %\ . #f +2 "storage"(_% +4 "core" %= v\ + "storage"(^. +3 "core" .([ +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 5 + "storage"(.(<< +665 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (`& +3 "core" &<> t\ + "manipulator"&& +4 "core" & +2 .tElbow.seek 5 +2 "manipulator"&(( +31 "core" ( +2 "manipulator"&O& +4 "core" & \ +2 "storage"(s& +3 "core" &_ptH\ M +9 &@`]or2\ M +9 &B"`ps8\ M +10 &C`qs4\ M +9 &E]pr\ M +9 &Ghblp+\ M +10 &I%okmF\ O +9 &JQbG\ P +10 &LD\ U +9 &NU3\ V +9 &P+\ W +10 &Qr{E\ W +9 &SdiD\ X +9 &UUW\\F\ Y +10 &WFME\ Z +9 &X8@,\ Z +10 &Z'08\ [ +9 &\\K E\ M +9 &]\\; F\ + +10 &]t\  \ K +5 ( +2 "collection"'+& +4 #tCollection Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.97 + .Hand.open +2 "manipulator"& 1 +3 "core" &]o  ?\ K +55 1 + "manipulator"&% +5 "core" % { I + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +91 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp + "processing"%k& +4 "core" &\ +2 "manipulator"&N% +4 "core" %\ -  "X + "storage"(F% +4 "core" %< u p \ + "storage"(. +3 "core" .( +9 &Zw/\ N +10 &X9\ M +9 &^;\ M +10 &Y1\ M +9 &!dZ4\ M +9 &#&\\3\ M +10 &$Yt\ M +9 &&]\ M +9 &(kX|\ M +10 &*.YO\ M +9 &+]/\ M +10 &-Y\ L +9 &/s]\ M +9 &16Y\ M +10 &2Z\ M +9 &4\\\ M +9 &6|Y\ M +10 &8>Z\ M +9 &:X\ M +9 &;Y\ L +10 &=Y\ M +9 &?E\\\ M +10 &A^\ M +9 &B\\\ M +9 &D[\ M +10 &FM]\ M +9 &H d\ N +10 &Ir\ P +9 &K\ Q +9 &MB\ S +10 &O\ T +9 &P\ T +9 &R\ S +10 &TI\ T +9 &V\ \ T +10 &W\ U +9 &Y\ B +9 &Z7\ T +10 &Z \ , +2 ( + "processing"%a& +4 #tProcessing Clamp onSpring/offSpring for 9/25 samples, on/off torque 1.62 + .Hand.open + "manipulator"&C1 +60 "core" 1 +2 "manipulator"&D% +4 "core" % Y ] +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"& '\ +92 "core" ' +2 "processing"%S& +4 "core" &Z \ , +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 + "manipulator"&% +4 "core" %\ + x F + "storage"(Q% +4 "core" %< Y [\ \ + "storage"(>. +3 "core" .(<9 +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 5 + "storage"(=(<< +7 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (& +2 "manipulator"&j& +6 "core" &j + &<9 Y Y\ +3 .tElbow.reconfigure :tight +54 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b + "storage"(#]kK-0-\ b +3 .tElbow.seek PC +5 "manipulator"&R(c +3 ."raiseStack"SE.seek :beamBreak +2 "storage"( 'e +3 "core" ( + "manipulator"&f& +4 "core" &j - +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &j - +2 .tForearm.seek PC +2 "manipulator"&d'[ +97 "core" ' + .tHand.close +2 "manipulator"&v/ +58 "core" / +2 .tPC.seek :open +2 "processing"%J(p +89 "core" ' + "storage"(:- +3 "core" -'e +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(V'B +32 "core" ' +260 ( +2 "storage"(l& +4 "core" &<9 m y >\ + "manipulator"&& +4 "core" &j  +2 "manipulator"&G% +4 "core" % \\  + .tForearm.seek :retract +2 "manipulator"&K'\ +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&z( +249 "core" ( +2 "manipulator"&& +4 "core" &\ c c +2 "storage"(& +4 "core" &<9 v v |\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&r' +94 "core" ' +2 .tHand.open + "manipulator"&U1 +52 "core" 1 +2 "storage"(*- +4 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate + "storage"(' +26 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.83 Pucks below Top Plate + "storage"(-' +52 "core" ' + #tLights, camera, ACTION! +2 "storage"(%- +3 "core" -' +2 "storage"(& +4 "core" &<7 o\ + "manipulator"&E& +4 "core" &\ c +2 .tElbow.seek 5 + "manipulator"&( +4 "core" ( + "manipulator"&y& +4 "core" &\ c + "storage"(g& +4 "core" &<7 V\ +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&9' +3 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.11 Pucks below Top Plate + "storage"(''M +58 "core" ' +2 "manipulator"&b& +4 "core" &\ 5 c +2 "storage"(#& +4 "core" &<7 o h \ + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&A'/ +29 "core" ' + .tElbow.hold +2 "manipulator"&P, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.07 Pucks below Top Plate + "storage"(7'7 +28 "core" ' + "manipulator"&<% +5 "core" %=v l 3 + "storage"(& +4 "core" &<7 E E O\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 314 counts + "manipulator"&6'i +17 "core" ' + "manipulator"&_& +5 "core" &9 z C 4 + "storage"(^& +5 "core" &<7 \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&)' +16 "core" ' +2 "storage"({% +4 "core" %7 \ +2 ."downElevator"SE.seek :down +4 "storage"(|'N +99 (0% +3 "core" %A w v =\ V` +2 "manipulator"&`% +4 "core" % { y +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +91 "core" ' +60 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (O& +4 "core" &<7 w q =\ + "collection"'s& +4 "core" &]n D\ K +2 #tStoring generic puck in Collection Clamp to tube 5 + "manipulator"&% +4 "core" %\ %  5 + "storage"(}% +4 "core" %O p y V\ +2 "storage"(I. +3 "core" .(<9 +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"(Z(<< +12 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +2 (X& +4 "core" &<9 \\ [ \  + "manipulator"&h& +4 "core" &9 { 4 +2 .tElbow.seek 5 + "manipulator"&$( +21 "core" ( + "manipulator"&w& +5 "core" &  ]  + "storage"(\ & +4 "core" &<9 f g l\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&' +93 "core" ' +2 "storage"(x& +4 "core" &<9 I\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(('e +275 "core" ' +2 "storage"(&- +3 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&!& +3 "core" &    + "storage"(\\& +4 "core" &<9 k g >\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 + "manipulator"&3'/ +32 "core" ' + .tElbow.hold + "manipulator"&8, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(M- +3 "core" -' +2 .tSE.seek 0.11 Pucks below Top Plate + "storage"(/'l +24 "core" ' +2 "manipulator"&L% +4 "core" %>h d  + "storage"(t& +4 "core" &<9 C 8 |\  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 5 + 315 counts +2 "manipulator"&o'j +18 "core" ' + "manipulator"&;& +4 "core" &# x h 2 v +2 "storage"(& +4 "core" &<9 \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"& ' +17 "core" ' +2 .tSE.seek 1.11 Pucks below Top Plate + "storage"('[ +50 "core" ' +2 "manipulator"&k& +4 "core" &# p p  v +2 "manipulator"&N% +4 "core" % l ` I +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&F'\ +91 "core" ' +2 .tElbow.seek CC + "manipulator"&( +156 "core" ( + "manipulator"&+& +5 "core" &$ 0 <9 + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &T& +3 "core" &%  <9 +2 .tForearm.seek CC + "manipulator"&'| +95 "core" ' + .tHand.close + "manipulator"&?/ +63 "core" / +2 .tCC.seek :open + "collection"'W(p +411 "core" ( +2 "storage"(& +4 "core" &<9 Q\  + "storage"(& +4 "core" &<9 [\  + "manipulator"&.& +4 "core" &$  ;8 +2 "manipulator"&% +3 "core" % l ] \ +2 .tForearm.seek :retract +2 "manipulator"& '\ +91 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&( +156 "core" ( + "manipulator"&"& +5 "core" &  L + "storage"(B& +4 "core" &<9 7\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 5 +2 "manipulator"&q'/ +106 "core" ' + .tElbow.hold +2 "manipulator"&u, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&Y1 +55 "core" 1 +2 "manipulator"&% +4 "core" % C 5 + "storage"(n& +4 "core" &<9 x B\  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 5 + 320 counts +2 "manipulator"&'o +16 "core" ' +2 "manipulator"&2& +4 "core" &; w r   +2 "storage"(4& +4 "core" &<9 8\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&' +21 "core" ' + "storage"(m% +4 "core" %b \ +3 ."downElevator"SE.seek :down +4 "storage"(,'N +99 (@% +3 "core" %D ^\ V^ +2 "manipulator"&]% +4 "core" % p q  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +95 "core" ' +43 ' + ."downElevator"SE.stop +2 "storage"(5 +2 #tShuffling pucks in tube 6 of [5..7] +2 #Loading generic puck from tube 6 into Collection Clamp + "collection"'5& +5 "core" &qt?\ + "manipulator"&p% +4 "core" %\ 5 & +2 "storage"(i% +4 "core" %9 A\ + "storage"(H. +3 "core" .(<9 +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +52 .tSC.seek 6 +2 "storage"( (K +351 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (C& +3 "core" &K k g V\  + "manipulator"&D& +4 "core" &;  +2 .tElbow.seek 6 +2 "manipulator"&S( +11 "core" ( +2 "manipulator"&& +4 "core" &  +2 "storage"(Q& +4 "core" &K J\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&>'< +93 "core" ' +2 "storage"(a& +4 "core" &K K\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(j'e +281 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (f& +3 "core" &K ,\  +2 "manipulator"&& +4 "core" & s -  + .tElbow.seek 6 +2 "manipulator"&e( +4 "core" ( + "manipulator"&v& +4 "core" &  :  + "storage"(c& +4 "core" &K B\  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&:'Ϧ +10 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&~/ +63 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"& & "storage"(['N +8 "core" & t r f  + "manipulator"&l% +4 "core" % ϩ p p K 5 +2 .tForearm.seek :retract +2 "manipulator"&'\ +91 "core" ' +2 .tElbow.seek CC + "manipulator"& ( +151 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +3 "core" ( + "manipulator"&G& +4 "core" &&  =A + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &d& +3 "core" && / =A +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&'| +104 "core" ' + "manipulator"&& +5 "core" && { =A + "manipulator"&R% +4 "core" %σ x +2 "collection"'U& +4 "core" &pt!\ +2 "collection"'*& +5 "core" &ps\ +2 .tCC.seek :closed + "collection"'%(] +5 "core" &pr3\  +9 &3opF\ *z +10 &eqqR\ > +9 &U{qs:\ M +9 &_pt0\ M +10 &_rt\ M +9 &aot=\ M +10 &!_`qrD\ M +9 &#"brt0\ L +9 &$bnrK\ M +10 &&`mpU\ M +9 &(h`msM\ L +9 &*)`prP\ M +10 &+aos7\ M +9 &-^qq1\ M +9 &/p`mq'\ L +10 &10amr:\ M +9 &2`rsG\ M +10 &4bpqB\ M +9 &6x^prD\ L +9 &8:`qrD\ L +10 &9^nqE\ M +9 &;]nsF\ L +9 &=dqqE\ M +10 &?A]ps \ M +9 &A_pq/\ M +10 &B`ps\ M +9 &Dbpr\ M +9 &FIcnsB\ M +10 &H\ emo\ M +9 &Itcj \ O +10 &K'H\ R +9 &M6%\ V +9 &N6\ V +10 &PY\ W +9 &Rwow\ X +9 &T8`gM\ X +10 &UMV\ \ Y +9 &WCH\ Y +9 &Yu3:(\ [\ +10 &[6"(\ [ +9 &\\{\ / +10 &](  \ _ +8 ( +2 &]n\ \ M +2 "collection"'*& +3 #tCollection Clamp onSpring/offSpring for 9/25 samples, on/off torque 2.03 + .Hand.open +2 "manipulator"&1 +54 "core" 1 +2 "manipulator"&E% +4 "core" % t +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&y'\ +92 "core" ' +2 #tLoading generic puck from tube 6 into Processing Clamp +2 "processing"%g& +4 "core" &e\ +2 "manipulator"&K% +4 "core" %\ '  @ + "storage"(b% +5 "core" %B v p \ + "storage"(#. +3 "core" .(K + "storage"(<& +4 "core" &K p u\  +2 "storage"(V& +4 "core" &K o o \  + "manipulator"&& +4 "core" &$  ;8 + "manipulator"&_% +4 "core" %\ ' U @ +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 + "manipulator"&( +163 "core" ( + "manipulator"&^& +5 "core" & 3  + "storage"({& +4 "core" &K \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&z'< +92 "core" ' + "storage"(r& +5 "core" &K >\  + .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(-'e +279 "core" ' + "storage"(0- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (`& +3 "core" &K } C\  + "manipulator"&9& +4 "core" & o >  +2 .tElbow.seek 6 + "manipulator"&( +3 "core" ( +2 "manipulator"&'& +3 "core" & v r ,  +2 "storage"(A& +4 "core" &K h g l\  +2 .tForearm.seek 6 + 300 counts + "manipulator"&O'Ϧ +19 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&6/ +58 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&s& +2 "storage"('N +7 "core" & p o  +2 "manipulator"&}% +4 "core" % ϝ q q +2 .tForearm.seek :retract + "manipulator"&I'\ +89 "core" ' + .tElbow.seek PC +2 "manipulator"&7(c +166 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +67 "core" ( + "manipulator"&X& +5 "core" &h = E + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &h& +3 "core" &h < E +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&w'[ +102 "core" ' + "manipulator"&\ & +4 "core" &h  E +2 "manipulator"&)% +4 "core" %U 9 +2 "processing"%x& +3 "core" &/\ +2 "processing"%|& +5 "core" &/\ +2 .tPC.seek :closed +2 "processing"%=(Z +4 "core" &0\ +7 & 1=\ #a +9 &^V7\ 7 +10 &};\ K +9 &qW;\ L +9 &3Y<\ M +10 &Y7\ M +9 & Z:\ L +10 &"zXU\ L +9 &$<Y<\ L +9 &%Y;\ L +10 &'Z8\ M +9 &)]7\ M +9 &+DW\ L +10 &-[\ M +9 &.ZV\ L +10 &0[\ M +9 &2KY\ M +9 &4X\ L +10 &5Z\ L +9 &7Y\ M +9 &9S\\\ M +10 &;Y\ M +9 &<Y\ L +10 &>[\ M +9 &@ZZ\ M +9 &B\\\ M +10 &CZ\ M +9 &EZ\ M +9 &G_c\ N +10 &In\ O +9 &J~\ Q +10 &L\ S +9 &NU\ T +9 &P\ S +10 &Q\ T +9 &S\ T +9 &U]\ T +10 &W\ T +9 &X\ T +10 &Z<Lm\ , +9 &Z.\ ) +5 ( +2 "processing"%|& +4 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.62 + .Hand.open +2 "manipulator"&P1 +3 "core" &Z\ ) +56 1 + "manipulator"&% +4 "core" % U  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&&'\ +99 "core" ' +2 "processing"%!& +4 "core" &Z\ ) +2 #tImaging generic puck in Processing Clamp while storing it to tube 6 + "manipulator"&\\% +4 "core" %\ 5 & + "storage"(M% +4 "core" %Q ] i A\ \ + "storage"(L. +3 "core" .(K +2 "storage"(t& +4 "core" &K r c <\  + "storage"(;& +5 "manipulator"&& +4 "core" &K d r f\  + &h E +3 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +3 "storage"(#]kK-0-\ b +3 "manipulator"&$&.,(\ #b +3 ."raiseStack"SE.seek :beamBreak +2 .tElbow.seek PC +2 "storage"(k'e + "manipulator"&N(c +6 "core" ( + "manipulator"&& +4 "core" &h : E + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &$& +3 "core" &h E +2 .tForearm.seek PC +2 "manipulator"&('[ +95 "core" ' +2 .tHand.close + "manipulator"&3/ +57 "core" / + .tPC.seek :open +2 "processing"%o(p +88 "core" ' + "storage"(/- +4 "core" -'e + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place + "storage"(+'B +42 "core" ' +249 ( + "storage"(T& +4 "core" &K x b\  +2 "manipulator"& & +4 "core" &h  E + "manipulator"&8% +4 "core" % \\  +2 .tForearm.seek :retract + "manipulator"&?'\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&F( +248 "core" ( +2 "manipulator"&1& +4 "core" & l + "storage"(& +4 "core" &K t p /\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&'< +94 "core" ' + .tHand.open + "manipulator"&.1 +60 "core" 1 +3 "storage"(- +3 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate +2 "storage"("' +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.83 Pucks below Top Plate + "storage"(B' +53 "core" ' +2 #tLights, camera, ACTION! + "storage"(- +4 "core" -' + "storage"(& +4 "core" &K \ \ F\  +52 "manipulator"&Y& +4 "core" &  l +2 .tElbow.seek 6 + "manipulator"&( +3 "core" ( +2 "manipulator"&n& +4 "core" &  l + "storage"(2& +4 "core" &K R\  +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&4'< +12 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.11 Pucks below Top Plate + "storage"(m'M +63 "core" ' +2 "manipulator"& & +4 "core" & o  l + "storage"(@& +4 "core" &K j h (\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&]'z +32 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"(q'7 +21 "core" ' + "manipulator"&5% +5 "core" %Άn   " ÷ + "storage"(& +4 "core" &K B B \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 312 counts + "manipulator"&p'ϲ +19 "core" ' + "manipulator"&i& +5 "core" & u { @ "{ + "storage"(H& +5 "core" &K \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&'< +23 "core" ' +2 "storage"(% +5 "core" %? \ +2 ."downElevator"SE.seek :down +3 "storage"(,'N +100 (Z% +2 "core" %e@ t p \ U_ +2 "manipulator"&C% +4 "core" %Q r { @  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&D'\ +96 "core" ' +51 ' + ."downElevator"SE.stop + "storage"(5 +3 (& +4 "core" &K Z m \  + "collection"'Q& +4 "core" &]m\  \ M +2 #tStoring generic puck in Collection Clamp to tube 6 + "manipulator"&a% +4 "core" %\ ;  ( +2 "storage"(u% +4 "core" %8 u q K\ + "storage"(. +3 "core" .(K +2 "storage"(& +4 "core" &K v q K\  + "storage"(f& +4 "core" &K n p \  +2 "manipulator"&& +4 "core" & O "z +2 .tElbow.seek 6 + "manipulator"&v( +3 "core" ( +2 "manipulator"&c& +4 "core" & b "z + "storage"(~& +4 "core" &K v p O\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"& '< +95 "core" ' + "storage"(l& +4 "core" &K \  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(S'e +283 "core" ' +2 "storage"(>- +3 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&G& +3 "core" &  "z +2 "storage"(d& +4 "core" &K } k O\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&j'z +33 "core" ' + .tElbow.hold +2 "manipulator"&:, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(- +2 "core" -' +3 .tSE.seek 0.12 Pucks below Top Plate + "storage"(R's +27 "core" ' + "manipulator"&U% +5 "core" %΁`  + Ĵ + "storage"(e& +4 "core" &K 8 % X\  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 6 + 307 counts + "manipulator"&['ϭ +19 "core" ' + "manipulator"&& +5 "core" & l , !w + "storage"(W& +4 "core" &K { ;\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&'< +20 "core" ' +2 .tSE.seek 1.12 Pucks below Top Plate +2 "storage"(E'b +51 "core" ' +2 "manipulator"&g& +4 "core" & o o !w +2 "manipulator"&K% +4 "core" %B p o  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&b'\ +87 "core" ' +2 .tElbow.seek CC +2 "manipulator"&#( +148 "core" ( +2 "manipulator"&<& +4 "core" &+ m =B +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &V& +3 "core" &* =B +2 .tForearm.seek CC + "manipulator"&'| +98 "core" ' + .tHand.close + "manipulator"&*/ +59 "core" / + .tCC.seek :open +2 "collection"'_(p +411 "core" ( + "storage"(& +4 "core" &K Y\  +2 "storage"(^& +3 "core" &K \  +2 "manipulator"&{& +4 "core" &( m =B + "manipulator"&r% +4 "core" % y  +2 .tForearm.seek :retract + "manipulator"& '\ +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&y( +161 "core" ( + "manipulator"&0& +4 "core" &   +2 "storage"(`& +4 "core" &K i\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 6 +2 "manipulator"&9'z +96 "core" ' +2 .tElbow.hold + "manipulator"&', +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&A1 +58 "core" 1 +2 "manipulator"&6% +4 "core" % Ί   +2 "storage"(s& +3 "core" &K \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 316 counts + "manipulator"&}'϶ +16 "core" ' +2 "manipulator"&& +5 "core" & w { 6  +2 "storage"(z& +3 "core" &K \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&-'< +17 "core" ' + "storage"(O% +5 "core" %d B\ +2 ."downElevator"SE.seek :down +3 "storage"(X'N +99 (h% +3 "core" %D @\ U\\ +2 "manipulator"&% +4 "core" %@ p q  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&\ '\ +87 "core" ' +51 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 7 of [5..7] +2 #Loading generic puck from tube 7 into Collection Clamp + "collection"')& +4 "core" &ot\ +2 "manipulator"&x% +4 "core" %\ *  !N +2 "storage"(% +3 "core" %? h\ +2 "storage"(I. +3 "core" .(K +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 7 +2 "storage"(J([ +355 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (P& +2 "core" &[ i i x\  +2 "manipulator"&& +4 "core" &   + .tElbow.seek 7 +2 "manipulator"&!( +23 "core" ( + "manipulator"&\\& +5 "core" & j T + "storage"(M& +4 "core" &[ t\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&L'k +101 "core" ' +2 "storage"(t& +4 "core" &[ J\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(|'e +281 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (;& +3 "core" &[ 0\  +2 "manipulator"&& +3 "core" & q o  T +2 .tElbow.seek 7 + "manipulator"&$( +3 "core" ( +2 "manipulator"&w& +3 "core" & w t  T +2 "storage"(3& +4 "core" &[ \  +2 .tForearm.seek 7 + 300 counts +2 "manipulator"&/' +25 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&7/ +55 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&&& + "storage"(='N +8 "core" & p o  T + "manipulator"&T% +4 "core" % p p +2 .tForearm.seek :retract +2 "manipulator"& '\ +90 "core" ' + .tElbow.seek CC +2 "manipulator"&k( +154 "core" ' + ."downElevator"SE.stop + "storage"(5 +4 "core" ( + "manipulator"&8& +4 "core" && - =D + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &(& +3 "core" && =D +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&1'| +104 "core" ' + "manipulator"&& +4 "core" &&  =D +2 "manipulator"&N% +4 "core" %y = +2 "collection"'.& +4 "core" &pt\ +52 "collection"'& +5 "core" &rr\ +2 .tCC.seek :closed +2 "collection"'(] +4 "core" &rs\ +8 &7sr\ $d +9 &gVqs\ 7 +9 &oqJ\ L +10 &{_pt\ M +9 &>bpr\ L +9 &_qs\ M +10 & ^rr\ M +10 &"`qt\ M +9 &$E]qs\ M +9 &&`ps\ L +9 &'_sr\ M +10 &)^ru\ M +9 &+Mbrt\ M +10 &-bssF\ L +9 &.bqsu\ M +9 &0cps\ M +10 &2Uaps \ M +9 &4cpr\ M +9 &5\\ps\ M +10 &7]qrS\ M +9 &9^`os\ L +9 &; ^pr\ L +10 &<crt\ M +9 &>bpsn\ M +10 &@ebpsm\ M +9 &B'cos \ M +9 &C^qrx\ M +10 &E_nu\ L +9 &Gm`or\ M +9 &I,ikp\ N +10 &JyZhC\ P +9 &L+\ S +10 &NX\ W +9 &P`\ W +9 &QN\ W +10 &Soz\ X +9 &UZah\ Y +9 &WRW\ X +10 &XCJa\ Z +9 &Z4:?\ Z +10 &\\\\$)\ G +9 &]c=\ $n +9 &]u\ Q +3 ( + "collection"'& +3 #tCollection Clamp onSpring/offSpring for 10/26 samples, on/off torque 1.98 +2 .Hand.open + "manipulator"&1 +54 "core" 1 + "manipulator"&?% +4 "core" % ` V +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&Y'\ +93 "core" ' +2 #tLoading generic puck from tube 7 into Processing Clamp + "processing"%n& +4 "core" &0\ +2 "manipulator"&2% +4 "core" %\ ) K + "storage"( % +4 "core" %J u q o\ +2 "storage"(@. +3 "core" .([ + "storage"(+& +4 "core" &[ t v \  + "storage"("& +4 "core" &[ p r /\  +2 "manipulator"&5& +3 "core" &" C :/ +2 "manipulator"&% +4 "core" %\ ) ? K +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 7 + "manipulator"&i( +156 "core" ( + "manipulator"&H& +4 "core" & X + "storage"(& +4 "core" &[ y N\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&F'k +102 "core" ' +2 "storage"(& +4 "core" &[ \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(B'e +280 "core" ' + "storage"(Z- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (C& +3 "core" &[ h\  + "manipulator"&4& +4 "core" & o o  +2 .tElbow.seek 7 + "manipulator"&( +4 "core" ( + "manipulator"&m& +4 "core" & w X , +2 "storage"(]& +4 "core" &[ \  +2 .tForearm.seek 7 + 300 counts + "manipulator"&' +25 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&p/ +60 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&Q& +2 "storage"(a'N +8 "core" & s r + +2 "manipulator"&u% +4 "core" % o p  +2 .tForearm.seek :retract + "manipulator"&'\ +94 "core" ' +2 .tElbow.seek PC +2 "manipulator"&(c +155 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +95 "core" ( + "manipulator"&q& +4 "core" &j g  +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &f& +3 "core" &j  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&'[ +102 "core" ' + "manipulator"&c& +4 "core" &k b  +2 "manipulator"&~% +4 "core" %T + "processing"%& +4 "core" &8\ +2 "processing"%l& +5 "core" &1\ +2 .tPC.seek :closed +2 "processing"%,(Z +4 "core" &6\ +7 &:3\ $e +9 &iW3\ 7 +10 &~/\ L +9 &~Z2\ M +9 &@\\=\ M +10 &]=\ L +9 & [<\ M +9 &"\\=\ M +10 &$G\\=\ M +9 && Z=\ L +10 &'Z=\ L +9 &)X;\ M +9 &+PW;\ M +10 &-Y;\ M +9 &.\\;\ L +9 &0Zy\ M +10 &2WY<\ M +9 &4Y:\ M +10 &5\\P\ M +9 &7\\<\ M +9 &9aY\ L +10 &;#Z\ L +9 &<Y\ M +9 &>^\ M +10 &@f[\ M +9 &B([\ M +10 &CY\ M +9 &E[\ M +9 &Gmc\ N +10 &I+k\ O +9 &J}\ Q +9 &L\ S +10 &Nc\ T +9 &P%\ T +10 &Q\ S +9 &S\ T +9 &Uk\ T +10 &W-\ T +9 &X\ T +9 &ZDGf\ )y +10 &Z\ 8\ , +5 ( +2 "processing"%l& +4 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.59 + .Hand.open +2 "manipulator"&1 +3 "core" &Z\ , +55 1 +2 "manipulator"&D% +4 "core" % T 5 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&>'\ +91 "core" ' +2 "processing"%G& +4 "core" &Z\ , +2 #tImaging generic puck in Processing Clamp while storing it to tube 7 + "manipulator"&d% +4 "core" %\ ) H +2 "storage"(% +4 "core" %< u u V\ \ + "storage"(U. +3 "core" .([ + "storage"(e& +4 "core" &[ q u C\  +2 "storage"(& +4 "manipulator"&W& +4 "core" &[ t p &\  + &k  +3 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +3 "storage"(#]kK-0-\ b +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +2 "manipulator"&g(c +3 ."raiseStack"SE.seek :beamBreak +2 "storage"(K'e +3 "core" ( + "manipulator"& & +4 "core" &k  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &v& +3 "core" &k  +2 .tForearm.seek PC +2 "manipulator"&S'[ +96 "core" ' +2 .tHand.close + "manipulator"&j/ +52 "core" / +2 .tPC.seek :open + "processing"%[(p +95 "core" ' + "storage"(R- +4 "core" -'e + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(<'B +34 "core" ' +252 ( +2 "storage"(V& +4 "core" &[ g s \  + "manipulator"&& +4 "core" &k   +2 "manipulator"&:% +4 "core" % Y  +2 .tForearm.seek :retract + "manipulator"&*'\ +96 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 7 +2 "manipulator"&b( +250 "core" ( + "manipulator"&%& +4 "core" & + !w +2 "storage"(& +4 "core" &[ q t '\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&^'k +93 "core" ' +2 .tHand.open + "manipulator"&{1 +63 "core" 1 +2 "storage"(r- +3 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate +2 "storage"(0' +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(`' +52 "core" ' +2 #tLights, camera, ACTION! + "storage"(- +4 "core" -' + "storage"(#& +4 "core" &[\ \ !\  +2 "manipulator"&A& +3 "core" & - !w +2 .tElbow.seek 7 +2 "manipulator"&6( +3 "core" ( +2 "manipulator"&s& +4 "core" & 5 !w + "storage"(& +4 "core" &[ V\  +3 .tForearm.seek 7 + 450 counts + "manipulator"&z'k +4 "core" ' + .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"(O'M +62 "core" ' + "manipulator"& & +5 "core" &  !w + "storage"(h& +4 "core" &[ | p \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 7 + "manipulator"&'Ω +33 "core" ' + .tElbow.hold +2 "manipulator"&y, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"(9'7 +22 "core" ' +2 "manipulator"&)% +4 "core" %λ| o E +2 "storage"(x& +4 "core" &[ 9 @ O\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 7 + 318 counts +2 "manipulator"&}' +17 "core" ' +2 "manipulator"&& +4 "core" & t w 6 !u +2 "storage"(I& +4 "core" &[ H\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&E'k +24 "core" ' +2 "storage"(-% +4 "core" %< \  +2 ."downElevator"SE.seek :down +3 "storage"(X'N +100 ( % +2 "core" %A v v 1\ U^ +2 "manipulator"&P% +4 "core" %Б o p  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&'\ +87 "core" ' +62 ' + ."downElevator"SE.stop + "storage"(5 +2 (\\& +4 "core" &[ Z Z\  +2 "collection"'M& +3 "core" &]k2\ Q +2 #tStoring generic puck in Collection Clamp to tube 7 +2 "manipulator"&t% +3 "core" %\ * H +2 "storage"('% +4 "core" %G y } c\ + "storage"(\ . +3 "core" .([ +2 "storage"(& +54 "core" &[ | | \  + "storage"(;& +4 "core" &[ p y c\  +2 "manipulator"&& +4 "core" & !u + .tElbow.seek 7 +2 "manipulator"&w( +3 "core" ( +2 "manipulator"&3& +3 "core" & !u +2 "storage"(7& +4 "core" &[ | | \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&&'k +93 "core" ' +2 "storage"(T& +4 "core" &[ \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(!'e +280 "core" ' +2 "storage"(L- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&8& +3 "core" & U !u + "storage"((& +4 "core" &[ } } \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 7 + "manipulator"&|'Ω +35 "core" ' + .tElbow.hold +2 "manipulator"&/, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(- +2 "core" -' +2 .tSE.seek 0.12 Pucks below Top Plate +2 "storage"(N'p +30 "core" ' +2 "manipulator"&.% +4 "core" %ηk f ķ + "storage"($& +4 "core" &[ E E\  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 7 + 314 counts +2 "manipulator"&=' +16 "core" ' + "manipulator"& & +5 "core" & y i U !u + "storage"(_& +4 "core" &[ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&'k +17 "core" ' +2 .tSE.seek 1.12 Pucks below Top Plate + "storage"(?'_ +41 "core" ' +2 "manipulator"&n& +4 "core" & p r g !u +2 "manipulator"&2% +4 "core" %^ q }  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"& '\ +87 "core" ' +2 .tElbow.seek CC +2 "manipulator"&@( +156 "core" ( + "manipulator"&+& +4 "core" &- r Ct +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &"& +4 "core" &- J Ct + .tForearm.seek CC +2 "manipulator"&5'| +97 "core" ' +2 .tHand.close + "manipulator"&/ +63 "core" / +2 .tCC.seek :open + "collection"'(p +411 "core" ( + "storage"(1& +5 "core" &[ \  + "storage"(H& +4 "core" &[ \  + "manipulator"&& +4 "core" &- > Cq + "manipulator"&% +4 "core" % { K +2 .tForearm.seek :retract + "manipulator"&k'\ +92 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 7 +2 "manipulator"&Y( +160 "core" ( +2 "manipulator"&Z& +4 "core" & X  +2 "storage"(C& +4 "core" &[ U\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 7 +2 "manipulator"&4'Ω +107 "core" ' + .tElbow.hold +2 "manipulator"&m, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&]1 +60 "core" 1 +2 "manipulator"&p% +4 "core" % θ < + "storage"(Q& +4 "core" &[ l \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 7 + 315 counts + "manipulator"&u' +19 "core" ' +2 "manipulator"&i& +4 "core" & i P L  +2 "storage"(F& +4 "core" &[ 3\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&B'k +16 "core" ' +2 "storage"(% +4 "core" %` \ +2 ."downElevator"SE.seek :down +3 "storage"(q'N +100 (f% +2 "core" %= C\ U\\ +2 "manipulator"&% +4 "core" %T q p +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&c'\ +88 "core" ' +50 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 5 of [5..7] + #Loading generic puck from tube 5 into Collection Clamp +2 "collection"'~& +3 "core" &qs\ +2 "manipulator"&% +4 "core" %\ ( H +2 "storage"(a% +4 "core" %< 7\ + "storage"(. +4 "core" .([ + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 5 + "storage"(o(<< +672 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (& +2 "core" && +2 "storage"(,'N +7 "core" & p g +2 "manipulator"&V% +4 "core" % P y s 6 X +2 .tForearm.seek :retract + "manipulator"&'\ +98 "core" ' +2 .tElbow.seek CC +2 "manipulator"&:( +141 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +15 "core" ( + "manipulator"&K& +5 "core" &* , @\\ + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &S& +3 "core" &)  @\\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&%'| +99 "core" ' +2 "manipulator"&& +4 "core" &* T @[ +2 "manipulator"&g% +4 "core" %ρ +2 "collection"'{& +3 "core" &rs\ +2 "collection"'r& +5 "core" &sr\ +2 .tCC.seek :closed +2 "collection"'(] +4 "core" &ru\  +9 &2qq\ *y +10 &drs\ > +9 &Qyst\ M +9 &^qt\ L +10 &aps\ L +9 &eqr\ M +9 &!Ycsr\ M +10 &#ert \ M +9 &$crs\ M +10 &&_qt\ M +9 &(bdrs\ L +9 &*#_qs\ M +10 &+apu\ M +9 &-brt\ M +10 &/i_ru\ M +9 &1+dqs\ M +9 &2cqs\ M +10 &4aoq\ L +9 &6r]os\ L +9 &84]qr\ L +10 &9`qs\ M +9 &;\\ru\ L +9 &=y_ss\ M +10 &?<\\ru\ L +9 &@`qt\ L +10 &B]ru\ M +9 &D]ps\ L +9 &FD`rs\ L +10 &Hcno\ M +9 &Ishm\ O +9 &K|5R\ Q +10 &M1\ V +9 &N\ V +10 &P\ W +9 &Rqq{\ X +9 &T2ai\ X +10 &URZ\ Y +9 &WDL\ Y +9 &Yo8>\ [\ +10 &[,',\ ] +9 &\\\ 4 +10 &]%\ "c +8 ( +2 &]w\ R +2 "collection"'r& +3 #tCollection Clamp onSpring/offSpring for 9/25 samples, on/off torque 2.05 +2 .Hand.open + "manipulator" +60 "core" 1 +3 "manipulator"&A% +4 "core" % π  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&s'\ +92 "core" ' + #tLoading generic puck from tube 5 into Processing Clamp +2 "processing"%& +4 "core" &\ + "manipulator"&*% +5 "core" %\ +  !W + "storage"( % +4 "core" %@ c Y \ + "storage"(h. +3 "core" .( +9 &Awz\ N +10 &W@\ M +9 &^)\ M +10 &Wx\ M +9 &!LZ\ L +9 &#X9\ L +10 &$Y|\ L +9 &&Z;\ M +10 &(S]|\ M +9 &*\\8\ M +9 &+\\0\ M +10 &-W5\ L +3 "Can" ^\\ +6 "core" &/ZZ1\ M +10 &1Z-\ M +9 &2Z6\ L +9 &4YP\ M +9 &6bW\ M +10 &8%Y\ M +9 &9W\ M +10 &;XW\ L +9 &=kY\ M +9 &?-\\\ M +10 &@\\S\ M +9 &BY\ M +9 &DrY\ M +10 &F4\\z\ M +9 &Gf\ N +10 &In\ O +9 &Km\ Q +9 &M)\ S +10 &N\ T +9 &P\ S +9 &Ro\ S +10 &T0\ T +9 &U\ T +10 &W\ T +9 &Yt\ B +9 &Zw>M\ X +10 &Z2\ 3 +2 ( +2 "processing"%T& +3 #tProcessing Clamp onSpring/offSpring for 9/25 samples, on/off torque 1.63 + .Hand.open + "manipulator"&y1 +63 "core" 1 +2 "manipulator"&% +4 "core" % Q _ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&L'\ +96 "core" ' + "processing"%8& +4 "core" &Z+\ 3 +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 +2 "manipulator"&(% +4 "core" %\ . o #k + "storage"(% +4 "core" %< f c\ \ + "storage"(.. +3 "core" .(<< +2 "storage"($& +4 "core" &<6 e c\ +2 "storage"( & +2 "manipulator"&_& +7 "core" &<6 Y c\ + &m Q +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +2 "storage"(#]kK-0-\ b +2 .tElbow.seek PC +4 "manipulator"&n(c +4 ."raiseStack"SE.seek :beamBreak + "storage"(2'e +3 "core" ( + "manipulator"&&& +4 "core" &m : Q +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &w& +3 "core" &m Q +2 .tForearm.seek PC +2 "manipulator"&!'[ +95 "core" ' +2 .tHand.close + "manipulator"&|/ +58 "core" / +2 .tPC.seek :open +2 "processing"%=(p +89 "core" ' +2 "storage"(N- +3 "core" -'e + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(+'B +35 "core" ' +257 ( + "storage"("& +4 "core" &<6 x q \ +2 "manipulator"&& +4 "core" &m 9 Q + "manipulator"&/% +4 "core" % X +2 .tForearm.seek :retract + "manipulator"&'\ +98 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"& ( +250 "core" ( + "manipulator"&& +4 "core" & w # +2 "storage"(1& +4 "core" &<6 Y Y\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&H' +104 "core" ' +2 .tHand.open + "manipulator"&1 +63 "core" 1 +2 "storage"(- +3 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate +2 "storage"(Z' +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(C' +49 "core" ' +2 #tLights, camera, ACTION! + "storage"(5- +4 "core" -' + "storage"(@& +4 "core" &<6 U\ + "manipulator"&]& +4 "core" &  # +2 .tElbow.seek 5 + "manipulator"&p( +4 "core" ( + "manipulator"&Q& +4 "core" &  # +2 "storage"(i& +4 "core" &<6 7\ +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&F' +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"('M +59 "core" ' + "manipulator"&k& +4 "core" & o o # +2 "storage"(f& +4 "core" &<6 k \ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 + "manipulator"&'/ +31 "core" ' + .tElbow.hold +2 "manipulator"&Y, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"(4'7 +22 "core" ' +2 "manipulator"&~% +4 "core" %:v 1 +2 "storage"(& +4 "core" &<6 C E \ + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 5 + 311 counts +2 "manipulator"&u'f +16 "core" ' + "manipulator"&a& +5 "core" &D g v > + "storage"(& +4 "core" &<6 \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&?' +17 "core" ' +2 "storage"(B% +4 "core" %= b\ +2 ."downElevator"SE.seek :down +4 "storage"(q'N +99 (J% +3 "core" %A u v C\ U^ +2 "manipulator"&% +4 "core" % z u +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&D'\ +97 "core" ' +51 ' + ."downElevator"SE.stop + "storage"(5 +3 (d& +4 "core" &<6 Y Y\ +2 "collection"'& +4 "core" &]v\ R +2 #tStoring generic puck in Collection Clamp to tube 5 + "manipulator"&e% +4 "core" %\ 8 ' + "storage"(m% +4 "core" %D w v )\ + "storage"(c. +3 "core" .(<< +2 "storage"(& +4 "core" &<6 u p \ + "storage"(l& +4 "core" &<6 u p "\ +2 "manipulator"& & +3 "core" &D > +2 .tElbow.seek 5 + "manipulator"&( +20 "core" ( + "manipulator"&j& +4 "core" & _  +2 "storage"(& +4 "core" &<6 v v c\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&>' +101 "core" ' +2 "storage"(V& +4 "core" &<6 k n \ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(G'e +276 "core" ' + "storage"(U- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&K& +3 "core" &  +2 "storage"(S& +3 "core" &<6 { q \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 + "manipulator"&W'/ +29 "core" ' +2 .tElbow.hold + "manipulator"&R, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(- +2 "core" -' +3 .tSE.seek 0.12 Pucks below Top Plate + "storage"(g'o +27 "core" ' +2 "manipulator"&{% +4 "core" %?h  + "storage"(v& +4 "core" &<6 B B \ + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 5 + 316 counts + "manipulator"&,'k +16 "core" ' +2 "manipulator"&& +4 "core" &$ O i s u + "storage"(& +4 "core" &<6 y 6\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&#' +17 "core" ' +2 .tSE.seek 1.12 Pucks below Top Plate +2 "storage"(A'^ +40 "core" ' +2 "manipulator"&& +5 "core" &$ o q  u + "manipulator"&*% +4 "core" % o o 1 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +53 .tForearm.seek :retract +2 "manipulator"& '\ +94 "core" ' +2 .tElbow.seek CC +2 "manipulator"&h( +156 "core" ( + "manipulator"&r& +4 "core" &$ F << +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &<& +3 "core" &%  << +2 .tForearm.seek CC +2 "manipulator"&x'| +94 "core" ' +2 .tHand.close + "manipulator"&0/ +63 "core" / +2 .tCC.seek :open +2 "collection"'%(p +410 "core" ( + "storage"(I& +5 "core" &<6 I\ + "storage"(-& +4 "core" &<6 +\ + "manipulator"&o& +4 "core" &\ $  ;4 + "manipulator"&^% +4 "core" % y q  +2 .tForearm.seek :retract +2 "manipulator"&:'\ +97 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 + "manipulator"&s( +156 "core" ( + "manipulator"& & +5 "core" & t + "storage"(P& +4 "core" &<6 W\ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 5 + "manipulator"&z'/ +111 "core" ' + .tElbow.hold +2 "manipulator"&O, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&1 +56 "core" 1 +2 "manipulator"&\\% +4 "core" % B f + "storage"(M& +4 "core" &<6 | y 1\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 319 counts + "manipulator"&''n +18 "core" ' + "manipulator"&& +5 "core" &1 O g Z  + "storage"(b& +4 "core" &<6 Q\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&`' +18 "core" ' +2 "storage"(}% +4 "core" %c k\ +2 ."downElevator"SE.seek :down +3 "storage"(9'N +100 (;% +2 "core" %; M\ U\\ +2 "manipulator"&6% +4 "core" % r q  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&3'\ +95 "core" ' +43 ' + ."downElevator"SE.stop +2 "storage"(5 +2 #tShuffling pucks in tube 6 of [5..7] +2 #Loading generic puck from tube 6 into Collection Clamp + "collection"'7& +5 "core" &ps\ + "manipulator"&E% +4 "core" %\ 4 %y +2 "storage"(t% +4 "core" %A 5\ + "storage"(\ . +3 "core" .(<< +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 6 + "storage"([(K +355 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (y& +3 "core" &K i l \  + "manipulator"&& +4 "core" &1  +2 .tElbow.seek 6 +2 "manipulator"&8( +14 "core" ( + "manipulator"&(& +4 "core" & Q  +2 "storage"(& +4 "core" &K \\\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&.'< +92 "core" ' + "storage"($& +4 "core" &K u\  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(T'e +282 "core" ' + "storage"(_- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 ( & +3 "core" &K /\  +2 "manipulator"&&& +3 "core" & q p   +2 .tElbow.seek 6 + "manipulator"&w( +4 "core" ( + "manipulator"&& +4 "core" & z r *  + "storage"(|& +4 "core" &K \  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&N'Ϧ +22 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +62 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&L& + "storage"(X'N +7 "core" & n p  + "manipulator"&"% +4 "core" % ϣ p p t +2 .tForearm.seek :retract +2 "manipulator"&'\ +89 "core" ' +2 .tElbow.seek CC +2 "manipulator"&2( +153 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +6 "core" ( + "manipulator"&/& +5 "core" &, j Bi + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &!& +3 "core" &,  Bi +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&'| +104 "core" ' + "manipulator"&1& +4 "core" &+ % Ae +2 "manipulator"&n% +4 "core" %σ  +2 "collection"'& +4 "core" &pu\ +2 "collection"'& +4 "core" &qr\ +2 .tCC.seek :closed +4 "collection"'5(] +3 "core" &st\ +6 &qs\ 7 +9 &Hsq\ 0 +10 &@spq\ E +9 &eqr\ M +9 &_rq\ L +10 &n_pt\ L +9 & 0bps\ L +9 &!epr\ M +10 &#brq\ L +9 &%u_qs\ M +10 &'8cqq\ L +9 &(\\rr\ L +9 &*]qr\ M +10 &,}`ps\ M +9 &.?aos\ M +9 &0aps\ L +10 &1csq\ M +9 &3]qt\ L +10 &5I`qs\ L +9 &7 bsr\ M +9 &8_qt\ L +10 &:aqs\ M +9 &cnt\ M +10 &?bpt\ M +9 &Aaqr\ L +10 &CW_ps\ M +9 &E_qr\ M +9 &F_or\ L +10 &Hjkp\ N +9 &JWy`i\ O +9 &L.\ S +10 &M\ V +9 &O\ W +10 &QH\ W +9 &S py\ X +9 &Tch\ X +10 &VRV\ Y +9 &XIAI\ Z +10 &Z 2:\ Z +9 &[(\ Z +9 &])N\ 3 +10 &]\ V +8 ( +3 "collection"'& +3 #tCollection Clamp onSpring/offSpring for 9/26 samples, on/off torque 2.03 +2 .Hand.open + "manipulator"&@1 +3 "core" &]k\ S +55 1 +2 "manipulator"&]% +4 "core" % w I +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&Q'\ +91 "core" ' +2 #tLoading generic puck from tube 6 into Processing Clamp + "processing"%i& +4 "core" &0\ +2 "manipulator"&% +4 "core" %\ ) ^ G + "storage"(k% +4 "core" %K u v b\ + "storage"(f. +3 "core" .(K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 + "storage"(~(K +3 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (& +4 "core" &K = 8 z\  + "manipulator"&+& +4 "core" & ( ?V +2 "manipulator"&a% +3 "core" %\ ) G +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 + "manipulator"&( +161 "core" ( + "manipulator"&Z& +5 "core" &  + "storage"(B& +4 "core" &K g h j\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"& '< +103 "core" ' + "storage"(H& +5 "core" &K \  + .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(C'e +280 "core" ' +2 "storage"(J- +3 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (& +3 "core" &K k ~ 2\  +2 "manipulator"&F& +3 "core" & p p  +2 .tElbow.seek 6 + "manipulator"&p( +3 "core" ( +2 "manipulator"&& +4 "core" & s x \  + "storage"(& +4 "core" &K w ,\  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&d'Ϧ +27 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&u/ +58 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"(e'N +7 "core" & p o \  +2 "manipulator"&m% +4 "core" % Ϫ p o +2 .tForearm.seek :retract + "manipulator"&c'\ +90 "core" ' +2 .tElbow.seek PC +2 "manipulator"&(c +177 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +55 "core" ( +2 "manipulator"&4& +4 "core" &g  P + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &l& +3 "core" &g P +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"& '[ +101 "core" ' +2 "manipulator"&j& +4 "core" &g A P +2 "manipulator"&% +4 "core" %D # + "processing"%?& +4 "core" &\ +2 "processing"%V& +5 "core" &p\ +2 .tPC.seek :closed + "processing"%q(Z +4 "core" &\  +9 &2\ )w +10 &d\ > +9 &Dv\ N +9 &U\ M +10 &Z\ M +9 &X\ L +9 &!MZV\ M +10 &#W<\ M +9 &$U>\ M +10 &&Y\ M +9 &(VW6\ M +9 &*W<\ M +10 &+V4\ M +9 &-W5\ M +10 &/]Z>\ M +9 &1X7\ M +9 &2Yz\ M +10 &4W=\ M +9 &6eX;\ M +9 &8(Y'\ M +10 &9W9\ L +9 &;X\ M +9 &=nX2\ M +10 &?/Z1\ M +9 &@[0\ M +10 &BYO\ M +9 &DtY7\ M +9 &F5\\9\ N +10 &Gd[\ N +9 &Ir3\ P +9 &Km?\ R +63 &M+\ T +4 &N\ T +2 &P[\ S + &Rq>\ T + &T3U\ T + &U?\ T + &W|\ T +3 &YwW\ A +9 &Zw<\ \\ +9 &Z3R\ 4 +3 ( + "processing"%V& +3 #tProcessing Clamp onSpring/offSpring for 9/25 samples, on/off torque 1.66 +2 .Hand.open + "manipulator"&Y1 +60 "core" 1 + "manipulator"&D% +5 "core" % D + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&U'\ +98 "core" ' +2 "processing"%K& +4 "core" &Z4\ 4 +2 #tImaging generic puck in Processing Clamp while storing it to tube 6 + "manipulator"&S% +4 "core" %\ 3  %w + "storage"(% +4 "core" %Q \\ f\ +2 "storage"({. +3 "core" .(K +2 "storage"(v& +4 "core" &K f g\  +2 "storage"(& +2 "manipulator"&& +7 "core" &K Y Y\  + &g P +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +2 "storage"(#]kK-0-\ b +2 .tElbow.seek PC +4 "manipulator"&(c +3 ."raiseStack"SE.seek :beamBreak +3 "storage"(*'e +2 "core" ( +2 "manipulator"&>& +4 "core" &g P + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &g  P +2 .tForearm.seek PC + "manipulator"&G'[ +95 "core" ' + .tHand.close +2 "manipulator"&W/ +55 "core" / +2 .tPC.seek :open + "processing"%,(p +97 "core" ' +2 "storage"(g- +4 "core" -'e + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(r'B +35 "core" ' +248 ( +2 "storage"(<& +4 "core" &K x  7\  + "manipulator"&#& +4 "core" &g  P + "manipulator"&R% +4 "core" % g  +2 .tForearm.seek :retract +2 "manipulator"&0'\ +91 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 + "manipulator"& ( +242 "core" ( +2 "manipulator"&& +4 "core" & & A + "storage"(I& +4 "core" &K p u f\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&-'< +100 "core" ' + .tHand.open +2 "manipulator"&o1 +56 "core" 1 +2 "storage"(^- +4 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate + "storage"( ' +25 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(P' +50 "core" ' + #tLights, camera, ACTION! +2 "storage"(x- +3 "core" -' +2 "storage"(h& +3 "core" &K t\  +2 "manipulator"&& +4 "core" &  A + .tElbow.seek 6 +2 "manipulator"&\\( +3 "core" ( +2 "manipulator"&M& +4 "core" &  A + "storage"(& +4 "core" &K \  +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&b'< +19 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"(}'M +58 "core" ' +2 "manipulator"&:& +4 "core" & } { A + "storage"(;& +4 "core" &K }\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&6'z +32 "core" ' + .tElbow.hold +2 "manipulator"&s, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"(z'7 +24 "core" ' +2 "manipulator"&7% +4 "core" %΍h  O ö + "storage"(E& +5 "core" &K 4 8 a\  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 6 + 319 counts + "manipulator"&''Ϲ +16 "core" ' +2 "manipulator"&t& +4 "core" & z i ; % +2 "storage"(\ & +4 "core" &K \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&A'< +24 "core" ' +2 "storage"(`% +4 "core" %> \ +2 ."downElevator"SE.seek :down +4 "storage"(9'N +99 ()% +2 "core" %B v v \ Va +2 "manipulator"&y% +4 "core" %b o o +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +92 "core" ' +63 ' + ."downElevator"SE.stop +2 "storage"(5 +2 ((& +4 "core" &K Z d\  +2 "collection"'& +3 "core" &]j \ S +2 #tStoring generic puck in Collection Clamp to tube 6 + "manipulator"&$% +4 "core" %\ . #j + "storage"(O% +4 "core" %R u q \ +2 "storage"(3. +3 "core" .(K + "storage"(_& +4 "core" &K w v S\  +2 "storage"( & +4 "core" &K v v l\  + "manipulator"&&& +4 "core" & f % + .tElbow.seek 6 +2 "manipulator"&( +31 "core" ( + "manipulator"&|& +4 "core" & >  +2 "storage"(& +4 "core" &K } } \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&L'< +90 "core" ' +2 "storage"("& +4 "core" &K \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(8'e +278 "core" ' + "storage"(.- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&/& +3 "core" & U  + "storage"(!& +4 "core" &K f g \  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 + "manipulator"&T'z +31 "core" ' + .tElbow.hold + "manipulator"&N, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(1- +2 "core" -' +2 .tSE.seek 0.12 Pucks below Top Plate +2 "storage"(n's +29 "core" ' +2 "manipulator"&w% +4 "core" %΍e  1 µ + "storage"(& +4 "core" &K C C \  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 6 + 319 counts + "manipulator"&X'Ϲ +21 "core" ' + "manipulator"&& +4 "core" & z h  +2 "storage"(%& +4 "core" &K 9\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&@'< +17 "core" ' +2 .tSE.seek 1.12 Pucks below Top Plate + "storage"(]'b +41 "core" ' +2 "manipulator"&i& +4 "core" & o n  +2 "manipulator"&% +4 "core" %; q o  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&k'\ +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&f( +149 "core" ( +2 "manipulator"&& +4 "core" &% ! <@ + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &%  <@ +2 .tForearm.seek CC +2 "manipulator"&+'| +97 "core" ' + .tHand.close +2 "manipulator"&a/ +56 "core" / +2 .tCC.seek :open +2 "collection"'(p +410 "core" ( +2 "storage"(Z& +4 "core" &K \  + "storage"(B& +4 "core" &K \ \  + "manipulator"&[& +4 "core" &$ ;5 +2 "manipulator"&H% +3 "core" % ψ 6 +2 .tForearm.seek :retract +2 "manipulator"&2'\ +91 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&Q( +158 "core" ( + "manipulator"&J& +4 "core" & N  +2 "storage"(& +4 "core" &K H\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 6 +2 "manipulator"&F'z +109 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&1 +62 "core" 1 +2 "manipulator"&u% +4 "core" % ΅ 8 f c +2 "storage"(& +4 "core" &K l } A\  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 6 + 311 counts +2 "manipulator"&m'ϱ +11 "core" ' + "manipulator"&& +5 "core" & ] u A  + "storage"( & +4 "core" &K C\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&C'< +22 "core" ' + "storage"(d% +4 "core" %i \ +52 ."downElevator"SE.seek :down +3 "storage"(4'N +99 (l% +3 "core" %> J\ U\\ +2 "manipulator"&p% +4 "core" %# r p  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&j'\ +96 "core" ' +41 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 7 of [5..7] +2 #Loading generic puck from tube 7 into Collection Clamp + "collection"'& +4 "core" &qs\ +2 "manipulator"&?% +4 "core" %\ 3 %z + "storage"(e% +5 "core" %: 0\ + "storage"(c. +3 "core" .(K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 7 + "storage"(=([ +359 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (Y& +3 "core" &[ j k \  +2 "manipulator"&D& +4 "core" &  + .tElbow.seek 7 +2 "manipulator"&K( +22 "core" ( + "manipulator"&S& +5 "core" & x + "storage"(& +4 "core" &[ F\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&{'k +112 "core" ' +2 "storage"(v& +4 "core" &[ !\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(V'e +276 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +2 "core" &[ $\  +2 "manipulator"&>& +4 "core" & q q % x + .tElbow.seek 7 +2 "manipulator"&( +3 "core" ( +2 "manipulator"& & +4 "core" & ? d Y x + "storage"(W& +4 "core" &[ c\  +2 .tForearm.seek 7 + 300 counts + "manipulator"&g' +27 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +59 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&U& +2 "storage"(q'N +7 "core" & q q + x + "manipulator"&<% +4 "core" % o p +2 .tForearm.seek :retract +2 "manipulator"&#'\ +93 "core" ' +2 .tElbow.seek CC +2 "manipulator"&R( +152 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +3 "core" ( + "manipulator"&*& +5 "core" && 4 =E + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &G& +3 "core" && ~ =E +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&'| +100 "core" ' + "manipulator"&I& +5 "core" && g =D + "manipulator"&% +4 "core" %l +2 "collection"'o& +4 "core" &ps\ +2 "collection"'^& +5 "core" &rr\ +2 .tCC.seek :closed +3 "collection"'x(] +3 "core" &os\ +6 &?or\ $e +10 &lWps\ 7 +9 &or\ L +9 &]qr\ M +10 &F_pr\ M +9 & ]pt\ L +9 & _rs\ L +10 &"^rs\ M +9 &$O]ps\ L +10 &&_qs\ L +9 &'`rs\ L +9 &)^qr\ L +10 &+V\\qs\ M +9 &-_pr\ M +9 &.bos\ L +10 &0_qs\ L +9 &2__qq\ L +10 &4!_pq\ L +9 &5`ss\ M +9 &7_qt\ L +10 &9h\\qs\ L +9 &;)`qq\ L +9 &<`qr\ L +10 &>[qs\ M +9 &@n`rs\ M +10 &B0_pq\ M +9 &C]pq\ L +9 &E^qt\ M +10 &Gv^or\ M +9 &I4gmo\ N +9 &Jx^h\ P +10 &L/\ S +9 &Nc\ V +9 &P$\ V +10 &Q\ W +9 &St}\ W +10 &Uccj\ Y +9 &W'T\\\ X +9 &XIL\ Z +10 &Z7=\ Z +9 &\\f"-\ G +9 &]c8\ (w +10 &]Y\ B +2 ( +2 "collection"'^& +3 #tCollection Clamp onSpring/offSpring for 10/26 samples, on/off torque 1.99 + .Hand.open +2 "manipulator"&h1 +56 "core" 1 +2 "manipulator"&% +4 "core" % l v +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&M'\ +91 "core" ' +2 #tLoading generic puck from tube 7 into Processing Clamp + "processing"%& +4 "core" &\ +2 "manipulator"&0% +4 "core" %\ + B !S + "storage"(:% +4 "core" %A } } \ +2 "storage"(;. +3 "core" .([ + "storage"(r& +4 "core" &[ } } \  + "storage"(7& +4 "core" &[ } } \  + "manipulator"&E& +4 "core" &# $ ;3 +2 "manipulator"& % +4 "core" %\ + & !S +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 7 + "manipulator"&t( +157 "core" ( +2 "manipulator"&\ & +4 "core" & w  + "storage"(`& +4 "core" &[ +\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"& 'k +95 "core" ' +2 "storage"(-& +4 "core" &[ \  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(P'e +281 "core" ' +2 "storage"()- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (y& +2 "core" &[ k >\  +2 "manipulator"&b& +4 "core" &   + .tElbow.seek 7 +2 "manipulator"&\\( +3 "core" ( +2 "manipulator"&}& +3 "core" & /  +2 "storage"(6& +4 "core" &[ \  +2 .tForearm.seek 7 + 300 counts + "manipulator"&'' +16 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&(/ +62 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& +2 "storage"($'N +7 "core" &   +2 "manipulator"&O% +4 "core" %   +2 .tForearm.seek :retract + "manipulator"&3'\ +94 "core" ' +2 .tElbow.seek PC + "manipulator"&z(c +160 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +86 "core" ( + "manipulator"&_& +4 "core" &d  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 & & +3 "core" &d +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&&'[ +105 "core" ' +2 "manipulator"&|& +4 "core" &d +2 "manipulator"&% +4 "core" %Z +6 "processing"%A& +4 "core" &\\\ +2 "processing"%"& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%9(Z +4 "core" &\  +8 &21\ *x +10 &d\ > +9 &GvC\ N +9 &\ UL\ M +10 &Y\ M +9 &YW\ L +9 &!RZ\ L +10 &#W\ L +9 &$Y6\ L +9 &&]Y\ M +10 &(YV\ M +9 &*YL\ L +10 &+Y6\ L +9 &-Y>\ M +9 &/aZ6\ M +10 &1"\\:\ M +9 &2Z8\ M +9 &4X8\ M +10 &6h[:\ M +9 &8+Y7\ M +10 &9W4\ M +9 &;X8\ M +9 &=q\\8\ M +10 &?2[9\ M +9 &@[6\ M +9 &BYA\ M +10 &DyY7\ M +9 &F:[B\ M +10 &Gf:\ N +9 &Iq?\ P +9 &Kr9\ R +10 &M/6\ S +9 &NB\ T +9 &P=\ S +10 &RtB\ T +9 &T6B\ T +10 &U;\ T +9 &W9\ T +9 &Yy4\ B +10 &Zw9F\ ` +9 &ZC\ ) +2 ( +2 "processing"%"& +3 #tProcessing Clamp onSpring/offSpring for 9/25 samples, on/off torque 1.64 + .Hand.open + "manipulator"&s1 +61 "core" 1 + "manipulator"&% +4 "core" % Z > +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&.'\ +99 "core" ' +2 "processing"%/& +4 "core" &Z\ ) +2 #tImaging generic puck in Processing Clamp while storing it to tube 7 + "manipulator"&!% +4 "core" %\ 5 & + "storage"(1% +4 "core" %J v v c\ + "storage"(w. +3 "core" .([ +2 "storage"(& +4 "core" &[ s j Q\  +2 "storage"(& +2 "manipulator"&%& +7 "core" &[ w v \\\  + &d +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +3 "storage"(#]kK-0-\ b + "manipulator"&i(c +6 ."raiseStack"SE.seek :beamBreak +2 "storage"('e +2 "core" ( +2 "manipulator"&L& +4 "core" &d + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &d +2 .tForearm.seek PC + "manipulator"&8'[ +95 "core" ' + .tHand.close +2 "manipulator"&T/ +55 "core" / + .tPC.seek :open +2 "processing"%X(p +94 "core" ' +2 "storage"(n- +3 "core" -'e + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('B +39 "core" ' +245 ( + "storage"(& +4 "core" &[ \  +2 "manipulator"&@& +4 "core" &d  + "manipulator"&N% +4 "core" % ]  +2 .tForearm.seek :retract + "manipulator"&a'\ +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 7 +2 "manipulator"&k( +259 "core" ( +2 "manipulator"&5& +4 "core" & \ + "storage"(Z& +55 "core" &[ w u 9\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&B'k +93 "core" ' +2 .tHand.open + "manipulator"&[1 +57 "core" 1 +2 "storage"(H- +3 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate +2 "storage"(J' +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.83 Pucks below Top Plate + "storage"(' +53 "core" ' +2 #tLights, camera, ACTION! + "storage"(+- +4 "core" -' + "storage"(f& +4 "core" &[\ \  d\  +2 "manipulator"&& +4 "core" &  \ + .tElbow.seek 7 +2 "manipulator"&u( +8 "core" ( +2 "manipulator"&& +4 "core" &  +2 "storage"(& +4 "core" &[\ \  R\  +2 .tForearm.seek 7 + 450 counts +2 "manipulator"& 'k +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.11 Pucks below Top Plate + "storage"(d'M +59 "core" ' + "manipulator"&2& +5 "core" & N + "storage"(Q& +4 "core" &[ U\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 7 +2 "manipulator"&l'Ω +35 "core" ' + .tElbow.hold +2 "manipulator"&p, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"(F'7 +22 "core" ' +2 "manipulator"&m% +4 "core" %ζk \\ · +2 "storage"(& +4 "core" &[ [ [\  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 7 + 313 counts + "manipulator"&?' +17 "core" ' + "manipulator"&e& +5 "core" & j P b + "storage"(c& +4 "core" &[ Y\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&]'k +15 "core" ' +2 "storage"(C% +4 "core" %A 8\  +2 ."downElevator"SE.seek :down +3 "storage"(4'N +99 (~% +4 "core" %D \ V^ +2 "manipulator"&Y% +4 "core" %^ p o  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&D'\ +91 "core" ' +57 ' + ."downElevator"SE.stop + "storage"(5 +3 (S& +4 "core" &[ | k +\  + "collection"'& +4 "core" &]]\ B +2 #tStoring generic puck in Collection Clamp to tube 7 + "manipulator"&v% +4 "core" %\ 1 $o +2 "storage"(% +4 "core" %B \ + "storage"(j. +3 "core" .([ +2 "storage"(& +4 "core" &[ \  + "storage"(& +4 "core" &[ \  +2 "manipulator"&>& +4 "core" & + .tElbow.seek 7 +2 "manipulator"& ( +3 "core" ( +2 "manipulator"&W& +3 "core" & +2 "storage"(& +4 "core" &[ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&U'k +98 "core" ' + "storage"(<& +5 "core" &[ S\  + .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(K'e +283 "core" ' +2 "storage"({- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&*& +2 "core" & \ +2 "storage"(G& +4 "core" &[ -\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 7 + "manipulator"&V'Ω +32 "core" ' + .tElbow.hold +2 "manipulator"&g, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(I- +3 "core" -' +2 .tSE.seek 0.12 Pucks below Top Plate +2 "storage"('p +41 "core" ' + "manipulator"&o% +5 "core" %θr  L & + "storage"(& +4 "core" &[ \\ Z\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 7 + 315 counts + "manipulator"&q' +21 "core" ' +2 "manipulator"&#& +4 "core" & u \\  +2 "storage"(& +4 "core" &[ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&h'k +18 "core" ' +2 .tSE.seek 1.12 Pucks below Top Plate + "storage"('_ +50 "core" ' +2 "manipulator"&& +4 "core" & p q  +2 "manipulator"&0% +3 "core" %d p p  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&:'\ +88 "core" ' + .tElbow.seek CC +2 "manipulator"&;( +153 "core" ( +2 "manipulator"&r& +4 "core" &(  ;7 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &7& +3 "core" &(  ;7 +2 .tForearm.seek CC + "manipulator"&E'| +97 "core" ' +2 .tHand.close + "manipulator"&^/ +52 "core" / +2 .tCC.seek :open +2 "collection"' (p +413 "core" ( +2 "storage"(& +4 "core" &[ \  + "storage"(\ & +4 "core" &[ \  + "manipulator"&`& +4 "core" & 7 + "manipulator"&-% +4 "core" %  u  +2 .tForearm.seek :retract +2 "manipulator"&R'\ +99 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 7 +2 "manipulator"&M( +153 "core" ( + "manipulator"&)& +4 "core" & ~ +2 "storage"(y& +4 "core" &[ 4\  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 7 +2 "manipulator"&b'Ω +107 "core" ' +2 .tElbow.hold + "manipulator"&}, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&61 +58 "core" 1 +2 "manipulator"&(% +4 "core" % θ \ y +2 "storage"(& +4 "core" &[ \  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 7 + 315 counts +2 "manipulator"&O' +20 "core" ' +2 "manipulator"&t& +4 "core" & a x 6 + "storage"( & +4 "core" &[ \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&P'k +16 "core" ' +2 "storage"('% +4 "core" %e 9\ +2 ."downElevator"SE.seek :down +4 "storage"(_'N +98 ( % +3 "core" %hA H\ U] +2 "manipulator"&\\% +4 "core" %a q q  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&|'\ +87 "core" ' +52 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 5 of [5..7] + #Loading generic puck from tube 5 into Collection Clamp +2 "collection"'& +4 "core" &rq\ +2 "manipulator"&A% +4 "core" %\ *  !P + "storage"($% +4 "core" %: L\ +2 "storage"(3. +3 "core" .([ +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"(,(<< +681 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (s& +3 "core" &<> f g \ + "manipulator"&& +4 "core" & 1 +2 .tElbow.seek 5 + "manipulator"&/( +21 "core" ( + "manipulator"&!& +5 "core" & < f + "storage"(1& +4 "core" & +9 &Gyqq\ M +10 & ]pt\ L +9 &`qr\ M +9 &_rs\ L +10 &!Q^oq\ L +9 &#cos\ M +9 &$`qr\ M +10 &&aqt\ M +9 &(Z]qs\ L +10 &*`rs\ L +9 &+aqs\ M +9 &-_ps\ L +10 &/`^rr\ M +9 &1#cos\ L +9 &2^ps\ L +10 &4\\pr\ L +9 &6j[rt\ L +9 &8+aps\ L +10 &9_os\ L +9 &;\\qr\ L +10 &=p`qs\ M +9 &?4[qs\ L +9 &@bns\ L +10 &B\\os\ L +9 &Dz]st\ L +10 &F:aor\ M +9 &Geoo\ M +9 &Iqjm\ O +10 &Kt<V\ Q +9 &M)\ U +9 &N\ W +10 &P\ W +9 &Rhz~\ X +9 &T+gn\ W +10 &UY_\ Y +9 &WMQ\ Y +10 &Yg;D\ [ +9 &[#-4\ ] +9 &\\$\ 3 +10 &]&\ !b +9 ( +2 "collection"'H& +3 #tCollection Clamp onSpring/offSpring for 8/25 samples, on/off torque 2.02 +2 .Hand.open + "manipulator"&f1 +4 "core" &]k\ R +58 1 + "manipulator"&% +5 "core" % σ S +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +97 "core" ' + #tLoading generic puck from tube 5 into Processing Clamp +2 "processing"%& +4 "core" &\ + "manipulator"&a% +4 "core" %\ 1  $s +2 "storage"(2% +4 "core" %Q u v {\ \ + "storage"(Q. +3 "core" .(<< +2 "storage"(& +3 "core" &<< u p \ +2 "storage"(m& +4 "core" &<< t v S\ +2 "manipulator"&& +3 "core" &) W @Z +2 "manipulator"&J% +4 "core" %\ 1 _ $s + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&e( +166 "core" ( +2 "manipulator"&c& +4 "core" & @ +2 "storage"(C& +4 "core" &<< n j o\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&k' +101 "core" ' + "storage"(B& +4 "core" &<< \ +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"('e +280 "core" ' + "storage"(~- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (Y& +3 "core" &<9 w | z\ + "manipulator"& & +4 "core" &  @ +2 .tElbow.seek 5 + "manipulator"&u( +3 "core" ( +2 "manipulator"&d& +3 "core" &  @ +2 "storage"(l& +4 "core" &<9 f f O\ +2 .tForearm.seek 5 + 300 counts + "manipulator"&S'[ +10 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&?/ +61 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"(v'N +7 "core" & S @ +2 "manipulator"&% +4 "core" % ]  : +2 .tForearm.seek :retract + "manipulator"&j'\ +93 "core" ' +2 .tElbow.seek PC +2 "manipulator"&(c +153 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +86 "core" ( + "manipulator"&F& +4 "core" &k  T +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &k T +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek PC + "manipulator"&>'[ +103 "core" ' +2 "manipulator"&W& +4 "core" &k s T +2 "manipulator"&% +4 "core" %\\ r +2 "processing"%]& +4 "core" &<\ +2 "processing"%<& +6 "core" &\ +2 .tPC.seek :closed +2 "processing"%4(Z +3 "core" &;\ +9 &AG\ $d +9 &tW~\ 7 +9 &}F\ L +10 &YC\ M +9 &LXC\ L +9 & YE\ M +10 & YD\ M +9 &"W2\ M +9 &$R]7\ M +10 &&Y\ L +9 &'Y\ M +10 &)W\ M +9 &+[W\ M +9 &-]\ M +10 &.[d\ M +9 &0YT\ L +10 &2cZ9\ M +9 &4&XC\ L +9 &5YC\ M +10 &7WC\ M +9 &9kY?\ M +9 &;-WB\ M +10 &<Y?\ L +9 &>\\=\ M +9 &@sZ?\ M +10 &B4Y@\ M +9 &CY7\ L +10 &E[7\ M +9 &Gwc9\ N +9 &I6j@\ O +10 &Jx:\ Q +9 &L=\ T +10 &Nm@\ T +9 &P16\ S +9 &Q9\ S +10 &SC\ T +9 &UuE\ T +9 &W5D\ U +10 &X:\ U +9 &ZQIh6\ (u +9 &Z/:\ + +6 ( + "processing"%<& +5 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.60 + .Hand.open + "manipulator"&p1 +4 "core" &Z?\ + +52 1 + "manipulator"&D% +5 "core" % [ M + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&{'\ +95 "core" ' +2 "processing"%*& +4 "core" &Z\ + +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 + "manipulator"&G% +4 "core" %\ 3 ! %v + "storage"(I% +4 "core" %F v v R\ +2 "storage"(o. +3 "core" .(<< + "storage"(& +4 "core" &<9 Z d Y\ +2 "storage"(#& +4 "manipulator"&& +4 "core" &<9 c \\\ + &k @ T +3 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +3 "storage"(#]kK-0-\ b +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +3 "manipulator"&(c +2 ."raiseStack"SE.seek :beamBreak +3 "storage"(0'e +2 "core" ( +2 "manipulator"&U& +4 "core" &k 3 T + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 & & +3 "core" &k T +2 .tForearm.seek PC + "manipulator"&K'[ +95 "core" ' + .tHand.close +2 "manipulator"&V/ +61 "core" / +2 .tPC.seek :open + "processing"%q(p +92 "core" ' +2 "storage"(- +3 "core" -'e + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place + "storage"(r'B +35 "core" ' +255 ( +2 "storage"(7& +4 "core" &<9 m y =\ + "manipulator"&h& +4 "core" &k  T + "manipulator"&g% +4 "core" % \\  +2 .tForearm.seek :retract +2 "manipulator"&^'\ +95 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 + "manipulator"&:( +254 "core" ( + "manipulator"&x& +4 "core" & F ' +2 "storage"(& +3 "core" &<9 v v O\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&\ ' +96 "core" ' + .tHand.open +2 "manipulator"&`1 +58 "core" 1 +2 "storage"(-- +3 "core" -'B +3 .tSE.seek -0.16 Pucks below Top Plate + "storage"()' +26 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(y' +55 "core" ' + #tLights, camera, ACTION! +2 "storage"(E- +3 "core" -' +2 "storage"(;& +3 "core" &<7 a\ +2 "manipulator"&6& +4 "core" & & + .tElbow.seek 5 +2 "manipulator"&(( +4 "core" ( + "manipulator"&& +4 "core" &  & + "storage"(t& +4 "core" &<7 Q\ +2 .tForearm.seek 5 + 450 counts +2 "manipulator"& ' +3 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.11 Pucks below Top Plate + "storage"(''M +57 "core" ' + "manipulator"&R& +5 "core" & 5 & + "storage"( & +4 "core" &<7 }  R\ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 + "manipulator"&\\'/ +31 "core" ' + .tElbow.hold +2 "manipulator"&M, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"(b'7 +26 "core" ' + "manipulator"&% +5 "core" %;s ~ ( + "storage"(A& +4 "core" &<7 E F \ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 312 counts + "manipulator"&O'g +17 "core" ' +2 "manipulator"&$& +5 "core" &J\ { v S R + "storage"(3& +5 "core" &<7 \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&' +68 "core" ' +2 "storage"(P% +4 "core" %7 \ +2 ."downElevator"SE.seek :down +4 "storage"(_'N +99 (=% +2 "core" %@ u q n\ V_ +2 "manipulator"&s% +4 "core" % r y  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +94 "core" ' +58 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (!& +4 "core" &<7 X m\ +2 "collection"'1& +4 "core" &]j\ R +2 #tStoring generic puck in Collection Clamp to tube 5 + "manipulator"&% +4 "core" %\ 3  %} + "storage"(}% +4 "core" %L q t F\ +2 "storage"(|. +3 "core" .(<< +2 "storage"(%& +3 "core" &<7 v w B\ +2 "storage"(& +4 "core" &<7 u q +\ + "manipulator"&L& +4 "core" &J\ R +2 .tElbow.seek 5 + "manipulator"&&( +41 "core" ( + "manipulator"&T& +4 "core" & "} +2 "storage"(z& +4 "core" &<7 v v \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&.' +95 "core" ' + "storage"(& +4 "core" &<7 w v\ +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(/'e +280 "core" ' + "storage"(w- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&"& +3 "core" &  "| +2 "storage"(& +4 "core" &<7 t n \ + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&8'/ +33 "core" ' + .tElbow.hold +2 "manipulator"&n, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(Z- +2 "core" -' +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(i'n +27 "core" ' + "manipulator"&[% +5 "core" %2Z  @ Ų + "storage"(& +4 "core" &<7 B 8 \ + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 303 counts + "manipulator"&9'^ +14 "core" ' + "manipulator"&@& +4 "core" &C a r  8 +2 "storage"( & +4 "core" &<7 _\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&f' +13 "core" ' +2 .tSE.seek 1.11 Pucks below Top Plate +2 "storage"('] +47 "core" ' +2 "manipulator"&& +4 "core" &C r y > 8 +2 "manipulator"&a% +4 "core" % s o  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&2'\ +87 "core" ' +2 .tElbow.seek CC +2 "manipulator"&Q( +157 "core" ( + "manipulator"&& +5 "core" &,  Bl + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &H& +2 "core" &, s Bl +2 .tForearm.seek CC +2 "manipulator"&m'| +95 "core" ' + .tHand.close + "manipulator"&/ +60 "core" / +2 .tCC.seek :open + "collection"'J(p +411 "core" ( +2 "storage"(5& +4 "core" &<7 \ + "storage"(c& +4 "core" &<7 \ + "manipulator"&C& +4 "core" &&' >J + "manipulator"&B% +4 "core" % j  +2 .tForearm.seek :retract +2 "manipulator"&N'\ +91 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&( +167 "core" ( + "manipulator"&~& +4 "core" & x > +2 "storage"(Y& +4 "core" &<7 6\ + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 5 +2 "manipulator"& '/ +109 "core" ' + .tElbow.hold +2 "manipulator"&d, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&l1 +52 "core" 1 +2 "manipulator"&?% +4 "core" % B 7 H d +2 "storage"(& +4 "core" &<7 f g u\ + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 319 counts +2 "manipulator"&'n +19 "core" ' + "manipulator"&e& +4 "core" &< x g 6  +2 "storage"(k& +4 "core" &<7 y\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&' +10 "core" ' +2 "storage"(S% +4 "core" %] a\ +2 ."downElevator"SE.seek :down +4 "storage"(F'N +98 (% +3 "core" %[? z\ U] +2 "manipulator"&u% +4 "core" % r p  0 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&W'\ +94 "core" ' +45 ' +2 ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 6 of [5..7] + #Loading generic puck from tube 6 into Collection Clamp +2 "collection"'& +4 "core" &qs\ +2 "manipulator"&]% +4 "core" %\ 8 ' + "storage"(v% +4 "core" %> %\ +2 "storage"(j. +3 "core" .(<< +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 + "storage"(X(K +357 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (p& +3 "core" &K l } =\  + "manipulator"&D& +4 "core" &<  +2 .tElbow.seek 6 + "manipulator"&*( +17 "core" ( + "manipulator"&G& +5 "core" & }  + "storage"(I& +4 "core" &K \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&o'< +103 "core" ' + "storage"(& +5 "core" &K ?\  + .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"('e +282 "core" ' + "storage"(#- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (<& +3 "core" &K 4\  + "manipulator"&U& +4 "core" & p o \  +2 .tElbow.seek 6 + "manipulator"& ( +3 "core" ( +2 "manipulator"&>& +4 "core" & v q   + "storage"(V& +4 "core" &K X\  +2 .tForearm.seek 6 + 300 counts + "manipulator"&'Ϧ +21 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +53 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&{& +2 "storage"(4'N +8 "core" & *  + "manipulator"&7% +4 "core" % ϥ R +2 .tForearm.seek :retract +2 "manipulator"&h'\ +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"&0( +148 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +4 "core" ( + "manipulator"&g& +4 "core" &$  ;3 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &K& +3 "core" &$ w ;3 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&x'| +102 "core" ' +2 "manipulator"&& +4 "core" &$  ;2 + "manipulator"&% +4 "core" % C +2 "collection"'`& +4 "core" &or\ +2 "collection"'-& +5 "core" &or\ +2 .tCC.seek :closed +2 "collection"'E(] +4 "core" &qq\ +8 &>pt\ $e +9 &oVor\ 7 +10 &or\ L +9 &]rr\ L +9 &G_qr\ L +10 &\\pq\ M +9 & \\ot\ M +10 &"`pr\ L +9 &$P]ps\ L +9 &&_rs\ M +10 &'\\qr\ L +9 &)]qr\ M +9 &+V^qr\ M +10 &-^qt\ M +9 &.\\ot\ L +10 &0^ps\ L +9 &2_^sr\ L +9 &4 aps\ M +10 &5]rs\ L +9 &7[qu\ L +9 &9gZqr\ L +10 &;)_qt\ L +9 &<`pt\ L +9 &>`qr\ L +10 &@o_or\ L +9 &B0`rr\ M +10 &C_ps\ M +9 &E`rs\ L +9 &Gwapp\ L +10 &I4mkm\ N +9 &JR`\ Q +10 &L\ U +9 &Nb\ V +9 &P#\ V +10 &Q\ W +9 &Snw\ X +9 &Uc^h\ Y +10 &W%PV\ X +9 &XAI\ Z +9 &Z/:\ Z +10 &\\`#$\ G +9 &]k?\ "f +10 &]\ P +5 ( +2 "collection"'-& +4 #tCollection Clamp onSpring/offSpring for 9/26 samples, on/off torque 2.01 + .Hand.open +2 "manipulator"&;1 +3 "core" &]g\ P +49 1 + "manipulator"&6% +5 "core" % y , + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +91 "core" ' +2 #tLoading generic puck from tube 6 into Processing Clamp + "processing"%t& +5 "core" &6\ + "manipulator"&^% +4 "core" %\ & < A + "storage"(R% +4 "core" %: p z 8\ + "storage"( . +3 "core" .(K +2 "storage"(& +4 "core" &K t r [\  + "storage"(r& +4 "core" &K v p O\  + "manipulator"&A& +4 "core" &# * :, + "manipulator"&$% +4 "core" %\ &  A +2 .tElbow.reconfigure :tight +52 "manipulator"&$&.,(\ #b +4 .tElbow.seek 6 + "manipulator"&)( +163 "core" ( +2 "manipulator"&3& +4 "core" &   +2 "storage"(:& +3 "core" &K \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&P'< +93 "core" ' + "storage"(\ & +5 "core" &K \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(y'e +281 "core" ' + "storage"( - +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (=& +3 "core" &K n t \  + "manipulator"&s& +4 "core" &   +2 .tElbow.seek 6 + "manipulator"&(( +4 "core" ( + "manipulator"&'& +4 "core" & b B  + "storage"(\\& +4 "core" &K w '\  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&O'Ϧ +22 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&!/ +52 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&1& +2 "storage"('N +8 "core" & p q   +2 "manipulator"&}% +4 "core" % ϝ p q +2 .tForearm.seek :retract +2 "manipulator"&|'\ +89 "core" ' +2 .tElbow.seek PC + "manipulator"&b(c +161 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +73 "core" ( +2 "manipulator"&%& +4 "core" &c } , L + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &c L +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&L'[ +105 "core" ' +2 "manipulator"&T& +4 "core" &c v h [ L +2 "manipulator"&z% +4 "core" %T p p  q +2 "processing"%& +4 "core" &\ +2 "processing"%& +5 "core" &\ +2 .tPC.seek :closed + "processing"%_(Z +5 "core" &9\ +7 & 2G\ #b +10 &`W:\ 7 +9 &~B\ L +9 &uYD\ M +10 &7Z5\ M +9 &W7\ L +10 & [9\ M +9 &"}YC\ M +9 &$@W=\ L +10 &&ZD\ L +9 &'XC\ M +9 &)\\\ L +10 &+GW\ M +9 &- ^\ M +9 &.\\\ M +10 &0[\ M +9 &2O^H\ M +10 &4]{\ M +9 &5[=\ M +9 &7WC\ M +10 &9XW;\ L +9 &;ZS\ M +9 &<Z<\ L +10 &>\\A\ M +9 &@`[C\ L +10 &B!ZC\ M +9 &C]B\ M +9 &E]>\ M +10 &Gdc6\ N +9 &I"m@\ O +9 &JC\ Q +10 &LC\ S +9 &NZ8\ T +10 &P?\ S +9 &Q<\ T +9 &SB\ T +10 &Ub<\ T +9 &W$:\ T +9 &X8\ T +10 &Z>Ij@\ )y +9 &Z <:\ * +6 ( + "processing"%& +5 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.61 + .Hand.open + "manipulator"&M1 +4 "core" &Z;\ * +58 1 + "manipulator"&% +5 "core" % T } ( q + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&w'\ +91 "core" ' + "processing"%"& +4 "core" &Z\ * +2 #tImaging generic puck in Processing Clamp while storing it to tube 6 +2 "manipulator"&% +4 "core" %\ + x !P + "storage"(Z% +4 "core" %8 v v j\ + "storage"([. +3 "core" .(K +2 "storage"(& +4 "core" &K t q I\  +2 "storage"(@& +2 "manipulator"& & +7 "core" &K v v `\  + &c L +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +2 "storage"(#]kK-0-\ b +2 .tElbow.seek PC +4 "manipulator"&(c +4 ."raiseStack"SE.seek :beamBreak +2 "storage"(a'e +2 "core" ( +2 "manipulator"&.& +4 "core" &c L + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &&& +2 "core" &c Y L +2 .tForearm.seek PC +2 "manipulator"&/'[ +95 "core" ' +2 .tHand.close + "manipulator"&8/ +63 "core" / +2 .tPC.seek :open + "processing"%9(p +84 "core" ' + "storage"(i- +3 "core" -'e +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('B +33 "core" ' +265 ( +2 "storage"(H& +4 "core" &K z \  + "manipulator"&f& +4 "core" &c ' L +2 "manipulator"&n% +4 "core" % _ =  +2 .tForearm.seek :retract + "manipulator"&'\ +91 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 + "manipulator"&2( +253 "core" ( +2 "manipulator"&+& +4 "core" & W "z + "storage"(5& +4 "core" &K p t K\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts + "manipulator"&c'< +95 "core" ' +2 .tHand.open + "manipulator"&C1 +63 "core" 1 +2 "storage"(B- +3 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate +2 "storage"(~' +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(Y' +49 "core" ' +2 #tLights, camera, ACTION! + "storage"(m- +4 "core" -' + "storage"(Q& +4 "core" &K \  +2 "manipulator"&l& +3 "core" & "z +2 .tElbow.seek 6 +2 "manipulator"&?( +3 "core" ( +2 "manipulator"&& +4 "core" &  "z + "storage"(e& +4 "core" &K H\  +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&k'< +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.11 Pucks below Top Plate + "storage"(S'M +60 "core" ' +2 "manipulator"&N& +4 "core" & M "z + "storage"(& +5 "core" &K | m =\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 + "manipulator"&u'z +33 "core" ' +2 .tElbow.hold + "manipulator"&, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.07 Pucks below Top Plate + "storage"( '7 +23 "core" ' +2 "manipulator"&% +4 "core" %΄h   Ŷ +2 "storage"(]& +4 "core" &K B B \  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 6 + 310 counts +2 "manipulator"&v'ϰ +17 "core" ' + "manipulator"&& +5 "core" & v b K !w + "storage"(j& +4 "core" &K c\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&'< +22 "core" ' + "storage"(% +5 "core" %@ \  +2 ."downElevator"SE.seek :down +4 "storage"(F'N +98 (,% +3 "core" %|C t v &\ Va +2 "manipulator"&p% +4 "core" %: p n + +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&D'\ +87 "core" ' +61 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (G& +4 "core" &K n Y\  +2 "collection"'I& +4 "core" &]f\ P +2 #tStoring generic puck in Collection Clamp to tube 6 + "manipulator"&% +4 "core" %\ + !R + "storage"(d% +4 "core" %; | } \ +2 "storage"(W. +3 "core" .(K + "storage"(#& +4 "core" &K { | 7\  + "storage"(<& +4 "core" &K o y *\  +2 "manipulator"&U& +3 "core" & !w +2 .tElbow.seek 6 +2 "manipulator"&>( +4 "core" ( + "manipulator"&V& +4 "core" & !w + "storage"(& +5 "core" &K } } \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&{'< +109 "core" ' + "storage"(7& +4 "core" &K \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(*'e +277 "core" ' + "storage"(o- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&g& +3 "core" & y t !w + "storage"(K& +4 "core" &K [\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 + "manipulator"&'z +35 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(- +2 "core" -' +2 .tSE.seek 0.12 Pucks below Top Plate +2 "storage"('s +27 "core" ' +2 "manipulator"&`% +4 "core" %΅d a ĵ + "storage"( & +4 "core" &K = 4 i\  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 6 + 311 counts +51 "manipulator"&4'ϱ +22 "core" ' + "manipulator"&h& +5 "core" & g y \ !v + "storage"(J& +5 "core" &K k\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&;'< +23 "core" ' +3 .tSE.seek 1.12 Pucks below Top Plate + "storage"(6'b +49 "core" ' + "manipulator"&t& +5 "core" & o n ! !v + "manipulator"&^% +4 "core" %D n p - +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&R'\ +94 "core" ' +2 .tElbow.seek CC + "manipulator"& ( +153 "core" ( +2 "manipulator"&& +4 "core" &, U Bf + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &r& +3 "core" &, Bf +2 .tForearm.seek CC + "manipulator"&A'| +96 "core" ' +2 .tHand.close + "manipulator"&$/ +63 "core" / +2 .tCC.seek :open +2 "collection"'-(p +410 "core" ( + "storage"(x& +5 "core" &K 4\  + "storage"(3& +4 "core" &K \  + "manipulator"&:& +4 "core" & ( ?P + "manipulator"&\ % +5 "core" % σ w + .tForearm.seek :retract +2 "manipulator"&0'\ +92 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&( +154 "core" ( + "manipulator"& & +5 "core" &  + "storage"(=& +4 "core" &K 8\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 6 +2 "manipulator"&s'z +109 "core" ' + .tElbow.hold +2 "manipulator"&', +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&\\1 +64 "core" 1 +2 "manipulator"&!% +4 "core" % ΂ 3 W b + "storage"(1& +4 "core" &K f f b\  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 6 + 308 counts +2 "manipulator"&}'Ϯ +18 "core" ' + "manipulator"&)& +5 "core" & ` u L ( + "storage"(P& +4 "core" &K b\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&y'< +17 "core" ' + "storage"(O% +5 "core" %f \ +2 ."downElevator"SE.seek :down +3 "storage"(%'N +99 (% +3 "core" %3= L\ U\\ +2 "manipulator"&(% +4 "core" %> p n +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&T'\ +87 "core" ' +52 ' + ."downElevator"SE.stop +2 "storage"(5 +2 #tShuffling pucks in tube 7 of [5..7] +2 #Loading generic puck from tube 7 into Collection Clamp + "collection"'z& +5 "core" &tu\ + "manipulator"&% +4 "core" %\ * 7 !Q +2 "storage"(% +4 "core" %; E\ +2 "storage"(|. +3 "core" .(K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 7 + "storage"(q([ +355 "core" ( +2 .tSC.configure :limp +3 "storage"($\ 1b +2 (M& +2 "core" &[ e i \  +2 "manipulator"&& +4 "core" & ( +2 .tElbow.seek 7 + "manipulator"&"( +22 "core" ( +2 "manipulator"&& +4 "core" & @ | + "storage"(Z& +4 "core" &[ 7\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&['k +96 "core" ' + "storage"(& +5 "core" &[ |\  + .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(@'e +282 "core" ' + "storage"( - +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (& +3 "core" &[ \  + "manipulator"&.& +4 "core" & s ? | +2 .tElbow.seek 7 + "manipulator"&&( +4 "core" ( + "manipulator"&L& +4 "core" & b z | +2 "storage"(8& +4 "core" &[ \  +2 .tForearm.seek 7 + 300 counts + "manipulator"&i' +20 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&b/ +61 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&w& + "storage"(_'N +7 "core" & p p | + "manipulator"&H% +4 "core" % q o  +2 .tForearm.seek :retract +2 "manipulator"&a'\ +89 "core" ' +2 .tElbow.seek CC +2 "manipulator"&f( +153 "core" ' +3 ."downElevator"SE.stop + "storage"(5 +3 "core" ( + "manipulator"&n& +4 "core" &% g <: + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &/& +3 "core" &$ N <: +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&+'| +103 "core" ' +2 "manipulator"&5& +4 "core" &% s <: + "manipulator"&% +4 "core" %y +2 "collection"'C& +4 "core" &qr\ +2 "collection"'B& +5 "core" &ot\ +2 .tCC.seek :closed +3 "collection"'m(] +4 "core" &qu\ +5 &rt\ 9 +10 &J}rs\ 1 +9 &Jsst\ E +9 &aqs\ M +10 &[st\ L +9 &xart\ M +10 & :_pt\ M +9 &!]rs\ L +9 &#]rt\ L +10 &%`rr\ M +9 &'B`pt\ M +10 &)^qt\ L +9 &*\\qu\ L +9 &,`qu\ L +10 &.J_rq\ M +9 &0 bpr\ L +9 &1`qr\ M +10 &3_qr\ M +9 &5T[rs\ L +9 &7`qs\ L +10 &8]ps\ L +9 &:`os\ L +10 &^qt\ M +9 &?_rr\ M +10 &A\\rt\ L +9 &Cc^pt\ L +9 &E$^pr\ M +10 &F[qs\ L +9 &Hekq\ M +10 &Jcqgl\ O +9 &L,N\ R +9 &M\ U +10 &O\ W +9 &QU\ V +9 &Sy\ X +10 &Tho\ X +9 &VX^\ X +10 &XTHP\ Z +9 &Z;@\ [ +9 &[+0\ Z +10 &]/I\ / +9 &]\ S +5 ( +2 "collection"'B& +4 #tCollection Clamp onSpring/offSpring for 9/26 samples, on/off torque 2.07 +2 .Hand.open + "manipulator"&Q1 +4 "core" &]x\ S +48 1 +2 "manipulator"&l% +4 "core" % \\ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +91 "core" ' +2 #tLoading generic puck from tube 7 into Processing Clamp + "processing"%e& +5 "core" &:\ + "manipulator"&% +4 "core" %\ ) L I + "storage"(N% +4 "core" %8 v v ~\ + "storage"(. +3 "core" .([ +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 7 + "storage"(([ +3 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (]& +2 "core" &[ @ 9 Q\  +2 "manipulator"&& +4 "core" &# $ :1 +2 "manipulator"&% +3 "core" %\ ( 6 I +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 7 + "manipulator"&~( +167 "core" ( +2 "manipulator"&j& +4 "core" & < + "storage"(& +5 "core" &[ } n >\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&2'k +94 "core" ' +2 "storage"(c& +4 "core" &[ \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(Y'e +280 "core" ' + "storage"(,- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (p& +3 "core" &[ r w C\  +2 "manipulator"&k& +4 "core" & < + .tElbow.seek 7 +2 "manipulator"&?( +3 "core" ( +2 "manipulator"&S& +3 "core" & ] < +2 "storage"(u& +4 "core" &[ q y 7\  +2 .tForearm.seek 7 + 300 counts + "manipulator"&G' +25 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&v/ +61 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&I& + "storage"('N +7 "core" & p n < + "manipulator"&d% +4 "core" % q | +2 .tForearm.seek :retract +2 "manipulator"&W'\ +95 "core" ' +2 .tElbow.seek PC +2 "manipulator"&#(c +159 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +90 "core" ( +2 "manipulator"& & +5 "core" &a + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &<& +3 "core" &a +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&U'[ +105 "core" ' + "manipulator"&V& +4 "core" &a +2 "manipulator"&% +4 "core" %V + "processing"%& +4 "core" &\ +52 "processing"%7& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%F(Z +4 "core" &9\ \ +8 &0}>\ *x +10 &d=\ > +9 &Dv9\ N +9 & WB\ M +10 &YC\ M +9 &Y9\ M +10 &!PZ\ L +9 &#WW\ M +9 &$[\ M +10 &&XU\ M +9 &(WY\ M +9 &*\\G\ M +10 &+\\x\ M +9 &-XV\ L +10 &/^\\z\ M +9 &1!Z\ M +9 &2^\ M +10 &4Y\ L +9 &6gYJ\ M +9 &8)\\<\ M +10 &9\\A\ M +11 &;\\B\ M +8 &=o]7\ M +9 &?1\\D\ M +9 &@[8\ L +10 &BY:\ M +9 &DwZ5\ M +9 &F7`@\ M +10 &Gg=\ N +9 &Ir9\ O +10 &KqH\ Q +9 &M-:\ S +9 &N9\ T +10 &P9\ T +9 &Rr5\ T +9 &T56\ S +10 &U8\ T +9 &W<\ T +10 &Yx=\ B +9 &Zt8;\ !d +9 &Z,B\ / +6 ( + "processing"%7& +5 #tProcessing Clamp onSpring/offSpring for 9/25 samples, on/off torque 1.63 + .Hand.open + "manipulator"&1 +4 "core" &Z":\ / +52 1 + "manipulator"&D% +4 "core" % V } +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&o'\ +95 "core" ' +2 "processing"%g& +4 "core" &Z"\ / +2 #tImaging generic puck in Processing Clamp while storing it to tube 7 + "manipulator"&K% +4 "core" %\ 1 { $m + "storage"(% +4 "core" %J \\ e\ +2 "storage"(`. +3 "core" .([ + "storage"( & +4 "core" &[ f f\  +2 "storage"(h& +5 "manipulator"&J& +4 "core" &[ c Y\  + &a +3 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +4 "storage"(#]kK-0-\ b +2 "manipulator"&$&.,(\ #b +6 .tElbow.seek PC + "manipulator"&t(c +4 ."raiseStack"SE.seek :beamBreak +2 "storage"(^'e +2 "core" ( + "manipulator"&{& +4 "core" &a +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &>& +3 "core" &a +2 .tForearm.seek PC +2 "manipulator"&*'[ +95 "core" ' + .tHand.close +2 "manipulator"&/ +58 "core" / +2 .tPC.seek :open +2 "processing"%4(p +89 "core" ' + "storage"(- +4 "core" -'e + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place + "storage"('B +41 "core" ' +251 ( +2 "storage"(r& +4 "core" &[ f m |\  + "manipulator"&;& +4 "core" &a J + "manipulator"&% +4 "core" % ^ 4  +2 .tForearm.seek :retract +2 "manipulator"&$'\ +91 "core" ' +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 7 +2 "manipulator"&R( +249 "core" ( +2 "manipulator"&E& +4 "core" &   +2 "storage"(x& +4 "core" &[ v v }\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&3'k +93 "core" ' + .tHand.open + "manipulator"&:1 +55 "core" 1 +2 "storage"(\ - +4 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate +2 "storage"( ' +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.83 Pucks below Top Plate + "storage"(=' +51 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(A- +3 "core" -' +2 "storage"( & +4 "core" &[\ \ \  + "manipulator"&\\& +4 "core" & 7  +2 .tElbow.seek 7 + "manipulator"&!( +10 "core" ( + "manipulator"&1& +5 "core" &   + "storage"()& +4 "core" &[\ \  \  +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&P'k +3 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.11 Pucks below Top Plate + "storage"(O'M +62 "core" ' + "manipulator"&0& +5 "core" & q o   + "storage"(& +4 "core" &[ } } q\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 7 +2 "manipulator"&('Ω +30 "core" ' + .tElbow.hold +2 "manipulator"&, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate + "storage"(s'7 +23 "core" ' + "manipulator"&z% +5 "core" %μs - + "storage"(& +4 "core" &[ C B h\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 7 + 319 counts + "manipulator"&}' +19 "core" ' + "manipulator"&& +5 "core" & _ v 7  + "storage"(|& +4 "core" &[ \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&6'k +17 "core" ' +2 "storage"(y% +4 "core" %? !\  +2 ."downElevator"SE.seek :down +4 "storage"(%'N +99 (X% +3 "core" %C v v d\ V` +2 "manipulator"&M% +4 "core" %c o p   +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +88 "core" ' +60 ' + ."downElevator"SE.stop + "storage"(5 +3 (& +4 "core" &[ c Y\  +2 "collection"'Z& +4 "core" &]v\ S + #tStoring generic puck in Collection Clamp to tube 7 +2 "manipulator"&% +4 "core" %\ + 6 !S + "storage"('% +4 "core" %< | | \ + "storage"(T. +3 "core" .([ +2 "storage"( & +4 "core" &[ } | \  + "storage"(& +4 "core" &[ } } \  +2 "manipulator"&.& +3 "core" &   +2 .tElbow.seek 7 +2 "manipulator"&L( +9 "core" ( +2 "manipulator"&8& +4 "core" &  + "storage"(b& +4 "core" &[ x | 9\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&w'k +105 "core" ' + "storage"(H& +4 "core" &[ \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"("'e +283 "core" ' +2 "storage"([- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&n& +2 "core" & q o  +2 "storage"(/& +4 "core" &[ h f c\  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 7 +2 "manipulator"&@'Ω +35 "core" ' + .tElbow.hold +2 "manipulator"&i, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(5- +3 "core" -' +2 .tSE.seek 0.12 Pucks below Top Plate + "storage"('p +31 "core" ' + "manipulator"&C% +4 "core" %θj i · +2 "storage"(&& +4 "core" &[ E E =\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 7 + 315 counts + "manipulator"&_' +12 "core" ' + "manipulator"&a& +4 "core" & v _ U +2 "storage"(-& +4 "core" &[ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&Q'k +15 "core" ' +2 .tSE.seek 1.12 Pucks below Top Plate +2 "storage"(l'_ +48 "core" ' +2 "manipulator"&e& +4 "core" & p o +2 "manipulator"&% +4 "core" %r q n +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&N'\ +94 "core" ' +2 .tElbow.seek CC + "manipulator"&( +159 "core" ( +2 "manipulator"&]& +4 "core" &, m Bk +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &B& +3 "core" &, Bk +2 .tForearm.seek CC + "manipulator"&'| +95 "core" ' + .tHand.close +2 "manipulator"&/ +62 "core" / +2 .tCC.seek :open +2 "collection"'+(p +410 "core" ( +3 "storage"(j& +4 "core" &[ u\  + "storage"(& +4 "core" &[ .\  + "manipulator"&q& +4 "core" &,# X ;6 + "manipulator"&c% +4 "core" % ό t +2 .tForearm.seek :retract + "manipulator"&f'\ +93 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 7 +2 "manipulator"&( +163 "core" ( +2 "manipulator"&,& +4 "core" &  3 +2 "storage"(p& +3 "core" &[ L\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 7 +2 "manipulator"&k'Ω +104 "core" ' + .tElbow.hold +2 "manipulator"&S, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +50 "manipulator"&u1 +60 "core" 1 +2 "manipulator"&v% +5 "core" % θ   + "storage"(I& +4 "core" &[ \  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 7 + 315 counts + "manipulator"&d' +18 "core" ' +2 "manipulator"&~& +4 "core" & ] t 3 +2 "storage"(2& +4 "core" &[ ,\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&Y'k +24 "core" ' +2 "storage"(G% +4 "core" %e \ +2 ."downElevator"SE.seek :down +4 "storage"( 'N +98 (<% +3 "core" %> \ U] +2 "manipulator"&?% +4 "core" %q o o 5  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&V'\ +92 "core" ' +46 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 5 of [5..7] +2 #Loading generic puck from tube 5 into Collection Clamp + "collection"'& +5 "core" &pt\ + "manipulator"&% +4 "core" %\ 3 %| +2 "storage"(% +4 "core" %8 6\  + "storage"(W. +3 "core" .([ +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 + "storage"(9(<< +682 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (& +2 "core" &<> s o \ +2 "manipulator"&D& +3 "core" &  3 +2 .tElbow.seek 5 +2 "manipulator"&g( +33 "core" ( +2 "manipulator"&K& +4 "core" & +2 "storage"(& +3 "core" &( +3 "core" ( +2 "manipulator"&U& +27 "core" & M +2 "storage"(& +4 "core" &<< .\ +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&'[ +10 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&#/ +60 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&o& +3 "storage"(F'N +7 "core" &  +2 "manipulator"&r% +4 "core" % Z 5 3 + .tForearm.seek :retract +2 "manipulator"&;'\ +99 "core" ' +2 .tElbow.seek CC + "manipulator"&^( +141 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +11 "core" ( + "manipulator"&& +5 "core" && =A + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &*& +2 "core" && s =A +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&E'| +99 "core" ' + "manipulator"&x& +4 "core" && \ =A +2 "manipulator"&t% +4 "core" %π S +2 "collection"':& +4 "core" &rt\ +2 "collection"'\ & +5 "core" &pt\ \ +2 .tCC.seek :closed +2 "collection"'A(] +4 "core" &rs\  +9 &2pt\ )w +9 &dts\ > +10 &Nyus\ N +9 &_ps\ L +9 &`rs\ M +10 &]qt\ L +9 &!Z^rs\ L +10 &#arr\ L +9 &$aqq\ L +9 &&apu\ M +10 &(a`pt\ L +9 &*#\\st\ L +10 &+`qr\ L +9 &-_ss\ L +9 &/h]rt\ M +10 &1*`rt\ M +9 &2`ps\ L +9 &4_pt\ L +10 &6q^ss\ L +9 &83^qs\ L +9 &9^qt\ M +10 &;]qr\ M +9 &=x_qu\ M +10 &?;]ts\ L +9 &@Zrr\ L +9 &B]ps\ L +10 &DYqq\ L +9 &FC]os\ L +9 &H`oo\ M +10 &Iqhm\ O +9 &K{:V\ Q +10 &M1\ U +9 &N\ V +9 &P\ W +10 &Rpw~\ X +9 &T2gn\ X +9 &UX]\ Y +10 &WKN\ Y +9 &Yp;C\ Z +10 &[1)3\ [ +9 &\\z"\ 2 +9 &]"\ &p +10 &]\ !a +2 ( + "collection"'\ & +4 #tCollection Clamp onSpring/offSpring for 9/25 samples, on/off torque 2.04 + .Hand.open + "manipulator"& 1 +63 "core" 1 +2 "manipulator"&\\% +4 "core" % π V +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&1'\ +92 "core" ' + #tLoading generic puck from tube 5 into Processing Clamp +2 "processing"%)& +4 "core" &\ + "manipulator"&$% +4 "core" %\ - h "_ +2 "storage"(0% +3 "core" %C [ Y\ +2 "storage"(. +4 "core" .(<< + "storage"(& +4 "core" &<< Y [\ + "storage"(z& +4 "core" &<< Y Y\ +2 "manipulator"&& +4 "core" &% ; <? + "manipulator"& % +4 "core" %\ -  "_ +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&( +160 "core" ( + "manipulator"&|& +5 "core" & 7 + "storage"(y& +4 "core" &<< u p G\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&R' +101 "core" ' +2 "storage"(3& +4 "core" &<< } r t\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(='e +278 "core" ' +2 "storage"(X- +3 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (M& +3 "core" &<9 g V\ + "manipulator"&P& +4 "core" &  7 +2 .tElbow.seek 5 +2 "manipulator"&!( +9 "core" ( +2 "manipulator"&O& +4 "core" & ~ u e + "storage"((& +4 "core" &<9 Y [\ +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&'[ +20 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&}/ +57 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&Z& + "storage"('N +8 "core" & s " d + "manipulator"&'% +4 "core" % Q r w . +2 .tForearm.seek :retract + "manipulator"&T'\ +97 "core" ' +2 .tElbow.seek PC + "manipulator"& (c +152 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +91 "core" ( + "manipulator"&s& +5 "core" &Z N G + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &Z G +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&.'[ +105 "core" ' + "manipulator"&8& +5 "core" &Z G + "manipulator"&b% +4 "core" %X +2 "processing"%6& +4 "core" &\ +2 "processing"%H& +5 "core" &\ +2 .tPC.seek :closed + "processing"%%(Z +4 "core" &,\  +8 &2<\ )w +10 &d>\ > +9 &Dv~\ N +10 &W6\ M +9 &\\8\ M +9 &W\ M +10 &!NZ\ M +9 &#V\ M +9 &$X\ M +10 &&]\ M +9 &(VY\ M +10 &*\\\ M +9 &+X\ L +9 &-Y\ M +10 &/]Z\ M +9 &1Z\ M +9 &2Z\ M +10 &4XT\ M +9 &6eX\ M +10 &8(Z\ M +9 &9V\ M +9 &;X5\ M +10 &=mX3\ M +9 &?.\\5\ M +9 &@\\(\ N +10 &BY.\ M +9 &DvY0\ M +10 &F7\\4\ M +9 &Gf/\ N +9 &Imv\ O +10 &Kp\ Q +9 &M-\ S +9 &NS\ T +10 &P@\ T +9 &Rr/\ S +10 &T31\ T +9 &U{\ T +9 &W\ T +10 &Yw\ A +9 &Zw<9\ \\ +9 &ZO\ * +3 ( + "processing"%H& +3 #tProcessing Clamp onSpring/offSpring for 9/25 samples, on/off torque 1.64 +2 .Hand.open + "manipulator"&1 +54 "core" 1 + "manipulator"&% +4 "core" % X Y +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&['\ +96 "core" ' +2 "processing"%n& +4 "core" &Z\ * +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 + "manipulator"&/% +4 "core" %\ . H #i + "storage"(5% +4 "core" %: Y Y\ + "storage"(C. +3 "core" .(<< +2 "storage"(&& +4 "core" &<9 Y Y\ +2 "storage"(a& +2 "manipulator"&-& +7 "core" &<9 X Y L\ + &Z G +3 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +3 "storage"(#]kK-0-\ b +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +3 ."raiseStack"SE.seek :beamBreak +3 "manipulator"&e(c + "storage"('e +6 "core" ( + "manipulator"&w& +4 "core" &Z 3 G + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &L& +3 "core" &Z c G +2 .tForearm.seek PC + "manipulator"&"'[ +95 "core" ' + .tHand.close +2 "manipulator"&@/ +58 "core" / +2 .tPC.seek :open + "processing"%_(p +91 "core" ' +2 "storage"(- +3 "core" -'e +52 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(]'B +34 "core" ' +202 ( + "storage"(B& +5 "core" &<9 v v O\ + "manipulator"&Q& +4 "core" &Z  G + "manipulator"&i% +4 "core" % `   +2 .tForearm.seek :retract +2 "manipulator"&'\ +91 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&N( +250 "core" ( + "manipulator"&m& +5 "core" & 3 $ + "storage"(j& +4 "core" &<9 [ Z\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&' +90 "core" ' +2 .tHand.open + "manipulator"&q1 +61 "core" 1 +2 "storage"(c- +4 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate +2 "storage"(,' +24 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(p' +53 "core" ' + #tLights, camera, ACTION! +2 "storage"(- +3 "core" -' +2 "storage"(& +4 "core" &<7 \ + "manipulator"&u& +4 "core" & $ +2 .tElbow.seek 5 +2 "manipulator"&v( +3 "core" ( +2 "manipulator"&I& +4 "core" &  $ + "storage"(~& +4 "core" &<7 \ +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&2' +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"(f'M +58 "core" ' +2 "manipulator"&G& +4 "core" & | $ + "storage"(& +4 "core" &<7 X X 6\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&<'/ +30 "core" ' +2 .tElbow.hold + "manipulator"&?, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"(k'7 +26 "core" ' +2 "manipulator"&% +4 "core" %;o l ¸ + "storage"(d& +5 "core" &<7   T\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 312 counts + "manipulator"&'g +20 "core" ' +2 "manipulator"&& +4 "core" &G  4 ? +2 "storage"(W& +4 "core" &<7 q u i\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&l' +22 "core" ' +2 "storage"(Y% +4 "core" %5 | } \ +3 ."downElevator"SE.seek :down +4 "storage"( 'N +99 (% +3 "core" %D [ Z\ Wb +2 "manipulator"&% +4 "core" % y q +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&D'\ +90 "core" ' +58 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (K& +4 "core" &<7 I / `\ + "collection"'& +4 "core" &]\ !a +2 #tStoring generic puck in Collection Clamp to tube 5 +2 "manipulator"& % +4 "core" %\ + !U + "storage"(S% +4 "core" %? \\ g B\ +2 "storage"(V. +3 "core" .(<< + "storage"(h& +4 "core" &<7 Y Y\ +2 "storage"(7& +3 "core" &<7 X Y \ +2 "manipulator"&{& +4 "core" &G ? + .tElbow.seek 5 +2 "manipulator"&U( +21 "core" ( + "manipulator"&& +4 "core" &   +2 "storage"(#& +4 "core" &<7 Y Y\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&o' +92 "core" ' +2 "storage"(r& +4 "core" &<7 o q 3\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(g'e +280 "core" ' +2 "storage"(`- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" &  o p   + "storage"(*& +4 "core" &<7 [ [\ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 + "manipulator"&J'/ +30 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(x- +2 "core" -' +3 .tSE.seek 0.11 Pucks below Top Plate + "storage"(t'n +29 "core" ' + "manipulator"&:% +4 "core" %?h z ¶ +2 "storage"(>& +4 "core" &<7   o\ + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 316 counts + "manipulator"&F'k +20 "core" ' + "manipulator"&;& +4 "core" && x _ + } +2 "storage"(+& +4 "core" &<7 t p \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"& ' +20 "core" ' +2 .tSE.seek 1.11 Pucks below Top Plate + "storage"(\\'] +51 "core" ' + "manipulator"&)& +4 "core" && n p  } +2 "manipulator"&$% +4 "core" % b S : +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&0'\ +96 "core" ' + .tElbow.seek CC +2 "manipulator"&( +162 "core" ( +2 "manipulator"&& +4 "core" &+ Ac + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &\ & +2 "core" &+ Ac +2 .tForearm.seek CC +2 "manipulator"&z'| +96 "core" ' +2 .tHand.close + "manipulator"&/ +60 "core" / +2 .tCC.seek :open + "collection"' (p +411 "core" ( + "storage"(E& +4 "core" &<7 \ +2 "storage"(|& +14 "core" &<7 5\ +2 "manipulator"&y& +4 "core" &% =C + "manipulator"&3% +4 "core" %  Q +2 .tForearm.seek :retract +2 "manipulator"&^'\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&1( +167 "core" ( + "manipulator"&X& +5 "core" &  0 + "storage"(M& +4 "core" &<7 (\ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 5 +2 "manipulator"&P'/ +108 "core" ' + .tElbow.hold + "manipulator"&O, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&(1 +54 "core" 1 +3 "manipulator"&}% +4 "core" % B  B y + "storage"(Z& +4 "core" &<7 m g n\ + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 5 + 319 counts + "manipulator"&''n +17 "core" ' +2 "manipulator"&& +4 "core" &= g y  + "storage"(R& +4 "core" &<7 \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&=' +19 "core" ' + "storage"(% +5 "core" %a H\ +2 ."downElevator"SE.seek :down +4 "storage"(s'N +99 (% +3 "core" %!D *\ V^ + "manipulator"&!% +4 "core" % o o   +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&8'\ +91 "core" ' +47 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 6 of [5..7] +2 #Loading generic puck from tube 6 into Collection Clamp + "collection"'b& +4 "core" &qu \ +2 "manipulator"&6% +4 "core" %\ . #j + "storage"(% +4 "core" %: 9\ +2 "storage"(T. +3 "core" .(<< +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"(4(K +361 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (& +2 "core" &K g h `\  +2 "manipulator"&& +4 "core" &=  + .tElbow.seek 6 +2 "manipulator"&n( +15 "core" ( + "manipulator"&/& +5 "core" &  + "storage"(5& +4 "core" &K \\\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&C'< +101 "core" ' +2 "storage"(&& +4 "core" &K A\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(-'e +289 "core" ' + "storage"(a- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (H& +3 "core" &K \  + "manipulator"&w& +54 "core" & 5  + .tElbow.seek 6 +2 "manipulator"&L( +3 "core" ( +2 "manipulator"&.& +3 "core" & V  +2 "storage"(@& +4 "core" &K 9\  +2 .tForearm.seek 6 + 300 counts + "manipulator"&'Ϧ +10 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"& / +63 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&[& +3 "storage"(%'N +7 "core" & o p  + "manipulator"&B% +4 "core" % ϭ m o ; +2 .tForearm.seek :retract +2 "manipulator"&Q'\ +91 "core" ' +2 .tElbow.seek CC + "manipulator"&i( +149 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +11 "core" ( + "manipulator"&& +4 "core" &+  Ae +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &"& +2 "core" &+ s Ae +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&m'| +105 "core" ' +2 "manipulator"&j& +4 "core" &+ Ad +2 "manipulator"&e% +4 "core" %} +2 "collection"'q& +4 "core" &qp\ +2 "collection"'c& +5 "core" &nr\ +2 .tCC.seek :closed +2 "collection"'(] +4 "core" &rr\ +8 &7os\ $e +10 &mWrr\ 7 +9 &rs\ L +9 &Zst\ L +10 &FZps\ L +9 &\\sr\ L +9 & `qr\ M +10 &"^qs\ M +9 &$NYsq\ L +9 &&]pu\ M +10 &'Yrs\ L +9 &)_ps\ L +10 &+U]ss\ M +9 &-]rs\ M +9 &.^rs\ M +10 &0Zqs\ L +9 &2_]pq\ L +9 &4 _sr\ L +10 &5_qr\ L +9 &7_qq\ L +10 &9f]qr\ L +9 &;(_qs\ L +9 &<\\rs\ L +10 &>Zor\ M +9 &@m]os\ M +9 &B/]qs\ M +10 &CZss\ L +9 &E_qr\ L +10 &Gu]mr\ M +9 &I3mim\ N +9 &J}Pb\ P +10 &L\ \ U +9 &Na\ V +9 &P!\ W +10 &Q\ W +9 &Spy\ W +10 &Uaag\ Y +9 &W$S[\ X +9 &XEK\ Z +10 &Z1:\ [\ +9 &\\e *\ G +9 &]`7\ + +10 &]~\ Z +2 ( +2 "collection"'c& +3 #tCollection Clamp onSpring/offSpring for 10/26 samples, on/off torque 2.07 + .Hand.open +2 "manipulator"&1 +56 "core" 1 +2 "manipulator"&u% +4 "core" % } +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&I'\ +92 "core" ' +2 #tLoading generic puck from tube 6 into Processing Clamp +2 "processing"%~& +4 "core" &\ + "manipulator"&% +4 "core" %\ +  !V +2 "storage"(G% +4 "core" %= Y Y\ + "storage"(. +3 "core" .(K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 + "storage"((K +8 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +2 (]& +3 "core" &K C 8 v\  +2 "manipulator"&d& +3 "core" &\ * U @[ +2 "manipulator"&,% +4 "core" %\ + D !V +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&( +163 "core" ( + "manipulator"&W& +4 "core" & h +2 "storage"(Y& +4 "core" &K | } k\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&N'< +109 "core" ' + "storage"(& +5 "core" &K \  + .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(p'e +281 "core" ' + "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" &K } } \  + "manipulator"&2& +4 "core" & o p +2 .tElbow.seek 6 + "manipulator"&v( +4 "core" ( + "manipulator"&f& +4 "core" & t s  +2 "storage"(<& +4 "core" &K g g _\  +2 .tForearm.seek 6 + 300 counts + "manipulator"&'Ϧ +18 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&K/ +63 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&& +2 "storage"( 'N +7 "core" & " +2 "manipulator"&S% +3 "core" % ϥ G # +2 .tForearm.seek :retract +2 "manipulator"&V'\ +93 "core" ' +2 .tElbow.seek PC +2 "manipulator"&h(c +159 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +76 "core" ( +2 "manipulator"&k& +4 "core" &l z H + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &7& +3 "core" &l t H +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&{'[ +99 "core" ' +2 "manipulator"&& +4 "core" &l  H + "manipulator"&#% +4 "core" %` v +2 "processing"%l& +4 "core" &\ +2 "processing"%r& +5 "core" &\ +2 .tPC.seek :closed + "processing"% (Z +4 "core" &-\  +9 &2@\ *x +9 &c6\ = +9 &Kv0\ M +10 & W\ M +9 &X\ M +10 &W\ M +9 &!UZ\ L +10 &#W\ L +9 &$[u\ M +9 &&Z\ L +9 &(]Z\ L +10 &*Y\ L +9 &+X\ L +10 &-Y\ M +9 &/c^\ M +9 &1%X\ M +10 &2Z\ M +9 &4W\ M +9 &6kZ\ M +10 &8.Y\ M +9 &9V\ M +10 &;X\ M +9 &=sW\ M +9 &?4Z\ M +10 &@]\ M +9 &BX\ M +9 &D{Y\ M +10 &F<]\ M +9 &Gd\ N +10 &Iq\ P +9 &Kuy\ R +9 &M3\ S +10 &N\ S +9 &P\ S +9 &Rv{\ T +10 &T97\ T +9 &Uw\ T +10 &W\ T +9 &Y}6\ A +9 &Zx9O\ ` +10 &Z#3\ , +2 ( +2 "processing"%r& +3 #tProcessing Clamp onSpring/offSpring for 9/25 samples, on/off torque 1.65 + .Hand.open + "manipulator"&?1 +57 "core" 1 +2 "manipulator"&D% +4 "core" % ` W +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&`'\ +92 "core" ' +2 "processing"%& +4 "core" &Z!*\ , +2 #tImaging generic puck in Processing Clamp while storing it to tube 6 + "manipulator"&*% +4 "core" %\ ( E + "storage"(x% +4 "core" %I f c\ + "storage"(:. +3 "core" .(K +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 6 + "storage"(>(K +5 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (;& + "manipulator"&+& +4 "core" &K S B c\  +5 ."raiseStack"SE.reconfigure :place +2 "storage"(#]kK-0-\ b +2 "core" &l H +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +3 ."raiseStack"SE.seek :beamBreak +3 "manipulator"&)(c + "storage"($'e +5 "core" ( +2 "manipulator"&o& +4 "core" &l H + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &U& +3 "core" &l H +2 .tForearm.seek PC + "manipulator"&g'[ +95 "core" ' + .tHand.close +2 "manipulator"&J/ +53 "core" / +2 .tPC.seek :open +2 "processing"%F(p +95 "core" ' +2 "storage"(t- +4 "core" -'e + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +2 ."raiseStack"SE.seek :place +2 "storage"('B +41 "core" ' +245 ( + "storage"(\ & +4 "core" &K } } \  + "manipulator"& & +4 "core" &l  H +2 "manipulator"&% +4 "core" % i   +2 .tForearm.seek :retract + "manipulator"&'\ +92 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 + "manipulator"&0( +261 "core" ( +2 "manipulator"&A& +4 "core" &  +2 "storage"(E& +4 "core" &K t p !\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&|'< +93 "core" ' + .tHand.open +2 "manipulator"&y1 +56 "core" 1 +2 "storage"(3- +4 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate + "storage"(X' +26 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.83 Pucks below Top Plate + "storage"(M' +51 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(z- +3 "core" -' +2 "storage"(& +4 "core" &K \  + "manipulator"&(& +4 "core" &  +2 .tElbow.seek 6 + "manipulator"&}( +7 "core" ( +2 "manipulator"&Z& +4 "core" & a + "storage"(& +4 "core" &K >\  +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&R'< +4 "core" ' + .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"('M +60 "core" ' + "manipulator"&^& +4 "core" &  +2 "storage"(& +52 "core" &K z  9\  +4 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&!'z +34 "core" ' +2 .tElbow.hold + "manipulator"&1, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"(P'7 +27 "core" ' + "manipulator"&b% +5 "core" %΁g  O ö + "storage"(6& +4 "core" &K 8 4 N\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 307 counts + "manipulator"&''ϭ +20 "core" ' +2 "manipulator"&& +96 "core" & | } ; +2 "storage"(T& +4 "core" &K m j \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&\\'< +24 "core" ' +2 "storage"(=% +4 "core" %; Y\ +2 ."downElevator"SE.seek :down +4 "storage"(s'N +99 (9% +2 "core" %(C v ` [\ Va +2 "manipulator"&% +4 "core" %_ | y i +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +3 "Can" "YV +91 "core" ' +61 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (/& +4 "core" &K ] c\  +2 "collection"'5& +4 "core" &]}\ Z +2 #tStoring generic puck in Collection Clamp to tube 6 + "manipulator"&&% +4 "core" %\ 8 ' +2 "storage"(O% +4 "core" %P v v R\  + "storage"(8. +3 "core" .(K +2 "storage"(a& +3 "core" &K q j\  +2 "storage"(H& +4 "core" &K d r z\  + "manipulator"&w& +4 "core" & f ; +2 .tElbow.seek 6 + "manipulator"&.( +19 "core" ( + "manipulator"&@& +5 "core" & !q + "storage"( & +4 "core" &K X X\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&['< +104 "core" ' +2 "storage"(B& +4 "core" &K f m \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(n'e +281 "core" ' + "storage"(C- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&& +3 "core" & G n +2 "storage"("& +4 "core" &K Z c\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 + "manipulator"&-'z +33 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(j- +2 "core" -' +2 .tSE.seek 0.12 Pucks below Top Plate +2 "storage"(e't +30 "core" ' +2 "manipulator"&L% +4 "core" %΃` i Ĵ + "storage"(q& +4 "core" &K   q\  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 6 + 309 counts +2 "manipulator"&%'ϯ +13 "core" ' + "manipulator"&Q& +5 "core" & l | Y m + "storage"( & +4 "core" &K g s n\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&'< +15 "core" ' +2 .tSE.seek 1.12 Pucks below Top Plate +2 "storage"(u'c +42 "core" ' +2 "manipulator"&~& +4 "core" & p p l +2 "manipulator"&% +4 "core" %F o s  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&G'\ +92 "core" ' +2 .tElbow.seek CC + "manipulator"&( +156 "core" ( +2 "manipulator"&c& +4 "core" &* U @[ + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &]& +3 "core" &*  @Z +2 .tForearm.seek CC + "manipulator"&d'| +95 "core" ' + .tHand.close +2 "manipulator"&,/ +53 "core" / +2 .tCC.seek :open +2 "collection"'m(p +410 "core" ( +2 "storage"(W& +4 "core" &K \  + "storage"(Y& +4 "core" &K #\  + "manipulator"&4& +4 "core" &( t ?V + "manipulator"&% +4 "core" % | ]  +2 .tForearm.seek :retract +2 "manipulator"&i'\ +91 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&I( +159 "core" ( + "manipulator"&& +5 "core" &  + "storage"(& +5 "core" &K \  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 6 +2 "manipulator"&2'z +108 "core" ' +2 .tElbow.hold + "manipulator"&f, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&<1 +60 "core" 1 +2 "manipulator"&K% +4 "core" % Ί 9 T { +2 "storage"(& +4 "core" &K } | p\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 316 counts + "manipulator"&S'϶ +18 "core" ' +2 "manipulator"&& +4 "core" & ` s < M + "storage"(N& +4 "core" &K 1\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&p'< +17 "core" ' +2 "storage"(% +4 "core" %l '\ +2 ."downElevator"SE.seek :down +4 "storage"(k'N +99 (7% +3 "core" %0C \ U\\ +2 "manipulator"&v% +3 "core" %A x r \\ +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +92 "core" ' +46 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 7 of [5..7] + #Loading generic puck from tube 7 into Collection Clamp +2 "collection"'#& +4 "core" &qt\ + "manipulator"&l% +4 "core" %\ 1 K $o +2 "storage"( % +4 "core" %: .\ + "storage"(V. +4 "core" .(K + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 7 +2 "storage"(_([ +355 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (?& +3 "core" &[ ~  .\  + "manipulator"&D& +4 "core" &  M +2 .tElbow.seek 7 + "manipulator"&( +4 "core" ( + "manipulator"&*& +4 "core" & M + "storage"(x& +4 "core" &[ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&:'k +103 "core" ' + "storage"(r& +5 "core" &[ M\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(;'e +278 "core" ' + "storage"(+- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (o& +3 "core" &[ \  + "manipulator"&U& +4 "core" & y } M +2 .tElbow.seek 7 + "manipulator"&{( +3 "core" ( +2 "manipulator"&J& +4 "core" & z 3 M + "storage"(& +4 "core" &[ \  +2 .tForearm.seek 7 + 300 counts + "manipulator"&t' +26 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&h/ +62 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&`& +2 "storage"( 'N +7 "core" & } r M +2 "manipulator"&\ % +4 "core" % { z P +2 .tForearm.seek :retract + "manipulator"& '\ +95 "core" ' +2 .tElbow.seek CC + "manipulator"&( +147 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +6 "core" ( +2 "manipulator"&$& +4 "core" &+  # Ae +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &g& +3 "core" &+ D Ae +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&A'| +94 "core" ' +2 "manipulator"&E& +4 "core" &* S @] +2 "manipulator"&)% +4 "core" %t 0  + "collection"'y& +5 "core" &qt\ \ +2 "collection"'3& +5 "core" &ss\ +2 .tCC.seek :closed + "collection"'z(] +5 "core" &ts\  +9 &2sr\ *y +9 &dsu\ > +10 &Vwqt\ M +9 &Zpt\ L +9 &]rs\ L +10 &\\sr\ M +9 &!_^rs\ M +10 &#!]pr\ M +9 &$]qt\ L +9 &&[qr\ M +10 &(g]rr\ M +9 &**]ns\ L +9 &+Zqr\ L +10 &-_rr\ L +9 &/p_pt\ L +9 &12_qr\ L +10 &2_ps\ L +9 &4_sw\ L +10 &6x\\qs\ L +9 &8:Zot\ L +9 &9\\rs\ L +10 &;Yrt\ L +9 &=_ps\ L +9 &?BZrs\ L +10 &A`rs\ L +9 &B_ss\ L +10 &D_qs\ L +9 &FJ]rt\ L +9 &H _pr\ M +53 &Imjm\ N +3 &K}Oc\ P + &M;\ T +5 &N\ W &P\ W + &Rx\ W +3 &T6rz\ Y +9 &U_h\ X +10 &WQX\ Y +9 &YwAJ\ Z +9 &[(5:\ ` +10 &\\}!*\ . +9 &]+\ ^ +9 ( +3 "collection"'3& +3 #tCollection Clamp onSpring/offSpring for 9/25 samples, on/off torque 2.13 + .Hand.open +2 "manipulator"&1 +3 "core" &]^\ I +58 1 + "manipulator"&(% +5 "core" % t P  + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&Z'\ +96 "core" ' +2 #tLoading generic puck from tube 7 into Processing Clamp + "processing"%& +4 "core" &\ +2 "manipulator"&% +4 "core" %\ 6 ] & + "storage"(^% +4 "core" %8 v p =\ +2 "storage"(. +3 "core" .([ + "storage"(& +4 "core" &[ v v :\  + "storage"(X& +4 "core" &[ v u m\  +2 "manipulator"&b& +4 "core" &&# d ;8 + "manipulator"&6% +4 "core" %\ 6 D & +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 7 + "manipulator"&0( +155 "core" ( +2 "manipulator"&|& +4 "core" & \ +2 "storage"(M& +4 "core" &[ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&'k +104 "core" ' + "storage"(T& +5 "core" &[ i\  + .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(='e +281 "core" ' + "storage"(R- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (}& +3 "core" &[ W\  +2 "manipulator"&& +3 "core" & p p  \ +2 .tElbow.seek 7 + "manipulator"&9( +4 "core" ( + "manipulator"&& +4 "core" & w _ 4 \ + "storage"(!& +4 "core" &[ H\  +2 .tForearm.seek 7 + 300 counts +2 "manipulator"&'' +25 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&// +54 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&5& +2 "storage"(&'N +8 "core" & o o  \ +2 "manipulator"&O% +4 "core" % o p > +2 .tForearm.seek :retract +2 "manipulator"&8'\ +95 "core" ' +2 .tElbow.seek PC + "manipulator"&P(c +157 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +79 "core" ( +2 "manipulator"&a& +4 "core" &l M J + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &H& +3 "core" &l J +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&w'[ +103 "core" ' + "manipulator"&@& +4 "core" &l D J +2 "manipulator"& % +4 "core" %\\ +2 "processing"%\\& +4 "core" &*\ +2 "processing"%B& +4 "core" &&\ +3 .tPC.seek :closed + "processing"%s(Z +5 "core" &-\ +6 & 30\ #a +9 &\\U*\ 7 +10 &|{\ K +9 &qUS\ L +9 &2Y5\ M +10 &W5\ M +9 & _|\ M +9 &"y[T\ L +10 &$9\\|\ M +9 &%\\\ M +10 &'\\\ L +9 &)Z\ L +9 &+B[\ M +10 &-]|\ M +9 &.Y\ M +10 &0ZV\ M +9 &2I\\\ M +9 &4 W\ L +10 &5X\ M +9 &7X\ L +9 &9RW\ M +10 &;W\ M +9 &<W\ M +10 &>Z\ M +9 &@YW\ M +9 &BZ\ M +10 &CY\ M +9 &EZ9\ M +9 &G^b\ N +10 &Ij\ O +9 &Jx\ P +10 &L\ T +9 &NV{\ S +9 &Pv\ T +10 &Q\ T +9 &Sz\ T +9 &U\\=\ T +10 &W\ T +9 &Xx\ T +9 &Z;Lmx\ , +10 &Z.4\ ' +5 ( +2 "processing"%B& +4 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.60 + .Hand.open +2 "manipulator"&11 +3 "core" &Z|\ ' +56 1 + "manipulator"&% +4 "core" % \\ P +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&C'\ +94 "core" ' +2 "processing"%& +4 "core" &Z\ ' +2 #tImaging generic puck in Processing Clamp while storing it to tube 7 + "manipulator"&"% +4 "core" %\ / q #e + "storage"(j% +4 "core" %@ | r k\ +2 "storage"(L. +3 "core" .([ + "storage"(q& +4 "core" &[ z r C\  + "storage"(Q& +3 "manipulator"& & +8 "core" &[ } z V\  + &l J +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +3 "storage"(#]kK-0-\ b + "manipulator"&~(c +7 ."raiseStack"SE.seek :beamBreak +2 "storage"('e +2 "core" ( +2 "manipulator"&[& +4 "core" &l J + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &.& +3 "core" &l J +2 .tForearm.seek PC +2 "manipulator"&n'[ +97 "core" ' + .tHand.close +2 "manipulator"&-/ +55 "core" / + .tPC.seek :open +2 "processing"%%(p +91 "core" ' +2 "storage"(e- +3 "core" -'e +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(c'B +66 "core" ' +221 ( + "storage"(]& +4 "core" &[ [\  +2 "manipulator"&& +4 "core" &l  J + "manipulator"&% +4 "core" % c  +2 .tForearm.seek :retract + "manipulator"&,'\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 7 +2 "manipulator"&G( +242 "core" ( + "manipulator"&& +4 "core" & H +2 "storage"(W& +4 "core" &[ g g \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&Y'k +109 "core" ' + .tHand.open +2 "manipulator"&41 +63 "core" 1 + "storage"(- +4 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate +2 "storage"(' +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(' +53 "core" ' +2 #tLights, camera, ACTION! + "storage"(d- +3 "core" -' +2 "storage"(& +4 "core" &[\ \  \  + "manipulator"&<& +4 "core" & p q  H +2 .tElbow.seek 7 + "manipulator"&K( +4 "core" ( + "manipulator"&& +4 "core" & s z / H + "storage"(& +4 "core" &[\ \  p\  +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&N'k +16 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.11 Pucks below Top Plate + "storage"('M +63 "core" ' + "manipulator"&i& +5 "core" &  H + "storage"(7& +4 "core" &[ w m\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 7 + "manipulator"&v'Ω +31 "core" ' + .tElbow.hold +2 "manipulator"&I, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"(2'7 +23 "core" ' +2 "manipulator"&#% +5 "core" %ι{ ( D + "storage"(l& +4 "core" &[ [ [\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 7 + 316 counts + "manipulator"&S' +17 "core" ' + "manipulator"& & +5 "core" & u j o H + "storage"(V& +4 "core" &[ \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&u'k +16 "core" ' + "storage"(p% +5 "core" %< \  +2 ."downElevator"SE.seek :down +4 "storage"(k'N +98 (>% +3 "core" %H h r \ Va +2 "manipulator"&?% +4 "core" %T q q g  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&D'\ +87 "core" ' +66 ' + ."downElevator"SE.stop + "storage"(5 +3 (*& +4 "core" &[ z k 1\  +2 "collection"'x& +4 "core" &]]\ I + #tStoring generic puck in Collection Clamp to tube 7 +2 "manipulator"&r% +4 "core" %\ * !S + "storage"(f% +4 "core" %T `\  + "storage"(. +3 "core" .([ +2 "storage"(+& +4 "core" &[ p "\  + "storage"(o& +4 "core" &[ w \  + "manipulator"&U& +4 "core" & H +2 .tElbow.seek 7 + "manipulator"&J( +4 "core" ( + "manipulator"&& +4 "core" & H + "storage"(h& +4 "core" &[ u z D\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&`'k +107 "core" ' +2 "storage"(\ & +4 "core" &[ \  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +53 .tSE.seek :beamBreak +2 "storage"('e +281 "core" ' +2 "storage"(:- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&$& +3 "core" & s y x H + "storage"(g& +4 "core" &[ p\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 7 + "manipulator"&;'Ω +37 "core" ' + .tElbow.hold +2 "manipulator"&t, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(E- +3 "core" -' +2 .tSE.seek 0.12 Pucks below Top Plate +2 "storage"()'p +31 "core" ' +2 "manipulator"&y% +4 "core" %θn j ¸ + "storage"({& +4 "core" &[ Z Y\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 7 + 315 counts + "manipulator"& ' +11 "core" ' +2 "manipulator"& & +4 "core" & v a M H +2 "storage"(m& +4 "core" &[ \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&'k +15 "core" ' +2 .tSE.seek 1.12 Pucks below Top Plate +2 "storage"(('_ +41 "core" ' + "manipulator"&& +5 "core" & r q * H + "manipulator"&% +4 "core" %o q q ; +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&^'\ +88 "core" ' +2 .tElbow.seek CC +2 "manipulator"&( +147 "core" ( +2 "manipulator"&& +4 "core" &$  ;6 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &3& +2 "core" &$ H ;6 +2 .tForearm.seek CC +2 "manipulator"&X'| +95 "core" ' + .tHand.close +2 "manipulator"&b/ +52 "core" / +2 .tCC.seek :open + "collection"'6(p +414 "core" ( + "storage"(A& +4 "core" &[ 1\  +2 "storage"(|& +3 "core" &[ }\  +2 "manipulator"&M& +4 "core" &#" A 6 + "manipulator"&T% +4 "core" % τ  +2 .tForearm.seek :retract + "manipulator"&'\ +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 7 +2 "manipulator"&Z( +156 "core" ( +2 "manipulator"&R& +4 "core" &  \ + "storage"(}& +4 "core" &[ J\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 7 + "manipulator"&'Ω +106 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&!1 +63 "core" 1 +2 "manipulator"&/% +4 "core" % η  K +2 "storage"(5& +4 "core" &[ \  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 7 + 314 counts +2 "manipulator"&O' +18 "core" ' +2 "manipulator"&0& +4 "core" & u \\ 3 \ + "storage"(& +4 "core" &[ h\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&='k +14 "core" ' +2 "storage"('% +4 "core" %c #\ +2 ."downElevator"SE.seek :down +4 "storage"(a'N +99 (H% +3 "core" %B ?\ U] +2 "manipulator"&9% +4 "core" %l n o  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&@'\ +88 "core" ' +51 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 5 of [5..7] + #Loading generic puck from tube 5 into Collection Clamp +2 "collection"' & +4 "core" &qq\ +2 "manipulator"&\\% +3 "core" %\ +  !V +2 "storage"(&% +4 "core" %= \ +2 "storage"(8. +3 "core" .([ +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 + "storage"(F(<< +676 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (1& +3 "core" &]rr\ L +9 &?^qr\ M +9 &A]rs\ L +10 &CT\\sq\ L +9 &E[tt\ L +9 &F^nq\ M +10 &Hfmq\ M +9 &JR{dl\ P +10 &L A\ S +9 &M\ U +9 &O\ W +10 &QF\ W +9 &Sz\ W +9 &Thp\ X +10 &V]`\ Z +9 &XGJR\ Y +10 &Z>D\ Z +9 &[-5\ [\ +9 &]%\\&\ , +10 &]\ S +9 ( + &]s\ N +2 "collection"'& +3 #tCollection Clamp onSpring/offSpring for 9/26 samples, on/off torque 2.17 + .Hand.open + "manipulator"&1 +59 "core" 1 + "manipulator"&<% +4 "core" % q H  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +94 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp +2 "processing"%& +4 "core" &0\ + "manipulator"&,% +4 "core" %\ 1 j $l +2 "storage"(i% +3 "core" %O Z c ?\ +2 "storage"(7. +3 "core" .(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +2 (?& +3 "core" &<9 ~ \  +2 "manipulator"&N& +3 "core" &  R +2 .tElbow.seek 5 + "manipulator"&K( +3 "core" ( +2 "manipulator"&& +4 "core" &  r + "storage"(v& +4 "core" &<9 \  +2 .tForearm.seek 5 + 300 counts + "manipulator"&*'[ +20 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&S/ +103 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&x& +2 "storage"(r'N +7 "core" &  p q ? + "manipulator"&f% +4 "core" % T q q ! +2 .tForearm.seek :retract +2 "manipulator"&'\ +97 "core" ' +2 .tElbow.seek PC +2 "manipulator"&2(c +154 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +97 "core" ( + "manipulator"&+& +5 "core" &W D + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &o& +2 "core" &W +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&U'[ +99 "core" ' + "manipulator"&& +4 "core" &W t  +2 "manipulator"&h% +4 "core" %e  +2 "processing"%u& +4 "core" &0\ +2 "processing"%\ & +6 "core" &\ +2 .tPC.seek :closed + "processing"%k(Z +4 "core" &1\  +9 &23\ *x +9 &b/\ = +10 &Nv<\ N +9 &X+\ L +9 &Y9\ L +10 &Y2\ L +9 &!XZ<\ M +10 &#Z=\ M +9 &$Z:\ M +9 &&\\5\ M +10 &(aX4\ L +9 &*"Y}\ M +9 &+V5\ M +10 &-X8\ M +9 &/h[T\ M +10 &1)W|\ M +9 &2Y\ M +9 &4X\ M +10 &6qX\ L +9 &81Y\ M +10 &9W\ L +9 &;Y\ M +9 &=xY\ M +9 &?:ZU\ M +10 &@YW\ M +9 &BY}\ M +10 &D[?\ M +9 &FA[=\ M +9 &Gf<\ N +10 &InK\ O +9 &Kz\ Q +10 &M5X\ T +9 &N=\ T +9 &P=\ T +10 &R{;\ T +9 &T=;\ T +9 &U0\ T +10 &W1\ T +9 &Y;\ B +9 &Z}9<\ Z +10 &Z9\ * +2 ( +2 "processing"%\ & +3 #tProcessing Clamp onSpring/offSpring for 9/25 samples, on/off torque 1.64 + .Hand.open + "manipulator"&I1 +60 "core" 1 +2 "manipulator"&D% +4 "core" % e +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&:'\ +93 "core" ' + "processing"%$& +4 "core" &Z+\ * +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 +2 "manipulator"&g% +3 "core" %\ * !P +2 "storage"(E% +4 "core" %N v w \ + "storage"(y. +3 "core" .(<< +2 "storage"({& +4 "core" &<9 c Y\  + "storage"( & +5 "manipulator"&m& +4 "core" &<9 v v F\  + &W +3 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +4 "storage"(#]kK-0-\ b +2 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +3 ."raiseStack"SE.seek :beamBreak +2 "manipulator"&(c + "storage"('e +20 "core" ( +2 "manipulator"&`& +4 "core" &Y\ l S + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &J& +3 "core" &a v K +2 .tForearm.seek PC + "manipulator"&'[ +96 "core" ' + .tHand.close +2 "manipulator"&;/ +58 "core" / +2 .tPC.seek :open + "processing"% (p +77 "core" ' +2 "storage"()- +4 "core" -'e + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place + "storage"('B +35 "core" ' +269 ( +2 "storage"(3& +4 "core" &<8 m y o\  + "manipulator"&& +4 "core" &c  I + "manipulator"&t% +4 "core" % h   +2 .tForearm.seek :retract +2 "manipulator"&b'\ +91 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&^( +238 "core" ( + "manipulator"&z& +4 "core" & a +2 "storage"(A& +4 "core" &<8 p u \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&|' +103 "core" ' + .tHand.open + "manipulator"&M1 +58 "core" 1 +2 "storage"(T- +4 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate +2 "storage"(R' +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(}' +48 "core" ' +2 #tLights, camera, ACTION! + "storage"(X- +3 "core" -' +2 "storage"(& +4 "core" &<7 j\ + "manipulator"&!& +4 "core" &  a +2 .tElbow.seek 5 + "manipulator"&/( +4 "core" ( + "manipulator"&5& +4 "core" & 2 a + "storage"(0& +4 "core" &<7 %\ +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&' +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"(''M +56 "core" ' +2 "manipulator"&& +4 "core" & r q c a +2 "storage"(H& +4 "core" &<7 J\ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 + "manipulator"&9'/ +32 "core" ' +2 .tElbow.hold + "manipulator"&Z, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"('7 +24 "core" ' +2 "manipulator"& % +4 "core" %;s $ +2 "storage"(\\& +4 "core" &<7 C B \ + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 5 + 312 counts + "manipulator"&&'g +18 "core" ' +2 "manipulator"&O& +5 "core" &< | K % +2 "storage"(8& +4 "core" &<7 \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&(' +15 "core" ' +2 "storage"(=% +4 "core" %< \ +2 ."downElevator"SE.seek :down +4 "storage"(a'N +99 (_% +3 "core" %D u p =\ Va +2 "manipulator"&1% +4 "core" % q o  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +102 "core" ' +47 ' + ."downElevator"SE.stop +2 "storage"(5 +2 ("& +4 "core" &<7 v m\ +2 "collection"'j& +4 "core" &]s\ N +2 #tStoring generic puck in Collection Clamp to tube 5 + "manipulator"&q% +4 "core" %\ r   +2 "storage"(% +4 "core" %F \ + "storage"(@. +3 "core" .(<< +2 "storage"(Q& +4 "core" &<7 \ + "storage"(B& +4 "core" &<7 \ +2 "manipulator"&[& +4 "core" &< w s % +2 .tElbow.seek 5 + "manipulator"&w( +37 "core" ( + "manipulator"&-& +5 "core" &\ D X + "storage"(P& +4 "core" &<7 \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&C' +93 "core" ' +2 "storage"(]& +5 "core" &<7 w \ + .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('e +275 "core" ' +2 "storage"(L- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +2 "core" &\ N X +2 "storage"(n& +4 "core" &<7 l g c\ + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"& '/ +30 "core" ' +2 .tElbow.hold + "manipulator"&e, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(W- +2 "core" -' +3 .tSE.seek 0.11 Pucks below Top Plate + "storage"(~'n +27 "core" ' +2 "manipulator"&4% +4 "core" %9e =  + "storage"(.& +4 "core" &<7 B B \ + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 5 + 310 counts + "manipulator"&s'e +18 "core" ' + "manipulator"&& +5 "core" &: u ^   + "storage"(6& +4 "core" &<7 \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&' +17 "core" ' +2 .tSE.seek 1.11 Pucks below Top Plate + "storage"(<'] +52 "core" ' + "manipulator"&& +5 "core" &: p p   + "manipulator"&,% +4 "core" % o p   +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&i'\ +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"&7( +156 "core" ( + "manipulator"&& +4 "core" &'  >K +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &#& +3 "core" &' >K +2 .tForearm.seek CC + "manipulator"&l'| +97 "core" ' + .tHand.close +2 "manipulator"&/ +53 "core" / +2 .tCC.seek :open + "collection"'(p +411 "core" ( +10 "storage"(V& +4 "core" &<7 \ +2 "storage"(p& +3 "core" &<7 $\ +2 "manipulator"&F& +4 "core" &%  <> + "manipulator"&Y% +4 "core" % ϊ ^  +2 .tForearm.seek :retract +2 "manipulator"&'\ +91 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&( +169 "core" ( + "manipulator"&>& +4 "core" & { D +2 "storage"(?& +4 "core" &<7 \ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 5 +2 "manipulator"&N'/ +102 "core" ' +2 .tElbow.hold + "manipulator"&, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&v1 +60 "core" 1 +2 "manipulator"&S% +5 "core" % A h + "storage"(x& +4 "core" &<7 K\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 318 counts + "manipulator"&f'm +19 "core" ' + "manipulator"& & +5 "core" &A u a   + "storage"(G& +4 "core" &<7 o\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&' +19 "core" ' +2 "storage"(*% +4 "core" %c c\ +2 ."downElevator"SE.seek :down +4 "storage"(+'N +98 (o% +3 "core" %; \ V] +2 "manipulator"&K% +4 "core" % o q ! $ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +93 "core" ' +46 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 6 of [5..7] + #Loading generic puck from tube 6 into Collection Clamp +2 "collection"'h& +4 "core" &rs"\ + "manipulator"&u% +4 "core" %\ 3 %z +2 "storage"(r% +4 "core" %9 4\ + "storage"(. +4 "core" .(<< + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"(%(K +351 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (I& +2 "core" &K h g r\  +2 "manipulator"&D& +3 "core" &A  +2 .tElbow.seek 6 +2 "manipulator"&$( +17 "core" ( + "manipulator"&g& +4 "core" & +2 "storage"(E& +4 "core" &K O\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&y'< +99 "core" ' +2 "storage"({& +4 "core" &K z\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(m'e +280 "core" ' + "storage"( - +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (\ & +2 "core" &K '\  +2 "manipulator"&`& +4 "core" & ' + .tElbow.seek 6 +2 "manipulator"&J( +3 "core" ( + "manipulator"&U& +4 "core" &  +2 "storage"(;& +4 "core" &K <\  +2 .tForearm.seek 6 + 300 counts + "manipulator"&)'Ϧ +21 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&2/ +54 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&:& + "storage"(k'N +8 "core" & E + "manipulator"&% +4 "core" % Ϝ   +2 .tForearm.seek :retract +2 "manipulator"&3'\ +91 "core" ' +2 .tElbow.seek CC + "manipulator"&( +151 "core" ' + ( +2 ."downElevator"SE.stop +3 "manipulator"&t& "storage"(5 +7 "core" &# f :* +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &# = :* +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&z'| +94 "core" ' +2 "manipulator"&A& +4 "core" &# F :* +2 "manipulator"&% +3 "core" %  +2 "collection"'M& +4 "core" &rr+\ +2 "collection"'T& +5 "core" &qs.\ +2 .tCC.seek :closed +2 "collection"'X(] +5 "core" &qt \ +7 &7rr\ $e +9 &hVss\ 7 +10 &rt \ K +9 &~Wss\ L +10 &?]qs\ M +9 &]rt\ L +9 & Zps\ L +10 &"[qs\ L +9 &$H^st\ L +9 && ]ss\ M +10 &'\\rs\ M +9 &)]rp\ L +9 &+O\\ss\ M +10 &-]rt\ L +9 &.^rs\ M +10 &0^qs\ M +9 &2W^os\ M +9 &4]qt\ M +10 &5\\ps\ L +9 &7Ztu\ L +9 &9`\\rs\ L +10 &;"Yqs\ L +9 &<]qr\ L +10 &>Yqs\ L +9 &@g]tt\ M +9 &B)\\qs\ M +10 &C\\qs\ L +9 &E_rq\ L +9 &Goanq\ M +10 &I.jln\ N +9 &JSd\ P +10 &L\ T +9 &NZ\ W +9 &P\ V +10 &Q\ W +9 &Ssv\ W +9 &U]bg\ X +10 &WT[\ X +9 &XCK\ Y +10 &Z3<\ Z +9 &\\`#)\ G +9 &]f>\ #l +10 &]t\ Q +2 ( +2 "collection"'T& +3 #tCollection Clamp onSpring/offSpring for 10/26 samples, on/off torque 2.03 + .Hand.open + "manipulator"&1 +63 "core" 1 +2 "manipulator"&!% +4 "core" %  U  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&5'\ +96 "core" ' +2 #tLoading generic puck from tube 6 into Processing Clamp +2 "processing"%0& +4 "core" &\ + "manipulator"&b% +4 "core" %\ 4 %~ +2 "storage"(% +3 "core" %< ` c M\ +2 "storage"(H. +3 "core" .(K + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"( (K +2 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (\\& +2 "core" &K A E N\  +2 "manipulator"&& +4 "core" &" o 9% + "manipulator"&O% +4 "core" %\ 3 I %~ +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&8( +155 "core" ( +2 "manipulator"&R& +4 "core" & \ +2 "storage"(=& +4 "core" &K } } \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&^'< +102 "core" ' + "storage"(|& +5 "core" &K z\  + .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(}'e +278 "core" ' + "storage"(_- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (1& +2 "core" &K } } \  +2 "manipulator"&& +3 "core" &  \ +2 .tElbow.seek 6 +2 "manipulator"&/( +3 "core" ( +2 "manipulator"&'& +3 "core" & c \ +2 "storage"(9& +4 "core" &K h i 1\  +2 .tForearm.seek 6 + 300 counts + "manipulator"&"'Ϧ +23 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&&/ +52 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&j& + "storage"(q'N +7 "core" &  \ +2 "manipulator"&% +4 "core" % Ϣ  +2 .tForearm.seek :retract + "manipulator"&@'\ +93 "core" ' +2 .tElbow.seek PC + "manipulator"&Q(c +162 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +87 "core" ( + "manipulator"&& +4 "core" &j v +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &B& +3 "core" &j +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&['[ +92 "core" ' +2 "manipulator"&-& +4 "core" &j G +2 "manipulator"&P% +4 "core" %e ` +2 "processing"%(& +3 "core" &\ +2 "processing"%]& +5 "core" &0\ +2 .tPC.seek :closed +2 "processing"%a(Z +4 "core" &1\ \ +8 &0}7\ )w +10 &d1\ > +9 &Hu0\ M +9 & X:\ M +10 &]0\ M +9 &\\2\ L +10 &!QZ:\ M +9 &#Y;\ M +9 &$W<\ L +10 &&Z;\ L +9 &(YY;\ M +9 &*\\:\ M +10 &+V:\ M +9 &-YO\ M +9 &/aZ3\ M +10 &1"\\w\ M +9 &2Y\ M +9 &4X\ L +10 &6iYy\ M +9 &8+\\\ M +10 &9W\ M +9 &;Y\ M +9 &=q[\ M +10 &?3Z\ M +9 &@[\ M +10 &BZ\ M +9 &Dy[V\ M +9 &F:\\}\ M +10 &Ge\ N +9 &Ir\ P +9 &Kp\ R +10 &M.]\ T +9 &NF\ T +10 &P\ T +9 &Rt\ T +9 &T7\ S +10 &U\ T +9 &W?\ T +9 &YyN\ B +10 &Zv9<\ a +9 &Z!<\ , +2 ( +2 "processing"%]& +3 #tProcessing Clamp onSpring/offSpring for 9/25 samples, on/off torque 1.63 +2 .Hand.open + "manipulator"&Z1 +63 "core" 1 + "manipulator"&% +5 "core" % e + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&L'\ +92 "core" ' + "processing"%& +4 "core" &Z\ , +2 #tImaging generic puck in Processing Clamp while storing it to tube 6 + "manipulator"&n% +55 "core" %\ / V #b +2 "storage"(W% +3 "core" %O Y Z\ \ +2 "storage"(4. +3 "core" .(K + "storage"(.& +4 "core" &K Y Y\  +2 "storage"(& +4 "manipulator"&6& +4 "core" &K Y Y\  + &j +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +3 "storage"(#]kK-0-\ b + "manipulator"&(c +6 ."raiseStack"SE.seek :beamBreak +2 "storage"(,'e +2 "core" ( +2 "manipulator"&C& +4 "core" &j \\ + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &w& +3 "core" &j L +2 .tForearm.seek PC +2 "manipulator"&'[ +94 "core" ' +2 .tHand.close + "manipulator"& / +63 "core" / +2 .tPC.seek :open + "processing"%s(p +87 "core" ' + "storage"(~- +4 "core" -'e +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('B +32 "core" ' +262 ( +2 "storage"(#& +4 "core" &K m y @\  + "manipulator"&& +4 "core" &j  +2 "manipulator"&e% +4 "core" % e  +2 .tForearm.seek :retract + "manipulator"&'\ +99 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 + "manipulator"&i( +250 "core" ( + "manipulator"&d& +4 "core" &  l +2 "storage"(V& +4 "core" &K v v s\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&p'< +93 "core" ' +2 .tHand.open + "manipulator"&F1 +60 "core" 1 +2 "storage"(Y- +3 "core" -'B +3 .tSE.seek -0.16 Pucks below Top Plate + "storage"(>' +23 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(?' +51 "core" ' +2 #tLights, camera, ACTION! + "storage"(l- +3 "core" -' +2 "storage"(7& +4 "core" &K \  + "manipulator"&v& +4 "core" &  k +2 .tElbow.seek 6 + "manipulator"&S( +4 "core" ( + "manipulator"&x& +4 "core" & [ k +2 "storage"( & +4 "core" &K K\  +2 .tForearm.seek 6 + 450 counts + "manipulator"&G'< +4 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"(*'M +62 "core" ' + "manipulator"&& +4 "core" &  k +2 "storage"(o& +4 "core" &K | } \  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&K'z +34 "core" ' +2 .tElbow.hold + "manipulator"&, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate + "storage"(N'7 +23 "core" ' +2 "manipulator"&h% +4 "core" %{`  a ô +2 "storage"(u& +4 "core" &K 2 4\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 301 counts + "manipulator"&f'ϧ +21 "core" ' +2 "manipulator"&r& +4 "core" & ^ v , k +2 "storage"(& +4 "core" &K l L\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&<'< +24 "core" ' +2 "storage"(% +4 "core" %< \  +2 ."downElevator"SE.seek :down +3 "storage"(+'N +100 (c% +2 "core" %? v v Y\ V_ +2 "manipulator"&I% +4 "core" %K p o   +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&D'\ +87 "core" ' +63 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (g& +4 "core" &K Z m\  +2 "collection"'E& +4 "core" &]v\ Q + #tStoring generic puck in Collection Clamp to tube 6 +2 "manipulator"&{% +4 "core" %\ - "\\ + "storage"(% +4 "core" %D t v !\ +2 "storage"(. +3 "core" .(K + "storage"( & +4 "core" &K u t j\  +2 "storage"(\ & +4 "core" &K t p 6\  +2 "manipulator"&`& +3 "core" & k +2 .tElbow.seek 6 +2 "manipulator"&U( +3 "core" ( +2 "manipulator"&;& +4 "core" & O k + "storage"(2& +4 "core" &K v v l\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&:'< +90 "core" ' +2 "storage"(& +4 "core" &K u z D\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"($'e +280 "core" ' +2 "storage"(y- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +2 "manipulator"&t& +3 "core" &  k +2 "storage"(& +4 "core" &K a r \  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&m'z +30 "core" ' +2 .tElbow.hold + "manipulator"&), +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(A- +2 "core" -' +3 .tSE.seek 0.12 Pucks below Top Plate + "storage"('t +32 "core" ' + "manipulator"&M% +5 "core" %΅g  0 ö + "storage"(J& +4 "core" &K ? 5 o\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 311 counts + "manipulator"&k'ϱ +21 "core" ' +2 "manipulator"&3& +4 "core" & h x * k +2 "storage"(& +4 "core" &K l r 8\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&'< +16 "core" ' +2 .tSE.seek 1.12 Pucks below Top Plate +2 "storage"(!'c +48 "core" ' +2 "manipulator"&0& +4 "core" & q p  k +2 "manipulator"&b% +4 "core" %6 g o +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +91 "core" ' +2 .tElbow.seek CC + "manipulator"&H( +158 "core" ( + "manipulator"&T& +4 "core" &- J Cm +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &\\& +3 "core" &-  Cm +2 .tForearm.seek CC + "manipulator"&'| +100 "core" ' + .tHand.close +2 "manipulator"&O/ +56 "core" / +2 .tCC.seek :open +2 "collection"'z(p +410 "core" ( +2 "storage"(R& +4 "core" &K -\  + "storage"(=& +4 "core" &K G\  + "manipulator"&%& +4 "core" &, ( Bl + "manipulator"&|% +5 "core" % ς ) +2 .tForearm.seek :retract + "manipulator"&'\ +93 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&5( +162 "core" ( + "manipulator"&_& +5 "core" & y + "storage"(1& +4 "core" &K \  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 6 +2 "manipulator"&'z +111 "core" ' + .tElbow.hold +2 "manipulator"&', +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&91 +53 "core" 1 +2 "manipulator"&&% +4 "core" % Ά  K N +2 "storage"(j& +4 "core" &K } } T\  + .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 6 + 312 counts + "manipulator"&'ϲ +24 "core" ' + "manipulator"&8& +4 "core" & O g J +2 "storage"(^& +4 "core" &K \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&}'< +17 "core" ' + "storage"("% +4 "core" %g \ +2 ."downElevator"SE.seek :down +3 "storage"('N +100 (B% +2 "core" %@ S\ U] +2 "manipulator"&/% +4 "core" %; p o +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&-'\ +88 "core" ' +50 ' + ."downElevator"SE.stop +2 "storage"(5 +2 #tShuffling pucks in tube 7 of [5..7] +2 #Loading generic puck from tube 7 into Collection Clamp + "collection"'P& +5 "core" &qw"\ + "manipulator"&(% +52 "core" %\ *  !O +3 "storage"(q% +4 "core" %9 \ +2 "storage"(@. +3 "core" .(K + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 7 +2 "storage"( ([ +345 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (Z& +3 "core" &[ p y @\  + "manipulator"&& +4 "core" & W +2 .tElbow.seek 7 + "manipulator"&( +16 "core" ( + "manipulator"&n& +4 "core" & O  +2 "storage"(]& +4 "core" &[ a\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&W'k +92 "core" ' + "storage"(4& +4 "core" &[ |\  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(.'e +280 "core" ' + "storage"(6- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (& +3 "core" &[ \  +2 "manipulator"&C& +3 "core" & o p   +2 .tElbow.seek 7 +2 "manipulator"&w( +3 "core" ( + "manipulator"&[& +4 "core" & v \\  +2 "storage"( & +4 "core" &[ e\  +2 .tForearm.seek 7 + 300 counts + "manipulator"&~' +20 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&Q/ +58 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&L& + "storage"(a'N +8 "core" & p o   + "manipulator"&#% +4 "core" % q o  +2 .tForearm.seek :retract +2 "manipulator"&,'\ +95 "core" ' + .tElbow.seek CC +2 "manipulator"&( +147 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +3 "core" ( +2 "manipulator"&e& +4 "core" &(  7 ;3 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &' E ;3 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&d'| +94 "core" ' +2 "manipulator"&V& +4 "core" &(  ;3 + "manipulator"&% +4 "core" %w J +2 "collection"'F& +4 "core" &rt\ +2 "collection"'Y& +5 "core" &pt\ +2 .tCC.seek :closed +3 "collection"'l(] +4 "core" &ps\ +5 &ps\ 7 +10 &I~pt \ 0 +9 &Asrs\ D +9 &bsr \ M +10 &\\ru\ \ L +9 &l]rr\ M +10 & .]qr\ M +9 &!]ts\ M +9 &#\\ss\ L +10 &%v]qs\ L +9 &'6]ss\ M +9 &([st\ L +10 &*Yrt\ L +9 &,~\\qs\ L +9 &.?\\qr\ L +10 &0Zss\ L +9 &1Ypt\ L +10 &3Xrt\ L +9 &5F\\st\ M +9 &7\ \\qs\ L +10 &8[qs\ L +9 &:^qs\ L +9 &\\qs\ L +9 &?Zqt\ L +10 &A]rq\ L +9 &CV]ss\ M +9 &E[ps\ L +10 &FYpt\ L +9 &Hcop\ M +9 &JXril \ O +10 &L4P\ Q +9 &M\ V +10 &O\ V +9 &QI\ V +9 &S|\ Y +10 &Tks\ Z +9 &VYb\ X +9 &XJIQ\ Y +10 &Y(<B\ a +9 &[)2\ Z +10 &](N\ 4 +9 &] \ R +5 ( +2 "collection"'Y& +4 #tCollection Clamp onSpring/offSpring for 9/26 samples, on/off torque 2.24 +2 .Hand.open + "manipulator"&71 +4 "core" &]v\ R +58 1 + "manipulator"&v% +4 "core" % w 4 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&x'\ +92 "core" ' + #tLoading generic puck from tube 7 into Processing Clamp +2 "processing"% & +4 "core" &2\ + "manipulator"&% +4 "core" %\ - i "Z +2 "storage"(% +3 "core" %8 v v \ +2 "storage"(o. +3 "core" .([ +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 7 +2 "storage"(h([ +7 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (& +2 "core" &[ 8 C \  +2 "manipulator"&u& +4 "core" &# ; :. + "manipulator"&>% +4 "core" %\ - j "Z +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 7 +2 "manipulator"&r( +161 "core" ( +2 "manipulator"&& +4 "core" & w + "storage"(& +4 "core" &[ f g \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&i'k +103 "core" ' +2 "storage"(p& +4 "core" &[ \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(?'e +278 "core" ' + "storage"(c- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (I& +3 "core" &[ \  + "manipulator"&G& +4 "core" & o o +2 .tElbow.seek 7 + "manipulator"&S( +3 "core" ( +2 "manipulator"&*& +3 "core" & n h X +2 "storage"(K& +3 "core" &[ \  +3 .tForearm.seek 7 + 300 counts + "manipulator"&f' +23 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&g/ +60 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&E& +2 "storage"({'N +8 "core" & p q ! +2 "manipulator"&% +4 "core" % p o +2 .tForearm.seek :retract + "manipulator"&'\ +94 "core" ' + .tElbow.seek PC +2 "manipulator"& (c +156 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +92 "core" ( +2 "manipulator"&N& +4 "core" &k [ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &\ & +2 "core" &k +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&`'[ +103 "core" ' + "manipulator"&;& +5 "core" &k + "manipulator"&2% +4 "core" %K +2 "processing"%<& +4 "core" &\ +2 "processing"%& +4 "core" &0\ +2 .tPC.seek :closed +2 "processing"%+(Z +4 "core" &/\ \ +9 &/}3\ *x +9 &d0\ > +9 &Du:\ N +10 &W/\ M +9 &\\1\ M +9 &X0\ L +10 &!NY.\ M +9 &#T;\ M +10 &$U<\ M +9 &&W=\ M +9 &(WX;\ L +10 &*Y;\ L +9 &+W8\ M +9 &-X;\ L +10 &/]Z<\ M +9 &1Y;\ M +10 &2Y:\ M +9 &4W\ L +9 &6eW?\ M +10 &8(Xx\ M +9 &9Z\ M +9 &;W\ M +10 &=mWS\ M +9 &?.Z6\ M +10 &@Z\ M +9 &BW\ M +9 &DuY\ M +10 &F6\\\ M +9 &Gc\ N +9 &Iq\ P +10 &Kq\ Q +9 &M.\ S +10 &N\ T +9 &P\ T +9 &Rq\ T +10 &T3\ T +9 &U\ T +9 &WR\ T +10 &Yw\ A +9 &Zz?\ U +9 &Zy\ * +3 ( + "processing"%& +3 #tProcessing Clamp onSpring/offSpring for 9/25 samples, on/off torque 1.66 +2 .Hand.open + "manipulator"&1 +63 "core" 1 +2 "manipulator"&D% +4 "core" % K D +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&y'\ +96 "core" ' + "processing"%t& +4 "core" &Z0\ * +2 #tImaging generic puck in Processing Clamp while storing it to tube 7 + "manipulator"&% +4 "core" %\ . #g +2 "storage"(A% +4 "core" %8 Z Y\ + "storage"(M. +3 "core" .([ +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 7 + "storage"(J([ +3 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (3& +2 "manipulator"&& +4 "core" &[ 6 P \  +4 ."raiseStack"SE.reconfigure :place +3 "storage"(#]kK-0-\ b +2 "core" &k 4 +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +3 ."raiseStack"SE.seek :beamBreak +2 "manipulator"&0(c + "storage"(b'e +6 "core" ( + "manipulator"&:& +4 "core" &k + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &U& +3 "core" &k p +2 .tForearm.seek PC + "manipulator"&$'[ +96 "core" ' +2 .tHand.close + "manipulator"&m/ +63 "core" / +2 .tPC.seek :open + "processing"%k(p +88 "core" ' + "storage"(- +4 "core" -'e + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place + "storage"(T'B +34 "core" ' +257 ( + "storage"(\\& +4 "core" &[ g m \  +2 "manipulator"&& +4 "core" &k { + "manipulator"&)% +4 "core" % U w  +2 .tForearm.seek :retract + "manipulator"&O'\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 7 +2 "manipulator"&( +248 "core" ( +2 "manipulator"&X& +4 "core" & P + "storage"(R& +4 "core" &[ v v \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&='k +153 "core" ' +2 .tHand.open + "manipulator"&%1 +63 "core" 1 +2 "storage"(|- +3 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate +2 "storage"(_' +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.83 Pucks below Top Plate + "storage"(1' +50 "core" ' +2 #tLights, camera, ACTION! + "storage"(- +3 "core" -' +2 "storage"(H& +4 "core" &[\ \  \  + "manipulator"&9& +4 "core" &\ o p P +2 .tElbow.seek 7 + "manipulator"&&( +4 "core" ( + "manipulator"&j& +4 "core" & s v  P +2 "storage"(8& +3 "core" &[\ \ \  +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&^'k +18 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"("'M +63 "core" ' + "manipulator"&& +4 "core" & P +2 "storage"(B& +4 "core" &[ {  X\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 7 + "manipulator"&/'Ω +32 "core" ' +2 .tElbow.hold + "manipulator"&5, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"('7 +24 "core" ' + "manipulator"&P% +4 "core" %θ~  " O +2 "storage"((& +4 "core" &[ 7 - \  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 7 + 315 counts + "manipulator"&' +19 "core" ' + "manipulator"&!& +4 "core" & ] s O +2 "storage"(q& +4 "core" &[ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&@'k +17 "core" ' + "storage"(}% +5 "core" %= \ +2 ."downElevator"SE.seek :down +4 "storage"('N +99 ( % +2 "core" %pE v t 5\ Wb +2 "manipulator"&Z% +4 "core" %_ y r  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +88 "core" ' +60 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (n& +4 "core" &[ Y m\  +2 "collection"']& +4 "core" &]t\ R +2 #tStoring generic puck in Collection Clamp to tube 7 + "manipulator"&4% +4 "core" %\ - "X +2 "storage"('% +4 "core" %8 x v X\ + "storage"(-. +3 "core" .([ +2 "storage"(6& +3 "core" &[ { q u\  +2 "storage"(& +4 "core" &[ q v j\  + "manipulator"&C& +4 "core" & O +2 .tElbow.seek 7 + "manipulator"&[( +4 "core" ( + "manipulator"& & +4 "core" & O + "storage"(Q& +4 "core" &[ } r j\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&L'k +94 "core" ' +2 "storage"(#& +4 "core" &[ m j e\  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"('e +281 "core" ' + "storage"(W- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&e& +3 "core" &  O +2 "storage"(& +3 "core" &[ v v '\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 7 +2 "manipulator"&.'Ω +32 "core" ' + .tElbow.hold + "manipulator"&~, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(V- +2 "core" -' +3 .tSE.seek 0.12 Pucks below Top Plate + "storage"('p +40 "core" ' + "manipulator"&F% +5 "core" %ιx k : + "storage"(w& +4 "core" &[ C C \  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 7 + 316 counts + "manipulator"&a' +18 "core" ' +2 "manipulator"&,& +4 "core" &\ v g O +2 "storage"(z& +4 "core" &[ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&7'k +16 "core" ' +2 .tSE.seek 1.12 Pucks below Top Plate +2 "storage"(v'_ +50 "core" ' + "manipulator"& & +5 "core" &\ o n  O + "manipulator"&% +4 "core" %q z q . +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +88 "core" ' +2 .tElbow.seek CC +2 "manipulator"&o( +151 "core" ( + "manipulator"&Y& +4 "core" && = =G +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" && i =G +2 .tForearm.seek CC +2 "manipulator"&u'| +99 "core" ' + .tHand.close +2 "manipulator"&>/ +53 "core" / +2 .tCC.seek :open +2 "collection"'d(p +410 "core" ( +2 "storage"(& +4 "core" &[ ?\  + "storage"(& +4 "core" &[ D\  + "manipulator"& & +4 "core" &%  <9 + "manipulator"&p% +4 "core" % χ  +2 .tForearm.seek :retract + "manipulator"&'\ +98 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 7 + "manipulator"&x( +167 "core" ( +3 "manipulator"&c& +4 "core" & ? @ +2 "storage"(I& +4 "core" &[ Q\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 7 +2 "manipulator"&G'Ω +107 "core" ' +2 .tElbow.hold + "manipulator"&*, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&K1 +59 "core" 1 +2 "manipulator"&g% +4 "core" % μ   + "storage"(E& +4 "core" &[ Y\  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 7 + 319 counts + "manipulator"&' +18 "core" ' + "manipulator"&r& +5 "core" & q u 5 @ + "storage"(i& +4 "core" &[ t\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&?'k +15 "core" ' +2 "storage"(f% +4 "core" %b ]\ +2 ."downElevator"SE.seek :down +4 "storage"(N'N +98 (\ % +3 "core" %#> I\ U\\ +2 "manipulator"&S% +4 "core" %k n o +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&;'\ +87 "core" ' +55 ' +2 ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 5 of [5..7] + #Loading generic puck from tube 5 into Collection Clamp +2 "collection"'2& +4 "core" &rt\ + "manipulator"&<% +4 "core" %\ ) K +2 "storage"({% +4 "core" %C J\  + "storage"(. +4 "core" .([ + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"(s(<< +676 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (& +3 "core" & +10 &Sxts\ M +9 &Yrs\ L +9 &]qs\ L +10 &[or\ L +9 &!\\^rt\ M +9 &#_rr\ L +10 &$]rr\ L +9 &&_ss\ L +10 &(d]rr\ M +9 &*(]qr\ L +9 &+[rr\ L +10 &-\\or\ M +9 &/m\\us\ L +9 &1/Zrs\ L +10 &2^rv\ L +9 &4\\qs\ L +9 &6t[pr\ M +10 &88Zrs\ L +9 &9\\pr\ L +10 &;[rr\ L +9 &=}^pt\ L +9 &?@]qs\ L +10 &A]pt\ L +9 &B[pt\ L +9 &D]rv\ L +10 &FG^pt\ L +9 &H`pq\ M +10 &Isko \ O +9 &K@[\ \ Q +9 &M6\ U +10 &N\ U +9 &P\ V +10 &Ru\ W +9 &T5qy\ X +9 &Udi \ [ +10 &WU[\ Y +9 &YtGM\ Z +9 &[26;\ \\ +10 &\\'-\ 5 +9 &]#"\ %l +9 &]p \ M +3 ( + "collection"'|& +3 #tCollection Clamp onSpring/offSpring for 9/25 samples, on/off torque 2.15 +2 .Hand.open + "manipulator"&1 +63 "core" 1 +2 "manipulator"&H% +4 "core" % f  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&9'\ +91 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp +2 "processing"%j& +4 "core" &\ + "manipulator"&8% +4 "core" %\ + 7 !N +2 "storage"(% +4 "core" %B v v 6\ + "storage"(B. +3 "core" .(\ M +9 &<Zx\ M +9 &>Y\ M +10 &@tY\ M +9 &B7U\ M +10 &CY\ M +9 &E[\ M +9 &Gzb\ N +10 &I:k\ O +9 &J|\ Q +9 &L\ S +10 &NqR\ T +9 &P4\ S +10 &Q\ S +9 &S\ T +9 &Uw\ T +10 &W9\ T +9 &X\ U +9 &ZSIj\ &q +10 &Z6\ - +5 ( +2 "processing"%#& +4 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.61 + .Hand.open +2 "manipulator"&51 +3 "core" &Z\ - +59 1 + "manipulator"&% +4 "core" % ] o +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&W'\ +96 "core" ' +2 "processing"%e& +4 "core" &Z0\ - + #tImaging generic puck in Processing Clamp while storing it to tube 5 +2 "manipulator"&% +4 "core" %\ . #h + "storage"(V% +4 "core" %> [ c\ + "storage"(F. +3 "core" .(<< +2 "storage"(w& +4 "core" &<9 c Y\  +2 "storage"(,& +2 "manipulator"&z& +7 "core" &<9 X X ?\  + &j " +3 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +3 "storage"(#]kK-0-\ b + "manipulator"&$&.,(\ #b +5 .tElbow.seek PC +3 ."raiseStack"SE.seek :beamBreak + "manipulator"& (c +3 "storage"('e +4 "core" ( +2 "manipulator"&L& +4 "core" &j  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &[& +3 "core" &j +2 .tForearm.seek PC + "manipulator"&'[ +96 "core" ' + .tHand.close +2 "manipulator"&./ +58 "core" / + .tPC.seek :open +2 "processing"%a(p +94 "core" ' +2 "storage"(- +4 "core" -'e + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +2 ."raiseStack"SE.seek :place +2 "storage"(Y'B +36 "core" ' +251 ( + "storage"(& +4 "core" &<9 m y J\  +2 "manipulator"&7& +4 "core" &j  + "manipulator"&~% +4 "core" % e  +2 .tForearm.seek :retract + "manipulator"&>'\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&( +264 "core" ( + "manipulator"&l& +5 "core" & 9 \ + "storage"(& +4 "core" &<9 u q L\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&' +93 "core" ' +2 .tHand.open + "manipulator"& 1 +54 "core" 1 +2 "storage"(p- +3 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate +2 "storage"(c' +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.83 Pucks below Top Plate + "storage"(I' +50 "core" ' + #tLights, camera, ACTION! +2 "storage"(u- +3 "core" -' +2 "storage"(o& +4 "core" &<7 g\ \ + "manipulator"&K& +4 "core" &  \ +2 .tElbow.seek 5 + "manipulator"&g( +4 "core" ( + "manipulator"&E& +4 "core" &  \ + "storage"(r& +4 "core" &<7 L\ \ +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&i' +3 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.11 Pucks below Top Plate + "storage"(f'M +57 "core" ' +2 "manipulator"&& +4 "core" &  \ + "storage"(\ & +4 "core" &<7 n s "\ \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&S'/ +30 "core" ' +2 .tElbow.hold + "manipulator"&x, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.07 Pucks below Top Plate + "storage"(G'7 +23 "core" ' + "manipulator"&2% +5 "core" %@m u  + "storage"(<& +4 "core" &<7 9 @ \ \ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 317 counts +2 "manipulator"&'l +18 "core" ' +2 "manipulator"&{& +5 "core" &  w s 8  + "storage"(& +4 "core" &<7 x \ \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&v' +18 "core" ' +4 "storage"(?% +63 "core" %@ \ +2 ."downElevator"SE.seek :down +4 "storage"(N'N +98 (J% +3 "core" %F q o \ Wc +2 "manipulator"&% +4 "core" % q q 4 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&D'\ +98 "core" ' +52 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (& +4 "core" &<7 c Y\ \ +2 "collection"'A& +4 "core" &]n #\ M + #tStoring generic puck in Collection Clamp to tube 5 +2 "manipulator"&% +4 "core" %\ 8 ' + "storage"(*% +4 "core" %= | | ;\ +2 "storage"(;. +3 "core" .(<< + "storage"(& +4 "core" &<7 z q 0\ \ + "storage"(:& +4 "core" &<7 | r Z\ \ +2 "manipulator"&U& +4 "core" &   + .tElbow.seek 5 +2 "manipulator"&m( +11 "core" ( +2 "manipulator"&h& +4 "core" & 8  + "storage"( & +4 "core" &<7 } | \ \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&y' +102 "core" ' + "storage"(\\& +5 "core" &<7 \ \ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(t'e +276 "core" ' + "storage"(M- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&3& +3 "core" & o p   +2 "storage"(& +4 "core" &<7 \ \ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&)'/ +32 "core" ' + .tElbow.hold +2 "manipulator"&$, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(`- +2 "core" -' +3 .tSE.seek 0.11 Pucks below Top Plate + "storage"(R'n +28 "core" ' + "manipulator"&0% +5 "core" %Bs   & + "storage"(%& +4 "core" &<7 B @ r\ \ + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 319 counts + "manipulator"&+'n +18 "core" ' +2 "manipulator"&& +4 "core" &" ] v  +2 "storage"(d& +4 "core" &<7 o\ \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&' +19 "core" ' +2 .tSE.seek 1.11 Pucks below Top Plate +2 "storage"(H'] +50 "core" ' +2 "manipulator"&j& +5 "core" &" p p   + "manipulator"&8% +4 "core" % r p  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +91 "core" ' + .tElbow.seek CC +2 "manipulator"&B( +156 "core" ( + "manipulator"&|& +4 "core" &) P ?V +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &P& +4 "core" &(  ?V + .tForearm.seek CC +2 "manipulator"&('| +96 "core" ' + .tHand.close +2 "manipulator"&_/ +53 "core" / +2 .tCC.seek :open +2 "collection"'X(p +410 "core" ( + "storage"(q& +5 "core" &<7 w\ \ + "storage"(}& +4 "core" &<7 S\ \ + "manipulator"&s& +4 "core" &% R <> + "manipulator"&=% +4 "core" % x  +2 .tForearm.seek :retract + "manipulator"&b'\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&9( +159 "core" ( +2 "manipulator"& & +4 "core" & 3 + "storage"(Z& +4 "core" &<7 9\ \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 5 + "manipulator"&^'/ +109 "core" ' +2 .tElbow.hold + "manipulator"&", +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&/1 +60 "core" 1 +2 "manipulator"&% +4 "core" % B  [ z +2 "storage"(]& +4 "core" &<7 g g \ \ + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 5 + 319 counts +2 "manipulator"&''n +17 "core" ' +2 "manipulator"&!& +4 "core" &8 _ u 3  + "storage"(& +4 "core" &<7 [\ \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&1' +14 "core" ' +2 "storage"(n% +4 "core" %a \ +2 ."downElevator"SE.seek :down +3 "storage"('N +100 (% +2 "core" %A 4\ U] +2 "manipulator"&&% +4 "core" % p o + +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"& '\ +91 "core" ' +47 ' + ."downElevator"SE.stop +2 "storage"(5 +2 #tShuffling pucks in tube 6 of [5..7] +2 #Loading generic puck from tube 6 into Collection Clamp + "collection"'Q& +5 "core" &rt \ + "manipulator"&@% +4 "core" %\ + U !U +2 "storage"(4% +3 "core" %A /\ +2 "storage"(-. +3 "core" .(<< +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"(k(K +353 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (5& +3 "core" &K ]\  +2 "manipulator"&& +3 "core" &8 7  +2 .tElbow.seek 6 +2 "manipulator"&e( +13 "core" ( + "manipulator"&& +4 "core" &   +2 "storage"(V& +4 "core" &K \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&F'< +95 "core" ' + "storage"(w& +5 "core" &K w\  + .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(#'e +279 "core" ' + "storage"(z- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (,& +3 "core" &K \  + "manipulator"&L& +4 "core" &   +2 .tElbow.seek 6 + "manipulator"&[( +3 "core" ( +2 "manipulator"&C& +4 "core" & I  + "storage"(.& +4 "core" &K l\  +2 .tForearm.seek 6 + 300 counts + "manipulator"&'Ϧ +20 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&6/ +58 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&W& +2 "storage"('N +7 "core" & 0  +2 "manipulator"&% +4 "core" % ϒ   +2 .tForearm.seek :retract + "manipulator"&7'\ +97 "core" ' +2 .tElbow.seek CC +2 "manipulator"&~( +146 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +5 "core" ( + "manipulator"&& +5 "core" &&  =C + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" && @ =C +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&l'| +99 "core" ' + "manipulator"&& +4 "core" && =C +2 "manipulator"& % +4 "core" %~  +2 "collection"' & +4 "core" &qs4\ +2 "collection"'p& +5 "core" &oq5\ +2 .tCC.seek :closed + "collection"'u(] +5 "core" &rt\ +7 &?ss\ $e +10 &qWoq\ 7 +9 &ss\ L +10 &Yrr\ L +9 &K\\st\ L +9 &Yru\ L +10 & \\rs \ M +9 &"]pt\ L +9 &$T]qr\ L +10 &&\\pr\ L +9 &'\\rs\ M +10 &)]rq\ \ L +9 &+Z\\qr\ M +9 &-\\pr\ L +10 &.]rt\ L +9 &0\\qs \ L +9 &2c`qt \ L +10 &4%^qq \ L +9 &5Zss\ L +9 &7\\rs\ L +10 &9kZqs\ \ L +9 &;.Yps \ L +10 &<\\rs\ L +9 &>]qs\ L +9 &@s]ts \ L +10 &B4\\ou\ M +9 &C\\tt\ L +10 &E]qs \ M +9 &Gz_oq\ M +9 &I8inp\ N +10 &J|Te\ \ P +9 &L\  \ U +9 &Ng\ V +10 &P(\ V +9 &Q\ W +9 &Su|\ \ X +10 &Uhfl\ X +9 &W+T\\\ X +10 &XFM\ Y +9 &Z8>\ Z +9 &\\l%,\ F +10 &]e:\ ){ +9 &]d\ L +2 ( +2 "collection"'p& +3 #tCollection Clamp onSpring/offSpring for 9/26 samples, on/off torque 2.06 + .Hand.open + "manipulator"&o1 +58 "core" 1 + "manipulator"&K% +4 "core" % ~ R +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&E'\ +91 "core" ' +3 #tLoading generic puck from tube 6 into Processing Clamp + "processing"%r& +4 "core" &1\ +2 "manipulator"&>% +4 "core" %\ - F "X + "storage"(% +4 "core" %C { v c\  +2 "storage"(\ . +3 "core" .(K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"(2(K +6 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (<& +3 "core" &K N C $\  +2 "manipulator"&Y& +53 "core" &$ ' ;8 +3 "manipulator"&{% +3 "core" %\ - "X +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&( +160 "core" ( + "manipulator"&c& +5 "core" &  + "storage"(?& +4 "core" &K x \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&'< +95 "core" ' + "storage"(& +5 "core" &K \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(I'e +276 "core" ' + "storage"(i- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (J& +2 "core" &K k \  +2 "manipulator"&& +4 "core" &   + .tElbow.seek 6 +2 "manipulator"&g( +3 "core" ( +2 "manipulator"&f& +4 "core" &   + "storage"(S& +4 "core" &K y\  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&'Ϧ +20 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +58 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&A& +2 "storage"('N +7 "core" & R  +2 "manipulator"&*% +4 "core" % Ϝ   +2 .tForearm.seek :retract + "manipulator"&;'\ +93 "core" ' +2 .tElbow.seek PC +2 "manipulator"&(c +156 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +78 "core" ( + "manipulator"&G& +5 "core" &i  B + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &:& +3 "core" &i B +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&U'[ +104 "core" ' +2 "manipulator"&h& +4 "core" &i B + "manipulator"& % +4 "core" %] +2 "processing"%v& +4 "core" &1\ +2 "processing"%\\& +5 "core" &1\ +2 .tPC.seek :closed + "processing"%N(Z +5 "core" &<\  +9 &0}7\ *x +10 &d1\ > +9 &Du1\ N +9 &U0\ M +10 &Y*\ M +9 &V<\ M +10 &!MY;\ M +9 &#U=\ M +9 &$X0\ L +10 &&Z*\ M +9 &(VV<\ M +9 &*W:\ M +10 &+Y<\ M +9 &-W<\ M +10 &/^Y<\ M +9 &1 X6\ M +9 &2\\9\ M +10 &4W<\ M +9 &6eZ=\ M +9 &8)W:\ L +10 &9W4\ M +9 &;W3\ L +10 &=nX4\ M +9 &?/Y9\ M +9 &@Z\ M +10 &BY\ M +9 &DuY>\ M +9 &F6\\{\ M +10 &GdI\ N +9 &Iq~\ P +10 &Knx\ R +9 &M,T\ S +9 &N{\ S +10 &P\ S +9 &Rr\ S +9 &T3\ T +10 &U\ T +9 &W\ T +10 &Yv\ B +9 &Zr7\ #i +9 &Z$T\ - +3 ( + "processing"%\\& +3 #tProcessing Clamp onSpring/offSpring for 9/25 samples, on/off torque 1.67 +2 .Hand.open + "manipulator"&x1 +63 "core" 1 +2 "manipulator"&D% +4 "core" % ] = +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&M'\ +95 "core" ' +2 "processing"%3& +4 "core" &Z /\ - +2 #tImaging generic puck in Processing Clamp while storing it to tube 6 + "manipulator"&% +4 "core" %\ - K "_ +2 "storage"(`% +3 "core" %D t p 7\ +2 "storage"(0. +3 "core" .(K + "storage"(%& +4 "core" &K u q #\  +2 "storage"(& +2 "manipulator"&d& +7 "core" &K v v e\  + &i  B +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +4 "storage"(#]kK-0-\ b + "manipulator"&j(c +6 ."raiseStack"SE.seek :beamBreak +2 "storage"(8'e +3 "core" ( + "manipulator"&y& +4 "core" &i B + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &m& +3 "core" &i H B +2 .tForearm.seek PC + "manipulator"&t'[ +98 "core" ' + .tHand.close +2 "manipulator"&)/ +56 "core" / +2 .tPC.seek :open + "processing"%+(p +90 "core" ' + "storage"(R- +4 "core" -'e + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +2 ."raiseStack"SE.seek :place +2 "storage"(|'B +41 "core" ' +251 ( +2 "storage"(P& +3 "core" &K w n _\  +2 "manipulator"&& +4 "core" &i  B +2 "manipulator"&$% +4 "core" % V - +2 .tForearm.seek :retract + "manipulator"&_'\ +101 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&( +257 "core" ( +2 "manipulator"&O& +4 "core" & A $ +2 "storage"(q& +3 "core" &K u q A\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&}'< +101 "core" ' + .tHand.open +2 "manipulator"&s1 +55 "core" 1 + "storage"(=- +4 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate +2 "storage"( ' +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(Z' +51 "core" ' +2 #tLights, camera, ACTION! + "storage"((- +4 "core" -' + "storage"(B& +4 "core" &K W\  + "manipulator"&/& +4 "core" & # +2 .tElbow.seek 6 + "manipulator"&( +20 "core" ( +2 "manipulator"&]& +4 "core" &   +2 "storage"(!& +4 "core" &K\  \  +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&'< +3 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.11 Pucks below Top Plate + "storage"(n'M +60 "core" ' + "manipulator"&b& +5 "core" & M  + "storage"(& +4 "core" &K \  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 + "manipulator"&&'z +34 "core" ' +2 .tElbow.hold + "manipulator"&9, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"(^'7 +24 "core" ' +2 "manipulator"&Q% +5 "core" %΃h   X ö + "storage"(@& +4 "core" &K E E \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 309 counts + "manipulator"&4'ϯ +17 "core" ' + "manipulator"&'& +5 "core" & }  B 3 + "storage"(-& +4 "core" &K \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&H'< +17 "core" ' +2 "storage"(1% +4 "core" %> A\ +3 ."downElevator"SE.seek :down +4 "storage"('N +99 (T% +3 "core" %E p o =\ U` +2 "manipulator"&5% +4 "core" %B n o 2 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +93 "core" ' +60 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (& +4 "core" &K Z c\  + "collection"'V& +4 "core" &]b\ L +2 #tStoring generic puck in Collection Clamp to tube 6 + "manipulator"&w% +4 "core" %\ 6  & +2 "storage"("% +4 "core" %G } } \  + "storage"( . +3 "core" .(K + "storage"(z& +5 "core" &K } } \  + "storage"(,& +4 "core" &K | v H\  + "manipulator"&L& +4 "core" & 3 +2 .tElbow.seek 6 + "manipulator"&C( +15 "core" ( +2 "manipulator"&.& +4 "core" & l !t + "storage"(6& +4 "core" &K } } \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&W'< +102 "core" ' +2 "storage"(& +4 "core" &K !\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(e'e +282 "core" ' + "storage"(F- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" & < !t + "storage"(& +4 "core" &K z p '\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&#'z +34 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(- +3 "core" -' +2 .tSE.seek 0.12 Pucks below Top Plate +2 "storage"( 't +31 "core" ' +2 "manipulator"& % +4 "core" %΃` ' & H ƴ + "storage"([& +4 "core" &K C B i\  +50 .tForearm.force -20 +3 "manipulator"&5 +2 .tForearm.seek 6 + 309 counts +2 "manipulator"&'ϯ +16 "core" ' +2 "manipulator"&7& +4 "core" & j z X # +2 "storage"(X& +4 "core" &K \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&o'< +17 "core" ' +2 .tSE.seek 1.12 Pucks below Top Plate +2 "storage"(K'c +51 "core" ' +2 "manipulator"&r& +4 "core" & q o # +2 "manipulator"&>% +4 "core" %< | } +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +87 "core" ' +2 .tElbow.seek CC +2 "manipulator"&\ ( +160 "core" ( +2 "manipulator"&p& +4 "core" &9 0 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &<& +3 "core" &9 0 +2 .tForearm.seek CC + "manipulator"&Y'| +97 "core" ' + .tHand.close + "manipulator"&{/ +62 "core" / +2 .tCC.seek :open + "collection"'l(p +414 "core" ( + "storage"(c& +4 "core" &K \  +2 "storage"(?& +3 "core" &K B\  +2 "manipulator"&k& +4 "core" &9  0 + "manipulator"&% +4 "core" % ύ +2 .tForearm.seek :retract + "manipulator"&~'\ +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&E( +156 "core" ( + "manipulator"&i& +5 "core" & P  + "storage"(J& +4 "core" &K <\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 6 +2 "manipulator"&'z +111 "core" ' + .tElbow.hold +2 "manipulator"&f, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&S1 +58 "core" 1 +2 "manipulator"&% +4 "core" % · 7 H [ + "storage"(A& +4 "core" &K h g v\  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 6 + 313 counts +2 "manipulator"&*'ϳ +18 "core" ' + "manipulator"&& +4 "core" & _ u E +2 "storage"(& +4 "core" &K X\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&I'< +18 "core" ' +2 "storage"(% +4 "core" %i s\ +2 ."downElevator"SE.seek :down +4 "storage"(G'N +98 (:% +4 "core" % C K\ U] +2 "manipulator"&g% +4 "core" %/ q p  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&h'\ +92 "core" ' +46 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 7 of [5..7] + #Loading generic puck from tube 7 into Collection Clamp +2 "collection"' & +4 "core" &rs/\ + "manipulator"&v% +4 "core" %\ / #j +2 "storage"(% +4 "core" %7 2\ + "storage"(;. +3 "core" .(K +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 7 + "storage"(a([ +358 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (x& +2 "core" &[ d\  +2 "manipulator"&D& +4 "core" & + .tElbow.seek 7 +2 "manipulator"&3( +17 "core" ( + "manipulator"&& +5 "core" &   + "storage"(`& +4 "core" &[ (\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&0'k +90 "core" ' +2 "storage"(%& +4 "core" &[ \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(\\'e +278 "core" ' + "storage"(d- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" &[ '\  + "manipulator"&y& +4 "core" & o o   +2 .tElbow.seek 7 + "manipulator"&m( +3 "core" ( +2 "manipulator"&U& +4 "core" & u s "  + "storage"()& +4 "core" &[ >\  +2 .tForearm.seek 7 + 300 counts + "manipulator"&R' +20 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close +2 "manipulator"&/ +64 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&M& + "storage"(N'N +8 "core" & p p   + "manipulator"&P% +4 "core" % p q  +2 .tForearm.seek :retract +2 "manipulator"&'\ +93 "core" ' + .tElbow.seek CC +2 "manipulator"&8( +152 "core" ' + ."downElevator"SE.stop +3 "storage"(5 +2 "core" ( +2 "manipulator"&$& +4 "core" &%  <9 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &t& +3 "core" &%  <9 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&O'| +102 "core" ' + "manipulator"&q& +4 "core" &% . <9 +2 "manipulator"&j% +4 "core" %ς X +2 "collection"'s& +4 "core" &rt;\ +2 "collection"'=& +5 "core" &ot8\ +2 .tCC.seek :closed +2 "collection"'((] +4 "core" &qs\ +7 &7qr\ #b +10 &dVrs\ 7 +9 &qs\ K +10 &{Zrr\ L +9 &=\\qt\ L +9 &\\qu \ M +10 & \\ps \ L +9 &"^qs \ L +9 &$DZos\ L +10 &&Yrs\ L +9 &'\\qs\ L +10 &)]qr\ L +9 &+K\\rs\ M +9 &-\\rq\ L +10 &.]rt\ L +9 &0Zsr\ L +9 &2T^rs\ L +10 &4]qs\ M +9 &5Zrt \ L +10 &7[qs \ L +9 &9\\Zqs\ L +9 &;[qt \ M +10 &<\\qs\ L +9 &>[pt \ L +9 &@d\\qs\ \ L +10 &B%\\ps\ M +9 &C\\su\ L +9 &E]qs\ L +10 &Gk]ps\ M +9 &I,ejp\ M +10 &Juek\ O +9 &L8\ S +9 &NY\ U +10 &P \ V +9 &Q\ V +9 &Sv\ W +10 &UZfm\ X +9 &WT[\ X +10 &XFM\ Z +9 &Z5;\ Z +9 &\\\\#- \ G +10 &]`=\ *~ +9 &]\ \\ +2 ( +2 "collection"'=& +3 #tCollection Clamp onSpring/offSpring for 10/26 samples, on/off torque 2.05 + .Hand.open + "manipulator"&B1 +54 "core" 1 +2 "manipulator"&/% +4 "core" % z I +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&]'\ +93 "core" ' +2 #tLoading generic puck from tube 7 into Processing Clamp +2 "processing"%!& +4 "core" &\ + "manipulator"&_% +4 "core" %\ ) C J +2 "storage"(b% +4 "core" %8 Y Y\  + "storage"(. +3 "core" .([ +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 7 +2 "storage"(|([ +22 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (Q& +3 "core" &[ Z Y\ +2 "manipulator"&@& +4 "core" &!  9) + "manipulator"& % +4 "core" %\ )  J +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 7 + "manipulator"&'( +181 "core" ( +2 "manipulator"&-& +4 "core" &\ _ +2 "storage"(1& +3 "core" &[ t q ^\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&'k +93 "core" ' + "storage"(}& +5 "core" &[ p w m\ + .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(Z'e +276 "core" ' + "storage"(T- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (5& +40 "core" &[ i i {\ + "manipulator"&& +4 "core" &\  _ +2 .tElbow.seek 7 +2 "manipulator"&( +3 "core" ( + "manipulator"&n& +4 "core" &\ ^ _ + "storage"(&& +4 "core" &[ } } \ +2 .tForearm.seek 7 + 300 counts +2 "manipulator"&4' +21 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&/ +60 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&V& +2 "storage"(w'N +7 "core" &\ o y - _ +2 "manipulator"&"% +4 "core" % o p  +2 .tForearm.seek :retract + "manipulator"& '\ +96 "core" ' +2 .tElbow.seek PC +2 "manipulator"&^(c +158 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +84 "core" ( +2 "manipulator"&z& +4 "core" &b 2 F + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &,& +3 "core" &b 4 F +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&L'[ +106 "core" ' +2 "manipulator"&.& +4 "core" &b ] s - F +2 "manipulator"&6% +52 "core" %O q n  +3 "processing"%H& +4 "core" &1\ +2 "processing"%& +5 "core" &s\ +2 .tPC.seek :closed +3 "processing"%(Z +3 "core" &1\ +7 & 25\ $c +9 &]Uz)\ 6 +9 &}0\ K +10 &jU0\ L +9 &+X1\ M +10 &W4\ M +9 & Y5\ L +9 &"sW2\ L +10 &$5X4\ L +9 &%Y6\ L +9 &'XP\ M +10 &)zZ~\ M +9 &+<Z\ M +9 &,X6\ M +10 &.Y}\ M +9 &0\\9\ M +10 &2DY\ M +9 &4U\ M +9 &5VR\ M +10 &7Wx\ M +9 &9LU\ M +9 &;]\ M +10 &<U\ L +9 &>Z\ M +10 &@TZ\ M +9 &BZ\ M +9 &CY\ L +10 &EY\ M +9 &GY`\ N +9 &Ij\ O +10 &J|\ Q +9 &L\ S +10 &NP\ S +9 &P\ S +9 &Q\ T +10 &S\ T +9 &UW\ T +9 &W\ T +10 &X\ T +9 &Z8Or\ . +10 &Z)\ ( +5 ( + "processing"%& +5 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.64 +2 .Hand.open + "manipulator"&91 +3 "core" &Z\ ( +58 1 +2 "manipulator"&% +4 "core" % P  p  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&F'\ +91 "core" ' +2 "processing"%& +4 "core" &ZW\ ( +2 #tImaging generic puck in Processing Clamp while storing it to tube 7 + "manipulator"&% +4 "core" %\ + !U + "storage"(% +4 "core" %B Y X \ +2 "storage"( . +3 "core" .([ + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 7 +2 "storage"([([ +7 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (7& +4 "manipulator"&X& +2 "core" &[ Y \\ \ +4 ."raiseStack"SE.reconfigure :place +3 "storage"(#]kK-0-\ b +3 "core" &b F +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +2 ."raiseStack"SE.seek :beamBreak +2 "manipulator"&r(c + "storage"(>'e +5 "core" ( +2 "manipulator"&W& +4 "core" &b F + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &C& +3 "core" &b F +2 .tForearm.seek PC +2 "manipulator"&e'[ +100 "core" ' +2 .tHand.close + "manipulator"&#/ +58 "core" / +2 .tPC.seek :open + "processing"%(p +85 "core" ' + "storage"( - +4 "core" -'e + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(p'B +33 "core" ' +260 ( +2 "storage"(<& +4 "core" &[ p t \ + "manipulator"&o& +4 "core" &b  F +2 "manipulator"&% +3 "core" % Z 7 +2 .tForearm.seek :retract +2 "manipulator"&{'\ +99 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 7 +2 "manipulator"&( +252 "core" ( + "manipulator"&u& +5 "core" & 6 % + "storage"(c& +4 "core" &[ f c\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&?'k +97 "core" ' + .tHand.open + "manipulator"&k1 +57 "core" 1 +2 "storage"(- +3 "core" -'B +3 .tSE.seek -0.16 Pucks below Top Plate + "storage"(i' +23 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(J' +49 "core" ' +3 #tLights, camera, ACTION! + "storage"(Y- +4 "core" -' + "storage"(\ & +4 "core" &[ Y\ + "manipulator"&S& +4 "core" & % +2 .tElbow.seek 7 + "manipulator"&( +4 "core" ( + "manipulator"&A& +4 "core" &  % + "storage"(& +4 "core" &[ @\ +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&'k +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"('M +59 "core" ' + "manipulator"&~& +5 "core" & ` % + "storage"(:& +4 "core" &[ Z X \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 7 +2 "manipulator"&g'Ω +32 "core" ' + .tElbow.hold +2 "manipulator"&E, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"('7 +21 "core" ' + "manipulator"& % +5 "core" %θ~ R + "storage"(v& +4 "core" &[ 8 5 q\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 7 + 315 counts + "manipulator"&*' +19 "core" ' + "manipulator"&& +5 "core" & a w % + "storage"(;& +5 "core" &[ | } l\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&K'k +17 "core" ' +2 "storage"(I% +4 "core" %9 { $\  +2 ."downElevator"SE.seek :down +4 "storage"(G'N +99 (2% +6 "core" %D Y c\ Vb +2 "manipulator"&x% +9 "core" %c p p  +4 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +6 .tForearm.seek :retract +2 "manipulator"&D'\ +89 "core" ' +44 ' + ."downElevator"SE.stop + "storage"(5 +3 (& +4 "core" &[ X S ?\ + "collection"'`& +5 "core" &]#\ \\ + #tStoring generic puck in Collection Clamp to tube 7 +2 "manipulator"&%% +4 "core" %\ + S !R + "storage"(f% +4 "core" %= Y Y\ + "storage"(h. +3 "core" .([ +2 "storage"(d& +4 "core" &[ Y Y\ + "storage"(& +4 "core" &[ Z Y\ + "manipulator"&y& +4 "core" & < % +2 .tElbow.seek 7 + "manipulator"&U( +4 "core" ( + "manipulator"&)& +4 "core" & % + "storage"(& +4 "core" &[ Y Y\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&M'k +98 "core" ' + "storage"(P& +4 "core" &[ } } \ +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(3'e +277 "core" ' + "storage"(0- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&$& +3 "core" &  % +2 "storage"(t& +4 "core" &[ o p '\ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 7 + "manipulator"&\\'Ω +33 "core" ' + .tElbow.hold +2 "manipulator"&R, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(q- +2 "core" -' +2 .tSE.seek 0.12 Pucks below Top Plate +2 "storage"(j'o +27 "core" ' + "manipulator"&s% +4 "core" %κ{ ¼H +2 "storage"(m& +4 "core" &[ 8 5 `\ + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 7 + 317 counts +2 "manipulator"&N' +19 "core" ' + "manipulator"&& +4 "core" & l { [ % +2 "storage"(l& +4 "core" &[ | | X\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&B'k +15 "core" ' +2 .tSE.seek 1.12 Pucks below Top Plate +2 "storage"(/'^ +40 "core" ' +2 "manipulator"&!& +4 "core" & q q \ % +2 "manipulator"&_% +4 "core" %f o q  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&b'\ +88 "core" ' + .tElbow.seek CC +2 "manipulator"&( +148 "core" ( +2 "manipulator"&=& +4 "core" & " k :. + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &Q& +3 "core" & # + :. +2 .tForearm.seek CC +2 "manipulator"&@'| +95 "core" ' +2 .tHand.close + "manipulator"& / +53 "core" / +2 .tCC.seek :open +2 "collection"'O(p +410 "core" ( +2 "storage"(-& +4 "core" &[ \ + "storage"(1& +4 "core" &[ \ + "manipulator"&a& +4 "core" & # x :. + "manipulator"&}% +4 "core" % v % +2 .tForearm.seek :retract +2 "manipulator"&8'\ +91 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 7 + "manipulator"&]( +170 "core" ( +2 "manipulator"&T& +4 "core" & x q + "storage"(5& +4 "core" &[ \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 7 +42 "manipulator"&'Ω +115 "core" ' +2 .tElbow.hold + "manipulator"&n, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&&1 +49 "Can" (JH +4 "core" 1 +2 "manipulator"&% +5 "core" % ι o + "storage"(V& +4 "core" &[ x W\ + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 7 + 316 counts +2 "manipulator"&"' +17 "core" ' +2 "manipulator"&'& +4 "core" & N h % q +2 "storage"(& +4 "core" &[ /\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&Z'k +19 "core" ' +2 "storage"(4% +4 "core" %d \ +2 ."downElevator"SE.seek :down +4 "storage"(z'N +99 (,% +3 "core" %%@ \ V^ +2 "manipulator"&% +4 "core" %h o p \  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&.'\ +88 "core" ' +51 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 5 of [5..7] +2 #Loading generic puck from tube 5 into Collection Clamp + "collection"'6& +4 "core" &qr\ +2 "manipulator"&H% +4 "core" %\ * !V + "storage"(w% +4 "core" %7 @\ +2 "storage"( . +3 "core" .([ +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 + "storage"(+(<< +674 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (9& +2 "core" &<> { s 1\ +2 "manipulator"&& +4 "core" & q +2 .tElbow.seek 5 + "manipulator"&( +40 "core" ( + "manipulator"&& +4 "core" &  J  +2 "storage"(& +4 "core" &'\ +96 "core" ' +2 .tElbow.seek CC +2 "manipulator"&o( +145 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +6 "core" ( +2 "manipulator"&& +4 "core" &%  <> + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &e& +3 "core" &%  <> +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&u'| +100 "core" ' +2 "manipulator"&c& +4 "core" &% / <> +2 "manipulator"&r% +4 "core" %ς +2 "collection"'k& +4 "core" &rr\ +2 "collection"'& +5 "core" &or/\ +3 .tCC.seek :closed + "collection"'Y(] +4 "core" &qt\  +9 &2qt\ *y +9 &dqr \ > +10 &Sypr\ M +9 &Yqq\ L +9 &^qs\ L +10 &Zps\ L +9 &!\\]os\ M +9 &#]oq\ L +10 &$^rs\ L +9 &&]qs\ L +10 &(f_rt\ L +9 &*(]qt\ L +9 &+[qs\ L +10 &-\\qr\ L +9 &/m_rt\ L +9 &1.]st \ M +10 &2\\nr \ L +10 &4]or\ L +8 &6vZsr\ L +10 &88Zot\ L +9 &9[os\ L +10 &;[rq\ L +9 &=|^ps \ M +9 &?@\\qr\ L +10 &A\\ps\ L +9 &B_qr\ L +9 &D[pq\ L +10 &FH`oq\ L +9 &Hdop\ M +10 &Irlm\ \ N +9 &K=Z\ Q +9 &M5\ U +10 &N\ V +9 &P\ V +10 &Ru|\ W +9 &T6ov\ X +9 &U]f\ Y +10 &WPU\ Y +9 &YtCG\ Z +9 &[52:\ [ +10 &\\z#*\ 0 +9 &]& \ $l +9 ( +2 &]\ !b +2 "collection"'& +3 #tCollection Clamp onSpring/offSpring for 9/25 samples, on/off torque 2.08 + .Hand.open +2 "manipulator"&\ 1 +54 "core" 1 + "manipulator"&S% +5 "core" % } " + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&A'\ +92 "core" ' + #tLoading generic puck from tube 5 into Processing Clamp +2 "processing"%& +4 "core" &=\ + "manipulator"&{% +4 "core" %\ ) x L +2 "storage"(~% +4 "core" %; Y X u\ + "storage"(:. +3 "core" .(<< +2 "storage"( & +3 "core" &<< Y Y\ +2 "storage"(v& +4 "core" &<< Y c\ + "manipulator"&p& +4 "core" &$ U ;8 +2 "manipulator"&% +3 "core" %\ ) > L +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&i( +154 "core" ( + "manipulator"&;& +4 "core" & 2 +2 "storage"(I& +4 "core" &<< v v w\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&' +103 "core" ' + "storage"(?& +5 "core" &<< } r \ + .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(J'e +285 "core" ' + "storage"(2- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (x& +2 "core" &<9 Y Y\ +2 "manipulator"&& +4 "core" &  + .tElbow.seek 5 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&& +3 "core" & +2 "storage"(g& +4 "core" &<9 X Y \ +4 .tForearm.seek 5 + 300 counts +4 "manipulator"&'[ +11 "core" ' +2 .tForearm.reconfigure :loose +6 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&*/ +63 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&`& + "storage"(%'N +7 "core" &  + "manipulator"&f% +4 "core" % X  1 +2 .tForearm.seek :retract +2 "manipulator"&h'\ +98 "core" ' +2 .tElbow.seek PC +2 "manipulator"&d(c +150 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +98 "core" ( +2 "manipulator"&& +4 "core" &a  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &a k +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&y'[ +103 "core" ' + "manipulator"&)& +4 "core" &a l +2 "manipulator"&% +4 "core" %Y + "processing"%K& +4 "core" &\ +2 "processing"%P& +6 "core" &\ +2 .tPC.seek :closed +2 "processing"%G(Z +4 "core" &9\ +7 &9B\ $d +10 &iV};\ 7 +9 &yC\ K +9 &zU7\ M +10 &>W9\ L +9 &Y;\ M +9 & X7\ M +10 &"W>\ M +9 &$E\\6\ M +10 &&\\6\ M +9 &'X;\ L +9 &)Y<\ M +10 &+M[<\ M +9 &-],\ M +9 &.Z@\ M +10 &0Y<\ L +9 &2UZD\ M +10 &4W4\ M +9 &5XC\ M +9 &7[B\ M +10 &9]WC\ M +9 &;]9\ M +9 &<W<\ M +10 &>Z9\ M +9 &@eZ?\ M +10 &B&Z>\ M +9 &CYD\ M +9 &EZ=\ M +10 &GjbD\ N +9 &I(iC\ O +9 &J}8\ Q +10 &LD\ S +9 &NaD\ S +10 &P#\ S +9 &QH\ T +9 &S>\ T +10 &Uh?\ T +9 &W)C\ T +9 &XC\ T +10 &ZBIi\ )x +9 &Z 9\ + +6 ( + "processing"%P& +4 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.62 +2 .Hand.open + "manipulator"&E1 +4 "core" &Z\ + +52 1 + "manipulator"&D% +4 "core" % Y g +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&0'\ +96 "core" ' +2 "processing"%$& +4 "core" &Z<\ + +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 + "manipulator"&t% +4 "core" %\ .  #j +2 "storage"(q% +4 "core" %8 U H \ + "storage"(s. +3 "core" .(<< + "storage"(m& +4 "core" &<9 Y \\\ +2 "storage"(& +3 "manipulator"&l& +5 "core" &<9 [ Z\ + &a +3 ."raiseStack"SE.reconfigure :place +2 .tElbow.reconfigure :tight +5 "storage"(#]kK-0-\ b +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +3 ."raiseStack"SE.seek :beamBreak +3 "manipulator"&!(c + "storage"(_'e +5 "core" ( +2 "manipulator"&M& +4 "core" &a + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &U& +3 "core" &a +2 .tForearm.seek PC +2 "manipulator"&3'[ +150 "core" ' +2 .tHand.close + "manipulator"&\\/ +64 "core" / +3 .tPC.seek :open + "processing"%N(p +31 "core" ' +2 "storage"(j- +3 "core" -'e +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(='B +35 "core" ' +315 ( + "storage"(Q& +4 "core" &<9 Y X\ +2 "manipulator"&B& +4 "core" &a 6 + "manipulator"&R% +4 "core" % c _ +2 .tForearm.seek :retract +2 "manipulator"& '\ +97 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&b( +244 "core" ( +2 "manipulator"&(& +4 "core" & J D + "storage"(-& +4 "core" &<9 Y Y\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&1' +97 "core" ' +2 .tHand.open + "manipulator"&a1 +61 "core" 1 +2 "storage"(}- +4 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate +2 "storage"(T' +31 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(5' +55 "core" ' +3 #tLights, camera, ACTION! + "storage"(@- +4 "core" -' + "storage"(& +4 "core" &<7 \ +2 "manipulator"&&& +3 "core" & ? D +2 .tElbow.seek 5 +2 "manipulator"&( +4 "core" ( + "manipulator"&V& +4 "core" &  D +2 "storage"('& +4 "core" &<7 \ +2 .tForearm.seek 5 + 450 counts + "manipulator"&' +18 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.11 Pucks below Top Plate + "storage"(4'M +58 "core" ' + "manipulator"&8& +5 "core" & } } D + "storage"(,& +4 "core" &<7 u t .\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&'/ +32 "core" ' + .tElbow.hold +2 "manipulator"&], +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"('7 +26 "core" ' + "manipulator"&6% +4 "core" %=p ¸ +2 "storage"(H& +4 "core" &<7   \ + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 5 + 314 counts + "manipulator"&"'i +19 "core" ' + "manipulator"&w& +4 "core" &4 f u '  +2 "storage"( & +4 "core" &<7 q u `\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&/' +17 "core" ' + "storage"(Z% +5 "core" %6 r | \ +2 ."downElevator"SE.seek :down +3 "storage"(z'N +100 ([% +2 "core" %> Y [\ V_ +2 "manipulator"&9% +4 "core" % u y f +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&'\ +91 "core" ' +59 ' + ."downElevator"SE.stop + "storage"(5 +3 (& +4 "core" &<7 L 7 O\ + "collection"'& +4 "core" &]$\ !b +2 #tStoring generic puck in Collection Clamp to tube 5 + "manipulator"&% +4 "core" %\ + !U + "storage"(n% +4 "core" %8 c [\  +2 "storage"(.. +3 "core" .(<< + "storage"(X& +4 "core" &<7 Y Y\ +2 "storage"(W& +4 "core" &<7 [ Z\ +2 "manipulator"&C& +4 "core" &4  + .tElbow.seek 5 +2 "manipulator"&#( +18 "core" ( +2 "manipulator"&|& +4 "core" &  `  +2 "storage"(^& +3 "core" &<7 Y X l\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&F' +93 "core" ' + "storage"(<& +5 "core" &<7 u t D\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('e +276 "core" ' +2 "storage"( - +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +2 "core" &    +2 "storage"(e& +4 "core" &<7 X Y\ + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&7'/ +33 "core" ' + .tElbow.hold +2 "manipulator"& , +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(c- +2 "core" -' +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(r'm +27 "core" ' + "manipulator"&k% +4 "core" %?b 4 ´ +2 "storage"(L& +4 "core" &<7 I\ + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 316 counts + "manipulator"&'k +20 "core" ' + "manipulator"&>& +5 "core" &# \\ u * w + "storage"(O& +4 "core" &<7 t p \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&\ ' +22 "core" ' +2 .tSE.seek 1.11 Pucks below Top Plate + "storage"(S'\\ +50 "core" ' +2 "manipulator"&& +4 "core" &# q p w + "manipulator"&{% +5 "core" % o p  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&~'\ +91 "core" ' + .tElbow.seek CC +2 "manipulator"&:( +164 "core" ( + "manipulator"& & +4 "core" & * K @Z +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &v& +3 "core" & * S @Z +2 .tForearm.seek CC +2 "manipulator"&p'| +94 "core" ' +2 .tHand.close + "manipulator"&/ +61 "core" / +2 .tCC.seek :open +2 "collection"'(p +410 "core" ( +2 "storage"(;& +4 "core" &<7 7\ +2 "storage"(u& +3 "core" &<7 [\ +2 "manipulator"&I& +4 "core" & * W @Y + "manipulator"&?% +4 "core" % z e  +2 .tForearm.seek :retract + "manipulator"&o'\ +93 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 + "manipulator"&A( +163 "core" ( + "manipulator"&2& +5 "core" & 9  + "storage"(x& +4 "core" &<7 \ + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 5 +2 "manipulator"&'/ +106 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&g1 +59 "core" 1 +2 "manipulator"&*% +4 "core" % A  d +2 "storage"(`& +3 "core" &<7 i i \ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 318 counts +2 "manipulator"&f'm +19 "core" ' + "manipulator"&i& +5 "core" &/ i O 8 | + "storage"(& +4 "core" &<7 \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&J' +17 "core" ' + "storage"(% +5 "core" %_ \ +2 ."downElevator"SE.seek :down +4 "storage"('N +99 (% +3 "core" %C $\ V^ +2 "manipulator"&% +4 "core" % o p +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&)'\ +92 "core" ' +49 ' + ."downElevator"SE.stop +2 "storage"(5 +2 #tShuffling pucks in tube 6 of [5..7] +2 #Loading generic puck from tube 6 into Collection Clamp + "collection"'& +4 "core" &ps,\ +2 "manipulator"&K% +4 "core" %\ /  #f +2 "storage"(%% +4 "core" %< 8\ + "storage"(h. +3 "core" .(<< +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 + "storage"((K +355 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +2 (E& +3 "core" &K o \  +2 "manipulator"&D& +3 "core" &/  | +2 .tElbow.seek 6 +2 "manipulator"&$( +34 "core" ( + "manipulator"&t& +4 "core" & b +2 "storage"(q& +4 "core" &K 7\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&s'< +112 "core" ' + "storage"(m& +5 "core" &K W\  +2 .tSE.reconfigure :pick +50 "storage"(#]K-0-\ b +5 .tSE.seek :beamBreak + "storage"(l'e +288 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (P& +2 "core" &K \  +2 "manipulator"&M& +4 "core" & y | ~ a + .tElbow.seek 6 +2 "manipulator"&U( +9 "core" ( +2 "manipulator"&y& +4 "core" & v g 0 + "storage"(\\& +4 "core" &K O\  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&j'Ϧ +23 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&d/ +55 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"&0& "storage"(G'N +8 "core" & } } 0 + "manipulator"&_% +4 "core" % ϛ r y [ +2 .tForearm.seek :retract +2 "manipulator"&Q'\ +94 "core" ' +2 .tElbow.seek CC +2 "manipulator"&B( +148 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +4 "core" ( + "manipulator"&R& +4 "core" &+ | Ab +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &3& +3 "core" &+ = Ab +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC + "manipulator"&('| +103 "core" ' +3 "manipulator"&-& +4 "core" &+ C Ab + "manipulator"&!% +4 "core" %p . +2 "collection"'a& +4 "core" &st1\ +2 "collection"'}& +5 "core" &pr\ +2 .tCC.seek :closed +2 "collection"'@(] +5 "core" &rq\ +6 &7pr \ $e +10 &mWqp\ 7 +9 &~oq\ K +9 &[qq\ L +10 &G\\qr\ L +9 &]qr \ L +9 & ]rs\ L +10 &"]qs\ L +9 &$NYpr\ L +10 &&]rr\ L +9 &']oq \ L +9 &)\\pr\ \ L +10 &+U\\qr\ L +9 &-\\nr\ L +9 &.]ps\ L +10 &0Zpr\ L +9 &2]]qq\ L +9 &4\\qr\ L +10 &5Wqr\ L +9 &7\\qr\ L +10 &9gZrs\ L +9 &;)]oq\ L +9 &<\\or\ L +10 &>\\ps\ L +9 &@m\\pq\ L +9 &B/^ps \ L +10 &C\\rs\ L +9 &E^pu\ L +10 &Gt`qp\ M +9 &I2kmo\ N +9 &J|Ud\ P +10 &L\ T +9 &Na\ \ V +10 &P!\ W +9 &Q\ W +9 &Sy\ X +10 &Ucgp\ X +9 &W$X`\ X +9 &XJQ\ Z +10 &Z;C\ Z +10 &\\e)2\ G +9 &]b8!\ )y +9 &]l\ \ J +2 ( +2 "collection"'}& +3 #tCollection Clamp onSpring/offSpring for 10/26 samples, on/off torque 2.07 + .Hand.open +2 "manipulator"&1 +53 "core" 1 +2 "manipulator"&&% +4 "core" % o +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&V'\ +92 "core" ' + #tLoading generic puck from tube 6 into Processing Clamp +2 "processing"%'& +4 "core" &\ + "manipulator"& % +4 "core" %\ +  !N +2 "storage"(8% +3 "core" %; v v m\  +2 "storage"(,. +3 "core" .(K + "storage"(=& +4 "core" &K v v _\  +2 "storage"(6& +4 "core" &K p v ]\  + "manipulator"&H& +4 "core" &(  ?Q + "manipulator"&T% +4 "core" %\ +  !N +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&w( +155 "core" ( +2 "manipulator"& & +4 "core" & 7 +2 "storage"(Z& +4 "core" &K j *\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&b'< +101 "core" ' + "storage"(1& +4 "core" &K \  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(5'e +278 "core" ' +2 "storage"([- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +2 (9& +3 "core" &K g\  +2 "manipulator"&& +4 "core" & o p  +2 .tElbow.seek 6 + "manipulator"&( +4 "core" ( + "manipulator"&4& +4 "core" & v ] : + "storage"(& +4 "core" &K :\  +2 .tForearm.seek 6 + 300 counts + "manipulator"&'Ϧ +21 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&"/ +55 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"('N +7 "core" & ` +2 "manipulator"&n% +4 "core" % ϙ I  +2 .tForearm.seek :retract + "manipulator"&.'\ +94 "core" ' + .tElbow.seek PC +2 "manipulator"&X(c +155 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +79 "core" ( +2 "manipulator"&& +4 "core" &d 7 G + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &W& +3 "core" &d W G +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&C'[ +106 "core" ' + "manipulator"&|& +5 "core" &d n G + "manipulator"&^% +4 "core" %Z +2 "processing"%/& +4 "core" &\ +2 "processing"%<& +5 "core" &\ +2 .tPC.seek :closed + "processing"%z(Z +4 "core" &=\ \ +8 &/|?\ *x +10 &d;\ > +9 &Bv7\ N +10 &R9\ M +9 &Z9\ M +9 &Z<\ M +10 &!NZ<\ L +9 &#W:\ L +9 &$X8\ L +10 &&YC\ M +9 &(U[=\ M +10 &*[=\ M +9 &+Z:\ M +9 &-WC\ L +10 &/][=\ M +9 &1W<\ M +9 &2Z>\ L +10 &4Y<\ M +9 &6e\\:\ M +10 &8'W@\ M +9 &9W=\ L +9 &;XD\ M +10 &=mW>\ M +9 &?.Z9\ M +9 &@Z:\ M +10 &BZ9\ M +9 &DuZ9\ M +10 &F6]<\ M +9 &GhD\ N +9 &Ir8\ P +10 &Kn=\ R +9 &M+7\ S +9 &NB\ S +10 &PE\ T +9 &RpC\ T +10 &T25\ T +9 &U:\ T +9 &WC\ T +10 &YuC\ B +9 &Zx=E\ [ +9 &ZC\ ) +3 ( + "processing"%<& +3 #tProcessing Clamp onSpring/offSpring for 9/25 samples, on/off torque 1.65 +2 .Hand.open + "manipulator"&]1 +63 "core" 1 +2 "manipulator"&% +4 "core" % Z L +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"& '\ +100 "core" ' +2 "processing"%& +4 "core" &Z\ ) +2 #tImaging generic puck in Processing Clamp while storing it to tube 6 + "manipulator"&e% +4 "core" %\ 3 %} +2 "storage"(c% +3 "core" %7 v u \ +2 "storage"(k. +3 "core" .(K + "storage"(L& +5 "core" &K v v b\  + "storage"(>& +5 "manipulator"&O& +4 "core" &K v v _\  + &d , G +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +6 "manipulator"&$&.,(\ #b + "storage"(#]kK-0-\ b +3 .tElbow.seek PC +5 "manipulator"&(c +3 ."raiseStack"SE.seek :beamBreak +2 "storage"({'e +2 "core" ( +2 "manipulator"&F& +4 "core" &d M G + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &#& +3 "core" &d k G +2 .tForearm.seek PC + "manipulator"&'[ +101 "core" ' +2 .tHand.close + "manipulator"&7/ +60 "core" / +2 .tPC.seek :open + "processing"%(p +82 "core" ' +2 "storage"(r- +3 "core" -'e + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"( 'B +34 "core" ' +262 ( + "storage"(v& +4 "core" &K g r \  +2 "manipulator"&\ & +4 "core" &d G + "manipulator"& % +4 "core" % d % +2 .tForearm.seek :retract + "manipulator"&'\ +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&~( +269 "core" ( + "manipulator"&Y& +4 "core" &  +2 "storage"(;& +4 "core" &K | } \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&u'< +96 "core" ' +2 .tHand.open + "manipulator"&I1 +58 "core" 1 +2 "storage"(?- +4 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate + "storage"(2' +23 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.83 Pucks below Top Plate + "storage"(x' +54 "core" ' +2 #tLights, camera, ACTION! + "storage"(p- +4 "core" -' + "storage"(:& +4 "core" &K\ '\ ' )\  +2 "manipulator"&g& +4 "core" &  + .tElbow.seek 6 +2 "manipulator"&*( +3 "core" ( +2 "manipulator"&`& +4 "core" & w + "storage"(i& +4 "core" &K\ '\ ' U\  +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&'< +17 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"('M +62 "core" ' + "manipulator"&o& +5 "core" & p p + "storage"(& +4 "core" &K \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +52 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&'z +35 "core" ' +2 .tElbow.hold +2 "manipulator"&A, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"('7 +22 "core" ' + "manipulator"&% +4 "core" %΁k | · +2 "storage"(K& +4 "core" &K 7 7 K\  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 6 + 307 counts + "manipulator"&f'ϭ +19 "core" ' + "manipulator"&%& +5 "core" & v z 8 + "storage"(h& +5 "core" &K 7\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&S'< +17 "core" ' +2 "storage"(J% +4 "core" %8 A\  +2 ."downElevator"SE.seek :down +4 "storage"('N +99 (+% +2 "core" %F q g\ Wb +2 "manipulator"&E% +4 "core" %B p p  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&D'\ +86 "core" ' +63 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (t& +4 "core" &K l v 3\  +2 "collection"'q& +4 "core" &]h#\ J +2 #tStoring generic puck in Collection Clamp to tube 6 + "manipulator"&m% +4 "core" %\ ( e I + "storage"(% +4 "core" %L i g 6\ +2 "storage"(). +3 "core" .(K +2 "storage"(& +4 "core" &K g g 7\  + "storage"(P& +4 "core" &K x )\  +2 "manipulator"&M& +4 "core" &  +2 .tElbow.seek 6 + "manipulator"&y( +3 "core" ( +2 "manipulator"&\\& +4 "core" &  + "storage"(d& +4 "core" &K g i \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&0'< +98 "core" ' + "storage"(_& +4 "core" &K \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"($'e +281 "core" ' +2 "storage"(s- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +2 "manipulator"&R& +3 "core" &  +2 "storage"(3& +4 "core" &K } { (\  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&l'z +33 "core" ' +2 .tElbow.hold + "manipulator"&j, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(-- +2 "core" -' +3 .tSE.seek 0.12 Pucks below Top Plate + "storage"(!'t +32 "core" ' + "manipulator"&a% +5 "core" %~d R µ + "storage"(U& +4 "core" &K : A y\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 304 counts + "manipulator"&G'Ϫ +18 "core" ' +2 "manipulator"&Q& +4 "core" & ` v : +2 "storage"(& +4 "core" &K \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&'< +15 "core" ' +2 .tSE.seek 1.12 Pucks below Top Plate + "storage"(&'c +47 "core" ' +2 "manipulator"&'& +5 "core" & n r \ + "manipulator"& % +4 "core" %H p o  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&8'\ +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"&,( +143 "core" ( +2 "manipulator"&=& +4 "core" &  2 + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &6& +2 "core" & 6 2 +2 .tForearm.seek CC +2 "manipulator"&H'| +106 "core" ' + .tHand.close + "manipulator"&}/ +63 "core" / +2 .tCC.seek :open +2 "collection"'T(p +410 "core" ( +2 "storage"((& +4 "core" &K F\  + "storage"( & +4 "core" &K 1\  + "manipulator"&Z& +4 "core" & 0 2 + "manipulator"&1% +4 "core" % q k +2 .tForearm.seek :retract + "manipulator"&B'\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&V( +158 "core" ( + "manipulator"&[& +4 "core" & C +2 "storage"(9& +4 "core" &K [\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 6 +2 "manipulator"&'z +110 "core" ' +2 .tElbow.hold + "manipulator"&4, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&1 +61 "core" 1 +2 "manipulator"&"% +4 "core" % ~ 3 z U +2 "storage"(& +4 "core" &K h h %\  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 6 + 305 counts + "manipulator"&n'ϫ +12 "core" ' + "manipulator"&w& +5 "core" & _ v F + "storage"(b& +4 "core" &K 4\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&5'< +15 "core" ' +2 "storage"(% +4 "core" %g \ +2 ."downElevator"SE.seek :down +4 "storage"('N +98 (W% +3 "core" %.A <\ U\\ +2 "manipulator"&% +4 "core" %D p o +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&|'\ +87 "core" ' +52 ' +2 ."downElevator"SE.stop +2 "storage"(5 +2 #tShuffling pucks in tube 7 of [5..7] +2 #Loading generic puck from tube 7 into Collection Clamp + "collection"'^& +4 "core" &pt\ +2 "manipulator"&/% +4 "core" %\ +  !Q + "storage"(% +5 "core" %8 @\ + "storage"(.. +3 "core" .(K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 7 + "storage"(N([ +348 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (]& +2 "core" &[+ y g W\  +2 "manipulator"&& +4 "core" & G + .tElbow.seek 7 +2 "manipulator"&( +32 "core" ( +2 "manipulator"&e& +3 "core" &\ } Z +2 "storage"(c& +4 "core" &[ 2\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&k'k +104 "core" ' +2 "storage"(<& +4 "core" &[ +\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(L'e +279 "core" ' + "storage"(O- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (>& +3 "core" &[ `\  + "manipulator"&F& +4 "core" &\ { | Y +2 .tElbow.seek 7 + "manipulator"&#( +3 "core" ( +2 "manipulator"&C& +3 "core" &\ x { 7 Y +2 "storage"(7& +4 "core" &[ [\  +2 .tForearm.seek 7 + 300 counts +2 "manipulator"&r' +22 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&X/ +62 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"& & +2 "storage"(z'N +7 "core" &\ Z Y +2 "manipulator"&v% +4 "core" % + +2 .tForearm.seek :retract + "manipulator"&{'\ +100 "core" ' +2 .tElbow.seek CC + "manipulator"&\ ( +143 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +4 "core" ( +2 "manipulator"& & +4 "core" & # ;8 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" & $ ;8 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&Y'| +105 "core" ' +2 "manipulator"&;& +4 "core" & $ ;8 +2 "manipulator"&% +4 "core" %v +2 "collection"'I& +3 "core" &qr\ +2 "collection"'?& +5 "core" &qq2\ +2 .tCC.seek :closed +2 "collection"'p(] +4 "core" &ps \  +10 &2rq\ *y +9 &eqr\ > +9 &Qwpr\ M +10 &Xqr\ L +9 &\\ps\ \ L +10 &]qq \ L +9 &![\\qq\ L +9 &#Yqr\ L +10 &$\\os\ L +9 &&]qr\ L +9 &(c\\or\ L +10 &*%\\ps\ L +9 &+\\oq\ L +10 &-Zrt\ L +9 &/k\\os\ L +9 &1-\\pr\ L +10 &2Yqq\ L +9 &4[pr\ L +9 &6tZpq\ L +10 &86Zpr\ L +9 &9Zqr\ L +9 &;Zns\ L +10 &=|]pr\ L +9 &?>Zpr\ L +10 &@Zqr\ L +9 &B^oq\ L +9 &D[rt \ L +10 &FE\\pr\ L +9 &H]oq\ M +10 &Imkn\ \ N +9 &KSf\ \ P +9 &M5 \ U +10 &N \ V +9 &P\ V +9 &Rt\ W +10 &T4q{ \ X +58 &Ubl \ X +9 &WOX\ \ Y + &YrDJ\ Z + &[409\ Z + &\\z '\ / + &]*\ X ( + &]h \ I +3 "collection"'?& +3 #tCollection Clamp onSpring/offSpring for 6/25 samples, on/off torque 1.98 + .Hand.open +2 "manipulator"&:1 +3 "core" &]i \ I +54 1 + "manipulator"&g% +5 "core" % p # +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&`'\ +92 "core" ' +2 #tLoading generic puck from tube 7 into Processing Clamp +2 "processing"%i& +4 "core" &\ + "manipulator"&% +4 "core" %\ * e J +2 "storage"(o% +4 "core" %8 | y e\ + "storage"(. +3 "core" .([ +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 7 + "storage"( ([ +3 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (2& +2 "core" &[ 7 9 \  +2 "manipulator"&& +4 "core" &" P :1 + "manipulator"&K% +4 "core" %\ * L J +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 7 + "manipulator"&%( +156 "core" ( + "manipulator"&~& +4 "core" &  +2 "storage"(h& +4 "core" &[ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&u'k +92 "core" ' + "storage"(J& +4 "core" &[ 1\  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(x'e +277 "core" ' +2 "storage"(+- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (E& +2 "core" &[ h\  +2 "manipulator"&& +3 "core" & ^ +2 .tElbow.seek 7 +2 "manipulator"&*( +3 "core" ( + "manipulator"&& +4 "core" & s u / +2 "storage"(& +3 "core" &[ -\  +2 .tForearm.seek 7 + 300 counts +2 "manipulator"&t' +21 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&f/ +55 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&q& +2 "storage"(m'N +7 "core" & o q  +2 "manipulator"&% +4 "core" % p o +2 .tForearm.seek :retract + "manipulator"&)'\ +96 "core" ' + .tElbow.seek PC +2 "manipulator"&(c +155 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +79 "core" ( +2 "manipulator"&& +4 "core" &m " K + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &P& +3 "core" &m K +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&M'[ +101 "core" ' + "manipulator"&\\& +4 "core" &m ~ K +2 "manipulator"&d% +4 "core" %` z +2 "processing"%S& +4 "core" &\ +2 "processing"%_& +6 "core" &S\ +2 .tPC.seek :closed +3 "processing"%(Z +4 "core" &T\ +5 &L\ 6 +10 &I}K\ / +9 &?qN\ D +9 &bG\ M +10 &X<\ M +9 &h\\C\ M +10 & )ZD\ M +9 &!XC\ M +9 &#Y?\ M +10 &%pVC\ M +9 &'2WE\ M +9 &(UC\ M +10 &*U=\ L +9 &,xY@\ M +9 &.:Z;\ M +10 &/W=\ M +9 &1XB\ L +10 &3Y=\ L +9 &5CX=\ L +9 &7WC\ L +10 &8ZC\ L +9 &:XC\ L +9 & [C\ L +9 &?YC\ M +10 &A_C\ M +9 &CSY?\ L +9 &EZ<\ M +10 &FaB\ M +9 &HgC\ N +9 &JQt=\ P +10 &L B\ R +9 &M<\ S +10 &O;\ S +9 &QO<\ S +9 &S:\ T +10 &TA\ S +9 &V:\ T +9 &XU:\ T +10 &YzuD\ 'z +9 &Z(x6\ 6 +9 ( +3 "processing"%_& +3 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.59 + .Hand.open + "manipulator"&A1 +4 "core" &Z;\ + +55 1 + "manipulator"&D% +5 "core" % ` + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&s'\ +94 "core" ' +2 "processing"%R& +4 "core" &Zr\ + + #tImaging generic puck in Processing Clamp while storing it to tube 7 +2 "manipulator"&3% +4 "core" %\ 1  $o + "storage"(-% +4 "core" %? v v t\  +2 "storage"(a. +3 "core" .([ + "storage"(U& +4 "core" &[ v v \  + "storage"(Q& +5 "manipulator"&& +4 "core" &[ v v \  + &m P K +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +2 "storage"(#]kK-0-\ b +2 .tElbow.seek PC +4 "manipulator"&'(c +4 ."raiseStack"SE.seek :beamBreak +2 "storage"( 'e +2 "core" ( + "manipulator"&0& +4 "core" &m d K +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &y& +3 "core" &m K +2 .tForearm.seek PC +2 "manipulator"&$'[ +97 "core" ' + .tHand.close +2 "manipulator"&l/ +59 "core" / +2 .tPC.seek :open +2 "processing"%G(p +90 "core" ' +2 "storage"(!- +3 "core" -'e +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(='B +33 "core" ' +257 ( +2 "storage"(6& +4 "core" &[ \  + "manipulator"&& +4 "core" &m 6 K + "manipulator"&j% +4 "core" % W a +2 .tForearm.seek :retract +2 "manipulator"&}'\ +95 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 7 +2 "manipulator"&8( +243 "core" ( +2 "manipulator"&@& +4 "core" & E + "storage"((& +4 "core" &[ r { '\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"& 'k +97 "core" ' +2 .tHand.open + "manipulator"&Z1 +55 "core" 1 +2 "storage"(1- +3 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate +2 "storage"([' +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.83 Pucks below Top Plate + "storage"(9' +51 "core" ' +2 #tLights, camera, ACTION! + "storage"(H- +4 "core" -' + "storage"(,& +4 "core" &[\ \ % 3\  + "manipulator"&& +4 "core" &  E +2 .tElbow.seek 7 + "manipulator"&"( +4 "core" ( + "manipulator"&& +4 "core" &  E + "storage"(w& +4 "core" &[\ \ & \  +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&b'k +17 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"('M +62 "core" ' +2 "manipulator"&B& +4 "core" & | ~ E +2 "storage"(W& +3 "core" &[ j\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 7 +2 "manipulator"&'Ω +32 "core" ' +2 .tElbow.hold + "manipulator"&V, +5 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"('7 +23 "core" ' +2 "manipulator"&^% +4 "core" %μ u +2 "storage"(/& +4 "core" &[ \\ [\  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 7 + 319 counts + "manipulator"&n' +18 "core" ' +2 "manipulator"&& +4 "core" & k  ? D +2 "storage"(.& +4 "core" &[ <\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&&'k +17 "core" ' + "storage"(5% +5 "core" %? \  +2 ."downElevator"SE.seek :down +4 "storage"('N +98 (% +3 "core" %J p r @\ Wc +2 "manipulator"&]% +4 "core" %^ s | [ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +92 "core" ' +56 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (e& +4 "core" &[ p c\  +2 "collection"'c& +4 "core" &]h+\ I + #tStoring generic puck in Collection Clamp to tube 7 +2 "manipulator"&<% +4 "core" %\ 1 2 $o +2 "storage"(4% +3 "core" %@ } } \ +2 "storage"(|. +3 "core" .([ + "storage"(O& +4 "core" &[ } | x\  +2 "storage"(>& +4 "core" &[ r z \  + "manipulator"&F& +4 "core" &  D +2 .tElbow.seek 7 +2 "manipulator"&C( +3 "core" ( +2 "manipulator"&7& +4 "core" & @ D + "storage"(X& +4 "core" &[ | z \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts + "manipulator"& 'k +93 "core" ' +2 "storage"(v& +53 "core" &[ \  +3 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('e +280 "core" ' + "storage"(k- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"& & +3 "core" &  D + "storage"(& +4 "core" &[ f f h\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 7 +2 "manipulator"&L'Ω +30 "core" ' + .tElbow.hold +2 "manipulator"&r, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(;- +2 "core" -' +2 .tSE.seek 0.12 Pucks below Top Plate +2 "storage"('p +31 "core" ' +2 "manipulator"&I% +3 "core" %μ  Q Z +2 "storage"(#& +4 "core" &[ G J w\  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 7 + 319 counts +2 "manipulator"&z' +18 "core" ' + "manipulator"&{& +5 "core" & s _ . D + "storage"(T& +4 "core" &[ >\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&:'k +17 "core" ' +2 .tSE.seek 1.12 Pucks below Top Plate +2 "storage"(g'_ +46 "core" ' +2 "manipulator"&i& +4 "core" & o r  D +2 "manipulator"&% +4 "core" %^ z r r  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&o'\ +88 "core" ' + .tElbow.seek CC +2 "manipulator"&( +154 "core" ( +2 "manipulator"&?& +4 "core" &+ 4 Ad +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &2& +4 "core" &+ ( Ad + .tForearm.seek CC +2 "manipulator"&'| +97 "core" ' + .tHand.close +2 "manipulator"&K/ +52 "core" / + .tCC.seek :open +2 "collection"'Y(p +414 "core" ( + "storage"(~& +4 "core" &[ \  +2 "storage"(h& +3 "core" &[ R\  +2 "manipulator"&J& +4 "core" &%  <> + "manipulator"&N% +4 "core" % h # +2 .tForearm.seek :retract + "manipulator"&\ '\ +95 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 7 + "manipulator"&`( +161 "core" ( +2 "manipulator"&+& +4 "core" &   +2 "storage"(E& +4 "core" &[ ,\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 7 +2 "manipulator"&'Ω +107 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&1 +55 "core" 1 +2 "manipulator"&f% +4 "core" % λ !  + "storage"(q& +4 "core" &[ ~\  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 7 + 318 counts +2 "manipulator"&' +18 "core" ' +2 "manipulator"&%& +4 "core" & v _ =  + "storage"(u& +4 "core" &[ z\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&x'k +18 "core" ' + "storage"(t% +4 "core" %[ (\ +3 ."downElevator"SE.seek :down +4 "storage"('N +99 (P% +3 "core" %E H\ U] +2 "manipulator"&*% +4 "core" %i o p  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&\\'\ +87 "core" ' +49 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 5 of [5..7] + #Loading generic puck from tube 5 into Collection Clamp +2 "collection"'d& +4 "core" &qs>\ +2 "manipulator"&S% +4 "core" %\ . - #b +2 "storage"(m% +4 "core" %7 J\  + "storage"(). +4 "core" .([ + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 5 + "storage"((<< +677 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (A& +3 "core" &[pr\ L +9 &@g[pr\ L +9 &B*Ypq\ L +10 &C]or \ L +9 &E\\pp \ L +9 &Go`mo \ L +10 &I-hkm\ N +9 &J}Zg\ P +10 &L\ \ T +9 &N[\ V +9 &P \ V +10 &Q\ W +9 &Sw} \ X +9 &U]em \ X +10 &WW^\ X +9 &XIN\ Y +10 &Z:A \ Z +9 &\\V(1\ H +9 &]]3#\ )x +10 &] }\ H +5 ( +2 "collection"'1& +4 #tCollection Clamp onSpring/offSpring for 9/26 samples, on/off torque 2.05 + .Hand.open + "manipulator"&,1 +4 "core" &]j\ H +59 1 + "manipulator"&% +4 "core" % x +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +99 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp + "processing"%w& +4 "core" &D\ +2 "manipulator"&}% +4 "core" %\ 8 ~ ' + "storage"(B% +4 "core" %I c _ l\  +2 "storage"(W. +3 "core" .(O +2 "manipulator"&[% +3 "core" %\ 8 m ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 + "manipulator"&( +163 "core" ( +2 "manipulator"&.& +4 "core" &  + "storage"(5& +5 "core" &<; g g n\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&8' +94 "core" ' +2 "storage"( & +4 "core" &<; \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(9'e +284 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (]& +2 "core" &<9 | r \  +2 "manipulator"&b& +4 "core" &  + .tElbow.seek 5 +2 "manipulator"&"( +3 "core" ( +2 "manipulator"&& +4 "core" &   + "storage"(& +4 "core" &<9 { s \  +2 .tForearm.seek 5 + 300 counts + "manipulator"&e'[ +21 "core" ' + .tForearm.reconfigure :loose +51 "manipulator"&#Q@2^d^b +4 .tHand.close +2 "manipulator"&n/ +61 "core" / +2 ."downElevator"SE.seek :down +5 "manipulator"&c& "storage"(<'N +8 "core" & p q   + "manipulator"&4% +4 "core" % T o p +2 .tForearm.seek :retract +2 "manipulator"&|'\ +91 "core" ' +2 .tElbow.seek PC +2 "manipulator"&O(c +156 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +76 "core" ( +2 "manipulator"&& +4 "core" &k \\ S +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &>& +3 "core" &k = S +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&F'[ +102 "core" ' +2 "manipulator"&7& +5 "core" &k  S + "manipulator"&X% +4 "core" %O U E +2 "processing"%&& +4 "core" &T\ +2 "processing"%v& +6 "core" & \ +2 .tPC.seek :closed +2 "processing"%(Z +4 "core" &T\ +8 & *S\ #b +9 &dWT\ 7 +9 &}T\ L +10 &{XP\ M +9 &<ZQ\ M +9 &VQ\ M +10 & \\N\ M +9 &"UL\ L +9 &$FXC\ L +10 &&\\F\ M +9 &'UO\ L +10 &)WF\ L +9 &+MUK\ M +9 &-WD\ M +10 &.YB\ M +9 &0YC\ L +9 &2VYC\ L +10 &4WC\ M +9 &5[D\ M +10 &7\\D\ M +9 &9]VC\ M +9 &;XD\ M +10 &<VD\ M +9 &>ZC\ M +9 &@eXD\ M +10 &B'ZB\ M +9 &CYA\ L +10 &EYD\ M +9 &Gj`C\ N +9 &I)iF\ O +10 &J{D\ Q +9 &LD\ S +9 &N`>\ T +10 &P#C\ S +9 &QD\ T +10 &SC\ T +9 &UhD\ T +9 &W*C\ T +10 &XC\ T +9 &ZCHh@\ )w +9 &Z ;8\ ) +6 ( + "processing"%v& +5 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.64 + .Hand.open + "manipulator"&V1 +4 "core" &Z=\ ) +49 1 + "manipulator"&% +5 "core" % O ^ E + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&k'\ +97 "core" ' +2 "processing"% & +4 "core" &Z\ ) + #tImaging generic puck in Processing Clamp while storing it to tube 5 +2 "manipulator"&% +4 "core" %\ 5 & + "storage"(;% +4 "core" %= v v x\ + "storage"(I. +3 "core" .(<9 +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 + "storage"(#(<< +8 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 ({& +4 "core" &<9 Y c\ \ + "manipulator"&T& +3 ."raiseStack"SE.reconfigure :place +6 "storage"(#]kK-0-\ b +2 "core" &k y S +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +2 ."raiseStack"SE.seek :beamBreak +3 "manipulator"&i(c + "storage"('e +5 "core" ( +2 "manipulator"& & +5 "core" &k + S + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &C& +3 "core" &k S +2 .tForearm.seek PC +2 "manipulator"&'[ +93 "core" ' +2 .tHand.close + "manipulator"&L/ +57 "core" / + .tPC.seek :open +2 "processing"%z(p +92 "core" ' +2 "storage"(- +3 "core" -'e +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(?'B +33 "core" ' +256 ( + "storage"(2& +4 "core" &<9 x \ \ +2 "manipulator"&:& +4 "core" &k  S + "manipulator"&r% +4 "core" % U  +2 .tForearm.seek :retract +2 "manipulator"&K'\ +96 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&o( +260 "core" ( +2 "manipulator"&p& +4 "core" & Y + + "storage"(~& +4 "core" &<9 q u /\ \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&h' +101 "core" ' + .tHand.open +2 "manipulator"&J1 +56 "core" 1 +2 "storage"(N- +3 "core" -'B +3 .tSE.seek -0.16 Pucks below Top Plate + "storage"(+' +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.83 Pucks below Top Plate + "storage"(E' +52 "core" ' + #tLights, camera, ACTION! +2 "storage"(- +3 "core" -' +2 "storage"(& +4 "core" &<7 P\ + "manipulator"&& +4 "core" &2 % +2 .tElbow.seek 5 + "manipulator"&f( +50 "core" ( + "manipulator"&q& +4 "core" & s & +2 "storage"(%& +4 "core" &<7 \ +2 .tForearm.seek 5 + 450 counts + "manipulator"&u' +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"(t'M +57 "core" ' + "manipulator"&\ & +5 "core" & & + "storage"(P& +4 "core" &<7 {  2\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&*'/ +32 "core" ' + .tElbow.hold +2 "manipulator"&`, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.07 Pucks below Top Plate + "storage"('7 +19 "core" ' +2 "manipulator"&d% +4 "core" %6k   X ÷ +2 "storage"(S& +4 "core" &<7 B B \ + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 307 counts + "manipulator"&'b +19 "core" ' +2 "manipulator"&m& +4 "core" &E u g  N +2 "storage"()& +4 "core" &<7 \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&g' +17 "core" ' + "storage"(x% +5 "core" %< g\ +2 ."downElevator"SE.seek :down +4 "storage"('N +98 ( % +3 "core" %H v t 0\ Va +2 "manipulator"&A% +4 "core" % p y  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&D'\ +95 "core" ' +55 ' + ."downElevator"SE.stop + "storage"(5 +3 (3& +3 "core" &<7 m Z\ +2 "collection"'-& +4 "core" &]h(\ H +2 #tStoring generic puck in Collection Clamp to tube 5 + "manipulator"&U% +4 "core" %\ 1  $s + "storage"(% +4 "core" %F p o =\ +2 "storage"(\\. +3 "core" .(<9 +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 + "storage"(Q(<< +11 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (_& +2 "core" &<9 Y Y\  +2 "manipulator"&0& +4 "core" &E N + .tElbow.seek 5 +2 "manipulator"&M( +40 "core" ( + "manipulator"&l& +5 "core" & C % + "storage"(& +4 "core" &<8 r | \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&s' +100 "core" ' +2 "storage"(6& +4 "core" &<8 x \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(R'e +275 "core" ' + "storage"(a- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&j& +3 "core" & % + "storage"($& +4 "core" &<8 | | X\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 + "manipulator"&'/ +32 "core" ' +2 .tElbow.hold + "manipulator"&!, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"((- +2 "core" -' +3 .tSE.seek 0.11 Pucks below Top Plate + "storage"(''l +27 "core" ' +2 "manipulator"&Z% +4 "core" %6a j ´ + "storage"(y& +4 "core" &<8 6 8 y\  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 5 + 307 counts +2 "manipulator"&'b +16 "core" ' +2 "manipulator"&& +4 "core" &G j & B + "storage"(Y& +4 "core" &<8 h m K\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&,' +17 "core" ' +2 .tSE.seek 1.11 Pucks below Top Plate +2 "storage"('[ +40 "core" ' +2 "manipulator"&w& +4 "core" &G z q B +2 "manipulator"&}% +4 "core" % | u +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&B'\ +96 "core" ' + .tElbow.seek CC +43 "manipulator"&W( +171 "core" ( + "manipulator"&1& +5 "core" &( Z ?P + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &^& +2 "core" &( a ?P +2 .tForearm.seek CC +2 "manipulator"&/'| +101 "core" ' + .tHand.close +2 "manipulator"&[/ +52 "core" / + .tCC.seek :open +2 "collection"'@(p +410 "core" ( +2 "storage"(.& +4 "core" &<8 0\  + "storage"(5& +5 "core" &<8 \  +2 "manipulator"&& +3 "core" &% + =D +2 "manipulator"& % +3 "core" % w  +2 .tForearm.seek :retract +2 "manipulator"& '\ +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&( +158 "core" ( + "manipulator"&& +4 "core" & \  +2 "storage"(]& +4 "core" &<8 \  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 5 +2 "manipulator"&b'/ +108 "core" ' +5 .tElbow.hold + "manipulator"&, +9 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&1 +62 "core" 1 +3 "manipulator"&n% +4 "core" % B T + "storage"(c& +4 "core" &<8 f f f\  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 5 + 319 counts + "manipulator"&4'n +19 "core" ' + "manipulator"&& +4 "core" &: i N U | +2 "storage"(8& +4 "core" &<8 L\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&9' +10 "core" ' +2 "storage"(e% +4 "core" %^ \ +2 ."downElevator"SE.seek :down +4 "storage"('N +98 (>% +3 "core" %A >\ V_ +2 "manipulator"&"% +4 "core" % o p / +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&7'\ +94 "core" ' +45 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 6 of [5..7] + #Loading generic puck from tube 6 into Collection Clamp +2 "collection"'X& +4 "core" &pt>\ + "manipulator"&&% +5 "core" %\ 8 ' + "storage"(<% +4 "core" %; C\ +2 "storage"(|. +3 "core" .(<9 +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 + "storage"(G(K +348 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (V& +2 "core" &K n k /\  +2 "manipulator"&& +4 "core" &: | +2 .tElbow.seek 6 + "manipulator"& ( +37 "core" ( + "manipulator"&& +5 "core" &\ S + "storage"(;& +4 "core" &K v\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&I'< +101 "core" ' +2 "storage"(v& +3 "core" &K \  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"({'e +281 "core" ' + "storage"(T- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 ( & +3 "core" &K \  + "manipulator"&C& +4 "core" &\ > S +2 .tElbow.seek 6 + "manipulator"&F( +3 "core" ( +2 "manipulator"&L& +3 "core" &\  S +3 "storage"(=& +3 "core" &K D\  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&'Ϧ +17 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&O/ +60 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&k& + "storage"('N +8 "core" &\ 1 S + "manipulator"&2% +4 "core" % Ϯ V +2 .tForearm.seek :retract +2 "manipulator"&:'\ +90 "core" ' + .tElbow.seek CC +2 "manipulator"&( +152 "core" ' + ."downElevator"SE.stop + "storage"(5 +4 "core" ( + "manipulator"&r& +4 "core" &-  Ct + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &-  Ct +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&p'| +93 "core" ' +2 "manipulator"&~& +4 "core" &-  Ct +2 "manipulator"&i% +3 "core" %ρ =  +2 "collection"'J& +4 "core" &spA\ +3 "collection"'N& +4 "core" &pr\ +2 .tCC.seek :closed +2 "collection"'(] +4 "core" &pq\ +8 &?oq\ $e +9 &rXrr\ 7 +10 &or\ L +9 &[rr\ K +9 &O]or\ L +10 &\\qs\ M +9 & \\ot\ L +9 &"]nq\ L +10 &$XZpq\ L +9 &&^qs\ L +10 &']pr\ L +9 &)]ps\ L +9 &+`\\pt\ L +10 &-"\\oq\ L +9 &.\\os\ L +9 &0^os\ L +10 &2g\\ps\ L +9 &4*Yos\ L +10 &5Zpr\ L +9 &7[rp\ L +9 &9oZot\ L +10 &;2Xpr\ L +9 &<[qr\ L +9 &>[rr \ L +10 &@w\\rs \ L +9 &B8\\pt\ M +10 &C\\ps\ L +9 &E]qr \ L +9 &G~`mq \ M +10 &I<jjp \ N +9 &J|Rb\ P +9 &L \ U +10 &Nk \ V +9 &P,\ V +10 &Q\ W +9 &Ssy\ \ X +9 &Uldj\ X +10 &W-S\\\ Y +9 &XFO\ Y +9 &Z7@\ Z +10 &\\o#-\ G +9 &]Z.\ 8 +9 &]|\ P +3 ( + "collection"'N& +3 #tCollection Clamp onSpring/offSpring for 10/26 samples, on/off torque 2.08 +2 .Hand.open + "manipulator"&1 +54 "core" 1 + "manipulator"&% +5 "core" % ρ ?  + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&K'\ +92 "core" ' +2 #tLoading generic puck from tube 6 into Processing Clamp + "processing"%q& +5 "core" & \ + "manipulator"&%% +4 "core" %\ - "^ + "storage"(\ % +4 "core" %8 ` v >\  +2 "storage"(P. +3 "core" .(K + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"(?(K +6 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +2 (+& +4 "core" &K C C \  + "manipulator"&d& +4 "core" &, A Bl + "manipulator"&S% +4 "core" %\ - l "^ +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 + "manipulator"&m( +162 "core" ( + "manipulator"&)& +5 "core" & Q  + "storage"(o& +4 "core" &K g g v\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&x'< +88 "core" ' +2 "storage"(h& +4 "core" &K Z\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(E'e +276 "core" ' + "storage"( - +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (A& +3 "core" &K _ r e\  + "manipulator"&u& +4 "core" & D  +2 .tElbow.seek 6 + "manipulator"&f( +3 "core" ( +2 "manipulator"&t& +4 "core" & ]  + "storage"(*& +4 "core" &K \  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&3'Ϧ +25 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +59 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"&-& "storage"(U'N +8 "core" & o o  + "manipulator"&% +4 "core" % Ϣ o o +2 .tForearm.seek :retract + "manipulator"&\\'\ +95 "core" ' +2 .tElbow.seek PC +2 "manipulator"&(c +159 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +87 "core" ( +2 "manipulator"&_& +5 "core" &l 2 + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &0& +2 "core" &l +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&l'[ +98 "core" ' +2 "manipulator"&& +4 "core" &l k +2 "manipulator"&g% +4 "core" %] +2 "processing"%6& +4 "core" &\ +2 "processing"%& +4 "core" &Q\ +2 .tPC.seek :closed +2 "processing"%#(Z +4 "core" &T\ +8 & 1U\ #a +9 &^UU\ 7 +10 &{T\ K +9 &qTO\ M +9 &4UT\ M +10 &YR\ L +9 & YO\ M +9 &"{VG\ L +10 &$;ZT\ M +9 &%XQ\ L +10 &'XE\ L +9 &)XF\ M +9 &+DYE\ M +10 &-[D\ M +9 &.Y@\ M +10 &0W<\ M +9 &2LX?\ M +9 &4UB\ L +10 &5XB\ M +9 &7ZC\ M +9 &9UW>\ L +10 &;]D\ M +9 &<WC\ L +9 &>YD\ M +10 &@\\WC\ M +9 &BZC\ M +10 &C]D\ M +9 &EZB\ L +9 &GaeE\ N +10 &IlD\ O +9 &JB\ Q +9 &LC\ S +10 &NXA\ S +9 &PD\ S +10 &QC\ S +9 &SC\ T +9 &U_A\ T +10 &W C\ T +9 &X<\ T +9 &Z<Kp?\ , +10 &Z\\6\ 7 +5 ( +56 "processing"%& +6 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.65 +2 .Hand.open + "manipulator"&`1 +4 "core" &Z>>\ 7 + &Z>C\ 7 &Z>C\ 7 + &Z>C\ 7 + &Z>E\ 7 + &Z>@\ 7 + &Z>@\ 7 +50 1 + "manipulator"&D% +5 "core" % ] Y + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&a'\ +92 "core" ' +2 "processing"%j& +4 "core" &Z>;\ 7 +2 #tImaging generic puck in Processing Clamp while storing it to tube 6 + "manipulator"&$% +4 "core" %\ + P !U + "storage"((% +4 "core" %P \\ Z\ \ +2 "storage"(Z. +3 "core" .(K + "storage"(y& +4 "core" &K Z Y\  +2 "storage"(& +4 "manipulator"&Y& +4 "core" &K Y Z\  + &l t +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +6 "manipulator"&$&.,(\ #b + "storage"(#]kK-0-\ b +3 .tElbow.seek PC +5 "manipulator"&w(c +4 ."raiseStack"SE.seek :beamBreak +2 "storage"(}'e +2 "core" ( + "manipulator"&s& +4 "core" &l +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &M& +4 "core" &l { +2 .tForearm.seek PC + "manipulator"&R'[ +96 "core" ' +2 .tHand.close + "manipulator"&/ +60 "core" / +2 .tPC.seek :open +2 "processing"%(p +87 "core" ' + "storage"('- +4 "core" -'e + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(,'B +33 "core" ' +260 ( +2 "storage"(1& +4 "core" &K | r S\  + "manipulator"&^& +4 "core" &l  +2 "manipulator"&!% +4 "core" % ^  + .tForearm.seek :retract +2 "manipulator"&['\ +94 "core" ' +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&B( +260 "core" ( +2 "manipulator"&H& +4 "core" & 6 ( + "storage"(.& +4 "core" &K Y Y \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&5'< +101 "core" ' +2 .tHand.open + "manipulator"&1 +58 "core" 1 +2 "storage"( - +4 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate +2 "storage"(' +24 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(]' +49 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(/- +3 "core" -' +2 "storage"(W& +3 "core" &K x\  +2 "manipulator"&& +4 "core" & ( + .tElbow.seek 6 +2 "manipulator"&n( +3 "core" ( +2 "manipulator"&c& +4 "core" & ( + "storage"(& +5 "core" &K H\  +2 .tForearm.seek 6 + 450 counts + "manipulator"&8'< +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"(e'M +59 "core" ' + "manipulator"& & +5 "core" & o ( + "storage"(>& +4 "core" &K }  d\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&"'z +32 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"(b'7 +22 "core" ' +2 "manipulator"&X% +4 "core" %Έo \  U ĸ +2 "storage"(&& +4 "core" &K 8 5 \  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 6 + 314 counts + "manipulator"&<'ϴ +20 "core" ' +2 "manipulator"&4& +4 "core" & a @ ( +2 "storage"(|& +4 "core" &K m f t\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&'< +21 "core" ' +2 "storage"(9% +4 "core" %> x F\ +2 ."downElevator"SE.seek :down +4 "storage"('N +99 (Q% +2 "core" %C v u }\ V` +2 "manipulator"&V% +4 "core" %M t y o  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +87 "core" ' +63 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (& +4 "core" &K Z c\  +2 "collection"';& +4 "core" &]r\ P +2 #tStoring generic puck in Collection Clamp to tube 6 + "manipulator"&v% +4 "core" %\ - "_ +2 "storage"(% +4 "core" %D v v V\ + "storage"(7. +3 "core" .(K +2 "storage"(T& +4 "core" &K v v ~\  + "storage"( & +4 "core" &K t p L\  +2 "manipulator"&C& +4 "core" & B ( +2 .tElbow.seek 6 + "manipulator"&L( +23 "core" ( + "manipulator"&=& +4 "core" & h  +2 "storage"(O& +4 "core" &K } } \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&k'< +103 "core" ' + "storage"(2& +4 "core" &K \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"( 'e +280 "core" ' +2 "storage"(I- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +2 "manipulator"&r& +3 "core" & o o   +2 "storage"(& +4 "core" &K \  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&{'z +38 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(~- +2 "core" -' +2 .tSE.seek 0.12 Pucks below Top Plate +2 "storage"(i't +28 "core" ' + "manipulator"&J% +4 "core" %d W ĵ +2 "storage"(F& +4 "core" &K 8 5 c\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 305 counts + "manipulator"&'ϫ +22 "core" ' + "manipulator"&:& +4 "core" & r \\ > * +2 "storage"(@& +4 "core" &K L\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&'< +21 "core" ' +2 .tSE.seek 1.12 Pucks below Top Plate +2 "storage"('c +50 "core" ' + "manipulator"&q& +5 "core" & o o  * + "manipulator"&%% +4 "core" %M p q \ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&\ '\ +88 "core" ' +2 .tElbow.seek CC +2 "manipulator"&P( +149 "core" ( +2 "manipulator"&N& +4 "core" &&  =D + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &+& +3 "core" && =D +2 .tForearm.seek CC + "manipulator"&d'| +98 "core" ' + .tHand.close +2 "manipulator"&S/ +61 "core" / +2 .tCC.seek :open + "collection"'p(p +414 "core" ( +2 "storage"()& +4 "core" &K 6\  + "storage"(o& +4 "core" &K \  + "manipulator"&G& +4 "core" &$ z ;6 + "manipulator"&h% +4 "core" % } o +2 .tForearm.seek :retract +2 "manipulator"&'\ +91 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&K( +164 "core" ( + "manipulator"& & +4 "core" & %  +2 "storage"(A& +4 "core" &K "\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 6 +2 "manipulator"&u'z +110 "core" ' +2 .tElbow.hold + "manipulator"&t, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&*1 +63 "core" 1 +2 "manipulator"&% +4 "core" % Ό d +2 "storage"(-& +4 "core" &K f f ]\  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 6 + 318 counts + "manipulator"&'ϸ +19 "core" ' + "manipulator"&m& +5 "core" & v ^ 5  + "storage"(x& +4 "core" &K \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&E'< +23 "core" ' +2 "storage"(3% +4 "core" %f \ +2 ."downElevator"SE.seek :down +52 "storage"(_'N +50 (0% +3 "core" %"D E\ V` +2 "manipulator"&f% +4 "core" %M o o +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +92 "core" ' +97 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 7 of [5..7] + #Loading generic puck from tube 7 into Collection Clamp +2 "collection"'g& +4 "core" &qs7\ + "manipulator"&6% +4 "core" %\ 3 %x +2 "storage"(U% +4 "core" %: "\ + "storage"(\\. +3 "core" .(K +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 7 +2 "storage"(z([ +354 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (`& +2 "core" &[ g g \  +2 "manipulator"&D& +4 "core" &  + .tElbow.seek 7 +2 "manipulator"&j( +15 "core" ( +2 "manipulator"&$& +4 "core" &  + "storage"((& +4 "core" &[ \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&Z'k +105 "core" ' +2 "storage"(y& +4 "core" &[ \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(Y'e +276 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +2 (& +3 "core" &[ H\  +2 "manipulator"&s& +3 "core" & o o  +2 .tElbow.seek 7 +2 "manipulator"&M( +3 "core" ( +2 "manipulator"&l& +3 "core" & v q .  +2 "storage"(& +4 "core" &[ \  +2 .tForearm.seek 7 + 300 counts + "manipulator"&'' +22 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&/ +58 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&a& +2 "storage"(#'N +7 "core" &   +2 "manipulator"&1% +4 "core" %   +2 .tForearm.seek :retract +2 "manipulator"&}'\ +105 "core" ' + .tElbow.seek CC +2 "manipulator"&^( +134 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +27 "core" ( + "manipulator"&!& +5 "core" &, Bi + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &R& +3 "core" &,  Bi +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&H'| +103 "core" ' +2 "manipulator"&.& +4 "core" &,  Bh +2 "manipulator"&w% +4 "core" %} ` +2 "collection"'& +4 "core" &rr\ +2 "collection"' & +5 "core" &mt>\ +2 .tCC.seek :closed +2 "collection"'/(] +4 "core" &os%\  +9 &3ls\ *y +9 &eps\ > +9 &Xuqr\ M +10 &Zqq\ L +9 &\\rs\ M +9 &]or\ L +10 &!a^op\ L +9 &#"\\pr\ M +10 &$Zqs\ L +9 &&\\qs\ L +9 &(iYrs\ L +10 &*+[qp\ L +9 &+[rs\ L +9 &-[qr\ M +10 &/q\\rq\ L +9 &12[qs\ M +10 &2[rs\ L +9 &4[rs\ L +9 &6yZor\ L +10 &8;Zst\ L +9 &9\\pt\ M +9 &;Zqr\ L +10 &=]os\ L +9 &?DZqr\ L +10 &A\\qs\ L +9 &BYqq\ L +9 &DZrr \ L +10 &FLYps \ L +9 &H `oq\ M +9 &Imkn\ N +10 &KUe\ Q +9 &M;\ \ U +10 &N \ V +9 &P \ V +9 &Rz \ W +10 &T:nt \ X +9 &U\\e \ X +9 &WOW\ Y +10 &Yy:C\ Z +9 &[:+6\ Z +10 &\\z"\ 0 +9 &]'\ F +9 ( +3 "collection"' & +3 #tCollection Clamp onSpring/offSpring for 9/25 samples, on/off torque 2.09 + .Hand.open + "manipulator"&W1 +3 "core" &]O \ @ +56 1 + "manipulator"&% +4 "core" % t +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&c'\ +97 "core" ' +2 #tLoading generic puck from tube 7 into Processing Clamp + "processing"%& +4 "core" &T\ +2 "manipulator"&[% +4 "core" %\ 1 c $n + "storage"( % +4 "core" %8 s } \  + "storage"(>. +3 "core" .([ +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 7 + "storage"(X([ +3 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (&& +2 "core" &[ H , Z\  +2 "manipulator"&,& +4 "core" & * : A` + "manipulator"&4% +4 "core" %\ 1 K $n +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 7 +2 "manipulator"&( +161 "core" ( + "manipulator"&|& +4 "core" & +2 "storage"(9& +4 "core" &[ p\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&B'k +101 "core" ' + "storage"(5& +5 "core" &[ ;\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(]'e +281 "core" ' + "storage"(Q- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (V& +3 "core" &[ C\  + "manipulator"&8& +4 "core" & o p +2 .tElbow.seek 7 + "manipulator"&n( +3 "core" ( +2 "manipulator"&e& +4 "core" & p v  + "storage"("& +4 "core" &[ \  +2 .tForearm.seek 7 + 300 counts +2 "manipulator"&' +25 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&ZC\ M +10 &@bWB\ M +9 &B$YC\ M +9 &CWD\ M +10 &EXB\ M +9 &Gg`C\ N +9 &I'iC\ N +10 &J{D\ Q +9 &LD\ S +9 &N^C\ S +10 &P =\ S +9 &QB\ S +10 &SC\ T +9 &UdC\ T +9 &W&C\ T +10 &X<\ T +9 &ZAIhA\ )y +9 &Z ;C\ ) +6 ( + "processing"%2& +5 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.62 + .Hand.open + "manipulator"&1 +4 "core" &ZA\ ) +55 1 +2 "manipulator"&% +4 "core" % P M +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&I'\ +99 "core" ' + "processing"%r& +5 "core" &Z<\ ) + #tImaging generic puck in Processing Clamp while storing it to tube 7 +2 "manipulator"&% +4 "core" %\ 5 & + "storage"(~% +4 "core" %S z r x\  + "storage"(J. +3 "core" .([ +2 "storage"(F& +4 "core" &[ p o \  +2 "storage"(:& +2 "manipulator"&@& +6 "core" &[ | x 9\  + &j A +3 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +3 "storage"(#]kK-0-\ b +3 "manipulator"&$&.,(\ #b +3 ."raiseStack"SE.seek :beamBreak +2 .tElbow.seek PC +2 "storage"(q'e + "manipulator"&%(c +6 "core" ( + "manipulator"&k& +4 "core" &j R + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &L& +3 "core" &j ) +2 .tForearm.seek PC +2 "manipulator"& '[ +95 "core" ' + .tHand.close +2 "manipulator"&{/ +56 "core" / +2 .tPC.seek :open +2 "processing"%(p +86 "core" ' + "storage"(i- +4 "core" -'e + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(N'B +34 "core" ' +261 ( + "storage"(+& +9 "core" &[ A\  +2 "manipulator"&& +4 "core" &j  + "manipulator"&% +9 "core" % V H +2 .tForearm.seek :retract + "manipulator"&S'\ +96 "core" ' + .tElbow.reconfigure :tight +52 "manipulator"&$&.,(\ #b +4 .tElbow.seek 7 + "manipulator"&\ ( +257 "core" ( +2 "manipulator"&& +4 "core" & B # +2 "storage"()& +3 "core" &[ m g \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&o'k +101 "core" ' + .tHand.open +2 "manipulator"&G1 +62 "core" 1 +2 "storage"(h- +4 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate +2 "storage"( ' +30 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.83 Pucks below Top Plate + "storage"(A' +51 "core" ' +2 #tLights, camera, ACTION! + "storage"(d- +4 "core" -' + "storage"(P& +4 "core" &[   o\  +2 "manipulator"&*& +4 "core" & p r < # + .tElbow.seek 7 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&-& +4 "core" & H # + "storage"(m& +5 "core" &[   K\  +2 .tForearm.seek 7 + 450 counts + "manipulator"&x'k +4 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"(3'M +62 "core" ' +2 "manipulator"&& +4 "core" & o q  # +2 "storage"(0& +4 "core" &[ .\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 7 + "manipulator"&f'Ω +32 "core" ' +2 .tElbow.hold + "manipulator"&K, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate + "storage"(u'7 +24 "core" ' +2 "manipulator"&% +4 "core" %ν +2 "storage"(g& +4 "core" &[ Y Y\  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 7 + 320 counts + "manipulator"&6' +18 "core" ' +2 "manipulator"&U& +4 "core" & x i  # +2 "storage"(\\& +4 "core" &[ n\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&'k +17 "core" ' +2 "storage"(E% +4 "core" %@ \  +2 ."downElevator"SE.seek :down +4 "storage"(_'N +99 (?% +2 "core" %F h h e\ Va +2 "manipulator"&`% +4 "core" %w n n  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&D'\ +92 "core" ' +58 ' + ."downElevator"SE.stop + "storage"(5 +3 ($& +4 "core" &[ j q %\  +2 "collection"'(& +4 "core" &]N2\ @ + #tStoring generic puck in Collection Clamp to tube 7 +2 "manipulator"&y% +4 "core" %\ 1 w $o + "storage"(t% +4 "core" %M \  + "storage"(. +4 "core" .([ + "storage"(& +4 "core" &[ \  + "storage"(& +4 "core" &[ x \  +2 "manipulator"&s& +4 "core" &  # + .tElbow.seek 7 +2 "manipulator"&l( +3 "core" ( +2 "manipulator"&& +4 "core" & i # + "storage"(& +4 "core" &[ U\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&a'k +105 "core" ' +2 "storage"(1& +4 "core" &[ T\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(j'e +282 "core" ' + "storage"(Z- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&!& +3 "core" & o p  # +2 "storage"(R& +3 "core" &[ B\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 7 +2 "manipulator"&Y'Ω +28 "core" ' +2 .tElbow.hold + "manipulator"&', +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(.- +2 "core" -' +3 .tSE.seek 0.12 Pucks below Top Plate + "storage"(w'p +32 "core" ' + "manipulator"&M% +4 "core" %κ ! +2 "storage"(& +4 "core" &[ Y Y\  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 7 + 317 counts +2 "manipulator"&#' +20 "core" ' +2 "manipulator"&}& +4 "core" & d # +2 "storage"(p& +4 "core" &[ .\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&W'k +16 "core" ' +2 .tSE.seek 1.12 Pucks below Top Plate +2 "storage"('_ +42 "core" ' +2 "manipulator"&& +4 "core" & y n  # + "manipulator"&[% +4 "core" %O o p +  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"& '\ +95 "core" ' +2 .tElbow.seek CC + "manipulator"&>( +155 "core" ( + "manipulator"& & +4 "core" &* @] +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &&& +3 "core" &* @] +2 .tForearm.seek CC + "manipulator"&,'| +100 "core" ' + .tHand.close +2 "manipulator"&4/ +62 "core" / +2 .tCC.seek :open +2 "collection"'H(p +410 "core" ( +2 "storage"(|& +4 "core" &[ \  + "storage"(9& +4 "core" &[ /\  + "manipulator"&z& +4 "core" &,# a ;4 + "manipulator"&5% +4 "core" % ϋ k +2 .tForearm.seek :retract + "manipulator"&^'\ +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 7 +2 "manipulator"&c( +153 "core" ( + "manipulator"&Q& +5 "core" &  + "storage"(V& +4 "core" &[ K\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +2 .tForearm.seek 7 +2 "manipulator"&8'Ω +105 "core" ' + .tElbow.hold + "manipulator"&e, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&"1 +56 "core" 1 +2 "manipulator"&<% +4 "core" % ν + "storage"(;& +4 "core" &[ \  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 7 + 320 counts + "manipulator"&' +18 "core" ' +2 "manipulator"&& +4 "core" & q v  +2 "storage"(B& +3 "core" &[ \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&]'k +17 "core" ' +2 "storage"(% +4 "core" %d \ +2 ."downElevator"SE.seek :down +4 "storage"(b'N +98 ( % +3 "core" %'C \ V_ +2 "manipulator"&n% +4 "core" %s p o  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&='\ +87 "core" ' +52 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 5 of [5..7] + #Loading generic puck from tube 5 into Collection Clamp +2 "collection"'O& +4 "core" &ss;\ + "manipulator"&% +4 "core" %\ +  !V +2 "storage"(v% +4 "core" %6 \  + "storage"(7. +3 "core" .([ +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"((<< +673 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (& +2 "core" &[or\ L +10 &@m\\op\ L +9 &B.[oq\ M +10 &CZpr\ L +9 &E\\rr\ M +9 &Gt^po\ M +10 &I3hlp\ N +9 &J|[g\ P +9 &L\ T +10 &Na\ V +9 &P# \ V +10 &Q\ W +9 &Sw~ \ X +9 &Ubgn\ X +10 &W$[c \ X +9 &XLP\ Z +9 &Z<D\ \\ +10 &\\c+1\ G +9 &]`8#\ )y +10 &]c\ F +2 ( + "collection"'h& +4 #tCollection Clamp onSpring/offSpring for 10/26 samples, on/off torque 2.10 + .Hand.open + "manipulator"&P1 +60 "core" 1 +2 "manipulator"&*% +4 "core" % ~  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&-'\ +93 "core" ' + #tLoading generic puck from tube 5 into Processing Clamp +2 "processing"%m& +4 "core" &\ + "manipulator"&S% +4 "core" %\ - "X +2 "storage"(% +4 "core" %M | | \  + "storage"(0. +3 "core" .(K + "manipulator"& % +4 "core" %\ - q "X +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&U( +158 "core" ( +2 "manipulator"&\\& +4 "core" &\   + "storage"(E& +4 "core" &<; @\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&\ ' +93 "core" ' + "storage"(o& +4 "core" &<; \  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(A'e +286 "core" ' + "storage"(?- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (`& +3 "core" &<9 \  + "manipulator"&x& +5 "core" &\  r T  +2 .tElbow.seek 5 + "manipulator"&( +4 "core" ( + "manipulator"&3& +4 "core" &\  m  + "storage"(f& +4 "core" &<9 L\  +2 .tForearm.seek 5 + 300 counts + "manipulator"&$'[ +21 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&6/ +60 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&(& +2 "storage"(y'N +7 "core" &\  p o (  + "manipulator"&t% +4 "core" % V q q  +2 .tForearm.seek :retract +2 "manipulator"&'\ +96 "core" ' +2 .tElbow.seek PC +2 "manipulator"&(c +157 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +92 "core" ( +2 "manipulator"&u& +4 "core" &j z + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &j +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&s'[ +99 "core" ' +2 "manipulator"&& +5 "core" &j u + "manipulator"&% +4 "core" %b +2 "processing"%& +4 "core" &T\ +2 "processing"%1& +5 "core" &\ +2 .tPC.seek :closed + "processing"%_(Z +5 "core" &U\ \ +8 &0{S\ )w +10 &eR\ > +9 &FuQ\ N +10 & VS\ L +9 &\\U\ M +9 &UU\ L +10 &!PXT\ M +9 &#UU\ L +9 &$WU\ M +10 &&[T\ M +9 &(XZG\ M +10 &*ZP\ M +9 &+ZN\ M +9 &-ZG\ M +10 &/_]E\ M +9 &1#WB\ L +9 &2YA\ M +10 &4Z=\ M +9 &6iW?\ L +10 &8*W@\ M +9 &9UB\ L +9 &;XB\ M +10 &=oYC\ M +9 &?2ZB\ M +9 &@\\?\ M +10 &BX@\ M +9 &DyY>\ L +10 &F:ZA\ M +9 &GcC\ N +9 &InC\ O +10 &Kr@\ Q +9 &M.C\ S +9 &NC\ T +10 &P@\ S +9 &RsD\ T +10 &T5D\ T +9 &UC\ T +9 &WC\ T +10 &YyB\ B +9 &Zu8B\ !c +9 &Z"B\ + +3 ( + "processing"%1& +3 #tProcessing Clamp onSpring/offSpring for 9/25 samples, on/off torque 1.63 +2 .Hand.open + "manipulator"&K1 +63 "core" 1 +2 "manipulator"&D% +4 "core" % b o +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&Z'\ +93 "core" ' + "processing"%!& +4 "core" &Z @\ + +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 + "manipulator"&R% +4 "core" %\ * s !Q +2 "storage"(.% +3 "core" %O u q j\ +2 "storage"(M. +3 "core" .(<9 + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"((<< +7 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (}& +4 "core" &<9 b Z I\ + "manipulator"&p& +4 ."raiseStack"SE.reconfigure :place +4 "storage"(#]kK-0-\ b +2 "core" &j +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +3 "storage"('e "manipulator"&[(c +6 "core" ( + "manipulator"&a& +4 "core" &j y +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &l& +3 "core" &j +2 .tForearm.seek PC +2 "manipulator"&j'[ +97 "core" ' +2 .tHand.close + "manipulator"&Y/ +60 "core" / +2 .tPC.seek :open + "processing"%#(p +83 "core" ' + "storage"(w- +4 "core" -'e + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"( 'B +33 "core" ' +265 ( + "storage"(&& +4 "core" &<9 \ +2 "manipulator"&W& +4 "core" &j + "manipulator"&'% +4 "core" % d +2 .tForearm.seek :retract + "manipulator"&4'\ +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"& ( +255 "core" ( + "manipulator"&/& +4 "core" & # +2 "storage"(|& +4 "core" &<9 | | d\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&9' +101 "core" ' + .tHand.open +2 "manipulator"&z1 +64 "core" 1 +2 "storage"(5- +4 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate + "storage"(Q' +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.83 Pucks below Top Plate + "storage"(V' +50 "core" ' +2 #tLights, camera, ACTION! + "storage"(,- +4 "core" -' + "storage"(>& +4 "core" &<8 n\ + "manipulator"&"& +5 "core" & _ # + .tElbow.seek 5 +2 "manipulator"&<( +3 "core" ( +2 "manipulator"&;& +4 "core" & # +2 "storage"(& +4 "core" &<8 K\ +2 .tForearm.seek 5 + 450 counts + "manipulator"&B' +20 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"('M +57 "core" ' +2 "manipulator"&^& +4 "core" & u # + "storage"( & +4 "core" &<8 <\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&n'/ +29 "core" ' + .tElbow.hold +2 "manipulator"&c, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +51 "storage"(8'7 +26 "core" ' + "manipulator"&O% +4 "core" %?} ) 5 G +2 "storage"(& +4 "core" &<8 Z Y\ + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 5 + 316 counts + "manipulator"&'k +19 "core" ' + "manipulator"&v& +5 "core" &? i  ) D + "storage"(7& +5 "core" &<8 \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&' +11 "core" ' +2 "storage"(]% +4 "core" %> \ +3 ."downElevator"SE.seek :down +4 "storage"(b'N +98 (X% +3 "core" %DD } } \ Vb +2 "manipulator"&% +4 "core" % y n * ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +88 "core" ' +66 ' + ."downElevator"SE.stop + "storage"(5 +3 (& +4 "core" &<8 l w )\ + "collection"'~& +4 "core" &]Z'\ F +2 #tStoring generic puck in Collection Clamp to tube 5 +2 "manipulator"&F% +3 "core" %\ . #e +2 "storage"(e% +4 "core" %L k X\  + "storage"(=. +3 "core" .(<9 +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 +2 "storage"(@(<< +8 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (:& +3 "core" &<9 ] [\  +2 "manipulator"&k& +3 "core" &? D +2 .tElbow.seek 5 +2 "manipulator"&C( +21 "core" ( + "manipulator"&{& +5 "core" & 0  + "storage"(T& +4 "core" &<8 W\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&I' +91 "core" ' + "storage"(+& +5 "core" &<8 \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(r'e +274 "core" ' + "storage"(J- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&& +3 "core" & s /  +2 "storage"( & +3 "core" &<8 u\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&2'/ +29 "core" ' + .tElbow.hold +2 "manipulator"&i, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"()- +3 "core" -' +2 .tSE.seek 0.11 Pucks below Top Plate + "storage"(%'l +30 "core" ' +2 "manipulator"&G% +4 "core" %?i { ¶ + "storage"(L& +5 "core" &<8 [ Y\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 316 counts + "manipulator"&'k +20 "core" ' + "manipulator"&q& +4 "core" &# ] v   +2 "storage"(H& +4 "core" &<8 )\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&P' +20 "core" ' +2 .tSE.seek 1.11 Pucks below Top Plate +2 "storage"(*'[ +46 "core" ' +2 "manipulator"&m& +4 "core" &# p o  +2 "manipulator"&S% +4 "core" % o o  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +91 "core" ' + .tElbow.seek CC +2 "manipulator"&0( +169 "core" ( + "manipulator"&h& +4 "core" &* ] @^ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &*  @^ +2 .tForearm.seek CC + "manipulator"&g'| +95 "core" ' + .tHand.close +2 "manipulator"& / +52 "core" / + .tCC.seek :open +2 "collection"'(p +414 "core" ( + "storage"(\\& +5 "core" &<8 t\  + "storage"(E& +4 "core" &<8 Q\  + "manipulator"&& +4 "core" & ( ' ?R + "manipulator"&o% +4 "core" % ό  +2 .tForearm.seek :retract + "manipulator"&'\ +92 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 + "manipulator"&-( +160 "core" ( + "manipulator"&?& +4 "core" & s  +2 "storage"(`& +4 "core" &<8 D\  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 5 +2 "manipulator"&x'/ +109 "core" ' + .tElbow.hold +2 "manipulator"&3, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&f1 +58 "core" 1 +2 "manipulator"&6% +4 "core" % A  N k + "storage"((& +4 "core" &<8 \  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 5 + 318 counts +3 "manipulator"&t'm +18 "core" ' +2 "manipulator"&U& +4 "core" &6 h O 9  + "storage"(\ & +5 "core" &<8 t\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&A' +21 "core" ' + "storage"($% +5 "core" %\\ \ +2 ."downElevator"SE.seek :down +3 "storage"(u'N +100 (% +2 "core" %BC J\ V^ +2 "manipulator"&% +4 "core" % o o +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +86 "core" ' +53 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 6 of [5..7] + #Loading generic puck from tube 6 into Collection Clamp +2 "collection"'& +4 "core" &pr?\ + "manipulator"&% +5 "core" %\ * !M + "storage"(y% +4 "core" %M >\ +2 "storage"(. +4 "core" .(<9 + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"((K +351 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (K& +3 "core" &K \  + "manipulator"&D& +4 "core" &6 a  +2 .tElbow.seek 6 + "manipulator"&!( +21 "core" ( + "manipulator"&R& +4 "core" & C  +2 "storage"(.& +3 "core" &K '\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts + "manipulator"&M'< +96 "core" ' + "storage"(1& +4 "core" &K m\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(}'e +281 "core" ' +2 "storage"(p- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (a& +3 "core" &K \  + "manipulator"&l& +4 "core" & R  +2 .tElbow.seek 6 + "manipulator"&s( +22 "core" ( +2 "manipulator"&Y& +4 "core" &  H + "storage"(N& +4 "core" &K \  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&w'Ϧ +26 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&/ +63 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&Z& +5 "storage"(_'N +3 "core" & p s H +2 "manipulator"&&% +4 "core" % Ͻ o p 0 +2 .tForearm.seek :retract + "manipulator"&'\ +98 "core" ' + .tElbow.seek CC +2 "manipulator"&W( +137 "Can" (OM +8 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +3 "core" ( +2 "manipulator"&'& +4 "core" && L =F + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &j& +2 "core" && W =F +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&/'| +102 "core" ' +2 "manipulator"&|& +4 "core" && K =F +2 "manipulator"&[% +4 "core" %p m +2 "collection"'z& +4 "core" &psF\ +2 "collection"'5& +5 "core" &pr\ +2 .tCC.seek :closed +2 "collection"',(] +4 "core" &os&\ +7 &7rr!\ $d +9 &gV}pq\ 6 +10 &qt\ K +9 &xYrr\ L +9 &9Zrs\ L +10 &Wns\ L +9 & ]op\ L +10 &"]rt\ L +9 &$@Zpq\ M +9 &&\\pr\ L +10 &'Wpq\ L +9 &)]qp\ L +9 &+IZrr\ L +10 &- \\qq\ L +9 &.[ns\ M +9 &0\\qs\ L +10 &2QYpr\ L +10 &4]pt\ L +9 &5Ynr\ L +9 &7Wnr\ L +9 &9ZXpp\ L +10 &;Yrq\ L +9 &<Zpq\ L +9 &>Wrq\ L +10 &@a\\pr\ L +9 &B"[pq\ M +10 &C[op\ L +9 &EWps\ L +9 &Gh`no\ M +10 &I'jko\ N +9 &J}Wf\ P +10 &L\ T +9 &NT\ V +9 &P\ W +10 &Q\ W +9 &S{\ X +9 &UWjq\ X +10 &W[b\ Y +9 &XNS\ Y +9 &Z=D\ [ +10 &\\U+3 \ G +9 &]X6" \ 1 +10 &]m \ F +5 ( + "collection"'5& +5 #tCollection Clamp onSpring/offSpring for 9/26 samples, on/off torque 2.08 + .Hand.open +2 "manipulator"&>1 +53 "core" &]e\ F +49 1 + "manipulator"&"% +5 "core" % o  + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&;'\ +97 "core" ' +2 #tLoading generic puck from tube 6 into Processing Clamp + "processing"%& +4 "core" &\ +2 "manipulator"&4% +3 "core" %\ : e ( +2 "storage"(^% +4 "core" %; v v y\  + "storage"( . +3 "core" .(K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 + "storage"( (K +6 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (Q& +2 "core" &K 8 7 H\  +2 "manipulator"&O& +4 "core" &% <9 + "manipulator"&% +4 "core" %\ ; ( +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&v( +169 "core" ( +2 "manipulator"&7& +4 "core" & , 0 +2 "storage"( & +4 "core" &K i g }\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&9'< +91 "core" ' +7 "storage"(]& +5 "core" &K .\  + .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(V'e +277 "core" ' + "storage"(B- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (X& +3 "core" &K T\  +2 "manipulator"&& +3 "core" & / / +2 .tElbow.seek 6 + "manipulator"&<( +4 "core" ( + "manipulator"&& +4 "core" & 3 / + "storage"(n& +4 "core" &K 5\  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&'Ϧ +20 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +53 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&~& +2 "storage"(F'N +7 "core" & v  W / +2 "manipulator"&e% +4 "core" % Ϩ r z o +2 .tForearm.seek :retract + "manipulator"&='\ +93 "core" ' +54 .tElbow.seek PC + "manipulator"&8(c +108 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +142 "core" ( +2 "manipulator"&:& +4 "core" &h G + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &k& +3 "core" &h +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&{'[ +102 "core" ' +2 "manipulator"&T& +4 "core" &h +2 "manipulator"&% +4 "core" %V +2 "processing"%+& +4 "core" &\ +2 "processing"%b& +6 "core" &M\ +2 .tPC.seek :closed +3 "processing"%(Z +3 "core" &U\ +6 &U\ 2 +9 &GzU\ 0 +10 &5sU\ D +9 &cS\ M +9 &ZU\ M +10 &`WU\ L +9 & \\L\ M +9 &!WT\ L +10 &#ZT\ M +9 &%gZT\ M +10 &')ZR\ M +9 &(ZH\ M +9 &*YH\ M +10 &,n[D\ M +9 &.2UN\ L +9 &/XQ\ M +10 &1WD\ M +9 &3vZK\ M +10 &5:WC\ L +9 &6VC\ L +9 &8XC\ L +10 &:W@\ L +9 &YC\ M +10 &?XC\ L +9 &AZD\ M +10 &CIYD\ M +9 &E\ \\D\ M +9 &F]D\ M +10 &HgC\ O +9 &JFvD\ P +9 &LD\ S +10 &MC\ S +9 &OB\ S +10 &QEC\ S +9 &SC\ T +9 &TC\ T +10 &VC\ T +9 &XLD\ T +9 &Yzu@\ ) +10 &Z*uB\ 5 +9 ( +2 "processing"%b& +3 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.61 +2 .Hand.open + "manipulator"&c1 +4 "core" &Z;\ * +52 1 + "manipulator"&% +4 "core" % V 1 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&J'\ +99 "core" ' +2 "processing"%& +5 "core" &ZB\ * + #tImaging generic puck in Processing Clamp while storing it to tube 6 +2 "manipulator"& % +4 "core" %\ 8  ' + "storage"()% +4 "core" %R v v g\  + "storage"(G. +3 "core" .(K +2 "storage"(L& +4 "core" &K v v \  +2 "storage"(q& +3 "manipulator"&H& +5 "core" &K t u Q\  + &h q +3 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +3 "storage"(#]kK-0-\ b +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +3 ."raiseStack"SE.seek :beamBreak +3 "manipulator"&m(c + "storage"(S'e +5 "core" ( + "manipulator"&I& +4 "core" &h a +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &C& +3 "core" &h * +2 .tForearm.seek PC +2 "manipulator"&r'[ +95 "core" ' + .tHand.close +2 "manipulator"&2/ +55 "core" / + .tPC.seek :open +2 "processing"%(p +94 "core" ' + "storage"(%- +4 "core" -'e + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +2 ."raiseStack"SE.seek :place +2 "storage"(h'B +45 "core" ' +240 ( + "storage"(& +4 "core" &K \  +2 "manipulator"&P& +4 "core" &h  + "manipulator"&i% +4 "core" % ]  +2 .tForearm.seek :retract + "manipulator"& '\ +101 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 + "manipulator"&( +252 "core" ( + "manipulator"&d& +4 "core" & 9 e +2 "storage"(\\& +4 "core" &K t p a\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&E'< +93 "core" ' +2 .tHand.open + "manipulator"&1 +60 "core" 1 +2 "storage"(o- +3 "core" -'B +3 .tSE.seek -0.16 Pucks below Top Plate + "storage"(?' +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(`' +50 "core" ' + #tLights, camera, ACTION! +2 "storage"(g- +3 "core" -' +2 "storage"(0& +4 "core" &K\ \  \  + "manipulator"&f& +4 "core" & d +2 .tElbow.seek 6 + "manipulator"&6( +4 "core" ( + "manipulator"&(& +4 "core" & b d + "storage"(U& +4 "core" &K\ \ \  +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&\ '< +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"($'M +59 "core" ' + "manipulator"&& +5 "core" &  d + "storage"(& +4 "core" &K ~\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&'z +33 "core" ' +2 .tElbow.hold + "manipulator"&-, +5 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate + "storage"(x'7 +26 "core" ' +2 "manipulator"&% +4 "core" %΁g + "storage"(t& +5 "core" &K B B }\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 307 counts +2 "manipulator"&'ϭ +20 "core" ' + "manipulator"&y& +5 "core" & y - o + "storage"(& +4 "core" &K \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&*'< +16 "core" ' + "storage"(A% +5 "core" %> \ +2 ."downElevator"SE.seek :down +4 "storage"(u'N +98 (@% +3 "core" %D | } \ V` +2 "manipulator"&K% +4 "core" %? x | K +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&D'\ +94 "core" ' +58 ' + ."downElevator"SE.stop + "storage"(5 +3 (R& +4 "core" &K y p &\  + "collection"'.& +4 "core" &]d6\ F +2 #tStoring generic puck in Collection Clamp to tube 6 + "manipulator"&1% +4 "core" %\ 3 z % +2 "storage"(3% +3 "core" %N g f \ +2 "storage"(. +3 "core" .(K + "storage"(p& +4 "core" &K } n -\  +2 "storage"(a& +3 "core" &K r z C\  +2 "manipulator"&l& +4 "core" & o + .tElbow.seek 6 +2 "manipulator"&Y( +15 "core" ( + "manipulator"&N& +5 "core" & f & + "storage"(& +4 "core" &K } s M\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&Z'< +92 "core" ' + "storage"(&& +5 "core" &K F\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(!'e +277 "core" ' + "storage"(M- +4 "core" -' +50 .tSE.configure :default +4 "storage"(#QK-0-\ b +2 "manipulator"&'& +3 "core" & " % +2 "storage"(j& +3 "core" &K T\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&}'z +35 "core" ' + .tElbow.hold +2 "manipulator"&w, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(|- +3 "core" -' +2 .tSE.seek 0.12 Pucks below Top Plate +2 "storage"(['u +28 "core" ' + "manipulator"&z% +5 "core" %~h  + "storage"(s& +4 "core" &K B B \  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 6 + 304 counts +2 "manipulator"&_'Ϫ +11 "core" ' +2 "manipulator"&& +4 "core" & j  % +2 "storage"(& +3 "core" &K \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&>'< +21 "core" ' +2 .tSE.seek 1.12 Pucks below Top Plate +2 "storage"("'d +49 "core" ' +2 "manipulator"&5& +4 "core" & q q  % +2 "manipulator"&% +4 "core" %" r o , +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&4'\ +88 "core" ' +2 .tElbow.seek CC +2 "manipulator"&^( +137 "core" ( +2 "manipulator"& & +4 "core" &  0 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &Q& +3 "core" & 0 +2 .tForearm.seek CC +2 "manipulator"&O'| +104 "core" ' + .tHand.close +2 "manipulator"&/ +63 "core" / + .tCC.seek :open +2 "collection"'/(p +410 "core" ( +2 "storage"(7& +4 "core" &K o\  + "storage"( & +4 "core" &K +\  +2 "manipulator"&& +3 "core" & l 0 +2 "manipulator"&]% +4 "core" % n C +2 .tForearm.seek :retract +2 "manipulator"&W'\ +90 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 + "manipulator"&;( +166 "core" ( + "manipulator"&B& +5 "core" & ( + "storage"(X& +4 "core" &K L\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 6 +2 "manipulator"&'z +112 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&n1 +63 "core" 1 +3 "manipulator"&% +4 "core" % ΃ 0  m \\ + "storage"(~& +4 "core" &K f f h\  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 6 + 309 counts + "manipulator"&e'ϯ +20 "core" ' +2 "manipulator"&v& +4 "core" & a ~ Q 4 + "storage"(9& +4 "core" &K t\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&V'< +16 "core" ' +2 "storage"(% +4 "core" %k \ +2 ."downElevator"SE.seek :down +4 "storage"(:'N +98 (k% +3 "core" %"I O\ V_ +2 "manipulator"&<% +4 "core" %4 q r 8 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&T'\ +87 "core" ' +55 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 7 of [5..7] + #Loading generic puck from tube 7 into Collection Clamp +2 "collection"'& +4 "core" &oq\ + "manipulator"&+% +5 "core" %\ ) K + "storage"(F% +4 "core" %@ \  +2 "storage"(=. +3 "core" .(K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 7 +2 "storage"(#([ +376 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +2 (c& +4 "core" &[ \\\ + "manipulator"&& +4 "core" & 3 + .tElbow.seek 7 +2 "manipulator"&( +18 "core" ( +2 "manipulator"& & +4 "core" &   + "storage"()& +4 "core" &[ X\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&G'k +103 "core" ' +2 "storage"(L& +4 "core" &[ :\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(b'e +281 "core" ' + "storage"(H- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (q& +3 "core" &[ #\ + "manipulator"&I& +4 "core" & q p  +2 .tElbow.seek 7 + "manipulator"&C( +3 "core" ( +2 "manipulator"&{& +3 "core" & x t '  +2 "storage"(2& +4 "core" &[ v\ +2 .tForearm.seek 7 + 300 counts + "manipulator"&%' +18 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&8/ +63 "core" / +2 ."downElevator"SE.seek :down +5 "manipulator"&J& "storage"('N +7 "core" & -  + "manipulator"&% +4 "core" % $  +2 .tForearm.seek :retract +2 "manipulator"&P'\ +100 "core" ' +2 .tElbow.seek CC + "manipulator"&i( +144 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +8 "core" ( + "manipulator"&S& +5 "core" &# :- + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &r& +2 "core" &# s :- +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&d'| +94 "core" ' +2 "manipulator"&\\& +4 "core" &# ? :, + "manipulator"&m% +4 "core" %u 3  +2 "collection"'& +4 "core" &oq,\ +2 "collection"'o& +5 "core" &rr+\ +2 .tCC.seek :closed + "collection"'g(] +5 "core" &oq,\ +6 &@rr,\ $d +9 &uWop(\ 7 +10 &~pq*\ K +9 &Yos#\ L +10 &O\\pq%\ L +9 &]or!\ L +9 & \\nk%\ L +10 &"Ypq\ L +9 &$W[op\ L +9 &&_qr\ L +10 &'\\pr\ L +9 &)\\rr\ L +10 &+`[qr\ L +9 &-"[qr \ L +9 &.]no\ L +10 &0]rr\ L +9 &2f]oq\ M +9 &4*\\pr\ L +10 &5Zqt\ L +9 &7Zpr\ L +10 &9pZop\ L +9 &;1[pr\ L +9 &<Zqq\ L +10 &>Xps\ L +9 &@vZor\ M +9 &B9[ps\ L +10 &C]qs\ L +9 &E\\qq\ L +10 &G`pq\ L +9 &I=gmo\ N +9 &Jwcj\ O +10 &L2\ S +9 &Nk\ V +9 &P,\ V +10 &Q\ V +9 &Sx\ W +10 &Umem\ X +9 &W.V[\ X +9 &XFM\ Z +10 &Z4<\ Z +9 &\\p")\ G +9 &]i6\ &r +10 &]`\ D +2 ( +2 "collection"'o& +3 #tCollection Clamp onSpring/offSpring for 10/26 samples, on/off torque 2.07 + .Hand.open +2 "manipulator"&01 +60 "core" 1 + "manipulator"&f% +4 "core" % u `  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&('\ +91 "core" ' +3 #tLoading generic puck from tube 7 into Processing Clamp + "processing"%U& +4 "core" &U\ +2 "manipulator"& % +4 "core" %\ . v #b + "storage"(% +4 "core" %; f f c\  + "storage"(. +3 "core" .([ +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 7 + "storage"(([ +7 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (h& +3 "core" &[ u p \ + "manipulator"&t& +4 "core" &! E 8 +2 "manipulator"&?% +3 "core" %\ / 8 #b +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 7 +2 "manipulator"&y( +170 "core" ( +2 "manipulator"&& +4 "core" & C + "storage"(A& +4 "core" &[ 8\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts + "manipulator"&'k +114 "core" ' + "storage"(E& +5 "core" &[ \ + .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(`'e +282 "core" ' + "storage"(@- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (K& +2 "core" &[ f f f\ +2 "manipulator"&\ & +4 "core" & * C + .tElbow.seek 7 +2 "manipulator"&6( +3 "core" ( + "manipulator"&$& +4 "core" & U C +2 "storage"(& +3 "core" &[ \ +2 .tForearm.seek 7 + 300 counts +2 "manipulator"&R' +21 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +63 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&.& + "storage"(1'N +58 "core" & z } C + "manipulator"&3% +4 "core" % z p R +2 .tForearm.seek :retract +2 "manipulator"&'\ +94 "core" ' +2 .tElbow.seek PC +2 "manipulator"&x(c +159 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +81 "core" ( +2 "manipulator"&p& +4 "core" &m   +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &a& +2 "core" &m  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&l'[ +93 "core" ' +2 "manipulator"&N& +4 "core" &m E  +2 "manipulator"&% +4 "core" %Y   +2 "processing"%*& +3 "core" &U\ +2 "processing"%&& +6 "core" &\ +2 .tPC.seek :closed + "processing"%u(Z +4 "core" &U\  +10 &3~V\ *x +9 &eU\ > +9 &WtV\ N +10 &UT\ M +9 &YU\ L +9 &Z\ M +10 &!a\\L\ M +9 &##XT\ M +10 &$UR\ L +9 &&YU\ M +9 &(iYT\ M +10 &*+UU\ M +9 &+ZU\ L +9 &-XH\ L +10 &/rZG\ L +9 &14XF\ L +10 &2\\M\ M +9 &4\\Q\ L +9 &6yUE\ M +10 &8<ZC\ L +9 &9WD\ L +9 &;[C\ M +10 &=[A\ M +9 &?B\\C\ M +10 &AY>\ M +9 &BXC\ M +9 &D\\C\ M +10 &FJYC\ M +9 &H eD\ N +9 &IpD\ O +10 &KC\ Q +9 &M@D\ S +10 &OC\ S +9 &P;\ T +9 &RB\ T +10 &TF@\ T +9 &VD\ T +9 &WC\ T +10 &YB\ A +9 &Z9E\ Q +9 &ZB\ * +3 ( + "processing"%&& +3 #tProcessing Clamp onSpring/offSpring for 9/25 samples, on/off torque 1.63 +2 .Hand.open + "manipulator"&-1 +54 "core" 1 +2 "manipulator"&D% +4 "core" % Y 1  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&M'\ +92 "core" ' +2 "processing"%'& +4 "core" &Z:\ * +2 #tImaging generic puck in Processing Clamp while storing it to tube 7 + "manipulator"&j% +4 "core" %\ .  #b + "storage"(|% +4 "core" %M o p ]\ + "storage"(z. +4 "core" .([ + "storage"(s& +4 "core" &[ } z r\ + "storage"(& +5 "manipulator"&& +3 "core" &[ y o @\ + &m 0  +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +4 "storage"(#]kK-0-\ b + "manipulator"&5(c +5 ."raiseStack"SE.seek :beamBreak +2 "storage"('e +2 "core" ( +2 "manipulator"&Z& +4 "core" &m <  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &Y& +3 "core" &m  +2 .tForearm.seek PC +2 "manipulator"&!'[ +94 "core" ' +2 .tHand.close + "manipulator"&}/ +63 "core" / +2 .tPC.seek :open + "processing"%_(p +83 "core" ' +2 "storage"( - +4 "core" -'e + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place + "storage"(['B +35 "core" ' +263 ( +2 "storage"(Q& +4 "core" &[ \ + "manipulator"&>& +4 "core" &m   +2 "manipulator"&w% +4 "core" % f ' + .tForearm.seek :retract +2 "manipulator"&'\ +91 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 7 + "manipulator"&4( +247 "core" ( +2 "manipulator"&,& +4 "core" &\ h Y + "storage"(7& +4 "core" &[ y k Q\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"& 'k +95 "core" ' +2 .tHand.open + "manipulator"&1 +56 "core" 1 +2 "storage"(]- +4 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate +2 "storage"(B' +22 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(X' +53 "core" ' +2 #tLights, camera, ACTION! + "storage"(O- +4 "core" -' + "storage"(^& +4 "core" &[\ "\  \ + "manipulator"&n& +4 "core" &\ E Y +2 .tElbow.seek 7 + "manipulator"&( +4 "core" ( + "manipulator"&~& +4 "core" &\ 3 Y + "storage"(v& +4 "core" &[\ \ \ +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&9'k +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"('M +58 "core" ' + "manipulator"&W& +5 "core" &\  Y + "storage"(k& +4 "core" &[ w\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 7 +2 "manipulator"&<'Ω +30 "core" ' +2 .tElbow.hold + "manipulator"&;, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"('7 +22 "core" ' + "manipulator"&% +5 "core" %μ  + "storage"(+& +4 "core" &[ f g /\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 7 + 319 counts + "manipulator"&e' +19 "core" ' +2 "manipulator"&F& +5 "core" &\ u | N Y + "storage"(=& +4 "core" &[ \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&"'k +16 "core" ' +2 "storage"(V% +5 "core" %@ +\ +2 ."downElevator"SE.seek :down +4 "storage"(:'N +99 ( % +3 "core" %AD n n \ Va +2 "manipulator"&c% +4 "core" %P z o <  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +92 "core" ' +59 ' + ."downElevator"SE.stop +2 "storage"(5 +2 ( & +4 "core" &[ r c \ +2 "collection"')& +4 "core" &]].\ D +2 #tStoring generic puck in Collection Clamp to tube 7 + "manipulator"&L% +4 "core" %\ 1  $q + "storage"(% +4 "core" %8 g g e\  +2 "storage"(T. +3 "core" .([ + "storage"(H& +4 "core" &[ k i <\ +2 "storage"(q& +4 "core" &[ g f .\ + "manipulator"&I& +4 "core" &\  Y +2 .tElbow.seek 7 + "manipulator"&{( +3 "core" ( +2 "manipulator"&2& +4 "core" &\ & Y + "storage"(8& +4 "core" &[ f f \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&J'k +102 "core" ' +2 "storage"(& +4 "core" &[ 0\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"('e +278 "core" ' + "storage"(G- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&S& +3 "core" &\ r q Y + "storage"(r& +4 "core" &[ 4\ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 7 + "manipulator"&b'Ω +31 "core" ' + .tElbow.hold +2 "manipulator"&%, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(\\- +3 "core" -' +2 .tSE.seek 0.12 Pucks below Top Plate +2 "storage"(m'p +28 "core" ' + "manipulator"&% +5 "core" %ν  ] + "storage"(C& +4 "core" &[ Y \\\ + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 7 + 320 counts + "manipulator"&' +17 "core" ' + "manipulator"&P& +5 "core" &\ v i X + "storage"(/& +4 "core" &[ \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&0'k +25 "core" ' +2 .tSE.seek 1.12 Pucks below Top Plate + "storage"(f'_ +47 "core" ' +2 "manipulator"&U& +4 "core" &\ q o I X +2 "manipulator"& % +4 "core" %В r p X +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +92 "core" ' +2 .tElbow.seek CC +2 "manipulator"&( +159 "core" ( + "manipulator"&o& +4 "core" &* T @] +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &h& +3 "core" &* j @] +2 .tForearm.seek CC + "manipulator"&t'| +97 "core" ' + .tHand.close +2 "manipulator"&?/ +51 "core" / +2 .tCC.seek :open +2 "collection"'d(p +410 "core" ( +2 "storage"(& +4 "core" &[ 0\ + "storage"(A& +4 "core" &[ C\ + "manipulator"&#& +4 "core" && D >M + "manipulator"&i% +53 "core" % ς D +3 .tForearm.seek :retract +2 "manipulator"&E'\ +91 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 7 + "manipulator"&(( +159 "core" ( +2 "manipulator"&@& +4 "core" & 6 +2 "storage"(K& +3 "core" &[ %\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 7 +2 "manipulator"&\ 'Ω +107 "core" ' + .tElbow.hold +2 "manipulator"&$, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&1 +62 "core" 1 + "manipulator"&% +5 "core" % ζ ] + "storage"(.& +4 "core" &[ \ + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 7 + 313 counts + "manipulator"&3' +22 "core" ' +2 "manipulator"&y& +4 "core" & v `  + "storage"(& +4 "core" &[ X\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&`'k +16 "core" ' +2 "storage"(R% +4 "core" %] A\ +2 ."downElevator"SE.seek :down +3 "storage"(p'N +100 (a% +2 "core" %+E \ U^ +2 "manipulator"&6% +4 "core" %Z o o  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&N'\ +92 "core" ' +52 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 5 of [5..7] +2 #Loading generic puck from tube 5 into Collection Clamp + "collection"'& +5 "core" &sq\ + "manipulator"&*% +4 "core" %\ 3 %~ +2 "storage"(1% +4 "core" %J \  + "storage"(. +3 "core" .([ +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"((<< +670 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (-& +3 "core" &( +148 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +11 "core" ( +2 "manipulator"&w& +4 "core" &* B @] +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &!& +3 "core" &* R @] +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&,'| +93 "core" ' + "manipulator"&7& +5 "core" &*  @] + "manipulator"&5% +4 "core" %y 3 +2 "collection"'& +4 "core" &qsO\ +2 "collection"']& +5 "core" &rt,\ +2 .tCC.seek :closed + "collection"'O(] +5 "core" &qs-\ +7 &?rr,\ $e +10 &hXpq,\ 7 +9 &~pt$\ L +10 &Zpt\ L +9 &D[qr\ L +9 &Ypt$\ L +10 & Yqr'\ L +9 &"Yps\ L +9 &$LXqs\ L +10 && \\qs\ M +9 &'Zrs\ M +10 &)[qq\ L +9 &+TWsr\ L +9 &-Zps\ M +10 &.\\qs\ L +9 &0Yrs\ L +9 &2\\Xps \ L +10 &4Yqs\ L +9 &5Zpq\ M +10 &7Zpq\ L +9 &9cZps\ M +9 &;&[ps\ L +10 &<[pr\ L +9 &>Wps\ L +9 &@l\\rs\ L +10 &B.]rs\ L +9 &C[qt\ M +10 &EZqs\ L +9 &Gs_op\ M +9 &I2hmp\ N +10 &J{\\i!\ P +9 &L \ T +9 &N`\ V +10 &P!\ V +9 &Q\ W +10 &S}\ W +9 &U^mt\ Y +9 &W#]c\ X +10 &XMW\ Y +9 &ZCG \ Z +9 &\\V 08\ L +10 &]_8$(\ (x +9 &]o$ \ K +6 ( + "collection"']& +4 #tCollection Clamp onSpring/offSpring for 10/26 samples, on/off torque 2.16 +2 .Hand.open + "manipulator"&^1 +3 "core" &]b!$\ K +53 1 + "manipulator"&n% +4 "core" % y ] +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&~'\ +92 "core" ' + #tLoading generic puck from tube 5 into Processing Clamp +2 "processing"%v& +4 "core" &N\ + "manipulator"&% +4 "core" %\ - s "X +2 "storage"(W% +4 "core" %I q o (\  + "storage"(k. +3 "core" .(\\S\ M +9 &?XD\ L +9 &A[C\ M +10 &CKYB\ M +9 &E W;\ M +10 &F\\B\ M +9 &HeF\ N +9 &JJrD\ P +10 &LF\ R +9 &ME\ S +9 &OE\ T +10 &QGC\ S +9 &S C\ S +10 &TD\ S +9 &VA\ T +9 &XLD\ T +10 &Yzr:\ ) +9 &Z'lB\ E +9 ( +3 "processing"%& +3 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.59 + .Hand.open +2 "manipulator"&;1 +3 "core" &Z,D\ 3 +52 1 + "manipulator"&% +4 "core" % [ { +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&G'\ +92 "core" ' + "processing"%S& +4 "core" &Z,\ 3 +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 + "manipulator"&r% +4 "core" %\ - E "Y +2 "storage"(\\% +4 "core" %D s v g\  + "storage"(. +3 "core" .(<< +51 "storage"(C& +5 "core" &<9 f ` b\  +2 "storage"(P& +2 "manipulator"&/& +7 "core" &<9 t v +\  + &l + +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +3 "storage"(#]kK-0-\ b +2 "manipulator"&U(c +4 ."raiseStack"SE.seek :beamBreak +2 "storage"( 'e +3 "core" ( + "manipulator"&J& +4 "core" &l 1 + + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &{& +3 "core" &l z + +2 .tForearm.seek PC + "manipulator"&'[ +97 "core" ' + .tHand.close +2 "manipulator"&b/ +61 "core" / +2 .tPC.seek :open + "processing"%(p +85 "core" ' + "storage"(m- +4 "core" -'e + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place + "storage"(o'B +35 "core" ' +262 ( +2 "storage"(h& +4 "core" &<9 x \  + "manipulator"&0& +4 "core" &l + +2 "manipulator"&%% +4 "core" % ` * +2 .tForearm.seek :retract + "manipulator"&?'\ +99 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&( +255 "core" ( + "manipulator"&g& +4 "core" & E & +2 "storage"(& +3 "core" &<9 v v {\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&A' +101 "core" ' +2 .tHand.open + "manipulator" +59 "core" 1 +2 "storage"(i- +4 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate +2 "storage"(@' +31 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.83 Pucks below Top Plate + "storage"(K' +53 "core" ' +2 #tLights, camera, ACTION! + "storage"(t- +4 "core" -' + "storage"(& +4 "core" &<7 \ \ +2 "manipulator"&& +4 "core" & & + .tElbow.seek 5 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&.& +4 "core" & Q & + "storage"(y& +4 "core" &<7 ?\ \ +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&' +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"(R'M +59 "core" ' + "manipulator"&E& +4 "core" & & +2 "storage"(a& +4 "core" &<7 j j ,\ \ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 + "manipulator"&6'/ +28 "core" ' + .tElbow.hold +2 "manipulator"&(, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.07 Pucks below Top Plate + "storage"(\ '7 +27 "core" ' +2 "manipulator"&% +4 "core" %> h X +2 "storage"(3& +4 "core" &<7 Z [\ \ + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 5 + 315 counts +2 "manipulator"&*'j +18 "core" ' +2 "manipulator"&1& +4 "core" &C\ v j  W +2 "storage"(& +4 "core" &<7 '\ \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&f' +20 "core" ' +2 "storage"(`% +4 "core" %= \ +2 ."downElevator"SE.seek :down +4 "storage"(p'N +98 (% +4 "core" %G o o \ Vb + "manipulator"&-% +4 "core" % { | ( +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&D'\ +91 "core" ' +58 ' + ."downElevator"SE.stop + "storage"(5 +3 (j& +4 "core" &<7 m X \ \ +2 "collection"'|& +4 "core" &]b$'7\ K +2 #tStoring generic puck in Collection Clamp to tube 5 + "manipulator"&s% +4 "core" %\ 1  $n + "storage"($% +4 "core" %: { s \ + "storage"(N. +3 "core" .(<< +2 "storage"(& +4 "core" &<7 | | F\ \ + "storage"(&& +4 "core" &<7 } m \ \ +2 "manipulator"&Z& +4 "core" &C\ # W + .tElbow.seek 5 +2 "manipulator"&l( +39 "core" ( +2 "manipulator"&}& +4 "core" & # + "storage"(x& +4 "core" &<7 o o `\ \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&M' +100 "core" ' + "storage"(Q& +4 "core" &<7 \ \ +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(''e +276 "core" ' + "storage"(z- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&w& +3 "core" & # + "storage"(!& +4 "core" &<7 i g E\ \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&'/ +30 "core" ' + .tElbow.hold +2 "manipulator"& , +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(7- +3 "core" -' +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(5'm +28 "core" ' +2 "manipulator"&% +4 "core" %<p  p ¸ + "storage"(Y& +4 "core" &<7 E C \ \ + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 5 + 313 counts +2 "manipulator"&u'h +18 "core" ' + "manipulator"&& +5 "core" &<  g V = + "storage"(d& +4 "core" &<7 \ \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&^' +17 "core" ' +2 .tSE.seek 1.11 Pucks below Top Plate +2 "storage"(n'\\ +49 "core" ' +2 "manipulator"&v& +4 "core" &< } | = +2 "manipulator"&% +4 "core" % } r +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&W'\ +91 "core" ' +2 .tElbow.seek CC + "manipulator"&k( +155 "core" ( + "manipulator"&]& +4 "core" &* v @[ +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &+& +2 "core" &* ! @[ +2 .tForearm.seek CC +2 "manipulator"&['| +138 "core" ' + .tHand.close +2 "manipulator"&F/ +61 "core" / +2 .tCC.seek :open + "collection"',(p +411 "core" ( + "storage"(=& +4 "core" &<7 \ \ +2 "storage"(V& +3 "core" &<7 \ \ +2 "manipulator"&& +4 "core" &'  >J + "manipulator"& % +4 "core" % ϋ  + .tForearm.seek :retract +2 "manipulator"&>'\ +98 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&~( +153 "core" ( + "manipulator"& & +5 "core" &  + "storage"(c& +4 "core" &<7 \ \ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 5 +2 "manipulator"&9'/ +107 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&<1 +62 "core" 1 +2 "manipulator"&e% +4 "core" % B  G + "storage"()& +4 "core" &<7 \ \ + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 5 + 319 counts +2 "manipulator"&'n +17 "core" ' + "manipulator"&B& +4 "core" &8 N h 2  +2 "storage"(4& +4 "core" &<7 i\ \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&X' +17 "core" ' + "storage"( % +5 "core" %b \ +2 ."downElevator"SE.seek :down +3 "storage"(H'N +100 (q% +2 "core" % B _\ U^ +2 "manipulator"&% +4 "core" % o o +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&2'\ +95 "core" ' +44 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 6 of [5..7] +2 #Loading generic puck from tube 6 into Collection Clamp + "collection"'8& +4 "core" &ps\ +2 "manipulator"&"% +4 "core" %\ 5 & + "storage"(L% +4 "core" %7 +\ +2 "storage"(T. +3 "core" .(<< +50 .tSC.reconfigure :tight +4 "storage"($\ .\ 1~b +2 .tSC.seek 6 + "storage"(_(K +352 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (;& +3 "core" &K i g \  + "manipulator"&& +4 "core" &8  +2 .tElbow.seek 6 + "manipulator"&S( +14 "core" ( +2 "manipulator"&r& +4 "core" &  + "storage"(\\& +4 "core" &K \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&'< +99 "core" ' + "storage"(C& +5 "core" &K 9\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('e +276 "core" ' +2 "storage"(/- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (P& +2 "core" &K O\  +2 "manipulator"&J& +4 "core" & o p  + .tElbow.seek 6 +2 "manipulator"&{( +4 "core" ( + "manipulator"&I& +4 "core" & p v   + "storage"(b& +4 "core" &K \  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&m'Ϧ +38 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +59 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&G& + "storage"(:'N +7 "core" & n o  +2 "manipulator"&h% +4 "core" % p o +2 .tForearm.seek :retract + "manipulator"& '\ +98 "core" ' +2 .tElbow.seek CC +2 "manipulator"&0( +146 "core" ( +2 ' + ."downElevator"SE.stop +3 "manipulator"&%& + "storage"(5 +7 "core" & c . +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" & C . +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&g'| +105 "core" ' +2 "manipulator"&& +4 "core" & V . +2 "manipulator"&U% +4 "core" %q  +2 "collection"'#& +4 "core" &rr-\ +2 "collection"'i& +5 "core" &qsP\ +2 .tCC.seek :closed +2 "collection"'t(] +4 "core" &os-\  +8 &5qr,\ *z +10 &epq,\ > +9 &aups!\ M +9 &&Wqs.\ L +10 &\\ps'\ L +9 &Yrs$\ L +10 &!k]rr\ L +9 &#-]rp\ L +9 &$[rt\ L +10 &&]qr\ L +9 &(s[rr\ L +9 &*6\\ot\ L +10 &+Yos\ L +9 &-Yqt\ L +10 &/z[rt\ M +9 &1<Zms \ M +9 &2[or \ L +10 &4\\qs\ L +9 &6Zqs\ L +9 &8FZps\ L +10 &:[rr\ L +9 &;Yor \ L +10 &=Zqs\ L +9 &?MWpr\ L +9 &A]rs\ L +10 &B]qs\ M +9 &DZrs\ L +9 &FUYrr\ L +10 &H`pq\ M +9 &Iqmn\ N +10 &K;X!\ R +9 &MB\ V +9 &O\ V +10 &P\ W +9 &R\ W +9 &TEx~\ W +10 &Vhp\ Y +9 &WY`\ Y +10 &YJQ\ Z +9 &[C;@\ [ +9 &\\z(/\ . +10 &]6#\ #l +9 ( +2 "collection"'i& +4 #tCollection Clamp onSpring/offSpring for 9/25 samples, on/off torque 2.12 + .Hand.open + "manipulator"&1 +3 "core" &]r\ N +59 1 +2 "manipulator"&% +4 "core" % q  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&.'\ +98 "core" ' +2 #tLoading generic puck from tube 6 into Processing Clamp +2 "processing"%y& +4 "core" & \ + "manipulator"&?% +4 "core" %\ 8 M ' + "storage"(E% +4 "core" %> v v o\  +2 "storage"(a. +3 "core" .(K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"(o(K +6 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +2 (& +3 "core" &K + - 1\  +2 "manipulator"&3& +3 "core" & C . +2 "manipulator"&1% +4 "core" %\ 8  ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&@( +155 "core" ( +2 "manipulator"&& +4 "core" & l \ + "storage"(`& +4 "core" &K p t \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&'< +98 "core" ' +2 "storage"(A& +4 "core" &K \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(K'e +278 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (-& +3 "core" &K n ?\  + "manipulator"&& +4 "core" & q ; \ +2 .tElbow.seek 6 + "manipulator"&( +3 "core" ( +2 "manipulator"&R& +4 "core" & v u \ + "storage"(6& +4 "core" &K \  +2 .tForearm.seek 6 + 300 counts + "manipulator"&j'Ϧ +28 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&*/ +60 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&|& +2 "storage"(s'N +7 "core" & q q = \ +2 "manipulator"&$% +4 "core" % Ͻ q q  +2 .tForearm.seek :retract + "manipulator"&N'\ +96 "core" ' +2 .tElbow.seek PC + "manipulator"&(c +154 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +82 "core" ( +2 "manipulator"&\ & +4 "core" &l - +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &&& +2 "core" &l - +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&Z'[ +101 "core" ' +2 "manipulator"&}& +4 "core" &m  , +2 "manipulator"&x% +3 "core" %e ` +2 "processing"%f& +4 "core" &\ +2 "processing"%Q& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%p(Z +4 "core" &M\  +8 &2Y\ *x +9 &bV\ = +10 &@uT\ N +9 &TV\ M +9 &VV\ M +10 &ZU\ M +9 &!JWU\ M +10 &# TU\ M +9 &$ZU\ M +9 &&\\R\ M +10 &(RZU\ M +9 &*ZR\ M +10 &+XT\ M +9 &-WR\ M +9 &/Y\\S\ M +10 &1WM\ M +9 &2YR\ L +9 &4WR\ L +10 &6cWP\ L +9 &8#[R\ M +9 &9UJ\ M +10 &;UE\ L +9 &=kXE\ L +10 &?,ZD\ M +9 &@ZC\ L +9 &BYD\ M +10 &DsYD\ L +9 &F3\\>\ M +9 &GgN\ N +10 &IpE\ P +9 &KkC\ R +10 &M'C\ T +9 &NC\ T +9 &PE\ T +10 &RnC\ S +9 &T0D\ S +9 &UC\ T +10 &WC\ T +9 &YsC\ A +10 &Z|CC\ V +9 &Z;\ & +2 ( +2 "processing"%Q& +3 #tProcessing Clamp onSpring/offSpring for 9/25 samples, on/off torque 1.65 + .Hand.open +2 "manipulator"&(1 +63 "core" 1 + "manipulator"&D% +4 "core" % e +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&z'\ +95 "core" ' +2 "processing"%w& +4 "core" &ZB\ & +2 #tImaging generic puck in Processing Clamp while storing it to tube 6 + "manipulator"&!% +4 "core" %\ 1 ` $s + "storage"(7% +4 "core" %; u t Z\ + "storage"(. +3 "core" .(K +2 "storage"(Y& +3 "core" &K v v s\  +2 "storage"(& +2 "manipulator"&d& +7 "core" &K u v G\  + &m K , +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +2 "storage"(#]kK-0-\ b +2 .tElbow.seek PC +4 "manipulator"&v(c +4 ."raiseStack"SE.seek :beamBreak + "storage"('e +3 "core" ( + "manipulator"&M& +4 "core" &m N , +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &l& +3 "core" &m P , +2 .tForearm.seek PC + "manipulator"&''[ +99 "core" ' +2 .tHand.close + "manipulator"&/ +57 "core" / +2 .tPC.seek :open + "processing"%u(p +86 "core" ' +2 "storage"(5- +3 "core" -'e + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place + "storage"(]'B +42 "core" ' +251 ( + "storage"(+& +4 "core" &K r q E\  +2 "manipulator"&^& +4 "core" &m  , + "manipulator"& % +4 "core" % l + +2 .tForearm.seek :retract + "manipulator"&F'\ +100 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&W( +259 "core" ( + "manipulator"&O& +5 "core" & & + "storage"(=& +4 "core" &K Y Y \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&V'< +94 "core" ' + .tHand.open + "manipulator"&1 +54 "core" 1 +2 "storage"( - +3 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate +2 "storage"( ' +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +53 .tSE.seek -0.83 Pucks below Top Plate + "storage"(c' +50 "core" ' + #tLights, camera, ACTION! +2 "storage"([- +3 "core" -' +2 "storage"(k& +4 "core" &K Z\  + "manipulator"&<& +4 "core" & > & +2 .tElbow.seek 6 +2 "manipulator"&e( +21 "core" ( + "manipulator"&)& +4 "core" & ~ %  +2 "storage"(B& +4 "core" &K )\  +2 .tForearm.seek 6 + 450 counts + "manipulator"&4'< +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.11 Pucks below Top Plate + "storage"( 'M +60 "core" ' + "manipulator"&>& +5 "core" & >  +2 "storage"(q& +4 "core" &K \  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 + "manipulator"&'z +33 "core" ' +2 .tElbow.hold + "manipulator"&~, +5 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"(9'7 +28 "core" ' +2 "manipulator"&8% +4 "core" %~r  ¹( +2 "storage"("& +4 "core" &K B B \  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 6 + 304 counts + "manipulator"&'Ϫ +20 "core" ' + "manipulator"&L& +5 "core" & { r  + + "storage"(T& +5 "core" &K \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&n'< +17 "core" ' +2 "storage"(X% +4 "core" %8 P\ +3 ."downElevator"SE.seek :down +4 "storage"(H'N +99 (% +3 "core" %B v u T\ Va +2 "manipulator"&;% +4 "core" %6 q o C +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +93 "core" ' +58 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (r& +4 "core" &K [ c\  +2 "collection"'\\& +4 "core" &]p\ N +2 #tStoring generic puck in Collection Clamp to tube 6 + "manipulator"&C% +4 "core" %\ 8  ' +2 "storage"(% +4 "core" %F v v ~\  + "storage"(2. +3 "core" .(K + "storage"(/& +5 "core" &K v v h\  + "storage"(P& +4 "core" &K v u g\  + "manipulator"&J& +5 "core" & 9 + + .tElbow.seek 6 +2 "manipulator"&I( +25 "core" ( + "manipulator"&b& +4 "core" & ; % +2 "storage"(& +4 "core" &K u v B\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&G'< +95 "core" ' + "storage"(h& +4 "core" &K w h\  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(S'e +281 "core" ' +2 "storage"(- +3 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&%& +3 "core" &  % +2 "storage"(& +3 "core" &K p q \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&'z +30 "core" ' +2 .tElbow.hold +2 "manipulator"&m, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(- +3 "core" -' +2 .tSE.seek 0.12 Pucks below Top Plate +2 "storage"(U'u +40 "core" ' +2 "manipulator"&#% +4 "core" %we ' #  ŵ + "storage"({& +4 "core" &K 4 $ t\  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 6 + 297 counts + "manipulator"&:'ϣ +12 "core" ' + "manipulator"& & +4 "core" & z l r ' +2 "storage"(,& +4 "core" &K O\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&'< +15 "core" ' +2 .tSE.seek 1.12 Pucks below Top Plate +2 "storage"('d +49 "core" ' +2 "manipulator"&y& +4 "core" & o r  ' +2 "manipulator"&?% +4 "core" %A o p  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&E'\ +93 "core" ' + .tElbow.seek CC +2 "manipulator"&a( +173 "core" ( + "manipulator"&i& +5 "core" & "| + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" & "| +2 .tForearm.seek CC +2 "manipulator"&3'| +104 "core" ' + .tHand.close +2 "manipulator"&1/ +55 "core" / +2 .tCC.seek :open + "collection"'g(p +411 "core" ( + "storage"(& +4 "core" &K \  + "storage"(`& +4 "core" &K \  +2 "manipulator"&_& +3 "core" & r s ] "| +2 "manipulator"&A% +3 "core" % s n V +2 .tForearm.seek :retract +2 "manipulator"&0'\ +95 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 + "manipulator"&.( +147 "core" ( +2 "manipulator"&& +4 "core" & p  + "storage"(-& +4 "core" &K 6\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 6 + "manipulator"&'z +109 "core" ' +2 .tElbow.hold + "manipulator"&R, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&61 +57 "core" 1 +2 "manipulator"&*% +5 "core" % ΃ 2 8 w + "storage"(|& +4 "core" &K y D\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 309 counts + "manipulator"&$'ϯ +20 "core" ' + "manipulator"&@& +4 "core" & u [ @  +2 "storage"(& +4 "core" &K u\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&K'< +31 "core" ' + "storage"(j% +5 "core" %h \ +2 ."downElevator"SE.seek :down +3 "storage"(\ 'N +100 (&% +2 "core" %@ \ \ U^ +2 "manipulator"&% +4 "core" %( o p +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&}'\ +92 "core" ' +51 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 7 of [5..7] + #Loading generic puck from tube 7 into Collection Clamp +2 "collection"'x& +4 "core" &qsB\ + "manipulator"&f% +4 "core" %\ 0 $t +2 "storage"(s% +4 "core" %F %\ + "storage"(N. +3 "core" .(K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 7 + "storage"(([ +350 "core" ( +2 .tSC.configure :limp +3 "storage"($\ 1b +2 ((& +2 "core" &[ i o K\  +2 "manipulator"&D& +4 "core" &  + .tElbow.seek 7 +2 "manipulator"&w( +18 "core" ( + "manipulator"&!& +5 "core" &  + "storage"(7& +4 "core" &[ L\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&'k +117 "core" ' + "storage"(Y& +5 "core" &[ \  + .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(Q'e +281 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (d& +2 "core" &[ \  +2 "manipulator"&M& +3 "core" & L  +2 .tElbow.seek 7 +2 "manipulator"&l( +3 "core" ( + "manipulator"&Z& +4 "core" & { >  +2 "storage"(& +4 "core" &[ &\  +2 .tForearm.seek 7 + 300 counts +2 "manipulator"&5' +11 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&/ +55 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&z& +2 "storage"(p'N +7 "core" & o n   + "manipulator"&+% +4 "core" % o l E +2 .tForearm.seek :retract +2 "manipulator"&^'\ +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&( +156 "core" ( +2 "manipulator"& & +4 "core" ' + &\  I , + .tElbow.reconfigure :loose +3 ."downElevator"SE.stop +3 "manipulator"&$ &.,(#b + "storage"(5 +3 "manipulator"&'& +5 "core" &\  t , +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +51 "manipulator"&O'| +104 "core" ' +2 "manipulator"&=& +4 "core" &\   , +2 "manipulator"&v% +4 "core" %x . +2 "collection"'& +4 "core" &osO\ +2 "collection"' & +6 "core" &nrN\ +4 .tCC.seek :closed +3 "collection"'[(] +10 "core" &pt-\ +4 &rr+\ 8 +6 &I|or+\ 0 +7 &Ktqr.\ E +9 &_pr)\ L +10 &Zpr!\ L +9 &zXpq*\ L +10 & :\\ps(\ M +9 &!\\pq$\ L +9 &#\\ps\ L +10 &%Zos\ L +9 &'C\\qr\ L +9 &)Wrs\ L +10 &*Zpo\ L +9 &,Ypt\ L +9 &.L[pq\ L +10 &0 \\rs\ M +9 &1[sq\ L +10 &3Wqr\ L +9 &5SYpr \ L +9 &7\\qr\ M +10 &8Ypr \ L +9 &:Zpr\ L +10 &<\\Zpr\ L +9 &>\\pq\ L +9 &?Zoq\ L +10 &A\\no\ L +9 &CcYpr\ L +9 &E%[or\ L +10 &FXoq\ L +9 &Hfmr\ M +9 &Jdokn\ O +10 &L7U\ Q +9 &M\ V +10 &O\ V +9 &QU\ V +9 &S\ W +10 &Tjs\ X +9 &VYb\ X +9 &XUHM\ Y +10 &Z8=\ Z +9 &[$,\ Z +10 &]0H\ / +9 &] r\ E +5 ( +2 "collection"' & +4 #tCollection Clamp onSpring/offSpring for 9/26 samples, on/off torque 2.15 +2 .Hand.open + "manipulator"&k1 +3 "core" &]e\ E +53 1 +2 "manipulator"&F% +4 "core" % p V +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&<'\ +95 "core" ' +2 #tLoading generic puck from tube 7 into Processing Clamp + "processing"%)& +5 "core" & \ + "manipulator"&B% +4 "core" %\ 3  %y + "storage"(>% +4 "core" %B f f n\  +2 "storage"(q. +3 "core" .([ + "storage"(]& +4 "core" &[ f r y\  + "storage"(8& +4 "core" &[ f g \  +2 "manipulator"&"& +4 "core" &\  7 , + "manipulator"& % +4 "core" %\ 3 9 %y +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 7 + "manipulator"&L( +159 "core" ( +2 "manipulator"&T& +4 "core" &  + "storage"(X& +4 "core" &[ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&W'k +95 "core" ' +2 "storage"(V& +4 "core" &[ F\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(c'e +279 "core" ' +2 "storage"(- +3 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (;& +3 "core" &[ \  +2 "manipulator"&4& +4 "core" & o o \  +2 .tElbow.seek 7 + "manipulator"&e( +4 "core" ( + "manipulator"& & +4 "core" & ] w 4  + "storage"(& +4 "core" &[ =\  +2 .tForearm.seek 7 + 300 counts + "manipulator"&r' +21 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&/ +54 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&\\& + "storage"(C'N +8 "core" & p o *  + "manipulator"&% +4 "core" % o l 4 +2 .tForearm.seek :retract +2 "manipulator"&2'\ +93 "core" ' +2 .tElbow.seek PC +2 "manipulator"&9(c +159 "core" ' + ."downElevator"SE.stop + "storage"(5 +77 "core" ( +2 "manipulator"&/& +4 "core" &Y  " + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &P& +3 "core" &Y x " +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&J'[ +95 "core" ' + "manipulator"&b& +5 "core" &Y K " + "manipulator"&% +4 "core" %Q  +2 "processing"%n& +4 "core" &\ +2 "processing"%h& +4 "core" & \ +2 .tPC.seek :closed +2 "processing"%H(Z +4 "core" &V\  +8 &3Y\ *y +10 &eV\ > +9 &ZrT\ M +10 &WU\ M +9 &ZU\ M +9 &UU\ M +10 &!eXU\ L +9 &#'UT\ L +9 &$UC\ L +10 &&VS\ M +9 &(lUT\ M +10 &*.UU\ M +9 &+ZT\ M +9 &-UR\ M +10 &/uYR\ L +9 &16WS\ M +9 &2[L\ M +10 &4ZQ\ M +9 &6|ZR\ M +10 &8=YQ\ M +9 &:WG\ L +9 &;VK\ L +10 &=ZL\ M +9 &?FWH\ M +10 &A[D\ M +9 &BVD\ M +9 &DW>\ M +10 &FM[C\ M +9 &H fI\ N +9 &IpF\ O +10 &KC\ R +9 &MDC\ S +9 &OD\ T +10 &PC\ S +9 &R>\ S +10 &TJ?\ S +9 &V ;\ S +9 &WB\ T +10 &Y>\ A +9 &Z9E\ N +9 &ZC\ ) +3 ( + "processing"%h& +4 #tProcessing Clamp onSpring/offSpring for 9/25 samples, on/off torque 1.67 + .Hand.open + "manipulator"&~1 +60 "core" 1 +2 "manipulator"&% +4 "core" % Q +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +91 "core" ' + "processing"%%& +5 "core" &Z\ ) + #tImaging generic puck in Processing Clamp while storing it to tube 7 +2 "manipulator"&% +4 "core" %\ - "^ + "storage"(% +4 "core" %B { u R\  +2 "storage"(#. +3 "core" .([ +2 "storage"({& +3 "core" &[ q u @\  +2 "storage"( & +2 "manipulator"&,& +7 "core" &[ | ~ 9\  + &Y " +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +3 "storage"(#]kK-0-\ b +2 "manipulator"&y(c +5 ."raiseStack"SE.seek :beamBreak +2 "storage"(?'e +3 "core" ( + "manipulator"&G& +4 "core" &Y " + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &I& +3 "core" &Y " +2 .tForearm.seek PC +2 "manipulator"&S'[ +98 "core" ' +2 .tHand.close + "manipulator"&/ +58 "core" / +2 .tPC.seek :open +2 "processing"%:(p +90 "core" ' +2 "storage"(U- +3 "core" -'e +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(i'B +39 "core" ' +255 ( + "storage"(& +4 "core" &[ \  + "manipulator"&& +4 "core" &Y  " +2 "manipulator"&m% +4 "core" % T 8 + .tForearm.seek :retract +2 "manipulator"&1'\ +98 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 7 +2 "manipulator"&E( +254 "core" ( +2 "manipulator"&t& +4 "core" & # +2 "storage"(& +4 "core" &[ t r \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&`'k +96 "core" ' + .tHand.open +2 "manipulator"&_1 +63 "core" 1 +2 "storage"(A- +3 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate +2 "storage"(' +24 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(-' +51 "core" ' +2 #tLights, camera, ACTION! + "storage"(3- +4 "core" -' + "storage"(a& +4 "core" &[\ &\ % +\  +2 "manipulator"&6& +3 "core" & Q # +2 .tElbow.seek 7 +2 "manipulator"&*( +3 "core" ( + "manipulator"&|& +5 "core" & % # + "storage"(@& +4 "core" &[\ '\ # \  +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&'k +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"(j'M +59 "core" ' + "manipulator"&0& +4 "core" & 0 # +2 "storage"(&& +4 "core" &[ u\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 7 +2 "manipulator"&'Ω +27 "core" ' + .tElbow.hold +2 "manipulator"&., +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"('7 +21 "core" ' + "manipulator"&$% +5 "core" %μ ] + "storage"(x& +4 "core" &[ \\ g \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 7 + 319 counts + "manipulator"&f' +19 "core" ' +2 "manipulator"&s& +5 "core" & v t ^ # + "storage"(N& +4 "core" &[ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&'k +24 "core" ' + "storage"(K% +5 "core" %< \  +2 ."downElevator"SE.seek :down +4 "storage"(\ 'N +98 (o% +3 "core" %C w | 2\ V` +2 "manipulator"&(% +4 "core" %Й p r P +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&D'\ +93 "core" ' +57 ' + ."downElevator"SE.stop + "storage"(5 +2 (!& +54 "core" &[ Z Y\  +2 "collection"'7& +4 "core" &]d1\ E +2 #tStoring generic puck in Collection Clamp to tube 7 + "manipulator"&Y% +4 "core" %\ 6 & +2 "storage"(R% +4 "core" %H p j 2\  + "storage"(}. +3 "core" .([ +2 "storage"(& +4 "core" &[ z r V\  + "storage"(d& +4 "core" &[ } } \  +2 "manipulator"&M& +3 "core" & ) # +2 .tElbow.seek 7 +2 "manipulator"&Z( +3 "core" ( + "manipulator"&& +5 "core" & o # + "storage"(& +4 "core" &[ } } \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&z'k +95 "core" ' +2 "storage"(+& +4 "core" &[ /\  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(w'e +281 "core" ' + "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"& & +3 "core" &  # + "storage"('& +4 "core" &[ d\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 7 +2 "manipulator"&Q'Ω +30 "core" ' + .tElbow.hold +2 "manipulator"&5, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(l- +3 "core" -' +2 .tSE.seek 0.12 Pucks below Top Plate +2 "storage"(='o +30 "core" ' + "manipulator"&v% +4 "core" %ζ { +2 "storage"(& +4 "core" &[ Y Y\  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 7 + 313 counts +2 "manipulator"&p' +20 "core" ' +2 "manipulator"&^& +4 "core" & y f 6 # +2 "storage"(g& +4 "core" &[ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&k'k +18 "core" ' +2 .tSE.seek 1.12 Pucks below Top Plate +2 "storage"(F'^ +40 "core" ' + "manipulator"&)& +5 "core" & h b / # + "manipulator"&B% +4 "core" %p o n  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&>'\ +87 "core" ' +2 .tElbow.seek CC + "manipulator"&q( +141 "core" ( + "manipulator"&]& +4 "core" &  0 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &8& +3 "core" & d 0 +2 .tForearm.seek CC +2 "manipulator"& '| +94 "core" ' + .tHand.close +2 "manipulator"&"/ +63 "core" / + .tCC.seek :open +2 "collection"' (p +414 "core" ( + "storage"(O& +4 "core" &[ S\  +2 "storage"(T& +3 "core" &[ \  +2 "manipulator"&X& +4 "core" &\  - + "manipulator"&V% +4 "core" % Ϗ +2 .tForearm.seek :retract + "manipulator"&'\ +91 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 7 + "manipulator"&<( +157 "core" ( + "manipulator"&& +4 "core" & ! +2 "storage"(;& +4 "core" &[ \  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 7 +2 "manipulator"&4'Ω +106 "core" ' + .tElbow.hold +2 "manipulator"& , +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&1 +64 "core" 1 +2 "manipulator"&% +4 "core" % κ X + "storage"(\\& +4 "core" &[ \  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 7 + 317 counts +2 "manipulator"&' +18 "core" ' +2 "manipulator"&L& +4 "core" & u ` ! + "storage"(W& +4 "core" &[ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&c'k +19 "core" ' + "storage"(r% +4 "core" %c \ +3 ."downElevator"SE.seek :down +4 "storage"(/'N +99 (P% +3 "core" %G e\ V_ +2 "manipulator"&e% +3 "core" %T e n  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&b'\ +87 "core" ' +51 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 5 of [5..7] +2 #Loading generic puck from tube 5 into Collection Clamp + "collection"'& +4 "core" &ts#\ +2 "manipulator"&n% +4 "core" %\ + T !N +2 "storage"(C% +4 "core" %@ #\  + "storage"(2. +3 "core" .([ +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 5 + "storage"(u(<< +679 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (~& +3 "core" &<> i g \ + "manipulator"&& +4 "core" & z +2 .tElbow.seek 5 + "manipulator"&%( +20 "core" ( +2 "manipulator"&& +4 "core" & P + "storage"(& +4 "core" &<@ \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts + "manipulator"&#' +95 "core" ' +2 "storage"({& +4 "core" &<@ \ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(,'e +279 "core" ' +2 "storage"( - +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (h& +2 "core" &<= \ +2 "manipulator"&G& +4 "core" & \ f O + .tElbow.seek 5 +2 "manipulator"&I( +3 "core" ( +2 "manipulator"&J& +4 "core" & < O + "storage"(& +4 "core" &<= '\ +2 .tForearm.seek 5 + 300 counts + "manipulator"&U'[ +12 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&9/ +64 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"(H'N +7 "core" &  O +2 "manipulator"&% +4 "core" % O  a +2 .tForearm.seek :retract +2 "manipulator"&?'\ +96 "core" ' +2 .tElbow.seek CC + "manipulator"&( +142 "core" ( +3 "manipulator"&m& +3 "core" ' +2 & . + ."downElevator"SE.stop +3 .tElbow.reconfigure :loose +2 "storage"(5 + "manipulator"&$ &.,(#b +5 &S& +3 "core" & < . +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&t'| +97 "core" ' +2 "manipulator"&& +4 "core" & . +2 "manipulator"&y% +4 "core" %}  + "collection"'_& +5 "core" &pt:\ +2 "collection"'A& +5 "core" &ru\ +2 .tCC.seek :closed + "collection"'3(] +5 "core" &os)\ +7 & /rq-\ $c +9 &bTrr-\ 6 +10 &nt*\ K +9 &tZps+\ L +9 &7[rr(\ L +10 &\\pr*\ L +9 & [qr,\ M +10 &"{[oq*\ L +9 &$>\\pq'\ L +9 &&\\qq$\ L +10 &'[qs*\ L +9 &)Xpt\ L +9 &+FZqr"\ L +10 &-Zps\ L +9 &.[ps\ L +10 &0\\qr\ M +9 &2MZps\ L +9 &4]pr\ L +10 &5Ypr\ L +9 &7[ot\ L +10 &9UYpr\ L +9 &;Zpr\ L +9 &<[pq\ L +10 &>Wqs \ L +9 &@]Zrt \ L +9 &B Xpr\ L +10 &C\\qq\ L +9 &EWps \ L +9 &Gd^qs\ M +10 &I#hko\ N +9 &Jy_i\ P +10 &L! \ T +9 &NQ\ V +9 &P\ W +10 &Q\ W +9 &S{\ W +9 &UQot \ Y +10 &W]c\ X +9 &XPU\ Z +10 &Z?G\ [ +9 &\\I07\ K +9 &]`@$(\ #l +10 &]w"$\ M +5 ( +2 "collection"'A& +4 #tCollection Clamp onSpring/offSpring for 10/26 samples, on/off torque 2.14 + .Hand.open +2 "manipulator"&a1 +3 "core" &]n!$\ M +56 1 + "manipulator"&6% +4 "core" % } ~  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&|'\ +96 "core" ' +3 #tLoading generic puck from tube 5 into Processing Clamp + "processing"%@& +4 "core" &\ + "manipulator"&1% +5 "core" %\ 6 F & + "storage"(0% +4 "core" %: p t ;\  + "storage"(&. +3 "core" .(\ L +10 &<ZC\ M +9 &>]=\ M +9 &@X\\B\ M +10 &BX8\ M +9 &CUB\ M +10 &EXC\ M +9 &G^_C\ M +9 &IhD\ O +10 &Jy=\ Q +9 &L=\ S +9 &NSE\ T +10 &PD\ S +9 &Q=\ T +10 &S@\ S +9 &U\\B\ S +9 &WC\ T +10 &XD\ T +9 &Z9JkC\ , +9 &ZZ;\ 3 +6 ( + "processing"%+& +5 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.62 + .Hand.open +2 "manipulator"&.1 +3 "core" &Z)=\ 2 +49 1 + "manipulator"&D% +5 "core" % ` + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +97 "core" ' +2 "processing"% & +4 "core" &Z)\ 2 + #tImaging generic puck in Processing Clamp while storing it to tube 5 +2 "manipulator"&'% +3 "core" %\ 8 S ' +2 "storage"(l% +4 "core" %A Y c\  + "storage"(v. +3 "core" .(<9 +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 + "storage"((<< +8 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (^& +4 "core" &<9 b S \ + "manipulator"&g& +3 ."raiseStack"SE.reconfigure :place +6 "storage"(#]kK-0-\ b +2 "core" &i Z +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +3 ."raiseStack"SE.seek :beamBreak +2 "manipulator"&)(c + "storage"(B'e +5 "core" ( +2 "manipulator"&z& +4 "core" &i E + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &Z& +3 "core" &i  +2 .tForearm.seek PC + "manipulator"&w'[ +93 "core" ' +2 .tHand.close + "manipulator"&Q/ +60 "core" / + .tPC.seek :open +2 "processing"%p(p +95 "core" ' +2 "storage"(]- +4 "core" -'e + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +2 ."raiseStack"SE.seek :place +2 "storage"(8'B +38 "core" ' +248 ( + "storage"(=& +4 "core" &<9 f r \ +2 "manipulator"&k& +4 "core" &i  + "manipulator"&5% +4 "core" % d '  +2 .tForearm.seek :retract + "manipulator"&"'\ +97 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&>( +257 "core" ( +2 "manipulator"&[& +4 "core" & ] & + "storage"(O& +4 "core" &<9 v v \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&T' +103 "core" ' + .tHand.open +2 "manipulator"&X1 +58 "core" 1 +2 "storage"(V- +3 "core" -'B +3 .tSE.seek -0.16 Pucks below Top Plate + "storage"(' +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.83 Pucks below Top Plate + "storage"(;' +50 "core" ' +2 #tLights, camera, ACTION! + "storage"( - +4 "core" -' + "storage"(q& +4 "core" &<8 :\ + "manipulator"&& +4 "core" & K & +2 .tElbow.seek 5 + "manipulator"&( +4 "core" ( + "manipulator"&\\& +4 "core" &  & + "storage"(L& +4 "core" &<7 \ +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&W' +4 "core" ' + .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"(r'M +61 "core" ' +2 "manipulator"&& +4 "core" & F & +2 "storage"(P& +4 "core" &<7 i m :\ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 + "manipulator"&e'/ +34 "core" ' + .tElbow.hold + "manipulator"&<, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"(4'7 +27 "core" ' + "manipulator"&% +5 "core" %7r Y ¹$ + "storage"(n& +4 "core" &<7 C E \ + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 5 + 308 counts + "manipulator"&'c +19 "core" ' + "manipulator"&C& +5 "core" &B\ v g 3 \\ + "storage"(2& +5 "core" &<7 b\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&F' +20 "core" ' + "storage"(c% +4 "core" %: \ +3 ."downElevator"SE.seek :down +4 "storage"(/'N +99 (% +3 "core" %G v v J\ V` +2 "manipulator"&~% +4 "core" % p q  , +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +90 "core" ' +60 ' + ."downElevator"SE.stop + "storage"(5 +3 (& +4 "core" &<7 X c\ + "collection"'& +4 "core" &]n%&\ M +2 #tStoring generic puck in Collection Clamp to tube 5 +2 "manipulator"&{% +4 "core" %\ 1 $n + "storage"( % +4 "core" %G } | S\  + "storage"(b. +4 "core" .(<9 + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 5 + "storage"( (<< +11 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (h& +3 "core" &<9 \\ Z\  +2 "manipulator"&G& +4 "core" &B\ \\ +2 .tElbow.seek 5 + "manipulator"&J( +43 "core" ( + "manipulator"&& +4 "core" & W k +2 "storage"(9& +4 "core" &<8 { r \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&' +99 "core" ' +2 "storage"(& +4 "core" &<8 n \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(%'e +275 "core" ' + "storage"(#- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&m& +2 "core" & R k +2 "storage"(S& +4 "core" &<8 n j j\  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +4 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&,'/ +30 "core" ' + .tElbow.hold +2 "manipulator"&U, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(- +3 "core" -' +2 .tSE.seek 0.11 Pucks below Top Plate + "storage"(y'k +24 "core" ' +2 "manipulator"&_% +4 "core" %:l  ÷ + "storage"(I& +4 "core" &<8 C D \  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 5 + 311 counts +43 "manipulator"&H'f +25 "core" ' +2 "manipulator"&?& +4 "core" &7 a w h - +2 "storage"( & +4 "core" &<8 ^\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&a' +18 "core" ' +2 .tSE.seek 1.11 Pucks below Top Plate +2 "storage"(6'Z +42 "core" ' + "manipulator"&@& +4 "core" &7 n o  - +2 "manipulator"&1% +4 "core" % r o  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&0'\ +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"&&( +140 "core" ( +2 "manipulator"&A& +4 "core" & : 1 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &x& +4 "core" & J 1 + .tForearm.seek CC +2 "manipulator"&i'| +100 "core" ' + .tHand.close + "manipulator"&s/ +59 "core" / + .tCC.seek :open +2 "collection"'t(p +410 "core" ( +2 "storage"(& +4 "core" &<8 \  + "storage"(K& +4 "core" &<8 \  +2 "manipulator"&u& +3 "core" & s 1 +2 "manipulator"&`% +3 "core" % ώ x +2 .tForearm.seek :retract +2 "manipulator"&'\ +94 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&|( +156 "core" ( +2 "manipulator"&o& +4 "core" &\   +2 "storage"((& +4 "core" &<8 \  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 5 +2 "manipulator"&'/ +107 "core" ' + .tElbow.hold +2 "manipulator"&j, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&1 +62 "core" 1 +2 "manipulator"&!% +4 "core" % B   y + "storage"(& +4 "core" &<8 \  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 5 + 319 counts + "manipulator"&Y'n +17 "core" ' +2 "manipulator"&N& +4 "core" &8 ] v ;  +2 "storage"(E& +4 "core" &<8 \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&-' +20 "core" ' + "storage"(f% +4 "core" %] \ +3 ."downElevator"SE.seek :down +4 "storage"('N +99 (d% +3 "core" %G -\ U^ +2 "manipulator"&*% +4 "core" % o o  $ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +90 "core" ' +52 ' + ."downElevator"SE.stop +2 "storage"(5 +2 #tShuffling pucks in tube 6 of [5..7] + #Loading generic puck from tube 6 into Collection Clamp +2 "collection"'& +4 "core" &rrB\ + "manipulator"&% +4 "core" %\ 0 $u +2 "storage"(7% +4 "core" %K B\  + "storage"(R. +3 "core" .(<9 +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 6 + "storage"(:(K +350 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (.& +3 "core" &K I\  + "manipulator"&D& +4 "core" &8  +2 .tElbow.seek 6 + "manipulator"& ( +16 "core" ( + "manipulator"&'& +4 "core" &   +2 "storage"(l& +3 "core" &K !\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&v'< +96 "core" ' +2 "storage"(+& +3 "core" &K }\  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(^'e +281 "core" ' + "storage"(g- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (z& +3 "core" &K \  + "manipulator"&Z& +4 "core" & t   +2 .tElbow.seek 6 + "manipulator"&M( +3 "core" ( +2 "manipulator"&Q& +3 "core" &   +2 "storage"($& +4 "core" &K \  +2 .tForearm.seek 6 + 300 counts + "manipulator"&]'Ϧ +23 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&}/ +55 "core" / +2 ."downElevator"SE.seek :down +5 "manipulator"&& "storage"(\ 'N +8 "core" & o p   + "manipulator"&=% +4 "core" % Ϩ o p +2 .tForearm.seek :retract +2 "manipulator"&k'\ +88 "core" ' +2 .tElbow.seek CC + "manipulator"&5( +149 "core" ( + "manipulator"&B& +4 "core" & c / +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 "core" ' + "manipulator"&w& +2 ."downElevator"SE.stop +4 "storage"(5 +3 "core" & { / +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&['| +110 "core" ' +2 "manipulator"&O& +4 "core" & H / +2 "manipulator"&)% +4 "core" %w  +2 "collection"'X& +4 "core" &qr+\ +2 "collection"'V& +5 "core" &psQ\ +2 .tCC.seek :closed +2 "collection"' (] +4 "core" &rs-\  +8 &4qr-\ *y +10 &eor,\ > +9 &`urt,\ M +9 &$[qq+\ L +10 &\\pp\ L +9 &]rq&\ L +10 &!i\\pq#\ L +9 &#+\\oq\ L +9 &$Zor\ L +10 &&\\pr\ L +9 &(q\\oq!\ L +10 &*3[pr\ L +9 &+Zqt\ L +9 &-Zot\ L +10 &/y[pq\ L +9 &1;\\ps\ L +9 &2\\qr\ L +10 &4Zpr\ L +9 &6Zqs\ L +9 &8D[pr\ L +10 &:Zpp\ L +9 &;Zpr\ L +10 &=^ps\ L +9 &?LZpr \ L +9 &A [qr\ L +10 &B\\qr\ L +9 &DVot\ L +9 &FT\\pr\ L +10 &Hbnp\ M +9 &Ipjm\ N +10 &K:Y\ R +9 &M@\ V +9 &O\ V +10 &P\ W +9 &R\ W +9 &TCt|\ W +10 &Vdk\ Y +9 &WW\\\ Y +10 &YHN\ Z +9 &[C7>\ Z +9 &\\t(-\ 7 +10 &]&"\ "f +9 &]h\ O +2 ( +2 "collection"'V& +3 #tCollection Clamp onSpring/offSpring for 9/25 samples, on/off torque 2.09 + .Hand.open + "manipulator"&q1 +64 "core" 1 + "manipulator"&% +5 "core" % w  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&\\'\ +91 "core" ' +2 #tLoading generic puck from tube 6 into Processing Clamp + "processing"%L& +4 "core" &K\ +2 "manipulator"&"% +4 "core" %\ -  "[ + "storage"(% +4 "core" %= } | \  + "storage"(P. +3 "core" .(K +2 "storage"(& +4 "core" &K r | \  + "storage"(8& +4 "core" &K o y ;\  +2 "manipulator"&n& +3 "core" & % / +2 "manipulator"&% +4 "core" %\ -  "[ + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&C( +154 "core" ( + "manipulator"&2& +5 "core" & + "storage"(c& +4 "core" &K \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&>'< +89 "core" ' + "storage"(T& +5 "core" &K 3\  + .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(;'e +277 "core" ' + "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (~& +2 "core" &K \  +2 "manipulator"&W& +4 "core" &  + .tElbow.seek 6 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&r& +4 "core" & ` + "storage"(e& +4 "core" &K \  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&'Ϧ +20 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +59 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& + "storage"({'N +7 "core" & p p  +2 "manipulator"& % +3 "core" % ϡ n p 0 +2 .tForearm.seek :retract +2 "manipulator"&b'\ +89 "core" ' +2 .tElbow.seek PC + "manipulator"&4(c +163 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +73 "core" ( +2 "manipulator"&h& +4 "core" &m / % + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &G& +3 "core" &m % +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&'[ +105 "core" ' +2 "manipulator"&9& +4 "core" &m j y  % +2 "manipulator"&F% +3 "core" %O o o o +2 "processing"%& +4 "core" &T\ +2 "processing"%/& +5 "core" &U\ +2 .tPC.seek :closed + "processing"%(Z +60 "core" &K\ +3 &;R\ #b + &`VU\ 7 &{\ K + &vT\ L + &8[;\ L +2 &WT\ M + & [V\ L +8 &"~UU\ L +9 &$?WS\ M +10 &&YS\ M +9 &'ZT\ L +9 &)[U\ L +10 &+HZS\ L +9 &- \\R\ M +10 &.ZT\ M +9 &0XR\ L +9 &2O\\L\ M +10 &4ZR\ L +9 &5VP\ M +9 &7YB\ L +10 &9XUS\ L +9 &;XN\ L +10 &<ZT\ L +9 &>\\F\ M +9 &@_WB\ M +10 &B!W=\ M +9 &CUB\ L +9 &EYD\ M +10 &GecP\ M +9 &I"mD\ O +10 &JC\ Q +9 &LC\ S +9 &NZP\ T +10 &PC\ T +9 &QB\ T +9 &S<\ S +10 &UaB\ T +9 &W$F\ T +10 &XD\ T +9 &Z>JkB\ *| +9 &Z 3?\ ) +6 ( + "processing"%/& +5 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.61 + .Hand.open +2 "manipulator"&<1 +3 "core" &Z=\ ) +49 1 + "manipulator"&% +5 "core" % O  o + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&#'\ +95 "core" ' +2 "processing"%m& +4 "core" &ZC\ ) +2 #tImaging generic puck in Processing Clamp while storing it to tube 6 + "manipulator"&S% +4 "core" %\ 6 & +2 "storage"(% +3 "core" %7 p f c\  +2 "storage"(_. +3 "core" .(K +2 "storage"(I& +4 "core" &K u v .\  +2 "storage"(?& +3 "manipulator"& & +5 "core" &K u u b\  + &m % +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +4 "storage"(#]kK-0-\ b + "manipulator"&@(c +5 ."raiseStack"SE.seek :beamBreak +2 "storage"(1'e +3 "core" ( + "manipulator"&& +4 "core" &m % + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &J& +3 "core" &m n % +2 .tForearm.seek PC + "manipulator"&%'[ +94 "core" ' + .tHand.close + "manipulator"&,/ +60 "core" / +2 .tPC.seek :open + "processing"%H(p +94 "core" ' +2 "storage"(A- +3 "core" -'e + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(y'B +35 "core" ' +249 ( + "storage"(x& +5 "core" &K \  + "manipulator"&a& +4 "core" &m ? % + "manipulator"&U% +4 "core" % S d  +2 .tForearm.seek :retract +2 "manipulator"&s'\ +99 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&0( +262 "core" ( +2 "manipulator"&3& +4 "core" & S +2 "storage"(& +4 "core" &K q v x\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&K'< +99 "core" ' + .tHand.open +2 "manipulator"&u1 +56 "core" 1 +2 "storage"(`- +4 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate +2 "storage"(o' +23 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"((' +54 "core" ' +2 #tLights, camera, ACTION! + "storage"(i- +4 "core" -' + "storage"(&& +4 "core" &K ~\  + "manipulator"&& +4 "core" & > +2 .tElbow.seek 6 + "manipulator"&!( +8 "core" ( + "manipulator"&& +5 "core" &  + "storage"(N& +4 "core" &K ;\  +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&E'< +15 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.11 Pucks below Top Plate + "storage"(f'M +62 "core" ' +2 "manipulator"&& +4 "core" & p o + "storage"(d& +4 "core" &K ]\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&*'z +32 "core" ' +2 .tElbow.hold + "manipulator"&|, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"('7 +21 "core" ' +2 "manipulator"&% +5 "core" %x  @ ; + "storage"(Y& +4 "core" &K [ Z\  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 6 + 305 counts +2 "manipulator"&'ϫ +19 "core" ' + "manipulator"&7& +5 "core" & w _ E  + "storage"(R& +4 "core" &K \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&6'< +17 "core" ' +2 "storage"(-% +4 "core" %; +\  +3 ."downElevator"SE.seek :down +4 "storage"('N +99 ( % +3 "core" %G y r =\ V` +2 "manipulator"&.% +4 "core" %= p o  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&D'\ +87 "core" ' +61 ' + ."downElevator"SE.stop +2 "storage"(5 +2 ('& +4 "core" &K m Y %\  +2 "collection"'l& +4 "core" &]h ;\ O + #tStoring generic puck in Collection Clamp to tube 6 +2 "manipulator"&+% +4 "core" %\ - "[ + "storage"(j% +4 "core" %? f f `\  + "storage"(. +4 "core" .(K + "storage"(g& +4 "core" &K f f s\  + "storage"(z& +4 "core" &K g f e\  +2 "manipulator"&Z& +4 "core" &  + .tElbow.seek 6 +2 "manipulator"&Q( +30 "core" ( +2 "manipulator"&$& +4 "core" & & + "storage"(}& +4 "core" &K r z J\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&'< +108 "core" ' +2 "storage"(=& +4 "core" &K \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"( 'e +281 "core" ' + "storage"(v- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&B& +3 "core" & % & + "storage"(w& +4 "core" &K i j ?\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 + "manipulator"&^'z +36 "core" ' + .tElbow.hold +2 "manipulator"&], +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(O- +3 "core" -' +2 .tSE.seek 0.12 Pucks below Top Plate + "storage"()'u +32 "core" ' + "manipulator"&M% +5 "core" %΃j    ŷ + "storage"(X& +4 "core" &K E E N\  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 6 + 309 counts +2 "manipulator"&\ 'ϯ +16 "core" ' +2 "manipulator"&k& +4 "core" & i z * & + "storage"(t& +4 "core" &K ]\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&q'< +16 "core" ' +2 .tSE.seek 1.12 Pucks below Top Plate +2 "storage"('d +45 "core" ' +2 "manipulator"&L& +4 "core" & s x * & +2 "manipulator"&"% +4 "core" %> p o  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +89 "core" ' +2 .tElbow.seek CC + "manipulator"&P( +150 "core" ( + "manipulator"&& +5 "core" && a =A + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &V& +2 "core" &&  =A +2 .tForearm.seek CC +2 "manipulator"&8'| +95 "core" ' + .tHand.close + "manipulator"&n/ +58 "core" / +2 .tCC.seek :open +2 "collection"'(p +410 "core" ( +2 "storage"(2& +4 "core" &K S\  + "storage"([& +4 "core" &K \  + "manipulator"&c& +4 "core" &% <9 + "manipulator"&T% +4 "core" % Ϗ + +2 .tForearm.seek :retract + "manipulator"&5'\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 + "manipulator"&\\( +156 "core" ( +2 "manipulator"&& +4 "core" &   + "storage"(~& +4 "core" &K L\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +2 .tForearm.seek 6 +2 "manipulator"&W'z +108 "core" ' + .tElbow.hold +2 "manipulator"&r, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&e1 +53 "core" 1 +2 "manipulator"&% +4 "core" % Ύ 3 u + "storage"(& +4 "core" &K \  +2 .tForearm.force -20 +2 "manipulator"&5 +43 .tForearm.seek 6 + 320 counts +10 "manipulator"& 'Ϻ +19 "core" ' +2 "manipulator"&C& +4 "core" & u ]  +2 "storage"(>& +3 "core" &K F\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&;'< +21 "core" ' +2 "storage"(% +4 "core" %^ 3\ +2 ."downElevator"SE.seek :down +4 "storage"(h'N +98 (G% +3 "core" %CF E\ U^ +2 "manipulator"&% +4 "core" % q p  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&9'\ +93 "core" ' +46 ' + ."downElevator"SE.stop +2 "storage"(5 +2 #tShuffling pucks in tube 7 of [5..7] +2 #Loading generic puck from tube 7 into Collection Clamp +2 "collection"'F& +4 "core" &pr\ + "manipulator"&% +4 "core" %\ 8 B ' +2 "storage"({% +4 "core" %? @\  + "storage"(b. +4 "core" .(K + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 7 +2 "storage"(p([ +357 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (<& +2 "core" &[ n o\  +2 "manipulator"&& +4 "core" &  + .tElbow.seek 7 +2 "manipulator"&m( +17 "core" ( + "manipulator"&S& +4 "core" &  +2 "storage"(& +4 "core" &[ E\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&_'k +107 "core" ' +2 "storage"(I& +4 "core" &[ \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"( 'e +281 "core" ' + "storage"(?- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (/& +3 "core" &[ 7\  + "manipulator"&& +4 "core" & r r %  +2 .tElbow.seek 7 + "manipulator"&J( +3 "core" ( +2 "manipulator"&& +3 "core" & v q   +2 "storage"(,& +4 "core" &[ d\  +2 .tForearm.seek 7 + 300 counts + "manipulator"&A' +20 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&4/ +51 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&#& + "storage"('N +8 "core" &   + "manipulator"&x% +4 "core" % s   +2 .tForearm.seek :retract +2 "manipulator"&a'\ +97 "core" ' +2 .tElbow.seek CC +2 "manipulator"&U( +143 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +19 "core" ( +2 "manipulator"&1& +4 "core" & K + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &%& +3 "core" & P K +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&3'| +102 "core" ' +2 "manipulator"&& +4 "core" &  K +2 "manipulator"&@% +4 "core" %p E M +2 "collection"'u& +4 "core" &ps/\ +2 "collection"'`& +5 "core" &pq\ +3 .tCC.seek :closed + "collection"'i(] +5 "core" &qsB\ +6 &qs\ 9 +9 &J}rs-\ 0 +9 &Ltrs,\ E +10 &\\ot)\ L +9 &Zrs(\ L +9 &zZpu"\ L +10 & =Yqs,\ L +9 &!\\qs'\ L +10 &#Zsu'\ L +9 &%Zrr$\ L +9 &'D[rr \ L +10 &)Zss\ L +9 &*Zpu\ L +9 &,Yps\ L +10 &.MZrt\ L +9 &0Zrs\ L +10 &1[qr\ L +9 &3Zqr\ L +9 &5UYrr\ L +10 &7\\ot\ L +9 &8Yrr\ L +9 &:Zps \ L +10 &<^Wqt\ L +9 &>Zor\ L +10 &?\\pr\ L +9 &AZqr\ L +9 &Cd[os\ L +10 &E&Zrs\ L +9 &F\\qt \ L +9 &Haor\ M +10 &Jfqjn\ N +9 &L7X \ R +10 &M\ V +9 &O\ V +9 &QV\ W +10 &S\ X +9 &Tmu \ X +9 &VZb\ X +10 &XXKP\ Y +9 &Z9?\ Z +10 &[)/\ Z +9 &]2J\ / +9 &]\ S +6 ( + "collection"'`& +4 #tCollection Clamp onSpring/offSpring for 9/26 samples, on/off torque 2.13 +2 .Hand.open + "manipulator"&&1 +4 "core" &]x\ S +58 1 +2 "manipulator"&% +4 "core" % p @ M +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +96 "core" ' +2 #tLoading generic puck from tube 7 into Processing Clamp + "processing"%N& +4 "core" &\ +2 "manipulator"&s% +3 "core" %\ 6 9 & +2 "storage"(% +4 "core" %; } | \  + "storage"(d. +3 "core" .([ +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 7 + "storage"(y([ +3 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (& +3 "core" &[ H K \  +2 "manipulator"&Y& +3 "core" & c K +2 "manipulator"&o% +4 "core" %\ 6 A & +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 7 +2 "manipulator"&7( +158 "core" ( + "manipulator"&R& +4 "core" &  +2 "storage"(-& +4 "core" &[ f f n\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&0'k +96 "core" ' +2 "storage"(K& +4 "core" &[ \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(('e +278 "core" ' + "storage"( - +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (.& +2 "core" &[ V\  +2 "manipulator"&E& +4 "core" & q q   + .tElbow.seek 7 +2 "manipulator"&!( +3 "core" ( +2 "manipulator"&f& +4 "core" & s w   + "storage"(*& +4 "core" &[ \  +2 .tForearm.seek 7 + 300 counts + "manipulator"&'' +17 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +63 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&l& + "storage"(+'N +7 "core" & u v  + "manipulator"&j% +4 "core" % q p 4 ' +2 .tForearm.seek :retract +2 "manipulator"&'\ +93 "core" ' + .tElbow.seek PC +2 "manipulator"&g(c +159 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +74 "core" ( + "manipulator"&& +4 "core" &m o * +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &z& +4 "core" &m * +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&Z'[ +103 "core" ' +2 "manipulator"&$& +4 "core" &m * +2 "manipulator"&}% +4 "core" %O  + "processing"%6& +4 "core" &\ +2 "processing"%=& +5 "core" &P\ +2 .tPC.seek :closed +2 "processing"%(Z +4 "core" &J\ +8 &AR\ $d +4 "Can" `] +5 "core" &kV}I\ 7 +10 &{H\ L +9 &WH\ M +9 &CZR\ M +10 &Z(\ M +9 & ZS\ M +9 &"SR\ M +10 &$KYT\ M +9 && U\ M +10 &'U\ M +9 &)UO\ M +9 &+TUU\ L +10 &-XU\ M +9 &.[Q\ M +9 &0WT\ L +10 &2[WT\ M +9 &4ZS\ M +9 &5UT\ M +10 &7UL\ M +9 &9cUT\ M +10 &;%UO\ M +9 &<TH\ M +9 &>WQ\ M +10 &@kXI\ M +9 &B-YE\ M +9 &C[G\ M +10 &EXQ\ L +9 &Gp`D\ N +10 &I/hT\ O +9 &J{Q\ Q +9 &LG\ S +10 &NfQ\ T +9 &P)B\ S +9 &QC\ T +10 &SN\ T +9 &Uo?\ S +10 &W/K\ T +9 &XF\ T +9 &ZHIj>\ )x +10 &Z 2C\ ) +5 ( +2 "processing"%=& +4 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.64 + .Hand.open +2 "manipulator"&|1 +3 "core" &Z?\ ) +49 1 +2 "manipulator"&D% +4 "core" % O p +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&v'\ +96 "core" ' + "processing"%B& +4 "core" &ZC\ ) +2 #tImaging generic puck in Processing Clamp while storing it to tube 7 + "manipulator"&w% +4 "core" %\ 0 ! $p +2 "storage"(O% +4 "core" %M X X b\  + "storage"(M. +3 "core" .([ +2 "storage"(X& +3 "core" &[ t _ b\  +2 "storage"(k& +4 "manipulator"&t& +4 "core" &[ Y Y !\  + &m * +3 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +3 "storage"(#]kK-0-\ b +3 "manipulator"&$&.,(\ #b +3 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +2 "storage"(L'e +2 "manipulator"&"(c +4 "core" ( +2 "manipulator"&& +4 "core" &m 5 * + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &Q& +2 "core" &m  * +2 .tForearm.seek PC +2 "manipulator"& '[ +94 "core" ' +2 .tHand.close + "manipulator"&^/ +61 "core" / +2 .tPC.seek :open +2 "processing"%\ (p +89 "core" ' + "storage"()- +4 "core" -'e + ."raiseStack"SE.configure :default +52 "storage"(#QK-0-\ b +4 ."raiseStack"SE.seek :place +2 "storage"('B +34 "core" ' +208 ( + "storage"(V& +4 "core" &[ g l }\  +2 "manipulator"&q& +3 "core" &m  * +2 "manipulator"&]% +4 "core" % G  +2 .tForearm.seek :retract + "manipulator"&n'\ +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 7 +2 "manipulator"&( +253 "core" ( + "manipulator"& & +5 "core" & # + "storage"(2& +4 "core" &[ v v \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&['k +93 "core" ' +2 .tHand.open + "manipulator"&c1 +61 "core" 1 +2 "storage"(T- +4 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate +2 "storage"(' +26 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.83 Pucks below Top Plate + "storage"(~' +52 "core" ' +2 #tLights, camera, ACTION! + "storage"(8- +4 "core" -' + "storage"(P& +4 "core" &[\ \ \  +2 "manipulator"&e& +4 "core" &  # + .tElbow.seek 7 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&& +4 "core" &  # + "storage"(C& +4 "core" &[\ \ \  +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&>'k +19 "core" ' + .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"(5'M +59 "core" ' + "manipulator"&& +5 "core" & } | # + "storage"(\\& +4 "core" &[ r\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 7 +2 "manipulator"&G'Ω +30 "core" ' +2 .tElbow.hold + "manipulator"&, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate + "storage"(W'7 +20 "core" ' + "manipulator"&F% +5 "core" %ν + "storage"( & +4 "core" &[ Z > \  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 7 + 320 counts + "manipulator"&' +18 "core" ' +2 "manipulator"&{& +4 "core" & h y i # + "storage"(b& +5 "core" &[ p j \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&'k +18 "core" ' + "storage"(;% +5 "core" %A \ +2 ."downElevator"SE.seek :down +4 "storage"(h'N +99 (:% +2 "core" %D n t \ V` +2 "manipulator"&<% +4 "core" %] l o  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +87 "core" ' +62 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (S& +4 "core" &[ [ c\  +2 "collection"'& +4 "core" &]w\ S +2 #tStoring generic puck in Collection Clamp to tube 7 + "manipulator"&I% +4 "core" %\ *  !U + "storage"(r% +4 "core" %> u t g\ +2 "storage"(9. +3 "core" .([ + "storage"(?& +4 "core" &[ v w M\  + "storage"(/& +4 "core" &[ v v \\\  +2 "manipulator"&& +3 "core" & # +2 .tElbow.seek 7 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&,& +4 "core" & I # + "storage"(4& +4 "core" &[ t p 9\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&#'k +90 "core" ' + "storage"(x& +5 "core" &[ | k \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(m'e +282 "core" ' + "storage"(_- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&1& +3 "core" & U # + "storage"(%& +4 "core" &[ v t \  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 7 + "manipulator"& 'Ω +31 "core" ' + .tElbow.hold +2 "manipulator"&A, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(- +3 "core" -' +2 .tSE.seek 0.12 Pucks below Top Plate + "storage"(@'p +40 "core" ' + "manipulator"&J% +5 "core" %ι  a u + "storage"(u& +4 "core" &[ B B \  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 7 + 316 counts + "manipulator"&' +20 "core" ' +2 "manipulator"&a& +4 "core" & h z O # + "storage"(& +4 "core" &[ f h l\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&&'k +15 "core" ' +2 .tSE.seek 1.12 Pucks below Top Plate + "storage"('_ +41 "core" ' +2 "manipulator"&N& +4 "core" & p r c # +2 "manipulator"&s% +4 "core" %o | z +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +92 "core" ' +2 .tElbow.seek CC + "manipulator"&d( +150 "core" ( + "manipulator"&`& +4 "core" && 7 =E +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" && Y =E +2 .tForearm.seek CC +2 "manipulator"&Y'| +96 "core" ' + .tHand.close +2 "manipulator"&o/ +56 "core" / +2 .tCC.seek :open +2 "collection"'3(p +413 "core" ( +2 "storage"(R& +4 "core" &[ \  + "storage"(-& +4 "core" &[ \  + "manipulator"&p& +4 "core" &" Y :1 + "manipulator"&K% +4 "core" % ϊ ] +2 .tForearm.seek :retract +2 "manipulator"&U'\ +94 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 7 + "manipulator"&( +161 "core" ( + "manipulator"& & +5 "core" &   + "storage"(.& +4 "core" &[ R\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 7 +2 "manipulator"&E'Ω +111 "core" ' + .tElbow.hold +2 "manipulator"&f, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&*1 +64 "core" 1 +2 "manipulator"&% +4 "core" % δ !  +2 "storage"(l& +4 "core" &[ p y n\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 7 + 311 counts + "manipulator"&j' +12 "core" ' + "manipulator"&7& +4 "core" & F e   +2 "storage"(0& +4 "core" &[ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&('k +15 "core" ' + "storage"('% +5 "core" %b T\ +2 ."downElevator"SE.seek :down +3 "storage"('N +99 (z% +3 "core" %G B\ V_ + "manipulator"&!% +5 "core" %d q r & +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&$'\ +87 "core" ' +52 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 5 of [5..7] +2 #Loading generic puck from tube 5 into Collection Clamp + "collection"'}& +4 "core" &pt4\ +2 "manipulator"&6% +4 "core" %\ - f "X + "storage"(+% +4 "core" %7 \  +2 "storage"(. +3 "core" .([ +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 + "storage"(H(<< +675 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (|& +2 "core" &Zqs\ M +10 &@kZqq\ L +9 &B,[pr!\ L +9 &C]qr*\ L +10 &E[pq \ L +9 &Gq^pq\ M +10 &I0hln\ N +9 &J{]g$\ P +9 &L! \ T +10 &N]\ V +9 &P\ V +9 &Q\ W +10 &S}\ W +9 &U_mr!\ X +10 &W"^f\ X +9 &XOU\ [ +9 &Z@E\ Z +10 &\\a/8\ G +9 &]b<!(!\ &s +9 &]p"&\ M +3 ( + "collection"'T& +4 #tCollection Clamp onSpring/offSpring for 10/26 samples, on/off torque 2.10 + .Hand.open + "manipulator"&P1 +60 "core" 1 +2 "manipulator"&e% +5 "core" % p e + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +99 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp +2 "processing"%C& +4 "core" &L\ + "manipulator"&n% +4 "core" %\ 8 ' +2 "storage"(% +4 "core" %M p r C\ + "storage"(\\. +3 "core" .(& +4 "core" & ! +2 .tElbow.seek 5 + "manipulator"&( +3 "core" ( +2 "manipulator"&5& +4 "core" & - + "storage"(G& +4 "core" &<9 f f 7\  +2 .tForearm.seek 5 + 300 counts + "manipulator"&S'[ +20 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +62 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& + "storage"(I'N +7 "core" & p y  + "manipulator"&r% +4 "core" % V r { +2 .tForearm.seek :retract +2 "manipulator"&9'\ +97 "core" ' + .tElbow.seek PC +2 "manipulator"&?(c +159 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +77 "core" ( + "manipulator"&W& +4 "core" &i : 2 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &/& +3 "core" &i 2 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&'[ +102 "core" ' + "manipulator"&,& +5 "core" &i ^ 2 + "manipulator"&4% +4 "core" %Y +2 "processing"%& +4 "core" &\ +2 "processing"%x& +4 "core" &\ +2 .tPC.seek :closed +2 "processing"%h(Z +4 "core" &L\  +8 &0|J\ )w +10 &e)\ > +9 &Ft\ M +9 &\ W=\ L +10 &US\ M +9 &UT\ M +10 &!OVS\ M +9 &#TS\ L +9 &$US\ L +10 &&Y\ L +9 &(XV\ L +10 &*ZO\ M +9 &+ZR\ M +9 &-ZR\ M +10 &/_\\O\ M +9 &1!US\ M +9 &2VT\ M +10 &4TT\ L +9 &6gW+\ M +10 &8(XO\ M +9 &9WS\ L +9 &;ZL\ M +10 &=pU?\ L +9 &?0YQ\ M +9 &@YD\ M +10 &BVF\ M +9 &DxXP\ L +9 &F9ZO\ M +10 &GbG\ N +9 &Io#\ O +10 &KqN\ Q +9 &M-F\ S +9 &NG\ T +10 &PQ\ S +9 &RsI\ S +9 &T5L\ S +10 &U>\ T +9 &W<\ T +10 &YyH\ A +9 &Zy<>\ X +9 &Z6\ ( +3 ( + "processing"%x& +3 #tProcessing Clamp onSpring/offSpring for 9/25 samples, on/off torque 1.65 +2 .Hand.open + "manipulator"&1 +63 "core" 1 +2 "manipulator"&% +4 "core" % Y  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&_'\ +99 "core" ' + "processing"%1& +4 "core" &ZF\ ( +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 + "manipulator"&%% +4 "core" %\ : Z ( +2 "storage"(% +4 "core" %M Z ^\ + "storage"(J. +3 "core" .(<9 +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"(u(<< +7 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (a& + "manipulator"&& +5 "core" &<9 Y Y\ +4 ."raiseStack"SE.reconfigure :place +3 "storage"(#]kK-0-\ b +3 "core" &i 3 2 +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +2 ."raiseStack"SE.seek :beamBreak +3 "manipulator"&N(c + "storage"(s'e +5 "core" ( +2 "manipulator"&#& +4 "core" &i  2 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &i ) 2 +2 .tForearm.seek PC +2 "manipulator"&m'[ +95 "core" ' + .tHand.close +2 "manipulator"& / +55 "core" / +2 .tPC.seek :open + "processing"%(p +94 "core" ' + "storage"(@- +4 "core" -'e + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +2 ."raiseStack"SE.seek :place +2 "storage"(`'B +34 "core" ' +251 ( + "storage"(& +4 "core" &<9 w p v\ +2 "manipulator"&&& +4 "core" &i D 2 + "manipulator"&A% +4 "core" % d  +2 .tForearm.seek :retract + "manipulator"&o'\ +98 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&( +253 "core" ( +2 "manipulator"&i& +3 "core" & ` % +2 "storage"(R& +4 "core" &<9 _ Z ]\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&-' +102 "core" ' + .tHand.open + "manipulator"&p1 +54 "core" 1 +2 "storage"(K- +3 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate +2 "storage"( ' +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(.' +51 "core" ' +2 #tLights, camera, ACTION! + "storage"(Y- +4 "core" -' + "storage"(d& +4 "core" &<7 r\ + "manipulator"&*& +4 "core" & % +2 .tElbow.seek 5 + "manipulator"&( +4 "core" ( + "manipulator"&l& +4 "core" & ? % + "storage"(7& +4 "core" &<7 Y\ +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&0' +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"(''M +58 "core" ' + "manipulator"&U& +5 "core" & % + "storage"(z& +4 "core" &<7 ~ ~ M\ +2 .tElbow.reconfigure :limp +51 "manipulator"&$ ,(b +4 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&!'/ +27 "core" ' +2 .tElbow.hold + "manipulator"&, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"(E'7 +26 "core" ' +3 "manipulator"&}% +4 "core" %:z  C : + "storage"(6& +4 "core" &<7 < . \ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 311 counts +2 "manipulator"&+'f +18 "core" ' + "manipulator"&j& +5 "core" &A { w s P + "storage"(& +5 "core" &<7 \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&' +17 "core" ' +2 "storage"((% +4 "core" %5 ,\ +3 ."downElevator"SE.seek :down +4 "storage"('N +99 (y% +2 "core" %D v q 3\ Vb +2 "manipulator"&|% +4 "core" % r q +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&D'\ +90 "core" ' +58 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (w& +4 "core" &<7 [ c\ +2 "collection"'O& +4 "core" &]m""\ M + #tStoring generic puck in Collection Clamp to tube 5 +2 "manipulator"&X% +4 "core" %\ . #i + "storage"(f% +4 "core" %8 | } \  + "storage"($. +4 "core" .(<9 + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"(k(<< +12 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +2 (=& +3 "core" &<9 - 8\  +2 "manipulator"&& +4 "core" &A P + .tElbow.seek 5 +2 "manipulator"&Z( +21 "core" ( +2 "manipulator"&^& +4 "core" & !  +2 "storage"(g& +3 "core" &<9 l t \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&v' +98 "core" ' + "storage"(V& +4 "core" &<9 !\  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(B'e +281 "core" ' + "storage"(M- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&L& +3 "core" &   +2 "storage"( & +3 "core" &<9 q p 6\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&t'/ +30 "core" ' +2 .tElbow.hold + "manipulator"&), +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(2- +2 "core" -' +3 .tSE.seek 0.11 Pucks below Top Plate + "storage"("'l +25 "core" ' +2 "manipulator"&c% +4 "core" %Bl j  + "storage"(Q& +4 "core" &<9 * -\  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 5 + 319 counts + "manipulator"&'n +18 "core" ' +2 "manipulator"&q& +9 "core" &# p q * +2 "storage"(3& +4 "core" &<9 \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&P' +22 "core" ' +2 .tSE.seek 1.11 Pucks below Top Plate +2 "storage"(e'[ +49 "core" ' +2 "manipulator"&C& +5 "core" &# o o \ + "manipulator"&n% +4 "core" % p o +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&'\ +94 "core" ' +2 .tElbow.seek CC +2 "manipulator"&\\( +165 "core" ( + "manipulator"&T& +4 "core" &- Cq +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &F& +3 "core" &- s Cq +2 .tForearm.seek CC +2 "manipulator"& '| +94 "core" ' +2 .tHand.close + "manipulator"&/ +57 "core" / + .tCC.seek :open +2 "collection"' (p +410 "core" ( +2 "storage"(b& +4 "core" &<9 *\  + "storage"(;& +4 "core" &<9 \  +2 "manipulator"&H& +3 "core" && 2 >K +2 "manipulator"&[% +3 "core" % q L +2 .tForearm.seek :retract +2 "manipulator"&]'\ +98 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&( +165 "core" ( +2 "manipulator"&:& +4 "core" & 6 O + "storage"(<& +4 "core" &<9 +\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 5 +2 "manipulator"&>'/ +111 "core" ' + .tElbow.hold +2 "manipulator"&5, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&G1 +59 "core" 1 +3 "manipulator"&% +4 "core" % @ 7 k g + "storage"(& +4 "core" &<9 h g a\  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 5 + 317 counts + "manipulator"&r'l +17 "core" ' +2 "manipulator"&{& +4 "core" &C ] u A  + "storage"(& +4 "core" &<9 e\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&~' +20 "core" ' +2 "storage"(S% +4 "core" %_ W\ +2 ."downElevator"SE.seek :down +3 "storage"(W'N +100 (/% +2 "core" %(F /\ V_ +2 "manipulator"&% +4 "core" % q q   +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&,'\ +97 "core" ' +42 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 6 of [5..7] + #Loading generic puck from tube 6 into Collection Clamp +2 "collection"'4& +4 "core" &rs\ + "manipulator"&% +4 "core" %\ 5 & +2 "storage"(I% +4 "core" %7 (\  + "storage"(9. +3 "core" .(<9 +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 + "storage"(\ (K +351 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (& +3 "core" &K j g }\  +2 "manipulator"&& +4 "core" &C  + .tElbow.seek 6 +2 "manipulator"&1( +37 "core" ( + "manipulator"&%& +5 "core" & p ? + "storage"(& +4 "core" &K \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&J'< +94 "core" ' + "storage"(x& +4 "core" &K N\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(a'e +283 "core" ' + "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (#& +2 "core" &K 2\  +2 "manipulator"&& +3 "core" &  ? +2 .tElbow.seek 6 +2 "manipulator"&( +3 "core" ( + "manipulator"& & +4 "core" & " ? + "storage"(& +4 "core" &K !\  +3 .tForearm.seek 6 + 300 counts + "manipulator"&@'Ϧ +20 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&?/ +54 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&_& +2 "storage"(h'N +7 "core" & z r ? + "manipulator"&% +4 "core" % Ϡ { z o +2 .tForearm.seek :retract +2 "manipulator"&&'\ +97 "core" ' +2 .tElbow.seek CC + "manipulator"&A( +147 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +11 "core" ( +2 "manipulator"&s& +4 "core" &,  t Bl + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &m& +3 "core" &, o Bl +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&i'| +99 "core" ' +2 "manipulator"&R& +4 "core" &,  Bl + "manipulator"&N% +4 "core" %υ A +3 "collection"'p& +3 "core" &prI\ +2 "collection"'K& +6 "core" &pq,\ +2 .tCC.seek :closed + "collection"'Y(] +5 "core" &nq\ +7 &?nq!\ %f +9 &pXor'\ 8 +9 &~rq,\ L +10 &Vqr\ L +9 &RZrr'\ L +9 &[pq*\ L +10 & Xpt,\ L +9 &"[rr&\ L +9 &$[Wqq+\ L +10 &&\\pr,\ L +9 &'\\pp*\ L +10 &)\\rr,\ L +9 &+bZqr \ L +9 &-$Ypr\ L +10 &.[qu\ L +9 &0\\pr\ M +9 &2k\\os"\ L +10 &4,\\oq\ L +9 &5Znr\ L +58 &7Zrr\ L +4 &9tYpr\ L +6 &;6Zps\ L + &<Zpr\ L + &>Znr \ L + &@{Zpr \ L + &B<\\qq\ L +3 &C\\rr\ L +10 &E[pq \ L +9 &G\\op"\ L +9 &I?kmo(\ N +10 &J~Ug&\ P +9 &L&\ T +9 &Nn-\ V +10 &P/'\ V +9 &Q+\ W +10 &Sv%\ W +9 &Upkq)\ X +9 &W2[`-\ X +10 &XKQ\ Z +9 &Z<A\ Z +9 &\\r)2\ G +10 &]l6#'\ %o +9 &]_!\ E +3 ( + "collection"'K& +3 #tCollection Clamp onSpring/offSpring for 10/26 samples, on/off torque 2.11 +2 .Hand.open + "manipulator"&d1 +63 "core" 1 +2 "manipulator"&*% +4 "core" % ~  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&l'\ +98 "core" ' +2 #tLoading generic puck from tube 6 into Processing Clamp + "processing"%7& +4 "core" & \ +2 "manipulator"&o% +4 "core" %\ 6 & + "storage"(U% +4 "core" %< t s 3\  + "storage"(z. +4 "core" .(K + "storage"(`& +4 "core" &K t t D\  +2 "storage"( & +3 "core" &K u u M\  +2 "manipulator"&}& +3 "core" &+ A_ +2 "manipulator"&6% +4 "core" %\ 6 & +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&j( +170 "core" ( + "manipulator"&& +4 "core" &\ S +2 "storage"(& +4 "core" &K g g \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&('< +96 "core" ' +2 "storage"(-& +4 "core" &K C\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(.'e +276 "core" ' + "storage"(y- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (|& +3 "core" &K w\  +2 "manipulator"&0& +3 "core" &\ 2 R +2 .tElbow.seek 6 + "manipulator"&( +4 "core" ( + "manipulator"&'& +4 "core" &\  R + "storage"(!& +4 "core" &K \  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&w'Ϧ +19 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&+/ +55 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&O& +2 "storage"(X'N +7 "core" &\ o p 9 R +2 "manipulator"&f% +4 "core" % Ϡ r | E +2 .tForearm.seek :retract + "manipulator"&$'\ +90 "core" ' +2 .tElbow.seek PC + "manipulator"&E(c +161 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +78 "core" ( +2 "manipulator"&=& +4 "core" &m k ! + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &m ! +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&^'[ +101 "core" ' +2 "manipulator"&g& +4 "core" &m  ! +2 "manipulator"&% +4 "core" %X ; +2 "processing"%V& +4 "core" &\ +2 "processing"%& +5 "core" &F\ +2 .tPC.seek :closed + "processing"%u(Z +5 "core" &J\ +7 &9Q\ $e +9 &lW}K\ 7 +9 &{L\ L +10 &XS\ L +9 &D[P\ M +10 &YT\ M +9 & \\T\ L +9 &"TT\ L +10 &$LUL\ M +9 &&YU\ M +9 &'U\ L +10 &)VQ\ L +9 &+UUT\ L +9 &-XT\ L +10 &.]U\ L +9 &0XT\ L +10 &2\\\\T\ M +9 &4XS\ M +9 &5ZT\ L +10 &7[F\ L +9 &9eUL\ L +9 &;'YR\ L +10 &<YP\ L +9 &>YQ\ L +10 &@lWF\ M +9 &B.WR\ M +9 &CVO\ M +10 &EXL\ M +9 &GqbK\ N +9 &I1lG\ N +10 &J}L\ Q +9 &L\ S +10 &NiL\ S +9 &P+Q\ S +9 &QQ\ T +10 &SL\ S +9 &UpO\ S +9 &W1G\ T +10 &XG\ T +9 &ZHGgD\ )y +10 &Z\ 9>\ + +5 ( +2 "processing"%& +4 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.64 + .Hand.open +2 "manipulator"&1 +3 "core" &ZF\ + +59 1 + "manipulator"&D% +4 "core" % X L +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&M'\ +94 "core" ' +2 "processing"%L& +4 "core" &Z\ + +2 #tImaging generic puck in Processing Clamp while storing it to tube 6 + "manipulator"& % +4 "core" %\ 3 A %} +2 "storage"(2% +3 "core" %E v v b\  +2 "storage"(c. +3 "core" .(K + "storage"(Q& +4 "core" &K u v `\  +2 "storage"(q& +4 "manipulator"&3& +4 "core" &K u u k\  + &m ! +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +2 "storage"(#]kK-0-\ b +2 .tElbow.seek PC +4 "manipulator"&C(c +4 ."raiseStack"SE.seek :beamBreak +2 "storage"(n'e +2 "core" ( +2 "manipulator"&v& +4 "core" &m ! + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &Z& +3 "core" &m  ! +2 .tForearm.seek PC + "manipulator"&B'[ +96 "core" ' + .tHand.close +2 "manipulator"&t/ +61 "core" / + .tPC.seek :open +2 "processing"%(p +84 "core" ' +2 "storage"("- +3 "core" -'e +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(T'B +41 "core" ' +256 ( + "storage"(F& +4 "core" &K \  +2 "manipulator"&P& +4 "core" &m / ! + "manipulator"&)% +4 "core" % [   +2 .tForearm.seek :retract + "manipulator"&'\ +98 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 + "manipulator"&( +249 "core" ( + "manipulator"&8& +4 "core" &\ a +2 "storage"(b& +4 "core" &K v v \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&;'< +101 "core" ' + .tHand.open +2 "manipulator"&H1 +55 "core" 1 +2 "storage"([- +3 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate +2 "storage"(:' +24 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(<' +51 "core" ' +2 #tLights, camera, ACTION! + "storage"( - +3 "core" -' +2 "storage"(\\& +4 "core" &K\ #\  <\  + "manipulator"&G& +4 "core" & q  a +2 .tElbow.seek 6 + "manipulator"&( +4 "core" ( + "manipulator"&& +4 "core" & 3 a +2 "storage"({& +4 "core" &K\ $\ \  +2 .tForearm.seek 6 + 450 counts + "manipulator"&'< +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"(S'M +62 "core" ' + "manipulator"&]& +4 "core" & p o . a +2 "storage"(/& +4 "core" &K Y\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 + "manipulator"&'z +36 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.07 Pucks below Top Plate + "storage"(>'7 +24 "core" ' + "manipulator"&4% +5 "core" %}r   ? ù& + "storage"(& +4 "core" &K C 9 K\  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 6 + 303 counts +2 "manipulator"&r'ϩ +12 "core" ' + "manipulator"&I& +5 "core" & _ s 5 "x + "storage"(9& +4 "core" &K \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&e'< +14 "core" ' +2 "storage"(~% +4 "core" %? :\  +2 ."downElevator"SE.seek :down +4 "storage"(W'N +99 (k% +2 "core" %I | r \ Wb +2 "manipulator"&% +4 "core" %F m l +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +90 "core" ' +60 ' + ."downElevator"SE.stop + "storage"(5 +3 (%& +4 "core" &K q p z\  +2 "collection"'& +4 "core" &]d!\ E + #tStoring generic puck in Collection Clamp to tube 6 +2 "manipulator"&x% +4 "core" %\ 1 4 $s + "storage"(5% +4 "core" %M o o U\ + "storage"(,. +3 "core" .(K +2 "storage"(& +4 "core" &K z m =\  + "storage"(#& +4 "core" &K k r \  +2 "manipulator"&& +4 "core" & !w + .tElbow.seek 6 +2 "manipulator"& ( +17 "core" ( +2 "manipulator"&& +4 "core" & z ) +2 "storage"(?& +4 "core" &K } | p\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&_'< +152 "core" ' +3 "storage"(& +4 "core" &K \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(1'e +282 "core" ' + "storage"(J- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&s& +3 "core" & ) + "storage"(m& +4 "core" &K | z [\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 + "manipulator"&a'z +32 "core" ' +2 .tElbow.hold + "manipulator"&@, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(R- +2 "core" -' +2 .tSE.seek 0.12 Pucks below Top Plate +2 "storage"(N'v +28 "core" ' +2 "manipulator"&p% +4 "core" %·r  Ĺ$ + "storage"(& +4 "core" &K C C \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 313 counts + "manipulator"&h'ϳ +16 "core" ' +2 "manipulator"&&& +4 "core" & ` x x ( +2 "storage"( & +4 "core" &K \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&d'< +18 "core" ' +2 .tSE.seek 1.12 Pucks below Top Plate +2 "storage"(*'e +47 "core" ' + "manipulator"&7& +5 "core" & n o  ( + "manipulator"&o% +4 "core" %3 n o +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&U'\ +95 "core" ' + .tElbow.seek CC +2 "manipulator"&z( +158 "core" ( + "manipulator"&K& +4 "core" &/ r Dz +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &`& +3 "core" &. Dz +2 .tForearm.seek CC + "manipulator"& '| +104 "core" ' +2 .tHand.close + "manipulator"&}/ +54 "core" / + .tCC.seek :open +2 "collection"'6(p +413 "core" ( +2 "storage"(i& +4 "core" &K -\  + "storage"(& +4 "core" &K u\  + "manipulator"&& +4 "core" & - Cq + "manipulator"&-% +4 "core" % s +2 .tForearm.seek :retract +2 "manipulator"&A'\ +90 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&l( +165 "core" ( +2 "manipulator"&y& +4 "core" & 9 +2 "storage"(|& +3 "core" &K \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 6 + "manipulator"&0'z +111 "core" ' + .tElbow.hold +2 "manipulator"&', +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&!1 +64 "core" 1 +2 "manipulator"&+% +4 "core" % Ά K e +2 "storage"(O& +4 "core" &K f g }\  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 6 + 312 counts + "manipulator"&f'ϲ +20 "core" ' +2 "manipulator"&j& +4 "core" & _ w d H + "storage"((& +4 "core" &K m\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&.'< +16 "core" ' +2 "storage"(w% +4 "core" %f \ +2 ."downElevator"SE.seek :down +4 "storage"(='N +98 (% +3 "core" %5E "\ U^ +2 "manipulator"&% +4 "core" %< q o W +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&g'\ +90 "core" ' +49 ' + ."downElevator"SE.stop +2 "storage"(5 +2 #tShuffling pucks in tube 7 of [5..7] +2 #Loading generic puck from tube 7 into Collection Clamp + "collection"'& +5 "core" &rr\ + "manipulator"&V% +4 "core" %\ 3 %v +2 "storage"(X% +4 "core" %6 C\  +2 "storage"($. +3 "core" .(K + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 7 +2 "storage"(([ +372 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (& +3 "core" &[ \ + "manipulator"&D& +4 "core" & G +2 .tElbow.seek 7 + "manipulator"&L( +21 "core" ( + "manipulator"& & +4 "core" & U  +2 "storage"(2& +4 "core" &[ \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&c'k +103 "core" ' + "storage"(Q& +4 "core" &[ )\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('e +279 "core" ' +2 "storage"(3- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (q& +2 "core" &[ ;\ +2 "manipulator"&v& +3 "core" & o o   +2 .tElbow.seek 7 +2 "manipulator"&Z( +3 "core" ( + "manipulator"&^& +4 "core" & ] t 0  + "storage"(t& +4 "core" &[ l\ +2 .tForearm.seek 7 + 300 counts +2 "manipulator"&"' +25 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&E/ +62 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&M& +2 "storage"(u'N +7 "core" & o o \  +2 "manipulator"&F% +4 "core" % p o  +2 .tForearm.seek :retract + "manipulator"&n'\ +91 "core" ' + .tElbow.seek CC +2 "manipulator"&P( +155 "core" ' + ."downElevator"SE.stop + "storage"(5 +13 "core" ( +2 "manipulator"&)& +4 "core" &.  Du + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &B& +3 "core" &- M Ct +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&8'| +102 "core" ' +2 "manipulator"&b& +4 "core" &- Ct + "manipulator"&C% +5 "core" %υ A +2 "collection"'H& +4 "core" &pr*\ +2 "collection"'[& +4 "core" &sr\ +2 .tCC.seek :closed +2 "collection"' (] +5 "core" &qr\ +7 &6os-\ #b +9 &fWrr-\ 7 +9 &}ru,\ K +10 &|Xps(\ L +9 &?Zqs*\ L +9 &Zpu'\ M +10 & Ztr'\ L +9 &"]qs,\ L +10 &$FZrr1\ L +9 &&Zpt2\ L +9 &'Wrr,\ L +10 &)Zqs \ L +9 &+NZps\ L +9 &-Zsr$\ L +10 &.]pt!\ L +9 &0[ps\ L +10 &2V]rr\ L +9 &4Zqr\ L +9 &5Yrr\ L +10 &7Zpt\ L +9 &9_Xst \ L +10 &; Yps!\ L +9 &<Zqs\ L +9 &>Zpr\ L +10 &@eYqr*\ M +9 &B(Zqs&\ L +9 &CZqr!\ M +10 &EZqs,\ L +9 &Gn[os-\ L +9 &I-cmq*\ M +10 &Juen$\ O +9 &L :'\ T +10 &N\\(\ U +9 &P'\ V +9 &Q#\ V +10 &St \ X +9 &U[dl"\ X +9 &WPV#\ X +10 &X>E#\ Y +9 &Z-5\ Z +10 &\\`##\ F +9 &]f?'\ "h +9 &]o \ O +6 ( + "collection"'[& +5 #tCollection Clamp onSpring/offSpring for 10/26 samples, on/off torque 2.07 + .Hand.open + "manipulator"&\\1 +3 "core" &]g"\ O +50 1 + "manipulator"&G% +5 "core" % | = +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&'\ +92 "core" ' +2 #tLoading generic puck from tube 7 into Processing Clamp + "processing"%{& +5 "core" &\ \ + "manipulator"&% +4 "core" %\ ) | L + "storage"(]% +4 "core" %@ v v \  +2 "storage"(/. +3 "core" .([ + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 7 + "storage"(T([ +4 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (4& +3 "core" &[ s t \ + "manipulator"&& +5 "core" &-  Cm + "manipulator"&I% +4 "core" %\ *  L +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 7 + "manipulator"&:( +160 "core" ( +2 "manipulator"&9& +4 "core" & 2 + "storage"(~& +4 "core" &[ m\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&'k +106 "core" ' +2 "storage"(;& +4 "core" &[ J\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +7 .tSE.seek :beamBreak +2 "storage"(<'e +281 "core" ' +2 "storage"(k- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" &[ ?\ + "manipulator"&& +4 "core" & o q  +2 .tElbow.seek 7 + "manipulator"&( +3 "core" ( +2 "manipulator"&S& +4 "core" & w s ; + "storage"(& +4 "core" &[ \ +2 .tForearm.seek 7 + 300 counts + "manipulator"&%' +24 "core" ' +50 .tForearm.reconfigure :loose +4 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&r/ +63 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"(x'N +7 "core" & u ~ Z + "manipulator"&5% +5 "core" % o q j ~ +2 .tForearm.seek :retract + "manipulator"&,'\ +99 "core" ' + .tElbow.seek PC +2 "manipulator"&(c +153 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +89 "core" ( + "manipulator"&>& +5 "core" &l 3 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &#& +3 "core" &l +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&'[ +94 "core" ' +2 "manipulator"&& +4 "core" &l  +2 "manipulator"&?% +4 "core" %V  +2 "processing"%e& +4 "core" &J\ +2 "processing"%& +5 "core" &N\ +2 .tPC.seek :closed +2 "processing"%W(Z +4 "core" &K\ +7 &;H\ #b +9 &`T{J\ 6 +9 &{I\ K +10 &mWT\ M +9 &0UX\ M +10 &UI\ M +9 & UJ\ M +9 &"vSO\ M +10 &$8ZI\ M +9 &%WJ\ M +9 &'TS\ L +10 &)VT\ L +9 &+@TS\ M +10 &-VQ\ M +9 &.ZU\ M +9 &0ZT\ M +10 &2HZT\ M +9 &4\ YP\ M +9 &5WN\ M +10 &7TN\ M +9 &9QTS\ L +9 &;WT\ M +10 &<VN\ M +9 &>WS\ M +10 &@XZ'\ M +9 &BXQ\ L +9 &CWP\ L +10 &EWT\ L +9 &G]_Q\ N +9 &IgT\ N +10 &J{O\ Q +9 &LT\ S +10 &NSJ\ T +9 &PF\ T +9 &QF\ T +10 &SN\ T +9 &UZH\ T +10 &WF\ T +9 &XE\ U +9 &Z:MqD\ - +10 &Z(\ ) +5 ( +2 "processing"%& +4 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.66 + .Hand.open + "manipulator"&1 +4 "core" &ZI\ ) +56 1 + "manipulator"&% +4 "core" % V ! +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&J'\ +96 "core" ' +2 "processing"%s& +4 "core" &Z:\ ) + #tImaging generic puck in Processing Clamp while storing it to tube 7 +2 "manipulator"&m% +3 "core" %\ 3 o %w +2 "storage"(R% +4 "core" %< v v \  + "storage"(p. +3 "core" .([ +2 "storage"(& +4 "core" &[ v v B\ +2 "storage"(&& +2 "manipulator"& & +6 "core" &[ v u r\ + &l +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +3 "storage"(#]kK-0-\ b +2 "manipulator"&7(c +6 ."raiseStack"SE.seek :beamBreak +2 "storage"(o'e +2 "core" ( +2 "manipulator"&_& +4 "core" &l + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 & & +3 "core" &l U +2 .tForearm.seek PC + "manipulator"&1'[ +96 "core" ' + .tHand.close +2 "manipulator"&a/ +58 "core" / + .tPC.seek :open +2 "processing"%h(p +91 "core" ' + "storage"(N- +4 "core" -'e + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place + "storage"(K'B +41 "core" ' +247 ( + "storage"(`& +4 "core" &[ f r \ +2 "manipulator"&d& +4 "core" &l  + "manipulator"&@% +4 "core" % S ' +2 .tForearm.seek :retract + "manipulator"&}'\ +100 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 7 +2 "manipulator"&U( +245 "core" ( + "manipulator"&Y& +4 "core" &  > +2 "storage"(i& +4 "core" &[ v v h\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&'k +96 "core" ' +2 .tHand.open + "manipulator"&1 +52 "core" 1 +2 "storage"(-- +3 "core" -'B +3 .tSE.seek -0.16 Pucks below Top Plate + "storage"(y' +22 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(|' +51 "core" ' + #tLights, camera, ACTION! +2 "storage"( - +3 "core" -' +2 "storage"(z& +4 "core" &[\ !\  \ + "manipulator"&!& +4 "core" & H > +2 .tElbow.seek 7 + "manipulator"&+( +4 "core" ( + "manipulator"&O& +4 "core" & M > + "storage"(j& +4 "core" &[\ '\  (\ +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&('k +23 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"(w'M +61 "core" ' + "manipulator"&A& +4 "core" & y o j > +2 "storage"(& +4 "core" &[ \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 7 + "manipulator"&'Ω +31 "core" ' +2 .tElbow.hold + "manipulator"&l, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"(0'7 +22 "core" ' +2 "manipulator"&% +4 "core" %ν +2 "storage"(V& +3 "core" &[ \\ Y \ +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 7 + 320 counts +2 "manipulator"&f' +18 "core" ' + "manipulator"&X& +5 "core" & c x > + "storage"($& +4 "core" &[ 7\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&*'k +24 "core" ' + "storage"(.% +5 "core" %: \  +2 ."downElevator"SE.seek :down +4 "storage"(='N +99 (\ % +2 "core" %F o o %\ W` +2 "manipulator"&% +4 "core" %Й { r +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&D'\ +91 "core" ' +58 ' + ."downElevator"SE.stop +2 "storage"(5 +2 ( & +4 "core" &[ Y [\ +2 "collection"'2& +4 "core" &]g$\ O + #tStoring generic puck in Collection Clamp to tube 7 +2 "manipulator"&Q% +4 "core" %\ 6 & + "storage"('% +4 "core" %G | | \  + "storage"(g. +3 "core" .([ +2 "storage"(3& +4 "core" &[ y p g\ + "storage"(q& +4 "core" &[  z &\ +2 "manipulator"&v& +4 "core" & > + .tElbow.seek 7 +2 "manipulator"&^( +3 "core" ( + "manipulator"&t& +4 "core" & 2 > +2 "storage"(E& +4 "core" &[ | z \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&M'k +104 "core" ' +2 "storage"(F& +4 "core" &[ \ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(L'e +277 "core" ' + "storage"(c- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&)& +3 "core" & s n U > + "storage"(B& +4 "core" &[ \ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 7 + "manipulator"&'Ω +34 "core" ' +2 .tElbow.hold + "manipulator"&", +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(b- +2 "core" -' +2 .tSE.seek 0.12 Pucks below Top Plate +2 "storage"(Z'o +28 "core" ' +2 "manipulator"&C% +4 "core" %ζ F h + "storage"(H& +4 "core" &[ Y Z\ + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 7 + 313 counts +2 "manipulator"&u' +18 "core" ' +2 "manipulator"&n& +4 "core" &\ \\ r = + "storage"(6& +4 "core" &[ j\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts + "manipulator"&\\'k +17 "core" ' +2 .tSE.seek 1.12 Pucks below Top Plate +2 "storage"(G'^ +46 "core" ' +2 "manipulator"&{& +5 "core" & y r T = + "manipulator"&% +4 "core" %o p r + +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&]'\ +93 "core" ' +2 .tElbow.seek CC + "manipulator"&/( +158 "core" ( + "manipulator"&4& +4 "core" &)  @X +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &[& +3 "core" &* U @X +2 .tForearm.seek CC + "manipulator"&'| +95 "core" ' + .tHand.close +50 "manipulator"&I/ +60 "core" / +2 .tCC.seek :open + "collection"'8(p +411 "core" ( + "storage"(9& +4 "core" &[ \ +2 "storage"(~& +4 "core" &[ \ + "manipulator"&& +4 "core" &&# x :* + "manipulator"&;% +4 "core" % ψ  +2 .tForearm.seek :retract +2 "manipulator"&P'\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 7 + "manipulator"&( +159 "core" ( +2 "manipulator"&k& +4 "core" &   +2 "storage"(& +4 "core" &[ N\ + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 7 +2 "manipulator"&'Ω +110 "core" ' +2 .tElbow.hold + "manipulator"&S, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&1 +57 "core" 1 +2 "manipulator"&r% +4 "core" % ζ ^ +2 "storage"(& +4 "core" &[ \ + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 7 + 313 counts + "manipulator"&5' +20 "core" ' + "manipulator"&:& +4 "core" & w _   +2 "storage"(& +4 "core" &[ \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&<'k +12 "core" ' + "storage"(%% +5 "core" %a "\ +2 ."downElevator"SE.seek :down +3 "storage"(>'N +100 (#% +3 "core" %G G\ Va +2 "manipulator"&% +4 "core" %v o o   +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +89 "core" ' +49 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 5 of [5..7] +2 #Loading generic puck from tube 5 into Collection Clamp + "collection"'?& +4 "core" &qr\ +2 "manipulator"&e% +4 "core" %\ 6 & + "storage"(x% +4 "core" %6 \  +2 "storage"(,. +3 "core" .([ +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 + "storage"((<< +671 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (& +3 "core" & +2 .tForearm.seek :retract +2 "manipulator"&d'\ +98 "core" ' +2 .tElbow.seek CC +2 "manipulator"&@( +143 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +12 "core" ( +2 "manipulator"&o& +4 "core" &+  6 Ab +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &1& +3 "core" &+ 5 Ab +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&Y'| +104 "core" ' +2 "manipulator"&i& +4 "core" &+ * Ab + "manipulator"&7% +4 "core" %| W +2 "collection"'& +4 "core" &pq\ +2 "collection"'-& +5 "core" &qr\ +2 .tCC.seek :closed +2 "collection"' (] +4 "core" &rv\ +8 &?pr<\ $e +9 &rWsq\ 7 +9 &}qrI\ K +10 &Yor"\ L +9 &IZpq-\ L +9 & [qs*\ L +10 & Zoq(\ M +9 &"Zqs)\ L +10 &$R[pt0\ L +9 &&[or.\ L +9 &'[pq)\ L +10 &)Zos*\ L +9 &+YYoq.\ L +9 &-Ytr3\ L +10 &.]nt+\ L +9 &0Zqr(\ L +9 &2bXss"\ L +10 &4#Zqs\ L +9 &5Yoq$\ M +10 &7Zor\ L +9 &9jXpr\ L +9 &;,Zps\ L +10 &<Yor&\ L +9 &>Zqr&\ L +9 &@pYpr,\ M +10 &B4Zpq-\ L +9 &C[qt%\ M +10 &EYpr-\ L +9 &Gx^nq*\ M +9 &I7fln$\ N +10 &Jz\\h-\ P +9 &L.\ T +9 &Nd+\ V +10 &P&,\ V +9 &Q$\ W +10 &S~$\ W +9 &Ufpv,\ X +9 &W(`e(\ X +10 &XRU!\ Z +9 &Z@H\ _ +9 &\\g-7\ G +10 &]a5&('\ +~ +9 &]R!#$\ A +3 ( + "collection"'-& +4 #tCollection Clamp onSpring/offSpring for 10/26 samples, on/off torque 2.14 + .Hand.open + "manipulator"&z1 +57 "core" 1 +2 "manipulator"&!% +4 "core" % y +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&O'\ +95 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp +2 "processing"%j& +4 "core" &\ + "manipulator"&}% +4 "core" %\ 0 $u +2 "storage"(A% +3 "core" %N g h ^\ +2 "storage"(. +3 "core" .( +9 &arO\ M +10 &%VQ\ L +9 &W\ M +9 &TC\ L +10 &!jWI\ M +9 &#,X7\ M +9 &$YH\ L +10 &&V&\ M +9 &(sT\ L +10 &*5VL\ L +9 &+YV\ M +9 &-UD\ L +10 &/zX+\ M +9 &1=UA\ L +10 &2XS\ M +9 &4Z*\ M +9 &6ZS\ L +12 &8EWS\ L +10 &:UT\ L +6 &;VT\ L +10 &=VL\ L +9 &?LX\ M +9 &AYM\ M +10 &BZ\ M +9 &DXK\ M +10 &FS]F\ M +9 &Ha\ N +9 &InM\ P +10 &K\ R +9 &MHM\ S +9 &O T\ T +10 &PH\ T +9 &R)\ S +10 &TNQ\ T +9 &VG\ T +9 &WH\ U +10 &YJ\ B +9 &Z.H\ Z +9 &Z(G\ 0 +3 ( + "processing"%F& +3 #tProcessing Clamp onSpring/offSpring for 9/25 samples, on/off torque 1.66 +2 .Hand.open + "manipulator"&l1 +63 "core" 1 +2 "manipulator"&D% +4 "core" % I +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&c'\ +146 "core" ' + "processing"%)& +4 "core" &Z#<\ 0 +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 +2 "manipulator"&B% +3 "core" %\ 1 ( $n +2 "storage"(b% +4 "core" %D o o \  + "storage"(C. +3 "core" .(<9 +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 + "storage"(H(<< +7 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (n& +4 "core" &<9 v t \ \ + "manipulator"&6& +5 ."raiseStack"SE.reconfigure :place +3 "storage"(#]kK-0-\ b +2 "core" &e r +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +3 ."raiseStack"SE.seek :beamBreak +3 "manipulator"&{(c + "storage"('e +6 "core" ( + "manipulator"&M& +4 "core" &e +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &^& +3 "core" &e m +2 .tForearm.seek PC +2 "manipulator"&L'[ +97 "core" ' + .tHand.close + "manipulator"&/ +57 "core" / +3 .tPC.seek :open + "processing"%u(p +90 "core" ' + "storage"(Z- +4 "core" -'e + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(4'B +33 "core" ' +257 ( + "storage"([& +5 "core" &<9 \ \ + "manipulator"&\\& +4 "core" &e  +2 "manipulator"&"% +3 "core" % D  +2 .tForearm.seek :retract +2 "manipulator"&I'\ +98 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&]( +257 "core" ( +2 "manipulator"& & +4 "core" & 5 ' + "storage"(9& +4 "core" &<9 n } 8\ \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&~' +108 "core" ' +2 .tHand.open + "manipulator"&1 +63 "core" 1 +2 "storage"(;- +3 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate +2 "storage"(k' +27 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(' +49 "core" ' + #tLights, camera, ACTION! +2 "storage"(- +3 "core" -' +2 "storage"(/& +4 "core" &<7 -\ + "manipulator"&& +4 "core" &  ' +2 .tElbow.seek 5 + "manipulator"&r( +4 "core" ( + "manipulator"&& +4 "core" & 2 ' + "storage"(:& +5 "core" &<7 <\ +2 .tForearm.seek 5 + 450 counts + "manipulator"&' +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.11 Pucks below Top Plate + "storage"(%'M +59 "core" ' +2 "manipulator"&P& +4 "core" & q r i ' +2 "storage"(#& +4 "core" &<7 #\ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 + "manipulator"&'/ +34 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"('7 +25 "core" ' +2 "manipulator"&?% +4 "core" %>z s A +2 "storage"(e& +4 "core" &<7 Y [\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 315 counts + "manipulator"&x'j +19 "core" ' + "manipulator"&5& +4 "core" &A v g O c +2 "storage"(,& +4 "core" &<7 R\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&G' +17 "core" ' + "storage"(<% +5 "core" %: O\ +2 ."downElevator"SE.seek :down +4 "storage"(>'N +98 (T% +3 "core" % ; .\ U_ +2 "manipulator"&% +4 "core" % o o @ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +96 "core" ' +53 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (m& +4 "core" &<7 c l \ +2 "collection"'R& +4 "core" &]N#$*\ A +2 #tStoring generic puck in Collection Clamp to tube 5 + "manipulator"&% +4 "core" %\ :  ( + "storage"(S% +4 "core" %< w 1\  + "storage"(. +3 "core" .(<9 +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 + "storage"( (<< +11 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (&& +2 "core" &<9 ^ \\\  +2 "manipulator"&_& +4 "core" &A  c +2 .tElbow.seek 5 + "manipulator"&( +23 "core" ( + "manipulator"&a& +5 "core" & x } + "storage"(& +4 "core" &<8 3\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&J' +93 "core" ' +2 "storage"(`& +4 "core" &<8 V\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(s'e +281 "core" ' + "storage"(p- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&o& +3 "core" & t z 1 } + "storage"(1& +4 "core" &<8 A\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 + "manipulator"&'/ +34 "core" ' +2 .tElbow.hold + "manipulator"&N, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(i- +2 "core" -' +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(7'l +25 "core" ' +2 "manipulator"&% +4 "core" %>e ^ µ + "storage"( & +4 "core" &<8 Y [\  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 5 + 315 counts +2 "manipulator"&W'j +16 "core" ' +2 "manipulator"&d& +4 "core" &! ^ v d +2 "storage"(8& +4 "core" &<8 \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&z' +16 "core" ' +2 .tSE.seek 1.11 Pucks below Top Plate +2 "storage"(!'[ +50 "core" ' + "manipulator"&j& +4 "core" &! p o d +2 "manipulator"&}% +4 "core" % e p O +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&A'\ +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"&( +157 "core" ( +2 "manipulator"&-& +4 "core" &% ! <= +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &% T <= +2 .tForearm.seek CC +2 "manipulator"&V'| +103 "core" ' +2 .tHand.close + "manipulator"&y/ +53 "core" / +2 .tCC.seek :open +2 "collection"'Y(p +410 "core" ( + "storage"($& +5 "core" &<8 @\  + "storage"(.& +4 "core" &<8 I\  + "manipulator"&& +4 "core" &  8" + "manipulator"&% +4 "core" % r > k +2 .tForearm.seek :retract + "manipulator"&@'\ +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&O( +163 "core" ( + "manipulator"&\ & +4 "core" &  +2 "storage"(& +4 "core" &<8 0\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 5 +2 "manipulator"&('/ +106 "core" ' + .tElbow.hold + "manipulator"&w, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&1 +57 "core" 1 +3 "manipulator"& % +4 "core" % C s +2 "storage"(2& +3 "core" &<8 \  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 5 + 320 counts +2 "manipulator"&''o +17 "core" ' +2 "manipulator"&X& +4 "core" &9 _ w ' x + "storage"(U& +4 "core" &<8 \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&|' +18 "core" ' + "storage"(f% +5 "core" %_ =\ +2 ."downElevator"SE.seek :down +3 "storage"(0'N +100 (q% +11 "core" %I 3\ V` +2 "manipulator"&+% +3 "core" % p p V  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&t'\ +95 "core" ' +38 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 6 of [5..7] +2 #Loading generic puck from tube 6 into Collection Clamp + "collection"'E& +5 "core" &qpK\ + "manipulator"&*% +4 "core" %\ 5 & +2 "storage"(Q% +4 "core" %@ t\  + "storage"(g. +3 "core" .(<9 +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 + "storage"(h(K +353 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (l& +2 "core" &K Q\  +2 "manipulator"&D& +4 "core" &9 x +2 .tElbow.seek 6 + "manipulator"&F( +34 "core" ( +2 "manipulator"&)& +4 "core" &\ [ +2 "storage"(B& +4 "core" &K I\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&b'< +99 "core" ' + "storage"(C& +5 "core" &K \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(n'e +273 "core" ' + "storage"(6- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (M& +2 "core" &K \  +2 "manipulator"&^& +4 "core" &\  Z +2 .tElbow.seek 6 + "manipulator"&v( +3 "core" ( +2 "manipulator"&& +4 "core" &\  Z + "storage"(K& +4 "core" &K ?\  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&Z'Ϧ +11 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&3/ +64 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&c& +2 "storage"(='N +7 "core" &\ a Z +2 "manipulator"&[% +4 "core" % ϫ . 0 +2 .tForearm.seek :retract + "manipulator"&\\'\ +98 "core" ' +2 .tElbow.seek CC + "manipulator"&( +139 "core" ( + "manipulator"&"& +5 "core" &   0 + ' + .tElbow.reconfigure :loose +3 ."downElevator"SE.stop +3 "manipulator"&$ &.,(#b + "storage"(5 +3 "manipulator"&L& +5 "core" &   0 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"& '| +110 "core" ' + "manipulator"&9& +4 "core" &  % 0 +2 "manipulator"&{% +4 "core" %v  +2 "collection"'& +4 "core" &ps\ +2 "collection"';& +5 "core" &qq\ +2 .tCC.seek :closed +2 "collection"'(] +4 "core" &rt-\  +9 &3qr>\ *x +9 &eqr\ > +9 &Ovqs$\ M +10 &Vrr/\ L +9 &[nq2\ L +10 &[oq4\ L +9 &!YZps,\ L +9 &#\\nq/\ L +10 &$[ot:\ L +9 &&Zos0\ L +9 &(b\\pq(\ L +10 &*#Ypp,\ L +9 &+Ypr-\ L +9 &-Ypq"\ L +10 &/iZoq,\ L +9 &1+Zrq+\ L +10 &2Wns+\ L +9 &4Znp\ L +9 &6sYpr"\ L +10 &85Zoq'\ L +9 &9Yoq\ L +10 &;Vrr\ L +9 &=zZpr#\ L +9 &?<Yqr&\ L +10 &@Zrs%\ L +9 &B[nr'\ L +9 &DVnr,\ L +10 &FEZoq.\ L +9 &H`mp%\ M +9 &Iokm.\ N +10 &K{C[-\ Q +9 &M3.\ U +10 &N*\ V +9 &P*\ V +9 &Rr.\ W +10 &T2x%\ X +9 &Uio,\ X +9 &W[a(\ Y +10 &YrLR-\ Z +9 &[48@"\ Z +10 &\\y*0\ 1 +9 &]& %-\ W +9 ( +3 "collection"';& +3 #tCollection Clamp onSpring/offSpring for 9/25 samples, on/off torque 2.13 + .Hand.open +2 "manipulator"&/1 +3 "core" &]r!#+\ O +49 1 + "manipulator"&% +4 "core" % v  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&'\ +95 "core" ' +2 #tLoading generic puck from tube 6 into Processing Clamp + "processing"%:& +4 "core" &U\ + "manipulator"&I% +4 "core" %\ 6 N & +2 "storage"(P% +4 "core" %7 t u ]\  + "storage"(#. +3 "core" .(K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 + "storage"(?(K +6 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (4& +3 "core" &K 8 7 j\  + "manipulator"&e& +4 "core" &  P 0 +2 "manipulator"&k% +4 "core" %\ 6 c & +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&5( +156 "core" ( + "manipulator"&,& +5 "core" & t + "storage"(<& +4 "core" &K f f K\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&]'< +98 "core" ' +2 "storage"(~& +4 "core" &K \ \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('e +277 "core" ' +2 "storage"(T- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" &K p \  + "manipulator"&& +4 "core" & 6 +2 .tElbow.seek 6 + "manipulator"&r( +3 "core" ( +2 "manipulator"&%& +3 "core" &  +2 "storage"(& +4 "core" &K \  +2 .tForearm.seek 6 + 300 counts + "manipulator"&m'Ϧ +26 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&x/ +52 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&R& +2 "storage"('N +7 "core" & o p ! +2 "manipulator"&S% +4 "core" % p p +2 .tForearm.seek :retract + "manipulator"&'\ +89 "core" ' +2 .tElbow.seek PC + "manipulator"&(c +164 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +83 "core" ( + "manipulator"&&& +5 "core" &l / + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &_& +3 "core" &l +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&a'[ +102 "core" ' +2 "manipulator"&& +4 "core" &l + "manipulator"&G% +4 "core" %[ +2 "processing"%`& +4 "core" &\ +2 "processing"%>& +6 "core" &\ +2 .tPC.seek :closed +3 "processing"%H(Z +3 "core" &G\ +7 &;L\ #b +9 &]T{O\ 6 +9 &zP\ K +10 &jRJ\ M +9 &-TJ\ M +9 &WD\ M +10 & VK\ M +9 &"sUG\ M +10 &$5YU\ M +9 &%TS\ M +9 &'UU\ M +10 &)zYT\ M +9 &+>US\ L +9 &,WR\ M +10 &.WT\ L +9 &0VT\ M +10 &2EUR\ M +9 &4TU\ L +9 &5UT\ M +10 &7TO\ M +9 &9MUS\ M +9 &;ZN\ M +10 &<UT\ L +9 &>YP\ M +10 &@TWR\ M +9 &BWD\ M +9 &CWS\ M +10 &EWS\ M +9 &GXbM\ N +9 &IgR\ O +10 &J*\ Q +9 &L\ S +10 &NPI\ T +9 &PS\ S +9 &QO\ T +10 &SI\ T +9 &UWF\ T +9 &WM\ U +10 &XG\ U +9 &Z9QyG\ *| +9 &ZrG\ A +9 ( +2 &Z>D\ 8 +2 "processing"%>& +3 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.67 + .Hand.open +2 "manipulator"&1 +51 "core" 1 +2 "manipulator"&% +4 "core" % [  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&p'\ +104 "core" ' + "processing"%o& +4 "core" &Z=\ 8 +2 #tImaging generic puck in Processing Clamp while storing it to tube 6 + "manipulator"&1% +4 "core" %\  7  +2 "storage"(i% +3 "core" %8 \\ e \  +2 "storage"(. +3 "core" .(K + "storage"( & +4 "core" &K ` c 5\  +2 "storage"(d& +2 "manipulator"&8& +7 "core" &K d \\ \  + &l  +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +3 "storage"(#]kK-0-\ b +2 "manipulator"&j(c +7 ."raiseStack"SE.seek :beamBreak + "storage"(}'e +3 "core" ( + "manipulator"&J& +4 "core" &l & +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &l  +2 .tForearm.seek PC +2 "manipulator"&s'[ +93 "core" ' +2 .tHand.close + "manipulator"&/ +63 "core" / +2 .tPC.seek :open + "processing"%W(p +88 "core" ' + "storage"(7- +3 "core" -'e +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +2 ."raiseStack"SE.seek :place +2 "storage"(-'B +37 "core" ' +257 ( + "storage"(& +4 "core" &K f r \  +2 "manipulator"&z& +4 "core" &l t + "manipulator"&N% +4 "core" % ` \  +2 .tForearm.seek :retract +2 "manipulator"&y'\ +91 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +53 "manipulator"&A( +247 "core" ( +2 "manipulator"& & +4 "core" & 7 +2 "storage"($& +3 "core" &K v v o\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&.'< +93 "core" ' + .tHand.open +2 "manipulator"&1 +56 "core" 1 +2 "storage"(- +4 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate +2 "storage"(\ ' +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.83 Pucks below Top Plate + "storage"(' +51 "core" ' +2 #tLights, camera, ACTION! + "storage"(V- +4 "core" -' + "storage"(& +4 "core" &K\ \  \  +2 "manipulator"&& +4 "core" &  7 +2 .tElbow.seek 6 + "manipulator"& ( +4 "core" ( + "manipulator"&2& +4 "core" &  7 + "storage"(X& +4 "core" &K V\  +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&U'< +19 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.11 Pucks below Top Plate + "storage"(f'M +59 "core" ' +2 "manipulator"&@& +4 "core" & } r 7 +2 "storage"(q& +4 "core" &K \  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&+'z +36 "core" ' +2 .tElbow.hold + "manipulator"&O, +5 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"(('7 +20 "core" ' + "manipulator"&E% +5 "core" %|r  p ù+ + "storage"('& +8 "core" &K B B \  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 6 + 302 counts +2 "manipulator"&*'Ϩ +18 "core" ' +2 "manipulator"&Q& +4 "core" &\ i $ ` +2 "storage"(g& +4 "core" &K i g \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&!'< +16 "core" ' +2 "storage"(|% +4 "core" %= \ +3 ."downElevator"SE.seek :down +4 "storage"(0'N +99 ( % +3 "core" %N v v l\ Wc +2 "manipulator"&l% +4 "core" %; q { +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&D'\ +93 "core" ' +58 ' + ."downElevator"SE.stop +2 "storage"(5 +2 ()& +4 "core" &K _ G f\  +2 "collection"'B& +4 "core" &]p"D\ O + #tStoring generic puck in Collection Clamp to tube 6 +2 "manipulator"&C% +4 "core" %\ 8  ' + "storage"(w% +4 "core" %F v v <\  +2 "storage"(t. +3 "core" .(K + "storage"(6& +5 "core" &K v v l\  + "storage"(M& +4 "core" &K t w q\  + "manipulator"&^& +4 "core" &\ J ` +2 .tElbow.seek 6 +2 "manipulator"&( +12 "core" ( + "manipulator"&K& +5 "core" & [ "| + "storage"(3& +4 "core" &K v v }\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&c'< +95 "core" ' +2 "storage"([& +4 "core" &K p x }\  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(F'e +16 "core" ' +2 "storage"(b- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 !to:Puck::Error: mesg"5Impossible stack Height of 25.01 pucks in tube 6:bt[":/home/esp/esp2/utils/puckmoves.rb:314:in `placeStack'"6/home/esp/esp2/utils/puckmoves.rb:444:in `unload'",/home/esp/esp2/lib/msg.rb:68:in `retry'"6/home/esp/esp2/utils/puckmoves.rb:443:in `unload'":/home/esp/esp2/utils/puckmoves.rb:962:in `unloadPuck'"4/home/esp/esp2/utils/shuffle.rb:28:in `shuffle'"7/home/esp/esp2/lib/log.rb:412:in `each_with_index'"1/home/esp/esp2/utils/shuffle.rb:18:in `each'"\  +2 "manipulator"&T& +4 "core" &  . + "manipulator"&% +4 "core" % r  p +2 .tForearm.seek :retract + "manipulator"&'\ +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 + "manipulator"&%( +156 "core" ( +2 "manipulator"&& +4 "core" & + "storage"(x& +4 "core" &K w\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 6 + "manipulator"&R'z +109 "core" ' +2 .tElbow.hold + "manipulator"&S, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&51 +60 "core" 1 +2 "manipulator"&]% +3 "core" % ΀ 8  j +2 "storage"(& +4 "core" &K f g Z\  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 6 + 306 counts +2 "manipulator"&m'Ϭ +12 "core" ' + "manipulator"&&& +4 "core" & a v `  +2 "storage"(_& +4 "core" &K V\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&r'< +15 "core" ' + "storage"(% +5 "core" %i e\ +2 ."downElevator"SE.seek :down +3 "storage"(G'N +99 (`% +3 "core" %I 4\ Va +2 "manipulator"&% +4 "core" %9 o p  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +92 "core" ' +47 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 7 of [5..7] +2 #Loading generic puck from tube 7 into Collection Clamp + "collection"'u& +4 "core" &rrH\ +2 "manipulator"&% +4 "core" %\ 3 %w + "storage"(% +4 "core" %8 -\  +2 "storage"(o. +3 "core" .(K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 7 +2 "storage"(1([ +353 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +2 (i& +3 "core" &[ n h m\  +2 "manipulator"&& +4 "core" &  + .tElbow.seek 7 +2 "manipulator"& ( +15 "core" ( +2 "manipulator"&>& +4 "core" &  + "storage"(8& +4 "core" &[ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&d'k +105 "core" ' + "storage"(J& +4 "core" &[ \  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"('e +280 "core" ' + "storage"(a- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +2 "core" &[ \  +2 "manipulator"&7& +3 "core" & q q 4  +2 .tElbow.seek 7 +50 "manipulator"&( +5 "core" ( + "manipulator"&p& +4 "core" & p K   + "storage"(H& +4 "core" &[ \\\  +2 .tForearm.seek 7 + 300 counts + "manipulator"&' +26 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&}/ +60 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&z& +2 "storage"(N'N +7 "core" & q q A  +2 "manipulator"&s% +4 "core" % o p  +2 .tForearm.seek :retract + "manipulator"& '\ +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&$( +152 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +39 "core" ( +2 "manipulator"&j& +4 "core" &( N ?T +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &( I ?T +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&'| +106 "core" ' +2 "manipulator"&V& +4 "core" &( ?S +2 "manipulator"&% +4 "core" %w +2 "collection"'& +4 "core" &nr\ +2 "collection"'2& +5 "core" &rs"\ +2 .tCC.seek :closed +2 "collection"'X(] +4 "core" &qs>\ +8 &?op'\ $d +9 &kWqr>\ 7 +10 &ps1\ K +9 &Zpr1\ K +10 &F\\oq1\ L +9 &[qs5\ L +9 & Xpt=\ L +10 &"[pr/\ L +9 &$NZpr-\ L +9 &&[os.\ L +10 &'Zqq1\ L +9 &)Yrs;\ L +9 &+XZpr.\ L +10 &-Zos/\ K +9 &.\\ns-\ L +10 &0\\pr6\ L +9 &2^[rr.\ L +9 &4!Yqt%\ L +10 &5Zps$\ L +9 &7\\os\ L +9 &9g]st\ L +10 &;)Zpr$\ L +9 &<Zpq$\ L +10 &>[qr!\ L +9 &@p[qr'\ L +9 &B2[ps#\ L +10 &C\\pr-\ L +9 &E\\ru.\ L +9 &Gw]pq-\ L +10 &I5goo,\ M +9 &Judm,\ O +10 &L;)\ S +9 &Nd$\ U +9 &P$$\ V +10 &Q-\ W +9 &S|+\ W +9 &Ucgq,\ X +10 &W%W_*\ X +9 &XFM*\ Y +10 &Z6;+\ Z +9 &\\g",'\ F +9 &]g<*\ $l +10 &]N*\ = +2 ( +2 "collection"'2& +3 #tCollection Clamp onSpring/offSpring for 10/26 samples, on/off torque 2.07 + .Hand.open + "manipulator"&y1 +64 "core" 1 +2 "manipulator"&@% +4 "core" % w +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&q'\ +97 "core" ' +2 #tLoading generic puck from tube 7 into Processing Clamp + "processing"%-& +4 "core" &I\ +2 "manipulator"&E% +3 "core" %\ ; U ( +2 "storage"('% +4 "core" %< r } \  +2 "storage"(\ . +3 "core" .([ + "storage"(Q& +5 "core" &[ y o ^\  + "storage"(g& +4 "core" &[ p q \  + "manipulator"&|& +4 "core" &% & =G +2 "manipulator"&A% +4 "core" %\ ; ( +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 7 +2 "manipulator"&.( +159 "core" ( +2 "manipulator"&& +4 "core" & A  + "storage"( & +4 "core" &[ \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts + "manipulator"&l'k +103 "core" ' +2 "storage"(U& +4 "core" &[ 4\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"( 'e +279 "core" ' + "storage"(f- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (+& +3 "core" &[ \  + "manipulator"&)& +4 "core" & q r I  +2 .tElbow.seek 7 + "manipulator"&*( +3 "core" ( +2 "manipulator"&B& +4 "core" & p x E  + "storage"(C& +4 "core" &[ \  +2 .tForearm.seek 7 + 300 counts + "manipulator"&w' +28 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&t/ +61 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&(& + "storage"(6'N +8 "core" & n p   + "manipulator"&M% +4 "core" % r o  +2 .tForearm.seek :retract +2 "manipulator"&^'\ +95 "core" ' + .tElbow.seek PC +2 "manipulator"&K(c +156 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +91 "core" ( + "manipulator"&3& +5 "core" &m _ + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &!& +3 "core" &m +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&['[ +99 "core" ' + "manipulator"&b& +4 "core" &m  +2 "manipulator"&L% +4 "core" %P  + "processing"%0& +4 "core" &\ +2 "processing"%O& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%D(Z +4 "core" &H\ +8 & 1F\ $c +9 &cT{J\ 6 +10 &|G\ K +9 &qWP\ M +10 &3XI\ M +9 &UO\ L +9 & XH\ L +10 &"yXO\ M +9 &$:WH\ M +9 &%VJ\ L +10 &'WT\ L +9 &)TQ\ M +10 &+CT@\ M +9 &-YP\ M +9 &.ZT\ M +10 &0TU\ M +9 &2KTU\ M +9 &4 TT\ M +10 &5TU\ L +9 &7VU\ M +10 &9TYT\ L +9 &;WN\ L +9 &<US\ L +10 &>WO\ M +9 &@[ZU\ M +9 &BXT\ L +10 &CWU\ L +9 &EWT\ M +10 &Gb_U\ M +9 &IgT\ O +9 &JzT\ P +10 &LT\ S +9 &NVS\ T +9 &PS\ S +10 &QT\ T +9 &SS\ T +10 &U]Q\ T +9 &WF\ T +9 &XF\ U +10 &Z;KjF\ +~ +9 &ZZO\ 5 +9 ( +3 "processing"%O& +3 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.64 + .Hand.open + "manipulator"&F1 +4 "core" &Z)P\ 3 +58 1 +2 "manipulator"&Z% +4 "core" % P +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&9'\ +94 "core" ' +2 "processing"%{& +4 "core" &Z)\ 3 + #tImaging generic puck in Processing Clamp while storing it to tube 7 +2 "manipulator"&"% +4 "core" %\ 1 ; $m + "storage"(=% +4 "core" %6 v w t\  + "storage"(Y. +3 "core" .([ +2 "storage"(/& +4 "core" &[ w v |\  + "storage"(:& +5 "manipulator"&I& +4 "core" &[ v w \  + &m \\ +3 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +3 "storage"(#]kK-0-\ b +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +3 ."raiseStack"SE.seek :beamBreak +3 "manipulator"&;(c + "storage"(4'e +5 "core" ( +2 "manipulator"&c& +4 "core" &m c + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &m  +2 .tForearm.seek PC + "manipulator"&n'[ +99 "core" ' + .tHand.close +2 "manipulator"&/ +56 "core" / +2 .tPC.seek :open +2 "processing"%(p +90 "core" ' +2 "storage"(\\- +4 "core" -'e + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +2 ."raiseStack"SE.seek :place +2 "storage"( 'B +41 "core" ' +249 ( +2 "storage"(,& +4 "core" &[ \  + "manipulator"&P& +4 "core" &m  + "manipulator"&v% +5 "core" % l  +2 .tForearm.seek :retract + "manipulator"&h'\ +96 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 7 + "manipulator"&e( +249 "core" ( + "manipulator"&& +4 "core" & G = +2 "storage"(& +4 "core" &[ g f \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&'k +107 "core" ' + .tHand.open +2 "manipulator"&T1 +63 "core" 1 +2 "storage"(- +3 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate +2 "storage"(' +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.83 Pucks below Top Plate + "storage"(x' +53 "core" ' +2 #tLights, camera, ACTION! + "storage"(<- +4 "core" -' + "storage"(k& +4 "core" &[   u\  + "manipulator"&5& +4 "core" & y q / = +2 .tElbow.seek 7 + "manipulator"&]( +4 "core" ( + "manipulator"&& +4 "core" & z | z = + "storage"(&& +4 "core" &[   \  +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&_'k +21 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"('M +62 "core" ' + "manipulator"&& +5 "core" & = + "storage"(`& +4 "core" &[ D\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 7 +2 "manipulator"&'Ω +30 "core" ' +2 .tElbow.hold + "manipulator"&%, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +63 "storage"(#QK-0-\ b +4 .tSE.seek 0.07 Pucks below Top Plate + "storage"(R'7 +25 "core" ' + "manipulator"&u% +5 "core" %θ ! + "storage"(& +4 "core" &[ Z Z\  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 7 + 315 counts +2 "manipulator"&' +18 "core" ' + "manipulator"&m& +5 "core" & h  = + "storage"(o& +4 "core" &[ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&#'k +16 "core" ' + "storage"(r% +5 "core" %9 V\ +2 ."downElevator"SE.seek :down +3 "storage"(G'N +99 (?% +3 "core" %J y \ Vb +2 "manipulator"&i% +4 "core" %T | {  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +91 "core" ' +60 ' + ."downElevator"SE.stop + "storage"(5 +3 (>& +4 "core" &[ j m \  +2 "collection"'8& +4 "core" &]KE\ = +2 #tStoring generic puck in Collection Clamp to tube 7 + "manipulator"&J% +4 "core" %\ 6 & +2 "storage"(S% +3 "core" %@ \  +2 "storage"(. +3 "core" .([ +2 "storage"(a& +4 "core" &[ '\  + "storage"(& +4 "core" &[ \  +2 "manipulator"&7& +4 "core" &  = + .tElbow.seek 7 +2 "manipulator"&p( +3 "core" ( +2 "manipulator"&H& +4 "core" & = + "storage"(}& +5 "core" &[ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&z'k +98 "core" ' +2 "storage"(s& +5 "core" &[ 7\  + .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"( 'e +280 "core" ' +2 "storage"(d- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" &  = + "storage"(j& +4 "core" &[ \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 7 +2 "manipulator"&'Ω +27 "core" ' + .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(- +3 "core" -' +2 .tSE.seek 0.12 Pucks below Top Plate +2 "storage"(V'o +31 "core" ' + "manipulator"&% +5 "core" %κ  7 + "storage"(& +4 "core" &[ Z Y \  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 7 + 317 counts + "manipulator"&N' +19 "core" ' + "manipulator"& & +5 "core" &  i 6 = + "storage"(~& +4 "core" &[ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&y'k +17 "core" ' +2 .tSE.seek 1.12 Pucks below Top Plate +2 "storage"(@'^ +46 "core" ' + "manipulator"&-& +5 "core" & p s  = + "manipulator"&E% +4 "core" %m o y - +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&''\ +92 "core" ' + .tElbow.seek CC +2 "manipulator"&\ ( +139 "core" ( + "manipulator"&2& +4 "core" & Q 0 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &Q& +3 "core" &  0 +2 .tForearm.seek CC + "manipulator"&g'| +95 "core" ' +2 .tHand.close + "manipulator"&|/ +58 "core" / +2 .tCC.seek :open +2 "collection"'A(p +410 "core" ( + "storage"(& +4 "core" &[ F\  +2 "storage"(& +4 "core" &[ \  + "manipulator"& & +4 "core" &  . + "manipulator"&U% +4 "core" % }  +2 .tForearm.seek :retract + "manipulator"&$'\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 7 +2 "manipulator"&q( +159 "core" ( +2 "manipulator"&f& +4 "core" &  + "storage"(+& +4 "core" &[ \  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 7 +2 "manipulator"&)'Ω +109 "core" ' +2 .tElbow.hold + "manipulator"&B, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&C1 +61 "core" 1 +2 "manipulator"&t% +4 "core" % ε   v +2 "storage"((& +3 "core" &[ \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 7 + 312 counts +2 "manipulator"&M' +19 "core" ' + "manipulator"&.& +5 "core" & v p  + "storage"(l& +4 "core" &[ N\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"& 'k +18 "core" ' +2 "storage"(w% +4 "core" %[ \ +2 ."downElevator"SE.seek :down +4 "storage"(3'N +98 (!% +3 "core" %$F %\ V_ +2 "manipulator"&*% +4 "core" %Q o p   +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&b'\ +95 "core" ' +44 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 5 of [5..7] + #Loading generic puck from tube 5 into Collection Clamp +2 "collection"'L& +4 "core" &pr>\ + "manipulator"&0% +4 "core" %\ 9 C ( +2 "storage"(6% +4 "core" %8 !\  +2 "storage"(^. +3 "core" .([ +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"(W(<< +675 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (F& +3 "core" &pr\ $d +9 &iWpr!\ 7 +10 &qq\ L +9 &]rs-\ L +9 &EZqt\ L +10 &Zpr.\ L +9 & [rs \ M +9 &"Zor=\ L +10 &$LZqr2\ L +9 && Zoq:\ M +9 &'Zqt?\ L +10 &)Zqr=\ L +9 &+TZqr0\ L +10 &-Zpr2\ L +9 &.Zqr0\ M +9 &0Zop3\ L +10 &2[[pr0\ M +9 &4Zqs&\ L +9 &5Yps0\ L +10 &7Zpt8\ L +9 &9eYru*\ L +10 &;'Yqs-\ L +9 &<Yqr5\ L +9 &>Zqs6\ L +10 &@lZpt/\ L +9 &B-Zss#\ M +9 &CZqr$\ L +10 &EZpr%\ L +9 &Gs]or*\ M +10 &I2hlp!\ N +9 &J~^k%\ P +9 &L&(\ T +10 &Na+\ U +9 &P!-\ V +9 &Q(\ V +10 &S#\ W +9 &Ubpv,\ X +10 &W#`h#\ X +9 &XTY-\ Y +9 &ZCH"\ Z +10 &\\`2:,\ G +9 &]i=&,(\ "h +9 &]!'-\ N +6 ( + "collection"'& +5 #tCollection Clamp onSpring/offSpring for 9/26 samples, on/off torque 2.08 + .Hand.open + "manipulator"&k1 +4 "core" &]s%&)\ N +59 1 + "manipulator"&5% +4 "core" % w !  +51 .tForearm.reconfigure :loose +4 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +92 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp + "processing"%&& +4 "core" &\ +2 "manipulator"&h% +4 "core" %\ - "Z + "storage"(% +4 "core" %L | | \ +2 "storage"(`. +3 "core" .( " + "storage"(& +4 "core" &<9 { t d\  +2 .tForearm.seek 5 + 300 counts + "manipulator"&>'[ +17 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&/ +59 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&8& +2 "storage"(J'N +7 "core" & t o  " +2 "manipulator"&S% +4 "core" % O u y  +2 .tForearm.seek :retract + "manipulator"&'\ +91 "core" ' +2 .tElbow.seek PC + "manipulator"&R(c +159 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +83 "core" ( +2 "manipulator"&a& +4 "core" &m ) ! + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &m E ! +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&7'[ +95 "core" ' + "manipulator"&H& +5 "core" &m  ! + "manipulator"&}% +4 "core" %^ S +2 "processing"%#& +4 "core" &\ +2 "processing"%s& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%G(Z +4 "core" &"\ +7 &;\ $d +10 &bV}\ 7 +9 &xD\ K +10 &vSK\ L +9 &8VK\ M +9 &YJ\ L +10 & XI\ M +9 &"~VJ\ M +9 &$@TM\ M +10 &&Y6\ M +9 &'WR\ M +10 &)TU\ M +9 &+HTP\ M +9 &-\ U\ M +10 &.VP\ M +9 &0WV\ L +9 &2QW\ L +10 &4VL\ L +9 &5VU\ L +10 &7ZT\ M +9 &9XYU\ M +9 &;XS\ M +10 &<UU\ L +9 &>[U\ M +9 &@`WT\ M +10 &B"XT\ M +9 &CZU\ M +10 &EWV\ L +9 &Ge_U\ N +9 &I$gU\ O +10 &JzP\ Q +9 &LS\ S +9 &N\\T\ S +10 &PT\ S +9 &QR\ T +10 &SU\ S +9 &UbU\ T +9 &W"S\ U +10 &XR\ T +9 &Z=HhT\ *z +9 &Z ;G\ , +6 ( + "processing"%s& +5 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.65 + .Hand.open + "manipulator"&%1 +4 "core" &ZL\ , +49 1 + "manipulator"&% +5 "core" % ^  + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&d'\ +91 "core" ' +2 "processing"%& +4 "core" &Z\ , + #tImaging generic puck in Processing Clamp while storing it to tube 5 +2 "manipulator"&j% +4 "core" %\ +  !S +2 "storage"(% +3 "core" %F u u \  +2 "storage"(. +3 "core" .(<< + "storage"(& +4 "core" &<9 s i t\  +2 "storage"( & +4 "manipulator"&~& +5 "core" &<9 t u E\  + &m ! +3 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +3 "storage"(#]kK-0-\ b +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +3 ."raiseStack"SE.seek :beamBreak +3 "manipulator"&-(c + "storage"(E'e +5 "core" ( +2 "manipulator"&z& +3 "core" &m ! +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &p& +3 "core" &m ! +2 .tForearm.seek PC +2 "manipulator"& '[ +97 "core" ' + .tHand.close + "manipulator"&/ +60 "core" / +2 .tPC.seek :open +2 "processing"%N(p +88 "core" ' +2 "storage"(V- +3 "core" -'e +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(2'B +32 "core" ' +260 ( +2 "storage"(Q& +4 "core" &<9 g m }\  + "manipulator"&y& +4 "core" &m  ! + "manipulator"&% +4 "core" % ]  +2 .tForearm.seek :retract +2 "manipulator"&|'\ +99 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&'( +247 "core" ( + "manipulator"&X& +5 "core" &\ Z + "storage"(& +4 "core" &<9 v v R\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&' +62 "Can" &QN +33 "core" ' + .tHand.open +2 "manipulator"& 1 +61 "core" 1 +2 "storage"(U- +4 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate + "storage"(f' +26 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(+' +49 "core" ' +2 #tLights, camera, ACTION! + "storage"(g- +4 "core" -' + "storage"(\ & +4 "core" &<7 8\ \ +2 "manipulator"&C& +4 "core" &\ Z +2 .tElbow.seek 5 + "manipulator"&t( +4 "core" ( + "manipulator"&(& +4 "core" &\  Z + "storage"(.& +4 "core" &<7 e\ \ +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&l' +3 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.11 Pucks below Top Plate + "storage"(w'M +58 "core" ' +2 "manipulator"&$& +4 "core" &\  Z +2 "storage"(!& +4 "core" &<7 r g \ \ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 5 + "manipulator"&*'/ +29 "core" ' +2 .tElbow.hold + "manipulator"&q, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"()'7 +26 "core" ' +2 "manipulator"&L% +4 "core" %B d j +2 "storage"(0& +4 "core" &<7 ? L y\ \ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 319 counts +2 "manipulator"&M'n +16 "core" ' +2 "manipulator"&6& +5 "core" &7 | u :  + "storage"(^& +5 "core" &<7 \ \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&@' +21 "core" ' +2 "storage"( % +4 "core" %5 U\ +2 ."downElevator"SE.seek :down +4 "storage"(3'N +99 (1% +2 "core" % D w v T\ Va +2 "manipulator"&F% +4 "core" % p q I ! +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&Z'\ +90 "core" ' +61 ' +2 ."downElevator"SE.stop + "storage"(5 +2 ("& +4 "core" &<7 X W S\ \ +2 "collection"'=& +3 "core" &]r!#L\ N +2 #tStoring generic puck in Collection Clamp to tube 5 +2 "manipulator"&/% +4 "core" %\ 1 $o + "storage"(B% +4 "core" %8 q u T\  +2 "storage"(b. +3 "core" .(<< + "storage"(I& +4 "core" &<7 t p 1\ \ + "storage"(:& +4 "core" &<7 p r \ \ +2 "manipulator"&c& +4 "core" &7  + .tElbow.seek 5 +2 "manipulator"&[( +38 "core" ( +2 "manipulator"&& +4 "core" & M # +2 "storage"(K& +4 "core" &<7 v u r\ \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&9' +91 "core" ' +2 "storage"(,& +4 "core" &<7 w o \ \ +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"({'e +279 "core" ' +2 "storage"(Y- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +51 "manipulator"&v& +5 "core" &  # + "storage"(n& +4 "core" &<7 | z }\ \ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 + "manipulator"&O'/ +32 "core" ' +2 .tElbow.hold + "manipulator"&\\, +60 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(- +2 "core" -' +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(;'m +27 "core" ' +2 "manipulator"&T% +4 "core" %<p ¸ +2 "storage"(& +3 "core" &<7 B B \ \ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 313 counts +2 "manipulator"&D'h +17 "core" ' + "manipulator"&P& +4 "core" &A g   > +2 "storage"(A& +4 "core" &<7 \ \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&k' +17 "core" ' +2 .tSE.seek 1.11 Pucks below Top Plate +2 "storage"(5'\\ +40 "core" ' + "manipulator"&& +4 "core" &A o r / > +2 "manipulator"&&% +4 "core" % o q "  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&h'\ +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"&( +142 "core" ( + "manipulator"&`& +4 "core" & c / +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +4 "core" & ^ / +2 .tForearm.seek CC + "manipulator"&u'| +97 "core" ' +2 .tHand.close + "manipulator"&/ +57 "core" / +2 .tCC.seek :open + "collection"'(p +413 "core" ( +2 "storage"(m& +4 "core" &<7 :\ \ + "storage"(o& +4 "core" &<7 k\ \ + "manipulator"&W& +4 "core" & - +2 "manipulator"&r% +3 "core" % σ +2 .tForearm.seek :retract +2 "manipulator"&4'\ +95 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 + "manipulator"&( +166 "core" ( + "manipulator"&_& +5 "core" & - + "storage"(?& +4 "core" &<7 m\ \ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 5 +2 "manipulator"&i'/ +109 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&1 +60 "core" 1 +2 "manipulator"&% +4 "core" % C 1 r +2 "storage"(8& +3 "core" &<7 \ \ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 320 counts + "manipulator"&S'o +18 "core" ' + "manipulator"&e& +5 "core" &? _ w =  + "storage"(& +4 "core" &<7 h\ \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&x' +11 "core" ' +2 "storage"(>% +4 "core" %` x\ +2 ."downElevator"SE.seek :down +3 "storage"(a'N +100 (% +3 "core" %D =\ V^ +2 "manipulator"&]% +4 "core" % n o  ! +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&H'\ +86 "core" ' +55 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 6 of [5..7] + #Loading generic puck from tube 6 into Collection Clamp +2 "collection"'}& +4 "core" &nq^\ + "manipulator"&#% +4 "core" %\ - { "X +2 "storage"(J% +4 "core" %B \  + "storage"(. +4 "core" .(<< + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"((K +352 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (%& +3 "core" &K ;\  + "manipulator"&& +4 "core" &?  +2 .tElbow.seek 6 + "manipulator"&( +16 "core" ( + "manipulator"&j& +4 "core" &   +2 "storage"(& +4 "core" &K %\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&'< +93 "core" ' +2 "storage"(& +4 "core" &K \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(~'e +278 "core" ' + "storage"( - +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (s& +3 "core" &K J\  + "manipulator"&z& +4 "core" & S  +2 .tElbow.seek 6 + "manipulator"&p( +3 "core" ( +2 "manipulator"&7& +3 "core" & 3  +2 "storage"(& +4 "core" &K \  +2 .tForearm.seek 6 + 300 counts + "manipulator"&V'Ϧ +20 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&R/ +58 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&d& + "storage"(G'N +8 "core" & o o   + "manipulator"&Q% +4 "core" % ϝ o n  +2 .tForearm.seek :retract +2 "manipulator"&y'\ +88 "core" ' +2 .tElbow.seek CC + "manipulator"&E( +149 "core" ( + "manipulator"&& +4 "core" & ) . +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 "core" ' + "manipulator"& & +2 ."downElevator"SE.stop +4 "storage"(5 +3 "core" & $ . +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&X'| +101 "core" ' +2 "manipulator"&& +4 "core" & { . +2 "manipulator"&-% +4 "core" %~  + "collection"' & +5 "core" &qs\ +2 "collection"'U& +4 "core" &qr\ +3 .tCC.seek :closed + "collection"'g(] +5 "core" &or\ +7 &?qq\ $e +9 &pXqs\ 7 +10 &~qs3\ L +9 &Wpr\ L +9 &MZss2\ L +10 &\\qt5\ L +9 & [qr\ L +10 &"]qt4\ L +9 &$VZrr7\ L +9 &&Zqs7\ L +10 &'Yot>\ L +9 &)[rt?\ L +9 &+]Zpr?\ L +10 &-Ypr=\ L +9 &.[pt-\ M +10 &0Zqq.\ L +9 &2e[qr-\ L +9 &4(Wps&\ L +10 &5Yqq/\ L +9 &7Zps<\ L +9 &9nYqr5\ L +10 &;0Yps6\ L +9 &<Yrq7\ L +9 &>Zpr1\ L +10 &@uZpr1\ L +9 &B6[po$\ M +10 &CZsr4\ L +9 &EZpr0\ L +9 &G}Zoq&\ L +10 &I;jnn5\ N +9 &J}Zg$\ P +10 &L.\ U +9 &Nh"\ V +9 &P)$\ W +10 &Q$\ V +9 &S~*\ X +9 &Ulls%\ X +10 &W-^b)\ X +9 &XPT(\ Z +9 &Z@E-\ Z +10 &\\n/6'\ G +9 &]\\5#'.\ 1 +10 &]\\!$\ B +2 ( + "collection"'U& +4 #tCollection Clamp onSpring/offSpring for 10/26 samples, on/off torque 2.10 + .Hand.open + "manipulator"&\ 1 +61 "core" 1 + "manipulator"&C% +4 "core" % y g +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&('\ +99 "core" ' +2 #tLoading generic puck from tube 6 into Processing Clamp + "processing"%.& +4 "core" &\ +2 "manipulator"&|% +4 "core" %\ 8 N ' +2 "storage"($% +3 "core" %> z | C\  +2 "storage"(!. +3 "core" .(K +2 "storage"(L& +4 "core" &K k f h\  + "storage"(0& +4 "core" &K | | ?\  +2 "manipulator"&2& +3 "core" & + . +2 "manipulator"&6% +3 "core" %\ 8 e ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 + "manipulator"&f( +156 "core" ( + "manipulator"&^& +5 "core" & f \ + "storage"( & +4 "core" &K \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&''< +109 "core" ' + "storage"(& +5 "core" &K >\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(+'e +276 "core" ' + "storage"(1- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (F& +3 "core" &K 3\  +2 "manipulator"&l& +3 "core" & n p \ +2 .tElbow.seek 6 + "manipulator"&t( +4 "core" ( + "manipulator"&w& +4 "core" & t w , \ + "storage"(*& +4 "core" &K \  +2 .tForearm.seek 6 + 300 counts + "manipulator"&M'Ϧ +18 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&"/ +58 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&=& +2 "storage"(/'N +8 "core" &  \ +2 "manipulator"&B% +4 "core" % Ϩ  +2 .tForearm.seek :retract + "manipulator"&b'\ +94 "core" ' +51 .tElbow.seek PC +3 "manipulator"&I(c +106 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +141 "core" ( + "manipulator"&)& +5 "core" &h I + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &:& +3 "core" &h +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&c'[ +108 "core" ' + "manipulator"&& +5 "core" &h r y  + "manipulator"&K% +4 "core" %S o o  +2 "processing"%@& +4 "core" &\ +2 "processing"%,& +5 "core" &\ +2 .tPC.seek :closed + "processing"%3(Z +5 "core" &\  +9 &0{\ *x +9 &c\ = +10 &?t;\ M +9 &U7\ L +9 &\\ \ M +10 &XO\ L +9 &!HXT\ M +9 &#\ UJ\ M +10 &$XH\ L +9 &&WH\ L +10 &(PZR\ M +9 &*XD\ M +9 &+TT\ L +10 &-V@\ L +9 &/XY9\ M +9 &1YH\ M +10 &2YT\ M +9 &4TT\ M +10 &6`YT\ M +9 &8"WU\ M +9 &9ST\ L +10 &;VU\ L +9 &=hYU\ M +9 &?*WN\ M +10 &@VT\ M +9 &BWT\ L +10 &DpYT\ M +9 &F2ZT\ M +9 &GcT\ N +10 &IoT\ P +9 &KiU\ R +9 &M%T\ T +10 &NT\ S +9 &PT\ S +10 &RkT\ T +9 &T,F\ T +9 &US\ T +10 &WT\ U +9 &YoT\ B +9 &Zu<R\ \\ +10 &Z;I\ 5 +5 ( +2 "processing"%,& +4 #tProcessing Clamp onSpring/offSpring for 9/25 samples, on/off torque 1.67 + .Hand.open + "manipulator"&q1 +4 "core" &Z4N\ 5 +50 1 + "manipulator"&Z% +4 "core" % S I +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&Y'\ +96 "core" ' + "processing"%v& +5 "core" &Z4:\ 5 + #tImaging generic puck in Processing Clamp while storing it to tube 6 +2 "manipulator"&n% +4 "core" %\ 8 I ' + "storage"(% +4 "core" %D [ Y\  +2 "storage"(T. +3 "core" .(K + "storage"(& +4 "core" &K Y Y\  +2 "storage"(P& +2 "manipulator"&A& +7 "core" &K Y Y\  + &h  +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +3 "storage"(#]kK-0-\ b +2 "manipulator"&(c +7 ."raiseStack"SE.seek :beamBreak +2 "storage"(&'e +3 "core" ( + "manipulator"&9& +4 "core" &h  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &[& +3 "core" &h  +2 .tForearm.seek PC + "manipulator"&{'[ +97 "core" ' +2 .tHand.close + "manipulator"&O/ +54 "core" / + .tPC.seek :open +2 "processing"%D(p +90 "core" ' +2 "storage"(`- +3 "core" -'e +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(;'B +33 "core" ' +258 ( + "storage"(& +4 "core" &K x \  +2 "manipulator"&k& +3 "core" &h  +2 "manipulator"&\\% +4 "core" % o o +2 .tForearm.seek :retract + "manipulator"&'\ +100 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&h( +245 "core" ( + "manipulator"&<& +4 "core" & / +2 "storage"(m& +4 "core" &K { | v\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&o'< +95 "core" ' + .tHand.open +2 "manipulator"&W1 +62 "core" 1 +2 "storage"(r- +4 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate +2 "storage"(_' +31 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.83 Pucks below Top Plate + "storage"(?' +53 "core" ' +2 #tLights, camera, ACTION! + "storage"(u- +4 "core" -' + "storage"(& +4 "core" &K\ $\ \  +2 "manipulator"&& +3 "core" &  / +2 .tElbow.seek 6 +2 "manipulator"&( +3 "core" ( + "manipulator"&8& +5 "core" & / / + "storage"(e& +4 "core" &K\ \ \  +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&'< +17 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"(>'M +62 "core" ' + "manipulator"&4& +4 "core" & n r X / +2 "storage"(& +4 "core" &K !\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&]'z +32 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"(i'7 +24 "core" ' + "manipulator"&}% +5 "core" %΋ N + "storage"(#& +4 "core" &K Y Y\  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 6 + 317 counts + "manipulator"&J'Ϸ +19 "core" ' +2 "manipulator"&S& +4 "core" & u ] % / +2 "storage"(& +4 "core" &K \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&5'< +21 "core" ' + "storage"(x% +5 "core" %? \  +2 ."downElevator"SE.seek :down +4 "storage"(a'N +98 ( % +3 "core" %G m h \ Vb +2 "manipulator"&%% +4 "core" %c y s W +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +90 "core" ' +64 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (j& +4 "core" &K v l "\  +2 "collection"'& +4 "core" &]\\!(\ B + #tStoring generic puck in Collection Clamp to tube 6 +2 "manipulator"&% +4 "core" %\ / #k + "storage"(% +4 "core" %M \ \ + "storage"(H. +3 "core" .(K +2 "storage"( & +4 "core" &K \  + "storage"(s& +4 "core" &K P\  + "manipulator"&z& +4 "core" & / +2 .tElbow.seek 6 + "manipulator"&7( +4 "core" ( + "manipulator"&& +5 "core" & / + "storage"(R& +4 "core" &K _\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&d'< +104 "core" ' + "storage"(Q& +4 "core" &K P\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"('e +278 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&& +3 "core" & q y u / + "storage"( & +4 "core" &K \  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 + "manipulator"&~'z +37 "core" ' +2 .tElbow.hold + "manipulator"&V, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(- +2 "core" -' +2 .tSE.seek 0.12 Pucks below Top Plate +2 "storage"(-'u +28 "core" ' +2 "manipulator"& % +4 "core" %·k   + "storage"(p& +4 "core" &K - 6 M\  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 6 + 313 counts +2 "manipulator"&G'ϳ +18 "core" ' +2 "manipulator"&y& +4 "core" & ] w 8 / +2 "storage"(& +4 "core" &K 0\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&\ '< +16 "core" ' +2 .tSE.seek 1.12 Pucks below Top Plate +2 "storage"(C'd +51 "core" ' +2 "manipulator"&.& +4 "core" & o o  / + "manipulator"&|% +4 "core" %1 p p  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&$'\ +92 "core" ' +2 .tElbow.seek CC + "manipulator"&!( +142 "core" ( +2 "manipulator"&U& +4 "core" & l / + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &L& +2 "core" & M / +2 .tForearm.seek CC +2 "manipulator"&0'| +96 "core" ' +2 .tHand.close +2 "manipulator"&2/ +52 "core" / +2 .tCC.seek :open +2 "collection"'6(p +413 "core" ( +2 "storage"(X& +4 "core" &K \  + "storage"(^& +4 "core" &K \  + "manipulator"& & +4 "core" & / + "manipulator"&% +4 "core" % u +2 .tForearm.seek :retract + "manipulator"&E'\ +95 "core" ' +2 .tElbow.reconfigure :tight +53 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 + "manipulator"&(( +154 "core" ( + "manipulator"&1& +5 "core" & + "storage"(F& +4 "core" &K d\  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 6 +2 "manipulator"&l'z +112 "core" ' +2 .tElbow.hold + "manipulator"&w, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&*1 +55 "core" 1 +2 "manipulator"&"% +5 "core" % Ί 2 y ` + "storage"(=& +4 "core" &K f g b\  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 6 + 316 counts + "manipulator"&B'϶ +21 "core" ' + "manipulator"&f& +4 "core" & ` v ; +2 "storage"('& +4 "core" &K r\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&+'< +17 "core" ' +2 "storage"(M% +4 "core" %i \ +2 ."downElevator"SE.seek :down +4 "storage"()'N +99 (:% +3 "core" %%E 8\ U_ +2 "manipulator"&t% +4 "core" %/ o q  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +92 "core" ' +50 ' +2 ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 7 of [5..7] + #Loading generic puck from tube 7 into Collection Clamp +2 "collection"'K& +4 "core" &ps?\ +2 "manipulator"&@% +4 "core" %\ 0 $t +2 "storage"(/% +3 "core" %@ ;\  +2 "storage"(b. +3 "core" .(K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 7 + "storage"(N([ +352 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (q& +3 "core" &[ g h t\  +2 "manipulator"&Z& +4 "core" & + .tElbow.seek 7 +2 "manipulator"&v( +34 "core" ( + "manipulator"&n& +5 "core" &\ [ + "storage"(& +4 "core" &[ ;\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&T'k +109 "core" ' +2 "storage"(& +4 "core" &[ B\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(P'e +280 "core" ' +2 "storage"(A- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (,& +2 "core" &[ !\  +2 "manipulator"&9& +4 "core" & r { Z + .tElbow.seek 7 +2 "manipulator"&[( +3 "core" ( +2 "manipulator"&c& +4 "core" &\ | u F Z + "storage"(O& +4 "core" &[ \\\  +2 .tForearm.seek 7 + 300 counts +2 "manipulator"&`' +23 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&I/ +55 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&Y& +2 "storage"(3'N +8 "core" &\ z p . Z +2 "manipulator"&% +4 "core" % q o { +2 .tForearm.seek :retract + "manipulator"&k'\ +94 "core" ' +2 .tElbow.seek CC +2 "manipulator"&&( +145 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +28 "core" ( +2 "manipulator"&\\& +4 "core" &  4 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &{& +3 "core" & 4 4 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +3 "manipulator"&<'| +103 "core" ' +2 "manipulator"&m& +4 "core" &  4 +2 "manipulator"&% +4 "core" %s A +2 "collection"'W& +4 "core" &or\ +2 "collection"'r& +5 "core" &or\ +2 .tCC.seek :closed + "collection"'u(] +5 "core" &oq\ +7 &7oq\ $d +9 &fU}pq\ 6 +9 &pq\ K +10 &xYqq\ L +9 &:Zos \ L +9 &Zor \ L +10 & \\rsQ\ M +9 &"\\ps&\ L +9 &$BZqr<\ L +10 &&\\rr4\ L +9 &'[qq<\ M +10 &)[ps7\ L +9 &+JZqr4\ L +9 &- Zns>\ L +10 &.[qs6\ L +9 &0\\rr7\ L +9 &2R\\qs<\ L +10 &4\\os?\ L +9 &5Yqr1\ L +10 &7Zpu4\ L +9 &9\\Yqs0\ K +9 &;[qs0\ L +10 &<[or0\ L +9 &>Zpr1\ L +9 &@b]qs,\ L +10 &B$\\rp0\ L +9 &C[qr+\ L +10 &EZrr1\ L +9 &Gi^pq-\ L +9 &I'imr/\ N +10 &Jsem%\ O +9 &L<-\ S +9 &NW"\ U +10 &P$\ V +9 &Q$\ V +10 &S{/\ W +9 &UWhq%\ X +9 &WW]!\ X +10 &XFM-\ Y +9 &Z6='\ Z +9 &\\Y$++\ G +10 &]^=/\ + +9 &]%\ !a +3 ( + "collection"'r& +3 #tCollection Clamp onSpring/offSpring for 10/26 samples, on/off torque 2.05 +2 .Hand.open + "manipulator"&1 +54 "core" 1 + "manipulator"&% +5 "core" % p  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&8'\ +95 "core" ' +2 #tLoading generic puck from tube 7 into Processing Clamp + "processing"%e& +5 "core" &\ + "manipulator"&% +4 "core" %\ 1 ? $q + "storage"(4% +4 "core" %6 Y [\  + "storage"(. +3 "core" .([ +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 7 + "storage"(;([ +3 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (}& +4 "core" &[+ 1 B Y\  + "manipulator"&#& +4 "core" & 5 2 + "manipulator"&_% +4 "core" %\ 0 % $q +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 7 + "manipulator"&S( +160 "core" ( + "manipulator"&& +4 "core" & U +2 "storage"(x& +4 "core" &[ v v }\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&h'k +93 "core" ' +2 "storage"(o& +4 "core" &[ { \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(?'e +277 "core" ' +2 "storage"( - +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (%& +2 "core" &[ v n\  +2 "manipulator"&& +3 "core" &  +2 .tElbow.seek 7 + "manipulator"&( +4 "core" ( + "manipulator"&>& +5 "core" & W + "storage"(]& +4 "core" &[ o r g\  +2 .tForearm.seek 7 + 300 counts + "manipulator"&J' +20 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&j/ +61 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& + "storage"('N +7 "core" & q q . +2 "manipulator"&% +4 "core" % p p +2 .tForearm.seek :retract + "manipulator"&H'\ +89 "core" ' +2 .tElbow.seek PC + "manipulator"&i(c +167 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +75 "core" ( +2 "manipulator"& & +4 "core" &i  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &s& +4 "core" &i +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&z'[ +92 "core" ' +2 "manipulator"&& +4 "core" &i ( + "manipulator"&R% +5 "core" %\\ 6  + "processing"%5& +4 "core" &W\ +2 "processing"%Q& +6 "core" &!\ +2 .tPC.seek :closed +2 "processing"%a(Z +4 "core" &\  +8 &3~G\ *x +9 &e&\ > +10 &Is\ N +9 & R\ M +10 &W\ M +9 &TF\ M +9 &!SUJ\ M +10 &#TG\ L +9 &$YI\ M +9 &&UH\ M +10 &(\\UE\ L +9 &*VS\ L +10 &+YS\ M +9 &-UU\ M +9 &/bZT\ M +10 &1%UV\ M +9 &2ZU\ M +9 &4UT\ M +10 &6kYT\ M +9 &8,YT\ M +10 &9UU\ L +9 &;UD\ M +9 &=sTS\ M +10 &?4WN\ M +9 &@XS\ M +9 &BVU\ M +10 &D{VO\ M +9 &F;\\T\ M +10 &GcT\ N +9 &IkO\ O +9 &KuT\ Q +10 &M1U\ S +9 &NT\ T +9 &PT\ T +10 &RvQ\ T +9 &T8T\ T +10 &UH\ T +9 &WP\ U +9 &Y{H\ B +10 &Zw9O\ a +9 &Z#G\ , +2 ( +2 "processing"%Q& +3 #tProcessing Clamp onSpring/offSpring for 9/25 samples, on/off torque 1.69 + .Hand.open + "manipulator"&1 +61 "core" 1 + "manipulator"&% +5 "core" % \\ o  + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +91 "core" ' + "processing"%& +4 "core" &Z!\ , +2 #tImaging generic puck in Processing Clamp while storing it to tube 7 + "manipulator"& % +4 "core" %\ - { "Y +2 "storage"(% +3 "core" %D [ Y\  +2 "storage"( . +3 "core" .([ + "storage"(p& +4 "core" &[ Y Y\  +2 "storage"(y& +4 "manipulator"&& +4 "core" &[ [ Y\  + &i +3 ."raiseStack"SE.reconfigure :place +53 .tElbow.reconfigure :tight +4 "storage"(#]kK-0-\ b +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +2 "manipulator"&.(c +3 ."raiseStack"SE.seek :beamBreak +2 "storage"(|'e +3 "core" ( + "manipulator"&d& +4 "core" &i + + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &7& +3 "core" &i +2 .tForearm.seek PC + "manipulator"&'[ +97 "core" ' + .tHand.close +2 "manipulator"&~/ +51 "core" / +2 .tPC.seek :open +2 "processing"%G(p +93 "core" ' +2 "storage"(-- +3 "core" -'e +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(U'B +35 "core" ' +253 ( + "storage"(L& +4 "core" &[ [ c\  +2 "manipulator"&\ & +4 "core" &i  + "manipulator"&V% +4 "core" % `  +2 .tForearm.seek :retract +2 "manipulator"&2'\ +99 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 7 +2 "manipulator"&$( +259 "core" ( + "manipulator"&g& +4 "core" &  +2 "storage"(X& +4 "core" &[ Y Z\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&^'k +104 "core" ' +2 .tHand.open + "manipulator"& 1 +52 "core" 1 +2 "storage"(- +3 "core" -'B +3 .tSE.seek -0.16 Pucks below Top Plate + "storage"(0' +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(1' +54 "core" ' +2 #tLights, camera, ACTION! + "storage"(F- +4 "core" -' + "storage"(!& +4 "core" &[ r\  + "manipulator"&*& +4 "core" & n y J  +2 .tElbow.seek 7 +2 "manipulator"&"( +3 "core" ( +2 "manipulator"&=& +4 "core" & | } `  + "storage"(f& +4 "core" &[ \  +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&''k +3 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.11 Pucks below Top Plate + "storage"(M'M +63 "core" ' + "manipulator"&E& +5 "core" & q q   + "storage"(:& +4 "core" &[ v v g\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 7 + "manipulator"&t'Ω +33 "core" ' + .tElbow.hold +2 "manipulator"&(, +5 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"(l'7 +23 "core" ' + "manipulator"&K% +5 "core" %ν | + "storage"(B& +5 "core" &[ 8 ? w\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 7 + 320 counts +2 "manipulator"&@' +18 "core" ' +2 "manipulator"&/& +4 "core" & _ w 7  +2 "storage"(b& +4 "core" &[ k m \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&C'k +21 "core" ' + "storage"(+% +5 "core" %: g r }\ \ +2 ."downElevator"SE.seek :down +4 "storage"()'N +98 (% +3 "core" %E f ^ @\ Wc +2 "manipulator"&q% +3 "core" %A p p  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&Z'\ +93 "core" ' +57 ' + ."downElevator"SE.stop + "storage"(5 +3 (n& +4 "core" &[ X c\  + "collection"'& +4 "core" &]-\ !a +2 #tStoring generic puck in Collection Clamp to tube 7 + "manipulator"&% +4 "core" %\ 6 & + "storage"(w% +4 "core" %K Y Y\  +2 "storage"(. +3 "core" .([ + "storage"(A& +4 "core" &[ X b\  +2 "storage"(,& +4 "core" &[ [ f\  + "manipulator"&9& +4 "core" &  +2 .tElbow.seek 7 + "manipulator"&c( +4 "core" ( + "manipulator"&O& +4 "core" &  + "storage"(I& +4 "core" &[ c \\\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&Y'k +98 "core" ' +2 "storage"(& +4 "core" &[ t p #\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(v'e +280 "core" ' + "storage"(T- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&\\& +3 "core" & t  +2 "storage"({& +4 "core" &[ U W \  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 7 +2 "manipulator"&P'Ω +30 "core" ' +2 .tElbow.hold + "manipulator"&`, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"([- +2 "core" -' +3 .tSE.seek 0.12 Pucks below Top Plate + "storage"(m'o +39 "core" ' +2 "manipulator"&% +4 "core" %θ e + "storage"(W& +4 "core" &[ 5 4 0\  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 7 + 315 counts + "manipulator"&3' +18 "core" ' +2 "manipulator"&k& +4 "core" & v _ L  +2 "storage"(6& +4 "core" &[ v u j\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&'k +23 "core" ' +2 .tSE.seek 1.12 Pucks below Top Plate + "storage"('^ +51 "core" ' +2 "manipulator"&e& +5 "core" & o p   + "manipulator"&% +4 "core" %Г p q  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&4'\ +88 "core" ' +2 .tElbow.seek CC +2 "manipulator"&( +146 "core" ( + "manipulator"&r& +5 "core" &  5 - + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &}& +2 "core" &   - +2 .tForearm.seek CC +2 "manipulator"&#'| +98 "core" ' + .tHand.close + "manipulator"&_/ +55 "core" / +2 .tCC.seek :open +2 "collection"'<(p +410 "core" ( + "storage"(& +4 "core" &[ 4\  +2 "storage"(x& +3 "core" &[ (\  +2 "manipulator"&N& +4 "core" &  - + "manipulator"&o% +4 "core" % σ u +2 .tForearm.seek :retract + "manipulator"&&'\ +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 7 + "manipulator"&8( +155 "core" ( + "manipulator"& & +4 "core" &  +2 "storage"(%& +3 "core" &[ \  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 7 +2 "manipulator"&'Ω +110 "core" ' +2 .tElbow.hold + "manipulator"&>, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&]1 +61 "core" 1 +2 "manipulator"&j% +4 "core" % μ 5 +2 "storage"(& +4 "core" &[ g g l\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 7 + 319 counts +2 "manipulator"&' +22 "core" ' + "manipulator"&S& +5 "core" & w _ %  + "storage"(h& +4 "core" &[ o\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&?'k +19 "core" ' + "storage"(J% +4 "core" %` y\ +2 ."downElevator"SE.seek :down +4 "storage"( 'N +99 (s% +3 "core" %!G \ \ V_ + "manipulator"&% +5 "core" %b r p " +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +93 "core" ' +44 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 5 of [5..7] +2 #Loading generic puck from tube 5 into Collection Clamp + "collection"'R& +4 "core" &rvT\ +2 "manipulator"&5% +4 "core" %\ : ( +2 "storage"(% +4 "core" %6 Y\ + "storage"(H. +3 "core" .([ +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"(D(<< +678 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +2 (& +4 "core" &\ L +9 &'[os=\ L +10 &)Yqp=\ L +9 &+^[ps>\ L +9 &-]pr;\ L +10 &.\\ps9\ L +9 &0\\rq@\ L +9 &2e\\or;\ L +10 &4(\\or6\ L +9 &5Yqr?\ L +9 &7_rr:\ L +10 &9nZps;\ L +9 &;1Zps2\ K +10 &<\\ps;\ L +9 &>Zpr0\ L +9 &@u\\ss1\ L +10 &B7\\rr/\ L +9 &C\\pt0\ L +9 &E]rr$\ K +10 &G|`qs)\ L +9 &I;imo9\ M +10 &J}^k3\ P +9 &L0\ T +9 &Ni/\ U +10 &P) \ V +9 &Q$\ W +9 &S}%\ W +10 &Uilp$\ X +9 &W,]d&\ X +10 &XOS$\ Z +9 &Z@G&\ Z +9 &\\l-6%\ G +10 &]`1"&(\ . +9 &]#$'\ Z +2 ( +2 "collection"'& +3 #tCollection Clamp onSpring/offSpring for 10/26 samples, on/off torque 2.08 +2 .Hand.open + "manipulator"&!1 +54 "core" 1 + "manipulator"&*% +4 "core" % w f +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&='\ +92 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp + "processing"%f& +4 "core" &H\ +2 "manipulator"&2% +4 "core" %\ + !U + "storage"(E% +4 "core" %L v v x\ +2 "storage"(:. +3 "core" .(XS\ M +10 &@XW\ M +9 &BUO\ M +10 &CY \ M +9 &EW?\ M +9 &G]^S\ N +10 &IfV\ O +9 &JyT\ Q +10 &LM\ S +9 &NSS\ T +9 &PT\ S +10 &QT\ T +9 &ST\ T +9 &U[K\ T +10 &WS\ T +9 &XL\ T +9 &Z:MoR\ - +10 &Z-P\ + +5 ( +2 "processing"%& +4 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.66 + .Hand.open +2 "manipulator"&(1 +3 "core" &Z!Q\ + +56 1 + "manipulator"&Z% +4 "core" % J q +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&T'\ +99 "core" ' +2 "processing"%\\& +4 "core" &Z B\ + +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 + "manipulator"&{% +4 "core" %\ 7 q ' + "storage"([% +4 "core" %6 [ [\  + "storage"(. +3 "core" .(<9 +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 + "storage"(W(<< +8 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (k& +3 "core" &<9 K 6 E\ +2 "manipulator"&6& +5 ."raiseStack"SE.reconfigure :place +3 "storage"(#]kK-0-\ b +2 "core" &h   +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +3 ."raiseStack"SE.seek :beamBreak +3 "manipulator"&e(c + "storage"('e +5 "core" ( +2 "manipulator"&Y& +4 "core" &h 6  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &c& +3 "core" &h D  +2 .tForearm.seek PC +2 "manipulator"&v'[ +94 "core" ' + .tHand.close +2 "manipulator"&P/ +56 "core" / +2 .tPC.seek :open +2 "processing"%3(p +92 "core" ' + "storage"(m- +3 "core" -'e +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(r'B +32 "core" ' +257 ( +2 "storage"(}& +3 "core" &<9 p t \ +2 "manipulator"&& +4 "core" &h N  +2 "manipulator"&`% +3 "core" % Z a +2 .tForearm.seek :retract +2 "manipulator"&_'\ +96 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&4( +244 "core" ( + "manipulator"&u& +4 "core" &  ; +2 "storage"(& +4 "core" &<9 Y Y\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&x' +93 "core" ' +2 .tHand.open + "manipulator"&N1 +57 "core" 1 +2 "storage"(o- +3 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate +2 "storage"( ' +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.83 Pucks below Top Plate +52 "storage"(%' +52 "core" ' +2 #tLights, camera, ACTION! + "storage"(#- +4 "core" -' + "storage"(& +4 "core" &<8 R\ +2 "manipulator"&]& +4 "core" &  = ; +2 .tElbow.seek 5 + "manipulator"&j( +3 "core" ( +2 "manipulator"&& +4 "core" &   ; + "storage"(S& +4 "core" &<7 \ +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&h' +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"(J'M +57 "core" ' +2 "manipulator"&&& +4 "core" &   ; +2 "storage"(s& +4 "core" &<7 v v Q\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 + "manipulator"&'/ +34 "core" ' + .tElbow.hold +2 "manipulator"&8, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.07 Pucks below Top Plate + "storage"('7 +25 "core" ' +2 "manipulator"&R% +4 "core" %=z 9 +2 "storage"(5& +4 "core" &<7 : 8 m\ + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 5 + 314 counts + "manipulator"&'i +17 "core" ' +2 "manipulator"&& +4 "core" &5 q y "  + "storage"(H& +5 "core" &<7 k n \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&' +18 "core" ' + "storage"(?% +5 "core" %> f f |\ +2 ."downElevator"SE.seek :down +4 "storage"( 'N +98 (;% +3 "core" %RF [ Y\ Vb +2 "manipulator"&% +4 "core" % z r G +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +93 "core" ' +59 ' + ."downElevator"SE.stop +2 "storage"(5 +2 ( & +4 "core" &<7 P W \ +2 "collection"'& +4 "core" &]~#"-\ Z +2 #tStoring generic puck in Collection Clamp to tube 5 + "manipulator"&p% +4 "core" %\ / #c + "storage"(>% +5 "core" %: u t \  + "storage"(. +3 "core" .(<9 +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 + "storage"(y(<< +10 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (Q& +3 "core" &<9 D C\  +2 "manipulator"&d& +4 "core" &5  +2 .tElbow.seek 5 + "manipulator"&z( +20 "core" ( + "manipulator"&~& +4 "core" &  +2 "storage"(i& +4 "core" &<8 v v ?\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&' +98 "core" ' + "storage"(L& +5 "core" &<8 i z B\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('e +274 "core" ' + "storage"( - +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&|& +3 "core" & d  +2 "storage"(& +3 "core" &<8 s v ?\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&'/ +30 "core" ' +2 .tElbow.hold + "manipulator"&-, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(X- +2 "core" -' +3 .tSE.seek 0.11 Pucks below Top Plate + "storage"(.'k +25 "core" ' +2 "manipulator"& % +4 "core" %=l K  + "storage"(7& +4 "core" &<8 9 8 J\  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 5 + 314 counts + "manipulator"&a'i +18 "core" ' +2 "manipulator"&\ & +4 "core" && [ v \\ + "storage"(<& +4 "core" &<8 g f \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts + "manipulator"&!' +19 "core" ' +2 .tSE.seek 1.11 Pucks below Top Plate + "storage"(*'Z +40 "core" ' +3 "manipulator"&f& +4 "core" && o p \\ + "manipulator"&2% +4 "core" % p p  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&E'\ +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&:( +168 "core" ( +2 "manipulator"&& +4 "core" &\ U + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &U& +3 "core" &\ U +2 .tForearm.seek CC +2 "manipulator"&B'| +101 "core" ' +2 .tHand.close + "manipulator"&0/ +55 "core" / +2 .tCC.seek :open +2 "collection"'g(p +410 "core" ( + "storage"(b& +4 "core" &<8 \  +2 "storage"(+& +3 "core" &<8 v\  +2 "manipulator"&D& +3 "core" &  U +2 "manipulator"&^% +4 "core" % n  + .tForearm.seek :retract +2 "manipulator"&V'\ +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&=( +151 "core" ( +2 "manipulator"&& +4 "core" & y  +2 "storage"(q& +4 "core" &<8 ~\  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 5 +2 "manipulator"&''/ +109 "core" ' + .tElbow.hold +2 "manipulator"&M, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&t1 +53 "core" 1 +2 "manipulator"&@% +3 "core" % B   q +2 "storage"(& +4 "core" &<8 g i }\  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 5 + 319 counts +2 "manipulator"&w'n +19 "core" ' +2 "manipulator"&/& +5 "core" &0 v q   + "storage"($& +4 "core" &<8 L\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&1' +24 "core" ' +2 "storage"(n% +4 "core" %\\ \ +2 ."downElevator"SE.seek :down +3 "storage"(l'N +99 (,% +3 "core" %F J\ V` +2 "manipulator"&"% +4 "core" % p p  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&O'\ +92 "core" ' +51 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 6 of [5..7] + #Loading generic puck from tube 6 into Collection Clamp +2 "collection"'I& +3 "core" &qvQ\ +2 "manipulator"&C% +4 "core" %\ 3 ^ %x +2 "storage"(% +4 "core" %H (\  + "storage"(. +3 "core" .(<9 +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 + "storage"(G(K +349 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 ((& +2 "core" &K f g \  +2 "manipulator"&Z& +3 "core" &0  +2 .tElbow.seek 6 +2 "manipulator"&\\( +31 "core" ( + "manipulator"&{& +5 "core" & # K + "storage"([& +4 "core" &K \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&'< +92 "core" ' +2 "storage"(& +4 "core" &K F\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(k'e +279 "core" ' + "storage"(6- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (Y& +3 "core" &K \  + "manipulator"&c& +4 "core" & , J +2 .tElbow.seek 6 + "manipulator"&9( +3 "core" ( +2 "manipulator"&P& +3 "core" &  J +2 "storage"(K& +3 "core" &K >\  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&m'Ϧ +25 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&A/ +64 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&T& +2 "storage"()'N +7 "core" & r s J +2 "manipulator"&}% +4 "core" % Ϣ | z V +2 .tForearm.seek :retract + "manipulator"&'\ +94 "core" ' +2 .tElbow.seek CC + "manipulator"&( +153 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +4 "core" ( + "manipulator"&`& +4 "core" & K +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +51 &v& +4 "core" & K +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&u'| +102 "core" ' +2 "manipulator"&& +4 "core" & ` K +7 "manipulator"&e% +4 "core" %x +2 "collection"'N& +4 "core" &ss\ +2 "collection"'o& +5 "core" &qs\ +2 .tCC.seek :closed + "collection"'#(] +5 "core" &qt\ +7 &?qr\ $d +9 &rWrq\ 7 +9 &}oq\ K +10 &Xrt7\ K +9 &NZps$\ L +9 &Zoq<\ L +10 & Zor>\ L +9 &"Zqq9\ L +10 &$VYqq<\ L +9 &&^rq\ L +9 &'Zpq.\ L +10 &)[qr7\ L +9 &+]]pr4\ L +9 &-!Ypr2\ K +10 &.]qm9\ L +9 &0\\pq9\ L +10 &2f[rs1\ L +9 &4']rs:\ L +9 &5Ypr8\ K +10 &7[pr3\ L +9 &9nWrs1\ L +9 &;0Yoq=\ L +10 &<]ps9\ L +9 &>Zpr&\ K +10 &@uZpr,\ L +9 &B7Zqs1\ L +9 &C[or0\ L +10 &E[ms;\ L +9 &G~_qq)\ L +9 &I9mnq/\ N +10 &J{[k*\ P +9 &L0\ T +10 &Nh"\ V +9 &P))\ V +9 &Q#\ V +10 &S&\ W +9 &Uipu%\ X +9 &W,af$\ X +10 &XPY)\ Z +9 &Z@H"\ Z +9 &\\l/7$\ G +10 &]f6#(.\ 'u +9 &]_!"$\ D +3 ( + "collection"'o& +4 #tCollection Clamp onSpring/offSpring for 10/26 samples, on/off torque 2.09 + .Hand.open + "manipulator"&_1 +60 "core" 1 +2 "manipulator"&% +5 "core" % w + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&]'\ +96 "core" ' +2 #tLoading generic puck from tube 6 into Processing Clamp + "processing"%& +4 "core" &Q\ +2 "manipulator"&S% +4 "core" %\ 0  $u + "storage"(&% +4 "core" %D R\  +2 "storage"(s. +3 "core" .(K + "storage"(r& +4 "core" &K x N\  + "storage"(R& +4 "core" &K v \  +2 "manipulator"&5& +4 "core" & ? K + "manipulator"& % +4 "core" %\ 0 ( $u +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&( +154 "core" ( +2 "manipulator"&H& +4 "core" &  +2 "storage"(?& +3 "core" &K \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&4'< +91 "core" ' +2 "storage"(x& +4 "core" &K \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(%'e +278 "core" ' + "storage"(;- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" &K g\  + "manipulator"&h& +4 "core" & c k f  +2 .tElbow.seek 6 +2 "manipulator"&j( +3 "core" ( + "manipulator"&J& +4 "core" & z g ]  +2 "storage"(& +4 "core" &K 7\  +2 .tForearm.seek 6 + 300 counts + "manipulator"& 'Ϧ +22 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +59 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"(p'N +7 "core" & q o $  +2 "manipulator"&>% +4 "core" % Ϝ o n +2 .tForearm.seek :retract +2 "manipulator"&'\ +88 "core" ' +2 .tElbow.seek PC + "manipulator"&(c +162 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +80 "core" ( +2 "manipulator"&Q& +4 "core" &m 2 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &d& +2 "core" &m +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&~'[ +103 "core" ' + "manipulator"&i& +5 "core" &m 1 + "manipulator"&% +4 "core" %[ +2 "processing"%L& +4 "core" &\ +2 "processing"% & +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%W(Z +4 "core" &\ +7 & 1\ $c +10 &dT|\ 6 +9 &|M\ K +9 &qVQ\ M +10 &5UW\ L +9 &V\ M +9 & Z\ M +10 &"zR4\ M +9 &$<TT\ M +10 &%TD\ M +9 &'UJ\ L +9 &)UI\ M +10 &+CV\ M +9 &-WN\ M +9 &.UK\ M +10 &0UO\ M +9 &2LYP\ M +10 &4U+\ L +9 &5UR\ L +9 &7UT\ L +10 &9TU+\ M +9 &;Y\ M +9 &<R:\ M +10 &>WR\ M +9 &@[Z\ M +10 &BWO\ M +9 &CYT\ M +9 &EVT\ M +10 &GaaT\ N +9 &IjG\ O +9 &JzS\ Q +10 &LU\ S +9 &NW\ T +10 &PO\ T +9 &Q\ T +9 &SO\ T +10 &U^E\ T +9 &WS\ U +9 &XQ\ U +10 &Z;JlP\ + +9 &Z :N\ * +6 ( + "processing"% & +4 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.68 +2 .Hand.open + "manipulator"&81 +3 "core" &ZP\ * +56 1 + "manipulator"&% +5 "core" % Z j + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"& '\ +99 "core" ' + "processing"%|& +5 "core" &ZK\ * + #tImaging generic puck in Processing Clamp while storing it to tube 6 +2 "manipulator"&% +3 "core" %\ : Y ( +2 "storage"(X% +4 "core" %L u p \  + "storage"( . +3 "core" .(K + "storage"(7& +4 "core" &K p s \  +2 "storage"(\ & +4 "manipulator"&<& +4 "core" &K p t $\  + &m * +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +4 "storage"(#]kK-0-\ b + "manipulator"&f(c +6 ."raiseStack"SE.seek :beamBreak +2 "storage"(2'e +2 "core" ( +2 "manipulator"&& +4 "core" &m \ + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &z& +3 "core" &m  +2 .tForearm.seek PC +2 "manipulator"&'[ +101 "core" ' + .tHand.close +2 "manipulator"&/ +61 "core" / +2 .tPC.seek :open + "processing"%a(p +86 "core" ' +2 "storage"(.- +3 "core" -'e +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('B +34 "core" ' +261 ( + "storage"(U& +4 "core" &K x -\  +2 "manipulator"&!& +4 "core" &m  + "manipulator"&-% +4 "core" % ^  +2 .tForearm.seek :retract + "manipulator"&0'\ +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 + "manipulator"&E( +264 "core" ( + "manipulator"&F& +5 "core" & ' + "storage"(b& +4 "core" &K v v \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&+'< +101 "core" ' +2 .tHand.open + "manipulator"&D1 +55 "core" 1 +2 "storage"(^- +4 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate + "storage"(' +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(q' +55 "core" ' + #tLights, camera, ACTION! +2 "storage"(B- +3 "core" -' +2 "storage"(:& +3 "core" &K\ \  h\  +2 "manipulator"&t& +4 "core" & & ' + .tElbow.seek 6 +2 "manipulator"&@( +3 "core" ( +2 "manipulator"&& +4 "core" & $ ' + "storage"(/& +4 "core" &K\ $\ \  +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&$'< +3 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.11 Pucks below Top Plate + "storage"(n'M +60 "core" ' +2 "manipulator"&V& +4 "core" & p o ' + "storage"(,& +4 "core" &K M\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&"'z +35 "core" ' +2 .tElbow.hold + "manipulator"&=, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.07 Pucks below Top Plate + "storage"(''7 +21 "core" ' +2 "manipulator"&w% +4 "core" %΃x  f »> + "storage"(I& +5 "core" &K * 3\  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 6 + 309 counts +2 "manipulator"&C'ϯ +19 "core" ' +2 "manipulator"&& +4 "core" & q  ' + "storage"(& +5 "core" &K Q\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&*'< +18 "core" ' + "storage"(1% +4 "core" %? \ +3 ."downElevator"SE.seek :down +4 "storage"(l'N +99 (y% +3 "core" %\ ? y | h\ Va +2 "manipulator"&(% +4 "core" %4 p n  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +51 "manipulator"&Z'\ +95 "core" ' +6 ' + ."downElevator"SE.stop +2 "storage"(5 +2 ({& +4 "core" &K l c\  +2 "collection"'[& +4 "core" &]]!#D\ D +2 #tStoring generic puck in Collection Clamp to tube 6 + "manipulator"&% +4 "core" %\ 6  & + "storage"(M% +5 "core" %L k m D\  + "storage"(O. +3 "core" .(K +2 "storage"(6& +3 "core" &K k | `\  +2 "storage"(Y& +4 "core" &K z | M\  + "manipulator"&c& +4 "core" & 2 ' +2 .tElbow.seek 6 + "manipulator"&P( +4 "core" ( +2 "manipulator"&K& +4 "core" & ) ' + "storage"(A& +4 "core" &K | | \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&T'< +98 "core" ' + "storage"(}& +4 "core" &K \  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(\\'e +282 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&`& +3 "core" & s ' +2 "storage"(v& +4 "core" &K g f ?\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 6 + "manipulator"&k'z +35 "core" ' + .tElbow.hold +2 "manipulator"&m, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(9- +2 "core" -' +2 .tSE.seek 0.12 Pucks below Top Plate +2 "storage"('u +31 "core" ' +2 "manipulator"&e% +4 "core" %΀j #  p ŷ + "storage"(N& +4 "core" &K ) - 6\  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 6 + 306 counts +2 "manipulator"&)'Ϭ +16 "core" ' +2 "manipulator"&& +4 "core" & b / ' +2 "storage"(g& +4 "core" &K \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&_'< +16 "core" ' +2 .tSE.seek 1.12 Pucks below Top Plate +2 "storage"('d +40 "core" ' +2 "manipulator"&& +5 "core" & t _ ' + "manipulator"&S% +4 "core" %? p o +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&&'\ +95 "core" ' +2 .tElbow.seek CC + "manipulator"&s( +150 "core" ( + "manipulator"&r& +4 "core" &  ' +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &o& +4 "core" &   ' + .tForearm.seek CC +2 "manipulator"&R'| +101 "core" ' + .tHand.close + "manipulator"&5/ +62 "core" / + .tCC.seek :open +2 "collection"' (p +410 "core" ( +2 "storage"(u& +4 "core" &K G\  + "storage"(H& +4 "core" &K \  + "manipulator"&?& +4 "core" &  ' + "manipulator"&x% +5 "core" % t u + .tForearm.seek :retract +2 "manipulator"&'\ +94 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 + "manipulator"&]( +169 "core" ( +2 "manipulator"&;& +4 "core" & 7 K + "storage"(& +4 "core" &K n\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 6 +2 "manipulator"&h'z +112 "core" ' +2 .tElbow.hold + "manipulator"&J, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&1 +58 "core" 1 +3 "manipulator"&% +4 "core" % Ά ) ^ +2 "storage"(& +3 "core" &K | m 2\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 312 counts + "manipulator"&>'ϲ +20 "core" ' +2 "manipulator"&& +4 "core" & i K +2 "storage"(4& +3 "core" &K h\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&%'< +22 "core" ' +2 "storage"( % +4 "core" %h ^\ +2 ."downElevator"SE.seek :down +3 "storage"(Q'N +100 (d% +2 "core" %H P\ V` +2 "manipulator"&j% +4 "core" %^ } z +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&i'\ +95 "core" ' +44 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 7 of [5..7] + #Loading generic puck from tube 7 into Collection Clamp +2 "collection"'& +4 "core" &pr$\ + "manipulator"&L% +4 "core" %\ = ` ' +2 "storage"(p% +4 "core" %7 \  + "storage"(. +3 "core" .(K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 7 + "storage"(3([ +355 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (8& +2 "core" &[ r o 4\  +2 "manipulator"&& +4 "core" & | K + .tElbow.seek 7 +2 "manipulator"&|( +19 "core" ( + "manipulator"&& +4 "core" & 0  +2 "storage"(X& +4 "core" &[ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"& 'k +102 "core" ' +2 "storage"(7& +4 "core" &[ \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"( 'e +275 "core" ' + "storage"(<- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (\ & +2 "core" &[ \  +2 "manipulator"&& +4 "core" & o p  + .tElbow.seek 7 +2 "manipulator"&z( +3 "core" ( +2 "manipulator"&~& +3 "core" & f l D  +2 "storage"(& +4 "core" &[ v\  +2 .tForearm.seek 7 + 300 counts + "manipulator"&.' +25 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +56 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"& & +2 "storage"(W'N +7 "core" & q q 3  +2 "manipulator"&U% +4 "core" % q q S +2 .tForearm.seek :retract + "manipulator"&2'\ +99 "core" ' + .tElbow.seek CC +2 "manipulator"&!( +145 "core" ( +2 "manipulator"&-& +4 "core" ' + & F 0 +2 .tElbow.reconfigure :loose +2 ."downElevator"SE.stop +3 "manipulator"&$ &.,(#b + "storage"(5 +3 "manipulator"&& +5 "core" & E 0 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&F'| +110 "core" ' + "manipulator"&b& +4 "core" & ; 0 +2 "manipulator"&f% +4 "core" %w  +2 "collection"'D& +4 "core" &pq\ +2 "collection"'^& +6 "core" &pr\ +3 .tCC.seek :closed + "collection"'B(] +5 "core" &pq\ +7 &8os\ $d +9 &hWrs\ 7 +9 &~qs\ K +10 &Ypt\ L +9 &EZos7\ L +9 &Zos!\ L +10 & Zpq\ L +9 &"[ov\ L +10 &$LYrs,\ L +9 &&[qr>\ L +9 &'Zrr;\ L +10 &)Znp?\ L +9 &+UYpr?\ L +9 &-Zpt?\ L +10 &.Yqr<\ L +9 &0\\rs7\ L +10 &2\\Zqs3\ L +9 &4Zpu0\ L +9 &5Zqr6\ L +10 &7Zpr1\ K +9 &9eZrq<\ L +9 &;(Yqs2\ K +10 &<Zqs8\ L +9 &>Yos6\ K +9 &@lZqr0\ L +10 &B.Zos;\ L +9 &C[qq2\ L +10 &EZpr0\ L +9 &Gu\\nr0\ L +9 &I2jnq7\ M +10 &Jygn3\ O +9 &L>%\ S +10 &N`/\ U +9 &P $\ V +9 &Q#\ V +10 &S|'\ W +9 &Ubhq#\ X +9 &W$X_#\ X +10 &XJM)\ Y +9 &Z5A$\ Y +9 &\\d&,%\ G +10 &]a9,\ (v +9 &]h(\ G +3 ( + "collection"'^& +3 #tCollection Clamp onSpring/offSpring for 10/26 samples, on/off torque 2.08 +2 .Hand.open + "manipulator"&:1 +57 "core" 1 +2 "manipulator"&t% +4 "core" % w < +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +97 "core" ' +2 #tLoading generic puck from tube 7 into Processing Clamp + "processing"%/& +4 "core" &G\ +2 "manipulator"&0% +4 "core" %\ 8 ' + "storage"(V% +4 "core" %< } | \  +2 "storage"(,. +3 "core" .([ + "storage"(w& +4 "core" &[ | | \  + "storage"(& +4 "core" &[ } | \  + "manipulator"&I& +4 "core" &  0 +2 "manipulator"&% +4 "core" %\ 8 $ ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 7 +2 "manipulator"&( +161 "core" ( + "manipulator"&& +4 "core" & +2 "storage"(1& +4 "core" &[ 0\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&E'k +99 "core" ' +2 "storage"(+& +54 "core" &[ J\  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(q'e +281 "core" ' + "storage"(y- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 ((& +3 "core" &[ \  + "manipulator"&$& +4 "core" & q o * +2 .tElbow.seek 7 + "manipulator"&@( +4 "core" ( + "manipulator"&n& +4 "core" & v q  + "storage"("& +4 "core" &[ \  +2 .tForearm.seek 7 + 300 counts +2 "manipulator"&{' +19 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&C/ +58 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&[& + "storage"('N +8 "core" &  + "manipulator"&M% +4 "core" %   +2 .tForearm.seek :retract +2 "manipulator"&O'\ +98 "core" ' + .tElbow.seek PC +2 "manipulator"&'(c +153 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +81 "core" ( +2 "manipulator"&6& +4 "core" &e  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &Y& +3 "core" &e G  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&c'[ +100 "core" ' + "manipulator"&K& +4 "core" &e \  +2 "manipulator"&A% +4 "core" %U  +2 "processing"%*& +4 "core" &\ +2 "processing"%}& +6 "core" &\ +2 .tPC.seek :closed +2 "processing"%l(Z +4 "core" &\ +8 &;\ #b +9 &_V!\ 7 +9 &x\ K +10 &tTK\ L +9 &5Y\ M +9 &ZF\ L +10 & ZK\ M +9 &"|R\ L +10 &$=Z\ M +9 &&YG\ L +9 &'TM\ M +10 &)YL\ M +9 &+EWG\ M +9 &-UR\ M +10 &.ZE\ M +9 &0ZN\ M +10 &2MZ\ M +9 &4T\ M +9 &5TQ\ L +10 &7US\ M +9 &9VTT\ L +9 &;WU\ L +10 &<XE\ M +9 &>ZT\ M +10 &@]UD\ M +9 &B WT\ L +9 &CUS\ M +10 &EV\ M +9 &Gc^N\ M +9 &I!gT\ O +10 &JyF\ Q +9 &LS\ S +10 &NYL\ S +9 &PQ\ S +9 &QP\ S +10 &S\ S +9 &U_L\ T +9 &W!L\ T +10 &XP\ T +9 &Z<JiE\ +~ +10 &ZZJ\ 5 +5 ( +2 "processing"%}& +4 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.64 + .Hand.open +2 "manipulator"&=1 +3 "core" &Z.@\ 5 +56 1 + "manipulator"&Z% +4 "core" % U P +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +94 "core" ' +2 "processing"%`& +4 "core" &Z.\ 5 +2 #tImaging generic puck in Processing Clamp while storing it to tube 7 + "manipulator"&v% +4 "core" %\ 1 $o + "storage"(9% +4 "core" %8 t u \  +2 "storage"(e. +3 "core" .([ + "storage"(N& +4 "core" &[ p u &\  +2 "storage"(& +4 "manipulator"&g& +3 "core" &[ t p \  + &e  +3 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +4 "storage"(#]kK-0-\ b +2 "manipulator"&$&.,(\ #b +5 .tElbow.seek PC + "manipulator"&(c +3 ."raiseStack"SE.seek :beamBreak +3 "storage"(S'e +2 "core" ( +2 "manipulator"&T& +4 "core" &e  + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &P& +2 "core" &e  +2 .tForearm.seek PC +2 "manipulator"&\\'[ +98 "core" ' +2 .tHand.close + "manipulator"&k/ +60 "core" / + .tPC.seek :open +2 "processing"%)(p +87 "core" ' +2 "storage"(- +4 "core" -'e + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +2 ."raiseStack"SE.seek :place +2 "storage"(r'B +35 "core" ' +259 ( + "storage"(o& +4 "core" &[ Z\  +2 "manipulator"&_& +4 "core" &e   + "manipulator"&m% +4 "core" % ]  +2 .tForearm.seek :retract +2 "manipulator"&5'\ +94 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 7 +2 "manipulator"&&( +245 "core" ( +2 "manipulator"&#& +4 "core" & / I +2 "storage"(u& +4 "core" &[ o o \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&H'k +96 "core" ' + .tHand.open +2 "manipulator"&?1 +53 "core" 1 +2 "storage"(x- +4 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate + "storage"(;' +27 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(' +51 "core" ' +2 #tLights, camera, ACTION! + "storage"(R- +4 "core" -' + "storage"(s& +4 "core" &[\ &\ & K\  +2 "manipulator"&& +4 "core" &  I +2 .tElbow.seek 7 + "manipulator"&( +4 "core" ( + "manipulator"&& +4 "core" &  I + "storage"(& +4 "core" &[\ \  \  +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&4'k +27 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.11 Pucks below Top Plate + "storage"( 'M +59 "core" ' +2 "manipulator"&& +4 "core" & p o b I +2 "storage"(d& +4 "core" &[ G\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 7 +2 "manipulator"&j'Ω +30 "core" ' + .tElbow.hold +2 "manipulator"&], +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.07 Pucks below Top Plate + "storage"(h'7 +24 "core" ' + "manipulator"&% +5 "core" %ν +2 "storage"(>& +4 "core" &[ X X \  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 7 + 320 counts + "manipulator"&L' +18 "core" ' +2 "manipulator"&p& +4 "core" & _ } I +2 "storage"(& +4 "core" &[ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&'k +16 "core" ' +2 "storage"(%% +4 "core" %; \  +2 ."downElevator"SE.seek :down +4 "storage"(Q'N +99 (G% +2 "core" %E t n G\ Va +2 "manipulator"&8% +4 "core" %R y {  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +92 "core" ' +56 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (& +4 "core" &[ Y m\  +2 "collection"'X& +4 "core" &]d#\ G + #tStoring generic puck in Collection Clamp to tube 7 +2 "manipulator"&7% +4 "core" %\ 1 h $s + "storage"(J% +4 "core" %? f h v\  + "storage"(i. +3 "core" .([ +2 "storage"(<& +4 "core" &[ f f \  + "storage"(\ & +4 "core" &[ i s \  +2 "manipulator"&& +4 "core" & I + .tElbow.seek 7 +2 "manipulator"&~( +3 "core" ( +2 "manipulator"&& +3 "core" & # I +2 "storage"(& +4 "core" &[ i h H\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"& 'k +94 "core" ' +2 "storage"(U& +5 "core" &[ \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(|'e +281 "core" ' +2 "storage"( - +3 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&-& +3 "core" & I +2 "storage"(& +3 "core" &[ g f g\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 7 +2 "manipulator"& 'Ω +32 "core" ' +2 .tElbow.hold + "manipulator"&., +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(b- +2 "core" -' +2 .tSE.seek 0.12 Pucks below Top Plate +2 "storage"(f'p +31 "core" ' +2 "manipulator"&D% +4 "core" %η r ] + "storage"(z& +4 "core" &[ Y Y *\  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 7 + 314 counts + "manipulator"&W' +18 "core" ' +2 "manipulator"&2& +4 "core" & g  I + "storage"( & +4 "core" &[ \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&:'k +15 "core" ' +2 .tSE.seek 1.12 Pucks below Top Plate + "storage"(t'_ +90 "core" ' +2 "manipulator"&/& +4 "core" & q o P I +2 "manipulator"&0% +4 "core" %i t z Z +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&V'\ +93 "core" ' +2 .tElbow.seek CC + "manipulator"&,( +142 "core" ( +2 "manipulator"&w& +4 "core" &  . + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &  . +2 .tForearm.seek CC + "manipulator"&^'| +96 "core" ' +2 .tHand.close + "manipulator"&I/ +58 "core" / +2 .tCC.seek :open + "collection"'(p +414 "core" ( + "storage"(F& +4 "core" &[ \  +2 "storage"(& +4 "core" &[ \  + "manipulator"&1& +4 "core" &  - + "manipulator"&+% +4 "core" % | +2 .tForearm.seek :retract + "manipulator"&!'\ +100 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 7 +2 "manipulator"&( +162 "core" ( + "manipulator"&y& +5 "core" & M  + "storage"((& +4 "core" &[ D\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 7 +2 "manipulator"&$'Ω +110 "core" ' + .tElbow.hold +2 "manipulator"&n, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&"1 +58 "core" 1 + "manipulator"&C% +5 "core" % κ   + "storage"([& +4 "core" &[ y \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 7 + 317 counts +2 "manipulator"&M' +21 "core" ' +2 "manipulator"&& +4 "core" & w _ 4  + "storage"(E& +4 "core" &[ f\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&q'k +16 "core" ' +2 "storage"({% +4 "core" %f K\ +2 ."downElevator"SE.seek :down +3 "storage"(6'N +100 (Y% +2 "core" %"E F\ V_ +2 "manipulator"&@% +4 "core" %U p q  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&K'\ +90 "core" ' +49 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 5 of [5..7] +2 #Loading generic puck from tube 5 into Collection Clamp + "collection"'A& +5 "core" &srT\ + "manipulator"&*% +4 "core" %\ 0 $u +2 "storage"(% +4 "core" %5 \  +2 "storage"(O. +3 "core" .([ +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 + "storage"(a(<< +677 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (=& +2 "core" &\ L +9 &$D\\qt?\ L +10 &&[pr<\ L +9 &'Zot>\ L +9 &)Zor>\ L +10 &+KZpr?\ L +9 &-[qt>\ L +10 &.[rs?\ L +9 &0\\pr?\ L +9 &2S[qr=\ L +9 &4\\qs;\ L +10 &5Znp=\ L +9 &7Zor2\ L +10 &9]Wqr9\ L +9 &;Zpt3\ L +9 &<Zns1\ L +10 &>Zqs:\ L +9 &@dZnr/\ L +10 &B%[pq7\ L +9 &CZpq8\ L +9 &EZqq<\ L +10 &Gk_nr2\ L +9 &I*gno7\ M +9 &J{`l1\ P +10 &L%7\ T +9 &NX2\ U +10 &P)\ V +9 &Q%\ V +9 &S#\ X +10 &UXsw*\ X +9 &Wbi%\ X +9 &XRZ(\ Z +10 &ZFJ0\ Z +9 &\\K3:,\ K +10 &][5(+)\ - +9 &]f$($\ E +5 ( +2 "collection"'x& +4 #tCollection Clamp onSpring/offSpring for 9/26 samples, on/off torque 2.08 +2 .Hand.open + "manipulator"&s1 +3 "core" &]Z%)#\ E +56 1 + "manipulator"&% +4 "core" % t / +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&'\ +92 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp +2 "processing"%& +4 "core" &F\ + "manipulator"&5% +4 "core" %\ -  "] +2 "storage"(% +3 "core" %N | | \ +2 "storage"(d. +3 "core" .(& +4 "core" &% 3 <: + "manipulator"&;% +4 "core" %\ - "] +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&p( +161 "core" ( + "manipulator"&& +5 "core" &  + "storage"(%& +4 "core" &<< \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&&' +101 "core" ' +2 "storage"(H& +4 "core" &<< \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('e +285 "core" ' +2 "storage"(G- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (8& +2 "core" &<9 i \  +2 "manipulator"&4& +3 "core" & g  +2 .tElbow.seek 5 + "manipulator"&( +4 "core" ( + "manipulator"& & +4 "core" & 9  + "storage"(j& +4 "core" &<9 \  +2 .tForearm.seek 5 + 300 counts + "manipulator"&'[ +11 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&L/ +52 "core" / +2 ."downElevator"SE.seek :down +5 "manipulator"&X& "storage"(7'N +8 "core" & s   + "manipulator"&J% +4 "core" % V o 3 +2 .tForearm.seek :retract +2 "manipulator"&i'\ +94 "core" ' +2 .tElbow.seek PC +2 "manipulator"&<(c +156 "core" ' + ."downElevator"SE.stop + "storage"(5 +90 "core" ( + "manipulator"&h& +5 "core" &j < + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &\ & +2 "core" &j +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&'[ +105 "core" ' + "manipulator"&& +5 "core" &j + "manipulator"&% +4 "core" %Y +2 "processing"%& +4 "core" &\ +2 "processing"%U& +5 "core" &\ +2 .tPC.seek :closed + "processing"%Q(Z +5 "core" &\ +6 &1\ #b +9 &bUy\ 6 +10 &{\ K +9 &oV\ M +9 &2SB\ M +10 &WM\ L +9 & WI\ M +9 &"xWL\ M +10 &$9WL\ M +9 &%U\ L +10 &'U=\ L +9 &)VI\ M +9 &+BWH\ M +10 &-ZM\ M +9 &.UP\ M +60 &0V,\ M +4 &2IU\ M +3 &4 U\ M + &5Y\ M + &7Y\ L + &9RU\ M +3 &;WQ\ M +3 &<UT\ L +8 &>XT\ M +10 &@[V*\ L +9 &BU\ M +10 &CTQ\ M +9 &EW\ M +9 &G`]N\ M +10 &IgT\ O +9 &Jy\ Q +9 &L\ S +10 &NU\ T +9 &P\ T +10 &QJ\ T +9 &S\ T +9 &U] \ T +10 &W\ T +9 &X\ U +9 &Z9Ig;\ +} +10 &Z ;$\ * +5 ( +2 "processing"%U& +4 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.64 +2 .Hand.open + "manipulator"&]1 +3 "core" &Z\ * +59 1 + "manipulator"&% +5 "core" % Y V +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"& '\ +95 "core" ' +2 "processing"%-& +4 "core" &ZD\ * +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 + "manipulator"&% +4 "core" %\ . #k +2 "storage"(b% +4 "core" %M o o\ + "storage"(D. +3 "core" .(<9 +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 + "storage"(z(<< +7 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (2& +2 "manipulator"& & +6 "core" &j + &<9 p q >\ +4 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +4 "storage"(#]kK-0-\ b + "manipulator"&/(c +6 ."raiseStack"SE.seek :beamBreak +3 "storage"(0'e +2 "core" ( + "manipulator"& & +4 "core" &j I +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &~& +3 "core" &j N +2 .tForearm.seek PC +2 "manipulator"&|'[ +99 "core" ' +2 .tHand.close + "manipulator"& / +63 "core" / +2 .tPC.seek :open + "processing"%W(p +83 "core" ' + "storage"(f- +4 "core" -'e + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place + "storage"(w'B +37 "core" ' +259 ( + "storage"(& +4 "core" &<9 \ +2 "manipulator"&:& +4 "core" &j F + "manipulator"&.% +4 "core" % _ P +2 .tForearm.seek :retract +2 "manipulator"&I'\ +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&V( +264 "core" ( + "manipulator"&B& +4 "core" & , +2 "storage"(F& +4 "core" &<9 g g 1\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&' +93 "core" ' +2 .tHand.open + "manipulator"&11 +55 "core" 1 +2 "storage"(+- +3 "core" -'B +3 .tSE.seek -0.16 Pucks below Top Plate + "storage"(y' +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.83 Pucks below Top Plate + "storage"((' +50 "core" ' +2 #tLights, camera, ACTION! + "storage"(^- +4 "core" -' + "storage"(,& +4 "core" &<8 {\ +2 "manipulator"&"& +3 "core" & + +2 .tElbow.seek 5 +2 "manipulator"&C( +3 "core" ( + "manipulator"&[& +4 "core" &  + +2 "storage"(& +4 "core" &<7 (\  +2 .tForearm.seek 5 + 450 counts + "manipulator"&E' +22 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.11 Pucks below Top Plate + "storage"({'M +62 "core" ' + "manipulator"&!& +5 "core" & 1 + + "storage"(Y& +4 "core" &<7 \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&@'/ +32 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"($'7 +22 "core" ' +2 "manipulator"&A% +4 "core" %7x g ? +2 "storage"(*& +4 "core" &<7 Y Y\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 308 counts +2 "manipulator"&M'c +16 "core" ' +2 "manipulator"&& +4 "core" &M x j k !u +2 "storage"(O& +4 "core" &<7 >\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&t' +18 "core" ' + "storage"(q% +5 "core" %< \ +2 ."downElevator"SE.seek :down +4 "storage"(6'N +98 (3% +3 "core" %F { r \ Vb +2 "manipulator"&=% +4 "core" % o n +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&Z'\ +90 "core" ' +62 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (v& +3 "core" &<7 o \\ \ \  +2 "collection"'9& +4 "core" &]Z%'G\ E +2 #tStoring generic puck in Collection Clamp to tube 5 + "manipulator"&N% +4 "core" %\ 0 $n + "storage"(n% +4 "core" %; m j K\  +2 "storage"(K. +3 "core" .(<9 + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"((<< +9 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (}& +3 "core" &<9 g f 6\  +2 "manipulator"&T& +3 "core" &M W !u +2 .tElbow.seek 5 +2 "manipulator"&c( +43 "core" ( + "manipulator"&k& +5 "core" & $ + "storage"('& +4 "core" &<9 i h |\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&' +98 "core" ' +2 "storage"(o& +4 "core" &<9 $\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(`'e +280 "core" ' +2 "storage"(e- +3 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&m& +3 "core" & 2 $ + "storage"(\\& +4 "core" &<9 f g m\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 + "manipulator"&g'/ +30 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(u- +2 "core" -' +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"('k +27 "core" ' + "manipulator"&?% +4 "core" %;o ¸# +2 "storage"(P& +4 "core" &<9 Y Y\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 312 counts + "manipulator"&l'g +19 "core" ' + "manipulator"&_& +4 "core" &B u g ' F +2 "storage"(& +4 "core" &<9 Q\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&s' +16 "core" ' +2 .tSE.seek 1.11 Pucks below Top Plate +2 "storage"('Z +50 "core" ' +2 "manipulator"&& +4 "core" &B\ r o  F +2 "manipulator"&5% +4 "core" % p r " +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +95 "core" ' +2 .tElbow.seek CC +2 "manipulator"&d( +141 "core" ( +2 "manipulator"&x& +4 "core" &  T / + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &   / +2 .tForearm.seek CC + "manipulator"&>'| +98 "core" ' + .tHand.close +2 "manipulator"&;/ +56 "core" / +2 .tCC.seek :open +2 "collection"'#(p +410 "core" ( + "storage"(& +4 "core" &<9 \  +2 "storage"(%& +3 "core" &<9 q\  +2 "manipulator"&a& +4 "core" &  / + "manipulator"&H% +4 "core" % z p +2 .tForearm.seek :retract + "manipulator"&S'\ +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&( +155 "core" ( + "manipulator"&G& +5 "core" &  + "storage"(8& +4 "core" &<9 R\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 5 +2 "manipulator"&4'/ +109 "core" ' + .tElbow.hold +2 "manipulator"& , +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&j1 +62 "core" 1 +44 "manipulator"&L% +12 "core" % C L b +2 "storage"(X& +4 "core" &<9 \  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 320 counts + "manipulator"&J'o +18 "core" ' +2 "manipulator"&p& +4 "core" &8 _ v ,  +2 "storage"(&& +3 "core" &<9 H\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&' +10 "core" ' +2 "storage"(% +4 "core" %_ \ +2 ."downElevator"SE.seek :down +4 "storage"(h'N +98 (\ % +3 "core" %$D i\ V_ +2 "manipulator"&% +4 "core" % o o  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +92 "core" ' +50 ' + ."downElevator"SE.stop +2 "storage"(5 +2 #tShuffling pucks in tube 6 of [5..7] +2 #Loading generic puck from tube 6 into Collection Clamp + "collection"'& +5 "core" &qr<\ + "manipulator"&% +4 "core" %\ 3 %v +2 "storage"(7% +4 "core" %; H\  +2 "storage"(i. +3 "core" .(<9 +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"()(K +352 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (]& +3 "core" &K e\  + "manipulator"&& +4 "core" &8  +2 .tElbow.seek 6 + "manipulator"&-( +14 "core" ( +2 "manipulator"&& +4 "core" &  + "storage"(b& +4 "core" &K \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&D'< +100 "core" ' + "storage"(U& +5 "core" &K Z\  + .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(2'e +291 "core" ' + "storage"( - +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 ( & +2 "core" &K <\  +2 "manipulator"&~& +4 "core" &   + .tElbow.seek 6 +2 "manipulator"&( +3 "core" ( +2 "manipulator"& & +4 "core" & 1  + "storage"(r& +4 "core" &K \  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&f'Ϧ +10 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&\ L +10 &-Zqq>\ L +9 &.Zos?\ L +9 &0\\qr:\ L +10 &2a[tq?\ M +9 &4%Zps6\ L +10 &5Yor>\ L +9 &7Zor>\ L +9 &9lYrs>\ L +10 &;.Yps8\ L +9 &<Ypq6\ L +14 &>Zos6\ L +5 &@sZqr2\ L +12 &B5Zor<\ L +7 &C[rq<\ L +9 &E[oq6\ L +9 &Gz`mp8\ L +10 &I7hpq8\ N +9 &J~Zi=\ P +9 &L3\ U +10 &Nf0\ V +9 &P'7\ V +10 &Q6\ V +9 &S~/\ W +9 &Ugmw \ X +10 &W*`f"\ X +9 &XOV)\ Y +9 &ZAI-\ Z +10 &\\k07,\ F +9 &]`6 &,\ - +9 &]p!!)\ L +3 ( + "collection"'+& +4 #tCollection Clamp onSpring/offSpring for 10/26 samples, on/off torque 2.09 + .Hand.open + "manipulator"&,1 +57 "core" 1 +2 "manipulator"&"% +5 "core" % ς + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&['\ +92 "core" ' + #tLoading generic puck from tube 6 into Processing Clamp +2 "processing"%& +4 "core" & \ +2 "manipulator"&I% +3 "core" %\ - + "X +2 "storage"(!% +4 "core" %4 } } \  + "storage"(Y. +3 "core" .(K + "storage"(w& +4 "core" &K } } \  +2 "storage"(A& +4 "core" &K | | \  + "manipulator"&*& +4 "core" &$ j << +2 "manipulator"&y% +3 "core" %\ - "X +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 + "manipulator"&( +169 "core" ( + "manipulator"&O& +5 "core" & I + "storage"(q& +4 "core" &K U\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&V'< +93 "core" ' +2 "storage"(& +4 "core" &K !\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(('e +278 "core" ' + "storage"(3- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (=& +2 "core" &K \  +2 "manipulator"&E& +4 "core" &  I + .tElbow.seek 6 +2 "manipulator"&C( +3 "core" ( +2 "manipulator"&{& +3 "core" &  I +2 "storage"(@& +4 "core" &K \  +2 .tForearm.seek 6 + 300 counts + "manipulator"&v'Ϧ +22 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&M/ +63 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&9& +2 "storage"(N'N +8 "core" & o u w I + "manipulator"&n% +4 "core" % Ϫ o n ! +2 .tForearm.seek :retract +2 "manipulator"&K'\ +89 "core" ' +2 .tElbow.seek PC +2 "manipulator"&$(c +165 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +81 "core" ( +2 "manipulator"&}& +5 "core" &j R + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &T& +2 "core" &j - +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&k'[ +95 "core" ' + "manipulator"&'& +5 "core" &j Z + "manipulator"&t% +4 "core" %Q   +2 "processing"%o& +4 "core" &\ +2 "processing"%6& +4 "core" &\ +2 .tPC.seek :closed +2 "processing"%z(Z +5 "core" &\  +9 &4}\ *y +9 &e~I\ > +10 &_rX\ M +9 &#UO\ M +9 &[K\ M +10 &W\ M +9 &!jU\ L +9 &#,S\ L +10 &$U\ L +9 &&W7\ L +10 &(qY!\ M +9 &*3WI\ M +9 &+T@\ L +10 &-WI\ L +9 &/x\\O\ M +9 &1<VP\ L +10 &2ZM\ M +9 &4T?\ L +10 &6VS\ L +9 &8CYU\ M +9 &:WD\ M +10 &;TQ\ M +9 &=YT\ M +9 &?K[Q\ M +10 &A WT\ M +9 &BU\ M +10 &DW\ M +9 &FS[;\ M +9 &HeS\ N +10 &Ir,\ P +9 &K*\ R +10 &MGA\ S +9 &O S\ S +9 &PT\ T +10 &RS\ T +9 &TN\ T +9 &VL\ T +10 &W\ T +9 &YN\ A +10 &Z3T\ V +9 &Z$K\ / +2 ( +2 "processing"%6& +3 #tProcessing Clamp onSpring/offSpring for 9/25 samples, on/off torque 1.68 + .Hand.open +2 "manipulator"&1 +63 "core" 1 + "manipulator"&Z% +5 "core" % Q  + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&e'\ +96 "core" ' +2 "processing"%m& +4 "core" &Z#P\ / +2 #tImaging generic puck in Processing Clamp while storing it to tube 6 + "manipulator"&\\% +4 "core" %\ 3 A %{ + "storage"(u% +4 "core" %C p u\  + "storage"(?. +3 "core" .(K +2 "storage"(P& +4 "core" &K t p\  + "storage"(_& +3 "manipulator"&& +8 "core" &K p t\  + &j ' +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +2 "storage"(#]kK-0-\ b +2 .tElbow.seek PC +4 "manipulator"&(c +4 ."raiseStack"SE.seek :beamBreak +2 "storage"(5'e +2 "core" ( +2 "manipulator"&& +4 "core" &j D + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &c& +3 "core" &j 8 +2 .tForearm.seek PC + "manipulator"&`'[ +95 "core" ' + .tHand.close +2 "manipulator"&g/ +58 "core" / +2 .tPC.seek :open + "processing"%l(p +92 "core" ' +2 "storage"(- +3 "core" -'e + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +52 ."raiseStack"SE.seek :place +3 "storage"(x'B +35 "core" ' +204 ( + "storage"(& +4 "core" &K \  +2 "manipulator"&s& +4 "core" &j h + "manipulator"&% +4 "core" % _  +2 .tForearm.seek :retract +2 "manipulator"&;'\ +96 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 + "manipulator"&( +265 "core" ( +2 "manipulator"&R& +4 "core" & +2 "storage"(& +4 "core" &K f g r\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&%'< +105 "core" ' +2 .tHand.open + "manipulator"&a1 +60 "core" 1 +2 "storage"(H- +3 "core" -'B +3 .tSE.seek -0.16 Pucks below Top Plate + "storage"(G' +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(8' +49 "core" ' +2 #tLights, camera, ACTION! + "storage"(>- +4 "core" -' + "storage"(d& +4 "core" &K\ &\ # &\  +2 "manipulator"&j& +4 "core" & p o 9 +2 .tElbow.seek 6 + "manipulator"&L( +7 "core" ( +2 "manipulator"&X& +3 "core" & ] s @ +2 "storage"(p& +4 "core" &K\ \  S\  +3 .tForearm.seek 6 + 450 counts + "manipulator"&&'< +10 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"(S'M +62 "core" ' + "manipulator"&& +4 "core" & p o  +2 "storage"(\ & +4 "core" &K 9\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 + "manipulator"&'z +31 "core" ' +2 .tElbow.hold + "manipulator"&, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate + "storage"(4'7 +24 "core" ' +2 "manipulator"&% +4 "core" %Ά u +2 "storage"(& +4 "core" &K X X =\  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 6 + 312 counts + "manipulator"&7'ϲ +19 "core" ' + "manipulator"&J& +4 "core" & ^ t  +2 "storage"(i& +4 "core" &K \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&'< +16 "core" ' +2 "storage"(% +5 "core" %= 0\ +2 ."downElevator"SE.seek :down +4 "storage"(h'N +99 (% +2 "core" %%I f f \ Wb +2 "manipulator"&]% +4 "core" %6 o n +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&'\ +94 "core" ' +57 ' + ."downElevator"SE.stop + "storage"(5 +3 (& +4 "core" &K Y n\  + "collection"'b& +4 "core" &]c#,\ L +2 #tStoring generic puck in Collection Clamp to tube 6 + "manipulator"&U% +4 "core" %\ : b ( + "storage"( % +4 "core" %< y m A\  +2 "storage"(. +3 "core" .(K + "storage"( & +5 "core" &K h h <\  + "storage"( & +4 "core" &K h f ?\  + "manipulator"&~& +4 "core" & +2 .tElbow.seek 6 + "manipulator"& ( +4 "core" ( + "manipulator"&r& +4 "core" & P +2 "storage"(<& +3 "core" &K m h \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"& '< +105 "core" ' +2 "storage"(& +4 "core" &K +\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(-'e +281 "core" ' +2 "storage"(D- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&.& +3 "core" & p o + "storage"(|& +4 "core" &K k\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&2'z +35 "core" ' + .tElbow.hold +2 "manipulator"&f, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(F- +2 "core" -' +3 .tSE.seek 0.12 Pucks below Top Plate + "storage"(/'t +32 "core" ' + "manipulator"&% +4 "core" %΄q ~ ' +2 "storage"(1& +4 "core" &K Y Y\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 310 counts + "manipulator"&Q'ϰ +20 "core" ' +2 "manipulator"&0& +4 "core" & X t n +2 "storage"(#& +3 "core" &K @\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&,'< +16 "core" ' +2 .tSE.seek 1.12 Pucks below Top Plate +2 "storage"("'c +40 "core" ' +2 "manipulator"&& +4 "core" & n o  +2 "manipulator"&I% +3 "core" %7 o o +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&!'\ +91 "core" ' +2 .tElbow.seek CC + "manipulator"&Y( +170 "core" ( +2 "manipulator"&w& +4 "core" &3 ` . + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &A& +2 "core" &3 U . +2 .tForearm.seek CC +2 "manipulator"&+'| +104 "core" ' + .tHand.close +2 "manipulator"&*/ +53 "core" / +2 .tCC.seek :open +2 "collection"'y(p +152 "Can" %RO +261 "core" ( + "storage"(B& +4 "core" &K M\  +2 "storage"(O& +4 "core" &K \  + "manipulator"&q& +4 "core" &3 L . + "manipulator"&% +4 "core" % z  +2 .tForearm.seek :retract + "manipulator"&:'\ +94 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&[( +156 "core" ( + "manipulator"&3& +4 "core" & K  +2 "storage"(=& +4 "core" &K K\  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 6 +2 "manipulator"&E'z +110 "core" ' +2 .tElbow.hold + "manipulator"&{, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&@1 +57 "core" 1 +2 "manipulator"&M% +4 "core" % ΅ # b l +2 "storage"(9& +4 "core" &K +\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 311 counts + "manipulator"&n'ϱ +18 "core" ' +2 "manipulator"&& +4 "core" & ^ v 1  +2 "storage"(V& +4 "core" &K \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&('< +16 "core" ' +2 "storage"(v% +4 "core" %h 3\ +2 ."downElevator"SE.seek :down +3 "storage"(}'N +100 (T% +2 "core" % E +\ V_ +2 "manipulator"&C% +4 "core" %8 p o +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&''\ +95 "core" ' +49 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 7 of [5..7] + #Loading generic puck from tube 7 into Collection Clamp +2 "collection"'t& +4 "core" &pq/\ + "manipulator"&o% +4 "core" %\ 8 ' +2 "storage"(N% +4 "core" %D y\  + "storage"(K. +3 "core" .(K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 7 + "storage"(W([ +348 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (& +2 "core" &[ @\  +2 "manipulator"&Z& +4 "core" &  + .tElbow.seek 7 +2 "manipulator"&m( +16 "core" ( + "manipulator"&\\& +4 "core" &  +2 "storage"(u& +4 "core" &[ *\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&?'k +98 "core" ' + "storage"(P& +5 "core" &[ \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(6'e +280 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +2 (_& +3 "core" &[ d\  +2 "manipulator"&& +3 "core" & ,  +2 .tElbow.seek 7 +51 "manipulator"&c( +3 "core" ( +2 "manipulator"&k& +3 "core" & ;  +2 "storage"(g& +4 "core" &[ ?\  +2 .tForearm.seek 7 + 300 counts + "manipulator"&' +11 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&$/ +58 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&e& +2 "storage"(z'N +7 "core" & q o   + "manipulator"&% +5 "core" % p q  S +2 .tForearm.seek :retract + "manipulator"&s'\ +95 "core" ' +2 .tElbow.seek CC +2 "manipulator"&( +149 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +20 "core" ( +2 "manipulator"&5& +4 "core" &" M :* + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &`& +3 "core" &" Y :* +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&R'| +100 "core" ' + "manipulator"&& +4 "core" &"  9) +2 "manipulator"&% +4 "core" %f / +2 "collection"'a& +4 "core" &qr\ +2 "collection"'H& +5 "core" &ru\ +2 .tCC.seek :closed + "collection"'>(] +5 "core" &ps\ +7 &?sr\ $e +9 &mWqt\ 7 +10 &}os\ K +9 &Wqt\ L +9 &IZss\ L +10 &\ Zrr\ L +9 & \\os\ L +10 &"Zru\ L +9 &$PYrs\ L +9 &&Zps\ L +10 &'Zrq\ L +9 &)Wrr3\ L +9 &+ZYot?\ L +10 &-Yqq=\ L +9 &.[rr?\ L +10 &0[qs=\ L +9 &2`Zqq?\ L +9 &4"[qt?\ L +10 &5Ypr?\ L +9 &7Zpq>\ L +9 &9iYoq=\ L +10 &;+Ynq>\ L +9 &<Yqs7\ L +10 &>Zqq>\ L +9 &@qYsq?\ L +9 &B3Zqr?\ L +10 &CZps>\ L +9 &EZrs<\ L +9 &Gw]qq?\ M +10 &I8cpq?\ M +9 &Jsjo:\ O +10 &LB>\ S +9 &Ne:\ U +9 &P%8\ V +10 &Q2\ V +9 &S6\ W +9 &Ugpy7\ X +10 &W(_f<\ X +9 &XMS+\ Z +10 &Z<@-\ Z +9 &\\g'2/\ G +9 &]^3 *\ . +10 &]4\ X +2 ( +2 "collection"'H& +3 #tCollection Clamp onSpring/offSpring for 10/26 samples, on/off torque 2.09 + .Hand.open + "manipulator"&d1 +64 "core" 1 + "manipulator"&j% +4 "core" % f S +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&X'\ +97 "core" ' +2 #tLoading generic puck from tube 7 into Processing Clamp + "processing"%p& +4 "core" &A\ +2 "manipulator"&;% +4 "core" %\ ; [ ( + "storage"(% +4 "core" %7 Y Y\  + "storage"(\ . +3 "core" .([ +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 7 +2 "storage"(x([ +6 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (& +3 "core" &[   \  +2 "manipulator"&& +4 "core" &! _ 9) + "manipulator"&G% +4 "core" %\ : S ( +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 7 +2 "manipulator"&J( +152 "core" ( + "manipulator"&i& +5 "core" & O + "storage"(& +4 "core" &[ v t -\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&'k +98 "core" ' +2 "storage"(%& +4 "core" &[ \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(8'e +280 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (]& +2 "core" &[ s p J\  +2 "manipulator"&&& +4 "core" & o p + .tElbow.seek 7 +2 "manipulator"&L( +3 "core" ( + "manipulator"&S& +4 "core" & v r # +2 "storage"(& +3 "core" &[ } | \  +2 .tForearm.seek 7 + 300 counts +2 "manipulator"&' +34 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&7/ +54 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&b& +2 "storage"(U'N +7 "core" & t q +2 "manipulator"& % +4 "core" % U B +2 .tForearm.seek :retract + "manipulator"&'\ +93 "core" ' +2 .tElbow.seek PC + "manipulator"& (c +160 "core" ' + ."downElevator"SE.stop + "storage"(5 +80 "core" ( +2 "manipulator"&4& +4 "core" &m `  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 & & +3 "core" &m  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&~'[ +104 "core" ' + "manipulator"&r& +5 "core" &m w  + "manipulator"&<% +4 "core" %N +2 "processing"%& +4 "core" &\ +2 "processing"%& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%h(Z +4 "core" &\  +9 &3}\ )w +9 &d\ > +10 &Hq\ M +9 & TO\ M +9 &Z\ M +10 &Y\ M +9 &!QU\ M +10 &#S\ L +9 &$Y\ M +9 &&WG\ L +10 &(ZUR\ L +9 &*UP\ M +9 &+XI\ L +10 &-VH\ M +9 &/`\\S\ M +10 &1$V9\ L +9 &2WS\ M +9 &4XT\ M +10 &6iY,\ M +9 &8+ZS\ M +9 &9YD\ L +10 &;VT\ L +9 &=rWT\ L +9 &?3YL\ M +10 &@WS\ M +9 &BW*\ M +10 &Dx[\ M +9 &F;Y\ M +9 &GaO\ N +10 &In+\ O +9 &KsS\ Q +10 &M/Q\ S +9 &NS\ S +9 &PT\ S +10 &RtT\ T +9 &T6E\ T +9 &US\ T +10 &W+\ T +9 &YzR\ A +10 &Zv:\ _ +9 &Z1N\ 3 +2 ( +2 "processing"%& +3 #tProcessing Clamp onSpring/offSpring for 9/25 samples, on/off torque 1.66 + .Hand.open +2 "manipulator"&1 +60 "core" 1 + "manipulator"&% +4 "core" % N = +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&D'\ +95 "core" ' + "processing"%.& +4 "core" &Z)\ 3 +2 #tImaging generic puck in Processing Clamp while storing it to tube 7 + "manipulator"&|% +4 "core" %\ 3  %w +2 "storage"(F% +3 "core" %M [ [\  +2 "storage"(. +3 "core" .([ +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 7 +2 "storage"(1([ +3 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (0& +4 "core" &[   z\  + "manipulator"&#& +3 ."raiseStack"SE.reconfigure :place +5 "storage"(#]kK-0-\ b +3 ."raiseStack"SE.seek :beamBreak +2 "storage"('e +3 "core" &m K  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +2 "manipulator"&I(c +2 "core" ( +2 "manipulator"& & +4 "core" &m <  + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 & & +3 "core" &m   +2 .tForearm.seek PC +2 "manipulator"&-'[ +101 "core" ' +2 .tHand.close + "manipulator"&2/ +61 "core" / +2 .tPC.seek :open +2 "processing"%Q(p +68 "core" ' +2 "storage"(/- +3 "core" -'e + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(w'B +35 "core" ' +277 ( +2 "storage"(A& +4 "core" &[ v v <\  + "manipulator"&,& +4 "core" &m ~  + "manipulator"&f% +4 "core" % g +2 .tForearm.seek :retract + "manipulator"&*'\ +100 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 7 + "manipulator"&!( +257 "core" ( + "manipulator"&^& +4 "core" &  % +2 "storage"(B& +4 "core" &[ Y Z\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&O'k +96 "core" ' +2 .tHand.open +2 "manipulator"&q1 +62 "core" 1 +2 "storage"(- +3 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate +2 "storage"(3' +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.83 Pucks below Top Plate + "storage"(=' +53 "core" ' +2 #tLights, camera, ACTION! + "storage"(+- +4 "core" -' + "storage"(Y& +4 "core" &[ d\  + "manipulator"&@& +4 "core" & p % +2 .tElbow.seek 7 + "manipulator"&M( +4 "core" ( + "manipulator"&9& +4 "core" & : % + "storage"(& +4 "core" &[ `\  +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&V'k +20 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.11 Pucks below Top Plate + "storage"(v'M +59 "core" ' +2 "manipulator"&:& +4 "core" & r o C % + "storage"(T& +5 "core" &[ u v -\  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +51 .tForearm.reconfigure :loose +5 "manipulator"&#Q@2^d^b +2 .tForearm.seek 7 +2 "manipulator"&C'Ω +33 "core" ' + .tElbow.hold +2 "manipulator"&[, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.07 Pucks below Top Plate + "storage"(E'7 +24 "core" ' + "manipulator"&t% +5 "core" %η   + "storage"(n& +4 "core" &[ E E \  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 7 + 314 counts + "manipulator"&o' +21 "core" ' + "manipulator"&N& +5 "core" & t | 2 % +2 "storage"(K& +4 "core" &[ | k \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&"'k +19 "core" ' +2 "storage"((% +4 "core" %< x p b\  +2 ."downElevator"SE.seek :down +4 "storage"(}'N +99 ()% +3 "core" %G O X \ Wc +2 "manipulator"&% +3 "core" %j p n   +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&Z'\ +86 "core" ' +61 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (\\& +3 "core" &[ X R l\  +2 "collection"'u& +4 "core" &] /\ X +2 #tStoring generic puck in Collection Clamp to tube 7 + "manipulator"&P% +4 "core" %\ + !W +2 "storage"({% +3 "core" %C p s\  +2 "storage"('. +3 "core" .([ + "storage"(& +4 "core" &[ ` v \  +2 "storage"(_& +4 "core" &[ t j k\  +2 "manipulator"&& +3 "core" & % +2 .tElbow.seek 7 +2 "manipulator"&k( +3 "core" ( +2 "manipulator"&g& +4 "core" & : % + "storage"($& +4 "core" &[ u p M\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&e'k +92 "core" ' + "storage"(& +5 "core" &[ | | \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(m'e +279 "core" ' + "storage"(?- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&5& +3 "core" & ? % + "storage"(`& +4 "core" &[ h q |\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 7 + "manipulator"&6'Ω +31 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(- +2 "core" -' +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(c'n +28 "core" ' + "manipulator"&% +5 "core" %η , v + "storage"(a& +4 "core" &[ B 8 h\  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 7 + 314 counts +2 "manipulator"&z' +18 "core" ' + "manipulator"&s& +5 "core" & w i  % + "storage"(y& +4 "core" &[ z s `\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts + "manipulator"&d'k +17 "core" ' +2 .tSE.seek 1.11 Pucks below Top Plate +2 "storage"(j'] +40 "core" ' + "manipulator"&p& +5 "core" & q o % + "manipulator"&;% +4 "core" %p n y +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&'\ +93 "core" ' +2 .tElbow.seek CC +2 "manipulator"&\ ( +159 "core" ( + "manipulator"&H& +5 "core" &, Bk + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &, Bk +2 .tForearm.seek CC + "manipulator"&'| +105 "core" ' + .tHand.close +2 "manipulator"&G/ +63 "core" / + .tCC.seek :open +2 "collection"'R(p +410 "core" ( +2 "storage"(i& +4 "core" &[ c\  + "storage"(& +4 "core" &[ f\  + "manipulator"&W& +4 "core" &/%  <= + "manipulator"&%% +4 "core" % n  x +2 .tForearm.seek :retract +2 "manipulator"&'\ +90 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 7 +2 "manipulator"&X( +156 "core" ( +2 "manipulator"&& +4 "core" & l +2 "storage"(]& +4 "core" &[ \  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 7 +2 "manipulator"&&'Ω +106 "core" ' +2 .tElbow.hold + "manipulator"&S, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&1 +54 "core" 1 +2 "manipulator"&7% +4 "core" % ι k +2 "storage"(b& +4 "core" &[ y k C\  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 7 + 316 counts +2 "manipulator"& ' +22 "core" ' +2 "manipulator"&J& +4 "core" & f n S +2 "storage"(& +4 "core" &[ U\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&8'k +17 "core" ' +2 "storage"(% +4 "core" %c ^\ +2 ."downElevator"SE.seek :down +3 "storage"(4'N +100 ( % +2 "core" %4F 6\ V` +2 "manipulator"&L% +4 "core" %` p p ! +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&r'\ +92 "core" ' +47 ' + ."downElevator"SE.stop +2 "storage"(5 +2 #tShuffling pucks in tube 5 of [5..7] +2 #Loading generic puck from tube 5 into Collection Clamp +2 "collection"'<& +4 "core" &ss\\\ + "manipulator"&% +4 "core" %\ 5 & +2 "storage"(U% +4 "core" %> J\  +2 "storage"(. +3 "core" .([ + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"(l(<< +674 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (& +2 "core" &\ L +9 &+X\\qs\ L +9 &-Yqt2\ K +10 &.\\rs>\ L +9 &0Zrs?\ L +10 &2a[pr>\ L +9 &4#Zqr?\ L +9 &5\\pt=\ L +10 &7Zqs?\ L +9 &9iVrt?\ L +9 &;+Ypr@\ L +10 &<]ss?\ L +9 &>Zps>\ K +10 &@pZps<\ L +9 &B3Zqs;\ L +9 &C[qr>\ L +10 &E[rs<\ L +9 &Gx^ps?\ L +9 &I4kmq?\ N +10 &J|bl=\ P +9 &L%;\ T +10 &Nd;\ U +9 &P$7\ V +53 &Q.\ V +3 &S6\ W +5 &Ugpy-\ W + &W&`g1\ X + &XTZ,\ Y + &ZEL6\ Z +3 &\\f4<1\ G +8 &]c8(,(\ (w +9 &]l%'+\ K +3 ( + "collection"'& +3 #tCollection Clamp onSpring/offSpring for 10/26 samples, on/off torque 2.10 +2 .Hand.open + "manipulator"&Y1 +57 "core" 1 +2 "manipulator"&@% +5 "core" % p  t + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&9'\ +95 "core" ' + #tLoading generic puck from tube 5 into Processing Clamp +2 "processing"%& +4 "core" & \ +2 "manipulator"&*% +4 "core" %\ 3 # %~ + "storage"(:% +4 "core" %@ o n\  +2 "storage"(T. +3 "core" .( +9 &Hr\ N +10 & T\ L +9 &Z\ M +9 &T\ L +10 &!RW\ M +9 &#R\ L +9 &$UG\ L +10 &&ZI\ M +9 &([XS\ L +10 &*UI\ L +9 &+X\ M +9 &-T>\ M +10 &/aWS\ M +9 &1$VM\ M +9 &2ZM\ M +10 &4XF\ M +9 &6iWJ\ M +10 &8,UP\ M +9 &9TT\ L +9 &;VT\ M +10 &=rYT\ M +9 &?4[R\ M +9 &@WT\ M +10 &BWT\ M +9 &DyUT\ M +10 &F;XU\ M +9 &GcD\ N +9 &ImB\ O +10 &KtT\ Q +9 &M0T\ S +9 &NE\ S +10 &PS\ S +9 &RvS\ S +10 &T8U\ S +9 &US\ T +9 &WE\ T +10 &Y{S\ B +9 &Zx9N\ ^ +9 &ZK\ + +3 ( + "processing"%& +4 #tProcessing Clamp onSpring/offSpring for 9/25 samples, on/off torque 1.65 + .Hand.open + "manipulator"&[1 +57 "core" 1 +2 "manipulator"&Z% +4 "core" % ] d +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&?'\ +96 "core" ' + "processing"%5& +4 "core" &Z\ + +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 + "manipulator"&`% +4 "core" %\ -  "] +2 "storage"(% +3 "core" %N v r $\  +2 "storage"(. +3 "core" .(<< + "storage"(a& +4 "core" &<9 u p X\  +2 "storage"(s& +4 "manipulator"&y& +4 "core" &<9 o o \  + &j ' +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +3 "storage"(#]kK-0-\ b + .tElbow.seek PC +4 "manipulator"&p(c +4 ."raiseStack"SE.seek :beamBreak +2 "storage"(;'e +2 "core" ( +2 "manipulator"&e& +3 "core" &j | +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &k& +3 "core" &j v +2 .tForearm.seek PC +2 "manipulator"&m'[ +100 "core" ' +2 .tHand.close + "manipulator"&6/ +55 "core" / +2 .tPC.seek :open +2 "processing"%z(p +88 "core" ' +2 "storage"(c- +3 "core" -'e +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(H'B +36 "core" ' +253 ( + "storage"(& +5 "core" &<9 u U\  + "manipulator"&d& +4 "core" &j a + "manipulator"&% +4 "core" % a _ +2 .tForearm.seek :retract +2 "manipulator"&G'\ +99 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&( +260 "core" ( + "manipulator"&>& +5 "core" &  * + "storage"(i& +4 "core" &<9 v v [\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&' +98 "core" ' +2 .tHand.open + "manipulator"&W1 +60 "core" 1 +2 "storage"(%- +3 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate +2 "storage"(' +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(]' +50 "core" ' + #tLights, camera, ACTION! +2 "storage"(- +3 "core" -' +2 "storage"(\ & +4 "core" &<7 s\ + "manipulator"&& +4 "core" & * +2 .tElbow.seek 5 + "manipulator"&7( +4 "core" ( + "manipulator"&b& +4 "core" & * + "storage"(J& +4 "core" &<7 \ +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&' +20 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.11 Pucks below Top Plate + "storage"('M +59 "core" ' + "manipulator"&& +5 "core" & + * + "storage"( & +4 "core" &<7 \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 + "manipulator"&L'/ +30 "core" ' +2 .tElbow.hold + "manipulator"&X, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.07 Pucks below Top Plate + "storage"(&'7 +25 "core" ' +2 "manipulator"&<% +4 "core" %? d e +2 "storage"(& +4 "core" &<7 * ) 5\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 316 counts + "manipulator"& 'k +19 "core" ' + "manipulator"&U& +5 "core" &K h ? k + "storage"(& +4 "core" &<7 \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&j' +22 "core" ' +2 "storage"(8% +4 "core" %: \ +2 ."downElevator"SE.seek :down +4 "storage"(4'N +98 (1% +3 "core" %C w v t\ Vb +2 "manipulator"&% +4 "core" % q o  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +95 "core" ' +55 ' + ."downElevator"SE.stop + "storage"(5 +3 (|& +4 "core" &<7 N j \ + "collection"'F& +4 "core" &]m&%0\ K +2 #tStoring generic puck in Collection Clamp to tube 5 + "manipulator"&% +4 "core" %\ 8 ' + "storage"(S% +5 "core" %7 o p\  + "storage"(r. +3 "core" .(<< + "storage"(#& +4 "core" &<7 p o \ +2 "storage"( & +4 "core" &<7 o t \ + "manipulator"& & +4 "core" &K K k +2 .tElbow.seek 5 + "manipulator"&2( +23 "core" ( + "manipulator"&/& +5 "core" & +  + "storage"( & +4 "core" &<7 | | F\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&D' +112 "core" ' +2 "storage"(& +54 "core" &<7 d\ +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(.'e +276 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&f& +3 "core" & o o <  + "storage"(-& +4 "core" &<7 \ \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&0'/ +31 "core" ' +2 .tElbow.hold +2 "manipulator"&x, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(B- +3 "core" -' +2 .tSE.seek 0.11 Pucks below Top Plate + "storage"(I'n +28 "core" ' +2 "manipulator"&q% +4 "core" %?s r ) + "storage"(~& +4 "core" &<7 * 1\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 316 counts + "manipulator"&h'k +17 "core" ' + "manipulator"&A& +5 "core" &# s v  x + "storage"(R& +4 "core" &<7 =\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&Y' +20 "core" ' +2 .tSE.seek 1.11 Pucks below Top Plate +2 "storage"(@'] +40 "core" ' +2 "manipulator"&& +4 "core" &# q o  x +2 "manipulator"&*% +4 "core" % o o  ( +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&:'\ +91 "core" ' +2 .tElbow.seek CC + "manipulator"&T( +161 "core" ( +2 "manipulator"&& +4 "core" &*  @Z + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &3& +2 "core" &* o @Z +2 .tForearm.seek CC +2 "manipulator"&t'| +98 "core" ' + .tHand.close +2 "manipulator"&n/ +58 "core" / +2 .tCC.seek :open + "collection"'^(p +410 "core" ( +2 "storage"(!& +4 "core" &<7 Z\ + "storage"(K& +4 "core" &<7 \ + "manipulator"&l& +4 "core" &# ;8 + "manipulator"&(% +4 "core" % ρ +2 .tForearm.seek :retract +2 "manipulator"&,'\ +91 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&9( +161 "core" ( +2 "manipulator"&)& +4 "core" &\  )  + "storage"(& +4 "core" &<7 z\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 5 + "manipulator"&V'/ +109 "core" ' +2 .tElbow.hold + "manipulator"&v, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&C1 +59 "core" 1 +2 "manipulator"&o% +4 "core" % C ` + "storage"(u& +4 "core" &<7 g i \ + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 5 + 320 counts + "manipulator"&{'o +16 "core" ' + "manipulator"&N& +5 "core" &* i O _ y + "storage"(O& +4 "core" &<7 \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&=' +20 "core" ' +2 "storage"(\\% +4 "core" %b \ +2 ."downElevator"SE.seek :down +4 "storage"(E'N +98 (_% +3 "core" %F @\ V^ +2 "manipulator"&M% +5 "core" % p p  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&g'\ +97 "core" ' +41 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 6 of [5..7] +2 #Loading generic puck from tube 6 into Collection Clamp + "collection"'$& +4 "core" &rs^\ +2 "manipulator"&"% +4 "core" %\ 6 & + "storage"(P% +4 "core" %6 7\  +2 "storage"('. +3 "core" .(<< +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"(Q(K +353 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 ([& +2 "core" &K U\  +2 "manipulator"&Z& +4 "core" &* y +2 .tElbow.seek 6 + "manipulator"&5( +37 "core" ( +2 "manipulator"&`& +4 "core" &\ ~ \\ +2 "storage"(& +3 "core" &K 8\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&'< +98 "core" ' + "storage"(a& +4 "core" &K t\  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(s'e +279 "core" ' +2 "storage"(y- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" &K V\  + "manipulator"&e& +4 "core" &\ 5 \\ +2 .tElbow.seek 6 + "manipulator"&k( +3 "core" ( +2 "manipulator"&& +3 "core" &\ G \\ +2 "storage"(6& +3 "core" &K L\  +3 .tForearm.seek 6 + 300 counts +2 "manipulator"&c'Ϧ +20 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +63 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&?& +2 "storage"(}'N +8 "core" &\  \\ + "manipulator"&% +4 "core" % ϔ   +2 .tForearm.seek :retract + "manipulator"&d'\ +99 "core" ' + .tElbow.seek CC +2 "manipulator"&;( +145 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +11 "core" ( + "manipulator"&& +5 "core" & s N + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &m& +3 "core" & N +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&>'| +105 "core" ' +2 "manipulator"&i& +5 "core" & N + "manipulator"&p% +5 "core" %v + "collection"'W& +4 "core" &sr\ +2 "collection"'%& +5 "core" &po\ +2 .tCC.seek :closed +2 "collection"'(] +4 "core" &rt\  +10 &4qq\ *y +9 &eqt \ > +9 &Zrqr\ M +10 &Zps\ L +9 &\\ps\ L +9 &\\rr\ L +10 &!d[qs\ L +9 &#&Zqr\ L +10 &$Zqq\ L +9 &&Znt\ L +9 &(lZrt6\ L +10 &*/Zpq?\ L +9 &+\\pt>\ L +9 &-Yot?\ L +10 &/tYqr>\ L +9 &16Zqt?\ L +10 &2Zpp>\ L +9 &4YqtA\ L +9 &6}Yor?\ L +10 &8>\\qs?\ L +9 &:Yqq@\ L +10 &;Wrs;\ L +9 &=Ztu7\ L +9 &?F\\oq=\ L +10 &AZqs>\ L +9 &BZqq:\ L +9 &DZosB\ L +10 &FN[qr=\ L +9 &Hcpq8\ M +9 &Islo=\ N +10 &KC_=\ Q +9 &M;<\ U +10 &N=\ V +9 &P=\ W +9 &R{?\ W +10 &T<{;\ X +9 &Ulp+\ X +9 &WZb<\ Y +10 &YzNS8\ Z +9 &[<<C0\ Z +10 &\\y,22\ / +9 &]*#'1\ M +12 ( +2 &]^$%*\ D + "collection"'%& +4 #tCollection Clamp onSpring/offSpring for 9/25 samples, on/off torque 2.14 + .Hand.open +6 "manipulator"&\ 1 +60 "core" 1 + "manipulator"&% +5 "core" % o J +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&b'\ +97 "core" ' + #tLoading generic puck from tube 6 into Processing Clamp +2 "processing"%J& +3 "core" &\ +2 "manipulator"&G% +4 "core" %\ 3 l %w +2 "storage"(% +4 "core" %8 W\  + "storage"( . +3 "core" .(K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 + "storage"(H(K +5 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (<& +3 "core" &K ^ Z (\  +2 "manipulator"&& +4 "core" & , N + "manipulator"&% +4 "core" %\ 3  %w +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 + "manipulator"&U( +149 "core" ( + "manipulator"&& +5 "core" & \ + "storage"(8& +4 "core" &K \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&'< +101 "core" ' +2 "storage"(& +4 "core" &K \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(]'e +281 "core" ' + "storage"(1- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +2 "core" &K f f _\  +2 "manipulator"&& +4 "core" &  \ + .tElbow.seek 6 +2 "manipulator"&7( +3 "core" ( + "manipulator"&& +4 "core" &  \ +2 "storage"(L& +3 "core" &K \  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&|'Ϧ +20 "core" ' +2 .tForearm.reconfigure :loose +50 "manipulator"&#Q@2^d^b +4 .tHand.close + "manipulator"& / +57 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&F& +2 "storage"('N +7 "core" & G \ +2 "manipulator"&S% +4 "core" % ϧ K +2 .tForearm.seek :retract + "manipulator"&r'\ +93 "core" ' +2 .tElbow.seek PC +2 "manipulator"&#(c +160 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +79 "core" ( + "manipulator"&&& +4 "core" &m b $ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 & & +2 "core" &m $ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC + "manipulator"& '[ +103 "core" ' + "manipulator"&/& +4 "core" &m ` $ +2 "manipulator"& % +4 "core" %X +2 "processing"%j& +4 "core" &\ +2 "processing"%& +5 "core" &\ +2 .tPC.seek :closed + "processing"%4(Z +5 "core" &\ +7 &A\ $d +9 &sX\ 7 +10 &{\ L +9 &W\ M +10 &NX\ M +9 &U\ L +9 & VN\ M +10 &"WB\ L +9 &$WZ\ L +9 &&Y\ M +10 &'W\ M +9 &)T\ L +10 &+^T6\ M +9 &-!Y\ L +9 &.\\H\ M +10 &0T \ M +9 &2fZQ\ M +9 &4(W\ M +10 &5TN\ L +9 &7W\ L +10 &9oXN\ L +9 &;0U\ M +9 &<U\ L +10 &>X\ L +9 &@wX\ L +9 &B8X\ M +10 &CZ\ M +9 &E\\\ M +10 &G{a\ N +9 &I9k\ O +9 &J}?\ Q +10 &LS\ S +9 &NqT\ T +9 &P3T\ T +10 &QQ\ S +9 &SE\ T +10 &UyT\ T +9 &W:-\ T +9 &XB\ T +10 &ZSGg\ )x +9 &Z+\ ) +5 ( +2 "processing"%& +4 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.63 +2 .Hand.open + "manipulator"&X1 +4 "core" &Z\ ) +55 1 + "manipulator"&% +5 "core" % X ! + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +100 "core" ' +2 "processing"%f& +4 "core" &Z\ \ ) +2 #tImaging generic puck in Processing Clamp while storing it to tube 6 + "manipulator"&-% +4 "core" %\ 4 & + "storage"(B% +4 "core" %M | y ;\  + "storage"(q. +3 "core" .(K +2 "storage"(~& +4 "core" &K n o ;\  + "storage"(A& +3 "manipulator"&R& +7 "core" &K n n\  + &m O $ +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +3 "storage"(#]kK-0-\ b +2 "manipulator"&(c +7 ."raiseStack"SE.seek :beamBreak + "storage"(*'e +3 "core" ( + "manipulator"&D& +4 "core" &m $ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &2& +2 "core" &m  $ +2 .tForearm.seek PC +2 "manipulator"&.'[ +94 "core" ' +2 .tHand.close + "manipulator"&0/ +52 "core" / +2 .tPC.seek :open + "processing"%h(p +97 "core" ' +2 "storage"(I- +3 "core" -'e +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('B +35 "core" ' +249 ( + "storage"(3& +5 "core" &K \  + "manipulator"&Y& +4 "core" &m  $ + "manipulator"&x% +4 "core" % X +2 .tForearm.seek :retract +2 "manipulator"&n'\ +95 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&:( +257 "core" ( +2 "manipulator"&+& +4 "core" & % + "storage"(!& +4 "core" &K o r #\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&K'< +98 "core" ' +2 .tHand.open + "manipulator"&l1 +65 "core" 1 + "storage"((- +4 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate +2 "storage"()' +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.83 Pucks below Top Plate + "storage"(' +53 "core" ' + #tLights, camera, ACTION! +2 "storage"(t- +3 "core" -' +2 "storage"(T& +4 "core" &K\ \  \  + "manipulator"&C& +4 "core" & % +2 .tElbow.seek 6 + "manipulator"&o( +4 "core" ( + "manipulator"&u& +4 "core" & 0 % + "storage"(N& +4 "core" &K\ \ \  +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&O'< +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"(\\'M +62 "core" ' +2 "manipulator"&,& +4 "core" &  % +2 "storage"(_& +3 "core" &K k i C\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 6 + "manipulator"&M'z +30 "core" ' + .tElbow.hold +2 "manipulator"&9, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"(V'7 +25 "core" ' + "manipulator"&$% +5 "core" %Έ Y + "storage"("& +4 "core" &K Y Y\  +2 .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 6 + 314 counts +2 "manipulator"&{'ϴ +18 "core" ' +2 "manipulator"&P& +4 "core" & h N % +2 "storage"('& +4 "core" &K \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&@'< +23 "core" ' + "storage"(=% +5 "core" %< \ +2 ."downElevator"SE.seek :down +3 "storage"(E'N +100 (w% +2 "core" %M z | 6\ Wc +2 "manipulator"&[% +4 "core" %d o r 0 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&Z'\ +91 "core" ' +63 ' + ."downElevator"SE.stop + "storage"(5 +3 (`& +4 "core" &K z u '\  + "collection"'& +4 "core" &]]!$O\ D +2 #tStoring generic puck in Collection Clamp to tube 6 + "manipulator"&a% +4 "core" %\ 4 %y +2 "storage"(v% +3 "core" %N { | 9\ +2 "storage"(g. +3 "core" .(K + "storage"(y& +4 "core" &K j w C\  + "storage"(& +4 "core" &K c u \  +2 "manipulator"&e& +4 "core" & % + .tElbow.seek 6 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&6& +4 "core" & % + "storage"(& +4 "core" &K | k \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&?'< +97 "core" ' +2 "storage"(& +4 "core" &K \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(5'e +278 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +2 "manipulator"&& +3 "core" &  % +2 "storage"(m& +4 "core" &K p p ^\  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&s'z +34 "core" ' + .tElbow.hold +2 "manipulator"&c, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(i- +2 "core" -' +3 .tSE.seek 0.12 Pucks below Top Plate + "storage"(p't +32 "core" ' + "manipulator"&k% +4 "core" %Έk i ķ +2 "storage"(W& +4 "core" &K 7 7 L\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 314 counts + "manipulator"&}'ϴ +24 "core" ' + "manipulator"&d& +4 "core" & l y K % +2 "storage"(^& +4 "core" &K 1\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&\ '< +16 "core" ' +2 .tSE.seek 1.12 Pucks below Top Plate +2 "storage"('c +40 "core" ' +2 "manipulator"&J& +4 "core" & p o \\ % +2 "manipulator"&G% +4 "core" %; p n  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +90 "core" ' + .tElbow.seek CC +2 "manipulator"& ( +151 "core" ( +2 "manipulator"&%& +4 "core" &&  =E + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &<& +2 "core" && W =E +2 .tForearm.seek CC +2 "manipulator"&'| +95 "core" ' + .tHand.close +2 "manipulator"&/ +55 "core" / +50 .tCC.seek :open +3 "collection"'>(p +413 "core" ( +2 "storage"(& +4 "core" &K \  + "storage"(8& +4 "core" &K \  + "manipulator"&Q& +4 "core" &" q :, + "manipulator"&% +4 "core" % ϐ +2 .tForearm.seek :retract +2 "manipulator"&;'\ +94 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&b( +174 "core" ( +2 "manipulator"&1& +4 "core" &  +2 "storage"(& +4 "core" &K \  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 6 +2 "manipulator"&'z +108 "core" ' +2 .tElbow.hold + "manipulator"&, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&L1 +64 "core" 1 +2 "manipulator"& % +4 "core" % Ό 7 : j +2 "storage"(F& +4 "core" &K f r p\  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 6 + 318 counts + "manipulator"&S'ϸ +17 "core" ' + "manipulator"&U& +4 "core" & _ w 4  +2 "storage"(& +4 "core" &K d\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&]'< +16 "core" ' +2 "storage"(|% +4 "core" %j ^\ +2 ."downElevator"SE.seek :down +4 "storage"(&'N +99 ( % +2 "core" %$G 5\ V_ +2 "manipulator"&7% +4 "core" %: p o  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&/'\ +91 "core" ' +48 ' + ."downElevator"SE.stop +2 "storage"(5 +2 #tShuffling pucks in tube 7 of [5..7] +2 #Loading generic puck from tube 7 into Collection Clamp + "collection"' & +5 "core" &rsA\ + "manipulator"&j% +4 "core" %\ 3 %y +2 "storage"(% +4 "core" %8 K\  + "storage"(r. +3 "core" .(K +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 7 +2 "storage"(z([ +350 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (X& +2 "core" &[ } } \  +2 "manipulator"&& +3 "core" &  +2 .tElbow.seek 7 +2 "manipulator"&f( +17 "core" ( + "manipulator"&-& +5 "core" &  + "storage"(B& +4 "core" &[ K\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&q'k +97 "core" ' + "storage"(~& +4 "core" &[ \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"('e +278 "core" ' + "storage"(A- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (R& +3 "core" &[ f\  + "manipulator"&D& +4 "core" &   +2 .tElbow.seek 7 + "manipulator"&2( +3 "core" ( +2 "manipulator"& & +4 "core" & i  + "storage"(0& +4 "core" &[ \  +2 .tForearm.seek 7 + 300 counts +2 "manipulator"&I' +16 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&#/ +57 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& +2 "storage"(4'N +8 "core" & o p   +2 "manipulator"&3% +3 "core" % p o +2 .tForearm.seek :retract +2 "manipulator"&Y'\ +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"&x( +151 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +11 "core" ( + "manipulator"&*& +5 "core" & k + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &.& +3 "core" & d k +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&+'| +104 "core" ' + "manipulator"&!& +4 "core" & ~ k +2 "manipulator"&% +4 "core" %w  + "collection"'l& +4 "core" &qs\ +2 "collection"'(& +5 "core" &pt\ +3 .tCC.seek :closed + "collection"'t(] +5 "core" &qs\ +7 &8rs\ \ $d +9 &eV}pu \ 6 +10 &pq\ K +9 &w\\pt\ L +9 &:Yms\ L +10 &Zps\ L +9 & Zqr\ L +9 &"\\qs\ L +10 &$BYqs\ L +9 &&[os/\ K +10 &'Zpr\ L +9 &)ZrsP\ L +9 &+JYrt+\ L +10 &- ]qs;\ L +9 &.\\qr?\ L +9 &0[or@\ L +10 &2R[qu?\ L +9 &4\\or?\ L +10 &5]qs;\ L +9 &7\\os;\ K +9 &9ZYqs?\ L +10 &;Yst?\ K +9 &<Zqr=\ K +9 &>Zrr=\ L +10 &@aZqs@\ L +9 &B#[pt>\ L +10 &CZpq@\ L +9 &EZrr:\ L +9 &Gh]or>\ L +10 &I'enp<\ M +9 &Jsio>\ O +9 &LC=\ S +10 &NT:\ V +9 &P=\ V +10 &Q=\ W +9 &S|<\ W +9 &UVkr?\ X +10 &WY`=\ X +9 &XKS1\ [ +9 &Z:C0\ Z +10 &\\X(12\ G +9 &]`<!.\ $m +10 &] -\ U +5 ( + "collection"'(& +5 #tCollection Clamp onSpring/offSpring for 10/26 samples, on/off torque 2.09 + .Hand.open + "manipulator"&T1 +4 "core" &]}2\ U +49 1 +2 "manipulator"&C% +4 "core" % c  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&u'\ +97 "core" ' +2 #tLoading generic puck from tube 7 into Processing Clamp +2 "processing"%N& +4 "core" &\ + "manipulator"&n% +4 "core" %\ 3  %y +2 "storage"(,% +4 "core" %8 y o \  + "storage"(_. +3 "core" .([ +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 7 +2 "storage"($([ +2 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (& +4 "core" &[+ A @ \  + "manipulator"&"& +4 "core" & K k +2 "manipulator"&)% +4 "core" %\ 3 %y +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 7 +2 "manipulator"&P( +154 "core" ( +2 "manipulator"&'& +4 "core" & \ + "storage"(=& +4 "core" &[ | | a\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&:'k +105 "core" ' + "storage"(K& +4 "core" &[ \\\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"('e +279 "core" ' +2 "storage"(w- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +2 ([& +3 "core" &[ s \  +2 "manipulator"&O& +3 "core" & q o  \ +2 .tElbow.seek 7 + "manipulator"&o( +4 "core" ( + "manipulator"&\\& +4 "core" & w q  \ + "storage"(M& +4 "core" &[ f f W\  +2 .tForearm.seek 7 + 300 counts + "manipulator"&{' +25 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&`/ +59 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& + "storage"(a'N +8 "core" & v } " \ + "manipulator"&v% +4 "core" % r o ) +2 .tForearm.seek :retract +2 "manipulator"&g'\ +91 "core" ' +2 .tElbow.seek PC + "manipulator"&V(c +163 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +80 "core" ( + "manipulator"&y& +4 "core" &k f +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &k +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&e'[ +103 "core" ' +2 "manipulator"&6& +4 "core" &k + "manipulator"&% +4 "core" %^ +2 "processing"%@& +4 "core" &\ +2 "processing"%& +5 "core" &\ +2 .tPC.seek :closed + "processing"%E(Z +4 "core" &\  +9 &2~\ )w +9 &c\ = +9 &Es\ N +10 &\ R\ L +9 &W\ L +9 &V\ L +10 &!PX\ L +9 &#W\ L +10 &$U\ L +9 &&Z\ M +9 &(WW\ M +10 &*T\ L +9 &+U\ L +9 &-V\ L +10 &/^[\ M +9 &1"W \ L +10 &2X#\ L +9 &4T\ M +9 &6gT\ M +10 &8)Y\ M +9 &9W\ M +9 &;U\ L +10 &=oY\ M +9 &?1W\ M +10 &@Y\ M +9 &BV\ M +9 &DxW\ L +10 &F8Y\ M +9 &Gc\ N +9 &Im\ O +10 &Kq\ Q +9 &M.\ S +10 &N\ T +9 &P\ S +9 &Rs\ S +10 &T5\ S +9 &U\ T +9 &W\ T +10 &Yx?\ A +9 &Zx<\ Y +10 &Z\ ) +2 ( + "processing"%& +4 #tProcessing Clamp onSpring/offSpring for 9/25 samples, on/off torque 1.67 + .Hand.open + "manipulator"&91 +60 "core" 1 +2 "manipulator"&Z% +4 "core" % ^ B +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +94 "core" ' +52 "processing"%& +4 "core" &Z\ ) +2 #tImaging generic puck in Processing Clamp while storing it to tube 7 + "manipulator"&m% +4 "core" %\ 0 q $q + "storage"(i% +4 "core" %K b Y\  + "storage"(k. +3 "core" .([ +2 "storage"(W& +4 "core" &[ Y Y\  + "storage"(d& +5 "manipulator"&^& +4 "core" &[ f c\  + &k _ +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +2 "storage"(#]kK-0-\ b +2 .tElbow.seek PC +4 "manipulator"&J(c +4 ."raiseStack"SE.seek :beamBreak +2 "storage"(G'e +2 "core" ( + "manipulator"&?& +5 "core" &k \\ + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &k B +2 .tForearm.seek PC + "manipulator"&5'[ +95 "core" ' +2 .tHand.close + "manipulator"&s/ +62 "core" / + .tPC.seek :open +2 "processing"%}(p +87 "core" ' +2 "storage"(p- +3 "core" -'e + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(%'B +47 "core" ' +247 ( + "storage"(<& +4 "core" &[ } w \  +2 "manipulator"&\ & +4 "core" &k } + "manipulator"&c% +4 "core" % c '  +2 .tForearm.seek :retract +2 "manipulator"&'\ +96 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 7 +2 "manipulator"&( +248 "core" ( + "manipulator"&& +4 "core" & = +2 "storage"(& +4 "core" &[ X X\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&8'k +96 "core" ' +2 .tHand.open + "manipulator"&Q1 +61 "core" 1 +2 "storage"(- +4 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate +2 "storage"(1' +23 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.83 Pucks below Top Plate + "storage"(' +53 "core" ' +2 #tLights, camera, ACTION! + "storage"(- +4 "core" -' + "storage"( & +4 "core" &[ e\  +2 "manipulator"&L& +4 "core" &  = + .tElbow.seek 7 +2 "manipulator"& ( +3 "core" ( +2 "manipulator"&F& +4 "core" & G = + "storage"(U& +4 "core" &[ \  +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&'k +3 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.11 Pucks below Top Plate + "storage"(|'M +61 "core" ' +2 "manipulator"&;& +4 "core" & : = +2 "storage"( & +4 "core" &[ | q a\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 7 + "manipulator"&7'Ω +31 "core" ' + .tElbow.hold +2 "manipulator"&b, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"('7 +22 "core" ' +2 "manipulator"& % +4 "core" %θ # +2 "storage"(j& +4 "core" &[ 6 6 \  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 7 + 315 counts + "manipulator"&S' +19 "core" ' + "manipulator"&& +5 "core" & { u < + "storage"(r& +4 "core" &[ w \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&'k +22 "core" ' + "storage"(]% +5 "core" %9 \  +2 ."downElevator"SE.seek :down +4 "storage"(&'N +98 (H% +3 "core" %E c ` E\ Wc +2 "manipulator"&X% +3 "core" %Љ o z O +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +87 "core" ' +65 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (-& +4 "core" &[ Z S `\  +2 "collection"'B& +4 "core" &]}!L\ U + #tStoring generic puck in Collection Clamp to tube 7 +2 "manipulator"&~% +4 "core" %\ + !U + "storage"(% +4 "core" %? o x\  +2 "storage"(/. +3 "core" .([ + "storage"(A& +4 "core" &[ t p \  + "storage"(R& +4 "core" &[ p t\  +2 "manipulator"&D& +4 "core" & < +2 .tElbow.seek 7 + "manipulator"& ( +3 "core" ( +2 "manipulator"&0& +4 "core" & f < + "storage"(#& +4 "core" &[ y q\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&'k +107 "core" ' +2 "storage"(3& +4 "core" &[ I\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(f'e +280 "core" ' +2 "storage"(q- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&*& +3 "core" & r q R < + "storage"(.& +4 "core" &[ m m 4\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 7 + "manipulator"&'Ω +34 "core" ' + .tElbow.hold +2 "manipulator"&I, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(!- +2 "core" -' +2 .tSE.seek 0.12 Pucks below Top Plate +2 "storage"('o +28 "core" ' + "manipulator"&2% +4 "core" %θ & u +2 "storage"(l& +4 "core" &[ ; 7 ;\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 7 + 315 counts + "manipulator"&4' +19 "core" ' + "manipulator"&Y& +5 "core" & | \\ 7 < + "storage"(>& +4 "core" &[ g h f\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&T'k +17 "core" ' +2 .tSE.seek 1.12 Pucks below Top Plate +2 "storage"(C'^ +40 "core" ' + "manipulator"&N& +4 "core" & o y ` < +2 "manipulator"&n% +4 "core" %g m p 5 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&,'\ +92 "core" ' + .tElbow.seek CC +2 "manipulator"&_( +156 "core" ( + "manipulator"&(& +5 "core" &( . ?P +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &( f ?P +2 .tForearm.seek CC + "manipulator"&"'| +102 "core" ' +2 .tHand.close + "manipulator"&)/ +55 "core" / +2 .tCC.seek :open + "collection"'+(p +414 "core" ( + "storage"('& +4 "core" &[ \  +2 "storage"(=& +3 "core" &[ \  +2 "manipulator"&z& +3 "core" &" 3 :. +2 "manipulator"&K% +3 "core" % i  +2 .tForearm.seek :retract +2 "manipulator"&x'\ +100 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 7 + "manipulator"&u( +167 "core" ( +5 "manipulator"&w& +8 "core" & W @ +2 "storage"([& +5 "core" &[ \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 7 + "manipulator"&O'Ω +112 "core" ' + .tElbow.hold +2 "manipulator"&\\, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&M1 +56 "core" 1 +3 "manipulator"&`% +4 "core" % ζ * % | + "storage"(& +4 "core" &[ f f q\  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 7 + 313 counts +2 "manipulator"&v' +20 "core" ' + "manipulator"&P& +5 "core" & ` s 9 ? + "storage"(:& +4 "core" &[ \\\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&'k +19 "core" ' + "storage"({% +4 "core" %d ~\ +2 ."downElevator"SE.seek :down +3 "storage"(y'N +100 (% +2 "core" %!F \ V_ +2 "manipulator"&o% +4 "core" %G | z q  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&6'\ +91 "core" ' +48 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 5 of [5..7] +42 #Loading generic puck from tube 5 into Collection Clamp +10 "collection"'& +4 "core" &ps\ +2 "manipulator"&@% +4 "core" %\ 8 ~ %x +2 "storage"(a% +3 "core" %5 L\  +2 "storage"(g. +3 "core" .([ +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"(h(<< +680 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (9& +3 "core" &oq \ $f +9 &nXqs\ 7 +9 &~pr\ L +10 &Wpq\ L +9 &K[ps\ L +9 & Zrs\ L +10 & Zpr\ L +9 &"[pr\ L +9 &$TVpr\ L +10 &&[pq&\ L +9 &'Zps\ L +10 &)[pt\ L +9 &+]Zot\ K +9 &-Zor]\ L +10 &.[qr%\ L +9 &0[qq#\ L +9 &2d[qs\ L +10 &4%_qr4\ L +9 &5Zpr\ L +10 &7]qt5\ L +9 &9mYpt\ K +9 &;.Zoq0\ L +10 &<]pr=\ L +9 &>[oq?\ L +9 &@sZqs@\ L +10 &B5[rr=\ L +9 &C\\pr8\ L +10 &E[ot>\ K +9 &Gz_pq>\ L +9 &I7imqB\ N +10 &J}ak@\ P +9 &L%?\ T +9 &Ng@\ U +10 &P&<\ W +9 &Q?\ V +10 &S;\ X +9 &Uhrz4\ X +9 &W(dj>\ Y +10 &XU[?\ ] +9 &ZCL:\ Z +9 &\\i4<9\ G +10 &]b6).;\ ){ +9 &]c&(;\ H +3 ( + "collection"'& +3 #tCollection Clamp onSpring/offSpring for 9/26 samples, on/off torque 2.12 +2 .Hand.open + "manipulator"& 1 +63 "core" 1 +2 "manipulator"&L% +4 "core" % r ~ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&F'\ +93 "core" ' + #tLoading generic puck from tube 5 into Processing Clamp +2 "processing"%U& +4 "core" &\ + "manipulator"&% +4 "core" %\ -  "` +2 "storage"(;% +4 "core" %? i h \  + "storage"( . +3 "core" .( +10 &Ds\ N +9 & T\ L +9 &Z\ M +10 &W\ M +9 &!NU\ M +10 &#U\ M +9 &$S\ L +9 &&U\ M +10 &(WY\ L +9 &*Y\ M +9 &+V<\ M +10 &-T\ M +9 &/^\\D\ M +9 &1!Z\ L +10 &2W@\ L +9 &4Y$\ L +10 &6fU\ M +9 &8'X\ M +9 &9T\ L +10 &;V\ L +9 &=nU\ M +10 &?0W\ M +9 &@W\ M +9 &BU\ M +10 &DvV\ M +9 &F7W\ M +9 &Ga\ N +10 &In\ O +9 &Ko\ R +9 &M-\ S +10 &N\ T +9 &P\ S +10 &Rq\ T +9 &T3\ T +9 &U\ T +10 &W \ T +9 &Yx\ A +9 &Z{>\ V +10 &Z\ ( +2 ( +2 "processing"%3& +3 #tProcessing Clamp onSpring/offSpring for 9/25 samples, on/off torque 1.67 + .Hand.open +2 "manipulator"&b1 +63 "core" 1 + "manipulator"&% +5 "core" % \\ # + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&q'\ +97 "core" ' + "processing"%*& +5 "core" &Z\ ( + #tImaging generic puck in Processing Clamp while storing it to tube 5 +2 "manipulator"&.% +3 "core" %\ 8 E ' +2 "storage"(!% +4 "core" %5 o o\  + "storage"(2. +3 "core" .(<9 +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 5 +3 "storage"(l(<< +6 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (Y& +3 "core" &<9 g ^ \ +3 "manipulator"&>& + ."raiseStack"SE.reconfigure :place +6 "storage"(#]kK-0-\ b +2 "core" &g F +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +3 ."raiseStack"SE.seek :beamBreak +2 "manipulator"&N(c + "storage"(n'e +5 "core" ( +2 "manipulator"&& +4 "core" &g ? + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 & & +3 "core" &g v +2 .tForearm.seek PC +2 "manipulator"&f'[ +94 "core" ' +2 .tHand.close + "manipulator"&/ +58 "core" / +2 .tPC.seek :open +2 "processing"%4(p +90 "core" ' +2 "storage"(- +3 "core" -'e +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(('B +38 "core" ' +252 ( +2 "storage"(& +4 "core" &<9 \ + "manipulator"&T& +4 "core" &g E +2 "manipulator"&I% +3 "core" % b   +2 .tForearm.seek :retract +2 "manipulator"&)'\ +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&,( +254 "core" ( +2 "manipulator"&t& +4 "core" & | % + "storage"('& +4 "core" &<9 { x \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +53 .tForearm.seek 5 + 450 counts +2 "manipulator"&=' +98 "core" ' + .tHand.open + "manipulator"&z1 +55 "core" 1 +2 "storage"(K- +4 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate +2 "storage"(w' +28 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.83 Pucks below Top Plate + "storage"([' +51 "core" ' +2 #tLights, camera, ACTION! + "storage"("- +4 "core" -' + "storage"(_& +4 "core" &<8 \ +2 "manipulator"&M& +4 "core" & m % +2 .tElbow.seek 5 + "manipulator"&`( +4 "core" ( + "manipulator"&& +4 "core" & % +2 "storage"(P& +3 "core" &<8 l\ +3 .tForearm.seek 5 + 450 counts + "manipulator"&:' +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.11 Pucks below Top Plate + "storage"({'M +62 "core" ' + "manipulator"&x& +5 "core" & x % + "storage"(& +4 "core" &<7 } ~ R\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 5 + "manipulator"&o'/ +32 "core" ' +2 .tElbow.hold + "manipulator"&u, +5 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"(O'7 +27 "core" ' +2 "manipulator"&% +4 "core" %6r s ¹. +2 "storage"(v& +4 "core" &<7 - 3 \  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 5 + 307 counts + "manipulator"&C'b +17 "core" ' +2 "manipulator"&@& +4 "core" &> j  M +2 "storage"(a& +4 "core" &<7 \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&g' +18 "core" ' +2 "storage"(% +4 "core" %: *\ +2 ."downElevator"SE.seek :down +3 "storage"(y'N +100 ($% +2 "core" %D | } n\ Va +2 "manipulator"&9% +4 "core" % o x T  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&Z'\ +95 "core" ' +58 ' + ."downElevator"SE.stop + "storage"(5 +3 (& +4 "core" &<7 m Y\  + "collection"'m& +4 "core" &]_%'_\ H +2 #tStoring generic puck in Collection Clamp to tube 5 + "manipulator"&k% +4 "core" %\ 8 ' +2 "storage"(\\% +3 "core" %A } } \  +2 "storage"(6. +3 "core" .(<9 +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 + "storage"(^(<< +10 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (d& +4 "core" &<9 \\ ^ >\  + "manipulator"&?& +4 "core" &> M +2 .tElbow.seek 5 + "manipulator"&e( +44 "core" ( +2 "manipulator"&s& +4 "core" & "} + "storage"(V& +5 "core" &<9 ~ } \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&' +101 "core" ' +2 "storage"(<& +4 "core" &<9 x *\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"('e +276 "core" ' + "storage"(i- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&c& +3 "core" & "} +2 "storage"(5& +3 "core" &<9 j f &\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&W'/ +24 "core" ' +2 .tElbow.hold + "manipulator"&p, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(- +2 "core" -' +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(J'k +30 "core" ' + "manipulator"&Q% +5 "core" %B a l + "storage"(& +4 "core" &<9 Y Y\  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 5 + 319 counts +2 "manipulator"&E'n +16 "core" ' +2 "manipulator"&G& +4 "core" &@ i c 6 + "storage"(+& +4 "core" &<9 @\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"& ' +17 "core" ' +2 .tSE.seek 1.11 Pucks below Top Plate +2 "storage"(L'Z +51 "core" ' + "manipulator"&U& +4 "core" &@ q q ( 6 +2 "manipulator"&% +4 "core" % q q 5 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&;'\ +90 "core" ' +2 .tElbow.seek CC + "manipulator"& ( +142 "core" ( +2 "manipulator"&& +4 "core" & Y - + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &j& +3 "core" & $ - +2 .tForearm.seek CC +2 "manipulator"&%'| +105 "core" ' +2 .tHand.close + "manipulator"&/ +61 "core" / +2 .tCC.seek :open + "collection"'(p +410 "core" ( +2 "storage"(r& +4 "core" &<9 ;\  + "storage"(]& +4 "core" &<9 \  + "manipulator"&h& +4 "core" &  - + "manipulator"&8% +4 "core" % s * +2 .tForearm.seek :retract +2 "manipulator"&\ '\ +90 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tElbow.seek 5 +8 "manipulator"&F( +157 "core" ( +2 "manipulator"&H& +4 "core" &\  # \ +2 "storage"(X& +4 "core" &<9 \  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 5 +2 "manipulator"&'/ +107 "core" ' + .tElbow.hold +2 "manipulator"&|, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&71 +58 "core" 1 +2 "manipulator"&-% +4 "core" % @   + "storage"(B& +4 "core" &<9 \  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 5 + 317 counts + "manipulator"&'l +16 "core" ' +2 "manipulator"&1& +5 "core" &1 u r   + "storage"(& +4 "core" &<9 b\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&' +19 "core" ' +2 "storage"(S% +4 "core" %_ \ +2 ."downElevator"SE.seek :down +3 "storage"('N +100 (R% +2 "core" %I .\ Wb +2 "manipulator"& % +4 "core" % o o   +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&0'\ +95 "core" ' +47 ' + ."downElevator"SE.stop +2 "storage"(5 +2 #tShuffling pucks in tube 6 of [5..7] +2 #Loading generic puck from tube 6 into Collection Clamp + "collection"'#& +5 "core" &rt\ + "manipulator"&% +4 "core" %\ 3 i %} +2 "storage"(~% +4 "core" %; E\  + "storage"(/. +3 "core" .(<9 +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 + "storage"(}(K +353 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (b& +2 "core" &K \  +2 "manipulator"&& +4 "core" &1  + .tElbow.seek 6 +2 "manipulator"&*( +13 "core" ( + "manipulator"&.& +4 "core" & z  +2 "storage"(!& +4 "core" &K 8\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&2'< +103 "core" ' + "storage"(3& +4 "core" &K I\  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(Y'e +279 "core" ' +2 "storage"(>- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +2 "core" &K u\  +2 "manipulator"& & +4 "core" &   + .tElbow.seek 6 +2 "manipulator"&D( +3 "core" ( + "manipulator"&& +4 "core" & H  + "storage"( & +4 "core" &K 8\  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&'Ϧ +10 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&A/ +53 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&q& +2 "storage"(&'N +7 "core" & o o E  +51 "manipulator"&% +4 "core" % Ϯ q t j = +2 .tForearm.seek :retract +2 "manipulator"&T'\ +94 "core" ' + .tElbow.seek CC +2 "manipulator"&n( +98 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +64 "core" ( +2 "manipulator"&I& +4 "core" &* ^ @Z +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &f& +3 "core" &* % @Z +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&t'| +98 "core" ' +2 "manipulator"&'& +5 "core" &* k @Y + "manipulator"&N% +4 "core" %z o +2 "collection"'z& +4 "core" &rs\ +2 "collection"'K& +5 "core" &ps\ +2 .tCC.seek :closed +2 "collection"'"(] +4 "core" &pt\ +8 &8rr\ \ $d +9 &lWrr\ 7 +10 &|sq\ K +9 &Wpr\ L +10 &FZpq\ L +9 &Zrt\ L +9 & Zss\ L +10 &"[ps\ L +9 &$NZqs\ L +9 &&[ps\ L +10 &'Zrr\ L +9 &)Zrt\ L +9 &+WYot\ L +10 &-Xpr\ L +9 &.[ps\ L +10 &0[rr\ L +9 &2^Zrs\ L +9 &4 [qr\ L +10 &5Yrs9\ L +9 &7\\st?\ L +9 &9hYrt@\ K +10 &;(Zut?\ L +9 &<Yrs?\ L +10 &>Zpu?\ L +9 &@oZsqA\ L +9 &B1Zot9\ L +10 &CZss7\ L +9 &EZqs;\ L +9 &Gu_rr>\ L +10 &I2hnp3\ N +9 &J}^i@\ P +10 &L;\ T +9 &Na@\ V +9 &P!;\ W +10 &Q4\ W +9 &S@\ W +9 &Ubnt<\ X +10 &W%`h2\ X +9 &XTY6\ Z +10 &ZBJ5\ [\ +9 &\\e097\ G +9 &]c9")6\ 'v +10 &]m"#8\ J +2 ( +2 "collection"'K& +3 #tCollection Clamp onSpring/offSpring for 10/26 samples, on/off torque 2.12 + .Hand.open +2 "manipulator"&_1 +60 "core" 1 +2 "manipulator"&M% +4 "core" % z v +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +92 "core" ' +2 #tLoading generic puck from tube 6 into Processing Clamp + "processing"%P& +4 "core" &\ +2 "manipulator"&)% +4 "core" %\ -  "_ + "storage"(x% +4 "core" %5 | } \  +2 "storage"(. +3 "core" .(K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"(((K +3 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (& +3 "core" &K [ Y C\  +2 "manipulator"&v& +4 "core" &' x >N + "manipulator"&w% +4 "core" %\ - # "_ +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 + "manipulator"&@( +172 "core" ( +2 "manipulator"&a& +4 "core" & s  +2 "storage"(& +4 "core" &K $\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&,'< +110 "core" ' +2 "storage"(=& +25 "core" &K L\  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(['e +280 "core" ' +2 "storage"($- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (9& +2 "core" &K \  +2 "manipulator"&:& +4 "core" & p p  +2 .tElbow.seek 6 + "manipulator"&`( +3 "core" ( +2 "manipulator"&{& +4 "core" & v s   + "storage"(o& +4 "core" &K \  +2 .tForearm.seek 6 + 300 counts + "manipulator"&'Ϧ +18 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&C/ +59 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&m& +2 "storage"(k'N +7 "core" & ?  +2 "manipulator"&\\% +4 "core" % υ ? C +2 .tForearm.seek :retract + "manipulator"&6'\ +94 "core" ' +2 .tElbow.seek PC + "manipulator"&O(c +159 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +83 "core" ( + "manipulator"&d& +5 "core" &m  + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &?& +3 "core" &m +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&s'[ +101 "core" ' + "manipulator"&V& +5 "core" &m + "manipulator"&g% +4 "core" %d +2 "processing"%<& +4 "core" &\ +2 "processing"%y& +5 "core" &\ +2 .tPC.seek :closed + "processing"%l(Z +4 "core" &\  +9 &1{\ )w +10 &d\ > +9 &Js\ N +10 &T\ M +9 &Y\ M +9 &T\ L +10 &!UW\ L +9 &#S\ L +9 &$U\ L +10 &&Z\ L +9 &(\\T\ M +10 &*V\ M +9 &+X\ L +9 &-U\ L +10 &/c[\ M +9 &1'T\ L +9 &2W\ L +10 &4S\ L +9 &6mU\ L +9 &8/Y\ L +10 &9T\ L +9 &;U\ L +10 &=tZ\ M +9 &?6[\ M +9 &@Z\ M +10 &BV\ L +9 &D|Y\ M +10 &F=]\ M +9 &Ge\ N +9 &Ir\ O +10 &Ku\ R +9 &M2\ S +9 &N\ S +10 &P\ S +9 &Rx\ S +9 &T9\ T +10 &U\ T +9 &W\ T +10 &Y~\ A +9 &Zx8\ ^ +9 &Z\ * +3 ( + "processing"%y& +3 #tProcessing Clamp onSpring/offSpring for 9/25 samples, on/off torque 1.66 +2 .Hand.open + "manipulator"&u1 +60 "core" 1 +2 "manipulator"&Z% +4 "core" % d ! +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&i'\ +99 "core" ' + "processing"%c& +5 "core" &Z\ * + #tImaging generic puck in Processing Clamp while storing it to tube 6 +2 "manipulator"&5% +4 "core" %\ 8 G ' + "storage"(% +4 "core" %F o y\  + "storage"(Q. +3 "core" .(K +2 "storage"(& +4 "core" &K r o 8\  + "storage"(G& +5 "manipulator"&+& +4 "core" &K n o\  +2 &m G +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +3 "storage"(#]kK-0-\ b +2 "manipulator"&U(c +7 ."raiseStack"SE.seek :beamBreak + "storage"('e +3 "core" ( + "manipulator"&& +4 "core" &m 0 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &e& +3 "core" &m i +2 .tForearm.seek PC +2 "manipulator"&'[ +94 "core" ' + .tHand.close +2 "manipulator"&W/ +53 "core" / +2 .tPC.seek :open +2 "processing"%E(p +93 "core" ' +2 "storage"(J- +3 "core" -'e + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place + "storage"('B +34 "core" ' +251 ( +2 "storage"(j& +4 "core" &K \  + "manipulator"& & +4 "core" &m b + "manipulator"&p% +4 "core" % e 3  +2 .tForearm.seek :retract +2 "manipulator"&'\ +96 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 + "manipulator"&;( +244 "core" ( + "manipulator"&& +4 "core" &  +2 "storage"(r& +4 "core" &K } } q\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&]'< +100 "core" ' + .tHand.open + "manipulator"&h1 +54 "core" 1 +2 "storage"(8- +4 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate + "storage"(H' +23 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(X' +51 "core" ' + #tLights, camera, ACTION! +2 "storage"(%- +3 "core" -' +2 "storage"( & +4 "core" &K\ \  \  + "manipulator"&7& +4 "core" &   +2 .tElbow.seek 6 + "manipulator"&-( +8 "core" ( +2 "manipulator"&B& +4 "core" & D  + "storage"(1& +4 "core" &K\ \  \  +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&'< +23 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.11 Pucks below Top Plate + "storage"(S'M +62 "core" ' + "manipulator"&\ & +5 "core" & p n  + "storage"(R& +4 "core" &K 1\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 + "manipulator"& 'z +35 "core" ' + .tElbow.hold +2 "manipulator"&F, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"('7 +23 "core" ' +2 "manipulator"&#% +4 "core" %Ήr * +2 "storage"(& +4 "core" &K Y Y\  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 6 + 315 counts + "manipulator"&'ϵ +24 "core" ' + "manipulator"&~& +53 "core" & u ^ @  +4 "storage"(/& +4 "core" &K V\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&L'< +12 "core" ' + "storage"(% +4 "core" %: &\  +3 ."downElevator"SE.seek :down +4 "storage"('N +99 (^% +3 "core" %F f g \ Vb +2 "manipulator"&b% +4 "core" %F o p ;  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +92 "core" ' +56 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (.& +4 "core" &K c l\  + "collection"'!& +4 "core" &]^!#;\ J +2 #tStoring generic puck in Collection Clamp to tube 6 + "manipulator"&3% +4 "core" %\ 3 % +2 "storage"(|% +3 "core" %= s k\  +2 "storage"(0. +3 "core" .(K + "storage"(>& +4 "core" &K e \  +2 "storage"(& +4 "core" &K j k $\  +2 "manipulator"& & +3 "core" &  +2 .tElbow.seek 6 +2 "manipulator"&( +4 "core" ( + "manipulator"& & +4 "core" &  +2 "storage"(A& +4 "core" &K g g 5\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&q'< +98 "core" ' +2 "storage"(& +4 "core" &K 1\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(*'e +276 "core" ' + "storage"(2- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&Y& +3 "core" &   +2 "storage"(I& +3 "core" &K \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&f'z +32 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"('- +2 "core" -' +2 .tSE.seek 0.12 Pucks below Top Plate +2 "storage"(N't +28 "core" ' + "manipulator"&D% +5 "core" %΃k   [ ÷ + "storage"(z& +4 "core" &K * - \  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 6 + 309 counts +2 "manipulator"&&'ϯ +20 "core" ' + "manipulator"&T& +4 "core" & s ` :  +2 "storage"(& +4 "core" &K \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&_'< +16 "core" ' +3 .tSE.seek 1.12 Pucks below Top Plate + "storage"(M'c +48 "core" ' + "manipulator"&P& +5 "core" & p o   + "manipulator"&)% +4 "core" %9 o o +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&x'\ +92 "core" ' +2 .tElbow.seek CC +2 "manipulator"&( +144 "core" ( +2 "manipulator"&K& +4 "core" & d . +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" & g . +2 .tForearm.seek CC +2 "manipulator"&v'| +97 "core" ' + .tHand.close +2 "manipulator"&w/ +53 "core" / +2 .tCC.seek :open +2 "collection"'t(p +410 "core" ( + "storage"(a& +4 "core" &K D\  +2 "storage"(& +3 "core" &K \  +2 "manipulator"&}& +4 "core" & . + "manipulator"&n% +4 "core" % ρ +2 .tForearm.seek :retract + "manipulator"&='\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&( +158 "core" ( + "manipulator"&$& +67 "core" &   + "storage"(9& +4 "core" &K Z\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 6 + "manipulator"&:'z +111 "core" ' + .tElbow.hold +2 "manipulator"&{, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&o1 +61 "core" 1 +2 "manipulator"&C% +4 "core" % ΅| - R I + "storage"(m& +4 "core" &K } y .\  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 6 + 311 counts + "manipulator"&\\'ϱ +22 "core" ' +2 "manipulator"&@& +4 "core" & g O <  +2 "storage"(,& +4 "core" &K h\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&['< +16 "core" ' +2 "storage"(% +4 "core" %j \ +2 ."downElevator"SE.seek :down +3 "storage"(d'N +100 (?% +3 "core" %F *\ V` +2 "manipulator"&`% +4 "core" %; n p   +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&V'\ +93 "core" ' +45 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 7 of [5..7] +2 #Loading generic puck from tube 7 into Collection Clamp + "collection"'g& +4 "core" &ps\ +2 "manipulator"&<% +4 "core" %\ 6 & + "storage"(k% +4 "core" %5 J\  +2 "storage"(6. +3 "core" .(K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 7 + "storage"(4([ +347 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (u& +2 "core" &[ z \  +2 "manipulator"&Z& +3 "core" &  +2 .tElbow.seek 7 +2 "manipulator"&c( +16 "core" ( + "manipulator"&5& +4 "core" & +2 "storage"(& +3 "core" &[ !\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts + "manipulator"&Q'k +97 "core" ' +2 "storage"(& +4 "core" &[ 8\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(y'e +276 "core" ' + "storage"(G- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (+& +3 "core" &[ \  + "manipulator"&& +4 "core" & p ^ +2 .tElbow.seek 7 + "manipulator"&e( +4 "core" ( + "manipulator"&s& +3 "core" & u . +2 "storage"(W& +4 "core" &[ \  +2 .tForearm.seek 7 + 300 counts + "manipulator"&J' +30 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&O/ +59 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&i& +2 "storage"(l'N +7 "core" & o o ' +2 "manipulator"&j% +4 "core" % o o \ +2 .tForearm.seek :retract + "manipulator"& '\ +97 "core" ' +2 .tElbow.seek CC + "manipulator"&p( +144 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +20 "core" ( +2 "manipulator"&& +4 "core" &\ T ` +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &\ l ` +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&'| +109 "core" ' + "manipulator"&r& +4 "core" &\ } q x ` +2 "manipulator"&U% +4 "core" %q r . +4 "collection"'h& +5 "core" &rr\ +2 "collection"'8& +4 "core" &qp\ +2 .tCC.seek :closed +2 "collection"'%(] +4 "core" &qs\ +8 &7qt \ $e +9 &mYsr\ 7 +10 &~ps\ L +9 &Vpu\ L +10 &LYrs\ L +9 &Yss\ L +9 & Yrt\ L +10 &"Zrs\ L +9 &$SWus\ L +9 &&Yqs\ L +10 &'Yrs\ L +9 &)Xps\ L +9 &+\\Yps\ L +10 &-\\pt\ L +9 &.Zrs\ L +10 &0Yor\ L +9 &2cZqr \ L +9 &4&Zsu,\ L +10 &5\\rs?\ L +9 &7YrsA\ L +9 &9l\\rsA\ L +10 &;/Yqs>\ K +9 &<YqrB\ L +10 &>XptB\ L +9 &@sZss@\ L +9 &B6Zst6\ L +10 &CZss4\ L +9 &E]pr5\ L +10 &G{\\ps9\ L +9 &I9fpq7\ M +9 &Jvim9\ O +10 &L=8\ S +9 &Ng6\ V +9 &P'4\ V +10 &Q3\ V +9 &S{2\ W +10 &Uhiq7\ X +9 &W)X^5\ X +9 &XIO5\ Y +10 &Z9>9\ Z +9 &\\k(0.\ F +9 &]b:!3\ + +10 &]r-\ T +2 ( +2 "collection"'8& +3 #tCollection Clamp onSpring/offSpring for 10/26 samples, on/off torque 2.09 + .Hand.open + "manipulator"& 1 +58 "core" 1 + "manipulator"&7% +4 "core" % q o  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&B'\ +90 "core" ' +2 #tLoading generic puck from tube 7 into Processing Clamp +2 "processing"%1& +4 "core" &\ + "manipulator"&% +4 "core" %\ - "^ +2 "storage"(\ % +4 "core" %6 g l \  + "storage"(R. +3 "core" .([ +2 .tSC.reconfigure :tight +52 "storage"($\ .\ 1~b +3 .tSC.seek 7 +2 "storage"(([ +3 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (#& +3 "core" &[ ; H \  +2 "manipulator"&& +4 "core" & ` + "manipulator"&H% +4 "core" %\ - "^ +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 7 + "manipulator"&~( +151 "core" ( +2 "manipulator"&;& +4 "core" &  +2 "storage"(/& +4 "core" &[ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&]'k +90 "core" ' + "storage"(& +5 "core" &[ 9\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(X'e +280 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (^& +3 "core" &[ | v \  +2 "manipulator"&b& +3 "core" & ] +2 .tElbow.seek 7 +2 "manipulator"&-( +7 "core" ( + "manipulator"&S& +4 "core" &  +2 "storage"( & +4 "core" &[ h h \  +2 .tForearm.seek 7 + 300 counts + "manipulator"&.' +11 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&!/ +52 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"(3'N +7 "core" & +2 "manipulator"&|% +4 "core" %  A +2 .tForearm.seek :retract +2 "manipulator"&0'\ +92 "core" ' +2 .tElbow.seek PC +2 "manipulator"&>(c +157 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +82 "core" ( + "manipulator"&& +5 "core" &m  + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &m ^ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC + "manipulator"& '[ +106 "core" ' + "manipulator"& & +5 "core" &m t + "manipulator"&A% +4 "core" %W +2 "processing"%L& +4 "core" &\ +2 "processing"%& +5 "core" &\ +2 .tPC.seek :closed + "processing"%(Z +5 "core" &\ +7 &9\ $e +10 &mW{\ 7 +9 &y\ L +9 &U\ M +10 &EW\ M +9 &X\ L +9 & W\ L +10 &"T\ L +9 &$MZ\ M +10 &&Y\ L +9 &'U\ L +9 &)Y\ M +10 &+UV\ M +9 &-V\ L +10 &.Z\ M +9 &0T\ M +9 &2]Z\ M +10 &4 Y\ L +9 &5T\ M +9 &7Y\ M +10 &9eU\ M +9 &;'T\ M +9 &<W\ L +10 &>W\ M +9 &@mU\ M +10 &B/V\ M +9 &CY\ M +9 &EU\ M +10 &Gr^\ N +9 &I1g\ O +9 &Jy\ Q +10 &L\ S +9 &Nh\ T +10 &P*\ T +9 &Q\ S +9 &S\ T +10 &Uq\ S +9 &W1\ T +9 &X\ T +10 &ZLJf\ )y +9 &Z,\ , +6 ( + "processing"%& +4 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.63 +2 .Hand.open + "manipulator"&F1 +4 "core" &Z \ , +52 1 + "manipulator"&% +5 "core" % W U +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&2'\ +94 "core" ' +2 "processing"%Y& +4 "core" &Z \ , + #tImaging generic puck in Processing Clamp while storing it to tube 7 +2 "manipulator"&I% +4 "core" %\ 4 I & + "storage"('% +4 "core" %8 X X A\  + "storage"(D. +3 "core" .([ +2 "storage"(z& +4 "core" &[ f f \  +2 "storage"(T& +2 "manipulator"&& +6 "core" &[ Y Y\  + &m g +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +6 "manipulator"&$&.,(\ #b + "storage"(#]kK-0-\ b +3 .tElbow.seek PC +5 "manipulator"&P(c +4 ."raiseStack"SE.seek :beamBreak + "storage"()'e +3 "core" ( + "manipulator"&q& +4 "core" &m  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &m Q +2 .tForearm.seek PC +2 "manipulator"&*'[ +96 "core" ' +2 .tHand.close + "manipulator"&f/ +58 "core" / +2 .tPC.seek :open +2 "processing"%&(p +87 "core" ' +2 "storage"(N- +3 "core" -'e +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(K'B +45 "core" ' +248 ( +2 "storage"(& +4 "core" &[ h m u\  + "manipulator"&_& +4 "core" &m P + "manipulator"&% +4 "core" % i ? +2 .tForearm.seek :retract +2 "manipulator"&w'\ +96 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 7 + "manipulator"&x( +255 "core" ( + "manipulator"&"& +4 "core" & +2 "storage"(a& +4 "core" &[ v v \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&'k +96 "core" ' +2 .tHand.open + "manipulator"&}1 +55 "core" 1 +2 "storage"(n- +4 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate + "storage"(v' +25 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"($' +52 "core" ' +2 #tLights, camera, ACTION! + "storage"(9- +4 "core" -' + "storage"(& +4 "core" &[\ \  E\  +2 "manipulator"&o& +4 "core" &  +2 .tElbow.seek 7 + "manipulator"&C( +9 "core" ( +2 "manipulator"&m& +4 "core" & \ + "storage"(@& +4 "core" &[\ \ \  +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&,'k +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"('M +62 "core" ' +2 "manipulator"&=& +4 "core" & G \ + "storage"(?& +4 "core" &[ g g f\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 7 +2 "manipulator"&`'Ω +31 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"(:'7 +24 "core" ' + "manipulator"&g% +5 "core" %θ + "storage"(<& +4 "core" &[ [ [\  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 7 + 315 counts + "manipulator"&\\' +19 "core" ' +2 "manipulator"&k& +4 "core" & v \\ \ +2 "storage"(6& +4 "core" &[ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&M'k +24 "core" ' +2 "storage"([% +4 "core" %< \  +2 ."downElevator"SE.seek :down +4 "storage"(d'N +98 ((% +3 "core" %I v s 1\ Wc +2 "manipulator"&u% +4 "core" %w o o  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&Z'\ +92 "core" ' +57 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (5& +4 "core" &[ Z [\  + "collection"'& +4 "core" &]q 3\ T +2 #tStoring generic puck in Collection Clamp to tube 7 + "manipulator"&% +4 "core" %\ 8 ' +2 "storage"({% +4 "core" %I o z \  + "storage"(V. +3 "core" .([ + "storage"(G& +5 "core" &[ p y\  + "storage"(+& +4 "core" &[ q o *\  + "manipulator"&& +4 "core" & \ +2 .tElbow.seek 7 +2 "manipulator"&s( +3 "core" ( +2 "manipulator"&W& +3 "core" & \\ \ +2 "storage"(O& +4 "core" &[ o y !\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&i'k +109 "core" ' +2 "storage"(j& +4 "core" &[ 1\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(c'e +275 "core" ' +2 "storage"(Q- +3 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&& +3 "core" & o p \ +2 "storage"(& +3 "core" &[ Z\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 7 +2 "manipulator"&y'Ω +33 "core" ' + .tElbow.hold +2 "manipulator"&J, +4 "core" , + .tElbow.reconfigure :tight +51 "manipulator"&$&.,(\ #b +3 "storage"(r- +3 "core" -' +2 .tSE.seek 0.12 Pucks below Top Plate + "storage"(e'o +28 "core" ' +2 "manipulator"&U% +4 "core" %μ  t + "storage"(h& +4 "core" &[ X M S\  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 7 + 319 counts +2 "manipulator"&l' +18 "core" ' +2 "manipulator"& & +4 "core" & _ v 3 \ +2 "storage"(t& +4 "core" &[ F\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts +2 "manipulator"& 'k +22 "core" ' +2 .tSE.seek 1.12 Pucks below Top Plate + "storage"(7'^ +50 "core" ' + "manipulator"&1& +4 "core" & n o \ +2 "manipulator"&% +4 "core" %f o m  / +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&\ '\ +92 "core" ' + .tElbow.seek CC +2 "manipulator"&R( +165 "core" ( +2 "manipulator"&8& +4 "core" & !u + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &#& +3 "core" & R !u +2 .tForearm.seek CC + "manipulator"&'| +96 "core" ' +2 .tHand.close + "manipulator"&H/ +57 "core" / +2 .tCC.seek :open +2 "collection"'(p +409 "core" ( +2 "storage"(;& +4 "core" &[ J\  + "storage"(/& +4 "core" &[ K\  + "manipulator"&& +4 "core" & !u + "manipulator"&4% +4 "core" % Ϗ +2 .tForearm.seek :retract +2 "manipulator"&p'\ +98 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 7 +2 "manipulator"&B( +162 "core" ( + "manipulator"&& +5 "core" & | > + "storage"(^& +4 "core" &[ \  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 7 +2 "manipulator"&b'Ω +109 "core" ' + .tElbow.hold +2 "manipulator"&S, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"& 1 +64 "core" 1 +2 "manipulator"&!% +4 "core" % ν " @ +2 "storage"(& +4 "core" &[ m S\  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 7 + 320 counts + "manipulator"&|' +20 "core" ' +2 "manipulator"&~& +4 "core" & _ y  > +2 "storage"(]& +4 "core" &[ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&X'k +18 "core" ' + "storage"(.% +5 "core" %c $\ +2 ."downElevator"SE.seek :down +4 "storage"('N +99 (% +3 "core" %; ;\ T[ +2 "manipulator"&-% +4 "core" %S o p +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"& '\ +87 "core" ' +55 ' + ."downElevator"SE.stop +2 "storage"(5 +746 "Can" /<9 @1640705009.88EST = =tMAIN =mMAIN_scheduler @EST1640705011.79 #"core_reset"Sent BREAK +2 #t@8245 idle with ifg=0x00, ie=0x75 #>RESET< ESP2 v3.41 I2C Gateway v3.20 +209 #>RESET< ESP2 v3.41 I2C Gateway v3.20 for core bus +205 !o:Instrument::ISUSCore:\ @name" ISUS: @refi ^a: @configS:Instrument::Configuration: name@:calFileName0:sampleCmd"TS: prompt"\ :statusCmd"C:sampleTimeouti#:promptTimeouti:statusTimeouti: retriesi:strToPrompt"W: pace0: echoF +99 #Configuration for don (12651-03) 10/9/20 brent@mbari.org\ /home/esp/esp2/type/shallow/don/configure.rb\ +392 "Can" =&"~ +  =&"~ #tPolling Can every 10:00 +48 !o:Storage::Warning: mesg"Uncleanly Exited:bt[ "8/home/esp/esp2/utils/storage.rb:438:in `readPucks!'"6/home/esp/esp2/utils/storage.rb:627:in `restore!'"-/home/esp/esp2/lib/esp.rb:115:in `shell'"7/home/esp/esp2/lib/schedule.rb:481:in `initialize'"0/home/esp/esp2/lib/thread.rb:738:in `start'"7/home/esp/esp2/lib/schedule.rb:474:in `initialize'"'/home/esp/esp2/lib/schedule.rb:472 +632 #-> esp +877 #-> ESP.ready! +3 #Powering core bus +551 .Gate.power :raw,:ON +2 "sampler") +28 ) +2 "core"  +2 "collection"' +2 ' +3 "core"  +2 "processing"% +2 % +3 "core"  +4 "collection"' 9\ +3 ' 0\ + ' -\ +4 "processing"% 9\ +2 % 2\ +2 % *\ +2 % 0\ +3 "sampler")&\ +2 "collection"'% +3 "core" % +2 .tCS.configure :default +2 "collection"'#P d@b +2 "processing"%% +3 "core" %\ + .tPS.configure :default +3 "processing"%#A d`xb +2 "sampler")% +3 "core" %\ \  +2 .tSS.configure :default +2 "sampler")#.0X require 'shuffle.rb' +2097 #-> 5.times {shuffle 5..7} +2 #Shuffling pucks in tube 5 of [5..7] +2 #Loading generic puck from tube 5 into Collection Clamp + "collection"';& +3 "core" &_\  +2 .tHand.open + "manipulator"&<1 +53 "core" 1 + "manipulator"&=% +4 "core" % \ 1  $K +2 "storage"(>% +3 "core" %I+ { \ \ X +2 "storage"(?. +3 "core" .(,~ + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 5 + "storage"(@(<< +352 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (A& +3 "core" &<9  # c\  +2 "manipulator"&B& +3 "core" &9 d  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&C( +18 "core" ( + "manipulator"&D& +4 "core" &   +2 "storage"(E& +4 "core" &<9 p q o\  +2 .tForearm.seek 5 + 450 counts + "manipulator"&F' +100 "core" ' + "storage"(G& +4 "core" &<9 } $\  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(H'e +283 "core" ' +2 "storage"(I- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (J& +3 "core" &<9 \  + "manipulator"&K& +4 "core" &    +2 .tElbow.seek 5 + "manipulator"&L( +3 "core" ( +2 "manipulator"&M& +4 "core" &    + "storage"(N& +4 "core" &<9 \  +2 .tForearm.seek 5 + 300 counts + "manipulator"&O'[ +11 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&P/ +53 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&Q& + "storage"(R'N +7 "core" &  t  +2 "manipulator"&S% +4 "core" % c < ( +2 .tForearm.seek :retract + "manipulator"&T'\ +98 "core" ' +2 .tElbow.seek CC +2 "manipulator"&U( +145 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +17 "core" ( + "manipulator"&V& +5 "core" & $ 5 ;6 + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &W& +3 "core" & $ 4 ;6 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&X'| +97 "core" ' +2 "manipulator"&Y& +4 "core" & % ;6 + "manipulator"&Z% +4 "core" %τ * +2 "collection"'[& +4 "core" &_\  +2 "collection"'\\& +5 "core" &_\  +2 .tCC.seek :closed + "collection"'](] +5 "core" &_\  +7 &uI\ %h +9 &IW\ 8 +9 &\ M +10 &]_\ N +9 &`\ N +10 &e\ O +9 & d\ O +9 &"dd\ N +10 &$'c\ N +9 &%a\ N +9 &'`\ N +10 &)kb\ O +9 &+.b\ N +10 &,a\ N +9 &.e\ O +9 &0tc\ N +10 &27b\ N +9 &3c\ O +9 &5]\ N +10 &7~`\ N +9 &9A_\ M +10 &;_\ N +9 &<_\ N +9 &>b\ N +10 &@F`\ N +9 &B b\ N +9 &C`\ N +10 &E`\ N +9 &GMe\ O +10 &I n\ P +9 &JIc\ Q +9 &L\ U +10 &N<\ W +9 &O\ X +10 &Q\ X +9 &S}\ Y +9 &U>\ Y +10 &V\ Z +9 &Xw~\ \\ +9 &Zzlu\ \\ +10 &\\@bf\ H +9 &]U;Z^\ , +9 &]h\\\\\ F +6 ( + "collection"'\\& +5 #tCollection Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.98 + .Hand.open + "manipulator"&^1 +4 "core" &]]aa\ F +52 1 + "manipulator"&_% +4 "core" % } F +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&`'\ +93 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp + "processing"%a& +4 "core" &T\  +2 "manipulator"&b% +4 "core" %\ * 5 C + "storage"(c% +4 "core" %; [ \\\  + "storage"(d. +3 "core" .(<9 +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 + "storage"(e(<< +8 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (f& +2 "core" &<9:\ \  g\  +2 "manipulator"&g& +4 "core" &$ / ;4 + "manipulator"&h% +4 "core" %\ * # C +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&i( +168 "core" ( +2 "manipulator"&j& +4 "core" & z 2 + "storage"(k& +4 "core" &<9 _ o \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&l' +100 "core" ' +2 "storage"(m& +4 "core" &<9 } r Z\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(n'e +282 "core" ' +2 "storage"(o- +3 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (p& +3 "core" &<9 g h .\  + "manipulator"&q& +4 "core" & ; 1 +2 .tElbow.seek 5 + "manipulator"&r( +3 "core" ( +2 "manipulator"&s& +4 "core" & % 1 +2 "storage"(t& +3 "core" &<9 { } G\  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&u'[ +17 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&v/ +56 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&w& + "storage"(x'N +7 "core" & z 1 +2 "manipulator"&y% +4 "core" % O }  +2 .tForearm.seek :retract + "manipulator"&z'\ +91 "core" ' + .tElbow.seek PC +2 "manipulator"&{(c +162 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +79 "core" ( + "manipulator"&|& +4 "core" &j  = +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &}& +3 "core" &j e = +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&~'[ +103 "core" ' + "manipulator"&& +4 "core" &j T = +2 "manipulator"&% +4 "core" %Y  + "processing"%& +4 "core" &T\  +3 "processing"%& +6 "core" &T%\  +2 .tPC.seek :closed + "processing"%(Z +4 "core" &T!\  +9 &5~"\ +{ +9 &e \ ? +10 &&v,\ O +9 &[/\ N +10 &[!\ N +9 &oX+\ N +9 &!1\\%\ N +10 &"],\ N +9 &$Y*\ M +9 &&vZ+\ N +10 &(9Y+\ N +9 &)]*\ N +10 &+Z,\ N +9 &-~Z+\ N +9 &/@\\+\ N +10 &1Z*\ N +9 &2[,\ N +9 &4Y&\ N +10 &6HZ+\ N +9 &8\ Z+\ N +9 &9Y*\ N +10 &;Z$\ N +9 &=QZ)\ N +10 &?\\+\ N +9 &@Z+\ N +9 &B[+\ N +10 &DWZ+\ N +9 &F\\*\ N +9 &Gc,\ O +10 &Ip,\ P +9 &KT*\ R +10 &M+\ T +10 &N(\ U +8 &P&\ T +10 &RT*\ U +9 &T*\ U +10 &U"\ U +9 &W'\ U +9 &YY*\ C +10 &Zj:x'\ #g +9 &Z5\ 0 +5 ( +2 "processing"%& +4 #tProcessing Clamp onSpring/offSpring for 9/25 samples, on/off torque 1.60 +2 .Hand.open + "manipulator"&1 +3 "core" &Z&s\ 0 +56 1 + "manipulator"&% +4 "core" % Y ^ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +98 "core" ' +2 "processing"%& +4 "core" &Z%\ 0 + #tImaging generic puck in Processing Clamp while storing it to tube 5 +2 "manipulator"& % +3 "core" %\ 6 - & +2 "storage"(\ % +4 "core" %I C C \  +2 "storage"( . +3 "core" .(<9 +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"( (<< +2 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 ( & +3 "core" &<:\ \ \ 9\  +2 "manipulator"&& +4 ."raiseStack"SE.reconfigure :place +4 "storage"(#]kK-0-\ b +2 "core" &j = +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +2 ."raiseStack"SE.seek :beamBreak +2 "manipulator"&(c + "storage"('e +5 "core" ( +2 "manipulator"&& +4 "core" &j = + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &j 9 = +2 .tForearm.seek PC +2 "manipulator"&'[ +95 "core" ' + .tHand.close +2 "manipulator"&/ +62 "core" / +2 .tPC.seek :open + "processing"%(p +90 "core" ' +2 "storage"(- +3 "core" -'e + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place + "storage"('B +42 "core" ' +251 ( + "storage"(& +4 "core" &<9 s j \  +2 "manipulator"&& +3 "core" &j  = +2 "manipulator"&% +4 "core" % \\  + .tForearm.seek :retract +2 "manipulator"&'\ +91 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&"( +252 "core" ( + "manipulator"&%& +4 "core" & % +2 "storage"('& +4 "core" &<9 ] Z \  + .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&)' +103 "core" ' + .tHand.open +2 "manipulator"&(1 +56 "core" 1 +3 "storage"(- +3 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate +2 "storage"(' +22 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.83 Pucks below Top Plate + "storage"(#' +55 "core" ' + #tLights, camera, ACTION! +2 "storage"(,- +3 "core" -' +2 "storage"(-& +4 "core" &<9 \  + "manipulator"&.& +4 "core" &  $ +2 .tElbow.seek 5 + "manipulator"&/( +3 "core" ( +2 "manipulator"&0& +4 "core" & / $ + "storage"(1& +4 "core" &<9 \  +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&2' +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"(3'M +62 "core" ' +2 "manipulator"&4& +4 "core" & x s  $ +2 "storage"(5& +4 "core" &<9 o ` w\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&6'/ +31 "core" ' + .tElbow.hold +39 "manipulator"&7, +13 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"(8'7 +24 "core" ' + "manipulator"&9% +5 "core" %B  ¾a + "storage"(:& +4 "core" &<9 O 2\  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 5 + 319 counts + "manipulator"&;'n +17 "core" ' + "manipulator"&<& +5 "core" & z } s # + "storage"(=& +4 "core" &<9 r k [\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&>' +20 "core" ' +2 "storage"(?% +4 "core" %7 } } \ +3 ."downElevator"SE.seek :down +4 "storage"(!'N +99 (A% +3 "core" %> Z ]\ V_ +2 "manipulator"&B% +4 "core" % u u  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&D'\ +90 "core" ' +60 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (E& +4 "core" &<9 1 9 \  +2 "collection"'G& +3 "core" &]\\\ F +2 #tStoring generic puck in Collection Clamp to tube 5 +2 "manipulator"&$% +3 "core" %\ 0 k $o +2 "storage"(&% +4 "core" %J ] \\\  + "storage"(I. +3 "core" .(<< +2 "storage"(J& +3 "core" &<9 X T\  +2 "storage"(K& +4 "core" &<9 Z \\\  + "manipulator"& & +4 "core" & # +2 .tElbow.seek 5 + "manipulator"&M( +4 "core" ( + "manipulator"&N& +4 "core" & d # + "storage"(P& +4 "core" &<9 Y [\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&Q' +109 "core" ' + "storage"(S& +4 "core" &<9 | \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(C'e +279 "core" ' + "storage"(F- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&V& +3 "core" & } # + "storage"(W& +4 "core" &<9 [ ^ \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 + "manipulator"&H'/ +33 "core" ' +2 .tElbow.hold + "manipulator"&O, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(Y- +2 "core" -' +3 .tSE.seek 0.11 Pucks below Top Plate + "storage"(Z'n +31 "core" ' + "manipulator"&[% +5 "core" %={ \  üE + "storage"(L& +4 "core" &<9\ \ h\  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 5 + 314 counts + "manipulator"&R'i +18 "core" ' + "manipulator"&T& +5 "core" &  j N # + "storage"(*& +4 "core" &<9 t z \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&^' +18 "core" ' +2 .tSE.seek 1.11 Pucks below Top Plate +2 "storage"(_'] +47 "core" ' +2 "manipulator"&a& +4 "core" &  ~ w : # +2 "manipulator"&b% +4 "core" % p ]  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&c'\ +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&d( +153 "core" ( + "manipulator"&\\& +5 "core" &* @[ + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &f& +2 "core" &* Q @[ +2 .tForearm.seek CC +2 "manipulator"&g'| +99 "core" ' + .tHand.close + "manipulator"&h/ +59 "core" / + .tCC.seek :open +2 "collection"'X(p +411 "core" ( + "storage"(j& +4 "core" &<9 ~ C\  +2 "storage"(k& +4 "core" &<9  w \  + "manipulator"&@& +4 "core" &&  =A + "manipulator"&m% +4 "core" % u +2 .tForearm.seek :retract + "manipulator"&U'\ +98 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 + "manipulator"&`( +161 "core" ( +2 "manipulator"&o& +4 "core" & @  + "storage"(p& +4 "core" &<9 I\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +2 .tForearm.seek 5 +2 "manipulator"&q'/ +103 "core" ' +2 .tElbow.hold + "manipulator"&s, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&t1 +60 "core" 1 +2 "manipulator"&v% +4 "core" % ?  + "storage"(w& +4 "core" &<9 { #\  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 5 + 316 counts + "manipulator"&y'k +18 "core" ' + "manipulator"&i& +4 "core" & j {  +2 "storage"(l& +3 "core" &<9 X\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&n' +20 "core" ' + "storage"(u% +4 "core" %\\ }\ +3 ."downElevator"SE.seek :down +4 "storage"(|'N +99 (}% +3 "core" %A x\ V] +2 "manipulator"&r% +4 "core" % t u  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +90 "core" ' +48 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 6 of [5..7] + #Loading generic puck from tube 6 into Collection Clamp +2 "collection"'& +4 "core" &\ + "manipulator"&% +4 "core" %\ 1 $n +2 "storage"(x% +4 "core" %7 o\  + "storage"(z. +3 "core" .(<< +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 + "storage"(+(K +350 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (& +3 "core" &K e ] F\  +2 "manipulator"&& +4 "core" &  +2 .tElbow.seek 6 + "manipulator"&( +31 "core" ( +2 "manipulator"& & +4 "core" & y \ + "storage"(\ & +4 "core" &K /\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"& '< +92 "core" ' +2 "storage"(& +4 "core" &K E\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"( 'e +283 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" &K \  + "manipulator"&& +4 "core" & s q v \ +2 .tElbow.seek 6 + "manipulator"&~( +4 "core" ( + "manipulator"&& +4 "core" & _ w \ +2 "storage"(e& +3 "core" &K \  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&'Ϧ +23 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&{/ +57 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"&& "storage"('N +7 "core" & t q 3 \ + "manipulator"&% +4 "core" % ϣ t | n +2 .tForearm.seek :retract +2 "manipulator"&'\ +89 "core" ' + .tElbow.seek CC +2 "manipulator"&( +155 "core" ' +2 ."downElevator"SE.stop +2 "storage"(5 +3 "core" ( + "manipulator"&& +4 "core" &$ V ;7 + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &$  ;7 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&%'| +95 "core" ' +2 "manipulator"&'& +4 "core" &$ ;7 +2 "manipulator"&% +4 "core" %σ ) +2 "collection"'(& +4 "core" &\ +2 "collection"'& +5 "core" &\ +2 .tCC.seek :closed +3 "collection"',(] +3 "core" &\ +6 &9\ $d +9 &iS\ 7 +10 &\ L +9 &s`\ N +10 &7`\ M +9 &b\ N +9 & c\ N +10 &"zb\ N +9 &$<a\ N +9 &%b\ N +10 &'`\ N +9 &)a\ N +10 &+F_\ N +9 &-_\ N +9 &.e\ N +10 &0b\ N +9 &2Lb\ N +9 &4b\ N +10 &5_\ M +9 &7^\ M +10 &9Vb\ N +9 &;a\ N +9 &<`\ N +10 &>_\ N +9 &@]d\ N +9 &B `\ N +10 &Cc\ N +9 &Eb\ N +10 &Gec\ N +9 &I"p\ P +9 &J\ R +10 &L0\ U +9 &NR\ W +9 &P\ X +10 &Q\ X +9 &S\ Y +10 &US\ Z +9 &W\ Z +9 &X\ [ +10 &Z\ \\ +9 &\\D\ Q +9 &]];\ &s +10 &]r\ M +5 ( +2 "collection"'& +4 #tCollection Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.95 + .Hand.open + "manipulator"&-1 +4 "core" &]d\ M +55 1 + "manipulator"&.% +5 "core" % ς + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&0'\ +91 "core" ' +2 #tLoading generic puck from tube 6 into Processing Clamp + "processing"%1& +4 "core" &\ +2 "manipulator"&% +4 "core" %\ + 6 !O + "storage"(4% +4 "core" %< ; A {\  + "storage"(5. +3 "core" .(K +2 "storage"(& +4 "core" &K C E \  + "storage"(& +4 "core" &K F F\  + "manipulator"&9& +4 "core" &#  :/ +2 "manipulator"&:% +4 "core" %\ + ; !O +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&<( +162 "core" ( + "manipulator"&=& +4 "core" & +2 "storage"("& +4 "core" &K f h \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&?'< +93 "core" ' +2 "storage"()& +4 "core" &K ~ } \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(#'e +279 "core" ' + "storage"(2- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (A& +2 "core" &K A < \  +2 "manipulator"&B& +3 "core" &  +2 .tElbow.seek 6 +2 "manipulator"&/( +3 "core" ( +2 "manipulator"&3& +4 "core" & U + "storage"(6& +4 "core" &K I < f\  +2 .tForearm.seek 6 + 300 counts + "manipulator"&;'Ϧ +11 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&E/ +55 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&G& +2 "storage"($'N +7 "core" & w = +2 "manipulator"&&% +4 "core" % ϰ 6 3 +2 .tForearm.seek :retract + "manipulator"&I'\ +94 "core" ' +2 .tElbow.seek PC + "manipulator"&J(c +157 "core" ' +50 ."downElevator"SE.stop +2 "storage"(5 +46 "core" ( + "manipulator"&8& +4 "core" &_ : +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &K& +3 "core" &_ F +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"& '[ +102 "core" ' + "manipulator"&N& +5 "core" &_ r H + "manipulator"&P% +4 "core" %O t | +2 "processing"%>& +4 "core" &\ +2 "processing"%S& +5 "core" &\ +2 .tPC.seek :closed + "processing"%!(Z +4 "core" &\  +9 &.{\ *y +9 &e*\ ? +9 &@v)\ O +10 &Z*\ M +9 &[)\ M +9 &Y,\ N +10 &!I]\ N +9 &# V*\ N +10 &$\\)\ N +9 &&]'\ N +9 &(SW \ M +10 &*Y+\ N +9 &+Z+\ N +9 &-Y*\ N +10 &/Z_*\ N +9 &1Y*\ M +10 &2\\)\ N +9 &4Z+\ N +9 &6cX)\ M +10 &8$Z)\ N +9 &9\\)\ M +9 &;Y%\ M +10 &=j]m\ N +9 &?,_#\ N +10 &@_+\ N +9 &B]&\ N +9 &Dr]C\ N +10 &F3\\*\ N +9 &Gg)\ O +9 &It\ Q +10 &Kk$\ S +9 &M)!\ T +10 &N\ U +9 &P%\ U +9 &Rnl\ T +10 &T0,\ T +9 &U%\ U +9 &Wj\ U +10 &Ys\ B +9 &Zx=\ \\ +10 &Z|\ * +2 ( + "processing"%S& +3 #tProcessing Clamp onSpring/offSpring for 9/25 samples, on/off torque 1.62 +2 .Hand.open + "manipulator"&71 +63 "core" 1 +2 "manipulator"&D% +4 "core" % O +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&F'\ +91 "core" ' + "processing"%V& +5 "core" &Z\ * + #tImaging generic puck in Processing Clamp while storing it to tube 6 +2 "manipulator"&W% +4 "core" %\ + !W + "storage"(Y% +4 "core" %9 F F\  + "storage"([. +3 "core" .(K +2 "storage"(L& +3 "core" &K E F U\  +2 "storage"(T& +5 "manipulator"&*& +4 "core" &K D @ x\  + &_ + +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +2 "storage"(#]kK-0-\ b +2 .tElbow.seek PC +5 "manipulator"&a(c +3 ."raiseStack"SE.seek :beamBreak +2 "storage"(b'e +2 "core" ( +2 "manipulator"&Q& +4 "core" &_  + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &M& +3 "core" &_ e +2 .tForearm.seek PC + "manipulator"&C'[ +101 "core" ' +2 .tHand.close + "manipulator"&H/ +58 "core" / +2 .tPC.seek :open +2 "processing"%R(p +83 "core" ' + "storage"(Z- +4 "core" -'e +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(\\'B +34 "core" ' +264 ( + "storage"(f& +4 "core" &K Y Z\  +2 "manipulator"&^& +4 "core" &_  + "manipulator"&O% +4 "core" % U  +2 .tForearm.seek :retract + "manipulator"&h'\ +99 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 + "manipulator"&c( +253 "core" ( +2 "manipulator"&]& +4 "core" & " i + "storage"(j& +4 "core" &K F F \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&k'< +94 "core" ' + .tHand.open +2 "manipulator"&@1 +56 "core" 1 +2 "storage"(m- +4 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate + "storage"(o' +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(p' +53 "core" ' +2 #tLights, camera, ACTION! + "storage"(g- +3 "core" -' +2 "storage"(d& +4 "core" &K \  + "manipulator"&t& +4 "core" &  i +2 .tElbow.seek 6 + "manipulator"&v( +3 "core" ( +2 "manipulator"&w& +4 "core" &  i +2 "storage"(i& +3 "core" &K \  +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&l'< +4 "core" ' + .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"(u'M +58 "core" ' + "manipulator"&U& +4 "core" &  i +2 "storage"(}& +4 "core" &K g ^ v\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 + "manipulator"&r'z +27 "core" ' +2 .tElbow.hold + "manipulator"&`, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.07 Pucks below Top Plate + "storage"(q'7 +22 "core" ' + "manipulator"&% +5 "core" %Ύ w + "storage"(y& +4 "core" &K  \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 320 counts + "manipulator"&'Ϻ +17 "core" ' +2 "manipulator"&x& +4 "core" & | ^ !u +2 "storage"(z& +4 "core" &K r p\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&_'< +17 "core" ' +2 "storage"(n% +4 "core" %= ~ s \ +3 ."downElevator"SE.seek :down +4 "storage"(|'N +99 ( % +3 "core" %H> ] ]\ V_ +2 "manipulator"&% +4 "core" %4 r  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +87 "core" ' +63 ' +2 ."downElevator"SE.stop + "storage"(5 +2 ( & +4 "core" &K > N \  +2 "collection"'\ & +4 "core" &]d\ M +2 #tStoring generic puck in Collection Clamp to tube 6 + "manipulator"&% +4 "core" %\ )  J +2 "storage"(s% +3 "core" %= ] \\\  +2 "storage"(. +3 "core" .(K + "storage"(& +4 "core" &K Z Y\  + "storage"(& +4 "core" &K \\ ]\  +2 "manipulator"&& +4 "core" &  !t + .tElbow.seek 6 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&e& +3 "core" &  !t +2 "storage"({& +4 "core" &K ] [\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&'< +97 "core" ' + "storage"(& +4 "core" &K d Z\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"('e +279 "core" ' + "storage"( - +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" &  !t + "storage"(& +4 "core" &K Y X F\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 + "manipulator"& 'z +30 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"('- +2 "core" -' +2 .tSE.seek 0.12 Pucks below Top Plate +2 "storage"('t +28 "core" ' + "manipulator"&(% +4 "core" %΋t   { ĺ/ +2 "storage"(~& +4 "core" &K\ \  \  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 6 + 317 counts + "manipulator"&'Ϸ +18 "core" ' +2 "manipulator"&& +4 "core" & z u ` !s +2 "storage"(X& +4 "core" &K \\ Z $\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&-'< +18 "core" ' +2 .tSE.seek 1.12 Pucks below Top Plate + "storage"(.'c +46 "core" ' +2 "manipulator"&1& +5 "core" & } !s + "manipulator"&% +4 "core" %5 } s +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&4'\ +87 "core" ' +2 .tElbow.seek CC + "manipulator"&5( +150 "core" ( + "manipulator"&& +5 "core" && =B + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" && / =B +2 .tForearm.seek CC +2 "manipulator"&'| +95 "core" ' + .tHand.close + "manipulator"&9/ +60 "core" / +2 .tCC.seek :open + "collection"':(p +411 "core" ( +2 "storage"(%& +4 "core" &K W\  + "storage"(=& +4 "core" &K X\  +2 "manipulator"&"& +3 "core" &" 9& +2 "manipulator"&)% +3 "core" % } } +2 .tForearm.seek :retract +2 "manipulator"&'\ +91 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&0( +165 "core" ( +2 "manipulator"&2& +4 "core" & ?  +2 "storage"(A& +3 "core" &K w\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 6 + "manipulator"&B'z +109 "core" ' +2 .tElbow.hold + "manipulator"&3, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&61 +55 "core" 1 +2 "manipulator"&E% +4 "core" % ΍ + o +2 "storage"(G& +3 "core" &K e ] \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 319 counts +2 "manipulator"&&'Ϲ +17 "core" ' + "manipulator"&<& +5 "core" & n y   + "storage"(?& +4 "core" &K \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&#'< +15 "core" ' +2 "storage"(;% +4 "core" %a K\ +2 ."downElevator"SE.seek :down +4 "storage"(8'N +99 (K% +2 "core" %3> P\ U] +2 "manipulator"&/% +4 "core" %C ~ | +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&N'\ +95 "core" ' +43 ' +2 ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 7 of [5..7] +2 #Loading generic puck from tube 7 into Collection Clamp + "collection"'P& +4 "core" &\ +2 "manipulator"&>% +4 "core" %\ 8 ' + "storage"($% +4 "core" %> [\  +2 "storage"(I. +3 "core" .(K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 7 + "storage"(([ +373 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (7& +2 "core" &[ ^\ +2 "manipulator"&D& +4 "core" &  + .tElbow.seek 7 +2 "manipulator"&V( +18 "core" ( + "manipulator"&W& +4 "core" & 5 } +2 "storage"(Y& +4 "core" &[ M\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts +42 "manipulator"&['k +113 "core" ' + "storage"(L& +4 "core" &[ x\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(*'e +280 "core" ' +2 "storage"(T- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (S& +3 "core" &[ N\ + "manipulator"&Q& +4 "core" & p z } +2 .tElbow.seek 7 + "manipulator"&M( +3 "core" ( +2 "manipulator"& & +3 "core" & w ~ R } +2 "storage"(H& +4 "core" &[ -\ +2 .tForearm.seek 7 + 300 counts + "manipulator"&Z' +20 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&J/ +61 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&F& +2 "storage"(!'N +7 "core" &  } +2 "manipulator"&f% +4 "core" %   +2 .tForearm.seek :retract +2 "manipulator"&b'\ +97 "core" ' +2 .tElbow.seek CC + "manipulator"&^( +143 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +17 "core" ( + "manipulator"&O& +4 "core" &(  h ?S +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &C& +2 "core" &( d ?S +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&]'| +108 "core" ' +2 "manipulator"&j& +5 "core" &(  ?R + "manipulator"&a% +4 "core" %r +2 "collection"'@& +4 "core" &\ +2 "collection"'m& +5 "core" &\ +2 .tCC.seek :closed +2 "collection"'g(] +4 "core" &\ +7 &8\ $e +9 &kV\ 8 +10 &\ L +9 &\\\ M +10 &@c\ N +9 &b\ N +9 & a\ N +10 &"`\ N +9 &$Hb\ N +9 &&\ _\ N +10 &']\ M +9 &)`\ N +10 &+Qb\ M +9 &-\\\ N +9 &.c\ N +10 &0b\ N +9 &2X]\ N +10 &4^\ N +9 &5a\ M +9 &7\\\ M +10 &9`[\ N +9 &;"_\ N +9 &<[\ M +10 &>]\ N +9 &@h`\ N +9 &B*a\ N +10 &Ca\ M +9 &E^\ M +10 &Gq_\ M +9 &I.l\ O +9 &Jx\ Q +10 &L(Z\ T +9 &N\\\ W +9 &P\ X +10 &Q\ X +9 &S\ Y +10 &U^\ Y +9 &W\ Z +9 &X\ [ +10 &Z\ \\ +9 &\\`\ H +9 &]f@\ $m +10 &]y\ U +2 ( +2 "collection"'m& +3 #tCollection Clamp onSpring/offSpring for 10/26 samples, on/off torque 1.98 + .Hand.open + "manipulator"&d1 +63 "core" 1 +2 "manipulator"&t% +4 "core" % r y +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&w'\ +97 "core" ' +2 #tLoading generic puck from tube 7 into Processing Clamp + "processing"%i& +4 "core" &\ +2 "manipulator"&h% +4 "core" %\ 9 [ ' + "storage"(U% +4 "core" %?   \  + "storage"(}. +3 "core" .([ +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 7 + "storage"(([ +7 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (y& +3 "core" &[ # ! g\ +2 "manipulator"&\\& +4 "core" &\ %  <? + "manipulator"&x% +4 "core" %\ 8  ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 7 +2 "manipulator"&z( +165 "core" ( + "manipulator"&o& +4 "core" & p  +2 "storage"(n& +4 "core" &[ 8 8 1\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&c'k +96 "core" ' +2 "storage"(k& +4 "core" &[ Z [ &\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(p'e +277 "core" ' + "storage"( - +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" &[ g Z\ + "manipulator"&l& +4 "core" &   + .tElbow.seek 7 +2 "manipulator"&v( +4 "core" ( + "manipulator"&u& +4 "core" & -  + "storage"(r& +4 "core" &[ f d\ +2 .tForearm.seek 7 + 300 counts +2 "manipulator"& ' +21 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +58 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&\ & +2 "storage"('N +8 "core" & t } p  +2 "manipulator"&s% +4 "core" % | u | +2 .tForearm.seek :retract + "manipulator"&'\ +91 "core" ' +2 .tElbow.seek PC +2 "manipulator"&(c +158 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +88 "core" ( +2 "manipulator"&q& +4 "core" &k t +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &k ? +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC + "manipulator"&'[ +102 "core" ' +2 "manipulator"&e& +4 "core" &k +2 "manipulator"&{% +4 "core" %R C +2 "processing"%_& +4 "core" &\ +2 "processing"%& +5 "core" & \ +2 .tPC.seek :closed + "processing"%|(Z +5 "core" &(\  +9 &-{*\ +{ +9 &d!\ ? +10 &Au+\ O +9 &X,\ M +9 &[,\ N +10 &[\ M +9 &!K[\ N +10 &#[\ M +9 &$\\\ N +10 &&Y*\ M +9 &(SY*\ N +9 &*Z \ N +9 &+W*\ N +10 &-X*\ M +9 &/[[ \ N +10 &1Y)\ N +9 &2Z*\ M +9 &4X)\ N +10 &6c\\*\ N +9 &8%\\*\ N +9 &9[*\ N +10 &;Z(\ N +9 &=kU(\ N +9 &?-Z)\ N +10 &@]*\ N +9 &BW&\ N +10 &Dt\\(\ M +9 &F5\\!\ N +9 &Ge*\ O +10 &Is)\ P +9 &Kn(\ R +10 &M*%\ T +9 &N%\ U +9 &P$\ U +10 &Rn*\ U +9 &T1)\ T +9 &U\ U +10 &W"\ U +9 &Ys%\ C +10 &Z|A(\ T +10 &Z\ ( +2 ( +2 "processing"%& +2 #tProcessing Clamp onSpring/offSpring for 9/25 samples, on/off torque 1.62 +2 .Hand.open + "manipulator"&`1 +66 "core" 1 + "manipulator"&% +4 "core" % R G +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"& '\ +96 "core" ' +2 "processing"%& +4 "core" &Z\ ( + #tImaging generic puck in Processing Clamp while storing it to tube 7 +2 "manipulator"&% +4 "core" %\ / G #e + "storage"('% +4 "core" %:   \  + "storage"((. +3 "core" .([ +2 "storage"(~& +4 "core" &[   \ +2 "storage"(& +2 "manipulator"&X& +7 "core" &[   \ + &k ) +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +2 "storage"(#]kK-0-\ b +2 .tElbow.seek PC +4 "manipulator"&1(c +4 ."raiseStack"SE.seek :beamBreak + "storage"('e +3 "core" ( + "manipulator"&& +4 "core" &k  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &k _ +2 .tForearm.seek PC +2 "manipulator"&'[ +94 "core" ' +2 .tHand.close + "manipulator"& / +60 "core" / + .tPC.seek :open +2 "processing"%(p +90 "core" ' + "storage"(- +4 "core" -'e + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place + "storage"('B +34 "core" ' +258 ( + "storage"(& +5 "core" &[ ] I L\ + "manipulator"&-& +4 "core" &k  + "manipulator"&% +4 "core" % Y  +2 .tForearm.seek :retract +2 "manipulator"&9'\ +97 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 7 +2 "manipulator"&4( +261 "core" ( + "manipulator"&,& +5 "core" & L  + "storage"(%& +4 "core" &[ C C\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&='k +93 "core" ' +2 .tHand.open + "manipulator"&"1 +63 "core" 1 +2 "storage"()- +3 "core" -'B +3 .tSE.seek -0.16 Pucks below Top Plate + "storage"(2' +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(A' +54 "core" ' +2 #tLights, camera, ACTION! + "storage"(- +4 "core" -' + "storage"(5& +4 "core" &[ \ \ +2 "manipulator"&6& +3 "core" &   +2 .tElbow.seek 7 +2 "manipulator"&E( +7 "core" ( + "manipulator"&G& +5 "core" &   + "storage"(<& +4 "core" &[ \ +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&?'k +3 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"(;'M +63 "core" ' + "manipulator"&& +5 "core" &   + "storage"(K& +4 "core" &[ ] \\\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 7 + "manipulator"&/'Ω +31 "core" ' + .tElbow.hold +2 "manipulator"&0, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"(B'7 +24 "core" ' +2 "manipulator"&P% +4 "core" %μ  + "storage"(>& +5 "core" &[ ! \ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 7 + 319 counts + "manipulator"&$' +18 "core" ' + "manipulator"&&& +4 "core" & h w "  +2 "storage"(I& +4 "core" &[ Z [ +\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&.'k +23 "core" ' + "storage"(#% +5 "core" %A i o \ +2 ."downElevator"SE.seek :down +4 "storage"(8'N +98 (+% +3 "core" %> 7 8\ V_ +2 "manipulator"&7% +4 "core" %З q q N +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&D'\ +90 "core" ' +62 ' + ."downElevator"SE.stop + "storage"(5 +3 (W& +4 "core" &[ 2 B ,\ + "collection"'Y& +4 "core" &]r\ U +2 #tStoring generic puck in Collection Clamp to tube 7 + "manipulator"&L% +4 "core" %\ 0 K #j + "storage"(3% +4 "core" %L H < k\ + "storage"(N. +3 "core" .([ +2 "storage"(T& +4 "core" &[ V H N\ + "storage"(S& +4 "core" &[ I < e\ + "manipulator"&Q& +4 "core" &  +2 .tElbow.seek 7 + "manipulator"& ( +46 "core" ( +11 "manipulator"&H& +4 "core" &  + "storage"(J& +4 "core" &[ K ; p\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&F'k +112 "core" ' +2 "storage"(f& +4 "core" &[ o o \ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(V'e +280 "core" ' + "storage"([- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&O& +3 "core" & t q b  +2 "storage"(C& +4 "core" &[ [ \\\ + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 7 +2 "manipulator"&*'Ω +34 "core" ' +2 .tElbow.hold + "manipulator"&Z, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(j- +2 "core" -' +3 .tSE.seek 0.11 Pucks below Top Plate + "storage"(M'n +31 "core" ' + "manipulator"&a% +4 "core" %κ ] +2 "storage"(@& +4 "core" &[   >\ + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 7 + 317 counts + "manipulator"&!' +18 "core" ' +2 "manipulator"&b& +4 "core" & } k k  +2 "storage"(:& +4 "core" &[ z o E\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&d'k +16 "core" ' +2 .tSE.seek 1.11 Pucks below Top Plate +2 "storage"(t'] +42 "core" ' +2 "manipulator"&i& +5 "core" & p z _  + "manipulator"&h% +4 "core" %g t q +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&U'\ +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&}( +162 "core" ( + "manipulator"&m& +5 "core" &- j Cs + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &y& +2 "core" &.  Cs +2 .tForearm.seek CC +2 "manipulator"&\\'| +101 "core" ' + .tHand.close +2 "manipulator"&x/ +55 "core" / + .tCC.seek :open +2 "collection"'](p +411 "core" ( + "storage"(o& +4 "core" &[ a\ +2 "storage"(n& +3 "core" &[ \\\ +2 "manipulator"&& +4 "core" &( T ?T + "manipulator"&k% +4 "core" % m " +2 .tForearm.seek :retract + "manipulator"&^'\ +90 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 7 +2 "manipulator"&w( +159 "core" ( + "manipulator"& & +5 "core" &  + "storage"(& +4 "core" &[ o\ + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 7 +2 "manipulator"&l'Ω +106 "core" ' + .tElbow.hold +2 "manipulator"&u, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&r1 +53 "core" 1 +2 "manipulator"&% +4 "core" % ζ $ C +2 "storage"(\ & +4 "core" &[ Z [ \ + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 7 + 313 counts + "manipulator"&s' +18 "core" ' +2 "manipulator"&z& +4 "core" & | Y +2 "storage"(c& +4 "core" &[ M\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&p'k +21 "core" ' + "storage"( % +4 "core" %g `\ +2 ."downElevator"SE.seek :down +5 "storage"(q'N +99 (% +3 "core" %=< M\ U[ +2 "manipulator"&v% +4 "core" %Ѐ { t a +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&e'\ +86 "core" ' +52 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 5 of [5..7] + #Loading generic puck from tube 5 into Collection Clamp +2 "collection"'{& +4 "core" &\ +2 "manipulator"&_% +4 "core" %\ % \ 7 +2 "storage"(% +4 "core" %B $\  + "storage"(. +3 "core" .([ +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"(R(<< +669 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (`& +3 "core" &<> n [ P\ + "manipulator"&& +4 "core" &  +2 .tElbow.seek 5 + "manipulator"&( +37 "core" ( +2 "manipulator"&& +4 "core" &   + "storage"('& +4 "core" &[\ N +9 &@a^\ N +9 &B$[\ M +10 &C[\ M +9 &EZ\ M +10 &Gi`\ N +9 &I&k\ O +9 &J~\ Q +10 &LE\ V +9 &NU\ W +9 &P\ X +10 &Q\ X +9 &S\ Y +10 &UW\ Y +9 &W\ Z +9 &X\ [ +10 &Z\ \\ +9 &\\Y\ H +9 &]_9\ (v +10 &]~\ Q +5 ( +2 "collection"')& +4 #tCollection Clamp onSpring/offSpring for 10/26 samples, on/off torque 2.03 + .Hand.open + "manipulator"&51 +4 "core" &]y\ Q +52 1 + "manipulator"&6% +4 "core" % k 0 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&G'\ +100 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp + "processing"%<& +4 "core" &\ + "manipulator"&9% +4 "core" %\ 8 F ' +2 "storage"(% +4 "core" %C ! " \  + "storage"(K. +3 "core" .(& +5 "core" &% <? + "manipulator"&2% +4 "core" %\ 8  ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&&( +174 "core" ( +2 "manipulator"&I& +4 "core" & / . + "storage"(#& +4 "core" &<< F F \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&4' +104 "core" ' + "storage"(=& +4 "core" &<< ] \\\  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(A'e +279 "core" ' + "storage"(+- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (7& +2 "core" &<8 C C \ \ +2 "manipulator"&?& +4 "core" &  . + .tElbow.seek 5 +2 "manipulator"&E( +18 "core" ( + "manipulator"&;& +4 "core" & "~ +2 "storage"(/& +3 "core" &<8 F F Y\ \ +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&$'[ +11 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&W/ +63 "core" / +5 ."downElevator"SE.seek :down +3 "manipulator"&Y& +2 "storage"(L'N +7 "core" &  "~ + "manipulator"&3% +4 "core" % W  6 +2 .tForearm.seek :retract +2 "manipulator"&N'\ +98 "core" ' + .tElbow.seek PC +2 "manipulator"&T(c +152 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +106 "core" ( + "manipulator"&B& +4 "core" &e ' +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &S& +3 "core" &e +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&Q'[ +103 "core" ' +2 "manipulator"&H& +4 "core" &e  + "manipulator"&J% +4 "core" %V +2 "processing"%.& +4 "core" & \ +2 "processing"%f& +4 "core" &\ +2 .tPC.seek :closed +2 "processing"%8(Z +4 "core" &\  +8 &/z \ *y +10 &es\ ? +9 &Bu$\ O +10 &W%\ N +9 &Z)\ N +9 &U'\ M +10 &!KY\ N +9 &#T*\ M +9 &$Wm\ N +10 &&\\$\ N +9 &(UW)\ M +10 &*W)\ M +9 &+W+\ M +9 &-W*\ N +10 &/\\Y \ N +9 &1W&\ N +9 &2\\)\ N +10 &4Z&\ N +9 &6dZ&\ N +10 &8&Z*\ N +9 &9W)\ M +9 &;['\ N +10 &=lU(\ N +9 &?.Y(\ N +9 &@\\o\ N +10 &BW'\ N +9 &DtV)\ N +10 &F6Z)\ N +46 &Gc&\ O +12 &Ip*\ P + &Ko*\ R +5 &M+p\ T +2 &N*\ U + &P&\ U + &Rp!\ T +7 &T2(\ T +9 &U)\ U +9 &W!\ U +10 &Yu(\ B +9 &Z|A#\ U +9 &Z\ ) +3 ( + "processing"%f& +4 #tProcessing Clamp onSpring/offSpring for 9/25 samples, on/off torque 1.66 + .Hand.open + "manipulator"&01 +63 "core" 1 + "manipulator"&D% +5 "core" % V  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&['\ +102 "core" ' + "processing"%O& +4 "core" &Z\ ) +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 + "manipulator"&C% +4 "core" %\    +2 "storage"(j% +4 "core" %E E D\  + "storage"(a. +3 "core" .(<< +2 "storage"(@& +4 "core" &<8 F E\ \ + "storage"(b& +3 "manipulator"&:& +7 "core" &<8 F E\ \ + &e q +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +4 "storage"(#]kK-0-\ b +2 "manipulator"&i(c +4 ."raiseStack"SE.seek :beamBreak +2 "storage"(h'e +2 "core" ( +2 "manipulator"&F& +4 "core" &e + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 & & +2 "core" &e 7 +3 .tForearm.seek PC + "manipulator"&V'[ +94 "core" ' + .tHand.close +2 "manipulator"&*/ +53 "core" / +2 .tPC.seek :open + "processing"%!(p +100 "core" ' + "storage"(M- +3 "core" -'e +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(m'B +33 "core" ' +249 ( +2 "storage"(y& +4 "core" &<8 ] ? 9\ \ + "manipulator"&d& +4 "core" &e ! +2 "manipulator"&Z% +3 "core" % ] % +2 .tForearm.seek :retract +2 "manipulator"&x'\ +96 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&U( +258 "core" ( + "manipulator"&g& +4 "core" & X ' +2 "storage"(o& +4 "core" &<8 C C\ \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&n' +106 "core" ' + .tHand.open +2 "manipulator"&1 +54 "core" 1 +2 "storage"(k- +4 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate +2 "storage"( ' +26 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(' +51 "core" ' +2 #tLights, camera, ACTION! + "storage"(\\- +4 "core" -' + "storage"(}& +4 "core" &<7 \ +2 "manipulator"&r& +3 "core" &  ' +2 .tElbow.seek 5 +2 "manipulator"&( +3 "core" ( + "manipulator"&\ & +4 "core" &  ' +2 "storage"(z& +3 "core" &<7 V\ +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&c' +18 "core" ' + .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"( 'M +61 "core" ' +2 "manipulator"&^& +4 "core" & s q E ' + "storage"(& +4 "core" &<7 [ Y\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&v'/ +33 "core" ' +2 .tElbow.hold + "manipulator"&w, +5 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"(l'7 +22 "core" ' +2 "manipulator"&{% +4 "core" %< r + "storage"(s& +5 "core" &<7 = ;\ + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 5 + 313 counts + "manipulator"&_'h +16 "core" ' +2 "manipulator"&& +4 "core" &7 v t l +2 "storage"(& +4 "core" &<7 Z \\\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&t' +21 "core" ' + "storage"(p% +5 "core" %? e ] +\ +2 ."downElevator"SE.seek :down +4 "storage"(q'N +98 (% +3 "core" %? D D\ U^ +2 "manipulator"&`% +4 "core" % s v B  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +90 "core" ' +62 ' + ."downElevator"SE.stop + "storage"(5 +3 (& +3 "core" &<7   \ +2 "collection"''& +3 "core" &]w\ Q +2 #tStoring generic puck in Collection Clamp to tube 5 +2 "manipulator"&% +4 "core" %\ / #b + "storage"(u% +4 "core" %J F F\  + "storage"(e. +3 "core" .(<< +2 "storage"(& +3 "core" &<7 F F\ +2 "storage"(X& +4 "core" &<7 E A \ + "manipulator"&& +4 "core" &7 l +2 .tElbow.seek 5 + "manipulator"&( +25 "core" ( + "manipulator"& & +5 "core" &   + "storage"(& +4 "core" &<7 : H `\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"& ' +92 "core" ' + "storage"(& +4 "core" &<7 j s \ +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"('e +279 "core" ' + "storage"((- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" &  + "storage"(& +4 "core" &<7 D A\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 + "manipulator"&~'/ +29 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(%- +3 "core" -' +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(1'm +29 "core" ' + "manipulator"&% +5 "core" %A ) O + "storage"("& +4 "core" &<7\ &\ $ 8\ + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 318 counts + "manipulator"&|'m +12 "core" ' + "manipulator"&-& +4 "core" &" S t z +2 "storage"(]& +4 "core" &<7 Z Z )\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&5' +18 "core" ' +2 .tSE.seek 1.11 Pucks below Top Plate +2 "storage"(6'\\ +41 "core" ' + "manipulator"&<& +5 "core" &" e } ~ z + "manipulator"&9% +4 "core" % q q U  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +91 "core" ' +2 .tElbow.seek CC + "manipulator"&K( +156 "core" ( + "manipulator"&)& +5 "core" & $ z <> + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &P& +3 "core" & %  <> +2 .tForearm.seek CC + "manipulator"&>'| +98 "core" ' + .tHand.close +2 "manipulator"&2/ +53 "core" / +2 .tCC.seek :open + "collection"',(p +411 "core" ( +2 "storage"(I& +4 "core" &<7 z 7\ + "storage"(#& +4 "core" &<7 j j \ + "manipulator"&R& +4 "core" &" :0 + "manipulator"&=% +4 "core" % h +2 .tForearm.seek :retract + "manipulator"&'\ +92 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&G( +160 "core" ( +2 "manipulator"&+& +4 "core" &    +2 "storage"(7& +3 "core" &<7 9\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 5 + "manipulator"&?'/ +106 "core" ' +2 .tElbow.hold + "manipulator"&;, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&/1 +62 "core" 1 +2 "manipulator"&W% +4 "core" % B Y + "storage"(Y& +4 "core" &<7 Z Y\ + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 5 + 319 counts +2 "manipulator"&3'n +17 "core" ' + "manipulator"&&& +5 "core" &, S t > w + "storage"(4& +4 "core" &<7 \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&A' +20 "core" ' + "storage"($% +5 "core" %c j\ +52 ."downElevator"SE.seek :down +3 "storage"(B'N +100 (S% +2 "core" %+? ]\ U\\ +2 "manipulator"&E% +4 "core" % { ~ h % +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&H'\ +90 "core" ' +50 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 6 of [5..7] +2 #Loading generic puck from tube 6 into Collection Clamp + "collection"'J& +4 "core" &\ +2 "manipulator"&.% +4 "core" %\ 1 $p + "storage"(L% +4 "core" %8 \ +2 "storage"(N. +3 "core" .(<< +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"((K +353 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +2 (0& +3 "core" &K ] `\  +2 "manipulator"&D& +4 "core" &, K w + .tElbow.seek 6 +2 "manipulator"&O( +35 "core" ( + "manipulator"&C& +5 "core" & j d + "storage"(j& +4 "core" &K W\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&f'< +96 "core" ' +2 "storage"(a& +4 "core" &K q\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(@'e +278 "core" ' +2 "storage"(:- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (b& +3 "core" &K \  + "manipulator"&F& +4 "core" &  c +2 .tElbow.seek 6 + "manipulator"& ( +3 "core" ( +2 "manipulator"&Q& +4 "core" &  c + "storage"(*& +4 "core" &K \  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&M'Ϧ +20 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&T/ +53 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"&[& "storage"(8'N +8 "core" & } u : c + "manipulator"&y% +4 "core" % Ϥ s r +2 .tForearm.seek :retract +2 "manipulator"&d'\ +88 "core" ' +2 .tElbow.seek CC + "manipulator"&Z( +147 "core" ( + "manipulator"&h& +5 "core" &$ W <; + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 "core" ' +2 ."downElevator"SE.stop +3 "manipulator"&V& +3 "storage"(5 +4 "core" &% S <; +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&g'| +101 "core" ' +2 "manipulator"&o& +4 "core" &%  <; +2 "manipulator"&i% +4 "core" %p C _ +2 "collection"'& +3 "core" &\ +2 "collection"'k& +5 "core" &\ +2 .tCC.seek :closed +2 "collection"'\\(] +5 "core" &\  +9 &2\ *y +9 &c\ > +9 &Jw\ N +10 & ]\ M +9 &_\ M +9 &`\ N +10 &!R_\ M +9 &#\\\ M +9 &$Z\ M +10 &&_\ M +9 &([[\ M +10 &*]\ M +9 &+\\\ M +9 &-\\\ M +10 &/b^\ M +9 &1$Z\ M +9 &2]\ N +10 &4\\\ M +9 &6k\\\ M +10 &8.\\\ M +9 &9\\\ M +10 &;\\\ M +9 &=t]\ M +9 &?5]\ M +9 &@_\ M +10 &B_\ M +9 &Dz\\\ M +10 &F;_\ N +9 &Ge\ N +9 &Iv\ P +10 &Kth\ R +9 &M*\ V +9 &N\ W +10 &P\ W +9 &Rk\ X +10 &T+\ Y +9 &U\ Z +9 &W\ Z +10 &Yh\ \\ +9 &[+\ [ +9 &\\{\ 4 +10 &]"\ +| +9 &]\ \\ +3 ( + "collection"'k& +3 #tCollection Clamp onSpring/offSpring for 9/25 samples, on/off torque 2.08 +2 .Hand.open + "manipulator"&}1 +59 "core" 1 +2 "manipulator"&r% +5 "core" % p b _ + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&\ '\ +91 "core" ' +2 #tLoading generic puck from tube 6 into Processing Clamp + "processing"%z& +5 "core" &\ + "manipulator"&x% +4 "core" %\ +  !R + "storage"(^% +4 "core" %A   ?\  + "storage"(. +3 "core" .(K +2 "storage"(m& +3 "core" &K ! ! \  +2 "storage"({& +4 "core" &K  \  + "manipulator"&s& +4 "core" &"  :/ + "manipulator"& % +4 "core" %\ + !R +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 + "manipulator"&( +162 "core" ( + "manipulator"&& +4 "core" &   +2 "storage"(p& +3 "core" &K F E M\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts + "manipulator"&U'< +89 "core" ' +2 "storage"(n& +4 "core" &K \\ ]\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('e +275 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (`& +2 "core" &K E B \  +2 "manipulator"&c& +4 "core" &   + .tElbow.seek 6 +2 "manipulator"&( +3 "core" ( + "manipulator"& & +4 "core" &   + "storage"(v& +4 "core" &K < 9 \  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&_'Ϧ +20 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +55 "core" / +2 ."downElevator"SE.seek :down +5 "manipulator"&'& + "storage"('N +7 "core" & } t i  +2 "manipulator"&u% +4 "core" % ϫ p q 5 +2 .tForearm.seek :retract + "manipulator"&e'\ +95 "core" ' + .tElbow.seek PC +2 "manipulator"&l(c +159 "core" ' + ."downElevator"SE.stop + "storage"(5 +87 "core" ( +2 "manipulator"&& +4 "core" &k  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &X& +2 "core" &k +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&'[ +93 "core" ' + "manipulator"& & +5 "core" &k \\ + "manipulator"&% +4 "core" %T 1 +2 "processing"%t& +4 "core" &2\ +2 "processing"%& +5 "core" &8\ +2 .tPC.seek :closed +3 "processing"%q(Z +3 "core" &5\ +6 & )0\ #b +10 &^W&\ 7 +9 &}$\ L +9 &mY%\ N +10 &1Z\ M +9 &\\3\ N +9 & ['\ N +10 &"wV \ M +9 &$8Z \ N +10 &%V\ M +9 &'W2\ M +9 &)U.\ M +10 &+AW#\ M +9 &-\\%\ N +10 &.Z)\ N +9 &0V(\ M +9 &2IX/\ M +10 &4 W1\ M +9 &5Z!\ M +9 &7V%\ N +10 &9PZ \ N +9 &;Z-\ N +9 &<T-\ M +10 &>Z&\ N +9 &@YZ(\ M +10 &BY,\ M +9 &C\\!\ N +9 &E[%\ N +10 &G^b(\ N +9 &Im!\ P +9 &J}.\ R +10 &L'\ T +9 &NT%\ T +10 &P'\ T +9 &Q\ T +9 &S%\ T +10 &U\\j\ T +9 &Wp\ U +9 &X'\ U +10 &Z<Oq&\ . +9 &Z(\ ) +6 ( + "processing"%& +4 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.64 +2 .Hand.open + "manipulator"&w1 +4 "core" &Z,\ ) +58 1 + "manipulator"&% +4 "core" % T { +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&('\ +96 "core" ' +2 "processing"%& +4 "core" &ZA\ ) +2 #tImaging generic puck in Processing Clamp while storing it to tube 6 + "manipulator"&% +4 "core" %\ 1 * $l + "storage"(%% +4 "core" %J \  + "storage"(. +3 "core" .(K +2 "storage"("& +3 "core" &K   l\  +2 "storage"(-& +2 "manipulator"&]& +7 "core" &K  \  + &k +3 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +3 "storage"(#]kK-0-\ b +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +3 ."raiseStack"SE.seek :beamBreak +2 "manipulator"&<(c + "storage"(9'e +5 "core" ( +2 "manipulator"& & +4 "core" &k  + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &k : +2 .tForearm.seek PC +2 "manipulator"&'[ +95 "core" ' +2 .tHand.close + "manipulator"&~/ +60 "core" / +2 .tPC.seek :open + "processing"%|(p +88 "core" ' +2 "storage"(1- +4 "core" -'e + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +2 ."raiseStack"SE.seek :place +2 "storage"()'B +40 "core" ' +253 ( +2 "storage"(P& +4 "core" &K F C\  + "manipulator"&5& +4 "core" &k  + "manipulator"&% +4 "core" % T  +2 .tForearm.seek :retract + "manipulator"&2'\ +99 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 + "manipulator"&( +264 "core" ( +2 "manipulator"&& +55 "core" & l +2 "storage"(I& +4 "core" &K   \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&#'< +98 "core" ' +2 .tHand.open + "manipulator"&R1 +53 "core" 1 +2 "storage"(=- +4 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate +2 "storage"(+' +26 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(7' +53 "core" ' + #tLights, camera, ACTION! +2 "storage"(>- +3 "core" -' +2 "storage"(K& +3 "core" &K H\  +2 "manipulator"&/& +4 "core" &  +2 .tElbow.seek 6 +2 "manipulator"&W( +3 "core" ( + "manipulator"&Y& +4 "core" &  +2 "storage"(&& +4 "core" &K c\  +2 .tForearm.seek 6 + 450 counts + "manipulator"&4'< +17 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.11 Pucks below Top Plate + "storage"($'M +60 "core" ' +2 "manipulator"&& +4 "core" & u r +2 "storage"(G& +4 "core" &K Y Z\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 + "manipulator"&S'z +35 "core" ' + .tElbow.hold +2 "manipulator"&E, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"(?'7 +24 "core" ' +2 "manipulator"&3% +4 "core" %΂x   A +2 "storage"(J& +4 "core" &K\ \  Z\  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 6 + 308 counts + "manipulator"&.'Ϯ +16 "core" ' +2 "manipulator"&L& +4 "core" & j o +2 "storage"(N& +4 "core" &K Y [\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&6'< +18 "core" ' + "storage"(A% +5 "core" %? g _ \ \ +2 ."downElevator"SE.seek :down +4 "storage"(B'N +98 (% +3 "core" %? C C \ U^ +2 "manipulator"&0% +4 "core" %9 r s @ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&D'\ +91 "core" ' +58 ' + ."downElevator"SE.stop + "storage"(5 +3 (C& +3 "core" &K\ # V \  +2 "collection"'j& +4 "core" &]\ \\ +2 #tStoring generic puck in Collection Clamp to tube 6 + "manipulator"&a% +4 "core" %\ 1 $o + "storage"(;% +4 "core" %7 B C \  + "storage"(H. +3 "core" .(K +2 "storage"(:& +4 "core" &K 7 9 ]\  + "storage"(b& +4 "core" &K B ? s\  + "manipulator"&F& +4 "core" & l +2 .tElbow.seek 6 + "manipulator"&Q( +4 "core" ( + "manipulator"&*& +4 "core" & X + "storage"(T& +4 "core" &K B C T\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&['< +103 "core" ' + "storage"(y& +5 "core" &K \\ [\  + .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(O'e +276 "core" ' + "storage"(f- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&h& +3 "core" &  + "storage"(V& +4 "core" &K C < >\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&@'z +32 "core" ' + .tElbow.hold +2 "manipulator"&M, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(o- +2 "core" -' +2 .tSE.seek 0.12 Pucks below Top Plate +2 "storage"(i's +27 "core" ' + "manipulator"&% +5 "core" %Ίo  l ¸# + "storage"( & +4 "core" &K \  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 6 + 316 counts + "manipulator"&8'϶ +18 "core" ' +2 "manipulator"&d& +4 "core" & i v ` + "storage"(,& +4 "core" &K \\ Y\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&}'< +23 "core" ' +2 .tSE.seek 1.12 Pucks below Top Plate +2 "storage"(r'b +49 "core" ' +2 "manipulator"&z& +4 "core" & q s n +2 "manipulator"&x% +4 "core" %J r r b  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&^'\ +87 "core" ' + .tElbow.seek CC +2 "manipulator"&( +158 "core" ( + "manipulator"&m& +4 "core" &, U Bj +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &{& +3 "core" &,  Bj +2 .tForearm.seek CC + "manipulator"&k'| +97 "core" ' + .tHand.close + "manipulator"&s/ +54 "core" / +2 .tCC.seek :open + "collection"' (p +411 "core" ( +2 "storage"(g& +4 "core" &K \\\  + "storage"(& +4 "core" &K ^\  + "manipulator"&p& +4 "core" && >N + "manipulator"&n% +4 "core" % p  +2 .tForearm.seek :retract + "manipulator"&Z'\ +92 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 + "manipulator"&\ ( +161 "core" ( +2 "manipulator"&& +4 "core" & F  +2 "storage"(`& +3 "core" &K 5\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 6 + "manipulator"&c'z +109 "core" ' +2 .tElbow.hold + "manipulator"& , +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&v1 +59 "core" 1 +2 "manipulator"&% +4 "core" % ΍ : t + "storage"('& +4 "core" &K [ Y\  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 6 + 319 counts +2 "manipulator"&u'Ϲ +18 "core" ' +2 "manipulator"&& +4 "core" & w i 2  + "storage"(U& +4 "core" &K h\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&'< +19 "core" ' +2 "storage"(_% +4 "core" %f K\ +2 ."downElevator"SE.seek :down +4 "storage"('N +99 (X% +3 "core" %@ B\ T[ +2 "manipulator"&% +4 "core" % p q P % +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"& '\ +93 "core" ' +49 ' + ."downElevator"SE.stop +2 "storage"(5 +2 #tShuffling pucks in tube 7 of [5..7] +2 #Loading generic puck from tube 7 into Collection Clamp +2 "collection"'& +4 "core" &\ + "manipulator"&t% +4 "core" %\ 8  ' +2 "storage"(% +4 "core" %F \ + "storage"(e. +3 "core" .(K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 7 +2 "storage"(!([ +380 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (w& +3 "core" &[ \ + "manipulator"&& +4 "core" & T  +2 .tElbow.seek 7 + "manipulator"&( +38 "core" ( + "manipulator"&& +5 "core" & b !t + "storage"(%& +4 "core" &[ Y\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&'k +103 "core" ' + "storage"("& +4 "core" &[ )\ +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"('e +288 "core" ' +2 "storage"(]- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +2 (-& +3 "core" &[ Q\ + "manipulator"& & +4 "core" & \ !t +2 .tElbow.seek 7 + "manipulator"&( +3 "core" ( +2 "manipulator"&& +4 "core" & m !t + "storage"(~& +4 "core" &[ !\ +2 .tForearm.seek 7 + 300 counts + "manipulator"&1' +10 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&l/ +52 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&(& + "storage"(q'N +7 "core" &  !t + "manipulator"&P% +4 "core" %  ] +52 .tForearm.seek :retract +2 "manipulator"&5'\ +97 "core" ' +2 .tElbow.seek CC +2 "manipulator"&9( +94 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +59 "core" ( + "manipulator"&& +4 "core" &+  : Bf +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &, Y Bf +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&'| +95 "core" ' +2 "manipulator"&<& +4 "core" &+ Ae +2 "manipulator"&I% +4 "core" %ς   +2 "collection"'R& +4 "core" &\ +2 "collection"'=& +5 "core" &\ +2 .tCC.seek :closed + "collection"'>(] +5 "core" &\ +7 & 8\ %f +9 &mV\ 7 +10 &\ L +9 &Z\ M +9 &B]\ M +10 &]\ M +9 & [\ M +10 &"]\ M +9 &$KZ\ M +9 && ]\ M +10 &'\\\ M +9 &)]\ M +9 &+S\\\ M +10 &-Z\ M +9 &.]\ M +10 &0_\ M +9 &2Y]\ M +9 &4^\ N +10 &5\\\ M +9 &7\\\ M +10 &9bY\ M +9 &;$\\\ M +9 &<\\\ M +10 &>\\\ M +9 &@j\\\ M +9 &B+]\ M +10 &C]\ M +9 &E\\\ M +9 &Gq`\ M +10 &I0g\ N +9 &Jy\ P +10 &L+`\ U +9 &N^\ W +9 &P\ X +10 &Q\ W +9 &S\ X +9 &U^\ Y +10 &W \ Y +9 &X\ [ +10 &Z\ \\ +9 &\\`\ H +9 &]\\7\ 0 +10 &]x\ W +2 ( + "collection"'=& +4 #tCollection Clamp onSpring/offSpring for 10/26 samples, on/off torque 2.04 + .Hand.open + "manipulator"&K1 +60 "core" 1 +2 "manipulator"&/% +4 "core" % ς   +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&Y'\ +92 "core" ' +2 #tLoading generic puck from tube 7 into Processing Clamp + "processing"%&& +4 "core" &/\ +2 "manipulator"&2% +4 "core" %\ /  #c + "storage"(% +4 "core" %6   \  + "storage"(G. +3 "core" .([ +2 "storage"()& +4 "core" &[   \ + "storage"(3& +4 "core" &[   \ +2 "manipulator"&J& +3 "core" & *  @] +2 "manipulator"&+% +4 "core" %\ . ( #c + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 7 +2 "manipulator"&L( +164 "core" ( + "manipulator"&N& +4 "core" & z  +2 "storage"(A& +4 "core" &[ W M G\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&'k +93 "core" ' +2 "storage"(#& +4 "core" &[ g i k\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(7'e +280 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (0& +3 "core" &[ D F\ + "manipulator"&4& +4 "core" &   +2 .tElbow.seek 7 + "manipulator"&W( +4 "core" ( + "manipulator"&$& +4 "core" & m   +2 "storage"(S& +3 "core" &[ G 8 u\ +2 .tForearm.seek 7 + 300 counts +2 "manipulator"&C' +20 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&./ +54 "core" / +2 ."downElevator"SE.seek :down +5 "manipulator"&j& "storage"(a'N +8 "core" & s t  + "manipulator"&;% +4 "core" % t s Z +2 .tForearm.seek :retract +2 "manipulator"&H'\ +88 "core" ' +2 .tElbow.seek PC +2 "manipulator"&:(c +161 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +73 "core" ( + "manipulator"&?& +5 "core" &b | S L + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &b& +2 "core" &b  L +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&F'[ +91 "core" ' +2 "manipulator"&*& +4 "core" &b L +2 "manipulator"&T% +4 "core" %X  +2 "processing"%6& +4 "core" &<\ +2 "processing"%y& +4 "core" &1\ +2 .tPC.seek :closed +2 "processing"%B(Z +4 "core" &8\  +10 &1;\ *x +9 &cB\ > +9 &Eu?\ N +10 &YA\ N +9 &[?\ N +9 &X5\ N +10 &!LW6\ N +9 &#W9\ N +10 &$W:\ N +9 &&[1\ M +9 &(UZ0\ M +10 &*['\ M +9 &+X,\ N +9 &-U+\ M +10 &/\\]+\ N +9 &1[(\ M +10 &2\\(\ N +9 &4Y(\ M +9 &6dZ(\ N +10 &8'Z-\ M +9 &9W!\ M +9 &;Z3\ M +10 &=mU&\ M +9 &?.Z,\ N +9 &@\\&\ N +10 &BV\ M +9 &DuY2\ M +10 &F5Y'\ N +9 &Ge+\ O +9 &Im-\ P +10 &Ko~,\ R +9 &M+,\ T +9 &N)\ U +10 &P#\ T +9 &Ro5\ U +10 &T1(\ U +9 &U%\ U +9 &W)\ U +10 &Yt"\ C +9 &Zw<5\ ^ +9 &Z(\ * +3 ( + "processing"%y& +4 #tProcessing Clamp onSpring/offSpring for 9/25 samples, on/off torque 1.65 + .Hand.open +2 "manipulator"&E1 +56 "core" 1 + "manipulator"&D% +4 "core" % X y +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&f'\ +92 "core" ' + "processing"%h& +4 "core" &Z)\ * +2 #tImaging generic puck in Processing Clamp while storing it to tube 7 + "manipulator"&V% +4 "core" %\ * !N + "storage"(o% +4 "core" %9 B C \  + "storage"(. +3 "core" .([ +2 "storage"( & +4 "core" &[ 6 ? \ + "storage"(d& +5 "manipulator"&,& +4 "core" &[ C C \ + &b L +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +6 "manipulator"&$&.,(\ #b + "storage"(#]kK-0-\ b +3 .tElbow.seek PC +10 "manipulator"&z(c +3 ."raiseStack"SE.seek :beamBreak +2 "storage"(x'e +3 "core" ( + "manipulator"&[& +9 "core" &b X L + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &Q& +3 "core" &b  L +2 .tForearm.seek PC + "manipulator"&O'[ +99 "core" ' + .tHand.close +2 "manipulator"&@/ +62 "core" / +2 .tPC.seek :open +2 "processing"%8(p +77 "core" ' + "storage"(i- +4 "core" -'e + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +2 ."raiseStack"SE.seek :place +2 "storage"(m'B +45 "core" ' +260 ( + "storage"({& +4 "core" &[ 8 ? \ +2 "manipulator"&}& +3 "core" &b  L +2 "manipulator"&M% +4 "core" % a  +2 .tForearm.seek :retract + "manipulator"&s'\ +96 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 7 + "manipulator"&^( +250 "core" ( +2 "manipulator"&\\& +4 "core" & ! $ + "storage"(g& +4 "core" &[ C B \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&'k +108 "core" ' + .tHand.open +2 "manipulator"&p1 +61 "core" 1 +2 "storage"(n- +3 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate +2 "storage"(' +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.83 Pucks below Top Plate + "storage"(`' +52 "core" ' + #tLights, camera, ACTION! +2 "storage"(k- +3 "core" -' +2 "storage"(& +4 "core" &[ \ + "manipulator"&v& +4 "core" &  $ +2 .tElbow.seek 7 + "manipulator"&( +3 "core" ( +2 "manipulator"&'& +4 "core" & | ~ $ + "storage"(& +4 "core" &[ 5\ +3 .tForearm.seek 7 + 450 counts + "manipulator"&U'k +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"(_'M +62 "core" ' +2 "manipulator"&Z& +4 "core" & w ~ $ +2 "storage"(X& +4 "core" &[ [ Z\ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 7 +2 "manipulator"&'Ω +32 "core" ' + .tElbow.hold +2 "manipulator"&\ , +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"(c'7 +23 "core" ' + "manipulator"&% +5 "core" %κ  + "storage"(u& +4 "core" &[   \ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 7 + 317 counts + "manipulator"&t' +19 "core" ' + "manipulator"&& +4 "core" & z o  $ +2 "storage"(e& +4 "core" &[ f c \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&r'k +16 "core" ' +2 "storage"(% +56 "core" %A Z Z\  +2 ."downElevator"SE.seek :down +4 "storage"('N +98 (% +3 "core" %? E F\ U_ +2 "manipulator"&w% +4 "core" %] q q l  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +95 "core" ' +54 ' + ."downElevator"SE.stop + "storage"(5 +3 (& +4 "core" &[\  R M\ +2 "collection"'%& +4 "core" &]v\ W +2 #tStoring generic puck in Collection Clamp to tube 7 + "manipulator"&"% +4 "core" %\ =  ) + "storage"( % +4 "core" %7 ? B W\  + "storage"( . +3 "core" .([ +2 "storage"(]& +4 "core" &[ 5 5 O\ + "storage"(-& +4 "core" &[ B B }\ +2 "manipulator"& & +4 "core" &  # +2 .tElbow.seek 7 + "manipulator"&( +4 "core" ( + "manipulator"&~& +4 "core" &  # + "storage"(l& +4 "core" &[ B 9 \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&('k +106 "core" ' + "storage"(P& +5 "core" &[ w ` \ + .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"('e +282 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" & q q _ # +2 "storage"(& +4 "core" &[ \\ ] 1\ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 7 + "manipulator"&'Ω +33 "core" ' + .tElbow.hold +2 "manipulator"&1, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(<- +2 "core" -' +3 .tSE.seek 0.11 Pucks below Top Plate + "storage"(I'n +31 "core" ' + "manipulator"&R% +5 "core" %γ Q z + "storage"(& +4 "core" &[ = \ + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 7 + 310 counts +2 "manipulator"&q' +22 "core" ' + "manipulator"&5& +5 "core" & } w a # + "storage"( & +4 "core" &[ d \\\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&K'k +17 "core" ' +2 .tSE.seek 1.11 Pucks below Top Plate + "storage"(/'] +52 "core" ' +2 "manipulator"&&& +4 "core" & s s X # +2 "manipulator"&2% +3 "core" %^ t r _ +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +93 "core" ' +2 .tElbow.seek CC +2 "manipulator"&G( +156 "core" ( +2 "manipulator"&)& +4 "core" &. ! ! Dx + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &3& +2 "core" &/ 7 Dw +2 .tForearm.seek CC +2 "manipulator"&='| +96 "core" ' + .tHand.close +2 "manipulator"&J/ +61 "core" / +2 .tCC.seek :open + "collection"'+(p +411 "core" ( +2 "storage"(& +4 "core" &[ |\ +2 "storage"(N& +4 "core" &[ h h _\ + "manipulator"&A& +4 "core" &-& , >H + "manipulator"&#% +4 "core" % {   +2 .tForearm.seek :retract + "manipulator"&9'\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 7 +2 "manipulator"&Y( +176 "core" ( +2 "manipulator"&& +4 "core" &\ ^ +2 "storage"(0& +3 "core" &[ \\\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 7 + "manipulator"&4'Ω +108 "core" ' + .tElbow.hold +2 "manipulator"&$, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&S1 +56 "core" 1 +2 "manipulator"&.% +5 "core" % μ / ( + "storage"(j& +4 "core" &[ _ f 4\ + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 7 + 319 counts + "manipulator"&;' +19 "core" ' + "manipulator"&L& +4 "core" & n n Z +2 "storage"(& +4 "core" &[ S\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&7'k +17 "core" ' + "storage"(C% +5 "core" %d \ +2 ."downElevator"SE.seek :down +3 "storage"(?'N +99 (b% +3 "core" %; \ SX + "manipulator"&W% +4 "core" %e |  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&*'\ +93 "core" ' +46 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 5 of [5..7] +2 #Loading generic puck from tube 5 into Collection Clamp + "collection"'T& +4 "core" & \ +2 "manipulator"&6% +4 "core" %\ 1 $p +2 "storage"(a% +4 "core" %8 \ \  + "storage"(H. +3 "core" .([ +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 + "storage"(|(<< +668 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (E& +3 "core" &; +53 "core" ' +2 "storage"( & +4 "core" & +9 &Qy\ N +10 &\\ \ M +9 &]\ M +9 &_ \ M +10 &!\\^\ M +9 &#_\ M +9 &$\\\ L +10 &&^\ M +9 &(d]\ M +10 &*']\ L +9 &+\\ \ L +9 &-] \ M +10 &/ka\ M +9 &1.]\ M +9 &2]\ M +10 &4_ \ M +9 &6u\\\ L +10 &87\\\ L +9 &9_\ M +9 &;\\\ L +10 &={`\ M +9 &?>\\\ M +9 &A]\ M +10 &B]\ M +9 &DZ \ M +10 &FF]\ M +9 &Hc\ M +9 &Ir\ \ O +10 &K}p\ R +9 &M3 \ V +9 &N\ V +10 &P \ W +9 &Rt\ X +10 &T4\ X +9 &U \ Y +9 &W\ Z +10 &Yr\ [\ +9 &[4\ [\ +9 &\\{\ 0 +10 &])\ "f +9 ( +2 "collection"'n& +3 #tCollection Clamp onSpring/offSpring for 9/25 samples, on/off torque 2.06 +2 .Hand.open + "manipulator"&1 +4 "core" &]\ W +54 1 + "manipulator"&v% +5 "core" % |  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&''\ +91 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp + "processing"%& +4 "core" &'\ +2 "manipulator"&s% +4 "core" %\ -  "Z + "storage"(Z% +4 "core" %H E E (\  + "storage"(X. +3 "core" .( K\  +2 "manipulator"&w& +3 "core" &   +2 .tElbow.seek 5 +2 "manipulator"&( +3 "core" ( + "manipulator"&_& +4 "core" & P  + "storage"(& +4 "core" &<8 F E \  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&t'[ +33 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&/ +57 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&%& +2 "storage"("'N +7 "core" & t s P  +2 "manipulator"& % +4 "core" % } s ~ +2 .tForearm.seek :retract + "manipulator"& '\ +88 "core" ' +3 .tElbow.seek PC + "manipulator"&](c +158 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +90 "core" ( + "manipulator"&c& +5 "core" &a + + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &-& +3 "core" &a +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"& '[ +105 "core" ' +2 "manipulator"&~& +4 "core" &a m x  +2 "manipulator"&l% +3 "core" %R t s > +2 "processing"%r& +4 "core" &B\ +2 "processing"%P& +4 "core" &A\ +2 .tPC.seek :closed +2 "processing"%(Z +5 "core" &A\ +6 & *C\ #b +10 &]V}B\ 7 +9 &}A\ L +10 &mXA\ M +9 &.YA\ N +9 &ZB\ N +10 & ZA\ N +9 &"vT>\ M +10 &$7ZB\ M +9 &%V>\ M +9 &'YA\ N +10 &)}ZA\ M +9 &+?[6\ M +9 &-[3\ N +10 &.Y8\ N +9 &0Y.\ N +9 &2GZ'\ M +10 &4 U.\ M +9 &5[.\ M +9 &7Y+\ M +10 &9OU*\ M +9 &;X,\ M +10 &<T(\ M +9 &>W,\ N +9 &@VW,\ N +10 &BW-\ M +9 &CX-\ M +10 &EZ,\ M +9 &G[`-\ O +9 &Ig+\ O +10 &Jx*\ Q +9 &L3\ T +9 &NS.\ T +10 &P)\ T +9 &Q,\ T +10 &S/\ U +9 &UZ.\ T +9 &W(\ U +10 &X,\ U +9 &Z;Or.\ . +9 &Z)-\ ( +6 ( + "processing"%P& +5 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.62 + .Hand.open + "manipulator"&\ 1 +4 "core" &Z1\ ( +49 1 + "manipulator"&% +4 "core" % S ! +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&'\ +96 "core" ' +2 "processing"%& +4 "core" &Z\ ( + #tImaging generic puck in Processing Clamp while storing it to tube 5 +2 "manipulator"&% +3 "core" %\ ;  ( +2 "storage"(<% +4 "core" %>   S\ + "storage"(R. +3 "core" .(<9 +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"((<< +8 "core" ( +2 .tSC.configure :limp +3 "storage"($\ 1b +2 (5& +2 "manipulator"& & +6 "core" &a  + &<9  Q B\  +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +2 "storage"(#]kK-0-\ b +2 .tElbow.seek PC +5 "manipulator"&&(c +3 ."raiseStack"SE.seek :beamBreak +2 "storage"(2'e +3 "core" ( + "manipulator"&(& +4 "core" &a +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &a +2 .tForearm.seek PC + "manipulator"&'[ +97 "core" ' + .tHand.close +2 "manipulator"&/ +53 "core" / +2 .tPC.seek :open +2 "processing"%q(p +94 "core" ' + "storage"(I- +4 "core" -'e + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +2 ."raiseStack"SE.seek :place +2 "storage"()'B +34 "core" ' +254 ( + "storage"(3& +4 "core" &<8 @ B ?\  +2 "manipulator"&K& +3 "core" &a +2 "manipulator"&1% +4 "core" % J +2 .tForearm.seek :retract + "manipulator"&J'\ +101 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&( +248 "core" ( +2 "manipulator"&>& +4 "core" & g !s + "storage"(& +4 "core" &<8   \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&N' +95 "core" ' +2 .tHand.open + "manipulator"&A1 +58 "core" 1 +3 "storage"(#- +4 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate + "storage"(' +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.83 Pucks below Top Plate + "storage"(0' +50 "core" ' +2 #tLights, camera, ACTION! + "storage"(=- +4 "core" -' + "storage"(G& +4 "core" &<7 y a\  + "manipulator"&S& +4 "core" & !s +2 .tElbow.seek 5 +2 "manipulator"&.( +3 "core" ( + "manipulator"&j& +4 "core" & t !s +2 "storage"(L& +4 "core" &<7 \  +2 .tForearm.seek 5 + 450 counts + "manipulator"&' +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.11 Pucks below Top Plate + "storage"(C'M +58 "core" ' +2 "manipulator"&9& +4 "core" & K !s + "storage"(b& +4 "core" &<7 D G\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&W'/ +27 "core" ' + .tElbow.hold +2 "manipulator"&Y, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"(4'7 +24 "core" ' +2 "manipulator"&T% +4 "core" %> l +2 "storage"(6& +4 "core" &<7\ \ \  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 5 + 315 counts + "manipulator"&;'j +17 "core" ' + "manipulator"&a& +4 "core" &< h / 3 +2 "storage"(H& +4 "core" &<7 \\ \\\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&/' +10 "core" ' +2 "storage"(7% +4 "core" %? c \\\ +2 ."downElevator"SE.seek :down +3 "storage"(?'N +99 (!% +3 "core" %9 E A r\ U^ +2 "manipulator"&E% +4 "core" % z 1 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&D'\ +87 "core" ' +64 ' + ."downElevator"SE.stop + "storage"(5 +3 (V& +3 "core" &<7  / K\  +2 "collection"'o& +4 "core" &]\ W + #tStoring generic puck in Collection Clamp to tube 5 +2 "manipulator"& % +4 "core" %\ , "] + "storage"($% +4 "core" %L E D\  + "storage"(*. +3 "core" .(<9 +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 + "storage"(d(<< +13 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (y& +3 "core" &<9 \  + "manipulator"&[& +4 "core" &< 3 +2 .tElbow.seek 5 + "manipulator"&F( +21 "core" ( +2 "manipulator"&@& +4 "core" & 5  +2 "storage"(:& +4 "core" &<8 = - ,\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&f' +99 "core" ' +2 "storage"(x& +4 "core" &<8 \\ ^\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(h'e +276 "core" ' + "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&M& +3 "core" &   + "storage"(,& +4 "core" &<8 = 9 \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&O'/ +27 "core" ' + .tElbow.hold +51 "manipulator"&i, +6 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(Q- +2 "core" -' +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(g'k +28 "core" ' + "manipulator"&z% +5 "core" %?}  C + "storage"(p& +4 "core" &<8\ \  v\  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 5 + 316 counts +2 "manipulator"&B'k +17 "core" ' + "manipulator"&{& +5 "core" &% ^ t  m + "storage"(+& +4 "core" &<8 Y Y \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts + "manipulator"&' +20 "core" ' +2 .tSE.seek 1.11 Pucks below Top Plate +2 "storage"(v'Z +48 "core" ' +2 "manipulator"&& +4 "core" &% r s ] m +2 "manipulator"&s% +4 "core" % q t [  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&Z'\ +95 "core" ' +2 .tElbow.seek CC +2 "manipulator"&X( +160 "core" ( +2 "manipulator"&n& +4 "core" &. H Cq +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &m& +3 "core" &- ( Cq +2 .tForearm.seek CC +2 "manipulator"&u'| +95 "core" ' +2 .tHand.close + "manipulator"&/ +58 "core" / +2 .tCC.seek :open +2 "collection"'\\(p +411 "core" ( + "storage"(e& +4 "core" &<8 y\  + "storage"(& +4 "core" &<8 x X\  +2 "manipulator"&|& +3 "core" &$& =D +2 "manipulator"&% +4 "core" % ψ   + .tForearm.seek :retract +2 "manipulator"&}'\ +97 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&'( +158 "core" ( + "manipulator"&U& +5 "core" &    + "storage"(& +4 "core" &<8 T\  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 5 +2 "manipulator"&w'/ +109 "core" ' + .tElbow.hold +2 "manipulator"&_, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&1 +56 "core" 1 +2 "manipulator"&% +4 "core" % ?   y +2 "storage"(%& +3 "core" &<8 q f \  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 5 + 316 counts + "manipulator"& 'k +19 "core" ' + "manipulator"&& +4 "core" &8 x _ 3 p +7 "storage"(^& +4 "core" &<8 Q\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +7 .tForearm.seek 5 + 450 counts +2 "manipulator"&`' +19 "core" ' +2 "storage"(t% +4 "core" %] c\ +2 ."downElevator"SE.seek :down +4 "storage"(c'N +98 (-% +3 "core" %F8 #\ TZ +2 "manipulator"&% +4 "core" % s s W  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&~'\ +90 "core" ' +50 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 6 of [5..7] + #Loading generic puck from tube 6 into Collection Clamp +2 "collection"'l& +4 "core" &\ +2 "manipulator"&r% +4 "core" %\ 0 \ $o +2 "storage"("% +4 "core" %: !\ + "storage"( . +3 "core" .(<9 +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 + "storage"(8(K +348 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (\ & +3 "core" &K g g \  +2 "manipulator"&& +3 "core" &8 Q p +2 .tElbow.seek 6 + "manipulator"&( +37 "core" ( + "manipulator"&& +4 "core" & } f +2 "storage"(<& +4 "core" &K J\  + .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&R'< +92 "core" ' + "storage"(P& +4 "core" &K \  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"( 'e +288 "core" ' +2 "storage"(5- +3 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 ((& +3 "core" &K E\  + "manipulator"&& +4 "core" &  e +2 .tElbow.seek 6 + "manipulator"& ( +3 "core" ( +2 "manipulator"&& +4 "core" &  e + "storage"(& +5 "core" &K "\  +2 .tForearm.seek 6 + 300 counts + "manipulator"&I'Ϧ +23 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&]/ +63 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"('N +7 "core" & z B e +2 "manipulator"&3% +4 "core" % Ϟ {  +2 .tForearm.seek :retract + "manipulator"&K'\ +92 "core" ' +2 .tElbow.seek CC +2 "manipulator"&1( +148 "core" ( + "manipulator"&2& +5 "core" && ! =F + ' + ."downElevator"SE.stop +3 .tElbow.reconfigure :loose +2 "storage"(5 +4 "manipulator"&$ &.,(#b +2 && +3 "core" &&  =F +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&>'| +98 "core" ' +2 "manipulator"&& +4 "core" && =F +2 "manipulator"&&% +4 "core" %l n +2 "collection"'A& +4 "core" &\ +2 "collection"'#& +6 "core" &\ +2 .tCC.seek :closed +2 "collection"'=(] +4 "core" &\ +8 &7\ \ $e +9 &hV\ 7 +9 &\ L +10 &|Z\ L +9 &>^ \ L +10 &\\ \ M +9 & ] \ L +9 &"_ \ M +10 &$E\\ \ M +9 &&`\ \ M +9 &'\\\ \ L +10 &)]\ M +9 &+M_\ M +10 &-^ \ M +9 &.\\\ M +9 &0] \ M +10 &2V]\ L +9 &4]\ L +9 &5\\ \ L +10 &7\\ \ L +9 &9]]\ M +10 &;^ \ M +9 &<]\ M +9 &>\\\ L +10 &@f\\\ L +9 &B']\ M +9 &C_\ M +10 &EZ\ M +9 &Gl` \ M +10 &I(p \ O +9 &J} \ Q +9 &L\ <\ U +10 &NX\ V +9 &P \ X +9 &Q \ X +10 &S \ X +9 &UX\ Y +10 &W\ Y +9 &X \ [ +9 &Z\ \\ +10 &\\Z\ H +9 &]`9\ \ 'u +9 &]\ T +6 ( + "collection"'#& +5 #tCollection Clamp onSpring/offSpring for 10/26 samples, on/off torque 2.06 + .Hand.open + "manipulator"&G1 +4 "core" &]} \ T +52 1 + "manipulator"&S% +5 "core" % l + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&j'\ +93 "core" ' +2 #tLoading generic puck from tube 6 into Processing Clamp + "processing"%L& +4 "core" &/\ +2 "manipulator"&J% +4 "core" %\ + O !T + "storage"(9% +4 "core" %@ B B \  + "storage"(b. +3 "core" .(K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 + "storage"(T(K +4 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (6& +2 "core" &K\ \  \  +2 "manipulator"&)& +4 "core" &% ! <= + "manipulator"&a% +4 "core" %\ + E !T +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 + "manipulator"&H( +156 "core" ( +2 "manipulator"&& +4 "core" & \ + "storage"(7& +4 "core" &K \\ Z\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&'< +89 "core" ' + "storage"(N& +5 "core" &K ] i $\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(0'e +281 "core" ' + "storage"(!- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (E& +2 "core" &K C E\  +2 "manipulator"&& +4 "core" &  + .tElbow.seek 6 +2 "manipulator"&.( +3 "core" ( + "manipulator"&C& +4 "core" & i + "storage"(W& +4 "core" &K Q I :\  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&V'Ϧ +23 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&o/ +53 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&;& +2 "storage"( 'N +7 "core" & r p +2 "manipulator"&$% +4 "core" % Ϧ s r s +2 .tForearm.seek :retract + "manipulator"&*'\ +97 "core" ' +2 .tElbow.seek PC +2 "manipulator"&4(c +158 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +76 "core" ( + "manipulator"&y& +53 "core" &h  Q +4 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &[& +3 "core" &h t Q +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&@'[ +94 "core" ' + "manipulator"&:& +5 "core" &i % P + "manipulator"&/% +4 "core" %R  +2 "processing"%x& +4 "core" &5\ +2 "processing"%?& +4 "core" &1\ +3 .tPC.seek :closed + "processing"%(Z +4 "core" &B\  +9 &/|A\ *y +9 &dC\ > +9 &CtA\ N +10 &UA\ M +9 &\\C\ M +10 &YC\ N +9 &!L\\A\ M +9 &#YB\ M +10 &$YB\ M +9 &&ZC\ N +9 &(SWA\ N +10 &*YC\ N +9 &+XA\ M +10 &-UA\ M +9 &/[YB\ N +9 &1YA\ N +10 &2\\=\ M +9 &4X?\ N +9 &6dYA\ M +10 &8%YB\ N +9 &9X;\ M +10 &;[1\ M +9 &=kY/\ N +9 &?-W-\ N +10 &@\\7\ N +9 &B\\0\ N +9 &DsY-\ N +10 &F4Y,\ N +9 &Gf.\ O +10 &Ir:\ P +9 &Kl/\ S +9 &M),\ T +10 &N*\ T +9 &P)\ U +9 &Rn,\ U +10 &T0-\ U +9 &U/\ U +10 &W(\ U +9 &Ys*\ C +9 &Zx>.\ Z +10 &Z-\ * +2 ( + "processing"%?& +4 #tProcessing Clamp onSpring/offSpring for 9/25 samples, on/off torque 1.65 + .Hand.open + "manipulator"&Y1 +60 "core" 1 +2 "manipulator"&D% +4 "core" % R ] +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +92 "core" ' +2 "processing"%M& +4 "core" &Z,\ * +2 #tImaging generic puck in Processing Clamp while storing it to tube 6 + "manipulator"&,% +4 "core" %\ - "X + "storage"(Q% +4 "core" %E 5 5 3\  + "storage"(z. +3 "core" .(K +2 "storage"(p& +4 "core" &K B C \  + "storage"({& +5 "manipulator"&+& +4 "core" &K B B \  + &i P +3 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +4 "storage"(#]kK-0-\ b +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +3 "manipulator"&(c +4 ."raiseStack"SE.seek :beamBreak +2 "storage"(s'e +2 "core" ( + "manipulator"&f& +4 "core" &i  P +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &F& +3 "core" &i Z P +2 .tForearm.seek PC +2 "manipulator"&h'[ +96 "core" ' + .tHand.close + "manipulator"&O/ +63 "core" / +2 .tPC.seek :open +2 "processing"%B(p +86 "core" ' +2 "storage"(g- +3 "core" -'e +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +2 ."raiseStack"SE.seek :place +2 "storage"(n'B +44 "core" ' +251 ( + "storage"(m& +4 "core" &K \\ H \  +2 "manipulator"&& +4 "core" &i  P + "manipulator"&i% +4 "core" % _  +2 .tForearm.seek :retract + "manipulator"&'\ +99 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 + "manipulator"&Z( +264 "core" ( +2 "manipulator"&k& +4 "core" & p  + "storage"(e& +4 "core" &K B B \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&'< +112 "core" ' +2 .tHand.open + "manipulator"&|1 +52 "core" 1 +2 "storage"(- +4 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate + "storage"(U' +23 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.83 Pucks below Top Plate + "storage"(' +53 "core" ' +2 #tLights, camera, ACTION! + "storage"(u- +4 "core" -' + "storage"(X& +4 "core" &K \  + "manipulator"&& +4 "core" & } `  +2 .tElbow.seek 6 + "manipulator"&( +4 "core" ( + "manipulator"&%& +4 "core" &   + "storage"(& +4 "core" &K M\  +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&^'< +16 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.11 Pucks below Top Plate + "storage"(t'M +63 "core" ' +2 "manipulator"&}& +4 "core" &   + "storage"(-& +4 "core" &K 8 7 c\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&'z +28 "core" ' +2 .tElbow.hold + "manipulator"&', +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"(w'7 +24 "core" ' + "manipulator"&l% +5 "core" %Ό{ ; K + "storage"(r& +4 "core" &K\ \ # !\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 318 counts + "manipulator"& 'ϸ +18 "core" ' +2 "manipulator"&"& +4 "core" & t ^ ! \ +2 "storage"( & +4 "core" &K Y Y \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&v'< +19 "core" ' +2 "storage"(`% +4 "core" %= r o \  +2 ."downElevator"SE.seek :down +4 "storage"(c'N +99 (d% +2 "core" %< 7 7\ V_ +2 "manipulator"&\ % +4 "core" % s s t  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +90 "core" ' +64 ' + ."downElevator"SE.stop + "storage"(5 +2 (& +4 "core" &K . \  +2 "collection"'<& +4 "core" &]}\ T + #tStoring generic puck in Collection Clamp to tube 6 +2 "manipulator"&P% +4 "core" %\ 1  $s + "storage"(_% +4 "core" %P : @ $\ \ +2 "storage"(~. +3 "core" .(K + "storage"(5& +4 "core" &K 7 8 \  +2 "storage"((& +3 "core" &K 8 8\  +2 "manipulator"&& +3 "core" & \ +2 .tElbow.seek 6 +2 "manipulator"&( +3 "core" ( + "manipulator"&& +4 "core" & h \ +2 "storage"(]& +3 "core" &K 7 8 \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&'< +110 "core" ' + "storage"(3& +4 "core" &K } s \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"('e +280 "core" ' +2 "storage"(R- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&2& +2 "core" & r q O \ +2 "storage"(& +4 "core" &K d f \ \  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"& 'z +35 "core" ' + .tElbow.hold +2 "manipulator"&I, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(- +3 "core" -' +2 .tSE.seek 0.12 Pucks below Top Plate +2 "storage"(&'s +31 "core" ' +2 "manipulator"&A% +4 "core" %΍n  ! + "storage"( & +4 "core" &K\ \  y\  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 6 + 319 counts +2 "manipulator"&'Ϲ +18 "core" ' + "manipulator"&K& +4 "core" & i | 6 \ +2 "storage"(\\& +4 "core" &K Y Y \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&G'< +23 "core" ' +2 .tSE.seek 1.12 Pucks below Top Plate + "storage"(S'b +48 "core" ' +2 "manipulator"&L& +4 "core" & s s L \ + "manipulator"&J% +5 "core" %\\ r r e +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&9'\ +87 "core" ' + .tElbow.seek CC +2 "manipulator"&b( +151 "core" ( +2 "manipulator"&6& +4 "core" && ' =E + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &#& +2 "core" && =E +2 .tForearm.seek CC +2 "manipulator"&)'| +96 "core" ' +2 .tHand.close + "manipulator"&a/ +55 "core" / +2 .tCC.seek :open + "collection"'>(p +411 "core" ( +2 "storage"(& +4 "core" &K /\  + "storage"(7& +4 "core" &K \  + "manipulator"&N& +4 "core" &% { <@ + "manipulator"&8% +4 "core" % q 1 +2 .tForearm.seek :retract + "manipulator"&1'\ +92 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&j( +153 "core" ( + "manipulator"&!& +4 "core" & W +2 "storage"(E& +4 "core" &K i\  + .tElbow.reconfigure :limp +52 "manipulator"&$ ,(b +4 .tForearm.seek 6 +2 "manipulator"&'z +108 "core" ' + .tElbow.hold +2 "manipulator"&C, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&W1 +55 "core" 1 +2 "manipulator"&o% +4 "core" % Ύ  2 z +2 "storage"(;& +4 "core" &K Z _ a\  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 6 + 320 counts +2 "manipulator"&$'Ϻ +18 "core" ' +2 "manipulator"&H& +4 "core" & v h A + "storage"(& +4 "core" &K -\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&0'< +16 "core" ' +2 "storage"(V% +4 "core" %` X\ +2 ."downElevator"SE.seek :down +3 "storage"(y'N +100 ([% +2 "core" %'< -\ U[ +2 "manipulator"&.% +4 "core" %/ r p B  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&:'\ +90 "core" ' +50 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 7 of [5..7] + #Loading generic puck from tube 7 into Collection Clamp +2 "collection"'/& +4 "core" &\ + "manipulator"&x% +4 "core" %\ / #i +2 "storage"( % +4 "core" %9 ;\ +2 "storage"(*. +3 "core" .(K + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 7 +2 "storage"(q([ +357 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (Y& +3 "core" &[ ] ^\  + "manipulator"&D& +4 "core" & +2 .tElbow.seek 7 + "manipulator"&M( +17 "core" ( + "manipulator"&,& +4 "core" & 2  +2 "storage"(Q& +4 "core" &[ T\  + .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&z'k +101 "core" ' +2 "storage"(p& +4 "core" &[ >\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(+'e +278 "core" ' + "storage"({- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (?& +3 "core" &[ q\  + "manipulator"&f& +4 "core" & s s a  +2 .tElbow.seek 7 + "manipulator"&F( +3 "core" ( +2 "manipulator"&@& +4 "core" & r s _  + "storage"(O& +4 "core" &[ \  +2 .tForearm.seek 7 + 300 counts + "manipulator"&g' +17 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&4/ +57 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"('N +7 "core" & t s H  +2 "manipulator"&m% +4 "core" % r s L F +2 .tForearm.seek :retract + "manipulator"&s'\ +95 "core" ' +2 .tElbow.seek CC +2 "manipulator"&( +146 "core" ' + ."downElevator"SE.stop + "storage"(5 +11 "core" ( + "manipulator"&i& +5 "core" &,  O Bi + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &h& +3 "core" &, { Bi +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&k'| +99 "core" ' +2 "manipulator"&e& +4 "core" &, 3 Bi +2 "manipulator"&% +4 "core" %s 7 +2 "collection"'|& +4 "core" &\ +2 "collection"'& +5 "core" &\ +2 .tCC.seek :closed + "collection"'u(] +5 "core" &\ \ +7 &? \ $e +9 &oU\ 7 +10 &\ L +9 &\\\ M +9 &E[\ M +10 &\\\ L +9 & ]\ M +9 &"]\ L +10 &$M[\ M +9 &&` \ M +10 &'[\ M +9 &)^ \ M +9 &+U_ \ M +10 &-] \ M +9 &._ \ M +9 &0] \ M +10 &2]_ \ M +9 &4[ \ M +10 &5Y\ M +9 &7Z \ L +9 &9eX\ M +10 &;(Z\ L +9 &<]\ \ M +10 &>Z \ M +9 &@n[ \ L +9 &B/\\ \ M +10 &C_\ M +9 &E_ \ M +9 &Gtb\ M +10 &I2j\ N +9 &Jy\ P +9 &L)` \ T +10 &N_\ W +9 &P!\ W +10 &Q\ X +9 &S\ X +9 &U`\ Y +10 &W"\ Y +9 &X\ \\ +9 &Z\ \\ +10 &\\b \ H +9 &]_6\ . +10 &]\ _ +2 ( +2 "collection"'& +3 #tCollection Clamp onSpring/offSpring for 10/26 samples, on/off torque 2.06 + .Hand.open + "manipulator"&X1 +54 "core" 1 + "manipulator"&% +4 "core" % s +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&%'\ +98 "core" ' +2 #tLoading generic puck from tube 7 into Processing Clamp + "processing"%& +4 "core" &B\ +2 "manipulator"&% +4 "core" %\ 8  ' + "storage"(}% +4 "core" %7   \  +2 "storage"(-. +2 "core" .([ +2 "storage"(n& +4 "core" &[  H\  + "storage"(l& +4 "core" &[ \  8\  + "manipulator"&r& +4 "core" &*  @^ + "manipulator"&U% +4 "core" %\ 8 W ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 7 + "manipulator"&"( +160 "core" ( + "manipulator"& & +5 "core" & )  + "storage"(`& +4 "core" &[ 5 6 \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&Z'k +111 "core" ' + "storage"(& +4 "core" &[ ] j U\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"('e +277 "core" ' +2 "storage"(d- +3 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (\ & +3 "core" &[ [ [\  + "manipulator"&^& +4 "core" & r p J  +2 .tElbow.seek 7 + "manipulator"&( +9 "core" ( + "manipulator"&t& +4 "core" & t _  + "storage"(& +4 "core" &[ Y c\  +2 .tForearm.seek 7 + 300 counts +2 "manipulator"& ' +26 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +52 "core" / +2 ."downElevator"SE.seek :down +5 "manipulator"&<& "storage"(P'N +7 "core" & r p V + "manipulator"&_% +5 "core" % s o 2 + .tForearm.seek :retract +2 "manipulator"&~'\ +95 "core" ' +2 .tElbow.seek PC +2 "manipulator"&w(c +155 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +80 "core" ( +2 "manipulator"&5& +4 "core" &l B > +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &(& +2 "core" &l  > +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&'[ +100 "core" ' + "manipulator"&& +5 "core" &l E > + "manipulator"&]% +4 "core" %Z k +2 "processing"%v& +3 "core" &D\ +2 "processing"%3& +6 "core" &)\ +2 .tPC.seek :closed + "processing"%c(Z +4 "core" &<\  +9 &.{\ *y +9 &dK\ > +10 &FsB\ N +9 & U?\ N +9 &[A\ M +10 &U@\ M +9 &!OXA\ N +9 &#WB\ M +10 &$V@\ M +9 &&Z\ N +10 &(XUG\ M +9 &*VB\ M +9 &+YB\ N +10 &-YC\ M +9 &/_YC\ N +9 &1!YA\ N +10 &2ZB\ N +9 &4TA\ M +10 &6gZB\ N +9 &8)XC\ N +9 &9YC\ M +10 &;WC\ M +9 &=oZ^\ N +9 &?1[;\ N +10 &@\\/\ N +9 &B[4\ M +10 &DwV6\ N +9 &F9X5\ N +9 &Gb;\ O +10 &IoB\ P +9 &Kr~4\ R +9 &M-/\ T +10 &N3\ U +9 &P.\ U +10 &Rr-\ U +9 &T4"\ U +9 &U)\ U +10 &W4\ V +9 &Yx.\ C +9 &Zv9,\ !b +10 &Z-\ + +2 ( +2 "processing"%3& +3 #tProcessing Clamp onSpring/offSpring for 9/25 samples, on/off torque 1.64 + .Hand.open + "manipulator"&'1 +54 "core" 1 + "manipulator"&% +5 "core" % Z + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&R'\ +92 "core" ' + "processing"%2& +4 "core" &Z/\ + +2 #tImaging generic puck in Processing Clamp while storing it to tube 7 + "manipulator"&% +4 "core" %\ * !S +2 "storage"(% +4 "core" %7 \  + "storage"(A. +3 "core" .([ +2 "storage"( & +3 "core" &[  \  +2 "storage"(K& +5 "manipulator"&\\& +4 "core" &[   T\  + &l > +3 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +3 "storage"(#]kK-0-\ b + "manipulator"&$&.,(\ #b +5 .tElbow.seek PC +3 ."raiseStack"SE.seek :beamBreak +2 "manipulator"&L(c + "storage"(J'e +6 "core" ( + "manipulator"&& +4 "core" &l K > + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &l > +53 .tForearm.seek PC +2 "manipulator"&'[ +97 "core" ' + .tHand.close +2 "manipulator"& / +61 "core" / +2 .tPC.seek :open + "processing"%(p +35 "core" ' +2 "storage"(&- +3 "core" -'e +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(6'B +33 "core" ' +313 ( +2 "storage"(#& +4 "core" &[ C C \  + "manipulator"&G& +4 "core" &l : > +2 "manipulator"&I% +3 "core" % N q +2 .tForearm.seek :retract +2 "manipulator"&a'\ +95 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 7 + "manipulator"&9( +244 "core" ( +2 "manipulator"&=& +4 "core" & K + "storage"(& +4 "core" &[  \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&7'k +90 "core" ' +2 .tHand.open + "manipulator"&N1 +62 "core" 1 + "storage"(8- +4 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate +2 "storage"(!' +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.83 Pucks below Top Plate + "storage"(E' +53 "core" ' +2 #tLights, camera, ACTION! + "storage"()- +4 "core" -' + "storage"(b& +4 "core" &[ /\  + "manipulator"&W& +4 "core" & | K +2 .tElbow.seek 7 + "manipulator"&o( +4 "core" ( + "manipulator"&;& +4 "core" & K + "storage"(H& +4 "core" &[ \  +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&'k +3 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.11 Pucks below Top Plate + "storage"(V'M +62 "core" ' +2 "manipulator"&1& +4 "core" &  K + "storage"([& +4 "core" &[ B C \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 7 +2 "manipulator"&.'Ω +28 "core" ' +2 .tElbow.hold + "manipulator"&j, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"('7 +36 "core" ' +2 "manipulator"&/% +4 "core" %ι  M +2 "storage"(x& +4 "core" &[\ \  z\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 7 + 316 counts +2 "manipulator"&$' +17 "core" ' +2 "manipulator"& & +4 "core" & j G K +2 "storage"(*& +4 "core" &[ \\ \\\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&S'k +18 "core" ' + "storage"(0% +5 "core" %9 Z [\ +2 ."downElevator"SE.seek :down +3 "storage"(y'N +100 (T% +2 "core" %m? B )\ V` +2 "manipulator"&Y% +4 "core" %r |  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&D'\ +90 "core" ' +62 ' + ."downElevator"SE.stop + "storage"(5 +3 (,& +4 "core" &[ # R \  + "collection"'Q& +4 "core" &]\ _ +2 #tStoring generic puck in Collection Clamp to tube 7 + "manipulator"&p% +4 "core" %\ 1 $u + "storage"(C% +4 "core" %: % 3 \\\  +2 "storage"(:. +3 "core" .([ + "storage"({& +4 "core" &[ 4 4\  + "storage"(?& +4 "core" &[ ; 6 0\  +2 "manipulator"&f& +3 "core" & X K +2 .tElbow.seek 7 +2 "manipulator"&@( +3 "core" ( + "manipulator"&O& +4 "core" & p K + "storage"(4& +4 "core" &[ 5 5 5\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&'k +93 "core" ' +2 "storage"(m& +5 "core" &[ Z Z\  + .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(M'e +281 "core" ' +2 "storage"(z- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&i& +2 "core" & K +2 "storage"(h& +4 "core" &[ m E l\  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 7 +2 "manipulator"&+'Ω +29 "core" ' + .tElbow.hold +2 "manipulator"&g, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(e- +2 "core" -' +3 .tSE.seek 0.11 Pucks below Top Plate + "storage"('n +31 "core" ' + "manipulator"&|% +5 "core" %θ Q + "storage"(F& +4 "core" &[\ \  \  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 7 + 315 counts + "manipulator"&' +18 "core" ' + "manipulator"&s& +5 "core" & l K + "storage"(>& +4 "core" &[ \\ Y\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&X'k +17 "core" ' +2 .tSE.seek 1.11 Pucks below Top Plate +2 "storage"('] +47 "core" ' +2 "manipulator"&& +4 "core" & r } $ K +2 "manipulator"&% +4 "core" %` q |   +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&}'\ +93 "core" ' +2 .tElbow.seek CC +2 "manipulator"&-( +149 "core" ( +2 "manipulator"&n& +4 "core" & # g ;5 + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &l& +2 "core" & $  ;5 +2 .tForearm.seek CC +2 "manipulator"&'| +95 "core" ' + .tHand.close + "manipulator"&r/ +58 "core" / +2 .tCC.seek :open +2 "collection"'U(p +411 "core" ( + "storage"(k& +4 "core" &[ M\  +2 "storage"( & +3 "core" &[ 2\  +2 "manipulator"&`& +4 "core" & $ ] ;4 + "manipulator"&% +4 "core" % ρ a  + .tForearm.seek :retract +2 "manipulator"&'\ +91 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 7 +2 "manipulator"&%( +161 "core" ( + "manipulator"&d& +5 "core" & F + "storage"(\ & +4 "core" &[ 6\  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 7 +2 "manipulator"&^'Ω +106 "core" ' + .tElbow.hold +2 "manipulator"&t, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&1 +62 "core" 1 +2 "manipulator"&% +5 "core" % μ  | + "storage"(<& +4 "core" &[ ~ ~ \  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 7 + 319 counts +2 "manipulator"&_' +19 "core" ' + "manipulator"&"& +5 "core" & x ^ + "storage"(Z& +4 "core" &[ H\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&'k +20 "core" ' +2 "storage"( % +4 "core" %\\ 8\ +2 ."downElevator"SE.seek :down +4 "storage"(5'N +98 ((% +3 "core" %c< F\ UZ + "manipulator"&% +5 "core" %I r s <  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +87 "core" ' +53 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 5 of [5..7] + #Loading generic puck from tube 5 into Collection Clamp +2 "collection"']& +4 "core" &\ + "manipulator"&v% +4 "core" %\ - g "Z +2 "storage"(P% +4 "core" %8 0\  +2 "storage"(~. +3 "core" .([ + .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 + "storage"(B(<< +675 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 ('& +3 "core" &Z\ L +9 &@qZ\ L +10 &B2]\ M +9 &CY \ M +10 &E^\ L +9 &Gx^\ M +9 &I4n\ O +10 &J\ Q +9 &LB\ U +9 &Nb\ W +10 &P"\ X +9 &Q\ X +10 &S\ X +9 &Ue\ Y +9 &W%\ Y +10 &X\ [ +9 &Z\ [\ +9 &\\e\ H +10 &]d9\ (w +9 &]` \ C +3 ( + "collection"'8& +3 #tCollection Clamp onSpring/offSpring for 10/26 samples, on/off torque 2.05 +2 .Hand.open + "manipulator"&b1 +59 "core" 1 +2 "manipulator"&W% +4 "core" % v F +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&;'\ +91 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp + "processing"%H& +4 "core" &\ +2 "manipulator"&a% +4 "core" %\ /  #i + "storage"(1% +4 "core" %B G 9 \ + "storage"([. +3 "core" .(\\5\ M +10 &@WZ/\ M +9 &BX\ M +9 &CX\ M +10 &EZ\ N +9 &G]c\ N +9 &Ij\ O +10 &Jx\ Q +9 &L<\ S +10 &NS6\ T +9 &Pj\ T +9 &Q\ T +10 &SB\ T +9 &UY;\ U +9 &W\ T +10 &XH\ U +9 &Z:Mn@\ - +10 &Z)%\ ( +5 ( + "processing"%m& +4 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.60 +2 .Hand.open + "manipulator"&j1 +3 "core" &Z\ ( +50 1 + "manipulator"&D% +4 "core" % P x x +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&z'\ +95 "core" ' + "processing"%i& +4 "core" &Zh\ ( +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 +2 "manipulator"&h% +3 "core" %\ 8 c ' +2 "storage"(e% +4 "core" %? ? B \  + "storage"(|. +3 "core" .(<9 +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"(F(<< +11 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (s& +4 "manipulator"&>& +2 "core" &<9 > / 4\  +4 ."raiseStack"SE.reconfigure :place +3 "storage"(#]kK-0-\ b +3 "core" &j +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +3 ."raiseStack"SE.seek :beamBreak +2 "manipulator"&(c + "storage"('e +5 "core" ( + "manipulator"&& +5 "core" &j + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &@& +2 "core" &j b +2 .tForearm.seek PC +2 "manipulator"&M'[ +95 "core" ' + .tHand.close + "manipulator"&+/ +58 "core" / +2 .tPC.seek :open +2 "processing"%(p +89 "core" ' +2 "storage"(- +3 "core" -'e +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(n'B +33 "core" ' +256 ( + "storage"(l& +4 "core" &<8 u v .\  +2 "manipulator"&X& +4 "core" &j  + "manipulator"&g% +4 "core" % S  +2 .tForearm.seek :retract + "manipulator"&r'\ +98 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&}( +267 "core" ( + "manipulator"&u& +4 "core" & 2 +2 "storage"(k& +4 "core" &<8 f f\  + .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"& ' +106 "core" ' + .tHand.open +2 "manipulator"&`1 +59 "core" 1 +2 "storage"(- +4 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate +2 "storage"(d' +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(\ ' +48 "core" ' +2 #tLights, camera, ACTION! + "storage"(- +4 "core" -' + "storage"(-& +4 "core" &<7 +\  + "manipulator"&& +4 "core" & z | +2 .tElbow.seek 5 + "manipulator"&( +4 "core" ( + "manipulator"&<& +4 "core" & w ~ + "storage"("& +4 "core" &<7 \  +2 .tForearm.seek 5 + 450 counts +53 "manipulator"&Z' +5 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"( 'M +58 "core" ' + "manipulator"&& +5 "core" & r p  + "storage"((& +4 "core" &<7 j i @\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&'/ +33 "core" ' +2 .tElbow.hold + "manipulator"&%, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"(^'7 +24 "core" ' +2 "manipulator"&]% +4 "core" %B [ +2 "storage"(v& +4 "core" &<7   >\  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 5 + 319 counts + "manipulator"&_'n +16 "core" ' +2 "manipulator"&P& +4 "core" &" h v  \ +2 "storage"(~& +4 "core" &<7 y | G\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&' +20 "core" ' + "storage"(% +4 "core" %> x 7\ +3 ."downElevator"SE.seek :down +3 "storage"(5'N +99 (q% +3 "core" %(A h g\ U^ +2 "manipulator"&'% +4 "core" % s s Z & +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +90 "core" ' +61 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (& +4 "core" &<7 7 Q \  +2 "collection"'& +4 "core" &]]\ C + #tStoring generic puck in Collection Clamp to tube 5 +2 "manipulator"& % +4 "core" %\ . #i + "storage"(t% +4 "core" %@ [ c\  + "storage"(. +3 "core" .(<9 +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 + "storage"(K(<< +11 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (3& +2 "core" &<9   P\  +2 "manipulator"&& +4 "core" &" \ +2 .tElbow.seek 5 + "manipulator"&( +16 "core" ( + "manipulator"& & +5 "core" &  ,  + "storage"(w& +4 "core" &<8 v v c\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&R' +100 "core" ' + "storage"(J& +4 "core" &<8 n k \  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(2'e +274 "core" ' + "storage"(A- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&I& +3 "core" &  I  +2 "storage"(& +3 "core" &<8 n p \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 + "manipulator"&\\'/ +28 "core" ' + .tElbow.hold + "manipulator"&&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(- +2 "core" -' +3 .tSE.seek 0.11 Pucks below Top Plate + "storage"(L'k +28 "core" ' + "manipulator"&% +4 "core" %@} C +2 "storage"(N& +4 "core" &<8   Q\  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 5 + 317 counts +2 "manipulator"&c'l +18 "core" ' +2 "manipulator"&#& +4 "core" &' h { 7 l +2 "storage"(U& +4 "core" &<8 ~ | |\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&b' +19 "core" ' +2 .tSE.seek 1.11 Pucks below Top Plate +2 "storage"(W'Z +49 "core" ' + "manipulator"&H& +5 "core" &' s t [ l + "manipulator"&a% +4 "core" % p s ? % +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&1'\ +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"&[( +163 "core" ( + "manipulator"&8& +5 "core" &. Cq + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &/& +2 "core" &-  Cq +2 .tForearm.seek CC +2 "manipulator"&x'| +95 "core" ' + .tHand.close +2 "manipulator"&!/ +54 "core" / +2 .tCC.seek :open +2 "collection"'=(p +414 "core" ( + "storage"(*& +4 "core" &<8 B\  +2 "storage"(0& +3 "core" &<8 \  +2 "manipulator"&B& +4 "core" &)  @X +2 "manipulator"&7% +4 "core" % n ?  + .tForearm.seek :retract +2 "manipulator"&G'\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&;( +154 "core" ( +2 "manipulator"&T& +4 "core" &  + "storage"(Y& +4 "core" &<8 A\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 5 +2 "manipulator"&'/ +105 "core" ' + .tElbow.hold +2 "manipulator"&V, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&.1 +53 "core" 1 +2 "manipulator"&$% +4 "core" % C  + "storage"(Q& +4 "core" &<8 u q h\  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 5 + 320 counts + "manipulator"&C'o +16 "core" ' +2 "manipulator"& & +4 "core" &. g P t  + "storage"(9& +4 "core" &<8 f\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&E' +20 "core" ' +2 "storage"(,% +5 "core" %_ \ +2 ."downElevator"SE.seek :down +3 "storage"('N +99 (?% +3 "core" %B \ U] +2 "manipulator"&o% +4 "core" % r s X +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&O'\ +91 "core" ' +46 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 6 of [5..7] + #Loading generic puck from tube 6 into Collection Clamp +2 "collection"'4& +4 "core" &\ + "manipulator"&S% +4 "core" %\ + _ !S +2 "storage"(p% +4 "core" %6 \  + "storage"(:. +3 "core" .(<9 +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 + "storage"((K +349 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +2 (j& +3 "core" &K f g 5\  + "manipulator"&D& +4 "core" &. C  +2 .tElbow.seek 6 + "manipulator"&i( +14 "core" ( + "manipulator"&h& +5 "core" & F  + "storage"(e& +4 "core" &K A\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&|'< +95 "core" ' +2 "storage"(m& +4 "core" &K \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(s'e +279 "core" ' + "storage"(>- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (& +3 "core" &K N\  + "manipulator"&@& +4 "core" & s s C  + .tElbow.seek 6 +2 "manipulator"&f( +3 "core" ( + "manipulator"&+& +4 "core" & w r ^  +2 "storage"(6& +3 "core" &K ;\  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&'Ϧ +34 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&{/ +59 "core" / +2 ."downElevator"SE.seek :down +5 "manipulator"&z& "storage"(y'N +7 "core" & q s B  + "manipulator"&l% +4 "core" % ϳ q r ? 8 +2 .tForearm.seek :retract +2 "manipulator"&X'\ +96 "core" ' + .tElbow.seek CC +2 "manipulator"&( +146 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +4 "core" ( + "manipulator"&g& +5 "core" &! & 9) + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &M& +3 "core" &" $ 9) +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&u'| +99 "core" ' + "manipulator"&k& +5 "core" &" c 9) + "manipulator"&% +4 "core" %| +2 "collection"'`& +4 "core" &\ +2 "collection"'& +6 "core" &\ +2 .tCC.seek :closed +57 "collection"'(] +6 "core" & \ + &"\ + &\ + &\ + &"\ + &\ + &\ +3 & .\ $d +7 &aU \ 7 +9 &~\ K +9 &uX!\ L +10 &6Z \ M +9 &Z \ M +9 & [ \ L +10 &"|[\ M +9 &$>]\ M +10 &&^\ M +9 &'^\ M +9 &)]\ M +10 &+F]\ M +9 &-[\ M +9 &.Z\ M +10 &0\\\ L +9 &2N\\\ M +10 &4Z\ M +9 &5]\ M +9 &7_\ L +10 &9WY\ L +9 &;Z\ L +9 &<_\ L +10 &>Z\ L +9 &@^_\ M +9 &B _\ M +10 &C]\ L +9 &EZ\ M +10 &Gf`\ M +9 &I"o\ O +9 &J\ Q +10 &L?\ U +9 &NR\ V +9 &P\ V +10 &Q\ W +9 &S\ X +10 &UR\ Y +9 &W\ Y +9 &X\ Z +10 &Z\ [ +9 &\\I\ K +9 &][8\ )x +10 &]o\ K +5 ( +2 "collection"'& +4 #tCollection Clamp onSpring/offSpring for 10/26 samples, on/off torque 2.12 +2 .Hand.open + "manipulator"&-1 +3 "core" &]b\ K +58 1 +2 "manipulator"&% +4 "core" % | +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&<'\ +91 "core" ' +2 #tLoading generic puck from tube 6 into Processing Clamp + "processing"%"& +4 "core" &Y\ +2 "manipulator"&r% +4 "core" %\ - "a + "storage"(% +4 "core" %5 L ; $\  + "storage"((. +3 "core" .(K +2 "storage"(n& +4 "core" &K H ? )\  + "storage"(d& +4 "core" &K - 4\  + "manipulator"&]& +4 "core" &" i 9$ +2 "manipulator"&v% +3 "core" %\ - d "a +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 + "manipulator"&P( +163 "core" ( +2 "manipulator"&~& +30 "core" & j  +2 "storage"(}& +4 "core" &K _ Z l\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&'< +104 "core" ' +2 "storage"( & +4 "core" &K \\\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(\ 'e +277 "core" ' + "storage"(q- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 ('& +3 "core" &K z Z\  + "manipulator"&Z& +4 "core" & r s T  +2 .tElbow.seek 6 + "manipulator"&( +3 "core" ( +2 "manipulator"& & +3 "core" & k u H  +2 "storage"(& +4 "core" &K g i `\  +2 .tForearm.seek 6 + 300 counts + "manipulator"&'Ϧ +21 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&_/ +60 "core" / +2 ."downElevator"SE.seek :down +5 "manipulator"&& "storage"( 'N +8 "core" & K  + "manipulator"&t% +4 "core" % ϕ ?  +2 .tForearm.seek :retract +2 "manipulator"&'\ +96 "core" ' +2 .tElbow.seek PC +2 "manipulator"&^(c +155 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +82 "core" ( + "manipulator"&3& +5 "core" &W 8 Z + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &W Z +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"& '[ +103 "core" ' +2 "manipulator"&w& +5 "core" &X ] Y + "manipulator"&% +4 "core" %d +2 "processing"%J& +3 "core" &h\ +3 "processing"%5& +4 "core" &\ +2 .tPC.seek :closed +2 "processing"%F(Z +4 "core" &G\  +8 &3;\ *z +10 &dH\ > +9 &Pua\ N +9 &U;\ M +10 &Z8\ N +9 &X\\\ N +10 &!YZX\ N +9 &#W?\ M +9 &$U\\\ M +10 &&Z:\ M +9 &(bZc\ M +9 &*%V<\ M +10 &+XB\ M +9 &-UG\ M +10 &/i\\A\ N +9 &1,XE\ M +9 &2[a\ M +10 &4Y>\ N +9 &6sY`\ M +9 &84Y]\ M +10 &9U5\ M +9 &;V=\ M +10 &=zU@\ M +9 &?<X;\ M +9 &@XA\ M +10 &BXA\ M +9 &DX`\ M +9 &FB_5\ N +10 &HeA\ O +9 &IsB\ P +10 &Kza\ S +9 &M86\ T +9 &N@\ T +10 &PB\ T +9 &R}E\ T +9 &T?e\ T +10 &VS\ U +9 &W]\ U +10 &YT\ C +9 &Z94\ V +9 &Z_\ + +3 ( + "processing"%5& +3 #tProcessing Clamp onSpring/offSpring for 9/25 samples, on/off torque 1.66 +2 .Hand.open + "manipulator"&%1 +60 "core" 1 + "manipulator"&% +4 "core" % d % +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&A'\ +95 "core" ' + "processing"%I& +4 "core" &Z M\ + +2 #tImaging generic puck in Processing Clamp while storing it to tube 6 + "manipulator"&% +4 "core" %\ . ; #j +2 "storage"(% +3 "core" %J @ B \  +2 "storage"(. +3 "core" .(K + "storage"(N& +4 "core" &K E E\  +2 "storage"(#& +4 "manipulator"&U& +4 "core" &K E E\  + &X y Y +3 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +3 "storage"(#]kK-0-\ b +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +2 "manipulator"&H(c +3 ."raiseStack"SE.seek :beamBreak +2 "storage"(a'e +18 "core" ( + "manipulator"&R& +5 "core" &Y y  + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &Y   +2 .tForearm.seek PC +2 "manipulator"&2'[ +96 "core" ' + .tHand.close +2 "manipulator"&\\/ +59 "core" / +2 .tPC.seek :open +2 "processing"%c(p +72 "core" ' +2 "storage"(L- +3 "core" -'e + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place + "storage"(8'B +34 "core" ' +276 ( + "storage"(/& +4 "core" &K g ^ \  +2 "manipulator"&b& +4 "core" &Y   + "manipulator"&&% +4 "core" % n  + .tForearm.seek :retract +2 "manipulator"&!'\ +98 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&1( +245 "core" ( + "manipulator"&)& +5 "core" &\ U + "storage"(*& +4 "core" &K D E \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&0'< +114 "core" ' + .tHand.open +2 "manipulator"&B1 +58 "core" 1 +2 "storage"(7- +3 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate +2 "storage"(T' +23 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(Y' +51 "core" ' +2 #tLights, camera, ACTION! + "storage"(x- +4 "core" -' + "storage"([& +4 "core" &K \  + "manipulator"&.& +4 "core" &\ { s r U +2 .tElbow.seek 6 +2 "manipulator"&$( +3 "core" ( + "manipulator"&Q& +4 "core" &\ r w ` U +2 "storage"( & +4 "core" &K \  +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&9'< +21 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"(,'M +61 "core" ' + "manipulator"&G& +5 "core" &\ M U + "storage"(?& +4 "core" &K \\ \\\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&o'z +28 "core" ' +2 .tElbow.hold + "manipulator"&;, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.07 Pucks below Top Plate + "storage"('7 +23 "core" ' +2 "manipulator"&4% +5 "core" %΍  ] X + "storage"(S& +4 "core" &K   |\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 319 counts + "manipulator"&C'Ϲ +18 "core" ' + "manipulator"&p& +5 "core" & g j ^ + "storage"(:& +4 "core" &K o o \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&W'< +22 "core" ' +2 "storage"(E% +4 "core" %: w  \  +2 ."downElevator"SE.seek :down +3 "storage"('N +99 (K% +3 "core" %B Z \\\ V` +2 "manipulator"&j% +4 "core" %U t ~  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&D'\ +87 "core" ' +64 ' + ."downElevator"SE.stop + "storage"(5 +2 (h& +4 "core" &K 2 ! L\  + "collection"'e& +4 "core" &]b\ K +2 #tStoring generic puck in Collection Clamp to tube 6 + "manipulator"&m% +4 "core" %\ .  #b +2 "storage"(V% +3 "core" %H \\ \\\  +2 "storage"(O. +3 "core" .(K + "storage"(>& +4 "core" &K Z Y\  + "storage"(& +4 "core" &K [ \\\  +2 "manipulator"&@& +55 "core" &\ # ^ +2 .tElbow.seek 6 + "manipulator"&+( +4 "core" ( + "manipulator"&6& +4 "core" &\ y ^ + "storage"({& +4 "core" &K \\ \\\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts + "manipulator"&z'< +94 "core" ' + "storage"(l& +5 "core" &K u v M\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(i'e +281 "core" ' + "storage"(|- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&g& +3 "core" &\  ^ +2 "storage"(M& +4 "core" &K [ U \  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&s'z +31 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(k- +2 "core" -' +2 .tSE.seek 0.12 Pucks below Top Plate +2 "storage"('s +31 "core" ' + "manipulator"&`% +4 "core" %Ύx f »9 +2 "storage"(f& +4 "core" &K  ^\  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 6 + 320 counts +2 "manipulator"&y'Ϻ +18 "core" ' +2 "manipulator"&X& +4 "core" & v l P e + "storage"(=& +5 "core" &K r w |\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&-'< +16 "core" ' +2 .tSE.seek 1.12 Pucks below Top Plate +2 "storage"('b +41 "core" ' +2 "manipulator"&"& +4 "core" & v }  e +2 "manipulator"&r% +4 "core" %? o r +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +90 "core" ' +2 .tElbow.seek CC + "manipulator"&(( +156 "core" ( +2 "manipulator"&n& +4 "core" &, 8 Bg + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &d& +2 "core" &, h Bg +2 .tForearm.seek CC +2 "manipulator"&'| +95 "core" ' + .tHand.close + "manipulator"&]/ +63 "core" / +2 .tCC.seek :open +2 "collection"'v(p +411 "core" ( + "storage"(u& +4 "core" &K ;\  +2 "storage"(~& +3 "core" &K \  +2 "manipulator"&}& +4 "core" & & >I + "manipulator"&% +4 "core" % ς +2 .tForearm.seek :retract + "manipulator"& '\ +93 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 + "manipulator"&<( +155 "core" ( +2 "manipulator"&q& +4 "core" & Y + "storage"('& +4 "core" &K 6\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 6 +2 "manipulator"&Z'z +112 "core" ' +2 .tElbow.hold + "manipulator"& , +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&1 +61 "core" 1 +2 "manipulator"&_% +4 "core" % ΅ 9   Y +2 "storage"(& +4 "core" &K c Y\  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 6 + 311 counts + "manipulator"&t'ϱ +18 "core" ' +2 "manipulator"&P& +4 "core" & ` x N  + "storage"(& +4 "core" &K G\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&\ '< +16 "core" ' + "storage"(% +4 "core" %h \ +2 ."downElevator"SE.seek :down +4 "storage"(3'N +99 (% +2 "core" %3> \ U\\ +2 "manipulator"&% +4 "core" %B p r / +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&w'\ +92 "core" ' +47 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 7 of [5..7] + #Loading generic puck from tube 7 into Collection Clamp +2 "collection"'& +4 "core" &\ +2 "manipulator"&J% +4 "core" %\ 3 %w + "storage"( % +4 "core" %; *\  +2 "storage"(. +3 "core" .(K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 7 +2 "storage"(([ +349 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (%& +3 "core" &[ Y Z\  +2 "manipulator"&& +3 "core" &  +2 .tElbow.seek 7 + "manipulator"&I( +17 "core" ( + "manipulator"&& +4 "core" &  +2 "storage"(& +4 "core" &[ ,\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&'k +95 "core" ' + "storage"(N& +5 "core" &[ =\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(U'e +280 "core" ' + "storage"(#- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (5& +2 "core" &[ \  +2 "manipulator"&R& +4 "core" & L  + .tElbow.seek 7 +2 "manipulator"&( +3 "core" ( + "manipulator"& & +4 "core" &   + "storage"(\\& +4 "core" &[ G\  +2 .tForearm.seek 7 + 300 counts +2 "manipulator"&L' +10 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&^/ +55 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&A& +2 "storage"(F'N +7 "core" & r p   +2 "manipulator"&a% +3 "core" % r r  D +2 .tForearm.seek :retract +2 "manipulator"&/'\ +98 "core" ' +2 .tElbow.seek CC + "manipulator"&b( +143 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +9 "core" ( + "manipulator"&&& +5 "core" && =A + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &2& +3 "core" &&  =A +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&)'| +97 "core" ' +2 "manipulator"&*& +4 "core" &% Y <@ +2 "manipulator"&H% +4 "core" %φ +2 "collection"'B& +4 "core" &\ +2 "collection"'7& +6 "core" &\ +2 .tCC.seek :closed +2 "collection"'x(] +5 "core" &!\ +5 &&\ 8 +10 &H}\ 1 +9 &Ds\ E +10 &` \ M +9 &[!\ L +9 &r\\&\ L +10 & 3\\(\ M +9 &!_\ M +9 &#Y \ M +10 &%zY\ L +9 &';\\&\ M +10 &(\\!\ M +9 &*_ \ L +9 &,^\ L +10 &.B^\ M +9 &0Z\ M +9 &1Z\ L +10 &3[\ L +9 &5LZ\ L +9 &7 ^\ M +10 &8[\ M +9 &:Z\ M +10 &Z\ M +9 &?Z\ L +10 &A[\ M +12 &C[Z\ M +6 &EX\ L +10 &F]\ M +9 &Hc\ M +10 &JZv\ P +9 &Lb\ S +10 &M\ V +9 &O\ W +9 &QL\ W +10 &S \ X +9 &T\ Y +9 &V\ Z +10 &XL\ Z +9 &Z\ \ [ +9 &[\ [ +10 &](R\ 0 +9 &]\ S +9 ( +3 "collection"'7& +3 #tCollection Clamp onSpring/offSpring for 9/26 samples, on/off torque 2.10 + .Hand.open + "manipulator"&[1 +3 "core" &]p\ P +59 1 + "manipulator"&.% +4 "core" % υ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&Q'\ +95 "core" ' +2 #tLoading generic puck from tube 7 into Processing Clamp + "processing"% & +4 "core" &g\ +2 "manipulator"&!% +4 "core" %\ 1 R $t +2 "storage"(G% +3 "core" %: ? 8 \  +2 "storage"(?. +3 "core" .([ +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 7 +2 "storage"(8([ +2 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (4& +2 "core" &[!\ \  \  +2 "manipulator"&S& +4 "core" &$ _ ;7 + "manipulator"&T% +4 "core" %\ 1 P $t +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 7 +2 "manipulator"&p( +167 "core" ( + "manipulator"&:& +4 "core" & , 1 +2 "storage"(E& +4 "core" &[ Y Y\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&1'k +93 "core" ' +2 "storage"(0& +4 "core" &[ v ` \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(Y'e +275 "core" ' +2 "storage"(K- +3 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +53 (j& +3 "core" &[ Z [\  + "manipulator"&9& +4 "core" &  1 +2 .tElbow.seek 7 + "manipulator"&$( +3 "core" ( +2 "manipulator"&,& +4 "core" & s 1 + "storage"(o& +4 "core" &[ f \\ +\  +2 .tForearm.seek 7 + 300 counts +2 "manipulator"&C' +10 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&h/ +54 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&e& +2 "storage"(m'N +8 "core" &  1 +2 "manipulator"&V% +4 "core" %  > +2 .tForearm.seek :retract +2 "manipulator"&O'\ +96 "core" ' + .tElbow.seek PC +2 "manipulator"&>(c +152 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +89 "core" ( +2 "manipulator"&& +4 "core" &m " 6 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &m [ 6 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&@'[ +98 "core" ' +2 "manipulator"&6& +4 "core" &m u  6 +2 "manipulator"&{% +4 "core" %O  C +2 "processing"%W& +3 "core" &z\ +2 "processing"%l& +5 "core" &i\ +2 .tPC.seek :closed +2 "processing"%(Z +4 "core" &j\ \ +8 &0|l\ *x +10 &du\ > +9 &Dtu\ N +9 &Xv\ M +10 &Zo\ M +9 &Xs\ M +9 &!KZB\ N +10 &#WX\ M +9 &$Xa\ M +10 &&Za\ M +9 &(UXc\ M +9 &*Y=\ M +10 &+W\\\ M +9 &-Uf\ M +10 &/[\\\\\ N +9 &1Xh\ M +9 &2Zg\ M +10 &4Yg\ M +9 &6dYI\ M +9 &8&Zk\ M +10 &9Xi\ M +9 &;Zg\ M +10 &=lYH\ M +9 &?.Wm\ M +9 &@\\C\ M +10 &BZo\ N +9 &DsZc\ N +9 &F4\\f\ N +10 &GcI\ O +9 &Iml\ P +9 &Knk\ R +10 &M+k\ T +9 &Nj\ T +10 &PC\ T +9 &Rod\ T +9 &T1A\ T +10 &Uj\ T +9 &Wj\ U +9 &Yvg\ B +10 &Zv:h\ ` +9 &Z W\ * +3 ( + "processing"%l& +3 #tProcessing Clamp onSpring/offSpring for 9/25 samples, on/off torque 1.64 +2 .Hand.open + "manipulator"&;1 +60 "core" 1 + "manipulator"&D% +4 "core" % O  C +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&|'\ +95 "core" ' + "processing"%g& +4 "core" &Z`\ * +2 #tImaging generic puck in Processing Clamp while storing it to tube 7 + "manipulator"&M% +4 "core" %\ 3 | %{ + "storage"(k% +4 "core" %= 5 5\  + "storage"(`. +3 "core" .([ +2 "storage"(f& +4 "core" &[ 4 4\  + "storage"(X& +3 "manipulator"&=& +7 "core" &[ 5 8\  + &m T 6 +3 ."raiseStack"SE.reconfigure :place +2 .tElbow.reconfigure :tight +5 "storage"(#]kK-0-\ b +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +3 ."raiseStack"SE.seek :beamBreak +3 "manipulator"&"(c + "storage"(r'e +6 "core" ( + "manipulator"&z& +4 "core" &m 3 6 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &+& +3 "core" &m Z 6 +2 .tForearm.seek PC + "manipulator"&i'[ +96 "core" ' + .tHand.close +2 "manipulator"&s/ +58 "core" / +2 .tPC.seek :open + "processing"%y(p +90 "core" ' +2 "storage"(- +4 "core" -'e + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +2 ."raiseStack"SE.seek :place +2 "storage"(n'B +45 "core" ' +246 ( +2 "storage"(d& +4 "core" &[ g _ \  + "manipulator"&-& +4 "core" &m  6 + "manipulator"&% +4 "core" % U   +2 .tForearm.seek :retract +2 "manipulator"&]'\ +96 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 7 +2 "manipulator"&( +250 "core" ( + "manipulator"&& +4 "core" &  +2 "storage"(u& +4 "core" &[ 7 8 \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&~'k +95 "core" ' + .tHand.open + "manipulator"&}1 +62 "core" 1 +2 "storage"(- +3 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate +2 "storage"(q' +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.83 Pucks below Top Plate + "storage"('' +52 "core" ' + #tLights, camera, ACTION! +2 "storage"(- +3 "core" -' +2 "storage"((& +4 "core" &[ y\  + "manipulator"&& +4 "core" &   +2 .tElbow.seek 7 + "manipulator"&_( +9 "core" ( + "manipulator"&& +4 "core" &   +2 "storage"(P& +4 "core" &[ @\  +2 .tForearm.seek 7 + 450 counts + "manipulator"&'k +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.11 Pucks below Top Plate + "storage"('M +62 "core" ' + "manipulator"& & +5 "core" &   + "storage"(& +4 "core" &[ Z ^\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 7 + "manipulator"&'Ω +29 "core" ' +2 .tElbow.hold + "manipulator"&<, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.07 Pucks below Top Plate + "storage"(Z'7 +23 "core" ' +2 "manipulator"&% +4 "core" %ΰ +2 "storage"(J& +4 "core" &[   q\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 7 + 307 counts +2 "manipulator"& ' +19 "core" ' + "manipulator"&t& +4 "core" & z h U  +2 "storage"(& +4 "core" &[ r } \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&'k +17 "core" ' + "storage"(\ % +4 "core" %> m z M\  +3 ."downElevator"SE.seek :down +4 "storage"(3'N +99 (% +3 "core" %G Y Y\ Wb +2 "manipulator"&%% +5 "core" %o r r F + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +88 "core" ' +60 ' + ."downElevator"SE.stop + "storage"(5 +3 (& +4 "core" &[ 2 6 \  + "collection"'& +4 "core" &]p\ P +2 #tStoring generic puck in Collection Clamp to tube 7 + "manipulator"&N% +4 "core" %\ - "Y +2 "storage"( % +3 "core" %D Z Z\  +2 "storage"(w. +3 "core" .([ +2 "storage"(#& +4 "core" &[ X Y\  + "storage"(5& +4 "core" &[ [ Y\  +2 "manipulator"&R& +3 "core" &  +2 .tElbow.seek 7 + "manipulator"& ( +4 "core" ( + "manipulator"&\\& +4 "core" & s  + "storage"(^& +4 "core" &[ Z Z\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&A'k +100 "core" ' +2 "storage"(a& +5 "core" &[ g s \  + .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(I'e +281 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&&& +3 "core" & r p F  +2 "storage"(2& +3 "core" &[ Y Y\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 7 + "manipulator"&U'Ω +30 "core" ' +2 .tElbow.hold + "manipulator"&L, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(*- +2 "core" -' +3 .tSE.seek 0.11 Pucks below Top Plate + "storage"(H'm +30 "core" ' +2 "manipulator"&B% +4 "core" %ι q + "storage"(& +4 "core" &[  \ \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 7 + 316 counts + "manipulator"&F' +19 "core" ' +2 "manipulator"&/& +4 "core" & _ w I  + "storage"(v& +4 "core" &[ u v g\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&['k +27 "core" ' +2 .tSE.seek 1.11 Pucks below Top Plate + "storage"(.'\\ +43 "core" ' + "manipulator"& & +4 "core" & <  +2 "manipulator"&!% +4 "core" %v t u 3 Z +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&G'\ +97 "core" ' +2 .tElbow.seek CC +52 "manipulator"&?( +157 "core" ( + "manipulator"&7& +4 "core" &* ] @X +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &4& +2 "core" &* @X +2 .tForearm.seek CC +2 "manipulator"&S'| +94 "core" ' +2 .tHand.close + "manipulator"&T/ +55 "core" / +2 .tCC.seek :open +2 "collection"')(p +411 "core" ( + "storage"(:& +4 "core" &[ *\  +2 "storage"(E& +4 "core" &[ y x\  + "manipulator"&& +4 "core" &% 9 <> + "manipulator"&0% +4 "core" % ϊ G +2 .tForearm.seek :retract +2 "manipulator"&b'\ +91 "core" ' +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 7 +2 "manipulator"&Q( +165 "core" ( + "manipulator"&K& +5 "core" & g 2 + "storage"(j& +4 "core" &[ W\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 7 +2 "manipulator"&9'Ω +107 "core" ' +2 .tElbow.hold + "manipulator"&,, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&o1 +54 "core" 1 +2 "manipulator"&h% +4 "core" % ι  M +2 "storage"(e& +3 "core" &[ m Z [\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 7 + 316 counts + "manipulator"&V' +20 "core" ' + "manipulator"&p& +4 "core" & r s 5 2 +2 "storage"(1& +4 "core" &[ S\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&Y'k +17 "core" ' + "storage"(C% +4 "core" %d m\ +3 ."downElevator"SE.seek :down +3 "storage"('N +100 (% +3 "core" %-> 4\ U\\ +2 "manipulator"&$% +4 "core" %k s r c +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&6'\ +90 "core" ' +53 ' + ."downElevator"SE.stop +2 "storage"(5 +2 #tShuffling pucks in tube 5 of [5..7] +2 #Loading generic puck from tube 5 into Collection Clamp + "collection"'{& +5 "core" &\ +2 "manipulator"&W% +4 "core" %\ 3  %w +2 "storage"(m% +3 "core" %M J\ +2 "storage"(O. +3 "core" .([ + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"(c(<< +675 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (;& +3 "core" &/ +55 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&|& +2 "storage"('N +7 "core" &  p r ^  +2 "manipulator"&d% +4 "core" % Z q s T +2 .tForearm.seek :retract + "manipulator"&-'\ +96 "core" ' +2 .tElbow.seek CC + "manipulator"&r( +145 "core" ' + ."downElevator"SE.stop + "storage"(5 +8 "core" ( + "manipulator"&& +4 "core" &" :/ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &i& +3 "core" &# [ :/ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&'| +107 "core" ' + "manipulator"&u& +4 "core" &# < :/ +2 "manipulator"&"% +4 "core" %u 4 + "collection"'}& +5 "core" &\ +2 "collection"'& +5 "core" &\ +2 .tCC.seek :closed + "collection"'(] +5 "core" &%\ +6 &>)\ $e +9 &lX\ 7 +10 &&\ L +9 &Z \ M +10 &GY\ L +9 &[%\ M +9 & _ \ M +10 &"^"\ M +9 &$N]\ M +9 &&\\"\ M +10 &'Z \ L +9 &)^\ M +10 &+V\\ \ M +9 &-Y$\ L +9 &.\\'\ L +10 &0[\ L +9 &2_\\\ L +9 &4_$\ M +10 &5Y&\ L +9 &7Z&\ L +10 &9f\\$\ M +9 &;)X%\ L +9 &<Y\ M +10 &>]\ L +9 &@o[\ L +9 &B0_\ M +10 &CZ\ L +9 &E[\ L +10 &Gtb\ M +9 &I3k\ N +9 &J\ Q +10 &LC\ U +9 &Nb\ V +9 &P"\ W +10 &Q\ X +9 &S\ X +9 &Ub!\ Y +10 &W$\ Y +9 &X\ Z +10 &Z \ [\ +9 &\\f \ G +9 &]e;\ &r +10 &]W\ B +2 ( +2 "collection"'& +3 #tCollection Clamp onSpring/offSpring for 10/26 samples, on/off torque 2.06 + .Hand.open +2 "manipulator"&(1 +62 "core" 1 +2 "manipulator"&% +4 "core" % u 6 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +92 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp +2 "processing"%P& +4 "core" &\ + "manipulator"&]% +4 "core" %\ 6 3 & + "storage"( % +4 "core" %A 7 7 )\  +2 "storage"(. +3 "core" .( +9 &Dtt\ N +10 &Yu\ M +9 &Zw\ M +9 &Yw\ M +10 &!MYu\ M +9 &#Wv\ M +9 &$Xx\ M +10 &&Yv\ M +9 &(TYq\ M +9 &*Xi\ M +10 &+Wh\ M +9 &-Tp\ M +10 &/\\]c\ M +9 &1Yd\ N +9 &2Yf\ M +10 &4Xk\ M +9 &6dYc\ M +9 &8'Zj\ M +10 &9Xd\ M +9 &;Xb\ M +10 &=lYd\ M +9 &?.Vk\ M +9 &@\\c\ M +10 &BWi\ M +9 &Dt\\n\ M +9 &F5[l\ N +10 &Gcd\ N +9 &Imd\ O +10 &Kmi\ R +9 &M+k\ T +9 &Nj\ T +10 &Pj\ T +9 &Rok\ T +9 &T1j\ T +10 &Uj\ T +9 &Wj\ U +10 &Ytk\ C +9 &Zv;n\ ^ +9 &Zi\ ) +3 ( + "processing"%a& +60 #tProcessing Clamp onSpring/offSpring for 9/25 samples, on/off torque 1.64 + .Hand.open +2 "manipulator"&<1 +3 "core" &Zk\ ) + &Zj\ ) + &Zk\ ) + &Zi\ ) + &Zi\ ) + &Zk\ ) +51 1 + "manipulator"&% +5 "core" % O # Q +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +97 "core" ' +2 "processing"%&& +4 "core" &Zt\ ) +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 + "manipulator"&2% +4 "core" %\ 8 + ' + "storage"(*% +4 "core" %: E C \ + "storage"(B. +3 "core" .(<9 +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 5 + "storage"((<< +10 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (/& +4 "core" &<9 1  [\  + "manipulator"&v& +3 ."raiseStack"SE.reconfigure :place +6 "storage"(#]kK-0-\ b +2 "core" &i +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +3 ."raiseStack"SE.seek :beamBreak +3 "manipulator"& (c + "storage"(!'e +6 "core" ( + "manipulator"&A& +4 "core" &i e + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 & & +3 "core" &i O +2 .tForearm.seek PC + "manipulator"&I'[ +95 "core" ' + .tHand.close +2 "manipulator"&U/ +55 "core" / + .tPC.seek :open +2 "processing"%F(p +93 "core" ' + "storage"(H- +4 "core" -'e + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +2 ."raiseStack"SE.seek :place +2 "storage"(['B +34 "core" ' +255 ( +2 "storage"(7& +4 "core" &<8 ] \\ h\  + "manipulator"&4& +4 "core" &i + "manipulator"&L% +4 "core" % m e  +2 .tForearm.seek :retract +2 "manipulator"&T'\ +91 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&G( +257 "core" ( + "manipulator"&x& +4 "core" &  X # +2 "storage"(:& +4 "core" &<8 Z Y\  + .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&E' +104 "core" ' + .tHand.open +2 "manipulator"&1 +61 "core" 1 +2 "storage"(0- +4 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate + "storage"(K' +25 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(j' +51 "core" ' +2 #tLights, camera, ACTION! + "storage"(S- +4 "core" -' + "storage"(?& +4 "core" &<6 J\  + "manipulator"&o& +4 "core" & # +2 .tElbow.seek 5 + "manipulator"&h( +4 "core" ( + "manipulator"&e& +4 "core" & # + "storage"(p& +4 "core" &<6 )\  +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&1' +21 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"(C'M +58 "core" ' +2 "manipulator"&b& +4 "core" & o s ' # + "storage"(& +4 "core" &<6 z  ;\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 + "manipulator"&$'/ +31 "core" ' +2 .tElbow.hold + "manipulator"&Q, +5 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"(9'7 +27 "core" ' + "manipulator"&{% +5 "core" %=  t + "storage"(V& +4 "core" &<6   x\  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 5 + 314 counts +2 "manipulator"&W'i +18 "core" ' +2 "manipulator"&m& +4 "core" &<\ k M T +2 "storage"(O& +4 "core" &<6 } } q\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&.' +12 "core" ' + "storage"(Y% +5 "core" %5 p v d\ +2 ."downElevator"SE.seek :down +3 "storage"('N +99 (8% +3 "core" %? [ Y\ V` +2 "manipulator"&;% +4 "core" % } | ) +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&D'\ +91 "core" ' +61 ' + ."downElevator"SE.stop + "storage"(5 +3 (M& +4 "core" &<6 1 E \  + "collection"'k& +4 "core" &]]\ \ B +2 #tStoring generic puck in Collection Clamp to tube 5 + "manipulator"&f% +4 "core" %\ 5 1 & + "storage"(,% +4 "core" %D Y Y\ +2 "storage"(6. +3 "core" .(<9 + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 5 + "storage"(X(<< +12 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +2 (l& +3 "core" &<9\ \  \  +2 "manipulator"&z& +3 "core" &<\ w T +2 .tElbow.seek 5 +2 "manipulator"&@( +21 "core" ( + "manipulator"&s& +4 "core" &  +2 "storage"(>& +4 "core" &<8 Y Y \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&|' +117 "core" ' + "storage"(d& +5 "core" &<8 >\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(g'e +280 "core" ' +2 "storage"(`- +3 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&& +3 "core" & r s T  +2 "storage"(i& +3 "core" &<8 o y \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 + "manipulator"&='/ +29 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(u- +2 "core" -' +3 .tSE.seek 0.11 Pucks below Top Plate + "storage"("'j +24 "core" ' +2 "manipulator"&}% +4 "core" %A k + "storage"(+& +4 "core" &<8   <\  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 5 + 318 counts +2 "manipulator"&'m +18 "core" ' + "manipulator"&-& +4 "core" &/ ^ v  n +2 "storage"()& +4 "core" &<8 z | 6\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&(' +18 "core" ' +2 .tSE.seek 1.11 Pucks below Top Plate +2 "storage"('Y +41 "core" ' + "manipulator"&P& +4 "core" &/ q q 7 n +2 "manipulator"&]% +4 "core" % d U M +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"& '\ +97 "core" ' +2 .tElbow.seek CC +2 "manipulator"&( +168 "core" ( +2 "manipulator"&& +4 "core" & Y J + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &n& +3 "core" & Y J +2 .tForearm.seek CC +2 "manipulator"&J'| +107 "core" ' +2 .tHand.close + "manipulator"&q/ +52 "core" / +2 .tCC.seek :open + "collection"'(p +411 "core" ( +2 "storage"(& +4 "core" &<8 g\  + "storage"(\ & +4 "core" &<8 C\  + "manipulator"&c& +4 "core" &  z J + "manipulator"&~% +4 "core" % s s  +2 .tForearm.seek :retract + "manipulator"&r'\ +100 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 + "manipulator"&( +163 "core" ( + "manipulator"&& +4 "core" & Q ; +2 "storage"(%& +4 "core" &<8 \  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 5 +2 "manipulator"&'/ +106 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&1 +53 "core" 1 +2 "manipulator"& % +4 "core" % B t + "storage"(& +4 "core" &<8 u q ?\  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 5 + 319 counts +2 "manipulator"& 'n +19 "core" ' + "manipulator"&t& +4 "core" &< w \\ 5  +2 "storage"(& +53 "core" &<8 m\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&'' +20 "core" ' + "storage"(% +4 "core" %^ *\ +2 ."downElevator"SE.seek :down +4 "storage"(Z'N +98 (5% +3 "core" %C \ V^ +2 "manipulator"&_% +4 "core" % p o  +2 .tForearm.reconfigure :loose +4 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&\\'\ +96 "core" ' +46 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 6 of [5..7] + #Loading generic puck from tube 6 into Collection Clamp +2 "collection"'^& +4 "core" & \ + "manipulator"&% +5 "core" %\ 5 & + "storage"(N% +4 "core" %F c\  +2 "storage"(w. +3 "core" .(<9 +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"(y(K +357 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (<& +2 "core" &K Y [\  +2 "manipulator"&& +4 "core" &< {  + .tElbow.seek 6 +2 "manipulator"&&( +17 "core" ( + "manipulator"&2& +4 "core" &  +2 "storage"(*& +3 "core" &K \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&B'< +98 "core" ' + "storage"(a& +4 "core" &K I\  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(/'e +279 "core" ' + "storage"(v- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (A& +2 "core" &K /\  +2 "manipulator"& & +4 "core" &   + .tElbow.seek 6 +2 "manipulator"&R( +4 "core" ( + "manipulator"&U& +4 "core" &   + "storage"(& +4 "core" &K 9\  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&H'Ϧ +11 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close +2 "manipulator"&#/ +57 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"(3'N +7 "core" & y t -  +2 "manipulator"&7% +4 "core" % Ϯ p q 3 2 +2 .tForearm.seek :retract + "manipulator"&4'\ +93 "core" ' +2 .tElbow.seek CC +2 "manipulator"&!( +146 "core" ' + ."downElevator"SE.stop + "storage"(5 +19 "core" ( + "manipulator"&L& +4 "core" & & =G +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &I& +3 "core" & &  =G +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&x'| +103 "core" ' + "manipulator"&:& +4 "core" &%  =B +2 "manipulator"& % +4 "core" %u u +2 "collection"'& +4 "core" &\ +2 "collection"'0& +6 "core" &(\ +2 .tCC.seek :closed +2 "collection"'S(] +4 "core" &.\ +7 & ./\ $d +9 &bV2\ 7 +9 &*\ K +10 &vX&\ L +9 &7_%\ M +10 &\\\ M +9 & Z#\ M +9 &"}^\ M +10 &$@\\$\ L +9 &&] \ L +9 &']!\ M +10 &)]$\ M +9 &+H])\ L +10 &- ]+\ M +9 &.\\ \ M +9 &0Z"\ M +10 &2PZ0\ L +9 &4\\#\ L +9 &5]&\ M +10 &7[&\ M +9 &9WZ#\ M +9 &;]1\ L +10 &<[#\ M +9 &>Y(\ L +10 &@`Z%\ L +9 &B!^&\ M +9 &C\\)\ M +10 &E]+\ L +9 &Gg_+\ M +10 &I$m.\ N +9 &J1\ P +9 &LG1\ U +10 &NS&\ V +9 &P2\ W +9 &Q*\ W +10 &S,\ X +9 &UQ"\ Z +9 &W'\ X +10 &X*\ Z +9 &Z1\ ] +10 &\\J1\ K +9 &]\\:0\ (v +9 &]n(\ J +6 ( + "collection"'0& +5 #tCollection Clamp onSpring/offSpring for 10/26 samples, on/off torque 2.12 + .Hand.open + "manipulator"&?1 +4 "core" &]i/\ J +49 1 + "manipulator"&o% +4 "core" % u  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&e'\ +90 "core" ' + #tLoading generic puck from tube 6 into Processing Clamp +2 "processing"%p& +4 "core" &w\ + "manipulator"&T% +4 "core" %\ . #d +2 "storage"(b% +4 "core" %5 4 +\  + "storage"(. +3 "core" .(K + "storage"([& +4 "core" &K . 9\  +2 "storage"({& +4 "core" &K ) * =\  + "manipulator"&V& +4 "core" &,!  9& + "manipulator"&K% +4 "core" %\ . P #d +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 + "manipulator"&m( +160 "core" ( + "manipulator"&O& +4 "core" & '  +2 "storage"(Y& +3 "core" &K X X\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&G'< +95 "core" ' + "storage"(E& +4 "core" &K | | W\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(j'e +135 "Can"  +142 "core" ' + "storage"(8- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (;& +3 "core" &K Z \\\  + "manipulator"&1& +4 "core" &   +2 .tElbow.seek 6 + "manipulator"&h( +3 "core" ( +2 "manipulator"&C& +4 "core" & ]  + "storage"($& +4 "core" &K w u H\  +2 .tForearm.seek 6 + 300 counts + "manipulator"&M'Ϧ +21 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&W/ +63 "core" / +2 ."downElevator"SE.seek :down +5 "manipulator"&k& "storage"(f'N +7 "core" & s  + "manipulator"&,% +4 "core" % ϕ N  +2 .tForearm.seek :retract +2 "manipulator"&6'\ +97 "core" ' +2 .tElbow.seek PC + "manipulator"&9(c +154 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +95 "core" ( + "manipulator"&l& +5 "core" &d  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &z& +3 "core" &d t +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&s'[ +100 "core" ' + "manipulator"&>& +5 "core" &d @ + "manipulator"&.% +4 "core" %O  +2 "processing"%d& +4 "core" &t\ +2 "processing"%& +5 "core" &s\ +2 .tPC.seek :closed + "processing"%(Z +5 "core" &~\  +9 &1~\ *x +10 &d\ > +9 &=uz\ N +10 &U\ M +9 &Z\ M +9 &Wu\ M +10 &!F\\z\ M +9 &# Wv\ M +9 &$Xt\ M +10 &&Yr\ M +9 &(NYv\ M +10 &*Xv\ M +9 &+Wx\ N +9 &-Ww\ M +10 &/TZw\ N +9 &1Uv\ M +9 &2Yr\ N +10 &4Wr\ M +9 &6^Zs\ M +9 &8 Yw\ M +10 &9Uq\ M +9 &;Yt\ M +10 &=eYe\ N +9 &?'Zd\ N +9 &@Zg\ N +10 &BWh\ M +9 &Dm\\b\ N +10 &F/\\d\ N +9 &Gee\ O +9 &Ipc\ P +10 &Kfb\ S +9 &M$g\ T +9 &Nk\ T +10 &Pg\ T +9 &Rhd\ U +9 &T*j\ U +10 &Ul\ U +9 &Wk\ U +10 &Ynl\ B +9 &Zx?o\ V +9 &ZPk\ > +6 ( + "processing"%& +5 #tProcessing Clamp onSpring/offSpring for 9/25 samples, on/off torque 1.66 + .Hand.open + "manipulator"&Q1 +3 "core" &ZIl\ > +56 1 + "manipulator"&D% +4 "core" % O 8 +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&`'\ +96 "core" ' +2 "processing"%& +4 "core" &ZJs\ > +2 #tImaging generic puck in Processing Clamp while storing it to tube 6 + "manipulator"&i% +4 "core" %\ 3 %y +2 "storage"(u% +3 "core" %7 \  +2 "storage"(}. +3 "core" .(K + "storage"(+& +4 "core" &K   \  +2 "storage"(-& +4 "manipulator"&)& +4 "core" &K   ]\  + &d " +3 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +3 "storage"(#]kK-0-\ b +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +3 ."raiseStack"SE.seek :beamBreak +3 "manipulator"&P(c + "storage"(]'e +5 "core" ( + "manipulator"&|& +4 "core" &d V + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &@& +3 "core" &d  +2 .tForearm.seek PC + "manipulator"&g'[ +96 "core" ' + .tHand.close + "manipulator"&=/ +60 "core" / +2 .tPC.seek :open + "processing"%(p +88 "core" ' +2 "storage"("- +3 "core" -'e +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place + "storage"('B +36 "core" ' +258 ( +2 "storage"(n& +4 "core" &K f _\  + "manipulator"&(& +4 "core" &d  +2 "manipulator"&% +3 "core" % f } +53 .tForearm.seek :retract +2 "manipulator"&q'\ +100 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"& ( +246 "core" ( +2 "manipulator"&& +4 "core" & : +2 "storage"(& +4 "core" &K * 3 7\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&\ '< +98 "core" ' + .tHand.open +2 "manipulator"&c1 +56 "core" 1 +2 "storage"(~- +4 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate + "storage"(' +25 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(%' +53 "core" ' + #tLights, camera, ACTION! +2 "storage"(J- +3 "core" -' +2 "storage"(& +4 "core" &K p\  + "manipulator"&& +4 "core" &  : +2 .tElbow.seek 6 + "manipulator"& ( +4 "core" ( + "manipulator"&& +4 "core" &  : +2 "storage"(t& +4 "core" &K \  +2 .tForearm.seek 6 + 450 counts + "manipulator"&'< +4 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"(r'M +61 "core" ' +2 "manipulator"&& +4 "core" & R : + "storage"(& +4 "core" &K f c\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&5'z +32 "core" ' + .tElbow.hold +2 "manipulator"&_, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"('7 +23 "core" ' + "manipulator"&^% +5 "core" %wx B + "storage"( & +4 "core" &K   i\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 297 counts + "manipulator"&'ϣ +20 "core" ' + "manipulator"&N& +5 "core" & v | } M + "storage"(w& +4 "core" &K } } \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&'< +17 "core" ' +2 "storage"('% +4 "core" %9 n u \  +3 ."downElevator"SE.seek :down +4 "storage"(Z'N +99 (X% +3 "core" %> \\ [\ V_ +2 "manipulator"&<% +4 "core" %D ~ ~ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +92 "core" ' +55 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (2& +4 "core" &K / D\  +2 "collection"'*& +4 "core" &]h&\ J +2 #tStoring generic puck in Collection Clamp to tube 6 + "manipulator"&a% +4 "core" %\ 0 F $t +2 "storage"(% +4 "core" %> \\ Z\  + "storage"(\\. +3 "core" .(K +2 "storage"(v& +3 "core" &K Y Y\  +2 "storage"(A& +4 "core" &K Y Z\  + "manipulator"& & +4 "core" & Z L +2 .tElbow.seek 6 + "manipulator"&U( +4 "core" ( + "manipulator"&& +4 "core" &  L + "storage"(#& +4 "core" &K Z Y\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&'< +92 "core" ' + "storage"(7& +5 "core" &K v s .\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(&'e +276 "core" ' +2 "storage"(B- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +2 "manipulator"&L& +3 "core" & & L +2 "storage"(I& +4 "core" &K q r X\  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&/'z +32 "core" ' + .tElbow.hold +2 "manipulator"&H, +3 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(:- +2 "core" -' +2 .tSE.seek 0.12 Pucks below Top Plate +2 "storage"( 's +28 "core" ' + "manipulator"&R% +4 "core" %΍y y @ +2 "storage"(& +4 "core" &K\ \  [\  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 6 + 319 counts + "manipulator"&3'Ϲ +18 "core" ' +2 "manipulator"&4& +4 "core" & { j L +2 "storage"(& +3 "core" &K q t .\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&?'< +16 "core" ' +2 .tSE.seek 1.12 Pucks below Top Plate +2 "storage"(o'b +52 "core" ' +69 "manipulator"&p& +4 "core" & s | L +2 "manipulator"&T% +4 "core" %4 o s z +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&b'\ +92 "core" ' + .tElbow.seek CC +2 "manipulator"&( +156 "core" ( + "manipulator"&[& +5 "core" &) / ?V + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &{& +2 "core" &( Y ?V +2 .tForearm.seek CC +2 "manipulator"&V'| +98 "core" ' + .tHand.close + "manipulator"&K/ +55 "core" / +3 .tCC.seek :open + "collection"'0(p +411 "core" ( + "storage"(x& +4 "core" &K x $\  +2 "storage"(O& +3 "core" &K g f f\  +2 "manipulator"&Y& +3 "core" &#" \\ 9) +2 "manipulator"&E% +4 "core" % τ z + .tForearm.seek :retract +2 "manipulator"&!'\ +94 "core" ' +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&e( +151 "core" ( + "manipulator"&8& +4 "core" & +2 "storage"(;& +3 "core" &K (\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 6 + "manipulator"&1'z +108 "core" ' +2 .tElbow.hold + "manipulator"&C, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&$1 +55 "core" 1 +2 "manipulator"&W% +4 "core" % ΍ ' N { + "storage"(k& +4 "core" &K Y X\  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 6 + 319 counts + "manipulator"&,'Ϲ +18 "core" ' + "manipulator"&m& +5 "core" & ` w 9  + "storage"(G& +4 "core" &K \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&j'< +20 "core" ' + "storage"(M% +5 "core" %f z\ +2 ."downElevator"SE.seek :down +3 "storage"(l'N +99 (z% +3 "core" %A )\ V` +2 "manipulator"&h% +5 "core" % q q . " + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&>'\ +89 "core" ' +53 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 7 of [5..7] + #Loading generic puck from tube 7 into Collection Clamp +2 "collection"'.& +4 "core" &1\ + "manipulator"&d% +4 "core" %\ 1 $s +2 "storage"(f% +4 "core" %> \  + "storage"(6. +3 "core" .(K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 7 + "storage"(F([ +347 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (Q& +3 "core" &[ g f\  + "manipulator"&D& +4 "core" &  +2 .tElbow.seek 7 + "manipulator"&( +17 "core" ( + "manipulator"&i& +4 "core" & C  +2 "storage"(u& +4 "core" &[ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&}'k +101 "core" ' +2 "storage"(+& +4 "core" &[ \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('e +281 "core" ' +2 "storage"()- +3 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (-& +3 "core" &[ S\  + "manipulator"&|& +4 "core" & r o ?  +2 .tElbow.seek 7 + "manipulator"&@( +3 "core" ( +2 "manipulator"&s& +4 "core" & | w >  + "storage"(=& +4 "core" &[ \  +2 .tForearm.seek 7 + 300 counts + "manipulator"&"' +25 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +51 "manipulator"&9/ +64 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"&`& "storage"('N +7 "core" & p r !  + "manipulator"&n% +5 "core" % r r 1 +2 .tForearm.seek :retract + "manipulator"&]'\ +95 "core" ' +2 .tElbow.seek CC +2 "manipulator"&(( +147 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +12 "core" ( + "manipulator"&& +5 "core" &*  \\ @W + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &g& +3 "core" &* E @W +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&'| +103 "core" ' +2 "manipulator"&& +5 "core" &( ?V + "manipulator"&P% +4 "core" %p +2 "collection"'c& +4 "core" &@\ +2 "collection"'~& +5 "core" &?\ +2 .tCC.seek :closed +2 "collection"'J(] +4 "core" &<\  +9 &5>\ *z +9 &f@\ ? +10 &aq4\ M +9 &$W3\ M +10 &X2\ M +9 &Z'\ M +9 &!kZ/\ M +10 &#-Z7\ M +9 &$X2\ L +9 &&[(\ L +10 &(sY(\ M +9 &*6],\ L +10 &+V2\ L +9 &-Y1\ L +9 &/z]/\ M +10 &1=Y*\ M +9 &3X0\ L +9 &4Y2\ L +10 &6[2\ L +9 &8EW,\ M +10 &:\\3\ L +9 &;[3\ L +9 &=Y3\ M +10 &?N\\3\ L +9 &AZ2\ L +9 &B]2\ M +10 &DZ2\ M +9 &FV]0\ L +10 &H`,\ M +9 &In2\ O +9 &K2\ Q +10 &ME\ :2\ U +9 &O2\ V +9 &P3\ W +10 &R1\ X +9 &TD1\ X +10 &V,\ Y +9 &W2\ Z +9 &Y0\ [\ +10 &[D0\ [ +9 &\\x-\ / +9 &]-/\ [ +9 ( +3 "collection"'~& +3 #tCollection Clamp onSpring/offSpring for 9/25 samples, on/off torque 2.10 +2 .Hand.open + "manipulator"&1 +4 "core" &]m*\ L +54 1 +2 "manipulator"&% +4 "core" % p +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +94 "core" ' +2 #tLoading generic puck from tube 7 into Processing Clamp + "processing"%t& +4 "core" &{\ +2 "manipulator"&q% +3 "core" %\ 3 %x +2 "storage"(% +4 "core" %< B B \  + "storage"(. +3 "core" .([ +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 7 + "storage"(^([ +4 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +2 (& +4 "core" &[&\  O \  + "manipulator"& & +4 "core" &%  =F + "manipulator"&% +4 "core" %\ 3 X %x +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 7 + "manipulator"&N( +156 "core" ( + "manipulator"&w& +5 "core" &  + "storage"('& +4 "core" &[ Y Z\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts +2 "manipulator"& 'k +104 "core" ' +2 "storage"(\ & +4 "core" &[ x \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(%'e +277 "core" ' + "storage"(X- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (<& +3 "core" &[ u O\  + "manipulator"&& +4 "core" & p p 2  +2 .tElbow.seek 7 + "manipulator"& ( +4 "core" ( + "manipulator"&r& +4 "core" & v ^ 3  +2 "storage"(5& +3 "core" &[ k m ^\  +2 .tForearm.seek 7 + 300 counts +2 "manipulator"&2' +25 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +63 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&*& +2 "storage"(a'N +7 "core" & r p W  +2 "manipulator"&% +4 "core" % r p  +2 .tForearm.seek :retract + "manipulator"&\\'\ +96 "core" ' +2 .tElbow.seek PC +2 "manipulator"&v(c +152 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +98 "core" ( + "manipulator"&& +5 "core" &j % + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &A& +2 "core" &j S +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"& '[ +92 "core" ' +2 "manipulator"&& +4 "core" &j  +2 "manipulator"&#% +4 "core" %O % + "processing"%& +4 "core" &|\ +2 "processing"%7& +5 "core" &y\ +2 .tPC.seek :closed +3 "processing"%Z(Z +3 "core" &u\ +6 & 8}\ $d +10 &dV~\ 7 +9 &{\ K +10 &sY\ M +9 &5Y\ M +9 &Y~\ M +10 & \\~\ M +9 &"|X|\ M +9 &$=Yy\ M +10 &%Xy\ M +9 &'Yz\ M +9 &)W|\ M +10 &+FWv\ M +9 &-Zz\ M +10 &.Yx\ M +9 &0Ys\ M +9 &2MYs\ M +10 &4Ut\ M +9 &5Xw\ M +10 &7Xy\ M +9 &9UYx\ M +9 &;Zx\ M +10 &<Wu\ N +9 &>Zu\ M +9 &@^\\t\ M +10 &B\\p\ N +9 &CYq\ M +9 &E\\t\ M +10 &Gd_s\ N +9 &I"kq\ O +10 &Jyr\ Q +9 &Lv\ T +9 &NYf\ T +10 &Pb\ T +9 &Qa\ T +9 &Sb\ U +10 &U_l\ U +9 &W!c\ U +10 &Xi\ U +9 &Z>Lmb\ + +9 &Z 4i\ * +6 ( + "processing"%7& +5 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.62 + .Hand.open + "manipulator"&_1 +3 "core" &Zh\ * +53 1 + "manipulator"&% +4 "core" % O +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&B'\ +92 "core" ' + "processing"%L& +4 "core" &Zo\ * +2 #tImaging generic puck in Processing Clamp while storing it to tube 7 + "manipulator"&I% +4 "core" %\ +  !V + "storage"(:% +4 "core" %@ 5 ? \  + "storage"(R. +3 "core" .([ +2 "storage"(& +4 "core" &[ 8 ? {\  + "storage"(4& +5 "manipulator"&& +4 "core" &[ B B \  +2 &j / +3 ."raiseStack"SE.reconfigure :place +2 .tElbow.reconfigure :tight +4 "storage"(#]kK-0-\ b +2 "manipulator"&$&.,(\ #b +4 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +2 "storage"(p'e + "manipulator"&T(c +6 "core" ( + "manipulator"&& +4 "core" &j z + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &U& +3 "core" &j +2 .tForearm.seek PC +2 "manipulator"&&'[ +97 "core" ' + .tHand.close +2 "manipulator"&// +61 "core" / +2 .tPC.seek :open +2 "processing"%3(p +84 "core" ' +2 "storage"( - +3 "core" -'e +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(['B +35 "core" ' +261 ( +2 "storage"({& +4 "core" &[ Y [\  + "manipulator"&?& +4 "core" &j  + "manipulator"&H% +4 "core" % V  +2 .tForearm.seek :retract +2 "manipulator"&K'\ +96 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 7 +2 "manipulator"&b( +259 "core" ( +2 "manipulator"&S& +4 "core" & # & + "storage"(x& +4 "core" &[ B B \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&O'k +111 "core" ' + .tHand.open +2 "manipulator"&Y1 +61 "core" 1 +2 "storage"(E- +3 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate +2 "storage"(8' +23 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(;' +51 "core" ' +2 #tLights, camera, ACTION! + "storage"(V- +4 "core" -' + "storage"(& +4 "core" &[ T\  +2 "manipulator"&$& +3 "core" & o  & +2 .tElbow.seek 7 + "manipulator"&W( +4 "core" ( + "manipulator"&k& +4 "core" &  h & + "storage"(m& +4 "core" &[ T\  +3 .tForearm.seek 7 + 450 counts + "manipulator"&G'k +21 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.11 Pucks below Top Plate + "storage"(M'M +63 "core" ' + "manipulator"&!& +5 "core" & & + "storage"(z& +4 "core" &[ [ \\\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 7 + "manipulator"&h'Ω +29 "core" ' +2 .tElbow.hold + "manipulator"&e, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"(1'7 +23 "core" ' +2 "manipulator"&.% +5 "core" %κ +51 "storage"(,& +5 "core" &[ \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 7 + 317 counts + "manipulator"&d' +19 "core" ' + "manipulator"&f& +5 "core" & k y G & + "storage"(6& +4 "core" &[ v v y\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&o'k +17 "core" ' +2 "storage"(j% +4 "core" %? g p \  +2 ."downElevator"SE.seek :down +4 "storage"(l'N +98 (y% +3 "core" %A M = \ \ U_ +2 "manipulator"&Q% +4 "core" %r o q = +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&D'\ +92 "core" ' +57 ' + ."downElevator"SE.stop + "storage"(5 +3 (i& +4 "core" &[ .  #\  +2 "collection"'u& +4 "core" &]l \ L +2 #tStoring generic puck in Collection Clamp to tube 7 + "manipulator"&+% +4 "core" %\ 8 S ' +2 "storage"(C% +3 "core" %6 7 8\  +2 "storage"(>. +3 "core" .([ + "storage"()& +4 "core" &[ * * @\  +2 "storage"(-& +3 "core" &[ 7 7 \  +2 "manipulator"&|& +4 "core" &  & + .tElbow.seek 7 +2 "manipulator"&s( +3 "core" ( +2 "manipulator"&=& +4 "core" & _ & + "storage"(9& +4 "core" &[ * * X\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts + "manipulator"&`'k +104 "core" ' +2 "storage"(n& +4 "core" &[ ~ s m\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('e +277 "core" ' + "storage"(}- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" & l & + "storage"(g& +4 "core" &[ r v P\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 7 +2 "manipulator"&'Ω +32 "core" ' + .tElbow.hold +2 "manipulator"&", +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(- +2 "core" -' +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(P'm +27 "core" ' + "manipulator"&@% +5 "core" %η + "storage"(c& +4 "core" &[   t\  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 7 + 314 counts +2 "manipulator"&' +19 "core" ' + "manipulator"&]& +5 "core" & s r & & + "storage"(0& +4 "core" &[ v v }\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&'k +15 "core" ' +2 .tSE.seek 1.11 Pucks below Top Plate +2 "storage"('\\ +47 "core" ' +2 "manipulator"&t& +4 "core" & p & +2 "manipulator"&q% +4 "core" %w u w < +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +93 "core" ' +2 .tElbow.seek CC +2 "manipulator"&( +149 "core" ( +2 "manipulator"&~& +4 "core" &% <; + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &% / <; +2 .tForearm.seek CC + "manipulator"& '| +101 "core" ' + .tHand.close +2 "manipulator"&/ +56 "core" / +2 .tCC.seek :open +2 "collection"'(p +411 "core" ( + "storage"(w& +4 "core" &[ h\  +2 "storage"('& +3 "core" &[ \  +2 "manipulator"&F& +3 "core" &!  9& +2 "manipulator"&\ % +4 "core" % v % + .tForearm.seek :retract +2 "manipulator"&('\ +94 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 7 + "manipulator"&( +159 "core" ( +2 "manipulator"&X& +4 "core" & \ + "storage"(<& +4 "core" &[ 2\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 7 + "manipulator"&'Ω +110 "core" ' + .tElbow.hold + "manipulator"&r, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&51 +57 "core" 1 +2 "manipulator"&% +4 "core" % μ # i +2 "storage"(*& +4 "core" &[ u p I\  + .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 7 + 319 counts + "manipulator"&' +19 "core" ' + "manipulator"&N& +5 "core" & w \\  \ + "storage"( & +4 "core" &[ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&%'k +18 "core" ' +2 "storage"(2% +4 "core" %Y \ +2 ."downElevator"SE.seek :down +3 "storage"('N +100 (A% +2 "core" %E b\ V] +2 "manipulator"& % +4 "core" %D o n   +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +91 "core" ' +47 ' + ."downElevator"SE.stop +2 "storage"(5 +23820 #t-> exit +5 #mEXIT @1640706600.46EST @1640714584.47EST = =tMAIN =mMAIN_scheduler @EST1640714586.27 #"core_reset"Sent BREAK + #t@55027 select with ifg=0x10, ie=0xF5 + #@55668 receive with ifg=0x10, ie=0xFD + #@56301 receive with ifg=0x10, ie=0xFD + #@56935 receive with ifg=0x10, ie=0xFD #@57263 receive with ifg=0x80, ie=0xFD + #@30537 sendCRC with ifg=0x20, ie=0x7F + #@30983 sendCRC with ifg=0x20, ie=0x7F #@32561 sendCRC with ifg=0x08, ie=0x5F + #@29127 idle with ifg=0x00, ie=0x75 #ESP2 v3.41 I2C Gateway v3.20 +10 #ESP2 v3.41 I2C Gateway v3.20 for core bus +202 !o:Instrument::ISUSCore: @configS:Instrument::Configuration: name" ISUS:calFileName0:sampleCmd"TS: prompt"\ :statusCmd"C:sampleTimeouti#:promptTimeouti:statusTimeouti: retriesi:strToPrompt"W: pace0: echoF: @refi eL:\ @name@ +96 #Configuration for don (12651-03) 10/9/20 brent@mbari.org\ /home/esp/esp2/type/shallow/don/configure.rb\ +378 "Can" +@= +  +@= + #tPolling Can every 10:00 +56 #Cleanly exited at 10:50:00EST28-Dec-21 +645 #-> ESP.ready! +154 "sampler") +2 ) +2 "core"  +2 "collection"' + ' +3 "core"  +2 "processing"% + % +3 "core"  +5 "collection"' 9\ +2 ' 0\ +2 ' -\ +4 "processing"% 9\ +2 % 2\ +2 % *\ + % 0\ +4 "sampler")&\ +2 "collection"'% +3 "core" %\ + .tCS.configure :default +3 "collection"'#P d@b +2 .tCS.hold +2 "collection"'+ +4 "core" + + .tCS.configure :default +3 "collection"'#P d@b +2 "processing"%% +3 "core" %\ + .tPS.configure :default +3 "processing"%#A d`xb +2 "sampler")% +3 "core" %,\ \ \ H +2 .tSS.configure :default +2 "sampler")#.0X ESP.shutdown +4 #Asleep / Shutdown +33 ."shutdown"Gate.power :raw,:OFF + .Gate.power :core,:OFF + #Shutdown +223 #t-> ESP.wakeup +29 #Powering core bus +558 .Gate.power :raw,:ON +2 "sampler") +31 )2 +3 "core"  + "collection"' +3 '3 +3 "core"  + "processing"% +2 %4 +3 "core"  +44 "collection"' 9\ +2 ' 0\ +2 ' -\ +5 "processing"% 9\ +2 % 2\ + % *\ +2 % 0\ +4 "sampler")&\ +2 "collection"'5% +3 "core" % + .tCS.configure :default +3 "collection"'#P d@b +2 "processing"%6% +3 "core" %\ +2 .tPS.configure :default +2 "processing"%#A d`xb +2 "sampler")7% +3 "core" %\ \  +2 .tSS.configure :default +2 "sampler")#.0X  +2 "core" +2 .tCH.configure :default + "collection"'\ 2 +2 .tPH.coast +2 "processing"%?  +3 "core" + .tPH.configure :default + "processing"%\ 2 +3 #tAll dwarf controllers running firmware version 3.85 + "sampler") +9 .tValve.reset +3 "collection"'\ +3 "processing"% +9 "collection"'@% +3 "core" %\ +2 ."rdySampler"Intake.select :close +4 "processing"%A% "manipulator"&B% +6 ."rdySampler"Exhaust.select :close + .CTV.dial :air +2 "collection"'C  +3 "core" %\ + % H S 5  +  +2 ."rdyProcessing"PSV.dial :air +3 "manipulator"&D% + ."rdySampler"CSV.dial :waste1 +4 "processing"%E  + "collection"'F +5 "core" % F E   +2  +4 ."rdyProcessing"PS.reconfigure :default +3 ."rdySampler"SSV.dial :spit,avoiding: :exhaust +3 .tForearm.reconfigure :loose +3 "processing"%#A d`xb + "sampler")G +5 "manipulator"&#@2^d^b +3 ."rdyProcessing"PS.home.seek 0ml +3 .tForearm.home.seek :retract + "processing"%H' + "manipulator"&I'\ +5 "core"  + "sampler")J  +5 "core" +2 ."readyCS"CS.reconfigure :fast +4 ."rdySampler"SS.reconfigure :default +4 "collection"'#d @b + "sampler")#.0X Puck.count +2 "storage"(l% +3 "core" %O? ] f\ c +2 .tSE.seek :down + "storage"(m'N +4 "core" ' + .tSE.stop + "storage"(5 +2 .tHand.open +2 "manipulator"&n1 +63 "core" 1 +2 "manipulator"&o% +4 "core" % \ 1 $L +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 1 +2 "storage"(p(B +989 "core" ( + .tSC.configure :limp +4 "storage"($\ 1b +2 (q& +3 "core" &E C B \ +2 "manipulator"&r& +4 "core" &4 r !t +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 1 +2 "manipulator"&s(c +17 "core" ( +2 "manipulator"&t& +4 "core" &a % + "storage"(u& +4 "core" &E \ +2 .tForearm.seek 1 + 450 counts + "manipulator"&v'Ф +92 "core" ' +2 "storage"(w& +4 "core" &E 5\ +2 .tSE.reconfigure :place +3 "storage"(#]kK-0-\ b +3 .tSE.seek :beamBreak + "storage"(x'e +271 "core" ' + "storage"(y- +4 "core" -'e + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (z% +3 "core" %Y e \ +2 ."downElevator"SE.seek :down +3 "storage"({'N +99 (|% +3 "core" %I f g t\ We +2 "manipulator"&}% +4 "core" %Щ N L +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&~'\ +95 "core" ' +59 ' + ."downElevator"SE.stop + "storage"(5 +3 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 2 + "storage"((  +383 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (& +2 "core" &  Y\ +2 "manipulator"&& +4 "core" &b % + .tElbow.seek 2 +2 "manipulator"&(; +28 "core" ( +2 "manipulator"&& +4 "core" &A  w + "storage"(& +4 "core" &  \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&'Ѐ +102 "core" ' + "storage"( & +4 "core" &  \ +2 .tSE.reconfigure :place +3 "storage"(#]kK-0-\ b +3 .tSE.seek :beamBreak + "storage"( 'e +270 "core" ' + "storage"( - +3 "core" -'e +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (% +2 "core" %n 9\ +2 ."downElevator"SE.seek :down +4 "storage"('N +99 (% +3 "core" % I 0\ Vc + "manipulator"&% +4 "core" %k o p % ? +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&'\ +97 "core" ' +62 ' + ."downElevator"SE.stop +2 "storage"(5 +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(( +351 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (& +2 "core" & X [\  +2 "manipulator"&& +4 "core" &A f w + .tElbow.seek 3 +2 "manipulator"&(D +3 "core" ( +2 "manipulator"&& +3 "core" &A  w +2 "storage"(& +3 "core" & \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&' +103 "core" ' + "storage"(& +4 "core" & \  +2 .tSE.reconfigure :place +2 "storage"(#]kK-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('e +268 "core" ' + "storage"(- +4 "core" -'e + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 ( % +3 "core" %m \ +2 ."downElevator"SE.seek :down +3 "storage"(!'N +99 ("% +3 "core" %J \ Va +2 "manipulator"&#% +4 "core" % o m + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&$'\ +95 "core" ' +64 ' + ."downElevator"SE.stop + "storage"(5 +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 + "storage"(%(, +356 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (&& +2 "core" &, ] Z\  +2 "manipulator"&'& +4 "core" &A  w +2 .tElbow.seek 4 + "manipulator"&((* +11 "core" ( +2 "manipulator"&)& +4 "core" &(  v + "storage"(*& +4 "core" &,~ O\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&+' +102 "core" ' + "storage"(,& +4 "core" &,~ s\  +2 .tSE.reconfigure :place +7 "storage"(#]kK-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(-'e +274 "core" ' + "storage"(.- +4 "core" -'e + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (/% +3 "core" %\\ \ +3 ."downElevator"SE.seek :down +3 "storage"(0'N +99 (1% +3 "core" %L x ^\ Va +2 "manipulator"&2% +4 "core" % m +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&3'\ +97 "core" ' +59 ' + ."downElevator"SE.stop +2 "storage"(5 +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"(4(<< +351 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (5& +2 "core" &<: ] S >\  +2 "manipulator"&6& +4 "core" &( i v +2 .tElbow.seek 5 + "manipulator"&7( +41 "core" ( + "manipulator"&8& +4 "core" & $ +2 "storage"(9& +3 "core" &<: \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&:' +104 "core" ' +2 "storage"(;& +4 "core" &<: ^\  +2 .tSE.reconfigure :place +2 "storage"(#]kK-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(<'e +299 "core" ' + "storage"(=- +4 "core" -'R +10 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (>% +2 "core" % U 0\ +2 ."downElevator"SE.seek :down +4 "storage"(?'N +99 (@% +3 "core" %D \ U^ + "manipulator"&B% +4 "core" % p o  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&A'\ +129 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +7 "core" ' +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"(C(K +354 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (D& +2 "core" &K [ _ \ \  +2 "manipulator"&E& +4 "core" & $ +2 .tElbow.seek 6 + "manipulator"&F( +4 "core" ( + "manipulator"&G& +4 "core" & $ +2 "storage"(J& +4 "core" &K \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&M'< +99 "core" ' +2 "storage"(& +4 "core" &K #\  +2 .tSE.reconfigure :place +2 "storage"(#]kK-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('e +299 "core" ' + "storage"(- +4 "core" -'Y + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (% +3 "core" % U \ +2 ."downElevator"SE.seek :down +4 "storage"(N'N +99 (P% +3 "core" %C g m \ V` + "manipulator"&% +4 "core" %7   +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&H'\ +90 "core" ' +39 ' + ."downElevator"SE.stop + "storage"(5 +3 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 7 +2 "storage"(S([ +349 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (V& +3 "core" &[ ] d \  +2 "manipulator"&X& +3 "core" & $ +3 .tElbow.seek 7 +2 "manipulator"&Y( +20 "core" ( +2 "manipulator"&Z& +4 "core" & c  +2 "storage"(I& +3 "core" &[ a\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts + "manipulator"&O'k +113 "core" ' + "storage"(T& +4 "core" &[ A\  +2 .tSE.reconfigure :place +2 "storage"(#]kK-0-\ b +3 .tSE.seek :beamBreak +2 "storage"( 'e +298 "core" ' + "storage"(\ - +3 "core" -'N +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (]% +3 "core" % E B\ +2 ."downElevator"SE.seek :down +5 "storage"(^'N +98 (_% +3 "core" %E \ V^ + "manipulator"&`% +4 "core" %v l [ ^  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&a'\ +94 "core" ' +37 ' + ."downElevator"SE.stop + "storage"(5 +815 #t-> ESP.shutdown +4 #Asleep / Shutdown +33 ."shutdown"Gate.power :raw,:OFF +2 .Gate.power :core,:OFF + #Shutdown +88 #t-> exit +5 #mEXIT @1640714759.21EST @1641235157.71EST = =tMAIN =mMAIN_scheduler @EST1641235159.63 #"core_reset"Sent BREAK +2 #t@8648 idle with ifg=0x00, ie=0x75 + #>RESET< ESP2 v3.41 I2C Gateway v3.20 +208 #>RESET< ESP2 v3.41 I2C Gateway v3.20 for core bus +210 !o:Instrument::ISUSCore: @refi O: @configS:Instrument::Configuration: name" ISUS:calFileName0:sampleCmd"TS: prompt"\ :statusCmd"C:sampleTimeouti#:promptTimeouti:statusTimeouti: retriesi:strToPrompt"W: pace0: echoF:\ @name@ +101 #Configuration for don (12651-03) 10/9/20 brent@mbari.org\ /home/esp/esp2/type/shallow/don/configure.rb\ +401 "Can"} >%" + } >%" + #tPolling Can every 10:00 +57 #Cleanly exited at 13:05:59EST28-Dec-21 +426 #-> ESP.ready! +4 #Powering core bus +538 .Gate.power :raw,:ON +2 "sampler") +49 ) +2 "core"  +2 "collection"' +2 ' +4 "core"  + "processing"% +2 % +3 "core"  +4 "collection"' 9\ +3 ' 0\ +2 ' -\ +3 "processing"% 9\ +2 % 2\ +2 % *\ +2 % 0\ +4 "sampler")&\ +2 "collection"'% +2 "core" %wx +2 .tCS.configure :default +2 "collection"'#P d@b +3 "processing"%% +2 "core" %B\ +2 .tPS.configure :default +2 "processing"%#A d`xb +2 "sampler")% +3 "core" %\ $\  +2 .tSS.configure :default +2 "sampler")#.0X require 'shuffle.rb' +6187 #-> 5.times {shuffle 5..7} +2 #Shuffling pucks in tube 5 of [5..7] + #Loading generic puck from tube 5 into Collection Clamp +2 "collection"';& +3 "core" &Zz{\  +2 .tHand.open + "manipulator"&<1 +60 "core" 1 + "manipulator"&=% +5 "core" % \ 1 k $I + "storage"(>% +4 "core" %W6 n\ Y + "storage"(?. +3 "core" .(, +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 + "storage"(@(<< +355 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (A& +2 "core" &<: C D \  +2 "manipulator"&B& +3 "core" &' O n +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 + "manipulator"&C( +25 "core" ( + "manipulator"&D& +4 "core" &    +2 "storage"(E& +4 "core" &<9 m h \  +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&F' +100 "core" ' +2 "storage"(G& +4 "core" &<9 \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(H'e +285 "core" ' + "storage"(I- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (J& +3 "core" &<9 w\  +2 "manipulator"&K& +4 "core" &  } $  + .tElbow.seek 5 +2 "manipulator"&L( +4 "core" ( + "manipulator"&M& +4 "core" &  x Q c  +2 "storage"(N& +3 "core" &<9 \  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&O'[ +26 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&P/ +61 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&Q& +2 "storage"(R'N +7 "core" &  } i  +2 "manipulator"&S% +4 "core" % d } +2 .tForearm.seek :retract +2 "manipulator"&T'\ +89 "core" ' +2 .tElbow.seek CC +2 "manipulator"&U( +153 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +3 "core" ( +2 "manipulator"&V& +4 "core" &$ _ ;6 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &W& +3 "core" &$ - ;6 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&X'| +93 "core" ' + "manipulator"&Y& +5 "core" &$  ;6 + "manipulator"&Z% +4 "core" %υ r +2 "collection"'[& +4 "core" &Zz}\  +2 "collection"'\\& +5 "core" &Zx{\  +2 .tCC.seek :closed +2 "collection"'](] +4 "core" &Zvz\  +8 &5yz\ +} +9 &fxx\ @ +10 &/zwy\ O +9 &axz\ O +10 &ax{\ O +9 &ubxx\ O +9 &!8bwy\ N +10 &"cyv\ N +9 &$`yz\ N +9 &&}fxz\ O +10 &(?bxz\ O +9 &*_wz\ N +10 &+`yy\ N +9 &-cv{\ O +9 &/Gdvx\ O +10 &1 fuy\ O +9 &2ewz\ O +9 &4avx\ O +10 &6P_vv\ N +9 &8\\wx\ N +9 &9bxx\ N +10 &;avw\ N +9 &=Wcvx\ O +10 &?bvw\ N +9 &@_wv\ O +9 &B_vv\ N +10 &D`]tv\ N +9 &F"bak\ N +9 &Gf>N\ O +10 &Is\ Q +9 &KZ\ S +10 &M\ W +9 &N\ X +9 &P\ X +10 &RR\ Y +9 &T\ Y +9 &Ux~\ Z +10 &Wfm\ Z +9 &YPX_\ \\ +10 &[IN\ \\ +9 &\\|:?\ = +9 &]}+24\ %m +10 &]b44\ D +2 ( +2 "collection"'\\& +3 #tCollection Clamp onSpring/offSpring for 9/25 samples, on/off torque 1.97 + .Hand.open +2 "manipulator"&^1 +62 "core" 1 + "manipulator"&_% +5 "core" % υ + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&`'\ +92 "core" ' +3 #tLoading generic puck from tube 5 into Processing Clamp + "processing"%a& +4 "core" &[f\  +2 "manipulator"&b% +4 "core" %\ - $ "\\ + "storage"(c% +4 "core" %A ^ ] \ +2 "storage"(d. +3 "core" .(<9 + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"(e(<< +2 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (f& +2 "core" &<: , 8 U\  +2 "manipulator"&g& +4 "core" &$ w ;5 + "manipulator"&h% +4 "core" %\ - . "\\ +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&i( +161 "core" ( + "manipulator"&j& +4 "core" & I +2 "storage"(k& +4 "core" &<: w } [\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&l' +92 "core" ' + "storage"(m& +4 "core" &<: U\  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(n'e +279 "core" ' + "storage"(o- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (p& +3 "core" &<: i i u\  +2 "manipulator"&q& +4 "core" & t l + .tElbow.seek 5 +2 "manipulator"&r( +7 "core" ( + "manipulator"&s& +5 "core" &\  q  + "storage"(t& +4 "core" &<: g\  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&u'[ +18 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +7 .tHand.close + "manipulator"&v/ +54 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&w& +2 "storage"(x'N +7 "core" &\  s (  +2 "manipulator"&y% +4 "core" % Q | Y + .tForearm.seek :retract +2 "manipulator"&z'\ +97 "core" ' +2 .tElbow.seek PC + "manipulator"&{(c +154 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +93 "core" ( +2 "manipulator"&|& +4 "core" &k r + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &}& +3 "core" &k  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&~'[ +105 "core" ' +2 "manipulator"&& +4 "core" &k  + "manipulator"&% +4 "core" %Y  +2 "processing"%& +4 "core" &[*\  +2 "processing"%& +5 "core" &[%\  +2 .tPC.seek :closed + "processing"%(Z +5 "core" &[)\ \  +10 &5/\ +} +9 &f)\ @ +9 &2u,\ O +10 &Z,\ N +9 &]-\ N +9 &z[)\ N +10 &!=a+\ N +9 &#[+\ M +10 &$\\*\ N +9 &&\\+\ N +9 &(F](\ N +10 &*`*\ N +9 &+\\)\ N +9 &-\\+\ N +10 &/M_*\ N +9 &1]*\ N +10 &2])\ N +9 &4X)\ N +9 &6U\\*\ N +10 &8]+\ N +9 &9\\*\ N +9 &;`(\ N +10 &=]\\*\ N +9 &?^*\ N +10 &@]-\ N +9 &B\\*\ N +9 &Df_)\ N +10 &F(_*\ N +9 &Gg'\ O +9 &Ip'\ P +10 &K_+\ S +9 &M'\ T +10 &N*\ T +9 &P(\ T +9 &Rb&\ T +10 &T")\ U +9 &U)\ U +9 &W+\ U +10 &Yf*\ C +9 &Zr=*\ [ +9 &Z9%\ 6 +6 ( + "processing"%& +5 #tProcessing Clamp onSpring/offSpring for 9/25 samples, on/off torque 1.60 + .Hand.open + "manipulator"&1 +4 "core" &Z1'\ 6 +52 1 + "manipulator"&% +4 "core" % Y n +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&'\ +98 "core" ' + "processing"%& +5 "core" &Z1 \ 6 + #tImaging generic puck in Processing Clamp while storing it to tube 5 + "manipulator"& % +4 "core" %\ 1  $u +2 "storage"(\ % +4 "core" %? ] [\ + "storage"( . +3 "core" .(<< + "storage"( & +4 "core" &<: [ [\  +2 "storage"( & +2 "manipulator"&& +7 "core" &<: [ [\  + &k +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +3 "storage"(#]kK-0-\ b +2 "manipulator"&(c +5 ."raiseStack"SE.seek :beamBreak +2 "storage"('e +2 "core" ( +2 "manipulator"&& +4 "core" &k g + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &k C +2 .tForearm.seek PC +2 "manipulator"&'[ +95 "core" ' + .tHand.close + "manipulator"&/ +57 "core" / +2 .tPC.seek :open +2 "processing"%(p +94 "core" ' +2 "storage"(- +3 "core" -'e +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('B +37 "core" ' +250 ( + "storage"(& +4 "core" &<: p } \  +2 "manipulator"&& +3 "core" &k  +2 "manipulator"&% +4 "core" % Y  + .tForearm.seek :retract +2 "manipulator"&'\ +98 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&"( +256 "core" ( + "manipulator"&%& +4 "core" & & +2 "storage"('& +3 "core" &<: ] ^ \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&)' +106 "core" ' + .tHand.open + "manipulator"&(1 +55 "core" 1 +2 "storage"(- +4 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate +2 "storage"(' +23 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(#' +53 "core" ' + #tLights, camera, ACTION! + "storage"(,- +4 "core" -' +2 "storage"(-& +3 "core" &<: |\  +2 "manipulator"&.& +4 "core" & } m & +2 .tElbow.seek 5 +2 "manipulator"&/( +3 "core" ( + "manipulator"&0& +4 "core" & u D & +2 "storage"(1& +3 "core" &<: z\  +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&2' +4 "core" ' +38 .tSE.reconfigure :gently +12 "storage"(#QK-0-\ b +3 .tSE.seek -0.11 Pucks below Top Plate + "storage"(3'M +58 "core" ' +2 "manipulator"&4& +4 "core" & | d & +2 "storage"(5& +4 "core" &<: l\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&6'/ +29 "core" ' +2 .tElbow.hold + "manipulator"&7, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +4 .tSE.seek 0.07 Pucks below Top Plate + "storage"(8'7 +27 "core" ' + "manipulator"&9% +5 "core" %B   + "storage"(:& +4 "core" &<: D F\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 319 counts +2 "manipulator"&;'n +14 "core" ' +2 "manipulator"&<& +4 "core" & M # +2 "storage"(=& +4 "core" &<: a\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&>' +17 "core" ' + "storage"(?% +5 "core" %9 [\ +2 ."downElevator"SE.seek :down +4 "storage"(!'N +99 (A% +3 "core" %> ~ ~ \ V_ +2 "manipulator"&B% +4 "core" %  } ] +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&D'\ +92 "core" ' +57 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (E& +4 "core" &<: ? J \  + "collection"'G& +4 "core" &]`\ D +2 #tStoring generic puck in Collection Clamp to tube 5 + "manipulator"&$% +4 "core" %\ 0 [ #k +2 "storage"(&% +3 "core" %K t  \ +2 "storage"(I. +3 "core" .(<< + "storage"(J& +4 "core" &<: v  \  +2 "storage"( & +4 "core" &<: } p h\  + "manipulator"&K& +4 "core" & " # +2 .tElbow.seek 5 + "manipulator"&M( +30 "core" ( + "manipulator"&N& +4 "core" &   +2 "storage"(P& +4 "core" &<: | X\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&Q' +104 "core" ' +2 "storage"(S& +4 "core" &<: _\  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(C'e +280 "core" ' + "storage"(F- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&V& +3 "core" & } -  +2 "storage"(W& +3 "core" &<: \\\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&H'/ +31 "core" ' + .tElbow.hold +2 "manipulator"&O, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(Y- +2 "core" -' +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(Z'n +27 "core" ' +2 "manipulator"&[% +4 "core" %@x  B + "storage"(L& +4 "core" &<: D C \  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 5 + 317 counts +2 "manipulator"&R'l +19 "core" ' + "manipulator"&T& +4 "core" & l &  +2 "storage"(+& +4 "core" &<: a\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&^' +20 "core" ' +2 .tSE.seek 1.11 Pucks below Top Plate +2 "storage"(_'] +47 "core" ' + "manipulator"&a& +5 "core" & r  + "manipulator"&b% +4 "core" % | *  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&c'\ +91 "core" ' + .tElbow.seek CC +2 "manipulator"&d( +153 "core" ( + "manipulator"&\\& +5 "core" &( X ;5 + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &f& +2 "core" &( ] ;5 +2 .tForearm.seek CC +2 "manipulator"&g'| +96 "core" ' + .tHand.close + "manipulator"&h/ +60 "core" / +2 .tCC.seek :open +2 "collection"'X(p +411 "core" ( + "storage"(j& +4 "core" &<: \  +2 "storage"(k& +4 "core" &<: !\  + "manipulator"&@& +4 "core" & k 8 + "manipulator"&m% +4 "core" % ~ L +2 .tForearm.seek :retract +2 "manipulator"&U'\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&`( +168 "core" ( +2 "manipulator"&o& +4 "core" & G & + "storage"(p& +4 "core" &<: :\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 5 + "manipulator"&q'/ +106 "core" ' +2 .tElbow.hold + "manipulator"&s, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&t1 +53 "core" 1 +2 "manipulator"&v% +4 "core" % A X  + "storage"(w& +4 "core" &<: } \  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 5 + 318 counts + "manipulator"&y'm +19 "core" ' + "manipulator"&i& +5 "core" &\ q J W + "storage"(l& +4 "core" &<: \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&n' +19 "core" ' + "storage"(u% +4 "core" %W I\ +3 ."downElevator"SE.seek :down +3 "storage"(|'N +98 (}% +3 "core" %Y= \ TZ +2 "manipulator"&r% +4 "core" % } \  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +94 "core" ' +53 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 6 of [5..7] +2 #Loading generic puck from tube 6 into Collection Clamp + "collection"'& +4 "core" &\ +2 "manipulator"&% +4 "core" %\ 3 } %y +2 "storage"(x% +4 "core" %J \  +2 "storage"(z. +3 "core" .(<< + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"(*(K +347 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (& +3 "core" &K ~ @\  + "manipulator"&& +4 "core" &\ f V +2 .tElbow.seek 6 + "manipulator"&( +28 "core" ( + "manipulator"& & +4 "core" &  +2 "storage"(\ & +3 "core" &K \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"& '< +96 "core" ' +2 "storage"( & +4 "core" &K \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"( 'e +281 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +2 "core" &K !\  +2 "manipulator"&& +4 "core" & u _ +2 .tElbow.seek 6 + "manipulator"&( +4 "core" ( + "manipulator"&~& +4 "core" & " + "storage"(& +4 "core" &K \  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&'Ϧ +24 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&{/ +63 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"&& + "storage"('N +6 "core" &  # +2 "manipulator"&% +4 "core" % Ϩ q s +2 .tForearm.seek :retract + "manipulator"&'\ +94 "core" ' + .tElbow.seek CC +2 "manipulator"&( +154 "core" ' + ."downElevator"SE.stop + "storage"(5 +4 "core" ( + "manipulator"&& +4 "core" &% \\ <; +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &%  <; +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&%'| +104 "core" ' +2 "manipulator"&'& +5 "core" &% } <: + "manipulator"&% +4 "core" %p > +2 "collection"'(& +4 "core" &\ +2 "collection"'& +6 "core" &\ +2 .tCC.seek :closed +2 "collection"',(] +4 "core" &\ +8 & 8\ $d +9 &hU\ 7 +10 &\ L +9 &s_\ N +10 &4`\ N +9 &b\ N +9 & _\ N +10 &"z`\ N +9 &$;_\ O +9 &%a\ N +10 &']\ N +9 &)a\ O +10 &+D_\ N +9 &-`\ O +9 &.b\ N +10 &0^\ N +9 &2Ld\ N +9 &4b\ N +10 &5_\ N +9 &7^\ N +9 &9U^\ N +10 &;_\ N +9 &<^\ N +10 &>`\ N +9 &@\\`\ N +9 &Bb\ N +10 &C`\ N +9 &E_{\ N +9 &Gd`_l\ N +10 &I"q2D\ P +9 &J\ R +10 &LL\ V +9 &NQ &\ X +9 &P\ X +10 &Q\ \ X +9 &S\ Y +9 &UO\ [\ +10 &W\ Y +9 &X\ [ +10 &Z\ ] +9 &\\H\ M +9 &]dD\ "j +10 &]}\ R +2 ( +2 "collection"'& +3 #tCollection Clamp onSpring/offSpring for 10/26 samples, on/off torque 2.07 + .Hand.open +2 "manipulator"&-1 +59 "core" 1 +2 "manipulator"&.% +4 "core" % p  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&0'\ +92 "core" ' +2 #tLoading generic puck from tube 6 into Processing Clamp + "processing"%1& +5 "core" &`\ + "manipulator"&% +4 "core" %\ ( A +2 "storage"(4% +3 "core" %J [ ]\  +2 "storage"(5. +3 "core" .(K + "storage"(& +4 "core" &K [ Z\  +2 "storage"(& +3 "core" &K Z [\  +2 "manipulator"&9& +4 "core" &$ ;6 + "manipulator"&:% +4 "core" %\ ( A +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 + "manipulator"&<( +158 "core" ( + "manipulator"&=& +4 "core" &  +2 "storage"("& +3 "core" &K p q T\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&?'< +101 "core" ' + "storage"()& +5 "core" &K `\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(#'e +278 "core" ' + "storage"(A- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (B& +3 "core" &K u \  +2 "manipulator"&2& +4 "core" & p o + .tElbow.seek 6 +2 "manipulator"&/( +3 "core" ( + "manipulator"&3& +5 "core" & ~ / + "storage"(6& +4 "core" &K h g g\  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&E'Ϧ +21 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +51 .tHand.close + "manipulator"&;/ +54 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&G& +2 "storage"($'N +6 "core" & A +2 "manipulator"&&% +4 "core" % ϥ  +2 .tForearm.seek :retract +2 "manipulator"&I'\ +92 "core" ' + .tElbow.seek PC +2 "manipulator"&J(c +160 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +91 "core" ( +2 "manipulator"&8& +4 "core" &_ / +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 & & +3 "core" &_  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&K'[ +92 "core" ' + "manipulator"&N& +5 "core" &_  + "manipulator"&P% +4 "core" %Z Y +2 "processing"%>& +4 "core" &1\ +2 "processing"%S& +6 "core" &4\ +2 .tPC.seek :closed +2 "processing"%!(Z +4 "core" &)\  +8 &-|)\ +{ +10 &d)\ ? +9 &Cx&\ N +10 &\\.\ N +9 &]'\ N +9 &\\&\ N +10 &!K_2\ N +9 &#Z)\ M +9 &$\\(\ N +10 &&^%\ N +9 &(TZ1\ N +10 &*_+\ N +9 &+Z,\ N +9 &-\\*\ N +10 &/]_(\ M +9 &1]%\ M +9 &2^(\ N +10 &4Z1\ N +9 &6e\\,\ M +10 &8&]*\ N +9 &9]$\ N +9 &;`%\ N +10 &=kZ%\ N +9 &?+_'\ O +9 &@^%\ N +10 &B\\%\ N +9 &Ds\\\ N +10 &F5`#\ N +9 &Gi(\ O +9 &It'\ Q +10 &Kl!\ S +9 &M*\ T +9 &N\ U +10 &P\ U +9 &Ro\ U +10 &T0\ U +9 &U,\ U +9 &W\ V +10 &Yt\ C +9 &Z{?\ U +9 &Z\ * +3 ( + "processing"%S& +4 #tProcessing Clamp onSpring/offSpring for 9/25 samples, on/off torque 1.62 + .Hand.open + "manipulator"&71 +60 "core" 1 + "manipulator"&D% +5 "core" % Z n + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&F'\ +92 "core" ' +2 "processing"%V& +4 "core" &ZG\ * +2 #tImaging generic puck in Processing Clamp while storing it to tube 6 + "manipulator"&W% +4 "core" %\ ) 2 C +2 "storage"(Y% +3 "core" %L [ [\  +2 "storage"([. +3 "core" .(K + "storage"(L& +4 "core" &K ] [\  +2 "storage"(T& +3 "manipulator"&+& +7 "core" &K ^ \\ \  + &_ +3 ."raiseStack"SE.reconfigure :place +2 .tElbow.reconfigure :tight +4 "storage"(#]kK-0-\ b +4 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +2 "manipulator"&a(c +4 ."raiseStack"SE.seek :beamBreak + "storage"(b'e +3 "core" ( + "manipulator"&Q& +4 "core" &_  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &M& +3 "core" &_  +2 .tForearm.seek PC +2 "manipulator"&C'[ +101 "core" ' +2 .tHand.close + "manipulator"&H/ +55 "core" / +2 .tPC.seek :open + "processing"%R(p +87 "core" ' +2 "storage"(Z- +3 "core" -'e +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(\\'B +37 "core" ' +256 ( +2 "storage"(f& +4 "core" &K f h (\  + "manipulator"&^& +4 "core" &_ +2 "manipulator"&O% +4 "core" % \\ ^ +2 .tForearm.seek :retract + "manipulator"&h'\ +96 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&c( +253 "core" ( + "manipulator"&]& +4 "core" & f j +2 "storage"(j& +4 "core" &K ^ e &\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&k'< +92 "core" ' +2 .tHand.open + "manipulator"&@1 +60 "core" 1 +2 "storage"(m- +3 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate +2 "storage"(o' +25 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(p' +54 "core" ' +2 #tLights, camera, ACTION! + "storage"(g- +4 "core" -' + "storage"(d& +4 "core" &K (\  +2 "manipulator"&t& +3 "core" & u i +2 .tElbow.seek 6 +2 "manipulator"&v( +3 "core" ( +2 "manipulator"&w& +4 "core" &  i + "storage"(i& +4 "core" &K \  +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&l'< +3 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.11 Pucks below Top Plate + "storage"(u'M +63 "core" ' + "manipulator"&U& +4 "core" &  i +2 "storage"(}& +4 "core" &K i k v\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 6 +2 "manipulator"&r'z +28 "core" ' +2 .tElbow.hold +2 "manipulator"&`, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.07 Pucks below Top Plate + "storage"(q'7 +24 "core" ' +2 "manipulator"&% +4 "core" %΅  p +2 "storage"(y& +4 "core" &K #  ]\  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 6 + 311 counts + "manipulator"&'ϱ +17 "core" ' +2 "manipulator"&x& +4 "core" &  ) +2 "storage"(z& +4 "core" &K o w b\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&_'< +17 "core" ' + "storage"(n% +5 "core" %? j z ;\  +2 ."downElevator"SE.seek :down +4 "storage"(|'N +99 (e% +3 "core" %v< h h \ V_ +2 "manipulator"&% +4 "core" %D  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&'\ +87 "core" ' +61 ' + ."downElevator"SE.stop + "storage"(5 +3 ( & +4 "core" &K U A \  + "collection"'\ & +4 "core" &]y\ R +2 #tStoring generic puck in Collection Clamp to tube 6 + "manipulator"& % +4 "core" %\ ' ? +2 "storage"(s% +4 "core" %: h h e\ +2 "storage"(. +3 "core" .(K + "storage"(& +4 "core" &K h h T\  +2 "storage"(& +4 "core" &K h h Q\  + "manipulator"&& +4 "core" & ( +2 .tElbow.seek 6 + "manipulator"&~( +34 "core" ( + "manipulator"&& +5 "core" & E  + "storage"({& +4 "core" &K  ~ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&'< +103 "core" ' + "storage"(& +5 "core" &K Q\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"('e +278 "core" ' + "storage"( - +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" & {   + "storage"(& +4 "core" &K m j j\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"& 'z +33 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"('- +2 "core" -' +2 .tSE.seek 0.12 Pucks below Top Plate +2 "storage"('s +27 "core" ' +2 "manipulator"&% +4 "core" %Ά{  H +2 "storage"((& +3 "core" &K " " @\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 312 counts + "manipulator"&'ϲ +17 "core" ' +2 "manipulator"&& +4 "core" & n   +2 "storage"(X& +4 "core" &K { R\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&-'< +16 "core" ' +2 .tSE.seek 1.12 Pucks below Top Plate +2 "storage"(.'b +49 "core" ' + "manipulator"&1& +5 "core" & { u  + "manipulator"&% +4 "core" %8 | u +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&4'\ +93 "core" ' + .tElbow.seek CC +2 "manipulator"&5( +150 "core" ( + "manipulator"&& +4 "core" &" t :/ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &# :/ +2 .tForearm.seek CC +2 "manipulator"&'| +96 "core" ' + .tHand.close +2 "manipulator"&9/ +53 "core" / +2 .tCC.seek :open + "collection"':(p +411 "core" ( +2 "storage"(%& +4 "core" &K \  + "storage"(=& +4 "core" &K \  + "manipulator"&"& +4 "core" &#  :. +2 "manipulator"&)% +3 "core" % ϐ  \ +2 .tForearm.seek :retract +2 "manipulator"&'\ +97 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 + "manipulator"&0( +157 "core" ( +2 "manipulator"&A& +4 "core" & % +2 "storage"(B& +3 "core" &K q\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 6 +2 "manipulator"&2'z +107 "core" ' + .tElbow.hold +2 "manipulator"&3, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&61 +58 "core" 1 +2 "manipulator"&;% +4 "core" % ΅ _ + "storage"(G& +4 "core" &K l z \  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 6 + 311 counts +2 "manipulator"&&'ϱ +18 "core" ' + "manipulator"&<& +4 "core" & m * ' +2 "storage"(?& +4 "core" &K J\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&#'< +14 "core" ' +2 "storage"(E% +4 "core" %f ]\ +3 ."downElevator"SE.seek :down +3 "storage"(8'N +98 ( % +4 "core" %> \ TZ +2 "manipulator"&/% +4 "core" %D ~ w C +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&N'\ +88 "core" ' +52 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 7 of [5..7] +2 #Loading generic puck from tube 7 into Collection Clamp + "collection"'P& +4 "core" &\ +2 "manipulator"&>% +4 "core" %\ ) C + "storage"($% +4 "core" %I \\\ +42 "storage"(I. +13 "core" .(K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 7 + "storage"(([ +348 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (7& +2 "core" &[ ~ \  +2 "manipulator"&D& +4 "core" & B ' +2 .tElbow.seek 7 +2 "manipulator"&V( +28 "core" ( + "manipulator"&W& +4 "core" &  R +2 "storage"(Y& +4 "core" &[ F\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&['k +95 "core" ' + "storage"(L& +4 "core" &[ \  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(+'e +281 "core" ' + "storage"(T- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (S& +2 "core" &[ 1\  +2 "manipulator"&Q& +3 "core" & | r a R +2 .tElbow.seek 7 +2 "manipulator"&M( +3 "core" ( + "manipulator"&K& +4 "core" & } 7 R +2 "storage"(H& +3 "core" &[ \  +2 .tForearm.seek 7 + 300 counts +2 "manipulator"&Z' +21 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&J/ +64 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&F& +2 "storage"(!'N +8 "core" & ~ ; R + "manipulator"&f% +4 "core" % | - +2 .tForearm.seek :retract +2 "manipulator"&b'\ +93 "core" ' + .tElbow.seek CC +2 "manipulator"&^( +151 "core" ' + ."downElevator"SE.stop + "storage"(5 +5 "core" ( + "manipulator"&O& +4 "core" &%  <9 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &C& +2 "core" &% L <9 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&]'| +100 "core" ' + "manipulator"&j& +5 "core" &% [ <9 + "manipulator"&a% +4 "core" %} 1 +2 "collection"'@& +4 "core" &\ +2 "collection"'m& +5 "core" &\ +2 .tCC.seek :closed +2 "collection"'g(] +5 "core" &\  +9 &1\ *z +9 &c\ > +9 &H{\ N +10 &\ ^~\ N +9 &_\ N +9 &b\ N +10 &!O`\ N +9 &#a\ N +10 &$^\ N +9 &&c\ N +9 &(Y]~\ N +10 &*_\ M +9 &+]\ M +10 &-^\ M +9 &/`a}\ N +9 &1"`\ N +10 &2`\ N +9 &4a\ M +9 &6j]\ M +10 &8,]\ M +9 &9]~\ M +9 &;\\~\ M +10 &=p]\ N +9 &?3]}\ N +10 &@b~\ N +9 &B^~~\ N +9 &DyZ}}\ N +10 &F;]x\ N +9 &Gcak\ N +10 &Io8I\ P +9 &Ks \ R +9 &M+Z\ V +10 &N2<\ W +9 &P#+\ X +9 &Ri\ Y +10 &T(\ Z +9 &U\ Z +9 &W\ Z +10 &Yg\ \\ +9 &[)\ \\ +10 &\\w\ A +9 &]*\ #h +10 &]g\ G +2 ( + "collection"'m& +3 #tCollection Clamp onSpring/offSpring for 9/25 samples, on/off torque 2.04 + .Hand.open + "manipulator"&d1 +54 "core" 1 +2 "manipulator"&t% +4 "core" % | o +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&w'\ +93 "core" ' + #tLoading generic puck from tube 7 into Processing Clamp +2 "processing"%i& +4 "core" &f\ + "manipulator"&h% +4 "core" %\ ) H +2 "storage"(U% +4 "core" %K ] ^ 0\ + "storage"(}. +4 "core" .([ + "storage"(& +4 "core" &[ ] ]\  + "storage"(\\& +4 "core" &[ [ ] \  +2 "manipulator"&y& +3 "core" &$ ;3 +2 "manipulator"&o% +4 "core" %\ ) t H +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 7 + "manipulator"&x( +165 "core" ( + "manipulator"&z& +4 "core" & "  +2 "storage"(n& +4 "core" &[ k n \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&c'k +96 "core" ' +2 "storage"(k& +4 "core" &[ \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(p'e +280 "core" ' +2 "storage"(e- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +2 "core" &[ u O\  +2 "manipulator"&l& +3 "core" & ~   +2 .tElbow.seek 7 +2 "manipulator"&v( +3 "core" ( + "manipulator"&u& +4 "core" &   +2 "storage"(r& +3 "core" &[ l k \  +2 .tForearm.seek 7 + 300 counts +2 "manipulator"& ' +28 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +54 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&\ & + "storage"( 'N +7 "core" & z  +2 "manipulator"&s% +4 "core" % } u +2 .tForearm.seek :retract +2 "manipulator"&'\ +95 "core" ' +2 .tElbow.seek PC +2 "manipulator"&(c +155 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +88 "core" ( +2 "manipulator"&q& +4 "core" &l  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &l  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&'[ +107 "core" ' +2 "manipulator"&& +4 "core" &l w 5 +2 "manipulator"&{% +4 "core" %U | r + "processing"%_& +4 "core" &2\ +2 "processing"%& +5 "core" &+\ +2 .tPC.seek :closed +2 "processing"%|(Z +4 "core" &1\  +10 &/1\ +z +9 &b.\ > +10 &?y3\ N +9 &Z6\ N +9 &_.\ N +10 &Y$\ M +9 &!H_ \ M +9 &#\ Y1\ M +10 &$_2\ N +9 &&^'\ N +10 &(PZ1\ M +9 &*_3\ M +9 &+_/\ N +10 &-\\+\ N +9 &/W]'\ N +9 &1Z.\ M +10 &2]3\ N +9 &4]1\ M +10 &6_]*\ N +9 &8"_$\ M +9 &9Z$\ M +10 &;_!\ M +9 &=h^,\ M +9 &?+^%\ M +10 &@^+\ N +9 &B[%\ M +10 &DpZ\ M +9 &F1]\ N +9 &Gg,\ O +10 &Ir(\ P +9 &Kk'\ R +10 &M' \ T +9 &N\ U +9 &P'\ T +10 &Rk%\ T +9 &T,"\ U +10 &U\ U +9 &W\ U +9 &Yr\ B +10 &ZzA#\ U +9 &Z\ ) +2 ( +2 "processing"%& +3 #tProcessing Clamp onSpring/offSpring for 9/25 samples, on/off torque 1.60 + .Hand.open + "manipulator"&`1 +60 "core" 1 +2 "manipulator"&% +4 "core" % U n  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"& '\ +91 "core" ' + "processing"%& +5 "core" &Z\ ) + #tImaging generic puck in Processing Clamp while storing it to tube 7 +2 "manipulator"&% +3 "core" %\ +  !M +2 "storage"('% +4 "core" %@ ^ \\ \ +2 "storage"(. +3 "core" .([ + "storage"((& +5 "core" &[ g h ,\  +2 "storage"(& + "manipulator"&X& +7 "core" &[ ^ [ )\  + &l +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +2 "storage"(#]kK-0-\ b +3 "manipulator"&1(c +6 ."raiseStack"SE.seek :beamBreak +2 "storage"('e +3 "core" ( + "manipulator"&& +4 "core" &l  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &~& +2 "core" &l ; +2 .tForearm.seek PC +2 "manipulator"&'[ +98 "core" ' + .tHand.close + "manipulator"& / +57 "core" / +2 .tPC.seek :open +2 "processing"%(p +86 "core" ' +2 "storage"(- +3 "core" -'e +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('B +33 "core" ' +262 ( + "storage"(& +4 "core" &[ | \\\  +2 "manipulator"&-& +4 "core" &l  + "manipulator"&% +4 "core" % o  +2 .tForearm.seek :retract +2 "manipulator"&9'\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 7 + "manipulator"&4( +255 "core" ( + "manipulator"&,& +4 "core" & F $ +2 "storage"(%& +4 "core" &[ u | M\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&='k +92 "core" ' + .tHand.open + "manipulator"&"1 +63 "core" 1 +2 "storage"()- +4 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate +2 "storage"(A' +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.83 Pucks below Top Plate + "storage"(B' +51 "core" ' +2 #tLights, camera, ACTION! + "storage"(- +4 "core" -' +2 "storage"(5& +3 "core" &[ \  +2 "manipulator"&6& +4 "core" &  $ + .tElbow.seek 7 +2 "manipulator"&;( +4 "core" ( + "manipulator"&G& +4 "core" &  $ +2 "storage"(<& +3 "core" &[ 0\  +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&?'k +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.11 Pucks below Top Plate + "storage"(E'M +62 "core" ' + "manipulator"&& +5 "core" & W $ + "storage"( & +4 "core" &[ } \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 7 +2 "manipulator"&/'Ω +30 "core" ' + .tElbow.hold +2 "manipulator"&0, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"(2'7 +21 "core" ' +2 "manipulator"&P% +4 "core" %λ +2 "storage"(>& +4 "core" &[ 9 9 ;\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 7 + 318 counts + "manipulator"&&' +19 "core" ' +2 "manipulator"&$& +4 "core" & } $ +2 "storage"(I& +5 "core" &[ \\\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&.'k +17 "core" ' + "storage"(#% +5 "core" %: M\  +2 ."downElevator"SE.seek :down +4 "storage"(8'N +99 (*% +3 "core" %x: ~ ~ \ V_ +2 "manipulator"&7% +4 "core" %` } N +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&D'\ +88 "core" ' +60 ' + ."downElevator"SE.stop + "storage"(5 +3 (W& +4 "core" &[ \\ U >\  + "collection"'Y& +4 "core" &]e\ G +2 #tStoring generic puck in Collection Clamp to tube 7 + "manipulator"&L% +4 "core" %\ * F E +2 "storage"(3% +4 "core" %< q { \ +2 "storage"(N. +3 "core" .([ + "storage"(T& +4 "core" &[ { p =\  +2 "storage"(S& +4 "core" &[ ~ ~ \  + "manipulator"&Q& +4 "core" & v $ +2 .tElbow.seek 7 + "manipulator"&K( +4 "core" ( + "manipulator"&H& +4 "core" & W $ +2 "storage"(J& +4 "core" &[ { q \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&F'k +110 "core" ' +2 "storage"(f& +4 "core" &[ \  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(V'e +281 "core" ' + "storage"([- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&O& +3 "core" & | y $ +2 "storage"(C& +4 "core" &[ z ~ 1\  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 7 + "manipulator"&+'Ω +34 "core" ' +2 .tElbow.hold + "manipulator"&Z, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(j- +3 "core" -' +2 .tSE.seek 0.12 Pucks below Top Plate +2 "storage"(a'o +31 "core" ' +2 "manipulator"&@% +4 "core" %δ j + "storage"(M& +4 "core" &[ F D \  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 7 + 311 counts +2 "manipulator"&!' +19 "core" ' + "manipulator"&b& +5 "core" & k G $ + "storage"(:& +4 "core" &[ X\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&d'k +17 "core" ' +2 .tSE.seek 1.12 Pucks below Top Plate +2 "storage"(t'^ +41 "core" ' +2 "manipulator"&i& +4 "core" &  \\ $ +2 "manipulator"&h% +4 "core" %]  /  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&U'\ +92 "core" ' +2 .tElbow.seek CC +2 "manipulator"&}( +148 "core" ( + "manipulator"&& +4 "core" &% <@ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &\\& +3 "core" &% / <@ +2 .tForearm.seek CC +2 "manipulator"&y'| +96 "core" ' + .tHand.close + "manipulator"&m/ +62 "core" / + .tCC.seek :open +2 "collection"'o(p +411 "core" ( +2 "storage"(]& +4 "core" &[ \  + "storage"(z& +4 "core" &[ |\  +2 "manipulator"&n& +3 "core" &% S <> +2 "manipulator"&k% +4 "core" % ψ e + .tForearm.seek :retract +2 "manipulator"&^'\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 7 + "manipulator"&w( +169 "core" ( + "manipulator"&e& +4 "core" & @ +2 "storage"(& +4 "core" &[ \  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 7 +2 "manipulator"&l'Ω +109 "core" ' + .tElbow.hold +2 "manipulator"&u, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"&r1 +61 "core" 1 +2 "manipulator"&% +5 "core" % δ \\ l + "storage"(\ & +4 "core" &[ j k \  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 7 + 311 counts +2 "manipulator"&s' +19 "core" ' + "manipulator"&x& +4 "core" & g \\ +2 "storage"(c& +4 "core" &[ o\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&p'k +17 "core" ' +2 "storage"( % +4 "core" %a :\ +3 ."downElevator"SE.seek :down +3 "storage"(q'N +98 (% +3 "core" %C; \ U[ +2 "manipulator"&v% +4 "core" %] p a  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +86 "core" ' +58 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 5 of [5..7] +2 #Loading generic puck from tube 5 into Collection Clamp + "collection"'{& +5 "core" &|\ + "manipulator"&_% +4 "core" %\ *  E +2 "storage"( % +4 "core" %K \ +2 "storage"(. +3 "core" .([ +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"(R(<< +673 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (`& +3 "core" &z|\ $e +9 &lU{|\ 7 +9 &~{}\ L +10 &x]{|\ N +9 &:[y|\ N +9 &]|~\ N +10 & _|}\ M +9 &"_z|\ N +9 &$B\\{|\ N +10 &&`z{\ N +9 &'Z{|\ N +10 &)\\{|\ N +9 &+J[y}\ N +9 &- [z|\ N +10 &.]y|\ N +9 &0_{{\ N +9 &2R`|y\ N +10 &4]y}\ N +9 &5Z{{\ M +10 &7\\yz\ M +9 &9[_x}\ M +9 &;\\{|\ M +10 &<_z|\ N +9 &>_{{\ N +9 &@b`z|\ N +10 &B$`{|\ N +9 &C[z|\ N +10 &E_w|\ N +9 &Gi]ho\ N +9 &I&lNX\ P +10 &J{0\ Q +9 &L\ U +9 &NUV]\ X +10 &PGM\ X +9 &Q7@\ X +10 &S&.\ Y +9 &UW\ Z +9 &W\ Z +10 &X\ [ +9 &Z\ \\ +9 &\\Z\ H +10 &]a@\ (y +9 &]\ V +3 ( + "collection"')& +3 #tCollection Clamp onSpring/offSpring for 10/26 samples, on/off torque 2.05 + .Hand.open +2 "manipulator"&51 +53 "core" 1 +2 "manipulator"&6% +4 "core" % v \\ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&G'\ +92 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp +2 "processing"%<& +4 "core" &l\ + "manipulator"&9% +4 "core" %\ ' A +2 "storage"(% +4 "core" %K Z Z\ + "storage"( . +3 "core" .(& +2 "core" &<; K W \\\  +2 "manipulator"&& +4 "core" &   3 + "manipulator"&$% +4 "core" %\ ' N A +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&A( +160 "core" ( + "manipulator"&I& +4 "core" &   +2 "storage"(#& +4 "core" &<; p z '\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&4' +111 "core" ' + "storage"(=& +5 "core" &<; R\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(B'e +280 "core" ' + "storage"(*- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (7& +3 "core" &<8 s ` [\  + "manipulator"&?& +4 "core" & t q  +2 .tElbow.seek 5 + "manipulator"&;( +4 "core" ( + "manipulator"&E& +4 "core" & y ~  +2 "storage"(/& +3 "core" &<8 t ~ \  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&W'[ +21 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&&/ +54 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&Y& +2 "storage"(L'N +7 "core" & r   +2 "manipulator"&3% +4 "core" % M 4  + .tForearm.seek :retract +2 "manipulator"&N'\ +92 "core" ' + .tElbow.seek PC +2 "manipulator"&T(c +162 "core" ' + ."downElevator"SE.stop + "storage"(5 +77 "core" ( + "manipulator"&2& +4 "core" &i J - +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &S& +3 "core" &i  - +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&Q'[ +103 "core" ' +2 "manipulator"&H& +4 "core" &i  - +2 "manipulator"&J% +4 "core" %T W +2 "processing"%.& +5 "core" &g\ +2 "processing"%f& +4 "core" &l\ +2 .tPC.seek :closed +2 "processing"%8(Z +4 "core" &4\  +46 &.}7\ +z +13 &e3\ ? +4 &@x7\ O +2 &Y5\ M + &_7\ N + &\\3\ M + &!K\\6\ M +6 &# \\3\ M +10 &$]6\ N +9 &&^2\ N +9 &(SY2\ M +10 &*]7\ M +9 &+]7\ M +9 &-[7\ M +10 &/Zb5\ N +9 &1\\5\ N +10 &2]6\ N +9 &4Y(\ M +9 &6c]6\ M +10 &8%_5\ M +9 &9Z4\ M +9 &;\\6\ M +10 &=j[-\ N +9 &?,`1\ N +10 &@]6\ N +9 &BY2\ N +9 &Dq]2\ N +10 &F4\\5\ N +9 &Gf6\ O +9 &Ip7\ P +10 &Kl5\ R +9 &M)2\ T +10 &N3\ U +9 &P6\ T +9 &Ro1\ T +10 &T.2\ U +9 &U7\ U +9 &W6\ U +10 &Ys/\ C +9 &Zu<0\ _ +10 &Z.1\ 1 +2 ( + "processing"%f& +4 #tProcessing Clamp onSpring/offSpring for 9/25 samples, on/off torque 1.61 + .Hand.open + "manipulator"&01 +63 "core" 1 +2 "manipulator"&D% +4 "core" % T +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&['\ +92 "core" ' +2 "processing"%O& +4 "core" &Z-W\ 1 +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 + "manipulator"&C% +4 "core" %\ ) u H +2 "storage"(j% +3 "core" %O C D \ +2 "storage"(@. +3 "core" .(<9 +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 + "storage"(M(<< +9 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (b& +5 "manipulator"&:& + "core" &<9 C 6 \  +5 ."raiseStack"SE.reconfigure :place +2 "storage"(#]kK-0-\ b +3 "core" &i u - +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +3 ."raiseStack"SE.seek :beamBreak +2 "manipulator"&i(c + "storage"(h'e +5 "core" ( + "manipulator"&F& +4 "core" &i = - +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &K& +3 "core" &i 1 - +2 .tForearm.seek PC +2 "manipulator"&V'[ +96 "core" ' + .tHand.close +2 "manipulator"&+/ +58 "core" / +2 .tPC.seek :open + "processing"%!(p +91 "core" ' +2 "storage"(a- +3 "core" -'e +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('B +36 "core" ' +254 ( +2 "storage"(\\& +4 "core" &<8 j h W\  + "manipulator"&d& +4 "core" &i  - +2 "manipulator"&Z% +4 "core" % L +2 .tForearm.seek :retract + "manipulator"&m'\ +100 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&U( +257 "core" ( + "manipulator"&g& +5 "core" & H $ + "storage"(]& +4 "core" &<8 ] [ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&z' +102 "core" ' +2 .tHand.open + "manipulator"&n1 +53 "core" 1 +2 "storage"(k- +4 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate +2 "storage"(e' +27 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.83 Pucks below Top Plate + "storage"(' +53 "core" ' +2 #tLights, camera, ACTION! + "storage"(y- +4 "core" -' + "storage"(}& +4 "core" &<7 P\  +2 "manipulator"&r& +4 "core" & w u g $ + .tElbow.seek 5 +2 "manipulator"&( +22 "core" ( + "manipulator"&\ & +5 "core" & t  + "storage"(x& +4 "core" &<7 )\  +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&c' +3 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"( 'M +58 "core" ' +2 "manipulator"&^& +4 "core" & ~ w   + "storage"(& +4 "core" &<7 } \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&v'/ +31 "core" ' +2 .tElbow.hold +2 "manipulator"&w, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"(l'7 +20 "core" ' + "manipulator"&{% +4 "core" %C s +2 "storage"(s& +4 "core" &<7   f\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 320 counts + "manipulator"&_'o +16 "core" ' +2 "manipulator"& & +4 "core" &% x m +2 "storage"(& +4 "core" &<7 { A\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&t' +17 "core" ' + "storage"(p% +5 "core" %> p | \ +3 ."downElevator"SE.seek :down +3 "storage"(q'N +99 (% +3 "core" %: ] ] \ U] +2 "manipulator"&`% +4 "core" % u   +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&'\ +91 "core" ' +60 ' + ."downElevator"SE.stop + "storage"(5 +3 (& +4 "core" &<7 U c @\  + "collection"''& +4 "core" &]}\ V +2 #tStoring generic puck in Collection Clamp to tube 5 + "manipulator"&(% +4 "core" %\ . D #e +2 "storage"(u% +4 "core" %9 [ ]\ + "storage"(. +3 "core" .(<9 +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 + "storage"(X(<< +13 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (& +2 "core" &<9   '\  +2 "manipulator"&& +4 "core" &% t +2 .tElbow.seek 5 +2 "manipulator"&( +17 "core" ( + "manipulator"& & +4 "core" & !  +2 "storage"(& +4 "core" &<8 [ ] 0\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"& ' +98 "core" ' +2 "storage"(& +4 "core" &<8 o j \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"('e +275 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +2 "manipulator"&& +3 "core" & | u  +2 "storage"(& +4 "core" &<8 ] ]\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&'/ +21 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(%- +2 "core" -' +3 .tSE.seek 0.11 Pucks below Top Plate + "storage"(1'l +26 "core" ' + "manipulator"&"% +4 "core" %B x + "storage"(~& +5 "core" &<8 E E \  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 319 counts +2 "manipulator"&|'n +17 "core" ' + "manipulator"&& +5 "core" &3 V u G ` + "storage"(o& +4 "core" &<8  t /\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&5' +17 "core" ' +2 .tSE.seek 1.11 Pucks below Top Plate + "storage"(6'[ +51 "core" ' + "manipulator"&<& +5 "core" &3 r q X ` + "manipulator"&9% +4 "core" % ~  z +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +87 "core" ' + .tElbow.seek CC +2 "manipulator"& ( +167 "core" ( +2 "manipulator"&)& +4 "core" &/ F Du + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &>& +3 "core" &/  Du +2 .tForearm.seek CC + "manipulator"&'| +96 "core" ' + .tHand.close + "manipulator"&$/ +53 "core" / + .tCC.seek :open +2 "collection"',(p +411 "core" ( + "storage"(I& +4 "core" &<8 G\  +2 "storage"(#& +4 "core" &<8 [\  + "manipulator"&R& +4 "core" &- Cn + "manipulator"&=% +4 "core" % ύ +2 .tForearm.seek :retract +2 "manipulator"&-'\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&G( +168 "core" ( +2 "manipulator"&*& +4 "core" &   +2 "storage"(7& +3 "core" &<8 S\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 5 +2 "manipulator"&?'/ +105 "core" ' +2 .tElbow.hold +43 "manipulator"&E, +12 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"&/1 +53 "core" 1 +2 "manipulator"&&% +4 "core" % A 1 + "storage"(Y& +4 "core" &<8 T\  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 5 + 318 counts +2 "manipulator"&3'm +18 "core" ' + "manipulator"&A& +3 "core" &- S u  a +3 "storage"(4& +4 "core" &<8 P\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&B' +19 "core" ' + "storage"(W% +5 "core" %` Y\ +2 ."downElevator"SE.seek :down +3 "storage"(2'N +99 (S% +3 "core" %= U\ TZ +2 "manipulator"&;% +4 "core" % q r w  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&H'\ +90 "core" ' +51 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 6 of [5..7] +2 #Loading generic puck from tube 6 into Collection Clamp + "collection"'J& +4 "core" &y}\ +2 "manipulator"&.% +4 "core" %\ .  #e +2 "storage"(L% +4 "core" %L \ +2 "storage"(N. +3 "core" .(<9 +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"((K +350 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (0& +2 "core" &K | 1\  +2 "manipulator"&D& +4 "core" &-  a +2 .tElbow.seek 6 +2 "manipulator"&O( +28 "core" ( + "manipulator"&C& +4 "core" &\ Z ] +2 "storage"(j& +4 "core" &K k\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&@'< +95 "core" ' +2 "storage"(f& +4 "core" &K j\  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(b'e +282 "core" ' + "storage"(:- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (F& +2 "core" &K E\  +2 "manipulator"&K& +4 "core" &\  \\ +2 .tElbow.seek 6 + "manipulator"&Q( +4 "core" ( + "manipulator"&+& +4 "core" &\ ] \\ + "storage"(P& +4 "core" &K G\  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&a'Ϧ +21 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&T/ +54 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&[& +2 "storage"(8'N +8 "core" &\  @ \\ + "manipulator"&\\% +4 "core" % ϯ } f +2 .tForearm.seek :retract +2 "manipulator"&d'\ +94 "core" ' +2 .tElbow.seek CC + "manipulator"&h( +148 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +3 "core" ( + "manipulator"&Z& +4 "core" &% = <> +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &V& +3 "core" &% @ <> +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&g'| +95 "core" ' +2 "manipulator"&]& +4 "core" &% <> +2 "manipulator"&i% +4 "core" %z  +2 "collection"'n& +4 "core" &{|\ +2 "collection"'k& +5 "core" &||\ +2 .tCC.seek :closed +2 "collection"'y(] +4 "core" &w{\ +7 &>|z\ %f +9 &pVwx\ 8 +10 &y|\ L +9 &Yxy\ M +10 &I`x{\ M +9 & ]z{\ M +9 & [y{\ N +10 &"[zz\ N +9 &$RYz}\ M +9 &&`yz\ N +10 &']zz\ N +9 &)]x{\ N +10 &+X\\y|\ N +9 &-]z|\ M +9 &.\\z|\ N +10 &0`z|\ M +9 &2`[wz\ N +9 &4"_xy\ N +10 &5]y{\ M +9 &7Yx|\ M +9 &9i\\zy\ M +10 &;+Zxy\ M +9 &<\\{z\ N +10 &>\\{y\ N +9 &@p\\zy\ N +9 &B3[yz\ M +10 &CZwz\ M +9 &E_wz\ M +9 &Gwcnq\ N +10 &I6mWa\ O +9 &J!9\ R +10 &L\ V +9 &Nd`f\ W +9 &P&PX\ W +10 &QAG\ X +9 &S27\ Y +9 &Ug&\ Y +10 &W(\ Y +9 &X\ [\ +10 &Z\ [ +9 &\\g\ H +9 &]g9\ 't +10 &]Z\ A +2 ( +2 "collection"'k& +3 #tCollection Clamp onSpring/offSpring for 10/26 samples, on/off torque 2.05 + .Hand.open +2 "manipulator"&}1 +62 "core" 1 +2 "manipulator"&r% +4 "core" % z d +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&m'\ +92 "core" ' +2 #tLoading generic puck from tube 6 into Processing Clamp + "processing"%\ & +5 "core" &j\ + "manipulator"&x% +4 "core" %\ + 1 !W +2 "storage"(^% +3 "core" %? ~ ~\ \ +2 "storage"(. +3 "core" .(K + "storage"(& +4 "core" &K } z \  + "storage"({& +4 "core" &K | t r\  +2 "manipulator"&s& +4 "core" &$ ;3 + "manipulator"&e% +4 "core" %\ + !W +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"& ( +160 "core" ( + "manipulator"&& +4 "core" &   +2 "storage"(p& +4 "core" &K W\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&U'< +92 "core" ' +2 "storage"(z& +4 "core" &K ,\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('e +283 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (`& +2 "core" &K s w 0\  +2 "manipulator"&c& +3 "core" & t   +2 .tElbow.seek 6 +2 "manipulator"&( +3 "core" ( + "manipulator"& & +4 "core" &   +2 "storage"(v& +3 "core" &K T\  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&'Ϧ +11 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&_/ +63 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&'& + "storage"(('N +7 "core" & ~  +2 "manipulator"&u% +4 "core" % Ϧ { 1 + .tForearm.seek :retract +2 "manipulator"&'\ +96 "core" ' +2 .tElbow.seek PC +2 "manipulator"&l(c +158 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +78 "core" ( + "manipulator"&& +4 "core" &m n 1 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &m N 1 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"& '[ +103 "core" ' +2 "manipulator"&& +4 "core" &m \\ 1 +2 "manipulator"&t% +3 "core" %d h +2 "processing"%& +4 "core" &1\ +2 "processing"%q& +5 "core" &5\ +2 .tPC.seek :closed +3 "processing"%M(Z +3 "core" &7\ +6 & 14\ $c +10 &\\V0\ 7 +9 &3\ L +10 &o[:\ M +9 &1\\5\ M +9 &\\7\ N +10 & ]5\ M +9 &"wX4\ M +10 &$8\\7\ M +9 &%^3\ M +9 &']8\ M +10 &)Z5\ M +9 &+@[2\ M +9 &-`4\ M +10 &.]6\ N +9 &0]3\ M +9 &2IZ7\ M +10 &4\ \\6\ M +10 &5\\4\ M +9 &7\\3\ N +9 &9Q[7\ M +9 &;^2\ M +10 &<Z4\ M +9 &>\\3\ M +9 &@Y^1\ M +10 &B_2\ M +9 &C]7\ M +10 &EZ2\ M +9 &G]e1\ N +9 &In5\ O +10 &J2\ R +9 &L3\ S +9 &NT2\ T +10 &P2\ T +9 &Q2\ T +10 &S1\ T +9 &U[5\ T +9 &W8\ U +10 &X7\ U +9 &Z;Mr6\ - +9 &Zc.\ < +9 ( +3 "processing"%q& +3 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.61 + .Hand.open +2 "manipulator"&w1 +3 "core" &Z>2\ 9 +52 1 + "manipulator"&% +5 "core" % c  + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +94 "core" ' + "processing"%& +5 "core" &Z>#\ 9 + #tImaging generic puck in Processing Clamp while storing it to tube 6 +2 "manipulator"&% +3 "core" %\ .  #c +2 "storage"(%% +4 "core" %J d g #\ + "storage"(". +3 "core" .(K +2 "storage"(~& +4 "core" &K e g C\  + "storage"(& +4 "manipulator"&o& +5 "core" &K e g H\  + &m  1 +3 ."raiseStack"SE.reconfigure :place +2 .tElbow.reconfigure :tight +5 "storage"(#]kK-0-\ b +4 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC + "manipulator"&<(c +4 ."raiseStack"SE.seek :beamBreak + "storage"(9'e +3 "core" ( + "manipulator"& & +4 "core" &m ; 1 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &m < 1 +2 .tForearm.seek PC +2 "manipulator"&'[ +97 "core" ' + .tHand.close +52 "manipulator"&/ +59 "core" / +2 .tPC.seek :open +2 "processing"%|(p +38 "core" ' +2 "storage"(1- +3 "core" -'e +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"()'B +33 "core" ' +310 ( + "storage"(>& +4 "core" &K a\  +2 "manipulator"&5& +3 "core" &m  1 +2 "manipulator"&% +4 "core" % g 4 +2 .tForearm.seek :retract + "manipulator"&$'\ +91 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&( +246 "core" ( +2 "manipulator"&& +4 "core" &  !u +2 "storage"(I& +3 "core" &K k j \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&#'< +105 "core" ' +2 .tHand.open + "manipulator"&R1 +58 "core" 1 +2 "storage"(=- +3 "core" -'B +3 .tSE.seek -0.16 Pucks below Top Plate + "storage"(*' +23 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.83 Pucks below Top Plate + "storage"(7' +52 "core" ' + #tLights, camera, ACTION! + "storage"(- +4 "core" -' +2 "storage"( & +4 "core" &K\ \  3\  + "manipulator"&/& +4 "core" & s > !u +2 .tElbow.seek 6 + "manipulator"&&( +4 "core" ( + "manipulator"&Y& +4 "core" & e O !u +2 "storage"(A& +4 "core" &K \  +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&4'< +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.11 Pucks below Top Plate + "storage"(W'M +63 "core" ' + "manipulator"&-& +4 "core" &   !u +2 "storage"(S& +4 "core" &K r\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&;'z +34 "core" ' +2 .tElbow.hold + "manipulator"&G, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"(?'7 +22 "core" ' +2 "manipulator"&J% +4 "core" %} P P +2 "storage"(3& +5 "core" &K C F `\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 305 counts +2 "manipulator"&.'ϫ +17 "core" ' + "manipulator"&L& +5 "core" & W # + "storage"(N& +4 "core" &K _\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&6'< +17 "core" ' +2 "storage"(B% +4 "core" %< D\  +3 ."downElevator"SE.seek :down +3 "storage"(2'N +99 (X% +3 "core" %p> | \ V_ + "manipulator"&0% +4 "core" %= ~  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&D'\ +91 "core" ' +62 ' + ."downElevator"SE.stop + "storage"(5 +3 (C& +4 "core" &K r f \  +2 "collection"'j& +4 "core" &]N\ A + #tStoring generic puck in Collection Clamp to tube 6 + "manipulator"&f% +4 "core" %\ . & #b +2 "storage"(E% +4 "core" %K i l q\ + "storage"(H. +3 "core" .(K +2 "storage"(:& +4 "core" &K   \  + "storage"(F& +4 "core" &K y v \  +2 "manipulator"&K& +3 "core" &  "~ +2 .tElbow.seek 6 +2 "manipulator"&+( +20 "core" ( + "manipulator"&P& +5 "core" & ) + "storage"(T& +5 "core" &K  ~ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&['< +102 "core" ' +2 "storage"(\\& +4 "core" &K G\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(O'e +281 "core" ' + "storage"(@- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&Z& +3 "core" & } t ( +2 "storage"(V& +4 "core" &K h\  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 6 + "manipulator"&b'z +36 "core" ' + .tElbow.hold +2 "manipulator"&a, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(]- +3 "core" -' +2 .tSE.seek 0.12 Pucks below Top Plate +2 "storage"(i's +40 "core" ' + "manipulator"&n% +4 "core" %}q  , +2 "storage"(Q& +3 "core" &K   c\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 303 counts + "manipulator"&8'ϩ +19 "core" ' +2 "manipulator"&d& +4 "core" & ~ . ) + "storage"(,& +4 "core" &K W\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&}'< +16 "core" ' +2 .tSE.seek 1.12 Pucks below Top Plate +2 "storage"(r'b +41 "core" ' +2 "manipulator"&\ & +4 "core" & t 9 ) +2 "manipulator"&x% +4 "core" %=   + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&^'\ +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"&( +156 "core" ( + "manipulator"&& +4 "core" &. Y Cs +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &k& +3 "core" &. ] Cs +2 .tForearm.seek CC +2 "manipulator"&{'| +96 "core" ' + .tHand.close + "manipulator"&s/ +56 "core" / + .tCC.seek :open +2 "collection"'e(p +411 "core" ( + "storage"(g& +4 "core" &K U\  +2 "storage"(& +3 "core" &K g\  +2 "manipulator"&p& +4 "core" &(&  >N + "manipulator"&z% +4 "core" % ρ +2 .tForearm.seek :retract + "manipulator"&h'\ +93 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&m( +154 "core" ( +2 "manipulator"&& +4 "core" &  \ + "storage"(`& +4 "core" &K -\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 6 + "manipulator"&c'z +109 "core" ' +2 .tElbow.hold + "manipulator"& , +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&v1 +64 "core" 1 + "manipulator"&_% +5 "core" % ΅  m + "storage"('& +4 "core" &K { ;\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 311 counts +2 "manipulator"&u'ϱ +18 "core" ' + "manipulator"& & +5 "core" & j u + "storage"(U& +4 "core" &K Y\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&'< +16 "core" ' + "storage"(% +5 "core" %f /\ +2 ."downElevator"SE.seek :down +3 "storage"('N +99 (% +3 "core" %? \ U\\ +2 "manipulator"&% +4 "core" %/ w | + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +93 "core" ' +50 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 7 of [5..7] +2 #Loading generic puck from tube 7 into Collection Clamp + "collection"'t& +4 "core" &x{\ +2 "manipulator"&% +4 "core" %\ 6  & +2 "storage"((% +3 "core" %I C\ +2 "storage"(. +3 "core" .(K +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 7 +2 "storage"(!([ +358 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (w& +2 "core" &[ X\ +2 "manipulator"&& +4 "core" &  +2 .tElbow.seek 7 +2 "manipulator"&( +15 "core" ( +2 "manipulator"&& +4 "core" & -  + "storage"(%& +4 "core" &[ [\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&"'k +98 "core" ' + "storage"(~& +4 "core" &[ 5\ +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +52 .tSE.seek :beamBreak +2 "storage"(o'e +282 "core" ' + "storage"(- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (q& +2 "core" &[ G\ +2 "manipulator"& & +4 "core" & t t  + .tElbow.seek 7 +2 "manipulator"&( +4 "core" ( + "manipulator"& & +4 "core" & r  +2 "storage"(& +3 "core" &[ v\ +2 .tForearm.seek 7 + 300 counts +2 "manipulator"&1' +11 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&l/ +54 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& +2 "storage"(M'N +7 "core" & r   + "manipulator"&9% +4 "core" %  a C +2 .tForearm.seek :retract +2 "manipulator"&>'\ +90 "core" ' + .tElbow.seek CC +2 "manipulator"&5( +152 "core" ' + ."downElevator"SE.stop +3 "storage"(5 +2 "core" ( +2 "manipulator"&& +4 "core" &% \\ <? + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &$ <? +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&'| +102 "core" ' +2 "manipulator"&I& +4 "core" &% <? +2 "manipulator"&<% +4 "core" %ς 1 + "collection"'R& +4 "core" &xz\ +2 "collection"'=& +6 "core" &|{\ +2 .tCC.seek :closed +2 "collection"'(] +4 "core" &yy\ +7 &>{z\ $e +9 &eWyz\ 7 +9 &xz\ L +10 &x[xz\ M +9 &9\\yx\ M +10 &Zxz\ N +9 & _y{\ M +9 &"Zy{\ M +10 &$BZyz\ M +9 &&\\x{\ N +9 &'Yyy\ M +10 &)Yyx\ M +9 &+I]{y\ M +10 &-\ \\{y\ N +9 &.]xy\ M +9 &0[yz\ N +10 &2P\\w{\ N +9 &4]yy\ N +9 &5Zy{\ M +10 &7Xxy\ M +9 &9YZz{\ M +10 &;]zx\ M +9 &<\\xy\ M +9 &>Yyz\ M +10 &@a]zz\ M +9 &B#_zy\ M +9 &C\\w{\ N +10 &EZx|\ M +9 &Gh`qw\ N +10 &I(fem\ N +9 &Jy@R\ Q +9 &L\ T +10 &NUel\ W +9 &PQX\ W +9 &QBI\ X +10 &S-6\ X +9 &UV!\ Y +9 &W \ Y +10 &X\ Z +9 &Z\ [ +10 &\\Z\ H +9 &]gC\ #k +10 &]E\ < +2 ( + "collection"'=& +3 #tCollection Clamp onSpring/offSpring for 10/26 samples, on/off torque 2.03 + .Hand.open + "manipulator"& 1 +58 "core" 1 + "manipulator"&/% +5 "core" % y [ + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&Y'\ +92 "core" ' +2 #tLoading generic puck from tube 7 into Processing Clamp + "processing"%A& +4 "core" &l\ +2 "manipulator"&$% +3 "core" %\ - " G +2 "storage"(-% +4 "core" %9 { q 5\  +2 "storage"(S. +3 "core" .([ + "storage"(J& +4 "core" &[ p p \ +2 "storage"()& +3 "core" &[ q p !\ +2 "manipulator"&3& +4 "core" &$ E ;6 +2 "manipulator"&*% +4 "core" %\ - " G +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 7 +2 "manipulator"&L( +161 "core" ( + "manipulator"&N& +4 "core" & U  +2 "storage"(B& +4 "core" &[ R\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&'k +102 "core" ' + "storage"(#& +4 "core" &[ \ +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(7'e +282 "core" ' + "storage"(X- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (0& +3 "core" &[ >\ +2 "manipulator"&4& +3 "core" & | r i  +2 .tElbow.seek 7 +2 "manipulator"&&( +3 "core" ( + "manipulator"&W& +4 "core" & } t n  +2 "storage"(;& +3 "core" &[ >\ +2 .tForearm.seek 7 + 300 counts +2 "manipulator"&C' +26 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&./ +63 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"&j& + "storage"(f'N +6 "core" & x } X  +2 "manipulator"&E% +4 "core" % s | +2 .tForearm.seek :retract + "manipulator"&H'\ +95 "core" ' +2 .tElbow.seek PC +2 "manipulator"&?(c +161 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +73 "core" ( + "manipulator"&:& +4 "core" &e 3 " +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &F& +3 "core" &e J " +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&K'[ +97 "core" ' +2 "manipulator"&P& +4 "core" &e  " +2 "manipulator"&T% +3 "core" %W  +2 "processing"%6& +4 "core" &1\ +2 "processing"%\\& +5 "core" &.\ +2 .tPC.seek :closed +3 "processing"%2(Z +3 "core" &*\ +7 & *,\ #b +9 &`W4\ 7 +9 &0\ L +10 &rZ4\ M +9 &4\\4\ M +9 &Z2\ M +10 & ^8\ N +9 &"zZ5\ M +9 &$=]7\ M +10 &%\\5\ M +9 &'^7\ M +10 &)[1\ M +9 &+D\\4\ M +9 &-_5\ M +10 &.]4\ M +9 &0^7\ M +9 &2M]7\ M +10 &4\\3\ M +9 &5\\3\ N +10 &7[4\ M +9 &9U\\3\ M +9 &;]5\ M +10 &<[8\ M +9 &>`4\ M +9 &@\\^7\ M +10 &BZ7\ M +9 &C]2\ M +10 &EZ2\ M +9 &Gbg5\ N +9 &I!o3\ O +10 &J}5\ Q +9 &L8\ S +10 &NY3\ T +9 &P2\ S +9 &Q3\ T +10 &S9\ T +9 &U_4\ T +9 &W!5\ T +10 &X2\ U +9 &Z=Kp2\ + +9 &Z23\ + +6 ( + "processing"%\\& +5 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.59 + .Hand.open + "manipulator"&G1 +4 "core" &Z1\ + +52 1 + "manipulator"&D% +5 "core" % W I + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&@'\ +100 "core" ' + "processing"%Z& +5 "core" &Z#\ + + #tImaging generic puck in Processing Clamp while storing it to tube 7 + "manipulator"&V% +4 "core" %\ 5 S & +2 "storage"(]% +4 "core" %M p p \ + "storage"(n. +3 "core" .([ +2 "storage"(Q& +3 "core" &[ j k ^\ +2 "storage"(d& +5 "manipulator"&,& +4 "core" &[ q q \ + &e / " +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +3 "storage"(#]kK-0-\ b +2 "manipulator"&\ (c +5 ."raiseStack"SE.seek :beamBreak + "storage"(x'e +3 "core" ( + "manipulator"&[& +4 "core" &e " +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &+& +3 "core" &e " +2 .tForearm.seek PC +2 "manipulator"&O'[ +97 "core" ' +2 .tHand.close + "manipulator"&b/ +64 "core" / +2 .tPC.seek :open +2 "processing"%8(p +82 "core" ' + "storage"(i- +4 "core" -'e + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('B +34 "core" ' +265 ( + "storage"(k& +4 "core" &[ ~ 8\ +2 "manipulator"&}& +3 "core" &e  " +2 "manipulator"&a% +4 "core" % _  + .tForearm.seek :retract +2 "manipulator"&s'\ +92 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 7 +2 "manipulator"&^( +243 "core" ( +2 "manipulator"&y& +4 "core" &  G + "storage"(g& +4 "core" &[ h i \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&'k +96 "core" ' + .tHand.open + "manipulator"&p1 +59 "core" 1 +2 "storage"(z- +3 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate +2 "storage"(' +25 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(`' +51 "core" ' +2 #tLights, camera, ACTION! + "storage"({- +4 "core" -' + "storage"(& +4 "core" &[\ \  b\ +2 "manipulator"&v& +3 "core" & A G +2 .tElbow.seek 7 +2 "manipulator"&_( +3 "core" ( +2 "manipulator"&'& +3 "core" & m / G +2 "storage"( & +4 "core" &[ \ N\ +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&U'k +16 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"('M +63 "core" ' + "manipulator"&h& +4 "core" & t | y G +2 "storage"(& +4 "core" &[ e\ + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +53 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 7 +2 "manipulator"&'Ω +33 "core" ' + .tElbow.hold +2 "manipulator"&m, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"(c'7 +23 "core" ' + "manipulator"&t% +5 "core" %θ 5 + "storage"(& +4 "core" &[ h h B\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 7 + 315 counts + "manipulator"&u' +20 "core" ' + "manipulator"&(& +5 "core" &  G + "storage"(& +5 "core" &[ V\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&r'k +18 "core" ' + "storage"(% +5 "core" %; w\  +2 ."downElevator"SE.seek :down +4 "storage"('N +99 (% +3 "core" %p? g h ]\ U^ +2 "manipulator"&w% +4 "core" %K u  Q  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&'\ +87 "core" ' +8 "Can"w #SQ +51 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +3 (& +4 "core" &[ j r F\ + "collection"'%& +4 "core" &]N\ < +2 #tStoring generic puck in Collection Clamp to tube 7 + "manipulator"&~% +4 "core" %\ -  "X +2 "storage"( % +4 "core" %9 j i \ + "storage"(. +3 "core" .([ +2 "storage"(& +4 "core" &[ g h \ + "storage"(q& +4 "core" &[ j j \ +2 "manipulator"& & +4 "core" & G + .tElbow.seek 7 +2 "manipulator"& ( +3 "core" ( + "manipulator"&& +4 "core" &  G +2 "storage"(l& +4 "core" &[ i R\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&'k +93 "core" ' + "storage"(9& +5 "core" &[ 5\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"('e +284 "core" ' + "storage"("- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" & , G +2 "storage"(& +4 "core" &[ ^\ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 7 + "manipulator"&o'Ω +31 "core" ' + .tElbow.hold +2 "manipulator"&1, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(I- +3 "core" -' +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(<'n +30 "core" ' +2 "manipulator"&R% +4 "core" %ε O + "storage"(& +4 "core" &[ [ Z\ +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 7 + 312 counts +2 "manipulator"&M' +111 "core" ' +2 "manipulator"&>& +4 "core" &   G +2 "storage"(e& +4 "core" &[ \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"& 'k +18 "core" ' +2 .tSE.seek 1.11 Pucks below Top Plate + "storage"(/'] +43 "core" ' + "manipulator"&A& +5 "core" & u { G + "manipulator"&$% +4 "core" %p  | +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +3 "manipulator"&-'\ +87 "core" ' +2 .tElbow.seek CC +2 "manipulator"&S( +154 "core" ( + "manipulator"&J& +5 "core" &( C ?Q + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &)& +2 "core" &( ?Q +2 .tForearm.seek CC +2 "manipulator"&='| +105 "core" ' +2 .tHand.close + "manipulator"&3/ +58 "core" / +3 .tCC.seek :open + "collection"'*(p +414 "core" ( + "storage"(& +4 "core" &[ |\ +2 "storage"(N& +3 "core" &[ H\ +2 "manipulator"&B& +4 "core" &"  :/ +2 "manipulator"&#% +4 "core" % r   + .tForearm.seek :retract +2 "manipulator"&5'\ +90 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 7 + "manipulator"&Y( +161 "core" ( + "manipulator"&X& +5 "core" &   + "storage"(0& +4 "core" &[ >\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 7 + "manipulator"&4'Ω +108 "core" ' + .tElbow.hold +2 "manipulator"&W, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&;1 +57 "core" 1 +2 "manipulator"&.% +5 "core" % λ ) + "storage"(j& +4 "core" &[ \ + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 7 + 318 counts + "manipulator"&E' +18 "core" ' +2 "manipulator"&L& +4 "core" & L Z [  +2 "storage"(& +3 "core" &[ 9\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&7'k +21 "core" ' + "storage"(C% +5 "core" %e x\ +2 ."downElevator"SE.seek :down +3 "storage"(:'N +99 (F% +3 "core" %= 6\ TZ +2 "manipulator"&&% +4 "core" %Ѕ a p . +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&P'\ +95 "core" ' +42 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 5 of [5..7] +2 #Loading generic puck from tube 5 into Collection Clamp + "collection"'T& +5 "core" &yx\ + "manipulator"&6% +4 "core" %\ 5  & +2 "storage"(f% +4 "core" %8 \ + "storage"(H. +3 "core" .([ +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"(|(<< +675 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (G& +3 "core" &<= q\ +2 "manipulator"&D& +3 "core" &   +2 .tElbow.seek 5 +2 "manipulator"&Z( +42 "core" ( +2 "manipulator"&V& +4 "core" & O  +2 "storage"(]& +3 "core" &<> \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&n' +95 "core" ' + "storage"(Q& +4 "core" &<> 6\ +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(\\'e +279 "core" ' + "storage"(,- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (d& +2 "core" &<; I\ +2 "manipulator"&[& +4 "core" & | t  +2 .tElbow.seek 5 + "manipulator"&+( +4 "core" ( + "manipulator"&K& +4 "core" &  o  + "storage"(b& +4 "core" &<; \ +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&i'[ +24 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&?/ +56 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&@& +3 "storage"(2'N +7 "core" & m q K  +2 "manipulator"&x% +4 "core" % R p | : +2 .tForearm.seek :retract +2 "manipulator"&k'\ +89 "core" ' +2 .tElbow.seek CC + "manipulator"&}( +153 "core" ' + ."downElevator"SE.stop + "storage"(5 +4 "core" ( + "manipulator"&a& +4 "core" &% 7 <= +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &O& +2 "core" &% ) <= +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&y'| +93 "core" ' +2 "manipulator"&g& +4 "core" &% H <= +2 "manipulator"&\ % +4 "core" %q R  +2 "collection"'p& +4 "core" &xy\ +2 "collection"'z& +5 "core" &wz\ +2 .tCC.seek :closed +2 "collection"'{(] +4 "core" &yy\ +7 &8{{\ $c +10 &_Uzz\ 7 +9 &y{\ K +9 &o\\yy\ M +10 &1]yz\ M +9 &]{z\ M +10 & _y{\ M +9 &"u^|{\ N +9 &$8\\y{\ M +10 &%]zz\ N +9 &'\\z{\ M +9 &)Yy{\ M +10 &+@\\x{\ M +9 &-\\xy\ M +10 &.\\z|\ M +9 &0[zz\ M +9 &2H^x|\ M +10 &4\ ]y{\ M +9 &5\\x{\ M +9 &7[zz\ M +10 &9P\\yy\ M +9 &;\\yz\ M +9 &<\\yy\ M +10 &>\\yz\ M +9 &@Y]xz\ M +10 &B]zy\ M +9 &C^z{\ M +9 &E\\w{\ M +10 &G_`ru\ N +9 &Ikfo\ O +9 &J}<Q\ Q +63 &L\ U +3 &NMsx\ V + &P ai\ X + &QPX\ X +3 &SBI\ Y + &UM48\ Y + &W")\ Z +3 &X\ [\ +9 &Z \ \\ +9 &\\O\ H +10 &][;\ (v +9 &]\ U +5 ( +2 "collection"'z& +4 #tCollection Clamp onSpring/offSpring for 10/26 samples, on/off torque 2.07 + .Hand.open +2 "manipulator"&1 +3 "core" &]r\ U +55 1 +2 "manipulator"&v% +4 "core" % q x  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&''\ +96 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp + "processing"% & +5 "core" &4\ + "manipulator"&s% +4 "core" %\ 1 $s +2 "storage"(h% +4 "core" %C Y Z\  + "storage"(. +3 "core" .(<< +2 "storage"(& +4 "core" &<; Z ]\ + "storage"(& +4 "core" &<; Z \\\ +2 "manipulator"&t& +4 "core" &% A <; +2 "manipulator"&% +4 "core" %\ 1 ; $s +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&(( +174 "core" ( +2 "manipulator"&^& +4 "core" & 0 Q +2 "storage"(& +3 "core" &<; o p \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&' +98 "core" ' + "storage"(& +4 "core" &<; } y _\ +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(`'e +277 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (w& +2 "core" &<8 [ \\ \ +2 "manipulator"&U& +4 "core" &  Q +2 .tElbow.seek 5 +2 "manipulator"&_( +3 "core" ( + "manipulator"&& +4 "core" &  Q + "storage"(& +4 "core" &<8 q q \ +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&'[ +24 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&u/ +55 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&%& +3 "storage"(~'N +8 "core" & y Y Q + "manipulator"& % +5 "core" % Y ~ ? +2 .tForearm.seek :retract +2 "manipulator"&'\ +96 "core" ' + .tElbow.seek PC +2 "manipulator"&(c +152 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +95 "core" ( +2 "manipulator"&c& +4 "core" &m  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &q& +3 "core" &m  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"& '[ +98 "core" ' + "manipulator"&& +5 "core" &m  + "manipulator"&l% +4 "core" %b  +2 "processing"%r& +4 "core" &.\ +2 "processing"%9& +4 "core" &:\ +2 .tPC.seek :closed +2 "processing"%(Z +5 "core" &5\  +9 &.}0\ +z +10 &d'\ > +9 &Cv)\ M +9 &X7\ M +10 &]/\ M +9 &[(\ N +10 &!K]0\ M +9 &# Z5\ M +9 &$]8\ M +10 &&\\5\ M +9 &(R[6\ N +9 &*Z5\ M +10 &+Z5\ N +9 &-W4\ M +10 &/[_3\ M +9 &1]=\ M +9 &2]:\ N +10 &4Z8\ M +9 &6c]:\ M +9 &8%\\5\ M +10 &9]9\ M +9 &;\\=\ N +9 &=l[5\ M +10 &?-_7\ M +9 &@]6\ N +10 &B\\<\ N +9 &Ds[:\ M +9 &F4Z<\ N +10 &Ge=\ N +9 &Ip>\ P +10 &Km4\ R +9 &M*<\ T +9 &N6\ T +10 &P5\ T +9 &Rm6\ U +10 &T02\ T +9 &U7\ U +9 &W1\ U +9 &Yt7\ B +10 &Zz?9\ V +9 &Z7\ ) +3 ( + "processing"%9& +3 #tProcessing Clamp onSpring/offSpring for 9/25 samples, on/off torque 1.63 + .Hand.open +2 "manipulator"&m1 +63 "core" 1 + "manipulator"&% +4 "core" % b : +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&"'\ +96 "core" ' +2 "processing"%& +4 "core" &Z1\ ) +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 + "manipulator"&% +4 "core" %\ 1 C $n +2 "storage"(I% +3 "core" %> ] Z\ +2 "storage"(R. +3 "core" .(<< + "storage"(& +4 "core" &<8 ] \\\ +2 "storage"(>& +2 "manipulator"&e& +7 "core" &<8 Z [\ +2 &m  +2 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +2 "storage"(#]kK-0-\ b +4 .tElbow.seek PC +4 "manipulator"&A(c +3 ."raiseStack"SE.seek :beamBreak +2 "storage"($'e +2 "core" ( +2 "manipulator"&& +4 "core" &m + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 & & +2 "core" &m : +3 .tForearm.seek PC + "manipulator"&'[ +95 "core" ' + .tHand.close + "manipulator"&o/ +59 "core" / +2 .tPC.seek :open + "processing"%M(p +92 "core" ' + "storage"(<- +3 "core" -'e +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(J'B +36 "core" ' +254 ( +2 "storage"()& +4 "core" &<8 q p 2\ + "manipulator"& & +4 "core" &m  +2 "manipulator"&1% +4 "core" % m  + .tForearm.seek :retract +2 "manipulator"&3'\ +93 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&-( +256 "core" ( + "manipulator"&& +4 "core" &  % +2 "storage"(& +4 "core" &<8 e g ^\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&N' +93 "core" ' +2 .tHand.open + "manipulator"&B1 +60 "core" 1 +2 "storage"(#- +3 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate +2 "storage"(X' +23 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(0' +53 "core" ' + #tLights, camera, ACTION! +2 "storage"(=- +3 "core" -' +2 "storage"(S& +4 "core" &<7 \ +2 "manipulator"&;& +3 "core" & V % +2 .tElbow.seek 5 +2 "manipulator"&.( +3 "core" ( + "manipulator"&j& +4 "core" &  % +2 "storage"(L& +4 "core" &<7 \ +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&' +3 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"(C'M +57 "core" ' + "manipulator"&5& +4 "core" &  % +2 "storage"(F& +4 "core" &<7  w R\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&&'/ +22 "core" ' + .tElbow.hold +2 "manipulator"&Y, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"(4'7 +26 "core" ' + "manipulator"&T% +5 "core" %> ( + "storage"(E& +4 "core" &<7 C F P\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 315 counts + "manipulator"&6'j +17 "core" ' +2 "manipulator"&f& +4 "core" &?\ { R +2 "storage"(H& +4 "core" &<7 n w \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&/' +12 "core" ' + "storage"(7% +5 "core" %4 |\ +2 ."downElevator"SE.seek :down +4 "storage"(:'N +99 (!% +5 "core" %> ] ^ \ U^ + "manipulator"&G% +4 "core" % | - +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&D'\ +87 "core" ' +65 ' + ."downElevator"SE.stop + "storage"(5 +3 (V& +4 "core" &<7 p ` 0\ +2 "collection"']& +3 "core" &]p\ U +2 #tStoring generic puck in Collection Clamp to tube 5 + "manipulator"&Q% +4 "core" %\ $  . +2 "storage"(W% +4 "core" %Q q q \ \ +2 "storage"(P. +3 "core" .(<< + "storage"(,& +4 "core" &<7 o p \ +2 "storage"(d& +4 "core" &<7 z } .\ + "manipulator"&[& +4 "core" &?  R +2 .tElbow.seek 5 +2 "manipulator"&K( +20 "core" ( +2 "manipulator"&b& +4 "core" &   +2 "storage"(?& +4 "core" &<7  n\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&@' +93 "core" ' +2 "storage"(x& +4 "core" &<7 ~ /\ +2 .tSE.reconfigure :pick +52 "storage"(#]K-0-\ b +5 .tSE.seek :beamBreak + "storage"(Z'e +279 "core" ' + "storage"(n- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&a& +3 "core" & t t  + "storage"(O& +4 "core" &<7 [ [ \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&\\'/ +26 "core" ' + .tElbow.hold +2 "manipulator"&i, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(g- +2 "core" -' +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(\ 'n +29 "core" ' + "manipulator"&p% +5 "core" %C 1 z + "storage"(+& +4 "core" &<7 D D \ +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 5 + 320 counts +2 "manipulator"&2'o +18 "core" ' +2 "manipulator"&k& +4 "core" &, j x o +2 "storage"(*& +4 "core" &<7 R\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&' +20 "core" ' +2 .tSE.seek 1.11 Pucks below Top Plate +2 "storage"(v'] +41 "core" ' + "manipulator"& & +5 "core" &, t z o + "manipulator"&s% +4 "core" % r p  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&h'\ +91 "core" ' + .tElbow.seek CC +2 "manipulator"&( +164 "core" ( + "manipulator"&& +4 "core" &* @[ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &z& +2 "core" &* r @[ +2 .tForearm.seek CC +2 "manipulator"&'| +101 "core" ' + .tHand.close + "manipulator"&t/ +63 "core" / +3 .tCC.seek :open +2 "collection"'(p +410 "core" ( + "storage"(y& +4 "core" &<7 \ +2 "storage"(^& +3 "core" &<7 Y\ +2 "manipulator"&& +4 "core" &' 5 >N + "manipulator"&% +4 "core" % ς - +2 .tForearm.seek :retract +2 "manipulator"&}'\ +98 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&'( +162 "core" ( + "manipulator"&& +5 "core" &    + "storage"(w& +4 "core" &<7 \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 5 + "manipulator"&U'/ +111 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&1 +61 "core" 1 +2 "manipulator"&u% +4 "core" % @ ~ } + "storage"(%& +4 "core" &<7  1\ +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 5 + 317 counts +2 "manipulator"& 'l +16 "core" ' +2 "manipulator"&(& +4 "core" &' |  + "storage"(& +4 "core" &<7 N\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&`' +21 "core" ' + "storage"(% +5 "core" %b a\ +2 ."downElevator"SE.seek :down +3 "storage"(c'N +99 (q% +3 "core" %> -\ U] +2 "manipulator"&_% +5 "core" % r s " +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +90 "core" ' +49 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 6 of [5..7] +2 #Loading generic puck from tube 6 into Collection Clamp + "collection"'l& +4 "core" &yz\ +2 "manipulator"&r% +4 "core" %\ .  #c + "storage"(~% +4 "core" %E g\ +2 "storage"(. +3 "core" .(<< +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"(8(K +356 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (m& +2 "core" &K | \  +2 "manipulator"&& +4 "core" &' \  +2 .tElbow.seek 6 + "manipulator"&( +12 "core" ( + "manipulator"&& +4 "core" &   +2 "storage"(I& +4 "core" &K 7\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&R'< +100 "core" ' + "storage"(& +4 "core" &K \  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(9'e +280 "core" ' +2 "storage"(e- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (>& +2 "core" &K .\  +2 "manipulator"&& +4 "core" & t q ~  + .tElbow.seek 6 +2 "manipulator"& ( +3 "core" ( + "manipulator"& & +4 "core" & t S R  +2 "storage"(o& +3 "core" &K 7\  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&<'Ϧ +25 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +62 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&"& + "storage"('N +7 "core" & s r E  +2 "manipulator"&)% +4 "core" % ϡ p r M +2 .tForearm.seek :retract + "manipulator"& '\ +95 "core" ' +2 .tElbow.seek CC + "manipulator"&$( +148 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +15 "core" ( + "manipulator"&1& +4 "core" &, & Bf +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &, p Bf +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&'| +105 "core" ' + "manipulator"&& +5 "core" &, _ Bf + "manipulator"&A% +4 "core" %s . +2 "collection"'B& +4 "core" &xy\ +3 "collection"'#& +5 "core" &xy\ +2 .tCC.seek :closed + "collection"'=(] +5 "core" &yy\ +7 &@x{\ $e +9 &nWz{\ 7 +10 &yz\ L +9 &]{y\ M +10 &F[xz\ M +9 &]v{\ M +9 & ]xy\ M +10 &"_zy\ M +9 &$L\\x{\ M +9 &&]x{\ M +10 &'\\zz\ M +9 &)]yz\ M +10 &+V\\y{\ M +9 &-Zv{\ M +9 &.]xz\ M +10 &0^z|\ M +9 &2]]x{\ M +9 &4]wz\ M +10 &5Zxz\ M +9 &7[wy\ M +9 &9fYyz\ M +10 &;(Zxy\ M +9 &<^wz\ M +10 &>\\yy\ M +9 &@m[y{\ M +9 &B/[{{\ M +10 &C\\w~\ M +9 &E\\w{\ M +9 &Gt`tv\ M +10 &I1jho\ O +9 &J}7O\ Q +10 &L\ V +9 &Naz\ V +9 &P!jo\ W +10 &QX^\ W +9 &SEL\ X +9 &Ub7<\ Y +10 &W#(,\ Y +9 &X\ Z +10 &Z \ [ +9 &\\e\ H +9 &]`7\ *} +10 &][\ B +2 ( +2 "collection"'#& +3 #tCollection Clamp onSpring/offSpring for 10/26 samples, on/off torque 2.06 + .Hand.open + "manipulator"&S1 +54 "core" 1 + "manipulator"&;% +4 "core" % o 7 +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&j'\ +93 "core" ' +2 #tLoading generic puck from tube 6 into Processing Clamp + "processing"%L& +4 "core" &/\ +2 "manipulator"&3% +3 "core" %\ ) v D +2 "storage"(5% +4 "core" %= p p \ +2 "storage"(F. +3 "core" .(K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"(T(K +7 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (E& +2 "core" &K < A o\  +2 "manipulator"&J& +4 "core" &( ?T + "manipulator"&f% +4 "core" %\ ) D +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&H( +167 "core" ( +2 "manipulator"&X& +4 "core" &  # +2 "storage"(7& +3 "core" &K h l S\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&-'< +91 "core" ' +2 "storage"(N& +4 "core" &K \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(0'e +277 "core" ' + "storage"(!- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (G& +3 "core" &K {\  +2 "manipulator"&& +3 "core" & t r # +2 .tElbow.seek 6 +2 "manipulator"&.( +3 "core" ( + "manipulator"&C& +4 "core" & w | m # +2 "storage"(&& +3 "core" &K U\  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&V'Ϧ +21 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +52 "manipulator"&6/ +63 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&]& + "storage"(Q'N +7 "core" & w { # +2 "manipulator"&W% +4 "core" % ϫ p O +2 .tForearm.seek :retract +2 "manipulator"&P'\ +89 "core" ' +2 .tElbow.seek PC + "manipulator"&4(c +162 "core" ' + ."downElevator"SE.stop + "storage"(5 +89 "core" ( +2 "manipulator"&,& +4 "core" &l 0 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &d& +3 "core" &l } +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&['[ +101 "core" ' +2 "manipulator"&b& +4 "core" &l  +2 "manipulator"&?% +4 "core" %X  + "processing"%/& +4 "core" &7\ +3 "processing"%x& +4 "core" &p\ +2 .tPC.seek :closed +2 "processing"%:(Z +4 "core" &:\ \ +10 &/~@\ *x +9 &d=\ > +9 &Bv9\ N +10 &W<\ M +9 &]8\ M +9 &Z<\ M +10 &!K_<\ M +9 &# Z/\ M +10 &$Y7\ M +9 &&Y4\ M +9 &(R[5\ N +10 &*[/\ M +9 &+Z+\ N +9 &-[/\ M +10 &/[[2\ M +9 &1]4\ M +9 &2]9\ M +10 &4Z7\ M +9 &6c[5\ M +10 &8&Y4\ M +9 &9\\7\ M +9 &;]4\ M +10 &=k\\6\ M +9 &?-_0\ M +9 &@]4\ N +10 &B]8\ N +9 &Ds\\5\ M +10 &F5[4\ M +9 &Gj9\ O +9 &Is*\ P +10 &Km3\ R +9 &M)7\ T +10 &N4\ T +9 &P6\ T +9 &Rn4\ T +10 &T03\ T +10 &U7\ T +8 &W6\ U +10 &Yt6\ B +9 &Z|A6\ U +9 &Z6\ ) +3 ( + "processing"%x& +4 #tProcessing Clamp onSpring/offSpring for 9/25 samples, on/off torque 1.62 + .Hand.open +2 "manipulator"&Y1 +53 "core" 1 + "manipulator"&D% +4 "core" % X +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&n'\ +95 "core" ' +2 "processing"%a& +4 "core" &Z6\ ) +2 #tImaging generic puck in Processing Clamp while storing it to tube 6 + "manipulator"&O% +4 "core" %\ . R #h + "storage"(g% +4 "core" %F ] ] 7\ +2 "storage"(p. +3 "core" .(K + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"(+(K +7 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (k& +5 "manipulator"&*& + "core" &K Z \\ \ +5 ."raiseStack"SE.reconfigure :place +2 "storage"(#]kK-0-\ b +3 "core" &l x +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +3 "storage"( 'e + "manipulator"&s(c +5 "core" ( + "manipulator"&@& +4 "core" &l +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &K& +2 "core" &l +3 .tForearm.seek PC +2 "manipulator"&Z'[ +95 "core" ' + .tHand.close + "manipulator"&\\/ +57 "core" / +2 .tPC.seek :open +2 "processing"%2(p +88 "core" ' + "storage"(\ - +4 "core" -'e + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('B +34 "core" ' +256 ( + "storage"(z& +4 "core" &K } \ +2 "manipulator"&& +3 "core" &l  +2 "manipulator"&i% +4 "core" % ]  +2 .tForearm.seek :retract +2 "manipulator"&t'\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 + "manipulator"&h( +261 "core" ( + "manipulator"&{& +4 "core" &  +2 "storage"(y& +4 "core" &K { \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&^'< +101 "core" ' + .tHand.open +2 "manipulator"&1 +63 "core" 1 +2 "storage"(- +3 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate +2 "storage"(' +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.83 Pucks below Top Plate + "storage"(w' +52 "core" ' + #tLights, camera, ACTION! +2 "storage"(- +3 "core" -' +2 "storage"(& +3 "core" &K\  {\ +2 "manipulator"&& +4 "core" & q u +2 .tElbow.seek 6 +2 "manipulator"&u( +3 "core" ( + "manipulator"&%& +4 "core" & j b +2 "storage"((& +3 "core" &K\  p\ +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&'< +4 "core" ' + .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"('M +58 "core" ' + "manipulator"&}& +4 "core" & t q +2 "storage"(q& +4 "core" &K \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&_'z +29 "core" ' +2 .tElbow.hold +2 "manipulator"&', +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"(U'7 +24 "core" ' + "manipulator"&l% +5 "core" %΅ 7 + "storage"( & +4 "core" &K [ \\\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 311 counts +2 "manipulator"&r'ϱ +18 "core" ' + "manipulator"&~& +5 "core" & m & + "storage"(& +4 "core" &K Z\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&v'< +17 "core" ' +2 "storage"(`% +4 "core" %@ \ +3 ."downElevator"SE.seek :down +3 "storage"(c'N +98 (|% +3 "core" %!: j l \ U^ +2 "manipulator"&m% +5 "core" %7 r t + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +86 "core" ' +64 ' + ."downElevator"SE.stop + "storage"(5 +3 (& +3 "core" &K e n 2\ +2 "collection"'I& +4 "core" &]`\ B +2 #tStoring generic puck in Collection Clamp to tube 6 + "manipulator"&% +4 "core" %\ +  !N +2 "storage"(% +3 "core" %A i g \ +2 "storage"(. +3 "core" .(K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"(e(K +7 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (>& +2 "core" &K } J\ +2 "manipulator"&& +4 "core" &  & +2 .tElbow.seek 6 + "manipulator"& ( +22 "core" ( +2 "manipulator"&o& +4 "core" & e & +2 "storage"(& +3 "core" &K x | ]\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&"'< +99 "core" ' +2 "storage"()& +4 "core" &K d\ +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"('e +281 "core" ' +2 "storage"(R- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&1& +2 "core" &  }  % +2 "storage"(& +4 "core" &K E\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&9'z +32 "core" ' + .tElbow.hold +2 "manipulator"&<, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(- +3 "core" -' +2 .tSE.seek 0.12 Pucks below Top Plate +2 "storage"( 'x +30 "core" ' +2 "manipulator"&A% +4 "core" %΅x  9 + "storage"(B& +4 "core" &K ? 4 [\ + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 6 + 311 counts + "manipulator"&'ϱ +14 "core" ' + "manipulator"& & +4 "core" & o M # +2 "storage"(& +4 "core" &K ^\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&S'< +15 "core" ' +2 .tSE.seek 1.12 Pucks below Top Plate +2 "storage"(;'g +48 "core" ' +2 "manipulator"&L& +4 "core" & r ? # +2 "manipulator"&3% +4 "core" %B ~ q Z +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&5'\ +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"&F( +190 "core" ( + "manipulator"&#& +4 "core" & U 0 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &E& +3 "core" & 6 0 +2 .tForearm.seek CC +2 "manipulator"&J'| +94 "core" ' +2 .tHand.close + "manipulator"&f/ +58 "core" / +2 .tCC.seek :open +2 "collection"'(p +411 "core" ( + "storage"(X& +4 "core" &K \ +2 "storage"(7& +3 "core" &K c\ +2 "manipulator"&8& +4 "core" & 3 / + "manipulator"&N% +4 "core" % τ : +2 .tForearm.seek :retract +2 "manipulator"&$'\ +91 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&j( +156 "core" ( + "manipulator"&!& +4 "core" &  +2 "storage"(G& +4 "core" &K h\ + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 6 +2 "manipulator"&'z +109 "core" ' + .tElbow.hold +2 "manipulator"&C, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&&1 +62 "core" 1 +2 "manipulator"&6% +4 "core" % ~ p +2 "storage"(]& +4 "core" &K x | u\ + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 304 counts +2 "manipulator"&W'Ϫ +19 "core" ' + "manipulator"&H& +4 "core" & x l S  +2 "storage"(-& +4 "core" &K f\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&0'< +17 "core" ' +2 "storage"(V% +4 "core" %m c\ +3 ."downElevator"SE.seek :down +3 "storage"(,'N +98 (d% +3 "core" %A j\ U] +2 "manipulator"&.% +4 "core" %@ w r +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&b'\ +86 "core" ' +54 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 7 of [5..7] + #Loading generic puck from tube 7 into Collection Clamp +2 "collection"'?& +4 "core" &y{\ +2 "manipulator"&/% +4 "core" %\ )  F +2 "storage"(Q% +4 "core" %= 6\ + "storage"(P. +3 "core" .(K +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 7 +2 "storage"(M([ +354 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (Y& +3 "core" &[ k \  +2 "manipulator"&D& +3 "core" &   +2 .tElbow.seek 7 +2 "manipulator"&a( +16 "core" ( + "manipulator"&O& +4 "core" &   +2 "storage"(g& +4 "core" &[ 7\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&p'k +93 "core" ' +2 "storage"(x& +4 "core" &[ _\  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(k'e +282 "core" ' + "storage"(*- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (@& +3 "core" &[ ;\  +2 "manipulator"&K& +4 "core" &   w  +2 .tElbow.seek 7 +2 "manipulator"&[( +3 "core" ( + "manipulator"&\\& +4 "core" & s  + "storage"(T& +4 "core" &[ \  +2 .tForearm.seek 7 + 300 counts +2 "manipulator"&\ ' +20 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&4/ +53 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&n& + "storage"(:'N +7 "core" & t u }  +2 "manipulator"&z% +4 "core" % t | +2 .tForearm.seek :retract +2 "manipulator"&'\ +99 "core" ' + .tElbow.seek CC +2 "manipulator"& ( +144 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +22 "core" ( + "manipulator"&i& +4 "core" &.  Cn +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &Z& +3 "core" &- / Cn +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&{'| +103 "core" ' + "manipulator"&y& +5 "core" &- P Cm + "manipulator"&s% +4 "core" %υ z +2 "collection"'& +4 "core" &vz\ +3 "collection"'& +5 "core" &yx\ +2 .tCC.seek :closed +2 "collection"'(] +4 "core" &y{\ +7 & /xy\ $c +10 &aVwz\ 7 +9 &y{\ K +9 &sYy|\ L +10 &4\\yz\ M +9 &]xx\ M +9 & ]wy\ M +10 &"|^yy\ L +9 &$<[xy\ M +9 &%]w{\ M +10 &'\\xy\ M +9 &)\\z{\ L +10 &+D\\yz\ M +9 &-[y{\ L +9 &.]yy\ M +10 &0]w{\ M +9 &2L]{w\ M +9 &4]u|\ M +10 &5Z{z\ L +9 &7\\yz\ M +10 &9UYxy\ M +9 &;Zxy\ L +9 &<\\yz\ L +10 &>\\yz\ M +9 &@]\\wz\ M +9 &B\\x{\ M +10 &C\\yz\ L +9 &E\\yx\ M +10 &Gd]rw\ M +9 &I"jnt\ N +9 &JyM`\ P +10 &L\ T +9 &NPu}\ W +10 &Pci\ X +9 &QOY\ X +9 &S?D\ X +10 &UO,2\ Z +9 &W"\ Y +9 &X\ Z +10 &Z\ [\ +9 &\\B\ N +10 &][8\ (u +9 &]r\ J +5 ( +2 "collection"'& +4 #tCollection Clamp onSpring/offSpring for 9/26 samples, on/off torque 2.02 + .Hand.open + "manipulator"&1 +4 "core" &]_\ J +52 1 + "manipulator"&% +5 "core" % x - + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&%'\ +92 "core" ' +2 #tLoading generic puck from tube 7 into Processing Clamp + "processing"%(& +5 "core" &/\ + "manipulator"&t% +4 "core" %\ * D +2 "storage"(}% +3 "core" %A s { E\  +2 "storage"(q. +3 "core" .([ + "storage"(l& +4 "core" &[ q q \  +2 "storage"( & +4 "core" &[ q t \  + "manipulator"&& +4 "core" &( ?R +2 "manipulator"&~% +3 "core" %\ ) D +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 7 +2 "manipulator"&( +166 "core" ( +2 "manipulator"&& +4 "core" & - < + "storage"(`& +4 "core" &[ g l `\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&h'k +96 "core" ' + "storage"(^& +4 "core" &[ \  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(w'e +282 "core" ' + "storage"(|- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (m& +2 "core" &[ z  ;\  +2 "manipulator"&& +4 "core" & r s d ; +2 .tElbow.seek 7 + "manipulator"&u( +4 "core" ( + "manipulator"&& +4 "core" & x { ] ; +2 "storage"(_& +3 "core" &[ v \  +2 .tForearm.seek 7 + 300 counts +2 "manipulator"&' +28 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&r/ +61 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&I& +2 "storage"('N +6 "core" & ~ t i ; +2 "manipulator"&% +3 "core" %  { r V  +2 .tForearm.seek :retract +2 "manipulator"&'\ +90 "core" ' +2 .tElbow.seek PC +2 "manipulator"&U(c +161 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +92 "core" ( +2 "manipulator"&>& +4 "core" &h + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &h  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&o'[ +105 "core" ' + "manipulator"&& +4 "core" &h r  +2 "manipulator"&v% +5 "core" %T { e + "processing"%)& +4 "core" &?\ +2 "processing"%c& +5 "core" &p\ +2 .tPC.seek :closed +2 "processing"%+(Z +4 "core" &:\  +9 &2?\ *x +10 &d?\ > +9 &Gw=\ N +9 & WE\ L +10 &]7\ M +9 &[6\ L +9 &!Q]3\ M +10 &#Y=\ L +9 &$[3\ M +10 &&`6\ M +9 &(Z\\=\ M +9 &*^0\ M +10 &+[/\ M +9 &-[1\ M +9 &/b]0\ M +10 &1#_0\ M +9 &2]0\ M +9 &4]0\ M +10 &6j[/\ M +9 &8+Z1\ M +10 &9\\4\ M +9 &;\\-\ M +9 &=qZ7\ M +10 &?2]9\ M +9 &@Z8\ M +9 &B\\7\ M +10 &Dw\\9\ N +9 &F:]5\ M +10 &Ge5\ N +9 &Ip;\ P +9 &Ks6\ R +10 &M/7\ T +9 &N7\ T +10 &P0\ T +9 &Ru6\ T +9 &T78\ T +10 &U7\ T +9 &W6\ T +9 &Y{8\ A +10 &Zx:8\ ^ +9 &Z 7\ + +2 ( +2 "processing"%c& +3 #tProcessing Clamp onSpring/offSpring for 9/25 samples, on/off torque 1.61 + .Hand.open + "manipulator"&'1 +61 "core" 1 +50 "manipulator"&% +6 "core" % T N +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&R'\ +90 "core" ' +2 "processing"%1& +4 "core" &Z 2\ + +2 #tImaging generic puck in Processing Clamp while storing it to tube 7 + "manipulator"&% +4 "core" %\ * B !Q +2 "storage"(% +4 "core" %; [ \\\ + "storage"(A. +3 "core" .([ +2 "storage"(B& +4 "core" &[ \\ [\  + "storage"( & +5 "manipulator"&& +4 "core" &[ Z [\  + &h b +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +2 "storage"(#]kK-0-\ b +2 "manipulator"&L(c +4 ."raiseStack"SE.seek :beamBreak +2 "storage"(3'e +3 "core" ( + "manipulator"&"& +4 "core" &h  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 & & +3 "core" &h +2 .tForearm.seek PC +2 "manipulator"&'[ +97 "core" ' + .tHand.close + "manipulator"&9/ +62 "core" / +3 .tPC.seek :open + "processing"%(p +84 "core" ' + "storage"( - +4 "core" -'e + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(#'B +41 "core" ' +252 ( + "storage"(E& +5 "core" &[ ~ \  + "manipulator"&S& +4 "core" &h  +2 "manipulator"&<% +4 "core" % [ K  +2 .tForearm.seek :retract +2 "manipulator"&f'\ +91 "core" ' +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 7 + "manipulator"&5( +249 "core" ( +2 "manipulator"&=& +4 "core" &  H + "storage"(X& +4 "core" &[   \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&7'k +101 "core" ' + .tHand.open + "manipulator"&81 +62 "core" 1 +2 "storage"(N- +3 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate +2 "storage"(!' +26 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(G' +53 "core" ' + #tLights, camera, ACTION! +2 "storage"(J- +3 "core" -' +2 "storage"(F& +4 "core" &[ `\  + "manipulator"&&& +4 "core" &  H +2 .tElbow.seek 7 +2 "manipulator"&6( +3 "core" ( + "manipulator"&]& +4 "core" &  H +2 "storage"(H& +4 "core" &[ ;\  +2 .tForearm.seek 7 + 450 counts + "manipulator"&-'k +27 "core" ' + .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"(V'M +61 "core" ' +2 "manipulator"&$& +4 "core" &\ p p h H +2 "storage"(d& +3 "core" &[ `\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 7 +2 "manipulator"&.'Ω +32 "core" ' + .tElbow.hold +2 "manipulator"&j, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"('7 +23 "core" ' + "manipulator"&?% +5 "core" %λ  + "storage"(/& +4 "core" &[ g h /\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 7 + 318 counts + "manipulator"&W' +18 "core" ' +2 "manipulator"&Q& +4 "core" & m H +2 "storage"(P& +4 "core" &[ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&;'k +18 "core" ' +2 "storage"(0% +4 "core" %> +\ +3 ."downElevator"SE.seek :down +3 "storage"(,'N +99 (e% +3 "core" %o> |\ V_ +2 "manipulator"&Y% +5 "core" %L p { q  + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&D'\ +87 "core" ' +60 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (O& +4 "core" &[ q e D\  +2 "collection"'g& +4 "core" &]_\ J + #tStoring generic puck in Collection Clamp to tube 7 +2 "manipulator"&x% +4 "core" %\ *  !O +2 "storage"(C% +4 "core" %8 x j 4\ +2 "storage"(b. +3 "core" .([ + "storage"(*& +4 "core" &[ g k\  +2 "storage"(@& +4 "core" &[ i g x\  + "manipulator"&K& +4 "core" & 1 H +2 .tElbow.seek 7 + "manipulator"&\\( +4 "core" ( + "manipulator"&T& +4 "core" &  H + "storage"(4& +4 "core" &[ j j \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&n'k +91 "core" ' +2 "storage"(z& +4 "core" &[ 8\  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(a'e +282 "core" ' +2 "storage"(p- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&i& +2 "core" & t t d H +2 "storage"(Z& +4 "core" &[ o k w\  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 7 +2 "manipulator"&k'Ω +29 "core" ' +2 .tElbow.hold + "manipulator"&\ , +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(y- +2 "core" -' +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(['n +31 "core" ' + "manipulator"&s% +4 "core" %κ D +2 "storage"(& +3 "core" &[ ] ]\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 7 + 317 counts + "manipulator"&:' +19 "core" ' +2 "manipulator"&& +4 "core" & w j H +2 "storage"(& +3 "core" &[ )\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&'k +16 "core" ' +2 .tSE.seek 1.11 Pucks below Top Plate +2 "storage"('] +41 "core" ' + "manipulator"&(& +5 "core" &\ q s H + "manipulator"&t% +4 "core" %o q p Z +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&}'\ +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"&q( +159 "core" ( +2 "manipulator"&l& +4 "core" &* / Ad + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 & & +3 "core" &+  Ad +2 .tForearm.seek CC + "manipulator"&'| +97 "core" ' +2 .tHand.close + "manipulator"&/ +62 "core" / + .tCC.seek :open +2 "collection"'~(p +411 "core" ( + "storage"({& +4 "core" &[ ^\  +2 "storage"(& +4 "core" &[ p\  + "manipulator"&`& +4 "core" &+#  ;2 + "manipulator"&^% +4 "core" % Ϗ   +2 .tForearm.seek :retract +2 "manipulator"& '\ +92 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 7 +2 "manipulator"&%( +165 "core" ( +2 "manipulator"&|& +4 "core" &  : + "storage"(m& +4 "core" &[ X\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 7 + "manipulator"&'Ω +106 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&_1 +57 "core" 1 +2 "manipulator"&r% +4 "core" % μ 7 + "storage"(I& +4 "core" &[ \  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 7 + 319 counts + "manipulator"&' +19 "core" ' + "manipulator"&& +5 "core" & x m : + "storage"(h& +4 "core" &[ c\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&w'k +23 "core" ' +2 "storage"(% +4 "core" %a c\ +3 ."downElevator"SE.seek :down +3 "storage"(>'N +98 (% +3 "core" %!? \ U[ +2 "manipulator"&u% +4 "core" %Џ q t n +2 .tForearm.reconfigure :loose +51 "manipulator"&#Q@2^d^b +4 .tForearm.seek :retract + "manipulator"&'\ +87 "core" ' + ' + ."downElevator"SE.stop +3 "storage"(5 +3 #tShuffling pucks in tube 5 of [5..7] +2 #Loading generic puck from tube 5 into Collection Clamp + "collection"'v& +5 "core" &xz\ + "manipulator"&)% +4 "core" %\ (  E +2 "storage"(% +4 "core" %8 r\ + "storage"(. +3 "core" .([ +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"(2(<< +674 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 ('& +2 "core" & +9 &Uvyz\ M +9 &[yy\ M +10 &\\xz\ M +9 &^y{\ M +9 &!`]yy\ L +10 &# \\xz\ M +9 &$[xz\ L +10 &&_z{\ M +9 &(g]yy\ M +9 &*)^wy\ M +10 &+]xy\ L +9 &-\\wx\ L +9 &/o\\yz\ M +10 &12\\yz\ L +9 &2\\xv\ M +10 &4Yxx\ M +9 &6wYwy\ M +9 &89Yzy\ M +10 &9Zwz\ L +9 &;Zyy\ M +9 &=~_xx\ M +10 &?AZxz\ M +9 &A_xw\ M +10 &BZyy\ M +9 &D[ux\ L +9 &FJ\\uy\ L +10 &H cru\ M +9 &Irdl\ O +9 &K@\ Q +10 &M6\ V +9 &Nx\ V +10 &Pjn\ W +9 &RwY^\ X +9 &T9GO\ X +10 &U7@\ Y +9 &W.2\ Z +9 &Yu"\ [\ +10 &[6 \ [ +9 &\\{\ / +9 &]0\ "g +9 ( +3 "collection"'N& +3 #tCollection Clamp onSpring/offSpring for 9/25 samples, on/off torque 2.09 + .Hand.open +2 "manipulator"&F1 +3 "core" &]n\ S +55 1 + "manipulator"&&% +4 "core" % z \\ +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&]'\ +92 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp + "processing"%H& +4 "core" &G\ +2 "manipulator"&f% +4 "core" %\ / #g +2 "storage"($% +4 "core" %? g d !\  + "storage"(d. +3 "core" .( +10 &PvF\ N +9 &ZF\ M +9 &[L\ N +10 &ZJ\ N +9 &!W[H\ N +10 &#XF\ M +9 &$WL\ M +9 &&\\@\ N +10 &(`Z:\ M +12 &*"ZD\ M +6 &+YI\ N +10 &-ZH\ N +9 &/h]L\ M +9 &1*W?\ M +10 &2]<\ M +9 &4\\2\ M +10 &6pZ6\ M +9 &83X7\ M +9 &9Z:\ M +10 &;W8\ M +9 &=xZ:\ M +10 &?;[8\ M +9 &@^5\ N +9 &BX7\ M +10 &DX6\ M +9 &FB]0\ M +9 &He8\ O +10 &Io?\ P +9 &K{7\ R +10 &M67\ T +9 &N7\ U +9 &P8\ T +10 &Rz5\ U +9 &T=6\ T +9 &U+\ U +10 &W:\ U +9 &Y<\ B +10 &Z:;\ V +9 &Z2\ + +2 ( +2 "processing"%z& +3 #tProcessing Clamp onSpring/offSpring for 9/25 samples, on/off torque 1.61 + .Hand.open + "manipulator"&j1 +63 "core" 1 +2 "manipulator"&D% +4 "core" % Y  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&p'\ +100 "core" ' + "processing"%i& +4 "core" &Z8\ + +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 + "manipulator"&Z% +4 "core" %\ 6  & +2 "storage"(y% +3 "core" %8 \\ Z\  +2 "storage"(s. +3 "core" .(<9 + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"((<< +9 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (& +2 "manipulator"&& +5 "core" &<9 U C \  +5 ."raiseStack"SE.reconfigure :place +2 "storage"(#]kK-0-\ b +4 "core" &i 1 + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +2 ."raiseStack"SE.seek :beamBreak +4 "manipulator"&((c + "storage"(t'e +5 "core" ( + "manipulator"&n& +4 "core" &i  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &\\& +3 "core" &i +2 .tForearm.seek PC + "manipulator"&a'[ +95 "core" ' + .tHand.close + "manipulator"&k/ +64 "core" / + .tPC.seek :open +2 "processing"%:(p +83 "core" ' +2 "storage"([- +3 "core" -'e +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(l'B +30 "core" ' +268 ( + "storage"( & +4 "core" &<8 n p\  +2 "manipulator"&& +4 "core" &i  + "manipulator"&\ % +4 "core" % b   +2 .tForearm.seek :retract +2 "manipulator"&'\ +91 "core" ' +2 .tElbow.reconfigure :tight +53 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&}( +255 "core" ( + "manipulator"&& +5 "core" & ! # + "storage"({& +4 "core" &<8 p p J\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&' +100 "core" ' +2 .tHand.open + "manipulator"&`1 +53 "core" 1 +2 "storage"(^- +4 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate +2 "storage"(|' +26 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(m' +54 "core" ' +2 #tLights, camera, ACTION! + "storage"(- +4 "core" -' + "storage"(q& +4 "core" &<7 \  +2 "manipulator"&_& +4 "core" & s O # + .tElbow.seek 5 +2 "manipulator"&r( +4 "core" ( +2 "manipulator"&I& +3 "core" & r { # +2 "storage"(& +4 "core" &<7 \  +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&h' +16 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.11 Pucks below Top Plate + "storage"('M +63 "core" ' + "manipulator"& & +5 "core" &   # + "storage"(& +4 "core" &<7 | /\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&u'/ +25 "core" ' + .tElbow.hold +2 "manipulator"&%, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"('7 +22 "core" ' + "manipulator"&v% +5 "core" %C  + "storage"(& +4 "core" &<7 ] ]\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 320 counts + "manipulator"&)'o +19 "core" ' + "manipulator"&& +5 "core" &: z o * J + "storage"(& +4 "core" &<7 b\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&' +9 "core" ' +2 "storage"(w% +4 "core" %= S\ +3 ."downElevator"SE.seek :down +3 "storage"(>'N +99 (M% +3 "core" %iA s j \ V` + "manipulator"&'% +5 "core" %  z , + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +94 "core" ' +57 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (1& +4 "core" &<7 T B a\  +2 "collection"'& +4 "core" &]m\ S +2 #tStoring generic puck in Collection Clamp to tube 5 +2 "manipulator"&A% +3 "core" %\ ; ( +2 "storage"(% +4 "core" %B ] \\\ +2 "storage"(. +3 "core" .(<9 + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"((<< +9 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 ( & +3 "core" &<9   \  +2 "manipulator"&"& +4 "core" &:  J +2 .tElbow.seek 5 +2 "manipulator"&o( +40 "core" ( + "manipulator"&9& +5 "core" & n # + "storage"(U& +3 "core" &<8 ] \\ 4\  +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&R' +102 "core" ' + "storage"(E& +4 "core" &<8 w } C\  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(c'e +277 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&<& +2 "core" &  # +2 "storage"(& +4 "core" &<8 { s Q\  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 5 + "manipulator"&B'/ +27 "core" ' + .tElbow.hold + "manipulator"& , +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(X- +2 "core" -' +3 .tSE.seek 0.11 Pucks below Top Plate + "storage"( 'm +26 "core" ' +2 "manipulator"&L% +4 "core" %? $ Y + "storage"(8& +4 "core" &<8 5 @ L\  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 5 + 316 counts +2 "manipulator"&+'k +17 "core" ' +2 "manipulator"&3& +4 "core" &B x l Y : +2 "storage"(~& +4 "core" &<8 q \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&F' +16 "core" ' +2 .tSE.seek 1.11 Pucks below Top Plate +2 "storage"(&'\\ +41 "core" ' + "manipulator"&H& +5 "core" &B s q d : + "manipulator"&f% +4 "core" % { p E +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&$'\ +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&d( +143 "core" ( + "manipulator"&N& +4 "core" &   0 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &?& +2 "core" &   0 +3 .tForearm.seek CC +2 "manipulator"&/'| +96 "core" ' +2 .tHand.close + "manipulator"&!/ +60 "core" / +2 .tCC.seek :open + "collection"'=(p +414 "core" ( +2 "storage"(P& +4 "core" &<8 \  + "storage"(0& +4 "core" &<8 \  +2 "manipulator"&2& +3 "core" &  } 0 +2 "manipulator"&7% +3 "core" % ~ f +3 .tForearm.seek :retract + "manipulator"&S'\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&]( +158 "core" ( + "manipulator"&e& +5 "core" &   \ + "storage"(Y& +4 "core" &<8 5\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +2 .tForearm.seek 5 +2 "manipulator"&-'/ +107 "core" ' +2 .tElbow.hold +2 "manipulator"&V, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&.1 +59 "core" 1 +2 "manipulator"&W% +4 "core" % A ! +2 "storage"(g& +3 "core" &<8 j k {\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 318 counts + "manipulator"&C'm +19 "core" ' +2 "manipulator"&Q& +5 "core" &5 w }  + "storage"(5& +4 "core" &<8 G\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&G' +10 "core" ' +2 "storage"(O% +4 "core" %_ P\ +3 ."downElevator"SE.seek :down +3 "storage"('N +98 (@% +3 "core" %%? \ TZ +2 "manipulator"&6% +4 "core" % p q 4 0 +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&T'\ +91 "core" ' +49 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 6 of [5..7] + #Loading generic puck from tube 6 into Collection Clamp + "collection"'4& +5 "core" &xz\ + "manipulator"&;% +4 "core" %\ .  #c +2 "storage"(x% +4 "core" %< \ + "storage"(b. +4 "core" .(<9 +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"((K +349 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (j& +2 "core" &K | C\  +2 "manipulator"&D& +4 "core" &5   +2 .tElbow.seek 6 + "manipulator"&i( +12 "core" ( + "manipulator"&Z& +4 "core" & O  +2 "storage"(y& +4 "core" &K \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&s'< +110 "core" ' + "storage"(z& +4 "core" &K \  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"('e +290 "core" ' + "storage"(- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (n& +3 "core" &K l\  +2 "manipulator"&\\& +3 "core" & c ` ~  +2 .tElbow.seek 6 +2 "manipulator"&K( +3 "core" ( + "manipulator"&k& +4 "core" & S t  + "storage"(#& +4 "core" &K \  +2 .tForearm.seek 6 + 300 counts +50 "manipulator"&['Ϧ +29 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&*/ +53 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&p& +3 "storage"(,'N +7 "core" & s t y  +2 "manipulator"& % +4 "core" % ϟ p p +2 .tForearm.seek :retract + "manipulator"&t'\ +89 "core" ' + .tElbow.seek CC +2 "manipulator"&( +151 "core" ( +2 "manipulator"&\ & +5 "core" & = / ' +2 .tElbow.reconfigure :loose +2 ."downElevator"SE.stop +3 "manipulator"&$ &.,(#b +2 "storage"(5 +2 "manipulator"&a& +6 "core" & Z / +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&'| +106 "core" ' +2 "manipulator"&{& +4 "core" &  / +2 "manipulator"&(% +4 "core" %π  +2 "collection"'`& +4 "core" &yyY +2 "collection"'^& +5 "core" &u{+ +2 .tCC.seek :closed +2 "collection"'(] +4 "core" &yy\\  +9 &2{x\\\ *y +9 &dzzu\ > +10 &Kwy{\ N +9 &Yx{\ L +9 &\\zz\ M +10 &`yz\ M +9 &!U_x{\ M +10 &#[wz\ M +9 &$^xy\ M +9 &&`yy\ M +10 &(^_xy\ L +9 &* \\xy\ L +9 &+^z{\ L +10 &-_yz\ M +9 &/e_w}\ M +10 &1'`yz\ M +9 &2^xy\ M +9 &4\\wz\ M +10 &6m]xz\ M +9 &8/\\vy\ M +9 &9\\xy\ M +10 &;X{z\ L +9 &=v]yz\ L +9 &?7]wy\ M +10 &@[zz\ L +9 &B]xz\ M +10 &D}\\x{\ M +9 &F@\\y{\ L +9 &Gbtv]\ N +10 &Itgp\ O +9 &Ku"B\ R +10 &M,r\ V +9 &N{\ V +9 &Pkpq\ X +10 &Rm\\bu\ X +9 &T-LP\ X +9 &U8B\ Y +10 &W*2\ Y +9 &Yj#\ [ +9 &[-\ [\ +10 &\\z\ 3 +9 &]%\ #f +10 &]r\ O +2 ( + "collection"'^& +4 #tCollection Clamp onSpring/offSpring for 9/25 samples, on/off torque 2.08 + .Hand.open + "manipulator"&q1 +60 "core" 1 +2 "manipulator"&_% +4 "core" % π  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&I'\ +92 "core" ' +2 #tLoading generic puck from tube 6 into Processing Clamp + "processing"%& +5 "core" &\ + "manipulator"&% +4 "core" %\ - l "^ +2 "storage"( % +3 "core" %C \\ \\\ +2 "storage"(. +3 "core" .(K + "storage"(l& +4 "core" &K _ i e\  +2 "storage"(v& +3 "core" &K ] _ $\  +2 "manipulator"&& +4 "core" & / +2 "manipulator"&|% +3 "core" %\ - + "^ +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&( +171 "core" ( + "manipulator"&& +4 "core" &   +2 "storage"(w& +4 "core" &K p p o\  + .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&}'< +93 "core" ' + "storage"(& +5 "core" &K } "\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(m'e +281 "core" ' +2 "storage"(M- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 ('& +2 "core" &K [ \\\  +2 "manipulator"&h& +3 "core" &   +2 .tElbow.seek 6 +2 "manipulator"&r( +3 "core" ( + "manipulator"&& +4 "core" & |   +2 "storage"(u& +3 "core" &K p p \  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&1'Ϧ +11 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&/ +54 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&)& +2 "storage"(A'N +6 "core" & s t K  +2 "manipulator"&% +4 "core" % ϰ p q V = +2 .tForearm.seek :retract +2 "manipulator"&'\ +95 "core" ' + .tElbow.seek PC +2 "manipulator"&(c +158 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +86 "core" ( + "manipulator"& & +4 "core" &l y 4  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &"& +3 "core" &l   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&9'[ +103 "core" ' +2 "manipulator"&U& +4 "core" &l f %  +2 "manipulator"&% +3 "core" %`   r +2 "processing"%E& +4 "core" &M\ +2 "processing"%>& +6 "core" &T\ +2 .tPC.seek :closed +3 "processing"%(Z +3 "core" &U\ +5 &M\ 1 +10 &HL\ 0 +9 &1sR\ E +10 &bK\ M +9 &YG\ M +9 &]ZI\ M +10 & [M\ M +9 &!ZN\ M +10 &#ZK\ M +9 &%eWN\ M +9 &''ZO\ M +10 &(ZH\ M +9 &*YO\ M +9 &,m[H\ M +10 &..ZK\ M +9 &/\\J\ M +10 &1ZK\ M +9 &3s[K\ M +9 &55ZH\ M +10 &6ZM\ M +9 &8\\G\ M +9 &:|YF\ M +10 &<>YC\ M +9 &=\\;\ M +9 &?[>\ N +10 &A]H\ M +9 &CF\\9\ M +10 &E\\;\ M +9 &FcA\ N +9 &HkM\ O +10 &JC|O\ Q +9 &KM\ S +10 &M8\ T +9 &O9\ T +9 &QB<\ T +10 &SB\ T +9 &T9\ U +10 &V6\ T +9 &XH:\ T +9 &Y{u8\ + +10 &Z'c7\ - +8 ( +2 &Z8\ ' +3 "processing"%>& +2 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.60 + .Hand.open + "manipulator"&%1 +61 "core" 1 +2 "manipulator"&% +4 "core" % ` m  r +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +94 "core" ' +2 "processing"%<& +4 "core" &ZC\ ' + #tImaging generic puck in Processing Clamp while storing it to tube 6 +2 "manipulator"&% +4 "core" %\ 1 v $l +2 "storage"(X% +3 "core" %N h g J\ +2 "storage"(L. +3 "core" .(K + "storage"(8& +4 "core" &K g g +\  +2 "storage"(3& +2 "manipulator"&~& +7 "core" &K g h H\  +2 &l   +3 ."raiseStack"SE.reconfigure :place +2 .tElbow.reconfigure :tight +3 "storage"(#]kK-0-\ b +5 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +2 ."raiseStack"SE.seek :beamBreak +4 "manipulator"&H(c + "storage"(f'e +5 "core" ( + "manipulator"&R& +4 "core" &l k  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &o& +3 "core" &l L  +2 .tForearm.seek PC +2 "manipulator"&c'[ +97 "core" ' + .tHand.close +2 "manipulator"&B/ +56 "core" / +2 .tPC.seek :open +2 "processing"%+(p +88 "core" ' +2 "storage"(N- +3 "core" -'e +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"( 'B +44 "core" ' +246 ( + "storage"(?& +4 "core" &K v\  +2 "manipulator"&F& +3 "core" &l   +2 "manipulator"& % +4 "core" % \\  +2 .tForearm.seek :retract +2 "manipulator"&!'\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +2 "manipulator"&$( +260 "core" ( + "manipulator"&J& +4 "core" & # +2 "storage"(P& +4 "core" &K [ ] ]\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&0'< +102 "core" ' + .tHand.open +2 "manipulator"&21 +61 "core" 1 +2 "storage"(7- +3 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate +2 "storage"(e' +23 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.83 Pucks below Top Plate + "storage"(Y' +53 "core" ' + #tLights, camera, ACTION! +2 "storage"(/- +3 "core" -' +2 "storage"(d& +4 "core" &K \  + "manipulator"&.& +4 "core" & t t # +2 .tElbow.seek 6 + "manipulator"&W( +18 "core" ( +2 "manipulator"&g& +4 "core" & { x  + "storage"(Q& +5 "core" &K\  \  +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&5'< +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"(O'M +62 "core" ' + "manipulator"&S& +5 "core" & p q D  + "storage"(@& +4 "core" &K Y\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&6'z +36 "core" ' +2 .tElbow.hold +2 "manipulator"&], +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"(-'7 +24 "core" ' +2 "manipulator"&4% +4 "core" %΄w T ? +51 "storage"(;& +5 "core" &K  \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 310 counts + "manipulator"&x'ϰ +19 "core" ' + "manipulator"&C& +5 "core" & j ]  + "storage"(b& +4 "core" &K \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&&'< +16 "core" ' + "storage"(G% +5 "core" %? Z\ +2 ."downElevator"SE.seek :down +4 "storage"('N +99 (% +3 "core" %A z p @\ V` + "manipulator"&j% +4 "core" %/ o s @  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&D'\ +88 "core" ' +61 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (Z& +4 "core" &K X H J\  +2 "collection"'y& +4 "core" &]q\ O +2 #tStoring generic puck in Collection Clamp to tube 6 + "manipulator"&z% +4 "core" %\ +  !N +2 "storage"(V% +4 "core" %E q t \ +2 "storage"(T. +3 "core" .(K + "storage"(& +4 "core" &K z p \  +2 "storage"(n& +4 "core" &K q q \  + "manipulator"&\\& +4 "core" &   +2 .tElbow.seek 6 + "manipulator"&k( +4 "core" ( +2 "manipulator"&#& +4 "core" &   + "storage"(*& +4 "core" &K ~ ~ \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&p'< +94 "core" ' + "storage"( & +4 "core" &K `\  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(i'e +282 "core" ' + "storage"(s- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&\ & +3 "core" & t w  +2 "storage"(a& +3 "core" &K ~ ~ \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&'z +34 "core" ' +2 .tElbow.hold + "manipulator"&[, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"({- +3 "core" -' +2 .tSE.seek 0.12 Pucks below Top Plate +2 "storage"(('s +31 "core" ' + "manipulator"&K% +5 "core" %}k   + "storage"(`& +4 "core" &K " ! \  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 6 + 303 counts + "manipulator"&,'ϩ +21 "core" ' +2 "manipulator"&t& +4 "core" & i x f  +2 "storage"(=& +3 "core" &K X\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&q'< +16 "core" ' +2 .tSE.seek 1.12 Pucks below Top Plate +2 "storage"(_'b +52 "core" ' + "manipulator"&& +5 "core" & q q E  + "manipulator"&% +4 "core" %9 s p O +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"& '\ +90 "core" ' +2 .tElbow.seek CC + "manipulator"&( +142 "core" ( +2 "manipulator"&l& +4 "core" & X / + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &v& +3 "core" & ( / +2 .tForearm.seek CC + "manipulator"&^'| +95 "core" ' + .tHand.close + "manipulator"&/ +65 "core" / + .tCC.seek :open +2 "collection"'|(p +411 "core" ( +2 "storage"(& +4 "core" &K -\  + "storage"(& +4 "core" &K g\  + "manipulator"&w& +4 "core" &  - +2 "manipulator"&% +3 "core" % ψ   +2 .tForearm.seek :retract +2 "manipulator"&'\ +98 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&I( +159 "core" ( + "manipulator"&M& +4 "core" & l +2 "storage"('& +3 "core" &K \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 6 +2 "manipulator"&h'z +110 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&u1 +63 "core" 1 +2 "manipulator"&% +5 "core" % ΍ 6 s + "storage"()& +4 "core" &K \  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 319 counts + "manipulator"&'Ϲ +17 "core" ' +2 "manipulator"&& +4 "core" & w } e + "storage"(}& +4 "core" &K \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&m'< +17 "core" ' +2 "storage"(1% +4 "core" %d \ +2 ."downElevator"SE.seek :down +4 "storage"( 'N +98 ("% +3 "core" %7? e\ U\\ +2 "manipulator"&r% +4 "core" %6 q p M +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&U'\ +87 "core" ' +51 ' + ."downElevator"SE.stop +2 "storage"(5 +2 #tShuffling pucks in tube 7 of [5..7] +2 #Loading generic puck from tube 7 into Collection Clamp + "collection"'& +5 "core" &zy5 + "manipulator"&E% +4 "core" %\ *  !P +2 "storage"(A% +4 "core" %: Z\ + "storage"(. +3 "core" .(K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 7 + "storage"(:([ +348 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (%& +2 "core" &[% } w \  +2 "manipulator"&& +4 "core" &  + .tElbow.seek 7 +2 "manipulator"&<( +14 "core" ( +2 "manipulator"&& +4 "core" &   +2 "storage"(X& +3 "core" &[ \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&L'k +102 "core" ' +2 "storage"(8& +4 "core" &[ \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(>'e +277 "core" ' + "storage"(~- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (3& +3 "core" &[ 6\  + "manipulator"&R& +4 "core" & p p *  +2 .tElbow.seek 7 + "manipulator"&o( +4 "core" ( + "manipulator"&9& +4 "core" & | r e  +2 "storage"(B& +3 "core" &[ \  +2 .tForearm.seek 7 + 300 counts +2 "manipulator"&N' +25 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&/ +61 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"&& + "storage"('N +7 "core" & r s c  + "manipulator"&?% +4 "core" % r o V +2 .tForearm.seek :retract +2 "manipulator"&F'\ +93 "core" ' + .tElbow.seek CC +2 "manipulator"&f( +147 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +15 "core" ( +2 "manipulator"& & +4 "core" &\ p  Y +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &c& +3 "core" &\ E Y +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&J'| +97 "core" ' + "manipulator"&P& +4 "core" &\ 9 Y +2 "manipulator"&H% +4 "core" %φ  +2 "collection"'2& +4 "core" &wy7 +2 "collection"'7& +6 "core" &yy] +2 .tCC.seek :closed +2 "collection"'/(] +5 "core" &xy`\ +6 &>yyt\ $d +9 &qVwyc\ 7 +9 &wyQ\ K +10 &[yx\ L +9 &F\\xy\ M +10 &]xz\ M +9 & _wyo\ L +9 &"[xzo\ M +10 &$OYxzs\ L +9 &&[yz\ M +9 &'Zww\ M +10 &)Zww\ L +9 &+VZww\ M +10 &-\\wy\ M +9 &.`yz\ M +9 &0_wxr\ M +10 &2`]wys\ L +9 &4!`xw\ L +9 &5Yxxx\ L +10 &7Zyz\ L +9 &9gYwy\ L +10 &;*Zxy\ L +9 &<]wy\ L +9 &>\\wxw\ L +10 &@n_yz\ M +9 &B1_vz\ L +9 &C\\wz\ L +10 &E_xzl\ L +9 &Gv^wyu\ M +10 &I4hrt\ N +9 &JvRcx\ O +9 &LX\ S +10 &NbW\ V +9 &P$mt\\\ V +9 &Q]bX\ W +10 &SINX\ X +9 &Ub4<X\ Y +9 &W%'-\ X +10 &X\ Z +9 &Z  x\ ^ +10 &\\d\ H +9 &]^5\ , +9 &]T\ B +3 ( +2 "collection"'7& +2 #tCollection Clamp onSpring/offSpring for 10/26 samples, on/off torque 2.08 + .Hand.open +2 "manipulator"&d1 +63 "core" 1 + "manipulator"&.% +4 "core" % υ  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&g'\ +93 "core" ' +52 #tLoading generic puck from tube 7 into Processing Clamp + "processing"%!& +4 "core" &\ +2 "manipulator"&Q% +4 "core" %\ +  !S + "storage"(S% +4 "core" %7 ^\  + "storage"(@. +4 "core" .([ + "storage"( & +4 "core" &[ o \  +2 "storage"(4& +3 "core" &[ \  +2 "manipulator"&;& +4 "core" &\  Y +2 "manipulator"&e% +3 "core" %\ +  !S +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 7 +2 "manipulator"&$( +164 "core" ( +2 "manipulator"&C& +4 "core" & M  + "storage"(b& +4 "core" &[ Q\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&0'k +93 "core" ' + "storage"(G& +5 "core" &[ [\  + .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(Y'e +279 "core" ' + "storage"(5- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (& +2 "core" &[ 4\  +2 "manipulator"&j& +3 "core" & t s c  +2 .tElbow.seek 7 +2 "manipulator"&W( +3 "core" ( + "manipulator"&O& +4 "core" & {  +2 "storage"(6& +3 "core" &[ \  +2 .tForearm.seek 7 + 300 counts +2 "manipulator"&Z' +20 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&x/ +54 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&y& + "storage"(z'N +7 "core" & s t  +2 "manipulator"&V% +4 "core" % q q > +2 .tForearm.seek :retract + "manipulator"&T'\ +96 "core" ' +2 .tElbow.seek PC +2 "manipulator"&(c +155 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +85 "core" ( + "manipulator"&-& +5 "core" &l r p " + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &n& +3 "core" &l v " +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&\\'[ +104 "core" ' +2 "manipulator"&#& +4 "core" &l y " +2 "manipulator"&*% +4 "core" %Q  + "processing"%&& +4 "core" &U\ +2 "processing"% & +5 "core" &S\ +2 .tPC.seek :closed +2 "processing"%(Z +4 "core" &T\ +6 &:U\ $e +10 &oUS\ 7 +9 &T\ L +10 &XV\ M +9 &EYT\ M +9 &[O\ M +10 & ]U\ M +9 &"ZO\ M +9 &$M[T\ M +10 &&ZM\ M +9 &'ZL\ M +10 &)XK\ M +9 &+TZJ\ M +9 &-\\K\ M +10 &.\\S\ M +9 &0[L\ M +9 &2[\\N\ M +10 &4ZN\ M +9 &5ZM\ M +9 &7ZM\ M +10 &9dYK\ M +9 &;&[K\ M +10 &<YK\ M +9 &>]J\ M +9 &@k]P\ M +10 &B-\\I\ M +9 &C[L\ M +9 &EZK\ M +10 &GqeL\ N +9 &I0nO\ O +10 &J{K\ Q +9 &LO\ T +10 &NgK\ T +9 &P*M\ T +9 &QE\ T +10 &SC\ T +9 &UnA\ T +9 &W0;\ T +10 &X7\ U +9 &ZJHk7\ *{ +9 &Z.7\ * +6 ( + "processing"% & +5 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.61 + .Hand.open +2 "manipulator"&]1 +3 "core" &Z>\ * +49 1 + "manipulator"&D% +4 "core" % Q " +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&s'\ +101 "core" ' + "processing"%\ & +4 "core" &ZA\ * +2 #tImaging generic puck in Processing Clamp while storing it to tube 7 + "manipulator"&a% +4 "core" %\ 6 N & +2 "storage"({% +4 "core" %< p i\ + "storage"(K. +3 "core" .([ +2 "storage"(`& +4 "core" &[ q p $\  +2 "storage"(t& +4 "manipulator"&=& +4 "core" &[ r v *\  + &l a " +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +6 "manipulator"&$&.,(\ #b +2 "storage"(#]kK-0-\ b +3 .tElbow.seek PC +5 "manipulator"&(c +3 ."raiseStack"SE.seek :beamBreak +2 "storage"('e +2 "core" ( +2 "manipulator"&p& +4 "core" &l X " + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &k& +3 "core" &l " +2 .tForearm.seek PC +2 "manipulator"&i'[ +95 "core" ' +2 .tHand.close + "manipulator"&/ +64 "core" / +2 .tPC.seek :open +2 "processing"%,(p +82 "core" ' + "storage"((- +3 "core" -'e +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(l'B +41 "core" ' +259 ( + "storage"(v& +4 "core" &[ `\  +2 "manipulator"&q& +4 "core" &l s  " +2 "manipulator"&[% +4 "core" % U  1  + .tForearm.seek :retract +2 "manipulator"&'\ +98 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 7 +2 "manipulator"& ( +254 "core" ( + "manipulator"&& +5 "core" & q # + "storage"(& +4 "core" &[ p p *\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&'k +93 "core" ' +2 .tHand.open + "manipulator"&w1 +55 "core" 1 +2 "storage"(- +4 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate +2 "storage"(M' +22 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.83 Pucks below Top Plate + "storage"('' +53 "core" ' +2 #tLights, camera, ACTION! + "storage"(^- +4 "core" -' + "storage"(& +4 "core" &[ \  +2 "manipulator"&u& +3 "core" &  # +2 .tElbow.seek 7 +2 "manipulator"&( +3 "core" ( + "manipulator"&)& +4 "core" &  # +2 "storage"(& +4 "core" &[ \  +2 .tForearm.seek 7 + 450 counts + "manipulator"&}'k +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.11 Pucks below Top Plate + "storage"(1'M +63 "core" ' + "manipulator"&& +4 "core" &  # +2 "storage"("& +4 "core" &[ Z\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 7 +2 "manipulator"&r'Ω +30 "core" ' + .tElbow.hold +2 "manipulator"&I, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"(h'7 +23 "core" ' + "manipulator"&% +5 "core" %θ + "storage"(E& +4 "core" &[ ] ] \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 7 + 315 counts + "manipulator"&' +25 "core" ' +2 "manipulator"&A& +4 "core" & } l # +2 "storage"(& +4 "core" &[ W\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&_'k +16 "core" ' + "storage"(m% +4 "core" %: 5\  +3 ."downElevator"SE.seek :down +3 "storage"( 'N +99 (% +3 "core" %? z Q\ U_ + "manipulator"&%% +4 "core" %n s z +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +87 "core" ' +61 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (& +4 "core" &[ e r ,\  +2 "collection"'X& +4 "core" &]Vw\ B +2 #tStoring generic puck in Collection Clamp to tube 7 + "manipulator"&8% +4 "core" %\ - m "X +2 "storage"(% +4 "core" %= j j ]\ +2 "storage"(U. +3 "core" .([ + "storage"(~& +4 "core" &[ j y C\  + "storage"(3& +4 "core" &[ i k \  +2 "manipulator"&R& +4 "core" & b # + .tElbow.seek 7 +2 "manipulator"&9( +4 "core" ( + "manipulator"&B& +4 "core" &  # + "storage"(& +4 "core" &[ j i \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&'k +90 "core" ' +2 "storage"(?& +4 "core" &[ O\  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(<'e +283 "core" ' + "storage"(L- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"& & +3 "core" &  # + "storage"(c& +4 "core" &[ n 6\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 7 + "manipulator"&>'Ω +29 "core" ' +50 .tElbow.hold +3 "manipulator"&N, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(P- +2 "core" -' +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(H'n +28 "core" ' + "manipulator"&2% +4 "core" %μ 7 +2 "storage"(o& +4 "core" &[ Z \\\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 7 + 319 counts + "manipulator"&' +18 "core" ' + "manipulator"&F& +5 "core" & h l "~ + "storage"(|& +4 "core" &[ X\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&d'k +24 "core" ' +2 .tSE.seek 1.11 Pucks below Top Plate + "storage"(.'] +47 "core" ' +2 "manipulator"&7& +4 "core" & {  "~ +2 "manipulator"&!% +4 "core" %Ќ z L +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&Q'\ +94 "core" ' +2 .tElbow.seek CC +2 "manipulator"&S( +140 "core" ( +2 "manipulator"&@& +4 "core" & * 0 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 & & +3 "core" & 0 +2 .tForearm.seek CC +2 "manipulator"&4'| +97 "core" ' + .tHand.close + "manipulator"&;/ +54 "core" / + .tCC.seek :open +2 "collection"'e(p +411 "core" ( + "storage"(J& +5 "core" &[ 2\  + "storage"(C& +4 "core" &[ t\  +2 "manipulator"&b& +3 "core" & 8 0 +2 "manipulator"&G% +3 "core" % π &  +2 .tForearm.seek :retract +2 "manipulator"&f'\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 7 +2 "manipulator"&g( +158 "core" ( + "manipulator"&5& +4 "core" &   +2 "storage"(& +3 "core" &[ R\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 7 +2 "manipulator"&j'Ω +109 "core" ' + .tElbow.hold +2 "manipulator"&O, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&61 +61 "core" 1 +2 "manipulator"&x% +5 "core" % η [ w + "storage"(y& +4 "core" &[ u \  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 7 + 314 counts +2 "manipulator"&V' +18 "core" ' +2 "manipulator"&$& +4 "core" & t ^  + "storage"(0& +4 "core" &[ B\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&Y'k +16 "core" ' +2 "storage"(Z% +4 "core" %a W\ +2 ."downElevator"SE.seek :down +4 "storage"(-'N +98 (n% +3 "core" %mA 4\ U^ +2 "manipulator"&W% +4 "core" %d o r _ +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&#'\ +87 "core" ' +53 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 5 of [5..7] +2 #Loading generic puck from tube 5 into Collection Clamp + "collection"'*& +4 "core" &yy)\ +2 "manipulator"&&% +4 "core" %\ )  J +2 "storage"(z% +4 "core" %8 ;\  + "storage"(T. +3 "core" .([ +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"(+(<< +673 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (]& +2 "core" & +10 &Jxwzc\ N +9 &Yx{_\ M +9 &Zvyc\ M +10 &]y{c\ L +9 &!T\\y{Y\ M +10 &#_yyb\ M +9 &$]xzS\ L +9 &&\\xy]\ L +10 &(]\\x{U\ L +9 &*^z{P\ M +9 &+]v{\ L +10 &-Yzyk\ M +9 &/d^wyZ\ M +10 &1&^zy\ M +9 &2^xz\ M +9 &4\\vz\ M +10 &6m]zy\ L +9 &8.Zvxu\ M +9 &9^|x\ M +10 &;Zwy\ L +9 &=u\\zz^\ L +10 &?6Yxyw\ M +9 &@Zyy`\ M +10 &B[xz\ L +9 &D}Zxz\ L +9 &F>Zyy\ M +9 &Gasv\ M +10 &InirW\ O +9 &Ku.Ol\ R +10 &M+Y\ V +9 &N\ V +9 &PsyQ\ W +10 &Rmej\ W +9 &T-U[v\ X +9 &UCLY\ Y +10 &W7<W\ Y +9 &Yl'.[\ Z +9 &[,[\ [\ +10 &\\v\ 9 +9 &]&]\ %n +10 &][\ V +2 ( + "collection"'& +4 #tCollection Clamp onSpring/offSpring for 9/25 samples, on/off torque 2.09 + .Hand.open +2 "manipulator"&1 +53 "core" 1 + "manipulator"&u% +5 "core" % [ @ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&)'\ +92 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp + "processing"%& +4 "core" &R\ +2 "manipulator"&% +3 "core" %\ + g !N +2 "storage"(% +4 "core" %I _ g =\  + "storage"(". +3 "core" .( +9 &FuK\ N +9 &YT\ M +10 &ZN\ N +9 &YT\ M +9 &!N\\T\ M +10 &#YS\ M +9 &$ZU\ M +9 &&ZU\ M +10 &(VZU\ M +9 &*ZT\ M +10 &+UM\ M +9 &-[W\ M +9 &/]]M\ N +10 &1 ZT\ M +9 &2ZO\ M +9 &4XQ\ N +10 &6fZT\ M +9 &8'ZR\ N +9 &9YK\ M +10 &;WL\ M +9 &=n[K\ M +10 &?/]N\ N +9 &@\\L\ N +9 &BWP\ M +10 &Dv\\L\ M +9 &F7_K\ N +10 &GdN\ N +9 &InO\ P +14 &KpM\ R +5 &M-L\ T +11 &NO\ T +8 &PL\ T +9 &RrT\ T +9 &T2L\ U +10 &UK\ T +9 &WN\ U +9 &YwK\ B +10 &Zv:M\ ` +9 &Z L\ + +2 ( +2 "processing"%?& +3 #tProcessing Clamp onSpring/offSpring for 9/25 samples, on/off torque 1.62 + .Hand.open +2 "manipulator"&I1 +63 "core" 1 + "manipulator"&% +4 "core" % V +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&L'\ +93 "core" ' + "processing"% & +5 "core" &Z =\ + + #tImaging generic puck in Processing Clamp while storing it to tube 5 + "manipulator"&c% +4 "core" %\ + !O +2 "storage"(P% +4 "core" %I R >\  + "storage"(2. +3 "core" .(<9 +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 + "storage"(o(<< +10 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (F& +4 "core" &<9  - F\  +2 "manipulator"&|& +2 ."raiseStack"SE.reconfigure :place +5 "storage"(#]kK-0-\ b +3 "core" &j +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +3 "storage"(7'e + "manipulator"&!(c +5 "core" ( +2 "manipulator"&& +4 "core" &j  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &9& +3 "core" &j +2 .tForearm.seek PC +2 "manipulator"&<'[ +95 "core" ' +2 .tHand.close + "manipulator"&>/ +58 "core" / +2 .tPC.seek :open +2 "processing"%(p +85 "core" ' + "storage"(H- +3 "core" -'e +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(@'B +37 "core" ' +256 ( +2 "storage"( & +4 "core" &<8 ` [ K\  +2 "manipulator"&d& +3 "core" &j ` +2 "manipulator"&N% +4 "core" % f +2 .tForearm.seek :retract + "manipulator"&;'\ +99 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&Q( +258 "core" ( + "manipulator"&/& +4 "core" & ' & +2 "storage"(J& +4 "core" &<8 ] ]\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&C' +99 "core" ' + .tHand.open + "manipulator"&b1 +62 "core" 1 +2 "storage"(G- +3 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate +2 "storage"(5' +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(' +52 "core" ' +2 #tLights, camera, ACTION! + "storage"(4- +4 "core" -' + "storage"(S& +4 "core" &<6 \  +2 "manipulator"&6& +3 "core" &  & +2 .tElbow.seek 5 +2 "manipulator"&x( +3 "core" ( + "manipulator"&y& +4 "core" &  & +2 "storage"($& +4 "core" &<6 \  +2 .tForearm.seek 5 + 450 counts + "manipulator"&0' +18 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"(Z'M +63 "core" ' + "manipulator"&f& +5 "core" & z S & + "storage"(n& +4 "core" &<6 s v \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&W'/ +31 "core" ' +2 .tElbow.hold + "manipulator"&g, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"(j'7 +24 "core" ' +2 "manipulator"&*% +4 "core" %1~  V +2 "storage"(&& +4 "core" &<6 " $ &\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 302 counts +2 "manipulator"&V'] +19 "core" ' + "manipulator"&z& +5 "core" &K w i  M + "storage"(T& +4 "core" &<6 ~ ~ \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&.' +18 "core" ' + "storage"(Y% +5 "core" %A o { \ +2 ."downElevator"SE.seek :down +3 "storage"(-'N +99 (:% +3 "core" %$@ g _ Q\ U_ +2 "manipulator"&]% +4 "core" % | } w + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&D'\ +94 "core" ' +57 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (a& +4 "core" &<6 C T }\  + "collection"'{& +4 "core" &]~\ V +2 #tStoring generic puck in Collection Clamp to tube 5 + "manipulator"&`% +4 "core" %\ 6 X & +2 "storage"(O% +3 "core" %G h g ^\ +2 "storage"(#. +3 "core" .(<9 +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"(t(<< +12 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 ( & +3 "core" &<9   D\  + "manipulator"&p& +5 "core" &K M + .tElbow.seek 5 +2 "manipulator"&\\( +42 "core" ( +2 "manipulator"&& +4 "core" & H "} + "storage"(& +4 "core" &<8 g g f\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&s' +102 "core" ' +2 "storage"(& +4 "core" &<8 p s j\  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(\ 'e +275 "core" ' + "storage"(K- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&[& +3 "core" &  "| +2 "storage"(i& +3 "core" &<8 j s \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&='/ +30 "core" ' + .tElbow.hold +2 "manipulator"&(, +3 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(- +2 "core" -' +3 .tSE.seek 0.11 Pucks below Top Plate + "storage"('l +26 "core" ' +2 "manipulator"&w% +4 "core" %4|  D + "storage"(k& +4 "core" &<8 " ! \  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 5 + 305 counts +2 "manipulator"&'` +17 "core" ' +2 "manipulator"&v& +4 "core" &J { i 0 +2 "storage"(e& +3 "core" &<8 ~ p ]\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&' +16 "core" ' +2 .tSE.seek 1.11 Pucks below Top Plate +2 "storage"(u'[ +50 "core" ' +2 "manipulator"&& +4 "core" &J s z i 0 +2 "manipulator"&% +4 "core" % o q \\ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +93 "core" ' +2 .tElbow.seek CC +2 "manipulator"&"( +140 "core" ( +2 "manipulator"&& +4 "core" & 1 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &l& +3 "core" & { 1 +2 .tForearm.seek CC + "manipulator"&E'| +101 "core" ' + .tHand.close + "manipulator"&M/ +54 "core" / +2 .tCC.seek :open +2 "collection"'(p +410 "core" ( +2 "storage"(& +4 "core" &<8 @\  + "storage"(m& +4 "core" &<8 N\  +52 "Can"n ,DA +2 "manipulator"&+& +3 "core" &  1 +2 "manipulator"&% +4 "core" % r  + .tForearm.seek :retract +2 "manipulator"&q'\ +98 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&)( +158 "core" ( +2 "manipulator"&& +4 "core" & 3 +2 "storage"(%& +3 "core" &<8 \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 5 +2 "manipulator"&}'/ +105 "core" ' +2 .tElbow.hold +2 "manipulator"&1, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&r1 +53 "core" 1 +3 "manipulator"&% +4 "core" % C  + "storage"(X& +4 "core" &<8 <\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 320 counts + "manipulator"&'o +19 "core" ' + "manipulator"&A& +4 "core" &: w i Q  +2 "storage"( & +4 "core" &<8 \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&'' +11 "core" ' + "storage"(% +5 "core" %b '\ +2 ."downElevator"SE.seek :down +4 "storage"(h'N +99 (3% +4 "core" %\ @ Q\ U\\ + "manipulator"&% +4 "core" % s r O 9 +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&B'\ +93 "core" ' +47 ' +2 ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 6 of [5..7] +2 #Loading generic puck from tube 6 into Collection Clamp + "collection"'& +4 "core" &wy\ +2 "manipulator"&_% +4 "core" %\ 5  & + "storage"(8% +4 "core" %; j\  +2 "storage"(U. +3 "core" .(<9 +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 + "storage"(,(K +349 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (I& +3 "core" &K | "\  +2 "manipulator"&& +3 "core" &:   +2 .tElbow.seek 6 +2 "manipulator"& ( +11 "core" ( +2 "manipulator"&c& +4 "core" &   + "storage"(P& +4 "core" &K @\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&2'< +97 "core" ' +2 "storage"(?& +4 "core" &K \  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(F'e +283 "core" ' + "storage"(|- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (& +3 "core" &K \  +2 "manipulator"&9& +3 "core" & r r U  +2 .tElbow.seek 6 +2 "manipulator"&R( +3 "core" ( + "manipulator"&>& +4 "core" & e E  + "storage"(& +4 "core" &K #\  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&H'Ϧ +20 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&~/ +64 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&L& +2 "storage"( 'N +7 "core" & |   + "manipulator"& % +4 "core" % } } p z . +2 .tForearm.seek :retract +2 "manipulator"&d'\ +98 "core" ' +2 .tElbow.seek CC + "manipulator"&7( +146 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +12 "core" ( + "manipulator"&N& +5 "core" & O - + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &<& +3 "core" &  - +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&/'| +96 "core" ' + "manipulator"&J& +5 "core" &  - + "manipulator"&!% +4 "core" %υ  +2 "collection"'b& +4 "core" &y{]\ +2 "collection"'G& +5 "core" &xz3\ +3 .tCC.seek :closed + "collection"'4(] +4 "core" &wz^\  +9 &2xxd\ *y +10 &ezzU\ > +9 &Rxwwb\ M +10 &Zwy\ L +9 &_xy`\ L +9 &\\y{a\ M +10 &!\\_yzb\ L +9 &#Zwz`\ L +9 &$Zxw]\ L +10 &&^yw_\ M +9 &(c]u{_\ M +10 &*&]xyk\ L +9 &+^vxV\ L +9 &-^wzV\ L +10 &/k_xy`\ M +9 &1-_wyb\ M +9 &2_yx\ L +10 &4]vx\ L +9 &6u\\xw\ L +9 &86]xz`\ L +10 &9_wzQ\ L +9 &;\\zy\ L +10 &={]wz\ M +9 &?>Yxz\ L +9 &AZyz\ L +10 &B\\wz\ L +9 &D]xx\ L +10 &FE^yx\ M +9 &Hbsvn\ M +9 &Ivgq\ P +10 &K}$G`\ Q +9 &M3k\ V +9 &N\ V +10 &Pns\ W +9 &Rs[f\ X +10 &T4NU\ X +9 &U?E\ Y +9 &W05\ Y +10 &Yq"(\ [\ +9 &[3\ [\ +9 &\\{\ 0 +10 &]%\ #h +9 ( + &]\ Z +2 "collection"'G& +3 #tCollection Clamp onSpring/offSpring for 9/25 samples, on/off torque 2.07 + .Hand.open +2 "manipulator"&S1 +64 "core" 1 + "manipulator"&6% +4 "core" % υ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&y'\ +98 "core" ' + #tLoading generic puck from tube 6 into Processing Clamp +2 "processing"%$& +4 "core" &S\ + "manipulator"&;% +4 "core" %\ 6 X & +2 "storage"(f% +3 "core" %? Y [\ +2 "storage"(n. +3 "core" .(K + "storage"(@& +4 "core" &K Z \\\  +2 "storage"(*& +3 "core" &K Y \\\  +2 "manipulator"&&& +4 "core" & - +2 "manipulator"&5% +3 "core" %\ 5 X & +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&z( +157 "core" ( + "manipulator"&T& +4 "core" &  +2 "storage"(Y& +4 "core" &K f _ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&Q'< +103 "core" ' +2 "storage"(C& +4 "core" &K N\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"('e +278 "core" ' +2 "storage"(:- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (]& +2 "core" &K  t \  +2 "manipulator"&0& +4 "core" & p s 9 +2 .tElbow.seek 6 + "manipulator"&x( +3 "core" ( +2 "manipulator"&Z& +3 "core" & w } Y +2 "storage"(W& +4 "core" &K m \  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&a'Ϧ +24 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&V/ +53 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&{& +2 "storage"(`'N +7 "core" & v r +2 "manipulator"&O% +4 "core" % ϫ s t u +2 .tForearm.seek :retract + "manipulator"&#'\ +95 "core" ' + .tElbow.seek PC +2 "manipulator"&j(c +155 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +89 "core" ( + "manipulator"& & +4 "core" &m R +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &p& +3 "core" &m  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&'[ +94 "core" ' + "manipulator"&& +5 "core" &m  + "manipulator"&.% +4 "core" %T  +2 "processing"%& +4 "core" &W\ +2 "processing"%-& +5 "core" &X\ +2 .tPC.seek :closed +2 "processing"%o(Z +4 "core" &W\ +6 & 9_\ $e +10 &nV]\ 7 +9 &]\ L +9 &WT\ M +10 &CYW\ M +9 &Z]\ M +9 & ]X\ M +10 &"YL\ M +9 &$JZL\ M +10 && ZS\ M +9 &'ZT\ M +10 &)ZT\ M +9 &+RYS\ M +9 &-ZO\ M +10 &.ZS\ N +9 &0ZU\ N +9 &2Y[O\ M +10 &4[P\ M +9 &5YN\ M +9 &7ZS\ M +10 &9b[T\ M +9 &;$ZV\ M +9 &<XO\ M +10 &>\\T\ N +9 &@i[T\ M +10 &B+WS\ M +9 &CZP\ N +9 &EZT\ N +10 &GocS\ N +9 &I,pO\ P +10 &JU\ R +9 &LU\ T +9 &NfO\ T +10 &P'K\ T +9 &QM\ T +9 &SM\ T +10 &UlM\ T +9 &W.P\ T +9 &XL\ T +10 &ZHIiN\ )x +9 &Z 9N\ , +6 ( +2 "processing"%-& +3 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.62 +2 .Hand.open + "manipulator"&g1 +4 "core" &Z"M\ , +58 1 + "manipulator"&D% +4 "core" % T  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&K'\ +100 "core" ' + "processing"%[& +4 "core" &Z!H\ , +2 #tImaging generic puck in Processing Clamp while storing it to tube 6 + "manipulator"&i% +4 "core" %\ 8 ' +2 "storage"(% +3 "core" %M E C ^\  +2 "storage"(w. +3 "core" .(K + "storage"(k& +4 "core" &K @ < Q\  +52 "storage"(v& +3 "manipulator"&e& +7 "core" &K E B\  + &m  +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +3 "storage"(#]kK-0-\ b + "manipulator"&(c +6 ."raiseStack"SE.seek :beamBreak +2 "storage"('e +3 "core" ( + "manipulator"&s& +4 "core" &m 7 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &\\& +2 "core" &m ( +2 .tForearm.seek PC +2 "manipulator"&\ '[ +101 "core" ' + .tHand.close +2 "manipulator"&=/ +60 "core" / +2 .tPC.seek :open +2 "processing"%(p +79 "core" ' +2 "storage"(- +3 "core" -'e +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('B +47 "core" ' +254 ( + "storage"(l& +4 "core" &K g ] W\  +2 "manipulator"&& +4 "core" &m  +2 "manipulator"&(% +3 "core" % ^  +2 .tForearm.seek :retract +2 "manipulator"&M'\ +100 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&( +244 "core" ( +2 "manipulator"&^& +4 "core" & % 7 +2 "storage"(& +3 "core" &K \\ X ,\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&m'< +99 "core" ' +2 .tHand.open + "manipulator"&+1 +56 "core" 1 +2 "storage"(- +4 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate +2 "storage"(' +23 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(%' +53 "core" ' + #tLights, camera, ACTION! + "storage"(E- +4 "core" -' +2 "storage"("& +3 "core" &K \  +2 "manipulator"&r& +4 "core" & ~ % 7 +2 .tElbow.seek 6 +2 "manipulator"&( +3 "core" ( + "manipulator"&X& +4 "core" & ~ O 7 +2 "storage"(A& +4 "core" &K N\  +2 .tForearm.seek 6 + 450 counts + "manipulator"& '< +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"('M +61 "core" ' + "manipulator"&q& +5 "core" & s { W 7 + "storage"(3& +4 "core" &K r q \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&'z +33 "core" ' +2 .tElbow.hold + "manipulator"&), +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"(}'7 +22 "core" ' +2 "manipulator"&% +4 "core" %yr  - +2 "storage"(_& +4 "core" &K   \  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 6 + 299 counts +2 "manipulator"&'ϥ +19 "core" ' +2 "manipulator"&8& +4 "core" & i f 8 +2 "storage"(U& +4 "core" &K ~ ~ \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts + "manipulator"&u'< +18 "core" ' + "storage"('% +5 "core" %? l n \ +2 ."downElevator"SE.seek :down +4 "storage"(h'N +99 (t% +3 "core" %{@ g h 4\ V` + "manipulator"&I% +5 "core" %= s { b + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +87 "core" ' +61 ' + ."downElevator"SE.stop + "storage"(5 +3 (c& +3 "core" &K 6 Q K\  +2 "collection"'P& +3 "core" &]\ Z +2 #tStoring generic puck in Collection Clamp to tube 6 + "manipulator"&?% +4 "core" %\ + ^ !T +2 "storage"(1% +4 "core" %: g g a\  +2 "storage"(B. +3 "core" .(K + "storage"(|& +7 "core" &K Z [ #\  +4 "storage"(& +10 "core" &K e g \  +2 "manipulator"&9& +8 "core" &  8 +2 .tElbow.seek 6 +2 "manipulator"&>( +3 "core" ( + "manipulator"&& +4 "core" & 8 +2 "storage"(~& +3 "core" &K Z d '\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&L'< +89 "core" ' +2 "storage"( & +4 "core" &K  ~ \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +8 .tSE.seek :beamBreak + "storage"( 'e +278 "core" ' + "storage"(2- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&N& +3 "core" &  8 +2 "storage"(<& +4 "core" &K Z [\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&F'z +33 "core" ' + .tElbow.hold +2 "manipulator"&H, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(J- +3 "core" -' +2 .tSE.seek 0.12 Pucks below Top Plate +2 "storage"(!'r +28 "core" ' + "manipulator"&b% +4 "core" %Ήo }  +2 "storage"(R& +3 "core" &K\ \  \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 315 counts + "manipulator"& 'ϵ +23 "core" ' + "manipulator"&d& +4 "core" & j 8 +2 "storage"(& +4 "core" &K s p \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&S'< +16 "core" ' +2 .tSE.seek 1.12 Pucks below Top Plate +2 "storage"(6'a +49 "core" ' + "manipulator"&$& +5 "core" & r q c 8 + "manipulator"&;% +5 "core" %@ r r O  + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&f'\ +93 "core" ' +2 .tElbow.seek CC +2 "manipulator"&n( +151 "core" ( +2 "manipulator"&G& +4 "core" &   * + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &@& +2 "core" &   * +2 .tForearm.seek CC +2 "manipulator"&*'| +96 "core" ' + .tHand.close +2 "manipulator"&&/ +53 "core" / +2 .tCC.seek :open + "collection"'5(p +411 "core" ( +2 "storage"(/& +4 "core" &K 8\  + "storage"(T& +4 "core" &K E\  + "manipulator"&Y& +4 "core" &   * + "manipulator"&C% +4 "core" % ϐ  +2 .tForearm.seek :retract +2 "manipulator"&7'\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 + "manipulator"&y( +155 "core" ( + "manipulator"&:& +4 "core" &  +2 "storage"(]& +4 "core" &K \ \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 6 + "manipulator"&0'z +109 "core" ' + .tElbow.hold +2 "manipulator"&Z, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&W1 +64 "core" 1 +2 "manipulator"&V% +4 "core" % Ή , +2 "storage"({& +3 "core" &K +\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 315 counts +2 "manipulator"&O'ϵ +17 "core" ' + "manipulator"&z& +5 "core" & P r + "storage"(Q& +4 "core" &K b\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&'< +16 "core" ' + "storage"(a% +5 "core" %d \ +2 ."downElevator"SE.seek :down +4 "storage"( 'N +99 (p% +3 "core" %A %\ U] +2 "manipulator"&x% +4 "core" %/ t s a +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +87 "core" ' +50 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 7 of [5..7] + #Loading generic puck from tube 7 into Collection Clamp +2 "collection"'.& +4 "core" &xyw\ +2 "manipulator"&% +4 "core" %\ *  !R + "storage"(`% +4 "core" %8 $\ +2 "storage"(#. +3 "core" .(K +2 .tSC.reconfigure :tight +51 "storage"($\ .\ 1~b +3 .tSC.seek 7 +2 "storage"(([ +352 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (g& +3 "core" &[ n ~ ,\  +2 "manipulator"&D& +4 "core" &  +2 .tElbow.seek 7 +2 "manipulator"&[( +24 "core" ( +2 "manipulator"&i& +4 "core" &   +2 "storage"(& +3 "core" &[ \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&w'k +104 "core" ' + "storage"(-& +4 "core" &[ }\  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(k'e +290 "core" ' +2 "storage"(e- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (v& +2 "core" &[ \  +2 "manipulator"&s& +4 "core" & s s =  + .tElbow.seek 7 +2 "manipulator"&\\( +17 "core" ( +2 "manipulator"&& +4 "core" & ( !w +2 "storage"(=& +3 "core" &[ c\  +3 .tForearm.seek 7 + 300 counts + "manipulator"&' +21 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&j/ +56 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&K& +2 "storage"(o'N +6 "core" & ! !w +2 "manipulator"&% +5 "core" %   +2 .tForearm.seek :retract +2 "manipulator"&l'\ +99 "core" ' +2 .tElbow.seek CC +2 "manipulator"&( +145 "core" ' +3 ."downElevator"SE.stop + "storage"(5 +3 "core" ( + "manipulator"&(& +4 "core" &   1 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &\ & +2 "core" &  - 1 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&^'| +94 "core" ' +2 "manipulator"&& +4 "core" &  : 1 +2 "manipulator"&% +4 "core" %~ d +2 "collection"'+& +4 "core" &xy8\ +2 "collection"'& +5 "core" &yz`\ +2 .tCC.seek :closed +2 "collection"'E(] +4 "core" &xza\ +7 &8w{l\ $e +10 &lVw{c\ 7 +9 &xxY\ K +10 &\\xyX\ L +9 &C]yy_\ M +9 &]xz^\ M +10 & _y{X\ M +9 &"]xyY\ M +9 &$K]zyc\ M +10 && _uzV\ M +9 &']xyq\ M +10 &)]zyu\ L +9 &+T_w{a\ L +9 &-\\v{Y\ L +10 &.`xxQ\ L +9 &0`xzm\ L +9 &2\\`wyk\ L +10 &4_yy`\ L +9 &5\\w{\ L +10 &7Zxx\ L +9 &9c\\xz\ M +9 &;&\\vyp\ L +10 &<]xx\ M +9 &>]xz\ L +9 &@lZvxc\ L +10 &B._xxv\ L +9 &C_ww[\ L +10 &E]v|Z\ L +9 &Gs]ww\ M +9 &I2irx]\ N +10 &JxYh]\ P +9 &Ld\ S +10 &N`b\ V +9 &P t}O\ W +9 &Qbi[\ W +10 &SOU[\ W +9 &U`=C\\\ Y +9 &W#-3`\ X +10 &X$W\ [ +9 &Z u\ Z +9 &\\bW\ G +10 &]i?V\ !g +9 &]uO\ U +3 ( + "collection"'& +3 #tCollection Clamp onSpring/offSpring for 10/26 samples, on/off torque 2.03 +2 .Hand.open + "manipulator"&"1 +59 "core" 1 +2 "manipulator"&r% +4 "core" % ~  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&X'\ +98 "core" ' +2 #tLoading generic puck from tube 7 into Processing Clamp + "processing"%A& +4 "core" &\ +2 "manipulator"&M% +4 "core" %\ : q ( +2 "storage"(q% +3 "core" %C g h c\  +2 "storage"(3. +3 "core" .([ + "storage"(& +4 "core" &[ h g O\  +2 "storage"(& +3 "core" &[ g g \\\  +2 "manipulator"&_& +3 "core" &  L 1 +2 "manipulator"&% +5 "core" %\ 8 ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 7 +2 "manipulator"&8( +161 "core" ( + "manipulator"&U& +5 "core" &  \ + "storage"('& +4 "core" &[ p p\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&'k +95 "core" ' + "storage"(m& +5 "core" &[ `\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(%'e +284 "core" ' + "storage"(t- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (I& +3 "core" &[ s } k\  + "manipulator"& & +4 "core" & {  \ +2 .tElbow.seek 7 + "manipulator"&( +8 "core" ( +2 "manipulator"&& +4 "core" & q 7 + "storage"(& +4 "core" &[ o i \  +2 .tForearm.seek 7 + 300 counts +2 "manipulator"&c' +21 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +62 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"&P& + "storage"(?'N +7 "core" & r p q + "manipulator"&1% +4 "core" % q t N +2 .tForearm.seek :retract +2 "manipulator"&B'\ +90 "core" ' + .tElbow.seek PC +2 "manipulator"&|(c +166 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +79 "core" ( +2 "manipulator"&}& +4 "core" &f C +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &f  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&9'[ +104 "core" ' +2 "manipulator"&& +4 "core" &f > +2 "manipulator"&~% +3 "core" %b \\ +2 "processing"%u& +4 "core" &\ +2 "processing"% & +6 "core" &\ +2 .tPC.seek :closed +2 "processing"%h(Z +4 "core" &^\ +7 & )c\ #b +9 &\\V\\\ 7 +10 &`\ L +9 &nZR\ M +10 &1Z\\\ M +9 &ZP\ M +10 & \\Q\ M +9 &"yZO\ L +9 &$9[P\ M +9 &%ZO\ M +10 &'ZP\ L +9 &)\\O\ M +10 &+BZO\ M +9 &-[U\ M +9 &.[O\ M +10 &0\\N\ M +9 &2H\\S\ M +9 &4\ ZN\ M +10 &5ZT\ M +9 &7ZT\ M +9 &9QZL\ M +10 &;\\N\ M +9 &<XT\ M +10 &>\\M\ M +9 &@X[O\ M +9 &BZP\ M +10 &C[O\ M +9 &EXL\ M +10 &G_`M\ N +9 &ImO\ O +9 &JyM\ Q +10 &LP\ T +9 &NUR\ T +9 &PK\ T +10 &QN\ T +9 &SN\ T +9 &U[L\ T +10 &WM\ T +9 &XO\ U +10 &Z;LmK\ + +9 &ZZO\ 4 +5 ( +2 "processing"% & +4 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.59 +2 .Hand.open + "manipulator"&)1 +4 "core" &Z.J\ 4 +48 1 +2 "manipulator"&% +4 "core" % b $ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&2'\ +99 "core" ' + "processing"%N& +5 "core" &Z.=\ 4 + #tImaging generic puck in Processing Clamp while storing it to tube 7 + "manipulator"&<% +4 "core" %\ 5 & +2 "storage"(J% +4 "core" %E 8 8 \ + "storage"(b. +3 "core" .([ +2 "storage"(R& +4 "core" &[ = A [\  +2 "storage"(d& + "manipulator"&& +7 "core" &[ 8 8 \  + &f +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +3 "storage"(#]kK-0-\ b +2 "manipulator"&$(c +6 ."raiseStack"SE.seek :beamBreak + "storage"(;'e +3 "core" ( + "manipulator"&L& +4 "core" &f * +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &>& +3 "core" &f ' +2 .tForearm.seek PC +2 "manipulator"& '[ +95 "core" ' +2 .tHand.close + "manipulator"&F/ +53 "core" / +2 .tPC.seek :open +2 "processing"% (p +96 "core" ' + "storage"(!- +3 "core" -'e +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +2 ."raiseStack"SE.seek :place +2 "storage"(G'B +40 "core" ' +246 ( + "storage"(@& +4 "core" &[ ~ t \  +2 "manipulator"&S& +4 "core" &f  + "manipulator"&H% +4 "core" % d   +2 .tForearm.seek :retract +2 "manipulator"&&'\ +91 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 7 +2 "manipulator"&f( +254 "core" ( +2 "manipulator"&4& +4 "core" &  % + "storage"(/& +4 "core" &[ h j 9\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&T'k +105 "core" ' + .tHand.open + "manipulator"&Y1 +52 "core" 1 +2 "storage"(C- +4 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate +2 "storage"(:' +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.83 Pucks below Top Plate + "storage"(]' +53 "core" ' + #tLights, camera, ACTION! +51 "storage"(*- +5 "core" -' +2 "storage"(n& +4 "core" &[ D\  + "manipulator"&W& +4 "core" & u t % +2 .tElbow.seek 7 + "manipulator"&V( +4 "core" ( + "manipulator"&{& +4 "core" & z } | % +2 "storage"(z& +4 "core" &[ 2\  +2 .tForearm.seek 7 + 450 counts + "manipulator"&Q'k +18 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.11 Pucks below Top Plate + "storage"(a'M +63 "core" ' +2 "manipulator"&7& +4 "core" & ( % +2 "storage"(p& +4 "core" &[ r x \  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 7 + "manipulator"&x'Ω +32 "core" ' +2 .tElbow.hold + "manipulator"&y, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.07 Pucks below Top Plate + "storage"(0'7 +24 "core" ' +2 "manipulator"&.% +4 "core" %μ W + "storage"(& +4 "core" &[ F F \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 7 + 319 counts +2 "manipulator"&O' +18 "core" ' + "manipulator"&`& +5 "core" & j % + "storage"(#& +5 "core" &[ \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&6'k +16 "core" ' +2 "storage"(% +4 "core" %@ Y\ +3 ."downElevator"SE.seek :down +3 "storage"( 'N +99 (,% +3 "core" %wC ` j h\ V` +2 "manipulator"&g% +4 "core" %W   J + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&D'\ +86 "core" ' +62 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (i& +4 "core" &[ F X I\  +2 "collection"'& +4 "core" &]pW\ U +2 #tStoring generic puck in Collection Clamp to tube 7 + "manipulator"&-% +4 "core" %\ - i "[ +2 "storage"(Z% +3 "core" %8 s j h\ +2 "storage"(. +3 "core" .([ + "storage"(e& +4 "core" &[ ` ] g\  +2 "storage"(v& +4 "core" &[ ` i `\  + "manipulator"&s& +4 "core" & Q % +2 .tElbow.seek 7 +2 "manipulator"&( +3 "core" ( + "manipulator"&=& +4 "core" &  % +2 "storage"(j& +3 "core" &[ p o #\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&K'k +89 "core" ' +2 "storage"(& +4 "core" &[ g y E\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(['e +277 "core" ' + "storage"(w- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&(& +3 "core" & % +2 "storage"(\ & +3 "core" &[ p q W\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 7 +2 "manipulator"&k'Ω +28 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(- +3 "core" -' +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"('n +28 "core" ' + "manipulator"&+% +4 "core" %ν U +2 "storage"(\\& +3 "core" &[ C C \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 7 + 320 counts +2 "manipulator"&o' +18 "core" ' +2 "manipulator"&l& +4 "core" & i  % +2 "storage"(5& +4 "core" &[ p u S\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&"'k +16 "core" ' +2 .tSE.seek 1.11 Pucks below Top Plate +2 "storage"(r'] +42 "core" ' +3 "manipulator"&A& +4 "core" & s |  % +2 "manipulator"&M% +4 "core" %[ ~ ~ + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&q'\ +86 "core" ' +2 .tElbow.seek CC +2 "manipulator"&3( +156 "core" ( + "manipulator"&& +4 "core" &( ' ?P +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &( U ?P +2 .tForearm.seek CC +2 "manipulator"&'| +96 "core" ' + .tHand.close +2 "manipulator"&_/ +62 "core" / +2 .tCC.seek :open +2 "collection"'(p +411 "core" ( + "storage"(^& +4 "core" &[ f\  +2 "storage"(U& +3 "core" &[ p\  +2 "manipulator"&'& +3 "core" &"" 9& +2 "manipulator"&m% +4 "core" % σ + .tForearm.seek :retract +2 "manipulator"&'\ +99 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 7 +2 "manipulator"&X( +168 "core" ( +2 "manipulator"&t& +4 "core" & 2 K +2 "storage"(I& +3 "core" &[ Q\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 7 +2 "manipulator"& 'Ω +109 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&1 +56 "core" 1 +2 "manipulator"&% +5 "core" % μ F y + "storage"(P& +4 "core" &[ l \  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 7 + 319 counts + "manipulator"&1' +19 "core" ' +2 "manipulator"&8& +4 "core" & v i T K +2 "storage"(& +3 "core" &[ \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&%'k +16 "core" ' +2 "storage"(c% +4 "core" %V \ +2 ."downElevator"SE.seek :down +4 "storage"(}'N +99 (% +2 "core" %%A \ U\\ +2 "manipulator"&% +4 "core" %c s p 8 +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +94 "core" ' +49 ' + ."downElevator"SE.stop +2 "storage"(5 +42827 "Can"m 1?= +60002 n 0?< +60002 q /?= @946684883.90EST = =mMAIN_scheduler =tMAIN @EST946684885.80 #"core_reset"Sent BREAK +3 #t@53548 idle with ifg=0x00, ie=0x75 #>RESET< ESP2 v3.41 I2C Gateway v3.20 +210 #>RESET< ESP2 v3.41 I2C Gateway v3.20 for core bus +205 !o:Instrument::ISUSCore: @refie: @configS:Instrument::Configuration: name" ISUS:calFileName0:sampleCmd"TS: prompt"\ :statusCmd"C:sampleTimeouti#:promptTimeouti:statusTimeouti: retriesi:strToPrompt"W: pace0: echoF:\ @name@ +98 #Configuration for don (12651-03) 10/9/20 brent@mbari.org\ /home/esp/esp2/type/shallow/don/configure.rb\ +389 "Can" A%"~ +  A%"~ + #tPolling Can every 10:00 +66 !o:Storage::Warning: mesg"Uncleanly Exited:bt[ "8/home/esp/esp2/utils/storage.rb:438:in `readPucks!'"6/home/esp/esp2/utils/storage.rb:627:in `restore!'"-/home/esp/esp2/lib/esp.rb:115:in `shell'"7/home/esp/esp2/lib/schedule.rb:481:in `initialize'"0/home/esp/esp2/lib/thread.rb:738:in `start'"7/home/esp/esp2/lib/schedule.rb:474:in `initialize'"'/home/esp/esp2/lib/schedule.rb:472 +492 #-> ESP.ready! +3 #Powering core bus +556 .Gate.power :raw,:ON + "sampler") +22 ) +2 "core"  +2 "collection"' +2 ' +3 "core"  +2 "processing"% +2 % +3 "core"  +4 "collection"' 9\ +2 ' 0\ +2 ' -\ +5 "processing"% 9\ +2 % 2\ +2 % *\ +2 % 0\ +3 "sampler")&\ +2 "collection"'% +3 "core" %)-  +2 .tCS.configure :default +2 "collection"'#P d@b +2 "processing"%% +3 "core" %\ + .tPS.configure :default +3 "processing"%#A d`xb +2 "sampler")% +3 "core" % *  + .tSS.configure :default +2 "sampler")#.0X require 'shuffle.rb' +1247 #-> 10.times {shuffle 5..7} +2 #Shuffling pucks in tube 5 of [5..7] +2 #Loading generic puck from tube 5 into Collection Clamp + "collection"';& +3 "core" &]+, \  +2 .tHand.open + "manipulator"&<1 +58 "core" 1 +2 "manipulator"&=% +4 "core" % \ 3 E %S +2 "storage"(>% +3 "core" %G 9\ H +2 "storage"(?. +3 "core" .(,~ + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 5 + "storage"(@(<< +348 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (A& +2 "core" &<: \\ \\\  +2 "manipulator"&B& +3 "core" &:  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&C( +13 "core" ( + "manipulator"&D& +4 "core" & M +2 "storage"(E& +4 "core" &<: ^\  +2 .tForearm.seek 5 + 450 counts + "manipulator"&F' +95 "core" ' + "storage"(G& +5 "core" &<: .\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(H'e +284 "core" ' +2 "storage"(I- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (J& +3 "core" &<: \  +2 "manipulator"&K& +3 "core" & } s +2 .tElbow.seek 5 +2 "manipulator"&L( +3 "core" ( + "manipulator"&M& +4 "core" & z / +2 "storage"(N& +3 "core" &<: \\\  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&O'[ +19 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&P/ +55 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&Q& + "storage"(R'N +7 "core" & ~ r +2 "manipulator"&S% +4 "core" % T | t +2 .tForearm.seek :retract + "manipulator"&T'\ +97 "core" ' +2 .tElbow.seek CC +2 "manipulator"&U( +144 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +7 "core" ( + "manipulator"&V& +5 "core" & " $ :1 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &W& +3 "core" & # z :1 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&X'| +102 "core" ' + "manipulator"&Y& +5 "core" & # O :1 + "manipulator"&Z% +4 "core" %ς s +2 "collection"'[& +4 "core" &],, \  +2 "collection"'\\& +4 "core" &].- \  +2 .tCC.seek :closed +2 "collection"'](] +4 "core" &].-\ \  +9 &5..\ +| +10 &f,-\ @ +9 &1z+.\ O +9 &_*-\ N +10 &e--\ O +9 &xb+,\ O +9 &!:`+,\ O +10 &"a*.\ O +9 &$^+-\ N +9 &&a++\ N +10 &(Bc+,\ O +9 &*b--\ O +10 &+a+-\ N +9 &-`*-\ O +9 &/J`*-\ O +10 &1 b,.\ O +9 &2d+.\ N +10 &4^,,\ N +9 &6T]*+\ N +9 &8_++\ N +10 &9a)+\ N +9 &;_+*\ N +9 &=[b,*\ N +10 &?`*)\ O +9 &@b++\ N +10 &B_+*\ N +9 &Dd\\'+\ N +9 &F$b!\ O +10 &Gi\ O +9 &Iv\ P +9 &K]Gu\ S +10 &M\ W +9 &Neo\ W +9 &PNV\ X +10 &RV:?\ X +9 &T#-\ X +10 &U\ Z +9 &W\ Y +9 &YT\ \\ +10 &[\ [\ +9 &\\z\ = +9 &]z&\ (w +10 &]s\ M +2 ( +2 "collection"'\\& +3 #tCollection Clamp onSpring/offSpring for 9/25 samples, on/off torque 1.99 + .Hand.open +2 "manipulator"&^1 +53 "core" 1 + "manipulator"&_% +4 "core" % v - +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +7 .tForearm.seek :retract +2 "manipulator"&`'\ +91 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp + "processing"%a& +4 "core" &\\4\  +2 "manipulator"&b% +4 "core" %\ # - + "storage"(c% +4 "core" %G _ j ^\ + "storage"(d. +3 "core" .(<9 +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 + "storage"(e(<< +2 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (f& +2 "core" &<: H F \  +2 "manipulator"&g& +4 "core" & # G :0 + "manipulator"&h% +4 "core" %\ # - +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&i( +162 "core" ( + "manipulator"&j& +5 "core" & | n  + "storage"(k& +4 "core" &<: j j \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&l' +101 "core" ' +2 "storage"(m& +4 "core" &<: \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(n'e +277 "core" ' + "storage"(o- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (p& +3 "core" &<: w \  + "manipulator"&q& +4 "core" & { s  +2 .tElbow.seek 5 + "manipulator"&r( +4 "core" ( + "manipulator"&s& +4 "core" & i t  + "storage"(t& +4 "core" &<: Q\  +2 .tForearm.seek 5 + 300 counts + "manipulator"&u'[ +16 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&v/ +56 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&w& + "storage"(x'N +7 "core" &  &  + "manipulator"&y% +4 "core" % [ s  % +2 .tForearm.seek :retract +2 "manipulator"&z'\ +95 "core" ' +2 .tElbow.seek PC + "manipulator"&{(c +156 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +82 "core" ( + "manipulator"&|& +4 "core" &i G , +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &}& +2 "core" &i F , +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&~'[ +103 "core" ' +2 "manipulator"&& +4 "core" &i  , +2 "manipulator"&% +3 "core" %V  +6 "processing"%& +4 "core" &\\4\  +2 "processing"%& +5 "core" &\\!\  +2 .tPC.seek :closed +2 "processing"%(Z +4 "core" &\\5\ \  +9 &56\ +} +9 &f3\ @ +10 &7y4\ N +9 &Z3\ N +9 &]4\ N +10 &]5\ N +9 &!A_4\ N +10 &#_/\ N +9 &$`4\ N +9 &&a0\ N +10 &(IZ5\ N +9 &* \\5\ N +9 &+[#\ N +10 &-\\0\ M +9 &/P_+\ N +10 &1]%\ N +9 &2b2\ N +9 &4Z.\ N +10 &6Y\\"\ N +9 &8],\ N +10 &9Z"\ M +9 &;\\+\ N +12 &=a`*\ N +7 &?$]%\ M +9 &@^(\ M +9 &B]*\ N +10 &Di\\/\ N +9 &F+`/\ N +9 &Gi5\ O +10 &Iu4\ P +9 &Kc3\ R +10 &M &\ T +9 &N-\ T +9 &P%\ T +10 &Re%\ T +9 &T&\ U +9 &U,\ U +10 &W+\ U +9 &Yj*\ B +10 &Zt<.\ Y +9 &ZC\ 6 +5 ( +2 "processing"%& +4 #tProcessing Clamp onSpring/offSpring for 8/25 samples, on/off torque 1.60 + .Hand.open +2 "manipulator"&1 +3 "core" &Z4r\ 6 +49 1 + "manipulator"&% +5 "core" % U B + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +91 "core" ' + "processing"%& +5 "core" &Z4\ 6 + #tImaging generic puck in Processing Clamp while storing it to tube 5 +2 "manipulator"& % +3 "core" %\ '  : +2 "storage"(\ % +3 "core" %@ \\ Z\ +2 "storage"( . +3 "core" .(<< + "storage"( & +4 "core" &<: ] Z\  +2 "storage"( & +2 "manipulator"&& +7 "core" &<: K V \  + &i ~ , +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +2 "storage"(#]kK-0-\ b +2 .tElbow.seek PC +4 "manipulator"&(c +4 ."raiseStack"SE.seek :beamBreak + "storage"('e +3 "core" ( + "manipulator"&& +4 "core" &i 7 , + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &i 6 , +2 .tForearm.seek PC + "manipulator"&'[ +101 "core" ' + .tHand.close +2 "manipulator"&/ +59 "core" / +2 .tPC.seek :open +2 "processing"%(p +83 "core" ' +2 "storage"(- +3 "core" -'e + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place + "storage"('B +34 "core" ' +265 ( + "storage"(& +4 "core" &<: p p\  +2 "manipulator"&& +4 "core" &i  , +2 "manipulator"&% +3 "core" % W  +2 .tForearm.seek :retract +2 "manipulator"&'\ +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&"( +252 "core" ( + "manipulator"&%& +4 "core" & g & +2 "storage"('& +3 "core" &<: g g s\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&)' +98 "core" ' + .tHand.open +2 "manipulator"&(1 +56 "core" 1 +2 "storage"(- +4 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate + "storage"(' +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.83 Pucks below Top Plate + "storage"(#' +53 "core" ' +2 #tLights, camera, ACTION! + "storage"(,- +3 "core" -' +2 "storage"(-& +4 "core" &<: Q\  + "manipulator"&.& +4 "core" & _ & +2 .tElbow.seek 5 + "manipulator"&/( +3 "core" ( +40 "manipulator"&0& +12 "core" &  & +2 "storage"(1& +4 "core" &<: \  +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&2' +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"(3'M +62 "core" ' +2 "manipulator"&4& +4 "core" & i & +2 "storage"(5& +4 "core" &<: g h k\  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&6'/ +30 "core" ' +2 .tElbow.hold + "manipulator"&7, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate + "storage"(8'7 +22 "core" ' + "manipulator"&9% +5 "core" %B  b + "storage"(:& +4 "core" &<: ! ! \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 319 counts + "manipulator"&;'n +17 "core" ' + "manipulator"&<& +5 "core" &  k ^ $ + "storage"(=& +4 "core" &<: j k b\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&>' +20 "core" ' +2 "storage"(?% +4 "core" %: Y\  +2 ."downElevator"SE.seek :down +4 "storage"(!'N +98 (A% +4 "core" %?= d [\ U_ +2 "manipulator"&B% +4 "core" % r  [ " +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&D'\ +96 "core" ' +58 ' +2 ."downElevator"SE.stop + "storage"(5 +2 (E& +4 "core" &<: B T M\  +2 "collection"'G& +4 "core" &]p\ M + #tStoring generic puck in Collection Clamp to tube 5 +2 "manipulator"&$% +4 "core" %\ - "Y + "storage"(&% +4 "core" %I [ [\  + "storage"(I. +3 "core" .(<< +2 "storage"(J& +4 "core" &<: V L ;\  + "storage"(K& +4 "core" &<: ^ p b\  + "manipulator"& & +4 "core" &  i $ +2 .tElbow.seek 5 + "manipulator"&M( +4 "core" ( + "manipulator"&N& +4 "core" &  $ + "storage"(P& +4 "core" &<: i q j\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&Q' +104 "core" ' +2 "storage"(S& +4 "core" &<: Z\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(C'e +280 "core" ' + "storage"(F- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&V& +3 "core" & r w $ + "storage"(W& +4 "core" &<: w s ;\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 + "manipulator"&H'/ +30 "core" ' +2 .tElbow.hold + "manipulator"&O, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(Y- +2 "core" -' +2 .tSE.seek 0.12 Pucks below Top Plate +2 "storage"(Z'o +31 "core" ' + "manipulator"&[% +4 "core" %>~   P +2 "storage"(L& +4 "core" &<: % [ B\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 315 counts + "manipulator"&R'j +18 "core" ' + "manipulator"&T& +4 "core" &  v W $ +2 "storage"(*& +4 "core" &<: t \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&^' +17 "core" ' +2 .tSE.seek 1.12 Pucks below Top Plate + "storage"(_'^ +40 "core" ' + "manipulator"&a& +5 "core" &  ~ z d $ + "manipulator"&b% +4 "core" % ~ j +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&c'\ +94 "core" ' +2 .tElbow.seek CC + "manipulator"&d( +144 "core" ( + "manipulator"&f& +4 "core" &" :. +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &\\& +3 "core" &# M :. +2 .tForearm.seek CC +2 "manipulator"&g'| +97 "core" ' +2 .tHand.close + "manipulator"&h/ +57 "core" / + .tCC.seek :open +2 "collection"'X(p +411 "core" ( + "storage"(j& +4 "core" &<: \  +2 "storage"(k& +4 "core" &<: a\  + "manipulator"&@& +4 "core" & k 6 + "manipulator"&m% +4 "core" % ψ & +2 .tForearm.seek :retract + "manipulator"&U'\ +91 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&`( +161 "core" ( +2 "manipulator"&o& +4 "core" &    + "storage"(p& +4 "core" &<: \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 5 + "manipulator"&q'/ +106 "core" ' +2 .tElbow.hold + "manipulator"&s, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&t1 +63 "core" 1 +2 "manipulator"&v% +4 "core" % A U + "storage"(w& +4 "core" &<: l y \  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 5 + 318 counts +2 "manipulator"&y'm +17 "core" ' + "manipulator"&i& +4 "core" & l y ^  +2 "storage"(l& +4 "core" &<: U\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&n' +10 "core" ' +2 "storage"(u% +4 "core" %c f\ +2 ."downElevator"SE.seek :down +3 "storage"(|'N +99 (}% +3 "core" %> \ U\\ +2 "manipulator"&r% +4 "core" %  t . +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +92 "core" ' +51 ' + ."downElevator"SE.stop +2 "storage"(5 +2 #tShuffling pucks in tube 6 of [5..7] +2 #Loading generic puck from tube 6 into Collection Clamp + "collection"'& +4 "core" &)*\ +2 "manipulator"&% +4 "core" %\ 3 %v + "storage"(x% +4 "core" %J 3\ +2 "storage"(z. +3 "core" .(<< +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"(+(K +351 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (& +2 "core" &K   l\  +2 "manipulator"&& +4 "core" & w  +2 .tElbow.seek 6 + "manipulator"&( +17 "core" ( +2 "manipulator"& & +4 "core" &  K +2 "storage"(\ & +3 "core" &K Q\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"& '< +96 "core" ' +2 "storage"( & +4 "core" &K x\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"( 'e +280 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (& +3 "core" &K ;\  + "manipulator"&& +4 "core" &  K + .tElbow.seek 6 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&~& +3 "core" &  K +2 "storage"(& +4 "core" &K %\  +2 .tForearm.seek 6 + 300 counts + "manipulator"&'Ϧ +11 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&{/ +61 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"('N +7 "core" & K +2 "manipulator"&% +4 "core" % ϧ  # +2 .tForearm.seek :retract + "manipulator"&'\ +93 "core" ' +2 .tElbow.seek CC +2 "manipulator"&( +147 "core" ' +2 ( + ."downElevator"SE.stop +3 "manipulator"&& + "storage"(5 +7 "core" && [ =B +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" && =B +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&%'| +93 "core" ' +2 "manipulator"&'& +4 "core" &&  =B +2 "manipulator"&% +3 "core" %x - +2 "collection"'(& +4 "core" &*+\ +2 "collection"'& +5 "core" &)*\ +2 .tCC.seek :closed + "collection"',(] +5 "core" &'(\ +7 & 6&*\ $d +9 &iU&)\ 7 +10 &~%)\ L +9 &r`)*\ N +9 &4a')\ N +10 &b''\ O +9 & b$(\ N +10 &"{_((\ N +9 &$=`)(\ N +9 &%`'(\ N +10 &'`%(\ N +9 &)`'*\ N +9 &+G`'(\ M +10 &-`'(\ N +9 &.c')\ N +10 &0b('\ N +9 &2Nb&'\ N +9 &4`''\ N +10 &5_(&\ M +9 &7_((\ M +9 &9Vb%'\ N +10 &;_$'\ M +9 &<c%$\ N +10 &>`%%\ M +9 &@^a&%\ N +9 &B!`%'\ M +10 &C`$(\ N +9 &Eb '\ N +9 &Gec\ N +10 &I#n\ O +10 &Ji\ R +9 &L\ V +9 &NRir\ W +9 &PU[\ W +10 &QAH\ W +9 &S07\ X +9 &UT&\ Y +10 &W\ Y +9 &X \ Z +10 &Z\ [ +9 &\\V\ H +9 &]]8\ (x +10 &]\ W +5 ( +2 "collection"'& +4 #tCollection Clamp onSpring/offSpring for 10/26 samples, on/off torque 1.99 + .Hand.open + "manipulator"&-1 +4 "core" &]\ W +58 1 + "manipulator"&.% +5 "core" % x H + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&0'\ +92 "core" ' +2 #tLoading generic puck from tube 6 into Processing Clamp + "processing"%& +4 "core" &\ + "manipulator"&1% +4 "core" %\ - "X +2 "storage"(4% +3 "core" %B 8 7 Q\ +2 "storage"(5. +3 "core" .(K + "storage"(& +4 "core" &K 8 8\  + "storage"(& +4 "core" &K G 8 \ \  +2 "manipulator"&9& +4 "core" &# ;2 + "manipulator"&:% +4 "core" %\ - b "X +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 + "manipulator"&<( +160 "core" ( + "manipulator"&=& +4 "core" & c  +2 "storage"("& +4 "core" &K Z Z\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&?'< +93 "core" ' +2 "storage"()& +4 "core" &K } x N\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(#'e +280 "core" ' + "storage"(A- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (B& +3 "core" &K Y Z\  +2 "manipulator"&2& +3 "core" & r v  +2 .tElbow.seek 6 +40 "manipulator"&/( +13 "core" ( + "manipulator"&3& +4 "core" & w ` Q  +2 "storage"(6& +3 "core" &K Z [\  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&;'Ϧ +22 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&E/ +60 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&G& +2 "storage"($'N +7 "core" & t u   +2 "manipulator"&&% +4 "core" % Ϣ | t +2 .tForearm.seek :retract +2 "manipulator"&I'\ +92 "core" ' +2 .tElbow.seek PC +2 "manipulator"&8(c +160 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +76 "core" ( + "manipulator"&J& +5 "core" &] 5 + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &K& +2 "core" &] a 5 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"& '[ +97 "core" ' + "manipulator"&N& +5 "core" &]  5 + "manipulator"&P% +4 "core" %_  +2 "processing"%>& +4 "core" &2\ +2 "processing"%S& +4 "core" &2\ +3 .tPC.seek :closed + "processing"%!(Z +10 "core" &4\ +3 & #4\ #a +8 &`V2\ 8 +9 &3\ L +9 &s[2\ N +10 &6b3\ M +9 &]3\ M +9 & `4\ N +10 &"|^3\ M +9 &$=[1\ N +10 &&[/\ M +9 &']0\ M +9 &)\\/\ N +10 &+F`+\ M +9 &-_$\ N +9 &.])\ N +10 &0^#\ M +9 &2M]2\ N +10 &4[ \ N +9 &5` \ M +9 &7\\*\ N +10 &9U\\*\ N +9 &;b+\ N +9 &<\\)\ N +10 &>b)\ N +9 &@^\\+\ M +10 &B^,\ N +9 &C_+\ N +9 &E_\ N +10 &Gcg\ N +9 &I!r*\ P +9 &J,\ R +10 &L+\ T +9 &NZ \ T +10 &P*\ T +9 &Q*\ U +9 &S(\ T +10 &Ua+\ T +9 &W!+\ U +9 &X,\ U +10 &Z=Ii)\ *{ +9 &Z < \ + +6 ( + "processing"%S& +4 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.58 +2 .Hand.open + "manipulator"&71 +4 "core" &Z!$\ + +52 1 + "manipulator"&D% +4 "core" % _ O +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&F'\ +96 "core" ' +2 "processing"%V& +4 "core" &Z! \ + + #tImaging generic puck in Processing Clamp while storing it to tube 6 +2 "manipulator"&W% +4 "core" %\ 1 F $t + "storage"(Y% +4 "core" %? A 8 \ + "storage"([. +3 "core" .(K +2 "storage"(L& +4 "core" &K A : \  + "storage"(T& +3 "manipulator"&*& +6 "core" &K B = \  +2 &]  5 + .tElbow.reconfigure :tight +4 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +3 "storage"(#]kK-0-\ b + "manipulator"&a(c +5 ."raiseStack"SE.seek :beamBreak +2 "storage"(b'e +2 "core" ( +2 "manipulator"&Q& +4 "core" &] A 5 + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &M& +2 "core" &] 5 +2 .tForearm.seek PC +2 "manipulator"&C'[ +94 "core" ' + .tHand.close + "manipulator"&H/ +62 "core" / + .tPC.seek :open +2 "processing"%R(p +87 "core" ' +2 "storage"(Z- +3 "core" -'e +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(f'B +34 "core" ' +260 ( +2 "storage"(\\& +4 "core" &K i h \  + "manipulator"&^& +4 "core" &]  5 +2 "manipulator"&O% +3 "core" % a  +2 .tForearm.seek :retract +2 "manipulator"&h'\ +97 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 + "manipulator"&c( +247 "core" ( + "manipulator"&]& +9 "core" & _ e +2 "storage"(j& +3 "core" &K \\ ]\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&k'< +106 "core" ' + .tHand.open + "manipulator"&@1 +60 "core" 1 +2 "storage"(m- +3 "core" -'B +3 .tSE.seek -0.16 Pucks below Top Plate + "storage"(o' +23 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.83 Pucks below Top Plate + "storage"(p' +52 "core" ' + #tLights, camera, ACTION! +2 "storage"(g- +3 "core" -' +2 "storage"(d& +4 "core" &K \  + "manipulator"&t& +4 "core" & | J e +2 .tElbow.seek 6 + "manipulator"&v( +4 "core" ( + "manipulator"&w& +4 "core" & j P e +2 "storage"(i& +4 "core" &K .\  +2 .tForearm.seek 6 + 450 counts + "manipulator"&l'< +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"(u'M +61 "core" ' +2 "manipulator"&U& +4 "core" & ~  e +2 "storage"(}& +4 "core" &K  v M\  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&r'z +33 "core" ' +2 .tElbow.hold + "manipulator"&`, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate + "storage"(q'7 +23 "core" ' +2 "manipulator"&% +4 "core" %΃t 5 +2 "storage"(& +5 "core" &K\ \  \  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 6 + 309 counts + "manipulator"&x'ϯ +17 "core" ' +2 "manipulator"&y& +9 "core" & | s A ' + "storage"(z& +4 "core" &K ~ t \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&_'< +18 "core" ' +2 "storage"(n% +4 "core" %< x } j\  +2 ."downElevator"SE.seek :down +3 "storage"(|'N +99 (e% +3 "core" %x? \\ \\\ U^ +2 "manipulator"&% +4 "core" %0  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +92 "core" ' +62 ' + ."downElevator"SE.stop + "storage"(5 +3 ( & +3 "core" &K 1 9 6\  +2 "collection"'\ & +4 "core" &]\ W +2 #tStoring generic puck in Collection Clamp to tube 6 + "manipulator"& % +4 "core" %\ -  "` + "storage"(s% +4 "core" %B ] ]\ + "storage"(. +3 "core" .(K +2 "storage"(& +4 "core" &K W O I\  + "storage"(& +4 "core" &K Z \\ \  + "manipulator"&& +4 "core" & \\ ' +2 .tElbow.seek 6 + "manipulator"&~( +31 "core" ( + "manipulator"&& +4 "core" & h  +2 "storage"({& +4 "core" &K _ ] :\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&'< +101 "core" ' +2 "storage"(& +4 "core" &K | o \  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"('e +278 "core" ' +2 "storage"( - +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +2 "core" & q s {  +2 "storage"(& +3 "core" &K q j l\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"& 'z +31 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"('- +2 "core" -' +2 .tSE.seek 0.12 Pucks below Top Plate +2 "storage"('q +28 "core" ' + "manipulator"&(% +4 "core" %~m b +2 "storage"(& +3 "core" &K\ \ ! 0\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 304 counts + "manipulator"&'Ϫ +11 "core" ' +2 "manipulator"&& +4 "core" & k x )  +2 "storage"(X& +4 "core" &K } } \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&-'< +24 "core" ' +2 .tSE.seek 1.12 Pucks below Top Plate +2 "storage"(.'` +47 "core" ' +2 "manipulator"&& +9 "core" & q t  + "manipulator"&1% +4 "core" % { s +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&4'\ +94 "core" ' +2 .tElbow.seek CC +2 "manipulator"&5( +155 "core" ( +2 "manipulator"&& +4 "core" &, 4 Bk + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &, & Bk +2 .tForearm.seek CC + "manipulator"&'| +95 "core" ' + .tHand.close +2 "manipulator"&9/ +55 "core" / + .tCC.seek :open +2 "collection"':(p +411 "core" ( + "storage"(%& +4 "core" &K C\  +2 "storage"(=& +4 "core" &K 6\  + "manipulator"&"& +4 "core" &!&  =A + "manipulator"&)% +4 "core" %   +2 .tForearm.seek :retract + "manipulator"&'\ +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&0( +156 "core" ( + "manipulator"&A& +4 "core" &  +2 "storage"(B& +4 "core" &K Z\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 6 +2 "manipulator"&2'z +95 "core" ' + .tElbow.hold +2 "manipulator"&3, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&61 +64 "core" 1 +2 "manipulator"&E% +4 "core" % Ύ * J +2 "storage"(G& +3 "core" &K ?\  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 6 + 320 counts +2 "manipulator"&&'Ϻ +16 "core" ' +2 "manipulator"&<& +5 "core" & | _  + "storage"(?& +4 "core" &K D\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&#'< +16 "core" ' +2 "storage"(;% +4 "core" %a N\ +2 ."downElevator"SE.seek :down +3 "storage"(J'N +99 (K% +3 "core" %-= ~\ V] +2 "manipulator"&/% +4 "core" %D { s +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +46 "manipulator"&N'\ +94 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +6 "core" ' +2 #tShuffling pucks in tube 7 of [5..7] + #Loading generic puck from tube 7 into Collection Clamp +2 "collection"'P& +4 "core" &&)\ +2 "manipulator"&>% +4 "core" %\ 3 R %{ + "storage"($% +4 "core" %> \ +2 "storage"(I. +3 "core" .(K + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 7 +2 "storage"(([ +352 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (7& +3 "core" &[ n p |\  + "manipulator"&D& +4 "core" & y  +2 .tElbow.seek 7 + "manipulator"&V( +21 "core" ( +6 "manipulator"&W& +5 "core" &   + "storage"(Y& +4 "core" &[ \\\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&['k +101 "core" ' +2 "storage"(L& +4 "core" &[ _\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(*'e +282 "core" ' + "storage"(T- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (S& +2 "core" &[ Y\  +2 "manipulator"&Q& +4 "core" & |  + .tElbow.seek 7 +2 "manipulator"&M( +3 "core" ( +2 "manipulator"& & +4 "core" & i x  + "storage"(H& +4 "core" &[ /\  +2 .tForearm.seek 7 + 300 counts + "manipulator"&Z' +11 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&8/ +53 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&F& +2 "storage"(!'N +7 "core" & ~ :  +2 "manipulator"&\\% +4 "core" % { @ A +2 .tForearm.seek :retract + "manipulator"&b'\ +95 "core" ' +2 .tElbow.seek CC + "manipulator"&^( +151 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +3 "core" ( +2 "manipulator"&O& +4 "core" &$ [ ;5 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &C& +3 "core" &# ;5 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&]'| +98 "core" ' +2 "manipulator"&j& +4 "core" &$ o ;5 +2 "manipulator"&a% +3 "core" %r d +2 "collection"'@& +4 "core" &()\ +2 "collection"'m& +5 "core" &(+\ +2 .tCC.seek :closed +2 "collection"'g(] +4 "core" &((\  +8 &0'*\ +z +10 &b()\ > +9 &Kz()\ N +9 & b(*\ M +10 &c'*\ N +9 &d)(\ N +10 &!R_&*\ N +9 &#b'(\ M +9 &$_&(\ N +10 &&c')\ N +9 &(Za()\ N +9 &*]'(\ M +10 &+^)(\ M +9 &-`'(\ N +10 &/b^((\ N +9 &1$c&+\ N +9 &2b'(\ M +10 &4]'&\ M +9 &6j`&'\ N +9 &8.\\((\ M +10 &9b&)\ M +9 &;Z$(\ M +9 &=rc%&\ N +10 &?5a&'\ M +9 &@`$'\ M +10 &Ba%'\ M +9 &D{\\#(\ M +9 &F=` '\ M +10 &Gg\ N +9 &Ir\ O +9 &Kuj\ R +10 &M-\ V +9 &Nw\ W +10 &P]d\ X +9 &RmJR\ X +9 &T,4=\ Y +10 &U'-\ Z +9 &W\ Y +9 &Yh\ \\ +10 &[-\ [\ +9 &\\{\ 2 +10 &](\ C +8 ( +2 &]F\ > +2 "collection"'m& +3 #tCollection Clamp onSpring/offSpring for 9/25 samples, on/off torque 2.00 + .Hand.open +2 "manipulator"&d1 +57 "core" 1 +2 "manipulator"&t% +4 "core" % r  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&w'\ +92 "core" ' +2 #tLoading generic puck from tube 7 into Processing Clamp +2 "processing"%i& +4 "core" &\ + "manipulator"&h% +4 "core" %\ ) G + "storage"(U% +4 "core" %E j \ +2 "storage"(}. +3 "core" .([ + .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 7 + "storage"(([ +3 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (f& +3 "core" &[% 8 ? \  + "manipulator"&& +4 "core" &# o :+ +2 "manipulator"&o% +3 "core" %\ ) @ G +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 7 + "manipulator"&y( +154 "core" ( +2 "manipulator"&z& +4 "core" &   +2 "storage"(n& +4 "core" &[ U\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&c'k +110 "core" ' +2 "storage"(k& +4 "core" &[ /\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(p'e +278 "core" ' +2 "storage"(e- +3 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (& +2 "core" &[ P\  +2 "manipulator"&l& +4 "core" & q s j  + .tElbow.seek 7 +2 "manipulator"&v( +23 "core" ( + "manipulator"&u& +4 "core" & h 5 # +2 "storage"(r& +4 "core" &[ \  +2 .tForearm.seek 7 + 300 counts + "manipulator"& ' +19 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&x/ +58 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&\ & + "storage"( 'N +8 "core" &  # + "manipulator"&s% +4 "core" %  $ +2 .tForearm.seek :retract +2 "manipulator"&'\ +96 "core" ' +2 .tElbow.seek PC + "manipulator"&q(c +157 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +95 "core" ( + "manipulator"&& +4 "core" &h +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &h  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&'[ +101 "core" ' +2 "manipulator"&& +4 "core" &h  + "manipulator"&{% +4 "core" %e  +2 "processing"%_& +4 "core" &2\ +2 "processing"%& +5 "core" &4\ +2 .tPC.seek :closed + "processing"%|(Z +5 "core" &9\ +6 & (,\ #b +10 &[W3\ 8 +9 &2\ L +10 &p]3\ N +9 &3\\4\ M +9 &[4\ M +10 & \\2\ N +9 &"z]1\ M +9 &$:_&\ N +10 &%^-\ N +9 &'] \ N +10 &)]*\ N +9 &+B\\\ N +9 &-b(\ M +10 &._*\ N +9 &0\\*\ M +9 &2K^*\ M +10 &4Z*\ M +9 &5])\ M +10 &7]+\ M +9 &9TZ*\ M +9 &;`-\ N +10 &<[\ M +9 &>\\*\ M +9 &@\\\\*\ M +10 &B`+\ M +9 &C`)\ M +10 &E[,\ M +9 &Gae+\ N +9 &I!m+\ O +10 &J,\ Q +9 &L*\ S +9 &NW\ T +10 &P\ T +9 &Q,\ T +10 &S,\ T +9 &U^,\ T +9 &W )\ T +10 &X*\ T +9 &Z<Ko)\ , +9 &Z- \ + +6 ( + "processing"%& +5 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.59 + .Hand.open + "manipulator"&`1 +3 "core" &Z\ + +56 1 + "manipulator"&% +4 "core" % e o +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"& '\ +97 "core" ' +2 "processing"%& +4 "core" &Z\ + + #tImaging generic puck in Processing Clamp while storing it to tube 7 +2 "manipulator"&% +3 "core" %\ 1 $r +2 "storage"('% +4 "core" %J s p \ + "storage"((. +3 "core" .([ +2 "storage"(& +3 "core" &[ y s \  +2 "storage"(& +2 "manipulator"&X& +7 "core" &h +2 &[ p u \  +2 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +2 "storage"(#]kK-0-\ b +2 .tElbow.seek PC +5 "manipulator"&(c +3 ."raiseStack"SE.seek :beamBreak +2 "storage"(1'e +2 "core" ( +2 "manipulator"&& +4 "core" &h + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &~& +3 "core" &h T +2 .tForearm.seek PC +2 "manipulator"&'[ +94 "core" ' + .tHand.close +2 "manipulator"& / +58 "core" / +2 .tPC.seek :open + "processing"%(p +93 "core" ' +2 "storage"(- +4 "core" -'e + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place + "storage"('B +43 "core" ' +242 ( +2 "storage"(& +4 "core" &[ =\  + "manipulator"&-& +4 "core" &h  + "manipulator"&% +4 "core" % ]  +2 .tForearm.seek :retract +2 "manipulator"&9'\ +97 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 7 + "manipulator"&4( +253 "core" ( +2 "manipulator"&,& +4 "core" & Z $ +2 "storage"(%& +4 "core" &[ ~ { T\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&='k +101 "core" ' + .tHand.open +2 "manipulator"&"1 +53 "core" 1 +2 "storage"()- +3 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate +2 "storage"(A' +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(B' +53 "core" ' + #tLights, camera, ACTION! +2 "storage"(- +3 "core" -' +2 "storage"(5& +4 "core" &[\ \ \  + "manipulator"&6& +4 "core" & q q [ $ + .tElbow.seek 7 +2 "manipulator"&E( +3 "core" ( +2 "manipulator"&G& +4 "core" &  z C $ + "storage"(<& +4 "core" &[ X\  +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&?'k +11 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"(;'M +61 "core" ' +2 "manipulator"&& +4 "core" & }  $ +2 "storage"(K& +4 "core" &[ x\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 7 +2 "manipulator"&/'Ω +30 "core" ' +2 .tElbow.hold + "manipulator"&0, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"(2'7 +23 "core" ' +2 "manipulator"&P% +4 "core" %λ ( +2 "storage"(&& +4 "core" &[ Z \\\  +2 .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 7 + 318 counts +2 "manipulator"&>' +25 "core" ' + "manipulator"&$& +5 "core" & k * $ + "storage"(I& +4 "core" &[ \\\  +2 .tForearm.reconfigure :tight +44 "manipulator"&#Q@2^d^\ b +12 .tForearm.seek 7 + 450 counts +2 "manipulator"&.'k +12 "core" ' + "storage"(#% +4 "core" %> \  +3 ."downElevator"SE.seek :down +4 "storage"(J'N +99 (+% +3 "core" %> 1\ U^ +2 "manipulator"&7% +4 "core" %d {   +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&D'\ +93 "core" ' +54 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (W& +3 "core" &[ ] o *\  +2 "collection"'Y& +4 "core" &]F\ > +2 #tStoring generic puck in Collection Clamp to tube 7 + "manipulator"&L% +4 "core" %\ 6  & +2 "storage"(3% +3 "core" %? i i \ +2 "storage"(N. +3 "core" .([ + "storage"(T& +4 "core" &[ i i \  +2 "storage"(S& +4 "core" &[ j j \  +6 "manipulator"&Q& +4 "core" & ` $ +2 .tElbow.seek 7 + "manipulator"& ( +4 "core" ( + "manipulator"&H& +4 "core" & : $ + "storage"(8& +4 "core" &[ j j \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&F'k +97 "core" ' + "storage"(\\& +4 "core" &[ 1\  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(V'e +282 "core" ' + "storage"([- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&O& +3 "core" &  $ + "storage"(C& +4 "core" &[ R\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 7 + "manipulator"&*'Ω +29 "core" ' + .tElbow.hold +2 "manipulator"&Z, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(j- +2 "core" -' +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(a'n +46 "core" ' + "manipulator"&@% +4 "core" %λ G +2 "storage"(M& +3 "core" &[ ] ]\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 7 + 318 counts + "manipulator"&!' +18 "core" ' + "manipulator"&b& +5 "core" & ~ k $ + "storage"(:& +4 "core" &[ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&d'k +15 "core" ' +2 .tSE.seek 1.11 Pucks below Top Plate +2 "storage"(t'] +49 "core" ' +2 "manipulator"&i& +4 "core" & }  $ + "manipulator"&h% +4 "core" %U  }  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&U'\ +87 "core" ' + .tElbow.seek CC +2 "manipulator"&}( +145 "core" ( + "manipulator"&m& +4 "core" &# ;5 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &f& +4 "core" &$ p ;5 + .tForearm.seek CC +2 "manipulator"&'| +104 "core" ' + .tHand.close +2 "manipulator"&o/ +51 "core" / +2 .tCC.seek :open +2 "collection"'](p +411 "core" ( + "storage"(z& +4 "core" &[ h\  +2 "storage"(n& +102 "core" &[ :\  +2 "manipulator"&& +4 "core" &  7 + "manipulator"&k% +4 "core" % i  q +2 .tForearm.seek :retract +2 "manipulator"&^'\ +90 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 7 + "manipulator"&w( +163 "core" ( + "manipulator"&e& +5 "core" &  \ + "storage"(& +4 "core" &[ ?\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 7 +2 "manipulator"&l'Ω +111 "core" ' + .tElbow.hold +2 "manipulator"&u, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&r1 +57 "core" 1 +2 "manipulator"&x% +4 "core" % μ +2 "storage"(\ & +4 "core" &[ )\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 7 + 319 counts + "manipulator"&s' +18 "core" ' +2 "manipulator"&y& +4 "core" & S s 8 \ +2 "storage"(c& +4 "core" &[ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&p'k +18 "core" ' + "storage"( % +5 "core" %b \ +2 ."downElevator"SE.seek :down +3 "storage"('N +99 (% +3 "core" %%> 7\ U[ +2 "manipulator"&v% +4 "core" %S s s ]  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +87 "core" ' +54 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 5 of [5..7] + #Loading generic puck from tube 5 into Collection Clamp +2 "collection"'{& +4 "core" &&*\ + "manipulator"&_% +4 "core" %\ +  !M +2 "storage"( % +4 "core" %L .\ + "storage"(. +3 "core" .([ +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 + "storage"(R(<< +673 "core" ( +2 .tSC.configure :limp +3 "storage"($\ 1b +2 (`& +3 "core" &<> \ +2 "manipulator"&& +4 "core" &  \ +2 .tElbow.seek 5 + "manipulator"&( +37 "core" ( + "manipulator"&& +4 "core" &   +2 "storage"('& +4 "core" & +9 &Ky'+\ N +10 &\\'+\ M +9 &b')\ N +9 &b()\ N +10 &!S^*)\ N +9 &#c'+\ M +10 &$b'(\ M +9 &&_&*\ N +9 &(\\b((\ M +10 &*b%(\ M +9 &+`(*\ M +9 &-`))\ M +10 &/c]'(\ N +9 &1%c&&\ N +10 &2`(*\ N +9 &4`'(\ M +9 &6k_'(\ N +10 &8.^%'\ M +9 &9\\((\ M +9 &;]%(\ M +10 &=t_('\ M +9 &?6\\&'\ M +10 &@]&'\ M +9 &B]&(\ M +9 &D}[&&\ M +10 &F=a$\ N +9 &Gb \ N +9 &Iu\ P +10 &KwO\ R +9 &M,\ V +10 &Nw\ W +9 &Pdl\ X +9 &RnTZ\ X +10 &T.@F\ X +9 &U16\ Z +9 &W&\ Z +10 &Yj\ \\ +9 &[-\ \ [ +10 &\\z\ 5 +9 &]"\ 'q +9 &]h\ N +3 ( + "collection"')& +3 #tCollection Clamp onSpring/offSpring for 9/25 samples, on/off torque 2.03 +2 .Hand.open + "manipulator"&51 +56 "core" 1 +3 "manipulator"&6% +4 "core" % y  + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&G'\ +92 "core" ' + #tLoading generic puck from tube 5 into Processing Clamp +2 "processing"%<& +4 "core" &#\ + "manipulator"&9% +4 "core" %\ +  !M +2 "storage"(% +4 "core" %8 Z \\\ + "storage"(K. +3 "core" .(<< + "storage"(& +4 "core" &<< Z Z\ +2 "storage"(P& +4 "core" &<< Y Z\ + "manipulator"&&& +4 "core" & & =A + "manipulator"&A% +4 "core" %\ + !M +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&$( +164 "core" ( +2 "manipulator"&I& +4 "core" &   + "storage"(4& +4 "core" &<< l j {\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&=' +103 "core" ' +2 "storage"(#& +4 "core" &<< I\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(B'e +283 "core" ' + "storage"(?- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (+& +3 "core" &<8 .\ + "manipulator"&7& +4 "core" & t t p  +2 .tElbow.seek 5 + "manipulator"&E( +4 "core" ( + "manipulator"&;& +4 "core" & U y :  +2 "storage"(/& +3 "core" &<8 i i \ +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&W'[ +23 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&Y/ +62 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&>& + "storage"(L'N +7 "core" & t t '  +2 "manipulator"&3% +4 "core" % F s s n  +2 .tForearm.seek :retract + "manipulator"&N'\ +97 "core" ' + .tElbow.seek PC +2 "manipulator"&T(c +159 "core" ' + ."downElevator"SE.stop + "storage"(5 +78 "core" ( + "manipulator"&2& +4 "core" &k > +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &S& +3 "core" &k  > +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&Q'[ +107 "core" ' + "manipulator"&H& +56 "core" &k ~  > +2 "manipulator"&8% +4 "core" %_ t } y +2 "processing"%.& +3 "core" &\ +3 "processing"%\\& +4 "core" &3\ +2 .tPC.seek :closed +2 "processing"%J(Z +4 "core" &-\ +8 & 95\ $e +9 &lV'\ 7 +10 &1\ L +9 &]4\ M +10 &A]3\ M +9 &[&\ M +9 & a9\ M +10 &"\\-\ M +9 &$I]*\ M +9 &&\ \\'\ N +10 &'\\2\ M +9 &)^'\ M +10 &+Q\\$\ M +9 &-`.\ M +9 &._%\ M +10 &0\\$\ M +9 &2Y^\ M +10 &4Z3\ M +9 &5] \ M +9 &7^'\ M +10 &9`]o\ N +9 &;#^p\ M +9 &<Yv\ M +10 &>`#\ M +9 &@i_)\ M +9 &B*`%\ N +10 &C^o\ M +9 &E[q\ M +10 &Gocs\ N +9 &I.p3\ O +9 &J}'\ Q +10 &L\ T +9 &Nf,\ T +9 &P(!\ T +10 &Q(\ S +9 &S*\ T +10 &Ul"\ T +9 &W.$\ T +9 &X)\ U +10 &ZIIjn\ *z +9 &Z-\ * +5 ( +2 "processing"%\\& +4 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.58 +2 .Hand.open + "manipulator"&01 +4 "core" &Zr\ * +48 1 +2 "manipulator"&D% +4 "core" % _ { y +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&['\ +91 "core" ' +2 "processing"%O& +3 "core" &Z\ * +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 +2 "manipulator"&C% +4 "core" %\ + T !W +2 "storage"(j% +3 "core" %J u k \ +2 "storage"(@. +3 "core" .(<< + "storage"(M& +4 "core" &<8 [ Z \ +2 "storage"(b& +4 "manipulator"&:& +4 "core" &<8 c r \ + &k  > +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +2 "storage"(#]kK-0-\ b +2 .tElbow.seek PC +4 "manipulator"&i(c +4 ."raiseStack"SE.seek :beamBreak + "storage"(h'e +3 "core" ( + "manipulator"&F& +4 "core" &k > +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 & & +3 "core" &k > +2 .tForearm.seek PC +2 "manipulator"&V'[ +94 "core" ' + .tHand.close + "manipulator"&*/ +54 "core" / +2 .tPC.seek :open + "processing"%!(p +99 "core" ' +2 "storage"(a- +4 "core" -'e + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +2 ."raiseStack"SE.seek :place +2 "storage"(m'B +36 "core" ' +246 ( +6 "storage"(f& +5 "core" &<8 ~ } \ + "manipulator"&d& +4 "core" &k s r M > + "manipulator"&Z% +4 "core" % ` t  +2 .tForearm.seek :retract +2 "manipulator"&o'\ +91 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&U( +253 "core" ( + "manipulator"&g& +4 "core" & & +2 "storage"(z& +4 "core" &<8 _ n \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&n' +95 "core" ' + .tHand.open +2 "manipulator"&1 +58 "core" 1 +2 "storage"(k- +3 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate +2 "storage"(e' +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(' +51 "core" ' +2 #tLights, camera, ACTION! + "storage"(- +3 "core" -' +2 "storage"(}& +4 "core" &<7 \ + "manipulator"&r& +4 "core" & i & +2 .tElbow.seek 5 + "manipulator"&x( +3 "core" ( +2 "manipulator"&\ & +4 "core" & ` & + "storage"(y& +4 "core" &<7 g\ +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&c' +3 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.11 Pucks below Top Plate + "storage"( 'M +57 "core" ' +2 "manipulator"&^& +4 "core" &  & +2 "storage"(& +4 "core" &<7 t p \ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&v'/ +27 "core" ' + .tElbow.hold +2 "manipulator"&w, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"(l'7 +26 "core" ' +2 "manipulator"&{% +4 "core" %A  +2 "storage"(_& +4 "core" &<7 E E !\ + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 5 + 318 counts + "manipulator"&s'm +18 "core" ' +2 "manipulator"& & +4 "core" &=\ ~ - Z +2 "storage"(& +4 "core" &<7 E\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +3 "manipulator"&t' +18 "core" ' +2 "storage"(p% +4 "core" %8 M\ +2 ."downElevator"SE.seek :down +5 "storage"('N +99 (% +3 "core" %#< s u J\ V_ +2 "manipulator"&`% +4 "core" % q { p  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +99 "core" ' +51 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (& +4 "core" &<7 M ; G\ +2 "collection"''& +4 "core" &]g\ N +2 #tStoring generic puck in Collection Clamp to tube 5 + "manipulator"&% +4 "core" %\ 6 a & + "storage"(u% +4 "core" %L o p\ + "storage"(. +3 "core" .(<< +2 "storage"(X& +4 "core" &<7 o p H\ + "storage"(& +4 "core" &<7 v r s\ +2 "manipulator"&& +3 "core" &=\ t Z +2 .tElbow.seek 5 +2 "manipulator"&( +23 "core" ( +2 "manipulator"& & +4 "core" &   +2 "storage"(q& +4 "core" &<7 } ~ \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"& ' +94 "core" ' +2 "storage"(& +5 "core" &<7 I\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('e +279 "core" ' +2 "storage"((- +3 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&1& +3 "core" & { ^  +2 "storage"(& +3 "core" &<7 v | c\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&'/ +28 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(%- +2 "core" -' +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"('n +29 "core" ' + "manipulator"&"% +5 "core" %@  s + "storage"(~& +4 "core" &<7 C E \ + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 317 counts + "manipulator"&|'l +16 "core" ' +2 "manipulator"&-& +4 "core" &, _ x 0 W +2 "storage"(]& +3 "core" &<7 ;\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&5' +16 "core" ' +2 .tSE.seek 1.11 Pucks below Top Plate +2 "storage"(6'] +46 "core" ' + "manipulator"&<& +5 "core" &, s q b W + "manipulator"&9% +4 "core" % s s l +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +91 "core" ' +2 .tElbow.seek CC + "manipulator"&K( +164 "core" ( + "manipulator"&& +4 "core" &- K Ct +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &P& +2 "core" &. 7 Ct +2 .tForearm.seek CC +2 "manipulator"&&'| +101 "core" ' + .tHand.close + "manipulator"&)/ +52 "core" / +2 .tCC.seek :open +2 "collection"'A(p +411 "core" ( + "storage"(,& +4 "core" &<7 \ +2 "storage"(I& +27 "core" &<7 -\ +2 "manipulator"&4& +4 "core" &- Cp + "manipulator"&#% +4 "core" % ρ +2 .tForearm.seek :retract + "manipulator"&'\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&G( +164 "core" ( + "manipulator"&?& +4 "core" &   +2 "storage"(+& +4 "core" &<7 '\ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 5 +2 "manipulator"&7'/ +106 "core" ' +42 .tElbow.hold +11 "manipulator"&;, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +3 "manipulator"&/1 +58 "core" 1 +2 "manipulator"&Y% +4 "core" % C e +2 "storage"(>& +4 "core" &<7 '\ + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 320 counts + "manipulator"&3'o +17 "core" ' + "manipulator"&$& +4 "core" &) i S x +2 "storage"(=& +4 "core" &<7 \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&B' +18 "core" ' +2 "storage"(W% +4 "core" %] \ +2 ."downElevator"SE.seek :down +3 "storage"(2'N +100 (S% +2 "core" %= 3\ U\\ +2 "manipulator"&E% +4 "core" % V U  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&H'\ +94 "core" ' +47 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 6 of [5..7] + #Loading generic puck from tube 6 into Collection Clamp +2 "collection"'8& +4 "core" &)(\ +2 "manipulator"&.% +4 "core" %\ 0  #j + "storage"(L% +4 "core" %E \ +2 "storage"(N. +3 "core" .(<< + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"((K +355 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (0& +2 "core" &K i g \  +2 "manipulator"&D& +4 "core" &)  x + .tElbow.seek 6 +2 "manipulator"&O( +38 "core" ( + "manipulator"&C& +4 "core" & D e +2 "storage"(j& +4 "core" &K Z\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&@'< +95 "core" ' + "storage"(M& +5 "core" &K \  + .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(:'e +276 "core" ' + "storage"(b- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (\\& +3 "core" &K ^\  + "manipulator"&F& +4 "core" & r S e +2 .tElbow.seek 6 + "manipulator"& ( +4 "core" ( + "manipulator"&Q& +4 "core" & o / e + "storage"(*& +4 "core" &K -\  +2 .tForearm.seek 6 + 300 counts + "manipulator"&a'Ϧ +26 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&T/ +61 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&[& + "storage"(J'N +7 "core" & } R e + "manipulator"&f% +4 "core" % ϯ }  +2 .tForearm.seek :retract +2 "manipulator"&d'\ +94 "core" ' + .tElbow.seek CC +2 "manipulator"&Z( +149 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +3 "core" ( +2 "manipulator"&h& +4 "core" &+ 3 Aa + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &V& +3 "core" &* Aa +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&g'| +103 "core" ' +2 "manipulator"&z& +4 "core" &+ g A` +2 "manipulator"&i% +4 "core" %v + "collection"'& +5 "core" &',\ +2 "collection"'k& +6 "core" &**\ +2 .tCC.seek :closed +2 "collection"'(] +4 "core" &*+\ +8 &?*+\ $e +9 &oV)(\ 8 +9 &'*\ L +10 &]*)\ M +11 &G`*+\ M +8 & ]')\ M +9 & ])*\ M +9 &"b&)\ M +10 &$Pa)'\ M +9 &&`'+\ M +9 &'_')\ M +10 &)a(*\ N +9 &+X`)(\ M +9 &-_**\ M +10 &.b')\ M +9 &0c&*\ M +10 &2_`))\ M +9 &4"a()\ M +9 &5_&)\ M +10 &7^()\ M +9 &9i^&)\ M +9 &;+]%)\ M +10 &<^$*\ M +9 &>_&(\ M +10 &@p_%(\ M +9 &B1`()\ M +9 &C`'%\ M +10 &E_$)\ M +9 &Gvc \ N +9 &I5l\ O +10 &J}\ Q +9 &L\ U +10 &Nd\ V +9 &P$qz\ W +9 &Q`g\ X +10 &SOV\ X +9 &Uf=D\ Y +9 &W'/2\ Y +10 &X$\ Z +9 &Z\ Z +10 &\\h\ G +9 &]c9\ *| +9 &]Z\ E +3 ( + "collection"'k& +3 #tCollection Clamp onSpring/offSpring for 10/26 samples, on/off torque 2.01 +2 .Hand.open + "manipulator"&}1 +53 "core" 1 +2 "manipulator"&r% +3 "core" % u  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&\ '\ +97 "core" ' +2 #tLoading generic puck from tube 6 into Processing Clamp +2 "processing"%y& +4 "core" &,\ + "manipulator"&o% +4 "core" %\ 6 q & + "storage"(^% +4 "core" %? Z Z\ + "storage"(. +3 "core" .(K +2 "storage"({& +3 "core" &K Z Y\  +2 "storage"(_& +4 "core" &K Z Y\  + "manipulator"&m& +4 "core" &( ?R +2 "manipulator"& % +4 "core" %\ 6 & + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&( +156 "core" ( + "manipulator"&e& +5 "core" & Q + "storage"(p& +4 "core" &K n j F\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&U'< +106 "core" ' + "storage"(n& +5 "core" &K j\  + .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('e +280 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (`& +3 "core" &K /\  + "manipulator"&c& +4 "core" & q r q +2 .tElbow.seek 6 + "manipulator"&x( +3 "core" ( +2 "manipulator"& & +3 "core" & ^ t  +2 "storage"(v& +4 "core" &K Z\  +2 .tForearm.seek 6 + 300 counts + "manipulator"&'Ϧ +25 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&s/ +52 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&'& + "storage"('N +7 "core" & r u Y + "manipulator"&u% +4 "core" % Ϫ u r ( +2 .tForearm.seek :retract +2 "manipulator"&'\ +88 "core" ' + .tElbow.seek PC +2 "manipulator"&X(c +163 "core" ' +2 ."downElevator"SE.stop +6 "storage"(5 +76 "core" ( + "manipulator"&l& +4 "core" &j +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &j  +4 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&'[ +101 "core" ' +2 "manipulator"& & +4 "core" &j  +2 "manipulator"&q% +4 "core" %X  + "processing"%t& +4 "core" &\ +2 "processing"%& +5 "core" &'\ +2 .tPC.seek :closed +2 "processing"%(Z +4 "core" &/\  +8 &/~6\ *y +10 &d3\ > +9 &@x4\ N +9 &\\4\ M +10 &Z2\ M +9 &[3\ M +9 &!H_2\ N +10 &# Z2\ M +9 &$[2\ M +10 &&]4\ M +9 &(Q\\8\ M +9 &*]9\ M +10 &+\\8\ M +9 &-Z:\ M +10 &/X_3\ N +9 &1]3\ M +9 &2^9\ N +10 &4[3\ M +9 &6a\\3\ M +9 &8#]7\ M +10 &9]!\ N +9 &;^8\ M +9 &=i\\0\ M +10 &?*]4\ N +9 &@_(\ N +10 &B_!\ N +9 &Dq^&\ M +9 &F2_0\ N +10 &Gj1\ N +14 &Ix3\ P +4 &Kj%\ R +10 &M)'\ S +9 &N.\ T +10 &P.\ T +9 &Rm,\ T +9 &T..\ T +10 &U+\ T +9 &W.\ T +9 &Yt \ A +10 &Z{A+\ U +9 &Zo\ * +3 ( + "processing"%& +3 #tProcessing Clamp onSpring/offSpring for 9/25 samples, on/off torque 1.61 +2 .Hand.open + "manipulator"&w1 +63 "core" 1 + "manipulator"&% +4 "core" % X / +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&('\ +98 "core" ' + "processing"%1& +4 "core" &Z|\ * +2 #tImaging generic puck in Processing Clamp while storing it to tube 6 +2 "manipulator"&% +4 "core" %\ 3 %~ + "storage"(%% +4 "core" %9 q u Q\  + "storage"(". +3 "core" .(K +2 "storage"(~& +4 "core" &K q u I\  +2 "storage"(-& +2 "manipulator"&]& +6 "core" &K j u \  +2 &j +2 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +4 "storage"(#]kK-0-\ b + "manipulator"&<(c +5 ."raiseStack"SE.seek :beamBreak +2 "storage"(9'e +2 "core" ( + "manipulator"& & +4 "core" &j  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &j +2 .tForearm.seek PC +2 "manipulator"&'[ +94 "core" ' +51 .tHand.close +3 "manipulator"&/ +57 "core" / +2 .tPC.seek :open + "processing"%|(p +45 "core" ' +2 "storage"(- +3 "core" -'e +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('B +32 "core" ' +304 ( +2 "storage"(P& +4 "core" &K \  + "manipulator"&5& +4 "core" &j  + "manipulator"&% +4 "core" % d   +2 .tForearm.seek :retract +2 "manipulator"&)'\ +91 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 + "manipulator"&( +248 "core" ( +2 "manipulator"&& +4 "core" &  e +2 "storage"(,& +3 "core" &K \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&I'< +101 "core" ' + .tHand.open +2 "manipulator"&41 +61 "core" 1 +2 "storage"(#- +3 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate +2 "storage"(?' +24 "core" ' +7 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.83 Pucks below Top Plate + "storage"(+' +52 "core" ' + #tLights, camera, ACTION! +2 "storage"(&- +3 "core" -' +2 "storage"(K& +4 "core" &K \  + "manipulator"&/& +4 "core" &  e +2 .tElbow.seek 6 + "manipulator"&Y( +4 "core" ( + "manipulator"&>& +4 "core" &  e + "storage"($& +4 "core" &K \  +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&='< +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"('M +59 "core" ' + "manipulator"&W& +5 "core" &  e + "storage"(S& +4 "core" &K n j \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&E'z +34 "core" ' +2 .tElbow.hold + "manipulator"&G, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"(7'7 +24 "core" ' +2 "manipulator"&8% +4 "core" %ug \ +2 "storage"(.& +4 "core" &K   V\  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 6 + 295 counts +2 "manipulator"&3'ϡ +16 "core" ' +2 "manipulator"&L& +4 "core" & j M e +2 "storage"(N& +4 "core" &K T\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&6'< +16 "core" ' +2 "storage"(B% +4 "core" %A \ +2 ."downElevator"SE.seek :down +3 "storage"(2'N +99 (R% +3 "core" %= g i \ V_ +2 "manipulator"&0% +4 "core" %< p p ? +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&D'\ +92 "core" ' +59 ' + ."downElevator"SE.stop + "storage"(5 +3 (C& +3 "core" &K l Q Z\  +2 "collection"'j& +4 "core" &][\ E +2 #tStoring generic puck in Collection Clamp to tube 6 + "manipulator"&M% +4 "core" %\ 0  #g + "storage"(;% +4 "core" %H h n y\  +2 "storage"(H. +2 "core" .(K +2 "storage"(b& +4 "core" &K h n \  + "storage"(\\& +4 "core" &K ~ w 8\  +2 "manipulator"&F& +4 "core" & $ e +2 .tElbow.seek 6 + "manipulator"&Q( +4 "core" ( + "manipulator"&*& +4 "core" & ; e + "storage"(T& +4 "core" &K } ~ \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&['< +99 "core" ' +2 "storage"(f& +4 "core" &K _\  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(O'e +277 "core" ' + "storage"(@- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&h& +2 "core" &  e +2 "storage"(V& +4 "core" &K j S\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&:'z +35 "core" ' + .tElbow.hold +2 "manipulator"&a, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(z- +3 "core" -' +2 .tSE.seek 0.12 Pucks below Top Plate + "storage"(i'r +28 "core" ' + "manipulator"&% +5 "core" %|` ` + "storage"( & +4 "core" &K  7\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 302 counts + "manipulator"&J'Ϩ +16 "core" ' +2 "manipulator"&d& +4 "core" & k 1 e +2 "storage"(A& +4 "core" &K <\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&}'< +16 "core" ' +2 .tSE.seek 1.12 Pucks below Top Plate +2 "storage"(r'a +43 "core" ' +2 "manipulator"&y& +4 "core" & t s \\ e +2 "manipulator"&o% +4 "core" %3 r p f +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&^'\ +88 "core" ' +2 .tElbow.seek CC +2 "manipulator"&( +160 "core" ( +2 "manipulator"&{& +4 "core" &% S =D + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &_& +2 "core" &% =D +2 .tForearm.seek CC +2 "manipulator"&k'| +104 "core" ' + .tHand.close +2 "manipulator"&m/ +52 "core" / +2 .tCC.seek :open + "collection"' (p +414 "core" ( +2 "storage"(g& +4 "core" &K .\  + "storage"(e& +4 "core" &K i\  + "manipulator"&p& +4 "core" &%  =C + "manipulator"&n% +4 "core" % s  u + .tForearm.seek :retract +2 "manipulator"&Z'\ +90 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&\ ( +161 "core" ( + "manipulator"&& +4 "core" &   +2 "storage"(`& +4 "core" &K 1\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 6 +2 "manipulator"&c'z +110 "core" ' +2 .tElbow.hold +2 "manipulator"& , +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&v1 +56 "core" 1 +2 "manipulator"&s% +4 "core" % · K + "storage"('& +4 "core" &K (\  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 6 + 313 counts +2 "manipulator"&u'ϳ +18 "core" ' + "manipulator"&& +4 "core" & Q s 1  +2 "storage"(U& +4 "core" &K \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&'< +17 "core" ' + "storage"(% +4 "core" %] \ +2 ."downElevator"SE.seek :down +4 "storage"(l'N +99 (% +2 "core" %K? \ U\\ +2 "manipulator"&x% +4 "core" %D X V  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"& '\ +88 "core" ' +51 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 7 of [5..7] + #Loading generic puck from tube 7 into Collection Clamp +2 "collection"'q& +4 "core" &(*\ + "manipulator"&t% +4 "core" %\ (  L +2 "storage"(% +4 "core" %G '\ + "storage"(. +3 "core" .(K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 7 + "storage"(!([ +357 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (w& +3 "core" &[ l )\  + "manipulator"&& +4 "core" &   +2 .tElbow.seek 7 + "manipulator"&1( +32 "core" ( + "manipulator"&& +4 "core" & W +2 "storage"(%& +4 "core" &[ L\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&"'k +92 "core" ' + "storage"(& +4 "core" &[ M\  +51 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(~'e +280 "core" ' +2 "storage"(-- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (]& +3 "core" &[ _\  + "manipulator"& & +4 "core" & | ; +2 .tElbow.seek 7 + "manipulator"&( +22 "core" ( + "manipulator"&& +4 "core" & j } c +2 "storage"(& +4 "core" &[ /\  +2 .tForearm.seek 7 + 300 counts + "manipulator"&' +22 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&X/ +54 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&(& +2 "storage"('N +7 "core" & | b + "manipulator"&9% +4 "core" % { +2 .tForearm.seek :retract +2 "manipulator"&P'\ +93 "core" ' +2 .tElbow.seek CC + "manipulator"&5( +151 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +3 "core" ( +2 "manipulator"&& +4 "core" &- 9 Cm + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &- v Cm +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&'| +97 "core" ' + "manipulator"&,& +4 "core" &, $ Bl +2 "manipulator"&<% +4 "core" %w   +2 "collection"'4& +4 "core" &-(\ +2 "collection"'#& +5 "core" &)*\ +2 .tCC.seek :closed + "collection"'&(] +5 "core" &')\  +8 &1))\ *y +9 &c%(\ > +10 &D{''\ N +9 &^()\ M +9 &a*)\ M +10 &a')\ M +9 &!N`((\ M +9 &#_'(\ M +10 &$_')\ M +9 &&`')\ M +9 &(U`*)\ M +10 &*^'*\ M +9 &+^()\ L +10 &-_*'\ M +9 &/]`'(\ M +9 &1`&+\ M +10 &2_))\ M +9 &4](*\ M +9 &6f^'(\ M +10 &8(]&'\ M +9 &9a&)\ M +10 &;\\&'\ M +9 &=mb&'\ M +13 &?/]')\ M +6 &@_'(\ M +9 &B_('\ M +9 &Dv]'(\ M +10 &F8`")\ M +9 &Gc \ M +10 &In\ O +9 &Kq{\ Q +9 &M(\ U +10 &N\ V +9 &Pqz\ W +9 &Rg_f\ W +10 &T(ER\ X +9 &U9>\ Y +10 &W&,\ Y +9 &Yd \ [\ +9 &[& \ [\ +10 &\\y\ 8 +9 &]~&\ *{ +9 &]~\ V +3 ( + "collection"'#& +3 #tCollection Clamp onSpring/offSpring for 9/25 samples, on/off torque 2.03 +2 .Hand.open + "manipulator"&K1 +60 "core" 1 +2 "manipulator"&/% +4 "core" % w  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&>'\ +92 "core" ' +2 #tLoading generic puck from tube 7 into Processing Clamp + "processing"%$& +4 "core" &B\ +2 "manipulator"&)% +4 "core" %\ + O !W + "storage"(W% +4 "core" %M Z \\\  +2 "storage"(S. +3 "core" .([ + "storage"(& +4 "core" &[ Y M <\  + "storage"(8& +4 "core" &[ [ X\  + "manipulator"&.& +4 "core" &,  Bf +2 "manipulator"&?% +4 "core" %\ +  !W + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 7 +2 "manipulator"&L( +167 "core" ( + "manipulator"&N& +4 "core" &  +2 "storage"(B& +4 "core" &[ o p \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&'k +93 "core" ' +2 "storage"(I& +4 "core" &[ } \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(+'e +281 "core" ' +2 "storage"(R- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (0& +2 "core" &[ l N \  +2 "manipulator"&=& +4 "core" & }  + .tElbow.seek 7 +2 "manipulator"&Y( +17 "core" ( + "manipulator"&& +5 "core" & n D O + "storage"(E& +8 "core" &[ o o \  +2 .tForearm.seek 7 + 300 counts +2 "manipulator"&C' +22 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&3/ +54 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&j& +2 "storage"(M'N +7 "core" & t q 7 O +2 "manipulator"&;% +4 "core" %  +2 .tForearm.seek :retract + "manipulator"&H'\ +89 "core" ' +2 .tElbow.seek PC +2 "manipulator"&b(c +160 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +80 "core" ( + "manipulator"&7& +5 "core" &_  2 + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &\\& +2 "core" &_  2 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&F'[ +100 "core" ' +2 "manipulator"&*& +4 "core" &_  2 +2 "manipulator"&T% +4 "core" %V  + "processing"%6& +5 "core" &7\ +2 "processing"%f& +5 "core" &@\ +2 .tPC.seek :closed +3 "processing"%2(Z +3 "core" &B\ +6 &9A\ $e +9 &iV5\ 7 +10 &5\ L +9 &{\\>\ M +9 &=]@\ M +10 &X8\ M +9 & ^<\ N +9 &"Z>\ M +10 &$EY>\ M +9 &&Y5\ M +10 &'Y?\ M +9 &)^2\ M +9 &+M[@\ M +10 &-Z@\ M +9 &.Z3\ M +9 &0[9\ M +10 &2U\\5\ M +9 &4W:\ M +10 &5]1\ M +9 &7\\1\ M +9 &9^X6\ M +10 &;\\/\ N +9 &<Z(\ M +9 &>_'\ N +10 &@e]9\ M +9 &B'\\$\ M +10 &C[7\ M +9 &EZ.\ M +9 &Gkd(\ N +10 &I*p+\ O +9 &J}-\ Q +10 &L(\ S +9 &N`(\ T +9 &P##\ T +10 &Q+\ T +9 &S.\ T +9 &Ug2\ U +10 &W)'\ U +9 &X'\ U +9 &ZCHj+\ *| +10 &Z\ 9)\ + +5 ( +2 "processing"%f& +4 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.61 + .Hand.open +2 "manipulator"&G1 +3 "core" &Z #\ + +49 1 + "manipulator"&D% +5 "core" % V 1 + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&@'\ +91 "core" ' + "processing"%h& +4 "core" &Z +\ + +2 #tImaging generic puck in Processing Clamp while storing it to tube 7 +2 "manipulator"&V% +3 "core" %\ * X D +2 "storage"(z% +4 "core" %= \\ \\\ + "storage"(. +3 "core" .([ +2 "storage"( & +4 "core" &[ W Y\  +2 "storage"(d& + "manipulator"&A& +7 "core" &[ \\ \\\  + &_ } 2 +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +2 "storage"(#]kK-0-\ b +2 .tElbow.seek PC +4 "manipulator"&y(c +3 ."raiseStack"SE.seek :beamBreak +3 "storage"(o'e +3 "core" ( + "manipulator"&[& +4 "core" &_ j 2 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &Q& +3 "core" &_ z 2 +2 .tForearm.seek PC + "manipulator"&O'[ +100 "core" ' + .tHand.close +2 "manipulator"&:/ +59 "core" / +2 .tPC.seek :open +2 "processing"%J(p +85 "core" ' + "storage"(i- +3 "core" -'e +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"({'B +41 "core" ' +256 ( + "storage"(_& +4 "core" &[ p o B\  +2 "manipulator"&}& +4 "core" &_  2 + "manipulator"&a% +4 "core" % R  +2 .tForearm.seek :retract +2 "manipulator"&m'\ +100 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 7 + "manipulator"&^( +254 "core" ( +2 "manipulator"&& +4 "core" & N $ + "storage"(g& +5 "core" &[ \\ \\ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&e'k +96 "core" ' + .tHand.open +2 "manipulator"&p1 +63 "core" 1 +2 "storage"(n- +3 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate +2 "storage"(' +26 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(`' +50 "core" ' +2 #tLights, camera, ACTION! + "storage"(k- +4 "core" -' + "storage"(& +9 "core" &[ V\  + "manipulator"&v& +4 "core" &  $ +2 .tElbow.seek 7 + "manipulator"&s( +4 "core" ( + "manipulator"&'& +4 "core" &  $ + "storage"(& +4 "core" &[ @\  +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&U'k +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"('M +62 "core" ' + "manipulator"&Z& +5 "core" &  $ + "storage"(& +54 "core" &[ Z Z\  +3 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 7 +2 "manipulator"&x'Ω +29 "core" ' + .tElbow.hold +2 "manipulator"&\ , +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"(c'7 +23 "core" ' + "manipulator"&q% +5 "core" %θ M + "storage"(t& +4 "core" &[ B B \  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 7 + 315 counts +2 "manipulator"&u' +17 "core" ' + "manipulator"&& +5 "core" & { $ +2 "storage"(& +4 "core" &[ f g f\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&r'k +18 "core" ' + "storage"(% +5 "core" %= T\ +2 ."downElevator"SE.seek :down +3 "storage"(l'N +100 (% +2 "core" %v? ] ] >\ U^ +2 "manipulator"&w% +4 "core" %a  ~ +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +91 "core" ' +56 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (& +3 "core" &[ T A H\  +2 "collection"'%& +4 "core" &]}\ V +2 #tStoring generic puck in Collection Clamp to tube 7 + "manipulator"&% +4 "core" %\ + d !R + "storage"( % +4 "core" %; Z Z\ +2 "storage"( . +3 "core" .([ + "storage"(-& +4 "core" &[ Y Y\  +2 "storage"(]& +4 "core" &[ Z Z\  + "manipulator"& & +4 "core" & j $ +2 .tElbow.seek 7 + "manipulator"&( +4 "core" ( + "manipulator"&& +4 "core" & ( $ + "storage"(X& +4 "core" &[ Z Z\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&('k +103 "core" ' + "storage"(9& +5 "core" &[ y 6\  + .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(1'e +18 "core" ' + "storage"("- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 !to:Puck::Error: mesg"5Impossible stack Height of 25.00 pucks in tube 7:bt[":/home/esp/esp2/utils/puckmoves.rb:314:in `placeStack'"6/home/esp/esp2/utils/puckmoves.rb:444:in `unload'",/home/esp/esp2/lib/msg.rb:68:in `retry'"6/home/esp/esp2/utils/puckmoves.rb:443:in `unload'":/home/esp/esp2/utils/puckmoves.rb:962:in `unloadPuck'"4/home/esp/esp2/utils/shuffle.rb:28:in `shuffle'"7/home/esp/esp2/lib/log.rb:412:in `each_with_index'"1/home/esp/esp2/utils/shuffle.rb:18:in `each'" Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 + #Session Ended +18 "core" ( +4 "manipulator"&?& +8 "core" &, M Bf +5 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 && +6 "core" &, Bf +4 .tForearm.seek CC +4 "manipulator"&N'| +99 "core" ' +2 .tHand.close +3 "manipulator"&B/ +56 "core" / +2 .tCC.seek :open +4 "collection"'I(p +410 "core" ( + "storage"(5& +4 "core" &[ \  +2 "storage"(>& +4 "core" &[ +\  + "manipulator"&R& +4 "core" && >L + "manipulator"&0% +4 "core" % v  +2 .tForearm.seek :retract + "manipulator"&='\ +91 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 7 + "manipulator"&( +158 "core" ( +2 "manipulator"&E& +4 "core" &  + "storage"(3& +4 "core" &[ \  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 7 + "manipulator"&j'Ω +109 "core" ' +2 .tElbow.hold + "manipulator"&;, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&L1 +60 "core" 1 +2 "manipulator"&% +4 "core" % μ + "storage"(+& +4 "core" &[ l\  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 7 + 319 counts + "manipulator"&C' +19 "core" ' +2 "manipulator"&7& +4 "core" & s S I + "storage"(\\& +4 "core" &[ q\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&Y'k +17 "core" ' +2 "storage"(*% +4 "core" %b |\ +2 ."downElevator"SE.seek :down +4 "storage"(T'N +98 (6% +3 "core" %a= @\ TZ + "manipulator"&M% +4 "core" %Z p q Q +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&H'\ +88 "core" ' +53 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 5 of [5..7] +2 #Loading generic puck from tube 5 into Collection Clamp + "collection"'|& +4 "core" &&+\ +2 "manipulator"&G% +4 "core" %\ -  G + "storage"(D% +5 "core" %: /\ + "storage"(h. +3 "core" .([ +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 + "storage"(V(<< +676 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (z& +3 "core" &^')\ M +9 &@h]$(\ M +10 &B)a&'\ M +9 &C^''\ M +9 &E]%'\ M +10 &Gn`\ M +9 &I,k\ O +10 &J~\ Q +9 &L\ U +9 &N\\\ V +10 &Px\ W +9 &Qdl\ X +9 &ST[\ X +10 &U]BI\ X +9 &W3;\ Y +10 &X%*\ \\ +9 &Z\ [ +9 &\\^\ \ H +10 &]g@\ #l +9 &]\ #g +5 ( +2 "collection"''& +4 #tCollection Clamp onSpring/offSpring for 10/26 samples, on/off torque 2.06 +2 .Hand.open + "manipulator"&m1 +3 "core" &]\ #g +59 1 + "manipulator"&Z% +5 "core" % v T + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +92 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp + "processing"%{& +4 "core" &1\ +2 "manipulator"&% +4 "core" %\ + _ !P + "storage"(q% +4 "core" %M E D\  + "storage"(t. +3 "core" .( +10 &?w@\ N +9 &Z@\ M +10 &ZA\ M +9 &XC\ M +9 &!G^A\ M +10 &#ZA\ N +9 &$ZB\ M +9 &&^@\ M +10 &(O\\@\ M +9 &*]<\ M +9 &+[B\ M +10 &-Y>\ M +9 &/W]>\ M +10 &1\\B\ M +9 &2Z>\ M +9 &4W>\ M +10 &6_\\>\ M +9 &8 \\;\ N +9 &9\\>\ M +10 &;\\A\ M +9 &=g\\A\ M +10 &?(^@\ N +9 &@]B\ M +9 &B[>\ M +10 &Dn_A\ N +9 &F0^@\ N +9 &Ge?\ N +10 &Ir>\ P +9 &KiA\ R +10 &M&B\ T +9 &NB\ T +9 &P>\ T +10 &Ri>\ U +9 &T+A\ U +9 &U?\ U +10 &WA\ U +9 &YqB\ B +10 &Z{A?\ U +9 &Z@\ ) +2 ( +2 "processing"%\ & +3 #tProcessing Clamp onSpring/offSpring for 9/25 samples, on/off torque 1.62 + .Hand.open + "manipulator"&11 +63 "core" 1 +2 "manipulator"&% +4 "core" % Z @ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&,'\ +91 "core" ' +2 "processing"%<& +4 "core" &Z/\ ) +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 + "manipulator"&% +4 "core" %\ )  E + "storage"(% +4 "core" %E E F \ + "storage"( . +3 "core" .(<9 +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 + "storage"(K(<< +9 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 ($& +4 "core" &<9  . C\  + "manipulator"&)& +4 ."raiseStack"SE.reconfigure :place +3 "storage"(#]kK-0-\ b +2 "core" &k b +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +2 ."raiseStack"SE.seek :beamBreak +3 "manipulator"&(c + "storage"(8'e +5 "core" ( +2 "manipulator"&(& +4 "core" &k j + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &k  +2 .tForearm.seek PC +2 "manipulator"&~'[ +100 "core" ' + .tHand.close + "manipulator"&4/ +60 "core" / +2 .tPC.seek :open + "processing"%/(p +85 "core" ' +2 "storage"(P- +4 "core" -'e + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +2 ."raiseStack"SE.seek :place +2 "storage"(?'B +32 "core" ' +261 ( +2 "storage"(& +4 "core" &<8 _ \\ \  + "manipulator"&W& +4 "core" &k  + "manipulator"&% +5 "core" % b  + .tForearm.seek :retract +2 "manipulator"&B'\ +98 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&#( +248 "core" ( + "manipulator"&&& +4 "core" &\ Y +2 "storage"(5& +3 "core" &<8 8 7 \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&>' +95 "core" ' + .tHand.open +2 "manipulator"&R1 +51 "core" 1 +2 "storage"(0- +4 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate +2 "storage"(E' +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.83 Pucks below Top Plate + "storage"(3' +53 "core" ' +2 #tLights, camera, ACTION! + "storage"(N- +4 "core" -' + "storage"(.& +4 "core" &<7 B\  + "manipulator"&L& +4 "core" &\  X +2 .tElbow.seek 5 + "manipulator"&( +4 "core" ( + "manipulator"&+& +4 "core" &\  X + "storage"(7& +4 "core" &<6 \  +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&\\' +25 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"(*'M +63 "core" ' + "manipulator"&=& +4 "core" &\ ~ w X +2 "storage"(6& +4 "core" &<6 n [\  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&M'/ +37 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"(j'7 +23 "core" ' +2 "manipulator"&|% +4 "core" %=  r +2 "storage"(G& +4 "core" &<6   \  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 5 + 314 counts + "manipulator"&C'i +19 "core" ' + "manipulator"&D& +5 "core" &4 h w 8  + "storage"(h& +4 "core" &<6 o o \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&S' +18 "core" ' +2 "storage"(Y% +4 "core" %> m z f\ +2 ."downElevator"SE.seek :down +4 "storage"(T'N +99 (!% +2 "core" %E Z [\ Vb +2 "manipulator"&z% +4 "core" % p s S  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +95 "core" ' +106 ' + ."downElevator"SE.stop + "storage"(5 +3 (d& +4 "core" &<6 ! 0 \  + "collection"'A& +4 "core" &]\ #g +2 #tStoring generic puck in Collection Clamp to tube 5 + "manipulator"&[% +4 "core" %\ 6  & + "storage"(;% +4 "core" %> [ \\\ +2 "storage"(H. +3 "core" .(<9 +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"(F(<< +11 "core" ( + .tSC.configure :limp +7 "storage"($\ 1b +3 (:& +3 "core" &<92 P\  w\  +2 "manipulator"&i& +3 "core" &4  +2 .tElbow.seek 5 +2 "manipulator"&@( +21 "core" ( +2 "manipulator"&2& +4 "core" & r  +2 "storage"(o& +4 "core" &<8 \\ \\\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&}' +109 "core" ' + "storage"(O& +5 "core" &<8 p x g\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"( 'e +276 "core" ' +2 "storage"(f- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&y& +3 "core" & q s c  +2 "storage"(p& +4 "core" &<8 y o\  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&Q'/ +29 "core" ' + .tElbow.hold +2 "manipulator"&_, +4 "core" , + .tElbow.reconfigure :tight +7 "manipulator"&$&.,(\ #b +2 "storage"(k- +3 "core" -' +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(b'l +27 "core" ' + "manipulator"&% +4 "core" %@  x +2 "storage"(v& +4 "core" &<8 " ! \  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 317 counts + "manipulator"&a'l +18 "core" ' + "manipulator"&& +5 "core" &( i w ( ] + "storage"(I& +4 "core" &<8 Y Y \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&m' +18 "core" ' +2 .tSE.seek 1.11 Pucks below Top Plate +2 "storage"(Z'[ +51 "core" ' + "manipulator"&{& +4 "core" &( s q P ] +2 "manipulator"&% +4 "core" % r p H  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&q'\ +91 "core" ' + .tElbow.seek CC +2 "manipulator"&t( +156 "core" ( + "manipulator"&'& +4 "core" &% n <: +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &% " <: +2 .tForearm.seek CC +2 "manipulator"&^'| +96 "core" ' +2 .tHand.close + "manipulator"&/ +61 "core" / +2 .tCC.seek :open + "collection"'n(p +411 "core" ( +2 "storage"(`& +3 "core" &<8 %\  +2 "storage"(& +4 "core" &<8 (\  + "manipulator"&V& +4 "core" &" Z 9( + "manipulator"&U% +4 "core" % }  +2 .tForearm.seek :retract +2 "manipulator"&g'\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&( +158 "core" ( + "manipulator"&& +5 "core" & S + "storage"(x& +4 "core" &<8 t\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 5 +2 "manipulator"&'/ +104 "core" ' +2 .tElbow.hold + "manipulator"&%, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&1 +52 "core" 1 +2 "manipulator"& % +5 "core" % C  + "storage"(-& +4 "core" &<8 a\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 320 counts + "manipulator"&]'o +18 "core" ' +2 "manipulator"&e& +4 "core" &3 R h z  +2 "storage"(w& +4 "core" &<8 \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&s' +17 "core" ' + "storage"( % +5 "core" %` u\ +2 ."downElevator"SE.seek :down +3 "storage"(X'N +100 (r% +2 "core" %< 8\ U\\ +2 "manipulator"&u% +4 "core" % s p > +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&"'\ +90 "core" ' +53 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 6 of [5..7] + #Loading generic puck from tube 6 into Collection Clamp +2 "collection"'& +4 "core" &') +2 "manipulator"&l% +4 "core" %\ +  !P + "storage"(c% +4 "core" %H \ +2 "storage"( . +3 "core" .(<9 + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"(J(K +351 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (1& +3 "core" &K% k\  + "manipulator"&& +4 "core" &3  +2 .tElbow.seek 6 + "manipulator"&<( +12 "core" ( + "manipulator"&& +4 "core" & C  +2 "storage"(& +4 "core" &K A\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"& '< +93 "core" ' +2 "storage"(\ & +4 "core" &K \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"($'e +278 "core" ' +2 "storage"()- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 ((& +2 "core" &K {\  +2 "manipulator"&& +3 "core" & u q  +2 .tElbow.seek 6 +2 "manipulator"&9( +3 "core" ( +2 "manipulator"&4& +4 "core" & x a ^  + "storage"(& +4 "core" &K \  +2 .tForearm.seek 6 + 300 counts + "manipulator"&P'Ϧ +22 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +53 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&,& +2 "storage"('N +7 "core" & s r 1  +2 "manipulator"&% +4 "core" % ϖ t s c  +2 .tForearm.seek :retract + "manipulator"&W'\ +96 "core" ' +2 .tElbow.seek CC +2 "manipulator"&8( +146 "core" ' + ."downElevator"SE.stop + "storage"(5 +11 "core" ( + "manipulator"&& +4 "core" && V =B +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &~& +3 "core" && =B +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&&'| +96 "core" ' + "manipulator"&5& +4 "core" &&  =B +2 "manipulator"&% +4 "core" %υ +2 "collection"'R& +4 "core" &)(\ +2 "collection"'0& +4 "core" &''\ +2 .tCC.seek :closed +2 "collection"'N(] +5 "core" &''\  +9 &1((\ *z +10 &e&*\ > +9 &T{&(\ M +9 &]&(\ M +10 &c()\ M +9 &c'(\ M +9 &!^])(\ M +10 &#!_()\ L +9 &$\\'(\ M +10 &&]()\ M +9 &(g_&(\ L +9 &*)]''\ L +10 &+\\()\ L +9 &-a$(\ M +9 &/n]''\ M +10 &11^()\ L +9 &2]%(\ M +10 &4_'(\ M +9 &6v`%(\ M +9 &89`#'\ L +10 &9]&)\ L +9 &;Z%(\ M +9 &=~]%'\ M +10 &?A]%(\ L +9 &A]'(\ M +10 &Ba&)\ M +9 &D]%%\ L +9 &FH_%\ M +10 &Hc\ M +9 &Iu\ O +10 &K~N\ R +9 &M5\ V +9 &N\ V +10 &Pu~\ W +9 &Rvcj\ X +9 &T7QY\ X +10 &U@H\ Y +9 &W08\ Y +9 &Yt"&\ [\ +10 &[7\ [ +9 &\\y \ 1 +10 &]#\ "c +9 &]w\ R +2 ( +2 "collection"'0& +3 #tCollection Clamp onSpring/offSpring for 9/25 samples, on/off torque 2.05 + .Hand.open + "manipulator"&.1 +54 "core" 1 + "manipulator"&L% +5 "core" % υ # + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&+'\ +91 "core" ' + #tLoading generic puck from tube 6 into Processing Clamp +2 "processing"%7& +4 "core" &A\ + "manipulator"&B% +4 "core" %\ - "Z +2 "storage"(=% +4 "core" %F g f M\ + "storage"(6. +3 "core" .(K +2 "storage"(?& +4 "core" &K X [\  + "storage"(|& +4 "core" &K Y [\  + "manipulator"&G& +4 "core" &$ ;3 +2 "manipulator"&E% +3 "core" %\ , "Z +52 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 + "manipulator"&D( +162 "core" ( + "manipulator"&h& +4 "core" & ' +2 "storage"(Y& +3 "core" &K r u \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&#'< +95 "core" ' + "storage"(>& +4 "core" &K x\  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(3'e +280 "core" ' +2 "storage"(!- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (z& +2 "core" &K ^ ] L\  +2 "manipulator"&\\& +4 "core" &  + .tElbow.seek 6 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&*& +4 "core" & A + "storage"(M& +4 "core" &K o u \  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&C'Ϧ +10 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&j/ +51 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&d& +2 "storage"(A'N +7 "core" & s p - +2 "manipulator"&[% +9 "core" % ϯ s s 6 +2 .tForearm.seek :retract + "manipulator"&;'\ +95 "core" ' +2 .tElbow.seek PC +2 "manipulator"&H(c +152 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +91 "core" ( +2 "manipulator"&:& +4 "core" &i ~ + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &i& +3 "core" &i  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&2'[ +106 "core" ' +2 "manipulator"&S& +4 "core" &i j  + "manipulator"&o% +4 "core" %Q   Q +2 "processing"%O& +4 "core" &:\ +2 "processing"%T& +5 "core" &5\ +2 .tPC.seek :closed + "processing"%K(Z +9 "core" &7\ +3 &@\  +9 &1F\ *z +9 &eB\ > +10 &Qy@\ M +9 &W@\ M +9 &\\@\ M +10 &[A\ M +9 &!Z\\=\ M +9 &#Y?\ M +10 &$ZB\ M +9 &&\\C\ M +10 &(b\\@\ M +9 &*%[B\ M +9 &+ZB\ M +10 &-ZC\ M +9 &/i^D\ M +9 &1+[B\ M +10 &2\\B\ N +9 &4ZC\ M +10 &6s[B\ M +9 &85[B\ M +9 &9ZB\ M +10 &;[B\ M +9 &={[C\ M +9 &?<^A\ M +10 &@^A\ M +9 &BY@\ M +10 &D\\A\ M +9 &FBaB\ N +9 &Hj@\ O +10 &Iv>\ P +9 &KzA\ R +9 &M8A\ T +10 &NA\ T +9 &P<\ T +10 &R~A\ T +9 &T@A\ T +9 &VA\ T +10 &WA\ U +9 &Y?\ B +9 &Z9>\ Y +10 &Z"@\ , +2 ( +2 "processing"%T& +3 #tProcessing Clamp onSpring/offSpring for 9/25 samples, on/off torque 1.63 + .Hand.open + "manipulator"&1 +63 "core" 1 +2 "manipulator"&% +4 "core" % Q } v +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&f'\ +90 "core" ' + "processing"%y& +4 "core" &Z '\ , +2 #tImaging generic puck in Processing Clamp while storing it to tube 6 + "manipulator"&p% +4 "core" %\ , | "] + "storage"(k% +4 "core" %H Z \\\  +2 "storage"(. +3 "core" .(K + "storage"(v& +4 "core" &K V Q\  +2 "storage"(& +2 "manipulator"&I& +7 "core" &K [ \\\  + &i V +3 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +3 "storage"(#]kK-0-\ b +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +3 "manipulator"&{(c +3 ."raiseStack"SE.seek :beamBreak +2 "storage"('e +2 "core" ( +2 "manipulator"&}& +4 "core" &i V + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &@& +2 "core" &i  +2 .tForearm.seek PC +2 "manipulator"& '[ +99 "core" ' + .tHand.close +2 "manipulator"&Q/ +62 "core" / +2 .tPC.seek :open +2 "processing"%a(p +80 "core" ' +2 "storage"(b- +3 "core" -'e +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(''B +35 "core" ' +266 ( + "storage"(& +4 "core" &K u k \  +2 "manipulator"&m& +3 "core" &i  +2 "manipulator"&_% +4 "core" % [  + .tForearm.seek :retract +2 "manipulator"&'\ +98 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&q( +259 "core" ( +2 "manipulator"&& +4 "core" &   +2 "storage"(`& +3 "core" &K g g *\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&'< +93 "core" ' + .tHand.open +2 "manipulator"&V1 +64 "core" 1 +2 "storage"(U- +3 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate +2 "storage"(' +29 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.83 Pucks below Top Plate + "storage"(x' +52 "core" ' + #tLights, camera, ACTION! +2 "storage"(^- +3 "core" -' +2 "storage"(t& +3 "core" &K Y\  +2 "manipulator"&& +4 "core" &   + .tElbow.seek 6 +2 "manipulator"& ( +7 "core" ( + "manipulator"&-& +5 "core" & { C + "storage"(e& +4 "core" &K z\  +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&w'< +3 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"( 'M +58 "core" ' +2 "manipulator"&g& +4 "core" & v s + "storage"(r& +4 "core" &K j j \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&u'z +35 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"('7 +32 "core" ' +2 "manipulator"&% +4 "core" %{d  +2 "storage"(]& +4 "core" &K   q\  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 6 + 301 counts + "manipulator"&l'ϧ +18 "core" ' + "manipulator"&c& +5 "core" & i | + "storage"( & +4 "core" &K p :\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&Z'< +16 "core" ' + "storage"(s% +5 "core" %: 7\ +2 ."downElevator"SE.seek :down +4 "storage"(X'N +98 (F% +3 "core" %,A t q \ U_ +2 "manipulator"&1% +4 "core" %> s s <  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +87 "core" ' +62 ' + ."downElevator"SE.stop + "storage"(5 +3 (& +3 "core" &K G i \  +2 "collection"'& +4 "core" &]v\ \ R +2 #tStoring generic puck in Collection Clamp to tube 6 + "manipulator"&\ % +4 "core" %\ *  !M + "storage"(%% +4 "core" %; w w M\ + "storage"(". +3 "core" .(K +2 "storage"()& +4 "core" &K v r (\  + "storage"((& +4 "core" &K u q 7\  + "manipulator"&& +4 "core" &  +2 .tElbow.seek 6 + "manipulator"&4( +4 "core" ( + "manipulator"&& +4 "core" &  + "storage"(& +4 "core" &K o p\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&,'< +103 "core" ' +2 "storage"(& +4 "core" &K <\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +9 .tSE.seek :beamBreak + "storage"(<'e +276 "core" ' + "storage"( - +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" & s r V + "storage"(~& +4 "core" &K f\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&$'z +36 "core" ' + .tElbow.hold +2 "manipulator"&P, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(5- +3 "core" -' +2 .tSE.seek 0.12 Pucks below Top Plate +2 "storage"('q +27 "core" ' + "manipulator"&R% +4 "core" %΅` e +2 "storage"(9& +52 "core" &K   z\  +3 .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 6 + 311 counts +2 "manipulator"&'ϱ +19 "core" ' + "manipulator"&W& +4 "core" & { i E +3 "storage"(n& +4 "core" &K h h m\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&.'< +15 "core" ' +2 .tSE.seek 1.12 Pucks below Top Plate +2 "storage"(L'` +49 "core" ' + "manipulator"&7& +5 "core" & s s Y + "manipulator"&B% +5 "core" %9 p p 4 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&='\ +95 "core" ' + .tElbow.seek CC +2 "manipulator"&6( +143 "core" ( +2 "manipulator"&?& +4 "core" & C 1 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &|& +3 "core" &  1 +2 .tForearm.seek CC + "manipulator"&G'| +95 "core" ' + .tHand.close +2 "manipulator"&0/ +56 "core" / +3 .tCC.seek :open + "collection"'E(p +411 "core" ( + "storage"(&& +4 "core" &K e\  +2 "storage"(h& +3 "core" &K 1\  +2 "manipulator"&Y& +4 "core" & | 0 + "manipulator"&>% +4 "core" % φ   +2 .tForearm.seek :retract + "manipulator"&8'\ +93 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&+( +160 "core" ( +2 "manipulator"&!& +4 "core" &  + "storage"(z& +4 "core" &K m\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 6 + "manipulator"&\\'z +109 "core" ' +2 .tElbow.hold + "manipulator"&*, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&M1 +57 "core" 1 +2 "manipulator"&j% +4 "core" % ΍ R +2 "storage"(d& +3 "core" &K 7\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 319 counts + "manipulator"&['Ϲ +17 "core" ' + "manipulator"&D& +4 "core" & i R | +2 "storage"(#& +4 "core" &K \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&3'< +15 "core" ' +2 "storage"(C% +4 "core" %f i\ +2 ."downElevator"SE.seek :down +4 "storage"(:'N +98 (i% +4 "core" %*< c\ U[ + "manipulator"&% +4 "core" %F p q T +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&S'\ +94 "core" ' +45 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 7 of [5..7] + #Loading generic puck from tube 7 into Collection Clamp +2 "collection"'o& +4 "core" &**\ + "manipulator"&O% +5 "core" %\ 8 v ' + "storage"(A% +4 "core" %9 H\ + "storage"(;. +3 "core" .(K +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 7 + "storage"(/([ +357 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (& +2 "core" &[ u t K\  +2 "manipulator"&& +4 "core" & ! + .tElbow.seek 7 +2 "manipulator"&y( +15 "core" ( + "manipulator"&p& +4 "core" & p  +2 "storage"(k& +4 "core" &[ A\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&'k +101 "core" ' +2 "storage"(v& +4 "core" &[ \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(I'e +275 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (T& +3 "core" &[ \  + "manipulator"&}& +4 "core" & s s t  +2 .tElbow.seek 7 + "manipulator"&@( +8 "core" ( + "manipulator"&2& +4 "core" & s s -  +2 "storage"(Q& +3 "core" &[ \  +2 .tForearm.seek 7 + 300 counts +2 "manipulator"&b' +25 "core" ' +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&H/ +52 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&f& + "storage"(K'N +7 "core" & s s H  + "manipulator"&% +5 "core" % r p : + .tForearm.seek :retract +2 "manipulator"&'\ +95 "core" ' +2 .tElbow.seek CC + "manipulator"&m( +150 "core" ' + ."downElevator"SE.stop + "storage"(5 +17 "core" ( + "manipulator"&_& +5 "core" &  * + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 & & +3 "core" &  0 * +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&'| +94 "core" ' +2 "manipulator"&`& +4 "core" &  6 * +2 "manipulator"&{% +3 "core" %y S  +2 "collection"'V& +4 "core" &'+\ +2 "collection"'U& +5 "core" &&)\ +8 .tCC.seek :closed +2 "collection"'^(] +5 "core" &'(\ + &)\  +8 &3&(\ *z +9 &d'(\ > +10 &Xx((\ M +9 &\\()\ M +10 &\\(*\ M +9 &b)(\ M +9 &!bb'(\ M +10 &#$a))\ M +9 &$`%*\ M +9 &&\\*)\ L +10 &(k]')\ L +9 &*,`&+\ M +10 &+](+\ M +9 &-`((\ L +9 &/r\\'*\ M +10 &15\\%+\ L +9 &2]'(\ L +9 &4['(\ L +10 &6{]%(\ L +9 &8<`$(\ M +10 &9^&'\ L +9 &;\\((\ L +9 &=_'(\ M +10 &?D\\'&\ M +9 &A`')\ L +9 &B]'(\ L +10 &D`%(\ M +9 &FL_#(\ M +10 &Hb \ M +9 &Ip\ N +9 &K\ Q +10 &M<\ U +9 &N\ V +9 &P~\ W +10 &R{hq\ W +9 &T;U]\ X +10 &UDK\ X +9 &W2:\ Y +9 &Yx"*\ [\ +10 &[<\ Z +9 &\\w \ 2 +9 &].\ U +9 ( +3 "collection"'U& +3 #tCollection Clamp onSpring/offSpring for 9/25 samples, on/off torque 2.03 + .Hand.open +2 "manipulator"&t1 +3 "core" &]j\ I +52 1 + "manipulator"&% +4 "core" % y E  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&-'\ +98 "core" ' +2 #tLoading generic puck from tube 7 into Processing Clamp + "processing"%e& +4 "core" &\ +2 "manipulator"&% +3 "core" %\ 6 & +2 "storage"(g% +4 "core" %C u v b\  + "storage"(r. +3 "core" .([ +2 "storage"('& +3 "core" &[ j t k\  +2 "storage"(& +3 "core" &[ p r \  +2 "manipulator"&]& +4 "core" &  " * + "manipulator"&% +4 "core" %\ 6 * & +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 7 + "manipulator"&c( +160 "core" ( + "manipulator"& & +4 "core" &  +2 "storage"(s& +4 "core" &[ } } \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&q'k +96 "core" ' +2 "storage"(& +4 "core" &[ \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(x'e +280 "core" ' + "storage"(F- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (1& +3 "core" &[ y { \  + "manipulator"&w& +4 "core" & u w , +2 .tElbow.seek 7 + "manipulator"& ( +4 "core" ( + "manipulator"& & +4 "core" & s s E +2 "storage"(u& +3 "core" &[ l g \  +2 .tForearm.seek 7 + 300 counts +2 "manipulator"&' +23 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&l/ +59 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& + "storage"(\ 'N +7 "core" & s r f + "manipulator"&%% +4 "core" % s s d +2 .tForearm.seek :retract +2 "manipulator"&"'\ +94 "core" ' + .tElbow.seek PC +2 "manipulator"&)(c +158 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +89 "core" ( + "manipulator"&& +5 "core" &g  + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &(& +2 "core" &g n +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&'[ +103 "core" ' +2 "manipulator"&& +3 "core" &g e +2 "manipulator"&% +5 "core" %U / + "processing"%Z& +4 "core" &,\ +52 "processing"%& +5 "core" &2\ +2 .tPC.seek :closed + "processing"%X(Z +5 "core" &@\  +8 &.}A\ *y +9 &d<\ > +10 &Av8\ M +9 &Y@\ M +10 &\\B\ M +9 &ZC\ M +9 &!I]@\ M +10 &# V@\ M +9 &$ZG\ M +9 &&[A\ M +10 &(RW@\ M +9 &*Z@\ M +10 &+ZB\ N +9 &-ZB\ M +9 &/Y_B\ M +10 &1\\B\ M +9 &2\\B\ N +9 &4ZB\ M +10 &6bZ@\ M +9 &8#\\B\ M +10 &9ZC\ M +9 &;\\B\ N +9 &=jZB\ M +10 &?*]C\ N +9 &@\\C\ N +9 &B\\B\ N +10 &Dp\\A\ N +9 &F3`7\ M +10 &GfA\ O +9 &IpC\ O +9 &KjB\ R +10 &M'A\ T +9 &NB\ T +9 &P<\ T +10 &Rm@\ T +9 &T/A\ T +10 &UA\ U +9 &WB\ T +9 &YsB\ B +10 &Zw>@\ Z +9 &Z7@\ 4 +5 ( +2 "processing"%& +4 #tProcessing Clamp onSpring/offSpring for 9/25 samples, on/off torque 1.62 +2 .Hand.open + "manipulator"&1 +4 "core" &Z.?\ 4 +58 1 + "manipulator"&% +4 "core" % U +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"& '\ +99 "core" ' +2 "processing"%& +4 "core" &Z/\ 4 +2 #tImaging generic puck in Processing Clamp while storing it to tube 7 + "manipulator"&~% +4 "core" %\ 8 j ' +2 "storage"(5% +4 "core" %; Z \\\ + "storage"(R. +3 "core" .([ +2 "storage"(9& +4 "core" &[ Z Y\  + "storage"(W& +4 "manipulator"&n& +4 "core" &[ Y [\  +2 &g B +3 ."raiseStack"SE.reconfigure :place +2 .tElbow.reconfigure :tight +4 "storage"(#]kK-0-\ b +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +3 ."raiseStack"SE.seek :beamBreak +2 "manipulator"&7(c + "storage"(B'e +6 "core" ( + "manipulator"&,& +4 "core" &g K + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &4& +3 "core" &g +2 .tForearm.seek PC + "manipulator"&<'[ +96 "core" ' + .tHand.close +2 "manipulator"&$/ +55 "core" / +3 .tPC.seek :open + "processing"%(p +91 "core" ' + "storage"(- +3 "core" -'e +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(?'B +43 "core" ' +247 ( +2 "storage"(|& +4 "core" &[ x x\  + "manipulator"&.& +4 "core" &g  + "manipulator"&P% +4 "core" % X + +2 .tForearm.seek :retract +2 "manipulator"&0'\ +91 "core" ' +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 7 +2 "manipulator"&=( +247 "core" ( +2 "manipulator"&N& +4 "core" & - F + "storage"(&& +4 "core" &[ p n )\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&h'k +105 "core" ' +2 .tHand.open + "manipulator"&Y1 +57 "core" 1 +2 "storage"(>- +3 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate +2 "storage"(!' +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(z' +51 "core" ' +2 #tLights, camera, ACTION! + "storage"(G- +4 "core" -' + "storage"(6& +4 "core" &[\  \\\  +2 "manipulator"&M& +4 "core" & z ' F + .tElbow.seek 7 +2 "manipulator"&j( +3 "core" ( +2 "manipulator"&d& +4 "core" & ~ 7 F + "storage"(D& +4 "core" &[ \ \  +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&#'k +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"(C'M +61 "core" ' +2 "manipulator"&8& +4 "core" & r p / F +2 "storage"(i& +4 "core" &[ [\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 7 + "manipulator"&'Ω +32 "core" ' + .tElbow.hold +2 "manipulator"&+, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"(\\'7 +23 "core" ' + "manipulator"&o% +5 "core" %η  + "storage"(O& +4 "core" &[ \\ [\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 7 + 314 counts + "manipulator"&[' +19 "core" ' + "manipulator"&A& +4 "core" & r ^ ' F +2 "storage"(;& +4 "core" &[ [\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&L'k +16 "core" ' +2 "storage"(3% +4 "core" %A \ +2 ."downElevator"SE.seek :down +5 "storage"(:'N +99 (J% +3 "core" %< } } \ U^ +2 "manipulator"&% +4 "core" %T p o #  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +87 "core" ' +63 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (p& +4 "core" &[ ` A R\  + "collection"'k& +4 "core" &]i\ \ I +2 #tStoring generic puck in Collection Clamp to tube 7 + "manipulator"&v% +4 "core" %\ *  !S +2 "storage"(*% +4 "core" %H ~ } \  + "storage"(S. +3 "core" .([ +2 "storage"(& +4 "core" &[ } } \  + "storage"(T& +4 "core" &[ n n |\  +2 "manipulator"&}& +3 "core" &  F +2 .tElbow.seek 7 +2 "manipulator"&2( +3 "core" ( +2 "manipulator"&Q& +4 "core" &  F + "storage"(H& +4 "core" &[ y m [\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&f'k +102 "core" ' + "storage"(& +5 "core" &[ J\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(y'e +276 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&_& +2 "core" & r q X F +2 "storage"( & +4 "core" &[ k\  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 7 +2 "manipulator"&I'Ω +30 "core" ' +2 .tElbow.hold +2 "manipulator"&b, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(`- +3 "core" -' +2 .tSE.seek 0.11 Pucks below Top Plate + "storage"({'n +29 "core" ' + "manipulator"&V% +5 "core" %λ  + "storage"(@& +4 "core" &[ 7 8 E\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 7 + 318 counts + "manipulator"&K' +20 "core" ' + "manipulator"&& +4 "core" & x ^ _ E +2 "storage"(E& +3 "core" &[ \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&t'k +23 "core" ' +2 .tSE.seek 1.11 Pucks below Top Plate +2 "storage"('] +47 "core" ' + "manipulator"&e& +4 "core" & p r % E +2 "manipulator"&% +4 "core" %Ѕ r r / +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&g'\ +92 "core" ' +2 .tElbow.seek CC +2 "manipulator"&r( +143 "core" ( + "manipulator"&'& +5 "core" & 3 2 + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" & ) 2 +2 .tForearm.seek CC + "manipulator"&U'| +98 "core" ' + .tHand.close +2 "manipulator"&]/ +61 "core" / + .tCC.seek :open +2 "collection"'(p +414 "core" ( +2 "storage"(& +4 "core" &[ s\  + "storage"( & +4 "core" &[ q\  + "manipulator"&s& +4 "core" &   1 + "manipulator"&% +4 "core" % i   +2 .tForearm.seek :retract +2 "manipulator"&m'\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 7 +2 "manipulator"&-( +161 "core" ( + "manipulator"&F& +4 "core" & \\  +2 "storage"(1& +4 "core" &[ h\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 7 +2 "manipulator"&w'Ω +104 "core" ' +2 .tElbow.hold + "manipulator"& , +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +50 .tHand.open +4 "manipulator"&u1 +59 "core" 1 +2 "manipulator"&l% +4 "core" % λ { +2 "storage"(& +4 "core" &[ Z\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 7 + 318 counts + "manipulator"&%' +21 "core" ' + "manipulator"&c& +5 "core" & i z M  + "storage"(q& +4 "core" &[ {\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&x'k +21 "core" ' +2 "storage"(% +4 "core" %W |\ +2 ."downElevator"SE.seek :down +3 "storage"('N +99 ((% +3 "core" %1A \ U[ +2 "manipulator"& % +4 "core" % q s ^ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +92 "core" ' +46 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 5 of [5..7] + #Loading generic puck from tube 5 into Collection Clamp +2 "collection"'& +4 "core" &&*\ +2 "manipulator"&Z% +4 "core" %\ 1  $t + "storage"(\ % +4 "core" %8 \ +2 "storage"(". +3 "core" .([ +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"(a(<< +676 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (& +2 "core" & + .tElbow.seek 5 +2 "manipulator"&4( +9 "core" ( +2 "manipulator"&& +4 "core" & w k . + "storage"($& +4 "core" &<; \ +2 .tForearm.seek 5 + 300 counts +3 "manipulator"&'[ +19 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&)/ +52 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"& & + "storage"(X'N +7 "core" & q r l +2 "manipulator"&|% +4 "core" % ^ r r J +2 .tForearm.seek :retract + "manipulator"&.'\ +97 "core" ' + .tElbow.seek CC +2 "manipulator"&B( +146 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +21 "core" ( + "manipulator"&P& +5 "core" & D V + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &<& +3 "core" & V +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&N'| +105 "core" ' +2 "manipulator"&&& +4 "core" & ^ V +2 "manipulator"&7% +4 "core" %z +2 "collection"'Y& +4 "core" &))\ +2 "collection"'>& +5 "core" &%)\ +2 .tCC.seek :closed +2 "collection"'G(] +4 "core" &'*\ +7 & /')\ $c +10 &cV('\ 7 +9 &((\ K +9 &wZ))\ L +10 &8a')\ M +9 &`((\ M +9 & a((\ M +10 &"~`&*\ M +9 &$A_((\ L +10 &&]((\ L +9 &']'*\ L +9 &)[')\ M +10 &+H[&)\ M +9 &- _')\ L +9 &.^&&\ L +10 &0^'(\ L +9 &2P]'*\ M +10 &4_')\ M +9 &5Z'(\ M +9 &7_((\ L +10 &9YZ(*\ L +9 &;\\)*\ L +9 &<`%)\ M +10 &>`''\ M +9 &@a_%&\ L +10 &B#]&'\ L +9 &C]'(\ M +10 &E_'&\ M +9 &Gh`\ M +9 &I%k\ N +9 &J}\ P +10 &L.\ T +9 &NS\ W +10 &P\ W +9 &Qy\ X +9 &Sfo\ X +10 &UUV_\ Y +9 &WGM\ X +9 &X7?\ Z +10 &Z(.\ Z +9 &\\X\ G +10 &]_;\ &r +9 &]~ \ Q +5 ( +2 "collection"'>& +4 #tCollection Clamp onSpring/offSpring for 10/26 samples, on/off torque 2.03 + .Hand.open +2 "manipulator"&61 +3 "core" &]w\ Q +52 1 +2 "manipulator"&M% +4 "core" % \\ K +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&d'\ +99 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp + "processing"%D& +4 "core" &1\ +2 "manipulator"&0% +3 "core" %\ 5 & +2 "storage"(8% +4 "core" %8 w v *\ + "storage"(i. +3 "core" .(\ M +10 &+@Y5\ M +9 &-[7\ N +9 &.\\?\ M +10 &0]F\ M +9 &2H[H\ M +9 &4 V7\ M +10 &5[4\ M +9 &7V@\ M +10 &9OZ\ N +9 &;\\I\ M +9 &<W,\ M +10 &>]4\ N +9 &@YY;\ M +9 &B_B\ M +10 &CZA\ M +9 &EY@\ M +10 &G_aB\ N +9 &ImI\ O +9 &Jz\ Q +10 &LI\ S +9 &NU/\ T +9 &P@\ T +10 &Q\ T +9 &SF\ T +10 &U]-\ T +9 &WZ\ T +9 &XD\ T +10 &Z;Ln<\ , +9 &Z 3\ ) +5 ( +2 "processing"%& +4 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.60 +2 .Hand.open + "manipulator"&+1 +3 "core" &Z\ ) +56 1 + "manipulator"&% +4 "core" % \\ @ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +91 "core" ' +2 "processing"%_& +4 "core" &Z9\ ) +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 + "manipulator"& % +4 "core" %\ ) P F + "storage"(`% +4 "core" %F g g \  +2 "storage"(V. +3 "core" .(<9 +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"(@(<< +8 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (& +4 "core" &<9 ` H e\ + "manipulator"&E& +3 ."raiseStack"SE.reconfigure :place +6 "storage"(#]kK-0-\ b +2 "core" &l ` ! +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +3 ."raiseStack"SE.seek :beamBreak +2 "manipulator"&e(c + "storage"('e +5 "core" ( +2 "manipulator"&f& +54 "core" &l @ ! +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &2& +3 "core" &l t ! +2 .tForearm.seek PC + "manipulator"&y'[ +99 "core" ' +2 .tHand.close + "manipulator"&I/ +58 "core" / +2 .tPC.seek :open +2 "processing"%K(p +38 "core" ' + "storage"({- +4 "core" -'e + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +2 ."raiseStack"SE.seek :place +2 "storage"(''B +34 "core" ' +310 ( + "storage"(& +4 "core" &<8 s u t\  +2 "manipulator"&t& +4 "core" &l ! + "manipulator"&b% +4 "core" % g o +2 .tForearm.seek :retract + "manipulator"&]'\ +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&g( +254 "core" ( +2 "manipulator"&^& +3 "core" &  % +2 "storage"(& +4 "core" &<8 Y Y \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"& ' +102 "core" ' + .tHand.open +2 "manipulator"&s1 +63 "core" 1 +2 "storage"(- +3 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate +2 "storage"(F' +23 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.83 Pucks below Top Plate + "storage"(1' +53 "core" ' +2 #tLights, camera, ACTION! + "storage"(U- +4 "core" -' + "storage"(r& +4 "core" &<7 \  + "manipulator"&u& +4 "core" & ~ $ +2 .tElbow.seek 5 + "manipulator"&l( +4 "core" ( + "manipulator"&& +5 "core" & | v G $ + "storage"(c& +4 "core" &<7 ^\  +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&q' +3 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"(m'M +60 "core" ' + "manipulator"&& +4 "core" & r { [ $ +2 "storage"(-& +4 "core" &<7 { *\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 + "manipulator"&('/ +29 "core" ' + .tElbow.hold +2 "manipulator"& , +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.07 Pucks below Top Plate + "storage"(w'7 +23 "core" ' +2 "manipulator"&% +4 "core" %C ) + "storage"(Z& +5 "core" &<7 E E \  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 5 + 320 counts +2 "manipulator"&%'o +16 "core" ' +2 "manipulator"&\ & +4 "core" &: } ( O +2 "storage"("& +4 "core" &<7 h\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&' +20 "core" ' + "storage"(x% +5 "core" %> \ +2 ."downElevator"SE.seek :down +4 "storage"('N +98 (/% +3 "core" %a> u q &\ U^ +2 "manipulator"&% +4 "core" % z s ! +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +90 "core" ' +62 ' + ."downElevator"SE.stop + "storage"(5 +3 (~& +4 "core" &<7 ? V \  + "collection"'5& +4 "core" &]v\ Q +2 #tStoring generic puck in Collection Clamp to tube 5 + "manipulator"&% +4 "core" %\ . #c +2 "storage"( % +4 "core" %I r u L\ + "storage"(. +3 "core" .(<9 +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 + "storage"(n(<< +12 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (W& +3 "core" &<9 # #\  +2 "manipulator"&,& +4 "core" &: j O +2 .tElbow.seek 5 + "manipulator"&( +42 "core" ( +2 "manipulator"&$& +4 "core" & K "y + "storage"()& +4 "core" &<8 q i \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"& ' +101 "core" ' + "storage"(|& +4 "core" &<8 m y Y\  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"('e +277 "core" ' +2 "storage"(R- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&P& +3 "core" &  "y + "storage"(<& +4 "core" &<8 Z d\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 + "manipulator"&9'/ +27 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(&- +2 "core" -' +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(4'm +25 "core" ' +2 "manipulator"&7% +4 "core" %@ c + "storage"(Y& +9 "core" &<8 B B \  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 317 counts + "manipulator"&X'l +16 "core" ' +2 "manipulator"&.& +4 "core" &? k 3 5 +2 "storage"(& +4 "core" &<8 x } \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&6' +18 "core" ' +2 .tSE.seek 1.11 Pucks below Top Plate +2 "storage"(M'\\ +48 "core" ' +2 "manipulator"&D& +4 "core" &? r r Q 5 +2 "manipulator"&0% +4 "core" % r p B  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&8'\ +95 "core" ' +2 .tElbow.seek CC +2 "manipulator"&i( +141 "core" ( +2 "manipulator"&>& +4 "core" & 3 / + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &?& +3 "core" & K / +2 .tForearm.seek CC +2 "manipulator"&O'| +97 "core" ' + .tHand.close +2 "manipulator"&A/ +63 "core" / + .tCC.seek :open +2 "collection"'N(p +411 "core" ( + "storage"(;& +4 "core" &<8 O\  +2 "storage"(3& +3 "core" &<8 6\  +2 "manipulator"&a& +4 "core" &  / + "manipulator"&h% +4 "core" % ς P + .tForearm.seek :retract +2 "manipulator"&B'\ +91 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&d( +170 "core" ( +2 "manipulator"&J& +4 "core" & D H + "storage"(& +4 "core" &<8 i\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 5 + "manipulator"&#'/ +110 "core" ' + .tElbow.hold +2 "manipulator"&C, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&1 +62 "core" 1 +3 "manipulator"&[% +4 "core" % ? N + "storage"(k& +4 "core" &<8 -\  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 5 + 316 counts +2 "manipulator"&*'k +15 "core" ' +2 "manipulator"&!& +4 "core" &A z h 2  +2 "storage"(=& +4 "core" &<8 \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&z' +16 "core" ' +2 "storage"(p% +4 "core" %c +\ +2 ."downElevator"SE.seek :down +8 "storage"(\\'N +99 (T% +3 "core" %< \ TZ +2 "manipulator"&j% +4 "core" % o q T +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&Q'\ +90 "core" ' +50 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 6 of [5..7] +2 #Loading generic puck from tube 6 into Collection Clamp + "collection"'H& +4 "core" &(*\ +2 "manipulator"&L% +4 "core" %\ .  #k +2 "storage"(v% +4 "core" %; "\ + "storage"(S. +3 "core" .(<9 +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 + "storage"((K +351 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (+& +2 "core" &K { \  +2 "manipulator"&& +4 "core" &A .  +50 .tElbow.seek 6 +3 "manipulator"&_( +17 "core" ( + "manipulator"& & +4 "core" &   +2 "storage"(`& +4 "core" &K V\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&V'< +98 "core" ' + "storage"(& +5 "core" &K \  + .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('e +281 "core" ' + "storage"(E- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (f& +3 "core" &K \  +2 "manipulator"&2& +3 "core" & v  +2 .tElbow.seek 6 + "manipulator"&}( +4 "core" ( + "manipulator"&I& +4 "core" &   + "storage"(o& +4 "core" &K \  +2 .tForearm.seek 6 + 300 counts + "manipulator"&{'Ϧ +20 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +56 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& + "storage"(:'N +8 "core" & \\  +2 "manipulator"&% +3 "core" % Ϭ ) +2 .tForearm.seek :retract +2 "manipulator"&'\ +94 "core" ' +2 .tElbow.seek CC + "manipulator"&t( +151 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +3 "core" ( +2 "manipulator"&b& +4 "core" &\  0 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &y& +3 "core" &\  0 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&^'| +97 "core" ' +2 "manipulator"&& +4 "core" &\  G 0 +2 "manipulator"&e% +4 "core" %ς p + "collection"'s& +4 "core" &((\ +2 "collection"'& +5 "core" &'(\ +3 .tCC.seek :closed + "collection"'U(] +4 "core" &%)\  +9 &1&'\ *y +10 &d''\ > +9 &Kx$(\ M +9 & Z')\ M +10 &\\')\ M +9 &]&&\ M +9 &!T`&'\ M +10 &#`))\ M +9 &$^%)\ M +10 &&\\('\ M +9 &(\\`')\ M +9 &*]&(\ M +10 &+](&\ L +9 &-_'(\ M +9 &/ea''\ L +10 &1'^'(\ L +9 &2\\''\ M +10 &4Z''\ L +9 &6m\\%)\ L +9 &8/Z%*\ L +10 &9Z*'\ M +9 &;]''\ L +9 &=ta$'\ M +10 &?6]&&\ M +9 &@\\%'\ L +10 &B]&'\ M +9 &D|]%'\ M +9 &F?\\!'\ L +10 &Gc\ M +9 &Iu\ O +9 &Kv^\ Q +10 &M,\ V +9 &N\ V +10 &P\ W +9 &Rlr|\ X +9 &T-ck\ X +10 &URW\ Y +9 &WAJ\ Y +9 &Yh28\ \\ +10 &[,!&\ [\ +9 &\\z\ 3 +10 &]#\ )v +9 &]\ _ +2 ( +2 "collection"'& +3 #tCollection Clamp onSpring/offSpring for 9/25 samples, on/off torque 2.07 + .Hand.open +2 "manipulator"&r1 +56 "core" 1 +2 "manipulator"&u% +4 "core" % ρ  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +92 "core" ' +2 #tLoading generic puck from tube 6 into Processing Clamp +2 "processing"%c& +4 "core" &\\\ + "manipulator"&]% +4 "core" %\ - "Y +2 "storage"(% +4 "core" %> [ \\\ + "storage"(-. +3 "core" .(K + "storage"(& +4 "core" &K \\ [\  +2 "storage"(Z& +3 "core" &K [ Y\  +2 "manipulator"&'& +4 "core" &  0 + "manipulator"&\ % +4 "core" %\ - "Y +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 + "manipulator"&F( +155 "core" ( + "manipulator"&"& +4 "core" & +2 "storage"(x& +4 "core" &K \\ Z \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&g'< +101 "core" ' + "storage"( & +4 "core" &K \  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(1'e +280 "core" ' +2 "storage"(/- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" &K q m \  +2 "manipulator"&q& +4 "core" & s s U + .tElbow.seek 6 +2 "manipulator"&l( +3 "core" ( +2 "manipulator"&m& +4 "core" & v q . + "storage"((& +4 "core" &K w v ;\  +2 .tForearm.seek 6 + 300 counts + "manipulator"&~'Ϧ +21 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&%/ +53 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&5& +2 "storage"('N +12 "core" & > +2 "manipulator"& % +4 "core" % Ϭ  +2 .tForearm.seek :retract +2 "manipulator"&'\ +97 "core" ' + .tElbow.seek PC +2 "manipulator"&w(c +149 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +99 "core" ( +2 "manipulator"&W& +4 "core" &c  c + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &,& +3 "core" &c # +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&$'[ +98 "core" ' + "manipulator"&)& +4 "core" &c B +2 "manipulator"&% +4 "core" %X  + "processing"%|& +4 "core" &l\ +2 "processing"%& +5 "core" &?\ +7 .tPC.seek :closed +3 "processing"%@(Z +3 "core" &5\ +5 &8\ / +9 & G~\ 0 +10 &7r\ E +9 &cc\ M +10 &YD\ M +9 &`ZB\ M +9 & !\\\ N +10 &!Z@\ N +9 &#Z\ M +9 &%gZ\ N +10 &'*Z^\ M +9 &(Z6\ N +10 &*ZY\ M +9 &,oZB\ N +9 &.3[>\ M +10 &/\\;\ N +9 &1[9\ M +9 &3x[Z\ M +10 &5;\\>\ M +9 &6ZC\ M +10 &8[;\ M +9 &:Z\ M +9 &\\\ M +9 &?]G\ M +9 &A]d\ N +10 &CI\\\ N +9 &E \\Y\ M +10 &F_\ N +9 &Hl]\ O +9 &JG{B\ Q +10 &LG\ S +9 &M\ T +9 &O\ T +10 &QF\ T +9 &S\ T +10 &T\ T +9 &VD\ U +9 &XLa\ U +10 &Y{v?\ (} +9 &Z-Y\ 8 +9 ( +2 "processing"%& +3 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.59 +2 .Hand.open + "manipulator"& 1 +4 "core" &Z \ + +49 1 + "manipulator"&% +4 "core" % X " +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&R'\ +91 "core" ' +2 "processing"%P& +4 "core" &Z f\ + +2 #tImaging generic puck in Processing Clamp while storing it to tube 6 + "manipulator"&<% +4 "core" %\ * t H + "storage"(&% +4 "core" %; ; @ w\ + "storage"(7. +3 "core" .(K +2 "storage"(Y& +4 "core" &K : @ \  +2 "storage"(.& +3 "manipulator"&& +4 "core" &K E E Z\  +2 &c +3 ."raiseStack"SE.reconfigure :place +2 .tElbow.reconfigure :tight +4 "storage"(#]kK-0-\ b +2 "manipulator"&$&.,(\ #b +5 .tElbow.seek PC + "manipulator"&D(c +3 ."raiseStack"SE.seek :beamBreak +2 "storage"(0'e +3 "core" ( + "manipulator"& & +4 "core" &c g +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &c z +2 .tForearm.seek PC +2 "manipulator"&'[ +96 "core" ' +2 .tHand.close + "manipulator"&9/ +52 "core" / +2 .tPC.seek :open + "processing"%X(p +95 "core" ' +2 "storage"(4- +3 "core" -'e + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(>'B +40 "core" ' +246 ( +2 "storage"(?& +4 "core" &K Y Y\  + "manipulator"&6& +4 "core" &c \ +2 "manipulator"&% +3 "core" % ^ J +2 .tForearm.seek :retract +2 "manipulator"&A'\ +98 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 + "manipulator"&8( +252 "core" ( + "manipulator"&G& +5 "core" & f + "storage"(;& +8 "core" &K Z Z\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&3'< +99 "core" ' +2 .tHand.open + "manipulator"&a1 +62 "core" 1 + "storage"(h- +4 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate +2 "storage"(J' +23 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(' +53 "core" ' + #tLights, camera, ACTION! +2 "storage"(O- +3 "core" -' +2 "storage"(i& +3 "core" &K w\  +2 "manipulator"&& +4 "core" &  f +2 .tElbow.seek 6 + "manipulator"&[( +3 "core" ( +2 "manipulator"&k& +54 "core" &  f +2 "storage"(!& +4 "core" &K \  +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&='< +3 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.11 Pucks below Top Plate + "storage"(p'M +62 "core" ' +2 "manipulator"&B& +4 "core" & b f +2 "storage"(T& +4 "core" &K Y Y\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 + "manipulator"&j'z +35 "core" ' +2 .tElbow.hold + "manipulator"&d, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"(#'7 +24 "core" ' +2 "manipulator"&H% +4 "core" %{U +2 "storage"(*& +4 "core" &K\ \ \  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 6 + 301 counts +2 "manipulator"&L'ϧ +16 "core" ' +2 "manipulator"&v& +5 "core" & { n f + "storage"(S& +5 "core" &K u p :\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&M'< +17 "core" ' + "storage"(z% +5 "core" %@ ~ t >\ +2 ."downElevator"SE.seek :down +4 "storage"(\\'N +98 (n% +3 "core" %?< g g %\ U] +2 "manipulator"&+% +4 "core" %C ~ s +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +87 "core" ' +63 ' + ."downElevator"SE.stop +2 "storage"(5 +2 ( & +4 "core" &K E 3\  +2 "collection"'`& +4 "core" &] \ _ +2 #tStoring generic puck in Collection Clamp to tube 6 + "manipulator"&% +4 "core" %\ * < !U + "storage"(C% +4 "core" %E Y c\ + "storage"(Q. +3 "core" .(K +2 "storage"(E& +4 "core" &K \\ Y\  + "storage"(f& +4 "core" &K Z Y\  +2 "manipulator"&2& +4 "core" & 5 f + .tElbow.seek 6 +2 "manipulator"&I( +3 "core" ( +2 "manipulator"&o& +4 "core" & I f + "storage"(& +4 "core" &K Y Z\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&'< +89 "core" ' +2 "storage"(& +4 "core" &K | s Q\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(_'e +278 "core" ' + "storage"(V- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&b& +3 "core" & f +2 "storage"(y& +3 "core" &K X Y\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&'z +34 "core" ' +2 .tElbow.hold + "manipulator"&{, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(- +3 "core" -' +3 .tSE.seek 0.12 Pucks below Top Plate +2 "storage"(e'q +27 "core" ' + "manipulator"&s% +5 "core" %{T  S + "storage"(}& +4 "core" &K\ \  \  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 301 counts + "manipulator"&:'ϧ +12 "core" ' + "manipulator"&& +4 "core" & k { f +2 "storage"(N& +4 "core" &K u q *\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&r'< +26 "core" ' +2 .tSE.seek 1.12 Pucks below Top Plate +2 "storage"(u'` +49 "core" ' + "manipulator"&c& +4 "core" & } }  f +2 "manipulator"&]% +4 "core" %D t { . +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +88 "core" ' + .tElbow.seek CC +2 "manipulator"&-( +142 "core" ( + "manipulator"&& +4 "core" & / +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &Z& +3 "core" & / +2 .tForearm.seek CC +2 "manipulator"&'| +96 "core" ' + .tHand.close +2 "manipulator"&'/ +52 "core" / + .tCC.seek :open +2 "collection"'\ (p +411 "core" ( + "storage"("& +4 "core" &K H\  +2 "storage"(^& +4 "core" &K P\  + "manipulator"&x& +4 "core" & V + + "manipulator"& % +4 "core" % s [ +2 .tForearm.seek :retract + "manipulator"&t'\ +96 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&( +157 "core" ( +2 "manipulator"&/& +4 "core" & h +2 "storage"(& +4 "core" &K \  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 6 +2 "manipulator"&q'z +109 "core" ' + .tElbow.hold +2 "manipulator"&m, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&(1 +57 "core" 1 +2 "manipulator"&%% +5 "core" % Ό z w + "storage"(5& +4 "core" &K t '\  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 6 + 318 counts +2 "manipulator"& 'ϸ +17 "core" ' +2 "manipulator"&F& +4 "core" & ] x ! +2 "storage"(g& +4 "core" &K t\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&1'< +15 "core" ' + "storage"(~% +4 "core" %h \ +3 ."downElevator"SE.seek :down +3 "storage"(W'N +99 (,% +3 "core" % = \ TZ +2 "manipulator"&l% +4 "core" %E o p 9 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&)'\ +92 "core" ' +50 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 7 of [5..7] + #Loading generic puck from tube 7 into Collection Clamp +2 "collection"'& +4 "core" &')\ +2 "manipulator"&|% +4 "core" %\ /  #i +2 "storage"(% +4 "core" %F n\  + "storage"(. +3 "core" .(K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 7 + "storage"(K([ +359 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 ( & +3 "core" &[ n h \  + "manipulator"&& +4 "core" &  +2 .tElbow.seek 7 +2 "manipulator"&P( +29 "core" ( +2 "manipulator"&<& +4 "core" &  8 + "storage"(&& +4 "core" &[ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&7'k +91 "core" ' + "storage"(Y& +4 "core" &[ C\  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(.'e +279 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +2 "core" &[ 4\  +2 "manipulator"& & +3 "core" & _ 8 +7 .tElbow.seek 7 + "manipulator"&( +20 "core" ( +2 "manipulator"&$& +4 "core" &  % +2 "storage"(9& +3 "core" &[ M\  +2 .tForearm.seek 7 + 300 counts +2 "manipulator"&4' +21 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&w/ +61 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&R& +2 "storage"(@'N +7 "core" &  E % +2 "manipulator"&?% +4 "core" % z + + .tForearm.seek :retract +2 "manipulator"&6'\ +93 "core" ' +2 .tElbow.seek CC +2 "manipulator"&( +149 "core" ' + ."downElevator"SE.stop + "storage"(5 +11 "core" ( + "manipulator"&0& +5 "core" & . h + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" & h +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&G'| +104 "core" ' +2 "manipulator"&;& +4 "core" &  h + "manipulator"&D% +4 "core" %v  +2 "collection"'a& +4 "core" &&(\ +2 "collection"'h& +5 "core" &))\ +55 .tCC.seek :closed +3 "collection"'O(] +4 "core" &'*\ +2 &')\ + &'(\ + &&(\ &')\ + &&(\ + &('\  +4 &1&)\ *z +9 &d&)\ > +10 &Sv'(\ M +9 &[&*\ L +9 &`%)\ L +10 &^%%\ L +9 &!]]((\ L +9 &#]''\ L +10 &$`%'\ L +9 &&`%'\ M +9 &(e_('\ L +10 &*(\\$'\ L +9 &+]''\ L +10 &-]''\ L +9 &/m\\'(\ L +9 &1/\\''\ L +10 &2`&&\ L +9 &4]&'\ M +9 &6u^'(\ L +10 &88Z&'\ L +9 &9^$&\ L +10 &;]'(\ L +9 &=}a&'\ L +9 &??]%'\ L +10 &A]&'\ L +9 &B\\#%\ L +9 &D`%'\ L +10 &FG`$'\ L +9 &Ha\ M +10 &In\ N +9 &K\ P +9 &M8 \ T +10 &N\ V +9 &P\ V +9 &Rwpz\ W +10 &T7\\c\ W +9 &UJP\ X +10 &W9B\ X +9 &Yu+1\ Z +9 &[8"\ Z +10 &\\y \ 0 +9 &]%\ \ \\ +9 ( +2 "collection"'h& +4 #tCollection Clamp onSpring/offSpring for 9/25 samples, on/off torque 2.02 + .Hand.open + "manipulator"&i1 +4 "core" &]s \ N +51 1 +2 "manipulator"&% +4 "core" % u  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&k'\ +91 "core" ' +2 #tLoading generic puck from tube 7 into Processing Clamp + "processing"%A& +5 "core" &b\ + "manipulator"&!% +4 "core" %\ * , !S + "storage"(B% +4 "core" %? u q \ +2 "storage"(T. +3 "core" .([ + "storage"(>& +4 "core" &[ v v 7\  + "storage"(J& +4 "core" &[ s w k\  +2 "manipulator"&H& +4 "core" & A h + "manipulator"&*% +4 "core" %\ * ] !S +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 7 + "manipulator"&v( +153 "core" ( + "manipulator"&S& +4 "core" &  +2 "storage"(8& +4 "core" &[ } { A\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&z'k +93 "core" ' +2 "storage"(3& +4 "core" &[ U\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('e +280 "core" ' + "storage"(n- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (+& +3 "core" &[ s r \  +2 "manipulator"&=& +4 "core" & ~ }  + .tElbow.seek 7 +2 "manipulator"&[( +3 "core" ( +2 "manipulator"&p& +3 "core" & |  +2 "storage"(j& +3 "core" &[ h j \  +2 .tForearm.seek 7 + 300 counts +2 "manipulator"& ' +20 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&L/ +54 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&`& +2 "storage"('N +7 "core" & r r V  +2 "manipulator"&C% +4 "core" % j p . +2 .tForearm.seek :retract + "manipulator"&Q'\ +90 "core" ' +2 .tElbow.seek PC + "manipulator"&E(c +165 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +79 "core" ( + "manipulator"&#& +5 "core" &g ~  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &f& +3 "core" &g 1 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&2'[ +92 "core" ' + "manipulator"&o& +4 "core" &g 7 +2 "manipulator"&% +4 "core" %\\ u +2 "processing"%M& +4 "core" &h\ +2 "processing"%& +4 "core" &l\ +3 .tPC.seek :closed + "processing"%\\(Z +5 "core" &f\ +6 & (I\ #b +9 &\\Wn\ 7 +10 &E\ L +9 &qXF\ M +9 &3ZJ\ M +10 &[k\ M +9 & \\H\ M +10 &"yYC\ M +9 &$;ZG\ M +9 &%Zj\ M +10 &'[o\ M +9 &)ZB\ M +9 &+BY?\ M +10 &-Y6\ M +9 &.\\4\ N +10 &0[^\ M +9 &2KXX\ M +9 &4 Z0\ M +10 &5W4\ M +9 &7Z9\ M +13 &9RZ\ M +6 &;\\g\ M +9 &<VA\ M +10 &>\\_\ M +9 &@Z\\G\ M +9 &B\\d\ M +10 &CZb\ M +9 &E[d\ M +9 &G`eb\ N +10 &I ma\ O +9 &J~3\ Q +10 &L@\ S +9 &NXD\ S +9 &PM\ S +10 &Qe\ T +9 &SB\ T +9 &U^o\ T +10 &WI\ T +9 &XJ\ U +10 &Z;Ihi\ )y +9 &ZD?\ , +5 ( +2 "processing"%& +4 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.61 + .Hand.open +2 "manipulator"&d1 +3 "core" &Z>\ , +52 1 +2 "manipulator"&% +4 "core" % \\ a +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&V'\ +91 "core" ' +2 "processing"%b& +4 "core" &Zm\ , +2 #tImaging generic puck in Processing Clamp while storing it to tube 7 + "manipulator"&y% +4 "core" %\ + 1 !R + "storage"(% +4 "core" %F f g \ + "storage"(s. +3 "core" .([ +2 "storage"(}& +4 "core" &[ [ \\\  +2 "storage"(& +2 "manipulator"&N& +7 "core" &[ c f\  + &g  +3 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +4 "storage"(#]kK-0-\ b +4 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +3 ."raiseStack"SE.seek :beamBreak +2 "manipulator"&c(c + "storage"(]'e +5 "core" ( +2 "manipulator"&& +4 "core" &g T + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &I& +2 "core" &g - +2 .tForearm.seek PC +2 "manipulator"&_'[ +103 "core" ' + .tHand.close + "manipulator"&/ +55 "core" / +2 .tPC.seek :open +2 "processing"%:(p +85 "core" ' + "storage"(e- +4 "core" -'e + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('B +44 "core" ' +252 ( + "storage"(Z& +4 "core" &[ p u \  +2 "manipulator"&r& +4 "core" &g  + "manipulator"&{% +4 "core" % X  +6 .tForearm.seek :retract +2 "manipulator"&''\ +99 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 7 + "manipulator"&( +249 "core" ( + "manipulator"&U& +4 "core" & c +2 "storage"("& +4 "core" &[ Z Y (\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&^'k +99 "core" ' +2 .tHand.open + "manipulator"&x1 +63 "core" 1 +2 "storage"( - +3 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate +2 "storage"(/' +25 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(' +51 "core" ' +2 #tLights, camera, ACTION! + "storage"(- +3 "core" -' +2 "storage"(-& +4 "core" &[ i\  + "manipulator"&(& +4 "core" &  c +2 .tElbow.seek 7 + "manipulator"&%( +4 "core" ( + "manipulator"&5& +4 "core" &  c + "storage"(F& +4 "core" &[ \  +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&g'k +3 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.11 Pucks below Top Plate + "storage"(~'M +60 "core" ' +2 "manipulator"&t& +4 "core" &  c +2 "storage"(,& +4 "core" &[ o t \  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 7 + "manipulator"&l'Ω +27 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"(q'7 +22 "core" ' + "manipulator"&% +4 "core" %κ m +2 "storage"(|& +4 "core" &[ M ? #\  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 7 + 317 counts + "manipulator"& ' +18 "core" ' +2 "manipulator"&& +5 "core" & u | c b + "storage"(& +5 "core" &[ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +3 "manipulator"&u'k +24 "core" ' +2 "storage"(1% +4 "core" %< \  +2 ."downElevator"SE.seek :down +4 "storage"(W'N +98 (% +3 "core" %o< c r A\ V_ +2 "manipulator"& % +4 "core" %n ~ }  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +95 "core" ' +55 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (<& +3 "core" &[ R ; \  +2 "collection"'&& +4 "core" &]r \ N + #tStoring generic puck in Collection Clamp to tube 7 +2 "manipulator"&Y% +4 "core" %\ 5 & + "storage"(m% +4 "core" %D v j \ + "storage"(). +54 "core" .([ +2 "storage"(& +4 "core" &[ u q C\  + "storage"(& +4 "core" &[ v v f\  + "manipulator"& & +4 "core" & b +2 .tElbow.seek 7 + "manipulator"&$( +4 "core" ( + "manipulator"&9& +4 "core" & b +2 "storage"(w& +4 "core" &[ v v X\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&R'k +97 "core" ' +2 "storage"(?& +4 "core" &[ \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(P'e +278 "core" ' +2 "storage"(7- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&0& +3 "core" & ? b + "storage"(& +4 "core" &[ } | \  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 7 + "manipulator"&.'Ω +32 "core" ' + .tElbow.hold +2 "manipulator"&4, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(;- +2 "core" -' +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(D'n +28 "core" ' +2 "manipulator"&% +4 "core" %η N + "storage"(a& +4 "core" &[ ? B i\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 7 + 314 counts + "manipulator"&@' +21 "core" ' + "manipulator"&6& +4 "core" & t } a +2 "storage"(\ & +4 "core" &[ s Q\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&i'k +29 "core" ' +2 .tSE.seek 1.11 Pucks below Top Plate +2 "storage"('] +42 "core" ' +3 "manipulator"&A& +4 "core" & t y j a + "manipulator"&!% +4 "core" %R }   +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&B'\ +89 "core" ' +2 .tElbow.seek CC +6 "manipulator"&T( +158 "core" ( + "manipulator"&>& +4 "core" &( 3 ?R +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &J& +2 "core" &( ?R +2 .tForearm.seek CC +2 "manipulator"&H'| +101 "core" ' + .tHand.close +2 "manipulator"&h/ +64 "core" / +2 .tCC.seek :open + "collection"'*(p +411 "core" ( +2 "storage"(S& +4 "core" &[ \  + "storage"(G& +4 "core" &[ 7\  + "manipulator"&8& +4 "core" &#  ;6 + "manipulator"&3% +4 "core" % ό +2 .tForearm.seek :retract + "manipulator"&'\ +98 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 7 +2 "manipulator"&k( +173 "core" ( +2 "manipulator"&n& +4 "core" &  X + "storage"(+& +4 "core" &[ R\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 7 +2 "manipulator"&='Ω +109 "core" ' +2 .tElbow.hold + "manipulator"&p, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&j1 +53 "core" 1 +2 "manipulator"&L% +5 "core" % η  + "storage"(`& +4 "core" &[ \  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 7 + 314 counts + "manipulator"&C' +20 "core" ' +2 "manipulator"&v& +4 "core" &\ l z i X +2 "storage"(z& +4 "core" &[ w\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&'k +16 "core" ' +2 "storage"( % +4 "core" %Y }\ +2 ."downElevator"SE.seek :down +3 "storage"(#'N +99 (f% +3 "core" %,> {\ U[ +2 "manipulator"&[% +4 "core" %_ q s ? +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&o'\ +92 "core" ' +49 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 5 of [5..7] + #Loading generic puck from tube 5 into Collection Clamp +2 "collection"'& +4 "core" &('\ + "manipulator"&M% +4 "core" %\ 1  $t +2 "storage"(% +4 "core" %D \ + "storage"(Q. +3 "core" .([ +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 + "storage"(X(<< +671 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (d& +2 "core" &<= m Y\ +2 "manipulator"&& +4 "core" & & X + .tElbow.seek 5 +2 "manipulator"&b( +15 "core" ( + "manipulator"&y& +4 "core" & A +2 "storage"(& +4 "core" &<> \\\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&s' +98 "core" ' + "storage"(}& +4 "core" &<> -\ +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"('e +279 "core" ' + "storage"(N- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +2 "core" &<; \ +2 "manipulator"&& +3 "core" & { : @ +2 .tElbow.seek 5 +2 "manipulator"&I( +20 "core" ( + "manipulator"&2& +4 "core" &  l 4  +2 "storage"(& +3 "core" &<; \ +3 .tForearm.seek 5 + 300 counts + "manipulator"&e'[ +23 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&E/ +58 "core" / +2 ."downElevator"SE.seek :down +5 "manipulator"&V& "storage"(\\'N +8 "core" & r r &  + "manipulator"&Z% +4 "core" % e r q X +2 .tForearm.seek :retract +2 "manipulator"&]'\ +90 "core" ' +2 .tElbow.seek CC + "manipulator"&r( +150 "core" ( +2 "manipulator"&{& +4 "core" ' + & Z / +2 ."downElevator"SE.stop +2 .tElbow.reconfigure :loose +3 "storage"(5 + "manipulator"&$ &.,(#b +4 &_& +3 "core" & / +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&U'| +103 "core" ' + "manipulator"&"& +5 "core" & / + "manipulator"&c% +4 "core" %z +3 "collection"'x& +3 "core" &&('\ +2 "collection"' & +5 "core" &(* \ +2 .tCC.seek :closed +2 "collection"'(] +4 "core" &')\ \ +8 &8()\ $e +9 &hV%*\ 7 +10 &&(\ K +9 &}\\()\ L +10 &>^**\ M +9 &^%)\ M +9 & \\''\ L +10 &"]'(\ M +9 &$G_%(\ L +9 &&_&*\ M +10 &'_&)\ L +9 &)`&&\ L +9 &+N]''\ M +10 &-]&(\ L +9 &.\\((\ L +10 &0\\('\ M +9 &2W`&'\ L +9 &4\\''\ L +10 &5Z%(\ L +9 &7_&'\ L +9 &9`^$)\ L +10 &;!_&&\ L +9 &<^'&\ M +10 &>Z$(\ L +9 &@f_&(\ M +9 &B(]&'\ M +10 &C[&(\ L +9 &E[('\ L +9 &Gn`\ M +10 &I,k\ N +9 &J~\ P +10 &L,\ T +11 &NZ\ V +7 &P\ V +10 &Q~\ W +9 &Sou\ W +9 &U\\[a\ X +10 &WJP\ X +9 &X;B\ Z +10 &Z*1\ Z +9 &\\^ \ G +9 &]iB\ !g +10 &]\ U +2 ( + "collection"' & +4 #tCollection Clamp onSpring/offSpring for 10/26 samples, on/off torque 2.05 + .Hand.open + "manipulator"&-1 +57 "core" 1 + "manipulator"&(% +4 "core" % V 9 +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&5'\ +92 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp + "processing"%F& +4 "core" &o\ +2 "manipulator"&'% +3 "core" %\ * !M +2 "storage"(t% +4 "core" %L Y Y\ + "storage"(,. +3 "core" .(<< + "storage"(& +4 "core" &<; Y Y\ +2 "storage"(|& +4 "core" &<; Y Y\ + "manipulator"&& +4 "core" & / + "manipulator"&% +4 "core" %\ * V !M +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&( +154 "core" ( + "manipulator"&/& +4 "core" &  +2 "storage"(1& +4 "core" &<; r o W\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&' +93 "core" ' +2 "storage"(^& +4 "core" &<; x \ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('e +281 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +51 "storage"(#QK-0-\ b +4 ( & +2 "core" &<9 Z \\\ +2 "manipulator"&g& +3 "core" &  +2 .tElbow.seek 5 +2 "manipulator"&%( +3 "core" ( +2 "manipulator"&~& +4 "core" & a [ + "storage"(l& +4 "core" &<9 q v 5\ +2 .tForearm.seek 5 + 300 counts +2 "manipulator"& '[ +30 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"& +10 &Bvt\ N +9 &Zu\ M +9 &\\r\ M +10 &YT\ M +9 &!K\\v\ M +10 &#Yv\ M +9 &$Yp\ L +9 &&\\l\ M +10 &(TZt\ M +9 &*[t\ L +9 &+Zr\ M +10 &-Zv\ M +9 &/\\^v\ M +9 &1Zp\ M +10 &2\\d\ M +9 &4Zd\ M +10 &6bZc\ M +9 &8$Zt\ M +9 &9Ze\ M +10 &;Zh\ M +9 &=lZe\ M +9 &?,\\a\ M +10 &@]b\ N +9 &BZc\ M +10 &Dr\\B\ M +9 &F4`e\ M +9 &Ghr\ O +10 &Ioe\ O +9 &Km>\ R +9 &M*_\ S +10 &Na\ T +9 &PZ\ T +10 &Ro>\ T +9 &T1a\ T +9 &U_\ T +10 &Wi\ T +9 &Ys\\\ B +9 &Zx?Z\ W +10 &Z/Z\ 4 +2 ( +2 "processing"%?& +3 #tProcessing Clamp onSpring/offSpring for 9/25 samples, on/off torque 1.64 + .Hand.open +2 "manipulator"&1 +59 "core" 1 +2 "manipulator"&% +4 "core" % V u % y +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&7'\ +91 "core" ' +2 "processing"%0& +4 "core" &Z.j\ 4 + #tImaging generic puck in Processing Clamp while storing it to tube 5 +2 "manipulator"&% +3 "core" %\ * !W +2 "storage"(;% +4 "core" %M 7 8\ + "storage"(. +3 "core" .(<< +2 "storage"(a& +3 "core" &<9 , 1\ +2 "storage"(6& +5 "manipulator"&\ & +4 "core" &<9 7 7\ + &i +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +4 "storage"(#]kK-0-\ b + "manipulator"&A(c +5 ."raiseStack"SE.seek :beamBreak +2 "storage"(!'e +2 "core" ( +2 "manipulator"&R& +4 "core" &i + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &$& +3 "core" &i r +2 .tForearm.seek PC + "manipulator"&P'[ +97 "core" ' +2 .tHand.close + "manipulator"&./ +61 "core" / +2 .tPC.seek :open +2 "processing"%@(p +86 "core" ' +2 "storage"(D- +4 "core" -'e + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +2 ."raiseStack"SE.seek :place +2 "storage"(>'B +35 "core" ' +260 ( + "storage"(J& +4 "core" &<8 u q B\ +2 "manipulator"&i& +4 "core" &i e + "manipulator"&4% +4 "core" % Y M +2 .tForearm.seek :retract + "manipulator"&h'\ +98 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&B( +259 "core" ( +2 "manipulator"&O& +4 "core" &  ( + "storage"(S& +4 "core" &<8 [ Z\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&G' +100 "core" ' + .tHand.open +2 "manipulator"&81 +58 "core" 1 +2 "storage"(3- +3 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate +2 "storage"(n' +26 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(+' +55 "core" ' + #tLights, camera, ACTION! + "storage"(H- +4 "core" -' +2 "storage"(T& +4 "core" &<7 5\ + "manipulator"&j& +4 "core" &  ( +2 .tElbow.seek 5 + "manipulator"&L( +4 "core" ( + "manipulator"&`& +4 "core" &  ( +2 "storage"(v& +3 "core" &<7 \ +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&z' +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"( 'M +59 "core" ' + "manipulator"&& +5 "core" & L ( + "storage"(f& +4 "core" &<7 Y Y\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&['/ +28 "core" ' +2 .tElbow.hold + "manipulator"&k, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"(='7 +24 "core" ' + "manipulator"&% +5 "core" %3 ) l +2 "storage"(M& +4 "core" &<7   \ + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 5 + 304 counts +2 "manipulator"&C'_ +18 "core" ' +2 "manipulator"&& +4 "core" &F\ a ~ ] ` +2 "storage"(Q& +4 "core" &<7 k x :\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&' +18 "core" ' + "storage"(% +4 "core" %> w \ +3 ."downElevator"SE.seek :down +3 "storage"(#'N +99 (K% +3 "core" %= Y Y\ U] +2 "manipulator"&d% +4 "core" % } { +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +91 "core" ' +60 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (y& +4 "core" &<7 U F \ +2 "collection"'& +4 "core" &]}\ U + #tStoring generic puck in Collection Clamp to tube 5 +2 "manipulator"&}% +4 "core" %\ + W !W + "storage"(p% +4 "core" %M o i \ + "storage"(o. +3 "core" .(<< +2 "storage"(N& +4 "core" &<7 h s 7\ + "storage"(& +4 "core" &<7 Y Y \ +2 "manipulator"&& +4 "core" &F\  ` + .tElbow.seek 5 +2 "manipulator"&2( +42 "core" ( +2 "manipulator"&& +4 "core" &  % + "storage"(E& +4 "core" &<7 j ] B\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&V' +93 "core" ' + "storage"(Z& +5 "core" &<7 s p \ + .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(b'e +276 "core" ' + "storage"(s- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&{& +3 "core" & Y % + "storage"(_& +4 "core" &<7 a q X\ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 + "manipulator"&'/ +27 "core" ' +2 .tElbow.hold + "manipulator"&e, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"("- +2 "core" -' +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(c'm +27 "core" ' +2 "manipulator"&x% +4 "core" %1{ 4 I + "storage"(I& +4 "core" &<7  \ +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 5 + 302 counts +2 "manipulator"&\\'] +16 "core" ' + "manipulator"&]& +5 "core" &I k w F + "storage"(*& +4 "core" &<7 n h \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&-' +17 "core" ' +2 .tSE.seek 1.11 Pucks below Top Plate +2 "storage"(('\\ +41 "core" ' +2 "manipulator"&F& +4 "core" &I r r g F + "manipulator"&'% +4 "core" % { | l +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +50 "manipulator"&t'\ +96 "core" ' +2 .tElbow.seek CC +2 "manipulator"&,( +142 "core" ( + "manipulator"&& +4 "core" &\   0 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &|& +3 "core" &\   0 +2 .tForearm.seek CC +2 "manipulator"&'| +97 "core" ' +2 .tHand.close + "manipulator"& / +61 "core" / +2 .tCC.seek :open +2 "collection"'(p +411 "core" ( + "storage"(/& +4 "core" &<7 q\ +2 "storage"(U& +3 "core" &<7 [\ +2 "manipulator"&1& +3 "core" &\   0 +2 "manipulator"&^% +4 "core" % x 3 + .tForearm.seek :retract +2 "manipulator"&r'\ +97 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&5( +163 "core" ( + "manipulator"&& +4 "core" &   +2 "storage"( & +3 "core" &<7 *\ +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 5 +2 "manipulator"&g'/ +107 "core" ' +2 .tElbow.hold + "manipulator"&~, +41 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&l1 +53 "core" 1 +2 "manipulator"&<% +4 "core" % B  b +2 "storage"(&& +4 "core" &<7 \ + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 5 + 319 counts +2 "manipulator"&m'n +17 "core" ' + "manipulator"&& +4 "core" &; Q g e p +2 "storage"(& +4 "core" &<7 -\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&' +23 "core" ' + "storage"( % +5 "core" %` \ +2 ."downElevator"SE.seek :down +3 "storage"('N +99 (% +3 "core" %jA [\ U[ + "manipulator"&%% +5 "core" % r _ /  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&9'\ +90 "core" ' +53 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 6 of [5..7] + #Loading generic puck from tube 6 into Collection Clamp +2 "collection"'w& +4 "core" &((\ + "manipulator"&u% +4 "core" %\ -  "[ +2 "storage"(Y% +4 "core" %F \  + "storage"(). +3 "core" .(<< +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 + "storage"(:(K +357 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (& +2 "core" &K \ \  +2 "manipulator"&& +4 "core" &;  p +2 .tElbow.seek 6 + "manipulator"&0( +40 "core" ( + "manipulator"&& +4 "core" & c A +2 "storage"(;& +3 "core" &K \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&'< +88 "core" ' +2 "storage"(a& +4 "core" &K \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(\ 'e +275 "core" ' +2 "storage"(6- +8 "core" -' +2 .tSE.configure :default +6 "storage"(#QK-0-\ b +4 (?& +6 "core" &K \\\  +4 "manipulator"&R& +6 "core" & s  A +4 .tElbow.seek 6 + "manipulator"&$( +26 "core" ( +4 "manipulator"& & +12 "core" & q q 9  +3 "storage"(.& +11 "core" &K S\  +7 .tForearm.seek 6 + 300 counts + "manipulator"&D'Ϧ +14 "core" ' +4 .tForearm.reconfigure :loose +5 "manipulator"&#Q@2^d^b +4 .tHand.close + "manipulator"&q/ +59 "core" / +6 ."downElevator"SE.seek :down +5 "manipulator"&7& +4 "storage"(W'N +13 "core" & } z  +4 "manipulator"&J% +8 "core" % Ϡ | z 0 +4 .tForearm.seek :retract +2 "manipulator"&!'\ +25 #"reset-modem"Session Begun +3 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +64 "core" ' +2 .tElbow.seek CC +4 "manipulator"&i( +129 "core" ' +2 ."downElevator"SE.stop +4 "storage"(5 +27 "core" ( +4 "manipulator"&4& +7 "core" &'  >K +4 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +4 &P& +6 "core" &' >K +5 .tForearm.reconfigure :tight +4 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek CC +4 "manipulator"&O'| +98 "core" ' +7 "manipulator"&S& +15 "core" &' ; >K +6 "manipulator"&A% +12 "core" %π 5 +5 "collection"'8& +8 "core" &&(\ +2 "collection"'3& +5 "core" &'(1\ +2 .tCC.seek :closed + "collection"'H(] +4 "core" &'(\  +9 &1*'\ *z +9 &e'(\ > +10 &Uw('\ M +9 &_()\ L +9 &a((\ L +10 &b()\ L +9 &!]^)(\ M +10 &# `'( \ L +9 &$_%)\ L +9 &&`()\ L +10 &(f`%'\ L +9 &*(`'(\ L +9 &+\\'(\ L +10 &-_%)\ L +9 &/m]&(\ M +10 &1/]'(\ M +9 &2]%'\ M +9 &4^(&\ L +10 &6wZ#(\ L +9 &88]&&\ L +9 &9\\()\ L +10 &;]%&\ L +9 &=}_&'\ M +10 &??\\$(\ M +9 &A]$%\ M +9 &B^$%\ M +10 &DY''\ L +9 &FH`"(\ L +9 &Hb\ M +10 &Iu\ O +9 &K^\ Q +10 &M5\ V +9 &N\ V +9 &P\ V +10 &Rvy\ W +9 &T6hp\ X +9 &UU^\ Y +10 &WDL\ Y +9 &Yu6=\ Z +10 &[8%+\ Z +9 &\\y\ 0 +9 &]0\ "g +9 ( +3 "collection"'3& +3 #tCollection Clamp onSpring/offSpring for 9/25 samples, on/off torque 2.07 + .Hand.open + "manipulator"&T1 +4 "core" &]|\ U +52 1 +2 "manipulator"&j% +4 "core" % π W + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&`'\ +97 "core" ' + #tLoading generic puck from tube 6 into Processing Clamp +2 "processing"%v& +4 "core" &\ + "manipulator"&h% +4 "core" %\ 8 H %x +2 "storage"(% +4 "core" %6 Y Y\  + "storage"(f. +3 "core" .(K +2 "storage"(& +4 "core" &K Z [\  + "storage"(>& +4 "core" &K Y [\  + "manipulator"&M& +4 "core" &# i ;8 +2 "manipulator"&n% +4 "core" %\ 8 %x +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&( +157 "core" ( + "manipulator"&Q& +5 "core" & ' + "storage"(& +4 "core" &K v u \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&B'< +108 "core" ' + "storage"(G& +4 "core" &K \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(+'e +280 "core" ' +2 "storage"(K- +3 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (d& +3 "core" &K q { I\  +2 "manipulator"&z& +4 "core" & q n 0 + .tElbow.seek 6 +2 "manipulator"&L( +3 "core" ( +2 "manipulator"& & +3 "core" & { v 7 +2 "storage"([& +3 "core" &K h h P\  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&y'Ϧ +20 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&C/ +53 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& + "storage"(}'N +7 "core" & 7 +2 "manipulator"&p% +4 "core" % Ϫ  + .tForearm.seek :retract +2 "manipulator"&o'\ +93 "core" ' +2 .tElbow.seek PC +2 "manipulator"&N(c +158 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +87 "core" ( + "manipulator"&=& +5 "core" &j x b + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &j +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&'[ +94 "core" ' +2 "manipulator"&& +3 "core" &j C +2 "manipulator"&E% +5 "core" %b  + "processing"%& +4 "core" &u\ +2 "processing"%Z& +5 "core" &{\ +2 .tPC.seek :closed +3 "processing"%#(Z +3 "core" &w\ +6 & 1t\ $c +10 &^Vv\ 7 +9 &}v\ K +10 &oY{\ M +9 &2Yv\ M +9 &[u\ M +10 & ]u\ M +9 &"wVt\ M +14 &$8Zu\ M +5 &%Zs\ M +9 &'Zt\ M +10 &)}[v\ N +9 &+AYu\ M +9 &-\\w\ M +10 &.[v\ N +9 &0Zv\ M +9 &2H\\v\ M +10 &4\ Yu\ M +9 &5Vv\ M +10 &7Yp\ N +9 &9PYv\ M +9 &;Zw\ N +10 &<Xv\ M +9 &>\\t\ N +9 &@YXo\ M +10 &B]f\ M +9 &C\\e\ M +10 &E\\`\ N +58 &G^be\ N +4 &Inr\ P +6 &Jq\ Q + &Le\ S + &NSa\ T + &Pc\ T &Qc\ T +4 &Sk\ T +9 &UZb\ U +9 &Wa\ U +10 &Xi\ U +9 &Z:Lmh\ , +9 &Z 3h\ + +6 ( + "processing"%Z& +5 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.62 + .Hand.open +2 "manipulator"&k1 +3 "core" &Zi\ + +58 1 + "manipulator"&% +5 "core" % b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&s'\ +92 "core" ' +2 "processing"%{& +4 "core" &Zi\ + +2 #tImaging generic puck in Processing Clamp while storing it to tube 6 + "manipulator"&_% +4 "core" %\ * J !P + "storage"("% +4 "core" %8 Y Y\  +2 "storage"(x. +3 "core" .(K + "storage"(I& +4 "core" &K Z [\  +2 "storage"(]& +2 "manipulator"&*& +7 "core" &K Z [\  + &j +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +6 "manipulator"&$&.,(\ #b + "storage"(#]kK-0-\ b +3 .tElbow.seek PC +9 "manipulator"&F(c +5 ."raiseStack"SE.seek :beamBreak + "storage"(''e +3 "core" ( + "manipulator"&V& +4 "core" &j  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &2& +3 "core" &j +2 .tForearm.seek PC + "manipulator"&b'[ +89 "Can" jh +10 "core" ' +2 .tHand.close +2 "manipulator"&/ +64 "core" / +2 .tPC.seek :open + "processing"%\\(p +84 "core" ' + "storage"(c- +3 "core" -'e +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('B +33 "core" ' +265 ( +2 "storage"(|& +4 "core" &K v j \  + "manipulator"&-& +4 "core" &j  +2 "manipulator"&e% +3 "core" % f  +2 .tForearm.seek :retract +2 "manipulator"& '\ +99 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 + "manipulator"&t( +250 "core" ( + "manipulator"&& +4 "core" &\ 8 ] +2 "storage"(/& +4 "core" &K ^ f \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&U'< +104 "core" ' +2 .tHand.open + "manipulator"&11 +61 "core" 1 +2 "storage"(^- +4 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate + "storage"(' +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"( ' +53 "core" ' + #tLights, camera, ACTION! +2 "storage"(- +3 "core" -' +2 "storage"(,& +4 "core" &K n\  + "manipulator"&l& +4 "core" &\ r q W \\ +2 .tElbow.seek 6 + "manipulator"&<( +4 "core" ( + "manipulator"&&& +4 "core" &\ z \\ + "storage"(& +4 "core" &K ;\  +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&'< +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"( 'M +64 "core" ' + "manipulator"&r& +5 "core" &\ q u \\ + "storage"(& +4 "core" &K }  \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&%'z +38 "core" ' + .tElbow.hold +2 "manipulator"&5, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"(g'7 +23 "core" ' + "manipulator"&w% +5 "core" %~g + "storage"(m& +4 "core" &K   \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 304 counts + "manipulator"&u'Ϫ +17 "core" ' + "manipulator"&Y& +5 "core" & | w \\ + "storage"()& +4 "core" &K j g \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&('< +17 "core" ' +2 "storage"(% +4 "core" %> M\  +2 ."downElevator"SE.seek :down +4 "storage"('N +99 (X% +2 "core" %? ] e\ V` +2 "manipulator"&% +4 "core" %< w } +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +90 "core" ' +61 ' + ."downElevator"SE.stop + "storage"(5 +3 (& +3 "core" &K ? U "\  +2 "collection"';& +4 "core" &]|\ U +2 #tStoring generic puck in Collection Clamp to tube 6 + "manipulator"&a% +4 "core" %\ . u #k + "storage"(~% +4 "core" %< Y Y\  +2 "storage"(9. +3 "core" .(K + "storage"(6& +4 "core" &K Y Y\  + "storage"(?& +4 "core" &K U K I\  +2 "manipulator"&R& +3 "core" &\ H \\ +2 .tElbow.seek 6 +2 "manipulator"& ( +3 "core" ( + "manipulator"&.& +4 "core" &\ n \\ + "storage"(q& +4 "core" &K q c $\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&7'< +94 "core" ' +2 "storage"(J& +4 "core" &K g m \  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(0'e +278 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&\ & +3 "core" &\ j \\ +2 "storage"(4& +4 "core" &K v v E\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 + "manipulator"&P'z +34 "core" ' +2 .tElbow.hold + "manipulator"&D, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"($- +2 "core" -' +2 .tSE.seek 0.12 Pucks below Top Plate +2 "storage"(S'r +27 "core" ' +2 "manipulator"&A% +4 "core" %΂` + "storage"(8& +4 "core" &K\ \  \  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 6 + 308 counts +2 "manipulator"&W'Ϯ +18 "core" ' + "manipulator"&!& +4 "core" &\ k } \\ +2 "storage"(& +3 "core" &K } } \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&T'< +16 "core" ' +2 .tSE.seek 1.12 Pucks below Top Plate +2 "storage"(j'a +50 "core" ' +2 "manipulator"&v& +5 "core" & { r \\ + "manipulator"&h% +4 "core" %? p q _ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +97 "core" ' +2 .tElbow.seek CC +2 "manipulator"&f( +141 "core" ( + "manipulator"&& +4 "core" &  C 2 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &>& +3 "core" &  V 2 +2 .tForearm.seek CC + "manipulator"&3'| +95 "core" ' + .tHand.close + "manipulator"&M/ +63 "core" / +2 .tCC.seek :open +2 "collection"'n(p +410 "core" ( +2 "storage"(O& +4 "core" &K \  + "storage"(Q& +4 "core" &K A\  + "manipulator"&& +4 "core" &  1 + "manipulator"&G% +4 "core" % m  +2 .tForearm.seek :retract +2 "manipulator"&i'\ +97 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&`( +162 "core" ( +2 "manipulator"&K& +4 "core" & \\  +2 "storage"(d& +4 "core" &K Q\  + .tElbow.reconfigure :limp +7 "manipulator"&$ ,(b +3 .tForearm.seek 6 +2 "manipulator"&z'z +110 "core" ' + .tElbow.hold +2 "manipulator"& , +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&[1 +58 "core" 1 +2 "manipulator"&C% +4 "core" % ΅ U ~ +2 "storage"(& +4 "core" &K '\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 311 counts + "manipulator"&p'ϱ +19 "core" ' +2 "manipulator"&& +4 "core" & h Q o  + "storage"(B& +4 "core" &K v\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +51 "manipulator"&+'< +23 "core" ' +2 "storage"(y% +4 "core" %f z\ +2 ."downElevator"SE.seek :down +3 "storage"(='N +99 (% +3 "core" %> F\ U[ +2 "manipulator"&L% +4 "core" %, p q +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +91 "core" ' +50 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 7 of [5..7] + #Loading generic puck from tube 7 into Collection Clamp +2 "collection"'E& +4 "core" &&*\ +2 "manipulator"&% +4 "core" %\ 1  $o +2 "storage"(}% +4 "core" %A \  + "storage"(o. +3 "core" .(K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 7 + "storage"(@([ +354 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (k& +3 "core" &[ k g \  + "manipulator"&& +4 "core" &   +2 .tElbow.seek 7 + "manipulator"&{( +31 "core" ( + "manipulator"&_& +4 "core" & 6 o +2 "storage"("& +3 "core" &[ j\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&x'k +96 "core" ' +2 "storage"(I& +4 "core" &[ \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(*'e +278 "core" ' +2 "storage"(]- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (Z& +3 "core" &[ X\  +2 "manipulator"&V& +4 "core" &  n + .tElbow.seek 7 +2 "manipulator"&2( +10 "core" ( + "manipulator"&& +4 "core" &  ( +2 "storage"(& +4 "core" &[ o\  +2 .tForearm.seek 7 + 300 counts + "manipulator"&c' +22 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&N/ +56 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&s& +2 "storage"(#'N +7 "core" & o o # ( +2 "manipulator"&|% +4 "core" % q p  +2 .tForearm.seek :retract + "manipulator"&''\ +96 "core" ' + .tElbow.seek CC +2 "manipulator"&-( +149 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +5 "core" ( +2 "manipulator"&e& +4 "core" &-  Cn +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &b& +3 "core" &- Cn +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&'| +99 "core" ' +2 "manipulator"&/& +5 "core" &7% << + "manipulator"&F% +4 "core" %n % +2 "collection"'1& +4 "core" &((\ +2 "collection"'^& +4 "core" &&)\ +3 .tCC.seek :closed + "collection"'(] +5 "core" &&( \ +6 &%( \ 5 +9 &G{%&\ 0 +10 &?s(' \ D +9 &c)(\ M +9 &\\)(\ L +10 &k`''\ L +9 & ,_('\ M +9 &!a%( \ L +10 &#_(' \ L +9 &%r]&' \ M +10 &'4_'(\ M +9 &(\\%'\ L +9 &*Y''\ L +10 &,|^&(\ L +9 &.=]&(\ L +9 &/Z''\ L +10 &1Z%(\ L +9 &3Z%&\ L +10 &5E\\%'\ L +9 &7`&%\ L +9 &8^%(\ L +10 &:^''\ M +9 &_&(\ M +10 &?^&&\ L +9 &A[&&\ L +10 &CUa%)\ L +9 &E]$(\ M +9 &F_'\ M +10 &Hh\ M +9 &JVr\ O +10 &LX\ R +9 &M\ V +9 &O\ V +10 &QF\ W +9 &Sls\ W +9 &TXa\ X +10 &VEM\ Y +9 &XI7<\ Y +9 &Z'-\ Z +10 &[\ Z +9 &](P \ 2 +10 &]\ \ P +5 ( + "collection"'^& +4 #tCollection Clamp onSpring/offSpring for 9/26 samples, on/off torque 2.07 +2 .Hand.open + "manipulator"&,1 +4 "core" &]s\  \ O +58 1 +2 "manipulator"&l% +4 "core" % m T +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&&'\ +92 "core" ' +2 #tLoading generic puck from tube 7 into Processing Clamp +2 "processing"%& +4 "core" &x\ + "manipulator"& % +9 "core" %\ + W !U + "storage"(r% +4 "core" %F Y Y\  +2 "storage"(. +3 "core" .([ + "storage"(& +4 "core" &[ Y X \  + "storage"(w& +4 "core" &[ N V #\  +2 "manipulator"&m& +3 "core" &8% j <; +2 "manipulator"&% +3 "core" %\ * n !U +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 7 + "manipulator"&Y( +165 "core" ( + "manipulator"&)& +4 "core" &   +2 "storage"(& +4 "core" &[ } { X\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&t'k +101 "core" ' + "storage"(U& +5 "core" &[ \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"( 'e +276 "core" ' +2 "storage"(X- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +2 "core" &[ a\  +2 "manipulator"&& +4 "core" & p q G  + .tElbow.seek 7 +2 "manipulator"&<( +16 "core" ( + "manipulator"& & +4 "core" &\ ] w  M +2 "storage"(%& +3 "core" &[ \  +2 .tForearm.seek 7 + 300 counts +2 "manipulator"&' +26 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&u/ +63 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&;& +2 "storage"(a'N +7 "core" & r q  M +2 "manipulator"&~% +4 "core" % } } t + .tForearm.seek :retract +2 "manipulator"&9'\ +97 "core" ' +2 .tElbow.seek PC + "manipulator"&6(c +156 "core" ' + ."downElevator"SE.stop + "storage"(5 +92 "core" ( +2 "manipulator"&g& +4 "core" &j 5 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &?& +2 "core" &j +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&R'[ +94 "core" ' +2 "manipulator"&.& +4 "core" &j  +2 "manipulator"&q% +4 "core" %] 8 + "processing"%(& +4 "core" &\ +2 "processing"%J& +5 "core" &v\ +2 .tPC.seek :closed +2 "processing"%(Z +4 "core" &z\ \ +8 &0}y\ )w +9 &dy\ > +10 &@uz\ N +9 &Y\ M +10 &^}\ M +9 &Yx\ M +9 &!H[s\ M +10 &#\ Yv\ M +9 &$Yt\ M +9 &&Zv\ M +10 &(RYw\ M +9 &*Zv\ M +10 &+Yx\ M +9 &-Yv\ M +9 &/X]t\ M +10 &1Zw\ M +9 &2\\s\ M +9 &4Zv\ M +10 &6`Yt\ M +9 &8!Yt\ N +10 &9Yw\ M +9 &;Yt\ M +9 &=iYv\ M +10 &?)[x\ N +9 &@\\t\ N +9 &BZs\ M +10 &DqWv\ M +9 &F1]l\ N +10 &Ges\ N +9 &Iqt\ P +9 &Kjw\ R +10 &M(u\ S +9 &Nn\ T +9 &Pf\ T +10 &Rnf\ S +9 &T-c\ T +10 &Ub\ T +9 &Wb\ U +9 &Ysj\ A +10 &Z}Ck\ V +9 &Zd\ ' +3 ( + "processing"%J& +3 #tProcessing Clamp onSpring/offSpring for 9/25 samples, on/off torque 1.63 +2 .Hand.open + "manipulator"&51 +60 "core" 1 + "manipulator"&% +4 "core" % ] ] +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +98 "core" ' + "processing"%\ & +4 "core" &Zu\ ' +2 #tImaging generic puck in Processing Clamp while storing it to tube 7 + "manipulator"&4% +4 "core" %\ 8 ' + "storage"($% +5 "core" %< Z Y\ + "storage"(A. +3 "core" .([ +2 "storage"(8& +3 "core" &[ [ [\  +2 "storage"(!& +4 "manipulator"&& +5 "core" &[ Y [\  + &j +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +2 "storage"(#]kK-0-\ b +2 .tElbow.seek PC +5 "manipulator"&v(c +3 ."raiseStack"SE.seek :beamBreak +2 "storage"(h'e +2 "core" ( +2 "manipulator"&7& +4 "core" &j + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 & & +3 "core" &j +2 .tForearm.seek PC + "manipulator"&0'[ +95 "core" ' + .tHand.close +2 "manipulator"&P/ +58 "core" / + .tPC.seek :open +2 "processing"%W(p +91 "core" ' +2 "storage"(S- +3 "core" -'e + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place + "storage"('B +34 "core" ' +257 ( + "storage"(>& +4 "core" &[ f m }\  +2 "manipulator"&T& +4 "core" &j  + "manipulator"&D% +4 "core" % f  +2 .tForearm.seek :retract +2 "manipulator"&M'\ +91 "core" ' +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 7 + "manipulator"&( +257 "core" ( + "manipulator"&H& +4 "core" &  & +2 "storage"(O& +3 "core" &[ u p T\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&Q'k +102 "core" ' +2 .tHand.open + "manipulator"&1 +63 "core" 1 +2 "storage"(G- +4 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate + "storage"(K' +23 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.83 Pucks below Top Plate + "storage"(d' +50 "core" ' +2 #tLights, camera, ACTION! + "storage"(3- +4 "core" -' + "storage"(f& +4 "core" &[ M\  + "manipulator"&[& +5 "core" & p J & + .tElbow.seek 7 +2 "manipulator"&C( +3 "core" ( +2 "manipulator"&& +4 "core" & u w / & + "storage"(& +4 "core" &[ h\  +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&B'k +4 "core" ' + .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"(i'M +61 "core" ' +2 "manipulator"&y& +4 "core" & | } & +2 "storage"(`& +4 "core" &[ z k \  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 7 + "manipulator"&'Ω +32 "core" ' + .tElbow.hold +2 "manipulator"&L, +5 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"(z'7 +24 "core" ' + "manipulator"&E% +4 "core" %η +2 "storage"(p& +4 "core" &[ : @ B\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 7 + 314 counts +2 "manipulator"&' +17 "core" ' +2 "manipulator"&}& +4 "core" & l g % +2 "storage"(o& +4 "core" &[ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&j'k +18 "core" ' + "storage"(+% +5 "core" %> ,\  +2 ."downElevator"SE.seek :down +3 "storage"(='N +99 (:% +3 "core" %: p p S\ V_ +2 "manipulator"&k% +4 "core" %] | }  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +90 "core" ' +58 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (_& +3 "core" &[ S ? >\  +2 "collection"'"& +4 "core" &]r\ O +2 #tStoring generic puck in Collection Clamp to tube 7 + "manipulator"&I% +4 "core" %\ 1 $m + "storage"( % +4 "core" %8 h ] \  +2 "storage"(. +3 "core" .([ + "storage"(]& +4 "core" &[ Y Y \  +2 "storage"(Z& +4 "core" &[ t j m\  + "manipulator"&V& +4 "core" & % +2 .tElbow.seek 7 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&& +4 "core" & - % + "storage"(N& +4 "core" &[ w v Y\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&s'k +112 "core" ' + "storage"(|& +4 "core" &[ 6\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"({'e +275 "core" ' +2 "storage"(x- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&e& +3 "core" & } | % + "storage"(b& +4 "core" &[ \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 7 + "manipulator"&*'Ω +33 "core" ' +2 .tElbow.hold + "manipulator"&c, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(/- +2 "core" -' +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(F'n +27 "core" ' +2 "manipulator"&1% +4 "core" %ν + "storage"(2& +4 "core" &[ B B \  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 7 + 320 counts +2 "manipulator"&#' +18 "core" ' + "manipulator"&'& +4 "core" & k % +2 "storage"(n& +4 "core" &[ i g x\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&,'k +15 "core" ' +2 .tSE.seek 1.11 Pucks below Top Plate +2 "storage"(l'] +51 "core" ' +2 "manipulator"&& +5 "core" & z | % + "manipulator"& % +4 "core" %u r z j +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&r'\ +87 "core" ' +2 .tElbow.seek CC +2 "manipulator"&( +148 "core" ( + "manipulator"&& +4 "core" &   * +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &^& +3 "core" &  * +2 .tForearm.seek CC +2 "manipulator"&w'| +94 "core" ' +2 .tHand.close + "manipulator"&m/ +63 "core" / +2 .tCC.seek :open + "collection"'(p +411 "core" ( +2 "storage"(& +4 "core" &[ \  + "storage"()& +4 "core" &[ `\  +2 "manipulator"&& +4 "core" &"  ' + "manipulator"&U% +4 "core" %    +2 .tForearm.seek :retract + "manipulator"&-'\ +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 7 + "manipulator"&&( +152 "core" ( + "manipulator"&X& +4 "core" & i  +2 "storage"(& +4 "core" &[ g\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 7 +2 "manipulator"&'Ω +111 "core" ' + .tElbow.hold +2 "manipulator"& , +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&%1 +62 "core" 1 +2 "manipulator"&u% +4 "core" % θ +2 "storage"(;& +3 "core" &[ \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 7 + 315 counts +2 "manipulator"&~' +17 "core" ' + "manipulator"&Y& +5 "core" & ] w   + "storage"(t& +4 "core" &[ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts +2 "manipulator"& 'k +17 "core" ' + "storage"(% +5 "core" %b }\ +2 ."downElevator"SE.seek :down +3 "storage"(g'N +99 (?% +3 "core" %A \ U\\ +2 "manipulator"&<% +4 "core" %w p o  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&.'\ +87 "core" ' +54 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 5 of [5..7] +2 #Loading generic puck from tube 5 into Collection Clamp + "collection"'q& +5 "core" &()\ + "manipulator"&(% +4 "core" %\ *  !S +2 "storage"(a% +4 "core" %A \ + "storage"(9. +3 "core" .([ +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 + "storage"(\\(<< +678 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (5& +2 "core" &% +4 "core" % T p q +2 .tForearm.seek :retract +2 "manipulator"&T'\ +92 "core" ' +2 .tElbow.seek CC +2 "manipulator"&h( +147 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +15 "core" ( + "manipulator"&D& +5 "core" &+ Y Aa + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &0& +3 "core" &+  Aa +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&H'| +97 "core" ' +2 "manipulator"&O& +4 "core" &+ < Aa +2 "manipulator"&v% +4 "core" %} - + "collection"'& +5 "core" &')0\ +2 "collection"'G& +5 "core" &&'$\ +2 .tCC.seek :closed +2 "collection"'3(] +4 "core" &'*\ +7 & 7)(\ $e +10 &kV%(\ 7 +9 &*'\ K +9 &X%)\ L +10 &C`%(\ L +9 &_'(\ M +10 & _'&\ L +9 &"_&(\ L +9 &$KZ)(\ \ L +10 && \\&) \ L +9 &'Z()\ L +9 &)[&)\ L +10 &+S^&*\ L +9 &-]&) \ L +10 &.`'' \ L +9 &0`%)\ M +9 &2[^(( \ L +10 &4['(\ L +9 &5^((\ L +9 &7_(( \ L +10 &9b]('\ M +9 &;%\\'( \ L +10 &<^&(\ L +9 &>_('\ L +9 &@k_$'\ L +10 &B-_&) \ L +9 &C_%(\ L +10 &E]%'\ M +9 &Gs^\ L +9 &I0m\ N +10 &J|\ \ P +9 &L3\ T +9 &N`\ U +10 &P \ V +9 &Q\ W +9 &Srw\ W +10 &U^^f\ Y +9 &W!NX\ Y +10 &X=G\ Y +14 &Z.5\ [ +5 &\\c&\ G +9 &]b;\ 'v +9 &]n\ L +2 ( +2 "collection"'G& +3 #tCollection Clamp onSpring/offSpring for 10/26 samples, on/off torque 2.03 + .Hand.open +2 "manipulator"&f1 +63 "core" 1 + "manipulator"&[% +4 "core" % | 8 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +93 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp + "processing"%& +5 "core" &}\ + "manipulator"&M% +4 "core" %\ *  !P + "storage"(y% +4 "core" %D Y Y\  +2 "storage"(`. +3 "core" .(\\w\ M +9 &@Z[u\ M +9 &B\\v\ M +10 &C^v\ M +9 &E\\w\ L +10 &G`cw\ M +9 &Ilu\ O +9 &J}z\ Q +10 &Ly\ R +9 &NVw\ S +9 &Pu\ S +10 &Qz\ T +9 &Su\ T +10 &U]v\ T +9 &Wx\ T +9 &Xu\ T +10 &Z;Lns\ , +9 &Z`u\ 8 +9 ( +3 "processing"%|& +3 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.61 + .Hand.open + "manipulator"&L1 +4 "core" &Z4u\ 6 +58 1 + "manipulator"&% +4 "core" % P N g +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&x'\ +90 "core" ' +2 "processing"%e& +4 "core" &Z4w\ 6 + #tImaging generic puck in Processing Clamp while storing it to tube 5 +2 "manipulator"&b% +3 "core" %\ * e !Q +2 "storage"(/% +4 "core" %; \\ \\\  + "storage"(1. +3 "core" .(<< +2 "storage"(2& +3 "core" &<9 X W\  +2 "storage"('& +2 "manipulator"&n& +11 "core" &<9 [ [\  +2 &j +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +2 "storage"(#]kK-0-\ b +2 .tElbow.seek PC +5 "manipulator"&(c +4 ."raiseStack"SE.seek :beamBreak + "storage"( 'e +3 "core" ( + "manipulator"&s& +4 "core" &j + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &j +2 .tForearm.seek PC + "manipulator"&{'[ +95 "core" ' + .tHand.close +2 "manipulator"&*/ +61 "core" / +2 .tPC.seek :open + "processing"%#(p +88 "core" ' +2 "storage"(F- +4 "core" -'e + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +2 ."raiseStack"SE.seek :place +2 "storage"('B +36 "core" ' +261 ( + "storage"(^& +4 "core" &<8 w n \ +2 "manipulator"&,& +4 "core" &j  +2 "manipulator"&c% +3 "core" % T   +2 .tForearm.seek :retract +2 "manipulator"&m'\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&r( +245 "core" ( +2 "manipulator"&& +4 "core" & X B + "storage"(& +4 "core" &<8 | r {\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&)' +101 "core" ' +2 .tHand.open + "manipulator"&1 +60 "core" 1 +2 "storage"(U- +3 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate +2 "storage"(X' +23 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(' +53 "core" ' +2 #tLights, camera, ACTION! + "storage"(w- +3 "core" -' +2 "storage"(& +4 "core" &<7 \ \ + "manipulator"&%& +4 "core" & | y B +2 .tElbow.seek 5 + "manipulator"&u( +4 "core" ( + "manipulator"&;& +4 "core" & u | i B + "storage"(Y& +4 "core" &<7 \ \ +2 .tForearm.seek 5 + 450 counts + "manipulator"&t' +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"('M +59 "core" ' + "manipulator"&-& +5 "core" & p q B + "storage"(?& +4 "core" &<7 R\ \ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 + "manipulator"&<'/ +31 "core" ' + .tElbow.hold +2 "manipulator"&&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +51 "storage"('7 +30 "core" ' + "manipulator"&q% +5 "core" %Az @ + "storage"((& +4 "core" &<7 B B \ \ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 318 counts + "manipulator"&~'m +17 "core" ' +2 "manipulator"&a& +3 "core" &, | v l  +2 "storage"(9& +5 "core" &<7 \ \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&l' +11 "core" ' +2 "storage"( % +9 "core" %7 >\ +2 ."downElevator"SE.seek :down +4 "storage"(g'N +98 (@% +3 "core" %; x z [\ U^ +2 "manipulator"&5% +4 "core" % q o \\ 5 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +92 "core" ' +60 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (4& +4 "core" &<7 Y n\ \ +2 "collection"'$& +4 "core" &]n\ L +2 #tStoring generic puck in Collection Clamp to tube 5 + "manipulator"&8% +4 "core" %\ 6 0 & + "storage"( % +4 "core" %M o t\  +2 "storage"(.. +3 "core" .(<< + "storage"(& +4 "core" &<7 o o\ \ +2 "storage"(!& +4 "core" &<7 q v \ \ + "manipulator"&7& +4 "core" &,  +2 .tElbow.seek 5 + "manipulator"&R( +20 "core" ( + "manipulator"&P& +5 "core" &    + "storage"(6& +4 "core" &<7 } } \ \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&' +97 "core" ' + "storage"(>& +4 "core" &<7 T\ \ +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(\ 'e +277 "core" ' + "storage"(A- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&D& +3 "core" &  o p   +2 "storage"(0& +4 "core" &<7 v\ \ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&J'/ +30 "core" ' + .tElbow.hold +2 "manipulator"&S, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(O- +2 "core" -' +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(v'm +27 "core" ' + "manipulator"&% +5 "core" %C} p E + "storage"( & +4 "core" &<7 B B \ \ + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 320 counts + "manipulator"&'o +12 "core" ' + "manipulator"&T& +5 "core" &! u ` I k + "storage"(& +4 "core" &<7 \ \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&f' +20 "core" ' +2 .tSE.seek 1.11 Pucks below Top Plate + "storage"(['\\ +43 "core" ' +5 "manipulator"&& +4 "core" &! p o k + "manipulator"&M% +5 "core" % q p )  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&y'\ +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&`( +163 "core" ( +2 "manipulator"&G& +4 "core" &+ W Ad + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &+  Ad +2 .tForearm.seek CC + "manipulator"&p'| +100 "core" ' + .tHand.close + "manipulator"&}/ +58 "core" / +2 .tCC.seek :open +2 "collection"'H(p +411 "core" ( + "storage"(o& +4 "core" &<7 &\ \ +2 "storage"(+& +3 "core" &<7 \ \ +2 "manipulator"&\\& +4 "core" &( ( ?Q + "manipulator"&Q% +4 "core" % p  +2 .tForearm.seek :retract + "manipulator"&h'\ +99 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&( +161 "core" ( + "manipulator"&:& +4 "core" &  )  +2 "storage"(k& +3 "core" &<7 h\ \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 5 +2 "manipulator"&B'/ +104 "core" ' +2 .tElbow.hold + "manipulator"&i, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&1 +55 "core" 1 +2 "manipulator"&% +5 "core" % B + "storage"("& +4 "core" &<7 \ \ + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 319 counts +2 "manipulator"& 'n +17 "core" ' +2 "manipulator"&K& +4 "core" &6 ` v   + "storage"(& +43 "core" &<7 \ \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&d' +23 "core" ' + "storage"(_% +4 "core" %a W\ +2 ."downElevator"SE.seek :down +4 "storage"(z'N +99 (Z% +3 "core" %C? e\ U\\ + "manipulator"&C% +4 "core" % p l  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +94 "core" ' +45 ' + ."downElevator"SE.stop +2 "storage"(5 +2 #tShuffling pucks in tube 6 of [5..7] +2 #Loading generic puck from tube 6 into Collection Clamp + "collection"'N& +5 "core" &&(,\ + "manipulator"&j% +4 "core" %\ 3  %} +2 "storage"(I% +3 "core" %K \ +2 "storage"(. +3 "core" .(<< +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"(W(K +351 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (L& +3 "core" &K z H\  +2 "manipulator"&& +4 "core" &6   + .tElbow.seek 6 +2 "manipulator"&e( +32 "core" ( + "manipulator"&b& +4 "core" & L H +2 "storage"(/& +4 "core" &K 1\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&1'< +98 "core" ' + "storage"(2& +5 "core" &K 8\  + .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(''e +290 "core" ' + "storage"(n- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (|& +3 "core" &K 7\  + "manipulator"&s& +4 "core" &  H + .tElbow.seek 6 +2 "manipulator"&( +4 "core" ( + "manipulator"&V& +4 "core" & X H +3 "storage"(*& +3 "core" &K \  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&F'Ϧ +16 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&]/ +57 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&x& + "storage"(='N +7 "core" & C H + "manipulator"&^% +4 "core" % Ϯ 8 +2 .tForearm.seek :retract +2 "manipulator"& '\ +96 "core" ' +2 .tElbow.seek CC +2 "manipulator"&,( +140 "core" ( + "manipulator"&c& +5 "core" & 1 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 "core" ' +2 ."downElevator"SE.stop +2 "manipulator"&{& + "storage"(5 +6 "core" & 1 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&'| +99 "core" ' + "manipulator"&& +4 "core" & 1 +2 "manipulator"&% +4 "core" %~ +2 "collection"'& +4 "core" &'(+\ +3 "collection"'U& +4 "core" &'(\ +2 .tCC.seek :closed +2 "collection"'w(] +4 "core" &'(\ +8 &8'(\ $e +9 &hV&'\ 7 +10 &&' \ K +9 &~\\&)\ L +9 &@]')\ L +10 &^'&\ L +9 & ]&'\ L +9 &"Z(&\ L +10 &$H_''\ L +9 &&\ _$(\ L +9 &'^&)\ L +10 &)]%'\ L +9 &+P\\%'\ L +10 &-\\''\ L +9 &.`&'\ L +9 &0_%'\ L +10 &2X\\&'\ L +9 &4^$'\ M +9 &5\\&'\ L +10 &7\\&'\ L +9 &9`\\&'\ L +10 &;![&%\ M +9 &<]%' \ L +9 &>\\$'\ L +10 &@h^#(\ L +9 &B)]$&\ M +9 &C\\%'\ M +10 &E]%(\ L +9 &Goc\ M +10 &I-j\ N +9 &J} \ P +9 &L& \ U +10 &N\\\ V +9 &P\ W +9 &Q\ V +10 &Ss| \ X +9 &U^bi\ X +10 &WRW\ X +9 &XCH\ Z +9 &Z39\ [ +10 &\\^"*\ G +9 &]f? \ "i +9 &]}\ R +6 ( + "collection"'U& +5 #tCollection Clamp onSpring/offSpring for 10/26 samples, on/off torque 2.04 + .Hand.open + "manipulator"&1 +4 "core" &]y\ R +55 1 + "manipulator"&%% +4 "core" % { +52 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&;'\ +92 "core" ' +2 #tLoading generic puck from tube 6 into Processing Clamp + "processing"%Y& +4 "core" &|\ +2 "manipulator"&m% +3 "core" %\ * w !Q +2 "storage"(-% +4 "core" %< Y Y\  + "storage"(?. +3 "core" .(K +2 "storage"(& +3 "core" &K Y Y\  +2 "storage"(X& +4 "core" &K Y Y\  + "manipulator"&q& +4 "core" & 1 + "manipulator"&(% +4 "core" %\ * !Q +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 + "manipulator"&a( +177 "core" ( +2 "manipulator"&9& +4 "core" &  9 + "storage"(r& +4 "core" &K o q 9\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"& '< +102 "core" ' +2 "storage"()& +4 "core" &K \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('e +277 "core" ' + "storage"(t- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (@& +2 "core" &K o j \  +2 "manipulator"&5& +4 "core" & r r E 9 +2 .tElbow.seek 6 + "manipulator"&u( +22 "core" ( + "manipulator"&& +5 "core" & ^ v "  + "storage"(<& +4 "core" &K \  +4 .tForearm.seek 6 + 300 counts +4 "manipulator"&4'Ϧ +25 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&~/ +57 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&$& + "storage"(8'N +7 "core" & q h  + "manipulator"& % +5 "core" % ϔ +2 .tForearm.seek :retract + "manipulator"&.'\ +96 "core" ' +2 .tElbow.seek PC +2 "manipulator"&(c +155 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +90 "core" ( + "manipulator"&& +4 "core" &i L +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &!& +2 "core" &i  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&7'[ +103 "core" ' +2 "manipulator"&P& +4 "core" &i i > +2 "manipulator"&6% +4 "core" %Q p {  u +2 "processing"%l& +3 "core" &|\ +3 "processing"%>& +5 "core" &|\ +2 .tPC.seek :closed + "processing"%g(Z +5 "core" &|{\ \ +9 &0}\ )w +9 &dy\ > +9 &<u\ M +10 &Yw\ M +9 &Z\ M +14 &\\\ M +5 &!E[v\ M +9 &#Xy\ L +10 &$Y{\ M +9 &&Y\ M +9 &(MZ\ M +10 &*]~\ M +9 &+Y}\ L +10 &-Y\ M +9 &/T\\\ M +9 &1Zv\ M +10 &2[|\ M +9 &4Y|\ L +9 &6\\Z{\ M +10 &8Y\ M +9 &9\\}\ M +10 &;Zy\ M +9 &=eYy\ M +9 &?'[v\ M +10 &@\\x\ M +9 &BZ\ M +9 &DlZ{\ M +10 &F,^w\ N +9 &Gev\ N +10 &Irz\ P +9 &Kd\ R +9 &M"{\ T +10 &Nv\ T +9 &Pu\ T +9 &Rhv\ T +10 &T)z\ T +9 &U{\ U +10 &Wv\ U +9 &Yly\ B +9 &Zu=w\ Y +10 &ZCz\ 6 +5 ( +2 "processing"%>& +4 #tProcessing Clamp onSpring/offSpring for 9/25 samples, on/off torque 1.64 + .Hand.open + "manipulator"&&1 +4 "core" &Z4{\ 6 +55 1 +2 "manipulator"&% +4 "core" % Q  u +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&A'\ +91 "core" ' +2 "processing"%D& +4 "core" &Z4j\ 6 + #tImaging generic puck in Processing Clamp while storing it to tube 6 +2 "manipulator"&0% +4 "core" %\ - "\\ + "storage"(O% +4 "core" %< 7 7 P\ + "storage"(. +3 "core" .(K +7 "storage"( & +4 "core" &K C Y \  + "storage"(T& +5 "manipulator"&& +4 "core" &K ) * I\  + &i +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +2 "storage"(#]kK-0-\ b +3 .tElbow.seek PC +4 "manipulator"&(c +3 ."raiseStack"SE.seek :beamBreak +2 "storage"(M'e +2 "core" ( +2 "manipulator"&& +4 "core" &i + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &R& +3 "core" &i +2 .tForearm.seek PC + "manipulator"&\ '[ +98 "core" ' + .tHand.close +2 "manipulator"&J/ +56 "core" / +2 .tPC.seek :open +2 "processing"%(p +92 "core" ' +2 "storage"(v- +4 "core" -'e + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +2 ."raiseStack"SE.seek :place +2 "storage"(G'B +41 "core" ' +248 ( + "storage"(& +4 "core" &K u w \  +2 "manipulator"&f& +4 "core" &i T + "manipulator"&S% +4 "core" % V P +2 .tForearm.seek :retract +2 "manipulator"&}'\ +94 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&y( +251 "core" ( +2 "manipulator"&3& +4 "core" &\ " W + "storage"(o& +4 "core" &K Y Y \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&+'< +100 "core" ' + .tHand.open +2 "manipulator"&\\1 +56 "core" 1 +2 "storage"(Q- +4 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate +2 "storage"(:' +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(k' +50 "core" ' + #tLights, camera, ACTION! +2 "storage"(p- +3 "core" -' +2 "storage"(`& +4 "core" &K r\  + "manipulator"&& +4 "core" &\  W +2 .tElbow.seek 6 + "manipulator"&( +7 "core" ( +2 "manipulator"&"& +4 "core" &  3 + "storage"(K& +4 "core" &K \  +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&'< +20 "core" ' + .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"(_'M +59 "core" ' +2 "manipulator"&h& +4 "core" & p s 3 +2 "storage"(Z& +4 "core" &K \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 + "manipulator"&C'z +37 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"(B'7 +24 "core" ' +2 "manipulator"&N% +5 "core" %·h  + "storage"( & +4 "core" &K   \  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 6 + 313 counts + "manipulator"&j'ϳ +16 "core" ' +2 "manipulator"&I& +4 "core" & ] x & 3 +2 "storage"(& +4 "core" &K o i i\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&['< +18 "core" ' +2 "storage"(d% +4 "core" %7 \ +2 ."downElevator"SE.seek :down +3 "storage"(z'N +99 (E% +3 "core" %k Y Y\ I +102 "storage"(L% +3 "core" %@ v u ,\ U^ +2 "manipulator"&% +4 "core" %? q r $ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&b'\ +91 "core" ' +29 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (/& +4 "core" &K \\ Y\  + "collection"'2& +4 "core" &]x\ R +2 #tStoring generic puck in Collection Clamp to tube 6 + "manipulator"&i% +4 "core" %\ 0  $t + "storage"(% +4 "core" %K v v P\  + "storage"(n. +3 "core" .(K +2 "storage"(|& +3 "core" &K v w c\  +2 "storage"(s& +4 "core" &K u v x\  + "manipulator"&V& +4 "core" & Y 3 + .tElbow.seek 6 +2 "manipulator"&*( +5 "core" ( + "manipulator"&]& +5 "core" &  ' + "storage"(x& +4 "core" &K v v }\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&^'< +92 "core" ' +6 "storage"(e& +4 "core" &K \  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(1'e +279 "core" ' + "storage"(c- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&{& +3 "core" & r q $ ' + "storage"('& +4 "core" &K g k \  + .tElbow.reconfigure :limp +52 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 + "manipulator"&F'z +35 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(- +2 "core" -' +2 .tSE.seek 0.12 Pucks below Top Plate +2 "storage"('r +27 "core" ' +2 "manipulator"&% +4 "core" %΀g \ + "storage"(=& +4 "core" &K   x\  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 6 + 306 counts +2 "manipulator"& 'Ϭ +19 "core" ' + "manipulator"&H& +5 "core" & v ] @ ' +2 "storage"(& +4 "core" &K w\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +6 "manipulator"&%'< +17 "core" ' +2 .tSE.seek 1.12 Pucks below Top Plate +2 "storage"(U'a +47 "core" ' + "manipulator"&Y& +5 "core" & q s N ' + "manipulator"&m% +4 "core" %, g q 0  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&-'\ +87 "core" ' +2 .tElbow.seek CC +2 "manipulator"&?( +158 "core" ( +2 "manipulator"&& +4 "core" &+ W Ad + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &X& +3 "core" &+ Ad +2 .tForearm.seek CC + "manipulator"&q'| +107 "core" ' +2 .tHand.close + "manipulator"&(/ +60 "core" / +2 .tCC.seek :open +2 "collection"'(p +410 "core" ( + "storage"(9& +4 "core" &K 2\  +2 "storage"(r& +4 "core" &K \  + "manipulator"&,& +4 "core" &+  A_ + "manipulator"&)% +4 "core" % s N +2 .tForearm.seek :retract + "manipulator"&;'\ +96 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 + "manipulator"&t( +166 "core" ( + "manipulator"&@& +4 "core" &   +2 "storage"(5& +3 "core" &K W\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +4 .tForearm.seek 6 + "manipulator"&'z +112 "core" ' + .tElbow.hold +2 "manipulator"&<, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&~1 +59 "core" 1 +2 "manipulator"&$% +4 "core" % · p +2 "storage"( & +4 "core" &K \  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 313 counts + "manipulator"&a'ϳ +17 "core" ' + "manipulator"& & +4 "core" & f C S  +2 "storage"(& +4 "core" &K \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&4'< +17 "core" ' + "storage"(% +4 "core" %b \ +2 ."downElevator"SE.seek :down +4 "storage"(!'N +99 (u% +3 "core" %< [\ T[ +2 "manipulator"&P% +4 "core" %@ q q @ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&6'\ +87 "core" ' +50 ' +2 ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 7 of [5..7] + #Loading generic puck from tube 7 into Collection Clamp +2 "collection"'l& +4 "core" &%% + "manipulator"&8% +4 "core" %\ + | !S +2 "storage"(.% +4 "core" %8 \  + "storage"(#. +4 "core" .(K + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 7 +2 "storage"(&([ +373 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (& +3 "core" &[ \ + "manipulator"&D& +4 "core" & .  +2 .tElbow.seek 7 + "manipulator"&0( +32 "core" ( + "manipulator"&O& +5 "core" &  d + "storage"(& +4 "core" &[ N\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts +2 "manipulator"& 'k +101 "core" ' +2 "storage"(>& +4 "core" &[ }\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('e +280 "core" ' + "storage"(T- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (& +3 "core" &[ =\ + "manipulator"&R& +4 "core" & o z [ d +2 .tElbow.seek 7 + "manipulator"&7( +11 "core" ( +2 "manipulator"&J& +4 "core" & k ' +2 "storage"(v& +4 "core" &[ 8\ +2 .tForearm.seek 7 + 300 counts + "manipulator"&' +18 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&A/ +55 "core" / +2 ."downElevator"SE.seek :down +5 "manipulator"&g& +2 "storage"('N +7 "core" & [ & + "manipulator"&f% +4 "core" % :  +2 .tForearm.seek :retract +2 "manipulator"&M'\ +97 "core" ' +2 .tElbow.seek CC + "manipulator"&S( +144 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +8 "core" ( + "manipulator"&\ & +4 "core" &+ g Ae +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &3& +2 "core" &+ i Ae +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&o'| +103 "core" ' +2 "manipulator"&& +4 "core" &+ ` Ad +2 "manipulator"&\\% +4 "core" %y " +2 "collection"'Q& +4 "core" &%*0\ +2 "collection"'p& +4 "core" &&(\ +3 .tCC.seek :closed + "collection"'`(] +4 "core" &((\ +8 &>)'\ $d +9 &qV&&\ 7 +10 &&(\ K +9 &Z%)\ L +10 &I\\%(\ L +9 & ^&)\ L +9 & ](&\ M +10 &"]&(\ L +9 &$RY''\ L +9 &&_$'\ L +10 &'_''\ L +9 &)]&&\ L +10 &+Y]&(\ L +9 &-\\((\ L +9 &.Z%*\ L +10 &0^$)\ M +9 &2a\\&'\ L +9 &4#Z&'\ L +10 &5\\&'\ L +9 &7]%'\ L +10 &9j[%&\ L +9 &;+\\%'\ L +9 &<]%'\ M +10 &>\\$'\ L +9 &@q]%'\ L +9 &B2\\%'\ M +10 &C]#'\ M +9 &E]&' \ L +10 &Gxa!\ M +9 &I7j\ N +9 &J{\ P +10 &LR\ S +9 &Ne\ V +9 &P&\ V +10 &Q}\ W +9 &Sjr\ X +10 &UfW`\ X +9 &W(FM\ X +9 &X7=\ Z +10 &Z(.\ [\ +9 &\\h\ G +9 &]`6\ +~ +10 &]Y  \ A +2 ( +2 "collection"'p& +3 #tCollection Clamp onSpring/offSpring for 10/26 samples, on/off torque 2.07 + .Hand.open +2 "manipulator"&1 +62 "core" 1 +2 "manipulator"&"% +4 "core" % o  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&K'\ +99 "core" ' +2 #tLoading generic puck from tube 7 into Processing Clamp + "processing"%}& +4 "core" &\ +2 "manipulator"&h% +3 "core" %\ 3 4 %} +2 "storage"(Z% +3 "core" %F v u ;\  +2 "storage"(G. +3 "core" .([ +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 7 +3 "storage"(N([ +7 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 ( & +3 "core" &[ u p \ + "manipulator"&:& +4 "core" && >L +2 "manipulator"&I% +3 "core" %\ 3 4 %} +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 7 + "manipulator"&( +161 "core" ( +2 "manipulator"&d& +4 "core" &  + "storage"(y& +4 "core" &[ \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&+'k +97 "core" ' + "storage"(k& +5 "core" &[ \ + .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(E'e +281 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (& +3 "core" &[ l \ + "manipulator"&_& +4 "core" & s q k +2 .tElbow.seek 7 + "manipulator"&L( +3 "core" ( +2 "manipulator"&& +4 "core" & } u 8 + "storage"(C& +4 "core" &[ \ +2 .tForearm.seek 7 + 300 counts + "manipulator"&j' +10 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&B/ +55 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&/& + "storage"(2'N +7 "core" & } q L + "manipulator"&i% +4 "core" % p p  C +51 .tForearm.seek :retract +3 "manipulator"&'\ +91 "core" ' +2 .tElbow.seek PC + "manipulator"&n(c +112 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +132 "core" ( + "manipulator"&|& +5 "core" &d { = + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &s& +2 "core" &d  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&V'[ +96 "core" ' + "manipulator"&]& +4 "core" &d D +2 "manipulator"&x% +4 "core" %e \\ +2 "processing"%e& +4 "core" &\ +2 "processing"%[& +5 "core" &\ +2 .tPC.seek :closed + "processing"%z(Z +5 "core" &\ \ +9 &0|\ *x +9 &d\ > +10 &Dv\ N +9 &Y\ M +9 &Z\ M +10 &Xz\ M +9 &!MZ{\ M +10 &#Yz\ L +9 &$Yy\ M +9 &&\\u\ L +10 &(VZx\ M +9 &*Xw\ M +9 &+Yx\ M +10 &-\\u\ M +9 &/]\\\ M +10 &1Yv\ M +9 &2Zx\ M +9 &4Yw\ M +10 &6fYw\ M +9 &8'X\ M +9 &9Y}\ M +10 &;Yu\ M +9 &=mYv\ M +10 &?-[w\ N +9 &@\\v\ M +9 &BZx\ N +10 &Du[y\ M +9 &F7]x\ M +9 &Gdw\ N +10 &Isx\ O +9 &Kpw\ Q +10 &M,w\ S +9 &Ny\ T +9 &Px\ T +10 &Rrv\ S +9 &T3v\ T +9 &Uz\ T +10 &Wv\ U +9 &Yvw\ B +10 &Zx=y\ Z +9 &Zv\ * +2 ( +2 "processing"%[& +3 #tProcessing Clamp onSpring/offSpring for 9/25 samples, on/off torque 1.62 + .Hand.open + "manipulator"&1 +54 "core" 1 +2 "manipulator"&b% +4 "core" % e +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&c'\ +94 "core" ' +2 "processing"%{& +4 "core" &Zf\ * + #tImaging generic puck in Processing Clamp while storing it to tube 7 +2 "manipulator"&'% +3 "core" %\ 0 $u +2 "storage"(% +4 "core" %C v p b\  + "storage"(. +3 "core" .([ +2 "storage"(=& +4 "core" &[ w v Z\ +2 "storage"(H& +2 "manipulator"&& +7 "core" &[ q v <\ + &d +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +2 "storage"(#]kK-0-\ b +3 .tElbow.seek PC +3 "manipulator"&Y(c +4 ."raiseStack"SE.seek :beamBreak +2 "storage"(m'e +3 "core" ( + "manipulator"&^& +4 "core" &d W + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &*& +3 "core" &d +2 .tForearm.seek PC +2 "manipulator"&1'[ +93 "core" ' +2 .tHand.close + "manipulator"&F/ +61 "core" / +2 .tPC.seek :open +2 "processing"% (p +88 "core" ' +2 "storage"(- +3 "core" -'e + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place + "storage"('B +41 "core" ' +250 ( + "storage"(X& +4 "core" &[ \ + "manipulator"&%& +4 "core" &d Q +2 "manipulator"&% +4 "core" % d f +2 .tForearm.seek :retract + "manipulator"&('\ +99 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 7 + "manipulator"&-( +249 "core" ( + "manipulator"&w& +4 "core" & = +2 "storage"(9& +4 "core" &[ | } L\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&r'k +96 "core" ' + .tHand.open +2 "manipulator"&,1 +61 "core" 1 +2 "storage"()- +4 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate + "storage"(@' +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(5' +53 "core" ' + #tLights, camera, ACTION! +2 "storage"(q- +3 "core" -' +2 "storage"(?& +3 "core" &[ \ \ +2 "manipulator"&~& +4 "core" & 3 = + .tElbow.seek 7 +2 "manipulator"&$( +3 "core" ( +2 "manipulator"& & +4 "core" &  = + "storage"( & +4 "core" &[ ?\ +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&'k +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"('M +62 "core" ' +2 "manipulator"&;& +4 "core" &  = +2 "storage"(u& +4 "core" &[ S\ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 7 +2 "manipulator"&P'Ω +27 "core" ' +2 .tElbow.hold + "manipulator"&t, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"('7 +23 "core" ' +2 "manipulator"&l% +4 "core" %ν L + "storage"(8& +5 "core" &[ i u -\ + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 7 + 320 counts + "manipulator"&a' +26 "core" ' + "manipulator"&.& +4 "core" & ` y % = +2 "storage"(#& +4 "core" &[ \ \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&U'k +15 "core" ' +2 "storage"(4% +4 "core" %? >\  +2 ."downElevator"SE.seek :down +3 "storage"(!'N +99 (W% +3 "core" %B \ U^ +2 "manipulator"&% +4 "core" %m o p  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&D'\ +90 "core" ' +60 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (O& +2 "core" &[ w k\ +2 "collection"'& +4 "core" &]U$\ A +2 #tStoring generic puck in Collection Clamp to tube 7 + "manipulator"&>% +4 "core" %\ - "a + "storage"(<% +4 "core" %J \  +2 "storage"(6. +3 "core" .([ + "storage"(T& +4 "core" &[ R\ + "storage"(& +4 "core" &[ \ +2 "manipulator"&R& +4 "core" & * = + .tElbow.seek 7 +2 "manipulator"&J( +3 "core" ( +2 "manipulator"&v& +3 "core" &  = +2 "storage"(A& +4 "core" &[ p\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&g'k +96 "core" ' +2 "storage"(f& +4 "core" &[ <\ +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(0'e +278 "core" ' +2 "storage"( - +3 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&\ & +3 "core" & s q H = +2 "storage"(3& +3 "core" &[ \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 7 +2 "manipulator"&'Ω +31 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(- +2 "core" -' +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(\\'m +28 "core" ' + "manipulator"&Q% +4 "core" %λ e + "storage"(7& +5 "core" &[ f \\\ + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 7 + 318 counts + "manipulator"&' +21 "core" ' + "manipulator"&M& +5 "core" & u ] < = + "storage"(& +4 "core" &[ \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&'k +17 "core" ' +2 .tSE.seek 1.11 Pucks below Top Plate + "storage"("'\\ +51 "core" ' +2 "manipulator"&}& +4 "core" & o p  = +2 "manipulator"&h% +4 "core" %j t { H + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&Z'\ +87 "core" ' + .tElbow.seek CC +2 "manipulator"&G( +139 "core" ( + "manipulator"&p& +4 "core" & 2 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 & & +3 "core" & 2 +2 .tForearm.seek CC + "manipulator"&:'| +95 "core" ' +2 .tHand.close + "manipulator"&I/ +55 "core" / +2 .tCC.seek :open +2 "collection"'o(p +410 "core" ( +2 "storage"(d& +4 "core" &[ \ + "storage"(y& +90 "core" &[ \ +2 "manipulator"&&& +4 "core" & 2 + "manipulator"&k% +4 "core" % χ = +51 .tForearm.seek :retract +3 "manipulator"&S'\ +91 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 7 + "manipulator"&K( +158 "core" ( + "manipulator"&& +5 "core" &   + "storage"(& +4 "core" &[ p\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 7 + "manipulator"&_'Ω +109 "core" ' +2 .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&C1 +62 "core" 1 +2 "manipulator"&B% +4 "core" % μ ~ { + "storage"(/& +4 "core" &[ :\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 7 + 319 counts + "manipulator"&i' +19 "core" ' +2 "manipulator"&& +4 "core" & k O t  +2 "storage"(+& +4 "core" &[ \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&E'k +18 "core" ' + "storage"(j% +5 "core" %a \ +2 ."downElevator"SE.seek :down +4 "storage"(|'N +98 (s% +3 "core" %; @\ U[ +2 "manipulator"&L% +4 "core" %X c m +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&]'\ +87 "core" ' +55 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 5 of [5..7] + #Loading generic puck from tube 5 into Collection Clamp +2 "collection"'x& +4 "core" &'' + "manipulator"&e% +4 "core" %\ - p "^ +2 "storage"(2% +4 "core" %C .\  + "storage"(. +3 "core" .([ +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 + "storage"((<< +667 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (& +3 "core" &<> \ + "manipulator"&b& +4 "core" &   +2 .tElbow.seek 5 + "manipulator"&{( +22 "core" ( + "manipulator"&'& +4 "core" & * P +2 "storage"(& +4 "core" &\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&' +101 "core" ' + "storage"(=& +5 "core" & +10 &Rv''!\ M +9 &\\'(*\ L +9 &^'(\ L +10 &_(&\ L +9 &![^$'\ L +10 &#]&'\ M +9 &$[%(\ L +9 &&Y&& \ L +10 &(c]'(\ L +9 &*%\\'%\ L +9 &+\\%(\ L +10 &-Z$'\ L +9 &/k]%$\ L +14 &1,]&(\ M +5 &2\\%'\ M +9 &4Z'&\ L +10 &6s\\%'\ L +9 &85\\$&\ L +9 &9^#(\ L +10 &;Z%&\ L +9 &={^%(\ L +10 &?=[#&\ L +9 &@Y%(\ L +9 &BY%'\ L +10 &DX&'\ L +9 &FD]%\ M +9 &Hc \ M +10 &It\ O +9 &K~q\ Q +10 &M2\ V +9 &N\ V +9 &P\ W +10 &Rs\ W +9 &T4uz\ X +9 &U_h\ Y +10 &WQU\ Y +9 &Yq=G\ [ +10 &[//5\ \\ +9 &\\!%\ 0 +9 &]+\ ] +9 ( +3 "collection"')& +3 #tCollection Clamp onSpring/offSpring for 8/25 samples, on/off torque 2.07 + .Hand.open + "manipulator"&?1 +4 "core" &]^\ J +49 1 + "manipulator"&~% +4 "core" % n +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"& '\ +91 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp +2 "processing"% & +4 "core" &\ + "manipulator"&(% +4 "core" %\ +  !R +2 "storage"(;% +3 "core" %H t u +\  +2 "storage"(u. +3 "core" .(<< +2 "storage"(l& +4 "core" &<; t q \ + "storage"(8& +4 "core" &<; v v P\ + "manipulator"&& +4 "core" &% , =E +2 "manipulator"&@% +3 "core" %\ + !R +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&.( +160 "core" ( + "manipulator"&#& +4 "core" & O  +2 "storage"(4& +4 "core" &<; f\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&-' +93 "core" ' +2 "storage"(r& +4 "core" &<; \ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(5'e +278 "core" ' +2 "storage"(W- +3 "core" -' +2 .tSE.configure :default +7 "storage"(#QK-0-\ b +2 (& +3 "core" &<8 l x \ +2 "manipulator"&& +3 "core" & t   +2 .tElbow.seek 5 + "manipulator"&$( +4 "core" ( + "manipulator"&& +4 "core" & m s  + "storage"(P& +4 "core" &<8 \ +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&O'[ +11 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&a/ +52 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"(>'N +7 "core" & y   +2 "manipulator"&<% +4 "core" % P } } N F + .tForearm.seek :retract + "manipulator"&6'\ +93 "core" ' +2 .tElbow.seek PC +2 "manipulator"&T(c +161 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +75 "core" ( + "manipulator"&& +4 "core" &l v c & + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &l  & +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&R'[ +93 "core" ' +2 "manipulator"&v& +4 "core" &l  & +2 "manipulator"&A% +4 "core" %_ C + "processing"%U& +4 "core" &\ +3 "processing"%f& +4 "core" &\ +2 .tPC.seek :closed +3 "processing"%!(Z +4 "core" &\ +7 &9\ $e +9 &sV\ 7 +10 &|\ K +9 &W\ L +9 &GZ\ M +10 & Y\ M +9 & \\\ M +10 &"\\\ M +9 &$O^\ M +9 &&Yy\ M +10 &'Zw\ L +9 &)[\ L +9 &+XZw\ L +10 &-\\w\ M +9 &.\\y\ M +10 &0[w\ M +9 &2`\\w\ L +9 &4!Z~\ M +10 &5]}\ M +9 &7]y\ M +9 &9hZ\ L +10 &;)[v\ M +9 &<Yy\ M +10 &>]\ M +9 &@nYv\ M +9 &B0\\t\ M +10 &C]u\ M +9 &E]s\ M +9 &Gtew\ N +10 &I2ky\ O +9 &J}{\ Q +10 &Lw\ S +9 &Niy\ T +9 &P-z\ S +10 &Qx\ T +9 &Sx\ T +9 &Uq\ T +10 &W1x\ U +9 &Xv\ U +10 &ZNIjx\ )y +9 &Z+v\ + +5 ( +2 "processing"%f& +4 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.60 + .Hand.open +2 "manipulator"&t1 +3 "core" &Zt\ + +56 1 + "manipulator"&D% +4 "core" % _  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"& '\ +91 "core" ' +2 "processing"%\ & +4 "core" &Zp\ + +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 + "manipulator"&3% +4 "core" %\ - K "] +2 "storage"(% +3 "core" %L v v c\ \ +2 "storage"(Q. +3 "core" .(<< + "storage"(7& +4 "core" &<8 v v K\ +2 "storage"(M& +2 "manipulator"&& +7 "core" &<8 v v Q\ + &l + & +52 ."raiseStack"SE.reconfigure :place +5 .tElbow.reconfigure :tight +3 "storage"(#]kK-0-\ b +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +3 "manipulator"&}(c +3 ."raiseStack"SE.seek :beamBreak + "storage"(h'e +3 "core" ( + "manipulator"&g& +4 "core" &l - & +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &J& +3 "core" &l  & +2 .tForearm.seek PC +2 "manipulator"&0'[ +96 "core" ' + .tHand.close +2 "manipulator"&/ +63 "core" / + .tPC.seek :open +2 "processing"%(p +91 "core" ' + "storage"(\\- +4 "core" -'e + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(p'B +35 "core" ' +255 ( +2 "storage"( & +4 "core" &<8 x \ +2 "manipulator"&& +4 "core" &l ? & + "manipulator"&% +4 "core" % T q +2 .tForearm.seek :retract +2 "manipulator"&I'\ +99 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&Z( +258 "core" ( + "manipulator"&`& +5 "core" &  ( + "storage"(d& +4 "core" &<8 v v B\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&y' +95 "core" ' +2 .tHand.open +2 "manipulator"&&1 +60 "core" 1 +2 "storage"(k- +3 "core" -'B +3 .tSE.seek -0.16 Pucks below Top Plate + "storage"(' +25 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(' +54 "core" ' +2 #tLights, camera, ACTION! + "storage"(:- +4 "core" -' + "storage"(G& +4 "core" &<7 I\ + "manipulator"&C& +4 "core" &  ( +2 .tElbow.seek 5 +2 "manipulator"&B( +3 "core" ( + "manipulator"&/& +4 "core" &  ( +2 "storage"(& +4 "core" &<7 \ +2 .tForearm.seek 5 + 450 counts + "manipulator"&+' +4 "core" ' +2 .tSE.reconfigure :gently +7 "storage"(#QK-0-\ b +3 .tSE.seek -0.11 Pucks below Top Plate + "storage"(j'M +62 "core" ' +2 "manipulator"&S& +4 "core" &  ( +2 "storage"(s& +4 "core" &<7 } } ~\ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 + "manipulator"&L'/ +30 "core" ' +2 .tElbow.hold + "manipulator"&K, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"(_'7 +22 "core" ' +2 "manipulator"&x% +4 "core" %:} K +2 "storage"(i& +4 "core" &<7 E E\ + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 5 + 311 counts + "manipulator"&e'f +16 "core" ' +2 "manipulator"&2& +4 "core" &? j b +2 "storage"(& +4 "core" &<7 \\\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&"' +16 "core" ' +2 "storage"(E% +4 "core" %= ?\  +3 ."downElevator"SE.seek :down +4 "storage"(|'N +99 (N% +3 "core" %t? | } \ U^ +2 "manipulator"&% +4 "core" % r z +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&b'\ +95 "core" ' +55 ' + ."downElevator"SE.stop +2 "storage"(5 +2 ('& +9 "core" &<7 L ` S\ +2 "collection"'& +4 "core" &]]1\ J + #tStoring generic puck in Collection Clamp to tube 5 +2 "manipulator"&=% +4 "core" %\ 3 % + "storage"(% +4 "core" %D | | \  + "storage"(]. +3 "core" .(<< +2 "storage"(& +4 "core" &<7 | | \ + "storage"([& +4 "core" &<7 } } \ + "manipulator"&^& +4 "core" &? b +2 .tElbow.seek 5 + "manipulator"&V( +45 "core" ( + "manipulator"&F& +4 "core" &\ * _ +2 "storage"(n& +4 "core" &<7 g l\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&c' +93 "core" ' + "storage"(X& +5 "core" &<7 B\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"({'e +276 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +2 "core" &\ _ +2 "storage"(1& +3 "core" &<7 \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +7 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 + "manipulator"&H'/ +31 "core" ' + .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(9- +3 "core" -' +2 .tSE.seek 0.11 Pucks below Top Plate + "storage"(Y'm +37 "core" ' +2 "manipulator"&,% +4 "core" %@w  5 + "storage"(*& +4 "core" &<7 8 B \ + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 5 + 317 counts + "manipulator"&z'l +17 "core" ' +2 "manipulator"&%& +4 "core" &3 h y 5 % +2 "storage"(o& +4 "core" &<7 U\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&?' +32 "core" ' +2 .tSE.seek 1.11 Pucks below Top Plate +2 "storage"(~'\\ +48 "core" ' +2 "manipulator"& & +4 "core" &3 q q > % +2 "manipulator"&(% +4 "core" % q o 4  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&;'\ +98 "core" ' +2 .tElbow.seek CC +2 "manipulator"&u( +142 "core" ( + "manipulator"&l& +4 "core" &  0 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &8& +3 "core" &  0 +2 .tForearm.seek CC + "manipulator"&'| +98 "core" ' +2 .tHand.close + "manipulator"&)/ +57 "core" / + .tCC.seek :open +2 "collection"'@(p +411 "core" ( +2 "storage"(w& +4 "core" &<7 k\ + "storage"(#& +4 "core" &<7 \ + "manipulator"&4& +4 "core" &   0 + "manipulator"&r% +4 "core" % t A +2 .tForearm.seek :retract + "manipulator"&m'\ +99 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"& ( +169 "core" ( + "manipulator"&W& +4 "core" & } 6 4 +2 "storage"(& +3 "core" &<7 <\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 5 +2 "manipulator"&'/ +107 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&P1 +57 "core" 1 +3 "manipulator"&a% +4 "core" % B  + "storage"(& +4 "core" &<7 u\ + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 5 + 319 counts + "manipulator"&<'n +17 "core" ' + "manipulator"&.& +5 "core" &7 ] |   + "storage"(-& +4 "core" &<7 x\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&5' +20 "core" ' +2 "storage"(O% +4 "core" %b G\ +2 ."downElevator"SE.seek :down +4 "storage"('N +98 (% +3 "core" %#> _\ U] +2 "manipulator"&$% +4 "core" % n n #  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&v'\ +90 "core" ' +49 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 6 of [5..7] + #Loading generic puck from tube 6 into Collection Clamp +2 "collection"'A& +3 "core" &'(\ +2 "manipulator"&U% +4 "core" %\ .  #e +2 "storage"(>% +4 "core" %8 |\  + "storage"(6. +3 "core" .(<< +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 6 +49 "storage"( (K +352 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (t& +3 "core" &K { \  + "manipulator"&D& +4 "core" &7   +2 .tElbow.seek 6 + "manipulator"&\ ( +15 "core" ( +2 "manipulator"&3& +4 "core" & @  +2 "storage"(& +4 "core" &K \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&Q'< +105 "core" ' +2 "storage"(7& +4 "core" &K \  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(M'e +281 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (f& +2 "core" &K \  +2 "manipulator"&g& +4 "core" & p o -  +2 .tElbow.seek 6 + "manipulator"&J( +3 "core" ( +2 "manipulator"&R& +4 "core" & z h   + "storage"(& +4 "core" &K \\\  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&\\'Ϧ +27 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&T/ +57 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"& & +2 "storage"(!'N +7 "core" & q q v  +2 "manipulator"& % +4 "core" % ϝ q n 5 +2 .tForearm.seek :retract + "manipulator"&'\ +89 "core" ' +2 .tElbow.seek CC + "manipulator"&h( +147 "core" ( +2 "manipulator"&& +4 "core" & ; 0 + .tElbow.reconfigure :loose +4 "manipulator"&$ &.,(#b + "core" ' +2 ."downElevator"SE.stop +3 "manipulator"&0& +3 "storage"(5 +4 "core" & 0 + .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&`'| +101 "core" ' +2 "manipulator"&d& +4 "core" & A 0 +2 "manipulator"&}% +4 "core" %ς ] + "collection"'&& +4 "core" &''*\ +2 "collection"'k& +5 "core" &&(G\ +3 .tCC.seek :closed + "collection"':(] +4 "core" &('*\  +9 &3''&\ *y +10 &e%'$\ > +9 &Wv&)\ M +10 &\\(*(\ L +9 &]&&\ L +9 &^&(\ M +10 &!`]%(\ L +9 &#"Z&)\ L +9 &$\\')\ L +10 &&](&\ M +9 &(i]')\ L +10 &**\\%)\ L +9 &+[%(\ L +9 &-\\'(\ L +10 &/p_&&\ L +9 &11]%&\ M +9 &2]%'\ L +10 &4[')\ L +9 &6x\\%'\ L +10 &8;Y#)\ L +9 &9]&(\ L +9 &;\\%(\ L +10 &=^%(\ L +9 &?CZ#&\ L +9 &A_$' \ M +10 &B^''\ L +9 &D^$&\ L +10 &FK] &\ L +9 &H\ f \ M +9 &Iu\ O +10 &Ki\ Q +9 &M8\ U +9 &N\ V +10 &P\ V +9 &R{\ V +10 &T:qw\ W +9 &Uag\ X +9 &WOU\ Y +10 &Yx@C\ Z +9 &[;-4\ Z +9 &\\y %\ / +10 &]/\ O +9 ( +2 "collection"'k& +3 #tCollection Clamp onSpring/offSpring for 9/25 samples, on/off torque 2.12 +2 .Hand.open + "manipulator"&G1 +3 "core" &]_\ D +59 1 + "manipulator"&C% +5 "core" % t A + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&/'\ +98 "core" ' +2 #tLoading generic puck from tube 6 into Processing Clamp + "processing"%& +4 "core" &\ +2 "manipulator"&I% +3 "core" %\ 3 %~ +2 "storage"(S% +4 "core" %C u r X\ + "storage"(s. +3 "core" .(K +2 "storage"(p& +4 "core" &K t j F\  + "storage"(x& +4 "core" &K u r -\  +2 "manipulator"&i& +3 "core" & J 0 +2 "manipulator"&% +3 "core" %\ 3 e %~ +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&2( +157 "core" ( +2 "manipulator"&& +4 "core" & q  + "storage"(E& +4 "core" &K \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&Z'< +99 "core" ' + "storage"(y& +4 "core" &K \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"('e +275 "core" ' +2 "storage"(N- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +2 "core" &K '\  +2 "manipulator"&+& +4 "core" & q n 1  + .tElbow.seek 6 +2 "manipulator"&B( +3 "core" ( +2 "manipulator"&j& +3 "core" & b y p  +6 "storage"(L& +4 "core" &K \  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&''Ϧ +11 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&e/ +59 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"(='N +7 "core" & o q %  +2 "manipulator"&% +4 "core" % Ϧ o n 1 7 +2 .tForearm.seek :retract + "manipulator"&]'\ +94 "core" ' + .tElbow.seek PC +2 "manipulator"&_(c +160 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +84 "core" ( + "manipulator"&& +5 "core" &g ~ + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &[& +3 "core" &g ' +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&^'[ +97 "core" ' + "manipulator"&F& +5 "core" &g  + "manipulator"&n% +5 "core" %] 5 + "processing"%"& +4 "core" &\ +2 "processing"%X& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%|(Z +4 "core" &\ +8 & )\ #b +9 &]V\ 7 +10 &}\ L +9 &rV\ M +9 &4Y\ M +10 &Y\ L +9 & [\ M +9 &"yX\ M +10 &$;Z\ M +9 &%Y\ M +10 &'X\ M +9 &)Z\ M +9 &+EY\ L +10 &-[\ M +9 &.[\ M +9 &0Z|\ M +10 &2KY}\ M +9 &4 Y|\ M +10 &5Yv\ M +9 &7Y}\ M +9 &9SY\ M +10 &;[\ M +9 &<X|\ M +9 &>[v\ N +10 &@ZY}\ M +9 &BZ\ M +10 &C[\ M +9 &E]\ M +9 &G_d\ N +10 &Ik\ O +9 &J{\ Q +9 &L~\ S +10 &NW\ T +9 &P\ S +10 &Q\ T +9 &S\ T +9 &U_~\ T +10 &Wx\ T +9 &Xx\ T +9 &Z;Ii\ *{ +10 &Z\\~\ 2 +5 ( +2 "processing"%X& +4 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.63 + .Hand.open + "manipulator"&K1 +3 "core" &Z+\ 1 +57 1 + "manipulator"&b% +4 "core" % ]  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +96 "core" ' + "processing"%& +4 "core" &Z+\ 1 +2 #tImaging generic puck in Processing Clamp while storing it to tube 6 +2 "manipulator"&1% +3 "core" %\ 3 B %w +2 "storage"(9% +3 "core" %K \\ f \  +2 "storage"(,. +3 "core" .(K + "storage"(*& +4 "core" &K X X Q\  +2 "storage"(%& +2 "manipulator"&o& +6 "core" &K \\ f\  +2 &g +2 ."raiseStack"SE.reconfigure :place +4 .tElbow.reconfigure :tight +4 "storage"(#]kK-0-\ b +2 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +3 ."raiseStack"SE.seek :beamBreak +3 "manipulator"& (c +3 "storage"(('e +2 "core" ( +2 "manipulator"&c& +4 "core" &g @ + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &V& +3 "core" &g & +2 .tForearm.seek PC + "manipulator"&{'[ +99 "core" ' + .tHand.close +2 "manipulator"&H/ +55 "core" / + .tPC.seek :open +2 "processing"%z(p +91 "core" ' + "storage"(Y- +4 "core" -'e + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +2 ."raiseStack"SE.seek :place +2 "storage"(l'B +35 "core" ' +256 ( + "storage"(8& +4 "core" &K z ;\  +2 "manipulator"&?& +4 "core" &g + "manipulator"&% +4 "core" % \\ w +2 .tForearm.seek :retract + "manipulator"&)'\ +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&;( +251 "core" ( +2 "manipulator"&q& +4 "core" &  R + "storage"(w& +4 "core" &K } | :\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&#'< +94 "core" ' + .tHand.open +2 "manipulator"&41 +62 "core" 1 +2 "storage"(r- +4 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate +2 "storage"(W' +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.83 Pucks below Top Plate + "storage"(' +51 "core" ' +2 #tLights, camera, ACTION! + "storage"(- +4 "core" -' +2 "storage"(u& +53 "core" &K j\  +3 "manipulator"&P& +4 "core" &\ R + .tElbow.seek 6 +2 "manipulator"&a( +14 "core" ( + "manipulator"&& +4 "core" &   +2 "storage"(.& +4 "core" &K f\  +2 .tForearm.seek 6 + 450 counts + "manipulator"&-'< +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"(O'M +62 "core" ' + "manipulator"&m& +5 "core" & e  + "storage"(& +4 "core" &K \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&$'z +36 "core" ' +2 .tElbow.hold +2 "manipulator"& , +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"('7 +24 "core" ' + "manipulator"&A% +4 "core" %y` \ +2 "storage"(U& +4 "core" &K 8 5 c\  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 6 + 299 counts + "manipulator"&<'ϥ +20 "core" ' + "manipulator"&>& +5 "core" & | r B  +2 "storage"(6& +4 "core" &K \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&~'< +19 "core" ' +2 "storage"(5% +4 "core" %> D\ +2 ."downElevator"SE.seek :down +3 "storage"('N +99 (% +3 "core" %zA t\ U^ +2 "manipulator"&t% +4 "core" %! r q % +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&D'\ +93 "core" ' +60 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (3& +4 "core" &K Z m \  +2 "collection"'& +8 "core" &]_\ D +2 #tStoring generic puck in Collection Clamp to tube 6 + "manipulator"&7% +4 "core" %\ 5  & +2 "storage"(% +4 "core" %H h g W\ + "storage"(v. +3 "core" .(K +2 "storage"(& +4 "core" &K l i \  + "storage"(f& +4 "core" &K f f o\  + "manipulator"&g& +4 "core" &   +2 .tElbow.seek 6 +2 "manipulator"&R( +3 "core" ( + "manipulator"&& +5 "core" & ?  + "storage"(T& +4 "core" &K w f \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"& '< +95 "core" ' +2 "storage"( & +4 "core" &K R\  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(\ 'e +276 "core" ' +2 "storage"(Q- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +2 "core" & z o Y  +2 "storage"(0& +4 "core" &K n\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&M'z +35 "core" ' + .tElbow.hold +2 "manipulator"&\\, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(d- +2 "core" -' +2 .tSE.seek 0.12 Pucks below Top Plate +2 "storage"(}'s +28 "core" ' +2 "manipulator"&&% +4 "core" %·d + "storage"(J& +4 "core" &K ? 8 ~\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 313 counts + "manipulator"&!'ϳ +22 "core" ' +2 "manipulator"&& +4 "core" & z g #  +2 "storage"(@& +4 "core" &K 9\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&G'< +18 "core" ' +2 .tSE.seek 1.12 Pucks below Top Plate +2 "storage"(C'b +48 "core" ' +2 "manipulator"&& +3 "core" & p p   +2 "manipulator"&I% +4 "core" % p q   +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&S'\ +87 "core" ' +2 .tElbow.seek CC +2 "manipulator"&s( +157 "core" ( +2 "manipulator"&k& +4 "core" &*  @X + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &p& +3 "core" &* @X +3 .tForearm.seek CC +2 "manipulator"&x'| +99 "core" ' + .tHand.close +2 "manipulator"&i/ +61 "core" / +2 .tCC.seek :open + "collection"'(p +414 "core" ( +2 "storage"(`& +4 "core" &K C\  + "storage"(& +4 "core" &K B\  +2 "manipulator"&E& +3 "core" &% <> +2 "manipulator"&y% +4 "core" % ϐ +2 .tForearm.seek :retract + "manipulator"&h'\ +95 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 + "manipulator"&/( +169 "core" ( + "manipulator"&N& +5 "core" &  + "storage"(& +4 "core" &K ,\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 6 +2 "manipulator"&+'z +112 "core" ' +2 .tElbow.hold + "manipulator"&j, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&L1 +53 "core" 1 +2 "manipulator"&e% +5 "core" % · ` [ + "storage"(& +4 "core" &K f f ]\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 313 counts + "manipulator"&'ϳ +17 "core" ' +2 "manipulator"&2& +4 "core" & h y   +2 "storage"(Z& +4 "core" &K \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&'< +16 "core" ' +2 "storage"('% +4 "core" %g \ +2 ."downElevator"SE.seek :down +3 "storage"('N +100 ([% +2 "core" %A [\ U\\ +2 "manipulator"&B% +4 "core" %< o r   +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&F'\ +91 "core" ' +47 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 7 of [5..7] + #Loading generic puck from tube 7 into Collection Clamp +2 "collection"'n& +3 "core" &%(<\ + "manipulator"&"% +5 "core" %\ 1 2 $l + "storage"(=% +4 "core" %7 ,\  +2 "storage"(]. +3 "core" .(K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 7 + "storage"(([ +356 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (K& +3 "core" &[ g r \  + "manipulator"&b& +4 "core" &  +2 .tElbow.seek 7 + "manipulator"&( +18 "core" ( +2 "manipulator"&1& +4 "core" & Q  +2 "storage"(9& +4 "core" &[ |\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&,'k +107 "core" ' +2 "storage"(*& +4 "core" &[ \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(%'e +280 "core" ' + "storage"(o- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (X& +2 "core" &[ )\  +2 "manipulator"&c& +4 "core" & T q e  + .tElbow.seek 7 +2 "manipulator"&V( +3 "core" ( + "manipulator"&^& +4 "core" & h p i  + "storage"(H& +4 "core" &[ \\\  +2 .tForearm.seek 7 + 300 counts +2 "manipulator"&Y' +14 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&_/ +53 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& + "storage"(|'N +8 "core" & | p #  + "manipulator"&8% +4 "core" % ~ { J [ +2 .tForearm.seek :retract +2 "manipulator"&?'\ +94 "core" ' +2 .tElbow.seek CC +2 "manipulator"&(( +149 "core" ' + ."downElevator"SE.stop + "storage"(5 +6 "core" ( +2 "manipulator"&& +4 "core" &$ 2 ;8 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &{& +3 "core" &$ ;8 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +7 .tForearm.seek CC +2 "manipulator"&q'| +100 "core" ' +2 "manipulator"&w& +4 "core" &$ , ;8 +2 "manipulator"& % +52 "core" %u  +4 "collection"'4& +4 "core" &#&%\ +2 "collection"'r& +5 "core" &&&\ +2 .tCC.seek :closed +2 "collection"'(] +4 "core" &%&\  +9 &2%'#\ *x +9 &c&(\ = +10 &@x&&\ L +9 &Y%'\ L +9 &]'(\ M +10 &^&(\ L +9 &!G]#'\ M +9 &#\ ]'(\ L +10 &$_&'\ L +9 &&]$(\ L +10 &(PZ%%\ L +9 &*\\%'\ L +9 &+]$&\ L +10 &-\\#'\ L +9 &/X]&'\ L +9 &1Z$'\ L +10 &2\\$%\ M +9 &4\\$'\ L +10 &6_\\$%\ M +9 &8#[#'\ L +9 &9\\$&\ L +10 &;\\#&\ L +9 &=iZ%%\ L +9 &?*\\%%\ L +10 &@Z&&\ L +9 &B^%$\ L +10 &Dp^#&\ L +9 &F2\\')\ L +9 &G_\ M +10 &In\ N +9 &Km}\ P +9 &M!#\ U +10 &N\ V +9 &P\ V +10 &R_~\ X +11 &T kr\ X +7 &UV`\ Y +10 &WHO\ Y +9 &Y]9@\ [\ +9 &[!'/\ Z +10 &\\z\ 8 +9 &]'\ $j +9 &]`\ K +3 ( + "collection"'r& +3 #tCollection Clamp onSpring/offSpring for 9/25 samples, on/off torque 2.10 +2 .Hand.open + "manipulator"&u1 +60 "core" 1 + "manipulator"&)% +5 "core" % u  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&P'\ +91 "core" ' +2 #tLoading generic puck from tube 7 into Processing Clamp + "processing"%& +5 "core" &\ + "manipulator"&.% +4 "core" %\ + / !Q + "storage"(m% +4 "core" %< v u }\ +2 "storage"(. +3 "core" .([ +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 7 +2 "storage"(l([ +15 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (W& +3 "core" &[ u u >\  +2 "manipulator"&A& +4 "core" &# # :1 + "manipulator"&U% +4 "core" %\ +  !Q +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 7 + "manipulator"&>( +156 "core" ( + "manipulator"&6& +5 "core" & G + "storage"(5& +4 "core" &[ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&;'k +100 "core" ' + "storage"(#& +4 "core" &[ -\  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"('e +283 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (t& +3 "core" &[ i n L\  + "manipulator"&-& +4 "core" & q p  +2 .tElbow.seek 7 + "manipulator"&a( +3 "core" ( +2 "manipulator"&O& +4 "core" & v q H + "storage"($& +4 "core" &[ \  +2 .tForearm.seek 7 + 300 counts +2 "manipulator"&<' +10 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&3/ +51 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& + "storage"(7'N +8 "core" & s q N + "manipulator"&% +4 "core" % p r G ; +2 .tForearm.seek :retract +2 "manipulator"&'\ +90 "core" ' + .tElbow.seek PC +2 "manipulator"&v(c +161 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +86 "core" ( + "manipulator"&& +4 "core" &i ~  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &f& +2 "core" &i +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&g'[ +94 "core" ' + "manipulator"&& +5 "core" &i I + "manipulator"&T% +4 "core" %[ < +2 "processing"%~& +4 "core" &7\ +2 "processing"% & +4 "core" &\ +2 .tPC.seek :closed +2 "processing"%(Z +4 "core" &\  +9 &2\ )w +9 &df\ > +9 &Ev"\ N +10 &Xc\ M +10 &Z\ M +10 &\\c\ M +10 &!OZk\ M +8 &#U\ M +11 &$Y\ M +9 &&Z\ M +8 &(WZ\ M +11 &*\\\ M +8 &+W\ M +11 &-Y\ M +9 &/]\\|\ M +8 &1 \\\ M +11 &2[\ M +9 &4Z\ M +8 &6gY\ M +11 &8)Y\ M +9 &9Y\ M +9 &;Y\ M +12 &=oY\ M +11 &?0\\\ M +7 &@]\ M +7 &B\\\ N +9 &DvZ\ M +11 &F6\\\ N +8 &Gc\ N +11 &Is\ P +9 &Ko\ R +8 &M-\ S +11 &N\ T +9 &P\ T +10 &Rq\ T +9 &T3\ T +8 &U\ U +11 &W\ U +9 &Yv\ B +8 &Zw;\ ] +11 &Z\ ) +5 ( +11 "processing"% & +10 #tProcessing Clamp onSpring/offSpring for 9/25 samples, on/off torque 1.63 + .Hand.open + "manipulator"& 1 +6 "core" &Z\ ) +2 &Z\ ) +51 1 +2 "manipulator"&D% +11 "core" % [  + .tForearm.reconfigure :loose +6 "manipulator"&#Q@2^d^b +4 .tForearm.seek :retract +4 "manipulator"&Q'\ +48 #"reset-modem"Session Begun +3 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +38 "core" ' +4 "processing"%& +8 "core" &Z\ ) +2 #tImaging generic puck in Processing Clamp while storing it to tube 7 +4 "manipulator"&0% +8 "core" %\ - "\\ +2 "storage"(d% +8 "core" %8 Y Y\  +4 "storage"(&. +6 "core" .([ +4 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +4 .tSC.seek 7 +4 "storage"(J([ +10 "core" ( +2 .tSC.configure :limp +6 "storage"($\ 1b +3 (& +2 "manipulator"&@& +16 "core" &[ Y Y\ +4 &i +4 .tElbow.reconfigure :tight +5 ."raiseStack"SE.reconfigure :place +7 "manipulator"&$&.,(\ #b +3 "storage"(#]kK-0-\ b +6 .tElbow.seek PC +4 "manipulator"&(c +5 ."raiseStack"SE.seek :beamBreak +4 "storage"(I'e +6 "core" ( +2 "manipulator"& & +8 "core" &i +4 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +4 &R& +9 "core" &i +4 .tForearm.seek PC + "manipulator"&\ '[ +100 "core" ' + .tHand.close +3 "manipulator"&M/ +69 "core" / +5 .tPC.seek :open +5 "processing"%!(p +50 "core" ' +4 "storage"(}- +11 "core" -'e +2 ."raiseStack"SE.configure :default +9 "storage"(#QK-0-\ b +6 ."raiseStack"SE.seek :place +3 "storage"(k'B +34 "core" ' +275 ( + "storage"(p& +4 "core" &[ w =\ + "manipulator"&G& +4 "core" &i  +2 "manipulator"&\\% +4 "core" % a 9 +2 .tForearm.seek :retract +2 "manipulator"&i'\ +95 "core" ' +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 7 +2 "manipulator"&S( +246 "core" ( + "manipulator"&:& +5 "core" &  L + "storage"(`& +4 "core" &[ t p M\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&'k +115 "core" ' +2 .tHand.open + "manipulator"&E1 +60 "core" 1 +2 "storage"(y- +3 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate +2 "storage"(N' +23 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.83 Pucks below Top Plate + "storage"(' +54 "core" ' +2 #tLights, camera, ACTION! + "storage"(x- +3 "core" -' +2 "storage"(s& +4 "core" &[ m\ + "manipulator"&L& +4 "core" &\ s z v L +2 .tElbow.seek 7 + "manipulator"&e( +4 "core" ( + "manipulator"&& +4 "core" &\ { v ; L + "storage"(2& +4 "core" &[ L\ +3 .tForearm.seek 7 + 450 counts + "manipulator"&Z'k +21 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.11 Pucks below Top Plate + "storage"(''M +63 "core" ' +2 "manipulator"&h& +4 "core" & T L + "storage"([& +4 "core" &[ h f \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 7 +2 "manipulator"&B'Ω +28 "core" ' +2 .tElbow.hold + "manipulator"&/, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"(+'7 +25 "core" ' + "manipulator"&n% +5 "core" %θ I + "storage"("& +4 "core" &[ Y Y\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 7 + 315 counts + "manipulator"&=' +19 "core" ' + "manipulator"&& +5 "core" & _ m  J + "storage"(]& +4 "core" &[ =\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&C'k +17 "core" ' + "storage"(% +5 "core" %@ \ +53 ."downElevator"SE.seek :down +4 "storage"('N +98 ( % +3 "core" %c? } } \ U^ +2 "manipulator"&K% +4 "core" %_ r p A +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&b'\ +90 "core" ' +60 ' +2 ."downElevator"SE.stop +2 "Can" ][ + "storage"(5 +2 (1& +4 "core" &[ c Y\ +2 "collection"'9& +4 "core" &]b.\ K +2 #tStoring generic puck in Collection Clamp to tube 7 + "manipulator"&*% +4 "core" %\ 3 %y + "storage"(j% +4 "core" %9 | z q\  +2 "storage"(F. +3 "core" .([ +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 7 + "storage"(o([ +8 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (X& +3 "core" &[  ~ \ +2 "manipulator"&c& +4 "core" & J + .tElbow.seek 7 +2 "manipulator"&^( +3 "core" ( +2 "manipulator"&H& +4 "core" & | J + "storage"(_& +4 "core" &[ } } \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&'k +97 "core" ' +2 "storage"(8& +4 "core" &[ \ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"('e +281 "core" ' +2 "storage"(,- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&& +3 "core" & a J +2 "storage"({& +3 "core" &[ T\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 7 +2 "manipulator"&%'Ω +27 "core" ' +2 .tElbow.hold + "manipulator"&Y, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(w- +2 "core" -' +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"( 'm +31 "core" ' + "manipulator"&V% +4 "core" %μ m +2 "storage"(4& +4 "core" &[ [ Z\ + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 7 + 319 counts +2 "manipulator"&|' +17 "core" ' + "manipulator"&?& +5 "core" & w `  H + "storage"(& +4 "core" &[ \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&u'k +15 "core" ' +2 .tSE.seek 1.11 Pucks below Top Plate +2 "storage"()'\\ +42 "core" ' +2 "manipulator"&& +4 "core" & p q  H +2 "manipulator"&.% +4 "core" %w q s " +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&m'\ +87 "core" ' +2 .tElbow.seek CC +2 "manipulator"&( +162 "core" ( + "manipulator"&r& +5 "core" &  h +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &W& +3 "core" &  h +2 .tForearm.seek CC + "manipulator"&A'| +101 "core" ' + .tHand.close +2 "manipulator"&U/ +62 "core" / +2 .tCC.seek :open +2 "collection"'q(p +410 "core" ( +2 "storage"(6& +4 "core" &[ ^\ + "storage"(5& +4 "core" &[ \\\ +2 "manipulator"&& +3 "core" & Y h +2 "manipulator"&#% +4 "core" % ϋ  +2 .tForearm.seek :retract + "manipulator"&('\ +96 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 7 +2 "manipulator"&P( +151 "core" ( +2 "manipulator"&& +4 "core" & g  + "storage"(t& +4 "core" &[ \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 7 + "manipulator"&-'Ω +108 "core" ' + .tElbow.hold +2 "manipulator"&O, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&$1 +53 "core" 1 +2 "manipulator"&3% +4 "core" % ν e + "storage"(& +4 "core" &[ F\ + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 7 + 320 counts + "manipulator"&' +19 "core" ' +2 "manipulator"&>& +5 "core" & w r   + "storage"(;& +4 "core" &[ \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&'k +18 "core" ' + "storage"(<% +5 "core" %d r\ +2 ."downElevator"SE.seek :down +4 "storage"('N +98 (f% +3 "core" %(> ~\ TY + "manipulator"&a% +5 "core" %j p p +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +87 "core" ' +55 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 5 of [5..7] +2 #Loading generic puck from tube 5 into Collection Clamp + "collection"'T& +3 "core" &%'0\ +2 "manipulator"&~% +4 "core" %\ +  !S +2 "storage"(7% +4 "core" %C R\  +2 "storage"(. +3 "core" .([ + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"(z(<< +676 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 ( & +2 "core" &<> v w M\ +2 "manipulator"&D& +4 "core" &   + .tElbow.seek 5 +2 "manipulator"&( +20 "core" ( + "manipulator"&0& +4 "core" & J ? +2 "storage"( & +4 "core" &Y#&\ L +9 &@l^%$\ L +10 &B.\\&'\ L +9 &CY%%\ L +9 &E\\%'\ M +10 &Gs` \ M +9 &I1j\ N +10 &Jz\ P +9 &L0\ T +9 &N_\ V +10 &P! \ V +9 &Q\ V +9 &Stz \ X +10 &U]_g\ Z +9 &W#PV \ X +10 &X>E\ Z +9 &Z.6\ ^ +9 &\\_&\ H +10 &]_8\ )z +9 &]h\ H +2 ( +2 "collection"'y& +3 #tCollection Clamp onSpring/offSpring for 10/26 samples, on/off torque 2.13 + .Hand.open +2 "manipulator"&s1 +56 "core" 1 +2 "manipulator"&L% +4 "core" % | +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +7 .tForearm.seek :retract + "manipulator"&'\ +92 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp + "processing"%i& +4 "core" &1\ +2 "manipulator"&2% +3 "core" %\ + ] !V +2 "storage"(h% +3 "core" %> i s \  +2 "storage"([. +3 "core" .([\ N +10 &@V[\ M +9 &BW\ M +10 &CY\ M +9 &EX\ M +9 &G\\d\ N +10 &Ik\ O +9 &Jy\ Q +9 &L\ T +10 &NS\ T +9 &P\ T +10 &Q\ T +9 &S\ T +9 &UY\ T +10 &W\ T +9 &X\ U +10 &Z9Lm\ - +9 &Z /\ ( +5 ( +2 "processing"%& +4 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.61 + .Hand.open + "manipulator"&/1 +4 "core" &Z\ ( +49 1 +2 "manipulator"&b% +4 "core" % X +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&,'\ +97 "core" ' +2 "processing"%& +4 "core" &Z\ ( +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 + "manipulator"&{% +4 "core" %\ 8 G ' + "storage"(w% +4 "core" %? b f\  + "storage"(V. +3 "core" .(<9 +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 5 + "storage"(4(<< +8 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (?& + "manipulator"&& +4 "core" &<9 Y Y\ \ +5 ."raiseStack"SE.reconfigure :place +2 "storage"(#]kK-0-\ b +2 "core" &l +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +2 ."raiseStack"SE.seek :beamBreak +3 "manipulator"&(c + "storage"(.'e +5 "core" ( +2 "manipulator"&& +4 "core" &l + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +7 &^& +2 "core" &l +2 .tForearm.seek PC +2 "manipulator"&'[ +98 "core" ' + .tHand.close +2 "manipulator"&%/ +62 "core" / +2 .tPC.seek :open +2 "processing"%|(p +78 "core" ' +2 "storage"( - +3 "core" -'e + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place + "storage"(r'B +36 "core" ' +268 ( + "storage"(W& +4 "core" &<8 y p \ +2 "manipulator"&u& +3 "core" &l  +2 "manipulator"&Y% +3 "core" % f A +2 .tForearm.seek :retract +2 "manipulator"&U'\ +95 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&m( +261 "core" ( + "manipulator"&& +4 "core" &  +2 "storage"(6& +4 "core" &<8 | } \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&5' +106 "core" ' + .tHand.open + "manipulator"&1 +54 "core" 1 +2 "storage"(#- +3 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate +2 "storage"(' +23 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(t' +51 "core" ' +2 #tLights, camera, ACTION! + "storage"(A- +3 "core" -' +2 "storage"(& +4 "core" &<7 s\ + "manipulator"&$& +4 "core" & o r \\ +2 .tElbow.seek 5 + "manipulator"&3( +8 "core" ( + "manipulator"&& +4 "core" &  } _  +2 "storage"(>& +4 "core" &<7 N\ +2 .tForearm.seek 5 + 450 counts + "manipulator"&;' +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.11 Pucks below Top Plate + "storage"(<'M +59 "core" ' + "manipulator"&(& +4 "core" &  m q +2 "storage"(f& +4 "core" &<7 \ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 + "manipulator"&a'/ +31 "core" ' + .tElbow.hold +2 "manipulator"&P, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"(-'7 +26 "core" ' + "manipulator"&T% +5 "core" %C} G + "storage"(~& +4 "core" &<7 C E\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 320 counts +2 "manipulator"&'o +16 "core" ' + "manipulator"&7& +5 "core" &" P i d + "storage"(& +5 "core" &<7 \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&)' +24 "core" ' + "storage"(% +5 "core" %5 4\ +2 ."downElevator"SE.seek :down +3 "storage"('N +99 (o% +3 "core" %9 i k\ U] +2 "manipulator"& % +4 "core" % q q   +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&D'\ +90 "core" ' +61 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (0& +4 "core" &<7 i m 5\ +2 "collection"' & +4 "core" &]h=\ H + #tStoring generic puck in Collection Clamp to tube 5 +2 "manipulator"&&% +4 "core" %\ .  #k + "storage"(O% +5 "core" %L f h S\ + "storage"(. +3 "core" .(<9 +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 + "storage"((<< +15 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 ( & +3 "core" &<9 E E \  + "manipulator"&R& +4 "core" &"  +2 .tElbow.seek 5 + "manipulator"&M( +11 "core" ( + "manipulator"&l& +4 "core" & } < +2 "storage"(v& +4 "core" &<8 f g y\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&Q' +98 "core" ' +2 "storage"(I& +4 "core" &<8 m\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('e +276 "core" ' + "storage"(d- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&\\& +53 "core" & q p  +2 "storage"(\ & +4 "core" &<8 e\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 5 + "manipulator"&@'/ +30 "core" ' + .tElbow.hold +2 "manipulator"&}, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(`- +2 "core" -' +3 .tSE.seek 0.11 Pucks below Top Plate + "storage"('l +30 "core" ' + "manipulator"&g% +5 "core" %Bz > + "storage"(E& +4 "core" &<8 B B \  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 5 + 319 counts + "manipulator"&'n +17 "core" ' +2 "manipulator"&p& +4 "core" &$ Y u  +2 "storage"(q& +4 "core" &<8 \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&s' +20 "core" ' +2 .tSE.seek 1.11 Pucks below Top Plate +2 "storage"(L'[ +50 "core" ' + "manipulator"&i& +5 "core" &$ q q   + "manipulator"&2% +4 "core" % q q + +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&h'\ +91 "core" ' +2 .tElbow.seek CC + "manipulator"&[( +169 "core" ( + "manipulator"&y& +4 "core" &  F +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &n& +3 "core" & D F +2 .tForearm.seek CC +2 "manipulator"&"'| +94 "core" ' +2 .tHand.close + "manipulator"&N/ +60 "core" / +2 .tCC.seek :open +2 "collection"':(p +413 "core" ( + "storage"(]& +4 "core" &<8 ^\  +2 "storage"(& +4 "core" &<8 \  + "manipulator"&z& +4 "core" &  F + "manipulator"&% +4 "core" % k O  +2 .tForearm.seek :retract + "manipulator"&G'\ +92 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&( +152 "core" ( +2 "manipulator"&Z& +4 "core" &  +2 "storage"( & +4 "core" &<8 \  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 5 +2 "manipulator"&K'/ +104 "core" ' + .tElbow.hold +2 "manipulator"&', +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&B1 +55 "core" 1 +2 "manipulator"&1% +4 "core" % C @ +2 "storage"(9& +3 "core" &<8 \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 320 counts + "manipulator"&j'o +18 "core" ' +2 "manipulator"&& +4 "core" &< P i m  + "storage"(S& +4 "core" &<8 e\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&' +16 "core" ' +2 "storage"(=% +4 "core" %a ~\ +2 ."downElevator"SE.seek :down +4 "storage"(X'N +98 (c% +3 "core" %$= !\ U[ +2 "manipulator"&e% +4 "core" % o q  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&_'\ +90 "core" ' +51 ' + ."downElevator"SE.stop +2 "storage"(5 +2 #tShuffling pucks in tube 6 of [5..7] +2 #Loading generic puck from tube 6 into Collection Clamp + "collection"'C& +4 "core" &%'1 +2 "manipulator"&8% +4 "core" %\ .  #d + "storage"(*% +4 "core" %> h\  +2 "storage"(F. +3 "core" .(<9 +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 + "storage"(!(K +351 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (/& +3 "core" &K x \  +2 "manipulator"&b& +3 "core" &<   +2 .tElbow.seek 6 +2 "manipulator"&( +11 "core" ( +2 "manipulator"&{& +4 "core" &   + "storage"(w& +4 "core" &K (\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&V'< +103 "core" ' +2 "storage"(& +4 "core" &K '\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(?'e +288 "core" ' + "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +2 "core" &K \  +2 "manipulator"&^& +8 "core" & q q ,  +2 .tElbow.seek 6 +2 "manipulator"&H( +3 "core" ( +2 "manipulator"&%& +4 "core" & G i s  + "storage"(k& +4 "core" &K >\  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"& 'Ϧ +23 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&+/ +57 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&,& +2 "storage"(J'N +7 "core" & )  +2 "manipulator"&.% +4 "core" % Ϭ A + .tForearm.seek :retract +2 "manipulator"&W'\ +92 "core" ' +2 .tElbow.seek CC +2 "manipulator"&u( +150 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +14 "core" ( + "manipulator"&Y& +5 "core" &* @X + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &* | @X +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&'| +95 "core" ' +2 "manipulator"&6& +9 "core" &* @X + "manipulator"&% +4 "core" %τ o \ +2 "collection"'& +4 "core" &%'E\ +2 "collection"'#& +5 "core" &&%@\ +2 .tCC.seek :closed +2 "collection"'A(] +4 "core" &''.\  +8 &3&'(\ *x +9 &e('\ > +10 &Rw$(+\ M +9 &Y%'+\ L +10 &]%&/\ L +9 &_$'&\ L +9 &!\\]&'&\ L +10 &#Z$'%\ L +9 &$\\%'+\ M +9 &&\\%&'\ L +10 &(d]%'"\ L +9 &*&\\%(\ L +10 &+[&&\ L +9 &-[#'!\ M +9 &/l\\&%\ L +10 &1.Y%&\ L +9 &2]%'\ L +9 &4Z($\ L +10 &6t\\%&\ L +9 &87Z%&\ L +10 &9\\&$ \ L +9 &;X"$ \ L +9 &=}\\$%\ L +10 &?>[%#!\ L +9 &AY#$"\ L +9 &B^#$\ L +10 &D[%%\ L +9 &FFZ $\ L +10 &H_ $\ M +9 &Ip\ N +9 &K|e \ R +10 &M4\ U +9 &N\ V +9 &P\ V +10 &Ru"\ W +9 &T5mv(\ X +10 &UZb\ X +9 &WKR\ X +9 &Yt:C&\ Z +10 &[6+3-\ Z +9 &\\z!!\ . +9 &]+\ Y +9 ( +3 "collection"'#& +3 "core" &]j%\ J +2 #tCollection Clamp onSpring/offSpring for 9/25 samples, on/off torque 2.10 + .Hand.open +2 "manipulator"&1 +59 "core" 1 +2 "manipulator"&$% +4 "core" % τ u \ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +92 "core" ' +2 #tLoading generic puck from tube 6 into Processing Clamp +2 "processing"%>& +4 "core" &2\ + "manipulator"&U% +4 "core" %\ . s #d +2 "storage"((% +4 "core" %7 v v \  + "storage"(f. +3 "core" .(K + "storage"(T& +4 "core" &K u u n\  +2 "storage"(r& +3 "core" &K u u i\  +2 "manipulator"&~& +4 "core" &# ;8 + "manipulator"&7% +4 "core" %\ . #d +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 + "manipulator"&( +161 "core" ( + "manipulator"&& +5 "core" &  \ + "storage"(& +4 "core" &K f h |\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&m'< +100 "core" ' + "storage"(5& +4 "core" &K \  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(t'e +279 "core" ' + "storage"(o- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 ( & +2 "core" &K \  +2 "manipulator"&;& +4 "core" & p q . \ + .tElbow.seek 6 +2 "manipulator"&3( +3 "core" ( + "manipulator"&<& +4 "core" & | { ? \ + "storage"(a& +4 "core" &K P\  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&'Ϧ +19 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&0/ +53 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"& & +2 "storage"(&'N +7 "core" & { ' \ +2 "manipulator"&O% +4 "core" % ϡ L +2 .tForearm.seek :retract + "manipulator"&'\ +97 "core" ' +3 .tElbow.seek PC + "manipulator"&-(c +151 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +95 "core" ( + "manipulator"& & +4 "core" &h { +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &R& +3 "core" &h +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&l'[ +94 "core" ' + "manipulator"&v& +5 "core" &h U + "manipulator"&)% +4 "core" %` M  +2 "processing"%I& +4 "core" &K\ +2 "processing"%& +4 "core" &\ \ +3 .tPC.seek :closed + "processing"%4(Z +4 "core" &\  +9 &0{\ *x +9 &d\ > +9 &Eu\ M +10 &X\ M +9 &]\ M +10 &W\ M +9 &!N[\ M +9 &#[\ L +10 &$Y\ M +9 &&^\ M +9 &(WY\ L +10 &*Z\ L +9 &+]\ M +10 &-Y\ L +9 &/^\\\ M +9 &1!Y\ L +10 &2Z\ M +9 &4W\ M +9 &6fY\ M +10 &8(]\ M +9 &9Y\ M +9 &;Z\ M +10 &=n]#\ M +9 &?0\\\ M +11 &@`\ M +8 &B[\ M +9 &Dv\\\ M +10 &F7^\ M +9 &Gjh\ O +10 &IsV\ O +9 &Kn\ R +9 &M-\ S +10 &N\ T +9 &P\ S +9 &Rq\ T +10 &T3\ T +9 &U\ T +9 &W\ T +10 &Yv\ B +9 &Z{?\ T +10 &Z\ ( +2 ( + "processing"%& +3 #tProcessing Clamp onSpring/offSpring for 9/25 samples, on/off torque 1.63 +2 .Hand.open + "manipulator"&P1 +60 "core" 1 +2 "manipulator"&D% +3 "core" % ` J  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&d'\ +97 "core" ' + "processing"%\\& +4 "core" &Z\ ( +2 #tImaging generic puck in Processing Clamp while storing it to tube 6 + "manipulator"&\ % +4 "core" %\ 3 % + "storage"(`% +4 "core" %< Y ]\  + "storage"(g. +3 "core" .(K +2 "storage"(E& +4 "core" &K Y Y\  +2 "storage"(p& +2 "manipulator"&q& +7 "core" &K f d\  + &h +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +6 "manipulator"&$&.,(\ #b + "storage"(#]kK-0-\ b +3 .tElbow.seek PC +5 "manipulator"&i(c +3 ."raiseStack"SE.seek :beamBreak +2 "storage"(2'e +3 "core" ( + "manipulator"&Q& +4 "core" &h + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &M& +3 "core" &h +2 .tForearm.seek PC + "manipulator"&'[ +94 "core" ' + .tHand.close +2 "manipulator"&@/ +59 "core" / +2 .tPC.seek :open +2 "processing"%(p +91 "core" ' + "storage"(- +4 "core" -'e + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place + "storage"(y'B +37 "core" ' +250 ( +2 "storage"(n& +4 "core" &K k j B\  + "manipulator"&s& +4 "core" &h  +2 "manipulator"&}% +4 "core" % g  +2 .tForearm.seek :retract + "manipulator"&N'\ +96 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&h( +251 "core" ( +2 "manipulator"&x& +4 "core" & a d +2 "storage"(]& +4 "core" &K s v <\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&'< +99 "core" ' +2 .tHand.open + "manipulator"&z1 +58 "core" 1 +2 "storage"(- +4 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate + "storage"(Z' +26 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"( ' +56 "core" ' +2 #tLights, camera, ACTION! + "storage"("- +4 "core" -' + "storage"([& +4 "core" &K L\  + "manipulator"&B& +4 "core" &  c +2 .tElbow.seek 6 + "manipulator"&1( +4 "core" ( + "manipulator"&9& +4 "core" &  c +2 "storage"(& +4 "core" &K \  +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&S'< +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"(='M +59 "core" ' + "manipulator"&G& +4 "core" &  c +2 "storage"(c& +4 "core" &K h g \  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 + "manipulator"&e'z +34 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"(K'7 +26 "core" ' +2 "manipulator"&C% +4 "core" %Έo " +2 "storage"(8& +4 "core" &K   v\  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 6 + 314 counts + "manipulator"&j'ϴ +16 "core" ' +2 "manipulator"&*& +4 "core" & k v c +2 "storage"(F& +4 "core" &K \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&L'< +24 "core" ' + "storage"(% +5 "core" %: \ +2 ."downElevator"SE.seek :down +4 "storage"(X'N +98 (% +3 "core" %4> s z \ U^ +2 "manipulator"&/% +4 "core" %f | | +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&b'\ +90 "core" ' +58 ' + ."downElevator"SE.stop +2 "storage"(5 +2 ({& +4 "core" &K I B <\  + "collection"'w& +4 "core" &]j5\ J +2 #tStoring generic puck in Collection Clamp to tube 6 + "manipulator"&% +4 "core" %\ 3 %v +2 "storage"('% +3 "core" %7 p s ?\ +2 "storage"(_. +3 "core" .(K + "storage"(& +4 "core" &K o r 7\  +2 "storage"(& +4 "core" &K y | <\  + "manipulator"&^& +4 "core" & c + .tElbow.seek 6 +2 "manipulator"&%( +3 "core" ( +2 "manipulator"&k& +4 "core" & e c + "storage"(+& +4 "core" &K y o %\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&,'< +98 "core" ' +2 "storage"(.& +4 "core" &K D\  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"('e +279 "core" ' +2 "storage"(V- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&Y& +3 "core" &  c + "storage"(& +27 "core" &K \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&?'z +33 "core" ' + .tElbow.hold +2 "manipulator"& , +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(6- +3 "core" -' +2 .tSE.seek 0.12 Pucks below Top Plate +2 "storage"('s +28 "core" ' +2 "manipulator"&H% +4 "core" %΄o  + "storage"(& +4 "core" &K 8 B c\  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 6 + 310 counts +2 "manipulator"&J'ϰ +16 "core" ' +2 "manipulator"&W& +4 "core" & } ^ K c + "storage"(:& +4 "core" &K \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&'< +16 "core" ' +3 .tSE.seek 1.12 Pucks below Top Plate + "storage"($'b +41 "core" ' + "manipulator"&>& +4 "core" & p t 1 c +2 "manipulator"&U% +4 "core" %. z p  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&('\ +94 "core" ' +2 .tElbow.seek CC +2 "manipulator"&f( +141 "core" ( +2 "manipulator"&T& +4 "core" & 8 / + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &r& +2 "core" & / +2 .tForearm.seek CC +2 "manipulator"&#'| +96 "core" ' +2 .tHand.close + "manipulator"&~/ +57 "core" / + .tCC.seek :open +2 "collection"'7(p +411 "core" ( + "storage"(& +4 "core" &K \  +2 "storage"(& +3 "core" &K \  +2 "manipulator"&& +3 "core" & # - +2 "manipulator"&5% +4 "core" % u O + .tForearm.seek :retract +2 "manipulator"&u'\ +144 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 + "manipulator"&( +160 "core" ( + "manipulator"&o& +4 "core" &   +2 "storage"( & +3 "core" &K \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 6 +2 "manipulator"&;'z +110 "core" ' +2 .tElbow.hold + "manipulator"&<, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&a1 +56 "core" 1 +2 "manipulator"&0% +4 "core" % Ή +2 "storage"( & +3 "core" &K 6\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 315 counts + "manipulator"&O'ϵ +19 "core" ' +2 "manipulator"&& +4 "core" & f P l  + "storage"(m& +5 "core" &K _\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&t'< +16 "core" ' +2 "storage"(% +4 "core" %f B\ +2 ."downElevator"SE.seek :down +3 "storage"( 'N +99 (R% +18 "core" %: U\ U[ +2 "manipulator"&3% +4 "core" %B f ^ i +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&v'\ +90 "core" ' +33 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 7 of [5..7] + #Loading generic puck from tube 7 into Collection Clamp +2 "collection"')& +4 "core" &&)O\ + "manipulator"&I% +5 "core" %\ 0  $r + "storage"(&% +4 "core" %8 v\ +2 "storage"(. +3 "core" .(K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 7 + "storage"(|([ +352 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (P& +2 "core" &[ } } \  +2 "manipulator"&D& +4 "core" &   + .tElbow.seek 7 +2 "manipulator"&\\( +18 "core" ( + "manipulator"&\ & +4 "core" &  +2 "storage"(`& +3 "core" &[ 1\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&g'k +103 "core" ' + "storage"(E& +4 "core" &[ h\  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"('e +282 "core" ' + "storage"(q- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (p& +17 "core" &[ ~\  +2 "manipulator"&Q& +4 "core" & p p  +2 .tElbow.seek 7 + "manipulator"&M( +23 "core" ( + "manipulator"&l& +4 "core" & k !q +2 "storage"(@& +4 "core" &[ 2\  +2 .tForearm.seek 7 + 300 counts + "manipulator"&' +25 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&-/ +61 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&d& +2 "storage"(4'N +7 "core" & | o $ !p +2 "manipulator"&n% +4 "core" % ~ } w +2 .tForearm.seek :retract +2 "manipulator"&s'\ +94 "core" ' +2 .tElbow.seek CC +2 "manipulator"&}( +143 "core" ( +2 "manipulator"&2& +5 "core" & $ / ' + .tElbow.reconfigure :loose +3 ."downElevator"SE.stop +3 "manipulator"&$ &.,(#b + "storage"(5 +3 "manipulator"&& +6 "core" & ) / +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&x'| +96 "core" ' +2 "manipulator"&]& +4 "core" &  / +2 "manipulator"&i% +4 "core" %t + "collection"'z& +4 "core" &%'M\ +2 "collection"'& +5 "core" &%&Q\ +2 .tCC.seek :closed +2 "collection"'"(] +4 "core" &&'7\  +8 &3$(3\ *y +10 &d%&2\ > +9 &Uu%%*\ M +9 &[%%&\ L +10 &\\%'&\ L +9 &_%&.\ L +10 &!]\\$%(\ M +9 &# \\%%%\ L +9 &$\\%%-\ L +10 &&Y%%-\ L +9 &(g]$&'\ L +9 &*)\\%&.\ L +10 &+Z#'3\ L +9 &-[(%6\ L +10 &/m\\$'&\ M +9 &10\\#%5\ L +9 &2]#&6\ L +10 &4Z%&&\ L +9 &6wW$&\ L +9 &88Z&&%\ L +10 &9\\%'#\ L +13 &;V&%\ L +6 &=~\\''\ L +9 &?@[#',\ L +9 &AZ#&&\ L +10 &BZ%$\ L +9 &DW$%\ L +9 &FG\\"% \ M +10 &H `)\ M +9 &Ik.\ N +10 &K+\ P +9 &M8'\ U +9 &N!\ V +10 &P#\ V +9 &Rv \ W +9 &T2jr"\ Y +10 &UYa$\ Z +9 &WGO"\ Y +10 &Yt5>&\ [ +9 &[".*/"\ b +9 &\\$\ . +10 &]."\ [ +9 ( + &]b"\ E +2 "collection"'& +3 #tCollection Clamp onSpring/offSpring for 8/25 samples, on/off torque 2.10 + .Hand.open + "manipulator"&[1 +65 "core" 1 +2 "manipulator"&B% +4 "core" % s  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&9'\ +97 "core" ' + #tLoading generic puck from tube 7 into Processing Clamp +2 "processing"%& +4 "core" &\ +2 "manipulator"&N% +4 "core" %\ 3  %| + "storage"(G% +4 "core" %= v v r\  + "storage"(c. +3 "core" .([ +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 7 +2 "storage"(y([ +3 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (C& +2 "core" &[ E A ?\  +2 "manipulator"&8& +4 "core" &  / + "manipulator"&Z% +4 "core" %\ 3 = %| +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 7 +2 "manipulator"&*( +160 "core" ( +2 "manipulator"&F& +4 "core" & (  +2 "storage"(& +4 "core" &[ y z\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&h'k +98 "core" ' + "storage"(& +4 "core" &[ \  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"( 'e +277 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (/& +3 "core" &[ L\  + "manipulator"&S& +4 "core" & p p  +2 .tElbow.seek 7 + "manipulator"&1( +3 "core" ( +2 "manipulator"&=& +3 "core" & { u B  +2 "storage"(e& +4 "core" &[ \  +2 .tForearm.seek 7 + 300 counts + "manipulator"&j' +12 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&{/ +63 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&w& +2 "storage"('N +7 "core" &  z [  + "manipulator"&'% +4 "core" % | } D +2 .tForearm.seek :retract +2 "manipulator"&_'\ +91 "core" ' +2 .tElbow.seek PC + "manipulator"&(c +160 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +76 "core" ( + "manipulator"&K& +4 "core" &m |   +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &m   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&^'[ +107 "core" ' + "manipulator"&k& +4 "core" &m j )  +2 "manipulator"&+% +4 "core" %a y r F z + "processing"%L& +4 "core" &\ +2 "processing"%.& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%X(Z +4 "core" &\  +8 &2\ *y +10 &dg\ > +9 &Rw\ N +9 &Y\ L +10 &_\ M +9 &\\\ L +10 &!]\\\ L +9 &#V\ L +9 &$Y\ L +10 &&]\ M +9 &(c[\ M +9 &*'Z\ L +10 &+]\ M +9 &-X\ M +10 &/l[\ M +9 &1/Z\ L +9 &2^\ M +10 &4[\ M +9 &6uY\ L +9 &87[\ L +10 &9]\ M +9 &;]\ L +10 &=}ZQ\ L +9 &?>\\\ M +9 &@^\ M +10 &B[\ M +9 &D[x\ M +9 &FF]\ M +10 &HgT\ N +9 &Ir\ P +10 &K~$\ Q +9 &M:\ S +9 &N\ T +10 &P\ S +9 &R\ T +9 &TA\ T +10 &V\ S +9 &W\ T +10 &Y\ B +9 &Z8\ W +9 &Z"\ , +3 ( + "processing"%.& +3 #tProcessing Clamp onSpring/offSpring for 9/25 samples, on/off torque 1.62 + .Hand.open +2 "manipulator"&1 +63 "core" 1 + "manipulator"&b% +5 "core" % a q X z +2 .tForearm.reconfigure :loose +7 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&V'\ +95 "core" ' +2 "processing"%Y& +4 "core" &Z \ , + #tImaging generic puck in Processing Clamp while storing it to tube 7 +2 "manipulator"&% +3 "core" %\ 6 & +2 "storage"(6% +4 "core" %? h ] k\  + "storage"(H. +3 "core" .([ + "storage"(& +5 "core" &[ p h \  +2 "storage"(W& +54 "manipulator"&:& +5 "core" &[ d _ )\  + &m  +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +6 "manipulator"&$&.,(\ #b + "storage"(#]kK-0-\ b +3 .tElbow.seek PC +4 "manipulator"&>(c +4 ."raiseStack"SE.seek :beamBreak + "storage"(U'e +3 "core" ( + "manipulator"&,& +4 "core" &m  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &%& +3 "core" &m |  +2 .tForearm.seek PC +2 "manipulator"&'[ +95 "core" ' + .tHand.close +2 "manipulator"&?/ +53 "core" / +2 .tPC.seek :open + "processing"%J(p +93 "core" ' +2 "storage"(- +3 "core" -'e + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(T'B +33 "core" ' +255 ( +2 "storage"(r& +4 "core" &[ \  + "manipulator"&& +4 "core" &m \\  +2 "manipulator"& % +4 "core" % `   +2 .tForearm.seek :retract +2 "manipulator"&~'\ +100 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 7 +2 "manipulator"&(( +246 "core" ( +2 "manipulator"&A& +4 "core" & ' ? +2 "storage"(& +3 "core" &[ t p \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&'k +102 "core" ' +2 .tHand.open + "manipulator"&1 +52 "core" 1 +2 "storage"(5- +3 "core" -'B +3 .tSE.seek -0.16 Pucks below Top Plate + "storage"(#' +25 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(o' +52 "core" ' +2 #tLights, camera, ACTION! + "storage"( - +4 "core" -' + "storage"(f& +4 "core" &[ V\  +2 "manipulator"&a& +4 "core" & | u ? + .tElbow.seek 7 +2 "manipulator"&0( +3 "core" ( +2 "manipulator"& & +4 "core" & z 7 ? + "storage"(& +4 "core" &[ ,\  +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&m'k +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"('M +59 "core" ' + "manipulator"&u& +5 "core" & o o ? + "storage"(R& +4 "core" &[ K\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 7 +2 "manipulator"&3'Ω +28 "core" ' +2 .tElbow.hold + "manipulator"&, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate + "storage"(;'7 +28 "core" ' + "manipulator"&)% +5 "core" %μ + "storage"(I& +5 "core" &[ Y \\\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 7 + 319 counts + "manipulator"&O' +20 "core" ' +3 "manipulator"&&& +4 "core" & s x  ? +2 "storage"(& +4 "core" &[ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&$'k +17 "core" ' + "storage"(t% +5 "core" %8 J\ +2 ."downElevator"SE.seek :down +4 "storage"( 'N +98 (!% +3 "core" %> _\ V_ +2 "manipulator"&P% +4 "core" %i q q 0 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&D'\ +92 "core" ' +60 ' + ."downElevator"SE.stop + "storage"(5 +3 (\ & +4 "core" &[ l c @\  + "collection"'`& +4 "core" &]ZI\ E +2 #tStoring generic puck in Collection Clamp to tube 7 + "manipulator"&E% +4 "core" %\ 0 Q $t + "storage"(<% +4 "core" %K h i )\  +2 "storage"(v. +3 "core" .([ + "storage"(q& +4 "core" &[ { w s\  + "storage"(p& +4 "core" &[ k g h\  +2 "manipulator"&Q& +3 "core" & / ? +2 .tElbow.seek 7 +2 "manipulator"&l( +3 "core" ( + "manipulator"&@& +4 "core" & 4 ? +2 "storage"(-& +4 "core" &[ E\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&d'k +103 "core" ' +2 "storage"(n& +4 "core" &[ .\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(\\'e +277 "core" ' +2 "storage"(g- +3 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&2& +3 "core" & p o + ? +2 "storage"(& +3 "core" &[ \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 7 +2 "manipulator"&'Ω +33 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(]- +2 "core" -' +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(i'n +27 "core" ' +2 "manipulator"&z% +4 "core" %η n + "storage"(M& +4 "core" &[ 6 7 n\  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 7 + 314 counts +2 "manipulator"&4' +17 "core" ' +2 "manipulator"&s& +9 "core" & ` v 8 ? + "storage"(7& +4 "core" &[ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&['k +16 "core" ' +2 .tSE.seek 1.11 Pucks below Top Plate + "storage"(B'] +41 "core" ' +2 "manipulator"&& +4 "core" & q q I ? +2 "manipulator"&N% +4 "core" %t p q H +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&G'\ +87 "core" ' +2 .tElbow.seek CC + "manipulator"&c( +144 "core" ( + "manipulator"&& +5 "core" & / + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &C& +2 "core" & / +2 .tForearm.seek CC +2 "manipulator"&8'| +96 "core" ' + .tHand.close +2 "manipulator"&Z/ +59 "core" / +2 .tCC.seek :open +2 "collection"'x(p +414 "core" ( + "storage"(F& +4 "core" &[ N\  +2 "storage"(& +3 "core" &[ -\  +2 "manipulator"&|& +3 "core" & 9 / +2 "manipulator"&% +3 "core" % w >  +2 .tForearm.seek :retract +2 "manipulator"&}'\ +91 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 7 + "manipulator"&9( +156 "core" ( +2 "manipulator"&& +4 "core" & J + "storage"(/& +4 "core" &[ \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 7 + "manipulator"&S'Ω +110 "core" ' + .tElbow.hold + "manipulator"&=, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&e1 +60 "core" 1 +2 "manipulator"&{% +5 "core" % ι P h + "storage"(w& +4 "core" &[ k 1\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 7 + 316 counts + "manipulator"&'' +18 "core" ' +2 "manipulator"&*& +4 "core" & ] w 1 + "storage"(h& +4 "core" &[ \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts +2 "manipulator"& 'k +20 "core" ' + "storage"(j% +4 "core" %a \ +2 ."downElevator"SE.seek :down +4 "storage"(K'N +99 (% +2 "core" %< \ TZ +2 "manipulator"&1% +4 "core" %P r o  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&k'\ +88 "core" ' +50 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 5 of [5..7] + #Loading generic puck from tube 5 into Collection Clamp +2 "collection"'+& +4 "core" &$'L\ + "manipulator"&L% +4 "core" %\ ,  "Z +2 "storage"(% +4 "core" %7 y\  + "storage"(_. +3 "core" .([ +2 .tSC.reconfigure :tight +51 "storage"($\ .\ 1~b +3 .tSC.seek 5 +2 "storage"((<< +677 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (& +2 "core" &% +4 "core" %x S + "collection"'& +4 "core" &$%9\ +3 "collection"'5& +5 "core" &%'=\ +2 .tCC.seek :closed +2 "collection"' (] +4 "core" &%%*\  +9 &3"'=\ *x +9 &e$&5\ > +10 &Qv$(3\ M +9 &X$%2\ L +9 &\\&'5\ L +10 &Z&%9\ L +9 &![^%%8\ L +10 &#\\$'6\ M +9 &$Z#&6\ L +9 &&]$%6\ L +10 &(b\\$'5\ M +9 &*%\\$&;\ L +9 &+Z$&.\ L +10 &-[%%4\ M +9 &/k\\%%5\ L +10 &1-Y#$5\ L +9 &2X%%-\ L +9 &4\\"'4\ L +10 &6tZ$%5\ L +9 &85Y$&4\ L +9 &9\\"%/\ M +10 &;Y%&3\ L +9 &={\\#$6\ L +10 &?>X$%)\ L +9 &@]$%4\ L +9 &B]!$2\ M +10 &DZ#%5\ L +9 &FEY"&3\ L +9 &H_ 6\ M +10 &Ip)\ N +9 &K|w,\ Q +10 &M3/\ U +9 &N*\ V +9 &P1\ W +10 &Rs(\ W +9 &T3ty$\ X +9 &Ubh#\ Y +10 &WQW&\ Y +9 &YrAG(\ Z +10 &[4-6%\ Z +9 &\\v%#\ 8 +9 &]-$\ "g +10 &]b$\ M +2 ( + "collection"'5& +4 #tCollection Clamp onSpring/offSpring for 9/25 samples, on/off torque 2.11 + .Hand.open + "manipulator"&f1 +57 "core" 1 + "manipulator"&a% +5 "core" % x +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"& '\ +92 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp + "processing"%& +5 "core" &9\ + "manipulator"&~% +4 "core" %\ + q !W + "storage"(u% +4 "core" %< | } \  +2 "storage"(R. +3 "core" .(\ +2 "manipulator"&m& +3 "core" &  +2 .tElbow.seek 5 +2 "manipulator"&0( +3 "core" ( +2 "manipulator"&& +3 "core" & G +2 "storage"(3& +4 "core" &<8 h h \\\ +2 .tForearm.seek 5 + 300 counts + "manipulator"&\ '[ +22 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&O/ +55 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"&`& "storage"(E'N +7 "core" & p o  +2 "manipulator"&<% +3 "core" % \\ p q +2 .tForearm.seek :retract +2 "manipulator"&v'\ +100 "core" ' +2 .tElbow.seek PC + "manipulator"&q(c +152 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +92 "core" ( + "manipulator"&;& +4 "core" &l  +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &p& +3 "core" &l | +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&Q'[ +99 "core" ' + "manipulator"&@& +4 "core" &l  +2 "manipulator"&-% +4 "core" %d 1 +2 "processing"%$& +3 "core" &\ +3 "processing"%n& +4 "core" &\ +2 .tPC.seek :closed +2 "processing"% (Z +5 "core" &\ \ +9 &0|\ )w +10 &d\ > +9 &Du'\ N +9 & X\ L +10 &Z\ M +9 &XX\ M +9 &!NZ\ M +10 &#W\ M +9 &$V\ M +9 &&Y\ M +10 &(VWU\ M +9 &*Y\ L +10 &+Y\ M +9 &-W\ M +9 &/][\ M +10 &1 Y\ M +9 &2]\ M +9 &4Z\ M +10 &6gY\ L +9 &8(Y\ M +10 &9W\ M +9 &;Y\ M +9 &=mX\ M +10 &?.[\ M +9 &@\\\ M +9 &B[\ M +10 &Dt[R\ M +9 &F7YQ\ M +10 &Gd\ N +9 &Ir\ O +9 &Ko\ R +10 &M-\ S +9 &N\\\ T +9 &P\ T +10 &RrP\ S +9 &T2f\ T +10 &U\ T +9 &W\ T +9 &Yu\ B +10 &Zx<\ Z +9 &Z:\ 5 +2 ( +2 "processing"%n& +3 #tProcessing Clamp onSpring/offSpring for 9/25 samples, on/off torque 1.65 + .Hand.open + "manipulator"&1 +54 "core" 1 +2 "manipulator"&D% +4 "core" % d +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&g'\ +99 "core" ' + "processing"%2& +5 "core" &Z4\ 5 + #tImaging generic puck in Processing Clamp while storing it to tube 5 +2 "manipulator"&% +4 "core" %\ 7  ' + "storage"(]% +4 "core" %M Y X\ + "storage"(z. +3 "core" .(<< +2 "storage"(M& +4 "core" &<8 Y Y \ +2 "storage"(s& +4 "manipulator"&7& +4 "core" &<8 V Y\ + &l a +3 ."raiseStack"SE.reconfigure :place +2 .tElbow.reconfigure :tight +5 "storage"(#]kK-0-\ b +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +2 "manipulator"&(c +3 ."raiseStack"SE.seek :beamBreak +2 "storage"(N'e +3 "core" ( + "manipulator"&d& +4 "core" &l % + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &l& +3 "core" &l  +2 .tForearm.seek PC +2 "manipulator"&\\'[ +95 "core" ' + .tHand.close +2 "manipulator"&/ +56 "core" / +2 .tPC.seek :open +2 "processing"%4(p +91 "core" ' +2 "storage"(- +3 "core" -'e +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(i'B +36 "core" ' +254 ( + "storage"(C& +4 "core" &<8 h m z\ +2 "manipulator"&[& +4 "core" &l 7 + "manipulator"&% +4 "core" % k ^  +2 .tForearm.seek :retract + "manipulator"&Z'\ +98 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&G( +261 "core" ( + "manipulator"&"& +4 "core" & 3 * +2 "storage"(F& +4 "core" &<8 X X R\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&' +104 "core" ' +2 .tHand.open + "manipulator"&|1 +52 "core" 1 +2 "storage"(- +3 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate +2 "storage"(' +23 "core" ' +50 .tSE.reconfigure :seal +4 "storage"(#QK-0-\ b +3 .tSE.seek -0.83 Pucks below Top Plate + "storage"(/' +51 "core" ' +2 #tLights, camera, ACTION! + "storage"(8- +3 "core" -' +2 "storage"(c& +4 "core" &<6 \ + "manipulator"&e& +4 "core" & ^ * +2 .tElbow.seek 5 + "manipulator"&{( +4 "core" ( + "manipulator"&w& +4 "core" &  * + "storage"(*& +5 "core" &<6 @\ +2 .tForearm.seek 5 + 450 counts + "manipulator"&h' +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.11 Pucks below Top Plate + "storage"(j'M +60 "core" ' + "manipulator"&}& +4 "core" & s q  * +2 "storage"(& +4 "core" &<6 %\ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 + "manipulator"&1'/ +32 "core" ' +2 .tElbow.hold + "manipulator"&9, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"(S'7 +27 "core" ' + "manipulator"&+% +5 "core" %? b + "storage"(L& +4 "core" &<6 E D \ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 316 counts + "manipulator"&''k +19 "core" ' + "manipulator"&& +4 "core" &I z g M j +2 "storage"(_& +4 "core" &<6 W\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&B' +18 "core" ' +2 "storage"( % +4 "core" %3 \ +2 ."downElevator"SE.seek :down +4 "storage"(K'N +99 (y% +2 "core" %; } } \ U^ +2 "manipulator"&% +4 "core" % }  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&b'\ +95 "core" ' +57 ' + ."downElevator"SE.stop + "storage"(5 +3 (& +4 "core" &<6 Y c\ +2 "collection"'6& +4 "core" &]b"\ M + #tStoring generic puck in Collection Clamp to tube 5 +2 "manipulator"&.% +4 "core" %\ 5 & + "storage"(=% +4 "core" %L q u G\  + "storage"(k. +3 "core" .(<< +2 "storage"(:& +4 "core" &<6 q u )\ + "storage"(W& +4 "core" &<6 y o -\ +2 "manipulator"&,& +4 "core" &I j +2 .tElbow.seek 5 + "manipulator"&^( +22 "core" ( + "manipulator"&?& +4 "core" &  +2 "storage"(& +3 "core" &<6 g f {\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&V' +104 "core" ' +2 "storage"(r& +4 "core" &<6 \ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(Y'e +278 "core" ' + "storage"(H- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"& & +3 "core" & q p "  + "storage"(& +4 "core" &<6 \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&'/ +31 "core" ' +2 .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(- +3 "core" -' +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(>'m +28 "core" ' + "manipulator"&% +4 "core" %Br . +2 "storage"(%& +4 "core" &<6 A B \ + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 319 counts + "manipulator"&X'n +17 "core" ' + "manipulator"&& +4 "core" &$ y g ) | +2 "storage"(x& +4 "core" &<6 \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&f' +17 "core" ' + .tSE.seek 1.11 Pucks below Top Plate +2 "storage"(a'\\ +53 "core" ' +2 "manipulator"&& +4 "core" &$ q q ) | +2 "manipulator"&~% +4 "core" % q q 0 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&u'\ +91 "core" ' +2 .tElbow.seek CC + "manipulator"&R( +150 "core" ( + "manipulator"&5& +4 "core" & / +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &T& +2 "core" & / +2 .tForearm.seek CC +2 "manipulator"&I'| +96 "core" ' +2 .tHand.close + "manipulator"&#/ +61 "core" / +2 .tCC.seek :open + "collection"'A(p +411 "core" ( + "storage"(& +4 "core" &<6 K\ +2 "storage"(t& +4 "core" &<6 \ + "manipulator"&& +4 "core" & . / + "manipulator"&% +4 "core" % τ \\ +2 .tForearm.seek :retract +2 "manipulator"&U'\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"& ( +161 "core" ( + "manipulator"&!& +5 "core" & l  + "storage"(P& +4 "core" &<6 f\ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 5 +2 "manipulator"&m'/ +104 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&31 +62 "core" 1 +2 "manipulator"&O% +4 "core" % C r + "storage"(`& +4 "core" &<6 \ + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 5 + 320 counts + "manipulator"&<'o +16 "core" ' +2 "manipulator"&&& +4 "core" &< v ] / w +2 "storage"((& +4 "core" &<6 \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&o' +18 "core" ' + "storage"(\ % +5 "core" %b _\ +2 ."downElevator"SE.seek :down +3 "storage"(;'N +100 (p% +2 "core" %C< /\ U[ +2 "manipulator"&0% +4 "core" % l p  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&@'\ +90 "core" ' +49 ' + ."downElevator"SE.stop +2 "storage"(5 +2 #tShuffling pucks in tube 6 of [5..7] +2 #Loading generic puck from tube 6 into Collection Clamp + "collection"'-& +5 "core" &&&6 + "manipulator"&$% +4 "core" %\ /  #e +2 "storage"(E% +4 "core" %? n\  + "storage"(v. +3 "core" .(<< +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 + "storage"(J(K +355 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (& +2 "core" &K x \ \  +2 "manipulator"&D& +4 "core" &<  w + .tElbow.seek 6 +2 "manipulator"&2( +29 "core" ( + "manipulator"&& +4 "core" &\  V +2 "storage"(]& +4 "core" &K \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&z'< +93 "core" ' +2 "storage"(M& +4 "core" &K 2\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(7'e +278 "core" ' +2 "storage"(s- +2 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (n& +3 "core" &K \  + "manipulator"&d& +4 "core" & t  S +2 .tElbow.seek 6 + "manipulator"&l( +3 "core" ( +2 "manipulator"&Q& +3 "core" & v m S +2 "storage"(& +4 "core" &K :\  +2 .tForearm.seek 6 + 300 counts + "manipulator"&'Ϧ +25 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&q/ +60 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&g& + "storage"( 'N +6 "core" & s y h S +2 "manipulator"&C% +4 "core" % ϧ q z +2 .tForearm.seek :retract +2 "manipulator"&['\ +92 "core" ' +2 .tElbow.seek CC + "manipulator"&N( +152 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +6 "core" ( +2 "manipulator"&& +4 "core" &* > @^ + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &\\& +3 "core" &* < @^ +50 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&"'| +109 "core" ' +2 "manipulator"&F& +4 "core" &* 1 @^ +2 "manipulator"&% +4 "core" %t - +2 "collection"'|& +4 "core" &$&5 +2 "collection"'& +6 "core" &$'T +2 .tCC.seek :closed +2 "collection"'Z(] +4 "core" &"'5 +8 &?#'5\ $e +9 &nV$&7\ 7 +10 &{#$7\ K +9 &Y%%8\ L +9 &FZ#'9\ M +10 &[%%;\ M +9 & [%$;\ L +9 &"Y$$4\ L +10 &$OV%$:\ L +9 &&^$':\ L +10 &'\\&'9\ L +9 &)Z$%5\ L +9 &+X[#%:\ L +10 &-Y#%<\ L +9 &.\\#%:\ L +9 &0Y$'6\ L +10 &2_Y%$;\ L +9 &4!\\%&8\ L +10 &5Y"&-\ L +9 &7\\#$)\ L +9 &9hZ$%4\ L +10 &;*\\&&6\ L +9 &<Z""4\ L +9 &>\\%$6\ L +10 &@n["#7\ M +9 &B1Z%$3\ L +10 &CZ"$2\ L +9 &E[ %H\ L +9 &Gvb\ M +10 &I3j,\ N +9 &J2\ P +9 &L/3\ U +10 &Nb)\ V +9 &P#-\ W +10 &Q$\ W +9 &S|\ X +9 &Ucgn#\ Y +10 &W&W]#\ X +9 &XGM#\ Z +9 &Z8=%\ [ +10 &\\f&,%\ G +9 &]b7 %\ ){ +9 &]~#\ S +3 ( + "collection"'& +3 #tCollection Clamp onSpring/offSpring for 10/26 samples, on/off torque 2.11 +2 .Hand.open + "manipulator"&81 +57 "core" 1 +2 "manipulator"&c% +4 "core" % t  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&e'\ +91 "core" ' + #tLoading generic puck from tube 6 into Processing Clamp +2 "processing"%w& +4 "core" &\ +2 "manipulator"&*% +3 "core" %\ - p "] +2 "storage"(}% +4 "core" %B Y Y\  + "storage"(. +3 "core" .(K +2 "storage"(i& +4 "core" &K X X A\  + "storage"(+& +4 "core" &K Z Y\  + "manipulator"&L& +4 "core" &% =G +2 "manipulator"&% +3 "core" %\ - "] +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&( +155 "core" ( +2 "manipulator"&_& +4 "core" & \\ \ +2 "storage"( & +4 "core" &K y o \ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&G'< +93 "core" ' + "storage"(& +5 "core" &K \  + .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(/'e +281 "core" ' + "storage"(y- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (& +3 "core" &K o ^ \  + "manipulator"&h& +4 "core" & v s P \ +2 .tElbow.seek 6 + "manipulator"&{( +8 "core" ( +2 "manipulator"&j& +4 "core" & n w & + "storage"(1& +4 "core" &K r o '\  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&'Ϧ +10 "core" ' +7 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&'/ +61 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&6& + "storage"(.'N +7 "core" & q q  + "manipulator"&=% +4 "core" % ϣ n x  3 +2 .tForearm.seek :retract +2 "manipulator"&k'\ +94 "core" ' +2 .tElbow.seek PC + "manipulator"&:(c +157 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +85 "core" ( +2 "manipulator"&S& +4 "core" &l } ^ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &W& +2 "core" &l 9 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&,'[ +103 "core" ' +2 "manipulator"&?& +4 "core" &l ` + "manipulator"&% +4 "core" %R M +2 "processing"%B& +4 "core" &h\ +2 "processing"%r& +5 "core" &\ +2 .tPC.seek :closed + "processing"%K(Z +5 "core" &\ +6 & 1\ #b +10 &]V\ 7 +9 &}\ L +9 &qY\ M +10 &4Y\ M +9 &Y\ L +10 & Z\ M +9 &"zY\ M +9 &$=Y\ L +10 &%Y\ M +9 &'X\ L +9 &)Y\ M +10 &+DW\ M +9 &-Z\ M +9 &.]\ M +10 &0Z\ M +9 &2LZ\ M +10 &4V\ M +9 &5X\ M +9 &7W\ M +10 &9TY\ M +9 &;Y\ M +9 &<X\ M +10 &>[\ M +9 &@\\Z\ M +10 &B\\\ M +9 &CYR\ M +9 &E[\ M +10 &G`e\ N +9 &In\ O +10 &J~\ Q +9 &L\ S +9 &NW\ T +10 &P\ S +9 &Q\ S +9 &S\ T +10 &U^\ T +9 &W\ T +9 &X\ T +10 &Z;Jj\ , +9 &Z\ 4\ ( +6 ( + "processing"%r& +4 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.61 + .Hand.open +2 "manipulator"&91 +3 "core" &Z\ ( +53 1 + "manipulator"&b% +4 "core" % R F +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&H'\ +99 "core" ' +2 "processing"% & +4 "core" &Z\ ( +2 #tImaging generic puck in Processing Clamp while storing it to tube 6 + "manipulator"&% +4 "core" %\ 8 O ' +2 "storage"(% +4 "core" %9 Z Y\  + "storage"(. +3 "core" .(K + "storage"(%& +4 "core" &K L = #\  +2 "storage"(& +4 "manipulator"&x& +4 "core" &K Y Y\  + &l % +3 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +4 "storage"(#]kK-0-\ b +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +3 ."raiseStack"SE.seek :beamBreak +2 "manipulator"&(c + "storage"(~'e +5 "core" ( + "manipulator"&V& +4 "core" &l +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &^& +3 "core" &l +2 .tForearm.seek PC +2 "manipulator"&Y'[ +94 "core" ' +2 .tHand.close + "manipulator"&/ +57 "core" / +2 .tPC.seek :open + "processing"%X(p +94 "core" ' +2 "storage"(>- +4 "core" -'e + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +2 ."raiseStack"SE.seek :place +2 "storage"(5'B +44 "core" ' +243 ( +2 "storage"(T& +4 "core" &K r t 2\  + "manipulator"&f& +4 "core" &l  + "manipulator"&% +4 "core" % Y  +2 .tForearm.seek :retract +2 "manipulator"&#'\ +99 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&u( +251 "core" ( +2 "manipulator"& & +4 "core" &\ _ +2 "storage"(& +4 "core" &K e \\\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&t'< +102 "core" ' +2 .tHand.open + "manipulator"&1 +61 "core" 1 +2 "storage"(- +4 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate + "storage"(!' +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(P' +54 "core" ' +2 #tLights, camera, ACTION! + "storage"(I- +4 "core" -' + "storage"(R& +4 "core" &K \  + "manipulator"&3& +4 "core" &\ p q " _ +2 .tElbow.seek 6 +2 "manipulator"&O( +3 "core" ( + "manipulator"&`& +4 "core" &  } F _ +2 "storage"(&& +4 "core" &K \  +2 .tForearm.seek 6 + 450 counts + "manipulator"&('< +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"(\ 'M +62 "core" ' + "manipulator"&U& +5 "core" & } x o _ + "storage"(p& +4 "core" &K z  V\  + .tElbow.reconfigure :limp +7 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&0'z +34 "core" ' + .tElbow.hold +2 "manipulator"& , +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"(m'7 +21 "core" ' + "manipulator"&-% +5 "core" %Ίr $ +2 "storage"($& +4 "core" &K   +\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 316 counts +2 "manipulator"&<'϶ +16 "core" ' +2 "manipulator"&E& +4 "core" &\ k ^ _ +2 "storage"(v& +4 "core" &K o x \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&a'< +18 "core" ' + "storage"(o% +5 "core" %? %\ +2 ."downElevator"SE.seek :down +4 "storage"(;'N +98 ()% +3 "core" %]C u j \ V` +2 "manipulator"&% +3 "core" %6 r y +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +52 "manipulator"&D'\ +93 "core" ' +5 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (& +4 "core" &K ; Q \  +2 "collection"']& +4 "core" &]x $\ S +2 #tStoring generic puck in Collection Clamp to tube 6 + "manipulator"&M% +4 "core" %\ 8 %w +2 "storage"(% +4 "core" %7 Y Y\ + "storage"(@. +3 "core" .(K +2 "storage"(s& +4 "core" &K Y Y\  + "storage"(n& +4 "core" &K Y Y\  +2 "manipulator"&d& +4 "core" & _ + .tElbow.seek 6 +2 "manipulator"&Q( +3 "core" ( +2 "manipulator"&& +4 "core" &\ { _ + "storage"(q& +4 "core" &K X X 6\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&g'< +93 "core" ' +2 "storage"(C& +4 "core" &K m [\  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(2'e +281 "core" ' + "storage"(z- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&& +3 "core" &\ N _ +2 "storage"(\\& +4 "core" &K } } \  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&7'z +36 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(l- +2 "core" -' +2 .tSE.seek 0.12 Pucks below Top Plate +2 "storage"(F's +28 "core" ' +2 "manipulator"&% +4 "core" %΅k  + "storage"(|& +5 "core" &K   =\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 311 counts + "manipulator"& 'ϱ +12 "core" ' + "manipulator"&[& +4 "core" & b } , _ +2 "storage"(A& +4 "core" &K \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&8'< +20 "core" ' +2 .tSE.seek 1.12 Pucks below Top Plate + "storage"(c'b +41 "core" ' +2 "manipulator"&w& +4 "core" &\ s z _ +2 "manipulator"&*% +4 "core" % u z v  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&}'\ +93 "core" ' +2 .tElbow.seek CC +2 "manipulator"&( +149 "core" ( +2 "manipulator"&i& +4 "core" && z =B + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &+& +3 "core" && i =B +2 .tForearm.seek CC + "manipulator"&L'| +95 "core" ' + .tHand.close +2 "manipulator"&/ +55 "core" / +2 .tCC.seek :open + "collection"'(p +414 "core" ( + "storage"(_& +4 "core" &K I\  +2 "storage"("& +4 "core" &K C\  + "manipulator"& & +4 "core" &" :* + "manipulator"&% +4 "core" % ό +2 .tForearm.seek :retract + "manipulator"&N'\ +92 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&e( +170 "core" ( + "manipulator"&y& +5 "core" &  6 + "storage"(& +4 "core" &K B\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 6 +2 "manipulator"&h'z +109 "core" ' + .tElbow.hold +2 "manipulator"&j, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&11 +59 "core" 1 +3 "manipulator"&'% +4 "core" % Ό : + "storage"(6& +4 "core" &K \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 318 counts + "manipulator"&='ϸ +22 "core" ' +2 "manipulator"&& +4 "core" & r r G 6 +2 "storage"(G& +4 "core" &K i\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&/'< +17 "core" ' +2 "storage"(% +4 "core" %i ~\ +2 ."downElevator"SE.seek :down +3 "storage"(S'N +100 (W% +2 "core" %? \ U\\ +2 "manipulator"&{% +4 "core" %7 p o +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&?'\ +94 "core" ' +47 ' + ."downElevator"SE.stop +2 "storage"(5 +2 #tShuffling pucks in tube 7 of [5..7] +2 #Loading generic puck from tube 7 into Collection Clamp + "collection"'& +5 "core" &$%W\ + "manipulator"&B% +4 "core" %\ 6 & +2 "storage"(.% +4 "core" %A \  + "storage"(k. +3 "core" .(K +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 7 + "storage"(4([ +355 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (9& +2 "core" &[ r g k\  +2 "manipulator"&b& +4 "core" & 6 + .tElbow.seek 7 +2 "manipulator"& ( +18 "core" ( +2 "manipulator"&& +4 "core" & \\  + "storage"(& +4 "core" &[ ,\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&'k +94 "core" ' + "storage"(%& +4 "core" &[ E\  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(r'e +289 "core" ' +2 "storage"(x- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +2 "core" &[ \  +2 "manipulator"&V& +3 "core" & q r H  +2 .tElbow.seek 7 +2 "manipulator"&^( +3 "core" ( + "manipulator"&,& +4 "core" & s { &  + "storage"(& +4 "core" &[ E\  +2 .tForearm.seek 7 + 300 counts +2 "manipulator"&>' +11 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&:/ +53 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&H& +2 "storage"(K'N +7 "core" & | ~   + "manipulator"&T% +4 "core" % | | X +2 .tForearm.seek :retract +2 "manipulator"&f'\ +95 "core" ' +2 .tElbow.seek CC + "manipulator"&( +149 "core" ( + "manipulator"&~& +5 "core" & R 0 +5 ' +2 .tElbow.reconfigure :loose +2 ."downElevator"SE.stop +4 "manipulator"&$ &.,(#b "storage"(5 +3 "manipulator"&Y& +6 "core" & J 0 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"& '| +104 "core" ' +2 "manipulator"&& +4 "core" & Y 0 +2 "manipulator"&% +4 "core" %υ k +2 "collection"'& +4 "core" &%'8\ +2 "collection"'& +5 "core" &$%V\ +2 .tCC.seek :closed +2 "collection"'I(] +4 "core" &&(8\  +9 &2$(;\ *y +9 &c&'=\ = +9 &Lv$(7\ M +10 &Z'&:\ L +9 &\\&'<\ M +10 &\\%$7\ L +9 &!U]&%W\ L +9 &#[&&!\ L +10 &$X%'7\ L +9 &&["%6\ L +9 &(]]"'7\ L +10 &* [#&;\ L +9 &+Z%%7\ L +10 &-Z&(9\ L +9 &/f]$':\ L +9 &1'\\$!7\ L +10 &2X'&;\ L +9 &4Z&&6\ L +9 &6mZ#%6\ L +10 &8/X"&6\ L +9 &9\\&%6\ L +10 &;W"#8\ L +9 &=v[##=\ L +9 &?7Z%%9\ L +10 &@Y$%<\ L +9 &B\\%&9\ M +9 &D}Z$&<\ L +10 &F?Y"%:\ L +9 &G_;\ M +10 &In7\ O +9 &Kx|:\ Q +9 &M.!:\ U +10 &N,\ V +9 &P6\ V +9 &Rl:\ X +10 &T-lt;\ X +9 &U\\a6\ Y +10 &WJQ8\ Y +9 &Ye=C6\ ] +11 &[--32\ [ +8 &\\z \ 2 +9 &]*+\ C +9 ( +2 &]L\ > +2 "collection"'& +3 #tCollection Clamp onSpring/offSpring for 9/25 samples, on/off torque 2.14 + .Hand.open + "manipulator"&R1 +58 "core" 1 + "manipulator"&3% +4 "core" % u 6 +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&`'\ +96 "core" ' +2 #tLoading generic puck from tube 7 into Processing Clamp + "processing"%&& +4 "core" &\ +2 "manipulator"&#% +3 "core" %\ 3 j %z +2 "storage"(U% +4 "core" %M g i \ + "storage"(p. +3 "core" .([ +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 7 + "storage"(5([ +4 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +2 (-& +3 "core" &[ Y \\\  +2 "manipulator"&$& +3 "core" & N 0 +2 "manipulator"&!% +4 "core" %\ 3 3 %z +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 7 +2 "manipulator"&E( +169 "core" ( + "manipulator"&v& +55 "core" & !r + "storage"(o& +4 "core" &[ }\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&u'k +103 "core" ' + "storage"(t& +4 "core" &[ \  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(P'e +282 "core" ' + "storage"()- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" &[ x u \  + "manipulator"&(& +4 "core" &  !q +2 .tElbow.seek 7 +2 "manipulator"&O( +3 "core" ( +2 "manipulator"&\ & +4 "core" & P !q + "storage"(0& +4 "core" &[ l\  +2 .tForearm.seek 7 + 300 counts +2 "manipulator"&' +19 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"& +14 &Gu\ M +5 & Yj\ M +9 &Z\ M +10 &[\ M +9 &!OZ\ M +9 &#W\ L +10 &$X\ M +9 &&\\\ M +9 &(YX\ L +10 &*Y\ L +9 &+X\ M +10 &-X\ M +9 &/`Z\ M +9 &1!X\ M +10 &2Z\ M +9 &4X\ L +9 &6hW\ M +10 &8*W\ M +9 &9X\ M +10 &;Y\ L +9 &=pX\ M +9 &?2[\ M +10 &@[\ M +9 &BZ\ M +9 &DxZ\ M +10 &F9\\\ M +9 &Gf\ N +10 &Ir\ O +9 &Kr\ Q +9 &M.\ S +10 &NO\ T +9 &P\ S +9 &Rs\ T +10 &T6\ S +9 &UR\ T +10 &W\ T +9 &Yy{\ A +9 &Zv;\ ^ +10 &Z W\ * +2 ( +2 "processing"%a& +3 #tProcessing Clamp onSpring/offSpring for 9/25 samples, on/off torque 1.66 + .Hand.open + "manipulator"& 1 +57 "core" 1 +2 "manipulator"&D% +4 "core" % O +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&z'\ +97 "core" ' +2 "processing"%& +4 "core" &Z\ * +2 #tImaging generic puck in Processing Clamp while storing it to tube 7 + "manipulator"&\\% +4 "core" %\ 3 %x + "storage"(l% +4 "core" %G v v \\\  + "storage"(. +3 "core" .([ +2 "storage"(|& +3 "core" &[ v v \\\  +2 "storage"([& +5 "manipulator"&A& +4 "core" &[ w v P\  + &d +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +6 "manipulator"&$&.,(\ #b + "storage"(#]kK-0-\ b +3 .tElbow.seek PC +5 "manipulator"&w(c +3 ."raiseStack"SE.seek :beamBreak +3 "storage"(*'e +2 "core" ( +2 "manipulator"&g& +4 "core" &d + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &Q& +3 "core" &d } +2 .tForearm.seek PC +2 "manipulator"&2'[ +94 "core" ' + .tHand.close +2 "manipulator"&7/ +56 "core" / +2 .tPC.seek :open +2 "processing"% (p +97 "core" ' + "storage"(F- +4 "core" -'e + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +2 ."raiseStack"SE.seek :place +2 "storage"(i'B +34 "core" ' +247 ( +2 "storage"(+& +4 "core" &[ \  + "manipulator"&8& +4 "core" &d  +2 "manipulator"&% +3 "core" % U   +2 .tForearm.seek :retract +2 "manipulator"&'\ +96 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 7 + "manipulator"&}( +247 "core" ( + "manipulator"&Z& +4 "core" &\  W +2 "storage"(_& +4 "core" &[ f g \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +7 .tForearm.seek 7 + 450 counts +2 "manipulator"&"'k +104 "core" ' + .tHand.open +2 "manipulator"& 1 +53 "core" 1 +2 "storage"(- +4 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate + "storage"(y' +25 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(' +53 "core" ' + #tLights, camera, ACTION! +2 "storage"(L- +3 "core" -' +2 "storage"(& +4 "core" &[\ \  \  + "manipulator"&1& +4 "core" &\ r r W +2 .tElbow.seek 7 +2 "manipulator"&'( +3 "core" ( +2 "manipulator"&6& +4 "core" &\ u ` t W + "storage"(& +4 "core" &[ \  \  +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&G'k +10 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.11 Pucks below Top Plate + "storage"('M +61 "core" ' +2 "manipulator"&N& +4 "core" &\ o q 9 W +2 "storage"(W& +4 "core" &[ \  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 7 + "manipulator"&{'Ω +34 "core" ' + .tElbow.hold +2 "manipulator"&e, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"(h'7 +22 "core" ' +2 "manipulator"&% +4 "core" %μ d +2 "storage"(B& +4 "core" &[ Y Y \  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 7 + 319 counts +2 "manipulator"&=' +18 "core" ' +2 "manipulator"&.& +4 "core" &\ v \\  W +6 "storage"(k& +4 "core" &[ =\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&c'k +17 "core" ' +2 "storage"(/% +4 "core" %@ *\  +3 ."downElevator"SE.seek :down +4 "storage"(S'N +99 (J% +3 "core" %C \ V_ +2 "manipulator"&9% +4 "core" %g q p t +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&b'\ +90 "core" ' +57 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (& +4 "core" &[ Y Z\  +2 "collection"'& +4 "core" &]LL\ > +2 #tStoring generic puck in Collection Clamp to tube 7 + "manipulator"&%% +4 "core" %\ 1 $m +2 "storage"(j% +4 "core" %; \  + "storage"(?. +3 "core" .([ + "storage"(x& +4 "core" &[ \  +2 "storage"(& +4 "core" &[ 4\  + "manipulator"&V& +4 "core" &\ W +2 .tElbow.seek 7 + "manipulator"&,( +3 "core" ( +2 "manipulator"&& +4 "core" &\ ! W + "storage"(:& +4 "core" &[ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&H'k +106 "core" ' +2 "storage"(T& +4 "core" &[ :\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"( 'e +278 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&~& +3 "core" &\ y o ; W + "storage"(Y& +4 "core" &[ $\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 7 + "manipulator"&r'Ω +35 "core" ' +2 .tElbow.hold + "manipulator"&>, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(- +2 "core" -' +3 .tSE.seek 0.11 Pucks below Top Plate + "storage"('n +27 "core" ' +2 "manipulator"&^% +4 "core" %λ f + "storage"(& +4 "core" &[ [ Y\  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 7 + 318 counts +2 "manipulator"&K' +18 "core" ' + "manipulator"&f& +5 "core" &\ v _ D W +51 "storage"(& +4 "core" &[ k\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&R'k +17 "core" ' +2 .tSE.seek 1.11 Pucks below Top Plate +2 "storage"(3'] +47 "core" ' + "manipulator"&&& +5 "core" &\ n o  W + "manipulator"&#% +4 "core" %q q s 1  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&U'\ +87 "core" ' +2 .tElbow.seek CC + "manipulator"&p( +142 "core" ( +2 "manipulator"&& +4 "core" & 0 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &-& +3 "core" & 0 +2 .tForearm.seek CC + "manipulator"&$'| +100 "core" ' + .tHand.close + "manipulator"&!/ +52 "core" / +3 .tCC.seek :open + "collection"' (p +410 "core" ( +2 "storage"(v& +4 "core" &[ \  + "storage"(o& +4 "core" &[ \  + "manipulator"&4& +4 "core" & > / +2 "manipulator"&% +3 "core" % i +2 .tForearm.seek :retract +2 "manipulator"&t'\ +100 "core" ' +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 7 +2 "manipulator"&`( +151 "core" ( + "manipulator"&)& +4 "core" & , +2 "storage"(& +3 "core" &[ 7\  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 7 +2 "manipulator"&('Ω +112 "core" ' + .tElbow.hold +2 "manipulator"&\ , +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&01 +55 "core" 1 +2 "manipulator"&<% +4 "core" % μ P Y +2 "storage"(]& +4 "core" &[ k\  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 7 + 319 counts +2 "manipulator"&' +17 "core" ' +2 "manipulator"&E& +3 "core" & P h I +2 "storage"(u& +4 "core" &[ e\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&P'k +16 "core" ' +2 "storage"(% +4 "core" %\\ {\ +2 ."downElevator"SE.seek :down +4 "storage"(m'N +98 (n% +3 "core" %)? \ U\\ +2 "manipulator"&O% +5 "core" %\\ p p  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +88 "core" ' +50 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 5 of [5..7] + #Loading generic puck from tube 5 into Collection Clamp +2 "collection"'q& +4 "core" &%&<\ + "manipulator"&C% +5 "core" %\ +  !T + "storage"(M% +4 "core" %7 \  +2 "storage"(@. +3 "core" .([ +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"(X(<< +671 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 ( & +3 "core" &<> \ \ + "manipulator"&D& +4 "core" &  +2 .tElbow.seek 5 + "manipulator"&( +36 "core" ( + "manipulator"&\\& +4 "core" &  d  +2 "storage"(l& +4 "core" & +10 &Zt$&E\ M +9 &W&%=\ L +9 &[$&;\ M +10 &^$&6\ L +9 &!d]$&6\ L +9 &#%]%&:\ M +10 &$Z%%<\ L +9 &&^%$:\ L +10 &(l]#'6\ L +9 &*.]$'7\ L +9 &+[#&8\ L +10 &-Z#!6\ L +9 &/tX$%<\ L +9 &15X#%;\ M +10 &2[#$:\ M +9 &4Y#%<\ L +9 &6|W$&<\ L +10 &8>[#$8\ L +9 &:Z"%<\ L +10 &;U"&8\ L +9 &=\\"$:\ L +9 &?EZ##;\ M +10 &A[#$<\ M +9 &B_$$:\ L +10 &DX$&9\ L +9 &FN]#?\ L +9 &H^ <\ M +10 &Im<\ N +9 &Kq<\ Q +9 &M8=\ W +10 &N<\ V +9 &P4\ W +10 &R|:\ W +9 &T<v|=\ X +9 &Ucj3\ Y +10 &WRX9\ Y +9 &YyBJ5\ [\ +9 &[<298\ [ +10 &\\z '9\ . +9 &]+;\ ] +9 ( +2 &]Z4\ G +2 "collection"'& +3 #tCollection Clamp onSpring/offSpring for 9/25 samples, on/off torque 2.14 + .Hand.open +2 "manipulator"&1 +63 "core" 1 +2 "manipulator"&1% +4 "core" % u j +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&6'\ +97 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp + "processing"%& +4 "core" &\ +2 "manipulator"&% +3 "core" %\ 6 B & +2 "storage"(N% +4 "core" %H v v n\  + "storage"(W. +3 "core" .(<< +2 "storage"(i& +4 "core" &<< w v W\ + "storage"(& +4 "core" &<< q s !\ +2 "manipulator"&B& +3 "core" &%  =F +2 "manipulator"&y% +4 "core" %\ 6  & +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&.( +159 "core" ( + "manipulator"&k& +5 "core" & G \ + "storage"(/& +4 "core" &<< *\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&}' +98 "core" ' +2 "storage"("& +4 "core" &<< \\\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('e +276 "core" ' +2 "storage"(J- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (9& +3 "core" &<9 p J\ + "manipulator"&G& +4 "core" &  \ +2 .tElbow.seek 5 + "manipulator"&'( +3 "core" ( +2 "manipulator"&& +3 "core" & k  \ +2 "storage"({& +4 "core" &<9 \ +2 .tForearm.seek 5 + 300 counts + "manipulator"&'[ +21 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&=/ +52 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"(%'N +7 "core" & p o \ +2 "manipulator"&j% +4 "core" % \\ n o +2 .tForearm.seek :retract + "manipulator"&?'\ +95 "core" ' +2 .tElbow.seek PC + "manipulator"&x(c +152 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +86 "core" ( + "manipulator"&h& +4 "core" &k   +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &k r  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&V'[ +104 "core" ' +2 "manipulator"&& +4 "core" &k *  + "manipulator"&:% +4 "core" %_ ^ +2 "processing"%c& +4 "core" &\ +2 "processing"%T& +5 "core" &\ +2 .tPC.seek :closed + "processing"%S(Z +5 "core" &\ +6 &:\ $d +57 &uW\ 7 +2 &{m\ K + &Y\ L + &HY\ M + &\ Z\ M + & [\ M +3 &"W\ M +9 &$QY\ M +10 &&X\ M +9 &'Y\ M +9 &)Y\ M +10 &+YW\ M +9 &-[\ M +10 &.Z\ M +9 &0Y\ M +9 &2_Z\ M +10 &4"W]\ M +9 &5Y\ M +9 &7Zy\ M +10 &9iX\ M +9 &;+YS\ M +10 &<Wd\ M +9 &>Z\ M +9 &@pZ \ M +10 &B1Z\ M +9 &CZ\ N +9 &EYN\ M +10 &Gud\ N +9 &I3k\ O +10 &Jy\ Q +9 &L\ S +9 &Nl\ T +10 &P/\ S +9 &Q\ S +9 &S\ T +10 &UtR\ T +9 &W4\ T +10 &X`\ T +9 &ZMGe\ )y +9 &Z1\ - +6 ( + "processing"%T& +5 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.62 + .Hand.open + "manipulator"&e1 +3 "core" &Z!\ - +56 1 + "manipulator"&b% +5 "core" % _ + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +95 "core" ' +2 "processing"%~& +4 "core" &Z \ - +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 + "manipulator"&Y% +4 "core" %\ / #h + "storage"(% +4 "core" %6 v v k\  +2 "storage"(^. +3 "core" .(<< + "storage"(& +4 "core" &<9 u v \ +2 "storage"(f& +4 "manipulator"&& +4 "core" &<9 u t L\ + &k  +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +6 "manipulator"&$&.,(\ #b + "storage"(#]kK-0-\ b +3 .tElbow.seek PC +5 "manipulator"&&(c +3 ."raiseStack"SE.seek :beamBreak +2 "storage"(#'e +3 "core" ( + "manipulator"&H& +4 "core" &k _  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &,& +3 "core" &k  +2 .tForearm.seek PC + "manipulator"& '[ +96 "core" ' +2 .tHand.close + "manipulator"&r/ +58 "core" / +2 .tPC.seek :open +2 "processing"%K(p +89 "core" ' +2 "storage"(- +3 "core" -'e +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +2 ."raiseStack"SE.seek :place +2 "storage"('B +39 "core" ' +252 ( +2 "storage"(-& +4 "core" &<8 \ +2 "manipulator"&R& +4 "core" &k L  + "manipulator"&>% +4 "core" % S +2 .tForearm.seek :retract +2 "manipulator"&!'\ +100 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&U( +250 "core" ( + "manipulator"&I& +4 "core" &\  W +2 "storage"(v& +3 "core" &<8 } } ~\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&o' +103 "core" ' + .tHand.open + "manipulator"&41 +62 "core" 1 +2 "storage"(- +3 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate +2 "storage"()' +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(' +53 "core" ' +2 #tLights, camera, ACTION! + "storage"($- +3 "core" -' +2 "storage"(p& +4 "core" &<7 \ + "manipulator"&0& +4 "core" &\  W +2 .tElbow.seek 5 + "manipulator"&<( +4 "core" ( + "manipulator"&]& +4 "core" &\  W + "storage"(E& +4 "core" &<7 V\ +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&u' +24 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +7 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"('M +59 "core" ' +2 "manipulator"&t& +4 "core" &\ p o $ W +2 "storage"(n& +4 "core" &<7 A\ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 + "manipulator"&O'/ +34 "core" ' + .tElbow.hold +2 "manipulator"&`, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"(('7 +25 "core" ' +2 "manipulator"&q% +5 "core" %?} F + "storage"(C& +4 "core" &<7 @ A w\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 316 counts +2 "manipulator"&'k +17 "core" ' +2 "manipulator"&M& +4 "core" &2 v `  & +2 "storage"(@& +4 "core" &<7 \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&3' +19 "core" ' +2 "storage"(P% +4 "core" %> \ +3 ."downElevator"SE.seek :down +4 "storage"(m'N +99 (5% +3 "core" %@ \ Va +2 "manipulator"& % +4 "core" % q o $  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&D'\ +95 "core" ' +57 ' + ."downElevator"SE.stop + "storage"(5 +3 (\\& +3 "core" &<7 Y [\ +2 "collection"'l& +8 "core" &]ZH\ G +2 #tStoring generic puck in Collection Clamp to tube 5 + "manipulator"&|% +4 "core" %\ 6 & +2 "storage"(\ % +4 "core" %I f f a\  + "storage"(. +3 "core" .(<< +2 "storage"([& +3 "core" &<7 s \ +2 "storage"(a& +3 "core" &<7 g i N\ +2 "manipulator"&g& +4 "core" &2 & + .tElbow.seek 5 +2 "manipulator"&d( +22 "core" ( + "manipulator"&7& +4 "core" & q +2 "storage"(s& +3 "core" &<7 ]\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&z' +93 "core" ' +2 "storage"(+& +4 "core" &<7 N\ +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"('e +279 "core" ' +4 "storage"(- +8 "core" -' +5 .tSE.configure :default +4 "storage"(#QK-0-\ b +7 "manipulator"&*& +13 "core" & y o Z q +4 "storage"(2& +12 "core" &<7 \ +4 .tElbow.reconfigure :limp +4 "manipulator"&$ ,(b +6 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +4 .tForearm.seek 5 +4 "manipulator"&A'/ +30 "core" ' +4 .tElbow.hold + "manipulator"&F, +8 "core" , +2 .tElbow.reconfigure :tight +6 "manipulator"&$&.,(\ #b +4 "storage"(_- +4 "core" -' +6 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(Q'm +42 "core" ' +4 "manipulator"&w% +10 "core" %@w _ 7 +6 "storage"( & +11 "core" &<7 V [ A\ +2 .tForearm.force -20 +4 "manipulator"&5 +6 .tForearm.seek 5 + 317 counts +5 "manipulator"&;'l +18 "core" ' +4 "manipulator"&8& +8 "core" &" p p P +5 "storage"( & +8 "core" &<7 '\ +6 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 5 + 450 counts +5 "manipulator"&' +24 "core" ' +4 .tSE.seek 1.11 Pucks below Top Plate + "storage"(1'\\ +42 "core" ' +2 "manipulator"&& +6 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +6 "core" &" p o  P +2 "manipulator"&% +9 "core" % p q \  +4 .tForearm.reconfigure :loose +6 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +4 "manipulator"&N'\ +98 "core" ' +2 .tElbow.seek CC +4 "manipulator"&W( +173 "core" ( +4 "manipulator"&& +13 "core" &. U Ct +6 .tElbow.reconfigure :loose +5 "manipulator"&$ &.,(#b +6 &i& +8 "core" &- A Cs +6 .tForearm.seek CC + "manipulator"&'| +97 "core" ' + .tHand.close +2 "manipulator"&B/ +57 "core" / + .tCC.seek :open +2 "collection"'y(p +411 "core" ( + "storage"(Z& +4 "core" &<7 \ +2 "storage"(k& +3 "core" &<7 \ +2 "manipulator"&/& +3 "core" &\ , , Bk +2 "manipulator"&"% +4 "core" % ρ   +2 .tForearm.seek :retract + "manipulator"&'\ +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&6( +51 "Can" .EB +106 "core" ( +2 "manipulator"&J& +4 "core" &  ` \ + "storage"(9& +4 "core" &<7 o\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 5 + "manipulator"&G'/ +108 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +56 "manipulator"&{1 +58 "core" 1 +2 "manipulator"&=% +4 "core" % B u + "storage"(& +4 "core" &<7 V\ + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 5 + 319 counts +2 "manipulator"&j'n +17 "core" ' +2 "manipulator"&.& +4 "core" &1 ] v 3  +2 "storage"(}& +4 "core" &<7 4\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&' +21 "core" ' +2 "storage"(% +4 "core" %b }\ +2 ."downElevator"SE.seek :down +3 "storage"(h'N +100 (% +2 "core" %A J\ U[ +2 "manipulator"&'% +4 "core" % o o +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +95 "core" ' +47 ' +2 ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 6 of [5..7] + #Loading generic puck from tube 6 into Collection Clamp +2 "collection"':& +4 "core" &(%S\ + "manipulator"&c% +5 "core" %\ 4  & + "storage"(%% +4 "core" %= M\ +2 "storage"(?. +3 "core" .(<< +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 + "storage"( (K +357 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (e& +3 "core" &K } } \  + "manipulator"&b& +4 "core" &1   +2 .tElbow.seek 6 + "manipulator"&~( +14 "core" ( + "manipulator"&Y& +4 "core" &  +2 "storage"(& +4 "core" &K :\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&^'< +101 "core" ' +2 "storage"(& +3 "core" &K t\  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(T'e +280 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (f& +3 "core" &K \  +2 "manipulator"&H& +4 "core" & r t [  +2 .tElbow.seek 6 +2 "manipulator"&,( +3 "core" ( + "manipulator"&V& +4 "core" & a   +2 "storage"(r& +4 "core" &K \  +2 .tForearm.seek 6 + 300 counts + "manipulator"&'Ϧ +20 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&x/ +57 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"(S'N +7 "core" &   +2 "manipulator"&-% +4 "core" % Ϭ  +2 .tForearm.seek :retract + "manipulator"&R'\ +98 "core" ' +2 .tElbow.seek CC + "manipulator"&#( +148 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +3 "core" ( + "manipulator"&>& +4 "core" & z . + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 & & +3 "core" & . +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&I'| +104 "core" ' + "manipulator"&v& +4 "core" & . +2 "manipulator"&&% +4 "core" %h +2 "collection"'4& +4 "core" &$%N\ +2 "collection"'& +5 "core" &$#h\ +2 .tCC.seek :closed + "collection"'$(] +4 "core" &#&+\ +7 &7%'K\ $c +9 &iU$&g\ 6 +10 &&%M\ K +9 &zZ$(,\ L +10 &<Z$$G\ L +9 &Z#'=\ M +9 & [($<\ M +10 &"Z"%\ M +9 &$BZ'&I\ M +9 &&Z%&\ L +10 &'W$%-\ L +9 &)W#&8\ L +10 &+JZ#%9\ M +9 &-Y&'\ L +9 &.Z#%\ M +10 &0[#&U\ M +9 &2RZ#%(\ M +9 &4Z$&8\ M +10 &5Y#$<\ L +9 &7W#%:\ L +9 &9[Y##6\ L +10 &;V#$?\ L +9 &<Z%$<\ L +10 &>X$%\ L +9 &@cW$$U\ L +9 &B%W$$"\ L +10 &CX%%,\ L +11 &EW#$\ L +7 &Gi`\ M +10 &I(k\ N +9 &J}\ P +10 &L6&\ U +9 &NV\ V +9 &P\ V +10 &Q\ W +9 &S\ W +10 &UUkr'\ Y +9 &W]d\ Y +9 &XLU"\ Z +10 &Z=B\ [ +9 &\\H*2/\ L +9 &]Z3"&\ )w +10 &] \ J +5 ( +2 "collection"'& +4 #tCollection Clamp onSpring/offSpring for 9/26 samples, on/off torque 2.12 + .Hand.open + "manipulator"&p1 +4 "core" &]h"'\ J +58 1 +2 "manipulator"&0% +4 "core" % f +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&]'\ +94 "core" ' +2 #tLoading generic puck from tube 6 into Processing Clamp + "processing"%E& +5 "core" &\ + "manipulator"&!% +4 "core" %\ 3 0 %x + "storage"(t% +4 "core" %? v v \  + "storage"(n. +3 "core" .(K +2 "storage"(& +3 "core" &K k q T\  +2 "storage"(q& +4 "core" &K v v ^\  + "manipulator"&C& +4 "core" & F . + "manipulator"&)% +4 "core" %\ 3 T %x +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&M( +155 "core" ( + "manipulator"&@& +4 "core" & H + "storage"(P& +4 "core" &K f h 5\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&U'< +97 "core" ' +2 "storage"(o& +4 "core" &K \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"('e +281 "core" ' + "storage"(5- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 ( & +3 "core" &K q z \  +2 "manipulator"&u& +3 "core" & p p  +2 .tElbow.seek 6 + "manipulator"&<( +3 "core" ( +2 "manipulator"&& +3 "core" & v t $ +2 "storage"(O& +4 "core" &K n r \  +2 .tForearm.seek 6 + 300 counts + "manipulator"&'Ϧ +20 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&\\/ +58 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&l& +2 "storage"(|'N +7 "core" & o q ' +2 "manipulator"&\ % +4 "core" % ϟ p o  +2 .tForearm.seek :retract + "manipulator"&('\ +94 "core" ' + .tElbow.seek PC +2 "manipulator"&(c +161 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +83 "core" ( + "manipulator"&[& +4 "core" &j S +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &a& +3 "core" &j l +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&g'[ +100 "core" ' +2 "manipulator"&7& +4 "core" &j N + "manipulator"&s% +4 "core" %W  +2 "processing"%3& +4 "core" &\ +2 "processing"%+& +6 "core" &\ +2 .tPC.seek :closed +2 "processing"%m(Z +4 "core" &\ +7 & 1\ $c +9 &`U|\ 6 +10 &~\ K +9 &k[\ M +9 &-X\ M +10 &YX\ M +9 & Z\ M +9 &"tX\ M +10 &$6W\ M +9 &%Y|\ L +10 &'Y\ M +9 &){\\\ M +9 &+>W\ M +10 &-Z\ L +9 &.Z\ M +9 &0Y\ L +10 &2FZ\ M +9 &4 X\ L +10 &5Z^\ M +9 &7Y)\ L +9 &9MY\ M +10 &;[j\ M +9 &<Z\ M +9 &>Z\ M +10 &@UY\ M +9 &B[\ M +10 &CZO\ M +9 &EW\ M +9 &GZeO\ N +10 &In\ O +9 &J\ Q +9 &L\ S +10 &NPU\ T +9 &PY\ T +10 &QV\ T +9 &S\ T +9 &UW\ T +10 &W\ T +9 &X^\ U +9 &Z8Mo\ . +10 &Z(S\ ( +5 ( +2 "processing"%+& +4 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.61 + .Hand.open + "manipulator"&`1 +3 "core" &Z\ ( +53 1 +2 "manipulator"&D% +4 "core" % W +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +94 "core" ' +2 "processing"%*& +4 "core" &Z\ ( +2 #tImaging generic puck in Processing Clamp while storing it to tube 6 + "manipulator"&2% +4 "core" %\ 3 %z +2 "storage"(_% +3 "core" %N X Y [\ +2 "storage"(w. +3 "core" .(K + "storage"( & +4 "core" &K X Y G\  +2 "storage"(8& +2 "manipulator"& & +7 "core" &K Y Y \  + &j +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +4 "storage"(#]kK-0-\ b + "manipulator"&(c +5 ."raiseStack"SE.seek :beamBreak +2 "storage"(z'e +3 "core" ( + "manipulator"&& +4 "core" &j + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &d& +3 "core" &j x +2 .tForearm.seek PC + "manipulator"&'[ +95 "core" ' + .tHand.close +2 "manipulator"&A/ +59 "core" / +2 .tPC.seek :open +52 "processing"%;(p +41 "core" ' + "storage"(Q- +4 "core" -'e + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +2 ."raiseStack"SE.seek :place +2 "storage"('B +40 "core" ' +298 ( + "storage"(i& +4 "core" &K \  +2 "manipulator"&& +3 "core" &j ? +2 "manipulator"&F% +4 "core" % i   +2 .tForearm.seek :retract +2 "manipulator"&B'\ +91 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 + "manipulator"&N( +262 "core" ( + "manipulator"&L& +5 "core" & j ) + "storage"(Z& +4 "core" &K u v \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&k'< +89 "core" ' + .tHand.open +2 "manipulator"&/1 +62 "core" 1 +2 "storage"("- +4 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate +2 "storage"(J' +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(9' +53 "core" ' + #tLights, camera, ACTION! +2 "storage"(- +3 "core" -' +2 "storage"(W& +4 "core" &K R\  + "manipulator"&{& +4 "core" &  ) +2 .tElbow.seek 6 + "manipulator"&=( +4 "core" ( + "manipulator"&& +4 "core" &  ) + "storage"(.& +4 "core" &K \  +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&}'< +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"('M +59 "core" ' +2 "manipulator"&& +4 "core" & \ ( +2 "storage"(6& +3 "core" &K s \  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 + "manipulator"&'z +37 "core" ' + .tElbow.hold +2 "manipulator"&', +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"(G'7 +27 "core" ' +2 "manipulator"&:% +4 "core" %~r & + "storage"(j& +4 "core" &K   6\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 304 counts + "manipulator"&c'Ϫ +19 "core" ' + "manipulator"&%& +5 "core" & g z  ( +2 "storage"(?& +4 "core" &K \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&1'< +17 "core" ' +2 "storage"(% +4 "core" %6 \ +3 ."downElevator"SE.seek :down +4 "storage"(h'N +99 (X% +3 "core" %; { | \ U] +2 "manipulator"&e% +4 "core" %8 } s +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&b'\ +93 "core" ' +59 ' + ."downElevator"SE.stop + "storage"(5 +3 (Y& +4 "core" &K : J >\  + "collection"'& +4 "core" &]h \ J +2 #tStoring generic puck in Collection Clamp to tube 6 + "manipulator"&% +4 "core" %\ 8 ' +2 "storage"(% +3 "core" %I v v u\  +2 "storage"(. +3 "core" .(K + "storage"(& +4 "core" &K v v *\  +2 "storage"(f& +4 "core" &K s t I\  + "manipulator"&H& +4 "core" & ( +2 .tElbow.seek 6 + "manipulator"&V( +4 "core" ( + "manipulator"&r& +4 "core" & ( + "storage"(x& +4 "core" &K v v \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&'< +96 "core" ' +2 "storage"(-& +4 "core" &K !\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(~'e +277 "core" ' +2 "storage"(^- +3 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&>& +3 "core" & , ( +2 "storage"( & +4 "core" &K k g \ \  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&T'z +34 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(v- +2 "core" -' +2 .tSE.seek 0.12 Pucks below Top Plate +2 "storage"(&'t +27 "core" ' +2 "manipulator"&4% +4 "core" %g , D  + "storage"(,& +4 "core" &K   `\  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 6 + 305 counts + "manipulator"&S'ϫ +19 "core" ' + "manipulator"&R& +5 "core" & i z m ( + "storage"(y& +4 "core" &K \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&p'< +18 "core" ' +2 .tSE.seek 1.12 Pucks below Top Plate +2 "storage"(0'c +41 "core" ' + "manipulator"&E& +5 "core" & p p  ( + "manipulator"&!% +4 "core" %6 t } +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&t'\ +93 "core" ' +2 .tElbow.seek CC + "manipulator"&n( +137 "core" ( +2 "manipulator"&& +4 "core" & d 0 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" & X 0 +2 .tForearm.seek CC +2 "manipulator"&q'| +107 "core" ' + .tHand.close +2 "manipulator"&C/ +60 "core" / +2 .tCC.seek :open +2 "collection"')(p +410 "core" ( +2 "storage"(I& +4 "core" &K F\  + "storage"(@& +4 "core" &K +\  + "manipulator"&P& +4 "core" & ] 0 +2 "manipulator"&o% +3 "core" % r ; +2 .tForearm.seek :retract +2 "manipulator"&#'\ +90 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 + "manipulator"&]( +155 "core" ( + "manipulator"&5& +5 "core" &   + "storage"( & +4 "core" &K w\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 6 + "manipulator"&u'z +111 "core" ' + .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&O1 +53 "core" 1 +2 "manipulator"&\\% +4 "core" % · + "storage"(l& +4 "core" &K \  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 6 + 313 counts +2 "manipulator"&\ 'ϳ +16 "core" ' +2 "manipulator"&M& +4 "core" & j p h  +2 "storage"(U& +4 "core" &K 5\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&'< +16 "core" ' +2 "storage"(% +4 "core" %\\ \ +2 ."downElevator"SE.seek :down +3 "storage"(['N +101 (a% +3 "core" %> n\ T[ + "manipulator"&<% +4 "core" %? o o +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&7'\ +91 "core" ' +46 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 7 of [5..7] +2 #Loading generic puck from tube 7 into Collection Clamp + "collection"'s& +5 "core" &$% + "manipulator"&3% +4 "core" %\ 0  $t + "storage"(|% +5 "core" %> V\  + "storage"((. +3 "core" .(K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 7 + "storage"(K([ +361 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (`& +3 "core" &[ w\ + "manipulator"&D& +4 "core" &   +2 .tElbow.seek 7 + "manipulator"&*( +35 "core" ( +2 "manipulator"&2& +4 "core" & w h + "storage"(_& +4 "core" &[ \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&w'k +116 "core" ' + "storage"( & +4 "core" &[ \ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"( 'e +282 "core" ' +49 "storage"(8- +5 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (+& +3 "core" &[ <\ + "manipulator"&& +4 "core" & o p h +2 .tElbow.seek 7 +2 "manipulator"&d( +3 "core" ( + "manipulator"&g& +4 "core" & x s h +2 "storage"(A& +4 "core" &[ \ +2 .tForearm.seek 7 + 300 counts + "manipulator"&Q' +17 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&/ +58 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"&& +2 "storage"(m'N +6 "core" & D h + "manipulator"&z% +4 "core" %  ) +2 .tForearm.seek :retract +2 "manipulator"&i'\ +93 "core" ' + .tElbow.seek CC +2 "manipulator"&( +152 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +6 "core" ( + "manipulator"&F& +5 "core" &- Cp + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &- R Co +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&L'| +103 "core" ' +2 "manipulator"&Z& +4 "core" &- Co +2 "manipulator"&% +4 "core" %y b +2 "collection"'/& +4 "core" &$%\ +2 "collection"'"& +5 "core" &&&\ +2 .tCC.seek :closed + "collection"'(] +5 "core" &$&\  +9 &4~$%&\ *y +9 &e$%\ > +9 &`s#&\ M +10 &$W#%\ L +9 &\\$&.\ L +10 &^%%\ L +9 &!i]"%\ M +9 &#,\\$&\ L +10 &$W$%\ L +9 &&Y$'\ L +9 &(rY&&\ L +10 &*4]#$\ L +9 &+Y%&\ L +10 &-W&$\ L +9 &/zY$%\ L +9 &1;X$%\ M +10 &2[$&\ M +9 &4Y%%#\ L +9 &6Z%#\ M +10 &8DZ"%\ L +9 &:\\#$\ L +10 &;Z#%\ M +9 &=Z"$\ L +9 &?LV#&\ L +10 &A X$$\ M +9 &B\\#$\ M +9 &DV"'\ L +10 &FSZ!%\ M +9 &Ha\ M +10 &Il\ N +9 &K\ P +9 &MC\ U +10 &O\ V +9 &P"\ W +9 &R\ W +10 &TCov\ X +9 &V_f\ Y +10 &WNT\ Y +9 &Y<C\ [ +9 &[B-4\ [ +10 &\\v#\ 2 +9 &]*\ S +9 ( +3 "collection"'"& +3 #tCollection Clamp onSpring/offSpring for 9/25 samples, on/off torque 2.12 + .Hand.open +2 "manipulator"&W1 +3 "core" &]j\ J +58 1 +2 "manipulator"&{% +4 "core" % t Y +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +100 "core" ' +2 #tLoading generic puck from tube 7 into Processing Clamp + "processing"%.& +4 "core" &g\ +2 "manipulator"&B% +4 "core" %\ 8 ! ' + "storage"(% +4 "core" %< [ Y\  +2 "storage"(6. +3 "core" .([ + "storage"(& +4 "core" &[ O X Q\ +2 "storage"(:& +4 "core" &[ X [\ + "manipulator"&j& +4 "core" &(  ?V +2 "manipulator"&J% +4 "core" %\ 8 ; ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 7 +2 "manipulator"&%( +167 "core" ( +2 "manipulator"&?& +4 "core" & F + "storage"(& +4 "core" &[ z o v\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&N'k +95 "core" ' +2 "storage"(k& +4 "core" &[ =\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(9'e +283 "core" ' + "storage"(X- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (e& +3 "core" &[ | t y\ +2 "manipulator"&}& +3 "core" & p  F +2 .tElbow.seek 7 + "manipulator"&=( +4 "core" ( + "manipulator"&& +5 "core" & w Z F + "storage"(& +4 "core" &[ h =\ +2 .tForearm.seek 7 + 300 counts + "manipulator"&Y' +20 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&c/ +61 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&& + "storage"('N +7 "core" & z o 9 F +2 "manipulator"&% +3 "core" % o x > +2 .tForearm.seek :retract +2 "manipulator"&'\ +89 "core" ' +2 .tElbow.seek PC +2 "manipulator"&G(c +163 "core" ' + ."downElevator"SE.stop + "storage"(5 +86 "core" ( + "manipulator"&& +5 "core" &k q X +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &f& +3 "core" &k  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&H'[ +104 "core" ' + "manipulator"&r& +4 "core" &k 4 +2 "manipulator"&x% +4 "core" %Y +2 "processing"%1& +4 "core" &\ +2 "processing"%-& +4 "core" &\ +2 .tPC.seek :closed +2 "processing"%h(Z +5 "core" &\  +7 &2\ )w +10 &bp\ = +9 &Mw\ N +9 &X\ M +10 &_\ M +9 &Y\ L +10 &!VZR\ M +9 &#Y\ L +9 &$X\ M +10 &&]\ M +9 &(_W\ M +9 &*!Y\ M +10 &+\\\ M +9 &-Y\ M +10 &/g\\\ M +9 &1)X\ M +9 &2Zh\ M +10 &4Yx\ L +9 &6oZ\ M +9 &81Y$\ M +10 &9Ww\ M +9 &;Y\ M +10 &=wY\ M +9 &?8Z\ M +9 &@\\\ M +10 &BZ\ N +9 &D}Z\ M +9 &F>\\\ N +10 &Hch\ N +9 &Is\ P +10 &Kxq\ R +9 &M5\ S +9 &N\ T +10 &P\ T +9 &Rz\ T +10 &T;R\ T +9 &U\ T +9 &WO\ U +10 &Y\ B +9 &Zz9\ _ +9 &Z#\ - +3 ( + "processing"%-& +3 #tProcessing Clamp onSpring/offSpring for 9/25 samples, on/off torque 1.63 +2 .Hand.open + "manipulator"&'1 +57 "core" 1 + "manipulator"&b% +4 "core" % Y u +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&^'\ +98 "core" ' +2 "processing"%>& +4 "core" &Z \ - + #tImaging generic puck in Processing Clamp while storing it to tube 7 +2 "manipulator"& % +4 "core" %\ 6 & + "storage"(v% +4 "core" %F [ X \  + "storage"(4. +3 "core" .([ +2 "storage"(,& +3 "core" &[ Y Y\ +2 "storage"(R& +2 "manipulator"&y& +7 "core" &[ Y Y\ + &k +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +4 "storage"(#]kK-0-\ b +2 "manipulator"&E(c +4 ."raiseStack"SE.seek :beamBreak +2 "storage"(!'e +3 "core" ( + "manipulator"&& +4 "core" &k + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &V& +3 "core" &k w +2 .tForearm.seek PC +2 "manipulator"&~'[ +98 "core" ' +2 .tHand.close + "manipulator"&T/ +52 "core" / +2 .tPC.seek :open + "processing"%S(p +94 "core" ' +2 "storage"(- +3 "core" -'e + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place + "storage"(&'B +36 "core" ' +252 ( +2 "storage"(& +4 "core" &[ f m ~\ + "manipulator"&p& +4 "core" &k D + "manipulator"&% +4 "core" % X w +2 .tForearm.seek :retract +2 "manipulator"&C'\ +99 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 7 +2 "manipulator"&t( +253 "core" ( + "manipulator"&$& +5 "core" & x "{ + "storage"(I& +4 "core" &[ p u S\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&@'k +101 "core" ' +2 .tHand.open + "manipulator"&P1 +61 "core" 1 +2 "storage"(o- +4 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate + "storage"(5' +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.83 Pucks below Top Plate + "storage"( ' +53 "core" ' + #tLights, camera, ACTION! +2 "storage"(q- +3 "core" -' +2 "storage"(n& +4 "core" &[ ^\ + "manipulator"&O& +4 "core" & l o D "{ +2 .tElbow.seek 7 + "manipulator"&\\( +4 "core" ( + "manipulator"&l& +4 "core" & s y $ "{ + "storage"(M& +4 "core" &[ J\ +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&U'k +3 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"('M +62 "core" ' +2 "manipulator"&#& +4 "core" & | } "{ + "storage"(a& +4 "core" &[ c\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 7 +52 "manipulator"&<'Ω +30 "core" ' +2 .tElbow.hold + "manipulator"&], +5 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"(u'7 +25 "core" ' +2 "manipulator"&s% +4 "core" %μ a +2 "storage"(3& +4 "core" &[ [ Y\ + .tForearm.force -20 +2 "manipulator"&5 +7 .tForearm.seek 7 + 319 counts + "manipulator"&|' +19 "core" ' + "manipulator"&\ & +5 "core" & q q  !v + "storage"((& +4 "core" &[ \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&0'k +17 "core" ' +2 "storage"(% +4 "core" %A \ +2 ."downElevator"SE.seek :down +4 "storage"(['N +99 ( % +2 "core" %'= r z V\ U^ +2 "manipulator"&`% +4 "core" %t q o W  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&D'\ +86 "core" ' +65 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (2& +4 "core" &[ _ I :\ +2 "collection"'_& +4 "core" &]j\ J + #tStoring generic puck in Collection Clamp to tube 7 +2 "manipulator"& % +4 "core" %\ / e #f + "storage"(% +4 "core" %@ r u Z\  + "storage"(7. +3 "core" .([ +2 "storage"(8& +4 "core" &[ | } }\ + "storage"(+& +4 "core" &[ | r s\ +2 "manipulator"&& +3 "core" & [ !v +2 .tElbow.seek 7 +2 "manipulator"&g( +3 "core" ( +2 "manipulator"&A& +4 "core" &  !v + "storage"(& +4 "core" &[ w | u\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&'k +102 "core" ' +2 "storage"(z& +4 "core" &[ n\ +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(*'e +277 "core" ' +2 "storage"(w- +3 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&F& +3 "core" & r z !v +2 "storage"(& +3 "core" &[ '\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 7 +2 "manipulator"& 'Ω +30 "core" ' + .tElbow.hold +2 "manipulator"&Q, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(Z- +2 "core" -' +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"('m +27 "core" ' + "manipulator"&/% +5 "core" %μ j + "storage"(d& +4 "core" &[ B B \ + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 7 + 319 counts +2 "manipulator"&m' +19 "core" ' + "manipulator"&i& +5 "core" & ` r A !v + "storage"()& +4 "core" &[ \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&W'k +17 "core" ' +2 .tSE.seek 1.11 Pucks below Top Plate +2 "storage"({'\\ +39 "core" ' +2 "manipulator"&.& +9 "core" & o r !v + "manipulator"&B% +4 "core" %d q o I +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +92 "core" ' +2 .tElbow.seek CC +2 "manipulator"&6( +159 "core" ( + "manipulator"&"& +4 "core" &  d +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" & ~ d +2 .tForearm.seek CC +2 "manipulator"&:'| +94 "core" ' +2 .tHand.close + "manipulator"&j/ +63 "core" / +2 .tCC.seek :open + "collection"'J(p +414 "core" ( + "storage"(L& +4 "core" &[ {\ +2 "storage"(?& +3 "core" &[ Z\ +2 "manipulator"&& +4 "core" & 6 d + "manipulator"&k% +4 "core" % ϋ 5  + .tForearm.seek :retract +2 "manipulator"&'\ +92 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 7 +2 "manipulator"&( +153 "core" ( + "manipulator"&X& +4 "core" & &  +2 "storage"(e& +4 "core" &[ \ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 7 +2 "manipulator"&}'Ω +112 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&1 +61 "core" 1 +2 "manipulator"&c% +4 "core" % ε p c + "storage"(& +4 "core" &[ \ + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 7 + 312 counts +2 "manipulator"&' +18 "core" ' +2 "manipulator"&%& +4 "core" & i N C  +2 "storage"(N& +3 "core" &[ 8\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&9'k +16 "core" ' +2 "storage"(Y% +4 "core" %[ |\ +2 ."downElevator"SE.seek :down +3 "storage"('N +99 (f% +3 "core" %A \ T[ +2 "manipulator"&=% +4 "core" %a q n 2 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&r'\ +92 "core" ' +46 ' + ."downElevator"SE.stop + "storage"(5 +42649 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +2 .Gate.cycleModemPower! 5 +3 #Session Ended +334 "Can" 1@> +60000  2>< +387 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +2 .Gate.cycleModemPower! 5 +3 #Session Ended +59606 "Can" 1>< +1120 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +2 .Gate.cycleModemPower! 5 +3 #Session Ended +58873 "Can" 2>< +1849 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +2 .Gate.cycleModemPower! 5 +2 #Session Ended +58144 "Can" 2>; +2576 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +2 .Gate.cycleModemPower! 5 +3 #Session Ended +57417 "Can" 2>< +3304 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +2 .Gate.cycleModemPower! 5 +3 #Session Ended +56689 "Can" 2>< +4027 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +2 .Gate.cycleModemPower! 5 +3 #Session Ended +55966 "Can" 1>< +4751 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +2 .Gate.cycleModemPower! 5 +3 #Session Ended +55242 "Can" 1>; +5476 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +54517 "Can" 1>< +6202 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +2 .Gate.cycleModemPower! 5 +3 #Session Ended +53790 "Can"\ 2>; +6929 #"reset-modem"Session Begun +3 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +53065 "Can" 2>< +7652 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +52341 "Can" 2>; +8378 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +2 .Gate.cycleModemPower! 5 +3 #Session Ended +51615 "Can" 2>< +9103 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +51 .Gate.cycleModemPower! 5 +3 #Session Ended +50841 "Can" 1=; +9880 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +2 .Gate.cycleModemPower! 5 +3 #Session Ended +50113 "Can" 1>< +10605 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +49388 "Can" 1>< +11332 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +48661 "Can" 2>< +12056 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +47936 "Can" 2>< +12782 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +47211 "Can" 2>< +13507 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +46486 "Can" 2>< +14231 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +45762 "Can" 2>; +14958 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +45035 "Can" 2>; +15685 #"reset-modem"Session Begun +3 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +44309 "Can" 2>; +16408 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +2 .Gate.cycleModemPower! 5 +3 #Session Ended +43584 "Can" 2>< +17141 #"reset-modem"Session Begun +3 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended @EST946702897.53 "Can" 3>< +17866 #"reset-modem"Session Begun +3 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +42128 "Can" 2>< +18595 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +2 .Gate.cycleModemPower! 5 +3 #Session Ended +41398 "Can" 2?< +19322 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +2 .Gate.cycleModemPower! 5 +2 #Session Ended +40672 "Can" 2>< +20049 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +39944 "Can" 3>; +20775 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +2 .Gate.cycleModemPower! 5 +2 #Session Ended +39219 "Can" 2>; +21503 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +2 .Gate.cycleModemPower! 5 +3 #Session Ended +38490 "Can" 1>< +22229 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +37763 "Can" 3>; +22959 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +37034 "Can" 3?< +23683 #"reset-modem"Session Begun +3 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +36311 "Can" 2>< +24408 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +35585 "Can" 2>< +25136 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +34857 "Can"\ 2>< +25865 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +2 .Gate.cycleModemPower! 5 +3 #Session Ended +34128 "Can" 2>< +26625 #"reset-modem"Session Begun +3 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +33369 "Can"\ 2>; +27357 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +32636 "Can"\ 2>; +28085 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +2 .Gate.cycleModemPower! 5 +3 #Session Ended +31907 "Can"\ 2>< +28819 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +31174 "Can" 3>< +29548 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +2 .Gate.cycleModemPower! 5 +3 #Session Ended +30445 "Can"\ 1>< +30271 #"reset-modem"Session Begun +3 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +29723 "Can"\ 2?; +31003 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +2 .Gate.cycleModemPower! 5 +2 #Session Ended +28991 "Can"\ 2?< +31740 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +2 .Gate.cycleModemPower! 5 +3 #Session Ended +28253 "Can"\ 3>; +32466 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +2 .Gate.cycleModemPower! 5 +2 #Session Ended +27528 "Can"\ 2>< +33194 #"reset-modem"Session Begun +3 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +26799 "Can" 2>< +33925 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +26068 "Can"\ 1>; +34651 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +2 .Gate.cycleModemPower! 5 +3 #Session Ended +25342 "Can"\ 2>; +35426 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +2 .Gate.cycleModemPower! 5 +3 #Session Ended +24567 "Can" 2>; +36159 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +2 .Gate.cycleModemPower! 5 +3 #Session Ended +23834 "Can" 2?< +36884 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +23109 "Can" 2>< +37614 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +22379 "Can" 2>< +38343 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +21650 "Can" 2>< +39071 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +20921 "Can" 2>< +39802 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended @EST1641885614.79 "Can" 3>< +60002  2>; +60002  2>; +60002  2>< +60002  2>< +60002  2>< +60001  1>< +60002  2>; +60003  2>< +60001  2>; +60002  2>< +60002  2>< +60002  3>; +60002  2?< +60002  2>< +60002  3>< +60002  2>< +60001  2>< +60002  2>; +60002  2>; +60002  2>; +60002  2>; +60002  1>< +60002  2>< +60002  3?< +60002  2?< +60001  2>< +60002  2>; +60002  2>; +60002  1>; +60002  2>< +60002  2>< +60002  2?< +60002  3>< +60002  2?< +60002  2>< +60001  0A> +60002  2=; +60002  2>; +60002  1>< +60002  2?< +60002  1>< +60002  2?< +60002  2?< +60002  2=; +60001  3>; +60002  2>< +60002  2>; +60002  2?< +60002  2?< +60002  2?< +60002  2>< +60002 } 2?< +60002 | 2>; +60002 w 2>< +60001 } 2>< +60002 { 3>; +60003 | 2?; +60001 ~ 3?< +60002  2>< +60002 y 3>< +60002 s 1>< +60002 v 2>; +60002 w 2>< +60001 z 1>< +60002 { 1>; +60002 g 2>< +60002 p 3>< +60002 t 3>< +60002 k 2>< +60002 i 2>< +60002 f 3>; +60002 m 3>< +60001 r 2>; +60002 j 2?< +60002 t 2>< +60002 y 3>< +60002 s 2?; +60002 c 3?< +60002 ^ 3>; +60002 e 2>; +60002 _ 3>; +60002 f 3>< +60002 d 3>< +60001 m 3>< +60002 h 2>< +60002 m 2?< +60002 e! 2?< +60002 Z 3>< +60002 d 3>< +60002 h 3>< +60002 g 3>; +60002 j 3>< +60002 g% 3?< +60001 i$ 2?< +60002 j% 2?< +60002 d# 2>< +60002 _$ 2>< +60002 ]$ 2>; +60002 \\$ 3>; +60002 c$ 3>< +60002 W$ 3?< +60002 ^# 2?< +60001 ]' 3>< +60002 ^# 3>< +60002 \\" 2>< +60002 X" 2>< +60002 W" 3>; +60002 [" 3>; +60002 ]# 2>< +60002 [" 3?< +60003 b# 1A> +60000 \\" 1>< +60002 [# 3>< +60003 [# 3?< +60001 X# 3>< +60002 \\# 3>< +60002 \\# 3>< +60002 \\# 3>; +60002 e# 2>< +60002 ^" 3?< +60002 ` 3>< +60001 a! 2?< +60002 Z" 3?< +60002 X 3>; +60002 ^! 3?< +60002 a 2>; +60002 _" 3>< +60002 c 2?< +60002 _ 2?< @EST1641963617.26 Z 3>< +60002 ` 3?< +60001 _ 3?< +60002 ` 3>; +60002 b 3>; +60002 b! 2>; +60002 b 3>< +60002 c! 2>< +60002 k! 3>< +60002 d 2>< +60002 _ 2>< +60001 _ 3>< +60002 f 2>< +60002 d 3>< +60002 n 3>; +60002 p 3>< +60002 t 3?< +60002 v 2?< +60002 y 2>< +60002 u 2>< +60002 x 3>; +60002 ~ 3>; +60001  3>< +60002  3>; +60002  2?< +60002  2?< +60002  3?< +60003  2@= +60001  2?< +60002  2>; +60002  3>; +60001  2>< +60002  2>< +60002  2>< +60002  2?< +60002  2>< +60002  1>< +60002  2>< +60002  3>< +60002  2>< +60002  3>; +60001  2>; +60002  2?< +60002  2>< +60002  2>< +60002  1>< +60002  1?< +60002  2>; +60002  2>; +60002  2>; +60002  2>< +60001  2>< +60002  1>< +60002  3?< +60002  1>< +60002   2>< +60002  2>; +60002   2>< +60002   2>; +60002   2>; +60001  1?< +60002  1>< +60002  2?< +60002  0>; +60002  2>< +60002  2>; +60002 ( 2>< +60002 ( 2>; +60002 1 2>< +60002 2 1>< +60001 5 1>< +60002 = 1?< +60002 A 2>< +60002 E 2>< +60002 J 3?< +60002 K 2>< +60002 K 2>< +60002 O 0>< +60002 R 1>< +60002 Y 2>< +60002 \\ 1>< +60001 d 2>< +60002 h 2>; +60002 l 1>; +60002 l 2?< +60002 u\ 2=; +60002 p\ 1>< +60002 p\ 1>< +60001 s\ 0>< +60002 v\ 1>< +60002 s\ 0>; +60002 { 2>; +60002 {\ 1=; +60002 \ 1>; +60002 \ 1>< +60002  1?< +60002 \ 0>< +60002 \ 0>< +60001 \ 0>; +60002 \ 0?< +60002 \ 2>; +60002 \ 1>< +60002 \ 1=; +60002  2>; +60002 \ 1>< +60002  2>; +60002 \ 1?< +60001  1>< +60002 \ 1?; +60002 \ 1>; +60002  0>; +60002 \ 1>< +60002  0?< +60002 \ 0>< +60002 \ 1>< +60002 \ 0?< +60002  1>; +60001  1>< +60003  0>; +60001 \ 1>; +60002 \ 1>; +60002 \ 0>< +60002  0>< +60002 \ 1>; +60002 \ 0?< +60002 \ 1>< +60001 \ 0>< +60002 \ 1>< +60002 \ 1>; +60002 \ 0>< +60002 y 0>; +60002 x 1>< +60002 j\ 1>< +60002 m 0>< +60002 d 1>< +60001 _ 2?< +60002 [ 1=; +60002 U 1>; +60002 P\ 0>< +60002 Q\ 1>; +60002 K 0?< +60002 L\ 0>< +60002 I\ 0?< +60002 H 0?= @EST1642050019.99 E\ 2>< +60001 C\ 1>; +60002 D 2>; +60002 E\ 2>; +60002 =\ 1>; +60002 < 1>< +60002 < 1>< +60002 ;\ 0>< +60002 <\ 1>< +60002 ?\ 1>; +60002 <\ 2>; +60001 ?\ 1>; +60002 B 2>; +60002 D\ 1?< +60002 ?\ 1>< +60002 C\ 1>< +60002 H\ 1>< +60002 G\ 1>< +60002 L 1>< +60002 G\ 2=< +60001 N\ 1>; +60002 J\ 1>< +60002 L\ 1>< +60002 H 1>< +60002 K 1>< +60002 L 1>< +60002 Q 2>< +60002 N 1=; +60002 P 1>; +60002 O 1>; +60001 W 1>; +60002 _ 1>< +60002 g 1>< +60002 h 2>; +60002 o 2>< +60002 r 1>; +60002 x 1=; +60002 y\ 1=; +60002 { 2>< +60001  1>; +60002 \ 1>< +60002  0>< +60002 \ 0>; +60002 \ 1>< +60002 \ 0>< +60002 \ 1>< +60002  1>; +60002  1>< +60002 \ 1>< +60001 \ 1>< +60002 \ 1>< +60002 \ 0>< +60002  1>; +60002 \ 1>< +60002 \ 1>; +60002  1>; +60002 \ 1=; +60002  0?< +60001 \ 0>< +60002  0>< +60002  0>< +60002  0>< +60002  0>< +60002 \ 0>; +60002  1>; +60002  0>; +60002 \ 0>< +60002 \ 0>; +60001  0?< +60002  0?< +60002  1>< +60002  0>< +60002  1>< +60002  0>< +60002  0>; +60002  0>; +60002  0>< +60002  0>< +60001  />< +60002  0>< +60002  1>< +60002  1=< +60002  0>< +60002  0>< +60002  0>< +60002  0?; +60002  0?< +60001  0?< +60002  0>; +60002  0>< +60002  0=; +60002  0>; +60002  />< +60002  0>; +60002  0>< +60002  0?< +60002  1>< +60001  0>< +60002  0>< +60002  0>; +60002  0=; +60002  0>< +37071 !to:SignalException: mesg" SIGHUP:\ signoi:bt["+/home/esp/esp2/lib/esp.rb:77:in `join'"1/home/esp/esp2/lib/esp.rb:77:in `mainThread'""/home/esp/esp2/lib/esp.rb:339 +6 #mEXIT @1642110992.68EST @946684871.25EST = =mMAIN_scheduler =tMAIN @EST946684873.28 #"core_reset"Sent BREAK +2 #t@99 idle with ifg=0x00, ie=0x75 + #>RESET< ESP2 v3.41 I2C Gateway v3.20 +208 #>RESET< ESP2 v3.41 I2C Gateway v3.20 for core bus +214 !o:Instrument::ISUSCore: @refiK: @configS:Instrument::Configuration: name" ISUS:calFileName0:sampleCmd"TS: prompt"\ :statusCmd"C:sampleTimeouti#:promptTimeouti:statusTimeouti: retriesi:strToPrompt"W: pace0: echoF:\ @name@ +111 #Configuration for don (12651-03) 10/9/20 brent@mbari.org\ /home/esp/esp2/type/shallow/don/configure.rb\ +408 "Can"~\ ?&#v + ~\ ?&#v + #tPolling Can every 10:00 +71 !o:Storage::Warning: mesg"8Invalid entry in line 466 of /var/log/esp/real.puck:bt["8/home/esp/esp2/utils/storage.rb:399:in `readPucks!'"2/home/esp/esp2/utils/storage.rb:397:in `each'"8/home/esp/esp2/utils/storage.rb:397:in `readPucks!'"(eval):2:in `eachRaw'"(eval):2:in `each'"8/home/esp/esp2/utils/storage.rb:372:in `readPucks!'"2/home/esp/esp2/utils/storage.rb:371:in `open'"8/home/esp/esp2/utils/storage.rb:371:in `readPucks!'"6/home/esp/esp2/utils/storage.rb:627:in `restore!'"-/home/esp/esp2/lib/esp.rb:115:in `shell'"7/home/esp/esp2/lib/schedule.rb:481:in `initialize'"0/home/esp/esp2/lib/thread.rb:738:in `start'"7/home/esp/esp2/lib/schedule.rb:474:in `initialize'"'/home/esp/esp2/lib/schedule.rb:472 +20 #Cleanly exited at 16:56:32EST13-Jan-22 +529 #-> ESP.ready! +5 #Powering core bus +559 .Gate.power :raw,:ON +3 "sampler") +38 ) +2 "core"  +2 "collection"' +2 ' +90 "core"  +2 "processing"% +2 % +3 "core"  +5 "collection"' 9\ +2 ' 0\ +2 ' -\ +4 "processing"% 9\ +2 % 2\ +2 % *\ +2 % 0\ +3 "sampler")&\ +2 "collection"'% +3 "core" %-.d  +2 .tCS.configure :default +2 "collection"'#P d@b +3 "processing"%% +2 "core" %V\ +2 .tPS.configure :default +2 "processing"%#A d`xb +3 "sampler")% +2 "core" %   +2 .tSS.configure :default +2 "sampler")#.0X require 'shuffle.rb' +976 #-> 5.times {shuffle 5..7} +2 #Shuffling pucks in tube 5 of [5..7] + #Loading generic puck from tube 5 into Collection Clamp +2 "collection"';& +3 "core" &_.0,\  +2 .tHand.open + "manipulator"&<1 +64 "core" 1 +2 "manipulator"&=% +4 "core" % \ + ` !, +2 "storage"(>% +3 "core" %K' u 5\ P +2 "storage"(?. +3 "core" .(,~ +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"(@(<< +349 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (A& +3 "core" &<: C B \  +2 "manipulator"&B& +4 "core" &6 3 A +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&C( +21 "core" ( +2 "manipulator"&D& +4 "core" &   +2 "storage"(E& +4 "core" &<: ~ ~ \  +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&F' +102 "core" ' + "storage"(G& +4 "core" &<: \  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(H'e +283 "core" ' + "storage"(I- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (J& +3 "core" &<: -\  + "manipulator"&K& +4 "core" & o r   +2 .tElbow.seek 5 +2 "manipulator"&L( +3 "core" ( + "manipulator"&M& +4 "core" & r w '  +2 "storage"(N& +3 "core" &<: P\  +2 .tForearm.seek 5 + 300 counts +3 "manipulator"&O'[ +29 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&P/ +52 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&Q& +2 "storage"(R'N +7 "core" & p p .  + "manipulator"&S% +4 "core" % X q p ! +2 .tForearm.seek :retract +2 "manipulator"&T'\ +89 "core" ' +2 .tElbow.seek CC + "manipulator"&U( +158 "core" ( + ' + "manipulator"&V& +3 ."downElevator"SE.stop +4 "storage"(5 +3 "core" &( @ >H +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &W& +3 "core" &( >H +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&X'| +94 "core" ' +2 "manipulator"&Y& +4 "core" && =G +2 "manipulator"&Z% +4 "core" %π +2 "collection"'[& +4 "core" &_./)\  +2 "collection"'\\& +5 "core" &_//$\  +2 .tCC.seek :closed +2 "collection"'](] +4 "core" &_.2\ \  +9 &5,/\ +{ +9 &d-0\ ? +10 &3z/.\ N +9 &^.1\ N +9 &c-/\ \ N +10 &zf-0\ N +9 &!:d,."\ O +10 &"c,0\ N +9 &$b-0\ N +9 &&c/.\ N +10 &(Ec/1\ N +9 &*b-.\ N +10 &+d-02\ N +9 &-b/0\ N +9 &/Ld,.\ N +10 &1f./\ N +9 &2d,/\ N +9 &4a..\ N +10 &6Ua./\ N +9 &8c,.\ N +10 &9d+.\ N +9 &;a-,\ N +9 &=\\b,.\ N +10 &?b++\ N +9 &@b*,\ N +9 &Bb(-\ N +10 &Dd`+,\ N +9 &F%c"\ N +9 &Gi\ O +10 &Ix\ P +9 &K^:m\ S +10 &M\ V +9 &Nmw1\ W +9 &P\\d\ W +10 &RVHS\ X +11 &T:B\ Y +8 &U*1\ Z +9 &W$\ Z +9 &YU\ [ +10 &[\ \\ +9 &\\|\ ; +9 &]4\ ] +9 ( +3 "collection"'\\& +3 #tCollection Clamp onSpring/offSpring for 9/25 samples, on/off torque 1.97 + .Hand.open +2 "manipulator"&^1 +3 "core" &][\ B +55 1 + "manipulator"&_% +4 "core" % π +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&`'\ +96 "core" ' +3 #tLoading generic puck from tube 5 into Processing Clamp + "processing"%a& +4 "core" &` \  +2 "manipulator"&b% +3 "core" %\ +  !Q +2 "storage"(c% +4 "core" %@ [ [\  +2 "storage"(d. +3 "core" .(<9 + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"(e(<< +2 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (f& +3 "core" &<:! ( 7\  +2 "manipulator"&g& +4 "core" & $  ;8 + "manipulator"&h% +79 "core" %\ +  !Q +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&i( +161 "core" ( +2 "manipulator"&j& +4 "core" &   +2 "storage"(k& +4 "core" &<: t v \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&l' +96 "core" ' +2 "storage"(m& +4 "core" &<: I\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(n'e +278 "core" ' +2 "storage"(o- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (p& +2 "core" &<: Z ]\  +2 "manipulator"&q& +4 "core" &  +2 .tElbow.seek 5 +2 "manipulator"&r( +3 "core" ( + "manipulator"&s& +4 "core" & r v 2 + "storage"(t& +4 "core" &<: v v 8\  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&u'[ +10 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&v/ +63 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&w& + "storage"(x'N +8 "core" & q q  + "manipulator"&y% +4 "core" % P p q  < +2 .tForearm.seek :retract +2 "manipulator"&z'\ +94 "core" ' +2 .tElbow.seek PC + "manipulator"&{(c +158 "core" ' + ."downElevator"SE.stop + "storage"(5 +96 "core" ( +2 "manipulator"&|& +5 "core" &g + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &}& +2 "core" &g  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&~'[ +97 "core" ' + "manipulator"&& +4 "core" &g  +2 "manipulator"&% +4 "core" %U  +2 "processing"%& +4 "core" &`E\  +2 "processing"%& +5 "core" &`F\  +2 .tPC.seek :closed +2 "processing"%(Z +4 "core" &`E\ \  +10 &4K\ +| +9 &eT\ ? +9 &3xT\ N +9 &[G\ N +10 &[G\ N +9 &|Z@\ M +10 &!=]E\ N +9 &"X:\ N +9 &$Y:\ N +10 &&\\=\ M +9 &(F[=\ M +9 &*[6\ M +10 &+]B\ N +9 &-Z9\ M +9 &/N]C\ M +10 &1[8\ M +9 &2]C\ N +10 &4^D\ N +9 &6T\\D\ N +9 &8ZD\ N +10 &9Y\ M +9 &;[\ N +9 &=]]K\ N +10 &?]8\ N +9 &@`<\ N +10 &B\\:\ M +9 &Df\\;\ M +9 &F'^:\ N +10 &Gf=\ O +9 &IrB\ P +9 &K`<\ R +10 &M;\ T +9 &N;\ U +10 &PD\ T +9 &RaC\ T +9 &T"=\ U +10 &U\ U +9 &W\ U +10 &Yf\ C +9 &Zs>\ W +9 &Z U\ 5 +6 ( + "processing"%& +4 #tProcessing Clamp onSpring/offSpring for 9/25 samples, on/off torque 1.62 +2 .Hand.open + "manipulator"&1 +4 "core" &Z4\ 5 +55 1 + "manipulator"&% +4 "core" % U +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +93 "core" ' + "processing"%& +5 "core" &Z4\ 5 + #tImaging generic puck in Processing Clamp while storing it to tube 5 +2 "manipulator"& % +4 "core" %\ % w 8 + "storage"(\ % +4 "core" %A C E \ + "storage"( . +3 "core" .(<< +2 "storage"( & +4 "core" &<: C E\  + "storage"( & +5 "manipulator"&& +4 "core" &<: C E\  + &g +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +3 "storage"(#]kK-0-\ b +2 "manipulator"&(c +5 ."raiseStack"SE.seek :beamBreak + "storage"('e +3 "core" ( + "manipulator"&& +4 "core" &g X +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &g +2 .tForearm.seek PC +2 "manipulator"&'[ +94 "core" ' +2 .tHand.close + "manipulator"&/ +63 "core" / +2 .tPC.seek :open + "processing"%(p +87 "core" ' +2 "storage"(- +3 "core" -'e +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('B +34 "core" ' +260 ( +2 "storage"(& +4 "core" &<: i f N\  + "manipulator"&& +4 "core" &g y +2 "manipulator"&% +4 "core" % n 8 + .tForearm.seek :retract +2 "manipulator"&'\ +93 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&"( +261 "core" ( +2 "manipulator"&%& +4 "core" &  +2 "storage"('& +50 "core" &<: Y Y\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&(' +94 "core" ' +2 .tHand.open + "manipulator"&)1 +57 "core" 1 +2 "storage"(- +3 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate +2 "storage"(' +26 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(#' +52 "core" ' +2 #tLights, camera, ACTION! + "storage"(,- +4 "core" -' +2 "storage"(-& +3 "core" &<: x\  +2 "manipulator"&.& +4 "core" & @ +2 .tElbow.seek 5 +2 "manipulator"&/( +3 "core" ( + "manipulator"&0& +4 "core" &  +2 "storage"(1& +4 "core" &<: \  +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&2' +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"(3'M +61 "core" ' +2 "manipulator"&4& +4 "core" & ` +2 "storage"(5& +4 "core" &<: q j \  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 5 +2 "manipulator"&6'/ +30 "core" ' +2 .tElbow.hold +2 "manipulator"&7, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +4 .tSE.seek 0.07 Pucks below Top Plate + "storage"(8'7 +21 "core" ' +2 "manipulator"&9% +4 "core" %= a b +2 "storage"(:& +4 "core" &<:   \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 314 counts + "manipulator"&;'i +18 "core" ' +2 "manipulator"&<& +5 "core" & { ~ n 1 + "storage"(=& +4 "core" &<: h g \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&>' +19 "core" ' +2 "storage"(?% +4 "core" %9 \  +2 ."downElevator"SE.seek :down +4 "storage"(!'N +99 (A% +3 "core" %{> Y Y\ U^ + "manipulator"&B% +4 "core" % q q ) +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&D'\ +94 "core" ' +56 ' + ."downElevator"SE.stop + "storage"(5 +3 (E& +4 "core" &<: E / \  +2 "collection"'G& +4 "core" &]_12,\ B + #tStoring generic puck in Collection Clamp to tube 5 + "manipulator"&$% +4 "core" %\ 1  $p +2 "storage"(&% +4 "core" %= \\ Z \ +2 "storage"(I. +3 "core" .(<< + "storage"(J& +4 "core" &<: Y Y\  +2 "storage"(K& +4 "core" &<: Y Y\  + "manipulator"& & +4 "core" & 1 +2 .tElbow.seek 5 + "manipulator"&M( +16 "core" ( +2 "manipulator"&N& +4 "core" &  j +2 "storage"(P& +4 "core" &<: g \\ %\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&Q' +91 "core" ' +2 "storage"(S& +4 "core" &<: o m \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(C'e +277 "core" ' + "storage"(F- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&V& +2 "core" & h g +2 "storage"(W& +4 "core" &<: p u k\  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&H'/ +28 "core" ' + .tElbow.hold +2 "manipulator"&O, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(Y- +2 "core" -' +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(Z'l +27 "core" ' +2 "manipulator"&[% +4 "core" %> +2 "storage"(L& +3 "core" &<:   k\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 315 counts + "manipulator"&R'j +19 "core" ' + "manipulator"&T& +4 "core" & m 5 o +2 "storage"(+& +4 "core" &<: z r D\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&^' +11 "core" ' +2 .tSE.seek 1.11 Pucks below Top Plate +2 "storage"(_'[ +49 "core" ' +2 "manipulator"&a& +4 "core" & } } n +2 "manipulator"&b% +4 "core" % ~ } 1 1 + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&c'\ +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"&d( +155 "core" ( +2 "manipulator"&\\& +4 "core" &/  Dx +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &f& +3 "core" &/ W Dx +2 .tForearm.seek CC +2 "manipulator"&g'| +111 "core" ' + .tHand.close +2 "manipulator"&h/ +63 "core" / + .tCC.seek :open +2 "collection"'X(p +414 "core" ( +2 "storage"(j& +4 "core" &<: V\  + "storage"(k& +4 "core" &<: \  +2 "manipulator"&@& +3 "core" &*  Ac +2 "manipulator"&m% +3 "core" % }  +2 .tForearm.seek :retract +2 "manipulator"&U'\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&`( +156 "core" ( +2 "manipulator"&o& +4 "core" & p  + "storage"(p& +4 "core" &<: +\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 5 + "manipulator"&q'/ +106 "core" ' +2 .tElbow.hold + "manipulator"&s, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&t1 +62 "core" 1 +2 "manipulator"&v% +4 "core" % @ v + "storage"(w& +4 "core" &<: v v \  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 5 + 317 counts +2 "manipulator"&y'l +18 "core" ' + "manipulator"&i& +4 "core" & ^ v -  +2 "storage"(l& +4 "core" &<: `\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&n' +22 "core" ' + "storage"(u% +5 "core" %[ 8\ +2 ."downElevator"SE.seek :down +3 "storage"(|'N +99 (}% +3 "core" %9 6\ U[ +2 "manipulator"&r% +4 "core" % r s < +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +95 "core" ' +45 ' + ."downElevator"SE.stop +2 "storage"(5 +2 #tShuffling pucks in tube 6 of [5..7] +2 #Loading generic puck from tube 6 into Collection Clamp + "collection"'& +5 "core" &,-\ + "manipulator"&% +4 "core" %\ 1 > $r +2 "storage"(x% +4 "core" %H !\ + "storage"(z. +4 "core" .(<< + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"(*(K +349 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (& +2 "core" &K g \\ -\  +2 "manipulator"&& +4 "core" & F  +2 .tElbow.seek 6 +2 "manipulator"&( +15 "core" ( +2 "manipulator"& & +4 "core" &  D +2 "storage"(\ & +3 "core" &K #\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"& '< +96 "core" ' + "storage"( & +5 "core" &K )\  + .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('e +280 "core" ' + "storage"( - +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" &K 7\  +2 "manipulator"&& +3 "core" & t C +2 .tElbow.seek 6 +6 "manipulator"&( +4 "core" ( + "manipulator"&~& +4 "core" & { } @ C + "storage"(& +4 "core" &K 5\  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&'Ϧ +21 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&{/ +62 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"('N +7 "core" & o  C +2 "manipulator"&% +4 "core" % ϲ z s H +2 .tForearm.seek :retract +2 "manipulator"&'\ +88 "core" ' + .tElbow.seek CC +2 "manipulator"&( +151 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +4 "core" ( + "manipulator"&& +4 "core" &. Cs +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &. 1 Cs +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&%'| +97 "core" ' + "manipulator"&'& +5 "core" &- , Cr + "manipulator"&% +4 "core" %φ [ +2 "collection"')& +4 "core" &*,\ +2 "collection"'& +6 "core" &,-\ +3 .tCC.seek :closed + "collection"',(] +10 "core" &-.\ +3 & 6+-2\ $e +7 &^T),\ 8 +10 &+.\ L +9 &n]+.\ N +10 &1`..\ N +9 &a,-\ N +9 & b+--\ N +10 &"w`)/V\ N +9 &$9`+0\ N +10 &%`*/\ N +9 &'`,/\ N +9 &)~`*-\ N +10 &+@a,/\ N +9 &-a,-K\ M +9 &.c*-\ N +10 &0a*-\ N +9 &2G`+-\ N +9 &4\ a*,L\ N +10 &5_)-k\ N +9 &7b+++\ N +10 &9Q\\+-&\ N +9 &;]*+\ N +9 &<\\+,D\ N +10 &>`+-\ N +9 &@Xc+-A\ N +9 &B`)+M\ N +10 &Cb*+C\ N +9 &E^&+j\ N +10 &G`b s\ N +9 &Iq\ P +9 &J\ Q +10 &L-b\ V +9 &NO\ V +9 &Pi\ W +10 &QA\ X +9 &S>\ Y +10 &UN|\\\ Z +9 &Wkrj\ Y +9 &X]ch\ [\ +10 &ZLVi\ [ +9 &\\Q?Fi\ H +9 &]\\958d\ (v +10 &]n33d\ K +5 ( +2 "collection"'& +4 #tCollection Clamp onSpring/offSpring for 10/26 samples, on/off torque 1.99 + .Hand.open +2 "manipulator"&-1 +3 "core" &]e15g\ K +55 1 + "manipulator"&.% +5 "core" % { H +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&0'\ +92 "core" ' +2 #tLoading generic puck from tube 6 into Processing Clamp + "processing"%1& +5 "core" &\ + "manipulator"&% +4 "core" %\ ) l E +2 "storage"(4% +3 "core" %9 8 7 \  +2 "storage"(5. +3 "core" .(K + "storage"(9& +4 "core" &K 8 7 \  +2 "storage"(& +3 "core" &K ? 4\  +2 "manipulator"&:& +4 "core" &/& k =D + "manipulator"&% +43 "core" %\ ( k E +12 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 + "manipulator"&<( +156 "core" ( + "manipulator"&=& +4 "core" & B \ +2 "storage"(?& +4 "core" &K Y Y\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&"'< +105 "core" ' + "storage"((& +4 "core" &K \  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(#'e +281 "core" ' + "storage"(A- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (B& +2 "core" &K Z Z\  +2 "manipulator"&2& +4 "core" & u r v \ +2 .tElbow.seek 6 + "manipulator"&/( +4 "core" ( + "manipulator"&3& +4 "core" & | { R \ + "storage"(6& +4 "core" &K v u 9\  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&E'Ϧ +36 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&;/ +56 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&G& + "storage"($'N +8 "core" & q o _ \ + "manipulator"&&% +4 "core" % ϰ p p   +2 .tForearm.seek :retract +2 "manipulator"&I'\ +95 "core" ' +2 .tElbow.seek PC +2 "manipulator"&J(c +154 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +82 "core" ( +2 "manipulator"&8& +4 "core" &l " ; + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &K& +3 "core" &l ; ; +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"& '[ +103 "core" ' +2 "manipulator"&N& +4 "core" &l  ; +2 "manipulator"&P% +4 "core" %Z & + "processing"%>& +4 "core" &:\ +2 "processing"%S& +6 "core" &>\ +2 .tPC.seek :closed +3 "processing"%!(Z +3 "core" &7\ +6 & 1F\ $d +9 &aW<\ 7 +9 &7\ L +10 &o]{\ N +9 &3Y}\ M +10 &ZE\ N +9 & `{\ N +9 &"y]\ M +10 &$:`\ N +9 &%]c\ N +9 &'\\}\ N +10 &)Y@\ M +9 &+C^E\ M +10 &-]6\ M +9 &.`;\ N +9 &0^D\ M +10 &2J]}\ N +9 &4 ZC\ N +14 &5]C\ M +5 &7Y\ N +9 &9SY_\ M +10 &;]\ M +9 &<W\ N +9 &>`\ N +10 &@[Y\ M +9 &B\\\ N +9 &C]\ N +10 &E]\ N +9 &G`e\ N +9 &Ip\ P +10 &J\ Q +9 &L\ T +10 &NW\ T +9 &P\ T +9 &Q\ T +10 &S\ U +9 &U]\ U +9 &W\ U +10 &X\ U +9 &Z=Mp\ - +10 &Z(\ ( +5 ( + "processing"%S& +4 "core" &Z\ ( +2 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.57 + .Hand.open +2 "manipulator"&71 +57 "core" 1 +2 "manipulator"&D% +4 "core" % Z ( +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&F'\ +99 "core" ' + "processing"%V& +4 "core" &Z\ ( +2 #tImaging generic puck in Processing Clamp while storing it to tube 6 + "manipulator"&W% +4 "core" %\ 3 %{ +2 "storage"(Y% +4 "core" %= D @ \ + "storage"([. +4 "core" .(K + "storage"(L& +4 "core" &K ; D \  +2 "storage"(T& +3 "manipulator"&+& +6 "core" &K < A \  +2 &l ; +2 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +3 "storage"(#]kK-0-\ b +2 .tElbow.seek PC +4 "manipulator"&a(c +3 ."raiseStack"SE.seek :beamBreak +2 "storage"(b'e +2 "core" ( +2 "manipulator"&Q& +4 "core" &l ; +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &M& +3 "core" &l ; +2 .tForearm.seek PC +2 "manipulator"&C'[ +94 "core" ' +2 .tHand.close + "manipulator"&H/ +55 "core" / +2 .tPC.seek :open +2 "processing"%R(p +91 "core" ' + "storage"(Z- +4 "core" -'e + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(\\'B +33 "core" ' +254 ( + "storage"(f& +4 "core" &K o h \  +2 "manipulator"&^& +4 "core" &l ; + "manipulator"&O% +4 "core" % ` { +2 .tForearm.seek :retract +2 "manipulator"&h'\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&c( +243 "core" ( +2 "manipulator"&]& +4 "core" & u > +2 "storage"(j& +3 "core" &K c f\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&k'< +99 "core" ' +2 .tHand.open + "manipulator"&@1 +57 "core" 1 +2 "storage"(m- +3 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate +2 "storage"(o' +39 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(p' +51 "core" ' + #tLights, camera, ACTION! +2 "storage"(g- +3 "core" -' +2 "storage"(d& +4 "core" &K e\  + "manipulator"&t& +4 "core" &  > +2 .tElbow.seek 6 +2 "manipulator"&v( +3 "core" ( + "manipulator"&w& +5 "core" & m > + "storage"(i& +4 "core" &K _\  +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&l'< +21 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.11 Pucks below Top Plate + "storage"(u'M +63 "core" ' +2 "manipulator"&U& +4 "core" & } } > +2 "storage"(}& +3 "core" &K t p \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&r'z +31 "core" ' +2 .tElbow.hold +2 "manipulator"&`, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.07 Pucks below Top Plate + "storage"(q'7 +21 "core" ' +2 "manipulator"&% +5 "core" %Ύ~ M + "storage"(y& +5 "core" &K\ \  d\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 320 counts + "manipulator"&'Ϻ +19 "core" ' +2 "manipulator"&x& +4 "core" & { ' +2 "storage"(z& +4 "core" &K q o @\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&_'< +10 "core" ' +2 "storage"(n% +4 "core" %6 m y \  +3 ."downElevator"SE.seek :down +3 "storage"(|'N +99 (e% +3 "core" %e< Z \\\ U] +6 "manipulator"&% +5 "core" %H ~ ~ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +88 "core" ' +54 ' + ."downElevator"SE.stop + "storage"(5 +3 ( & +4 "core" &K  ' \  +2 "collection"'\ & +4 "core" &]dJJ@\ K + #tStoring generic puck in Collection Clamp to tube 6 + "manipulator"& % +5 "core" %\ + E !V + "storage"(s% +4 "core" %E Y Y\ +2 "storage"(. +3 "core" .(K + "storage"( & +4 "core" &K Z [\  +2 "storage"(& +4 "core" &K Y [\  + "manipulator"&& +4 "core" &  ' +2 .tElbow.seek 6 + "manipulator"&~( +31 "core" ( + "manipulator"&& +4 "core" &   +2 "storage"({& +4 "core" &K Y Y \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&'< +91 "core" ' +2 "storage"(& +5 "core" &K p t '\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"('e +282 "core" ' + "storage"( - +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" & q o %  +2 "storage"(& +3 "core" &K Y c\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&'z +29 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"('- +2 "core" -' +3 .tSE.seek 0.12 Pucks below Top Plate + "storage"('r +29 "core" ' +2 "manipulator"&)% +4 "core" %Ό{ L G + "storage"(& +4 "core" &K\ M \  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 6 + 318 counts +2 "manipulator"&'ϸ +19 "core" ' + "manipulator"&& +4 "core" & ` w :  +2 "storage"(X& +4 "core" &K r z M\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&-'< +19 "core" ' +2 .tSE.seek 1.12 Pucks below Top Plate +2 "storage"(.'a +39 "core" ' +2 "manipulator"&1& +4 "core" & s q W  +2 "manipulator"&% +4 "core" % r p , +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&4'\ +92 "core" ' + .tElbow.seek CC +2 "manipulator"&5( +157 "core" ( +2 "manipulator"&9& +4 "core" &, T Bi + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &, Bi +2 .tForearm.seek CC + "manipulator"&'| +96 "core" ' +2 .tHand.close + "manipulator"&:/ +52 "core" / +2 .tCC.seek :open +2 "collection"'(p +410 "core" ( +2 "storage"(%& +4 "core" &K \  + "storage"(=& +78 "core" &K \  + "manipulator"&?& +4 "core" &/# ;4 +2 "manipulator"&(% +4 "core" % ό +2 .tForearm.seek :retract + "manipulator"&'\ +92 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&0( +154 "core" ( +2 "manipulator"&A& +4 "core" & D  +2 "storage"(B& +3 "core" &K \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 6 +2 "manipulator"&2'z +105 "core" ' +2 .tElbow.hold + "manipulator"&3, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&61 +56 "core" 1 +2 "manipulator"&;% +53 "core" % Ύ c +2 "storage"(G& +4 "core" &K u q c\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 320 counts + "manipulator"&&'Ϻ +19 "core" ' + "manipulator"&<& +5 "core" & v h $ * + "storage"("& +4 "core" &K \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&#'< +18 "core" ' + "storage"(E% +4 "core" %g \ +3 ."downElevator"SE.seek :down +3 "storage"(8'N +99 (K% +3 "core" %> \ U\\ + "manipulator"&/% +4 "core" % q y 6 +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&N'\ +91 "core" ' +51 ' +2 ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 7 of [5..7] + #Loading generic puck from tube 7 into Collection Clamp +2 "collection"'P& +4 "core" &,-\ +2 "manipulator"&>% +4 "core" %\ -  "^ +2 "storage"($% +3 "core" %G =\ +2 "storage"(I. +3 "core" .(K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 7 + "storage"(([ +359 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (7& +2 "core" &[ $\ +2 "manipulator"&D& +4 "core" &  * +2 .tElbow.seek 7 + "manipulator"&V( +24 "core" ( + "manipulator"&W& +5 "core" &   + "storage"(Y& +4 "core" &[ \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&['k +100 "core" ' +2 "storage"(L& +4 "core" &[ 2\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(S'e +281 "core" ' +2 "storage"(+- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (T& +2 "core" &[ ~ \ +2 "manipulator"&Q& +4 "core" & r o 5  +2 .tElbow.seek 7 + "manipulator"&M( +3 "core" ( +2 "manipulator"& & +4 "core" & q g }  + "storage"(H& +4 "core" &[ \ +2 .tForearm.seek 7 + 300 counts +2 "manipulator"&Z' +13 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&J/ +53 "core" / +3 ."downElevator"SE.seek :down +8 "manipulator"&F& +2 "storage"(!'N +7 "core" & } }  +2 "manipulator"&f% +4 "core" % z | 6 +2 .tForearm.seek :retract +2 "manipulator"&^'\ +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&O( +155 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +4 "core" ( + "manipulator"&b& +5 "core" &. - A` + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &C& +3 "core" &/ A` +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&]'| +103 "core" ' + "manipulator"&j& +4 "core" &* @^ +2 "manipulator"&a% +4 "core" %t +2 "collection"'@& +4 "core" &-/(\ +2 "collection"'m& +5 "core" &.-&\ +2 .tCC.seek :closed +2 "collection"'g(] +5 "core" &-.0\ +7 &?+/\ $e +9 &iV,.%\ 7 +10 &~,. \ L +9 &t_-0\ N +9 &7^,/\ N +10 &]-0\ N +9 & `,/W\ N +9 &"}`+.\ N +10 &$?]+,e\ N +9 &&_+/\ N +14 &'_+.#\ M +5 &)`,-*\ N +9 &+G`+-\ N +10 &-`,-W\ N +9 &.a,.T\ N +9 &0_.,\ N +10 &2O_,. \ N +9 &4c+.E\ N +9 &5`,- \ N +10 &7_,-\ M +9 &9W`+-\ N +10 &;_*.\ M +9 &<\\+.\ N +9 &>],,\ N +10 &@_]++\ N +9 &B"_,.Q\ M +9 &C^++<\ M +10 &Ea*+s\ N +9 &Gg^#M\ N +10 &I%mj\ O +9 &J{b\ Q +9 &L/j]\ T +10 &NSf\ W +9 &P\ X +9 &Qj\ X +10 &S@\ X +9 &UQ_\ [ +10 &WJ\ Y +9 &XqyV\ [ +9 &Zem\\\ \\ +10 &\\FU\\]\ M +9 &]Y2IM^\ (u +9 &]GI\ K +6 ( + "collection"'m& +5 #tCollection Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.97 + .Hand.open + "manipulator"&d1 +4 "core" &]pHJQ\ K +49 1 + "manipulator"&t% +4 "core" % k 6 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&w'\ +96 "core" ' +2 #tLoading generic puck from tube 7 into Processing Clamp + "processing"%i& +5 "core" &\ + "manipulator"&h% +4 "core" %\ - g "] +2 "storage"(U% +4 "core" %H B D \  + "storage"(}. +3 "core" .([ +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 7 + "storage"(\\([ +4 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (& +3 "core" &[ ' 2 .\ +2 "manipulator"&y& +8 "core" && p >O +2 "manipulator"&o% +4 "core" %\ -  "] +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 7 +2 "manipulator"&x( +184 "core" ( + "manipulator"&z& +5 "core" & R o + "storage"(n& +4 "core" &[ Z Z\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&c'k +100 "core" ' +2 "storage"(k& +4 "core" &[ s { P\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(p'e +275 "core" ' +2 "storage"(e- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +2 "core" &[ X \\\ +2 "manipulator"&l& +4 "core" & } y o +2 .tElbow.seek 7 +2 "manipulator"&v( +3 "core" ( + "manipulator"&u& +3 "core" & | v s o +3 "storage"(r& +4 "core" &[ t v \ +2 .tForearm.seek 7 + 300 counts +2 "manipulator"& ' +15 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&\ / +64 "core" / +2 ."downElevator"SE.seek :down +5 "manipulator"&& + "storage"( 'N +6 "core" & c o +2 "manipulator"&s% +4 "core" % t 9 +2 .tForearm.seek :retract +2 "manipulator"&'\ +90 "core" ' + .tElbow.seek PC +2 "manipulator"& (c +163 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +85 "core" ( +2 "manipulator"&q& +4 "core" &g +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &g  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&'[ +104 "core" ' +2 "manipulator"&& +4 "core" &g  +2 "manipulator"&{% +4 "core" %L  +2 "processing"%_& +3 "core" &\ +2 "processing"%& +6 "core" &\ +2 .tPC.seek :closed + "processing"%|(Z +5 "core" &8\ +7 &8=\ $e +10 &jVC\ 8 +9 &}8\ L +9 &XT\ M +10 &A]\ N +9 &\\\ N +10 & ]L\ N +9 &"W{\ M +9 &$JY>\ M +10 && Y@\ N +9 &'\\8\ N +9 &)]D\ M +10 &+R\\C\ M +9 &-_:\ N +10 &.\\B\ M +9 &0[\ M +9 &2Z]\ M +10 &4X\ N +9 &5[\ N +9 &7\\\ N +10 &9b]\ M +9 &;#^\ N +10 &<Z\ N +9 &>_\ M +9 &@jY\ M +10 &B,\\\ M +9 &C]\ N +9 &E^\ M +10 &Goc\ N +9 &I.k\ O +10 &J}\ Q +9 &L\ S +9 &Ne\ T +10 &P'\ T +9 &Q\ U +10 &S\ U +9 &Um|\ T +9 &W.|\ U +10 &X\ U +9 &ZIHj\ *{ +9 &Z1\ + +6 ( + "processing"%& +5 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.58 + .Hand.open + "manipulator"&`1 +4 "core" &Z!\ + +58 1 + "manipulator"&% +5 "core" % L 5 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"& '\ +100 "core" ' +2 "processing"%& +4 "core" &Z |\ + + #tImaging generic puck in Processing Clamp while storing it to tube 7 +2 "manipulator"&% +4 "core" %\ 8  ' + "storage"('% +4 "core" %J   k\ +2 "storage"(). +3 "core" .([ + "storage"(& +4 "core" &[   u\ +2 "storage"(& +3 "manipulator"&X& +7 "core" &[ 2 ! q\ + &g +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +3 "storage"(#]kK-0-\ b +2 .tElbow.seek PC +4 "manipulator"&1(c +3 ."raiseStack"SE.seek :beamBreak +2 "storage"('e +2 "core" ( +2 "manipulator"&& +4 "core" &g + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &~& +3 "core" &g 4 +2 .tForearm.seek PC +2 "manipulator"&'[ +100 "core" ' + .tHand.close +2 "manipulator"&/ +59 "core" / +2 .tPC.seek :open +2 "processing"%(p +82 "core" ' + "storage"(- +4 "core" -'e + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(9'B +33 "core" ' +266 ( + "storage"(& +4 "core" &[ f _ <\ +2 "manipulator"&-& +3 "core" &g  +2 "manipulator"&% +4 "core" % f @ +2 .tForearm.seek :retract +2 "manipulator"&:'\ +97 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 7 +2 "manipulator"&4( +275 "core" ( + "manipulator"&,& +5 "core" & K  + "storage"(%& +4 "core" &[ Z [\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&='k +103 "core" ' + .tHand.open +2 "manipulator"&?1 +51 "core" 1 +2 "storage"((- +4 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate +2 "storage"(A' +26 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(B' +53 "core" ' +2 #tLights, camera, ACTION! + "storage"(- +3 "core" -' +2 "storage"(5& +4 "core" &[ `\ +2 "manipulator"&6& +4 "core" & p o $  + .tElbow.seek 7 +2 "manipulator"&;( +4 "core" ( + "manipulator"&G& +4 "core" & t r  +2 "storage"(<& +4 "core" &[ \ +2 .tForearm.seek 7 + 450 counts + "manipulator"&"'k +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.11 Pucks below Top Plate + "storage"('M +61 "core" ' +2 "manipulator"&E& +4 "core" & r r O  +2 "storage"(0& +45 "core" &[ t p\ +12 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 7 +2 "manipulator"&K'Ω +30 "core" ' + .tElbow.hold +2 "manipulator"&/, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.07 Pucks below Top Plate + "storage"(2'7 +23 "core" ' + "manipulator"&P% +5 "core" %κ 3 + "storage"(&& +4 "core" &[ 2 &\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 7 + 317 counts +2 "manipulator"&>' +16 "core" ' + "manipulator"&$& +5 "core" & r w !  + "storage"(I& +4 "core" &[ k s Q\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&.'k +16 "core" ' + "storage"(#% +5 "core" %= p w v\  +2 ."downElevator"SE.seek :down +4 "storage"(8'N +99 (*% +3 "core" %; Y Y\ V^ +2 "manipulator"&7% +4 "core" %r p n ) +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&D'\ +87 "core" ' +61 ' + ."downElevator"SE.stop + "storage"(5 +3 (W& +3 "core" &[ 1 F \ +2 "collection"'Y& +4 "core" &]nYZ1\ K +2 #tStoring generic puck in Collection Clamp to tube 7 + "manipulator"&L% +4 "core" %\ ) u L +2 "storage"(3% +4 "core" %< f f\ + "storage"(N. +3 "core" .([ +2 "storage"(+& +4 "core" &[ c f\ + "storage"(T& +4 "core" &[ c Y\ +2 "manipulator"&Q& +3 "core" &   +2 .tElbow.seek 7 +2 "manipulator"& ( +3 "core" ( + "manipulator"&H& +4 "core" & 0  +2 "storage"(J& +4 "core" &[ g f &\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&F'k +97 "core" ' +2 "storage"(f& +4 "core" &[ r | \ +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(V'e +281 "core" ' + "storage"([- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&b& +4 "core" & q p  + "storage"(C& +9 "core" &[ \\ c\ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 7 + "manipulator"&S'Ω +27 "core" ' +2 .tElbow.hold + "manipulator"&Z, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(j- +3 "core" -' +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(a'l +28 "core" ' +2 "manipulator"&M% +4 "core" %μ +2 "storage"(@& +3 "core" &[   1\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 7 + 319 counts + "manipulator"&!' +19 "core" ' + "manipulator"&^& +5 "core" & a w   + "storage"(& +4 "core" &[ o o\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&d'k +17 "core" ' +2 .tSE.seek 1.11 Pucks below Top Plate +2 "storage"(t'[ +46 "core" ' + "manipulator"&i& +5 "core" & q o 7  + "manipulator"&h% +4 "core" %h n q X +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&U'\ +88 "core" ' + .tElbow.seek CC +2 "manipulator"&}( +159 "core" ( + "manipulator"&m& +5 "core" &* W @] + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &*  @] +2 .tForearm.seek CC +2 "manipulator"&y'| +100 "core" ' + .tHand.close +2 "manipulator"&o/ +51 "core" / +2 .tCC.seek :open +2 "collection"'](p +411 "core" ( + "storage"(z& +4 "core" &[ \ +2 "storage"(n& +4 "core" &[ \ + "manipulator"&& +4 "core" & & =G +2 "manipulator"&O% +3 "core" % π +2 .tForearm.seek :retract +2 "manipulator"&k'\ +96 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 7 + "manipulator"&w( +188 "core" ( + "manipulator"&e& +4 "core" & I "} +2 "storage"(& +4 "core" &[ 3\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 7 + "manipulator"&l'Ω +109 "core" ' + .tElbow.hold +2 "manipulator"&u, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&r1 +64 "core" 1 +2 "manipulator"&\ % +5 "core" % λ # + "storage"(& +3 "core" &[ X Y \ +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 7 + 318 counts + "manipulator"&s' +18 "core" ' +2 "manipulator"&x& +4 "core" & j "} +2 "storage"(c& +3 "core" &[ N\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&p'k +21 "core" ' +2 "storage"( % +4 "core" %Y |\ +3 ."downElevator"SE.seek :down +3 "storage"(q'N +98 (% +3 "core" %c< H\ U\\ +2 "manipulator"&v% +4 "core" % } }\ +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +91 "core" ' +48 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 5 of [5..7] +2 #Loading generic puck from tube 5 into Collection Clamp + "collection"'{& +5 "core" &-.3\ + "manipulator"&_% +5 "core" %\ / ^ #d + "storage"( % +4 "core" %; \ + "storage"(. +4 "core" .([ +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"(R(<< +669 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (`& +2 "core" & +10 &O|-.\ N +9 &],.N\ M +9 &c,/d\ N +10 &_+/#\ N +9 &!Wc*-\ N +9 &#^,+ \ N +10 &$a,+\ M +9 &&]+/ \ N +10 &(`b,,\ M +9 &*"`+-\ M +9 &+[,,\ M +10 &-a,. \ N +9 &/g`/-\ N +9 &1)]-.\ N +10 &2b+-\ M +9 &4],-\ M +10 &6o^*.\ N +9 &82^--'\ M +9 &9\\*,\ M +10 &;Z*, \ M +9 &=xa*.\ M +9 &?:\\--\ M +10 &@_*/\ M +9 &Bb+.\ M +9 &D`+,\ M +10 &FBb#*^\ M +9 &Hc\ N +10 &IuU\ P +9 &Kz~\ R +10 &M0h\ V +9 &Nm\ W +9 &Ph\ X +9 &Rq\ X +10 &T0d\ Y +9 &Uf\ Z +10 &Wm\ Z +9 &Ymsyd\ \\ +9 &[0ajk\ \\ +10 &\\vRYe\ 9 +9 &]'MQi\ 'u +10 &]mJOg\ S +2 ( + "collection"'(& +4 #tCollection Clamp onSpring/offSpring for 9/25 samples, on/off torque 2.05 + .Hand.open + "manipulator"&51 +63 "core" 1 + "manipulator"&6% +5 "core" % ς C + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&G'\ +92 "core" ' +3 #tLoading generic puck from tube 5 into Processing Clamp + "processing"%<& +4 "core" &\ +2 "manipulator"&:% +3 "core" %\ + !V +2 "storage"(E% +4 "core" %? B B \ +2 "storage"(0. +3 "core" .(/ +64 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&Y& + "storage"(L'N +8 "core" & p q m  + "manipulator"&3% +4 "core" % c r o +2 .tForearm.seek :retract +2 "manipulator"&N'\ +93 "core" ' +2 .tElbow.seek PC +2 "manipulator"&+(c +158 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +88 "core" ( +2 "manipulator"&2& +4 "core" &d ? +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &T& +3 "core" &d  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&Q'[ +100 "core" ' + "manipulator"&H& +5 "core" &d p + "manipulator"&J% +4 "core" %]  +2 "processing"%.& +4 "core" &\ +2 "processing"%f& +6 "core" &8\ +2 .tPC.seek :closed +2 "processing"%8(Z +5 "core" &5\ +6 & 1D\ #b +9 &ZW\ 7 +9 &=\ L +10 &kZC\ N +9 &/\\8\ M +9 &^\ M +10 & _\ N +9 &"tZ\ M +10 &$5Y\ N +9 &%Z\ N +9 &'Z<\ N +10 &){ZA\ N +9 &+?WB\ M +9 &-`8\ M +10 &.]A\ N +9 &0]7\ N +10 &2E\\8\ N +9 &4W7\ N +9 &5ZD\ N +10 &7Z9\ N +9 &9N];\ M +9 &;_;\ N +10 &<Z{\ M +9 &>_\ N +10 &@V^\ M +9 &BZ\ M +9 &CZ\ M +10 &E^\ N +9 &G\\b\ N +9 &Ijc\ O +10 &Jy\ Q +9 &L\ S +10 &NR\ T +9 &P\ T +9 &Q\ T +10 &S\ T +9 &UY\ T +9 &W\ U +10 &X\ U +9 &Z;Pu\ + +9 &Z]\ 7 +6 ( + "processing"%f& +5 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.57 + .Hand.open +2 "manipulator"&/1 +3 "core" &Z3\ 6 +49 1 + "manipulator"&D% +4 "core" % ] +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&['\ +92 "core" ' +2 "processing"%b& +4 "core" &Z.\ 6 +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 + "manipulator"&C% +4 "core" %\ ( D +2 "storage"(j% +3 "core" %M 8 B R\  +2 "storage"(M. +3 "core" .(<< + "storage"(@& +4 "core" &<8 4 2 I\ +2 "storage"(^& +2 "manipulator"&& +7 "core" &<8 5 5\ + &d +3 .tElbow.reconfigure :tight +7 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +2 "storage"(#]kK-0-\ b +2 "manipulator"&i(c +6 ."raiseStack"SE.seek :beamBreak + "storage"(h'e +3 "core" ( + "manipulator"&F& +4 "core" &d +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 & & +2 "core" &d +2 .tForearm.seek PC +2 "manipulator"&V'[ +95 "core" ' + .tHand.close +2 "manipulator"&S/ +55 "core" / +2 .tPC.seek :open + "processing"%!(p +96 "core" ' +2 "storage"(a- +4 "core" -'e + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(m'B +35 "core" ' +249 ( +2 "storage"(& +4 "core" &<8 Z Y\ + "manipulator"&d& +4 "core" &d  +2 "manipulator"&Z% +4 "core" % f   + .tForearm.seek :retract +2 "manipulator"&o'\ +93 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&U( +250 "core" ( + "manipulator"&g& +4 "core" &  k +2 "storage"(z& +4 "core" &<8 C D \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&n' +94 "core" ' + .tHand.open + "manipulator"&1 +52 "core" 1 +2 "storage"(O- +4 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate +2 "storage"(e' +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(' +52 "core" ' +2 #tLights, camera, ACTION! + "storage"(y- +4 "core" -' + "storage"(}& +4 "core" &<7 K\ +2 "manipulator"&r& +4 "core" &  j + .tElbow.seek 5 +2 "manipulator"&\ ( +3 "core" ( +2 "manipulator"&& +3 "core" & > j +2 "storage"(x& +4 "core" &<7 W\ +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&c' +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"( 'M +62 "core" ' + "manipulator"&k& +4 "core" & - j +2 "storage"(& +4 "core" &<7 Y [\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&v'/ +28 "core" ' + .tElbow.hold +2 "manipulator"&w, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"(l'7 +22 "core" ' +2 "manipulator"&{% +4 "core" %< h +2 "storage"(s& +4 "core" &<7   X\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 313 counts + "manipulator"&_'h +18 "core" ' +2 "manipulator"& & +4 "core" &0 r z = +2 "storage"(& +4 "core" &<7 v v r\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&t' +22 "core" ' +2 "storage"(p% +4 "core" %< f m \  +3 ."downElevator"SE.seek :down +3 "storage"(q'N +99 (\\% +2 "core" %> Y Z\ V^ +2 "manipulator"&`% +4 "core" % { q T +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&'\ +95 "core" ' +54 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (& +5 "core" &<7 1  4\ + "collection"''& +4 "core" &]kZ]D\ S +2 #tStoring generic puck in Collection Clamp to tube 5 + "manipulator"&% +4 "core" %\ 0 h $s +2 "storage"(u% +3 "core" %8 Y Y\ +2 "storage"(. +3 "core" .(<< + "storage"(X& +4 "core" &<7 Y Y\ +2 "storage"(& +4 "core" &<7 Y [\ + "manipulator"&& +4 "core" &0 ? = +2 .tElbow.seek 5 + "manipulator"&( +53 "core" ( + "manipulator"&& +4 "core" & & +2 "storage"( & +4 "core" &<7 K V \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"& ' +99 "core" ' + "storage"(& +4 "core" &<7 X X Y\ +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"('e +280 "core" ' +2 "storage"()- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" &  & + "storage"(& +4 "core" &<7 C B \ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&'/ +30 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(%- +2 "core" -' +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(1'l +29 "core" ' + "manipulator"&?% +4 "core" %: l O +2 "storage"(~& +4 "core" &<7\ %\ " <\ + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 311 counts + "manipulator"&|'f +18 "core" ' + "manipulator"&& +4 "core" &>\ l Y +2 "storage"(]& +4 "core" &<7 ` c c\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&5' +23 "core" ' +2 .tSE.seek 1.11 Pucks below Top Plate +2 "storage"(6'[ +40 "core" ' +2 "manipulator"&<& +4 "core" &>\ z r Y +2 "manipulator"&:% +4 "core" % z t +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&E'\ +93 "core" ' +2 .tElbow.seek CC +2 "manipulator"&0( +156 "core" ( + "manipulator"&(& +4 "core" &1 + F +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &A& +3 "core" &1  F +2 .tForearm.seek CC +2 "manipulator"&P'| +105 "core" ' + .tHand.close +43 "manipulator"&&/ +64 "core" / +2 .tCC.seek :open +2 "collection"',(p +410 "core" ( +2 "storage"(I& +4 "core" &<7 \ + "storage"(4& +4 "core" &<7 <\ +2 "manipulator"&R& +3 "core" &* I Ae +2 "manipulator"&=% +4 "core" % u  ` +2 .tForearm.seek :retract + "manipulator"&-'\ +91 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&G( +156 "core" ( + "manipulator"&*& +4 "core" & h  +2 "storage"(7& +4 "core" &<7 \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 5 +2 "manipulator"&"'/ +106 "core" ' +2 .tElbow.hold + "manipulator"&, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&K1 +52 "core" 1 +2 "manipulator"&>% +5 "core" % @ + "storage"(Y& +4 "core" &<7 } } \ + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 317 counts +2 "manipulator"&3'l +17 "core" ' +2 "manipulator"&$& +4 "core" &< ] u &  +2 "storage"(#& +4 "core" &<7 \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&B' +22 "core" ' + "storage"(W% +4 "core" %V ;\ +3 ."downElevator"SE.seek :down +3 "storage"(2'N +99 (T% +3 "core" %8 R\ TY +2 "manipulator"&;% +4 "core" % l b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&H'\ +96 "core" ' +45 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 6 of [5..7] +2 #Loading generic puck from tube 6 into Collection Clamp + "collection"'J& +5 "core" &+/\ + "manipulator"&.% +5 "core" %\ 3  %y + "storage"(L% +4 "core" %K )\  +2 "storage"(N. +3 "core" .(<< +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"((K +353 "core" ( +2 .tSC.configure :limp +3 "storage"($\ 1b +2 (/& +2 "core" &K M W K\  +2 "manipulator"&D& +4 "core" &<   +2 .tElbow.seek 6 +2 "manipulator"&b( +15 "core" ( +2 "manipulator"&C& +4 "core" &   +2 "storage"(j& +4 "core" &K _\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&M'< +97 "core" ' + "storage"(@& +4 "core" &K D\  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"('e +276 "core" ' + "storage"(^- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (f& +3 "core" &K G\  +2 "manipulator"&F& +3 "core" & o (  +2 .tElbow.seek 6 +2 "manipulator"& ( +3 "core" ( + "manipulator"&Q& +4 "core" & w t .  +2 "storage"(S& +3 "core" &K -\  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&a'Ϧ +10 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&+/ +52 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&[& +2 "storage"(8'N +8 "core" & p n  + "manipulator"&% +4 "core" % Ϣ t p [ 6 +2 .tForearm.seek :retract +2 "manipulator"&d'\ +98 "core" ' +2 .tElbow.seek CC +2 "manipulator"&Z( +143 "core" ' + ."downElevator"SE.stop + "storage"(5 +11 "core" ( + "manipulator"&h& +4 "core" &' R >I +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &V& +2 "core" &'  >I +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&g'| +100 "core" ' +2 "manipulator"&z& +4 "core" &'  >I +2 "manipulator"&i% +3 "core" %b +2 "collection"'& +4 "core" &,.\ +2 "collection"'O& +5 "core" &+/\ +2 .tCC.seek :closed +2 "collection"'y(] +4 "core" &-0\  +8 &1./\ *y +10 &b+.3\ > +9 &J{-/\ N +9 & ^-.\ M +10 &c.-`\ M +9 &b+/w\ N +10 &!Q`,-\ N +9 &#`./\ N +9 &$_,/2\ N +10 &&_.-\ N +9 &(Z_,,\ M +9 &*\\,/\ M +10 &+`,/\ M +9 &-_+/C\ M +9 &/b]+.\ M +10 &1$_+. \ M +9 &2_,-\ N +10 &4],-\ N +9 &6j]+.\ M +9 &8,],.\ M +10 &9`-.\ M +9 &;],.\ M +9 &=ra-.b\ M +10 &?4_*+\ M +9 &@`)+\ M +10 &Ba*,6\ N +9 &D{]*-t\ M +9 &F;`&*\ N +10 &Gb\ N +9 &Ir\ O +9 &KrD\ S +10 &M)\ W +9 &Nd\ W +10 &Pw\ X +9 &Ri\ Y +9 &T+i\ Y +10 &Uj\ Z +9 &Wi\ Z +10 &Yij\ [ +9 &[*zA\ \\ +9 &\\zmre\ 5 +9 &],egf\ ^ +9 ( +3 "collection"'O& +3 #tCollection Clamp onSpring/offSpring for 9/25 samples, on/off torque 2.04 + .Hand.open +2 "manipulator"&}1 +3 "core" &]xfg]\ R +49 1 + "manipulator"&r% +3 "core" % b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +91 "core" ' +3 #tLoading generic puck from tube 6 into Processing Clamp + "processing"%x& +5 "core" &x\ + "manipulator"&o% +4 "core" %\ +  !V +2 "storage"(k% +4 "core" %C B B \  + "storage"(. +4 "core" .(K + "storage"({& +4 "core" &K 4 3\  +2 "storage"(m& +3 "core" &K 9 B \  +2 "manipulator"&s& +4 "core" &% O << +2 "manipulator"& % +4 "core" %\ +  !V +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&e( +156 "core" ( +2 "manipulator"&& +4 "core" & O +2 "storage"(p& +3 "core" &K [ [\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&U'< +94 "core" ' +2 "storage"(n& +4 "core" &K v v v\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"('e +282 "core" ' + "storage"(\\- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (`& +4 "core" &K A T t\  + "manipulator"&c& +4 "core" & q p  +2 .tElbow.seek 6 + "manipulator"&\ ( +3 "core" ( +2 "manipulator"& & +3 "core" & q w $ +2 "storage"(v& +4 "core" &K [ \\\  +2 .tForearm.seek 6 + 300 counts + "manipulator"&'Ϧ +10 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&_/ +53 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"&'& + "storage"('N +7 "core" & n o  + "manipulator"&u% +4 "core" % Ϟ o p - +2 .tForearm.seek :retract +2 "manipulator"&'\ +97 "core" ' +2 .tElbow.seek PC +2 "manipulator"&X(c +160 "core" ' + ."downElevator"SE.stop + "storage"(5 +76 "core" ( +2 "manipulator"&l& +4 "core" &d r Z ' +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &d  ' +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&'[ +103 "core" ' + "manipulator"&& +5 "core" &e O & + "manipulator"& % +4 "core" %d  +2 "processing"%t& +4 "core" &\ +2 "processing"%& +5 "core" &;\ +2 .tPC.seek :closed +2 "processing"%q(Z +4 "core" &6\ +8 & 2<\ #b +9 &^U9\ 7 +10 &9\ L +9 &nZ5\ M +9 &0ZC\ M +10 &ZC\ M +9 & ]E\ N +10 &"vZ4\ M +9 &$7\\\\\ N +9 &%[|\ M +10 &']{\ M +9 &)~[\ M +9 &+?[\ N +10 &-]c\ M +9 &.Y;\ M +9 &0YB\ M +10 &2G\\C\ N +9 &4\ Z@\ M +10 &5X<\ M +9 &7[:\ N +9 &9P\\9\ M +10 &;]7\ N +9 &<YB\ M +9 &>_C\ M +10 &@XYD\ M +9 &B\\C\ M +10 &C\\\ N +9 &E]F\ N +9 &G]dD\ N +10 &InD\ O +9 &JD\ Q +10 &L\ S +9 &NT\ T +9 &P\ T +10 &Q\ T +9 &S\ T +9 &U[\ T +10 &W\ U +9 &X\ U +10 &Z:Lp\ - +9 &Z`\ : +9 ( + &Z>\ 8 +2 "processing"%& +3 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.59 + .Hand.open +2 "manipulator"&w1 +64 "core" 1 + "manipulator"&% +4 "core" % d +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&)'\ +95 "core" ' +2 "processing"%& +4 "core" &Z>\ 8 +52 #tImaging generic puck in Processing Clamp while storing it to tube 6 +3 "manipulator"&% +3 "core" %\ / #c +2 "storage"(%% +4 "core" %K   \ +2 "storage"(?. +3 "core" .(K + "storage"(~& +4 "core" &K   f\  +2 "storage"(& +4 "manipulator"&]& +4 "core" &K   ^\  + &e & +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +3 "storage"(#]kK-0-\ b +2 .tElbow.seek PC +4 "manipulator"&<(c +4 ."raiseStack"SE.seek :beamBreak + "storage"(:'e +3 "core" ( + "manipulator"& & +4 "core" &e & +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &e & +3 .tForearm.seek PC + "manipulator"&'[ +102 "core" ' + .tHand.close +2 "manipulator"&/ +62 "core" / +2 .tPC.seek :open +2 "processing"%|(p +79 "core" ' + "storage"(1- +4 "core" -'e + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(('B +34 "core" ' +271 ( +2 "storage"(A& +4 "core" &K 7 7 $\  + "manipulator"&5& +4 "core" &e { & +2 "manipulator"&% +4 "core" % j { +2 .tForearm.seek :retract +2 "manipulator"&&'\ +99 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +2 "manipulator"&E( +260 "core" ( + "manipulator"&& +4 "core" &  \ +2 "storage"(I& +4 "core" &K C D \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&4'< +100 "core" ' +2 .tHand.open + "manipulator"&R1 +61 "core" 1 +2 "storage"(=- +4 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate +2 "storage"(*' +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(7' +51 "core" ' + #tLights, camera, ACTION! +2 "storage"(P- +3 "core" -' +2 "storage"(0& +3 "core" &K z z 8\  +2 "manipulator"&K& +4 "core" &  \ +2 .tElbow.seek 6 +2 "manipulator"&>( +3 "core" ( + "manipulator"&Y& +4 "core" &  \ +2 "storage"($& +4 "core" &K f Z j\  +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&#'< +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"(W'M +58 "core" ' +2 "manipulator"&-& +4 "core" & . \ +2 "storage"(T& +4 "core" &K Z [\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&;'z +32 "core" ' +2 .tElbow.hold + "manipulator"&G, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"("'7 +26 "core" ' + "manipulator"&J% +5 "core" % Y Q + "storage"(3& +5 "core" &K\  \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 305 counts + "manipulator"&.'ϫ +19 "core" ' + "manipulator"&L& +5 "core" & L i ; \ + "storage"(N& +4 "core" &K u v \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&6'< +17 "core" ' +2 "storage"(B% +4 "core" %9 w v \ +3 ."downElevator"SE.seek :down +3 "storage"(2'N +98 (9% +3 "core" %X> Y Y\ U^ +2 "manipulator"&/% +4 "core" %B q n  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&D'\ +91 "core" ' +59 ' + ."downElevator"SE.stop + "storage"(5 +3 (C& +3 "core" &K  * '\  +2 "collection"'j& +4 "core" &]ujmM\ R + #tStoring generic puck in Collection Clamp to tube 6 +2 "manipulator"&@% +4 "core" %\ -  "\\ + "storage"(% +4 "core" %G [ [\ +2 "storage"(H. +3 "core" .(K + "storage"(^& +4 "core" &K Y X e\  +2 "storage"(f& +4 "core" &K Y W s\  + "manipulator"&F& +4 "core" &  \ +2 .tElbow.seek 6 + "manipulator"&Q( +4 "core" ( + "manipulator"&S& +4 "core" &  \ +2 "storage"(+& +4 "core" &K Y Y\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&['< +111 "core" ' +2 "storage"(& +4 "core" &K } 9\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(b'e +278 "core" ' + "storage"(M- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&h& +3 "core" & q o  \ +2 "storage"(V& +3 "core" &K o q -\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&'z +35 "core" ' +2 .tElbow.hold + "manipulator"&a, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(z- +2 "core" -' +3 .tSE.seek 0.12 Pucks below Top Plate + "storage"(i's +26 "core" ' +2 "manipulator"&% +4 "core" %Ίx y A + "storage"( & +4 "core" &K\  \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 316 counts + "manipulator"&8'϶ +19 "core" ' + "manipulator"&d& +4 "core" & w \\  \ +2 "storage"(,& +4 "core" &K p v W\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&}'< +17 "core" ' +2 .tSE.seek 1.12 Pucks below Top Plate +2 "storage"(r'b +49 "core" ' + "manipulator"&x& +5 "core" & o p  \ + "manipulator"&o% +4 "core" %8 n o  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&k'\ +87 "core" ' + .tElbow.seek CC +2 "manipulator"&( +151 "core" ( +2 "manipulator"&{& +4 "core" &%  <? + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &m& +3 "core" &% C <? +2 .tForearm.seek CC + "manipulator"&s'| +99 "core" ' +2 .tHand.close + "manipulator"&O/ +54 "core" / + .tCC.seek :open +2 "collection"' (p +411 "core" ( + "storage"(g& +4 "core" &K e\  +2 "storage"(& +4 "core" &K \  + "manipulator"&p& +4 "core" &% <; + "manipulator"&n% +4 "core" % σ ] +2 .tForearm.seek :retract +2 "manipulator"&Z'\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&( +156 "core" ( + "manipulator"&\\& +5 "core" & } + "storage"(`& +4 "core" &K (\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 6 + "manipulator"&c'z +109 "core" ' +2 .tElbow.hold + "manipulator"& , +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&v1 +62 "core" 1 +2 "manipulator"&_% +4 "core" % Ό G + "storage"('& +4 "core" &K u v a\  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 6 + 318 counts + "manipulator"&u'ϸ +18 "core" ' + "manipulator"&e& +4 "core" & \\ u 7 +2 "storage"(U& +4 "core" &K q\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&'< +16 "core" ' + "storage"(% +4 "core" %h V\ +3 ."downElevator"SE.seek :down +3 "storage"(l'N +99 (% +2 "core" %< B\ TZ +2 "manipulator"&\ % +4 "core" %9 o q  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +87 "core" ' +55 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 7 of [5..7] +56 #Loading generic puck from tube 7 into Collection Clamp +2 "collection"' & +5 "core" &-. \ + "manipulator"&t% +4 "core" %\ -  E +2 "storage"(% +4 "core" %I \  +2 "storage"(. +3 "core" .(K + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 7 +2 "storage"(!([ +356 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (w& +2 "core" &[ Y [\  +2 "manipulator"&& +4 "core" &  +2 .tElbow.seek 7 + "manipulator"&( +38 "core" ( + "manipulator"&& +5 "core" & # + "storage"(& +4 "core" &[ 7\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&%'k +102 "core" ' + "storage"(?& +5 "core" &[ \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(~'e +277 "core" ' + "storage"(]- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" &[ \  +2 "manipulator"& & +3 "core" & x p i # +2 .tElbow.seek 7 +2 "manipulator"&( +3 "core" ( + "manipulator"&& +4 "core" &  ~ # +2 "storage"(& +4 "core" &[ -\  +2 .tForearm.seek 7 + 300 counts +2 "manipulator"&1' +22 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&X/ +58 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&)& +2 "storage"(q'N +8 "core" & M # + "manipulator"&:% +4 "core" %   +2 .tForearm.seek :retract +2 "manipulator"&A'\ +99 "core" ' + .tElbow.seek CC +2 "manipulator"&5( +143 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +4 "core" ( + "manipulator"&& +5 "core" &\ & >M + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" & ' >L +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&'| +103 "core" ' +2 "manipulator"&I& +5 "core" & ' >L + "manipulator"&<% +4 "core" %σ +2 "collection"'R& +4 "core" &+-\ +2 "collection"'=& +6 "core" &+/\ +2 .tCC.seek :closed +3 "collection"'P(] +4 "core" &-.\ +5 &8-1\ $c +10 &hU-0\ 7 +9 &..\ L +10 &xZ/1\ M +9 &9^-/\ M +9 &`-/\ M +10 & _-/\ N +9 &"^./`\ M +9 &$B[-/\ M +10 &&_./\ M +9 &'^,/ \ N +10 &)_-/\ M +11 &+I_+0\ M +7 &- _-.5\ M +10 &.b-0\ M +9 &0_,.\ N +9 &2Q_.-\ M +10 &4`*/\ M +9 &5]..\ M +10 &7],/\ M +9 &9Y\\--3\ M +9 &;\\.-\ M +10 &<]+/\ M +9 &>`,/\ M +9 &@b^-,\ M +10 &B"^..1\ N +9 &C].-\ M +10 &E]--\ M +9 &Gh` %\ N +9 &I)j\ N +10 &J{\ P +9 &LS\ T +9 &NV\ V +10 &P\ W +9 &Q\ X +10 &S\ X +9 &UW\ Y +9 &W\ Z +10 &X\ [ +9 &Z\ [ +9 &\\Zu{\ H +10 &]gCjn\ #k +9 &]Mji\ = +3 ( + "collection"'=& +3 #tCollection Clamp onSpring/offSpring for 10/26 samples, on/off torque 2.02 + .Hand.open + "manipulator"&01 +54 "core" 1 +2 "manipulator"&K% +4 "core" % r y +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&Y'\ +92 "core" ' +2 #tLoading generic puck from tube 7 into Processing Clamp + "processing"%$& +5 "core" &8\ + "manipulator"&&% +4 "core" %\ ' ' @ +2 "storage"(-% +3 "core" %< f c\ +2 "storage"(T. +3 "core" .([ + "storage"(J& +4 "core" &[ [ [ \  +2 "storage"((& +3 "core" &[ X X K\  +2 "manipulator"&3& +4 "core" &% Q =E +2 "manipulator"&*% +4 "core" %\ &  @ +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 7 +2 "manipulator"&L( +160 "core" ( + "manipulator"&N& +5 "core" & |  + "storage"(B& +4 "core" &[ z | 7\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&E'k +94 "core" ' + "storage"(4& +5 "core" &[ \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(7'e +280 "core" ' + "storage"(9- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (/& +3 "core" &[ | r M\  + "manipulator"&#& +4 "core" & | r  +2 .tElbow.seek 7 + "manipulator"&>( +4 "core" ( + "manipulator"&W& +4 "core" & y I  + "storage"(;& +4 "core" &[ f m z\  +2 .tForearm.seek 7 + 300 counts +2 "manipulator"&C' +21 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&./ +53 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&j& + "storage"(@'N +7 "core" & o p +  +2 "manipulator"&% +4 "core" % o s + + .tForearm.seek :retract +2 "manipulator"&H'\ +95 "core" ' +2 .tElbow.seek PC +2 "manipulator"&^(c +155 "core" ' + ."downElevator"SE.stop + "storage"(5 +87 "core" ( +2 "manipulator"&"& +4 "core" &k | +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &f& +3 "core" &k > +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&F'[ +109 "core" ' +2 "manipulator"&S& +4 "core" &k z / +2 "manipulator"&+% +4 "core" %\\ }  +2 "processing"%6& +3 "core" &\ +2 "processing"%& +6 "core" &\ +2 .tPC.seek :closed + "processing"%2(Z +5 "core" &;\ +7 & 3<\ #a +10 &\\V=\ 7 +9 &~:\ L +9 &pY9\ M +10 &2Z9\ M +9 &ZC\ M +9 & \\?\ M +10 &"wZ[\ M +9 &$:[\ M +9 &%\\\ L +10 &'\\\ M +9 &)[\ M +10 &+BZ5\ M +9 &-]z\ M +9 &.[?\ M +10 &0\\=\ M +9 &2I\\B\ M +9 &4\ Z;\ M +10 &5[<\ M +9 &7\\<\ M +10 &9Q\\;\ M +9 &;\\;\ M +9 &<YB\ M +10 &>]D\ M +9 &@YYC\ M +9 &B\\B\ M +10 &C\\\ M +9 &E\\\ M +10 &G^aH\ N +9 &InA\ O +9 &J}\\\ P +10 &L^\ S +9 &NU\ T +10 &P\ T +9 &Q\ T +9 &S\ S +10 &U]\ T +9 &W\ T +9 &X\ T +10 &Z;Ln\ , +9 &Z.\ ( +6 ( + "processing"%& +4 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.60 + .Hand.open + "manipulator"&G1 +4 "core" &Z\ ( +56 1 + "manipulator"&D% +4 "core" % \\ q +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&M'\ +91 "core" ' +2 "processing"%h& +4 "core" &Z\ ( +2 #tImaging generic puck in Processing Clamp while storing it to tube 7 + "manipulator"&V% +4 "core" %\ , b "Z +2 "storage"(z% +3 "core" %8 [ Y\  +2 "storage"(. +3 "core" .([ + "storage"( & +4 "core" &[ S W 3\  +2 "storage"(d& +2 "manipulator"&,& +6 "core" &[ [ [\  + &k +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +3 "storage"(#]kK-0-\ b +2 "manipulator"&x(c +5 ."raiseStack"SE.seek :beamBreak + "storage"(o'e +3 "core" ( + "manipulator"&[& +4 "core" &k  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &Q& +3 "core" &k +2 .tForearm.seek PC +2 "manipulator"&b'[ +97 "core" ' + .tHand.close + "manipulator"&/ +62 "core" / +2 .tPC.seek :open + "processing"%8(p +87 "core" ' + "storage"(i- +4 "core" -'e + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"({'B +34 "core" ' +260 ( +2 "storage"(m& +4 "core" &[ u v <\  + "manipulator"&}& +4 "core" &k C +2 "manipulator"&a% +4 "core" % O Q +2 .tForearm.seek :retract + "manipulator"&O'\ +99 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 7 +2 "manipulator"&k( +256 "core" ( + "manipulator"&y& +4 "core" &  % +2 "storage"(g& +4 "core" &[ Y c\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&'k +93 "core" ' +2 .tHand.open + "manipulator"&p1 +54 "core" 1 +2 "storage"(n- +3 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate +53 "storage"(\\' +31 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(`' +49 "core" ' +2 #tLights, camera, ACTION! + "storage"(s- +4 "core" -' + "storage"(& +4 "core" &[ \  +2 "manipulator"&v& +3 "core" &  % +2 .tElbow.seek 7 +2 "manipulator"&_( +3 "core" ( + "manipulator"&'& +4 "core" & 5 % +2 "storage"(e& +4 "core" &[ <\  +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&U'k +3 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"('M +62 "core" ' + "manipulator"&Z& +5 "core" &  % + "storage"(& +4 "core" &[ p u \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 7 +2 "manipulator"&\ 'Ω +29 "core" ' +2 .tElbow.hold +2 "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"(c'7 +23 "core" ' +2 "manipulator"& % +5 "core" %ζ Z + "storage"(u& +4 "core" &[ > 8 q\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 7 + 313 counts +2 "manipulator"&r' +17 "core" ' + "manipulator"&t& +5 "core" & s {  % + "storage"(& +5 "core" &[ x\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&'k +17 "core" ' +2 "storage"(% +4 "core" %= \  +3 ."downElevator"SE.seek :down +3 "storage"(l'N +99 (% +3 "core" %@ _ v U\ U] + "manipulator"&w% +5 "core" %^ x t }  + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +88 "core" ' +60 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (& +4 "core" &[ 5 P I\  +2 "collection"'& +4 "core" &]Lty\ = +2 #tStoring generic puck in Collection Clamp to tube 7 + "manipulator"&?% +4 "core" %\ *  !M +2 "storage"( % +4 "core" %< Y e\  +2 "storage"(. +3 "core" .([ + "storage"(]& +4 "core" &[ v v W\  +2 "storage"(& +3 "core" &[ q u \ \  +2 "manipulator"& & +4 "core" & % +2 .tElbow.seek 7 +2 "manipulator"&( +3 "core" ( + "manipulator"&& +4 "core" &  % +2 "storage"(X& +4 "core" &[ u u V\  +4 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 7 + 450 counts +4 "manipulator"&)'k +101 "core" ' +2 "storage"(:& +4 "core" &[ )\  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"('e +277 "core" ' + "storage"(%- +4 "core" -' + .tSE.configure :default +8 "storage"(#QK-0-\ b +2 "manipulator"&& +3 "core" & z s % +2 "storage"(& +4 "core" &[ J\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 7 +2 "manipulator"&~'Ω +28 "core" ' +2 .tElbow.hold + "manipulator"&1, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(I- +2 "core" -' +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(<'l +37 "core" ' + "manipulator"&R% +5 "core" %λ a + "storage"(& +4 "core" &[ 4 5 D\  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 7 + 318 counts + "manipulator"&q' +17 "core" ' + "manipulator"&A& +4 "core" & g  % +2 "storage"( & +4 "core" &[ f g }\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&0'k +17 "core" ' +2 .tSE.seek 1.11 Pucks below Top Plate +2 "storage"(K'[ +41 "core" ' +2 "manipulator"&$& +5 "core" & z s o % + "manipulator"&&% +4 "core" %c { } +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&-'\ +88 "core" ' + .tElbow.seek CC +2 "manipulator"&T( +145 "core" ( + "manipulator"&J& +5 "core" && m =A + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &(& +3 "core" && =A +2 .tForearm.seek CC +2 "manipulator"&3'| +101 "core" ' +2 .tHand.close + "manipulator"&=/ +58 "core" / +2 .tCC.seek :open +2 "collection"'*(p +410 "core" ( +2 "storage"(& +4 "core" &[ \  +2 "storage"(N& +3 "core" &[ \  +2 "manipulator"&B& +3 "core" &" 7 +2 "manipulator"&4% +4 "core" % ρ +2 .tForearm.seek :retract + "manipulator"&5'\ +100 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 7 + "manipulator"&Y( +180 "core" ( + "manipulator"&9& +4 "core" & !s +2 "storage"(/& +4 "core" &[ \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 7 + "manipulator"&#'Ω +109 "core" ' +2 .tElbow.hold + "manipulator"&W, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&;1 +55 "core" 1 +2 "manipulator"&.% +4 "core" % κ \\ ~ +2 "storage"(j& +3 "core" &[ \\ Y \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 7 + 317 counts + "manipulator"&' +18 "core" ' + "manipulator"&L& +5 "core" & j w _ !r + "storage"(E& +4 "core" &[ &\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&7'k +22 "core" ' +2 "storage"(C% +4 "core" %_ W\ +3 ."downElevator"SE.seek :down +3 "storage"("'N +100 (f% +7 "core" %= \ U\\ +4 "manipulator"&>% +8 "core" %Ќ | r +4 .tForearm.reconfigure :loose +5 "manipulator"&#Q@2^d^b +4 .tForearm.seek :retract +4 "manipulator"&S'\ +89 "core" ' +36 ' +2 ."downElevator"SE.stop +2 "storage"(5 +5 #tShuffling pucks in tube 5 of [5..7] + #Loading generic puck from tube 5 into Collection Clamp +4 "collection"'+& +9 "core" &,/\ +3 "manipulator"&6% +8 "core" %\ +  !Q +4 "storage"(@% +8 "core" %F \  +3 "storage"(H. +7 "core" .([ +3 .tSC.reconfigure :tight +5 "storage"($\ .\ 1~b +4 .tSC.seek 5 +4 "storage"(|(<< +168 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +498 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (G& +3 "core" &Z+.\ M +9 &:\\+/\ M +10 &;Y+-\ M +9 &=^,/\ M +10 &?E]+0\ M +9 &A]-/\ M +9 &B_./\ M +10 &D\\,/\ M +9 &FN^(.\ M +9 &H g!\ N +11 &Ir\ O +8 &K\ S +10 &M;#\ V +9 &N\ W +9 &P\ W +10 &R|\ X +9 &T;\ Y +9 &U\ Y +10 &W\ Z +9 &Yn\ _ +9 &[:\ [ +10 &\\{t{\ / +9 &](ms\ ` +9 ( +2 &]soq\ N +2 "collection"'n& +3 #tCollection Clamp onSpring/offSpring for 9/25 samples, on/off torque 2.14 +2 .Hand.open + "manipulator"&s1 +63 "core" 1 +2 "manipulator"&% +4 "core" % υ  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&v'\ +91 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp + "processing"%'& +25 "core" &?\ + "manipulator"&e% +4 "core" %\ - "` +2 "storage"(Z% +4 "core" %K A B \  + "storage"(. +3 "core" .(I +2 "manipulator"&t% +4 "core" %\ - "` +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&\\( +161 "core" ( + "manipulator"&& +5 "core" &  v  + "storage"(& +4 "core" &<; X X P\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&k' +97 "core" ' +2 "storage"(& +4 "core" &<; v ` 2\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(`'e +189 "Can" b_ +88 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (w& +2 "core" &<8 W Y \  +2 "manipulator"&U& +4 "core" &  %  +2 .tElbow.seek 5 +2 "manipulator"&_( +3 "core" ( + "manipulator"&& +4 "core" &  M  + "storage"(\ & +4 "core" &<8 Y Y\  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&'[ +10 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&r/ +60 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"(?'N +7 "core" &  o o   + "manipulator"& % +4 "core" % U o o , +2 .tForearm.seek :retract +2 "manipulator"&'\ +96 "core" ' +3 .tElbow.seek PC +2 "manipulator"&](c +156 "core" ' + ."downElevator"SE.stop + "storage"(5 +90 "core" ( +2 "manipulator"&c& +4 "core" &k } k +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &k +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"& '[ +104 "core" ' +2 "manipulator"&& +4 "core" &k y e X +2 "manipulator"&X% +3 "core" %^ n p t +2 "processing"%& +4 "core" &\ +2 "processing"%:& +6 "core" &\ +2 .tPC.seek :closed +3 "processing"%l(Z +3 "core" &<\ +7 & 2;\ #b +9 &]U=\ 7 +10 &C\ L +9 &pW@\ M +10 &2Z=\ M +9 &[<\ M +9 & ]@\ M +10 &"yVA\ M +9 &$:Z@\ M +9 &%[>\ M +10 &'ZC\ M +9 &)[C\ M +9 &+AZC\ M +10 &-^\ M +9 &.[^\ M +10 &0Y|\ M +9 &2H\\2\ N +9 &4 Zy\ M +10 &5]\ M +9 &7Z\ M +9 &9Q\\F\ M +10 &;\\C\ M +9 &<Z;\ M +10 &>^C\ M +9 &@Y]=\ M +9 &B\\=\ N +10 &C\\;\ M +9 &E^<\ M +9 &G`b=\ N +10 &Il;\ O +9 &J{B\ Q +10 &L:\ S +9 &NW;\ S +9 &P?\ S +10 &Q<\ S +9 &S;\ T +9 &U]C\ T +10 &WC\ U +9 &XC\ T +10 &Z;Lr8\ . +9 &Z*C\ ( +5 ( +2 "processing"%:& +4 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.59 + .Hand.open +2 "manipulator"&1 +3 "core" &ZE\ ( +56 1 + "manipulator"&% +4 "core" % ^ }  t +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&%'\ +91 "core" ' +2 "processing"%& +4 "core" &Z\ ( +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 + "manipulator"&% +4 "core" %\ - "X +2 "storage"(I% +4 "core" %J A B \  +2 "storage"(R. +3 "core" .(<9 + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"((<< +10 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (A& +2 "manipulator"& & +4 "core" &<9  .\  +4 ."raiseStack"SE.reconfigure :place +3 "storage"(#]kK-0-\ b +2 "core" &k +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 ."raiseStack"SE.seek :beamBreak +4 .tElbow.seek PC +2 "storage"($'e +3 "manipulator"&&(c +3 "core" ( + "manipulator"&)& +4 "core" &k ( +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &k +2 .tForearm.seek PC + "manipulator"&'[ +97 "core" ' +2 .tHand.close + "manipulator"&~/ +58 "core" / +2 .tPC.seek :open +2 "processing"%q(p +83 "core" ' + "storage"(J- +4 "core" -'e + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(<'B +30 "core" ' +268 ( + "storage"((& +4 "core" &<8 Y [\  +2 "manipulator"&0& +4 "core" &k L + "manipulator"&1% +4 "core" % ^ J  +2 .tForearm.seek :retract +2 "manipulator"&='\ +97 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&-( +257 "core" ( +2 "manipulator"&P& +4 "core" & s ( + "storage"(& +4 "core" &<8 > B [\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&N' +101 "core" ' + .tHand.open +2 "manipulator"&B1 +57 "core" 1 +2 "storage"(4- +4 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate +2 "storage"(9' +26 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(/' +53 "core" ' + #tLights, camera, ACTION! +2 "storage"(3- +3 "core" -' +2 "storage"(T& +4 "core" &<7 L\  +2 "manipulator"&;& +3 "core" &  ( +2 .tElbow.seek 5 +2 "manipulator"&.( +4 "core" ( + "manipulator"&j& +4 "core" & 2 ( +2 "storage"(L& +4 "core" &<7 Q\  +2 .tForearm.seek 5 + 450 counts + "manipulator"&E' +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.11 Pucks below Top Plate + "storage"(C'M +60 "core" ' + "manipulator"&5& +4 "core" & f ( +2 "storage"(f& +4 "core" &<7 K = _\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&>'/ +28 "core" ' + .tElbow.hold +2 "manipulator"&Y, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.07 Pucks below Top Plate + "storage"(#'7 +23 "core" ' +2 "manipulator"&+% +4 "core" %: v +2 "storage"(& +4 "core" &<7\  C a\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 311 counts +51 "manipulator"&6'f +18 "core" ' + "manipulator"&@& +5 "core" &A ] t  d + "storage"(K& +4 "core" &<7 v u 5\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&H' +22 "core" ' + "storage"(7% +5 "core" %@ t r \  +2 ."downElevator"SE.seek :down +4 "storage"("'N +99 (!% +3 "core" %: Y Y\ U] + "manipulator"&G% +4 "core" % y r +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&D'\ +95 "core" ' +58 ' + ."downElevator"SE.stop + "storage"(5 +3 (V& +4 "core" &<7 6 3\  + "collection"'z& +4 "core" &]rx{\ N +2 #tStoring generic puck in Collection Clamp to tube 5 + "manipulator"& % +4 "core" %\ 1 $s +2 "storage"(W% +4 "core" %R 3 ) <\ \ +2 "storage"(S. +3 "core" .(<9 +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 + "storage"(,(<< +11 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (& +3 "core" &<9\ \  \  +2 "manipulator"&[& +4 "core" &A C d +2 .tElbow.seek 5 + "manipulator"&F( +23 "core" ( +2 "manipulator"&& +4 "core" & >  +2 "storage"(^& +4 "core" &<8 [ Y\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&M' +96 "core" ' +2 "storage"(m& +4 "core" &<8 v v r\  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(h'e +277 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&d& +2 "core" & s "  +2 "storage"(i& +4 "core" &<8 Y Y\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 + "manipulator"&a'/ +30 "core" ' + .tElbow.hold + "manipulator"&b, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(g- +3 "core" -' +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(x'j +27 "core" ' +2 "manipulator"&p% +4 "core" %? \\ +2 "storage"(Q& +4 "core" &<8\ \  f\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 316 counts + "manipulator"&2'k +19 "core" ' + "manipulator"&o& +5 "core" &! v _ 6 f + "storage"(*& +4 "core" &<8 v v _\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&s' +21 "core" ' +2 .tSE.seek 1.11 Pucks below Top Plate + "storage"('Y +48 "core" ' + "manipulator"&'& +4 "core" &! p o f +2 "manipulator"&n% +4 "core" % p p  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&e'\ +93 "core" ' + .tElbow.seek CC +2 "manipulator"&Z( +164 "core" ( +2 "manipulator"&& +4 "core" &0  E + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 & & +3 "core" &0  E +2 .tForearm.seek CC + "manipulator"&u'| +100 "core" ' +2 .tHand.close + "manipulator"&t/ +60 "core" / +2 .tCC.seek :open +2 "collection"'y(p +410 "core" ( +2 "storage"(& +4 "core" &<8 )\  + "storage"(& +4 "core" &<8 \  +2 "manipulator"&|& +3 "core" &- Ct +2 "manipulator"&% +4 "core" % | + .tForearm.seek :retract +2 "manipulator"&}'\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&v( +164 "core" ( + "manipulator"&& +5 "core" & U  + "storage"(w& +4 "core" &<8 \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 5 + "manipulator"&U'/ +108 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"&\ 1 +55 "core" 1 +2 "manipulator"&r% +4 "core" % @ - +2 "storage"(& +3 "core" &<8 } } \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 317 counts + "manipulator"& 'l +18 "core" ' + "manipulator"&\\& +5 "core" &2 D f C q + "storage"(k& +4 "core" &<8 y\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&`' +22 "core" ' +2 "storage"(% +4 "core" %V E\ +3 ."downElevator"SE.seek :down +3 "storage"(c'N +98 (% +3 "core" %_= D\ U[ +2 "manipulator"&_% +4 "core" % o o  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +96 "core" ' +43 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 6 of [5..7] +2 #Loading generic puck from tube 6 into Collection Clamp + "collection"'X& +4 "core" &,1\ +2 "manipulator"&% +4 "core" %\ 8  ' +2 "storage"(?% +4 "core" %7 f\  +2 "storage"(. +3 "core" .(<9 + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"(8(K +350 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (& +3 "core" &K ] Y\  + "manipulator"&& +4 "core" &2 q +2 .tElbow.seek 6 +2 "manipulator"&( +36 "core" ( + "manipulator"&& +4 "core" &\ p ` +2 "storage"(I& +4 "core" &K ,\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&R'< +93 "core" ' +2 "storage"(:& +4 "core" &K 7\  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(A'e +282 "core" ' + "storage"( - +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 ()& +3 "core" &K \  + "manipulator"&& +4 "core" &\ w j _ +2 .tElbow.seek 6 +2 "manipulator"& ( +3 "core" ( + "manipulator"&~& +4 "core" &\ ' _ +2 "storage"({& +3 "core" &K u\  +2 .tForearm.seek 6 + 300 counts +3 "manipulator"&J'Ϧ +12 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&]/ +56 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&%& + "storage"(l'N +8 "core" &\  _ + "manipulator"&(% +4 "core" % Ϡ 5 9 +2 .tForearm.seek :retract +2 "manipulator"&$'\ +90 "core" ' + .tElbow.seek CC +2 "manipulator"&0( +155 "core" ' +3 ."downElevator"SE.stop + "storage"(5 +3 "core" ( + "manipulator"&1& +4 "core" &+ A_ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &+ A_ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&P'| +93 "core" ' + "manipulator"&& +5 "core" &+ A_ + "manipulator"&&% +4 "core" %q  +2 "collection"'B& +4 "core" &,0\ +2 "collection"'4& +5 "core" &//\ +2 .tCC.seek :closed +4 "collection"'3(] +3 "core" &.0\ +5 &./\ 7 +10 &H~-0\ 1 +9 &>r.0\ E +10 &c-/\ M +9 &]-/\ M +9 &k]-0\ M +10 & ,_-/\ M +9 &!_//\ M +9 &#],/\ M +10 &%q],0\ M +9 &'3_-.\ M +9 &(]./\ M +10 &*\\+/\ M +9 &,z\\-0\ M +10 &.<].1\ M +9 &/^./\ M +9 &1]-0\ M +10 &3Z-/\ M +9 &5E\\+0\ M +9 &7]+0\ M +10 &8\\./\ M +9 &:],0\ M +10 &]..\ L +9 &?a-/\ M +10 &A^,-\ M +9 &CS^,/\ M +9 &E\\./\ M +10 &F`$*\ M +9 &Hk\ N +10 &JS{\ P +9 &L e\ T +9 &M\ W +10 &O\ W +9 &QD\ X +9 &S\ Y +10 &T\ Y +9 &V\ Z +10 &XE\ Z +9 &Z\ \\ +9 &[\ \\ +10 &]%N}\ 5 +9 &]w}\ R +5 ( + "collection"'4& +4 #tCollection Clamp onSpring/offSpring for 9/26 samples, on/off torque 2.11 + .Hand.open + "manipulator"&T1 +4 "core" &]j||\ Q +55 1 +2 "manipulator"&;% +4 "core" % q {  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +52 "manipulator"&j'\ +93 "core" ' +2 #tLoading generic puck from tube 6 into Processing Clamp + "processing"%L& +5 "core" &C\ + "manipulator"&=% +4 "core" %\ . r #c +2 "storage"(5% +3 "core" %> B B \  +2 "storage"(f. +3 "core" .(K + "storage"(+& +4 "core" &K 4 4\  +2 "storage"(<& +3 "core" &K 5 > -\  +2 "manipulator"&& +4 "core" &( 2 ?R + "manipulator"&9% +4 "core" %\ .  #c +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&@( +161 "core" ( +2 "manipulator"&K& +4 "core" & :  +2 "storage"(-& +4 "core" &K X X Y\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&7'< +102 "core" ' +2 "storage"(N& +4 "core" &K u t \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(/'e +277 "core" ' + "storage"(E- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (!& +3 "core" &K M W \  +2 "manipulator"&G& +4 "core" & [  +2 .tElbow.seek 6 +2 "manipulator"&.( +3 "core" ( + "manipulator"&C& +4 "core" & l T  +2 "storage"(>& +3 "core" &K X X f\  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&6'Ϧ +22 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&V/ +57 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&z& + "storage"( 'N +8 "core" & 5  + "manipulator"&W% +4 "core" % ϗ 0 +2 .tForearm.seek :retract +2 "manipulator"&S'\ +96 "core" ' +2 .tElbow.seek PC +2 "manipulator"&#(c +158 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +84 "core" ( + "manipulator"&& +4 "core" &l } 2 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &[& +3 "core" &l / +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&'[ +105 "core" ' +2 "manipulator"&^& +4 "core" &l s x I +2 "manipulator"&H% +4 "core" %R e l { +2 "processing"%m& +3 "core" &;\ +3 "processing"%"& +6 "core" &\ +3 .tPC.seek :closed + "processing"%(Z +5 "core" &D\ +7 & *;\ #a +9 &_VE\ 7 +10 &}A\ K +9 &oXC\ M +9 &2ZB\ M +10 &\\C\ M +9 & _E\ M +9 &"wY>\ M +10 &$;ZC\ L +9 &%Z>\ M +10 &'ZC\ M +9 &)ZF\ M +9 &+AY@\ M +10 &-]C\ M +9 &.[F\ M +9 &0\\B\ M +10 &2H[A\ M +9 &4\ Z7\ M +10 &5Z\ M +9 &7Z\ M +9 &9RZ\ M +10 &;[\ M +9 &<Y\ M +10 &>]4\ M +9 &@Y\\:\ M +9 &B\\8\ M +10 &C]C\ M +9 &E]D\ M +9 &G_dC\ N +10 &Ip:\ O +9 &JB\ Q +10 &LD\ S +9 &NTD\ T +9 &PC\ S +10 &Q>\ T +9 &SD\ T +9 &UZC\ U +10 &WD\ U +9 &X?\ T +9 &Z;MpA\ . +10 &Z);\ ) +5 ( +2 "processing"%"& +4 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.62 +2 .Hand.open + "manipulator"&Y1 +3 "core" &Z>\ ) +55 1 +2 "manipulator"&D% +4 "core" % R  ) { +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +92 "core" ' + "processing"%d& +4 "core" &Z\ ) +2 #tImaging generic puck in Processing Clamp while storing it to tube 6 + "manipulator"&i% +4 "core" %\ + !U +2 "storage"(g% +4 "core" %P C B \ \ +2 "storage"(p. +3 "core" .(K + "storage"(Q& +4 "core" &K A B \  +2 "storage"(o& +2 "manipulator"&*& +7 "core" &K B B \  + &l +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +6 "manipulator"&$&.,(\ #b +2 "storage"(#]kK-0-\ b +2 .tElbow.seek PC +6 "manipulator"&'(c +3 ."raiseStack"SE.seek :beamBreak +2 "storage"(n'e +2 "core" ( +2 "manipulator"&M& +4 "core" &l + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &F& +2 "core" &l +3 .tForearm.seek PC +2 "manipulator"&h'[ +98 "core" ' + .tHand.close +2 "manipulator"&a/ +56 "core" / +2 .tPC.seek :open +2 "processing"%2(p +88 "core" ' +2 "storage"(x- +4 "core" -'e + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +2 ."raiseStack"SE.seek :place +2 "storage"('B +35 "core" ' +258 ( + "storage"( & +5 "core" &K Z Y\  + "manipulator"&s& +4 "core" &l T + "manipulator"&b% +4 "core" % ^ [ +2 .tForearm.seek :retract +2 "manipulator"&t'\ +100 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 + "manipulator"&e( +250 "core" ( + "manipulator"&O& +5 "core" &\ z R + "storage"(& +4 "core" &K D B \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&'< +97 "core" ' + .tHand.open + "manipulator"&|1 +55 "core" 1 +2 "storage"(- +4 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate +2 "storage"(' +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(w' +52 "core" ' +2 #tLights, camera, ACTION! + "storage"(u- +4 "core" -' + "storage"(Z& +4 "core" &K 1 1\  +2 "manipulator"&\ & +3 "core" & P +2 .tElbow.seek 6 +2 "manipulator"&r( +3 "core" ( +2 "manipulator"&& +3 "core" & Q P +2 "storage"(\\& +4 "core" &K ; A H\  +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&k'< +3 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"('M +63 "core" ' +2 "manipulator"&}& +4 "core" & C P +2 "storage"(& +3 "core" &K Y [\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 6 + "manipulator"&_'z +35 "core" ' + .tElbow.hold +2 "manipulator"&v, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"(U'7 +23 "core" ' + "manipulator"&X% +5 "core" %Ήy < + "storage"( & +4 "core" &K\ \  I\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 315 counts +2 "manipulator"&'ϵ +17 "core" ' +2 "manipulator"&?& +4 "core" & v { 2 N +2 "storage"(& +4 "core" &K v v }\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&'< +15 "core" ' +2 "storage"(`% +4 "core" %? f r \  +3 ."downElevator"SE.seek :down +3 "storage"(c'N +99 (,% +3 "core" %w; X Y \ U^ + "manipulator"&% +4 "core" %> o q % +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +86 "core" ' +62 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (& +5 "core" &K 6 2 -\  + "collection"'I& +4 "core" &]j\ Q +2 #tStoring generic puck in Collection Clamp to tube 6 + "manipulator"&:% +4 "core" %\ ) e G +2 "storage"(% +4 "core" %: Z [\ + "storage"(. +3 "core" .(K +2 "storage"( & +4 "core" &K Y Y\  + "storage"()& +4 "core" &K Y [\  +2 "manipulator"&& +4 "core" &  N + .tElbow.seek 6 +2 "manipulator"&~( +4 "core" ( + "manipulator"&{& +4 "core" & _ N +2 "storage"(]& +3 "core" &K [ [\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&%'< +95 "core" ' +2 "storage"((& +5 "core" &K v v 9\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"('e +279 "core" ' +2 "storage"(R- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&1& +2 "core" & 5 N +2 "storage"(& +4 "core" &K X Y \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +53 .tForearm.seek 6 + "manipulator"&A'z +33 "core" ' +2 .tElbow.hold + "manipulator"&J, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(- +3 "core" -' +2 .tSE.seek 0.12 Pucks below Top Plate +2 "storage"(&'r +25 "core" ' +2 "manipulator"&B% +4 "core" %Όu o 8 +2 "storage"( & +3 "core" &K\ "\  \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 318 counts + "manipulator"&l'ϸ +17 "core" ' +2 "manipulator"&$& +4 "core" & v \\  K +2 "storage"(y& +4 "core" &K v v g\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&T'< +20 "core" ' +7 .tSE.seek 1.12 Pucks below Top Plate + "storage"(;'a +41 "core" ' +2 "manipulator"&4& +4 "core" & r o 6 K +2 "manipulator"&L% +4 "core" % q l  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&='\ +88 "core" ' + .tElbow.seek CC +2 "manipulator"&5( +148 "core" ( +2 "manipulator"&f& +4 "core" &% << +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &+& +3 "core" &% B << +2 .tForearm.seek CC +2 "manipulator"&<'| +98 "core" ' +2 .tHand.close + "manipulator"&/ +61 "core" / +3 .tCC.seek :open +2 "collection"'9(p +410 "core" ( + "storage"(P& +4 "core" &K .\  +2 "storage"(K& +3 "core" &K H\  +2 "manipulator"&-& +4 "core" &" 9# +2 "manipulator"&N% +3 "core" % x +2 .tForearm.seek :retract +2 "manipulator"&0'\ +92 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&j( +168 "core" ( +2 "manipulator"&E& +4 "core" & 9 2 + "storage"(!& +4 "core" &K \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 6 +2 "manipulator"&G'z +108 "core" ' +2 .tElbow.hold + "manipulator"&C, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&>1 +62 "core" 1 +2 "manipulator"&V% +4 "core" % Ό  +2 "storage"(z& +3 "core" &K X X\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 318 counts + "manipulator"&W'ϸ +18 "core" ' + "manipulator"&@& +4 "core" & ` u  , +2 "storage"(7& +4 "core" &K \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&/'< +17 "core" ' +2 "storage"(6% +4 "core" %g S\ +3 ."downElevator"SE.seek :down +3 "storage"('N +99 ([% +4 "core" %,? c\ U\\ + "manipulator"&.% +4 "core" %C o p +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&^'\ +90 "core" ' +53 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 7 of [5..7] + #Loading generic puck from tube 7 into Collection Clamp +2 "collection"'H& +4 "core" &-0\ +2 "manipulator"&m% +4 "core" %\ / v #g +2 "storage"( % +3 "core" %F s\  +2 "storage"(S. +3 "core" .(K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 7 + "storage"(q([ +359 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (Y& +2 "core" &[ y l x\  +2 "manipulator"&D& +4 "core" & , +2 .tElbow.seek 7 + "manipulator"&d( +19 "core" ( +2 "manipulator"&i& +4 "core" & A  +2 "storage"(g& +3 "core" &[ m\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&p'k +110 "core" ' +2 "storage"(Q& +4 "core" &[ y\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(*'e +283 "core" ' +2 "storage"(o- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 ("& +2 "core" &[ \  +2 "manipulator"&M& +4 "core" & o q  +2 .tElbow.seek 7 + "manipulator"&F( +4 "core" ( + "manipulator"&& +4 "core" & p g k  + "storage"(a& +4 "core" &[ \\\  +2 .tForearm.seek 7 + 300 counts +2 "manipulator"&x' +19 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&#/ +54 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& + "storage"('N +7 "core" & o p   +2 "manipulator"& % +4 "core" % o n * +2 .tForearm.seek :retract + "manipulator"&s'\ +96 "core" ' +2 .tElbow.seek CC +2 "manipulator"&n( +149 "core" ' + ."downElevator"SE.stop + "storage"(5 +17 "core" ( + "manipulator"&b& +5 "core" & \ |  b + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &h& +3 "core" & / b +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&O'| +102 "core" ' +2 "manipulator"&& +5 "core" & 3 b + "manipulator"&'% +5 "core" %ς * + "collection"'|& +4 "core" &,.\ +2 "collection"'& +5 "core" &.0\ +2 .tCC.seek :closed +2 "collection"'u(] +4 "core" &-0\  +9 &1,0\ *z +9 &e.0\ > +9 &Tv/0\ M +10 &]-0\ M +9 &^-0\ M +10 &c./\ M +9 &!^_,.\ M +9 &#b-0\ M +10 &$^-0\ L +9 &&_,-\ L +9 &(f]-0\ M +10 &*(]./\ M +9 &+Z./\ M +10 &-\\-/\ M +9 &/o^-/\ L +9 &10_-.\ M +10 &2^..\ L +9 &4]-0\ M +9 &6u_-0\ M +10 &89[.0\ L +9 &9]/2\ M +10 &;]./\ M +9 &=~[./\ M +9 &?@],/\ M +10 &A]/.\ M +9 &B^./\ L +9 &D\\./\ M +10 &FH^+.\ M +9 &H b%\ M +10 &In\ O +9 &K\ Q +9 &M82i\ U +10 &N \ W +9 &P\ X +9 &Rv\ X +10 &T6\ X +9 &U\ Z +10 &W\ Z +9 &Yu\ [ +9 &[5\ [ +10 &\\{\ < +9 &]~ \ )w +9 &]p\ M +3 ( + "collection"'& +4 #tCollection Clamp onSpring/offSpring for 9/25 samples, on/off torque 2.05 + .Hand.open + "manipulator"&Z1 +66 "core" 1 +2 "manipulator"&\ % +5 "core" % y V + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +91 "core" ' +2 #tLoading generic puck from tube 7 into Processing Clamp + "processing"%\\& +5 "core" &\ + "manipulator"&t% +4 "core" %\ + 0 !U +2 "storage"(}% +3 "core" %< X Y \  +2 "storage"(. +3 "core" .([ + "storage"(& +4 "core" &[ X X \  +2 "storage"(X& +4 "core" &[ Y X ^\  + "manipulator"& & +4 "core" &  b +2 "manipulator"&% +4 "core" %\ + !U +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 7 +2 "manipulator"&?( +161 "core" ( +2 "manipulator"&& +4 "core" & g L + "storage"(`& +4 "core" &[ Y Y '\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&e'k +94 "core" ' + "storage"(& +4 "core" &[ q t 2\  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(w'e +284 "core" ' + "storage"(,- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" &[ W M G\  +2 "manipulator"&k& +4 "core" & E L + .tElbow.seek 7 +2 "manipulator"&r( +3 "core" ( + "manipulator"&& +5 "core" & ; L + "storage"(_& +4 "core" &[ Z [\  +2 .tForearm.seek 7 + 300 counts +2 "manipulator"&' +20 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +59 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"&I& + "storage"(:'N +7 "core" & q z V L + "manipulator"&% +4 "core" % q { u +2 .tForearm.seek :retract +2 "manipulator"&'\ +93 "core" ' + .tElbow.seek PC +2 "manipulator"& (c +162 "core" ' + ."downElevator"SE.stop + "storage"(5 +87 "core" ( +2 "manipulator"&U& +55 "core" &k f + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &)& +3 "core" &k +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&'[ +101 "core" ' +2 "manipulator"&{& +4 "core" &k < +2 "manipulator"&]% +4 "core" %\\ # +2 "processing"%& +4 "core" &=\ +2 "processing"%(& +5 "core" &=\ +2 .tPC.seek :closed +2 "processing"%c(Z +4 "core" &<\ +7 & 2@\ #a +10 &^UB\ 7 +9 &~=\ K +9 &mZ;\ M +10 &0Z=\ M +9 &[C\ M +9 & ]<\ M +10 &"vU<\ M +9 &$8[B\ M +9 &%Z=\ M +10 &'[;\ M +12 &)[B\ M +7 &+A[C\ M +9 &-];\ M +9 &.[D\ M +10 &0\\:\ M +9 &2G]?\ M +9 &4\ \\\ M +10 &5[;\ M +9 &7ZC\ M +10 &9O[|\ M +9 &;\\\ N +9 &<YX\ M +10 &>]{\ N +9 &@V\\B\ N +10 &B\\~\ M +9 &CXE\ M +9 &E_A\ M +10 &G^bD\ N +9 &ImB\ O +9 &JzB\ Q +10 &LD\ T +9 &NSA\ T +9 &PB\ T +10 &QB\ T +9 &S;\ T +10 &U[@\ T +9 &W@\ U +9 &XF\ U +10 &Z:MpF\ - +9 &Z^;\ 9 +6 ( + "processing"%(& +4 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.60 + .Hand.open +2 "manipulator"&v1 +3 "core" &Z>>\ 8 +59 1 + "manipulator"&% +4 "core" % \\ U +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&R'\ +95 "core" ' +2 "processing"%1& +4 "core" &Z>\ 8 +2 #tImaging generic puck in Processing Clamp while storing it to tube 7 + "manipulator"&% +4 "core" %\ . #e +2 "storage"(% +3 "core" %B   i\ +2 "storage"(B. +3 "core" .([ + "storage"( & +4 "core" &[   \  +2 "storage"($& +3 "manipulator"&y& +6 "core" &[  !\  +2 &k  +2 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +3 "storage"(#]kK-0-\ b +2 .tElbow.seek PC +4 "manipulator"&4(c +9 ."raiseStack"SE.seek :beamBreak + "storage"(L'e +3 "core" ( + "manipulator"&%& +4 "core" &k +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &~& +3 "core" &k +2 .tForearm.seek PC +2 "manipulator"&'[ +95 "core" ' + .tHand.close +2 "manipulator"&A/ +64 "core" / +2 .tPC.seek :open +2 "processing"%l(p +83 "core" ' +2 "storage"(&- +3 "core" -'e +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(f'B +33 "core" ' +265 ( + "storage"(+& +4 "core" &[ f ^ \ \  +2 "manipulator"&T& +4 "core" &k  +2 "manipulator"&J% +3 "core" % Z  +2 .tForearm.seek :retract +2 "manipulator"&'\ +97 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 7 +2 "manipulator"&=( +247 "core" ( +2 "manipulator"&3& +4 "core" &\  T + "storage"(P& +4 "core" &[ , 8\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&K'k +93 "core" ' + .tHand.open + "manipulator"&-1 +63 "core" 1 +2 "storage"(N- +4 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate +2 "storage"(E' +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.83 Pucks below Top Plate + "storage"(!' +50 "core" ' +2 #tLights, camera, ACTION! + "storage"(<- +4 "core" -' +2 "storage"(5& +3 "core" &[ J\  +2 "manipulator"&>& +4 "core" &\ S +2 .tElbow.seek 7 +2 "manipulator"&V( +3 "core" ( + "manipulator"&z& +4 "core" &\ L S +2 "storage"(@& +4 "core" &[ A\  +2 .tForearm.seek 7 + 450 counts + "manipulator"&7'k +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"(6'M +62 "core" ' + "manipulator"&0& +5 "core" &\ ? S + "storage"([& +4 "core" &[ Y Y\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 7 +2 "manipulator"&.'Ω +30 "core" ' + .tElbow.hold +2 "manipulator"&j, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"(G'7 +23 "core" ' + "manipulator"&H% +5 "core" %η + "storage"(W& +5 "core" &[   p\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 7 + 314 counts + "manipulator"&m' +17 "core" ' + "manipulator"& & +5 "core" &\ r z - Q +2 "storage"(S& +4 "core" &[ | y (\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&;'k +17 "core" ' +2 "storage"(/% +4 "core" %? o n B\  +3 ."downElevator"SE.seek :down +3 "storage"('N +99 (8% +3 "core" %: Y [ \ U^ +2 "manipulator"&Y% +4 "core" %a s n C +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&D'\ +88 "core" ' +60 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (i& +4 "core" &[  B d\  +2 "collection"'g& +4 "core" &]m\ M +2 #tStoring generic puck in Collection Clamp to tube 7 + "manipulator"&Q% +4 "core" %\ *  !N +2 "storage"(C% +4 "core" %@ \\ Y\  +2 "storage"(^. +3 "core" .([ + "storage"(o& +4 "core" &[ T W \  + "storage"("& +4 "core" &[ X X E\  +2 "manipulator"&M& +4 "core" &\  Q +2 .tElbow.seek 7 +2 "manipulator"&( +3 "core" ( + "manipulator"&a& +4 "core" &\  Q +2 "storage"(#& +4 "core" &[ Y Y\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&'k +94 "core" ' + "storage"( & +4 "core" &[ o t\  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(d'e +279 "core" ' + "storage"(p- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&b& +3 "core" &\ p o E Q +2 "storage"(h& +3 "core" &[ ] c\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 7 +2 "manipulator"&*'Ω +29 "core" ' +2 .tElbow.hold +2 "manipulator"&x, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(- +2 "core" -' +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(F'l +28 "core" ' +2 "manipulator"&'% +4 "core" %ι 0 + "storage"(|& +4 "core" &[   2\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 7 + 316 counts + "manipulator"&' +17 "core" ' + "manipulator"&s& +5 "core" & ] v P + "storage"(9& +4 "core" &[ v u \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&Z'k +22 "core" ' +2 .tSE.seek 1.11 Pucks below Top Plate +2 "storage"(\ '[ +41 "core" ' + "manipulator"&\\& +5 "core" &\ n p P + "manipulator"&t% +4 "core" %Ђ o p +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&}'\ +92 "core" ' + .tElbow.seek CC +2 "manipulator"&( +157 "core" ( +2 "manipulator"&& +4 "core" && _ =D +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" && =D +2 .tForearm.seek CC +2 "manipulator"&X'| +100 "core" ' +2 .tHand.close + "manipulator"& / +61 "core" / +2 .tCC.seek :open +2 "collection"'(p +411 "core" ( + "storage"(O& +4 "core" &[ /\  +2 "storage"(& +3 "core" &[ \  +2 "manipulator"&`& +3 "core" & r 8 +2 "manipulator"&% +4 "core" % ψ +3 .tForearm.seek :retract + "manipulator"&n'\ +95 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 7 +2 "manipulator"&( +154 "core" ( +4 "manipulator"&,& +4 "core" & C  + "storage"(& +4 "core" &[ \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 7 + "manipulator"&k'Ω +107 "core" ' +2 .tElbow.hold + "manipulator"&, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&_1 +60 "core" 1 +2 "manipulator"&% +5 "core" % θ + "storage"(I& +4 "core" &[ v u c\  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 7 + 315 counts +2 "manipulator"&' +19 "core" ' +2 "manipulator"&?& +4 "core" & v s   +2 "storage"(e& +4 "core" &[ u\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&w'k +17 "core" ' +2 "storage"(% +4 "core" %` G\ +3 ."downElevator"SE.seek :down +3 "storage"(U'N +99 (r% +3 "core" %< U\ U[ +2 "manipulator"&)% +4 "core" %q o o  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&{'\ +88 "core" ' +54 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 5 of [5..7] + #Loading generic puck from tube 5 into Collection Clamp + "collection"']& +5 "core" &00\ + "manipulator"&% +5 "core" %\ + r !P + "storage"(:% +4 "core" %A /\ +2 "storage"(. +3 "core" .([ + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"(2(<< +671 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (v& +2 "core" &`,/\ M +10 &@la-/\ M +9 &B.a.1\ M +9 &C[-1\ L +10 &E^,/\ M +9 &Grc#)\ M +9 &I2j \ N +10 &J~\ P +9 &L?|\ U +9 &N` \ V +10 &P \ W +9 &Q\ X +10 &S\ X +9 &U`\ Y +9 &W!\ Y +10 &X\ [ +9 &Z\ [ +9 &\\a\ H +10 &]`<\ + +9 &]\ W +3 ( +2 "collection"'N& +2 #tCollection Clamp onSpring/offSpring for 10/26 samples, on/off torque 2.05 + .Hand.open +2 "manipulator"&51 +63 "core" 1 +2 "manipulator"&>% +4 "core" % π O +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&z'\ +95 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp + "processing"%@& +4 "core" &\ +2 "manipulator"&% +4 "core" %\ 1 $t + "storage"(0% +5 "core" %B B @ \  + "storage"([. +3 "core" .(\ L +10 &qW=\ M +9 &3ZC\ M +10 &Z?\ M +9 & \\<\ N +9 &"yXB\ M +10 &$;Y;\ M +9 &%Z@\ M +9 &'Z=\ M +10 &)[A\ N +9 &+CY>\ M +9 &-\\;\ N +10 &.Z:\ M +9 &0Y;\ M +10 &2J[9\ M +9 &4 X:\ M +9 &5Z:\ M +10 &7YC\ M +9 &9S\\W\ M +10 &;[Z\ M +9 &<YE\ M +9 &>]C\ N +10 &@Y[V\ N +9 &B[\ N +9 &C\\\ M +10 &EY\\\ M +9 &Gaa\ N +10 &Ij}\ O +9 &Jy\ Q +9 &L\ T +10 &NVb\ T +9 &PP\ T +9 &Q<\ T +10 &S\ T +9 &U_H\ T +9 &W A\ T +10 &X?\ T +9 &Z;JkU\ , +10 &Z[>\ 6 +5 ( +7 "processing"% & +4 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.60 + .Hand.open + "manipulator"&j1 +4 "core" &Z.7\ 5 +50 1 + "manipulator"&D% +5 "core" % U p +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&p'\ +92 "core" ' +2 "processing"%b& +4 "core" &Z.\ 5 +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 + "manipulator"&h% +4 "core" %\ ) = L +2 "storage"(% +3 "core" %>   \ +2 "storage"('. +3 "core" .(<< + "storage"(|& +4 "core" &<8  $ x\ +2 "storage"(s& +4 "manipulator"&9& +4 "core" &<8   v\ + &m  +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +54 "manipulator"&$&.,(\ #b +4 "storage"(#]kK-0-\ b +3 .tElbow.seek PC +5 "manipulator"&\\(c +3 ."raiseStack"SE.seek :beamBreak + "storage"(t'e +3 "core" ( +2 "manipulator"&& +4 "core" &m S  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &m {  +2 .tForearm.seek PC +2 "manipulator"&d'[ +96 "core" ' +2 .tHand.close + "manipulator"&*/ +58 "core" / +3 .tPC.seek :open + "processing"%(p +88 "core" ' + "storage"(F- +4 "core" -'e + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('B +33 "core" ' +260 ( + "storage"(& +4 "core" &<8 Y X \ +2 "manipulator"&Z& +4 "core" &m O  +2 "manipulator"&x% +4 "core" % l   + .tForearm.seek :retract + "manipulator"& '\ +92 "core" ' +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&}( +254 "core" ( + "manipulator"&u& +4 "core" & ` ' +2 "storage"(O& +4 "core" &<8 4 4\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&' +94 "core" ' + .tHand.open + "manipulator"&`1 +60 "core" 1 +2 "storage"(- +4 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate +2 "storage"(,' +27 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.83 Pucks below Top Plate + "storage"(' +53 "core" ' +2 #tLights, camera, ACTION! + "storage"(X- +4 "core" -' + "storage"(& +4 "core" &<6 Y\ +2 "manipulator"&_& +3 "core" & L & +2 .tElbow.seek 5 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&I& +3 "core" &  & +2 "storage"(?& +4 "core" &<6 j i \ +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&e' +16 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"('M +56 "core" ' +2 "manipulator"&n& +4 "core" & o n & +2 "storage"(r& +4 "core" &<6 Y X\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&)'/ +29 "core" ' +2 .tElbow.hold + "manipulator"&, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"(k'7 +25 "core" ' +2 "manipulator"&]% +4 "core" %= +2 "storage"(& +4 "core" &<6\ \  D\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 314 counts +2 "manipulator"&'i +19 "core" ' + "manipulator"&:& +4 "core" &A\ y } : Y +2 "storage"(& +5 "core" &<6 X Y 1\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&\ ' +25 "core" ' + "storage"(w% +5 "core" %5 u v E\ +2 ."downElevator"SE.seek :down +4 "storage"(U'N +99 (q% +3 "core" %C = - @\ Va +2 "manipulator"&v% +4 "core" % o o  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +94 "core" ' +57 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (& +3 "core" &<6 1  a\ +2 "collection"'& +4 "core" &]v\ W +2 #tStoring generic puck in Collection Clamp to tube 5 + "manipulator"& % +4 "core" %\ 5 u & +2 "storage"(% +4 "core" %M : B L\ + "storage"({. +3 "core" .(<< +2 "storage"(y& +4 "core" &<6 A B \ + "storage"($& +4 "core" &<6 : ? \ +2 "manipulator"&%& +4 "core" &A\ Y +2 .tElbow.seek 5 +2 "manipulator"&( +21 "core" ( + "manipulator"&A& +4 "core" &   +2 "storage"( & +4 "core" &<6 V L \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&R' +99 "core" ' + "storage"(+& +4 "core" &<6 s ^ \ +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(1'e +282 "core" ' + "storage"(B- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&J& +3 "core" &  6  +2 "storage"(& +3 "core" &<6 ) , \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&('/ +29 "core" ' +2 .tElbow.hold + "manipulator"&&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(P- +3 "core" -' +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(4'l +30 "core" ' + "manipulator"&-% +4 "core" %<y B +2 "storage"(~& +4 "core" &<6\ \  l\ + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 313 counts + "manipulator"&c'h +19 "core" ' +2 "manipulator"&L& +4 "core" &# O U  { +2 "storage"(& +3 "core" &<6 Y X C\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&5' +18 "core" ' +2 .tSE.seek 1.11 Pucks below Top Plate +2 "storage"(>'[ +48 "core" ' +2 "manipulator"&@& +4 "core" &# p o  { +2 "manipulator"&% +4 "core" % X c ) \ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&0'\ +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&[( +170 "core" ( +2 "manipulator"&N& +4 "core" & ( # ?S + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &f& +3 "core" & ( ?S +2 .tForearm.seek CC + "manipulator"&W'| +101 "core" ' + .tHand.close + "manipulator"& / +63 "core" / +2 .tCC.seek :open +2 "collection"'3(p +414 "core" ( + "storage"(S& +4 "core" &<6 \ +2 "storage"(/& +3 "core" &<6 v\ +2 "manipulator"&2& +4 "core" &% { =E + "manipulator"&K% +4 "core" % ϋ ~ +2 .tForearm.seek :retract +2 "manipulator"&T'\ +95 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&z( +171 "core" ( +2 "manipulator"&8& +4 "core" &\ U +2 "storage"(Y& +3 "core" &<6 '\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 5 +2 "manipulator"&7'/ +108 "core" ' +2 .tElbow.hold + "manipulator"&6, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&.1 +54 "core" 1 +2 "manipulator"&m% +4 "core" % A  +2 "storage"(g& +4 "core" &<6 u u Z\ + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 5 + 318 counts + "manipulator"&C'm +19 "core" ' +2 "manipulator"&E& +4 "core" &A v _   + "storage"(=& +4 "core" &<6 w\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&!' +19 "core" ' +2 "storage"(i% +4 "core" %a \ +2 ."downElevator"SE.seek :down +4 "storage"(G'N +98 ("% +3 "core" %^? N\ U[ +2 "manipulator"&V% +4 "core" % o o , +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&a'\ +94 "core" ' +45 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 6 of [5..7] + #Loading generic puck from tube 6 into Collection Clamp +2 "collection"'#& +4 "core" &.0\ +2 "manipulator"&;% +4 "core" %\ 8 , %z +2 "storage"(Q% +4 "core" %6 T\  +2 "storage"(^. +3 "core" .(<< +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"(l(K +353 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +41 (j& +14 "core" &K \  + "manipulator"&D& +4 "core" &A   +2 .tElbow.seek 6 + "manipulator"&b( +18 "core" ( +2 "manipulator"&h& +4 "core" & ~ =  +2 "storage"(& +3 "core" &K \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&''< +101 "core" ' + "storage"(|& +5 "core" &K \  + .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(9'e +290 "core" ' +2 "storage"(s- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 ( & +2 "core" &K &\  +2 "manipulator"&& +4 "core" & o 5  +2 .tElbow.seek 6 +2 "manipulator"&( +3 "core" ( + "manipulator"&M& +4 "core" & d x  +2 "storage"(*& +3 "core" &K Y\  +3 .tForearm.seek 6 + 300 counts + "manipulator"&F'Ϧ +11 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&o/ +60 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&p& +2 "storage"('N +8 "core" & r y "  + "manipulator"&% +4 "core" % ϰ o o  3 +2 .tForearm.seek :retract +2 "manipulator"&Z'\ +95 "core" ' +2 .tElbow.seek CC +2 "manipulator"&t( +146 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +7 "core" ( + "manipulator"&x& +5 "core" &$ R ;8 + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &d& +3 "core" &$ ;8 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&u'| +99 "core" ' +2 "manipulator"&O& +4 "core" &$ ;8 +2 "manipulator"&\\% +4 "core" %g +2 "collection"'`& +4 "core" &,0\ +2 "collection"'& +5 "core" &+1\ +2 .tCC.seek :closed +2 "collection"'X(] +4 "core" &,0\  +8 &1~-0\ *y +10 &c,0\ > +9 &Mv00\ M +9 &\\./\ M +10 &`./\ M +9 &`-2\ M +10 &!V]./\ M +9 &#`-/\ M +9 &$]/2\ L +10 &&]..\ M +9 &(^\\-0\ M +9 &*!\\,0\ L +10 &+[./\ L +9 &-\\,0\ L +10 &/f]-/\ M +9 &1(\\/0\ M +9 &2\\/2\ L +10 &4\\.0\ M +9 &6n_/0\ M +9 &80`,0\ M +10 &9_-0\ M +9 &;^.0\ L +9 &=v]..\ M +10 &?8`-0\ M +9 &@[/1\ M +10 &B[-1\ M +9 &D~\\..\ M +9 &F@a*.\ M +10 &Hc'\ M +14 &It\ O +5 &Kv\ R +9 &M,)F\ V +9 &N\ W +10 &P \ W +9 &Ro\ W +9 &T-\ Y +10 &U\ Y +9 &W\ Z +10 &Yk\ [ +9 &[.\ [\ +9 &\\x\ 6 +10 &]+\ #j +9 &]y\ S +3 ( + "collection"'& +3 #tCollection Clamp onSpring/offSpring for 9/25 samples, on/off torque 2.10 + .Hand.open +2 "manipulator"&1 +53 "core" 1 + "manipulator"&_% +5 "core" % g +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&I'\ +92 "core" ' +2 #tLoading generic puck from tube 6 into Processing Clamp + "processing"%?& +5 "core" &\ + "manipulator"& % +4 "core" %\ - "Y +2 "storage"(n% +4 "core" %B 3 4\ + "storage"(r. +3 "core" .(K +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"((K +7 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (]& +2 "core" &K   y\  +2 "manipulator"&& +4 "core" &$  ;7 +2 "manipulator"&,% +3 "core" %\ - D "Y +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&:( +163 "core" ( + "manipulator"&& +5 "core" & ^  + "storage"(w& +4 "core" &K X Y R\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&}'< +101 "core" ' +2 "storage"(& +4 "core" &K s f \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"('e +282 "core" ' + "storage"(q- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (v& +2 "core" &K d W\  +2 "manipulator"&e& +4 "core" & p o  +2 .tElbow.seek 6 + "manipulator"&( +4 "core" ( + "manipulator"&& +4 "core" & u s K  +2 "storage"()& +4 "core" &K p g \  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&'Ϧ +22 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +52 "core" / +3 ."downElevator"SE.seek :down +2 "manipulator"&& +2 "storage"( 'N +8 "core" & /  + "manipulator"&% +4 "core" % Ϫ Q +2 .tForearm.seek :retract +2 "manipulator"&{'\ +96 "core" ' +2 .tElbow.seek PC +2 "manipulator"&k(c +154 "core" ' + ."downElevator"SE.stop + "storage"(5 +90 "core" ( +2 "manipulator"&y& +4 "core" &m +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &$& +3 "core" &m +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&%'[ +100 "core" ' + "manipulator"&A& +5 "core" &m - + "manipulator"& % +4 "core" %J  +2 "processing"%\ & +4 "core" &\ +2 "processing"%+& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%U(Z +4 "core" &Q\  +8 &1L\ *x +9 &c\ > +10 &Ax@\ N +9 &UJ\ M +9 &[D\ M +10 &Z@\ M +9 &!K\\\ M +9 &#Y:\ M +10 &$\\@\ M +9 &&Z:\ M +9 &(SZI\ M +10 &*ZA\ M +9 &+Z<\ M +10 &-Y>\ M +9 &/Z]<\ M +9 &1Z@\ M +10 &2\\>\ N +9 &4Z:\ M +9 &6cZ=\ M +10 &8%Z>\ M +9 &9Z@\ M +10 &;ZC\ M +9 &=jZG\ M +9 &?,]H\ M +10 &@]I\ N +9 &B\\D\ M +9 &Dr\\E\ M +10 &F3\\\ N +9 &GgE\ N +10 &Ir;\ P +9 &Kk>\ R +9 &M*<\ S +10 &N\ S +9 &PQ\ S +9 &RnY\ T +10 &T/<\ T +9 &U?\ T +10 &WC\ U +9 &Ysy\ B +9 &Zz?<\ W +10 &ZN\ ) +2 ( + "processing"%+& +4 #tProcessing Clamp onSpring/offSpring for 9/25 samples, on/off torque 1.65 + .Hand.open + "manipulator"&1 +57 "core" 1 + "manipulator"&% +5 "core" % J +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&B'\ +97 "core" ' +2 "processing"%J& +4 "core" &ZH\ ) + #tImaging generic puck in Processing Clamp while storing it to tube 6 +2 "manipulator"&% +3 "core" %\ 1 $m +2 "storage"(P% +4 "core" %; 4 9\ + "storage"(-. +3 "core" .(K +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"(~(K +7 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (L& + "manipulator"&& +4 "core" &K N "\ +5 ."raiseStack"SE.reconfigure :place +2 "storage"(#]kK-0-\ b +3 "core" &m } +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +2 "storage"(@'e +2 "manipulator"&(c +5 "core" ( + "manipulator"&R& +4 "core" &m +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &m +2 .tForearm.seek PC +2 "manipulator"&1'[ +101 "core" ' +2 .tHand.close + "manipulator"&(/ +63 "core" / +2 .tPC.seek :open +2 "processing"%c(p +78 "core" ' +2 "storage"(4- +3 "core" -'e +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(N'B +32 "core" ' +271 ( + "storage"(f& +4 "core" &K Y Y\ +2 "manipulator"&5& +3 "core" &m  +2 "manipulator"&&% +3 "core" % S 7 +2 .tForearm.seek :retract +2 "manipulator"& '\ +99 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 + "manipulator"&0( +252 "core" ( + "manipulator"&<& +4 "core" & F e +2 "storage"(S& +4 "core" &K B B \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&/'< +99 "core" ' +2 .tHand.open + "manipulator"&21 +52 "core" 1 +2 "storage"(K- +4 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate +2 "storage"(8' +22 "core" ' +2 .tSE.reconfigure :seal +53 "storage"(#QK-0-\ b +3 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(Y' +51 "core" ' +2 #tLights, camera, ACTION! + "storage"(W- +4 "core" -' + "storage"([& +4 "core" &K v \ +2 "manipulator"&.& +4 "core" & P e +2 .tElbow.seek 6 +2 "manipulator"&m( +3 "core" ( + "manipulator"&g& +4 "core" &  e +2 "storage"(E& +4 "core" &K n t W\ +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&='< +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"(i'M +64 "core" ' + "manipulator"&T& +5 "core" &  e + "storage"("& +4 "core" &K [ Y\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 6 + "manipulator"&V'z +33 "core" ' + .tElbow.hold +2 "manipulator"&z, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"(7'7 +26 "core" ' + "manipulator"&#% +5 "core" %Έ  V + "storage"(;& +3 "core" &K\ \  \ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 314 counts +2 "manipulator"&C'ϴ +16 "core" ' + "manipulator"&Q& +5 "core" & q ] = d +2 "storage"(^& +4 "core" &K X X L\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&>'< +18 "core" ' + "storage"(!% +5 "core" %4 t v N\ +2 ."downElevator"SE.seek :down +4 "storage"(G'N +99 (H% +3 "core" %; N > \\\ V_ +2 "manipulator"&j% +4 "core" %7 | z m +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&D'\ +92 "core" ' +63 ' + ."downElevator"SE.stop + "storage"(5 +3 (h& +3 "core" &K `\  g\ +2 "collection"'& +4 "core" &]x \ S +2 #tStoring generic puck in Collection Clamp to tube 6 + "manipulator"&|% +3 "core" %\ 8 ' +3 "storage"(6% +3 "core" %J B B \  +2 "storage"(a. +3 "core" .(K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 + "storage"(s(K +7 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 ( & +3 "core" &K 8 B /\  +2 "manipulator"&& +4 "core" & r d + .tElbow.seek 6 +2 "manipulator"&M( +3 "core" ( +2 "manipulator"&*& +4 "core" & d + "storage"(o& +4 "core" &K ? B \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&p'< +96 "core" ' + "storage"(& +4 "core" &K a Z \ \  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(b'e +279 "core" ' +2 "storage"('- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&x& +3 "core" & 8 d + "storage"(d& +4 "core" &K Y T W\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&9'z +30 "core" ' + .tElbow.hold +2 "manipulator"&F, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(O- +2 "core" -' +2 .tSE.seek 0.12 Pucks below Top Plate +2 "storage"(\\'r +27 "core" ' +2 "manipulator"&`% +4 "core" %Ύ W + "storage"(& +4 "core" &K\ \  \  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 6 + 320 counts +2 "manipulator"&'Ϻ +17 "core" ' +2 "manipulator"&Z& +4 "core" & } } _ d +2 "storage"(3& +3 "core" &K X X a\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&'< +18 "core" ' +2 .tSE.seek 1.12 Pucks below Top Plate + "storage"(_'a +49 "core" ' +2 "manipulator"&?& +4 "core" & o y B d +2 "manipulator"& % +4 "core" %7 p o  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&n'\ +87 "core" ' +2 .tElbow.seek CC +2 "manipulator"&r( +141 "core" ( +2 "manipulator"&& +4 "core" & 2 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &]& +3 "core" & 2 +2 .tForearm.seek CC +2 "manipulator"&'| +95 "core" ' +2 .tHand.close + "manipulator"&,/ +52 "core" / +2 .tCC.seek :open + "collection"'u(p +411 "core" ( +2 "storage"(& +4 "core" &K t\  + "storage"(w& +4 "core" &K P\  +2 "manipulator"&l& +3 "core" & & 2 +2 "manipulator"&% +3 "core" % υ R +7 .tForearm.seek :retract +2 "manipulator"&t'\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&I( +165 "core" ( +2 "manipulator"&q& +4 "core" & } I +2 "storage"(v& +3 "core" &K L\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 6 +2 "manipulator"&e'z +109 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&)1 +59 "core" 1 +3 "manipulator"&% +4 "core" % Ί 0 +2 "storage"(& +3 "core" &K u v Z\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 316 counts + "manipulator"&'϶ +17 "core" ' +2 "manipulator"&:& +4 "core" & ` m ^ I +2 "storage"(}& +4 "core" &K \  +2 .tForearm.reconfigure :tight +7 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&'< +18 "core" ' + "storage"(% +5 "core" %g i\ +2 ."downElevator"SE.seek :down +3 "storage"(y'N +99 ($% +3 "core" %> s\ T[ + "manipulator"&% +4 "core" %8 o o +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&A'\ +91 "core" ' +51 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 7 of [5..7] +2 #Loading generic puck from tube 7 into Collection Clamp + "collection"' & +4 "core" &/1\ +2 "manipulator"&\ % +4 "core" %\ 1  $m +2 "storage"( % +4 "core" %H \  +2 "storage"({. +3 "core" .(K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 7 +2 "storage"(([ +358 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (& +2 "core" &[ c X \  +2 "manipulator"&& +4 "core" & s H +2 .tElbow.seek 7 + "manipulator"&J( +22 "core" ( +2 "manipulator"&& +4 "core" & M  + "storage"(P& +4 "core" &[ R\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&-'k +102 "core" ' +2 "storage"(+& +4 "core" &[ 3\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(L'e +278 "core" ' +2 "storage"(- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (R& +2 "core" &[ ~ w\  +2 "manipulator"&& +4 "core" & o o  +2 .tElbow.seek 7 + "manipulator"&%( +4 "core" ( + "manipulator"&(& +4 "core" & t x 2  + "storage"(& +3 "core" &[ _\  +3 .tForearm.seek 7 + 300 counts +2 "manipulator"&4' +15 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&k/ +64 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&B& + "storage"(U'N +8 "core" & n o 0  + "manipulator"&@% +4 "core" % r x ? R +2 .tForearm.seek :retract +2 "manipulator"&f'\ +94 "core" ' +2 .tElbow.seek CC +2 "manipulator"&5( +153 "core" ' +2 ."downElevator"SE.stop +55 "storage"(5 +4 "core" ( + "manipulator"&&& +4 "core" &* J @] +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &1& +2 "core" &* Y @] +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&<'| +106 "core" ' +2 "manipulator"&S& +4 "core" &* ] @] +2 "manipulator"&% +4 "core" %q ' +2 "collection"'2& +4 "core" &/2\ +2 "collection"'K& +6 "core" &/2\ +2 .tCC.seek :closed + "collection"'W(] +5 "core" &.1\ +6 & 7.1\ %f +10 &hW00\ 7 +9 &.0\ L +9 &\\02\ M +10 &@^01\ M +9 &]/0\ M +9 & `.2\ M +10 &"`/2\ M +9 &$I`/2\ M +10 && a0/\ L +9 &'^/1\ L +9 &)\\//\ M +10 &+R\\01\ L +9 &-\\01\ L +9 &.b/0\ M +10 &0\\11\ M +9 &2Y\\10\ M +10 &4`00\ M +9 &5]01\ M +9 &7Z/2\ L +10 &9aZ11\ M +9 &;$[00\ L +9 &<\\//\ L +10 &>[-1\ M +9 &@i\\.2\ M +10 &B,\\22\ L +9 &C^/2\ M +9 &E`.1\ M +10 &Gpb(,\ M +9 &I0i#\ N +9 &J{\ P +10 &L\ T +9 &N\\&/\ W +12 &P\ V +7 &Q \ W +9 &S\ X +10 &U^\ Y +9 &W\ Y +9 &X\ Z +10 &Z\ [\ +9 &\\`\ H +10 &]a;\ )| +9 &]\ Y +2 ( +2 "collection"'K& +3 #tCollection Clamp onSpring/offSpring for 10/26 samples, on/off torque 2.04 + .Hand.open +2 "manipulator"& 1 +53 "core" 1 + "manipulator"&[% +5 "core" % q  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&.'\ +90 "core" ' + #tLoading generic puck from tube 7 into Processing Clamp +2 "processing"%g& +4 "core" &\ +2 "manipulator"&E% +3 "core" %\ 1 ; "] +2 "storage"(T% +3 "core" %J   L\ +3 "storage"(". +3 "core" .([ +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 7 + "storage"(N([ +3 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (#& +2 "core" &[   \  +2 "manipulator"&;& +4 "core" &% =F +2 "manipulator"&8% +4 "core" %\ 1 "] +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 7 +2 "manipulator"&Q( +160 "core" ( + "manipulator"&^& +4 "core" &  +2 "storage"(!& +4 "core" &[ ) 3 d\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&0'k +93 "core" ' + "storage"(/& +5 "core" &[ _ Y \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(Y'e +283 "core" ' + "storage"(H- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (j& +3 "core" &[ B 5 k\  +2 "manipulator"&=& +3 "core" & p d O +2 .tElbow.seek 7 +2 "manipulator"&m( +3 "core" ( + "manipulator"&i& +4 "core" & x t % +2 "storage"(V& +3 "core" &[ X Y \  +2 .tForearm.seek 7 + 300 counts +2 "manipulator"&C' +39 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&h/ +64 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"(|'N +8 "core" & a + "manipulator"&6% +4 "core" % p p { ) +2 .tForearm.seek :retract +2 "manipulator"&a'\ +91 "core" ' +2 .tElbow.seek PC +2 "manipulator"&7(c +161 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +85 "core" ( +2 "manipulator"& & +4 "core" &k +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &k  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&*'[ +97 "core" ' + "manipulator"&o& +4 "core" &k - +2 "manipulator"&>% +4 "core" %e  +2 "processing"%& +9 "core" &\ +2 "processing"%G& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%~(Z +4 "core" &\ +7 & 2\ #a +10 &[U\ 7 +9 &~\ L +9 &kZ\ N +10 &0Y\ M +9 &Z\ M +9 & [\ M +10 &"tY2\ M +9 &$6ZH\ M +9 &%ZP\ M +10 &'WF\ M +9 &)}ZK\ M +10 &+@Z\ M +9 &-\\\ M +9 &.Z\ M +10 &0W\ M +9 &2F\\M\ M +10 &4 WO\ M +9 &5YP\ M +9 &7[O\ M +10 &9OZE\ M +9 &;\\J\ M +9 &<ZM\ M +10 &>]R\ M +9 &@V\\D\ M +9 &BZH\ M +10 &C\\L\ N +9 &E\\B\ M +10 &G]bN\ N +9 &IkI\ O +9 &Jy@\ Q +10 &L@\ S +9 &NSG\ T +10 &P]\ T +9 &QD\ T +9 &SQ\ T +10 &UYC\ T +9 &WN\ U +9 &XD\ U +10 &Z9LmH\ - +9 &Z /P\ ( +6 ( + "processing"%G& +4 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.59 +2 .Hand.open + "manipulator"&z1 +4 "core" &Z\ ( +48 1 +2 "manipulator"&D% +4 "core" % e +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&''\ +91 "core" ' +2 "processing"%x& +4 "core" &Z\ ( +2 #tImaging generic puck in Processing Clamp while storing it to tube 7 + "manipulator"&d% +4 "core" %\ * !R +2 "storage"(O% +3 "core" %G   [\ +2 "storage"(`. +3 "core" .([ + "storage"(& +4 "core" &[   b\  +2 "storage"(Z& +3 "manipulator"&3& +6 "core" &[   t\  + &k +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +2 "storage"(#]kK-0-\ b +3 "manipulator"&?(c +6 ."raiseStack"SE.seek :beamBreak +2 "storage"( 'e +2 "core" ( +2 "manipulator"&p& +4 "core" &k + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &M& +2 "core" &k +3 .tForearm.seek PC + "manipulator"&b'[ +96 "core" ' + .tHand.close +2 "manipulator"&9/ +59 "core" / +2 .tPC.seek :open +2 "processing"%(p +87 "core" ' + "storage"(\\- +3 "core" -'e +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('B +44 "core" ' +248 ( + "storage"(]& +4 "core" &[ A /\  +2 "manipulator"&& +4 "core" &k  + "manipulator"&F% +4 "core" % j -  +2 .tForearm.seek :retract +2 "manipulator"&,'\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 7 + "manipulator"&n( +264 "core" ( +2 "manipulator"&X& +4 "core" &  + "storage"(& +4 "core" &[ 6 6\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&w'k +108 "core" ' + .tHand.open + "manipulator"&l1 +54 "core" 1 +2 "storage"(- +3 "core" -'B +3 .tSE.seek -0.16 Pucks below Top Plate + "storage"(q' +25 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(v' +51 "core" ' +2 #tLights, camera, ACTION! + "storage"(- +4 "core" -' + "storage"(r& +4 "core" &[ \ \  +2 "manipulator"&)& +3 "core" & p o  +2 .tElbow.seek 7 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&& +4 "core" & q v ' + "storage"(:& +4 "core" &[ #\  +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&}'k +18 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.11 Pucks below Top Plate + "storage"('M +60 "core" ' +2 "manipulator"&t& +4 "core" & p o  +2 "storage"($& +3 "core" &[ Y Y\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 7 +2 "manipulator"&'Ω +33 "core" ' +2 .tElbow.hold + "manipulator"&I, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.07 Pucks below Top Plate + "storage"(e'7 +23 "core" ' +2 "manipulator"& % +5 "core" %θ 6 + "storage"(& +5 "core" &[   b\  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 7 + 315 counts +2 "manipulator"&\ ' +18 "core" ' +2 "manipulator"& & +4 "core" & v _ < +2 "storage"({& +4 "core" &[ v v ]\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&_'k +18 "core" ' +51 "storage"(% +6 "core" %@ u p ]\  +2 ."downElevator"SE.seek :down +4 "storage"(y'N +99 (s% +3 "core" %|9 Y Y\ U] +2 "manipulator"&% +4 "core" %Z o n  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +88 "core" ' +65 ' + ."downElevator"SE.stop + "storage"(5 +3 (& +4 "core" &[  1 M\  +2 "collection"'P& +4 "core" &]\ Y + #tStoring generic puck in Collection Clamp to tube 7 + "manipulator"&+% +4 "core" %\ *  !P +2 "storage"(% +4 "core" %C = X /\  +2 "storage"(A. +3 "core" .([ + "storage"(& +4 "core" &[ = M z\  +2 "storage"(R& +4 "core" &[ X X C\  + "manipulator"&& +4 "core" &  +2 .tElbow.seek 7 +2 "manipulator"&(( +3 "core" ( +2 "manipulator"&& +4 "core" & 6 + "storage"(k& +4 "core" &[ Y X\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&B'k +99 "core" ' +2 "storage"(@& +4 "core" &[ _ s \  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(J'e +281 "core" ' +2 "storage"(-- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&L& +2 "core" & o o  +2 "storage"(4& +4 "core" &[ 7 - #\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 7 +2 "manipulator"&&'Ω +27 "core" ' +2 .tElbow.hold + "manipulator"&1, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(%- +3 "core" -' +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(S'l +31 "core" ' +2 "manipulator"&% +4 "core" %θ + "storage"(2& +4 "core" &[   (\  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 7 + 315 counts +2 "manipulator"&U' +19 "core" ' + "manipulator"&f& +5 "core" & u \\  + "storage"(u& +9 "core" &[ c Y \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"& 'k +23 "core" ' +2 .tSE.seek 1.11 Pucks below Top Plate +2 "storage"(['[ +50 "core" ' +2 "manipulator"&g& +4 "core" & o p  +2 "manipulator"&E% +4 "core" %Є o o +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&T'\ +93 "core" ' +2 .tElbow.seek CC +2 "manipulator"&"( +157 "core" ( +2 "manipulator"&#& +4 "core" &  W ( + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &K& +3 "core" &  q ( +2 .tForearm.seek CC +2 "manipulator"&;'| +95 "core" ' +2 .tHand.close + "manipulator"&8/ +63 "core" / +2 .tCC.seek :open + "collection"'<(p +411 "core" ( +2 "storage"(^& +4 "core" &[ Z\  + "storage"(!& +4 "core" &[ \  + "manipulator"&& +4 "core" &  ^ ( +2 "manipulator"&/% +3 "core" % w   +2 .tForearm.seek :retract +2 "manipulator"&5'\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 7 + "manipulator"&.( +156 "core" ( +2 "manipulator"&H& +4 "core" & } F  + "storage"(j& +4 "core" &[ y\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 7 +2 "manipulator"&='Ω +108 "core" ' +2 .tElbow.hold + "manipulator"&i, +5 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&V1 +62 "core" 1 +2 "manipulator"&h% +4 "core" % η 2 + "storage"(& +4 "core" &[ v u [\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 7 + 314 counts + "manipulator"&6' +19 "core" ' +2 "manipulator"&Q& +4 "core" & i O :  +2 "storage"(0& +3 "core" &[ i\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&Y'k +16 "core" ' +2 "storage"(C% +4 "core" %` !\ +3 ."downElevator"SE.seek :down +3 "storage"( 'N +99 (% +2 "core" %[9 \ TZ +2 "manipulator"&m% +5 "core" %h o o  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&o'\ +91 "core" ' +51 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 5 of [5..7] + #Loading generic puck from tube 5 into Collection Clamp + "collection"'>& +5 "core" &01\ + "manipulator"&% +4 "core" %\ 1  $l +2 "storage"(|% +4 "core" %C \  + "storage"(a. +3 "core" .([ +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"(c(<< +668 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (z& +2 "core" &<> t v \ +2 "manipulator"&D& +4 "core" &   +2 .tElbow.seek 5 +2 "manipulator"&x( +21 "core" ( +2 "manipulator"&d& +4 "core" &\ 1 V +2 "storage"(O& +3 "core" &<> \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&`' +96 "core" ' + "storage"(& +5 "core" &<> i\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(Z'e +279 "core" ' + "storage"(3- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (G& +2 "core" &<; #\ +2 "manipulator"&p& +3 "core" &\ U V +2 .tElbow.seek 5 +2 "manipulator"&M( +3 "core" ( + "manipulator"&*& +4 "core" &\ f V +2 "storage"(9& +3 "core" &<; -\ +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&\\'[ +11 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&7/ +58 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&'& +3 "storage"(~'N +6 "core" &\ V V +2 "manipulator"&]% +4 "core" % e q Y : +2 .tForearm.seek :retract +2 "manipulator"&'\ +98 "core" ' +2 .tElbow.seek CC + "manipulator"& ( +139 "core" ( + "manipulator"&F& +5 "core" & 1 + ' + ."downElevator"SE.stop +4 .tElbow.reconfigure :loose +2 "storage"(5 + "manipulator"&$ &.,(#b +5 &b& +2 "core" & 0 1 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&X'| +102 "core" ' + "manipulator"&& +5 "core" &  1 + "manipulator"&?% +4 "core" %u j +2 "collection"'l& +3 "core" &//\ +3 "collection"'& +6 "core" &0/\ +3 .tCC.seek :closed +3 "collection"'(] +3 "core" &02\ +4 &03\ 7 +10 &I~0/ \ 1 +9 &Ju/2\ E +9 &c01\ M +10 &a11\ M +9 &y`22\ M +10 & ;]//\ M +9 &!c/1\ L +9 &#_02\ L +10 &%b01\ L +9 &'C].1\ M +9 &)_-1\ M +10 &*_02\ M +9 &,`00\ M +10 &.K`/2\ M +9 &0b23\ L +9 &1]/0\ M +10 &3`/1\ L +9 &5T`.2\ L +10 &7b/1\ L +9 &8`01\ L +9 &:`,1\ M +10 &<[_20\ M +9 &>`/0\ M +9 &?`00\ M +10 &A]/1\ L +9 &Cc_/2\ M +9 &E%^11\ M +10 &Fb*/\ M +9 &Hm'\ N +10 &Jdz \ O +9 &L\ S +9 &M&,\ U +10 &O\ W +9 &QU \ W +10 &S\ X +9 &T\ X +9 &V\ Y +10 &XU\ Z +9 &Z\ Z +9 &[\ Z +10 &](C\ 2 +9 &]\ L +5 ( +2 "collection"'& +4 #tCollection Clamp onSpring/offSpring for 9/26 samples, on/off torque 2.06 + .Hand.open + "manipulator"&r1 +4 "core" &]n\ L +52 1 +2 "manipulator"&)% +4 "core" % u 3 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +96 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp + "processing"%:& +4 "core" &\ +2 "manipulator"&,% +4 "core" %\ 6 & + "storage"(t% +4 "core" %M * - \ + "storage"($. +3 "core" .(<< + "storage"(& +4 "core" &<; 6 6\ + "storage"( & +4 "core" &<; ) * 0\ +2 "manipulator"&& +4 "core" &  1 + "manipulator"&q% +3 "core" %\ 6 p & +52 .tElbow.reconfigure :tight +4 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"& ( +156 "core" ( +2 "manipulator"&{& +4 "core" &  7 + "storage"(& +4 "core" &<; Y [ \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&n' +102 "core" ' + "storage"(w& +5 "core" &<; t t )\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(v'e +281 "core" ' +2 "storage"(}- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (s& +2 "core" &<8 \\ V r\ +2 "manipulator"&& +4 "core" &  +2 .tElbow.seek 5 +2 "manipulator"&( +3 "core" ( + "manipulator"&& +4 "core" &   +2 "storage"(& +3 "core" &<8 X X r\ +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&\ '[ +19 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +58 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&P& +2 "storage"(+'N +7 "core" &  o n  +2 "manipulator"&% +4 "core" % W o n 1 +2 .tForearm.seek :retract + "manipulator"&A'\ +95 "core" ' + .tElbow.seek PC +2 "manipulator"&e(c +157 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +90 "core" ( + "manipulator"&& +5 "core" &e D +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &R& +3 "core" &e +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&'[ +102 "core" ' +2 "manipulator"&& +4 "core" &e ~ / +2 "manipulator"&k% +4 "core" %\\ + + "processing"%_& +4 "core" &\ +2 "processing"%@& +5 "core" &\ +2 .tPC.seek :closed +3 "processing"%y(Z +4 "core" &\ +6 &\ 7 +9 & H}\ 1 +9 &:s\ E +10 &`\ N +9 &Y\ M +10 &dZ\ M +9 & &]\ M +9 &!Z\ M +10 &#Y\ M +9 &%kY \ N +9 &'/Z\ M +10 &(Z \ M +9 &*Z=\ M +10 &,uZO\ M +9 &.6Z@\ M +9 &/X\ M +10 &1Y\ M +9 &3|W!\ M +9 &5>Y\ M +10 &7[\ M +9 &8[\ M +9 &:Y\ M +10 &[I\ M +10 &?WO\ M +9 &A]E\ N +9 &CNZN\ M +10 &EZM\ M +9 &FbJ\ N +9 &HgL\ O +10 &JLvP\ Q +9 &L L\ R +10 &MM\ T +9 &OJ\ T +9 &QJI\ T +10 &S O\ T +9 &TB\ U +10 &VL\ U +9 &XQ?\ T +9 &Yzu?\ (~ +10 &Z,~A\ 7 +8 ( +3 "processing"%@& +3 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.59 + .Hand.open +2 "manipulator"&I1 +8 "core" &Z C\ + +50 1 +2 "manipulator"&% +4 "core" % \\ h +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&-'\ +105 "core" ' +2 "processing"%L& +4 "core" &Z N\ + + #tImaging generic puck in Processing Clamp while storing it to tube 5 +2 "manipulator"&4% +4 "core" %\    +2 "storage"(%% +3 "core" %D Y Y \ +2 "storage"(. +3 "core" .(<< + "storage"(2& +4 "core" &<8 Y Y\ +2 "storage"(f& +2 "manipulator"&u& +7 "core" &<8 Y Y\ + &e U +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +3 "storage"(#]kK-0-\ b +2 "manipulator"&g(c +5 ."raiseStack"SE.seek :beamBreak + "storage"(E'e +3 "core" ( + "manipulator"&B& +4 "core" &e  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &(& +3 "core" &e  +2 .tForearm.seek PC +2 "manipulator"&J'[ +94 "core" ' + .tHand.close + "manipulator"&&/ +62 "core" / +2 .tPC.seek :open + "processing"%U(p +88 "core" ' +2 "storage"(S- +3 "core" -'e +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(#'B +32 "core" ' +261 ( +2 "storage"(K& +4 "core" &<8 X [ n\ + "manipulator"& & +4 "core" &e # +2 "manipulator"&1% +4 "core" % \\ K +2 .tForearm.seek :retract + "manipulator"&8'\ +99 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&T( +258 "core" ( + "manipulator"&W& +4 "core" & d ' +2 "storage"(^& +4 "core" &<8 C C C\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&!' +104 "core" ' + .tHand.open +2 "manipulator"&1 +53 "core" 1 +2 "storage"(/- +4 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate +2 "storage"(H' +26 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(j' +53 "core" ' + #tLights, camera, ACTION! + "storage"(;- +4 "core" -' +2 "storage"("& +3 "core" &<7 T\ +2 "manipulator"&V& +4 "core" & W ' +2 .tElbow.seek 5 +2 "manipulator"&h( +3 "core" ( + "manipulator"&& +4 "core" & ) ' +2 "storage"(Q& +4 "core" &<7 \ +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&0' +25 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.11 Pucks below Top Plate + "storage"(C'M +62 "core" ' + "manipulator"&5& +5 "core" & o r  ' + "storage"(& +4 "core" &<7 Y Y\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&m'/ +28 "core" ' +2 .tElbow.hold + "manipulator"&., +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"(='7 +22 "core" ' +2 "manipulator"&>% +5 "core" %= y w + "storage"(& +4 "core" &<7   w\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 314 counts + "manipulator"&6'i +18 "core" ' + "manipulator"&|& +5 "core" &? s _ a + "storage"(a& +4 "core" &<7 v v `\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&[' +19 "core" ' + "storage"(Y% +5 "core" %8 i n \  +2 ."downElevator"SE.seek :down +4 "storage"( 'N +98 (N% +3 "core" %; Y Y\ U\\ +2 "manipulator"&z% +4 "core" % n q  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&D'\ +90 "core" ' +64 ' + ."downElevator"SE.stop + "storage"(5 +2 (d& +4 "core" &<7 : B \ + "collection"'O& +9 "core" &]m \ L +2 #tStoring generic puck in Collection Clamp to tube 5 + "manipulator"&% +5 "core" %\ +  !T + "storage"(i% +4 "core" %P [ [\ \ +2 "storage"(o. +3 "core" .(<< + "storage"(3& +4 "core" &<7 [ Y\ +2 "storage"(G& +3 "core" &<7 [ [\ +2 "manipulator"&p& +4 "core" &?  a + .tElbow.seek 5 +2 "manipulator"&*( +44 "core" ( + "manipulator"&9& +4 "core" & \ $ +2 "storage"(7& +4 "core" &<7 Y Y\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&'' +106 "core" ' +2 "storage"(]& +4 "core" &<7 e r q\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(x'e +280 "core" ' + "storage"(`- +4 "core" -' + .tSE.configure :default +7 "storage"(#QK-0-\ b +3 "manipulator"&F& +3 "core" & o n \ $ +2 "storage"(b& +3 "core" &<7 Y X *\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&Z'/ +31 "core" ' + .tElbow.hold + "manipulator"&\\, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(- +3 "core" -' +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(?'l +39 "core" ' +2 "manipulator"&l% +4 "core" %= Z + "storage"(M& +4 "core" &<7\ \ N\ +2 .tForearm.force -20 +51 "manipulator"&5 +3 .tForearm.seek 5 + 314 counts + "manipulator"&~'i +17 "core" ' +5 "manipulator"&& +4 "core" &: o p M +2 "storage"(<& +4 "core" &<7 b q\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&r' +17 "core" ' +2 .tSE.seek 1.11 Pucks below Top Plate +2 "storage"()'[ +50 "core" ' +2 "manipulator"&:& +4 "core" &:\ o o M +2 "manipulator"&,% +4 "core" % n h  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&t'\ +102 "core" ' + .tElbow.seek CC +2 "manipulator"&$( +151 "core" ( +2 "manipulator"&& +4 "core" &'  >L +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 & & +3 "core" &' >L +2 .tForearm.seek CC +2 "manipulator"&'| +108 "core" ' + .tHand.close + "manipulator"&/ +60 "core" / +2 .tCC.seek :open +2 "collection"'q(p +411 "core" ( + "storage"(X& +4 "core" &<7 \ +2 "storage"({& +3 "core" &<7 v\ +2 "manipulator"&& +4 "core" & % c <; + "manipulator"&w% +4 "core" % s a +2 .tForearm.seek :retract +2 "manipulator"& '\ +95 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&( +167 "core" ( + "manipulator"&}& +4 "core" &   +2 "storage"(s& +4 "core" &<7 {\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 5 +2 "manipulator"&'/ +102 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&1 +54 "core" 1 +2 "manipulator"&% +5 "core" % C w + "storage"(P& +4 "core" &<7 y ?\ +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 5 + 320 counts +2 "manipulator"&'o +17 "core" ' +2 "manipulator"& & +4 "core" &5 ^ v ! e +2 "storage"(n& +3 "core" &<7 \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&v' +16 "core" ' +2 "storage"(\ % +4 "core" %b D\ +3 ."downElevator"SE.seek :down +3 "storage"('N +98 (R% +4 "core" %'> \ UZ + "manipulator"&% +4 "core" % o o +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +89 "core" ' +50 ' + ."downElevator"SE.stop +2 "storage"(5 +2 #tShuffling pucks in tube 6 of [5..7] +2 #Loading generic puck from tube 6 into Collection Clamp + "collection"'k& +5 "core" &10"\ + "manipulator"&_% +4 "core" %\ - ! "\\ +2 "storage"(+% +4 "core" %; ;\ +2 "storage"(A. +4 "core" .(<< + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"((K +357 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (I& +3 "core" &K u u B\  + "manipulator"&& +4 "core" &5 ; e +2 .tElbow.seek 6 + "manipulator"&L( +31 "core" ( + "manipulator"&4& +4 "core" &\  ] +2 "storage"(%& +4 "core" &K o\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&'< +101 "core" ' + "storage"(@& +5 "core" &K _\  + .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(2'e +281 "core" ' + "storage"(u- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (f& +2 "core" &K \  +2 "manipulator"&B& +4 "core" &\ p o \\ +2 .tElbow.seek 6 +2 "manipulator"&(( +3 "core" ( + "manipulator"&& +4 "core" &\ r { a \\ + "storage"(&& +4 "core" &K \  +2 .tForearm.seek 6 + 300 counts +3 "manipulator"&S'Ϧ +20 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&e/ +59 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&-& +2 "storage"(y'N +8 "core" &\  \\ + "manipulator"&K% +4 "core" % ϟ   +2 .tForearm.seek :retract +2 "manipulator"& '\ +96 "core" ' + .tElbow.seek CC +2 "manipulator"&E( +149 "core" ' +2 ."downElevator"SE.stop +2 "storage"(5 +3 "core" ( + "manipulator"&1& +4 "core" &  + - +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &J& +3 "core" &   - +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&W'| +104 "core" ' + "manipulator"&^& +4 "core" &  - +3 "manipulator"&g% +3 "core" %σ +2 "collection"'& +4 "core" &/4\ +2 "collection"'/& +5 "core" &02\ +2 .tCC.seek :closed +2 "collection"';(] +5 "core" &13\ +7 &?03\ $e +9 &lW02 \ 7 +9 &22 \ L +10 &]/3\ M +9 &E^13 \ M +9 &\\13\ L +10 & _/2\ \ M +9 &"_03\ M +10 &$M\\03\ M +9 &&b1/\ L +9 &'_11\ L +10 &)`03 \ M +9 &+U]11\ M +9 &-^14\ M +10 &.\\00\ L +9 &0^14\ L +10 &2^]/1\ L +9 &4a23\ M +9 &5^/3\ M +10 &7[12\ L +9 &9fZ23\ L +9 &;(]10\ L +10 &<`.2\ L +9 &>\\02\ L +10 &@n]13\ L +9 &B0^02\ L +9 &C`23\ M +10 &E`/1\ L +9 &Gub*-\ M +9 &I2q"\ N +10 &J\ Q +9 &L]\ U +10 &Nb-4\ V +9 &P!$\ W +9 &Q \ W +10 &S\ W +9 &U`\ Y +9 &W"\ Y +10 &X\ \\ +9 &Z\ [\ +10 &\\d\ H +9 &]b8\ *| +10 &]\ X +2 ( +2 "collection"'/& +2 #tCollection Clamp onSpring/offSpring for 10/26 samples, on/off torque 2.08 + .Hand.open + "manipulator"&"1 +64 "core" 1 +2 "manipulator"&V% +4 "core" % q +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +93 "core" ' +4 #tLoading generic puck from tube 6 into Processing Clamp +4 "processing"%Q& +10 "core" &\ +4 "manipulator"&8% +9 "core" %\ + !M +3 "storage"(5% +8 "core" %M B B \ +3 "storage"(. +6 "core" .(K +3 "storage"(#& +8 "core" &K A A u\  +3 "storage"(>& +7 "core" &K A > \  +4 "manipulator"&& +7 "core" &  - +3 "manipulator"&H% +7 "core" %\ + ` !M +4 .tElbow.reconfigure :tight +7 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +4 "manipulator"&|( +160 "core" ( +4 "manipulator"&a& +11 "core" & \  +3 "storage"(Y& +10 "core" &K X X T\  +5 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 6 + 450 counts +4 "manipulator"&T'< +94 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +5 "core" ' +3 "storage"(!& +9 "core" &K u u Y\  +4 .tSE.reconfigure :pick +6 "storage"(#]K-0-\ b +5 .tSE.seek :beamBreak +3 "storage"(j'e +280 "core" ' +4 "storage"(N- +7 "core" -' +4 .tSE.configure :default +4 "storage"(#QK-0-\ b +5 (z& +4 "core" &K Y X\  +4 "manipulator"&0& +9 "core" & n n  +3 .tElbow.seek 6 +4 "manipulator"&h( +7 "core" ( +3 "manipulator"&C& +11 "core" & n o  +6 "storage"(m& +11 "core" &K u u R\  +6 .tForearm.seek 6 + 300 counts +4 "manipulator"&6'Ϧ +36 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&d/ +58 "core" / +4 ."downElevator"SE.seek :down +3 "manipulator"&O& +2 "storage"('N +6 "core" & n o  +2 "manipulator"&i% +4 "core" % ϧ p o +2 .tForearm.seek :retract +2 "manipulator"&='\ +92 "core" ' +2 .tElbow.seek PC +2 "manipulator"&o(c +163 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +77 "core" ( +2 "manipulator"&3& +4 "core" &m J + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &G& +3 "core" &m } +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&p'[ +104 "core" ' + "manipulator"&9& +55 "core" &m  +2 "manipulator"&7% +4 "core" %Y  +2 "processing"%[& +3 "core" &\ +3 "processing"%]& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"% (Z +4 "core" &\ +7 & 3\ #b +9 &\\W\ 7 +10 &}\ L +9 &oX\ M +9 &1Z\ M +10 &\\\ M +9 & [\ N +9 &"xU\ M +10 &$:Z<\ M +9 &%Y<\ N +10 &'V>\ M +9 &)~Z>\ N +9 &+@Y=\ N +10 &-W\ M +9 &.W\ M +9 &0Y\ M +10 &2HZ\ N +9 &4\ Y\ N +9 &5Y\ M +10 &7V\ M +9 &9Q[\ M +10 &;[\ N +9 &<X\ N +9 &>[\ N +10 &@YY\ M +9 &BZ\ M +9 &CX\ M +10 &E[J\ M +9 &G_cL\ N +10 &Im=\ O +9 &J>\ R +9 &L>\ S +10 &NU\ T +9 &P \ T +10 &Q<\ T +9 &SL\ U +9 &U\\!\ T +10 &WJ\ T +9 &XN\ U +9 &Z9M}K\ 1 +10 &Z/B\ ( +5 ( +2 "processing"%]& +4 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.62 + .Hand.open +2 "manipulator"&.1 +3 "core" &Z\ ( +52 1 +2 "manipulator"&D% +4 "core" % Y z +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&`'\ +96 "core" ' + "processing"%F& +4 "core" &ZO\ ( +2 #tImaging generic puck in Processing Clamp while storing it to tube 6 + "manipulator"&b% +4 "core" %\ 0 $u +2 "storage"(% +4 "core" %O   E\ \ + "storage"(l. +3 "core" .(K +2 "storage"(M& +4 "core" &K   L\  +2 "storage"(& +3 "manipulator"&<& +6 "core" &K   K\  + &m +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +6 "manipulator"&$&.,(\ #b +3 "storage"(#]kK-0-\ b +2 .tElbow.seek PC +5 "manipulator"&:(c +3 ."raiseStack"SE.seek :beamBreak +2 "storage"(,'e +3 "core" ( + "manipulator"&'& +4 "core" &m +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &*& +2 "core" &m v +2 .tForearm.seek PC +2 "manipulator"&x'[ +97 "core" ' + .tHand.close +2 "manipulator"&Z/ +53 "core" / +2 .tPC.seek :open +2 "processing"%~(p +43 "Can"\ om +48 "core" ' + "storage"(?- +4 "core" -'e + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('B +41 "core" ' +249 ( + "storage"( & +4 "core" &K > A 6\  +2 "manipulator"&r& +4 "core" &m  + "manipulator"&\\% +4 "core" % b # +2 .tForearm.seek :retract +2 "manipulator"&'\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +7 .tElbow.seek 6 +2 "manipulator"&t( +267 "core" ( + "manipulator"&& +4 "core" & +2 "storage"(X& +4 "core" &K C B \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&{'< +93 "core" ' +2 .tHand.open + "manipulator"&1 +57 "core" 1 +2 "storage"(w- +3 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate +2 "storage"(}' +24 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(s' +52 "core" ' +2 #tLights, camera, ACTION! + "storage"(- +4 "core" -' +2 "storage"($& +3 "core" &K \  +2 "manipulator"&& +4 "core" & W +2 .tElbow.seek 6 +2 "manipulator"&( +3 "core" ( + "manipulator"&P& +4 "core" &  +2 "storage"( & +3 "core" &K B\  +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&n'< +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"(\ 'M +59 "core" ' + "manipulator"& & +5 "core" & r r L + "storage"(R& +4 "core" &K Y Y\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&'z +28 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"('7 +24 "core" ' + "manipulator"&k% +5 "core" %Ύ p m + "storage"(_& +4 "core" &K\ \  v\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 320 counts + "manipulator"&'Ϻ +17 "core" ' + "manipulator"&+& +5 "core" & r v  + "storage"(A& +5 "core" &K X X C\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&)'< +17 "core" ' +2 "storage"(v% +4 "core" %< u _ \ +3 ."downElevator"SE.seek :down +3 "storage"('N +99 (c% +3 "core" %09 9 , .\ U^ +2 "manipulator"&I% +4 "core" %= o n  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +93 "core" ' +54 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (4& +4 "core" &K -  \  +2 "collection"'%& +4 "core" &]\ X + #tStoring generic puck in Collection Clamp to tube 6 +2 "manipulator"&@% +4 "core" %\ 6 & + "storage"(% +4 "core" %< C A \ +2 "storage"(. +3 "core" .(K + "storage"(u& +4 "core" &K B A U\  +2 "storage"(f& +4 "core" &K B B \  +2 "manipulator"&B& +3 "core" & z +2 .tElbow.seek 6 +2 "manipulator"&( +3 "core" ( + "manipulator"&&& +4 "core" & H +2 "storage"(e& +3 "core" &K B A \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&-'< +97 "core" ' + "storage"(K& +5 "core" &K X X <\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(L'e +278 "core" ' + "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&1& +3 "core" & y j +6 "storage"(J& +4 "core" &K Y Y\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&2'z +32 "core" ' + .tElbow.hold +2 "manipulator"&S, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(^- +3 "core" -' +2 .tSE.seek 0.12 Pucks below Top Plate +2 "storage"(g's +28 "core" ' + "manipulator"&% +4 "core" %΋x > B +2 "storage"((& +4 "core" &K\ \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 317 counts + "manipulator"&y'Ϸ +17 "core" ' + "manipulator"& & +4 "core" & ] u  +2 "storage"(q& +3 "core" &K W X h\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&"'< +17 "core" ' +2 .tSE.seek 1.12 Pucks below Top Plate +2 "storage"(V'b +41 "core" ' + "manipulator"&Q& +5 "core" & o n + "manipulator"&8% +4 "core" %B p o  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&/'\ +87 "core" ' +2 .tElbow.seek CC + "manipulator"&5( +166 "core" ( +2 "manipulator"&& +4 "core" &\ ) ] + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &#& +7 "core" & = ] +2 .tForearm.seek CC +2 "manipulator"&>'| +98 "core" ' +2 .tHand.close + "manipulator"&/ +54 "core" / + .tCC.seek :open +2 "collection"'H(p +411 "core" ( + "storage"(W& +4 "core" &K Z\  +2 "storage"(a& +4 "core" &K p\  + "manipulator"&Y& +4 "core" &  ] +2 "manipulator"&E% +3 "core" % u  +2 .tForearm.seek :retract +2 "manipulator"&!'\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&( +156 "core" ( + "manipulator"&N& +5 "core" & T  + "storage"(z& +4 "core" &K \  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 6 +2 "manipulator"&0'z +108 "core" ' +47 .tElbow.hold +11 "manipulator"&C, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&m1 +58 "core" 1 +2 "manipulator"&d% +5 "core" % ΍ c + "storage"(O& +4 "core" &K f f W\  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 6 + 319 counts +2 "manipulator"&i'Ϲ +17 "core" ' + "manipulator"&|& +4 "core" & ^ u (  +2 "storage"(T& +4 "core" &K {\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&j'< +17 "core" ' +2 "storage"(6% +4 "core" %[ \ +3 ."downElevator"SE.seek :down +3 "storage"(3'N +99 (G% +2 "core" %$< P\ U[ +2 "manipulator"&h% +4 "core" %= n o  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&9'\ +92 "core" ' +47 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 7 of [5..7] + #Loading generic puck from tube 7 into Collection Clamp +2 "collection"'7& +5 "core" &02 \ + "manipulator"&[% +4 "core" %\ 3 / %v +2 "storage"(% +4 "core" %7 \  + "storage"(=. +3 "core" .(K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 7 +2 "storage"(U([ +353 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (.& +3 "core" &[ \\ f \  +2 "manipulator"&D& +3 "core" & G  +2 .tElbow.seek 7 +2 "manipulator"&F( +16 "core" ( + "manipulator"&b& +4 "core" & 3  +2 "storage"(& +4 "core" &[ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&l'k +103 "core" ' + "storage"(M& +4 "core" &[ \  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(<'e +280 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (]& +2 "core" &[ 9\  +2 "manipulator"&'& +3 "core" & p p  +2 .tElbow.seek 7 +2 "manipulator"&*( +8 "core" ( + "manipulator"&p& +4 "core" & [ v +2 "storage"(Z& +3 "core" &[ Y\  +3 .tForearm.seek 7 + 300 counts + "manipulator"&?' +34 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&o/ +58 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&`& +2 "storage"( 'N +7 "core" & o o  + "manipulator"& % +4 "core" % o o +2 .tForearm.seek :retract +2 "manipulator"&r'\ +90 "core" ' + .tElbow.seek CC +2 "manipulator"&,( +154 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +3 "core" ( +2 "manipulator"&\\& +3 "core" &  + * +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &x& +2 "core" &  p * +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&'| +98 "core" ' +2 "manipulator"&X& +4 "core" &   * +2 "manipulator"&:% +4 "core" %v  + "collection"'& +4 "core" &13\ +2 "collection"'w& +6 "core" &13 \ +2 .tCC.seek :closed +3 "collection"'(] +3 "core" &12\ +6 &02\ 6 +9 &H~12\ 0 +9 &@s/2\ D +10 &e03\ M +9 &_14\ M +9 &k_23\ M +10 & .`/2\ L +9 &!b/3\ L +10 &#\\43\ L +9 &%t\\14\ L +9 &'6\\22\ L +10 &(\\13\ L +9 &*]02\ L +9 &,|Z12\ \ L +10 &.>a13\ L +9 &0\\03\ L +10 &1]22\ L +9 &3^23\ M +9 &5GZ/3\ L +10 &7b13\ L +9 &8_22\ L +9 &:`14\ L +10 &a03\ L +9 &?b04\ L +10 &Aa00\ M +13 &CU_/3\ M +6 &E]13\ M +9 &F].2\ L +9 &Hg).\ M +10 &JWv \ O +9 &L\ R +10 &M;X\ U +9 &O"-\ V +9 &QH\ V +10 &S \ X +9 &T\ X +9 &V\ X +10 &XJ\ Y +9 &Z\ Z +10 &[\ \\ +9 &](S\ - +10 &]\ N +8 ( +3 "collection"'w& +3 #tCollection Clamp onSpring/offSpring for 8/26 samples, on/off torque 2.05 + .Hand.open + "manipulator"&$1 +4 "core" &]m\ L +49 1 + "manipulator"&% +4 "core" % u ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&P'\ +93 "core" ' +2 #tLoading generic puck from tube 7 into Processing Clamp + "processing"% & +5 "core" &\ + "manipulator"&% +4 "core" %\ + d !V +2 "storage"( % +3 "core" %C Y Y x\ +2 "storage"(R. +3 "core" .([ +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 7 +2 "storage"(k([ +3 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (_& +3 "core" &[   *\  +2 "manipulator"&& +4 "core" &  ~ * + "manipulator"&+% +4 "core" %\ * !V +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 7 +2 "manipulator"&}( +157 "core" ( +2 "manipulator"&A& +4 "core" &  +2 "storage"(v& +3 "core" &[ X [\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&t'k +88 "core" ' + "storage"({& +5 "core" &[ u r Y\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(s'e +280 "core" ' + "storage"(c- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (I& +3 "core" &[ > ; C\  +2 "manipulator"&n& +3 "core" & ; +2 .tElbow.seek 7 +2 "manipulator"&( +3 "core" ( + "manipulator"&\ & +4 "core" &  + "storage"(& +4 "core" &[ X Y m\  +2 .tForearm.seek 7 + 300 counts +2 "manipulator"&4' +24 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +61 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&%& +3 "storage"(@'N +7 "core" & o n  + "manipulator"&% +4 "core" % o o : +2 .tForearm.seek :retract +2 "manipulator"&'\ +94 "core" ' +2 .tElbow.seek PC + "manipulator"&u(c +157 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +88 "core" ( +3 "manipulator"&& +4 "core" &j + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &f& +3 "core" &j +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&B'[ +105 "core" ' + "manipulator"&&& +4 "core" &j  +2 "manipulator"&e% +4 "core" %` 3 +2 "processing"%)& +4 "core" &\ +2 "processing"%K& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%(Z +4 "core" &\  +9 &.{\ +z +9 &c\ > +10 &Av\ N +9 &X\ M +10 &[\ N +9 &Y\ N +9 &!HZ\ N +10 &# W\ M +9 &$Y\ M +9 &&W\ M +10 &(PY\ N +9 &*Z\ M +9 &+Z\ M +10 &-Y\ N +9 &/Y\\\ M +10 &1V\ M +9 &2]\ M +9 &4Z\ N +10 &6bY\ M +9 &8#Z\ M +9 &9[\ M +10 &;Z\ M +9 &=hZ\ N +10 &?+]\ M +9 &@]\ M +9 &B]\ M +10 &Dq\\\ M +9 &F3_\ M +9 &Ge\ N +10 &In\ P +9 &Km\ Q +10 &M(\ T +9 &N\ T +9 &P\ T +10 &Rm\ T +9 &T/\ T +10 &U\ T +9 &W\ U +9 &Ys\ B +10 &Zy@\ V +9 &ZA\ ' +2 ( +2 "processing"%K& +3 #tProcessing Clamp onSpring/offSpring for 9/25 samples, on/off torque 1.64 + .Hand.open +2 "manipulator"&1 +63 "core" 1 + "manipulator"&% +5 "core" % ` ? + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +104 "core" ' +2 "processing"%1& +4 "core" &Z\ ' +2 #tImaging generic puck in Processing Clamp while storing it to tube 7 + "manipulator"&J% +4 "core" %\ 8 ^ ' +2 "storage"(^% +4 "core" %< 4 4\ + "storage"(. +3 "core" .([ +2 "storage"((& +4 "core" &[ 4 =\  + "storage"( & +5 "manipulator"&q& +3 "core" &[ 7 4 '\  +2 &j y +2 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +2 "storage"(#]kK-0-\ b +3 "manipulator"&Q(c +6 ."raiseStack"SE.seek :beamBreak +2 "storage"(8'e +2 "core" ( +2 "manipulator"&-& +4 "core" &j z +51 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 && +2 "core" &j +2 .tForearm.seek PC +2 "manipulator"&L'[ +95 "core" ' + .tHand.close + "manipulator"&2/ +60 "core" / +2 .tPC.seek :open +2 "processing"%y(p +38 "core" ' + "storage"(g- +4 "core" -'e + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('B +34 "core" ' +309 ( + "storage"(#& +4 "core" &[ X Z r\  +2 "manipulator"&"& +4 "core" &j 0 + "manipulator"&S% +4 "core" % `  +2 .tForearm.seek :retract +2 "manipulator"&'\ +94 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 7 +2 "manipulator"&/( +248 "core" ( +2 "manipulator"&;& +4 "core" & @ +2 "storage"(W& +4 "core" &[ ) 2 1\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&a'k +107 "core" ' + .tHand.open +2 "manipulator"&Y1 +63 "core" 1 +2 "storage"(E- +3 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate +2 "storage"(N' +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(z' +52 "core" ' +2 #tLights, camera, ACTION! + "storage"(>- +4 "core" -' + "storage"(5& +4 "core" &[ :\  +2 "manipulator"&m& +4 "core" & o n @ +2 .tElbow.seek 7 +2 "manipulator"&d( +3 "core" ( + "manipulator"&O& +4 "core" & x F @ +2 "storage"(|& +4 "core" &[ s\  +2 .tForearm.seek 7 + 450 counts + "manipulator"&T'k +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"(!'M +59 "core" ' +2 "manipulator"&6& +4 "core" & l e K @ +2 "storage"(G& +4 "core" &[ t u !\  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 7 +2 "manipulator"&h'Ω +33 "core" ' +2 .tElbow.hold +2 "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.07 Pucks below Top Plate + "storage"(0'7 +30 "core" ' +2 "manipulator"&7% +4 "core" %θ O +2 "storage"([& +4 "core" &[   \  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 7 + 315 counts + "manipulator"&i' +17 "core" ' + "manipulator"&& +5 "core" & ] v \ @ +2 "storage"(=& +4 "core" &[ u t I\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&V'k +23 "core" ' + "storage"(j% +5 "core" %6 r p \ +2 ."downElevator"SE.seek :down +4 "storage"(3'N +98 (% +5 "core" %= X X _\ U^ + "manipulator"&.% +4 "core" %t y p + ) +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&D'\ +90 "core" ' +60 ' + ."downElevator"SE.stop + "storage"(5 +3 (b& +4 "core" &[ E 4 \  + "collection"'& +4 "core" &]m\ L +2 #tStoring generic puck in Collection Clamp to tube 7 + "manipulator"&M% +4 "core" %\ . | #h +2 "storage"(C% +4 "core" %K Y Y\  + "storage"(9. +4 "core" .([ + "storage"(& +4 "core" &[ X Y \  +2 "storage"(]& +4 "core" &[ Y Z \  +2 "manipulator"&'& +3 "core" & < @ +2 .tElbow.seek 7 +2 "manipulator"&p( +3 "core" ( +2 "manipulator"&Z& +3 "core" & @ +2 "storage"(o& +4 "core" &[ Z X {\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&`'k +108 "core" ' + "storage"( & +4 "core" &[ m v ~\  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(F'e +282 "core" ' +2 "storage"(l- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&\\& +3 "core" & t p : @ + "storage"(x& +4 "core" &[ b p\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 7 +2 "manipulator"&<'Ω +30 "core" ' + .tElbow.hold +2 "manipulator"&?, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(X- +2 "core" -' +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(:'m +30 "core" ' +2 "manipulator"&% +4 "core" %ι  +2 "storage"(*& +3 "core" &[   v\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 7 + 316 counts + "manipulator"& ' +17 "core" ' +2 "manipulator"&r& +4 "core" & v _ 6 @ +2 "storage"(H& +4 "core" &[ { y -\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&$'k +16 "core" ' +2 .tSE.seek 1.11 Pucks below Top Plate +2 "storage"('\\ +41 "core" ' +2 "manipulator"& & +4 "core" & n p @ +2 "manipulator"&% +4 "core" %Y o q   +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"& '\ +87 "core" ' +2 .tElbow.seek CC +2 "manipulator"&R( +157 "core" ( + "manipulator"&_& +4 "core" && { =A +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &w& +3 "core" && =A +2 .tForearm.seek CC +6 "manipulator"&'| +99 "core" ' + .tHand.close + "manipulator"&+/ +56 "core" / + .tCC.seek :open +2 "collection"'(p +411 "core" ( + "storage"(A& +4 "core" &[ M\  +2 "storage"(v& +4 "core" &[ \  + "manipulator"&{& +4 "core" &# 7 +2 "manipulator"&U% +3 "core" % ρ +2 .tForearm.seek :retract +2 "manipulator"&,'\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 7 +2 "manipulator"&P( +161 "core" ( + "manipulator"&c& +4 "core" & }   +2 "storage"(I& +4 "core" &[ b\  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 7 +2 "manipulator"&n'Ω +107 "core" ' +2 .tElbow.hold + "manipulator"&\ , +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&1 +59 "core" 1 +2 "manipulator"&% +4 "core" % μ + "storage"(%& +4 "core" &[ v v t\  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 7 + 319 counts + "manipulator"&' +19 "core" ' + "manipulator"&}& +5 "core" & u _ P  + "storage"(t& +4 "core" &[ q\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&s'k +16 "core" ' + "storage"(4% +5 "core" %b \ +2 ."downElevator"SE.seek :down +4 "storage"('N +99 (f% +3 "core" %(@ \ U\\ + "manipulator"&% +4 "core" %c o n  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&&'\ +88 "core" ' +51 ' + ."downElevator"SE.stop + "storage"(5 +46671 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +2 .Gate.cycleModemPower! 5 +3 #Session Ended +1139 "Can"\ /=: +59586 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +407 "Can"\ /=: +60003 \ -?= +313 #"reset-modem"Session Begun +5 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended @946684871.53EST = =tMAIN =mMAIN_scheduler @EST946684873.45 #"core_reset"Sent BREAK +2 #t@2694 idle with ifg=0x00, ie=0x75 + #>RESET< ESP2 v3.41 I2C Gateway v3.20 +208 #>RESET< ESP2 v3.41 I2C Gateway v3.20 for core bus +212 !o:Instrument::ISUSCore: @refi`I: @configS:Instrument::Configuration: name" ISUS:calFileName0:sampleCmd"TS: prompt"\ :statusCmd"C:sampleTimeouti#:promptTimeouti:statusTimeouti: retriesi:strToPrompt"W: pace0: echoF:\ @name@ +102 #Configuration for don (12651-03) 10/9/20 brent@mbari.org\ /home/esp/esp2/type/shallow/don/configure.rb\ +405 "Can"u 9&#| + u 9&#| + #tPolling Can every 10:00 +65 !o:Storage::Warning: mesg"8Invalid entry in line 466 of /var/log/esp/real.puck:bt["8/home/esp/esp2/utils/storage.rb:399:in `readPucks!'"2/home/esp/esp2/utils/storage.rb:397:in `each'"8/home/esp/esp2/utils/storage.rb:397:in `readPucks!'"(eval):2:in `eachRaw'"(eval):2:in `each'"8/home/esp/esp2/utils/storage.rb:372:in `readPucks!'"2/home/esp/esp2/utils/storage.rb:371:in `open'"8/home/esp/esp2/utils/storage.rb:371:in `readPucks!'"6/home/esp/esp2/utils/storage.rb:627:in `restore!'"-/home/esp/esp2/lib/esp.rb:115:in `shell'"7/home/esp/esp2/lib/schedule.rb:481:in `initialize'"0/home/esp/esp2/lib/thread.rb:738:in `start'"7/home/esp/esp2/lib/schedule.rb:474:in `initialize'"'/home/esp/esp2/lib/schedule.rb:472 +28 !o:Storage::Warning: mesg"Uncleanly Exited:bt[ "8/home/esp/esp2/utils/storage.rb:438:in `readPucks!'"6/home/esp/esp2/utils/storage.rb:627:in `restore!'"-/home/esp/esp2/lib/esp.rb:115:in `shell'"7/home/esp/esp2/lib/schedule.rb:481:in `initialize'"0/home/esp/esp2/lib/thread.rb:738:in `start'"7/home/esp/esp2/lib/schedule.rb:474:in `initialize'"'/home/esp/esp2/lib/schedule.rb:472 +557 #-> ESP.ready! +3 #Powering core bus +545 .Gate.power :raw,:ON +2 "sampler") +53 ) +2 "core"  +2 "collection"' +2 ' +3 "core"  +2 "processing"% + % +3 "core"  +5 "collection"' 9\ +2 ' 0\ +2 ' -\ +3 "processing"% 9\ +2 % 2\ +2 % *\ +2 % 0\ +4 "sampler")&\ +2 "collection"'% +3 "core" %V  + .tCS.configure :default +3 "collection"'#P d@b +2 "processing"%% +3 "core" %.\ + .tPS.configure :default +3 "processing"%#A d`xb +2 "sampler")% +2 "core" %   +2 .tSS.configure :default +2 "sampler")#.0X H \ + .tSE.reconfigure :default +3 "storage"(#K-0-\ b +2 .tSE.home.seek :down + "storage"( 'N +52 "core" ' +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.home.seek :initial + "storage"(!(, +170 "core" ' +6 ' + ."rdyProcessing"PS.stop + "processing"%5 +2672 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 "manipulator"&"& +3 "core" &d "y +2 .tForearm.seek :retract +2 "manipulator"&#'\ +3 "core" ' + .tElbow.seek :hammer +2 "manipulator"&$(* +89 "core" ( +2 "manipulator"&%& +4 "core" &;  9 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek retracted + "manipulator"&&'\ +5 "core" ' +2 "manipulator"&'% +9 "core" %\ 6  &Y +2 "processing"%(& +4 "collection"')& +4 "core" &A\ + &Y\ +3 .tCC.reconfigure :default +2 ."openPC"PC.reconfigure :default +4 "collection"'$x2 ^22b + "processing"%$x2 ^22b +4 .tCC.home.seek :open +2 ."openPC"PC.home.seek :open +2 "collection"'*(p + "processing"%+(p +358 "core" ( +12 ( +2 "collection"', +4 "core"  + "processing"%- +3 "core" U +2 "processing"%. +3 "core" ? + "processing"%/ +3 "core"  +2 "collection"'0% +4 "core" %X\ + "processing"%1% +5 "core" %+\ +2 "sampler")2% +3 "core" %4 \ z +2 "collection"'3& +4 "core" &R`\  + "processing"%4& +4 "core" &O@\  +2 "manipulator"&5% +4 "core" %\ 6  &Y + "manipulator"&6& +4 "core" &; t 9 + "storage"(7& +4 "core" &, 8 8 \  +2 "storage"(8% +4 "core" %J C > L\ J + "collection"'99 +3 "core" 9jo +2 "processing"%:9 +3 "core" 9} @946684975.68EST = =tMAIN =mMAIN_scheduler @EST946684977.62 #"core_reset"Sent BREAK +2 #t@26251 idle with ifg=0x00, ie=0x75 #>RESET< ESP2 v3.41 I2C Gateway v3.20 +209 #>RESET< ESP2 v3.41 I2C Gateway v3.20 for core bus +208 !o:Instrument::ISUSCore: @refiT{e: @configS:Instrument::Configuration: name" ISUS:calFileName0:sampleCmd"TS: prompt"\ :statusCmd"C:sampleTimeouti#:promptTimeouti:statusTimeouti: retriesi:strToPrompt"W: pace0: echoF:\ @name@ +101 #Configuration for don (12651-03) 10/9/20 brent@mbari.org\ /home/esp/esp2/type/shallow/don/configure.rb\ +397 "Can"t :&# + t :&# + #tPolling Can every 10:00 +24225 #-> exit +4 #mEXIT @946685229.12EST @946685080.90EST = =tMAIN =mMAIN_scheduler @EST946685082.76 #"core_reset"Sent BREAK +2 #t@1693 idle with ifg=0x00, ie=0x75 + #>RESET< ESP2 v3.41 I2C Gateway v3.20 +208 #>RESET< ESP2 v3.41 I2C Gateway v3.20 for core bus +204 !o:Instrument::ISUSCore: @refixK: @configS:Instrument::Configuration: name" ISUS:calFileName0:sampleCmd"TS: prompt"\ :statusCmd"C:sampleTimeouti#:promptTimeouti:statusTimeouti: retriesi:strToPrompt"W: pace0: echoF:\ @name@ +98 #Configuration for don (12651-03) 10/9/20 brent@mbari.org\ /home/esp/esp2/type/shallow/don/configure.rb\ +394 "Can", ;&"| + , ;&"| + #tPolling Can every 10:00 +2 #Cleanly exited at 19:07:09EST31-Dec-99 +442 #-> ESP.ready! +3 #Powering core bus +560 .Gate.power :raw,:ON +2 "sampler") +58 ) +2 "core"  +3 "collection"' +2 ' +3 "core"  +2 "processing"% + % +4 "core"  +4 "collection"' 9\ +2 ' 0\ +2 ' -\ +4 "processing"% 9\ +2 % 2\ + % *\ +2 % 0\ +3 "sampler")&\ +2 "collection"'% +4 "core" % +2 .tCS.configure :default +2 "collection"'#P d@b +2 "processing"%% +3 "core" %\ +2 .tPS.configure :default +2 "processing"%#A d`xb +2 "sampler")% +3 "core" %\ ?\ 9 +2 .tSS.configure :default +2 "sampler")#.0X aaccess 4 +2 !o:NoMethodError : mesg"0undefined method `aaccess' for Object:Class: name0: args0:bt[\ ";/home/esp/esp2/lib/framework.rb:51:in `method_missing'";/home/esp/esp2/lib/framework.rb:63:in `method_missing'"(ESP):2:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +420 #-> access 4 +2 "storage"(;% +3 "core" %E! f g \ L +2 "manipulator"&<% +4 "core" %\ 1 h $H +2 "manipulator"&=& +3 "core" & 3 +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 1 + "storage"(>(B +1025 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (?& +2 "core" &> # <\  +755 #t-> access 3 +2 "storage"(@% +3 "core" %F \\ ` &\ K +2 "manipulator"&A% +4 "core" %\ 1 h $H + "manipulator"&B& +4 "core" & | 3 +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 7 +2 "storage"(C([ +1955 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (D& +2 "core" &[ 9 9 z\ +1129 #t-> require 'shuffle.rb' +1169 #-> 5.times {shuffle 3..5} +2 #Shuffling pucks in tube 3 of [3..5] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"'E& +3 "core" &V\  +2 .tHand.open +2 "manipulator"&F1 +62 "core" 1 + "manipulator"&G% +9 "core" % \ 1  $G +2 "storage"(H% +3 "core" %I d [\ H +37 "storage"(I. +8 "core" .([ +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 + "storage"(J( +1303 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (K& +3 "core" & $\ +2 "manipulator"&L& +3 "core" & B 3 +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&M(D +21 "core" ( + "manipulator"&N& +5 "core" &J  $ + "storage"(O& +4 "core" & > E \ +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&P' +93 "core" ' + "storage"(Q& +5 "core" & l z\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(R'e +281 "core" ' +2 "storage"(S- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (T& +3 "core" & } u C\ +2 "manipulator"&U& +3 "core" &K  $ +2 .tElbow.seek 3 +2 "manipulator"&V(D +3 "core" ( +2 "manipulator"&W& +66 "core" &K  $ +2 "storage"(X& +4 "core" & y\ +3 .tForearm.seek 3 + 300 counts + "manipulator"&Y'y +25 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&Z/ +56 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"&[& + "storage"(\\'N +7 "core" &K ~ ( $ + "manipulator"&]% +5 "core" % π { s D +2 .tForearm.seek :retract +2 "manipulator"&^'\ +95 "core" ' +2 .tElbow.seek CC + "manipulator"&_( +147 "core" ( + ' + ."downElevator"SE.stop +4 "manipulator"&`& + "storage"(5 +7 "core" &% ) <= + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &a& +2 "core" &% <= +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&b'| +94 "core" ' + "manipulator"&c& +5 "core" &% > << +2 "manipulator"&d% +4 "core" %τ m  +2 "collection"'e& +4 "core" &V \  +2 "collection"'f& +5 "core" &V\  +2 .tCC.seek :closed + "collection"'g(] +5 "core" &V \  +8 &5 \ +} +10 &d \ @ +9 &(~\ O +10 &c \ O +9 &c\ O +9 &nf\ O +10 &!0e\ O +9 &"g\ O +9 &$c\ O +10 &&vh\ O +9 &(9d\ O +10 &)c\ O +9 &+d\ O +9 &-~g!\ O +10 &/@e\ O +9 &1g\ O +9 &2e\ O +10 &4g\ O +9 &6Ja\ N +10 &8 a\ N +11 &9e\ O +7 &;a\ N +10 &=Qb\ O +9 &?b\ O +9 &@b\ O +10 &Bc!\ O +9 &DZb\ N +10 &Fe|$\ N +9 &GjVf \ O +9 &Iy0!\ Q +10 &KU#\ S +9 &M &"\ W +10 &N \ X +9 &P$\ X +9 &RL \ Y +10 &T \ Z +9 &U\ Z +9 &W\ Z +10 &YI\ \\ +9 &[ #\ \\ +10 &\\{\ A +9 &]~&,\ %m +9 &]b'\ K +3 ( +2 "collection"'f& +2 #tCollection Clamp onSpring/offSpring for 9/25 samples, on/off torque 1.94 + .Hand.open + "manipulator"&h1 +60 "core" 1 +2 "manipulator"&i% +5 "core" % τ  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&j'\ +92 "core" ' + #tLoading generic puck from tube 3 into Processing Clamp +2 "processing"%k& +4 "core" &U3\  + "manipulator"&l% +4 "core" %\ + 5 !R +2 "storage"(m% +4 "core" %N $ ! \ \ + "storage"(n. +4 "core" .( + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 3 + "storage"(o( +33 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (p& +2 "core" &G y\  +2 "manipulator"&q& +4 "core" &$ 2 ;5 + "manipulator"&r% +4 "core" %\ + O !R +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&s(D +175 "core" ( + "manipulator"&t& +5 "core" &@  J + "storage"(u& +4 "core" & B C \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&v' +96 "core" ' +2 "storage"(w& +4 "core" & \\ H \ \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(x'e +282 "core" ' +2 "storage"(y- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (z& +2 "core" & "  J\ # +2 "manipulator"&{& +4 "core" &@  J +2 .tElbow.seek 3 +2 "manipulator"&|(D +3 "core" ( + "manipulator"&}& +4 "core" &@ 4 J + "storage"(~& +4 "core" & C C X\ # +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&'y +19 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +58 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& + "storage"('N +7 "core" &@ { ] J +2 "manipulator"&% +4 "core" % n   +2 .tForearm.seek :retract +2 "manipulator"&'\ +97 "core" ' +2 .tElbow.seek PC + "manipulator"&(c +154 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +101 "core" ( + "manipulator"&& +4 "core" &i A +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &i  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"& '[ +99 "core" ' + "manipulator"&\ & +4 "core" &i  +2 "manipulator"& % +4 "core" %c  +2 "processing"% & +4 "core" &U2\  +2 "processing"% & +5 "core" &U\  +2 .tPC.seek :closed +2 "processing"%(Z +4 "core" &U2\  +9 &66\ ,~ +9 &f2\ @ +10 &,{3\ O +9 &]3\ N +10 &b7\ O +9 &u_6\ N +9 &!5b,\ O +10 &"_,\ N +9 &$`2\ N +9 &&}`1\ N +10 &(?_-\ N +9 &*`<\ N +10 &+`2\ N +9 &-b6\ N +9 &/Fb;\ N +10 &1 \\>\ N +9 &2bE\ N +9 &4_E\ N +10 &6O`D\ N +9 &8`@\ N +10 &9_B\ N +9 &;`B\ O +9 &=X_B\ N +10 &?aD\ N +9 &@]D\ N +9 &BbE\ N +10 &D_`H\ N +9 &FdI\ O +9 &GlI\ O +10 &IxF\ Q +9 &KYJ\ S +10 &MF\ T +9 &NI\ U +10 &P@\ U +13 &R[I\ U +5 &T?\ U +10 &U=\ U +9 &WA\ U +9 &Y`E\ C +10 &Zo<F\ _ +9 &Z9?\ 4 +6 ( + "processing"% & +4 #tProcessing Clamp onSpring/offSpring for 9/25 samples, on/off torque 1.58 + .Hand.open +2 "manipulator"&1 +3 "core" &Z0F\ 4 +49 1 +2 "manipulator"&% +4 "core" % c j +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +91 "core" ' +2 "processing"%& +4 "core" &Z0M\ 4 + #tImaging generic puck in Processing Clamp while storing it to tube 3 +2 "manipulator"&% +4 "core" %\ +  !Q + "storage"(% +4 "core" %I\ \ \ +2 "storage"(. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(( +6 "core" ( + .tSC.configure :limp +4 "storage"($\ 1b +2 (& +5 "manipulator"&& + "core" & \ ! +3 ."raiseStack"SE.reconfigure :place +5 "storage"(#]kK-0-\ b +3 "core" &i  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +2 ."raiseStack"SE.seek :beamBreak +3 "manipulator"&(c +2 "storage"('e +5 "core" ( + "manipulator"&& +4 "core" &i +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &"& +2 "core" &i +2 .tForearm.seek PC +2 "manipulator"&%'[ +96 "core" ' + .tHand.close + "manipulator"&'/ +62 "core" / +2 .tPC.seek :open + "processing"%)(p +90 "core" ' +2 "storage"((- +3 "core" -'e + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('B +35 "core" ' +256 ( +2 "storage"(& +4 "core" & C + >\ ( + "manipulator"&#& +4 "core" &i  +2 "manipulator"&,% +4 "core" % c  + .tForearm.seek :retract +2 "manipulator"&-'\ +96 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&.(D +253 "core" ( + "manipulator"&/& +4 "core" &< ] "| +2 "storage"(0& +4 "core" &  \ ( +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts + "manipulator"&1' +92 "core" ' + .tHand.open +2 "manipulator"&21 +61 "core" 1 +2 "storage"(3- +4 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate +2 "storage"(4' +22 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(5' +54 "core" ' + #tLights, camera, ACTION! +2 "storage"(6- +3 "core" -' +2 "storage"(7& +4 "core" & 8 4 1\ * + "manipulator"&8& +4 "core" &=  "{ +2 .tElbow.seek 3 +2 "manipulator"&9(D +3 "core" ( + "manipulator"&:& +4 "core" &= # "{ +2 "storage"(;& +4 "core" & < A |\ + +7 .tForearm.seek 3 + 450 counts +2 "manipulator"&<' +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"(='M +59 "core" ' +2 "manipulator"&!& +4 "core" &=  "{ +2 "storage"(?& +4 "core" & C D\ + +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&@'M +29 "core" ' + .tElbow.hold +2 "manipulator"&A, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"(B'7 +29 "core" ' + "manipulator"&>% +5 "core" %W c + "storage"(D& +4 "core" & `\ + +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 310 counts + "manipulator"&E'σ +18 "core" ' + "manipulator"&F& +5 "core" &h p c P + "storage"(G& +5 "core" & \\ [\ + +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&H' +17 "core" ' +2 "storage"(I% +5 "core" %: \\ \\\ +2 ."downElevator"SE.seek :down +50 "storage"(C'N +99 (K% +5 "core" %$9 * B &\ U^ + "manipulator"&L% +4 "core" %\ { t +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&N'\ +90 "core" ' +60 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (O& +4 "core" &\ & ^ _\ + +2 "collection"'Q& +4 "core" &]c "\ K +2 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&$% +4 "core" %\ + q !V +2 "storage"(&% +4 "core" %E C B \ + "storage"(S. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 +2 "storage"(T( +46 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (U& +3 "core" & t\ +2 "manipulator"& & +4 "core" &h - P + .tElbow.seek 3 +2 "manipulator"&W(D +23 "core" ( + "manipulator"&X& +5 "core" &G   + "storage"(Z& +4 "core" & C B\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&[' +102 "core" ' + "storage"(]& +5 "core" & i ` +\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(M'e +283 "core" ' + "storage"(P- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&`& +4 "core" &G { s  + "storage"(a& +4 "core" & G W Y\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&R'M +33 "core" ' + .tElbow.hold +2 "manipulator"&Y, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(c- +2 "core" -' +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(d'm +25 "core" ' + "manipulator"&e% +5 "core" %\\{ U D + "storage"(V& +4 "core" & }\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 315 counts + "manipulator"&\\'ψ +17 "core" ' + "manipulator"&^& +4 "core" &H h { 9  +2 "storage"(*& +4 "core" & ? 9 a\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&h' +19 "core" ' +2 .tSE.seek 1.11 Pucks below Top Plate +2 "storage"(i'\\ +48 "core" ' +2 "manipulator"&k& +4 "core" &H { t  +2 "manipulator"&l% +4 "core" % r u `  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&m'\ +86 "core" ' +2 .tElbow.seek CC +2 "manipulator"&n( +162 "core" ( +2 "manipulator"&f& +4 "core" &+ c Ac +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &p& +2 "core" &+ L Ac +2 .tForearm.seek CC +2 "manipulator"&q'| +96 "core" ' +2 .tHand.close + "manipulator"&r/ +60 "core" / +2 .tCC.seek :open + "collection"'b(p +411 "core" ( +2 "storage"(t& +4 "core" & o i \ + "storage"(u& +4 "core" & Y [ $\ +2 "manipulator"&J& +3 "core" &( 4 ?P +2 "manipulator"&w% +3 "core" % o %  +2 .tForearm.seek :retract +2 "manipulator"&_'\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&j(D +156 "core" ( +2 "manipulator"&y& +4 "core" &L  + "storage"(z& +4 "core" & G\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 + "manipulator"&{'M +108 "core" ' + .tElbow.hold +2 "manipulator"&}, +4 "core" , +6 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&~1 +59 "core" 1 +2 "manipulator"&% +4 "core" % ^ ( + "storage"(& +4 "core" & I \\ \ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 317 counts + "manipulator"&'ϊ +18 "core" ' + "manipulator"&s& +4 "core" &Y i x P +2 "storage"(v& +4 "core" & Q\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts + "manipulator"&x' +18 "core" ' +2 "storage"(% +4 "core" %` X\ +3 ."downElevator"SE.seek :down +3 "storage"('N +98 (% +4 "core" %!= =\ U[ + "manipulator"&|% +4 "core" % r s  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&\ '\ +93 "core" ' +44 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 4 of [3..5] +2 #Loading generic puck from tube 4 into Collection Clamp + "collection"' & +4 "core" &\ +2 "manipulator"& % +4 "core" %\ 3 ' %z + "storage"(% +4 "core" %< j k y\ +2 "storage"(. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 + "storage"(+(, +357 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (& +3 "core" &,   \  + "manipulator"&& +4 "core" &Y F +2 .tElbow.seek 4 + "manipulator"&(* +16 "core" ( +2 "manipulator"&& +4 "core" &  3 +2 "storage"(& +3 "core" &, ~ ~ x\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&' +109 "core" ' + "storage"(& +4 "core" &, F\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"( 'e +287 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" &, B\  + "manipulator"&"& +4 "core" &  q t +2 .tElbow.seek 4 +2 "manipulator"& (* +3 "core" ( + "manipulator"&'& +4 "core" &  { w +2 "storage"(o& +3 "core" &, &\  +2 .tForearm.seek 4 + 300 counts +3 "manipulator"&('Z +15 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +53 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& +2 "storage"('N +6 "core" &  r + +2 "manipulator"&% +3 "core" % P ~ M % +2 .tForearm.seek :retract +2 "manipulator"&#'\ +94 "core" ' + .tElbow.seek CC +2 "manipulator"&( +148 "core" ' + ."downElevator"SE.stop + "storage"(5 +12 "core" ( +2 "manipulator"&,& +4 "core" &( ?U +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &%& +3 "core" &) K ?U +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&/'| +103 "core" ' + "manipulator"&0& +5 "core" &) ) ?T + "manipulator"&% +4 "core" %w  +3 "collection"'2& +4 "core" &\ +2 "collection"'3& +5 "core" &\ +2 .tCC.seek :closed +2 "collection"'6(] +4 "core" &\ +7 &8\ $d +9 &fU\ 8 +10 &~\ L +9 &rc\ N +9 &4`\ N +10 &c\ O +9 & h\ O +9 &"yb\ O +10 &$<`\ N +9 &%a\ O +10 &'a\ N +9 &)c\ N +9 &+Ce\ O +10 &-d\ O +9 &.g\ O +9 &0e\ O +10 &2Le\ N +9 &4 b&\ O +10 &5d\ N +9 &7c\ O +9 &9Ub\ N +10 &;c\ N +9 &<c\ O +9 &>c\ N +10 &@\\f\ N +9 &Be\ N +10 &C`\ N +9 &Ed\ N +9 &Gcc\ O +10 &I!sw\ P +9 &JL_\ R +10 &L\ V +9 &NQ \ X +9 &P\ X +10 &Q\ Y +9 &Sz\ Y +9 &UQnr\ Z +10 &Waf\ Z +9 &XQW\ \\ +10 &ZEK\ \\ +9 &\\D9@\ Q +9 &]cB/2\ !g +10 &]00\ P +5 ( + "collection"'3& +5 #tCollection Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.92 + .Hand.open + "manipulator"&71 +4 "core" &]s/0\ P +52 1 + "manipulator"&8% +4 "core" % o ; +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&:'\ +95 "core" ' +2 #tLoading generic puck from tube 4 into Processing Clamp + "processing"%;& +5 "core" &=\ + "manipulator"&-% +4 "core" %\ - "^ +2 "storage"(!% +4 "core" %@\ \  F\ + "storage"(?. +4 "core" .(,~ + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 4 + "storage"((, +3 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (>& +3 "core" &, d\  + "manipulator"&D& +4 "core" &% A =C +2 "manipulator"&4% +3 "core" %\ - w "^ +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&F(* +170 "core" ( + "manipulator"&G& +5 "core" && 5 + "storage"(I& +4 "core" &,~   \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&.' +100 "core" ' + "storage"(1& +4 "core" &,~ C C\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(5'e +276 "core" ' + "storage"(<- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (K& +3 "core" &,~   \  + "manipulator"&L& +4 "core" &'  4 +2 .tElbow.seek 4 + "manipulator"&9(* +4 "core" ( + "manipulator"&=& +4 "core" &'  4 + "storage"(@& +4 "core" &,~ $ 7 S\  +2 .tForearm.seek 4 + 300 counts + "manipulator"&E'Z +18 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&O/ +60 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&Q& +2 "storage"($'N +7 "core" &'  J 4 + "manipulator"&&% +4 "core" % N ~  +2 .tForearm.seek :retract +2 "manipulator"&S'\ +96 "core" ' +2 .tElbow.seek PC +2 "manipulator"&B(c +158 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +95 "core" ( + "manipulator"&U& +5 "core" &j $ + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +8 & & +2 "core" &j  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&X'[ +93 "core" ' +2 "manipulator"&Z& +4 "core" &j  +2 "manipulator"&H% +43 "core" %P  +11 "processing"%]& +4 "core" &)\ +2 "processing"%C& +5 "core" &*\ +2 .tPC.seek :closed +2 "processing"%(Z +5 "core" &9\ +7 & 3A\ #b +9 &YUA\ 8 +10 &<\ L +9 &h_<\ N +9 &+_G\ N +10 &_?\ N +9 & `E\ O +9 &"q^<\ N +10 &$4_@\ N +9 &%_?\ N +10 &'_?\ M +9 &)y_F\ N +9 &+<_>\ N +10 &,bI\ N +9 &._E\ N +9 &0_A\ N +10 &2C`D\ N +9 &4^F\ N +10 &5]D\ N +9 &7]H\ N +9 &9L_?\ N +10 &;aL\ N +9 &<\\F\ N +9 &>`=\ N +10 &@Q`<\ O +9 &B`@\ N +10 &CaF\ N +9 &E`E\ N +9 &GXjG\ O +10 &IrG\ P +9 &JH\ Q +9 &L@\ S +10 &NPH\ T +9 &PE\ T +13 &QG\ T +6 &SN\ U +9 &UVJ\ U +10 &WO\ U +9 &XJ\ V +9 &Z8OxR\ 0 +10 &Z.M\ * +5 ( +2 "processing"%C& +4 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.57 + .Hand.open + "manipulator"&A1 +4 "core" &ZS\ * +55 1 +2 "manipulator"&N% +4 "core" % P  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&P'\ +93 "core" ' + "processing"%`& +4 "core" &Z:\ * +2 #tImaging generic puck in Processing Clamp while storing it to tube 4 +2 "manipulator"&a% +3 "core" %\ * X D +2 "storage"(c% +4 "core" %P\ \  N\ +2 "storage"(e. +3 "core" .(, + "storage"(V& +4 "core" &,~\ \  \\\  +2 "storage"(^& +5 "manipulator"&*& +4 "core" &,~\ \  `\  + &j  +4 .tElbow.reconfigure :tight + ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +2 "storage"(#]kK-0-\ b +2 "manipulator"&k(c +6 ."raiseStack"SE.seek :beamBreak +2 "storage"(l'e +2 "core" ( +2 "manipulator"&[& +4 "core" &j  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &W& +3 "core" &j ; +2 .tForearm.seek PC + "manipulator"&M'[ +95 "core" ' + .tHand.close +2 "manipulator"&R/ +59 "core" / +3 .tPC.seek :open +2 "processing"%\\(p +89 "core" ' + "storage"(d- +3 "core" -'e +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(f'B +35 "core" ' +257 ( + "storage"(p& +4 "core" &,~ + # "\  +2 "manipulator"&h& +4 "core" &j  + "manipulator"&Y% +4 "core" % ]  +2 .tForearm.seek :retract +2 "manipulator"&r'\ +92 "core" ' +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&m(* +244 "core" ( +2 "manipulator"&g& +4 "core" && ` > + "storage"(t& +4 "core" &,~ $ # ,\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&u' +102 "core" ' +2 .tHand.open + "manipulator"&J1 +61 "core" 1 +2 "storage"(w- +4 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate +2 "storage"(y' +23 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(z' +49 "core" ' +3 #tLights, camera, ACTION! +2 "storage"(q- +3 "core" -' +2 "storage"(n& +4 "core" &,~ | y [\  +2 "manipulator"&~& +4 "core" && } # > + .tElbow.seek 4 +2 "manipulator"&(* +4 "core" ( + "manipulator"&& +4 "core" && y . > +2 "storage"(s& +4 "core" &,~ s c "\  +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&v' +3 "core" ' +7 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"('M +59 "core" ' + "manipulator"&_& +4 "core" && { w u > +2 "storage"(& +4 "core" &,~ 8 8 I\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&|'. +32 "core" ' +2 .tElbow.hold +2 "manipulator"&j, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.07 Pucks below Top Plate + "storage"({'7 +27 "core" ' +2 "manipulator"& % +4 "core" %?y A +2 "storage"( & +4 "core" &,~ \  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 317 counts +2 "manipulator"&'k +16 "core" ' +2 "manipulator"&& +4 "core" &  !v +2 "storage"(& +4 "core" &,~ B B \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&i' +22 "core" ' +2 "storage"(x% +4 "core" %7 > A E\ +3 ."downElevator"SE.seek :down +3 "storage"('N +99 (T% +3 "core" %8  #\ U] +2 "manipulator"&% +4 "core" % | S  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +91 "core" ' +61 ' + ."downElevator"SE.stop + "storage"(5 +3 (& +4 "core" &,~\ \  %\  + "collection"'& +4 "core" &]r=A\ P +2 #tStoring generic puck in Collection Clamp to tube 4 + "manipulator"&% +4 "core" %\ / #d +2 "storage"(}% +4 "core" %K \ + "storage"(\ . +3 "core" .(, +2 "storage"(& +4 "core" &,~   \  +2 "storage"(& +4 "core" &,~ \  + "manipulator"&"& +4 "core" & L !v +2 .tElbow.seek 4 +2 "manipulator"&'(* +28 "core" ( + "manipulator"&o& +5 "core" &6   + "storage"(& +4 "core" &,~   h\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&' +98 "core" ' +2 "storage"(& +4 "core" &,~ ? D l\  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"('e +282 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +7 "storage"(#QK-0-\ b +3 "manipulator"&,& +2 "core" &6 u a  +2 "storage"(%& +4 "core" &,~ ? B F\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"& '. +29 "core" ' + .tElbow.hold +2 "manipulator"&(, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(0- +2 "core" -' +3 .tSE.seek 0.12 Pucks below Top Plate + "storage"('o +30 "core" ' +2 "manipulator"& % +4 "core" %A s M +2 "storage"(2& +3 "core" &,~ \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 319 counts + "manipulator"&'m +17 "core" ' +2 "manipulator"&#& +4 "core" & i x .  +2 "storage"(b& +4 "core" &,~ 7 @ 0\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&7' +21 "core" ' +2 .tSE.seek 1.12 Pucks below Top Plate +2 "storage"(8'^ +45 "core" ' +2 "manipulator"&;& +4 "core" & p q 7  +2 "manipulator"&-% +4 "core" % o s 7 # +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&!'\ +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&?( +153 "core" ( +2 "manipulator"&3& +4 "core" &( L >K + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &>& +2 "core" &' $ >K +3 .tForearm.seek CC + "manipulator"&D'| +96 "core" ' + .tHand.close + "manipulator"&4/ +63 "core" / +2 .tCC.seek :open +2 "collection"'/(p +411 "core" ( + "storage"(G& +4 "core" &,~ } s \  +2 "storage"(I& +3 "core" &,~ o o 9\  +2 "manipulator"&+& +3 "core" &)" n 9# +2 "manipulator"&1% +4 "core" % r | +2 .tForearm.seek :retract + "manipulator"&'\ +92 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&:(* +151 "core" ( + "manipulator"&<& +4 "core" &#  +2 "storage"(K& +4 "core" &,~ \  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 4 +2 "manipulator"&L'. +106 "core" ' + .tElbow.hold +2 "manipulator"&=, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&@1 +58 "core" 1 +2 "manipulator"&O% +4 "core" % @ p + "storage"(Q& +4 "core" &,~ 8 7 1\  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 4 + 318 counts +2 "manipulator"&&'l +16 "core" ' +2 "manipulator"&F& +5 "core" & v } S  + "storage"(.& +4 "core" &,~ G\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&5' +19 "core" ' +2 "storage"(E% +4 "core" %\\ l\ +3 ."downElevator"SE.seek :down +3 "storage"(U'N +99 ( % +2 "core" %g< V\ TZ +2 "manipulator"&9% +4 "core" % q s z +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&Z'\ +91 "core" ' +53 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 5 of [3..5] +2 #Loading generic puck from tube 5 into Collection Clamp + "collection"'H& +4 "core" &\ +2 "manipulator"&]% +4 "core" %\ . " #g +2 "storage"($% +4 "core" %J *\ + "storage"(S. +3 "core" .(, +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"()(<< +352 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (A& +2 "core" &<: F F \  +2 "manipulator"&N& +4 "core" &   +2 .tElbow.seek 5 +2 "manipulator"&`( +18 "core" ( + "manipulator"&a& +5 "core" & \ y _ + "storage"(c& +4 "core" &<9 } ~ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&e' +103 "core" ' + "storage"(V& +5 "core" &<9 -\  + .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(^'e +285 "core" ' +2 "storage"(*- +3 "core" -' +42 .tSE.configure :default +12 "storage"(#QK-0-\ b +3 (C& +3 "core" &<9 w ~ \  + "manipulator"&[& +4 "core" &\  \\ +2 .tElbow.seek 5 +2 "manipulator"&W( +3 "core" ( + "manipulator"&X& +4 "core" &\  \\ +2 "storage"(R& +4 "core" &<9 i i \  +2 .tForearm.seek 5 + 300 counts + "manipulator"&d'[ +11 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&B/ +61 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&P& + "storage"('N +8 "core" &\  [ + "manipulator"&p% +4 "core" % Y   +2 .tForearm.seek :retract +2 "manipulator"&h'\ +100 "core" ' +2 .tElbow.seek CC +2 "manipulator"&l( +147 "core" ' +2 ."downElevator"SE.stop +2 "storage"(5 +3 "core" ( + "manipulator"&Y& +4 "core" &'  >L +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &M& +2 "core" &'  >K +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&g'| +116 "core" ' +2 "manipulator"&t& +4 "core" &(  >I +2 "manipulator"&k% +4 "core" %r  +2 "collection"'J& +4 "core" & \ +2 "collection"'w& +5 "core" &\ +2 .tCC.seek :closed + "collection"'q(] +5 "core" &\ +7 & 6\ $e +10 &lV\ 8 +9 &\ L +9 &{`\ N +10 &<b\ N +9 &e\ N +10 & b\ N +9 &"b\ N +9 &$Dc\ N +10 &&c\ N +9 &'`\ N +9 &)c\ N +10 &+Mc\ N +9 &-d\ N +9 &.d\ N +10 &0c\ N +9 &2Te\ N +9 &4c\ O +10 &5`\ N +9 &7` \ N +10 &9\\a\ N +9 &;`\ N +9 &<a\ N +10 &>b\ N +9 &@db\ N +10 &B&c\ N +9 &Ca\ N +9 &Ea\ O +10 &Glb\ N +9 &I+m\ O +9 &J~]p\ Q +10 &L\ V +14 &NZ \ W +5 &P\ X +9 &Q\ Y +9 &S\ Y +10 &UX\ [ +9 &Wqv\ Z +10 &Xcg\ \\ +9 &ZU[\ \\ +9 &\\ZFM\ I +10 &]^7>B\ / +9 &]j?? \ I +5 ( +2 "collection"'w& +4 #tCollection Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.93 + .Hand.open +2 "manipulator"&n1 +4 "core" &]_>@\ I +51 1 +2 "manipulator"&~% +5 "core" % w 2 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +95 "core" ' + #tLoading generic puck from tube 5 into Processing Clamp +2 "processing"%s& +4 "core" &8\ +2 "manipulator"&r% +3 "core" %\ 6 2 & +2 "storage"(_% +4 "core" %U   \  +2 "storage"(. +3 "core" .(<9 + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"(f(<< +7 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 ( & +3 "core" &<: ]\  +2 "manipulator"& & +3 "core" &#  ;6 +2 "manipulator"&y% +4 "core" %\ 6  & +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&( +162 "core" ( + "manipulator"&& +4 "core" & b  + "storage"(x& +5 "core" &<: B C \  +2 .tForearm.reconfigure :tight +7 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&m' +93 "core" ' + "storage"(u& +5 "core" &<: Y c\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(z'e +281 "core" ' +2 "storage"(T- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +2 "core" &<: , 8\  +2 "manipulator"&v& +4 "core" & | #  + .tElbow.seek 5 +2 "manipulator"&( +4 "core" ( + "manipulator"&& +4 "core" & }  + "storage"(|& +4 "core" &<: \\ \\\  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&'[ +19 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +58 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& + "storage"('N +8 "core" & q s V  + "manipulator"&}% +4 "core" % S { q j +2 .tForearm.seek :retract +2 "manipulator"&\ '\ +103 "core" ' +2 .tElbow.seek PC + "manipulator"&{(c +151 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +96 "core" ( +2 "manipulator"&& +4 "core" &h ~  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &h o r +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&"'[ +103 "core" ' +2 "manipulator"&o& +4 "core" &h K +2 "manipulator"&% +4 "core" %V p +2 "processing"%i& +4 "core" &J\ +2 "processing"%& +5 "core" &H\ +2 .tPC.seek :closed +3 "processing"%(Z +3 "core" &H\ +6 & 3E\ #a +10 &XU@\ 8 +9 &K\ L +10 &k_A\ M +9 &,_E\ N +9 &_F\ N +10 & dF\ N +9 &"r]F\ N +9 &$5`L\ N +10 &%bF\ N +9 &'^G\ N +10 &)|]F\ M +9 &+<_@\ N +9 &,`G\ N +10 &._>\ N +9 &0_>\ N +9 &2DbC\ N +10 &4^F\ N +9 &5ZH\ N +10 &7]G\ M +9 &9M^K\ N +9 &;`D\ N +10 &<\\G\ N +9 &>_K\ N +9 &@U^K\ N +10 &BcI\ N +9 &C_D\ N +9 &E_M\ M +10 &G[hJ\ N +9 &InJ\ P +10 &J~J\ R +9 &LA\ S +10 &NQG\ T +9 &PH\ T +9 &QF\ T +10 &SI\ U +9 &UXB\ U +9 &WK\ U +10 &XK\ U +9 &Z:OxM\ . +9 &Z*D\ ) +6 ( + "processing"%& +5 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.55 + .Hand.open + "manipulator"&j1 +4 "core" &ZH\ ) +58 1 +2 "manipulator"&% +4 "core" % V +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +97 "core" ' +2 "processing"%,& +4 "core" &ZE\ ) +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 + "manipulator"&%% +4 "core" %\ 3  %~ + "storage"(0% +4 "core" %N   y\ +2 "storage"( . +3 "core" .(<< + "storage"(2& +4 "core" &<: P o\  +2 "storage"(#& +4 "manipulator"&b& +4 "core" &<:   I\  + &h l +3 ."raiseStack"SE.reconfigure :place +2 .tElbow.reconfigure :tight +5 "storage"(#]kK-0-\ b +4 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +3 ."raiseStack"SE.seek :beamBreak +2 "manipulator"&;(c +2 "storage"(-'e +4 "core" ( +2 "manipulator"&& +4 "core" &h Y + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &'& +3 "core" &h  +2 .tForearm.seek PC +2 "manipulator"&'[ +95 "core" ' + .tHand.close +2 "manipulator"& / +56 "core" / +2 .tPC.seek :open +2 "processing"%(p +91 "core" ' + "storage"(- +4 "core" -'e + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place + "storage"(3'B +34 "core" ' +257 ( + "storage"(>& +4 "core" &<: C B \  +2 "manipulator"&7& +3 "core" &h  +2 "manipulator"&(% +4 "core" % Y  +2 .tForearm.seek :retract + "manipulator"&4'\ +101 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&!( +257 "core" ( +2 "manipulator"&6& +4 "core" &  > +2 "storage"(G& +3 "core" &<: " # )\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&I' +95 "core" ' + .tHand.open + "manipulator"&+1 +62 "core" 1 +2 "storage"(1- +3 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate +2 "storage"(<' +23 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(K' +51 "core" ' +2 #tLights, camera, ACTION! + "storage"(D- +4 "core" -' + "storage"(?& +4 "core" &<: w \  +2 "manipulator"&@& +4 "core" &   +2 .tElbow.seek 5 + "manipulator"&O( +4 "core" ( +2 "manipulator"&Q& +4 "core" &   + "storage"(F& +4 "core" &<: y z 9\  +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&.' +16 "core" ' + .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"(E'M +61 "core" ' +2 "manipulator"&& +4 "core" &  t q 4 +2 "storage"( & +4 "core" &<: \\ \\ \  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 5 + "manipulator"&9'/ +30 "core" ' + .tElbow.hold +2 "manipulator"&:, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.07 Pucks below Top Plate + "storage"(L'7 +23 "core" ' +2 "manipulator"&H% +4 "core" %A e j +2 "storage"(&& +4 "core" &<:\  @\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 318 counts +2 "manipulator"&]'m +17 "core" ' + "manipulator"&$& +5 "core" & t } j  + "storage"(S& +4 "core" &<: K H f\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&8' +25 "core" ' +2 "storage"(5% +4 "core" %? \\ \\\ +3 ."downElevator"SE.seek :down +3 "storage"(U'N +99 (% +2 "core" %= @ 8 \ U] +2 "manipulator"&A% +4 "core" % r s C +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&N'\ +89 "core" ' +69 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (a& +4 "core" &<: F\  \  +7 "collection"'c& +4 "core" &]^KN\ I + #tStoring generic puck in Collection Clamp to tube 5 + "manipulator"&V% +5 "core" %\ 1 # "Y + "storage"(=% +4 "core" %K C C \ \ +2 "storage"(Z. +3 "core" .(<< + "storage"(*& +4 "core" &<: B C \  +2 "storage"(C& +3 "core" &<: C C \  +2 "manipulator"&[& +4 "core" & f  + .tElbow.seek 5 +2 "manipulator"&X( +17 "core" ( + "manipulator"&R& +4 "core" & U n +2 "storage"(B& +4 "core" &<: C C \  +44 .tForearm.reconfigure :tight +12 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&P' +98 "core" ' +2 "storage"(p& +4 "core" &<: < 8\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(`'e +281 "core" ' + "storage"(e- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&Y& +3 "core" &  l +2 "storage"(M& +3 "core" &<: D E c\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&^'/ +29 "core" ' +2 .tElbow.hold + "manipulator"&d, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(t- +2 "core" -' +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(W'l +27 "core" ' +2 "manipulator"&k% +4 "core" %@ ' P +2 "storage"(J& +4 "core" &<: \  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 317 counts + "manipulator"&'l +17 "core" ' + "manipulator"&h& +4 "core" & o L "x +2 "storage"(/& +4 "core" &<: 7 8 4\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&n' +19 "core" ' +2 .tSE.seek 1.11 Pucks below Top Plate +2 "storage"(~'[ +41 "core" ' + "manipulator"&s& +4 "core" & |  "x +2 "manipulator"&r% +5 "core" % t } R + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&_'\ +96 "core" ' + .tElbow.seek CC +2 "manipulator"&( +147 "core" ( +2 "manipulator"&w& +4 "core" && B =B +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 & & +3 "core" && k =B +2 .tForearm.seek CC +2 "manipulator"& '| +99 "core" ' +2 .tHand.close +2 "manipulator"&y/ +54 "core" / +2 .tCC.seek :open +2 "collection"'g(p +388 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +2 .Gate.cycleModemPower! 5 +2 #Session Ended +15 "core" ( +4 "storage"(& +8 "core" &<: g g G\  +3 "storage"(x& +6 "core" &<: g g b\  +4 "manipulator"&)& +7 "core" &% M <@ +4 "manipulator"&u% +7 "core" % ς +4 .tForearm.seek :retract +4 "manipulator"&l'\ +92 "core" ' +4 .tElbow.reconfigure :tight +5 "manipulator"&$&.,(\ #b +4 .tElbow.seek 5 +4 "manipulator"&( +153 "core" ( +3 "manipulator"&T& +14 "core" &  +5 "storage"(& +50 "core" &<: s n .\  +4 .tElbow.reconfigure :limp +6 "manipulator"&$ ,(b +9 .tForearm.seek 5 +3 "manipulator"&v'/ +106 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&|1 +57 "core" 1 +3 "manipulator"&% +4 "core" % B G { + "storage"(& +4 "core" &<: C E\  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 5 + 319 counts + "manipulator"&}'n +18 "core" ' + "manipulator"&& +5 "core" & i | m  + "storage"(m& +4 "core" &<: 3\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&z' +10 "core" ' + "storage"(% +5 "core" %^ \ +2 ."downElevator"SE.seek :down +3 "storage"('N +99 (% +3 "core" %: \ U\\ +2 "manipulator"&% +4 "core" % s u m  + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&o'\ +87 "core" ' +56 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 3 of [3..5] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"'& +5 "core" &\ + "manipulator"&i% +4 "core" %\ +  !P +2 "storage"(% +4 "core" %L \ +2 "storage"(\ . +3 "core" .(<< +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(\\( +682 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (j& +2 "core" &\ $\  p\ +2 "manipulator"&& +4 "core" &   + .tElbow.seek 3 +2 "manipulator"&,(D +18 "core" ( + "manipulator"&%& +4 "core" &?  M +2 "storage"(0& +3 "core" & ~ s \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"& ' +101 "core" ' + "storage"(2& +5 "core" & =\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('e +280 "core" ' + "storage"(b- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (#& +3 "core" & P\ +2 "manipulator"&& +3 "core" &? } n M +2 .tElbow.seek 3 +2 "manipulator"&'(D +3 "core" ( + "manipulator"&"& +4 "core" &? } h M +2 "storage"( & +3 "core" & H\ +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&'y +15 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&{/ +56 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"('N +7 "core" &?  M + "manipulator"&>% +4 "core" % q  0 +2 .tForearm.seek :retract +2 "manipulator"&7'\ +93 "core" ' +2 .tElbow.seek CC +2 "manipulator"&-( +154 "core" ' + ."downElevator"SE.stop + "storage"(5 +4 "core" ( + "manipulator"&(& +4 "core" &/ 8 Dv +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &/ M Dv +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&6'| +96 "core" ' +2 "manipulator"&G& +4 "core" &/ k Dv + "manipulator"&;% +4 "core" %z 1 +2 "collection"'+& +4 "core" &\ +2 "collection"'1& +5 "core" &\ +2 .tCC.seek :closed +2 "collection"'D(] +4 "core" &\  +8 &0\ +{ +9 &c\ ? +10 &Oy\ O +9 &`\ N +10 &b\ N +9 &b\ N +9 &!We\ N +10 &#f\ N +9 &$b\ N +10 &&c\ N +9 &(`c\ N +9 &*#b\ N +10 &+b\ N +9 &-e\ N +10 &/hc\ N +9 &1)e\ N +9 &2c\ N +10 &4a\ N +9 &6pb\ N +9 &84`\ M +10 &9b\ N +9 &;^\ N +9 &=yc\ N +10 &?<b\ M +9 &@c\ N +9 &Bc\ N +9 &D`\ N +9 &FAb\ N +10 &Hc\ O +9 &Iv\ P +9 &K{Ng\ R +14 &M/\ W +5 &N\ W +10 &P\ Y +9 &Rq\ Y +9 &T0\ Z +10 &U\ [ +9 &W~\ [\ +9 &Ymnw\ ] +10 &[/[g\ ] +9 &\\{PU\ 3 +10 &](HK\ F +8 ( +3 "collection"'1& +3 #tCollection Clamp onSpring/offSpring for 9/25 samples, on/off torque 1.98 + .Hand.open + "manipulator"&?1 +4 "core" &]TII\ B +55 1 + "manipulator"&@% +4 "core" % z s +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&Q'\ +92 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%F& +4 "core" &N\ +2 "manipulator"&4% +3 "core" %\ - $ "[ +2 "storage"(% +4 "core" %G " !\ +2 "storage"( . +3 "core" .( + "storage"(3& +4 "core" & \ +2 "storage"(H& +3 "core" & "\ +2 "manipulator"&&& +4 "core" &+  Bj +2 "manipulator"&<% +4 "core" %\ - 5 "[ +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&$(D +156 "core" ( + "manipulator"&S& +4 "core" &N d \ +2 "storage"(5& +4 "core" & L 8 O\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&!' +100 "core" ' + "storage"(I& +5 "core" & f \\ <\ + .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(K'e +285 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (A& +2 "core" & 8 C q\ +2 "manipulator"&.& +4 "core" &N D \ +2 .tElbow.seek 3 + "manipulator"&O(D +3 "core" ( +2 "manipulator"&E& +3 "core" &N  \ +2 "storage"(9& +4 "core" & G 7 \ +2 .tForearm.seek 3 + 300 counts + "manipulator"&]'y +11 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&a/ +60 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&c& +2 "storage"(V'N +7 "core" &N q t E \ +2 "manipulator"&L% +3 "core" % } t s r + +2 .tForearm.seek :retract +2 "manipulator"&='\ +93 "core" ' +2 .tElbow.seek PC +2 "manipulator"&Z(c +158 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +79 "core" ( + "manipulator"&*& +5 "core" &d  , 7 + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &C& +2 "core" &d  7 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&['[ +104 "core" ' + "manipulator"&R& +4 "core" &d K 7 +2 "manipulator"&B% +4 "core" %` +2 "processing"%8& +3 "core" &9\ +2 "processing"%p& +5 "core" &8\ +3 .tPC.seek :closed + "processing"%U(Z +4 "core" &E\  +8 &.~G\ +z +57 &dB\ ? +12 &?{J\ O +7 &]F\ M + &cM\ N &^M\ M + &!HcG\ N + &# [N\ M + &$]I\ M +5 &&_G\ M +9 &(Q`G\ N +10 &*`E\ N +9 &+\\G\ M +9 &-^M\ M +10 &/Y_M\ N +9 &1]G\ M +9 &2_G\ M +10 &4\\F\ N +9 &6bbG\ M +10 &8#bE\ N +9 &9_H\ N +9 &;aH\ M +10 &=j`F\ M +9 &?+_E\ N +9 &@bF\ N +10 &B^E\ M +9 &Dq`G\ N +10 &F2fH\ N +9 &GnE\ O +9 &IxM\ P +10 &KiG\ S +9 &M(E\ T +10 &NJ\ T +9 &PE\ U +9 &RnF\ T +10 &T/G\ T +9 &UF\ U +9 &WG\ U +10 &YrL\ B +9 &Z~DF\ Y +9 &ZE\ ( +3 ( + "processing"%p& +4 #tProcessing Clamp onSpring/offSpring for 9/25 samples, on/off torque 1.60 + .Hand.open + "manipulator"&:1 +63 "core" 1 + "manipulator"&N% +5 "core" % ` W +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&e'\ +95 "core" ' +2 "processing"%Y& +35 "core" &Z8\ ( +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&M% +5 "core" %\ ,  "Z + "storage"(t% +4 "core" %>   q\ + "storage"(k. +3 "core" .( +2 "storage"(J& +4 "core" &   Z\ +2 "storage"(h& +5 "manipulator"&/& +3 "core" &   v\ +2 &d  7 +2 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +2 "storage"(#]kK-0-\ b +2 "manipulator"&s(c +5 ."raiseStack"SE.seek :beamBreak +2 "storage"(r'e +2 "core" ( + "manipulator"&P& +4 "core" &d ' 7 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &X& +2 "core" &d 7 +3 .tForearm.seek PC + "manipulator"&`'[ +95 "core" ' +2 .tHand.close + "manipulator"&^/ +65 "core" / + .tPC.seek :open +2 "processing"%(p +87 "core" ' + "storage"(W- +4 "core" -'e + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +2 ."raiseStack"SE.seek :place +2 "storage"(w'B +37 "core" ' +258 ( + "storage"( & +5 "core" & G F \ + "manipulator"&n& +5 "core" &d N 7 + "manipulator"&d% +4 "core" % b m +2 .tForearm.seek :retract +2 "manipulator"&y'\ +91 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&_(D +274 "core" ( +2 "manipulator"&q& +4 "core" &O R e + "storage"(& +4 "core" & E E \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&x' +93 "core" ' + .tHand.open +2 "manipulator"&)1 +53 "core" 1 +2 "storage"(u- +3 "core" -'B +3 .tSE.seek -0.16 Pucks below Top Plate + "storage"(T' +23 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"( ' +52 "core" ' +2 #tLights, camera, ACTION! + "storage"(- +4 "core" -' + "storage"(& +4 "core" & 2 3 ,\ +2 "manipulator"&|& +4 "core" &O  e + .tElbow.seek 3 +2 "manipulator"&(D +9 "core" ( +2 "manipulator"&& +4 "core" &D  e +2 "storage"(& +4 "core" & 4 > D\ +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&m' +3 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.11 Pucks below Top Plate + "storage"('M +59 "core" ' + "manipulator"&l& +5 "core" &D q e + "storage"(& +4 "core" & M W 2\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 + "manipulator"&'M +31 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.07 Pucks below Top Plate + "storage"(v'7 +30 "core" ' + "manipulator"&% +5 "core" %]  l + "storage"(i& +4 "core" &\ \  \ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 316 counts + "manipulator"&'ω +26 "core" ' + "manipulator"&}& +5 "core" &D Q s @ e + "storage"(\ & +4 "core" & q i \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&~' +11 "core" ' +2 "storage"(z% +4 "core" %1 } s i\ +3 ."downElevator"SE.seek :down +4 "storage"('N +98 (f% +4 "core" %: [ \\\ U] + "manipulator"&j% +4 "core" % s q ` +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +93 "core" ' +57 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (%& +4 "core" & 5 " m\ +2 "collection"'0& +4 "core" &]UUY\ B +2 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&2% +5 "core" %\ 8 P ' + "storage"(% +4 "core" %P E F\ +2 "storage"(o. +3 "core" .( + "storage"(b& +4 "core" & ? : F\ +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 +2 "storage"(#( +34 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (& +2 "core" & r\ % +2 "manipulator"&"& +4 "core" &D h e +2 .tElbow.seek 3 +2 "manipulator"& (D +3 "core" ( + "manipulator"&{& +4 "core" &D O e +2 "storage"(& +4 "core" & E E\ ' +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&>' +94 "core" ' +2 "storage"(,& +5 "core" & i p \ ' +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"( 'e +283 "core" ' +2 "storage"((- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" &D ~  e +2 "storage"(& +3 "core" & V G j\ . +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&'M +30 "core" ' +2 .tElbow.hold + "manipulator"&G, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(;- +3 "core" -' +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(+'n +24 "core" ' + "manipulator"&'% +4 "core" %^u y 6 +2 "storage"(& +3 "core" & \  [\ . +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 317 counts + "manipulator"&7'ϊ +17 "core" ' +2 "manipulator"&g& +4 "core" &D ^ x  e +2 "storage"(?& +4 "core" & g \\ `\ . +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +7 "manipulator"&@' +18 "core" ' +2 .tSE.seek 1.11 Pucks below Top Plate + "storage"(F'] +49 "core" ' +2 "manipulator"&4& +4 "core" &D r s c e +2 "manipulator"&% +4 "core" % _ p # +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"& '\ +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&3( +180 "core" ( +2 "manipulator"&H& +4 "core" &\ ] U +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &1& +3 "core" &\  U +2 .tForearm.seek CC +2 "manipulator"&&'| +96 "core" ' + .tHand.close + "manipulator"&\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(f'e +280 "core" ' + "storage"(j- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (m& +3 "core" &, "  +\  +2 "manipulator"&& +4 "core" &%   + .tElbow.seek 4 +2 "manipulator"&(* +3 "core" ( + "manipulator"&& +4 "core" &%   +2 "storage"(%& +3 "core" &, / $ \  +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&'Z +11 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&0/ +64 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&2& +3 "storage"('N +5 "core" &% q p   +3 "manipulator"&o% +4 "core" % Z s q q & + .tForearm.seek :retract +2 "manipulator"&v'\ +99 "core" ' +2 .tElbow.seek PC + "manipulator"&b(c +160 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +76 "core" ( + "manipulator"&& +5 "core" &^ r > + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &"& +3 "core" &^ R > +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&{'[ +95 "core" ' + "manipulator"&& +5 "core" &^  > + "manipulator"&~% +4 "core" %b X  +2 "processing"%,& +4 "core" &4\ +2 "processing"%& +5 "core" &9\ +2 .tPC.seek :closed + "processing"%\\(Z +4 "core" &D\ \ +9 &/~M\ *x +9 &dF\ > +12 &>{H\ N +7 &]N\ M +9 &^@\ N +10 &`E\ M +9 &!GbG\ N +9 &#\ \\G\ M +10 &$]F\ M +9 &&_D\ N +9 &(PZF\ M +10 &*]M\ M +9 &+_F\ N +10 &-_G\ M +9 &/X_J\ M +9 &1[M\ N +10 &2bF\ N +9 &4]L\ N +9 &6``G\ M +10 &8"]G\ M +9 &9]I\ M +10 &;^G\ N +9 &=h`H\ M +9 &?)]G\ N +10 &@]F\ M +9 &B_H\ M +9 &DpbE\ M +10 &F0cF\ N +9 &GiE\ N +10 &IuF\ P +9 &KlF\ Q +9 &M)M\ S +10 &NL\ T +9 &PD\ S +10 &RnL\ S +9 &T/G\ T +9 &UO\ T +10 &WL\ T +9 &YrF\ B +9 &Z}CG\ W +10 &ZE\ ( +2 ( + "processing"%& +4 #tProcessing Clamp onSpring/offSpring for 9/25 samples, on/off torque 1.61 + .Hand.open + "manipulator"&1 +54 "core" 1 + "manipulator"&% +5 "core" % b /  + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&('\ +92 "core" ' +2 "processing"%& +4 "core" &ZE\ ( +2 #tImaging generic puck in Processing Clamp while storing it to tube 4 + "manipulator"&% +4 "core" %\ * M !W + "storage"(;% +4 "core" %N   l\ \ +2 "storage"('. +3 "core" .(, + "storage"(& +4 "core" &,   \  +2 "storage"(g& +4 "manipulator"&?& +4 "core" &,   a\  +2 &^ v > +3 ."raiseStack"SE.reconfigure :place +2 .tElbow.reconfigure :tight +3 "storage"(#]kK-0-\ b +4 "manipulator"&$&.,(\ #b +2 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +2 "storage"(4'e +2 "manipulator"&(c +5 "core" ( + "manipulator"&>& +4 "core" &^ q > +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 & & +2 "core" &^ u > +2 .tForearm.seek PC +2 "manipulator"& '[ +94 "core" ' +2 .tHand.close + "manipulator"&/ +63 "core" / +2 .tPC.seek :open + "processing"%7(p +82 "core" ' +52 "storage"(+- +5 "core" -'e + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(H'B +41 "core" ' +206 ( +2 "storage"(1& +4 "core" &, C B \  + "manipulator"&@& +4 "core" &^ @ > +2 "manipulator"&G% +4 "core" % i 4 +2 .tForearm.seek :retract + "manipulator"&<'\ +98 "core" ' + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 +2 "manipulator"& (* +274 "core" ( +2 "manipulator"&D& +4 "core" &0 1  +2 "storage"(S& +8 "core" &,   p\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts + "manipulator"&5' +98 "core" ' +2 .tHand.open + "manipulator"&I1 +64 "core" 1 +2 "storage"(-- +4 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate +2 "storage"(A' +23 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(.' +49 "core" ' +2 #tLights, camera, ACTION! + "storage"(&- +4 "core" -' +2 "storage"(3& +3 "core" &, x { >\  +2 "manipulator"&a& +4 "core" &0 i  +2 .tElbow.seek 4 + "manipulator"&c(* +4 "core" ( + "manipulator"&L& +4 "core" &0   +2 "storage"(!& +4 "core" &, s y \  +2 .tForearm.seek 4 + 450 counts + "manipulator"&K' +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.11 Pucks below Top Plate + "storage"(Q'M +62 "core" ' + "manipulator"&*& +5 "core" &0   + "storage"(& +4 "core" &,   :\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&O'. +30 "core" ' + .tElbow.hold +2 "manipulator"&R, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"(E'7 +23 "core" ' + "manipulator"&8% +5 "core" %Az [ < + "storage"($& +5 "core" &, z\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 319 counts + "manipulator"&V'm +22 "core" ' + "manipulator"&=& +5 "core" & w  r + "storage"(& +4 "core" &, \\ \\\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&F' +19 "core" ' +2 "storage"(]% +5 "core" %= [ d\ +2 ."downElevator"SE.seek :down +3 "storage"(C'N +99 (#% +3 "core" %9 9 6 j\ U\\ +2 "manipulator"&N% +4 "core" % t q d  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&p'\ +89 "core" ' +62 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (M& +5 "core" &, Q\  \  + "collection"'t& +4 "core" &]m_c\ K +2 #tStoring generic puck in Collection Clamp to tube 4 + "manipulator"&J% +4 "core" %\ -  "_ +2 "storage"(9% +4 "core" %> > 5\ + "storage"(B. +3 "core" .(, +2 "storage"(h& +4 "core" &, 8 B r\  +2 "storage"(P& +3 "core" &, C B \  +2 "manipulator"&X& +4 "core" &  + .tElbow.seek 4 +2 "manipulator"&^(* +21 "core" ( + "manipulator"&W& +4 "core" &* : $ +2 "storage"(e& +4 "core" &,   X\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&U' +92 "core" ' +2 "storage"(r& +4 "core" &, R H 9\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +8 .tSE.seek :beamBreak + "storage"(Y'e +283 "core" ' + "storage"(k- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&`& +3 "core" &+  $ +2 "storage"(q& +4 "core" &,   \  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&/'. +30 "core" ' + .tElbow.hold +2 "manipulator"&Z, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(s- +3 "core" -' +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(['m +30 "core" ' + "manipulator"&)% +5 "core" %=y < + "storage"(u& +4 "core" &, 7\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 315 counts + "manipulator"& 'i +17 "core" ' + "manipulator"&n& +5 "core" &* x j $ + "storage"(6& +4 "core" &, D F \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&|' +19 "core" ' +2 .tSE.seek 1.11 Pucks below Top Plate +2 "storage"('\\ +47 "core" ' +6 "manipulator"&y& +5 "core" &* { s $ + "manipulator"&l% +4 "core" % t ~ M  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&'\ +91 "core" ' +2 .tElbow.seek CC + "manipulator"&w( +158 "core" ( + "manipulator"&& +4 "core" &)  @Z +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &) @Z +2 .tForearm.seek CC +2 "manipulator"&i'| +96 "core" ' + .tHand.close + "manipulator"&T/ +52 "core" / +2 .tCC.seek :open +2 "collection"'}(p +411 "core" ( + "storage"(& +4 "core" &, p o\  +2 "storage"(z& +3 "core" &, w k \  +2 "manipulator"&_& +4 "core" &#+ g >H + "manipulator"& % +4 "core" % k  +2 .tForearm.seek :retract + "manipulator"&d'\ +93 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&(* +171 "core" ( +2 "manipulator"&j& +4 "core" &( , n + "storage"(m& +4 "core" &, g i q\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 4 + "manipulator"&'. +105 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&%1 +63 "core" 1 +2 "manipulator"&0% +5 "core" % B O + "storage"(2& +4 "core" &, 7 8 7\  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 4 + 320 counts + "manipulator"&o'n +18 "core" ' + "manipulator"&\ & +5 "core" & k w H & + "storage"(x& +4 "core" &, V\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&f' +24 "core" ' + "storage"(% +4 "core" %Y s\ +3 ."downElevator"SE.seek :down +3 "storage"('N +99 ("% +2 "core" %k: i j \ U\\ +2 "manipulator"&% +4 "core" % } z +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +88 "core" ' +57 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 5 of [3..5] +2 #Loading generic puck from tube 5 into Collection Clamp + "collection"'~& +4 "core" &\ +2 "manipulator"&,% +4 "core" %\ + !M +2 "storage"(% +4 "core" %J i j \  +2 "storage"(v. +3 "core" .(, +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"((<< +352 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (& +2 "core" &<9  " +\  +2 "manipulator"&& +4 "core" & % +2 .tElbow.seek 5 +2 "manipulator"&( +3 "core" ( + "manipulator"&& +4 "core" & % + "storage"(;& +4 "core" &<9 v u P\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts + "manipulator"&'' +94 "core" ' +2 "storage"(& +4 "core" &<8 ?\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(?'e +286 "core" ' + "storage"(g- +4 "core" -' +55 .tSE.configure :default +4 "storage"(#QK-0-\ b +3 (& +2 "core" &<8 } } \  +2 "manipulator"&>& +3 "core" &  % +2 .tElbow.seek 5 +2 "manipulator"& ( +3 "core" ( + "manipulator"&{& +4 "core" & * % +2 "storage"(& +3 "core" &<8 n u #\  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&b'[ +19 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&+/ +55 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&(& + "storage"(\\'N +7 "core" & t s B % +2 "manipulator"&1% +4 "core" % O t r > +2 .tForearm.seek :retract + "manipulator"&@'\ +95 "core" ' + .tElbow.seek CC +2 "manipulator"&G( +148 "core" ( +2 ' + ."downElevator"SE.stop +3 "manipulator"&4& + "storage"(5 +7 "core" &( ?P +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 & & +4 "core" &( F ?P +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&D'| +107 "core" ' +2 "manipulator"&S& +4 "core" &' + >O +2 "manipulator"&% +4 "core" %n  +2 "collection"'I& +3 "core" &\ +3 "collection"'-& +5 "core" & \ +2 .tCC.seek :closed +2 "collection"'&(] +4 "core" &\ +7 & 7\ %f +10 &hU\ 8 +9 &\ L +10 &y]\ N +9 &;`\ N +9 &`\ N +10 & b\ N +9 &"_\ N +9 &$C]\ N +10 &&`\ N +9 &'`\ N +9 &)_\ N +10 &+J`\ N +9 &- _\ N +10 &.a\ N +9 &0a\ N +9 &2Rb\ N +10 &4b\ N +9 &5`\ N +10 &7`\ M +9 &9]_\ M +9 &;_\ N +10 &<c\ N +9 &>_\ N +9 &@d`\ N +10 &B&`\ N +9 &C_\ N +9 &E]\ N +10 &Gj`\ N +9 &I)j\ O +10 &J}r\ Q +9 &L@\ U +9 &NV\ X +10 &P\ Y +9 &Q\ X +10 &S\ Y +9 &UW\ Z +9 &W\ [ +10 &X\ [ +9 &Zt|\ \\ +9 &\\Xgk\ I +10 &]]:[`\ - +9 &]j][\ H +5 ( +2 "collection"'-& +4 #tCollection Clamp onSpring/offSpring for 10/26 samples, on/off torque 1.98 + .Hand.open +2 "manipulator"&31 +3 "core" &]j\\]\ H +52 1 +2 "manipulator"&a% +5 "core" % j O + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&L'\ +96 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp + "processing"%!& +5 "core" &I\ + "manipulator"&<% +4 "core" %\ 1  $t + "storage"(*% +4 "core" %A   w\ +2 "storage"(. +3 "core" .(<9 +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"(8(<< +8 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 ($& +3 "core" &<9; q\  + "manipulator"&H& +4 "core" &' $ >I +2 "manipulator"&A% +4 "core" %\ 1 Q $t + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&=( +171 "core" ( + "manipulator"&& +4 "core" & M +2 "storage"(]& +4 "core" &<9 5 8 \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"& ' +96 "core" ' +2 "storage"(5& +4 "core" &<9 > A .\  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(.'e +282 "core" ' + "storage"(#- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (N& +2 "core" &<9  \  +2 "manipulator"&K& +4 "core" &  K +2 .tElbow.seek 5 +2 "manipulator"&c( +3 "core" ( + "manipulator"&Q& +4 "core" &  K +2 "storage"(O& +3 "core" &<9 B 8 A\  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&M'[ +23 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&V/ +57 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&t& +2 "storage"(J'N +7 "core" & u } G K + "manipulator"&9% +4 "core" % T q p +2 .tForearm.seek :retract +2 "manipulator"&B'\ +96 "core" ' +2 .tElbow.seek PC +2 "manipulator"&E(c +160 "core" ' + ."downElevator"SE.stop + "storage"(5 +92 "core" ( +2 "manipulator"&h& +4 "core" &i 8 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &P& +3 "core" &i  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&X'[ +104 "core" ' +2 "manipulator"&W& +4 "core" &i 0 + "manipulator"&e% +4 "core" %S +2 "processing"%F& +4 "core" &9\ +2 "processing"%r& +5 "core" &8\ +2 .tPC.seek :closed +2 "processing"%C(Z +4 "core" &@\  +8 &.~K\ *y +9 &dL\ > +10 &>yK\ N +9 &[G\ M +10 &aG\ N +9 &]H\ N +9 &!G]G\ M +10 &# ^E\ M +9 &$]M\ N +9 &&^M\ N +10 &(OYG\ M +9 &*ZE\ N +9 &+\\K\ N +10 &-ZG\ M +9 &/UbK\ N +10 &1ZH\ M +9 &2]M\ M +9 &4]H\ N +10 &6^^I\ N +9 &8 ^L\ N +9 &9YK\ M +10 &;ZF\ M +9 &=g_D\ M +10 &?)]M\ M +9 &@`N\ N +9 &B]D\ M +10 &Dm_M\ N +9 &F/\\H\ N +9 &GhM\ O +10 &IoF\ P +9 &KhE\ R +10 &M&M\ T +9 &NH\ T +9 &P\ T +10 &Rj9\ T +9 &T+D\ U +10 &UF\ T +9 &WM\ U +9 &YpL\ B +10 &ZyBH\ V +9 &ZG\ ' +2 ( +2 "processing"%r& +3 #tProcessing Clamp onSpring/offSpring for 9/25 samples, on/off torque 1.60 + .Hand.open + "manipulator"&R1 +57 "core" 1 +2 "manipulator"&p% +4 "core" % S M +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&k'\ +96 "core" ' + "processing"%`& +4 "core" &Z;\ ' +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 + "manipulator"&q% +4 "core" %\ . J #i +2 "storage"(s% +4 "core" %U   `\  + "storage"(). +3 "core" .(<9 +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 + "storage"(u(<< +4 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (n& +2 "manipulator"&6& +4 "core" &<:\  v\  +5 ."raiseStack"SE.reconfigure :place +2 "storage"(#]kK-0-\ b +3 "core" &i O +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +2 ."raiseStack"SE.seek :beamBreak +3 "manipulator"&y(c +2 "storage"(l'e +9 "core" ( +2 "manipulator"&U& +4 "core" &i D + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &^& +3 "core" &i +2 .tForearm.seek PC +2 "manipulator"&Y'[ +100 "core" ' + .tHand.close +2 "manipulator"&// +52 "core" / +2 .tPC.seek :open + "processing"% (p +87 "core" ' + "storage"([- +4 "core" -'e + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +2 ."raiseStack"SE.seek :place +2 "storage"('B +34 "core" ' +258 ( +2 "storage"(& +4 "core" &<9 8 5 J\  + "manipulator"&|& +4 "core" &i  +2 "manipulator"&Z% +3 "core" % c  +2 .tForearm.seek :retract +2 "manipulator"&T'\ +99 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&( +256 "core" ( + "manipulator"&& +4 "core" &  ( +2 "storage"(& +4 "core" &<9   p\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&z' +95 "core" ' + .tHand.open + "manipulator"&_1 +56 "core" 1 +2 "storage"( - +3 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate +2 "storage"(j' +26 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.83 Pucks below Top Plate + "storage"(m' +52 "core" ' + #tLights, camera, ACTION! +2 "storage"(i- +3 "core" -' +2 "storage"(w& +3 "core" &<9 X X \  +2 "manipulator"&%& +4 "core" & ( +2 .tElbow.seek 5 + "manipulator"&0( +4 "core" ( + "manipulator"&2& +4 "core" & i ( +2 "storage"(\ & +4 "core" &<9 U X D\  +2 .tForearm.seek 5 + 450 counts + "manipulator"&x' +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +53 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"('M +64 "core" ' +2 "manipulator"&d& +4 "core" & K ' +2 "storage"("& +4 "core" &<9 # " Z\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&'/ +29 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"('7 +24 "core" ' + "manipulator"&~% +5 "core" %@ a + "storage"(o& +4 "core" &<9 6\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 317 counts + "manipulator"&,'l +17 "core" ' + "manipulator"&& +4 "core" & z ~ U $ +2 "storage"(v& +4 "core" &<9 8 7 =\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&' +19 "core" ' + "storage"(f% +5 "core" %> \\ Z\ +2 ."downElevator"SE.seek :down +3 "storage"('N +99 (:% +3 "core" %9 / \ U^ +2 "manipulator"&% +4 "core" % | , +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +91 "core" ' +65 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (& +4 "core" &<9\  S \  +2 "collection"';& +4 "core" &]j`c\ H +2 #tStoring generic puck in Collection Clamp to tube 5 + "manipulator"&% +4 "core" %\ 0 C #g +2 "storage"(% +4 "core" %J   \ + "storage"(. +3 "core" .(<< +2 "storage"(g& +3 "core" &<9   \  +2 "storage"(& +4 "core" &<9   \  + "manipulator"&>& +4 "core" & $ +2 .tElbow.seek 5 +2 "manipulator"&{( +33 "core" ( +2 "manipulator"&& +4 "core" &  \\  +2 "storage"(+& +3 "core" &<9 B B \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&(' +91 "core" ' +2 "storage"(1& +4 "core" &<9 Y Z\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"('e +282 "core" ' + "storage"('- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&4& +3 "core" &  s s O  + "storage"( & +4 "core" &<9 C C \  +2 .tElbow.reconfigure :limp +3 "Can" NL + "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&?'/ +29 "core" ' + .tElbow.hold +2 "manipulator"&b, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(S- +3 "core" -' +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"('l +27 "core" ' + "manipulator"&I% +5 "core" %A (  i + "storage"( & +4 "core" &<9 \  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 318 counts + "manipulator"&\\'m +19 "core" ' +2 "manipulator"&@& +4 "core" & i z }  +2 "storage"(}& +4 "core" &<9 7 L {\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&3' +10 "core" ' +2 .tSE.seek 1.11 Pucks below Top Plate +2 "storage"(a'[ +49 "core" ' +2 "manipulator"&!& +4 "core" & u u ~  +2 "manipulator"&<% +4 "core" % t p a 0 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&*'\ +87 "core" ' +2 .tElbow.seek CC +2 "manipulator"&( +174 "core" ( +2 "manipulator"&-& +4 "core" &  # + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &$& +2 "core" &   # +2 .tForearm.seek CC +2 "manipulator"&H'| +98 "core" ' + .tHand.close +2 "manipulator"&A/ +58 "core" / + .tCC.seek :open +2 "collection"'D(p +411 "core" ( + "storage"(& +5 "core" &<9 h m \  + "storage"(]& +4 "core" &<9 } s u\  +2 "manipulator"&& +3 "core" &  # +2 "manipulator"&5% +3 "core" % Ϗ +2 .tForearm.seek :retract +2 "manipulator"&G'\ +102 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&L( +159 "core" ( +2 "manipulator"&#& +4 "core" & L + "storage"(N& +4 "core" &<9 q o '\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 5 + "manipulator"&K'/ +108 "core" ' + .tElbow.hold +2 "manipulator"&Q, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&O1 +62 "core" 1 +2 "manipulator"&V% +4 "core" % C 7 +2 "storage"(t& +3 "core" &<9 B C\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 320 counts + "manipulator"&9'o +17 "core" ' + "manipulator"&=& +4 "core" & n J +2 "storage"( & +4 "core" &<9 \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&.' +20 "core" ' + "storage"(M% +5 "core" %a 2\ +2 ."downElevator"SE.seek :down +3 "storage"(h'N +99 (P% +3 "core" %+> \ U\\ + "manipulator"&c% +4 "core" % {  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&W'\ +90 "core" ' +48 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 3 of [3..5] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"'e& +4 "core" &\ +2 "manipulator"&F% +4 "core" %\ . #i +2 "storage"(J% +4 "core" %= n B\ + "storage"(B. +4 "core" .(<< + .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 +2 "storage"(7( +672 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (R& +3 "core" & B B \ + "manipulator"&p& +4 "core" & 8 J +2 .tElbow.seek 3 + "manipulator"&`(D +16 "core" ( +2 "manipulator"&q& +4 "core" &F L !w +2 "storage"(s& +3 "core" & o u U\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&)' +91 "core" ' +2 "storage"(r& +4 "core" & R\ +7 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(n'e +278 "core" ' +3 "storage"(6- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (U& +2 "core" & Y Z (\ +2 "manipulator"&^& +4 "core" &G  !v + .tElbow.seek 3 +2 "manipulator"&X(D +3 "core" ( + "manipulator"&/& +4 "core" &G  !v + "storage"(8& +4 "core" & o o\ +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&['y +21 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&E/ +54 "core" / +3 ."downElevator"SE.seek :down +2 "manipulator"&k& +2 "storage"(C'N +7 "core" &G s r 8 !v +2 "manipulator"&% +4 "core" % w q q P +2 .tForearm.seek :retract + "manipulator"&|'\ +92 "core" ' +2 .tElbow.seek CC +2 "manipulator"&l( +148 "core" ( + "manipulator"&Z& +5 "core" ' + &' . >L +2 .tElbow.reconfigure :loose +2 ."downElevator"SE.stop +4 "manipulator"&$ &.,(#b + "storage"(5 +3 "manipulator"&Y& +4 "core" &'  >L +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&'| +100 "core" ' +2 "manipulator"&& +5 "core" &' >K + "manipulator"&y% +4 "core" %l 0 +2 "collection"'_& +4 "core" &\ +2 "collection"' & +6 "core" & \ +2 .tCC.seek :closed +2 "collection"'i(] +4 "core" &#\  +8 &0\ +{ +9 &d\ ? +10 &K{\ O +9 &`\ N +9 &e\ N +10 &b\ N +9 &!Sc\ N +10 &#b\ N +9 &$`\ N +9 &&`\ N +10 &(\\`\ N +52 &*_\ N +4 &+_\ M +5 &-_\ N + &/e`\ N + &1&b\ N + &2`\ N +3 &4_\ N +7 &6m]\ N +11 &80]\ M +8 &9`\ M +10 &;]\ M +9 &=ub\ N +10 &?6]\ N +9 &@_\ N +9 &B`\ N +10 &D~]\ M +9 &F>`\ N +9 &Gc\ O +10 &Ip\ P +9 &Kvdz\ S +10 &M,\ W +9 &N\ X +9 &P \ Y +10 &Rl\ Y +9 &T,\ Z +9 &U\ [ +10 &W\ [ +9 &Yi\ ] +9 &[*ox\ ] +10 &\\tah\ = +9 &]*[\\\ $k +9 &]nX[\ M +3 ( +2 "collection"' & +2 #tCollection Clamp onSpring/offSpring for 9/25 samples, on/off torque 2.04 +2 .Hand.open + "manipulator"&w1 +57 "core" 1 +2 "manipulator"&%% +4 "core" % l  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&2'\ +92 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%\ & +4 "core" &\ +2 "manipulator"&T% +4 "core" %\ ) V G +2 "storage"(d% +3 "core" %=   S\ +2 "storage"(". +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 + "storage"(( +26 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (j& +2 "core" &3 \  +2 "manipulator"&~& +4 "core" &&  =D +2 "manipulator"&o% +3 "core" %\ ( m G +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&(D +175 "core" ( + "manipulator"&v& +5 "core" &@\ ] + "storage"(& +4 "core" & 8 5 \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&z' +106 "core" ' +2 "storage"(f& +4 "core" & \\ [\  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(m'e +279 "core" ' + "storage"(:- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +2 "core" & D ; \  +2 "manipulator"&x& +4 "core" &A\ ~  \\ +2 .tElbow.seek 3 +2 "manipulator"&0(D +3 "core" ( + "manipulator"&& +4 "core" &A\ y  \\ + "storage"(& +4 "core" & [ W 0\  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&,'y +31 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +60 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&;& + "storage"('N +7 "core" &A ~  \\ +2 "manipulator"&% +4 "core" % Ϗ  +2 .tForearm.seek :retract + "manipulator"&'\ +91 "core" ' +3 .tElbow.seek PC + "manipulator"&(c +160 "core" ' + ."downElevator"SE.stop + "storage"(5 +89 "core" ( + "manipulator"&g& +5 "core" &j ( + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &j X +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&>'[ +93 "core" ' + "manipulator"&& +4 "core" &j  +2 "manipulator"&+% +5 "core" %W  + "processing"%& +4 "core" &M\ +2 "processing"%1& +6 "core" &7\ +3 .tPC.seek :closed + "processing"%(Z +5 "core" &F\ +7 &:M\ $c +9 &oTI\ 7 +10 &~D\ K +9 &{]F\ N +10 &>_M\ M +9 &\\E\ M +9 & ]K\ M +10 &"ZI\ M +9 &$F`F\ M +9 &&]D\ N +10 &'_F\ M +9 &)]I\ M +10 &+N^E\ M +9 &-\\D\ N +9 &.]G\ N +10 &0\\F\ M +9 &2V_F\ M +9 &4Z \ N +10 &5]7\ N +9 &7ZD\ M +10 &9^ZL\ M +9 &;\\N\ N +9 &<\\G\ M +10 &>`J\ N +9 &@f_G\ M +9 &B(]G\ M +10 &C`L\ N +9 &E_G\ N +10 &GjfH\ O +9 &I*nE\ O +9 &JH\ R +10 &LJ\ S +9 &NbI\ T +10 &P%F\ T +9 &QA\ T +9 &SD\ T +10 &UkM\ T +14 &W+M\ T +4 &XE\ T +10 &ZEIjH\ )x +9 &Z\ ;B\ , +6 ( + "processing"%1& +4 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.58 + .Hand.open +2 "manipulator"&1 +3 "core" &Z D\ , +56 1 + "manipulator"&% +4 "core" % W +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&''\ +93 "core" ' + "processing"%4& +5 "core" &Z %\ , + #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"& % +4 "core" %\ * !O +2 "storage"(S% +4 "core" %>\ \  y\ +2 "storage"(I. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"( ( +7 "core" ( +2 .tSC.configure :limp +3 "storage"($\ 1b +3 (@& +3 "core" & \ # +2 "manipulator"&}& +2 ."raiseStack"SE.reconfigure :place +6 "storage"(#]kK-0-\ b +2 "core" &j Y +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +3 ."raiseStack"SE.seek :beamBreak +3 "manipulator"&!(c +2 "storage"(<'e +4 "core" ( +2 "manipulator"&(& +4 "core" &j 3 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &{& +2 "core" &j C +2 .tForearm.seek PC +2 "manipulator"&'[ +99 "core" ' +2 .tHand.close + "manipulator"&?/ +55 "core" / +2 .tPC.seek :open +2 "processing"%\\(p +91 "core" ' + "storage"(- +4 "core" -'e + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(-'B +33 "core" ' +257 ( + "storage"($& +4 "core" & B ) S\ ) +2 "manipulator"&3& +3 "core" &j  +2 "manipulator"&b% +4 "core" % Y q +2 .tForearm.seek :retract + "manipulator"&A'\ +99 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&*(D +252 "core" ( +2 "manipulator"&&& +4 "core" &@ s "| + "storage"(& +4 "core" &   {\ ) +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts + "manipulator"&]' +100 "core" ' + .tHand.open +2 "manipulator"&1 +63 "core" 1 +2 "storage"(5- +3 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate +2 "storage"(#' +24 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(N' +49 "core" ' +2 #tLights, camera, ACTION! + "storage"(H- +4 "core" -' + "storage"(& +4 "core" & ; ? \ + +2 "manipulator"&O& +4 "core" &@ n "| + .tElbow.seek 3 +2 "manipulator"&V(D +3 "core" ( +2 "manipulator"&t& +4 "core" &@ | "| + "storage"(=& +4 "core" & ' 1 \ + +3 .tForearm.seek 3 + 450 counts + "manipulator"& ' +18 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"(M'M +62 "core" ' +2 "manipulator"&G& +4 "core" &@ x s H "| +2 "storage"(P& +4 "core" & C C \ + + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 + "manipulator"&c'M +33 "core" ' +2 .tElbow.hold + "manipulator"&L, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"(K'7 +22 "core" ' +2 "manipulator"&e% +4 "core" %U a W +2 "storage"(F& +4 "core" & \ + +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 308 counts +2 "manipulator"&9'ρ +19 "core" ' + "manipulator"&J& +4 "core" &Y j J c +2 "storage"(B& +4 "core" & Z \\\ + +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&a' +19 "core" ' + "storage"(.% +5 "core" %A [ Y\  +2 ."downElevator"SE.seek :down +3 "storage"(h'N +99 (u% +3 "core" %=   \ U] + "manipulator"&R% +4 "core" % y W +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&p'\ +90 "core" ' +59 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (q& +4 "core" & \  C\ + + "collection"'s& +4 "core" &]mde\ M +2 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&r% +4 "core" %\ / k #g +2 "storage"(Q% +4 "core" %< # ! \  +52 "storage"(W. +4 "core" .( + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(6( +48 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (U& +3 "core" & \ +2 "manipulator"&^& +4 "core" &Y i c +2 .tElbow.seek 3 +2 "manipulator"&/(D +33 "core" ( +2 "manipulator"&8& +4 "core" &< ( Z +2 "storage"(E& +4 "core" & ? 5 k\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&k' +104 "core" ' + "storage"(& +5 "core" & Y X \ + .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(`'e +276 "core" ' + "storage"()- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&Z& +3 "core" &< r p E Z +2 "storage"(Y& +3 "core" & Z Y\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&n'M +31 "core" ' + .tElbow.hold +2 "manipulator"&[, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(- +2 "core" -' +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(y'l +24 "core" ' + "manipulator"&_% +5 "core" %]u Y 6 + "storage"(X& +4 "core" & -\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 316 counts + "manipulator"&C'ω +17 "core" ' + "manipulator"&|& +5 "core" &A i w K U + "storage"(D& +4 "core" & \\ \\\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&w' +21 "core" ' +2 .tSE.seek 1.11 Pucks below Top Plate +2 "storage"(%'[ +47 "core" ' + "manipulator"&\ & +5 "core" &A r p L U + "manipulator"&T% +4 "core" %1 s s _ +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&d'\ +93 "core" ' +2 .tElbow.seek CC + "manipulator"&"( +156 "core" ( +2 "manipulator"& & +4 "core" && e =A +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &j& +3 "core" &&  =A +2 .tForearm.seek CC +2 "manipulator"&~'| +98 "core" ' +2 .tHand.close + "manipulator"&o/ +58 "core" / +2 .tCC.seek :open +2 "collection"'(p +410 "core" ( +2 "storage"(v& +4 "core" & s o X\ + "storage"(& +4 "core" & w q N\ +2 "manipulator"&7& +3 "core" &\ # :1 +2 "manipulator"&l% +4 "core" % x +2 .tForearm.seek :retract + "manipulator"&f'\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&2(D +156 "core" ( +2 "manipulator"&:& +4 "core" &=  \ +2 "storage"(& +3 "core" & <\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 +2 "manipulator"&x'M +109 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&1 +61 "core" 1 +2 "manipulator"&% +4 "core" % ^  x +2 "storage"(;& +4 "core" & 8 7 $\ + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 317 counts + "manipulator"&'ϊ +18 "core" ' + "manipulator"&& +5 "core" &K i { x  + "storage"(z& +4 "core" & G\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&m' +18 "core" ' + "storage"(,% +4 "core" %Y E\ +3 ."downElevator"SE.seek :down +3 "storage"(g'N +99 (% +3 "core" %< 0\ TZ +2 "manipulator"&0% +3 "core" % t s C  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +90 "core" ' +52 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 4 of [3..5] + #Loading generic puck from tube 4 into Collection Clamp +2 "collection"'+& +4 "core" &\ +2 "manipulator"&% +4 "core" %\ 0 $n + "storage"(% +4 "core" %I z\ +2 "storage"(. +3 "core" .( + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"( (, +355 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (& +2 "core" &,% B O "\  +2 "manipulator"&& +4 "core" &K   + .tElbow.seek 4 +2 "manipulator"&4(* +10 "core" ( + "manipulator"& & +4 "core" &0  +2 "storage"(S& +3 "core" &, g m \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&I' +96 "core" ' +2 "storage"(1& +4 "core" &, r\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(@'e +281 "core" ' + "storage"(}- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 ((& +3 "core" &,~ q t M\  + "manipulator"&{& +4 "core" &0 i  +2 .tElbow.seek 4 +2 "manipulator"&>(* +3 "core" ( + "manipulator"&?& +4 "core" &0   +2 "storage"(& +3 "core" &,~ |\  +3 .tForearm.seek 4 + 300 counts + "manipulator"&'Z +31 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +61 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&'& + "storage"('N +8 "core" &0 s s  + "manipulator"&$% +4 "core" % d s s m  +2 .tForearm.seek :retract +2 "manipulator"&3'\ +90 "core" ' + .tElbow.seek CC +2 "manipulator"&<( +152 "core" ' +2 ."downElevator"SE.stop +2 "storage"(5 +3 "core" ( + "manipulator"&b& +4 "core" &% : << +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &% << +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&&'| +97 "core" ' +2 "manipulator"&& +5 "core" &% << + "manipulator"&!% +4 "core" %s +2 "collection"'& +4 "core" &\ +2 "collection"'5& +5 "core" &\ +3 .tCC.seek :closed + "collection"'H(] +5 "core" &\ +7 & 6\ %f +9 &lU\ 7 +9 &\ L +10 &z\\\ N +9 &<c \ N +9 &^\ N +10 & `\ N +9 &"`\ N +10 &$D_\ N +9 &&^\ N +9 &'_\ N +10 &)_\ M +9 &+L^\ N +9 &-b\ N +10 &.c\ N +9 &0`\ N +10 &2S`\ N +9 &4`\ N +9 &5\\\ N +10 &7`\ N +9 &9\\a\ N +9 &;^\ M +10 &<_\ N +9 &>]\ N +10 &@d^\ N +9 &B&_ \ N +9 &Cb\ N +10 &E`\ M +9 &Gkb\ N +9 &I(n\ P +10 &J{\ Q +9 &LD\ V +10 &NW\ X +9 &P\ X +9 &Q\ Y +10 &S\ Y +9 &UW\ Z +10 &W\ Z +9 &X \ [ +9 &Z \ ] +10 &\\Zv{\ I +9 &]f@io\ "g +9 &]hj\ T +6 ( +2 "collection"'5& +3 #tCollection Clamp onSpring/offSpring for 10/26 samples, on/off torque 2.03 +2 .Hand.open + "manipulator"&1 +4 "core" &]|il\ T +52 1 + "manipulator"&O% +4 "core" % s  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&t'\ +91 "core" ' +2 #tLoading generic puck from tube 4 into Processing Clamp + "processing"%=& +5 "core" &M\ + "manipulator"&A% +4 "core" %\ + !P +2 "storage"(G% +4 "core" %E\ '\ ' 5\ + "storage"(P. +4 "core" .(,~ + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"(-(, +2 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (e& +3 "core" &,% O\  +2 "manipulator"&F& +4 "core" &# y :/ +2 "manipulator"&#% +3 "core" %\ + [ !P +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&J(* +154 "core" ( +2 "manipulator"&B& +4 "core" &+ 6 \ +2 "storage"(.& +3 "core" &,~  \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +52 "manipulator"&*' +110 "core" ' +2 "storage"(]& +4 "core" &,~ \\ H\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(N'e +280 "core" ' + "storage"(u- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (R& +3 "core" &,~  i\  +2 "manipulator"& & +4 "core" &+ } ~ \ +2 .tElbow.seek 4 + "manipulator"&V(* +3 "core" ( +2 "manipulator"&M& +3 "core" &+ q \ +2 "storage"(c& +4 "core" &,~ 0 \  +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&q'Z +28 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&9/ +64 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&s& + "storage"(r'N +8 "core" &+ q s \ + "manipulator"&Q% +4 "core" % S s r \\ +2 .tForearm.seek :retract +2 "manipulator"&K'\ +93 "core" ' +2 .tElbow.seek PC +2 "manipulator"&W(c +157 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +91 "core" ( + "manipulator"&U& +5 "core" &d O + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &^& +3 "core" &d  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&a'[ +93 "core" ' + "manipulator"&8& +4 "core" &d  +2 "manipulator"&E% +4 "core" %`  \ +2 "processing"%h& +4 "core" &=\ +3 "processing"%& +4 "core" &\ +2 .tPC.seek :closed +2 "processing"% (Z +4 "core" &f\ +7 & +;\ #b +10 &[XO\ 7 +9 &H\ L +9 &k\\A\ N +10 &-\\O\ N +9 &YF\ M +10 & ]L\ M +9 &"t]\ M +9 &$6_K\ M +10 &%_M\ M +9 &'_M\ M +10 &)}ZI\ M +9 &+>^E\ M +9 &-aD\ M +10 &._F\ M +9 &0ZF\ M +9 &2GZM\ M +10 &4_G\ M +9 &5]\ M +10 &7]H\ N +9 &9M]M\ N +9 &;_G\ M +10 &<Y \ M +9 &>\\8\ N +9 &@WZ:\ M +10 &B\\D\ M +9 &C[;\ N +10 &E^3\ N +9 &G\\dD\ N +9 &Ip\ O +10 &J{*\ Q +9 &LM\ S +9 &NSL\ T +10 &P\ T +9 &Q7\ T +14 &Sa\ T +5 &U[K\ T +9 &WF\ T +10 &XD\ T +9 &Z:MrF\ - +10 &Z-K\ * +5 ( + "processing"%& +5 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.58 + .Hand.open + "manipulator"&L1 +4 "core" &Z\ * +55 1 + "manipulator"&p% +5 "core" % `  \ + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&)'\ +91 "core" ' + "processing"%Z& +4 "core" &Zk\ * +2 #tImaging generic puck in Processing Clamp while storing it to tube 4 + "manipulator"&Y% +4 "core" %\ + 1 !V +2 "storage"(% +4 "core" %A =\ + "storage"(_. +4 "core" .(, + "storage"(X& +4 "core" &,~ \  '\  + "storage"(|& +4 "manipulator"&D& +5 "core" &,~\ \ $\  +2 &d +2 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +2 "storage"(#]kK-0-\ b +2 "manipulator"&\ (c +5 ."raiseStack"SE.seek :beamBreak +2 "storage"(T'e +2 "core" ( +2 "manipulator"&k& +4 "core" &d \\ + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &/& +2 "core" &d +3 .tForearm.seek PC + "manipulator"&`'[ +95 "core" ' +2 .tHand.close + "manipulator"&n/ +63 "core" / +2 .tPC.seek :open +2 "processing"%C(p +85 "core" ' + "storage"(y- +3 "core" -'e +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"( 'B +33 "core" ' +264 ( + "storage"(j& +4 "core" &,~   \  +2 "manipulator"&w& +4 "core" &d  + "manipulator"&[% +4 "core" % h  + .tForearm.seek :retract +2 "manipulator"&o'\ +91 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&d(* +256 "core" ( +2 "manipulator"&i& +4 "core" &* E # +2 "storage"(v& +3 "core" &,~\ \ P\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&' +93 "core" ' + .tHand.open +2 "manipulator"&71 +61 "core" 1 +2 "storage"(l- +3 "core" -'B +3 .tSE.seek -0.16 Pucks below Top Plate + "storage"(:' +23 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(' +51 "core" ' +2 #tLights, camera, ACTION! + "storage"(~- +4 "core" -' + "storage"("& +4 "core" &,~ x z ;\  +2 "manipulator"&& +4 "core" &+ C # + .tElbow.seek 4 +2 "manipulator"&(* +3 "core" ( +2 "manipulator"&;& +3 "core" &+ 1 # +2 "storage"(& +4 "core" &,~ W Y \  +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&z' +21 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"(,'M +63 "core" ' + "manipulator"&f& +5 "core" &+ p s H # + "storage"(& +4 "core" &,~ ? 9 \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&0'. +33 "core" ' + .tElbow.hold +2 "manipulator"&2, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"(x'7 +23 "core" ' + "manipulator"&+% +5 "core" %A} ( D + "storage"(& +4 "core" &,~ m\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 319 counts + "manipulator"&'m +17 "core" ' + "manipulator"&& +5 "core" &' n } 7 # + "storage"(& +4 "core" &,~   x\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&%' +19 "core" ' + "storage"(m% +5 "core" %> B B \ +2 ."downElevator"SE.seek :down +4 "storage"(g'N +99 (6% +3 "core" %<   V\ V_ +2 "manipulator"&% +4 "core" % s t \\  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +91 "core" ' +60 ' + ."downElevator"SE.stop + "storage"(5 +3 ( & +4 "core" &,~ \  \  +2 "collection"'S& +4 "core" &]|fi \ T + #tStoring generic puck in Collection Clamp to tube 4 + "manipulator"&1% +4 "core" %\ 0 n #d +7 "storage"(% +4 "core" %D   p\ + "storage"(. +3 "core" .(, + "storage"(}& +4 "core" &,~ O _\  +2 "storage"((& +4 "core" &,~   j\  + "manipulator"&{& +4 "core" &( # +2 .tElbow.seek 4 + "manipulator"&?(* +4 "core" ( + "manipulator"&& +4 "core" &( 1 # +2 "storage"(& +3 "core" &,~   S\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&'' +99 "core" ' +2 "storage"($& +4 "core" &,~ % 5 &\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(4'e +281 "core" ' +2 "storage"(I- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&b& +3 "core" &( # + "storage"(& +4 "core" &,~\ \  k\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 + "manipulator"&@'. +26 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(- +2 "core" -' +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(!'m +46 "core" ' +2 "manipulator"&% +4 "core" %B U O + "storage"(>& +4 "core" &,~ 9\  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 4 + 320 counts +2 "manipulator"&'n +17 "core" ' +2 "manipulator"&3& +4 "core" &#  o Z $ +2 "storage"(& +3 "core" &,~ 3 % f\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +51 "manipulator"&' +20 "core" ' +2 .tSE.seek 1.11 Pucks below Top Plate +2 "storage"(O'\\ +43 "core" ' + "manipulator"&=& +5 "core" &% p ] $ + "manipulator"&A% +4 "core" % | } g  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&G'\ +95 "core" ' +2 .tElbow.seek CC +2 "manipulator"&P( +146 "core" ( +2 "manipulator"&e& +4 "core" &( >N +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &5& +3 "core" &'  >N +2 .tForearm.seek CC +2 "manipulator"&F'| +102 "core" ' + .tHand.close + "manipulator"&#/ +59 "core" / + .tCC.seek :open +2 "collection"'&(p +411 "core" ( + "storage"(B& +4 "core" &,~ v j \  +2 "storage"(.& +4 "core" &,~ Y Y \  + "manipulator"& & +4 "core" && =G +2 "manipulator"&<% +3 "core" % χ +2 .tForearm.seek :retract +2 "manipulator"&]'\ +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&t(* +164 "core" ( + "manipulator"&u& +4 "core" &0 2  +2 "storage"(R& +4 "core" &,~ h g s\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 4 +2 "manipulator"& '. +105 "core" ' + .tElbow.hold +2 "manipulator"&M, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&c1 +55 "core" 1 + "manipulator"&9% +9 "core" % B $ d +2 "storage"(s& +4 "core" &,~ [ > \  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 4 + 320 counts +2 "manipulator"&Q'n +17 "core" ' +2 "manipulator"&J& +4 "core" & z  + "storage"(*& +4 "core" &,~ ?\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&N' +19 "core" ' +2 "storage"(q% +4 "core" %X ?\ +3 ."downElevator"SE.seek :down +3 "storage"(U'N +98 (^% +4 "core" %6: \ U\\ + "manipulator"&V% +4 "core" % r s >  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&8'\ +89 "core" ' +48 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 5 of [3..5] + #Loading generic puck from tube 5 into Collection Clamp + "collection"'E& +5 "core" &\ + "manipulator"&h% +4 "core" %\ + ` !W +2 "storage"(r% +4 "core" %= \ +2 "storage"(K. +3 "core" .(, +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"(\\(<< +349 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (L& +3 "core" &<9 7 8 e\  + "manipulator"&p& +4 "core" & &  +2 .tElbow.seek 5 +2 "manipulator"&Z( +14 "core" ( + "manipulator"&Y& +5 "core" & O A + "storage"(& +4 "core" &<9 j g \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts + "manipulator"&_' +93 "core" ' +2 "storage"(X& +4 "core" &<9 \  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(D'e +282 "core" ' + "storage"(|- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (& +3 "core" &<9 ~ %\  +2 "manipulator"&k& +3 "core" &  A +2 .tElbow.seek 5 +2 "manipulator"&/( +3 "core" ( + "manipulator"&a& +4 "core" &  A + "storage"(n& +4 "core" &<9 i i E\  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&y'[ +23 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&W/ +58 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&)& +3 "storage"( 'N +7 "core" & }  A +2 "manipulator"&j% +4 "core" % V  } +2 .tForearm.seek :retract +2 "manipulator"&T'\ +92 "core" ' +2 .tElbow.seek CC +2 "manipulator"&w( +147 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +4 "core" ( + "manipulator"&[& +5 "core" &* e @] + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +7 &`& +3 "core" &* . @] +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&i'| +100 "core" ' +2 "manipulator"&v& +4 "core" &* w @\\ +2 "manipulator"&\ % +5 "core" %} + "collection"'7& +4 "core" &\ +2 "collection"'l& +6 "core" &\ +2 .tCC.seek :closed + "collection"'~(] +5 "core" &\  +8 &1\ *y +9 &c(\ > +9 &L{\ N +10 &_\ M +9 &e&\ N +10 &e\ N +9 &!Ua!\ N +9 &#e\ N +10 &$_\ N +9 &&_\ N +9 &(]^*\ N +10 &*b'\ N +9 &+`"\ N +10 &-a$\ M +9 &/d`\ N +9 &1&`$\ N +10 &2` \ N +9 &4a\ N +10 &6m]\ N +9 &80[\ M +9 &9_&\ M +10 &;\\'\ M +9 &=tc'\ N +9 &?7]!\ N +10 &@_\ M +9 &B_ \ N +9 &D}\\)\ N +10 &F?_*\ N +9 &Hc)\ N +10 &Ip!\ P +9 &Kwn!\ S +10 &M/(\ V +9 &N)\ X +9 &P'\ X +10 &Rm!\ Y +9 &T, \ Z +9 &U#\ Z +10 &W#\ [ +9 &Yj&\ \\ +10 &[,sy"\ \\ +13 &\\tdk'\ C +5 &]^_ \ &n +10 &]^a)\ W +2 ( + "collection"'l& +3 #tCollection Clamp onSpring/offSpring for 9/25 samples, on/off torque 2.01 +2 .Hand.open + "manipulator"&"1 +63 "core" 1 +2 "manipulator"&% +5 "core" % { + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&;'\ +97 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp + "processing"%& +5 "core" &e\ + "manipulator"&o% +4 "core" %\ 3  %| +2 "storage"(f% +3 "core" %6\ \  F\  +2 "storage"(. +3 "core" .(<9 +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 + "storage"( (<< +8 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (+& +2 "core" &<: \  +2 "manipulator"&& +4 "core" &% H =G + "manipulator"&:% +4 "core" %\ 3  %| +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&( +158 "core" ( +2 "manipulator"&& +4 "core" &  l +2 "storage"(m& +3 "core" &<9   z\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&d' +113 "core" ' +2 "storage"(& +4 "core" &<9 \\ >\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('e +280 "core" ' + "storage"(6- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (& +3 "core" &<9   ~\  +2 "manipulator"&z& +3 "core" & } s +2 .tElbow.seek 5 +2 "manipulator"&( +3 "core" ( + "manipulator"&,& +4 "core" & w { +2 "storage"(0& +3 "core" &<9 ? 5 C\  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"& '[ +15 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +59 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&S& +3 "storage"(1'N +8 "core" & \ + "manipulator"&% +4 "core" % a ' , +2 .tForearm.seek :retract +2 "manipulator"&'\ +94 "core" ' +2 .tElbow.seek PC + "manipulator"&x(c +159 "core" ' + ."downElevator"SE.stop + "storage"(5 +94 "core" ( +2 "manipulator"&}& +4 "core" &h  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &(& +3 "core" &h C +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&{'[ +105 "core" ' + "manipulator"&& +4 "core" &h  +2 "manipulator"&% +4 "core" %Y Y +2 "processing"%%& +4 "core" &e\ +2 "processing"%$& +5 "core" &B\ +3 .tPC.seek :closed + "processing"%g(Z +5 "core" &\ +56 & 3+\ #b +5 &ZVC\ 7 + &b\ L +3 &iZO\ N + &+ZK\ N +9 &]\ N + & \\$\ N + &"qWc\ N +5 &$2\\Q\ N +9 &%XI\ M +9 &'ZI\ M +10 &)z\\L\ M +9 &+;WK\ N +10 &,[G\ M +9 &.ZI\ M +9 &0ZG\ M +10 &2D[6\ M +9 &4Y\ M +9 &5XG\ N +10 &7WJ\ M +9 &9KY \ N +9 &; \\8\ N +10 &<X\ M +9 &>`\ N +9 &@SZT\ N +10 &BY\ N +9 &C[ \ M +10 &E[\ N +9 &GYb\ N +9 &IkT\ O +10 &JzL\ Q +9 &LL\ S +10 &NN\ U +9 &P&\ U +9 &Q\ T +10 &Sf\ U +9 &UV\ U +10 &WO\ U +9 &XI\ U +9 &Z9QwJ\ ){ +10 &Z[\ 5 +5 ( + "processing"%$& +5 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.60 + .Hand.open + "manipulator"&21 +4 "core" &Z.\ 4 +49 1 + "manipulator"&% +5 "core" % Y  + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&I'\ +100 "core" ' +2 "processing"%b& +4 "core" &Z.:\ 4 + #tImaging generic puck in Processing Clamp while storing it to tube 5 +2 "manipulator"&% +4 "core" %\ 6 J & +2 "storage"(% +3 "core" %? M\ +2 "storage"(. +3 "core" .(<< + "storage"(>& +4 "core" &<9 {\  +2 "storage"(3& +9 "manipulator"&& +4 "core" &<9 P\  +2 &h G +2 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +2 "storage"(#]kK-0-\ b +2 "manipulator"&=(c +5 ."raiseStack"SE.seek :beamBreak +2 "storage"(A'e +2 "core" ( + "manipulator"&'& +4 "core" &h +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &?& +2 "core" &h [ +2 .tForearm.seek PC +2 "manipulator"&4'[ +95 "core" ' +2 .tHand.close + "manipulator"&@/ +61 "core" / +2 .tPC.seek :open +2 "processing"%(p +87 "core" ' + "storage"(!- +4 "core" -'e + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(e'B +34 "core" ' +260 ( + "storage"(5& +4 "core" &<9   Y\  +2 "manipulator"&& +4 "core" &h c +2 "manipulator"&% +3 "core" % _  +2 .tForearm.seek :retract +2 "manipulator"&#'\ +97 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&G( +259 "core" ( +2 "manipulator"&H& +4 "core" &  + "storage"(B& +4 "core" &<9\ \  (\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&.' +94 "core" ' +2 .tHand.open + "manipulator"& 1 +63 "core" 1 +2 "storage"(<- +3 "core" -'B +3 .tSE.seek -0.16 Pucks below Top Plate + "storage"(u' +25 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(R' +51 "core" ' +2 #tLights, camera, ACTION! + "storage"(F- +4 "core" -' + "storage"(P& +4 "core" &<9 y x \  +2 "manipulator"&c& +3 "core" &   +2 .tElbow.seek 5 +2 "manipulator"&9( +3 "core" ( +2 "manipulator"&s& +4 "core" & {  + "storage"(J& +4 "core" &<9 w x I\  +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&*' +20 "core" ' + .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"(q'M +63 "core" ' + "manipulator"&]& +5 "core" & z u Y  + "storage"(^& +4 "core" &<9 B B \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&V'/ +31 "core" ' + .tElbow.hold +2 "manipulator"&t, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"( '7 +21 "core" ' +2 "manipulator"&E% +4 "core" %?  q +2 "storage"(h& +4 "core" &<9 \  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 316 counts +2 "manipulator"&Q'k +22 "core" ' + "manipulator"&r& +4 "core" & | A = +2 "storage"(K& +5 "core" &<9 E B p\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&O' +11 "core" ' +2 "storage"(N% +4 "core" %= ? D \ +3 ."downElevator"SE.seek :down +3 "storage"(U'N +99 (-% +2 "core" %x<   )\ U^ +2 "manipulator"&L% +4 "core" % ~ } " 3 +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&p'\ +97 "core" ' +57 ' + ."downElevator"SE.stop + "storage"(5 +3 (Y& +4 "core" &<9 \  \  + "collection"'& +4 "core" &]ae\ W +2 #tStoring generic puck in Collection Clamp to tube 5 +2 "manipulator"&X% +3 "core" %\ 9  ( +2 "storage"(M% +4 "core" %K\ '\ ' %\ +2 "storage"(8. +3 "core" .(<< + "storage"(|& +4 "core" &<9\ \  _\  +2 "storage"(& +4 "core" &<9\ \  D\  + "manipulator"&k& +4 "core" &  = +2 .tElbow.seek 5 + "manipulator"&a( +15 "core" ( + "manipulator"&n& +5 "core" &\  Y + "storage"(W& +4 "core" &<9\ \  ?\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&)' +95 "core" ' + "storage"(j& +4 "core" &<9 8 C G\  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(Z'e +280 "core" ' + "storage"(_- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&[& +3 "core" & \ q V +2 "storage"(`& +3 "core" &<9   )\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&D'/ +28 "core" ' + .tElbow.hold +2 "manipulator"&y, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(v- +3 "core" -' +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(\ 'l +29 "core" ' + "manipulator"&7% +4 "core" %A  +2 "storage"(/& +4 "core" &<9 \  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 318 counts + "manipulator"& 'm +19 "core" ' +2 "manipulator"&T& +4 "core" & k  c + "storage"(&& +4 "core" &<9 3 4\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts + "manipulator"&"' +20 "core" ' +2 .tSE.seek 1.11 Pucks below Top Plate +2 "storage"('[ +50 "core" ' +2 "manipulator"&& +5 "core" & | } c + "manipulator"&o% +9 "core" % } ~\ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&f'\ +95 "core" ' +2 .tElbow.seek CC +2 "manipulator"&( +152 "core" ( +2 "manipulator"&l& +4 "core" &'  >L +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &+& +3 "core" &'  >L +2 .tForearm.seek CC +2 "manipulator"&'| +97 "core" ' + .tHand.close +2 "manipulator"&:/ +56 "core" / +2 .tCC.seek :open +2 "collection"'i(p +411 "core" ( + "storage"(& +4 "core" &<9 s o 4\  +2 "storage"(m& +3 "core" &<9 p u \  +2 "manipulator"&\\& +4 "core" & $ ' ;8 + "manipulator"&% +4 "core" % } B +2 .tForearm.seek :retract + "manipulator"&w'\ +93 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&;( +159 "core" ( + "manipulator"&6& +4 "core" & <  +2 "storage"(& +4 "core" &<9 j m p\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 5 +2 "manipulator"&z'/ +104 "core" ' +2 .tElbow.hold + "manipulator"&,, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&01 +64 "core" 1 +2 "manipulator"&% +5 "core" % A " 3 + "storage"(S& +4 "core" &<9 7 7 >\  + .tForearm.force -20 +51 "manipulator"&5 +4 .tForearm.seek 5 + 318 counts + "manipulator"&'m +25 "core" ' +2 "manipulator"&& +4 "core" & t { ] " +2 "storage"(d& +3 "core" &<9 (\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&' +11 "core" ' +2 "storage"( % +4 "core" %] 0\ +3 ."downElevator"SE.seek :down +4 "storage"(}'N +98 ((% +2 "core" %\\; ]\ U[ +2 "manipulator"&% +5 "core" % | v * +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +92 "core" ' +46 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 3 of [3..5] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"'& +5 "core" &&\ + "manipulator"&%% +4 "core" %\ 3 %v +2 "storage"(1% +4 "core" %8 p\ +2 "storage"(. +3 "core" .(<< +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 + "storage"(C( +680 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (2& +3 "core" &\ \ & \ +2 "manipulator"&& +3 "core" & , " +2 .tElbow.seek 3 +2 "manipulator"&b(D +33 "core" ( + "manipulator"&& +4 "core" &M K  +2 "storage"(& +4 "core" & i k P\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&' +100 "core" ' + "storage"(>& +4 "core" & X\ +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"('e +279 "core" ' + "storage"(3- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 ($& +2 "core" & b\ +2 "manipulator"&'& +4 "core" &M   +2 .tElbow.seek 3 + "manipulator"&?(D +3 "core" ( +2 "manipulator"&{& +3 "core" &M 7  +2 "storage"(@& +4 "core" & \ +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&!'y +11 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&x/ +57 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&I& +2 "storage"(g'N +8 "core" &M t r   + "manipulator"&5% +4 "core" % x s q 2 0 +2 .tForearm.seek :retract +2 "manipulator"&A'\ +100 "core" ' +2 .tElbow.seek CC + "manipulator"&( +142 "core" ' + ."downElevator"SE.stop + "storage"(5 +12 "core" ( +2 "manipulator"&& +4 "core" &$ L ;4 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &4& +3 "core" &$  ;4 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&H'| +106 "core" ' + "manipulator"&B& +5 "core" &$ k ;4 + "manipulator"&=% +5 "core" %q \\ +2 "collection"' & +4 "core" &)\ +2 "collection"'<& +5 "core" &!\ +2 .tCC.seek :closed +2 "collection"'F(] +4 "core" &+\  +9 &20\ *z +9 &c)\ > +9 &P~(\ N +10 &^)\ M +9 &b*\ M +10 &b+\ M +9 &!Wd,\ N +9 &#_*\ N +10 &$b*\ M +9 &&b)\ N +9 &(ac+\ M +10 &*#]"\ M +9 &+\\ \ M +9 &-](\ M +12 &/i`*\ M +7 &1*c'\ N +9 &2`%\ N +10 &4]"\ M +9 &6qb*\ M +10 &83[*\ M +9 &9b"\ M +9 &;`'\ M +10 &=xb%\ N +9 &?;b"\ M +10 &@]'\ M +9 &B_#\ M +9 &Da \ M +10 &FB_&\ N +9 &Hb$\ N +9 &Is'\ P +10 &Kzn#\ S +9 &M1\ V +10 &N%\ X +9 &P&\ Y +9 &Ro%\ Y +10 &T/\ Z +9 &U\ [\ +9 &W&\ [ +10 &Ym!\ \\ +9 &[.u~\ ] +10 &\\{el\ 4 +9 &]#^a"\ %l +9 &]l^_\ Q +3 ( + "collection"'<& +3 #tCollection Clamp onSpring/offSpring for 9/25 samples, on/off torque 2.02 + .Hand.open +2 "manipulator"&P1 +53 "core" 1 +2 "manipulator"&c% +4 "core" % q K +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +5 .tForearm.seek :retract + "manipulator"&s'\ +95 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%J& +5 "core" &l\ + "manipulator"&#% +4 "core" %\ 3  %z +2 "storage"(]% +4 "core" %;   g\ + "storage"(^. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(e( +34 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (E& +2 "core" &3 \  +2 "manipulator"&h& +4 "core" &#  :. + "manipulator"&u% +9 "core" %\ 3 %z +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&r(D +160 "core" ( +2 "manipulator"&K& +4 "core" &H  + "storage"(N& +4 "core" & > 6 g\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&G' +89 "core" ' +2 "storage"(.& +4 "core" & ? [ \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(R'e +275 "core" ' +2 "storage"(-- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (L& +2 "core" &   \  +2 "manipulator"&*& +4 "core" &H X  +2 .tElbow.seek 3 +2 "manipulator"&9(D +3 "core" ( + "manipulator"&q& +4 "core" &H `  +2 "storage"(V& +3 "core" &   \  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&Y'y +19 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&Q/ +64 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"(X'N +8 "core" &H r q O  + "manipulator"&M% +4 "core" % n q s ] +2 .tForearm.seek :retract +2 "manipulator"&8'\ +94 "core" ' +2 .tElbow.seek PC +2 "manipulator"& (c +153 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +96 "core" ( +3 "manipulator"&|& +4 "core" &m  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &m f +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&k'[ +104 "core" ' +2 "manipulator"&n& +4 "core" &m N +2 "manipulator"&W% +4 "core" %P 7 +2 "processing"%O& +3 "core" &m\ +2 "processing"%j& +6 "core" &l\ +2 .tPC.seek :closed + "processing"%U(Z +4 "core" &g\ +8 & 3p\ $d +10 &`Ww\ 7 +9 &r\ L +9 &q[w\ M +10 &2\\j\ N +9 &[l\ M +10 & Zp\ N +9 &"xZp\ N +9 &$;Zh\ M +10 &%Xo\ M +9 &'Ym\ M +9 &)]Q\ M +10 &+C\\r\ M +9 &-_C\ M +10 &.X\ M +9 &0ZK\ M +9 &2K\\m\ M +10 &4 YI\ M +9 &5\\T\ N +9 &7[L\ M +10 &9S]s\ M +9 &;]G\ M +9 &<X\ M +10 &>^P\ N +9 &@[Zn\ M +10 &B[F\ M +9 &C[q\ M +9 &E]H\ M +10 &GaeK\ N +9 &I oI\ O +10 &JU\ Q +9 &Lp\ S +9 &NXi\ T +10 &PF\ T +9 &Qs\ S +9 &SV\ T +10 &U_O\ T +9 &W n\ T +9 &XH\ U +10 &Z;IhO\ *| +9 &ZDr\ * +6 ( +2 "processing"%j& +3 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.61 +2 .Hand.open + "manipulator"&t1 +4 "core" &ZC\ * +52 1 + "manipulator"&p% +4 "core" % P Z +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&_'\ +95 "core" ' + "processing"%[& +4 "core" &Zp\ * +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&`% +4 "core" %\ / M #b +2 "storage"(v% +4 "core" %N\ \  n\ + "storage"(7. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 + "storage"(/( +10 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (T& +4 "core" & \ $ +2 "manipulator"&&& +2 ."raiseStack"SE.reconfigure :place +6 "storage"(#]kK-0-\ b +2 "core" &m  +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +2 "storage"('e +2 "manipulator"&o(c +5 "core" ( + "manipulator"&)& +4 "core" &m ' +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &a& +2 "core" &m Z +2 .tForearm.seek PC +2 "manipulator"&Z'[ +145 "core" ' +3 .tHand.close + "manipulator"&D/ +56 "core" / +3 .tPC.seek :open +2 "processing"% (p +39 "core" ' + "storage"(\ - +3 "core" -'e +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(l'B +35 "core" ' +307 ( + "storage"(+& +4 "core" & B ( \ ) +2 "manipulator"&"& +4 "core" &m W +2 "manipulator"&y% +3 "core" % L Z +2 .tForearm.seek :retract +2 "manipulator"&:'\ +100 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&f(D +253 "core" ( + "manipulator"&~& +5 "core" &F \\ !q + "storage"(& +4 "core" &   z\ ) +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&m' +105 "core" ' + .tHand.open +2 "manipulator"&\\1 +55 "core" 1 +2 "storage"(- +3 "core" -'B +3 .tSE.seek -0.16 Pucks below Top Plate + "storage"(6' +26 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.83 Pucks below Top Plate + "storage"(' +55 "core" ' +2 #tLights, camera, ACTION! + "storage"(- +4 "core" -' + "storage"(& +4 "core" & Y W\ , +2 "manipulator"&0& +4 "core" &F | !q + .tElbow.seek 3 +2 "manipulator"&(D +4 "core" ( + "manipulator"&S& +4 "core" &F  !q +2 "storage"(& +4 "core" & X W \ , +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&d' +18 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"(w'M +59 "core" ' +2 "manipulator"& & +4 "core" &F y !q +2 "storage"(;& +4 "core" & F E \ , + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 + "manipulator"&('M +35 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"(z'7 +28 "core" ' + "manipulator"&% +5 "core" %W  O + "storage"(%& +4 "core" & \ , + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 3 + 310 counts +2 "manipulator"&1'σ +17 "core" ' + "manipulator"&& +4 "core" &Z\ k 9 ] +2 "storage"(& +4 "core" & : ? $\ , +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&' +11 "core" ' + "storage"(% +5 "core" %3 8 9 _\ +2 ."downElevator"SE.seek :down +4 "storage"(}'N +99 ( % +3 "core" %9   \ U^ +2 "manipulator"&2% +4 "core" % q q v 8 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +87 "core" ' +64 ' + ."downElevator"SE.stop + "storage"(5 +3 (& +4 "core" &   `\ , + "collection"'& +4 "core" &]jfg\ Q +2 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&>% +5 "core" %\ & 7 + "storage"(,% +4 "core" %8 4 5\ +2 "storage"(. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(3( +7 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 ($& +3 "core" & J\  \ +2 "manipulator"&'& +4 "core" &Z ] +2 .tElbow.seek 3 +2 "manipulator"&{(D +34 "core" ( +2 "manipulator"&@& +4 "core" &K & - +2 "storage"(x& +4 "core" & B B \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&I' +101 "core" ' + "storage"(5& +5 "core" & Y Y\ + .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(b'e +283 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" &K r r ` - + "storage"(4& +4 "core" & E E '\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 + "manipulator"&'M +33 "core" ' +2 .tElbow.hold + "manipulator"&!, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(B- +2 "core" -' +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(='m +25 "core" ' + "manipulator"& % +5 "core" %^{ . G + "storage"(?& +4 "core" & \  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 317 counts + "manipulator"&g'ϊ +18 "core" ' + "manipulator"&A& +5 "core" &K i z  - + "storage"(i& +4 "core" & C B \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&P' +21 "core" ' +2 .tSE.seek 1.11 Pucks below Top Plate + "storage"(c'\\ +49 "core" ' + "manipulator"&J& +5 "core" &K s o H - + "manipulator"&#% +4 "core" % s r C +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&]'\ +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&^( +151 "core" ( +2 "manipulator"&<& +4 "core" & 9 1 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &E& +3 "core" & 9 1 +2 .tForearm.seek CC +2 "manipulator"&h'| +95 "core" ' + .tHand.close + "manipulator"&u/ +62 "core" / +2 .tCC.seek :open + "collection"'H(p +411 "core" ( + "storage"(K& +5 "core" & h r x\  + "storage"(N& +4 "core" & y | 9\  + "manipulator"&C& +4 "core" & 1 +2 "manipulator"&.% +3 "core" % s +2 .tForearm.seek :retract +2 "manipulator"&'\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&s(D +162 "core" ( +2 "manipulator"&-& +4 "core" &@ V  +2 "storage"(L& +3 "core" & w\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 +2 "manipulator"&*'M +107 "core" ' + .tElbow.hold +2 "manipulator"&q, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&V1 +58 "core" 1 +2 "manipulator"&Q% +4 "core" % _ B + "storage"(& +4 "core" & Z [\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 318 counts + "manipulator"&M'ϋ +26 "core" ' + "manipulator"&r& +4 "core" &X X P K ~ +2 "storage"(G& +4 "core" & 0\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&R' +12 "core" ' + "storage"(Y% +5 "core" %a \ +2 ."downElevator"SE.seek :down +3 "storage"(|'N +99 (% +3 "core" %1> \ U] + "manipulator"&9% +4 "core" % s t [ % +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&n'\ +95 "core" ' +43 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 4 of [3..5] +2 #Loading generic puck from tube 4 into Collection Clamp + "collection"'W& +5 "core" &\ + "manipulator"&O% +4 "core" %\ 8 ' +2 "storage"(X% +4 "core" %8 \  + "storage"(8. +4 "core" .( + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"((, +352 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (t& +2 "core" &,~ C B \  +2 "manipulator"&p& +3 "core" &X ~ +3 .tElbow.seek 4 + "manipulator"&[(* +32 "core" ( + "manipulator"&`& +4 "core" &3  9 +2 "storage"(v& +4 "core" &,~ r o !\  +2 .tForearm.reconfigure :tight +51 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&7' +93 "core" ' +2 "storage"(j& +4 "core" &,~ \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(T'e +280 "core" ' +2 "storage"(&- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 ()& +3 "core" &,~ v \  + "manipulator"&a& +4 "core" &5 7 +2 .tElbow.seek 4 +2 "manipulator"&k(* +3 "core" ( +2 "manipulator"&D& +4 "core" &6 r ) + +2 "storage"(e& +3 "core" &,~ !\  +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&\ 'Z +12 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"& / +53 "core" / +6 ."downElevator"SE.seek :down +8 "manipulator"&_& +3 "storage"(U'N +15 "core" &6  + +3 "manipulator"&% +8 "core" % S 6 6 +4 .tForearm.seek :retract +4 "manipulator"&+'\ +101 "core" ' +4 .tElbow.seek CC +2 "manipulator"&"( +123 "core" ' +3 ."downElevator"SE.stop +2 "storage"(5 +18 "core" ( +2 "manipulator"&y& +9 "core" &  2 +3 .tElbow.reconfigure :loose +5 "manipulator"&$ &.,(#b +4 &Z& +8 "core" &  2 +4 .tForearm.reconfigure :tight +5 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +4 "manipulator"&~'| +22 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +72 "core" ' +3 "manipulator"&& +10 "core" & 2 +3 "manipulator"&o% +9 "core" %r +3 "collection"'\\& +8 "core" &(\ +4 "collection"'& +10 "core" &!\ +6 .tCC.seek :closed +4 "collection"'(] +8 "core" &*\ +2 &)\  +6 &1)\ +{ +8 &b*\ > +10 &L}.\ N +9 &^)\ N +9 &b*\ N +10 &c)\ N +9 &!U^*\ N +10 &#_)\ N +9 &$])\ M +9 &&`*\ N +10 &(]b)\ N +9 &*_*\ N +9 &+`+\ M +10 &-a+\ N +9 &/fa+\ M +10 &1(`*\ M +9 &2_*\ M +9 &4`"\ M +9 &6ma*\ N +10 &80]*\ M +9 &9`'\ N +10 &;](\ M +9 &=u_)\ N +10 &?8`)\ M +14 &@^%\ M +12 &B]+\ N +4 &D~[&\ M +7 &F?_&\ N +10 &Gg)\ N +10 &It&\ P +11 &Kws*\ S +8 &M,(\ W +9 &N)\ W +9 &P(\ Y +10 &Rl)\ Y +8 &T,(\ Z +12 &U+\ [ +19 &W*\ [\ +4 &Yf)\ ^ +7 &[,(\ \\ +5 &\\{sy(\ 5 +10 &]%ko)\ %l +9 &]vjn&\ R +2 ( + "collection"'& +4 #tCollection Clamp onSpring/offSpring for 9/25 samples, on/off torque 2.04 + .Hand.open + "manipulator"&1 +55 "core" 1 +2 "manipulator"&0% +4 "core" % r ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&S'\ +92 "core" ' + #tLoading generic puck from tube 4 into Processing Clamp + "processing"%& +5 "core" &\ + "manipulator"&:% +4 "core" %\ + R !O +2 "storage"( % +4 "core" %;   c\ + "storage"(;. +3 "core" .(,~ +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 + "storage"(l(, +8 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (& +2 "core" &, C\  +2 "manipulator"&%& +4 "core" & Z 2 +2 "manipulator"&6% +4 "core" %\ + F !O +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&(* +157 "core" ( + "manipulator"&& +9 "core" &4 f  +2 "storage"(& +4 "core" &,~ ? 6 f\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&f' +101 "core" ' + "storage"(m& +5 "core" &,~ @ D L\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"('e +281 "core" ' + "storage"( - +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (2& +2 "core" &,~ Q >\  +2 "manipulator"&d& +4 "core" &4   +2 .tElbow.seek 4 +2 "manipulator"&(* +3 "core" ( + "manipulator"&w& +4 "core" &4   +2 "storage"((& +3 "core" &,~  Z\  +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&'Z +10 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +55 "core" / +3 ."downElevator"SE.seek :down +8 "manipulator"&1& +2 "storage"(>'N +6 "core" &4 q 7  +2 "manipulator"&,% +4 "core" % ]  q 0 +2 .tForearm.seek :retract +2 "manipulator"&'\ +96 "core" ' +2 .tElbow.seek PC + "manipulator"&z(c +157 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +88 "core" ( +2 "manipulator"&$& +4 "core" &l a + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &'& +3 "core" &l  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&@'[ +104 "core" ' +2 "manipulator"&x& +4 "core" &l b ^ +2 "manipulator"&% +4 "core" %Q # x +2 "processing"%5& +3 "core" &y\ +2 "processing"%}& +5 "core" &v\ +2 .tPC.seek :closed +2 "processing"%/(Z +9 "core" &u\ +4 & 4v\ #b +7 &[Vw\ 7 +9 &v\ L +10 &nYv\ M +9 &0Zx\ M +10 &\\w\ M +9 & ]w\ M +9 &"v[v\ M +10 &$9]u\ M +9 &%\\t\ M +9 &'\\w\ M +10 &)\\w\ M +9 &+A\\x\ M +9 &-^v\ M +10 &.\\x\ M +9 &0\\u\ M +10 &2H]v\ M +9 &4 \\w\ M +9 &5[y\ M +10 &7\\v\ M +9 &9PWu\ M +9 &;\\w\ M +10 &<Yv\ M +9 &>Yw\ M +10 &@WYw\ M +9 &BYv\ M +10 &CYv\ M +9 &E_u\ M +9 &G^cw\ N +9 &Inw\ O +10 &J~\ Q +9 &Lw\ S +10 &NSu\ T +9 &Pw\ T +9 &Qx\ T +10 &Sw\ T +9 &UZw\ T +9 &Ww\ T +10 &Xv\ T +10 &Z9Knu\ - +9 &Z-t\ ) +5 ( +2 "processing"%}& +4 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.59 + .Hand.open +2 "manipulator"&1 +3 "core" &Zs\ ) +52 1 +2 "manipulator"&% +4 "core" % R N w +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +89 "core" ' +2 "processing"%& +4 "core" &Zw\ ) +2 #tImaging generic puck in Processing Clamp while storing it to tube 4 + "manipulator"&4% +4 "core" %\ - a "^ +2 "storage"(B% +4 "core" %B\ \  [\ + "storage"( . +3 "core" .(, +2 "storage"(?& +4 "core" &,~\ \ % B\  +2 "storage"(A& +2 "manipulator"&i& +7 "core" &,~\ $\  $\  +2 &l ? +2 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +6 "manipulator"&$&.,(\ #b +2 "storage"(#]kK-0-\ b +3 .tElbow.seek PC +5 "manipulator"&J(c +3 ."raiseStack"SE.seek :beamBreak + "storage"(#'e +3 "core" ( +2 "manipulator"&I& +3 "core" &l g +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &{& +3 "core" &l  +2 .tForearm.seek PC + "manipulator"&b'[ +96 "core" ' +2 .tHand.close + "manipulator"&/ +61 "core" / +2 .tPC.seek :open +2 "processing"%g(p +88 "core" ' +2 "storage"(=- +3 "core" -'e +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(<'B +40 "core" ' +253 ( + "storage"(E& +4 "core" &,~ & ! \  +2 "manipulator"&P& +3 "core" &l R +2 "manipulator"&!% +4 "core" % Q  +2 .tForearm.seek :retract + "manipulator"&u'\ +95 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&](* +257 "core" ( +2 "manipulator"&F& +4 "core" &/  $ +2 "storage"(K& +3 "core" &,~ I }\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&N' +93 "core" ' + .tHand.open +2 "manipulator"&C1 +56 "core" 1 +2 "storage"(.- +4 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate + "storage"(-' +23 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(L' +52 "core" ' +2 #tLights, camera, ACTION! + "storage"(h- +4 "core" -' + "storage"(^& +4 "core" &,~ y v K\  +2 "manipulator"&V& +4 "core" &0 q $ +51 .tElbow.seek 4 +3 "manipulator"&Q(* +3 "core" ( + "manipulator"&& +4 "core" &0 n $ +2 "storage"(r& +4 "core" &,~ e X\  +2 .tForearm.seek 4 + 450 counts + "manipulator"&G' +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.11 Pucks below Top Plate + "storage"(Y'M +59 "core" ' + "manipulator"&& +5 "core" &0  $ + "storage"(& +4 "core" &,~ 3 4 \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&9'. +26 "core" ' +2 .tElbow.hold +2 "manipulator"&s, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.07 Pucks below Top Plate + "storage"(*'7 +26 "core" ' +2 "manipulator"&W% +4 "core" %B   m +2 "storage"(O& +4 "core" &,~ c\  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 4 + 320 counts + "manipulator"&X'n +17 "core" ' + "manipulator"&M& +90 "core" &% y { 6 % +2 "storage"(8& +4 "core" &,~ E C \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&c' +25 "core" ' + "storage"(R% +5 "core" %< 7 : x\ +2 ."downElevator"SE.seek :down +4 "storage"(|'N +99 (3% +3 "core" %.7 ! \ U^ +2 "manipulator"&t% +4 "core" % q p 4  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&p'\ +91 "core" ' +57 ' + ."downElevator"SE.stop + "storage"(5 +3 (`& +4 "core" &,~\ \ \  + "collection"'v& +4 "core" &]uik#\ R +2 #tStoring generic puck in Collection Clamp to tube 4 + "manipulator"&j% +4 "core" %\ / . #e +2 "storage"(q% +4 "core" %9   [\ + "storage"(n. +3 "core" .(, +2 "storage"(&& +4 "core" &,~   D\  + "storage"()& +4 "core" &,~   Z\  +2 "manipulator"&a& +3 "core" &% l % +2 .tElbow.seek 4 +2 "manipulator"&D(* +3 "core" ( +2 "manipulator"&e& +4 "core" &%  % +2 "storage"( & +4 "core" &,~   `\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +7 .tForearm.seek 4 + 450 counts +2 "manipulator"&_' +95 "core" ' + "storage"(& +5 "core" &,~ C F H\  + .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(['e +277 "core" ' +2 "storage"(7- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&y& +2 "core" &&  % +2 "storage"(T& +4 "core" &,~   \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&Z'. +26 "core" ' + .tElbow.hold +2 "manipulator"&\ , +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(- +2 "core" -' +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(k'm +27 "core" ' +2 "manipulator"&o% +4 "core" %B  } +2 "storage"(\\& +4 "core" &,~ ;\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 320 counts + "manipulator"&U'n +17 "core" ' + "manipulator"&+& +5 "core" & q ' + "storage"(H& +4 "core" &,~ B A \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts + "manipulator"&' +19 "core" ' +2 .tSE.seek 1.11 Pucks below Top Plate + "storage"(0'\\ +48 "core" ' + "manipulator"&& +4 "core" & p q  ' +2 "manipulator"&:% +4 "core" % p r   +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"& '\ +95 "core" ' +2 .tElbow.seek CC +2 "manipulator"&;( +140 "core" ( + "manipulator"&& +5 "core" & 1 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +2 "core" & ~ 1 +2 .tForearm.seek CC +2 "manipulator"&%'| +96 "core" ' + .tHand.close + "manipulator"&6/ +53 "core" / + .tCC.seek :open +2 "collection"'~(p +411 "core" ( + "storage"(& +4 "core" &,~ n o \  +2 "storage"(& +40 "core" &,~ g h g\  + "manipulator"&& +4 "core" & ] 1 +2 "manipulator"&m% +4 "core" % ψ +2 .tForearm.seek :retract + "manipulator"&"'\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 +2 "manipulator"&S(* +171 "core" ( + "manipulator"& & +4 "core" &' e +2 "storage"(2& +3 "core" &,~ i g \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 4 +2 "manipulator"&d'. +110 "core" ' +2 .tElbow.hold +2 "manipulator"&w, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&(1 +59 "core" 1 +2 "manipulator"&% +4 "core" % @ n + "storage"(1& +4 "core" &,~ B B \  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 4 + 318 counts +2 "manipulator"&,'l +18 "core" ' + "manipulator"&& +4 "core" & n y "y +2 "storage"(f& +4 "core" &,~ G\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&' +10 "core" ' +2 "storage"(% +4 "core" %Z T\ +3 ."downElevator"SE.seek :down +3 "storage"($'N +98 ('% +3 "core" %o< g g \ TZ +2 "manipulator"&% +4 "core" % p r ; +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&x'\ +88 "core" ' +56 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 5 of [3..5] +2 #Loading generic puck from tube 5 into Collection Clamp + "collection"'& +4 "core" &\ +2 "manipulator"&5% +4 "core" %\ - "] + "storage"(>% +4 "core" %J h g g\ +2 "storage"(. +3 "core" .(, +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"( (<< +356 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (& +3 "core" &<;   [\  +2 "manipulator"&& +3 "core" & u "x +2 .tElbow.seek 5 +2 "manipulator"&( +31 "core" ( + "manipulator"&4& +4 "core" &  #  +2 "storage"(B& +4 "core" &<: \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"& ' +101 "core" ' +2 "storage"(?& +4 "core" &<: /\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(i'e +287 "core" ' + "storage"(A- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (}& +3 "core" &<: l\  +2 "manipulator"&I& +4 "core" &    +2 .tElbow.seek 5 + "manipulator"&{( +4 "core" ( + "manipulator"&@& +4 "core" &  K  +2 "storage"(& +4 "core" &<: \  +2 .tForearm.seek 5 + 300 counts + "manipulator"&='[ +11 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&z/ +54 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& + "storage"(/'N +7 "core" &    +2 "manipulator"&E% +4 "core" % U 0  +2 .tForearm.seek :retract + "manipulator"&P'\ +96 "core" ' +2 .tElbow.seek CC +2 "manipulator"&#( +143 "core" ' + ."downElevator"SE.stop + "storage"(5 +14 "core" ( + "manipulator"&!& +5 "core" &'  >H + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &b& +3 "core" &' >H +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&F'| +107 "core" ' + "manipulator"&K& +4 "core" &'  >H +2 "manipulator"&J% +5 "core" %ρ  + "collection"'C& +53 "core" &\ +3 "collection"'.& +5 "core" &\ +2 .tCC.seek :closed +2 "collection"'h(] +4 "core" &$\  +8 &2'\ *z +9 &d'\ > +10 &Ny)\ N +9 &]/\ M +9 &a&\ N +10 &b'\ N +9 &!Vc'\ N +9 &#b&\ N +10 &$`*\ N +9 &&`$\ N +9 &(`_%\ M +10 &*!b$\ M +9 &+`#\ M +10 &-`#\ M +9 &/g^)\ M +9 &1(_'\ N +10 &2`%\ N +9 &4\\)\ M +9 &6n`(\ N +10 &82]&\ M +9 &9_ \ M +10 &;`'\ M +9 &=wb#\ M +9 &?:\\ \ M +10 &@b$\ M +9 &B]\ M +9 &D\\'\ M +10 &FAc!\ M +9 &Hg#\ N +10 &Iq(\ O +9 &Kyw \ R +9 &M0!%\ V +10 &N\ W +9 &P#\ X +10 &Rk#\ Z +9 &T+#\ Z +9 &U(\ Z +10 &W&\ [ +9 &Y[ \ b +14 &[,|\ \\ +5 &\\|jp'\ 3 +9 &]'cd\ E +9 ( +3 "collection"'.& +3 #tCollection Clamp onSpring/offSpring for 9/25 samples, on/off torque 2.11 + .Hand.open +2 "manipulator"&^1 +3 "core" &]Vee!\ A +55 1 +2 "manipulator"&V% +4 "core" % ρ C +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&u'\ +97 "core" ' + #tLoading generic puck from tube 5 into Processing Clamp +2 "processing"%& +4 "core" &v\ +2 "manipulator"&r% +3 "core" %\ 3 / %y +2 "storage"(% +4 "core" %6 4 % W\  + "storage"(. +3 "core" .(<< +2 "storage"(<& +4 "core" &<:   @\  + "storage"(-& +4 "core" &<: " 2 s\  +2 "manipulator"&W& +3 "core" &% , << +2 "manipulator"&O% +4 "core" %\ 3 %y +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&]( +158 "core" ( +2 "manipulator"&M& +4 "core" &  +2 "storage"(8& +3 "core" &<: Y Y\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&N' +93 "core" ' + "storage"(L& +5 "core" &<: u q !\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(R'e +282 "core" ' +2 "storage"(G- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (Q& +2 "core" &<: Z X\  +2 "manipulator"&Y& +4 "core" & r i  +2 .tElbow.seek 5 + "manipulator"&3( +4 "core" ( + "manipulator"&t& +4 "core" & | r 6  +2 "storage"(9& +3 "core" &<: \\ f \  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&X'[ +21 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&`/ +63 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&v& +2 "storage"(j'N +6 "core" & s r =  +2 "manipulator"&q% +4 "core" % W q q ? +2 .tForearm.seek :retract +2 "manipulator"&n'\ +92 "core" ' + .tElbow.seek PC +2 "manipulator"&&(c +159 "core" ' + ."downElevator"SE.stop + "storage"(5 +84 "core" ( +2 "manipulator"&*& +4 "core" &j p +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &)& +3 "core" &j +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&a'[ +103 "core" ' + "manipulator"&e& +5 "core" &j  + "manipulator"& % +4 "core" %V  +2 "processing"%c& +4 "core" &\ +2 "processing"%& +5 "core" &x\ +2 .tPC.seek :closed + "processing"%|(Z +4 "core" &{\  +9 &/~\ *y +9 &dx\ > +9 &Fvm\ N +10 & Wv\ M +9 &]w\ M +10 &[w\ M +9 &!O^~\ M +9 &#Zx\ M +10 &$Zw\ M +9 &&Yv\ M +9 &(W[u\ M +10 &*]|\ M +9 &+Zu\ M +9 &-[u\ N +10 &/_]x\ M +9 &1"Yx\ M +9 &2]\ M +10 &4Wy\ M +9 &6f\\w\ N +10 &8*[}\ M +9 &9Zy\ M +9 &;Xz\ M +10 &=o\\y\ M +9 &?0`w\ N +9 &@]t\ N +10 &B\\u\ N +9 &Dw\\u\ M +10 &F8Zz\ N +9 &Ge|\ N +9 &Iov\ P +10 &Ksy\ Q +9 &M/w\ S +9 &Nw\ T +10 &Pt\ T +9 &Rsz\ T +10 &T3{\ U +9 &Uw\ U +9 &Wv\ U +10 &Ywv\ C +9 &Zu9x\ !c +10 &Z w\ + +2 ( + "processing"%& +4 #tProcessing Clamp onSpring/offSpring for 9/25 samples, on/off torque 1.62 + .Hand.open + "manipulator"&s1 +60 "core" 1 +2 "manipulator"&p% +4 "core" % V 4 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&7'\ +95 "core" ' +2 "processing"%y& +4 "core" &Z w\ + +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 + "manipulator"&T% +4 "core" %\ / #c +2 "storage"(% +3 "core" %>   \ +2 "storage"(o. +3 "core" .(<< + "storage"(\\& +4 "core" &<:   ^\  +2 "storage"(+& +2 "manipulator"&H& +8 "core" &<:   \  + &j +3 ."raiseStack"SE.reconfigure :place +2 .tElbow.reconfigure :tight +3 "storage"(#]kK-0-\ b +4 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +2 ."raiseStack"SE.seek :beamBreak +2 "manipulator"&(c +2 "storage"(:'e +5 "core" ( + "manipulator"&_& +4 "core" &j p +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &D& +4 "core" &j  +2 .tForearm.seek PC +2 "manipulator"&['[ +94 "core" ' +2 .tHand.close + "manipulator"&Z/ +58 "core" / +2 .tPC.seek :open +2 "processing"%U(p +89 "core" ' +2 "storage"(k- +3 "core" -'e + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('B +33 "core" ' +259 ( + "storage"(& +4 "core" &<: \\ > \  +2 "manipulator"&& +4 "core" &j  + "manipulator"&\ % +4 "core" % n  +2 .tForearm.seek :retract +2 "manipulator"&6'\ +97 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"& ( +256 "core" ( + "manipulator"&& +4 "core" & S & +2 "storage"(& +4 "core" &<: 2 4\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&' +96 "core" ' +2 .tHand.open + "manipulator"&1 +52 "core" 1 +2 "storage"(m- +4 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate + "storage"( ' +23 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(2' +51 "core" ' + #tLights, camera, ACTION! + "storage"(%- +4 "core" -' +2 "storage"(;& +3 "core" &<: e\  +2 "manipulator"&(& +4 "core" & & +2 .tElbow.seek 5 +2 "manipulator"&( +3 "core" ( + "manipulator"&1& +4 "core" &  & +2 "storage"(& +4 "core" &<: \\\  +2 .tForearm.seek 5 + 450 counts + "manipulator"&f' +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"('M +61 "core" ' +2 "manipulator"&"& +4 "core" & U & + "storage"('& +4 "core" &<: 4 - \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&'/ +28 "core" ' +2 .tElbow.hold +2 "manipulator"&S, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.07 Pucks below Top Plate + "storage"(d'7 +26 "core" ' + "manipulator"&% +5 "core" %B  h x + "storage"(5& +4 "core" &<: u\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 319 counts + "manipulator"&,'n +15 "core" ' +2 "manipulator"&>& +5 "core" & s { : % + "storage"(& +5 "core" &<: e f \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&0' +18 "core" ' +2 "storage"(% +4 "core" %@ j w *\ +3 ."downElevator"SE.seek :down +3 "storage"($'N +98 (l% +3 "core" %(> : 7 m\ U] +2 "manipulator"&% +5 "core" % q p  + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +89 "core" ' +62 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (4& +4 "core" &<:\  b v\  + "collection"'B& +4 "core" &]Mjj$\ A +2 #tStoring generic puck in Collection Clamp to tube 5 + "manipulator"&?% +4 "core" %\ - k "_ +2 "storage"(w% +3 "core" %? D @ \ +52 "storage"(x. +4 "core" .(<< + "storage"(A& +4 "core" &<: 7 -\  +2 "storage"(}& +4 "core" &<: 8 7\  + "manipulator"&I& +4 "core" & % +2 .tElbow.seek 5 +2 "manipulator"&@( +3 "core" ( + "manipulator"&& +4 "core" & w % +2 "storage"(z& +3 "core" &<: : 8 Y\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&' +102 "core" ' +2 "storage"(E& +4 "core" &<: Y [\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"('e +278 "core" ' + "storage"( - +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&!& +3 "core" & 8 % +2 "storage"(b& +4 "core" &<: U G v\  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 5 + "manipulator"&i'/ +29 "core" ' +2 .tElbow.hold +2 "manipulator"&=, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(K- +3 "core" -' +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(J'm +36 "core" ' + "manipulator"&{% +5 "core" %A} o K + "storage"(C& +4 "core" &<:\  q\  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 5 + 318 counts +2 "manipulator"&/'m +19 "core" ' + "manipulator"&P& +4 "core" & m  & +2 "storage"(~& +4 "core" &<: f g\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +6 "manipulator"&^' +19 "core" ' +2 .tSE.seek 1.11 Pucks below Top Plate +2 "storage"(V'\\ +50 "core" ' +2 "manipulator"&& +4 "core" & r o ( & +2 "manipulator"&r% +5 "core" % o o   + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +94 "core" ' +2 .tElbow.seek CC +2 "manipulator"&( +140 "core" ( + "manipulator"&<& +5 "core" & 8 1 + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &.& +2 "core" & Z 1 +2 .tForearm.seek CC +2 "manipulator"&-'| +94 "core" ' +2 .tHand.close + "manipulator"&W/ +65 "core" / + .tCC.seek :open +2 "collection"'O(p +411 "core" ( + "storage"(F& +4 "core" &<: n z 8\  +2 "storage"(M& +4 "core" &<: s p >\  + "manipulator"&8& +4 "core" & 1 +2 "manipulator"&L% +3 "core" % υ  +2 .tForearm.seek :retract +2 "manipulator"&#'\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&u( +165 "core" ( +2 "manipulator"&G& +4 "core" & ; + "storage"(Q& +4 "core" &<: g g {\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 5 +2 "manipulator"&Y'/ +105 "core" ' +2 .tElbow.hold + "manipulator"&t, +7 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&91 +54 "core" 1 + "manipulator"&`% +5 "core" % A  + "storage"(v& +4 "core" &<: 9 @ 5\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 318 counts +2 "manipulator"&q'm +18 "core" ' + "manipulator"&]& +4 "core" &\ j ( U +2 "storage"(N& +4 "core" &<: x\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&R' +20 "core" ' + "storage"(X% +4 "core" %^ ;\ +3 ."downElevator"SE.seek :down +3 "storage"(*'N +99 ()% +2 "core" %c; \ U[ +2 "manipulator"&3% +4 "core" % ~ }  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&e'\ +90 "core" ' +54 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 3 of [3..5] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"' & +4 "core" &\ +2 "manipulator"&c% +4 "core" %\ - "Z +2 "storage"(j% +4 "core" %I \  + "storage"(n. +4 "core" .(<< + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 3 + "storage"(g( +681 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (s& +2 "core" &\ \  \ +2 "manipulator"&p& +4 "core" &\ U +2 .tElbow.seek 3 + "manipulator"&y(D +15 "core" ( + "manipulator"&T& +4 "core" &M u d +2 "storage"(& +4 "core" & } } \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&o' +93 "core" ' +2 "storage"(\\& +4 "core" & \ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('e +278 "core" ' +2 "storage"(H- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (+& +2 "core" & 0\ +2 "manipulator"&_& +4 "core" &M  d + .tElbow.seek 3 +2 "manipulator"&D(D +4 "core" ( + "manipulator"&a& +4 "core" &M  d + "storage"(Z& +4 "core" & \ +2 .tForearm.seek 3 + 300 counts + "manipulator"&k'y +17 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close +2 "manipulator"&&/ +59 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&7& + "storage"(|'N +7 "core" &M r p  d +2 "manipulator"&% +4 "core" % m o o  +2 .tForearm.seek :retract +2 "manipulator"&'\ +94 "core" ' +2 .tElbow.seek CC +2 "manipulator"&:( +149 "core" ' + ."downElevator"SE.stop + "storage"(5 +4 "core" ( + "manipulator"&\ & +4 "core" &- } Ct +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &[& +2 "core" &- Ct +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&'| +101 "core" ' +2 "manipulator"&& +4 "core" &- = Cs +2 "manipulator"&% +3 "core" %u  +2 "collection"'& +4 "core" &-\ +3 "collection"'m& +4 "core" &\ +2 .tCC.seek :closed +2 "collection"'%(] +4 "core" &!\  +10 &0,\ +z +9 &c&\ > +9 &By$\ N +10 &\\'\ M +9 &^#\ N +10 &c*\ N +9 &!Ja%\ N +9 &#_&\ M +10 &$_,\ N +9 &&]1\ M +9 &(S]7\ N +10 &*_/\ N +9 &+Z/\ M +10 &-`4\ N +9 &/Z`4\ N +9 &1`2\ M +10 &2_*\ M +9 &4a-\ N +9 &6c_'\ N +14 &8&^"\ M +5 &9_-\ N +10 &;Z,\ M +9 &=k^4\ N +9 &?-_8\ N +10 &@_7\ N +9 &B^7\ M +9 &Dt[7\ M +10 &F5_5\ N +9 &Gf4\ N +9 &Io7\ P +10 &Kmu3\ S +9 &M#6\ W +10 &N6\ X +9 &P7\ X +10 &Rb*\ Y +9 &T!3\ Z +9 &U-\ [\ +9 &W4\ Z +10 &Y_4\ ] +9 &[ y8\ ] +10 &\\{hn0\ 9 +9 &]"`b6\ 'r +9 &]h_`2\ O +3 ( +2 "collection"'m& +2 #tCollection Clamp onSpring/offSpring for 9/25 samples, on/off torque 2.05 +2 .Hand.open + "manipulator"&;1 +53 "core" 1 +2 "manipulator"&(% +4 "core" % t +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&1'\ +93 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%& +5 "core" &\ + "manipulator"&6% +4 "core" %\ )  K +2 "storage"("% +3 "core" %M   u\ +2 "storage"('. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(( +32 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (& +3 "core" &3 \  Z\  +2 "manipulator"&5& +4 "core" &*  Ae +2 "manipulator"&>% +3 "core" %\ )  K +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"& (D +178 "core" ( + "manipulator"&& +5 "core" &< n + "storage"(& +4 "core" & 5 > L\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"& ' +107 "core" ' + "storage"(& +4 "core" & Z [\  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +53 .tSE.seek :beamBreak + "storage"(2'e +283 "core" ' +2 "storage"(l- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +2 "core" &  1 4\  +2 "manipulator"&f& +4 "core" &= o q D m + .tElbow.seek 3 +2 "manipulator"&(D +4 "core" ( +2 "manipulator"&& +3 "core" &= q w ) m +2 "storage"(& +4 "core" & B B \  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&4'y +36 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&,/ +52 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&B& + "storage"(?'N +7 "core" &= q p  m +2 "manipulator"&w% +4 "core" % Ϟ o o & +2 .tForearm.seek :retract +2 "manipulator"&x'\ +95 "core" ' +2 .tElbow.seek PC +2 "manipulator"&d(c +152 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +94 "core" ( +2 "manipulator"&A& +5 "core" &l 5 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &}& +3 "core" &l O +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&I'[ +97 "core" ' + "manipulator"&& +5 "core" &l  + "manipulator"&z% +4 "core" %Q / +2 "processing"%0& +4 "core" &\ +2 "processing"%E& +6 "core" &\ +2 .tPC.seek :closed +3 "processing"%$(Z +4 "core" &\ +6 & 4\ #a +9 &YT\ 7 +9 &\ L +10 &lY\ M +9 &/[\ M +10 &\\\ M +9 & ]\ M +9 &"sZx\ M +10 &$4[\ N +9 &%Z~\ M +9 &'[x\ M +10 &){[v\ M +9 &+=[w\ M +9 &,]w\ N +10 &.[v\ M +9 &0\\z\ M +9 &2E]z\ M +10 &4Yz\ M +9 &5Zw\ M +10 &7\\\ M +9 &9N\\}\ M +9 &;\\v\ M +10 &<Y|\ M +9 &>]y\ M +10 &@UZ\ M +9 &B_w\ M +9 &C\\y\ M +10 &EZ\ M +9 &GZdz\ N +9 &Im{\ O +10 &J~y\ Q +12 &L\ S +7 &NR\ T +9 &Pt\ T +9 &Qz\ T +10 &S\ T +9 &UX}\ T +9 &Wy\ U +10 &Xv\ U +9 &Z8Mpz\ . +10 &Z]}\ 8 +5 ( +2 "processing"%E& +4 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.61 + .Hand.open + "manipulator"&S1 +4 "core" &Z7|\ 7 +49 1 + "manipulator"&% +5 "core" % Q i + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"& '\ +100 "core" ' +2 "processing"%!& +4 "core" &Z7|\ 7 + #tImaging generic puck in Processing Clamp while storing it to tube 3 +2 "manipulator"&b% +4 "core" %\ < W ) + "storage"(K% +4 "core" %8\ \  \ + "storage"({. +4 "core" .( + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 3 + "storage"(C( +7 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (P& +4 "manipulator"&~& +3 "core" &l  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC + "manipulator"&(c +3 "core" ( +2 "manipulator"&r& +4 "core" &l . + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &l @ +2 .tForearm.seek PC +2 "manipulator"&@'[ +55 "core" &\ \  K\ +2 ."raiseStack"SE.reconfigure :place +2 "storage"(#]kK-0-\ b +3 ."raiseStack"SE.seek :beamBreak +2 "storage"('e +33 "core" ' + .tHand.close +2 "manipulator"&i/ +56 "core" / +2 .tPC.seek :open +2 "processing"%/(p +173 "core" ' +2 "storage"(J- +3 "core" -'e +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(<'B +35 "core" ' +172 ( +2 "storage"(.& +4 "core" & 4 % \ # + "manipulator"&^& +4 "core" &l  +2 "manipulator"&=% +4 "core" % O  + .tForearm.seek :retract +2 "manipulator"&W'\ +103 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&(D +257 "core" ( + "manipulator"&h& +4 "core" &H  ( +2 "storage"(F& +4 "core" &  [\ # +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&M' +107 "core" ' +2 .tHand.open + "manipulator"&81 +60 "core" 1 +2 "storage"(L- +3 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate +2 "storage"(G' +25 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(Q' +50 "core" ' + #tLights, camera, ACTION! + "storage"(-- +4 "core" -' +2 "storage"(& +3 "core" & U W \ & +2 "manipulator"&9& +4 "core" &H  ( +2 .tElbow.seek 3 +2 "manipulator"&`(D +3 "core" ( + "manipulator"&v& +4 "core" &H s ( +2 "storage"(]& +4 "core" & / ( R\ & +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&N' +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"(X'M +59 "core" ' +2 "manipulator"&#& +4 "core" &H  ( +2 "storage"()& +4 "core" & U Y \ & + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 + "manipulator"&3'M +35 "core" ' + .tElbow.hold +2 "manipulator"&u, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.07 Pucks below Top Plate + "storage"(Y'7 +25 "core" ' + "manipulator"& % +5 "core" %V  X ] +2 "storage"(q& +4 "core" & g\ & +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 309 counts + "manipulator"&c'ς +17 "core" ' +2 "manipulator"&j& +4 "core" &c w W $ +2 "storage"(n& +4 "core" & [ Z\ & +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts + "manipulator"&V' +16 "core" ' +2 "storage"(R% +4 "core" %@ Y Y\ +3 ."downElevator"SE.seek :down +3 "storage"(*'N +98 ( % +3 "core" %?   \ U_ +2 "manipulator"&s% +5 "core" % r o ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&p'\ +89 "core" ' +59 ' + ."downElevator"SE.stop + "storage"(5 +3 (T& +4 "core" &\  R \ & +2 "collection"'& +4 "core" &]efh3\ O + #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&\\% +4 "core" %\ / e #c +2 "storage"(t% +4 "core" %=   r\  +2 "storage"(e. +3 "core" .( + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(H( +5 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (+& +3 "core" & G\ $ +2 "manipulator"&_& +4 "core" &c 8 $ +2 .tElbow.seek 3 +2 "manipulator"&a(D +34 "core" ( + "manipulator"&Z& +4 "core" &B @ +2 "storage"(&& +4 "core" & B 7 \ & +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&7' +102 "core" ' +2 "storage"(& +4 "core" & ] \\\ & +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(y'e +282 "core" ' + "storage"(o- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&\ & +3 "core" &B @ + "storage"([& +4 "core" & 4 . \ - +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 + "manipulator"&'M +32 "core" ' + .tElbow.hold +2 "manipulator"&k, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(- +2 "core" -' +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"('l +25 "core" ' +2 "manipulator"&% +4 "core" %\\u  7 5 +2 "storage"(D& +3 "core" & \ - +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 315 counts + "manipulator"&|'ψ +19 "core" ' + "manipulator"&& +53 "core" &B h y - @ +3 "storage"(O& +4 "core" & 7 7 \ \ - +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&;' +22 "core" ' +2 .tSE.seek 1.11 Pucks below Top Plate +2 "storage"(('[ +49 "core" ' + "manipulator"&& +5 "core" &B p q & @ + "manipulator"&6% +4 "core" % p o %  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&"'\ +93 "core" ' +2 .tElbow.seek CC + "manipulator"&'( +169 "core" ( + "manipulator"&m& +4 "core" &# ;6 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &# ; ;6 +2 .tForearm.seek CC +2 "manipulator"&5'| +96 "core" ' +2 .tHand.close + "manipulator"&>/ +63 "core" / +2 .tCC.seek :open +2 "collection"'(p +410 "core" ( +2 "storage"(& +4 "core" & } r \ - + "storage"(& +4 "core" & v p i\ - +2 "manipulator"&g& +3 "core" &# ;6 +2 "manipulator"&:% +4 "core" % υ +2 .tForearm.seek :retract + "manipulator"&'\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&1(D +21 "Can" 'A? +140 "core" ( + "manipulator"&l& +5 "core" &N ( i + "storage"(& +4 "core" & \ - +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 +2 "manipulator"&f'M +108 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&1 +57 "core" 1 +2 "manipulator"&,% +4 "core" % ^  , +2 "storage"(B& +3 "core" & [ [\ - +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 317 counts + "manipulator"&w'ϊ +24 "core" ' +2 "manipulator"& & +4 "core" &N Q i i + "storage"( & +4 "core" & -\ - +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&2' +11 "core" ' +2 "storage"(4% +4 "core" %` A\ +3 ."downElevator"SE.seek :down +3 "storage"(A'N +99 (}% +4 "core" %&8 \ U[ +2 "manipulator"&% +4 "core" % p p  " +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +92 "core" ' +46 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 4 of [3..5] +2 #Loading generic puck from tube 4 into Collection Clamp + "collection"'z& +5 "core" &*\ + "manipulator"&0% +4 "core" %\ / #h +2 "storage"(?% +4 "core" %8 \ +2 "storage"(x. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 + "storage"(U(, +347 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (S& +3 "core" &, 8 C k\  +2 "manipulator"&& +3 "core" &N i +2 .tElbow.seek 4 +2 "manipulator"&!(* +33 "core" ( + "manipulator"&b& +4 "core" &+ % P +2 "storage"(K& +4 "core" &, i i \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&{' +99 "core" ' + "storage"(E& +4 "core" &, \  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(~'e +279 "core" ' + "storage"(r- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (& +3 "core" &, } p \  +2 "manipulator"&P& +4 "core" &-  N +2 .tElbow.seek 4 + "manipulator"&I(* +3 "core" ( +2 "manipulator"&i& +3 "core" &-  N +2 "storage"(& +4 "core" &, g\  +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&d'Z +14 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"& / +63 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&J& +3 "storage"($'N +6 "core" &- 7 N +2 "manipulator"&.% +4 "core" % N p o  } +2 .tForearm.seek :retract +2 "manipulator"&^'\ +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&=( +150 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +4 "core" ( + "manipulator"&& +5 "core" &0 + E + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &@& +3 "core" &0  E +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&h'| +96 "core" ' + "manipulator"&F& +5 "core" &0 Q E + "manipulator"&% +4 "core" %t ` +2 "collection"'8& +4 "core" &9\ +3 "collection"'L& +5 "core" &\ +2 .tCC.seek :closed +2 "collection"'-(] +4 "core" &1\  +8 &12\ *z +10 &d)\ ? +9 &Ry.\ N +9 &\\3\ M +10 &c4\ M +9 &d8\ N +10 &![a1\ N +9 &#]4\ N +9 &$`5\ N +10 &&]3\ M +10 &(d_6\ M +8 &*&a8\ M +10 &+`8\ N +9 &-_3\ M +10 &/l^7\ M +9 &1._7\ M +9 &2b8\ N +10 &4\\5\ M +9 &6s`5\ N +9 &85]8\ N +10 &9_6\ N +9 &;]8\ N +9 &={`7\ N +10 &?>\\7\ M +9 &A_8\ M +10 &Bc6\ N +9 &D\\6\ M +9 &FEb6\ N +10 &Hg8\ N +9 &Iu4\ P +10 &K}s8\ R +9 &M3"8\ W +9 &N7\ X +10 &P7\ X +9 &Rr6\ Y +10 &T18\ Z +9 &U8\ [ +9 &W8\ Z +10 &Yn7\ ] +9 &[2~7\ \\ +9 &\\|ru5\ 1 +10 &]'jo7\ _ +9 ( +2 "collection"'L& +3 #tCollection Clamp onSpring/offSpring for 9/25 samples, on/off torque 2.06 +2 .Hand.open + "manipulator"&1 +3 "core" &]vjl3\ Q +58 1 +2 "manipulator"&9% +4 "core" % t +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&v'\ +93 "core" ' + #tLoading generic puck from tube 4 into Processing Clamp +2 "processing"%]& +4 "core" &\ + "manipulator"&W% +4 "core" %\ -  "^ +2 "storage"(#% +4 "core" %7\ \  f\  + "storage"(). +3 "core" .(, +2 "storage"( & +4 "core" &,\ \  A\  + "storage"(<& +4 "core" &,\ \  @\  +2 "manipulator"&q& +4 "core" &/(  ?V + "manipulator"&G% +4 "core" %\ -  "^ +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +6 .tElbow.seek 4 +2 "manipulator"&j(* +157 "core" ( + "manipulator"&n& +4 "core" &. ,  +2 "storage"(R& +4 "core" &, A 7 S\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&' +101 "core" ' + "storage"(M& +5 "core" &, 6 ; D\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(Q'e +275 "core" ' + "storage"( - +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (s& +3 "core" &,   e\  +2 "manipulator"&N& +4 "core" &. 7  +2 .tElbow.seek 4 + "manipulator"&`(* +4 "core" ( + "manipulator"&X& +4 "core" &.   + "storage"(3& +4 "core" &, 8 B f\  +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&T'Z +10 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&c/ +61 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& +3 "storage"(\\'N +6 "core" &. L  +2 "manipulator"&t% +4 "core" % ]  & +2 .tForearm.seek :retract +2 "manipulator"&e'\ +93 "core" ' +2 .tElbow.seek PC +2 "manipulator"&Y(c +155 "core" ' + ."downElevator"SE.stop + "storage"(5 +91 "core" ( + "manipulator"&+& +5 "core" &k  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &_& +3 "core" &k \\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&Z'[ +103 "core" ' +2 "manipulator"&&& +4 "core" &k Y +2 "manipulator"&V% +4 "core" %T + "processing"%& +4 "core" &\ +2 "processing"%*& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%C(Z +4 "core" &\ +8 & 3\ #a +59 &]V\ 7 +5 &\ L + &oX}\ M +3 &/Z|\ N +2 &\\\ M + & Yz\ M +2 &"vWw\ M +3 &$7[{\ N +9 &%Zv\ M +9 &'\\~\ M +9 &)~[v\ M +10 &+?\\y\ N +9 &-]u\ M +9 &.Xu\ M +10 &0Yu\ M +9 &2H]w\ M +10 &4 [y\ N +9 &5Z}\ M +9 &7[y\ M +10 &9O\\x\ N +9 &;]x\ M +9 &<Zx\ M +10 &>]w\ M +9 &@XY}\ M +9 &BZy\ M +10 &CYv\ M +9 &E_y\ M +10 &G]e{\ N +9 &Iks\ O +9 &J\ R +10 &L}\ S +9 &NUy\ T +9 &P\ T +10 &Q\ T +14 &S\ T +5 &U\\w\ T +9 &W\ U +9 &X{\ T +10 &Z;Nuy\ . +9 &Z*z\ ( +6 ( + "processing"%*& +5 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.61 + .Hand.open + "manipulator"&u1 +4 "core" &Z}\ ( +58 1 + "manipulator"&p% +4 "core" % T : +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&o'\ +100 "core" ' +2 "processing"%\ & +4 "core" &Z\ ( + #tImaging generic puck in Processing Clamp while storing it to tube 4 +2 "manipulator"&[% +4 "core" %\ 5 $ & +2 "storage"(% +3 "core" %6\ \  \  +2 "storage"(. +3 "core" .(, +2 "storage"(D& +4 "core" &,\ \ \  + "storage"(& +5 "manipulator"&O& +4 "core" &,\ \ \  + &k : +3 ."raiseStack"SE.reconfigure :place +2 .tElbow.reconfigure :tight +5 "storage"(#]kK-0-\ b +4 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +2 ."raiseStack"SE.seek :beamBreak +3 "manipulator"&(c +2 "storage"(6'e +5 "core" ( + "manipulator"&7& +4 "core" &k U +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &a& +3 "core" &k O +3 .tForearm.seek PC + "manipulator"&y'[ +96 "core" ' + .tHand.close +2 "manipulator"&/ +62 "core" / +2 .tPC.seek :open +2 "processing"%|(p +88 "core" ' + "storage"(- +4 "core" -'e + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(m'B +34 "core" ' +259 ( + "storage"(& +4 "core" &, B 9 z\  +2 "manipulator"&;& +4 "core" &k  +2 "manipulator"&k% +4 "core" % Z   + .tForearm.seek :retract +2 "manipulator"&>'\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&"(* +263 "core" ( + "manipulator"&%& +4 "core" &5  +2 "storage"(& +4 "core" &, > 5 4\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&' +103 "core" ' + .tHand.open + "manipulator"&g1 +57 "core" 1 +2 "storage"(:- +3 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate +2 "storage"(l' +25 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(' +54 "core" ' +2 #tLights, camera, ACTION! + "storage"(5- +4 "core" -' + "storage"('& +4 "core" &, C\  +2 "manipulator"&& +4 "core" &5 p p p  + .tElbow.seek 4 +2 "manipulator"&,(* +11 "core" ( + "manipulator"&B& +10 "core" &3 l U  + "storage"( & +4 "core" &, [\  +2 .tForearm.seek 4 + 450 counts +2 "manipulator"& ' +13 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.11 Pucks below Top Plate + "storage"(4'M +60 "core" ' + "manipulator"&& +5 "core" &3 q p   + "storage"(}& +4 "core" &, [ [\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&'. +33 "core" ' + .tElbow.hold +2 "manipulator"&1, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"(f'7 +26 "core" ' +2 "manipulator"&z% +4 "core" %A} j I +2 "storage"(0& +4 "core" &, H\  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 4 + 319 counts + "manipulator"&?'m +17 "core" ' +2 "manipulator"&w& +4 "core" & _ w > +2 "storage"(x& +4 "core" &, 7 7 \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&(' +11 "core" ' +2 "storage"(2% +4 "core" %2 [ >\ +3 ."downElevator"SE.seek :down +3 "storage"(A'N +99 (H% +3 "core" %9   \ U^ +2 "manipulator"&S% +4 "core" % r r J 4 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +96 "core" ' +54 ' + ."downElevator"SE.stop + "storage"(5 +3 (b& +4 "core" &, \  e\  + "collection"'K& +4 "core" &]vlk6\ Q +2 #tStoring generic puck in Collection Clamp to tube 4 + "manipulator"&E% +4 "core" %\ > ` ' +2 "storage"(% +4 "core" %9   Z\ + "storage"(. +3 "core" .(, +2 "storage"(r& +3 "core" &,   y\  +2 "storage"(& +4 "core" &,   `\  +2 "manipulator"&P& +4 "core" & + .tElbow.seek 4 +2 "manipulator"&i(* +23 "core" ( + "manipulator"&& +4 "core" &3 7 % +2 "storage"( & +4 "core" &,   \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&J' +117 "core" ' + "storage"(.& +5 "core" &, Z =\  + .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(!'e +276 "core" ' + "storage"({- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +7 "core" &4 { J $ +2 "storage"(@& +4 "core" &, ? 8 \  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 + "manipulator"&~'. +30 "core" ' + .tElbow.hold +2 "manipulator"&d, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(F- +3 "core" -' +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"('m +28 "core" ' + "manipulator"&8% +5 "core" %A v e + "storage"(I& +4 "core" &, \  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 319 counts + "manipulator"&$'m +18 "core" ' + "manipulator"&^& +5 "core" &  + + "storage"(& +4 "core" &, > 4 .\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&' +20 "core" ' +2 .tSE.seek 1.11 Pucks below Top Plate +2 "storage"(9'\\ +48 "core" ' +3 "manipulator"&]& +4 "core" &  + +2 "manipulator"&W% +4 "core" % S " + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&#'\ +89 "core" ' +2 .tElbow.seek CC +2 "manipulator"&)( +150 "core" ( + "manipulator"& & +4 "core" &)  @Z +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &L& +3 "core" &) D @Z +2 .tForearm.seek CC +2 "manipulator"&<'| +96 "core" ' + .tHand.close + "manipulator"&q/ +54 "core" / +2 .tCC.seek :open + "collection"'G(p +411 "core" ( + "storage"(h& +4 "core" &, x v t\  +2 "storage"(n& +4 "core" &, v t I\  + "manipulator"&R& +4 "core" &4 8 + "manipulator"&M% +4 "core" % ώ E +2 .tForearm.seek :retract +2 "manipulator"&='\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&v(* +155 "core" ( + "manipulator"& & +4 "core" &3 O  +2 "storage"(s& +3 "core" &, W\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 4 +2 "manipulator"&N'. +106 "core" ' + .tElbow.hold +2 "manipulator"&X, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&31 +54 "core" 1 +2 "manipulator"&c% +5 "core" % @  f + "storage"(& +4 "core" &, < U \  + .tForearm.force -20 +54 "manipulator"&5 +6 .tForearm.seek 4 + 318 counts + "manipulator"&t'l +20 "core" ' + "manipulator"&j& +5 "core" & r ` '  + "storage"(& +4 "core" &, "\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&Q' +10 "core" ' + "storage"(T% +5 "core" %` V\ +2 ."downElevator"SE.seek :down +3 "storage"(+'N +99 (_% +3 "core" %< &\ V^ +2 "manipulator"&`% +5 "core" % q q O 6 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&&'\ +89 "core" ' +101 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 5 of [3..5] +2 #Loading generic puck from tube 5 into Collection Clamp + "collection"'V& +4 "core" &1\ +2 "manipulator"&% +4 "core" %\ *  !W +2 "storage"(\\% +3 "core" %@ \ +2 "storage"(e. +3 "core" .(, +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 + "storage"(/(<< +353 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (u& +3 "core" &<; E H b\  +2 "manipulator"&p& +3 "core" &  +2 .tElbow.seek 5 +2 "manipulator"&\ ( +26 "core" ( +2 "manipulator"&[& +4 "core" & B + "storage"(& +4 "core" &<; p C\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&' +92 "core" ' +2 "storage"(*& +4 "core" &<; )\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(D'e +281 "core" ' +2 "storage"(O- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +2 "core" &<; q u F\  +2 "manipulator"&7& +4 "core" & G B +2 .tElbow.seek 5 +2 "manipulator"&a( +21 "core" ( + "manipulator"&Z& +4 "core" & s   +2 "storage"(& +4 "core" &<; \  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&'[ +11 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&Y/ +52 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&o& + "storage"(C'N +8 "core" &   + "manipulator"&% +4 "core" % Q q s  0 +2 .tForearm.seek :retract +2 "manipulator"&;'\ +98 "core" ' + .tElbow.seek CC +2 "manipulator"&6( +144 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +4 "core" ( + "manipulator"&k& +4 "core" & 1 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &y& +2 "core" & 1 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&%'| +106 "core" ' + "manipulator"&& +4 "core" & X 1 +2 "manipulator"&% +4 "core" %v u +2 "collection"'g& +4 "core" &A\ +3 "collection"':& +6 "core" &,\ +2 .tCC.seek :closed +2 "collection"'5(] +4 "core" &9\ +7 & 8E\ $e +10 &gV7\ 8 +9 &6\ L +9 &_8\ M +10 &A_8\ M +9 &`2\ M +9 & ^6\ M +10 &"]2\ M +9 &$H\\9\ M +10 &&\ b<\ M +9 &'a.\ M +9 &)`8\ N +10 &+P`6\ M +9 &-`6\ M +9 &.]7\ M +10 &0^8\ M +9 &2X^.\ M +9 &4_6\ M +10 &5^/\ M +9 &7_5\ M +10 &9a[6\ M +9 &;!]7\ N +9 &<_8\ M +10 &>`7\ M +9 &@ha5\ M +10 &B*b6\ M +9 &C\\5\ M +9 &Ea8\ M +10 &Goc7\ N +9 &I.i5\ O +9 &J}2\ Q +10 &L!U6\ U +9 &NZ8\ X +10 &P4\ X +9 &Q5\ Y +9 &S6\ Y +10 &UZ4\ Z +9 &W7\ Z +9 &X5\ [ +10 &Z8\ ] +9 &\\^ry6\ I +10 &]h@gn8\ "h +9 &]|gh3\ R +5 ( +2 "collection"':& +4 #tCollection Clamp onSpring/offSpring for 10/26 samples, on/off torque 2.00 + .Hand.open + "manipulator"&'1 +4 "core" &]wgj5\ R +55 1 +2 "manipulator"&% +4 "core" % t K +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +3 "manipulator"&B'\ +99 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp + "processing"%>& +5 "core" &\ + "manipulator"& % +4 "core" %\ 3 N %} +2 "storage"(% +4 "core" %8   %\  +2 "storage"(}. +3 "core" .(<< + "storage"(m& +4 "core" &<;   \  +2 "storage"(z& +4 "core" &<; P \  + "manipulator"&0& +4 "core" & & 1 +2 "manipulator"&l% +4 "core" %\ 3 # %} + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&w( +173 "core" ( + "manipulator"&x& +5 "core" & A !q + "storage"(2& +4 "core" &<;   \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&"' +100 "core" ' + "storage"(& +4 "core" &<; B B z\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"('e +290 "core" ' + "storage"(H- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (S& +3 "core" &<;\ \ ' (\  + "manipulator"& & +4 "core" &  !p +2 .tElbow.seek 5 + "manipulator"&,( +4 "core" ( + "manipulator"&4& +4 "core" & w !p +2 "storage"(& +3 "core" &<;   w\  +3 .tForearm.seek 5 + 300 counts + "manipulator"&b'[ +23 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&K/ +54 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&?& + "storage"(E'N +7 "core" & n g  !p +2 "manipulator"&% +4 "core" % V q p +2 .tForearm.seek :retract + "manipulator"&'\ +96 "core" ' +2 .tElbow.seek PC +2 "manipulator"&r(c +158 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +98 "core" ( +2 "manipulator"&f& +4 "core" &g [ + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &g +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&P'[ +94 "core" ' + "manipulator"&& +5 "core" &g G + "manipulator"& % +4 "core" %P b +2 "processing"%(& +4 "core" &\ +2 "processing"%.& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%A(Z +4 "core" &\ +8 & 3\ #b +9 &]W\ 7 +9 &~\ L +10 &o]\ N +9 &2\\\ M +9 &W\ M +10 & \\\ N +9 &"xY\ M +10 &$9Z\ N +9 &%Z\ M +9 &'[\ M +10 &)Wx\ M +9 &+CZ}\ M +10 &-\\\ M +9 &.]\ M +9 &0Zz\ M +10 &2JX|\ M +9 &4 \\\ M +9 &5Y{\ M +10 &7Yt\ N +9 &9RYu\ M +9 &;[|\ N +10 &<Yw\ M +9 &>Yv\ M +10 &@YXs\ N +9 &B\\v\ M +9 &C\\z\ M +10 &EW|\ M +9 &G_`w\ N +9 &Ihv\ O +10 &Jxt\ Q +9 &Lz\ S +10 &NTv\ U +9 &Pu\ T +10 &Qz\ T +9 &Sz\ T +9 &U\\y\ U +9 &Wy\ U +10 &X}\ U +9 &Z=Oqv\ . +10 &Z)u\ ( +5 ( + "processing"%.& +5 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.59 + .Hand.open + "manipulator"&11 +4 "core" &Z\ ( +55 1 +2 "manipulator"&% +4 "core" % P +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&{'\ +91 "core" ' + "processing"%& +5 "core" &Zx\ ( + #tImaging generic puck in Processing Clamp while storing it to tube 5 + "manipulator"&@% +4 "core" %\ - 4 "X +2 "storage"(F% +4 "core" %M\ \  E\ + "storage"(8. +3 "core" .(<< +2 "storage"(I& +3 "core" &<;\ \  ?\  +2 "storage"(^& +3 "manipulator"&& +7 "core" &<;\ \  :\  + &g +3 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +3 "storage"(#]kK-0-\ b +4 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +3 ."raiseStack"SE.seek :beamBreak +2 "manipulator"&](c + "storage"(W'e +5 "core" ( +2 "manipulator"&J& +4 "core" &g + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &i& +2 "core" &g +2 .tForearm.seek PC +2 "manipulator"&!'[ +94 "core" ' + .tHand.close +2 "manipulator"&~/ +52 "core" / +2 .tPC.seek :open + "processing"%$(p +98 "core" ' + "storage"(- +3 "core" -'e +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +53 "storage"( 'B +44 "core" ' +189 ( +2 "storage"(L& +4 "core" &<; B ( \  + "manipulator"&& +4 "core" &g  +2 "manipulator"&d% +4 "core" % W   +2 .tForearm.seek :retract +2 "manipulator"&q'\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&#( +262 "core" ( + "manipulator"&-& +5 "core" &  + "storage"(h& +4 "core" &<; 3\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&n' +93 "core" ' + .tHand.open + "manipulator"&R1 +54 "core" 1 +2 "storage"(M- +3 "core" -'B +3 .tSE.seek -0.16 Pucks below Top Plate + "storage"( ' +24 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(s' +52 "core" ' +2 #tLights, camera, ACTION! + "storage"(<- +4 "core" -' +2 "storage"()& +3 "core" &<; w\  +2 "manipulator"&3& +4 "core" &   +2 .tElbow.seek 5 +2 "manipulator"&c( +3 "core" ( + "manipulator"&& +4 "core" &   +2 "storage"(j& +4 "core" &<; v v l\  +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&' +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"(T'M +61 "core" ' +2 "manipulator"&=& +4 "core" & C  +2 "storage"(_& +4 "core" &<; 2 % ;\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&v'/ +29 "core" ' +2 .tElbow.hold +2 "manipulator"&`, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"(N'7 +22 "core" ' +2 "manipulator"&t% +4 "core" %A Z +2 "storage"(9& +4 "core" &<; \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 318 counts + "manipulator"&V'm +18 "core" ' +2 "manipulator"&& +5 "core" & s ~ j  + "storage"(\\& +4 "core" &<; E C \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&e' +21 "core" ' +2 "storage"(Q% +4 "core" %> 8 < )\ +2 ."downElevator"SE.seek :down +4 "storage"(+'N +99 (U% +3 "core" %9   \ U^ +2 "manipulator"&u% +4 "core" % p s   +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&p'\ +91 "core" ' +57 ' + ."downElevator"SE.stop + "storage"(5 +3 ([& +4 "core" &<;\  N 7\  +2 "collection"'& +4 "core" &]wjj6\ R + #tStoring generic puck in Collection Clamp to tube 5 +2 "manipulator"&*% +8 "core" %\ 0 $t +2 "storage"(X% +4 "core" %7   X\  +2 "storage"(&. +3 "core" .(<< + "storage"(O& +4 "core" &<;  \  +2 "storage"(& +4 "core" &<; ! " \  + "manipulator"&7& +4 "core" &  +2 .tElbow.seek 5 +2 "manipulator"&Z( +17 "core" ( + "manipulator"&& +5 "core" & . a + "storage"(Y& +4 "core" &<; \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&o' +99 "core" ' +2 "storage"(& +4 "core" &<; % 7 O\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(\ 'e +281 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&k& +3 "core" &\ ` +2 "storage"(y& +3 "core" &<;   \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&D'/ +28 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , +6 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(- +2 "core" -' +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"('l +27 "core" ' + "manipulator"&g% +5 "core" %A \\ + "storage"(a& +4 "core" &<; j\  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 5 + 318 counts +2 "manipulator"&C'm +17 "core" ' +2 "manipulator"&;& +4 "core" & k z \\ !q + "storage"(G& +4 "core" &<; B B p\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&'' +16 "core" ' +2 .tSE.seek 1.11 Pucks below Top Plate +2 "storage"('[ +48 "core" ' +2 "manipulator"&>& +5 "core" & p q g !q + "manipulator"& % +5 "core" % u r z + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +94 "core" ' +2 .tElbow.seek CC +2 "manipulator"&}( +157 "core" ( + "manipulator"&:& +5 "core" & - Cq + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &m& +2 "core" & - Cq +2 .tForearm.seek CC +2 "manipulator"&z'| +98 "core" ' + .tHand.close +2 "manipulator"&0/ +59 "core" / +2 .tCC.seek :open +2 "collection"'l(p +410 "core" ( +2 "storage"(%& +4 "core" &<; u j .\  + "storage"(x& +4 "core" &<; Z Y \  +2 "manipulator"&2& +8 "core" &7% 4 =F +2 "manipulator"&% +3 "core" % v ] +2 .tForearm.seek :retract +2 "manipulator"&6'\ +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&B( +170 "core" ( +2 "manipulator"&H& +4 "core" &\ - T +2 "storage"(S& +3 "core" &<; } } \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 5 +2 "manipulator"& '/ +110 "core" ' + .tElbow.hold +2 "manipulator"&4, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&1 +64 "core" 1 +3 "manipulator"&K% +4 "core" % B  k + "storage"(?& +4 "core" &<; 4 5 J\  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 5 + 319 counts +2 "manipulator"&'n +17 "core" ' +2 "manipulator"&w& +4 "core" & ` } ] a + "storage"("& +4 "core" &<; \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&' +11 "core" ' + "storage"(b% +5 "core" %a k\ +2 ."downElevator"SE.seek :down +3 "storage"(f'N +99 (% +3 "core" %? x \ SY +2 "manipulator"&,% +4 "core" % q q ; +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +94 "core" ' +43 ' + ."downElevator"SE.stop + "storage"(5 +20767 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +22191 "Can" (C? +38531 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +3 #Session Ended +21461 "Can" (B? +39257 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +3 #Session Ended +20735 "Can" (A? +39985 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +20008 "Can" )A? +40710 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +19283 "Can" (A? +41436 #"reset-modem"Session Begun +43 #-> Gate.cycleModemPower! 5 +13 .Gate.cycleModemPower! 5 +2 #Session Ended +18507 "Can" )A? +42206 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +2 .Gate.cycleModemPower! 5 +3 #Session Ended +17787 "Can" (A? +42930 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +3 #Session Ended +17062 "Can" )A? +43654 #"reset-modem"Session Begun +5 #-> Gate.cycleModemPower! 5 +2 .Gate.cycleModemPower! 5 +3 #Session Ended +16338 "Can" (A@ +44379 #"reset-modem"Session Begun +5 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +15613 "Can" )A? +45104 #"reset-modem"Session Begun +5 #-> Gate.cycleModemPower! 5 +2 .Gate.cycleModemPower! 5 +3 #Session Ended +14888 "Can" (B? +45827 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +2 .Gate.cycleModemPower! 5 +2 #Session Ended +14167 "Can" (B? +46552 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +3 #Session Ended +13440 "Can" (B? +47277 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +3 #Session Ended +12719 "Can" )B? +47998 #"reset-modem"Session Begun +3 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +3 #Session Ended +11991 "Can"\ )A? +48727 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +11265 "Can"\ *A@ +49456 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +2 .Gate.cycleModemPower! 5 +3 #Session Ended +10537 "Can" (B? +50182 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +2 .Gate.cycleModemPower! 5 +3 #Session Ended +9811 "Can" (B? +50905 #"reset-modem"Session Begun +5 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +9087 "Can" )B? +51634 #"reset-modem"Session Begun +5 #-> Gate.cycleModemPower! 5 +2 .Gate.cycleModemPower! 5 +3 #Session Ended +8358 "Can" (B? +52359 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +2 .Gate.cycleModemPower! 5 +3 #Session Ended +7634 "Can"{ )B? +53086 #"reset-modem"Session Begun +5 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +6905 "Can"s )B? +53811 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +6182 "Can"y (B? +54536 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +5457 "Can"s )B? +55264 #"reset-modem"Session Begun +5 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +4728 "Can"o )A? +55998 #"reset-modem"Session Begun +3 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +3996 "Can"h *A? +56727 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +3 #Session Ended +3265 "Can"g )A? @EST946703068.94 #"reset-modem"Session Begun +5 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +2535 "Can"` )A? +58186 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +3 #Session Ended +1806 "Can"Z )B? +58914 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +1078 "Can"\\ )B? +59645 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +351 "Can"V (EA +59999 W *B? +371 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +59622 "Can"U )A? +1096 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +2 .Gate.cycleModemPower! 5 +3 #Session Ended +58897 "Can"Q )A> +1823 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +58170 "Can"J *B? +2552 #"reset-modem"Session Begun +5 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +57440 "Can"S )B? +3279 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +2 .Gate.cycleModemPower! 5 +2 #Session Ended +56715 "Can"O )B? +4003 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +55990 "Can"N (B? +4732 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +3 #Session Ended +55259 "Can"O )B? +5460 #"reset-modem"Session Begun +5 #-> Gate.cycleModemPower! 5 +2 .Gate.cycleModemPower! 5 +2 #Session Ended +54533 "Can"P )B? +6188 #"reset-modem"Session Begun +3 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +3 #Session Ended +53805 "Can"L )B? +6935 #"reset-modem"Session Begun +5 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +53057 "Can"M )A? +7707 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +52286 "Can"H *A? +8434 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +3 #Session Ended +51558 "Can"F *B? +9161 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +50832 "Can"= )C? +9883 #"reset-modem"Session Begun +5 #-> Gate.cycleModemPower! 5 +2 .Gate.cycleModemPower! 5 +3 #Session Ended +50109 "Can"D )B? +10608 #"reset-modem"Session Begun +5 #-> Gate.cycleModemPower! 5 +2 .Gate.cycleModemPower! 5 +3 #Session Ended +49384 "Can"B *B? +11340 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +48652 "Can"B (B? +12064 #"reset-modem"Session Begun +5 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +47928 "Can"? (B? +12785 #"reset-modem"Session Begun +5 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +47207 "Can"C *B? +13512 #"reset-modem"Session Begun +5 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +46480 "Can"= *A? +14237 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +45756 "Can"5 *A? +14960 #"reset-modem"Session Begun +5 #-> Gate.cycleModemPower! 5 +2 .Gate.cycleModemPower! 5 +3 #Session Ended +45032 "Can"3 *A? +15686 #"reset-modem"Session Begun +5 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +44306 "Can". )B? +16412 #"reset-modem"Session Begun +5 #-> Gate.cycleModemPower! 5 +2 .Gate.cycleModemPower! 5 +3 #Session Ended +43580 "Can"- )B? +17140 #"reset-modem"Session Begun +5 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +42851 "Can". )B? +17865 #"reset-modem"Session Begun +5 #-> Gate.cycleModemPower! 5 +2 .Gate.cycleModemPower! 5 +3 #Session Ended +42127 "Can") )B@ +18592 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +41401 "Can". *A? 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+53311 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +3 #Session Ended +6681 "Can" )B? +54039 #"reset-modem"Session Begun +5 #-> Gate.cycleModemPower! 5 +2 .Gate.cycleModemPower! 5 +3 #Session Ended +5953 "Can" )B? +54769 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +4 .Gate.cycleModemPower! 5 +2 #Session Ended +5223 "Can" )B? +55498 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +4495 "Can" (A? +56224 #"reset-modem"Session Begun +5 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +3768 "Can" (B? +56954 #"reset-modem"Session Begun +5 #-> Gate.cycleModemPower! 5 +2 .Gate.cycleModemPower! 5 +2 #Session Ended +3038 "Can" (A? +57684 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +3 #Session Ended +2308 "Can" )B@ +58417 #"reset-modem"Session Begun +5 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +1575 "Can" (B@ +59147 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +2 .Gate.cycleModemPower! 5 +2 #Session Ended +847 "Can" (B? +59883 #"reset-modem"Session Begun +5 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +110 "Can" 'DA +60001  (B? +611 #"reset-modem"Session Begun +5 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +59381 "Can" (A? +1343 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +2 .Gate.cycleModemPower! 5 +2 #Session Ended +58651 "Can"\ (A? +2075 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +57918 "Can" (A? +2809 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +57183 "Can" (A? +3541 #"reset-modem"Session Begun +5 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +56451 "Can"\ (A? +4271 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +2 .Gate.cycleModemPower! 5 +3 #Session Ended +55722 "Can"\ (B? +5002 #"reset-modem"Session Begun +5 #-> Gate.cycleModemPower! 5 +2 .Gate.cycleModemPower! 5 +2 #Session Ended +54991 "Can"\ (B? +5734 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +2 .Gate.cycleModemPower! 5 +3 #Session Ended +54259 "Can" (B@ +6464 #"reset-modem"Session Begun +5 #-> Gate.cycleModemPower! 5 +2 .Gate.cycleModemPower! 5 +3 #Session Ended +53528 "Can"\ (B? +7199 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +52794 "Can"\ (A? +7925 #"reset-modem"Session Begun +5 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +52067 "Can"\ (A? +8665 #"reset-modem"Session Begun +5 #-> Gate.cycleModemPower! 5 +2 .Gate.cycleModemPower! 5 +3 #Session Ended +51326 "Can"\ )B? +9399 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +50594 "Can"\ *A? +10131 #"reset-modem"Session Begun +5 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +49861 "Can"\ (B? +10907 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +49086 "Can"\ 'A@ +11639 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +48354 "Can"\ (B? +12370 #"reset-modem"Session Begun +5 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +47622 "Can" (B? +13108 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +46885 "Can" (B? +13841 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +3 #Session Ended +46151 "Can"\ )A? +14573 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +3 #Session Ended +45419 "Can" (A? +15303 #"reset-modem"Session Begun +5 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +44689 "Can" )A? +16035 #"reset-modem"Session Begun +5 #-> Gate.cycleModemPower! 5 +2 .Gate.cycleModemPower! 5 +2 #Session Ended +43957 "Can"\ (A? +16766 #"reset-modem"Session Begun +5 #-> Gate.cycleModemPower! 5 +2 .Gate.cycleModemPower! 5 +3 #Session Ended +43226 "Can" (A? +17503 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +3 #Session Ended +42489 "Can" (B? +18239 #"reset-modem"Session Begun +5 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +41753 "Can" (B@ +18976 #"reset-modem"Session Begun +5 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +41016 "Can" )B? +19730 #"reset-modem"Session Begun +5 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +40262 "Can" )A? +20467 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +39526 "Can" *A? +21202 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +3 #Session Ended +38790 "Can" *A? +21935 #"reset-modem"Session Begun +5 #-> Gate.cycleModemPower! 5 +2 .Gate.cycleModemPower! 5 +2 #Session Ended +38057 "Can" (B? +22669 #"reset-modem"Session Begun +5 #-> Gate.cycleModemPower! 5 +2 .Gate.cycleModemPower! 5 +2 #Session Ended +37324 "Can" (B? +23407 #"reset-modem"Session Begun +5 #-> Gate.cycleModemPower! 5 +2 .Gate.cycleModemPower! 5 +3 #Session Ended +36585 "Can" (B? +24140 #"reset-modem"Session Begun +5 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +35852 "Can" (B? +24875 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +2 .Gate.cycleModemPower! 5 +3 #Session Ended +35118 "Can" (B? +25612 #"reset-modem"Session Begun +5 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +47 #Session Ended +34335 "Can" (B? +26390 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +33603 "Can" *B? +27111 #"reset-modem"Session Begun +5 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +32881 "Can" )A? +27836 #"reset-modem"Session Begun +5 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +32156 "Can"\ )A? +28561 #"reset-modem"Session Begun +5 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +31430 "Can"\ (A? +29292 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +3 #Session Ended +30700 "Can"\ (B? +30017 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +2 .Gate.cycleModemPower! 5 +3 #Session Ended +29976 "Can" (B? +30744 #"reset-modem"Session Begun +5 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +29248 "Can" )A? +31468 #"reset-modem"Session Begun +5 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +28524 "Can" (B@ +32192 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +3 #Session Ended +27800 "Can" (B? +32917 #"reset-modem"Session Begun +5 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +27075 "Can" (B? +33643 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +3 #Session Ended +26349 "Can" )A? +34370 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +2 .Gate.cycleModemPower! 5 +3 #Session Ended @EST1645972876.37 "Can" (B? +60002  )A? +60002  )A? +60002  (B? +60002  (B? +60002  (B@ +60001  (B? +60002  (B? +60002  (B> +60002  )A? +60002  )A? +60002  )A? +60002 \  )B? +60002  )A? +60002  )B? +60002  (B? +60002  )B? +60002  (A? +60002  (A? +60001  )A? +60002  )B> +60002  (C? +60002  *B? +60002  (C? +60002  (C? +60001  (B? +60002  )B? +60003  (B? +60001  )B? +60002  (B? +60002  *B? +60002  (C? +60002  (C? +60002   )C? +60002 % (C? +60001 # )B? +60003 " )B? +60002 " (B? +60001 + (C? +60002 * )C? +60002 - (B? +60002 / (C@ +60002 - *C? +60002 3 )B? +60001 0 (B> +60002 - (C? +60003 2 (B? +60001 . (B? +60002 2 (C? +60002 1 (C? +60002 5 )C? +60002 8 )C? +60001 = )B? +60002 > (B? +60002 ? *B? +60002 L (B? +60002 L )B? +60002 R (B? +60002 U (B? +60002 [ (B? +60002 Q (B? +60002 U (B? +60002 M (B> +60001 C )B? +60002 F )B? +60002 @ *B? +60002 < 'C? +60002 6 (C@ +60002 8 (B@ +60002 7 (C? +60002 7 )B? +60002 + )B? +60001 ! (B? +60002 $ (C? +60003  (C? +60001 # (C? +60002  (C? +60002  (C? +60002  )C@ +60002  (B? +60002  )A? +60002  (B? +60001  (A? +60002  (B? +60002  )A? +60002  (B@ @EST1646024478.00   )A? +60002  (B@ +60002  (A? +60002  )A? +60002  )B? +60002   (A? +60001  'B? +60003  (B? +60001  (B? +60002  (B? +60002  )B? +60002  )A? +60002  )B? +60002  )A? +60002  (A? +60001  (B? +60003  (B? +60001  (A? +60002  )B@ +60002  (A? +60002  )A? +60002  )A? +60002  )A? +60002  (B? +60001  )B? +60003  (A? +60002  (B@ +60001  )B? +60002  )B? +60002  (B@ +60002  )A? +60002 \ )A? +60002  )B? +60001  (B? +60002 \ (B? +60002 \ )B? +60002 \ )A? +60002 \ )A? +60002 \ *A? +60002 \ )A? +60002  )B? +60002  )B? +60002  )B? +60001  (B? +60002  )B? +60002  (B@ +60002  )B? +60002  *A? +60002  )A? +60002  *A? +60002  )B@ +60002  )B? +60002  )B? +60001  (B? +60002  (B? +60002  *A? +60002  *A? +60002  *A> +60002  )B? +60002  )B? +60002  (B? +60002  )B? +60001  (B? +60002  )B? +60002  )A? +60002  )A? +60002  )A? +60002  )B? +60002  (C? +60002  )B@ +60001  *B? +60002  )B? +60002  )B? +60002  *A? +60002  +A? +60002  *B? +60002  *A? +60002  *C? +60002  *B? +60002  )B? +60002  )B? +60001  +B? +60002  *B? +60002  *A? +60002  )B? +60002  *B? +60002  )B? +60002 ~ )B? +60002  *B? +60002 | )B? +60002 | )B? +60002 z *B@ +60002 y )A? +60001 y *B? +60002 w *A? +60002 v *B? +60002 w )B? +60002 w *B? +60002 v )C@ +60002 r *B? +60001 m *A? +60002 j )A? +60002 g )A? +60002 g )B? +60002 h *B? +60002 m )B? +60002 j *B? +60002 j )B? +60002 g *B? +60001 k *B? +60002 g *A? +60002 e )A? +60002 g )A? +60002 o *B? +60002 l *B? +60002 k *B? +60002 e )B? +60002 e )B? +60001 ` *A? +60002 e *A? +60002 i )A? +60002 i *B? +60002 b *B@ +60002 k *B? +60002 d *B? +60002 a *B? +60002 Z *B? +60002 ] )A? +60002 ` )B? +60001 [ )A? +60002 [ )B@ +60002 [ )B? +60002 \\ *B? +60002 [ )B? +60002 _ *B? +60002 V )B? +60002 [ *A? +60002 ] *A? +60001 c *A? +60002 b *B? +60002 [ )B? +60002 f )B? +60002 a )B@ +60002 \\ *B? @EST1646110880.72 ^ *A? +60002 ` *B> +60002 _ *B? +60002 a *B? +60002 a )B? +60001 a *B@ +60002 \\ *A? +60002 ` (B? +60002 V )B? +60002 U *B? +60002 V )B? +60002 [ *B? +60002 \\ *B? +60001 [ *B? +60002 ` )B@ +60002 Y *B? +60002 ] *B? +60002 [ )B? +60002 Y )B? +60002 Y *B? +60002 ] *A? +60002 b *B? +60001 e )B@ +60002 ^ )B? +60002 ` *B? +60002 _ *B? +60002 U *A? +60002 U *B? +60002 Z *B? +60002 [ *A? +60002 ^ *B? +60002 a *B? +60002 d )B? +60001 g *B? +60002 i )B? +60002 g )B? +60002 d *A? +60002 k *B? +60002 q *B? +60002 l *B? +60002 o )B@ +60001 u )B? +60002 y )B? +60002 v )B? +60002 z *B? +60002  *B? +60002  *A> +60002  *A? +60002  )B@ +60002  )B? +60001  *B? +60002  )B@ +60002  )B? +60002  *B? +60002  *A? +60002  *A? +60002  (B? +60002  *B? +60001  )B? +60002  *B? +60002  )B? +60002  (B? +60002  *B? +60002  )A? +60002  *A? +60002  *B? +60002  *B? +60002  (B? +60002  )B? +60001  )B@ +60002  )B? +60002  )B? +60002  )B? +60002  )A? +60002  )A? +60002  )B? +60002  )B? +60002  )B? +60001  )B? +60002  )A? +60002  )A? +60002  )B? +60002 \  )A? +60002  )A? +60002  (B@ +60002  (B? +60002  (B? +60001 $ (B? +60002 , )A? +60002 5 )A? +60002 6 )A? +60002 < (B? +60002 @ )B? +60002 C )B? +60002 D (B? +60002 M (B? @1647459099.03EDT = =mMAIN_scheduler =tMAIN @EDT1647459100.97 #"core_reset"Sent BREAK +2 #t@42231 idle with ifg=0x00, ie=0x75 + #>RESET< ESP2 v3.41 I2C Gateway v3.20 +208 #>RESET< ESP2 v3.41 I2C Gateway v3.20 for core bus +207 !o:Instrument::ISUSCore: @refi(M: @configS:Instrument::Configuration: name" ISUS:calFileName0:sampleCmd"TS: prompt"\ :statusCmd"C:sampleTimeouti#:promptTimeouti:statusTimeouti: retriesi:strToPrompt"W: pace0: echoF:\ @name@ +100 #Configuration for don (12651-03) 10/9/20 brent@mbari.org\ /home/esp/esp2/type/shallow/don/configure.rb\ +398 "Can"o <%"w + o <%"w + #tPolling Can every 10:00 +10 !o:Storage::Warning: mesg"Uncleanly Exited:bt[ "8/home/esp/esp2/utils/storage.rb:438:in `readPucks!'"6/home/esp/esp2/utils/storage.rb:627:in `restore!'"-/home/esp/esp2/lib/esp.rb:115:in `shell'"7/home/esp/esp2/lib/schedule.rb:481:in `initialize'"0/home/esp/esp2/lib/thread.rb:738:in `start'"7/home/esp/esp2/lib/schedule.rb:474:in `initialize'"'/home/esp/esp2/lib/schedule.rb:472 +646 #-> ESP.ready! +3 #Powering core bus +540 .Gate.power :raw,:ON +2 "sampler") +18 ) +2 "core"  +2 "collection"' +2 ' +4 "core"  + "processing"% +2 % +3 "core"  +5 "collection"' 9\ +2 ' 0\ + ' -\ +4 "processing"% 9\ +2 % 2\ +2 % *\ +2 % 0\ +4 "sampler")&\ +2 "collection"'% +3 "core" %d + .tCS.configure :default +3 "collection"'#P d@b +2 "processing"%% +3 "core" %8\ + .tPS.configure :default +3 "processing"%#A d`xb +2 "sampler")% +3 "core" %\ \  + .tSS.configure :default +3 "sampler")#.0X require 'shuffle.rb' +1110 #-> 5.times {shuffle 3..5} +3 #Shuffling pucks in tube 3 of [3..5] + #Loading generic puck from tube 3 into Collection Clamp +2 "collection"';& +3 "core" &`i\  +2 .tHand.open + "manipulator"&<1 +61 "core" 1 +2 "manipulator"&=% +4 "core" % \ / S #@ + "storage"(>% +4 "core" %E j j \ F +2 "storage"(?. +3 "core" .(,~ +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(@( +360 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (A& +3 "core" &   \ + "manipulator"&B& +4 "core" &<  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&C(D +3 "core" ( + "manipulator"&D& +4 "core" &<  +2 "storage"(E& +4 "core" & o p \ +38 .tForearm.seek 3 + 450 counts +7 "manipulator"&F' +94 "core" ' + "storage"(G& +4 "core" & _\ +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(H'e +285 "core" ' + "storage"(I- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (J& +2 "core" & \ +2 "manipulator"&K& +4 "core" &<   +2 .tElbow.seek 3 + "manipulator"&L(D +4 "core" ( + "manipulator"&M& +4 "core" &<   + "storage"(N& +4 "core" & m\ +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&O'y +16 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&P/ +65 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&Q& + "storage"(R'N +7 "core" &< } \  + "manipulator"&S% +5 "core" % m |  +2 .tForearm.seek :retract +2 "manipulator"&T'\ +97 "core" ' + .tElbow.seek CC +2 "manipulator"&U( +146 "core" ' + ."downElevator"SE.stop + "storage"(5 +10 "core" ( + "manipulator"&V& +4 "core" &, g Af +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &W& +3 "core" &,  Bf +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&X'| +100 "core" ' + "manipulator"&Y& +5 "core" &+ # Ae + "manipulator"&Z% +4 "core" %i y +2 "collection"'[& +4 "core" &`a\  +3 "collection"'\\& +6 "core" &`d\  +2 .tCC.seek :closed +3 "collection"'](] +3 "core" &`k\  +6 &vLn\ &j +10 &MWk\ 9 +9 &h\ N +9 &e_[\ O +10 &&cd\ O +9 &di\ O +9 & da\ O +10 &"neZ\ N +9 &$0dY\ N +10 &%gd\ O +9 &'g`\ O +9 &)te^\ O +10 &+7b[\ O +9 &,e^\ N +10 &.g]\ O +9 &0}d^\ O +9 &2?gg\ O +10 &4ib\ O +9 &5cZ\ N +9 &7d\\\ N +10 &9Gcd\ O +9 &; cc\ O +9 &<ch\ N +10 &>dc\ N +9 &@Pgc\ N +10 &Bde\ N +9 &Cbd\ N +9 &Eeg\ O +10 &GVdg\ O +9 &Ivrh\ P +9 &JB^\ R +10 &Lp^\ V +9 &NGBDf\ W +10 &P9=j\ X +9 &Q58f\ W +9 &S.0l\ Y +10 &UG"'d\ Z +9 &W\  c\ Y +9 &Xg\ [ +10 &Z\  d\ [ +9 &\\Jc\ H +9 &]Y:e\ )x +10 &]oe\ F +5 ( +2 "collection"'\\& +4 #tCollection Clamp onSpring/offSpring for 10/26 samples, on/off torque 1.92 +2 .Hand.open + "manipulator"&^1 +3 "core" &]ih\ F +55 1 + "manipulator"&_% +5 "core" % i a +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&`'\ +92 "core" ' +3 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%a& +5 "core" &Q;\  + "manipulator"&b% +4 "core" %\ )  C + "storage"(c% +4 "core" %N E F\ +2 "storage"(d. +3 "core" .( + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(e( +29 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (f& +2 "core" &   8\ +2 "manipulator"&g& +4 "core" &*  @Y +2 "manipulator"&h% +4 "core" %\ )  C +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&i(D +168 "core" ( + "manipulator"&j& +4 "core" &E I  +2 "storage"(k& +4 "core" & [ ^ \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&l' +106 "core" ' + "storage"(m& +4 "core" & k o -\ +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(n'e +284 "core" ' + "storage"(o- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (p& +3 "core" & \\ Y\ + "manipulator"&q& +4 "core" &E s p c  +2 .tElbow.seek 3 + "manipulator"&r(D +4 "core" ( + "manipulator"&s& +4 "core" &E z b !  +2 "storage"(t& +3 "core" & o o\ +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&u'y +26 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&v/ +52 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&w& +2 "storage"(x'N +7 "core" &E s s m  + "manipulator"&y% +4 "core" % u r p J +2 .tForearm.seek :retract +2 "manipulator"&z'\ +88 "core" ' +2 .tElbow.seek PC +2 "manipulator"&{(c +158 "core" ' + ."downElevator"SE.stop + "storage"(5 +91 "core" ( + "manipulator"&|& +5 "core" &f _ + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &}& +3 "core" &f +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&~'[ +103 "core" ' +2 "manipulator"&& +4 "core" &f @ +2 "manipulator"&% +4 "core" %M  +2 "processing"%& +4 "core" &QD\  +2 "processing"%& +5 "core" &QD\  +2 .tPC.seek :closed +2 "processing"%(Z +4 "core" &Q\  +7 &fL\ %g +10 &;W\ 8 +9 &\ M +10 &Q`\ N +9 &^\ N +9 &^\ M +10 & a\ M +9 &"[]\ M +9 &$]\ N +10 &%_\ N +9 &']\ M +9 &)b]\ N +10 &+%b\ M +9 &,c\ N +10 &.c\ M +9 &0l_\ M +9 &2-b\ M +10 &3]\ M +9 &5]\ N +10 &7r_\ N +9 &95]\ M +9 &:_\ N +10 &<_\ M +9 &>ye\ N +9 &@<]\ N +10 &A_\ M +9 &C_\ M +10 &Ea\ M +9 &GAk\ O +9 &Hr\ P +10 &J\ R +9 &Ly\ S +9 &N:\ T +10 &O\ T +9 &Q\ T +10 &S\ T +9 &U@\ T +9 &W\ U +10 &X\ T +9 &Z/]\ #k +9 &Zg\ 3 +9 ( +3 "processing"%& +3 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.56 + .Hand.open +2 "manipulator"&1 +3 "core" &Z#\ / +58 1 + "manipulator"&% +5 "core" % M B +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +99 "core" ' + "processing"%& +4 "core" &Z#=\ / +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"& % +4 "core" %\ 6 % & +2 "storage"(\ % +3 "core" %D   \ +2 "storage"( . +3 "core" .( + "storage"( & +4 "core" & S \ +2 "storage"( & +4 "manipulator"&& +4 "core" &   N\ +2 &f % +2 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +2 "storage"(#]kK-0-\ b +2 "manipulator"&(c +6 ."raiseStack"SE.seek :beamBreak +2 "storage"('e +2 "core" ( + "manipulator"&& +4 "core" &f +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &f 5 +2 .tForearm.seek PC + "manipulator"&'[ +100 "core" ' + .tHand.close +2 "manipulator"&/ +63 "core" / + .tPC.seek :open +2 "processing"%(p +82 "core" ' +2 "storage"(- +3 "core" -'e +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('B +33 "core" ' +266 ( +2 "storage"(& +3 "core" & g _ "\ +2 "manipulator"&& +4 "core" &f ` + "manipulator"&% +4 "core" % f i +2 .tForearm.seek :retract +2 "manipulator"&'\ +91 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&"(D +251 "core" ( +2 "manipulator"&%& +4 "core" &B !r + "storage"('& +4 "core" & Y \\\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&(' +101 "core" ' + .tHand.open + "manipulator"&)1 +59 "core" 1 +2 "storage"(- +3 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate +2 "storage"(' +24 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(#' +55 "core" ' +2 #tLights, camera, ACTION! + "storage"(,- +4 "core" -' +2 "storage"(-& +3 "core" & @\  +2 "manipulator"&.& +4 "core" &C ; !q + .tElbow.seek 3 +2 "manipulator"&/(D +4 "core" ( + "manipulator"&0& +4 "core" &C 3 !q +2 "storage"(1& +4 "core" & r\  +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&2' +3 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"(3'M +59 "core" ' +2 "manipulator"&4& +4 "core" &C v | !q +2 "storage"(5& +4 "core" & [ Z \  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 + "manipulator"&6'M +30 "core" ' +2 .tElbow.hold + "manipulator"&7, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"(8'7 +27 "core" ' + "manipulator"&9% +5 "core" %] + "storage"(:& +4 "core" &   \  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 3 + 316 counts + "manipulator"&;'ω +19 "core" ' +2 "manipulator"&<& +4 "core" &[\ l w H Y +2 "storage"(=& +4 "core" & o u \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&>' +18 "core" ' +2 "storage"(?% +4 "core" %9 s } {\ +3 ."downElevator"SE.seek :down +4 "storage"(!'N +99 (A% +3 "core" %&< \\ \\\ U] + "manipulator"&B% +4 "core" % | +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&D'\ +90 "core" ' +62 ' + ."downElevator"SE.stop + "storage"(5 +3 (E& +4 "core" & ,  R\  + "collection"'G& +4 "core" &]hT\ F +2 #tStoring generic puck in Collection Clamp to tube 3 +2 "manipulator"&$% +3 "core" %\ - # "_ +2 "storage"(&% +4 "core" %J \\ ]\ \ +2 "storage"(I. +3 "core" .( + "storage"(J& +5 "core" & \\ [\  +49 "storage"( & +4 "core" & \\ \\\  +2 "manipulator"&K& +3 "core" &[\  Y +2 .tElbow.seek 3 +2 "manipulator"&M(D +27 "core" ( + "manipulator"&N& +5 "core" &F  u + "storage"(P& +4 "core" & g \\ !\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&Q' +96 "core" ' + "storage"(S& +4 "core" & v q U\  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(C'e +276 "core" ' +2 "storage"(F- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&V& +2 "core" &F  u +2 "storage"(W& +4 "core" & c g\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 + "manipulator"&H'M +31 "core" ' +2 .tElbow.hold + "manipulator"&O, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(Y- +2 "core" -' +3 .tSE.seek 0.12 Pucks below Top Plate + "storage"(Z'p +28 "core" ' + "manipulator"&[% +4 "core" %\\z I +2 "storage"(L& +4 "core" &\ \  [\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 315 counts +2 "manipulator"&R'ψ +18 "core" ' +2 "manipulator"&T& +4 "core" &F _ t  u + "storage"(+& +4 "core" & p o \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&^' +11 "core" ' +2 .tSE.seek 1.12 Pucks below Top Plate +2 "storage"(_'_ +41 "core" ' +2 "manipulator"&a& +5 "core" &F p q b u + "manipulator"&b% +4 "core" % s q U  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&c'\ +88 "core" ' + .tElbow.seek CC +2 "manipulator"&d( +159 "core" ( + "manipulator"&\\& +5 "core" &* @W + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &f& +2 "core" &( ?V +2 .tForearm.seek CC +2 "manipulator"&g'| +94 "core" ' +2 .tHand.close + "manipulator"&h/ +52 "core" / +2 .tCC.seek :open +2 "collection"'X(p +410 "core" ( +2 "storage"(j& +4 "core" & f\  + "storage"(k& +4 "core" & x L\  +2 "manipulator"&@& +3 "core" &" :0 +2 "manipulator"&m% +4 "core" % r  + .tForearm.seek :retract +2 "manipulator"&U'\ +92 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&`(D +173 "core" ( + "manipulator"&o& +4 "core" &@\ Z U +2 "storage"(p& +4 "core" & \  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 3 +2 "manipulator"&q'M +109 "core" ' + .tElbow.hold +2 "manipulator"&s, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&t1 +57 "core" 1 +2 "manipulator"&v% +4 "core" % S t +2 "storage"(w& +4 "core" & Y \\\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 306 counts +2 "manipulator"&y' +17 "core" ' + "manipulator"&i& +4 "core" &b o R 3 +2 "storage"(l& +4 "core" & +\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&n' +20 "core" ' + "storage"(u% +4 "core" %Z \ +3 ."downElevator"SE.seek :down +3 "storage"(|'N +99 (}% +2 "core" %r9 u\ U[ +2 "manipulator"&r% +5 "core" % {  ! +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +95 "core" ' +43 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 4 of [3..5] +2 #Loading generic puck from tube 4 into Collection Clamp + "collection"'& +5 "core" &f\ + "manipulator"&% +5 "core" %\ 3  %} + "storage"(x% +5 "core" %< V\ + "storage"(z. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 + "storage"(*(, +353 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (& +3 "core" &, C C \  + "manipulator"&& +4 "core" &b G 3 +2 .tElbow.seek 4 +2 "manipulator"&(* +20 "core" ( +2 "manipulator"& & +4 "core" &# c  + "storage"(\ & +4 "core" &, C\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"& ' +104 "core" ' + "storage"(& +4 "core" &, \  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"( 'e +282 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 ( & +3 "core" &, \  + "manipulator"&& +4 "core" &# s q e  +2 .tElbow.seek 4 +2 "manipulator"&(* +3 "core" ( + "manipulator"&~& +4 "core" &# } w p  +2 "storage"(& +3 "core" &, \  +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&'Z +23 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&{/ +53 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& + "storage"('N +7 "core" &# r q  +2 "manipulator"&% +4 "core" % Q s q q +2 .tForearm.seek :retract +2 "manipulator"&'\ +92 "core" ' +2 .tElbow.seek CC +2 "manipulator"&( +153 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +11 "core" ( + "manipulator"&& +4 "core" &. $ Ct +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &. Ct +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&%'| +95 "core" ' +2 "manipulator"&'& +4 "core" &. Cs +2 "manipulator"&% +4 "core" %σ +2 "collection"')& +4 "core" &U\ +2 "collection"'& +5 "core" &V\ +2 .tCC.seek :closed +2 "collection"',(] +5 "core" &]\ +7 & 8a\ $e +9 &dTi\ 8 +9 &h\ M +10 &t_i\ N +9 &6a`\ N +9 &a_\ O +10 & bg\ N +9 &"|d]\ N +10 &$>_^\ N +9 &%be\ O +9 &'ch\ O +10 &)d]\ O +9 &+Ecf\ O +9 &-bh\ O +10 &.b`\ O +9 &0`\\\ N +10 &2Nc[\ N +9 &4gZ\ O +9 &5a[\ N +10 &7c_\ N +9 &9Ua[\ O +9 &;`d\ N +10 &<__\ N +9 &>_^\ N +9 &@^`c\ N +10 &B `f\ N +9 &C_j\ N +10 &Edm\ N +9 &Geff\ O +9 &I$nh\ P +10 &Jq\ R +9 &LKq\ V +9 &NTj\ W +10 &PY\ W +9 &Qh\ X +10 &Sk\ Y +9 &UVh\ Y +9 &W^\ Z +10 &X]\ [ +9 &Z\\\ \\ +9 &\\Xi\ H +10 &]a<o\ $m +9 &]tf\ O +6 ( +2 "collection"'& +4 #tCollection Clamp onSpring/offSpring for 10/26 samples, on/off torque 1.97 + .Hand.open + "manipulator"&-1 +4 "core" &]hd\ O +55 1 + "manipulator"&.% +4 "core" % σ # +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&0'\ +93 "core" ' +2 #tLoading generic puck from tube 4 into Processing Clamp + "processing"%1& +4 "core" &>\ +2 "manipulator"&% +4 "core" %\ +  !N + "storage"(4% +4 "core" %K B C \ +2 "storage"(5. +3 "core" .(,~ +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"((, +3 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (9& +3 "core" &,\  \  + "manipulator"&:& +4 "core" &5& d =A +2 "manipulator"&% +4 "core" %\ + W !N +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&<(* +157 "core" ( + "manipulator"&=& +4 "core" &4 7  +2 "storage"(?& +4 "core" &, \\ \\\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&"' +93 "core" ' +2 "storage"((& +4 "core" &, o q \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(#'e +278 "core" ' +2 "storage"(A- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +2 (B& +3 "core" &, U A\  +2 "manipulator"&2& +4 "core" &4 A  + .tElbow.seek 4 +2 "manipulator"&/(* +3 "core" ( +2 "manipulator"&3& +3 "core" &4 C  +2 "storage"(6& +4 "core" &, g g ]\  +2 .tForearm.seek 4 + 300 counts + "manipulator"&;'Z +22 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&E/ +63 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&G& + "storage"($'N +7 "core" &4 s q )  + "manipulator"&&% +5 "core" % R s q D + .tForearm.seek :retract +2 "manipulator"&I'\ +96 "core" ' +2 .tElbow.seek PC +2 "manipulator"&8(c +154 "core" ' + ."downElevator"SE.stop + "storage"(5 +83 "core" ( + "manipulator"&J& +4 "core" &_ B 8 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 & & +3 "core" &_ _ 8 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&K'[ +105 "core" ' + "manipulator"&N& +4 "core" &_ l 8 +2 "manipulator"&P% +4 "core" %Q r t 9 o +2 "processing"%>& +4 "core" &>\ +2 "processing"%S& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%!(Z +4 "core" &\ +8 & 2\ $c +9 &XU\ 7 +9 &\ L +10 &g_\ N +9 &+\\\ M +10 &\\\ M +9 & b\ N +9 &"rZ\ M +10 &$3a\ M +9 &%_\ N +9 &'^\ M +10 &)y\\\ M +9 &+;\\\ M +9 &,`\ M +10 &.a\ M +9 &0_\ M +10 &2B_\ N +9 &4_\ N +9 &5_\ M +10 &7[\ M +9 &9Kb\ M +10 &; b\ M +9 &<]\ N +9 &>a\ N +10 &@R_\ N +9 &B_\ M +9 &C^\ M +10 &Eb\ M +9 &GXg\ N +10 &In\ O +9 &J\ Q +53 &L\ S +13 &NQ\ S + &P\ T + &Q\ T + &S\ T + &UW\ T + &W\ T +4 &X\ T +9 &Z8Nt\ / +10 &Z-\ ( +5 ( + "processing"%S& +5 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.55 + .Hand.open +2 "manipulator"&71 +3 "core" &Z\ ( +52 1 + "manipulator"&D% +5 "core" % Q m o +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&F'\ +91 "core" ' + "processing"%V& +5 "core" &Z5\ ( + #tImaging generic puck in Processing Clamp while storing it to tube 4 +2 "manipulator"&W% +4 "core" %\ ( c D + "storage"(Y% +4 "core" %G E C \ +2 "storage"([. +3 "core" .(, + "storage"(L& +4 "core" &, B B \  +3 "storage"(T& +3 "manipulator"&+& +5 "core" &, D C \  + &_ w 8 +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +3 "storage"(#]kK-0-\ b +2 .tElbow.seek PC +4 "manipulator"&a(c +4 ."raiseStack"SE.seek :beamBreak +2 "storage"(b'e +2 "core" ( +2 "manipulator"&Q& +4 "core" &_  8 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &M& +3 "core" &_  8 +2 .tForearm.seek PC +2 "manipulator"&C'[ +101 "core" ' + .tHand.close +2 "manipulator"&H/ +56 "core" / +2 .tPC.seek :open +2 "processing"%R(p +84 "core" ' +2 "storage"(Z- +3 "core" -'e +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(\\'B +43 "core" ' +254 ( + "storage"(f& +4 "core" &, \\ \\\  +2 "manipulator"&^& +4 "core" &_  8 + "manipulator"&O% +4 "core" % V  +2 .tForearm.seek :retract + "manipulator"&h'\ +101 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&c(* +242 "core" ( + "manipulator"&]& +5 "core" &*  5 + "storage"(j& +4 "core" &, C E K\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&k' +95 "core" ' + .tHand.open +2 "manipulator"&@1 +64 "core" 1 +2 "storage"(m- +3 "core" -'B +3 .tSE.seek -0.16 Pucks below Top Plate + "storage"(o' +26 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(p' +52 "core" ' +2 #tLights, camera, ACTION! + "storage"(g- +4 "core" -' + "storage"(d& +5 "core" &, >\  + "manipulator"&t& +4 "core" &*  5 +2 .tElbow.seek 4 + "manipulator"&v(* +4 "core" ( + "manipulator"&w& +5 "core" &*  5 + "storage"(i& +4 "core" &, \  +2 .tForearm.seek 4 + 450 counts +3 "manipulator"&l' +3 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"(u'M +61 "core" ' +2 "manipulator"&U& +4 "core" &*  5 +2 "storage"(}& +4 "core" &, [ Z\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&r'. +31 "core" ' + .tElbow.hold +2 "manipulator"&`, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"(q'7 +23 "core" ' + "manipulator"&% +6 "core" %? & ^ +2 "storage"(& +4 "core" &, F *\  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 4 + 317 counts +2 "manipulator"&y'k +16 "core" ' +2 "manipulator"&x& +4 "core" & q C o +2 "storage"(z& +4 "core" &, Y Z \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&_' +20 "core" ' +2 "storage"(n% +4 "core" %? v q 2\ +3 ."downElevator"SE.seek :down +3 "storage"(|'N +99 (e% +3 "core" %u: 8 7 \ U] +2 "manipulator"&% +4 "core" % r r > +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +98 "core" ' +49 ' + ."downElevator"SE.stop + "storage"(5 +3 ( & +4 "core" &, /  +\  +2 "collection"'\ & +4 "core" &]gT\ O + #tStoring generic puck in Collection Clamp to tube 4 + "manipulator"&% +4 "core" %\ 8 ' +2 "storage"(s% +4 "core" %= E E\ +2 "storage"(. +3 "core" .(, + "storage"(& +4 "core" &, D C \  +2 "storage"( & +4 "core" &, E E\  + "manipulator"&& +4 "core" &  n +2 .tElbow.seek 4 +2 "manipulator"&~(* +17 "core" ( +2 "manipulator"&& +4 "core" &4  "y +2 "storage"({& +3 "core" &, C C a\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&' +96 "core" ' +2 "storage"(& +4 "core" &, \\ [\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"('e +278 "core" ' + "storage"( - +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&& +3 "core" &6  !w +2 "storage"(& +3 "core" &, 8 Q \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"& '. +30 "core" ' + .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"('- +3 "core" -' +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"('l +28 "core" ' +2 "manipulator"&)% +4 "core" %A   e +2 "storage"(& +4 "core" &,\ \  \  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 319 counts +2 "manipulator"&'m +16 "core" ' +2 "manipulator"&& +4 "core" &6 l  !w +2 "storage"(X& +4 "core" &, f d \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&-' +16 "core" ' +2 .tSE.seek 1.11 Pucks below Top Plate +2 "storage"(.'[ +43 "core" ' +2 "manipulator"&1& +4 "core" &6 q 2 !w +2 "manipulator"&% +4 "core" % q { Q + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&4'\ +90 "core" ' + .tElbow.seek CC +2 "manipulator"&5( +147 "core" ( + "manipulator"&& +4 "core" & # ' ;4 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &9& +3 "core" & $ ;4 +2 .tForearm.seek CC +2 "manipulator"&:'| +97 "core" ' +2 .tHand.close + "manipulator"&/ +55 "core" / +2 .tCC.seek :open + "collection"'%(p +411 "core" ( +2 "storage"(=& +4 "core" &, y M\  + "storage"(?& +4 "core" &, h h k\  + "manipulator"&*& +5 "core" &" 7 9$ + "manipulator"&(% +4 "core" % x c +2 .tForearm.seek :retract +2 "manipulator"&'\ +91 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&0(* +158 "core" ( + "manipulator"&A& +5 "core" &4  + "storage"(B& +4 "core" &, i\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 4 +2 "manipulator"&2'. +107 "core" ' +2 .tElbow.hold +2 "manipulator"&3, +3 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&61 +62 "core" 1 +2 "manipulator"&E% +4 "core" % @ # d +2 "storage"(G& +3 "core" &, q i \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 318 counts + "manipulator"&&'l +16 "core" ' +2 "manipulator"&<& +4 "core" & h C ' +2 "storage"("& +4 "core" &, \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&#' +19 "core" ' +2 "storage"(;% +4 "core" %Y \ +3 ."downElevator"SE.seek :down +3 "storage"(J'N +99 ( % +2 "core" %< \ UZ +2 "manipulator"&/% +5 "core" % { + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&N'\ +93 "core" ' +46 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 5 of [3..5] +2 #Loading generic puck from tube 5 into Collection Clamp + "collection"'P& +5 "core" &W\ + "manipulator"&>% +4 "core" %\ / 4 #f +2 "storage"($% +4 "core" %G *\ +2 "storage"(I. +3 "core" .(, +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 + "storage"((<< +347 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (7& +3 "core" &<9 \\ \\ \  +2 "manipulator"&D& +3 "core" & ; & +2 .tElbow.seek 5 +2 "manipulator"&V( +13 "core" ( + "manipulator"&W& +4 "core" &\ < S +2 "storage"(Y& +4 "core" &<9 \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&[' +96 "core" ' +2 "storage"(L& +4 "core" &<9 m\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(+'e +281 "core" ' +2 "storage"(T- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (S& +2 "core" &<9 o ;\  +2 "manipulator"&Q& +4 "core" &\  S + .tElbow.seek 5 +2 "manipulator"&M( +3 "core" ( +2 "manipulator"&K& +3 "core" &\  S +2 "storage"(H& +4 "core" &<9 ?\  +2 .tForearm.seek 5 + 300 counts + "manipulator"&Z'[ +11 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&8/ +62 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&F& +2 "storage"(!'N +7 "core" &\  S + "manipulator"&f% +4 "core" % W  $ +2 .tForearm.seek :retract +42 "manipulator"&b'\ +107 "core" ' +2 .tElbow.seek CC + "manipulator"&^( +98 "core" ' + ."downElevator"SE.stop + "storage"(5 +58 "core" ( + "manipulator"&O& +4 "core" & +  Ad +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &C& +2 "core" & + 6 Ad +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&]'| +108 "core" ' +2 "manipulator"&j& +5 "core" &<#  :1 + "manipulator"&a% +4 "core" %y  +2 "collection"'@& +4 "core" &X\ +3 "collection"'m& +5 "core" &_\ +2 .tCC.seek :closed +3 "collection"'g(] +3 "core" &\\\ +6 &d\ 6 +10 &Gg\ 1 +9 &>rj\ E +9 &li\ O +10 &`i\ N +9 &ec`\ N +9 & 'gk\ N +10 &!di\ O +9 &#b\\\ N +10 &%nbf\ N +9 &'0d`\ N +9 &(bZ\ N +10 &*ae\ N +9 &,w``\ N +9 &.9cf\ N +10 &/d^\ N +9 &1ck\ N +10 &3|a]\ O +9 &5@`Y\ N +9 &7bX\ N +10 &8_[\ N +9 &:``\ N +9 &\ ba\ N +9 &?dh\ N +9 &Abh\ N +10 &CPb`\ N +9 &E`e\ N +10 &Fek\ N +9 &Hnn\ O +9 &JPz`\ Q +10 &L\ Wd\ T +9 &Mj\ W +9 &Od\ X +10 &QC_\ X +9 &Si\ Y +10 &Tm\ Z +9 &Vi\ Z +9 &XCk\ [ +10 &Z`\ \\ +9 &[l\ [ +9 &]'S^\ / +10 &]e\ O +9 ( +3 "collection"'m& +2 #tCollection Clamp onSpring/offSpring for 9/26 samples, on/off torque 2.00 +2 .Hand.open + "manipulator"&d1 +4 "core" &]cc\ M +57 1 +2 "manipulator"&t% +4 "core" % ~ j +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&w'\ +92 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp + "processing"%i& +4 "core" &6\ +2 "manipulator"&h% +4 "core" %\ + !U + "storage"(U% +4 "core" %F F F\ +2 "storage"(}. +3 "core" .(<9 +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"(\\(<< +7 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (& +3 "core" &<:\ \  9\  +2 "manipulator"&& +4 "core" &>"  :/ + "manipulator"&o% +4 "core" %\ + x !U +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&x( +156 "core" ( +2 "manipulator"&z& +4 "core" &  + "storage"(n& +4 "core" &<9 [ d\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&c' +93 "core" ' + "storage"(k& +4 "core" &<9 o o\  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(p'e +279 "core" ' +2 "storage"(e- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +2 "core" &<9 T >\  +2 "manipulator"&l& +4 "core" &  + .tElbow.seek 5 +2 "manipulator"&v( +3 "core" ( +2 "manipulator"&u& +3 "core" &  +2 "storage"(r& +4 "core" &<9 \\ \\\  +2 .tForearm.seek 5 + 300 counts + "manipulator"& '[ +31 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&y/ +59 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&\ & + "storage"('N +8 "core" & o o C + "manipulator"&s% +4 "core" % w s t V +2 .tForearm.seek :retract +2 "manipulator"&'\ +90 "core" ' + .tElbow.seek PC +2 "manipulator"&(c +161 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +89 "core" ( + "manipulator"&q& +5 "core" &j " + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 & & +2 "core" &j +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&'[ +102 "core" ' + "manipulator"&& +4 "core" &j K +2 "manipulator"&{% +4 "core" %D +2 "processing"%_& +4 "core" &\ +2 "processing"%& +5 "core" &;\ +2 .tPC.seek :closed + "processing"%|(Z +5 "core" &\  +9 &.}\ +z +10 &d\ > +9 &=z\ N +9 &Z\ N +10 &_\ N +9 &\\\ N +10 &!Eb\ N +9 &# \\\ M +9 &$_\ M +10 &&[\ M +9 &(NZ\ M +9 &*_\ M +10 &+_\ M +9 &-_\ M +10 &/U]\ N +9 &1Z\ M +9 &2a\ N +10 &4\\\ N +9 &6^_\ M +9 &8 [\ M +10 &9\\\ M +9 &;_\ M +10 &=f_\ M +9 &?'\\\ N +9 &@`\ M +10 &B[\ M +9 &Dn\\\ M +9 &F0_\ M +10 &Gh\ O +9 &Ir\ P +10 &Kj\ Q +9 &M&\ S +9 &N\ T +10 &P\ T +9 &Rk\ T +9 &T,\ T +10 &U\ T +9 &W\ T +10 &Yq\ A +9 &Zy?\ U +9 &Z5\ 6 +3 ( + "processing"%& +3 #tProcessing Clamp onSpring/offSpring for 9/25 samples, on/off torque 1.59 + .Hand.open +2 "manipulator"&`1 +53 "core" 1 +2 "manipulator"&% +7 "core" % D C +4 .tForearm.reconfigure :loose +5 "manipulator"&#Q@2^d^b +4 .tForearm.seek :retract +4 "manipulator"& '\ +98 "core" ' + "processing"%& +5 "core" &Z.\ 6 +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 + "manipulator"&% +5 "core" %\ - "_ +2 "storage"('% +3 "core" %H   \ \ +2 "storage"(). +3 "core" .(<< +2 "storage"(& +3 "core" &<9   \  +3 "storage"(& +2 "manipulator"&X& +6 "core" &<9   \  + &j M +4 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +3 "storage"(#]kK-0-\ b +2 "manipulator"&1(c +5 ."raiseStack"SE.seek :beamBreak +2 "storage"('e +2 "core" ( +2 "manipulator"&& +4 "core" &j  + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &~& +2 "core" &j F +3 .tForearm.seek PC + "manipulator"&'[ +100 "core" ' +2 .tHand.close + "manipulator"& / +61 "core" / +2 .tPC.seek :open +2 "processing"%(p +86 "core" ' +2 "storage"(- +4 "core" -'e + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('B +34 "core" ' +260 ( + "storage"(9& +4 "core" &<9 \\ I \  +2 "manipulator"&-& +4 "core" &j  + "manipulator"&% +4 "core" % d 8 +2 .tForearm.seek :retract +2 "manipulator"&'\ +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&4( +257 "core" ( +2 "manipulator"&,& +4 "core" & + \ + "storage"(=& +4 "core" &<9 7 7 1\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&?' +94 "core" ' + .tHand.open +2 "manipulator"&*1 +53 "core" 1 +2 "storage"((- +4 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate +2 "storage"(A' +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.83 Pucks below Top Plate + "storage"(B' +53 "core" ' +2 #tLights, camera, ACTION! + "storage"(:- +4 "core" -' + "storage"(5& +4 "core" &<9 l\  +2 "manipulator"&6& +4 "core" & : \ +2 .tElbow.seek 5 + "manipulator"&E( +8 "core" ( +2 "manipulator"&G& +4 "core" &   + "storage"(<& +4 "core" &<9 \  +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&"' +22 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"(;'M +63 "core" ' + "manipulator"&& +4 "core" &  s s J +2 "storage"( & +4 "core" &<9 u p \  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&/'/ +33 "core" ' + .tElbow.hold +2 "manipulator"&0, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"(2'7 +23 "core" ' +2 "manipulator"&P% +4 "core" %? ` + "storage"(>& +5 "core" &<9   p\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 316 counts + "manipulator"&&'k +17 "core" ' + "manipulator"&$& +5 "core" & k j  + "storage"(I& +5 "core" &<9 p u `\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&.' +20 "core" ' +2 "storage"(#% +4 "core" %< ~ ~ 6\  +3 ."downElevator"SE.seek :down +3 "storage"(J'N +99 (% +2 "core" %w9 Z \\\ U] +2 "manipulator"&7% +5 "core" % s s l  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&D'\ +94 "core" ' +56 ' + ."downElevator"SE.stop + "storage"(5 +3 (W& +4 "core" &<9  - 3\  +2 "collection"'Y& +4 "core" &]bF\ M + #tStoring generic puck in Collection Clamp to tube 5 +2 "manipulator"&L% +4 "core" %\ 1 $q + "storage"(3% +4 "core" %A Y [ \ + "storage"(N. +4 "core" .(<< + "storage"(T& +4 "core" &<9 \\ \\\  + "storage"(S& +4 "core" &<9 \\ [\  +2 "manipulator"&Q& +4 "core" & e  + .tElbow.seek 5 +2 "manipulator"&K( +17 "core" ( + "manipulator"&H& +4 "core" &\ B e +2 "storage"(8& +4 "core" &<9 J H D\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&F' +95 "core" ' +2 "storage"(f& +4 "core" &<9 u j \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(V'e +279 "core" ' +2 "storage"([- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +2 "manipulator"&+& +3 "core" & 0 d +2 "storage"(Z& +4 "core" &<9 W [ >\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 5 + "manipulator"&O'/ +28 "core" ' +2 .tElbow.hold + "manipulator"&C, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(j- +2 "core" -' +55 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(a'k +28 "core" ' + "manipulator"&M% +4 "core" %9 j o +2 "storage"(@& +4 "core" &<9\ \  `\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 310 counts + "manipulator"&!'e +18 "core" ' + "manipulator"&b& +5 "core" & x i  !s + "storage"(%& +4 "core" &<9 f d\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&d' +18 "core" ' +2 .tSE.seek 1.11 Pucks below Top Plate +2 "storage"(t'Z +47 "core" ' + "manipulator"&i& +5 "core" & w { i !s + "manipulator"&h% +5 "core" % } +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&U'\ +94 "core" ' +2 .tElbow.seek CC +2 "manipulator"&}( +146 "core" ( +2 "manipulator"&m& +4 "core" &% J <> +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &% / <> +2 .tForearm.seek CC + "manipulator"&'| +103 "core" ' + .tHand.close + "manipulator"&o/ +54 "core" / +2 .tCC.seek :open +2 "collection"'](p +410 "core" ( +2 "storage"(z& +4 "core" &<9 g m \  + "storage"(n& +4 "core" &<9 } } \  +2 "manipulator"&& +4 "core" &9 + 4 + "manipulator"&k% +4 "core" % r h +2 .tForearm.seek :retract + "manipulator"&^'\ +102 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&w( +163 "core" ( +2 "manipulator"&e& +4 "core" &  F +2 "storage"(& +4 "core" &<9 \  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 5 +2 "manipulator"&l'/ +104 "core" ' + .tElbow.hold +2 "manipulator"&u, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&r1 +61 "core" 1 +2 "manipulator"&y% +5 "core" % C  + "storage"(\ & +4 "core" &<9 Y Y\  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 5 + 320 counts +2 "manipulator"&s'o +16 "core" ' + "manipulator"&x& +4 "core" & x n O +2 "storage"(c& +4 "core" &<9 $\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&p' +17 "core" ' +2 "storage"( % +4 "core" %V \ +3 ."downElevator"SE.seek :down +3 "storage"(q'N +99 ( % +3 "core" %#; 1\ U[ +2 "manipulator"&v% +4 "core" % { q +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +97 "core" ' +42 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 3 of [3..5] +2 #Loading generic puck from tube 3 into Collection Clamp +2 "collection"'{& +4 "core" &N\ + "manipulator"&_% +4 "core" %\ ; [ ( +2 "storage"(% +4 "core" %< \ +2 "storage"(. +3 "core" .(<< + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(R( +677 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (`& +2 "core" &   {\ +2 "manipulator"&& +4 "core" & N +2 .tElbow.seek 3 + "manipulator"&(D +33 "core" ( +2 "manipulator"&& +4 "core" &K  +2 "storage"('& +4 "core" & F\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&' +102 "core" ' +2 "storage"()& +4 "core" & \ +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"('e +277 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (X& +3 "core" & \ + "manipulator"&& +4 "core" &K s p ;  +2 .tElbow.seek 3 +2 "manipulator"&~(D +3 "core" ( + "manipulator"&& +4 "core" &K s w ]  +2 "storage"( & +3 "core" & J\ +3 .tForearm.seek 3 + 300 counts +2 "manipulator"&'y +24 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +61 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"& & +2 "storage"(|'N +7 "core" &K s s  + "manipulator"&9% +5 "core" % } s s k +2 .tForearm.seek :retract + "manipulator"&'\ +89 "core" ' +2 .tElbow.seek CC + "manipulator"&-( +155 "core" ( + "manipulator"&& +5 "core" ' + &% " <; +2 ."downElevator"SE.stop +2 .tElbow.reconfigure :loose +2 "storage"(5 +2 "manipulator"&$ &.,(#b +4 && +3 "core" &% ? <; +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&,'| +95 "core" ' +2 "manipulator"&=& +4 "core" &% F <; +2 "manipulator"&1% +5 "core" %υ *  + "collection"'*& +4 "core" &O\ +3 "collection"'(& +4 "core" &[\ +2 .tCC.seek :closed +2 "collection"':(] +4 "core" &^\ +7 &8[\ $e +10 &hV^\ 8 +9 &\\\ L +9 &z_^\ N +10 &<f]\ N +9 &c]\ N +10 & b]\ N +9 &"c^\ N +9 &$C_[\ N +10 &&b_\ N +9 &'`^\ N +10 &)b^\ N +9 &+L`Z\ N +9 &-_Z\ N +10 &.c]\ N +9 &0b\\\ N +9 &2Rb^\ N +10 &4b_\ N +9 &5`c\ N +9 &7_a\ N +10 &9\\bZ\ N +9 &;_[\ N +10 &<bY\ N +9 &>`O\ N +9 &@d`^\ N +10 &B%ag\ N +9 &C`c\ N +9 &E`[\ N +10 &Gkce\ N +9 &I(oi\ P +10 &Jk\ Q +9 &LNg\ U +9 &NXg\ W +10 &Pe\ X +9 &Qg\ X +9 &Sa\ Y +10 &UYZ\ Z +9 &WW\ Z +10 &XY\ [\ +9 &ZY\ ] +9 &\\[b\ I +10 &]f@J\ #k +9 &]pU\ M +2 ( +2 "collection"'(& +3 #tCollection Clamp onSpring/offSpring for 10/26 samples, on/off torque 1.99 +2 .Hand.open + "manipulator"&51 +59 "core" 1 +2 "manipulator"&6% +4 "core" % υ  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&G'\ +92 "core" ' + #tLoading generic puck from tube 3 into Processing Clamp +2 "processing"%<& +4 "core" &>\ +2 "manipulator"&% +3 "core" %\ -  "\\ +2 "storage"(% +4 "core" %R B B \  + "storage"( . +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 + "storage"(( +31 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (P& +3 "core" &\  e\  +2 "manipulator"&>& +4 "core" &% N <9 + "manipulator"&A% +4 "core" %\ - R "\\ +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&$(D +164 "core" ( +2 "manipulator"&I& +4 "core" &8 % +2 "storage"(#& +3 "core" & Z [\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&4' +101 "core" ' + "storage"(?& +4 "core" & d Y\  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(B'e +285 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (7& +2 "core" & A C\  +2 "manipulator"&"& +4 "core" &8  % + .tElbow.seek 3 +2 "manipulator"&E(D +17 "core" ( +2 "manipulator"&;& +77 "core" &C v f +2 "storage"(/& +4 "core" &  ) G\  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&W'y +10 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&&/ +60 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&Y& +2 "storage"(L'N +7 "core" &C f +2 "manipulator"&3% +3 "core" % s  0 +2 .tForearm.seek :retract +2 "manipulator"&N'\ +98 "core" ' +2 .tElbow.seek PC +2 "manipulator"&T(c +158 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +98 "core" ( + "manipulator"&2& +4 "core" &j J +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &S& +2 "core" &j h +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&Q'[ +106 "core" ' +2 "manipulator"&H& +4 "core" &j - +2 "manipulator"&8% +4 "core" %R K +2 "processing"%.& +3 "core" &>\ +3 "processing"%f& +4 "core" &?\ +2 .tPC.seek :closed +2 "processing"%J(Z +4 "core" &\  +8 &0\ *y +10 &b\ > +9 &Ax\ N +10 &Z\ M +9 &`\ M +9 &^\ M +10 &!Ia\ M +9 &# \\\ M +9 &$]\ M +10 &&]\ N +9 &(Q]\ M +10 &*`\ M +9 &+]\ N +9 &-]\ N +10 &/Xa\ N +9 &1Z\ M +9 &2_\ N +10 &4]\ M +9 &6b\\\ M +10 &8#_\ M +9 &9Z\ M +9 &;`\ M +10 &=i^\ M +9 &?+`\ M +9 &@`\ M +10 &B`\ M +9 &Dp^\ N +9 &F2c\ N +10 &Gj\ N +9 &Ix\ P +10 &Kl\ R +9 &M)\ S +9 &N\ T +10 &P\ S +9 &Ro\ S +9 &T0\ T +10 &U\ T +9 &W\ U +10 &Yt\ B +9 &Zx?\ X +9 &Z:\ 5 +3 ( +2 "processing"%f& +2 #tProcessing Clamp onSpring/offSpring for 9/25 samples, on/off torque 1.60 +2 .Hand.open + "manipulator"&01 +60 "core" 1 + "manipulator"&D% +4 "core" % R  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&['\ +95 "core" ' +2 "processing"%+& +4 "core" &Z4\ 5 +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&Z% +4 "core" %\ . J #i +2 "storage"(j% +4 "core" %D   h\ + "storage"(M. +4 "core" .( +54 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 +2 "storage"(@( +8 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (b& +3 "core" & \  i\ $ +2 "manipulator"&%& +3 ."raiseStack"SE.reconfigure :place +5 "storage"(#]kK-0-\ b +3 "core" &j  +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +2 "storage"(i'e +3 "manipulator"&h(c +4 "core" ( + "manipulator"&F& +4 "core" &j  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &K& +3 "core" &j +2 .tForearm.seek PC +2 "manipulator"&V'[ +95 "core" ' +2 .tHand.close + "manipulator"&O/ +63 "core" / +2 .tPC.seek :open +2 "processing"%!(p +81 "core" ' +2 "storage"(a- +3 "core" -'e +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(m'B +36 "core" ' +263 ( +2 "storage"(& +4 "core" & ? 9 X\ ) + "manipulator"&d& +4 "core" &j  + "manipulator"&C% +4 "core" % ]   +2 .tForearm.seek :retract +2 "manipulator"&o'\ +91 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&U(D +245 "core" ( +2 "manipulator"&g& +4 "core" &N = C +2 "storage"(z& +4 "core" & C D \ ) +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&n' +94 "core" ' +2 .tHand.open + "manipulator"&1 +58 "core" 1 +2 "storage"(k- +4 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate +2 "storage"(e' +22 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(' +51 "core" ' +2 #tLights, camera, ACTION! + "storage"(- +4 "core" -' +2 "storage"(}& +4 "core" & %\ , + "manipulator"&r& +4 "core" &N  C +2 .tElbow.seek 3 +2 "manipulator"&y(D +3 "core" ( + "manipulator"&\ & +4 "core" &N  C +2 "storage"(x& +4 "core" & t i \ , +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&c' +17 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.11 Pucks below Top Plate + "storage"( 'M +60 "core" ' + "manipulator"&^& +5 "core" &N z  C + "storage"( & +4 "core" & Z [ F\ , +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&v'M +31 "core" ' +2 .tElbow.hold + "manipulator"&w, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"(l'7 +24 "core" ' + "manipulator"&{% +5 "core" %` + "storage"(_& +5 "core" &\ \  u\ , + .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 3 + 319 counts + "manipulator"&s'ό +19 "core" ' +2 "manipulator"&& +4 "core" &P l D A +2 "storage"(& +4 "core" & Y Y \ , +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&t' +18 "core" ' + "storage"(p% +5 "core" %< t j \ +2 ."downElevator"SE.seek :down +3 "storage"(q'N +99 (\\% +3 "core" % ; : @ &\ U^ +2 "manipulator"&`% +5 "core" % | - +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +90 "core" ' +62 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (& +4 "core" &  / `\ , +2 "collection"''& +4 "core" &]nJ\ M +2 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&)% +4 "core" %\ + !W + "storage"(u% +4 "core" %H G _ \ +2 "storage"(. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(( +46 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (X& +3 "core" &\ \  e\ +2 "manipulator"&& +3 "core" &P A +2 .tElbow.seek 3 +2 "manipulator"&(D +25 "core" ( + "manipulator"& & +5 "core" &N  + "storage"(& +5 "core" & \\ \\\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"& ' +103 "core" ' +2 "storage"(9& +4 "core" & o n \ +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"('e +280 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&& +3 "core" &N q p F  +2 "storage"(& +3 "core" & q u %\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&'M +34 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(=- +2 "core" -' +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(1'k +29 "core" ' + "manipulator"&*% +5 "core" %W| D + "storage"(~& +4 "core" &\ #\  '\ + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 310 counts +2 "manipulator"&|'σ +19 "core" ' + "manipulator"&& +4 "core" &N ^ x ;  +2 "storage"(]& +4 "core" & _ e {\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&5' +17 "core" ' +2 .tSE.seek 1.11 Pucks below Top Plate + "storage"(6'Z +47 "core" ' +2 "manipulator"&<& +4 "core" &N r s J  +2 "manipulator"&% +4 "core" % s s Q +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +91 "core" ' + .tElbow.seek CC +2 "manipulator"& ( +165 "core" ( +2 "manipulator"&(& +4 "core" & 0 6 E +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &P& +3 "core" & 0  E +2 .tForearm.seek CC +2 "manipulator"&>'| +95 "core" ' +2 .tHand.close + "manipulator"&A/ +60 "core" / +2 .tCC.seek :open + "collection"',(p +411 "core" ( + "storage"(I& +5 "core" & g m \ + "storage"(#& +5 "core" & } ~ x\ + "manipulator"&R& +4 "core" & 0 E + "manipulator"&?% +4 "core" % υ  +2 .tForearm.seek :retract +2 "manipulator"&-'\ +99 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&G(D +173 "core" ( + "manipulator"&& +5 "core" &>\ ] + "storage"(7& +4 "core" & 1\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 +2 "manipulator"&"'M +108 "core" ' +2 .tElbow.hold + "manipulator"&;, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&/1 +64 "core" 1 +2 "manipulator"&&% +4 "core" % Y   + "storage"(Y& +4 "core" & Y Y \ +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 3 + 312 counts +2 "manipulator"&3'υ +17 "core" ' + "manipulator"&$& +4 "core" &q m x * +2 "storage"(4& +4 "core" & %\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&B' +18 "core" ' +2 "storage"(W% +4 "core" %V V\ +2 ."downElevator"SE.seek :down +3 "storage"(2'N +100 (S% +3 "core" %< F\ T[ +2 "manipulator"&E% +4 "core" % s s E  + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +49 "manipulator"&H'\ +90 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +3 "core" ' +2 #tShuffling pucks in tube 4 of [3..5] +2 #Loading generic puck from tube 4 into Collection Clamp + "collection"'8& +4 "core" &[\ +2 "manipulator"&.% +4 "core" %\ 0 $l +2 "storage"(L% +4 "core" %< @\ + "storage"(N. +3 "core" .( +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"((, +354 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (0& +3 "core" &, ? H \  + "manipulator"&D& +4 "core" &q * +2 .tElbow.seek 4 +2 "manipulator"&+(* +20 "core" ( + "manipulator"&Z& +5 "core" &( M  + "storage"(j& +4 "core" &, \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&M' +97 "core" ' +2 "storage"(f& +4 "core" &, V\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(b'e +281 "core" ' +2 "storage"(%- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (F& +2 "core" &, "\  +2 "manipulator"&K& +4 "core" &(   + .tElbow.seek 4 +2 "manipulator"&Q(* +3 "core" ( +2 "manipulator"&O& +3 "core" &(   +2 "storage"(& +4 "core" &, \  +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&a'Z +10 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&T/ +58 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&[& +2 "storage"(J'N +7 "core" &(   +2 "manipulator"&i% +4 "core" % Z = , + .tForearm.seek :retract +2 "manipulator"&'\ +96 "core" ' +2 .tElbow.seek CC +2 "manipulator"&d( +145 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +31 "core" ( + "manipulator"&C& +5 "core" &  K + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &V& +3 "core" & % K +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&g'| +96 "core" ' + "manipulator"&z& +5 "core" & A K + "manipulator"&h% +5 "core" %~ W  +2 "collection"'& +4 "core" &Z\ +3 "collection"'k& +5 "core" &Z\ +2 .tCC.seek :closed +3 "collection"'(] +3 "core" &Y\ +6 &Y\ 4 +9 &H`\ 1 +10 &=s^\ E +9 &j\\\ N +9 &b^\ N +10 &gd^\ N +9 & )`\\\ N +9 &!c[\ M +10 &#bY\ M +9 &%p_O\ M +9 &'2bZ\ M +10 &(_\\\ N +9 &*_X\ M +10 &,x`]\ M +9 &.9e\\\ N +9 &/`X\ N +10 &1`X\ N +9 &3_[\ N +9 &5B_Z\ M +10 &7bX\ N +9 &8_Z\ M +10 &:`V\ M +9 & cQ\ M +10 &?cZ\ M +9 &AaK\ M +9 &CQeV\ N +10 &Eb`\ M +9 &Fb[\ M +10 &Hk`\ O +9 &JQ|Y\ P +9 &L \\c\ T +10 &M\ Z\ W +9 &O\  V\ W +9 &QCP\ X +10 &SU\ Y +9 &TU\ Y +10 &VX\ Z +9 &XCe\ [ +9 &Zg\ \\ +10 &[V\ \\ +9 &]&PZ\ 4 +9 &]\ H\ R +6 ( +2 "collection"'k& +4 #tCollection Clamp onSpring/offSpring for 9/26 samples, on/off torque 2.03 + .Hand.open +2 "manipulator"&}1 +3 "core" &]kH\ R +52 1 + "manipulator"&r% +4 "core" % ~ >  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&\ '\ +100 "core" ' +2 #tLoading generic puck from tube 4 into Processing Clamp + "processing"%x& +4 "core" &\ +2 "manipulator"&o% +4 "core" %\ : ( + "storage"(^% +4 "core" %? E E\ + "storage"( . +4 "core" .(, + "storage"(m& +4 "core" &, D E \  +2 "storage"({& +4 "core" &, C E k\  + "manipulator"&_& +4 "core" & K + "manipulator"&e% +4 "core" %\ :  ( +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&(* +166 "core" ( + "manipulator"&& +4 "core" &+\ ^ +2 "storage"(p& +4 "core" &, E C \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&U' +96 "core" ' +2 "storage"(n& +4 "core" &, f \\\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('e +281 "core" ' +2 "storage"(\\- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (`& +2 "core" &, ; B \  +2 "manipulator"&c& +4 "core" &,\ u ] + .tElbow.seek 4 +2 "manipulator"&y(* +3 "core" ( + "manipulator"& & +4 "core" &,\ R ] +2 "storage"(v& +4 "core" &, B E\  +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&'Z +10 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&s/ +60 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&'& +2 "storage"()'N +7 "core" &,\  ] +2 "manipulator"&u% +3 "core" % `  - +2 .tForearm.seek :retract +2 "manipulator"&'\ +93 "core" ' +2 .tElbow.seek PC +2 "manipulator"&l(c +157 "core" ' + ."downElevator"SE.stop + "storage"(5 +97 "core" ( + "manipulator"&X& +4 "core" &f $ +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &f +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"& '[ +99 "core" ' +2 "manipulator"&& +4 "core" &f u +2 "manipulator"&t% +4 "core" %a W + "processing"%9& +4 "core" &O\ +3 "processing"%q& +4 "core" &=\ +2 .tPC.seek :closed +2 "processing"%@(Z +4 "core" &\  +8 &.}\ +z +10 &d\ > +9 &@x\ N +9 &X\ M +10 &]\ M +9 &^\ M +9 &!H^\ N +10 &# Z\ M +9 &$[\ M +10 &&\\\ N +9 &(Q\\\ M +9 &*\\\ N +10 &+\\\ M +9 &-]\ M +9 &/X_\ N +10 &1]\ M +9 &2Z\ M +10 &4Z\ M +9 &6`\\V\ N +9 &8$]\ M +10 &9\\R\ M +9 &;Z\ M +9 &=i]\ M +10 &?,]\ M +9 &@^\ N +10 &B]V\ N +9 &Dp\\\ N +9 &F2`\ N +10 &Gg\ N +9 &IrU\ O +9 &Kk\ R +10 &M)\ S +9 &N\ T +10 &P\ S +9 &Rn\ T +9 &T/ \ T +10 &U\ U +9 &W\ U +9 &Yr\ B +10 &Z{A\ T +9 &Z \ ( +2 ( +2 "processing"%q& +3 #tProcessing Clamp onSpring/offSpring for 9/25 samples, on/off torque 1.60 + .Hand.open +2 "manipulator"&w1 +63 "core" 1 + "manipulator"&% +4 "core" % a  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +92 "core" ' +2 "processing"%& +4 "core" &Z\ ( +2 #tImaging generic puck in Processing Clamp while storing it to tube 4 + "manipulator"&% +4 "core" %\ + !M + "storage"(=% +4 "core" %= B B \ +2 "storage"(*. +3 "core" .(, + "storage"(~& +4 "core" &, A B \  +2 "storage"(& +2 "manipulator"&]& +8 "core" &, B B \  + &f ` +3 ."raiseStack"SE.reconfigure :place +2 .tElbow.reconfigure :tight +3 "storage"(#]kK-0-\ b +5 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC + ."raiseStack"SE.seek :beamBreak +3 "manipulator"&<(c +2 "storage"('e +5 "core" ( + "manipulator"& & +4 "core" &f h +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +4 "core" &f r +2 .tForearm.seek PC + "manipulator"&'[ +100 "core" ' + .tHand.close +2 "manipulator"&/ +55 "core" / +2 .tPC.seek :open + "processing"%|(p +87 "core" ' + "storage"(1- +3 "core" -'e +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(('B +33 "core" ' +259 ( + "storage"(P& +5 "core" &, 7 @ \  + "manipulator"&5& +4 "core" &f $ + "manipulator"&% +4 "core" % j G +2 .tForearm.seek :retract +2 "manipulator"&A'\ +100 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&(* +261 "core" ( + "manipulator"&:& +5 "core" &6 a # + "storage"(I& +4 "core" &, 4 & \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&#' +96 "core" ' +2 .tHand.open +2 "manipulator"&R1 +58 "core" 1 +2 "storage"(?- +4 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate +2 "storage"(' +22 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(7' +49 "core" ' +2 #tLights, camera, ACTION! + "storage"(>- +4 "core" -' + "storage"( & +4 "core" &, m\  +2 "manipulator"&/& +4 "core" &6 # +2 .tElbow.seek 4 +2 "manipulator"&&(* +31 "core" ( + "manipulator"&Y& +4 "core" &4  +2 "storage"($& +4 "core" &, i\  +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&4' +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"(W'M +62 "core" ' +2 "manipulator"&-& +4 "core" &4   +2 "storage"(S& +4 "core" &, 8 7 #\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&E'. +28 "core" ' + .tElbow.hold +2 "manipulator"&G, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"("'7 +23 "core" ' +2 "manipulator"&8% +4 "core" %@ f +2 "storage"(.& +4 "core" &, I "\  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 4 + 318 counts +2 "manipulator"&3'l +17 "core" ' +2 "manipulator"&L& +4 "core" & | w s  +2 "storage"(N& +4 "core" &, v w n\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&6' +20 "core" ' +2 "storage"(B% +4 "core" %? } r \ +3 ."downElevator"SE.seek :down +3 "storage"(2'N +99 (% +3 "core" %; \\ Z\ U\\ +2 "manipulator"&0% +4 "core" % q q "  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&D'\ +90 "core" ' +57 ' + ."downElevator"SE.stop + "storage"(5 +3 (Z& +4 "core" &, ( "\  +2 "collection"'j& +4 "core" &]k:\ R + #tStoring generic puck in Collection Clamp to tube 4 +2 "manipulator"&f% +4 "core" %\ +  !W + "storage"(;% +4 "core" %= \\ [\ +2 "storage"(H. +3 "core" .(, + "storage"(%& +4 "core" &, Z \\\  +2 "storage"(F& +4 "core" &, \\ \\\  +2 "manipulator"&K& +3 "core" &   +2 .tElbow.seek 4 +2 "manipulator"&O(* +25 "core" ( + "manipulator"&& +5 "core" &5 K # + "storage"(T& +4 "core" &, > 8 \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&[' +91 "core" ' + "storage"(i& +5 "core" &, \\ \\\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(+'e +276 "core" ' +2 "storage"(M- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&C& +3 "core" &5  # + "storage"(b& +5 "core" &, 8 8 <\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&V'. +26 "core" ' +2 .tElbow.hold +2 "manipulator"&a, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(z- +3 "core" -' +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(Q'l +28 "core" ' +2 "manipulator"&h% +4 "core" %=  ? b + "storage"(& +5 "core" &,\ \  \  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 315 counts + "manipulator"&J'i +17 "core" ' +2 "manipulator"&& +4 "core" & r  ) +2 "storage"(,& +3 "core" &, \\ \\\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&}' +26 "core" ' +2 .tSE.seek 1.11 Pucks below Top Plate + "storage"(r'[ +46 "core" ' +2 "manipulator"&x& +5 "core" &  ) + "manipulator"&o% +5 "core" % x w U +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&^'\ +97 "core" ' +2 .tElbow.seek CC + "manipulator"& ( +148 "core" ( +2 "manipulator"&m& +4 "core" &, k Bk +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &k& +3 "core" &, ? Bk +2 .tForearm.seek CC +2 "manipulator"&{'| +97 "core" ' + .tHand.close +2 "manipulator"&_/ +52 "core" / + .tCC.seek :open +2 "collection"'e(p +411 "core" ( + "storage"(g& +4 "core" &, t  ?\  +2 "storage"(& +4 "core" &, } } \  + "manipulator"&p& +4 "core" &%  =D + "manipulator"&n% +4 "core" % i  +2 .tForearm.seek :retract + "manipulator"&d'\ +96 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&\ (* +153 "core" ( + "manipulator"&\\& +5 "core" &  Q \ + "storage"(`& +4 "core" &, e\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 4 +2 "manipulator"&c'. +110 "core" ' + .tElbow.hold +2 "manipulator"& , +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&v1 +61 "core" 1 +2 "manipulator"&s% +4 "core" % >  9 u + "storage"('& +4 "core" &, f f !\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 316 counts +2 "manipulator"&u'j +17 "core" ' + "manipulator"&& +4 "core" & i { 9  +2 "storage"(U& +4 "core" &, \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&' +24 "core" ' +2 "storage"(% +4 "core" %] \ +3 ."downElevator"SE.seek :down +3 "storage"(X'N +99 (% +2 "core" %=9 @\ U[ +2 "manipulator"&y% +5 "core" % r r U +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +87 "core" ' +51 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 5 of [3..5] +2 #Loading generic puck from tube 5 into Collection Clamp + "collection"'t& +5 "core" &R\ + "manipulator"&9% +5 "core" %\ ) J I + "storage"()% +4 "core" %C &\ +2 "storage"(. +3 "core" .(, +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"(!(<< +347 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (w& +3 "core" &<; r j \  + "manipulator"&& +4 "core" & C  +2 .tElbow.seek 5 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&& +3 "core" &   +2 "storage"(=& +4 "core" &<: <\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&*' +94 "core" ' + "storage"(~& +4 "core" &<: 6\  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(q'e +288 "core" ' + "storage"(]- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (& +3 "core" &<: y\  +2 "manipulator"& & +3 "core" &   +2 .tElbow.seek 5 +2 "manipulator"&( +3 "core" ( + "manipulator"& & +4 "core" &  +2 "storage"(& +3 "core" &<: \  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&1'[ +11 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&l/ +62 "core" / +4 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"(@'N +7 "core" &  +2 "manipulator"&P% +4 "core" % Y  $ + .tForearm.seek :retract +2 "manipulator"&5'\ +100 "core" ' +2 .tElbow.seek CC +52 "manipulator"&( +91 "core" ' + ."downElevator"SE.stop + "storage"(5 +72 "core" ( + "manipulator"&& +5 "core" &3  f G + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &3 4 G +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&:'| +97 "core" ' +2 "manipulator"&I& +4 "core" &3 G +2 "manipulator"&<% +4 "core" %|  +2 "collection"'R& +4 "core" &c\ +2 "collection"'?& +5 "core" &U\ +2 .tCC.seek :closed +2 "collection"'>(] +5 "core" &\\\  +8 &1Y\ *y +9 &c[\ > +10 &O}\\\ N +9 &]b\ N +9 &cZ\ N +10 &`U\ N +9 &!W`Z\ N +10 &#c\\\ N +9 &$]]\ M +9 &&`\\\ M +10 &(``]\ M +9 &*"_Y\ M +9 &+^a\ M +10 &-bX\ N +9 &/g`V\ N +9 &1)cW\ N +10 &2^X\ N +9 &4]R\ N +10 &6obU\ N +9 &81`H\ N +9 &9`K\ N +10 &;\\U\ M +9 &=x`V\ M +9 &?9bO\ N +10 &@^N\ N +9 &B]U\ N +10 &D\\Y\ M +9 &FA`Z\ N +9 &Hgb\ N +10 &Iph\ O +9 &Kyf\ R +10 &M.9V\ W +9 &N  e\ X +9 &Pe\ Y +10 &Ro_\ Y +9 &T-e\ Z +9 &UR\ [ +10 &WR\ [ +9 &YlR\ \\ +9 &[.O\ \\ +10 &\\{U\ 3 +9 &]%P\ ^ +9 ( +2 &]xL\ S +2 "collection"'?& +3 #tCollection Clamp onSpring/offSpring for 9/25 samples, on/off torque 2.05 + .Hand.open + "manipulator"& 1 +55 "core" 1 + "manipulator"&/% +4 "core" % | =  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&A'\ +92 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp + "processing"%Y& +4 "core" &6\ +2 "manipulator"&$% +4 "core" %\ -  "a + "storage"(-% +5 "core" %;   \ + "storage"(S. +3 "core" .(<9 +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 + "storage"(((<< +3 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (8& +3 "core" &<:\ \  $\  +2 "manipulator"&.& +4 "core" &5) @] + "manipulator"&% +4 "core" %\ - "a +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&L( +159 "core" ( + "manipulator"&N& +4 "core" &   +2 "storage"(B& +4 "core" &<: J ? \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&' +98 "core" ' +2 "storage"(#& +4 "core" &<: _ g )\  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(7'e +282 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (0& +3 "core" &<: A ; \  + "manipulator"&4& +4 "core" & t  +2 .tElbow.seek 5 + "manipulator"&&( +4 "core" ( + "manipulator"&W& +4 "core" &   +2 "storage"(E& +4 "core" &<: 8 8 $\  +2 .tForearm.seek 5 + 300 counts + "manipulator"&Z'[ +10 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&3/ +61 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&j& + "storage"(f'N +7 "core" & $  +2 "manipulator"&;% +4 "core" % R w v ? ) +2 .tForearm.seek :retract +2 "manipulator"&H'\ +99 "core" ' + .tElbow.seek PC +2 "manipulator"&%(c +154 "core" ' + ."downElevator"SE.stop + "storage"(5 +92 "core" ( +2 "manipulator"&"& +4 "core" &f  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &F& +2 "core" &f 4 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&K'[ +93 "core" ' +2 "manipulator"&& +4 "core" &f u +2 "manipulator"&T% +4 "core" %Y ] + "processing"%6& +4 "core" &\ +2 "processing"%i& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%2(Z +4 "core" &\ +7 &:Y\ $d +9 &hU\ 7 +9 &~\ K +10 &v[\ M +9 &8[\ M +10 &Y\ M +9 & ]\ M +9 &"W\ M +10 &$BZ\ M +9 &&\\\ M +9 &'\\\ M +10 &)\\\ L +9 &+I[\ M +10 &-\ _W\ M +9 &.]\ M +9 &0Y\ M +10 &2Q]V\ M +9 &4\\\ M +9 &5\\\ M +10 &7\\\ M +9 &9Z\\\ M +10 &;]\ M +9 &<Z\ M +9 &>]\ M +10 &@`]\ M +9 &B#\\\ M +9 &C\\\ N +10 &E]\ N +9 &Gff\ N +10 &I&k\ O +9 &J}\ Q +9 &L\ S +10 &N]\ T +9 &P \ S +10 &Q\ S +9 &S\ S +9 &Ud\ T +9 &W%\ T +10 &X\ T +9 &Z>Gk\ *| +10 &Z :\ + +5 ( + "processing"%i& +5 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.59 + .Hand.open +2 "manipulator"&G1 +3 "core" &Z \ + +52 1 + "manipulator"&D% +5 "core" % Y R + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&M'\ +91 "core" ' + "processing"%C& +5 "core" &Z \ + + #tImaging generic puck in Processing Clamp while storing it to tube 5 + "manipulator"&b% +5 "core" %\ * !V + "storage"(z% +4 "core" %D \ +2 "storage"(h. +3 "core" .(<< + "storage"(& +4 "core" &<: \  +3 "storage"(& +2 "manipulator"&,& +8 "core" &<: ! "\  + &f v +3 ."raiseStack"SE.reconfigure :place +2 .tElbow.reconfigure :tight +3 "storage"(#]kK-0-\ b +4 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +3 ."raiseStack"SE.seek :beamBreak + "manipulator"&x(c +2 "storage"(o'e +5 "core" ( + "manipulator"&[& +4 "core" &f a +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &O& +3 "core" &f s +2 .tForearm.seek PC + "manipulator"&+'[ +97 "core" ' + .tHand.close +2 "manipulator"&V/ +59 "core" / +2 .tPC.seek :open +2 "processing"%J(p +88 "core" ' + "storage"(Q- +3 "core" -'e +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +2 ."raiseStack"SE.seek :place +2 "storage"(m'B +33 "core" ' +261 ( + "storage"(k& +4 "core" &<: 7 ? -\  +2 "manipulator"&}& +4 "core" &f r + "manipulator"&a% +4 "core" % e  +2 .tForearm.seek :retract +2 "manipulator"&_'\ +98 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&^( +257 "core" ( + "manipulator"&& +5 "core" & q & + "storage"(g& +4 "core" &<: " i\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&' +98 "core" ' + .tHand.open +2 "manipulator"&p1 +60 "core" 1 + "storage"(n- +4 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate +2 "storage"(\\' +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(`' +51 "core" ' + #tLights, camera, ACTION! +2 "storage"({- +3 "core" -' +2 "storage"( & +3 "core" &<: \  +2 "manipulator"&v& +4 "core" & + & +2 .tElbow.seek 5 +2 "manipulator"&s( +3 "core" ( + "manipulator"&'& +5 "core" &  & + "storage"(& +4 "core" &<: i\  +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&U' +24 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.11 Pucks below Top Plate + "storage"('M +61 "core" ' +2 "manipulator"&d& +4 "core" & t b & +2 "storage"(& +4 "core" &<: \\ \\\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 + "manipulator"&y'/ +32 "core" ' + .tElbow.hold +2 "manipulator"&\ , +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"(c'7 +24 "core" ' +2 "manipulator"&t% +5 "core" %@ , < u + "storage"(u& +4 "core" &<:\ \  \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 317 counts +2 "manipulator"&9'l +16 "core" ' + "manipulator"&)& +5 "core" & r y I $ + "storage"(& +5 "core" &<: G U \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +54 .tForearm.seek 5 + 450 counts +2 "manipulator"&r' +18 "core" ' +2 "storage"(% +4 "core" %> [ \\\ +3 ."downElevator"SE.seek :down +3 "storage"(X'N +99 (% +3 "core" %; B B \ V_ +2 "manipulator"&w% +4 "core" % r p % +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +94 "core" ' +54 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (& +4 "core" &<: P\  |\  +2 "collection"'=& +4 "core" &]vE\ S +2 #tStoring generic puck in Collection Clamp to tube 5 + "manipulator"&~% +4 "core" %\ 3 %v +2 "storage"( % +4 "core" %= C B \ +2 "storage"(. +3 "core" .(<< + "storage"(]& +5 "core" &<: 9 5 \  + "storage"(& +4 "core" &<: 8 B u\  +2 "manipulator"& & +4 "core" & $ + .tElbow.seek 5 +2 "manipulator"& ( +35 "core" ( +2 "manipulator"&& +4 "core" & n } +2 "storage"(l& +3 "core" &<: ; < G\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&' +103 "core" ' + "storage"(P& +4 "core" &<: Z \\\  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('e +282 "core" ' +2 "storage"(*- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&q& +2 "core" & Q } +2 "storage"(1& +4 "core" &<: 8 7 ]\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&'/ +29 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(I- +2 "core" -' +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(<'l +46 "core" ' +2 "manipulator"&R% +4 "core" %=} E +2 "storage"(& +3 "core" &<:\ \  \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 314 counts +2 "manipulator"&@'i +18 "core" ' + "manipulator"&5& +4 "core" & s _ % +2 "storage"(e& +4 "core" &<: \\ \\\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"& ' +22 "core" ' +2 .tSE.seek 1.11 Pucks below Top Plate +2 "storage"(/'[ +40 "core" ' +2 "manipulator"&Y& +4 "core" & s r A +2 "manipulator"&$% +4 "core" % r s W  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&-'\ +91 "core" ' + .tElbow.seek CC +2 "manipulator"&S( +178 "core" ( + "manipulator"&8& +4 "core" & _  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &?& +2 "core" &  +2 .tForearm.seek CC +2 "manipulator"&.'| +97 "core" ' +2 .tHand.close +2 "manipulator"&/ +53 "core" / + .tCC.seek :open +2 "collection"':(p +411 "core" ( + "storage"(N& +4 "core" &<: I\  +2 "storage"(B& +4 "core" &<: /\  + "manipulator"&!& +4 "core" & t  + "manipulator"&#% +4 "core" % Ϗ E +2 .tForearm.seek :retract +2 "manipulator"&'\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&A( +153 "core" ( + "manipulator"&& +4 "core" &   +2 "storage"(0& +4 "core" &<: ]\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 5 +2 "manipulator"&4'/ +106 "core" ' + .tElbow.hold +2 "manipulator"&W, +19 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&E1 +54 "core" 1 + "manipulator"&3% +5 "core" % A  } + "storage"(j& +4 "core" &<: Y Z\  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 5 + 318 counts +2 "manipulator"&;'m +16 "core" ' + "manipulator"&L& +5 "core" & h Q ? + "storage"(& +4 "core" &<: O\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&7' +19 "core" ' +2 "storage"(Z% +4 "core" %V \ +2 ."downElevator"SE.seek :down +3 "storage"("'N +99 (F% +3 "core" %; "\ TZ +2 "manipulator"&&% +4 "core" % s }  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +90 "core" ' +48 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 3 of [3..5] +2 #Loading generic puck from tube 3 into Collection Clamp +2 "collection"'T& +4 "core" &Q\ + "manipulator"&6% +5 "core" %\ . #b + "storage"(f% +5 "core" %9 I\ + "storage"(H. +3 "core" .(<< +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 + "storage"(|( +678 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (G& +2 "core" & #  \ +2 "manipulator"&D& +4 "core" & ? + .tElbow.seek 3 +2 "manipulator"&C(D +16 "core" ( + "manipulator"&b& +5 "core" &> { J + "storage"(z& +4 "core" & @\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&h' +100 "core" ' + "storage"(& +5 "core" & \ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(,'e +278 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (i& +3 "core" & 3\ + "manipulator"&[& +4 "core" &> ~ ~  J +2 .tElbow.seek 3 +2 "manipulator"&O(D +3 "core" ( + "manipulator"&K& +4 "core" &> z J +2 "storage"(V& +3 "core" & Y\ +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&Q'y +23 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&%/ +56 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&M& +3 "storage"(2'N +7 "core" &>\  J + "manipulator"&k% +4 "core" % w q +2 .tForearm.seek :retract +2 "manipulator"&o'\ +96 "core" ' +2 .tElbow.seek CC + "manipulator"&}( +141 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +17 "core" ( + "manipulator"&a& +5 "core" &0 O E| + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &+& +3 "core" &0  E| +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&'| +100 "core" ' +2 "manipulator"&g& +4 "core" &/ D{ +2 "manipulator"&x% +4 "core" %φ  +2 "collection"'p& +4 "core" &`\ +2 "collection"'n& +5 "core" &[\ +2 .tCC.seek :closed +3 "collection"'{(] +4 "core" &_\ +5 &g\ 7 +9 &Ia\ 0 +10 &;q]\ E +9 &g^\ N +9 &`Z\ M +10 &f`]\ M +9 & (aY\ M +9 &!a\\\ M +10 &#`[\ M +9 &%n`[\ M +10 &'0`Y\ M +9 &(`[\ N +9 &*_Y\ N +10 &,v^Z\ M +9 &.7_l\ N +10 &/_]\ N +9 &1cb\ N +9 &3~]Y\ M +10 &5@_N\ M +9 &7aT\ M +9 &8aW\ M +10 &:bd\ N +9 &\ `[\ M +10 &?ee\ N +9 &A]^\ M +10 &CP`\\\ M +9 &Ebf\ N +9 &Fel\ N +10 &Hml\ O +9 &JPy^\ P +10 &LYh\ T +9 &Ma\ W +9 &OX\ X +10 &Q?Q\ Y +9 &SZ\ Y +9 &TO\ Z +10 &VV\ Z +9 &X>U\ \\ +9 &Ya\ \\ +10 &[M\ \\ +9 &] PW\ 4 +10 &]T\ N +5 ( +2 "collection"'n& +4 #tCollection Clamp onSpring/offSpring for 9/26 samples, on/off torque 2.05 + .Hand.open +2 "manipulator"& 1 +3 "core" &]na\ M +55 1 + "manipulator"&v% +4 "core" % z / +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&''\ +91 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%& +5 "core" &\ + "manipulator"&_% +4 "core" %\ ) C +2 "storage"(d% +4 "core" %A B B \ + "storage"(. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 +54 "Can"[ qo +2 "storage"(m( +2 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (t& +3 "core" & \ $ +2 "manipulator"&u& +4 "core" &1& p >K + "manipulator"&\\% +4 "core" %\ ) , C +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&)(D +168 "core" ( + "manipulator"&& +4 "core" &8 \\ c +2 "storage"(^& +4 "core" & X U\ % +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&' +94 "core" ' + "storage"(& +5 "core" & Y Y\ % + .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(`'e +282 "core" ' +2 "storage"(U- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" & B ; t\ , + "manipulator"&w& +4 "core" &8  c +2 .tElbow.seek 3 +2 "manipulator"&s(D +16 "core" ( +2 "manipulator"&& +4 "core" &D O & + "storage"(y& +50 "core" & Z [\ , +2 .tForearm.seek 3 + 300 counts + "manipulator"&'y +28 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&9/ +62 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&=& +2 "storage"(~'N +7 "core" &F  % + "manipulator"& % +4 "core" % ϑ p s  +2 .tForearm.seek :retract +2 "manipulator"&'\ +94 "core" ' +2 .tElbow.seek PC + "manipulator"&](c +155 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +98 "core" ( +2 "manipulator"&c& +4 "core" &l Z + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &l  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"& '[ +104 "core" ' + "manipulator"&& +5 "core" &l  + "manipulator"&l% +4 "core" %X +2 "processing"%r& +4 "core" &\ +3 "processing"%P& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%X(Z +4 "core" &5\  +8 &/}\ *x +10 &d\ > +9 &Ex\ M +9 &X\ M +10 &\\\ M +9 &Z\ M +9 &!M]\ M +10 &#Z\ M +9 &$Z\ M +10 &&]\ M +9 &(V\\\ M +9 &*Z\ M +10 &+ZS\ M +9 &-Z\ M +9 &/\\]\ M +10 &1XS\ M +9 &2\\\ M +10 &4Zc\ M +9 &6d[[\ M +9 &8&\\\ M +10 &9ZT\ M +9 &;\\\ M +9 &=l[\ M +10 &?/Z\ M +9 &@]T\ M +10 &BZ]\ M +9 &Dt^\ M +9 &F5_\ N +10 &Gg\ N +9 &Iv\ P +9 &Kn\ R +10 &M,\ S +9 &NS\ T +10 &PV\ S +9 &Rp\ T +9 &T3 \ T +10 &U\ T +9 &WT\ T +9 &Yw\ A +10 &Zy>e\ Y +9 &Z\ ( +2 ( +2 "processing"%P& +3 #tProcessing Clamp onSpring/offSpring for 9/25 samples, on/off torque 1.64 + .Hand.open +2 "manipulator"&\ 1 +56 "core" 1 +2 "manipulator"&% +4 "core" % X 0 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&*'\ +101 "core" ' + "processing"%q& +4 "core" &Z\ ( +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&1% +4 "core" %\ 5 & +2 "storage"(I% +4 "core" %K 3 4 ^\ + "storage"(R. +3 "core" .( +2 "storage"(& +3 "core" &   D\ , +2 "storage"(5& +4 "manipulator"&e& +5 "core" &  / B\ , + &l +3 ."raiseStack"SE.reconfigure :place +2 .tElbow.reconfigure :tight +3 "storage"(#]kK-0-\ b +5 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC + ."raiseStack"SE.seek :beamBreak +4 "manipulator"&Y(c + "storage"($'e +5 "core" ( + "manipulator"&& +4 "core" &l +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 & & +2 "core" &l 0 +3 .tForearm.seek PC +2 "manipulator"&'[ +94 "core" ' +2 .tHand.close +2 "manipulator"&/ +52 "core" / +2 .tPC.seek :open +2 "processing"%@(p +94 "core" ' +2 "storage"(<- +3 "core" -'e + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(8'B +35 "core" ' +252 ( + "storage"(?& +4 "core" & 7 ? \ , +2 "manipulator"& & +4 "core" &l  + "manipulator"&% +4 "core" % ]  +2 .tForearm.seek :retract +2 "manipulator"&'\ +91 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&-(D +254 "core" ( +2 "manipulator"&>& +4 "core" &J $ + "storage"(N& +4 "core" & ? 8 \ , +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&B' +93 "core" ' + .tHand.open +2 "manipulator"&!1 +62 "core" 1 +2 "storage"(#- +4 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate +2 "storage"(' +23 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(0' +49 "core" ' +3 #tLights, camera, ACTION! + "storage"(.- +3 "core" -' +2 "storage"(S& +4 "core" & z y 0\ / + "manipulator"&E& +4 "core" &J $ +2 .tElbow.seek 3 +2 "manipulator"&3(D +3 "core" ( +2 "manipulator"&j& +3 "core" &J $ +2 "storage"(L& +4 "core" & w w \ / +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&' +3 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"(Z'M +62 "core" ' +2 "manipulator"&& +4 "core" &J 7 $ +2 "storage"(F& +4 "core" & F F R\ / + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&&'M +31 "core" ' + .tElbow.hold +2 "manipulator"&A, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"(4'7 +37 "core" ' + "manipulator"&T% +5 "core" %W ( " a + "storage"(6& +4 "core" &\ '\ ' E\ / +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 310 counts +2 "manipulator"&;'σ +16 "core" ' +2 "manipulator"&f& +4 "core" &Y k { 8 "{ +2 "storage"(H& +4 "core" & Y Y\ / +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&/' +19 "core" ' +2 "storage"(7% +4 "core" %8 u q #\ +3 ."downElevator"SE.seek :down +3 "storage"("'N +99 ((% +3 "core" %}< A 9 e\ U] + "manipulator"&G% +5 "core" % q | \ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&D'\ +96 "core" ' +55 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (b& +4 "core" &\  c 8\ / +2 "collection"'z& +4 "core" &]nG\ M + #tStoring generic puck in Collection Clamp to tube 3 +2 "manipulator"&% +4 "core" %\ 8 ' + "storage"(W% +4 "core" %D D B \  +2 "storage"(. +3 "core" .( + "storage"(& +4 "core" & F E \ / +2 "storage"(i& +4 "core" & E E\ / + "manipulator"&[& +4 "core" &Y "{ +2 .tElbow.seek 3 + "manipulator"&K(D +33 "core" ( + "manipulator"&V& +4 "core" &N o X +2 "storage"(%& +4 "core" & 7 8 P\ / +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&M' +102 "core" ' +2 "storage"(k& +4 "core" & o m \ / +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(C'e +278 "core" ' +2 "storage"(h- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&a& +2 "core" &N s s Q X +2 "storage"(+& +4 "core" & o n #\ / + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&,'M +31 "core" ' + .tElbow.hold +2 "manipulator"&Q, +3 "core" , +2 .tElbow.reconfigure :tight +52 "manipulator"&$&.,(\ #b +3 "storage"(g- +3 "core" -' +2 .tSE.seek 0.12 Pucks below Top Plate +2 "storage"(x'p +37 "core" ' + "manipulator"&p% +5 "core" %^  h + "storage"(O& +4 "core" &\ \  {\ / + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 3 + 317 counts +2 "manipulator"&2'ϊ +17 "core" ' + "manipulator"&o& +5 "core" &N ^ w $ X + "storage"(:& +4 "core" & u p %\ / +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"& ' +22 "core" ' +2 .tSE.seek 1.12 Pucks below Top Plate +2 "storage"(v'_ +52 "core" ' + "manipulator"&& +5 "core" &N r q \\ X + "manipulator"&_% +5 "core" % s r _ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&d'\ +93 "core" ' +2 .tElbow.seek CC +2 "manipulator"&( +155 "core" ( +2 "manipulator"&n& +4 "core" &# 9 ;6 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &t& +3 "core" &$ $ ;6 +2 .tForearm.seek CC +2 "manipulator"&u'| +95 "core" ' +2 .tHand.close + "manipulator"&\\/ +64 "core" / +2 .tCC.seek :open +2 "collection"'(p +411 "core" ( + "storage"(& +4 "core" & x m \ / +2 "storage"(^& +3 "core" & l n E\ / +2 "manipulator"&|& +4 "core" & # { :/ + "manipulator"&% +4 "core" % τ X +2 .tForearm.seek :retract +2 "manipulator"&}'\ +92 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&'(D +192 "core" ( + "manipulator"&U& +4 "core" &? V m +2 "storage"(& +4 "core" & x q\ / + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 3 +2 "manipulator"&w'M +107 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&y1 +52 "core" 1 +3 "manipulator"&9% +4 "core" % ^ " W +2 "storage"(=& +3 "core" & f c \ / +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 317 counts + "manipulator"& 'ϊ +60 "core" ' + "manipulator"&)& +4 "core" &n v k > +2 "storage"(& +4 "core" & $\ / +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&`' +18 "core" ' +2 "storage"(% +4 "core" %c \ +2 ."downElevator"SE.seek :down +4 "storage"(c'N +98 (% +3 "core" %8 2\ UZ +2 "manipulator"&s% +5 "core" % r r k  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +91 "core" ' +52 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 4 of [3..5] +2 #Loading generic puck from tube 4 into Collection Clamp + "collection"'l& +5 "core" &U\ + "manipulator"&r% +5 "core" %\ 1 $o + "storage"(~% +4 "core" %N \ +2 "storage"(. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"(J(, +340 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (\ & +2 "core" &, [ \\ !\  +2 "manipulator"&& +4 "core" &n M > + .tElbow.seek 4 +2 "manipulator"&q(* +41 "core" ( +2 "manipulator"&1& +4 "core" &5 9 + "storage"(I& +4 "core" &, A\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&R' +99 "core" ' +2 "storage"(& +4 "core" &, -\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(P'e +281 "core" ' +2 "storage"(e- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (5& +2 "core" &, P\  +2 "manipulator"&& +3 "core" &5  9 +2 .tElbow.seek 4 +2 "manipulator"& (* +4 "core" ( +2 "manipulator"& & +5 "core" &5  . + "storage"(& +4 "core" &, N\  +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&<'Z +20 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&]/ +55 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&*& +3 "storage"(X'N +7 "core" &5 { . + "manipulator"&?% +4 "core" % N  } z +2 .tForearm.seek :retract +2 "manipulator"& '\ +98 "core" ' +2 .tElbow.seek CC +2 "manipulator"&( +143 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +3 "core" ( + "manipulator"&$& +4 "core" &  + 1 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &  B 1 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&>'| +106 "core" ' +2 "manipulator"&N& +4 "core" &  q 1 +2 "manipulator"&Y% +4 "core" %s  +2 "collection"'!& +4 "core" &j\ +2 "collection"'#& +4 "core" &]\ +3 .tCC.seek :closed +2 "collection"'.(] +4 "core" &n\  +8 &1j\ *z +10 &ei\ ? +9 &P|m\ N +9 &^d\ M +10 &c[\ M +9 &`i\ M +10 &!Zdj\ M +9 &#fc\ M +9 &$bY\ M +10 &&`i\ M +9 &(bbp\ M +9 &*$]]\ M +10 &+ae\ M +9 &-bj\ M +9 &/j`h\ M +10 &1,``\ M +9 &2c[\ N +10 &4_W\ M +9 &6q\\^\ N +9 &83^^\ N +10 &9_[\ M +9 &;\\h\ M +9 &=zbk\ M +10 &?;`i\ N +9 &@ac\ M +10 &B]i\ M +9 &Dcn\ M +9 &FCam\ N +10 &Hcm\ N +9 &Irk\ O +9 &Kyl\ S +10 &M25n\ V +9 &Nc\ W +10 &PY\ W +9 &Rp[\ Y +9 &T1f\ Y +10 &Um\ Z +9 &Wj\ Z +9 &YnZ\ \\ +10 &[0d\ \\ +9 &\\}\\\ 0 +10 &](g\ ] +8 ( +4 "collection"'#& +2 #tCollection Clamp onSpring/offSpring for 9/25 samples, on/off torque 2.02 +2 .Hand.open + "manipulator"&S1 +4 "core" &]p]\ N +60 1 +2 "manipulator"&E% +4 "core" % s  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&j'\ +93 "core" ' +2 #tLoading generic puck from tube 4 into Processing Clamp + "processing"%L& +5 "core" &\ + "manipulator"&% +4 "core" %\ - "` + "storage"(% +4 "core" %C B B A\ +2 "storage"(F. +3 "core" .(, + "storage"(8& +4 "core" &, E E !\  +2 "storage"(T& +3 "core" &, A D \  +2 "manipulator"&6& +4 "core" &  I 1 + "manipulator"&% +4 "core" %\ -  "` +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&f(* +155 "core" ( + "manipulator"&H& +5 "core" &* B + "storage"(7& +4 "core" &, Z \\\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&-' +90 "core" ' +2 "storage"(B& +4 "core" &, ] j \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(0'e +281 "core" ' +2 "storage"((- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (G& +2 "core" &, 7 4 S\  +2 "manipulator"&& +5 "core" &* V + .tElbow.seek 4 +2 "manipulator"&3(* +3 "core" ( + "manipulator"&Z& +4 "core" &*  +2 "storage"(&& +3 "core" &, Y [\  +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&b'Z +21 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&;/ +59 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&z& +2 "storage"('N +6 "core" &* q s [ +2 "manipulator"&W% +4 "core" % S q q ~ + .tForearm.seek :retract +2 "manipulator"&'\ +97 "core" ' +2 .tElbow.seek PC + "manipulator"&(c +157 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +87 "core" ( +2 "manipulator"&4& +4 "core" &j f + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &i& +3 "core" &j ` +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +53 .tForearm.seek PC +3 "manipulator"&['[ +101 "core" ' +2 "manipulator"&V& +4 "core" &j  +2 "manipulator"&%% +4 "core" %W  + "processing"%/& +4 "core" &]\ +3 "processing"%k& +4 "core" &\ +2 .tPC.seek :closed +2 "processing"%"(Z +4 "core" &\ +8 & 3\ $c +10 &^U\ 7 +9 &~\ K +9 &nZ\ M +10 &0Z\ M +9 &\\\ M +9 & ]\ M +10 &"v[\ M +9 &$9Z\ M +10 &%Z\ M +9 &'ZP\ M +9 &)[\ M +10 &+AZ\ M +9 &-\\\ M +9 &.[R\ M +10 &0[\ M +9 &2G[\ M +10 &4 [\ M +9 &5Z\ M +9 &7Z\ M +10 &9OZ\ M +9 &;]T\ M +9 &<Y\ M +10 &>]U\ M +9 &@X\\\ M +10 &B] \ N +9 &C\\ \ M +9 &E]\ M +10 &G]e\ N +9 &In\ O +9 &J\ Q +10 &L\ T +9 &NTb\ T +9 &P\ S +9 &Q\ S +9 &S\ T +10 &U\\\ T +9 &W\ T +9 &X\ U +10 &Z9Kn\ , +9 &Z\ 4\ * +6 ( + "processing"%k& +4 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.59 +2 .Hand.open + "manipulator"&A1 +3 "core" &Z\ * +59 1 + "manipulator"&D% +4 "core" % W ] +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&h'\ +94 "core" ' + "processing"%a& +4 "core" &Z\ * +2 #tImaging generic puck in Processing Clamp while storing it to tube 4 + "manipulator"&+% +4 "core" %\ / m #b +2 "storage"(g% +4 "core" %I 4 ' o\ +2 "storage"(p. +3 "core" .(, + "storage"(O& +4 "core" &,  ' 3\  +2 "storage"(o& +2 "manipulator"&:& +7 "core" &, / 4 d\  + &j ; +3 ."raiseStack"SE.reconfigure :place +2 .tElbow.reconfigure :tight +4 "storage"(#]kK-0-\ b +3 "manipulator"&$&.,(\ #b +4 ."raiseStack"SE.seek :beamBreak +2 .tElbow.seek PC +2 "storage"('e +2 "manipulator"&_(c +5 "core" ( +2 "manipulator"&M& +3 "core" &j - +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &K& +3 "core" &j +2 .tForearm.seek PC + "manipulator"&C'[ +98 "core" ' + .tHand.close + "manipulator"&,/ +57 "core" / +2 .tPC.seek :open +2 "processing"%2(p +83 "core" ' + "storage"(x- +4 "core" -'e + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(n'B +45 "core" ' +249 ( +2 "storage"(t& +4 "core" &, \\ \\\  + "manipulator"& & +5 "core" &j  + "manipulator"&Q% +4 "core" % ]  +2 .tForearm.seek :retract +2 "manipulator"&\\'\ +96 "core" ' +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&d(* +255 "core" ( +2 "manipulator"&{& +4 "core" &4 # # +2 "storage"(& +3 "core" &, B 8 \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&^' +94 "core" ' +2 .tHand.open + "manipulator"&|1 +57 "core" 1 +2 "storage"(- +3 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate +2 "storage"(U' +23 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.83 Pucks below Top Plate + "storage"(' +50 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(u- +3 "core" -' +2 "storage"(& +3 "core" &, f\  +2 "manipulator"&y& +4 "core" &4 # + .tElbow.seek 4 +2 "manipulator"&9(* +3 "core" ( +2 "manipulator"&=& +4 "core" &4 n # + "storage"()& +5 "core" &, \  +2 .tForearm.seek 4 + 450 counts + "manipulator"&' +21 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"('M +62 "core" ' + "manipulator"&}& +5 "core" &4 ~ { # + "storage"(& +4 "core" &, \\ \\\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&s'. +28 "core" ' +2 .tElbow.hold + "manipulator"&', +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"(w'7 +22 "core" ' +2 "manipulator"&l% +4 "core" %B +2 "storage"( & +4 "core" &,\ \  \  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 4 + 320 counts +2 "manipulator"&r'n +17 "core" ' + "manipulator"&~& +4 "core" &( q x 6 $ +2 "storage"(& +4 "core" &, \\ Y\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&v' +22 "core" ' + "storage"(`% +5 "core" %= j v >\ +2 ."downElevator"SE.seek :down +4 "storage"(c'N +98 (m% +3 "core" %: ? 8 {\ U] +2 "manipulator"&\ % +4 "core" % p p +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +95 "core" ' +52 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (1& +4 "core" &, M  H\  + "collection"'I& +5 "core" &]pV\ N + #tStoring generic puck in Collection Clamp to tube 4 +2 "manipulator"&% +4 "core" %\ 8  ' + "storage"(% +4 "core" %> B B \ + "storage"(. +3 "core" .(, +2 "storage"(e& +4 "core" &, B B \  + "storage"(5& +4 "core" &, B B \  +2 "manipulator"&& +4 "core" &( U $ + .tElbow.seek 4 +2 "manipulator"& (* +3 "core" ( +2 "manipulator"&& +3 "core" &(  $ +2 "storage"(]& +4 "core" &, D C \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&*' +108 "core" ' +2 "storage"(?& +4 "core" &, q i\  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(q'e +283 "core" ' + "storage"(R- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&$& +3 "core" &) u $ +2 "storage"(& +3 "core" &, \\ [ \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&P'. +30 "core" ' + .tElbow.hold +2 "manipulator"&<, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(N- +3 "core" -' +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(Y'l +30 "core" ' + "manipulator"&!% +5 "core" %@  f + "storage"( & +4 "core" &,\ $\  \  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 4 + 318 counts +2 "manipulator"&X'l +17 "core" ' +2 "manipulator"& & +4 "core" &' a x $ % + "storage"(& +4 "core" &, d f\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&S' +16 "core" ' +2 .tSE.seek 1.11 Pucks below Top Plate +2 "storage"(E'[ +52 "core" ' + "manipulator"&L& +5 "core" &' o o ' % + "manipulator"&% +4 "core" % q q C +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +94 "core" ' +2 .tElbow.seek CC +2 "manipulator"&F( +149 "core" ( +2 "manipulator"&8& +5 "core" &( A ?S + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &#& +3 "core" &( _ ?S +2 .tForearm.seek CC + "manipulator"&T'| +99 "core" ' + .tHand.close + "manipulator"&6/ +63 "core" / +2 .tCC.seek :open +2 "collection"'(p +411 "core" ( + "storage"(>& +4 "core" &, \  + "storage"(H& +4 "core" &, v l 5\  +2 "manipulator"&7& +3 "core" &- R 8 +2 "manipulator"&B% +4 "core" % ψ + .tForearm.seek :retract +2 "manipulator"&'\ +93 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&j(* +168 "core" ( +2 "manipulator"&(& +4 "core" &&\ W + "storage"(G& +4 "core" &, -\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 4 +53 "manipulator"&'. +104 "core" ' + .tElbow.hold +2 "manipulator"&Z, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&&1 +53 "core" 1 +3 "manipulator"&;% +4 "core" % A .  + "storage"(z& +4 "core" &, \\ d\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 319 counts + "manipulator"&W'm +17 "core" ' +2 "manipulator"&f& +4 "core" & g y O "z +2 "storage"(-& +4 "core" &, I\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&0' +18 "core" ' +2 "storage"(b% +4 "core" %Y X\ +3 ."downElevator"SE.seek :down +4 "storage"(4'N +98 (i% +3 "core" %7> 1\ U\\ + "manipulator"&3% +4 "core" % z | +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&V'\ +90 "core" ' +47 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 5 of [3..5] + #Loading generic puck from tube 5 into Collection Clamp +2 "collection"'%& +4 "core" &c\ +2 "manipulator"&/% +4 "core" %\ 0 $l + "storage"(% +5 "core" %9 \ + "storage"(. +3 "core" .(, +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"(@(<< +354 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (A& +4 "core" &<: [ \\\  +3 "manipulator"&D& +3 "core" & "y +2 .tElbow.seek 5 +2 "manipulator"&a( +3 "core" ( +2 "manipulator"&+& +3 "core" & , "y +2 "storage"(g& +4 "core" &<: {\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&p' +98 "core" ' +2 "storage"(O& +4 "core" &<: /\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(k'e +278 "core" ' +2 "storage"(:- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (o& +2 "core" &<: B\  +2 "manipulator"&M& +4 "core" &  "y + .tElbow.seek 5 +2 "manipulator"&K( +3 "core" ( +2 "manipulator"&[& +3 "core" & ' "y +2 "storage"(,& +4 "core" &<: (\  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&x'[ +22 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +52 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&h& +2 "storage"("'N +7 "core" & t q 5 "y + "manipulator"&t% +5 "core" % R p p  +2 .tForearm.seek :retract + "manipulator"&'\ +96 "core" ' +2 .tElbow.seek CC +2 "manipulator"& ( +141 "core" ( +2 "manipulator"&Q& +6 "core" &  Y 1 + ' + .tElbow.reconfigure :loose +3 ."downElevator"SE.stop +3 "manipulator"&$ &.,(#b + "storage"(5 +3 "manipulator"&C& +5 "core" &  : 1 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&{'| +103 "core" ' +2 "manipulator"&& +5 "core" &  Y 1 + "manipulator"&_% +4 "core" %k t +2 "collection"'|& +4 "core" &e\ +3 "collection"'& +6 "core" &a\ +2 .tCC.seek :closed +2 "collection"'u(] +4 "core" &o\ +7 & 7g\ %f +9 &iVn\ 7 +10 &k\ L +9 &{_k\ M +9 &=aj\ M +10 &bq\ M +9 & bh\ N +10 &"ao\ N +9 &$C_i\ N +9 &&`l\ N +10 &'\\k\ M +9 &)_h\ M +9 &+Lbm\ M +10 &- `l\ N +9 &.]U\ M +10 &0^Z\ M +9 &2T`g\ M +9 &4a^\ N +10 &5_\\\ N +9 &7_\\\ N +9 &9[_g\ N +10 &;_i\ N +9 &<_g\ N +10 &>`j\ N +9 &@daa\ M +9 &B&bk\ M +10 &C\\^\ M +9 &E]`\ N +10 &Gk`f\ N +9 &I(kj\ O +9 &Jyi\ Q +10 &L=ma\ U +9 &NV g\ X +9 &Pi\ X +10 &Q^\ Y +9 &S`\ Y +9 &UV[\ Z +10 &Wh\ Z +9 &Xf\ \\ +10 &Za\ _ +9 &\\Sa\ K +9 &]a=Z\ 'u +10 &]fX\ M +2 ( +2 "collection"'& +3 #tCollection Clamp onSpring/offSpring for 10/26 samples, on/off torque 2.05 + .Hand.open + "manipulator"&1 +54 "core" 1 + "manipulator"&y% +4 "core" % k +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&='\ +97 "core" ' + #tLoading generic puck from tube 5 into Processing Clamp +2 "processing"%)& +4 "core" &A\ + "manipulator"&\\% +4 "core" %\ / q #j +2 "storage"(}% +4 "core" %M 7 7 \ + "storage"(. +3 "core" .(<< +2 "storage"(n& +3 "core" &<: + H \  +2 "storage"(l& +4 "core" &<: 7 7 \  + "manipulator"& & +5 "core" &\   1 + "manipulator"&U% +4 "core" %\ /  #j +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&~( +181 "core" ( + "manipulator"&& +4 "core" &  9  +2 "storage"(`& +4 "core" &<: f f \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&d' +91 "core" ' +2 "storage"(^& +4 "core" &<: m o >\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"('e +277 "core" ' + "storage"(m- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (\ & +3 "core" &<: ] [ \  + "manipulator"&& +4 "core" &  r M  +2 .tElbow.seek 5 +2 "manipulator"&9( +3 "core" ( + "manipulator"&& +4 "core" &  u q #  +2 "storage"(s& +3 "core" &<: _ r {\  +3 .tForearm.seek 5 + 300 counts + "manipulator"&1'[ +22 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&r/ +60 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&I& +2 "storage"('N +7 "core" &  r q O  + "manipulator"&% +4 "core" % W p s 9 +2 .tForearm.seek :retract +2 "manipulator"&'\ +91 "core" ' +2 .tElbow.seek PC +2 "manipulator"&e(c +164 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +81 "core" ( + "manipulator"&w& +5 "core" &k O +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &5& +3 "core" &k +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&'[ +104 "core" ' +2 "manipulator"&& +4 "core" &k  + "manipulator"&]% +4 "core" %X  +2 "processing"%v& +4 "core" &\ +2 "processing"%?& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%c(Z +4 "core" &\  +10 &2\ *x +9 &d\ > +9 &Mw\ N +10 &Y\ M +9 &]\ M +9 &]\ M +10 &!V\\\ M +9 &#Z\ L +9 &$\\\ M +10 &&^\ M +9 &(^Y\ M +10 &* [\ M +9 &+Y\ M +9 &-Z\ M +10 &/g]\ M +9 &1([\ M +10 &2\\\ M +9 &4Y\ M +9 &6oZ\ M +10 &80Z\ M +9 &9Z\ M +9 &;Z\ M +10 &=wZ\ M +9 &?8\\\ M +10 &@]\ M +9 &B\\\ M +9 &D}\\\ M +10 &F>]\ N +9 &Hd\ N +9 &Is\ P +10 &Ky\ Q +9 &M4\ T +10 &N\ T +9 &P\ S +9 &Rz\ T +10 &T<\ T +9 &U\ T +9 &W\ T +10 &Y\ B +9 &Zx7\ !c +9 &Z\ * +3 ( +2 "processing"%?& +2 #tProcessing Clamp onSpring/offSpring for 9/25 samples, on/off torque 1.63 + .Hand.open +2 "manipulator"&'1 +54 "core" 1 + "manipulator"&% +4 "core" % X c +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&R'\ +100 "core" ' + "processing"%$& +5 "core" &Z\ * + #tImaging generic puck in Processing Clamp while storing it to tube 5 +2 "manipulator"&% +4 "core" %\ 5 & + "storage"(N% +4 "core" %H 8 5 7\ +2 "storage"(!. +3 "core" .(<< + "storage"( & +4 "core" &<: B A t\  +2 "storage"( & +4 "manipulator"&& +5 "core" &<: B 8 \  +2 &k ; +3 ."raiseStack"SE.reconfigure :place + .tElbow.reconfigure :tight +5 "storage"(#]kK-0-\ b +4 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +2 ."raiseStack"SE.seek :beamBreak +2 "manipulator"&L(c +3 "storage"('e +3 "core" ( +2 "manipulator"&*& +4 "core" &k + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 & & +3 "core" &k  +52 .tForearm.seek PC +3 "manipulator"&q'[ +94 "core" ' + .tHand.close +2 "manipulator"&P/ +52 "core" / +2 .tPC.seek :open +2 "processing"%X(p +43 "core" ' +2 "storage"(Y- +3 "core" -'e +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(8'B +46 "core" ' +291 ( +2 "storage"(#& +4 "core" &<: Z \\\  + "manipulator"&S& +4 "core" &k  +2 "manipulator"&<% +4 "core" % ]  +2 .tForearm.seek :retract + "manipulator"&6'\ +96 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&( +256 "core" ( +2 "manipulator"&.& +4 "core" & @ $ +2 "storage"(>& +4 "core" &<: F E K\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&H' +102 "core" ' +2 .tHand.open + "manipulator"&71 +58 "core" 1 +2 "storage"(B- +4 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate +2 "storage"((' +22 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(G' +49 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(T- +3 "core" -' +2 "storage"(F& +4 "core" &<: 7\  + "manipulator"&&& +4 "core" & $ +2 .tElbow.seek 5 +2 "manipulator"&;( +3 "core" ( + "manipulator"&z& +5 "core" & N $ + "storage"(f& +4 "core" &<: S\  +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&-' +27 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"(b'M +61 "core" ' + "manipulator"&& +5 "core" & | r d $ + "storage"(i& +5 "core" &<: Y Y\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&3'/ +29 "core" ' + .tElbow.hold +2 "manipulator"&j, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"('7 +34 "core" ' +2 "manipulator"&%% +5 "core" %C  + "storage"(/& +4 "core" &<:\ \ m\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 320 counts +2 "manipulator"&W'o +20 "core" ' +2 "manipulator"&& +4 "core" &   u  # +2 "storage"(& +4 "core" &<: w v q\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&E' +11 "core" ' + "storage"(0% +5 "core" %7 w x \\\  +2 ."downElevator"SE.seek :down +4 "storage"(4'N +98 (J% +3 "core" %< > W ;\ U^ +2 "manipulator"&A% +4 "core" % n 5 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&D'\ +87 "core" ' +62 ' + ."downElevator"SE.stop + "storage"(5 +3 (+& +4 "core" &<: S ? \  +2 "collection"'g& +4 "core" &]aJ\ M + #tStoring generic puck in Collection Clamp to tube 5 + "manipulator"&O% +5 "core" %\ & 4 + "storage"(Z% +4 "core" %N Z [\ +2 "storage"(V. +3 "core" .(<< + "storage"(:& +4 "core" &<: Y \\\  +2 "storage"(o& +4 "core" &<: [ Z\  + "manipulator"&M& +5 "core" &  # + .tElbow.seek 5 +2 "manipulator"&[( +3 "core" ( +2 "manipulator"&,& +4 "core" &  # + "storage"(& +4 "core" &<: [ \\\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&h' +99 "core" ' +2 "storage"(t& +4 "core" &<: Y c\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(a'e +281 "core" ' + "storage"(p- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&Q& +3 "core" &  "~ + "storage"(C& +4 "core" &<: L 7 \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&k'/ +29 "core" ' + .tElbow.hold +2 "manipulator"&x, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(- +2 "core" -' +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(_'l +29 "core" ' + "manipulator"&|% +4 "core" %>  a U +2 "storage"(K& +3 "core" &<:\  \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 315 counts +2 "manipulator"&"'j +18 "core" ' +2 "manipulator"&& +4 "core" &  y c ; # +2 "storage"(& +3 "core" &<: Y Y \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&' +16 "core" ' +2 .tSE.seek 1.11 Pucks below Top Plate +2 "storage"(y'[ +47 "core" ' +2 "manipulator"&)& +4 "core" &  p r Y # +2 "manipulator"&\\% +4 "core" % o p 4 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&}'\ +95 "core" ' +2 .tElbow.seek CC + "manipulator"&( +137 "core" ( +2 "manipulator"&n& +4 "core" & 2 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &l& +4 "core" & B 2 +2 .tForearm.seek CC +2 "manipulator"&'| +96 "core" ' + .tHand.close +2 "manipulator"& / +64 "core" / +2 .tCC.seek :open +2 "collection"'U(p +410 "core" ( +2 "storage"({& +4 "core" &<: (\  + "storage"(& +4 "core" &<: \  +2 "manipulator"&`& +3 "core" & 1 +2 "manipulator"&^% +3 "core" % ϊ +2 .tForearm.seek :retract +2 "manipulator"& '\ +92 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&=( +165 "core" ( + "manipulator"&m& +5 "core" & . + "storage"(\ & +4 "core" &<: G\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 5 + "manipulator"&'/ +104 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&s1 +57 "core" 1 +2 "manipulator"&r% +4 "core" % A p +2 "storage"(I& +4 "core" &<: j v H\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 318 counts +2 "manipulator"&'m +17 "core" ' +2 "manipulator"&~& +4 "core" & k d B + "storage"(d& +4 "core" &<: \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&' +18 "core" ' + "storage"(1% +5 "core" %^ ^\ +2 ."downElevator"SE.seek :down +3 "storage"(w'N +99 (5% +2 "core" %X= J\ U[ +2 "manipulator"&9% +5 "core" % { s T +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +90 "core" ' +54 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 3 of [3..5] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"']& +5 "core" &k\ + "manipulator"&v% +4 "core" %\ + !U +2 "storage"(% +4 "core" %I \ + "storage"(. +3 "core" .(<< +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 + "storage"(2( +678 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 ('& +2 "core" & 9 8 )\ +2 "manipulator"&& +4 "core" & A +2 .tElbow.seek 3 + "manipulator"&$(D +15 "core" ( + "manipulator"&& +4 "core" &M\ ] +2 "storage"(N& +4 "core" & \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +50 "manipulator"&!' +94 "core" ' +2 "storage"( & +4 "core" & \ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(?'e +281 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 ( & +3 "core" & \ +2 "manipulator"&*& +4 "core" &M\ _ ] +2 .tElbow.seek 3 + "manipulator"& (D +4 "core" ( + "manipulator"&& +5 "core" &M\ 0 ] + "storage"(P& +4 "core" & <\ +3 .tForearm.seek 3 + 300 counts + "manipulator"&Y'y +24 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&e/ +64 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&R& +2 "storage"(c'N +7 "core" &M\ } } ] +2 "manipulator"&% +4 "core" % } ~ } $ +2 .tForearm.seek :retract +2 "manipulator"&#'\ +95 "core" ' +2 .tElbow.seek CC +2 "manipulator"&S( +145 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +11 "core" ( + "manipulator"&<& +4 "core" &- Cn +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &q& +2 "core" &- N Cn +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&.'| +100 "core" ' +2 "manipulator"&>& +5 "core" &- c Cn + "manipulator"&L% +5 "core" %σ  + "collection"'7& +4 "core" &i\ +3 "collection"'B& +4 "core" &j\ +3 .tCC.seek :closed + "collection"'T(] +5 "core" &n\  +9 &2h\ *z +10 &em\ ? +9 &P{n\ N +9 &_o\ M +10 &bq\ N +9 &^l\ M +9 &!Z`i\ M +10 &#_m\ N +9 &$`n\ N +10 &&bo\ N +9 &(bbf\ M +9 &*#bj\ N +10 &+_n\ N +9 &-]p\ M +9 &/i_o\ N +10 &1+bn\ N +9 &2`n\ N +10 &4]m\ M +9 &6r_h\ M +9 &83]h\ N +10 &9_i\ N +9 &;^h\ N +9 &=y`n\ N +10 &?<\\j\ M +9 &@_i\ M +9 &Baa\ N +10 &D`j\ M +9 &FCbi\ N +10 &Hge\ N +9 &Ish\ P +9 &Kzm\ S +10 &M0 /h\ W +9 &N m\ X +10 &Pl\ X +9 &Rr^\ X +9 &T0d\ Z +10 &Uk\ Z +9 &Wg\ [\ +9 &Ymc\ ] +10 &[0^\ \\ +9 &\\va\ > +9 &]1a\ ^ +10 ( +2 "collection"'B& +3 #tCollection Clamp onSpring/offSpring for 9/25 samples, on/off torque 2.04 +2 .Hand.open + "manipulator"&F1 +4 "core" &]]g\ I +57 1 +2 "manipulator"&&% +4 "core" % ς +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&z'\ +91 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%f& +5 "core" &\ + "manipulator"&6% +5 "core" %\ + ^ !S + "storage"(% +4 "core" %B 8 ; |\ +2 "storage"(i. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(8( +30 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (%& +3 "core" & y\  +2 "manipulator"&(& +3 "core" &4% l <? +2 "manipulator"&/% +4 "core" %\ + P !S +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&(D +168 "core" ( +2 "manipulator"&& +4 "core" &Q y  +2 "storage"(0& +3 "core" & f \\\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&' +94 "core" ' +2 "storage"(H& +4 "core" & p s \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(G'e +283 "core" ' + "storage"(J- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (A& +3 "core" & X Z\ +2 "manipulator"&-& +3 "core" &Q 0  +2 .tElbow.seek 3 +2 "manipulator"&;(D +17 "core" ( + "manipulator"&b& +4 "core" &N   +2 "storage"(3& +4 "core" & Y Y\ +2 .tForearm.seek 3 + 300 counts + "manipulator"&+'y +22 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&g/ +53 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&W& +2 "storage"(O'N +7 "core" &N q r F  +2 "manipulator"&Z% +4 "core" % w r r ] +2 .tForearm.seek :retract + "manipulator"&V'\ +90 "core" ' +2 .tElbow.seek PC + "manipulator"&:(c +158 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +90 "core" ( +2 "manipulator"&& +5 "core" &h c + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &o& +3 "core" &h +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&M'[ +95 "core" ' +2 "manipulator"&,& +4 "core" &h  +2 "manipulator"&% +4 "core" %^ G + "processing"%E& +4 "core" &<\ +3 "processing"%t& +4 "core" &\ +2 .tPC.seek :closed +2 "processing"%4(Z +4 "core" &\ +8 & +\ #b +9 &\\U\ 7 +10 &~\ L +9 &p[\ M +10 &3Z\ M +9 &^\ M +9 & [\ M +10 &"yY\ M +9 &$:]\ M +9 &%W\ M +10 &'Z\ L +9 &)[\ L +10 &+DZ\ L +9 &-]\ M +9 &.^\ M +10 &0[\ M +9 &2J^\ M +9 &4Y\ L +10 &5[\ M +9 &7]\ M +10 &9R]\ M +9 &;\\\ M +9 &<\\\ M +10 &>\\\ M +9 &@Z]\ M +9 &B]\ M +10 &C]\ M +9 &E]\ M +10 &G`hS\ N +9 &Im\ O +9 &J~\ Q +10 &L\ S +9 &NW\ S +9 &P\ S +10 &Q\ S +9 &S\ T +9 &U^\ T +10 &W \ T +9 &X\ T +10 &Z;Kp\ - +9 &Z-\ ) +5 ( +2 "processing"%t& +4 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.59 +2 .Hand.open + "manipulator"&j1 +3 "core" &Z\ ) +56 1 + "manipulator"&D% +4 "core" % ^ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&p'\ +98 "core" ' + "processing"%Q& +4 "core" &Z\ ) +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&C% +4 "core" %\ 0 u $t +2 "storage"(% +4 "core" %= > A v\ + "storage"(|. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 + "storage"(K( +6 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (& +4 "core" &\  Q\  + "manipulator"&& +3 ."raiseStack"SE.reconfigure :place +5 "storage"(#]kK-0-\ b +3 "core" &h ! +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +3 ."raiseStack"SE.seek :beamBreak + "manipulator"&)(c +2 "storage"(\\'e +5 "core" ( + "manipulator"&h& +5 "core" &h # + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &[& +3 "core" &h +2 .tForearm.seek PC +2 "manipulator"&a'[ +94 "core" ' +2 .tHand.close + "manipulator"&k/ +58 "core" / +2 .tPC.seek :open +2 "processing"%"(p +89 "core" ' + "storage"(_- +4 "core" -'e + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(n'B +35 "core" ' +253 ( +2 "storage"(l& +4 "core" & [ Y\ $ +2 "manipulator"&& +3 "core" &h  +2 "manipulator"&x% +4 "core" % g  \ +2 .tForearm.seek :retract + "manipulator"& '\ +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&}(D +262 "core" ( +2 "manipulator"&u& +4 "core" &A : ( + "storage"({& +4 "core" & E E U\ $ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&' +104 "core" ' + .tHand.open + "manipulator"&`1 +60 "core" 1 +4 "storage"(^- +6 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate +2 "storage"(m' +23 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(\ ' +50 "core" ' + #tLights, camera, ACTION! +2 "storage"(- +3 "core" -' +2 "storage"(& +4 "core" & O\ & + "manipulator"&s& +4 "core" &B 1 ( +2 .tElbow.seek 3 + "manipulator"&r(D +55 "core" ( + "manipulator"&I& +5 "core" &B  ( + "storage"(~& +4 "core" & i i \ ' +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&d' +5 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"(1'M +61 "core" ' + "manipulator"& & +5 "core" &B ~ ( + "storage"(5& +4 "core" & Y Y\ ' +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&9'M +33 "core" ' +2 .tElbow.hold +2 "manipulator"&=, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"('7 +23 "core" ' +2 "manipulator"&]% +5 "core" %X q + "storage"(& +4 "core" &   y\ ' +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 311 counts +2 "manipulator"&v'τ +17 "core" ' +2 "manipulator"&& +4 "core" &d k | \\ # +2 "storage"(& +4 "core" & v q I\ ' +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&y' +18 "core" ' +2 "storage"(% +4 "core" %; o m \ +3 ."downElevator"SE.seek :down +3 "storage"(w'N +99 (@% +3 "core" %~@ Y [\ V_ +2 "manipulator"&'% +4 "core" % q o O +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +91 "core" ' +57 ' + ."downElevator"SE.stop + "storage"(5 +3 (& +4 "core" & 4 K \ ' +2 "collection"'N& +4 "core" &]^V\ I + #tStoring generic puck in Collection Clamp to tube 3 +2 "manipulator"& % +4 "core" %\ / " #d + "storage"(% +4 "core" %= [ \\\ +2 "storage"(. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(( +5 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 ( & +3 "core" & C\ % +2 "manipulator"&*& +4 "core" &d " # +2 .tElbow.seek 3 + "manipulator"&(D +41 "core" ( +2 "manipulator"&P& +4 "core" &8  +2 "storage"(e& +4 "core" & c f\ ' +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&R' +94 "core" ' + "storage"(& +5 "core" & n n\ ' +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"($'e +276 "core" ' +2 "storage"(!- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&<& +3 "core" &8  + "storage"(q& +4 "core" & g f\ , + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&?'M +27 "core" ' +2 .tElbow.hold +2 "manipulator"&Y, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(>- +2 "core" -' +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(L'k +26 "core" ' + "manipulator"&7% +5 "core" %\\ X + "storage"( & +4 "core" &   \ , + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 3 + 315 counts +2 "manipulator"&c'ψ +17 "core" ' + "manipulator"&#& +4 "core" &F h { * +2 "storage"(U& +4 "core" & p ^ f\ , +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&F' +24 "core" ' +2 .tSE.seek 1.11 Pucks below Top Plate +2 "storage"(&'Z +50 "core" ' +2 "manipulator"&f& +4 "core" &F q p / +2 "manipulator"&6% +4 "core" % q q . +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +98 "core" ' +2 .tElbow.seek CC +2 "manipulator"&i( +146 "core" ( +2 "manipulator"&B& +4 "core" & w 1 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &%& +3 "core" &  1 +2 .tForearm.seek CC +2 "manipulator"&('| +97 "core" ' +2 .tHand.close + "manipulator"&// +64 "core" / +2 .tCC.seek :open +2 "collection"'.(p +410 "core" ( +2 "storage"(& +4 "core" & l\ , + "storage"(0& +4 "core" & \ , + "manipulator"&2& +5 "core" &  1 + "manipulator"&H% +4 "core" % } L +3 .tForearm.seek :retract +2 "manipulator"&S'\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&z(D +164 "core" ( + "manipulator"&J& +4 "core" &8 8 / +2 "storage"(A& +4 "core" & \ , + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 3 + "manipulator"&-'M +104 "core" ' +2 .tElbow.hold + "manipulator"&b, +4 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&31 +57 "core" 1 +2 "manipulator"&g% +4 "core" % _ " N +2 "storage"(W& +4 "core" & Y Y \ , + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 318 counts +2 "manipulator"&Z'ϋ +17 "core" ' +2 "manipulator"&& +4 "core" &` r x *  +2 "storage"(& +4 "core" & ^\ , +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&G' +11 "core" ' +2 "storage"(+% +4 "core" %b E\ +3 ."downElevator"SE.seek :down +3 "storage"('N +99 (o% +3 "core" %.< G\ U[ +2 "manipulator"&;% +4 "core" % q r = + +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&,'\ +93 "core" ' +50 ' +2 ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 4 of [3..5] +2 #Loading generic puck from tube 4 into Collection Clamp + "collection"'& +4 "core" &n\ +2 "manipulator"&E% +3 "core" %\ / #d +2 "storage"(O% +4 "core" %M l\ +2 "storage"(V. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"(X(, +345 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (j& +2 "core" &, g ] K\  +2 "manipulator"&D& +4 "core" &`  + .tElbow.seek 4 +2 "manipulator"&Q(* +18 "core" ( + "manipulator"&C& +4 "core" & A  +2 "storage"(& +4 "core" &, \ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&|' +101 "core" ' +2 "storage"(t& +4 "core" &, '\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('e +276 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (h& +2 "core" &, \  +2 "manipulator"&[& +4 "core" &   + .tElbow.seek 4 +2 "manipulator"&M(* +8 "core" ( + "manipulator"&k& +4 "core" &   \ +2 "storage"(8& +4 "core" &, -\  +2 .tForearm.seek 4 + 300 counts + "manipulator"&_'Z +11 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&:/ +58 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&p& +4 "storage"(4'N +6 "core" &  = \ + "manipulator"&l% +4 "core" % T \\  +2 .tForearm.seek :retract +2 "manipulator"&'\ +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"&\\( +155 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +10 "core" ( +2 "manipulator"&x& +4 "core" &0 3 E + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &a& +3 "core" &0 E E +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&u'| +104 "core" ' +2 "manipulator"&{& +4 "core" &0 < E +50 "manipulator"&)% +6 "core" %u +2 "collection"'`& +4 "core" &`\ +3 "collection"'^& +4 "core" &n\ +2 .tCC.seek :closed +2 "collection"'(] +4 "core" &p\ +7 & 8i\ $e +10 &jVn\ 8 +9 &l\ L +9 &]o\ M +10 &Cbn\ M +9 &]o\ M +10 & _n\ M +9 &"bh\ N +9 &$J`h\ N +10 && `c\ N +9 &']k\ M +9 &)_l\ M +10 &+Sbm\ M +9 &-bg\ M +10 &.cl\ N +9 &0ci\ M +9 &2Zcm\ N +10 &4^h\ M +9 &5\\o\ N +9 &7ag\ M +10 &9b_h\ N +9 &;%ai\ M +10 &<`j\ N +9 &>]a\ M +9 &@jbc\ N +10 &B,a]\ N +9 &C^]\ M +9 &Ebh\ N +10 &Greb\ N +9 &I/lg\ O +10 &J~^\ Q +9 &L3ch\ U +9 &N]a\ X +10 &Pe\ X +9 &Q ]\ X +9 &Se\ Y +10 &U]Y\ Z +9 &W `\ Z +9 &Xe\ [ +10 &Z[\ ] +9 &\\`\\\ I +10 &]^:e\ - +9 &]fS\ H +2 ( +2 "collection"'^& +3 #tCollection Clamp onSpring/offSpring for 10/26 samples, on/off torque 2.02 +2 .Hand.open + "manipulator"&1 +53 "core" 1 + "manipulator"&s% +5 "core" % s +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +3 "manipulator"& '\ +94 "core" ' +2 #tLoading generic puck from tube 4 into Processing Clamp +2 "processing"%I& +4 "core" &C\ + "manipulator"&~% +4 "core" %\ /  #g +2 "storage"( % +4 "core" %J B B \ + "storage"(5. +3 "core" .(, +2 "storage"(n& +4 "core" &, C E \  + "storage"(m& +4 "core" &, D C\  +2 "manipulator"&]& +4 "core" &5% =F + "manipulator"&% +4 "core" %\ / #g +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&(* +153 "core" ( + "manipulator"&& +4 "core" &1   +2 "storage"(}& +4 "core" &, Z [\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&' +99 "core" ' +2 "storage"(& +4 "core" &, ^ o b\  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(\ 'e +277 "core" ' + "storage"(@- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 ('& +3 "core" &, M b '\  +2 "manipulator"&d& +3 "core" &1 =  +2 .tElbow.seek 4 +2 "manipulator"&r(* +3 "core" ( + "manipulator"&1& +4 "core" &1 7  +2 "storage"(9& +3 "core" &, \\ Z\  +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&'Z +11 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&v/ +54 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&N& +3 "storage"( 'N +7 "core" &1 G  + "manipulator"&% +4 "core" % W < * +2 .tForearm.seek :retract +2 "manipulator"&'\ +95 "core" ' +2 .tElbow.seek PC + "manipulator"&(c +155 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +94 "core" ( +2 "manipulator"& & +4 "core" &i K +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &*& +3 "core" &i +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&P'[ +116 "core" ' +2 "manipulator"&e& +4 "core" &i n +2 "manipulator"&y% +4 "core" %O u z + "processing"%& +4 "core" &A\ +3 "processing"%w& +6 "core" &;\ +2 .tPC.seek :closed +3 "processing"%K(Z +3 "core" &\ +6 &9\ $e +9 &oV\ 7 +10 &|\ K +9 &W\ M +10 &EZ\ L +9 &[\ M +9 & ^\ M +10 &"W\ M +9 &$LW\ M +9 &&Y\ M +10 &'X\ M +9 &)Z\ M +10 &+TX\ M +9 &-_\ M +9 &.\\\ L +10 &0\\\ M +9 &2\\]\ M +9 &4Y\ M +10 &5Y\ M +9 &7Y\ L +10 &9dZ\ M +9 &;'\\\ L +9 &<Y\ L +10 &>\\\ M +9 &@lY\ M +9 &B.\\\ M +10 &CZ\ L +9 &E\\\ M +10 &Gpc\ N +9 &I/k\ O +9 &J~\ Q +10 &L\ S +9 &Ng\ T +9 &P)\ T +10 &Q\ S +9 &S\ S +10 &Uo%\ T +9 &W1\ T +9 &X\ T +10 &ZHGg\ )y +9 &Z3\ * +5 ( +2 "processing"%w& +4 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.62 + .Hand.open +2 "manipulator"&=1 +3 "core" &Z\ * +53 1 + "manipulator"&% +4 "core" % P 6 y +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&!'\ +91 "core" ' +2 "processing"%<& +4 "core" &Z\ * +2 #tImaging generic puck in Processing Clamp while storing it to tube 4 + "manipulator"&q% +4 "core" %\ + Y !S +2 "storage"(>% +3 "core" %: B B \ +2 "storage"(7. +3 "core" .(, + "storage"( & +4 "core" &, E C\  +3 "storage"(#& +4 "manipulator"&U& +4 "core" &, C B \  + &i +3 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +3 "storage"(#]kK-0-\ b +3 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +2 ."raiseStack"SE.seek :beamBreak +2 "manipulator"&f(c +2 "storage"(6'e +5 "core" ( + "manipulator"&R& +4 "core" &i ! +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &i F +2 .tForearm.seek PC +2 "manipulator"&$'[ +98 "core" ' + .tHand.close +2 "manipulator"&?/ +60 "core" / + .tPC.seek :open +2 "processing"%c(p +86 "core" ' +2 "storage"(L- +3 "core" -'e +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(B'B +35 "core" ' +260 ( + "storage"(%& +4 "core" &, Z >\  +2 "manipulator"&F& +4 "core" &i _ +2 "manipulator"&Y% +3 "core" % d @ +2 .tForearm.seek :retract +2 "manipulator"&/'\ +96 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 + "manipulator"&(* +260 "core" ( + "manipulator"&T& +4 "core" &2 % +2 "storage"(& +4 "core" &, 6 4\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&0' +103 "core" ' + .tHand.open + "manipulator"&21 +57 "core" 1 +2 "storage"(H- +3 "core" -'B +3 .tSE.seek -0.16 Pucks below Top Plate + "storage"(J' +26 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.83 Pucks below Top Plate + "storage"(A' +52 "core" ' + #tLights, camera, ACTION! +2 "storage"((- +3 "core" -' +2 "storage"(i& +4 "core" &, i\  + "manipulator"&3& +4 "core" &2 R +2 .tElbow.seek 4 + "manipulator"&g(* +4 "core" ( + "manipulator"&W& +4 "core" &2 2 +2 "storage"(& +4 "core" &, m\  +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&' +3 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"(+'M +58 "core" ' + "manipulator"&S& +5 "core" &2  + "storage"(o& +5 "core" &, ] g 9\  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&;'. +28 "core" ' +2 .tElbow.hold + "manipulator"&z, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"(-'7 +27 "core" ' + "manipulator"&% +5 "core" %? x +2 "storage"(E& +4 "core" &,   \  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 317 counts +3 "manipulator"&Z'k +17 "core" ' + "manipulator"&O& +5 "core" & w l x 3 + "storage"(V& +5 "core" &, w v `\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&&' +19 "core" ' +2 "storage"(G% +5 "core" %0 v u @\ +2 ."downElevator"SE.seek :down +4 "storage"('N +98 (% +3 "core" %!: Y [\ U] + "manipulator"&j% +5 "core" % ~ t # +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&D'\ +91 "core" ' +63 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (C& +4 "core" &, D ; \  +2 "collection"'& +4 "core" &]hX\ H +52 #tStoring generic puck in Collection Clamp to tube 4 +2 "manipulator"&t% +5 "core" %\ / #h + "storage"(b% +4 "core" %Q Z Y\  +2 "storage"(,. +3 "core" .(, + "storage"(& +4 "core" &, [ [\  +2 "storage"(h& +4 "core" &, Z Y\  + "manipulator"&[& +4 "core" & 3 +2 .tElbow.seek 4 +2 "manipulator"&k(* +16 "core" ( + "manipulator"&8& +5 "core" &+\  Z + "storage"(:& +4 "core" &, Y [\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&p' +100 "core" ' +2 "storage"(l& +4 "core" &, Y Y\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(Q'e +278 "core" ' + "storage"(|- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&x& +3 "core" &+\ Z +2 "storage"(a& +4 "core" &, \\ \\ \  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&'. +29 "core" ' + .tElbow.hold +2 "manipulator"&_, +103 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"({- +2 "core" -' +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(M'l +27 "core" ' +2 "manipulator"&)% +4 "core" %A X +2 "storage"(`& +4 "core" &,\ $\ & \  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 319 counts +2 "manipulator"&4'm +18 "core" ' + "manipulator"&& +5 "core" & | o p # + "storage"(.& +4 "core" &, c X\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&' +20 "core" ' +2 .tSE.seek 1.11 Pucks below Top Plate +2 "storage"(s'[ +50 "core" ' +2 "manipulator"&I& +4 "core" & r q 5 # +2 "manipulator"&~% +4 "core" % q h   + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"& '\ +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&5( +142 "core" ( + "manipulator"&n& +4 "core" & I 2 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &m& +3 "core" & : 2 +2 .tForearm.seek CC +2 "manipulator"&^'| +100 "core" ' +2 .tHand.close +2 "manipulator"&]/ +62 "core" / +2 .tCC.seek :open +2 "collection"'(p +413 "core" ( +2 "storage"(u& +4 "core" &, \  + "storage"(& +4 "core" &, w \  +2 "manipulator"&}& +4 "core" & % 1 + "manipulator"&% +4 "core" %  , +2 .tForearm.seek :retract +2 "manipulator"&\\'\ +91 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"& (* +177 "core" ( +2 "manipulator"&@& +4 "core" &4 A  +2 "storage"('& +3 "core" &, \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 4 +2 "manipulator"&d'. +105 "core" ' +2 .tElbow.hold + "manipulator"&1, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&91 +54 "core" 1 + "manipulator"&v% +5 "core" % A Z + "storage"(N& +4 "core" &, v v v\  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 4 + 319 counts +2 "manipulator"&'m +16 "core" ' +2 "manipulator"&& +4 "core" & x u -  +2 "storage"(& +3 "core" &, V\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&\ ' +24 "core" ' + "storage"(% +4 "core" %] 3\ +3 ."downElevator"SE.seek :down +3 "storage"( 'N +99 (*% +2 "core" %;9 y\ U\\ +2 "manipulator"&r% +5 "core" % o q C +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&e'\ +95 "core" ' +46 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 5 of [3..5] +2 #Loading generic puck from tube 5 into Collection Clamp + "collection"'y& +4 "core" &`\ +2 "manipulator"&% +4 "core" %\ 6 & + "storage"( % +4 "core" %B !\ +2 "storage"(. +3 "core" .(, +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"("(<< +353 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (=& +2 "core" &<9 Z \\\  +2 "manipulator"&& +4 "core" &  +2 .tElbow.seek 5 + "manipulator"&<( +16 "core" ( +2 "manipulator"&q& +4 "core" & - U + "storage"(>& +4 "core" &<8 \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&7' +97 "core" ' +2 "storage"( & +4 "core" &<8 /\  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(U'e +281 "core" ' +2 "storage"(#- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (w& +2 "core" &<8 c\  +2 "manipulator"&R& +4 "core" &\  T + .tElbow.seek 5 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&P& +3 "core" &\  T +2 "storage"(?& +4 "core" &<8 \  +2 .tForearm.seek 5 + 300 counts + "manipulator"&L'[ +11 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close +2 "manipulator"&/ +58 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&!& +3 "storage"(K'N +7 "core" &\ Q T + "manipulator"&%% +5 "core" % [ } # + .tForearm.seek :retract +2 "manipulator"&6'\ +99 "core" ' +2 .tElbow.seek CC + "manipulator"&F( +145 "core" ' + ."downElevator"SE.stop + "storage"(5 +5 "core" ( + "manipulator"&Y& +4 "core" &   + +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &$& +2 "core" &  ; + +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&T'| +95 "core" ' +2 "manipulator"&& +4 "core" &  + +2 "manipulator"&f% +4 "core" %  +2 "collection"'2& +4 "core" &[\ +2 "collection"'H& +5 "core" &[\ +2 .tCC.seek :closed +2 "collection"'((] +4 "core" &l\ +7 & .l\ $c +10 &_Un\ 7 +9 &o\ L +10 &oan\ M +9 &1ck\ M +9 &ch\ M +10 & cl\ N +9 &"vao\ N +9 &$:]n\ M +10 &%aj\ N +9 &'_n\ M +10 &)_l\ M +9 &+Aao\ M +9 &-an\ M +10 &._l\ M +9 &0_n\ M +9 &2I_m\ M +10 &4 `o\ M +9 &5bk\ M +9 &7bo\ M +10 &9S]j\ M +9 &;an\ M +10 &<ah\ M +9 &>bi\ M +9 &@Ych\ M +10 &Bce\ M +9 &Cbj\ M +10 &Eaj\ N +9 &Ga`k\ M +9 &Inl\ O +10 &J}a\ P +9 &LBrg\ U +9 &NK m\ X +10 &P  i\ X +9 &Qb\ Y +9 &Sc\ Y +10 &UMq\ Z +9 &Wk\ Z +10 &Xd\ \\ +9 &Zh\ \\ +9 &\\Nf\ I +10 &]\\=a\ &s +9 &]b\ X +5 ( +2 "collection"'H& +4 #tCollection Clamp onSpring/offSpring for 10/26 samples, on/off torque 2.00 +2 .Hand.open + "manipulator"&i1 +4 "core" &]g\ X +51 1 +2 "manipulator"&3% +4 "core" %  L  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&W'\ +91 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp + "processing"%& +4 "core" &\ +2 "manipulator"&/% +4 "core" %\ - "Z + "storage"(S% +4 "core" %> 5 > ]\ +2 "storage"(o. +3 "core" .(<9 + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"((<< +7 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (B& +2 "core" &<:3\  \  +2 "manipulator"&E& +4 "core" &  + + "manipulator"&O% +5 "core" %\ - "Z + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&J( +164 "core" ( +2 "manipulator"&V& +4 "core" &\  * +2 "storage"(G& +4 "core" &<9 C D \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&' +144 "core" ' +2 "storage"(0& +4 "core" &<9 Z [\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(A'e +278 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (j& +3 "core" &<9 A : \  + "manipulator"&& +4 "core" &   ( +2 .tElbow.seek 5 +2 "manipulator"&g( +3 "core" ( + "manipulator"&+& +4 "core" &  6 ( +2 "storage"(;& +4 "core" &<9 E E 5\  +2 .tForearm.seek 5 + 300 counts + "manipulator"&Z'[ +12 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&C/ +60 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +3 "storage"(t'N +7 "core" &  b ( +2 "manipulator"&-% +4 "core" % Q $ + .tForearm.seek :retract +2 "manipulator"&b'\ +97 "core" ' +2 .tElbow.seek PC + "manipulator"&,(c +155 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +100 "core" ( +2 "manipulator"&& +4 "core" &i ^ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &h& +3 "core" &i +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&['[ +102 "core" ' +2 "manipulator"&8& +4 "core" &i  +2 "manipulator"&:% +4 "core" %R  +2 "processing"%&& +3 "core" &I\ +2 "processing"%l& +5 "core" &R\ +2 .tPC.seek :closed +2 "processing"%(Z +5 "core" &\ +7 & +\ #a +10 &]U\ 7 +9 &~\ L +9 &qW\ M +10 &5Z\ L +9 &\\\ M +9 & [\ M +10 &"zY\ M +9 &$;]\ M +10 &%Y\ L +9 &'Z\ M +9 &)\\\ M +10 &+DX\ M +9 &-\\\ M +9 &.Z\ M +10 &0\\\ M +9 &2KZ\ M +10 &4 X\ M +9 &5Y\ M +9 &7Z\ M +10 &9SY\ M +9 &;[\ M +9 &<X\ M +10 &>[\ M +9 &@[Z\ M +10 &B\\\ N +9 &CZ\ M +9 &E[\ M +10 &Ga`\ N +9 &Ik\ O +9 &J{\ Q +10 &L\ S +9 &NX\ S +10 &P\ T +9 &Q\ T +9 &S\ T +10 &U]\ T +9 &W\ T +9 &X\ U +10 &Z;Jk\ +} +9 &Z\ 5\ * +6 ( + "processing"%l& +4 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.60 +2 .Hand.open + "manipulator"&z1 +3 "core" &Z\ * +59 1 + "manipulator"&D% +4 "core" % R X +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&|'\ +100 "core" ' +2 "processing"%x& +4 "core" &Z\ * + #tImaging generic puck in Processing Clamp while storing it to tube 5 +2 "manipulator"&a% +4 "core" %\   + "storage"({% +4 "core" %C   \ +2 "storage"(). +3 "core" .(<< + "storage"(`& +4 "core" &<9 3 &\  +3 "storage"(& +2 "manipulator"&.& +6 "core" &<9   $\  +2 &i M +2 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +2 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +4 "storage"(#]kK-0-\ b + "manipulator"&p(c +6 ."raiseStack"SE.seek :beamBreak + "storage"(I'e +3 "core" ( + "manipulator"&~& +4 "core" &i n +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &k& +2 "core" &i s +3 .tForearm.seek PC + "manipulator"&Q'[ +96 "core" ' +2 .tHand.close + "manipulator"&/ +64 "core" / +2 .tPC.seek :open +2 "processing"%4(p +85 "core" ' +2 "storage"(M- +3 "core" -'e +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(n'B +42 "core" ' +254 ( + "storage"(m& +4 "core" &<9 E C F\  +2 "manipulator"&& +4 "core" &i + "manipulator"&_% +4 "core" % ^ R +2 .tForearm.seek :retract +2 "manipulator"&]'\ +94 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"& ( +248 "core" ( +2 "manipulator"&& +4 "core" & 5 +2 "storage"(u& +3 "core" &<9 /  @\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&' +99 "core" ' + .tHand.open +2 "manipulator"&}1 +59 "core" 1 +2 "storage"(- +4 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate +2 "storage"(@' +26 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"('' +52 "core" ' +2 #tLights, camera, ACTION! + "storage"(^- +4 "core" -' +2 "storage"(5& +3 "core" &<9 \  +2 "manipulator"&9& +4 "core" & $ 5 + .tElbow.seek 5 +2 "manipulator"&v( +3 "core" ( +2 "manipulator"&N& +4 "core" & ` 5 + "storage"(& +4 "core" &<9 _\  +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&' +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"('M +62 "core" ' + "manipulator"&\\& +5 "core" & 6 5 + "storage"(*& +5 "core" &<9 B B \  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&r'/ +29 "core" ' +2 .tElbow.hold +2 "manipulator"& , +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"(d'7 +38 "core" ' + "manipulator"&y% +5 "core" %@} L + "storage"(& +5 "core" &<9 \\\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 317 counts +2 "manipulator"&'l +19 "core" ' + "manipulator"& & +5 "core" & { j 0 "x + "storage"(& +5 "core" &<9 \\ [\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&s' +24 "core" ' + "storage"(\ % +5 "core" %7 [ Y\ +2 ."downElevator"SE.seek :down +4 "storage"( 'N +98 (X% +3 "core" %t? 5 4\ U^ +2 "manipulator"&=% +4 "core" % q p  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +91 "core" ' +59 ' + ."downElevator"SE.stop + "storage"(5 +3 (q& +4 "core" &<9 P\  x\  + "collection"'>& +4 "core" &]K\ X +2 #tStoring generic puck in Collection Clamp to tube 5 + "manipulator"& % +5 "core" %\ 1 \\ $l + "storage"(1% +4 "core" %H 5 5 H\ +2 "storage"(e. +3 "core" .(<< + "storage"(#& +4 "core" &<9 ? 5 \  +2 "storage"(w& +4 "core" &<9 8 C r\  +2 "manipulator"&R& +3 "core" & d "x +2 .tElbow.seek 5 +2 "manipulator"&P( +30 "core" ( +2 "manipulator"&?& +4 "core" & 3  +2 "storage"(& +4 "core" &<9 D C \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&!' +114 "core" ' +2 "storage"(%& +4 "core" &<9 u p =\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(<'e +281 "core" ' +2 "storage"(7- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&Y& +2 "core" & q q S  +2 "storage"($& +4 "core" &<9 M X q\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 + "manipulator"&U'/ +35 "core" ' + .tElbow.hold +2 "manipulator"&L, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(- +2 "core" -' +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(f'k +30 "core" ' +2 "manipulator"&2% +4 "core" %:y 9 +2 "storage"(& +3 "core" &<9\ \  `\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 311 counts +2 "manipulator"&K'f +17 "core" ' + "manipulator"&6& +4 "core" & ] s ' \ +2 "storage"(& +4 "core" &<9 c f\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&i' +18 "core" ' +53 .tSE.seek 1.11 Pucks below Top Plate +2 "storage"(3'Z +46 "core" ' + "manipulator"&& +5 "core" & r r  \ +2 "manipulator"&/% +4 "core" % q r 4  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&S'\ +94 "core" ' +2 .tElbow.seek CC + "manipulator"&o( +169 "core" ( +2 "manipulator"&H& +4 "core" &+  Aa + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &B& +3 "core" &+ % Aa +2 .tForearm.seek CC +2 "manipulator"&E'| +96 "core" ' +2 .tHand.close + "manipulator"&O/ +61 "core" / +2 .tCC.seek :open +2 "collection"'T(p +411 "core" ( + "storage"(V& +5 "core" &<9 u ~ 8\  + "storage"(G& +4 "core" &<9 y E\  +2 "manipulator"&"& +3 "core" &/# ;2 +2 "manipulator"&F% +4 "core" % ϐ y +2 .tForearm.seek :retract + "manipulator"&0'\ +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&W( +151 "core" ( +2 "manipulator"&& +4 "core" &  a + "storage"(j& +4 "core" &<9 /\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 5 +2 "manipulator"&'/ +108 "core" ' +2 .tElbow.hold + "manipulator"&+, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&;1 +63 "core" 1 +2 "manipulator"&C% +5 "core" % A W + "storage"(& +4 "core" &<9 Z ^\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 318 counts +2 "manipulator"&-'m +16 "core" ' +2 "manipulator"&J& +4 "core" & b ~ d  +2 "storage"(& +3 "core" &<9 !\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&A' +18 "core" ' + "storage"(Z% +5 "core" %Z E\ +2 ."downElevator"SE.seek :down +3 "storage"('N +99 (h% +3 "core" %-; 8\ U[ +2 "manipulator"&g% +4 "core" % r r V  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&8'\ +90 "core" ' +49 ' + ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 3 of [3..5] + #Loading generic puck from tube 3 into Collection Clamp +2 "collection"':& +4 "core" &a\ + "manipulator"&&% +4 "core" %\ . #g +2 "storage"(t% +4 "core" %; \ +2 "storage"(b. +3 "core" .(<< + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(c( +674 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (z& +3 "core" & : 6 (\ + "manipulator"&D& +4 "core" &  +2 .tElbow.seek 3 +2 "manipulator"&x(D +33 "core" ( + "manipulator"&a& +5 "core" &G %  + "storage"({& +4 "core" & \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&)' +91 "core" ' + "storage"(l& +5 "core" & \ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(`'e +278 "core" ' + "storage"(.- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (& +3 "core" & \ + "manipulator"&~& +4 "core" &G s s 7  +2 .tElbow.seek 3 +2 "manipulator"&k(D +3 "core" ( +2 "manipulator"&[& +3 "core" &G | S  +2 "storage"(& +4 "core" & C\ +2 .tForearm.seek 3 + 300 counts + "manipulator"&M'y +22 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&,/ +63 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&|& + "storage"('N +7 "core" &G r r   +2 "manipulator"&m% +4 "core" % t o p ' +2 .tForearm.seek :retract +2 "manipulator"&I'\ +95 "core" ' +2 .tElbow.seek CC +2 "manipulator"&( +145 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +17 "core" ( + "manipulator"&_& +5 "core" &* @[ + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &Q& +3 "core" &* T @[ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&'| +96 "core" ' +2 "manipulator"&u& +4 "core" &* : @Z +2 "manipulator"&p% +4 "core" %v + "collection"'}& +4 "core" &_\ +3 "collection"'& +6 "core" &m\ +2 .tCC.seek :closed +3 "collection"'^(] +3 "core" &l\ +6 & 8k\ $e +10 &hVm\ 8 +9 &n\ L +9 &_k\ M +10 &A`k\ M +9 &bg\ M +9 & cg\ N +10 &"ag\ M +9 &$H\\k\ N +10 &&\ an\ N +9 &'`n\ N +9 &)`n\ N +10 &+R]o\ M +9 &-`l\ M +9 &.`m\ M +10 &0bk\ M +9 &2Xbi\ N +10 &4`m\ M +9 &5\\l\ M +9 &7bi\ M +10 &9b_j\ M +9 &;$`i\ M +9 &<`h\ M +10 &>]d\ M +9 &@j^g\ M +10 &B*aZ\ N +9 &C_e\ N +9 &E`h\ N +10 &Godl\ N +9 &I/nd\ O +10 &Je\ Q +9 &L-`g\ U +9 &N\\\  g\ W +10 &P h\ X +9 &Qa\ X +9 &S`\ Y +10 &U]_\ Z +9 &Wh\ Z +9 &XZ\ \\ +10 &ZW\ ] +9 &\\^X\ I +10 &]g?Y\ #l +9 &]jU\ Q +2 ( +2 "collection"'& +3 #tCollection Clamp onSpring/offSpring for 10/26 samples, on/off torque 2.01 + .Hand.open +2 "manipulator"&51 +59 "core" 1 +2 "manipulator"&9% +4 "core" % v  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&N'\ +99 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%& +4 "core" &B\ +2 "manipulator"&]% +4 "core" %\ ; ( + "storage"(\\% +4 "core" %< /  \ +2 "storage"(*. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(n( +30 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (y& +2 "core" & ~\  +2 "manipulator"&& +4 "core" && >J + "manipulator"&@% +4 "core" %\ : ( +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"& (D +165 "core" ( + "manipulator"&& +4 "core" &= _ / +2 "storage"(\ & +4 "core" & : 8 :\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"& ' +99 "core" ' +2 "storage"(& +4 "core" & Y X\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(''e +275 "core" ' + "storage"(X- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (=& +2 "core" & ; A O\  +2 "manipulator"&& +4 "core" &=  / +2 .tElbow.seek 3 +2 "manipulator"&v(D +3 "core" ( + "manipulator"&& +4 "core" &=  / + "storage"(r& +4 "core" & ? B \  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&'y +10 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&q/ +54 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&>& +2 "storage"( 'N +7 "core" &= P / + "manipulator"&1% +5 "core" % r A + + .tForearm.seek :retract +2 "manipulator"&e'\ +98 "core" ' + .tElbow.seek PC +2 "manipulator"&#(c +155 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +95 "core" ( + "manipulator"&d& +5 "core" &h + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &w& +3 "core" &h +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&R'[ +106 "core" ' + "manipulator"&?& +4 "core" &h +2 "manipulator"&% +4 "core" %[  +2 "processing"%s& +4 "core" &\ +2 "processing"%%& +5 "core" &\ +2 .tPC.seek :closed +3 "processing"% (Z +4 "core" &\ +5 &\ 2 +9 &F{\ 0 +10 &4s\ E +9 &c\ M +9 &X\ M +60 &_\\\ M +9 & "[\ M + &!Z\ M + &#[\ M &%iY\ L + &')Z\ M + &(Y\ M +3 &*V\ M +9 &,pY\ M +9 &.2Z\ M +10 &/^\ M +9 &1Y\ M +9 &3xY\ M +10 &5:W\ M +9 &6Y\ M +9 &8Z\ M +10 &:W\ M +9 &Z\ M +9 &?Z\ L +9 &A]\ M +10 &CHZ\ M +9 &E \\\ N +9 &Fb\ N +10 &Hh\ O +9 &JF{\ Q +10 &L\ S +9 &M\ T +9 &O\ T +10 &QD\ T +9 &S\ T +9 &T\ T +10 &V\ U +9 &XJ\ U +10 &Y{x\ ) +9 &Z+s\ 2 +9 ( +3 "processing"%%& +2 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.60 +2 .Hand.open + "manipulator"& 1 +3 "core" &Z\ ( +59 1 + "manipulator"&% +4 "core" % [ S +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&7'\ +100 "core" ' +2 "processing"%Y& +4 "core" &Z@\ ( + #tImaging generic puck in Processing Clamp while storing it to tube 3 +2 "manipulator"&$% +4 "core" %\ 8 ; ' + "storage"(% +4 "core" %I   w\ +2 "storage"(2. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(( +13 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (6& +4 "core" & *\ & + "manipulator"&& +3 ."raiseStack"SE.reconfigure :place +5 "storage"(#]kK-0-\ b +3 "core" &h 4 +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC + ."raiseStack"SE.seek :beamBreak +4 "manipulator"&(c + "storage"(/'e +5 "core" ( +2 "manipulator"&!& +4 "core" &h R + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &P& +3 "core" &h +2 .tForearm.seek PC +2 "manipulator"&<'[ +95 "core" ' + .tHand.close +2 "manipulator"&U/ +58 "core" / +2 .tPC.seek :open +2 "processing"%K(p +90 "core" ' +2 "storage"(f- +4 "core" -'e + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(H'B +35 "core" ' +254 ( +2 "storage"(B& +4 "core" & > @ N\ , + "manipulator"&i& +5 "core" &h l + "manipulator"&L% +4 "core" % [ +2 .tForearm.seek :retract +2 "manipulator"&O'\ +100 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&S(D +254 "core" ( + "manipulator"&(& +5 "core" &= } "} + "storage"(V& +4 "core" & 0 \ , +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&G' +97 "core" ' +2 .tHand.open + "manipulator"&"1 +61 "core" 1 +2 "storage"(F- +4 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate +2 "storage"(' +22 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(j' +52 "core" ' +2 #tLights, camera, ACTION! + "storage"(E- +4 "core" -' + "storage"(o& +4 "core" & Y X\ . +2 "manipulator"&;& +4 "core" &=  "} +2 .tElbow.seek 3 +2 "manipulator"&C(D +3 "core" ( + "manipulator"&& +4 "core" &=  "} +2 "storage"(J& +4 "core" & Y Y \ . +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&' +27 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.11 Pucks below Top Plate + "storage"(Z'M +64 "core" ' +2 "manipulator"&0& +4 "core" &= t { "} +2 "storage"(h& +4 "core" & [ Z\ / + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&g'M +32 "core" ' +2 .tElbow.hold +2 "manipulator"&W, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.07 Pucks below Top Plate + "storage"('7 +25 "core" ' +2 "manipulator"&:% +5 "core" %X ! l + "storage"(&& +5 "core" &\ &\ ' 7\ / +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 3 + 311 counts +2 "manipulator"&-'τ +19 "core" ' + "manipulator"&t& +5 "core" &Y k M a + "storage"(b& +5 "core" & X Y \ / +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&3' +18 "core" ' + "storage"(A% +5 "core" %@ ` v z\ +3 ."downElevator"SE.seek :down +4 "storage"('N +99 (% +2 "core" %: L 8 \ U^ +2 "manipulator"&z% +5 "core" % | ~ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&D'\ +93 "core" ' +55 ' + ."downElevator"SE.stop + "storage"(5 +3 (a& +4 "core" & 3  9\ / +2 "collection"'{& +4 "core" &]jM\ Q +2 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&l% +4 "core" %\ 5 & +2 "storage"(+% +3 "core" %8 - 8 ]\ +2 "storage"(8. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(.( +46 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (& +3 "core" & j\ + "manipulator"&~& +4 "core" &Y a +2 .tElbow.seek 3 +2 "manipulator"&[(D +34 "core" ( +2 "manipulator"&& +4 "core" &D T +2 "storage"(,& +4 "core" & L 7 D\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&|' +98 "core" ' +2 "storage"(m& +4 "core" & u p B\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(x'e +281 "core" ' +2 "storage"()- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&_& +2 "core" &D f T +2 "storage"(Q& +4 "core" & 8 L ~\ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 + "manipulator"&`'M +31 "core" ' +2 .tElbow.hold +2 "manipulator"&M, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(u- +3 "core" -' +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(p'k +25 "core" ' + "manipulator"&}% +5 "core" %]y  = + "storage"(k& +4 "core" &\ \  e\ + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 316 counts +2 "manipulator"&'ω +17 "core" ' +2 "manipulator"&I& +4 "core" &E ^ w 8 S +2 "storage"(T& +3 "core" & X c \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&5' +16 "core" ' +2 .tSE.seek 1.11 Pucks below Top Plate +2 "storage"(9'Z +48 "core" ' +2 "manipulator"&& +4 "core" &E p o 1 S +2 "manipulator"&]% +4 "core" % r q ? +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&\\'\ +95 "core" ' +2 .tElbow.seek CC +2 "manipulator"&*( +159 "core" ( + "manipulator"&& +4 "core" &' U >H +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &y& +2 "core" &' + >H +2 .tForearm.seek CC +2 "manipulator"&'| +96 "core" ' +2 .tHand.close + "manipulator"&@/ +56 "core" / +2 .tCC.seek :open +2 "collection"'(p +410 "core" ( +2 "storage"(& +4 "core" & x \ + "storage"(\ & +4 "core" & s \ +2 "manipulator"&c& +3 "core" & % <; +2 "manipulator"&% +4 "core" % ~ + .tForearm.seek :retract +2 "manipulator"&'\ +93 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&N(D +173 "core" ( + "manipulator"&X& +4 "core" &< a +2 "storage"(=& +4 "core" & O\ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 3 +2 "manipulator"&'M +107 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , +52 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&r1 +59 "core" 1 +2 "manipulator"&q% +4 "core" % \\  } + "storage"(>& +4 "core" & c Z\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 315 counts + "manipulator"&1'ψ +24 "core" ' + "manipulator"& & +5 "core" &i k 4 + "storage"( & +4 "core" & \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&'' +22 "core" ' +2 "storage"(% +5 "core" %_ 2\ +2 ."downElevator"SE.seek :down +4 "storage"(d'N +98 (w% +3 "core" %6? @\ U\\ + "manipulator"&v% +4 "core" % s z \ Y +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&?'\ +89 "core" ' +54 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 4 of [3..5] + #Loading generic puck from tube 4 into Collection Clamp + "collection"'& +5 "core" &[\ + "manipulator"&s% +5 "core" %\ * !Q +2 "storage"( % +3 "core" %L \  +2 "storage"(e. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 + "storage"(4(, +358 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 ( & +3 "core" &, Z Z $\  + "manipulator"&& +4 "core" &j 3 +2 .tElbow.seek 4 +2 "manipulator"&Y(* +37 "core" ( + "manipulator"&$& +5 "core" &\ Y U + "storage"(& +4 "core" &, "\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&2' +110 "core" ' + "storage"(%& +5 "core" &, &\  + .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(6'e +279 "core" ' + "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (!& +3 "core" &, \  + "manipulator"&P& +4 "core" & \  } * T +2 .tElbow.seek 4 + "manipulator"&R(* +4 "core" ( + "manipulator"&U& +4 "core" & \ ~  T +2 "storage"(n& +3 "core" &, =\  +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&f'Z +23 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&#/ +63 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&7& +2 "storage"( 'N +7 "core" & \  T +2 "manipulator"&B% +4 "core" % ] m +2 .tForearm.seek :retract + "manipulator"&i'\ +92 "core" ' +2 .tElbow.seek CC + "manipulator"&/( +148 "core" ( +2 "manipulator"&L& +4 "core" &  ' . +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 "core" ' +2 ."downElevator"SE.stop +2 "manipulator"&<& + "storage"(5 +6 "core" &  H . +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&('| +106 "core" ' +2 "manipulator"&V& +4 "core" &  S . +2 "manipulator"&% +4 "core" %~ +2 "collection"'"& +4 "core" &U\ +2 "collection"'F& +5 "core" &X\ +2 .tCC.seek :closed +2 "collection"'E(] +5 "core" &a\ +7 & 8i\ $d +9 &fVk\ 7 +9 &m\ L +10 &u_k\ M +9 &6`g\ N +9 &`h\ M +10 & ^l\ M +9 &"}^n\ M +10 &$?bg\ M +9 &&`m\ M +9 &'bh\ M +10 &)`j\ M +9 &+G`n\ M +9 &-\ `j\ M +10 &.bf\ M +9 &0cf\ M +10 &2Pbm\ M +9 &4bj\ M +9 &5`n\ M +10 &7`n\ M +10 &9Y`m\ M +11 &;_n\ M +8 &<cj\ M +8 &>`k\ M +9 &@`bm\ M +10 &B!`h\ M +9 &C`i\ M +10 &Ebh\ M +9 &Gfch\ N +9 &I%lf\ O +10 &Jg\ Q +9 &L?nf\ U +9 &NQm\ X +10 &Pl\ X +9 &Q n\ X +10 &Sh\ X +9 &UTm\ Y +9 &Wh\ Z +10 &Xg\ [\ +9 &Zg\ ] +9 &\\Lg\ L +10 &]_>i\ &t +9 &]uf\ P +3 ( + "collection"'F& +3 #tCollection Clamp onSpring/offSpring for 10/26 samples, on/off torque 2.03 +2 .Hand.open + "manipulator"&o1 +63 "core" 1 +2 "manipulator"&;% +4 "core" % ~  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +97 "core" ' + #tLoading generic puck from tube 4 into Processing Clamp +2 "processing"%J& +4 "core" &\ +2 "manipulator"&O% +3 "core" %\ 1  $s +2 "storage"(0% +4 "core" %E E E\ + "storage"(h. +3 "core" .(,~ +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 +2 "storage"(H(, +2 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (:& +2 "core" &,% @ p\  +2 "manipulator"&& +4 "core" &  . +2 "manipulator"&&% +4 "core" %\ 0 ( $s +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&t(* +175 "core" ( +2 "manipulator"&b& +4 "core" &6 7 D + "storage"(A& +4 "core" &, 7 F 5\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&S' +97 "core" ' +2 "storage"(G& +4 "core" &, Y Y\  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(j'e +280 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (z& +2 "core" &, C 9 \  +2 "manipulator"&& +5 "core" &6  D + .tElbow.seek 4 +2 "manipulator"&C(* +19 "core" ( +2 "manipulator"&Z& +4 "core" &4 B + "storage"(g& +4 "core" &, Y [\  +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&a'Z +20 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&-/ +54 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&{& +3 "storage"(l'N +8 "core" &4 q o M + "manipulator"&+% +5 "core" % O r o  +2 .tForearm.seek :retract + "manipulator"&8'\ +97 "core" ' +2 .tElbow.seek PC +2 "manipulator"&(c +155 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +91 "core" ( +2 "manipulator"&& +4 "core" &k  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &~& +3 "core" &k 3 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&'[ +105 "core" ' +2 "manipulator"&,& +4 "core" &k D +2 "manipulator"&3% +4 "core" %b a +2 "processing"%m& +3 "core" &\ +3 "processing"%& +4 "core" &N\ +2 .tPC.seek :closed +2 "processing"%(Z +4 "core" &\  +10 &1\ *x +9 &b\ = +10 &=v\ N +9 &Y\ M +9 &Z\ M +10 &X\ M +9 &!G[\ M +9 &# W\ M +10 &$Y\ M + "Can"O c` +8 "core" &&Z\ M +10 &(NX\ M +9 &*Y\ M +9 &+Y\ M +10 &-Y\ M +9 &/V_\ M +9 &1Z\ M +10 &2[\ M +9 &4X\ L +10 &6^Y\ M +9 &8 Z\ M +9 &9Y\ M +10 &;Z\ M +9 &=fY\ M +9 &?'Z\ M +10 &@Z\ M +9 &BX\ M +10 &DmZ\ M +9 &F.\\\ N +9 &Gg\ N +10 &In\ O +9 &Ki\ Q +9 &M&\ S +10 &N\ T +9 &P\ T +10 &Rk\ S +9 &T-\ S +9 &U\ T +10 &W\ T +9 &Yp\ B +9 &Zx@\ W +10 &Z\ ( +2 ( + "processing"%& +4 #tProcessing Clamp onSpring/offSpring for 9/25 samples, on/off torque 1.64 + .Hand.open +2 "manipulator"&W1 +56 "core" 1 +2 "manipulator"&D% +4 "core" % b [ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&)'\ +100 "core" ' +2 "processing"%_& +4 "core" &ZD\ ( +2 #tImaging generic puck in Processing Clamp while storing it to tube 4 + "manipulator"&Q% +4 "core" %\ 3 %| + "storage"(u% +5 "core" %K   v\ + "storage"(}. +3 "core" .(, +2 "storage"(k& +3 "core" &,   x\  +2 "storage"(I& +4 "manipulator"&T& +5 "core" &,   \  + &k +3 ."raiseStack"SE.reconfigure :place +2 .tElbow.reconfigure :tight +4 "storage"(#]kK-0-\ b +4 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +2 ."raiseStack"SE.seek :beamBreak +2 "manipulator"&(c +2 "storage"(]'e +4 "core" ( +2 "manipulator"&|& +5 "core" &k  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &[& +3 "core" &k I +52 .tForearm.seek PC +3 "manipulator"&x'[ +95 "core" ' + .tHand.close +2 "manipulator"&`/ +64 "core" / +2 .tPC.seek :open + "processing"%(p +30 "core" ' +2 "storage"(p- +3 "core" -'e +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('B +44 "core" ' +304 ( + "storage"(y& +5 "core" &, Y = )\  + "manipulator"&5& +5 "core" &k [ + "manipulator"&M% +4 "core" % ] \\ +2 .tForearm.seek :retract +2 "manipulator"&@'\ +99 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 +2 "manipulator"&\\(* +260 "core" ( + "manipulator"&^& +5 "core" &4 % + "storage"(& +4 "core" &, 5 7 \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&\ ' +111 "core" ' +2 .tHand.open + "manipulator"&c1 +57 "core" 1 +2 "storage"(- +3 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate +2 "storage"(X' +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(=' +52 "core" ' +2 #tLights, camera, ACTION! + "storage"(- +4 "core" -' + "storage"(*& +4 "core" &, H\  +2 "manipulator"&r& +4 "core" &5 i % + .tElbow.seek 4 +2 "manipulator"&q(* +16 "core" ( + "manipulator"&>& +5 "core" &5 h  + + "storage"( & +4 "core" &, R\  +3 .tForearm.seek 4 + 450 counts + "manipulator"& ' +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.11 Pucks below Top Plate + "storage"('M +63 "core" ' + "manipulator"&& +5 "core" &5 } z + + "storage"(N& +4 "core" &, Y Y\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 + "manipulator"&w'. +30 "core" ' + .tElbow.hold +2 "manipulator"&v, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"('7 +24 "core" ' +2 "manipulator"&% +4 "core" %@ +2 "storage"(1& +4 "core" &,   r\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 318 counts +2 "manipulator"&s'l +16 "core" ' +2 "manipulator"& & +4 "core" & } { ^ # +2 "storage"(e& +5 "core" &, [ \\\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&9' +23 "core" ' +2 "storage"('% +4 "core" %= Y Y\ +3 ."downElevator"SE.seek :down +4 "storage"(d'N +98 (.% +2 "core" %> ) <\ V_ +2 "manipulator"& % +4 "core" % o o  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +96 "core" ' +53 ' + ."downElevator"SE.stop +2 "storage"(5 +2 ($& +4 "core" &, M 6 \  +2 "collection"'& +3 "core" &]p^\ P +2 #tStoring generic puck in Collection Clamp to tube 4 +2 "manipulator"&%% +3 "core" %\ ; ( +2 "storage"(% +4 "core" %< B C \ +2 "storage"(?. +3 "core" .(, + "storage"(& +4 "core" &, ? 8 \  +2 "storage"(!& +4 "core" &, E B \  + "manipulator"&P& +4 "core" & 7 # +2 .tElbow.seek 4 +2 "manipulator"&U(* +38 "core" ( +2 "manipulator"&n& +4 "core" &0  O +2 "storage"(#& +3 "core" &, H )\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&7' +93 "core" ' + "storage"(B& +5 "core" &, t o \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(Y'e +279 "core" ' +2 "storage"(2- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&L& +3 "core" &0 s q 0 O + "storage"(<& +4 "core" &, L 9 \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&6'. +26 "core" ' + .tElbow.hold +2 "manipulator"&f, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(V- +2 "core" -' +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"('l +30 "core" ' + "manipulator"&"% +5 "core" %? } + "storage"(R& +4 "core" &,   |\  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 4 + 317 counts +2 "manipulator"& 'k +16 "core" ' + "manipulator"&i& +4 "core" & ` w 6  +2 "storage"(& +4 "core" &, o t \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&o' +18 "core" ' +2 .tSE.seek 1.11 Pucks below Top Plate +2 "storage"(;'[ +41 "core" ' + "manipulator"&J& +5 "core" & q p !  + "manipulator"&O% +5 "core" % s q " +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&0'\ +93 "core" ' +2 .tElbow.seek CC +2 "manipulator"&h( +160 "core" ( +2 "manipulator"&F& +4 "core" &' T >H +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &:& +3 "core" &&  >H +2 .tForearm.seek CC + "manipulator"&'| +95 "core" ' + .tHand.close +2 "manipulator"&&/ +60 "core" / + .tCC.seek :open +2 "collection"'((p +411 "core" ( + "storage"(b& +4 "core" &, Q\  +2 "storage"(A& +3 "core" &, x \  +2 "manipulator"&4& +4 "core" &" 8 + "manipulator"&G% +4 "core" %  +2 .tForearm.seek :retract +2 "manipulator"&/'\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&(* +179 "core" ( +2 "manipulator"&& +4 "core" &5 u +2 "storage"(z& +3 "core" &, \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 4 +2 "manipulator"&'. +108 "core" ' +2 .tElbow.hold +2 "manipulator"&Z, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&g1 +64 "core" 1 +2 "manipulator"&-% +4 "core" % =  H +2 "storage"({& +3 "core" &, Y Y \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 315 counts + "manipulator"&+'i +21 "core" ' + "manipulator"&t& +4 "core" & h t  +2 "storage"(S& +4 "core" &, \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&j' +18 "core" ' +2 "storage"(a% +4 "core" %_ s\ +2 ."downElevator"SE.seek :down +5 "storage"('N +99 (~% +2 "core" %,> 5\ U\\ +2 "manipulator"&C% +5 "core" % r p # + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&,'\ +90 "core" ' +52 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 5 of [3..5] +2 #Loading generic puck from tube 5 into Collection Clamp + "collection"'3& +4 "core" &l\ +2 "manipulator"&m% +4 "core" %\ + P !W + "storage"(l% +4 "core" %N \ +2 "storage"(8. +3 "core" .(, +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 + "storage"(K(<< +355 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (W& +2 "core" &<: g \\ \  +2 "manipulator"&D& +4 "core" & <  +2 .tElbow.seek 5 + "manipulator"&_( +27 "core" ( +2 "manipulator"&Q& +4 "core" & !w +2 "storage"(u& +3 "core" &<9 &\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +52 "manipulator"&}' +104 "core" ' + "storage"(k& +5 "core" &<9 ;\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('e +282 "core" ' +2 "storage"(T- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (I& +3 "core" &<9 e\  + "manipulator"&|& +4 "core" & O !w +2 .tElbow.seek 5 +2 "manipulator"&[( +3 "core" ( + "manipulator"&& +4 "core" & V !w +2 "storage"(`& +3 "core" &<9 \  +3 .tForearm.seek 5 + 300 counts + "manipulator"&p'[ +10 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +63 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&)& +2 "storage"('N +7 "core" &  !w +2 "manipulator"&]% +4 "core" % `  0 +2 .tForearm.seek :retract + "manipulator"&y'\ +94 "core" ' +2 .tElbow.seek CC +2 "manipulator"&5( +147 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +12 "core" ( + "manipulator"&M& +5 "core" &  P + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &x& +3 "core" & o P +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&^'| +95 "core" ' +2 "manipulator"&& +4 "core" & - P +2 "manipulator"&% +4 "core" %~ ~ +2 "collection"'c& +4 "core" &e\ +2 "collection"'& +5 "core" &f\ +2 .tCC.seek :closed +2 "collection"'(] +4 "core" &m\ +7 & 8p\ $e +9 &iWj\ 8 +10 &j\ L +9 &_m\ L +9 &Dai\ M +10 &`l\ M +9 & _g\ M +9 &"bq\ M +10 &$M]k\ M +9 &&bd\ M +10 &'an\ M +9 &)bg\ M +9 &+Sal\ M +10 &-`m\ M +9 &.ah\ N +9 &0`i\ M +10 &2[ch\ M +9 &4`l\ M +10 &5_n\ N +9 &7`j\ M +9 &9d_n\ M +10 &;&_k\ M +9 &<`a\ M +9 &>af\ M +10 &@k`g\ M +9 &B.]f\ M +9 &Cah\ M +10 &E`g\ M +9 &Grch\ N +10 &I2kl\ N +9 &J~m\ Q +9 &LBrl\ U +10 &N^n\ W +9 &Ph\ W +9 &Qc\ X +10 &Sk\ Y +9 &U_h\ Z +10 &Wi\ [ +9 &XZ\ [ +9 &Zj\ \\ +10 &\\`m\ I +9 &]`<`\ *} +9 &]jh\ O +3 ( +2 "collection"'& +2 #tCollection Clamp onSpring/offSpring for 10/26 samples, on/off torque 2.00 +2 .Hand.open + "manipulator"&*1 +54 "core" 1 + "manipulator"&r% +4 "core" % ~ @ +6 .tForearm.reconfigure :loose +4 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&@'\ +96 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp + "processing"%>& +5 "core" &G\ + "manipulator"& % +4 "core" %\ 8  %x +2 "storage"(% +3 "core" %9 [ Z\ +2 "storage"(N. +3 "core" .(<< +2 "storage"(& +3 "core" &<9 9 K B\  +2 "storage"(& +4 "core" &<9 Y [\  + "manipulator"&1& +4 "core" & P +2 "manipulator"&X% +3 "core" %\ 8 %x +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"& ( +150 "core" ( +2 "manipulator"&e& +4 "core" &   + "storage"('& +4 "core" &<9 [ \\\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&\\' +105 "core" ' +2 "storage"(\ & +4 "core" &<9 u t +\  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(='e +281 "core" ' +2 "storage"(.- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 ( & +2 "core" &<9 S ? \  +2 "manipulator"& & +4 "core" & T  + .tElbow.seek 5 +2 "manipulator"&q( +3 "core" ( +2 "manipulator"&& +3 "core" &    +2 "storage"(w& +4 "core" &<9 [ [\  +2 .tForearm.seek 5 + 300 counts + "manipulator"&s'[ +11 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&$/ +52 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"(%'N +7 "core" & 3  + "manipulator"&% +4 "core" % X  $ +2 .tForearm.seek :retract +2 "manipulator"&?'\ +98 "core" ' + .tElbow.seek PC +2 "manipulator"&(c +153 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +112 "core" ( +2 "manipulator"&& +5 "core" &[ ) + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &!& +3 "core" &[ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&P'[ +94 "core" ' + "manipulator"&n& +4 "core" &[ +2 "manipulator"&#% +4 "core" %U  +2 "processing"%9& +4 "core" &\ \ +2 "processing"%B& +5 "core" &\ \ +2 .tPC.seek :closed +3 "processing"%d(Z +3 "core" &\ +6 &\ 7 +9 &H}\ 1 +10 &Cs\ E +9 &`\ M +9 &X\ M +10 &o]\ M +9 & 1Y\ M +9 &!Y\ M +10 &#\\\ M +9 &%wZ\ M +10 &':Z\ M +9 &(Z\ M +9 &*Y\ L +10 &,Z\ L +9 &.BZ\ M +9 &0Z\ M +10 &1Z\ L +9 &3Z\ L +10 &5JY\ M +9 &7 [\ M +9 &8Z\ M +10 &:\\\ M +9 &]\ M +9 &?Z\ M +9 &A]\ M +10 &CY[\ M +9 &EZ\ M +9 &F_\ M +10 &Hg\ N +9 &JWu\ P +9 &L\ R +10 &M\ T +9 &O\ T +10 &QU\ T +9 &S\ S +9 &T\ T +10 &V\ T +9 &X[\ T +9 &Zzw\ (| +10 &Z$k\ 2 +9 ( +3 "processing"%B& +2 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.58 +2 .Hand.open + "manipulator"&v1 +4 "core" &Z\ * +55 1 + "manipulator"&% +4 "core" % U ( +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&2'\ +93 "core" ' + "processing"%L& +5 "core" &Z\ * + #tImaging generic puck in Processing Clamp while storing it to tube 5 +2 "manipulator"&<% +3 "core" %\ * !U +2 "storage"(V% +4 "core" %J B B \ + "storage"(". +3 "core" .(<< +2 "storage"(R& +4 "core" &<9 B B \  +2 "storage"(i& +2 "manipulator"&& +7 "core" &<9 @ A \  + &[ +3 .tElbow.reconfigure :tight + ."raiseStack"SE.reconfigure :place +6 "manipulator"&$&.,(\ #b +2 "storage"(#]kK-0-\ b +3 .tElbow.seek PC +5 "manipulator"&J(c +3 ."raiseStack"SE.seek :beamBreak +2 "storage"(O'e +3 "core" ( + "manipulator"&7& +4 "core" &[ + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &U& +3 "core" &[ +2 .tForearm.seek PC + "manipulator"&Y'[ +96 "core" ' + .tHand.close +2 "manipulator"&6/ +60 "core" / + .tPC.seek :open +2 "processing"% (p +88 "core" ' + "storage"(- +4 "core" -'e + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(F'B +41 "core" ' +252 ( + "storage"(:& +4 "core" &<9 Z [\  +2 "manipulator"&o& +4 "core" &\\  + "manipulator"&f% +5 "core" % c  +2 .tForearm.seek :retract + "manipulator"&&'\ +93 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&0( +243 "core" ( + "manipulator"&E& +75 "core" & f + "storage"(b& +5 "core" &<9 \\ [\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&A' +102 "core" ' +2 .tHand.open + "manipulator"&41 +55 "core" 1 +2 "storage"(G- +4 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate +2 "storage"(' +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.83 Pucks below Top Plate + "storage"(z' +52 "core" ' + #tLights, camera, ACTION! +2 "storage"(- +3 "core" -' +2 "storage"(h& +3 "core" &<9 \  +2 "manipulator"&g& +4 "core" & p o  f +2 .tElbow.seek 5 + "manipulator"&-( +4 "core" ( + "manipulator"&{& +4 "core" & t {  f +2 "storage"(t& +4 "core" &<9 \  +2 .tForearm.seek 5 + 450 counts + "manipulator"&S' +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.11 Pucks below Top Plate +52 "storage"(a'M +61 "core" ' +2 "manipulator"&/& +4 "core" & { r f +2 "storage"(~& +4 "core" &<9 Y Y \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&C'/ +32 "core" ' +2 .tElbow.hold + "manipulator"&, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"('7 +24 "core" ' + "manipulator"&3% +5 "core" %>  d Z + "storage"(+& +5 "core" &<9 \  \  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 315 counts +2 "manipulator"&m'j +16 "core" ' + "manipulator"&l& +5 "core" & | s C ( +2 "storage"(8& +4 "core" &<9 r c \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&;' +23 "core" ' + "storage"(j% +5 "core" %> u r ^\ +2 ."downElevator"SE.seek :down +3 "storage"('N +99 (H% +3 "core" %= 7 7\ U^ +2 "manipulator"&W% +4 "core" % w   +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&D'\ +90 "core" ' +57 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (Q& +4 "core" &<9  1 ^\  +2 "collection"'u& +5 "core" &]fZ\ O + #tStoring generic puck in Collection Clamp to tube 5 +2 "manipulator"&k% +4 "core" %\ / #g + "storage"(Z% +4 "core" %? 7 7 \ +2 "storage"(,. +3 "core" .(<< + "storage"(T& +5 "core" &<9 * 4 S\  + "storage"(I& +5 "core" &<9 7 8\  +2 "manipulator"&|& +4 "core" & 9 ( + .tElbow.seek 5 +2 "manipulator"&( +55 "core" ( + "manipulator"&`& +5 "core" &  $ + "storage"(& +4 "core" &<9 [ [\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&)' +92 "core" ' +2 "storage"(]& +4 "core" &<9 ^ p ;\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(_'e +277 "core" ' + "storage"(}- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&M& +3 "core" &  $ +2 "storage"(x& +3 "core" &<9 Y Y\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&'/ +28 "core" ' + .tElbow.hold +2 "manipulator"&p, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(- +2 "core" -' +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"('k +27 "core" ' + "manipulator"&c% +5 "core" %B  r + "storage"([& +4 "core" &<9\ &\ # ,\  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 5 + 319 counts +2 "manipulator"&'n +19 "core" ' + "manipulator"&y& +5 "core" &  x a / # + "storage"((& +4 "core" &<9 Y Y\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&*' +20 "core" ' +2 .tSE.seek 1.11 Pucks below Top Plate +2 "storage"(r'Z +47 "core" ' +2 "manipulator"&>& +4 "core" &  q p  # +2 "manipulator"& % +4 "core" % n o  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&N( +153 "core" ( + "manipulator"&& +4 "core" &' " >I +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &' { >I +2 .tForearm.seek CC +2 "manipulator"&'| +97 "core" ' +2 .tHand.close +2 "manipulator"&1/ +54 "core" / +2 .tCC.seek :open + "collection"'X(p +411 "core" ( +2 "storage"(^& +4 "core" &<9 \  + "storage"(e& +4 "core" &<9 \  + "manipulator"&'& +4 "core" &" 9' + "manipulator"&\ % +5 "core" % } )  +2 .tForearm.seek :retract + "manipulator"&5'\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&@( +153 "core" ( +2 "manipulator"&.& +4 "core" & | +2 "storage"( & +3 "core" &<9 \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 5 +2 "manipulator"& '/ +96 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&w1 +53 "core" 1 +2 "manipulator"&$% +4 "core" % B d / +2 "storage"(& +3 "core" &<9 \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 319 counts + "manipulator"&'n +16 "core" ' +2 "manipulator"& & +4 "core" & w `   +2 "storage"(\\& +4 "core" &<9 \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&=' +10 "core" ' +2 "storage"(s% +4 "core" %V r\ +2 ."downElevator"SE.seek :down +4 "storage"('N +99 (!% +2 "core" %2= @\ TZ +2 "manipulator"&q% +5 "core" % p p * 9 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&n'\ +92 "core" ' +46 ' +2 ."downElevator"SE.stop + "storage"(5 +21183 #t-> access 3 +2 "storage"(#% +4 "core" %< :\  + "manipulator"&9% +5 "core" %\ 3 %} + "manipulator"&%& +4 "core" &  +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 7 + "storage"(?([ +672 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (& +2 "core" &[ \\ \\ z\  +669 #t-> access 4 +3 "storage"(v% +3 "core" %< .\  + "manipulator"&% +4 "core" %\ 3 %} +2 "manipulator"&L& +3 "core" &  +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 1 +2 "storage"(<(B +1978 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (V& +2 "core" &? [ Y \  +555 #t-> access 5 +2 "storage"("% +3 "core" %< @\  +2 "manipulator"&R% +4 "core" %\ 3 %} +2 "manipulator"&& +3 "core" &  +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 + "storage"(i(  +353 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (B& +3 "core" &  6 ; ]\  +1135 #t-> exit +5 #mEXIT @1647460709.99EDT @1654865303.29EDT = =mMAIN_scheduler =tMAIN @EDT1654865305.21 #"core_reset"Sent BREAK +2 #t@34810 idle with ifg=0x00, ie=0x75 #>RESET< ESP2 v3.41 I2C Gateway v3.20 +210 #>RESET< ESP2 v3.41 I2C Gateway v3.20 for core bus +211 !o:Instrument::ISUSCore: @refiD0Q: @configS:Instrument::Configuration: name" ISUS:calFileName0:sampleCmd"TS: prompt"\ :statusCmd"C:sampleTimeouti#:promptTimeouti:statusTimeouti: retriesi:strToPrompt"W: pace0: echoF:\ @name@ +100 #Configuration for don (12651-03) 10/9/20 brent@mbari.org\ /home/esp/esp2/type/shallow/don/configure.rb\ +393 "Can"k 8&# + k 8&# + #tPolling Can every 10:00 +2 #Cleanly exited at 15:58:29EDT16-Mar-22 +1011 #-> ESP.ready! +3 #Powering core bus +570 .Gate.power :raw,:ON +3 "sampler") +11 ) +2 "core"  +2 "collection"' +2 ' +4 "core"  + "processing"% +2 % +3 "core"  +5 "collection"' 9\ +2 ' 0\ +2 ' -\ +3 "processing"% 9\ +2 % 2\ +2 % *\ +2 % 0\ +3 "sampler")&\ +2 "collection"'% +3 "core" %  +2 .tCS.configure :default +2 "collection"'#P d@b +2 "processing"%% +3 "core" %k\ +2 .tPS.configure :default +2 "processing"%#A d`xb +2 "sampler")% +3 "core" %   +2 .tSS.configure :default +2 "sampler")#.0X Flush.CC +2 #Loading FlushPuck into Collection Clamp from FlushPuck::Garage +2 "collection"';& +3 "core" &S\  +2 .tHand.open + "manipulator"&<1 +55 "core" 1 +2 "manipulator"&=& +4 "core" &5 D + "manipulator"&>% +4 "core" % \ / #A +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek FlushPuck::Garage +2 "manipulator"&?(, +184 "core" ( +2 "manipulator"&@& +4 "core" &, $ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &A& +3 "core" &, { $ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :garage +2 "manipulator"&B' +98 "core" ' + .tHand.close +2 "manipulator"&C/ +61 "core" / + "manipulator"&D& +4 "core" &, Y $ +2 "manipulator"&E% +6 "core" %  j ] +4 .tForearm.seek :retract + "manipulator"&F'\ +96 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&G( +278 "core" ( + "manipulator"&H& +4 "core" &% _ <= +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &I& +3 "core" &% <= +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&J'| +101 "core" ' +2 "manipulator"&K& +38 "core" &% , <= +7 "manipulator"&L% +4 "core" %w\  { +2 "collection"'M& +4 "core" &S\  +2 "collection"'N& +4 "core" &S\  +2 .tCC.seek :closed +2 "collection"'O(] +4 "core" &S\ \  +8 &4\ ,~ +10 &c\ @ +9 &\ Q +10 &f\ Q +9 &h\ Q +9 &Yk\ R +10 &!g\ Q +9 &"i\ R +9 &$c\ P +10 &&eg\ Q +9 &('f\ Q +9 &)g\ Q +10 &+g\ Q +9 &-lg\ Q +10 &/-h\ Q +9 &0i\ Q +9 &2i\ Q +10 &4ve\ P +9 &68c\ P +9 &7b\ P +10 &9f\ Q +9 &;~b\ P +10 &=@f\ P +9 &?g\ Q +9 &@f\ Q +10 &Bh\ Q +9 &DGe\ Q +9 &F c\ Q +10 &Gg\ Q +9 &Ir\ R +10 &KFz\ T +9 &L6\\\ X +9 &N \ [\ +10 &Px \ [ +9 &R7\ \\ +9 &S\ \\ +10 &U\ ] +9 &Wx\ ] +10 &Y5\ _ +9 &Z\ n` +9 &\\\ x< +10 &]6\ N +9 ( +2 "collection"'N& +3 #tCollection Clamp onSpring/offSpring for 9/25 samples, on/off torque 1.89 +2 "collection"'P& +4 "core" &]Z\ @ + &][\ @ + .tHand.open +2 "manipulator"&Q1 +64 "core" 1 + "manipulator"&R% +4 "core" % M k +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&S'\ +98 "core" ' +694 #t-> Flush.garage +2 #Garaging FlushPuck in Collection Clamp +2 "manipulator"&T& +3 "core" &! \ 9) +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC + "manipulator"&U( +30 "core" ( + "manipulator"&V& +4 "core" &  o 1 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &W& +3 "core" &  8 1 +2 .tForearm.seek CC + "manipulator"&X'| +95 "core" ' +2 .tHand.close + "manipulator"&Y/ +60 "core" / +2 .tCC.seek :open + "collection"'Z(p +411 "core" ( + "manipulator"&[& +4 "core" &  y 1 +2 "manipulator"&\\% +4 "core" % m Q + .tForearm.seek :retract +2 "manipulator"&]'\ +98 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek :garage + "manipulator"&^(, +283 "core" ( + "manipulator"&_& +4 "core" &, M $ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &`& +3 "core" &, $ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek :garage + "manipulator"&a' +101 "core" ' +2 .tHand.open +2 "manipulator"&b1 +56 "core" 1 + "manipulator"&c% +4 "core" %  ? +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&d'\ +96 "core" ' +288 #t-> Flush.PC +2 #Loading FlushPuck into Processing Clamp from FlushPuck::Garage + "processing"%e& +4 "core" &`\  + "manipulator"&f& +4 "core" &, $ +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek FlushPuck::Garage + "manipulator"&g(, +3 "core" ( +2 "manipulator"&h& +4 "core" &, m $ + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &i& +3 "core" &, $ +3 .tForearm.seek :garage +2 "manipulator"&j' +102 "core" ' + .tHand.close +2 "manipulator"&k/ +55 "core" / + "manipulator"&l& +4 "core" &, $ +2 "manipulator"&m% +4 "core" %  6 +2 .tForearm.seek :retract + "manipulator"&n'\ +103 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +2 "manipulator"&o(c +115 "core" ( +2 "manipulator"&p& +4 "core" &[ H 8 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &q& +3 "core" &[ 8 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&r'[ +102 "core" ' +2 "manipulator"&s& +4 "core" &[  8 +2 "manipulator"&t% +4 "core" %O ^ + "processing"%u& +4 "core" &`\  +2 "processing"%v& +5 "core" &`\  +2 .tPC.seek :closed +2 "processing"%w(Z +4 "core" &`\ \  +8 &5\ +{ +10 &d\ ? +9 &3}\ O +9 &`\ N +10 &b\ N +9 &{`\ N +9 &!=a\ N +10 &#_\ N +9 &$_\ M +10 &&b\ N +9 &(F_\ N +9 &*c\ N +10 &+`\ N +9 &-_\ N +10 &/Mc\ N +9 &1a\ N +9 &2c\ N +10 &4]\ N +9 &6U`\ N +9 &8`\ N +10 &9^\ N +9 &;`\ N +9 &=^_\ N +10 &? b\ N +9 &@b\ N +10 &Bb\ N +9 &Df`\ N +9 &F'd\ N +10 &Gh\ O +9 &Ip\ O +9 &Kb\ R +10 &M\ T +9 &N\ T +10 &P\ T +9 &Rd\ T +9 &T%\ T +10 &U\ U +9 &W\ T +9 &Yj\ A +10 &Zr<\ ] +9 &Z1\ 0 +6 ( + "processing"%v& +4 #tProcessing Clamp onSpring/offSpring for 9/25 samples, on/off torque 1.56 +2 "processing"%x& +4 "core" &Z"\ 0 + &Z"\ 0 + .tHand.open +2 "manipulator"&y1 +61 "core" 1 +2 "manipulator"&z% +4 "core" % O +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&{'\ +94 "core" ' +4971 #t-> access 2 +2 "storage"(|% +4 "core" %O& 5 3 q\ S + "manipulator"&}% +4 "core" %\ , "` +2 "manipulator"&~& +4 "core" &[ t 8 + "manipulator"&% +4 "core" %\ , "` +2 .tElbow.seek :clear + "manipulator"&(d +199 "core" ( +2 "manipulator"&% +4 "core" %\ - J "` + "manipulator"&& +4 "core" &d # +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"((K +663 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (& +3 "core" &K 5\  +14759 #t-> acc 6 + !o:NoMethodError : mesg",undefined method `acc' for Object:Class: name0: args0:bt[\ ";/home/esp/esp2/lib/framework.rb:51:in `method_missing'";/home/esp/esp2/lib/framework.rb:63:in `method_missing'"(ESP):6:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +383 #-> access 6 +2 "storage"(% +3 "core" %O' G\ S + "manipulator"&% +4 "core" %\ - D "` +2 "manipulator"&& +3 "core" &d = # +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 3 + "storage"( ( +984 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (\ & +3 "core" &\ \ w\ +410 #t-> access 7 + "storage"( % +4 "core" %O' P\ S + "manipulator"& % +4 "core" %\ - Z "` +2 "manipulator"& & +3 "core" &d J # +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 + "storage"((, +358 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (& +7 "core" &, Q\  +15233 "Can"t OL +12954 #t-> exit +5 !o:Storage::Warning: mesg"/Exiting with FlushPuck in Processing Clamp:bt["6/home/esp/esp2/utils/storage.rb:560:in `writeAll'"2/home/esp/esp2/utils/storage.rb:555:in `each'"6/home/esp/esp2/utils/storage.rb:555:in `writeAll'"2/home/esp/esp2/utils/storage.rb:551:in `open'"6/home/esp/esp2/utils/storage.rb:551:in `writeAll'"(/home/esp/esp2/utils/storage.rb:567"4/home/esp/esp2/lib/framework.rb:171:in `atExit'"2/home/esp/esp2/lib/framework.rb:175:in `call'"4/home/esp/esp2/lib/framework.rb:175:in `atExit'"2/home/esp/esp2/lib/framework.rb:175:in `call'"4/home/esp/esp2/lib/framework.rb:175:in `atExit'"2/home/esp/esp2/lib/framework.rb:175:in `call'"4/home/esp/esp2/lib/framework.rb:175:in `atExit'"-/home/esp/esp2/lib/thread.rb:762:in `[]'"0/home/esp/esp2/lib/thread.rb:762:in `start'"7/home/esp/esp2/lib/schedule.rb:474:in `initialize'"'/home/esp/esp2/lib/schedule.rb:472 +2 #mEXIT @1654867845.75EDT @1654867884.07EDT = =mMAIN_scheduler =tMAIN @EDT1654867885.92 #"core_reset"Sent BREAK + #t@64907 receive with ifg=0x10, ie=0xFD + #@7 receive with ifg=0x10, ie=0xFD + #@663 receive with ifg=0x10, ie=0xFD + #@1299 receive with ifg=0x10, ie=0xFD #@1933 receive with ifg=0x10, ie=0xFD + #@2567 receive with ifg=0x10, ie=0xFD #@3201 receive with ifg=0x10, ie=0xFD + #@3527 receive with ifg=0x80, ie=0xFD + #@1971 idle with ifg=0x00, ie=0x75 #ESP2 v3.41 I2C Gateway v3.20 +9 #ESP2 v3.41 I2C Gateway v3.20 for core bus +206 !o:Instrument::ISUSCore: @configS:Instrument::Configuration: name" ISUS:calFileName0:sampleCmd"TS: prompt"\ :statusCmd"C:sampleTimeouti#:promptTimeouti:statusTimeouti: retriesi:strToPrompt"W: pace0: echoF: @refi$Q:\ @name@ +97 #Configuration for don (12651-03) 10/9/20 brent@mbari.org\ /home/esp/esp2/type/shallow/don/configure.rb\ +401 "Can"t QN + t QN #tPolling Can every 10:00 +601 #-> ESP.ready! +154 "sampler") +2 ) +2 "core"  +2 "collection"' +2 ' +2 "core"  +2 "processing"% +2 % +3 "core"  +4 "collection"' 9\ +2 ' 0\ +2 ' -\ +4 "processing"% 9\ +2 % 2\ +2 % *\ +2 % 0\ +4 "sampler")&\ +2 "collection"'% +3 "core" %\ + .tCS.configure :default +3 "collection"'#P d@b +2 .tCS.hold + "collection"'+ +4 "core" + +2 .tCS.configure :default +2 "collection"'#P d@b +2 "processing"%% +3 "core" %\ +2 .tPS.configure :default +2 "processing"%#A d`xb +3 "sampler")% +3 "core" %4 \ +2 .tSS.configure :default +2 "sampler")#.0X # + .tElbow.configure :loose +3 "manipulator"&$ &.,(#b +2 .tElbow.hold + "manipulator"&, +3 "core" , +2 .tElbow.configure :loose +2 "manipulator"&$ &.,(#b +4 "storage"(& +3 "core" &, @ ?\  + .tSC.configure :loose +3 "storage"($.\ 1~b +2 .tSC.hold + "storage"(, +3 "core" , +2 .tSC.configure :loose +2 "storage"($.\ 1~b +2 (% +3 "core" %O%\ \  -\ S + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 .tSE.hold + "storage"(+ +3 "core" + + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 .tCH.coast + "collection"'  +3 "core" + .tCH.configure :default + "collection"'\ 2 +2 .tPH.coast +2 "processing"%  +3 "core" + .tPH.configure :default + "processing"%\ 2 +3 #tAll dwarf controllers running firmware version 3.85 + "sampler") +10 "collection"'% +3 "core" % \ +2 "processing"%% +5 "sampler")% "manipulator"&% +7 "core" %~\ + %4 \ + %\ - "` +2 "manipulator"&& +3 "core" &d # +2 "storage"(& +4 "core" &,$ \  + "storage"(% +3 "core" %O%\  \ S +2 "collection"'& +4 "core" &\ + "processing"%& +3 "core" &Z"}\ 0 +2 "collection"'  +3 "core"  +2 "collection"'! +3 "core"  +2 "collection"'" +3 "core"  + "processing"%# +3 "core"  +2 "processing"%$ +3 "core" U +2 "processing"%% +3 "core" ? + "processing"%& +3 "core"  +2 "sampler")' +3 "core"  + "collection"'(% +4 "core" %\ +2 "processing"%)% +3 "core" %\ +2 "sampler")*% +4 "core" %4 \ +2 "collection"'+& +4 "core" & \ + "processing"%,& +4 "core" &Z"\ 0 +2 "manipulator"&-% +4 "core" %\ - "` + "manipulator"&.& +4 "core" &d # +2 "storage"(/& +4 "core" &,$ t\  + "storage"(0% +4 "core" %O$ ]\ S +2 "collection"'19 +3 "core" 9 +2 "processing"%29 +3 "core" 9 +376 #t-> da 50 +2 #da sampling at most 50ml +4 !o:RuntimeError: mesg" No Storage.srcTube defined!:bt[ "4/home/esp/esp2/utils/puckmoves.rb:350:in `load'"8/home/esp/esp2/utils/puckmoves.rb:958:in `loadPuck'"7/home/esp/esp2/protocol/2G/DA.rb:22:in `daExtract'"0/home/esp/esp2/protocol/2G/DA.rb:53:in `da'"(ESP):2:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +2 ."Qmail"DAfans.email "Started da at 09:31:48EDT10-Jun-22\\n{}\\nCTD data unavailable\\nISUS data unavailable\\nCan@09:31:33, 18% flow, 17.2C, 52% humidity, 14.3psia, 13.67V, 0.388A avg, 0.370A avg, 5.31W",Subject: "da sampling at most 50ml" +139 !o:!Net::SMTPAuthenticationError: mesg"E534-5.7.9 Application-specific password required. Learn more at\ :@checkpoint: omitted:bt["E/opt/mbari/lib/ruby/1.8/net/smtp.rb:954:in `check_auth_response'"/opt/mbari/lib/ruby/1.8/net/smtp.rb:723:in `authenticate'":/opt/mbari/lib/ruby/1.8/net/smtp.rb:566:in `do_start'"7/opt/mbari/lib/ruby/1.8/net/smtp.rb:525:in `start'"2/home/esp/esp2/lib/email.rb:325:in `sendOnce'"3/home/esp/esp2/lib/schedule.rb:292:in `unsync'"3/home/esp/esp2/lib/schedule.rb:594:in `unsync'"3/home/esp/esp2/lib/schedule.rb:621:in `unsync'"2/home/esp/esp2/lib/email.rb:318:in `sendOnce'"//home/esp/esp2/lib/email.rb:340:in `email'",/home/esp/esp2/lib/msg.rb:68:in `retry'"//home/esp/esp2/lib/email.rb:339:in `email'"./home/esp/esp2/lib/email.rb:348:in `mail'"-/home/esp/esp2/lib/email.rb:66:in `call'"3/home/esp/esp2/lib/email.rb:66:in `initialize'"-/home/esp/esp2/lib/email.rb:63:in `loop'"3/home/esp/esp2/lib/email.rb:63:in `initialize'"7/home/esp/esp2/lib/schedule.rb:481:in `initialize'"0/home/esp/esp2/lib/thread.rb:738:in `start'"7/home/esp/esp2/lib/schedule.rb:474:in `initialize'"'/home/esp/esp2/lib/schedule.rb:472 +2 !o:Email::Queue::Purge: mesg"Purged output queue:bt[ "//home/esp/esp2/lib/email.rb:106:in `purge'"3/home/esp/esp2/lib/email.rb:75:in `initialize'"-/home/esp/esp2/lib/email.rb:63:in `loop'"3/home/esp/esp2/lib/email.rb:63:in `initialize'"7/home/esp/esp2/lib/schedule.rb:481:in `initialize'"0/home/esp/esp2/lib/thread.rb:738:in `start'"7/home/esp/esp2/lib/schedule.rb:474:in `initialize'"'/home/esp/esp2/lib/schedule.rb:472 +632 #t-> showlog +7306 #-> purgeIntake +3 #Loading FlushPuck into Collection Clamp from FlushPuck::Garage + "collection"'3& +3 "core" &\ +2 .tHand.open + "manipulator"&41 +16 "core" 1 + "manipulator"&5& +4 "core" &d # +2 "manipulator"&6% +4 "core" %\ - "` +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek FlushPuck::Garage +2 "manipulator"&7(, +126 "core" ( +2 "manipulator"&8& +4 "core" &, {  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &9& +3 "core" &, e  +2 .tForearm.seek :garage + "manipulator"&:' +110 "core" ' +2 .tHand.close + "manipulator"&;/ +61 "core" / +2 "manipulator"&<& +4 "core" &,   +2 "manipulator"&=% +4 "core" %  c +2 .tForearm.seek :retract + "manipulator"&>'\ +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&?( +290 "core" ( +2 "manipulator"&@& +4 "core" &' ) S >N + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &A& +2 "core" &' >N +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&B'| +102 "core" ' +2 "manipulator"&C& +4 "core" &' ) >N +2 "manipulator"&D% +3 "core" %u +2 "collection"'E& +4 "core" &\ +2 "collection"'F& +5 "core" &\ +43 .tCC.seek :closed +6 "collection"'G(] +5 "core" &\ + &\ + &\ + &\ &\ + &\  +4 &.\ ,} +9 &a\ @ +9 &:\ Q +10 &b\ Q +9 &h\ Q +10 &~f\ Q +9 &!?g\ Q +9 &#e\ R +10 &$c\ Q +9 &&d\ Q +9 &(Ia\ Q +10 &* c\ Q +9 &+c\ Q +10 &-f\ Q +9 &/Og\ Q +9 &1h\ Q +10 &2f\ Q +9 &4c\ Q +9 &6Zb\ P +10 &8d\ P +9 &9e\ P +10 &;`\ P +9 &=bd\ P +9 &?#b\ Q +10 &@b\ Q +9 &Bc\ P +9 &Dj`\ P +10 &F+c\ Q +9 &Gb\ Q +10 &Ic\ Q +9 &Kqc\ Q +9 &M3g\ Q +10 &Nh\ Q +9 &Pg\ Q +9 &Ruh\ R +10 &T9b\ Q +9 &Uh\ R +10 &Wh\ R +9 &Ye\ Q +9 &[Ag\ Q +10 &\\}Q\ $r +9 &]%<\  +9 ( +2 &]\  +2 "collection"'F& +3 #tCollection Clamp onSpring/offSpring for 9/25 samples, on/off torque 1.03 +2 !o:Puck::Warning: mesg"BRetaining claim on Arm because Hand is likely holding a puck!:bt[ "7/home/esp/esp2/utils/puckmoves.rb:271:in `giveup!'"2/home/esp/esp2/utils/puckmoves.rb:798:in `to'"6/home/esp/esp2/utils/puckmoves.rb:849:in `loadAt'"9/home/esp/esp2/utils/puckmoves.rb:974:in `loadFlush'"A/home/esp/esp2/protocol/2G/utilities.rb:596:in `purgeIntake'"(ESP):4:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +2 !o:Slide::Error\ : mesg"(No Puck Clamped in Collection Clamp:@checkpoint: omitted: @reply0:@axisName"Collection Clamp:bt["E/home/esp/esp2/utils/misc.rb:475:in `closeAndVerifyPuckPresence'"5/home/esp/esp2/utils/misc.rb:485:in `closeClamp'",/home/esp/esp2/lib/msg.rb:68:in `retry'"5/home/esp/esp2/utils/misc.rb:484:in `closeClamp'"5/home/esp/esp2/lib/thread.rb:74:in `recoverable'"5/home/esp/esp2/utils/misc.rb:483:in `closeClamp'"0/home/esp/esp2/utils/misc.rb:503:in `close'"2/home/esp/esp2/utils/puckmoves.rb:789:in `to'"6/home/esp/esp2/utils/puckmoves.rb:849:in `loadAt'"9/home/esp/esp2/utils/puckmoves.rb:974:in `loadFlush'"A/home/esp/esp2/protocol/2G/utilities.rb:596:in `purgeIntake'"(ESP):4:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +2777 #-> pc.OPEN +2 !o:NoMethodError : mesgu:NameError::message+undefined method `OPEN' for :pc:Symbol: name: OPEN: args[:bt["(ESP):5:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +419 #-> PC.open +2 .PC.seek :open +2 "processing"%H(p +393 "core" ( + "processing"%I& +4 "core" &\ +1571 #t-> exit +5 !o:Storage::Warning: mesg"#Exiting with FlushPuck in Hand:bt["6/home/esp/esp2/utils/storage.rb:560:in `writeAll'"2/home/esp/esp2/utils/storage.rb:555:in `each'"6/home/esp/esp2/utils/storage.rb:555:in `writeAll'"2/home/esp/esp2/utils/storage.rb:551:in `open'"6/home/esp/esp2/utils/storage.rb:551:in `writeAll'"(/home/esp/esp2/utils/storage.rb:567"4/home/esp/esp2/lib/framework.rb:171:in `atExit'"2/home/esp/esp2/lib/framework.rb:175:in `call'"4/home/esp/esp2/lib/framework.rb:175:in `atExit'"2/home/esp/esp2/lib/framework.rb:175:in `call'"4/home/esp/esp2/lib/framework.rb:175:in `atExit'"2/home/esp/esp2/lib/framework.rb:175:in `call'"4/home/esp/esp2/lib/framework.rb:175:in `atExit'"-/home/esp/esp2/lib/thread.rb:762:in `[]'"0/home/esp/esp2/lib/thread.rb:762:in `start'"7/home/esp/esp2/lib/schedule.rb:474:in `initialize'"'/home/esp/esp2/lib/schedule.rb:472 +3 #mEXIT @1654868054.74EDT @1654868062.97EDT = =tMAIN =mMAIN_scheduler @EDT1654868064.76 #"core_reset"Sent BREAK + #t@14398 receive with ifg=0x10, ie=0xFD + #@15037 receive with ifg=0x10, ie=0xFD + #@15695 receive with ifg=0x10, ie=0xFD + #@16332 receive with ifg=0x10, ie=0xFD #@16980 receive with ifg=0x10, ie=0xFD + #@17627 receive with ifg=0x10, ie=0xFD + #@18275 receive with ifg=0x10, ie=0xFD #@18602 receive with ifg=0x80, ie=0xFD + #@11736 idle with ifg=0x00, ie=0x75 #ESP2 v3.41 I2C Gateway v3.20 +10 #ESP2 v3.41 I2C Gateway v3.20 for core bus +199 !o:Instrument::ISUSCore: @configS:Instrument::Configuration: name" ISUS:calFileName0:sampleCmd"TS: prompt"\ :statusCmd"C:sampleTimeouti#:promptTimeouti:statusTimeouti: retriesi:strToPrompt"W: pace0: echoF: @refiK:\ @name@ +95 #Configuration for don (12651-03) 10/9/20 brent@mbari.org\ /home/esp/esp2/type/shallow/don/configure.rb\ +374 "Can"u TQ + u TQ #tPolling Can every 10:00 +2 #Cleanly exited at 09:34:14EDT10-Jun-22 +2 !o:Storage::Warning: mesg"Hand.holds FlushPuck:bt["8/home/esp/esp2/utils/storage.rb:445:in `readPucks!'"2/home/esp/esp2/utils/storage.rb:444:in `each'"8/home/esp/esp2/utils/storage.rb:444:in `readPucks!'"6/home/esp/esp2/utils/storage.rb:627:in `restore!'"-/home/esp/esp2/lib/esp.rb:115:in `shell'"7/home/esp/esp2/lib/schedule.rb:481:in `initialize'"0/home/esp/esp2/lib/thread.rb:738:in `start'"7/home/esp/esp2/lib/schedule.rb:474:in `initialize'"'/home/esp/esp2/lib/schedule.rb:472 + #ESP.ready! will restore puck positions +467 #-> ESP.ready! +154 "sampler") +2 ) +2 "core"  + "collection"' +2 ' +3 "core"  +2 "processing"% + % +3 "core"  +5 "collection"' 9\ +2 ' 0\ +2 ' -\ +4 "processing"% 9\ +2 % 2\ +2 % *\ + % 0\ +4 "sampler")&\ +2 "collection"'% +3 "core" % #\ +2 .tCS.configure :default +2 "collection"'#P d@b +2 .tCS.hold +2 "collection"'+ +3 "core" + + .tCS.configure :default +2 "collection"'#P d@b +3 "processing"%% +3 "core" %\ +2 .tPS.configure :default +2 "processing"%#A d`xb +2 "sampler")% +3 "core" %4 \ +2 .tSS.configure :default +2 "sampler")#.0X Arm.home +2 "manipulator"&3& +3 "core" &=! 9$ +2 "manipulator"&4% +3 "core" %u ` +2 .tForearm.seek :retract +2 "manipulator"&5'\ +96 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek :home +2 "manipulator"&6( +335 "core" ( +2 "manipulator"&7& +4 "core" & &  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &8& +2 "core" &  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :home + "manipulator"&9' +39 "core" ' +2 "manipulator"&:& +4 "core" & <  + "manipulator"&;% +4 "core" % m B +622 #t-> purgeIntake +2 #Loading FlushPuck into Collection Clamp from FlushPuck::Garage + "collection"'<& +3 "core" &] \  +2 !to:Puck::Warning: mesg"BRetaining claim on Arm because Hand is likely holding a puck!:bt[ "7/home/esp/esp2/utils/puckmoves.rb:271:in `giveup!'"2/home/esp/esp2/utils/puckmoves.rb:798:in `to'"6/home/esp/esp2/utils/puckmoves.rb:849:in `loadAt'"9/home/esp/esp2/utils/puckmoves.rb:974:in `loadFlush'"A/home/esp/esp2/protocol/2G/utilities.rb:596:in `purgeIntake'"(ESP):3:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +2 !o:Slide::Error : mesg"Collection Clamp not Open: @reply0:@axisName"Collection Clamp:bt[ "2/home/esp/esp2/utils/puckmoves.rb:772:in `to'"6/home/esp/esp2/utils/puckmoves.rb:849:in `loadAt'"9/home/esp/esp2/utils/puckmoves.rb:974:in `loadFlush'"A/home/esp/esp2/protocol/2G/utilities.rb:596:in `purgeIntake'"(ESP):3:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +469 #-> PC.close +3 .Hand.open + "manipulator"&=1 +56 "core" 1 +2 "manipulator"&>& +4 "core" &   + "manipulator"&?% +4 "core" % B +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&@'\ +44 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +2 "manipulator"&A(c +56 "core" ( + "manipulator"&B& +4 "core" &k B +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &C& +3 "core" &k : +2 .tForearm.seek PC + "manipulator"&D'[ +105 "core" ' +2 .tHand.close + "manipulator"&E/ +60 "core" / + "processing"%F& +4 "core" &\ +2 "processing"%G& +6 "core" &\ +2 .tPC.seek :closed + "processing"%H(Z +4 "core" &\ +7 & 1\ #b +10 &ZV\ 8 +9 &\ L +9 &r\\\ M +10 &3`\ M +9 &]\ M +9 & _\ M +10 &"zZ\ M +9 &$;_\ M +10 &%[\ M +9 &'_\ N +10 &)_\ M +9 &+B]\ N +9 &-a\ N +10 &.`\ N +9 &0_\ M +9 &2K\\\ M +10 &4_\ M +9 &5^\ M +9 &7]\ M +10 &9Sa\ M +9 &;`\ N +9 &<]\ M +10 &>]\ M +9 &@\\_\ M +10 &B_\ N +9 &C_\ M +9 &E\\\ M +10 &Gc\\\ M +9 &I%a\ M +9 &Jb\ M +10 &Lb\ M +9 &Nk]\ M +10 &P,\\\ N +9 &Q_\ N +9 &Sc\ M +10 &Usb\ M +9 &W5\\\ M +9 &X^\ N +10 &ZOI>\ #f +9 &Z\ \  +6 ( + "processing"%G& +4 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.01 +3 !o:Slide::Error\ : mesg"(No Puck Clamped in Processing Clamp:@checkpoint: omitted: @reply0:@axisName"Processing Clamp:bt["E/home/esp/esp2/utils/misc.rb:475:in `closeAndVerifyPuckPresence'"0/home/esp/esp2/utils/misc.rb:485:in `close'",/home/esp/esp2/lib/msg.rb:68:in `retry'"0/home/esp/esp2/utils/misc.rb:484:in `close'"5/home/esp/esp2/lib/thread.rb:74:in `recoverable'"0/home/esp/esp2/utils/misc.rb:483:in `close'"(ESP):4:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +45 "core" &Z\  +876 #t-> Arm.home +2 "manipulator"&I& +3 "core" &k N +2 "manipulator"&J% +4 "core" % N  +2 .tForearm.seek :retract + "manipulator"&K'\ +97 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek :home + "manipulator"&L( +63 "core" ( + "manipulator"&M& +4 "core" &   +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &N& +3 "core" &  ?  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :home +2 "manipulator"&O' +40 "core" ' +2 "manipulator"&P& +4 "core" &  =  + "manipulator"&Q% +4 "core" % s W +308 #t-> exit +6 #mEXIT @1654868124.16EDT @1654868139.22EDT = =tMAIN =mMAIN_scheduler @EDT1654868141.04 #"core_reset"Sent BREAK +2 #t@35702 receive with ifg=0x10, ie=0xFD + #@36345 receive with ifg=0x10, ie=0xFD + #@36999 receive with ifg=0x10, ie=0xFD #@37642 receive with ifg=0x10, ie=0xFD + #@38327 receive with ifg=0x10, ie=0xFD #@38969 receive with ifg=0x10, ie=0xFD + #@39617 receive with ifg=0x10, ie=0xFD #@39943 receive with ifg=0x80, ie=0xFD + #@5842 idle with ifg=0x00, ie=0x75 + #ESP2 v3.41 I2C Gateway v3.20 +8 #ESP2 v3.41 I2C Gateway v3.20 for core bus +201 !o:Instrument::ISUSCore: @configS:Instrument::Configuration: name" ISUS:calFileName0:sampleCmd"TS: prompt"\ :statusCmd"C:sampleTimeouti#:promptTimeouti:statusTimeouti: retriesi:strToPrompt"W: pace0: echoF: @refiI:\ @name@ +96 #Configuration for don (12651-03) 10/9/20 brent@mbari.org\ /home/esp/esp2/type/shallow/don/configure.rb\ +377 "Can"u OM + u OM #tPolling Can every 10:00 +940 #-> ESP.ready! +154 "sampler") + ) +2 "core"  +2 "collection"' +2 ' +3 "core"  +2 "processing"% +2 % +3 "core"  +5 "collection"' 9\ +3 ' 0\ +2 ' -\ +3 "processing"% 9\ +3 % 2\ + % *\ +2 % 0\ +4 "sampler")&\ +2 "collection"'% +3 "core" % \ \ +2 .tCS.configure :default +2 "collection"'#P d@b +2 .tCS.hold +2 "collection"'+ +2 "core" + +2 .tCS.configure :default +2 "collection"'#P d@b +2 "processing"%% +3 "core" %\ +2 .tPS.configure :default +2 "processing"%#A d`xb +3 "sampler")% +2 "core" %4 \ +2 .tSS.configure :default +2 "sampler")#.0X purgeIntake + #Loading FlushPuck into Collection Clamp from FlushPuck::Garage +2 "collection"'3& +3 "core" &] \  +2 !to:Puck::Warning: mesg"BRetaining claim on Arm because Hand is likely holding a puck!:bt[ "7/home/esp/esp2/utils/puckmoves.rb:271:in `giveup!'"2/home/esp/esp2/utils/puckmoves.rb:798:in `to'"6/home/esp/esp2/utils/puckmoves.rb:849:in `loadAt'"9/home/esp/esp2/utils/puckmoves.rb:974:in `loadFlush'"A/home/esp/esp2/protocol/2G/utilities.rb:596:in `purgeIntake'"(ESP):2:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +2 !o:Slide::Error : mesg"Collection Clamp not Open: @reply0:@axisName"Collection Clamp:bt[ "2/home/esp/esp2/utils/puckmoves.rb:772:in `to'"6/home/esp/esp2/utils/puckmoves.rb:849:in `loadAt'"9/home/esp/esp2/utils/puckmoves.rb:974:in `loadFlush'"A/home/esp/esp2/protocol/2G/utilities.rb:596:in `purgeIntake'"(ESP):2:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 @946684873.80EST = =tMAIN =mMAIN_scheduler @EST946684875.74 #"core_reset"Sent BREAK +2 #t@41981 idle with ifg=0x00, ie=0x75 + #>RESET< ESP2 v3.41 I2C Gateway v3.20 +208 #>RESET< ESP2 v3.41 I2C Gateway v3.20 for core bus +207 !o:Instrument::ISUSCore: @refic: @configS:Instrument::Configuration: name" ISUS:calFileName0:sampleCmd"TS: prompt"\ :statusCmd"C:sampleTimeouti#:promptTimeouti:statusTimeouti: retriesi:strToPrompt"W: pace0: echoF:\ @name@ +106 #Configuration for don (12651-03) 10/9/20 brent@mbari.org\ /home/esp/esp2/type/shallow/don/configure.rb\ +390 "Can"r 8%" + r 8%" + #tPolling Can every 10:00 +2 #Cleanly exited at 09:35:47EDT10-Jun-22 @EDT1654868343.51 #-> ESP.ready! +4 #Powering core bus +549 .Gate.power :raw,:ON +2 "sampler") +31 ) + "core"  +3 "collection"' +2 ' +2 "core"  +2 "processing"% + % +3 "core"  +5 "collection"' 9\ +2 ' 0\ +2 ' -\ +4 "processing"% 9\ +2 % 2\ + % *\ +2 % 0\ +5 "sampler")&\ +2 "collection"'% +2 "core" %  +2 .tCS.configure :default +2 "collection"'#P d@b +3 "processing"%% +2 "core" %\ +2 .tPS.configure :default +2 "processing"%#A d`xb +2 "sampler")% +4 "core" %   + .tSS.configure :default +2 "sampler")#.0X purgeIntake +2 #Loading FlushPuck into Collection Clamp from FlushPuck::Garage +2 "collection"';& +3 "core" &\\\  +2 .tHand.open + "manipulator"&<1 +53 "core" 1 +2 "manipulator"&=& +4 "core" &, : A + "manipulator"&>% +4 "core" % \ . l "1 +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek FlushPuck::Garage + "manipulator"&?(, +175 "core" ( +2 "manipulator"&@& +4 "core" &, 7  + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &A& +3 "core" &, %  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :garage +2 "manipulator"&B' +102 "core" ' +2 .tHand.close + "manipulator"&C/ +53 "core" / +2 "manipulator"&D& +4 "core" &,  +2 "manipulator"&E% +4 "core" %  E + .tForearm.seek :retract +2 "manipulator"&F'\ +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC + "manipulator"&G( +287 "core" ( +2 "manipulator"&H& +4 "core" &. i Cs + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &I& +3 "core" &. E Cs +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&J'| +93 "core" ' + "manipulator"&K& +4 "core" &. z Cq +2 "manipulator"&L% +4 "core" %υ j +2 "collection"'M& +4 "core" &\\ \  +2 "collection"'N& +46 "core" &\\\  +2 .tCC.seek :closed +3 "collection"'O(] +3 "core" &\\\  +6 &sO\ &j +10 &HW\ 9 +9 &\ N +9 &\ O +10 &f\ P +9 &h\ P +9 & m\ O +10 &"bk\ P +9 &$%g\ O +10 &%h\ P +9 &'k\ O +9 &)jj\ P +10 &+,k\ P +9 &,k\ O +9 &.j\ P +10 &0sh\ O +9 &23j\ P +9 &3h\ P +10 &5d\ P +9 &7zj\ P +10 &9<e\ P +9 &:j\ P +9 &<h\ O +10 &>e\ O +9 &@Df\ P +9 &Bf\ O +10 &Cf\ O +9 &Ea\ O +10 &GMe\ O +9 &I m\ P +9 &Jw\ R +10 &Lp\ U +9 &N;&0\ X +10 &O #\ Y +9 &Q\ Z +9 &S{ \ Z +10 &U:\ [ +9 &V\ [ +9 &X\ ] +10 &Zz\ ] +9 &\\<\ J +9 &]W>\ + +10 &]{\ N +5 ( +2 "collection"'N& +4 #tCollection Clamp onSpring/offSpring for 10/26 samples, on/off torque 1.86 + "collection"'P& +4 "core" &]u\ N + &]u\ N +2 .tHand.open + "manipulator"&Q1 +61 "core" 1 +2 "manipulator"&R% +4 "core" % υ\  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&S'\ +91 "core" ' +2 #tPurging external Intake +2 "collection"'T& +4 "core" &]t \ N + "collection"'U% +4 "core" % \ + .tCSV.dial :flush +2 "collection"'V  +44 "core"  +2 .tCS.seek 10ml +2 "collection"'W' +2415 "core" ' + .tdelay 5 seconds +503 ."connect"CSV.dial CBV +4 .tCBV.dial CSV +2 "collection"'X + 'Y  +73 "core"  +3  + .tCTV.dial :intake +2 "collection"'Z  +74 "core"  + .tIntake.select :open +2 "sampler") +9 .tCS.seek 0ml +2 "collection"'[' +2381 "core" ' + .tIntake.select :close +2 "sampler")0 +9 .tCTV.dial :air + "collection"'\\  +73 "core"  +2 #tGaraging FlushPuck in Collection Clamp + "manipulator"&]& +4 "core" &:$  <= +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&^( +28 "core" ( +2 "manipulator"&_& +4 "core" & Y  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &`& +2 "core" & &  +2 .tForearm.seek CC +2 "manipulator"&a'| +103 "core" ' + .tHand.close + "manipulator"&b/ +55 "core" / +2 .tCC.seek :open +2 "collection"'c(p +411 "core" ( + "manipulator"&d& +4 "core" &\   +2 "manipulator"&e% +3 "core" % ^  p +2 .tForearm.seek :retract +2 "manipulator"&f'\ +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage +2 "manipulator"&g(, +273 "core" ( +2 "manipulator"&h& +4 "core" &, X q + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &i& +3 "core" &, 8 q +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :garage +2 "manipulator"&j' +99 "core" ' +2 .tHand.open +2 "manipulator"&k1 +59 "core" 1 + "manipulator"&l% +4 "core" %  x +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&m'\ +98 "core" ' +435 #t-> purgeIntake +2 #Loading FlushPuck into Collection Clamp from FlushPuck::Garage +2 "collection"'n& +3 "core" &\ +2 "manipulator"&o& +4 "core" &, J q +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek FlushPuck::Garage +2 "manipulator"&p(, +8 "core" ( + "manipulator"&q& +4 "core" &, h +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &r& +3 "core" &, l h +2 .tForearm.seek :garage +2 "manipulator"&s' +101 "core" ' + .tHand.close +2 "manipulator"&t/ +53 "core" / + "manipulator"&u& +4 "core" &, A h +2 "manipulator"&v% +4 "core" % > + .tForearm.seek :retract +2 "manipulator"&w'\ +101 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&x( +284 "core" ( + "manipulator"&y& +4 "core" &* ;  @^ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &z& +3 "core" &*  @^ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&{'| +96 "core" ' +2 "manipulator"&|& +4 "core" &* @\\ +2 "manipulator"&}% +4 "core" %x ' + "collection"'~& +4 "core" &\ +2 "collection"'& +5 "core" &\ +2 .tCC.seek :closed + "collection"'(] +5 "core" &\ +7 &8\ $d +10 &fV\ 8 +9 &\ M +9 &re\ O +10 &5g\ O +9 &h\ O +9 & h\ O +10 &"yg\ O +9 &$<e\ O +9 &%f\ O +10 &'g\ O +9 &)h\ O +10 &+De\ O +9 &-g\ O +9 &.n\ O +10 &0j\ P +9 &2Kh\ O +9 &4 g\ O +10 &5d\ O +9 &7g\ O +10 &9Tc\ O +9 &;g\ O +9 &<f\ N +10 &>g\ O +9 &@\\g\ O +9 &Bh\ O +10 &Cf\ O +9 &Ee\ O +10 &Gee\ O +9 &I$l\ P +9 &Jv\ Q +10 &L\ T +9 &NRal\ X +9 &PX[\ Y +10 &QOT\ Y +9 &SDJ\ Z +10 &US=B\ Z +9 &W27\ Z +9 &X),\ \\ +10 &Z %\ ] +9 &\\V\ I +9 &]b>\ #i +10 &]\ \ L +5 ( +2 "collection"'& +4 #tCollection Clamp onSpring/offSpring for 10/26 samples, on/off torque 1.87 + "collection"'& +4 "core" &]e\ L + &]e\ L +2 .tHand.open + "manipulator"&1 +58 "core" 1 +2 "manipulator"&% +4 "core" % x / Y +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +99 "core" ' +2 #tPurging external Intake + "collection"'& +4 "core" &]e\ L + "collection"'% +4 "core" %\ + .tCSV.dial :flush +2 "collection"'  +71 "core"  +2 .tCS.seek 10ml +2 "collection"' ' +2418 "core" ' + .tdelay 5 seconds +503 ."connect"CSV.dial CBV +4 .tCBV.dial CSV +2 "collection"'\ +71 "core" +2 .tCTV.dial :intake + "collection"'  +74 "core"  + .tIntake.select :open +2 "sampler") +9 .tCS.seek 0ml +2 "collection"' ' +2375 "core" ' + .tIntake.select :close +2 "sampler")0 +9 .tCTV.dial :air +2 "collection"'  +72 "core"  + #tGaraging FlushPuck in Collection Clamp +2 "manipulator"&& +4 "core" &'"  :1 +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&( +62 "core" ( +2 "manipulator"&& +4 "core" & 1 8 7 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" & i 7 +2 .tForearm.seek CC + "manipulator"&'| +98 "core" ' + .tHand.close +2 "manipulator"&/ +63 "core" / +2 .tCC.seek :open + "collection"'(p +411 "core" ( +2 "manipulator"&& +3 "core" & j 2 +2 "manipulator"&% +4 "core" % ψ p + .tForearm.seek :retract +2 "manipulator"&'\ +93 "core" ' +6 .tElbow.reconfigure :tight +4 "manipulator"&$&.,(\ #b +3 .tElbow.seek :garage +2 "manipulator"&(, +278 "core" ( + "manipulator"&& +4 "core" &, k g +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &, , g +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :garage +2 "manipulator"&' +103 "core" ' +2 .tHand.open +2 "manipulator"&"1 +56 "core" 1 + "manipulator"&%% +4 "core" % +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&''\ +101 "core" ' +11643 #t-> purgeIntake +2 #Loading FlushPuck into Collection Clamp from FlushPuck::Garage +2 "collection"'(& +3 "core" &\ +2 "manipulator"&)& +4 "core" &, B f + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek FlushPuck::Garage + "manipulator"&(, +9 "core" ( + "manipulator"&& +4 "core" &, I \\ + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &#& +3 "core" &, e \\ +2 .tForearm.seek :garage + "manipulator"&,' +97 "core" ' + .tHand.close +2 "manipulator"&-/ +59 "core" / +2 "manipulator"&.& +4 "core" &, U \\ + "manipulator"&/% +4 "core" %  W +2 .tForearm.seek :retract + "manipulator"&0'\ +102 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&1( +293 "core" ( +2 "manipulator"&2& +4 "core" & + A A_ + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &3& +3 "core" & + f A_ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&4'| +94 "core" ' +2 "manipulator"&5& +4 "core" & * c @^ +2 "manipulator"&6% +3 "core" %r +2 "collection"'7& +4 "core" &\ +2 "collection"'8& +6 "core" &\ +2 .tCC.seek :closed +2 "collection"'9(] +4 "core" &\ +8 & 8\ $e +9 &jU\ 8 +9 &~\ M +10 &qd \ P +9 &4b\ P +10 &e\ P +9 & g \ P +9 &"xg \ P +10 &$;d\ P +9 &%e\ P +9 &'d\ O +10 &)h\ P +9 &+Ej \ O +10 &-d\ P +9 &.l\ P +9 &0g\ P +10 &2Lg\ P +9 &4f\ P +9 &5a \ O +10 &7d\ O +9 &9Ub \ O +10 &;d \ O +9 &<c \ O +9 &>e\ O +10 &@\\h\ P +9 &Bj \ P +9 &Ce\ O +10 &Eb\ O +9 &Gdb\ P +10 &I%h\ P +9 &Jv \ R +9 &L\ U +10 &NT\ X +9 &P\ Y +9 &Q \ Z +10 &S\ [\ +9 &UQ\ \\ +10 &W\ \\ +9 &X\ ] +9 &Z\ ^ +10 &\\U\ J +9 &]b=\ #k +9 &]  \ L +6 ( + "collection"'8& +4 #tCollection Clamp onSpring/offSpring for 10/26 samples, on/off torque 1.89 +2 "collection"':& +4 "core" &]o \ L + &]o\ L + .tHand.open +2 "manipulator"&;1 +61 "core" 1 + "manipulator"&<% +5 "core" % r + h + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&='\ +92 "core" ' +2 #tPurging external Intake + "collection"'>& +5 "core" &]o\ L + "collection"'@% +4 "core" % \ + .tCSV.dial :flush +2 "collection"'A  +72 "core"  +2 .tCS.seek 10ml +2 "collection"'$' +2395 "core" ' + .tdelay 5 seconds +503 ."connect"CSV.dial CBV +4 .tCBV.dial CSV + "collection"'C +73 "core" ~ +2 .tCTV.dial :intake +2 "collection"'D  +73 "core"  + .tIntake.select :open +2 "sampler") +9 .tCS.seek 0ml +2 "collection"'E' +2373 "core" ' +2 .tIntake.select :close + "sampler")0 +9 .tCTV.dial :air +2 "collection"'&  +72 "core" ~ +2 #tGaraging FlushPuck in Collection Clamp +2 "manipulator"&B& +4 "core" &4# ;7 + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&H( +31 "core" ( + "manipulator"&I& +4 "core" & E  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &?& +2 "core" & 0  +2 .tForearm.seek CC +2 "manipulator"&K'| +93 "core" ' + .tHand.close +2 "manipulator"&L/ +51 "core" / +41 .tCC.seek :open +11 "collection"'M(p +410 "core" ( + "manipulator"&F& +4 "core" & p  +2 "manipulator"&+% +3 "core" % τ +2 .tForearm.seek :retract +2 "manipulator"&P'\ +92 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage +2 "manipulator"&Q(, +267 "core" ( + "manipulator"&R& +4 "core" &, X t +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &T& +3 "core" &, | t +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :garage +2 "manipulator"&U' +100 "core" ' +2 .tHand.open + "manipulator"&N1 +56 "core" 1 +2 "manipulator"&V% +4 "core" % > +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&J'\ +93 "core" ' +6888 #t-> startTube 7 +1652 #-> $da[:extractVol]=.19 +2458 #-> da 50 +2 #da sampling at most 50ml +5 #Loading sh1 puck from tube 7 into Collection Clamp +2 ."Qmail"DAfans.email "Started da in tube 7 at 09:47:53EDT10-Jun-22\\n{}\\nCTD data unavailable\\nISUS data unavailable\\nCan@19:01:24EST31-Dec-99, 16% flow, 17.1C, 51% humidity, 14.3psia, 13.82V, 0.120A avg, 0.102A avg, 1.66W",Subject: "da sampling at most 50ml" +5 "collection"'& +3 "core" &\ +2 "manipulator"&X% +5 "core" %\ & ; +2 "storage"(Y% +4 "core" %F+ x o h\ U + "storage"(Z. +3 "core" .(, +2 .tSC.reconfigure :tight +5 "storage"($\ .\ 1~b +2 .tSC.seek 7 +2 "storage"(W([ +67 !"Qmail"o:!Net::SMTPAuthenticationError: mesg"E534-5.7.9 Application-specific password required. Learn more at\ :@checkpoint: omitted:bt["E/opt/mbari/lib/ruby/1.8/net/smtp.rb:954:in `check_auth_response'"/opt/mbari/lib/ruby/1.8/net/smtp.rb:723:in `authenticate'":/opt/mbari/lib/ruby/1.8/net/smtp.rb:566:in `do_start'"7/opt/mbari/lib/ruby/1.8/net/smtp.rb:525:in `start'"2/home/esp/esp2/lib/email.rb:325:in `sendOnce'"3/home/esp/esp2/lib/schedule.rb:292:in `unsync'"3/home/esp/esp2/lib/schedule.rb:594:in `unsync'"3/home/esp/esp2/lib/schedule.rb:621:in `unsync'"2/home/esp/esp2/lib/email.rb:318:in `sendOnce'"//home/esp/esp2/lib/email.rb:340:in `email'",/home/esp/esp2/lib/msg.rb:68:in `retry'"//home/esp/esp2/lib/email.rb:339:in `email'"./home/esp/esp2/lib/email.rb:348:in `mail'"-/home/esp/esp2/lib/email.rb:66:in `call'"3/home/esp/esp2/lib/email.rb:66:in `initialize'"-/home/esp/esp2/lib/email.rb:63:in `loop'"3/home/esp/esp2/lib/email.rb:63:in `initialize'"7/home/esp/esp2/lib/schedule.rb:481:in `initialize'"0/home/esp/esp2/lib/thread.rb:738:in `start'"7/home/esp/esp2/lib/schedule.rb:474:in `initialize'"'/home/esp/esp2/lib/schedule.rb:472 +2 !o:Email::Queue::Purge: mesg"Purged output queue:bt[ "//home/esp/esp2/lib/email.rb:106:in `purge'"3/home/esp/esp2/lib/email.rb:75:in `initialize'"-/home/esp/esp2/lib/email.rb:63:in `loop'"3/home/esp/esp2/lib/email.rb:63:in `initialize'"7/home/esp/esp2/lib/schedule.rb:481:in `initialize'"0/home/esp/esp2/lib/thread.rb:738:in `start'"7/home/esp/esp2/lib/schedule.rb:474:in `initialize'"'/home/esp/esp2/lib/schedule.rb:472 +920 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (\\& +2 "core" &[ 5 2 u\  +2 "manipulator"&]& +4 "core" &, t + "manipulator"&_% +4 "core" %\ ' ; +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 7 + "manipulator"&`( +181 "core" ( +2 "manipulator"&b& +4 "core" &  "z + "storage"(G& +4 "core" &[ p q \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&S'k +88 "core" ' + "storage"(O& +5 "core" &[ x { \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(d'e +277 "core" ' + "storage"(e- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (a& +3 "core" &[ r q \  + "manipulator"&h& +4 "core" & "z +2 .tElbow.seek 7 +2 "manipulator"&i( +3 "core" ( + "manipulator"&^& +5 "core" & I "z + "storage"(k& +4 "core" &[ l\  +2 .tForearm.seek 7 + 300 counts +2 "manipulator"&l' +22 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&f/ +58 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&j& +2 "storage"(n'N +8 "core" & { "z + "manipulator"&o% +4 "core" % 3 +2 .tForearm.seek :retract +2 "manipulator"&q'\ +95 "core" ' + .tElbow.seek CC +2 "manipulator"&r( +141 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +4 "core" ( +2 "manipulator"&t& +4 "core" &$ : l ;3 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &u& +3 "core" &$ $  ;3 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&v'| +94 "core" ' +2 "manipulator"&g& +5 "core" &#\  9 :1 + "manipulator"&m% +4 "core" %σ j +2 "collection"'s& +4 "core" &\ +2 "collection"'y& +5 "core" & \ +2 .tCC.seek :closed + "collection"'z(] +5 "core" & \ +6 &9 \ $d +9 &jU \ 8 +10 & \ M +9 &ug \ O +10 &8g \ O +9 &h\ O +9 & j\ O +10 &"~h\ O +9 &$@e\ O +9 &&f\ O +10 &'d\ O +9 &)e\ O +10 &+Ig\ O +9 &- e\ O +9 &.l\ O +10 &0j\ O +9 &2Pj \ O +9 &4i\ O +10 &5e\ N +9 &7k\ O +10 &9Yg\ O +9 &;k \ O +9 &<j \ O +10 &>e \ O +9 &@ag \ O +9 &B#g\ O +10 &Ch\ N +9 &Eh\ O +10 &Gij \ O +9 &I)m\ O +9 &Jy \ \ Q +10 &L\ U +9 &NV\ X +9 &P\ X +10 &Q\ X +9 &S \ Z +10 &UW\ Z +9 &W \ Z +9 &X \ \\ +10 &Z \ \\ +9 &\\[\ I +9 &]hB\ !g +10 &]}\ Q +5 ( +2 "collection"'y& +4 #tCollection Clamp onSpring/offSpring for 10/26 samples, on/off torque 1.87 + .Hand.open + "manipulator"&p1 +4 "core" &]z \ Q +49 1 + "manipulator"&|% +5 "core" % ς ) @ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&}'\ +92 "core" ' +2 #tcollectSample 50ml w/bubble point of 24psi + #Priming 7ml +2 .Intake.select :close + .Exhaust.select :close + .SS.hold +2 "sampler")~+ +4 "core" + + "sampler")w% +4 "core" %, \ + "collection"'c& +4 "core" &]z \ Q +3 "Can"s XV + #tCalibrating pressure and temperature sensors +4 .CTV.dial :air + .SSV.dial :spit,avoiding: :exhaust +2 .SS.reconfigure :fast +3 "sampler")#.0X% +3 "core" %V \ + .tSSV.dial :exhaust +2 "sampler")@  +73 "core"  + .tExhaust.select :open + "sampler")@ +10 .tSS.seek 0ml +2 "sampler")8'0 +365 "core" ' + .tExhaust.select :close +2 "sampler") +9 #tSampling 50.0ml +2 .Intake.select :close + .Exhaust.select :close + .SS.reconfigure :default +3 "sampler")#.0X "  \ , +2 #tVacuum too high -- waiting up to 40 seconds +2 .SS.reconfigure :exhale +2 "sampler")#.0X 7 \  +61 "collection"'\ % +3 "core" % \ +2 "sampler")% +4 "core" %0 M H \  +69 "collection"' % +3 "core" %\ + "sampler")% +4 "core" % _ [ \ J +2 "collection"'% +4 "core" % \ +2 .tSS.reconfigure :inhaling 1.62ml/s +2 "sampler")#.n0X % +4 "core" %\ +2 "sampler")@% +4 "core" %: &  \  +31 "collection"' % +3 "core" %\ +2 "sampler")4% +4 "core" %9 * $ \  +36 "collection"' % +3 "core" %\ +2 "sampler")C% +4 "core" %9 - % \  +41 "collection"'8% +3 "core" %\ +2 "sampler")D% +3 "core" %9 3 . \  +47 "collection"'A% +3 "core" %\ +2 "sampler")B% +3 "core" %9 9 4 \  +54 "collection"'I% +3 "core" %\ +2 "sampler")?% +4 "core" % C = \  +60 "collection"'L% +3 "core" %\ +2 "sampler")1% +3 "core" % Q N \ * +69 "collection"'=% +3 "core" %\ +2 "sampler")9% +4 "core" % g b \ * + "collection"'F% +4 "core" % \ + #tIntake @13.0psia, vacuum from 7.5 to 10.5psi +2 .SS.reconfigure :inhaling 1.31ml/s +3 "sampler")#.Y0X  7 \  +46 "collection"'% +3 "core" %\ +2 "sampler")% +4 "core" %y9 E = \  +53 "collection"'% +3 "core" %\ +2 "sampler")% +4 "core" %y9 Q L \  +60 "collection"'% +4 "core" %\ + "sampler")% +4 "core" %y a ] \ / + "collection"'% +4 "core" %\ +2 #tIntake @12.8psia, vacuum from 7.3 to 10.3psi +2 .SS.reconfigure :inhaling 0.96ml/s +2 "sampler")#.A0X + +13 "core" + +9 "collection"'@% +4 "core" %\ + "sampler") % +4 "core" %_> !  \  +18 "collection"'4% +4 "core" %\ + "sampler") % +5 "core" %_> $  \  +20 "collection"'C% +4 "core" %\ + "sampler")8% +4 "core" %_> &  \  +24 "collection"'D% +3 "core" %\ +2 "sampler")3% +4 "core" %_> ) ! \  +28 "collection"'A% +3 "core" %\ +2 "sampler")B% +4 "core" %_> * $ \  +31 "collection"'I% +3 "core" %\ +2 "sampler")?% +4 "core" %_> - ' \  +36 "collection"'L% +3 "core" %\ +2 "sampler")1% +4 "core" %_> 3 - \  +41 "collection"'=% +3 "core" %\ + "sampler")9% +5 "core" %_> 8 3 \  +46 "collection"'F% +3 "core" %\ +2 "sampler")% +4 "core" %_> A ; \  +53 "collection"'R% +3 "core" %\ +2 "sampler")T% +3 "core" %_> L E \  +61 "collection"'H% +3 "core" %\ +2 "sampler")N% +3 "core" %`4 ] V \  +2 "collection"'$% +4 "core" %\ + #tIntake @12.8psia, vacuum from 7.3 to 10.3psi +2 .SS.reconfigure :inhaling 0.87ml/s +3 "sampler")#.;0X  7 \  +46 "collection"'h% +3 "core" %\ +2 "sampler")K% +4 "core" %P0 F > \  +53 "collection"'k% +3 "core" %\ +2 "sampler")f% +3 "core" %P0 R K \  +61 "collection"'!% +3 "core" %\ +2 "sampler")j% +3 "core" %P0 a Z \  +2 "collection"'o% +4 "core" %\ + #tIntake @13.0psia, vacuum from 7.5 to 10.5psi +2 .SS.reconfigure :inhaling 0.78ml/s +3 "sampler")#.50X % +3 "core" %\ + "sampler")U% +5 "core" %^0 8 3 \  +46 "collection"'% +3 "core" %\ +2 "sampler")X% +3 "core" %^0 < 8 \  +54 "collection"'Y% +3 "core" %\ +2 "sampler")Z% +3 "core" %^1 G A \  +61 "collection"']% +4 "core" %\ +2 "sampler")&% +4 "core" %^1 R L \  +69 "collection"'_% +3 "core" %\ + "sampler")b% +5 "core" %^ ` Y \ 1 + "collection"'+% +4 "core" %\ + #tIntake @13.0psia, vacuum from 7.5 to 10.5psi +2 .SS.reconfigure :inhaling 0.52ml/s +3 "sampler")#.#0X  \  +28 "collection"'f% +3 "core" %\ +2 "sampler")!% +4 "core" %H J B \  +31 "collection"'j% +3 "core" %\ +2 "sampler")o% +4 "core" %H O K \  +36 "collection"'P% +3 "core" %\ +2 "sampler")t% +3 "core" %H Y P \  +42 "collection"'u% +3 "core" %\ + "sampler")d% +4 "core" %H a \\ \  +47 "collection"'l% +3 "core" %\ +2 "sampler")g% +3 "core" %I p h \  +54 "collection"'\\% +3 "core" %\ +2 "sampler")i% +3 "core" %H  w \  +61 "collection"'n% +3 "core" %\ +2 "sampler") % +3 "core" % \ \ +69 "collection"'q% +4 "core" %\ +2 "sampler")M% +4 "core" % \ \ +78 "collection"'p% +3 "core" %\ + "sampler")|% +4 "core" % \ \ + "sampler")w% +4 "core" % \ \ +2 .tIntake.select :close + "sampler")0 +9 )c% +2 "core" % \ \ +2 .tSSV.dial :exhaust + "sampler")y  +74 "core"  + .tExhaust.select :open +2 "sampler")@ +9 .tSS.seek 0ml +2 "sampler")`'0 +901 "core" ' +2 .tExhaust.select :close +52 "sampler") +9 #tSampled 50.0ml +2 #Evacuating Puck (bubblePt=24psi, evacVolume=10ml, delay 15 seconds) + .Intake.select :close +2 "collection"'v& +2 "core" &]u\ Q +3 ."airStroke"CSV.dial :waste +3 "sampler")^% + "collection"' +5 "core" %3 \ \ P +3 ."connect"SSV.dial CBV,avoiding: :exhaust +3 .tCBV.dial SSV +2 "sampler")  +34 "core" +2 ."airStroke"CS.seek 0ml +2 "collection"'m' +3 "core" ' +2 ."airStroke"CSV.dial :air +2 "collection"' @ +71 "core" A +2 ."airStroke"CS.seek 10ml +2 "collection"'' +69 "core"  + .tCTV.dial :air +2 "collection"'S  +73 "core"  + .tdelay 15 seconds +1503 .SSV.dial :spit,avoiding: :exhaust +2 "sampler"){ +132 "core"  +2 ."prepCSV"CTV.dial CSV,avoiding: :intake +4 .tSS.seek 0ml +3 "collection"'[  +2 "sampler")\ '0 +7 "core" ' + .tSSV.dial CBV,avoiding: :exhaust +2 "sampler")  +124 "core"  +8  +492 ' + "sampler") % +4 "core" %4 \ +2 .tCBV.dial between SSV and waste2 +2 "collection"'  +31 "core"  +2 "collection"'% +4 "core" %\  +2 ."connect"CTV.dial CSV,avoiding: :air +3 .tCSV.dial CTV +2 "collection"'  +54 "core"  +2 .tCS.reconfigure :pressurize +3 "collection"'# d@<<\ tb +2 .tCS.seek 0ml +2 "collection"'s' +2053 "core" 't\ x\ w\ Ԩ +3 "collection"'x% +4 "core" %L\ \ w\ x\  + "sampler")% +4 "core" %4 \ +2 #tBubblePoint: Intake @38.5psia, Outlet @14.2psia + .CBV.dial SSV + "collection"' @ +33 "core" A +2 .tSS.reconfigure :default +3 "sampler")#.0X% +4 "core" %\ + #tPulling 1ml of CSR.AqMeOH + .CSR.select :AqMeOH +2 "collection"'\ +10 .tCS.reconfigure :default +2 "collection"'#P d@b +2 .tCS.seek 1ml +2 "collection"'U' +330 "core" ' +2 .tdelay 5 seconds +502 .CSR.select :air +2 "collection"' +9 'A% +3 "core" %\  +2 .tCS.seek 6ml + "collection"'' +1354 "core" ' +2 .tdelay 2 seconds +201 .CSV.dial :waste2 +2 "collection"'X +44 "core"  +2 .tCS.reconfigure :fast +2 "collection"'#d @b +2 .tCS.seek 0ml +2 "collection"'Y' +1453 "core" ' + .tCSV.dial CSR +2 "collection"'Z  +44 "core"  + "collection"']% +4 "core" %\ + #tPulling 2ml of CSR.AqMeOH +2 .CSR.select :AqMeOH + "collection"' +10 .tCS.reconfigure :default +2 "collection"'#P d@b +2 .tCS.seek 2ml +2 "collection"'&'~ +596 "core" ' +2 .tdelay 5 seconds +502 .CSR.select :air +2 "collection"' +9 '_% +3 "core" %\ +2 .tCS.seek 5.001ml + "collection"'b's +842 "core" ' + .tdelay 2 seconds +202 .CSV.dial CTV +2 "collection"'+  +43 "core" ~ +2 .tCS.seek 1ml +2 "collection"'B' +1101 "core" ' + "collection"'Q9 +4 "core" 9 + "collection"'J% +4 "core" % \ +2 #tBefore lysing Collection Puck Heater at 16C/28.6psia +2 #Heating Puck.from 7, :sh1 in Collection Clamp to 70C for 10:00 +2 .CH.seek 70C,8:00 +3 "collection"'e \  +2 'a9 +5 "core" 9d +102 "collection"'V9 +3 "core" 9d +102 "collection"'h9 +2 "core" 9 d +102 "collection"'K9 +3 "core" 9 d +102 "collection"'k9 +2 "core" 9d +102 "collection"'f9 +3 "core" 9d +102 "collection"'!9 +3 "core" 9d +102 "collection"'j9 +2 "core" 9d +102 "collection"'o9 +3 "core" 9"d +102 "collection"'P9 +2 "core" 9&d +102 "collection"'t9 +3 "core" 9*d +102 "collection"'u9 +2 "core" 9/d +102 "collection"'d9 +3 "core" 93d +102 "collection"'G9 +2 "core" 927d +102 "collection"'l9 +3 "core" 9K;d +102 "collection"'g9 +5 "core" 9e?d +102 "collection"'\\9 +2 "core" 9Dd +102 "collection"'i9 +3 "core" 9Hd +102 "collection"'n9 +3 "core" 9Ld +102 "collection"' 9 +2 "core" 9Pd +102 "collection"'q9 +3 "core" 9Td +102 "collection"'M9 +3 "core" 9Yd +102 "collection"'p9 +2 "core" 9<]d +102 "collection"'|9 +3 "core" 9]ad +102 "collection"'w9 +3 "core" 9ed +102 "collection"'c9 +3 "core" 9id +102 "collection"'y9 +2 "core" 9md +102 "collection"'O9 +3 "core" 9rd +102 "collection"'v9 +2 "core" 9 vd +103 "collection"'^9 +2 "core" 90zd +102 "collection"'9 +3 "core" 9R~d +102 "collection"'9 +2 "core" 9va +103 "collection"'9 +2 "core" 9] +102 "collection"'S9 +3 "core" 9Z +102 "collection"'E9 +3 "core" 9W +102 "collection"'m9 +3 "core" 9U +102 "collection"'{9 +2 "core" 9'Q +103 "collection"'[9 +2 "core" 9KM +102 "collection"'9 +2 "core" 9kK +103 "collection"'`9 +54 "core" 9G +103 "collection"' 9 +2 "core" 9D +102 "collection"'9 +2 "core" 9B +102 "collection"'9 +3 "core" 9? +102 "collection"'9 +3 "core" 9> +102 "collection"'9 +2 "core" 9= ; +102 "collection"'x9 +4 "core" 9Y 9 +102 "collection"'9 +2 "core" 9v7 +103 "collection"'9 +2 "core" 95 +102 "collection"'\ 9 +3 "core" 93 +102 "collection"'9 +3 "core" 92 +102 "collection"'9 +3 "core" 91 +102 "collection"'9 +3 "core" 9 0 +102 "collection"'9 +2 "core" 9 "/ +103 "collection"'9 +2 "core" 9!&- +103 "collection"'%9 +2 "core" 95(, +102 "collection"' 9 +4 "core" 9J,* +102 "collection"'9 +2 "core" 9]/) +102 "collection"'9 +3 "core" 9o2( +102 "collection"')9 +2 "core" 95' +102 "collection"'s9 +3 "core" 97' +102 "collection"'9 +3 "core" 9:% +102 "collection"'(9 +2 "core" 9=% +102 "collection"'~9 +3 "core" 9@% +102 "collection"'9 +3 "core" 9A # +102 "collection"'-9 +2 "core" 9E# +102 "collection"'/9 +4 "core" 9G" +102 "collection"'9 +2 "core" 9J! +102 "collection"'9 +3 "core" 9M +102 "collection"''9 +2 "core" 9 P  +102 "collection"',9 +3 "core" 9 Q$ +102 "collection"'9 +3 "core" 9 !S( +102 "collection"'.9 +3 "core" 9 *X, +102 "collection"'29 +2 "core" 9 4Z0 +102 "collection"'9 +3 "core" 9 =\\4 +102 "collection"'69 +2 "core" 9 F`9 +102 "collection"'09 +3 "core" 9 Nd= +102 "collection"'"9 +3 "core" 9 WfA +102 "collection"':9 +2 "core" 9 _hE +102 "collection"';9 +3 "core" 9 hkI +102 "collection"'9 +2 "core" 9 poN +102 "collection"'59 +4 "core" 9 wpR +102 "collection"'@9 +2 "core" 9 ~sV +102 "collection"' 9 +3 "core" 9 tZ +102 "collection"'49 +2 "core" 9 v^ +102 "collection"'79 +3 "core" 9 yb +102 "collection"'C9 +2 "core" 9 |g +102 "collection"'89 +3 "core" 9 ~k +102 "collection"'D9 +2 "core" 9 o +102 "collection"' 9 +3 "core" 9 s +102 "collection"'39 +2 "core" 9 w +102 "collection"'I9 +3 "core" 9 | +102 "collection"'?9 +3 "core" 9  +102 "collection"'19 +2 "core" 9  +103 "collection"'#9 +2 "core" 9  +102 "collection"'99 +3 "core" 9  +102 "collection"'9 +3 "core" 9  +102 "collection"'L9 +2 "core" 9  +103 "collection"'=9 +2 "core" 9  +102 "collection"'<9 +3 "core" 9  +102 "collection"'9 +2 "core" 9  +103 "collection"'R9 +2 "core" 9  +102 "collection"'F9 +3 "core" 9  +102 "collection"'H9 +2 "core" 9  +102 "collection"'N9 +3 "core" 9  +102 "collection"'T9 +2 "core" 9  +102 "collection"'$9 +3 "core" 9\  +102 "collection"'>9 +3 "core" 9\  +102 "collection"'A9 +2 "core" 9\  +102 "collection"'U9 +3 "core" 9\  +102 "collection"'X9 +2 "core" 9\  +31 "Can"x\ ?= +72 "collection"'9 +3 "core" 9\  +102 "collection"'Z9 +2 "core" 9\  +102 "collection"']9 +3 "core" 9\ ! +102 "collection"'Y9 +2 "core" 9\ & +103 "collection"'_9 +2 "core" 9\ + +102 "collection"'&9 +3 "core" 9\ / +102 "collection"'+9 +3 "core" 9\ 3 +102 "collection"'b9 +2 "core" 9\ 7 +102 "collection"'Q9 +3 "core" 9\ ; +102 "collection"'J9 +2 "core" 9\ ? +103 "collection"'a9 +3 "core" 9\ C +102 "collection"'V9 +2 "core" 9\ G +102 "collection"'h9 +3 "core" 9\ J +102 "collection"'K9 +2 "core" 9\ M +102 "collection"'k9 +3 "core" 9\ Q\  +103 "collection"'f9 +2 "core" 9\ T +102 "collection"'!9 +3 "core" 9\ Y +102 "collection"'j9 +2 "core" 9\ [ +102 "collection"'o9 +3 "core" 9\ ^ +102 "collection"'P9 +2 "core" 9\ a +102 "collection"'t9 +3 "core" 9\ d# +103 "collection"'u9 +2 "core" 9\ f' +102 "collection"'d9 +3 "core" 9\ j+ +102 "collection"'G9 +2 "core" 9\ l0 +102 "collection"'l9 +3 "core" 9\ o4 +102 "collection"'g9 +3 "core" 9\ s8 +3 .tCH.hold 10:00,70C +3 "collection"'\\ `\ `\ r +3 'i9 +4 "core" 8 + 9\ s + "collection"'n% +4 "core" %\ \  9\ t +2 #tBegun lysing Collection Puck Heater at 68C/33.1psia +57288 "Can"{\  +2701 "core" ` +2 "collection"' 9 +4 "core" 9\  + "collection"'q% +4 "core" % \ + #tEnded lysing Collection Puck Heater at 70C/27.5psia +2 .CS.seek 0ml +2 "collection"'M' +336 "core" ' +2 .tCTV.dial between spare and air,avoiding: :intake +2 "collection"'p @ +101 "core" A + .tCSV.dial :air +2 "collection"'| @ +42 "core" ? +3 .tCS.seek 5ml +2 "collection"'w's +1348 "core" ' +2 .tCSV.dial CTV + "collection"'c  +55 "core"  +2 .tdelay 2 seconds +201 .CSV.dial :air +2 "collection"'y @ +42 "core" ? + .tdelay 2 seconds +202 .CSV.dial CTV +3 "collection"'O  +55 "core"  + .tdelay 2 seconds +202 .CSV.dial :air +2 "collection"'v @ +42 "core" ? + .tdelay 2 seconds +203 .CS.seek 0ml +2 "collection"'^' +1353 "core" ' + "collection"'% +4 "core" %\ z\ y\ +2 #tPuck @38.6psia after final lysis pressurization + #Recovering Lysate into Collection syringe +2 .CSV.dial CBV + "collection"' +100 "core"  + .tCBV.dial CSV +3 "collection"'  +29 "core"  + "collection"'S% +4 "core" %\ W\ X k\ +2 .tCS.seek 5ml +2 "collection"'E's +1356 "core" ' +2 .tdelay 5 seconds +502 .CTV.dial :air + "collection"'m  +44 "core" + "collection"'{% +4 "core" %s"" \ +2 .tCS.seek 7.001ml +2 "collection"'[' +599 "core" ' + .tdelay 5 seconds +502 .CSV.dial :air2 +3 "collection"' @ +41 "core" > +2 .tCS.seek 10ml + "collection"'`' +837 "core" ' +2 .tCSV.dial between air and CTV,avoiding: CBV +2 "collection"' ` +123 "core" b +2 #tLysing Complete + "collection"'& +4 "core" &]u\ Q +2 #tStoring sh1 puck in Collection Clamp to tube 6 + "manipulator"&% +4 "core" %\ - p "\\ + "storage"(% +4 "core" %P p o l\ \ + "storage"(. +3 "core" .([ +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"(x(K +357 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (& +3 "core" &K ` W p\ + "manipulator"&& +4 "core" &" 9# +2 "manipulator"&\ % +4 "core" %\ - "\\ +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&( +157 "core" ( + "manipulator"&& +4 "core" & g  +2 "storage"(& +3 "core" &K w\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&'< +97 "core" ' + "storage"(& +4 "core" &K \ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(%'e +272 "core" ' +2 "storage"( - +3 "core" -'e + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek :place +2 "storage"('B +31 "core" ' +2 "manipulator"&& +4 "core" &  + "manipulator"&)% +4 "core" %C n  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&s'\ +96 "core" ' +2 .tElbow.seek CC + "manipulator"&( +169 "core" ( + "manipulator"&(& +4 "core" &* / P Ac +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &~& +3 "core" &* @ Ac +2 .tForearm.seek CC +2 "manipulator"&'| +93 "core" ' + .tHand.close +2 "manipulator"&-/ +61 "core" / +2 .tCC.seek :open +2 "collection"'/(p +410 "core" ( + "storage"(& +4 "core" &K \ +2 "storage"(& +3 "core" &K \ +2 "manipulator"&'& +4 "core" &'$ <? + "manipulator"&,% +4 "core" % φ + .tForearm.seek :retract +2 "manipulator"&'\ +96 "core" ' +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&.( +157 "core" ( + "manipulator"&2& +4 "core" & n  +2 "storage"(& +4 "core" &K \ + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 6 +2 "manipulator"&6'z +110 "core" ' +2 .tElbow.hold + "manipulator"&0, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&"1 +56 "core" 1 +2 "manipulator"&:% +4 "core" % ur 7 2 z ù. + "storage"(;& +4 "core" &K k\ + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 6 + 295 counts + "manipulator"&'ϡ +17 "core" ' + "manipulator"&5& +5 "core" &( [  + "storage"(@& +5 "core" &K .\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"& '< +16 "core" ' +2 "storage"(4% +4 "core" %C a\  +2 ."downElevator"SE.seek :down +55 "storage"(7'N +99 (C% +3 "core" %? \ V_ + "manipulator"&8% +5 "core" %> r +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&D'\ +90 "core" ' +58 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tTranferring DA + #Beginning samplePassC +2 #Loading FlushPuck into Collection Clamp from FlushPuck::Garage + "collection"' & +4 "core" &   +2 "manipulator"&3& +4 "core" &(  + "manipulator"&I% +4 "core" %\ % 7 +2 .tElbow.seek FlushPuck::Garage +2 "manipulator"&?(, +172 "core" ( +2 "manipulator"&1& +4 "core" &, , [ + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &#& +3 "core" &, [ +2 .tForearm.seek :garage + "manipulator"&9' +96 "core" ' +2 .tHand.close + "manipulator"&/ +60 "core" / + "manipulator"&L& +4 "core" &, [ +2 "manipulator"&=% +4 "core" %  6 + .tForearm.seek :retract +2 "manipulator"&<'\ +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC + "manipulator"&( +280 "core" ( + "manipulator"&R& +4 "core" &" B ;5 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &F& +3 "core" &# ;5 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&H'| +99 "core" ' +2 "manipulator"&N& +4 "core" &# w ;5 +2 "manipulator"&T% +4 "core" %v , , + "collection"'$& +4 "core" & 1\ +2 "collection"'>& +5 "core" & =\ +2 .tCC.seek :closed +2 "collection"'A(] +4 "core" & \ \  +9 &0\ +| +9 &e l\ ? +9 &P~ b\ N +10 &` =\ M +9 &g \ M +9 &g!\ M +10 &![e\ M +9 &#g\ M +10 &$e r\ M +9 &&f \ M +9 &(ef\ L +10 &*%e! \ M +9 &+c! e\ M +9 &-g e\ M +10 &/jg" I\ M +9 &1-i" 1\ M +9 &2f! \ M +10 &4d!\ M +9 &6tc \ M +10 &86b\ M +9 &9b!\ M +9 &;c \ L +10 &=|e!u\ M +9 &?=b  \ M +9 &@f!!\ M +10 &Bd !\ M +9 &Dc!"\ M +10 &FFd\ M +9 &Hh \ M +9 &In \ N +10 &K} \ P +9 &M7 1\ U +9 &N ,\ W +10 &P \ W +9 &Ru\ W +10 &T4\ X +9 &U\ Y +9 &W\ Y +10 &Yq\ [ +9 &[5\ [ +9 &\\y \ 1 +10 &]#  \ "e +9 &]{  s\ V +2 ( +2 "collection"'>& +3 #tCollection Clamp onSpring/offSpring for 9/25 samples, on/off torque 1.93 +2 "collection"'U& +4 "core" &]y \ V + .tHand.open +2 "manipulator"&X1 +57 "core" 1 +2 "manipulator"&% +4 "core" % u +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&Z'\ +100 "core" ' + .tPSV.dial PSR +2 "processing"%] +139 "core"  + "processing"%Y% +5 "core" %?\ + #tPulling 1.5ml of PSR.flush + .PSR.select :flush +2 "processing"%j +11 .tPS.seek 1.5ml + "processing"%_' +1617 "core" ' +2 .tdelay 5 seconds +502 .PSV.dial :waste1 +2 "processing"%&  +44 "core"  +2 .tPS.seek 0ml +2 "processing"%+' +1612 "core" ' + .tPSV.dial PSR +2 "processing"%b +50 "core"  + .tPSR.select :air +2 "processing"% +10 .tPS.seek 2.5ml + "processing"%Q'm +2642 "core" ' +2 ."connect"PRV.dial CBV,avoiding: :ab2 +3 .tCBV.dial PRV +2 "processing"%J + "collection"'a  +6 "core"  +2 "processing"%V  +4 "core"  +66 + .tPSV.dial :mixloop +2 "processing"%h +103 "core" +2 .tCTV.dial :air,avoiding: :intake + .PTV.dial :PRVmixing +2 "processing"%K  +76 "core" +2 .tPS.seek 0ml +2 "processing"%k' +2632 "core" ' +2 .tPSV.dial :air + "processing"%f  +44 "core"  +2 .tPS.seek 2.5ml +2 "processing"%!'m +2652 "core" ' +2 .tPSV.dial :mixloop + "processing"%j +51 "core" + .tPS.seek 0ml +2 "processing"%o' +2637 "core" ' + .tPSV.dial :air +2 "processing"%P  +50 "core"  +2 .tPS.seek 2.5ml +2 "processing"%t'm +2646 "core" ' + .tPSV.dial :mixloop +2 "processing"%u +50 "core" +2 .tPS.seek 0ml +2 "processing"%d' +2637 "core" ' + #tGaraging FlushPuck in Collection Clamp +2 "manipulator"&G& +4 "core" & j 7 +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC + "manipulator"&l( +25 "core" ( +2 "manipulator"&g& +4 "core" & @ + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &i& +3 "core" & 7 @ +2 .tForearm.seek CC + "manipulator"&n'| +98 "core" ' + .tHand.close +2 "manipulator"&e/ +55 "core" / +2 .tCC.seek :open + "collection"'\\(p +411 "core" ( +2 "manipulator"& & +4 "core" & b 3 + "manipulator"&q% +4 "core" % ϋ # + .tForearm.seek :retract +2 "manipulator"&B'\ +98 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek :garage + "manipulator"&p(, +283 "core" ( +2 "manipulator"&|& +4 "core" &,  + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &M& +2 "core" &, f +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :garage +2 "manipulator"&c' +93 "core" ' +2 .tHand.open + "manipulator"&y1 +64 "core" 1 + "manipulator"&O% +4 "core" %   G +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&v'\ +94 "core" ' + .tPSV.dial :mixloop +2 .PTV.dial :PRVmixing + ."connect"PRV.dial CBV +3 .tCBV.dial PRV +2 .CTV.dial :air,avoiding: :intake +2 #Loading lyfil puck from tube 7 into Collection Clamp + "collection"'w& +5 "core" &PQ;  + "manipulator"&% +4 "core" %\ % 8 7 + "storage"(% +4 "core" %? \  + "storage"(. +3 "core" .(K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 7 +2 "storage"(S([ +359 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (^& +2 "core" &[ \  +2 "manipulator"&m& +4 "core" &, + "manipulator"&{% +4 "core" %\ % 7 +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 7 +2 "manipulator"&E( +177 "core" ( + "manipulator"&& +4 "core" &\ Y +2 "storage"([& +4 "core" &[ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts +2 "manipulator"& 'k +89 "core" ' + "storage"(& +4 "core" &[ \  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"('e +285 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +2 "core" &[ o\  +2 "manipulator"&W& +4 "core" & } Y + .tElbow.seek 7 +2 "manipulator"&( +3 "core" ( + "manipulator"&& +4 "core" & E Y + "storage"(\ & +4 "core" &[ \  +2 .tForearm.seek 7 + 300 counts +2 "manipulator"&' +21 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +51 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& + "storage"(r'N +7 "core" & Y +2 "manipulator"&}% +4 "core" % g + .tForearm.seek :retract +2 "manipulator"& '\ +94 "core" ' + .tElbow.seek CC +2 "manipulator"&( +150 "core" ( + "manipulator"&)& +5 "core" &$  _ <? + ' + .tElbow.reconfigure :loose +3 ."downElevator"SE.stop +3 "manipulator"&$ &.,(#b + "storage"(5 +4 "manipulator"&%& +5 "core" &%  <? + .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&('| +101 "core" ' +2 "manipulator"&~& +4 "core" &% R " 4 <? +2 "manipulator"&% +3 "core" %| \ m +2 "collection"'& +5 "core" &NM\ +52 "collection"'-& +5 "core" &MP\ +2 .tCC.seek :closed +2 "collection"'s(] +4 "core" &NP\  +10 &1OP\ +| +9 &dNO\ ? +9 &QNQk\ O +10 &^NOU\ M +9 &eNPI\ M +10 &gNNN\ N +9 &![fOP\ N +9 &#fOP\ N +10 &$eNO\ N +9 &&dOP *\ M +9 &(cdLO \ N +10 &*&eNO \ M +9 &+eNO \ M +10 &-cMP\ M +9 &/leOP\ M +9 &1/cON\ M +10 &2hMP\ M +9 &4dPN\ M +9 &6ucNP\ M +10 &86dNP\ M +9 &9cNO\ M +10 &;bNN\ M +9 &=}dNP\ M +9 &??cQP\ M +10 &AePP|\ M +9 &BeNOy\ M +9 &DcLPp\ M +10 &FGeNPj\ M +9 &H eNPa\ M +10 &IpMO[\ N +9 &K{7QT\ P +9 &M<^ZI\ T +10 &NkhB\ V +9 &PRY>\ W +9 &Rugd,\ X +10 &T7jj+\ X +9 &UhjB\ Y +10 &Wgi\ Y +9 &Ythg\ [\ +9 &[5fg\ [ +10 &\\zfe\ / +9 &]'ee\ ` +9 ( +2 "collection"'-& +3 #tCollection Clamp onSpring/offSpring for 9/25 samples, on/off torque 1.92 +2 .Hand.open + "manipulator"&z1 +3 "core" &]pdej\ O +49 1 +2 "manipulator"&% +4 "core" % x 5 M +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +97 "core" ' +2 .tCTV.dial CSV,avoiding: :intake +2 "collection"''  +131 "core"  + .tCSV.dial CTV +2 "collection"',  +39 "core"  +2 .tPS.seek 2.5ml +2 "processing"%2'm +2632 "core" ' +2 "collection"'% +4 "core" %FG\  +2 .tCS.seek 4.5ml + "collection"''d +1478 "core" ' +2 .tdelay 8 seconds +802 .PSV.dial :air +2 "processing"%  +49 "core"  +2 .tdelay 2 seconds +201 .PSV.dial :waste2 +2 "processing"%"  +73 "core"  +2 .tPS.seek 0ml +2 "processing"%:' +2635 "core" ' + .tCBV.dial between PRV and waste1 +2 "collection"'; ` +30 "core" _ +2 .tCSV.dial :air + "collection"'5 @ +42 "core" ? +2 .tCS.seek 10ml +2 "collection"'@' +1478 "core" ' + .tCSV.dial CTV +2 "collection"'4  +42 "core"  +2 .tCS.seek 0ml +2 "collection"'' +2654 "core" ' + .tCBV.dial :waste1 +2 "collection"'C @ +29 "core" ? +2 .tdelay 5 seconds +502 .CTV.dial :air,avoiding: :intake +2 "collection"'.  +130 "core" +2 "collection"'8& +4 "core" &]nST$\ O +2 #tStoring lyfil puck in Collection Clamp to tube 6 + "manipulator"&6% +4 "core" %\ 3  c %v + "storage"(% +4 "core" %V r r \  + "storage"( . +3 "core" .([ +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 + "storage"(3(K +355 "core" ( +2 .tSC.configure :limp +3 "storage"($\ 1b +2 (I& +3 "core" &K 7 > \ + "manipulator"&& +4 "core" & $  <; + "manipulator"& % +4 "core" %\ 3   %v +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&1( +164 "core" ( + "manipulator"&#& +4 "core" & G  +2 "storage"(7& +4 "core" &K ,\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&0'< +96 "core" ' +2 "storage"(& +4 "core" &K 7\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(L'e +274 "core" ' + "storage"(=- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&D& +3 "core" & s  + "storage"(9& +4 "core" &K \ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 + "manipulator"&R'z +30 "core" ' +2 .tElbow.hold + "manipulator"&F, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(?- +3 "core" -' +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(N'e +23 "core" ' +2 "manipulator"&T% +4 "core" %|n : S z ȸ + "storage"($& +4 "core" &K a a ~\ + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 6 + 302 counts +2 "manipulator"&<'Ϩ +16 "core" ' +2 "manipulator"&/& +4 "core" &' ~ l } + "storage"(U& +4 "core" &K \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&X'< +17 "core" ' +2 .tSE.seek 1.11 Pucks below Top Plate +2 "storage"('T +40 "core" ' +2 "manipulator"&>& +4 "core" &' e } +2 "manipulator"&]% +4 "core" %? h +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&Y'\ +88 "core" ' + .tElbow.seek CC +2 "manipulator"&H( +157 "core" ( +2 "manipulator"&&& +4 "core" &$ - o <: + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &_& +3 "core" &$ -  <: +2 .tForearm.seek CC +2 "manipulator"&b'| +96 "core" ' + .tHand.close + "manipulator"&+/ +52 "core" / +2 .tCC.seek :open +2 "collection"'J(p +410 "core" ( +2 "storage"(V& +4 "core" &K \ +2 "storage"(a& +3 "core" &K .\ +2 "manipulator"&h& +4 "core" &" :0 + "manipulator"&K% +4 "core" % φ +2 .tForearm.seek :retract + "manipulator"&Q'\ +92 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 + "manipulator"&f( +160 "core" ( + "manipulator"&k& +5 "core" & g  + "storage"(j& +4 "core" &K \ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 6 + "manipulator"&!'z +110 "core" ' +2 .tElbow.hold + "manipulator"&P, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&o1 +58 "core" 1 +2 "manipulator"&u% +4 "core" % ΅r J L I ǹ) +2 "storage"(t& +3 "core" &K S\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 311 counts +2 "manipulator"&G'ϱ +19 "core" ' + "manipulator"&g& +4 "core" &) } R +2 "storage"(i& +4 "core" &K \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&e'< +17 "core" ' + "storage"(% +4 "core" %\\ \ +3 ."downElevator"SE.seek :down +3 "storage"(Z'N +99 (A% +3 "core" %D K\ V_ +2 "manipulator"& % +4 "core" %E b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&q'\ +87 "core" ' +50 ' + ."downElevator"SE.stop +2 "storage"(5 +2 .tPSV.dial :air +2 "processing"%n  +79 "core" +2 .tPS.seek 2.5ml + "processing"%|'m +2650 "core" ' + .tdelay 1 second +102 .PSV.dial :mixloop +2 "processing"%M +42 "core" + .tdelay 1 second +102 .PSV.dial :air +2 "processing"%l  +48 "core"  + .tdelay 1 second +102 .PSV.dial :mixloop +2 "processing"%y +49 "core" +2 .tdelay 1 second +102 .PSV.dial :air + "processing"%O  +50 "core"  +2 .tdelay 1 second +102 .PS.seek 0ml +2 "processing"%w' +1398 "Can"| /?< +1237 "core" ' + #tLoading FlushPuck into Processing Clamp from FlushPuck::Garage +2 "processing"%& +4 "core" &ZU\  + "manipulator"&& +4 "core" &) p + "manipulator"&% +4 "core" %\ ( f < +2 .tElbow.seek FlushPuck::Garage + "manipulator"&B(, +178 "core" ( +2 "manipulator"&c& +4 "core" &,  ' + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &x& +3 "core" &, ' +2 .tForearm.seek :garage + "manipulator"&^' +93 "core" ' + .tHand.close +2 "manipulator"&m/ +61 "core" / +2 "manipulator"&{& +4 "core" &, ' + "manipulator"&% +4 "core" %  t +2 .tForearm.seek :retract + "manipulator"&['\ +95 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +2 "manipulator"&(c +129 "core" ( + "manipulator"&p& +5 "core" &f + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &v& +2 "core" &f , +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +50 "manipulator"&'[ +99 "core" ' +2 "manipulator"&& +4 "core" &f ] + "manipulator"&W% +4 "core" %_ +2 "processing"%& +4 "core" &Z/\  +2 "processing"%\ & +4 "core" &Z-\  +2 .tPC.seek :closed +2 "processing"%(Z +5 "core" &Z/\  +7 &pL5\ %h +9 &GX0\ 8 +9 &2\ M +10 &b]2\ M +9 &#a7\ N +10 &`<\ M +9 & a9\ N +9 &"k^@\ M +10 &$-`;\ M +9 &%a9\ M +9 &'bI\ M +10 &)r`L\ M +9 &+4`\ M +10 &,dV\ M +9 &.`J\ M +9 &0z`O\ M +10 &2=\\\ \ M +9 &3_\ M +9 &5_\ M +10 &7_\ M +9 &9E`\ M +10 &;b\ M +9 &<^\ M +9 &>b\ M +10 &@N`\ M +9 &Ba\ M +9 &C`\ M +10 &E`\ N +9 &GSe\ N +10 &Ik\ N +9 &Jz \ P +9 &L\ R +10 &NK\ S +9 &P \ S +9 &Q\ S +10 &S\ S +9 &UQ\ T +10 &W\ T +9 &X\ \ T +9 &Z6S\ )y +10 &Zg\ 7 +8 ( +3 "processing"%\ & +3 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.55 +2 "processing"%& +3 "core" &Z(\ 2 + &Z(\ 2 + .tHand.open +2 "manipulator"&}1 +59 "core" 1 + "manipulator"&E% +4 "core" % ^ b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"& '\ +99 "core" ' +2 .tPRV.dial :air +2 "processing"%)  +43 "core"  + .tPSV.dial :mixloop +2 "processing"%% +50 "core" +2 "processing"%% +4 "core" %$\ +2 .tPS.seek 0.3ml +2 "processing"%'m +385 "core" ' +2 .tPSV.dial PSR + "processing"%~ +104 "core"  +2 "processing"%% +4 "core" %oQ\ + #tPulling 0.4ml of PSR.air + .PSR.select :air +3 .PS.seek 0.7ml +2 "processing"%'. +480 "core" ' +2 .tdelay 3 seconds +302 .PSR.select :air +2 .PS.seek 2.5ml +2 "processing"%'m +1936 "core" ' +2 .tdelay 3 seconds +301 .PSV.dial :mixloop +2 "processing"%r +109 "core" +2 .tPTV.dial :mixing + "processing"% @ +74 "core" B + .tPBV.dial :waste2 +2 "processing"%\\  +95 "core"  +2 .tPS.seek 0ml +2 "processing"%z' +2635 "core" ' +2 #tGaraging FlushPuck in Processing Clamp + "manipulator"&& +4 "core" &f  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC + "manipulator"&-(c +2 "core" ( +2 "manipulator"&'& +4 "core" &f S + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &,& +3 "core" &f c +2 .tForearm.seek PC + "manipulator"&('[ +95 "core" ' + .tHand.close +2 "manipulator"&d/ +63 "core" / + .tPC.seek :open +2 "processing"%(p +395 "core" ( + "manipulator"&`& +4 "core" &f | +2 "manipulator"&% +4 "core" % ` + .tForearm.seek :retract +2 "manipulator"&"'\ +102 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage +2 "manipulator"&2(, +128 "core" ( + "manipulator"&;& +4 "core" &, + > ' +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &5& +3 "core" &, & +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :garage +2 "manipulator"&' +95 "core" ' +2 .tHand.open + "manipulator"&41 +53 "core" 1 +2 "manipulator"&@% +4 "core" %  ) u +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&C'\ +94 "core" ' +3 #tLoading da puck from tube 7 into Processing Clamp + "processing"%.& +4 "core" &\ +2 "manipulator"&8% +3 "core" %\ *  9 +2 "storage"(6% +4 "core" %C \  + "storage"(. +3 "core" .(K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 7 + "storage"( ([ +368 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (S& +3 "core" &[ 9\  +2 "manipulator"&I& +4 "core" &, ; ! + "manipulator"&% +4 "core" %\ * i 9 +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 7 +2 "manipulator"& ( +175 "core" ( + "manipulator"&#& +4 "core" & E "z +2 "storage"(7& +4 "core" &[ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&'k +93 "core" ' +2 "storage"(& +4 "core" &[ ^\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('e +277 "core" ' + "storage"(=- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (D& +2 "core" &[ \  +2 "manipulator"&9& +4 "core" & B "z +2 .tElbow.seek 7 +2 "manipulator"&?( +3 "core" ( + "manipulator"&T& +4 "core" & } "z +2 "storage"($& +4 "core" &[ \  +2 .tForearm.seek 7 + 300 counts + "manipulator"&/' +11 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&U/ +53 "core" / +3 !to:Puck::Warning: mesg"-Loaded Last remaining Puck (from Tube 7):bt[ "4/home/esp/esp2/utils/puckmoves.rb:387:in `load'"8/home/esp/esp2/utils/puckmoves.rb:958:in `loadPuck'";/home/esp/esp2/protocol/2G/DAprocess.rb:281:in `runDA'"?/home/esp/esp2/protocol/2G/DAprocess.rb:170:in `processDA'"0/home/esp/esp2/protocol/2G/DA.rb:64:in `da'"(ESP):7:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +2 ."downElevator"SE.seek :down +3 "manipulator"&>& +2 "storage"(]'N +6 "core" & "z +2 "manipulator"&0% +4 "core" % J . +2 .tForearm.seek :retract + "manipulator"&1'\ +91 "core" ' +2 .tElbow.seek PC +2 "manipulator"&L(c +166 "core" ' + ."downElevator"SE.stop + "storage"(5 +84 "core" ( +2 "manipulator"&R& +4 "core" &m  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &<& +3 "core" &m  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&N'[ +95 "core" ' + "manipulator"&&& +4 "core" &m  +2 "manipulator"&_% +4 "core" %] 9 +2 "processing"%X& +4 "core" &~\ +2 "processing"%F& +5 "core" &z\ +2 .tPC.seek :closed +3 "processing"%+(Z +3 "core" &\ +6 & 1|\ $c +9 &^V}\ 7 +10 &q\ K +9 &p]r\ L +9 &2_q\ M +10 &]o\ M +9 & ^n\ M +10 &"xZg\ M +9 &$:bi\ M +9 &%b\\\ M +10 &'ba\ M +9 &)bX\ M +9 &+B`W\ M +10 &-cW\ M +9 &._d\ M +10 &0_W\ L +9 &2J\\H\ M +9 &4 [K\ M +10 &5aN\ L +9 &7_I\ L +9 &9S_C\ L +10 &;dC\ M +9 &<\\=\ M +10 &>`>\ L +9 &@[_:\ L +9 &B_6\ M +10 &Cc:\ L +9 &E_5\ M +9 &Gag7\ M +10 &I!k5\ N +9 &Ju5\ O +10 &L2\ Q +9 &NW3\ S +9 &P1\ R +10 &Q*\ S +9 &S-\ S +9 &U_4\ S +10 &W 6\ S +9 &X5\ S +10 &Z<Mx5\ . +9 &Z*5\ ' +5 ( +2 "processing"%F& +4 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.54 + .Hand.open +2 "manipulator"&Y1 +3 "core" &Z3\ ' +55 1 +2 "manipulator"&s% +4 "core" % ] W +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&V'\ +91 "core" ' +3 #tHeating Puck.from 7, :da in Processing Clamp to 28C for 2:00:00 +2 .PH.seek 28C,5:00 +3 "processing"%a  +3 %h9 +5 "core" 9( +101 "processing"%K9 +3 "core" 9' +102 "processing"%k9 +2 "core" 9 ( +102 "processing"%j9 +3 "core" 9 ) +102 "processing"%b9 +2 "core" 9) +102 "processing"%H9 +3 "core" 9 * +102 "processing"%o9 +2 "core" 9 + +102 "processing"%u9 +2 "core" 9 + +102 "processing"%t9 +3 "core" 9 ", +102 "processing"%g9 +2 "core" 9&, +102 "processing"%i9 +3 "core" 9*- +102 "processing"%9 +2 "core" 9/, +103 "processing"%Q9 +2 "core" 93, +102 "processing"%A9 +2 "core" 97, +103 "processing"% 9 +2 "core" 9!;+ +102 "processing"%f9 +3 "core" 9&?+ +102 "processing"%!9 +3 "core" 9,C+ +102 "processing"%G9 +2 "core" 92H) +102 "processing"%9 +2 "core" 9;L) +102 "processing"%n9 +3 "core" 9CP) +102 "processing"%e9 +3 "core" 9JT( +102 "processing"%Z9 +3 "core" 9SX( +102 "processing"%:9 +2 "core" 9]] +102 "processing"%M9 +3 "core" 9ga +102 "processing"%l9 +2 "core" 9qe +102 "processing"%y9 +2 "core" 9}i +102 "processing"%O9 +3 "core" 9m +102 "processing"%|9 +2 "core" 9q +102 "processing"%9 +2 "core" 9v +102 "processing"%9 +3 "core" 9z +102 "processing"%9 +3 "core" 9~ +102 "processing"%c9 +2 "core" 9 +102 "processing"%x9 +3 "core" 9 +102 "processing"%P9 +2 "core" 9 +102 "processing"%m9 +2 "core" 9 +102 "processing"%{9 +3 "core" 9\ +102 "processing"%9 +3 "core" 9 +102 "processing"%q9 +2 "core" 9  +102 "processing"%p9 +2 "core" 9 +102 "processing"%v9 +3 "core" 9# +102 "processing"%^9 +3 "core" 9/ +102 "processing"%B9 +2 "core" 99 +102 "processing"%9 +2 "core" 9D +102 "processing"%W9 +3 "core" 9N +102 "processing"%9 +2 "core" 9Y +102 "processing"%[9 +2 "core" 9c +103 "processing"%*9 +2 "core" 9m +102 "processing"%9 +3 "core" 9v +2 .tPH.hold 2:00:00,28C +3 "processing"%} ppm\ +2 .tdelay 1:30 +4 "core"  +9001 .tPSR.select :air +55 .PSV.dial PSR +2 "processing"%E +109 "core"  + "processing"%\ % +4 "core" %]\ +2 #tPulling 0.5ml of PSR.wash + .PSR.select :wash +2 "processing"% +9 .tPS.seek 0.5ml +2 "processing"%)' +590 "core" ' + .tdelay 5 seconds +503 .PSR.select :air +2 "processing"% +9 .tPS.seek 2ml +2 "processing"%%'ԏ +1617 "core" ' + .tPTV.dial :puck +2 "processing"%  +70 "core"  +2 .tPSV.dial PTV +2 "processing"% +79 "core" +2 .tPBV.dial :waste1 + "processing"%w  +133 "core"  +2 "processing"%~% +4 "core" %ԏ\  +2 .tPS.seek 1.5ml +2 "processing"%' +598 "core" ' +2 .tdelay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"% * +33 "core" , +2 .tPS.seek 0ml +2 "processing"%' +1619 "core" ' +2 .tdelay 5:00 +27761 "Can"{ +C? +2242 #trecoverPSRreagent08 + .PTV.dial :puck + .PBV.dial :waste1 +2 "processing"%r  +35 "core" + .tdelay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"% * +36 "core" , +2 .tPSR.select :air +2 .PSV.dial PSR + "processing"%\\ +79 "core"  +2 .tPS.reconfigure :fast +3 "processing"%#A ,`xb +2 .tPS.seek 2.5ml +2 "processing"%'m +2402 "core" ' +2 .tPSV.dial PTV + "processing"% +80 "core" +2 .tdelay 5 seconds +502 .PSV.dial PSR +2 "processing"%' +78 "core"  +2 .tdelay 5 seconds +502 .PSV.dial PTV +2 "processing"%, +91 "core"  +2 .tdelay 5 seconds +502 .PSV.dial :air +2 "processing"%d  +76 "core"  +2 .tPS.seek 0ml + "processing"%' +2382 "core" ' +2 .tPTV.dial :PRVmixing,via: PRV +2 "processing"%  +129 "core" +2 .tPSV.dial :mixloop + "processing"% +50 "core" +2 .tPRV.dial :ab1 + "processing"%` @ +72 "core" A +3 .tPS.reconfigure :slow +2 "processing"%#A 2`xb +3 .tPS.seek 0.15ml + "processing"%'@ +352 "core" ' +2 .tdelay 2 seconds +202 ."connect"CBV.dial PRV +4 .tPRV.dial CBV +2 "collection"';  +2 "processing"%5  +45 "core" +3  + "processing"%(% +4 "core" %AK\  +2 .tPS.seek 0.34ml + "processing"%-' +451 "core" ' +2 .tdelay 2 seconds +202 .CBV.dial between PRV and PSV +2 "collection"'4  +30 "core" +2 .tPRV.dial :air + "processing"%@  +42 "core"  +2 .tPS.seek 0.9ml +2 "processing"%.'H +1193 "core" ' + .tPRV.dial :waste2 +2 "processing"%8 @ +74 "core" ? +2 .tPS.seek 0.5ml +2 "processing"%6' +863 "core" ' + #taddPMLReagent08 +2 .PSV.dial :air + "processing"%  +49 "core"  +2 .tPS.reconfigure :default +3 "processing"%#A d`xb +2 .tPS.seek 2ml +2 "processing"%"'ԏ +1619 "core" ' + .tPSV.dial :PML +2 "processing"% +50 "core" +2 .tPTV.dial :mixing + "processing"%3 @ +71 "core" A + .tPBV.dial :waste1 +2 "processing"%S  +36 "core" + "processing"%I% +4 "core" %ԎZ\  +2 .tPS.seek 1.85ml +2 "processing"%'e +231 "core" ' +2 .tPBV.dial between PSV and waste1 + "processing"%# * +36 "core" , +3 .tPS.seek 0ml + "processing"%7' +1973 "core" ' +2 .tdelay 2 seconds +202 #Beginning samplePassC + #Loading FlushPuck into Collection Clamp from FlushPuck::Garage +2 "collection"'& +3 "core" &\\^\ +2 "manipulator"&2& +3 "core" &m +2 "manipulator"&C% +3 "core" %\ ( G +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek FlushPuck::Garage +2 "manipulator"&=(, +146 "core" ( + "manipulator"&D& +5 "core" &, P G + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &9& +3 "core" &, G +2 .tForearm.seek :garage + "manipulator"&T' +102 "core" ' +2 .tHand.close + "manipulator"&$/ +57 "core" / + "manipulator"&U& +4 "core" &, 6 ; G +2 "manipulator"&>% +4 "core" %  0  +2 .tForearm.seek :retract + "manipulator"&0'\ +97 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"& ( +281 "core" ( + "manipulator"&& +4 "core" &% '  <@ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &% ' n <@ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&/'| +100 "core" ' +2 "manipulator"&R& +5 "core" &% 0 z <@ + "manipulator"&<% +4 "core" %o +2 "collection"'?& +4 "core" &^_\ +2 "collection"'&& +5 "core" &^\\ \ +2 .tCC.seek :closed + "collection"'_(] +5 "core" &[^\  +9 &0[`\ +| +9 &b\\]\ ? +9 &E[^\ O +10 &e^\\\ O +9 &i]_\ O +10 &h^_\ O +9 &!Kh]_\ O +9 &# h\\_\ P +10 &$h^^\ N +9 &&h^^\ O +9 &(Uf\\]\ O +10 &*g\\^\ O +9 &+j^_\ O +9 &-g[^\ O +10 &/]i\\a\ O +9 &1j__\ O +10 &2h^^\ O +9 &4g]`\ O +9 &6ed^]\ O +10 &8'c]^\ O +9 &9h]_\ N +9 &;e[]\ N +10 &=lj^^\ O +9 &?0e]_\ N +10 &@f^`\ O +9 &Bg`]\ O +9 &Dvb[`\ N +10 &F7g^^\ O +9 &Ge]]\ O +9 &Im]`\ P +10 &Kv}^]\ Q +9 &M-]a\ U +10 &N^`\ X +9 &P^`\ X +9 &Rg`b\ Y +10 &T(`^\ Y +9 &U`_\ [ +9 &W_`\ Z +10 &Yf``\ \\ +9 &[(`a\ \\ +10 &\\z`_\ 5 +9 &]'a_\ %n +9 &]{`b\ Q +3 ( + "collection"'&& +3 #tCollection Clamp onSpring/offSpring for 9/25 samples, on/off torque 1.86 +2 "collection"'X& +4 "core" &]{`` \ Q + .tHand.open +2 "manipulator"&]1 +63 "core" 1 +2 "manipulator"&1% +4 "core" % o 1 +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +91 "core" ' +2 .tPSV.dial PSR +2 "processing"%Y +104 "core"  +2 "processing"%s% +4 "core" %E\ + #tPulling 1.5ml of PSR.flush + .PSR.select :flush +3 "processing"%@ +9 .tPS.seek 1.5ml +2 "processing"%h' +1619 "core" ' +2 .tdelay 5 seconds +502 .PSV.dial :waste1 + "processing"%F  +43 "core"  +2 .tPS.seek 0ml +2 "processing"%K' +1620 "core" ' + .tPSV.dial PSR +2 "processing"%N +50 "core"  + .tPSR.select :air +2 "processing"% +10 .tPS.seek 2.5ml +2 "processing"%k'm +2660 "core" ' +2 ."connect"PRV.dial CBV,avoiding: :ab2 +3 .tCBV.dial PRV +3 "processing"%j  + "collection"'b  +33 "core"  +127  + .tPSV.dial :mixloop +2 "processing"%H +104 "core" +2 .tCTV.dial :air,avoiding: :intake + .PTV.dial :PRVmixing +2 "processing"%o  +72 "core" +2 .tPS.seek 0ml +2 "processing"%u' +2630 "core" ' + .tPSV.dial :air +2 "processing"%t  +46 "core"  +2 .tPS.seek 2.5ml + "processing"%g'm +2651 "core" ' +2 .tPSV.dial :mixloop + "processing"%i +50 "core" +2 .tPS.seek 0ml +2 "processing"%' +2637 "core" ' + .tPSV.dial :air +2 "processing"%Q  +50 "core"  +2 .tPS.seek 2.5ml +2 "processing"%A'm +2627 "core" ' +2 .tPSV.dial :mixloop + "processing"% +51 "core" + .tPS.seek 0ml +2 "processing"%f' +2637 "core" ' +2 #tGaraging FlushPuck in Collection Clamp + "manipulator"&!& +4 "core" &# 7 +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC + "manipulator"&G( +29 "core" ( + "manipulator"&& +4 "core" &  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &n& +2 "core" & J  +2 .tForearm.seek CC +2 "manipulator"&e'| +96 "core" ' + .tHand.close +2 "manipulator"&Z/ +59 "core" / +2 .tCC.seek :open +2 "collection"':(p +410 "core" ( +3 "manipulator"&M& +4 "core" & Y  + "manipulator"&l% +4 "core" % Ϗ +2 .tForearm.seek :retract + "manipulator"&y'\ +92 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage +2 "manipulator"&O(, +281 "core" ( + "manipulator"&|& +4 "core" &,  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &,  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :garage +2 "manipulator"&' +106 "core" ' +2 .tHand.open +2 "manipulator"&1 +57 "core" 1 +2 "manipulator"&c% +4 "core" %  6 F K +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&x'\ +104 "core" ' +2 ."da"delayUntil "10:39:57.31" +16637 "Can"z +C? +8117 #"da"recoverPRVreagent08 +2 .PTV.dial :mixing + "processing"%P @ +72 "core" A + ."da"PBV.dial :waste1 +2 "processing"%m  +36 "core" + ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%{ * +36 "core" , + ."da"PSV.dial :air +2 "processing"%  +50 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%q'm +2419 "core" ' + ."da"PSV.dial :mixloop +2 "processing"%p +50 "core" +2 ."da"delay 2 seconds +202 .PSV.dial :air + "processing"%v  +50 "core"  + ."da"delay 2 seconds +202 .PSV.dial :mixloop +3 "processing"%^ +49 "core" + ."da"delay 2 seconds +202 .PSV.dial :air +2 "processing"%B  +49 "core"  +2 ."da"PS.seek 0ml +2 "processing"%' +2379 "core" ' + #"da"washCycleDA #1 of 2 +2 .PSR.select :air +2 .PSV.dial PSR + "processing"%W +141 "core"  + "processing"%% +4 "core" %d\ +2 #"da"Pulling 0.5ml of PSR.wash + .PSR.select :wash +2 "processing"% +9 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"%[' +593 "core" ' + ."da"delay 5 seconds +503 .PSR.select :air +2 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%*'ԏ +1620 "core" ' + ."da"PTV.dial :puck +2 "processing"%  +72 "core"  + ."da"PSV.dial PTV +2 "processing"%E +81 "core" +2 ."da"PBV.dial :waste1 +2 "processing"%\  +35 "core" +2 "processing"%z% +4 "core" %ԍ6\  +2 ."da"PS.seek 1.5ml +2 "processing"%)' +608 "core" ' + ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"% * +35 "core" , +2 ."da"PS.seek 0ml +2 "processing"%' +1615 "core" ' +2 ."da"delay 2:00 +12002 #recoverPSRreagent08 +2 .PTV.dial :puck + .PBV.dial :waste1 +2 "processing"%w  +33 "core" +2 ."da"delay 30 seconds +3002 .PBV.dial between PSV and waste1 +2 "processing"%~ * +33 "core" + +2 ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"%% +80 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%'m +2433 "core" ' + ."da"PSV.dial PTV +2 "processing"% +80 "core" + ."da"delay 5 seconds +503 .PSV.dial PSR +2 "processing"%a +81 "core"  +2 ."da"delay 5 seconds +502 .PSV.dial PTV +2 "processing"%r +80 "core" +2 ."da"delay 5 seconds +502 .PSV.dial :air +2 "processing"%  +74 "core"  +2 ."da"PS.seek 0ml +2 "processing"%\\' +2379 "core" ' + #"da"washCycleDA #2 of 2 +2 .PSR.select :air +2 .PSV.dial PSR + "processing"% +134 "core"  +2 "processing"%% +4 "core" %m\ + #"da"Pulling 0.5ml of PSR.wash +2 .PSR.select :wash +2 "processing"% +9 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"%'' +592 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +3 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%,'ԏ +1613 "core" ' +2 ."da"PTV.dial :puck + .PSV.dial PTV +2 "processing"%d +75 "core" + ."da"PBV.dial :waste1 +2 "processing"%  +35 "core" + "processing"% % +4 "core" %ԍR\  +2 ."da"PS.seek 1.5ml +2 "processing"%' +605 "core" ' + ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%` * +34 "core" + +2 ."da"PS.seek 0ml +2 "processing"%' +1613 "core" ' + ."da"delay 2:00 +9963 "Can"y +C@ +2039 #"da"recoverPSRreagent08 +2 .PTV.dial :puck + .PBV.dial :waste1 + "processing"%;  +35 "core" +2 ."da"delay 30 seconds +3002 .PBV.dial between PSV and waste1 +2 "processing"%5 * +35 "core" + + ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"%( +80 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml +2 "processing"%'m +2412 "core" ' +2 ."da"PSV.dial PTV + "processing"%4 +82 "core" + ."da"delay 5 seconds +503 .PSV.dial PSR + "processing"%@ +81 "core"  + ."da"delay 5 seconds +503 .PSV.dial PTV + "processing"%- +81 "core" + ."da"delay 5 seconds +502 .PSV.dial :air +2 "processing"%8  +74 "core"  +2 ."da"PS.seek 0ml +2 "processing"%.' +2391 "core" ' +2 #"da"getPMLReagent08 +2 .PRV.dial :air + "processing"%  +42 "core"  +2 ."da"delay 5 seconds +502 .PTV.dial :PRVmixing +2 "processing"%6  +127 "core" +2 ."da"delay 5 seconds +502 .PRV.dial :ab2 +2 "processing"%  +43 "core" ~ + ."da"PTV.dial :PRVmixing +2 .PSV.dial :mixloop + "processing"%3 +50 "core" +2 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 0.3ml +2 "processing"%S'i +380 "core" ' +2 ."da"delay 2 seconds +202 .PRV.dial :air + "processing"%I  +45 "core"  +2 "processing"%#% +4 "core" %oj\  +2 ."da"PS.seek 0.55ml +2 "processing"%"'^ +337 "core" ' +2 #"da"addPMLReagent08 + .PSV.dial :air +2 "processing"%  +50 "core"  +2 ."da"PS.seek 2ml +2 "processing"%'ԏ +1569 "core" ' +2 ."da"PSV.dial :PML + "processing"%2 +50 "core" +2 ."da"PTV.dial :mixing +2 "processing"%C @ +70 "core" A + ."da"PBV.dial :waste1 +2 "processing"%D  +34 "core" +2 "processing"%9% +4 "core" %ԍ#\  +2 ."da"PS.seek 1.85ml + "processing"%L'd +230 "core" ' +2 ."da"PBV.dial between PSV and waste1 +2 "processing"%$ * +34 "core" + +2 ."da"PS.seek 0ml +2 "processing"%U' +1977 "core" ' +2 ."da"delay 2 seconds +202 .delay 8:00 +41623 "Can"y ^\\ +6380 #"da"recoverPRVreagent08 + .PTV.dial :mixing + .PBV.dial :waste1 +2 "processing"%>  +34 "core" + ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%V * +34 "core" + +2 ."da"PSV.dial :air +2 "processing"%T  +51 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%'m +2432 "core" ' + ."da"PSV.dial :mixloop +2 "processing"% +50 "core" +9 ."da"delay 2 seconds +202 .PSV.dial :air + "processing"%=  +50 "core"  +2 ."da"delay 2 seconds +202 .PSV.dial :mixloop +2 "processing"%R +49 "core" +2 ."da"delay 2 seconds +202 .PSV.dial :air + "processing"%<  +50 "core"  +2 ."da"PS.seek 0ml +2 "processing"%?' +2399 "core" ' +2 #"da"washCycleDA #1 of 3 + .PSR.select :air +2 .PSV.dial PSR +2 "processing"%0 +134 "core"  + "processing"%J% +4 "core" %?\ + #"da"Pulling 0.5ml of PSR.wash +2 .PSR.select :wash +2 "processing"% +9 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"%X' +592 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +3 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%]'ԏ +1617 "core" ' + ."da"PTV.dial :puck +2 "processing"%1  +70 "core"  + ."da"PSV.dial PTV +2 "processing"%& +74 "core" + ."da"PBV.dial :waste1 +2 "processing"%Y  +34 "core" +2 "processing"%s% +4 "core" %ԋV\  + ."da"PS.seek 1.5ml +2 "processing"%/' +597 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%7 * +33 "core" + +2 ."da"PS.seek 0ml +2 "processing"%F' +1607 "core" ' +2 ."da"delay 2:00 +12003 #recoverPSRreagent08 + .PTV.dial :puck +2 .PBV.dial :waste1 +2 "processing"%h  +34 "core" + ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%N * +47 "core" ) +2 ."da"PSR.select :air +2 .PSV.dial PSR + "processing"%K +81 "core"  +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml +2 "processing"%b'm +2449 "core" ' + ."da"PSV.dial PTV +2 "processing"%j +81 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PSR +2 "processing"%H +78 "core"  +2 ."da"delay 5 seconds +502 .PSV.dial PTV +2 "processing"%o +80 "core" +2 ."da"delay 5 seconds +502 .PSV.dial :air +3 "processing"%k  +73 "core"  +2 ."da"PS.seek 0ml +2 "processing"%t' +2374 "core" ' +2 #"da"washCycleDA #2 of 3 + .PSR.select :air +2 .PSV.dial PSR +2 "processing"%u +134 "core"  + "processing"%i% +4 "core" %p\ + #"da"Pulling 0.5ml of PSR.wash +2 .PSR.select :wash +2 "processing"% +9 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"%g' +592 "core" ' +2 ."da"delay 5 seconds +503 .PSR.select :air +2 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%Q'ԏ +1620 "core" ' + ."da"PTV.dial :puck +2 .PSV.dial PTV +2 "processing"% +75 "core" + ."da"PBV.dial :waste1 +2 "processing"%  +34 "core" +2 "processing"%A% +4 "core" %Ԍ#\  + ."da"PS.seek 1.5ml +2 "processing"%!' +621 "core" ' + ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"% * +36 "core" , +2 ."da"PS.seek 0ml +2 "processing"%n' +1614 "core" ' +2 ."da"delay 2:00 +11724 "Can"y )DA +278 #"da"recoverPSRreagent08 +2 .PTV.dial :puck + .PBV.dial :waste1 + "processing"%Z  +34 "core"  +2 ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"% * +34 "core" + + ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"% +81 "core"  +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml +2 "processing"%_'m +2425 "core" ' + ."da"PSV.dial PTV +2 "processing"%M +82 "core" + ."da"delay 5 seconds +502 .PSV.dial PSR +2 "processing"%l +79 "core" + ."da"delay 5 seconds +503 .PSV.dial PTV + "processing"%e +79 "core" +2 ."da"delay 5 seconds +502 .PSV.dial :air +2 "processing"%|  +74 "core"  +2 ."da"PS.seek 0ml +2 "processing"%' +2376 "core" ' + #"da"washCycleDA #3 of 3 +2 .PSR.select :air + .PSV.dial PSR +2 "processing"%G +133 "core"  + "processing"%% +4 "core" %s\ + #"da"Pulling 0.5ml of PSR.wash +2 .PSR.select :wash +2 "processing"% +10 ."da"PS.reconfigure :default +2 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"%c' +594 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +2 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%y'ԏ +1617 "core" ' +2 ."da"PTV.dial :puck + .PSV.dial PTV +2 "processing"% +73 "core" +2 ."da"PBV.dial :waste1 +2 "processing"%P  +34 "core" + "processing"%m% +4 "core" %ԍ0\  +2 ."da"PS.seek 1.5ml +2 "processing"%{' +597 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"% * +33 "core" + +2 ."da"PS.seek 0ml +2 "processing"%f' +1610 "core" ' +2 ."da"delay 2:00 +12003 #recoverPSRreagent08 + .PTV.dial :puck +2 .PBV.dial :waste1 + "processing"%p  +33 "core" +2 ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 + "processing"%v * +35 "core" + + ."da"PSR.select :air +3 .PSV.dial PSR + "processing"%^ +81 "core"  +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml +2 "processing"%B'm +2410 "core" ' + ."da"PSV.dial PTV +2 "processing"%q +81 "core" + ."da"delay 5 seconds +503 .PSV.dial PSR + "processing"%W +81 "core"  + ."da"delay 5 seconds +503 .PSV.dial PTV +2 "processing"% +81 "core" +2 ."da"delay 5 seconds +502 .PSV.dial :air +2 "processing"%  +74 "core"  +2 ."da"PS.seek 0ml +2 "processing"%[' +2377 "core" ' +2 ."da"Gate.power :camera,:ON + #Mixing DA Substrates +2 .PSR.select :air + .PSV.dial PSR +2 "processing"% +138 "core"  +5 "processing"%E% +12 "core" %`\ +4 #"da"Pulling 0.25ml of PSR.sub1 +4 .PSR.select :sub1 +7 "processing"% +14 ."da"PS.reconfigure :default +8 "processing"%#A d`xb +5 ."da"PS.seek 0.25ml +5 "processing"%\ ' +337 "core" ' +2 ."da"delay 5 seconds +503 "processing"%z% +3 "core" %>\  + #"da"Pulling 0.25ml of PSR.sub2 +2 .PSR.select :sub2 +2 "processing"% +9 ."da"PS.seek 0.5ml +2 "processing"%*' +335 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +2 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%'ԏ +1618 "core" ' + ."da"PTV.dial :puck +2 .PSV.dial PTV +2 "processing"%) +76 "core" + ."da"PBV.dial :waste1 +2 "processing"%w  +36 "core" +2 "processing"%~% +3 "core" %ԍ7\  +2 ."da"PS.seek 1.5ml +2 "processing"%%' +605 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 + "processing"% * +36 "core" + +2 ."da"PS.seek 0ml +2 "processing"%' +1608 "core" ' +2 ."da"delay 10 seconds +1002 #recoverPSRreagent08 +46 .PTV.dial :puck +8 .PBV.dial :waste1 +2 "processing"%a  +36 "core" + ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%r * +36 "core" , + ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"% +81 "core" +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml +2 "processing"%'m +2433 "core" ' + ."da"PSV.dial PTV +2 "processing"% +81 "core" +2 ."da"delay 5 seconds +504 .PSV.dial PSR +2 "processing"% +81 "core"  +2 ."da"delay 5 seconds +502 .PSV.dial PTV +2 "processing"%\\ +80 "core" +2 ."da"delay 5 seconds +502 .PSV.dial :air +2 "processing"%'  +75 "core"  +3 ."da"PS.seek 0ml +2 "processing"%d' +2408 "core" ' +2 #"da"Additional air clear + .PSR.select :air + .PSV.dial PSR +2 "processing"% +138 "core"  + "processing"% % +4 "core" %U\ + #"da"Pulling 2ml of PSR.air +2 .PSR.select :air +3 .PS.reconfigure :default +2 "processing"%#A d`xb +2 ."da"PS.seek 2ml +2 "processing"%,'ԏ +2130 "core" ' + ."da"delay 5 seconds +502 .PTV.dial :puck +2 .PSV.dial PTV +2 "processing"%` +75 "core" +2 ."da"PBV.dial :waste1 +2 "processing"%  +34 "core" + "processing"%;% +4 "core" %ԋ\ w +2 ."da"PS.seek 1.5ml +2 "processing"%5' +624 "core" ' + ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%( * +46 "core" ) +2 ."da"delay 1 second +102 .PSV.dial :waste1 +2 "processing"%  +113 "core"  +2 ."da"PS.seek 0ml +2 "processing"%4' +1273 "Can"x\  +343 "core" ' + "processing"%@9 +4 "core" 9!5 +2 #"da"Processing Puck Heater at 27.9C before imaging + .PH.coast +2 "processing"%-  +3 "core" 5 + 5 + "processing"%8& +4 "core" &Z\\\ ' +2 #"da"Imaging da puck in Processing Clamp while storing it to tube 6 + "manipulator"&% +4 "core" %\ 7 ' + "storage"(% +4 "core" %I ! \  + "storage"(6. +3 "core" .([ +2 ."da"SC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 ."da"SC.seek 6 +2 "storage"((K +360 "core" ( + ."da"SC.configure :limp +2 "storage"($\ 1b +3 (3& +3 "core" &K "\ +2 "manipulator"&.& +4 "core" &, i  +2 "manipulator"&I% +3 "core" %\ 7 ' +2 ."da"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 ."da"Elbow.seek 6 +2 "manipulator"&#( +185 "core" ( + "manipulator"&S& +4 "core" &\ 7  [ +2 "storage"(& +4 "core" &K  #\ +2 ."da"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 ."da"Forearm.seek 6 + 450 counts + "manipulator"&"'< +95 "core" ' + "storage"(2& +4 "core" &K \ +2 ."da"SE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 ."da"SE.seek :beamBreak +2 "storage"(C'e +277 "core" ' + "storage"(D- +4 "core" -' + ."da"SE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&9& +3 "core" &\ y [ +2 "storage"($& +3 "core" &K {\ +2 ."da"Elbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 ."da"Forearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 ."da"Forearm.seek 6 +2 "manipulator"&'z +34 "core" ' +2 ."da"Elbow.hold +2 "manipulator"&L, +3 "core" , +2 ."da"Elbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(>- +3 "core" -' +2 ."da"SE.seek 1.11 Pucks below Top Plate +2 "storage"(V'W +27 "core" ' + "manipulator"&T% +4 "core" %{Z z } Ͳ +2 "storage"(U& +4 "core" &K { } l\ + ."da"Forearm.force -20 +2 "manipulator"&5 +2 ."da"Forearm.seek 6 + 301 counts +2 "manipulator"&'ϧ +16 "core" ' +2 "manipulator"&=& +4 "core" &J n  + "storage"(R& +4 "core" &K  \ +2 ."da"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 ."da"Forearm.seek 6 + 450 counts +2 "manipulator"&<'< +16 "core" ' +2 ."da"SE.seek 2.11 Pucks below Top Plate +2 "storage"('F +46 "core" ' +2 "manipulator"&0& +4 "core" &J O  +2 "manipulator"&J% +4 "core" %< [  +2 ."da"Forearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 ."da"Forearm.seek :retract +2 "manipulator"&?'\ +87 "core" ' +2 ."da"Elbow.seek PC +2 "manipulator"&X(c +254 "core" ( + "manipulator"&1& +4 "core" &i u +2 ."da"Elbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &&& +2 "core" &i +2 ."da"Forearm.seek PC +2 "manipulator"&Y'[ +96 "core" ' + ."da"Hand.close +2 "manipulator"&s/ +61 "core" / +2 ."da"PC.seek :open +2 "processing"%](p +394 "core" ( +2 "storage"(7& +3 "core" &K <\ +2 "manipulator"&/& +4 "core" &i d + "manipulator"&h% +4 "core" % I > + ."da"Forearm.seek :retract +2 "manipulator"&N'\ +100 "core" ' +2 ."da"Elbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 ."da"Elbow.seek 6 +2 "manipulator"&K( +264 "core" ( +2 "manipulator"&F& +4 "core" & | + "storage"(j& +5 "core" &K  H\ +2 ."da"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 ."da"Forearm.seek 6 + 450 counts +2 "manipulator"&H'< +94 "core" ' + ."da"Hand.open +2 "manipulator"&o1 +54 "core" 1 +2 "storage"(k- +4 "core" -'F +2 ."da"SE.seek 1.87 Pucks below Top Plate +2 "storage"(b' +26 "core" ' +2 ."da"SE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 ."da"SE.seek 1.2 Pucks below Top Plate +2 "storage"(u' +48 "core" ' + #"da"Lights, camera, ACTION! +4 #PuckCamera: snap -bin=2,2 -auto /var/log/esp/da22jun1011h50ml.tif +1951 #"psFlush"Waiting >20 seconds for da to relinquish FlushPuck +7283 #"da"SX HX9/16 (USB:02): 1392x1040 pixel 16-bit CCD camera\ Exposing 696x520 pixel 16-bit image for 88.598 seconds\ /var/log/esp/da22jun1011h50ml.tif: TIFF Upload Complete\ +11 #PuckCamera: snap -bin=2,2 15.0 /var/log/esp/midres/da22jun1011h50ml15s.tif +1561 #SX HX9/16 (USB:02): 1392x1040 pixel 16-bit CCD camera\ Exposing 696x520 pixel 16-bit image for 15 seconds\ /var/log/esp/midres/da22jun1011h50ml15s.tif: TIFF Upload Complete\ +3 #PuckCamera: snap -bin=2,2 30.0 /var/log/esp/midres/da22jun1011h50ml30s.tif +3065 #SX HX9/16 (USB:02): 1392x1040 pixel 16-bit CCD camera\ Exposing 696x520 pixel 16-bit image for 30 seconds\ /var/log/esp/midres/da22jun1011h50ml30s.tif: TIFF Upload Complete\ +11 #PuckCamera: snap -bin=1,1 70.0 /var/log/esp/hires/da22jun1011h50ml70s.tif +7161 #SX HX9/16 (USB:02): 1392x1040 pixel 16-bit CCD camera\ Exposing 1392x1040 pixel 16-bit image for 70 seconds\ /var/log/esp/hires/da22jun1011h50ml70s.tif: TIFF Upload Complete\ +3 .Gate.power :camera,:OFF +2 ."Qmail"DAfans.email "88.598 sec auto-exposure",Subject: "da22jun1011h50ml images!" +3 "storage"(i- +8 "core" -' +3 "storage"(t& +4 "core" &K 2 4 \ + "manipulator"&g& +5 "core" & +2 ."da"Elbow.seek 6 +2 "manipulator"&( +4 "core" ( +2 "manipulator"& & +4 "core" & + "storage"(A& +4 "core" &K 6 @ q\ +2 ."da"Forearm.seek 6 + 450 counts +2 "manipulator"&Q'< +5 "core" ' +2 ."da"SE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 ."da"SE.seek 1.92 Pucks below Top Plate +2 "storage"('Q +50 !"Qmail"o:!Net::SMTPAuthenticationError: mesg"E534-5.7.9 Application-specific password required. Learn more at\ :@checkpoint: omitted:bt["E/opt/mbari/lib/ruby/1.8/net/smtp.rb:954:in `check_auth_response'"/opt/mbari/lib/ruby/1.8/net/smtp.rb:723:in `authenticate'":/opt/mbari/lib/ruby/1.8/net/smtp.rb:566:in `do_start'"7/opt/mbari/lib/ruby/1.8/net/smtp.rb:525:in `start'"2/home/esp/esp2/lib/email.rb:325:in `sendOnce'"3/home/esp/esp2/lib/schedule.rb:292:in `unsync'"3/home/esp/esp2/lib/schedule.rb:594:in `unsync'"3/home/esp/esp2/lib/schedule.rb:621:in `unsync'"2/home/esp/esp2/lib/email.rb:318:in `sendOnce'"./home/esp/esp2/lib/email.rb:340:in `send'",/home/esp/esp2/lib/msg.rb:68:in `retry'"./home/esp/esp2/lib/email.rb:339:in `send'"B/home/esp/esp2/protocol/2G/utilities.rb:163:in `prepAndImage'"-/home/esp/esp2/lib/email.rb:66:in `call'"3/home/esp/esp2/lib/email.rb:66:in `initialize'"-/home/esp/esp2/lib/email.rb:63:in `loop'"3/home/esp/esp2/lib/email.rb:63:in `initialize'"7/home/esp/esp2/lib/schedule.rb:481:in `initialize'"0/home/esp/esp2/lib/thread.rb:738:in `start'"7/home/esp/esp2/lib/schedule.rb:474:in `initialize'"'/home/esp/esp2/lib/schedule.rb:472 +2 !o:Email::Queue::Purge: mesg"Purged output queue:bt[ "//home/esp/esp2/lib/email.rb:106:in `purge'"3/home/esp/esp2/lib/email.rb:75:in `initialize'"-/home/esp/esp2/lib/email.rb:63:in `loop'"3/home/esp/esp2/lib/email.rb:63:in `initialize'"7/home/esp/esp2/lib/schedule.rb:481:in `initialize'"0/home/esp/esp2/lib/thread.rb:738:in `start'"7/home/esp/esp2/lib/schedule.rb:474:in `initialize'"'/home/esp/esp2/lib/schedule.rb:472 +4 "core" ' + "manipulator"&!& +5 "core" & ' + "storage"(Z& +4 "core" &K x\ + ."da"Elbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 ."da"Forearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 ."da"Forearm.seek 6 +2 "manipulator"& 'z +82 "core" ' +10 ."da"Elbow.hold +2 "manipulator"&, +4 "core" , +2 ."da"Elbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 ."da"SE.reconfigure :default +3 "storage"(#QK-0-\ b +2 ."da"SE.seek 2.1 Pucks below Top Plate +2 "storage"(n'; +23 "core" ' +2 "manipulator"&M% +4 "core" %΁   o | +2 "storage"(l& +3 "core" &K q o `\ +2 ."da"Forearm.force -20 + "manipulator"&5 +3 ."da"Forearm.seek 6 + 307 counts +2 "manipulator"&e'ϭ +17 "core" ' +2 "manipulator"&|& +4 "core" &'  +2 "storage"(_& +4 "core" &K \ +2 ."da"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 ."da"Forearm.seek 6 + 450 counts +2 "manipulator"&G'< +17 "core" ' + "storage"(% +4 "core" %E \ +3 ."downElevator"SE.seek :down +3 "storage"('N +100 (c% +3 "core" %B9 \ SV + "manipulator"&% +4 "core" %B ] +2 ."da"Forearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 ."da"Forearm.seek :retract +2 "manipulator"&P'\ +90 "core" ' +40 ' + ."downElevator"SE.stop + "storage"(5 +3 (m& +4 "core" &K \ +2 #"psFlush"Loading FlushPuck into Processing Clamp from FlushPuck::Garage +2 #tStarting finalPurge +2 "processing"%y& +4 "core" &I\ +2 "manipulator"&& +4 "core" &' R  + "manipulator"&{% +5 "core" %\ 1 $q +2 ."psFlush"Elbow.seek FlushPuck::Garage +2 "manipulator"&p(, +178 "core" ( +2 "manipulator"&v& +5 "core" &, c  + ."psFlush"Elbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &^& +3 "core" &, k  +2 ."psFlush"Forearm.seek :garage +2 "manipulator"&f' +99 "core" ' +2 ."psFlush"Hand.close + "manipulator"&q/ +58 "core" / +2 "manipulator"&W& +4 "core" &, Z  + "manipulator"&% +4 "core" %  x x +2 ."psFlush"Forearm.seek :retract +2 "manipulator"&'\ +96 "core" ' +2 ."psFlush"Elbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 ."psFlush"Elbow.seek PC +2 "manipulator"&B(c +129 "core" ( + "manipulator"&& +4 "core" &g k +2 ."psFlush"Elbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &E& +3 "core" &g +2 ."psFlush"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 ."psFlush"Forearm.seek PC + "manipulator"&['[ +103 "core" ' +2 "manipulator"&z& +4 "core" &g +2 "manipulator"&\ % +3 "core" %N V +2 "processing"%*& +4 "core" &;\ +3 "processing"%)& +4 "core" &K\ +2 ."psFlush"PC.seek :closed +2 "processing"%w(Z +4 "core" &N\ +8 & 0;\ #a +9 &\\U9\ 7 +10 &;\ L +9 &o`G\ M +9 &3_P\ M +10 &`H\ L +9 & a<\ M +10 &"z\\9\ L +9 &$:`2\ M +9 &%]*\ L +10 &'])\ L +9 &)]\ L +9 &+C\\\ M +10 &-`\ M +9 &.b\ M +10 &0]\ M +9 &2K^\ M +9 &4^\ L +10 &5]\ L +9 &7]\ M +9 &9T] \ L +10 &;b \ M +9 &<\\ \ M +9 &>a \ L +10 &@[` \ M +9 &Bb \ M +10 &C\\\ M +9 &E\\\ M +9 &Gcb\ M +10 &I"h\ N +9 &Js \ O +10 &L \ Q +9 &NY \ S +9 &P\ S +10 &Q\ S +9 &S\ S +9 &Ua\ S +10 &W!\ S +9 &X\ S +9 &Z=Ny\ , +10 &Z&\ ' +5 ( +2 "processing"%)& +4 #"psFlush"Processing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.55 + "processing"%~& +4 "core" &Z\ ' + &Z\ ' +2 ."psFlush"Hand.open + "manipulator"&1 +53 "core" 1 + "manipulator"&% +4 "core" % M r +2 ."psFlush"Forearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 ."psFlush"Forearm.seek :retract +2 "manipulator"&%'\ +97 "core" ' + ."psFlush"PSR.select :air +2 .PSV.dial PSR +2 "processing"%a +51 "core"  + "processing"%r% +4 "core" %"\ +2 #"psFlush"Pulling 0.5ml of PSR.flush + .PSR.select :flush +2 "processing"%@ +9 ."psFlush"PS.seek 0.5ml +2 "processing"% ' +557 #tWaiting >20 seconds for psFlush to relinquish FlushPuck +34 "core" ' +2 ."psFlush"delay 5 seconds +502 .PSR.select :air +52 "processing"% +10 ."psFlush"PS.seek 2.5ml + "processing"%'m +2133 "core" ' + ."psFlush"delay 1 second +102 .PRV.dial :waste2,avoiding: :ab2 +2 "processing"% @ +186 "core" A + ."psFlush"PTV.dial :PRVmixing +2 "processing"%  +128 "core" + ."psFlush"PSV.dial :mixloop +2 "processing"%\\ +103 "core" +3 ."psFlush"PS.seek :empty +2 "processing"%'' +2639 "core" ' + ."psFlush"PSR.select :air +3 .PSV.dial PSR + "processing"% +111 "core"  + "processing"%% +4 "core" %c\ + #"psFlush"Pulling 0.5ml of PSR.flush +2 .PSR.select :flush +2 "processing"%@ +9 ."psFlush"PS.seek 0.5ml +2 "processing"% ' +594 "core" ' +2 ."psFlush"delay 5 seconds +502 .PSR.select :air +2 "processing"% +9 ."psFlush"PS.seek 2.5ml +2 "processing"%d'm +2133 "core" ' +2 ."psFlush"delay 1 second +101 .PBV.dial :waste1 +2 "processing"%`  +33 "core"  + ."psFlush"PTV.dial :mixing +2 "processing"% @ +73 "core" B +2 ."psFlush"PSV.dial :mixloop + "processing"%; +111 "core" +2 ."psFlush"PS.seek :empty +2 "processing"%,' +2637 "core" ' + ."psFlush"PSV.dial PSR +2 "processing"%( +111 "core"  + ."psFlush"PSR.select :flush +3 "processing"%@ +9 ."psFlush"PS.seek 1ml +2 "processing"%'T +1102 "core" ' + ."psFlush"PSR.select :air +2 "processing"% +10 ."psFlush"PS.seek 2.5ml +2 "processing"%5'm +1613 "core" ' + ."psFlush"PSV.dial PTV +2 "processing"%@ +82 "core" + ."psFlush"PTV.dial :puck +2 "processing"%-  +72 "core"  + ."psFlush"PBV.dial :waste1 +2 .PS.seek 0ml +2 "processing"%8' +2629 "core" ' + ."psFlush"PSV.dial PSR +2 "processing"% +80 "core"  + ."psFlush"PSR.select :flush +3 "processing"%@ +9 ."psFlush"PS.seek 0.5ml +2 "processing"%' +589 "core" ' +2 ."psFlush"PSR.select :air +2 "processing"% +9 ."psFlush"PS.seek 2.5ml +2 "processing"%6'm +2132 "core" ' +2 ."psFlush"PSV.dial PTV +2 "processing"% +79 "core" + ."psFlush"PBV.dial PSV +2 "processing"%3 U +55 "core" W +2 ."psFlush"PS.seek 0ml +2 "processing"%.' +2636 "core" ' +2 ."psFlush"PSV.dial PBV +2 "processing"%I @ +50 "core" > +2 ."psFlush"PS.seek 2.5ml +2 "processing"%S'm +2627 "core" ' + ."psFlush"PSV.dial :waste1 +2 "processing"%  +75 "core"  +2 ."psFlush"PS.seek 0ml +2 "processing"%2' +2630 "core" ' +2 ."psFlush"PSV.dial PSR +2 "processing"%O +49 "core"  +2 ."psFlush"PSR.select :air +3 .PS.seek 2.5ml + "processing"%x'm +2654 "core" ' + ."psFlush"PSV.dial PTV +2 "processing"%D +75 "core" + ."psFlush"PBV.dial PSV +3 .PS.seek 0ml + "processing"%9' +1420 "Can"{ *FC +1219 "core" ' + ."psFlush"PSV.dial PBV +2 "processing"%$ @ +50 "core" ? +2 ."psFlush"PS.seek 2.5ml +2 "processing"%>'m +2627 "core" ' + ."psFlush"PSV.dial :waste1 +2 "processing"%T  +75 "core"  +2 ."psFlush"PS.seek 0ml +2 "processing"%U' +2665 "core" ' + ."psFlush"PSV.dial PSR +2 "processing"%= +51 "core"  +2 ."psFlush"PSR.select :flush +52 "processing"%@ +11 ."psFlush"PS.seek 1ml +2 "processing"%R'T +1107 "core" ' + ."psFlush"PSR.select :air +2 "processing"% +10 ."psFlush"PS.seek 2.5ml +2 "processing"%0'm +1613 "core" ' + ."psFlush"PSV.dial PTV +2 "processing"%J +74 "core" + ."psFlush"PTV.dial :puck +2 .PBV.dial :waste1 + "processing"%"  +55 "core" +2 ."psFlush"PS.seek 0ml +2 "processing"%#' +2635 "core" ' + ."psFlush"PSV.dial PSR +2 "processing"%C +81 "core"  +2 ."psFlush"PSR.select :flush +2 "processing"%@ +10 ."psFlush"PS.seek 0.5ml +2 "processing"%' +591 "core" ' + ."psFlush"PSR.select :air +2 "processing"% +10 ."psFlush"PS.seek 2.5ml +2 "processing"%'m +2141 "core" ' + ."psFlush"PSV.dial PTV +2 "processing"%V +81 "core" +2 ."psFlush"PBV.dial PSV +2 "processing"%< U +54 "core" V +2 ."psFlush"PS.seek 0ml +2 "processing"%1' +2638 "core" ' + ."psFlush"PSV.dial PBV +2 "processing"%& @ +50 "core" ? +2 ."psFlush"PS.seek 2.5ml +2 "processing"%L'm +2649 "core" ' +2 ."psFlush"PSV.dial :waste1 +2 "processing"%s  +74 "core"  +2 ."psFlush"PS.seek 0ml +2 "processing"%?' +2643 "core" ' +2 ."psFlush"PSV.dial PSR +2 "processing"%+ +49 "core"  +2 ."psFlush"PSR.select :air +3 .PS.seek 2.5ml + "processing"%7'm +2632 "core" ' + ."psFlush"PSV.dial PTV +2 "processing"%/ +73 "core" +2 ."psFlush"PBV.dial PSV +2 .PS.seek 0ml +2 "processing"%h' +2637 "core" ' + ."psFlush"PSV.dial PBV +2 "processing"%Y @ +50 "core" > +2 ."psFlush"PS.seek 2.5ml +2 "processing"%F'm +2661 "core" ' +2 ."psFlush"PSV.dial :waste1 +2 "processing"%j  +74 "core"  +3 ."psFlush"PS.seek 0ml + "processing"%X' +2631 "core" ' +2 #tLoading FlushPuck into Collection Clamp from Processing Clamp + "collection"'o& +4 "core" &P\ + "manipulator"&k& +4 "core" &g +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC + "manipulator"&N(c +3 "core" ( +2 "manipulator"&& +4 "core" &g c + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &b& +3 "core" &g O +2 .tForearm.seek PC + "manipulator"&i'[ +101 "core" ' +2 .tHand.close + "manipulator"&t/ +63 "core" / +2 .tPC.seek :open + "processing"%g(p +392 "core" ( + "manipulator"& & +4 "core" &g  +2 "manipulator"&A% +4 "core" % U + .tForearm.seek :retract +2 "manipulator"&!'\ +99 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&Z( +378 "core" ( + "manipulator"&M& +4 "core" &\ e ^ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &l& +2 "core" &\ p ^ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&|'| +103 "core" ' +2 "manipulator"&_& +4 "core" &\  ^ +2 "manipulator"&K% +4 "core" %y 9 +2 "collection"'H& +4 "core" &Y +2 "collection"'& +4 "core" &s  +2 .tCC.seek :closed +2 "collection"'u(] +4 "core" &_  +9 &3`\ *z +9 &bY\ ? +10 &IZ\ O +9 & jd\ N +9 &ri\ O +10 &qg\ O +9 &!Rif\ O +10 &#js\ O +9 &$lj\ O +9 &&jl\ O +10 &(Zmh\ O +9 &*jd\ O +10 &+jf\ N +9 &-j]\ O +9 &/bm]\ O +10 &1"qc\ O +9 &2n_\ O +9 &4it\ N +10 &6kgw\ N +9 &8-k\ N +10 &9kw\ N +9 &;g|\ N +9 &=rj|\ O +10 &?5h{\ N +9 &@i{\ O +9 &Bj{\ N +10 &D|g\ N +9 &F=m\ N +9 &Gh\ N +10 &Is|\ P +9 &Kz}\ Q +10 &M4{\ T +9 &Ny\ W +9 &P}\ X +10 &Rn\ X +9 &T.\ Y +9 &U\ Z +10 &W\ Z +9 &Yk\ \\ +10 &[,\ \\ +9 &\\z\ 3 +9 &]\ #g +10 &]x\ Q +2 ( +2 "collection"'& +3 #tCollection Clamp onSpring/offSpring for 9/25 samples, on/off torque 1.83 + "collection"'Q& +4 "core" &]{\ Q +2 .tHand.open + "manipulator"&c1 +55 "core" 1 + "manipulator"&% +4 "core" % y n +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +97 "core" ' + #tFlushing the Collection Valve::Manifold +2 "collection"'& +4 "core" &]{z\ Q + "collection"' % +4 "core" %\ +2 .tCSV.dial CSR + "collection"'m  +42 "core"  +2 "collection"'y% +4 "core" %\ + #tPulling 5ml of CSR.flush + .CSR.select :flush +2 "collection"' +10 .tCS.seek 5ml +2 "collection"''s +1361 "core" ' + .tdelay 5 seconds +503 .CSR.select :air + "collection"' +9 'e% +3 "core" %s\  +2 .tCS.reconfigure :fast +2 "collection"'#d @b +3 .tCS.seek 7.5ml + "collection"'{'s +653 "core" ' + .tCSV.dial :waste +2 "collection"'n +127 "core" + .tCS.reconfigure :default +3 "collection"'#P d@b +2 .tCS.seek 0ml +2 "collection"'G' +1987 "core" ' + #tFlushing lower manifold's waste1 port +2 "collection"'v& +4 "core" &]y\ Q + "collection"'^% +4 "core" %\ + .tCSV.dial :flush +2 "collection"'  +41 "core"  +2 .tCS.reconfigure :fast +2 "collection"'#d @b +3 .tCS.seek 5ml +2 "collection"''s +1232 "core" ' + .tdelay 5 seconds +502 .CSV.dial :air +3 "collection"'q @ +42 "core" A +2 "collection"'W% +4 "core" %s\  +2 .tCS.seek 6.999ml +2 "collection"'' +539 "core" ' + ."connect"CSV.dial CTV +4 .tCTV.dial CSV +2 "collection"'P  + '  +42 "core"  +89  + .tCBV.dial :waste1 +2 "collection"'E @ +43 "core" > +3 .tCS.seek 0ml + "collection"'f' +1657 "core" ' +2 #tFlushing lower manifold's waste2 port + "collection"'z& +4 "core" &]y\ Q +2 "collection"'\ % +4 "core" %\ + .tCSV.dial :flush +2 "collection"'*  +70 "core" +2 .tCS.seek 5ml +2 "collection"'p's +1223 "core" ' + .tdelay 5 seconds +503 .CSV.dial :air +2 "collection"' @ +55 "core" ? + "collection"']% +4 "core" %s\  +2 .tCS.seek 7ml +2 "collection"'~' +536 "core" ' +2 ."connect"CSV.dial CTV +3 .tCTV.dial CSV +2 "collection"'  +43 "core"  +2 .tCBV.dial :waste2 + "collection"'  +105 "core"  +2 .tCS.seek 0ml +2 "collection"')' +1663 "core" ' +2 #tDisinfecting external Intake with kill + "collection"'a& +4 "core" &]x\ Q +2 "collection"'r% +3 "core" %\ +2 .tCSV.dial CSR + "collection"'[  +41 "core"  +2 "collection"'4% +4 "core" %\ + #tPulling 8ml of CSR.kill +2 .CSR.select :kill +2 "collection"' +9 .tCS.seek 8ml +2 "collection"' 'X +1913 "core" ' + .tdelay 5 seconds +503 .CSR.select :air +2 "collection"' +9 .tCS.seek 10ml +2 "collection"'' +545 "core" ' +2 ."connect"CSV.dial CBV +4 .tCBV.dial CSV +2 "collection"' + '\\  +99 "core" +44  + .tCTV.dial :intake +2 "collection"'  +73 "core" +2 .tIntake.select :open + "sampler") +10 .tCS.seek 2ml +2 "collection"''~ +1885 "core" ' +2 .tIntake.select :close + "sampler")0 +9 .tCTV.dial :air +2 "collection"'  +71 "core"  +2 .tCS.reconfigure :default +2 "collection"'#P d@b +51 .tCS.seek 0ml +2 "collection"''' +586 "core" ' +2 .tCSV.dial CSR + "collection"'  +101 "core"  + "collection"'`% +4 "core" %\ +2 #tPulling 5ml of CSR.flush + .CSR.select :flush + "collection"' +11 .tCS.seek 5ml + "collection"''s +1357 "core" ' + .tdelay 5 seconds +503 .CSR.select :air +2 "collection"' +9 .tCS.seek 10ml +2 "collection"';' +1351 "core" ' +2 .tCSV.dial CBV + "collection"'d +99 "core" +2 .tCS.seek 0ml +2 "collection"'(' +1382 "Can"x "TQ +1244 "core" ' + #tGaraging FlushPuck in Collection Clamp +2 "manipulator"&,& +4 "core" &\ ^ +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&( +3 "core" ( + "manipulator"&@& +4 "core" &\ U ^ + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &-& +3 "core" &\ ^ +2 .tForearm.seek CC +2 "manipulator"&5'| +102 "core" ' + .tHand.close +2 "manipulator"&/ +54 "core" / +2 .tCC.seek :open +2 "collection"'8(p +410 "core" ( + "manipulator"&& +4 "core" &\ r ^ +2 "manipulator"& % +4 "core" % k I +2 .tForearm.seek :retract + "manipulator"&3'\ +102 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek :garage + "manipulator"&6(, +269 "core" ( + "manipulator"&I& +4 "core" &, |  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &.& +4 "core" &, _  + .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :garage +2 "manipulator"&' +92 "core" ' +2 .tHand.open +2 "manipulator"&S1 +62 "core" 1 + "manipulator"&O% +5 "core" %  ; + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&2'\ +97 "core" ' +2 "processing"%D& +4 "core" &P\ +19454 #t-> access 6 +2 "storage"(x% +3 "core" %S \ +2 "manipulator"&$% +4 "core" %\ 0  $s + "manipulator"&9& +4 "core" &, P  +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(T( +981 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (>& +3 "core" & r } \ +1098 #t-> exit +6 #mEXIT @1654875757.43EDT @1659365826.25EDT = =tMAIN =mMAIN_scheduler @EDT1659365828.16 #"core_reset"Sent BREAK +2 #t@31775 idle with ifg=0x00, ie=0x75 #>RESET< ESP2 v3.41 I2C Gateway v3.20 +209 #>RESET< ESP2 v3.41 I2C Gateway v3.20 for core bus +207 !o:Instrument::ISUSCore: @refiPL: @configS:Instrument::Configuration: name" ISUS:calFileName0:sampleCmd"TS: prompt"\ :statusCmd"C:sampleTimeouti#:promptTimeouti:statusTimeouti: retriesi:strToPrompt"W: pace0: echoF:\ @name@ +103 #Configuration for don (12651-03) 10/9/20 brent@mbari.org\ /home/esp/esp2/type/shallow/don/configure.rb\ +394 "Can" 7%!y +  7%!y + #tPolling Can every 10:00 +2 #Cleanly exited at 11:42:37EDT10-Jun-22 +884 #-> ESP.ready! +3 #Powering core bus +547 .Gate.power :raw,:ON +2 "sampler") +44 ) +2 "core"  +2 "collection"' +2 ' +3 "core"  +2 "processing"% + % +3 "core"  +5 "collection"' 9\ +2 ' 0\ +2 ' -\ +4 "processing"% 9\ +2 % 2\ +2 % *\ +2 % 0\ +4 "sampler")&\ +2 "collection"'% +2 "core" %}  +2 .tCS.configure :default +2 "collection"'#P d@b +3 "processing"%% +2 "core" % \ +2 .tPS.configure :default +2 "processing"%#A d`xb +3 "sampler")% +2 "core" %   +2 .tSS.configure :default +2 "sampler")#.0X exit +5 #mEXIT @1659365887.12EDT @1663073309.57EDT = =tMAIN =mMAIN_scheduler @EDT1663073311.44 #"core_reset"Sent BREAK +2 #t@24011 idle with ifg=0x00, ie=0x75 #>RESET< ESP2 v3.41 I2C Gateway v3.20 +207 #>RESET< ESP2 v3.41 I2C Gateway v3.20 for core bus +204 !o:Instrument::ISUSCore: @refipN: @configS:Instrument::Configuration: name" ISUS:calFileName0:sampleCmd"TS: prompt"\ :statusCmd"C:sampleTimeouti#:promptTimeouti:statusTimeouti: retriesi:strToPrompt"W: pace0: echoF:\ @name@ +98 #Configuration for don (12651-03) 10/9/20 brent@mbari.org\ /home/esp/esp2/type/shallow/don/configure.rb\ +388 "Can"8 8&" + 8 8&" + #tPolling Can every 10:00 +2 #Cleanly exited at 10:58:07EDT01-Aug-22 +577 #-> ESP.ready! +3 #Powering core bus +558 .Gate.power :raw,:ON +2 "sampler") +50 ) +2 "core"  +2 "collection"' +2 ' +3 "core"  +2 "processing"% + % +3 "core"  +5 "collection"' 9\ +3 ' 0\ + ' -\ +4 "processing"% 9\ +2 % 2\ + % *\ +2 % 0\ +4 "sampler")&\ +2 "collection"'% +3 "core" %c  +2 .tCS.configure :default +2 "collection"'#P d@b +2 "processing"%% +3 "core" %k\ +2 .tPS.configure :default +2 "processing"%#A d`xb +3 "sampler")% +2 "core" %   +2 .tSS.configure :default +2 "sampler")#.0X exit +5 #mEXIT @1663073372.66EDT @1663074187.15EDT = =mMAIN_scheduler =tMAIN @EDT1663074188.94 #"core_reset"Sent BREAK + #t@24895 receive with ifg=0x10, ie=0xFD + #@25533 receive with ifg=0x10, ie=0xFD + #@26189 receive with ifg=0x10, ie=0xFD + #@26827 receive with ifg=0x10, ie=0xFD #@27475 receive with ifg=0x10, ie=0xFD + #@28122 receive with ifg=0x10, ie=0xFD + #@28770 receive with ifg=0x10, ie=0xFD #@29101 receive with ifg=0x80, ie=0xFD + #@36939 idle with ifg=0x00, ie=0x75 #ESP2 v3.41 I2C Gateway v3.20 +9 #ESP2 v3.41 I2C Gateway v3.20 for core bus +200 !o:Instrument::ISUSCore: @configS:Instrument::Configuration: name" ISUS:calFileName0:sampleCmd"TS: prompt"\ :statusCmd"C:sampleTimeouti#:promptTimeouti:statusTimeouti: retriesi:strToPrompt"W: pace0: echoF: @refij:\ @name@ +94 #Configuration for don (12651-03) 10/9/20 brent@mbari.org\ /home/esp/esp2/type/shallow/don/configure.rb\ +372 "Can" "A> +  "A> + #tPolling Can every 10:00 +2 #Cleanly exited at 08:49:32EDT13-Sep-22 +455 #-> whoami +839 #-> exit +4 #mEXIT @1663074208.80EDT @1663074420.64EDT = =tMAIN =mMAIN_scheduler @EDT1663074422.47 #"core_reset"Sent BREAK + #t@24895 receive with ifg=0x10, ie=0xFD + #@25533 receive with ifg=0x10, ie=0xFD + #@26189 receive with ifg=0x10, ie=0xFD + #@26827 receive with ifg=0x10, ie=0xFD #@27475 receive with ifg=0x10, ie=0xFD + #@28122 receive with ifg=0x10, ie=0xFD + #@28770 receive with ifg=0x10, ie=0xFD #@29101 receive with ifg=0x80, ie=0xFD + #@18409 idle with ifg=0x00, ie=0x75 #ESP2 v3.41 I2C Gateway v3.20 +10 #ESP2 v3.41 I2C Gateway v3.20 for core bus +201 !o:Instrument::ISUSCore: @configS:Instrument::Configuration: name" ISUS:calFileName0:sampleCmd"TS: prompt"\ :statusCmd"C:sampleTimeouti#:promptTimeouti:statusTimeouti: retriesi:strToPrompt"W: pace0: echoF: @refiK:\ @name@ +96 #Configuration for don (12651-03) 10/9/20 brent@mbari.org\ /home/esp/esp2/type/shallow/don/configure.rb\ +374 "Can" #B? +  #B? + #tPolling Can every 10:00 +2 #Cleanly exited at 09:03:28EDT13-Sep-22 +573 #-> ESP.ready? +662 #-> ESP.ready! +154 "sampler") +2 ) +2 "core"  +2 "collection"' +2 ' +3 "core"  +2 "processing"% +2 % +3 "core"  +5 "collection"' 9\ +2 ' 0\ +2 ' -\ +4 "processing"% 9\ +2 % 2\ +2 % *\ +2 % 0\ +3 "sampler")&\ +2 "collection"'% +3 "core" %\ +2 .tCS.configure :default +2 "collection"'#P d@b +2 .tCS.hold +2 "collection"'+ +3 "core" + + .tCS.configure :default +2 "collection"'#P d@b +3 "processing"%% +3 "core" %\ + .tPS.configure :default +3 "processing"%#A d`xb +2 "sampler")% +3 "core" %. \ . +2 .tSS.configure :default +2 "sampler")#.0X Flush.CC +2 #Loading FlushPuck into Collection Clamp from FlushPuck::Garage +2 "collection"'3& +3 "core" &[\  + .tHand.open +2 "manipulator"&41 +55 "core" 1 +2 "manipulator"&5& +4 "core" &7 ' + "manipulator"&6% +4 "core" % \ )  L +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek FlushPuck::Garage + "manipulator"&7(, +180 "core" ( + "manipulator"&8& +4 "core" &, > * +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &9& +2 "core" &,  * +2 .tForearm.seek :garage +2 "manipulator"&:' +104 "core" ' + .tHand.close +2 "manipulator"&;/ +64 "core" / +2 "manipulator"&<& +4 "core" &,  k * + "manipulator"&=% +4 "core" %  s +2 .tForearm.seek :retract + "manipulator"&>'\ +102 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&?( +287 "core" ( + "manipulator"&@& +4 "core" &, ) Bf +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &A& +2 "core" &-  Bf +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&B'| +99 "core" ' + "manipulator"&C& +4 "core" &+ 4 Ad +2 "manipulator"&D% +4 "core" %π : +2 "collection"'E& +3 "core" &[\  +3 "collection"'F& +5 "core" &[\  +2 .tCC.seek :closed +3 "collection"'G(] +3 "core" &[\  +6 &sN\ %i +10 &DU\ 9 +9 &\ N +10 &Ue\ O +9 &i\ O +9 &k\ P +10 & k\ O +9 &"]h\ O +9 &$h\ O +10 &%k\ O +9 &'g\ O +10 &)dg\ P +9 &+'h\ O +9 &,j\ P +10 &.k\ P +9 &0mk\ O +9 &2/k\ O +10 &3h\ O +9 &5e\ O +10 &7wh\ O +9 &99e\ O +9 &:g\ O +10 &<g\ O +9 &>~h\ O +9 &@@h\ O +10 &Bh\ P +9 &Ch\ O +10 &Ee\ P +9 &GGg\ O +9 &Il\ P +10 &Jy\ R +9 &L}\ U +9 &N5\ X +10 &O\ Y +9 &Q\ Z +10 &Su\ Z +9 &U4\ [ +9 &V\ [ +10 &X\ \\ +9 &Zu\ ] +9 &\\9\ I +10 &]\\C\ $l +9 &]\ P +6 ( + "collection"'F& +4 #tCollection Clamp onSpring/offSpring for 10/26 samples, on/off torque 1.86 +2 "collection"'H& +4 "core" &]t\ P + &]t\ P + .tHand.open +2 "manipulator"&I1 +64 "core" 1 +2 "manipulator"&J% +4 "core" % y A +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&K'\ +100 "core" ' +3109 #t-> Flush.PC +2 #Loading FlushPuck into Processing Clamp from Collection Clamp +2 "processing"%L& +3 "core" &]O\  +2 "manipulator"&M& +4 "core" &0# r ;8 + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&N( +57 "core" ( +2 "manipulator"&O& +4 "core" & g 4 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &P& +3 "core" &  4 +2 .tForearm.seek CC + "manipulator"&Q'| +95 "core" ' + .tHand.close +2 "manipulator"&R/ +58 "core" / +2 .tCC.seek :open + "collection"'S(p +411 "core" ( +2 "manipulator"&T& +4 "core" && - + "manipulator"&U% +4 "core" % Ϗ +2 .tForearm.seek :retract + "manipulator"&V'\ +94 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +2 "manipulator"&W(c +356 "core" ( + "manipulator"&X& +4 "core" &m n +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &Y& +3 "core" &m  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&Z'[ +92 "core" ' +2 "manipulator"&[& +4 "core" &m [ + "manipulator"&\\% +4 "core" %P U +2 "processing"%]& +3 "core" &]\  +3 "processing"%^& +4 "core" &]^\  +2 .tPC.seek :closed +2 "processing"%_(Z +4 "core" &]\  +9 &6\ ,~ +9 &g\ @ +10 &8{X\ O +9 &bT\ N +10 &c\ N +9 &_X\ N +9 &!CcX\ N +10 &#^\ M +9 &$`T\ N +9 &&f\ N +10 &(K_\ N +9 &* c\ N +10 &+b\ N +9 &-dU\ N +9 &/Ra\ N +10 &1`\ N +9 &2e\ N +9 &4c\ M +10 &6\\b\ M +9 &8eT\ N +10 &9]\ N +9 &;^\ N +9 &=d`\ M +10 &?$c\ N +9 &@b\ N +9 &Bc\ N +10 &Djc\ N +9 &F.`\ M +10 &Gg\ N +9 &Ip\ O +9 &Ki\ Q +10 &M$\ T +9 &N\ S +9 &P\ S +10 &Ri\ T +9 &T+\ T +10 &U\ T +9 &WS\ T +9 &Yn]\ B +10 &Z{D\ X +9 &Z\ ( +2 ( +2 "processing"%^& +3 #tProcessing Clamp onSpring/offSpring for 9/25 samples, on/off torque 1.55 + "processing"%`& +4 "core" &Z1\ ( +2 .tHand.open + "manipulator"&a1 +57 "core" 1 +2 "manipulator"&b% +4 "core" % P / +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +3 "manipulator"&c'\ +93 "core" ' +2 "collection"'d& +4 "core" &\ +472 #t-> Flush.garage +2 #Garaging FlushPuck in Processing Clamp +2 "manipulator"&e& +3 "core" &m  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +2 "manipulator"&f(c +3 "core" ( +2 "manipulator"&g& +4 "core" &m  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &h& +2 "core" &m ` +2 .tForearm.seek PC +2 "manipulator"&i'[ +95 "core" ' + .tHand.close + "manipulator"&j/ +55 "core" / +2 .tPC.seek :open +2 "processing"%k(p +395 "core" ( +2 "manipulator"&l& +4 "core" &m  +2 "manipulator"&m% +3 "core" % ]  +2 .tForearm.seek :retract +2 "manipulator"&n'\ +100 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek :garage + "manipulator"&o(, +144 "core" ( + "manipulator"&p& +5 "core" &, $ + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &q& +2 "core" &, $ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek :garage + "manipulator"&r' +97 "core" ' + .tHand.open + "manipulator"&s1 +63 "core" 1 +2 "manipulator"&t% +4 "core" %  B ~ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&u'\ +102 "core" ' +4088 #t-> purgeIntake +2 #Loading FlushPuck into Collection Clamp from FlushPuck::Garage +2 "collection"'v& +3 "core" &\ + "manipulator"&w& +4 "core" &, $ +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek FlushPuck::Garage +2 "manipulator"&x(, +2 "core" ( +2 "manipulator"&y& +3 "core" &, $ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &z& +3 "core" &, U $ +2 .tForearm.seek :garage +2 "manipulator"&{' +107 "core" ' + .tHand.close +2 "manipulator"&|/ +58 "core" / + "manipulator"&}& +5 "core" &, $ + "manipulator"&~% +4 "core" %  @ +2 .tForearm.seek :retract + "manipulator"&'\ +105 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&( +281 "core" ( + "manipulator"&& +4 "core" &' } >H +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &' n >H +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&'| +96 "core" ' +2 "manipulator"&& +4 "core" &' >H +2 "manipulator"&% +4 "core" %x f +2 "collection"' & +4 "core" &\ +2 "collection"' & +4 "core" &\ +2 .tCC.seek :closed +2 "collection"' (] +5 "core" &\  +9 &0\ +z +10 &b\ ? +9 &E\ O +9 &e\ O +10 &j\ O +9 &j\ P +9 &!Le\ O +10 &#g\ O +9 &$g\ O +10 &&d\ O +9 &(Sg\ P +9 &*e\ O +10 &+e\ O +9 &-f\ O +9 &/\\h\ O +10 &1k\ O +9 &2j\ O +10 &4g\ O +9 &6ee\ O +9 &8(d\ O +10 &9h\ O +9 &;e\ N +9 &=ng\ O +10 &?1e\ N +9 &@g\ O +10 &Bg\ O +9 &Dwc\ N +9 &F8e\ O +10 &Gj\ O +9 &Iu\ P +9 &Kt}\ R +10 &M-\ U +9 &N\ W +10 &P\ X +9 &Rj\ X +9 &T(\ Z +10 &U\ Z +9 &W\ [ +9 &Yf\ \\ +10 &[)\ \\ +9 &\\z\ 6 +9 &]&\ #g +10 &]k\ I +2 ( +2 "collection"' & +3 #tCollection Clamp onSpring/offSpring for 9/25 samples, on/off torque 1.89 + "collection"'& +4 "core" &]k\ I +2 .tHand.open + "manipulator"&1 +60 "core" 1 +2 "manipulator"&% +4 "core" % x J +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +93 "core" ' + #tPurging external Intake + "collection"'& +5 "core" &]j\ I + "collection"'% +4 "core" %\ + .tCSV.dial :flush +2 "collection"'  +54 "core" +2 .tCS.reconfigure :fast +2 "collection"'#d @b +2 .tCS.seek 10ml +2 "collection"'' +2406 "core" ' + .tdelay 5 seconds +503 ."connect"CSV.dial CBV +3 .tCBV.dial CSV +3 "collection"' + '  +6 "core"  +64  + .tCTV.dial :intake +2 "collection"'  +72 "core"  + .tIntake.select :open +2 "sampler") +9 .tCS.seek 0ml +2 "collection"'' +2376 "core" ' +2 .tIntake.select :close + "sampler")0 +9 .tCTV.dial :air +2 "collection"'  +72 "core" ~ +2 #tGaraging FlushPuck in Collection Clamp +2 "manipulator"&& +4 "core" &! Q 9& + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC + "manipulator"& ( +29 "core" ( + "manipulator"&!& +5 "core" & n  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &"& +3 "core" & :  +2 .tForearm.seek CC + "manipulator"&#'| +96 "core" ' + .tHand.close +2 "manipulator"&$/ +55 "core" / +2 .tCC.seek :open + "collection"'%(p +411 "core" ( + "manipulator"&&& +4 "core" &   +2 "manipulator"&'% +4 "core" % n  + .tForearm.seek :retract +2 "manipulator"&('\ +94 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage + "manipulator"&)(, +286 "core" ( +2 "manipulator"&*& +4 "core" &,   + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &+& +3 "core" &,   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :garage +2 "manipulator"&,' +112 "core" ' +2 .tHand.open + "manipulator"&-1 +59 "core" 1 +2 "manipulator"&.% +4 "core" %   +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&/'\ +102 "core" ' +35376 "Can" KG +60002 ` JG +60002 K JG +12822 #t-> access 6 +3 "storage"(0% +3 "core" %W   \ 1 +2 "manipulator"&1% +3 "core" %\ . u #h +2 "manipulator"&2& +4 "core" &,   +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 + "storage"(3( +370 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (4& +2 "core" & L\ +991 #t-> access 5 +2 "storage"(5% +3 "core" %X \\ Y\ 0 +2 "manipulator"&6% +4 "core" %\ .  #h + "manipulator"&8& +4 "core" &, C  +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"(9(  +350 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (& +3 "core" & \ \  \ +1271 #t-> access 4 +3 "storage"(;% +3 "core" %X X X\ 0 +2 "manipulator"&<% +4 "core" %\ . x #h + "manipulator"&=& +4 "core" &, x  +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 1 +2 "storage"((B +361 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (:& +2 "core" &B q\ +2360 #t-> access 3 +3 "storage"(@% +3 "core" %X [ Y\ 0 +2 "manipulator"&A% +4 "core" %\ .  #h + "manipulator"&7& +4 "core" &, )  +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 7 + "storage"(C([ +1938 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (D& +2 "core" &[ \  +2876 #t-> require 'shuffle.rb' +2362 #-> 5.times{shuffle 2..7} +2 #Shuffling pucks in tube 2 of [2..7] +2 #Loading generic puck from tube 2 into Collection Clamp +2 "collection"'E& +3 "core" &a\ +2 "manipulator"&>% +4 "core" %\ . j #h +2 "storage"(\ % +4 "core" %X Y [\ 0 + "storage"(H. +3 "core" .([ +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"(I(  +1624 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (J& +2 "core" &  o\ +2 "manipulator"&F& +4 "core" &,  +2 "manipulator"&B% +4 "core" %\ . v #h +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&L(; +183 "core" ( +2 "manipulator"&M& +4 "core" &8  "| +2 "storage"(O& +4 "core" &  B B \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&P'Ѐ +109 "core" ' + "storage"(R& +4 "core" &  | w \ +2 .tSE.reconfigure :pick +42 "storage"(#]K-0-\ b +12 .tSE.seek :beamBreak +2 "storage"(?'e +271 "core" ' +2 "storage"(K- +4 "core" -'e + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek :pick +2 "storage"(G' +30 "core" ' +3 .tSE.seek :down +2 "storage"(T'N +264 "core" ' + .tSE.stop +2 "storage"(5 +2 "manipulator"&U% +4 "core" %Д  } $ +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&Q'\ +88 "core" ' + !to:Puck::Error: mesg"Tube 2 is Empty:bt["4/home/esp/esp2/utils/puckmoves.rb:367:in `load'"4/home/esp/esp2/utils/puckmoves.rb:357:in `loop'"4/home/esp/esp2/utils/puckmoves.rb:357:in `load'"8/home/esp/esp2/utils/puckmoves.rb:958:in `loadPuck'"4/home/esp/esp2/utils/shuffle.rb:24:in `shuffle'""(ESP):12:in `each_with_index'"1/home/esp/esp2/utils/shuffle.rb:18:in `each'": +52289 #t-> access 2 +3 "storage"(N% +3 "core" %J o o \  + "manipulator"&X% +4 "core" %\ ( D +2 "manipulator"&Y& +4 "core" &8 "| +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"([(K +1301 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (\\& +3 "core" &K\ \ # G\  +478 #t-> 5.times{shuffle 3..7} +3 #Shuffling pucks in tube 3 of [3..7] + #Loading generic puck from tube 3 into Collection Clamp +2 "collection"']& +3 "core" & \ +2 "manipulator"&V% +4 "core" %\ ( D +3 "storage"( % +4 "core" %J Z Z\  + "storage"(`. +3 "core" .(K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 + "storage"(a( +994 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (b& +2 "core" & \ +2 "manipulator"&d& +4 "core" &8 "| + .tElbow.seek 3 +2 "manipulator"&^(D +18 "core" ( + "manipulator"&Z& +5 "core" &D + + "storage"(e& +4 "core" & ] ]\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&g' +100 "core" ' + "storage"(h& +5 "core" & p i @\ +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(j'e +279 "core" ' + "storage"(W- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (c& +2 "core" & 3 '\ +2 "manipulator"&_& +4 "core" &F * +2 .tElbow.seek 3 + "manipulator"&l(D +4 "core" ( + "manipulator"&m& +4 "core" &F G * + "storage"(p& +4 "core" & E C\ +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&q'y +15 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&i/ +56 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&f& + "storage"(s'N +8 "core" &F  * + "manipulator"&t% +5 "core" % m C +2 .tForearm.seek :retract + "manipulator"&n'\ +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"&r( +148 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +5 "core" ( + "manipulator"&v& +5 "core" &- U Cp + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &w& +3 "core" &- ' Cp +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&y'| +99 "core" ' + "manipulator"&z& +5 "core" &- k Co + "manipulator"&|% +4 "core" %τ  +2 "collection"'}& +4 "core" & \ +2 "collection"'~& +5 "core" &  \ +3 .tCC.seek :closed + "collection"'o(] +5 "core" &f\ +6 & 9`\ $e +10 &gVQ\ 8 +9 &J\ M +10 &re Q\ O +9 &3f N\ P +9 &h R\ P +10 & l R\ O +9 &"zkM\ O +9 &$=d P\ O +10 &%iN\ O +9 &'g Z\ O +10 &)i  S\ O +9 &+Dj P\ O +9 &-hQ\ O +10 &.l S\ O +9 &0k  Q\ O +9 &2MiR\ O +10 &4kQ\ O +9 &5f Q\ N +10 &7h Q\ N +9 &9Vi X\ O +9 &;kP\ O +10 &<j Z\ O +9 &>eS\ O +9 &@_h [\ N +10 &B!iV\ N +9 &Ch ]\ O +10 &Ej Y\ O +9 &GekW\ O +9 &I!x [\ Q +10 &JY\ R +9 &L\\\ V +9 &NT  [\ X +10 &P  ]\ X +9 &Q  Z\ Y +10 &S  Y\ Y +9 &UT  \\\ Z +9 &W  ]\ Z +10 &X  W\ \\ +9 &Z  Y\ ] +9 &\\X  Q\ I +10 &]fB  \\\ c +9 &]  \\\ Q +6 ( + "collection"'~& +5 #tCollection Clamp onSpring/offSpring for 10/26 samples, on/off torque 1.87 + .Hand.open + "manipulator"&u1 +4 "core" &]m  ^\ Q +52 1 + "manipulator"&{% +4 "core" % ~ z +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&'\ +91 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp +2 "processing"%& +4 "core" &\ + "manipulator"&x% +4 "core" %\ # ) +2 "storage"(% +4 "core" %?\  \  + "storage"(. +3 "core" .( +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"( ( +30 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (& +3 "core" & x\  +2 "manipulator"&S& +4 "core" &:$ 3 << +2 "manipulator"&% +3 "core" %\ # 7 ) +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&(D +163 "core" ( + "manipulator"&& +4 "core" &> .  +2 "storage"(& +4 "core" & P 4\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&' +93 "core" ' +2 "storage"( & +3 "core" &   \  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"('e +285 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (& +3 "core" &\ \ & \  +2 "manipulator"&& +3 "core" &> u } s  +2 .tElbow.seek 3 +2 "manipulator"&(D +2 "core" ( +2 "manipulator"&& +5 "core" &> w q #  + "storage"(& +4 "core" &\ (\ ' P\  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&'y +21 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +61 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&!& + "storage"("'N +8 "core" &> r q \\  + "manipulator"&$% +4 "core" % o q p + +2 .tForearm.seek :retract +2 "manipulator"&'\ +95 "core" ' + .tElbow.seek PC +2 "manipulator"&(c +156 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +88 "core" ( + "manipulator"& & +5 "core" &l   + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &&& +3 "core" &l  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&''[ +102 "core" ' +2 "manipulator"&#& +4 "core" &l  +2 "manipulator"&*% +4 "core" %c +2 "processing"%+& +4 "core" &\ +2 "processing"% & +5 "core" &<\ +2 .tPC.seek :closed +2 "processing"%-(Z +4 "core" &\ \ +9 &/}\ *x +9 &c\ > +9 &9|\ N +10 &\\\ N +9 &b\ N +9 &]\ N +10 &!Ba\ N +9 &#\\\ N +10 &$^\ M +9 &&a\ M +9 &(K_\ M +10 &* a\ N +9 &+a\ N +9 &-_\ M +10 &/Rc\ N +9 &1^Z\ N +10 &2_\ N +9 &4_\ M +9 &6[`\ M +10 &8b\ N +9 &9a\ N +9 &;a\ N +10 &=b^\ N +9 &?$b\ N +10 &@_\ N +9 &B`\ M +9 &Dj`\ N +10 &F+`\ N +9 &Gl\ O +9 &Ir\ P +10 &Kh\ Q +9 &M$\ S +10 &N\ T +9 &P\ S +9 &Rh\ T +10 &T)\ T +9 &U\ T +9 &W\ T +10 &Ym\ B +9 &ZzD\ Y +9 &Z\ % +3 ( + "processing"% & +4 #tProcessing Clamp onSpring/offSpring for 9/25 samples, on/off torque 1.58 + .Hand.open + "manipulator"&.1 +54 "core" 1 + "manipulator"&(% +5 "core" % c + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&,'\ +95 "core" ' +2 "processing"%0& +4 "core" &Z\ % +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&1% +4 "core" %\ ( L K + "storage"(2% +4 "core" %K \  _\  +2 "storage"(. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 + "storage"(4( +13 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (5& +2 "manipulator"&6& +7 "core" & z A\ # + &l c  +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +6 "manipulator"&$&.,(\ #b +2 "storage"(#]kK-0-\ b +2 .tElbow.seek PC +5 "manipulator"&8(c +3 ."raiseStack"SE.seek :beamBreak +2 "storage"(3'e +2 "core" ( +2 "manipulator"&& +4 "core" &l 1  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &;& +3 "core" &l   +2 .tForearm.seek PC +2 "manipulator"&<'[ +99 "core" ' +2 .tHand.close + "manipulator"&=/ +57 "core" / +2 .tPC.seek :open + "processing"%9(p +89 "core" ' +2 "storage"(:- +4 "core" -'e + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(@'B +35 "core" ' +256 ( +2 "storage"(A& +4 "core" &\ \ \ ( + "manipulator"&7& +4 "core" &l (  +2 "manipulator"&% +4 "core" % g A +2 .tForearm.seek :retract + "manipulator"&D'\ +102 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&E(D +256 "core" ( +2 "manipulator"&>& +4 "core" &Q ( 1 + "storage"(\ & +4 "core" &\ \  \ ( +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&H' +100 "core" ' +2 .tHand.open + "manipulator"&C1 +55 "core" 1 +2 "storage"(J- +4 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate +2 "storage"(F' +23 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(B' +55 "core" ' +2 #tLights, camera, ACTION! + "storage"(M- +4 "core" -' +2 "storage"(O& +4 "core" &   \ + + "manipulator"&)& +4 "core" &Q  1 +2 .tElbow.seek 3 + "manipulator"&R(D +73 "core" ( +2 "Can"\ }zn + "manipulator"&/& +5 "core" &K   + "storage"(K& +4 "core" & 5\ + +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&' +27 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"(?'M +62 "core" ' +2 "manipulator"&U& +4 "core" &K r q 2  +2 "storage"(G& +4 "core" &   G\ + +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 + "manipulator"&T'M +37 "core" ' +2 .tElbow.hold +2 "manipulator"&P, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"(N'7 +22 "core" ' +2 "manipulator"&X% +4 "core" %`H ( ( ŭ +2 "storage"(Y& +4 "core" & \ + + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 319 counts +2 "manipulator"&I'ό +18 "core" ' +2 "manipulator"&\\& +4 "core" &K { r '  +2 "storage"(]& +4 "core" &   ^\ + +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&V' +21 "core" ' + "storage"( % +5 "core" %< ) C \ +2 ."downElevator"SE.seek :down +3 "storage"(`'N +100 ([% +2 "core" %=\ \ \ U_ +2 "manipulator"&b% +4 "core" %\ r r K +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&d'\ +91 "core" ' +58 ' + ."downElevator"SE.stop + "storage"(5 +3 (Z& +4 "core" &\ \ \ + + "collection"'e& +5 "core" &]k  m\ Q + #tStoring generic puck in Collection Clamp to tube 3 +2 "manipulator"&h% +4 "core" %\ #  ( + "storage"(L% +4 "core" %M\ \  Y\  +2 "storage"(Q. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 + "storage"(W( +10 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (c& +3 "core" &p \ $ +2 "manipulator"&_& +4 "core" &K   +2 .tElbow.seek 3 +2 "manipulator"&m(D +3 "core" ( +2 "manipulator"&p& +4 "core" &K _  + "storage"(i& +4 "core" &\ \  \\\ & +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&f' +107 "core" ' +2 "storage"(t& +4 "core" & 9 @ g\ & +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(^'e +278 "core" ' + "storage"(g- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&v& +3 "core" &K q p !  +2 "storage"(w& +4 "core" &  $ \ \ 0 + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 + "manipulator"&j'M +38 "core" ' +2 .tElbow.hold + "manipulator"&q, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(z- +2 "core" -' +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(|'j +27 "core" ' +2 "manipulator"&}% +4 "core" %^C %  Ƭ + "storage"(l& +4 "core" & D\ 0 + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 317 counts + "manipulator"&s'ϊ +16 "core" ' +2 "manipulator"&n& +4 "core" &L } x 3  + "storage"(%& +4 "core" & \ 0 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&u' +10 "core" ' +2 .tSE.seek 1.11 Pucks below Top Plate + "storage"({'Y +41 "core" ' + "manipulator"&& +5 "core" &L r r A  + "manipulator"&x% +4 "core" % o r C 4 +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +89 "core" ' +2 .tElbow.seek CC + "manipulator"&( +170 "core" ( +2 "manipulator"&~& +4 "core" & ) +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" & ) +2 .tForearm.seek CC + "manipulator"&S'| +101 "core" ' + .tHand.close +2 "manipulator"&/ +52 "core" / + .tCC.seek :open +2 "collection"'y(p +411 "core" ( + "storage"(& +4 "core" & Z > <\ 0 +2 "storage"(& +3 "core" & ? < R\ 0 +2 "manipulator"&a& +4 "core" & ) + "manipulator"& % +4 "core" % τ + +2 .tForearm.seek :retract + "manipulator"&r'\ +95 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&(D +149 "core" ( +2 "manipulator"&& +4 "core" &J 7 +2 "storage"(& +4 "core" & Y Y \ 0 + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 3 +2 "manipulator"&'M +111 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&1 +63 "core" 1 +2 "manipulator"&% +4 "core" % `g I  + "storage"(!& +4 "core" & \  -\ 0 +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 3 + 319 counts +2 "manipulator"&$'ό +16 "core" ' +2 "manipulator"&& +4 "core" &K z i " + "storage"(& +4 "core" & { k 4\ 0 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&' +21 "core" ' + "storage"(% +5 "core" %_ )\ +2 ."downElevator"SE.seek :down +4 "storage"( 'N +98 (&% +3 "core" %; _ k a\ U[ +2 "manipulator"&% +4 "core" % s q G +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&#'\ +93 "core" ' +46 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 4 of [3..7] +2 #Loading generic puck from tube 4 into Collection Clamp + "collection"'*& +4 "core" &E\ +2 "manipulator"&+% +4 "core" %\ - m "^ +2 "storage"("% +4 "core" %E u o \  + "storage"(. +4 "core" .( + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"(k(, +339 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (.& +3 "core" &,   \  +2 "manipulator"&(& +4 "core" &K ! + .tElbow.seek 4 +2 "manipulator"&0(* +12 "core" ( + "manipulator"&1& +4 "core" &4 l  +2 "storage"(2& +4 "core" &, g g r\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&' +99 "core" ' +2 "storage"( & +4 "core" &, n i \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(5'e +289 "core" ' + "storage"(6- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (& +2 "core" &, ] h #\  +2 "manipulator"&;& +4 "core" &4 .  + .tElbow.seek 4 +2 "manipulator"&'(* +3 "core" ( +2 "manipulator"&=& +4 "core" &4   + "storage"( & +4 "core" &, p o\  +2 .tForearm.seek 4 + 300 counts + "manipulator"&:'Z +24 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +59 "core" / +2 ."downElevator"SE.seek :down +5 "manipulator"&,& "storage"(-'N +7 "core" &4 r s 9  +2 "manipulator"&A% +4 "core" % X p p  +2 .tForearm.seek :retract + "manipulator"&7'\ +89 "core" ' +2 .tElbow.seek CC +2 "manipulator"&3( +153 "core" ' +3 ."downElevator"SE.stop + "storage"(5 +3 "core" ( + "manipulator"&& +4 "core" & " ? 9( +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &<& +3 "core" & " 1 9( +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&>'| +101 "core" ' + "manipulator"&\ & +5 "core" & "  9( + "manipulator"&8% +4 "core" %p V +2 "collection"'C& +4 "core" &x\ +2 "collection"'J& +5 "core" & O\ +2 .tCC.seek :closed +2 "collection"'M(] +5 "core" &  U\ +7 & 9 V\ $d +9 &iU X\ 8 +9 &~ V\ L +10 &tf V\ O +9 &6gY\ O +9 &e V\ O +10 & i S\ N +9 &"|h W\ O +9 &$?e U\ N +10 &&h S\ N +9 &'e N\ N +10 &)j W\ O +9 &+Eh L\ O +9 &- eN\ N +10 &.j  M\ N +9 &0i E\ O +9 &2Nm H\ O +10 &4g F\ N +9 &5d O\ N +10 &7d  O\ N +9 &9Xg @\ N +9 &;g C\ O +10 &<f K\ N +9 &>cK\ N +10 &@^h M\ O +9 &B!h>\ N +9 &Ce P\ N +10 &Ee G\ N +9 &Ghd M\ N +9 &I%nD\ P +10 &Jr  D\ P +9 &L  9\ S +10 &NY  B\ V +9 &P G\ X +9 &Q  ?\ X +10 &S  E\ Y +9 &UP  F\ \\ +9 &W  B\ Y +10 &X  C\ [ +9 &Z  D\ ^ +10 &\\P  E\ K +9 &]eB  G\ !e +9 &]x  C\ N +6 ( + "collection"'J& +4 #tCollection Clamp onSpring/offSpring for 10/26 samples, on/off torque 1.92 +2 .Hand.open + "manipulator"&O1 +3 "core" &]i @\ N +50 1 + "manipulator"&)% +4 "core" % p u +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&D'\ +94 "core" ' +3 #tLoading generic puck from tube 4 into Processing Clamp + "processing"%/& +4 "core" &\ +2 "manipulator"&K% +4 "core" %\ -  "^ + "storage"(U% +4 "core" %E \  )\  +2 "storage"(@. +3 "core" .(, + "storage"(G& +4 "core" &, \ 7\  +2 "storage"(F& +4 "core" &,\  <\  +2 "manipulator"&X& +3 "core" & " 9' +2 "manipulator"&Y% +4 "core" %\ - 0 "^ +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&E(* +167 "core" ( + "manipulator"&\\& +5 "core" &, U 7 + "storage"(]& +4 "core" &,\  3\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"& ' +107 "core" ' +2 "storage"(H& +4 "core" &, C C \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(B'e +249 "core" '* y ~ +55 !to:Slide::Error\ : mesg"HForearm positionErr at CC + 686 counts during Storage Elevator move:@checkpoint: omitted: @replyo:I2C::Servo::AbsMove3Reply :@destinationi%: @channeli: @statusIS:I2C::Servo::Status: enabledT: pastRLSF: pastFLSF:pastThresholdF: lostF: homeF: positioni*: velocityi: currenti:pwmi:erri: inPressiy : outPressi~ :deltaPressi : voltagef12.3142209131075124: @type2F: @tagi: @sourcei+: @error:positionErr:bt["2/home/esp/esp2/lib/slide.rb:587:in `raiseErr'"3/home/esp/esp2/lib/slide.rb:36:in `initialize'"3/home/esp/esp2/lib/i2c/servo.rb:1680:in `call'"6/home/esp/esp2/lib/i2c/servo.rb:1680:in `deliver'"3/home/esp/esp2/lib/i2c/msg.rb:605:in `process'"2/home/esp/esp2/lib/msg.rb:212:in `initialize'",/home/esp/esp2/lib/msg.rb:209:in `loop'"2/home/esp/esp2/lib/msg.rb:209:in `initialize'"7/home/esp/esp2/lib/schedule.rb:481:in `initialize'"0/home/esp/esp2/lib/thread.rb:738:in `start'"7/home/esp/esp2/lib/schedule.rb:474:in `initialize'"'/home/esp/esp2/lib/schedule.rb:472:@axisName" Forearm +4 #Retry #1 of 4 + .SE.reconfigure :default +3 "storage"(#QK-0-\ b +2 "core" ' + .tSE.seek :down +2 "storage"(['N +270 "core" ' +2 "storage"(b& +4 "core" &, I E\  +2 "manipulator"&& +4 "core" &E o o 3  +2 .tElbow.seek 4 +2 "manipulator"&R(* +21 "core" ( +2 "manipulator"&?& +4 "core" &* g P y  +2 "storage"(T& +4 "core" &,   `\  +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&Z' +33 "core" ' + "storage"(I& +5 "core" &,   \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(e'e +250 "core" '% p r  +4 !to:Slide::Error\ : mesg"HForearm positionErr at CC + 415 counts during Storage Elevator move:@checkpoint: omitted: @replyo:I2C::Servo::AbsMove3Reply :@destinationi%: @channeli: @statusIS:I2C::Servo::Status: enabledT: pastRLSF: pastFLSF:pastThresholdF: lostF: homeF: positioni: velocityi%: currenti:pwmi:erri: inPressip : outPressir :deltaPressi : voltagef12.3093117329406x: @type2F: @tagi_: @sourcei+: @error:positionErr:bt["2/home/esp/esp2/lib/slide.rb:587:in `raiseErr'"3/home/esp/esp2/lib/slide.rb:36:in `initialize'"3/home/esp/esp2/lib/i2c/servo.rb:1680:in `call'"6/home/esp/esp2/lib/i2c/servo.rb:1680:in `deliver'"3/home/esp/esp2/lib/i2c/msg.rb:605:in `process'"2/home/esp/esp2/lib/msg.rb:212:in `initialize'",/home/esp/esp2/lib/msg.rb:209:in `loop'"2/home/esp/esp2/lib/msg.rb:209:in `initialize'"7/home/esp/esp2/lib/schedule.rb:481:in `initialize'"0/home/esp/esp2/lib/thread.rb:738:in `start'"7/home/esp/esp2/lib/schedule.rb:474:in `initialize'"'/home/esp/esp2/lib/schedule.rb:472:@axisName" Forearm + #Retry #2 of 4 + .SE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek :down +2 "storage"(h'N +3 "core" 'C~} C\ I +272 ' +2 "storage"(L& +3 "core" &, 8 \  +2 "manipulator"&Q& +4 "core" &% q q !  +3 .tElbow.seek 4 + "manipulator"&N(* +4 "core" ( + "manipulator"&c& +4 "core" &% n f  +2 "storage"(_& +4 "core" &,\ \  \  +3 .tForearm.seek 4 + 450 counts + "manipulator"&p' +39 "core" ' +2 "storage"(i& +4 "core" &,  b\  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(V'e +283 "core" ' +2 "storage"(t- +3 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (`& +3 "core" &, !  \  +2 "manipulator"&4& +4 "core" &% p r ,  + .tElbow.seek 4 +2 "manipulator"&P(* +3 "core" ( +2 "manipulator"&d& +4 "core" &% g A Q  + "storage"(g& +4 "core" &, C C i\  +2 .tForearm.seek 4 + 300 counts + "manipulator"&v'Z +21 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&w/ +64 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&z& + "storage"(}'N +8 "core" &% g  + "manipulator"&l% +4 "core" % ^ ` +2 .tForearm.seek :retract +2 "manipulator"&n'\ +91 "core" ' +2 .tElbow.seek PC +2 "manipulator"&%(c +164 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +81 "core" ( + "manipulator"&& +5 "core" &j  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &x& +2 "core" &j  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&f'[ +102 "core" ' +2 "manipulator"&m& +4 "core" &j |  +2 "manipulator"&^% +4 "core" %c +2 "processing"%j& +4 "core" &1\ +2 "processing"%s& +6 "core" &\ +2 .tPC.seek :closed +3 "processing"%|(Z +4 "core" &\ +5 &\ 2 +10 &F\ 1 +9 &2q\ E +9 &g\ \ N +10 &\\\ M +9 &[b\ N +10 & b\ N +9 &!_\ M +9 &#``\ N +10 &%c_\ N +9 &'&\\\ M +9 &(\\\ M +10 &*\\\ M +9 &,k`\ N +10 &.-`\ N +9 &/a\ N +9 &1`\ M +10 &3u]\ M +9 &55`\ N +9 &6_\ N +10 &8^\ N +9 &:{^\ N +10 &<=Z\ N +9 &=b\ N +9 &?b\ M +10 &A`\ \ M +9 &CF_\ M +9 &E^\ M +10 &Fd\ N +9 &Hp\ O +10 &JD{\ Q +9 &K\ S +9 &M\ T +10 &O\ S +9 &QD\ S +9 &S\ S +10 &T\ S +9 &V\ T +10 &XH\ U +9 &Yzy\ * +9 &Z*p\ 1 +9 ( +3 "processing"%s& +3 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.55 +2 .Hand.open + "manipulator"&~1 +3 "core" &Z\ ( +58 1 + "manipulator"&% +5 "core" % c \\ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&u'\ +96 "core" ' + "processing"%q& +4 "core" &Z\ ( +2 #tImaging generic puck in Processing Clamp while storing it to tube 4 + "manipulator"&% +4 "core" %\ & _ B +2 "storage"(% +4 "core" %U \  t\  + "storage"(o. +3 "core" .(, +2 "storage"(& +4 "core" &,\  =\  + "storage"(& +4 "manipulator"&a& +5 "core" &,\  6\  + &j @  +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +3 "storage"(#]kK-0-\ b +2 "manipulator"& (c +5 ."raiseStack"SE.seek :beamBreak +2 "storage"('e +2 "core" ( +2 "manipulator"&& +4 "core" &j   + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &S& +3 "core" &j =  +2 .tForearm.seek PC +2 "manipulator"&'[ +96 "core" ' + .tHand.close +2 "manipulator"&/ +56 "core" / +2 .tPC.seek :open +2 "processing"%(p +89 "core" ' + "storage"(!- +4 "core" -'e + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place + "storage"('B +44 "core" ' +248 ( +2 "storage"(& +4 "core" &,\ \  \  +2 "manipulator"&& +4 "core" &j 9  + "manipulator"&r% +4 "core" % ` R +2 .tForearm.seek :retract +2 "manipulator"&&'\ +101 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&(* +253 "core" ( +2 "manipulator"&& +4 "core" &) { # +2 "storage"(& +3 "core" &,\ j\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&*' +104 "core" ' + .tHand.open +2 "manipulator"&$1 +55 "core" 1 +2 "storage"(+- +3 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate +2 "storage"("' +25 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(' +55 "core" ' +2 #tLights, camera, ACTION! + "storage"({- +4 "core" -' +2 "storage"(& +4 "core" &, 2 2 +\  +2 "manipulator"& & +4 "core" &* a # +2 .tElbow.seek 4 + "manipulator"&W(* +4 "core" ( + "manipulator"&.& +4 "core" &* s x = # +2 "storage"((& +4 "core" &, 8 5\  +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&1' +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"(2'M +62 "core" ' +2 "manipulator"& & +4 "core" &* m g \ # +2 "storage"(& +4 "core" &, M " /\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&#'. +37 "core" ' +2 .tElbow.hold + "manipulator"&6, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.07 Pucks below Top Plate + "storage"('7 +24 "core" ' +2 "manipulator"&;% +5 "core" %;N ( * # ǯ + "storage"(=& +4 "core" &, \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 313 counts + "manipulator"& 'g +17 "core" ' +2 "manipulator"&& +4 "core" & { v . % +2 "storage"(,& +4 "core" &,  \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&A' +18 "core" ' +2 "storage"(0% +4 "core" %@ C , \  +2 ."downElevator"SE.seek :down +4 "storage"('N +99 (% +3 "core" %<\ \ \ U^ +2 "manipulator"&<% +4 "core" % o s A +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&5'\ +90 "core" ' +58 ' + ."downElevator"SE.stop + "storage"(5 +3 (:& +4 "core" &,\  4\  +2 "collection"'\ & +4 "core" &]h \ N +2 #tStoring generic puck in Collection Clamp to tube 4 + "manipulator"&8% +4 "core" %\ * !N + "storage"(C% +4 "core" %S\ \ \  +2 "storage"('. +3 "core" .(, + "storage"(-& +5 "core" &,\ \  \  + "storage"(7& +4 "core" &,\ \  \  +2 "manipulator"&y& +4 "core" & % +4 .tElbow.seek 4 + "manipulator"&O(* +16 "core" ( +4 "manipulator"&)& +4 "core" &/ ( +2 "storage"(/& +4 "core" &,\ \  O\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&K' +100 "core" ' +2 "storage"(U& +4 "core" &,\  k\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(@'e +282 "core" ' + "storage"(G- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&F& +3 "core" &;  & +2 "storage"(X& +4 "core" &,\ '\ ( 7\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 + "manipulator"&J'. +33 "core" ' +2 .tElbow.hold + "manipulator"&Y, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(>- +2 "core" -' +3 .tSE.seek 0.12 Pucks below Top Plate + "storage"(\\'s +30 "core" ' + "manipulator"&]% +5 "core" %AU   z Ʊ + "storage"(H& +4 "core" &, s\  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 4 + 319 counts + "manipulator"&3'm +14 "core" ' +2 "manipulator"&D& +4 "core" &F { \\ % +2 "storage"( & +4 "core" &,   \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&b' +21 "core" ' +2 .tSE.seek 1.12 Pucks below Top Plate +2 "storage"('b +46 "core" ' +2 "manipulator"&B& +5 "core" &F r o > % +2 "manipulator"&?% +4 "core" % s u r  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&T'\ +90 "core" ' +2 .tElbow.seek CC + "manipulator"&I( +147 "core" ( + "manipulator"&E& +5 "core" &"  :1 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &Z& +3 "core" &# m :1 +2 .tForearm.seek CC + "manipulator"&['| +98 "core" ' + .tHand.close + "manipulator"&L/ +60 "core" / +2 .tCC.seek :open +45 "collection"'Q(p +420 "core" ( +2 "storage"(c& +4 "core" &, [ \\\  + "storage"(e& +4 "core" &, M ; Z\  +2 "manipulator"&_& +3 "core" &# Y :+ +2 "manipulator"&i% +4 "core" % f L +2 .tForearm.seek :retract + "manipulator"&R'\ +94 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&t(* +167 "core" ( +2 "manipulator"&`& +4 "core" &. c - + "storage"(4& +4 "core" &, \\ Y\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 4 +2 "manipulator"&h'. +113 "core" ' + .tElbow.hold +2 "manipulator"&d, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&g1 +55 "core" 1 +2 "manipulator"&w% +4 "core" % ?]  = ³ + "storage"(z& +4 "core" &, u\  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 4 + 317 counts +2 "manipulator"&l'k +19 "core" ' +2 "manipulator"&N& +4 "core" &\ w } H X +2 "storage"(p& +4 "core" &, p o 2\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&V' +10 "core" ' +2 "storage"(v% +4 "core" %f o i\ +3 ."downElevator"SE.seek :down +4 "storage"('N +99 (x% +3 "core" %,? g _ ;\ V^ +2 "manipulator"&P% +4 "core" % t } D +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&m'\ +89 "core" ' +51 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 5 of [3..7] +2 #Loading generic puck from tube 5 into Collection Clamp + "collection"'^& +4 "core" & B\ +2 "manipulator"&j% +4 "core" %\ ' ? ? + "storage"(}% +4 "core" %I Z Z\  +2 "storage"(n. +3 "core" .(, +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 + "storage"(9(<< +348 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (~& +3 "core" &<9\ \  c\  + "manipulator"&& +4 "core" &\  W +2 .tElbow.seek 5 + "manipulator"&q( +4 "core" ( + "manipulator"&& +4 "core" &\  W +2 "storage"(& +3 "core" &<9 [ \\\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&o' +97 "core" ' +2 "storage"(& +4 "core" &<9 s i f\  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(s'e +286 "core" ' + "storage"(a- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (& +2 "core" &<9 U > \  +2 "manipulator"&& +4 "core" &\  W +2 .tElbow.seek 5 + "manipulator"&S( +4 "core" ( + "manipulator"&f& +4 "core" &\ W + "storage"(& +4 "core" &<9 \\ Z\  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&!'[ +30 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&%/ +60 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&u& +2 "storage"(|'N +7 "core" &\ p s @ W +2 "manipulator"&% +4 "core" % n p p +2 .tForearm.seek :retract + "manipulator"&'\ +94 "core" ' +2 .tElbow.seek CC + "manipulator"&( +152 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +3 "core" ( +2 "manipulator"&r& +3 "core" &* A` +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &* C A` +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&'| +95 "core" ' +2 "manipulator"&& +4 "core" &+ A_ +2 "manipulator"& % +4 "core" %q +2 "collection"'$& +4 "core" &t\ +2 "collection"'+& +4 "core" & U\ +3 .tCC.seek :closed + "collection"'{(] +5 "core" &  S\ +7 & 9 W\ $d +10 &gU Y\ 8 +9 & Z\ M +9 &wc  X\ N +10 &9h  U\ N +9 &h W\ N +9 & h T\ N +10 &"g U\ N +9 &$@e X\ O +10 &&h S\ N +9 &'c V\ N +9 &)i W\ N +10 &+Ij  W\ N +9 &-\ g Y\ O +9 &.j U\ O +10 &0f T\ N +9 &2Qi X\ N +10 &4f  H\ N +9 &5h  T\ N +9 &7f L\ N +10 &9Ye N\ N +9 &;c I\ N +9 &<f J\ N +10 &>f S\ O +9 &@ae F\ N +10 &B#d E\ N +9 &Ce A\ N +9 &Ee D\ N +10 &Ghh V\ O +9 &I&s  N\ P +9 &J  P\ R +10 &L  E\ U +9 &NV  I\ X +10 &P  I\ X +9 &Q  B\ X +9 &S  =\ Y +10 &UW C\ Z +9 &W  ;\ [\ +9 &X  B\ \\ +10 &Z  E\ \\ +9 &\\I  D\ O +10 &]_:  D\ (v +9 &]u  ?\ O +5 ( +2 "collection"'+& +4 #tCollection Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.92 + .Hand.open +2 "manipulator"&1 +3 "core" &]h  E\ O +53 1 + "manipulator"& % +4 "core" % q  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&.'\ +93 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp + "processing"%(& +4 "core" &X\ +2 "manipulator"&&% +4 "core" %\ ) y G +2 "storage"( % +3 "core" %G T\  +2 "storage"(. +3 "core" .(<9 +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"((<< +8 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (;& +3 "core" &<9 %\  +2 "manipulator"&=& +4 "core" &/" p :, + "manipulator"&"% +4 "core" %\ ) - G +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&( +167 "core" ( +2 "manipulator"&,& +4 "core" &  7 +2 "storage"(0& +4 "core" &<9 > \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&' +105 "core" ' +2 "storage"(*& +4 "core" &<9 9 B \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"('e +279 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (<& +2 "core" &<9   \  +2 "manipulator"&1& +4 "core" & z p W 6 +2 .tElbow.seek 5 + "manipulator"&W( +3 "core" ( +2 "manipulator"&2& +4 "core" & ] t - 6 + "storage"(#& +4 "core" &<9 ! # +\  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&:'[ +26 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"& / +53 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&\ & + "storage"(8'N +8 "core" & p p  6 + "manipulator"&C% +4 "core" % V q q / +2 .tForearm.seek :retract +2 "manipulator"&''\ +88 "core" ' + .tElbow.seek PC +2 "manipulator"&-(c +163 "core" ' + ."downElevator"SE.stop + "storage"(5 +80 "core" ( + "manipulator"&& +5 "core" &l y F R + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &7& +3 "core" &l  R +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&y'[ +104 "core" ' +2 "manipulator"&)& +4 "core" &m Q +2 "manipulator"&/% +4 "core" %S +2 "processing"%A& +4 "core" &\ +2 "processing"%U& +6 "core" &\ +2 .tPC.seek :closed + "processing"%(Z +4 "core" &\ +9 & ,\ #a +9 &[V\ 8 +9 &\ L +10 &o]\ N +9 &3a\ M +9 &[j\ M +10 & ^\ N +9 &"zZ\ M +10 &$9`\ N +9 &%Z\ M +9 &'_\ M +10 &)_\ N +9 &+B]\ N +9 &-b\ M +10 &.\\\ M +9 &0\\\ M +10 &2KaU\ M +9 &4 _\ M +9 &5_\ M +10 &7Z\ M +9 &9S\\\ M +9 &;b\ N +10 &<\\\ M +9 &>]\ M +10 &@[\\\ M +9 &B^\ N +9 &C^\ N +10 &E[\ M +9 &G_e\ O +9 &I n\ O +10 &J\ Q +9 &L\ S +10 &NX\ T +9 &P\ S +9 &Q\ S +10 &S\ S +9 &Ua\ S +9 &W \ T +10 &X\ T +9 &Z=Km\ *| +10 &Z_\ 3 +8 ( +2 &Z.\ 1 +2 "processing"%U& +3 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.57 + .Hand.open + "manipulator"&61 +65 "core" 1 + "manipulator"&5% +4 "core" % S j +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&G'\ +101 "core" ' +2 "processing"%F& +4 "core" &Z.\ 1 +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 + "manipulator"&X% +4 "core" %\ - "_ + "storage"(>% +4 "core" %G \  +2 "storage"(]. +3 "core" .(<9 +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 + "storage"(H(<< +2 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (D& +4 "core" &<: *\  + "manipulator"& & +3 ."raiseStack"SE.reconfigure :place +6 "storage"(#]kK-0-\ b +2 "core" &m V Q +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +3 ."raiseStack"SE.seek :beamBreak +2 "manipulator"&B(c +3 "storage"(?'e +3 "core" ( +2 "manipulator"&K& +4 "core" &m c Q + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &O& +3 "core" &m " Q +2 .tForearm.seek PC +2 "manipulator"&@'[ +96 "core" ' +2 .tHand.close +45 "manipulator"&J/ +74 "core" / + .tPC.seek :open +2 "processing"%3(p +28 "core" ' +2 "storage"(\\- +3 "core" -'e +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(E'B +35 "core" ' +318 ( + "storage"(Z& +4 "core" &<9\ (\  #\  +2 "manipulator"&b& +4 "core" &m  Q + "manipulator"&Y% +4 "core" % S  +2 .tForearm.seek :retract +2 "manipulator"&L'\ +96 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&T( +243 "core" ( +2 "manipulator"&M& +4 "core" & R * +2 "storage"(c& +3 "core" &<9\ \  \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&e' +93 "core" ' + .tHand.open + "manipulator"&_1 +57 "core" 1 +2 "storage"(i- +4 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate + "storage"(`' +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.83 Pucks below Top Plate + "storage"(4' +53 "core" ' +2 #tLights, camera, ACTION! + "storage"([- +4 "core" -' + "storage"(I& +4 "core" &<9 $ %\  +2 "manipulator"&g& +4 "core" &  * + .tElbow.seek 5 +2 "manipulator"&w( +3 "core" ( +2 "manipulator"&z& +4 "core" & 7 * + "storage"(N& +4 "core" &<9 % % ,\  +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&p' +20 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"(v'M +59 "core" ' + "manipulator"&R& +4 "core" & q q  * +2 "storage"(x& +4 "core" &<9 " \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&P'/ +35 "core" ' + .tElbow.hold +2 "manipulator"&t, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.07 Pucks below Top Plate + "storage"(h'7 +25 "core" ' +2 "manipulator"&^% +4 "core" %:R    Ű +2 "storage"(j& +4 "core" &<9 M\  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 5 + 311 counts +2 "manipulator"&}'f +17 "core" ' +2 "manipulator"&l& +4 "core" & s y / # +2 "storage"(n& +4 "core" &<9\  P S\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&' +20 "core" ' + "storage"(V% +5 "core" %:   /\ +2 ."downElevator"SE.seek :down +4 "storage"('N +98 (k% +3 "core" %A\ \ /\ V` +2 "manipulator"&~% +4 "core" % p p d  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +95 "core" ' +57 ' + ."downElevator"SE.stop + "storage"(5 +2 (& +4 "core" &<9 0\  +2 "collection"'& +4 "core" &]h  \ O + #tStoring generic puck in Collection Clamp to tube 5 +2 "manipulator"&% +4 "core" %\ 0 $r + "storage"(d% +4 "core" %P\ \ \  + "storage"(m. +4 "core" .(<< + "storage"(a& +4 "core" &<9\  \  +2 "storage"(& +4 "core" &<9\ \  >\  + "manipulator"&& +4 "core" & # +2 .tElbow.seek 5 + "manipulator"&f( +32 "core" ( +2 "manipulator"&& +4 "core" & >  + "storage"(%& +4 "core" &<9 = \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&u' +102 "core" ' + "storage"(& +5 "core" &<9 ! ! \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +7 .tSE.seek :beamBreak +2 "storage"(q'e +281 "core" ' +2 "storage"(o- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&r& +3 "core" & K  + "storage"(& +4 "core" &<9   ?\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 + "manipulator"&s'/ +30 "core" ' +2 .tElbow.hold + "manipulator"&!, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(- +3 "core" -' +2 .tSE.seek 0.12 Pucks below Top Plate +2 "storage"( 's +28 "core" ' + "manipulator"&$% +4 "core" %BU   q ñ +2 "storage"(S& +4 "core" &<9 \  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 319 counts + "manipulator"&|'n +17 "core" ' + "manipulator"&& +5 "core" & { t J  + "storage"(Q& +4 "core" &<9   \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&' +20 "core" ' +2 .tSE.seek 1.12 Pucks below Top Plate +2 "storage"( 'b +49 "core" ' +2 "manipulator"&(& +4 "core" & q p &  +2 "manipulator"&&% +4 "core" % q q < +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"& '\ +89 "core" ' +2 .tElbow.seek CC +2 "manipulator"&( +162 "core" ( +2 "manipulator"&+& +4 "core" &- 6 Cp +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &;& +3 "core" &- U Cp +2 .tForearm.seek CC +2 "manipulator"&='| +96 "core" ' +2 .tHand.close + "manipulator"&"/ +60 "core" / +2 .tCC.seek :open + "collection"'(p +411 "core" ( + "storage"(,& +4 "core" &<9 : @ x\  +2 "storage"(0& +4 "core" &<9 E F \  + "manipulator"&9& +4 "core" &8$ <= + "manipulator"&*% +4 "core" % ρ +2 .tForearm.seek :retract +2 "manipulator"&'\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&.( +163 "core" ( + "manipulator"&& +4 "core" & 5 . +2 "storage"(<& +4 "core" &<9 Z \\ \  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 5 +2 "manipulator"&1'/ +112 "core" ' + .tElbow.hold +2 "manipulator"&2, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator" +53 "core" 1 +2 "manipulator"& % +4 "core" % Ad \  ^  +2 "storage"(\ & +4 "core" &<9\  (\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 318 counts +2 "manipulator"&C'm +17 "core" ' + "manipulator"&& +5 "core" & ] t n + "storage"(& +4 "core" &<9 } ~ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&' +25 "core" ' + "storage"(:% +5 "core" %^ 8\ +2 ."downElevator"SE.seek :down +3 "storage"('N +99 (7% +3 "core" %== d f\ V^ +2 "manipulator"&W% +4 "core" % t } +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&)'\ +87 "core" ' +52 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 6 of [3..7] + #Loading generic puck from tube 6 into Collection Clamp +2 "collection"'/& +4 "core" &l\ +2 "manipulator"&A% +4 "core" %\ + . B +2 "storage"(8% +4 "core" %K g g \  + "storage"('. +3 "core" .(<< +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"((K +350 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (6& +3 "core" &K\ '\ ' R\  + "manipulator"&5& +4 "core" & ) m +2 .tElbow.seek 6 + "manipulator"&F( +31 "core" ( +2 "manipulator"&X& +4 "core" & }   + "storage"(>& +4 "core" &K Z Z \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&U'< +94 "core" ' + "storage"(]& +5 "core" &K x g\  +2 .tSE.reconfigure :pick +52 "storage"(#]K-0-\ b +5 .tSE.seek :beamBreak + "storage"(D'e +282 "core" ' +2 "storage"( - +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (K& +3 "core" &K [ [\  +2 "manipulator"&O& +3 "core" & n f  +2 .tElbow.seek 6 +2 "manipulator"&y( +3 "core" ( +2 "manipulator"&J& +4 "core" & h z \  + "storage"(& +4 "core" &K u q \ \  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&\\'Ϧ +20 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&-/ +63 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&G& +2 "storage"('N +7 "core" & q q @  +2 "manipulator"&?% +4 "core" % Ϟ q s \ +2 .tForearm.seek :retract + "manipulator"&Z'\ +89 "core" ' +2 .tElbow.seek CC +2 "manipulator"&b( +151 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +8 "core" ( + "manipulator"&Y& +5 "core" &* H A_ + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &@& +3 "core" &*  A_ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&M'| +98 "core" ' +2 "manipulator"&c& +4 "core" &) @^ +2 "manipulator"&B% +4 "core" %σ o +2 "collection"'_& +4 "core" &  w\ +2 "collection"'i& +5 "core" &  Y\ +2 .tCC.seek :closed + "collection"'[(] +4 "core" &  V\  +9 &0  V\ +{ +9 &c  T\ ? +10 &I S\ O +9 &a R\ N +9 &g P\ N +10 &g Q\ N +9 &!Rg  W\ N +9 &#k [\ O +10 &$g Y\ O +9 &&e  [\ N +10 &(Yh  W\ O +9 &*e W\ N +9 &+g Z\ N +10 &-f Z\ N +9 &/be W\ N +9 &1$e  X\ N +10 &2f \\\ N +9 &4e ]\ N +10 &6l`  \\\ N +9 &8-e X\ N +9 &9c V\ N +10 &;c Y\ N +9 &=sd  U\ N +9 &?4d Y\ N +10 &@g T\ O +9 &Bf X\ N +10 &Dze Y\ N +9 &F<e  W\ N +9 &Gg  Q\ O +10 &Ir W\ P +9 &Kx  Y\ R +9 &M3  Z\ T +10 &N  Y\ V +9 &P  [\ X +10 &Rl  W\ Y +9 &T-  S\ Y +9 &U  W\ Z +10 &W  W\ [ +9 &Yk  V\ \\ +9 &[.  Z\ [ +10 &\\q  S\ K +9 &]u  U\ ; +6 ( + "collection"'i& +4 #tCollection Clamp onSpring/offSpring for 9/25 samples, on/off torque 1.92 +2 .Hand.open + "manipulator"&I1 +3 "core" &]C  [\ ; +56 1 + "manipulator"&g% +5 "core" % π g +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&z'\ +102 "core" ' + #tLoading generic puck from tube 6 into Processing Clamp +2 "processing"%N& +4 "core" &;\ +2 "manipulator"&L% +3 "core" %\ 6 K & +2 "storage"(R% +4 "core" %>\ \ \  + "storage"(x. +4 "core" .(K + "storage"(E& +4 "core" &K\ \ \  +2 "storage"(^& +4 "core" &K\ \ \  + "manipulator"&j& +4 "core" &% =G +2 "manipulator"&`% +4 "core" %\ 5 D & +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&l( +158 "core" ( + "manipulator"&n& +4 "core" &  +2 "storage"(V& +4 "core" &K # # \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&T'< +98 "core" ' + "storage"(e& +4 "core" &K ? 7 A\  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(4'e +283 "core" ' + "storage"(k- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (~& +3 "core" &K   \  +2 "manipulator"&p& +4 "core" &   +2 .tElbow.seek 6 + "manipulator"&w( +3 "core" ( +2 "manipulator"&v& +4 "core" &   + "storage"(P& +4 "core" &K B C \  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&}'Ϧ +10 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +62 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& + "storage"('N +8 "core" & z } M  + "manipulator"&d% +4 "core" % Ϛ r } F +2 .tForearm.seek :retract +2 "manipulator"&m'\ +91 "core" ' +2 .tElbow.seek PC +2 "manipulator"&h(c +160 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +77 "core" ( + "manipulator"&a& +5 "core" &\\ ~ N + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &\\ e N +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&'[ +98 "core" ' + "manipulator"&& +5 "core" &\\  N + "manipulator"&%% +4 "core" %a  +2 "processing"%& +4 "core" &\ +2 "processing"%& +4 "core" &\ +3 .tPC.seek :closed + "processing"%(Z +4 "core" &\  +9 &1\ *y +9 &d'\ > +9 &D{\ N +10 &Y\ M +9 &`%\ N +9 &]\ M +10 &!M\\\ M +9 &#Y\ M +10 &$]R\ M +9 &&Z\ M +9 &(U]\ M +10 &*Z\ M +9 &+]\ M +9 &-Z\ M +10 &/\\a\ N +9 &1]\ M +10 &2`\ M +9 &4^\ M +9 &6e_\ M +10 &8(\\\ M +9 &9]\ M +9 &;[\ M +10 &=m`\ M +9 &?/\\\ M +10 &@`\ N +9 &B_\ N +9 &Du_\ M +10 &F6^\ N +9 &Gh\ N +9 &Ir\ O +10 &Kr\ Q +9 &M/\ S +10 &N\ S +9 &P\ S +9 &Rs\ S +10 &T5\ S +9 &U\ T +9 &W\ T +10 &Yz\ A +9 &Zt9\ !c +9 &Z\ ( +3 ( + "processing"%& +4 #tProcessing Clamp onSpring/offSpring for 9/25 samples, on/off torque 1.60 + .Hand.open + "manipulator"&t1 +57 "core" 1 + "manipulator"&% +5 "core" % a n + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&o'\ +105 "core" ' + "processing"%r& +4 "core" &Zq\ ( +2 #tImaging generic puck in Processing Clamp while storing it to tube 6 + "manipulator"&% +4 "core" %\  p p   +2 "storage"(% +4 "core" %S   \  + "storage"($. +3 "core" .(K +2 "storage"(S& +4 "core" &K ! ! \  +2 "storage"(& +2 "manipulator"&Q& +7 "core" &K " ! \  + &\\ s z k N +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +6 "manipulator"&$&.,(\ #b + "storage"(#]kK-0-\ b +3 .tElbow.seek PC +5 "manipulator"&((c +3 ."raiseStack"SE.seek :beamBreak +2 "storage"(&'e +3 "core" ( + "manipulator"&u& +4 "core" &\\ p r  N + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &f& +3 "core" &\\ z o 3 N +2 .tForearm.seek PC +2 "manipulator"&q'[ +93 "core" ' +2 .tHand.close + "manipulator"&s/ +61 "core" / +2 .tPC.seek :open +2 "processing"%|(p +91 "core" ' +2 "storage"( - +3 "core" -'e +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(+'B +39 "core" ' +251 ( + "storage"(;& +4 "core" &K   "\  +2 "manipulator"&& +4 "core" &\\  N + "manipulator"&!% +4 "core" % T  +2 .tForearm.seek :retract +2 "manipulator"&"'\ +94 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"& ( +243 "core" ( +2 "manipulator"&{& +4 "core" & D  +2 "storage"(,& +4 "core" &K  \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&0'< +107 "core" ' + .tHand.open +2 "manipulator"&91 +56 "core" 1 +2 "storage"(*- +4 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate +2 "storage"(' +24 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(<' +51 "core" ' +2 #tLights, camera, ACTION! + "storage"(=- +4 "core" -' + "storage"(& +4 "core" &K | z [\  +2 "manipulator"&#& +3 "core" & p r   +2 .tElbow.seek 6 +2 "manipulator"& ( +7 "core" ( + "manipulator"&\ & +4 "core" & ^ w   +2 "storage"(& +4 "core" &K z 4\  +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&'< +22 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"(:'M +62 "core" ' + "manipulator"&& +5 "core" & "  + "storage"(7& +4 "core" &K  l\  +2 .tElbow.reconfigure :limp +53 "manipulator"&$ ,(b +4 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&W'z +30 "core" ' +2 .tElbow.hold + "manipulator"&., +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +3 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"(1'7 +23 "core" ' +2 "manipulator"&/% +4 "core" %Ύh r +2 "storage"(C& +4 "core" &K h\  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 6 + 320 counts + "manipulator"&A'Ϻ +17 "core" ' +2 "manipulator"&8& +4 "core" & z !u +2 "storage"('& +4 "core" &K F E N\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"& '< +22 "core" ' +2 "storage"(% +4 "core" %= \\ ?\  +3 ."downElevator"SE.seek :down +3 "storage"('N +99 (H% +3 "core" %iA !  '\ Va +2 "manipulator"&6% +4 "core" %, } }\ +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&5'\ +90 "core" ' +58 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (X& +2 "core" &K\ % T :\  +2 "collection"'>& +4 "core" &]B  o\ ; +2 #tStoring generic puck in Collection Clamp to tube 6 + "manipulator"&]% +4 "core" %\ + !M +2 "storage"(2% +4 "core" %S  \  + "storage"(). +3 "core" .(K +2 "storage"( & +4 "core" &K \  + "storage"(K& +5 "core" &K ! # #\  +2 "manipulator"&O& +4 "core" & !s + .tElbow.seek 6 +2 "manipulator"&J( +31 "core" ( + "manipulator"&& +4 "core" &  +2 "storage"(-& +4 "core" &K  \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&G'< +103 "core" ' +2 "storage"(?& +4 "core" &K d Z\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(F'e +282 "core" ' +2 "storage"(U- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&Y& +3 "core" & q r 5 + "storage"(@& +4 "core" &K ] X /\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&D'z +31 "core" ' + .tElbow.hold +2 "manipulator"&\\, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(c- +3 "core" -' +2 .tSE.seek 0.12 Pucks below Top Plate +2 "storage"(B'p +29 "core" ' +2 "manipulator"&_% +4 "core" %΋d y +2 "storage"(y& +4 "core" &K L\  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 6 + 317 counts + "manipulator"&'Ϸ +16 "core" ' +2 "manipulator"&Z& +4 "core" & _ } + $ +2 "storage"(& +4 "core" &K 7 8 B\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&I'< +23 "core" ' +2 .tSE.seek 1.12 Pucks below Top Plate + "storage"(g'_ +47 "core" ' + "manipulator"&N& +5 "core" & p p  $ + "manipulator"&L% +4 "core" %T q n ( +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&R'\ +87 "core" ' +2 .tElbow.seek CC +2 "manipulator"&x( +159 "core" ( + "manipulator"&i& +5 "core" &* F @Y + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &E& +2 "core" &*  @Y +2 .tForearm.seek CC +2 "manipulator"&^'| +97 "core" ' +2 .tHand.close +2 "manipulator"&j/ +57 "core" / +2 .tCC.seek :open +2 "collection"'`(p +413 "core" ( +2 "storage"(M& +4 "core" &K H D \  + "storage"(n& +4 "core" &K F F #\  +2 "manipulator"&V& +4 "core" &*# s ;6 + "manipulator"&e% +4 "core" % }  +2 .tForearm.seek :retract +2 "manipulator"&b'\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&z( +161 "core" ( + "manipulator"&k& +4 "core" & $ " +2 "storage"(~& +4 "core" &K g e o\  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 6 +2 "manipulator"&p'z +109 "core" ' + .tElbow.hold +2 "manipulator"&v, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&P1 +54 "core" 1 +2 "manipulator"&% +5 "core" % ΍o  n  + "storage"(& +4 "core" &K \  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 6 + 319 counts + "manipulator"&d'Ϲ +17 "core" ' +2 "manipulator"&l& +4 "core" & l !p +2 "storage"(T& +4 "core" &K ~ } \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&4'< +87 "core" ' + "storage"(}% +4 "core" %] \ +3 ."downElevator"SE.seek :down +4 "storage"(a'N +99 (% +3 "core" %: Z Y\ V^ + "manipulator"&w% +4 "core" %$ o z L +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +89 "core" ' +48 ' +2 ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 7 of [3..7] + #Loading generic puck from tube 7 into Collection Clamp + "collection"'%& +5 "core" & \ +2 "manipulator"&% +3 "core" %\ & Z 5 +2 "storage"(% +4 "core" %@ Z Z\  + "storage"(m. +3 "core" .(K +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 7 +2 "storage"(3([ +352 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (t& +2 "core" &[\ \  \  +2 "manipulator"&& +4 "core" &  o +2 .tElbow.seek 7 + "manipulator"&r( +32 "core" ( +2 "manipulator"&& +4 "core" & 1  + "storage"(& +4 "core" &[ o r U\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&$'k +91 "core" ' +2 "storage"(& +4 "core" &[ N\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(S'e +289 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +4 .tSE.seek :down +2 "storage"(Q'N +261 "core" ' + .tSE.stop + "storage"(5 +3 "manipulator"&u% +4 "core" %b } }\  X +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&f'\ +97 "core" ' + !to:Puck::Error: mesg".2 pucks loaded in tube 7 when expecting 0:@checkpoint: omitted:bt[";/home/esp/esp2/utils/puckmoves.rb:257:in `verifyCount'":/home/esp/esp2/utils/puckmoves.rb:583:in `raiseStack'"4/home/esp/esp2/utils/puckmoves.rb:364:in `load'",/home/esp/esp2/lib/msg.rb:68:in `retry'"4/home/esp/esp2/utils/puckmoves.rb:362:in `load'"4/home/esp/esp2/utils/puckmoves.rb:357:in `loop'"4/home/esp/esp2/utils/puckmoves.rb:357:in `load'"8/home/esp/esp2/utils/puckmoves.rb:958:in `loadPuck'"4/home/esp/esp2/utils/shuffle.rb:24:in `shuffle'""(ESP):14:in `each_with_index'"1/home/esp/esp2/utils/shuffle.rb:18:in `each'" 5.times{shuffle 3..6} +2 #Shuffling pucks in tube 3 of [3..6] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"'& +3 "core" &  \ +2 "manipulator"&s% +4 "core" %\ 3  %w +2 "storage"( % +3 "core" %T r z :\  +2 "storage"(h. +3 "core" .([ +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(o( +1309 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (& +3 "core" & \ +2 "manipulator"&;& +3 "core" & H  +2 .tElbow.seek 3 +2 "manipulator"&(D +35 "core" ( + "manipulator"&&& +5 "core" &\\ E + "storage"(!& +4 "core" & \\ \\\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&q' +101 "core" ' +2 "storage"({& +4 "core" & s } \ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(,'e +298 "core" ' + "storage"((- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (9& +2 "core" & [ e >\ +2 "manipulator"&*& +4 "core" &\\  E +2 .tElbow.seek 3 + "manipulator"&=(D +25 "core" ( +2 "manipulator"&& +4 "core" &E   + "storage"(#& +4 "core" & o z A\ +53 .tForearm.seek 3 + 300 counts +2 "manipulator"&\ 'y +11 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&/ +58 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&"& + "storage"('N +8 "core" &E r q F  +2 "manipulator"&7% +4 "core" % u p q   +2 .tForearm.seek :retract +2 "manipulator"&+'\ +99 "core" ' +2 .tElbow.seek CC +2 "manipulator"&( +140 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +11 "core" ( +2 "manipulator"&/& +4 "core" &# ' :/ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &C& +4 "core" &" 1 :/ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"& '| +98 "core" ' +2 "manipulator"&8& +4 "core" &# :. +2 "manipulator"&'% +4 "core" % +2 "collection"'0& +4 "core" & g\ +2 "collection"'& +5 "core" &  c\ +2 .tCC.seek :closed +2 "collection"'<(] +4 "core" &  e\ +8 & 0 j\ $d +10 &]W  l\ 8 +9 & k\ M +9 &pd  k\ N +10 &1e g\ N +9 &i  d\ O +10 & i  d\ O +9 &"we  j\ N +9 &$9c  g\ N +10 &%c  l\ N +9 &'f  c\ N +9 &)c  c\ N +10 &+Ag  d\ N +9 &-f  g\ O +10 &.i  a\ O +9 &0h  f\ O +9 &2Hg  d\ O +10 &4 f _\ N +9 &5e  e\ N +9 &7e  a\ N +10 &9Rd Y\ N +9 &;e  a\ N +10 &<d  \\\ M +9 &>c T\ N +9 &@Yf  S\ N +10 &Be  V\ N +9 &Ce  U\ N +9 &Ee  \\\ N +10 &G`h  Y\ O +9 &I!o  U\ O +10 &J  P\ Q +9 &L  M\ U +9 &NO  Q\ W +10 &P  V\ W +9 &Q  ^\ X +9 &S  Y\ X +10 &UP  X\ Z +9 &W  R\ Z +9 &X  Z\ [ +10 &Z  [\ \\ +9 &\\T  X\ H +10 &]Y<  V\ , +9 &]|  ]\ N +5 ( +2 "collection"'& +4 #tCollection Clamp onSpring/offSpring for 10/26 samples, on/off torque 1.92 +2 .Hand.open + "manipulator"&H1 +4 "core" &]v  S\ N +55 1 +2 "manipulator"&6% +4 "core" %  p +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +92 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"% & +4 "core" &\ +2 "manipulator"&:% +4 "core" %\ ' : + "storage"(W% +4 "core" %L \  X\  +2 "storage"(X. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 + "storage"(A( +27 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (>& +3 "core" &+ Y\  +2 "manipulator"&]& +4 "core" &! 8" + "manipulator"&2% +4 "core" %\ ( : +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&)(D +165 "core" ( + "manipulator"& & +4 "core" &C -  +2 "storage"(1& +4 "core" &\ '\ ( M\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&K' +93 "core" ' +2 "storage"(O& +4 "core" &   |\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('e +279 "core" ' +2 "storage"(-- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 ( & +2 "core" &\ &\ \  +2 "manipulator"&?& +4 "core" &C   + .tElbow.seek 3 +2 "manipulator"&(D +3 "core" ( +2 "manipulator"&.& +4 "core" &C R  +2 "storage"(5& +3 "core" &\ (\ ( Y\  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&U'y +32 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&Y/ +55 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&@& + "storage"(c'N +8 "core" &C r p @  + "manipulator"&_% +4 "core" % { p o %  +2 .tForearm.seek :retract +2 "manipulator"&y'\ +96 "core" ' +2 .tElbow.seek PC +2 "manipulator"&Z(c +153 "core" ' + ."downElevator"SE.stop + "storage"(5 +96 "core" ( +2 "manipulator"&& +4 "core" &g I +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &N& +3 "core" &g +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&L'[ +98 "core" ' + "manipulator"&G& +5 "core" &g  + "manipulator"&J% +4 "core" %Y ? +2 "processing"%F& +4 "core" &P\ +2 "processing"%D& +5 "core" &K\ +2 .tPC.seek :closed +2 "processing"%(Z +4 "core" &\ +8 & 3^\ #a +9 &ZTY\ 7 +9 &\ L +10 &j]\ M +9 &,`\ M +9 &_\ M +10 & a\ N +9 &"r\\N\ M +10 &$4`}\ M +9 &%_\ M +9 &'_\ M +10 &)y^\ N +9 &+<\\\ M +9 &,]\ N +10 &._\ M +9 &0\\\ M +9 &2D^M\ M +10 &4Z\ M +9 &5Z\ M +10 &7_\ M +9 &9L_\ M +9 &;a\ M +10 &<]\ M +9 &>`\ N +10 &@S^\ N +9 &Ba\ M +9 &C`\ N +10 &E^\ N +9 &GZc\ N +9 &Ik\ N +10 &Jy\ P +9 &L\ R +9 &NR\ S +10 &P\ S +9 &Q\ T +10 &S\ T +9 &UY\ T +9 &W\ T +10 &X}\ T +9 &Z:Ou\ , +9 &Z*\ ' +6 ( + "processing"%D& +5 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.54 + .Hand.open + "manipulator"&B1 +4 "core" &Z\ ' +58 1 +2 "manipulator"&i% +4 "core" % Y Z +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&E'\ +94 "core" ' +2 "processing"%I& +4 "core" &Z\ ' +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&\\% +4 "core" %\ %  2 +2 "storage"(j% +4 "core" %F \  \  + "storage"(R. +3 "core" .( +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"([( +12 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (M& +3 "core" & j Q\ % +3 "manipulator"&n& + ."raiseStack"SE.reconfigure :place +6 "storage"(#]kK-0-\ b +2 "core" &g 6 +2 .tElbow.reconfigure :tight +4 "manipulator"&$&.,(\ #b +2 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +3 "storage"(V'e +2 "manipulator"&e(c +4 "core" ( + "manipulator"&k& +4 "core" &g h +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &~& +3 "core" &g ? +2 .tForearm.seek PC +2 "manipulator"&^'[ +99 "core" ' +2 .tHand.close + "manipulator"&x/ +61 "core" / +2 .tPC.seek :open +2 "processing"%P(p +82 "core" ' +2 "storage"(- +4 "core" -'e +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('B +35 "core" ' +259 ( +2 "storage"(l& +4 "core" &\ \ g\ , +2 "manipulator"&T& +4 "core" &g  + "manipulator"&b% +4 "core" % _  +2 .tForearm.seek :retract + "manipulator"&}'\ +99 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&z(D +253 "core" ( +2 "manipulator"&& +4 "core" &< C ' + "storage"(w& +4 "core" & l\ , +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&p' +97 "core" ' +2 .tHand.open + "manipulator"&d1 +55 "core" 1 +2 "storage"(%- +4 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate +2 "storage"(' +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.83 Pucks below Top Plate + "storage"(' +53 "core" ' + #tLights, camera, ACTION! +2 "storage"(m- +3 "core" -' +2 "storage"(g& +4 "core" &  \ / + "manipulator"&4& +4 "core" &> ' +2 .tElbow.seek 3 +2 "manipulator"&a(D +3 "core" ( + "manipulator"&& +4 "core" &> 0 ' +2 "storage"(t& +4 "core" &   E\ / +2 .tForearm.seek 3 + 450 counts + "manipulator"&' +4 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"('M +63 "core" ' + "manipulator"&& +5 "core" &>  ' + "storage"(& +4 "core" & j\ / +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +55 "manipulator"&v'M +35 "core" ' +2 .tElbow.hold + "manipulator"&, +5 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"('7 +28 "core" ' + "manipulator"&u% +5 "core" %SO ) ( ů + "storage"(S& +4 "core" & M\ / +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 306 counts + "manipulator"&Q' +18 "core" ' + "manipulator"&$& +5 "core" &n | } w m + "storage"(& +4 "core" & Q \ / +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&s' +19 "core" ' + "storage"( % +5 "core" %? $ ! \ +2 ."downElevator"SE.seek :down +4 "storage"(h'N +98 (3% +3 "core" %)=\ \  \ V` +2 "manipulator"&% +4 "core" % } ~  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&;'\ +99 "core" ' +52 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (&& +4 "core" &\  +\ / +2 "collection"'!& +4 "core" &]u  l\ N +2 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&{% +4 "core" %\   +2 "storage"(r% +4 "core" %G\ \  W\  + "storage"(f. +4 "core" .( + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"((( +46 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (9& +2 "core" & t\ +2 "manipulator"&*& +4 "core" &n m +2 .tElbow.seek 3 +2 "manipulator"&(D +26 "core" ( +2 "manipulator"&#& +4 "core" &; | k  +2 "storage"(& +4 "core" &  \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&"' +91 "core" ' +2 "storage"(7& +4 "core" & ? 0 \ +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"('e +279 "core" ' +2 "storage"(q- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&/& +3 "core" &; z p ]  +2 "storage"(C& +4 "core" &   \ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&,'M +36 "core" ' +2 .tElbow.hold +2 "manipulator"&\ , +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(8- +2 "core" -' +3 .tSE.seek 0.11 Pucks below Top Plate + "storage"(''j +29 "core" ' +2 "manipulator"&0% +4 "core" %RF ĭ + "storage"(=& +4 "core" & 8\ +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 3 + 305 counts +2 "manipulator"&'~ +12 "core" ' + "manipulator"&+& +4 "core" &I j q | +2 "storage"(`& +4 "core" & ! \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&H' +18 "core" ' +2 .tSE.seek 1.11 Pucks below Top Plate +2 "storage"(6'Y +46 "core" ' +2 "manipulator"& & +4 "core" &I U ] V | +2 "manipulator"&:% +4 "core" % V d # +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&W'\ +90 "core" ' + .tElbow.seek CC +2 "manipulator"&X( +167 "core" ( + "manipulator"&& +4 "core" &+ k Ac +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &>& +2 "core" &+ Ac +2 .tForearm.seek CC +2 "manipulator"&]'| +97 "core" ' +2 .tHand.close + "manipulator"&2/ +55 "core" / +2 .tCC.seek :open +2 "collection"' (p +410 "core" ( + "storage"( & +5 "core" & \\ H %\ + "storage"(1& +4 "core" & F > k\ + "manipulator"&o& +4 "core" &(% k <@ +2 "manipulator"&O% +3 "core" % h  +2 .tForearm.seek :retract +2 "manipulator"&'\ +97 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&(D +162 "core" ( +2 "manipulator"&-& +4 "core" &@ 6  +2 "storage"( & +4 "core" & ] f\ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 3 +2 "manipulator"&?'M +110 "core" ' +2 .tElbow.hold + "manipulator"&., +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&51 +62 "core" 1 +2 "manipulator"&Y% +4 "core" % Qm (  + "storage"(@& +4 "core" &\ '\  -\ +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 3 + 304 counts +2 "manipulator"&_'} +19 "core" ' +2 "manipulator"&)& +4 "core" &Q z g   +2 "storage"(K& +4 "core" & \\\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&' +11 "core" ' +2 "storage"(U% +4 "core" %W U\ +3 ."downElevator"SE.seek :down +3 "storage"('N +100 (N% +3 "core" %; u j\ U] +2 "manipulator"&% +4 "core" % r q @ A +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&G'\ +92 "core" ' +51 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 4 of [3..6] +2 #Loading generic puck from tube 4 into Collection Clamp + "collection"'J& +4 "core" &  ^\ +2 "manipulator"&F% +4 "core" %\ 1 K $o +2 "storage"(c% +4 "core" %G u p #\  +2 "storage"(y. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 + "storage"(|(, +366 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (B& +3 "core" &,   \  +2 "manipulator"&i& +3 "core" &Q W  +2 .tElbow.seek 4 +2 "manipulator"&I(* +25 "core" ( +2 "manipulator"&\\& +4 "core" &! + ) + "storage"(j& +4 "core" &, Z _ T\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&R' +92 "core" ' +2 "storage"(D& +4 "core" &, x \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(M'e +285 "core" ' +2 "storage"(n- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (k& +3 "core" &, h ^ >\  + "manipulator"&~& +4 "core" &# $ ' +2 .tElbow.seek 4 +2 "manipulator"&L(* +3 "core" ( +2 "manipulator"&x& +3 "core" &#  ' +2 "storage"(A& +4 "core" &, u q G\  +2 .tForearm.seek 4 + 300 counts + "manipulator"&'Z +23 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&Z/ +55 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&E& +2 "storage"('N +7 "core" &$ t y & +2 "manipulator"&l% +4 "core" % Y q o @ +2 .tForearm.seek :retract +2 "manipulator"&V'\ +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"&T( +153 "core" ( + ' + "manipulator"&b& +2 ."downElevator"SE.stop +5 "storage"(5 +4 "core" &# Z :0 + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &^& +3 "core" &# :0 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&'| +99 "core" ' +2 "manipulator"&w& +4 "core" &# :0 +2 "manipulator"&e% +4 "core" %φ +2 "collection"'d& +4 "core" & ]\ +2 "collection"'%& +5 "core" &  z\ +2 .tCC.seek :closed +2 "collection"'m(] +4 "core" &  W\  +9 &0 a\ +z +9 &c  T\ ? +9 &I Q\ O +10 & d R\ N +9 &g R\ N +9 &i  Q\ N +10 &!Ri  W\ N +9 &#h  ]\ N +10 &$g  [\ N +9 &&g X\ N +9 &(Zg  [\ N +10 &*e Y\ N +9 &+f  ^\ N +9 &-f  X\ N +10 &/dh  \\\ N +9 &1%h  \\\ N +10 &2g Z\ N +9 &4e  \\\ N +9 &6me  T\ M +10 &8.e  ^\ N +9 &9b  ]\ N +9 &;c U\ N +10 &=td U\ N +9 &?6d ]\ N +53 &@e  R\ N +12 &Be T\ N +2 &D|c  _\ N + &F=g  e\ N +4 &He  _\ N + &Io  \\\ O +2 &K}v  \\\ P +2 &M6  i\ S +8 &N  a\ W +9 &P  ^\ X +9 &Ro  b\ X +10 &T.  c\ Y +9 &U  c\ Z +9 &W  _\ Z +10 &Yj  Q\ \\ +9 &[.  \\\ [ +10 &\\z  a\ 4 +9 &]"  ^\ %k +9 &]t  c\ O +3 ( + "collection"'%& +3 #tCollection Clamp onSpring/offSpring for 9/25 samples, on/off torque 1.85 +2 .Hand.open + "manipulator"&g1 +54 "core" 1 + "manipulator"&4% +4 "core" % φ M +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +92 "core" ' +2 #tLoading generic puck from tube 4 into Processing Clamp + "processing"%t& +4 "core" &4\ +2 "manipulator"&}% +4 "core" %\ & > +2 "storage"(% +4 "core" %N \  m\ + "storage"(. +4 "core" .(, + "storage"(& +4 "core" &, V\  + "storage"(& +4 "core" &,\  @\  +2 "manipulator"&u& +4 "core" & # :- + "manipulator"&S% +4 "core" %\ & > +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&$(* +155 "core" ( + "manipulator"&& +4 "core" &# 8 +2 "storage"(z& +4 "core" &,\ $\ ' $\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&p' +98 "core" ' + "storage"( & +5 "core" &,  \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('e +284 "core" ' + "storage"(3- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (& +3 "core" &,\ \ \  +2 "manipulator"&& +4 "core" &$ " + .tElbow.seek 4 +2 "manipulator"&a(* +3 "core" ( +2 "manipulator"&& +3 "core" &$  +2 "storage"(v& +4 "core" &, O\  v\  +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&&'Z +21 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&Q/ +63 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&!& + "storage"({'N +8 "core" &$ q o * + "manipulator"&r% +4 "core" % Z q o 5 +2 .tForearm.seek :retract +2 "manipulator"&f'\ +92 "core" ' +2 .tElbow.seek PC +2 "manipulator"&(c +164 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +84 "core" ( +2 "manipulator"&9& +4 "core" &h Y +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &*& +2 "core" &h ! +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&#'[ +101 "core" ' +2 "manipulator"&& +4 "core" &h & +2 "manipulator"&s% +4 "core" %d V +2 "processing"%7& +4 "core" &\ +2 "processing"%h& +5 "core" &\ +2 .tPC.seek :closed + "processing"%[(Z +5 "core" &\ +7 &:$\ $d +9 &_U\ 7 +10 &\ L +9 &p[\ M +9 &0\\\ N +10 &\\\ N +9 & _*\ N +10 &"xX\ M +9 &$9`\ M +9 &%]\ N +10 &'\\\ N +9 &)]\ M +9 &+AY\ M +10 &-\\\ N +9 &.^\ N +10 &0Z\ M +9 &2H]\ N +9 &4 Y\ M +10 &5]\ N +9 &7\\V\ N +9 &9P\\\ N +10 &;]\ N +9 &<[\ N +9 &>[\ M +10 &@XZ\ N +9 &B_\ M +10 &C_\ N +9 &E]\ N +9 &G_e\ N +10 &In\ O +9 &J\ Q +10 &L\ S +9 &NW\ S +9 &P\ S +10 &Q\ T +9 &S\ S +9 &U^\ T +10 &W \ T +9 &X\ T +9 &Z;Kq\ , +10 &Z/\ ' +5 ( +2 "processing"%h& +4 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.59 + .Hand.open +2 "manipulator"&1 +3 "core" &Z\ ' +59 1 + "manipulator"&;% +4 "core" % d +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&q'\ +104 "core" ' + "processing"%/& +5 "core" &Z\ ' + #tImaging generic puck in Processing Clamp while storing it to tube 4 +2 "manipulator"&C% +3 "core" %\ 8 ' +2 "storage"(8% +4 "core" %T f\  +2 "storage"(0. +3 "core" .(, + "storage"(=& +4 "core" &, =\  +2 "storage"(+& +4 "manipulator"&`& +4 "core" &, N\  + &h +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +3 "storage"(#]kK-0-\ b + "manipulator"& (c +6 ."raiseStack"SE.seek :beamBreak + "storage"(:'e +3 "core" ( + "manipulator"&"& +4 "core" &h  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +4 "core" &h +2 .tForearm.seek PC + "manipulator"&'[ +95 "core" ' + .tHand.close + "manipulator"&,/ +63 "core" / +2 .tPC.seek :open +2 "processing"%(p +86 "core" ' + "storage"('- +3 "core" -'e +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +2 ."raiseStack"SE.seek :place +2 "storage"('B +44 "core" ' +251 ( +2 "storage"(>& +4 "core" &,\ (\  )\  +2 "manipulator"&H& +3 "core" &h J +2 "manipulator"&\ % +4 "core" % e  +2 .tForearm.seek :retract +2 "manipulator"&2'\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&W(* +255 "core" ( + "manipulator"&<& +4 "core" &4  # +2 "storage"( & +4 "core" &, \ i\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&1' +99 "core" ' +2 .tHand.open + "manipulator"&o1 +55 "core" 1 +2 "storage"(O- +4 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate +2 "storage"(-' +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.83 Pucks below Top Plate + "storage"( ' +53 "core" ' + #tLights, camera, ACTION! +2 "storage"(]- +3 "core" -' +2 "storage"(X& +4 "core" &, % (\  + "manipulator"&5& +4 "core" &4 # +2 .tElbow.seek 4 +2 "manipulator"&Y(* +3 "core" ( +2 "manipulator"&@& +3 "core" &4  # +2 "storage"()& +4 "core" &, ( (\  +2 .tForearm.seek 4 + 450 counts + "manipulator"&K' +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"(U'M +61 "core" ' +2 "manipulator"&& +4 "core" &4  # +2 "storage"(N& +4 "core" &, |\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&'. +33 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"(?'7 +23 "core" ' + "manipulator"&J% +5 "core" %?V  $ ű + "storage"(F& +4 "core" &, \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 317 counts +2 "manipulator"&_'k +17 "core" ' + "manipulator"&c& +4 "core" &5 p ` # +2 "storage"(y& +4 "core" &,\ \ B\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&6' +20 "core" ' +2 "storage"(% +4 "core" %A  Q\ +3 ."downElevator"SE.seek :down +4 "storage"('N +99 ((% +3 "core" %;> \  \\\ Vc +2 "manipulator"&B% +4 "core" % o q K  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&i'\ +90 "core" ' +60 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (\\& +4 "core" &, \  +2 "collection"'j& +4 "core" &]r  N\ O +2 #tStoring generic puck in Collection Clamp to tube 4 + "manipulator"&D% +4 "core" %\ + !Q + "storage"(.% +4 "core" %O\ \ \  +2 "storage"(G. +3 "core" .(, +2 "storage"(n& +4 "core" &,\ \  s\  +2 "storage"(k& +3 "core" &,\ \  \  +2 "manipulator"&~& +4 "core" &5 # + .tElbow.seek 4 +2 "manipulator"&x(* +23 "core" ( + "manipulator"&A& +4 "core" &5 @ +2 "storage"(Z& +4 "core" &,\ '\ ' B\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&E' +101 "core" ' +2 "storage"(l& +58 "core" &,\ \  D\  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(I'e +282 "core" ' + "storage"(R- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&b& +2 "core" &5 % +2 "storage"(^& +4 "core" &,\ \ ' \  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&M'. +31 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(w- +2 "core" -' +3 .tSE.seek 0.12 Pucks below Top Plate + "storage"(e'r +29 "core" ' +2 "manipulator"&d% +4 "core" %@Z  ² +2 "storage"(L& +4 "core" &, \  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 4 + 318 counts + "manipulator"&'l +17 "core" ' +2 "manipulator"&V& +5 "core" & } } P  + "storage"( & +4 "core" &,   z\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&g' +23 "core" ' +2 .tSE.seek 1.12 Pucks below Top Plate +2 "storage"(4'a +40 "core" ' + "manipulator"&t& +5 "core" & p p \  +2 "manipulator"&}% +4 "core" % r q   +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +87 "core" ' +2 .tElbow.seek CC +2 "manipulator"&( +151 "core" ( +2 "manipulator"&& +4 "core" &% P <9 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &% <9 +2 .tForearm.seek CC + "manipulator"&u'| +96 "core" ' +2 .tHand.close + "manipulator"&%/ +60 "core" / +2 .tCC.seek :open +2 "collection"'S(p +409 "core" ( +2 "storage"(& +4 "core" &, \\ I R\  +2 "storage"(& +3 "core" &, 7 8 N\  +2 "manipulator"&z& +3 "core" & 7 +2 "manipulator"& % +4 "core" % ύ \\ +2 .tForearm.seek :retract + "manipulator"&T'\ +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&(* +157 "core" ( +2 "manipulator"&3& +4 "core" &4 I +2 "storage"(& +4 "core" &, f d\  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 4 +2 "manipulator"&'. +113 "core" ' +2 .tElbow.hold + "manipulator"&, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&v1 +56 "core" 1 +2 "manipulator"&Q% +4 "core" % =^ + "storage"(!& +4 "core" &, \  \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 315 counts + "manipulator"&r'i +18 "core" ' + "manipulator"&$& +4 "core" & ` } = \ +2 "storage"(p& +4 "core" &, } ~ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&' +20 "core" ' + "storage"(&% +5 "core" %g | \ +2 ."downElevator"SE.seek :down +4 "storage"(9'N +100 (*% +3 "core" %? n _ '\ U^ +2 "manipulator"&a% +4 "core" % p p %  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +90 "core" ' +47 ' + ."downElevator"SE.stop +2 "storage"(5 +2 #tShuffling pucks in tube 5 of [3..6] +2 #Loading generic puck from tube 5 into Collection Clamp + "collection"'s& +5 "core" & t\ + "manipulator"&7% +4 "core" %\ )  3 +2 "storage"({% +4 "core" %I u a \  + "storage"(f. +3 "core" .(, +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"(P(<< +354 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (& +2 "core" & Y Z \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&h' +103 "core" ' +2 "storage"(0& +4 "core" &<> \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(='e +284 "core" ' + "storage"(`- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (+& +3 "core" &<> u } Y\  +2 "manipulator"&"& +4 "core" & o o \ +2 .tElbow.seek 5 + "manipulator"&( +4 "core" ( + "manipulator"&#& +4 "core" & v |  \ + "storage"(,& +4 "core" &<> } } \  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&''[ +26 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +62 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&q& +2 "storage"(['N +7 "core" & q r P \ +2 "manipulator"&>% +4 "core" % [ q n  +2 .tForearm.seek :retract + "manipulator"&:'\ +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&H( +150 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +3 "core" ( + "manipulator"&\ & +4 "core" &% <9 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &% <9 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&<'| +100 "core" ' +2 "manipulator"& & +4 "core" &# ;8 +2 "manipulator"& % +4 "core" %σ +2 "collection"'o& +4 "core" &  [\ +2 "collection"'O& +6 "core" &  T\ +2 .tCC.seek :closed +3 "collection"'](] +3 "core" & ^\ +6 & X\ 6 +9 &H  X\ 1 +9 &=r  ^\ F +10 &k  X\ N +9 &` X\ N +10 &ge  ^\ N +9 & (g  Q\ N +9 &!i  [\ N +10 &#g  Y\ N +9 &%pc [\ N +9 &'2g \\\ N +10 &(e a\ M +9 &*d  c\ N +10 &,xb c\ N +9 &.:e `\ N +9 &/f c\ N +10 &1f  `\ N +9 &3d e\ N +9 &5Ac  W\ N +10 &7c  ^\ N +9 &8d  ]\ N +10 &:c  ^\ N +9 & g  ^\ N +10 &?e ^\ N +9 &Ae  e\ M +9 &CQe  d\ N +10 &E`  g\ N +9 &Fc  _\ M +10 &Ho  c\ O +9 &JQ|  f\ Q +9 &L  f\ U +10 &M  _\ W +9 &O  b\ X +9 &QB  f\ Y +10 &S  e\ Y +9 &T  d\ Z +10 &V  ]\ [ +9 &XB  h\ [ +9 &Y  f\ ] +10 &[  e\ ] +9 &]&Q  [\ 3 +9 &]  e\ X +6 ( + "collection"'O& +5 #tCollection Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.97 + .Hand.open +2 "manipulator"&X1 +3 "core" &]v  b\ W +52 1 + "manipulator"&5% +5 "core" %  h +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&@'\ +100 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp +2 "processing"%)& +4 "core" &\\\ +2 "manipulator"&2% +4 "core" %\ 6 g & +2 "storage"(% +3 "core" %I ~\  +2 "storage"(N. +4 "core" .(<< + "storage"(& +4 "core" &<> \  + "storage"(J& +4 "core" &<> s\  +2 "manipulator"&F& +4 "core" &#  :- + "manipulator"&-% +4 "core" %\ 6 r & +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&c( +165 "core" ( + "manipulator"&y& +5 "core" & 4 + "storage"(& +4 "core" &<> l\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&W' +92 "core" ' +2 "storage"(1& +4 "core" &<>   \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"( 'e +278 "core" ' + "storage"((- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (B& +3 "core" &<>\ \ \  +2 "manipulator"&K& +3 "core" & r v  4 +2 .tElbow.seek 5 +2 "manipulator"&Y( +3 "core" ( +2 "manipulator"&U& +3 "core" & Z  4 +2 "storage"(& +4 "core" &<>\ \  \  +2 .tForearm.seek 5 + 300 counts + "manipulator"&_'[ +22 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&\\/ +55 "core" / +55 ."downElevator"SE.seek :down +3 "manipulator"&j& +2 "storage"(D'N +7 "core" & } z 4 +2 "manipulator"&.% +4 "core" % Q } x X +2 .tForearm.seek :retract + "manipulator"&G'\ +99 "core" ' + .tElbow.seek PC +2 "manipulator"&?(c +156 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +94 "core" ( +2 "manipulator"&n& +4 "core" &m O +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &k& +2 "core" &m +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&~'[ +105 "core" ' +2 "manipulator"&A& +4 "core" &m z ] +2 "manipulator"&Z% +4 "core" %Q z | b  +2 "processing"%6& +4 "core" &\ +2 "processing"%l& +5 "core" &\ +2 .tPC.seek :closed + "processing"%(Z +5 "core" &^\  +9 &0~\ *x +9 &d\ > +10 &Cx\ M +9 &\\\ M +9 &\\\ M +10 &]\ M +9 &!J^\ M +10 &# \\\ M +9 &$]\ M +9 &&^\ M +10 &(S\\\ M +9 &*\\\ M +9 &+]\ M +10 &-]\ M +9 &/Zb\ M +9 &1]\ M +10 &2]Q\ N +9 &4[\ M +10 &6c]\ M +9 &8$]\ M +9 &9\\P\ M +10 &;YS\ M +9 &=j]\ M +9 &?-[\ M +10 &@_b\ N +9 &B]\ M +10 &Ds[\ M +9 &F3`\ N +9 &Gg+\ N +10 &Ir\ O +9 &Kn\ Q +9 &M+\ S +10 &N\ T +9 &P\ S +10 &Ro\ T +9 &T1\ T +9 &U\ T +10 &W\ T +9 &Yw\ A +9 &Zy>\ W +10 &Z\ ( +2 ( +2 "processing"%l& +3 #tProcessing Clamp onSpring/offSpring for 9/25 samples, on/off torque 1.60 + .Hand.open +2 "manipulator"&1 +63 "core" 1 + "manipulator"&i% +4 "core" % R | u : ~ +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&R'\ +91 "core" ' +2 "processing"%b& +4 "core" &Z\ ( +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 + "manipulator"&^% +4 "core" %\ (  F +2 "storage"(w% +3 "core" %P a\  +2 "storage"(d. +4 "core" .(<< + "storage"(L& +4 "core" &<> \  +2 "storage"(V& +2 "manipulator"& & +7 "core" &<> L\  + &m 8 +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +3 "storage"(#]kK-0-\ b + "manipulator"&t(c +6 ."raiseStack"SE.seek :beamBreak + "storage"(}'e +3 "core" ( + "manipulator"&E& +4 "core" &m \\ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &x& +2 "core" &m  +2 .tForearm.seek PC +2 "manipulator"&I'[ +96 "core" ' + .tHand.close +2 "manipulator"&M/ +60 "core" / + .tPC.seek :open +2 "processing"%(p +92 "core" ' +2 "storage"(e- +3 "core" -'e +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('B +44 "core" ' +245 ( + "storage"(& +4 "core" &<>\ \ \ \  +2 "manipulator"&g& +4 "core" &m 5 + "manipulator"&% +4 "core" % X L +2 .tForearm.seek :retract +2 "manipulator"&%'\ +96 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&( +248 "core" ( + "manipulator"&m& +5 "core" &\ S U + "storage"(& +4 "core" &<> T\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&' +109 "core" ' + .tHand.open +2 "manipulator"&z1 +61 "core" 1 +2 "storage"( - +4 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate + "storage"(3' +26 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(' +49 "core" ' +2 #tLights, camera, ACTION! + "storage"(u- +4 "core" -' +2 "storage"(& +4 "core" &<> % %\  +2 "manipulator"&v& +3 "core" & n p $ U +2 .tElbow.seek 5 +2 "manipulator"&Q( +4 "core" ( + "manipulator"&!& +4 "core" & r z  U +2 "storage"($& +4 "core" &<>   \  +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&p' +19 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.11 Pucks below Top Plate + "storage"(&'M +62 "core" ' +2 "manipulator"&T& +4 "core" & S U +2 "storage"(*& +4 "core" &<> \  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 + "manipulator"&a'/ +34 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.07 Pucks below Top Plate + "storage"('7 +22 "core" ' +2 "manipulator"&s% +5 "core" %9Q   Ű + "storage"(r& +4 "core" &<> W\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 310 counts + "manipulator"&7'e +17 "core" ' + "manipulator"&{& +5 "core" & p u  & +2 "storage"(f& +4 "core" &<> = /\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&4' +19 "core" ' +2 "storage"(% +4 "core" %?   \\\ +2 ."downElevator"SE.seek :down +4 "storage"(9'N +98 (|% +3 "core" %L? \  C\ Wb +2 "manipulator"&% +4 "core" % o p   +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&;'\ +95 "core" ' +51 ' + ."downElevator"SE.stop + "storage"(5 +3 (C& +4 "core" &<> \  + "collection"'8& +4 "core" &]v  z\ W +2 #tStoring generic puck in Collection Clamp to tube 5 + "manipulator"&0% +4 "core" %\ 3 #j +2 "storage"(% +4 "core" %D X\  + "storage"(. +3 "core" .(<< +2 "storage"(`& +4 "core" &<> X\  + "storage"(+& +4 "core" &<> Q\  +2 "manipulator"&"& +4 "core" & Z & +2 .tElbow.seek 5 + "manipulator"&#( +30 "core" ( + "manipulator"&,& +4 "core" &  \ +2 "storage"(& +4 "core" &<>\ \ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&q' +92 "core" ' +2 "storage"(>& +4 "core" &<>   [\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(/'e +283 "core" ' +2 "storage"(h- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&\ & +3 "core" & o o \ + "storage"(& +4 "core" &<>\ \  v\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&='/ +36 "core" ' + .tElbow.hold +2 "manipulator"&', +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"( - +2 "core" -' +2 .tSE.seek 0.12 Pucks below Top Plate +2 "storage"( 's +31 "core" ' + "manipulator"&o% +5 "core" %3= ( $  ƫ + "storage"(& +4 "core" &<> N\  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 5 + 304 counts +2 "manipulator"&['_ +16 "core" ' +2 "manipulator"&:& +4 "core" & ] w  + "storage"(S& +4 "core" &<> "  v\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&X' +18 "core" ' +2 .tSE.seek 1.12 Pucks below Top Plate +2 "storage"(5'b +49 "core" ' +2 "manipulator"&)& +4 "core" & p p  +2 "manipulator"&2% +4 "core" % q p  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +91 "core" ' + .tElbow.seek CC +2 "manipulator"&N( +151 "core" ( +2 "manipulator"&& +4 "core" &$ G <: +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &O& +3 "core" &% + <: +2 .tForearm.seek CC + "manipulator"&J'| +109 "core" ' + .tHand.close +2 "manipulator"&F/ +62 "core" / +2 .tCC.seek :open +53 "collection"'-(p +412 "core" ( +2 "storage"(<& +4 "core" &<> j ] 8\  +2 "storage"(y& +3 "core" &<> ^ e A\  +2 "manipulator"&& +4 "core" &  7 + "manipulator"&1% +4 "core" % p +2 .tForearm.seek :retract + "manipulator"&H'\ +98 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&@( +163 "core" ( +2 "manipulator"&(& +4 "core" & 6 +2 "storage"(B& +4 "core" &<> \\ \\\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 5 +2 "manipulator"&K'/ +112 "core" ' + .tElbow.hold +2 "manipulator"&U, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&1 +55 "core" 1 +2 "manipulator"&\\% +4 "core" % ?e ; \  +2 "storage"(j& +4 "core" &<> {\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 316 counts + "manipulator"&.'k +16 "core" ' +2 "manipulator"&c& +4 "core" &\  ~ j F +2 "storage"(W& +4 "core" &<> ~ ~ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"& ' +18 "core" ' + "storage"(_% +5 "core" %e w @\ +2 ."downElevator"SE.seek :down +4 "storage"(n'N +98 (k% +3 "core" %!< Y [ \ U] +2 "manipulator"&Y% +4 "core" % s p   +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&A'\ +98 "core" ' +50 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 6 of [3..6] + #Loading generic puck from tube 6 into Collection Clamp + "collection"'Z& +5 "core" &  \\\ + "manipulator"&6% +4 "core" %\ 5 & +2 "storage"(D% +4 "core" %Q [ [\  + "storage"(G. +4 "core" .(<< + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"((K +351 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (& +3 "core" &K\  ;\  +2 "manipulator"&i& +3 "core" &\ E +2 .tElbow.seek 6 +2 "manipulator"&b( +20 "core" ( +2 "manipulator"&^& +4 "core" & 5 +2 "storage"(w& +4 "core" &K [ [\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&d'< +94 "core" ' +2 "storage"(L& +4 "core" &K m h \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(l'e +292 "core" ' + "storage"( - +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "Can" B? + "storage"(V& +3 "core" &K d [\  +2 "manipulator"&E& +3 "core" & 5 +2 .tElbow.seek 6 +2 "manipulator"&x( +18 "core" ( +2 "manipulator"&~& +5 "core" & { r + "storage"(M& +4 "core" &K o q 1\  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&e'Ϧ +30 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&?/ +59 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&R& +2 "storage"('N +7 "core" & p q  +2 "manipulator"&% +4 "core" % ϲ p q  +2 .tForearm.seek :retract + "manipulator"&g'\ +98 "core" ' +2 .tElbow.seek CC + "manipulator"&}( +150 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +4 "core" ( + "manipulator"&& +4 "core" &%  <9 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &I& +3 "core" &% n <9 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&m'| +109 "core" ' +2 "manipulator"&& +4 "core" &%  <9 +2 "manipulator"&t% +4 "core" %r  +2 "collection"'z& +4 "core" &  \ +2 "collection"' & +5 "core" & ~\ +2 .tCC.seek :closed +2 "collection"'u(] +4 "core" & a\  +8 &/  h\ +| +10 &c `\ ? +9 &M~ U\ N +9 &a  d\ N +10 &h c\ N +9 &k  g\ N +10 &!Ue  _\ N +9 &#g  `\ N +9 &$g  a\ N +10 &&g b\ N +9 &(]c  g\ N +9 &* c  j\ M +10 &+e  `\ N +9 &-g  c\ N +10 &/ee  `\ N +9 &1&i  ]\ N +9 &2e  _\ M +10 &4b [\ M +9 &6nc  e\ M +9 &8/e  f\ N +10 &9c  f\ N +9 &;_  a\ M +10 &=ug  b\ N +9 &?8e  f\ M +9 &@c  e\ N +10 &Be  `\ M +9 &D}`  e\ N +9 &F?d  a\ N +10 &Hh  g\ N +9 &Ip  g\ O +10 &K|{  f\ Q +9 &M5  h\ T +9 &N  c\ W +10 &P  f\ X +9 &Rn  a\ X +9 &T/  f\ Y +10 &U  h\ Z +9 &W  a\ Z +10 &Yk  i\ \\ +9 &[.  i\ \\ +9 &\\y  h\ 5 +10 &]%  c\ !c +9 ( + &]s  k\ P +2 "collection"' & +3 #tCollection Clamp onSpring/offSpring for 9/25 samples, on/off torque 1.91 +2 .Hand.open + "manipulator"&1 +54 "core" 1 +2 "manipulator"&v% +4 "core" % r  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&!'\ +92 "core" ' +2 #tLoading generic puck from tube 6 into Processing Clamp + "processing"%$& +4 "core" &Z\ +2 "manipulator"&%% +4 "core" %\ - "` +2 "storage"(T% +4 "core" %L \  \  + "storage"(*. +4 "core" .(K + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"((K +7 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (s& +3 "core" &K \  +2 "manipulator"&r& +3 "core" & 8" +2 "manipulator"&3% +4 "core" %\ , "` +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 + "manipulator"&{( +153 "core" ( + "manipulator"&f& +5 "core" & x + "storage"(& +4 "core" &K\ #\ ' ]\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&'< +101 "core" ' +2 "storage"(& +4 "core" &K \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"('e +278 "core" ' + "storage"(|- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (& +3 "core" &K\ %\  \  +2 "manipulator"&p& +4 "core" &  +2 .tElbow.seek 6 + "manipulator"&Q( +4 "core" ( + "manipulator"&&& +4 "core" &  + "storage"(a& +4 "core" &K\ \ $\  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&C'Ϧ +21 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&7/ +53 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&8& +2 "storage"(0'N +7 "core" & J +2 "manipulator"&% +4 "core" % Ϣ  +2 .tForearm.seek :retract + "manipulator"&'\ +98 "core" ' +2 .tElbow.seek PC + "manipulator"&`(c +150 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +95 "core" ( +2 "manipulator"&& +4 "core" &f  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &+& +3 "core" &f +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&"'[ +94 "core" ' + "manipulator"&,& +4 "core" &f y +2 "manipulator"&% +4 "core" %^  +2 "processing"%4& +4 "core" &F\ +2 "processing"%>& +5 "core" &\ +2 .tPC.seek :closed + "processing"%9(Z +4 "core" &*\ +8 & ,\ #b +10 &`Wn\ 7 +9 &\ L +10 &t\\\ M +9 &5]\ M +9 &\\\ N +10 & ^\ M +9 &"|W\ M +9 &$=]r\ M +10 &%\\\ N +9 &'[\ M +10 &)]\ M +9 &+FX\ M +9 &-^\ M +10 &._\ M +9 &0\\\ N +10 &2N\\\ M +9 &4Z\ M +9 &5\\\ M +9 &7Y\ M +10 &9U[\ M +9 &;]\ N +10 &<ZW\ M +9 &>]Z\ N +9 &@]\\\ M +10 &B_\ M +9 &C]\ N +10 &E\\\ N +9 &Gcb-\ N +9 &I#l\ O +10 &J~Y\ Q +9 &L\ S +9 &N[\ S +10 &P\ S +9 &Q\ S +9 &S\ S +10 &Uc\ S +9 &W$\ T +10 &X\ T +9 &Z=Ip\ *| +9 &Z 4\ ( +6 ( + "processing"%>& +4 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.60 +2 .Hand.open + "manipulator"&1 +3 "core" &Z\ ( +53 1 + "manipulator"&;% +5 "core" % ^  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&h'\ +145 "core" ' +2 "processing"%\ & +4 "core" &Z\ ( +2 #tImaging generic puck in Processing Clamp while storing it to tube 6 + "manipulator"&% +4 "core" %\ ) } I + "storage"( % +4 "core" %E ;\  +2 "storage"(o. +3 "core" .(K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 + "storage"((K +5 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (:& +4 "core" &K g\  +3 "manipulator"&S& + ."raiseStack"SE.reconfigure :place +6 "storage"(#]kK-0-\ b +2 "core" &f Q +3 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +3 "storage"()'e +2 "manipulator"&2(c +5 "core" ( + "manipulator"&q& +4 "core" &f J +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &#& +4 "core" &f : +2 .tForearm.seek PC + "manipulator"&/'[ +98 "core" ' + .tHand.close +2 "manipulator"&=/ +54 "core" / +3 .tPC.seek :open +2 "processing"%[(p +85 "core" ' + "storage"( - +4 "core" -'e + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('B +45 "core" ' +250 ( + "storage"(O& +5 "core" &K\ \  %\  + "manipulator"&X& +4 "core" &f  +2 "manipulator"&'% +4 "core" % Y L +2 .tForearm.seek :retract + "manipulator"&F'\ +100 "core" ' +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&( +263 "core" ( +2 "manipulator"&]& +4 "core" & & + "storage"(<& +4 "core" &K \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&y'< +99 "core" ' + .tHand.open +2 "manipulator"&1 +62 "core" 1 +2 "storage"(1- +4 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate +2 "storage"((' +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.83 Pucks below Top Plate + "storage"(B' +53 "core" ' +2 #tLights, camera, ACTION! + "storage"(J- +4 "core" -' + "storage"(N& +4 "core" &K  * F\  +2 "manipulator"&& +4 "core" & % & +2 .tElbow.seek 6 + "manipulator"&\\( +4 "core" ( + "manipulator"&j& +4 "core" & n & +2 "storage"(c& +4 "core" &K @ @ r\  +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&W'< +21 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"(_'M +62 "core" ' +2 "manipulator"&H& +4 "core" & o p \ & +2 "storage"(k& +4 "core" &K\ \  h\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&Y'z +33 "core" ' + .tElbow.hold +2 "manipulator"&@, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate + "storage"(K'7 +24 "core" ' + "manipulator"&Z% +5 "core" %΁a    Ŵ + "storage"(.& +4 "core" &K M\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 307 counts + "manipulator"&6'ϭ +21 "core" ' + "manipulator"&D& +5 "core" & | v D & + "storage"(G& +4 "core" &K   \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&5'< +25 "core" ' +2 "storage"( % +4 "core" %>  \  +2 ."downElevator"SE.seek :down +4 "storage"(n'N +98 (P% +3 "core" %F \  B\ Wd +2 "manipulator"&% +4 "core" %_ r o +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&i'\ +92 "core" ' +57 ' + ."downElevator"SE.stop + "storage"(5 +3 (^& +4 "core" &K ]\  +2 "collection"'w& +3 "core" &]q  |\ P +2 #tStoring generic puck in Collection Clamp to tube 6 +2 "manipulator"&L% +4 "core" %\ - "a +2 "storage"(U% +3 "core" %[\ \ \ ~\  +2 "storage"(A. +3 "core" .(K + "storage"( & +4 "core" &K \  +2 "storage"(V& +4 "core" &K \  + "manipulator"&E& +4 "core" & & +2 .tElbow.seek 6 +2 "manipulator"&~( +3 "core" ( +2 "manipulator"&M& +4 "core" & & + "storage"(?& +4 "core" &K U\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&R'< +109 "core" ' + "storage"(& +5 "core" &K 3 , D\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(b'e +280 "core" ' +2 "storage"(d- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&& +3 "core" & | | & +2 "storage"(I& +4 "core" &K  # \\\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&l'z +32 "core" ' + .tElbow.hold +2 "manipulator"&e, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(- +3 "core" -' +2 .tSE.seek 0.12 Pucks below Top Plate +2 "storage"(t'o +29 "core" ' +2 "manipulator"&x% +4 "core" %Ύa  Ĵ +2 "storage"(z& +4 "core" &K T\  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 6 + 320 counts +2 "manipulator"&'Ϻ +22 "core" ' +2 "manipulator"&g& +4 "core" & y 1 $ +2 "storage"(-& +4 "core" &K   k\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&'< +19 "core" ' +2 .tSE.seek 1.12 Pucks below Top Plate +2 "storage"(v'^ +46 "core" ' +2 "manipulator"&$& +4 "core" & | } $ +2 "manipulator"&%% +4 "core" %5 r o +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&T'\ +90 "core" ' +2 .tElbow.seek CC + "manipulator"&*( +147 "core" ( +2 "manipulator"& & +4 "core" &#  ;6 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &s& +3 "core" &#  ;6 +2 .tForearm.seek CC +2 "manipulator"&r'| +95 "core" ' + .tHand.close +2 "manipulator"&3/ +59 "core" / +2 .tCC.seek :open +2 "collection"'m(p +410 "core" ( +2 "storage"(f& +4 "core" &K \\ [\  + "storage"(& +4 "core" &K \\ \\\  +2 "manipulator"&& +4 "core" & 8 + "manipulator"&% +4 "core" % y X  +2 .tForearm.seek :retract + "manipulator"&}'\ +93 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&!( +153 "core" ( + "manipulator"&|& +4 "core" &   +2 "storage"(& +4 "core" &K Z Y \  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 6 +2 "manipulator"&p'z +109 "core" ' + .tElbow.hold +2 "manipulator"&&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&a1 +52 "core" 1 +2 "manipulator"&7% +4 "core" % ΄r B ) + "storage"(8& +4 "core" &K\ \ \  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 6 + 310 counts +2 "manipulator"&'ϰ +16 "core" ' +2 "manipulator"&{& +5 "core" & w { 1 : + "storage"(& +4 "core" &K i j \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&'< +19 "core" ' +2 "storage"(C% +4 "core" %Z A\ +2 ."downElevator"SE.seek :down +4 "storage"('N +99 (+% +2 "core" %> i h U\ U^ +2 "manipulator"&Q% +4 "core" % o q  +2 .tForearm.reconfigure :loose +53 "manipulator"&#Q@2^d^b +4 .tForearm.seek :retract +2 "manipulator"&,'\ +86 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +3 "core" ' +2 #tShuffling pucks in tube 3 of [3..6] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"'& +4 "core" &  \ +2 "manipulator"&4% +4 "core" %\ - Z "\\ + "storage"(0% +4 "core" %M [ Z\  +2 "storage"(. +3 "core" .(K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 + "storage"(( +995 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (& +2 "core" & f\ +2 "manipulator"&;& +4 "core" & C : +2 .tElbow.seek 3 + "manipulator"&>(D +35 "core" ( +2 "manipulator"&\ & +4 "core" &J  +2 "storage"(& +4 "core" & \\ Z !\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"& ' +93 "core" ' + "storage"(o& +5 "core" & ?\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(:'e +282 "core" ' + "storage"(S- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (q& +2 "core" & [ W\ +2 "manipulator"&#& +4 "core" &J | }  + .tElbow.seek 3 +2 "manipulator"&"(D +4 "core" ( + "manipulator"&=& +4 "core" &J { | L  + "storage"(& +4 "core" & q r 8\ +2 .tForearm.seek 3 + 300 counts +3 "manipulator"& 'y +23 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&`/ +53 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&h& + "storage"(9'N +8 "core" &J o p   + "manipulator"&O% +4 "core" % z q p +2 .tForearm.seek :retract +2 "manipulator"&)'\ +91 "core" ' +2 .tElbow.seek CC + "manipulator"&X( +156 "core" ( +2 "manipulator"&'& +5 "core" &'  :0 + ' + ."downElevator"SE.stop +3 .tElbow.reconfigure :loose +2 "storage"(5 +3 "manipulator"&$ &.,(#b +3 &/& +3 "core" &' ` :0 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&]'| +107 "core" ' +3 "manipulator"&<& +4 "core" &# ~ :0 +2 "manipulator"&2% +4 "core" %q  +2 "collection"'& +4 "core" &  \ +2 "collection"'1& +5 "core" &  s\ +2 .tCC.seek :closed + "collection"'J(] +4 "core" &  o\  +9 &0  u\ +{ +9 &d  i\ ? +9 &J  h\ O +10 &`  q\ M +9 &e  l\ M +10 &g  s\ M +9 &!Te  m\ N +9 &#d  l\ N +10 &$c  c\ M +9 &&h  a\ N +9 &(\\h  ^\ N +10 &*c  ^\ N +9 &+_  `\ M +10 &-f  [\ N +9 &/dc  a\ N +9 &1'e  b\ M +10 &2e  ^\ N +9 &4e  U\ N +9 &6lc  ]\ N +10 &80_  c\ M +9 &9e  g\ M +10 &;`  ^\ M +9 &=ub  c\ M +9 &?7a  `\ M +10 &@c  c\ N +9 &Bb  a\ N +9 &D}d  h\ M +10 &F>f  h\ N +9 &Gj  f\ N +10 &It  a\ P +9 &Kx  d\ R +9 &M0  h\ U +10 &N  i\ W +9 &P  j\ W +9 &Rm  i\ X +10 &T,  e\ Y +9 &U  i\ Z +10 &W  e\ [\ +9 &Yi  h\ \\ +9 &[*  l\ ] +10 &\\|  k\ 3 +9 &]!  i\ , +9 &]  m\ $h +3 ( + "collection"'1& +4 #tCollection Clamp onSpring/offSpring for 9/25 samples, on/off torque 1.96 + .Hand.open + "manipulator"&N1 +54 "core" 1 + "manipulator"&% +5 "core" % q  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&j'\ +98 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%c& +5 "core" &\ + "manipulator"&F% +4 "core" %\ 6 E & +2 "storage"(H% +4 "core" %T \  + "storage"(k. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 + "storage"(( +30 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (Z& +2 "core" & z z \  +2 "manipulator"&.& +4 "core" &  8! + "manipulator"&(% +4 "core" %\ 6 & +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&D(D +165 "core" ( + "manipulator"&G& +5 "core" &? "  + "storage"( & +4 "core" & 6\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&' +96 "core" ' + "storage"(y& +4 "core" &\ \  R\  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(B'e +284 "core" ' +2 "storage"(P- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" & e\  +2 "manipulator"&W& +4 "core" &? q p  +2 .tElbow.seek 3 + "manipulator"&\\(D +4 "core" ( + "manipulator"&_& +4 "core" &? q v 1  + "storage"(Y& +4 "core" & K\  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&6'y +19 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&^/ +63 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"&w& "storage"(L'N +8 "core" &? o p   +2 "manipulator"&U% +3 "core" % q o q +2 .tForearm.seek :retract +2 "manipulator"&A'\ +89 "core" ' +2 .tElbow.seek PC +2 "manipulator"& (c +161 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +86 "core" ( + "manipulator"&K& +4 "core" &k s L +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &V& +3 "core" &k  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC + "manipulator"&E'[ +95 "core" ' +2 "manipulator"&M& +4 "core" &k . +2 "manipulator"&?% +4 "core" %c  + "processing"%5& +4 "core" &\ +2 "processing"%& +5 "core" &=\ +2 .tPC.seek :closed +2 "processing"%n(Z +4 "core" &Q\  +10 &0~\ *x +9 &c\ > +9 &>x\ N +10 &\\\ M +9 &]Y\ N +10 &W_\ M +9 &!F^\ M +9 &# V\ M +10 &$[\ M +9 &&]\ N +9 &(NZ\ M +10 &*Z"\ M +9 &+[\ M +10 &-Y\ M +9 &/U\\\ N +9 &1\\Q\ M +10 &2Z\ M +9 &4X\ M +9 &6^]\ M +10 &8]\ N +9 &9\\\ N +10 &;\\\ N +9 &=f\\\ M +9 &?)\\\ M +10 &@^\ N +9 &B_\ M +9 &Dn^\ M +10 &F/[\ N +9 &Gc\ N +10 &In\ O +9 &Klx\ Q +9 &M(W\ S +10 &N\ T +9 &P\ S +9 &Rl\ S +10 &T.\ S +9 &U\ T +9 &W\ T +10 &Ys\ A +9 &ZzA\ U +10 &Z\ ( +2 ( +2 "processing"%& +3 #tProcessing Clamp onSpring/offSpring for 9/25 samples, on/off torque 1.58 + .Hand.open + "manipulator"&@1 +63 "core" 1 +2 "manipulator"&i% +4 "core" % c +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&d'\ +93 "core" ' + "processing"%& +4 "core" &Z\ ( +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&I% +4 "core" %\ ' f B +2 "storage"(% +4 "core" %X \  + "storage"(x. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 + "storage"(z( +9 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (g& +5 "manipulator"&-& +2 "core" & 9 \ $ +4 ."raiseStack"SE.reconfigure :place +3 "storage"(#]kK-0-\ b +3 "core" &k b +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +3 ."raiseStack"SE.seek :beamBreak +2 "manipulator"&$(c + "storage"(%'e +5 "core" ( +2 "manipulator"&R& +4 "core" &k @ + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &~& +3 "core" &k P +2 .tForearm.seek PC +2 "manipulator"&b'[ +99 "core" ' +2 .tHand.close + "manipulator"&l/ +55 "core" / +2 .tPC.seek :open + "processing"%(p +91 "core" ' +2 "storage"(t- +3 "core" -'e +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"( 'B +36 "core" ' +254 ( +2 "storage"(s& +4 "core" & k\ ( + "manipulator"&& +4 "core" &k +2 "manipulator"&e% +3 "core" % m +2 .tForearm.seek :retract +2 "manipulator"&3'\ +102 "core" ' +53 .tElbow.reconfigure :tight +4 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&T(D +252 "core" ( + "manipulator"&u& +4 "core" &: l # +2 "storage"(f& +4 "core" & \ ( +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&' +98 "core" ' + .tHand.open +2 "manipulator"&1 +59 "core" 1 +2 "storage"(- +4 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate +2 "storage"(|' +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(' +54 "core" ' +2 #tLights, camera, ACTION! + "storage"(r- +4 "core" -' +2 "storage"(*& +4 "core" & 6\ + +2 "manipulator"&a& +4 "core" &: ^ # +2 .tElbow.seek 3 + "manipulator"&7(D +4 "core" ( +2 "manipulator"&8& +4 "core" &: h # +2 "storage"({& +4 "core" & \ + +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&' +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"(C'M +62 "core" ' +2 "manipulator"&}& +4 "core" &:  # +2 "storage"(+& +4 "core" & '\ + +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&Q'M +34 "core" ' +2 .tElbow.hold + "manipulator"&!, +5 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"(p'7 +23 "core" ' +2 "manipulator"&% +4 "core" %JO   į +2 "storage"(& +4 "core" & z { ?\ + +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 297 counts + "manipulator"&4'v +17 "core" ' +2 "manipulator"&0& +4 "core" &b\ | s , W +2 "storage"(& +5 "core" & e\ + +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&v' +18 "core" ' +2 "storage"(% +4 "core" %?\ \ ' \ +2 ."downElevator"SE.seek :down +4 "storage"('N +99 (% +2 "core" %p? \ Va +2 "manipulator"&% +4 "core" % y r E  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&;'\ +102 "core" ' +55 ' + ."downElevator"SE.stop + "storage"(5 +3 (\ & +4 "core" & N\ + + "collection"'& +4 "core" &]  V\ $h +2 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&o% +4 "core" %\ -  +2 "storage"(&% +4 "core" %R \  \  + "storage"(,. +3 "core" .( +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(S( +6 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (q& +2 "core" &p x\ $ +2 "manipulator"&#& +4 "core" &b\ Z W +2 .tElbow.seek 3 + "manipulator"&=(D +26 "core" ( + "manipulator"&& +5 "core" &M l F u + "storage"(`& +4 "core" &\ \ \ & +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&h' +96 "core" ' +2 "storage"(O& +4 "core" &\ \ f\ & +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(>'e +283 "core" ' +2 "storage"( - +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&'& +3 "core" &M m f & u + "storage"(/& +4 "core" & 8\ , +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&:'M +36 "core" ' + .tElbow.hold +2 "manipulator"& , +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(<- +2 "core" -' +3 .tSE.seek 0.11 Pucks below Top Plate + "storage"("'i +26 "core" ' +2 "manipulator"&2% +4 "core" %QN   W ï + "storage"(& +4 "core" & Z\ , +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 304 counts + "manipulator"&9'} +16 "core" ' +2 "manipulator"&)& +4 "core" &M w r  u +2 "storage"(m& +4 "core" & \  '\ , +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&N' +18 "core" ' +2 .tSE.seek 1.11 Pucks below Top Plate +2 "storage"('X +49 "core" ' +2 "manipulator"&c& +4 "core" &M p p u +2 "manipulator"&F% +4 "core" % m \\ y  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&H'\ +91 "core" ' +2 .tElbow.seek CC + "manipulator"&k( +156 "core" ( +2 "manipulator"&1& +4 "core" &# ; :1 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &Z& +3 "core" &# ; :1 +2 .tForearm.seek CC +2 "manipulator"&.'| +94 "core" ' + .tHand.close +2 "manipulator"&(/ +58 "core" / +2 .tCC.seek :open + "collection"'](p +411 "core" ( + "storage"(G& +4 "core" & [ >\ , +2 "storage"( & +4 "core" & ; 8 N\ , + "manipulator"&& +4 "core" & # :+ + "manipulator"&y% +4 "core" % φ +2 .tForearm.seek :retract +2 "manipulator"&X'\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&j(D +173 "core" ( +2 "manipulator"&P& +4 "core" &> ~ 5 o +2 "storage"(& +3 "core" & \\ \\\ , +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 +2 "manipulator"&W'M +108 "core" ' +2 .tElbow.hold + "manipulator"&_, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&Y1 +57 "core" 1 +3 "manipulator"&^% +4 "core" % Jp $ +2 "storage"(w& +4 "core" &\ \ \ , + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 297 counts + "manipulator"&U'v +17 "core" ' +2 "manipulator"&D& +4 "core" & ` v - * +2 "storage"(& +4 "core" & l {\ , +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&B' +22 "core" ' +2 "storage"(6% +4 "core" %\\ i\ +3 ."downElevator"SE.seek :down +3 "storage"(K'N +100 (V% +3 "core" %; Y d\ U] + "manipulator"&\\% +4 "core" % q p  / +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&M'\ +87 "core" ' +55 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 4 of [3..6] +2 #Loading generic puck from tube 4 into Collection Clamp + "collection"'?& +4 "core" &  \ +2 "manipulator"&5% +4 "core" %\ &  = + "storage"(L% +4 "core" %Q u w ,\  +2 "storage"(A. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 + "storage"([(, +342 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (@& +3 "core" &,   K\  + "manipulator"&i& +4 "core" &  * +2 .tElbow.seek 4 +2 "manipulator"&(* +18 "core" ( + "manipulator"&I& +4 "core" &+ 8 +2 "storage"(& +4 "core" &, ^ j /\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&x' +101 "core" ' +2 "storage"(& +4 "core" &,  \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(g'e +282 "core" ' +2 "storage"(-- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (R& +2 "core" &, Z X\  +2 "manipulator"&~& +4 "core" &+ y +2 .tElbow.seek 4 +2 "manipulator"&E(* +3 "core" ( + "manipulator"&l& +4 "core" &+  +2 "storage"(& +4 "core" &, Y Y\  +52 .tForearm.seek 4 + 300 counts +3 "manipulator"&t'Z +30 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"& / +64 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&d& + "storage"(n'N +8 "core" &+ n q  +2 "manipulator"&s% +4 "core" % p o p  +2 .tForearm.seek :retract +2 "manipulator"&'\ +95 "core" ' + .tElbow.seek CC +2 "manipulator"&%( +154 "core" ( +3 "manipulator"&e& +4 "core" ' + &% ~ <: + ."downElevator"SE.stop +3 .tElbow.reconfigure :loose +2 "storage"(5 +4 "manipulator"&$ &.,(#b +2 &b& +3 "core" &% J <: +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&u'| +109 "core" ' +2 "manipulator"&f& +4 "core" &%  <: +2 "manipulator"&$% +4 "core" %z  +2 "collection"'& +4 "core" & v\ +2 "collection"'& +5 "core" &  \ +2 .tCC.seek :closed +2 "collection"'r(] +4 "core" &  x\  +10 &0  z\ +{ +9 &d  r\ ? +10 &S~  o\ N +9 &a  t\ M +9 &e  u\ N +10 &g  w\ N +9 &!]d  o\ M +9 &#i  j\ N +10 &$a  f\ M +9 &&c  f\ N +10 &(fb  n\ M +9 &*'e e\ M +9 &+d  d\ M +10 &-c  a\ N +9 &/mc ^\ M +9 &1/g  c\ M +10 &2d  a\ M +9 &4d  i\ M +10 &6ue  Y\ M +9 &87e  c\ M +9 &9b  c\ M +10 &;_ g\ M +9 &=}c  a\ M +9 &?>_  c\ N +10 &Ae  m\ N +9 &Ba  d\ M +9 &D_  c\ M +10 &FGe  e\ M +9 &He  d\ N +10 &In  c\ O +9 &Ku  _\ P +9 &M?  g\ S +10 &N  g\ W +9 &P  c\ X +10 &Rw  c\ X +9 &T6  c\ Y +9 &U  i\ Y +10 &W  d\ Z +9 &Yr  d\ \\ +9 &[6  e\ [ +10 &\\z  f\ 1 +9 &]$  e\ 'r +9 ( +3 "collection"'& +3 #tCollection Clamp onSpring/offSpring for 9/25 samples, on/off torque 1.90 + .Hand.open + "manipulator"&*1 +4 "core" &]  g\ "c +58 1 +2 "manipulator"&a% +4 "core" % z ` +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&8'\ +98 "core" ' +2 #tLoading generic puck from tube 4 into Processing Clamp + "processing"%{& +4 "core" &\ +2 "manipulator"&3% +4 "core" %\ 6 c & + "storage"(}% +4 "core" %S C\  +2 "storage"(+. +3 "core" .(, +2 "storage"( & +3 "core" &, \  +2 "storage"(& +4 "core" &, \  + "manipulator"&& +4 "core" &$ Z ;3 +2 "manipulator"&|% +3 "core" %\ 6 U & +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&0(* +158 "core" ( + "manipulator"&& +4 "core" &,  +2 "storage"(& +4 "core" &, Y\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&T' +95 "core" ' + "storage"(& +5 "core" &,\ \  /\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('e +282 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (& +3 "core" &, f\  +2 "manipulator"&& +4 "core" &, p p  + .tElbow.seek 4 +2 "manipulator"&7(* +3 "core" ( +2 "manipulator"&C& +3 "core" &, t z   +2 "storage"(Q& +4 "core" &, P\  +2 .tForearm.seek 4 + 300 counts + "manipulator"&4'Z +24 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&\ / +57 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"(o'N +8 "core" &, n p   + "manipulator"&&% +4 "core" % ^ o o +2 .tForearm.seek :retract +2 "manipulator"&p'\ +89 "core" ' +2 .tElbow.seek PC + "manipulator"&,(c +161 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +87 "core" ( +2 "manipulator"&q& +4 "core" &_ s +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &#& +3 "core" &_ G +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&'[ +92 "core" ' +2 "manipulator"&`& +4 "core" &_  +2 "manipulator"&v% +4 "core" %Z  +2 "processing"%O& +4 "core" &;\ +2 "processing"%& +6 "core" &\ +2 .tPC.seek :closed +3 "processing"%z(Z +3 "core" &\ +6 &\ 3 +9 &E}\ 0 +10 &1r_\ E +9 &c]\ M +9 &[\ N +10 &Y\\\ N +9 & \\\ M +10 &!W\ M +9 &#[(\ N +9 &%a[*\ N +10 &'$\\\ M +9 &(]\ M +9 &*Z\ N +10 &,j\\\ M +9 &.,Y\ M +10 &/Y\ M +9 &1\\\ M +9 &3r\\\ M +10 &54Z\ M +9 &6Y\ M +9 &8_\ M +10 &:yZ\ N +9 &<<Z\ M +10 &=Z\ M +9 &?Y\ M +9 &A`\ M +10 &CD_\ M +9 &E]\ N +9 &Fe\ N +10 &Hk\ O +9 &JC{\ P +10 &K\ S +9 &M\ S +9 &O\ T +10 &QB\ S +9 &St\ S +9 &Tq\ S +10 &V\ T +9 &XG\ T +10 &Y{wi\ + +9 &Z&c\ / +9 ( +3 "processing"%& +3 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.57 + .Hand.open + "manipulator"&!1 +4 "core" &Z\ ( +55 1 + "manipulator"&;% +4 "core" % Z  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"& '\ +91 "core" ' +2 "processing"%'& +4 "core" &Z\ ( +2 #tImaging generic puck in Processing Clamp while storing it to tube 4 + "manipulator"&/% +4 "core" %\ ' Q A + "storage"(<% +4 "core" %K N\  +2 "storage"(2. +3 "core" .(, +2 "storage"(& +3 "core" &, D\  +2 "storage"()& +3 "manipulator"&m& +7 "core" &, G\  +2 &_ B +3 ."raiseStack"SE.reconfigure :place +2 .tElbow.reconfigure :tight +4 "storage"(#]kK-0-\ b +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +3 ."raiseStack"SE.seek :beamBreak +3 "manipulator"&c(c + "storage"(F'e +6 "core" ( + "manipulator"&h& +4 "core" &_  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &=& +4 "core" &_ K +2 .tForearm.seek PC + "manipulator"&>'[ +101 "core" ' +2 .tHand.close + "manipulator"&:/ +54 "core" / +2 .tPC.seek :open + "processing"%9(p +86 "core" ' +5 "storage"("- +4 "core" -'e + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(1'B +34 "core" ' +257 ( + "storage"(Z& +5 "core" &, \  + "manipulator"&N& +4 "core" &_  + "manipulator"& % +4 "core" % `  +2 .tForearm.seek :retract +2 "manipulator"&('\ +100 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&H(* +256 "core" ( +2 "manipulator"&J& +4 "core" &. # +2 "storage"(G& +3 "core" &, P\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"& ' +93 "core" ' + .tHand.open +2 "manipulator"&1 +52 "core" 1 +2 "storage"(y- +3 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate +2 "storage"(P' +33 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(' +53 "core" ' +2 #tLights, camera, ACTION! + "storage"(.- +4 "core" -' + "storage"(k& +4 "core" &, V\  +2 "manipulator"&Y& +4 "core" &/  # +2 .tElbow.seek 4 + "manipulator"&^(* +4 "core" ( + "manipulator"&w& +4 "core" &/ # + "storage"(D& +4 "core" &, ' %\  +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&' +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.11 Pucks below Top Plate + "storage"(6'M +63 "core" ' +2 "manipulator"&X& +4 "core" &/  # +2 "storage"(V& +4 "core" &, +\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&\\'. +34 "core" ' +2 .tElbow.hold + "manipulator"&j, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"(W'7 +56 "core" ' +3 "manipulator"&?% +5 "core" %@] ij + "storage"(U& +4 "core" &, x z \  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 4 + 318 counts + "manipulator"&5'l +17 "core" ' + "manipulator"&L& +5 "core" &3 { x , # +2 "storage"(A& +4 "core" &, \  \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&' +18 "core" ' +2 "storage"(B% +4 "core" %>\ \ \  +2 ."downElevator"SE.seek :down +4 "storage"(K'N +99 (S% +3 "core" %~D \ Wd +2 "manipulator"&@% +4 "core" % | {  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&i'\ +90 "core" ' +56 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (I& +4 "core" &, \  +2 "collection"'& +4 "core" &]  h\ "c +2 #tStoring generic puck in Collection Clamp to tube 4 + "manipulator"&% +4 "core" %\ - "^ +2 "storage"(_% +4 "core" %O \  + "storage"(M. +4 "core" .(, + "storage"(-& +4 "core" &, O\  + "storage"(R& +4 "core" &, c\  +2 "manipulator"&~& +4 "core" &4 # + .tElbow.seek 4 +2 "manipulator"&l(* +3 "core" ( +2 "manipulator"&& +4 "core" &4 # + "storage"( & +4 "core" &, @\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&d' +92 "core" ' +2 "storage"(s& +4 "core" &, \  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"('e +282 "core" ' + "storage"(x- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&e& +3 "core" &: ' "y +2 "storage"(b& +4 "core" &, E\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&g'. +33 "core" ' + .tElbow.hold +2 "manipulator"&t, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(f- +2 "core" -' +3 .tSE.seek 0.12 Pucks below Top Plate + "storage"(E's +36 "core" ' + "manipulator"&$% +5 "core" %Be   [ õ + "storage"(& +4 "core" &, z { \  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 4 + 320 counts +2 "manipulator"&n'n +16 "core" ' +2 "manipulator"&& +4 "core" &6 r w 8 "} +2 "storage"(]& +4 "core" &, ]\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&*' +19 "core" ' +2 .tSE.seek 1.12 Pucks below Top Plate +2 "storage"(a'b +48 "core" ' +2 "manipulator"&{& +4 "core" &6 n o ' "} +2 "manipulator"&3% +4 "core" % s y 5  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&}'\ +95 "core" ' +2 .tElbow.seek CC +2 "manipulator"&+( +148 "core" ( + "manipulator"&& +5 "core" &% h << + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 & & +3 "core" &%  << +2 .tForearm.seek CC + "manipulator"&'| +96 "core" ' + .tHand.close +2 "manipulator"&/ +52 "core" / + .tCC.seek :open +2 "collection"'|(p +410 "core" ( +2 "storage"(u& +4 "core" &, \\ J \ \  +2 "storage"(& +3 "core" &, 7 7 <\  +2 "manipulator"&& +3 "core" & 8 +2 "manipulator"&% +70 "core" % r +2 .tForearm.seek :retract + "manipulator"&%'\ +94 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&8(* +158 "core" ( + "manipulator"&& +5 "core" &5   + "storage"(& +4 "core" &, Z Y /\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 4 +2 "manipulator"&'. +112 "core" ' + .tElbow.hold +2 "manipulator"&C, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&Q1 +52 "core" 1 +2 "manipulator"&\ % +4 "core" % >e G +2 "storage"(& +4 "core" &,\ \  ]\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 316 counts + "manipulator"&&'j +15 "core" ' + "manipulator"&0& +5 "core" & ^ v ,  + "storage"(T& +4 "core" &, j i g\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&' +18 "core" ' +2 "storage"(4% +4 "core" %f T\ +3 ."downElevator"SE.seek :down +4 "storage"(q'N +99 (#% +3 "core" %> j t \ U] +2 "manipulator"&7% +5 "core" % o p +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&`'\ +97 "core" ' +46 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 5 of [3..6] + #Loading generic puck from tube 5 into Collection Clamp + "collection"'v& +5 "core" &  \ + "manipulator"&O% +4 "core" %\ 5 & +2 "storage"(o% +4 "core" %R Z [\  + "storage"(p. +4 "core" .(, + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"((<< +354 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (!& +3 "core" &<;\ &\  I\  +2 "manipulator"&;& +3 "core" & T  +2 .tElbow.seek 5 +2 "manipulator"&'( +3 "core" ( +2 "manipulator"&/& +3 "core" &  +2 "storage"(<& +3 "core" &<; ^ d\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&2' +98 "core" ' + "storage"(& +5 "core" &<: k q \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(m'e +293 "core" ' +2 "storage"()- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +2 "core" &<: Z [\  +2 "manipulator"&h& +4 "core" &  +2 .tElbow.seek 5 +2 "manipulator"&=( +3 "core" ( +2 "manipulator"&& +4 "core" &   + "storage"(:& +4 "core" &<: o t \  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&"'[ +21 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&,/ +64 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"& & +2 "storage"(z'N +8 "core" & o p   + "manipulator"&Z% +4 "core" % Z r q  +2 .tForearm.seek :retract +2 "manipulator"&N'\ +88 "core" ' +2 .tElbow.seek CC +2 "manipulator"&F( +152 "core" ( +2 "manipulator"& & +4 "core" &! :* +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 "core" ' + "manipulator"&>& +4 ."downElevator"SE.stop +2 "storage"(5 +3 "core" &# :* +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&J'| +102 "core" ' +2 "manipulator"&G& +4 "core" &# :* +2 "manipulator"&c% +4 "core" %ς +2 "collection"'& +3 "core" &  y\ +3 "collection"'y& +6 "core" &  \ +3 .tCC.seek :closed + "collection"'.(] +5 "core" &  x\ +6 & 7  w\ %f +10 &hV  s\ 8 +9 &  t\ L +10 &}`  x\ M +9 &?c  x\ M +9 &g  v\ N +10 & f  n\ N +9 &"b  p\ N +9 &$F`  v\ M +10 &&g  k\ M +9 &'`  o\ M +10 &)a  n\ M +9 &+Nb  b\ M +9 &-c  ]\ M +10 &.c  m\ N +9 &0e  g\ N +9 &2Vb  m\ M +10 &4b  a\ M +9 &5e  h\ M +10 &7c  `\ M +9 &9]b  f\ N +9 &;!b  e\ M +10 &<b  e\ M +9 &>d  \\\ M +9 &@fd  a\ M +10 &B(e  e\ M +9 &C_  e\ M +10 &Eb  Z\ M +9 &Gmd  d\ N +9 &I+n  Y\ O +10 &J~  b\ P +9 &L  b\ U +9 &NZ  g\ W +10 &P  ]\ X +9 &Q  _\ X +10 &S  ^\ X +9 &UZ  d\ Z +9 &W  b\ Z +10 &X  e\ [ +9 &Z  d\ \\ +9 &\\^  _\ H +10 &]\\9  b\ 0 +9 &]  ^\ ^ +2 ( +2 "collection"'y& +3 #tCollection Clamp onSpring/offSpring for 10/26 samples, on/off torque 1.97 +2 .Hand.open + "manipulator"&k1 +54 "core" 1 + "manipulator"&Y% +4 "core" % x ) +2 .tForearm.reconfigure :loose +54 "manipulator"&#Q@2^d^b +4 .tForearm.seek :retract +2 "manipulator"&w'\ +95 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp + "processing"%D& +5 "core" &[\ + "manipulator"&(% +4 "core" %\ - "] +2 "storage"(X% +3 "core" %T \  +2 "storage"(V. +4 "core" .(<9 + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"(1(<< +3 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (P& +3 "core" &<; V\  +2 "manipulator"&?& +4 "core" & 8 +2 "manipulator"&U% +4 "core" %\ - "] +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&L( +156 "core" ( +2 "manipulator"&A& +4 "core" &   +2 "storage"(H& +4 "core" &<; L\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&B' +99 "core" ' +2 "storage"( & +4 "core" &<;\ \ \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"('e +281 "core" ' + "storage"(S- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (& +3 "core" &<; \  +2 "manipulator"&@& +4 "core" &   +2 .tElbow.seek 5 + "manipulator"&^( +4 "core" ( + "manipulator"&6& +4 "core" & '  + "storage"(\\& +4 "core" &<; \  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&I'[ +10 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&5/ +56 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"('N +8 "core" &   + "manipulator"&_% +5 "core" % X   +2 .tForearm.seek :retract +2 "manipulator"&M'\ +96 "core" ' +2 .tElbow.seek PC + "manipulator"&-(c +158 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +78 "core" ( +2 "manipulator"&W& +4 "core" &m H + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &R& +3 "core" &m L H +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&~'[ +101 "core" ' +2 "manipulator"&& +4 "core" &m  H +2 "manipulator"& % +4 "core" %c ) +2 "processing"%& +4 "core" &\ +2 "processing"%s& +5 "core" &=\ +2 .tPC.seek :closed + "processing"%K(Z +5 "core" &\ \ +9 &0|\ )w +9 &c\ > +9 &=w\ N +10 &V\ M +9 &\\\ N +9 &Z\ N +10 &!E\\\ N +9 &#Z[\ M +10 &$Wb\ M +9 &&Y\ M +9 &(N\\$\ M +10 &*[\ N +9 &+Z\ M +9 &-Yn\ M +10 &/U]\ N +9 &1[\ N +10 &2[\ N +9 &4Z\ M +9 &6^\\\ M +10 &8\\\ N +9 &9Z\ N +9 &;[\ M +10 &=fX\ M +9 &?)[\ M +10 &@]\ N +9 &B]\ M +9 &Dm\\\ N +10 &F/_\ N +9 &Gh\ O +9 &Ip\ O +10 &Ki\ R +9 &M%\ T +10 &NZ\ T +9 &P\ T +9 &Rm\ S +10 &T,\ T +9 &U&\ T +9 &W]\ T +10 &Yr\ A +9 &Z}DY\ W +9 &Z\ ' +3 ( + "processing"%s& +4 #tProcessing Clamp onSpring/offSpring for 9/25 samples, on/off torque 1.63 + .Hand.open + "manipulator"&j1 +60 "core" 1 +2 "manipulator"&i% +4 "core" % c +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&x'\ +95 "core" ' +2 "processing"%e& +4 "core" &Z\ ' +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 + "manipulator"&b% +4 "core" %\ '  B +2 "storage"(f% +4 "core" %U {\  + "storage"($. +3 "core" .(<< +2 "storage"(& +3 "core" &<; ]\  +2 "storage"(& +5 "manipulator"&]& +4 "core" &<; 1\  + &m  H +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +3 "storage"(#]kK-0-\ b +2 "manipulator"&{(c +7 ."raiseStack"SE.seek :beamBreak +2 "storage"(3'e +2 "core" ( +2 "manipulator"&d& +4 "core" &m  H +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &l& +3 "core" &m  H +2 .tForearm.seek PC +2 "manipulator"&'[ +95 "core" ' +2 .tHand.close + "manipulator"&g/ +55 "core" / +2 .tPC.seek :open +2 "processing"%n(p +99 "core" ' +2 "storage"(E- +4 "core" -'e + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('B +35 "core" ' +245 ( +2 "storage"( & +4 "core" &<; l\  +2 "manipulator"&*& +3 "core" &m  H +2 "manipulator"&t% +4 "core" % Z  +2 .tForearm.seek :retract + "manipulator"&'\ +99 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&}( +252 "core" ( +2 "manipulator"&r& +4 "core" & # +2 "storage"(u& +3 "core" &<; \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&' +101 "core" ' + .tHand.open + "manipulator"&1 +62 "core" 1 +2 "storage"(- +3 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate +2 "storage"(' +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(' +55 "core" ' +2 #tLights, camera, ACTION! + "storage"(- +4 "core" -' + "storage"(+& +4 "core" &<; S\  +2 "manipulator"&Q& +4 "core" & # + .tElbow.seek 5 +2 "manipulator"&\ ( +4 "core" ( + "manipulator"&& +4 "core" & # +2 "storage"(0& +3 "core" &<; 3\  +3 .tForearm.seek 5 + 450 counts + "manipulator"&T' +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"(4'M +61 "core" ' + "manipulator"&%& +5 "core" & \ # + "storage"(#& +4 "core" &<; \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 5 + "manipulator"&7'/ +33 "core" ' +2 .tElbow.hold + "manipulator"&8, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"('7 +26 "core" ' +3 "manipulator"&v% +4 "core" %9W   ű +2 "storage"(&& +4 "core" &<; y x 6\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 310 counts + "manipulator"&O'e +16 "core" ' + "manipulator"&o& +5 "core" & v { & # + "storage"(p& +4 "core" &<; \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&a' +19 "core" ' + "storage"(% +5 "core" %A\ '\  C\ +2 ."downElevator"SE.seek :down +3 "storage"(q'N +99 ([% +3 "core" %? 0\ Vb +2 "manipulator"&!% +4 "core" % y r z +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&;'\ +90 "core" ' +63 ' + ."downElevator"SE.stop + "storage"(5 +3 (/& +4 "core" &<; =\  + "collection"'<& +4 "core" &]  f\ ^ +2 #tStoring generic puck in Collection Clamp to tube 5 + "manipulator"&% +4 "core" %\ ' < +2 "storage"(C% +4 "core" %X F\  + "storage"(`. +3 "core" .(<< +2 "storage"()& +4 "core" &<; a\  + "storage"(& +4 "core" &<; i\  +2 "manipulator"&h& +4 "core" & } # +2 .tElbow.seek 5 + "manipulator"&( +4 "core" ( + "manipulator"&:& +4 "core" &  # + "storage"(,& +4 "core" &<; ?\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"& ' +102 "core" ' +2 "storage"(Z& +4 "core" &<; a\  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(''e +285 "core" ' + "storage"(2- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +2 "manipulator"& & +56 "core" &  # +2 "storage"(>& +4 "core" &<; B\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 5 + "manipulator"&m'/ +34 "core" ' + .tElbow.hold +2 "manipulator"&", +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(G- +3 "core" -' +2 .tSE.seek 0.12 Pucks below Top Plate +2 "storage"(c'r +28 "core" ' +2 "manipulator"&% +4 "core" %4O   Ư +2 "storage"(=& +4 "core" &<; { w %\  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 5 + 305 counts +2 "manipulator"&z'` +15 "core" ' +3 "manipulator"&N& +4 "core" & w | B "} +2 "storage"(|& +3 "core" &<; \ \ \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&k' +19 "core" ' +2 .tSE.seek 1.12 Pucks below Top Plate +2 "storage"(Y'a +49 "core" ' + "manipulator"&y& +5 "core" & s z  "} +2 "manipulator"&D% +4 "core" % o n % +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&('\ +91 "core" ' + .tElbow.seek CC +2 "manipulator"&X( +145 "core" ( + "manipulator"&V& +5 "core" &! 6 9' + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &P& +3 "core" && $ 9' +2 .tForearm.seek CC +2 "manipulator"&?'| +95 "core" ' +2 .tHand.close + "manipulator"&U/ +60 "core" / + .tCC.seek :open +2 "collection"'J(p +410 "core" ( +2 "storage"(A& +4 "core" &<; \\ \\\  +2 "storage"(H& +3 "core" &<; 7 8 \  +2 "manipulator"&& +3 "core" & 5 +2 "manipulator"& % +4 "core" % φ +2 .tForearm.seek :retract + "manipulator"&F'\ +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&w( +159 "core" ( +2 "manipulator"&S& +4 "core" & V  + "storage"(& +4 "core" &<; g g k\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 5 + "manipulator"&@'/ +112 "core" ' +2 .tElbow.hold + "manipulator"&6, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&\\1 +56 "core" 1 +2 "manipulator"&5% +4 "core" % >h G + "storage"(& +4 "core" &<; \ O\  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 5 + 315 counts +2 "manipulator"&_'j +18 "core" ' + "manipulator"&L& +4 "core" & ^ v C  +2 "storage"(B& +4 "core" &<; { \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&' +23 "core" ' + "storage"(I% +5 "core" %g | \\\ +2 ."downElevator"SE.seek :down +4 "storage"(W'N +98 (R% +4 "core" %B ` u u\ U] +2 "manipulator"&^% +4 "core" % p q  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +98 "core" ' +50 ' + ."downElevator"SE.stop +2 "storage"(5 +2 #tShuffling pucks in tube 6 of [3..6] +2 #Loading generic puck from tube 6 into Collection Clamp +2 "collection"' & +5 "core" &  \ + "manipulator"&% +4 "core" %\ 8 ' +2 "storage"(% +3 "core" %S Y d\  +2 "storage"(M. +3 "core" .(<< +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 + "storage"(9(K +351 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (j& +3 "core" &K\ \  d\  +2 "manipulator"&i& +4 "core" &  + .tElbow.seek 6 +2 "manipulator"&e( +21 "core" ( + "manipulator"&b& +4 "core" &\ [ +2 "storage"(f& +4 "core" &K Z \\\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&$'< +117 "core" ' + "storage"(& +5 "core" &K z j\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(s'e +293 "core" ' + "storage"(]- +21 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" &K \\ \\\  +2 "manipulator"&d& +3 "core" &\  [ +2 .tElbow.seek 6 +2 "manipulator"&l( +3 "core" ( +2 "manipulator"&~& +3 "core" &\ B [ +2 "storage"(g& +4 "core" &K Y Y\  +2 .tForearm.seek 6 + 300 counts + "manipulator"&E'Ϧ +10 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&-/ +61 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&x& +2 "storage"(K'N +8 "core" &\ J [ + "manipulator"& % +4 "core" % ϝ D ( +2 .tForearm.seek :retract +2 "manipulator"&*'\ +97 "core" ' +2 .tElbow.seek CC +2 "manipulator"&t( +150 "core" ' + ( +2 ."downElevator"SE.stop +2 "manipulator"&3& + "storage"(5 +8 "core" &$ ;3 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &# Q ;3 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&r'| +103 "core" ' +2 "manipulator"&u& +4 "core" &# A :1 +2 "manipulator"&{% +4 "core" %u P +2 "collection"'& +4 "core" &  \ +2 "collection"'& +5 "core" & \ +3 .tCC.seek :closed + "collection"'(] +4 "core" &  w\ +8 & 5  {\ %f +10 &dT  t\ 7 +9 &  s\ L +9 &qb  z\ N +10 &5c  o\ M +9 &f  x\ M +9 & d  y\ M +10 &"yf  z\ N +9 &$<e  t\ M +10 &%c  w\ N +9 &'b  u\ N +9 &)c  n\ M +10 &+D`  r\ M +9 &-b  s\ M +9 &.b  n\ M +10 &0c  j\ M +9 &2Kg  p\ N +10 &4d  s\ M +9 &5e  e\ M +9 &7b  `\ M +10 &9Uc  h\ M +9 &;b  m\ M +9 &<a  b\ M +10 &>b  _\ N +9 &@\\b  k\ M +10 &B`  _\ M +9 &C_  i\ M +9 &E`  ^\ N +10 &Gdb  n\ M +9 &I#i  s\ N +9 &Jt  q\ P +10 &L  {\ S +9 &NR  i\ V +10 &P  e\ X +9 &Q  v\ X +9 &S  z\ Y +10 &UQ  l\ Y +9 &W  v\ Y +9 &X  h\ ` +10 &Z  d\ \\ +9 &\\T  g\ H +10 &][8  \ j\ *{ +9 &]  i\ ^ +5 ( +2 "collection"'& +4 #tCollection Clamp onSpring/offSpring for 10/26 samples, on/off torque 1.98 + .Hand.open +2 "manipulator"&+1 +3 "core" &]  k\ ^ +50 1 + "manipulator"&Q% +5 "core" % f r + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +95 "core" ' +2 #tLoading generic puck from tube 6 into Processing Clamp + "processing"%0& +4 "core" &\ +2 "manipulator"&% +4 "core" %\ - "] + "storage"(%% +4 "core" %T \  + "storage"(#. +4 "core" .(K + "storage"(& +4 "core" &K M\  + "storage"(v& +4 "core" &K 1\  +2 "manipulator"&&& +4 "core" & 7 +2 "manipulator"&% +3 "core" %\ -  "] +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&o( +156 "core" ( +2 "manipulator"&p& +4 "core" & B  +2 "storage"(& +3 "core" &K 4\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&}'< +93 "core" ' + "storage"(& +5 "core" &K\ \  \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"('e +280 "core" ' + "storage"([- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (!& +3 "core" &K \  b\  + "manipulator"&T& +4 "core" & o o   +2 .tElbow.seek 6 + "manipulator"&\ ( +4 "core" ( +2 "manipulator"&4& +4 "core" & r u   + "storage"(7& +4 "core" &K\ \  U\  +2 .tForearm.seek 6 + 300 counts + "manipulator"&/'Ϧ +24 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&O/ +53 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&<& +2 "storage"('N +7 "core" & n o %  +2 "manipulator"&C% +4 "core" % Ϥ o o +2 .tForearm.seek :retract +53 "manipulator"&`'\ +97 "core" ' +2 .tElbow.seek PC + "manipulator"&(c +98 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +147 "core" ( +2 "manipulator"&)& +4 "core" &m d +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &m +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&h'[ +103 "core" ' +2 "manipulator"&:& +4 "core" &m +2 "manipulator"&,% +4 "core" %W +2 "processing"%a& +3 "core" &\ +3 "processing"%Z& +5 "core" &@\ +2 .tPC.seek :closed + "processing"%q(Z +5 "core" &\  +9 &/|\ *y +9 &d\ > +9 &Dw\ N +10 &V\ M +9 &Yi\ M +9 &W\ M +10 &!MZ\ M +9 &#Y\ N +9 &$Y\ N +10 &&\\\ N +9 &(UZ\ M +10 &*W\ M +9 &+X\ M +9 &-Y\ M +10 &/]\\#\ M +9 &1\\\ N +9 &2\\\ N +10 &4Z\ M +9 &6eY\ M +10 &8']\ M +9 &9]\ M +9 &;\\\ N +10 &=m[\ M +9 &?.^\ N +9 &@]\ M +10 &B\\\ M +9 &Dt]\ N +10 &F6`\ N +9 &Gf\ N +9 &Ip\ P +10 &Kq\ Q +9 &M.\ S +9 &N\ T +10 &P\ S +9 &Rs\ S +10 &T3\ T +9 &U\ T +9 &W\ T +10 &Yw\ B +9 &Z{>\ U +9 &ZV\ ( +3 ( + "processing"%Z& +3 #tProcessing Clamp onSpring/offSpring for 9/25 samples, on/off torque 1.62 +2 .Hand.open + "manipulator"&81 +60 "core" 1 +2 "manipulator"&;% +4 "core" % W +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&2'\ +102 "core" ' + "processing"% & +4 "core" &Z\ ( +2 #tImaging generic puck in Processing Clamp while storing it to tube 6 +2 "manipulator"&>% +3 "core" %\ 5 & +2 "storage"(G% +4 "core" %J T\  + "storage"(. +4 "core" .(K + "storage"(=& +4 "core" &K L\  +2 "storage"(N& +4 "manipulator"&|& +4 "core" &K I\  + &m +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +3 "storage"(#]kK-0-\ b + "manipulator"&y(c +7 ."raiseStack"SE.seek :beamBreak + "storage"(D'e +3 "core" ( + "manipulator"& & +4 "core" &m +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &m +3 .tForearm.seek PC + "manipulator"&''[ +99 "core" ' + .tHand.close +2 "manipulator"&m/ +59 "core" / +2 .tPC.seek :open +2 "processing"%z(p +83 "core" ' + "storage"(c- +4 "core" -'e + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place + "storage"(V'B +33 "core" ' +266 ( + "storage"(P& +4 "core" &K X\  +2 "manipulator"&k& +4 "core" &m q + "manipulator"&"% +4 "core" % U  +2 .tForearm.seek :retract +2 "manipulator"&U'\ +100 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 + "manipulator"&(( +253 "core" ( +2 "manipulator"&.& +4 "core" & # +2 "storage"(A& +3 "core" &K \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&H'< +107 "core" ' + .tHand.open +2 "manipulator"&1 +53 "core" 1 +2 "storage"( - +4 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate + "storage"(S' +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.83 Pucks below Top Plate + "storage"(' +53 "core" ' +2 #tLights, camera, ACTION! + "storage"(?- +3 "core" -' +2 "storage"(X& +4 "core" &K ( (\  + "manipulator"&\\& +4 "core" & n o  # +2 .tElbow.seek 6 +2 "manipulator"&5( +3 "core" ( +2 "manipulator"&& +4 "core" & t z " # + "storage"(L& +4 "core" &K ( (\  +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&B'< +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.11 Pucks below Top Plate + "storage"(I'M +60 "core" ' + "manipulator"&F& +5 "core" & | | # + "storage"(R& +4 "core" &K\  )\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&^'z +32 "core" ' + .tElbow.hold +2 "manipulator"&w, +5 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"(@'7 +21 "core" ' +2 "manipulator"&_% +4 "core" %Ύe   P õ +2 "storage"( & +5 "core" &K | z k\  + .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 6 + 320 counts + "manipulator"&'Ϻ +16 "core" ' +2 "manipulator"&& +4 "core" & { u : "| +2 "storage"(M& +4 "core" &K \  !\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&Y'< +21 "core" ' +2 "storage"(% +4 "core" %< \ \ +3 ."downElevator"SE.seek :down +3 "storage"(W'N +100 (1% +2 "core" %A ;\ Vb +2 "manipulator"&j% +4 "core" %1 q o ! +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&i'\ +95 "core" ' +58 ' + ."downElevator"SE.stop + "storage"(5 +3 (b& +4 "core" &K \  + "collection"'f& +4 "core" &]  w\ ^ +2 #tStoring generic puck in Collection Clamp to tube 6 + "manipulator"&% +4 "core" %\ 3 v %~ +2 "storage"(6% +4 "core" %] W\  + "storage"(. +3 "core" .(K +2 "storage"(]& +4 "core" &K #\  + "storage"(& +4 "core" &K \  +2 "manipulator"&d& +4 "core" & "{ +2 .tElbow.seek 6 + "manipulator"&~( +4 "core" ( + "manipulator"&g& +4 "core" & "{ + "storage"(-& +4 "core" &K {\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&x'< +91 "core" ' +2 "storage"( & +5 "core" &K\ \ l\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(e'e +283 "core" ' + "storage"($- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&3& +3 "core" & "z +2 "storage"(& +4 "core" &K /\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&s'z +31 "core" ' + .tElbow.hold +2 "manipulator"&E, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(u- +2 "core" -' +3 .tSE.seek 0.12 Pucks below Top Plate + "storage"({'p +37 "core" ' +2 "manipulator"&% +4 "core" %Ί` V Ĵ + "storage"(l& +4 "core" &K k p \  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 6 + 316 counts +2 "manipulator"&K'϶ +18 "core" ' + "manipulator"&*& +5 "core" & { w * "} + "storage"(J& +4 "core" &K\ \  \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&+'< +19 "core" ' +2 .tSE.seek 1.12 Pucks below Top Plate +2 "storage"(Q'_ +40 "core" ' +2 "manipulator"&0& +4 "core" & { r _ "} +2 "manipulator"&% +4 "core" % { | +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&%'\ +95 "core" ' +2 .tElbow.seek CC +2 "manipulator"&#( +149 "core" ( +2 "manipulator"&& +4 "core" &"  :/ + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &v& +3 "core" &" & :/ +2 .tForearm.seek CC +2 "manipulator"&&'| +95 "core" ' +2 .tHand.close + "manipulator"&/ +61 "core" / +2 .tCC.seek :open +2 "collection"'(p +410 "core" ( +2 "storage"(r& +4 "core" &K \\ ?\  + "storage"(p& +4 "core" &K 7 8 !\  +2 "manipulator"&& +3 "core" & 7 +2 "manipulator"&% +4 "core" % r J +2 .tForearm.seek :retract +53 "manipulator"&t'\ +94 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&( +157 "core" ( +2 "manipulator"&[& +4 "core" & +2 "storage"(!& +4 "core" &K \\ f 9\  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 6 +2 "manipulator"&T'z +107 "core" ' +2 .tElbow.hold + "manipulator"&4, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&71 +58 "core" 1 +3 "manipulator"&O% +4 "core" % ΋{ 1 J I +2 "storage"(<& +4 "core" &K\ \  \  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 317 counts + "manipulator"&C'Ϸ +17 "core" ' +2 "manipulator"&o& +4 "core" & p x  / +2 "storage"(}& +4 "core" &K { \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&'< +23 "core" ' + "storage"(/% +5 "core" %a { 9\ +2 ."downElevator"SE.seek :down +3 "storage"()'N +99 (% +3 "core" %? k w \ U] +2 "manipulator"&\ % +4 "core" % p q   +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&:'\ +91 "core" ' +57 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 3 of [3..6] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"',& +5 "core" &  c\ + "manipulator"&a% +4 "core" %\ .  #c +2 "storage"(% +4 "core" %T Y Y\  + "storage"(`. +4 "core" .(K + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(n( +997 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (8& +3 "core" & x\ + "manipulator"&;& +4 "core" & ~ / +2 .tElbow.seek 3 +2 "manipulator"& (D +35 "core" ( +2 "manipulator"&>& +4 "core" &M   + "storage"(G& +4 "core" & ] g h\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&' +100 "core" ' +2 "storage"(Z& +4 "core" & g m \ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(='e +282 "core" ' +2 "storage"(N- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (|& +3 "core" & E + ,\ + "manipulator"& & +4 "core" &M   +2 .tElbow.seek 3 +2 "manipulator"&(D +3 "core" ( +2 "manipulator"&h& +4 "core" &M 5  +2 "storage"(m& +4 "core" & Z \\\ +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&c'y +21 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +58 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&2& +2 "storage"(q'N +8 "core" &M (  +2 "manipulator"&P% +4 "core" % }  +2 .tForearm.seek :retract + "manipulator"&D'\ +92 "core" ' +2 .tElbow.seek CC +2 "manipulator"&k( +151 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +6 "core" ( +2 "manipulator"&"& +4 "core" &( K ?U +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &'& +3 "core" &( + ?U +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&.'| +104 "core" ' +2 "manipulator"&A& +4 "core" &( ?U +2 "manipulator"&y% +4 "core" %π +2 "collection"'& +4 "core" &  \ +2 "collection"' & +5 "core" &  \ +2 .tCC.seek :closed +2 "collection"'?(] +4 "core" &  u\ +8 & 8  |\ %g +9 &iV  q\ 8 +10 &  r\ L +9 &~_  q\ M +9 &?b  \ M +10 &`  |\ N +9 & b  z\ M +10 &"c  {\ M +9 &$Gd  z\ M +9 &&c  |\ N +10 &'^  {\ M +9 &)e z\ M +9 &+Nc  v\ N +10 &-a  \ M +9 &.b  |\ N +10 &0e  z\ M +9 &2Va  {\ N +9 &4c  w\ N +10 &5b  q\ M +9 &7^  t\ M +9 &9__  t\ M +10 &;"]  u\ M +9 &<`  v\ M +10 &>]  t\ M +9 &@gb  |\ M +9 &B)d  |\ M +10 &Cc  {\ M +9 &E_  \ M +9 &Gne  \ N +10 &I.k  \ N +9 &J  \ Q +10 &L  \ U +9 &NZ  \ W +9 &P  \ X +10 &Q  }\ X +9 &S  \ Y +9 &UZ  y\ Z +10 &W  \ \ Z +9 &X  \ [\ +10 &Z  \ \\ +9 &\\]  \ H +9 &]a9  \ 'u +10 &]x  \ P +5 ( +2 "collection"' & +4 #tCollection Clamp onSpring/offSpring for 10/26 samples, on/off torque 1.98 + .Hand.open + "manipulator"&X1 +4 "core" &]m  \ P +52 1 +2 "manipulator"&\\% +5 "core" % j + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +96 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp +2 "processing"%L& +4 "core" &\ + "manipulator"&U% +4 "core" %\ -  "^ +2 "storage"(F% +3 "core" %L j\  +2 "storage"(R. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(_( +27 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (V& +2 "core" & \  +2 "manipulator"& & +4 "core" &#  ;6 + "manipulator"&% +4 "core" %\ - 1 "^ +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&S(D +177 "core" ( + "manipulator"&M& +5 "core" &A d + "storage"(& +4 "core" &\ \ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&(' +93 "core" ' +2 "storage"(H& +4 "core" &  \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"('e +279 "core" ' +2 "storage"(1- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (j& +2 "core" &\ \ \  +2 "manipulator"&B& +4 "core" &A  d + .tElbow.seek 3 +2 "manipulator"&5(D +3 "core" ( +2 "manipulator"&I& +4 "core" &A : d + "storage"(^& +4 "core" &\ '\ ' Z\  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&'y +20 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&b/ +64 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&f& +2 "storage"('N +7 "core" &A r z _ d +2 "manipulator"&6% +4 "core" % s q y +2 .tForearm.seek :retract + "manipulator"&'\ +95 "core" ' +2 .tElbow.seek PC + "manipulator"&@(c +161 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +90 "core" ( +2 "manipulator"&]& +4 "core" &j 9 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &j +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&d'[ +102 "core" ' +2 "manipulator"&g& +4 "core" &j +2 "manipulator"&-% +4 "core" %S +2 "processing"%Y& +4 "core" &\ +2 "processing"% & +5 "core" &G\ +2 .tPC.seek :closed + "processing"%W(Z +5 "core" &\  +9 &/{\ *y +9 &d\ > +10 &Av\ N +9 &V\ M +9 &\\\ N +10 &Z\ M +9 &!JY\ M +9 &# Z\ M +10 &$W\ M +9 &&\\\ N +10 &(RZ\ M +9 &*\\\ N +9 &+Z\ M +10 &-]\ M +9 &/Y]W\ N +9 &1[\ M +10 &2Y-\ M +9 &4ZZ\ M +10 &6c]\ M +9 &8$\\s\ M +9 &9].\ M +10 &;[n\ M +9 &=jZ\ M +9 &?,Y\ M +10 &@Y\ M +9 &BX\ M +10 &DrY\ M +9 &F3_\ N +9 &Gg\ N +10 &Il\ O +9 &Ko{\ Q +9 &M-\ R +10 &N\ S +9 &P\ S +10 &Ro\ T +9 &T1\ T +9 &U\ T +10 &W\ T +9 &Yv\ A +9 &Zw=\ [ +10 &Z\ & +2 ( +2 "processing"% & +3 #tProcessing Clamp onSpring/offSpring for 9/25 samples, on/off torque 1.60 + .Hand.open + "manipulator"&w1 +60 "core" 1 +2 "manipulator"&i% +4 "core" % S p +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&$'\ +99 "core" ' + "processing"%3& +5 "core" &Z\ & +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&% +4 "core" %\ 1 $r + "storage"(u% +4 "core" %R M\  + "storage"(. +4 "core" .( + "storage"(l& +4 "core" & E\  +56 "storage"(*& +3 "manipulator"&J& +7 "core" & e\  + &j +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +3 "storage"(#]kK-0-\ b + "manipulator"&0(c +6 ."raiseStack"SE.seek :beamBreak +2 "storage"('e +2 "core" ( +2 "manipulator"&x& +4 "core" &j + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &~& +3 "core" &j +2 .tForearm.seek PC +2 "manipulator"&e'[ +95 "core" ' + .tHand.close +2 "manipulator"&s/ +61 "core" / +2 .tPC.seek :open + "processing"%K(p +89 "core" ' +2 "storage"({- +3 "core" -'e +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('B +36 "core" ' +256 ( +2 "storage"(v& +4 "core" &\ \  \  + "manipulator"&+& +4 "core" &j +2 "manipulator"&E% +4 "core" % Y h +2 .tForearm.seek :retract + "manipulator"&'\ +96 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&%(D +259 "core" ( +2 "manipulator"&& +4 "core" &? j ' + "storage"(r& +4 "core" & N\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&p' +99 "core" ' +2 .tHand.open + "manipulator"&1 +59 "core" 1 +2 "storage"(- +4 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate +2 "storage"([' +23 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(!' +54 "core" ' +2 #tLights, camera, ACTION! + "storage"(&- +3 "core" -' +2 "storage"(#& +4 "core" &  (\  +2 "manipulator"&7& +4 "core" &@ ' +2 .tElbow.seek 3 + "manipulator"&O(D +4 "core" ( + "manipulator"&<& +4 "core" &@  ' +2 "storage"(o& +4 "core" &  \  +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&}' +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.11 Pucks below Top Plate + "storage"(/'M +62 "core" ' +2 "manipulator"&t& +4 "core" &@ U ' + "storage"(& +4 "core" & ~\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 + "manipulator"&\ 'M +35 "core" ' +2 .tElbow.hold + "manipulator"&, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate + "storage"(T'7 +24 "core" ' +2 "manipulator"&,% +4 "core" %TR İ +2 "storage"(C& +4 "core" & 3\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 307 counts + "manipulator"&a'π +18 "core" ' +2 "manipulator"&& +4 "core" &s s { b m +2 "storage"(`& +4 "core" & \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&Q' +19 "core" ' + "storage"(% +5 "core" %= ? (\  +2 ."downElevator"SE.seek :down +3 "storage"()'N +99 (9% +3 "core" %uD\ \  \ Wc +2 "manipulator"&8% +4 "core" % q y h +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&;'\ +98 "core" ' +49 ' + ."downElevator"SE.stop + "storage"(5 +3 (>& +4 "core" & I\  + "collection"'G& +4 "core" &]m  \ P +2 #tStoring generic puck in Collection Clamp to tube 3 +2 "manipulator"&Z% +4 "core" %\ 8  ' + "storage"(4% +4 "core" %Q P\  +2 "storage"(:. +3 "core" .( +2 "storage"(N& +4 "core" & P\  + "storage"(|& +4 "core" &\  *\  +2 "manipulator"& & +4 "core" &s w m + .tElbow.seek 3 +2 "manipulator"&h(D +26 "core" ( + "manipulator"&m& +4 "core" &H * h +2 "storage"(& +4 "core" &\ \ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&2' +104 "core" ' +2 "storage"(P& +4 "core" & B E\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"( 'e +280 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&"& +3 "core" &H o o  h +2 "storage"('& +3 "core" &   <\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&='M +38 "core" ' + .tElbow.hold +2 "manipulator"&c, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(A- +3 "core" -' +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(y'm +31 "core" ' + "manipulator"&% +5 "core" %XK  / î + "storage"(& +4 "core" & \  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 311 counts + "manipulator"&q'τ +17 "core" ' + "manipulator"&D& +5 "core" &H v `  h + "storage"(& +4 "core" & " G\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&X' +18 "core" ' +2 .tSE.seek 1.11 Pucks below Top Plate + "storage"(\\'\\ +42 "core" ' +2 "manipulator"&L& +4 "core" &H o p l h +2 "manipulator"&U% +4 "core" % m e +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&F'\ +92 "core" ' +2 .tElbow.seek CC +2 "manipulator"&R( +165 "core" ( +2 "manipulator"& & +4 "core" &+  Ac + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &V& +3 "core" &+ 2 Ab +2 .tForearm.seek CC +2 "manipulator"& '| +95 "core" ' +2 .tHand.close + "manipulator"&/ +53 "core" / +2 .tCC.seek :open +2 "collection"'.(p +410 "core" ( +2 "storage"(M& +4 "core" & \\ R \  +2 "storage"(& +3 "core" & E E 8\  +2 "manipulator"&n& +4 "core" &1# ;4 + "manipulator"&H% +4 "core" % ϊ +2 .tForearm.seek :retract + "manipulator"&k'\ +93 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&(D +153 "core" ( + "manipulator"&1& +4 "core" &8   +2 "storage"(j& +3 "core" & \\ \\\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 +2 "manipulator"&B'M +109 "core" ' + .tElbow.hold +2 "manipulator"&I, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&^1 +53 "core" 1 +2 "manipulator"&b% +4 "core" % `w 0 2 + "storage"(f& +4 "core" &\ %\  Y\  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 3 + 319 counts +2 "manipulator"&6'ό +16 "core" ' +2 "manipulator"&S& +5 "core" &d v t  + "storage"((& +4 "core" & l i P\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&' +21 "core" ' +2 "storage"(% +4 "core" %a 9\ +2 ."downElevator"SE.seek :down +4 "storage"(]'N +99 (% +2 "core" %-D c [\ V` +2 "manipulator"&5% +4 "core" % p p  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&g'\ +100 "core" ' +45 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 4 of [3..6] + #Loading generic puck from tube 4 into Collection Clamp + "collection"'-& +5 "core" &  \ + "manipulator"&Y% +4 "core" %\  f l  +2 "storage"(% +4 "core" %T y n \  +2 "storage"(. +3 "core" .( +52 .tSC.reconfigure :tight +4 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"(z(, +350 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (w& +2 "core" &, C 8 \  +2 "manipulator"&i& +4 "core" &d f q + .tElbow.seek 4 +2 "manipulator"&3(* +34 "core" ( + "manipulator"&& +5 "core" &5 n 8 + "storage"(u& +4 "core" &, z \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&' +100 "core" ' + "storage"(l& +4 "core" &, i s 6\  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"( 'e +291 "core" ' + "storage"(J- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (*& +2 "core" &, \\ Y \  +2 "manipulator"&x& +4 "core" &?  . +2 .tElbow.seek 4 + "manipulator"&~(* +19 "core" ( + "manipulator"&d& +5 "core" &2  o h + "storage"(s& +4 "core" &, ~ } \  +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&{'Z +23 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&@/ +61 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&$& + "storage"(W'N +8 "core" &2 p p + "manipulator"&v% +4 "core" % \\ p o  +2 .tForearm.seek :retract +2 "manipulator"&+'\ +89 "core" ' +2 .tElbow.seek CC +2 "manipulator"&( +151 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +3 "core" ( +2 "manipulator"&E& +4 "core" &" :/ + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &e& +3 "core" &# - :/ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&'| +101 "core" ' +3 "manipulator"&r& +4 "core" &"  :/ +2 "manipulator"&0% +4 "core" %υ 3 +2 "collection"'& +4 "core" &  \ +2 "collection"'& +5 "core" &  \ +2 .tCC.seek :closed +2 "collection"'&(] +4 "core" &  \  +9 &1  \ +{ +9 &c  \ > +10 &K  \ N +9 &_  \ M +10 &h  \ M +9 &g  \ N +9 &!Te  \ N +10 &#b  \ M +9 &$`  }\ M +9 &&b  \ N +10 &(\\c  \ N +9 &*b  \ M +10 &+_  |\ M +9 &-d  \ M +9 &/de  \ N +10 &1'e  \ M +9 &2`  \ N +9 &4a  \ N +10 &6mb  \ M +9 &8/_  \ M +10 &9a  \ M +9 &;]  \ M +9 &=ub  \ M +10 &?7b  ~\ M +9 &@c  \ N +9 &Bd  \ M +10 &D|b  \ N +9 &F?b  \ M +10 &Hc  \ N +9 &Ij  \ N +9 &Ku  \ O +10 &M7  \ S +9 &N  \ V +9 &P  \ \ W +10 &Rp  \ W +9 &T.  \ Y +10 &U \ \ Y +9 &W  \ Z +9 &Ym  \ \ [\ +10 &[  \ \ ` +9 &\\ \ \ 0 +9 &])  \ ^ +9 ( +2 &]a \ L +2 "collection"'& +3 #tCollection Clamp onSpring/offSpring for 8/25 samples, on/off torque 1.87 + .Hand.open + "manipulator" +55 "core" 1 +2 "manipulator"&7% +5 "core" % ρ 2 + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&<'\ +106 "core" ' + #tLoading generic puck from tube 4 into Processing Clamp +2 "processing"%o& +4 "core" &\ +2 "manipulator"&% +3 "core" %\  +2 "storage"(t% +4 "core" %I   k\  + "storage"(. +4 "core" .(, + "storage"(& +4 "core" &,   L\  +2 "storage"(,& +3 "core" &,   S\  +2 "manipulator"&C& +4 "core" & ] 8" + "manipulator"&[% +4 "core" %\   +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&(* +157 "core" ( + "manipulator"&`& +5 "core" &% l w , + "storage"(& +4 "core" &, A A \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&%' +90 "core" ' +2 "storage"(p& +4 "core" &, E C ~\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(!'e +279 "core" ' +2 "storage"(9- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (8& +2 "core" &,   \  +2 "manipulator"&}& +4 "core" &' o p  +2 .tElbow.seek 4 + "manipulator"&O(* +4 "core" ( + "manipulator"&/& +4 "core" &' w ` ; + "storage"(\ & +4 "core" &,   \  +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&>'Z +23 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&a/ +58 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&G& + "storage"(Z'N +8 "core" &' p p +2 "manipulator"&4% +4 "core" % X r p +2 .tForearm.seek :retract + "manipulator"&:'\ +104 "core" ' +2 .tElbow.seek PC + "manipulator"&N(c +150 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +97 "core" ( +2 "manipulator"&T& +4 "core" &i ~ w ' +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &|& +3 "core" &i o p +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"& '[ +90 "core" ' +2 "manipulator"&m& +4 "core" &i ] +2 "manipulator"&% +4 "core" %d  +2 "processing"%Q& +4 "core" &\ +2 "processing"%P& +5 "core" &H\ +2 .tPC.seek :closed +2 "processing"%)(Z +4 "core" &\  +8 &/|\ *y +10 &d\ > +9 &Dv\ M +10 &W\ M +9 &\\\ M +9 &Z\ M +10 &!M\\\ M +9 &#Y\ M +9 &$Z\ M +10 &&\\\ M +9 &(V[\ M +10 &*Z\ M +9 &+Z\ M +9 &-ZY\ M +10 &/\\]\ M +9 &1ZX\ M +9 &2[n\ M +10 &4Z\ M +9 &6e[\ M +10 &8'[b\ M +9 &9Z\ M +9 &;ZY\ M +10 &=mZ\ M +9 &?.\\\ M +9 &@]\ N +10 &B[\ M +9 &Dt\\\ M +10 &F6`\ M +9 &Gf\ O +9 &Ir\ P +10 &Ko\ R +9 &M-\ S +9 &N\ T +10 &P\ S +9 &Rr\ S +10 &T4\ S +9 &U\ T +9 &W\ T +10 &Yx\ A +9 &Zz=\ Z +9 &Z\ ) +3 ( + "processing"%P& +4 #tProcessing Clamp onSpring/offSpring for 9/25 samples, on/off torque 1.62 + .Hand.open + "manipulator"&1 +54 "core" 1 + "manipulator"&;% +4 "core" % d ( +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +92 "core" ' +2 "processing"%"& +4 "core" &Z\ ) +2 #tImaging generic puck in Processing Clamp while storing it to tube 4 + "manipulator"&'% +4 "core" %\ * l J +2 "storage"(A% +4 "core" %[\ \ \  + "storage"(. +3 "core" .(, +2 "storage"(& +4 "core" &,\ \  +\  +2 "storage"(D& +2 "manipulator"&& +7 "core" &,\ \  \  + &i  +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +6 "manipulator"&$&.,(\ #b +2 "storage"(#]kK-0-\ b +2 .tElbow.seek PC +5 "manipulator"&L(c +3 ."raiseStack"SE.seek :beamBreak +2 "storage"(U'e +3 "core" ( + "manipulator"&2& +4 "core" &i c +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &h& +3 "core" &i  +2 .tForearm.seek PC +2 "manipulator"& '[ +99 "core" ' + .tHand.close +2 "manipulator"&=/ +55 "core" / +2 .tPC.seek :open + "processing"%q(p +92 "core" ' +2 "storage"(y- +4 "core" -'e + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"( 'B +31 "core" ' +257 ( + "storage"(V& +5 "core" &,  +\  + "manipulator"&X& +4 "core" &i  + "manipulator"&c% +4 "core" % c  +2 .tForearm.seek :retract +2 "manipulator"&'\ +100 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&F(* +259 "core" ( + "manipulator"&?& +5 "core" &8 0 + "storage"(M& +4 "core" &,\ \ # B\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&' +93 "core" ' +2 .tHand.open + "manipulator"&n1 +61 "core" 1 +2 "storage"(H- +4 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate +2 "storage"(1' +23 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(j' +52 "core" ' +2 #tLights, camera, ACTION! +54 "storage"( - +4 "core" -' + "storage"(R& +4 "core" &, U X\  +2 "manipulator"&^& +4 "core" &8 C 0 + .tElbow.seek 4 +2 "manipulator"&b(* +20 "core" ( + "manipulator"&f& +5 "core" &4  + "storage"(S& +4 "core" &, Y Y \  +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&(' +11 "core" ' +3 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"('M +62 "core" ' +2 "manipulator"&k& +4 "core" &4 q q ) +2 "storage"(& +4 "core" &,   /\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 4 + "manipulator"&5'. +35 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"(B'7 +24 "core" ' + "manipulator"&-% +4 "core" %:Z ; ² +2 "storage"(6& +4 "core" &, \  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 4 + 312 counts + "manipulator"&Y'f +17 "core" ' +2 "manipulator"&& +4 "core" & y v !  +2 "storage"(& +4 "core" &, B B \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&\\' +20 "core" ' +2 "storage"(% +4 "core" %; E C \  +2 ."downElevator"SE.seek :down +4 "storage"(]'N +99 (_% +2 "core" %?\ \  \ Va +2 "manipulator"&w% +4 "core" % p p  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&i'\ +91 "core" ' +56 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (& +4 "core" &, \  Z\  + "collection"'u& +4 "core" &]a  v\ L +2 #tStoring generic puck in Collection Clamp to tube 4 +2 "manipulator"&l% +4 "core" %\ + @ !U +2 "storage"(I% +4 "core" %P O \  + "storage"(g. +4 "core" .(, + "storage"(J& +4 "core" &, " P ]\  + "storage"(*& +4 "core" &,   \  +2 "manipulator"&x& +4 "core" & j  +2 .tElbow.seek 4 + "manipulator"&d(* +20 "core" ( +2 "manipulator"&s& +4 "core" &( v !s +2 "storage"(@& +4 "core" &,\ \  &\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&$' +94 "core" ' +2 "storage"(v& +4 "core" &, + ? \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(3'e +284 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&E& +2 "core" &3 d h +2 "storage"(e& +4 "core" &, = \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"& '. +34 "core" ' + .tElbow.hold +2 "manipulator"&{, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(r- +2 "core" -' +3 .tSE.seek 0.12 Pucks below Top Plate + "storage"(0's +31 "core" ' +2 "manipulator"&% +4 "core" %?] n ij + "storage"(~& +4 "core" &, g\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 317 counts + "manipulator"&W'k +16 "core" ' +2 "manipulator"&+& +4 "core" & u u ] & +2 "storage"(.& +4 "core" &,  \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&#' +18 "core" ' +2 .tSE.seek 1.12 Pucks below Top Plate +2 "storage"(7'b +51 "core" ' + "manipulator"&o& +5 "core" & s z C & + "manipulator"&% +4 "core" % r r S +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&t'\ +96 "core" ' +2 .tElbow.seek CC +2 "manipulator"&( +146 "core" ( +2 "manipulator"&& +4 "core" &\ " :, +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &\ " J :, +2 .tForearm.seek CC +2 "manipulator"&,'| +101 "core" ' +2 .tHand.close + "manipulator"&C/ +54 "core" / +2 .tCC.seek :open + "collection"'[(p +410 "core" ( +2 "storage"(& +4 "core" &, f ^ Q\  +2 "storage"(`& +3 "core" &, \\ [\  +2 "manipulator"&& +4 "core" & } 8 + "manipulator"&p% +4 "core" % j c  +2 .tForearm.seek :retract + "manipulator"&'\ +91 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&<(* +158 "core" ( +2 "manipulator"&9& +4 "core" &5 %  + "storage"(8& +4 "core" &, h p \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 4 + "manipulator"&}'. +112 "core" ' +2 .tElbow.hold + "manipulator"&/, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&\ 1 +59 "core" 1 +2 "manipulator"&a% +4 "core" % @a 0 & + "storage"(G& +4 "core" &,\ \  \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 318 counts +2 "manipulator"&4'l +17 "core" ' + "manipulator"&& +4 "core" & ^ v   +2 "storage"(%& +4 "core" &, m \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&!' +18 "core" ' +2 "storage"(>% +4 "core" %_ \ +2 ."downElevator"SE.seek :down +3 "storage"(T'N +99 (|% +3 "core" %1= v v /\ U\\ +2 "manipulator"&O% +4 "core" % p p +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&m'\ +97 "core" ' +47 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 5 of [3..6] +2 #Loading generic puck from tube 5 into Collection Clamp + "collection"'& +4 "core" &  \ +2 "manipulator"&Q% +4 "core" %\ 8 ' +2 "storage"(Z% +4 "core" %N Y ] -\  + "storage"(:. +4 "core" .(, + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"(K(<< +356 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (& +3 "core" &b  ~\ M +9 &@fb  \ M +10 &B'b  \ M +9 &C`  \ M +9 &E`  \ M +10 &Gmc  \ M +9 &I+k  \ O +9 &J  \ P +10 &L  \ U +9 &NZ  \ V +10 &P  \ X +11 &Q  \ X +8 &S  \ X +6 "Can" YW +3 "core" &UY  \ Z +9 &W  \ Y +9 &X  \ Z +10 &Z  \ [ +9 &\\]  \ H +10 &]]8  \ , +9 &]  \ \ X +5 ( +2 "collection"'H& +4 #tCollection Clamp onSpring/offSpring for 10/26 samples, on/off torque 1.97 +2 .Hand.open + "manipulator"&1 +3 "core" &] \ X +53 1 +2 "manipulator"&R% +4 "core" % x  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&^'\ +90 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp +2 "processing"%f& +4 "core" &\ + "manipulator"&S% +4 "core" %\ $ x . +2 "storage"(k% +4 "core" %J\ \  ]\  +2 "storage"(. +3 "core" .(<@ +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"( (<< +21 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (1& +3 "core" &<>\ \  q\ +2 "manipulator"&-& +4 "core" &  + + "manipulator"&6% +4 "core" %\ # . +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&( +156 "core" ( + "manipulator"&& +5 "core" & } '  + "storage"(& +4 "core" &<>\ \  z\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&F' +102 "core" ' + "storage"(& +4 "core" &<>  q\ +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(j'e +284 "core" ' +2 "storage"(_- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (w& +3 "core" &<>\ \  \ +2 "manipulator"&(& +3 "core" & M  +2 .tElbow.seek 5 +2 "manipulator"&b( +9 "core" ( + "manipulator"&& +5 "core" & }  + "storage"(5& +4 "core" &<> = \ +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&'[ +10 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&Y/ +59 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&u& +2 "storage"(l'N +7 "core" & g o R  +2 "manipulator"&I% +4 "core" % V q m m $ +2 .tForearm.seek :retract + "manipulator"&g'\ +97 "core" ' + .tElbow.seek PC +2 "manipulator"&J(c +151 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +94 "core" ( + "manipulator"&B& +5 "core" &l H +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &*& +2 "core" &l B +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&x'[ +98 "core" ' +2 "manipulator"&s& +4 "core" &l  +2 "manipulator"&@% +3 "core" %W 2 +2 "processing"%\\& +4 "core" &J\ +2 "processing"%v& +5 "core" &H\ +2 .tPC.seek :closed +2 "processing"%](Z +4 "core" &\ +8 & 3\ #b +9 &_U\ 7 +9 &}\ K +10 &nY\ M +9 &/Z\ M +10 &]\ M +9 & \\\ M +9 &"vV\ M +10 &$7[\ M +9 &%Z\ M +9 &'V\ M +10 &)}Z\ M +9 &+?Y\ M +10 &-Y\ M +9 &.]\ M +9 &0[\ N +10 &2GZ\ M +9 &4\ U\ M +9 &5ZX\ M +10 &7Z\ M +9 &9PU\ M +10 &;\\\ M +9 &<[t\ M +9 &>\\.\ N +10 &@WZ\ M +9 &BX \ M +9 &CW,\ M +10 &EX\ M +9 &G]`[\ N +10 &Im\ O +9 &J{[\ Q +9 &L\ S +10 &NS\ T +9 &P\ T +9 &Q\ T +10 &S\ T +9 &U\\\ T +10 &W\ T +9 &X\ U +9 &Z9Kp\ - +10 &ZW\ 3 +5 ( +2 "processing"%v& +4 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.61 + .Hand.open +2 "manipulator"&1 +3 "core" &Z(\ 2 +49 1 +2 "manipulator"&i% +4 "core" % W +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +96 "core" ' + "processing"%E& +4 "core" &Z(j\ 2 +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 + "manipulator"&e% +4 "core" %\ 1 $m +2 "storage"(r% +4 "core" %O #\  + "storage"(. +3 "core" .( \ + "manipulator"&.& +5 ."raiseStack"SE.reconfigure :place +3 "storage"(#]kK-0-\ b +3 "core" &l +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 ."raiseStack"SE.seek :beamBreak +4 .tElbow.seek PC +2 "storage"(o'e +2 "manipulator"&(c +5 "core" ( + "manipulator"&$& +4 "core" &l +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &d& +3 "core" &l +2 .tForearm.seek PC +2 "manipulator"&3'[ +95 "core" ' + .tHand.close + "manipulator"& / +62 "core" / +2 .tPC.seek :open + "processing"%W(p +84 "core" ' +2 "storage"(0- +4 "core" -'e + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('B +34 "core" ' +262 ( + "storage"(& +5 "core" &<>\ \  B\ + "manipulator"&#& +4 "core" &l  +2 "manipulator"&{% +4 "core" % ` h +2 .tForearm.seek :retract + "manipulator"&C'\ +96 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&t( +254 "core" ( +2 "manipulator"&&& +4 "core" & "z + "storage"(& +4 "core" &<> o\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&`' +98 "core" ' +2 .tHand.open + "manipulator"&1 +54 "core" 1 +2 "storage"(p- +3 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate +2 "storage"(9' +24 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(8' +53 "core" ' + #tLights, camera, ACTION! + "storage"(,- +4 "core" -' +2 "storage"(& +3 "core" &<> O\ +2 "manipulator"&\ & +4 "core" & \\ "z +2 .tElbow.seek 5 + "manipulator"&a( +4 "core" ( + "manipulator"&G& +4 "core" &  "z +2 "storage"(& +3 "core" &<> ' ( X\ +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&%' +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.11 Pucks below Top Plate + "storage"(>'M +62 "core" ' +2 "manipulator"&& +4 "core" & & "z + "storage"(|& +4 "core" &<>\  \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 5 + "manipulator"&O'/ +34 "core" ' + .tElbow.hold +2 "manipulator"&<, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"(}'7 +24 "core" ' + "manipulator"&% +5 "core" %8O ' ( $ Ư + "storage"(4& +4 "core" &<> _\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 309 counts + "manipulator"&Q'd +16 "core" ' + "manipulator"&Z& +5 "core" & { w  "z +2 "storage"(:& +4 "core" &<>   k\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&7' +19 "core" ' +2 "storage"(!% +4 "core" %<  \  +2 ."downElevator"SE.seek :down +56 "storage"(T'N +46 (z% +3 "core" %M E\ Xh +2 "manipulator"&% +4 "core" % n x d  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&;'\ +97 "core" ' +108 ' + ."downElevator"SE.stop + "storage"(5 +3 ('& +4 "core" &<> Q\ +2 "collection"'A& +4 "core" &]w  \ X +2 #tStoring generic puck in Collection Clamp to tube 5 + "manipulator"&% +4 "core" %\ 5 & +2 "storage"(/% +4 "core" %S 1\  + "storage"(m. +3 "core" .(<< +2 "storage"(D& +4 "core" &<> Z\ +2 "storage"(P& +4 "core" &<> \ + "manipulator"&2& +4 "core" & ) "z +2 .tElbow.seek 5 +2 "manipulator"& ( +3 "core" ( +2 "manipulator"&=& +4 "core" & ' "z +2 "storage"(N& +4 "core" &<> X\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&' +99 "core" ' + "storage"(V& +5 "core" &<>\  6\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"("'e +283 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&c& +3 "core" &  "y +2 "storage"( & +3 "core" &<>\ \ h\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 5 + "manipulator"&'/ +36 "core" ' + .tElbow.hold +2 "manipulator"&y, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(h- +4 "core" -' +2 .tSE.seek 0.12 Pucks below Top Plate + "storage"(M's +29 "core" ' +2 "manipulator"&L% +4 "core" %2> 1 % ; ɫ +2 "storage"(n& +4 "core" &<> z { j\ + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 5 + 303 counts + "manipulator"&)'^ +16 "core" ' + "manipulator"&X& +5 "core" & } z ; "~ + "storage"([& +4 "core" &<> > \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&' +19 "core" ' +2 .tSE.seek 1.12 Pucks below Top Plate +2 "storage"(R'b +46 "core" ' +2 "manipulator"&f& +5 "core" & | { | "~ + "manipulator"&S% +4 "core" % u y  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&k'\ +91 "core" ' +2 .tElbow.seek CC + "manipulator"&( +158 "core" ( + "manipulator"&H& +4 "core" &* [ @\\ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &1& +2 "core" &) 5 @\\ +2 .tForearm.seek CC +2 "manipulator"&-'| +103 "core" ' +2 .tHand.close + "manipulator"&6/ +63 "core" / +2 .tCC.seek :open +2 "collection"'?(p +410 "core" ( + "storage"(& +4 "core" &<> j g \ +2 "storage"(& +4 "core" &<> g ^ e\ + "manipulator"&K& +4 "core" &#%  <? + "manipulator"&% +4 "core" % v j +2 .tForearm.seek :retract +2 "manipulator"&U'\ +97 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&^( +158 "core" ( + "manipulator"&_& +4 "core" & $  +2 "storage"(w& +4 "core" &<> [ \\\ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 5 + "manipulator"&('/ +113 "core" ' +2 .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&51 +64 "core" 1 +2 "manipulator"&Y% +4 "core" % Bb 9  +2 "storage"(u& +4 "core" &<> \  \ + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 319 counts + "manipulator"&I'n +18 "core" ' + "manipulator"&& +4 "core" & _ w < ? +2 "storage"(F& +4 "core" &<> z \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&j' +21 "core" ' +2 "storage"(% +4 "core" %e x |\ +2 ."downElevator"SE.seek :down +4 "storage"(B'N +98 (*% +3 "core" %6A Z Y \ V_ +2 "manipulator"&b% +4 "core" % r q C  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&s'\ +90 "core" ' +54 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 6 of [3..6] +2 #Loading generic puck from tube 6 into Collection Clamp + "collection"'@& +5 "core" &  \ + "manipulator"&\\% +4 "core" %\ . I #c +2 "storage"(l% +4 "core" %M Y Z\  + "storage"(g. +3 "core" .(<< +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 + "storage"(q(K +354 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (& +2 "core" &K%\ \  T\  +2 "manipulator"&i& +3 "core" & > +2 .tElbow.seek 6 +2 "manipulator"&E( +12 "core" ( + "manipulator"&e& +4 "core" & b +2 "storage"(r& +4 "core" &K \\ \\\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&'< +92 "core" ' + "storage"(v& +5 "core" &K w \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(+'e +277 "core" ' + "storage"(.- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 ($& +2 "core" &K d X \  +2 "manipulator"&d& +3 "core" & 4 a +2 .tElbow.seek 6 +2 "manipulator"&x( +4 "core" ( + "manipulator"& & +4 "core" & ~ ! a +2 "storage"( & +4 "core" &K [ ]\  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&0'Ϧ +11 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&J/ +56 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"(]'N +7 "core" & ' a +2 "manipulator"&% +4 "core" % Ϧ  3 +2 .tForearm.seek :retract + "manipulator"&o'\ +93 "core" ' +2 .tElbow.seek CC +2 "manipulator"&#( +148 "core" ' +2 ."downElevator"SE.stop +2 "storage"(5 +2 "core" ( +2 "manipulator"&{& +4 "core" &% X <? + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &3& +3 "core" &%  <? +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&&'| +104 "core" ' + "manipulator"&& +5 "core" &% m <? + "manipulator"&% +4 "core" %π +2 "collection"'& +4 "core" &  \ +2 "collection"'p& +5 "core" &  \ +2 .tCC.seek :closed +2 "collection"',(] +4 "core" &  \  +9 &1  \ +{ +9 &c  \ > +10 &F}  \ N +9 & ]  \ M +9 &c  \ N +10 &e  \ N +9 &!P`  \ M +9 &#b  \ N +10 &$b  \ N +9 &&c  \ N +10 &(Xc  \ M +9 &*_  \ M +9 &+c  \ M +10 &-b  \ M +9 &/_e  \ N +9 &1!c  \ N +10 &2c  \ N +9 &4`  \ N +10 &6h`  \ M +9 &8)a  \ N +9 &9`  \ M +10 &;`  \ M +9 &=qb  \ M +9 &?2`  \ M +10 &@`  \ M +9 &Bb  \ N +10 &Dya  \ M +9 &F:b  \ M +9 &Gc  \ N +10 &Ik  \ N +9 &Kv}  \ Q +9 &M0  \ T +10 &N  ~\ V +9 &P  \ X +10 &Rj  ~\ X +9 &T)  \ \ Y +9 &U  \ Y +10 &W  \ ^\ Z +9 &Yh {\ [\ +9 &[)  \ \ [ +10 &\\z \ ]\ 6 +9 &],  \ #i +9 ( +3 "collection"'p& +3 #tCollection Clamp onSpring/offSpring for 9/25 samples, on/off torque 1.95 + .Hand.open + "manipulator"&1 +4 "core" &]  \ ^ +52 1 + "manipulator"&\ % +5 "core" % o w + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&G'\ +94 "core" ' +2 #tLoading generic puck from tube 6 into Processing Clamp + "processing"%& +5 "core" &\ + "manipulator"&C% +4 "core" %\ - g "` +2 "storage"(% +3 "core" %E \ \  +2 "storage"(|. +3 "core" .(K +2 "storage"(& +4 "core" &K r\  + "storage"(& +4 "core" &K p\  +2 "manipulator"&4& +4 "core" &#  :- + "manipulator"&9% +4 "core" %\ -  "` +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +53 "manipulator"&Z( +165 "core" ( +2 "manipulator"&:& +4 "core" & ] / + "storage"(!& +4 "core" &K Y\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&t'< +104 "core" ' + "storage"(`& +4 "core" &K  I\  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(8'e +276 "core" ' +2 "storage"(z- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" &K\ \  /\  +2 "manipulator"&%& +3 "core" & q p $ . +2 .tElbow.seek 6 +2 "manipulator"&a( +22 "core" ( + "manipulator"&>& +4 "core" & u g M 7 +2 "storage"(O& +4 "core" &K\ '\ ' j\  +2 .tForearm.seek 6 + 300 counts + "manipulator"&Q'Ϧ +15 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&'/ +63 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&A& +2 "storage"('N +8 "core" &   7 + "manipulator"&/% +4 "core" % ϡ  5 +2 .tForearm.seek :retract +2 "manipulator"&m'\ +99 "core" ' +2 .tElbow.seek PC +2 "manipulator"&}(c +156 "core" ' + ."downElevator"SE.stop + "storage"(5 +93 "core" ( +2 "manipulator"&D& +4 "core" &f +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &P& +3 "core" &f y +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&2'[ +109 "core" ' +2 "manipulator"&=& +4 "core" &f { l +2 "manipulator"&N% +4 "core" %a o | + +2 "processing"%7& +4 "core" &\ +2 "processing"%V& +6 "core" &;\ +2 .tPC.seek :closed +2 "processing"%T(Z +4 "core" &\  +8 &1\ *x +9 &c\ > +10 &@w\ N +9 &U\ M +9 &\\\ M +10 &Z\ M +9 &!I[\ M +9 &# Y\ M +10 &$X\ M +9 &&Z\ M +10 &(RY\ M +9 &*Z\ M +9 &+Z\ M +10 &-\\\ M +9 &/Y[\ M +9 &1Z\ M +10 &2]\ M +9 &4Y\ M +10 &6aZX\ M +9 &8#[\ M +9 &9Y\ M +10 &;[\ M +9 &=jZ\ M +9 &?+\\\ M +10 &@\\-\ N +9 &B[\ M +10 &DrY\ M +9 &F2]\ N +9 &Ge\ N +10 &Ir\ P +9 &Km~*\ Q +9 &M*\ S +10 &N\ T +9 &P\ T +10 &Rn\ T +9 &T0\ T +9 &U\ T +10 &W\ T +9 &Yt\ A +9 &Zy?\ V +10 &Z\ ' +2 ( +2 "processing"%V& +3 #tProcessing Clamp onSpring/offSpring for 9/25 samples, on/off torque 1.63 + .Hand.open + "manipulator"&<1 +64 "core" 1 + "manipulator"&;% +4 "core" % a  l ? +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&'\ +99 "core" ' +2 "processing"%c& +4 "core" &Z(\ ' +2 #tImaging generic puck in Processing Clamp while storing it to tube 6 + "manipulator"& % +4 "core" %\ ; 8 ( +2 "storage"(h% +4 "core" %L M\  + "storage"(L. +3 "core" .(K +2 "storage"(n& +4 "core" &K {\  +2 "storage"(X& +3 "manipulator"&[& +5 "core" &K \  + &f  +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +3 "storage"(#]kK-0-\ b + "manipulator"&f(c +6 ."raiseStack"SE.seek :beamBreak + "storage"(S'e +3 "core" ( + "manipulator"&& +4 "core" &f +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 & & +3 "core" &f m +2 .tForearm.seek PC +2 "manipulator"&"'[ +96 "core" ' +2 .tHand.close + "manipulator"&/ +54 "core" / + .tPC.seek :open +2 "processing"%)(p +98 "core" ' +2 "storage"(M- +3 "core" -'e +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(H'B +35 "core" ' +245 ( + "storage"(1& +4 "core" &K V\  +2 "manipulator"&& +4 "core" &f  + "manipulator"&y% +4 "core" % W  +2 .tForearm.seek :retract +2 "manipulator"&6'\ +97 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&k( +251 "core" ( +2 "manipulator"& & +4 "core" & 2 !s +2 "storage"(& +4 "core" &K \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&'< +96 "core" ' + .tHand.open +2 "manipulator"&K1 +60 "core" 1 + "storage"(- +4 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate +2 "storage"(_' +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(w' +51 "core" ' +2 #tLights, camera, ACTION! + "storage"(-- +4 "core" -' +2 "storage"(& +4 "core" &K &\  + "manipulator"&5& +4 "core" & T !r +2 .tElbow.seek 6 +2 "manipulator"&Y( +3 "core" ( + "manipulator"&u& +4 "core" & j !r +2 "storage"(& +4 "core" &K   z\  +2 .tForearm.seek 6 + 450 counts + "manipulator"&F'< +4 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"('M +63 "core" ' + "manipulator"&U& +4 "core" &  !r +2 "storage"(*& +4 "core" &K \ e\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 + "manipulator"&b'z +30 "core" ' + .tElbow.hold +2 "manipulator"&^, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.07 Pucks below Top Plate + "storage"(('7 +25 "core" ' +2 "manipulator"&@% +4 "core" %Άk  J · +2 "storage"(I& +4 "core" &K y n '\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 312 counts + "manipulator"&\\'ϲ +17 "core" ' + "manipulator"&l& +5 "core" & o  j + "storage"(g& +4 "core" &K m\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&R'< +19 "core" ' + "storage"(j% +5 "core" %=\ \ \ +2 ."downElevator"SE.seek :down +3 "storage"(B'N +99 (~% +3 "core" %C [\ Wd +2 "manipulator"&% +4 "core" %$ s y +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&i'\ +87 "core" ' +66 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (e& +2 "core" &K L\  +2 "collection"'r& +4 "core" &]  \ ^ +2 #tStoring generic puck in Collection Clamp to tube 6 + "manipulator"&v% +4 "core" %\ *  F + "storage"(% +4 "core" %Z G\  +2 "storage"(s. +3 "core" .(K + "storage"(.& +4 "core" &K =\  +2 "storage"($& +4 "core" &K K\  + "manipulator"&d& +4 "core" & U j +2 .tElbow.seek 6 + "manipulator"& ( +4 "core" ( + "manipulator"& & +4 "core" & * j +2 "storage"(J& +3 "core" &K :\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&'< +96 "core" ' + "storage"(& +5 "core" &K\ \ \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(E'e +282 "core" ' + "storage"(- +55 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&{& +3 "core" & \ j + "storage"(3& +4 "core" &K \ H\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&+'z +31 "core" ' +2 .tElbow.hold + "manipulator"&0, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(- +2 "core" -' +3 .tSE.seek 0.12 Pucks below Top Plate + "storage"('o +28 "core" ' +2 "manipulator"&% +4 "core" %Ύe   L õ + "storage"(x& +4 "core" &K y n \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 320 counts + "manipulator"&]'Ϻ +70 "core" ' + "manipulator"&o& +4 "core" & | m ` ( +2 "storage"(?& +4 "core" &K\ \ =\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&'< +21 "core" ' +2 .tSE.seek 1.12 Pucks below Top Plate +2 "storage"(\ '^ +40 "core" ' +2 "manipulator"&& +4 "core" & q p  ( +2 "manipulator"&C% +4 "core" %5 q p  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +91 "core" ' +2 .tElbow.seek CC + "manipulator"&|( +139 "core" ( +2 "manipulator"&& +4 "core" & P / +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +4 "core" & O / +2 .tForearm.seek CC + "manipulator"&p'| +99 "core" ' + .tHand.close +2 "manipulator"&4/ +62 "core" / +3 .tCC.seek :open + "collection"'9(p +413 "core" ( +2 "storage"(&& +4 "core" &K \\ [\  +2 "storage"(:& +3 "core" &K H U \  +2 "manipulator"&!& +4 "core" &  , + "manipulator"&#% +4 "core" % σ u +2 .tForearm.seek :retract + "manipulator"&`'\ +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&G( +164 "core" ( + "manipulator"&z& +5 "core" & 8  + "storage"(& +4 "core" &K g g v\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 6 + "manipulator"&%'z +107 "core" ' +2 .tElbow.hold + "manipulator"&>, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&O1 +52 "core" 1 +3 "manipulator"&'% +4 "core" % ΅s , $ + "storage"(A& +4 "core" &K\ \  D\  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 6 + 311 counts + "manipulator"&/'ϱ +17 "core" ' +2 "manipulator"&Z& +4 "core" & i $ m +2 "storage"(t& +4 "core" &K } \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&8'< +20 "core" ' + "storage"(Q% +4 "core" %b w '\ +3 ."downElevator"SE.seek :down +3 "storage"(D'N +100 (P% +3 "core" %@ Y Y\ U^ +2 "manipulator"&a% +4 "core" % z y  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&='\ +90 "core" ' +47 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 3 of [3..6] + #Loading generic puck from tube 3 into Collection Clamp +2 "collection"'N& +4 "core" &  \ +2 "manipulator"&7% +3 "core" %\ / #d +2 "storage"(% +4 "core" %F Y Y\  +2 "storage"(m. +3 "core" .(K +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(W( +987 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (<& +3 "core" &\ \  c\ +2 "manipulator"&;& +3 "core" & l +2 .tElbow.seek 3 +2 "manipulator"&c(D +35 "core" ( +2 "manipulator"& & +4 "core" &A   +2 "storage"(h& +4 "core" & Y Y \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&L' +91 "core" ' +2 "storage"(V& +4 "core" & A\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(n'e +285 "core" ' +2 "storage"([- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (X& +2 "core" & d X \ +2 "manipulator"&& +4 "core" &A s x  +2 .tElbow.seek 3 + "manipulator"& (D +3 "core" ( +2 "manipulator"&2& +3 "core" &A { $  +2 "storage"(& +4 "core" & v q L\ +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&M'y +22 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&}/ +63 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"(T'N +7 "core" &A q q A  +2 "manipulator"&1% +4 "core" % o o p  +2 .tForearm.seek :retract +2 "manipulator"&'\ +97 "core" ' +2 .tElbow.seek CC + "manipulator"&y( +142 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +11 "core" ( +2 "manipulator"&S& +4 "core" &# :0 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &"& +4 "core" &# U :0 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"& '| +97 "core" ' + "manipulator"&& +5 "core" &# " :0 +2 "manipulator"&f% +4 "core" %q   +2 "collection"'K& +4 "core" & \ +2 "collection"'& +5 "core" &  \ +2 .tCC.seek :closed +2 "collection"'-(] +4 "core" &  \ +8 & 6  \ $e +9 &aW  \ 8 +9 &  c\ L +10 &va  g\ M +9 &9b  \ M +10 &c  \ N +9 & e  c\ M +9 &"~e  \ M +10 &$@d  t\ M +9 &&c  \ M +9 &'a  \ N +10 &)c  \ M +9 &+Hc  w\ M +10 &-\ a  h\ M +9 &.d  k\ N +9 &0c  \ N +10 &2Oc  \ N +9 &4b  [\ M +9 &5`  i\ M +10 &7`  j\ M +9 &9X_  \ M +10 &;_  i\ M +9 &<`  \ M +9 &>`  }\ M +10 &@`a  \ M +9 &B"b  \ M +9 &C]  \ M +10 &E`  \ M +9 &Gic  \ M +10 &I&n  \ O +9 &J}  \ P +9 &L  \ T +10 &NT  a\ W +9 &P \ \ W +9 &Q  {\ W +10 &S  \ {\ X +9 &UU  \ \ Y +10 &W \ y\ Y +9 &X \ [\ +9 &Z  n\ [\ +10 &\\X  \ \ H +9 &]X4  \ \ 0 +9 &] \ \ \ [ +6 ( + "collection"'& +4 #tCollection Clamp onSpring/offSpring for 10/26 samples, on/off torque 1.98 +2 .Hand.open + "manipulator"&1 +3 "core" &] \ ~\ [ +59 1 +2 "manipulator"&5% +5 "core" % q   + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&u'\ +92 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%& +4 "core" &E\ +2 "manipulator"&6% +3 "core" %\ * !R +2 "storage"(U% +4 "core" %H B\  + "storage"(*. +4 "core" .( + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(@( +23 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (H& +2 "core" & 8\  +2 "manipulator"&I& +4 "core" & x 8 +2 "manipulator"&_% +3 "core" %\ + V !R +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&l(D +171 "core" ( +2 "manipulator"&g& +4 "core" &;  J +2 "storage"(j& +3 "core" & m\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&k' +105 "core" ' +2 "storage"(& +4 "core" &  \  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(w'e +281 "core" ' +2 "storage"(~- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" &\  \  +2 "manipulator"&F& +4 "core" &; } t J +2 .tElbow.seek 3 + "manipulator"&Y(D +4 "core" ( + "manipulator"&& +4 "core" &; t z @ J + "storage"(b& +4 "core" &\ \ \  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&\\'y +22 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&e/ +58 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&r& +2 "storage"(v'N +8 "core" &;  ~ O J + "manipulator"&% +4 "core" % o x s L +2 .tForearm.seek :retract +2 "manipulator"&s'\ +95 "core" ' +3 .tElbow.seek PC + "manipulator"&((c +154 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +97 "core" ( +2 "manipulator"&.& +4 "core" &j 8 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &$& +3 "core" &j +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&d'[ +104 "core" ' + "manipulator"& & +5 "core" &j p u  + "manipulator"&J% +4 "core" %Q o o  k +2 "processing"%R& +56 "core" &\ +2 "processing"%& +5 "core" &\ +2 .tPC.seek :closed + "processing"%B(Z +5 "core" &\ +7 &<\ $d +9 &uV\ 7 +10 &}\ K +9 &Z\ M +9 &GZ\ M +10 &\\\ M +9 & _\ M +10 &"Y\ M +9 &$O[\ M +9 &&[\ M +10 &'Z\ M +9 &)[\ M +9 &+VZ\ M +10 &-^\ M +9 &.]\ M +10 &0Z\ M +9 &2^[\ M +9 &4 Y\ M +10 &5\\h\ M +9 &7[\ M +10 &9g\\Z\ M +9 &;)\\\ M +9 &<Z\ M +10 &>]\ N +9 &@o\\\ M +9 &B0]\ M +10 &C\\\ M +9 &EXr\ M +9 &Gu`\ N +10 &I4i\ O +9 &Ju%\ P +10 &LZ\ R +9 &Nm\ S +9 &P-8\ T +10 &Q\ T +9 &S\ S +9 &Ut\ S +10 &W4\ T +9 &X\ T +10 &ZPJg\ 's +9 &Z 1\ ) +5 ( +2 "processing"%& +4 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.57 + .Hand.open +2 "manipulator"&^1 +3 "core" &Z\ ) +49 1 +2 "manipulator"&i% +4 "core" % Q ~ q O k +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +92 "core" ' + "processing"%{& +5 "core" &ZH\ ) + #tImaging generic puck in Processing Clamp while storing it to tube 3 +2 "manipulator"&3% +4 "core" %\ +  !O + "storage"(% +4 "core" %P %\  +2 "storage"(. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 + "storage"(x( +12 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (o& +4 "core" & = C\ % + "manipulator"&?& +5 ."raiseStack"SE.reconfigure :place +3 "storage"(#]kK-0-\ b +2 "core" &j +4 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +3 ."raiseStack"SE.seek :beamBreak +2 "manipulator"&(c + "storage"(C'e +5 "core" ( +2 "manipulator"&& +4 "core" &j ' + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 & & +3 "core" &j +2 .tForearm.seek PC +2 "manipulator"&E'[ +96 "core" ' +2 .tHand.close + "manipulator"&+/ +55 "core" / +2 .tPC.seek :open + "processing"%](p +96 "core" ' + "storage"(- +3 "core" -'e +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place + "storage"('B +36 "core" ' +250 ( +2 "storage"(& +4 "core" & @\ * + "manipulator"&& +4 "core" &j U +2 "manipulator"&0% +4 "core" % W  +2 .tForearm.seek :retract + "manipulator"&4'\ +102 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&(D +252 "core" ( + "manipulator"&,& +4 "core" &> # +2 "storage"(&& +4 "core" & U\ * +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&:' +93 "core" ' +2 .tHand.open + "manipulator"&!1 +55 "core" 1 +2 "storage"(#- +4 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate + "storage"(z' +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.83 Pucks below Top Plate + "storage"(' +51 "core" ' +2 #tLights, camera, ACTION! + "storage"(p- +4 "core" -' + "storage"(|& +4 "core" & % # &\ - +2 "manipulator"&O& +4 "core" &? _ "~ +2 .tElbow.seek 3 + "manipulator"&'(D +4 "core" ( + "manipulator"&A& +4 "core" &?  "~ + "storage"(Z& +4 "core" & % % D\ - +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&t' +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.11 Pucks below Top Plate + "storage"(Q'M +63 "core" ' +2 "manipulator"&`& +4 "core" &?  "~ +2 "storage"(P& +4 "core" & \  >\ - +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&a'M +38 "core" ' + .tElbow.hold +2 "manipulator"&G, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.07 Pucks below Top Plate + "storage"(%'7 +25 "core" ' +2 "manipulator"&N% +4 "core" %RN   ů +2 "storage"(7& +4 "core" & { \ - +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 305 counts + "manipulator"&/'~ +19 "core" ' + "manipulator"&& +5 "core" &f\ { y 5 W + "storage"(m& +4 "core" &\ &\ ' H\ - +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&\ ' +19 "core" ' + "storage"(8% +5 "core" %>  F\  +2 ."downElevator"SE.seek :down +4 "storage"(D'N +98 (q% +4 "core" %F _\ Vc +2 "manipulator"&<% +4 "core" % q q a +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&;'\ +90 "core" ' +63 ' + ."downElevator"SE.stop + "storage"(5 +3 ( & +4 "core" & d\ - + "collection"'h& +4 "core" &] \ [ +2 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&V% +4 "core" %\ . #g +2 "storage"(>% +4 "core" %T G\  + "storage"(=. +3 "core" .( +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"([( +35 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (X& +3 "core" & C\ +2 "manipulator"&& +4 "core" &f\ v W + .tElbow.seek 3 +2 "manipulator"&2(D +26 "core" ( + "manipulator"&& +4 "core" &C > q +2 "storage"(}& +4 "core" & u\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&' +92 "core" ' + "storage"(1& +4 "core" &  \ +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(c'e +282 "core" ' +2 "storage"(L- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&S& +3 "core" &C p o q + "storage"("& +4 "core" & +\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&n'M +34 "core" ' +2 .tElbow.hold +2 "manipulator"&M, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(- +2 "core" -' +3 .tSE.seek 0.11 Pucks below Top Plate + "storage"(f'h +26 "core" ' + "manipulator"&K% +5 "core" %`O  ^ ï + "storage"( & +4 "core" & e\ + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 319 counts + "manipulator"&T'ό +16 "core" ' +2 "manipulator"&& +4 "core" &I _ w @ k +2 "storage"(9& +4 "core" &\ \ # .\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&' +12 "core" ' +2 .tSE.seek 1.11 Pucks below Top Plate + "storage"(5'W +47 "core" ' + "manipulator"&& +5 "core" &I e o k + "manipulator"&6% +4 "core" % o o 3 +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&U'\ +94 "core" ' + .tElbow.seek CC +2 "manipulator"&*( +159 "core" ( +2 "manipulator"&& +4 "core" &% <? +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &H& +2 "core" &$ I <? +3 .tForearm.seek CC + "manipulator"&I'| +98 "core" ' +2 .tHand.close + "manipulator"&_/ +52 "core" / +2 .tCC.seek :open + "collection"' (p +411 "core" ( +2 "storage"(g& +5 "core" & B @ -\ + "storage"(j& +4 "core" & 9 B \ + "manipulator"&W& +4 "core" &% o <? + "manipulator"&% +4 "core" % ϊ  +2 .tForearm.seek :retract +2 "manipulator"&y'\ +91 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&u(D +162 "core" ( +2 "manipulator"&~& +4 "core" &F V  +53 "storage"(& +5 "core" & Y Y\ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 3 + "manipulator"&F'M +111 "core" ' +2 .tElbow.hold + "manipulator"&, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&b1 +63 "core" 1 +2 "manipulator"&e% +5 "core" % \\w % e 2 + "storage"(r& +4 "core" &\ \  E\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 315 counts + "manipulator"&'ψ +17 "core" ' +2 "manipulator"&l& +4 "core" &k n g f u +2 "storage"(k& +4 "core" & \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&w' +10 "core" ' +2 "storage"(\\% +4 "core" %Z \ +2 ."downElevator"SE.seek :down +4 "storage"(.'N +99 ($% +2 "core" %$> p s T\ U] +2 "manipulator"&Y% +4 "core" % I G O  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"& '\ +94 "core" ' +44 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 4 of [3..6] +2 #Loading generic puck from tube 4 into Collection Clamp + "collection"'J& +5 "core" &  \ + "manipulator"&R% +5 "core" %\ 4 d % + "storage"(v% +4 "core" %I q u !\  +2 "storage"(s. +3 "core" .( +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"()(, +354 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (^& +3 "core" &,~   \  + "manipulator"&i& +4 "core" &k ~ u +2 .tElbow.seek 4 + "manipulator"&{(* +33 "core" ( + "manipulator"&3& +5 "core" &' ` O + "storage"(& +4 "core" &,~ [ [\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&' +104 "core" ' +2 "storage"(& +4 "core" &,~ s } }\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(o'e +278 "core" ' + "storage"(?- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" &,~ X N a\  + "manipulator"& & +4 "core" &3 [ C +2 .tElbow.seek 4 + "manipulator"&d(* +4 "core" ( + "manipulator"&+& +4 "core" &3  C + "storage"(@& +4 "core" &,~ ^ c\  +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&'Z +23 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&(/ +64 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& + "storage"(B'N +8 "core" &3 o r  C +2 "manipulator"&% +3 "core" % X p n  +2 .tForearm.seek :retract +2 "manipulator"&'\ +93 "core" ' + .tElbow.seek CC +2 "manipulator"&0( +153 "core" ' + ."downElevator"SE.stop +3 "storage"(5 +2 "core" ( +2 "manipulator"&C& +4 "core" &* R @Y +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &E& +2 "core" &( @Y +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&,'| +106 "core" ' +3 "manipulator"&&& +4 "core" &*  @X +2 "manipulator"&% +4 "core" %r i + "collection"'!& +5 "core" &  \ +2 "collection"'#& +5 "core" &  \ +2 .tCC.seek :closed + "collection"'p(] +5 "core" &  e\ +7 & 7  b\ $e +10 &hW  \ 8 +9 &  \ L +10 &`  \ L +9 &Ab  \ M +9 &c  \ M +10 & e  \ N +9 &"c  \ M +9 &$I_  e\ M +10 &&\ c  \ M +9 &'b  p\ M +10 &)b  \ M +9 &+Pc  \ M +9 &-a  \ M +10 &.d  \ M +9 &0c  \ M +9 &2Yg  \ M +10 &4c  \ M +9 &5c  x\ M +10 &7b  N\ L +9 &9b`  i\ M +9 &;$`  \ M +10 &<`  \ L +9 &>b  \ M +9 &@ib  b\ M +10 &B+c  s\ M +9 &Cb  d\ M +10 &E_  j\ M +9 &Gra  Q\ M +9 &I2g  \\\ M +10 &Js  _\ O +9 &L  `\ R +9 &Na \\\ U +10 &P \ [\ W +9 &Q  Y\ X +10 &S \ \\\ X +9 &U_ k\ Y +9 &W!  \ T\ Y +10 &X \ N\ Z +9 &Z  O\ [\ +9 &\\a  [\ H +10 &]a8 \ s\ )y +9 &]}  \ \ U +2 ( +2 "collection"'#& +3 #tCollection Clamp onSpring/offSpring for 10/26 samples, on/off torque 1.91 +2 .Hand.open + "manipulator"&|1 +57 "core" 1 +2 "manipulator"&O% +4 "core" % r  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&A'\ +95 "core" ' +2 #tLoading generic puck from tube 4 into Processing Clamp + "processing"%Z& +5 "core" &M\ + "manipulator"&4% +4 "core" %\ 1 V $p +2 "storage"(`% +4 "core" %F /\  + "storage"(P. +3 "core" .(,~ +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"((, +4 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (N& +3 "core" &, >\  +2 "manipulator"&7& +4 "core" &&  >J +2 "manipulator"&z% +4 "core" %\ 1 " $p +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&(* +158 "core" ( + "manipulator"&m& +4 "core" &1 . +2 "storage"(8& +4 "core" &,~\ \ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&' +99 "core" ' +2 "storage"(:& +4 "core" &,~  m\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"('e +278 "core" ' + "storage"(q- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (<& +3 "core" &,~\ \ 8\  +2 "manipulator"&t& +3 "core" &3 { +2 .tElbow.seek 4 +2 "manipulator"&'(* +3 "core" ( +2 "manipulator"&Q& +3 "core" &3 g \\ +2 "storage"(a& +4 "core" &,~\ &\ ' =\  +2 .tForearm.seek 4 + 300 counts + "manipulator"&/'Z +25 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"& / +58 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&h& +2 "storage"(V'N +8 "core" &3 p o # + "manipulator"&>% +4 "core" % h n o  +2 .tForearm.seek :retract +2 "manipulator"&='\ +89 "core" ' +2 .tElbow.seek PC + "manipulator"&%(c +166 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +83 "core" ( +2 "manipulator"&X& +4 "core" &i +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &i M +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&'[ +98 "core" ' +2 "manipulator"&}& +4 "core" &i  +2 "manipulator"&\ % +4 "core" %Y  +2 "processing"%1& +4 "core" &\ +2 "processing"%D& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%x(Z +4 "core" &\ +7 & 1\ #b +10 &]V\ 7 +9 &~\ L +9 &mW\ M +10 &/\\\ M +9 &\\\ M +10 & \\\ N +9 &"tY\ N +9 &$7[\ M +10 &%\\\ M +9 &'Z\ N +9 &)}Z\ M +10 &+?[\ M +9 &-\\\ N +9 &.\\\ N +10 &0Z\ M +9 &2GY\ M +10 &4 [\ M +9 &5Z\ N +9 &7Z\ M +10 &9O[\ M +9 &;]\ M +9 &<Y\ N +10 &>\\\ N +9 &@WZ\ M +10 &BZ\ M +9 &C_\ M +9 &EW\ M +10 &G\\c\ N +9 &Il\ O +9 &J\ Q +10 &L\ S +9 &NT\ T +10 &P\ T +9 &QV\ S +9 &Sn\ T +10 &U\\\ T +9 &W\ T +9 &Xj\ T +10 &Z:Ln\ - +9 &Z.\ ( +6 ( + "processing"%D& +4 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.60 +2 .Hand.open + "manipulator"&G1 +3 "core" &Z\ ( +53 1 + "manipulator"&;% +4 "core" % Y g +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&L'\ +97 "core" ' + "processing"%S& +4 "core" &Z9\ ( +2 #tImaging generic puck in Processing Clamp while storing it to tube 4 + "manipulator"&"% +4 "core" %\ 1 $p +2 "storage"(% +4 "core" %G \  + "storage"(K. +3 "core" .(, +2 "storage"( & +4 "core" &,~ \  +2 "storage"(& +4 "manipulator"&9& +4 "core" &,~ D\  + &i n +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +56 "storage"(#]kK-0-\ b +3 "manipulator"&(c +6 ."raiseStack"SE.seek :beamBreak +2 "storage"(6'e +3 "core" ( + "manipulator"&& +4 "core" &i +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &2& +2 "core" &i +2 .tForearm.seek PC +2 "manipulator"&c'[ +96 "core" ' + .tHand.close +2 "manipulator"&n/ +62 "core" / +3 .tPC.seek :open + "processing"%T(p +84 "core" ' + "storage"(f- +4 "core" -'e +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('B +34 "core" ' +263 ( + "storage"(H& +4 "core" &,~ S\  +2 "manipulator"&& +4 "core" &i i + "manipulator"&M% +4 "core" % a  +2 .tForearm.seek :retract +2 "manipulator"&_'\ +100 "core" ' +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&U(* +274 "core" ( + "manipulator"&-& +5 "core" &6  + "storage"(g& +4 "core" &,~ C\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&j' +107 "core" ' +2 .tHand.open + "manipulator"&W1 +57 "core" 1 +2 "storage"(- +3 "core" -'B +3 .tSE.seek -0.16 Pucks below Top Plate + "storage"(~' +25 "core" ' +3 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.83 Pucks below Top Plate + "storage"(' +54 "core" ' + #tLights, camera, ACTION! +2 "storage"(I- +3 "core" -' +2 "storage"(*& +4 "core" &,~ : 3 Y\  + "manipulator"&b& +5 "core" &6 o o  +2 .tElbow.seek 4 + "manipulator"&e(* +12 "core" ( + "manipulator"&r& +4 "core" &4 f u  +2 "storage"(l& +4 "core" &,~ 7 4 (\  +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&k' +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"(\\'M +62 "core" ' + "manipulator"&y& +5 "core" &4 o o  + "storage"($& +4 "core" &,~   \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&Y'. +35 "core" ' + .tElbow.hold +2 "manipulator"&u, +5 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"(F'7 +23 "core" ' + "manipulator"&J% +5 "core" %Bb  * + "storage"(R& +4 "core" &,~ Y\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 320 counts + "manipulator"&v'n +18 "core" ' + "manipulator"&& +5 "core" & r v %  +2 "storage"(s& +4 "core" &,~   l\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&5' +19 "core" ' +2 "storage"(w% +4 "core" %; # 0 D\  +3 ."downElevator"SE.seek :down +3 "storage"(.'N +100 ([% +2 "core" %OF \ Wd +2 "manipulator"&^% +4 "core" % o f Z # +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&i'\ +96 "core" ' +50 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (3& +4 "core" &,~ h\  +2 "collection"'& +4 "core" &]|  \ L\ U +2 #tStoring generic puck in Collection Clamp to tube 4 + "manipulator"&% +4 "core" %\ 8 z ' +2 "storage"(% +4 "core" %L \  )\  + "storage"( . +4 "core" .(, + "storage"(?& +4 "core" &,~ [\  + "storage"(& +4 "core" &,~ \  >\  +2 "manipulator"& & +4 "core" & r  + .tElbow.seek 4 +2 "manipulator"&+(* +23 "core" ( +2 "manipulator"&@& +4 "core" &( 8 # +2 "storage"((& +4 "core" &,~ ;\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&' +94 "core" ' +2 "storage"(& +4 "core" &,~ G /\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"({'e +281 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&C& +3 "core" &-  # +2 "storage"(E& +3 "core" &,~ \  =\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&o'. +34 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(&- +2 "core" -' +3 .tSE.seek 0.12 Pucks below Top Plate + "storage"('t +31 "core" ' + "manipulator"&d% +5 "core" %>] T ij + "storage"(!& +4 "core" &,~ Z\  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 4 + 316 counts +2 "manipulator"&B'j +19 "core" ' +2 "manipulator"&& +4 "core" & t \\ x & +2 "storage"( & +4 "core" &,~\ \  \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&|' +21 "core" ' +2 .tSE.seek 1.12 Pucks below Top Plate +2 "storage"(O'c +49 "core" ' +2 "manipulator"&Z& +4 "core" & p o 0 & +2 "manipulator"&4% +4 "core" % r o   +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&`'\ +95 "core" ' +2 .tElbow.seek CC + "manipulator"&P( +150 "core" ( + "manipulator"&#& +4 "core" &'  >M +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &N& +2 "core" &' < >M +2 .tForearm.seek CC +2 "manipulator"&7'| +94 "core" ' +2 .tHand.close + "manipulator"&z/ +60 "core" / +2 .tCC.seek :open + "collection"',(p +410 "core" ( +3 "storage"(m& +4 "core" &,~ D H @\  + "storage"(8& +4 "core" &,~ E E\  +2 "manipulator"&)& +3 "core" &" L :/ +2 "manipulator"&:% +4 "core" % v m +2 .tForearm.seek :retract + "manipulator"&0'\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&A(* +155 "core" ( + "manipulator"&q& +4 "core" &4 K +2 "storage"(<& +4 "core" &,~ c Y\  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 4 +2 "manipulator"&t'. +110 "core" ' +2 .tElbow.hold + "manipulator"&Q, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&a1 +62 "core" 1 +2 "manipulator"& % +4 "core" % @e  \\ + "storage"(h& +4 "core" &,~ M\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 318 counts +2 "manipulator"&>'l +17 "core" ' + "manipulator"&& +5 "core" & s w   + "storage"(& +4 "core" &,~ ~ } o\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&' +20 "core" ' + "storage"(/% +5 "core" %h x w\ +2 ."downElevator"SE.seek :down +4 "storage"(X'N +98 (% +3 "core" %? Y Z \ \ V_ +2 "manipulator"&'% +4 "core" % f m + +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&}'\ +96 "core" ' +43 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 5 of [3..6] + #Loading generic puck from tube 5 into Collection Clamp + "collection"'\ & +5 "core" &  a\ +2 "manipulator"&1% +4 "core" %\ 6 _ & +2 "storage"(V% +4 "core" %G g f \  +2 "storage"(=. +3 "core" .(, + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"(](<< +352 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (G& +2 "core" &<9\ \  "\  +2 "manipulator"&;& +4 "core" & g  +53 .tElbow.seek 5 +2 "manipulator"&S( +19 "core" ( +2 "manipulator"&"& +4 "core" &  ( +2 "storage"(& +4 "core" &<8 \\ _\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&K' +112 "core" ' + "storage"( & +5 "core" &<8 N\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('e +280 "core" ' +2 "storage"(9- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (D& +2 "core" &<8 v v ]\  +2 "manipulator"&& +4 "core" & n p o ' + .tElbow.seek 5 +2 "manipulator"&2( +18 "core" ( +2 "manipulator"&& +4 "core" &  s _ %  +2 "storage"(n& +3 "core" &<8 p x u\  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&f'[ +27 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&%/ +63 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&L& + "storage"(x'N +8 "core" &  p n  +2 "manipulator"&H% +4 "core" % V o o +2 .tForearm.seek :retract +2 "manipulator"&6'\ +89 "core" ' +2 .tElbow.seek CC + "manipulator"&( +155 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +3 "core" ( + "manipulator"&M& +4 "core" &%  <@ +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &c& +3 "core" &% <@ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&-'| +98 "core" ' +2 "manipulator"&g& +4 "core" &% <? +2 "manipulator"&% +4 "core" %y  +2 "collection"'W& +4 "core" &  X\ +2 "collection"'& +5 "core" &  Z\ +2 .tCC.seek :closed +2 "collection"'I(] +4 "core" &  c\  +9 &2  _\ *z +10 &e  m\ ? +9 &P|  a\ N +10 &]  [\ M +9 &c  h\ M +9 &d  b\ M +10 &!Z`  m\ M +9 &#e  f\ N +9 &$`  c\ M +10 &&c  d\ M +9 &(bb  c\ M +10 &*$_ j\ M +9 &+_  \ M +9 &-`  o\ M +10 &/jd  l\ M +9 &1+d  a\ N +9 &2a  W\ M +10 &4\\  e\ M +9 &6r_  k\ M +10 &84_  k\ M +9 &9_  g\ M +9 &;^  k\ M +10 &={`  l\ M +9 &?=_  d\ M +9 &@b  ]\ M +10 &B_  \ c\ M +9 &D_  W\ M +10 &FEa  b\ M +9 &He  c\ N +9 &Is  b\ O +10 &K}  \ a\ R +9 &M4 c\ V +9 &N \ d\ V +10 &P  d\ X +9 &Rr \ d\ X +10 &T1 d\ Y +9 &U b\ Z +9 &W \ \ c\ Z +10 &Yq Z\ [ +9 &[3 c\ [ +9 &\\z \ ^\ 2 +10 &] \ c\ &o +9 ( + &] \ d\ #f +2 "collection"'& +3 #tCollection Clamp onSpring/offSpring for 9/25 samples, on/off torque 2.00 + .Hand.open +2 "manipulator"&*1 +55 "core" 1 +2 "manipulator"&b% +4 "core" % y > +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&r'\ +100 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp + "processing"%_& +4 "core" &\ +2 "manipulator"&l% +4 "core" %\ 6 * & + "storage"(y% +4 "core" %K \  +2 "storage"($. +3 "core" .(<9 +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 + "storage"((<< +8 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (J& +3 "core" &<9; W a\  +2 "manipulator"&R& +4 "core" &\ # 3 :/ +2 "manipulator"&~% +4 "core" %\ 6  & +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&( +166 "core" ( +2 "manipulator"&s& +4 "core" & ) +2 "storage"(w& +4 "core" &<9 \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&U' +94 "core" ' +2 "storage"(j& +4 "core" &<9 W\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"('e +281 "core" ' + "storage"([- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (^& +3 "core" &<9 R\  + "manipulator"&k& +4 "core" & + ( +2 .tElbow.seek 5 +2 "manipulator"&e( +3 "core" ( +2 "manipulator"&\\& +4 "core" & r ( + "storage"(Y& +4 "core" &<9 \  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&3'[ +23 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&v/ +58 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"('N +7 "core" & q | ( +2 "manipulator"&% +4 "core" % \\ o p  +2 .tForearm.seek :retract + "manipulator"& '\ +92 "core" ' +2 .tElbow.seek PC + "manipulator"&?(c +166 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +84 "core" ( +2 "manipulator"&F& +4 "core" &j +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &j  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"& '[ +101 "core" ' + "manipulator"&@& +4 "core" &j y +2 "manipulator"&(% +4 "core" %c +2 "processing"%5& +4 "core" &\ +2 "processing"%& +6 "core" &\ +2 .tPC.seek :closed +2 "processing"%.(Z +4 "core" &\ +8 & *\ #b +9 &\\U}\ 7 +10 &}\ L +9 &lY\ M +9 &.[\ M +10 &W\ M +9 & Y\ M +10 &"tU\ M +9 &$6W\ M +9 &%W\ M +10 &'V\ M +9 &)|W\ M +9 &+=U\ N +10 &,Z\ N +9 &.X\ M +10 &0Y\ M +9 &2FW\ M +9 &4 X\ M +10 &5Y\ N +9 &7U\ M +9 &9NU\ M +10 &;X\ M +9 &<Y\ M +9 &>X\ N +10 &@VV\ M +9 &BZ\ N +10 &CZ\ N +9 &EX\ N +9 &G\\`\ N +10 &Ij\ O +9 &Jz\ Q +9 &L\ T +10 &NS\ T +9 &P\ T +10 &Q\ T +9 &S\ T +9 &UXn\ U +10 &W*\ T +9 &X\ U +9 &Z8Km\ - +10 &Z.\ ( +5 ( +2 "processing"%& +4 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.64 + .Hand.open + "manipulator"&u1 +4 "core" &Z\ ( +59 1 + "manipulator"&i% +4 "core" % c  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +99 "core" ' +2 "processing"%C& +4 "core" &Z\ ( +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 + "manipulator"&E% +4 "core" %\ 3 B % + "storage"(&% +4 "core" %^ \ +2 "storage"(d. +3 "core" .(<9 +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 +2 "storage"(!(<< +3 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (& +4 "manipulator"& & +2 "core" &<: r ~\  +4 ."raiseStack"SE.reconfigure :place +3 "storage"(#]kK-0-\ b +3 "core" &j +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 ."raiseStack"SE.seek :beamBreak +4 .tElbow.seek PC +2 "storage"(Z'e +2 "manipulator"&4(c +4 "core" ( +2 "manipulator"&& +4 "core" &j + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &+& +3 "core" &j +2 .tForearm.seek PC +2 "manipulator"&{'[ +95 "core" ' +2 .tHand.close + "manipulator"&o/ +56 "core" / +2 .tPC.seek :open +2 "processing"%B(p +90 "core" ' +2 "storage"(- +3 "core" -'e + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(#'B +41 "core" ' +249 ( +2 "storage"(N& +4 "core" &<9 5\  +2 "manipulator"&|& +3 "core" &j  +2 "manipulator"&% +4 "core" % d  +2 .tForearm.seek :retract + "manipulator"&z'\ +99 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&`( +265 "core" ( + "manipulator"&p& +5 "core" &   + "storage"(m& +4 "core" &<9 \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&8' +100 "core" ' + .tHand.open + "manipulator"&)1 +63 "core" 1 +2 "storage"(:- +4 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate +2 "storage"(q' +26 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +56 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(<' +54 "core" ' + #tLights, camera, ACTION! +2 "storage"(7- +3 "core" -' +2 "storage"(P& +4 "core" &<9 )\  + "manipulator"&a& +4 "core" &  x +2 .tElbow.seek 5 +2 "manipulator"& ( +3 "core" ( + "manipulator"&h& +4 "core" &   +2 "storage"(& +4 "core" &<9 \  +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&' +19 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.11 Pucks below Top Plate + "storage"(/'M +59 "core" ' + "manipulator"&0& +5 "core" &  o o  + "storage"(& +4 "core" &<9 g\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&''/ +34 "core" ' + .tElbow.hold +2 "manipulator"&A, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"(t'7 +22 "core" ' +2 "manipulator"&\ % +5 "core" %3R S İ + "storage"(1& +4 "core" &<9 y { C\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 304 counts + "manipulator"&>'_ +19 "core" ' + "manipulator"&V& +5 "core" & v { / 3 +2 "storage"(=& +4 "core" &<8 \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&O' +20 "core" ' + "storage"(% +5 "core" %;\ \  \  +2 ."downElevator"SE.seek :down +4 "storage"(X'N +98 (% +3 "core" %B \ We +2 "manipulator"&G% +4 "core" % p q  " +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&;'\ +97 "core" ' +52 ' + ."downElevator"SE.stop +2 "storage"(5 +2 ("& +4 "core" &<8 \  +2 "collection"'& +4 "core" &] H\ #f +2 #tStoring generic puck in Collection Clamp to tube 5 + "manipulator"& % +4 "core" %\ : I ( +2 "storage"(Q% +4 "core" %G K\  + "storage"(}. +3 "core" .(<< +2 "storage"(9& +4 "core" &<8 X\  + "storage"(D& +4 "core" &<8 \  +2 "manipulator"&& +4 "core" & 3 + .tElbow.seek 5 +2 "manipulator"&( +15 "core" ( +2 "manipulator"&n& +4 "core" & D !t +2 "storage"(%& +4 "core" &<8 \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&L' +105 "core" ' +2 "storage"(H& +4 "core" &<8 <\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(S'e +281 "core" ' + "storage"(K- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&M& +3 "core" & o !s +2 "storage"(c& +3 "core" &<8 \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&'/ +35 "core" ' + .tElbow.hold +2 "manipulator"&f, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(g- +3 "core" -' +2 .tSE.seek 0.12 Pucks below Top Plate +2 "storage"('s +31 "core" ' + "manipulator"&W% +5 "core" %8K * * Ǯ + "storage"(2& +4 "core" &<8 W Y\  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 5 + 309 counts + "manipulator"&x'd +16 "core" ' + "manipulator"&6& +4 "core" & s y  z +2 "storage"(,& +4 "core" &<8 W\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&*' +19 "core" ' +2 .tSE.seek 1.12 Pucks below Top Plate + "storage"(b'b +42 "core" ' +2 "manipulator"&_& +4 "core" & n o V !u +2 "manipulator"&l% +4 "core" % m x ) + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&y'\ +97 "core" ' +2 .tElbow.seek CC +2 "manipulator"&$( +138 "core" ( +2 "manipulator"&& +4 "core" & * / + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &J& +2 "core" &  / +2 .tForearm.seek CC +2 "manipulator"&R'| +95 "core" ' +2 .tHand.close + "manipulator"&~/ +57 "core" / + .tCC.seek :open +2 "collection"'-(p +410 "core" ( +2 "storage"(s& +4 "core" &<8 \\ \\\  +2 "storage"(w& +4 "core" &<8 Y Y\  + "manipulator"&]& +4 "core" &  . + "manipulator"&j% +4 "core" % }  +2 .tForearm.seek :retract +2 "manipulator"&'\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&r( +165 "core" ( +2 "manipulator"&[& +4 "core" &  < +2 "storage"(^& +4 "core" &<8 \\ Z\  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 5 +2 "manipulator"&k'/ +113 "core" ' +2 .tElbow.hold + "manipulator"&\\, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&Y1 +60 "core" 1 +3 "manipulator"&v% +4 "core" % ?b  k ´ + "storage"(& +4 "core" &<8 5\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 316 counts + "manipulator"&'k +16 "core" ' + "manipulator"&& +4 "core" & w ` D F +2 "storage"(U& +4 "core" &<8 r y \ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&' +18 "core" ' +2 "storage"(3% +4 "core" %d x T\ +2 ."downElevator"SE.seek :down +3 "storage"(F'N +99 (% +3 "core" %!C c Z\ V` +2 "manipulator"&e% +4 "core" % o o \ \ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&@'\ +90 "core" ' +50 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 6 of [3..6] + #Loading generic puck from tube 6 into Collection Clamp +2 "collection"'(& +3 "core" & W\ +2 "manipulator"&5% +5 "core" %\ + n !U + "storage"(% +4 "core" %P Z Z\ +2 "storage"( . +3 "core" .(<< +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 + "storage"(T(K +349 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (u& +3 "core" &K > L\  +2 "manipulator"&i& +3 "core" &  F +2 .tElbow.seek 6 +2 "manipulator"&C( +3 "core" ( + "manipulator"&E& +4 "core" & ; F +2 "storage"(&& +4 "core" &K Z [\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&d'< +93 "core" ' + "storage"(& +5 "core" &K k n 0\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('e +277 "core" ' +2 "storage"( - +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (& +2 "core" &K W [ #\  +2 "manipulator"&+& +3 "core" &  F +2 .tElbow.seek 6 +2 "manipulator"& ( +3 "core" ( +2 "manipulator"&o& +3 "core" &  F +2 "storage"(& +3 "core" &K f g 2\  +3 .tForearm.seek 6 + 300 counts + "manipulator"&'Ϧ +17 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&?/ +59 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"(.'N +7 "core" &\ X F + "manipulator"&N% +4 "core" % ϯ & +2 .tForearm.seek :retract +2 "manipulator"&|'\ +96 "core" ' +2 .tElbow.seek CC +2 "manipulator"&Z( +150 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +3 "core" ( + "manipulator"&& +4 "core" &' >J +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &{& +3 "core" &' , >J +2 .tForearm.reconfigure :tight +54 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek CC +2 "manipulator"&p'| +103 "core" ' + "manipulator"&m& +4 "core" &' W >J +2 "manipulator"&4% +4 "core" %υ +2 "collection"')& +4 "core" &  f\ +2 "collection"':& +5 "core" & \ h\ +2 .tCC.seek :closed + "collection"'z(] +5 "core" &  q\ +7 & 5  k\ %f +9 &gU  c\ 7 +10 &  g\ L +9 &x]  [\ M +10 &:`  W\ M +9 &a  [\ M +9 & c  b\ M +10 &"~b  _\ M +9 &$A^ \ \ f\ M +9 &&b  e\ M +10 &'`  `\ M +9 &)`  e\ M +10 &+Ha  f\ M +9 &- `  \ e\ M +9 &.c  d\ M +10 &0b  c\ M +9 &2P` e\ M +9 &4b  d\ M +10 &5` e\ M +9 &7`  e\ M +10 &9Y^  e\ M +9 &;_  e\ M +9 &<^  d\ L +10 &>`  \ c\ M +9 &@a_  e\ M +9 &B"`  e\ M +10 &C`  d\ M +9 &E]  e\ M +10 &Gj_  e\ M +9 &I'h  b\ N +9 &Jx  c\ P +10 &L \ \ d\ S +9 &NV \ \ d\ V +9 &P  f\ X +10 &Q d\ X +9 &S  \ c\ Y +10 &UU \ c\ Y +9 &W \ d\ Z +9 &X \ c\ [ +10 &Z \ e\ ^ +9 &\\X \ b\ H +9 &]c? d\ #j +10 &]w e\ T +5 ( +2 "collection"':& +4 #tCollection Clamp onSpring/offSpring for 10/26 samples, on/off torque 1.97 + .Hand.open +2 "manipulator"&71 +3 "core" &]o \ \ e\ T +53 1 +2 "manipulator"&P% +4 "core" % ~ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&a'\ +101 "core" ' +2 #tLoading generic puck from tube 6 into Processing Clamp + "processing"%h& +5 "core" &\ + "manipulator"&% +4 "core" %\ 9 ( +2 "storage"(0% +4 "core" %T ]\  + "storage"(. +3 "core" .(K +2 "storage"(#& +4 "core" &K \  + "storage"(\ & +4 "core" &K y\  +2 "manipulator"&1& +4 "core" &# d ;4 + "manipulator"&q% +4 "core" %\ ; * ( +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 + "manipulator"&V( +168 "core" ( + "manipulator"&=& +4 "core" & 0 +2 "storage"(& +4 "core" &K\ C\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&`'< +93 "core" ' +2 "storage"(8& +4 "core" &K   \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(<'e +280 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (G& +3 "core" &K \  + "manipulator"&& +4 "core" & 0 0 +2 .tElbow.seek 6 + "manipulator"& ( +4 "core" ( +2 "manipulator"&/& +4 "core" & U 0 + "storage"('& +4 "core" &K\ \  \  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&"'Ϧ +22 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&>/ +60 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&& + "storage"( 'N +8 "core" & p o  0 + "manipulator"&Q% +4 "core" % Ϧ r o +2 .tForearm.seek :retract +2 "manipulator"&}'\ +88 "core" ' +2 .tElbow.seek PC +2 "manipulator"&9(c +168 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +80 "core" ( +2 "manipulator"&t& +4 "core" &i +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &D& +4 "core" &i : +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&'[ +91 "core" ' +2 "manipulator"&n& +4 "core" &i  +2 "manipulator"&%% +4 "core" %e  +2 "processing"%O& +4 "core" &\ +2 "processing"%H& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%X(Z +4 "core" &\  +9 &0{\ *x +9 &d\ > +10 &?v\ N +9 &U\ M +9 &[\ M +10 &W\ M +9 &!H[\ M +9 &# U\ M +10 &$X\ M +9 &&Y\ M +9 &(PY\ M +10 &*\\\ M +9 &+Y\ M +10 &-Z\ N +9 &/W[\ N +9 &1Z\ M +10 &2Z\ N +9 &4Y\ M +10 &6`Z\ M +9 &8#[\ M +9 &9Y\ M +10 &;\\\ M +9 &=iY\ M +9 &?*]\ M +10 &@[\ N +9 &BZ\ M +9 &DpW\ M +10 &F2Y\ M +9 &Gc\ O +10 &In\ O +9 &Kl\ Q +9 &M(\ S +10 &N\ S +9 &P\ T +9 &Rn\ S +10 &T/\ T +9 &U\ T +10 &W\ T +9 &Yr\ B +9 &Z|A\ Q +10 &Z\ ' +2 ( +2 "processing"%H& +3 #tProcessing Clamp onSpring/offSpring for 9/25 samples, on/off torque 1.62 + .Hand.open + "manipulator"&A1 +54 "core" 1 +2 "manipulator"&;% +4 "core" % e  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&K'\ +92 "core" ' +2 "processing"%M& +4 "core" &Z\ ' +2 #tImaging generic puck in Processing Clamp while storing it to tube 6 + "manipulator"&c% +4 "core" %\ ) K +2 "storage"(g% +3 "core" %\\ \  +2 "storage"(W. +3 "core" .(K +2 "storage"(2& +3 "core" &K f\  +2 "storage"(6& +5 "manipulator"&,& +4 "core" &K E\  + &i X +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +6 "manipulator"&$&.,(\ #b + "storage"(#]kK-0-\ b +3 .tElbow.seek PC +5 "manipulator"&_(c +4 ."raiseStack"SE.seek :beamBreak + "storage"(l'e +3 "core" ( +2 "manipulator"&L& +4 "core" &i + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &i \ +2 .tForearm.seek PC +2 "manipulator"&S'[ +99 "core" ' +2 .tHand.close + "manipulator"&/ +55 "core" / +2 .tPC.seek :open +2 "processing"%x(p +88 "core" ' +2 "storage"(- +3 "core" -'e +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('B +35 "core" ' +254 ( +2 "storage"(J& +4 "core" &K\ \ j\  + "manipulator"&*& +4 "core" &i C +2 "manipulator"&f% +4 "core" % h +2 .tForearm.seek :retract +2 "manipulator"&~'\ +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&y( +250 "core" ( + "manipulator"&I& +5 "core" &\  X + "storage"(s& +4 "core" &K \  1\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&w'< +96 "core" ' +2 .tHand.open + "manipulator"&]1 +63 "core" 1 +2 "storage"(j- +4 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate +2 "storage"([' +25 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(^' +52 "core" ' +2 #tLights, camera, ACTION! + "storage"(R- +4 "core" -' +2 "storage"($& +4 "core" &K !  a\  + "manipulator"&Y& +4 "core" &\ 2 X +2 .tElbow.seek 6 + "manipulator"&v( +4 "core" ( + "manipulator"&& +4 "core" &\  X +2 "storage"(& +4 "core" &K   e\  +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&U'< +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.11 Pucks below Top Plate + "storage"(3'M +63 "core" ' + "manipulator"&& +4 "core" &\  X +2 "storage"(& +4 "core" &K\ \ $\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&e'z +30 "core" ' +2 .tElbow.hold +2 "manipulator"&r, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"(k'7 +25 "core" ' + "manipulator"&(% +4 "core" %΋] Q ij +2 "storage"(5& +4 "core" &K '\  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 6 + 317 counts +2 "manipulator"&'Ϸ +16 "core" ' +2 "manipulator"&& +4 "core" & z  % +2 "storage"( & +4 "core" &K\ \  w\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&b'< +16 "core" ' +2 "storage"(% +4 "core" %>  V\ +3 ."downElevator"SE.seek :down +3 "storage"(F'N +99 (!% +3 "core" %D _\ We +2 "manipulator"&u% +4 "core" %@ o r x  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&i'\ +88 "core" ' +63 ' + ."downElevator"SE.stop + "storage"(5 +3 (E& +4 "core" &K `\  + "collection"'&& +4 "core" &]o \ R\ T +2 #tStoring generic puck in Collection Clamp to tube 6 +2 "manipulator"&% +4 "core" %\ * Y J +2 "storage"(\\% +4 "core" %S\ \  0\ + "storage"(@. +3 "core" .(K +2 "storage"( & +4 "core" &K\ \  Q\  + "storage"(& +4 "core" &K\ \  \  +2 "manipulator"&+& +4 "core" & ] % +2 .tElbow.seek 6 + "manipulator"&o( +47 "core" ( +2 "manipulator"&& +4 "core" & O !v +2 "storage"(?& +4 "core" &K\ \  \\\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&'< +95 "core" ' +2 "storage"(N& +4 "core" &K \  r\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(C'e +280 "core" ' +2 "storage"(d- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" &  !v +2 "storage"({& +3 "core" &K\ \  "\  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 + "manipulator"&'z +31 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"( - +3 "core" -' +2 .tSE.seek 0.12 Pucks below Top Plate +2 "storage"(m'p +29 "core" ' +2 "manipulator"&4% +4 "core" %Ί] I ij +2 "storage"()& +4 "core" &K 4\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 316 counts + "manipulator"&.'϶ +18 "core" ' + "manipulator"&|& +5 "core" & w h # "x + "storage"(-& +5 "core" &K   j\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&7'< +21 "core" ' +2 .tSE.seek 1.12 Pucks below Top Plate +2 "storage"(P'_ +46 "core" ' +2 "manipulator"&h& +4 "core" & w n "x +2 "manipulator"&% +4 "core" %: | | i +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&0'\ +91 "core" ' +2 .tElbow.seek CC + "manipulator"&( +156 "core" ( +2 "manipulator"&#& +4 "core" &' C >L +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &:& +3 "core" &' h >L +2 .tForearm.seek CC +2 "manipulator"&\ '| +95 "core" ' +2 .tHand.close +2 "manipulator"&1/ +64 "core" / + .tCC.seek :open +2 "collection"'q(p +410 "core" ( +2 "storage"(p& +3 "core" &K [ S\  +2 "storage"(=& +4 "core" &K C C h\  +2 "manipulator"&& +3 "core" &# ;7 +2 "manipulator"&8% +4 "core" % k +2 .tForearm.seek :retract +2 "manipulator"&Z'\ +96 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 + "manipulator"&a( +164 "core" ( +2 "manipulator"&& +4 "core" &  +2 "storage"(G& +4 "core" &K Y Y\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 6 +2 "manipulator"&'z +108 "core" ' +2 .tElbow.hold +2 "manipulator"&/, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&'1 +62 "core" 1 +2 "manipulator"&>% +4 "core" % ΋r * ) ) +2 "storage"(& +3 "core" &K\ \  5\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 317 counts + "manipulator"&Q'Ϸ +16 "core" ' +2 "manipulator"&V& +5 "core" & u r +  + "storage"(`& +4 "core" &K n o 4\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&<'< +20 "core" ' +2 "storage"("% +4 "core" %d \ +2 ."downElevator"SE.seek :down +3 "storage"(t'N +99 (D% +3 "core" %2J c Z F\ Va +2 "manipulator"& % +4 "core" %# o q   +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&n'\ +95 "core" ' +45 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 3 of [3..6] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"'%& +3 "core" &  Y\ +2 "manipulator"&O% +4 "core" %\ 8 ' +2 "storage"( % +4 "core" %F ] c \  + "storage"(}. +3 "core" .(K +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(B( +995 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (A& +2 "core" & ;\ +2 "manipulator"&;& +4 "core" &  + .tElbow.seek 3 +2 "manipulator"&M(D +39 "core" ( + "manipulator"&c& +5 "core" &?   + "storage"(g& +4 "core" & c f\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&W' +96 "core" ' +2 "storage"(2& +4 "core" & x \ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(,'e +287 "core" ' + "storage"(6- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (H& +2 "core" & U Z \ +2 "manipulator"&L& +3 "core" &? 2  +2 .tElbow.seek 3 +2 "manipulator"&(D +3 "core" ( +2 "manipulator"&& +4 "core" &? _  + "storage"(& +4 "core" & Z Y\ +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&'y +10 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&9/ +57 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&K& +2 "storage"(X'N +7 "core" &? s s g  +2 "manipulator"&J% +4 "core" % z p q > " +2 .tForearm.seek :retract + "manipulator"&*'\ +100 "core" ' +2 .tElbow.seek CC + "manipulator"&l( +144 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +8 "core" ( + "manipulator"&f& +5 "core" && * =A + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &S& +3 "core" && ( =A +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&I'| +106 "core" ' +3 "manipulator"&s& +4 "core" && R =A +2 "manipulator"&_% +4 "core" %q  +2 "collection"']& +4 "core" &  e\ +2 "collection"'j& +6 "core" &  e\ +2 .tCC.seek :closed + "collection"'R(] +5 "core" &  q\ +7 &=  p\ $e +9 &hW  s\ 8 +9 &  s\ L +10 &_  j\ M +9 &B^  r\ M +9 &`  \ k\ M +10 & b  \ j\ M +9 &"^  i\ M +10 &$I`  e\ M +9 && b  \ l\ M +9 &'`  j\ M +10 &)a  j\ M +9 &+Q_  l\ M +9 &-`  `\ M +10 &.f  c\ M +9 &0b  _\ M +10 &2Wc  \ d\ N +9 &4b  [\ M +9 &5c  \ ^\ M +10 &7`  ^\ L +9 &9b_ \ d\ M +9 &;$b  f\ M +10 &<`  \ g\ M +9 &>`  e\ M +10 &@jc  d\ M +9 &B-b  d\ L +9 &Ca  h\ M +10 &Ea  \ e\ M +9 &Gqe  b\ M +9 &I/o  c\ N +10 &J~  b\ P +9 &L \ c\ T +10 &N] d\ V +9 &P c\ W +9 &Q  \ g\ X +10 &S e\ X +9 &U_ e\ Y +9 &W!  f\ Y +10 &X \ f\ Z +9 &Z d\ ^ +10 &\\` g\ H +9 &]b; e\ 't +9 &]^ b\ H +3 ( + "collection"'j& +4 #tCollection Clamp onSpring/offSpring for 10/26 samples, on/off torque 2.02 + .Hand.open + "manipulator"&$1 +57 "core" 1 +2 "manipulator"&Y% +5 "core" % q + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +96 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%& +4 "core" &\ +2 "manipulator"&~% +4 "core" %\ 8 C ' + "storage"(% +4 "core" %@ 7\  +2 "storage"(. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 + "storage"(( +24 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 ((& +2 "core" & r\ +2 "manipulator"&5& +4 "core" &#  ;3 + "manipulator"&[% +4 "core" %\ 8 # ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&(D +181 "core" ( +2 "manipulator"& & +4 "core" &> * $ + "storage"(& +56 "core" &\ \  \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&y' +95 "core" ' +2 "storage"(w& +5 "core" &  &\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(^'e +284 "core" ' +2 "storage"(!- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (u& +3 "core" &\ &\  6\  + "manipulator"&U& +4 "core" &?  $ +2 .tElbow.seek 3 +2 "manipulator"&v(D +3 "core" ( +2 "manipulator"&3& +3 "core" &? ] $ +2 "storage"(e& +4 "core" &  \  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&E'y +24 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&/ +60 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&&& +2 "storage"('N +7 "core" &? q r + $ +2 "manipulator"&\\% +4 "core" % p o n  +2 .tForearm.seek :retract + "manipulator"&@'\ +89 "core" ' + .tElbow.seek PC +2 "manipulator"&k(c +161 "core" ' + ."downElevator"SE.stop + "storage"(5 +87 "core" ( + "manipulator"& & +4 "core" &m  \ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &m + \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&+'[ +105 "core" ' + "manipulator"&& +5 "core" &m \ + "manipulator"&?% +4 "core" %c +2 "processing"%b& +4 "core" &\ +2 "processing"%N& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%F(Z +4 "core" &\ +8 &?\ $d +9 &pU~\ 7 +9 &~\ L +10 &W\ M +9 &C\\\ M +9 &Y\ M +10 & X\ M +9 &"Y\ M +10 &$KZ\ M +9 && [\ M +9 &'Y\ M +10 &)V\ M +9 &+RX\ N +9 &-Z\ M +10 &.Y\ M +9 &0V\ M +10 &2ZZ\ N +9 &4X\ M +9 &5Z\ M +10 &7Z\ M +9 &9dU\ M +9 &;$Z\ N +10 &<X\ M +9 &>\\\ M +9 &@kW\ M +10 &B-W\ M +9 &CV\ M +10 &EW\ M +9 &Gq`\ N +9 &I0j\ O +10 &Jt\ P +9 &L\ R +9 &Ni\ S +10 &P+\ S +9 &Q\ S +10 &S\ T +9 &Uo\ T +9 &W0\ T +10 &X\ U +9 &ZKIh\ *z +9 &Z-\ ( +6 ( + "processing"%N& +5 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.58 + .Hand.open + "manipulator"&r1 +4 "core" &Z\ ( +49 1 + "manipulator"&i% +5 "core" % c +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&d'\ +94 "core" ' + "processing"%& +5 "core" &Z\ ( + #tImaging generic puck in Processing Clamp while storing it to tube 3 +2 "manipulator"&{% +4 "core" %\ ,  "a + "storage"( % +4 "core" %G D\  + "storage"(4. +4 "core" .( + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"()( +16 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (|& +3 "core" & 5\ $ +2 "manipulator"&-& +3 ."raiseStack"SE.reconfigure :place +6 "storage"(#]kK-0-\ b +2 "core" &m 2 \ +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +3 ."raiseStack"SE.seek :beamBreak +3 "manipulator"&h(c + "storage"('e +5 "core" ( +2 "manipulator"&& +4 "core" &m  \ + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &o& +3 "core" &m N \ +2 .tForearm.seek PC +2 "manipulator"&C'[ +93 "core" ' +2 .tHand.close + "manipulator"&/ +63 "core" / +2 .tPC.seek :open + "processing"%.(p +89 "core" ' +2 "storage"(m- +3 "core" -'e +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(#'B +33 "core" ' +259 ( +2 "storage"(:& +4 "core" & U ,\ ( + "manipulator"&7& +4 "core" &m ] \ +2 "manipulator"&% +4 "core" % ` +2 .tForearm.seek :retract + "manipulator"&1'\ +101 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&0(D +251 "core" ( +2 "manipulator"&z& +4 "core" &: W & + "storage"(p& +4 "core" & m\ ( +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&=' +94 "core" ' + .tHand.open + "manipulator"&1 +57 "core" 1 +3 "storage"(8- +3 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate +2 "storage"(' +24 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(G' +51 "core" ' + #tLights, camera, ACTION! +2 "storage"(\ - +3 "core" -' +2 "storage"(& +4 "core" &   e\ + +2 "manipulator"&'& +4 "core" &:  & + .tElbow.seek 3 +2 "manipulator"&>(D +4 "core" ( + "manipulator"&& +4 "core" &:  & +2 "storage"(V& +4 "core" & $ ! \ + +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&`' +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"("'M +62 "core" ' + "manipulator"&Z& +5 "core" &: + & + "storage"(D& +4 "core" &\ \  \ + +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"& 'M +34 "core" ' + .tElbow.hold +2 "manipulator"&a, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"('7 +30 "core" ' + "manipulator"&%% +5 "core" %SR | İ + "storage"(Q& +4 "core" & L\ + +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 306 counts + "manipulator"&O' +18 "core" ' + "manipulator"& & +5 "core" &n q y ) d + "storage"(}& +4 "core" & \ + +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&P' +19 "core" ' + "storage"(<% +5 "core" %9 B ( c\ +2 ."downElevator"SE.seek :down +3 "storage"(t'N +99 (T% +4 "core" %F\ \ \ Wc +2 "manipulator"&A% +4 "core" % m m * +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&;'\ +97 "core" ' +51 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (c& +4 "core" &\ \ + +2 "collection"'g& +4 "core" &]] O\ H +2 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&2% +4 "core" %\ 8 l ' +2 "storage"(/% +4 "core" %?\ \  \  + "storage"(n. +4 "core" .( + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(6( +8 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (H& +3 "core" & \ % +2 "manipulator"&L& +4 "core" &n d +2 .tElbow.seek 3 + "manipulator"&(D +27 "core" ( + "manipulator"&& +5 "core" &?   + "storage"(9& +4 "core" &\ \  =\ ' +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&K' +105 "core" ' + "storage"(J& +5 "core" & 4 $ .\ ' +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(M'e +279 "core" ' + "storage"(W- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&f& +3 "core" &? W  +2 "storage"(S& +3 "core" & O  \ \ . +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&,'M +32 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(s- +2 "core" -' +3 .tSE.seek 0.11 Pucks below Top Plate +52 "storage"(_'g +28 "core" ' +2 "manipulator"&]% +4 "core" %IH C ĭ +2 "storage"(& +3 "core" & Y\ . +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 296 counts + "manipulator"&X'u +18 "core" ' +2 "manipulator"&*& +4 "core" &K g p Y v +2 "storage"(q& +4 "core" & B A \ . +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&$' +21 "core" ' +2 .tSE.seek 1.11 Pucks below Top Plate +2 "storage"(Y'V +41 "core" ' +2 "manipulator"&& +4 "core" &K p o  v +2 "manipulator"&~% +4 "core" % \\ o H  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +96 "core" ' +2 .tElbow.seek CC + "manipulator"&( +147 "core" ( + "manipulator"&j& +4 "core" & . +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &(& +2 "core" & . +2 .tForearm.seek CC +2 "manipulator"&5'| +97 "core" ' +2 .tHand.close + "manipulator"&[/ +52 "core" / +2 .tCC.seek :open + "collection"'I(p +414 "core" ( + "storage"( & +4 "core" & g ^ !\ . +2 "storage"(& +4 "core" & [ [\ . + "manipulator"&B& +4 "core" &  T , + "manipulator"&l% +4 "core" % f 4 +2 .tForearm.seek :retract +2 "manipulator"&w'\ +92 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&(D +174 "core" ( +2 "manipulator"&!& +4 "core" &A  !q +2 "storage"(u& +3 "core" & Y [\ . +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 +2 "manipulator"&U'M +108 "core" ' +2 .tElbow.hold + "manipulator"&3, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&e1 +52 "core" 1 +2 "manipulator"&% +5 "core" % Wt 6 e , +2 "storage"(&& +3 "core" &\  \ . +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 310 counts + "manipulator"&\\'σ +17 "core" ' +2 "manipulator"&& +4 "core" &o ] v - C +2 "storage"(y& +4 "core" & { r G\ . +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&^' +22 "core" ' + "storage"(E% +4 "core" %\\ x q\ +3 ."downElevator"SE.seek :down +3 "storage"( 'N +100 (% +2 "core" %B Y [\ V_ +2 "manipulator"&v% +4 "core" % o o  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +97 "core" ' +43 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 4 of [3..6] + #Loading generic puck from tube 4 into Collection Clamp + "collection"'?& +5 "core" &  f\ + "manipulator"&b% +5 "core" %\ 8 ' + "storage"(% +4 "core" %P [ Y\ +2 "storage"(@. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 + "storage"(x(, +348 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (r& +3 "core" &,%\ W F\  +2 "manipulator"&i& +3 "core" &o C +2 .tElbow.seek 4 +2 "manipulator"&(* +39 "core" ( +2 "manipulator"&{& +4 "core" &3\ \\ +2 "storage"( & +4 "core" &, [ [\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&4' +105 "core" ' +2 "storage"(N& +4 "core" &, \  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(|'e +289 "core" ' + "storage"(-- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" &, Y M K\  + "manipulator"&o& +4 "core" &8\ n y 1 W +2 .tElbow.seek 4 + "manipulator"&+(* +28 "core" ( + "manipulator"&& +4 "core" &4 j y H  +2 "storage"(& +3 "core" &, f f z\  +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&m'Z +31 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&k/ +55 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&d& + "storage"(F'N +8 "core" &4 l e  + "manipulator"&:% +4 "core" % f o o 3 +2 .tForearm.seek :retract +2 "manipulator"&7'\ +88 "core" ' +2 .tElbow.seek CC + "manipulator"&( +155 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +3 "core" ( +2 "manipulator"&& +4 "core" &( ?Q + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &C& +3 "core" &( \ ?Q +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&z'| +101 "core" ' +2 "manipulator"&p& +5 "core" &'  >N + "manipulator"&h% +4 "core" %σ + +2 "collection"'& +4 "core" & g\ +2 "collection"'8& +5 "core" & e\ +2 .tCC.seek :closed +2 "collection"'\ (] +4 "core" &  x\ +8 & 6  u\ $e +9 &bV  u\ 8 +10 &  r\ L +9 &z_ u\ M +10 &=_  i\ M +9 &`  r\ M +9 & b t\ M +10 &"_  r\ M +9 &$D\\ m\ M +9 &&` \ l\ M +10 &'_ \ h\ M +9 &)`  `\ M +10 &+L_ \ h\ M +9 &-_  l\ M +9 &.b g\ M +10 &0b ^\ M +9 &2Rb  i\ N +9 &4a l\ M +10 &5_  f\ M +9 &7_  f\ M +10 &9]\\ j\ M +9 &;_ \ h\ M +9 &<]  g\ M +10 &>_  g\ M +9 &@d_  \\\ M +9 &B&`  e\ M +10 &C_  d\ M +9 &E]  f\ M +10 &Gn^ \ f\ L +9 &I,g k\ N +9 &Jn f\ O +10 &L \ p\ R +9 &N\\ h\ U +9 &P  \ d\ V +10 &Q f\ X +9 &S h\ X +10 &UM e\ ] +9 &W `\ Y +9 &X g\ [ +10 &Z f\ \\ +9 &\\M f\ M +9 &]\\9 f\ *} +10 &]h f\ H +2 ( +2 "collection"'8& +3 #tCollection Clamp onSpring/offSpring for 10/26 samples, on/off torque 2.03 + .Hand.open + "manipulator"&1 +54 "core" 1 +2 "manipulator"&'% +4 "core" %   +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +95 "core" ' +2 #tLoading generic puck from tube 4 into Processing Clamp + "processing"%V& +4 "core" &\ +2 "manipulator"&1% +4 "core" %\ .  #h + "storage"(Z% +4 "core" %C !\ + "storage"(D. +4 "core" .(, + "storage"(#& +4 "core" &, \  + "storage"(%& +4 "core" &, \  +2 "manipulator"&Q& +4 "core" &%  <@ + "manipulator"&% +4 "core" %\ . = #h +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"& (* +176 "core" ( +2 "manipulator"&}& +5 "core" &6 I C + "storage"(<& +4 "core" &, = D\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&0' +99 "core" ' +2 "storage"(=& +4 "core" &,   \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(G'e +281 "core" ' + "storage"(T- +4 "core" -' + .tSE.configure :default +3 "Can" SP +2 "storage"(#QK-0-\ b +2 (A& +3 "core" &, \  +2 "manipulator"&`& +4 "core" &=  < + .tElbow.seek 4 +2 "manipulator"&>(* +21 "core" ( +2 "manipulator"&"& +4 "core" &1  *  + "storage"( & +4 "core" &,\ \  \  +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&c'Z +21 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&O/ +56 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&g& + "storage"(2'N +8 "core" &1 o o   + "manipulator"&/% +4 "core" % Y p o +2 .tForearm.seek :retract +2 "manipulator"&n'\ +96 "core" ' +2 .tElbow.seek PC + "manipulator"&(c +155 "core" ' + ."downElevator"SE.stop + "storage"(5 +80 "core" ( +2 "manipulator"&H& +5 "core" &l z * + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &L& +2 "core" &l J * +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&'[ +101 "core" ' +2 "manipulator"&9& +4 "core" &l  * +53 "manipulator"&P% +5 "core" %e +2 "processing"%J& +4 "core" &\ +2 "processing"%t& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%)(Z +5 "core" &\ +6 &9\ $c +9 &[T\ 7 +9 &{\ K +10 &hY\ N +9 &,Z\ M +10 &[\ M +9 & Z\ N +9 &"rT\ M +10 &$3Z\ M +9 &%W\ M +9 &'V\ M +10 &)y\\\ M +9 &+;Z\ M +10 &,]\ M +9 &.\\\ M +9 &0W\ M +10 &2C[\ M +9 &4Z\ M +9 &5Z\ M +10 &7V\ M +9 &9KZ\ M +10 &; [\ N +9 &<W\ M +9 &>X\ M +10 &@SW\ M +9 &BY\ M +9 &CZ\ N +10 &E\\\ M +9 &GYa\ N +10 &Ik\ O +9 &J\ R +9 &L\ S +10 &NO\ T +9 &P\ T +9 &Q\ T +10 &S\ T +9 &UV\ T +9 &W\ U +10 &X\ U +9 &Z9Pv\ , +10 &Z_\ 6 +9 ( + &Z(\ 3 +2 "processing"%t& +3 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.62 + .Hand.open + "manipulator"&a1 +55 "core" 1 +2 "manipulator"&;% +4 "core" % e y +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&W'\ +100 "core" ' +2 "processing"%f& +4 "core" &Z'\ 3 +2 #tImaging generic puck in Processing Clamp while storing it to tube 4 + "manipulator"&S% +4 "core" %\ 3 %} +2 "storage"(s% +4 "core" %D I\  + "storage"(]. +3 "core" .(, +2 "storage"(& +4 "core" &, \  +2 "storage"(*& +2 "manipulator"&q& +7 "core" &, _\  + &l * +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +6 "manipulator"&$&.,(\ #b +2 "storage"(#]kK-0-\ b +2 .tElbow.seek PC +4 "manipulator"&(c +4 ."raiseStack"SE.seek :beamBreak +2 "storage"(~'e +2 "core" ( +2 "manipulator"&K& +4 "core" &l * + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &l 8 * +2 .tForearm.seek PC +2 "manipulator"&M'[ +95 "core" ' + .tHand.close +2 "manipulator"&,/ +64 "core" / +2 .tPC.seek :open +2 "processing"%X(p +82 "core" ' + "storage"(_- +4 "core" -'e + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(j'B +34 "core" ' +264 ( +2 "storage"((& +4 "core" &,\ \ \  + "manipulator"&$& +4 "core" &l ( * +2 "manipulator"&% +4 "core" % e  +2 .tForearm.seek :retract + "manipulator"&['\ +105 "core" ' +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&(* +252 "core" ( +2 "manipulator"&R& +4 "core" && r J "} +2 "storage"( & +3 "core" &,   m\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&' +96 "core" ' + .tHand.open +2 "manipulator"&B1 +59 "core" 1 +2 "storage"(l- +4 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate +2 "storage"(!' +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.83 Pucks below Top Plate + "storage"(u' +53 "core" ' +2 #tLights, camera, ACTION! + "storage"(5- +4 "core" -' + "storage"(& +4 "core" &, @ ? \  +2 "manipulator"&e& +4 "core" &' D "| +2 .tElbow.seek 4 + "manipulator"&(* +4 "core" ( + "manipulator"&&& +4 "core" &' W "| +2 "storage"(& +4 "core" &,   \  +2 .tForearm.seek 4 + 450 counts + "manipulator"&y' +5 "core" ' + .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.11 Pucks below Top Plate + "storage"(E'M +63 "core" ' +2 "manipulator"&w& +4 "core" &' ] "| +2 "storage"(& +4 "core" &,\ \  \  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 + "manipulator"&v'. +34 "core" ' +2 .tElbow.hold + "manipulator"&, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"(U'7 +25 "core" ' + "manipulator"&?% +5 "core" %;Z Q IJ + "storage"(\\& +4 "core" &, 1\  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 4 + 313 counts + "manipulator"&b'g +17 "core" ' +2 "manipulator"&& +4 "core" & { u 1 ' +2 "storage"(@& +4 "core" &,  $\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&Y' +11 "core" ' + "storage"(^% +5 "core" %A ( ! \ +2 ."downElevator"SE.seek :down +3 "storage"( 'N +99 (6% +3 "core" %C K\ Wc +2 "manipulator"&r% +4 "core" % m % 9 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&i'\ +98 "core" ' +51 ' + ."downElevator"SE.stop +2 "storage"(5 +2 ({& +4 "core" &, j\  +2 "collection"' & +4 "core" &]f \ Z\ H +2 #tStoring generic puck in Collection Clamp to tube 4 + "manipulator"&N% +4 "core" %\ 9 ( +2 "storage"(3% +4 "core" %S 1\  + "storage"(. +3 "core" .(, +2 "storage"(-& +4 "core" &, P\  + "storage"(& +4 "core" &, L\  +2 "manipulator"&o& +4 "core" & h ' +2 .tElbow.seek 4 + "manipulator"&(* +34 "core" ( +2 "manipulator"&& +4 "core" &6 } +2 "storage"(k& +4 "core" &,\ #\  2\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&d' +107 "core" ' + "storage"(:& +5 "core" &, D ? h\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('e +278 "core" ' +2 "storage"(4- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +2 "manipulator"&& +3 "core" &5 o o  ~ +2 "storage"(C& +4 "core" &,   3\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&|'. +34 "core" ' + .tElbow.hold +2 "manipulator"&m, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(p- +3 "core" -' +2 .tSE.seek 0.12 Pucks below Top Plate +2 "storage"(h'u +31 "core" ' + "manipulator"&% +4 "core" %?Y p +2 "storage"(+& +4 "core" &, 4\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 317 counts + "manipulator"&F'k +17 "core" ' + "manipulator"&7& +5 "core" & v _ 7 \ +2 "storage"(I& +3 "core" &,   p\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&' +21 "core" ' +2 .tSE.seek 1.12 Pucks below Top Plate +2 "storage"(''d +49 "core" ' + "manipulator"&V& +5 "core" & o o \ + "manipulator"&1% +4 "core" % o p  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&Z'\ +97 "core" ' +2 .tElbow.seek CC + "manipulator"&D( +145 "core" ( +2 "manipulator"&#& +4 "core" &  d 0 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &%& +3 "core" &   0 +2 .tForearm.seek CC + "manipulator"&8'| +95 "core" ' + .tHand.close +2 "manipulator"&Q/ +59 "core" / +2 .tCC.seek :open +2 "collection"'(p +410 "core" ( +2 "storage"(z& +4 "core" &, \\ [\  +2 "storage"(}& +4 "core" &, L W \  + "manipulator"&<& +4 "core" &   0 + "manipulator"&=% +4 "core" % φ < +2 .tForearm.seek :retract +2 "manipulator"&'\ +92 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&(* +156 "core" ( + "manipulator"&T& +4 "core" &1 K +2 "storage"(A& +4 "core" &, e f \  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 4 +2 "manipulator"&`'. +110 "core" ' +2 .tElbow.hold +53 "manipulator"&", +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"& 1 +58 "core" 1 +2 "manipulator"&O% +5 "core" % Bm 8  + "storage"(g& +4 "core" &, \  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 4 + 320 counts + "manipulator"&/'n +17 "core" ' +7 "manipulator"& & +4 "core" & p o   +2 "storage"(0& +9 "core" &, m g \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&G' +25 "core" ' +2 "storage"(c% +4 "core" %f x p \ +2 ."downElevator"SE.seek :down +3 "storage"(H'N +100 (L% +3 "core" %8? w t 1\ U] +2 "manipulator"&>% +4 "core" % o o +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&9'\ +91 "core" ' +47 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 5 of [3..6] +2 #Loading generic puck from tube 5 into Collection Clamp + "collection"'P& +4 "core" & a\ +2 "manipulator"&J% +4 "core" %\ , k "_ +2 "storage"(2% +4 "core" %B p d o\ + "storage"(n. +3 "core" .(, +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"(.(<< +349 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (a& +2 "core" &<:   d\  +2 "manipulator"&;& +4 "core" & v  + .tElbow.seek 5 +2 "manipulator"&f( +17 "core" ( + "manipulator"&S& +5 "core" &  3 Q + "storage"(s& +4 "core" &<: Y X\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&]' +103 "core" ' + "storage"(& +5 "core" &<: | q Q\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(t'e +283 "core" ' + "storage"(q- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (*& +3 "core" &<: I > >\  + "manipulator"&K& +4 "core" & t I +2 .tElbow.seek 5 +2 "manipulator"&( +24 "core" ( + "manipulator"&& +5 "core" & R  + "storage"(,& +4 "core" &<: Z X %\  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&_'[ +22 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +62 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&W& + "storage"()'N +8 "core" & o o %  + "manipulator"&(% +4 "core" % [ p o +2 .tForearm.seek :retract +2 "manipulator"&~'\ +93 "core" ' + .tElbow.seek CC +2 "manipulator"&$( +150 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +4 "core" ( +2 "manipulator"&& +4 "core" & " G 9# +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &M& +3 "core" & " | 9# +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&R'| +100 "core" ' +3 "manipulator"& & +4 "core" &\ ! 8" +2 "manipulator"&% +4 "core" %d [ +2 "collection"'B& +4 "core" &  t\ +2 "collection"'l& +5 "core" & u\ +2 .tCC.seek :closed +3 "collection"'5(] +3 "core" &  t\ +6 &  r\ 8 +9 &H~  v\ 0 +10 &=q u\ E +9 &f  t\ M +9 &_ \ u\ M +10 &g` \ n\ M +9 & (c  m\ M +10 &!e t\ M +9 &#a \ u\ M +9 &%n_ t\ M +10 &'1_  p\ M +9 &(` \ m\ M +9 &*_ o\ M +10 &,w^  l\ M +9 &.8_ \ r\ M +10 &/c t\ M +9 &1a  h\ N +9 &3~^ \ ^\ M +10 &5@_ \ f\ M +9 &7_ \ ]\ M +9 &8] `\ M +10 &:_  _\ M +9 & _ \ ]\ M +9 &?c  a\ M +9 &A_ \ i\ M +10 &CQa \ b\ M +9 &E] \ \ b\ M +9 &Fb k\ M +10 &Hi  i\ N +9 &JQw  p\ P +10 &L \ p\ S +9 &M v\ V +9 &O l\ W +10 &QC g\ W +9 &S d\ X +9 &T i\ \\ +10 &V c\ Y +9 &XD  n\ Z +10 &Z \ p\ [ +9 &[# t\ a +9 &]#P  o\ 2 +10 &] h\ L +5 ( +2 "collection"'l& +4 #tCollection Clamp onSpring/offSpring for 9/26 samples, on/off torque 2.16 + .Hand.open + "manipulator"&1 +4 "core" &]i \ o\ K +59 1 +2 "manipulator"&e% +4 "core" % d +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&&'\ +95 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp + "processing"%& +4 "core" &\ +2 "manipulator"&[% +4 "core" %\ . j #d +2 "storage"(w% +3 "core" %D \  +2 "storage"(. +3 "core" .(<9 +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 + "storage"(j(<< +4 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (?& +3 "core" &<: Z\  +2 "manipulator"&\\& +4 "core" & \ 8! + "manipulator"&!% +4 "core" %\ . . #d +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&( +172 "core" ( + "manipulator"&@& +4 "core" & _ M +2 "storage"(^& +4 "core" &<:\ \  _\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&' +101 "core" ' + "storage"(& +5 "core" &<:   K\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(u'e +279 "core" ' + "storage"(6- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (r& +3 "core" &<:\  ;\  +2 "manipulator"&y& +3 "core" &  L +2 .tElbow.seek 5 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&E& +3 "core" &  L +2 "storage"(v& +4 "core" &<: M\  +2 .tForearm.seek 5 + 300 counts + "manipulator"&{'[ +22 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"& / +59 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&b& + "storage"(N'N +7 "core" & o y 3 L +2 "manipulator"&3% +4 "core" % Z m n < +2 .tForearm.seek :retract + "manipulator"&'\ +94 "core" ' + .tElbow.seek PC +2 "manipulator"&-(c +162 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +89 "core" ( +2 "manipulator"&U& +5 "core" &g m + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &g e +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&o'[ +93 "core" ' +2 "manipulator"&& +4 "core" &g p +2 "manipulator"&k% +4 "core" %Z u +2 "processing"%Y& +4 "core" &\ +2 "processing"%:& +4 "core" &\ +2 .tPC.seek :closed +2 "processing"% (Z +4 "core" &\  +10 &/|\ *w +9 &c\ > +10 &Eu\ N +9 &Y\ M +9 &\\\ M +10 &Y\ M +9 &!MV\ M +9 &#X\ M +10 &$U\ M +9 &&Z\ N +10 &(UY\ M +9 &*Y\ N +9 &+Y\ M +10 &-Z\ N +9 &/\\[\ N +9 &1Y\ M +10 &2Z\ N +9 &4Y\ M +9 &6eZ\ M +10 &8(X\ M +9 &9Y\ M +10 &;[\ M +9 &=nY\ M +9 &?.Z\ N +10 &@[\ M +9 &B\\\ M +9 &Du\\\ M +10 &F6_\ N +9 &Gh\ O +10 &Io\ P +9 &Kp\ R +9 &M,\ T +10 &N\ T +9 &P\ T +9 &Rr\ T +10 &T4\ T +9 &U\ T +10 &W\ T +9 &Yw\ B +9 &Z{>\ U +10 &Z\ ) +2 ( +2 "processing"%:& +3 #tProcessing Clamp onSpring/offSpring for 9/25 samples, on/off torque 1.62 + .Hand.open + "manipulator"&1 +57 "core" 1 +2 "manipulator"&i% +4 "core" % Z w M +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&4'\ +93 "core" ' + "processing"%& +4 "core" &Z\ ) +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 + "manipulator"&C% +4 "core" %\ ) ( H +2 "storage"(p% +4 "core" %G\  \  + "storage"(. +3 "core" .(<< +2 "storage"(+& +4 "core" &<: "\  + "storage"(7& +3 "manipulator"&I& +6 "core" &<: \  +2 &g 7 +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +2 "storage"(#]kK-0-\ b +3 .tElbow.seek PC +4 "manipulator"&V(c +3 ."raiseStack"SE.seek :beamBreak +2 "storage"(1'e +3 "core" ( + "manipulator"&d& +4 "core" &g J + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +56 && +3 "core" &g +2 .tForearm.seek PC +2 "manipulator"&'[ +96 "core" ' +2 .tHand.close + "manipulator"&|/ +55 "core" / +2 .tPC.seek :open +2 "processing"%F(p +37 "core" ' +2 "storage"(h- +4 "core" -'e + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place + "storage"(#'B +34 "core" ' +309 ( +2 "storage"(%& +4 "core" &<:\ \  _\  +2 "manipulator"&& +4 "core" &g t + "manipulator"&m% +4 "core" % ] P +2 .tForearm.seek :retract +2 "manipulator"&Q'\ +100 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&Z( +250 "core" ( + "manipulator"&\ & +5 "core" & G + "storage"(z& +4 "core" &<: b\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&}' +93 "core" ' +2 .tHand.open + "manipulator"&<1 +58 "core" 1 +2 "storage"(=- +4 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate +2 "storage"(T' +23 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(A' +52 "core" ' +2 #tLights, camera, ACTION! + "storage"(8- +4 "core" -' + "storage"(D& +4 "core" &<:   \  +2 "manipulator"& & +4 "core" &  G +2 .tElbow.seek 5 + "manipulator"&O( +4 "core" ( + "manipulator"&g& +4 "core" & : G + "storage"( & +4 "core" &<:  X\  +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&0' +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.11 Pucks below Top Plate + "storage"('M +68 "core" ' + "manipulator"&c& +5 "core" &  G + "storage"(L& +4 "core" &<: < \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&>'/ +35 "core" ' +2 .tElbow.hold + "manipulator"&, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"(`'7 +25 "core" ' + "manipulator"&P% +5 "core" %4R  U Ű + "storage"(/& +4 "core" &<: S\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 305 counts + "manipulator"&J'` +17 "core" ' +2 "manipulator"&2& +4 "core" &  t F $ +2 "storage"(n& +4 "core" &<:   }\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&'' +19 "core" ' + "storage"(G% +5 "core" %@   \ +2 ."downElevator"SE.seek :down +4 "storage"(H'N +98 (x% +3 "core" %_@ \ ?\ Vc +2 "manipulator"&a% +4 "core" % o n  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&;'\ +119 "core" ' +32 ' + ."downElevator"SE.stop + "storage"(5 +3 (S& +4 "core" &<:\  s\  +2 "collection"'s& +4 "core" &]i  o\ K +2 #tStoring generic puck in Collection Clamp to tube 5 + "manipulator"&% +4 "core" %\ ' a A +2 "storage"("% +4 "core" %E\ \ \  + "storage"(9. +4 "core" .(<< + "storage"(q& +4 "core" &<:\ \ \  + "storage"(*& +4 "core" &<:\ \ $\  +2 "manipulator"&K& +4 "core" & B $ + .tElbow.seek 5 +2 "manipulator"&( +30 "core" ( +2 "manipulator"&,& +4 "core" & h  +2 "storage"(& +3 "core" &<: " M 6\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&W' +107 "core" ' +2 "storage"((& +4 "core" &<: B ? B\  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(f'e +280 "core" ' +2 "storage"(]- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" & p p  +2 "storage"(M& +3 "core" &<:   \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 + "manipulator"&t'/ +39 "core" ' +2 .tElbow.hold + "manipulator"&_, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"( - +2 "core" -' +2 .tSE.seek 0.12 Pucks below Top Plate +2 "storage"('t +44 "core" ' + "manipulator"&B% +4 "core" %0E   ŭ +2 "storage"(& +4 "core" &<: :\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 301 counts + "manipulator"&)'\\ +17 "core" ' +2 "manipulator"&~& +4 "core" & v _ 4  + "storage"(& +4 "core" &<:  e\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&' +18 "core" ' +2 .tSE.seek 1.12 Pucks below Top Plate +2 "storage"(e'c +50 "core" ' +2 "manipulator"&& +4 "core" & n n  +2 "manipulator"&[% +4 "core" % o n  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&w'\ +97 "core" ' +2 .tElbow.seek CC +2 "manipulator"&( +167 "core" ( + "manipulator"&l& +4 "core" &* l @\\ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &?& +2 "core" &*  @\\ +2 .tForearm.seek CC +2 "manipulator"&\\'| +97 "core" ' +2 .tHand.close + "manipulator"&!/ +58 "core" / +2 .tCC.seek :open +2 "collection"'R(p +410 "core" ( + "storage"(@& +4 "core" &<: 6 @\  +2 "storage"(^& +4 "core" &<: 8 ? M\  + "manipulator"&.& +4 "core" &8" g :+ + "manipulator"&% +4 "core" % ό +2 .tForearm.seek :retract +2 "manipulator"&$'\ +91 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&&( +152 "core" ( + "manipulator"&6& +5 "core" &  + "storage"(r& +4 "core" &<: Z \\\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 5 +2 "manipulator"&y'/ +111 "core" ' + .tElbow.hold +2 "manipulator"&E, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&v1 +53 "core" 1 +2 "manipulator"& % +4 "core" % @a 0  E +2 "storage"(b& +3 "core" &<: !\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 317 counts + "manipulator"&3'l +16 "core" ' +2 "manipulator"&& +4 "core" & w ] 6  +2 "storage"(& +4 "core" &<: } } \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&u' +21 "core" ' + "storage"({% +5 "core" %i x \ +2 ."downElevator"SE.seek :down +3 "storage"(U'N +99 (% +3 "core" %D Y \\ \ V_ +2 "manipulator"&% +5 "core" % j b x  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +91 "core" ' +46 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 6 of [3..6] + #Loading generic puck from tube 6 into Collection Clamp +2 "collection"'k& +4 "core" & n\ +2 "manipulator"&Y% +4 "core" %\ . #d +2 "storage"(N% +4 "core" %@ c v\  + "storage"(. +3 "core" .(<< +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 + "storage"(X(K +354 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (& +3 "core" &K\ \ # \  + "manipulator"&i& +4 "core" &   +2 .tElbow.seek 6 + "manipulator"&( +16 "core" ( + "manipulator"&C& +4 "core" &\  Z +2 "storage"(p& +4 "core" &K ^ Z\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +54 .tForearm.seek 6 + 450 counts +2 "manipulator"&'< +91 "core" ' +2 "storage"(+& +4 "core" &K v\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(7'e +281 "core" ' + "storage"(I- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (:& +2 "core" &K Y Y\  +2 "manipulator"&d& +4 "core" &\ 2 Y +2 .tElbow.seek 6 + "manipulator"&( +4 "core" ( + "manipulator"&o& +4 "core" &\  Y + "storage"(|& +4 "core" &K v v D\  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&h'Ϧ +12 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&-/ +54 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&4& + "storage"( 'N +9 "core" &\  Y +2 "manipulator"&1% +4 "core" % Ϛ : +2 .tForearm.seek :retract + "manipulator"&%'\ +96 "core" ' +2 .tElbow.seek CC +2 "manipulator"&( +143 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +25 "core" ( +2 "manipulator"&m& +4 "core" &\ Y S +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +4 "core" &\ S +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&\ '| +101 "core" ' +3 "manipulator"&z& +4 "core" &\ ] S +2 "manipulator"&V% +4 "core" %} +2 "collection"'<& +4 "core" & u\ +2 "collection"'=& +5 "core" & \ f\ +2 .tCC.seek :closed +2 "collection"'8(] +4 "core" & s\  +9 &3 \ {\ +{ +9 &c \ u\ > +9 &Sy \ p\ M +10 &[ \ u\ M +9 &c  \ v\ M +10 &b  p\ M +9 &!Z` p\ N +9 &#a  q\ M +10 &$` \ n\ M +9 &&` l\ M +9 &(d_ \ \ l\ M +10 &*'_ \ t\ M +9 &+] u\ L +10 &-^ \ t\ M +9 &/l` \ \ s\ M +9 &1.b m\ M +10 &2` q\ M +9 &4] \ s\ M +9 &6u^ \ n\ M +10 &86^ o\ M +9 &9]  m\ M +10 &;` y\ M +9 &=|_  p\ M +9 &?>] \ \ w\ M +10 &A_ q\ M +9 &B] \ \ n\ M +9 &D^ \ k\ M +10 &FGb j\ M +9 &H a q\ M +10 &In |\ N +9 &K{ \ k\ P +9 &M; u\ T +10 &N w\ V +9 &P u\ W +9 &Ru s\ X +10 &T5  r\ X +9 &U s\ Y +10 &W i\ Z +9 &Yr g\ [ +9 &[3 j\ \\ +10 &\\z d\ 0 +9 &]* p\ I +9 ( +3 "collection"'=& +3 #tCollection Clamp onSpring/offSpring for 9/25 samples, on/off torque 1.98 + .Hand.open + "manipulator"&D1 +4 "core" &]W  t\ A +55 1 +2 "manipulator"& % +4 "core" % v +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&g'\ +99 "core" ' +2 #tLoading generic puck from tube 6 into Processing Clamp + "processing"% & +5 "core" &\ + "manipulator"&Q% +4 "core" %\ 8 ' +2 "storage"(c% +4 "core" %B\ \  e\  +2 "storage"(L. +3 "core" .(K +2 "storage"(#& +4 "core" &K\ \  9\  +2 "storage"(P& +4 "core" &K\ \  >\  + "manipulator"&/& +4 "core" &\ S +2 "manipulator"&T% +4 "core" %\ 8 ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&2( +150 "core" ( + "manipulator"&n& +5 "core" & ( + "storage"(G& +4 "core" &K   \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&Z'< +96 "core" ' + "storage"(}& +4 "core" &K < / +\  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(A'e +281 "core" ' + "storage"(x- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (a& +3 "core" &K   |\  +2 "manipulator"&0& +4 "core" & q n r + .tElbow.seek 6 +2 "manipulator"&O( +3 "core" ( +2 "manipulator"&& +4 "core" & x b = + "storage"(>& +4 "core" &K  ! \  +2 .tForearm.seek 6 + 300 counts + "manipulator"&S'Ϧ +22 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&J/ +63 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&s& + "storage"('N +8 "core" & o o $ +2 "manipulator"&"% +4 "core" % ϟ f p w +2 .tForearm.seek :retract + "manipulator"&9'\ +94 "core" ' +2 .tElbow.seek PC +2 "manipulator"&q(c +156 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +91 "core" ( + "manipulator"&`& +5 "core" &j > + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &*& +3 "core" &j +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&K'[ +108 "core" ' + "manipulator"&,& +5 "core" &j y | G + "manipulator"&% +4 "core" %Z r { | +2 "processing"%'& +4 "core" &\ +2 "processing"%(& +5 "core" &\ +2 .tPC.seek :closed + "processing"%H(Z +4 "core" &\  +9 &0{\ *x +9 &d\ > +9 &@w\ N +10 &U\ M +9 &Z\ M +9 &Z\ M +10 &!J[\ M +9 &# X\ M +10 &$Y\ L +9 &&Z\ M +9 &(SZ\ M +10 &*\\\ M +9 &+Z\ M +9 &-Y\ M +10 &/[Z\ M +9 &1Z\ L +10 &2Z\ M +9 &4Y\ M +9 &6cY\ M +10 &8$Z\ M +9 &9Z\ M +9 &;Y\ M +10 &=kY\ M +9 &?-[\ M +9 &@[\ M +10 &BZ\ M +9 &DsZ\ M +10 &F4\\\ M +9 &Gg\ N +9 &Io\ P +10 &Km}\ Q +9 &M*\ S +10 &N\ T +9 &P\ T +9 &Rn\ T +10 &T0\ T +10 &U\ T +8 &W\ T +10 &Ys\ B +9 &Zz?\ U +10 &Z\ ( +2 ( + "processing"%(& +3 #tProcessing Clamp onSpring/offSpring for 9/25 samples, on/off torque 1.61 + .Hand.open +2 "manipulator"&1 +60 "core" 1 +2 "manipulator"&;% +4 "core" % Z k +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&]'\ +96 "core" ' + "processing"%& +4 "core" &Z\ ( +2 #tImaging generic puck in Processing Clamp while storing it to tube 6 + "manipulator"&M% +4 "core" %\ 3 %{ +2 "storage"( % +4 "core" %@ p\  + "storage"(B. +3 "core" .(K +2 "storage"(& +4 "core" &K R\  +2 "storage"(~& +2 "manipulator"&& +7 "core" &K\ =\  +2 &j j +3 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +5 "storage"(#]kK-0-\ b +2 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +3 ."raiseStack"SE.seek :beamBreak +2 "manipulator"&(c + "storage"(['e +5 "core" ( +2 "manipulator"&W& +4 "core" &j +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &j ^ +2 .tForearm.seek PC +2 "manipulator"&f'[ +94 "core" ' +2 .tHand.close + "manipulator"&t/ +55 "core" / +2 .tPC.seek :open +2 "processing"%)(p +93 "core" ' +2 "storage"(- +4 "core" -'e + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(l'B +34 "core" ' +252 ( +2 "storage"(?& +4 "core" &K   B\  + "manipulator"&& +4 "core" &j  +2 "manipulator"&_% +4 "core" % Z C + .tForearm.seek :retract +2 "manipulator"&!'\ +99 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 + "manipulator"&w( +249 "core" ( + "manipulator"&5& +4 "core" & ' +2 "storage"(@& +4 "core" &K\ \  \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&^'< +96 "core" ' +2 .tHand.open + "manipulator"&.1 +58 "core" 1 +2 "storage"(- +4 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate +2 "storage"(6' +25 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(r' +49 "core" ' +2 #tLights, camera, ACTION! + "storage"(\\- +4 "core" -' + "storage"(& +4 "core" &K ; ; h\  +2 "manipulator"&v& +4 "core" & " ' + .tElbow.seek 6 +2 "manipulator"& ( +3 "core" ( +2 "manipulator"&b& +4 "core" & # ' + "storage"(& +4 "core" &K @ @ v\  +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&'< +11 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +56 .tSE.seek -0.11 Pucks below Top Plate + "storage"({'M +59 "core" ' + "manipulator"&$& +5 "core" & o x  ' + "storage"(& +4 "core" &K  % \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&'z +30 "core" ' +2 .tElbow.hold + "manipulator"&&, +5 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.07 Pucks below Top Plate + "storage"(y'7 +23 "core" ' +2 "manipulator"&k% +4 "core" %Ήg Z  +2 "storage"(3& +4 "core" &K P\  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 6 + 315 counts +2 "manipulator"&Y'ϵ +16 "core" ' +2 "manipulator"&N& +4 "core" &  ~ F !v +2 "storage"(& +4 "core" &K A B h\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&e'< +17 "core" ' + "storage"(u% +5 "core" %: ? B \\\  +2 ."downElevator"SE.seek :down +4 "storage"(U'N +98 (j% +3 "core" %D\ \  \ Wc +2 "manipulator"&% +4 "core" %= n y 6 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&i'\ +94 "core" ' +54 ' + ."downElevator"SE.stop + "storage"(5 +3 (C& +4 "core" &K \ x\  + "collection"'p& +4 "core" &]V x\ A +2 #tStoring generic puck in Collection Clamp to tube 6 +2 "manipulator"&+% +3 "core" %\ 8 ' +2 "storage"(E% +4 "core" %C\ \  V\ + "storage"(. +4 "core" .(K + "storage"(I& +4 "core" &K\ \  \  + "storage"(:& +4 "core" &K\ \  \  +2 "manipulator"&d& +4 "core" & !v +2 .tElbow.seek 6 + "manipulator"&o( +33 "core" ( + "manipulator"&|& +5 "core" &  + "storage"(-& +4 "core" &K   \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&4'< +97 "core" ' +2 "storage"(1& +4 "core" &K A @ L\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"('e +280 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&m& +3 "core" & n p  +2 "storage"(& +3 "core" &K   `\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&7'z +33 "core" ' + .tElbow.hold +2 "manipulator"&h, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(z- +3 "core" -' +2 .tSE.seek 0.12 Pucks below Top Plate +2 "storage"('q +32 "core" ' + "manipulator"&V% +4 "core" %Ή` " +2 "storage"(<& +4 "core" &K S\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 315 counts + "manipulator"& 'ϵ +17 "core" ' + "manipulator"&%& +5 "core" & ^ w 3  + "storage"(R& +4 "core" &K : @ X\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&D'< +16 "core" ' +2 .tSE.seek 1.12 Pucks below Top Plate +2 "storage"( '` +51 "core" ' +2 "manipulator"& & +3 "core" & o o   +2 "manipulator"&Q% +5 "core" %> o o  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&c'\ +92 "core" ' +2 .tElbow.seek CC +2 "manipulator"&L( +145 "core" ( + "manipulator"&=& +4 "core" & l / +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &#& +3 "core" & / +2 .tForearm.seek CC +2 "manipulator"&P'| +94 "core" ' + .tHand.close +2 "manipulator"&// +63 "core" / + .tCC.seek :open +2 "collection"'T(p +410 "core" ( +2 "storage"(\ & +4 "core" &K Y Y\  + "storage"(n& +4 "core" &K [ Z\  +2 "manipulator"&G& +3 "core" & _ / +2 "manipulator"&}% +4 "core" % ~  + .tForearm.seek :retract +2 "manipulator"&'\ +96 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 + "manipulator"&g( +156 "core" ( +2 "manipulator"&x& +4 "core" &   + "storage"(a& +4 "core" &K Y Z\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 6 + "manipulator"&0'z +109 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&>1 +59 "core" 1 +2 "manipulator"&J% +4 "core" % Ίr 9  X . + "storage"(s& +4 "core" &K\ \ \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 316 counts + "manipulator"&"'϶ +18 "core" ' + "manipulator"&2& +4 "core" & ] x * 4 +2 "storage"(Z& +4 "core" &K } } j\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&A'< +18 "core" ' +2 "storage"(S% +4 "core" %b p w \ +2 ."downElevator"SE.seek :down +3 "storage"(`'N +99 (*% +3 "core" % A X Y c\ V_ +2 "manipulator"&O% +4 "core" % o n   +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&,'\ +95 "core" ' +44 ' + ."downElevator"SE.stop + "storage"(5 +37910 "Can" #?< +16535 #t-> 10.times{shuffle 3..6} +2 #Shuffling pucks in tube 3 of [3..6] + #Loading generic puck from tube 3 into Collection Clamp +2 "collection"'& +3 "core" & Y\ +2 "manipulator"&'% +4 "core" %\ 8 ' +2 "storage"(% +3 "core" %B \\ Z\  +2 "storage"(9. +3 "core" .(K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(F( +990 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (& +2 "core" & n\ +2 "manipulator"&;& +4 "core" & 3 + .tElbow.seek 3 +2 "manipulator"&(D +60 "core" ( +2 "manipulator"&M& +4 "core" &9 _ m +2 "storage"( & +3 "core" & Y \\\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&B' +94 "core" ' +2 "storage"(& +4 "core" & t m\ +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(('e +279 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (~& +2 "core" & C 6 z\ +3 "manipulator"&W& +4 "core" &: [ l +2 .tElbow.seek 3 + "manipulator"&(D +3 "core" ( +2 "manipulator"&K& +4 "core" &: e l + "storage"(t& +4 "core" & Z \\\ +2 .tForearm.seek 3 + 300 counts + "manipulator"&'y +22 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&q/ +60 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&]& + "storage"(H'N +8 "core" &: n y " l + "manipulator"&?% +4 "core" % s } { +2 .tForearm.seek :retract +2 "manipulator"&'\ +89 "core" ' +2 .tElbow.seek CC + "manipulator"&_( +149 "core" ( + "manipulator"&[& +5 "core" &# ;3 + ' + ."downElevator"SE.stop +3 .tElbow.reconfigure :loose +2 "storage"(5 +3 "manipulator"&$ &.,(#b +3 &f& +3 "core" &$ T ;3 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&5'| +99 "core" ' +2 "manipulator"&@& +5 "core" &$ ;3 + "manipulator"&% +4 "core" %φ +2 "collection"'.& +4 "core" & \ +2 "collection"'& +5 "core" & }\ +2 .tCC.seek :closed +2 "collection"'\\(] +62 "core" & \ U\ + & M\ + & C\ + & \ Q\ + & \ + & \ + & \ \ +3 &8  \ $d +7 &^V \ \ 8 +9 & \ \ L +10 &ma \ N +9 &.b \ N +9 &e \ O +10 & e \ O +9 &"ta \ N +9 &$6^ \ N +10 &%c \ O +9 &'a \ N +10 &)|_ \ N +9 &+>c  \ N +9 &-b  \ N +10 &.c \ N +9 &0_ \ N +9 &2Fc \ N +10 &4d \ O +9 &5_ \ N +10 &7b \ N +9 &9O_ \ N +9 &;b \ N +10 &<d \ N +9 &>a \ N +9 &@Vb \ N +10 &Bb \ N +9 &Cd \ N +10 &Ea \ N +9 &G^e  \ N +9 &Im \ P +10 &J  \ Q +9 &L  \ U +9 &NM  \ W +10 &P  \ X +9 &Q  \ Y +10 &S  \ \\ +9 &UL  \ Z +9 &W  \ Z +10 &X  \ ` +9 &Z  \ ] +9 &\\O  \ H +10 &][7  \ *| +9 &]s  \ G +5 ( +2 "collection"'& +5 #tCollection Clamp onSpring/offSpring for 9/26 samples, on/off torque 2.07 + .Hand.open +2 "manipulator"&1 +3 "core" &]g  \ G +58 1 +2 "manipulator"&v% +4 "core" % φ c +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&b'\ +93 "core" ' + #tLoading generic puck from tube 3 into Processing Clamp +2 "processing"%& +4 "core" &\ +2 "manipulator"&!% +4 "core" %\ * !P + "storage"($% +4 "core" %C\ \ \  +2 "storage"(. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 + "storage"(l( +28 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (6& +3 "core" & \  +2 "manipulator"&k& +3 "core" &! _ 9$ +2 "manipulator"&3% +4 "core" %\ * !P +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&N(D +180 "core" ( + "manipulator"&& +5 "core" &C  k + "storage"(w& +4 "core" &\ \ )\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&^' +103 "core" ' +2 "storage"(u& +5 "core" & @ B \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(r'e +283 "core" ' + "storage"(j- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" &\ \  .\  +2 "manipulator"&& +4 "core" &D o n j +2 .tElbow.seek 3 + "manipulator"& (D +4 "core" ( + "manipulator"&{& +4 "core" &D z } ` j + "storage"(& +4 "core" &   X\  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&C'y +26 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&Y/ +54 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&p& + "storage"(+'N +8 "core" &D t o a j + "manipulator"&E% +4 "core" % r q q Z +2 .tForearm.seek :retract +2 "manipulator"&'\ +90 "core" ' + .tElbow.seek PC +2 "manipulator"&I(c +162 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +89 "core" ( +2 "manipulator"&y& +4 "core" &j y r  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &:& +3 "core" &j   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&d'[ +101 "core" ' +2 "manipulator"&|& +9 "core" &j   +2 "manipulator"&-% +4 "core" %` n +2 "processing"%e& +4 "core" &\ +2 "processing"%1& +5 "core" &\ +2 .tPC.seek :closed + "processing"%U(Z +4 "core" &\ \ +9 &1z\ )w +10 &d\ > +9 &=u\ N +9 &U\ M +10 &]\ N +9 &Z\ N +9 &!E\\\ M +10 &#Z\ M +9 &$U\ M +10 &&X\ N +9 &(LY\ N +9 &*W\ M +10 &+W\ N +9 &-\\\ N +9 &/T\\\ N +10 &1W\ M +9 &2X\ N +10 &4Y\ N +9 &6\\Z\ N +9 &8\\\ M +10 &9W\ M +9 &;W\ M +9 &=dW\ N +10 &?&_\ N +9 &@[\ N +10 &BX\ N +9 &Dm]\ M +9 &F/[\ M +10 &Gc\ O +9 &Ij\ O +9 &Kjv\ Q +10 &M&\ S +9 &N\ S +10 &P\ T +9 &Rj\ T +9 &T,\ T +10 &U\ T +9 &W\ U +9 &Yn\ B +10 &Zw>\ U +9 &Z-\ 0 +5 ( +2 "processing"%1& +4 #tProcessing Clamp onSpring/offSpring for 9/25 samples, on/off torque 1.59 +2 .Hand.open + "manipulator"&&1 +3 "core" &Z#\ 0 +53 1 + "manipulator"&i% +5 "core" % ` q +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +100 "core" ' +2 "processing"%m& +4 "core" &Z"\ 0 + #tImaging generic puck in Processing Clamp while storing it to tube 3 +2 "manipulator"&% +3 "core" %\ 8 ' +2 "storage"(z% +4 "core" %Q 8\  +2 "storage"(V. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(<( +20 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (%& +3 "manipulator"&R& +4 "core" & T )\ % +2 &j  +3 ."raiseStack"SE.reconfigure :place +2 .tElbow.reconfigure :tight +5 "storage"(#]kK-0-\ b +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +2 "manipulator"& (c +4 ."raiseStack"SE.seek :beamBreak + "storage"(Q'e +3 "core" ( + "manipulator"&4& +4 "core" &j  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &o& +2 "core" &j |  +2 .tForearm.seek PC +2 "manipulator"&'[ +95 "core" ' +2 .tHand.close + "manipulator"&7/ +64 "core" / +2 .tPC.seek :open +2 "processing"% (p +87 "core" ' + "storage"(- +4 "core" -'e + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(='B +34 "core" ' +260 ( + "storage"(#& +4 "core" &   |\ + +2 "manipulator"&D& +4 "core" &j   + "manipulator"&h% +4 "core" % ` : +2 .tForearm.seek :retract + "manipulator"&/'\ +98 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&c(D +248 "core" ( +2 "manipulator"&8& +4 "core" &; m % +2 "storage"(\ & +4 "core" &\ \ \ + +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&n' +111 "core" ' +2 .tHand.open +2 "manipulator"&G1 +56 "core" 1 +2 "storage"(}- +3 "core" -'B +3 .tSE.seek -0.16 Pucks below Top Plate + "storage"(x' +24 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(a' +52 "core" ' +2 #tLights, camera, ACTION! + "storage"(P- +4 "core" -' +2 "storage"(L& +5 "core" & : E \ . + "manipulator"&>& +4 "core" &? o o M $ +2 .tElbow.seek 3 + "manipulator"&J(D +4 "core" ( + "manipulator"&s& +4 "core" &? y s ^ $ +2 "storage"(2& +4 "core" & ? 7 D\ . +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&Z' +22 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"(S'M +60 "core" ' + "manipulator"&& +5 "core" &? . $ + "storage"(*& +4 "core" &\ \  \ . +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&O'M +31 "core" ' + .tElbow.hold +2 "manipulator"&g, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.07 Pucks below Top Plate + "storage"(0'7 +22 "core" ' + "manipulator"&"% +5 "core" %ST G ð + "storage"( & +4 "core" & +\ . +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 306 counts + "manipulator"&A' +16 "core" ' +2 "manipulator"&`& +55 "core" &r\ n o / Z +2 "storage"(& +4 "core" & ) ! v\ . +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&'' +20 "core" ' +2 "storage"(% +5 "core" %? * A \ +2 ."downElevator"SE.seek :down +4 "storage"(9'N +98 (X% +3 "core" %AA\ \ $ ;\ Wc +2 "manipulator"&% +5 "core" % s y b  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&;'\ +96 "core" ' +53 ' + ."downElevator"SE.stop +55 "storage"(5 +3 (M& +4 "core" &\ \ . + "collection"' & +4 "core" &]f  \ G +2 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&% +4 "core" %\ 5 & +2 "storage"(% +4 "core" %G\ \ \ \ + "storage"(,. +4 "core" .( + "storage"(& +4 "core" &\ \  \ . + "storage"(~& +4 "core" &\ \ \ . +2 "manipulator"&W& +4 "core" &r\ Z + .tElbow.seek 3 +2 "manipulator"&K(D +25 "core" ( +2 "manipulator"&t& +4 "core" &B 2 +2 "storage"(q& +4 "core" & Q \ . +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&]' +104 "core" ' +2 "storage"(?& +4 "core" & B 9 \ . +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"('e +280 "core" ' +2 "storage"(B- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&[& +3 "core" &B X a - +2 "storage"(f& +3 "core" &   Z\ . +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 + "manipulator"&('M +38 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(@- +3 "core" -' +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"('m +31 "core" ' +2 "manipulator"&.% +4 "core" %YL    î +2 "storage"(& +4 "core" & "\ . + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 312 counts +2 "manipulator"&H'υ +11 "core" ' + "manipulator"&& +5 "core" &I g M a z + "storage"(T& +4 "core" & A B \ . +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&' +18 "core" ' +2 .tSE.seek 1.11 Pucks below Top Plate + "storage"(v'\\ +50 "core" ' +2 "manipulator"&& +4 "core" &I _ P 2 z +2 "manipulator"&!% +4 "core" % G H   +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&$'\ +90 "core" ' + .tElbow.seek CC +2 "manipulator"&( +173 "core" ( +2 "manipulator"&& +4 "core" &\ !w + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &6& +3 "core" &\ h !w +2 .tForearm.seek CC +2 "manipulator"&k'| +95 "core" ' +2 .tHand.close + "manipulator"&3/ +52 "core" / +2 .tCC.seek :open + "collection"'5(p +410 "core" ( +2 "storage"(& +4 "core" & v ` ^\ . +2 "storage"(w& +3 "core" & f f M\ . +2 "manipulator"&F& +4 "core" &\  !w + "manipulator"&_% +4 "core" % υ  +2 .tForearm.seek :retract + "manipulator"&u'\ +92 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&b(D +159 "core" ( + "manipulator"&j& +5 "core" &9 m 2 + "storage"(& +4 "core" & g f \ . +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +2 .tForearm.seek 3 +2 "manipulator"&'M +110 "core" ' +2 .tElbow.hold + "manipulator"&{, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&1 +59 "core" 1 +2 "manipulator"&Y% +4 "core" % Wu 1 ` * + "storage"(p& +4 "core" &\ \  (\ . +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 310 counts + "manipulator"&E'σ +19 "core" ' +2 "manipulator"&N& +4 "core" &e t Y b  +2 "storage"(^& +3 "core" & g i g\ . +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&r' +19 "core" ' +2 "storage"(C% +4 "core" %b \ +3 ."downElevator"SE.seek :down +4 "storage"(y'N +99 (:% +3 "core" %(H d [\ Vb +2 "manipulator"& % +4 "core" % o o  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&|'\ +98 "core" ' +42 ' + ."downElevator"SE.stop +2 "storage"(5 +2 #tShuffling pucks in tube 4 of [3..6] +2 #Loading generic puck from tube 4 into Collection Clamp + "collection"'-& +5 "core" &  \ + "manipulator"&e% +4 "core" %\ 8 v ' +2 "storage"(+% +4 "core" %F Z Z\  + "storage"(. +3 "core" .( +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"()(, +344 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (&& +2 "core" &,~\ \  \  +2 "manipulator"&i& +4 "core" &e  +2 .tElbow.seek 4 +2 "manipulator"&m(* +33 "core" ( + "manipulator"&& +5 "core" &) ? + "storage"(z& +4 "core" &,~ Z [\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&V' +103 "core" ' + "storage"(1& +5 "core" &,~ r v _\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(R'e +280 "core" ' + "storage"(%- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (4& +2 "core" &,~ \\ W\  +2 "manipulator"&o& +3 "core" &+ I = +2 .tElbow.seek 4 +2 "manipulator"&d(* +4 "core" ( + "manipulator"&7& +4 "core" &+ ] = +2 "storage"(l& +4 "core" &,~ d \\\  +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&'Z +10 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&I/ +58 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& + "storage"(U'N +9 "core" &+  = + "manipulator"&#% +4 "core" % V   +2 .tForearm.seek :retract +2 "manipulator"&Q'\ +92 "core" ' + .tElbow.seek CC +2 "manipulator"&D( +148 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +21 "core" ( + "manipulator"&h& +4 "core" &  H +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +4 "core" &  H +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&8'| +106 "core" ' +3 "manipulator"&\ & +4 "core" & r y Z H +2 "manipulator"& % +4 "core" %p r r I +2 "collection"'G& +4 "core" & \ +2 "collection"'}& +4 "core" & \ +2 .tCC.seek :closed +2 "collection"'P(] +5 "core" &  \  +9 &2 \ *y +9 &b  \ > +9 &M} \ N +10 &`  \ M +9 &c \ M +10 &d \ N +9 &!Vc  \ N +9 &#c \ N +10 &$`  \ N +9 &&c  \ M +9 &(_b \ M +10 &*!b \ M +9 &+a  \ M +10 &-e \ N +9 &/fg  \ N +9 &1'g \ N +10 &2b  \ M +9 &4b \ M +9 &6oc  \ M +10 &81d \ M +9 &9b \ N +10 &;] \ M +9 &=vd \ N +9 &?9_ \ M +10 &@` \ N +9 &Be \ N +9 &Da  \ M +10 &F@`  \ N +9 &Hc \ N +10 &Ik \ N +9 &Kw  \ P +9 &M8  \ S +10 &N  \ V +9 &P  \ W +9 &Rq  \ X +10 &T2  \ X +9 &U  \ Y +10 &W  \ Y +9 &Yo  \ [\ +9 &['  \ _ +10 &\\}  \ 0 +9 &]'  \ Z +9 ( +2 &]o  \ L +2 "collection"'}& +3 #tCollection Clamp onSpring/offSpring for 7/25 samples, on/off torque 1.83 + .Hand.open +2 "manipulator"&L1 +57 "core" 1 +2 "manipulator"&>% +5 "core" % { x z # +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&s'\ +96 "core" ' +2 #tLoading generic puck from tube 4 into Processing Clamp + "processing"%2& +5 "core" &\ + "manipulator"&/% +4 "core" %\ 1 $u + "storage"(% +4 "core" %<\ \  e\  +2 "storage"(*. +3 "core" .(,~ +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"(=(, +3 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 ("& +3 "core" &, ?\  +2 "manipulator"& & +4 "core" & H + "manipulator"&x% +4 "core" %\ 1 $u +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&`(* +157 "core" ( + "manipulator"&& +5 "core" &(   + "storage"(c& +4 "core" &,~\ &\ ' ^\  +2 .tForearm.reconfigure :tight +55 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&n' +102 "core" ' +2 "storage"(& +4 "core" &,~   K\  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(a'e +281 "core" ' + "storage"(Z- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (X& +2 "core" &,~\ *\  +2 "manipulator"&& +4 "core" &3   +2 .tElbow.seek 4 + "manipulator"&J(* +4 "core" ( + "manipulator"&S& +4 "core" &3   + "storage"(O& +4 "core" &,~\ \  \  +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&M'Z +21 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&A/ +53 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&0& + "storage"( 'N +8 "core" &3 q o e  +2 "manipulator"&% +4 "core" % R y r F +2 .tForearm.seek :retract +2 "manipulator"&'\ +96 "core" ' +2 .tElbow.seek PC +2 "manipulator"&,(c +159 "core" ' + ."downElevator"SE.stop + "storage"(5 +90 "core" ( + "manipulator"&& +5 "core" &e r + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &~& +2 "core" &e +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&W'[ +100 "core" ' +2 "manipulator"&t& +4 "core" &e  +2 "manipulator"&q% +4 "core" %W  +2 "processing"%'& +4 "core" &\ +2 "processing"%?& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%9(Z +4 "core" &\ +7 &9\ $e +9 &^U\ 7 +10 &}\ L +9 &oY\ M +9 &0Z\ N +10 &Z\ N +9 & \\\ M +10 &"wZ\ M +9 &$9\\\ M +9 &%\\\ M +10 &'Z\ M +9 &)[\ M +9 &+AU\ M +10 &-]\ N +9 &.[\ N +10 &0Z\ N +9 &2HZ\ N +9 &4 Y\ M +10 &5U\ M +9 &7W\ M +9 &9Q[\ M +10 &;\\\ M +9 &<Y\ N +10 &>\\\ N +9 &@YW\ M +9 &BY\ N +10 &C\\\ N +9 &EX\ M +9 &G]b\ O +10 &Ij\ O +9 &J\ Q +10 &L\ S +9 &NW\ S +9 &P\ T +10 &Q\ T +9 &S\ T +9 &U]\ T +10 &W\ U +9 &X\ U +10 &Z:Jk\ + +9 &Z 5\ ( +5 ( +2 "processing"%?& +4 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.59 + .Hand.open +2 "manipulator"&g1 +3 "core" &Z\ ( +56 1 + "manipulator"&;% +4 "core" % W  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&B'\ +95 "core" ' +2 "processing"%[& +4 "core" &Z\ ( +2 #tImaging generic puck in Processing Clamp while storing it to tube 4 + "manipulator"&f% +4 "core" %\ 1 j $l +2 "storage"(@% +3 "core" %\\ =\  +2 "storage"(.. +3 "core" .(, +2 "storage"(& +3 "core" &,~ W\  +3 "storage"(& +2 "manipulator"&T& +7 "core" &,~ V\  + &e x +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +6 "manipulator"&$&.,(\ #b + "storage"(#]kK-0-\ b +3 .tElbow.seek PC +4 "manipulator"&(c +4 ."raiseStack"SE.seek :beamBreak +2 "storage"(!'e +2 "core" ( +2 "manipulator"&]& +4 "core" &e  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &K& +3 "core" &e / +2 .tForearm.seek PC +2 "manipulator"&'[ +94 "core" ' +2 .tHand.close + "manipulator"&(/ +57 "core" / +2 .tPC.seek :open + "processing"%H(p +92 "core" ' + "storage"(- +4 "core" -'e + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('B +33 "core" ' +256 ( + "storage"(6& +4 "core" &,~\ \  X\  +2 "manipulator"&& +4 "core" &e  + "manipulator"&% +4 "core" % T 7 +2 .tForearm.seek :retract +2 "manipulator"&3'\ +99 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&$(* +254 "core" ( +2 "manipulator"&\\& +4 "core" &5 | h +2 "storage"(& +4 "core" &,~ p\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&w' +107 "core" ' + .tHand.open +2 "manipulator"&F1 +53 "core" 1 +2 "storage"(_- +4 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate +2 "storage"(j' +25 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(' +52 "core" ' +2 #tLights, camera, ACTION! + "storage"(k- +4 "core" -' +2 "storage"(& +4 "core" &,~ W X g\  +2 "manipulator"&& +3 "core" &5 o o  h +2 .tElbow.seek 4 +2 "manipulator"&Y(* +11 "core" ( +2 "manipulator"&p& +4 "core" &5 q | M  +2 "storage"(N& +4 "core" &,~ W W \  +2 .tForearm.seek 4 + 450 counts + "manipulator"&^' +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.11 Pucks below Top Plate + "storage"(C'M +62 "core" ' +2 "manipulator"&u& +4 "core" &5 n n  +2 "storage"(:& +4 "core" &,~   \\\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 4 + "manipulator"& '. +34 "core" ' +2 .tElbow.hold + "manipulator"&b, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"('7 +23 "core" ' + "manipulator"&-% +5 "core" %<b i ´ + "storage"(E& +4 "core" &,~ ;\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 314 counts + "manipulator"&e'h +16 "core" ' +2 "manipulator"&+& +4 "core" & ~ } e e +2 "storage"(& +4 "core" &,~   \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&v' +20 "core" ' +2 "storage"(r% +4 "core" %: (  \  +2 ."downElevator"SE.seek :down +4 "storage"(y'N +99 (<% +3 "core" %WE\ \ \ Wc +2 "manipulator"&&% +4 "core" % o q k  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&i'\ +89 "core" ' +58 ' + ."downElevator"SE.stop + "storage"(5 +3 (& +4 "core" &,~ \ \  +2 "collection"'z& +4 "core" &]o  \ L + #tStoring generic puck in Collection Clamp to tube 4 +2 "manipulator"&1% +4 "core" %\ '  < + "storage"({% +4 "core" %H\ \ $ \ \ +2 "storage"(|. +3 "core" .(, + "storage"(%& +4 "core" &,~\ \ $\  +2 "storage"(4& +3 "core" &,~\ \ \  +2 "manipulator"&o& +4 "core" & e +2 .tElbow.seek 4 + "manipulator"&7(* +30 "core" ( +2 "manipulator"&l& +4 "core" &5   +2 "storage"(I& +4 "core" &,~ P \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&' +105 "core" ' +2 "storage"(#& +4 "core" &,~ A B \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(m'e +247 "core" '7A m e +3 !to:Slide::Error\ : mesg"HForearm positionErr at CC + 443 counts during Storage Elevator move:@checkpoint: omitted: @replyo:I2C::Servo::AbsMove3Reply :@destinationi%: @channeli: @statusIS:I2C::Servo::Status: enabledT: pastRLSF: pastFLSF:pastThresholdF: lostF: homeF: positioni7: velocityiA: currenti:pwmi:erri: inPressim : outPressie :deltaPressi : voltagef12.3093117329406x: @type2F: @tagi: @sourcei+: @error:positionErr:bt["2/home/esp/esp2/lib/slide.rb:587:in `raiseErr'"3/home/esp/esp2/lib/slide.rb:36:in `initialize'"3/home/esp/esp2/lib/i2c/servo.rb:1680:in `call'"6/home/esp/esp2/lib/i2c/servo.rb:1680:in `deliver'"3/home/esp/esp2/lib/i2c/msg.rb:605:in `process'"2/home/esp/esp2/lib/msg.rb:212:in `initialize'",/home/esp/esp2/lib/msg.rb:209:in `loop'"2/home/esp/esp2/lib/msg.rb:209:in `initialize'"7/home/esp/esp2/lib/schedule.rb:481:in `initialize'"0/home/esp/esp2/lib/thread.rb:738:in `start'"7/home/esp/esp2/lib/schedule.rb:474:in `initialize'"'/home/esp/esp2/lib/schedule.rb:472:@axisName" Forearm +2 #Retry #1 of 4 + .SE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek :down +2 "storage"(V'N +3 "core" ':w~ a\ : +274 ' + "storage"(h& +4 "core" &,~ e 8\  +2 "manipulator"&& +3 "core" &5 o o   +3 .tElbow.seek 4 + "manipulator"&R(* +8 "core" ( + "manipulator"&& +4 "core" &- N i c  +2 "storage"(d& +4 "core" &,~   x\  +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&\ ' +36 "core" ' +2 "storage"( & +4 "core" &,~\ \ \  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(G'e +283 "core" ' + "storage"(U- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&Q& +3 "core" &+ q 5  +2 "storage"(5& +3 "core" &,~\ \  \  +2 .tElbow.reconfigure :limp +54 "manipulator"&$ ,(b +5 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 + "manipulator"&L'. +34 "core" ' + .tElbow.hold +2 "manipulator"&>, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(2- +3 "core" -' +3 .tSE.seek 0.12 Pucks below Top Plate + "storage"(/'v +31 "core" ' +2 "manipulator"&% +4 "core" %;V t ± +2 "storage"(*& +4 "core" &,~ 1\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 313 counts +2 "manipulator"&}'g +16 "core" ' + "manipulator"&"& +5 "core" & p u   + "storage"( & +4 "core" &,~  \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&x' +22 "core" ' +3 .tSE.seek 1.12 Pucks below Top Plate + "storage"(8'e +51 "core" ' + "manipulator"&& +5 "core" & o o  + "manipulator"&c% +4 "core" % n o +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&)'\ +92 "core" ' +2 .tElbow.seek CC +2 "manipulator"&D( +174 "core" ( +2 "manipulator"&& +4 "core" &\ N W +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &s& +3 "core" &\ W +2 .tForearm.seek CC +2 "manipulator"&Z'| +94 "core" ' + .tHand.close +2 "manipulator"&X/ +55 "core" / +2 .tCC.seek :open + "collection"'(p +410 "core" ( +2 "storage"(S& +3 "core" &,~ p j ;\  +2 "storage"(O& +4 "core" &,~ Y Y\  +2 "manipulator"&A& +4 "core" &\ V W + "manipulator"&0% +4 "core" % o . +2 .tForearm.seek :retract +2 "manipulator"&'\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&`(* +154 "core" ( +2 "manipulator"&n& +4 "core" &" % +2 "storage"(a& +4 "core" &,~ Z Z\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 4 + "manipulator"&M'. +115 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&~1 +57 "core" 1 +2 "manipulator"&J% +4 "core" % <_  H +2 "storage"(t& +3 "core" &,~ A\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 314 counts +2 "manipulator"&q'h +17 "core" ' + "manipulator"&'& +4 "core" &\ _ r [ +2 "storage"( & +4 "core" &,~ v v P\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&' +21 "core" ' +2 "storage"( % +4 "core" %k o y \ +3 ."downElevator"SE.seek :down +4 "storage"(g'N +99 (;% +3 "core" %F X Z\ Wb +2 "manipulator"&[% +4 "core" % o q  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&f'\ +90 "core" ' +47 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 5 of [3..6] +2 #Loading generic puck from tube 5 into Collection Clamp + "collection"'@& +5 "core" &  }\ + "manipulator"&.% +4 "core" %\ % a 5 +2 "storage"(% +4 "core" %< u v g\ + "storage"(?. +3 "core" .(, +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"(T(<< +352 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (& +2 "core" &<9  ( ?\  +2 "manipulator"&]& +4 "core" &\ X Y +2 .tElbow.seek 5 + "manipulator"&K( +16 "core" ( + "manipulator"&W& +5 "core" & _ 5 + "storage"((& +4 "core" &<9 \\ b ]\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&' +103 "core" ' + "storage"(,& +4 "core" &<9 \  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(B'e +280 "core" ' + "storage"(9- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (6& +3 "core" &<9 r r M\  +2 "manipulator"&& +3 "core" & p p 2 +2 .tElbow.seek 5 +2 "manipulator"&!( +18 "core" ( + "manipulator"&& +4 "core" & u \\  \ +2 "storage"(& +3 "core" &<9 { _\  +3 .tForearm.seek 5 + 300 counts +2 "manipulator"&\\'[ +14 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +53 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& + "storage"(F'N +8 "core" & d l \ + "manipulator"&_% +4 "core" % R b d ' +2 .tForearm.seek :retract +2 "manipulator"&k'\ +100 "core" ' +2 .tElbow.seek CC +2 "manipulator"&( +140 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +3 "core" ( +2 "manipulator"&& +4 "core" & / +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &p& +2 "core" & / +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&N'| +103 "core" ' + "manipulator"&3& +5 "core" &  / + "manipulator"&u% +5 "core" %q , + "collection"':& +4 "core" & \ +2 "collection"'& +6 "core" &  \ +3 .tCC.seek :closed + "collection"'-(] +4 "core" &  \ +8 &?  \ %f +9 &jW \ 8 +9 &  \ M +10 &`  \ M +9 &Cd  \ M +10 &a  \ M +9 & c  \ M +9 &"c \ M +10 &$La  \ M +9 && f  \ N +9 &'b  \ N +10 &)c  \ N +9 &+S`  \ M +10 &-` \ N +9 &.c  \ N +9 &0`  \ N +10 &2Za \ N +9 &4e  \ M +9 &5b \ M +10 &7d  \ M +9 &9b_ \ N +10 &;%`  \ M +9 &<b  \ M +9 &>c \ M +10 &@jc \ N +9 &B-b  \ M +9 &C_  \ M +10 &E_  \ M +9 &Gsa \ M +10 &I0m  \ O +9 &J  \ Q +9 &L  \ U +10 &N`  \ W +9 &P  \ X +9 &Q  \ X +10 &S  \ X +9 &U`  \ Y +10 &W#  \ Y +9 &X  \ [\ +9 &Z  \ [ +10 &\\c  \ H +9 &]g>  \ #j +9 &]p  \ M +3 ( + "collection"'& +4 #tCollection Clamp onSpring/offSpring for 10/26 samples, on/off torque 1.97 + .Hand.open + "manipulator"&E1 +54 "core" 1 +2 "manipulator"&j% +4 "core" % q } +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&+'\ +94 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp + "processing"%& +5 "core" &\ + "manipulator"&r% +4 "core" %\ 1 $o +2 "storage"($% +4 "core" %F\ \  + "storage"(w. +4 "core" .(<9 + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"((<< +7 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (<& +3 "core" &<91 \ \  +2 "manipulator"&&& +3 "core" & 9 / +2 "manipulator"&^% +4 "core" %\ 1  $o +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&Y( +152 "core" ( + "manipulator"&C& +5 "core" & K  + "storage"( & +4 "core" &<9\ "\ & E\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&' +101 "core" ' +2 "storage"(e& +4 "core" &<9   \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(z'e +277 "core" ' +2 "storage"(1- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 ({& +2 "core" &<9\ %\  j\  +2 "manipulator"&|& +4 "core" &   + .tElbow.seek 5 +2 "manipulator"&%( +3 "core" ( +2 "manipulator"&& +4 "core" & )  + "storage"(4& +4 "core" &<9 E\  R\  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&o'[ +22 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&l/ +54 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&I& +2 "storage"(v'N +7 "core" & o o   +2 "manipulator"&#% +4 "core" % Z o o +54 .tForearm.seek :retract +2 "manipulator"&y'\ +97 "core" ' +2 .tElbow.seek PC +2 "manipulator"&b(c +96 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +149 "core" ( + "manipulator"&i& +5 "core" &i E + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &i y +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&h'[ +102 "core" ' +2 "manipulator"&& +4 "core" &i r u V +2 "manipulator"&% +4 "core" %Q o o  l +2 "processing"%m& +4 "core" &\ +2 "processing"%d& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"% (Z +4 "core" &\  +8 &1\ *x +10 &d\ > +9 &>v\ N +10 &U\ M +9 &\\\ M +9 &Y\ M +10 &!GW\ M +9 &# Y\ M +9 &$Y\ M +10 &&\\\ M +9 &(PY\ M +10 &*Z\ M +9 &+Y\ M +9 &-[\ M +10 &/VZ\ N +9 &1Y\ M +9 &2Z\ M +10 &4U\ M +9 &6`Z\ M +10 &8!Z\ M +9 &9Z\ M +9 &;[\ M +10 &=hZ\ M +9 &?)\\\ M +9 &@\\\ N +10 &B[\ M +9 &DpW\ M +10 &F0\\\ N +9 &Ge\ N +9 &Io\ O +10 &Ki\ R +9 &M(\ S +9 &N\ T +10 &P\ T +9 &Rl\ T +10 &T-\ T +9 &U\ T +9 &W\ T +10 &Yq\ B +9 &Zz@\ S +9 &Z\ ' +3 ( + "processing"%d& +4 #tProcessing Clamp onSpring/offSpring for 9/25 samples, on/off torque 1.63 + .Hand.open + "manipulator"&71 +60 "core" 1 +2 "manipulator"&U% +4 "core" % Q w r e l +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&Q'\ +91 "core" ' + "processing"%5& +5 "core" &Z\ ' + #tImaging generic puck in Processing Clamp while storing it to tube 5 +2 "manipulator"&V% +4 "core" %\ . p !R + "storage"(2% +4 "core" %? \  3\  +2 "storage"(. +3 "core" .(<9 +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 + "storage"(*(<< +3 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 ("& +2 "manipulator"& & +4 "core" &<: r\  +4 ."raiseStack"SE.reconfigure :place +3 "storage"(#]kK-0-\ b +3 "core" &i _ +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +3 ."raiseStack"SE.seek :beamBreak + "manipulator"&(c +4 "storage"(c'e +3 "core" ( + "manipulator"&\ & +4 "core" &i . + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &R& +3 "core" &i , +2 .tForearm.seek PC +2 "manipulator"&G'[ +94 "core" ' +2 .tHand.close + "manipulator"&L/ +55 "core" / +2 .tPC.seek :open +2 "processing"%}(p +95 "core" ' + "storage"(/- +3 "core" -'e +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +2 ."raiseStack"SE.seek :place +2 "storage"('B +40 "core" ' +246 ( +2 "storage"(s& +4 "core" &<9 D \  +2 "manipulator"&x& +3 "core" &i < +2 "manipulator"&>% +4 "core" % d D +2 .tForearm.seek :retract + "manipulator"&X'\ +95 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&)( +248 "core" ( + "manipulator"&P& +5 "core" &\ e S + "storage"(S& +4 "core" &<9 4\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&O' +98 "core" ' + .tHand.open +2 "manipulator"&A1 +61 "core" 1 +2 "storage"(0- +4 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate +2 "storage"(n' +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(a' +52 "core" ' +2 #tLights, camera, ACTION! + "storage"(Z- +4 "core" -' + "storage"(D& +4 "core" &<9   }\  +2 "manipulator"&~& +4 "core" &\ S + .tElbow.seek 5 +2 "manipulator"&J( +4 "core" ( + "manipulator"&t& +4 "core" &\ S +2 "storage"('& +4 "core" &<9 $\  +2 .tForearm.seek 5 + 450 counts +2 "manipulator"& ' +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"( 'M +64 "core" ' + "manipulator"&& +5 "core" &\ H S + "storage"(;& +4 "core" &<9\ \  \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&['/ +32 "core" ' +2 .tElbow.hold + "manipulator"&`, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"(M'7 +23 "core" ' +2 "manipulator"&@% +4 "core" %5V ? ñ +2 "storage"(q& +4 "core" &<9 \  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 5 + 306 counts +2 "manipulator"&.'a +17 "core" ' +2 "manipulator"&& +4 "core" & s o x & +2 "storage"(?& +4 "core" &<9   \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&8' +20 "core" ' + "storage"(% +5 "core" %;   \  +2 ."downElevator"SE.seek :down +3 "storage"(g'N +100 (=% +2 "core" %MD 5\ Wd +2 "manipulator"&% +4 "core" % p r  # +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&]'\ +95 "core" ' +52 ' + ."downElevator"SE.stop + "storage"(5 +3 (W& +4 "core" &<9 @\  + "collection"'(& +4 "core" &]n  \ M +2 #tStoring generic puck in Collection Clamp to tube 5 + "manipulator"&,% +4 "core" %\ 4  %v +2 "storage"(% +4 "core" %? S\ + "storage"(f. +3 "core" .(<< +2 "storage"(9& +4 "core" &<9 \  \  + "storage"(6& +4 "core" &<9\  S\  +2 "manipulator"&& +3 "core" & | & +2 .tElbow.seek 5 +2 "manipulator"&( +30 "core" ( + "manipulator"&& +5 "core" & [ + "storage"(& +4 "core" &<9\ \  %\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&' +106 "core" ' + "storage"(_& +5 "core" &<9   \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(K'e +280 "core" ' + "storage"(- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +2 "manipulator"&& +3 "core" &  +2 "storage"(p& +4 "core" &<9\ \  \  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&B'/ +34 "core" ' +2 .tElbow.hold + "manipulator"&\\, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(3- +3 "core" -' +2 .tSE.seek 0.12 Pucks below Top Plate + "storage"(u't +31 "core" ' +2 "manipulator"&:% +4 "core" %4K  L Į +2 "storage"(!& +3 "core" &<9 <\  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 5 + 305 counts +2 "manipulator"&F'` +17 "core" ' + "manipulator"&k& +5 "core" & v ] 7 . + "storage"(& +4 "core" &<9 ! \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&E' +18 "core" ' +2 .tSE.seek 1.12 Pucks below Top Plate +2 "storage"(j'c +46 "core" ' +3 "manipulator"&& +4 "core" & n o - +2 "manipulator"&r% +4 "core" % i l G +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&$'\ +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&w( +163 "core" ( +2 "manipulator"&& +4 "core" &  k ( +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &<& +3 "core" &  D ( +2 .tForearm.seek CC +2 "manipulator"&&'| +97 "core" ' + .tHand.close +2 "manipulator"&^/ +63 "core" / + .tCC.seek :open +2 "collection"'N(p +413 "core" ( +2 "storage"(C& +57 "core" &<9 Y Y\  +2 "storage"( & +3 "core" &<9 X Y `\  +2 "manipulator"&T& +4 "core" &  C ( + "manipulator"&e% +4 "core" % ω \\ +2 .tForearm.seek :retract +2 "manipulator"&'\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&+( +151 "core" ( +2 "manipulator"&1& +4 "core" &   +2 "storage"({& +4 "core" &<9 Y Y #\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 5 +2 "manipulator"&|'/ +112 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&41 +57 "core" 1 +2 "manipulator"&l% +4 "core" % =^  +2 "storage"(I& +4 "core" &<9 \  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 314 counts + "manipulator"&#'i +18 "core" ' + "manipulator"&Y& +4 "core" & s v ! , +2 "storage"(& +4 "core" &<9 i g \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&z' +20 "core" ' + "storage"(o% +5 "core" %b y \ +2 ."downElevator"SE.seek :down +3 "storage"(i'N +99 (% +3 "core" %? Z ` 9\ U^ +2 "manipulator"&%% +4 "core" % o m  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +96 "core" ' +42 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 6 of [3..6] + #Loading generic puck from tube 6 into Collection Clamp + "collection"'& +5 "core" &  \ + "manipulator"&m% +4 "core" %\ 8 ' +2 "storage"(v% +4 "core" %A [ f\ +2 "storage"(y. +3 "core" .(<< +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 + "storage"(H(K +354 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (7& +2 "core" &K\ \  J\  +2 "manipulator"&U& +4 "core" & C , +2 .tElbow.seek 6 + "manipulator"&5( +28 "core" ( +2 "manipulator"&V& +4 "core" &  + "storage"(2& +4 "core" &K X b \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&'< +97 "core" ' +2 "storage"(d& +4 "core" &K w o U\  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"("'e +280 "core" ' +2 "storage"( - +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (\ & +2 "core" &K [ Y\  +2 "manipulator"&R& +4 "core" & 8 +2 .tElbow.seek 6 + "manipulator"&h( +4 "core" ( + "manipulator"&L& +4 "core" & $ + "storage"(& +4 "core" &K v v \  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&/'Ϧ +18 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&b/ +56 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&Q& +2 "storage"( 'N +7 "core" & J +2 "manipulator"&s% +4 "core" % Ϯ  +2 .tForearm.seek :retract +2 "manipulator"&x'\ +95 "core" ' +2 .tElbow.seek CC +2 "manipulator"&>( +145 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +5 "core" ( + "manipulator"&c& +5 "core" &# P :+ + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &G& +3 "core" &#  :+ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&P'| +105 "core" ' +2 "manipulator"&S& +5 "core" &# i :+ + "manipulator"&% +4 "core" %z 7 +2 "collection"'A& +4 "core" & \ +2 "collection"'0& +5 "core" &  \ +2 .tCC.seek :closed +2 "collection"'Z(] +3 "core" & \ +9 &?  \ $e +9 &eV  \ 7 +9 &  \ L +10 &t`  \ N +9 &6`  \ N +10 &_  \ M +9 & b  \ N +9 &"|d  \ N +10 &$?d  \ M +9 &&`  \ N +9 &']  \ M +10 &)_  \ N +9 &+Fb  \ N +10 &-a  \ N +9 &.` \ M +9 &0b  \ M +10 &2Oc  \ M +9 &4a \ M +9 &5_  \ N +10 &7` \ M +9 &9W\\  \ M +10 &;b  \ M +9 &<`  \ M +9 &>_ \ M +10 &@^a  \ N +9 &B!]  \ M +9 &C`  \ M +10 &E_ \ M +9 &Gg\\  \ M +10 &I%g  \ O +9 &Js  \ P +9 &L  \ S +10 &NU  \ V +9 &P  \ W +9 &Q  \ X +10 &S  \ Y +9 &US  \ Z +10 &W  \ Y +9 &X  \ [ +9 &Z  \ \\ +10 &\\N  \ K +9 &]cC  \ "i +9 &]z  \ Q +3 ( + "collection"'0& +3 #tCollection Clamp onSpring/offSpring for 10/26 samples, on/off torque 2.00 + .Hand.open +2 "manipulator"&D1 +64 "core" 1 +2 "manipulator"&~% +4 "core" % i 3 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&t'\ +95 "core" ' +2 #tLoading generic puck from tube 6 into Processing Clamp + "processing"%'& +5 "core" &\ + "manipulator"&X% +4 "core" %\ ' [ B +2 "storage"(% +4 "core" %B 6\ \ + "storage"(;. +3 "core" .(K +2 "storage"(& +4 "core" &K !\  + "storage"(@& +4 "core" &K \  +2 "manipulator"&q& +3 "core" & 7 +2 "manipulator"&n% +4 "core" %\ ' B +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&( +155 "core" ( + "manipulator"&?& +5 "core" &  + "storage"(& +4 "core" &K\ &\ ' \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&)'< +92 "core" ' + "storage"(O& +5 "core" &K   \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(a'e +278 "core" ' +2 "storage"(=- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +2 "core" &K\ \  \  +2 "manipulator"& & +4 "core" & e o +2 .tElbow.seek 6 + "manipulator"&J( +3 "core" ( +2 "manipulator"& & +4 "core" & w r f + "storage"([& +4 "core" &K\ &\ ' #\  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&W'Ϧ +17 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&./ +63 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&(& +2 "storage"(,'N +8 "core" & n n  + "manipulator"&% +4 "core" % Ϛ o o +2 .tForearm.seek :retract +2 "manipulator"&f'\ +91 "core" ' +2 .tElbow.seek PC +2 "manipulator"&9(c +157 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +88 "core" ( + "manipulator"&M& +5 "core" &k q q +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &6& +3 "core" &k  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&'[ +95 "core" ' +2 "manipulator"&& +4 "core" &k ! +2 "manipulator"&% +4 "core" %a  +2 "processing"%8& +4 "core" &\ +2 "processing"%_& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%g(Z +4 "core" &\ \ +9 &0{\ )w +9 &d\ > +9 &@u\ N +10 &U\ M +9 &Z\ M +10 &W\ M +9 &!HW\ M +9 &# Z\ M +10 &$Y\ M +9 &&[\ M +9 &(OY\ N +10 &*Y\ M +9 &+Z\ N +10 &-Z\ M +9 &/XY\ M +9 &1W\ M +10 &2[\ M +9 &4Y\ N +9 &6`Y\ M +10 &8"V\ M +9 &9[\ M +10 &;Z\ N +9 &=hY\ M +9 &?*X\ M +10 &@X\ M +9 &BW\ M +9 &DqY\ M +10 &F2_\ M +9 &Gc\ O +10 &In\ O +9 &Kk\ R +9 &M(\ T +10 &N\ T +9 &P\ T +9 &Rm\ T +10 &T.\ T +9 &U\ U +10 &W\ U +9 &Yr\ B +9 &Z{@\ R +10 &Z\ ( +2 ( +2 "processing"%_& +3 #tProcessing Clamp onSpring/offSpring for 9/25 samples, on/off torque 1.63 + .Hand.open + "manipulator"&`1 +64 "core" 1 + "manipulator"&]% +4 "core" % a W +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +100 "core" ' + "processing"%& +4 "core" &Z\ ( +2 #tImaging generic puck in Processing Clamp while storing it to tube 6 + "manipulator"&p% +4 "core" %\ 8 ' +2 "storage"(3% +4 "core" %? ,\ + "storage"(:. +3 "core" .(K +2 "storage"(!& +56 "core" &K Y\  +3 "storage"(k& +2 "manipulator"&& +6 "core" &K a\  +2 &k o +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +3 "storage"(#]kK-0-\ b + "manipulator"&(c +6 ."raiseStack"SE.seek :beamBreak + "storage"(r'e +3 "core" ( + "manipulator"&& +4 "core" &k +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &k ~ +2 .tForearm.seek PC +2 "manipulator"&K'[ +96 "core" ' + .tHand.close +2 "manipulator"&B/ +61 "core" / +2 .tPC.seek :open +2 "processing"%F(p +85 "core" ' + "storage"(u- +4 "core" -'e +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('B +34 "core" ' +261 ( +2 "storage"(<& +4 "core" &K\ P\  + "manipulator"&E& +4 "core" &k 7 +2 "manipulator"&\\% +4 "core" % ] 6 +2 .tForearm.seek :retract + "manipulator"&^'\ +96 "core" ' +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&$( +280 "core" ( +2 "manipulator"&-& +4 "core" & K ^ +2 "storage"(C& +4 "core" &K \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"& '< +108 "core" ' +2 .tHand.open + "manipulator"&T1 +54 "core" 1 +2 "storage"(e- +3 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate +2 "storage"(1' +23 "core" ' +3 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.83 Pucks below Top Plate + "storage"({' +51 "core" ' + #tLights, camera, ACTION! +2 "storage"(&- +3 "core" -' +2 "storage"(w& +4 "core" &K ? ? ~\  + "manipulator"&4& +4 "core" & d b ~ ^ +2 .tElbow.seek 6 + "manipulator"&l( +4 "core" ( + "manipulator"&I& +4 "core" &\ z s V ^ +2 "storage"(Y& +4 "core" &K ( 1 K\  +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&'< +12 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"(o'M +60 "core" ' + "manipulator"&& +5 "core" &\ r p ^ + "storage"(& +4 "core" &K\ !\  ,\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 6 + "manipulator"&%'z +32 "core" ' +2 .tElbow.hold + "manipulator"&+, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"(|'7 +21 "core" ' +2 "manipulator"&% +4 "core" %Όa  E ´ +2 "storage"(m& +4 "core" &K \  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 6 + 318 counts + "manipulator"&#'ϸ +18 "core" ' + "manipulator"&v& +5 "core" & r r O $ + "storage"(y& +4 "core" &K \  0\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&j'< +19 "core" ' + "storage"(z% +5 "core" %@   Y\ +2 ."downElevator"SE.seek :down +4 "storage"(i'N +98 (*% +3 "core" %> y\ Vc +2 "manipulator"&7% +4 "core" % n x (  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&U'\ +100 "core" ' +48 ' + ."downElevator"SE.stop + "storage"(5 +3 (V& +4 "core" &K \  r\  +2 "collection"'2& +4 "core" &]x  \ Q + #tStoring generic puck in Collection Clamp to tube 6 +2 "manipulator"&d% +4 "core" %\  M  +2 "storage"(% +3 "core" %?\ \ $ \ +2 "storage"(. +3 "core" .(K + "storage"( & +4 "core" &K\ \  \  +2 "storage"(\ & +4 "core" &K\ \  \  +2 "manipulator"&R& +3 "core" &  $ +2 .tElbow.seek 6 +2 "manipulator"&L( +45 "core" ( + "manipulator"&& +5 "core" &   a + "storage"(b& +4 "core" &K   \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&Q'< +105 "core" ' + "storage"(s& +5 "core" &K '  \ \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(5'e +280 "core" ' +2 "storage"(- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&c& +3 "core" & n n  a +2 "storage"(G& +4 "core" &K\ \ \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&"'z +33 "core" ' +2 .tElbow.hold + "manipulator"&/, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(S- +3 "core" -' +2 .tSE.seek 0.12 Pucks below Top Plate +2 "storage"('o +43 "core" ' + "manipulator"&A% +5 "core" %΅a  ) ô + "storage"(h& +4 "core" &K J\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 311 counts + "manipulator"& 'ϱ +17 "core" ' +2 "manipulator"&x& +4 "core" & v | + c +2 "storage"(N& +4 "core" &K\ \  \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&D'< +24 "core" ' +2 .tSE.seek 1.12 Pucks below Top Plate +2 "storage"(~'^ +51 "core" ' + "manipulator"&'& +4 "core" & p n / c +2 "manipulator"&X% +4 "core" %; s n 8 & +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +88 "core" ' + .tElbow.seek CC +2 "manipulator"&;( +159 "core" ( +2 "manipulator"&0& +4 "core" &# H ;5 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +4 "core" &#  ;5 +2 .tForearm.seek CC + "manipulator"&@'| +95 "core" ' + .tHand.close +2 "manipulator"&q/ +58 "core" / +2 .tCC.seek :open + "collection"'n(p +410 "core" ( +2 "storage"(P& +4 "core" &K Y H\  +2 "storage"(?& +3 "core" &K B B \  +2 "manipulator"&& +4 "core" &# ;4 + "manipulator"&O% +4 "core" % w +2 .tForearm.seek :retract + "manipulator"&>'\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&t( +156 "core" ( + "manipulator"&=& +5 "core" & I + "storage"(& +4 "core" &K W X\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 6 + "manipulator"& 'z +106 "core" ' + .tElbow.hold +2 "manipulator"& , +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&[1 +54 "core" 1 +3 "manipulator"&.% +4 "core" % ·v + - 0 + "storage"((& +4 "core" &K\ \ \  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 6 + 313 counts +2 "manipulator"&'ϳ +17 "core" ' +3 "manipulator"&& +4 "core" & p w  > + "storage"()& +5 "core" &K | | [\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&a'< +20 "core" ' +2 "storage"(W% +3 "core" %a w \ +3 ."downElevator"SE.seek :down +3 "storage"(M'N +99 (6% +3 "core" %H W Z\ Wb +2 "manipulator"&J% +4 "core" % o o   +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +90 "core" ' +49 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 3 of [3..6] + #Loading generic puck from tube 3 into Collection Clamp +2 "collection"'& +4 "core" &  \ +2 "manipulator"&8% +3 "core" %\ 0 z $q +2 "storage"(,% +4 "core" %= X X \ \ +2 "storage"(f. +3 "core" .(K +54 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(}( +993 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (`& +2 "core" & _\ +2 "manipulator"&]& +4 "core" & l > + .tElbow.seek 3 +2 "manipulator"&(D +36 "core" ( + "manipulator"&p& +4 "core" &@   +2 "storage"(3& +4 "core" & X X \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&:' +99 "core" ' +2 "storage"(_& +4 "core" & w m S\ +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(!'e +280 "core" ' +2 "storage"(k- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (& +3 "core" & H W \ +2 "manipulator"&& +4 "core" &@ $  + .tElbow.seek 3 +2 "manipulator"&(D +4 "core" ( + "manipulator"&& +4 "core" &@ F  +2 "storage"(B& +4 "core" & X Z }\ +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&u'y +11 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&9/ +59 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +3 "storage"(g'N +7 "core" &@ r { "  + "manipulator"&<% +4 "core" % n n n E +2 .tForearm.seek :retract +2 "manipulator"&r'\ +94 "core" ' +2 .tElbow.seek CC + "manipulator"&E( +148 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +11 "core" ( +2 "manipulator"&\\& +4 "core" & * ? @^ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &K& +2 "core" & * f @^ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&-'| +103 "core" ' +2 "manipulator"&C& +4 "core" & * 2 @^ +2 "manipulator"&% +4 "core" %t t +2 "collection"'T& +4 "core" & \ +2 "collection"'e& +5 "core" & \ +2 .tCC.seek :closed +2 "collection"'&(] +4 "core" &  \ +8 &8  \ $e +9 &hW  \ 8 +10 &  \ L +9 &}_  \ M +9 &>`  \ N +10 &a  \ N +9 & e \ N +10 &"c  \ N +9 &$G_  \ M +9 && `  \ M +10 &'b  \ M +9 &)d  \ M +9 &+Oc  \ M +10 &-b  \ M +9 &.b  \ N +9 &0_  \ M +10 &2W`  \ M +9 &4c  \ M +10 &5`  \ M +9 &7_  \ M +9 &9`^  \ M +10 &;!^  \ M +9 &<_ \ N +9 &>^  \ N +10 &@f^  \ N +9 &B(_  \ N +10 &C[ \ M +9 &E]  \ N +9 &Goc  \ M +10 &I-k  \ O +9 &J~  \ Q +9 &L  \ T +10 &N[  \ W +9 &P  \ W +10 &Q  \ X +9 &S  \ X +9 &U[  \ Z +10 &W  \ Y +9 &X  \ [\ +9 &Z  \ [ +10 &\\^  \ H +9 &]_=  \ *} +10 &]o  \ O +2 ( + "collection"'e& +4 #tCollection Clamp onSpring/offSpring for 10/26 samples, on/off torque 1.96 + .Hand.open + "manipulator"&w1 +57 "core" 1 +2 "manipulator"&4% +37 "core" % t +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&I'\ +96 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%Y& +5 "core" &\ + "manipulator"&^% +4 "core" %\ 6 M & + "storage"(% +4 "core" %: ?\ \ +2 "storage"(. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 + "storage"(( +27 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (& +3 "core" &\  \ +2 "manipulator"&m& +3 "core" &&& 8 =A +2 "manipulator"&1% +4 "core" %\ 5 L & +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&v(D +174 "core" ( + "manipulator"&y& +4 "core" &> i +2 "storage"(z& +4 "core" &\ \  \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&$' +101 "core" ' + "storage"( & +5 "core" &  4\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"({'e +275 "core" ' +2 "storage"(*- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (7& +2 "core" & q\  +2 "manipulator"&& +4 "core" &? $ h +2 .tElbow.seek 3 + "manipulator"&l(D +3 "core" ( +2 "manipulator"&o& +3 "core" &? + h +2 "storage"(%& +4 "core" &\ \ # 5\  +2 .tForearm.seek 3 + 300 counts + "manipulator"&V'y +11 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&#/ +53 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&2& + "storage"(d'N +8 "core" &?  h + "manipulator"&% +4 "core" % u + +2 .tForearm.seek :retract +2 "manipulator"&'\ +94 "core" ' +2 .tElbow.seek PC +2 "manipulator"& (c +152 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +97 "core" ( +2 "manipulator"&|& +4 "core" &i x e +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &\ & +2 "core" &i  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&R'[ +105 "core" ' + "manipulator"&& +4 "core" &i y B +2 "manipulator"&b% +4 "core" %T o p K s +2 "processing"%j& +4 "core" &\ +2 "processing"%s& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%i(Z +4 "core" &\ +7 & 1\ #b +10 &^V\ 7 +9 &{\ K +9 &mX\ M +10 &0Y\ M +9 &Y\ M +9 & Z\ M +10 &"uY\ M +9 &$8\\\ M +10 &%Z\ M +9 &'Y\ M +9 &)}Y\ M +10 &+?X\ M +9 &-Z\ N +9 &.[\ M +10 &0[\ M +9 &2GZ\ M +10 &4 Y\ M +9 &5V\ M +9 &7Y\ M +10 &9OX\ M +9 &;]\ M +9 &<Y\ M +10 &>Z\ M +9 &@X\\\ M +10 &B[\ M +9 &C\\\ M +9 &EZ\ M +10 &G__\ M +9 &Ii\ O +9 &Jp\ P +10 &L\ R +9 &NU\ S +10 &P\ T +9 &Q\ T +9 &S\ S +10 &U[\ T +9 &W\ T +9 &X\ T +10 &Z;Mm\ - +9 &Z(\ ( +6 ( + "processing"%s& +4 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.57 +2 .Hand.open + "manipulator"&+1 +3 "core" &Z\ ( +53 1 + "manipulator"&U% +5 "core" % U } o ) r + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +91 "core" ' + "processing"%c& +4 "core" &Z\ ( +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 +2 "manipulator"&G% +4 "core" %\ + 5 !T + "storage"(S% +4 "core" %? f\  +2 "storage"(A. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 + "storage"(h( +20 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (x& +4 "manipulator"&N& +2 "core" & q\ ' +2 ."raiseStack"SE.reconfigure :place +6 "storage"(#]kK-0-\ b +2 "core" &i q +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +2 "manipulator"&'(c +3 ."raiseStack"SE.seek :beamBreak +2 "storage"(X'e +2 "core" ( +2 "manipulator"&Q& +4 "core" &i  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &L& +3 "core" &i @ +2 .tForearm.seek PC +2 "manipulator"&5'[ +97 "core" ' + .tHand.close +2 "manipulator"&"/ +61 "core" / +2 .tPC.seek :open + "processing"% (p +89 "core" ' +2 "storage"(- +4 "core" -'e + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +2 ."raiseStack"SE.seek :place +2 "storage"(0'B +34 "core" ' +255 ( + "storage"(& +4 "core" &  \ + +2 "manipulator"&D& +4 "core" &i + "manipulator"&/% +4 "core" % P - +2 .tForearm.seek :retract +2 "manipulator"&q'\ +102 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&(D +253 "core" ( +2 "manipulator"&Z& +4 "core" &H z "| + "storage"(P& +4 "core" & D\ + +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&?' +97 "core" ' + .tHand.open +53 "manipulator"&1 +64 "core" 1 +2 "storage"(O- +4 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate +2 "storage"(=' +25 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(' +51 "core" ' +2 #tLights, camera, ACTION! + "storage"(@- +4 "core" -' + "storage"(;& +4 "core" &   *\ . +2 "manipulator"&[& +3 "core" &I 5 "{ +2 .tElbow.seek 3 +2 "manipulator"&.(D +3 "core" ( +2 "manipulator"&(& +4 "core" &I  "{ +2 "storage"(& +4 "core" &   \ . +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&)' +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"(W'M +62 "core" ' +2 "manipulator"&>& +4 "core" &I "{ +2 "storage"(6& +4 "core" &\ "\ % .\ . +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&J'M +33 "core" ' +2 .tElbow.hold +2 "manipulator"&t, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"( '7 +24 "core" ' +2 "manipulator"&% +4 "core" %Z[  w +2 "storage"(8& +4 "core" & \ . + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 313 counts + "manipulator"&'φ +17 "core" ' +2 "manipulator"&,& +4 "core" &j\ w {  Z +2 "storage"(f& +4 "core" &   F\ . +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&~' +20 "core" ' +2 "storage"(a% +4 "core" %@ 7 5 X\ +2 ."downElevator"SE.seek :down +4 "storage"(M'N +99 (H% +2 "core" %o>\ \  \ U_ +2 "manipulator"&`% +4 "core" % p n . +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&]'\ +99 "core" ' +48 ' + ."downElevator"SE.stop + "storage"(5 +3 (p& +4 "core" & E\ . +2 "collection"'3& +4 "core" &]g  \ O +2 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&_% +4 "core" %\ : ( +2 "storage"( % +4 "core" %B\ \  \ \ + "storage"(. +4 "core" .( + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(k( +49 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (& +4 "core" & r q *\ + "manipulator"&& +4 "core" &j\ Z +3 .tElbow.seek 3 + "manipulator"&(D +27 "core" ( + "manipulator"&B& +5 "core" &J } _ + "storage"(9& +4 "core" &\ %\  *\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&' +94 "core" ' +2 "storage"(<& +4 "core" & 4 4 \ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"('e +275 "core" ' +2 "storage"(:- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&\\& +3 "core" &J r n  _ +2 "storage"(K& +3 "core" &   f\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&!'M +35 "core" ' +2 .tElbow.hold + "manipulator"&u, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(C- +2 "core" -' +3 .tSE.seek 0.11 Pucks below Top Plate + "storage"('g +27 "core" ' +2 "manipulator"&% +4 "core" %VK   [ î +2 "storage"(T& +4 "core" & f\ + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 3 + 309 counts +2 "manipulator"&g'ς +18 "core" ' + "manipulator"&r& +4 "core" &K t \\  ^ +2 "storage"(n& +4 "core" & 7 ? "\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&w' +23 "core" ' +2 .tSE.seek 1.11 Pucks below Top Plate +2 "storage"(4'V +49 "core" ' + "manipulator"&e& +5 "core" &K o o ^ + "manipulator"&Y% +4 "core" % n o  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&^'\ +96 "core" ' + .tElbow.seek CC +2 "manipulator"&( +165 "core" ( +2 "manipulator"&& +4 "core" &  3 . +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &  ( . +2 .tForearm.seek CC +2 "manipulator"&m'| +97 "core" ' + .tHand.close +2 "manipulator"&1/ +61 "core" / +2 .tCC.seek :open + "collection"'-(p +410 "core" ( +2 "storage"(y& +4 "core" & \\ Y\ + "storage"(z& +4 "core" & [ [\ +2 "manipulator"&}& +4 "core" &  1 . + "manipulator"& % +4 "core" % ω i +2 .tForearm.seek :retract +2 "manipulator"&E'\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&I(D +177 "core" ( + "manipulator"&*& +4 "core" &8 } X F +2 "storage"(7& +4 "core" & \\ c\ + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 +2 "manipulator"&'M +110 "core" ' +2 .tElbow.hold + "manipulator"&o, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&%1 +52 "core" 1 +2 "manipulator"&#% +5 "core" % [u 4  ( + "storage"(2& +4 "core" &\ \ \ + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 314 counts +2 "manipulator"&'χ +16 "core" ' +2 "manipulator"&v& +5 "core" &h r u   + "storage"($& +4 "core" & i \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&{' +18 "core" ' +2 "storage"(V% +4 "core" %Y s\ +2 ."downElevator"SE.seek :down +4 "storage"(|'N +99 (\ % +2 "core" %? u t E\ V_ +2 "manipulator"&l% +4 "core" % e k +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +94 "core" ' +8 "Can" HE +36 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 4 of [3..6] + #Loading generic puck from tube 4 into Collection Clamp +2 "collection"'b& +3 "core" &  \ +2 "manipulator"&j% +5 "core" %\ 6 [ & + "storage"(d% +4 "core" %C d ] #\ +2 "storage"(. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"(F(, +360 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (+& +2 "core" &,   :\  +2 "manipulator"&U& +4 "core" &h o  +2 .tElbow.seek 4 + "manipulator"&c(* +36 "core" ( + "manipulator"&G& +5 "core" &) n 8 + "storage"(S& +4 "core" &,~ X \\ !\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&A' +97 "core" ' + "storage"(s& +4 "core" &,~ t n 6\  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(x'e +281 "core" ' + "storage"(N- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (Q& +3 "core" &,~ d W\  +2 "manipulator"&L& +4 "core" &/ . 2 +2 .tElbow.seek 4 + "manipulator"&R(* +4 "core" ( + "manipulator"&"& +4 "core" &/ ' 2 + "storage"(& +4 "core" &,~ t v ?\  +3 .tForearm.seek 4 + 300 counts + "manipulator"&'Z +29 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"& / +58 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"(i'N +7 "core" &/ d l 2 +2 "manipulator"&% +3 "core" % h d p G  +54 .tForearm.seek :retract +2 "manipulator"&D'\ +94 "core" ' +2 .tElbow.seek CC +2 "manipulator"&X( +96 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +49 "core" ( + "manipulator"&/& +5 "core" &" _ :* + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &5& +3 "core" &# % :* +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&Z'| +101 "core" ' + "manipulator"&P& +5 "core" &# 2 :* +2 "manipulator"&'% +4 "core" %|  +2 "collection"'& +4 "core" &  \ +2 "collection"'O& +5 "core" &  \ +2 .tCC.seek :closed + "collection"'q(] +5 "core" &  \  +9 &4  \ *z +10 &e  \ ? +9 &Uw  \ N +9 &^  \ M +10 &c  \ M +9 &d  \ N +9 &!^c  \ M +10 &#^  \ N +9 &$]  \ M +10 &&]  \ N +9 &(fb  \ M +9 &*(b  \ M +10 &+\\  \ M +9 &-`  \ M +9 &/mc  \ N +10 &1.`  \ N +9 &2^  \ M +10 &4_  \ M +9 &6v_  \ M +9 &87`  \ N +10 &9\\  \ M +9 &;\\  \ N +9 &=~]  \ M +10 &??_  \ N +9 &A_  \ M +10 &B\\  \ N +9 &D\\  \ M +9 &FI[  \ M +10 &H _  \ N +9 &Ig  \ N +9 &Ks  \ P +10 &M@  \ S +9 &N  \ V +10 &P  \ W +9 &Rw  \ X +9 &T6  \ Y +10 &U  \ Z +9 &W  \ Z +9 &Ys  \ \\ +10 &[7  \ [ +9 &\\{  \ 0 +10 &]"  \ &p +9 &]  \ ^ +2 ( +2 "collection"'O& +3 #tCollection Clamp onSpring/offSpring for 9/25 samples, on/off torque 1.95 + .Hand.open +2 "manipulator"&@1 +57 "core" 1 +2 "manipulator"&;% +4 "core" % y +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&['\ +95 "core" ' +2 #tLoading generic puck from tube 4 into Processing Clamp + "processing"%(& +5 "core" &\ + "manipulator"&% +4 "core" %\ . #c +2 "storage"(>% +4 "core" %H '\ + "storage"(6. +3 "core" .(,~ +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 + "storage"(0(, +4 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (& +3 "core" &, \  +2 "manipulator"&8& +4 "core" &" 8 9& + "manipulator"&=% +4 "core" %\ . D #c +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&,(* +164 "core" ( + "manipulator"&f& +5 "core" &0  9 + "storage"(a& +4 "core" &,~ ^\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&' +100 "core" ' + "storage"(?& +4 "core" &,~\  {\  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"('e +247 "core" 'и / +5 !to:Slide::Error\ : mesg";Forearm positionErr at CC during Storage Elevator move:@checkpoint: omitted: @replyo:I2C::Servo::AbsMove3Reply :@destinationi%: @channeli: @statusIS:I2C::Servo::Status: enabledT: pastRLSF: pastFLSF:pastThresholdF: lostF: homeF: positioni: velocityi: currenti:pwmi:erri: inPressi : outPressi :deltaPressi/ : voltagef12.328948453608248h: @type2F: @tagi : @sourcei+: @error:positionErr:bt["2/home/esp/esp2/lib/slide.rb:587:in `raiseErr'"3/home/esp/esp2/lib/slide.rb:36:in `initialize'"3/home/esp/esp2/lib/i2c/servo.rb:1680:in `call'"6/home/esp/esp2/lib/i2c/servo.rb:1680:in `deliver'"3/home/esp/esp2/lib/i2c/msg.rb:605:in `process'"2/home/esp/esp2/lib/msg.rb:212:in `initialize'",/home/esp/esp2/lib/msg.rb:209:in `loop'"2/home/esp/esp2/lib/msg.rb:209:in `initialize'"7/home/esp/esp2/lib/schedule.rb:481:in `initialize'"0/home/esp/esp2/lib/thread.rb:738:in `start'"7/home/esp/esp2/lib/schedule.rb:474:in `initialize'"'/home/esp/esp2/lib/schedule.rb:472:@axisName" Forearm + #Retry #1 of 4 +2 .SE.reconfigure :default +2 "storage"(#QK-0-\ b +3 "core" ' k \ < + .tSE.seek :down +2 "storage"(H'N +265 "core" ' + "storage"(`& +4 "core" &,~ d +\  +2 "manipulator"&)& +4 "core" &K e o  +2 .tElbow.seek 4 + "manipulator"&.(* +20 "core" ( +2 "manipulator"&W& +4 "core" &( f M B  + "storage"(J& +4 "core" &,~   m\  +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&p' +27 "core" ' +2 "storage"(& +4 "core" &,~\ \  \  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(3'e +249 "core" '  +5 !to:Slide::Error\ : mesg";Forearm positionErr at CC during Storage Elevator move:@checkpoint: omitted: @replyo:I2C::Servo::AbsMove3Reply :@destinationi%: @channeli: @statusIS:I2C::Servo::Status: enabledT: pastRLSF: pastFLSF:pastThresholdF: lostF: homeF: positioni: velocityi: currenti:pwmi:erri: inPressi : outPressi :deltaPressi: voltagef12.324039273441336: @type2F: @tagiu: @sourcei+: @error:positionErr:bt["2/home/esp/esp2/lib/slide.rb:587:in `raiseErr'"3/home/esp/esp2/lib/slide.rb:36:in `initialize'"3/home/esp/esp2/lib/i2c/servo.rb:1680:in `call'"6/home/esp/esp2/lib/i2c/servo.rb:1680:in `deliver'"3/home/esp/esp2/lib/i2c/msg.rb:605:in `process'"2/home/esp/esp2/lib/msg.rb:212:in `initialize'",/home/esp/esp2/lib/msg.rb:209:in `loop'"2/home/esp/esp2/lib/msg.rb:209:in `initialize'"7/home/esp/esp2/lib/schedule.rb:481:in `initialize'"0/home/esp/esp2/lib/thread.rb:738:in `start'"7/home/esp/esp2/lib/schedule.rb:474:in `initialize'"'/home/esp/esp2/lib/schedule.rb:472:@axisName" Forearm + "core" '% %\ M + #tRetry #2 of 4 +2 .SE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek :down +2 "storage"(_'N +257 "core" ' + "storage"( & +4 "core" &,~ B B\  +2 "manipulator"&& +4 "core" && o o   +2 .tElbow.seek 4 + "manipulator"& (* +4 "core" ( +2 "manipulator"&& +4 "core" && e m  +2 "storage"(& +3 "core" &,~\ \ \  +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&B' +31 "core" ' +2 "storage"(9& +4 "core" &,~ p\  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(~'e +283 "core" ' + "storage"(<- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (M& +3 "core" &,~\ \  g\  +2 "manipulator"&h& +4 "core" &%   +2 .tElbow.seek 4 + "manipulator"&t(* +4 "core" ( + "manipulator"&]& +4 "core" &% >  +2 "storage"(:& +3 "core" &,~\ \  \  +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&\\'Z +21 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&K/ +55 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&C& + "storage"('N +8 "core" &% q n   + "manipulator"&T% +4 "core" % T n o  +2 .tForearm.seek :retract +2 "manipulator"&r'\ +95 "core" ' + .tElbow.seek PC +2 "manipulator"&n(c +159 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +86 "core" ( +2 "manipulator"&e& +3 "core" &k  +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &Y& +2 "core" &k Z +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&'[ +93 "core" ' +2 "manipulator"&& +4 "core" &k N +2 "manipulator"&% +4 "core" %_ +2 "processing"%!& +4 "core" &\ +2 "processing"%g& +5 "core" &\ +2 .tPC.seek :closed + "processing"%(Z +5 "core" &\ +7 &?\ $e +9 &mW\ 7 +10 &}\ L +9 &X\ M +9 &AY\ M +10 &W\ M +9 & X\ M +10 &"U\ M +9 &$I\\\ M +9 &&\ Z\ N +10 &'Z\ M +9 &)Y\ N +9 &+PY\ N +10 &-\\\ M +9 &.^\ M +10 &0V\ M +9 &2YW\ M +9 &4V\ M +10 &5[\ M +9 &7Z\ N +9 &9`X\ N +10 &;"Z\ N +9 &<X\ M +10 &>X\ N +9 &@hZ\ N +9 &B+\\\ M +10 &C\\\ M +9 &EX\ N +9 &Goa\ N +10 &I+n\ P +9 &J~\ Q +10 &L\ S +9 &Ng\ S +9 &P(\ T +10 &Q\ T +9 &S\ T +9 &Ul\ T +10 &W.\ T +9 &X\ U +10 &ZJJg\ )y +9 &Z\ 3\ ) +5 ( +2 "processing"%g& +4 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.62 + .Hand.open +2 "manipulator"&1 +3 "core" &Z\ ) +56 1 + "manipulator"&% +4 "core" % _ +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&w'\ +100 "core" ' +2 "processing"%u& +4 "core" &Z\ ) +2 #tImaging generic puck in Processing Clamp while storing it to tube 4 + "manipulator"&1% +4 "core" %\ 8 ' + "storage"(^% +4 "core" %T \  +2 "storage"(&. +3 "core" .(, + "storage"(y& +4 "core" &,~ \  +2 "storage"(z& +4 "manipulator"&}& +4 "core" &,~ \  + &k q +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +2 "storage"(#]kK-0-\ b +4 .tElbow.seek PC +3 "manipulator"& (c +3 ."raiseStack"SE.seek :beamBreak +2 "storage"(*'e +2 "core" ( +2 "manipulator"&7& +4 "core" &k + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &m& +3 "core" &k U +2 .tForearm.seek PC +2 "manipulator"&'[ +94 "core" ' + .tHand.close +2 "manipulator"&%/ +55 "core" / +2 .tPC.seek :open + "processing"%#(p +94 "core" ' + "storage"(2- +4 "core" -'e + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(v'B +34 "core" ' +253 ( + "storage"($& +5 "core" &,~\ \ \  + "manipulator"&V& +4 "core" &k A + "manipulator"&E% +4 "core" % d V +2 .tForearm.seek :retract +2 "manipulator"&\ '\ +91 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&l(* +256 "core" ( +2 "manipulator"&I& +4 "core" &1 e $ + "storage"(& +4 "core" &,~ R\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&b' +91 "core" ' +2 .tHand.open + "manipulator"&j1 +63 "core" 1 +2 "storage"(- +58 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate +2 "storage"(d' +25 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(' +51 "core" ' +2 #tLights, camera, ACTION! + "storage"(4- +4 "core" -' + "storage"({& +4 "core" &,~ ? ? }\  +2 "manipulator"&|& +4 "core" &2 $ +2 .tElbow.seek 4 + "manipulator"&k(* +4 "core" ( + "manipulator"&+& +4 "core" &2 e $ +2 "storage"(U& +4 "core" &,~ @ ? \  +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&G' +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"(S'M +62 "core" ' +2 "manipulator"&s& +4 "core" &2 a $ +2 "storage"(o& +4 "core" &,~ b\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&'. +33 "core" ' +2 .tElbow.hold + "manipulator"&N, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"(Q'7 +23 "core" ' + "manipulator"&L% +5 "core" %>a > ô + "storage"("& +4 "core" &,~ N\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 316 counts + "manipulator"&'j +16 "core" ' +2 "manipulator"& & +4 "core" & r z I ( +2 "storage"(& +4 "core" &,~\ \ & \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&' +18 "core" ' +2 "storage"(c% +5 "core" %<  \ \  +2 ."downElevator"SE.seek :down +4 "storage"(A'N +98 (x% +3 "core" %B \ Wd +2 "manipulator"&/% +4 "core" % j o  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&5'\ +90 "core" ' +59 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (& +4 "core" &,~ \  +2 "collection"'P& +4 "core" &]  \ ^ +2 #tStoring generic puck in Collection Clamp to tube 4 + "manipulator"&'% +4 "core" %\ , "X +2 "storage"(% +4 "core" %S M\ + "storage"(R. +4 "core" .(, + "storage"(i& +4 "core" &,~ L\  + "storage"(D& +4 "core" &,~ Q\  +2 "manipulator"&-& +4 "core" & M ( + .tElbow.seek 4 +2 "manipulator"&@(* +16 "core" ( + "manipulator"&;& +4 "core" &C x l +2 "storage"((& +4 "core" &,~ c\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&' +101 "core" ' +2 "storage"(>& +4 "core" &,~\ \  `\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(6'e +18 "core" ' + "storage"(O- +4 "core" -'- + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 !to:Puck::Error: mesg"5Impossible stack Height of 25.04 pucks in tube 4:bt[":/home/esp/esp2/utils/puckmoves.rb:314:in `placeStack'"6/home/esp/esp2/utils/puckmoves.rb:444:in `unload'",/home/esp/esp2/lib/msg.rb:68:in `retry'"6/home/esp/esp2/utils/puckmoves.rb:443:in `unload'":/home/esp/esp2/utils/puckmoves.rb:962:in `unloadPuck'"4/home/esp/esp2/utils/shuffle.rb:28:in `shuffle'"7/home/esp/esp2/lib/log.rb:412:in `each_with_index'"1/home/esp/esp2/utils/shuffle.rb:18:in `each'"\  ^ + "storage"(W& +4 "core" &,~\ \  ~\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&J'. +34 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(,- +3 "core" -' +2 .tSE.seek 0.12 Pucks below Top Plate +2 "storage"(p's +32 "core" ' +2 "manipulator"&H% +4 "core" %:Z ~ IJ + "storage"( & +4 "core" &,~ l\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 312 counts + "manipulator"&'f +15 "core" ' + "manipulator"&& +5 "core" &  q Z % + "storage"(& +4 "core" &,~\ '\ # \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&3' +19 "core" ' +2 .tSE.seek 1.12 Pucks below Top Plate +2 "storage"(9'b +41 "core" ' +2 "manipulator"&.& +4 "core" &  m o  % +2 "manipulator"&<% +4 "core" % q n   +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&M'\ +96 "core" ' +2 .tElbow.seek CC + "manipulator"&h( +155 "core" ( + "manipulator"&_& +4 "core" &+ A_ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &]& +4 "core" &+ t A_ +2 .tForearm.seek CC + "manipulator"&:'| +96 "core" ' +2 .tHand.close + "manipulator"&K/ +62 "core" / +2 .tCC.seek :open +2 "collection"'C(p +410 "core" ( + "storage"(T& +4 "core" &,~ Y B 5\  +2 "storage"( & +3 "core" &,~ A A \  +2 "manipulator"&B& +4 "core" &* @] + "manipulator"&~% +4 "core" % υ +2 .tForearm.seek :retract +2 "manipulator"&\\'\ +99 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&e(* +171 "core" ( +2 "manipulator"&Y& +4 "core" &4 } J +2 "storage"(t& +4 "core" &,~ X Y\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 4 + "manipulator"&'. +109 "core" ' + .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&!1 +53 "core" 1 +2 "manipulator"&% +4 "core" % Bm ,  F  + "storage"(r& +4 "core" &,~ 1\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 320 counts + "manipulator"& 'n +16 "core" ' +2 "manipulator"&& +4 "core" & z } a e +2 "storage"(& +4 "core" &,~ o o\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&u' +19 "core" ' +2 "storage"(1% +4 "core" %e x \ +2 ."downElevator"SE.seek :down +4 "storage"(^'N +99 (&% +2 "core" %=? u ` M\ V^ +2 "manipulator"&g% +4 "core" % o o   +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&y'\ +95 "core" ' +44 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 5 of [3..6] +2 #Loading generic puck from tube 5 into Collection Clamp + "collection"'}& +4 "core" &  \ +2 "manipulator"&z% +4 "core" %\ 6 z & + "storage"(7% +4 "core" %B X [ k\ \ +2 "storage"(m. +3 "core" .(, +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 + "storage"((<< +356 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (%& +2 "core" & Y X\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +61 .tForearm.seek 5 + 450 counts +2 "manipulator"&$' +97 "core" ' +2 "storage"(V& +4 "core" &<> S\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(E'e +279 "core" ' +2 "storage"(*- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" &<> Y Y \  + "manipulator"&I& +4 "core" &   +2 .tElbow.seek 5 +2 "manipulator"&( +3 "core" ( + "manipulator"& & +4 "core" & D  +2 "storage"(j& +3 "core" &<> v v {\  +3 .tForearm.seek 5 + 300 counts + "manipulator"&'[ +11 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&\ / +61 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&4& + "storage"({'N +8 "core" & k n  +2 "manipulator"&|% +4 "core" % X q r J  +2 .tForearm.seek :retract +2 "manipulator"&+'\ +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"&U( +149 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +5 "core" ( +2 "manipulator"&s& +4 "core" &' ^ >N +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &o& +3 "core" &'  >N +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&v'| +94 "core" ' +3 "manipulator"&L& +4 "core" &' J >M +2 "manipulator"&"% +4 "core" % / +2 "collection"'d& +4 "core" &  \ +2 "collection"' & +5 "core" &  \ +2 .tCC.seek :closed + "collection"'(] +5 "core" &  \  +9 &2  \ *y +9 &c  \ > +9 &N{  \ M +10 &]  \ M +9 &`  \ M +9 &b  \ N +10 &!U`  \ M +9 &#`  \ N +10 &$^  \ M +9 &&`  \ M +9 &(^a  \ M +10 &*!_  \ M +9 &+^  \ M +9 &-a  \ M +10 &/e`  \ M +9 &1'b  \ M +10 &2`  \ M +9 &4_  \ M +9 &6p]  \ L +10 &80]  \ M +9 &9\\  \ M +9 &;_  \ M +10 &=w_  \ M +9 &?9]  \ M +10 &@_  \ M +9 &B_  \ M +9 &D^  \ L +10 &F@^  \ M +9 &Hb  \ N +9 &Ip  \ O +10 &Kx  \ R +9 &M.  \ V +10 &N  \ W +9 &P  \ W +9 &Rm  \ X +10 &T-  \ Y +9 &U  \ Z +9 &W  \ Z +10 &Yk  \ \\ +9 &[,  \ \\ +10 &\\|  \ 3 +9 &]  \ *{ +9 &]  \ $h +3 ( + "collection"' & +3 #tCollection Clamp onSpring/offSpring for 9/25 samples, on/off torque 2.04 +2 .Hand.open + "manipulator"&c1 +57 "core" 1 +2 "manipulator"&l% +5 "core" %  p + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&b'\ +98 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp + "processing"%& +4 "core" &\ +2 "manipulator"&x% +4 "core" %\ 8 ' + "storage"(/% +4 "core" %? C\ +2 "storage"(G. +3 "core" .(<< +2 "storage"(k& +3 "core" &<> c\  +2 "storage"(S& +4 "core" &<> \  +2 "manipulator"&& +3 "core" && & =A +2 "manipulator"&% +4 "core" %\ 8 p ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&( +167 "core" ( + "manipulator"&P& +5 "core" & e O + "storage"('& +4 "core" &<> ^\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&' +103 "core" ' +2 "storage"(R& +4 "core" &<> X\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(i'e +276 "core" ' + "storage"(Q- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (D& +3 "core" &<> Z\  +2 "manipulator"&-& +3 "core" & _ O +2 .tElbow.seek 5 +2 "manipulator"&;( +3 "core" ( + "manipulator"&(& +4 "core" &  O +2 "storage"(& +4 "core" &<> y\  +2 .tForearm.seek 5 + 300 counts + "manipulator"&>'[ +21 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&O/ +60 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&8& +2 "storage"(A'N +7 "core" &\ n n  O +2 "manipulator"&N% +4 "core" % Q r x  +2 .tForearm.seek :retract +2 "manipulator"&5'\ +102 "core" ' +2 .tElbow.seek PC + "manipulator"&(c +148 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +104 "core" ( +2 "manipulator"&6& +4 "core" &b } + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &b w p +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&f'[ +102 "core" ' + "manipulator"&a& +4 "core" &b \\ +2 "manipulator"&=% +4 "core" %[ v +2 "processing"%?& +4 "core" &\ +2 "processing"%X& +6 "core" &\ +2 .tPC.seek :closed +3 "processing"%(Z +3 "core" &\ +6 & 1\ $c +10 &^U~\ 7 +9 &{\ K +9 &kY\ N +10 &-X\ N +9 &V\ M +9 & X\ N +10 &"tZ\ M +9 &$6[\ M +10 &%[\ M +9 &'U\ N +9 &){X\ N +10 &+=X\ N +9 &-\\\ M +9 &.\\\ N +10 &0Z\ N +9 &2EZ\ N +10 &4 U\ M +9 &5[\ M +9 &7[\ N +10 &9MW\ N +9 &;\\\ M +9 &<Z\ N +10 &>Z\ N +9 &@VV\ M +10 &BY\ N +9 &CZ\ N +9 &EW\ N +10 &G[`\ N +9 &Ih\ P +9 &Jy\ Q +10 &L\ S +9 &NS\ T +10 &P\ T +9 &Q\ T +9 &S\ T +10 &UY\ T +9 &W\ T +9 &X\ T +10 &Z;Pu\ *| +9 &Z\\\ 6 +9 ( +2 &Z,\ 3 + "processing"%X& +3 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.60 +2 .Hand.open + "manipulator"&@1 +58 "core" 1 +2 "manipulator"&)% +4 "core" % [ ; +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +100 "core" ' +2 "processing"%Z& +4 "core" &Z+\ 3 +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 + "manipulator"&W% +4 "core" %\ 6 r & +2 "storage"(,% +4 "core" %@ \ + "storage"(H. +3 "core" .(<< +2 "storage"( & +3 "core" &<> \  +2 "storage"(& +5 "manipulator"&& +4 "core" &<> \  + &b v +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +2 "storage"(#]kK-0-\ b +2 .tElbow.seek PC +5 "manipulator"&.(c +4 ."raiseStack"SE.seek :beamBreak + "storage"(<'e +3 "core" ( + "manipulator"&[& +4 "core" &b + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &F& +3 "core" &b +2 .tForearm.seek PC +2 "manipulator"&`'[ +96 "core" ' + .tHand.close + "manipulator"&J/ +65 "core" / +2 .tPC.seek :open + "processing"%(p +84 "core" ' +2 "storage"(p- +4 "core" -'e + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(_'B +32 "core" ' +264 ( + "storage"(]& +4 "core" &<> _\  +2 "manipulator"&3& +4 "core" &b R + "manipulator"&% +4 "core" % _  +2 .tForearm.seek :retract +2 "manipulator"&K'\ +96 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&M( +259 "core" ( + "manipulator"&q& +5 "core" & k + "storage"(T& +4 "core" &<> \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"& ' +95 "core" ' + .tHand.open +2 "manipulator"&B1 +52 "core" 1 +2 "storage"(~- +3 "core" -'B +3 .tSE.seek -0.16 Pucks below Top Plate + "storage"(Y' +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.83 Pucks below Top Plate + "storage"(t' +53 "core" ' + #tLights, camera, ACTION! +2 "storage"(:- +3 "core" -' +2 "storage"(h& +4 "core" &<> \  + "manipulator"&!& +4 "core" &  k +2 .tElbow.seek 5 +2 "manipulator"&( +23 "core" ( + "manipulator"&r& +5 "core" &   + "storage"(& +4 "core" &<> [\  +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&' +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.11 Pucks below Top Plate +57 "storage"(1'M +64 "core" ' +2 "manipulator"&\\& +4 "core" & d k s +2 "storage"(&& +4 "core" &<> u\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&g'/ +34 "core" ' + .tElbow.hold +2 "manipulator"&e, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"('7 +23 "core" ' +2 "manipulator"&}% +4 "core" %9Z J ² +2 "storage"(z& +4 "core" &<> X\  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 5 + 310 counts + "manipulator"& 'e +17 "core" ' +2 "manipulator"&7& +4 "core" & o r   +2 "storage"(m& +4 "core" &<>\ \  \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&9' +23 "core" ' +2 "storage"(u% +4 "core" %;\ \  \  +2 ."downElevator"SE.seek :down +3 "storage"(^'N +99 (0% +3 "core" %C \ Wd +2 "manipulator"&%% +4 "core" % n n +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&2'\ +91 "core" ' +57 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (w& +4 "core" &<> S\  +2 "collection"'& +4 "core" &]  \ $h + #tStoring generic puck in Collection Clamp to tube 5 +2 "manipulator"&V% +4 "core" %\ 0 n $q +2 "storage"(% +4 "core" %B ;\ + "storage"(y. +3 "core" .(<< +2 "storage"(*& +4 "core" &<> B\  + "storage"(& +4 "core" &<> J\  +2 "manipulator"&I& +4 "core" & a  +2 .tElbow.seek 5 + "manipulator"& ( +17 "core" ( +2 "manipulator"&j& +4 "core" & o +2 "storage"(\ & +4 "core" &<> L\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&4' +99 "core" ' +2 "storage"(|& +4 "core" &<> c\  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(n'e +277 "core" ' + "storage"($- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&s& +3 "core" & 3 o +2 "storage"(o& +4 "core" &<> \  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&E'/ +34 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(L- +3 "core" -' +2 .tSE.seek 0.12 Pucks below Top Plate + "storage"("'t +28 "core" ' + "manipulator"&d% +5 "core" %8K ' ' 5 Ʈ + "storage"(& +4 "core" &<> W [\  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 5 + 309 counts + "manipulator"&{'d +15 "core" ' + "manipulator"&+& +5 "core" & [ | > "} + "storage"(C& +4 "core" &<> b\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&c' +18 "core" ' +2 .tSE.seek 1.12 Pucks below Top Plate + "storage"(l'c +49 "core" ' +2 "manipulator"&& +4 "core" & n o  "} +2 "manipulator"&x% +4 "core" % o n  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&/'\ +96 "core" ' +2 .tElbow.seek CC +2 "manipulator"&G( +140 "core" ( + "manipulator"&k& +5 "core" &  , + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 & & +3 "core" &  & , +2 .tForearm.seek CC + "manipulator"&S'| +96 "core" ' + .tHand.close +2 "manipulator"&/ +63 "core" / + .tCC.seek :open +2 "collection"'(p +410 "core" ( + "storage"(v& +5 "core" &<> [ Y\  + "storage"(P& +4 "core" &<> Y Y\  + "manipulator"&'& +4 "core" &   , +2 "manipulator"&R% +3 "core" % u +2 .tForearm.seek :retract +2 "manipulator"&U'\ +98 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&b( +153 "core" ( + "manipulator"&Q& +4 "core" &  +2 "storage"(D& +4 "core" &<> Y Y\  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 5 +2 "manipulator"&-'/ +113 "core" ' +2 .tElbow.hold + "manipulator"&(, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&1 +56 "core" 1 +2 "manipulator"&O% +4 "core" % <e  Z + "storage"(8& +4 "core" &<>\ \  \  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 5 + 313 counts + "manipulator"&N'h +17 "core" ' + "manipulator"&& +4 "core" & ] u #  +2 "storage"(& +4 "core" &<> m j \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&i' +24 "core" ' +2 "storage"(>% +4 "core" %j y *\ +2 ."downElevator"SE.seek :down +4 "storage"(6'N +99 (% +2 "core" %1E Y Y \ V` +2 "manipulator"&;% +4 "core" % o n +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&a'\ +91 "core" ' +49 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 6 of [3..6] + #Loading generic puck from tube 6 into Collection Clamp + "collection"'=& +5 "core" &  \ + "manipulator"&?% +4 "core" %\ .  #g +2 "storage"(A% +4 "core" %A u u Q\ \ + "storage"(5. +4 "core" .(<< + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"(#(K +351 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (@& +2 "core" &K\ \ \  +2 "manipulator"&)& +4 "core" & d  +2 .tElbow.seek 6 + "manipulator"&Z( +21 "core" ( + "manipulator"&W& +4 "core" &  G +2 "storage"(,& +4 "core" &K X W\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&H'< +101 "core" ' + "storage"( & +5 "core" &K B\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(X'e +281 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (& +3 "core" &K i n -\  +2 "manipulator"&[& +4 "core" & n o G + .tElbow.seek 6 +2 "manipulator"&F( +24 "core" ( + "manipulator"&f& +5 "core" & h O #  + "storage"(J& +4 "core" &K q\  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&p'Ϧ +27 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +53 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"('N +8 "core" & o n  + "manipulator"&]% +4 "core" % ϥ n n +2 .tForearm.seek :retract +2 "manipulator"&<'\ +89 "core" ' +2 .tElbow.seek CC +2 "manipulator"&3( +151 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +17 "core" ( +2 "manipulator"&& +4 "core" &" i :- +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &`& +3 "core" &" N :- +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&q'| +94 "core" ' +5 "manipulator"&T& +4 "core" &"  :, +2 "manipulator"&.% +4 "core" %τ o  +2 "collection"'B& +4 "core" &  \ +2 "collection"'~& +5 "core" &  \ +2 .tCC.seek :closed +2 "collection"':(] +5 "core" &  \ +6 &?  \ $e +9 &mU  \ 7 +10 &  \ L +9 &]  \ M +9 &C\\  \ M +10 &^  \ M +9 & `  \ M +9 &"`  \ M +10 &$L]  \ L +9 && `  \ M +10 &']  \ M +9 &)]  \ M +9 &+S^  \ M +64 &-`  \ M +4 &._  \ M +4 &0_  \ M + &2Z`  \ M + &4`  \ M + &5]  \ L + &7_  \ M +3 &9c[  \ M +6 &;%[  \ M +9 &<[  \ L +9 &>]  \ M +10 &@l]  \ L +9 &B-^  \ M +10 &C`  \ M +9 &E_  \ M +9 &Gs`  \ M +10 &I2g  \ N +9 &Ju  \ O +10 &L  \ R +9 &N_  \ V +9 &P  \ X +10 &Q  \ X +9 &S  \ X +9 &U^  \ Y +10 &W  \ Z +9 &X  \ ^ +9 &Z  \ \\ +10 &\\`  \ H +9 &]f=  \ $n +10 &]  \ ^ +5 ( + "collection"'~& +5 #tCollection Clamp onSpring/offSpring for 10/26 samples, on/off torque 2.03 + .Hand.open + "manipulator"&h1 +4 "core" &]  \ ^ +53 1 +2 "manipulator"&!% +4 "core" % τ }  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&r'\ +92 "core" ' +2 #tLoading generic puck from tube 6 into Processing Clamp + "processing"%& +4 "core" &\ +2 "manipulator"&K% +4 "core" %\ - "\\ +2 "storage"(\\% +3 "core" %9 K\ +2 "storage"(&. +3 "core" .(K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 + "storage"(_(K +3 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (Y& +4 "core" &K1 U\  +2 "manipulator"&}& +4 "core" &! 9( + "manipulator"&z% +4 "core" %\ , x "\\ +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&M( +166 "core" ( + "manipulator"&7& +4 "core" & _ @ +2 "storage"(m& +4 "core" &K _\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"& '< +102 "core" ' +2 "storage"(u& +4 "core" &K   \  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(t'e +276 "core" ' + "storage"(0- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (%& +3 "core" &K\ \  \  +2 "manipulator"&& +3 "core" & n p @ +2 .tElbow.seek 6 +2 "manipulator"&( +3 "core" ( + "manipulator"&1& +4 "core" & s w  @ +2 "storage"(g& +4 "core" &K   o\  +2 .tForearm.seek 6 + 300 counts + "manipulator"& 'Ϧ +27 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&w/ +52 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&& + "storage"(V'N +7 "core" & p n  @ +2 "manipulator"&% +4 "core" % ϣ q n  +2 .tForearm.seek :retract +2 "manipulator"&y'\ +88 "core" ' +2 .tElbow.seek PC +2 "manipulator"&*(c +165 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +88 "core" ( + "manipulator"&& +5 "core" &b I + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &b L +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&I'[ +92 "core" ' +2 "manipulator"&j& +4 "core" &b X +2 "manipulator"&\ % +4 "core" %Y G + "processing"%9& +4 "core" &\ +2 "processing"%|& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%^(Z +4 "core" &\ +8 & 2\ #b +9 &^U\ 7 +9 &}\ L +10 &oV\ M +9 &0Y\ N +10 &Y\ M +9 & ]\ M +9 &"wX\ M +10 &$9Y\ M +9 &%Z\ N +9 &'Y\ M +10 &)Y\ M +9 &+@Y\ N +10 &-[\ M +9 &.\\\ N +9 &0Z\ M +10 &2JW\ M +9 &4 Y\ M +9 &5Z\ M +10 &7Y\ M +9 &9RZ\ M +10 &;Z\ M +9 &<V\ M +9 &>\\\ M +10 &@Y\\\ M +9 &B\\\ N +9 &CY\ M +10 &EW\ M +9 &G_`\ N +10 &Ih\ O +9 &Jz\ Q +9 &L\ S +10 &NU\ T +9 &P\ S +9 &Q\ T +10 &S\ T +9 &U\\\ T +10 &W\ U +9 &X\ U +9 &Z;Ll\ , +10 &Z .\ ' +5 ( +2 "processing"%|& +4 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.58 + .Hand.open + "manipulator"&e1 +4 "core" &Z\ ' +56 1 + "manipulator"&2% +4 "core" % Y s \ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&$'\ +92 "core" ' + "processing"%s& +5 "core" &Z\ ' + #tImaging generic puck in Processing Clamp while storing it to tube 6 +2 "manipulator"&o% +4 "core" %\ ( L +2 "storage"(L% +3 "core" %P J\  +2 "storage"(d. +3 "core" .(K + "storage"(& +4 "core" &K K\  +2 "storage"(+& +4 "manipulator"&C& +4 "core" &K P\  + &b w +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +3 "storage"(#]kK-0-\ b + "manipulator"&(c +7 ."raiseStack"SE.seek :beamBreak +2 "storage"(x'e +2 "core" ( +2 "manipulator"&4& +4 "core" &b + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 & & +3 "core" &b  +2 .tForearm.seek PC + "manipulator"&n'[ +95 "core" ' +2 .tHand.close + "manipulator"&E/ +60 "core" / +2 .tPC.seek :open + "processing"%{(p +90 "core" ' +2 "storage"("- +4 "core" -'e + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place + "storage"(k'B +35 "core" ' +256 ( + "storage"( & +4 "core" &K\  \  +2 "manipulator"&c& +4 "core" &b " + "manipulator"&% +4 "core" % l   +2 .tForearm.seek :retract +2 "manipulator"&'\ +91 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&/( +245 "core" ( +2 "manipulator"&& +4 "core" &   + "storage"(v& +4 "core" &K G\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&P'< +94 "core" ' + .tHand.open + "manipulator"&'1 +60 "core" 1 +2 "storage"(R- +4 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate + "storage"(Q' +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.83 Pucks below Top Plate + "storage"(D' +50 "core" ' +2 #tLights, camera, ACTION! + "storage"(S- +4 "core" -' + "storage"(G& +4 "core" &K  ' -\  +2 "manipulator"&& +4 "core" & 5  +2 .tElbow.seek 6 + "manipulator"&O( +4 "core" ( + "manipulator"&8& +4 "core" & -  + "storage"(& +4 "core" &K  # #\  +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&'< +18 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"(>'M +59 "core" ' + "manipulator"&U& +4 "core" & o o #  +2 "storage"(& +4 "core" &K\ \ \  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&;'z +32 "core" ' +2 .tElbow.hold + "manipulator"&b, +5 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.07 Pucks below Top Plate + "storage"(-'7 +24 "core" ' +2 "manipulator"&=% +4 "core" %Όd V µ +2 "storage"(N& +5 "core" &K e\  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 6 + 318 counts +2 "manipulator"&?'ϸ +16 "core" ' +2 "manipulator"&A& +4 "core" & z r  # +2 "storage"(5& +4 "core" &K\ \  g\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&l'< +23 "core" ' + "storage"(i% +5 "core" %>   \  +2 ."downElevator"SE.seek :down +3 "storage"(6'N +100 (% +2 "core" %H N\ We +2 "manipulator"&@% +4 "core" % { r M % +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&)'\ +90 "core" ' +59 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (W& +4 "core" &K (\  + "collection"',& +4 "core" &]  \ ^ +2 #tStoring generic puck in Collection Clamp to tube 6 + "manipulator"& % +4 "core" %\ 0 $u +2 "storage"((% +4 "core" %Q -\ \ + "storage"(a. +4 "core" .(K + "storage"(& +4 "core" &K 9\  + "storage"(& +4 "core" &K 4\  +2 "manipulator"&[& +3 "core" & [ # +2 .tElbow.seek 6 +57 "manipulator"&f( +49 "core" ( +2 "manipulator"&J& +5 "core" &  "~ + "storage"(& +4 "core" &K +\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&'< +99 "core" ' +2 "storage"(]& +4 "core" &K\ \  d\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(Z'e +280 "core" ' +2 "storage"(H- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +2 "core" & ? "{ +2 "storage"(`& +4 "core" &K l\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&X'z +31 "core" ' +2 .tElbow.hold + "manipulator"&p, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(T- +2 "core" -' +3 .tSE.seek 0.12 Pucks below Top Plate + "storage"(.'p +31 "core" ' +2 "manipulator"&F% +5 "core" %·Z IJ + "storage"(B& +4 "core" &K \\\  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 6 + 313 counts +2 "manipulator"&'ϳ +17 "core" ' +2 "manipulator"&<& +4 "core" & } | X "y +2 "storage"(& +4 "core" &K\ \  \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&h'< +24 "core" ' +2 .tSE.seek 1.12 Pucks below Top Plate +2 "storage"(!'_ +46 "core" ' + "manipulator"&& +5 "core" & c k } "y +2 "manipulator"&K% +4 "core" %> s p  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&\\'\ +99 "core" ' +2 .tElbow.seek CC + "manipulator"&&( +145 "core" ( +2 "manipulator"&~& +4 "core" &  , +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &Y& +3 "core" &  Z , +2 .tForearm.seek CC + "manipulator"&}'| +95 "core" ' +2 .tHand.close + "manipulator"&z/ +56 "core" / +2 .tCC.seek :open + "collection"'q(p +410 "core" ( +2 "storage"(7& +4 "core" &K X Z\  +2 "storage"(m& +3 "core" &K X Y\  +2 "manipulator"&#& +4 "core" &  , + "manipulator"&u% +4 "core" % ψ +2 .tForearm.seek :retract +2 "manipulator"&3'\ +91 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 + "manipulator"&r( +154 "core" ( +2 "manipulator"&0& +4 "core" & ' +2 "storage"(%& +4 "core" &K X Y i\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 6 + "manipulator"&'z +108 "core" ' +2 .tElbow.hold + "manipulator"&1, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&g1 +53 "core" 1 +2 "manipulator"&w% +4 "core" % Ίu )  0 + "storage"(& +4 "core" &K\ #\  \  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 6 + 316 counts +2 "manipulator"&'϶ +16 "core" ' + "manipulator"&M& +5 "core" & t \\ 9 + "storage"( & +4 "core" &K f h Y\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&t'< +19 "core" ' +2 "storage"( % +4 "core" %c \ +2 ."downElevator"SE.seek :down +4 "storage"('N +98 (% +4 "core" %(F Z X\ V` + "manipulator"&% +4 "core" % n n  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&j'\ +91 "core" ' +48 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 3 of [3..6] + #Loading generic puck from tube 3 into Collection Clamp + "collection"'\ & +5 "core" &  \ + "manipulator"&9% +4 "core" %\ .  #j +2 "storage"(V% +4 "core" %B d _ \ \ + "storage"(y. +3 "core" .(K +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(( +989 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (e& +3 "core" &   D\ +2 "manipulator"&2& +4 "core" & 1 9 + .tElbow.seek 3 +2 "manipulator"&s(D +36 "core" ( + "manipulator"&o& +5 "core" &L   + "storage"(L& +4 "core" & v _ \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&d' +92 "core" ' + "storage"(& +5 "core" & ,\ + .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(C'e +278 "core" ' +2 "storage"(+- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (|& +2 "core" & h s \ +2 "manipulator"&4& +4 "core" &L q q A  + .tElbow.seek 3 +2 "manipulator"& (D +3 "core" ( +2 "manipulator"&I& +4 "core" &L  ~ H  + "storage"(E& +4 "core" & q o M\ +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&"'y +17 "core" ' +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&*/ +60 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&$& +2 "storage"(^'N +8 "core" &L n n   + "manipulator"& % +4 "core" % m o o +2 .tForearm.seek :retract +2 "manipulator"&c'\ +99 "core" ' +2 .tElbow.seek CC + "manipulator"&x( +145 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +12 "core" ( + "manipulator"&& +4 "core" &" c % 9& +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &n& +3 "core" &" 9& +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&'| +98 "core" ' +2 "manipulator"&v& +4 "core" &"  9& +2 "manipulator"&% +4 "core" %σ  +2 "collection"''& +4 "core" &  \ +2 "collection"'R& +5 "core" &  \ +3 .tCC.seek :closed +2 "collection"'S(] +4 "core" &  \ +7 &>  \ %f +10 &mW  \ 8 +9 &  \ L +9 &Y  \ M +10 &J]  \ M +9 & ]  \ L +9 & `  \ M +10 &"[  \ M +9 &$Q]  \ M +10 &&_  \ M +9 &']  \ M +9 &)_  \ M +10 &+Z^  \ M +9 &-\\  \ M +9 &._  \ M +10 &0_  \ M +9 &2a_  \ M +10 &4$_  \ M +9 &5Z  \ M +9 &7]  \ M +10 &9j^  \ M +9 &;,_  \ M +9 &<Z  \ M +10 &>\\  \ M +9 &@q`  \ M +10 &B4]  \ M +9 &C\\  \ M +9 &E^  \ M +10 &Gz_  \ M +9 &I6m  \ O +9 &J|  \ P +10 &L  \ T +9 &Ne  \ V +10 &P$  \ X +9 &Q  \ X +9 &S  \ Y +10 &Ue  \ Y +9 &W'  \ Y +9 &X  \ \\ +10 &Z  \ [ +9 &\\f  \ I +10 &]_2  \ . +9 &]  \ ] +2 ( +2 "collection"'R& +3 #tCollection Clamp onSpring/offSpring for 10/26 samples, on/off torque 2.02 + .Hand.open +2 "manipulator"&G1 +60 "core" 1 +2 "manipulator"&% +4 "core" % ς J +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&8'\ +106 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp +2 "processing"%& +4 "core" &\ + "manipulator"&% +4 "core" %\ J  +2 "storage"(U% +3 "core" %C\ \  \ +2 "storage"(. +3 "core" .( +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(k( +21 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (=& +3 "core" & \ \  +2 "manipulator"&N& +4 "core" & M 7 + "manipulator"&Q% +4 "core" %\  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&A(D +166 "core" ( +2 "manipulator"&5& +4 "core" &= s t R +2 "storage"(i& +4 "core" &   c\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&/' +99 "core" ' + "storage"(P& +5 "core" &   \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(D'e +275 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +58 (@& +3 "core" &\ \  P\  + "manipulator"&& +4 "core" &=  +2 .tElbow.seek 3 + "manipulator"&O(D +4 "core" ( + "manipulator"&>& +5 "core" &= Z + "storage"(;& +4 "core" &\ $\ \  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&?'y +19 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&W/ +63 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&,& +2 "storage"( 'N +8 "core" &= n n + "manipulator"&(% +4 "core" % r n k +2 .tForearm.seek :retract +2 "manipulator"&a'\ +88 "core" ' +2 .tElbow.seek PC +2 "manipulator"&(c +160 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +81 "core" ( +2 "manipulator"&-& +4 "core" &j w * +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &j ) +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&['[ +109 "core" ' +2 "manipulator"&l& +4 "core" &j w |  +2 "manipulator"&J% +4 "core" %] p n  +2 "processing"%& +4 "core" &\ +2 "processing"%]& +6 "core" &\ +2 .tPC.seek :closed +3 "processing"%6(Z +3 "core" &\ +6 &\ 3 +9 &G~\ 0 +10 &3r\ E +9 &a\ M +9 &X\ M +10 &]Z\ M +9 & Z\ M +9 &!Y\ M +10 &#X\ M +9 &%fU\ M +10 &'(Y\ M +9 &(Y\ M +9 &*Y\ M +10 &,lY\ N +9 &./Y\ M +9 &/\\\ M +10 &1Y\ M +9 &3uY\ M +10 &58V\ M +9 &6W\ M +9 &8Y\ M +10 &:|Y\ N +9 &Z\ N +10 &?Y\ M +9 &AY\ M +10 &CG\\\ M +9 &EZ\ N +9 &F_\ N +10 &Hd\ N +9 &JHm\ P +9 &L{\ Q +10 &M\ T +9 &O\ T +10 &QD\ T +9 &S\ T +9 &T\ T +10 &V\ T +9 &XJ\ T +9 &Y|r\ ) +10 &Z)n\ 3 +9 ( +3 "processing"%]& +3 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.55 + .Hand.open + "manipulator"&b1 +4 "core" &Z\ ) +58 1 + "manipulator"&)% +6 "core" % ] { k 8 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&H'\ +94 "core" ' +2 "processing"%& +4 "core" &Z\ ) +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&`% +4 "core" %\ 3 q %w +2 "storage"(T% +3 "core" %; \ \ +2 "storage"(F. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 + "storage"(B( +16 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (<& +2 "manipulator"&& +3 "core" & 5  l\ % +5 ."raiseStack"SE.reconfigure :place +2 "storage"(#]kK-0-\ b +3 "core" &j u +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +3 ."raiseStack"SE.seek :beamBreak +2 "manipulator"&(c +3 "storage"(K'e +3 "core" ( +2 "manipulator"&& +4 "core" &j + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &f& +3 "core" &j R +2 .tForearm.seek PC +2 "manipulator"&Z'[ +94 "core" ' +2 .tHand.close + "manipulator"&X/ +63 "core" / +3 .tPC.seek :open + "processing"%(p +85 "core" ' + "storage"(.- +4 "core" -'e + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(~'B +36 "core" ' +259 ( + "storage"(Y& +5 "core" & n\ * + "manipulator"&h& +4 "core" &j _ +2 "manipulator"&p% +3 "core" % T +2 .tForearm.seek :retract +2 "manipulator"&z'\ +99 "core" ' +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&\\(D +252 "core" ( +2 "manipulator"&:& +4 "core" &@ !u + "storage"(7& +4 "core" & \ * +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&m' +95 "core" ' +2 .tHand.open + "manipulator" +55 "core" 1 +2 "storage"(u- +4 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate + "storage"(0' +24 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(%' +51 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(}- +3 "core" -' +2 "storage"(&& +4 "core" &   \ - + "manipulator"&g& +4 "core" &@  !u +2 .tElbow.seek 3 + "manipulator"&w(D +4 "core" ( + "manipulator"&& +4 "core" &@ Y !u + "storage"(M& +4 "core" & !  '\ - +2 .tForearm.seek 3 + 450 counts +2 "manipulator"& ' +11 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"( 'M +60 "core" ' + "manipulator"&3& +5 "core" &@ ` k 7 !u + "storage"(& +4 "core" &\  4\ - +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&'M +32 "core" ' +2 .tElbow.hold + "manipulator"&r, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"('7 +21 "core" ' +2 "manipulator"&\ % +4 "core" %WZ y ² +2 "storage"(& +4 "core" & c\ - + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 310 counts + "manipulator"&9'σ +17 "core" ' +2 "manipulator"&V& +4 "core" &e q v 0 P +2 "storage"(y& +4 "core" &\ \ \ - +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&!' +23 "core" ' +2 "storage"(t% +4 "core" %@  G\ +2 ."downElevator"SE.seek :down +4 "storage"('N +99 (_% +2 "core" %@ K\ Vb +2 "manipulator"&e% +4 "core" % p m +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&2'\ +96 "core" ' +52 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (o& +4 "core" & \ - +2 "collection"'L& +4 "core" &]  \ ] + #tStoring generic puck in Collection Clamp to tube 3 +2 "manipulator"&% +4 "core" %\ 6 & + "storage"(1% +4 "core" %O \ \ + "storage"(j. +4 "core" .( + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(+( +37 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (|& +3 "core" &\  \ +2 "manipulator"&4& +4 "core" &e ^ P + .tElbow.seek 3 +2 "manipulator"&I(D +28 "core" ( + "manipulator"&E& +4 "core" &F  Z +2 "storage"(*& +4 "core" & t\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&$' +102 "core" ' +2 "storage"( & +4 "core" & B \ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(s'e +274 "core" ' +2 "storage"(d- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&& +3 "core" &F \\ Z +2 "storage"(n& +3 "core" &\ \  \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 + "manipulator"&C'M +31 "core" ' +2 .tElbow.hold + "manipulator"&", +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(v- +2 "core" -' +3 .tSE.seek 0.11 Pucks below Top Plate + "storage"('g +27 "core" ' + "manipulator"&'% +4 "core" %YO 6 ï +2 "storage"( & +4 "core" & \  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 3 + 312 counts +2 "manipulator"&^'υ +16 "core" ' +2 "manipulator"&c& +4 "core" &J ^ v % V +2 "storage"(q& +3 "core" &   M\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +55 "manipulator"&G' +21 "core" ' +2 .tSE.seek 1.11 Pucks below Top Plate +2 "storage"('V +47 "core" ' +2 "manipulator"&& +4 "core" &J n o V +2 "manipulator"&% +4 "core" % c l +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&U'\ +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"&R( +156 "core" ( + "manipulator"&& +5 "core" &# J ;7 + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &=& +3 "core" &$ S ;7 +2 .tForearm.seek CC +2 "manipulator"&N'| +100 "core" ' + .tHand.close + "manipulator"&Q/ +58 "core" / +2 .tCC.seek :open +2 "collection"'(p +410 "core" ( + "storage"(5& +4 "core" & < -\  +2 "storage"(i& +4 "core" & A 9 a\  + "manipulator"&& +4 "core" &# :/ +2 "manipulator"&P% +3 "core" % u +2 .tForearm.seek :retract +2 "manipulator"&x'\ +94 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&8(D +156 "core" ( +2 "manipulator"&& +4 "core" &L  +2 "storage"(@& +4 "core" & X Y \  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 3 +2 "manipulator"&'M +113 "core" ' +2 .tElbow.hold + "manipulator"&>, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&;1 +55 "core" 1 +3 "manipulator"&W% +4 "core" % Zq + - # + "storage"(,& +4 "core" &\ %\ & >\  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 313 counts + "manipulator"&('φ +17 "core" ' +2 "manipulator"&A& +4 "core" &_ ] u   +2 "storage"(/& +4 "core" & F\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&D' +21 "core" ' +2 "storage"(?% +4 "core" %X #\ +2 ."downElevator"SE.seek :down +3 "storage"(-'N +100 (% +2 "core" %= t u \ T[ +2 "manipulator"&O% +4 "core" % n n  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&l'\ +94 "core" ' +43 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 4 of [3..6] + #Loading generic puck from tube 4 into Collection Clamp + "collection"'J& +5 "core" &  \ + "manipulator"&% +4 "core" %\ 8 S ' +2 "storage"( % +4 "core" %: g e \ +2 "storage"(a. +3 "core" .( + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"({(, +360 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (b& +2 "core" &,\ "\  (\  +2 "manipulator"&)& +4 "core" &_ H  +2 .tElbow.seek 4 + "manipulator"&(* +12 "core" ( +2 "manipulator"&`& +4 "core" &/   + "storage"(T& +4 "core" &, [ b\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&F' +93 "core" ' + "storage"(]& +5 "core" &, :\  + .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(<'e +279 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +2 "core" &, \\ o >\  +2 "manipulator"&f& +4 "core" &/ q n   + .tElbow.seek 4 +2 "manipulator"&[(* +3 "core" ( +2 "manipulator"&X& +4 "core" &/ y q 2  + "storage"(k& +4 "core" &, u v @\  +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&.'Z +22 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +54 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&H& + "storage"(6'N +8 "core" &/ o n   + "manipulator"&Y% +4 "core" % N n n +2 .tForearm.seek :retract +2 "manipulator"&K'\ +90 "core" ' + .tElbow.seek CC +2 "manipulator"&h( +151 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +14 "core" ( +2 "manipulator"&p& +4 "core" &* S @[ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &Z& +2 "core" &* @[ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&:'| +94 "core" ' + "manipulator"&7& +4 "core" &* - @[ +2 "manipulator"&% +4 "core" %s p  +2 "collection"'#& +4 "core" &  \ +2 "collection"'u& +5 "core" &  \ +2 .tCC.seek :closed + "collection"'}(] +5 "core" &  \ +7 &>  \ %f +9 &lW  \ 7 +10 &  \ L +9 &\\  \ M +9 &D\\  \ L +10 &]  \ L +9 & _  \ M +9 &"_  \ L +10 &$K]  \ M +9 && ^  \ M +10 &'\\  \ L +9 &)^  \ L +9 &+T]  \ L +10 &-]  \ L +9 &._  \ M +9 &0a  \ M +10 &2[^  \ M +9 &4]  \ M +10 &5Z  \ M +9 &7\\  \ M +9 &9d\\  \ L +10 &;&]  \ L +9 &<\\  \ L +9 &>]  \ M +10 &@k_  \ M +9 &B-`  \ M +10 &C]  \ L +9 &E[  \ L +10 &Gr_  \ M +9 &I3c  \ M +9 &Jo  \ O +9 &L  \ Q +10 &Nb  \ U +9 &P  \ W +10 &Q  \ X +9 &S  \ X +9 &U^  \ Y +10 &W  \ Y +9 &X  \ [\ +9 &Z  \ [\ +10 &\\a  \ H +9 &]f=  \ $l +10 &]c  \ M +2 ( + "collection"'u& +4 #tCollection Clamp onSpring/offSpring for 10/26 samples, on/off torque 1.98 + .Hand.open + "manipulator"&&1 +54 "core" 1 +2 "manipulator"&g% +4 "core" % s  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +93 "core" ' + #tLoading generic puck from tube 4 into Processing Clamp +2 "processing"%M& +4 "core" &\ +2 "manipulator"&z% +4 "core" %\ - 4 "a +2 "storage"(3% +3 "core" %= \  r\ \ +2 "storage"(. +3 "core" .(, +2 "storage"(~& +4 "core" &, \  ]\  +2 "storage"(\ & +3 "core" &,\ \  L\  +2 "manipulator"&& +4 "core" &)  @Z + "manipulator"&0% +4 "core" %\ -  "a +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 +2 "manipulator"&V(* +158 "core" ( +2 "manipulator"&y& +3 "core" &6 { z  +2 "storage"(t& +5 "core" &,   \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&\\' +91 "core" ' +2 "storage"(m& +4 "core" &, B C k\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(%'e +277 "core" ' + "storage"(_- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (e& +2 "core" &,   \  +2 "manipulator"& & +4 "core" &6 l d a  + .tElbow.seek 4 +2 "manipulator"&w(* +7 "core" ( + "manipulator"& & +5 "core" &4 i y s  + "storage"(& +4 "core" &, . 7\  +2 .tForearm.seek 4 + 300 counts + "manipulator"&9'Z +13 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&o/ +64 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&L& + "storage"('N +8 "core" &4 l o  + "manipulator"&1% +4 "core" % N e n ] 7 +2 .tForearm.seek :retract +2 "manipulator"&j'\ +99 "core" ' +2 .tElbow.seek PC + "manipulator"&(c +153 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +94 "core" ( +2 "manipulator"&|& +4 "core" &j +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &4& +3 "core" &j z +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&E'[ +96 "core" ' +2 "manipulator"&*& +4 "core" &j  +2 "manipulator"&!% +4 "core" %_  + "processing"% & +4 "core" &\ +2 "processing"%& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%B(Z +3 "core" &\ +9 & 1\ #b +9 &^U~\ 7 +10 &z\ K +9 &nW\ M +9 &0Y\ M +10 &Y\ M +9 & \\\ M +9 &"uW\ M +10 &$7[\ M +9 &%Y\ M +10 &'Y\ M +9 &)~U\ M +9 &+?W\ M +10 &-\\\ M +9 &.Z\ N +58 &0Y\ M +11 &2HV\ M + &4 Y\ M + &5U\ M +5 &7Y\ M + &9OU\ M + &;Z\ N + &<W\ M +5 &>Z\ N +10 &@VZ\ N +9 &BZ\ N +10 &CY\ M +9 &EZ\ N +9 &G]^\ N +10 &Ij\ O +9 &J{\ Q +9 &L\ S +10 &NS\ T +9 &P\ T +10 &Q\ T +9 &S\ T +9 &UZ\ T +10 &W\ T +9 &X\ T +9 &Z:Mq\ / +10 &Z*\ % +5 ( +2 "processing"%& +4 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.62 + .Hand.open +2 "manipulator"&r1 +3 "core" &Z\ % +59 1 + "manipulator"&2% +5 "core" % _ y + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&d'\ +92 "core" ' +2 "processing"%& +4 "core" &Z\ % +2 #tImaging generic puck in Processing Clamp while storing it to tube 4 + "manipulator"&n% +4 "core" %\ +  !N + "storage"(v% +4 "core" %@\ \ \ \ +2 "storage"('. +3 "core" .(, +2 "storage"( & +3 "core" &,\ \ \  +2 "storage"(c& +2 "manipulator"&q& +7 "core" &,\ \  :\  +2 &j ^ +2 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +3 "storage"(#]kK-0-\ b + "manipulator"&(c +6 ."raiseStack"SE.seek :beamBreak + "storage"('e +3 "core" ( + "manipulator"&$& +4 "core" &j  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &I& +2 "core" &j 3 +2 .tForearm.seek PC +2 "manipulator"&s'[ +96 "core" ' +2 .tHand.close + "manipulator"&C/ +60 "core" / +2 .tPC.seek :open + "processing"%^(p +89 "core" ' + "storage"(- +4 "core" -'e + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('B +36 "core" ' +256 ( + "storage"(=& +5 "core" &,\ \  k\  + "manipulator"&G& +4 "core" &j + "manipulator"&"% +4 "core" % Q +2 .tForearm.seek :retract +2 "manipulator"&Q'\ +98 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&U(* +256 "core" ( + "manipulator"&S& +4 "core" &* y "} +2 "storage"(5& +4 "core" &,\ \  F\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&i' +98 "core" ' + .tHand.open +2 "manipulator"&1 +62 "core" 1 +2 "storage"(P- +4 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate +2 "storage"(' +23 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(@' +51 "core" ' +2 #tLights, camera, ACTION! + "storage"(N- +4 "core" -' + "storage"(R& +4 "core" &, 2 5 M\  +2 "manipulator"&;& +4 "core" &* / "} + .tElbow.seek 4 +2 "manipulator"&W(* +3 "core" ( +2 "manipulator"&,& +4 "core" &* "} + "storage"(A& +4 "core" &, 5 @\  +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&/' +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.11 Pucks below Top Plate + "storage"(?'M +62 "core" ' + "manipulator"&x& +5 "core" &* w "} + "storage"(& +4 "core" &,\ \  ^\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&O'. +34 "core" ' + .tElbow.hold +2 "manipulator"&8, +5 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"('7 +27 "core" ' +2 "manipulator"&J% +4 "core" %6W  ű +2 "storage"(& +4 "core" &, 0\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 308 counts + "manipulator"&('b +17 "core" ' +2 "manipulator"& & +4 "core" & u q B % +2 "storage"(a& +4 "core" &,   \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&' +19 "core" ' +2 "storage"(D% +4 "core" %? 7 >\ +3 ."downElevator"SE.seek :down +3 "storage"(-'N +99 (+% +3 "core" %8?\ \  \ Vc +2 "manipulator"&b% +4 "core" % m n   +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&)'\ +96 "core" ' +54 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (`& +4 "core" &, T\  +2 "collection"'T& +4 "core" &]a  \ M +2 #tStoring generic puck in Collection Clamp to tube 4 + "manipulator"&]% +4 "core" %\ 4 ` & + "storage"(>% +4 "core" %A\ \  \ +2 "storage"(l. +3 "core" .(, +2 "storage"(& +3 "core" &,\ \  \  +2 "storage"(& +4 "core" &,\ \  \  +2 "manipulator"&f& +3 "core" & z % +2 .tElbow.seek 4 +2 "manipulator"&X(* +14 "core" ( + "manipulator"&k& +5 "core" &9 d "| + "storage"(& +7 "core" &,\ \ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&H' +94 "core" ' +3 "storage"(Y& +4 "core" &,   4\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('e +276 "core" ' + "storage"(F- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&p& +3 "core" &C  !r + "storage"(Z& +4 "core" &,   {\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&<'. +32 "core" ' + .tElbow.hold +2 "manipulator"&., +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(7- +2 "core" -' +3 .tSE.seek 0.12 Pucks below Top Plate + "storage"('s +28 "core" ' + "manipulator"&#% +4 "core" %BV  ű +2 "storage"([& +4 "core" &, \  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 320 counts + "manipulator"&6'n +16 "core" ' + "manipulator"&K& +4 "core" &( s X $ +2 "storage"(& +4 "core" &,   9\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&&' +18 "core" ' +2 .tSE.seek 1.12 Pucks below Top Plate +2 "storage"(g'b +51 "core" ' +2 "manipulator"&M& +4 "core" &( m n $ +2 "manipulator"&z% +4 "core" % q q (  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&3'\ +99 "core" ' + .tElbow.seek CC +2 "manipulator"&( +139 "core" ( + "manipulator"&~& +5 "core" & 8 . + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &\ & +3 "core" & # . +2 .tForearm.seek CC + "manipulator"&'| +100 "core" ' +2 .tHand.close + "manipulator"&u/ +57 "core" / +2 .tCC.seek :open + "collection"'0(p +413 "core" ( +2 "storage"(:& +4 "core" &, [ Y\  + "storage"(y& +4 "core" &, X X @\  +2 "manipulator"&t& +4 "core" & K - + "manipulator"&m% +4 "core" % σ 3 +2 .tForearm.seek :retract + "manipulator"&h'\ +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&(* +154 "core" ( +2 "manipulator"&_& +4 "core" &5 ;  +2 "storage"(e& +3 "core" &, X X 8\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 4 + "manipulator"& '. +116 "core" ' + .tElbow.hold +2 "manipulator"& , +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&1 +53 "core" 1 +2 "manipulator"&o% +4 "core" % ?[  + "storage"(L& +4 "core" &, Q\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 317 counts +2 "manipulator"&1'k +17 "core" ' + "manipulator"&V& +5 "core" & q v   + "storage"(\\& +60 "core" &, g h N\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&%' +22 "core" ' + "storage"(9% +4 "core" %g 8\ +3 ."downElevator"SE.seek :down +3 "storage"(|'N +100 (4% +2 "core" %D ^ s #\ V_ +2 "manipulator"&w% +4 "core" % o o  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&*'\ +89 "core" ' +48 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 5 of [3..6] + #Loading generic puck from tube 5 into Collection Clamp +2 "collection"'!& +4 "core" &  \ +2 "manipulator"& % +4 "core" %\ )  C +2 "storage"(% +4 "core" %9 o o\ + "storage"(j. +3 "core" .(, +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"((<< +349 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (r& +2 "core" &<; " V ,\  +2 "manipulator"&2& +4 "core" &   + .tElbow.seek 5 +2 "manipulator"&( +19 "core" ( + "manipulator"&n& +5 "core" &\ \ Q R +2 "storage"(v& +3 "core" &<: X b\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&'' +98 "core" ' +2 "storage"( & +4 "core" &<: r p \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('e +276 "core" ' + "storage"(q- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (c& +3 "core" &<: L V \  +2 "manipulator"&$& +3 "core" &\ \ u R +2 .tElbow.seek 5 +2 "manipulator"&I( +3 "core" ( + "manipulator"&E& +4 "core" &\ \ u R +2 "storage"(C& +3 "core" &<: [ X\  +3 .tForearm.seek 5 + 300 counts + "manipulator"&'[ +21 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +61 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&d& + "storage"(B'N +8 "core" &\ \ m m  R + "manipulator"&=% +4 "core" % S o q  +2 .tForearm.seek :retract +2 "manipulator"&G'\ +93 "core" ' + .tElbow.seek CC +2 "manipulator"&( +139 "core" ( + "manipulator"&"& +5 "core" &  k - + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 "core" ' +2 ."downElevator"SE.stop +3 "manipulator"&s& "storage"(5 +7 "core" &  k - +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&S'| +101 "core" ' + "manipulator"&5& +4 "core" &  V - +2 "manipulator"&% +4 "core" %|  +2 "collection"'& +4 "core" &  \ +2 "collection"'P& +5 "core" &  \ +2 .tCC.seek :closed + "collection"'N(] +4 "core" &  \  +9 &1~  \ *z +10 &e  \ > +9 &Mx  \ M +9 &\\  \ M +10 &]  \ M +9 &`  \ M +10 &!W]  \ M +9 &#_  \ M +9 &$`  \ M +10 &&_  \ M +9 &(^b  \ M +10 &*![  \ M +9 &+\\  \ L +9 &-`  \ M +10 &/g]  \ M +9 &1*_  \ L +9 &2^  \ M +10 &4]  \ M +9 &6o_  \ M +9 &81]  \ M +10 &9[  \ L +9 &;\\  \ L +10 &=v`  \ M +9 &?:\\  \ L +9 &@]  \ L +10 &B^  \ M +9 &D[  \ M +9 &FA[  \ M +10 &Hb  \ M +9 &Ip  \ O +10 &Kz  \ Q +9 &M/  \ V +9 &N  \ W +10 &P  \ W +9 &Ro  \ X +9 &T.  \ Y +10 &U  \ [ +9 &W  \ Y +10 &Yl  \ [ +9 &[  \ a +9 &\\  \ 0 +10 &]+  \ ^ +9 ( + &]a  \ K +2 "collection"'P& +3 #tCollection Clamp onSpring/offSpring for 8/25 samples, on/off torque 2.06 + .Hand.open + "manipulator"&R1 +53 "core" 1 + "manipulator"&;% +5 "core" % z  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&,'\ +95 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp +2 "processing"%A& +4 "core" &\ + "manipulator"&Q% +4 "core" %\ . #j +2 "storage"(x% +3 "core" %>\ \ # \ \ +2 "storage"(. +3 "core" .(<9 +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"((<< +3 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (J& +3 "core" &<; \  +2 "manipulator"&& +4 "core" &  A - + "manipulator"&% +4 "core" %\ . ] #j +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"& ( +155 "core" ( +2 "manipulator"&a& +4 "core" & s   +2 "storage"(D& +3 "core" &<;   j\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&U' +91 "core" ' +2 "storage"(i& +4 "core" &<; 8 > .\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(@'e +277 "core" ' +2 "storage"(+- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (b& +2 "core" &<;   Y\  +2 "manipulator"&/& +4 "core" & e o  +2 .tElbow.seek 5 + "manipulator"&W( +3 "core" ( +2 "manipulator"&?& +3 "core" & s x p  +2 "storage"(O& +48 "core" &<; @ > R\  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&`'[ +22 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&(/ +57 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&T& + "storage"(]'N +8 "core" & o n  + "manipulator"&>% +4 "core" % Y n o +2 .tForearm.seek :retract +2 "manipulator"&l'\ +88 "core" ' +2 .tElbow.seek PC +2 "manipulator"&(c +163 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +85 "core" ( + "manipulator"&& +5 "core" &i q I + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &i  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&f'[ +101 "core" ' +2 "manipulator"&k& +4 "core" &i r +2 "manipulator"&% +3 "core" %S m +2 "processing"%& +4 "core" &\ +2 "processing"%Y& +5 "core" &\ +2 .tPC.seek :closed +3 "processing"%-(Z +3 "core" &\ +6 &\ 5 +9 &Gx\ 0 +10 &2r\ D +9 &d\ N +10 &Y\ N +9 &YY\ M +9 & [\ M +10 &!Y\ N +9 &#X\ M +9 &%`X\ N +10 &'#Y\ M +9 &(X\ M +9 &*T\ M +10 &,iX\ M +9 &.,U\ M +10 &/Z\ M +9 &1Y\ M +9 &3qU\ M +10 &52X\ N +9 &6W\ M +9 &8[\ M +10 &:yX\ M +9 &<<T\ M +10 &=Y\ N +9 &?Y\ N +9 &A[\ N +10 &CCZ\ M +9 &EV\ M +9 &F\\\ M +10 &Hh\ O +9 &JBu\ P +10 &K\ S +9 &M\ T +9 &O|\ T +10 &Q?\ T +9 &S\ T +10 &T\ U +9 &V\ T +9 &XE\ U +10 &Y{t\ + +9 &Z&b\ E +9 ( +2 "processing"%Y& +4 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.58 + .Hand.open + "manipulator"&81 +3 "core" &Z/\ 5 +50 1 + "manipulator"&)% +4 "core" % S - +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&F'\ +101 "core" ' + "processing"%p& +5 "core" &Z/\ 5 + #tImaging generic puck in Processing Clamp while storing it to tube 5 +2 "manipulator"&Z% +4 "core" %\ : ( +2 "storage"(7% +3 "core" %A w\ \ +2 "storage"(#. +3 "core" .(<< +2 "storage"([& +3 "core" &<; q\  +2 "storage"(K& +4 "manipulator"&& +4 "core" &<; J\  + &i +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +3 "storage"(#]kK-0-\ b + .tElbow.seek PC +5 "manipulator"&M(c +3 ."raiseStack"SE.seek :beamBreak +2 "storage"(z'e +2 "core" ( +2 "manipulator"&H& +4 "core" &i  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &X& +3 "core" &i N +2 .tForearm.seek PC +2 "manipulator"&'[ +98 "core" ' + .tHand.close + "manipulator"& ,\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&R' +17 "core" ' +2 .tSE.seek 1.12 Pucks below Top Plate +2 "storage"(;'f +44 "core" ' +2 "manipulator"&A& +5 "core" & q n # + "manipulator"&Q% +4 "core" % n p +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&x'\ +91 "core" ' + .tElbow.seek CC +2 "manipulator"&( +157 "core" ( +2 "manipulator"&J& +4 "core" &* @ @[ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &P& +3 "core" &*  @[ +2 .tForearm.seek CC +2 "manipulator"&'| +97 "core" ' +2 .tHand.close + "manipulator"&/ +63 "core" / +2 .tCC.seek :open + "collection"'S(p +410 "core" ( +2 "storage"(a& +4 "core" &<; [ X\  + "storage"(D& +4 "core" &<; Y Z \  + "manipulator"&i& +4 "core" &2" :. +2 "manipulator"&% +3 "core" % φ +2 .tForearm.seek :retract +2 "manipulator"&'\ +96 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&,( +162 "core" ( +2 "manipulator"&+& +4 "core" & J ' +2 "storage"(b& +4 "core" &<; X b \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 5 + "manipulator"&/'/ +112 "core" ' + .tElbow.hold +2 "manipulator"&?, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&O1 +62 "core" 1 +3 "manipulator"&(% +4 "core" % Bf   + "storage"(T& +4 "core" &<;\ \  \  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 5 + 319 counts +2 "manipulator"&>'n +17 "core" ' +2 "manipulator"& & +4 "core" &\ [ w Z +2 "storage"(U& +4 "core" &<; i h W\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&@' +19 "core" ' +2 "storage"(`% +4 "core" %` 8\ +2 ."downElevator"SE.seek :down +4 "storage"('N +99 (% +2 "core" %#C s t \ V` +2 "manipulator"&W% +4 "core" % q p  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&k'\ +98 "core" ' +41 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 6 of [3..6] + #Loading generic puck from tube 6 into Collection Clamp +2 "collection"'& +3 "core" &  \ +2 "manipulator"&% +5 "core" %\ 9 ( + "storage"(]% +4 "core" %? \\ [\ +2 "storage"(l. +3 "core" .(<< +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 + "storage"(^(K +351 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (8& +3 "core" &K\ \ j\  + "manipulator"&)& +4 "core" &\ Y +2 .tElbow.seek 6 +2 "manipulator"&p( +15 "core" ( +2 "manipulator"&Z& +3 "core" &  n % +2 "storage"(7& +4 "core" &K X Y |\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&#'< +108 "core" ' +2 "storage"([& +4 "core" &K \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"('e +280 "core" ' +2 "storage"(K- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (Y& +2 "core" &K p | \  +2 "manipulator"&H& +4 "core" &  e l % + .tElbow.seek 6 +57 "manipulator"&X( +21 "core" ( +2 "manipulator"&f& +4 "core" & D e K  + "storage"(<& +4 "core" &K e\  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&'Ϧ +19 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +63 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&F& +2 "storage"(-'N +8 "core" & 7  + "manipulator"&\ % +4 "core" % Ϯ  +2 .tForearm.seek :retract +2 "manipulator"&&'\ +100 "core" ' +2 .tElbow.seek CC + "manipulator"&.( +145 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +44 "core" ( +2 "manipulator"&z& +4 "core" &*  @^ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &* } @\\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&}'| +101 "core" ' +2 "manipulator"&:& +4 "core" &* ` @X +2 "manipulator"&M% +4 "core" %} 9 +2 "collection"'t& +4 "core" &  \ +2 "collection"'m& +5 "core" &  \ +2 .tCC.seek :closed + "collection"'(] +6 "core" &  \  +7 &2}  \ *y +9 &c  \ > +10 &Pw  \ N +9 &\\  \ L +9 &^  \ M +10 &_  \ M +9 &!Y]  \ M +9 &#]  \ M +10 &$]  \ M +9 &&^  \ M +10 &(a\\  \ M +9 &*#]  \ M +9 &+Z  \ M +10 &-_  \ M +9 &/j]  \ M +9 &1,]  \ M +10 &2]  \ M +9 &4Z  \ L +10 &6r[  \ M +9 &84]  \ M +9 &9Y  \ M +10 &;[  \ L +9 &=z\\  \ M +9 &?;]  \ M +10 &@\\  \ M +9 &BZ  \ M +10 &D[  \ M +9 &FDZ  \ M +9 &H^  \ M +10 &Ig  \ N +9 &K{  \ P +9 &M6  \ T +10 &N  \ W +9 &P  \ W +10 &Rr  \ W +9 &T1  \ Y +9 &U  \ Z +10 &W  \ Z +9 &Yp  \ [\ +9 &[0  \ \\ +10 &\\p  \ B +9 &]"  \ *z +10 &]v  \ P +2 ( + "collection"'m& +4 #tCollection Clamp onSpring/offSpring for 9/25 samples, on/off torque 2.04 + .Hand.open + "manipulator"&1 +61 "core" 1 +2 "manipulator"&% +4 "core" % }  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&L'\ +94 "core" ' +2 #tLoading generic puck from tube 6 into Processing Clamp + "processing"%V& +5 "core" &\ + "manipulator"&u% +4 "core" %\ . - #f +2 "storage"(9% +3 "core" %M G\ \ +2 "storage"(. +3 "core" .(K +2 "storage"(~& +4 "core" &K .\  + "storage"(!& +4 "core" &K P\  +2 "manipulator"&1& +4 "core" &%# ; ;5 + "manipulator"&_% +4 "core" %\ .  #f +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 + "manipulator"&( +155 "core" ( + "manipulator"&j& +5 "core" & B  + "storage"(%& +4 "core" &K\ \  B\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&3'< +101 "core" ' +2 "storage"(y& +4 "core" &K   \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(e'e +288 "core" ' + "storage"({- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (r& +2 "core" &K\ \ \  +2 "manipulator"&\\& +3 "core" & G  +2 .tElbow.seek 6 +2 "manipulator"&o( +3 "core" ( +2 "manipulator"&h& +4 "core" &   + "storage"(4& +4 "core" &K\ \  \  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&n'Ϧ +11 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"& / +62 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&v& +2 "storage"( 'N +8 "core" &   + "manipulator"& % +4 "core" % ϯ s  & +2 .tForearm.seek :retract +2 "manipulator"&*'\ +94 "core" ' +2 .tElbow.seek PC + "manipulator"&q(c +159 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +93 "core" ( + "manipulator"& & +5 "core" &b +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &c& +3 "core" &b N +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&$'[ +101 "core" ' + "manipulator"&C& +5 "core" &b ] +2 "manipulator"&% +3 "core" %^ - +2 "processing"%g& +4 "core" &\ +2 "processing"%=& +5 "core" &\ +2 .tPC.seek :closed + "processing"%|(Z +5 "core" &\  +9 &1}\ *x +9 &c\ > +10 &Av\ N +9 &T\ M +9 &Z\ N +10 &X\ M +9 &!J[\ M +10 &# X\ M +9 &$Y\ M +9 &&Z\ M +10 &(QY\ N +9 &*X\ M +9 &+X\ N +10 &-X\ M +10 &/YW\ N +11 &1Y\ M +7 &2U\ M +9 &4Y\ M +10 &6aX\ N +9 &8#Y\ N +9 &9W\ M +10 &;U\ M +9 &=kU\ M +9 &?+\\\ N +10 &@Y\ M +9 &B[\ N +10 &DrY\ M +9 &F3]\ N +9 &Gb\ N +10 &Im\ P +9 &Km~\ R +10 &M*\ S +9 &N\ T +9 &P\ T +10 &Rn\ T +9 &T/\ T +9 &U\ T +10 &W\ U +9 &Yt\ B +9 &Zx>\ W +10 &Z3\ 3 +2 ( +2 "processing"%=& +3 #tProcessing Clamp onSpring/offSpring for 9/25 samples, on/off torque 1.64 + .Hand.open + "manipulator"&w1 +61 "core" 1 + "manipulator"&2% +4 "core" % ^ P +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&''\ +100 "core" ' + "processing"%"& +5 "core" &Z,\ 3 + #tImaging generic puck in Processing Clamp while storing it to tube 6 +2 "manipulator"&s% +3 "core" %\ 5 T & +2 "storage"(5% +4 "core" %N \ + "storage"(. +3 "core" .(K +2 "storage"(I& +4 "core" &K \  +2 "storage"(G& +2 "manipulator"&0& +7 "core" &K \  + &b { + .tElbow.reconfigure :tight +4 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +3 "storage"(#]kK-0-\ b + "manipulator"&A(c +6 ."raiseStack"SE.seek :beamBreak +2 "storage"(Q'e +3 "core" ( + "manipulator"&d& +4 "core" &b y + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &E& +3 "core" &b p +2 .tForearm.seek PC +2 "manipulator"&'[ +97 "core" ' + .tHand.close + "manipulator"&/ +63 "core" / +2 .tPC.seek :open +2 "processing"%B(p +83 "core" ' +2 "storage"(- +4 "core" -'e + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(J'B +34 "core" ' +262 ( +2 "storage"(P& +4 "core" &K\ \  \  + "manipulator"&R& +4 "core" &b  +2 "manipulator"&% +3 "core" % c  +2 .tForearm.seek :retract +2 "manipulator"&'\ +95 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&x( +259 "core" ( + "manipulator"&N& +5 "core" & S $ + "storage"(a& +4 "core" &K V\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&D'< +107 "core" ' +2 .tHand.open + "manipulator"&i1 +54 "core" 1 +2 "storage"(- +3 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate +2 "storage"(+' +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(b' +50 "core" ' + #tLights, camera, ACTION! +2 "storage"(- +3 "core" -' +2 "storage"(& +4 "core" &K = 6 (\  +2 "manipulator"&O& +4 "core" & n o # +2 .tElbow.seek 6 + "manipulator"&(( +4 "core" ( + "manipulator"&T& +4 "core" & t q # + "storage"( & +4 "core" &K 1 1 }\  +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&U'< +4 "core" ' + .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"(`'M +63 "core" ' + "manipulator"&& +5 "core" & x o  # + "storage"(& +4 "core" &K   r\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&W'z +32 "core" ' +2 .tElbow.hold + "manipulator"&,, +5 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +57 .tSE.reconfigure :default +4 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"(/'7 +23 "core" ' + "manipulator"&% +5 "core" %Όe  l õ + "storage"(& +4 "core" &K \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 318 counts + "manipulator"&>'ϸ +17 "core" ' + "manipulator"&]& +5 "core" & t q $ # + "storage"(l& +4 "core" &K   t\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&;'< +26 "core" ' +2 "storage"(@% +4 "core" %; '  7\  +2 ."downElevator"SE.seek :down +4 "storage"('N +99 (% +2 "core" %G\ \  l\ Wd +2 "manipulator"&8% +4 "core" %1 m n +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&)'\ +97 "core" ' +52 ' + ."downElevator"SE.stop + "storage"(5 +3 (Z& +4 "core" &K \  +2 "collection"'7& +4 "core" &]r  \ P + #tStoring generic puck in Collection Clamp to tube 6 +2 "manipulator"&[% +4 "core" %\ : ( + "storage"(?% +4 "core" %R \  +2 "storage"(k. +3 "core" .(K +2 "storage"(K& +4 "core" &K \  + "storage"(Y& +4 "core" &K \  +2 "manipulator"&H& +4 "core" & "~ +2 .tElbow.seek 6 + "manipulator"&f( +4 "core" ( + "manipulator"&<& +4 "core" & { "~ +2 "storage"(& +4 "core" &K a\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&F'< +105 "core" ' + "storage"(\ & +4 "core" &K (  \  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(p'e +281 "core" ' + "storage"(#- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" & n n "~ +2 "storage"(z& +3 "core" &K E >\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 + "manipulator"&'z +34 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(X- +3 "core" -' +2 .tSE.seek 0.12 Pucks below Top Plate +2 "storage"(:'p +29 "core" ' +2 "manipulator"&M% +4 "core" %΄W   ű + "storage"(t& +4 "core" &K 9\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 310 counts + "manipulator"&-'ϰ +17 "core" ' +2 "manipulator"&&& +4 "core" & y 3 "z + "storage"(S& +4 "core" &K   \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&'< +18 "core" ' +2 .tSE.seek 1.12 Pucks below Top Plate + "storage"('_ +46 "core" ' +2 "manipulator"&V& +4 "core" & q o  "z +2 "manipulator"&u% +4 "core" %3 p q  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&9'\ +99 "core" ' +2 .tElbow.seek CC +2 "manipulator"&( +140 "core" ( + "manipulator"&~& +5 "core" &   - + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &m& +2 "core" &  4 - +2 .tForearm.seek CC +2 "manipulator"&!'| +93 "core" ' +2 .tHand.close + "manipulator"&1/ +53 "core" / +2 .tCC.seek :open +2 "collection"'_(p +413 "core" ( + "storage"(}& +4 "core" &K s h w\  +2 "storage"(j& +4 "core" &K N V H\  + "manipulator"&%& +4 "core" &   - +2 "manipulator"&y% +3 "core" % q b +2 .tForearm.seek :retract +2 "manipulator"&.'\ +92 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 + "manipulator"&L( +164 "core" ( +2 "manipulator"&{& +4 "core" & \\ * +2 "storage"(r& +4 "core" &K s o 5\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 6 +2 "manipulator"&\\'z +107 "core" ' + .tElbow.hold +2 "manipulator"&h, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&41 +52 "core" 1 +2 "manipulator"& % +4 "core" % Ήy : +2 "storage"(v& +4 "core" &K\ \  \  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 315 counts + "manipulator"& 'ϵ +18 "core" ' +2 "manipulator"&& +4 "core" & ^ u ? "~ + "storage"(3& +4 "core" &K n o \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&e'< +18 "core" ' + "storage"(n% +4 "core" %] B\ +3 ."downElevator"SE.seek :down +3 "storage"( 'N +59 "Can" !C? +41 "storage"(c% +3 "core" %< _ t o\ U^ +2 "manipulator"&o% +4 "core" % n o  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&C'\ +90 "core" ' +47 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 3 of [3..6] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"'& +5 "core" &  \ + "manipulator"&g% +4 "core" %\ 1 G $q +2 "storage"( % +4 "core" %= X X F\ +2 "storage"(*. +3 "core" .(K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 + "storage"(6( +996 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (w& +3 "core" & v\ +2 "manipulator"&2& +4 "core" & * "~ +2 .tElbow.seek 3 + "manipulator"&"(D +46 "core" ( + "manipulator"&s& +5 "core" &7  I + "storage"(5& +4 "core" & Y [ \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&' +97 "core" ' + "storage"(=& +4 "core" & m w Y\ +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(I'e +278 "core" ' +2 "storage"(0- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (G& +2 "core" & 9 < \ +2 "manipulator"&d& +3 "core" &7  I +2 .tElbow.seek 3 +2 "manipulator"&E(D +15 "core" ( +2 "manipulator"&$& +4 "core" &B ' # +2 "storage"(& +4 "core" & Y [\ +2 .tForearm.seek 3 + 300 counts + "manipulator"&'y +32 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&q/ +63 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&'& +2 "storage"(|'N +7 "core" &B m x / # +2 "manipulator"&P% +4 "core" % ϋ p n +2 .tForearm.seek :retract + "manipulator"&Q'\ +95 "core" ' +2 .tElbow.seek CC + "manipulator"&R( +141 "core" ( + "manipulator"&& +5 "core" & b . + ' + ."downElevator"SE.stop +3 .tElbow.reconfigure :loose +2 "storage"(5 +3 "manipulator"&$ &.,(#b +3 && +4 "core" & { . +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&N'| +94 "core" ' +2 "manipulator"&a& +4 "core" & . . +2 "manipulator"&A% +4 "core" %{ $  +2 "collection"'i& +4 "core" &  \ +2 "collection"'& +4 "core" &  \ +3 .tCC.seek :closed + "collection"'(] +5 "core" &  \  +9 &4  \ +{ +9 &e  \ ? +10 &\\v  \ N +9 &!\\  \ M +9 &]  \ M +10 &`  \ M +9 &!g^  \ M +10 &#)_  \ M +9 &$^  \ L +9 &&^  \ M +10 &(o]  \ M +9 &*1`  \ M +9 &+Y  \ L +10 &-]  \ M +9 &/w^  \ M +10 &18]  \ M +9 &2_  \ M +9 &4Z  \ L +10 &6[  \ M +9 &8@_  \ M +9 &:Y  \ M +10 &;Y  \ M +9 &=Z  \ M +10 &?I[  \ M +9 &A \\  \ M +9 &B\\  \ M +10 &DZ  \ M +9 &FQ_  \ M +9 &Ha  \ M +10 &Ir  \ O +9 &K  \ Q +10 &M?  \ V +9 &N  \ W +9 &P  \ X +10 &R  \ X +9 &T>  \ Y +9 &U  \ Z +10 &W  \ Z +9 &Yz  \ \\ +10 &[>  \ [ +9 &\\{  \ . +9 &])  \ %n +9 ( +3 "collection"'& +3 #tCollection Clamp onSpring/offSpring for 9/25 samples, on/off torque 2.06 +2 .Hand.open +56 "manipulator"&1 +6 "core" &]}  \ \\ +57 1 + "manipulator"&O% +5 "core" % { y  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&T'\ +103 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"% & +5 "core" &\ + "manipulator"&% +4 "core" %\ E  +2 "storage"(% +4 "core" %>\ \  s\ + "storage"(. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 + "storage"(J( +30 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (+& +3 "core" &\ \ +2 "manipulator"&& +4 "core" & V . + "manipulator"&% +4 "core" %\ ?  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&](D +173 "core" ( + "manipulator"&l& +5 "core" &B\ % Y + "storage"(x& +4 "core" &   Y\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&D' +106 "core" ' + "storage"(b& +5 "core" &   W\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(@'e +284 "core" ' +2 "storage"(U- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" &\ \  \  + "manipulator"&8& +4 "core" &B\ q x > Y +2 .tElbow.seek 3 +2 "manipulator"&((D +3 "core" ( +2 "manipulator"&`& +4 "core" &B\ t { V Y +2 "storage"(W& +3 "core" &\ \ # \  +3 .tForearm.seek 3 + 300 counts + "manipulator"&>'y +15 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&Z/ +56 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&7& +2 "storage"(['N +7 "core" &B\ A Y +2 "manipulator"&?% +4 "core" % q  0 +2 .tForearm.seek :retract + "manipulator"&k'\ +98 "core" ' +2 .tElbow.seek PC + "manipulator"&K(c +150 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +102 "core" ( + "manipulator"&/& +5 "core" &f L + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &Y& +3 "core" &f  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&H'[ +100 "core" ' +2 "manipulator"&<& +4 "core" &f  +2 "manipulator"&% +4 "core" %\\  + "processing"%;& +4 "core" &\ +2 "processing"%\ & +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%(Z +5 "core" &\ +7 & 1\ #b +9 &^U~\ 7 +10 &{\ K +9 &lW\ M +9 &.X\ M +10 &U\ M +9 & Z\ N +9 &"tW\ M +10 &$6Z\ M +9 &%Y\ N +10 &'W\ M +9 &)|U\ M +9 &+>X\ M +10 &-[\ M +9 &.\\\ N +9 &0Y\ M +10 &2FU\ M +9 &4T\ M +9 &5Z\ M +10 &7X\ M +9 &9NT\ M +10 &;Y\ M +9 &<V\ M +9 &>V\ N +10 &@VX\ M +9 &BV\ M +10 &CV\ N +9 &EY\ N +9 &G\\`\ N +10 &Ig\ O +9 &Jr\ P +9 &L\ R +10 &NS\ T +9 &P\ T +10 &Q\ T +9 &S\ U +9 &UX\ U +10 &W\ T +9 &X\ U +9 &Z:Nn\ - +10 &Z)\ ( +5 ( +2 "processing"%\ & +4 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.58 + .Hand.open + "manipulator"&,1 +4 "core" &Z\ ( +53 1 + "manipulator"&)% +4 "core" % \\ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&#'\ +101 "core" ' + "processing"%& +4 "core" &Z\ ( +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&z% +4 "core" %\ : q ( +2 "storage"(X% +3 "core" %= \  +2 "storage"(M. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 +2 "storage"(t( +17 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (&& + "manipulator"&S& +4 "core" & T \ $ +6 ."raiseStack"SE.reconfigure :place +3 "storage"(#]kK-0-\ b +3 "core" &f + .tElbow.reconfigure :tight +4 "manipulator"&$&.,(\ #b +2 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +3 "storage"(V'e "manipulator"&u(c +6 "core" ( + "manipulator"&F& +4 "core" &f +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &f& +3 "core" &f U +2 .tForearm.seek PC +2 "manipulator"&p'[ +94 "core" ' +2 .tHand.close + "manipulator"&/ +54 "core" / + .tPC.seek :open +2 "processing"%-(p +92 "core" ' + "storage"(:- +3 "core" -'e +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +2 ."raiseStack"SE.seek :place +2 "storage"(~'B +35 "core" ' +255 ( + "storage"(m& +4 "core" &\  _\ ( +2 "manipulator"&& +4 "core" &f + "manipulator"&% +4 "core" % c +2 .tForearm.seek :retract +2 "manipulator"&1'\ +99 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&9(D +254 "core" ( +2 "manipulator"&& +4 "core" &> q "| +2 "storage"(}& +4 "core" & \ ( +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&j' +93 "core" ' + .tHand.open +2 "manipulator"&%1 +55 "core" 1 +2 "storage"(y- +4 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate + "storage"({' +25 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(r' +53 "core" ' + #tLights, camera, ACTION! +2 "storage"(!- +3 "core" -' +2 "storage"(& +4 "core" &   ;\ + + "manipulator"&4& +4 "core" &>  "| +2 .tElbow.seek 3 +2 "manipulator"& (D +3 "core" ( +2 "manipulator"&v& +4 "core" &> ^ "| + "storage"(& +4 "core" &   \ + +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&3' +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"(n'M +63 "core" ' + "manipulator"&.& +4 "core" &>  "| +2 "storage"(c& +4 "core" &\ \  \ + + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&o'M +34 "core" ' + .tElbow.hold +2 "manipulator"&L, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"(\\'7 +25 "core" ' + "manipulator"&% +5 "core" %TV   I ñ + "storage"(g& +4 "core" & i\ + +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 307 counts + "manipulator"& 'π +16 "core" ' +2 "manipulator"& & +4 "core" &e\ v |  U +2 "storage"(*& +4 "core" &   {\ + +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&' +20 "core" ' + "storage"(e% +5 "core" %?   \ +2 ."downElevator"SE.seek :down +3 "storage"( 'N +100 (^% +2 "core" %J '\ We +3 "manipulator"&w% +4 "core" % s n  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&2'\ +90 "core" ' +58 ' + ."downElevator"SE.stop + "storage"(5 +3 (s& +4 "core" & F\ + +2 "collection"'5& +4 "core" &]|  \ \\ +2 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&=% +4 "core" %\ / @ #c +2 "storage"(h% +4 "core" %B 5\ + "storage"(C. +3 "core" .( +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(0( +7 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (G& +2 "core" & v \ % +2 "manipulator"&d& +4 "core" &e\ a U +2 .tElbow.seek 3 + "manipulator"&$(D +59 "core" ( +2 "manipulator"&& +4 "core" &< i "} + "storage"(q& +60 "core" & \ ( +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&'' +105 "core" ' +2 "storage"(P& +4 "core" &   b\ ( +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"("'e +274 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" &= o o "| + "storage"(& +4 "core" &\ \  p\ . +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&I'M +36 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(a- +2 "core" -' +3 .tSE.seek 0.11 Pucks below Top Plate + "storage"(A'i +25 "core" ' +2 "manipulator"&i% +3 "core" %SN K į +2 "storage"(E& +4 "core" & %\ . +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 306 counts + "manipulator"&|' +18 "core" ' +2 "manipulator"&Q& +4 "core" &j\ z r $ O +2 "storage"(_& +4 "core" &\ \  i\ . +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&' +12 "core" ' +2 .tSE.seek 1.11 Pucks below Top Plate + "storage"(O'X +40 "core" ' +2 "manipulator"&& +4 "core" &j q x  O +2 "manipulator"& % +4 "core" % q m  6 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +94 "core" ' +2 .tElbow.seek CC +2 "manipulator"&( +143 "core" ( +2 "manipulator"&& +4 "core" &  / +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &+& +3 "core" & / +3 .tForearm.seek CC + "manipulator"&'| +98 "core" ' +2 .tHand.close + "manipulator"&/ +61 "core" / +2 .tCC.seek :open +2 "collection"'N(p +410 "core" ( + "storage"(l& +4 "core" & Y Z\ . +2 "storage"(x& +4 "core" & W X V\ . + "manipulator"&6& +4 "core" & + / +2 "manipulator"&b% +3 "core" % ϋ E +2 .tForearm.seek :retract +2 "manipulator"&R'\ +97 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&T(D +151 "core" ( + "manipulator"&U& +5 "core" &B d +2 "storage"(& +4 "core" & Y Z\ . + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 3 +2 "manipulator"&8'M +111 "core" ' +2 .tElbow.hold + "manipulator"&`, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&W1 +59 "core" 1 +2 "manipulator"&Z% +4 "core" % _u 1  ' + "storage"(7& +4 "core" &\ \ \ . + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 318 counts + "manipulator"&?'ϋ +17 "core" ' +2 "manipulator"&]& +4 "core" &\\ ] w  +2 "storage"(D& +4 "core" & \ . +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&@' +10 "core" ' +2 "storage"(>% +5 "core" %\\ \ +2 ."downElevator"SE.seek :down +4 "storage"(/'N +98 (Y% +3 "core" %*A v u k\ U] +2 "manipulator"&(% +4 "core" % m o = + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&<'\ +94 "core" ' +47 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 4 of [3..6] +2 #Loading generic puck from tube 4 into Collection Clamp + "collection"'& +4 "core" &  \ +2 "manipulator"&;% +4 "core" %\ 8 H ' +2 "storage"([% +4 "core" %I s u \ +2 "storage"(k. +3 "core" .( +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"(B(, +343 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (,& +3 "core" &,~   P\  + "manipulator"&)& +4 "core" &\\ v  +2 .tElbow.seek 4 + "manipulator"&(* +14 "core" ( +2 "manipulator"&z& +4 "core" &- q  +2 "storage"(X& +3 "core" &,} Y [ \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&M' +112 "core" ' + "storage"(\ & +4 "core" &,} S\  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(&'e +277 "core" ' +2 "storage"(S- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (F& +3 "core" &,} i p \  + "manipulator"&f& +4 "core" &- o n ]  +2 .tElbow.seek 4 + "manipulator"&H(* +4 "core" ( + "manipulator"&& +4 "core" &- l g D  + "storage"(J& +4 "core" &,} \  +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&:'Z +22 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&K/ +59 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&#& + "storage"('N +8 "core" &- n n   + "manipulator"&m% +4 "core" % N n o \ +2 .tForearm.seek :retract +2 "manipulator"&'\ +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"&V( +147 "core" ' +2 ( +2 ."downElevator"SE.stop +3 "manipulator"&& "storage"(5 +7 "core" & p . +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &p& +3 "core" & e . +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&'| +100 "core" ' +2 "manipulator"&}& +4 "core" & V . +2 "manipulator"&u% +3 "core" %} s +2 "collection"'%& +4 "core" &  \ +2 "collection"'y& +5 "core" &  \ +3 .tCC.seek :closed + "collection"'!(] +4 "core" &  \  +9 &3  \ *z +9 &d  \ > +10 &Wv  \ N +9 &[  \ L +9 &_  \ M +10 &`  \ M +9 &!b]  \ M +9 &#$\\  \ M +10 &$[  \ L +9 &&]  \ M +9 &(k]  \ L +10 &*-]  \ L +9 &+\\  \ L +10 &-]  \ M +9 &/qa  \ M +11 &14]  \ M +9 &2]  \ M +8 &4[  \ L +9 &6y^  \ M +10 &8=]  \ L +9 &9Z  \ L +10 &;Z  \ M +9 &=Z  \ M +9 &?DY  \ M +10 &A\\  \ L +9 &B\\  \ M +9 &DX  \ M +10 &FLZ  \ M +9 &H\\  \ L +10 &Ih  \ N +9 &Kt  \ P +9 &MB  \ S +10 &N  \ V +9 &P  \ W +9 &Rz  \ X +10 &T9  \ Y +9 &U  \ Y +10 &W  \ Z +9 &Ys  \ ] +9 &[9  \ [ +10 &\\{  \ / +9 &]'  \ ^ +9 ( +3 "collection"'y& +3 #tCollection Clamp onSpring/offSpring for 9/25 samples, on/off torque 2.02 + .Hand.open + "manipulator"&1 +4 "core" &]u  \ Q +55 1 +2 "manipulator"&4% +4 "core" % y [ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&v'\ +99 "core" ' +2 #tLoading generic puck from tube 4 into Processing Clamp + "processing"%& +5 "core" &\ + "manipulator"&1% +4 "core" %\ 5 W & +2 "storage"(.% +3 "core" %: 9\ \ +2 "storage"(c. +3 "core" .(,~ +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"(~(, +8 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (& +3 "core" &,~ 7\  + "manipulator"&g& +4 "core" & . +2 "manipulator"&{% +4 "core" %\ 5 a & +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"& (* +155 "core" ( + "manipulator"&*& +5 "core" && D + "storage"(e& +4 "core" &,}\ \  Y\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&9' +101 "core" ' +2 "storage"(j& +4 "core" &,}   \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(r'e +277 "core" ' + "storage"(^- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (w& +2 "core" &,}\ \ $ \  +2 "manipulator"&3& +3 "core" && $ +2 .tElbow.seek 4 +57 "manipulator"& (* +4 "core" ( + "manipulator"&n& +4 "core" && % +2 "storage"(o& +3 "core" &,}\ \  S\  +3 .tForearm.seek 4 + 300 counts + "manipulator"&s'Z +11 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"& / +64 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&5& +2 "storage"(='N +8 "core" && c n F + "manipulator"&h% +4 "core" % P n k ? +2 .tForearm.seek :retract +2 "manipulator"&C'\ +97 "core" ' +2 .tElbow.seek PC +2 "manipulator"&\\(c +152 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +93 "core" ( + "manipulator"&G& +5 "core" &m { + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &d& +3 "core" &m ] +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&'[ +99 "core" ' + "manipulator"&q& +5 "core" &m | + "manipulator"&% +4 "core" %^  +2 "processing"% & +4 "core" &\ +2 "processing"%P& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%t(Z +4 "core" &\  +9 &0y\ *x +9 &d\ > +10 &Dt\ M +9 &T\ M +9 &Z\ M +10 &Y\ M +9 &!KU\ M +9 &#Y\ M +10 &$W\ M +9 &&Z\ M +10 &(SX\ M +9 &*Y\ M +9 &+W\ M +10 &-Y\ M +9 &/[Z\ M +10 &1W\ N +9 &2W\ M +9 &4W\ N +10 &6cX\ M +9 &8$Y\ N +9 &9X\ M +10 &;Z\ M +9 &=jX\ N +9 &?-Y\ M +10 &@U\ M +9 &BT\ M +10 &DsU\ M +9 &F4W\ N +9 &Gb\ O +10 &Io\ P +9 &Km\ R +9 &M)\ T +10 &N\ T +9 &P\ T +10 &Rn\ T +9 &T0\ T +9 &U\ T +10 &W\ U +9 &Yu\ B +10 &Z|A\ T +9 &Z\ ' +2 ( +2 "processing"%P& +3 #tProcessing Clamp onSpring/offSpring for 9/25 samples, on/off torque 1.64 + .Hand.open +2 "manipulator"&L1 +53 "core" 1 +2 "manipulator"&2% +4 "core" % ^ +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&'\ +107 "core" ' + "processing"%& +5 "core" &Z\ ' + #tImaging generic puck in Processing Clamp while storing it to tube 4 +2 "manipulator"&% +4 "core" %\ 5  + "storage"(a% +4 "core" %>\ \ \ \ +2 "storage"(i. +3 "core" .(,~ +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 4 +3 "storage"(E(, +4 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (Q& +2 "manipulator"&_& +4 "core" &, ]\  +6 ."raiseStack"SE.reconfigure :place +3 "storage"(#]kK-0-\ b +3 "core" &m  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +3 ."raiseStack"SE.seek :beamBreak +3 "manipulator"&(c + "storage"( 'e +6 "core" ( + "manipulator"&'& +4 "core" &m v  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &$& +4 "core" &m  +2 .tForearm.seek PC + "manipulator"&"'[ +96 "core" ' + .tHand.close + "manipulator"&I/ +58 "core" / +2 .tPC.seek :open +2 "processing"%|(p +88 "core" ' +2 "storage"(A- +4 "core" -'e + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('B +34 "core" ' +257 ( +2 "storage"(+& +4 "core" &,~\ \  \  +2 "manipulator"&& +4 "core" &m ' + "manipulator"&% +4 "core" % _ B +2 .tForearm.seek :retract +2 "manipulator"&'\ +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&(* +278 "core" ( +2 "manipulator"&& +4 "core" & q  +2 "storage"(l& +4 "core" &,~ W\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&x' +101 "core" ' + .tHand.open +2 "manipulator"&61 +51 "core" 1 +2 "storage"(b- +4 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate +2 "storage"(U' +23 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.83 Pucks below Top Plate + "storage"(' +51 "core" ' +2 #tLights, camera, ACTION! + "storage"(- +4 "core" -' +2 "storage"(& +3 "core" &,~ 4 9 \  +2 "manipulator"&W& +4 "core" & O  +2 .tElbow.seek 4 + "manipulator"&Z(* +33 "core" ( + "manipulator"&7& +5 "core" &% b # + "storage"(]& +4 "core" &,~ 5 < c\  +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&D' +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"(>'M +58 "core" ' +2 "manipulator"&R& +4 "core" &% # +2 "storage"(Y& +4 "core" &,~ \  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 + "manipulator"&('. +35 "core" ' + .tElbow.hold +2 "manipulator"&T, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"(8'7 +23 "core" ' +2 "manipulator"&% +4 "core" %8R   ư + "storage"(;& +4 "core" &,~ %\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 310 counts + "manipulator"&['d +18 "core" ' +2 "manipulator"&?& +4 "core" & v C ( +2 "storage"(k& +4 "core" &,~   \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&O' +22 "core" ' +2 "storage"(@% +4 "core" %=   ?\  +3 ."downElevator"SE.seek :down +3 "storage"(/'N +100 (0% +2 "core" %B 1\ Wc +2 "manipulator"&,% +4 "core" % n n  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&)'\ +90 "core" ' +58 ' + ."downElevator"SE.stop + "storage"(5 +3 (z& +4 "core" &,~ h\  + "collection"'X& +4 "core" &]u  \ Q +2 #tStoring generic puck in Collection Clamp to tube 4 +2 "manipulator"&\ % +4 "core" %\ - _ "\\ +2 "storage"(`% +3 "core" %?\ F\ \ +2 "storage"(<. +3 "core" .(, +2 "storage"(S& +3 "core" &,~ Z\  +2 "storage"(F& +4 "core" &,~\ \  T\  + "manipulator"&f& +4 "core" & l ( +2 .tElbow.seek 4 +2 "manipulator"&(* +37 "core" ( + "manipulator"&J& +5 "core" &4 Y  + "storage"(K& +4 "core" &,~\ "\  '\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&#' +101 "core" ' +2 "storage"(m& +5 "core" &,~ 7 9 b\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('e +248 "core" 'ў n o \ +3 !to:Slide::Error\ : mesg"HForearm positionErr at CC + 546 counts during Storage Elevator move:@checkpoint: omitted: @replyo:I2C::Servo::AbsMove3Reply :@destinationi%: @channeli: @statusIS:I2C::Servo::Status: enabledT: pastRLSF: pastFLSF:pastThresholdF: lostF: homeF: positioni: velocityi: currenti:pwmi:erri: inPressin : outPressio :deltaPressi\ : voltagef12.3093117329406x: @type2F: @tagi(: @sourcei+: @error:positionErr:bt["2/home/esp/esp2/lib/slide.rb:587:in `raiseErr'"3/home/esp/esp2/lib/slide.rb:36:in `initialize'"3/home/esp/esp2/lib/i2c/servo.rb:1680:in `call'"6/home/esp/esp2/lib/i2c/servo.rb:1680:in `deliver'"3/home/esp/esp2/lib/i2c/msg.rb:605:in `process'"2/home/esp/esp2/lib/msg.rb:212:in `initialize'",/home/esp/esp2/lib/msg.rb:209:in `loop'"2/home/esp/esp2/lib/msg.rb:209:in `initialize'"7/home/esp/esp2/lib/schedule.rb:481:in `initialize'"0/home/esp/esp2/lib/thread.rb:738:in `start'"7/home/esp/esp2/lib/schedule.rb:474:in `initialize'"'/home/esp/esp2/lib/schedule.rb:472:@axisName" Forearm +2 #Retry #1 of 4 + .SE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek :down +2 "storage"(M'N +3 "core" ' \ \ +273 ' + "storage"(& +5 "core" &,~\ \  E\  + "manipulator"&p& +4 "core" &1 d l p  +2 .tElbow.seek 4 +2 "manipulator"&&(* +3 "core" ( + "manipulator"&:& +4 "core" &1 n h P  +2 "storage"(}& +4 "core" &,~\ \  \  +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&u' +31 "core" ' +2 "storage"(%& +4 "core" &,~\ \  S\  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(H'e +251 "core" '> o o 9 +4 !to:Slide::Error\ : mesg"HForearm positionErr at CC + 706 counts during Storage Elevator move:@checkpoint: omitted: @replyo:I2C::Servo::AbsMove3Reply :@destinationi%: @channeli: @statusIS:I2C::Servo::Status: enabledT: pastRLSF: pastFLSF:pastThresholdF: lostF: homeF: positioni>: velocityi: currenti:pwmi:erri: inPressio : outPressio :deltaPressi9 : voltagef12.3093117329406x: @type2F: @tagiz: @sourcei+: @error:positionErr:bt["2/home/esp/esp2/lib/slide.rb:587:in `raiseErr'"3/home/esp/esp2/lib/slide.rb:36:in `initialize'"3/home/esp/esp2/lib/i2c/servo.rb:1680:in `call'"6/home/esp/esp2/lib/i2c/servo.rb:1680:in `deliver'"3/home/esp/esp2/lib/i2c/msg.rb:605:in `process'"2/home/esp/esp2/lib/msg.rb:212:in `initialize'",/home/esp/esp2/lib/msg.rb:209:in `loop'"2/home/esp/esp2/lib/msg.rb:209:in `initialize'"7/home/esp/esp2/lib/schedule.rb:481:in `initialize'"0/home/esp/esp2/lib/thread.rb:738:in `start'"7/home/esp/esp2/lib/schedule.rb:474:in `initialize'"'/home/esp/esp2/lib/schedule.rb:472:@axisName" Forearm + #Retry #2 of 4 + .SE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek :down +2 "storage"('N +3 "core" ' \  3\ +273 ' +2 "storage"(& +4 "core" &,~ O 9\  +2 "manipulator"&N& +3 "core" &, n o  +2 .tElbow.seek 4 +2 "manipulator"&(* +3 "core" ( +2 "manipulator"&4& +4 "core" &, t q C  +2 "storage"(& +4 "core" &,~\ \  \  +59 .tForearm.seek 4 + 450 counts + "manipulator"&1' +31 "core" ' +2 "storage"(.& +4 "core" &,~ Z\  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(c'e +286 "core" ' +2 "storage"(y- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" &$ k e  +2 "storage"(g& +4 "core" &,~ T M\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 + "manipulator"&{'. +35 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 "storage"(*- +3 "core" -' +3 .tSE.seek 0.13 Pucks below Top Plate +2 "storage"(e'} +28 "core" ' +2 "manipulator"&B% +4 "core" %4I ; Į + "storage"(j& +4 "core" &,~ "\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 306 counts + "manipulator"&V'` +17 "core" ' + "manipulator"&v& +5 "core" & q t M  + "storage"(^& +4 "core" &,~  H\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&w' +17 "core" ' +3 .tSE.seek 1.13 Pucks below Top Plate + "storage"(3'l +43 "core" ' + "manipulator"&n& +5 "core" & n n  +2 "manipulator"&o% +4 "core" % a l i +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"& '\ +93 "core" ' + .tElbow.seek CC +2 "manipulator"&5( +147 "core" ( + "manipulator"&h& +4 "core" & / +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 & & +4 "core" & / + .tForearm.seek CC +2 "manipulator"&9'| +96 "core" ' +2 .tHand.close + "manipulator"&r/ +53 "core" / +2 .tCC.seek :open + "collection"'s(p +413 "core" ( +2 "storage"(G& +4 "core" &,~ X Y z\  + "storage"(d& +4 "core" &,~ I V Q\  +2 "manipulator"& & +4 "core" & 8 / + "manipulator"&q% +4 "core" % ύ  +2 .tForearm.seek :retract +2 "manipulator"&'\ +100 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"& (* +153 "core" ( +2 "manipulator"&=& +4 "core" &5 d  + "storage"(C& +4 "core" &,~ [ Y \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 4 + "manipulator"&-'. +111 "core" ' + .tElbow.hold +2 "manipulator"&L, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&21 +52 "core" 1 +2 "manipulator"&% +4 "core" % ?l 6 B  +2 "storage"(& +4 "core" &,~\ \  \  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 4 + 317 counts + "manipulator"&a'k +17 "core" ' + "manipulator"&i& +5 "core" & s u   + "storage"(P& +4 "core" &,~ l t \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&Q' +20 "core" ' +2 "storage"(_% +4 "core" %q \ +3 ."downElevator"SE.seek :down +4 "storage"(''N +99 ($% +3 "core" %J; u q D\ U^ +2 "manipulator"&% +3 "core" % d l _ +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&I'\ +90 "core" ' +50 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 5 of [3..6] +2 #Loading generic puck from tube 5 into Collection Clamp + "collection"'~& +4 "core" &  \ +2 "manipulator"&A% +4 "core" %\ - "X +2 "storage"(\\% +4 "core" %I t u F\ + "storage"(. +4 "core" .(, + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"(t(<< +350 "core" ( +2 .tSC.configure :limp +3 "storage"($\ 1b +2 (+& +3 "core" &<9 \  +2 "manipulator"&& +4 "core" & Y  +2 .tElbow.seek 5 + "manipulator"& ( +24 "core" ( + "manipulator"&& +5 "core" &  C + "storage"("& +4 "core" &<9 U X d\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&' +94 "core" ' + "storage"(l& +5 "core" &<9 p r \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('e +278 "core" ' +2 "storage"(6- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (b& +3 "core" &<9 \\ W \  +3 "manipulator"&& +4 "core" & C +2 .tElbow.seek 5 + "manipulator"&( +23 "core" ( + "manipulator"&W& +4 "core" &    +2 "storage"(& +4 "core" &<9 Z ^ 0\  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&7'[ +10 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&]/ +63 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&R& + "storage"(Y'N +8 "core" &  a d o  + "manipulator"&% +4 "core" % ` n k  +2 .tForearm.seek :retract +2 "manipulator"&'\ +92 "core" ' + .tElbow.seek CC +2 "manipulator"&;( +149 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +35 "core" ( +2 "manipulator"&U& +4 "core" &' n >J +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &?& +3 "core" &' 3 >I +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&k'| +103 "core" ' +2 "manipulator"&@& +4 "core" && i =F +2 "manipulator"&% +4 "core" % / +2 "collection"'x& +3 "core" &  \ +2 "collection"'& +5 "core" &  \ +2 .tCC.seek :closed +2 "collection"'0(] +4 "core" &  \  +8 &2~  \ *y +10 &d  \ > +9 &Lx  \ M +10 &\\  \ L +9 &]  \ L +9 &^  \ L +10 &!U]  \ M +9 &#]  \ L +9 &$\\  \ L +10 &&_  \ M +9 &(\\\\  \ M +10 &* \\  \ L +9 &+\\  \ L +9 &-_  \ M +10 &/f]  \ L +9 &1']  \ M +9 &2[  \ M +10 &4[  \ L +9 &6mZ  \ M +10 &8/[  \ M +9 &9Y  \ L +9 &;\\  \ L +10 &=uZ  \ M +9 &?8[  \ L +9 &@]  \ L +10 &B]  \ M +9 &D~_  \ L +10 &F@\\  \ L +9 &Ha  \ M +9 &Ip  \ O +10 &Kv  \ R +9 &M-  \ V +9 &N  \ W +10 &P  \ X +9 &Rm  \ X +10 &T+  \ Y +9 &U  \ Z +9 &W  \ Z +10 &Yh  \ \\ +9 &[*  \ \\ +9 &\\z  \ 5 +10 &]&  \ $j +9 &]}  \ T +3 ( + "collection"'& +3 #tCollection Clamp onSpring/offSpring for 9/25 samples, on/off torque 2.10 +2 .Hand.open + "manipulator"&,1 +60 "core" 1 +2 "manipulator"&D% +5 "core" % y  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&Z'\ +95 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp + "processing"%>& +4 "core" &\ +2 "manipulator"&(% +4 "core" %\ . / #e +2 "storage"(z% +3 "core" %? 8\ +2 "storage"([. +3 "core" .(<9 +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 + "storage"(X(<< +6 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (\ & +3 "core" &<:+ +\  +2 "manipulator"&`& +4 "core" &$  ;5 + "manipulator"&<% +4 "core" %\ . #e +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&S( +168 "core" ( + "manipulator"&8& +4 "core" & # ; +2 "storage"(F& +4 "core" &<9\ \  \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&f' +98 "core" ' + "storage"(J& +5 "core" &<9\ \  2\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(K'e +278 "core" ' + "storage"(O- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (m& +3 "core" &<9\ a\  +2 "manipulator"&/& +3 "core" & i ; +2 .tElbow.seek 5 + "manipulator"&T( +4 "core" ( + "manipulator"&)& +58 "core" & V ; +4 "storage"(#& +4 "core" &<9\ \  \  +2 .tForearm.seek 5 + 300 counts + "manipulator"&'[ +10 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&p/ +59 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"&:& "storage"('N +8 "core" & ) ; + "manipulator"&}% +4 "core" % X # +2 .tForearm.seek :retract +2 "manipulator"&%'\ +97 "core" ' +2 .tElbow.seek PC +2 "manipulator"&(c +154 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +97 "core" ( +2 "manipulator"&u& +5 "core" &l y + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &M& +3 "core" &l S +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC + "manipulator"&'[ +99 "core" ' +2 "manipulator"&N& +4 "core" &l & +2 "manipulator"&4% +4 "core" %c +2 "processing"%H& +4 "core" &\ +2 "processing"%& +4 "core" &\ +2 .tPC.seek :closed +2 "processing"%.(Z +5 "core" &\ +7 & 3\ #b +9 &^U~\ 7 +10 &|\ L +9 &oU\ M +10 &1Y\ M +9 &U\ M +9 & \\\ M +10 &"wX\ M +9 &$9V\ M +9 &%X\ N +10 &'V\ M +9 &)U\ M +10 &+AT\ M +9 &-Z\ M +9 &.[\ M +10 &0U\ M +9 &2IU\ M +9 &4 Y\ M +10 &5Y\ M +9 &7T\ M +9 &9QX\ M +10 &;Y\ N +9 &<V\ M +10 &>U\ N +9 &@YY\ M +9 &BU\ N +10 &CT\ M +9 &EU\ N +10 &G_]\ N +9 &Ig\ O +9 &Jz\ Q +10 &L\ T +9 &NU\ T +9 &P\ T +10 &Q\ T +9 &S\ T +9 &U[\ U +10 &W\ U +9 &X\ U +10 &Z;Mn\ - +9 &Z)\ ( +5 ( +2 "processing"%& +4 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.63 +2 .Hand.open + "manipulator"&&1 +3 "core" &Z\ ( +53 1 + "manipulator"&y% +5 "core" % b l + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +95 "core" ' +2 "processing"%& +4 "core" &Z\ ( +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 + "manipulator"&g% +4 "core" %\ . ; #i +2 "storage"(*% +3 "core" %G ~\ +2 "storage"(B. +3 "core" .(<< + "storage"(j& +4 "core" &<9 \  +2 "storage"(v& +4 "manipulator"&^& +4 "core" &<9 *\  + &l x +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +3 "storage"(#]kK-0-\ b + "manipulator"&n(c +7 ."raiseStack"SE.seek :beamBreak + "storage"(o'e +3 "core" ( + "manipulator"&1& +4 "core" &l Q +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &l G +2 .tForearm.seek PC +2 "manipulator"&c'[ +93 "core" ' +2 .tHand.close + "manipulator"&{/ +60 "core" / +2 .tPC.seek :open + "processing"%V(p +89 "core" ' +2 "storage"(e- +3 "core" -'e +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(h'B +37 "core" ' +255 ( + "storage"( & +4 "core" &<9\ \  \  +2 "manipulator"&w& +4 "core" &l | + "manipulator"&% +4 "core" % e +2 .tForearm.seek :retract +2 "manipulator"&r'\ +99 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"& ( +247 "core" ( + "manipulator"&!& +4 "core" & l ' +2 "storage"(G& +4 "core" &<9 \ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&d' +95 "core" ' + .tHand.open +2 "manipulator"& 1 +61 "core" 1 +2 "storage"(q- +3 "core" -'B +3 .tSE.seek -0.16 Pucks below Top Plate + "storage"(=' +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.83 Pucks below Top Plate + "storage"(C' +53 "core" ' + #tLights, camera, ACTION! +2 "storage"(9- +3 "core" -' +2 "storage"(5& +4 "core" &<9  @\  + "manipulator"&2& +4 "core" & F ' +2 .tElbow.seek 5 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&& +4 "core" & 6 ' + "storage"(i& +4 "core" &<9 M\  +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&P' +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"(_'M +64 "core" ' +2 "manipulator"&& +4 "core" & ' +2 "storage"($& +4 "core" &<9\ \  \  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&'/ +35 "core" ' +2 .tElbow.hold + "manipulator"& , +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"(-'7 +21 "core" ' +2 "manipulator"&~% +4 "core" %4R 4 İ +2 "storage"(a& +4 "core" &<9 B\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 305 counts + "manipulator"&A'` +17 "core" ' +2 "manipulator"&\\& +4 "core" & { v ? "y +2 "storage"(& +4 "core" &<9\ \ # \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&3' +32 "core" ' +2 "storage"(Q% +4 "core" %>   t\ +2 ."downElevator"SE.seek :down +3 "storage"(''N +99 (E% +3 "core" %#G \ Wc +2 "manipulator"&+% +4 "core" % o q  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +95 "core" ' +52 ' + ."downElevator"SE.stop + "storage"(5 +2 (& +5 "core" &<9 \  + "collection"'"& +4 "core" &]}  \ T +2 #tStoring generic puck in Collection Clamp to tube 5 + "manipulator"&l% +4 "core" %\ 1 t $s +2 "storage"(L% +3 "core" %; \ +2 "storage"(I. +3 "core" .(<< +2 "storage"(6& +4 "core" &<9 \\\  + "storage"(b& +4 "core" &<9 \  +2 "manipulator"&& +4 "core" & Z "y +2 .tElbow.seek 5 + "manipulator"&W( +32 "core" ( + "manipulator"&& +4 "core" & L  +2 "storage"(]& +4 "core" &<9\ \  |\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&R' +101 "core" ' +2 "storage"(& +4 "core" &<9   ~\  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"( 'e +277 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" &  + "storage"(U& +4 "core" &<9\ $\  S\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&?'/ +35 "core" ' + .tElbow.hold +2 "manipulator"&7, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(- +3 "core" -' +2 .tSE.seek 0.12 Pucks below Top Plate +2 "storage"(@'t +29 "core" ' + "manipulator"&% +5 "core" %0A   Ŭ + "storage"(x& +4 "core" &<9 \  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 5 + 301 counts + "manipulator"&Y'\\ +18 "core" ' +2 "manipulator"&& +4 "core" & D e W  +2 "storage"(s& +4 "core" &<9   u\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&,' +19 "core" ' +2 .tSE.seek 1.12 Pucks below Top Plate +2 "storage"(D'c +49 "core" ' +2 "manipulator"&>& +4 "core" & ` e b  +2 "manipulator"&(% +4 "core" % o n  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&z'\ +90 "core" ' +2 .tElbow.seek CC + "manipulator"&[( +151 "core" ( +2 "manipulator"&& +4 "core" &  . +56 .tElbow.reconfigure :loose +4 "manipulator"&$ &.,(#b +2 &\ & +3 "core" & 1 . +2 .tForearm.seek CC +2 "manipulator"&`'| +107 "core" ' + .tHand.close +2 "manipulator"& v t \ U] +2 "manipulator"&T% +4 "core" % e l  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&N'\ +90 "core" ' +51 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 6 of [3..6] + #Loading generic puck from tube 6 into Collection Clamp + "collection"'4& +5 "core" &  \ + "manipulator"&H% +4 "core" %\ ' Q 9 +2 "storage"(% +4 "core" %? p u \ \ + "storage"(%. +4 "core" .(<< + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"(|(K +347 "core" ( +3 .tSC.configure :limp +2 "storage"($\ 1b +2 (&& +3 "core" &K   \  +2 "manipulator"&y& +4 "core" & Z  +2 .tElbow.seek 6 + "manipulator"&( +33 "core" ( +2 "manipulator"&g& +4 "core" & ~ + +2 "storage"(*& +4 "core" &K u u E\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&B'< +96 "core" ' +2 "storage"(j& +4 "core" &K \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(^'e +280 "core" ' + "storage"(v- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (& +2 "core" &K O Y v\  +2 "manipulator"&1& +3 "core" & v L +2 .tElbow.seek 6 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&& +3 "core" & F +2 "storage"({& +4 "core" &K s t -\  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&e'Ϧ +26 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +63 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&& + "storage"(.'N +7 "core" & o n +2 "manipulator"& % +4 "core" % Ϧ o m E +2 .tForearm.seek :retract +2 "manipulator"&w'\ +90 "core" ' +2 .tElbow.seek CC + "manipulator"&o( +152 "core" ( +2 "manipulator"&& +4 "core" ' + & s / +2 .tElbow.reconfigure :loose +2 ."downElevator"SE.stop +4 "manipulator"&$ &.,(#b + "storage"(5 +4 "manipulator"&c& +4 "core" & O / +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&!'| +101 "core" ' +2 "manipulator"&G& +4 "core" &  / +2 "manipulator"&n% +4 "core" %p A n +2 "collection"' & +4 "core" &  \ +2 "collection"'q& +6 "core" &  \ +2 .tCC.seek :closed +3 "collection"'9(] +3 "core" &  \ +5 &  \ 9 +9 &K~  \ 0 +10 &Es  \ E +10 &a  \ M +9 &]  \ L +9 &s[  \ M +9 & 5`  \ M +10 &!_  \ M +9 &#\\  \ M +9 &%{]  \ M +10 &'=\\  \ M +9 &(\\  \ M +10 &*Z  \ L +9 &,Z  \ L +9 &.FZ  \ L +10 &0]  \ L +9 &1`  \ M +9 &3]  \ M +10 &5NZ  \ L +9 &7_  \ L +10 &8\\  \ L +9 &:_  \ M +9 &\\  \ L +9 &?^  \ M +9 &AZ  \ M +10 &C^`  \ L +9 &E _  \ L +10 &F^  \ M +9 &Hd  \ M +9 &J^p  \ O +10 &L  \ Q +9 &M  \ U +9 &O  \ V +10 &QM  \ X +9 &S  \ X +10 &T  \ Y +9 &V  \ Y +9 &XI  \ \\ +10 &Z  \ [ +9 &[  \ [\ +9 &](G  \ 1 +10 &]  \ W +5 ( +2 "collection"'q& +4 #tCollection Clamp onSpring/offSpring for 9/26 samples, on/off torque 2.08 + .Hand.open +2 "manipulator"&51 +3 "core" &]  \ W +59 1 +2 "manipulator"&2% +4 "core" % p . n +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +90 "core" ' +2 #tLoading generic puck from tube 6 into Processing Clamp + "processing"%i& +4 "core" &\ +2 "manipulator"&r% +4 "core" %\ * !S +2 "storage"(% +4 "core" %I .\ + "storage"($. +3 "core" .(K +2 "storage"(h& +4 "core" &K &\  + "storage"(~& +4 "core" &K \  +2 "manipulator"&a& +3 "core" & { / +2 "manipulator"&=% +4 "core" %\ * f !S +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&\\( +158 "core" ( + "manipulator"&& +5 "core" &   + "storage"(Q& +4 "core" &K\ \  \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"& '< +94 "core" ' + "storage"(d& +5 "core" &K   F\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(C'e +280 "core" ' + "storage"(E- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +2 (+& +3 "core" &K A\  +2 "manipulator"&P& +3 "core" & d a .  +2 .tElbow.seek 6 +2 "manipulator"&( +16 "core" ( +2 "manipulator"&_& +4 "core" & ~  l + "storage"(& +4 "core" &K \  K\  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&A'Ϧ +23 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&/ +54 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&"& +2 "storage"(l'N +8 "core" & p q k +2 "manipulator"&L% +4 "core" % Ϧ n m +2 .tForearm.seek :retract + "manipulator"&I'\ +98 "core" ' +2 .tElbow.seek PC +2 "manipulator"&6(c +154 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +97 "core" ( + "manipulator"&-& +5 "core" &i _ + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &b& +3 "core" &i +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&'[ +94 "core" ' +2 "manipulator"&& +4 "core" &i R +2 "manipulator"&]% +4 "core" %c  +2 "processing"%3& +4 "core" &\ +2 "processing"%& +4 "core" &\ +2 .tPC.seek :closed +2 "processing"%'(Z +4 "core" &\  +9 &1~\ *x +10 &d\ > +9 &At\ N +9 &U\ M +10 &Y\ M +9 &T\ M +10 &!JZ\ M +9 &# Y\ M +9 &$U\ M +10 &&Z\ M +9 &(QW\ N +9 &*W\ M +10 &+X\ N +9 &-W\ N +10 &/YY\ N +9 &1X\ M +9 &2U\ M +10 &4Y\ M +9 &6bW\ M +9 &8%U\ M +10 &9Y\ M +9 &;X\ M +9 &=jW\ M +10 &?+V\ N +9 &@X\ N +10 &BW\ N +9 &DqW\ N +9 &F2Z\ N +10 &Ga\ O +9 &Ik\ P +10 &Km}\ R +9 &M(\ T +9 &N\ T +10 &P\ T +9 &Rm\ T +9 &T/\ T +10 &U\ U +9 &W\ U +9 &Yt\ B +10 &Zx=\ Y +9 &Z3\ 2 +2 ( +2 "processing"%& +3 #tProcessing Clamp onSpring/offSpring for 9/25 samples, on/off torque 1.64 + .Hand.open +2 "manipulator"& 1 +63 "core" 1 +2 "manipulator"&% +4 "core" % c {  +58 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +100 "core" ' + "processing"%& +4 "core" &Z+\ 2 +2 #tImaging generic puck in Processing Clamp while storing it to tube 6 + "manipulator"&U% +4 "core" %\ 8 i ' +2 "storage"(% +4 "core" %N 7\ \ + "storage"(. +3 "core" .(K +2 "storage"(x& +4 "core" &K &\  + "storage"(& +3 "manipulator"&s& +7 "core" &K \  + &i +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +4 "storage"(#]kK-0-\ b + "manipulator"&>(c +5 ."raiseStack"SE.seek :beamBreak +2 "storage"(('e +3 "core" ( + "manipulator"&R& +4 "core" &i +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &W& +4 "core" &i +2 .tForearm.seek PC +2 "manipulator"& '[ +94 "core" ' + .tHand.close +2 "manipulator"&?/ +58 "core" / +2 .tPC.seek :open +2 "processing"%Y(p +89 "core" ' +2 "storage"(@- +3 "core" -'e +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('B +35 "core" ' +256 ( + "storage"(\ & +4 "core" &K\ \  \  +2 "manipulator"&,& +4 "core" &i  + "manipulator"&7% +4 "core" % l  +2 .tForearm.seek :retract +2 "manipulator"&<'\ +94 "core" ' +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&z( +252 "core" ( +2 "manipulator"&0& +4 "core" & c  +2 "storage"(8& +3 "core" &K m\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&F'< +91 "core" ' +2 .tHand.open + "manipulator"&t1 +63 "core" 1 +2 "storage"(J- +3 "core" -'B +3 .tSE.seek -0.16 Pucks below Top Plate + "storage"(O' +23 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(m' +49 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(`- +3 "core" -' +2 "storage"([& +4 "core" &K $ % F\  + "manipulator"&#& +4 "core" &  +2 .tElbow.seek 6 +2 "manipulator"&p( +4 "core" ( + "manipulator"&:& +4 "core" &   +2 "storage"(S& +4 "core" &K # y\  +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&f'< +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.11 Pucks below Top Plate + "storage"('M +61 "core" ' +2 "manipulator"&;& +4 "core" & ~ s 6  +2 "storage"(M& +4 "core" &K\ \  \  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&T'z +30 "core" ' +2 .tElbow.hold + "manipulator"&Z, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"(/'7 +24 "core" ' +2 "manipulator"&4% +4 "core" %΋k Q  +2 "storage"(H& +4 "core" &K L\  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 6 + 317 counts +2 "manipulator"&}'Ϸ +16 "core" ' + "manipulator"&& +5 "core" &\ y r T V +2 "storage"(%& +4 "core" &K\ \ #\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&D'< +23 "core" ' + "storage"(K% +5 "core" %7\  `\ +2 ."downElevator"SE.seek :down +4 "storage"(u'N +98 (X% +3 "core" %D \ Wd +2 "manipulator"&&% +4 "core" %V p n +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&y'\ +90 "core" ' +61 ' + ."downElevator"SE.stop + "storage"(5 +3 (g& +4 "core" &K G\  +2 "collection"'*& +4 "core" &]  \ W + #tStoring generic puck in Collection Clamp to tube 6 +2 "manipulator"&j% +4 "core" %\ 1 B $t +2 "storage"()% +3 "core" %Q U\ +2 "storage"(N. +3 "core" .(K +2 "storage"(v& +4 "core" &K `\  + "storage"(& +4 "core" &K Z\  +2 "manipulator"&1& +3 "core" &\ X V +2 .tElbow.seek 6 +2 "manipulator"&( +15 "core" ( +2 "manipulator"&{& +4 "core" & H !v +2 "storage"(& +4 "core" &K m\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&'< +98 "core" ' + "storage"( & +4 "core" &K\ \  ,\  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"('e +281 "core" ' + "storage"(B- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" & _ !u + "storage"(c& +4 "core" &K t\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&^'z +30 "core" ' +2 .tElbow.hold + "manipulator"&e, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(G- +2 "core" -' +2 .tSE.seek 0.12 Pucks below Top Plate +2 "storage"(n'p +32 "core" ' + "manipulator"& % +4 "core" %΅Z " IJ +2 "storage"(& +4 "core" &K _\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 311 counts + "manipulator"&.'ϱ +19 "core" ' + "manipulator"&w& +5 "core" & _ s !t + "storage"(k& +4 "core" &K\ \  m\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&5'< +18 "core" ' +2 .tSE.seek 1.12 Pucks below Top Plate +2 "storage"(2'_ +49 "core" ' +2 "manipulator"&i& +4 "core" & p o !t +2 "manipulator"&r% +4 "core" % { r 6  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +95 "core" ' + .tElbow.seek CC +2 "manipulator"&$( +142 "core" ( +2 "manipulator"&h& +4 "core" & . +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &q& +2 "core" & L . +2 .tForearm.seek CC +2 "manipulator"&~'| +96 "core" ' +2 .tHand.close + "manipulator"&a/ +52 "core" / +2 .tCC.seek :open +2 "collection"'=(p +409 "core" ( +2 "storage"(!& +4 "core" &K U Z\  +2 "storage"(& +3 "core" &K X Z T\  +2 "manipulator"&Q& +3 "core" &  + +2 "manipulator"&d% +4 "core" % t +2 .tForearm.seek :retract + "manipulator"&o'\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&( +154 "core" ( +2 "manipulator"&E& +4 "core" &  +2 "storage"(+& +4 "core" &K Y N *\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 6 +2 "manipulator"&P'z +107 "core" ' + .tElbow.hold +2 "manipulator"&_, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&1 +54 "core" 1 +2 "manipulator"&% +3 "core" % Ύs ) ' +2 "storage"("& +4 "core" &K\ \  \  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 6 + 320 counts +2 "manipulator"&L'Ϻ +18 "core" ' +2 "manipulator"&\\& +3 "core" & r t ; # +2 "storage"( & +4 "core" &K v g \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&C'< +23 "core" ' +2 "storage"(A% +4 "core" %e :\ +2 ."downElevator"SE.seek :down +4 "storage"(-'N +99 (b% +3 "core" %A v s M\ V_ +2 "manipulator"&% +4 "core" %N m l +2 .tForearm.reconfigure :loose +56 "manipulator"&#Q@2^d^b +4 .tForearm.seek :retract +2 "manipulator"&'\ +85 "core" ' + ."downElevator"SE.stop + "storage"(5 +8 "core" ' + #tShuffling pucks in tube 3 of [3..6] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"']& +5 "core" &  \ + "manipulator"&3% +4 "core" %\ 9 7 ( +2 "storage"(l% +4 "core" %= N L $\ + "storage"(I. +4 "core" .(K + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(V( +991 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 ( & +3 "core" &\  o\ +2 "manipulator"&& +4 "core" & # # +2 .tElbow.seek 3 + "manipulator"&(D +34 "core" ( +2 "manipulator"&& +4 "core" &K   + "storage"(U& +4 "core" & X W "\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&' +94 "core" ' + "storage"(& +4 "core" & a\ +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(x'e +279 "core" ' + "storage"(s- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +2 "core" & X Z A\ +2 "manipulator"&R& +3 "core" &K p n  +2 .tElbow.seek 3 +2 "manipulator"&W(D +3 "core" ( +2 "manipulator"&& +3 "core" &K s z $  +2 "storage"(?& +4 "core" & v v @\ +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&@'y +20 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&6/ +53 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"(''N +7 "core" &K f o  +2 "manipulator"&\ % +4 "core" % t l d { +2 .tForearm.seek :retract +2 "manipulator"&,'\ +91 "core" ' +2 .tElbow.seek CC + "manipulator"&(( +148 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +16 "core" ( +2 "manipulator"&7& +4 "core" &* o @] +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 & & +3 "core" &* S @] +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&0'| +102 "core" ' +2 "manipulator"&8& +4 "core" &*  @] +2 "manipulator"&>% +4 "core" %ς + "collection"'t& +5 "core" &  \ +2 "collection"'J& +4 "core" &  \ +2 .tCC.seek :closed +2 "collection"'`(] +5 "core" &  Y\ +8 &>  w\ $e +9 &iU  \ 7 +10 &~  \ K +9 &zY  \ M +9 &>Z  \ L +10 &\\  \ M +9 & \\  \ M +9 &"\\  \ L +10 &$E\\  \ M +9 &&_  \ M +10 &']  \ M +9 &)^  \ M +9 &+N_  \ L +10 &-\\  \ L +9 &.]  \ L +9 &0]  \ M +10 &2U`  \ M +9 &4`  \ M +10 &5^  \ L +9 &7[  \ L +9 &9]]  \ M +10 &;\\  \ M +9 &<Y  \ L +9 &>\\  \ L +10 &@f[  \ L +9 &B&_  \ M +10 &CZ  \ M +9 &EY  \ L +9 &Gl_  \ M +10 &I*k  \ N +9 &J{  \ P +9 &L  \ T +10 &NX  \ W +9 &P  \ W +10 &Q  \ W +9 &S  \ X +9 &UX  \ Y +10 &W  \ Y +9 &X  \ [ +9 &Z  \ [\ +10 &\\Z  \ H +9 &]]7  \ + +10 &]  \ ] +5 ( + "collection"'J& +5 #tCollection Clamp onSpring/offSpring for 10/26 samples, on/off torque 2.05 + .Hand.open + "manipulator"&[1 +4 "core" &]  \ ] +50 1 + "manipulator"&#% +4 "core" %  L +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&:'\ +99 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%S& +4 "core" &\ +2 "manipulator"&<% +4 "core" %\ 5 , & + "storage"(;% +4 "core" %B 7\ +2 "storage"(M. +3 "core" .( + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(4( +22 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (& +3 "core" & u\ + "manipulator"&H& +4 "core" &'  >M +2 "manipulator"&% +3 "core" %\ 5 & +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&O(D +155 "core" ( +2 "manipulator"&%& +4 "core" &M   +2 "storage"(K& +4 "core" & \\\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&z' +102 "core" ' + "storage"(F& +5 "core" &\ \  \ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(m'e +284 "core" ' + "storage"(X- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (&& +3 "core" & /\  +2 "manipulator"&f& +3 "core" &M   +2 .tElbow.seek 3 +2 "manipulator"&p(D +3 "core" ( + "manipulator"&& +4 "core" &M ~   +2 "storage"(T& +4 "core" & \  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&}'y +10 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&g/ +59 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&*& +2 "storage"(j'N +8 "core" &M n .  +2 "manipulator"&)% +4 "core" % u w t 1 ! +2 .tForearm.seek :retract + "manipulator"&N'\ +94 "core" ' +2 .tElbow.seek PC + "manipulator"&/(c +156 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +89 "core" ( +2 "manipulator"&v& +4 "core" &c x / +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &c } +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&1'[ +92 "core" ' +2 "manipulator"&{& +4 "core" &c ~ . +2 "manipulator"&% +4 "core" %^ & + "processing"%D& +4 "core" &\ +2 "processing"% & +5 "core" &\ +2 .tPC.seek :closed +3 "processing"%u(Z +3 "core" &\ +6 &\ 6 +9 & H{\ 0 +10 &4q\ D +9 &c\ N +10 &W\ M +9 &[U\ M +9 & Z\ M +10 &!Y\ M +9 &#Y\ M +9 &%bX\ N +10 &'$X\ N +9 &(X\ M +10 &*T\ M +9 &,kZ\ M +9 &.-Z\ M +10 &/U\ M +9 &1T\ M +9 &3sY\ M +10 &55Y\ M +9 &6W\ N +10 &8W\ M +9 &:{T\ M +9 &<=S\ M +10 &=X\ N +9 &?T\ M +9 &A\\\ M +10 &CEY\ M +9 &EX\ N +9 &F]\ N +10 &Hb\ N +9 &JEp\ P +10 &Lx\ Q +9 &M\ T +9 &O~\ T +10 &QA\ T +9 &S\ T +9 &T\ T +10 &V\ T +9 &XF\ U +10 &Y{q\ * +9 &Z)h\ / +9 ( +2 "processing"% & +3 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.58 +2 .Hand.open + "manipulator"&Z1 +4 "core" &Z\ & +55 1 + "manipulator"&y% +5 "core" % ^ B +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&B'\ +95 "core" ' +2 "processing"%& +4 "core" &Z\ & +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&c% +4 "core" %\ 4 h & +2 "storage"(G% +4 "core" %9 \ + "storage"( . +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 + "storage"(( +16 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (w& + "manipulator"&k& +4 "core" & W O\ # +5 ."raiseStack"SE.reconfigure :place +2 "storage"(#]kK-0-\ b +3 ."raiseStack"SE.seek :beamBreak +2 "storage"(i'e +3 "core" &c h +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC + "manipulator"&r(c +3 "core" ( +2 "manipulator"&& +4 "core" &c ` + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &c l +2 .tForearm.seek PC +2 "manipulator"&'[ +97 "core" ' + .tHand.close + "manipulator"&^/ +63 "core" / +2 .tPC.seek :open +2 "processing"%.(p +71 "core" ' + "storage"(n- +4 "core" -'e + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place + "storage"(h'B +35 "core" ' +275 ( +2 "storage"(q& +4 "core" & ]\ & + "manipulator"&5& +4 "core" &c 4 + "manipulator"&e% +4 "core" % Q  +2 .tForearm.seek :retract +2 "manipulator"&a'\ +95 "core" ' +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&(D +244 "core" ( + "manipulator"&9& +5 "core" &I . 2 + "storage"(!& +4 "core" & \ & +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&' +104 "core" ' +2 .tHand.open + "manipulator"&Q1 +58 "core" 1 +2 "storage"(d- +4 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate +2 "storage"(E' +23 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(+' +51 "core" ' +2 #tLights, camera, ACTION! + "storage"(~- +4 "core" -' + "storage"($& +4 "core" &   \ * +2 "manipulator"&& +4 "core" &I 2 +2 .tElbow.seek 3 + "manipulator"&(D +4 "core" ( + "manipulator"&"& +4 "core" &I ^ 2 +2 "storage"(\\& +4 "core" &   \ * +2 .tForearm.seek 3 + 450 counts +2 "manipulator"& ' +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"(A'M +59 "core" ' +2 "manipulator"&o& +4 "core" &I Q 2 +2 "storage"(b& +4 "core" & s\ * + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&'M +35 "core" ' +2 .tElbow.hold + "manipulator"&, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"(P'7 +26 "core" ' + "manipulator"&L% +5 "core" %PT  ð +2 "storage"(]& +4 "core" & { z C\ * + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 303 counts + "manipulator"&3'| +17 "core" ' +2 "manipulator"&l& +4 "core" &T k p ' +2 "storage"(I& +4 "core" &\ \  \ * +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&2' +21 "core" ' + "storage"(C% +5 "core" %= \  \ +2 ."downElevator"SE.seek :down +3 "storage"(-'N +100 (|% +2 "core" %B Y\ Wc +2 "manipulator"& % +4 "core" % n n  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +95 "core" ' +56 ' + ."downElevator"SE.stop + "storage"(5 +3 (& +3 "core" & H\ * +2 "collection"'U& +4 "core" &]  \ ] +2 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&% +4 "core" %\ 5 G & +2 "storage"(_% +3 "core" %A \ +2 "storage"(. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 + "storage"(s( +6 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (& +4 "core" & V W [\ & + "manipulator"&R& +4 "core" &T  ' +2 .tElbow.seek 3 + "manipulator"&(D +29 "core" ( +2 "manipulator"&?& +4 "core" &H x m +2 "storage"(6& +4 "core" & a\ ( +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&' +99 "core" ' +2 "storage"(\ & +4 "core" &\ \  \ ( +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"('e +285 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&7& +3 "core" &H  m +2 "storage"( & +3 "core" & \\\ . +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 + "manipulator"&x'M +32 "core" ' +2 .tElbow.hold + "manipulator"&@, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(8- +2 "core" -' +3 .tSE.seek 0.11 Pucks below Top Plate + "storage"(>'f +25 "core" ' + "manipulator"&W% +4 "core" %^L  y î +2 "storage"(t& +4 "core" & Q\ . + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 317 counts + "manipulator"&''ϊ +17 "core" ' +2 "manipulator"&,& +4 "core" &I ] t y l +2 "storage"(=& +4 "core" &\  p\ . +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&[' +21 "core" ' +2 .tSE.seek 1.11 Pucks below Top Plate +2 "storage"(#'U +50 "core" ' +2 "manipulator"&S& +5 "core" &I o o + l + "manipulator"&<% +4 "core" % n n & +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&;'\ +95 "core" ' +2 .tElbow.seek CC +2 "manipulator"&M( +148 "core" ( + "manipulator"&J& +5 "core" & . + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &  . +2 .tForearm.seek CC +2 "manipulator"&H'| +95 "core" ' + .tHand.close +2 "manipulator"&/ +63 "core" / + .tCC.seek :open +2 "collection"'0(p +410 "core" ( + "storage"(%& +4 "core" & N W \ . +2 "storage"(K& +4 "core" & W X \ . + "manipulator"&V& +4 "core" & 5 , + "manipulator"&F% +4 "core" % { x +2 .tForearm.seek :retract +2 "manipulator"&('\ +96 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&:(D +153 "core" ( + "manipulator"&X& +5 "core" &J @  + "storage"(&& +4 "core" & Z X h\ . + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 3 +2 "manipulator"&f'M +115 "core" ' +2 .tElbow.hold + "manipulator"&, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&T1 +56 "core" 1 +2 "manipulator"&g% +4 "core" % Sm ( \\  + "storage"(*& +4 "core" &\ \ \ . +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 306 counts + "manipulator"&)' +18 "core" ' + "manipulator"&O& +4 "core" &Z [ u  +2 "storage"(z& +4 "core" & x m `\ . +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&m' +18 "core" ' +2 "storage"(}% +4 "core" %] '\ +2 ."downElevator"SE.seek :down +4 "storage"(v'N +98 (% +3 "core" %+A o q\ V^ +2 "manipulator"&p% +4 "core" % c o  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&{'\ +95 "core" ' +42 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 4 of [3..6] + #Loading generic puck from tube 4 into Collection Clamp +2 "collection"'& +4 "core" &  \ +2 "manipulator"&D% +4 "core" %\ 5 & + "storage"(j% +5 "core" %< s t \ + "storage"(N. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 + "storage"(Y(, +348 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (Z& +2 "core" &,   H\  +2 "manipulator"&y& +4 "core" &Z O  + .tElbow.seek 4 +2 "manipulator"&(* +33 "core" ( + "manipulator"&c& +5 "core" &+  M + "storage"(G& +4 "core" &, Y Z\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"& ' +104 "core" ' +2 "storage"( & +4 "core" &, 7\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(w'e +280 "core" ' +2 "storage"(k- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" &, q r \  +3 "manipulator"&& +4 "core" &/ o q I + .tElbow.seek 4 +2 "manipulator"&1(* +3 "core" ( +2 "manipulator"&^& +4 "core" &/ t o 4 I +2 "storage"(4& +3 "core" &, | s \\\  +57 .tForearm.seek 4 + 300 counts +2 "manipulator"&n'Z +25 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&// +54 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&B& +2 "storage"(u'N +8 "core" &/ p m I + "manipulator"&i% +4 "core" % Z m o +2 .tForearm.seek :retract +2 "manipulator"&q'\ +96 "core" ' +2 .tElbow.seek CC + "manipulator"&5( +147 "core" ( + "manipulator"&e& +5 "core" ' +2 &  + + ."downElevator"SE.stop +3 .tElbow.reconfigure :loose +2 "storage"(5 +4 "manipulator"&$ &.,(#b +2 && +3 "core" &   + +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&9'| +94 "core" ' +3 "manipulator"&!& +4 "core" &   + +2 "manipulator"&r% +4 "core" %z 6 +2 "collection"'Q& +4 "core" &  d\ +2 "collection"'d& +5 "core" &  y\ +2 .tCC.seek :closed +2 "collection"'~(] +4 "core" &  j\  +9 &4  \ *z +9 &e  \ > +9 &Vx  \ M +10 &Z  \ M +9 &`  \ L +10 &]  \ M +9 &!`_  \ M +9 &#"^  \ M +10 &$Z  \ L +9 &&]  \ L +9 &(h_  \ M +10 &**]  \ M +9 &+^  \ L +10 &-_  \ L +9 &/p\\  \ M +9 &12\\  \ M +10 &2_  \ L +9 &4Y  \ L +9 &6z[  \ L +10 &8:_  \ M +9 &9Y  \ L +10 &;]  \ L +9 &=]  \ M +9 &?CY  \ L +10 &AZ  \ M +9 &B_  \ M +9 &D\\  \ L +10 &FJZ  \ M +9 &H ^  \ M +10 &Ig  \ N +9 &Kt  \ O +9 &MA  \ R +10 &N  \ V +9 &P  \ W +10 &Rx  \ X +9 &T8  \ X +9 &U  \ Y +10 &W  \ Z +9 &Yu  \ [ +9 &[7  \ [ +10 &\\|  \ . +9 &]+  \ $m +9 ( +3 "collection"'d& +3 #tCollection Clamp onSpring/offSpring for 9/25 samples, on/off torque 2.02 + .Hand.open + "manipulator"&$1 +4 "core" &]  \ Z +56 1 + "manipulator"&% +5 "core" % z J +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&"'\ +92 "core" ' +2 #tLoading generic puck from tube 4 into Processing Clamp + "processing"%\\& +4 "core" &\ +2 "manipulator"&a% +4 "core" %\ , "` + "storage"(o% +4 "core" %R :\  +2 "storage"(b. +3 "core" .(, +2 "storage"(h& +4 "core" &, N\  + "storage"(L& +4 "core" &, V\  +2 "manipulator"&]& +4 "core" &  4 + + "manipulator"&E% +4 "core" %\ , $ "` +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&l(* +150 "core" ( + "manipulator"&I& +5 "core" &5 H  + "storage"(C& +4 "core" &,\ \  \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&' +100 "core" ' +2 "storage"(& +4 "core" &,\  \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(+'e +282 "core" ' + "storage"(|- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 ( & +3 "core" &, 2\  +2 "manipulator"& & +4 "core" &5   +2 .tElbow.seek 4 + "manipulator"&(* +5 "core" ( +2 "manipulator"&A& +4 "core" &4 }   +2 "storage"(& +3 "core" &, \  +3 .tForearm.seek 4 + 300 counts + "manipulator"&3'Z +21 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +52 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&U& +2 "storage"('N +7 "core" &4 d n S  +2 "manipulator"&_% +4 "core" % T m n +2 .tForearm.seek :retract + "manipulator"&'\ +95 "core" ' +2 .tElbow.seek PC +2 "manipulator"&P(c +155 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +77 "core" ( +2 "manipulator"&& +4 "core" &k w * +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &R& +3 "core" &k * +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&?'[ +101 "core" ' +2 "manipulator"&6& +4 "core" &k  * +2 "manipulator"&2% +4 "core" %Y _ +2 "processing"%\ & +4 "core" &\ +2 "processing"%-& +4 "core" &\ +2 .tPC.seek :closed +2 "processing"%(Z +4 "core" &\  +9 &1~\ *x +10 &c\ > +9 &Au\ N +10 &U\ M +9 &Z\ M +9 &T\ M +10 &!KU\ M +9 &#X\ M +9 &$W\ M +10 &&Z\ M +9 &(RV\ N +10 &*W\ M +9 &+Y\ M +9 &-Z\ M +10 &/Z\\\ N +9 &1X\ M +9 &2Z\ M +10 &4Y\ M +9 &6bX\ N +10 &8%X\ M +9 &9T\ M +9 &;Y\ M +10 &=kY\ M +9 &?,\\\ N +9 &@X\ M +10 &BT\ M +9 &DsY\ M +10 &F4Y\ N +9 &Gb\ O +9 &Ir\ P +10 &Kl\ R +9 &M*\ T +9 &N\ T +10 &P\ T +9 &Rp\ T +10 &T1\ T +9 &U\ U +9 &W\ U +10 &Yt\ B +9 &Zz?\ V +9 &Z\ ( +3 ( + "processing"%-& +4 #tProcessing Clamp onSpring/offSpring for 9/25 samples, on/off torque 1.65 + .Hand.open + "manipulator"&1 +54 "core" 1 +2 "manipulator"&% +4 "core" % Y g +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +99 "core" ' + "processing"%7& +4 "core" &Z\ ( +2 #tImaging generic puck in Processing Clamp while storing it to tube 4 + "manipulator"& % +4 "core" %\ 3 3 %w +2 "storage"(8% +3 "core" %B \ +2 "storage"(W. +3 "core" .(, +2 "storage"(t& +4 "core" &, T\  +2 "storage"(,& +3 "manipulator"&=& +5 "core" &, S\  + &k M * +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +2 "storage"(#]kK-0-\ b +2 .tElbow.seek PC +5 "manipulator"&S(c +3 ."raiseStack"SE.seek :beamBreak +2 "storage"(<'e +2 "core" ( +2 "manipulator"&& +4 "core" &k ; * +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &k  * +2 .tForearm.seek PC +2 "manipulator"&'[ +95 "core" ' +2 .tHand.close + "manipulator"&x/ +55 "core" / +2 .tPC.seek :open + "processing"%'(p +95 "core" ' +2 "storage"(>- +4 "core" -'e + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place + "storage"(J'B +36 "core" ' +247 ( + "storage"(& +5 "core" &,\  \  + "manipulator"&[& +4 "core" &k  * + "manipulator"&@% +4 "core" % a +2 .tForearm.seek :retract +2 "manipulator"&'\ +98 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 + "manipulator"&;(* +257 "core" ( + "manipulator"&`& +4 "core" &1 6 % +2 "storage"(%& +4 "core" &, \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&K' +93 "core" ' + .tHand.open +2 "manipulator"&V1 +58 "core" 1 +2 "storage"(F- +4 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate + "storage"(X' +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(&' +53 "core" ' +2 #tLights, camera, ACTION! + "storage"(H- +3 "core" -' +2 "storage"(M& +4 "core" &,   O\  + "manipulator"&T& +4 "core" &3 " % +2 .tElbow.seek 4 +2 "manipulator"&g(* +3 "core" ( + "manipulator"&*& +4 "core" &3 } % +2 "storage"(O& +4 "core" &, & ?\  +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&z' +3 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.11 Pucks below Top Plate + "storage"(}'M +62 "core" ' +2 "manipulator"&(& +4 "core" &3  % +2 "storage"(& +4 "core" &, \  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 4 + "manipulator"&p'. +35 "core" ' + .tElbow.hold +2 "manipulator"&:, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"(f'7 +51 "core" ' +11 "manipulator"&% +4 "core" %?O   ů +2 "storage"(D& +4 "core" &, v j E\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 317 counts +2 "manipulator"&)'k +16 "core" ' +2 "manipulator"&j& +4 "core" &: v r ( $ +2 "storage"(N& +4 "core" &,\ \  F\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&#' +23 "core" ' +2 "storage"(m% +4 "core" %A  C\ +3 ."downElevator"SE.seek :down +4 "storage"(v'N +99 (s% +3 "core" %-D P\ Wd +2 "manipulator"&Z% +4 "core" % q q  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&y'\ +94 "core" ' +56 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (c& +4 "core" &, S\  + "collection"'G& +4 "core" &]  \ Z +2 #tStoring generic puck in Collection Clamp to tube 4 + "manipulator"& % +4 "core" %\ 8 Y ' +2 "storage"(% +4 "core" %E \ \ + "storage"({. +4 "core" .(, + "storage"(k& +4 "core" &, X\  +2 "storage"(& +4 "core" &, 9\  + "manipulator"&& +4 "core" &: } $ +2 .tElbow.seek 4 + "manipulator"&^(* +36 "core" ( +2 "manipulator"&4& +4 "core" &4 O v +2 "storage"(/& +4 "core" &, [\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&B' +102 "core" ' +2 "storage"(i& +4 "core" &,\  \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('e +277 "core" ' + "storage"( - +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&e& +3 "core" &4  v +2 "storage"(& +4 "core" &,\ \  f\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&w'. +33 "core" ' + .tElbow.hold +2 "manipulator"&n, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(!- +2 "core" -' +2 .tSE.seek 0.12 Pucks below Top Plate +2 "storage"(r'r +27 "core" ' +2 "manipulator"&Q% +4 "core" %?> ; ī +2 "storage"(1& +3 "core" &, o o \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 317 counts + "manipulator"&u'k +17 "core" ' +2 "manipulator"&q& +4 "core" &  u ]  +2 "storage"(0& +4 "core" &,\ \  t\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&$' +24 "core" ' +2 .tSE.seek 1.12 Pucks below Top Plate +2 "storage"('a +55 "core" ' +2 "manipulator"&\\& +4 "core" &  j m   +2 "manipulator"&a% +4 "core" % o c L  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&o'\ +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"&b( +165 "core" ( + "manipulator"&h& +5 "core" & 4 j + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &L& +3 "core" & ; j +2 .tForearm.seek CC +2 "manipulator"&d'| +95 "core" ' + .tHand.close +2 "manipulator"&]/ +59 "core" / +2 .tCC.seek :open +2 "collection"'E(p +410 "core" ( + "storage"(I& +4 "core" &, s i \  +2 "storage"(9& +4 "core" &, W W\  + "manipulator"&C& +4 "core" & r j + "manipulator"&% +4 "core" % τ K +2 .tForearm.seek :retract +2 "manipulator"&5'\ +94 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&"(* +147 "core" ( +2 "manipulator"&|& +4 "core" &4  + "storage"( & +4 "core" &, [ Z\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 4 + "manipulator"& '. +112 "core" ' +2 .tElbow.hold + "manipulator"&A, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&1 +54 "core" 1 +2 "manipulator"&% +4 "core" % Bm # %  +2 "storage"(U& +4 "core" &,\ \  \  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 4 + 320 counts + "manipulator"&_'n +17 "core" ' +2 "manipulator"&l& +4 "core" & p u   +2 "storage"(& +4 "core" &, f e i\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&+' +22 "core" ' +2 "storage"(3% +4 "core" %j \ +2 ."downElevator"SE.seek :down +3 "storage"('N +100 (R% +2 "core" %,; u v D\ U] +2 "manipulator"&% +4 "core" % n n  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&6'\ +96 "core" ' +41 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 5 of [3..6] + #Loading generic puck from tube 5 into Collection Clamp + "collection"'2& +5 "core" &  \ + "manipulator"&\ % +4 "core" %\ 8 F ' +2 "storage"(% +4 "core" %> \\ a\ \ +2 "storage"(. +3 "core" .(, +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 + "storage"(.(<< +352 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (& +2 "core" &<=   5\  +2 "manipulator"&& +3 "core" & 6  +2 .tElbow.seek 5 +2 "manipulator"&7( +20 "core" ( +2 "manipulator"& & +4 "core" & 3 O + "storage"(8& +4 "core" &<< Z [\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&W' +105 "core" ' +2 "storage"(t& +4 "core" &<< :\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(,'e +290 "core" ' + "storage"(=- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (-& +2 "core" &<< p y @\  +2 "manipulator"&& +4 "core" &\ l n N +2 .tElbow.seek 5 +2 "manipulator"&( +22 "core" ( +2 "manipulator"&?& +4 "core" & U t 5  +2 "storage"(x& +4 "core" &<< \  +2 .tForearm.seek 5 + 300 counts + "manipulator"&>'[ +32 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&P/ +62 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& + "storage"('N +7 "core" & ` c [  +2 "manipulator"&% +4 "core" % [ a a   +2 .tForearm.seek :retract + "manipulator"&['\ +97 "core" ' +2 .tElbow.seek CC + "manipulator"&@( +148 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +3 "core" ( + "manipulator"&<& +4 "core" &\  ! . +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &\  - . +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&`'| +107 "core" ' +2 "manipulator"&%& +5 "core" &\  }  . + "manipulator"&S% +4 "core" %x D +2 "collection"'V& +4 "core" &  \ +2 "collection"'F& +5 "core" &  \ +2 .tCC.seek :closed +2 "collection"'H(] +3 "core" &  o\ +9 &>  \ $e +10 &jX  \ 7 +9 &  \ L +9 &\\  \ L +9 &C]  \ M +10 &\\  \ M +9 & `  \ L +10 &"_  \ L +9 &$LZ  \ L +9 &&_  \ L +10 &'Z  \ L +9 &)Z  \ L +9 &+T_  \ L +10 &-]  \ L +9 &.[  \ L +10 &0]  \ L +9 &2\\`  \ L +9 &4_  \ M +10 &5\\  \ M +9 &7]  \ M +9 &9d[  \ L +10 &;&]  \ L +9 &<\\  \ L +10 &>Y  \ L +9 &@l^  \ L +9 &B._  \ L +10 &C^  \ L +9 &E\\  \ M +9 &Gs_  \ M +10 &I0j  \ N +9 &J}  \ P +10 &L  \ T +9 &N^  \ W +9 &P  \ W +10 &Q  \ X +9 &S  \ X +9 &U_  \ Y +10 &W  \ Y +9 &X  \ [ +10 &Z  \ \\ +9 &\\a  \ H +9 &]^7  \ , +10 &]  \ ^ +2 ( +2 "collection"'F& +3 #tCollection Clamp onSpring/offSpring for 10/26 samples, on/off torque 2.05 + .Hand.open + "manipulator"&M1 +61 "core" 1 +2 "manipulator"&T% +4 "core" % x +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +60 .tForearm.seek :retract +2 "manipulator"&*'\ +92 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp + "processing"%O& +4 "core" &\ +2 "manipulator"&% +3 "core" %\ 0 $o +2 "storage"((% +4 "core" %? G\ + "storage"(. +4 "core" .(<< + "storage"(J& +4 "core" &<< E\  + "storage"(X& +4 "core" &<< W\  +2 "manipulator"&& +4 "core" &\  . +2 "manipulator"&D% +3 "core" %\ 0 $o +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&j( +156 "core" ( +2 "manipulator"&N& +4 "core" &    +2 "storage"(;& +4 "core" &<< :\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&m' +102 "core" ' +2 "storage"(K& +4 "core" &<<\ \  \  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(&'e +278 "core" ' + "storage"(z- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +2 (s& +3 "core" &<< 9\  + "manipulator"&Z& +4 "core" &    +2 .tElbow.seek 5 +2 "manipulator"&g( +3 "core" ( + "manipulator"&}& +4 "core" &  .  +2 "storage"(p& +4 "core" &<<\ \  \  +2 .tForearm.seek 5 + 300 counts + "manipulator"&)'[ +12 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&c/ +64 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&G& + "storage"( 'N +8 "core" &  e m  + "manipulator"&% +4 "core" % P o o F +2 .tForearm.seek :retract +2 "manipulator"&{'\ +93 "core" ' +2 .tElbow.seek PC +2 "manipulator"&f(c +156 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +87 "core" ( + "manipulator"&k& +4 "core" &k v +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &k +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&'[ +98 "core" ' +4 "manipulator"&4& +8 "core" &k a +4 "manipulator"&/% +4 "core" %b +2 "processing"%#& +4 "core" &\ +2 "processing"%i& +5 "core" &\ +2 .tPC.seek :closed + "processing"%v(Z +5 "core" &\ +7 &9\ $e +9 &kV~\ 7 +10 &{\ L +9 &|T\ M +9 &=W\ N +10 &X\ M +9 & Z\ M +9 &"V\ M +10 &$GZ\ M +10 &&X\ M +9 &'W\ M +9 &)S\ M +9 &+NV\ M +10 &-Z\ M +9 &.Y\ N +9 &0V\ M +10 &2VZ\ M +9 &4W\ N +10 &5V\ M +9 &7Y\ M +9 &9_S\ M +10 &; X\ M +9 &<W\ M +9 &>W\ M +10 &@fU\ M +9 &B)T\ M +10 &CX\ M +9 &EU\ M +9 &Gl_\ N +10 &I*j\ O +9 &Jx\ Q +9 &L\ S +10 &Nb\ T +9 &P%\ T +10 &Q\ S +9 &S\ T +9 &Ui\ T +10 &W*\ U +9 &X\ U +9 &ZEIg\ *{ +10 &Z\ 5\ * +5 ( +2 "processing"%i& +4 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.66 + .Hand.open +2 "manipulator"&:1 +3 "core" &Z\ * +59 1 + "manipulator"&y% +4 "core" % b E +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"& '\ +98 "core" ' +2 "processing"%e& +4 "core" &Z\ * +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 + "manipulator"&% +4 "core" %\ 9 e ( +2 "storage"(!% +4 "core" %> ^\ + "storage"(Q. +3 "core" .(<< +2 "storage"(1& +4 "core" &<< \ \  +2 "storage"(q& +4 "manipulator"&0& +3 "core" &<< \  +2 &k < +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +2 "storage"(#]kK-0-\ b +3 .tElbow.seek PC +3 "manipulator"&\\(c +3 ."raiseStack"SE.seek :beamBreak +2 "storage"(a'e +3 "core" ( + "manipulator"&B& +4 "core" &k u +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &^& +3 "core" &k f +2 .tForearm.seek PC +2 "manipulator"&'[ +95 "core" ' + .tHand.close + "manipulator"&w/ +57 "core" / +2 .tPC.seek :open + "processing"%u(p +93 "core" ' +2 "storage"(r- +3 "core" -'e +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(h'B +43 "core" ' +245 ( + "storage"(L& +4 "core" &<< S\  +2 "manipulator"&$& +4 "core" &k  + "manipulator"&n% +4 "core" % k +2 .tForearm.seek :retract +2 "manipulator"&]'\ +105 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&o( +257 "core" ( + "manipulator"&~& +5 "core" & 1 # + "storage"(I& +4 "core" &<< \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&9' +98 "core" ' +2 .tHand.open +2 "manipulator"&C1 +52 "core" 1 +2 "storage"(- +4 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate +2 "storage"(|' +23 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.83 Pucks below Top Plate + "storage"( ' +53 "core" ' +2 #tLights, camera, ACTION! + "storage"(d- +4 "core" -' + "storage"(b& +4 "core" &<< P\  + "manipulator"&& +4 "core" & # +2 .tElbow.seek 5 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&U& +3 "core" & # +2 "storage"(l& +4 "core" &<< $\  +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&' +19 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"(3'M +62 "core" ' +2 "manipulator"&5& +4 "core" & s n  # +2 "storage"(R& +4 "core" &<<\ \  \  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 + "manipulator"&'/ +38 "core" ' + .tElbow.hold +2 "manipulator"&", +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"( '7 +25 "core" ' + "manipulator"&2% +5 "core" %1Q   Ű + "storage"(_& +4 "core" &<< { W\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 302 counts + "manipulator"&\ '] +17 "core" ' + "manipulator"&& +4 "core" & q s 7 $ +2 "storage"(& +4 "core" &<<\ \  Z\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&' +19 "core" ' + "storage"(+% +5 "core" %@\ \  h\ +2 ."downElevator"SE.seek :down +4 "storage"('N +98 (Y% +3 "core" %B \\\ Va +2 "manipulator"&% +4 "core" % p n +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +98 "core" ' +51 ' + ."downElevator"SE.stop + "storage"(5 +3 ( & +4 "core" &<< "\  +2 "collection"'8& +4 "core" &]  \ ^ +2 #tStoring generic puck in Collection Clamp to tube 5 + "manipulator"&t% +4 "core" %\ 8 b ' +2 "storage"(A% +4 "core" %: K\ \ + "storage"(6. +3 "core" .(<< +2 "storage"(=& +4 "core" &<< y\  + "storage"(-& +5 "core" &<< \  + "manipulator"&& +4 "core" & j $ +2 .tElbow.seek 5 + "manipulator"&?( +4 "core" ( + "manipulator"&x& +4 "core" & $ + "storage"(P& +4 "core" &<< n\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&' +103 "core" ' +2 "storage"(& +4 "core" &<< >\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(7'e +277 "core" ' + "storage"(W- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +2 "manipulator"&<& +3 "core" & ` ` ; $ +2 "storage"(& +4 "core" &<<\ \  \  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +59 .tForearm.seek 5 +2 "manipulator"&,'/ +35 "core" ' +2 .tElbow.hold + "manipulator"&>, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(%- +3 "core" -' +2 .tSE.seek 0.12 Pucks below Top Plate +2 "storage"(S's +28 "core" ' +2 "manipulator"&V% +4 "core" %1J   Ʈ +2 "storage"(& +4 "core" &<< z x \  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 302 counts + "manipulator"&'] +17 "core" ' +2 "manipulator"&[& +4 "core" & q q $ +2 "storage"(E& +4 "core" &<<\ \  \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&M' +19 "core" ' +2 .tSE.seek 1.12 Pucks below Top Plate +2 "storage"(T'b +52 "core" ' +2 "manipulator"&F& +4 "core" & o n $ +2 "manipulator"&O% +4 "core" % n n +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +92 "core" ' + .tElbow.seek CC +2 "manipulator"&(( +140 "core" ( +2 "manipulator"&& +5 "core" &  . + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &J& +3 "core" & 6 . +2 .tForearm.seek CC + "manipulator"&X'| +103 "core" ' + .tHand.close +2 "manipulator"&/ +55 "core" / +2 .tCC.seek :open + "collection"'D(p +410 "core" ( +2 "storage"(`& +4 "core" &<< n s\  + "storage"(N& +4 "core" &<< s r \  + "manipulator"&;& +4 "core" &   + +2 "manipulator"&K% +4 "core" % n  l +2 .tForearm.seek :retract +2 "manipulator"&@'\ +94 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&*( +156 "core" ( + "manipulator"&z& +4 "core" &  \ +2 "storage"(s& +4 "core" &<< W W i\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 5 + "manipulator"&Z'/ +68 "Can" #@= +45 "core" ' +2 .tElbow.hold +2 "manipulator"&}, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&p1 +55 "core" 1 +2 "manipulator"&c% +4 "core" % =e ? +2 "storage"(G& +4 "core" &<<\ \  \  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 5 + 314 counts +2 "manipulator"&'i +16 "core" ' + "manipulator"&j& +5 "core" & ] u ' \ + "storage"(m& +4 "core" &<< e e O\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&&' +18 "core" ' +2 "storage"()% +4 "core" %h L\ +2 ."downElevator"SE.seek :down +5 "storage"(k'N +99 (% +3 "core" %B v u ,\ U_ +2 "manipulator"&g% +4 "core" % o n  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&4'\ +90 "core" ' +48 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 6 of [3..6] + #Loading generic puck from tube 6 into Collection Clamp +2 "collection"'/& +4 "core" &  \ +2 "manipulator"&#% +4 "core" %\ / #d + "storage"( % +4 "core" %= u t \ +2 "storage"({. +3 "core" .(<< +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"('(K +351 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (:& +2 "core" &K\ \  \  +2 "manipulator"&y& +5 "core" & \ +4 .tElbow.seek 6 +5 "manipulator"&e( +20 "core" ( + "manipulator"&& +5 "core" &  = x + "storage"(!& +4 "core" &K W W _\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&Q'< +93 "core" ' +2 "storage"(i& +4 "core" &K v }\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(1'e +279 "core" ' + "storage"(q- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (0& +3 "core" &K W Y \  +2 "manipulator"&B& +3 "core" &\  m +2 .tElbow.seek 6 +2 "manipulator"&^( +22 "core" ( +2 "manipulator"&& +4 "core" & ` t ^ + "storage"(w& +4 "core" &K p r \  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&r'Ϧ +26 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&f/ +54 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"& & +2 "storage"(v'N +7 "core" & ` k A +2 "manipulator"&L% +4 "core" % ϩ a a Q +2 .tForearm.seek :retract +2 "manipulator"&$'\ +97 "core" ' +2 .tElbow.seek CC + "manipulator"&n( +145 "core" ( +2 "manipulator"&a& +5 "core" ' + & - + ."downElevator"SE.stop +3 .tElbow.reconfigure :loose +2 "storage"(5 +4 "manipulator"&$ &.,(#b +2 && +3 "core" &  - +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&~'| +94 "core" ' +2 "manipulator"&I& +5 "core" & - + "manipulator"&\\% +4 "core" %σ  +2 "collection"'C& +4 "core" &  \ +2 "collection"'& +5 "core" &  \ +2 .tCC.seek :closed +2 "collection"'d(] +4 "core" &  b\ +8 &>  ^\ %f +9 &oX  Y\ 7 +10 &  c\ L +9 &X  \ L +9 &I]  \ L +10 & \\  \ L +9 & ^  \ M +10 &"Z  \ L +9 &$Q_  \ L +9 &&`  \ L +10 &'Z  \ L +9 &)Z  \ L +9 &+Y_  \ L +10 &-]  \ M +9 &.^  \ M +9 &0[  \ L +10 &2a\\  \ L +9 &4"]  \ M +10 &5X  \ L +9 &7]  \ M +9 &9i[  \ L +10 &;+]  \ L +9 &<\\  \ L +9 &>Y  \ L +10 &@qZ  \ L +9 &B4\\  \ L +10 &C]  \ M +9 &E\\  \ L +9 &GxZ  \ M +10 &I8c  \ M +9 &Jr  \ O +10 &L  \ R +9 &Ne  \ V +9 &P$  \ W +10 &Q  \ X +9 &S  \ X +9 &Ud  \ Y +10 &W&  \ Y +9 &X  \ [ +9 &Z  \ \\ +10 &\\g  \ H +9 &]a5  \ +~ +10 &]T  \ B +2 ( + "collection"'& +4 #tCollection Clamp onSpring/offSpring for 10/26 samples, on/off torque 2.03 + .Hand.open + "manipulator"&b1 +61 "core" 1 +2 "manipulator"&% +4 "core" % σ Y +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&U'\ +95 "core" ' +2 #tLoading generic puck from tube 6 into Processing Clamp + "processing"%l& +5 "core" &\ + "manipulator"&]% +4 "core" %\ 3 %| +2 "storage"(5% +3 "core" %R  z\  +2 "storage"(R. +3 "core" .(K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 + "storage"(h(K +3 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (2& +3 "core" &K z\  +2 "manipulator"&_& +4 "core" & , - + "manipulator"&|% +4 "core" %\ 3 _ %| +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 + "manipulator"&( +161 "core" ( + "manipulator"&& +4 "core" & C = +2 "storage"(+& +4 "core" &K   N\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&o'< +99 "core" ' +2 "storage"(9& +4 "core" &K 6 ? Y\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"( 'e +280 "core" ' +2 "storage"(Y- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +2 "core" &K   6\  +2 "manipulator"&& +4 "core" &  ; +2 .tElbow.seek 6 + "manipulator"&( +3 "core" ( +2 "manipulator"&3& +3 "core" & = ; +2 "storage"(& +4 "core" &K   )\  +2 .tForearm.seek 6 + 300 counts + "manipulator"& 'Ϧ +23 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&\ / +58 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&8& + "storage"(t'N +8 "core" & m n ; + "manipulator"&A% +4 "core" % Ϣ o n +2 .tForearm.seek :retract +2 "manipulator"&6'\ +88 "core" ' +59 .tElbow.seek PC +2 "manipulator"&=(c +108 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +142 "core" ( +2 "manipulator"& & +5 "core" &g : + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &-& +3 "core" &g  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&'[ +107 "core" ' + "manipulator"&x& +5 "core" &g o t + "manipulator"&P% +4 "core" %U j l v +2 "processing"%& +4 "core" &\ +2 "processing"%& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%(Z +4 "core" &\  +9 &1~\ *x +9 &d\ > +10 &Du\ N +9 &X\ M +9 &Z\ M +10 &Y\ L +9 &!NX\ M +9 &#W\ L +10 &$W\ M +9 &&Y\ L +9 &(VY\ M +10 &*\\\ M +9 &+W\ L +10 &-Y\ M +9 &/^Y\ M +9 &1 X\ M +10 &2\\\ M +9 &4X\ M +9 &6fV\ M +10 &8(Y\ M +9 &9V\ M +10 &;W\ M +9 &=m[\ M +9 &?.Z\ M +10 &@Y\ M +9 &BX\ M +9 &DvY\ M +10 &F7[\ M +9 &Ge\ N +10 &Im\ O +9 &Kp|\ Q +9 &M,\ S +10 &N\ T +9 &P\ S +9 &Rr\ S +10 &T3\ T +9 &U\ T +10 &W\ T +9 &Yv\ B +9 &Zw;\ \\ +10 &Z+\ 1 +2 ( +2 "processing"%& +3 #tProcessing Clamp onSpring/offSpring for 9/25 samples, on/off torque 1.64 + .Hand.open + "manipulator"&"1 +54 "core" 1 +2 "manipulator"&% +4 "core" % V l n . u +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&W'\ +96 "core" ' + "processing"%<& +4 "core" &Z'\ 1 +2 #tImaging generic puck in Processing Clamp while storing it to tube 6 +2 "manipulator"&% +3 "core" %\ 6 I & +2 "storage"(%% +4 "core" %Q f\  + "storage"(V. +3 "core" .(K +2 "storage"(& +3 "core" &K ^\  +3 "storage"([& +2 "manipulator"&E& +7 "core" &K \  + &g 3 +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +6 "manipulator"&$&.,(\ #b +2 "storage"(#]kK-0-\ b +2 .tElbow.seek PC +5 "manipulator"&F(c +4 ."raiseStack"SE.seek :beamBreak + "storage"(O'e +3 "core" ( + "manipulator"&& +4 "core" &g 6 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &?& +61 "core" &g a +2 .tForearm.seek PC +2 "manipulator"&7'[ +95 "core" ' +2 .tHand.close + "manipulator"&,/ +60 "core" / +2 .tPC.seek :open + "processing"%(p +29 "core" ' +2 "storage"(S- +3 "core" -'e +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('B +35 "core" ' +317 ( + "storage"(J& +4 "core" &K   \  +2 "manipulator"&M& +4 "core" &g  + "manipulator"&>% +4 "core" % [  +2 .tForearm.seek :retract + "manipulator"&'\ +100 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&( +252 "core" ( + "manipulator"&H& +5 "core" & G K + "storage"(`& +4 "core" &K\  ,\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&N'< +104 "core" ' +2 .tHand.open + "manipulator"&;1 +58 "core" 1 +2 "storage"(K- +4 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate +2 "storage"(z' +24 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(s' +49 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(X- +3 "core" -' +2 "storage"((& +4 "core" &K x w <\  + "manipulator"&p& +4 "core" &\ p m K +2 .tElbow.seek 6 + "manipulator"&c( +4 "core" ( + "manipulator"&G& +4 "core" &\ x {  K +2 "storage"(j& +4 "core" &K x x A\  +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&m'< +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"()'M +62 "core" ' +2 "manipulator"&@& +4 "core" &\ m o W K +2 "storage"(& +4 "core" &K A B \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&g'z +30 "core" ' +2 .tElbow.hold + "manipulator"&*, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"(Z'7 +24 "core" ' +2 "manipulator"&/% +4 "core" %Έg B +2 "storage"(#& +4 "core" &K 7\  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 6 + 314 counts +2 "manipulator"&'ϴ +16 "core" ' +2 "manipulator"& & +4 "core" & x {  k +2 "storage"({& +4 "core" &K - < \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&T'< +20 "core" ' + "storage"(&% +5 "core" %A X ? .\  +2 ."downElevator"SE.seek :down +4 "storage"(k'N +98 (.% +3 "core" %A   >\ Va +2 "manipulator"&:% +3 "core" %; p n  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&y'\ +99 "core" ' +50 ' + ."downElevator"SE.stop + "storage"(5 +3 (& +4 "core" &K\  R\  +2 "collection"'!& +4 "core" &]X  \ B + #tStoring generic puck in Collection Clamp to tube 6 +2 "manipulator"&i% +4 "core" %\ 8 x ' + "storage"(}% +4 "core" %B   \ +2 "storage"(4. +3 "core" .(K +2 "storage"(q& +4 "core" &K   .\  + "storage"(0& +4 "core" &K  P \  +2 "manipulator"&B& +3 "core" & { k +2 .tElbow.seek 6 +2 "manipulator"&( +15 "core" ( +2 "manipulator"&w& +4 "core" & a # +2 "storage"(f& +3 "core" &K   \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"& '< +93 "core" ' + "storage"(L& +5 "core" &K 1 =\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(e'e +275 "core" ' + "storage"(Q- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&a& +2 "core" &  # +2 "storage"(& +4 "core" &K -  W\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 + "manipulator"&1'z +31 "core" ' + .tElbow.hold +2 "manipulator"&r, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(I- +2 "core" -' +2 .tSE.seek 0.12 Pucks below Top Plate +2 "storage"(\\'o +27 "core" ' +2 "manipulator"&C% +4 "core" %Όe õ + "storage"(^& +4 "core" &K 7\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 318 counts + "manipulator"&v'ϸ +14 "core" ' + "manipulator"&$& +5 "core" & z g ^ $ + "storage"(D& +4 "core" &K 4 8\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&b'< +11 "core" ' +2 .tSE.seek 1.12 Pucks below Top Plate +2 "storage"('^ +51 "core" ' + "manipulator"&l& +5 "core" & o m $ + "manipulator"&]% +4 "core" %> p n C & +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&5'\ +95 "core" ' +2 .tElbow.seek CC +2 "manipulator"&R( +157 "core" ( +2 "manipulator"&& +4 "core" &(  ?R +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &2& +3 "core" &( [ ?R +2 .tForearm.seek CC +2 "manipulator"&_'| +100 "core" ' + .tHand.close +2 "manipulator"&|/ +61 "core" / +2 .tCC.seek :open + "collection"'~(p +410 "core" ( + "storage"(& +4 "core" &K A / \  +2 "storage"(+& +4 "core" &K : 7 \  + "manipulator"&'& +4 "core" &# g ;7 + "manipulator"&9% +4 "core" % } s +2 .tForearm.seek :retract +2 "manipulator"&n'\ +152 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +2 "manipulator"&U( +157 "core" ( +2 "manipulator"&Y& +4 "core" &  + "storage"(& +4 "core" &K N X +\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 6 +2 "manipulator"&'z +108 "core" ' +2 .tElbow.hold + "manipulator"&3, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&1 +63 "core" 1 +3 "manipulator"&\ % +5 "core" % Ίx 1 : + "storage"(8& +4 "core" &K\ \  O\  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 6 + 316 counts +2 "manipulator"&A'϶ +16 "core" ' +2 "manipulator"&& +4 "core" & q t G * +2 "storage"(o& +3 "core" &K i \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"& '< +22 "core" ' +2 "storage"( % +4 "core" %c N\ +3 ."downElevator"SE.seek :down +3 "storage"( 'N +100 (-% +2 "core" %4D ` Z E\ U_ +2 "manipulator"&% +4 "core" %* k d k +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&x'\ +97 "core" ' +44 ' + ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 3 of [3..6] + #Loading generic puck from tube 3 into Collection Clamp +2 "collection"'P& +4 "core" &  \ +2 "manipulator"&% +4 "core" %\ 8 K ' + "storage"(t% +4 "core" %= N K \ +2 "storage"(6. +3 "core" .(K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 + "storage"(u( +995 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 ("& +2 "core" & \ +2 "manipulator"&& +4 "core" &  * + .tElbow.seek 3 +2 "manipulator"&<(D +36 "core" ( + "manipulator"&& +5 "core" &M ]  + "storage"(%& +4 "core" & M W [\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&V' +94 "core" ' + "storage"(& +4 "core" & \ +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(E'e +279 "core" ' +2 "storage"([- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +2 "core" & \\ Z E\ +2 "manipulator"&& +4 "core" &M q o   +2 .tElbow.seek 3 + "manipulator"&?(D +4 "core" ( + "manipulator"&& +4 "core" &M r z J  + "storage"(,& +4 "core" & s s 1\ +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&S'y +22 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&=/ +52 "core" / +2 ."downElevator"SE.seek :down +5 "manipulator"&W& "storage"('N +8 "core" &M n o G  + "manipulator"&O% +4 "core" % q n j q +2 .tForearm.seek :retract +2 "manipulator"&J'\ +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"&M( +148 "core" ( + "manipulator"&>& +6 "core" & X - + ' + ."downElevator"SE.stop +3 .tElbow.reconfigure :loose +2 "storage"(5 +4 "manipulator"&$ &.,(#b +2 &7& +3 "core" & c - +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&H'| +100 "core" ' +2 "manipulator"&`& +4 "core" & [ - +2 "manipulator"&F% +4 "core" %m g +2 "collection"';& +4 "core" &  \ +2 "collection"'K& +5 "core" &  y\ +2 .tCC.seek :closed +2 "collection"'X(] +4 "core" &  t\ +8 &6  \ $d +9 &cU~  t\ 7 +10 &}  v\ K +9 &uY  q\ L +9 &8Z  p\ L +10 &[  m\ L +9 & _  m\ M +10 &"}Z  m\ M +9 &$?Y  j\ M +9 &&]  o\ M +10 &']  g\ M +9 &)\\  \\\ M +9 &+GY  \ M +10 &-\ ]  \ L +9 &.\\  h\ L +9 &0Z  \ M +10 &2OY  \ M +9 &4Z  \ L +10 &5Y  \ L +9 &7]  \ M +9 &9XZ  \ L +10 &;Z  \ L +9 &<]  \ L +9 &>Y  \ M +10 &@_Y  \ M +9 &B"Y  \ L +10 &C[  \ M +9 &EZ  \ M +9 &Gf\\  \ M +10 &I$k  \ N +9 &Jz  \ P +10 &L  \ T +9 &NR  \ W +9 &P  \ W +10 &Q  \ W +9 &S  \ X +9 &UP  \ Z +10 &W  \ Z +9 &X  \ [ +9 &Z  \ [ +10 &\\C  \ S +9 &]a;  \ $m +10 &]  \ K +5 ( +2 "collection"'K& +4 #tCollection Clamp onSpring/offSpring for 9/26 samples, on/off torque 2.07 + .Hand.open + "manipulator"&(1 +4 "core" &]b  \ K +50 1 + "manipulator"&p% +4 "core" % l < +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&G'\ +101 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%j& +4 "core" &\ +2 "manipulator"&% +4 "core" %\ 8 w ' + "storage"(@% +4 "core" %Q\ \  \  +2 "storage"(. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 + "storage"(/( +26 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (& +2 "core" & R\ +2 "manipulator"&#& +4 "core" & / - + "manipulator"& % +4 "core" %\ 8  ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 + "manipulator"&z(D +169 "core" ( +2 "manipulator"&{& +4 "core" &C\ " W +2 "storage"(&& +4 "core" &\ \  L\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&' +95 "core" ' + "storage"(N& +4 "core" & 9 9 \ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(s'e +284 "core" ' + "storage"(.- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (:& +2 "core" &\ \  t\  +2 "manipulator"&m& +4 "core" &C\  W +2 .tElbow.seek 3 + "manipulator"&c(D +4 "core" ( + "manipulator"&)& +4 "core" &C\  W + "storage"(g& +4 "core" &\ \  W\  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&'y +32 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&/ +52 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&!& +2 "storage"(i'N +7 "core" &C\ q q - W +2 "manipulator"&}% +4 "core" % ϗ p o  +2 .tForearm.seek :retract + "manipulator"&4'\ +90 "core" ' +2 .tElbow.seek PC +2 "manipulator"&q(c +158 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +90 "core" ( +2 "manipulator"&Z& +4 "core" &i +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &0& +3 "core" &i N +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&B'[ +107 "core" ' +2 "manipulator"&w& +4 "core" &i }  +2 "manipulator"&f% +4 "core" %O + L + "processing"%T& +4 "core" &\ +2 "processing"%L& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%k(Z +4 "core" &\ +8 &9 \ $d +9 &cV}\ 7 +9 &|\ L +10 &wU\ M +9 &9W\ M +10 &Y\ M +9 & Y \ M +9 &"U\ L +10 &$@X\ M +9 &&W\ M +9 &'W\ M +10 &)V\ M +9 &+HW\ M +10 &-\ Y\ M +9 &.Y\ M +9 &0W\ M +10 &2PX\ M +9 &4W\ M +10 &5W\ M +9 &7X\ M +9 &9YW\ M +10 &;W\ M +9 &<W\ M +9 &>Y\ M +10 &@_X\ M +9 &B"Z\ M +9 &CX\ M +10 &EY\ M +9 &Ge_\ N +10 &I%f\ O +9 &Jp\ P +9 &L\ R +10 &N\\\ T +9 &P\ S +9 &Q\ T +10 &S\ T +9 &Ud\ T +10 &W%\ T +9 &X\ T +9 &Z?Ib\ )w +10 &Z;\ ' +5 ( +2 "processing"%L& +4 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.59 + .Hand.open + "manipulator"&*1 +3 "core" &Z\ ' +57 1 + "manipulator"&y% +4 "core" % O } o  L +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&Q'\ +105 "core" ' +2 "processing"%a& +4 "core" &Z\ ' +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&% +4 "core" %\ m n [  +2 "storage"(I% +4 "core" %G   9\ + "storage"(C. +4 "core" .( + .tSC.reconfigure :tight +59 "storage"($\ .\ 1~b +4 .tSC.seek 3 +2 "storage"(^( +16 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 ($& +4 "core" & {\ # + "manipulator"&D& +5 ."raiseStack"SE.reconfigure :place +3 "storage"(#]kK-0-\ b +3 "core" &i e a L +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +3 ."raiseStack"SE.seek :beamBreak + "manipulator"&l(c +3 "storage"(]'e +4 "core" ( + "manipulator"& & +4 "core" &i t J +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &i ' +3 .tForearm.seek PC + "manipulator"&e'[ +98 "core" ' + .tHand.close +2 "manipulator"&1/ +53 "core" / +3 .tPC.seek :open + "processing"%v(p +91 "core" ' +2 "storage"(\\- +3 "core" -'e +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +4 ."raiseStack"SE.seek :place + "storage"('B +36 "core" ' +253 ( +2 "storage"(2& +4 "core" &   \ ' + "manipulator"&b& +4 "core" &i  +2 "manipulator"&r% +4 "core" % D  % +2 .tForearm.seek :retract + "manipulator"&|'\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&5(D +256 "core" ( + "manipulator"&d& +4 "core" &B  # +2 "storage"(& +4 "core" &\ \  \ ' +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&+' +110 "core" ' +2 .tHand.open + "manipulator"&'1 +57 "core" 1 +2 "storage"(9- +3 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate +2 "storage"(_' +25 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.83 Pucks below Top Plate + "storage"(Y' +49 "core" ' +2 #tLights, camera, ACTION! + "storage"(- +4 "core" -' +2 "storage"(R& +3 "core" &   j\ * +2 "manipulator"&& +5 "core" &C r t O # + .tElbow.seek 3 +2 "manipulator"&\ (D +3 "core" ( +2 "manipulator"&8& +4 "core" &C s q R # + "storage"(& +4 "core" & # $ \ * +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&o' +19 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.11 Pucks below Top Plate + "storage"( 'M +63 "core" ' +2 "manipulator"&n& +4 "core" &C  # +2 "storage"(-& +4 "core" &\ \  v\ * +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 + "manipulator"&'M +35 "core" ' + .tElbow.hold +2 "manipulator"&U, +5 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.07 Pucks below Top Plate + "storage"('7 +24 "core" ' + "manipulator"&P% +5 "core" %QW @ ñ + "storage"(A& +4 "core" & |\ * +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 304 counts + "manipulator"&'} +17 "core" ' + "manipulator"&t& +5 "core" &m\ q v J X + "storage"(6& +4 "core" & 8 4 \ * +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&' +20 "core" ' +2 "storage"( % +4 "core" %@ = 1 0\  +3 ."downElevator"SE.seek :down +3 "storage"( 'N +99 (h% +3 "core" %/C\ \  \ Va +2 "manipulator"&"% +4 "core" % n p  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +96 "core" ' +71 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (& +4 "core" & \  \ * +2 "collection"'%& +4 "core" &]b  \ K +2 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&% +4 "core" %\ 5  & + "storage"(3% +4 "core" %E\ \  8\ +2 "storage"(x. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"([( +7 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (& +2 "core" & \ % +2 "manipulator"&& +4 "core" &m\ U X +2 .tElbow.seek 3 + "manipulator"&(D +25 "core" ( + "manipulator"&,& +4 "core" &9 0  +2 "storage"(=& +4 "core" &   \ ' +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&W' +95 "core" ' + "storage"(O& +5 "core" & 7 8 0\ ' +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(<'e +275 "core" ' + "storage"(V- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&>& +3 "core" &9 n n {  +2 "storage"(7& +4 "core" &\ \  l\ - + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&E'M +33 "core" ' + .tElbow.hold +2 "manipulator"&S, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(`- +2 "core" -' +3 .tSE.seek 0.11 Pucks below Top Plate + "storage"(F'f +24 "core" ' +2 "manipulator"&;% +4 "core" %^O < + "storage"(?& +4 "core" & j\ - +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 317 counts + "manipulator"&'ϊ +17 "core" ' +2 "manipulator"&J& +4 "core" &O u ] ; s + "storage"(~& +4 "core" &   \ - +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&(' +18 "core" ' +2 .tSE.seek 1.11 Pucks below Top Plate +2 "storage"(p'U +50 "core" ' + "manipulator"&j& +5 "core" &O j Y o s + "manipulator"&% +4 "core" % ^ f  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&@'\ +94 "core" ' +2 .tElbow.seek CC +2 "manipulator"&( +167 "core" ( +2 "manipulator"&K& +4 "core" &\  W + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &\ ; W +2 .tForearm.seek CC +2 "manipulator"&#'| +95 "core" ' + .tHand.close + "manipulator"& / +60 "core" / +2 .tCC.seek :open +2 "collection"'H(p +409 "core" ( +2 "storage"({& +4 "core" & t u\ - + "storage"(&& +4 "core" & b o X\ - +2 "manipulator"&u& +4 "core" &\  W + "manipulator"&N% +4 "core" % ~  +2 .tForearm.seek :retract +2 "manipulator"&M'\ +91 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&G(D +148 "core" ( +2 "manipulator"&.& +4 "core" &; { F + "storage"(:& +4 "core" & ` Y ?\ - +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 + "manipulator"&m'M +112 "core" ' +2 .tElbow.hold + "manipulator"&), +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&g1 +56 "core" 1 +2 "manipulator"&% +4 "core" % Zp ! [  + "storage"(!& +4 "core" &\ \  O\ - + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 3 + 313 counts +2 "manipulator"&}'φ +16 "core" ' +2 "manipulator"&z& +4 "core" &W g n Q  +2 "storage"(& +4 "core" & :\ - +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&s' +22 "core" ' +2 "storage"(% +4 "core" %Z 7\ +2 ."downElevator"SE.seek :down +3 "storage"(Z'N +100 (0% +2 "core" %C u t\ U] +2 "manipulator"&c% +4 "core" % i m * +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&w'\ +94 "core" ' +43 ' +56 ."downElevator"SE.stop +3 "storage"(5 +3 #tShuffling pucks in tube 4 of [3..6] +2 #Loading generic puck from tube 4 into Collection Clamp + "collection"'f& +4 "core" &  \ +2 "manipulator"&T% +4 "core" %\ 4 & & +2 "storage"(i% +4 "core" %? s s \ + "storage"(4. +3 "core" .( +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"((, +344 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (*& +3 "core" &,~ W j\  + "manipulator"&y& +4 "core" &W  +2 .tElbow.seek 4 +2 "manipulator"&a(* +12 "core" ( +2 "manipulator"&& +4 "core" &* 7  + "storage"(I& +4 "core" &,~ L J \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&L' +93 "core" ' + "storage"(C& +4 "core" &,~ \  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"($'e +282 "core" ' + "storage"(D- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 ( & +2 "core" &,~ q p \  +2 "manipulator"&& +3 "core" &+ ` j e  +2 .tElbow.seek 4 +2 "manipulator"&B(* +4 "core" ( + "manipulator"&1& +4 "core" &+ u z 6  + "storage"(/& +4 "core" &,~ n n\  +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&\\'Z +22 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&q/ +61 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&Q& + "storage"(k'N +8 "core" &+ d o Z  +2 "manipulator"&2% +4 "core" % \\ k a f +2 .tForearm.seek :retract +2 "manipulator"&b'\ +92 "core" ' +2 .tElbow.seek CC + "manipulator"&]( +148 "core" ( +2 ' + "manipulator"&r& +4 ."downElevator"SE.stop +2 "storage"(5 +4 "core" & - + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &e& +3 "core" & J - +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&d'| +103 "core" ' +2 "manipulator"&& +4 "core" & . - +2 "manipulator"&l% +4 "core" %p  +2 "collection"''& +4 "core" &  \ +2 "collection"'9& +5 "core" &  p\ +3 .tCC.seek :closed + "collection"'(] +5 "core" &  w\ +7 &>  v\ $e +9 &oV  x\ 7 +10 &~  w\ K +9 &V  p\ M +9 &D\\  s\ M +10 &Y  l\ M +9 & Z  j\ L +10 &"\\  f\ L +9 &$MY  a\ L +9 &&Z  h\ L +10 &'\\  |\ L +9 &)Z  \ L +9 &+UZ  \ L +10 &-Y  \ L +9 &.[  \ M +9 &0_  \ L +10 &2\\[  \ M +9 &4^  \ M +10 &5[  \ M +9 &7\\  \ M +9 &9fX  \ L +10 &;&Z  \ M +9 &<[  \ L +9 &>Z  \ L +10 &@m^  \ L +9 &B._  \ M +10 &C\\  \ M +9 &E\\  \ M +9 &GuY  \ L +10 &I4b  \ M +9 &Jn  \ O +9 &L  \ Q +10 &Nc  \ U +9 &P!  \ V +10 &Q  \ W +9 &S  \ W +9 &U`  \ Y +10 &W  \ [\ +9 &X  \ Z +9 &Z  \ [ +10 &\\W  \ I +9 &]nC  \ ` +10 &]  \ Z +5 ( +2 "collection"'9& +4 #tCollection Clamp onSpring/offSpring for 9/26 samples, on/off torque 2.01 + .Hand.open + "manipulator"&R1 +4 "core" &]  \ Z +59 1 + "manipulator"&% +5 "core" % w  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&8'\ +97 "core" ' +2 #tLoading generic puck from tube 4 into Processing Clamp + "processing"%& +4 "core" &\ +2 "manipulator"&|% +4 "core" %\ 4 E %} + "storage"(n% +4 "core" %C J\ +2 "storage"(-. +3 "core" .(,~ +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 + "storage"((, +3 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (P& +3 "core" &, \  +2 "manipulator"&A& +4 "core" &  - + "manipulator"&_% +4 "core" %\ 4 _ %} +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&t(* +155 "core" ( +2 "manipulator"&6& +4 "core" &/ Z  +2 "storage"( & +4 "core" &,~ L\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&5' +104 "core" ' + "storage"(+& +4 "core" &,~\ \ % \  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(Y'e +277 "core" ' +2 "storage"(h- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 ("& +3 "core" &,~ W\  +2 "manipulator"&o& +3 "core" &0   +2 .tElbow.seek 4 +2 "manipulator"&\ (* +3 "core" ( +2 "manipulator"& & +3 "core" &0   +2 "storage"(& +4 "core" &,~\ \  \  +2 .tForearm.seek 4 + 300 counts + "manipulator"&'Z +21 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&/ +63 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&%& +2 "storage"('N +8 "core" &0 ` b x  +2 "manipulator"&% +4 "core" % Q e a c +2 .tForearm.seek :retract + "manipulator"&3'\ +97 "core" ' +2 .tElbow.seek PC + "manipulator"&x(c +158 "core" ' + ."downElevator"SE.stop + "storage"(5 +92 "core" ( +2 "manipulator"&& +4 "core" &j 2 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &j + +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&,'[ +103 "core" ' +2 "manipulator"&=& +4 "core" &j d +2 "manipulator"&% +4 "core" %d p + "processing"%O& +4 "core" &"\ +2 "processing"% & +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%^(Z +4 "core" &\ +8 & 1\ #b +9 &\\U~\ 7 +9 &y\ K +10 &iV\ N +9 &+W\ N +10 &W\ N +9 & T\ M +9 &"rT\ M +10 &$4W\ M +9 &%Y \ N +9 &'W\ \ M +10 &)yT\ N +9 &+<V \ M +10 &,V\ M +9 &.Z \ M +9 &0V\ M +10 &2CX\ N +9 &4S \ M +9 &5T \ M +10 &7T\ M +9 &9LT\ M +10 &; U\ N +9 &<U\ M +9 &>W\ M +10 &@TY\ M +9 &BU\ M +9 &CT\ M +10 &EU\ N +9 &GZ_\ N +10 &Ii\ O +9 &J|\ R +9 &L\ T +10 &NO\ T +9 &P\ T +9 &Q\ U +10 &S\ U +9 &UW\ T +10 &W\ U +9 &X\ U +9 &Z:Qq\ + +10 &ZZ\ 4 +5 ( +2 "processing"% & +3 "core" &Z(\ 3 +2 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.65 +2 .Hand.open + "manipulator"&U1 +55 "core" 1 + "manipulator"&% +4 "core" % d 6 +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&V'\ +104 "core" ' + "processing"%>& +5 "core" &Z( \ 3 + #tImaging generic puck in Processing Clamp while storing it to tube 4 +2 "manipulator"&7% +4 "core" %\ 9 z ( +2 "storage"(`% +3 "core" %T \  +2 "storage"(;. +3 "core" .(, +2 "storage"(?& +4 "core" &,~ X\  +2 "storage"(J& +2 "manipulator"&~& +7 "core" &,~ $\  + &j Z +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +2 "storage"(#]kK-0-\ b +3 .tElbow.seek PC +3 "manipulator"&j(c +4 ."raiseStack"SE.seek :beamBreak +2 "storage"('e +2 "core" ( + "manipulator"&W& +4 "core" &j y +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &j d +2 .tForearm.seek PC +2 "manipulator"&<'[ +102 "core" ' +2 .tHand.close + "manipulator"&E/ +55 "core" / +2 .tPC.seek :open +2 "processing"%(p +85 "core" ' +2 "storage"(F- +3 "core" -'e +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(K'B +34 "core" ' +261 ( + "storage"(& +5 "core" &,~ G\  + "manipulator"&(& +4 "core" &j  +2 "manipulator"&S% +3 "core" % e  ~ +2 .tForearm.seek :retract +2 "manipulator"& '\ +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&@(* +258 "core" ( + "manipulator"&X& +4 "core" &1  +2 "storage"({& +4 "core" &,~ \\\  +2 .tForearm.reconfigure :tight +58 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 4 + 450 counts +2 "manipulator"&&' +94 "core" ' +2 .tHand.open + "manipulator"&u1 +62 "core" 1 +2 "storage"(N- +3 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate +2 "storage"(.' +25 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(:' +51 "core" ' +2 #tLights, camera, ACTION! + "storage"(#- +4 "core" -' + "storage"(& +4 "core" &,~ 7 : \  +2 "manipulator"&g& +4 "core" &1  +2 .tElbow.seek 4 + "manipulator"&(* +4 "core" ( + "manipulator"&!& +4 "core" &1 2 +2 "storage"(z& +4 "core" &,~ @ < \  +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&' +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.11 Pucks below Top Plate + "storage"('M +62 "core" ' +2 "manipulator"&M& +4 "core" &1 d k } +2 "storage"(0& +4 "core" &,~\ \  \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&c'. +36 "core" ' +3 .tElbow.hold + "manipulator"&G, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"(m'7 +25 "core" ' + "manipulator"&f% +5 "core" %3F  Q ŭ + "storage"(}& +4 "core" &,~ o p z\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 305 counts +2 "manipulator"&p'_ +16 "core" ' + "manipulator"&T& +5 "core" & t p  + "storage"(i& +4 "core" &,~\ \  \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&4' +19 "core" ' + "storage"(s% +5 "core" %<   \ +2 ."downElevator"SE.seek :down +4 "storage"(Z'N +98 ([% +3 "core" %? \ Va +2 "manipulator"&*% +4 "core" % m k  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&y'\ +95 "core" ' +54 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (& +4 "core" &,~ \  + "collection"'I& +4 "core" &]  \ Z +2 #tStoring generic puck in Collection Clamp to tube 4 +2 "manipulator"&C% +4 "core" %\ 6 $ & + "storage"()% +4 "core" %> /\ +2 "storage"(w. +3 "core" .(, +2 "storage"(D& +4 "core" &,~ 5\  + "storage"( & +4 "core" &,~ 0\  +2 "manipulator"&& +4 "core" &   + .tElbow.seek 4 +2 "manipulator"&1(* +18 "core" ( +2 "manipulator"&/& +4 "core" &% M !p + "storage"(q& +4 "core" &,~ O\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&Q' +103 "core" ' + "storage"(2& +4 "core" &,~\ \  \  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(a'e +276 "core" ' + "storage"(L- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&r& +3 "core" &)  l +2 "storage"(e& +4 "core" &,~ \ 3\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&$'. +33 "core" ' + .tElbow.hold +2 "manipulator"&\\, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(- +2 "core" -' +3 .tSE.seek 0.12 Pucks below Top Plate + "storage"(l'r +29 "core" ' + "manipulator"&'% +5 "core" %3O    ů + "storage"(B& +4 "core" &,~ r n (\  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 4 + 305 counts + "manipulator"&k'_ +16 "core" ' + "manipulator"&b& +5 "core" & _ w % + "storage"(H& +4 "core" &,~\ \  \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&R' +18 "core" ' +2 .tSE.seek 1.12 Pucks below Top Plate + "storage"('a +57 "core" ' +2 "manipulator"&& +5 "core" & n p % + "manipulator"&|% +4 "core" % o o +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&n'\ +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"&-( +145 "core" ( + "manipulator"&9& +4 "core" & [ . +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &P& +2 "core" & w . +2 .tForearm.seek CC +2 "manipulator"&A'| +94 "core" ' +2 .tHand.close + "manipulator"&_/ +54 "core" / + .tCC.seek :open +2 "collection"'d(p +410 "core" ( + "storage"(6& +4 "core" &,~ Z Y\  +2 "storage"( & +3 "core" &,~ X X M\  +2 "manipulator"&& +4 "core" &  . + "manipulator"&+% +4 "core" % χ  +2 .tForearm.seek :retract +2 "manipulator"&]'\ +91 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&8(* +166 "core" ( + "manipulator"&h& +4 "core" &" k / +2 "storage"("& +4 "core" &,~ [ Z\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 4 +2 "manipulator"&o'. +112 "core" ' + .tElbow.hold +2 "manipulator"& , +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&1 +63 "core" 1 +2 "manipulator"&% +4 "core" % ;f  i +2 "storage"(%& +4 "core" &,~ $\  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 4 + 313 counts +2 "manipulator"&'g +17 "core" ' + "manipulator"&t& +5 "core" & \\ t n L + "storage"(5& +4 "core" &,~ { y +\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&Y' +20 "core" ' +2 "storage"(% +4 "core" %i n /\ +2 ."downElevator"SE.seek :down +4 "storage"('N +98 (% +3 "core" %E ^ s ]\ V^ +2 "manipulator"&\ % +4 "core" % n o ! +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&='\ +95 "core" ' +43 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 5 of [3..6] + #Loading generic puck from tube 5 into Collection Clamp + "collection"'& +5 "core" &  \ + "manipulator"&O% +4 "core" %\ : O & +2 "storage"(% +4 "core" %= X [ \ \ +2 "storage"(3. +3 "core" .(, +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"(v(<< +348 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (U& +2 "core" &<;  \  +2 "manipulator"&& +4 "core" & X L + .tElbow.seek 5 +2 "manipulator"&>( +3 "core" ( +2 "manipulator"&7& +3 "core" & " L +2 "storage"(`& +4 "core" &<; X X U\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&;' +94 "core" ' +2 "storage"(?& +4 "core" &<; u l D\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"( 'e +291 "core" ' + "storage"(~- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (J& +3 "core" &<; a L 1\  + "manipulator"&W& +4 "core" &  L +2 .tElbow.seek 5 + "manipulator"&( +4 "core" ( + "manipulator"&,& +4 "core" &  L + "storage"(E& +4 "core" &<; X X\  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&F'[ +19 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&x/ +57 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&V& +2 "storage"(^'N +7 "core" & o n L +2 "manipulator"&% +4 "core" % O m m +2 .tForearm.seek :retract +58 "manipulator"&'\ +98 "core" ' + .tElbow.seek CC +2 "manipulator"&(( +87 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +69 "core" ( +2 "manipulator"&S& +4 "core" &\ [ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &<& +3 "core" &\  [ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&X'| +106 "core" ' + "manipulator"&{& +5 "core" &\ o u [ +2 "manipulator"&j% +4 "core" %s o o \ +2 "collection"'u& +4 "core" &  \ +2 "collection"'N& +5 "core" &  \ +3 .tCC.seek :closed + "collection"'#(] +5 "core" &  v\ +7 & 6  w\ %f +9 &lW  o\ 8 +9 &~  r\ L +10 &Y  k\ L +9 &L^  o\ L +9 &_  o\ L +10 & _  h\ M +9 &"]  u\ L +9 &$U[  l\ L +10 &&]  r\ L +9 &'[  o\ L +10 &)^  i\ L +9 &+\\Z  w\ L +9 &-]  \ M +10 &.]  \ M +9 &0^  \ M +9 &2eZ  \ L +10 &4&_  \ L +9 &5\\  \ M +10 &7\\  \ M +9 &9l\\  \ L +9 &;.Y  \ L +10 &<\\  \ L +9 &>Z  \ L +10 &@tY  \ L +9 &B5Z  \ M +9 &C\\  \ M +10 &E\\  \ M +9 &G{`  \ M +9 &I:h  \ N +10 &J|  \ P +9 &L  \ U +9 &Ne  \ W +10 &P&  \ W +9 &Q  \ W +10 &S  \ X +9 &Uf  \ Y +9 &W&  \ Z +10 &X  \ [ +9 &Z  \ \\ +9 &\\i  \ H +10 &]c>  \ + +9 &]h  \ O +2 ( +2 "collection"'N& +3 #tCollection Clamp onSpring/offSpring for 10/26 samples, on/off torque 2.06 + .Hand.open +2 "manipulator"&1 +60 "core" 1 +2 "manipulator"&g% +4 "core" % s y k L +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&!'\ +91 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp + "processing"%z& +5 "core" &\ +2 "manipulator"& % +4 "core" %\ ,  "^ + "storage"(M% +4 "core" %G   1\ +2 "storage"(0. +3 "core" .(<< + "storage"(K& +4 "core" &<;   2\  +2 "storage"(f& +4 "core" &<;   C\  +2 "manipulator"&}& +4 "core" &\ + [ +2 "manipulator"&.% +4 "core" %\ , 3 "^ +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&T( +147 "core" ( + "manipulator"&i& +5 "core" &  F + "storage"(s& +4 "core" &<;   A\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&@' +103 "core" ' +2 "storage"(&& +4 "core" &<;  &\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(:'e +277 "core" ' + "storage"([- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (*& +3 "core" &<; D w\  +2 "manipulator"&& +4 "core" & D +2 .tElbow.seek 5 + "manipulator"&( +3 "core" ( +2 "manipulator"&& +4 "core" &  + "storage"(c& +9 "core" &<;   \  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&'[ +22 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&p/ +53 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&I& + "storage"(C'N +7 "core" & d n N +2 "manipulator"&)% +4 "core" % X n n +2 .tForearm.seek :retract +2 "manipulator"&w'\ +91 "core" ' +2 .tElbow.seek PC +2 "manipulator"&D(c +158 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +80 "core" ( +2 "manipulator"&m& +4 "core" &h 6  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 & & +3 "core" &h !  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&'[ +103 "core" ' +2 "manipulator"&/& +4 "core" &h 4  +2 "manipulator"&q% +3 "core" %c H +2 "processing"%4& +4 "core" &,\ +2 "processing"%2& +5 "core" &,\ +2 .tPC.seek :closed +2 "processing"%Z(Z +4 "core" &\ +8 &9\ #c +9 &_V}\ 7 +9 &y\ K +10 &lV\ N +9 &0W\ M +9 &Y \ M +10 & Y\ M +9 &"vT \ M +9 &$6X\ N +10 &%W\ \ M +9 &'T\ \ M +10 &)|W\ N +9 &+?U\ M +9 &-Z\ \ N +10 &.Y \ M +9 &0T\ M +9 &2GY \ M +10 &4W \ N +9 &5W\ M +10 &7W \ M +9 &9OT\ M +9 &;X \ N +10 &<U \ M +9 &>X\ N +9 &@WX\ M +10 &BT \ M +9 &CY \ M +10 &EX\ N +9 &G]`\ N +9 &Ik\ O +10 &Jy\ Q +9 &L\ S +9 &NS\ T +10 &P\ T +9 &Q\ T +10 &S\ U +9 &UZ\ T +9 &W\ U +10 &X\ U +9 &Z;Or\ . +9 &Z)\ ' +6 ( + "processing"%2& +5 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.63 + .Hand.open + "manipulator"&G1 +3 "core" &Z\ ' +56 1 +2 "manipulator"&y% +4 "core" % c j +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&L'\ +96 "core" ' + "processing"%r& +5 "core" &Z\ ' + #tImaging generic puck in Processing Clamp while storing it to tube 5 +2 "manipulator"&e% +4 "core" %\ + / !V + "storage"(% +4 "core" %?\ \  \ \ +2 "storage"('. +3 "core" .(<< +2 "storage"(B& +4 "core" &<;\ \  \  +2 "storage"(b& +2 "manipulator"&H& +7 "core" &<;\ \  \  + &h  +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b + "storage"(#]kK-0-\ b +4 .tElbow.seek PC +3 "manipulator"&(c +4 ."raiseStack"SE.seek :beamBreak +2 "storage"(|'e +2 "core" ( +2 "manipulator"&Q& +4 "core" &h   + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &1& +3 "core" &h  +2 .tForearm.seek PC + "manipulator"&a'[ +97 "core" ' + .tHand.close + "manipulator"&$/ +55 "core" / +2 .tPC.seek :open +2 "processing"%k(p +93 "core" ' +2 "storage"(l- +3 "core" -'e +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +2 ."raiseStack"SE.seek :place +2 "storage"(9'B +34 "core" ' +253 ( +2 "storage"(P& +4 "core" &<;  \  +2 "manipulator"&R& +3 "core" &h Q  +2 "manipulator"&\\% +4 "core" % c K +2 .tForearm.seek :retract + "manipulator"&_'\ +101 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&n( +253 "core" ( +2 "manipulator"&& +4 "core" & z  + "storage"(6& +4 "core" &<;\ \  \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"& ' +105 "core" ' + .tHand.open + "manipulator"&1 +57 "core" 1 +2 "storage"(+- +4 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate +2 "storage"(h' +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"("' +56 "core" ' +2 #tLights, camera, ACTION! + "storage"(A- +3 "core" -' +2 "storage"(-& +4 "core" &<;  % \  + "manipulator"&& +4 "core" & m p  +2 .tElbow.seek 5 +2 "manipulator"&( +8 "core" ( + "manipulator"&%& +4 "core" &  _ r  +2 "storage"(t& +4 "core" &<;   \  +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&5' +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"('M +64 "core" ' +2 "manipulator"&]& +4 "core" &  n m +2 "storage"(& +4 "core" &<;   3\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&\ '/ +34 "core" ' + .tElbow.hold +2 "manipulator"&8, +47 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"(o'7 +24 "core" ' + "manipulator"&% +5 "core" %=^ > + "storage"(O& +4 "core" &<; \  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 5 + 314 counts + "manipulator"&'i +16 "core" ' +2 "manipulator"&& +4 "core" &\ p v # H +2 "storage"(3& +4 "core" &<; & $ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +58 "manipulator"&' +22 "core" ' + "storage"(Y% +5 "core" %A 4 >\  +2 ."downElevator"SE.seek :down +4 "storage"('N +98 (% +3 "core" %F\ \  \ Vb +2 "manipulator"&U% +4 "core" % p p  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +96 "core" ' +53 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (7& +4 "core" &<;\ ;\  +2 "collection"'`& +4 "core" &]e  \ O +2 #tStoring generic puck in Collection Clamp to tube 5 + "manipulator"&?% +4 "core" %\ 7  ' +2 "storage"( % +4 "core" %?\ \  \ + "storage"(=. +3 "core" .(<< +2 "storage"(~& +4 "core" &<;\  n\  + "storage"(J& +4 "core" &<;\  *\  +2 "manipulator"&W& +4 "core" & A H +2 .tElbow.seek 5 + "manipulator"&,( +53 "core" ( +2 "manipulator"&E& +4 "core" & R !q + "storage"(x& +4 "core" &<;\ \  \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&V' +93 "core" ' + "storage"(& +4 "core" &<; 6  \  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(>'e +279 "core" ' + "storage"(;- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"& & +3 "core" &  !q +2 "storage"(S& +4 "core" &<; T a\  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 + "manipulator"&<'/ +35 "core" ' +2 .tElbow.hold +2 "manipulator"&F, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"({- +3 "core" -' +2 .tSE.seek 0.13 Pucks below Top Plate +2 "storage"(j'{ +27 "core" ' +2 "manipulator"&% +4 "core" %2F $   ǭ +2 "storage"(u& +4 "core" &<; 5\  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 5 + 303 counts + "manipulator"&^'^ +17 "core" ' +2 "manipulator"&& +4 "core" & q o  "y +2 "storage"(d& +4 "core" &<;   o\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&' +18 "core" ' +2 .tSE.seek 1.13 Pucks below Top Plate +2 "storage"(g'j +49 "core" ' +2 "manipulator"&z& +4 "core" & o q  "y +2 "manipulator"& % +4 "core" % o o - +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&M'\ +92 "core" ' + .tElbow.seek CC +2 "manipulator"&0( +140 "core" ( +2 "manipulator"&K& +4 "core" & . + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &f& +3 "core" & . +2 .tForearm.seek CC +2 "manipulator"&N'| +101 "core" ' +2 .tHand.close +2 "manipulator"&}/ +57 "core" / +2 .tCC.seek :open +2 "collection"'.(p +413 "core" ( + "storage"(i& +5 "core" &<; Z Z x\  + "storage"(s& +4 "core" &<; W X L\  + "manipulator"&X& +4 "core" & & . + "manipulator"&&% +4 "core" % z , +2 .tForearm.seek :retract +2 "manipulator"&('\ +96 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&!( +151 "core" ( +2 "manipulator"&[& +4 "core" &   +2 "storage"(*& +3 "core" &<; W W\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 5 + "manipulator"&'/ +111 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&c1 +58 "core" 1 +2 "manipulator"&p% +5 "core" % Bs & $ + "storage"(I& +4 "core" &<;\ \  P\  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 5 + 319 counts + "manipulator"&)'n +17 "core" ' +2 "manipulator"&T& +4 "core" & \\ s j % +2 "storage"(@& +4 "core" &<; k m \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&:' +21 "core" ' +2 "storage"(% +4 "core" %n \ +2 ."downElevator"SE.seek :down +4 "storage"(m'N +98 ( % +3 "core" %+; u s \ U\\ +2 "manipulator"&% +4 "core" % a d G  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&/'\ +90 "core" ' +48 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 6 of [3..6] + #Loading generic puck from tube 6 into Collection Clamp + "collection"'q& +5 "core" &  \ + "manipulator"&4% +4 "core" %\ / !U +2 "storage"(C% +4 "core" %> r s P\ + "storage"(w. +3 "core" .(<< +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"((K +351 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (G& +2 "core" &K \  +2 "manipulator"&y& +4 "core" & G % +2 .tElbow.seek 6 + "manipulator"&r( +30 "core" ( + "manipulator"&e& +5 "core" &  + "storage"(& +4 "core" &K s r \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&''< +89 "core" ' + "storage"(B& +5 "core" &K \  + .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(2'e +276 "core" ' +2 "storage"(H- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (b& +3 "core" &K e ^ [\  + "manipulator"&Q& +4 "core" & d n +2 .tElbow.seek 6 + "manipulator"&1( +4 "core" ( + "manipulator"&& +4 "core" & p s + "storage"($& +4 "core" &K u p %\  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&l'Ϧ +22 "core" ' +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&D/ +53 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&L& + "storage"(Z'N +8 "core" & n e + "manipulator"&P% +4 "core" % ϣ n m +2 .tForearm.seek :retract +2 "manipulator"&R'\ +88 "core" ' +2 .tElbow.seek CC + "manipulator"&\\( +153 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +10 "core" ( + "manipulator"&|& +5 "core" &'  >N + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &a& +3 "core" &' + >N +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&'| +99 "core" ' + "manipulator"&6& +4 "core" &' c >M +2 "manipulator"&% +4 "core" %} C +2 "collection"'& +4 "core" &  \ +2 "collection"'+& +5 "core" &  \ +2 .tCC.seek :closed + "collection"'A(] +5 "core" &  \ +7 &6  x\ $d +9 &eV  \ 7 +9 &~  w\ K +10 &vX  o\ M +9 &8\\  z\ M +9 &Z  {\ L +10 & \\  \ L +9 &"\\  x\ L +10 &$@Y  r\ M +9 &&Z  i\ L +9 &'Z  t\ M +10 &)Y  n\ L +9 &+I[  _\ L +10 &-\ Y  ^\ M +9 &._  h\ M +9 &0_  j\ M +10 &2PZ  f\ M +9 &4Z  z\ M +9 &5X  q\ L +10 &7[  \ M +9 &9YY  \ L +9 &;Z  \ L +10 &<Y  \ M +9 &>Y  \ M +10 &@`X  \ M +9 &B"Z  \ M +9 &CX  \ M +10 &EW  \ M +9 &GhY  \ M +9 &I'b  \ N +10 &Jp  \ O +9 &L  \ S +10 &NV  \ V +9 &P  \ W +9 &Q  \ W +10 &S  \ X +9 &US  \ Y +9 &W  \ Y +10 &X  \ Z +9 &Z  \ [\ +10 &\\W  \ G +9 &]`<  \ $l +9 &]t  \ L +6 ( + "collection"'+& +5 #tCollection Clamp onSpring/offSpring for 9/26 samples, on/off torque 2.02 + .Hand.open + "manipulator"&-1 +4 "core" &]l  \ L +59 1 + "manipulator"&% +4 "core" % y ; +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&%'\ +95 "core" ' +2 #tLoading generic puck from tube 6 into Processing Clamp + "processing"%t& +5 "core" &\ + "manipulator"&_% +4 "core" %\ 3  #f +2 "storage"(]% +4 "core" %9 \ + "storage"(. +4 "core" .(K + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"(9(K +2 "core" ( +59 .tSC.configure :limp +3 "storage"($\ 1b +2 (h& +3 "core" &K \  +2 "manipulator"&& +4 "core" &%  <@ + "manipulator"&O% +4 "core" %\ 3  #f +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 + "manipulator"&( +172 "core" ( +2 "manipulator"&3& +4 "core" &  \ +2 "storage"(n& +4 "core" &K\ \  )\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"& '< +116 "core" ' +2 "storage"("& +4 "core" &K 8 % /\  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(Y'e +277 "core" ' +2 "storage"(5- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" &K   2\  +2 "manipulator"&& +4 "core" & ` j / \ +2 .tElbow.seek 6 + "manipulator"&U( +6 "core" ( +2 "manipulator"&& +4 "core" & t Z /  +2 "storage"(\ & +3 "core" &K   ;\  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&'Ϧ +10 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&7/ +58 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&`& +2 "storage"(?'N +7 "core" & n   +2 "manipulator"& % +4 "core" % Ϫ e  W 0 +2 .tForearm.seek :retract +2 "manipulator"&='\ +95 "core" ' +2 .tElbow.seek PC +2 "manipulator"&~(c +154 "core" ' + ."downElevator"SE.stop + "storage"(5 +100 "core" ( +2 "manipulator"&o& +4 "core" &b + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &J& +3 "core" &b  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&W'[ +102 "core" ' + "manipulator"&E& +4 "core" &b e +2 "manipulator"&x% +4 "core" %b Y +2 "processing"%& +4 "core" &\ +2 "processing"%& +4 "core" &\ +2 .tPC.seek :closed +2 "processing"%(Z +4 "core" &\  +10 &0y\ *x +9 &d\ > +9 &@u\ N +10 &T\ M +9 &Y\ N +9 &W\ M +10 &!IZ\ M +9 &# W\ M +10 &$R\ M +9 &&Y\ M +9 &(QW \ M +10 &*T \ M +9 &+W \ M +9 &-Z\ M +10 &/Y\\\ M +9 &1X\ M +10 &2T \ M +9 &4V \ M +9 &6bU\ M +10 &8#Y\ M +9 &9T\ M +9 &;W \ M +10 &=jY \ M +9 &?+Y\ M +10 &@U \ M +9 &BY \ M +9 &DqW \ M +10 &F2W\ N +9 &Ga \ N +9 &Im \ O +10 &Kk \ R +9 &M( \ T +10 &N \ T +9 &P\ T +9 &Rm\ T +10 &T-\ U +9 &U\ U +9 &W\ U +10 &Yr\ B +9 &Z|B\ T +10 &Z\ ' +2 ( + "processing"%& +3 #tProcessing Clamp onSpring/offSpring for 9/25 samples, on/off torque 1.65 +2 .Hand.open + "manipulator"&81 +57 "core" 1 +2 "manipulator"&% +4 "core" % b m +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&;'\ +100 "core" ' +2 "processing"% & +4 "core" &Z \ ' +2 #tImaging generic puck in Processing Clamp while storing it to tube 6 + "manipulator"&S% +4 "core" %\ : H ( +2 "storage"({% +4 "core" %; =\ + "storage"(. +3 "core" .(K +2 "storage"(u& +3 "core" &K 8\  +2 "storage"(& +5 "manipulator"&d& +4 "core" &K =\  + &b = +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +3 "storage"(#]kK-0-\ b + "manipulator"&z(c +8 ."raiseStack"SE.seek :beamBreak +2 "storage"( 'e +2 "core" ( + "manipulator"&V& +4 "core" &b k +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &,& +4 "core" &b 9 +2 .tForearm.seek PC + "manipulator"&>'[ +103 "core" ' + .tHand.close + "manipulator"& +2 "storage"( & +4 "core" &K \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&Y'< +27 "core" ' +2 "storage"(% +4 "core" %] ,\ +2 ."downElevator"SE.seek :down +5 "storage"(o'N +99 (J% +3 "core" %> d Y '\ U^ +2 "manipulator"&U% +4 "core" %\\ n o +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&E'\ +92 "core" ' +50 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 3 of [3..6] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"'x& +4 "core" &  s\ +2 "manipulator"&% +4 "core" %\ 1  $s +2 "storage"(?% +4 "core" %O r ^ Q\ \ + "storage"(=. +3 "core" .(K +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(k( +994 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (8& +2 "core" & z\ +2 "manipulator"&& +4 "core" &  > +2 .tElbow.seek 3 + "manipulator"& (D +47 "core" ( +2 "manipulator"&S& +4 "core" &:  F + "storage"({& +4 "core" & Y N U\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&' +94 "core" ' +2 "storage"(u& +4 "core" & \ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"('e +279 "core" ' + "storage"(d- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" & L X \ +2 "manipulator"&V& +4 "core" &:  F +2 .tElbow.seek 3 + "manipulator"&,(D +4 "core" ( + "manipulator"&W& +4 "core" &:  F +2 "storage"(<& +4 "core" & Y Y \ +2 .tForearm.seek 3 + 300 counts + "manipulator"&j'y +20 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&~/ +63 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&;& + "storage"('N +8 "core" &: j o F + "manipulator"&f% +4 "core" % m a d g +2 .tForearm.seek :retract +2 "manipulator"& '\ +89 "core" ' +2 .tElbow.seek CC +2 "manipulator"&( +154 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +3 "core" ( +2 "manipulator"&F& +4 "core" &( V ?U +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &>& +2 "core" &( X ?U +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&#'| +100 "core" ' +2 "manipulator"&i& +4 "core" &( G ?T +2 "manipulator"&z% +4 "core" %σ  +2 "collection"'X& +4 "core" &  \ +2 "collection"'&& +5 "core" &  \ +3 .tCC.seek :closed + "collection"'N(] +5 "core" &  }\ +7 &?  ~\ $e +9 &oX  y\ 7 +9 &  ~\ L +10 &\\  \ L +9 &HZ  x\ L +9 &\ Z  {\ L +10 & [  z\ M +9 &"_  \ M +9 &$O\\  x\ M +10 &&\\  ~\ M +9 &'Y  z\ L +10 &)Z  v\ M +9 &+X]  |\ L +9 &-Z  ~\ M +10 &._  {\ M +9 &0_  \ M +10 &2_Z  \ M +9 &4!_  z\ M +9 &5\\  {\ M +10 &7Y  {\ M +9 &9hX  v\ L +9 &;*Z  {\ L +10 &<Y  o\ M +9 &>Y  x\ M +9 &@o]  u\ M +10 &B1Y  v\ M +9 &CZ  l\ L +10 &E\\  p\ M +9 &GvZ  f\ M +9 &I5h  x\ N +10 &Jz  s\ P +9 &L  s\ T +9 &N_  s\ X +10 &P#  \ W +9 &Q  ~\ X +10 &S  \ Y +9 &Ua  x\ Z +9 &W$  p\ Y +10 &X  q\ [ +9 &Z  ~\ ^ +9 &\\b  \ I +10 &]_5  \ , +9 &]Y  \ C +2 ( +2 "collection"'&& +3 #tCollection Clamp onSpring/offSpring for 10/26 samples, on/off torque 2.10 +2 .Hand.open + "manipulator"&01 +54 "core" 1 +2 "manipulator"&c% +5 "core" % π  + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&I'\ +104 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%T& +4 "core" &&\ +2 "manipulator"&}% +4 "core" %\    + "storage"((% +4 "core" %<   @\ +2 "storage"( . +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 + "storage"(K( +28 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (q& +3 "core" &\ \  \ +2 "manipulator"&4& +4 "core" &&  =E + "manipulator"&[% +4 "core" %\    +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&C(D +158 "core" ( +2 "manipulator"&w& +4 "core" &A y s  +2 "storage"(:& +4 "core" & 4 5\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&M' +187 "core" ' + "storage"(s& +4 "core" & W W \ +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(*'e +274 "core" ' +2 "storage"(v- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (G& +2 "core" &   \  +2 "manipulator"&@& +4 "core" &A d a u +2 .tElbow.seek 3 + "manipulator"&p(D +3 "core" ( +2 "manipulator"&& +4 "core" &A s r + "storage"(& +4 "core" & , # F\  +2 .tForearm.seek 3 + 300 counts + "manipulator"&e'y +23 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&)/ +58 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&& + "storage"(B'N +8 "core" &A ` d ~ + "manipulator"&% +4 "core" % n c j [ +2 .tForearm.seek :retract +2 "manipulator"&/'\ +88 "core" ' +3 .tElbow.seek PC + "manipulator"&H(c +158 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +88 "core" ( +2 "manipulator"&& +4 "core" &i x = +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &b& +3 "core" &i +58 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&Q'[ +111 "core" ' +2 "manipulator"&$& +4 "core" &i s y  +2 "manipulator"&D% +4 "core" %U p o  + "processing"%g& +4 "core" &+\ +2 "processing"%P& +5 "core" & \ +3 .tPC.seek :closed + "processing"%m(Z +5 "core" &\ +7 & 1"\ $c +9 &_U~"\ 7 +9 &z"\ K +10 &oT \ M +9 &3W\ M +9 &Y\ M +10 & \\\ M +9 &"xV!\ M +10 &$;X\ M +9 &%[ \ M +9 &'W\ M +10 &)V\ M +9 &+CW\ M +9 &-Y\ M +10 &.W\ M +9 &0X \ M +9 &2JX \ M +10 &4 W\ M +9 &5W\ L +10 &7W\ M +9 &9TV \ L +9 &;X \ M +10 &<V \ L +9 &>Y \ M +9 &@[W \ M +10 &BX \ M +9 &CW \ M +10 &EW \ M +9 &G`_\ N +9 &I e \ N +10 &Js\ P +9 &L \ R +9 &NW \ S +10 &P \ S +9 &Q \ T +10 &S \ T +9 &U^ \ T +9 &W \ T +10 &X \ T +9 &Z=Mk\ + +9 &Z. \ ( +6 ( + "processing"%P& +5 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.60 + .Hand.open + "manipulator"&!1 +4 "core" &Z\ ( +49 1 +2 "manipulator"&y% +4 "core" % V l ] @ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&''\ +89 "core" ' +2 "processing"%|& +4 "core" &Z\ ( +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&a% +4 "core" %\ . 2 #b +2 "storage"(6% +4 "core" %9\ \  \ + "storage"(. +4 "core" .( + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 3 + "storage"(1( +19 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (R& +4 "core" & p @\ & + "manipulator"&.& +3 ."raiseStack"SE.reconfigure :place +6 "storage"(#]kK-0-\ b +2 "core" &i ^ +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +2 "storage"(t'e + "manipulator"&_(c +6 "core" ( +2 "manipulator"&L& +4 "core" &i + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &i  +2 .tForearm.seek PC +2 "manipulator"&r'[ +95 "core" ' +2 .tHand.close + "manipulator"&2/ +61 "core" / +2 .tPC.seek :open +2 "processing"%Z(p +82 "core" ' + "storage"(- +4 "core" -'e + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(+'B +36 "core" ' +259 ( +2 "storage"(h& +4 "core" &   X\ + + "manipulator"&-& +4 "core" &i  +2 "manipulator"&l% +4 "core" % W  + .tForearm.seek :retract +2 "manipulator"&O'\ +102 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&](D +267 "core" ( +2 "manipulator"&A& +4 "core" &C J  +2 "storage"(3& +3 "core" &\ \ \ + +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&n' +107 "core" ' + .tHand.open +2 "manipulator"&1 +53 "core" 1 +2 "storage"(\\- +4 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate +2 "storage"(5' +23 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(' +53 "core" ' + #tLights, camera, ACTION! + "storage"(- +4 "core" -' +2 "storage"(& +4 "core" & U W a\ . +2 "manipulator"&\ & +3 "core" &C m l  +2 .tElbow.seek 3 +2 "manipulator"&7(D +3 "core" ( +2 "manipulator"&`& +4 "core" &C q t  + "storage"(& +4 "core" & U U q\ . +2 .tForearm.seek 3 + 450 counts +2 "manipulator"& ' +56 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.11 Pucks below Top Plate + "storage"('M +63 "core" ' + "manipulator"&"& +5 "core" &C j Z 0  + "storage"(J& +4 "core" & ) E &\ . +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&U'M +36 "core" ' + .tElbow.hold +2 "manipulator"&%, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"('7 +21 "core" ' +2 "manipulator"&x% +4 "core" %^V +2 "storage"( & +4 "core" & 6\ . + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 317 counts + "manipulator"&'ϊ +18 "core" ' + "manipulator"&?& +5 "core" &C q s -  +2 "storage"(=& +4 "core" & X X ^\ . +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&' +20 "core" ' +2 "storage"(Y% +4 "core" %< X [ \ +3 ."downElevator"SE.seek :down +3 "storage"(o'N +100 (9% +2 "core" %UF   l\ Wc +2 "manipulator"&8% +4 "core" % V a  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +92 "core" ' +60 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (S& +4 "core" & R\  \ . +2 "collection"'{& +4 "core" &]Z  \ C + #tStoring generic puck in Collection Clamp to tube 3 +2 "manipulator"&u% +4 "core" %\ / E #i + "storage"(% +4 "core" %E # 4 G\ +2 "storage"(E. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 +2 "storage"(d( +4 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (& +2 "core" &_ r\ ! +2 "manipulator"&V& +4 "core" &C 9  +2 .tElbow.seek 3 + "manipulator"&W(D +4 "core" ( +2 "manipulator"&<& +4 "core" &C   + "storage"(~& +4 "core" & I \ # +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&;' +92 "core" ' + "storage"(f& +5 "core" & X X [\ # +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"( 'e +276 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&F& +3 "core" &C p q  + "storage"(>& +4 "core" & 3 3 w\ ( +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&'M +37 "core" ' + .tElbow.hold +2 "manipulator"&j, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(i- +3 "core" -' +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(z'f +24 "core" ' + "manipulator"&X% +5 "core" %TA D ì + "storage"(,& +4 "core" & \ ( + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 3 + 307 counts +2 "manipulator"&'π +17 "core" ' + "manipulator"& & +5 "core" &I s X K y + "storage"(& +4 "core" & 8 4\ ( +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&0' +18 "core" ' +2 .tSE.seek 1.11 Pucks below Top Plate +2 "storage"(c'U +49 "core" ' + "manipulator"&T& +5 "core" &I m i O y + "manipulator"&}% +4 "core" % a b  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&('\ +94 "core" ' +2 .tElbow.seek CC +2 "manipulator"& ( +187 "core" ( +2 "manipulator"&&& +4 "core" &%  <? +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &q& +3 "core" &%  <? +2 .tForearm.seek CC +2 "manipulator"&4'| +95 "core" ' + .tHand.close +2 "manipulator"&[/ +63 "core" / + .tCC.seek :open +2 "collection"'#(p +410 "core" ( +2 "storage"(w& +4 "core" & Y X \ ( +2 "storage"(:& +3 "core" & X X W\ ( +2 "manipulator"&k& +4 "core" &  7 + "manipulator"&% +4 "core" % } & +2 .tForearm.seek :retract +58 "manipulator"&s'\ +102 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&I(D +165 "core" ( +2 "manipulator"&v& +4 "core" &< G  + "storage"(G& +4 "core" & [ Z J\ ( +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 + "manipulator"&@'M +112 "core" ' +2 .tElbow.hold + "manipulator"&, +5 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&1 +58 "core" 1 +2 "manipulator"&)% +4 "core" % Sv & w 3 +2 "storage"(& +4 "core" &  `\ ( + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 306 counts + "manipulator"&' +18 "core" ' + "manipulator"&C& +4 "core" &i q t  +2 "storage"(M& +4 "core" & \ ( +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&*' +23 "core" ' +2 "storage"(e% +4 "core" %[ i\ +3 ."downElevator"SE.seek :down +3 "storage"('N +100 (b% +2 "core" %< t p\ U] +2 "manipulator"&p% +4 "core" % e k +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&$'\ +90 "core" ' +47 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 4 of [3..6] + #Loading generic puck from tube 4 into Collection Clamp +2 "collection"'D& +4 "core" &  \ +2 "manipulator"&g% +4 "core" %\ 5  $s +2 "storage"(B% +4 "core" %9 r r\ + "storage"(/. +4 "core" .( + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"(^(, +350 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (!& +3 "core" &,   /\  + "manipulator"&y& +4 "core" &i )  +2 .tElbow.seek 4 +2 "manipulator"&|(* +15 "core" ( +2 "manipulator"&a& +4 "core" &4 >  +2 "storage"(6& +3 "core" &, J J C\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&' +105 "core" ' +2 "storage"(P& +4 "core" &, _\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(R'e +280 "core" ' +2 "storage"(.- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (L& +2 "core" &, i r \  +2 "manipulator"&& +4 "core" &4 d k  +2 .tElbow.seek 4 + "manipulator"&Q(* +4 "core" ( + "manipulator"&2& +4 "core" &4 r t  + "storage"(K& +4 "core" &, \  +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&'Z +21 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&H/ +58 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&'& + "storage"(m'N +8 "core" &4   + "manipulator"&h% +4 "core" % a  +2 .tForearm.seek :retract +2 "manipulator"&t'\ +92 "core" ' +2 .tElbow.seek CC +2 "manipulator"&-( +150 "core" ( + "manipulator"&l& +5 "core" ' + &   - +2 .tElbow.reconfigure :loose +2 ."downElevator"SE.stop +3 "manipulator"&$ &.,(#b + "storage"(5 +3 "manipulator"&r& +6 "core" &   - +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&A'| +100 "core" ' +2 "manipulator"&3& +5 "core" &  p - + "manipulator"&_% +4 "core" %φ r +2 "collection"'& +4 "core" &  v\ +2 "collection"'\\& +5 "core" &  \ +3 .tCC.seek :closed + "collection"'(] +4 "core" &  t\  +10 &2~  y\ *x +9 &d  u\ > +9 &Lw  q\ M +10 &Z  u\ M +9 &_  x\ M +9 &_  o\ L +10 &!V\\  r\ L +9 &#\\  w\ M +10 &$\\  m\ M +9 &&[  m\ L +9 &(\\_  s\ M +10 &* Z  n\ L +9 &+Z  u\ L +9 &-]  t\ M +10 &/e_  u\ M +9 &1'Z  l\ M +9 &2Y  q\ L +10 &4Y  p\ L +9 &6nY  q\ L +10 &80[  j\ L +9 &9W  j\ L +9 &;Y  k\ L +10 &=u^  h\ M +9 &?7[  i\ M +9 &@Z  j\ L +10 &B^  Y\ M +9 &D~X  q\ L +10 &F@[  h\ L +9 &HY  g\ M +9 &Id  h\ N +10 &K}s  h\ O +9 &M6  }\ R +9 &N  \ V +10 &P  |\ W +9 &Rm  v\ X +10 &T.  \ X +9 &U  \ Y +9 &W  \ Z +10 &Yk  \ [\ +9 &[,  \ [ +9 &\\t  \ : +10 &])  \ (w +9 &]  \ \\ +2 ( +2 "collection"'\\& +3 #tCollection Clamp onSpring/offSpring for 9/25 samples, on/off torque 2.03 +2 .Hand.open + "manipulator"&1 +64 "core" 1 +2 "manipulator"&\ % +4 "core" % σ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&`'\ +101 "core" ' +2 #tLoading generic puck from tube 4 into Processing Clamp + "processing"%& +5 "core" &*\ + "manipulator"&O% +4 "core" %\ : { ( +2 "storage"("% +4 "core" %B \ + "storage"(J. +4 "core" .(, + "storage"(+& +4 "core" &, v\  +2 "storage"(5& +3 "core" &, \  +2 "manipulator"&x& +4 "core" &  - + "manipulator"& % +9 "core" %\ : I ( +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&?(* +166 "core" ( + "manipulator"&=& +5 "core" &" v $ + "storage"(]& +4 "core" &, S\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&n' +93 "core" ' +2 "storage"(Y& +4 "core" &,   \ \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"('e +277 "core" ' + "storage"(9- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (8& +2 "core" &,\ \  o\  +2 "manipulator"& & +3 "core" &# d ~ J # +2 .tElbow.seek 4 +2 "manipulator"&7(* +3 "core" ( + "manipulator"&& +4 "core" &# s X # +2 "storage"(U& +4 "core" &,\ \  \  +2 .tForearm.seek 4 + 300 counts + "manipulator"&'Z +21 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&S/ +63 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&{& +2 "storage"(u'N +7 "core" &# o n # +2 "manipulator"&% +4 "core" % T n o +2 .tForearm.seek :retract +2 "manipulator"&E'\ +91 "core" ' +2 .tElbow.seek PC +2 "manipulator"&(c +158 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +93 "core" ( +2 "manipulator"&& +4 "core" &i g +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &V& +2 "core" &i Y +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&<'[ +103 "core" ' + "manipulator"&~& +5 "core" &i A + "manipulator"&% +4 "core" %c ^ +2 "processing"%f& +4 "core" &+\ +2 "processing"%o& +6 "core" &\ +2 .tPC.seek :closed +3 "processing"%1(Z +3 "core" &\ +6 &?$\ $e +9 &qW"\ 7 +10 &{ \ L +9 &W%\ M +10 &EW$\ M +9 &U\ M +9 & [\ M +10 &"Y\ M +9 &$MW \ M +9 &&W\ N +10 &'V\ M +9 &)X\ N +10 &+UW\ M +9 &-V\ M +9 &.W \ M +10 &0U \ M +9 &2]U \ M +10 &4S\ M +9 &5W\ N +9 &7X \ N +10 &9eV \ M +9 &;'V \ M +9 &<Y \ M +10 &>Z \ M +9 &@mZ \ M +9 &B/Y\ M +10 &CZ \ N +9 &EY\ M +10 &Gq` \ O +9 &I1i\ O +9 &J}\ R +10 &L\ T +9 &Nj\ T +9 &P+\ T +10 &Q \ T +9 &S\ U +10 &Uo \ U +9 &W2\ T +9 &X\ U +10 &ZLIg \ *{ +9 &Z-\ ) +5 ( +2 "processing"%o& +4 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.63 +2 .Hand.open + "manipulator"&%1 +3 "core" &Z\ ) +56 1 +2 "manipulator"&% +4 "core" % c \ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +94 "core" ' +2 "processing"%F& +4 "core" &Z\ ) + #tImaging generic puck in Processing Clamp while storing it to tube 4 +2 "manipulator"&>% +4 "core" %\ ) E + "storage"(i% +4 "core" %: V\ +2 "storage"(X. +3 "core" .(, + "storage"(,& +4 "core" &, &\  +2 "storage"( & +2 "manipulator"&& +7 "core" &, #\  + &i +76 ."raiseStack"SE.reconfigure :place +4 .tElbow.reconfigure :tight +5 "storage"(#]kK-0-\ b +3 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +2 ."raiseStack"SE.seek :beamBreak +3 "manipulator"&T(c + "storage"(}'e +5 "core" ( +2 "manipulator"&;& +4 "core" &i U + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &W& +3 "core" &i  +2 .tForearm.seek PC +2 "manipulator"& '[ +94 "core" ' +2 .tHand.close + "manipulator"&/ +58 "core" / +3 .tPC.seek :open + "processing"%(p +93 "core" ' + "storage"(z- +4 "core" -'e + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place + "storage"(&'B +43 "core" ' +245 ( +2 "storage"(q& +4 "core" &, \ =\  + "manipulator"&0& +4 "core" &i +2 "manipulator"&j% +4 "core" % d . +2 .tForearm.seek :retract + "manipulator"&['\ +96 "core" ' +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&((* +261 "core" ( +2 "manipulator"&N& +4 "core" &-   +2 "storage"(w& +4 "core" &, F\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&:' +96 "core" ' +2 .tHand.open + "manipulator"&k1 +60 "core" 1 +2 "storage"(- +3 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate +2 "storage"(v' +25 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(G' +52 "core" ' +2 #tLights, camera, ACTION! + "storage"(4- +4 "core" -' +2 "storage"( & +3 "core" &, 1 1 \  +2 "manipulator"&& +4 "core" &-   +2 .tElbow.seek 4 + "manipulator"&)(* +4 "core" ( + "manipulator"&& +4 "core" &- #  +2 "storage"(C& +4 "core" &, 4 ;\  +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&M' +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.11 Pucks below Top Plate + "storage"(e'M +63 "core" ' + "manipulator"&s& +4 "core" &-   +2 "storage"(b& +4 "core" &,\ \  J\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&p'. +35 "core" ' +2 .tElbow.hold +2 "manipulator"&I, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.07 Pucks below Top Plate + "storage"(@'7 +26 "core" ' + "manipulator"&D% +5 "core" %2A \ E Ĭ + "storage"(& +5 "core" &, ^\  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 4 + 304 counts + "manipulator"&g'^ +17 "core" ' +2 "manipulator"&B& +4 "core" & q t R +2 "storage"(/& +4 "core" &,\ \ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&c' +18 "core" ' +2 "storage"(*% +5 "core" %A  Q\ +2 ."downElevator"SE.seek :down +3 "storage"('N +99 (d% +3 "core" %B a\ Vb +2 "manipulator"&!% +4 "core" % _ d v \ +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&y'\ +98 "core" ' +51 ' + ."downElevator"SE.stop + "storage"(5 +3 (a& +4 "core" &, \  +2 "collection"'6& +4 "core" &]  \ \\ + #tStoring generic puck in Collection Clamp to tube 4 +2 "manipulator"&P% +4 "core" %\ 9 ( + "storage"(% +4 "core" %@ ?\ +2 "storage"($. +3 "core" .(, +2 "storage"(.& +4 "core" &, 9\  + "storage"(L& +4 "core" &, 1\  +2 "manipulator"&& +4 "core" &  +2 .tElbow.seek 4 + "manipulator"&2(* +47 "core" ( + "manipulator"&K& +5 "core" &4   + "storage"(H& +4 "core" &, W\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&'' +101 "core" ' +2 "storage"(h& +4 "core" &, R s\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(|'e +278 "core" ' +2 "storage"(- +3 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&l& +2 "core" &3   +2 "storage"(r& +4 "core" &,\ \  w\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&R'. +33 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(3- +3 "core" -' +2 .tSE.seek 0.12 Pucks below Top Plate +2 "storage"(_'r +27 "core" ' + "manipulator"&% +5 "core" %6K   î + "storage"(Q& +4 "core" &, 0\  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 4 + 308 counts +2 "manipulator"&m'b +17 "core" ' + "manipulator"&t& +5 "core" & t q : + "storage"(#& +4 "core" &,\ \  +\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&' +21 "core" ' +2 .tSE.seek 1.12 Pucks below Top Plate +2 "storage"(\ 'a +52 "core" ' +2 "manipulator"&& +4 "core" & j d A +2 "manipulator"&O% +4 "core" % l b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&"'\ +92 "core" ' + .tElbow.seek CC +2 "manipulator"&\\( +148 "core" ( +2 "manipulator"&J& +4 "core" & T - +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &+& +4 "core" & ? - +2 .tForearm.seek CC + "manipulator"&5'| +94 "core" ' + .tHand.close + "manipulator"&x/ +60 "core" / +2 .tCC.seek :open + "collection"' (p +410 "core" ( +2 "storage"(A& +4 "core" &, W Z |\  + "storage"(=& +4 "core" &, V W |\  +2 "manipulator"&]& +4 "core" & g * + "manipulator"&Y% +4 "core" % ς ] +2 .tForearm.seek :retract +2 "manipulator"&-'\ +94 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&`(* +183 "core" ( + "manipulator"&9& +4 "core" &8 0  +2 "storage"(8& +3 "core" &, N U c\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 4 +2 "manipulator"& '. +112 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&U1 +55 "core" 1 +3 "manipulator"&S% +3 "core" % Bj 2   +2 "storage"({& +4 "core" &,\ \  \  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 4 + 320 counts +2 "manipulator"&'n +17 "core" ' + "manipulator"&?& +5 "core" & [ s + "storage"(n& +4 "core" &, \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&' +22 "core" ' +2 "storage"(% +4 "core" %i r\ +2 ."downElevator"SE.seek :down +4 "storage"('N +99 (V% +2 "core" %; o r \ U] +2 "manipulator"&7% +4 "core" % k m V +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&~'\ +89 "core" ' +47 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 5 of [3..6] +2 #Loading generic puck from tube 5 into Collection Clamp + "collection"'& +4 "core" &  \ +2 "manipulator"&f% +4 "core" %\ . = #d +2 "storage"(u% +4 "core" %; r s \ + "storage"(E. +3 "core" .(, +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 5 + "storage"(Z(<< +59 "Can" kh +294 "core" ( +3 .tSC.configure :limp +2 "storage"($\ 1b +3 (%& +2 "core" &<9  \  +2 "manipulator"&& +3 "core" & +2 .tElbow.seek 5 +2 "manipulator"&F( +25 "core" ( +2 "manipulator"&>& +4 "core" &  "| + "storage"(i& +5 "core" &<8 W Z 5\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&X' +104 "core" ' +2 "storage"(,& +3 "core" &<8 l s X\  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('e +278 "core" ' +2 "storage"( - +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (o& +3 "core" &<8 V [ 1\  + "manipulator"&;& +4 "core" & - "z +2 .tElbow.seek 5 +2 "manipulator"&W( +3 "core" ( +2 "manipulator"&<& +3 "core" &  "z +2 "storage"(& +5 "core" &<8 Z X }\  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&z'[ +11 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +58 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&& + "storage"(1'N +7 "core" & K "z +2 "manipulator"&q% +4 "core" % [ ) +2 .tForearm.seek :retract +2 "manipulator"&0'\ +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"&}( +150 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +18 "core" ( +2 "manipulator"&j& +4 "core" & ? 0 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 & & +3 "core" & ) 0 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&N'| +94 "core" ' +2 "manipulator"&w& +4 "core" & ) 0 +2 "manipulator"&T% +4 "core" %ς S  +2 "collection"'k& +4 "core" &  \ +2 "collection"'& +5 "core" &  \ +2 .tCC.seek :closed +2 "collection"'4(] +4 "core" &  \  +9 &2~  \ *y +10 &e  \ > +9 &Px  \ N +9 &Y  \ L +10 &Z  \ M +9 &_  \ M +9 &!Z]  \ M +10 &#Z  \ L +9 &$Z  \ M +10 &&]  \ M +9 &(bZ  \ M +9 &*$\\  \ M +10 &+Y  {\ L +9 &-]  \ M +9 &/j]  \ M +10 &1-Z  {\ L +9 &2\\  \ L +9 &4]  \ L +10 &6s]  |\ L +9 &85]  ~\ L +10 &9Z  ~\ M +9 &;]  z\ L +9 &=z]  |\ M +10 &?>Y  \ L +9 &@Z  \ M +9 &B^  \ L +10 &DY  \ L +9 &FF[  ~\ L +10 &Hb  \ M +9 &Il  \ N +9 &K|  \ Q +10 &M2  \ V +9 &N  \ W +10 &P  {\ W +9 &Rr  \ X +9 &T3  \ X +10 &U  \ Y +9 &W  }\ Z +9 &Yq  \ [ +10 &[1  \ [ +9 &\\|  }\ 0 +9 &]'  v\ [ +9 ( +2 &]e  y\ O +2 "collection"'& +3 #tCollection Clamp onSpring/offSpring for 9/25 samples, on/off torque 2.07 + .Hand.open + "manipulator"& 1 +59 "core" 1 +2 "manipulator"&% +4 "core" % ς e  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +91 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp + "processing"%C& +5 "core" & \ + "manipulator"&[% +4 "core" %\ - Y "a +2 "storage"(s% +4 "core" %D\ \  \ + "storage"(b. +3 "core" .(<9 +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 + "storage"(&(<< +8 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (D& +3 "core" &<9 :\  +2 "manipulator"&& +3 "core" & / +2 "manipulator"&v% +4 "core" %\ - "a +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&B( +157 "core" ( + "manipulator"&/& +5 "core" &\   + "storage"(*& +4 "core" &<8   U\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&(' +92 "core" ' + "storage"(:& +4 "core" &<8 A 7 7\  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(G'e +279 "core" ' +2 "storage"(d- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (!& +3 "core" &<8   \  + "manipulator"&M& +4 "core" &\  p m +2 .tElbow.seek 5 +2 "manipulator"&)( +3 "core" ( + "manipulator"&e& +4 "core" &\  q t 1 +2 "storage"(p& +3 "core" &<8 9 9\  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&a'[ +19 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&g/ +60 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&6& +2 "storage"(P'N +8 "core" &\  d o P + "manipulator"&% +4 "core" % P k a  +2 .tForearm.seek :retract +2 "manipulator"&$'\ +91 "core" ' +2 .tElbow.seek PC +2 "manipulator"&.(c +158 "core" ' +2 ."downElevator"SE.stop +2 "storage"(5 +87 "core" ( +2 "manipulator"&@& +4 "core" &i D +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &L& +3 "core" &i ! +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&'[ +104 "core" ' + "manipulator"&K& +5 "core" &i n q + "manipulator"&H% +4 "core" %O m p ! +2 "processing"%c& +4 "core" &\ \ +2 "processing"%h& +5 "core" & \ +2 .tPC.seek :closed +2 "processing"%(Z +4 "core" &\  +9 &0{\ *x +9 &c\ > +10 &Bu\ N +9 &R\ M +9 &Y\ M +10 &X\ M +9 &!KY \ M +10 &#U\ M +9 &$W\ M +9 &&Y\ \ M +10 &(UW\ M +9 &*W \ M +9 &+Z \ M +10 &-W\ \ M +9 &/[Z\ M +9 &1W\ \ M +10 &2X\ N +9 &4W \ M +10 &6eX\ M +9 &8'Y\ M +9 &9W\ M +10 &;W\ M +9 &=lU\ M +9 &?-Z\ M +10 &@[\ M +9 &BW\ M +10 &DsY\ M +9 &F4[\ N +9 &Gb\ N +10 &Ip\ P +9 &Kn\ R +9 &M+ \ S +10 &N\ T +9 &P\ S +10 &Ro\ T +9 &T2\ T +9 &U\ T +10 &W\ U +9 &Yu\ B +9 &Zz>\ U +10 &Z:\ 3 +5 ( +2 "processing"%h& +4 #tProcessing Clamp onSpring/offSpring for 9/25 samples, on/off torque 1.65 + .Hand.open + "manipulator"&I1 +4 "core" &Z,\ 3 +59 1 + "manipulator"&y% +5 "core" % P j ^ G  + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +89 "core" ' +2 "processing"%l& +4 "core" &Z,\ 3 +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 + "manipulator"&r% +4 "core" %\ * V !P +2 "storage"(3% +3 "core" %? =\ +2 "storage"(. +3 "core" .(<9 +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"(Q(<< +2 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (t& +3 "manipulator"&#& +5 "core" &<: \  + &i ( +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +6 "manipulator"&$&.,(\ #b +2 "storage"(#]kK-0-\ b +2 .tElbow.seek PC +5 "manipulator"&(c +3 ."raiseStack"SE.seek :beamBreak +2 "storage"(O'e +2 "core" ( +2 "manipulator"&'& +4 "core" &i P + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &2& +3 "core" &i  +2 .tForearm.seek PC +2 "manipulator"&|'[ +95 "core" ' +2 .tHand.close + "manipulator"&R/ +53 "core" / +2 .tPC.seek :open + "processing"%m(p +98 "core" ' +2 "storage"(_- +3 "core" -'e + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(J'B +42 "core" ' +241 ( + "storage"(+& +5 "core" &<8 \  6\  + "manipulator"&& +4 "core" &i H + "manipulator"&% +4 "core" % O  +2 .tForearm.seek :retract +2 "manipulator"&x'\ +102 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&"( +258 "core" ( + "manipulator"&& +5 "core" & 9 $ + "storage"(A& +4 "core" &<8 N\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&=' +100 "core" ' + .tHand.open + "manipulator"&]1 +55 "core" 1 +2 "storage"(Y- +4 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate +58 "storage"(9' +25 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(8' +49 "core" ' +2 #tLights, camera, ACTION! + "storage"(5- +4 "core" -' +2 "storage"(\\& +4 "core" &<8 > ;\  + "manipulator"&U& +4 "core" &  $ +2 .tElbow.seek 5 +2 "manipulator"&S( +4 "core" ( + "manipulator"&{& +4 "core" &  $ + "storage"(?& +4 "core" &<8 1 0\  +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&n' +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"('M +62 "core" ' + "manipulator"&-& +4 "core" & $ +2 "storage"(V& +4 "core" &<8\ \  Q\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&7'/ +34 "core" ' + .tElbow.hold +2 "manipulator"&`, +5 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"( '7 +24 "core" ' +2 "manipulator"&% +4 "core" %4R   Ű +2 "storage"(& +4 "core" &<8 \  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 5 + 305 counts + "manipulator"&f'` +18 "core" ' + "manipulator"&u& +5 "core" & s z V $ + "storage"(E& +5 "core" &<8 ' 4 .\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&\ ' +16 "core" ' +2 "storage"(% +4 "core" %A 7 3 ?\ +3 ."downElevator"SE.seek :down +3 "storage"('N +100 (^% +4 "core" %A\ \  \ Wc +2 "manipulator"&%% +4 "core" % i n +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +97 "core" ' +53 ' + ."downElevator"SE.stop + "storage"(5 +3 (>& +4 "core" &<8 \ j\  +2 "collection"'i& +4 "core" &]e  \ O +2 #tStoring generic puck in Collection Clamp to tube 5 + "manipulator"&,% +4 "core" %\ 8 g ' +2 "storage"(% +4 "core" %Q\ \  \  + "storage"(~. +3 "core" .(<< +2 "storage"( & +4 "core" &<8\ \  \  + "storage"(o& +4 "core" &<8\ \  \  +2 "manipulator"&;& +4 "core" & u # + .tElbow.seek 5 +2 "manipulator"&<( +3 "core" ( +2 "manipulator"&& +4 "core" & s # + "storage"(& +4 "core" &<8\ \  P\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&' +96 "core" ' + "storage"(q& +5 "core" &<8   4\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(F'e +283 "core" ' + "storage"(X- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&j& +3 "core" &  # +2 "storage"( & +4 "core" &<8\ \  \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&'/ +34 "core" ' +2 .tElbow.hold + "manipulator"&z, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(w- +2 "core" -' +3 .tSE.seek 0.12 Pucks below Top Plate + "storage"(T'u +43 "core" ' +2 "manipulator"&W% +4 "core" %4O    Ư + "storage"(k& +4 "core" &<8 n\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 305 counts + "manipulator"&1'` +17 "core" ' +2 "manipulator"&0& +4 "core" & ^ | K # +2 "storage"( & +4 "core" &<8   \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"& ' +19 "core" ' +2 .tSE.seek 1.12 Pucks below Top Plate +2 "storage"('d +50 "core" ' +2 "manipulator"&C& +4 "core" & o n # +2 "manipulator"&[% +4 "core" % a n v  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&s'\ +95 "core" ' +2 .tElbow.seek CC + "manipulator"&b( +145 "core" ( +2 "manipulator"&& +4 "core" &\  , / +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &D& +3 "core" &\  J / +2 .tForearm.seek CC +2 "manipulator"&'| +103 "core" ' +2 .tHand.close + "manipulator"&v/ +64 "core" / +2 .tCC.seek :open +2 "collection"'N(p +410 "core" ( + "storage"(/& +4 "core" &<8 d o _\  +2 "storage"(*& +3 "core" &<8 q s \  +2 "manipulator"&Z& +4 "core" &\   / + "manipulator"&:% +4 "core" % o  +2 .tForearm.seek :retract +2 "manipulator"&}'\ +94 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 + "manipulator"&( +166 "core" ( + "manipulator"&d& +5 "core" & ' - + "storage"(!& +4 "core" &<8 [ X \  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 5 +2 "manipulator"&M'/ +112 "core" ' + .tElbow.hold +2 "manipulator"&e, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&p1 +60 "core" 1 +3 "manipulator"&g% +4 "core" % Cm  + "storage"(6& +4 "core" &<8\ \  \  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 5 + 320 counts + "manipulator"&'o +17 "core" ' + "manipulator"&B& +5 "core" & ] w  i + "storage"((& +4 "core" &<8 e e 5\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&G' +19 "core" ' +2 "storage"(a% +4 "core" %f \ +2 ."downElevator"SE.seek :down +4 "storage"(@'N +98 (L% +3 "core" %O; d X\ U^ +2 "manipulator"&)% +4 "core" % p n  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&K'\ +94 "core" ' +45 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 6 of [3..6] +2 #Loading generic puck from tube 6 into Collection Clamp + "collection"'H& +4 "core" &  \ +2 "manipulator"&c% +4 "core" %\ 4  & +2 "storage"(P% +4 "core" %= J T 0\ + "storage"($. +4 "core" .(<< + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"((K +349 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (I& +2 "core" &K\ \  N\  +2 "manipulator"&y& +4 "core" & 3 h +2 .tElbow.seek 6 + "manipulator"&l( +19 "core" ( + "manipulator"&r& +5 "core" &  ^ 1 + "storage"(3& +4 "core" &K N U\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&'< +95 "core" ' +2 "storage"(h& +4 "core" &K \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(t'e +281 "core" ' +2 "storage"(#- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 ('& +2 "core" &K r s \  +2 "manipulator"&2& +3 "core" &  c n K 1 +2 .tElbow.seek 6 +2 "manipulator"&( +19 "core" ( +2 "manipulator"&R& +4 "core" & f t + "storage"(&& +4 "core" &K g e P\  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&_'Ϧ +12 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&./ +60 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"&& "storage"('N +8 "core" & c n X + "manipulator"&+% +4 "core" % Ϛ m n ] 8 +2 .tForearm.seek :retract +2 "manipulator"&'\ +93 "core" ' +2 .tElbow.seek CC + "manipulator"&( +150 "core" ( + "manipulator"&O& +5 "core" ' + & M , +2 .tElbow.reconfigure :loose +2 ."downElevator"SE.stop +60 "manipulator"&$ &.,(#b +2 "storage"(5 +4 "manipulator"&|& +4 "core" & E , +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&'| +97 "core" ' +2 "manipulator"&A& +4 "core" & i , +2 "manipulator"&% +4 "core" %| l +2 "collection"']& +4 "core" &  \ +2 "collection"'Y& +5 "core" &  \ +2 .tCC.seek :closed +2 "collection"'x(] +4 "core" &  \ +8 &>  \ $e +9 &lX  \ 7 +10 &  \ L +9 &W  \ L +9 &EY  \ M +10 &Y  \ M +9 & Y  \ M +10 &"Y  \ M +9 &$NX  \ L +9 &&Z  \ L +10 &'Y  \ L +9 &)Z  \ M +9 &+VY  \ L +10 &-Y  \ M +9 &.^  \ M +10 &0]  \ L +9 &2^\\  \ L +9 &4_  \ M +10 &5Z  \ M +9 &7Y  \ L +9 &9fY  \ L +10 &;(\\  \ L +9 &<]  \ L +9 &>Z  \ L +10 &@m^  \ M +9 &B0]  \ L +10 &CZ  \ L +9 &EW  |\ M +9 &Gu]  \ M +10 &I5c  \ M +9 &Jr  \ O +9 &L  \ S +10 &Nb  \ V +9 &P  \ W +10 &Q  }\ X +9 &S  \ X +9 &U`  ~\ Y +10 &W"  \ Y +9 &X  \ [ +9 &Z  \ [ +10 &\\b  \ H +9 &]f;  \ %o +10 &]k  v\ M +2 ( +2 "collection"'Y& +3 #tCollection Clamp onSpring/offSpring for 10/26 samples, on/off torque 2.04 + .Hand.open + "manipulator"&51 +61 "core" 1 +2 "manipulator"&\\% +4 "core" % { s +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&U'\ +99 "core" ' +2 #tLoading generic puck from tube 6 into Processing Clamp + "processing"%{& +4 "core" &\ +2 "manipulator"&?% +4 "core" %\ 8 M ' +2 "storage"(-% +3 "core" %=\ \  \ +2 "storage"(V. +3 "core" .(K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 +2 "storage"(J(K +2 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (& +2 "core" &K B\  +2 "manipulator"&& +4 "core" & , + "manipulator"&9% +4 "core" %\ 8 A ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +2 "manipulator"&u( +165 "core" ( +2 "manipulator"&E& +4 "core" & - ) +2 "storage"(& +4 "core" &K   C\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&"'< +94 "core" ' +2 "storage"(=& +4 "core" &K 3 8 O\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(8'e +277 "core" ' + "storage"(^- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (%& +2 "core" &K   \\\  +2 "manipulator"&n& +4 "core" & p m ) +2 .tElbow.seek 6 + "manipulator"&S( +3 "core" ( +2 "manipulator"&& +4 "core" & q w # ) + "storage"(7& +4 "core" &K 8 4\  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&>'Ϧ +13 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&f/ +53 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&i& + "storage"(,'N +8 "core" & q r  ) + "manipulator"&% +4 "core" % ϯ q  : +2 .tForearm.seek :retract +2 "manipulator"&~'\ +90 "core" ' + .tElbow.seek PC +2 "manipulator"& (c +162 "core" ' + ."downElevator"SE.stop + "storage"(5 +84 "core" ( +2 "manipulator"& & +4 "core" &W f \ , + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &o& +3 "core" &W  , +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&;'[ +101 "core" ' +2 "manipulator"&& +4 "core" &W @ , +2 "manipulator"&% +3 "core" %G +2 "processing"%\ & +4 "core" &\ +2 "processing"%q& +5 "core" & \ +2 .tPC.seek :closed +2 "processing"%(Z +4 "core" &\ +8 & 1 \ #b +9 &_V~\ 7 +9 &y\ K +10 &nW\ M +9 &1W\ M +9 &X\ M +10 & Y \ N +9 &"wV \ M +9 &$9X\ M +10 &%X\ M +9 &'W\ \ M +10 &)X\ M +9 &+BW\ M +9 &-Y\ M +10 &.X\ M +9 &0U\ M +9 &2IX \ M +10 &4\ X\ M +9 &5Y\ M +10 &7W\ M +9 &9QW\ M +9 &;Y\ M +10 &<V\ M +9 &>Z\ N +9 &@XW\ M +10 &BX\ N +9 &CW\ M +10 &EX\ N +9 &G^\\\ N +9 &Ij \ O +10 &Ju\ Q +9 &L\ S +9 &NT\ T +10 &P\ S +9 &Q\ T +10 &S\ T +9 &U[\ T +9 &W\ U +10 &X\ U +9 &Z:Km\ , +9 &Z.\ ( +6 ( + "processing"%q& +5 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.61 + .Hand.open + "manipulator"&`1 +3 "core" &Z\ ( +53 1 +2 "manipulator"&% +4 "core" % G +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&X'\ +102 "core" ' +2 "processing"%j& +4 "core" &Z\ ( +2 #tImaging generic puck in Processing Clamp while storing it to tube 6 + "manipulator"& % +4 "core" %\ 9 " ( + "storage"(w% +4 "core" %: \ \ + "storage"(W. +4 "core" .(K + "storage"(k& +4 "core" &K\  S\  +2 "storage"(0& +2 "manipulator"& & +7 "core" &K\ Y\  + &W  , +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b + "storage"(#]kK-0-\ b +4 .tElbow.seek PC +3 "manipulator"&C(c +2 ."raiseStack"SE.seek :beamBreak +2 "storage"(['e +18 "core" ( +2 "manipulator"&& +4 "core" &Y  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &<& +3 "core" &Y  +2 .tForearm.seek PC +2 "manipulator"&F'[ +100 "core" ' + .tHand.close +2 "manipulator"&/ +56 "core" / +2 .tPC.seek :open +2 "processing"%1(p +73 "core" ' + "storage"(T- +4 "core" -'e + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('B +45 "core" ' +262 ( +2 "storage"(D& +4 "core" &K   (\  + "manipulator"& & +4 "core" &Y  +2 "manipulator"&z% +4 "core" % \\  +2 .tForearm.seek :retract + "manipulator"&v'\ +100 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&s( +245 "core" ( + "manipulator"&4& +5 "core" & =  + "storage"(/& +4 "core" &K\ \  \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&*'< +98 "core" ' + .tHand.open +2 "manipulator"&Z1 +59 "core" 1 +2 "storage"(:- +4 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate +2 "storage"(d' +23 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.83 Pucks below Top Plate + "storage"(!' +50 "core" ' + #tLights, camera, ACTION! +2 "storage"(- +3 "core" -' +2 "storage"(b& +4 "core" &K U V p\  + "manipulator"&p& +4 "core" &   +2 .tElbow.seek 6 + "manipulator"&g( +4 "core" ( + "manipulator"&6& +4 "core" & <  +2 "storage"(B& +4 "core" &K U U p\  +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&('< +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.11 Pucks below Top Plate + "storage"(a'M +63 "core" ' + "manipulator"&}& +4 "core" &   +2 "storage"(L& +4 "core" &K  #\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 + "manipulator"&)'z +30 "core" ' +2 .tElbow.hold + "manipulator"&, +5 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.07 Pucks below Top Plate + "storage"(M'7 +24 "core" ' +2 "manipulator"&H% +3 "core" %΍b 7 +2 "storage"(c& +4 "core" &K 2\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 319 counts + "manipulator"&'Ϲ +17 "core" ' +2 "manipulator"&P& +4 "core" & t y A !v +2 "storage"($& +4 "core" &K 9 5 3\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&'< +17 "core" ' + "storage"(G% +5 "core" %= ; ;\ +59 ."downElevator"SE.seek :down +4 "storage"(@'N +99 (Q% +2 "core" %E\ \  \ Vb +2 "manipulator"&I% +4 "core" %D o o +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&y'\ +89 "core" ' +109 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (r& +4 "core" &K \  H\  +2 "collection"'3& +4 "core" &]a  \ M + #tStoring generic puck in Collection Clamp to tube 6 +2 "manipulator"&h% +4 "core" %\ .  #d + "storage"(e% +4 "core" %>\ \  8\ +2 "storage"(K. +3 "core" .(K +2 "storage"(#& +4 "core" &K\ \ ! n\  + "storage"('& +4 "core" &K\ \  e\  +2 "manipulator"&2& +4 "core" &  !u + .tElbow.seek 6 +2 "manipulator"&R( +38 "core" ( + "manipulator"&&& +5 "core" &   + "storage"(.& +4 "core" &K   `\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&'< +106 "core" ' +2 "storage"(+& +4 "core" &K X X ]\  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(l'e +281 "core" ' + "storage"(- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&O& +3 "core" & c k s  + "storage"(|& +4 "core" &K > 3\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&t'z +33 "core" ' + .tElbow.hold +2 "manipulator"&_, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(- +3 "core" -' +2 .tSE.seek 0.12 Pucks below Top Plate +2 "storage"(A'o +28 "core" ' + "manipulator"&% +5 "core" %΃a - " + "storage"(]& +4 "core" &K \  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 6 + 309 counts + "manipulator"&'ϯ +17 "core" ' + "manipulator"&& +5 "core" & r s 6  + "storage"(N& +4 "core" &K 3 4 H\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&5'< +19 "core" ' +2 .tSE.seek 1.12 Pucks below Top Plate +2 "storage"(\\'^ +50 "core" ' +2 "manipulator"&{& +4 "core" & ` k <  +2 "manipulator"&?% +4 "core" %6 g c 0 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&-'\ +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"&V( +167 "core" ( + "manipulator"&Y& +5 "core" & o Q + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" & Q +2 .tForearm.seek CC +2 "manipulator"&'| +93 "core" ' +2 .tHand.close +2 "manipulator"&9/ +63 "core" / +2 .tCC.seek :open +2 "collection"'(p +409 "core" ( +2 "storage"(E& +4 "core" &K u t \  +2 "storage"(& +3 "core" &K U X\  +2 "manipulator"&& +4 "core" &  Q + "manipulator"&=% +4 "core" % y  +2 .tForearm.seek :retract +2 "manipulator"&'\ +93 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&U( +159 "core" ( + "manipulator"&^& +5 "core" &  % + "storage"(%& +4 "core" &K W W $\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 6 + "manipulator"&n'z +107 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&71 +60 "core" 1 +2 "manipulator"&f% +5 "core" % ΍s ) + "storage"(i& +4 "core" &K\ \  \  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 6 + 319 counts + "manipulator"&'Ϲ +17 "core" ' +2 "manipulator"&u& +5 "core" & p q "x + "storage"("& +4 "core" &K e e }\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&8'< +20 "core" ' +2 "storage"(>% +4 "core" %_ C\ +2 ."downElevator"SE.seek :down +4 "storage"( 'N +99 (o% +2 "core" %A X X ,\ U_ +2 "manipulator"&S% +4 "core" % p p  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +91 "core" ' +46 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 3 of [3..6] + #Loading generic puck from tube 3 into Collection Clamp + "collection"'& +5 "core" &  \ + "manipulator"&\ % +4 "core" %\ 3  %v +2 "storage"(,% +4 "core" %< J T .\ + "storage"(~. +4 "core" .(K + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(m( +990 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (`& +2 "core" & W\ +2 "manipulator"&& +4 "core" &  !w +2 .tElbow.seek 3 +2 "manipulator"&j(D +34 "core" ( + "manipulator"& & +4 "core" &B E  +2 "storage"(w& +4 "core" & J K (\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&W' +93 "core" ' +2 "storage"(k& +4 "core" & j\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(q'e +278 "core" ' +2 "storage"( - +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (0& +3 "core" & V N /\ + "manipulator"&& +4 "core" &B o p W  +2 .tElbow.seek 3 + "manipulator"&<(D +4 "core" ( + "manipulator"&;& +4 "core" &B o u 8  + "storage"(& +4 "core" & c \\\ +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&T'y +19 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"& / +56 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&X& + "storage"('N +7 "core" &B c a ^  +2 "manipulator"&[% +4 "core" % o c k h +2 .tForearm.seek :retract +2 "manipulator"&D'\ +88 "core" ' +2 .tElbow.seek CC + "manipulator"& ( +154 "core" ' +2 ( + ."downElevator"SE.stop +3 "manipulator"&z& + "storage"(5 +7 "core" & F . +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &F& +2 "core" & . +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&4'| +97 "core" ' + "manipulator"&/& +5 "core" & p . + "manipulator"&C% +4 "core" %} H +2 "collection"'Z& +4 "core" &  \ +2 "collection"':& +5 "core" &  \ +2 .tCC.seek :closed +2 "collection"'(] +4 "core" &  \  +8 &4  \ *z +10 &f  \ ? +9 &[v  \ N +10 & Y  \ M +9 &]  \ M +9 &^  \ M +10 &!fY  \ M +9 &#(Z  \ M +9 &$X  \ M +10 &&Z  \ M +9 &(nZ  \ M +10 &*0Z  \ M +9 &+Y  \ L +9 &-Z  \ L +10 &/w[  \ L +9 &18[  \ M +9 &2]  \ M +10 &4\\  \ M +9 &6~[  \ M +9 &8AZ  \ L +10 &:]  \ M +9 &;Z  \ M +10 &=Z  \ M +9 &?HX  \ M +9 &A\ Y  \ M +10 &BZ  \ M +9 &DX  \ L +9 &FP[  \ M +10 &Hc  \ M +9 &Io  \ O +10 &K  \ Q +9 &M?  \ U +9 &N  \ V +14 &P  \ W +5 &R~  \ X +11 &T:  \ Z +8 &U  \ [\ +9 &W  \ Z +10 &Yz  \ \\ +9 &[+$  \ b +9 &\\  \ . +10 &]'  \ ` +9 ( + &]l  \ K +2 "collection"':& +3 #tCollection Clamp onSpring/offSpring for 8/25 samples, on/off torque 2.10 + .Hand.open + "manipulator"&b1 +59 "core" 1 +2 "manipulator"&p% +4 "core" % } ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&6'\ +93 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%B& +4 "core" &\ +2 "manipulator"&v% +4 "core" %\ - G +2 "storage"(}% +3 "core" %<\ \  \ +2 "storage"(L. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(H( +26 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (c& +3 "core" & c\ + "manipulator"&& +60 "core" & P . +3 "manipulator"&P% +4 "core" %\ - E G +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&d(D +186 "core" ( + "manipulator"&$& +4 "core" &C }  +2 "storage"(G& +4 "core" &   K\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&s' +105 "core" ' + "storage"(*& +5 "core" & X @ %\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(!'e +276 "core" ' +2 "storage"((- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (Q& +3 "core" &   K\  + "manipulator"&I& +4 "core" &C m n +2 .tElbow.seek 3 +2 "manipulator"&g(D +3 "core" ( + "manipulator"&a& +4 "core" &C m g  +2 "storage"()& +4 "core" & 4 :\  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&'y +23 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&M/ +52 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&r& + "storage"(3'N +8 "core" &C n n + "manipulator"&h% +4 "core" % o n k +2 .tForearm.seek :retract +2 "manipulator"&e'\ +89 "core" ' +2 .tElbow.seek PC +2 "manipulator"&K(c +165 "core" ' + ."downElevator"SE.stop + "storage"(5 +81 "core" ( + "manipulator"&#& +5 "core" &m  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &'& +3 "core" &m +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&2'[ +101 "core" ' +2 "manipulator"&&& +4 "core" &m , +2 "manipulator"&.% +4 "core" %M P +2 "processing"%& +4 "core" &\ +2 "processing"%+& +6 "core" &\ +2 .tPC.seek :closed +3 "processing"%@(Z +3 "core" & \ +5 &\ 4 +10 & Gw \ 0 +9 &4r\ \ D +10 &c \ N +9 &V\ M +9 &\\W \ M +10 & W\ M +9 &!X\ M +9 &#W\ M +10 &%dV\ M +9 &'%W\ M +10 &(V\ M +9 &*W\ M +9 &,kX\ M +10 &.,W\ N +9 &/W\ M +9 &1W\ N +10 &3tU\ M +9 &55W \ M +9 &6W\ \ M +10 &8Y\ M +9 &:|W\ M +10 &<=U\ M +9 &=X\ N +9 &?W \ M +10 &AW\ M +9 &CEY\ M +9 &EY\ M +10 &FZ\ M +9 &Hc\ O +10 &JGk\ O +9 &Lz \ Q +9 &M\ T +10 &O\ T +9 &QB\ T +10 &S\ T +9 &T\ T +9 &V\ T +10 &XH\ T +9 &Y{p \ * +9 &Z(e\ . +9 ( +3 "processing"%+& +3 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.55 +2 .Hand.open + "manipulator"&1 +4 "core" &Z\ ' +48 1 +2 "manipulator"&y% +4 "core" % M F +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +96 "core" ' + "processing"%O& +5 "core" &Z\ ' + #tImaging generic puck in Processing Clamp while storing it to tube 3 +2 "manipulator"&|% +3 "core" %\ 0  $o +2 "storage"(% +4 "core" %S w\  + "storage"(. +4 "core" .( + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(]( +15 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (& +3 "core" & c A\ # +3 "manipulator"&N& + ."raiseStack"SE.reconfigure :place +6 "storage"(#]kK-0-\ b +2 "core" &m  +3 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +2 "storage"({'e + "manipulator"&?(c +6 "core" ( + "manipulator"&& +4 "core" &m  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &R& +3 "core" &m 0 +2 .tForearm.seek PC +2 "manipulator"&l'[ +95 "core" ' +2 .tHand.close + "manipulator"&t/ +61 "core" / +2 .tPC.seek :open +2 "processing"%(p +85 "core" ' +2 "storage"(A- +3 "core" -'e +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(Y'B +36 "core" ' +256 ( +2 "storage"(& +4 "core" &   T\ ' + "manipulator"&5& +4 "core" &m  +2 "manipulator"&_% +4 "core" % Q  + .tForearm.seek :retract +2 "manipulator"&9'\ +102 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&-(D +288 "core" ( +2 "manipulator"&x& +4 "core" &= 8 & +2 "storage"(E& +3 "core" &\ \  \ ' +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&' +96 "core" ' + .tHand.open +2 "manipulator"&1 +55 "core" 1 +2 "storage"(=- +3 "core" -'B +3 .tSE.seek -0.16 Pucks below Top Plate + "storage"(^' +25 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(%' +51 "core" ' +2 #tLights, camera, ACTION! + "storage"(- +4 "core" -' + "storage"(V& +4 "core" & "  \ * +2 "manipulator"&7& +3 "core" &> " % +2 .tElbow.seek 3 +2 "manipulator"&f(D +3 "core" ( +2 "manipulator"&i& +4 "core" &>  % + "storage"(u& +4 "core" & 4\ * +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&"' +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"(>'M +62 "core" ' + "manipulator"&& +4 "core" &> N % +2 "storage"(o& +4 "core" &\ \  \ * + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&S'M +35 "core" ' +2 .tElbow.hold +2 "manipulator"&U, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"(n'7 +23 "core" ' + "manipulator"&% +5 "core" %PO į + "storage"(\ & +4 "core" & '\ * +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 303 counts + "manipulator"&'| +18 "core" ' +2 "manipulator"&,& +4 "core" &l z t N f +2 "storage"(~& +4 "core" & 4 8\ * +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&\\' +19 "core" ' +2 "storage"(8% +4 "core" %> 2 <\  +3 ."downElevator"SE.seek :down +4 "storage"( 'N +99 (J% +3 "core" %I\ \  \ Wc +2 "manipulator"&`% +4 "core" % o n +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +97 "core" ' +51 ' + ."downElevator"SE.stop + "storage"(5 +3 ( & +4 "core" & \ >\ * +2 "collection"'w& +4 "core" &]l  {\ K +2 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&k% +4 "core" %\ 9 @ ( +2 "storage"(% +4 "core" %K\ \  \ + "storage"(. +3 "core" .( +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"( ( +7 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (0& +2 "core" &  \ % +2 "manipulator"&& +4 "core" &l A f +2 .tElbow.seek 3 +2 "manipulator"&;(D +25 "core" ( +2 "manipulator"&& +4 "core" &?  t +2 "storage"( & +4 "core" &\ \  ?\ ' +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&X' +104 "core" ' +2 "storage"([& +5 "core" & 9 & '\ ' +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(j'e +275 "core" ' + "storage"(W- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +2 "manipulator"&z& +3 "core" &?  t +2 "storage"(F& +4 "core" &\ \  \ - + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +50 "manipulator"&q'M +43 "core" ' + .tElbow.hold +2 "manipulator"&T, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(/- +2 "core" -' +3 .tSE.seek 0.11 Pucks below Top Plate + "storage"(C'f +27 "core" ' +2 "manipulator"&Z% +4 "core" %TK 4 î +2 "storage"(<& +4 "core" & \ - + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 3 + 307 counts +2 "manipulator"&'π +16 "core" ' +2 "manipulator"&D& +4 "core" &K p t h +2 "storage"(& +4 "core" &   `\ - +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&b' +18 "core" ' +3 .tSE.seek 1.11 Pucks below Top Plate + "storage"(p'U +49 "core" ' +2 "manipulator"&B& +4 "core" &K b V  h +2 "manipulator"&v% +3 "core" % k d   +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&}'\ +90 "core" ' +2 .tElbow.seek CC + "manipulator"&L( +155 "core" ( + "manipulator"&:& +4 "core" &\  0 - +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &c& +2 "core" &\  o - +2 .tForearm.seek CC +2 "manipulator"&'| +102 "core" ' + .tHand.close +2 "manipulator"&P/ +56 "core" / +2 .tCC.seek :open +2 "collection"'4(p +409 "core" ( +2 "storage"($& +4 "core" & s a |\ - +2 "storage"(m& +3 "core" & [ [\ - +2 "manipulator"&G& +3 "core" &\   - +2 "manipulator"& % +4 "core" % }  +2 .tForearm.seek :retract + "manipulator"&*'\ +95 "core" ' +3 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&6(D +168 "core" ( +2 "manipulator"&(& +4 "core" &; " H +2 "storage"(Q& +4 "core" & s s \ - + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 3 +2 "manipulator"&I'M +110 "core" ' + .tElbow.hold +2 "manipulator"&a, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&)1 +57 "core" 1 +2 "manipulator"&M% +4 "core" % Rt ) $ +2 "storage"(r& +3 "core" &   8\ - +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 305 counts + "manipulator"&h'~ +18 "core" ' + "manipulator"&d& +5 "core" &p q v B  + "storage"(s& +4 "core" & \ - +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&!' +17 "core" ' +2 "storage"(% +4 "core" %W (\ +2 ."downElevator"SE.seek :down +4 "storage"(#'N +99 ('% +3 "core" %? s o X\ U] +2 "manipulator"&g% +4 "core" % d ` M  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&&'\ +97 "core" ' +40 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 4 of [3..6] +2 #Loading generic puck from tube 4 into Collection Clamp + "collection"'.& +3 "core" &  \ +2 "manipulator"&% +4 "core" %\ :  ( +2 "storage"(3% +4 "core" %9 s r \ +2 "storage"(e. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 + "storage"(1(, +343 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (& +3 "core" &,   \  +2 "manipulator"&y& +3 "core" &p B  +2 .tElbow.seek 4 +2 "manipulator"&O(* +18 "core" ( +2 "manipulator"&|& +4 "core" &  <  +2 "storage"(& +3 "core" &, K K >\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&' +102 "core" ' +2 "storage"(+& +4 "core" &, \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('e +280 "core" ' + "storage"(N- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +2 "core" &, Y \\ \  +2 "manipulator"&R& +4 "core" &    +2 .tElbow.seek 4 + "manipulator"&2(* +3 "core" ( +2 "manipulator"&t& +4 "core" &  R  + "storage"(H& +4 "core" &, o s \  +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&A'Z +19 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&K/ +61 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&& + "storage"(@'N +8 "core" &  a d |  +2 "manipulator"&% +3 "core" % N m k +2 .tForearm.seek :retract +2 "manipulator"&5'\ +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"&{( +151 "core" ' + ( + "manipulator"&_& +2 ."downElevator"SE.stop +5 "storage"(5 +3 "core" & m + +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &l& +2 "core" & 6 + +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&x'| +104 "core" ' +2 "manipulator"&E& +4 "core" & y + +2 "manipulator"&?% +4 "core" %υ < +2 "collection"'& +4 "core" &  \ +2 "collection"'=& +5 "core" &  \ +2 .tCC.seek :closed + "collection"'(] +4 "core" &  \ +9 &?  \ %f +9 &rX  \ 8 +10 &  \ L +9 &Z  \ L +10 &SZ  \ L +9 &]  \ M +9 & _  \ L +10 &"Z  \ M +9 &$[Y  \ L +9 &&Z  \ M +10 &'^  \ L +9 &)Z  \ M +10 &+b\\  \ M +9 &-$\\  \ M +9 &.]  \ M +10 &0Z  \ L +9 &2l\\  \ L +9 &4-_  \ L +10 &5]  \ L +9 &7]  \ M +10 &9s[  \ L +9 &;6Z  \ L +9 &<[  \ M +10 &>[  \ M +9 &@{Y  \ L +9 &B=[  \ L +10 &C^  }\ L +9 &E]  ~\ M +9 &G\\  \ M +10 &ICa  x\ M +9 &Kn  \ O +10 &L  \ Q +9 &Nr  \ U +9 &P.  \ W +10 &Q  |\ W +9 &S  |\ X +9 &Uo  \ Y +10 &W1  \ Y +9 &X  w\ Z +10 &Z  ~\ [ +9 &\\a  {\ K +9 &]g5  \ %o +10 &]\ w  x\ J +5 ( +2 "collection"'=& +4 #tCollection Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.96 + .Hand.open + "manipulator"&V1 +4 "core" &]_  \ J +56 1 +2 "manipulator"&7% +4 "core" % υ o d +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&i'\ +99 "core" ' +2 #tLoading generic puck from tube 4 into Processing Clamp + "processing"%u& +5 "core" &!\ + "manipulator"&9% +4 "core" %\ : G ( +2 "storage"(% +4 "core" %=\ \  .\ + "storage"(o. +3 "core" .(, +2 "storage"(Y& +4 "core" &,\ \  {\  + "storage"(& +4 "core" &,\ \  U\  +2 "manipulator"&\ & +4 "core" & d * + "manipulator"&^% +4 "core" %\ 8 < ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&,(* +161 "core" ( + "manipulator"&~& +5 "core" &! < % + "storage"(8& +4 "core" &,   3\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&-' +104 "core" ' +2 "storage"(& +4 "core" &, 8 9\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(%'e +277 "core" ' + "storage"(J- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (`& +3 "core" &,   \  +2 "manipulator"&"& +3 "core" &"  $ +2 .tElbow.seek 4 +2 "manipulator"&f(* +3 "core" ( + "manipulator"&>& +4 "core" &" 0 $ +2 "storage"(S& +4 "core" &,   2\  +2 .tForearm.seek 4 + 300 counts + "manipulator"& 'Z +21 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +52 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&w& +2 "storage"(k'N +8 "core" &" d a ` $ + "manipulator"&% +4 "core" % ^ n m X +2 .tForearm.seek :retract +2 "manipulator"&'\ +95 "core" ' +2 .tElbow.seek PC + "manipulator"&n(c +156 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +86 "core" ( +2 "manipulator"&0& +60 "core" &c   +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &c   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&'[ +107 "core" ' +2 "manipulator"& & +4 "core" &c t q  +2 "manipulator"&\\% +4 "core" %` q o  +2 "processing"%[& +4 "core" &\ +2 "processing"% & +5 "core" &\ +2 .tPC.seek :closed + "processing"%](Z +5 "core" &\ +6 &?\ $d +10 &qV~\ 7 +9 &| \ L +10 &Y \ M +9 &FX\ M +9 & X \ M +10 & \\\ M +9 &"U\ M +9 &$NZ\ M +10 &&W\ M +9 &'Z\ M +10 &)W\ L +9 &+WW\ M +9 &-Y\ M +10 &.Z\ M +9 &0W\ M +9 &2^W\ M +10 &4 W\ M +9 &5X\ M +10 &7W\ M +9 &9gW\ M +9 &;)X\ M +10 &<Z\ M +9 &>Z\ M +9 &@nY\ M +10 &B0W\ M +9 &CX\ M +10 &EZ\ M +9 &Gsd\ N +9 &I1m\ O +10 &J{\ Q +9 &L\ S +9 &Nk\ S +10 &P-\ S +9 &Q\ S +9 &S\ T +10 &Ur\ T +9 &W3\ T +10 &X\ T +9 &ZLHe\ )x +9 &Z.\ ) +6 ( + "processing"% & +5 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.61 + .Hand.open + "manipulator"&U1 +4 "core" &Z\ ) +49 1 +2 "manipulator"&% +4 "core" % ` u ^ \\ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&W'\ +89 "core" ' +2 "processing"%z& +4 "core" &Z\ ) +2 #tImaging generic puck in Processing Clamp while storing it to tube 4 + "manipulator"&F% +4 "core" %\ 1  "` +2 "storage"(/% +4 "core" %=\ \  \ + "storage"(Z. +3 "core" .(, +2 "storage"(<& +4 "core" &,\ \  \  +2 "storage"(D& +2 "manipulator"&& +7 "core" &,\ \  \  + &c 0  +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +6 "manipulator"&$&.,(\ #b + "storage"(#]kK-0-\ b +3 .tElbow.seek PC +5 "manipulator"&B(c +4 ."raiseStack"SE.seek :beamBreak +2 "storage"(v'e +2 "core" ( +2 "manipulator"&X& +4 "core" &c   + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &;& +3 "core" &c  +2 .tForearm.seek PC +2 "manipulator"&j'[ +98 "core" ' +2 .tHand.close + "manipulator"&q/ +58 "core" / +2 .tPC.seek :open +2 "processing"%(p +89 "core" ' +3 "storage"(C- +3 "core" -'e +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(:'B +43 "core" ' +247 ( +2 "storage"(c& +4 "core" &,   -\  + "manipulator"&b& +4 "core" &c   +2 "manipulator"&T% +4 "core" % V  +2 .tForearm.seek :retract +2 "manipulator"&P'\ +100 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&}(* +247 "core" ( + "manipulator"&& +4 "core" &' I " +2 "storage"($& +4 "core" &,\ \ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&m' +93 "core" ' +2 .tHand.open + "manipulator"&G1 +61 "core" 1 +2 "storage"( - +4 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate +2 "storage"((' +22 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(Q' +51 "core" ' +2 #tLights, camera, ACTION! + "storage"(- +3 "core" -' +2 "storage"(L& +4 "core" &, w x 2\  + "manipulator"&)& +4 "core" &'  " +2 .tElbow.seek 4 +2 "manipulator"&M(* +4 "core" ( + "manipulator"&r& +4 "core" &' * " + "storage"(d& +4 "core" &, V U /\  +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&s' +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"('M +59 "core" ' + "manipulator"&*& +5 "core" &' _ ` O " + "storage"('& +4 "core" &,   \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 4 + "manipulator"&g'. +36 "core" ' + .tElbow.hold +2 "manipulator"&6, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.07 Pucks below Top Plate + "storage"(I'7 +25 "core" ' + "manipulator"&.% +5 "core" %8O  ï + "storage"(& +4 "core" &, 6\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 310 counts + "manipulator"&h'd +18 "core" ' +2 "manipulator"&3& +4 "core" &\ u {  ] +2 "storage"(e& +4 "core" &,   N\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&p' +22 "core" ' +2 "storage"(!% +4 "core" %= 3 7 \ +3 ."downElevator"SE.seek :down +4 "storage"(#'N +99 ( % +4 "core" %F S\ " A\ Wc +2 "manipulator"&% +4 "core" % p p  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&y'\ +90 "core" ' +62 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (|& +3 "core" &,\  C \  +2 "collection"'& +4 "core" &]_  {\ J +2 #tStoring generic puck in Collection Clamp to tube 4 + "manipulator"&+% +4 "core" %\ - - "_ +2 "storage"(a% +3 "core" %T S #\  +2 "storage"(&. +3 "core" .(, + "storage"(N& +4 "core" &,   -\  +2 "storage"(& +4 "core" &,   \  + "manipulator"&R& +4 "core" &\  ] +2 .tElbow.seek 4 + "manipulator"&t(* +23 "core" ( +2 "manipulator"&H& +4 "core" &8  & +2 "storage"(K& +4 "core" &,   .\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&' +102 "core" ' +2 "storage"(& +5 "core" &, 7 9 \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(O'e +281 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&_& +3 "core" &=  ! +2 "storage"(l& +4 "core" &, U  ,\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&'. +34 "core" ' +2 .tElbow.hold + "manipulator"&A, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(E- +2 "core" -' +3 .tSE.seek 0.12 Pucks below Top Plate + "storage"(?'s +31 "core" ' + "manipulator"&% +5 "core" %8K  A Ů + "storage"(2& +4 "core" &, 9\  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 4 + 310 counts + "manipulator"&@'d +17 "core" ' + "manipulator"&5& +5 "core" & v q 3 m + "storage"(4& +4 "core" &, 9  @\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&V' +17 "core" ' +2 .tSE.seek 1.12 Pucks below Top Plate +2 "storage"(7'b +50 "core" ' +2 "manipulator"&u& +4 "core" & c k m +2 "manipulator"&9% +4 "core" % f o  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&o( +143 "core" ( +2 "manipulator"&=& +4 "core" &\  - +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &Y& +4 "core" &\  L - +2 .tForearm.seek CC + "manipulator"&'| +98 "core" ' +2 .tHand.close + "manipulator"&\ / +57 "core" / + .tCC.seek :open +2 "collection"'^(p +410 "core" ( + "storage"(x& +4 "core" &, W Y\  +2 "storage"(~& +4 "core" &, I T \  + "manipulator"&8& +4 "core" &\  : - + "manipulator"&% +4 "core" % ό D +2 .tForearm.seek :retract +2 "manipulator"&{'\ +101 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&i(* +170 "core" ( +58 "manipulator"&J& +4 "core" &6 +  +2 "storage"(`& +4 "core" &, Z X p\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 4 +2 "manipulator"&"'. +113 "core" ' + .tElbow.hold +2 "manipulator"&>, +4 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&S1 +53 "core" 1 +2 "manipulator"&% +4 "core" % @Z o ² + "storage"(w& +4 "core" &, \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 318 counts + "manipulator"&'l +11 "core" ' +2 "manipulator"&,& +4 "core" & p t 5 +2 "storage"(-& +4 "core" &, v h \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&%' +23 "core" ' + "storage"( % +5 "core" %f \ +2 ."downElevator"SE.seek :down +3 "storage"(0'N +99 (f% +3 "core" %B r s \ \ U^ +2 "manipulator"&% +4 "core" % d j x  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"& '\ +98 "core" ' +40 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 5 of [3..6] +2 #Loading generic puck from tube 5 into Collection Clamp + "collection"'\\& +4 "core" &  \ +2 "manipulator"&[% +4 "core" %\ 8  ' +2 "storage"(k% +4 "core" %? O ]\ +2 "storage"(. +3 "core" .(, +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 + "storage"((<< +355 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (U& +3 "core" &<9% \  + "manipulator"&& +4 "core" & 4 +2 .tElbow.seek 5 +2 "manipulator"&z( +3 "core" ( + "manipulator"&F& +4 "core" & D 4 +2 "storage"(/& +3 "core" &<8 X Y W\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&Z' +96 "core" ' +2 "storage"(<& +4 "core" &<8 m &\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"('e +280 "core" ' + "storage"(D- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 ( & +2 "core" &<8 c V \  +2 "manipulator"&X& +4 "core" &  4 +2 .tElbow.seek 5 + "manipulator"&;( +3 "core" ( +2 "manipulator"&& +4 "core" &  4 + "storage"(q& +4 "core" &<8 r r \  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&C'[ +20 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&n/ +58 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&W& +2 "storage"(]'N +7 "core" & o n $ 4 +2 "manipulator"&c% +4 "core" % W m j +2 .tForearm.seek :retract +2 "manipulator"&b'\ +91 "core" ' +2 .tElbow.seek CC + "manipulator"&v( +149 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +9 "core" ( + "manipulator"&T& +5 "core" &\ ( Z + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &j& +3 "core" &\ _ Z +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&'| +96 "core" ' +2 "manipulator"&$& +4 "core" & Q Z +2 "manipulator"&B% +4 "core" % 3 +2 "collection"'G& +4 "core" &  \ +2 "collection"' & +5 "core" &  \ +2 .tCC.seek :closed +2 "collection"'(] +4 "core" &  \ +6 &?  \ $e +10 &pW  \ 7 +9 &  \ L +9 &Z  \ M +10 &GZ  \ M +9 & X  \ M +9 & X  \ M +10 &"Y  \ M +9 &$PX  \ L +10 &&Z  \ L +9 &'Y  \ L +9 &)]  \ M +10 &+W[  \ M +9 &-]  \ L +9 &.^  \ M +10 &0Z  \ M +9 &2_]  \ M +10 &4 ]  \ M +9 &5W  \ M +9 &7]  \ L +10 &9iY  \ L +9 &;*\\  \ L +9 &<W  \ L +10 &>Z  z\ L +9 &@pZ  \ L +9 &B1Y  \ M +10 &CX  \ M +9 &E\\  \ L +10 &Gx\\  \ L +9 &I4j  \ N +9 &Jz  \ P +10 &L  \ T +9 &Nb  \ V +9 &P!  \ X +10 &Q  ~\ W +9 &S  \ Y +10 &Uc  \ Y +9 &W#  \ Z +9 &X  \ [\ +10 &Z  x\ \\ +9 &\\d  \ H +9 &]]5  \ / +10 &]  \ ] +2 ( +2 "collection"' & +3 #tCollection Clamp onSpring/offSpring for 10/26 samples, on/off torque 2.12 + .Hand.open +2 "manipulator"&L1 +57 "core" 1 +2 "manipulator"&)% +4 "core" %  ? +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&r'\ +97 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp + "processing"%d& +4 "core" &\ +2 "manipulator"&P% +4 "core" %\ 1 c $q + "storage"(*% +4 "core" %= $\ +2 "storage"('. +3 "core" .(<9 + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"(.(<< +6 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (:& +3 "core" &<91 .\  +2 "manipulator"&& +4 "core" &\  Z + "manipulator"&(% +4 "core" %\ 0  $q +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&3( +160 "core" ( +2 "manipulator"&e& +4 "core" & u 5 + "storage"(!& +4 "core" &<9 f\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&}' +103 "core" ' + "storage"(m& +5 "core" &<9\ \  \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(Q'e +278 "core" ' +2 "storage"( - +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +2 "core" &<9 \  +2 "manipulator"&s& +4 "core" &  5 + .tElbow.seek 5 +2 "manipulator"&M( +3 "core" ( +2 "manipulator"&& +4 "core" &  5 + "storage"(g& +4 "core" &<9\ \  \  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&h'[ +24 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&|/ +52 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +3 "storage"(+'N +6 "core" & p p 5 + "manipulator"&a% +4 "core" % [ o p +2 .tForearm.seek :retract +2 "manipulator"&&'\ +96 "core" ' +2 .tElbow.seek PC +2 "manipulator"&I(c +154 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +93 "core" ( + "manipulator"&N& +4 "core" &^   +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &^   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&R'[ +102 "core" ' +2 "manipulator"&H& +4 "core" &^ .  +2 "manipulator"&K% +4 "core" %N + "processing"%p& +4 "core" &1\ +2 "processing"%& +5 "core" &)\ +2 .tPC.seek :closed +2 "processing"%#(Z +4 "core" &$\ +8 &8\ $c +9 &^U~\ 7 +9 &z\ K +10 &mV\ M +9 &/Z\ M +9 &Y\ N +10 & X\ N +9 &"uU\ M +10 &$6X\ N +9 &%W\ N +9 &'V\ M +10 &)}Y\ M +9 &+>V\ N +9 &-X\ N +10 &.Y\ N +9 &0W\ N +10 &2FW\ N +9 &4V\ N +9 &5V\ M +10 &7T\ M +9 &9OX\ M +9 &;X\ N +10 &<V\ M +9 &>X\ M +10 &@VX\ N +9 &BW\ N +9 &CW\ M +10 &EU \ M +9 &G]^\ N +9 &Ij\ \ O +10 &J{\ Q +9 &L\ S +10 &NR\ T +9 &P\ T +9 &Q\ T +10 &S \ T +9 &UY\ U +9 &W\ U +10 &X\ U +9 &Z9Lp\ / +9 &Z*\ & +6 ( + "processing"%& +5 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.63 + .Hand.open + "manipulator"&61 +4 "core" &Z\ & +56 1 + "manipulator"&y% +4 "core" % N 2 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +96 "core" ' +2 "processing"%_& +4 "core" &Z\ & + #tImaging generic puck in Processing Clamp while storing it to tube 5 +2 "manipulator"&l% +4 "core" %\ - "_ + "storage"(E% +4 "core" %A \ + "storage"(. +4 "core" .(<9 + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"(2(<< +3 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (5& +4 "manipulator"&4& +62 "core" &<: 5\  + &^  +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +3 "storage"(#]kK-0-\ b +2 .tElbow.seek PC +4 "manipulator"&u(c +3 ."raiseStack"SE.seek :beamBreak +2 "storage"(9'e +3 "core" ( + "manipulator"&& +4 "core" &^  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &t& +3 "core" &^   +2 .tForearm.seek PC + "manipulator"&O'[ +99 "core" ' +2 .tHand.close + "manipulator"&/ +60 "core" / +2 .tPC.seek :open + "processing"%@(p +82 "core" ' + "storage"(?- +4 "core" -'e +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(='B +36 "core" ' +262 ( +2 "storage"(Y& +4 "core" &<9 F\  +2 "manipulator"&V& +4 "core" &^   + "manipulator"&A% +4 "core" % m D +2 .tForearm.seek :retract +2 "manipulator"&\ '\ +102 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&( +253 "core" ( +2 "manipulator"&& +4 "core" & H # +2 "storage"(x& +4 "core" &<9 \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&~' +105 "core" ' +2 .tHand.open + "manipulator"&81 +52 "core" 1 +2 "storage"(- +4 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate +2 "storage"(' +22 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(J' +49 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(`- +3 "core" -' +2 "storage"(o& +4 "core" &<9   c\  +2 "manipulator"&S& +21 "core" & _ `  # +2 .tElbow.seek 5 + "manipulator"&( +4 "core" ( +2 "manipulator"&w& +4 "core" & o r # +2 "storage"(,& +4 "core" &<9   \  +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&-' +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"( 'M +67 "core" ' + "manipulator"&{& +5 "core" & n m # + "storage"(f& +4 "core" &<9\ \  \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&'/ +37 "core" ' +2 .tElbow.hold + "manipulator"&i, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"("'7 +22 "core" ' +2 "manipulator"&\\% +4 "core" %0Q    Ű +2 "storage"(& +4 "core" &<9 v 9\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 301 counts + "manipulator"&['\\ +16 "core" ' +2 "manipulator"&k& +4 "core" & z u  # +2 "storage"(& +4 "core" &<9\ \  \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&7' +18 "core" ' +2 "storage"(%% +5 "core" %@\ %\  g\ +2 ."downElevator"SE.seek :down +3 "storage"(0'N +99 (1% +3 "core" %7A \ Wd +2 "manipulator"&U% +4 "core" % p n +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +90 "core" ' +57 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (F& +4 "core" &<9 7\  +2 "collection"'/& +4 "core" &]  \ ] +2 #tStoring generic puck in Collection Clamp to tube 5 + "manipulator"&<% +4 "core" %\ +  !W +2 "storage"(>% +4 "core" %9 \ + "storage"( . +4 "core" .(<< + "storage"(D& +4 "core" &<9 q\  + "storage"( & +4 "core" &<9 C\  +2 "manipulator"&X& +4 "core" & ( # + .tElbow.seek 5 +2 "manipulator"&( +4 "core" ( + "manipulator"&q& +4 "core" & t # + "storage"(n& +4 "core" &<9 c\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&W' +99 "core" ' +2 "storage"(c& +4 "core" &<9\ \  \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(z'e +282 "core" ' +2 "storage"(Z- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&T& +3 "core" &  # + "storage"(j& +4 "core" &<9 d\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&'/ +34 "core" ' +2 .tElbow.hold + "manipulator"&C, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"($- +3 "core" -' +2 .tSE.seek 0.12 Pucks below Top Plate +2 "storage"(B't +28 "core" ' +2 "manipulator"&G% +5 "core" %2K   Ʈ + "storage"(;& +4 "core" &<9 j [ |\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 303 counts + "manipulator"&]'^ +17 "core" ' +2 "manipulator"&b& +4 "core" & y f @ # +2 "storage"(^& +4 "core" &<9\ \  \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&L' +19 "core" ' +2 .tSE.seek 1.12 Pucks below Top Plate +2 "storage"()'c +50 "core" ' +2 "manipulator"&d& +4 "core" & q p # +2 "manipulator"&P% +4 "core" % p m  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&*'\ +97 "core" ' + .tElbow.seek CC +2 "manipulator"&'( +145 "core" ( +2 "manipulator"& & +4 "core" & K - +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &:& +3 "core" & w - +3 .tForearm.seek CC +2 "manipulator"&'| +101 "core" ' + .tHand.close +2 "manipulator"&(/ +52 "core" / + .tCC.seek :open +2 "collection"'(p +410 "core" ( + "storage"(e& +4 "core" &<9 Z X \  +2 "storage"(!& +4 "core" &<9 M V \  + "manipulator"&& +4 "core" & - - + "manipulator"&m% +4 "core" % q 2 +2 .tForearm.seek :retract +2 "manipulator"&v'\ +101 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&r( +179 "core" ( +2 "manipulator"& & +4 "core" & l \ +2 "storage"(& +4 "core" &<9 X X ^\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 5 +2 "manipulator"&s'/ +111 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&g1 +54 "core" 1 +2 "manipulator"&|% +4 "core" % @p & 7 # +2 "storage"(& +3 "core" &<9\ \  \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 317 counts + "manipulator"&a'l +18 "core" ' + "manipulator"&3& +4 "core" & \\ t  +2 "storage"(}& +4 "core" &<9 b\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&Q' +20 "core" ' + "storage"(h% +4 "core" %g \ +3 ."downElevator"SE.seek :down +4 "storage"(N'N +99 (% +3 "core" %C t s \ V_ +2 "manipulator"&M% +4 "core" % j a  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&H'\ +90 "core" ' +48 ' + ."downElevator"SE.stop +2 "storage"(5 +2 #tShuffling pucks in tube 6 of [3..6] +2 #Loading generic puck from tube 6 into Collection Clamp + "collection"'K& +5 "core" &  \ + "manipulator"&p% +4 "core" %\ '  @ +2 "storage"(+% +4 "core" %< s u \ + "storage"(&. +3 "core" .(<< +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +59 .tSC.seek 6 + "storage"((K +348 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (6& +2 "core" &K! $  G\  +2 "manipulator"&y& +4 "core" &   +2 .tElbow.seek 6 + "manipulator"&_( +21 "core" ( + "manipulator"&l& +5 "core" & z h ] + "storage"(E& +4 "core" &K s s \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&'< +96 "core" ' +2 "storage"(& +4 "core" &K \  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(4'e +288 "core" ' + "storage"(5- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" &K [ S j\  +2 "manipulator"&t& +4 "core" &\ 7 \\ +2 .tElbow.seek 6 + "manipulator"&R( +4 "core" ( + "manipulator"&& +4 "core" &\ C \\ + "storage"(.& +4 "core" &K s t \  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&?'Ϧ +20 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&I/ +55 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"(#'N +7 "core" & p n \\ +2 "manipulator"&Y% +4 "core" % Ϡ p p +2 .tForearm.seek :retract +2 "manipulator"&9'\ +89 "core" ' +2 .tElbow.seek CC +2 "manipulator"&V( +140 "core" ( + "manipulator"&A& +5 "core" & w , + .tElbow.reconfigure :loose +4 "manipulator"&$ &.,(#b +2 "core" ' + ."downElevator"SE.stop +3 "manipulator"&O& + "storage"(5 +6 "core" &  , +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&'| +101 "core" ' + "manipulator"&x& +5 "core" & r , + "manipulator"&u% +4 "core" %υ +2 "collection"'8& +4 "core" &  \ +2 "collection"'& +5 "core" &  \ +2 .tCC.seek :closed +2 "collection"'`(] +4 "core" &  \ +7 &=  \ $e +9 &lX  \ 7 +9 &  \ L +10 &Z  \ L +9 &FY  \ L +10 &]  \ M +9 & ^  \ M +9 &"\\  \ M +10 &$MY  \ M +9 &&\\  \ M +9 &'Z  \ L +10 &)]  \ L +9 &+V]  \ L +10 &-]  \ L +9 &.^  \ M +9 &0\\  \ M +10 &2^Z  \ L +9 &4 \\  \ L +9 &5[  \ M +10 &7Y  \ L +9 &9f\\  z\ L +9 &;(\\  \ L +10 &<]  {\ L +9 &>]  \ M +10 &@m\\  ~\ M +9 &B0]  ~\ L +9 &CY  \ L +10 &EX  y\ L +9 &Gv[  }\ L +10 &I5c  \ M +9 &Jr  \ O +9 &L  u\ R +10 &Nc  v\ V +9 &P"  \ V +9 &Q  \ W +10 &S  \ X +9 &U`  \ Y +9 &W"  \ Y +10 &X  \ [ +9 &Z  \ [ +10 &\\d  \ H +9 &][3  z\ / +9 &]v  \ W +3 ( + "collection"'& +3 #tCollection Clamp onSpring/offSpring for 10/26 samples, on/off torque 2.02 +2 .Hand.open + "manipulator"&o1 +54 "core" 1 + "manipulator"&S% +4 "core" % o  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&w'\ +93 "core" ' +2 #tLoading generic puck from tube 6 into Processing Clamp + "processing"%\ & +5 "core" &%\ +6 "manipulator"&,% +4 "core" %\ ( W E +2 "storage"({% +4 "core" %9\ \  Y\ +6 "storage"(f. +3 "core" .(K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 + "storage"(=(K +22 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (\\& +3 "core" &K\ \  C\ +2 "manipulator"&& +4 "core" &  , + "manipulator"&% +4 "core" %\ (  E +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 + "manipulator"&k( +168 "core" ( +2 "manipulator"&& +4 "core" &  : +2 "storage"(%& +4 "core" &K\ \  \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&'< +90 "core" ' + "storage"(~& +4 "core" &K   \ +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(J'e +276 "core" ' + "storage"(1- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (U& +3 "core" &K\ \ $ \ + "manipulator"&-& +4 "core" &  9 +2 .tElbow.seek 6 +2 "manipulator"&( +3 "core" ( + "manipulator"& & +4 "core" &  9 + "storage"(& +4 "core" &K R F\ +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&F'Ϧ +16 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&[/ +58 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&/& +2 "storage"(<'N +7 "core" & q p 9 +2 "manipulator"&>% +4 "core" % Ϛ m q  +2 .tForearm.seek :retract + "manipulator"& '\ +92 "core" ' + .tElbow.seek PC +2 "manipulator"&D(c +157 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +91 "core" ( +2 "manipulator"&"& +4 "core" &i ,  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 & & +2 "core" &i \\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&X'[ +98 "core" ' +2 "manipulator"&q& +4 "core" &i   +2 "manipulator"&n% +4 "core" %_  +2 "processing"%7& +4 "core" &5\ +2 "processing"%c& +4 "core" &4\ +3 .tPC.seek :closed + "processing"%0(Z +4 "core" &'\  +9 &2~$\ )w +10 &c$\ > +9 &At\ N +9 &R%\ M +10 &Y"\ M +9 &X\ M +9 &!KT\ M +10 &# U \ M +9 &$V\ M +10 &&X\ M +9 &(RW\ M +9 &*W\ M +10 &+W\ M +9 &-T\ M +9 &/YY \ N +10 &1W\ M +9 &2W\ M +10 &4U\ M +9 &6aW\ N +9 &8%X\ M +10 &9W\ \ M +9 &;W\ M +9 &=jW\ M +10 &?,W\ M +9 &@Z\ M +10 &BV\ M +9 &DrZ\ M +9 &F3\\\ N +10 &Gd\ N +9 &Il\ P +9 &Km~\ R +10 &M)\ T +9 &N\ T +10 &P\ T +9 &Ro \ T +9 &T/\ T +10 &U\ U +9 &W\ U +9 &Yt\ B +10 &Zw<\ \\ +9 &Z\ ) +2 ( +2 "processing"%c& +3 #tProcessing Clamp onSpring/offSpring for 9/25 samples, on/off torque 1.66 + .Hand.open + "manipulator"&i1 +58 "core" 1 +2 "manipulator"&% +4 "core" % _ A +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&Z'\ +106 "core" ' +2 "processing"%T& +4 "core" &Z\ ) +2 #tImaging generic puck in Processing Clamp while storing it to tube 6 + "manipulator"&j% +4 "core" %\  ` c r  + "storage"($% +4 "core" %9\ \  \ +2 "storage"(G. +3 "core" .(K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 + "storage"(;(K +3 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (b& +3 "core" &K\ \  \ +3 "manipulator"&^& + ."raiseStack"SE.reconfigure :place +6 "storage"(#]kK-0-\ b +3 ."raiseStack"SE.seek :beamBreak +2 "storage"(d'e +3 "core" &i ` _   +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC + "manipulator"&P(c +2 "core" ( +2 "manipulator"&W& +4 "core" &i } P  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &i f q '  +2 .tForearm.seek PC +2 "manipulator"&z'[ +94 "core" ' + .tHand.close +2 "manipulator"&/ +55 "core" / + .tPC.seek :open +2 "processing"%](p +82 "core" ' + "storage"(B- +4 "core" -'e + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"( 'B +34 "core" ' +264 ( +2 "storage"(:& +4 "core" &K\ \  \ +2 "manipulator"&L& +4 "core" &i   + "manipulator"&C% +4 "core" % j  +2 .tForearm.seek :retract +2 "manipulator"&('\ +94 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&*( +248 "core" ( +2 "manipulator"&& +4 "core" & 0  +2 "storage"(e& +3 "core" &K B\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&!'< +110 "core" ' + .tHand.open +2 "manipulator"&1 +61 "core" 1 +2 "storage"(m- +62 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate + "storage"( ' +25 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(' +51 "core" ' +2 #tLights, camera, ACTION! + "storage"(- +3 "core" -' +2 "storage"('& +4 "core" &K R S 6\ +2 "manipulator"&g& +3 "core" & o o   +2 .tElbow.seek 6 +2 "manipulator"&|( +4 "core" ( + "manipulator"&& +4 "core" & q n /  +2 "storage"(3& +4 "core" &K R T 2\ +2 .tForearm.seek 6 + 450 counts + "manipulator"&}'< +19 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"(h'M +66 "core" ' + "manipulator"&v& +5 "core" &   + "storage"(& +4 "core" &K\ \  \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +3 "manipulator"&M'z +30 "core" ' +2 .tElbow.hold + "manipulator"&r, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"(s'7 +23 "core" ' +2 "manipulator"&K% +4 "core" %΄a ; +2 "storage"(p& +4 "core" &K \ + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 6 + 310 counts + "manipulator"&a'ϰ +18 "core" ' + "manipulator"&+& +5 "core" & t z R j +2 "storage"(&& +4 "core" &K   ^\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&)'< +19 "core" ' +2 "storage"(Q% +4 "core" %@   \ +2 ."downElevator"SE.seek :down +4 "storage"(N'N +99 (2% +3 "core" %5I\ \  \ We +2 "manipulator"&6% +4 "core" % o n  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&y'\ +91 "core" ' +57 ' + ."downElevator"SE.stop + "storage"(5 +3 (l& +4 "core" &K U\ +2 "collection"'E& +4 "core" &]v  \ W +2 #tStoring generic puck in Collection Clamp to tube 6 + "manipulator"&% +4 "core" %\ 0  $m +2 "storage"(% +4 "core" %?\ \  U\ + "storage"(H. +3 "core" .(K +2 "storage"(5& +4 "core" &K\ \ A\ + "storage"(& +4 "core" &K\ \ \ h\ +2 "manipulator"&t& +4 "core" &  j +2 .tElbow.seek 6 + "manipulator"&( +34 "core" ( +2 "manipulator"&.& +5 "core" & / + "storage"(I& +4 "core" &K\ \  \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&'< +107 "core" ' +2 "storage"(Y& +4 "core" &K 6 7 h\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(_'e +282 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&A& +3 "core" & n c r +2 "storage"(O& +3 "core" &K   a\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&4'z +32 "core" ' +2 .tElbow.hold + "manipulator"&?, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(x- +3 "core" -' +2 .tSE.seek 0.12 Pucks below Top Plate +2 "storage"(u'p +31 "core" ' +2 "manipulator"&8% +4 "core" %΍Z 4 +2 "storage"(R& +4 "core" &K 5\ + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 6 + 319 counts + "manipulator"&#'Ϲ +16 "core" ' +2 "manipulator"&9& +4 "core" & [ t  +2 "storage"(& +4 "core" &K   m\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&o'< +24 "core" ' +2 .tSE.seek 1.12 Pucks below Top Plate +2 "storage"(S'_ +41 "core" ' + "manipulator"&\ & +5 "core" & ` c }  + "manipulator"&,% +4 "core" %P f d v +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&{'\ +90 "core" ' +2 .tElbow.seek CC + "manipulator"&f( +164 "core" ( + "manipulator"&& +5 "core" &  i + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &\\& +2 "core" & : i +2 .tForearm.seek CC +2 "manipulator"&'| +94 "core" ' +2 .tHand.close +2 "manipulator"&/ +60 "core" / +2 .tCC.seek :open +2 "collection"'(p +413 "core" ( + "storage"(& +4 "core" &K s s \ +2 "storage"(%& +4 "core" &K O V R\ + "manipulator"&& +4 "core" &  c + "manipulator"&~% +4 "core" % τ  +3 .tForearm.seek :retract + "manipulator"&V'\ +91 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 + "manipulator"&w( +156 "core" ( +2 "manipulator"&1& +4 "core" & { / +2 "storage"(U& +3 "core" &K U W \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 6 + "manipulator"&-'z +109 "core" ' +2 .tElbow.hold +2 "manipulator"& , +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&1 +60 "core" 1 +2 "manipulator"&[% +5 "core" % Ήo  + "storage"(/& +4 "core" &K\ \  \ + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 6 + 315 counts + "manipulator"&>'ϵ +18 "core" ' +2 "manipulator"&k& +4 "core" &\ [ u k V +2 "storage"(& +4 "core" &K p e Z\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&J'< +22 "core" ' + "storage"(F% +4 "core" %e \ +3 ."downElevator"SE.seek :down +3 "storage"("'N +100 ( % +2 "core" %1F X M 7\ V` +2 "manipulator"&% +4 "core" % n n  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&q'\ +91 "core" ' +48 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 3 of [3..6] + #Loading generic puck from tube 3 into Collection Clamp + "collection"'n& +5 "core" &  \ + "manipulator"&7% +5 "core" %\ 0  $l +2 "storage"(<% +4 "core" %: s s \ + "storage"( . +3 "core" .(K +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(@( +993 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (i& +2 "core" & {\ +2 "manipulator"&& +4 "core" &\  V + .tElbow.seek 3 +2 "manipulator"&T(D +17 "core" ( +2 "manipulator"&j& +4 "core" &:  "{ +2 "storage"($& +3 "core" & [ Z\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&c' +91 "core" ' +2 "storage"(G& +4 "core" & o n\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(b'e +278 "core" ' +2 "storage"(^- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (W& +8 "core" & M X T\ +2 "manipulator"&& +4 "core" &;  "z +2 .tElbow.seek 3 + "manipulator"&X(D +3 "core" ( +2 "manipulator"&& +3 "core" &;  "z +2 "storage"(B& +4 "core" & Z X 1\ +2 .tForearm.seek 3 + 300 counts + "manipulator"&='y +22 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&D/ +59 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&Z& + "storage"(0'N +8 "core" &; o p  "z + "manipulator"&:% +4 "core" % r l m +2 .tForearm.seek :retract +2 "manipulator"&d'\ +94 "core" ' +2 .tElbow.seek CC +2 "manipulator"&L( +152 "core" ' + ."downElevator"SE.stop +58 "storage"(5 +4 "core" ( + "manipulator"&C& +4 "core" &\  V +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &z& +3 "core" &\ < V +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&'| +100 "core" ' +2 "manipulator"&e& +4 "core" &\  V +2 "manipulator"&P% +4 "core" %σ  +2 "collection"'& +4 "core" &  \ +2 "collection"'m& +5 "core" &  \ +2 .tCC.seek :closed + "collection"'((] +5 "core" &  \  +9 &3}  \ *x +9 &d  \ > +10 &Pu  \ M +9 &X  \ L +9 &_  \ M +10 &]  \ M +9 &!ZY  \ L +10 &#Z  \ L +9 &$]  \ L +9 &&^  \ M +10 &(`\\  \ M +9 &*$Y  \ L +9 &+W  \ L +10 &-Y  \ L +9 &/jZ  \ L +10 &1,Z  \ L +9 &2X  \ L +9 &4Y  \ L +10 &6r\\  \ L +9 &84\\  \ L +9 &9[  \ M +10 &;Y  \ L +9 &=zX  \ L +9 &?<Y  \ L +10 &@]  \ M +9 &B\\  \ M +10 &DW  \ L +9 &FCX  \ M +9 &H\\  \ M +10 &In  \ O +9 &K{  \ Q +9 &M2  \ U +10 &N  \ W +9 &P  \ W +10 &Rp  \ X +9 &T0  \ Y +9 &U  \ Y +10 &W  \ Y +9 &Yh  \ ] +9 &[1  \ [\ +10 &\\|  \ 0 +9 &]&  \ "f +9 ( +3 "collection"'m& +3 #tCollection Clamp onSpring/offSpring for 9/25 samples, on/off torque 2.11 + .Hand.open +2 "manipulator"&1 +3 "core" &]  \ X +56 1 +2 "manipulator"&'% +4 "core" % ς 1 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&g'\ +102 "core" ' + #tLoading generic puck from tube 3 into Processing Clamp +2 "processing"%& +4 "core" &2\ +2 "manipulator"&3% +4 "core" %\ 9 ; ( +2 "storage"(v% +4 "core" %G =\  + "storage"(. +3 "core" .( +2 "storage"( & +4 "core" & \ + "storage"(K& +4 "core" & \ +2 "manipulator"&p& +4 "core" &\ 7 V + "manipulator"& % +4 "core" %\ : J ( +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&+(D +164 "core" ( + "manipulator"&&& +5 "core" &; < + "storage"(Q& +4 "core" & g\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&*' +107 "core" ' +2 "storage"(!& +4 "core" &   /\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"('e +277 "core" ' + "storage"(2- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (6& +3 "core" &\ \  \ +2 "manipulator"&}& +3 "core" &; n m  < +2 .tElbow.seek 3 +2 "manipulator"&|(D +3 "core" ( + "manipulator"&h& +4 "core" &; s s < +2 "storage"(M& +4 "core" & S >\ +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&l'y +17 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&a/ +58 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&E& +2 "storage"('N +7 "core" &;  < +2 "manipulator"&% +4 "core" % { 5  +2 .tForearm.seek :retract + "manipulator"&H'\ +92 "core" ' + .tElbow.seek PC +2 "manipulator"&5(c +157 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +90 "core" ( + "manipulator"&s& +4 "core" &f g  +2 .tElbow.reconfigure :loose +66 "manipulator"&$ &.,(#b +2 && +3 "core" &f  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +6 .tForearm.seek PC +2 "manipulator"&t'[ +110 "core" ' + "manipulator"&.& +4 "core" &f t z Q  +2 "manipulator"&I% +4 "core" %Y p o   +2 "processing"%)& +4 "core" &6\ +2 "processing"%Y& +5 "core" &*\ +2 .tPC.seek :closed + "processing"%N(Z +4 "core" &*\ +8 & 1(\ $c +9 &[U(\ 7 +10 &z&\ K +9 &lT'\ M +10 &.W(\ M +9 &W(\ M +9 & Y&\ M +10 &"sU\ M +9 &$5W\ M +9 &%Y\ M +10 &'W\ M +9 &)|W\ M +10 &+?V\ M +9 &-Y\ M +9 &.Y\ \ M +10 &0W\ M +9 &2GX \ M +9 &4V\ M +10 &5V\ M +9 &7W\ M +10 &9OV\ M +9 &;Z!\ M +9 &<U\ M +10 &>Y \ M +9 &@VZ\ M +9 &BX\ M +10 &CX\ M +9 &EX\ M +10 &G]]\ M +9 &Id\ O +9 &Jo\ P +10 &L~\ Q +9 &NS\ S +9 &P\ S +10 &Q\ S +9 &S \ T +10 &UY\ T +9 &W\ T +9 &X\ U +10 &Z:Np\ - +9 &Z*\ ' +5 ( +2 "processing"%Y& +4 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.59 +2 .Hand.open + "manipulator"&r1 +3 "core" &Z\ ' +50 1 + "manipulator"&y% +4 "core" % Z { _ [ ~ +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +91 "core" ' + "processing"%A& +4 "core" &Z\ ' +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&O% +4 "core" %\ , "[ +2 "storage"(x% +4 "core" %? \ + "storage"(8. +3 "core" .( +2 "storage"(R& +4 "core" & \ +2 "storage"(9& +3 "manipulator"&& +5 "core" & \ + &f  +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +3 "storage"(#]kK-0-\ b + "manipulator"&\ (c +6 ."raiseStack"SE.seek :beamBreak +2 "storage"(,'e +3 "core" ( + "manipulator"&& +4 "core" &f r  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &f d  +2 .tForearm.seek PC +2 "manipulator"&_'[ +94 "core" ' +2 .tHand.close + "manipulator"&4/ +63 "core" / +2 .tPC.seek :open + "processing"%#(p +85 "core" ' +2 "storage"(u- +3 "core" -'e +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('B +36 "core" ' +257 ( + "storage"(\\& +4 "core" &\ \  \ +2 "manipulator"&o& +4 "core" &f   + "manipulator"&?% +4 "core" % V  +2 .tForearm.seek :retract +2 "manipulator"&'\ +94 "core" ' +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&{(D +243 "core" ( + "manipulator"&`& +4 "core" &N $ 2 +2 "storage"(& +4 "core" & |\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&%' +93 "core" ' +2 .tHand.open + "manipulator"&1 +61 "core" 1 +2 "storage"(~- +4 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate +2 "storage"(1' +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.83 Pucks below Top Plate + "storage"(U' +52 "core" ' +2 #tLights, camera, ACTION! + "storage"(- +4 "core" -' + "storage"(f& +4 "core" &   Q\ +2 "manipulator"&& +4 "core" &N  2 + .tElbow.seek 3 +2 "manipulator"&[(D +3 "core" ( +2 "manipulator"&/& +4 "core" &N  2 + "storage"(k& +4 "core" &\ +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&' +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"(F'M +63 "core" ' + "manipulator"&V& +4 "core" &N % 2 +2 "storage"( & +4 "core" &\ \  \ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 + "manipulator"&'M +38 "core" ' +2 .tElbow.hold + "manipulator"&w, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.07 Pucks below Top Plate + "storage"(-'7 +25 "core" ' + "manipulator"&n% +5 "core" %OS A ð + "storage"(>& +4 "core" & \ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 302 counts + "manipulator"&7'{ +14 "core" ' + "manipulator"&<& +5 "core" &Y m i ' +2 "storage"( & +4 "core" &   \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&S' +19 "core" ' + "storage"(J% +5 "core" %@   \ +2 ."downElevator"SE.seek :down +3 "storage"("'N +99 (;% +69 "core" %A\ \ \ Wc +4 "manipulator"&i% +5 "core" % ` k C  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +86 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +5 "core" ' +2 "storage"(j& +4 "core" &\  Z\ +2 "collection"'$& +4 "core" &]  \ X + #tStoring generic puck in Collection Clamp to tube 3 +2 "manipulator"&G% +4 "core" %\ 5 S & +2 "storage"( % +4 "core" %S\ \ {\  + "storage"(q. +4 "core" .( + "storage"(^& +4 "core" &\ \  y\ + "storage"(W& +4 "core" & F\ +2 "manipulator"&& +4 "core" &Y  ' + .tElbow.seek 3 +2 "manipulator"&(D +26 "core" ( +2 "manipulator"&B& +4 "core" &N P +2 "storage"(D& +4 "core" &\ \  \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&Z' +99 "core" ' +2 "storage"(:& +4 "core" &   \ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(T'e +280 "core" ' + "storage"(c- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&b& +3 "core" &N  P +2 "storage"(=& +4 "core" &\ \  |\ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 + "manipulator"&C'M +33 "core" ' + .tElbow.hold +2 "manipulator"&z, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(X- +2 "core" -' +3 .tSE.seek 0.11 Pucks below Top Plate + "storage"(e'm +30 "core" ' +2 "manipulator"&P% +4 "core" %^O 8 ¯ +2 "storage"(& +3 "core" & >\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 317 counts +2 "manipulator"&0'ϊ +16 "core" ' +2 "manipulator"&d& +4 "core" &N \\ k P +2 "storage"(& +4 "core" &   d\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&' +20 "core" ' +2 .tSE.seek 1.11 Pucks below Top Plate + "storage"(''\\ +41 "core" ' +2 "manipulator"&& +4 "core" &N n d i P +2 "manipulator"&3% +4 "core" % j o ` ( +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&v'\ +101 "core" ' +2 .tElbow.seek CC +2 "manipulator"&( +185 "core" ( +2 "manipulator"&m& +5 "core" &  3 + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 & & +2 "core" & / 3 +2 .tForearm.seek CC + "manipulator"&K'| +97 "core" ' + .tHand.close +2 "manipulator"&p/ +61 "core" / +2 .tCC.seek :open + "collection"' (p +410 "core" ( + "storage"(& +5 "core" & Z X \ + "storage"(&& +4 "core" & L U \ +2 "manipulator"&Q& +3 "core" &   0 +2 "manipulator"&!% +4 "core" % ώ  + .tForearm.seek :retract +2 "manipulator"&L'\ +95 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&g(D +173 "core" ( + "manipulator"&2& +5 "core" &;\  R + "storage"(6& +4 "core" & Z V \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 +2 "manipulator"&}'M +108 "core" ' + .tElbow.hold +2 "manipulator"&h, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&M1 +56 "core" 1 +3 "manipulator"&a% +4 "core" % Z~  E +2 "storage"(E& +4 "core" &   +\ + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 313 counts + "manipulator"&'φ +16 "core" ' +2 "manipulator"&+& +4 "core" &u \\ j r  +2 "storage"(*& +4 "core" & \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&' +21 "core" ' + "storage"(l% +5 "core" %^ l\ +2 ."downElevator"SE.seek :down +4 "storage"(s'N +98 (% +3 "core" %E m q\ T[ +2 "manipulator"&|% +4 "core" % m j +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&.'\ +98 "core" ' +41 ' +2 ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 4 of [3..6] + #Loading generic puck from tube 4 into Collection Clamp + "collection"'I& +5 "core" &  \ + "manipulator"&% +5 "core" %\ :  ( +2 "storage"()% +4 "core" %: N Q 6\ + "storage"(H. +4 "core" .( + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"(](, +356 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (r& +3 "core" &,  \  + "manipulator"&y& +4 "core" &u   +2 .tElbow.seek 4 +2 "manipulator"&A(* +17 "core" ( +2 "manipulator"&O& +4 "core" &) b  + "storage"(x& +4 "core" &, M P \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&8' +94 "core" ' + "storage"(R& +4 "core" &, \  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"('e +279 "core" ' +2 "storage"(9- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (Y& +3 "core" &, b n W\  + "manipulator"&& +4 "core" &* c n v  +2 .tElbow.seek 4 + "manipulator"&(* +4 "core" ( + "manipulator"&t& +4 "core" &* w q   + "storage"(4& +4 "core" &, r r \  +2 .tForearm.seek 4 + 300 counts + "manipulator"&u'Z +29 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&5/ +58 "core" / +2 ."downElevator"SE.seek :down +5 "Can" ';8 + "manipulator"&& + "storage"(N'N +8 "core" &* n k  + "manipulator"&\\% +5 "core" % τ c ` ^ +2 .tForearm.seek :retract + "manipulator"&o'\ +89 "core" ' +2 .tElbow.seek CC +2 "manipulator"&,( +154 "core" ' + ."downElevator"SE.stop + "storage"(5 +12 "core" ( +2 "manipulator"&?& +4 "core" & E _ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &_& +3 "core" &\ _ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&`'| +103 "core" ' +2 "manipulator"&& +4 "core" & % _ +2 "manipulator"&\ % +4 "core" %φ @ +2 "collection"'& +4 "core" &  \ +2 "collection"'~& +6 "core" &  \ +2 .tCC.seek :closed + "collection"'(] +5 "core" &  \ +6 & 8  \ %f +10 &oX  \ 8 +9 &|  \ L +9 &W  \ L +10 &N[  \ M +9 &X  \ L +10 & [  \ L +9 &"]  \ M +9 &$WZ  \ L +10 &&Y  \ M +9 &'X  \ L +9 &)Z  \ L +10 &+`Z  \ L +9 &-![  \ L +10 &.Z  \ M +9 &0\\  \ M +9 &2gX  \ L +10 &4*Z  \ L +9 &5Y  \ M +10 &7Z  \ M +9 &9pW  \ L +9 &;1\\  \ L +10 &<Z  \ M +9 &>Z  \ M +9 &@wW  \ L +10 &B:Z  \ L +9 &C]  \ M +10 &E[  \ L +9 &GZ  \ L +9 &I?`  \ M +10 &Jn  \ O +9 &L  \ Q +9 &No  \ U +10 &P+  \ W +9 &Q  \ W +9 &S  \ X +10 &Uj  \ Y +9 &W+  \ Y +10 &X  \ Z +9 &Z  \ [ +9 &\\m  \ G +10 &]e4  \ )z +9 &]Q  \ C +2 ( +2 "collection"'~& +3 #tCollection Clamp onSpring/offSpring for 10/26 samples, on/off torque 2.01 +2 .Hand.open + "manipulator"&f1 +54 "core" 1 +2 "manipulator"&% +5 "core" % σ < +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&/'\ +99 "core" ' +2 #tLoading generic puck from tube 4 into Processing Clamp + "processing"%k& +5 "core" &\ + "manipulator"&% +4 "core" %\ 5 = & +2 "storage"(V% +4 "core" %<   '\  + "storage"( . +3 "core" .(, +2 "storage"(& +4 "core" &,   I\  + "storage"(n& +4 "core" &,   D\  +2 "manipulator"&>& +3 "core" &\  _ +2 "manipulator"&1% +4 "core" %\ 5  & +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&<(* +169 "core" ( +59 "manipulator"& & +4 "core" &1 - P +2 "storage"(J& +4 "core" &,   F\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&{' +117 "core" ' +2 "storage"(%& +5 "core" &, X Z\  + .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(U'e +278 "core" ' +2 "storage"(;- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +2 "core" &, @ 9 w\  +2 "manipulator"&i& +4 "core" &3 p q N +2 .tElbow.seek 4 + "manipulator"&[(* +4 "core" ( + "manipulator"&F& +4 "core" &3 q r N + "storage"(& +4 "core" &, W T u\  +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&7'Z +14 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&j/ +64 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&$& + "storage"(G'N +8 "core" &3  N + "manipulator"& % +4 "core" % _   +2 .tForearm.seek :retract +2 "manipulator"&-'\ +100 "core" ' +2 .tElbow.seek PC +2 "manipulator"&q(c +152 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +102 "core" ( +2 "manipulator"&^& +4 "core" &k  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &W& +3 "core" &k  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&'[ +102 "core" ' +2 "manipulator"&B& +4 "core" &k 3 +2 "manipulator"&D% +4 "core" %S  + "processing"%:& +4 "core" &(\ +2 "processing"%S& +5 "core" &7\ +2 .tPC.seek :closed +2 "processing"%"(Z +4 "core" &*\  +9 &5(\ *z +10 &e)\ ? +9 &ar)\ M +9 &$T%\ M +10 &Z)\ M +9 &W)\ M +9 &!iY)\ M +10 &#,W(\ M +9 &$W%\ M +10 &&W\ M +9 &(sW\ M +9 &*5W\ M +10 &+X\ M +9 &-Y\ M +9 &/zZ\ M +10 &1=Y\ M +9 &2X\ M +10 &4W\ M +9 &6X \ M +9 &8EY \ M +10 &:W\ M +9 &;W\ M +9 &=X\ M +10 &?LZ \ M +9 &A Z!\ M +10 &BT \ M +9 &DY\ M +9 &FRY\ N +10 &Hc\ N +9 &Iq \ P +9 &K\ S +10 &MH\ T +9 &O\ \ T +10 &P\ T +9 &R\ T +9 &TO\ T +10 &V\ T +9 &W\ U +9 &Y\ B +10 &Z1\ Y +9 &Z#\ - +2 ( +2 "processing"%S& +3 #tProcessing Clamp onSpring/offSpring for 9/25 samples, on/off torque 1.66 + .Hand.open + "manipulator"&w1 +64 "core" 1 +2 "manipulator"&% +4 "core" % S & +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&c'\ +100 "core" ' +2 "processing"%b& +4 "core" &Z \ - +2 #tImaging generic puck in Processing Clamp while storing it to tube 4 + "manipulator"&=% +4 "core" %\ : d ( + "storage"(X% +5 "core" %;\ \  p\ + "storage"(P. +4 "core" .(, + "storage"(& +4 "core" &, \  +2 "storage"(d& +2 "manipulator"&& +7 "core" &,\  \  + &k < +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +2 "storage"(#]kK-0-\ b +2 .tElbow.seek PC +5 "manipulator"&(c +3 ."raiseStack"SE.seek :beamBreak +2 "storage"(3'e +3 "core" ( + "manipulator"&Z& +4 "core" &k + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &k +2 .tForearm.seek PC +2 "manipulator"&T'[ +94 "core" ' + .tHand.close +2 "manipulator"&C/ +53 "core" / +2 .tPC.seek :open +2 "processing"%0(p +97 "core" ' +2 "storage"(e- +3 "core" -'e +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(m'B +39 "core" ' +244 ( +2 "storage"( & +4 "core" &, 5 '\  + "manipulator"&& +4 "core" &k  +2 "manipulator"&z% +4 "core" % `   +2 .tForearm.seek :retract + "manipulator"&p'\ +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&v(* +262 "core" ( +2 "manipulator"&(& +4 "core" &F ' N + "storage"(& +4 "core" &, E %\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&&' +94 "core" ' + .tHand.open + "manipulator"&Q1 +65 "core" 1 +2 "storage"(!- +3 "core" -'B +3 .tSE.seek -0.16 Pucks below Top Plate + "storage"(2' +25 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(6' +51 "core" ' +2 #tLights, camera, ACTION! + "storage"(K- +3 "core" -' +2 "storage"(& +4 "core" &, x w O\  + "manipulator"&M& +4 "core" &F  N +2 .tElbow.seek 4 +2 "manipulator"&a(* +30 "core" ( + "manipulator"&E& +4 "core" &2 y n ? K +2 "storage"(+& +3 "core" &, w x E\  +3 .tForearm.seek 4 + 450 counts + "manipulator"&*' +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"(l'M +62 "core" ' +2 "manipulator"&L& +4 "core" &2 ` ` , K + "storage"(& +4 "core" &, 9 4\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&|'. +34 "core" ' +2 .tElbow.hold + "manipulator"&g, +5 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"(}'7 +23 "core" ' + "manipulator"&I% +5 "core" %?V  + "storage"(& +4 "core" &, l\  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 4 + 317 counts + "manipulator"&'k +17 "core" ' + "manipulator"&)& +5 "core" & c l x  + "storage"(H& +4 "core" &, X X I\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&'' +11 "core" ' + "storage"(% +5 "core" %= U Y )\  +2 ."downElevator"SE.seek :down +3 "storage"(s'N +99 (@% +3 "core" %D   \ Vb +2 "manipulator"&r% +4 "core" % m d ? +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&y'\ +87 "core" ' +61 ' + ."downElevator"SE.stop + "storage"(5 +3 (O& +4 "core" &, S\  V\  +2 "collection"'x& +3 "core" &]T  \ C +2 #tStoring generic puck in Collection Clamp to tube 4 + "manipulator"&R% +4 "core" %\ *  !V +2 "storage"(h% +4 "core" %< 9 9 \ + "storage"(.. +3 "core" .(, +2 "storage"(9& +4 "core" &, 9 9 \  + "storage"(Y& +4 "core" &, 8 9 \  +2 "manipulator"&& +4 "core" &   + .tElbow.seek 4 +2 "manipulator"&t(* +37 "core" ( + "manipulator"&4& +5 "core" &7 X 9 + "storage"(5& +4 "core" &, -  \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&' +101 "core" ' +2 "storage"(\\& +4 "core" &, 1 8\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(A'e +278 "core" ' +2 "storage"(8- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&?& +3 "core" &7  9 + "storage"(_& +4 "core" &, 6 3\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&'. +32 "core" ' + .tElbow.hold +2 "manipulator"&u, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(- +2 "core" -' +3 .tSE.seek 0.12 Pucks below Top Plate + "storage"('r +27 "core" ' +2 "manipulator"&\ % +4 "core" %>R % İ + "storage"(& +4 "core" &, S\  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 4 + 316 counts +2 "manipulator"&N'j +17 "core" ' +2 "manipulator"&o& +52 "core" & \\ r ~ # +10 "storage"( & +4 "core" &, 6 4\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&f' +11 "core" ' +2 .tSE.seek 1.12 Pucks below Top Plate +2 "storage"('a +50 "core" ' + "manipulator"&k& +5 "core" & c m # + "manipulator"&% +5 "core" % g e B +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&V'\ +87 "core" ' + .tElbow.seek CC +2 "manipulator"& ( +161 "core" ( +2 "manipulator"&& +4 "core" &  @ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &~& +3 "core" &  @ +2 .tForearm.seek CC +2 "manipulator"&n'| +93 "core" ' +2 .tHand.close + "manipulator"&>/ +61 "core" / +2 .tCC.seek :open +2 "collection"'1(p +412 "core" ( +2 "storage"(`& +4 "core" &, r ^ S\  +2 "storage"( & +4 "core" &, O K -\  + "manipulator"&J& +4 "core" & 7 @ +2 "manipulator"&,% +3 "core" % σ +2 .tForearm.seek :retract +2 "manipulator"&%'\ +94 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&/(* +148 "core" ( +2 "manipulator"&;& +4 "core" &  {  +2 "storage"(& +4 "core" &, M V q\  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 4 +2 "manipulator"&i'. +112 "core" ' + .tElbow.hold +2 "manipulator"&F, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&1 +62 "core" 1 +2 "manipulator"&j% +5 "core" % ?h 3 _  + "storage"($& +4 "core" &,\ \  \  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 4 + 317 counts +2 "manipulator"& 'k +16 "core" ' +2 "manipulator"&<& +4 "core" & ] t  +2 "storage"({& +4 "core" &, l $\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&U' +24 "core" ' + "storage"(7% +5 "core" %g [\ +2 ."downElevator"SE.seek :down +4 "storage"(^'N +98 (W% +3 "core" %:A s s \ T\\ +2 "manipulator"&[% +4 "core" % m k | +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&B'\ +87 "core" ' +51 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 5 of [3..6] +2 #Loading generic puck from tube 5 into Collection Clamp + "collection"'D& +4 "core" &  \ +2 "manipulator"&:% +4 "core" %\ * j !P +2 "storage"(G% +4 "core" %9 u t \ + "storage"(-. +4 "core" .(, + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"(#(<< +352 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (w& +3 "core" &<9   i\  + "manipulator"&& +4 "core" &  +2 .tElbow.seek 5 + "manipulator"&b( +16 "core" ( +2 "manipulator"&=& +4 "core" & z 8 @ +2 "storage"(X& +4 "core" &<8 n b C\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&S' +107 "core" ' +2 "storage"(P& +4 "core" &<8 7\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"('e +281 "core" ' +2 "storage"(d- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +2 "core" &<8 p p\  +2 "manipulator"&Z& +4 "core" & n o > +2 .tElbow.seek 5 + "manipulator"&( +20 "core" ( + "manipulator"&& +5 "core" & r r 0 +2 "storage"(C& +4 "core" &<8 X\  +2 .tForearm.seek 5 + 300 counts + "manipulator"&e'[ +26 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&q/ +57 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&c& + "storage"("'N +8 "core" & f a e + "manipulator"& % +4 "core" % Q c o +2 .tForearm.seek :retract +2 "manipulator"&'\ +94 "core" ' +2 .tElbow.seek CC +2 "manipulator"&z( +146 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +3 "core" ( + "manipulator"&3& +4 "core" & , +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &T& +2 "core" & , +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&('| +103 "core" ' +2 "manipulator"&& +4 "core" & - , +2 "manipulator"&% +4 "core" %υ +2 "collection"'Q& +4 "core" &  \ +2 "collection"'!& +5 "core" &  \ +2 .tCC.seek :closed +2 "collection"'K(] +4 "core" &  \  +9 &2~  \ *x +9 &b  \ = +10 &Cw  \ M +9 &Y  \ L +9 &_  \ M +10 &]  \ M +9 &!MZ  \ L +9 &#Y  \ M +10 &$X  \ L +9 &&Z  \ M +10 &(TY  \ M +9 &*]  \ M +9 &+Z  \ M +10 &-\\  \ L +9 &/\\Y  \ M +9 &1Y  \ M +10 &2Y  \ L +9 &4Y  \ L +10 &6d[  \ M +11 &8(V  \ L +7 &9\\  \ L +10 &;W  \ L +9 &=mY  \ L +9 &?/Z  \ L +10 &@]  \ M +9 &B\\  \ M +9 &DuY  \ L +10 &F6Y  \ M +9 &G^  \ M +10 &Il  \ O +9 &Kn  \ Q +9 &M%  \ U +10 &N  \ V +9 &P  \ W +9 &Rc  \ X +10 &T#  \ Y +9 &U  !\ Y +10 &W  \ Z +9 &Yb  \ [\ +9 &[  \ \\ +10 &\\  \ : +9 &](  \ $k +9 &]h  \ J +3 ( + "collection"'!& +4 #tCollection Clamp onSpring/offSpring for 9/25 samples, on/off torque 2.12 + .Hand.open + "manipulator"&1 +55 "core" 1 +2 "manipulator"&M% +4 "core" % W = +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&p'\ +101 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp + "processing"%E& +5 "core" &4\ + "manipulator"&+% +4 "core" %\ 9 [ ( +2 "storage"(L% +3 "core" %8\ \  \ +2 "storage"(. +3 "core" .(<9 +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"(m(<< +8 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (I& +3 "core" &<9 :\  +2 "manipulator"&& +4 "core" & # , + "manipulator"&2% +4 "core" %\ 9  ( +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&)( +241 "core" ( +2 "manipulator"&H& +4 "core" & 0 + "storage"(& +4 "core" &<9   \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts + "manipulator"&v' +103 "core" ' + "storage"(&& +5 "core" &<9 @ X\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(6'e +278 "core" ' + "storage"(@- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (r& +2 "core" &<9 . /\  +2 "manipulator"&*& +4 "core" & m n T +2 .tElbow.seek 5 + "manipulator"&a( +3 "core" ( +2 "manipulator"&l& +3 "core" & t X +2 "storage"(|& +5 "core" &<9 A A \  +2 .tForearm.seek 5 + 300 counts + "manipulator"&O'[ +15 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&x/ +63 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"(R'N +7 "core" & r r +2 "manipulator"&h% +4 "core" % T f d ^ * +2 .tForearm.seek :retract + "manipulator"&.'\ +98 "core" ' +3 .tElbow.seek PC + "manipulator"&9(c +152 "core" ' + ."downElevator"SE.stop + "storage"(5 +90 "core" ( +2 "manipulator"&}& +4 "core" &f 1 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &Y& +3 "core" &f  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&'[ +102 "core" ' +2 "manipulator"&4& +4 "core" &f { v 3 +2 "manipulator"&5% +4 "core" %P n o { +2 "processing"%'& +4 "core" &*\ +59 "processing"%\\& +5 "core" &(\ +2 .tPC.seek :closed +2 "processing"%s(Z +4 "core" &(\ +8 &9'\ $d +9 &bV}(\ 7 +9 &y*\ K +10 &rU\ M +9 &5W(\ M +10 &W$\ M +9 & W\ M +9 &"zV \ M +10 &$=W\ M +9 &%Z\ M +9 &'X\ L +10 &)W\ M +9 &+EU\ M +10 &-Y\ M +9 &.Y \ M +9 &0X\ M +10 &2MW\ M +9 &4W#\ M +9 &5X \ M +10 &7W \ M +9 &9UW\ M +10 &;Y \ M +9 &<U \ M +9 &>Y \ M +10 &@\\X\ M +9 &BW\ M +9 &CW \ M +10 &EY\ M +9 &Gb` \ N +10 &I!j \ O +9 &J{\ Q +9 &L\ T +10 &NX\ T +9 &P\ S +9 &Q \ S +10 &S\ S +9 &Ua\ S +10 &W!\ T +9 &X\ T +9 &Z=Kj \ +} +10 &Z/\ ) +5 ( +2 "processing"%\\& +4 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.62 + .Hand.open + "manipulator"&g1 +3 "core" &Z\ ) +54 1 + "manipulator"&y% +4 "core" % P v ] 3 { +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&8'\ +93 "core" ' +2 "processing"%?& +4 "core" &Z \ ) +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 + "manipulator"&_% +4 "core" %\ 3  %} +2 "storage"(% +3 "core" %@\ \  \ +2 "storage"(\ . +3 "core" .(<9 +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 + "storage"((<< +7 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (o& + "manipulator"& & +4 "core" &<9 S\  +5 ."raiseStack"SE.reconfigure :place +2 "storage"(#]kK-0-\ b +3 "core" &f  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +3 "storage"(k'e +2 "manipulator"&(c +4 "core" ( +2 "manipulator"&& +4 "core" &f  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &t& +3 "core" &f +2 .tForearm.seek PC + "manipulator"&A'[ +95 "core" ' +2 .tHand.close + "manipulator"&/ +61 "core" / +2 .tPC.seek :open + "processing"%N(p +87 "core" ' +2 "storage"(- +3 "core" -'e +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('B +33 "core" ' +261 ( + "storage"(~& +5 "core" &<8   [\  + "manipulator"&f& +4 "core" &f  +2 "manipulator"&u% +4 "core" % W  +2 .tForearm.seek :retract + "manipulator"&>'\ +95 "core" ' + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&V( +249 "core" ( + "manipulator"&& +5 "core" &  & + "storage"(`& +4 "core" &<8\ \  c\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"& ' +100 "core" ' + .tHand.open + "manipulator"&J1 +60 "core" 1 +3 "storage"(,- +3 "core" -'B +3 .tSE.seek -0.16 Pucks below Top Plate + "storage"(;' +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(' +51 "core" ' +2 #tLights, camera, ACTION! + "storage"(n- +4 "core" -' + "storage"( & +4 "core" &<8 > ? \  +2 "manipulator"&& +3 "core" & & +2 .tElbow.seek 5 +2 "manipulator"&j( +3 "core" ( +2 "manipulator"&$& +4 "core" & B & +2 "storage"(<& +4 "core" &<8 0 1 \  +2 .tForearm.seek 5 + 450 counts + "manipulator"&{' +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"(7'M +62 "core" ' + "manipulator"&%& +5 "core" &  & + "storage"(W& +4 "core" &<8   \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 5 + "manipulator"&['/ +32 "core" ' +2 .tElbow.hold + "manipulator"&/, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"(i'7 +23 "core" ' +2 "manipulator"&D% +4 "core" %7Z p ² +2 "storage"( & +4 "core" &<8 \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 308 counts + "manipulator"&:'c +16 "core" ' +2 "manipulator"&G& +4 "core" & y p 4 "| +2 "storage"(-& +4 "core" &<8 9 9 \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&' +19 "core" ' +2 "storage"(U% +4 "core" %A 7 8 f\ +3 ."downElevator"SE.seek :down +3 "storage"(^'N +100 (]% +2 "core" %'C\ #\  f\ Vb +2 "manipulator"&w% +4 "core" % p p  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +90 "core" ' +60 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (=& +4 "core" &<8 N\  +2 "collection"'X& +4 "core" &]]  \ J + #tStoring generic puck in Collection Clamp to tube 5 +2 "manipulator"&P% +4 "core" %\ ) C I + "storage"(F% +4 "core" %A R V\ +2 "storage"(B. +3 "core" .(<9 +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"(d(<< +6 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (& +2 "core" &<; _\  +2 "manipulator"&Z& +4 "core" & R "| +2 .tElbow.seek 5 + "manipulator"&( +36 "core" ( +2 "manipulator"&C& +4 "core" & T  +2 "storage"(q& +4 "core" &<8   "\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&c' +102 "core" ' +2 "storage"( & +4 "core" &<8 Z N \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(b'e +281 "core" ' +2 "storage"(S- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&3& +3 "core" & ` a F  + "storage"(T& +4 "core" &<8 8 4\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&'/ +33 "core" ' +2 .tElbow.hold + "manipulator"&e, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(- +3 "core" -' +2 .tSE.seek 0.12 Pucks below Top Plate + "storage"('t +32 "core" ' + "manipulator"&Q% +4 "core" %<Z ( +2 "storage"(& +4 "core" &<8 g\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 313 counts + "manipulator"&"'h +16 "core" ' + "manipulator"&& +5 "core" & d J [ + "storage"(1& +4 "core" &<8 @ A V\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&' +19 "core" ' +2 .tSE.seek 1.12 Pucks below Top Plate + "storage"(M'c +49 "core" ' +2 "manipulator"&E& +4 "core" & ` ` 1 +2 "manipulator"&+% +4 "core" % c j M +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&L'\ +90 "core" ' +2 .tElbow.seek CC + "manipulator"&( +149 "core" ( + "manipulator"&!& +5 "core" & / . +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &I& +3 "core" & # . +2 .tForearm.seek CC + "manipulator"&'| +100 "core" ' +2 .tHand.close + "manipulator"&2/ +55 "core" / +2 .tCC.seek :open + "collection"'((p +410 "core" ( +2 "storage"(H& +4 "core" &<8 Z X\  + "storage"(& +4 "core" &<8 L U\  + "manipulator"&#& +4 "core" &  - +2 "manipulator"&z% +4 "core" % |  +2 .tForearm.seek :retract + "manipulator"&&'\ +100 "core" ' + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&p( +163 "core" ( + "manipulator"&@& +5 "core" &   + "storage"(r& +4 "core" &<8 Z X w\  + .tElbow.reconfigure :limp +57 "manipulator"&$ ,(b +5 .tForearm.seek 5 + "manipulator"&*'/ +111 "core" ' + .tElbow.hold +2 "manipulator"&l, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&|1 +55 "core" 1 +2 "manipulator"&x% +4 "core" % Cs 5 ? ( + "storage"(& +4 "core" &<8\ \  \  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 5 + 320 counts +2 "manipulator"&h'o +16 "core" ' +2 "manipulator"&)& +4 "core" & x | + "| +2 "storage"(v& +4 "core" &<8 o t \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&6' +22 "core" ' +2 "storage"(O% +4 "core" %i p !\ +3 ."downElevator"SE.seek :down +3 "storage"(}'N +99 (Y% +3 "core" %)> X Z \ U^ +2 "manipulator"&a% +4 "core" % r p , +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&4'\ +96 "core" ' +44 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 6 of [3..6] + #Loading generic puck from tube 6 into Collection Clamp + "collection"'5& +4 "core" &  \ +2 "manipulator"&'% +4 "core" %\ 8 i ' +2 "storage"(R% +4 "core" %= W S 4\ + "storage"(.. +4 "core" .(<< + .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 + "storage"(0(K +350 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (g& +3 "core" &K\ \  \  + "manipulator"&y& +4 "core" & v "{ +2 .tElbow.seek 6 + "manipulator"&?( +29 "core" ( +2 "manipulator"&_& +4 "core" & >  + "storage"(& +4 "core" &K V O .\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&\ '< +100 "core" ' + "storage"(\\& +5 "core" &K \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(o'e +279 "core" ' + "storage"( - +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +2 (& +3 "core" &K a T \  +2 "manipulator"&t& +4 "core" &   +2 .tElbow.seek 6 + "manipulator"&( +3 "core" ( +2 "manipulator"&& +3 "core" &   +2 "storage"(m& +4 "core" &K s s \  +2 .tForearm.seek 6 + 300 counts + "manipulator"&'Ϧ +17 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&9/ +60 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&8& "storage"(s'N +8 "core" & -  + "manipulator"&~% +4 "core" % ϫ  +2 .tForearm.seek :retract +2 "manipulator"&k'\ +96 "core" ' +2 .tElbow.seek CC +2 "manipulator"&f( +146 "core" ' + ."downElevator"SE.stop + "storage"(5 +42 "core" ( +2 "manipulator"&u& +4 "core" &' B >O +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &A& +3 "core" &' >O +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&'| +104 "core" ' +2 "manipulator"&`& +5 "core" && ? =G + "manipulator"&% +4 "core" %t +2 "collection"'J& +4 "core" &  \ +2 "collection"',& +5 "core" &  \ +2 .tCC.seek :closed + "collection"'n(] +4 "core" &  \  +10 &3~  \ *x +9 &d  \ > +10 &Uw  \ N +9 &W  \ L +9 &Y  \ M +10 &_  \ M +9 &!_[  \ M +9 &#!Y  \ M +10 &$\\  \ L +9 &&\\  \ M +10 &(hY  \ L +9 &**[  \ L +9 &+\\  \ M +10 &-[  \ L +9 &/pZ  \ L +9 &12Z  \ L +10 &2]  \ M +9 &4Z  \ M +10 &6x\\  \ L +9 &89\\  \ M +9 &9Y  \ L +10 &;Y  \ L +9 &=[  \ M +9 &?B[  \ L +10 &AW  \ M +9 &BX  \ L +10 &DY  \ L +9 &FJ^  \ L +9 &H [  \ M +10 &Ik  \ N +9 &Kv  \ P +9 &M=  \ T +10 &N  \ V +9 &P  \ W +9 &Rw  \ X +10 &T9  \ X +9 &U  \ [ +10 &W  \ Y +9 &Yu  \ [\ +9 &[7  \ [\ +10 &\\v  \ @ +9 &]  \ *y +9 &]s  \ K +6 ( + "collection"',& +5 #tCollection Clamp onSpring/offSpring for 9/25 samples, on/off torque 2.06 + .Hand.open + "manipulator"& 1 +3 "core" &]n  \ K +57 1 +2 "manipulator"&% +4 "core" % t  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&$'\ +94 "core" ' +2 #tLoading generic puck from tube 6 into Processing Clamp + "processing"%<& +4 "core" &*\ +2 "manipulator"&>% +3 "core" %\ 1  $u +2 "storage"(%% +4 "core" %A\ \  4\  + "storage"(W. +3 "core" .(K +2 "storage"(D& +4 "core" &K\ \ S\  + "storage"(& +4 "core" &K\ \  B\  +2 "manipulator"& & +4 "core" &#  ;4 + "manipulator"&G% +4 "core" %\ 1  $u +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 + "manipulator"&;( +174 "core" ( +2 "manipulator"&-& +4 "core" &   +2 "storage"(U& +3 "core" &K   \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&V'< +104 "core" ' + "storage"( & +5 "core" &K % 9\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"('e +279 "core" ' + "storage"(]- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +2 (w& +3 "core" &K   \  +2 "manipulator"&{& +3 "core" &   +2 .tElbow.seek 6 + "manipulator"&j( +4 "core" ( + "manipulator"&7& +4 "core" & %  + "storage"([& +4 "core" &K   (\  +2 .tForearm.seek 6 + 300 counts + "manipulator"&='Ϧ +26 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&:/ +52 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&X& +2 "storage"(P'N +9 "core" & m m   + "manipulator"&F% +4 "core" % ϣ m d +2 .tForearm.seek :retract +2 "manipulator"&B'\ +88 "core" ' +2 .tElbow.seek PC + "manipulator"&i(c +161 "core" ' + ."downElevator"SE.stop + "storage"(5 +92 "core" ( + "manipulator"&& +5 "core" &m q b +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &Z& +3 "core" &m X +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&C'[ +97 "core" ' +2 "manipulator"&q& +4 "core" &m # +2 "manipulator"&% +4 "core" %Z O +2 "processing"% & +4 "core" &&\ +2 "processing"%^& +4 "core" &5\ +2 .tPC.seek :closed +2 "processing"%(Z +4 "core" &(\  +9 &2})\ )w +10 &c'\ > +9 &@u%\ N +9 &S*\ M +10 &X'\ M +9 &X'\ M +9 &!IX*\ M +10 &# V+\ M +9 &$W*\ M +10 &&X*\ N +9 &(SW$\ M +9 &*W#\ M +10 &+Z$\ M +9 &-Y\ M +9 &/YY\ M +10 &1Y\ M +9 &2Z\ M +10 &4W\ M +9 &6bW\ M +9 &8$W\ M +10 &9W\ M +9 &;W$\ M +9 &=kX\ M +10 &?,Z \ M +9 &@Z\ M +10 &BT\ M +9 &DrY!\ M +9 &F2\\#\ N +10 &Gd\ N +9 &Ik \ O +9 &Kl \ R +10 &M* \ S +9 &N \ T +10 &P$\ T +9 &Ro \ S +9 &T0 \ T +10 &U\ T +9 &W \ T +9 &Yt \ A +10 &Zy@!\ U +9 &Z\ ( +2 ( +2 "processing"%^& +3 #tProcessing Clamp onSpring/offSpring for 9/25 samples, on/off torque 1.64 + .Hand.open + "manipulator"&/1 +58 "core" 1 +2 "manipulator"&% +4 "core" % Z q +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&S'\ +95 "core" ' + "processing"%3& +5 "core" &Z\ ( + #tImaging generic puck in Processing Clamp while storing it to tube 6 + "manipulator"&T% +4 "core" %\ 3  %z +2 "storage"(% +4 "core" %A \  + "storage"(Q. +3 "core" .(K +2 "storage"(& +4 "core" &K d\  +2 "storage"(& +3 "manipulator"&1& +5 "core" &K 3\  + &m +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +2 "storage"(#]kK-0-\ b +3 .tElbow.seek PC +3 "manipulator"&E(c +3 ."raiseStack"SE.seek :beamBreak +2 "storage"(+'e +2 "core" ( +2 "manipulator"&c& +4 "core" &m 0 +2 .tElbow.reconfigure :loose +58 "manipulator"&$ &.,(#b +4 && +2 "core" &m  +2 .tForearm.seek PC +2 "manipulator"&b'[ +94 "core" ' +2 .tHand.close + "manipulator"&/ +55 "core" / +2 .tPC.seek :open + "processing"%"(p +42 "core" ' +2 "storage"(- +3 "core" -'e +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(!'B +47 "core" ' +292 ( + "storage"(I& +5 "core" &K S P\  + "manipulator"&& +4 "core" &m  + "manipulator"&e% +4 "core" % o  +2 .tForearm.seek :retract +2 "manipulator"&2'\ +95 "core" ' + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 + "manipulator"&L( +257 "core" ( + "manipulator"&K& +4 "core" &  +2 "storage"(H& +4 "core" &K\ \  2\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&'< +106 "core" ' + .tHand.open + "manipulator" +59 "core" 1 +2 "storage"(z- +3 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate +2 "storage"(@' +23 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(r' +50 "core" ' + #tLights, camera, ACTION! + "storage"(- +4 "core" -' +2 "storage"(& +3 "core" &K U V q\  +2 "manipulator"&|& +4 "core" & o r  +2 .tElbow.seek 6 + "manipulator"&x( +3 "core" ( +2 "manipulator"&& +4 "core" & t r +2 "storage"()& +4 "core" &K 4 1 ]\  +2 .tForearm.seek 6 + 450 counts + "manipulator"&v'< +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.11 Pucks below Top Plate + "storage"(O'M +59 "core" ' +2 "manipulator"&&& +4 "core" & c k l +2 "storage"(Y& +4 "core" &K   \  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&a'z +33 "core" ' + .tElbow.hold +2 "manipulator"&p, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.07 Pucks below Top Plate + "storage"(*'7 +24 "core" ' +2 "manipulator"&5% +4 "core" %Ί\\ ( ³ +2 "storage"(h& +5 "core" &K 6\  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 6 + 316 counts +2 "manipulator"&''϶ +17 "core" ' + "manipulator"&R& +5 "core" & y s Q G + "storage"(.& +5 "core" &K 9 9\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&M'< +23 "core" ' +2 "storage"(6% +4 "core" %? > 7\ +3 ."downElevator"SE.seek :down +3 "storage"(}'N +100 (d% +2 "core" %nB\ \  \ Wc +2 "manipulator"&g% +4 "core" % k b D  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&y'\ +91 "core" ' +56 ' + ."downElevator"SE.stop + "storage"(5 +2 (_& +9 "core" &K [\  +2 "collection"'& +4 "core" &]m  \ K +2 #tStoring generic puck in Collection Clamp to tube 6 +5 "manipulator"&\\% +4 "core" %\ 3  %w +2 "storage"(l% +4 "core" %8\ \ \ + "storage"(4. +4 "core" .(K + "storage"( & +4 "core" &K\ \  Q\  +2 "storage"(& +3 "core" &K\ \  W\  +2 "manipulator"&t& +4 "core" &  G + .tElbow.seek 6 +2 "manipulator"&( +20 "core" ( + "manipulator"&m& +5 "core" & 7 ) + "storage"(9& +4 "core" &K\ \  \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&8'< +107 "core" ' +2 "storage"(~& +4 "core" &K 9 ; _\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(?'e +280 "core" ' +2 "storage"(\ - +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&o& +2 "core" & ` a . ( +2 "storage"(u& +4 "core" &K   E\  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 + "manipulator"&A'z +32 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(- +3 "core" -' +2 .tSE.seek 0.12 Pucks below Top Plate + "storage"(`'o +30 "core" ' +2 "manipulator"&% +4 "core" %ΎZ V IJ + "storage"(J& +4 "core" &K \ \  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 320 counts + "manipulator"&s'Ϻ +12 "core" ' + "manipulator"&k& +5 "core" &  \\ u % + "storage"((& +4 "core" &K  \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"& '< +18 "core" ' +2 .tSE.seek 1.12 Pucks below Top Plate +2 "storage"('^ +39 "core" ' +2 "manipulator"&<& +5 "core" &  p o % + "manipulator"&>% +4 "core" %. n o +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&%'\ +101 "core" ' +2 .tElbow.seek CC +2 "manipulator"&W( +159 "core" ( + "manipulator"&D& +5 "core" &+  + Ab + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +4 "core" &+ 8 Ab + .tForearm.seek CC +2 "manipulator"&,'| +93 "core" ' + .tHand.close + "manipulator"& / +52 "core" / +2 .tCC.seek :open +2 "collection"'G(p +410 "core" ( + "storage"(& +4 "core" &K X A $\  +2 "storage"(-& +3 "core" &K & + c\  +2 "manipulator"&U& +4 "core" &$% i =E +2 "manipulator"& % +4 "core" % s o + .tForearm.seek :retract +2 "manipulator"&f'\ +94 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&$( +169 "core" ( + "manipulator"&]& +5 "core" &\  z  + "storage"(w& +4 "core" &K X Z 1\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +2 .tForearm.seek 6 +2 "manipulator"&{'z +107 "core" ' +2 .tElbow.hold + "manipulator"&7, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&[1 +63 "core" 1 +3 "manipulator"&:% +4 "core" % ΍v (  1 + "storage"(X& +4 "core" &K\ \  \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 319 counts + "manipulator"&F'Ϲ +17 "core" ' + "manipulator"&;& +5 "core" & [ t ] b + "storage"(V& +4 "core" &K e f z\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&'< +20 "core" ' +2 "storage"(=% +4 "core" %d \ +2 ."downElevator"SE.seek :down +4 "storage"('N +98 (Z% +3 "core" %=; r o \ U\\ +2 "manipulator"&j% +4 "core" % o o  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&q'\ +90 "core" ' +48 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 3 of [3..6] + #Loading generic puck from tube 3 into Collection Clamp + "collection"'& +5 "core" &  \ +2 "manipulator"& % +4 "core" %\ - $ "Y +2 "storage"(P% +4 "core" %: r r\ + "storage"(B. +3 "core" .(K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 + "storage"(N( +1000 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (/& +2 "core" & \ +2 "manipulator"&& +4 "core" &  b + .tElbow.seek 3 +2 "manipulator"&3(D +60 "core" ( +2 "manipulator"&T& +4 "core" &6  $ + "storage"(& +4 "core" & L P \ \ +2 .tForearm.reconfigure :tight +58 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&Q' +95 "core" ' +2 "storage"(& +4 "core" & n o e\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(1'e +283 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (^& +2 "core" & 5 7 K\ +2 "manipulator"&c& +4 "core" &7 # +2 .tElbow.seek 3 + "manipulator"&(D +15 "core" ( +2 "manipulator"&C& +4 "core" &D  + +2 "storage"(& +4 "core" & W N \\\ +2 .tForearm.seek 3 + 300 counts + "manipulator"&'y +10 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&i/ +59 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&S& +2 "storage"('N +8 "core" &J # * +2 "manipulator"&+% +4 "core" % |  ) +2 .tForearm.seek :retract +2 "manipulator"&I'\ +97 "core" ' +2 .tElbow.seek CC +2 "manipulator"&( +146 "core" ' + ."downElevator"SE.stop + "storage"(5 +5 "core" ( + "manipulator"&e& +5 "core" && X =E + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &b& +2 "core" &&  =E +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC + "manipulator"&K'| +101 "core" ' +2 "manipulator"&H& +5 "core" && R =D + "manipulator"&E% +4 "core" %φ & +2 "collection"'#& +4 "core" &  \ +2 "collection"'z& +5 "core" &  \ +3 .tCC.seek :closed + "collection"'(] +4 "core" &  \  +9 &3~  \ *x +10 &d  \ > +9 &Yu  \ M +9 &Z  \ L +10 &`  \ M +9 &[  \ M +10 &!bZ  \ M +9 &#$Z  \ M +9 &$X  \ M +10 &&^  \ M +9 &(k]  \ L +9 &*-\\  \ L +10 &+]  \ M +9 &-\\  \ M +9 &/s\\  \ L +10 &15\\  \ L +9 &2[  \ M +10 &4[  \ M +9 &6{Y  \ L +9 &8=Z  \ L +10 &9Y  \ M +9 &;Y  \ L +9 &=[  \ M +10 &?DY  \ M +9 &AY  \ M +10 &BZ  \ M +9 &DX  \ L +9 &FL\\  \ M +10 &H`  \ M +9 &Ip  \ O +9 &K  \ Q +10 &M:  \ V +9 &N  \ V +9 &P  \ X +10 &R{  \ W +9 &T9  \ Y +10 &U  \ Z +9 &W  \ Z +9 &Yw  \ [ +10 &[8  \ \\ +9 &\\y  \ 0 +10 &].  \ #j +8 ( +2 &]p  \ U +2 "collection"'z& +3 #tCollection Clamp onSpring/offSpring for 9/25 samples, on/off torque 2.10 + .Hand.open + "manipulator"&1 +53 "core" 1 + "manipulator"&|% +5 "core" % j - +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +100 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%)& +4 "core" &+\ +2 "manipulator"&2% +4 "core" %\ ;  ( +2 "storage"(&% +4 "core" %J <\  + "storage"(Y. +4 "core" .( + "storage"(5& +4 "core" & H\ + "storage"(h& +4 "core" & C\ +2 "manipulator"&!& +4 "core" &!  9) +2 "manipulator"&R% +3 "core" %\ ;  ( +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&@(D +161 "core" ( +2 "manipulator"&.& +4 "core" &J C + "storage"(6& +4 "core" &\ \  \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&L' +105 "core" ' + "storage"(& +4 "core" & 4 5\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(r'e +275 "core" ' +2 "storage"(d- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (g& +2 "core" &   9\ +2 "manipulator"&v& +4 "core" &J f a . +2 .tElbow.seek 3 + "manipulator"&x(D +3 "core" ( +2 "manipulator"&O& +4 "core" &J q r = + "storage"(a& +4 "core" & 4 :\ +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&_'y +32 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&'/ +54 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"(\\'N +7 "core" &J a ` S +2 "manipulator"&l% +4 "core" % } m j `  +2 .tForearm.seek :retract + "manipulator"&4'\ +93 "core" ' +2 .tElbow.seek PC + "manipulator"&*(c +159 "core" ' + ."downElevator"SE.stop + "storage"(5 +91 "core" ( +2 "manipulator"& & +4 "core" &g 3 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &g  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&t'[ +97 "core" ' +2 "manipulator"&m& +4 "core" &g  +2 "manipulator"&9% +4 "core" %e  + "processing"%M& +4 "core" &&\ +2 "processing"%~& +5 "core" &0\ +2 .tPC.seek :closed +2 "processing"%}(Z +4 "core" &*\  +9 &2~)\ )w +9 &d&\ > +10 &Gr)\ N +9 & U)\ M +10 &X2\ M +9 &T(\ M +9 &!OX(\ M +10 &#U)\ M +9 &$X)\ M +9 &&Y(\ M +10 &(WW)\ M +9 &*W&\ M +10 &+W'\ N +9 &-W#\ M +9 &/^Y"\ N +10 &1"X)\ M +9 &2Y$\ M +9 &4U\ M +10 &6hX\ M +9 &8)X\ M +10 &9W\ M +9 &;Y\ M +9 &=pW\ M +10 &?1Y\ M +9 &@Z\ M +9 &BX\ M +10 &DwY\ M +9 &F9W\ M +10 &G`\ N +9 &Im\ P +9 &Kuv\ Q +10 &M2!\ R +9 &N%\ T +9 &P$\ T +10 &Ru\ S +9 &T6\ T +10 &U"\ T +9 &W\ T +9 &Yz"\ B +10 &Zw9"\ _ +9 &Z\ ( +2 ( +2 "processing"%~& +3 #tProcessing Clamp onSpring/offSpring for 9/25 samples, on/off torque 1.61 + .Hand.open + "manipulator"&p1 +58 "core" 1 + "manipulator"&y% +5 "core" % e  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&\ '\ +98 "core" ' + "processing"%o& +5 "core" &Z\ ( + #tImaging generic puck in Processing Clamp while storing it to tube 3 +2 "manipulator"&u% +3 "core" %\ 5  & +2 "storage"(% +4 "core" %@ \ + "storage"(. +3 "core" .( +2 "storage"(J& +3 "core" & \ +2 "storage"(k& +3 "manipulator"&(& +8 "core" & \ + &g 7 +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +3 "storage"(#]kK-0-\ b +2 "manipulator"&<(c +5 ."raiseStack"SE.seek :beamBreak + "storage"(>'e +2 "core" ( +2 "manipulator"&8& +4 "core" &g  + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &g  +2 .tForearm.seek PC +2 "manipulator"&?'[ +94 "core" ' + .tHand.close +2 "manipulator"&A/ +58 "core" / +2 .tPC.seek :open + "processing"%s(p +92 "core" ' + "storage"(`- +4 "core" -'e + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place + "storage"(D'B +33 "core" ' +257 ( + "storage"(& +4 "core" &\ \  :\ +2 "manipulator"& & +4 "core" &g  + "manipulator"&% +4 "core" % h  +2 .tForearm.seek :retract +2 "manipulator"& '\ +94 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&%(D +269 "core" ( + "manipulator"&n& +5 "core" &I v  @ + "storage"(& +4 "core" &\ \  {\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&-' +100 "core" ' + .tHand.open + "manipulator"&U1 +52 "core" 1 +2 "storage"( - +4 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate +2 "storage"(]' +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(w' +50 "core" ' +2 #tLights, camera, ACTION! + "storage"(,- +3 "core" -' +2 "storage"(W& +4 "core" &   J\ + "manipulator"&[& +4 "core" &I  @ +2 .tElbow.seek 3 + "manipulator"&:(D +3 "core" ( +2 "manipulator"&X& +4 "core" &I < @ + "storage"(;& +4 "core" &\ +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&V' +24 "core" ' +2 .tSE.reconfigure :gently +58 "storage"(#QK-0-\ b +4 .tSE.seek -0.11 Pucks below Top Plate + "storage"(='M +65 "core" ' +2 "manipulator"&f& +4 "core" &I ` ` 0 @ +2 "storage"(Z& +3 "core" &   Q\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 + "manipulator"&j'M +37 "core" ' +2 .tElbow.hold +2 "manipulator"&$, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"({'7 +23 "core" ' +2 "manipulator"&% +4 "core" %QS 8 ° +2 "storage"( & +4 "core" & B\ + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 304 counts + "manipulator"&F'} +17 "core" ' +2 "manipulator"&P& +4 "core" &I j m @ +2 "storage"(B& +4 "core" &   |\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&' +19 "core" ' +2 "storage"(% +4 "core" %@ $ 8 \ \ +3 ."downElevator"SE.seek :down +3 "storage"('N +100 (0% +2 "core" %'F\ \  \ Wc +2 "manipulator"&/% +4 "core" % d ` 1 +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&'\ +97 "core" ' +53 ' + ."downElevator"SE.stop + "storage"(5 +3 (T& +4 "core" &\  >\ +2 "collection"'& +4 "core" &]p  \ U +2 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&% +4 "core" %\ 7  ' +2 "storage"(7% +4 "core" %<\ \  \ + "storage"(q. +3 "core" .( +2 "storage"(& +4 "core" &\ \ + "storage"(^& +4 "core" &\ \  \ +2 "manipulator"&c& +4 "core" &I  @ + .tElbow.seek 3 +2 "manipulator"&C(D +3 "core" ( +2 "manipulator"&& +4 "core" &I @ +2 "storage"(i& +3 "core" &\ \  \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts + "manipulator"&S' +94 "core" ' + "storage"(+& +4 "core" & 9  \ \ +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(3'e +276 "core" ' + "storage"(Q- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&e& +3 "core" &I p o @ + "storage"(b& +4 "core" &   F\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 + "manipulator"&1'M +35 "core" ' + .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(H- +2 "core" -' +3 .tSE.seek 0.11 Pucks below Top Plate + "storage"(E'm +28 "core" ' +2 "manipulator"&#% +4 "core" %RO ; ¯ + "storage"(& +4 "core" & 8\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 305 counts + "manipulator"&'~ +17 "core" ' +2 "manipulator"&I& +4 "core" &I s X S @ +2 "storage"(G& +4 "core" &   c\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&' +21 "core" ' +2 .tSE.seek 1.11 Pucks below Top Plate + "storage"(|'\\ +49 "core" ' +2 "manipulator"&)& +5 "core" &I b c ^ @ + "manipulator"&2% +4 "core" % c j +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&&'\ +95 "core" ' +2 .tElbow.seek CC + "manipulator"&Y( +158 "core" ( + "manipulator"&5& +5 "core" & - + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +5 &h& +7 "core" &  - +5 .tForearm.seek CC +2 "manipulator"&z'| +97 "core" ' + .tHand.close + "manipulator"&!/ +60 "core" / +2 .tCC.seek :open +2 "collection"'R(p +409 "core" ( +2 "storage"(K& +4 "core" & h \\ >\ +2 "storage"(.& +3 "core" & X Z (\ +2 "manipulator"&6& +3 "core" & S - +2 "manipulator"&% +4 "core" % σ  +2 .tForearm.seek :retract + "manipulator"&'\ +97 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 + "manipulator"&(D +172 "core" ( +2 "manipulator"&d& +4 "core" &?\  b +2 "storage"(g& +4 "core" & Z X U\ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 3 +2 "manipulator"&v'M +113 "core" ' +2 .tElbow.hold + "manipulator"&O, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&a1 +64 "core" 1 +3 "manipulator"&'% +4 "core" % Tz - R 9 +2 "storage"(& +3 "core" &\ \  -\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 307 counts + "manipulator"&l'π +11 "core" ' +2 "manipulator"&@& +4 "core" &m X r r 4 + "storage"(L& +4 "core" & } 5\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&r' +22 "core" ' + "storage"(_% +5 "core" %b 2\ +2 ."downElevator"SE.seek :down +3 "storage"( 'N +99 (% +3 "core" %3D s r \ V` +2 "manipulator"&x% +4 "core" % c j r +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&m'\ +98 "core" ' +41 ' + ."downElevator"SE.stop +2 "storage"(5 +2 #tShuffling pucks in tube 4 of [3..6] +2 #Loading generic puck from tube 4 into Collection Clamp + "collection"'9& +4 "core" &  \ +2 "manipulator"&M% +4 "core" %\ 9  ( +2 "storage"(\\% +4 "core" %: K M \ + "storage"(4. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 + "storage"("(, +361 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (p& +3 "core" &,\ \ \  +2 "manipulator"&y& +4 "core" &n  3 +2 .tElbow.seek 4 + "manipulator"&o(* +34 "core" ( +2 "manipulator"&u& +4 "core" &!  < + "storage"(& +4 "core" &, [ [\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&' +95 "core" ' +2 "storage"(J& +4 "core" &, ~ o\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(k'e +277 "core" ' + "storage"((- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (~& +3 "core" &, b W \  + "manipulator"&8& +4 "core" &'  6 +2 .tElbow.seek 4 + "manipulator"&(* +4 "core" ( + "manipulator"&t& +4 "core" &' ; 6 +2 "storage"(A& +4 "core" &, r s \  +2 .tForearm.seek 4 + 300 counts + "manipulator"&`'Z +22 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&*/ +53 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&\ & +2 "storage"(}'N +8 "core" &' ` c q 6 + "manipulator"&% +4 "core" % V m m  +2 .tForearm.seek :retract + "manipulator"& '\ +93 "core" ' + .tElbow.seek CC +2 "manipulator"&>( +149 "core" ' + ."downElevator"SE.stop + "storage"(5 +13 "core" ( + "manipulator"&& +5 "core" &  + + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &?& +4 "core" & + +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&n'| +102 "core" ' + "manipulator"&& +5 "core" &  + + "manipulator"&<% +4 "core" %ς +2 "collection"'U& +4 "core" &  \ +2 "collection"' & +5 "core" &  \ +2 .tCC.seek :closed + "collection"',(] +4 "core" &  \  +9 &4  \ *z +10 &f  \ ? +9 &Zv  \ N +9 & Y  \ L +10 &Z  \ M +9 &`  \ M +9 &!f^  \ L +10 &#(Z  \ L +9 &$]  \ L +66 &&Z  \ M +4 &(nZ  \ L +2 &*0Z  \ L + &+\\  \ L +2 &-\\  \ M + &/t\\  \ M +3 &18[  \ L + &2]  \ M +4 &4]  \ L +10 &6~]  \ L +9 &8?Y  \ M +10 &:[  \ M +9 &;\\  \ L +9 &=\\  \ M +10 &?GW  \ M +9 &A\ X  \ L +10 &B[  \ L +9 &DY  \ M +9 &FO[  \ M +10 &HZ  \ M +9 &Ie  \ N +9 &Ks  \ O +10 &ME  \ S +9 &N  \ V +10 &P  \ W +9 &R}  \ X +9 &T>  \ X +10 &U  \ Y +9 &W  \ Y +9 &Y|  \ [ +10 &[>  \ [ +9 &\\{  \ . +9 &])  \ !d +9 ( +2 &]k  \ S +2 "collection"' & +3 #tCollection Clamp onSpring/offSpring for 9/25 samples, on/off torque 2.02 + .Hand.open + "manipulator"&W1 +62 "core" 1 +2 "manipulator"&[% +4 "core" %   +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&X'\ +105 "core" ' +3 #tLoading generic puck from tube 4 into Processing Clamp + "processing"%;& +4 "core" &4\ + "manipulator"& % +4 "core" %\  f a V  +2 "storage"(f% +4 "core" %9 ' 4\ + "storage"(Z. +4 "core" .(, + "storage"(D& +4 "core" &, %  5\  + "storage"(]& +5 "core" &,   \  + "manipulator"&& +4 "core" & d j ^ + +2 "manipulator"& % +3 "core" %\  ` c _  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&%(* +147 "core" ( +2 "manipulator"&P& +4 "core" &' q z + "storage"(B& +4 "core" &, 9 4 \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&-' +98 "core" ' +2 "storage"(& +4 "core" &,   A\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(w'e +280 "core" ' + "storage"(0- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +2 (/& +3 "core" &, D\  +2 "manipulator"&V& +4 "core" &'  +2 .tElbow.seek 4 + "manipulator"&:(* +3 "core" ( +2 "manipulator"&=& +4 "core" &'  + "storage"(j& +4 "core" &,   \  +2 .tForearm.seek 4 + 300 counts + "manipulator"&T'Z +22 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&F/ +64 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"('N +7 "core" &' e i +2 "manipulator"&7% +4 "core" % Y a f d +2 .tForearm.seek :retract + "manipulator"&q'\ +98 "core" ' +2 .tElbow.seek PC + "manipulator"&(c +149 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +118 "core" ( +2 "manipulator"&{& +5 "core" &y /  + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &^& +4 "core" &y   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC + "manipulator"&c'[ +105 "core" ' +2 "manipulator"&& +4 "core" &z p s T  +2 "manipulator"&i% +4 "core" %U m o w +2 "processing"%& +4 "core" &(\ +2 "processing"%+& +5 "core" &=\ +2 .tPC.seek :closed + "processing"%(Z +4 "core" &'\  +9 &2~,\ )w +10 &d/\ > +9 &Cu4\ N +9 &R3\ M +10 &Y'\ M +9 &W(\ M +9 &!OW&\ L +10 &#V(\ M +9 &$W*\ L +10 &&Y*\ M +9 &(UU'\ M +9 &*W'\ M +10 &+U$\ M +9 &-W&\ M +9 &/^Y(\ M +10 &1 W*\ M +9 &2X'\ M +10 &4Y$\ M +9 &6fW\ M +9 &8'Z\ M +10 &9V\ M +9 &;V\ L +9 &=nW\ M +10 &?/X\ M +9 &@Y\ M +10 &BV\ M +9 &Du[\ M +9 &F6Z\ M +10 &Gc\ N +9 &Ip$\ P +9 &Kn\ R +10 &M, \ S +9 &N%\ T +10 &P$\ S +9 &Rr$\ S +9 &T4\ S +10 &U!\ T +9 &W"\ T +9 &Yw!\ A +10 &Zw<#\ \\ +9 &Z!\ ) +2 ( +2 "processing"%+& +3 #tProcessing Clamp onSpring/offSpring for 9/25 samples, on/off torque 1.64 + .Hand.open + "manipulator"&$1 +64 "core" 1 +2 "manipulator"&% +4 "core" % U v Z $ w +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&Q'\ +71 !to:SignalException : mesg" SIGHUP:@checkpoint: omitted:\ signoi:bt["+/home/esp/esp2/lib/esp.rb:77:in `join'"1/home/esp/esp2/lib/esp.rb:77:in `mainThread'""/home/esp/esp2/lib/esp.rb:339 +5 !o:Storage::Warning: mesg">Exiting with generic puck from tube 4 in Collection Clamp:bt["6/home/esp/esp2/utils/storage.rb:560:in `writeAll'"2/home/esp/esp2/utils/storage.rb:555:in `each'"6/home/esp/esp2/utils/storage.rb:555:in `writeAll'"2/home/esp/esp2/utils/storage.rb:551:in `open'"6/home/esp/esp2/utils/storage.rb:551:in `writeAll'"(/home/esp/esp2/utils/storage.rb:567"4/home/esp/esp2/lib/framework.rb:171:in `atExit'"2/home/esp/esp2/lib/framework.rb:175:in `call'"4/home/esp/esp2/lib/framework.rb:175:in `atExit'"2/home/esp/esp2/lib/framework.rb:175:in `call'"4/home/esp/esp2/lib/framework.rb:175:in `atExit'"2/home/esp/esp2/lib/framework.rb:175:in `call'"4/home/esp/esp2/lib/framework.rb:175:in `atExit'"-/home/esp/esp2/lib/thread.rb:762:in `[]'"0/home/esp/esp2/lib/thread.rb:762:in `start'"7/home/esp/esp2/lib/schedule.rb:474:in `initialize'"'/home/esp/esp2/lib/schedule.rb:472 + !o:Storage::Warning: mesg">Exiting with generic puck from tube 4 in Processing Clamp:bt["6/home/esp/esp2/utils/storage.rb:560:in `writeAll'"2/home/esp/esp2/utils/storage.rb:555:in `each'"6/home/esp/esp2/utils/storage.rb:555:in `writeAll'"2/home/esp/esp2/utils/storage.rb:551:in `open'"6/home/esp/esp2/utils/storage.rb:551:in `writeAll'"(/home/esp/esp2/utils/storage.rb:567"4/home/esp/esp2/lib/framework.rb:171:in `atExit'"2/home/esp/esp2/lib/framework.rb:175:in `call'"4/home/esp/esp2/lib/framework.rb:175:in `atExit'"2/home/esp/esp2/lib/framework.rb:175:in `call'"4/home/esp/esp2/lib/framework.rb:175:in `atExit'"2/home/esp/esp2/lib/framework.rb:175:in `call'"4/home/esp/esp2/lib/framework.rb:175:in `atExit'"-/home/esp/esp2/lib/thread.rb:762:in `[]'"0/home/esp/esp2/lib/thread.rb:762:in `start'"7/home/esp/esp2/lib/schedule.rb:474:in `initialize'"'/home/esp/esp2/lib/schedule.rb:472 +3 #mEXIT @1663083196.03EDT @1663088875.13EDT = =tMAIN =mMAIN_scheduler @EDT1663088876.92 #"core_reset"Sent BREAK + #t@17882 sendCRC with ifg=0x20, ie=0x7F + #@19699 sendCRC with ifg=0x08, ie=0x5F + #@60483 idle with ifg=0x84, ie=0x75 + #@61164 select with ifg=0x10, ie=0xF5 #@61812 receive with ifg=0x10, ie=0xFD + #@62459 receive with ifg=0x10, ie=0xFD + #@63107 receive with ifg=0x10, ie=0xFD #@63434 receive with ifg=0x80, ie=0xFD + #@26522 idle with ifg=0x00, ie=0x75 #ESP2 v3.41 I2C Gateway v3.20 +10 #ESP2 v3.41 I2C Gateway v3.20 for core bus +200 !o:Instrument::ISUSCore: @configS:Instrument::Configuration: name" ISUS:calFileName0:sampleCmd"TS: prompt"\ :statusCmd"C:sampleTimeouti#:promptTimeouti:statusTimeouti: retriesi:strToPrompt"W: pace0: echoF: @refiPP:\ @name@ +94 #Configuration for don (12651-03) 10/9/20 brent@mbari.org\ /home/esp/esp2/type/shallow/don/configure.rb\ +372 "Can"X XU + X XU + #tPolling Can every 10:00 +37 #Cleanly exited at 11:33:16EDT13-Sep-22 +2 !o:Storage::Warning: mesg"#CC.holds Puck.from 4, :generic:bt["8/home/esp/esp2/utils/storage.rb:445:in `readPucks!'"2/home/esp/esp2/utils/storage.rb:444:in `each'"8/home/esp/esp2/utils/storage.rb:444:in `readPucks!'"6/home/esp/esp2/utils/storage.rb:627:in `restore!'"-/home/esp/esp2/lib/esp.rb:115:in `shell'"7/home/esp/esp2/lib/schedule.rb:481:in `initialize'"0/home/esp/esp2/lib/thread.rb:738:in `start'"7/home/esp/esp2/lib/schedule.rb:474:in `initialize'"'/home/esp/esp2/lib/schedule.rb:472 +2 !o:Storage::Warning: mesg"#PC.holds Puck.from 4, :generic:bt["8/home/esp/esp2/utils/storage.rb:445:in `readPucks!'"2/home/esp/esp2/utils/storage.rb:444:in `each'"8/home/esp/esp2/utils/storage.rb:444:in `readPucks!'"6/home/esp/esp2/utils/storage.rb:627:in `restore!'"-/home/esp/esp2/lib/esp.rb:115:in `shell'"7/home/esp/esp2/lib/schedule.rb:481:in `initialize'"0/home/esp/esp2/lib/thread.rb:738:in `start'"7/home/esp/esp2/lib/schedule.rb:474:in `initialize'"'/home/esp/esp2/lib/schedule.rb:472 + #ESP.ready! will restore puck positions +629 #-> ESP.ready? +344 #-> ESP.ready! +154 "sampler") +2 ) +3 "core"  +2 "collection"' + ' +3 "core"  +2 "processing"% +2 % +3 "core"  +4 "collection"' 9\ +3 ' 0\ +2 ' -\ +3 "processing"% 9\ +2 % 2\ +2 % *\ +2 % 0\ +3 "sampler")&\ +2 "collection"'% +3 "core" %  \ +2 .tCS.configure :default +2 "collection"'#P d@b +2 .tCS.hold +2 "collection"'+ +3 "core" + + .tCS.configure :default +3 "collection"'#P d@b +2 "processing"%% +3 "core" %\ + .tPS.configure :default +3 "processing"%#A d`xb +2 "sampler")% +3 "core" %3 \ +2 .tSS.configure :default +2 "sampler")#.0X PC.unloadPuck 4 :SH1 +2 !o:SyntaxError: mesg"pcompile error\ (ESP):3: syntax error, unexpected ':', expecting $end\ PC.unloadPuck 4 :SH1\ ^:bt["(ESP):3:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +6595 #-> PC.unloadPuck 4, :SH1 +2 "processing"%2& +3 "core" &Zz\ ) +2 #tStoring SH1 puck in Processing Clamp to tube 4 + .Hand.open +2 "manipulator"&31 +25 "core" 1 + "manipulator"&4% +4 "core" %\ 0  $t +2 "storage"(5% +3 "core" %7 \ +2 "storage"(6. +3 "core" .,, +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"(7(, +3 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (8& +3 "core" &, h\  +3 "manipulator"&9& + ."raiseStack"SE.reconfigure :place +6 "storage"(#]kK-0-\ b +2 "core" &|   +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +3 ."raiseStack"SE.seek :beamBreak +2 "manipulator"&:(c +2 "storage"(;'e +28 "core" ( +2 "manipulator"&<& +4 "core" &k + +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &=& +2 "core" &k  +2 .tForearm.seek PC +2 "manipulator"&>'[ +99 "core" ' +36 .tHand.close +7 "manipulator"&?/ +61 "core" / +2 .tPC.seek :open +2 "processing"%@(p +20 "core" ' + "storage"(A- +3 "core" -'e +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +2 ."raiseStack"SE.seek :place +2 "storage"(B'B +34 "core" ' +327 ( + "storage"(C& +4 "core" &,\ \  \  +2 "storage"(D& +3 "core" &,\ \  \  +2 "manipulator"&E& +4 "core" &k ! +2 "manipulator"&F% +3 "core" % f +2 .tForearm.seek :retract +2 "manipulator"&G'\ +99 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&H(* +278 "core" ( +2 "manipulator"&I& +4 "core" &5   + "storage"(J& +4 "core" &,\ \  p\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 4 + "manipulator"&K'. +109 "core" ' +2 .tElbow.hold +2 "manipulator"&L, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&M1 +62 "core" 1 +2 "manipulator"&N% +4 "core" % @p '  ! + "storage"(O& +4 "core" &, \  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 4 + 318 counts +2 "manipulator"&P'l +16 "core" ' +2 "manipulator"&Q& +3 "core" & k W Y  +2 "storage"(R& +4 "core" &,   \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&S' +18 "core" ' + "storage"(T% +4 "core" %G  6 9\ +3 ."downElevator"SE.seek :down +4 "storage"(U'N +99 (V% +3 "core" %D\ \  a\ Vc +2 "manipulator"&W% +4 "core" % a e C  + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&X'\ +95 "core" ' +52 ' + ."downElevator"SE.stop + "storage"(5 +21554 #t-> ESP.ready?require 'shuffle,rb' +3 !o:LoadError: mesg"'no such file to load -- shuffle,rb:bt[ "(ESP):5:in `require'"(ESP):5:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +1331 #-> require 'shuffle.rb' +2115 #-> 5.times {shuffle 3..6} +2 #Shuffling pucks in tube 3 of [3..6] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"'Y& +4 "core" &]n  \ S +2 .tSE.seek :down +2 "storage"(Z'N +11 "core" ' + .tSE.stop + "storage"(5 +3 "manipulator"&[% +4 "core" %\ 3  %x +2 !to:Slide::Error : mesg"Collection Clamp not Open: @reply0:@axisName"Collection Clamp:bt["4/home/esp/esp2/utils/puckmoves.rb:359:in `load'"4/home/esp/esp2/utils/puckmoves.rb:357:in `loop'"4/home/esp/esp2/utils/puckmoves.rb:357:in `load'"8/home/esp/esp2/utils/puckmoves.rb:958:in `loadPuck'"4/home/esp/esp2/utils/shuffle.rb:24:in `shuffle'"!(ESP):7:in `each_with_index'"1/home/esp/esp2/utils/shuffle.rb:18:in `each'" CC.open +2 .CC.seek :open +2 "collection"'\\(p +411 "core" ( +2 "collection"']& +4 "core" & \ +651 #t-> CC.close +2 !o:Arm::Error: mesg"3Claim Arm, then retry closing Collection Clamp:@checkpoint: omitted:bt["E/home/esp/esp2/utils/misc.rb:415:in `closeAndVerifyPuckPresence'"5/home/esp/esp2/utils/misc.rb:485:in `closeClamp'",/home/esp/esp2/lib/msg.rb:68:in `retry'"5/home/esp/esp2/utils/misc.rb:484:in `closeClamp'"5/home/esp/esp2/lib/thread.rb:74:in `recoverable'"5/home/esp/esp2/utils/misc.rb:483:in `closeClamp'"0/home/esp/esp2/utils/misc.rb:503:in `close'"(ESP):9:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +2210 #-> CC.unloadPuck 4, :SH1 +2 "collection"'^& +3 "core" & $\ +2 !to:Puck::Error: mesg"#Collection Clamp is NOT CLOSED:bt[ "7/home/esp/esp2/utils/puckmoves.rb:54:in `contains'"6/home/esp/esp2/utils/puckmoves.rb:417:in `unload'":/home/esp/esp2/utils/puckmoves.rb:962:in `unloadPuck'"(ESP):10:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +460 #-> CC.close +3 !o:Arm::Error: mesg"3Claim Arm, then retry closing Collection Clamp:@checkpoint: omitted:bt["E/home/esp/esp2/utils/misc.rb:415:in `closeAndVerifyPuckPresence'"5/home/esp/esp2/utils/misc.rb:485:in `closeClamp'",/home/esp/esp2/lib/msg.rb:68:in `retry'"5/home/esp/esp2/utils/misc.rb:484:in `closeClamp'"5/home/esp/esp2/lib/thread.rb:74:in `recoverable'"5/home/esp/esp2/utils/misc.rb:483:in `closeClamp'"0/home/esp/esp2/utils/misc.rb:503:in `close'"(ESP):11:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +960 #-> Arm.home + "manipulator"&_& +3 "core" &   +2 "manipulator"&`% +4 "core" %\ 3  %x +2 .tElbow.seek :home + "manipulator"&a( +236 "core" ( + "manipulator"&b& +4 "core" & w 2 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &c& +3 "core" & S 2 +2 .tForearm.seek :home + "manipulator"&d' +42 "core" ' +2 "manipulator"&e& +4 "core" & h R 2 + "manipulator"&f% +4 "core" % f f   +305 #t-> CC.close +3 !o:Arm::Error: mesg"3Claim Arm, then retry closing Collection Clamp:@checkpoint: omitted:bt["E/home/esp/esp2/utils/misc.rb:415:in `closeAndVerifyPuckPresence'"5/home/esp/esp2/utils/misc.rb:485:in `closeClamp'",/home/esp/esp2/lib/msg.rb:68:in `retry'"5/home/esp/esp2/utils/misc.rb:484:in `closeClamp'"5/home/esp/esp2/lib/thread.rb:74:in `recoverable'"5/home/esp/esp2/utils/misc.rb:483:in `closeClamp'"0/home/esp/esp2/utils/misc.rb:503:in `close'"(ESP):13:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +1038 #-> Arm.CC +2 "manipulator"&g& +3 "core" & q j 2 +2 "manipulator"&h% +4 "core" % s f 6  +2 .tForearm.seek :retract + "manipulator"&i'\ +45 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek :CC + "manipulator"&j( +352 "core" ( + "manipulator"&k& +4 "core" &\   / +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &l& +3 "core" &\   / +2 .tForearm.seek CC +2 "manipulator"&m'| +94 "core" ' +3 "manipulator"&n& +4 "core" &\   / + "manipulator"&o% +4 "core" %r +466 #t-> Hand.close + .Hand.close +2 "manipulator"&p/ +54 "core" / +2191 #t-> CC.unloadPuck 4, :SH1 +2 "collection"'q& +3 "core" & \ +2 !to:Puck::Error: mesg"#Collection Clamp is NOT CLOSED:bt[ "7/home/esp/esp2/utils/puckmoves.rb:54:in `contains'"6/home/esp/esp2/utils/puckmoves.rb:417:in `unload'":/home/esp/esp2/utils/puckmoves.rb:962:in `unloadPuck'"(ESP):16:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +605 #-> CC.close +2 "manipulator"&r& +3 "core" &\   / +2 "manipulator"&s% +4 "core" % r / +2 "collection"'t& +3 "core" & \ +2 "collection"'u& +5 "core" &  \ +2 .tCC.seek :closed +2 "collection"'v(] +5 "core" & \  +9 &2}  \ *x +9 &d  \ > +10 &Jx \ \ N +9 &W  \ M +9 &] \ M +10 &] \ L +9 &!T]  \ M +10 &#\\  \ M +9 &$[ \ L +9 &&]  \ M +10 &(^] \ L +9 &*\\ \ M +9 &+\\ \ M +10 &-_  \ M +9 &/d\\ \ M +10 &1'\\ \ M +9 &2\\  \ M +9 &4Y  \ M +10 &6m[ \ M +9 &8._  \ M +9 &9Y \ L +10 &;[  \ M +9 &=uZ  \ M +10 &?7Z \ M +9 &@Z  \ M +9 &B\\ \ M +10 &D}[  \ M +9 &F?]  \ M +9 &HZ  \ M +10 &Id  \ N +9 &K}s  \ O +10 &M6  \ R +9 &N  \ V +9 &P   \ W +10 &Rk   \ X +9 &T,  \ Y +9 &U  \ Z +10 &W  \ [ +9 &Yf  \ ] +10 &[*  \ \\ +9 &\\}  \ 7 +9 &]|!  \ , +10 &]  \ ] +2 ( +2 "collection"'u& +3 #tCollection Clamp onSpring/offSpring for 8/25 samples, on/off torque 2.00 + "collection"'w& +4 "core" &]   \ ] +265 #t-> CC.unloadPuck 4, :SH1 +2 "collection"'x& +3 "core" &]  !\ ] +2 #tStoring SH1 puck in Collection Clamp to tube 4 + .Hand.open +2 "manipulator"&y1 +62 "core" 1 +2 "manipulator"&z% +4 "core" % r  +2 .tForearm.seek :retract + "manipulator"&{'\ +99 "core" ' +2 "storage"(|% +4 "core" %< X\  + "storage"(}. +3 "core" .(, + "storage"(~& +4 "core" &, \  + "storage"(& +4 "core" &, \  + "manipulator"&& +4 "core" &  v / + "manipulator"&% +4 "core" %\ 8 > ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 +2 "manipulator"&(* +161 "core" ( +2 "manipulator"&& +4 "core" &, u   + "storage"(& +4 "core" &, }\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&' +94 "core" ' + "storage"( & +4 "core" &, S $\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"( 'e +281 "core" ' +2 "storage"( - +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +2 "core" &, a e L  +2 "storage"(& +4 "core" &, r\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&'. +37 "core" ' + .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(- +3 "core" -' +2 .tSE.seek 0.12 Pucks below Top Plate +2 "storage"('s +30 "core" ' +2 "manipulator"&% +4 "core" %7H 6 ĭ + "storage"(& +4 "core" &, d\  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 4 + 309 counts +2 "manipulator"&'c +17 "core" ' +2 "manipulator"&& +4 "core" & r X B + "storage"(& +4 "core" &,\ \  ,\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&' +19 "core" ' +2 .tSE.seek 1.12 Pucks below Top Plate + "storage"('b +50 "core" ' + "manipulator"&& +4 "core" & ` f +2 "manipulator"&% +4 "core" % f f I  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"& '\ +96 "core" ' +2 .tElbow.seek CC +2 "manipulator"&!( +149 "core" ( +2 "manipulator"&"& +5 "core" &  8" + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &#& +3 "core" &  8" +2 .tForearm.seek CC + "manipulator"&$'| +96 "core" ' + .tHand.close + "manipulator"&%/ +55 "core" / +2 .tCC.seek :open +2 "collection"'&(p +408 "core" ( +2 "storage"('& +4 "core" &, X Y \  +2 "storage"((& +4 "core" &, N K \  + "manipulator"&)& +4 "core" &  6 + "manipulator"&*% +4 "core" % w  +2 .tForearm.seek :retract + "manipulator"&+'\ +91 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&,(* +160 "core" ( + "manipulator"&-& +4 "core" &- L  +2 "storage"(.& +3 "core" &, s s 7\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 4 +2 "manipulator"&/'. +110 "core" ' +2 .tElbow.hold + "manipulator"&0, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&11 +61 "core" 1 +2 "manipulator"&2% +4 "core" % ?j + 9 \ +2 "storage"(3& +3 "core" &,\ \  \  +2 .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 4 + 317 counts +2 "manipulator"&4'k +17 "core" ' +2 "manipulator"&5& +4 "core" & X j   + "storage"(6& +4 "core" &, \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&8' +20 "core" ' +2 "storage"(9% +4 "core" %f \ +2 ."downElevator"SE.seek :down +3 "storage"(<'N +99 (=% +3 "core" %3B t t \ V` +2 "manipulator"&?% +4 "core" % d k   +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +95 "core" ' +48 ' +2 ."downElevator"SE.stop + "storage"(5 +3062 "Can"L &=: +60002 C &=: +60002 C &=: +60002 C &=9 +60002 H '<9 +60002 5 &=9 +60002 1 '=: +60001 " &>: +60002  %>: +60002  '=: +60002 \  &=: +35396 #t-> access 6 +3 "storage"(A% +3 "core" %K q r \  +2 "manipulator"&% +4 "core" %\ 3  %} + "manipulator"&& +4 "core" & (  +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"( ( +370 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (;& +2 "core" & F\ +939 #t-> access 5 +3 "storage"(C% +3 "core" %K r r \  + "manipulator"&D% +4 "core" %\ 3 a %} +2 "manipulator"&E& +4 "core" &   + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"(F(  +349 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (>& +2 "core" & \ \ % C\ +868 #t-> access 4 +2 "storage"(I% +3 "core" %K r q ;\  +2 "manipulator"&J% +4 "core" %\ 3 v %} +2 "manipulator"&:& +3 "core" &   +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 1 +2 "storage"(M(B +361 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (N& +3 "core" &C \ +803 #t-> access 3 +3 "storage"(O% +3 "core" %K q s O\  +2 "manipulator"&Q% +3 "core" %\ 3 @ %} +2 "manipulator"&R& +4 "core" & z _  + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 7 +2 "storage"(T([ +1931 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (G& +2 "core" &[ C \  +728 #t-> access 2 +2 "storage"(V% +3 "core" %K r q N\  +2 "manipulator"&W% +4 "core" %\ 3 J %} + "manipulator"&H& +4 "core" & %  +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"(K(K +358 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (P& +3 "core" &K\  K y\ +17730 "Can"  %=: +60002  %=: +18194 #t-> exit +6 #mEXIT @1663096865.59EDT @1663096879.35EDT = =tMAIN =mMAIN_scheduler @EDT1663096881.13 #"core_reset"Sent BREAK + #t@11763 receive with ifg=0x10, ie=0xFD + #@12403 receive with ifg=0x10, ie=0xFD + #@13062 receive with ifg=0x10, ie=0xFD + #@13699 receive with ifg=0x10, ie=0xFD #@14335 receive with ifg=0x10, ie=0xFD + #@14970 receive with ifg=0x10, ie=0xFD #@15605 receive with ifg=0x10, ie=0xFD + #@15931 receive with ifg=0x80, ie=0xFD + #@40151 idle with ifg=0x00, ie=0x75 #ESP2 v3.41 I2C Gateway v3.20 +9 #ESP2 v3.41 I2C Gateway v3.20 for core bus +200 !o:Instrument::ISUSCore: @configS:Instrument::Configuration: name" ISUS:calFileName0:sampleCmd"TS: prompt"\ :statusCmd"C:sampleTimeouti#:promptTimeouti:statusTimeouti: retriesi:strToPrompt"W: pace0: echoF: @refi startTube 2 +2569 #-> $da[:extractVol]=.19 +13342 #-> purgeIntake +2 #Loading FlushPuck into Collection Clamp from FlushPuck::Garage +154 "sampler") +2 ) +2 "core"  +2 "collection"' + ' +3 "core"  +2 "processing"% +2 % +3 "core"  +4 "collection"' 9\ +2 ' 0\ +2 ' -\ +4 "processing"% 9\ +2 % 2\ +2 % *\ +2 % 0\ +4 "sampler")&\ +2 "collection"'% +3 "core" %  \ +2 .tCS.configure :default +2 "collection"'#P d@b +2 .tCS.hold +2 "collection"'+ +2 "core" + + .tCS.configure :default +3 "collection"'#P d@b +2 "processing"%% +3 "core" %h\ +2 .tPS.configure :default +2 "processing"%#A d`xb +2 "sampler")% +4 "core" %3 \ + .tSS.configure :default +2 "sampler")#.0X] \ O +9 &@`` \ N +10 &B"^ \ N +9 &C] \ N +9 &E_ \ O +10 &Gh_ \ N +9 &I&d  \ P +10 &Jp \ Q +9 &L  \ T +9 &NU  \ X +10 &P  \ X +9 &Q  \ X +9 &S  \ Z +10 &UU  \ Z +9 &W  \ Z +10 &X  \ [ +9 &Z  \ \\ +9 &\\X  \ I +10 &]a>  \ %o +9 &]  \ T +5 ( +2 "collection"')& +4 #tCollection Clamp onSpring/offSpring for 10/26 samples, on/off torque 1.99 +2 "collection"'+& +4 "core" &]t  \ T + &]t  \ T + .tHand.open + "manipulator"&,1 +56 "core" 1 + "manipulator"&-% +4 "core" % |  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&.'\ +99 "core" ' +2 #tPurging external Intake +2 "collection"'/& +4 "core" &]s \ T + "collection"'0% +4 "core" %  \ + .tCSV.dial :flush +2 "collection"'1  +70 "core"  +2 .tCS.reconfigure :fast +3 "collection"'#d @b +2 .tCS.seek 10ml +2 "collection"'2' +2391 "core" ' +2 .tdelay 5 seconds +503 ."connect"CSV.dial CBV +3 .tCBV.dial CSV +3 "collection"'3 + '4  +5 "core"  +66  + .tCTV.dial :intake +2 "collection"'5  +74 "core"  + .tIntake.select :open + "sampler") +10 .tCS.seek 0ml + "collection"'6' +2361 "core" ' +2 .tIntake.select :close + "sampler")0 +9 .tCTV.dial :air +2 "collection"'7  +76 "core"  + #tGaraging FlushPuck in Collection Clamp +2 "manipulator"&8& +4 "core" &, ] 8" +2 .tElbow.reconfigure :tight +7 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&9( +55 "core" ( + "manipulator"&:& +4 "core" &' / >M +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +43 &;& +2 "core" &&  >M +2 .tForearm.seek CC +2 "manipulator"&<'| +96 "core" ' +2 .tHand.close + "manipulator"&=/ +58 "core" / +2 .tCC.seek :open +2 "collection"'>(p +410 "core" ( +2 "manipulator"&?& +4 "core" &;  5 + "manipulator"&@% +4 "core" % Ϗ S +2 .tForearm.seek :retract + "manipulator"&A'\ +96 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage +2 "manipulator"&B(, +278 "core" ( + "manipulator"&C& +4 "core" &,  a +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &D& +3 "core" &,  a +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :garage +2 "manipulator"&E' +109 "core" ' +2 .tHand.open + "manipulator"&F1 +56 "core" 1 +2 "manipulator"&G% +4 "core" %  R +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&H'\ +97 "core" ' +6117 #t-> da 50 + #da sampling at most 50ml +5 #Loading sh1 puck from tube 2 into Collection Clamp +2 ."Qmail"DAfans.email "Started da in tube 2 at 15:28:04EDT13-Sep-22\\n{}\\nCTD data unavailable\\nISUS data unavailable\\nCan@15:21:27, 16% flow, 22.7C, 45% humidity, 14.3psia, 13.72V, 0.279A avg, 0.266A avg, 3.82W",Subject: "da sampling at most 50ml" +5 "collection"'I& +3 "core" &  \ +2 "manipulator"&J% +5 "core" %\ , + "X +2 "storage"(K% +3 "core" %K   \  +2 "storage"(L. +3 "core" .,K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"(M(  +74 !"Qmail"o:!Net::SMTPAuthenticationError: mesg"E534-5.7.9 Application-specific password required. Learn more at\ :@checkpoint: omitted:bt["E/opt/mbari/lib/ruby/1.8/net/smtp.rb:954:in `check_auth_response'"/opt/mbari/lib/ruby/1.8/net/smtp.rb:723:in `authenticate'":/opt/mbari/lib/ruby/1.8/net/smtp.rb:566:in `do_start'"7/opt/mbari/lib/ruby/1.8/net/smtp.rb:525:in `start'"2/home/esp/esp2/lib/email.rb:325:in `sendOnce'"3/home/esp/esp2/lib/schedule.rb:292:in `unsync'"3/home/esp/esp2/lib/schedule.rb:594:in `unsync'"3/home/esp/esp2/lib/schedule.rb:621:in `unsync'"2/home/esp/esp2/lib/email.rb:318:in `sendOnce'"//home/esp/esp2/lib/email.rb:340:in `email'",/home/esp/esp2/lib/msg.rb:68:in `retry'"//home/esp/esp2/lib/email.rb:339:in `email'"./home/esp/esp2/lib/email.rb:348:in `mail'"-/home/esp/esp2/lib/email.rb:66:in `call'"3/home/esp/esp2/lib/email.rb:66:in `initialize'"-/home/esp/esp2/lib/email.rb:63:in `loop'"3/home/esp/esp2/lib/email.rb:63:in `initialize'"7/home/esp/esp2/lib/schedule.rb:481:in `initialize'"0/home/esp/esp2/lib/thread.rb:738:in `start'"7/home/esp/esp2/lib/schedule.rb:474:in `initialize'"'/home/esp/esp2/lib/schedule.rb:472 +2 !o:Email::Queue::Purge: mesg"Purged output queue:bt[ "//home/esp/esp2/lib/email.rb:106:in `purge'"3/home/esp/esp2/lib/email.rb:75:in `initialize'"-/home/esp/esp2/lib/email.rb:63:in `loop'"3/home/esp/esp2/lib/email.rb:63:in `initialize'"7/home/esp/esp2/lib/schedule.rb:481:in `initialize'"0/home/esp/esp2/lib/thread.rb:738:in `start'"7/home/esp/esp2/lib/schedule.rb:474:in `initialize'"'/home/esp/esp2/lib/schedule.rb:472 +1222 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (N& +3 "core" &  "  6\ + "manipulator"&O& +4 "core" &,  a + "manipulator"&P% +4 "core" %\ ,  "X +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&Q(; +178 "core" ( + "manipulator"&R& +4 "core" &: !q +2 "storage"(S& +4 "core" &  n c *\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&T'Ѐ +109 "core" ' +2 "storage"(U& +4 "core" &  \ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(V'e +271 "core" ' + "storage"(W- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (X& +2 "core" & K S \ +2 "manipulator"&Y& +3 "core" &: g g !q +2 .tElbow.seek 2 +2 "manipulator"&Z(; +3 "core" ( + "manipulator"&[& +4 "core" &: k f  !q + "storage"(\\& +4 "core" & q g Q\ +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&]' +26 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&^/ +54 "core" / +2 ."downElevator"SE.seek :down +5 "manipulator"&_& "storage"(`'N +7 "core" &: k m e !q + "manipulator"&a% +4 "core" % m l +2 .tForearm.seek :retract + "manipulator"&b'\ +93 "core" ' +2 .tElbow.seek CC +2 "manipulator"&c( +143 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +3 "core" ( +2 "manipulator"&d& +4 "core" &" [ 9( +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &e& +3 "core" &" M 9( +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&f'| +98 "core" ' + "manipulator"&g& +4 "core" &" V 9( +2 "manipulator"&h% +4 "core" % C +2 "collection"'i& +4 "core" &  \ +2 "collection"'j& +5 "core" &  \ +2 .tCC.seek :closed + "collection"'k(] +5 "core" &  \ +6 &A  \ $d +9 &kV  \ 7 +10 &  \ L +9 &x\\  \ N +10 &:]  \ N +9 &^  \ N +9 & _  \ N +10 &"}`  \ O +9 &$B\\ \ N +9 &&]  \ N +10 &'\\  \ N +9 &)^  \ N +9 &+I`  \ N +10 &- ]  \ N +9 &._ \ O +10 &0_  \ N +9 &2P\\  \ N +9 &4_ \ O +10 &5Z  \ N +9 &7\\  \ N +9 &9Z^ \ N +10 &;\\  \ N +9 &<_  \ N +10 &>\\ \ N +9 &@a\\  \ N +9 &B$]  \ N +10 &C\\  \ M +9 &E[  \ N +10 &Gj]  \ N +9 &I(j \ O +9 &Jv \ Q +10 &L\ T +9 &NX\ V +9 &P\ X +10 &Q\ Y +9 &Sk\ Y +10 &UW?\ Z +9 &Wi\ Z +9 &X\ [ +10 &Z3\ \\ +9 &\\T\ I +9 &]gA\ $l +10 &] \ P +5 ( +2 "collection"'j& +4 #tCollection Clamp onSpring/offSpring for 9/26 samples, on/off torque 2.01 + .Hand.open +2 "manipulator"&l1 +3 "core" &]s\ P +49 1 + "manipulator"&m% +5 "core" % y ! +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&n'\ +100 "core" ' +2 #tcollectSample 50ml w/bubble point of 24psi +2 #Priming 7ml + .Intake.select :close + .Exhaust.select :close +2 .SS.hold +2 "sampler")o+ +3 "core" + + "sampler")p% +4 "core" %3 \ + "collection"'q& +4 "core" &]s \ q\ P +2 "Can" RO +2 #tCalibrating pressure and temperature sensors +3 .CTV.dial :air +2 .SSV.dial :spit,avoiding: :exhaust + "sampler")r +3 "core"  +2 "sampler")s  +4 "core"  +2 .tSS.reconfigure :fast +3 "sampler")#.0X + .tIntake.select :close +2 "sampler")0 +9 )$% +2 "core" % f a \  +2 .tSSV.dial :exhaust + "sampler")&  +74 "core"  + .tExhaust.select :open +2 "sampler")@ +10 .tSS.seek 0ml + "sampler")''0 +866 "core" ' + .tExhaust.select :close + "sampler") +9 ."connect"SSV.dial CBV +4 .tCBV.dial SSV + "sampler")(  +74 "core" +2 #tAllowing 130s for 25.0ml of remaining 25.0ml + .Intake.select :open + "sampler") +210 "collection"'!% +3 "core" %  ?\ + #tIntake @13.9psia, vacuum from 8.4 to 11.4psi +3 .SS.reconfigure :inhaling 2.21ml/s +2 "sampler")#.0X\  +2 ."CSpush"CS.reconfigure :fast +3 "collection"'#d @b +2 ."CSpush"CS.seek 0ml +2 "collection"'a' +138 "core" ' +2 .tSSV.dial :spit,avoiding: :exhaust + "sampler")Q +128 "core"  +2 .tSS.reconfigure :exhale +3 "sampler")#.0X' +1489 .tSSV.dial :spit,avoiding: :exhaust + "sampler")l +129 "core"  +2 ."prepCSV"CTV.dial CSV,avoiding: :intake +4 .tSS.reconfigure :exhale +3 "collection"'m  + "sampler")#.0X9 +3 "core" 9 P +103 "collection"'o9 +2 "core" 9  T +102 "collection"'u9 +3 "core" 9 "X +102 "collection"'v9 +2 "core" 9 #\\ +103 "collection"'p9 +2 "core" 9 %` +102 "collection"'x9 +3 "core" 9 &e +102 "collection"'y9 +2 "core" 9 'i +103 "collection"'t9 +2 "core" 9 (m +102 "collection"'w9 +2 "core" 9 )q +103 "collection"'{9 +2 "core" 9 +u +102 "collection"'}9 +3 "core" 9 ,z +103 "collection"'z9 +2 "core" 9 -~ +102 "collection"'9 +2 "core" 9 . +102 "collection"'|9 +3 "core" 9\ / +102 "collection"'9 +2 "core" 9\ 1 +102 "collection"'9 +3 "core" 9\ 1 +102 "collection"'9 +2 "core" 9\ 2 +102 "collection"'9 +3 "core" 9\ 3 +102 "collection"'9 +2 "core" 9\ 5 +102 "collection"'9 +3 "core" 9\ 5 +102 "collection"' 9 +3 "core" 9\ #7 +102 "collection"'~9 +2 "core" 9\ '9 +103 "collection"'9 +2 "core" 9\ ,: +103 "collection"'9 +2 "core" 9\ /: +102 "collection"' 9 +3 "core" 9\ 5< +102 "collection"'9 +3 "core" 9\ 9< +102 "collection"' 9 +2 "core" 9\ == +103 "collection"'9 +2 "core" 9\ B> +102 "collection"'9 +2 "core" 9\ EA +103 "collection"'9 +2 "core" 9\ IA +102 "collection"'9 +3 "core" 9\ MB +103 "collection"'9 +2 "core" 9\ QC +102 "collection"'9 +2 "core" 9\ UD +103 "collection"'9 +2 "core" 9\ XD +102 "collection"'9 +2 "core" 9\ \\F +103 "collection"'9 +2 "core" 9\ _F +102 "collection"' 9 +3 "core" 9\ cG +102 "collection"'9 +2 "core" 9\ fG +102 "collection"'9 +3 "core" 9\ iI +102 "collection"'#9 +2 "core" 9\ nJ +102 "collection"'$9 +3 "core" 9\ qK +102 "collection"'9 +3 "core" 9\ sL +3 .tCH.hold 10:00,70C +3 "collection"'& `\ `\ q + '9 +6 "core"  + 9\ s\ s + "collection"'(% +4 "core" %\ ?\ > P\ + #tBegun lysing Collection Puck Heater at 68C/32.0psia +27560 "Can"Q\  +32431 "core" ` + "collection"'!9 +4 "core" 9\  + "collection"''% +4 "core" % \ +2 #tEnded lysing Collection Puck Heater at 70C/26.3psia + .CS.seek 0ml +2 "collection"',' +336 "core" ' +2 .tCTV.dial between spare and air,avoiding: :intake +2 "collection"'- @ +99 "core" B +2 .tCSV.dial :air +2 "collection"'/ @ +42 "core" > +5 .tCS.seek 5ml +2 "collection"'0's +1360 "core" ' + .tCSV.dial CTV +2 "collection"')  +42 "core"  +2 .tdelay 2 seconds +202 .CSV.dial :air + "collection"'1 @ +42 "core" ? +2 .tdelay 2 seconds +201 .CSV.dial CTV +2 "collection"'%  +42 "core"  +2 .tdelay 2 seconds +202 .CSV.dial :air +2 "collection"' @ +41 "core" @ + .tdelay 2 seconds +203 .CS.seek 0ml + "collection"'4' +1346 "core" ' +2 "collection"'3% +4 "core" %\ \ B\ + #tPuck @38.0psia after final lysis pressurization + #Recovering Lysate into Collection syringe + .CSV.dial CBV +2 "collection"'5 +111 "core" +2 .tCBV.dial CSV + "collection"'2  +32 "core"  + "collection"'7% +4 "core" %\ z\ ~ 4\ +2 .tCS.seek 5ml +2 "collection"'8's +1353 "core" ' + .tdelay 5 seconds +503 .CTV.dial :air +2 "collection"':  +41 "core" + "collection"';% +4 "core" %s(0 \  +2 .tCS.seek 7ml +2 "collection"'=' +585 "core" ' + .tdelay 5 seconds +502 .CSV.dial :air2 +2 "collection"'" @ +43 "core" > +2 .tCS.seek 10ml +2 "collection"'\ ' +841 "core" ' +2 .tCSV.dial between air and CTV,avoiding: CBV +2 "collection"'. ` +110 "core" _ +2 #tLysing Complete +2 "collection"'+& +3 "core" &]nNP [\ P +2 #tStoring sh1 puck in Collection Clamp to tube 1 +2 "manipulator"&?% +3 "core" %\ 3  %y +2 "storage"(@% +3 "core" %G o\ +2 "storage"(<. +3 "core" .(  +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 1 +2 "storage"(9(B +365 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (C& +3 "core" &B J k\ + "manipulator"&G& +4 "core" & N 8 + "manipulator"&6% +4 "core" %\ 3 %y +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 1 +2 "manipulator"&D(c +169 "core" ( + "manipulator"&A& +4 "core" &k t  u +2 "storage"(E& +4 "core" &B z | \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 1 + 450 counts +2 "manipulator"&J'Ф +108 "core" ' + "storage"(*& +4 "core" &B \ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(K'e +271 "core" ' +2 "storage"(L- +3 "core" -'e + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 .tSE.seek :place + "storage"('B +34 "core" ' +2 "manipulator"&N& +4 "core" &k b b u + "manipulator"&F% +4 "core" %Л X _  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&P'\ +88 "core" ' + .tElbow.seek CC +2 "manipulator"&R( +156 "core" ( + "manipulator"&S& +4 "core" &"  9( +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &I& +3 "core" &"  9( +2 .tForearm.seek CC + "manipulator"&U'| +97 "core" ' + .tHand.close +2 "manipulator"&H/ +63 "core" / + .tCC.seek :open +2 "collection"'W(p +410 "core" ( +2 "storage"(B& +4 "core" &B \ + "storage"(X& +4 "core" &B \ + "manipulator"&[& +4 "core" &" J 9& + "manipulator"&\\% +4 "core" % ϐ +2 .tForearm.seek :retract + "manipulator"&_'\ +99 "core" ' + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 1 + "manipulator"&Y(c +157 "core" ( + "manipulator"&Q& +4 "core" &[ r % \ +2 "storage"(O& +4 "core" &B \ + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 1 +2 "manipulator"&^' +109 "core" ' + .tElbow.hold +2 "manipulator"&a, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&T1 +58 "core" 1 + "manipulator"&e% +4 "core" % d a +2 "storage"(V& +3 "core" &B \ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 1 + 319 counts +2 "manipulator"&g'! +16 "core" ' + "manipulator"&d& +4 "core" &[ e M \ +2 "storage"(h& +4 "core" &B :\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 1 + 450 counts + "manipulator"&i'Ф +17 "core" ' + "storage"(Z% +5 "core" %I .\ +2 ."downElevator"SE.seek :down +3 "storage"(b'N +99 (]% +3 "core" %D z\ V_ + "manipulator"&`% +4 "core" %Ф a b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&l'\ +88 "core" ' +62 ' + ."downElevator"SE.stop +2 "storage"(5 +2 #tTranferring DA +2 #Beginning samplePassC +2 #Loading FlushPuck into Collection Clamp from FlushPuck::Garage + "collection"'m& +4 "core" &GK _  +2 "manipulator"&q& +3 "core" &[ \ +2 "manipulator"&r% +4 "core" %\ & \ B +2 .tElbow.seek FlushPuck::Garage + "manipulator"&j(, +165 "core" ( +2 "manipulator"&s& +4 "core" &, <  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &f& +3 "core" &, l  +2 .tForearm.seek :garage + "manipulator"&>' +105 "core" ' +2 .tHand.close + "manipulator"&o/ +60 "core" / + "manipulator"&u& +4 "core" &, ]  +2 "manipulator"&v% +4 "core" %   + .tForearm.seek :retract +2 "manipulator"&p'\ +101 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC + "manipulator"&x( +284 "core" ( +2 "manipulator"&y& +4 "core" &+ $ Bj + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &t& +3 "core" &+  Bj +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&w'| +98 "core" ' + "manipulator"&{& +4 "core" &+  Bj +2 "manipulator"&}% +4 "core" %π  +2 "collection"'z& +3 "core" &NP  +2 "collection"'& +5 "core" &OP  +2 .tCC.seek :closed +2 "collection"'|(] +5 "core" &NP~  +7 &3OS\ *z +10 &eNP\ > +9 &YxOR\ L +9 &_PP \ L +10 &cPP\ L +9 &`QR \ K +10 &!b`QQ )\ L +9 &#%`PP \ L +9 &$]QO\ L +10 &&`QP\ L +9 &(l_PO\ K +9 &*-_PR\ L +10 &+_RQ\ K +9 &-_PR\ K +10 &/r`RO\ L +9 &15`NS\ L +9 &2_PQ \ L +10 &4aPQ \ \ L +9 &6{\\RR\ L +9 &8=]PR\ L +10 &9`OR\ L +9 &;`QR\ L +10 &=aPP\ L +9 &?E`RS\ L +9 &A^PS\ L +10 &B_OR\ L +9 &DaQS\ L +9 &FMbOQ\ L +10 &HdPQ\ L +9 &ImOPn\ M +10 &K}QP\ P +9 &M<RQ \ T +9 &NRT\ V +10 &PTT\ V +9 &RzSS\ W +9 &T9ST \ X +10 &UTU \ X +9 &WUV\ Z +10 &YxSU\ Z +9 &[8TT\ [\ +9 &\\rST\ 9 +10 &]/SU\ !d +9 ( + &]wUU\ S +2 "collection"'& +3 #tCollection Clamp onSpring/offSpring for 9/25 samples, on/off torque 2.05 + "collection"'& +4 "core" &]vUW\ S +2 .tHand.open + "manipulator"&1 +62 "core" 1 +2 "manipulator"&% +4 "core" %  : + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +57 .tForearm.seek :retract + "manipulator"&'\ +93 "core" ' + .tPSV.dial PSR +2 "processing"% +134 "core"  +2 "processing"%% +4 "core" %\ + #tPulling 1.5ml of PSR.flush + .PSR.select :flush +2 "processing"%j +10 .tPS.seek 1.5ml + "processing"% ' +1606 "core" ' + .tdelay 5 seconds +502 .PSV.dial :waste1 +3 "processing"%~  +48 "core"  +2 .tPS.seek 0ml +2 "processing"%' +1616 "core" ' +2 .tPSV.dial PSR + "processing"% +49 "core"  + .tPSR.select :air +2 "processing"% +10 .tPS.seek 2.5ml +2 "processing"% 'm +2630 "core" ' +2 ."connect"PRV.dial CBV,avoiding: :ab2 +3 .tCBV.dial PRV +2 "processing"% + "collection"'  +6 "core" A +2 "processing"%  +71 "core" +85  +2 .tPSV.dial :mixloop + "processing"% +113 "core" +2 .tCTV.dial :air,avoiding: :intake + .PTV.dial :PRVmixing +2 "processing"%  +126 "core" +2 .tPS.seek 0ml +2 "processing"%' +2627 "core" ' +2 .tPSV.dial :air + "processing"%  +44 "core"  +2 .tPS.seek 2.5ml +2 "processing"%'m +2640 "core" ' + .tPSV.dial :mixloop +2 "processing"% +48 "core" +3 .tPS.seek 0ml + "processing"%' +2448 "Can" 'TQ +184 "core" ' +2 .tPSV.dial :air + "processing"%  +49 "core"  +2 .tPS.seek 2.5ml +2 "processing"% 'm +2654 "core" ' + .tPSV.dial :mixloop + "processing"% +49 "core" +2 .tPS.seek 0ml +2 "processing"%' +2641 "core" ' +2 #tGaraging FlushPuck in Collection Clamp + "manipulator"&#& +4 "core" &,#  ;8 +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC + "manipulator"&$( +30 "core" ( + "manipulator"&& +4 "core" & #  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &   +2 .tForearm.seek CC +2 "manipulator"&('| +97 "core" ' +2 .tHand.close + "manipulator"&/ +57 "core" / +2 .tCC.seek :open + "collection"'&(p +414 "core" ( + "manipulator"&!& +4 "core" &   + "manipulator"&'% +4 "core" % ώ  +2 .tForearm.seek :retract + "manipulator"&'\ +99 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek :garage + "manipulator"&-(, +286 "core" ( +2 "manipulator"&/& +3 "core" &, D  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &,& +2 "core" &,   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :garage +2 "manipulator"&)' +113 "core" ' +2 .tHand.open +2 "manipulator"&11 +62 "core" 1 + "manipulator"&%% +4 "core" % g   & ŵQ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +110 "core" ' +2 .tPSV.dial :mixloop + .PTV.dial :PRVmixing +2 ."connect"PRV.dial CBV +3 .tCBV.dial PRV +2 .CTV.dial :air,avoiding: :intake +2 #Loading lyfil puck from tube 2 into Collection Clamp + "collection"'0& +4 "core" &z{  +2 "manipulator"&3% +3 "core" %\ t n p  +2 "storage"(5% +4 "core" %= <\ + "storage"(2. +3 "core" .(B +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"(7(  +360 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (4& +2 "core" &  \  +2 "manipulator"&:& +4 "core" &, f g Z  + "manipulator"&;% +4 "core" %\  p   +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&8(; +179 "core" ( +2 "manipulator"&"& +4 "core" &=\ q , g +2 "storage"(=& +3 "core" &  \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts + "manipulator"&.'Ѐ +106 "core" ' +2 "storage"(+& +4 "core" &  *\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(?'e +280 "core" ' +2 "storage"(@- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (<& +2 "core" &  (\  +2 "manipulator"&M& +4 "core" &= g c  g + .tElbow.seek 2 +2 "manipulator"&C(; +3 "core" ( + "manipulator"&G& +4 "core" &= q m  g +2 "storage"(6& +3 "core" &  \  +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&A' +23 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&E/ +55 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&*& + "storage"(c'N +7 "core" &=  g +2 "manipulator"&n% +4 "core" %  + .tForearm.seek :retract +2 "manipulator"&L'\ +99 "core" ' + .tElbow.seek CC +2 "manipulator"&N( +146 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +3 "core" ( +2 "manipulator"&F& +3 "core" &# I ;7 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &K& +2 "core" &#  ;7 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&S'| +109 "core" ' + "manipulator"&I& +4 "core" &#  ;6 +2 "manipulator"&J% +4 "core" %u  + "collection"'D& +4 "core" &z{s  +2 "collection"'H& +5 "core" &{zg  +2 .tCC.seek :closed +2 "collection"'P(] +4 "core" &}{\\  +7 &8z|B\ $d +9 &eUyz+\ 6 +9 &{z\ K +10 &x_||o\ L +9 &;b{{\\\ L +10 &`{{\ L +9 & `}|\ L +9 &"c{|\ L +10 &$B`z{ \ L +9 &&]|| \ L +9 &']{} \ L +10 &)]z~\ K +9 &+L_}}\ K +10 &- ^{}\ L +9 &._z~\ L +9 &0_{|\ L +10 &2S_z|\ L +9 &4^|{\ L +9 &5`{}\ K +10 &7_|}s\ K +9 &9[`{{]\ L +9 &;b}}W\ K +10 &<b{{O\ L +9 &>a{|A\ L +10 &@cby}C\ L +9 &B&b|{:\ K +9 &C_||'\ L +10 &E_|}\ L +9 &Gl`{|\ K +10 &I)k{{\ M +9 &J}\ O +9 &L\ T +10 &NV\ U +9 &P\ V +9 &Q\ W +10 &S\ W +9 &UW\ X +9 &W\ Y +10 &X\ Z +9 &Z \ [ +10 &\\Z +\ G +9 &]a< \ %o +9 &]m \ Q +3 ( + "collection"'H& +3 #tCollection Clamp onSpring/offSpring for 10/26 samples, on/off torque 2.01 +2 .Hand.open + "manipulator"&k1 +63 "core" 1 +3 "manipulator"&B% +4 "core" % u % + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&X'\ +95 "core" ' + .tCTV.dial CSV,avoiding: :intake +2 "collection"'[  +129 "core"  +2 .tCSV.dial CTV + "collection"'\\  +28 "core"  +2 .tPS.seek 2.5ml +2 "processing"%Q'm +2635 "core" ' +2 "collection"'O% +3 "core" %|\  +2 .tCS.seek 4.5ml +2 "collection"'U'd +1487 "core" ' + .tdelay 8 seconds +803 .PSV.dial :air + "processing"%R  +48 "core"  + .tdelay 2 seconds +202 .PSV.dial :waste2 +2 "processing"%T  +71 "core"  +2 .tPS.seek 0ml +2 "processing"%e' +2640 "core" ' + .tCBV.dial between PRV and waste1 +2 "collection"'V ` +31 "core" ^ +2 .tCSV.dial :air +2 "collection"'d @ +43 "core" > +2 .tCS.seek 10ml +2 "collection"'h' +1498 "core" ' + .tCSV.dial CTV +2 "collection"'Z  +42 "core"  +2 .tCS.seek 0ml +2 "collection"'_' +2641 "core" ' +2 .tCBV.dial :waste1 + "collection"'] @ +27 "core" ? +2 .tdelay 5 seconds +502 .CTV.dial :air,avoiding: :intake +2 "collection"'`  +127 "core" + "collection"'Y& +4 "core" &]h\ Q +2 #tStoring lyfil puck in Collection Clamp to tube 1 + "manipulator"&^% +4 "core" %\ /  #k + "storage"(m% +4 "core" %I q r\ + "storage"(g. +3 "core" .(  +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 1 +2 "storage"(q(B +365 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (r& +3 "core" &E E ,\ + "manipulator"&& +4 "core" &" " :, + "manipulator"&i% +4 "core" %\ / B #k +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 1 +2 "manipulator"&s(c +156 "core" ( + "manipulator"&f& +4 "core" &l k +2 "storage"(b& +3 "core" &E \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 1 + 450 counts +2 "manipulator"&a'Ф +106 "core" ' + "storage"(o& +4 "core" &E | Z\ +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(u'e +279 "core" ' +2 "storage"(v- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +2 "manipulator"&l& +3 "core" &l b b +2 "storage"(>& +4 "core" &E | G\ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 1 + "manipulator"&y' +33 "core" ' + .tElbow.hold +2 "manipulator"&t, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(j- +2 "core" -' +3 .tSE.seek 0.12 Pucks below Top Plate + "storage"({'o +32 "core" ' + "manipulator"&}% +4 "core" %w e ú5 +2 "storage"(z& +3 "core" &E S K\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 1 + 317 counts + "manipulator"&p' +11 "core" ' +2 "manipulator"&W& +4 "core" &k c M + "storage"(& +4 "core" &E \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 1 + 450 counts +2 "manipulator"&'Ф +16 "core" ' +2 .tSE.seek 1.12 Pucks below Top Plate +2 "storage"('^ +44 "core" ' +2 "manipulator"&& +4 "core" &k b _ +2 "manipulator"&% +4 "core" %Т a _ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +93 "core" ' +2 .tElbow.seek CC +2 "manipulator"&w( +151 "core" ( + "manipulator"&~& +4 "core" &"  :/ +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 & & +3 "core" &"  :/ +2 .tForearm.seek CC + "manipulator"&'| +96 "core" ' + .tHand.close +54 "manipulator"&/ +61 "core" / + .tCC.seek :open +2 "collection"'(p +413 "core" ( +2 "storage"( & +4 "core" &E \ + "storage"(& +4 "core" &E \ + "manipulator"&& +4 "core" &" / :/ + "manipulator"&% +4 "core" % Ϗ   +2 .tForearm.seek :retract +2 "manipulator"& '\ +91 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 1 + "manipulator"&(c +153 "core" ( +2 "manipulator"&& +4 "core" &m  + "storage"(& +4 "core" &E $\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 1 + "manipulator"&' +105 "core" ' + .tElbow.hold +2 "manipulator"&, +44 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&1 +54 "core" 1 +2 "manipulator"&% +4 "core" % $ K +2 "storage"( & +3 "core" &E \ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 1 + 318 counts + "manipulator"&#' +21 "core" ' + "manipulator"&& +4 "core" &m T f +2 "storage"(& +4 "core" &E m\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 1 + 450 counts +2 "manipulator"&'Ф +18 "core" ' +2 "storage"(x% +4 "core" %W \ +2 ."downElevator"SE.seek :down +4 "storage"('N +98 (|% +3 "core" %.E \ V_ + "manipulator"&!% +4 "core" %Щ a b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&''\ +95 "core" ' +43 ' + ."downElevator"SE.stop +2 "storage"(5 +2 .tPSV.dial :air +2 "processing"%(  +78 "core" +2 .tPS.seek 2.5ml + "processing"%/'m +2657 "core" ' +2 .tdelay 1 second +101 .PSV.dial :mixloop +2 "processing"%, +42 "core" +2 .tdelay 1 second +101 .PSV.dial :air +2 "processing"%$  +50 "core"  +2 .tdelay 1 second +101 .PSV.dial :mixloop +2 "processing"%1 +50 "core" + .tdelay 1 second +102 .PSV.dial :air +2 "processing"%%  +49 "core"  +2 .tdelay 1 second +102 .PS.seek 0ml +2 "processing"%' +2637 "core" ' + #tLoading FlushPuck into Processing Clamp from FlushPuck::Garage + "processing"%0& +4 "core" &I\ +2 "manipulator"&3& +3 "core" &m Y +2 "manipulator"&5% +3 "core" %\ 3 # %~ +2 .tElbow.seek FlushPuck::Garage +2 "manipulator"&2(, +179 "core" ( + "manipulator"&)& +4 "core" &,   + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &9& +3 "core" &,   +2 .tForearm.seek :garage + "manipulator"&4' +109 "core" ' +2 .tHand.close +2 "manipulator"&:/ +55 "core" / +2 "manipulator"&;& +4 "core" &, 1   + "manipulator"&"% +4 "core" %   J p +2 .tForearm.seek :retract + "manipulator"&='\ +99 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +2 "manipulator"&-(c +120 "core" ( +2 "manipulator"&+& +4 "core" &l   + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +2 "core" &l   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&@'[ +101 "core" ' + "manipulator"&<& +4 "core" &l Q  +2 "manipulator"&M% +4 "core" %e  +2 "processing"%G& +4 "core" &Q\ +2 "processing"%6& +4 "core" &O\ +2 .tPC.seek :closed +2 "processing"%E(Z +4 "core" &P\ +8 & /O\ #b +9 &`VM\ 7 +10 &|L\ L +9 &rWT\ M +9 &4\\X\ M +10 &^[\ M +9 & ]^\ M +10 &"{VZ\ M +9 &$<[Z\ M +9 &%Zc\ N +10 &'Yh\ M +9 &)Yl\ N +9 &+DXl\ M +10 &-]g\ M +9 &.^h\ M +10 &0[u\ M +9 &2MZ{\ M +9 &4Z|\ M +10 &5Y|\ M +9 &7Zy\ M +9 &9TZ\ M +10 &;[y\ M +9 &<Y\ M +10 &>\\\ M +9 &@\\Z\ M +9 &B\\\ M +10 &CZ\ M +9 &EZ\ M +9 &Gb_\ N +10 &I"f\ O +9 &Js\ P +10 &L\ R +9 &NYx\ T +9 &P\ S +10 &Qi\ T +9 &Sa\ S +9 &Ub`\ S +10 &W"b\ T +9 &Xd\ T +10 &Z>Kkh\ +} +9 &Z+d\ ( +5 ( +2 "processing"%6& +4 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.56 + "processing"%*& +4 "core" &Zd\ ( + &Zf\ ( + .tHand.open +2 "manipulator"&n1 +64 "core" 1 + "manipulator"&8% +4 "core" % b 1 +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&.'\ +93 "core" ' +2 .tPRV.dial :air +2 "processing"%F  +41 "core"  + .tPSV.dial :mixloop +2 "processing"%K +50 "core" +2 "processing"%?% +4 "core" %y\ +2 .tPS.seek 0.3ml + "processing"%A'h +418 "core" ' + .tPSV.dial PSR + "processing"%I +99 "core"  +2 "processing"%J% +4 "core" %g\  + #tPulling 0.4ml of PSR.air + .PSR.select :air +3 .PS.seek 0.7ml +2 "processing"%D'. +489 "core" ' + .tdelay 3 seconds +302 .PSR.select :air +3 .PS.seek 2.5ml + "processing"%C'm +1943 "core" ' + .tdelay 3 seconds +302 .PSV.dial :mixloop +2 "processing"%c +107 "core" +2 .tPTV.dial :mixing + "processing"%L @ +72 "core" B +2 .tPBV.dial :waste2 + "processing"%&  +94 "core"  +2 .tPS.seek 0ml +2 "processing"%k' +2630 "core" ' +2 #tGaraging FlushPuck in Processing Clamp +2 "manipulator"&B& +4 "core" &l   + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +2 "manipulator"&H(c +2 "core" ( +2 "manipulator"&[& +3 "core" &l   +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &\\& +3 "core" &l   +2 .tForearm.seek PC +2 "manipulator"&S'[ +95 "core" ' + .tHand.close +2 "manipulator"&/ +64 "core" / +2 .tPC.seek :open + "processing"%O(p +390 "core" ( + "manipulator"&\ & +4 "core" &l x t  +2 "manipulator"&R% +4 "core" % d  +2 .tForearm.seek :retract + "manipulator"&T'\ +101 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage +2 "manipulator"&Q(, +123 "core" ( + "manipulator"&V& +4 "core" &, }  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &d& +2 "core" &,   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek :garage + "manipulator"&U' +112 "core" ' +2 .tHand.open + "manipulator"&Z1 +61 "core" 1 +2 "manipulator"&h% +4 "core" % z D » +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&]'\ +97 "core" ' +2 #tLoading da puck from tube 2 into Processing Clamp +2 "processing"%`& +4 "core" &\ + "manipulator"&Y% +4 "core" %\ &  = + "storage"(^% +4 "core" %: \ +2 "storage"(m. +2 "core" .(E +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 2 + "storage"(g(  +381 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (7& +2 "core" &  \ +2 "manipulator"&r& +3 "core" &,   +2 "manipulator"&% +3 "core" %\ & ! = +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&i(; +190 "core" ( +2 "manipulator"&f& +4 "core" &@ { !  + "storage"(b& +4 "core" &  \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&o'Ѐ +108 "core" ' + "storage"(N& +4 "core" &  9\ +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(X'e +281 "core" ' + "storage"(v- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (l& +3 "core" &  C\ + "manipulator"&>& +4 "core" &@ ^ R  + .tElbow.seek 2 +2 "manipulator"&j(; +3 "core" ( +2 "manipulator"&}& +4 "core" &@ N g 4  + "storage"(z& +4 "core" &  v\ +2 .tForearm.seek 2 + 300 counts + "manipulator"&W' +63 "core" ' +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +53 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"('N +7 "core" &@ b c  +2 "manipulator"&a% +4 "core" %  _ X \ +2 .tForearm.seek :retract + "manipulator"&s'\ +90 "core" ' +2 .tElbow.seek PC +2 "manipulator"&u(c +165 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +69 "core" ( + "manipulator"&y& +5 "core" &k  ^ + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &p& +2 "core" &k  ^ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&{'[ +99 "core" ' + "manipulator"&~& +5 "core" &k g ^ + "manipulator"& % +4 "core" %e  +2 "processing"%& +4 "core" &Y\ +2 "processing"%t& +5 "core" &W\ +2 .tPC.seek :closed + "processing"%(Z +4 "core" &5\ +8 &=!\ $e +10 &mX#\ 7 +9 &}\ L +9 &W\ M +10 &F\\\ M +9 & Z\ L +10 & _\ M +9 &"V\ L +9 &$OY\ L +10 &&Y\ L +9 &'\\\ M +9 &)\\\ L +10 &+WY\ L +9 &-^\ M +10 &.[\ M +9 &0Y\ L +9 &2]]\ M +10 &4!W\ L +9 &5Y\ L +9 &7Y\ M +10 &9gW\ L +9 &;(Z\ M +10 &<[\ M +9 &>\\\ M +9 &@n]\ M +10 &B1Y\ L +9 &C\\\ M +9 &EZ\ L +10 &Gt]\ M +9 &I4`\ N +10 &Jo\ O +9 &L~\ Q +9 &Nj\ S +10 &P,\ S +9 &Q\ S +9 &S}\ T +10 &Uq~\ T +9 &W3\ T +9 &X\ T +10 &ZNJg\ )x +9 &Z*}\ ) +6 ( + "processing"%t& +4 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.55 +2 .Hand.open + "manipulator"&1 +3 "core" &Z\ ) +55 1 + "manipulator"&P% +4 "core" % e R +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"& '\ +96 "core" ' +3 #tHeating Puck.from 2, :da in Processing Clamp to 28C for 2:00:00 +2 .PH.seek 28C,5:00 +2 "processing"%  +2 %9 +6 "core" 9 +102 "processing"%9 +2 "core" 9 +102 "processing"%9 +3 "core" 9  +102 "processing"%9 +2 "core" 9  +102 "processing"%9 +3 "core" 9 +102 "processing"%w9 +2 "core" 9 +103 "processing"%9 +2 "core" 9 +102 "processing"%9 +2 "core" 9 +102 "processing"% 9 +2 "core" 9" +102 "processing"%9 +3 "core" 9& +102 "processing"%9 +3 "core" 9* +102 "processing"%x9 +2 "core" 9. +102 "processing"% 9 +3 "core" 93 +102 "processing"%|9 +2 "core" 97 +102 "processing"%!9 +4 "core" 9; +102 "processing"%9 +3 "core" 9? +102 "processing"%9 +2 "core" 9C +102 "processing"%#9 +2 "core" 9H +102 "processing"%9 +3 "core" 9L +102 "processing"%(9 +2 "core" 9P +102 "processing"%9 +2 "core" 9 T +102 "processing"%9 +3 "core" 9X +102 "processing"%e9 +2 "core" 9] +102 "processing"%,9 +2 "core" 9a +102 "processing"%$9 +3 "core" 9"e +102 "processing"%19 +3 "core" 9(i +102 "processing"%%9 +2 "core" 9/m +102 "processing"%/9 +3 "core" 96q +102 "processing"%09 +2 "core" 9<v +102 "processing"%39 +3 "core" 9Dz +102 "processing"%59 +2 "core" 9J~ +102 "processing"%)9 +3 "core" 9R +102 "processing"%99 +2 "core" 9Z +103 "processing"%9 +2 "core" 9b +102 "processing"%:9 +3 "core" 9h +102 "processing"%;9 +2 "core" 9p +102 "processing"%"9 +2 "core" 9x +102 "processing"%'9 +3 "core" 9 +102 "processing"%+9 +2 "core" 9 +3 .tPH.hold 2:00:00,28C +3 "processing"% pp +3 .tdelay 1:30 +2 "core"  +9001 .tPSR.select :air +2 .PSV.dial PSR +2 "processing"%4 +107 "core"  + "processing"%<% +4 "core" %\ +2 #tPulling 0.5ml of PSR.wash + .PSR.select :wash +2 "processing"% +10 .tPS.seek 0.5ml + "processing"%M' +588 "core" ' +2 .tdelay 5 seconds +502 .PSR.select :air +2 "processing"% +10 .tPS.seek 2ml + "processing"%G'ԏ +1618 "core" ' + .tPTV.dial :puck + "processing"%2  +71 "core"  + .tPSV.dial PTV +2 "processing"%= +78 "core" +2 .tPBV.dial :waste1 + "processing"%  +130 "core"  +2 "processing"%*% +4 "core" %ԋ\  +2 .tPS.seek 1.5ml + "processing"%n' +600 "core" ' +2 .tdelay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%8 * +32 "core" , +2 .tPS.seek 0ml +2 "processing"%6' +305 "Can" -FD +1300 "core" ' +2 .tdelay 5:00 +30002 #recoverPSRreagent08 + .PTV.dial :puck +2 .PBV.dial :waste1 +2 "processing"%F  +33 "core" +2 .tdelay 30 seconds +3002 .PBV.dial between PSV and waste1 +2 "processing"%K * +35 "core" , + .tPSR.select :air +2 .PSV.dial PSR +2 "processing"%? +77 "core"  +2 .tPS.reconfigure :fast +3 "processing"%#A ,`xb +2 .tPS.seek 2.5ml +2 "processing"%@'m +2413 "core" ' +2 .tPSV.dial PTV + "processing"% +79 "core" + .tdelay 5 seconds +502 .PSV.dial PSR +2 "processing"%I +77 "core"  +2 .tdelay 5 seconds +502 .PSV.dial PTV + "processing"%J +78 "core" +2 .tdelay 5 seconds +502 .PSV.dial :air +2 "processing"%A  +72 "core"  +2 .tPS.seek 0ml +2 "processing"%D' +2356 "core" ' + .tPTV.dial :PRVmixing,via: PRV +2 "processing"%c  +125 "core" + .tPSV.dial :mixloop +2 "processing"%L +50 "core" + .tPRV.dial :ab1 +2 "processing"%& @ +72 "core" A +2 .tPS.reconfigure :slow +2 "processing"%#A 2`xb +2 .tPS.seek 0.15ml +2 "processing"%C'@ +357 "core" ' +2 .tdelay 2 seconds +202 ."connect"CBV.dial PRV +3 .tPRV.dial CBV +2 "collection"'B  + "processing"%[  +45 "core"  +2 +2 "processing"%\\% +4 "core" %CS\  +2 .tPS.seek 0.34ml + "processing"%' +453 "core" ' +2 .tdelay 2 seconds +201 .CBV.dial between PRV and PSV +2 "collection"'-  +28 "core" +2 .tPRV.dial :air + "processing"%.  +42 "core"  +2 .tPS.seek 0.9ml +2 "processing"%E'H +1190 "core" ' + .tPRV.dial :waste2 +2 "processing"%\ @ +72 "core" ? +2 .tPS.seek 0.5ml +2 "processing"%R' +862 "core" ' + #taddPMLReagent08 + .PSV.dial :air +2 "processing"%V  +50 "core"  +2 .tPS.reconfigure :default +3 "processing"%#A d`xb +2 .tPS.seek 2ml + "processing"%d'ԏ +1622 "core" ' + .tPSV.dial :PML +2 "processing"%S +50 "core" +2 .tPTV.dial :mixing + "processing"%H @ +72 "core" B +2 .tPBV.dial :waste1 + "processing"%Z  +35 "core" + "processing"%h% +4 "core" %ԍ\  +2 .tPS.seek 1.85ml +2 "processing"%`'d +228 "core" ' + .tPBV.dial between PSV and waste1 +2 "processing"%Y * +35 "core" , +2 .tPS.seek 0ml + "processing"%T' +1975 "core" ' + .tdelay 2 seconds +202 #Beginning samplePassC +2 #Loading FlushPuck into Collection Clamp from FlushPuck::Garage + "collection"'^& +3 "core" &@\ +2 "manipulator"&m& +4 "core" &k r ^ + "manipulator"&U% +4 "core" %\ .  #c +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek FlushPuck::Garage +2 "manipulator"&q(, +127 "core" ( + "manipulator"&7& +4 "core" &, A 1 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &r& +2 "core" &, [ 0 +2 .tForearm.seek :garage +2 "manipulator"&' +107 "core" ' + .tHand.close +2 "manipulator"&f/ +58 "core" / +2 "manipulator"&b& +4 "core" &,  Z * +2 "manipulator"&Q% +4 "core" %  +2 .tForearm.seek :retract + "manipulator"&N'\ +102 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&]( +273 "core" ( +2 "manipulator"&v& +4 "core" &$  ;2 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &l& +3 "core" &$  ;2 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&>'| +104 "core" ' + "manipulator"&}& +5 "core" &$ . ;2 + "manipulator"&z% +4 "core" %r   +2 "collection"'& +3 "core" &S\ +2 "collection"'& +5 "core" &O\ +57 .tCC.seek :closed +3 "collection"'a(] +4 "core" &;\ + &0\ + &7\ + &5\ + &+\ + &3\ + &9\  +3 &2@\ *x +9 &b;\ > +9 &Dz<\ N +10 &\\3\ N +9 &c7\ N +10 &]<\ N +9 &!K_5\ N +9 &# ]9\ N +10 &$^4\ N +9 &&_.\ N +9 &(T]-\ N +10 &*_2\ M +9 &+_9\ N +10 &-`9\ N +9 &/[[0\ N +9 &1_&\ N +10 &2\\.\ N +9 &4]/\ N +9 &6dX/\ N +10 &8&Y0\ N +9 &9Z4\ N +10 &;\\5\ M +9 &=l]8\ N +9 &?/]-\ M +10 &@^-\ N +9 &B^:\ N +9 &Du]8\ M +10 &F7]=\ M +9 &G_<\ N +10 &Ij:\ O +9 &Ktv4\ P +9 &M*>\ U +10 &N=\ V +9 &P?\ X +9 &Rd:\ Y +10 &T&<\ Y +9 &U>\ Y +10 &W<\ Z +9 &Ya:\ \\ +9 &[(<\ [ +10 &\\z8\ 7 +9 &]#<\ $k +9 &]=\ V +3 ( + "collection"'& +4 #tCollection Clamp onSpring/offSpring for 9/25 samples, on/off torque 2.05 + "collection"'i& +4 "core" &]~9\ V +2 .tHand.open +2 "manipulator"&o1 +56 "core" 1 +2 "manipulator"&X% +4 "core" % r !  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&W'\ +96 "core" ' + .tPSV.dial PSR +2 "processing"%y +101 "core"  + "processing"%p% +4 "core" % \ +2 #tPulling 1.5ml of PSR.flush + .PSR.select :flush +2 "processing"%@ +10 .tPS.seek 1.5ml + "processing"%j' +1618 "core" ' +2 .tdelay 5 seconds +502 .PSV.dial :waste1 +2 "processing"%~  +42 "core"  +2 .tPS.seek 0ml +2 "processing"% ' +1610 "core" ' +2 .tPSV.dial PSR + "processing"% +61 "core" +2 .tPSR.select :air +2 "processing"% +9 .tPS.seek 2.5ml +2 "processing"%'m +2628 "core" ' + ."connect"PRV.dial CBV,avoiding: :ab2 +4 .tCBV.dial PRV +2 "processing"%s  + "collection"'O  +32 "core"  +124  + .tPSV.dial :mixloop +2 "processing"% +104 "core" +2 .tCTV.dial :air,avoiding: :intake +2 .PTV.dial :PRVmixing + "processing"%P  +72 "core" +2 .tPS.seek 0ml +2 "processing"%' +2372 "Can" ts +269 "core" ' +2 .tPSV.dial :air + "processing"%t  +44 "core"  +2 .tPS.seek 2.5ml +2 "processing"%'m +2652 "core" ' +2 .tPSV.dial :mixloop + "processing"%{ +51 "core" +2 .tPS.seek 0ml + "processing"%' +2640 "core" ' + .tPSV.dial :air +2 "processing"%  +50 "core"  +2 .tPS.seek 2.5ml +2 "processing"%'m +2649 "core" ' +2 .tPSV.dial :mixloop + "processing"%w +51 "core" +2 .tPS.seek 0ml + "processing"%' +2637 "core" ' +2 #tGaraging FlushPuck in Collection Clamp + "manipulator"&& +4 "core" &  6 +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC + "manipulator"& ( +26 "core" ( +2 "manipulator"&& +4 "core" &  L + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" & 7 L +2 .tForearm.seek CC + "manipulator"&x'| +100 "core" ' + .tHand.close + "manipulator"& / +62 "core" / + .tCC.seek :open +2 "collection"'|(p +413 "core" ( +2 "manipulator"&!& +4 "core" & Z J + "manipulator"&% +4 "core" % π p +2 .tForearm.seek :retract + "manipulator"&'\ +101 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage +2 "manipulator"&#(, +273 "core" ( +2 "manipulator"&& +4 "core" &, 6 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &(& +2 "core" &, W +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :garage +2 "manipulator"&' +110 "core" ' +2 .tHand.open + "manipulator"&1 +64 "core" 1 +2 "manipulator"&e% +4 "core" %  # s +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&,'\ +99 "core" ' + ."da"delayUntil "16:17:38.98" +24711 #recoverPRVreagent08 +2 .PTV.dial :mixing + "processing"%$ @ +70 "core" A + ."da"PBV.dial :waste1 +2 "processing"%1  +34 "core" +2 ."da"delay 30 seconds +3002 .PBV.dial between PSV and waste1 +2 "processing"%% * +33 "core" + +2 ."da"PSV.dial :air +2 "processing"%/  +49 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%0'm +2388 "core" ' + ."da"PSV.dial :mixloop +2 "processing"%3 +50 "core" +2 ."da"delay 2 seconds +202 .PSV.dial :air + "processing"%5  +50 "core"  + ."da"delay 2 seconds +202 .PSV.dial :mixloop +3 "processing"%) +49 "core" + ."da"delay 2 seconds +202 .PSV.dial :air +2 "processing"%9  +49 "core"  +2 ."da"PS.seek 0ml +2 "processing"%' +2354 "core" ' +2 #"da"washCycleDA #1 of 2 + .PSR.select :air +2 .PSV.dial PSR + "processing"%: +142 "core" +2 "processing"%;% +4 "core" %\ + #"da"Pulling 0.5ml of PSR.wash + .PSR.select :wash +3 "processing"% +9 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"%"' +594 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +2 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%''ԏ +1648 "core" ' +2 ."da"PTV.dial :puck + "processing"%+  +71 "core"  + ."da"PSV.dial PTV +2 "processing"%4 +73 "core" +2 ."da"PBV.dial :waste1 + "processing"%<  +33 "core" +2 "processing"%k% +4 "core" %ԆI\ +2 ."da"PS.seek 1.5ml + "processing"%M' +621 "core" ' + ."da"delay 3 seconds +303 .PBV.dial between PSV and waste1 + "processing"%2 * +32 "core" * +3 ."da"PS.seek 0ml + "processing"%=' +1621 "core" ' +2 ."da"delay 2:00 +8385 "Can" 0B? +3618 #"da"recoverPSRreagent08 + .PTV.dial :puck + .PBV.dial :waste1 +2 "processing"%  +32 "core" + ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%* * +78 "core" + +2 ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"%G +79 "core"  +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%8'm +2407 "core" ' + ."da"PSV.dial PTV +2 "processing"%n +80 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PSR + "processing"% +78 "core"  + ."da"delay 5 seconds +503 .PSV.dial PTV + "processing"%F +78 "core" + ."da"delay 5 seconds +502 .PSV.dial :air +2 "processing"%K  +71 "core"  +2 ."da"PS.seek 0ml +2 "processing"%?' +2362 "core" ' + #"da"washCycleDA #2 of 2 +2 .PSR.select :air +2 .PSV.dial PSR + "processing"%6 +131 "core"  +2 "processing"%% +4 "core" %\ + #"da"Pulling 0.5ml of PSR.wash + .PSR.select :wash +3 "processing"% +9 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml + "processing"%I' +593 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +2 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%J'ԏ +1617 "core" ' +2 ."da"PTV.dial :puck + .PSV.dial PTV +2 "processing"%A +72 "core" + ."da"PBV.dial :waste1 +2 "processing"%@  +33 "core"  + "processing"%c% +4 "core" %Ԏ\  +2 ."da"PS.seek 1.5ml +2 "processing"%L' +613 "core" ' + ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%& * +80 "core" + +4 ."da"PS.seek 0ml +2 "processing"%D' +1618 "core" ' +2 ."da"delay 2:00 +12002 #recoverPSRreagent08 +2 .PTV.dial :puck + .PBV.dial :waste1 +2 "processing"%B  +32 "core"  + ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%[ * +33 "core" + + ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"%\\ +77 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml + "processing"%C'm +2404 "core" ' + ."da"PSV.dial PTV +2 "processing"%- +78 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PSR + "processing"%. +78 "core"  + ."da"delay 5 seconds +503 .PSV.dial PTV + "processing"% +78 "core" + ."da"delay 5 seconds +503 .PSV.dial :air + "processing"%\  +71 "core"  +2 ."da"PS.seek 0ml +2 "processing"%E' +2354 "core" ' +2 #"da"getPMLReagent08 + .PRV.dial :air +2 "processing"%V  +42 "core"  +2 ."da"delay 5 seconds +502 .PTV.dial :PRVmixing +2 "processing"%R  +125 "core" +2 ."da"delay 5 seconds +502 .PRV.dial :ab2 + "processing"%S  +44 "core"  + ."da"PTV.dial :PRVmixing +2 .PSV.dial :mixloop + "processing"%H +49 "core" +2 ."da"PS.reconfigure :default +2 "processing"%#A d`xb +2 ."da"PS.seek 0.3ml +2 "processing"%Z'i +381 "core" ' + ."da"delay 2 seconds +202 .PRV.dial :air +2 "processing"%h  +43 "core"  +2 "processing"%Y% +4 "core" %o \  +2 ."da"PS.seek 0.55ml + "processing"%d'^ +340 "core" ' + #"da"addPMLReagent08 + .PSV.dial :air +2 "processing"%`  +49 "core"  +2 ."da"PS.seek 2ml +2 "processing"%^'ԏ +1611 "core" ' +2 ."da"PSV.dial :PML + "processing"%m +49 "core" + ."da"PTV.dial :mixing +2 "processing"%U @ +72 "core" B +2 ."da"PBV.dial :waste1 +2 "processing"%7  +32 "core"  + "processing"%r% +4 "core" %ԋ\  +2 ."da"PS.seek 1.85ml +2 "processing"%u'b +231 "core" ' +2 ."da"PBV.dial between PSV and waste1 +2 "processing"%f * +32 "core" + +3 ."da"PS.seek 0ml + "processing"%b' +1967 "core" ' + ."da"delay 2 seconds +202 .delay 8:00 +12635 "Can" 0A> +35368 #"da"recoverPRVreagent08 + .PTV.dial :mixing +2 .PBV.dial :waste1 + "processing"%Q  +34 "core" +2 ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 + "processing"% * +35 "core" + + ."da"PSV.dial :air +2 "processing"%  +50 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%v'm +2418 "core" ' + ."da"PSV.dial :mixloop +2 "processing"%l +50 "core" + ."da"delay 2 seconds +202 .PSV.dial :air +2 "processing"%q  +49 "core"  +2 ."da"delay 2 seconds +202 .PSV.dial :mixloop +2 "processing"%} +47 "core" +2 ."da"delay 2 seconds +202 .PSV.dial :air +2 "processing"%z  +48 "core"  +2 ."da"PS.seek 0ml + "processing"%' +2354 "core" ' +2 #"da"washCycleDA #1 of 3 + .PSR.select :air +2 .PSV.dial PSR +2 "processing"%N +131 "core"  + "processing"%% +4 "core" %\ +2 #"da"Pulling 0.5ml of PSR.wash + .PSR.select :wash +2 "processing"% +9 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"%i' +586 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +2 "processing"% +10 ."da"PS.seek 2ml +2 "processing"%o'ԏ +1620 "core" ' + ."da"PTV.dial :puck +2 "processing"%X  +69 "core"  + ."da"PSV.dial PTV +2 "processing"% +72 "core" + ."da"PBV.dial :waste1 +2 "processing"%y  +34 "core" +2 "processing"%p% +4 "core" %Ԓ\ \  +2 ."da"PS.seek 1.5ml + "processing"%>' +601 "core" ' + ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%T * +34 "core" + +2 ."da"PS.seek 0ml +2 "processing"%~' +1607 "core" ' + ."da"delay 2:00 +10271 "Can" /A> +1732 #"da"recoverPSRreagent08 +2 .PTV.dial :puck + .PBV.dial :waste1 +2 "processing"%j  +33 "core"  + ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"% * +45 "core" ) +2 ."da"PSR.select :air + .PSV.dial PSR +2 "processing"% +80 "core"  + ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%O'm +2398 "core" ' + ."da"PSV.dial PTV +2 "processing"%s +79 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PSR +2 "processing"% +77 "core"  +2 ."da"delay 5 seconds +503 .PSV.dial PTV + "processing"%P +77 "core" +2 ."da"delay 5 seconds +502 .PSV.dial :air +2 "processing"%  +71 "core"  +2 ."da"PS.seek 0ml +2 "processing"%t' +2355 "core" ' +2 #"da"washCycleDA #2 of 3 + .PSR.select :air +2 .PSV.dial PSR + "processing"% +132 "core"  + "processing"%{% +4 "core" %(\ + #"da"Pulling 0.5ml of PSR.wash +2 .PSR.select :wash +2 "processing"% +9 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"%' +598 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +2 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%'ԏ +1618 "core" ' + ."da"PTV.dial :puck +2 .PSV.dial PTV + "processing"% +72 "core" +2 ."da"PBV.dial :waste1 +2 "processing"%w  +32 "core" +2 "processing"%% +4 "core" %Ԍ"\  +2 ."da"PS.seek 1.5ml + "processing"%' +594 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"% * +33 "core" + +3 ."da"PS.seek 0ml + "processing"%' +1632 "core" ' +2 ."da"delay 2:00 +12003 #recoverPSRreagent08 + .PTV.dial :puck +2 .PBV.dial :waste1 +2 "processing"%  +34 "core" +2 ."da"delay 30 seconds +3002 .PBV.dial between PSV and waste1 +2 "processing"%] * +35 "core" + + ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"%W +77 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%a'm +2393 "core" ' + ."da"PSV.dial PTV +2 "processing"%! +78 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PSR +2 "processing"% +79 "core"  + ."da"delay 5 seconds +502 .PSV.dial PTV +2 "processing"%x +79 "core" + ."da"delay 5 seconds +503 .PSV.dial :air + "processing"%  +71 "core"  +2 ."da"PS.seek 0ml +2 "processing"%(' +2354 "core" ' +2 #"da"washCycleDA #3 of 3 + .PSR.select :air +2 .PSV.dial PSR +2 "processing"% +131 "core"  + "processing"%% +4 "core" %\ + #"da"Pulling 0.5ml of PSR.wash +2 .PSR.select :wash +2 "processing"% +10 ."da"PS.reconfigure :default +46 "processing"%#A d`xb +9 ."da"PS.seek 0.5ml +2 "processing"%e' +588 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +3 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%'ԏ +1617 "core" ' + ."da"PTV.dial :puck +2 .PSV.dial PTV +2 "processing"% +71 "core" +2 ."da"PBV.dial :waste1 +2 "processing"%$  +34 "core" + "processing"%1% +4 "core" %Ԏ\  +2 ."da"PS.seek 1.5ml +2 "processing"%%' +627 "core" ' + ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%/ * +34 "core" , +2 ."da"PS.seek 0ml +2 "processing"%' +1613 "core" ' + ."da"delay 2:00 +12004 #recoverPSRreagent08 + .PTV.dial :puck +2 .PBV.dial :waste1 + "processing"%3  +35 "core" + ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%5 * +34 "core" , +2 ."da"PSR.select :air +2 .PSV.dial PSR + "processing"%) +78 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%9'm +346 "Can" +GD +2046 "core" ' +2 ."da"PSV.dial PTV +2 "processing"%0 +78 "core" + ."da"delay 5 seconds +503 .PSV.dial PSR + "processing"%: +77 "core"  +2 ."da"delay 5 seconds +502 .PSV.dial PTV +2 "processing"%; +77 "core" +2 ."da"delay 5 seconds +502 .PSV.dial :air +2 "processing"%  +71 "core"  +2 ."da"PS.seek 0ml +2 "processing"%"' +2344 "core" ' +2 ."da"Gate.power :camera,:ON + #Mixing DA Substrates +2 .PSR.select :air +2 .PSV.dial PSR + "processing"%+ +135 "core"  +2 "processing"%4% +11 "core" %#\ +3 #"da"Pulling 0.25ml of PSR.sub1 +6 .PSR.select :sub1 +6 "processing"% +13 ."da"PS.reconfigure :default +9 "processing"%#A d`xb +7 ."da"PS.seek 0.25ml +5 "processing"%<' +333 "core" ' +2 ."da"delay 5 seconds +502 "processing"%k% +4 "core" %\  + #"da"Pulling 0.25ml of PSR.sub2 +2 .PSR.select :sub2 +2 "processing"% +9 ."da"PS.seek 0.5ml +2 "processing"%'' +344 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +2 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%2'ԏ +1618 "core" ' + ."da"PTV.dial :puck +2 .PSV.dial PTV + "processing"%M +76 "core" + ."da"PBV.dial :waste1 +2 "processing"%  +36 "core" + "processing"%*% +4 "core" %ԍ\ \  +2 ."da"PS.seek 1.5ml +2 "processing"%G' +609 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%= * +46 "core" ) +2 ."da"PS.seek 0ml +2 "processing"%n' +1619 "core" ' +2 ."da"delay 10 seconds +1002 #recoverPSRreagent08 +2 .PTV.dial :puck + .PBV.dial :waste1 +2 "processing"%  +32 "core" + ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%F * +34 "core" , +2 ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"%K +80 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%8'm +2440 "core" ' + ."da"PSV.dial PTV +2 "processing"%6 +81 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PSR +2 "processing"% +82 "core"  + ."da"delay 5 seconds +503 .PSV.dial PTV + "processing"%? +81 "core" + ."da"delay 5 seconds +502 .PSV.dial :air +2 "processing"%I  +73 "core"  +2 ."da"PS.seek 0ml +2 "processing"%A' +2388 "core" ' +2 #"da"Additional air clear + .PSR.select :air +2 .PSV.dial PSR +2 "processing"%@ +140 "core"  + "processing"%c% +4 "core" %)\ + #"da"Pulling 2ml of PSR.air +2 .PSR.select :air +2 .PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 2ml +2 "processing"%J'ԏ +2130 "core" ' + ."da"delay 5 seconds +502 .PTV.dial :puck +2 .PSV.dial PTV +2 "processing"%& +82 "core" + ."da"PBV.dial :waste1 +2 "processing"%L  +36 "core" + "processing"%B% +4 "core" %Ԏ\  +2 ."da"PS.seek 1.5ml +2 "processing"%[' +597 "core" ' + ."da"delay 3 seconds +303 .PBV.dial between PSV and waste1 + "processing"%\\ * +36 "core" , + ."da"delay 1 second +102 .PSV.dial :waste1 +2 "processing"%D  +110 "core"  +2 ."da"PS.seek 0ml +2 "processing"%-' +1618 "core" ' + "processing"%.9 +4 "core" 95 +2 #"da"Processing Puck Heater at 27.9C before imaging + .PH.coast +2 "processing"%  +3 "core" 5 + 5 + "processing"%\ & +3 "core" &Z\ ) +2 #"da"Imaging da puck in Processing Clamp while storing it to tube 1 +2 "manipulator"&C% +3 "core" %\ +  !S +2 "storage"(V% +3 "core" %L  \ +2 "storage"(R. +2 "core" .(  +2 ."da"SC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 ."da"SC.seek 1 +2 "storage"(S(B +369 "core" ( +2 ."da"SC.configure :limp +2 "storage"($\ 1b +3 (H& +2 "core" &C o r =\ +2 "manipulator"&E& +3 "core" &,  +2 "manipulator"&h% +3 "core" %\ +  !S +2 ."da"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 ."da"Elbow.seek 1 +2 "manipulator"&Y(c +183 "core" ( + "manipulator"&Z& +4 "core" &e 1 !w +2 "storage"(`& +3 "core" &C C\ +2 ."da"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 ."da"Forearm.seek 1 + 450 counts +2 "manipulator"&d'Ф +93 "core" ' +2 "storage"(m& +4 "core" &C \ +2 ."da"SE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 ."da"SE.seek :beamBreak +2 "storage"(U'e +280 "core" ' + "storage"(7- +3 "core" -' +2 ."da"SE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&r& +3 "core" &e s !w + "storage"(f& +4 "core" &C ^\ + ."da"Elbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 ."da"Forearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b + ."da"Forearm.seek 1 +2 "manipulator"&^' +28 "core" ' + ."da"Elbow.hold +2 "manipulator"&u, +4 "core" , + ."da"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(Q- +2 "core" -' +2 ."da"SE.seek 1.12 Pucks below Top Plate +2 "storage"( 'd +32 "core" ' + "manipulator"&% +4 "core" %   9 ǽR +2 "storage"(b& +3 "core" &C \ +2 ."da"Forearm.force -20 + "manipulator"&5 +3 ."da"Forearm.seek 1 + 318 counts +2 "manipulator"&l' +20 "core" ' +2 "manipulator"&q& +4 "core" &e x X 3 !w + "storage"(}& +4 "core" &C ]\ +2 ."da"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 ."da"Forearm.seek 1 + 450 counts +2 "manipulator"&z'Ф +16 "core" ' +2 ."da"SE.seek 2.12 Pucks below Top Plate +2 "storage"(v'S +61 "core" ' + "manipulator"&N& +4 "core" &e b a !w +2 "manipulator"&% +4 "core" %Ј ^ `  +2 ."da"Forearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 ."da"Forearm.seek :retract +2 "manipulator"&'\ +88 "core" ' +2 ."da"Elbow.seek PC +2 "manipulator"&i(c +252 "core" ( +2 "manipulator"&X& +4 "core" &f   +2 ."da"Elbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +2 "core" &f   +2 ."da"Forearm.seek PC +54 "manipulator"&y'[ +100 "core" ' + ."da"Hand.close +2 "manipulator"&p/ +56 "core" / +2 ."da"PC.seek :open + "processing"%o(p +396 "core" ( + "storage"(T& +4 "core" &C \ +2 "manipulator"&>& +3 "core" &f   +2 "manipulator"&j% +3 "core" % T 7 +2 ."da"Forearm.seek :retract +2 "manipulator"&'\ +96 "core" ' +2 ."da"Elbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 ."da"Elbow.seek 1 +2 "manipulator"& (c +252 "core" ( + "manipulator"&~& +4 "core" &k ? m +2 "storage"(s& +3 "core" &C \ +3 ."da"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 ."da"Forearm.seek 1 + 450 counts + "manipulator"&'Ф +104 "core" ' +2 ."da"Hand.open +2 "manipulator"&P1 +60 "core" 1 +2 "storage"(- +4 "core" -'S +2 ."da"SE.seek 1.88 Pucks below Top Plate +2 "storage"(O' +24 "core" ' + ."da"SE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 ."da"SE.seek 1.21 Pucks below Top Plate +2 "storage"(' +50 "core" ' + #"da"Lights, camera, ACTION! +4 #PuckCamera: snap -bin=2,2 -auto /var/log/esp/da22sep1316h50ml.tif +1948 #"psFlush"Waiting >20 seconds for da to relinquish FlushPuck +22818 #"da"SX HX9/16 (USB:02): 1392x1040 pixel 16-bit CCD camera\ Exposing 696x520 pixel 16-bit image for 243.428 seconds\ /var/log/esp/da22sep1316h50ml.tif: TIFF Upload Complete\ +4 #PuckCamera: snap -bin=2,2 15.0 /var/log/esp/midres/da22sep1316h50ml15s.tif +1564 #SX HX9/16 (USB:02): 1392x1040 pixel 16-bit CCD camera\ Exposing 696x520 pixel 16-bit image for 15 seconds\ /var/log/esp/midres/da22sep1316h50ml15s.tif: TIFF Upload Complete\ +4 #PuckCamera: snap -bin=2,2 30.0 /var/log/esp/midres/da22sep1316h50ml30s.tif +1711 "Can"\  +1363 #"da"SX HX9/16 (USB:02): 1392x1040 pixel 16-bit CCD camera\ Exposing 696x520 pixel 16-bit image for 30 seconds\ /var/log/esp/midres/da22sep1316h50ml30s.tif: TIFF Upload Complete\ +9 #PuckCamera: snap -bin=1,1 70.0 /var/log/esp/hires/da22sep1316h50ml70s.tif +7173 #SX HX9/16 (USB:02): 1392x1040 pixel 16-bit CCD camera\ Exposing 1392x1040 pixel 16-bit image for 70 seconds\ /var/log/esp/hires/da22sep1316h50ml70s.tif: TIFF Upload Complete\ +2 .Gate.power :camera,:OFF +4 ."Qmail"DAfans.email "243.428 sec auto-exposure",Subject: "da22sep1316h50ml images!" +6 "storage"({- +4 "core" -' +2 "storage"(t& +5 "core" &C 3 2 ?\ +3 "manipulator"&& +3 "core" &l ~ o d l +2 ."da"Elbow.seek 1 +3 "manipulator"&(c +3 "core" ( +2 "manipulator"&w& +5 "core" &l c a A l +2 "storage"(& +4 "core" &C A K\ +2 ."da"Forearm.seek 1 + 450 counts +2 "manipulator"&'Ф +5 "core" ' +2 ."da"SE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 ."da"SE.seek 1.93 Pucks below Top Plate +2 "storage"('^ +47 !"Qmail"o:!Net::SMTPAuthenticationError: mesg"E534-5.7.9 Application-specific password required. Learn more at\ :@checkpoint: omitted:bt["E/opt/mbari/lib/ruby/1.8/net/smtp.rb:954:in `check_auth_response'"/opt/mbari/lib/ruby/1.8/net/smtp.rb:723:in `authenticate'":/opt/mbari/lib/ruby/1.8/net/smtp.rb:566:in `do_start'"7/opt/mbari/lib/ruby/1.8/net/smtp.rb:525:in `start'"2/home/esp/esp2/lib/email.rb:325:in `sendOnce'"3/home/esp/esp2/lib/schedule.rb:292:in `unsync'"3/home/esp/esp2/lib/schedule.rb:594:in `unsync'"3/home/esp/esp2/lib/schedule.rb:621:in `unsync'"2/home/esp/esp2/lib/email.rb:318:in `sendOnce'"./home/esp/esp2/lib/email.rb:340:in `send'",/home/esp/esp2/lib/msg.rb:68:in `retry'"./home/esp/esp2/lib/email.rb:339:in `send'"B/home/esp/esp2/protocol/2G/utilities.rb:163:in `prepAndImage'"-/home/esp/esp2/lib/email.rb:66:in `call'"3/home/esp/esp2/lib/email.rb:66:in `initialize'"-/home/esp/esp2/lib/email.rb:63:in `loop'"3/home/esp/esp2/lib/email.rb:63:in `initialize'"7/home/esp/esp2/lib/schedule.rb:481:in `initialize'"0/home/esp/esp2/lib/thread.rb:738:in `start'"7/home/esp/esp2/lib/schedule.rb:474:in `initialize'"'/home/esp/esp2/lib/schedule.rb:472 +2 !o:Email::Queue::Purge: mesg"Purged output queue:bt[ "//home/esp/esp2/lib/email.rb:106:in `purge'"3/home/esp/esp2/lib/email.rb:75:in `initialize'"-/home/esp/esp2/lib/email.rb:63:in `loop'"3/home/esp/esp2/lib/email.rb:63:in `initialize'"7/home/esp/esp2/lib/schedule.rb:481:in `initialize'"0/home/esp/esp2/lib/thread.rb:738:in `start'"7/home/esp/esp2/lib/schedule.rb:474:in `initialize'"'/home/esp/esp2/lib/schedule.rb:472 +10 "core" ' +2 "manipulator"&& +4 "core" &l _ V y l +2 "storage"( & +3 "core" &C 1\ +2 ."da"Elbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 ."da"Forearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 ."da"Forearm.seek 1 +2 "manipulator"&]' +33 "core" ' + ."da"Elbow.hold +2 "manipulator"&W, +4 "core" , + ."da"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 ."da"SE.reconfigure :default +2 "storage"(#QK-0-\ b +2 ."da"SE.seek 2.11 Pucks below Top Plate +2 "storage"('H +30 "core" ' + "manipulator"&!% +5 "core" % J + "storage"(& +4 "core" &C { | \ + ."da"Forearm.force -20 +2 "manipulator"&5 +3 ."da"Forearm.seek 1 + 318 counts +2 "manipulator"&x' +17 "core" ' +2 "manipulator"&& +4 "core" &l i f F l +2 "storage"(a& +4 "core" &C G\ +2 ."da"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 ."da"Forearm.seek 1 + 450 counts +2 "manipulator"& 'Ф +19 "core" ' +2 "storage"(% +4 "core" %L y\ +2 ."downElevator"SE.seek :down +3 "storage"(('N +99 (e% +3 "core" %W4 h\ QN +2 "manipulator"&% +4 "core" %Ї T R :  +2 ."da"Forearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 ."da"Forearm.seek :retract + "manipulator"&$'\ +87 "core" ' +43 ' + ."downElevator"SE.stop + "storage"(5 +3 (1& +4 "core" &C 9\ +2 #"psFlush"Loading FlushPuck into Processing Clamp from FlushPuck::Garage +3 #tStarting finalPurge +2 "processing"%& +68 "core" &\ + "manipulator"&/& +4 "core" &l _ l +2 "manipulator"&%% +3 "core" %\ * \\ K +2 ."psFlush"Elbow.seek FlushPuck::Garage +2 "manipulator"&3(, +189 "core" ( + "manipulator"&5& +4 "core" &,  & +2 ."psFlush"Elbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &)& +2 "core" &,  & +2 ."psFlush"Forearm.seek :garage +2 "manipulator"&' +102 "core" ' +2 ."psFlush"Hand.close + "manipulator"&0/ +55 "core" / + "manipulator"&:& +4 "core" &,  = & +2 "manipulator"&;% +3 "core" %  +2 ."psFlush"Forearm.seek :retract +2 "manipulator"&'\ +97 "core" ' +2 ."psFlush"Elbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 ."psFlush"Elbow.seek PC +2 "manipulator"&9(c +157 "core" ( +2 "manipulator"&+& +4 "core" &c 9 +2 ."psFlush"Elbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &4& +3 "core" &c  +2 ."psFlush"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 ."psFlush"Forearm.seek PC +2 "manipulator"&"'[ +100 "core" ' + "manipulator"&k& +5 "core" &c U + "manipulator"&<% +4 "core" %^ @ +2 "processing"%'& +4 "core" &\ +2 "processing"%M& +4 "core" &\ +2 ."psFlush"PC.seek :closed +2 "processing"% (Z +4 "core" &\ \ +9 &0z\ *x +10 &d\ > +9 &Ex\ N +10 &Y\ M +9 &]\ M +9 &]\ M +10 &!N_\ M +9 &#X\ M +9 &$\\\ L +10 &&\\\ M +9 &(W]\ M +10 &*X\ M +9 &+X\ M +9 &-Z\ L +10 &/_\\\ M +9 &1"Y\ L +9 &2\\}\ M +10 &4\\\ M +9 &6gYo\ M +10 &8*^}\ L +9 &9Zw\ L +9 &;]{\ M +10 &=o\\\ M +9 &?1]~\ M +9 &@]\ M +10 &BY\ L +9 &DwYz\ M +10 &F9Z\ M +9 &G`\ M +9 &Ii|\ N +10 &Kuv\ P +9 &M/}\ S +9 &N\ S +10 &P|\ S +9 &Rs\ S +10 &T5~\ S +9 &U\ T +9 &Wz\ T +10 &Yy~\ A +9 &Zv:}\ _ +9 &Zy\ * +3 ( + "processing"%M& +3 #"psFlush"Processing Clamp onSpring/offSpring for 9/25 samples, on/off torque 1.59 +2 "processing"%*& +4 "core" &Z|\ * + ."psFlush"Hand.open +2 "manipulator"&21 +56 "core" 1 +2 "manipulator"&=% +4 "core" % ^ Q +2 ."psFlush"Forearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 ."psFlush"Forearm.seek :retract +3 "manipulator"&G'\ +104 "core" ' +2 ."psFlush"PSR.select :air +2 .PSV.dial PSR + "processing"% +50 "core"  +2 "processing"%F% +4 "core" %O\ + #"psFlush"Pulling 0.5ml of PSR.flush +2 .PSR.select :flush +2 "processing"%@ +10 ."psFlush"PS.seek 0.5ml + "processing"%K' +453 #tWaiting >20 seconds for psFlush to relinquish FlushPuck +141 "core" ' +2 ."psFlush"delay 5 seconds +502 .PSR.select :air +24 "processing"% +9 ."psFlush"PS.seek 2.5ml +2 "processing"%n'm +2142 "core" ' +2 ."psFlush"delay 1 second +101 .PRV.dial :waste2,avoiding: :ab2 +2 "processing"%6 @ +183 "core" A + ."psFlush"PTV.dial :PRVmixing +2 "processing"%  +125 "core" + ."psFlush"PSV.dial :mixloop +2 "processing"%? +100 "core" +2 ."psFlush"PS.seek :empty +2 "processing"%I' +2646 "core" ' + ."psFlush"PSR.select :air +2 .PSV.dial PSR +2 "processing"%8 +107 "core"  +2 "processing"%@% +4 "core" %\ + #"psFlush"Pulling 0.5ml of PSR.flush +2 .PSR.select :flush +2 "processing"%@ +9 ."psFlush"PS.seek 0.5ml +2 "processing"%c' +597 "core" ' +2 ."psFlush"delay 5 seconds +502 .PSR.select :air +54 "processing"% +10 ."psFlush"PS.seek 2.5ml +2 "processing"%A'm +2114 "core" ' +2 ."psFlush"delay 1 second +102 .PBV.dial :waste1 +2 "processing"%&  +34 "core" + ."psFlush"PTV.dial :mixing +2 "processing"%L @ +70 "core" A + ."psFlush"PSV.dial :mixloop +2 "processing"%B +110 "core" + ."psFlush"PS.seek :empty +2 "processing"%J' +2637 "core" ' + ."psFlush"PSV.dial PSR +2 "processing"%\\ +121 "core" + ."psFlush"PSR.select :flush +2 "processing"%@ +10 ."psFlush"PS.seek 1ml +2 "processing"%D'T +1102 "core" ' + ."psFlush"PSR.select :air +2 "processing"% +10 ."psFlush"PS.seek 2.5ml +2 "processing"%['m +1613 "core" ' + ."psFlush"PSV.dial PTV +2 "processing"%. +76 "core" +2 ."psFlush"PTV.dial :puck +2 "processing"%  +70 "core"  + ."psFlush"PBV.dial :waste1 +3 .PS.seek 0ml + "processing"%\ ' +2642 "core" ' + ."psFlush"PSV.dial PSR +2 "processing"%C +78 "core"  + ."psFlush"PSR.select :flush +3 "processing"%@ +9 ."psFlush"PS.seek 0.5ml +2 "processing"%V' +588 "core" ' + ."psFlush"PSR.select :air +3 "processing"% +9 ."psFlush"PS.seek 2.5ml +2 "processing"%R'm +2138 "core" ' + ."psFlush"PSV.dial PTV +2 "processing"%g +78 "core" +2 ."psFlush"PBV.dial PSV +2 "processing"%H U +53 "core" V +2 ."psFlush"PS.seek 0ml +2 "processing"%E' +2636 "core" ' +2 ."psFlush"PSV.dial PBV + "processing"%h @ +49 "core" > +2 ."psFlush"PS.seek 2.5ml +2 "processing"%Z'm +2657 "core" ' + ."psFlush"PSV.dial :waste1 +2 "processing"%`  +73 "core"  +2 ."psFlush"PS.seek 0ml +2 "processing"%m' +2638 "core" ' +2 ."psFlush"PSV.dial PSR +2 "processing"%# +50 "core"  + ."psFlush"PSR.select :air +3 .PS.seek 2.5ml + "processing"%,'m +2651 "core" ' + ."psFlush"PSV.dial PTV +2 "processing"%7 +72 "core" + ."psFlush"PBV.dial PSV +3 .PS.seek 0ml + "processing"%r' +2632 "core" ' +2 ."psFlush"PSV.dial PBV + "processing"%f @ +49 "core" ? +2 ."psFlush"PS.seek 2.5ml +2 "processing"%Q'm +2632 "core" ' + ."psFlush"PSV.dial :waste1 +2 "processing"%  +72 "core"  +2 ."psFlush"PS.seek 0ml +2 "processing"%b' +2633 "core" ' + ."psFlush"PSV.dial PSR +2 "processing"%q +49 "core"  + ."psFlush"PSR.select :flush +3 "processing"%@ +9 ."psFlush"PS.seek 1ml +2 "processing"%}'T +1102 "core" ' + ."psFlush"PSR.select :air +2 "processing"% +10 ."psFlush"PS.seek 2.5ml +2 "processing"%N'm +1610 "core" ' + ."psFlush"PSV.dial PTV +2 "processing"% +72 "core" + ."psFlush"PTV.dial :puck +2 .PBV.dial :waste1 +2 "processing"%d  +53 "core" +2 ."psFlush"PS.seek 0ml +2 "processing"%Y' +2635 "core" ' + ."psFlush"PSV.dial PSR +2 "processing"%U +78 "core"  + ."psFlush"PSR.select :flush +3 "processing"%@ +9 ."psFlush"PS.seek 0.5ml +2 "processing"%^' +597 "core" ' +2 ."psFlush"PSR.select :air + "processing"% +10 ."psFlush"PS.seek 2.5ml +2 "processing"%l'm +2120 "core" ' + ."psFlush"PSV.dial PTV +2 "processing"% +91 "core"  + ."psFlush"PBV.dial PSV +2 "processing"%z U +53 "core" V +2 ."psFlush"PS.seek 0ml +2 "processing"%X' +430 "Can" 1A> +2206 "core" ' +2 ."psFlush"PSV.dial PBV + "processing"% @ +47 "core" ? +2 ."psFlush"PS.seek 2.5ml +2 "processing"%u'm +2628 "core" ' + ."psFlush"PSV.dial :waste1 +2 "processing"%p  +72 "core"  +2 ."psFlush"PS.seek 0ml + "processing"%' +2640 "core" ' +2 ."psFlush"PSV.dial PSR + "processing"% +49 "core"  + ."psFlush"PSR.select :air +3 .PS.seek 2.5ml +2 "processing"%T'm +2649 "core" ' + ."psFlush"PSV.dial PTV +2 "processing"%> +72 "core" + ."psFlush"PBV.dial PSV +2 .PS.seek 0ml +2 "processing"%j' +2638 "core" ' +2 ."psFlush"PSV.dial PBV + "processing"%y @ +49 "core" > +2 ."psFlush"PS.seek 2.5ml +2 "processing"%~'m +2650 "core" ' +2 ."psFlush"PSV.dial :waste1 + "processing"%s  +74 "core"  +2 ."psFlush"PS.seek 0ml +2 "processing"%i' +2635 "core" ' +2 #tLoading FlushPuck into Collection Clamp from Processing Clamp + "collection"'P& +4 "core" &C  +2 "manipulator"&& +3 "core" &c y y +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC + "manipulator"&(c +3 "core" ( +2 "manipulator"&v& +3 "core" &c x B +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &O& +2 "core" &c i t  +2 .tForearm.seek PC +2 "manipulator"&{'[ +93 "core" ' + .tHand.close +2 "manipulator"&t/ +61 "core" / +2 .tPC.seek :open + "processing"%(p +393 "core" ( + "manipulator"&w& +4 "core" &c  +2 "manipulator"&% +3 "core" % f T +2 .tForearm.seek :retract +2 "manipulator"&'\ +99 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC + "manipulator"& ( +360 "core" ( + "manipulator"&!& +4 "core" &+ / c Bf + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &,   Bf +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&'| +98 "core" ' +2 "manipulator"&a& +4 "core" &* M @^ +2 "manipulator"&% +4 "core" %~ ^ + "collection"' & +4 "core" &\ +2 "collection"'& +5 "core" &\ +2 .tCC.seek :closed + "collection"'(] +5 "core" &\  +9 &2\ *y +9 &c\ > +10 &D|!\ N +9 &_i\ M +9 &c\ M +10 &b\ N +9 &!M`Y\ N +9 &#`\ N +10 &$^\ M +9 &&`\ N +10 &(V^\ M +9 &*_\ N +9 &+b\ N +10 &-]\ N +9 &/]a\ N +9 &1e\ N +10 &2`\ M +9 &4_\ M +10 &6e_\ N +9 &8(_\ M +9 &9\\\ M +10 &;^\ M +9 &=lb\ N +9 &?0]\ M +10 &@_\ M +9 &B^\ M +10 &Dv]\ M +9 &F7a\ N +9 &Gb\ N +10 &Ij\ O +9 &Kuv\ P +9 &M,\ T +10 &N\ V +9 &P\ W +10 &Rh\ X +9 &T&\ Y +9 &U\ Z +10 &W\ Z +9 &Yd\ \\ +9 &['\ [ +10 &\\{\ 5 +9 &]$\ (u +10 &]\ [ +2 ( + "collection"'& +3 #tCollection Clamp onSpring/offSpring for 9/25 samples, on/off torque 2.00 +2 "collection"'e& +4 "core" &]\ [ + .tHand.open +2 "manipulator"&1 +52 "core" 1 + "manipulator"&% +5 "core" % } + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +92 "core" ' +2 #tFlushing the Collection Valve::Manifold + "collection"'& +4 "core" &]\ [ + "collection"']% +4 "core" %\ + .tCSV.dial CSR +2 "collection"'1  +42 "core"  +2 "collection"'x% +4 "core" %\ + #tPulling 5ml of CSR.flush + .CSR.select :flush +50 "collection"' +10 .tCS.seek 5ml +2 "collection"''s +1355 "core" ' +2 .tdelay 5 seconds +502 .CSR.select :air +2 "collection"' +9 '% +2 "core" %s\ \  +2 .tCS.reconfigure :fast +3 "collection"'#d @b +2 .tCS.seek 7.5ml +2 "collection"'/'n +646 "core" ' + .tCSV.dial :waste +2 "collection"'% +123 "core" +2 .tCS.reconfigure :default +3 "collection"'#P d@b +2 .tCS.seek 0ml +2 "collection"' ' +1987 "core" ' + #tFlushing lower manifold's waste1 port +2 "collection"'5& +4 "core" &] \ [ + "collection"')% +4 "core" %\ + .tCSV.dial :flush +2 "collection"'(  +42 "core"  +2 .tCS.reconfigure :fast +3 "collection"'#d @b +2 .tCS.seek 5ml +2 "collection"'W's +1221 "core" ' +2 .tdelay 5 seconds +502 .CSV.dial :air +2 "collection"'0 @ +54 "core" ? + "collection"':% +4 "core" %s \  +2 .tCS.seek 7ml +2 "collection"';' +528 "core" ' +2 ."connect"CSV.dial CTV +4 .tCTV.dial CSV +2 "collection"'$  + '+  +43 "core"  +87  + .tCBV.dial :waste1 +2 "collection"'4 @ +44 "core" > +2 .tCS.seek 0ml +2 "collection"'' +1638 "core" ' +2 #tFlushing lower manifold's waste2 port + "collection"'k& +4 "core" &]\ \ [ +2 "collection"'<% +4 "core" %\ + .tCSV.dial :flush +2 "collection"''  +70 "core" +2 .tCS.seek 5ml +2 "collection"'3's +1207 "core" ' + .tdelay 5 seconds +503 .CSV.dial :air +2 "collection"' @ +42 "core" A +2 "collection"'o% +4 "core" %s\  +2 .tCS.seek 7ml +2 "collection"'*' +533 "core" ' + ."connect"CSV.dial CTV +4 .tCTV.dial CSV + "collection"'2  +40 "core"  +2 .tCBV.dial :waste2 +2 "collection"'=  +103 "core"  +2 .tCS.seek 0ml + "collection"'M' +1637 "core" ' +2 #tDisinfecting external Intake with kill + "collection"'& +4 "core" &]\ [ +2 "collection"'F% +3 "core" %\ +2 .tCSV.dial CSR + "collection"'"  +52 "core"  +2 "collection"'-% +4 "core" %l\ + #tPulling 8ml of CSR.kill +2 .CSR.select :kill + "collection"' +10 .tCS.seek 8ml +2 "collection"'K'X +1886 "core" ' +2 .tdelay 5 seconds +502 .CSR.select :air +2 "collection"' +10 .tCS.seek 10ml + "collection"'6' +530 "core" ' +3 ."connect"CSV.dial CBV +3 .tCBV.dial CSV +2 "collection"' + '?  +99 "core" +41  + .tCTV.dial :intake + "collection"'n  +72 "core" +2 .tIntake.select :open + "sampler") +10 .tCS.seek 2ml + "collection"'8'~ +1879 "core" ' + .tIntake.select :close + "sampler")0 +9 .tCTV.dial :air +2 "collection"'@  +69 "core"  +2 .tCS.reconfigure :default +3 "collection"'#P d@b +2 .tCS.seek 0ml +2 "collection"'I' +584 "core" ' + .tCSV.dial CSR +2 "collection"'c  +98 "core"  +2 "collection"'&% +4 "core" %_\ + #tPulling 5ml of CSR.flush + .CSR.select :flush +2 "collection"' +10 .tCS.seek 5ml +2 "collection"'L's +1361 "core" ' +2 .tdelay 5 seconds +502 .CSR.select :air +2 "collection"' +9 .tCS.seek 10ml +2 "collection"'B' +1349 "core" ' + .tCSV.dial CBV + "collection"'A +98 "core" +2 .tCS.seek 0ml + "collection"'\\' +2625 "core" ' + #tGaraging FlushPuck in Collection Clamp +2 "manipulator"&J& +4 "core" &)#  ;8 +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&D( +31 "core" ( +2 "manipulator"&.& +4 "core" & L  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +2 "core" & P  +2 .tForearm.seek CC +2 "manipulator"&['| +101 "core" ' + .tHand.close +2 "manipulator"&C/ +53 "core" / +2 .tCC.seek :open +2 "collection"'\ (p +409 "core" ( + "manipulator"&V& +4 "core" &    +2 "manipulator"&g% +3 "core" % n 2 +2 .tForearm.seek :retract +2 "manipulator"&H'\ +93 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage + "manipulator"&R(, +266 "core" ( + "manipulator"&h& +4 "core" &, :  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &E& +3 "core" &, Q  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek :garage + "manipulator"&`' +111 "core" ' +2 .tHand.open + "manipulator"&Z1 +58 "core" 1 + "manipulator"&#% +4 "core" %   +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&m'\ +98 "core" ' + "processing"%7& +4 "core" &\ +13360 "Can" 595 +60002  595 +58542 #t-> access 1 +3 "storage"(,% +3 "core" %? 1\ + "manipulator"&f% +4 "core" %\ + q !S +2 "manipulator"&r& +3 "core" &, S  +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 5 + "storage"((<< +1312 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (Q& +2 "core" &<: d d\ ! +116 "Can" 396 +4177 #t-> access 2 +2 "storage"(q% +3 "core" %? 4\ +2 "manipulator"&b% +4 "core" %\ + _ !S +2 "manipulator"&}& +3 "core" &, D  +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"((K +347 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +2 (d& +3 "core" &K y \  +3961 #t-> exit +6 #mEXIT @1663105373.12EDT @1663156989.43EDT = =mMAIN_scheduler =tMAIN @EDT1663156991.30 #"core_reset"Sent BREAK + #t@12203 receive with ifg=0x10, ie=0xFD + #@12840 receive with ifg=0x10, ie=0xFD + #@13497 receive with ifg=0x10, ie=0xFD + #@14133 receive with ifg=0x10, ie=0xFD #@14770 receive with ifg=0x10, ie=0xFD + #@15404 receive with ifg=0x10, ie=0xFD + #@16039 receive with ifg=0x10, ie=0xFD #@16365 receive with ifg=0x80, ie=0xFD + #@52248 idle with ifg=0x00, ie=0x75 #ESP2 v3.41 I2C Gateway v3.20 +10 #ESP2 v3.41 I2C Gateway v3.20 for core bus +208 !o:Instrument::ISUSCore: @configS:Instrument::Configuration: name" ISUS:calFileName0:sampleCmd"TS: prompt"\ :statusCmd"C:sampleTimeouti#:promptTimeouti:statusTimeouti: retriesi:strToPrompt"W: pace0: echoF: @refiFf:\ @name@ +99 #Configuration for don (12651-03) 10/9/20 brent@mbari.org\ /home/esp/esp2/type/shallow/don/configure.rb\ +388 "Can"C /;8 + C /;8 + #tPolling Can every 10:00 + #Cleanly exited at 17:42:53EDT13-Sep-22 +1227 #-> ESP.ready! +154 "sampler") +2 ) + "core"  +2 "collection"' +2 ' +3 "core"  +2 "processing"% + % +3 "core"  +5 "collection"' 9\ +2 ' 0\ +2 ' -\ +4 "processing"% 9\ +2 % 2\ +2 % *\ +2 % 0\ +4 "sampler")&\ +2 "collection"'% +2 "core" %  +2 .tCS.configure :default +3 "collection"'#P d@b +2 .tCS.hold + "collection"'+ +4 "core" + + .tCS.configure :default +3 "collection"'#P d@b +2 "processing"%% +3 "core" %n\ + .tPS.configure :default +3 "processing"%#A d`xb +2 .tPS.hold + "processing"%+ +4 "core" + + .tPS.configure :default +3 "processing"%#A d`xb +2 "sampler")% +3 "core" %8  +2 .tSS.configure :default +2 "sampler")#.0X access 3 +2 "storage"(2% +3 "core" %? o i L\ +2 "manipulator"&3% +4 "core" %\ + !S + "manipulator"&4& +4 "core" &,   +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 7 +2 "storage"(5([ +384 "core" ( +2 .tSC.configure :limp +3 "storage"($\ 1b +3 (6& +2 "core" &[ _\ +821 #t-> access 4 +2 "storage"(7% +3 "core" %? @\ +2 "manipulator"&8% +3 "core" %\ +  !S +2 "manipulator"&9& +4 "core" &,   + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 1 +2 "storage"(:(B +1939 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (;& +3 "core" &E M K \ +1090 #t-> require 'shuffle.rb' +3158 #-> 5.times {shuffle 2..4] +2 !o:SyntaxError: mesg"Gcompile error\ (ESP):5: syntax error, unexpected ']', expecting '}':bt["(ESP):5:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +1109 #-> 5.times{shuffle 2..4] + !o:SyntaxError: mesg"Gcompile error\ (ESP):6: syntax error, unexpected ']', expecting '}':bt["(ESP):6:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +1683 #-> 5.times {shuffle 2..4} +2 #Shuffling pucks in tube 2 of [2..4] +2 #Loading generic puck from tube 2 into Collection Clamp +2 "collection"'<& +3 "core" &  +2 .tHand.open + "manipulator"&=1 +25 "core" 1 +2 "manipulator"&>% +4 "core" %\ + # !S + "storage"(?% +4 "core" %? 7\ + "storage"(@. +3 "core" .(E +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 + "storage"(A(  +363 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (B& +3 "core" & F W c\  +2 "manipulator"&C& +4 "core" &,   + "manipulator"&D% +4 "core" %\ + ) !S +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&E(; +181 "core" ( +2 "manipulator"&F& +4 "core" &>  "| +2 "storage"(G& +3 "core" & {\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&H'Ѐ +98 "core" ' + "storage"(I& +4 "core" & /\  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(J'e +280 "core" ' + "storage"(K- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (L& +3 "core" & y q\  + "manipulator"&M& +4 "core" &?  "{ +2 .tElbow.seek 2 + "manipulator"&N(; +44 "core" ( +2 "manipulator"&O& +3 "core" &? 8 "{ +2 "storage"(P& +4 "core" & \  +2 .tForearm.seek 2 + 300 counts + "manipulator"&Q' +24 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&R/ +55 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&S& +2 "storage"(T'N +7 "core" &?  "{ +2 "manipulator"&U% +4 "core" %   +2 .tForearm.seek :retract + "manipulator"&V'\ +93 "core" ' +2 .tElbow.seek CC +2 "manipulator"&W( +149 "core" ( ' +2 "manipulator"&X& + ."downElevator"SE.stop +6 "storage"(5 +4 "core" &%  <: +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &Y& +3 "core" &%  <9 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&Z'| +102 "core" ' +2 "manipulator"&[& +4 "core" &%  <9 +2 "manipulator"&\\% +4 "core" %s  + "collection"']& +4 "core" &  +2 "collection"'^& +5 "core" & \ \ +2 .tCC.seek :closed +2 "collection"'_(] +4 "core" &  +8 &8  \ $e +9 &jT  \ 7 +10 &~  \ L +9 &q^  \ N +10 &2_ \ N +9 &] \ N +9 & _ \ N +10 &"xa \ \ N +9 &$;] \  \ N +9 &%b \  \ N +10 &'b \  \ N +9 &)a  \ O +10 &+A` \  \ O +9 &-` \  \ N +9 &.c  \ O +10 &0`  \ O +9 &2Jc \ N +9 &4 ]  \ N +10 &5Z \ \ N +9 &7^ \ \ N +10 &9SZ \ \ N +9 &;_ \ \ N +9 &<_  \ N +10 &>b \ N +9 &@Y_ \ O +9 &Ba \ \ O +10 &C_ \ N +9 &E_ \ N +10 &Gag \ O +9 &Ip \ \ P +9 &J~ \ R +10 &L  \ U +9 &NP  \ W +9 &P  \ X +10 &Q \ Y +9 &S  \ Y +9 &UP  \ Z +10 &W  \ Z +9 &X \ [\ +10 &Z  \ \\ +9 &\\R  \ I +9 &]^; \ &q +10 &]x \ K +5 ( +2 "collection"'^& +4 #tCollection Clamp onSpring/offSpring for 10/26 samples, on/off torque 1.99 + .Hand.open +2 "manipulator"&`1 +3 "core" &]p \ K +59 1 + "manipulator"&a% +4 "core" % { C +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&b'\ +98 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%c& +5 "core" &~\ + "manipulator"&d% +4 "core" %\ 1 N $s +2 "storage"(e% +3 "core" %; I H \ +2 "storage"(f. +3 "core" .(  +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 + "storage"(g(  +6 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (h& +3 "core" &   \  +2 "manipulator"&i& +3 "core" & $ m ;7 +2 "manipulator"&j% +4 "core" %\ 1 $s +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&k(; +163 "core" ( + "manipulator"&l& +4 "core" &= v  +2 "storage"(m& +4 "core" & s s 7\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&n'Ѐ +101 "core" ' + "storage"(o& +5 "core" & \ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +7 .tSE.seek :beamBreak +2 "storage"(p'e +281 "core" ' + "storage"(q- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (r& +3 "core" & o b :\ +2 "manipulator"&s& +3 "core" &=   +2 .tElbow.seek 2 +2 "manipulator"&t(; +3 "core" ( + "manipulator"&u& +4 "core" &=   +2 "storage"(v& +3 "core" & q q\ +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&w' +10 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&x/ +58 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&y& +2 "storage"(z'N +7 "core" &=   +2 "manipulator"&{% +4 "core" % @ C +2 .tForearm.seek :retract + "manipulator"&|'\ +91 "core" ' + .tElbow.seek PC +2 "manipulator"&}(c +164 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +70 "core" ( +2 "manipulator"&~& +4 "core" &[ T +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &[ \ T +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&'[ +102 "core" ' +2 "manipulator"&& +4 "core" &[ I T +2 "manipulator"&% +4 "core" %d 6 +2 "processing"%& +3 "core" &z\ +3 "processing"%& +5 "core" &,\ +2 .tPC.seek :closed + "processing"%(Z +5 "core" &/\ +7 &</\ %f +9 &sV0\ 8 +10 &0\ M +9 &Z3\ N +10 &J[,\ N +9 & ]%\ N +9 & b\ N +10 &"X\ N +9 &$R`\ N +9 &&_\ N +10 &']"\ M +9 &)\\\ M +9 &+ZZ"\ N +10 &-]\ M +9 &.]'\ M +10 &0[\ M +9 &2c^G\ M +9 &4$^\ N +10 &5]\ N +9 &7Z\ N +9 &9kY\ M +10 &;-\\\ M +9 &<Y\ N +10 &>a\ N +9 &@r_E\ N +9 &B4]\ N +10 &C]3\ N +9 &E\\\ N +9 &Gwe\ O +10 &I7mG\ O +9 &J}+\ R +10 &L\ S +9 &Nn1\ T +9 &P1\ T +10 &QS\ T +9 &S\ U +9 &Uv\ T +10 &W6\ U +9 &X\ U +10 &ZRIg\ 's +9 &Z5\ , +5 ( +2 "processing"%& +4 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.57 + .Hand.open +2 "manipulator"& 1 +3 "core" &Z \ , +51 1 + "manipulator"& % +5 "core" % d : + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"& '\ +100 "core" ' +2 "processing"%& +4 "core" &Z \ , +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 + "manipulator"&% +4 "core" %\ 5  & + "storage"(% +4 "core" %I K I /\ + "storage"(. +3 "core" .(  +2 "storage"(& +4 "core" & I S \ +2 "storage"(& +2 "manipulator"&& +7 "core" & L I \ + &[ # T +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +2 "storage"(#]kK-0-\ b +2 .tElbow.seek PC +5 "manipulator"&(c +3 ."raiseStack"SE.seek :beamBreak +2 "storage"('e +2 "core" ( +2 "manipulator"&& +4 "core" &[ - T + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &[ ) T +2 .tForearm.seek PC + "manipulator"&'[ +96 "core" ' + .tHand.close +2 "manipulator"&/ +53 "core" / +2 .tPC.seek :open +2 "processing"%(p +98 "core" ' + "storage"(- +3 "core" -'e +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"( 'B +43 "core" ' +239 ( + "storage"(!& +4 "core" & s q\ +2 "manipulator"&"& +4 "core" &[ F T + "manipulator"&#% +4 "core" % c n +2 .tForearm.seek :retract + "manipulator"&$'\ +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&%(; +270 "core" ( +2 "manipulator"&&& +4 "core" &@ \\ + "storage"('& +4 "core" & q q\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&('Ѐ +103 "core" ' +2 .tHand.open + "manipulator"&)1 +61 "core" 1 +2 "storage"(*- +3 "core" -'B +3 .tSE.seek -0.16 Pucks below Top Plate + "storage"(+' +27 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.83 Pucks below Top Plate + "storage"(,' +53 "core" ' +2 #tLights, camera, ACTION! + "storage"(-- +4 "core" -' + "storage"(.& +4 "core" & j\ + "manipulator"&/& +4 "core" &@  +2 .tElbow.seek 2 +2 "manipulator"&0(; +4 "core" ( + "manipulator"&1& +4 "core" &@ @ + "storage"(2& +4 "core" & \ +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&3'Ѐ +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"(4'M +57 "core" ' + "manipulator"&& +5 "core" &@ } + "storage"(6& +4 "core" & Z f \ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 + "manipulator"&7'ξ +33 "core" ' + .tElbow.hold +2 "manipulator"&8, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"(9'7 +23 "core" ' + "manipulator"&5% +5 "core" %L 3 3 ̮ + "storage"(;& +5 "core" & G H\ + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 2 + 318 counts +2 "manipulator"&<' +18 "core" ' +2 "manipulator"&=& +4 "core" &? g c +2 "storage"(>& +4 "core" & P\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&?'Ѐ +17 "core" ' + "storage"(@% +5 "core" %> \ +2 ."downElevator"SE.seek :down +4 "storage"(:'N +98 (B% +3 "core" %;< q r\ U] +2 "manipulator"&C% +4 "core" %o e d  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&D'\ +87 "core" ' +61 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (F& +3 "core" & ` U \ +2 "collection"'G& +4 "core" &]n \ K +2 #tStoring generic puck in Collection Clamp to tube 2 + "manipulator"&I% +4 "core" %\ &  B +2 "storage"(% +4 "core" %? s t\ + "storage"(. +3 "core" .(  +2 "storage"(K& +3 "core" & t s\ +2 "storage"(L& +4 "core" & t s\ +2 "manipulator"&M& +4 "core" &? b + .tElbow.seek 2 +2 "manipulator"&O(; +3 "core" ( +2 "manipulator"&P& +4 "core" &? q + "storage"(R& +4 "core" & s r T\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&S'Ѐ +103 "core" ' +2 "storage"(U& +4 "core" & !\ +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +50 .tSE.seek :beamBreak +2 "storage"(E'e +276 "core" ' +2 "storage"(H- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&X& +3 "core" &? f e  + "storage"(Y& +4 "core" & n\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&J'ξ +36 "core" ' +2 .tElbow.hold + "manipulator"&Q, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"([- +2 "core" -' +2 .tSE.seek 0.12 Pucks below Top Plate +2 "storage"(\\'r +27 "core" ' +2 "manipulator"&]% +4 "core" %G J I * ͭ + "storage"(N& +4 "core" & \ \  \ + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 2 + 302 counts +2 "manipulator"&T' +17 "core" ' + "manipulator"&V& +4 "core" &: L o g \ +2 "storage"(\ & +4 "core" & i \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&`'Ѐ +18 "core" ' +2 .tSE.seek 1.12 Pucks below Top Plate +2 "storage"(a'a +46 "core" ' +2 "manipulator"&c& +4 "core" &: c ^ \ +2 "manipulator"&d% +4 "core" %~ f f " +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&e'\ +87 "core" ' +2 .tElbow.seek CC + "manipulator"&f( +155 "core" ( +2 "manipulator"&^& +4 "core" &&  =A + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &h& +3 "core" && g =A +2 .tForearm.seek CC + "manipulator"&i'| +96 "core" ' + .tHand.close +2 "manipulator"&j/ +56 "core" / +2 .tCC.seek :open + "collection"'Z(p +411 "core" ( + "storage"(l& +4 "core" & \ +2 "storage"(m& +4 "core" & \ + "manipulator"&A& +4 "core" &" m 9( + "manipulator"&o% +4 "core" % u  +2 .tForearm.seek :retract +2 "manipulator"&W'\ +98 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&b(; +187 "core" ( + "manipulator"&q& +5 "core" &@ 5 O + "storage"(r& +4 "core" & "\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 2 + "manipulator"&s'ξ +114 "core" ' + .tElbow.hold +2 "manipulator"&u, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&v1 +57 "core" 1 +3 "manipulator"&x% +4 "core" % ` * 1 C ʳ +2 "storage"(y& +4 "core" & N L &\ + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 312 counts + "manipulator"&{' +17 "core" ' +2 "manipulator"&k& +4 "core" &5\ [ k ) Z +2 "storage"(n& +4 "core" & \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&p'Ѐ +15 "core" ' + "storage"(w% +5 "core" %Y '\ +2 ."downElevator"SE.seek :down +4 "storage"(~'N +98 (% +3 "core" %?; | 4\ U\\ +2 "manipulator"&t% +4 "core" %~ a f c +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +87 "core" ' +51 ' +2 ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 3 of [2..4] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"'& +4 "core" & \ +2 "manipulator"&% +4 "core" %\ ( ) L +2 "storage"(z% +4 "core" %> } \ + "storage"(|. +4 "core" .(  +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"( ( +351 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 ( & +3 "core" & S _ *\  +2 "manipulator"& & +4 "core" &6\ 0 Y + .tElbow.seek 3 +2 "manipulator"&(D +18 "core" ( +2 "manipulator"&& +4 "core" &b  6 +2 "storage"(& +4 "core" & +\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&' +105 "core" ' +2 "storage"(& +4 "core" & \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"('e +281 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (& +2 "core" & y Z\  +2 "manipulator"&& +3 "core" &j & . +2 .tElbow.seek 3 +2 "manipulator"&(D +19 "core" ( + "manipulator"&& +4 "core" &L _ u R  +2 "storage"(& +4 "core" & \  +2 .tForearm.seek 3 + 300 counts + "manipulator"&'y +20 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&}/ +59 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"& & "storage"('N +7 "core" &L <  +2 "manipulator"&!% +4 "core" %   +2 .tForearm.seek :retract + "manipulator"&"'\ +92 "core" ' +2 .tElbow.seek CC +2 "manipulator"&#( +149 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +3 "core" ( +2 "manipulator"&& +4 "core" &% 2 <? +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &%  <? +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&&'| +103 "core" ' +2 "manipulator"&'& +4 "core" &%  <? +2 "manipulator"&% +4 "core" %ρ 6 +2 "collection"')& +4 "core" & \ +2 "collection"'*& +5 "core" & \ \ +2 .tCC.seek :closed +2 "collection"'-(] +4 "core" &  \  +8 &2 \ \ *x +10 &b \ > +9 &Gy \ N +10 &] \ N +9 &_ \ N +9 &` \ \ N +10 &!L_ \ O +9 &#_ \ N +9 &$] \ N +10 &&` \ N +9 &(V\\ \ N +10 &*] \ N +9 &+] \ N +9 &-^  \ M +10 &/]` \ N +9 &1` \ N +9 &2_ \ N +10 &4^ \ N +9 &6h] \ \ M +10 &8*\\ \ M +9 &9_ \ N +9 &;Z \ \ N +10 &=n\\ \ N +9 &?0\\ \ \ N +9 &@^ \ \ N +10 &B] \ N +9 &Dv_ \ \ N +10 &F9] \ N +9 &G` \ N +9 &Ij \ O +10 &Kwp \ P +9 &M/ \ T +9 &N  \ W +10 &P  \ X +9 &Rh  \ X +10 &T(  \ Y +9 &U  \ Z +9 &W  \ Z +10 &Yf  \ \\ +9 &[)  \ [ +9 &\\|  \ 5 +10 &]$  \ (t +9 &] \ V +2 ( +2 "collection"'*& +3 #tCollection Clamp onSpring/offSpring for 9/25 samples, on/off torque 1.97 +2 .Hand.open + "manipulator"&.1 +53 "core" 1 +2 "manipulator"&/% +4 "core" %  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&1'\ +100 "core" ' + #tLoading generic puck from tube 3 into Processing Clamp +2 "processing"%2& +4 "core" &o\ +2 "manipulator"&$% +3 "core" %\ 3 0 %} +2 "storage"(% +3 "core" %9 I S +\ +2 "storage"(6. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(5( +2 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 ( & +3 "core" &\ \  \  +2 "manipulator"&;& +4 "core" &$ R ;7 +2 "manipulator"&=% +3 "core" %\ 3 I %} +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&+(D +156 "core" ( +2 "manipulator"&>& +4 "core" &C  + "storage"(@& +4 "core" & L I \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts + "manipulator"&%' +100 "core" ' +2 "storage"((& +4 "core" & n g \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(,'e +279 "core" ' + "storage"(B- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (C& +3 "core" & B \\ \  +2 "manipulator"&3& +3 "core" &C  +2 .tElbow.seek 3 + "manipulator"&0(D +4 "core" ( + "manipulator"&4& +4 "core" &C + "storage"(7& +4 "core" & q q \  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&F'y +10 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"& +9 &@x\ N +9 &X\ M +10 &Z \ N +9 &\\\ M +9 &!I\\\ M +10 &#\ Z\ N +9 &$[\ M +10 &&Y\ M +9 &(QY\ M +9 &*]\ M +10 &+\\\ N +9 &-X\ M +9 &/Xa\ N +10 &1\\\ M +9 &2_\ M +10 &4W\ M +9 &6a]]\ M +9 &8#]\ M +10 &9Y\ M +9 &;X/\ M +12 &=i^M\ M +11 &?*a\ N +5 &@_\ M +10 &BX\ M +9 &Dq]\ M +9 &F2c_\ N +10 &Gh.\ N +9 &Iv\ P +9 &Kk0\ R +10 &M)\ S +9 &N\ T +10 &P\ S +9 &RmT\ T +9 &T.\ T +10 &U\ U +9 &W\ U +9 &Ys\ B +10 &Z}C\ V +9 &Z\ ' +2 ( +2 "processing"%U& +3 #tProcessing Clamp onSpring/offSpring for 9/25 samples, on/off torque 1.60 + .Hand.open +2 "manipulator"&81 +61 "core" 1 +2 "manipulator"&D% +4 "core" % M c +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&H'\ +101 "core" ' + "processing"%X& +4 "core" &Z\ ' +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 +2 "manipulator"&Y% +52 "core" %\ 5 1 & +2 "storage"([% +4 "core" %; = U\ + "storage"(]. +3 "core" .( +2 "storage"(N& +3 "core" & ) - 3\  +2 "storage"(V& +5 "manipulator"&\ & +4 "core" & 9 F\  + &j r  +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +3 "storage"(#]kK-0-\ b +3 "manipulator"&c(c +4 ."raiseStack"SE.seek :beamBreak +2 "storage"(d'e +3 "core" ( + "manipulator"&S& +4 "core" &j g  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &O& +3 "core" &j E  +2 .tForearm.seek PC +2 "manipulator"&E'[ +95 "core" ' +2 .tHand.close + "manipulator"&J/ +53 "core" / +3 .tPC.seek :open +2 "processing"%T(p +91 "core" ' + "storage"(\\- +4 "core" -'e + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(^'B +42 "core" ' +248 ( +2 "storage"(h& +4 "core" & I H /\  + "manipulator"&`& +4 "core" &j { z k  +2 "manipulator"&Q% +4 "core" % T u  +2 .tForearm.seek :retract +2 "manipulator"&j'\ +92 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&e(D +255 "core" ( + "manipulator"&_& +5 "core" &W V !v + "storage"(l& +4 "core" & L V \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&m' +94 "core" ' + .tHand.open +2 "manipulator"&A1 +56 "core" 1 +2 "storage"(o- +4 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate +2 "storage"(q' +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.83 Pucks below Top Plate + "storage"(i' +54 "core" ' +3 #tLights, camera, ACTION! + "storage"(r- +4 "core" -' + "storage"(f& +4 "core" & \  +2 "manipulator"&v& +4 "core" &W  !v +2 .tElbow.seek 3 + "manipulator"&x(D +35 "core" ( + "manipulator"&y& +4 "core" &A ~ y +2 "storage"(k& +4 "core" & B\  +2 .tForearm.seek 3 + 450 counts + "manipulator"&n' +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"(w'M +63 "core" ' + "manipulator"&W& +4 "core" &A  y +2 "storage"(& +4 "core" & U O \  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 + "manipulator"&t'M +33 "core" ' + .tElbow.hold +2 "manipulator"&b, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"(s'7 +23 "core" ' + "manipulator"&% +4 "core" %W? K J 3 Ϋ +2 "storage"(& +4 "core" &\ \ \ \  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 310 counts + "manipulator"&z'σ +18 "core" ' + "manipulator"&{& +4 "core" & r Z +2 "storage"(|& +4 "core" & t n h\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&a' +23 "core" ' +2 "storage"(p% +4 "core" %< n m\ +3 ."downElevator"SE.seek :down +4 "storage"(~'N +99 (g% +3 "core" %; T R D\ U^ +2 "manipulator"& % +4 "core" %) e e 0 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"& '\ +87 "core" ' +61 ' + ."downElevator"SE.stop + "storage"(5 +3 (& +3 "core" & C ( \  +2 "collection"'& +4 "core" &]  \ V +2 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&% +4 "core" %\ (  G +2 "storage"(u% +4 "core" %= f m "\ + "storage"(. +3 "core" .( +2 "storage"(& +4 "core" & c m \  + "storage"(& +4 "core" & e b \  +2 "manipulator"&& +4 "core" &  +2 .tElbow.seek 3 + "manipulator"&(D +22 "core" ( +2 "manipulator"&& +4 "core" &; ; # +2 "storage"(}& +4 "core" & N O T\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"& ' +104 "core" ' + "storage"(!& +5 "core" & l ^ \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('e +280 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&& +3 "core" &;  # +2 "storage"(& +4 "core" & q s !\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 + "manipulator"&'M +35 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"('- +2 "core" -' +3 .tSE.seek 0.12 Pucks below Top Plate + "storage"('u +28 "core" ' +2 "manipulator"&)% +4 "core" %O? n o ҫ + "storage"(& +4 "core" & T\  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 3 + 302 counts +2 "manipulator"&'{ +16 "core" ' +2 "manipulator"&"& +4 "core" & {  * +2 "storage"(Z& +4 "core" & b ^ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&.' +16 "core" ' +3 .tSE.seek 1.12 Pucks below Top Plate + "storage"(/'d +50 "core" ' + "manipulator"&2& +4 "core" & * +2 "manipulator"&$% +4 "core" % +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +96 "core" ' +2 .tElbow.seek CC +2 "manipulator"&6( +166 "core" ( +2 "manipulator"&*& +5 "core" &\ O \\ + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 & & +3 "core" &\ % \\ +2 .tForearm.seek CC +2 "manipulator"&;'| +95 "core" ' + .tHand.close + "manipulator"&=/ +57 "core" / +2 .tCC.seek :open + "collection"'&(p +411 "core" ( + "storage"(>& +4 "core" & \  +2 "storage"(@& +3 "core" & \  +2 "manipulator"& & +4 "core" &\  \\ + "manipulator"&(% +4 "core" % z * +2 .tForearm.seek :retract + "manipulator"&#'\ +92 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&1(D +145 "core" ( + "manipulator"&B& +4 "core" &K  +2 "storage"(C& +4 "core" & \  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 3 +2 "manipulator"&3'M +112 "core" ' + .tElbow.hold +2 "manipulator"&4, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&71 +58 "core" 1 +2 "manipulator"&<% +5 "core" % Wm   9 Ʒ + "storage"(G& +4 "core" & P O E\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 310 counts + "manipulator"&'σ +17 "core" ' +2 "manipulator"&+& +4 "core" & r m A +2 "storage"(%& +4 "core" & \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&,' +19 "core" ' + "storage"(F% +5 "core" %l ?\ +2 ."downElevator"SE.seek :down +3 "storage"(9'N +99 (L% +3 "core" %@: z \ UZ + "manipulator"&0% +4 "core" % l l  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&P'\ +91 "core" ' +48 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 4 of [2..4] +2 #Loading generic puck from tube 4 into Collection Clamp + "collection"'R& +4 "core" & \ +2 "manipulator"&?% +4 "core" %\ *  !P + "storage"(I% +4 "core" %@ ~ } 7\ +2 "storage"(. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"((, +357 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (8& +3 "core" &, h n G\  + "manipulator"&D& +4 "core" & + A +2 .tElbow.seek 4 + "manipulator"&X(* +33 "core" ( +2 "manipulator"&Y& +4 "core" &5 k  + "storage"(U& +4 "core" &, z -\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&[' +95 "core" ' +2 "storage"(]& +4 "core" &, \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(N'e +279 "core" ' + "storage"(\ - +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (V& +2 "core" &, @\  +2 "manipulator"&S& +4 "core" &5  + .tElbow.seek 4 +2 "manipulator"&O(* +4 "core" ( + "manipulator"&M& +4 "core" &4 } l  +2 "storage"(J& +4 "core" &, z z a\  +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&\\'Z +30 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&K/ +54 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&H& + "storage"(:'N +8 "core" &4 f ` ?  + "manipulator"&h% +4 "core" % y d `  +2 .tForearm.seek :retract +2 "manipulator"&`'\ +88 "core" ' +2 .tElbow.seek CC +2 "manipulator"&d( +154 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +8 "core" ( + "manipulator"&Q& +5 "core" &# F ;2 + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &E& +3 "core" &#  ;2 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&_'| +105 "core" ' + "manipulator"&l& +5 "core" &" e :1 + "manipulator"&c% +45 "core" %υ , +11 "collection"'A& +4 "core" & \ \ +2 "collection"'o& +4 "core" & \ +3 .tCC.seek :closed + "collection"'r(] +4 "core" & \ \  +9 &3 \ \ *y +9 &d  \ ? +9 &Py \ O +10 &\\ \ \ M +9 &` \ N +9 &_ \ N +10 &![] \ N +9 &#\\ \ N +10 &$Z \ M +9 &&] \ \ N +9 &(c_ \ \ N +10 &*%\\ \ N +9 &+_ \ M +9 &-^ \ \ M +10 &/l] \ M +9 &1-a \ N +10 &2\\ \ \ M +9 &4\\ \ \ M +9 &6t^ \ M +10 &85^ \ N +9 &9\\ \ M +9 &;Y \ M +10 &=|[ \ M +9 &??Z \ M +10 &@_ \ \ N +9 &B\\ \ N +9 &DX \ \ M +10 &FEY \ \ N +9 &H` \ N +9 &Ik \ O +10 &Kv  \ Q +9 &M< \ \ T +10 &N  \ W +9 &P \ X +9 &Rs \ Y +10 &T4  \ Y +9 &U \ Z +9 &W  \ [ +10 &Yn  \ ] +9 &[3  \ \\ +10 &\\| \ 0 +9 &](  \ &p +9 ( +3 "collection"'o& +3 #tCollection Clamp onSpring/offSpring for 9/25 samples, on/off torque 1.99 + .Hand.open +2 "manipulator"&f1 +3 "core" &]  \ ^ +58 1 + "manipulator"&v% +4 "core" % υ V +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&j'\ +100 "core" ' +2 #tLoading generic puck from tube 4 into Processing Clamp + "processing"%y& +5 "core" &p\ + "manipulator"&k% +4 "core" %\ 6  & +2 "storage"(W% +3 "core" %= ( '\ +2 "storage"(. +3 "core" .(, + "storage"(^& +4 "core" &, ' '\  +2 "storage"(q& +4 "core" &,  $\  + "manipulator"&& +4 "core" &" > :0 + "manipulator"&% +4 "core" %\ 5 ; & +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&{(* +156 "core" ( + "manipulator"&|& +5 "core" &4 * + "storage"(e& +4 "core" &, V W 3\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&p' +104 "core" ' +2 "storage"(m& +4 "core" &, j g\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(i'e +277 "core" ' +2 "storage"(g- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 ( & +3 "core" &, o e \  + "manipulator"&n& +4 "core" &5 j g +2 .tElbow.seek 4 + "manipulator"&x(* +4 "core" ( + "manipulator"&w& +4 "core" &5 Z k +2 "storage"(t& +4 "core" &, r s\  +2 .tForearm.seek 4 + 300 counts + "manipulator"&z'Z +31 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +58 "core" / +2 ."downElevator"SE.seek :down +5 "manipulator"&& + "storage"('N +8 "core" &5 j g % + "manipulator"&u% +4 "core" % V d `  +2 .tForearm.seek :retract +2 "manipulator"&'\ +89 "core" ' +2 .tElbow.seek PC +2 "manipulator"&(c +163 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +72 "core" ( +2 "manipulator"&s& +4 "core" &\\ d X + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 && +2 "core" &\\ $ X +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&'[ +100 "core" ' + "manipulator"&& +4 "core" &\\  X +2 "manipulator"&}% +4 "core" %X  +2 "processing"%a& +4 "core" &l\ +2 "processing"%!& +4 "core" & \ +2 .tPC.seek :closed +2 "processing"%~(Z +5 "core" &\ +7 & ) \ #a +10 &\\V"\ 7 +9 &\ L +9 &n[\ M +10 &1\\%\ M +9 &\\&\ M +9 & _\ M +10 &"vZ\ M +9 &$8Y#\ M +10 &%\\)\ N +9 &'Z \ N +9 &)~[ \ M +10 &+AW!\ M +9 &-^&\ M +10 &.]\ N +9 &0X!\ M +9 &2G\\#\ N +10 &4\ Z\ M +9 &5W \ M +9 &7[\ M +10 &9QZ\ M +9 &;\\\ M +9 &<W\ M +10 &>_\ M +9 &@W]\ N +10 &BZ\ M +9 &CW\ M +9 &E\\\ N +10 &G^d\ N +9 &Il\ O +9 &J|"\ Q +10 &L\ S +9 &NU%\ T +10 &P \ T +9 &Q\ T +9 &S\ T +10 &UZ"\ U +9 &W\ T +9 &X\ U +10 &Z9Jj\ +} +9 &Z^\ 5 +9 ( +3 "processing"%!& +3 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.60 + .Hand.open + "manipulator"&b1 +4 "core" &Z&\ 3 +60 1 + "manipulator"& % +4 "core" % X B +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +167 "core" ' +2 "processing"%& +4 "core" &Z&p\ 3 + #tImaging generic puck in Processing Clamp while storing it to tube 4 +2 "manipulator"&% +4 "core" %\ 0  "_ + "storage"('% +4 "core" %F 6 2 l\ + "storage"(). +3 "core" .(, +2 "storage"(& +3 "core" &, 6 3 \  +2 "storage"("& +3 "manipulator"&Z& +7 "core" &, 6 , v\  + &\\  X +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +3 "storage"(#]kK-0-\ b + "manipulator"&2(c +6 ."raiseStack"SE.seek :beamBreak +2 "storage"($'e +2 "core" ( +2 "manipulator"& & +4 "core" &\\  X + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &\\ 7 X +2 .tForearm.seek PC +2 "manipulator"&'[ +92 "core" ' +2 .tHand.close + "manipulator"&/ +63 "core" / +2 .tPC.seek :open +2 "processing"%(p +85 "core" ' + "storage"(- +4 "core" -'e + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(*'B +42 "core" ' +255 ( + "storage"( & +4 "core" &, N V X\  +2 "manipulator"&.& +4 "core" &\\ ! X +2 "manipulator"&% +4 "core" % o y W +2 .tForearm.seek :retract + "manipulator"&='\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&(* +253 "core" ( +2 "manipulator"&-& +4 "core" &-  % + "storage"(>& +4 "core" &, H H \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts + "manipulator"&@' +100 "core" ' + .tHand.open +2 "manipulator"& 1 +55 "core" 1 +2 "storage"((- +3 "core" -'B +3 .tSE.seek -0.16 Pucks below Top Plate + "storage"(B' +24 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(C' +53 "core" ' +2 #tLights, camera, ACTION! + "storage"(;- +4 "core" -' + "storage"(6& +4 "core" &, \  +2 "manipulator"&7& +3 "core" &-  % +2 .tElbow.seek 4 +2 "manipulator"&<(* +3 "core" ( + "manipulator"&G& +4 "core" &-  % +2 "storage"(+& +4 "core" &, \  +2 .tForearm.seek 4 + 450 counts + "manipulator"&%' +23 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"(F'M +63 "core" ' +2 "manipulator"&#& +4 "core" &- % +2 "storage"(L& +3 "core" &, b _ \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&0'. +36 "core" ' + .tElbow.hold +2 "manipulator"&1, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"(3'7 +25 "core" ' +2 "manipulator"&R% +4 "core" %>R L K & ΰ +2 "storage"(?& +4 "core" &,\ \ \ \  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 4 + 316 counts +2 "manipulator"&'j +17 "core" ' +2 "manipulator"&I& +4 "core" & % ' +2 "storage"(& +4 "core" &, M K e\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&/' +21 "core" ' + "storage"(,% +5 "core" %= q q \ +2 ."downElevator"SE.seek :down +4 "storage"(9'N +98 (5% +3 "core" %D9 L R ,\ U\\ +2 "manipulator"&8% +4 "core" % g s  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&D'\ +90 "core" ' +64 ' + ."downElevator"SE.stop + "storage"(5 +3 (Y& +4 "core" &, 4 G <\  +2 "collection"'U& +4 "core" &]  \ ^ + #tStoring generic puck in Collection Clamp to tube 4 +2 "manipulator"&]% +4 "core" %\ + !N + "storage"(4% +4 "core" %D I H $\ +2 "storage"(P. +3 "core" .(, + "storage"(\ & +4 "core" &, V V \  +2 "storage"(V& +4 "core" &, L V 5\  + "manipulator"&S& +4 "core" & W ' +2 .tElbow.seek 4 + "manipulator"&M(* +11 "core" ( +2 "manipulator"&J& +4 "core" &2 ' +2 "storage"(K& +4 "core" &, W V f\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&H' +101 "core" ' + "storage"(h& +5 "core" &, R Y \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(X'e +275 "core" ' +2 "storage"([- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&Q& +3 "core" &R  # + "storage"(E& +4 "core" &, W V \  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 + "manipulator"&N'. +34 "core" ' + .tElbow.hold +2 "manipulator"&\\, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(l- +2 "core" -' +3 .tSE.seek 0.12 Pucks below Top Plate + "storage"(O'x +28 "core" ' + "manipulator"&c% +4 "core" %:S W W } ϰ +2 "storage"(A& +4 "core" &, U\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 312 counts + "manipulator"&:'f +16 "core" ' + "manipulator"&`& +4 "core" &9 `  & +2 "storage"(&& +4 "core" &, b a \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&f' +18 "core" ' +2 .tSE.seek 1.12 Pucks below Top Plate +2 "storage"(v'g +49 "core" ' +12 "manipulator"&y& +4 "core" &9 f h ~ & +2 "manipulator"&k% +4 "core" % e f P +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&W'\ +97 "core" ' +2 .tElbow.seek CC +2 "manipulator"&( +144 "core" ( +2 "manipulator"&o& +5 "core" &# . :. + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &^& +2 "core" &"  :. +2 .tForearm.seek CC +2 "manipulator"&q'| +105 "core" ' + .tHand.close +2 "manipulator"&/ +62 "core" / +2 .tCC.seek :open +2 "collection"'(p +410 "core" ( +2 "storage"(_& +4 "core" &, \  + "storage"(|& +4 "core" &, ,\  +2 "manipulator"&e& +4 "core" &%  4 + "manipulator"&m% +4 "core" % ς 3 q +2 .tForearm.seek :retract +2 "manipulator"&d'\ +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&j(* +155 "core" ( + "manipulator"&g& +4 "core" &1 @  +2 "storage"( & +4 "core" &, g\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 4 +2 "manipulator"&n'. +110 "core" ' +2 .tElbow.hold + "manipulator"&w, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&t1 +60 "core" 1 +2 "manipulator"&% +5 "core" % ;_    dz + "storage"(& +4 "core" &, L S #\  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 4 + 313 counts +2 "manipulator"&u'g +16 "core" ' +2 "manipulator"&{& +4 "core" & Y j P  +2 "storage"(p& +4 "core" &, \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&i' +22 "core" ' +2 "storage"(z% +4 "core" %l %\ +2 ."downElevator"SE.seek :down +5 "storage"(s'N +99 (% +3 "core" %-; | \ \ UZ +2 "manipulator"&x% +4 "core" % m l , +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +95 "core" ' +47 ' + ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 2 of [2..4] + #Loading generic puck from tube 2 into Collection Clamp +2 "collection"'}& +4 "core" & \ +2 "manipulator"&a% +4 "core" %\ 1  $r + "storage"(% +4 "core" %E | z Y\ +2 "storage"(. +3 "core" .(, +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 + "storage"(T(  +675 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (b& +3 "core" &  g v \ +2 "manipulator"& & +3 "core" & &  +2 .tElbow.seek 2 +2 "manipulator"&!(; +18 "core" ( +2 "manipulator"&& +4 "core" &3  e + "storage"(& +4 "core" &  \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&''Ѐ +108 "core" ' +2 "storage"()& +4 "core" &  s\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"('e +280 "core" ' + "storage"("- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (Z& +2 "core" &  \ +2 "manipulator"& & +3 "core" &3 m n e +2 .tElbow.seek 2 +2 "manipulator"&(; +3 "core" ( + "manipulator"&& +4 "core" &3 q o n e +2 "storage"(& +3 "core" &  \ +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&' +13 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +58 "core" / +2 ."downElevator"SE.seek :down +5 "manipulator"&& + "storage"(~'N +7 "core" &3  e +2 "manipulator"& % +4 "core" % ( > +2 .tForearm.seek :retract + "manipulator"&$'\ +91 "core" ' +3 .tElbow.seek CC + "manipulator"&.( +148 "core" ( + "manipulator"&& +5 "core" &% Y <: + ' + .tElbow.reconfigure :loose +3 ."downElevator"SE.stop +3 "manipulator"&$ &.,(#b + "storage"(5 +3 "manipulator"&& +5 "core" &% ! <: +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&-'| +99 "core" ' + "manipulator"&>& +4 "core" &%  <: +2 "manipulator"&2% +4 "core" %z  +2 "collection"' & +4 "core" & \ +2 "collection"'(& +6 "core" & \ +2 .tCC.seek :closed +2 "collection"';(] +4 "core" & \ +6 & 8 \ %f +10 &kV \ \ 7 +9 & \ L +10 &}\\ \ M +9 &?] \ M +9 &^ \ M +10 & _ \ N +9 &"] \ M +9 &$GZ \ \ M +10 &&^ \ N +9 &'Y \ \ M +10 &)]  \ M +9 &+P_ \ \ M +9 &-] \ M +10 &._ \ M +9 &0` \ M +9 &2VZ \ N +10 &4\\ \ N +9 &5V \ M +10 &7X \ \ M +9 &9_W \ M +9 &;!X \ M +10 &<W  \ M +9 &>X \ M +9 &@gY \ \ M +10 &B(] \ N +9 &CZ \ N +10 &EZ \ N +9 &Gm` \ N +9 &I,k \ \ O +10 &Jw \ \ Q +9 &L  \ U +9 &NZ  \ \ W +10 &P  \ X +9 &Q  \ X +9 &S \ Z +10 &UX  \ \ [ +9 &W \ Z +10 &X  \ \\ +9 &Z  \ \\ +9 &\\[  \ I +10 &]b> \ )| +9 &] \ !` +2 ( +2 "collection"'(& +3 #tCollection Clamp onSpring/offSpring for 10/26 samples, on/off torque 2.07 + .Hand.open + "manipulator"&61 +61 "core" 1 + "manipulator"&7% +5 "core" % z < + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&G'\ +92 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%+& +4 "core" &\ +2 "manipulator"&=% +4 "core" %\ + > + "storage"(#% +4 "core" %D ) - \ + "storage"(L. +4 "core" .(  + "storage"(*& +4 "core" &  & (\ + "storage"(R& +4 "core" &  ' '\ + "manipulator"&?& +4 "core" &$  ;2 +2 "manipulator"&B% +4 "core" %\ + _ > +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&I(; +160 "core" ( +2 "manipulator"&& +4 "core" &0 /  +2 "storage"(,& +3 "core" &  V V /\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&'Ѐ +95 "core" ' + "storage"(@& +4 "core" &  q s \ +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(C'e +282 "core" ' +2 "storage"(5- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (8& +2 "core" &  0 G f\ +2 "manipulator"&%& +4 "core" &0 `  +2 .tElbow.seek 2 + "manipulator"&<(; +6 "core" ( + "manipulator"&F& +54 "core" &1 ' +2 "storage"(0& +4 "core" &  V T \ +3 .tForearm.seek 2 + 300 counts + "manipulator"&' +20 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&Y/ +61 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&U& + "storage"(]'N +8 "core" &1 m m q + "manipulator"&4% +4 "core" % g e h +2 .tForearm.seek :retract +2 "manipulator"&P'\ +94 "core" ' +2 .tElbow.seek PC + "manipulator"&3(c +158 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +83 "core" ( + "manipulator"&\ & +5 "core" &o  < + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &V& +2 "core" &o  < +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&S'[ +99 "core" ' + "manipulator"&J& +4 "core" &o  < +2 "manipulator"&K% +4 "core" %e  +2 "processing"%/& +3 "core" &$\ +3 "processing"%h& +5 "core" &\ +2 .tPC.seek :closed + "processing"%9(Z +5 "core" &!\ \ +9 &/y \ *y +9 &d\ > +10 &Cx \ N +9 &V-\ M +9 &]\ M +10 &Y\ M +9 &!LX\ M +10 &#Y\ M +9 &$U\ M +9 &&\\!\ N +10 &(SZ\ N +9 &*Z"\ M +9 &+Z!\ N +10 &-Y\ M +9 &/[Z\ N +10 &1Y\ M +9 &2X\ M +9 &4Z\ M +10 &6d\\!\ M +9 &8%\\\ N +9 &9Y\ M +10 &;Z\ M +9 &=l[\ M +10 &?.Y\ M +9 &@\\\ M +9 &BW\ M +10 &Du\\\ M +9 &F6^\ M +9 &Ge\ O +10 &In\ O +9 &Kq\ Q +10 &M,\ S +9 &N\ T +9 &P$\ T +10 &Rq-\ T +9 &T3H\ T +9 &UI\ T +10 &WJ\ U +9 &YvC\ B +10 &Zw;\ _ +9 &Z\ + +2 ( +2 "processing"%h& +3 #tProcessing Clamp onSpring/offSpring for 9/25 samples, on/off torque 1.64 + .Hand.open + "manipulator"&11 +62 "core" 1 +2 "manipulator"&D% +4 "core" % e  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&['\ +92 "core" ' +2 "processing"%Q& +4 "core" &Z\ + +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 + "manipulator"&E% +4 "core" %\ ( " C +2 "storage"(l% +3 "core" %S 1 ( 2\  +2 "storage"(c. +3 "core" .(  + "storage"(A& +4 "core" &  7 1 u\ +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"(`(  +55 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (&& +3 "core" &  E . \ + "manipulator"&y& +3 ."raiseStack"SE.reconfigure :place +6 "storage"(#]kK-0-\ b +2 "core" &o  < +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +3 ."raiseStack"SE.seek :beamBreak +2 "manipulator"&k(c + "storage"(H'e +11 "core" ( + "manipulator"&M& +4 "core" &m J  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &X& +3 "core" &m   +2 .tForearm.seek PC +2 "manipulator"&N'[ +97 "core" ' +11 .tHand.close +2 "manipulator"&:/ +54 "core" / +2 .tPC.seek :open +2 "processing"%O(p +76 "core" ' + "storage"(o- +4 "core" -'e + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(^'B +33 "core" ' +270 ( + "storage"(f& +4 "core" &  J N \ +2 "manipulator"&\\& +4 "core" &m W  + "manipulator"&% +4 "core" % d  +2 .tForearm.seek :retract +2 "manipulator"&W'\ +97 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&r(; +270 "core" ( +2 "manipulator"&_& +4 "core" &>   +2 "storage"(|& +4 "core" &  2 3 ;\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&e'Ѐ +107 "core" ' + .tHand.open +2 "manipulator"&m1 +53 "core" 1 +2 "storage"(g- +4 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate +2 "storage"( ' +25 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(q' +52 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(- +3 "core" -' +2 "storage"(t& +4 "core" &  \ + "manipulator"&& +4 "core" &> l m  +2 .tElbow.seek 2 + "manipulator"&(; +4 "core" ( +2 "manipulator"&{& +4 "core" &> i b M  + "storage"(p& +4 "core" &  \ +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&z'Ѐ +17 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.11 Pucks below Top Plate + "storage"(d'M +65 "core" ' +2 "manipulator"&& +4 "core" &> M  +2 "storage"(x& +4 "core" &  V V _\ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&j'ξ +35 "core" ' + .tElbow.hold +2 "manipulator"&n, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.07 Pucks below Top Plate + "storage"(}'7 +25 "core" ' +2 "manipulator"&u% +4 "core" %W \   ȱ +2 "storage"(a& +4 "core" & \ \ \ \ \ +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 2 + 317 counts +2 "manipulator"&' +17 "core" ' +2 "manipulator"&& +4 "core" &> g k   +2 "storage"(v& +4 "core" &  d m Y\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts +2 "manipulator"&i'Ѐ +10 "core" ' +2 "storage"(s% +4 "core" %5 q r _\  +3 ."downElevator"SE.seek :down +4 "storage"('N +99 (b% +3 "core" %> H I\ U^ +2 "manipulator"& % +4 "core" %Њ f f  % +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +95 "core" ' +52 ' + ."downElevator"SE.stop + "storage"(5 +3 (& +4 "core" &  4 * e\ + "collection"')& +4 "core" &] \ !` +2 #tStoring generic puck in Collection Clamp to tube 2 +2 "manipulator"&w% +3 "core" %\ 3 6 % +2 "storage"(% +4 "core" %= I H \ + "storage"(". +3 "core" .(  +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"(Z(  +19 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 ( & +3 "core" &  \  *\ % +2 "manipulator"&& +4 "core" &>   +2 .tElbow.seek 2 + "manipulator"&(; +4 "core" ( + "manipulator"&& +4 "core" &> .  + "storage"(& +4 "core" &  G ;\ ) +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"& 'Ѐ +94 "core" ' +2 "storage"(!& +4 "core" &  p p Q\ ) +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(''e +281 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +2 "core" &> | )  +2 "storage"(& +4 "core" &  V V\ 7 + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&'ξ +32 "core" ' +2 .tElbow.hold + "manipulator"&>, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(2- +2 "core" -' +3 .tSE.seek 0.11 Pucks below Top Plate + "storage"( 'n +25 "core" ' + "manipulator"&% +5 "core" %S 6 5 ɰ + "storage"(~& +4 "core" & \ \  '\ 7 + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 2 + 319 counts + "manipulator"&$' +16 "core" ' +2 "manipulator"&& +4 "core" &> h Y L  +2 "storage"(6& +4 "core" &  c m N\ 7 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&7'Ѐ +20 "core" ' +2 .tSE.seek 1.11 Pucks below Top Plate + "storage"(+'] +45 "core" ' +2 "manipulator"&=& +5 "core" &> d `  +2 "manipulator"&#% +4 "core" %Z f f !  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&L'\ +95 "core" ' + .tElbow.seek CC +2 "manipulator"&*( +161 "core" ( + "manipulator"&R& +4 "core" &+ 1 Ac +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &(& +2 "core" &+ L Ac +2 .tForearm.seek CC +2 "manipulator"&?'| +96 "core" ' + .tHand.close +2 "manipulator"&B/ +59 "core" / +2 .tCC.seek :open +2 "collection"'-(p +410 "core" ( + "storage"(& +5 "core" &  \ 7 + "storage"(,& +4 "core" &  G\ 7 + "manipulator"&@& +4 "core" &'#  ;4 + "manipulator"&.% +4 "core" % y +2 .tForearm.seek :retract +2 "manipulator"&G'\ +91 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&5(; +151 "core" ( +2 "manipulator"&8& +4 "core" &E @ + "storage"(%& +4 "core" &  ~ ~ 4\ 7 +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 2 + "manipulator"&F'ξ +108 "core" ' + .tElbow.hold +2 "manipulator"&0, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&Y1 +57 "core" 1 +2 "manipulator"&U% +4 "core" % q   ĸ + "storage"(4& +4 "core" &  e n b\ 7 + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 2 + 319 counts +2 "manipulator"&I' +18 "core" ' + "manipulator"&& +4 "core" &I X j  +2 "storage"(C& +4 "core" &  8\ 7 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&'Ѐ +20 "core" ' + "storage"(\ % +5 "core" %W a\ +2 ."downElevator"SE.seek :down +3 "storage"(V'N +99 (<% +3 "core" % ; \ UZ +2 "manipulator"&J% +4 "core" %_ f f   +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&K'\ +87 "core" ' +51 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 3 of [2..4] + #Loading generic puck from tube 3 into Collection Clamp +2 "collection"'/& +4 "core" & \  +2 "manipulator"&]% +4 "core" %\ (  E +2 "storage"(P% +4 "core" %: \ + "storage"(. +3 "core" .(  +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 + "storage"(1( +340 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (D& +2 "core" & X c\  +2 "manipulator"&Q& +4 "core" &I  + .tElbow.seek 3 +2 "manipulator"&E(D +4 "core" ( + "manipulator"&l& +4 "core" &I 4 + "storage"(c& +4 "core" & \  +2 .tForearm.reconfigure :tight +51 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&A' +94 "core" ' + "storage"(h& +4 "core" & \  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(&'e +281 "core" ' +2 "storage"(y- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (M& +3 "core" & 1\  +2 "manipulator"&X& +4 "core" &I S +2 .tElbow.seek 3 + "manipulator"&S(D +3 "core" ( +2 "manipulator"&:& +4 "core" &I I + "storage"(T& +4 "core" & { z \  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&o'y +20 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&3/ +60 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&[& + "storage"(9'N +8 "core" &I b m X + "manipulator"&H% +4 "core" % m l j ] +2 .tForearm.seek :retract +2 "manipulator"&f'\ +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"&\\( +153 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +3 "core" ( + "manipulator"&& +4 "core" && : =G +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &N& +3 "core" &&  =G +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&_'| +103 "core" ' +3 "manipulator"&|& +4 "core" &&  =G +2 "manipulator"&k% +4 "core" %r  +2 "collection"'m& +4 "core" & \  +2 "collection"'g& +5 "core" &  +2 .tCC.seek :closed +2 "collection"'(] +4 "core" &  +8 &> \ %f +9 &lW \ 8 +9 &~ \ \ L +10 &Z \ M +9 &H\\ \ \ M +10 & ] \ L +9 & _ \ \ M +9 &"` \ M +10 &$P\\ \ M +9 &&] \ \ M +9 &'^ \ \ L +10 &)\\ \ \ M +9 &+Y_ \ \ L +10 &-a \ M +9 &.] \ \ M +9 &0^ \ M +10 &2`^ \ M +9 &4!` \ M +9 &5[ \ L +10 &7\\ \ L +9 &9i\\ \ L +10 &;+\\ \ L +9 &<\\ \ L +9 &>\\ \ M +10 &@o_ \ M +9 &B2] \ \ M +9 &CZ \ \ M +10 &EZ \ \ L +9 &Gx\\ \ \ M +10 &I7c \ N +9 &Jm \ O +9 &L \ Q +10 &Nf  \ V +9 &P$  \ W +9 &Q \ X +10 &S  \ X +9 &Ub  \ Z +9 &W%  \ Y +10 &X\ \ \ a +9 &Z  \ \\ +10 &\\`  \ J +9 &]`6  \ +~ +9 &]  \ Y +3 ( + "collection"'g& +4 #tCollection Clamp onSpring/offSpring for 10/26 samples, on/off torque 2.06 + .Hand.open + "manipulator"&t1 +63 "core" 1 +2 "manipulator"&% +4 "core" % { ] +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&{'\ +96 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%p& +5 "core" &n\ + "manipulator"&W% +4 "core" %\ 4 ! %} +2 "storage"(% +3 "core" %A L O\ +2 "storage"(x. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 +2 "storage"(^( +6 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (u& +2 "core" &\ \  L\  +2 "manipulator"&a& +4 "core" &% @ <? + "manipulator"& % +4 "core" %\ 3 ? %} +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&(D +164 "core" ( + "manipulator"&v& +4 "core" &=   +2 "storage"(s& +4 "core" & P O \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&r' +95 "core" ' + "storage"(e& +5 "core" & h m [\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(q'e +280 "core" ' +2 "storage"(b- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 ( & +2 "core" & o d )\  +2 "manipulator"&z& +4 "core" &= @  + .tElbow.seek 3 +2 "manipulator"&(D +3 "core" ( + "manipulator"&d& +4 "core" &= N  +2 "storage"(j& +3 "core" & s s\  +3 .tForearm.seek 3 + 300 counts + "manipulator"&'y +24 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&)/ +53 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& + "storage"(w'N +8 "core" &= g f L  + "manipulator"&% +4 "core" % v d f +2 .tForearm.seek :retract +2 "manipulator"&"'\ +89 "core" ' +2 .tElbow.seek PC +2 "manipulator"&}(c +159 "core" ' + ."downElevator"SE.stop + "storage"(5 +79 "core" ( + "manipulator"& & +5 "core" &o  C + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &o  C +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&'[ +101 "core" ' + "manipulator"&& +5 "core" &o  C + "manipulator"&i% +4 "core" %F  +2 "processing"%!& +4 "core" &m\ +2 "processing"%& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%`(Z +5 "core" &\ +7 & (\ #a +9 &^W\ 7 +9 &~\ L +10 &rY\ M +9 &4Z"\ M +9 &Z"\ M +10 & ] \ M +9 &"zY\ M +10 &$<Z\ M +9 &%Y\ M +9 &'Z\ M +10 &)Z\ M +9 &+CY\ M +9 &-\\\ M +10 &.^\ M +9 &0Z\ N +10 &2LY\ M +9 &4Y\ M +9 &5Y\ M +10 &7Z\ M +9 &9SY\ M +9 &;]\ M +10 &<Y\ M +9 &>]G\ M +10 &@[\\\ M +9 &BW\ M +9 &CZ\ M +10 &EY\ M +9 &Gac\ N +9 &In\ O +10 &J~\ Q +9 &L\ S +10 &NW\ T +9 &P\ S +9 &Q.\ T +10 &S\ T +9 &U_E\ T +9 &W \ T +10 &X\ U +9 &Z;Ih\ *| +10 &ZCJ\ ) +5 ( +2 "processing"%& +4 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.60 + .Hand.open +2 "manipulator"&n1 +3 "core" &ZO\ ) +60 1 + "manipulator"&% +5 "core" % F 3 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +102 "core" ' + "processing"%& +4 "core" &Z\ ) +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 +2 "manipulator"&% +4 "core" %\ 8  ' +2 "storage"(2% +3 "core" %< H C \ \ +2 "storage"(. +3 "core" .( +2 "storage"(~& +4 "core" &  A #\  +2 "storage"(& +2 "manipulator"&6& +7 "core" & > : \  + &o ) C +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +6 "manipulator"&$&.,(\ #b + "storage"(#]kK-0-\ b +3 .tElbow.seek PC +5 "manipulator"&=(c +3 ."raiseStack"SE.seek :beamBreak +2 "storage"(#'e +2 "core" ( +3 "manipulator"& & +5 "core" &j < + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +2 "core" &j ~ < +3 .tForearm.seek PC + "manipulator"&''[ +95 "core" ' + .tHand.close +2 "manipulator"&/ +61 "core" / + .tPC.seek :open +2 "processing"%$(p +90 "core" ' +2 "storage"( - +3 "core" -'e +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(R'B +32 "core" ' +257 ( +2 "storage"((& +4 "core" & q p \  + "manipulator"&7& +4 "core" &j  < +2 "manipulator"&>% +4 "core" % Z   +2 .tForearm.seek :retract + "manipulator"&B'\ +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&L(D +250 "core" ( + "manipulator"&;& +4 "core" &= \ # +2 "storage"(& +4 "core" & K U \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&,' +104 "core" ' +2 .tHand.open + "manipulator"&@1 +57 "core" 1 +2 "storage"(.- +3 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate +2 "storage"(8' +23 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(%' +51 "core" ' + #tLights, camera, ACTION! +2 "storage"(?- +3 "core" -' +2 "storage"(*& +4 "core" & >\  + "manipulator"&Y& +4 "core" &= 4 # +2 .tElbow.seek 3 + "manipulator"&U(D +4 "core" ( + "manipulator"&4& +4 "core" &=  # +2 "storage"(& +3 "core" & <\  +52 .tForearm.seek 3 + 450 counts +3 "manipulator"&C' +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"(\ 'M +63 "core" ' + "manipulator"&G& +5 "core" &= r c r # + "storage"(<& +4 "core" & q p\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 + "manipulator"&J'M +37 "core" ' + .tElbow.hold +2 "manipulator"&5, +5 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"(F'7 +24 "core" ' +2 "manipulator"&/% +4 "core" %K> o p ҫ +2 "storage"(]& +5 "core" & \  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 298 counts +2 "manipulator"&I'w +11 "core" ' +2 "manipulator"&P& +4 "core" &  + +2 "storage"(& +4 "core" & p p \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&+' +23 "core" ' +2 "storage"(% +4 "core" %? q r \ +2 ."downElevator"SE.seek :down +4 "storage"(V'N +99 (Z% +3 "core" %9 L N \ TZ +2 "manipulator"&D% +4 "core" % H +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&Q'\ +96 "core" ' +55 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (l& +4 "core" & 6 - n\  +2 "collection"'c& +4 "core" &] \ Y +2 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&h% +4 "core" %\ 3 . %z +2 "storage"(0% +3 "core" %N J H \ \ +2 "storage"(K. +3 "core" .( + "storage"(y& +4 "core" & O P N\  +2 "storage"(M& +4 "core" & J I ?\  + "manipulator"&X& +4 "core" &  + +2 .tElbow.seek 3 + "manipulator"&:(D +35 "core" ( +2 "manipulator"&T& +4 "core" &E `  +2 "storage"(3& +4 "core" & M N 0\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&[' +104 "core" ' + "storage"(H& +5 "core" & z \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(E'e +280 "core" ' + "storage"(A- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&& +3 "core" &E a j   +2 "storage"(N& +4 "core" & e b #\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 + "manipulator"&&'M +32 "core" ' +2 .tElbow.hold + "manipulator"&o, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(|- +2 "core" -' +3 .tSE.seek 0.12 Pucks below Top Plate +2 "storage"(k'u +30 "core" ' + "manipulator"&m% +5 "core" %`O 7 6 ʯ + "storage"(S& +4 "core" &\ \ \  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 3 + 319 counts +2 "manipulator"&9'ό +18 "core" ' +2 "manipulator"&f& +4 "core" & Z r t  + "storage"(-& +4 "core" & q m \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&t' +11 "core" ' +2 .tSE.seek 1.12 Pucks below Top Plate +2 "storage"('d +40 "core" ' +2 "manipulator"&p& +4 "core" & d d  + "manipulator"&W% +4 "core" % c e +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +88 "core" ' +2 .tElbow.seek CC + "manipulator"&x( +152 "core" ( + "manipulator"&g& +4 "core" &# / ;5 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &u& +3 "core" &# ;5 +2 .tForearm.seek CC + "manipulator"&a'| +97 "core" ' + .tHand.close +2 "manipulator"& / +59 "core" / +2 .tCC.seek :open +2 "collection"'_(p +410 "core" ( + "storage"(v& +5 "core" & D\  + "storage"(s& +4 "core" & { \  + "manipulator"&1& +4 "core" &# l :, +2 "manipulator"&e% +3 "core" % j 2 +2 .tForearm.seek :retract +2 "manipulator"&\\'\ +95 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 + "manipulator"&{(D +156 "core" ( +2 "manipulator"&b& +4 "core" &N  \ +2 "storage"( & +3 "core" & O\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 +2 "manipulator"&z'M +112 "core" ' + .tElbow.hold +2 "manipulator"&d, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&j1 +55 "core" 1 +2 "manipulator"&)% +4 "core" % aq  \ u ĸ +2 "storage"(& +4 "core" & p ] z\  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 3 + 320 counts +2 "manipulator"&'ύ +17 "core" ' + "manipulator"&& +5 "core" & V r 6 = +2 "storage"(r& +4 "core" & \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&q' +21 "core" ' + "storage"(% +4 "core" %f \ +3 ."downElevator"SE.seek :down +3 "storage"( 'N +100 (% +2 "core" %; \ SX +2 "manipulator"&% +4 "core" % m l +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +90 "core" ' +48 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 4 of [2..4] + #Loading generic puck from tube 4 into Collection Clamp +2 "collection"'i& +4 "core" & \ \ +2 "manipulator"&!% +3 "core" %\ , ; "\\ +2 "storage"(w% +4 "core" %: } } f\ +2 "storage"(". +3 "core" .( + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"(O(, +351 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (n& +2 "core" &,~ g d s\  +2 "manipulator"&& +4 "core" &  = + .tElbow.seek 4 +2 "manipulator"&(* +16 "core" ( + "manipulator"&& +4 "core" &6 % E +2 "storage"(2& +4 "core" &,~ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&' +99 "core" ' +2 "storage"(& +4 "core" &,~ \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(~'e +288 "core" ' +2 "storage"(6- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +2 "core" &,~ \ \  +2 "manipulator"& & +4 "core" &;  @ + .tElbow.seek 4 +2 "manipulator"&(* +23 "core" ( + "manipulator"&& +5 "core" &2 O  + "storage"(& +4 "core" &,~ { \  +2 .tForearm.seek 4 + 300 counts +2 "manipulator"& 'Z +22 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&}/ +63 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"(`'N +7 "core" &2 e c   +2 "manipulator"&(% +4 "core" % Y a `  +2 .tForearm.seek :retract + "manipulator"&7'\ +98 "core" ' +2 .tElbow.seek CC +2 "manipulator"&#( +143 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +10 "core" ( + "manipulator"&>& +5 "core" &%  <> + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &'& +2 "core" &% / <> +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&;'| +111 "core" ' +2 "manipulator"&& +4 "core" &% s  <= +2 "manipulator"&=% +4 "core" %p % + "collection"'@& +4 "core" &  +2 "collection"'.& +5 "core" &  +2 .tCC.seek :closed +2 "collection"'?(] +58 "core" &  +2 &   + &  + &  + &  + &  + &   +3 &2~ \ \ *y +10 &c \ > +9 &Oz \ N +9 &[ \ L +10 &` \ M +9 &] \ \ M +9 &!Y\\ \ M +10 &#\\ \ L +9 &$] \ \ L +10 &&b  \ M +9 &(a\\ \ M +9 &*$_ \ \ L +10 &+Y \ M +9 &-] \ \ \ M +9 &/j] \ L +10 &1+[ \ \ M +9 &2\\ \ \ M +10 &4Z \ \ L +9 &6r\\ \ L +9 &83^ \ M +10 &9\\ \ M +9 &;Z \ \ L +9 &=z] \ \ L +10 &?:^ \ \ M +9 &@[ \ M +10 &B[ \ \ M +9 &DZ \ L +9 &FD] \ L +10 &Hb \ M +9 &Ih \ N +9 &K~y \ P +10 &M: \ \ R +9 &N \ V +10 &P  \ W +9 &Rq  \ X +9 &T0  \ Y +10 &U \ Y +9 &W  \ Y +9 &Yo  \ [\ +10 &[0  \ [ +9 &\\{ \ 2 +10 &]$ \ ^ +8 ( +2 &]a \ M +2 "collection"'.& +3 #tCollection Clamp onSpring/offSpring for 9/25 samples, on/off torque 1.98 + .Hand.open +2 "manipulator"&*1 +61 "core" 1 +2 "manipulator"&Y% +4 "core" % p  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&4'\ +89 "core" ' +2 #tLoading generic puck from tube 4 into Processing Clamp + "processing"%& +4 "core" &\ +2 "manipulator"&B% +4 "core" %\ )  E +2 "storage"(G% +4 "core" %8 c c\ + "storage"(<. +3 "core" .(,~ +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"(R(, +7 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (8& +3 "core" &,:  \  +2 "manipulator"&/& +4 "core" &#  :/ + "manipulator"&]% +4 "core" %\ )  E +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&P(* +156 "core" ( +2 "manipulator"&& +4 "core" &# % + "storage"(L& +4 "core" &,~ f e\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&' +100 "core" ' +2 "storage"(,& +4 "core" &,~ K\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(%'e +281 "core" ' + "storage"(Z- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (D& +3 "core" &,~ { 5\  + "manipulator"&C& +4 "core" &# d e ? +2 .tElbow.seek 4 + "manipulator"&U(* +4 "core" ( + "manipulator"&\ & +4 "core" &# n r ^ + "storage"(J& +4 "core" &,~ \  +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&I'Z +14 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&l/ +58 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&c& +4 "storage"(h'N +4 "core" &# - +2 "manipulator"&0% +4 "core" % \\ (  +2 .tForearm.seek :retract +2 "manipulator"&K'\ +92 "core" ' +2 .tElbow.seek PC +2 "manipulator"&F(c +156 "core" ' + ."downElevator"SE.stop + "storage"(5 +94 "core" ( +2 "manipulator"&y& +4 "core" &\\ J +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &M& +3 "core" &\\ . +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&X'[ +103 "core" ' +2 "manipulator"&T& +4 "core" &\\  +2 "manipulator"&3% +4 "core" %c " +2 "processing"%+& +4 "core" &\ +2 "processing"%H& +5 "core" &n\ +2 .tPC.seek :closed + "processing"%V(Z +4 "core" &!\  +9 &.{\ +z +10 &d$\ > +9 &Ev\ M +9 &V\ M +10 &Z'\ M +9 &Y'\ M +10 &!M[ \ M +9 &#X\ M +9 &$X\ M +10 &&Z!\ N +9 &(VY\ M +9 &*Y"\ M +10 &+Y\ M +9 &-Y \ M +9 &/\\\\\ N +10 &1 Y"\ M +9 &2Z\ M +10 &4X\ M +9 &6eZ\ M +9 &8'[\ M +10 &9Y\ M +9 &;\\\ M +10 &=oY\ M +9 &?/\\\ M +9 &@\\\ M +10 &B\\\ M +9 &DvZ\ M +9 &F5]\ N +10 &Gd\ O +9 &Ip\ P +9 &Ko\ R +10 &M,\ T +9 &N\ T +10 &P\ T +9 &Rr \ T +9 &T3H\ T +10 &U\ T +9 &W\ U +9 &Yx-\ A +10 &Z|?\ S +9 &Z\ ' +2 ( +2 "processing"%H& +3 #tProcessing Clamp onSpring/offSpring for 9/25 samples, on/off torque 1.62 +2 .Hand.open + "manipulator"&51 +61 "core" 1 +2 "manipulator"&Q% +4 "core" % c  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&A'\ +102 "core" ' +2 "processing"%& +4 "core" &Z\ ' +2 #tImaging generic puck in Processing Clamp while storing it to tube 4 + "manipulator"&N% +4 "core" %\ 5  & + "storage"(|% +4 "core" %9 M N Z\ + "storage"(m. +3 "core" .(,~ +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"(S(, +5 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (f& +2 "manipulator"&-& +3 "core" &,  2 \  +4 ."raiseStack"SE.reconfigure :place +3 "storage"(#]kK-0-\ b +2 "core" &\\  +3 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 ."raiseStack"SE.seek :beamBreak +4 .tElbow.seek PC + "storage"(p'e +3 "manipulator"&W(c +4 "core" ( + "manipulator"&[& +4 "core" &\\  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &:& +4 "core" &\\  +2 .tForearm.seek PC + "manipulator"&E'[ +96 "core" ' + .tHand.close +2 "manipulator"&&/ +53 "core" / +2 .tPC.seek :open +2 "processing"%9(p +93 "core" ' +2 "storage"(k- +3 "core" -'e +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(g'B +36 "core" ' +246 ( +2 "storage"(u& +4 "core" &,~ j l\  +2 "manipulator"&t& +4 "core" &\\  + "manipulator"&o% +4 "core" % e + +2 .tForearm.seek :retract +2 "manipulator"& '\ +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&(* +270 "core" ( +2 "manipulator"&& +4 "core" &6   +2 "storage"(v& +4 "core" &,~ p p \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&s' +102 "core" ' +2 .tHand.open + "manipulator"&11 +63 "core" 1 +2 "storage"(e- +3 "core" -'B +3 .tSE.seek -0.16 Pucks below Top Plate + "storage"(b' +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.83 Pucks below Top Plate + "storage"( ' +54 "core" ' +2 #tLights, camera, ACTION! + "storage"(a- +4 "core" -' +2 "storage"(x& +4 "core" &,~ \  + "manipulator"&j& +4 "core" &6 `  +2 .tElbow.seek 4 + "manipulator"&)(* +7 "core" ( +2 "manipulator"&& +4 "core" &4  t +2 "storage"(& +4 "core" &,~ \  +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&r' +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"('M +61 "core" ' +2 "manipulator"&\\& +4 "core" &4  t +2 "storage"(& +4 "core" &,~ q s \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&'. +32 "core" ' + .tElbow.hold +2 "manipulator"&{, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"(z'7 +25 "core" ' +2 "manipulator"&i% +5 "core" %=V  | ȱ + "storage"(!& +4 "core" &,~  \  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 4 + 315 counts +2 "manipulator"&'i +17 "core" ' +2 "manipulator"&w& +4 "core" & j l 7 +2 "storage"("& +4 "core" &,~ Z\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&' +25 "core" ' +2 "storage"(q% +4 "core" %A 7\ +3 ."downElevator"SE.seek :down +4 "storage"( 'N +99 (^% +3 "core" %9 e d \ T[ +2 "manipulator"&n% +4 "core" % e d ) +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +87 "core" ' +30 "Can"- #RO +31 "core" ' +51 ."downElevator"SE.stop +3 "storage"(5 +2 (& +4 "core" &,~ a V d\  +2 "collection"'2& +3 "core" &]a  \ M +2 #tStoring generic puck in Collection Clamp to tube 4 +2 "manipulator"&% +4 "core" %\ )  K +2 "storage"(d% +3 "core" %E g g =\ +2 "storage"(. +3 "core" .(, + "storage"(6& +4 "core" &,~ f g \  +2 "storage"(& +4 "core" &,~ g g /\  + "manipulator"& & +4 "core" & a +2 .tElbow.seek 4 +2 "manipulator"&(* +25 "core" ( + "manipulator"&& +5 "core" &1 : & + "storage"(}& +4 "core" &,~ q q \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&' +94 "core" ' +2 "storage"((& +4 "core" &,~ i q \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"('e +280 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&>& +3 "core" &J , "| + "storage"('& +4 "core" &,~ e f o\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&~'. +33 "core" ' + .tElbow.hold +2 "manipulator"& , +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(- +2 "core" -' +2 .tSE.seek 0.12 Pucks below Top Plate +2 "storage"(='x +29 "core" ' +2 "manipulator"&% +5 "core" %BW K K 0 ͱ + "storage"(@& +4 "core" &,~ N ,\  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 4 + 320 counts + "manipulator"&`'n +16 "core" ' + "manipulator"&7& +5 "core" &/ ]  & + "storage"(_& +4 "core" &,~ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&*' +18 "core" ' +2 .tSE.seek 1.12 Pucks below Top Plate +2 "storage"(Y'g +46 "core" ' +2 "manipulator"&& +4 "core" &/ c f 0 & +2 "manipulator"&B% +4 "core" % e d 0  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&G'\ +98 "core" ' + .tElbow.seek CC +2 "manipulator"&<( +156 "core" ( + "manipulator"&.& +5 "core" &+  Ab + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &8& +2 "core" &+ i Ab +2 .tForearm.seek CC +2 "manipulator"&/'| +94 "core" ' +2 .tHand.close +2 "manipulator"&]/ +62 "core" / +2 .tCC.seek :open + "collection"';(p +411 "core" ( + "storage"(& +4 "core" &,~ \  +2 "storage"(L& +4 "core" &,~ \  + "manipulator"&O& +4 "core" &%% 4 <= + "manipulator"&,% +4 "core" % u X  +2 .tForearm.seek :retract +2 "manipulator"&#'\ +100 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&4(* +155 "core" ( + "manipulator"&Z& +4 "core" &4 H  +2 "storage"(D& +3 "core" &,~ \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 4 +2 "manipulator"&C'. +112 "core" ' + .tElbow.hold +2 "manipulator"&\ , +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&J1 +52 "core" 1 +2 "manipulator"&l% +4 "core" % Bc   X Ǵ +2 "storage"(c& +4 "core" &,~ O O \  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 320 counts + "manipulator"&0'n +12 "core" ' + "manipulator"&P& +4 "core" & W g  +2 "storage"(& +4 "core" &,~ &\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&%' +22 "core" ' + "storage"(I% +5 "core" %f \ +2 ."downElevator"SE.seek :down +4 "storage"(y'N +98 (M% +3 "core" %98 \ TY +2 "manipulator"&U% +4 "core" % d f \ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&T'\ +90 "core" ' +48 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 2 of [2..4] +2 #Loading generic puck from tube 2 into Collection Clamp + "collection"'3& +4 "core" &  +2 "manipulator"&+% +4 "core" %\ .  #d + "storage"(h% +4 "core" %= | ^\ +2 "storage"(K. +3 "core" .(, +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 + "storage"($(  +671 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (5& +3 "core" &  q o \ +2 "manipulator"&Q& +3 "core" & <  +2 .tElbow.seek 2 +2 "manipulator"&(; +20 "core" ( + "manipulator"&N& +4 "core" &7  "| +2 "storage"(|& +4 "core" &  \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&m'Ѐ +93 "core" ' +2 "storage"(H& +4 "core" &  \ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(f'e +279 "core" ' + "storage"(-- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 ([& +3 "core" &  \ +2 "manipulator"&:& +3 "core" &8 x "{ +2 .tElbow.seek 2 +2 "manipulator"&X(; +3 "core" ( + "manipulator"&&& +4 "core" &8 ( "{ + "storage"(R& +4 "core" &  6\ +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&k' +10 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&F/ +53 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&A& + "storage"(V'N +7 "core" &8  "{ +2 "manipulator"&u% +4 "core" % 8 o +2 .tForearm.seek :retract + "manipulator"&t'\ +99 "core" ' +2 .tElbow.seek CC +2 "manipulator"&o( +143 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +10 "core" ( + "manipulator"&p& +5 "core" &+  Y A` + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &E& +3 "core" &+  A` +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&'| +99 "core" ' + "manipulator"&v& +4 "core" &+  A_ +2 "manipulator"&W% +4 "core" %ρ W +2 "collection"'1& +4 "core" & \ +2 "collection"'e& +6 "core" & \ \ +2 .tCC.seek :closed +2 "collection"'a(] +4 "core" & \ \ +8 &> \ %f +9 &mX \ \ 8 +10 &~ \ L +9 &Y \ L +9 &J[ \ M +10 & Z \ M +9 & \\ \ M +10 &"_ \ \ M +9 &$S\\ \ \ L +9 &&\\  \ M +10 &'_ \ M +9 &)] \ \ L +9 &+[\\ \ \ L +10 &-\\ \ L +9 &.] \ M +10 &0_ \ M +9 &2b\\ \ M +9 &4$Z \ \ M +10 &5Y \ M +9 &7Z \ M +9 &9kX \ L +10 &;,\\ \ M +9 &<] \ M +10 &>Z \ L +9 &@r\\ \ M +9 &B4Y \ M +10 &CZ \ L +9 &E\\ \ M +9 &Gz^ \ M +10 &I6k \ O +9 &Jz \ P +10 &L  \ U +9 &Nd  \ W +9 &P$  \ X +10 &Q  \ X +9 &S  \ Y +9 &Ud \ Z +10 &W%  \ Z +9 &X  \ [ +10 &Z  \ \\ +9 &\\b  \ J +9 &]b7  \ ){ +10 &]m  \ J +2 ( +2 "collection"'e& +3 #tCollection Clamp onSpring/offSpring for 10/26 samples, on/off torque 2.06 + .Hand.open +2 "manipulator"&x1 +62 "core" 1 +2 "manipulator"&j% +4 "core" % ρ j +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +93 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp +2 "processing"%& +4 "core" &\ + "manipulator"& % +4 "core" %\ )  K +2 "storage"(\\% +4 "core" %I c c\ + "storage"(. +3 "core" .(  + "storage"(g& +4 "core" &  ` Z\ +2 "storage"(i& +4 "core" &  c d\ +2 "manipulator"&!& +3 "core" &&%  <= +2 "manipulator"&b% +4 "core" %\ (  K +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&w(; +153 "core" ( + "manipulator"&"& +5 "core" &0 B  + "storage"(q& +4 "core" &  g g -\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&'Ѐ +102 "core" ' + "storage"(s& +54 "core" &  ~ \ +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"( 'e +280 "core" ' + "storage"(^- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (n& +2 "core" &  b e\ +2 "manipulator"&r& +4 "core" &0 b c G  +2 .tElbow.seek 2 + "manipulator"&)(; +22 "core" ( +2 "manipulator"&& +4 "core" &1 g M # +2 "storage"(& +3 "core" &  \\ r u\ +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&' +28 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&/ +63 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"&z& "storage"(2'N +8 "core" &8 y P "x + "manipulator"&% +4 "core" % o  +2 .tForearm.seek :retract +2 "manipulator"&d'\ +100 "core" ' +2 .tElbow.seek PC + "manipulator"&(c +148 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +102 "core" ( +2 "manipulator"&6& +5 "core" &g  \ + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &g ' \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"& '[ +105 "core" ' + "manipulator"&& +5 "core" &g Y j / \ + "manipulator"&}% +4 "core" %V e e L  +2 "processing"%& +4 "core" &t\ +2 "processing"%(& +5 "core" &v\ +2 .tPC.seek :closed + "processing"% (Z +5 "core" &(\ +8 &7,\ $d +9 &qV \ 7 +9 &|\ K +10 &V(\ M +9 &EZ\ M +9 &Z&\ M +10 & [\ M +9 &"W\ M +10 &$M]\ M +9 &&X\ M +9 &'X\ M +10 &)X%\ M +9 &+UX*\ M +9 &-Z\ M +10 &._\ M +9 &0Z\ M +10 &2\\]\ M +9 &4X\ M +9 &5W\ M +10 &7Z\ M +9 &9fY\ L +9 &;&Z\ M +10 &<Y\ M +9 &>\\\ M +9 &@mZ\ M +10 &B/Y\ M +9 &CW\ M +10 &EZ,\ M +9 &Gqd\ N +9 &I0j\ O +10 &Jz\ Q +9 &L\ T +10 &Nh\ T +9 &P*\ T +9 &Q\ T +10 &SG\ T +9 &Up\ T +9 &W2#\ T +10 &X\ T +9 &ZIGf\ )y +9 &Z 8W\ * +6 ( + "processing"%(& +5 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.60 + .Hand.open +2 "manipulator"&{1 +3 "core" &Z\ * +57 1 + "manipulator"&% +4 "core" % V p k  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +91 "core" ' + "processing"%>& +4 "core" &Z\ * +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 +2 "manipulator"&'% +3 "core" %\ ,  "X +2 "storage"(% +4 "core" %9 O P D\ + "storage"(. +3 "core" .(  +2 "storage"(@& +4 "core" &  M O t\ +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"(7(  +26 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (_& +4 "manipulator"&& +2 "core" &  h \  +4 ."raiseStack"SE.reconfigure :place +3 "storage"(#]kK-0-\ b +3 "core" &g  \ +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +3 ."raiseStack"SE.seek :beamBreak +3 "manipulator"&B(c + "storage"('e +5 "core" ( + "manipulator"&& +4 "core" &g ( \ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &g # \ +2 .tForearm.seek PC +2 "manipulator"&~'[ +95 "core" ' +2 .tHand.close + "manipulator"&`/ +61 "core" / +3 .tPC.seek :open +2 "processing"%=(p +86 "core" ' + "storage"(.- +4 "core" -'e + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(8'B +33 "core" ' +262 ( +2 "storage"(*& +4 "core" &  c m\ % + "manipulator"& & +4 "core" &g  \ +2 "manipulator"&]% +3 "core" % N ? +2 .tForearm.seek :retract +2 "manipulator"&G'\ +101 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&?(; +275 "core" ( + "manipulator"&& +4 "core" &- B \ +2 "storage"(L& +4 "core" &  d c A\ % +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&O'Ѐ +95 "core" ' + .tHand.open + "manipulator"&,1 +55 "core" 1 +2 "storage"(Z- +4 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate +2 "storage"(D' +26 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(/' +52 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(<- +3 "core" -' +2 "storage"(J& +4 "core" &  .\ ' + "manipulator"&l& +4 "core" &-  \ +2 .tElbow.seek 2 +2 "manipulator"&c(; +31 "core" ( +2 "manipulator"&P& +4 "core" &A  $ +2 "storage"(& +3 "core" &  \ ' +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&I'Ѐ +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"(#'M +59 "core" ' +2 "manipulator"&M& +4 "core" &B  $ +2 "storage"(U& +4 "core" &  q q \ ' +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&4'ξ +35 "core" ' + .tElbow.hold +2 "manipulator"&C, +5 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"(3'7 +24 "core" ' +2 "manipulator"&0% +4 "core" %\\ 4 4  ʲ +2 "storage"(+& +4 "core" &   \ ' + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 312 counts +2 "manipulator"&h' +19 "core" ' + "manipulator"&K& +4 "core" &V i ^ !w +2 "storage"(Y& +4 "core" &  \ ' +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts +2 "manipulator"&%'Ѐ +19 "core" ' + "storage"(y% +4 "core" %> a\  +3 ."downElevator"SE.seek :down +4 "storage"(S'N +99 (5% +3 "core" %E c m \ V` +2 "manipulator"&Q% +4 "core" %[ f d  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&N'\ +87 "core" ' +63 ' + ."downElevator"SE.stop + "storage"(5 +3 (|& +4 "core" &  O _ `\ ' + "collection"'H& +4 "core" &]i \ J +2 #tStoring generic puck in Collection Clamp to tube 2 +2 "manipulator"&\ % +4 "core" %\ +  !Q + "storage"(T% +4 "core" %G f n N\  +2 "storage"(-. +3 "core" .(  +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 + "storage"([(  +10 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (:& +2 "core" &  f L D\  +2 "manipulator"&&& +4 "core" &V  !w +2 .tElbow.seek 2 + "manipulator"&R(; +31 "core" ( +2 "manipulator"&F& +4 "core" &6 E u +2 "storage"(A& +4 "core" &  Y b\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&u'Ѐ +100 "core" ' +2 "storage"(& +4 "core" &  (\  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(m'e +276 "core" ' +2 "storage"(p- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&E& +3 "core" &6 f f : u + "storage"(f& +4 "core" &  r\ ! +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&k'ξ +33 "core" ' + .tElbow.hold +2 "manipulator"&v, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(W- +2 "core" -' +3 .tSE.seek 0.11 Pucks below Top Plate + "storage"(1'm +24 "core" ' +2 "manipulator"&X% +4 "core" %Z   " Dz + "storage"(V& +4 "core" &    \ ! +2 .tForearm.force -20 + "manipulator"&5 +53 .tForearm.seek 2 + 320 counts +2 "manipulator"&t' +17 "core" ' +2 "manipulator"&;& +4 "core" &8 j Y K s +2 "storage"(x& +4 "core" &  a\ ! +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&j'Ѐ +21 "core" ' +2 .tSE.seek 1.11 Pucks below Top Plate +2 "storage"('\\ +40 "core" ' + "manipulator"& & +5 "core" &8 e f  s + "manipulator"&\\% +4 "core" %Z d e %  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +88 "core" ' + .tElbow.seek CC +2 "manipulator"&g( +157 "core" ( +2 "manipulator"&e& +4 "core" &% O <9 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &i& +3 "core" &%  <9 +2 .tForearm.seek CC +2 "manipulator"&!'| +99 "core" ' + .tHand.close +2 "manipulator"&b/ +64 "core" / +2 .tCC.seek :open + "collection"'"(p +411 "core" ( + "storage"(& +4 "core" &  \ ! +2 "storage"(q& +4 "core" &  |  2\ ! + "manipulator"&s& +4 "core" & v 8 + "manipulator"&o% +4 "core" % ϊ . +2 .tForearm.seek :retract +2 "manipulator"&'\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&^(; +156 "core" ( +2 "manipulator"&n& +4 "core" &<  +2 "storage"(r& +3 "core" &  S\ ! +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 2 +2 "manipulator"&'ξ +107 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&1 +63 "core" 1 +2 "manipulator"&z% +4 "core" % u  ù) +2 "storage"(& +3 "core" &  f n \ ! +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 2 + 315 counts + "manipulator"&w' +17 "core" ' + "manipulator"&& +5 "core" &I N g + "storage"( & +4 "core" &  \ ! +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&'Ѐ +18 "core" ' +2 "storage"(6% +4 "core" %c E\ +2 ."downElevator"SE.seek :down +4 "storage"('N +99 ()% +2 "core" %<= \ U[ +2 "manipulator"&% +4 "core" %q d e ; +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&}'\ +87 "core" ' +52 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 3 of [2..4] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"'& +5 "core" &  + "manipulator"&2% +4 "core" %\ (  K +2 "storage"(d% +4 "core" %> \ +2 "storage"(9. +3 "core" .(  +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 + "storage"({( +347 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (& +3 "core" &3 n x \  +2 "manipulator"&>& +4 "core" &I / +2 .tElbow.seek 3 + "manipulator"&'(D +3 "core" ( +2 "manipulator"&& +4 "core" &I 7 + "storage"(& +4 "core" & \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&@' +102 "core" ' +2 "storage"((& +4 "core" & \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(_'e +279 "core" ' +2 "storage"(- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (& +3 "core" & \  +2 "manipulator"&& +4 "core" &I f h +2 .tElbow.seek 3 + "manipulator"& (D +3 "core" ( +2 "manipulator"&`& +3 "core" &I n o , +2 "storage"($& +4 "core" & \  +2 .tForearm.seek 3 + 300 counts + "manipulator"&.'y +31 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +61 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&& +2 "storage"( 'N +7 "core" &I f f C +2 "manipulator"&*% +4 "core" % s f e B +2 .tForearm.seek :retract +2 "manipulator"&'\ +89 "core" ' +2 .tElbow.seek CC + "manipulator"& ( +150 "core" ' + ."downElevator"SE.stop +3 "storage"(5 +2 "core" ( +2 "manipulator"&]& +4 "core" &# 3 ;5 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &~& +3 "core" &#  ;5 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&'| +107 "core" ' +2 "manipulator"&L& +4 "core" &$ < ;4 +2 "manipulator"&B% +3 "core" %{  +2 "collection"',& +5 "core" &   +2 "collection"'Z& +5 "core" &  +2 .tCC.seek :closed + "collection"'<(] +5 "core" &   +7 &? \ %f +9 &qW  \ 8 +9 &} \ L +10 &X \ \ L +9 &OZ \ L +10 &\\ \ L +9 & ] \ L +9 &"\\ \ L +10 &$WZ \ L +9 &&_ \ M +9 &'Z \ M +10 &)` \ M +9 &+^] \ M +10 &-!Z \ L +9 &.] \ L +9 &0\\ \ M +10 &2gZ \ L +9 &4)\\ \ L +9 &5\\ \ \ M +10 &7\\ \ M +9 &9nZ \ M +10 &;0\\ \ M +9 &<\\ \ \ M +9 &>Y \ \ L +10 &@v\\ \ M +9 &B8] \ M +9 &C[ \ L +10 &E] \ M +9 &G}]  \ M +10 &I=a \ N +9 &Jk \ O +9 &L \ Q +10 &Nl  \ V +9 &P( \ X +9 &Q \ X +10 &S  \ Y +9 &Uh  \ Z +10 &W+ \ Y +9 &X \ [\ +9 &Z \ [ +10 &\\k \ H +9 &]^1  \ 1 +9 &]w  \ Q +3 ( + "collection"'Z& +4 #tCollection Clamp onSpring/offSpring for 10/26 samples, on/off torque 1.98 + .Hand.open +2 "manipulator"&J1 +53 "core" 1 + "manipulator"&l% +5 "core" % {  +4 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&G'\ +96 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp +2 "processing"%P& +4 "core" &\ + "manipulator"&% +4 "core" %\ 3 y %z +2 "storage"(M% +4 "core" %= N I *\ + "storage"(U. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 + "storage"(8( +4 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (0& +3 "core" & C u\  + "manipulator"&D& +4 "core" &"  9% +2 "manipulator"&+% +4 "core" %\ 3 %z +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&K(D +155 "core" ( + "manipulator"&Y& +4 "core" &J : \ +2 "storage"(?& +4 "core" & l c "\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&y' +105 "core" ' +2 "storage"(O& +4 "core" & m\  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(/'e +278 "core" ' + "storage"(5- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (Q& +3 "core" & e d\  +2 "manipulator"&I& +4 "core" &J k f S \ + .tElbow.seek 3 +2 "manipulator"&c(D +3 "core" ( +2 "manipulator"&#& +4 "core" &J M o * \ + "storage"(4& +4 "core" & \  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&|'y +15 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&h/ +64 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&H& +2 "storage"(\ 'N +7 "core" &J . \ +2 "manipulator"&T% +4 "core" % ~ R ( +2 .tForearm.seek :retract + "manipulator"&-'\ +102 "core" ' +2 .tElbow.seek PC +2 "manipulator"&3(c +148 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +95 "core" ( +2 "manipulator"&:& +5 "core" &j ( + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &&& +3 "core" &j  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&F'[ +106 "core" ' +2 "manipulator"&A& +4 "core" &j g U + "manipulator"&%% +55 "core" %U e j  +2 "processing"%& +4 "core" &o\ +2 "processing"%S& +5 "core" &q\ +2 .tPC.seek :closed +2 "processing"%7(Z +4 "core" &\  +8 &2~\ )w +10 &e\ > +9 &Eu\ M +9 &Y"\ M +10 &^\ M +9 &W$\ M +10 &!OZ(\ L +9 &#X"\ L +9 &$X\ L +10 &&Z\ M +9 &(V\\!\ M +9 &*\\ \ M +10 &+\\\ M +9 &-X\ M +10 &/^\\\ M +9 &1W\ M +9 &2[\ M +10 &4W\ M +9 &6gY\ L +9 &8(Z\ M +10 &9Y\ L +9 &;Y\ M +10 &=nX\ M +9 &?/[\ M +9 &@[\ M +10 &BY"\ M +9 &Dv[\ M +9 &F7]\ M +10 &Gh\ O +9 &Ip\ O +10 &Km\ R +9 &M+\ T +9 &N\ T +10 &P\ S +9 &Rq\ T +9 &T3-\ T +10 &U\ T +9 &WL\ T +10 &YuI\ B +9 &Zz>\ W +9 &Z#\ * +3 ( + "processing"%S& +3 #tProcessing Clamp onSpring/offSpring for 9/25 samples, on/off torque 1.63 +2 .Hand.open + "manipulator"&C1 +55 "core" 1 +2 "manipulator"&N% +4 "core" % V l c & +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&p'\ +91 "core" ' +2 "processing"%E& +4 "core" &Z\ * +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&f% +4 "core" %\ *  !Q +2 "storage"(W% +3 "core" %: U V \ +2 "storage"(X. +3 "core" .( +2 "storage"(V& +3 "core" & V W f\  +2 "storage"(;& +2 "manipulator"&x& +7 "core" & V V Y\  + &j # +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +3 "storage"(#]kK-0-\ b + "manipulator"& (c +6 ."raiseStack"SE.seek :beamBreak +2 "storage"(\\'e +3 "core" ( + "manipulator"&u& +4 "core" &j  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &R& +3 "core" &j  +2 .tForearm.seek PC +2 "manipulator"&m'[ +102 "core" ' + .tHand.close + "manipulator"&k/ +55 "core" / +3 .tPC.seek :open + "processing"%t(p +88 "core" ' +2 "storage"(1- +3 "core" -'e +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(e'B +32 "core" ' +259 ( + "storage"(i& +4 "core" & r q %\  +2 "manipulator"&j& +4 "core" &j 7 + "manipulator"&v% +4 "core" % T  +2 .tForearm.seek :retract +2 "manipulator"&b'\ +94 "core" ' +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&(D +241 "core" ( +2 "manipulator"&a& +4 "core" &K  0 + "storage"(& +4 "core" & q p\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&q' +97 "core" ' +2 .tHand.open + "manipulator"&s1 +57 "core" 1 +2 "storage"(o- +3 "core" -'B +3 .tSE.seek -0.16 Pucks below Top Plate + "storage"(n' +23 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(r' +51 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(!- +3 "core" -' +2 "storage"(g& +4 "core" & \  + "manipulator"&& +4 "core" &K 1 0 +2 .tElbow.seek 3 + "manipulator"&z(D +4 "core" ( + "manipulator"&& +4 "core" &K  0 + "storage"(& +4 "core" & \  +2 .tForearm.seek 3 + 450 counts +2 "manipulator"& ' +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.11 Pucks below Top Plate + "storage"(6'M +60 "core" ' + "manipulator"&& +5 "core" &K  0 + "storage"()& +4 "core" & O O ,\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&'M +31 "core" ' + .tElbow.hold +2 "manipulator"&^, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"('7 +34 "core" ' +2 "manipulator"&% +4 "core" %aG L T c έ +2 "storage"(2& +4 "core" &\ \ \ \  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 3 + 320 counts +2 "manipulator"&w'ύ +17 "core" ' +2 "manipulator"&d& +4 "core" & e  $ +2 "storage"(9& +4 "core" & r s \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&' +12 "core" ' + "storage"(% +5 "core" %= U j\ +2 ."downElevator"SE.seek :down +4 "storage"('N +98 ([% +4 "core" %]: P N l\ U] +2 "manipulator"&% +4 "core" % p 6 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&>'\ +89 "core" ' +62 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (& +4 "core" & N P *\  +2 "collection"'& +4 "core" &]u \ Q +2 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&(% +4 "core" %\ , "\\ +2 "storage"(% +4 "core" %O N ^ p\ + "storage"(}. +3 "core" .( +2 "storage"(& +4 "core" & b T ~\  +2 "storage"(& +3 "core" & Z g 4\  +2 "manipulator"&& +4 "core" & E $ +2 .tElbow.seek 3 + "manipulator"&`(D +33 "core" ( + "manipulator"&$& +4 "core" &L  +2 "storage"(& +3 "core" & d d\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&' +99 "core" ' +2 "storage"(*& +4 "core" & i j\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(''e +279 "core" ' +2 "storage"(@- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&]& +3 "core" &L =  +2 "storage"(~& +3 "core" & r s K\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&_'M +34 "core" ' +2 .tElbow.hold + "manipulator"&., +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(L- +2 "core" -' +3 .tSE.seek 0.12 Pucks below Top Plate + "storage"(B't +28 "core" ' + "manipulator"&,% +5 "core" %OC @ , ̬ + "storage"( & +4 "core" &\ \  \  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 302 counts + "manipulator"& '{ +16 "core" ' +2 "manipulator"&& +4 "core" & Z h p  +2 "storage"("& +3 "core" & b X\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&J' +16 "core" ' +2 .tSE.seek 1.12 Pucks below Top Plate +2 "storage"(l'c +51 "core" ' +2 "manipulator"&P& +4 "core" & c _   + "manipulator"&% +4 "core" % d c  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&M'\ +89 "core" ' +2 .tElbow.seek CC +2 "manipulator"&U( +164 "core" ( +2 "manipulator"&Z& +4 "core" &*  @] + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &0& +3 "core" &*  @] +2 .tForearm.seek CC + "manipulator"&D'| +97 "core" ' +2 .tHand.close + "manipulator"&+/ +60 "core" / + .tCC.seek :open +2 "collection"'(p +414 "core" ( + "storage"(Y& +4 "core" & \  +2 "storage"(?& +3 "core" & 1\  +2 "manipulator"&{& +4 "core" &'# C ;7 +2 "manipulator"&O% +3 "core" % m   +2 .tForearm.seek :retract +2 "manipulator"& '\ +98 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&G(D +163 "core" ( + "manipulator"&5& +4 "core" &9 , 8 +2 "storage"(Q& +4 "core" & "\  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 +2 "manipulator"&I'M +110 "core" ' +2 .tElbow.hold + "manipulator"&#, +53 "core" , +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&41 +57 "core" 1 +2 "manipulator"&h% +4 "core" % _u   Ź% +2 "storage"(H& +4 "core" & m b \  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 318 counts + "manipulator"&T'ϋ +17 "core" ' +2 "manipulator"&K& +4 "core" & \\ g a +2 "storage"(y& +3 "core" & \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&/' +24 "core" ' +2 "storage"(|% +4 "core" %e -\ +2 ."downElevator"SE.seek :down +4 "storage"(:'N +98 (&% +3 "core" %8< \ U[ +2 "manipulator"&c% +4 "core" % c c   +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&A'\ +90 "core" ' +48 ' +2 ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 4 of [2..4] +2 #Loading generic puck from tube 4 into Collection Clamp + "collection"'%& +4 "core" &  \ +2 "manipulator"&% +4 "core" %\ - # "[ +2 "storage"(\ % +4 "core" %> { ~ F\ + "storage"(-. +4 "core" .( + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"(=(, +348 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (C& +3 "core" &, k e G\  +2 "manipulator"&N& +4 "core" &\ * ` +2 .tElbow.seek 4 + "manipulator"&E(* +18 "core" ( +2 "manipulator"&f& +4 "core" &<  J +2 "storage"(W& +3 "core" &, \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&X' +101 "core" ' + "storage"(V& +5 "core" &, 3\  + .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(x'e +281 "core" ' +2 "storage"(;- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (S& +3 "core" &, \  + "manipulator"&u& +4 "core" &A g k ` E +2 .tElbow.seek 4 + "manipulator"&R(* +21 "core" ( +2 "manipulator"&F& +4 "core" &2 i V   +2 "storage"(k& +4 "core" &, \  +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&1'Z +23 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&3/ +63 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&p& +2 "storage"(7'N +8 "core" &2   +2 "manipulator"&i% +4 "core" % _  +2 .tForearm.seek :retract +2 "manipulator"&j'\ +91 "core" ' +2 .tElbow.seek CC + "manipulator"&\\( +152 "core" ' + ."downElevator"SE.stop + "storage"(5 +5 "core" ( +2 "manipulator"&v& +4 "core" &&  >I +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &m& +2 "core" &'  >I +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&a'| +97 "core" ' +2 "manipulator"&& +4 "core" &' = >H +2 "manipulator"& % +4 "core" %} +2 "collection"'s& +4 "core" & \ \ +2 "collection"'o& +5 "core" &  \ +2 .tCC.seek :closed +2 "collection"'!(] +4 "core" & \ +6 &= \ $e +10 &dU \ 7 +9 &~ \ K +10 &vX \ \ L +9 &8Z \ M +9 &^  \ M +10 & \\ \ L +9 &"~\\ \ M +9 &$@\\ \ \ M +10 &&] \ M +9 &'X \ M +10 &)Z  \ L +9 &+H[ \ M +9 &-\ ] \ M +10 &.^ \ \ M +9 &0\\ \ L +9 &2P[ \ M +10 &4Z \ \ M +9 &5W \ M +10 &7X \ M +9 &9YW \ \ L +9 &;Z \ M +10 &<] \ L +9 &>Z \ \ M +9 &@`] \ M +10 &B#Z \ \ L +9 &CZ \ M +10 &EW \ M +9 &GiZ \ L +9 &I&d \ N +10 &Jn \ O +9 &L~ \ \ Q +9 &NX \ U +10 &P \ X +9 &Q \ W +10 &S  \ X +9 &US  \ Y +9 &W  \ Y +10 &X \ Z +9 &Z  \ [ +9 &\\U  \ H +10 &]^<  \ 'u +9 &] \ T +5 ( +2 "collection"'o& +4 #tCollection Clamp onSpring/offSpring for 10/26 samples, on/off torque 1.99 +2 .Hand.open + "manipulator"&g1 +4 "core" &]{ \ T +49 1 +2 "manipulator"&% +4 "core" % | Q +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +97 "core" ' + #tLoading generic puck from tube 4 into Processing Clamp +2 "processing"%& +4 "core" &p\ +2 "manipulator"&b% +3 "core" %\ /  #j +2 "storage"(% +4 "core" %D N P W\ + "storage"(). +3 "core" .(, +2 "storage"(e& +4 "core" &, P N U\  + "storage"(& +4 "core" &, P N \\\  +2 "manipulator"&2& +4 "core" &# $ ;8 + "manipulator"&n% +4 "core" %\ /  #j +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&d(* +173 "core" ( + "manipulator"&9& +4 "core" &%  ' +2 "storage"(& +3 "core" &, d g %\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&' +101 "core" ' +2 "storage"(q& +4 "core" &, d e 4\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(r'e +280 "core" ' +2 "storage"([- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" &, K a X\  +2 "manipulator"& & +4 "core" &* % " + .tElbow.seek 4 +2 "manipulator"&z(* +3 "core" ( +2 "manipulator"&6& +3 "core" &* e " +2 "storage"(& +4 "core" &, p p \  +2 .tForearm.seek 4 + 300 counts + "manipulator"&'Z +20 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&w/ +55 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&& +2 "storage"(('N +7 "core" &* l m " +2 "manipulator"&% +4 "core" % S m l +2 .tForearm.seek :retract +2 "manipulator"&}'\ +97 "core" ' + .tElbow.seek PC +2 "manipulator"&(c +151 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +97 "core" ( +2 "manipulator"&& +5 "core" &j p + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &j  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&'[ +98 "core" ' +2 "manipulator"&$& +4 "core" &j  +2 "manipulator"&% +3 "core" %e  +2 "processing"%& +4 "core" &x\ +2 "processing"%*& +5 "core" &w\ +2 .tPC.seek :closed +2 "processing"%(Z +4 "core" &/\ +8 &6)\ $d +9 &pV~$\ 7 +10 &z%\ K +9 &W#\ L +9 &CY$\ M +10 &Z\ M +9 & [\ M +9 &"Z\ M +10 &$LY\ M +9 && \\\ M +10 &'X\ M +9 &)Y\ M +9 &+UY\ L +10 &-Z'\ M +9 &.Z\ M +9 &0Y\ M +10 &2\\Y\ M +9 &4Y\ M +10 &5[\ M +9 &7Z\ L +9 &9dY\ M +10 &;&Y\ M +9 &<[\ M +9 &>Z\ M +10 &@lZ\ M +9 &B.Y\ M +10 &CY\ M +9 &E\\\ M +9 &Gpe\ N +10 &I/m\ O +9 &J{\ Q +9 &L\ S +10 &Ng\ T +9 &P*\ S +9 &Q\ T +10 &S\ T +9 &Um \ T +10 &W/\ T +9 &X\ U +9 &ZJIh\ *z +10 &Z,\ + +5 ( +2 "processing"%*& +4 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.60 + .Hand.open + "manipulator"&^1 +4 "core" &Z \ + +57 1 +2 "manipulator"&>% +4 "core" % e U +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&@'\ +92 "core" ' +2 "processing"%]& +4 "core" &Z \ + +2 #tImaging generic puck in Processing Clamp while storing it to tube 4 + "manipulator"&~% +4 "core" %\ )  K +2 "storage"(L% +3 "core" %: O N d\ +2 "storage"(,. +3 "core" .(, + "storage"( & +4 "core" &, P N d\  +2 "storage"(& +4 "manipulator"&"& +4 "core" &, N N ^\  + &j  +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +3 "storage"(#]kK-0-\ b + .tElbow.seek PC +5 "manipulator"&P(c +3 ."raiseStack"SE.seek :beamBreak +2 "storage"('e +3 "core" ( + "manipulator"&& +4 "core" &j ] + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &`& +3 "core" &j  +2 .tForearm.seek PC + "manipulator"&''[ +101 "core" ' + .tHand.close +52 "manipulator"&_/ +56 "core" / +3 .tPC.seek :open + "processing"% (p +40 "core" ' + "storage"(B- +4 "core" -'e + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(Z'B +31 "core" ' +311 ( + "storage"(0& +4 "core" &, P T *\  +2 "manipulator"&J& +4 "core" &j  + "manipulator"&.% +4 "core" % j  +2 .tForearm.seek :retract +2 "manipulator"&+'\ +94 "core" ' +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&M(* +279 "core" ( + "manipulator"&<& +5 "core" &6   + "storage"(Y& +4 "core" &, Y a \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&?' +96 "core" ' +2 .tHand.open + "manipulator"&{1 +55 "core" 1 +2 "storage"(O- +4 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate +2 "storage"(5' +24 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(Q' +51 "core" ' + #tLights, camera, ACTION! +2 "storage"(D- +3 "core" -' +2 "storage"(U& +4 "core" &, 2\  + "manipulator"&4& +4 "core" &6   +2 .tElbow.seek 4 +2 "manipulator"&h(* +6 "core" ( + "manipulator"&H& +4 "core" &4  s +2 "storage"(K& +4 "core" &, E\  +2 .tForearm.seek 4 + 450 counts + "manipulator"&y' +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.11 Pucks below Top Plate + "storage"( 'M +64 "core" ' +2 "manipulator"&|& +4 "core" &4  s + "storage"(G& +4 "core" &, f n \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&&'. +31 "core" ' + .tElbow.hold +2 "manipulator"&c, +5 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"(I'7 +21 "core" ' +2 "manipulator"&%% +4 "core" %BS 5 6 ɰ +2 "storage"(T& +4 "core" &, @ \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 320 counts + "manipulator"&'n +17 "core" ' +2 "manipulator"&\ & +4 "core" & g l C +2 "storage"(-& +4 "core" &, b V\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&l' +18 "core" ' +2 "storage"(/% +4 "core" %A x\ +2 ."downElevator"SE.seek :down +4 "storage"(:'N +99 (8% +2 "core" %h> o m Z\ U\\ +2 "manipulator"&C% +4 "core" % b _   +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&N'\ +91 "core" ' +56 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (f& +4 "core" &, O N :\  +2 "collection"'W& +4 "core" &]y  \ T +2 #tStoring generic puck in Collection Clamp to tube 4 + "manipulator"&V% +4 "core" %\ -  "Z +2 "storage"(#% +3 "core" %9 d f \ +2 "storage"(A. +3 "core" .(, + "storage"(;& +4 "core" &, g g -\  +2 "storage"(S& +4 "core" &, f g /\  +2 "manipulator"&u& +4 "core" & 7 + .tElbow.seek 4 +2 "manipulator"&F(* +26 "core" ( +2 "manipulator"&k& +4 "core" &+ # % + "storage"(3& +4 "core" &, K S A\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&p' +94 "core" ' + "storage"(i& +4 "core" &, g g g\  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(E'e +280 "core" ' + "storage"(X- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&v& +3 "core" &,  % +2 "storage"(m& +4 "core" &, a m G\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 + "manipulator"&x'. +35 "core" ' + .tElbow.hold +2 "manipulator"&1, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(- +2 "core" -' +3 .tSE.seek 0.12 Pucks below Top Plate + "storage"( 'y +29 "core" ' +2 "manipulator"&s% +4 "core" %>N K L ? ί +2 "storage"(R& +3 "core" &,\ \  \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 316 counts +2 "manipulator"&7'j +14 "core" ' +2 "manipulator"&j& +4 "core" & ~ v ( +2 "storage"(& +4 "core" &, d c 8\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&g' +19 "core" ' +2 .tSE.seek 1.12 Pucks below Top Plate +2 "storage"('h +40 "core" ' +2 "manipulator"&& +4 "core" & q ( +2 "manipulator"&b% +4 "core" % L +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +97 "core" ' +2 .tElbow.seek CC +2 "manipulator"&)( +156 "core" ( +2 "manipulator"&e& +4 "core" &+  Ac +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &* D Ac +2 .tForearm.seek CC +2 "manipulator"&o'| +95 "core" ' + .tHand.close +2 "manipulator"&2/ +56 "core" / +2 .tCC.seek :open +2 "collection"'n(p +410 "core" ( + "storage"(a& +4 "core" &, !\  +2 "storage"(9& +4 "core" &, | { \  + "manipulator"&& +4 "core" &!& 9 >H + "manipulator"&q% +4 "core" % υ )  +2 .tForearm.seek :retract +2 "manipulator"&\\'\ +91 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&(* +175 "core" ( + "manipulator"&[& +4 "core" &6  L +2 "storage"(& +4 "core" &, &\  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 4 +2 "manipulator"& '. +110 "core" ' +2 .tElbow.hold + "manipulator"&6, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&1 +56 "core" 1 +2 "manipulator"&w% +4 "core" % ?b 3 ( 7 ɴ +2 "storage"(& +3 "core" &, S J %\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 317 counts + "manipulator"&'k +18 "core" ' + "manipulator"&d& +4 "core" & ] k  "{ +2 "storage"(& +4 "core" &, \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&r' +21 "core" ' +2 "storage"(% +4 "core" %k 4\ +2 ."downElevator"SE.seek :down +3 "storage"('N +100 (% +2 "core" %'? \ TZ +2 "manipulator"&z% +4 "core" % b d +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&$'\ +94 "core" ' +48 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 2 of [2..4] +2 #Loading generic puck from tube 2 into Collection Clamp + "collection"'& +5 "core" & \ + "manipulator"&% +4 "core" %\ 1 C $r +2 "storage"((% +4 "core" %D "\ + "storage"(}. +3 "core" .(, +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 2 + "storage"(t(  +672 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (^& +2 "core" &  e i \ +2 "manipulator"&>& +4 "core" & "{ + .tElbow.seek 2 +2 "manipulator"&](; +19 "core" ( + "manipulator"&~& +4 "core" &R + @ +2 "storage"(L& +3 "core" &  \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&,'Ѐ +106 "core" ' +2 "storage"( & +4 "core" &  X\ +2 .tSE.reconfigure :pick +52 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"("'e +280 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (*& +3 "core" &  |\ +2 "manipulator"&& +3 "core" &R m k q @ +2 .tElbow.seek 2 +2 "manipulator"&`(; +22 "core" ( +2 "manipulator"&& +4 "core" &E X g s +2 "storage"(_& +4 "core" &  %\ +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&B' +16 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +57 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&@& +2 "storage"('N +8 "core" &E c d  s +2 "manipulator"&% +4 "core" % d c  I +2 .tForearm.seek :retract +2 "manipulator"&0'\ +96 "core" ' + .tElbow.seek CC +2 "manipulator"&J( +146 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +15 "core" ( + "manipulator"&.& +4 "core" &) ' @] +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &'& +3 "core" &) " @] +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&<'| +103 "core" ' +2 "manipulator"&Y& +4 "core" &* A @\\ +2 "manipulator"&P% +4 "core" %ς  +2 "collection"'{& +4 "core" & \ +2 "collection"'O& +5 "core" & \ +2 .tCC.seek :closed +2 "collection"'D(] +5 "core" & \  +9 &4 \ *z +9 &f \ ? +10 &Zv \ N +9 & Z \ L +10 &^  \ M +9 &Z \ \ M +9 &!eY \ M +10 &#'^ \ M +9 &$] \ L +9 &&\\ \ L +10 &(n\\ \ \ L +9 &*/^ \ M +10 &+\\ \ M +9 &-\\ \ M +9 &/uY \ M +10 &17Z \ M +9 &2Z \ M +9 &4] \ L +10 &6~Z \ L +9 &8@] \ L +10 &:\\ \ L +9 &;Z \ L +9 &=] \ M +10 &?GW \ \ M +9 &A Z \ M +9 &BY \ M +10 &DY \ L +9 &FP[ \ L +10 &H` \ M +9 &Im \ O +9 &K~ \ Q +10 &M<  \ V +9 &N \ W +9 &P  \ X +10 &Rz  \ Y +9 &T:  \ Y +10 &U \ Z +9 &W \ Z +9 &Yx  \ \\ +10 &[:  \ \\ +9 &\\{ \ . +9 &]2  \ !f +9 ( +2 &]e  \ N +2 "collection"'O& +3 #tCollection Clamp onSpring/offSpring for 9/25 samples, on/off torque 2.07 + .Hand.open +2 "manipulator"&U1 +64 "core" 1 + "manipulator"&4% +4 "core" % ρ +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&H'\ +100 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp +2 "processing"%K& +4 "core" &u\ + "manipulator"&+% +4 "core" %\ 5 ! & +2 "storage"(|% +3 "core" %H V L S\  +2 "storage"(G. +3 "core" .(  +2 "storage"(%& +4 "core" &  U S P\ + "storage"(Z& +4 "core" &  V W 0\ + "manipulator"&T& +4 "core" &%"  :1 +2 "manipulator"&5% +3 "core" %\ 5  & +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&\ (; +164 "core" ( + "manipulator"&-& +4 "core" &1  ) +2 "storage"(/& +4 "core" &  c c \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&M'Ѐ +106 "core" ' + "storage"(?& +5 "core" &  \ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(Q'e +282 "core" ' + "storage"(8- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (C& +3 "core" &  x 0\ + "manipulator"&y& +4 "core" &1 l m ) +2 .tElbow.seek 2 + "manipulator"&h(; +3 "core" ( +2 "manipulator"& & +4 "core" &1 m p ) + "storage"(&& +4 "core" &  \ +2 .tForearm.seek 2 + 300 counts + "manipulator"&f' +26 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +61 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&W& +2 "storage"(V'N +7 "core" &1 l l ) +2 "manipulator"&#% +4 "core" % l o +2 .tForearm.seek :retract + "manipulator"&A'\ +96 "core" ' +2 .tElbow.seek PC +2 "manipulator"&;(c +156 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +92 "core" ( +2 "manipulator"&I& +4 "core" &f +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &S& +2 "core" &f I +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&u'[ +104 "core" ' +2 "manipulator"&k& +4 "core" &f j _ 0 +2 "manipulator"&3% +4 "core" %O c  | + "processing"%l& +4 "core" &.\ +2 "processing"%i& +5 "core" &.\ +2 .tPC.seek :closed +3 "processing"%:(Z +3 "core" &/\ +6 &0\ 2 +10 & H~\ 0 +9 &7s\ D +9 &d3\ N +10 &Z.\ M +9 &`]&\ M +10 & $Y!\ L +9 &!Y,\ M +9 &#[#\ M +10 &%i\\\ M +9 &'+\\\ M +9 &([\ L +10 &*X\ L +9 &,qZ\ M +10 &.3[\ M +9 &/X\ M +9 &1Y\ L +10 &3zY\ L +9 &5<X\ L +9 &6X\ L +10 &8Y\ M +9 &:Z\ M +10 &]"\ M +9 &?Y\ M +10 &AZ\ L +9 &CLY\ L +9 &E Z\ M +10 &F]#\ M +9 &Hf"\ N +10 &JJr\ P +9 &L \ R +9 &M\ S +10 &O\ T +9 &QH\ S +9 &S \ S +10 &T\ T +9 &V\ S +9 &XN\ T +10 &Yzu\ '{ +9 &Z,~\ 7 +9 ( +3 "processing"%i& +3 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.58 + .Hand.open + "manipulator"&c1 +4 "core" &Z\ ( +51 1 + "manipulator"&N% +4 "core" % O } | +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&X'\ +91 "core" ' +2 "processing"%v& +4 "core" &Z\ ( +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 + "manipulator"&m% +4 "core" %\ +  !M +2 "storage"(% +3 "core" %D L M )\  +2 "storage"(s. +3 "core" .(  + "storage"(R& +4 "core" &  L M Y\ +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"(j(  +33 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (& +2 "manipulator"&& +5 "core" &  J U +\  +2 &f  +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +4 "storage"(#]kK-0-\ b + "manipulator"&b(c +6 ."raiseStack"SE.seek :beamBreak +2 "storage"(p'e +2 "core" ( +2 "manipulator"&F& +4 "core" &f  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &E& +3 "core" &f +2 .tForearm.seek PC + "manipulator"&x'[ +97 "core" ' +2 .tHand.close + "manipulator"&7/ +52 "core" / +2 .tPC.seek :open +2 "processing"% (p +98 "core" ' + "storage"(e- +3 "core" -'e +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('B +33 "core" ' +245 ( +2 "storage"(g& +4 "core" &  q p q\  +2 "manipulator"&1& +3 "core" &f U +2 "manipulator"&2% +4 "core" % F c + .tForearm.seek :retract +2 "manipulator"&'\ +95 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 + "manipulator"&!(; +253 "core" ( + "manipulator"&a& +4 "core" &E 9 # +2 "storage"(9& +4 "core" &  K L U\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&'Ѐ +93 "core" ' +2 .tHand.open + "manipulator"&q1 +54 "core" 1 +2 "storage"([- +3 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate +2 "storage"(' +23 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.83 Pucks below Top Plate + "storage"(o' +52 "core" ' +2 #tLights, camera, ACTION! + "storage"()- +4 "core" -' + "storage"(& +4 "core" &  \  +2 "manipulator"&w& +4 "core" &E 0 # +2 .tElbow.seek 2 + "manipulator"&(; +4 "core" ( + "manipulator"&d& +5 "core" &E  # + "storage"(& +4 "core" &  o\  +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&'Ѐ +3 "core" ' +52 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.11 Pucks below Top Plate + "storage"(\\'M +60 "core" ' +2 "manipulator"&& +4 "core" &E  # +2 "storage"(z& +4 "core" &  e c I\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&'ξ +35 "core" ' + .tElbow.hold +2 "manipulator"& , +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"('7 +25 "core" ' +2 "manipulator"&% +4 "core" %[ 3 3 n ɲ +2 "storage"(& +4 "core" &  O :\  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 2 + 309 counts +2 "manipulator"&(' +19 "core" ' +2 "manipulator"&}& +4 "core" &S b j !t +2 "storage"(& +4 "core" &  j v \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts +2 "manipulator"&r'Ѐ +17 "core" ' + "storage"(% +5 "core" %@ } q\ +2 ."downElevator"SE.seek :down +4 "storage"(='N +98 (^% +3 "core" %cB c c @\ V` +2 "manipulator"&>% +4 "core" %u d e +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&~'\ +93 "core" ' +58 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (L& +4 "core" &  7  "\  +2 "collection"' & +4 "core" &]e  \ N +2 #tStoring generic puck in Collection Clamp to tube 2 + "manipulator"&6% +4 "core" %\ 5 L & +2 "storage"($% +4 "core" %? f f\ + "storage"(. +3 "core" .(  +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"(*(  +31 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (& +3 "core" &  U N Q\ +2 "manipulator"&& +4 "core" &S i !t +2 .tElbow.seek 2 + "manipulator"&_(; +41 "core" ( +2 "manipulator"&& +4 "core" &/  +2 "storage"(@& +4 "core" &  p p s\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&'Ѐ +96 "core" ' +2 "storage"(]& +4 "core" &  A\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(,'e +276 "core" ' + "storage"(.- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&'& +3 "core" &/ 5 +2 "storage"("& +3 "core" &  r \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&B'ξ +32 "core" ' + .tElbow.hold +2 "manipulator"&Y, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(P- +2 "core" -' +3 .tSE.seek 0.11 Pucks below Top Plate + "storage"(`'l +27 "core" ' +2 "manipulator"&{% +4 "core" %T 6 6 ɰ +2 "storage"(& +3 "core" &  O _\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 311 counts +2 "manipulator"&0' +18 "core" ' + "manipulator"&n& +4 "core" &A f M +2 "storage"(U& +4 "core" &  G\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&4'Ѐ +17 "core" ' +2 .tSE.seek 1.11 Pucks below Top Plate + "storage"(K'[ +46 "core" ' +2 "manipulator"&+& +4 "core" &A d f +2 "manipulator"&|% +4 "core" %~ b d +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&O'\ +88 "core" ' +2 .tElbow.seek CC +2 "manipulator"&G( +154 "core" ( +2 "manipulator"&%& +4 "core" &% <9 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &Z& +2 "core" &%  <9 +2 .tForearm.seek CC +2 "manipulator"&T'| +95 "core" ' +2 .tHand.close + "manipulator"&5/ +57 "core" / + .tCC.seek :open +2 "collection"'<(p +410 "core" ( +2 "storage"(-& +4 "core" &  \  +2 "storage"(/& +4 "core" &  \  + "manipulator"&?& +4 "core" & $  ;8 + "manipulator"&J% +4 "core" % ώ [ +2 .tForearm.seek :retract +2 "manipulator"&H'\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&8(; +157 "core" ( +2 "manipulator"&C& +4 "core" &E  +2 "storage"(y& +4 "core" &  | ~ ,\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 2 +2 "manipulator"& 'ξ +110 "core" ' +2 .tElbow.hold + "manipulator"&&, +47 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&1 +53 "core" 1 +2 "manipulator"&W% +4 "core" % u ) ¹% +2 "storage"(#& +4 "core" &  r p \  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 2 + 312 counts + "manipulator"&\ ' +19 "core" ' + "manipulator"&M& +4 "core" &F e N  +2 "storage"(Q& +4 "core" &  \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&f'Ѐ +16 "core" ' +2 "storage"(I% +4 "core" %] >\ +3 ."downElevator"SE.seek :down +3 "storage"(S'N +100 (h% +2 "core" %; \ TZ +2 "manipulator"&k% +4 "core" %z e e  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&3'\ +88 "core" ' +50 ' + ."downElevator"SE.stop +2 "storage"(5 +2 #tShuffling pucks in tube 3 of [2..4] +2 #Loading generic puck from tube 3 into Collection Clamp +2 "collection"'l& +4 "core" &   + "manipulator"&V% +4 "core" %\ (  E +2 "storage"(A% +4 "core" %7 \ + "storage"( . +4 "core" .(  + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(c( +350 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (N& +2 "core" & f o ^\  +2 "manipulator"&v& +3 "core" &F   +2 .tElbow.seek 3 +2 "manipulator"&m(D +3 "core" ( +2 "manipulator"&& +3 "core" &F *  +2 "storage"(s& +4 "core" & ~ !\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&R' +93 "core" ' +2 "storage"(i& +4 "core" & \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"('e +279 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (F& +3 "core" & \ \  +2 "manipulator"&E& +4 "core" &F  +2 .tElbow.seek 3 + "manipulator"&u(D +3 "core" ( +2 "manipulator"&7& +4 "core" &F 4  + "storage"(t& +4 "core" & \  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&e'y +11 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&;/ +63 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&X& + "storage"(:'N +8 "core" &F o  + "manipulator"&g% +4 "core" % y % +2 .tForearm.seek :retract +2 "manipulator"&1'\ +102 "core" ' + .tElbow.seek CC +2 "manipulator"&2( +142 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +3 "core" ( +2 "manipulator"&p& +4 "core" & e - + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &x& +3 "core" &  - +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&a'| +105 "core" ' +2 "manipulator"&9& +4 "core" & g - +2 "manipulator"&b% +4 "core" %t  + "collection"'q& +4 "core" &   +2 "collection"'[& +5 "core" &   +2 .tCC.seek :closed +55 "collection"')(] +6 "core" &   +2 &   & \   + &   + & \   + &   + &   +3 &5 \ \ *z +10 &g \ ? +9 &`q \ \ M +9 &&Y \ L +10 &\\  \ M +9 &^ \ L +9 &!jY \ M +10 &#-^ \ \ L +9 &$Y \ \ L +10 &&[ \ L +9 &(r] \ M +9 &*4\\ \ M +10 &+Z \ M +9 &-Z \ \ M +9 &/{Y \ L +10 &1=[ \ L +9 &2^ \ \ M +10 &4Z \ M +9 &6W \ L +9 &8EW \ L +10 &:W \ M +9 &;Z \ M +9 &=Y \ \ L +10 &?LW \ \ M +9 &AY \ L +10 &B\\ \ L +9 &DX \ L +9 &FUZ \ L +10 &H_ \ \ M +9 &Id \ \ N +9 &Kt \ O +10 &MK  \ R +9 &O \ V +10 &P  \ X +9 &R  \ X +9 &TA  \ Y +10 &U  \ Z +9 &W \ Z +9 &Y~  \ \\ +10 &[? \ \\ +9 &\\y  \ 0 +10 &]8\ \ $p +9 &]m  \ K +2 ( +2 "collection"'[& +3 #tCollection Clamp onSpring/offSpring for 9/25 samples, on/off torque 2.06 +2 .Hand.open + "manipulator"&1 +57 "core" 1 + "manipulator"&w% +4 "core" % |  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&d'\ +92 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%& +4 "core" &'\ +2 "manipulator"&% +4 "core" %\ + M !T + "storage"(% +4 "core" %= m e 4\ +2 "storage"(z. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 + "storage"(( +8 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (& +3 "core" & ( 3 >\  +2 "manipulator"&& +4 "core" & V - + "manipulator"&% +4 "core" %\ + C !T +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&}(D +175 "core" ( + "manipulator"&& +5 "core" &C  n + "storage"(!& +4 "core" & p q {\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&' +94 "core" ' +2 "storage"(& +4 "core" & m |\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(o'e +277 "core" ' + "storage"(^- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (>& +2 "core" & f p V\  +2 "manipulator"&& +3 "core" &F  k +2 .tElbow.seek 3 +2 "manipulator"&(D +3 "core" ( +2 "manipulator"&\\& +3 "core" &F k +2 "storage"(& +4 "core" & s r\  +2 .tForearm.seek 3 + 300 counts + "manipulator"&L'y +24 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&(/ +61 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"& & +2 "storage"(6'N +7 "core" &F b c 3 k +2 "manipulator"&$% +4 "core" % w b ^ +2 .tForearm.seek :retract + "manipulator"&'\ +98 "core" ' +2 .tElbow.seek PC +2 "manipulator"&(c +154 "core" ' + ."downElevator"SE.stop + "storage"(5 +99 "core" ( +2 "manipulator"&& +5 "core" &`  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +2 "core" &`  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&'[ +93 "core" ' +2 "manipulator"&@& +4 "core" &` > +2 "manipulator"&r% +4 "core" %`  + "processing"%]& +4 "core" &\ +2 "processing"%=& +5 "core" &'\ +2 .tPC.seek :closed +2 "processing"%j(Z +4 "core" &/\ +8 & 8\ $e +9 &uX\ 7 +10 &}.\ L +9 &Z+\ M +10 &MW\ M +9 &Y\ M +9 & Z(\ M +10 &"W\ L +9 &$UZ.\ M +9 &&Y+\ M +10 &'X&\ M +9 &)[\ M +10 &+^W"\ L +9 &-Y\ M +9 &.Z\ M +10 &0X\ M +9 &2eY \ M +9 &4'W%\ M +10 &5[(\ M +9 &7W*\ M +10 &9mW+\ M +9 &;0X\ L +9 &<W(\ M +10 &>Z'\ M +9 &@tX\ M +9 &B5X\ M +10 &CX#\ M +9 &EZ \ M +10 &Gy`\ N +9 &I7n\ O +9 &J$\ Q +10 &L\ S +9 &Np#\ T +9 &P2\ T +10 &Q\ T +9 &S\ T +10 &Uw\ T +9 &W8$\ T +9 &X\ T +10 &ZRIh#\ (u +9 &Z1\ + +5 ( +2 "processing"%=& +4 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.62 + .Hand.open +2 "manipulator"& 1 +3 "core" &Z \ + +57 1 +2 "manipulator"&~% +4 "core" % `  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&.'\ +91 "core" ' +2 "processing"%'& +4 "core" &Z \ + +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&"% +4 "core" %\ *  !O + "storage"(P% +4 "core" %< I I\ +2 "storage"({. +3 "core" .( + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(( +8 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (n& +2 "manipulator"&U& +4 "core" & 9 ,\  +3 &`  +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +2 "storage"(#]kK-0-\ b +4 .tElbow.seek PC +2 "manipulator"&+(c +3 ."raiseStack"SE.seek :beamBreak +2 "storage"(|'e +3 "core" ( + "manipulator"&& +4 "core" &`  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &_& +2 "core" &` 9 +2 .tForearm.seek PC +2 "manipulator"&,'[ +96 "core" ' +2 .tHand.close + "manipulator"&B/ +60 "core" / +2 .tPC.seek :open + "processing"%0(p +91 "core" ' +2 "storage"(`- +3 "core" -'e +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(%'B +34 "core" ' +254 ( +2 "storage"(Z& +4 "core" & s s\  +2 "manipulator"&4& +3 "core" &` { A +2 "manipulator"&Y% +4 "core" % i x 3 +2 .tForearm.seek :retract + "manipulator"&5'\ +96 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&O(D +266 "core" ( +2 "manipulator"&D& +4 "core" &Q  +2 "storage"(-& +4 "core" & f c 9\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&/' +102 "core" ' +2 .tHand.open + "manipulator"&?1 +63 "core" 1 +2 "storage"(J- +3 "core" -'B +3 .tSE.seek -0.16 Pucks below Top Plate + "storage"(C' +24 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(y' +51 "core" ' +2 #tLights, camera, ACTION! + "storage"(T- +4 "core" -' + "storage"(G& +4 "core" & ,\  +2 "manipulator"&& +4 "core" &Q ? + .tElbow.seek 3 +2 "manipulator"&W(D +9 "core" ( + "manipulator"&#& +5 "core" &N   + "storage"(M& +4 "core" & +\  +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&Q' +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"(I'M +62 "core" ' + "manipulator"&H& +5 "core" &N :  + "storage"(h& +4 "core" & p p \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&k'M +34 "core" ' + .tElbow.hold +2 "manipulator"&8, +5 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"( '7 +24 "core" ' +2 "manipulator"&l% +4 "core" %JD : M ' ̬ +2 "storage"(V& +4 "core" &\ \  q\  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 297 counts + "manipulator"&\ 'v +17 "core" ' +2 "manipulator"&A& +4 "core" & r [ ^  + "storage"( & +4 "core" & \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&K' +19 "core" ' +2 "storage"(f% +4 "core" %A \ +3 ."downElevator"SE.seek :down +4 "storage"(S'N +99 (*% +3 "core" %-; q q .\ T[ +2 "manipulator"&N% +4 "core" % d e  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&v'\ +90 "core" ' +64 ' + ."downElevator"SE.stop + "storage"(5 +3 (& +4 "core" & b ` \  + "collection"'s& +4 "core" &]m  \ K +2 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&i% +4 "core" %\ -  "Y +2 "storage"(&% +4 "core" %P q q \ + "storage"(3. +3 "core" .( +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(( +7 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (F& +2 "core" & _ S\ +2 "manipulator"&E& +4 "core" &   +2 .tElbow.seek 3 + "manipulator"&7(D +25 "core" ( + "manipulator"&t& +5 "core" &A  % + "storage"(;& +4 "core" & b b 4\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&X' +94 "core" ' +2 "storage"(g& +4 "core" & e h Q\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(m'e +280 "core" ' +2 "storage"(R- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&p& +3 "core" &B O % + "storage"(x& +4 "core" & L I \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&'M +33 "core" ' + .tElbow.hold +2 "manipulator"&e, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(9- +2 "core" -' +3 .tSE.seek 0.12 Pucks below Top Plate +2 "storage"(b't +30 "core" ' + "manipulator"&q% +5 "core" %QD A > Ь + "storage"(u& +4 "core" &\ \  (\ + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 304 counts + "manipulator"&:'} +16 "core" ' +2 "manipulator"&1& +4 "core" &0 _ K ' +2 "storage"(<& +4 "core" & f f\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&' +19 "core" ' +2 .tSE.seek 1.12 Pucks below Top Plate +2 "storage"(w'c +40 "core" ' +2 "manipulator"&& +4 "core" &0 q ~  ' +2 "manipulator"&% +4 "core" % h  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +96 "core" ' +2 .tElbow.seek CC +2 "manipulator"&z( +147 "core" ( +2 "manipulator"&[& +4 "core" &# 7 ;7 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &#  ;7 +2 .tForearm.seek CC + "manipulator"&'| +99 "core" ' +2 .tHand.close + "manipulator"&/ +60 "core" / +2 .tCC.seek :open + "collection"'a(p +411 "core" ( + "storage"(& +4 "core" & \ +2 "storage"(!& +3 "core" & } | _\ +2 "manipulator"&c& +4 "core" &# g ;4 + "manipulator"&% +4 "core" % χ 3 +2 .tForearm.seek :retract + "manipulator"&2'\ +99 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&d(D +160 "core" ( +2 "manipulator"&^& +4 "core" &E g  +2 "storage"(>& +4 "core" & \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 + "manipulator"&'M +122 "core" ' +2 .tElbow.hold + "manipulator"&\\, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&1 +62 "core" 1 +2 "manipulator"&(% +4 "core" % Um   ŷ +2 "storage"( & +3 "core" & p m 7\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 308 counts + "manipulator"&$'ρ +18 "core" ' + "manipulator"&}& +5 "core" & M d   + "storage"(& +4 "core" & \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&o' +20 "core" ' + "storage"(L% +5 "core" %c \ +2 ."downElevator"SE.seek :down +4 "storage"('N +98 (% +3 "core" %:? \ TZ +2 "manipulator"&% +4 "core" % c c  +4 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&@'\ +94 "core" ' +47 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 4 of [2..4] + #Loading generic puck from tube 4 into Collection Clamp +2 "collection"'r& +4 "core" & \ + "manipulator"&]% +4 "core" %\ 3  %| +2 "storage"(6% +4 "core" %O ~ ~ \ + "storage"(. +4 "core" .( + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"( (, +352 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 ( & +3 "core" &,* v f ^\  + "manipulator"&~& +4 "core" &   +2 .tElbow.seek 4 + "manipulator"&'(* +19 "core" ( +2 "manipulator"&"& +4 "core" && . G + "storage"(P& +4 "core" &,~ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&{' +111 "core" ' +2 "storage"(=& +4 "core" &,~ \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(U'e +277 "core" ' +2 "storage"(n- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" &,~ \  + "manipulator"&_& +4 "core" &( l l E +2 .tElbow.seek 4 + "manipulator"&(* +4 "core" ( + "manipulator"&B& +4 "core" &( j m v E + "storage"(& +4 "core" &,~ G\  +2 .tForearm.seek 4 + 300 counts + "manipulator"&`'Z +15 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&/ +56 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&.& +2 "storage"(j'N +7 "core" &( N E +2 "manipulator"&Z% +4 "core" % Y [ ( +2 .tForearm.seek :retract + "manipulator"&4'\ +97 "core" ' +2 .tElbow.seek CC +2 "manipulator"&|( +142 "core" ( + "manipulator"&Y& +5 "core" ' + &  , + ."downElevator"SE.stop +3 .tElbow.reconfigure :loose +3 "storage"(5 + "manipulator"&$ &.,(#b +4 &,& +3 "core" & T , +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&D'| +103 "core" ' +2 "manipulator"&-& +4 "core" & - , +2 "manipulator"&+% +4 "core" %| D +2 "collection"'?& +4 "core" & \ +2 "collection"'J& +5 "core" & \ +2 .tCC.seek :closed + "collection"'T(] +5 "core" & \  +9 &2}  \ *y +9 &d \ > +9 &Sw  \ M +9 &Y \ L +10 &[ \ L +9 &[ \ \ L +9 &!\\[ \ M +10 &#]  \ M +9 &$[ \ \ L +10 &&\\ \ \ M +9 &(dW \ \ M +9 &*&] \ M +10 &+\\ \ M +9 &-\\ \ M +9 &/lY  \ M +10 &1.[ \ M +9 &2] \ M +10 &4Y \ L +9 &6s\\  \ M +9 &86W \ \ M +10 &9[ \ M +9 &;Z \  \ M +9 &=|Y  \ M +10 &?>W \ M +9 &AY \ \ M +10 &BY \ L +9 &DY  \ L +9 &FFZ \ M +10 &H^ \ M +9 &Ig \ N +9 &Kr \ P +10 &M=  \ R +9 &N  \ V +10 &P  \ W +9 &Rs  \ X +9 &T2  \ Y +10 &U \ Z +9 &W  \ Z +9 &Yq \ [ +10 &[2  \ \\ +9 &\\v  \ 6 +10 &]& \ 's +9 &] \ [ +2 ( +2 "collection"'J& +3 #tCollection Clamp onSpring/offSpring for 9/25 samples, on/off torque 2.00 + .Hand.open +2 "manipulator"&G1 +53 "core" 1 +2 "manipulator"&% +4 "core" % j  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&#'\ +99 "core" ' +2 #tLoading generic puck from tube 4 into Processing Clamp +2 "processing"%M& +4 "core" &\ + "manipulator"&5% +4 "core" %\ 7  ' +2 "storage"(H% +3 "core" %9 O N `\ +2 "storage"(h. +3 "core" .(,~ +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"(%(, +3 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (l& +2 "core" &,* F )\  +2 "manipulator"&V& +3 "core" &  + +2 "manipulator"&C% +4 "core" %\ 5  & +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +53 .tElbow.seek 4 + "manipulator"&A(* +157 "core" ( + "manipulator"& & +4 "core" &2 _  +2 "storage"(f& +4 "core" &, M M c\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&O' +101 "core" ' + "storage"(/& +5 "core" &, f c \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(y'e +282 "core" ' + "storage"(*- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (N& +3 "core" &,~ N K 4\  +2 "manipulator"&Q& +3 "core" &4   +2 .tElbow.seek 4 +2 "manipulator"&W(* +3 "core" ( +2 "manipulator"&I& +3 "core" &4 u _  +2 "storage"(k& +4 "core" &,~ e n \  +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&\ 'Z +21 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +56 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&s& +2 "storage"(i'N +7 "core" &4 j b W  +2 "manipulator"&&% +4 "core" % V d _ % +2 .tForearm.seek :retract + "manipulator"&3'\ +93 "core" ' + .tElbow.seek PC +2 "manipulator"& (c +161 "core" ' + ."downElevator"SE.stop + "storage"(5 +87 "core" ( + "manipulator"&F& +5 "core" &l  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &E& +3 "core" &l  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&t'[ +99 "core" ' +2 "manipulator"&;& +4 "core" &l  +2 "manipulator"&K% +4 "core" %T +2 "processing"%g& +4 "core" &\ +2 "processing"%S& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%(Z +4 "core" &\  +8 &0y\ *x +10 &d-\ > +9 &Cu\ N +9 &W\ M +10 &Z\ M +9 &Z\ M +10 &!LY\ M +9 &#U\ M +9 &$W\ M +10 &&\\,\ M +9 &(UW.\ M +9 &*W\ L +10 &+X\ M +9 &-W\ M +10 &/\\Z(\ M +9 &1X$\ M +9 &2Y"\ M +10 &4W+\ M +9 &6d[*\ M +9 &8'Y#\ M +10 &9X+\ M +9 &;W+\ M +10 &=mY#\ M +9 &?.Z#\ M +9 &@[\ M +10 &BX.\ M +9 &DuZ/\ M +9 &F5](\ M +10 &Ge+\ N +9 &Ip-\ P +10 &Kn-\ R +9 &M+*\ S +9 &N%\ T +10 &P+\ T +9 &Rp0\ T +9 &T1*\ T +10 &U(\ T +9 &W,\ T +9 &Yu-\ B +10 &Zu;0\ a +9 &Z\ * +3 ( + "processing"%S& +4 #tProcessing Clamp onSpring/offSpring for 9/25 samples, on/off torque 1.64 + .Hand.open +2 "manipulator"&81 +54 "core" 1 +2 "manipulator"&v% +4 "core" % T o +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&R'\ +99 "core" ' + "processing"%p& +5 "core" &Zn\ * + #tImaging generic puck in Processing Clamp while storing it to tube 4 +2 "manipulator"&x% +3 "core" %\ 5  & +2 "storage"(9% +4 "core" %N 7 7 \ \ + "storage"(q. +3 "core" .(, +2 "storage"(u& +4 "core" &,~ 1 ) \  + "storage"(1& +4 "manipulator"&<& +5 "core" &,~ 7 8 !\  + &l , +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +3 "storage"(#]kK-0-\ b + "manipulator"&(c +6 ."raiseStack"SE.seek :beamBreak +2 "storage"('e +2 "core" ( +2 "manipulator"&X& +4 "core" &l  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &7& +3 "core" &l j +2 .tForearm.seek PC + "manipulator"&m'[ +96 "core" ' + .tHand.close + "manipulator"&/ +55 "core" / +2 .tPC.seek :open +2 "processing"%:(p +93 "core" ' +2 "storage"(b- +3 "core" -'e + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(['B +41 "core" ' +245 ( + "storage"(& +4 "core" &,~ W Q \  +2 "manipulator"&& +4 "core" &l  + "manipulator"&e% +4 "core" % \\  +2 .tForearm.seek :retract + "manipulator"&'\ +97 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&(* +250 "core" ( + "manipulator"&)& +4 "core" &8   +2 "storage"(& +4 "core" &,~ O O +\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&!' +93 "core" ' +2 .tHand.open + "manipulator"&c1 +64 "core" 1 +2 "storage"(- +4 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate +2 "storage"(^' +23 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.83 Pucks below Top Plate + "storage"(>' +53 "core" ' +2 #tLights, camera, ACTION! + "storage"(- +4 "core" -' + "storage"(z& +4 "core" &,~ \  +2 "manipulator"&& +3 "core" &8 `  +2 .tElbow.seek 4 +2 "manipulator"&((* +17 "core" ( + "manipulator"& & +4 "core" &3 {   +2 "storage"(}& +4 "core" &,~ \  +2 .tForearm.seek 4 + 450 counts + "manipulator"&' +5 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"(L'M +62 "core" ' + "manipulator"&2& +4 "core" &3  +2 "storage"(& +4 "core" &,~ e f \  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 + "manipulator"&'. +36 "core" ' +2 .tElbow.hold + "manipulator"&d, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate + "storage"('7 +25 "core" ' +2 "manipulator"&r% +5 "core" %=R 3 3 ʰ + "storage"($& +4 "core" &,~\ \ \ \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 315 counts + "manipulator"&]'i +17 "core" ' +2 "manipulator"&6& +4 "core" & n r L  +2 "storage"(& +4 "core" &,~ b l \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&w' +19 "core" ' +2 "storage"(o% +4 "core" %@ p n |\ +3 ."downElevator"SE.seek :down +4 "storage"('N +98 (% +3 "core" %$A Q U /\ U_ +2 "manipulator"& % +4 "core" % l m +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&~'\ +94 "core" ' +58 ' + ."downElevator"SE.stop +2 "storage"(5 +2 ("& +4 "core" &,~ & 9 $\  +2 "collection"'P& +4 "core" &]  \ [ +2 #tStoring generic puck in Collection Clamp to tube 4 + "manipulator"&=% +4 "core" %\ 1  $q +2 "storage"(\\% +4 "core" %M V V R\ + "storage"(@. +3 "core" .(, +2 "storage"(n& +4 "core" &,~ Q J 8\  + "storage"(& +4 "core" &,~ G R 2\  + "manipulator"&_& +4 "core" &   +2 .tElbow.seek 4 + "manipulator"&B(* +18 "core" ( + "manipulator"&& +4 "core" &-\ 1 V +2 "storage"(& +4 "core" &,~ V V \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&.' +95 "core" ' + "storage"(Z& +5 "core" &,~ f f \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(''e +277 "core" ' + "storage"({- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&Y& +3 "core" &0\ F S +2 "storage"(,& +4 "core" &,~ N K \  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 + "manipulator"&U'. +32 "core" ' + .tElbow.hold +2 "manipulator"&`, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(-- +2 "core" -' +2 .tSE.seek 0.12 Pucks below Top Plate +2 "storage"(+'w +28 "core" ' + "manipulator"&?% +4 "core" %BW . % ̱ +2 "storage"(& +4 "core" &,~\ \ \  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 320 counts +51 "manipulator"&j'n +17 "core" ' +2 "manipulator"&4& +4 "core" & o ` $ +2 "storage"(a& +4 "core" &,~ b l \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&G' +23 "core" ' +2 .tSE.seek 1.12 Pucks below Top Plate +2 "storage"('f +40 "core" ' + "manipulator"&M& +5 "core" & c d $ +2 "manipulator"&5% +4 "core" % c c +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&H'\ +92 "core" ' +2 .tElbow.seek CC +2 "manipulator"&h( +145 "core" ( + "manipulator"&J& +5 "core" &\  J . +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &l& +3 "core" &\   . +2 .tForearm.seek CC +2 "manipulator"&V'| +95 "core" ' + .tHand.close +2 "manipulator"&C/ +59 "core" / +3 .tCC.seek :open + "collection"'D(p +410 "core" ( +2 "storage"( & +4 "core" &,~ \  + "storage"(f& +4 "core" &,~ \  + "manipulator"& & +4 "core" &\   . +2 "manipulator"&/% +4 "core" % w   +2 .tForearm.seek :retract +2 "manipulator"&|'\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&#(* +168 "core" ( +2 "manipulator"&*& +4 "core" &/  = + "storage"(N& +4 "core" &,~ 7\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 4 + "manipulator"&Q'. +112 "core" ' +2 .tElbow.hold + "manipulator"&I, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&k1 +60 "core" 1 +2 "manipulator"&% +4 "core" % :W . 1 ˱ + "storage"(s& +4 "core" &,~ N I H\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 312 counts + "manipulator"&&'f +21 "core" ' + "manipulator"&A& +5 "core" & Z i Z i + "storage"(O& +4 "core" &,~ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&y' +22 "core" ' + "storage"(\ % +4 "core" %i \ +3 ."downElevator"SE.seek :down +3 "storage"(F'N +100 (E% +2 "core" %C ~ \ U\\ +2 "manipulator"&W% +4 "core" % m k +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&;'\ +91 "core" ' +47 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 2 of [2..4] + #Loading generic puck from tube 2 into Collection Clamp +2 "collection"'K& +4 "core" & \ +2 "manipulator"&g% +4 "core" %\ *  !P + "storage"(i% +4 "core" %? ~\ + "storage"(3. +4 "core" .(, + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"(0(  +672 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (8& +3 "core" &  q y T\ +2 "manipulator"&v& +4 "core" &  i +2 .tElbow.seek 2 + "manipulator"&p(; +34 "core" ( + "manipulator"&x& +5 "core" &7   + "storage"(9& +4 "core" &  x  \\\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&q'Ѐ +108 "core" ' + "storage"(u& +4 "core" &  Y\ +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(1'e +279 "core" ' +2 "storage"(<- +3 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (S& +3 "core" &  ~ (\ +2 "manipulator"&X& +4 "core" &7 d c   +2 .tElbow.seek 2 + "manipulator"&7(; +3 "core" ( +2 "manipulator"&t& +3 "core" &7 a g  +2 "storage"(& +4 "core" &  \ +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&b' +28 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"& / +59 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&R& + "storage"('N +8 "core" &7 c d  + "manipulator"&% +4 "core" % e e 0  +2 .tForearm.seek :retract +2 "manipulator"&'\ +96 "core" ' + .tElbow.seek CC +2 "manipulator"&e( +148 "core" ' + ( +2 ."downElevator"SE.stop +3 "manipulator"&& +2 "storage"(5 +6 "core" &  ) . + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &m& +3 "core" &   . +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&)'| +102 "core" ' +2 "manipulator"&& +5 "core" &  S . + "manipulator"&% +4 "core" %p  E +2 "collection"'c& +4 "core" &   +2 "collection"'& +5 "core" &  +2 .tCC.seek :closed +2 "collection"'(] +4 "core" &  +8 &>  \ %f +10 &nW \ 7 +9 & \ L +9 &Z \ M +10 &H[ \ \ L +9 &\ Y \ \ L +9 & ]  \ M +10 &"^ \ L +9 &$PZ \ L +10 &&\\ \ \ M +11 &'Y  \ L +9 &)Z  \ L +8 &+W] \ \ \ M +9 &-Z \ L +10 &.[  \ L +9 &0\\ \  \ L +9 &2^^ \ \ M +10 &4!^ \ M +9 &5Z \ M +9 &7] \ \ L +10 &9hW \  \ L +9 &;+Y \ L +9 &<Z \  \ M +10 &>W  \ L +9 &@pZ  \ L +10 &B2Y \ \ L +9 &CZ  \ L +9 &E] \ M +10 &Gw_ \ M +9 &I4g  \ N +9 &Jx \ P +10 &L  \ T +9 &Na \ W +10 &P!  \ X +9 &Q  \ X +9 &S  \ Y +10 &Ua  \ Z +9 &W! \ Z +9 &X  \ [\ +10 &Z  \ \\ +9 &\\b  \ H +10 &]a9 \ *} +9 &]  \ T +5 ( +2 "collection"'& +4 #tCollection Clamp onSpring/offSpring for 9/26 samples, on/off torque 2.03 + .Hand.open +2 "manipulator"&z1 +3 "core" &]{ \ T +56 1 +2 "manipulator"&% +4 "core" % p  E +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"& '\ +94 "core" ' + #tLoading generic puck from tube 2 into Processing Clamp +2 "processing"%}& +4 "core" &\ +2 "manipulator"&% +3 "core" %\ 0  "] +2 "storage"(2% +4 "core" %F I T +\ + "storage"(. +3 "core" .(  +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 + "storage"([(  +32 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (r& +3 "core" &  \  \ ! +2 "manipulator"&$& +3 "core" &   . +2 "manipulator"&^% +4 "core" %\ 0  "] +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&6(; +153 "core" ( +2 "manipulator"&& +4 "core" &B j \ +2 "storage"(o& +4 "core" &  c f :\ $ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&'Ѐ +104 "core" ' + "storage"(!& +5 "core" &  \ $ + .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(>'e +281 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 ( & +3 "core" &  q d x\ / +2 "manipulator"&& +3 "core" &B e e C \ +2 .tElbow.seek 2 +2 "manipulator"&((; +3 "core" ( + "manipulator"&L& +4 "core" &B g a  \ + "storage"(& +4 "core" &  e c\ / +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&"' +14 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&]/ +53 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&P& +2 "storage"(='N +7 "core" &B \ +2 "manipulator"&\\% +4 "core" % I +2 .tForearm.seek :retract +2 "manipulator"&@'\ +89 "core" ' +2 .tElbow.seek PC +2 "manipulator"&(c +162 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +83 "core" ( + "manipulator"&n& +5 "core" &l  + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &l  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&_'[ +105 "core" ' +2 "manipulator"&& +4 "core" &l  + "manipulator"&% +4 "core" %^  +52 "processing"%w& +4 "core" &\ +2 "processing"%Z& +5 "core" &\ +2 .tPC.seek :closed +3 "processing"%(Z +4 "core" &\ +5 &\ 2 +9 & Fz\ 0 +10 &7s\ E +9 &_\ M +10 &W\ M +9 &cY\ M +9 & $W\ M +10 &!X\ M +9 &#X\ M +9 &%kW\ M +10 &'-W\ M +9 &(Z\ M +10 &*V*\ M +9 &,sX\ M +9 &.5X\ M +10 &/Y,\ M +9 &1W\ M +9 &3{Y-\ M +10 &5>W-\ L +9 &6U&\ M +10 &8Y+\ M +9 &:W+\ M +9 &Y/\ M +9 &?Y,\ M +9 &AZ\ M +10 &CMX\ M +9 &EW0\ M +10 &F]-\ N +9 &Hc1\ O +9 &JKp+\ P +10 &L*\ R +9 &M/\ T +9 &O \ T +10 &QI\ S +9 &S\ %\ T +10 &T\ T +9 &V'\ T +9 &XN.\ T +10 &Y{s+\ (} +9 &Z-/\ 9 +9 ( +2 "processing"%Z& +4 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.59 + .Hand.open + "manipulator"&d1 +4 "core" &Z*\ ) +60 1 + "manipulator"&~% +4 "core" % ^  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&{'\ +95 "core" ' +2 "processing"%Y& +4 "core" &Z\ ) +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 + "manipulator"&,% +4 "core" %\ +  !T +2 "storage"(-% +4 "core" %R O P ]\  + "storage"(?. +3 "core" .(  +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"((  +44 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (4& +3 "core" &  G @\ +2 "manipulator"&a& +2 ."raiseStack"SE.reconfigure :place +6 "storage"(#]kK-0-\ b +2 "core" &l , +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +2 ."raiseStack"SE.seek :beamBreak +3 "manipulator"&M(c + "storage"(5'e +6 "core" ( +2 "manipulator"&.& +4 "core" &l  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &B& +3 "core" &l  +2 .tForearm.seek PC +2 "manipulator"&''[ +94 "core" ' +2 .tHand.close + "manipulator"&U/ +57 "core" / +2 .tPC.seek :open +2 "processing"%j(p +92 "core" ' +2 "storage"(+- +3 "core" -'e +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +2 ."raiseStack"SE.seek :place +2 "storage"(J'B +36 "core" ' +253 ( +2 "storage"(l& +4 "core" &  L M D\ +6 "manipulator"&G& +4 "core" &l ` +2 "manipulator"&`% +4 "core" % f  +2 .tForearm.seek :retract +2 "manipulator"&C'\ +104 "core" ' +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&H(; +260 "core" ( +2 "manipulator"&T& +4 "core" &I { `  + "storage"( & +4 "core" &  c c 5\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&f'Ѐ +88 "core" ' + .tHand.open +2 "manipulator"& 1 +53 "core" 1 +2 "storage"(/- +4 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate +2 "storage"(*' +23 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(N' +51 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(V- +3 "core" -' +2 "storage"(h& +4 "core" &  \ + "manipulator"&k& +4 "core" &I  +2 .tElbow.seek 2 +2 "manipulator"&(; +24 "core" ( + "manipulator"&s& +5 "core" &D   + "storage"(A& +4 "core" &  \ +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&O'Ѐ +3 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"(\ 'M +59 "core" ' + "manipulator"&|& +4 "core" &D A  +2 "storage"(E& +4 "core" &  e c v\ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 + "manipulator"&W'ξ +35 "core" ' + .tElbow.hold +2 "manipulator"&#, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"(Q'7 +22 "core" ' + "manipulator"&K% +4 "core" %Z   Ʋ +2 "storage"(&& +4 "core" &  H c\ + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 2 + 309 counts +2 "manipulator"&g' +18 "core" ' + "manipulator"&i& +5 "core" &D f k  + "storage"(3& +4 "core" &  y \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&'Ѐ +17 "core" ' +2 "storage"(y% +4 "core" %< } \ +3 ."downElevator"SE.seek :down +4 "storage"(F'N +99 (%% +3 "core" %P> h m t\ V] +2 "manipulator"&8% +4 "core" %w c d  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&v'\ +87 "core" ' +61 ' + ."downElevator"SE.stop + "storage"(5 +3 (x& +3 "core" &  S ` 9\ +2 "collection"'9& +4 "core" &]{ \ T +2 #tStoring generic puck in Collection Clamp to tube 2 + "manipulator"&u% +4 "core" %\ +  !R +2 "storage"(I% +4 "core" %9 c d\ + "storage"(;. +3 "core" .(  +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 + "storage"(<(  +35 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (S& +2 "core" & \ \  g\ % +2 "manipulator"&X& +4 "core" &D P  +2 .tElbow.seek 2 + "manipulator"&t(; +4 "core" ( + "manipulator"&& +4 "core" &D   + "storage"( & +4 "core" &  g d\ ) +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&R'Ѐ +116 "core" ' + "storage"(& +5 "core" &  z \ ) +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(p'e +277 "core" ' + "storage"(q- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&& +3 "core" &D f f $  +2 "storage"(m& +4 "core" &  p r v\ 7 + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&1'ξ +34 "core" ' + .tElbow.hold +2 "manipulator"&b, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(- +2 "core" -' +3 .tSE.seek 0.11 Pucks below Top Plate + "storage"('l +24 "core" ' +2 "manipulator"&c% +4 "core" %Z   T Dz + "storage"(7& +4 "core" &  I \ 7 +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 2 + 319 counts +2 "manipulator"&' +18 "core" ' +2 "manipulator"&& +4 "core" &D V i  +2 "storage"(D& +4 "core" &  g q x\ 7 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&z'Ѐ +21 "core" ' +2 .tSE.seek 1.11 Pucks below Top Plate +2 "storage"('[ +49 "core" ' +2 "manipulator"&}& +4 "core" &D c e :  + "manipulator"&% +4 "core" %[ c e   +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&2'\ +93 "core" ' +2 .tElbow.seek CC + "manipulator"&( +148 "core" ( +2 "manipulator"&& +4 "core" &  - +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &r& +2 "core" &  - +2 .tForearm.seek CC +2 "manipulator"&$'| +75 "Can"! "VS +20 "core" ' +2 .tHand.close + "manipulator"&^/ +58 "core" / +2 .tCC.seek :open +2 "collection"')(p +410 "core" ( +2 "storage"(& +4 "core" &  \ 7 +2 "storage"(o& +3 "core" &  \ 7 +2 "manipulator"&0& +3 "core" &  - +2 "manipulator"&!% +3 "core" % p   +2 .tForearm.seek :retract +2 "manipulator"&e'\ +92 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 + "manipulator"& (; +201 "core" ( +2 "manipulator"&& +4 "core" &B 1 +2 "storage"( & +3 "core" &  | z q\ 7 +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 2 +2 "manipulator"&'ξ +107 "core" ' +2 .tElbow.hold + "manipulator"&L, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&1 +56 "core" 1 +2 "manipulator"&]% +4 "core" % t b ¹) +2 "storage"(P& +4 "core" &  c c #\ 7 + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 2 + 320 counts +2 "manipulator"&\\' +18 "core" ' +2 "manipulator"&6& +4 "core" &I d M +2 "storage"(& +3 "core" &  \ 7 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&>'Ѐ +16 "core" ' +2 "storage"("% +4 "core" %\\ l\ +2 ."downElevator"SE.seek :down +4 "storage"(n'N +99 (% +2 "core" %A; \ UZ +2 "manipulator"&(% +4 "core" %І _ c  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +94 "core" ' +45 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 3 of [2..4] + #Loading generic puck from tube 3 into Collection Clamp +2 "collection"'& +4 "core" & \ \ +2 "manipulator"&w% +4 "core" %\ 3  % +2 "storage"(=% +4 "core" %O 5\ +2 "storage"(@. +3 "core" .(  +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(:( +346 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (d& +2 "core" &3 y g b\  +2 "manipulator"&~& +4 "core" &I  + .tElbow.seek 3 +2 "manipulator"&Y(D +3 "core" ( +2 "manipulator"&,& +4 "core" &I  + "storage"(-& +4 "core" & \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&?' +104 "core" ' +2 "storage"(Z& +4 "core" & \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(4'e +281 "core" ' +2 "storage"(a- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (.& +2 "core" & \  +2 "manipulator"&B& +4 "core" &I e f 4 + .tElbow.seek 3 +2 "manipulator"&_(D +4 "core" ( + "manipulator"&U& +4 "core" &I j l  +2 "storage"([& +4 "core" & \  +2 .tForearm.seek 3 + 300 counts + "manipulator"&+'y +15 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +59 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&{& +2 "storage"('N +8 "core" &I y + "manipulator"&l% +4 "core" % ς $ +2 .tForearm.seek :retract +2 "manipulator"&G'\ +100 "core" ' +2 .tElbow.seek CC +2 "manipulator"&5( +141 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +3 "core" ( +2 "manipulator"&`& +4 "core" & 8 . + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &'& +3 "core" &  . +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&T'| +96 "core" ' + "manipulator"& & +4 "core" & , . +2 "manipulator"&M% +4 "core" %q +  +2 "collection"' & +4 "core" &   \ +2 "collection"'/& +5 "core" & \ +2 .tCC.seek :closed +2 "collection"'V(] +4 "core" & \  +9 &3 \ \ \ *z +9 &d \ > +9 &Wu \ M +10 &Y \ L +9 &\\  \ M +10 &Y \ L +9 &!bZ \ L +9 &##^ \ M +10 &$Z \ M +9 &&\\ \ \ M +9 &(jX \ L +10 &*,Y \ L +9 &+Y \ L +10 &-[  \ L +9 &/rZ \ L +9 &13] \ M +10 &2\\ \ L +9 &4Y  \ L +9 &6yZ \ M +10 &8<W \ \ L +9 &9W \ M +10 &;Y  \ M +9 &=X \ \ L +9 &?DW \ \ L +10 &A]  \ M +9 &B\\  \ M +9 &DZ \ M +10 &FLX \ L +9 &H [ \ M +10 &Ic \ M +9 &Ks \ P +9 &MB   \ S +10 &N  \ V +9 &P  \ X +9 &Rx  \ X +10 &T8 \ Y +9 &U  \ Y +10 &W  \ Z +9 &Yv  \ [ +9 &[7  \ \\ +10 &\\w  \ 4 +9 &]'  \ !d +9 ( +2 "collection"'/& +3 #tCollection Clamp onSpring/offSpring for 9/25 samples, on/off torque 2.05 +2 .Hand.open + "manipulator"&h1 +4 "core" &]}  \ X +58 1 +2 "manipulator"&k% +4 "core" % q (  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&s'\ +91 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp +2 "processing"%A& +4 "core" &\ + "manipulator"&C% +4 "core" %\ * 9 !R +2 "storage"(|% +4 "core" %B U U \ + "storage"(E. +3 "core" .( +2 "storage"(J& +3 "core" & V V \  +2 "storage"(K& +4 "core" & V M E\  + "manipulator"&&& +4 "core" & k . + "manipulator"&*% +4 "core" %\ * T !R +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&i(D +153 "core" ( +2 "manipulator"&3& +4 "core" &K  \ + "storage"(y& +4 "core" & e c \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&H' +100 "core" ' +2 "storage"(f& +4 "core" & } 8\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(N'e +281 "core" ' + "storage"(%- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (8& +3 "core" & c [ \  + "manipulator"&O& +4 "core" &K d f  \ +2 .tElbow.seek 3 + "manipulator"&(D +3 "core" ( +2 "manipulator"&\ & +4 "core" &K m i \ + "storage"(W& +4 "core" & } z O\  +2 .tForearm.seek 3 + 300 counts + "manipulator"&x'y +29 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&g/ +60 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&9& + "storage"(u'N +8 "core" &K e c L \ + "manipulator"&I% +4 "core" % } e c , +2 .tForearm.seek :retract +2 "manipulator"&;'\ +93 "core" ' +2 .tElbow.seek PC + "manipulator"&Q(c +159 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +86 "core" ( +3 "manipulator"&S& +4 "core" &i i + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &X& +3 "core" &i " +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&'[ +94 "core" ' + "manipulator"& & +4 "core" &i  +2 "manipulator"&% +4 "core" %R  +2 "processing"%& +3 "core" &\ +3 "processing"%F& +5 "core" &\ +2 .tPC.seek :closed + "processing"%(Z +5 "core" &\ +7 & 0\ #a +10 &_V\ 7 +9 &|\ L +9 &sX\ M +10 &7U\ L +9 &Y\ M +9 & Y\ M +10 &"|T\ M +9 &$>U\ M +10 &&U\ M +9 &'W\ L +9 &)X\ L +10 &+FW\ M +9 &-Y\ M +9 &.[\ M +10 &0W\ M +9 &2MV\ M +10 &4W\ M +9 &5W\ L +9 &7W\ M +10 &9VU\ M +9 &;Y\ L +9 &<W\ M +10 &>](\ M +9 &@]Z\ M +10 &B W\ M +9 &C[\ M +9 &EZ0\ L +10 &Gcc\ N +9 &I!k,\ O +9 &Jz.\ Q +10 &L,\ S +9 &NZ+\ S +10 &P/\ S +9 &Q/\ T +9 &S,\ T +10 &Ua+\ T +9 &W!\ T +9 &X+\ U +10 &Z<Ih\ *z +9 &Z ;\ * +5 ( +2 "processing"%F& +4 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.62 +2 .Hand.open + "manipulator" +4 "core" &Z\ * +57 1 + "manipulator"&v% +4 "core" % R  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&q'\ +99 "core" ' +2 "processing"%& +4 "core" &Z \ * +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&m% +4 "core" %\ 8 Q ' + "storage"(% +4 "core" %; O P p\ +2 "storage"(c. +3 "core" .( + "storage"(7& +4 "core" & O P t\  +2 "storage"(& +2 "manipulator"&D& +8 "core" &i S + & P O &\  +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +3 "storage"(#]kK-0-\ b + "manipulator"&}(c +5 ."raiseStack"SE.seek :beamBreak +52 "storage"('e +4 "core" ( + "manipulator"&R& +4 "core" &i e + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &t& +3 "core" &i L +2 .tForearm.seek PC +2 "manipulator"&p'[ +94 "core" ' +2 .tHand.close + "manipulator"&1/ +54 "core" / +2 .tPC.seek :open +2 "processing"%(p +97 "core" ' + "storage"(- +4 "core" -'e + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('B +36 "core" ' +245 ( +2 "storage"(r& +4 "core" & c c\  + "manipulator"&z& +4 "core" &i @ +2 "manipulator"&b% +4 "core" % Y y +2 .tForearm.seek :retract +2 "manipulator"&^'\ +97 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&2(D +251 "core" ( +2 "manipulator"&& +4 "core" &E B n + "storage"(& +4 "core" & Q T \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&o' +100 "core" ' +2 .tHand.open + "manipulator"&01 +54 "core" 1 +2 "storage"(!- +3 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate +2 "storage"($' +23 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(' +51 "core" ' +2 #tLights, camera, ACTION! + "storage"( - +4 "core" -' + "storage"(& +4 "core" & #\  +2 "manipulator"&& +3 "core" &E  n +2 .tElbow.seek 3 +2 "manipulator"&](D +3 "core" ( +2 "manipulator"&P& +4 "core" &E  n + "storage"(6& +4 "core" & %\  +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&' +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"("'M +64 "core" ' +2 "manipulator"&e& +4 "core" &E  n +2 "storage"(& +4 "core" & M N P\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&('M +32 "core" ' + .tElbow.hold +2 "manipulator"& , +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.07 Pucks below Top Plate + "storage"('7 +26 "core" ' +2 "manipulator"&% +4 "core" %M? n o  ѫ +2 "storage"(w& +4 "core" &\ \  \  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 300 counts + "manipulator"&\\'y +16 "core" ' +2 "manipulator"&=& +4 "core" & & * +2 "storage"(@& +4 "core" & m f \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&' +18 "core" ' +2 "storage"(>% +4 "core" %? d f J\ +2 ."downElevator"SE.seek :down +4 "storage"(n'N +99 (<% +2 "core" %)< O M l\ U] +2 "manipulator"&d% +4 "core" %  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&~'\ +92 "core" ' +63 ' + ."downElevator"SE.stop + "storage"(5 +3 (,& +4 "core" & S Q X\  + "collection"'-& +4 "core" &]v  \ X +2 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&Z% +4 "core" %\ .  #e +2 "storage"(L% +3 "core" %W M M K\  +2 "storage"(. +3 "core" .( + "storage"(a& +4 "core" & M M \  +2 "storage"(.& +4 "core" & M M ;\  + "manipulator"&B& +4 "core" &  ) +2 .tElbow.seek 3 + "manipulator"&U(D +37 "core" ( +2 "manipulator"&[& +4 "core" &E 4 } +2 "storage"(& +3 "core" & n g U\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&{' +99 "core" ' +2 "storage"(l& +4 "core" & h \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(Y'e +288 "core" ' +2 "storage"(?- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&`& +3 "core" &E } +2 "storage"('& +3 "core" & f e Q\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&4'M +34 "core" ' +2 .tElbow.hold + "manipulator"&+, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"( - +2 "core" -' +3 .tSE.seek 0.12 Pucks below Top Plate + "storage"(M't +31 "core" ' +2 "manipulator"& % +4 "core" %Q? J L . ͫ + "storage"(_& +4 "core" &\ \  L\  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 3 + 304 counts +2 "manipulator"&'} +17 "core" ' + "manipulator"&G& +5 "core" & f M + "storage"()& +4 "core" & z \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&h' +21 "core" ' +2 .tSE.seek 1.12 Pucks below Top Plate +2 "storage"(k'c +40 "core" ' + "manipulator"&A& +5 "core" & c d  + "manipulator"&C% +4 "core" % f c  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&|'\ +90 "core" ' + .tElbow.seek CC +2 "manipulator"&E( +153 "core" ( +2 "manipulator"&J& +4 "core" & 9 . +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &/& +3 "core" &  . +2 .tForearm.seek CC +2 "manipulator"&K'| +101 "core" ' + .tHand.close +2 "manipulator"&&/ +61 "core" / +2 .tCC.seek :open +2 "collection"'*(p +413 "core" ( + "storage"(3& +4 "core" & \  +2 "storage"(T& +4 "core" & \  + "manipulator"&y& +4 "core" &  . + "manipulator"&f% +4 "core" % ρ B +2 .tForearm.seek :retract + "manipulator"&5'\ +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&s(D +165 "core" ( +2 "manipulator"&%& +4 "core" &=   +2 "storage"(8& +3 "core" & \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 +2 "manipulator"&O'M +112 "core" ' + .tElbow.hold +2 "manipulator"&\ , +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&W1 +57 "core" 1 +2 "manipulator"&g% +4 "core" % Vq   Ÿ +2 "storage"(9& +3 "core" & X a\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 309 counts + "manipulator"&I'ς +19 "core" ' + "manipulator"&i& +5 "core" & i X  h + "storage"(H& +4 "core" & 9\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&N' +20 "core" ' +2 "storage"(x% +4 "core" %g \ +2 ."downElevator"SE.seek :down +3 "storage"(S'N +99 (X% +3 "core" %:D  \ U\\ +2 "manipulator"&% +4 "core" % l l +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"& '\ +90 "core" ' +47 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 4 of [2..4] + #Loading generic puck from tube 4 into Collection Clamp +2 "collection"'& +4 "core" & \ \ + "manipulator"&% +4 "core" %\ .  #g +2 "storage"(u% +4 "core" %9 | } j\ + "storage"(;. +3 "core" .( +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 4 + "storage"(j(, +356 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (#& +2 "core" &,+ r j r\  +2 "manipulator"&v& +3 "core" &  d +2 .tElbow.seek 4 +2 "manipulator"&(* +31 "core" ( + "manipulator"&m& +54 "core" &5 A  + "storage"(& +4 "core" &, D\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&c' +101 "core" ' +2 "storage"(F& +4 "core" &, 2\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(7'e +282 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (D& +3 "core" &, | | G\  + "manipulator"&R& +4 "core" &5 -  +2 .tElbow.seek 4 + "manipulator"&t(* +8 "core" ( +2 "manipulator"&& +4 "core" &2 { Y  + "storage"(1& +4 "core" &, \  +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&Q'Z +10 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +63 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&q& + "storage"('N +8 "core" &2   + "manipulator"&r% +4 "core" % R z  +2 .tForearm.seek :retract +2 "manipulator"&z'\ +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"&b( +149 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +15 "core" ( + "manipulator"&& +4 "core" &\  ] +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &p& +3 "core" &\  ] +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&'| +100 "core" ' +2 "manipulator"&& +4 "core" & W ] +2 "manipulator"&}% +4 "core" %x  +2 "collection"'0& +4 "core" & \ +2 "collection"'!& +5 "core" & \ +2 .tCC.seek :closed + "collection"' (] +5 "core" & \ +7 &7 \ $e +9 &jV~ \ \ 7 +9 &| \ K +10 &~U \ L +9 &@W  \ L +9 &W  \ L +10 & Z  \ L +9 &"]  \ M +10 &$H[  \ L +9 && Y \ M +9 &'[ \ L +10 &)] \ L +9 &+P] \ L +9 &-\\ \ L +10 &.\\ \ L +9 &0Y \ M +10 &2X] \ L +9 &4] \ M +9 &5Y \ L +10 &7Y \ L +9 &9`Y \ L +9 &;!W \ M +10 &<Z  \ L +9 &>W  \ L +10 &@hX \ L +9 &B+Z \ L +9 &C\\  \ L +10 &E\\  \ L +9 &Gp^   \ L +9 &I.b \ \ N +10 &Jl \ \ O +9 &L \ \ \ Q +10 &N_  \ U +9 &P   \ W +9 &Q \ W +10 &S  \ \ X +9 &U[ \ Y +9 &W  \ \ Y +10 &X \ Z +9 &Z  \ [ +10 &\\\\   \ H +9 &]f?  \ #j +9 &]j  \ K +3 ( + "collection"'!& +3 #tCollection Clamp onSpring/offSpring for 10/26 samples, on/off torque 1.99 +2 .Hand.open + "manipulator"&1 +60 "core" 1 +2 "manipulator"&% +5 "core" % w + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&P'\ +99 "core" ' +2 #tLoading generic puck from tube 4 into Processing Clamp + "processing"%6& +5 "core" &\ + "manipulator"&^% +4 "core" %\ 8 ! ' +2 "storage"(e% +4 "core" %9 c c\ + "storage"(. +3 "core" .(, +2 "storage"(& +4 "core" &, o f 1\  + "storage"(& +4 "core" &, c c \  + "manipulator"&w& +4 "core" &\  ] +2 "manipulator"&$% +3 "core" %\ 7  ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&=(* +164 "core" ( +2 "manipulator"&@& +4 "core" &6 < + "storage"(>& +4 "core" &, c c $\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&2' +99 "core" ' +2 "storage"(o& +4 "core" &, z\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('e +280 "core" ' +2 "storage"(<- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (d& +2 "core" &, b n \  +2 "manipulator"&& +4 "core" &A w  1 + .tElbow.seek 4 +2 "manipulator"&](* +18 "core" ( + "manipulator"&"& +5 "core" &1 ~  + "storage"((& +4 "core" &, e c\  +2 .tForearm.seek 4 + 300 counts + "manipulator"&\\'Z +22 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&,/ +58 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&-& +2 "storage"(Z'N +7 "core" &1 b a t  +2 "manipulator"&L% +4 "core" % V l j < +2 .tForearm.seek :retract + "manipulator"&'\ +92 "core" ' +2 .tElbow.seek PC +2 "manipulator"&(c +162 "core" ' + ."downElevator"SE.stop + "storage"(5 +87 "core" ( +2 "manipulator"&a& +4 "core" &g +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &.& +3 "core" &g  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&B'[ +110 "core" ' + "manipulator"&[& +4 "core" &g d M +2 "manipulator"&% +4 "core" %^ d c +2 "processing"%& +4 "core" &\ +2 "processing"%l& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%n(Z +4 "core" &\  +9 &3~\ *y +9 &e\ > +10 &\\t\ M +9 & W\ M +9 &Z\ M +10 &V\ L +9 &!fY\ M +9 &#(X\ M +10 &$U\ L +9 &&Y\ L +10 &(nZ\ M +9 &*0X\ M +9 &+\\\ M +10 &-[\ L +9 &/wZ\ L +9 &19X\ L +10 &2\\\ M +9 &4[\ L +10 &6~U\ M +9 &8A[\ L +9 &:V\ M +10 &;[\ L +9 &=W\ M +9 &?IZ \ L +10 &A Z\ L +9 &BW(\ L +10 &D\\\ M +9 &FO\\\ M +9 &H g\ N +10 &Ip\ O +9 &K\ R +9 &MF\ S +10 &O\ S +9 &P)\ S +10 &R\ S +9 &TK*\ T +9 &V \ T +10 &W\ T +9 &Y\ A +9 &Z2 \ X +10 &Z!\ - +2 ( +2 "processing"%l& +3 #tProcessing Clamp onSpring/offSpring for 9/25 samples, on/off torque 1.64 + .Hand.open + "manipulator"& 1 +59 "core" 1 +2 "manipulator"&~% +4 "core" % f p e  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&?'\ +97 "core" ' +2 "processing"%`& +4 "core" &Z#\ - + #tImaging generic puck in Processing Clamp while storing it to tube 4 +2 "manipulator"&'% +3 "core" %\ 3 X %w +2 "storage"( % +4 "core" %< U V J\ + "storage"( . +3 "core" .(, +2 "storage"(_& +3 "core" &, V W H\  +2 "storage"(G& +5 "manipulator"&)& +4 "core" &, V V K\  + &g  +3 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +4 "storage"(#]kK-0-\ b +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +3 ."raiseStack"SE.seek :beamBreak +3 "manipulator"&A(c + "storage"(C'e +5 "core" ( + "manipulator"&{& +4 "core" &g  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &U& +3 "core" &g / +2 .tForearm.seek PC +2 "manipulator"&Y'[ +95 "core" ' + .tHand.close +2 "manipulator"&4/ +56 "core" / +2 .tPC.seek :open + "processing"%(p +95 "core" ' +2 "storage"(M- +4 "core" -'e + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place + "storage"(J'B +36 "core" ' +249 ( + "storage"(/& +4 "core" &, q q \  +2 "manipulator"&h& +3 "core" &g w  +2 "manipulator"&+% +4 "core" % c  + .tForearm.seek :retract +2 "manipulator"&&'\ +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&|(* +256 "core" ( + "manipulator"&V& +5 "core" &2  # + "storage"(3& +4 "core" &, M M \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&T' +95 "core" ' + .tHand.open +2 "manipulator"&y1 +58 "core" 1 +2 "storage"(f- +3 "core" -'B +3 .tSE.seek -0.16 Pucks below Top Plate + "storage"(%' +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.83 Pucks below Top Plate + "storage"(8' +50 "core" ' +2 #tLights, camera, ACTION! + "storage"(K- +4 "core" -' + "storage"(E& +4 "core" &, {\  + "manipulator"&W& +4 "core" &3 # +2 .tElbow.seek 4 +2 "manipulator"&g(* +3 "core" ( + "manipulator"&9& +4 "core" &3  # +2 "storage"(i& +4 "core" &, g\  +2 .tForearm.seek 4 + 450 counts +51 "manipulator"&H' +5 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.11 Pucks below Top Plate + "storage"(x'M +63 "core" ' +2 "manipulator"&5& +4 "core" &3 H # +2 "storage"(X& +4 "core" &, c e V\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&'. +33 "core" ' +2 .tElbow.hold + "manipulator"&s, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.07 Pucks below Top Plate + "storage"(O'7 +24 "core" ' +2 "manipulator"&% +4 "core" %A] * 3 b ˳ +2 "storage"(& +4 "core" &, I \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 319 counts + "manipulator"&I'm +18 "core" ' + "manipulator"&u& +4 "core" &  ' +2 "storage"(;& +4 "core" &, | { \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&k' +11 "core" ' + "storage"(N% +5 "core" %< N\  +2 ."downElevator"SE.seek :down +4 "storage"(S'N +98 (:% +3 "core" %= b _ \ U^ +2 "manipulator"&#% +4 "core" %  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&v'\ +92 "core" ' +58 ' + ."downElevator"SE.stop + "storage"(5 +3 (m& +4 "core" &, 6 H 1\  + "collection"'& +4 "core" &]k  \ K +2 #tStoring generic puck in Collection Clamp to tube 4 + "manipulator"&F% +4 "core" %\ 3  %} +2 "storage"(\ % +4 "core" %K c f\ + "storage"( . +3 "core" .(, +2 "storage"(& +4 "core" &, e d\  + "storage"(D& +4 "core" &, b a\  +2 "manipulator"&R& +4 "core" & c ' + .tElbow.seek 4 +2 "manipulator"&(* +38 "core" ( + "manipulator"&1& +4 "core" &6  +2 "storage"(& +4 "core" &, p p W\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&q' +95 "core" ' + "storage"(r& +5 "core" &, z\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('e +281 "core" ' +2 "storage"(c- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" &6 G + "storage"(p& +4 "core" &, b d\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&7'. +33 "core" ' +2 .tElbow.hold + "manipulator"&Q, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(- +2 "core" -' +3 .tSE.seek 0.12 Pucks below Top Plate + "storage"(}'w +31 "core" ' +2 "manipulator"&t% +4 "core" %BW 2 4 h ʱ + "storage"(0& +4 "core" &,   \  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 4 + 320 counts +2 "manipulator"&'n +17 "core" ' + "manipulator"&z& +5 "core" & j h  / + "storage"(*& +4 "core" &, y \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&' +9 "core" ' +2 .tSE.seek 1.12 Pucks below Top Plate +2 "storage"('f +45 "core" ' +2 "manipulator"&6& +4 "core" & l k / +2 "manipulator"&^% +3 "core" % ^ j _ 7 +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&e'\ +95 "core" ' +2 .tElbow.seek CC +2 "manipulator"&( +143 "core" ( +2 "manipulator"&!& +4 "core" & 6 . + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &  . +2 .tForearm.seek CC + "manipulator"&'| +95 "core" ' + .tHand.close +2 "manipulator"&w/ +51 "core" / +2 .tCC.seek :open +2 "collection"'$(p +410 "core" ( +2 "storage"(& +4 "core" &,  D\  + "storage"(@& +4 "core" &, \  + "manipulator"&>& +4 "core" &  . + "manipulator"&o% +4 "core" % x  +2 .tForearm.seek :retract +2 "manipulator"&b'\ +91 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&P(* +153 "core" ( +2 "manipulator"&<& +4 "core" &-  \ +2 "storage"(d& +4 "core" &, \  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 4 +2 "manipulator"&'. +111 "core" ' +2 .tElbow.hold + "manipulator"&", +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&(1 +63 "core" 1 +2 "manipulator"&,% +5 "core" % =W , 3 ) ɱ + "storage"(-& +4 "core" &, M M J\  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 4 + 315 counts +2 "manipulator"&L'i +16 "core" ' +2 "manipulator"&=& +4 "core" & Y j [  +2 "storage"(2& +4 "core" &, e\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&' +23 "core" ' + "storage"(\\% +4 "core" %` 8\ +3 ."downElevator"SE.seek :down +3 "storage"(a'N +100 (.% +2 "core" % A \ T[ +2 "manipulator"&]% +4 "core" % a ^  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&['\ +90 "core" ' +53 ' + ."downElevator"SE.stop + "storage"(5 +42258 "Can"> 0:7 +60002 0 096 +29164 #t-> access 2 +3 "storage"(% +3 "core" %O \ +2 "manipulator"&% +4 "core" %\ (  G + "manipulator"&Z& +4 "core" &   +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"((K +667 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (& +3 "core" &K g r \  +686 #t-> access 3 +3 "storage"( % +3 "core" %O \ +2 "manipulator"&~% +3 "core" %\ ) $ G +2 "manipulator"&`& +4 "core" &  + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 7 +2 "storage"('([ +374 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 ( & +2 "core" &[ #\ +829 #t-> access 4 +2 "storage"( % +3 "core" %O \ \ +2 "manipulator"&_% +4 "core" %\ (  G +2 "manipulator"&l& +3 "core" &   +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 1 + "storage"()(B +1940 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (G& +2 "core" &@ R T \ +1014 #t-> access 2 +2 "storage"({% +3 "core" %O \ + "manipulator"&U% +4 "core" %\ (  G +2 "manipulator"&B& +3 "core" &   +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 6 + "storage"(4(K +1617 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (M& +2 "core" &K g e \  +23580 "Can"+ 097 +17000 #t-> exit +6 #mEXIT @1663160167.69EDT @1663160212.96EDT = =tMAIN =mMAIN_scheduler @EDT1663160214.77 #"core_reset"Sent BREAK +2 #t@5422 receive with ifg=0x10, ie=0xFD #@6059 receive with ifg=0x10, ie=0xFD + #@6717 receive with ifg=0x10, ie=0xFD + #@7358 receive with ifg=0x10, ie=0xFD #@7998 receive with ifg=0x10, ie=0xFD + #@8633 receive with ifg=0x10, ie=0xFD + #@9268 receive with ifg=0x10, ie=0xFD #@9594 receive with ifg=0x80, ie=0xFD + #@34182 idle with ifg=0x00, ie=0x75 #ESP2 v3.41 I2C Gateway v3.20 +10 #ESP2 v3.41 I2C Gateway v3.20 for core bus +200 !o:Instrument::ISUSCore: @configS:Instrument::Configuration: name" ISUS:calFileName0:sampleCmd"TS: prompt"\ :statusCmd"C:sampleTimeouti#:promptTimeouti:statusTimeouti: retriesi:strToPrompt"W: pace0: echoF: @refi|P:\ @name@ +95 #Configuration for don (12651-03) 10/9/20 brent@mbari.org\ /home/esp/esp2/type/shallow/don/configure.rb\ +375 "Can"/ /;9 + / /;9 #tPolling Can every 10:00 +488 #-> ESP.ready! +154 "sampler") +2 ) +2 "core"  +2 "collection"' +2 ' +3 "core"  +2 "processing"% + % +3 "core"  +5 "collection"' 9\ +2 ' 0\ +2 ' -\ +4 "processing"% 9\ +2 % 2\ +2 % *\ +2 % 0\ +3 "sampler")&\ +2 "collection"'% +3 "core" % V +2 .tCS.configure :default +2 "collection"'#P d@b +2 .tCS.hold +2 "collection"'+ +5 "core" + + .tCS.configure :default +3 "collection"'#P d@b +2 "processing"%% +3 "core" %\ +2 .tPS.configure :default +2 "processing"%#A d`xb +2 .tPS.hold +2 "processing"%+ +3 "core" + + .tPS.configure :default +3 "processing"%#A d`xb +2 "sampler")% +3 "core" %8 + .tSS.configure :default +3 "sampler")#.0X startTube 2 +1585 #-> $da[:extractVol]=.19 +714 #-> paurgeIntake +468 #-> purgeIntake +2 #Loading FlushPuck into Collection Clamp from FlushPuck::Garage + "collection"'2& +3 "core" & b\ +2 .tHand.open + "manipulator"&31 +16 "core" 1 + "manipulator"&4& +4 "core" &   +2 "manipulator"&5% +3 "core" %\ (  G +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek FlushPuck::Garage +2 "manipulator"&6(, +179 "core" ( + "manipulator"&7& +5 "core" &, G  + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &8& +2 "core" &, #  +2 .tForearm.seek :garage +2 "manipulator"&9' +102 "core" ' +2 .tHand.close + "manipulator"&:/ +54 "core" / + "manipulator"&;& +4 "core" &, >  +2 "manipulator"&<% +4 "core" %  # + .tForearm.seek :retract +2 "manipulator"&='\ +104 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&>( +283 "core" ( +2 "manipulator"&?& +4 "core" &# :0 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &@& +3 "core" &# # :0 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC + "manipulator"&A'| +99 "core" ' +2 "manipulator"&B& +4 "core" &#  :/ +2 "manipulator"&C% +3 "core" %t ; +2 "collection"'D& +4 "core" & H\ +2 "collection"'E& +5 "core" &  a\ +2 .tCC.seek :closed +2 "collection"'F(] +4 "core" & \ B\  +9 &3~ P\ *x +10 &b F\ > +9 &Dz \ I\ O +9 &Y \ F\ N +10 &_ \ H\ O +9 &_ I\ O +10 &!MZ \ J\ N +9 &#\\ \ M\ N +9 &$] \ L\ N +10 &&_ <\ O +9 &(T\\  K\ O +9 &*] E\ N +10 &+Z \ E\ N +9 &-[ >\ O +9 &/\\^ ;\ O +10 &1] <\ O +9 &2Z 8\ O +10 &4\\ 9\ N +9 &6e[ ;\ N +9 &8'Z B\ N +10 &9\\ <\ N +9 &;[ ?\ N +10 &=l] C\ O +9 &?/Y <\ N +9 &@Y D\ N +10 &BY O\ N +9 &DvY I\ N +9 &F7\\ E\ N +10 &G_ C\ N +9 &Ig \ S\ P +10 &Ktu G\ Q +9 &M* J\ V +9 &N  S\ X +10 &P C\ Y +9 &Rf B\ Y +9 &T%  D\ Z +10 &U C\ [ +9 &W  P\ [\ +10 &Ya  O\ ] +9 &["  G\ ^ +9 &\\z  D\ 8 +10 &]&  I\ "f +9 &]h C\ O +2 ( +2 "collection"'E& +3 #tCollection Clamp onSpring/offSpring for 9/25 samples, on/off torque 2.04 +2 "collection"'G& +4 "core" &]h  C\ O + .tHand.open +2 "manipulator"&H1 +54 "core" 1 +7 "manipulator"&I% +4 "core" % s  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&J'\ +94 "core" ' +2 #tPurging external Intake + "collection"'K& +4 "core" &]h  =\ O +2 "collection"'L% +4 "core" % D\ + .tCSV.dial :flush +2 "collection"'M  +69 "core"  +3 .tCS.reconfigure :fast +2 "collection"'#d @b +2 .tCS.seek 10ml +2 "collection"'N' +2396 "core" ' +2 .tdelay 5 seconds +502 ."connect"CSV.dial CBV +4 .tCBV.dial CSV +2 "collection"'O + 'P  +6 "core"  +66 ~ + .tCTV.dial :intake +2 "collection"'Q  +72 "core"  + .tIntake.select :open +2 "sampler") +10 .tCS.seek 0ml + "collection"'R' +2359 "core" ' +2 .tIntake.select :close + "sampler")0 +9 .tCTV.dial :air +2 "collection"'S  +72 "core" ~ +2 #tGaraging FlushPuck in Collection Clamp +2 "manipulator"&T& +4 "core" &  6 +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&U( +30 "core" ( +2 "manipulator"&V& +3 "core" &   +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &W& +2 "core" &   +2 .tForearm.seek CC +2 "manipulator"&X'| +106 "core" ' + .tHand.close + "manipulator"&Y/ +57 "core" / +2 .tCC.seek :open + "collection"'Z(p +410 "core" ( +2 "manipulator"&[& +4 "core" & e j ]  + "manipulator"&\\% +4 "core" % n b i d +2 .tForearm.seek :retract + "manipulator"&]'\ +90 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek :garage + "manipulator"&^(, +269 "core" ( + "manipulator"&_& +4 "core" &, P +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &`& +2 "core" &, z w = P +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :garage +2 "manipulator"&a' +111 "core" ' +2 .tHand.open +2 "manipulator"&b1 +55 "core" 1 +2 "manipulator"&c% +4 "core" %  4  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&d'\ +104 "core" ' +327 #t-> da 50 +2 #da sampling at most 50ml +5 #Loading sh1 puck from tube 2 into Collection Clamp +2 ."Qmail"DAfans.email "Started da in tube 2 at 08:59:11EDT14-Sep-22\\n{}\\nCTD data unavailable\\nISUS data unavailable\\nCan@08:57:01, 16% flow, 23.1C, 46% humidity, 14.3psia, 13.77V, 0.254A avg, 0.242A avg, 3.50W",Subject: "da sampling at most 50ml" +4 "collection"'e& +3 "core" &  =\ +2 "manipulator"&f% +5 "core" %\ 0  $n +2 "storage"(g% +4 "core" %N p p \ \ + "storage"(h. +3 "core" .,K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 + "storage"(i(  +81 !"Qmail"o:!Net::SMTPAuthenticationError: mesg"E534-5.7.9 Application-specific password required. Learn more at\ :@checkpoint: omitted:bt["E/opt/mbari/lib/ruby/1.8/net/smtp.rb:954:in `check_auth_response'"/opt/mbari/lib/ruby/1.8/net/smtp.rb:723:in `authenticate'":/opt/mbari/lib/ruby/1.8/net/smtp.rb:566:in `do_start'"7/opt/mbari/lib/ruby/1.8/net/smtp.rb:525:in `start'"2/home/esp/esp2/lib/email.rb:325:in `sendOnce'"3/home/esp/esp2/lib/schedule.rb:292:in `unsync'"3/home/esp/esp2/lib/schedule.rb:594:in `unsync'"3/home/esp/esp2/lib/schedule.rb:621:in `unsync'"2/home/esp/esp2/lib/email.rb:318:in `sendOnce'"//home/esp/esp2/lib/email.rb:340:in `email'",/home/esp/esp2/lib/msg.rb:68:in `retry'"//home/esp/esp2/lib/email.rb:339:in `email'"./home/esp/esp2/lib/email.rb:348:in `mail'"-/home/esp/esp2/lib/email.rb:66:in `call'"3/home/esp/esp2/lib/email.rb:66:in `initialize'"-/home/esp/esp2/lib/email.rb:63:in `loop'"3/home/esp/esp2/lib/email.rb:63:in `initialize'"7/home/esp/esp2/lib/schedule.rb:481:in `initialize'"0/home/esp/esp2/lib/thread.rb:738:in `start'"7/home/esp/esp2/lib/schedule.rb:474:in `initialize'"'/home/esp/esp2/lib/schedule.rb:472 +2 !o:Email::Queue::Purge: mesg"Purged output queue:bt[ "//home/esp/esp2/lib/email.rb:106:in `purge'"3/home/esp/esp2/lib/email.rb:75:in `initialize'"-/home/esp/esp2/lib/email.rb:63:in `loop'"3/home/esp/esp2/lib/email.rb:63:in `initialize'"7/home/esp/esp2/lib/schedule.rb:481:in `initialize'"0/home/esp/esp2/lib/thread.rb:738:in `start'"7/home/esp/esp2/lib/schedule.rb:474:in `initialize'"'/home/esp/esp2/lib/schedule.rb:472 +1221 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (j& +2 "core" &  p q \ +2 "manipulator"&k& +3 "core" &,  O +2 "manipulator"&l% +4 "core" %\ 0  $n + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&m(; +189 "core" ( + "manipulator"&n& +4 "core" &G \ ' +2 "storage"(o& +4 "core" &  \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&p'Ѐ +112 "core" ' + "storage"(q& +5 "core" &  \ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(r'e +272 "core" ' + "storage"(s- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (t& +2 "core" & \ i\ +2 "manipulator"&u& +4 "core" &I o ' + .tElbow.seek 2 +2 "manipulator"&v(; +37 "core" ( + "manipulator"&w& +4 "core" &E f W s +2 "storage"(x& +4 "core" & \ z { Z\ +2 .tForearm.seek 2 + 300 counts + "manipulator"&y' +26 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&z/ +55 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&{& + "storage"(|'N +7 "core" &E  s +2 "manipulator"&}% +4 "core" % k +2 .tForearm.seek :retract + "manipulator"&~'\ +101 "core" ' +2 .tElbow.seek CC + "manipulator"&( +135 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +21 "core" ( +2 "manipulator"&& +4 "core" &  8 & +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &  K & +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&'| +109 "core" ' +2 "manipulator"&& +4 "core" &   & +2 "manipulator"&% +4 "core" %s + "collection"'& +4 "core" & S  +2 "collection"' & +5 "core" & k  +2 .tCC.seek :closed +2 "collection"' (] +5 "core" & T  +8 &3  Z\ *x +10 &c  X\ > +9 &Rv \\\ N +9 &\\ ]\ M +10 &] ]\ M +9 &` V\ M +9 &!YY [\ N +10 &#] Y\ M +9 &$] Z\ N +10 &&]  Q\ N +9 &(b^ Y\ M +9 &*$W \\\ M +10 &+Z \\\ M +9 &-] X\ M +9 &/iY M\ N +10 &1,Y [\ M +9 &2Y \\\ N +9 &4Z [\ N +10 &6qZ \\\ N +9 &83Z J\ N +10 &9Y H\ M +9 &;Z I\ M +9 &=y[ G\ N +10 &?;Y  G\ N +9 &@Y  =\ M +9 &BX E\ N +10 &DY S\ M +9 &FDY  K\ M +10 &H`  G\ N +9 &Ii J\ O +9 &Kx F\ Q +10 &M5 H\ U +9 &N G\ W +9 &P  G\ W +10 &Rp  D\ Y +9 &T1  I\ Y +10 &U  H\ Z +9 &W  I\ Z +9 &Yo  D\ \\ +10 &[.  F\ ] +9 &\\~  H\ 1 +9 &]'  K\ Z +9 ( +2 &]o  H\ M +2 "collection"' & +3 #tCollection Clamp onSpring/offSpring for 9/25 samples, on/off torque 2.10 + .Hand.open + "manipulator"& 1 +62 "core" 1 +2 "manipulator"&% +4 "core" % s  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +91 "core" ' + #tcollectSample 50ml w/bubble point of 24psi +2 #Priming 7ml + .Intake.select :close +2 .Exhaust.select :close + .SS.hold +2 "sampler")+ +4 "core" + + "sampler")% +4 "core" %8 \  + "collection"'& +4 "core" &]o  H\ M +2 "Can"= &MJ +2 #tCalibrating pressure and temperature sensors +3 .CTV.dial :air +2 .SSV.dial :spit,avoiding: :exhaust +2 "sampler") +3 "core"  +2 "sampler")  +5 "core"  +2 .tSS.reconfigure :fast +2 "sampler")#.0X @ +70 "core" A +2 ."airStroke"CS.seek 10ml +2 "collection"'J' +72 "core"  +2 .tCTV.dial :air + "collection"'F  +73 "core" ~ + .tdelay 15 seconds +1502 .SSV.dial :spit,avoiding: :exhaust +2 "sampler")[ +130 "core" +2 ."prepCSV"CTV.dial CSV,avoiding: :intake +4 .tSS.seek 0ml +3 "collection"'\\  +2 "sampler")X'0 +9 "core" ' +2 .tSSV.dial CBV,avoiding: :exhaust +2 "sampler")_  +117 "core"  +12  +458 ' +2 "sampler")`% +4 "core" %. \  +2 .tCBV.dial between SSV and waste2 + "collection"'U  +30 "core"  +2 "collection"'b% +4 "core" %  \  +2 ."connect"CTV.dial CSV,avoiding: :air +3 .tCSV.dial CTV +2 "collection"'c  +53 "core"  +2 .tCS.reconfigure :pressurize +3 "collection"'# d@<<\ b +2 .tCS.seek 0ml +2 "collection"']' +2140 "core" ' \ \ \ ߩ +3 "collection"'a% +4 "core" % ]\ \ \ \  +2 "sampler")e% +3 "core" %. \  +2 #tBubblePoint: Intake @38.6psia, Outlet @14.5psia + .CBV.dial SSV +2 "collection"'f @ +31 "core" B +2 .tSS.reconfigure :default +2 "sampler")#.0X +2 ."CSpush"CS.reconfigure :fast +2 "collection"'#d @b +3 ."CSpush"CS.seek 0ml +2 "collection"'d' +90 "core" ' +2 .tSSV.dial :spit,avoiding: :exhaust +2 "sampler")s +130 "core"  +2 .tSS.reconfigure :exhale +3 "sampler")#.0X9 +3 "core" 9R~M +102 "collection"'W9 +3 "core" 9tJ +102 "collection"'F9 +2 "core" 9G +102 "collection"'R9 +3 "core" 9D +102 "collection"'Y9 +45 "core" 9A +111 "collection"'[9 +2 "core" 9> +103 "collection"'\\9 +2 "core" 9(< +103 "collection"'_9 +2 "core" 9F9 +102 "collection"'N9 +3 "core" 9e7 +102 "collection"'`9 +2 "core" 95 +102 "collection"'U9 +3 "core" 94 +103 "collection"'b9 +2 "core" 92 +103 "collection"'c9 +2 "core" 90 +103 "collection"'J9 +2 "core" 9/ +102 "collection"'a9 +3 "core" 9- +102 "collection"'e9 +3 "core" 9, +102 "collection"'f9 +2 "core" 90+ +103 "collection"'X9 +2 "core" 9F) +102 "collection"'h9 +3 "core" 9Z( +102 "collection"'9 +2 "core" 9m\ ' +102 "collection"'j9 +3 "core" 9 & +103 "collection"'g9 +2 "core" 9% +103 "collection"'k9 +2 "core" 9$ +103 "collection"'n9 +2 "core" 9# +102 "collection"'o9 +2 "core" 9# +103 "collection"'q9 +2 "core" 9" +103 "collection"'l9 +2 "core" 9! +103 "collection"'s9 +2 "core" 9 +103 "collection"']9 +2 "core" 9 +102 "collection"'^9 +3 "core" 9   +102 "collection"'d9 +3 "core" 9 ! +102 "collection"'t9 +2 "core" 9 # +102 "collection"'w9 +3 "core" 9 ,& +102 "collection"'x9 +2 "core" 9 7&  +103 "collection"'{9 +2 "core" 9 B) +103 "collection"'u9 +3 "core" 9 K+ +102 "collection"'}9 +2 "core" 9 U+ +102 "collection"'m9 +3 "core" 9 _- +43 "Can"\ <: +59 "collection"'p9 +2 "core" 9 i.  +103 "collection"'9 +2 "core" 9 q0$ +103 "collection"'z9 +2 "core" 9 x1( +103 "collection"'9 +2 "core" 9 2, +103 "collection"'y9 +2 "core" 9 30 +103 "collection"'9 +2 "core" 9 55 +103 "collection"'v9 +2 "core" 9 69 +103 "collection"'9 +2 "core" 9 7= +103 "collection"'|9 +2 "core" 9 9A +103 "collection"'~9 +2 "core" 9 :E +102 "collection"'Z9 +3 "core" 9 ;J +102 "collection"'r9 +2 "core" 9 <N +102 "collection"'9 +3 "core" 9 =R +103 "collection"'9 +2 "core" 9 ?V +102 "collection"'9 +3 "core" 9 ?Z +102 "collection"'9 +2 "core" 9 A^ +102 "collection"' 9 +3 "core" 9 Bc +102 "collection"'9 +3 "core" 9 Cg +102 "collection"'9 +3 "core" 9 Ck +102 "collection"'9 +2 "core" 9 Eo +102 "collection"'9 +3 "core" 9 Fs +102 "collection"'9 +2 "core" 9 Gx +104 "collection"'9 +6 "core" 9 H| +105 "collection"'9 +2 "core" 9 I +103 "collection"'9 +2 "core" 9 J +102 "collection"'9 +3 "core" 9\ K +102 "collection"' 9 +2 "core" 9\ L +102 "collection"'9 +3 "core" 9\ \ N +102 "collection"'9 +2 "core" 9\ N +103 "collection"' 9 +2 "core" 9\ O +102 "collection"'9 +3 "core" 9\ P +102 "collection"'$9 +2 "core" 9\ Q +102 "collection"'!9 +3 "core" 9\ !R +102 "collection"'&9 +3 "core" 9\ #S +102 "collection"''9 +2 "core" 9\ )T +103 "collection"'%9 +2 "core" 9\ -T +103 "collection"'(9 +2 "core" 9\ 1U +102 "collection"'"9 +3 "core" 9\ 5V +102 "collection"'+9 +3 "core" 9\ 9W +102 "collection"'#9 +2 "core" 9\ =X +103 "collection"'-9 +2 "core" 9\ AZ +102 "collection"',9 +2 "core" 9\ EY +103 "collection"'.9 +3 "core" 9\ H\\ +102 "collection"'*9 +2 "core" 9\ L\\ +103 "collection"')9 +2 "core" 9\ P\\ +103 "collection"'29 +2 "core" 9\ T] +103 "collection"'19 +2 "core" 9\ X^ +103 "collection"'49 +2 "core" 9\ Z_ +103 "collection"'39 +2 "core" 9\ _` +103 "collection"'79 +2 "core" 9\ a` +102 "collection"'89 +3 "core" 9\ da +102 "collection"':9 +2 "core" 9\ gc +102 "collection"';9 +3 "core" 9\ jc +102 "collection"'<9 +3 "core" 9\ nc +102 "collection"'9 +2 "core" 9\ pd +3 .tCH.hold 10:00,70C +3 "collection"'9 `\ `\ o  +2 '?9 +7 "core"  + 9\ qe + "collection"'@% +4 "core" %\ I\ K E\ +2 #tBegun lysing Collection Puck Heater at 68C/32.3psia +54253 "Can"<\  +5735 "core" ` +2 "collection"'/9 +3 "core" 9\  +2 "collection"'0% +4 "core" % \ + #tEnded lysing Collection Puck Heater at 70C/26.5psia +2 .CS.seek 0ml +2 "collection"'B' +336 "core" ' +2 .tCTV.dial between spare and air,avoiding: :intake +2 "collection"'C @ +99 "core" B + .tCSV.dial :air +2 "collection"'6 @ +42 "core" ? +3 .tCS.seek 5ml +2 "collection"'\ 's +1347 "core" ' + .tCSV.dial CTV + "collection"'G  +43 "core"  +2 .tdelay 2 seconds +201 .CSV.dial :air +2 "collection"'H @ +43 "core" > +2 .tdelay 2 seconds +202 .CSV.dial CTV +2 "collection"'I  +43 "core"  +2 .tdelay 2 seconds +202 .CSV.dial :air + "collection"'K @ +43 "core" ? +2 .tdelay 2 seconds +202 .CS.seek 0ml +2 "collection"'L' +1354 "core" ' + "collection"'E% +4 "core" %\ \ h\ + #tPuck @38.1psia after final lysis pressurization +2 #Recovering Lysate into Collection syringe + .CSV.dial CBV + "collection"'M +101 "core" ~ + .tCBV.dial CSV +2 "collection"'A  +29 "core" +2 "collection"'% +4 "core" %\ \ 0\ +2 .tCS.seek 5ml +2 "collection"'P's +1347 "core" ' + .tdelay 5 seconds +502 .CTV.dial :air +2 "collection"'O  +41 "core" +2 "collection"'Q% +4 "core" %sx} C\  +2 .tCS.seek 7ml +2 "collection"'D' +590 "core" ' +2 .tdelay 5 seconds +502 .CSV.dial :air2 + "collection"'= @ +41 "core" ? +2 .tCS.seek 10ml +2 "collection"'S' +841 "core" ' +2 .tCSV.dial between air and CTV,avoiding: CBV +2 "collection"'T ` +123 "core" b +2 #tLysing Complete + "collection"'V& +4 "core" &]kTU \ M +2 #tStoring sh1 puck in Collection Clamp to tube 1 + "manipulator"&>% +4 "core" %\ * !V + "storage"(W% +4 "core" %P { | E\ + "storage"(F. +3 "core" .(  +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 1 + "storage"(R(B +364 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (Y& +3 "core" &B G \ + "manipulator"&[& +4 "core" &   & + "manipulator"&\\% +4 "core" %\ *  !V +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 1 + "manipulator"&_(c +153 "core" ( +2 "manipulator"&N& +4 "core" &m w + "storage"(`& +4 "core" &B y B\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 1 + 450 counts + "manipulator"&U'Ф +108 "core" ' + "storage"(b& +5 "core" &B 7\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(c'e +272 "core" ' + "storage"(J- +3 "core" -'e +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek :place +2 "storage"(a'B +35 "core" ' +2 "manipulator"&e& +4 "core" &m b ` +2 "manipulator"&f% +3 "core" %в ] P 1 +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&X'\ +94 "core" ' +2 .tElbow.seek CC +2 "manipulator"&h( +162 "core" ( + "manipulator"&& +5 "core" &) e @X + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &j& +2 "core" &) \\ @X +2 .tForearm.seek CC +2 "manipulator"&g'| +98 "core" ' + .tHand.close + "manipulator"&k/ +54 "core" / +2 .tCC.seek :open +2 "collection"'n(p +409 "core" ( +2 "storage"(o& +4 "core" &B { | B\ + "storage"(q& +4 "core" &B w\ + "manipulator"&l& +4 "core" &%  =F + "manipulator"&s% +4 "core" % χ ! +2 .tForearm.seek :retract + "manipulator"&]'\ +99 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 1 + "manipulator"&^(c +154 "core" ( +2 "manipulator"&d& +4 "core" &\\  +2 "storage"(t& +4 "core" &B \ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 1 +2 "manipulator"&w' +105 "core" ' +2 .tElbow.hold + "manipulator"&x, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&{1 +62 "core" 1 +2 "manipulator"&u% +4 "core" % !  s + "storage"(}& +4 "core" &B }  2\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 1 + 313 counts + "manipulator"&m' +16 "core" ' +2 "manipulator"&p& +4 "core" &\\ e T +2 "storage"(& +3 "core" &B |\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 1 + 450 counts +2 "manipulator"&z'Ф +23 "core" ' + "storage"(% +4 "core" %G d\ +2 ."downElevator"SE.seek :down +4 "storage"(y'N +99 (% +3 "core" %> \ U\\ +2 "manipulator"&v% +4 "core" % a ` +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +88 "core" ' +63 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tTranferring DA + #Beginning samplePassC +2 #Loading FlushPuck into Collection Clamp from FlushPuck::Garage +2 "collection"'|& +4 "core" &UT }  + "manipulator"&~& +4 "core" &\\  + "manipulator"&Z% +4 "core" %\ +  !Q +2 .tElbow.seek FlushPuck::Garage +2 "manipulator"&r(, +182 "core" ( + "manipulator"&& +4 "core" &, 4  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &,   +2 .tForearm.seek :garage +2 "manipulator"&' +105 "core" ' +2 .tHand.close +2 "manipulator"&/ +57 "core" / +2 "manipulator"& & +4 "core" &, B  + "manipulator"&% +4 "core" %  +2 .tForearm.seek :retract + "manipulator"&'\ +106 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC + "manipulator"&( +287 "core" ( +2 "manipulator"&& +4 "core" &( ?U +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &( W ?U +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&'| +104 "core" ' +2 "manipulator"&& +4 "core" &(  ?S +2 "manipulator"&% +4 "core" %v  +2 "collection"'& +3 "core" &XY  +3 "collection"' & +5 "core" &YX  +2 .tCC.seek :closed + "collection"'(] +4 "core" &YX  +9 &4[Z \ +{ +9 &eXY\ > +10 &[vXZ\ M +9 &!\\YY\ K +9 &^W[ ;\ L +10 &]XY O\ L +9 &!g]YY 8\ K +63 &#']XY \ L +4 &$]XZ\ L +3 &&_WZ\ L +3 &(o_X]\ K +2 &*/^YY\ L + &+\\[[v\ L + &-\\XZ \ K + &/u^XZ\ L +6 &16]Y[\ L +10 &2]ZZ\ L +9 &4\\X[\ L +9 &6\\X[\ K +10 &8?]W[\ L +9 &:ZY]\ L +10 &;ZXZ\ L +9 &=]Y[ \ L +9 &?H_Z[ \ L +10 &A\ ^X\\\ L +9 &B\\[[\ L +9 &D]ZZ\ L +10 &FO`Z\\\ L +9 &H_ZZ\ L +10 &Im[\\}\ N +9 &K}PZ\ P +9 &M>!/ \ U +10 &N \ V +9 &P% \ W +10 &Rz'&\ X +9 &T;),\ X +9 &U0.\ Y +10 &W75\ Y +9 &Yy9;\ [\ +9 &[:<=\ [ +10 &\\r??\ @ +9 &]"AA\ &o +9 &]eDF\ P +3 ( + "collection"' & +4 #tCollection Clamp onSpring/offSpring for 9/25 samples, on/off torque 2.03 + "collection"'& +4 "core" &]dGF\ P +2 .tHand.open + "manipulator"& 1 +58 "core" 1 + "manipulator"&% +5 "core" % v F + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&$'\ +91 "core" ' + .tPSV.dial PSR +2 "processing"%! +49 "core"  +2 "processing"%&% +4 "core" %|\ + #tPulling 1.5ml of PSR.flush + .PSR.select :flush +3 "processing"%j +10 .tPS.seek 1.5ml + "processing"%'' +1617 "core" ' +2 .tdelay 5 seconds +502 .PSV.dial :waste1 +2 "processing"%%  +50 "core"  +2 .tPS.seek 0ml +2 "processing"%(' +1615 "core" ' + .tPSV.dial PSR +2 "processing"%" +50 "core"  +2 .tPSR.select :air +2 "processing"% +9 .tPS.seek 2.5ml +2 "processing"%+'m +2632 "core" ' +2 ."connect"PRV.dial CBV,avoiding: :ab2 +3 .tCBV.dial PRV +2 "processing"%# + "collection"'-  +6 "core" A +2 "processing"%,  +70 "core" +87  +2 .tPSV.dial :mixloop + "processing"%. +102 "core" +2 .tCTV.dial :air,avoiding: :intake + .PTV.dial :PRVmixing +2 "processing"%*  +126 "core" +2 .tPS.seek 0ml +2 "processing"%)' +2637 "core" ' + .tPSV.dial :air +2 "processing"%2  +44 "core"  +2 .tPS.seek 2.5ml + "processing"%1'm +2628 "core" ' + .tPSV.dial :mixloop +2 "processing"%4 +50 "core" +2 .tPS.seek 0ml +2 "processing"%3' +2627 "core" ' +2 .tPSV.dial :air + "processing"%7  +50 "core"  +3 .tPS.seek 2.5ml + "processing"%8'm +2649 "core" ' +2 .tPSV.dial :mixloop + "processing"%: +51 "core" +2 .tPS.seek 0ml + "processing"%;' +2634 "core" ' +2 #tGaraging FlushPuck in Collection Clamp + "manipulator"&<& +4 "core" &)!  9' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&( +60 "core" ( + "manipulator"&?& +4 "core" &  7 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &@& +2 "core" &  7 +2 .tForearm.seek CC +2 "manipulator"&'| +93 "core" ' + .tHand.close +2 "manipulator"&9/ +55 "core" / + .tCC.seek :open +2 "collection"'/(p +410 "core" ( + "manipulator"&0& +4 "core" &1 3 0 +2 "manipulator"&5% +3 "core" % p C +2 .tForearm.seek :retract +2 "manipulator"&C'\ +94 "core" ' +7 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage +2 "manipulator"&6(, +283 "core" ( +2 "manipulator"&B& +4 "core" &,   + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &G& +3 "core" &,   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :garage +2 "manipulator"&H' +115 "core" ' +2 .tHand.open + "manipulator"&I1 +53 "core" 1 +2 "manipulator"&K% +4 "core" % [ "  Ȳ8 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&\ '\ +106 "core" ' +2 .tPSV.dial :mixloop + .PTV.dial :PRVmixing +2 ."connect"PRV.dial CBV +3 .tCBV.dial PRV +2 .CTV.dial :air,avoiding: :intake +3 #Loading lyfil puck from tube 2 into Collection Clamp + "collection"'E& +4 "core" &  +2 "manipulator"&M% +4 "core" %\ 3 %v +2 "storage"(A% +4 "core" %< x\  + "storage"(. +3 "core" .(B +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 + "storage"(L(  +359 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (O& +3 "core" &  z T\  + "manipulator"&Q& +4 "core" &,   + "manipulator"&P% +4 "core" %\ 3 %v +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 + "manipulator"&=(; +172 "core" ( +2 "manipulator"&D& +4 "core" &:  1 + "storage"(T& +4 "core" & \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&V'Ѐ +101 "core" ' + "storage"(>& +5 "core" & a\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(W'e +281 "core" ' + "storage"(F- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (i& +3 "core" & \  + "manipulator"&Y& +4 "core" &: z { y 1 +2 .tElbow.seek 2 + "manipulator"&[(; +4 "core" ( + "manipulator"&\\& +4 "core" &: w f 1 + "storage"(N& +4 "core" & \  +2 .tForearm.seek 2 + 300 counts + "manipulator"&`' +12 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&b/ +55 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"('N +7 "core" &: ' 1 +2 "manipulator"&J% +4 "core" % S D +2 .tForearm.seek :retract + "manipulator"&e'\ +96 "core" ' +2 .tElbow.seek CC +2 "manipulator"&f( +147 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +7 "core" ( +2 "manipulator"&c& +4 "core" &* J A_ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &*  A_ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&j'| +98 "core" ' +2 "manipulator"&U& +5 "core" &)  @^ + "manipulator"&_% +4 "core" %p L +2 "collection"'k& +4 "core" &  +2 "collection"'X& +4 "core" &  +3 .tCC.seek :closed + "collection"' (] +5 "core" &  +9 &4\ +{ +10 &e\ > +9 &\\wx\ M +10 &"Y^\ L +9 &]E\ L +9 &]\ L +10 &!h]\ L +9 &#)]u\ L +9 &$\\k\ L +10 &&]S\ L +9 &(o]C\ L +10 &*1\\:\ L +9 &+] %\ L +9 &-\\ 4\ L +10 &/x\\ ,\ L +9 &19] \ L +9 &2\\ \ \ L +10 &4\\\ L +9 &6\\\ L +10 &8C\\\ L +9 &:Z\ L +9 &;[\ L +10 &=]\ L +9 &?JZ\ L +9 &A ]\ L +10 &B]|\ L +9 &D\\w\ L +10 &FR]p\ L +9 &H`j\ L +9 &Ing\ N +10 &K`\ R +9 &M>7I\ V +9 &N6\ V +10 &P8\ X +9 &R}P\ X +10 &T<\ Y +9 &U\ Z +9 &W\ Y +10 &Yz\ \\ +9 &[<\ \\ +9 &\\y\ = +10 &]\ +| +9 &]kd\ J +2 ( +2 "collection"'X& +3 #tCollection Clamp onSpring/offSpring for 9/25 samples, on/off torque 2.08 + .Hand.open + "manipulator"&o1 +52 "core" 1 +2 "manipulator"&q% +4 "core" % p  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&l'\ +91 "core" ' +2 .tCTV.dial CSV,avoiding: :intake +2 "collection"'s  +130 "core"  + .tCSV.dial CTV +2 "collection"'d  +27 "core"  +2 .tPS.seek 2.5ml + "processing"%t'm +2632 "core" ' +2 "collection"'g% +4 "core" % .\  +2 .tCS.seek 4.5ml +2 "collection"'h'd +1473 "core" ' +2 .tdelay 8 seconds +802 .PSV.dial :air +2 "processing"%{  +49 "core"  +2 .tdelay 2 seconds +202 .PSV.dial :waste2 + "processing"%u  +72 "core"  +2 .tPS.seek 0ml + "processing"%}' +2642 "core" ' + .tCBV.dial between PRV and waste1 +2 "collection"'p ` +31 "core" _ +2 .tCSV.dial :air + "collection"' @ +44 "core" > +2 .tCS.seek 10ml +2 "collection"'' +1482 "core" ' + .tCSV.dial CTV +2 "collection"']  +55 "core"  +2 .tCS.seek 0ml + "collection"'' +2639 "core" ' + .tCBV.dial :waste1 +2 "collection"'v @ +30 "core" > + .tdelay 5 seconds +502 .CTV.dial :air,avoiding: :intake +2 "collection"'^  +129 "core" +2 "collection"'w& +4 "core" &]ej\ J + #tStoring lyfil puck in Collection Clamp to tube 1 +2 "manipulator"&m% +4 "core" %\ (  L + "storage"(|% +4 "core" %F c e\ + "storage"(~. +3 "core" .(  +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 1 + "storage"(Z(B +367 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (a& +2 "core" &E E 3\ +2 "manipulator"&z& +4 "core" && A >I +2 "manipulator"&% +3 "core" %\ ( } L +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 1 +2 "manipulator"&(c +166 "core" ( + "manipulator"&y& +4 "core" &l v  +2 "storage"(x& +4 "core" &E y y j\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 1 + 450 counts +2 "manipulator"&'Ф +88 "core" ' +2 "storage"( & +4 "core" &E \ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('e +280 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&& +3 "core" &l E  +2 "storage"(& +3 "core" &E ^\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 1 +2 "manipulator"&' +33 "core" ' + .tElbow.hold +2 "manipulator"&r, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(- +3 "core" -' +2 .tSE.seek 0.12 Pucks below Top Plate +2 "storage"('p +27 "core" ' + "manipulator"&% +4 "core" %c   Ǵ +2 "storage"(& +4 "core" &E L M +\ + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 1 + 317 counts +2 "manipulator"&n' +20 "core" ' +2 "manipulator"&& +4 "core" &T S e  + "storage"( & +4 "core" &E \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 1 + 450 counts +2 "manipulator"&'Ф +55 "core" ' +5 .tSE.seek 1.12 Pucks below Top Plate +2 "storage"( '_ +41 "core" ' + "manipulator"&!& +5 "core" &T ` a  + "manipulator"&&% +4 "core" %Ѕ a a  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +87 "core" ' +2 .tElbow.seek CC + "manipulator"&( +151 "core" ( +2 "manipulator"&%& +4 "core" &!  9) +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &'& +3 "core" &" , 9) +2 .tForearm.seek CC +2 "manipulator"&"'| +97 "core" ' +2 .tHand.close + "manipulator"&(/ +55 "core" / +2 .tCC.seek :open + "collection"'#(p +413 "core" ( +2 "storage"(-& +4 "core" &E \ + "storage"(,& +4 "core" &E .\ +2 "manipulator"&.& +4 "core" &" 9( + "manipulator"&*% +4 "core" % g d  +2 .tForearm.seek :retract + "manipulator"&+'\ +92 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 1 +2 "manipulator"&2(c +157 "core" ( +2 "manipulator"&)& +4 "core" &l  +2 "storage"(4& +4 "core" &E \ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 1 + "manipulator"&1' +105 "core" ' +2 .tElbow.hold + "manipulator"&7, +5 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&31 +61 "core" 1 +2 "manipulator"&:% +4 "core" %  D ½M + "storage"(8& +4 "core" &E W\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 1 + 319 counts +2 "manipulator"&<'! +18 "core" ' +2 "manipulator"&?& +4 "core" &L o S  +2 "storage"(@& +4 "core" &E _\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 1 + 450 counts + "manipulator"&9'Ф +19 "core" ' +2 "storage"(% +4 "core" %a a\ +2 ."downElevator"SE.seek :down +4 "storage"($'N +99 (% +2 "core" %:< \ U\\ +2 "manipulator"&0% +4 "core" %В V ` +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&5'\ +88 "core" ' +52 ' + ."downElevator"SE.stop +2 "storage"(5 +2 .tPSV.dial :air +2 "processing"%  +77 "core" +2 .tPS.seek 2.5ml +2 "processing"%B'm +1695 "Can"@ 2=: +951 "core" ' +2 .tdelay 1 second +102 .PSV.dial :mixloop + "processing"%G +44 "core" + .tdelay 1 second +102 .PSV.dial :air +2 "processing"%  +49 "core"  +2 .tdelay 1 second +102 .PSV.dial :mixloop + "processing"%I +50 "core" +2 .tdelay 1 second +102 .PSV.dial :air + "processing"%K  +50 "core"  + .tdelay 1 second +103 .PS.seek 0ml + "processing"%E' +2632 "core" ' +2 #tLoading FlushPuck into Processing Clamp from FlushPuck::Garage + "processing"%C& +4 "core" &\ +2 "manipulator"&M& +3 "core" &L   +2 "manipulator"&A% +4 "core" %\ ) j F +2 .tElbow.seek FlushPuck::Garage + "manipulator"&(, +186 "core" ( +2 "manipulator"&H& +4 "core" &,   + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &R& +3 "core" &, ;  +2 .tForearm.seek :garage + "manipulator"&O' +107 "core" ' + .tHand.close +2 "manipulator"&Q/ +63 "core" / + "manipulator"&P& +4 "core" &, ! a  +2 "manipulator"&D% +4 "core" %   + .tForearm.seek :retract +2 "manipulator"&T'\ +103 "core" ' +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +2 "manipulator"&>(c +125 "core" ( +2 "manipulator"&6& +4 "core" &i  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &\ & +3 "core" &i  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&F'[ +98 "core" ' + "manipulator"&i& +4 "core" &i + +2 "manipulator"&Y% +4 "core" %c +2 "processing"%\\& +4 "core" &\ +2 "processing"%N& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%b(Z +4 "core" &\  +8 &1y\ )w +10 &d\ > +9 &Cw\ N +10 &Z\ L +9 &]\ M +9 &]\ M +10 &!MY+\ M +9 &#W\ M +9 &$Y\ L +10 &&\\\ M +9 &(UY\ M +10 &*\\\ M +9 &+Y\ M +9 &-Y\ L +10 &/\\\\\ M +9 &1Y\ M +9 &2Z\ M +10 &4Z\ L +9 &6e[\ M +10 &8&Z\ M +9 &9Y\ M +9 &;Z\ M +10 &=mZ\ M +9 &?/\\\ M +9 &@\\\ M +10 &BY\ M +9 &Dt^\ M +9 &F6[\ M +10 &Gc\ N +9 &Ik\ O +10 &Kq|\ Q +9 &M+\ T +9 &N\ S +10 &P\ S +9 &Rp\ T +9 &T1\ T +10 &U\ T +9 &W\ T +10 &Yu'\ B +9 &Zx<%\ Y +9 &Z'\ ) +3 ( + "processing"%N& +3 #tProcessing Clamp onSpring/offSpring for 9/25 samples, on/off torque 1.61 +2 "processing"%& +4 "core" &ZP\ ) + .tHand.open +2 "manipulator"&J1 +59 "core" 1 +2 "manipulator"&=% +4 "core" % c  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&V'\ +100 "core" ' +2 .tPRV.dial :air +2 "processing"%c  +41 "core"  + .tPSV.dial :mixloop +2 "processing"% +50 "core" +2 "processing"%W% +4 "core" %q\ +2 .tPS.seek 0.3ml + "processing"%`'n +394 "core" ' + .tPSV.dial PSR +2 "processing"%U +102 "core"  + "processing"%_% +4 "core" %p\  +2 #tPulling 0.4ml of PSR.air + .PSR.select :air +3 .PS.seek 0.7ml + "processing"%k'. +489 "core" ' +2 .tdelay 3 seconds +301 .PSR.select :air +3 .PS.seek 2.5ml +2 "processing"%['m +1936 "core" ' + .tdelay 3 seconds +303 .PSV.dial :mixloop + "processing"% +109 "core" +2 .tPTV.dial :mixing + "processing"%e @ +71 "core" A + .tPBV.dial :waste2 +2 "processing"%/  +93 "core"  +2 .tPS.seek 0ml +2 "processing"%o' +2634 "core" ' + #tGaraging FlushPuck in Processing Clamp +2 "manipulator"&q& +4 "core" &i W +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC + "manipulator"&X(c +3 "core" ( +2 "manipulator"&s& +3 "core" &i  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &d& +3 "core" &i +2 .tForearm.seek PC +2 "manipulator"&j'[ +97 "core" ' +2 .tHand.close + "manipulator"&;/ +52 "core" / +2 .tPC.seek :open +2 "processing"%g(p +392 "core" ( +2 "manipulator"&S& +4 "core" &i : + "manipulator"&{% +4 "core" % g H +2 .tForearm.seek :retract +2 "manipulator"&u'\ +100 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek :garage + "manipulator"&t(, +142 "core" ( +2 "manipulator"&p& +4 "core" &, : + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &, S : +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek :garage + "manipulator"&h' +115 "core" ' + .tHand.open + "manipulator"&]1 +62 "core" 1 + "manipulator"&% +4 "core" % n  ŷi +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&v'\ +98 "core" ' + #tLoading da puck from tube 2 into Processing Clamp +2 "processing"%^& +4 "core" &C\ + "manipulator"&w% +4 "core" %\ * = 9 +2 "storage"(m% +4 "core" %; \  + "storage"(|. +3 "core" .(E +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"(~(  +359 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (L& +3 "core" &  | \  +2 "manipulator"&a& +4 "core" &,  : + "manipulator"&z% +4 "core" %\ * S 9 +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&(; +183 "core" ( + "manipulator"&y& +4 "core" &= @ # +2 "storage"(x& +4 "core" &  \  +2 .tForearm.reconfigure :tight +52 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 2 + 450 counts +2 "manipulator"& 'Ѐ +107 "core" ' + "storage"(f& +4 "core" &  \  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(l'e +279 "core" ' + "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" &  \  + "manipulator"&& +4 "core" &> W b # +2 .tElbow.seek 2 + "manipulator"&(; +4 "core" ( + "manipulator"&& +4 "core" &> c f # +2 "storage"(& +4 "core" &  \  +2 .tForearm.seek 2 + 300 counts + "manipulator"&' +25 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"& / +58 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&!& +2 "storage"(&'N +7 "core" &> S U [ # +2 "manipulator"&% +4 "core" % U R % +2 .tForearm.seek :retract + "manipulator"&'\ +90 "core" ' +2 .tElbow.seek PC +2 "manipulator"&(c +161 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +81 "core" ( + "manipulator"&& +4 "core" &m k c +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &n& +2 "core" &m x x - c +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&'[ +92 "core" ' +2 "manipulator"&%& +4 "core" &m w c +2 "manipulator"&'% +4 "core" %S w x + "processing"%& +4 "core" & \ +2 "processing"%r& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%((Z +4 "core" &\  +9 &3~\ *y +9 &e\ > +10 &^u\ M +9 &"X\ L +9 &Z\ M +10 &W\ M +9 &!gZ\ M +10 &#)Y\ M +9 &$W\ M +9 &&]\ M +10 &(p[\ L +9 &*1\\\ M +10 &+Z\ M +9 &-W\ M +9 &/v^:\ M +10 &19W;\ M +9 &2YU\ M +9 &4W:\ L +10 &6YS\ L +9 &8A\\X\ M +9 &:V\ L +10 &;Y6\ M +9 &=[9\ M +10 &?I\\V\ M +9 &A ZJ\ M +9 &BWI\ L +10 &DZA\ L +9 &FQYC\ M +10 &H^D\ M +9 &IeF\ N +9 &Ko,\ O +10 &MI;\ R +9 &O9\ S +9 &P;\ T +10 &R@\ S +9 &TLH\ T +9 &V ?\ T +10 &W2\ T +9 &Y5\ B +10 &Z-v+\ X +9 &Z#(\ , +2 ( +2 "processing"%r& +3 #tProcessing Clamp onSpring/offSpring for 9/25 samples, on/off torque 1.59 + .Hand.open +2 "manipulator"&1 +59 "core" 1 + "manipulator"& % +4 "core" % S u 1 +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&-'\ +93 "core" ' +4 #tHeating Puck.from 2, :da in Processing Clamp to 28C for 2:00:00 +2 .PH.seek 28C,5:00 +2 "processing"%,  +2 %.9 +6 "core" 9  +102 "processing"%*9 +2 "core" 9 +102 "processing"%)9 +3 "core" 9  +102 "processing"%49 +2 "core" 9  +102 "processing"%"9 +3 "core" 9 +102 "processing"%9 +2 "core" 9 +102 "processing"%39 +3 "core" 9 +102 "processing"%:9 +2 "core" 9 +102 "processing"%89 +3 "core" 9" +102 "processing"%?9 +2 "core" 9& +102 "processing"%@9 +3 "core" 9* +102 "processing"%9 +3 "core" 9/ +102 "processing"%+9 +2 "core" 93 +102 "processing"%9 +3 "core" 9 7 +102 "processing"%09 +2 "core" 9; +102 "processing"%29 +3 "core" 9? +102 "processing"%19 +3 "core" 9C +102 "processing"%<9 +2 "core" 9H +103 "processing"% 9 +2 "core" 9#L +102 "processing"%9 +2 "core" 9)P +103 "processing"%99 +2 "core" 9/T +102 "processing"%$9 +3 "core" 95X +102 "processing"%}9 +3 "core" 9<] +102 "processing"%G9 +2 "core" 9Ca +102 "processing"%9 +3 "core" 9Je +102 "processing"%I9 +3 "core" 9Qi +102 "processing"%K9 +2 "core" 9Xm +102 "processing"%B9 +3 "core" 9`r +102 "processing"%C9 +2 "core" 9gv +102 "processing"%M9 +3 "core" 9oz +102 "processing"%A9 +3 "core" 9w~\ +102 "processing"%H9 +2 "core" 9~\ +3 .tPH.hold 2:00:00,28C +3 "processing"%R pp~ +2 .tdelay 1:30 +4 "core"  +9001 .tPSR.select :air +2 .PSV.dial PSR +2 "processing"%7 +109 "core"  + "processing"%Q% +5 "core" %\ + #tPulling 0.5ml of PSR.wash + .PSR.select :wash +2 "processing"% +10 .tPS.seek 0.5ml +2 "processing"%P' +598 "core" ' +2 .tdelay 5 seconds +502 .PSR.select :air +3 "processing"% +9 .tPS.seek 2ml +2 "processing"%D'ԏ +1629 "core" ' + .tPTV.dial :puck +2 "processing"%5  +71 "core"  + .tPSV.dial PTV +2 "processing"%6 +79 "core" +2 .tPBV.dial :waste1 + "processing"%\  +130 "core"  +2 "processing"%O% +4 "core" %ԏb\  +2 .tPS.seek 1.5ml + "processing"%i' +599 "core" ' + .tdelay 3 seconds +303 .PBV.dial between PSV and waste1 + "processing"%Y * +32 "core" , +3 .tPS.seek 0ml + "processing"%\\' +1609 "core" ' + .tdelay 5:00 +26322 "Can" ,HF +3681 #trecoverPSRreagent08 + .PTV.dial :puck +2 .PBV.dial :waste1 +2 "processing"%  +34 "core" +2 .tdelay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%T * +34 "core" , + .tPSR.select :air +3 .PSV.dial PSR + "processing"% +78 "core"  +2 .tPS.reconfigure :fast +2 "processing"%#A ,`xb +2 .tPS.seek 2.5ml +2 "processing"%'m +2393 "core" ' + .tPSV.dial PTV +2 "processing"%J +80 "core" +2 .tdelay 5 seconds +502 .PSV.dial PSR + "processing"%= +79 "core"  +2 .tdelay 5 seconds +502 .PSV.dial PTV +2 "processing"%N +79 "core" + .tdelay 5 seconds +502 .PSV.dial :air +2 "processing"%c  +71 "core"  +2 .tPS.seek 0ml +2 "processing"%' +2359 "core" ' + .tPTV.dial :PRVmixing,via: PRV +2 "processing"%W  +126 "core" +2 .tPSV.dial :mixloop + "processing"%F +50 "core" +2 .tPRV.dial :ab1 +2 "processing"%E @ +70 "core" A +2 .tPS.reconfigure :slow +2 "processing"%#A 2`xb +3 .tPS.seek 0.15ml + "processing"%U'@ +364 "core" ' + .tdelay 2 seconds +202 ."connect"CBV.dial PRV +4 .tPRV.dial CBV +2 "collection"'_  + "processing"%`  +43 "core" +3 + "processing"%k% +4 "core" %F<\ +2 .tPS.seek 0.34ml +2 "processing"%' +438 "core" ' + .tdelay 2 seconds +202 .CBV.dial between PRV and PSV +2 "collection"'e  +29 "core" +2 .tPRV.dial :air + "processing"%/  +43 "core"  +2 .tPS.seek 0.9ml + "processing"%['H +1192 "core" ' + .tPRV.dial :waste2 +2 "processing"%q @ +72 "core" ? +2 .tPS.seek 0.5ml +2 "processing"%s' +865 "core" ' + #taddPMLReagent08 + .PSV.dial :air +2 "processing"%d  +50 "core"  +2 .tPS.reconfigure :default +3 "processing"%#A d`xb +2 .tPS.seek 2ml +2 "processing"%;'ԏ +1618 "core" ' + .tPSV.dial :PML +2 "processing"%> +50 "core" + .tPTV.dial :mixing +2 "processing"%V @ +70 "core" B +2 .tPBV.dial :waste1 + "processing"%b  +35 "core" + "processing"%S% +4 "core" %ԑ)\  +3 .tPS.seek 1.85ml + "processing"%{'h +236 "core" ' +2 .tPBV.dial between PSV and waste1 + "processing"%p * +46 "core" ) +2 .tPS.seek 0ml +2 "processing"%' +1972 "core" ' +2 .tdelay 2 seconds +202 #Beginning samplePassC +2 #Loading FlushPuck into Collection Clamp from FlushPuck::Garage + "collection"'j& +3 "core" &\ +2 "manipulator"&X& +3 "core" &m Q c +2 "manipulator"&]% +4 "core" %\ & O 9 +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek FlushPuck::Garage +2 "manipulator"&(, +142 "core" ( +2 "manipulator"&^& +4 "core" &,  3 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &w& +3 "core" &,  3 +2 .tForearm.seek :garage +2 "manipulator"&u' +102 "core" ' + .tHand.close +2 "manipulator"&m/ +62 "core" / +2 "manipulator"&|& +5 "core" &,  3 + "manipulator"&h% +4 "core" %  N +2 .tForearm.seek :retract + "manipulator"&Z'\ +99 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC + "manipulator"&L( +291 "core" ( + "manipulator"&a& +4 "core" &# C ;6 +2 .tElbow.reconfigure :loose +53 "manipulator"&$ &.,(#b +3 &z& +3 "core" &# Z ;6 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&y'| +95 "core" ' + "manipulator"&x& +4 "core" &# ;6 +2 "manipulator"&t% +4 "core" %υ T +2 "collection"'f& +4 "core" &\ +2 "collection"'v& +5 "core" &\ +2 .tCC.seek :closed + "collection"'(] +5 "core" &\ +7 &?\ %f +9 &lV\ 8 +9 &\ L +10 &|Z\ N +9 &?[\ N +9 &\\\ N +10 & ]\ N +9 &"Y\ N +9 &$F[\ N +10 &&\\\ N +9 &'Y\ N +10 &)\\\ N +9 &+NZ\ N +9 &-Z\ N +10 &._\ N +9 &0\\\ N +9 &2U`\ N +10 &4]\ N +9 &5Y\ N +10 &7Z\ N +9 &9^W\ N +9 &; \\\ N +10 &<[\ M +9 &>Z\ N +9 &@fX\ N +10 &B(]\ N +9 &CZ\ N +10 &EX\ N +9 &GoZ\ N +9 &I-_\ O +10 &Jn\ Q +9 &L\ T +9 &NZ\ X +10 &P\ X +9 &Q\ Y +10 &S\ Z +9 &UZ\ Z +9 &W\ Z +10 &X\ \\ +9 &Z\ ] +9 &\\M\ L +10 &]d9\ (w +9 &]s\ J +6 ( + "collection"'v& +5 #tCollection Clamp onSpring/offSpring for 9/26 samples, on/off torque 2.01 + "collection"'& +4 "core" &]j\ J + &]k\ J +2 .tHand.open + "manipulator"&1 +53 "core" 1 +2 "manipulator"&% +4 "core" % υ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +92 "core" ' + .tPSV.dial PSR +2 "processing"% +101 "core"  + "processing"%!% +5 "core" %,\ + #tPulling 1.5ml of PSR.flush + .PSR.select :flush +3 "processing"%@ +9 .tPS.seek 1.5ml +2 "processing"%' +1617 "core" ' +2 .tdelay 5 seconds +502 .PSV.dial :waste1 +2 "processing"%  +42 "core"  +2 .tPS.seek 0ml +2 "processing"% ' +1610 "core" ' +2 .tPSV.dial PSR + "processing"%l +51 "core"  + .tPSR.select :air +2 "processing"% +10 .tPS.seek 2.5ml + "processing"%'m +2645 "core" ' +2 ."connect"PRV.dial CBV,avoiding: :ab2 +4 .tCBV.dial PRV +2 "processing"%  + "collection"'n  +33 "core"  +124  + .tPSV.dial :mixloop +2 "processing"% +103 "core" +2 .tCTV.dial :air,avoiding: :intake + .PTV.dial :PRVmixing +2 "processing"%%  +71 "core" +2 .tPS.seek 0ml +2 "processing"%'' +2635 "core" ' +2 .tPSV.dial :air + "processing"%  +43 "core"  +2 .tPS.seek 2.5ml + "processing"%&'m +2629 "core" ' +2 .tPSV.dial :mixloop + "processing"% +51 "core" +2 .tPS.seek 0ml + "processing"%g' +2640 "core" ' +2 .tPSV.dial :air + "processing"%  +50 "core"  +2 .tPS.seek 2.5ml +2 "processing"% 'm +2628 "core" ' + .tPSV.dial :mixloop + "processing"%. +51 "core" +2 .tPS.seek 0ml + "processing"%r' +2634 "core" ' +2 #tGaraging FlushPuck in Collection Clamp + "manipulator"&*& +4 "core" &1 X 7 +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&( +26 "core" ( + "manipulator"&)& +4 "core" & $ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &4& +2 "core" & 3 $ +2 .tForearm.seek CC +2 "manipulator"&"'| +102 "core" ' + .tHand.close +2 "manipulator"&/ +61 "core" / +2 .tCC.seek :open + "collection"'3(p +410 "core" ( + "manipulator"&:& +5 "core" &  m  + "manipulator"&8% +4 "core" % ς o +2 .tForearm.seek :retract + "manipulator"&?'\ +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek :garage + "manipulator"&@(, +286 "core" ( + "manipulator"&& +5 "core" &,  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &+& +3 "core" &,  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek :garage + "manipulator"&' +114 "core" ' + .tHand.open + "manipulator"&01 +59 "core" 1 +2 "manipulator"&2% +4 "core" %   ½ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&1'\ +108 "core" ' +2 ."da"delayUntil "09:48:36.77" +15233 "Can" 3;8 +9503 #"da"recoverPRVreagent08 +2 .PTV.dial :mixing + "processing"%< @ +71 "core" A + ."da"PBV.dial :waste1 +2 "processing"%  +33 "core" + ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"% * +34 "core" , +2 ."da"PSV.dial :air +2 "processing"%9  +49 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml + "processing"%$'m +2399 "core" ' + ."da"PSV.dial :mixloop +2 "processing"%} +50 "core" +2 ."da"delay 2 seconds +202 .PSV.dial :air + "processing"%G  +50 "core"  + ."da"delay 2 seconds +202 .PSV.dial :mixloop +3 "processing"% +47 "core" +2 ."da"delay 2 seconds +201 .PSV.dial :air +2 "processing"%I  +48 "core"  +2 ."da"PS.seek 0ml +2 "processing"%K' +2348 "core" ' + #"da"washCycleDA #1 of 2 +2 .PSR.select :air +2 .PSV.dial PSR +2 "processing"%B +130 "core"  +2 "processing"%C% +4 "core" %\ + #"da"Pulling 0.5ml of PSR.wash + .PSR.select :wash +3 "processing"% +9 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"%M' +589 "core" ' + ."da"delay 5 seconds +503 .PSR.select :air +2 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%A'ԏ +1620 "core" ' + ."da"PTV.dial :puck +2 "processing"%H  +71 "core"  + ."da"PSV.dial PTV +2 "processing"%7 +72 "core" + ."da"PBV.dial :waste1 +2 "processing"%Q  +34 "core" +2 "processing"%o% +4 "core" %Ԋ"x\  + ."da"PS.seek 1.5ml +2 "processing"%P' +590 "core" ' + ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +3 "processing"%5 * +34 "core" , +3 ."da"PS.seek 0ml + "processing"%6' +1640 "core" ' + ."da"delay 2:00 +12003 #recoverPSRreagent08 + .PTV.dial :puck +2 .PBV.dial :waste1 +2 "processing"%\  +33 "core" +2 ."da"delay 30 seconds +3002 .PBV.dial between PSV and waste1 +2 "processing"%O * +35 "core" , + ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"%D +77 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%Y'm +2369 "core" ' +2 ."da"PSV.dial PTV +2 "processing"%i +78 "core" + ."da"delay 5 seconds +503 .PSV.dial PSR +2 "processing"%, +78 "core"  +2 ."da"delay 5 seconds +502 .PSV.dial PTV + "processing"% +78 "core" + ."da"delay 5 seconds +503 .PSV.dial :air + "processing"%T  +71 "core"  +2 ."da"PS.seek 0ml +2 "processing"% ' +2334 "core" ' + #"da"washCycleDA #2 of 2 +2 .PSR.select :air +2 .PSV.dial PSR + "processing"%\\ +131 "core"  +2 "processing"%J% +4 "core" %L\ + #"da"Pulling 0.5ml of PSR.wash +2 .PSR.select :wash +2 "processing"% +9 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"%=' +595 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +3 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%N'ԏ +1613 "core" ' +2 ."da"PTV.dial :puck +50 .PSV.dial PTV +3 "processing"%c +72 "core" + ."da"PBV.dial :waste1 +2 "processing"%  +35 "core" + "processing"%W% +4 "core" %ԍx\  +2 ."da"PS.seek 1.5ml +2 "processing"%F' +586 "core" ' + ."da"delay 3 seconds +303 .PBV.dial between PSV and waste1 +2 "processing"%E * +33 "core" , +2 ."da"PS.seek 0ml +2 "processing"%' +1616 "core" ' +2 ."da"delay 2:00 +8746 "Can" 0=9 +3256 #"da"recoverPSRreagent08 +2 .PTV.dial :puck + .PBV.dial :waste1 +2 "processing"%`  +33 "core" +2 ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 + "processing"%_ * +35 "core" , + ."da"PSR.select :air +3 .PSV.dial PSR + "processing"%k +79 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%U'm +2386 "core" ' +2 ."da"PSV.dial PTV +2 "processing"%e +78 "core" + ."da"delay 5 seconds +503 .PSV.dial PSR + "processing"%/ +90 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PTV +2 "processing"% +75 "core" +2 ."da"delay 5 seconds +502 .PSV.dial :air +2 "processing"%q  +72 "core"  +2 ."da"PS.seek 0ml +2 "processing"%[' +2338 "core" ' +2 #"da"getPMLReagent08 +2 .PRV.dial :air + "processing"%d  +42 "core"  +2 ."da"delay 5 seconds +502 .PTV.dial :PRVmixing +3 "processing"%s  +126 "core" +2 ."da"delay 5 seconds +502 .PRV.dial :ab2 +2 "processing"%>  +41 "core"  + ."da"PTV.dial :PRVmixing +2 .PSV.dial :mixloop +2 "processing"%V +48 "core" +2 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 0.3ml +2 "processing"%b'i +396 "core" ' +2 ."da"delay 2 seconds +202 .PRV.dial :air +2 "processing"%S  +41 "core"  + "processing"%p% +4 "core" %e9\ +2 ."da"PS.seek 0.55ml +2 "processing"%;'T +328 "core" ' +3 #"da"addPMLReagent08 + .PSV.dial :air +2 "processing"%{  +47 "core"  +2 ."da"PS.seek 2ml +2 "processing"%j'ԏ +1565 "core" ' + ."da"PSV.dial :PML +2 "processing"%X +49 "core" +2 ."da"PTV.dial :mixing + "processing"%] @ +70 "core" B +2 ."da"PBV.dial :waste1 + "processing"%^  +35 "core" + "processing"%w% +4 "core" %ԏC\  +2 ."da"PS.seek 1.85ml +2 "processing"%'f +231 "core" ' +2 ."da"PBV.dial between PSV and waste1 +2 "processing"%m * +34 "core" , +2 ."da"PS.seek 0ml +2 "processing"%|' +1971 "core" ' + ."da"delay 2 seconds +202 .delay 8:00 +40500 "Can" 3<8 +7503 #"da"recoverPRVreagent08 + .PTV.dial :mixing +2 .PBV.dial :waste1 +2 "processing"%h  +33 "core" +2 ."da"delay 30 seconds +3002 .PBV.dial between PSV and waste1 +2 "processing"%- * +32 "core" + + ."da"PSV.dial :air +2 "processing"%u  +50 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%a'm +2371 "core" ' + ."da"PSV.dial :mixloop +2 "processing"%z +50 "core" + ."da"delay 2 seconds +202 .PSV.dial :air +2 "processing"%  +49 "core"  +2 ."da"delay 2 seconds +202 .PSV.dial :mixloop +2 "processing"%x +49 "core" +2 ."da"delay 2 seconds +201 .PSV.dial :air +2 "processing"%t  +50 "core"  +2 ."da"PS.seek 0ml +2 "processing"%f' +2347 "core" ' +2 #"da"washCycleDA #1 of 3 + .PSR.select :air +2 .PSV.dial PSR +2 "processing"%Z +131 "core"  + "processing"%#% +4 "core" %P\ + #"da"Pulling 0.5ml of PSR.wash +2 .PSR.select :wash +2 "processing"% +10 ."da"PS.reconfigure :default +2 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"%' +589 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +3 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%'ԏ +1620 "core" ' + ."da"PTV.dial :puck +2 "processing"%  +69 "core"  + ."da"PSV.dial PTV +2 "processing"%v +72 "core" + ."da"PBV.dial :waste1 +2 "processing"%  +33 "core" + "processing"%!% +4 "core" %Ԑ\  +2 ."da"PS.seek 1.5ml +2 "processing"%y' +611 "core" ' + ."da"delay 3 seconds +303 .PBV.dial between PSV and waste1 + "processing"% * +45 "core" ) +2 ."da"PS.seek 0ml +2 "processing"%' +1612 "core" ' + ."da"delay 2:00 +12003 #recoverPSRreagent08 +2 .PTV.dial :puck + .PBV.dial :waste1 +2 "processing"%  +33 "core" + ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%l * +34 "core" + +2 ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"% +79 "core"  + ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%n'm +2406 "core" ' + ."da"PSV.dial PTV +2 "processing"% +79 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PSR +2 "processing"% +77 "core"  +2 ."da"delay 5 seconds +502 .PSV.dial PTV +2 "processing"%% +80 "core" +2 ."da"delay 5 seconds +502 .PSV.dial :air +2 "processing"%  +71 "core"  +2 ."da"PS.seek 0ml +2 "processing"%' +2336 "core" ' +2 #"da"washCycleDA #2 of 3 + .PSR.select :air +2 .PSV.dial PSR +2 "processing"%' +131 "core"  + "processing"%% +4 "core" %\ +2 #"da"Pulling 0.5ml of PSR.wash + .PSR.select :wash +2 "processing"% +9 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"%&' +599 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +2 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%'ԏ +1617 "core" ' + ."da"PTV.dial :puck +2 .PSV.dial PTV +2 "processing"%g +84 "core"  +2 ."da"PBV.dial :waste1 + "processing"%.  +35 "core" + "processing"% % +4 "core" %Ԋ\  +2 ."da"PS.seek 1.5ml +2 "processing"%*' +614 "core" ' + ."da"delay 3 seconds +303 .PBV.dial between PSV and waste1 +2 "processing"%) * +33 "core" , +2 ."da"PS.seek 0ml +2 "processing"%4' +1616 "core" ' +2 ."da"delay 2:00 +10805 "Can" 2<9 +1197 #"da"recoverPSRreagent08 +2 .PTV.dial :puck + .PBV.dial :waste1 +2 "processing"%  +33 "core" +2 ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%L * +34 "core" , +2 ."da"PSR.select :air +2 .PSV.dial PSR + "processing"% +89 "core" +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%'m +2392 "core" ' +2 ."da"PSV.dial PTV + "processing"%: +77 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PSR +2 "processing"%8 +77 "core"  + ."da"delay 5 seconds +503 .PSV.dial PTV + "processing"%" +78 "core" + ."da"delay 5 seconds +502 .PSV.dial :air +2 "processing"%  +71 "core"  +9 ."da"PS.seek 0ml +2 "processing"%+' +2339 "core" ' +2 #"da"washCycleDA #3 of 3 + .PSR.select :air +2 .PSV.dial PSR +2 "processing"% +131 "core"  + "processing"%0% +4 "core" %5\ + #"da"Pulling 0.5ml of PSR.wash +2 .PSR.select :wash +2 "processing"% +9 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"%2' +595 "core" ' +2 ."da"delay 5 seconds +503 .PSR.select :air +2 "processing"% +10 ."da"PS.seek 2ml +2 "processing"%?'ԏ +1616 "core" ' + ."da"PTV.dial :puck +2 .PSV.dial PTV +2 "processing"% +73 "core" + ."da"PBV.dial :waste1 +2 "processing"%<  +34 "core" +2 "processing"% % +4 "core" %ԊZ\  +2 ."da"PS.seek 1.5ml +2 "processing"%' +606 "core" ' + ."da"delay 3 seconds +303 .PBV.dial between PSV and waste1 +2 "processing"%9 * +33 "core" , +2 ."da"PS.seek 0ml +2 "processing"%r' +1610 "core" ' +2 ."da"delay 2:00 +12003 #recoverPSRreagent08 + .PTV.dial :puck +2 .PBV.dial :waste1 +2 "processing"%}  +34 "core" + ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%G * +34 "core" , +2 ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"% +79 "core"  +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml +2 "processing"%I'm +2388 "core" ' + ."da"PSV.dial PTV +2 "processing"%$ +79 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PSR +2 "processing"%B +79 "core"  + ."da"delay 5 seconds +503 .PSV.dial PTV +2 "processing"%C +78 "core" +2 ."da"delay 5 seconds +502 .PSV.dial :air + "processing"%K  +73 "core"  +2 ."da"PS.seek 0ml +2 "processing"%M' +2348 "core" ' + ."da"Gate.power :camera,:ON +2 #Mixing DA Substrates +2 .PSR.select :air +2 .PSV.dial PSR + "processing"%H +135 "core"  +5 "processing"%7% +11 "core" %Z\ +5 #"da"Pulling 0.25ml of PSR.sub1 +3 .PSR.select :sub1 +8 "processing"% +16 ."da"PS.reconfigure :default +7 "processing"%#A d`xb +5 ."da"PS.seek 0.25ml +5 "processing"%Q' +335 "core" ' +2 ."da"delay 5 seconds +503 "processing"%o% +3 "core" %\\\  +2 #"da"Pulling 0.25ml of PSR.sub2 + .PSR.select :sub2 +3 "processing"% +10 ."da"PS.seek 0.5ml + "processing"%A' +341 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +2 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%5'ԏ +1617 "core" ' +2 ."da"PTV.dial :puck + .PSV.dial PTV +2 "processing"%P +74 "core" + ."da"PBV.dial :waste1 +2 "processing"%\  +36 "core" + "processing"%O% +4 "core" %Ԕ\  +2 ."da"PS.seek 1.5ml +2 "processing"%D' +598 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%6 * +35 "core" , +2 ."da"PS.seek 0ml +2 "processing"%i' +1605 "core" ' +2 ."da"delay 10 seconds +1003 #recoverPSRreagent08 + .PTV.dial :puck +2 .PBV.dial :waste1 +2 "processing"%,  +36 "core" + ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"% * +47 "core" ) + ."da"PSR.select :air +3 .PSV.dial PSR + "processing"%T +81 "core"  +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml +2 "processing"%Y'm +2409 "core" ' +2 ."da"PSV.dial PTV +2 "processing"%\\ +79 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PSR +2 "processing"%J +79 "core"  + ."da"delay 5 seconds +503 .PSV.dial PTV +2 "processing"% +80 "core" + ."da"delay 5 seconds +503 .PSV.dial :air + "processing"%=  +74 "core"  +2 ."da"PS.seek 0ml +2 "processing"%c' +2385 "core" ' +2 #"da"Additional air clear + .PSR.select :air +2 .PSV.dial PSR +2 "processing"% +132 "core"  +2 "processing"%W% +4 "core" %=\ + #"da"Pulling 2ml of PSR.air +2 .PSR.select :air +2 .PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 2ml +2 "processing"%N'ԏ +2159 "core" ' + ."da"delay 5 seconds +503 .PTV.dial :puck +2 .PSV.dial PTV +2 "processing"%E +73 "core" +2 ."da"PBV.dial :waste1 + "processing"%F  +33 "core" + "processing"%`% +4 "core" %Ԉw\  +2 ."da"PS.seek 1.5ml +2 "processing"%_' +608 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 + "processing"%k * +34 "core" + +2 ."da"delay 1 second +102 .PSV.dial :waste1 +2 "processing"%  +110 "core"  +2 ."da"PS.seek 0ml +2 "processing"%e' +582 "Can"\  +1034 "core" ' +2 "processing"%/9 +3 "core" 9 5u +2 #"da"Processing Puck Heater at 28C before imaging + .PH.coast +2 "processing"%  +4 "core" 5u 5u +2 "processing"%q& +3 "core" &Z \ , +2 #"da"Imaging da puck in Processing Clamp while storing it to tube 1 +2 "manipulator"&U% +4 "core" %\ ~ + "storage"(d% +4 "core" %; \ + "storage"(s. +3 "core" .(  +2 ."da"SC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 ."da"SC.seek 1 +2 "storage"(>(B +375 "core" ( + ."da"SC.configure :limp +3 "storage"($\ 1b +2 (V& +3 "core" &? \ +2 "manipulator"&[& +3 "core" &, E +2 "manipulator"&S% +4 "core" %\ Y +2 ."da"Elbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 ."da"Elbow.seek 1 + "manipulator"&p(c +185 "core" ( + "manipulator"&b& +4 "core" &d  "z + "storage"({& +4 "core" &? \ +2 ."da"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 ."da"Forearm.seek 1 + 450 counts +2 "manipulator"&;'Ф +106 "core" ' + "storage"(X& +4 "core" &? Y\ +2 ."da"SE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 ."da"SE.seek :beamBreak + "storage"(]'e +281 "core" ' + "storage"(^- +4 "core" -' + ."da"SE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&w& +3 "core" &d ~ - "z +2 "storage"(m& +3 "core" &?  {\ +2 ."da"Elbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 ."da"Forearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 ."da"Forearm.seek 1 +2 "manipulator"&j' +31 "core" ' + ."da"Elbow.hold +2 "manipulator"&, +4 "core" , + ."da"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(h- +3 "core" -' +2 ."da"SE.seek 1.12 Pucks below Top Plate +2 "storage"(-'d +36 "core" ' +2 "manipulator"&u% +4 "core" %   p Ǿ\\ + "storage"(|& +4 "core" &? >\ + ."da"Forearm.force -20 +2 "manipulator"&5 +3 ."da"Forearm.seek 1 + 319 counts + "manipulator"&z'! +18 "core" ' +2 "manipulator"&& +4 "core" &\\ Q u . # + "storage"(x& +4 "core" &? \ +2 ."da"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 ."da"Forearm.seek 1 + 450 counts +2 "manipulator"&t'Ф +19 "core" ' +2 ."da"SE.seek 2.12 Pucks below Top Plate +2 "storage"(a'S +51 "core" ' + "manipulator"&Z& +5 "core" &\\ } # + "manipulator"&#% +4 "core" %Н } +2 ."da"Forearm.reconfigure :loose +56 "manipulator"&#Q@2^d^b +3 ."da"Forearm.seek :retract +2 "manipulator"&f'\ +87 "core" ' +2 ."da"Elbow.seek PC +2 "manipulator"&(c +257 "core" ( + "manipulator"&& +4 "core" &c  \ +2 ."da"Elbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &v& +2 "core" &c A \ +2 ."da"Forearm.seek PC +2 "manipulator"& '[ +96 "core" ' + ."da"Hand.close +2 "manipulator"&!/ +56 "core" / +2 ."da"PC.seek :open +2 "processing"%(p +395 "core" ( + "storage"(& +4 "core" &? _\ +2 "manipulator"&y& +4 "core" &d % \ + "manipulator"&% +4 "core" % W { +2 ."da"Forearm.seek :retract +2 "manipulator"&l'\ +95 "core" ' +2 ."da"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 ."da"Elbow.seek 1 +2 "manipulator"& (c +265 "core" ( + "manipulator"&& +4 "core" &l O  +2 "storage"(& +4 "core" &? /\ +2 ."da"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 ."da"Forearm.seek 1 + 450 counts +2 "manipulator"&'Ф +92 "core" ' +2 ."da"Hand.open +2 "manipulator"&%1 +59 "core" 1 +2 "storage"(- +3 "core" -'S +2 ."da"SE.seek 1.88 Pucks below Top Plate +2 "storage"(n' +23 "core" ' +2 ."da"SE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 ."da"SE.seek 1.21 Pucks below Top Plate +2 "storage"('' +46 "core" ' +2 #"da"Lights, camera, ACTION! +4 #PuckCamera: snap -bin=2,2 -auto /var/log/esp/da22sep1410h50ml.tif +1952 #"psFlush"Waiting >20 seconds for da to relinquish FlushPuck +19453 #"da"SX HX9/16 (USB:03): 1392x1040 pixel 16-bit CCD camera\ Exposing 696x520 pixel 16-bit image for 210.606 seconds\ /var/log/esp/da22sep1410h50ml.tif: TIFF Upload Complete\ +4 #PuckCamera: snap -bin=2,2 15.0 /var/log/esp/midres/da22sep1410h50ml15s.tif +1564 #SX HX9/16 (USB:03): 1392x1040 pixel 16-bit CCD camera\ Exposing 696x520 pixel 16-bit image for 15 seconds\ /var/log/esp/midres/da22sep1410h50ml15s.tif: TIFF Upload Complete\ +4 #PuckCamera: snap -bin=2,2 30.0 /var/log/esp/midres/da22sep1410h50ml30s.tif +3068 #SX HX9/16 (USB:03): 1392x1040 pixel 16-bit CCD camera\ Exposing 696x520 pixel 16-bit image for 30 seconds\ /var/log/esp/midres/da22sep1410h50ml30s.tif: TIFF Upload Complete\ +4 #PuckCamera: snap -bin=1,1 70.0 /var/log/esp/hires/da22sep1410h50ml70s.tif +7168 #SX HX9/16 (USB:03): 1392x1040 pixel 16-bit CCD camera\ Exposing 1392x1040 pixel 16-bit image for 70 seconds\ /var/log/esp/hires/da22sep1410h50ml70s.tif: TIFF Upload Complete\ +2 .Gate.power :camera,:OFF +3 ."Qmail"DAfans.email "210.606 sec auto-exposure",Subject: "da22sep1410h50ml images!" +10 "storage"(- +5 "core" -' +2 "storage"(& +6 "core" &?   G\ +2 "manipulator"&&& +4 "core" &l  '  +2 ."da"Elbow.seek 1 +2 "manipulator"&g(c +4 "core" ( + "manipulator"&.& +4 "core" &l    +2 "storage"( & +4 "core" &? J J \ +3 ."da"Forearm.seek 1 + 450 counts +3 "manipulator"&'Ф +4 "core" ' +2 ."da"SE.reconfigure :gently +3 "storage"(#QK-0-\ b +4 ."da"SE.seek 1.93 Pucks below Top Plate +3 "storage"()'^ +57 !"Qmail"o:!Net::SMTPAuthenticationError: mesg"E534-5.7.9 Application-specific password required. Learn more at\ :@checkpoint: omitted:bt["E/opt/mbari/lib/ruby/1.8/net/smtp.rb:954:in `check_auth_response'"/opt/mbari/lib/ruby/1.8/net/smtp.rb:723:in `authenticate'":/opt/mbari/lib/ruby/1.8/net/smtp.rb:566:in `do_start'"7/opt/mbari/lib/ruby/1.8/net/smtp.rb:525:in `start'"2/home/esp/esp2/lib/email.rb:325:in `sendOnce'"3/home/esp/esp2/lib/schedule.rb:292:in `unsync'"3/home/esp/esp2/lib/schedule.rb:594:in `unsync'"3/home/esp/esp2/lib/schedule.rb:621:in `unsync'"2/home/esp/esp2/lib/email.rb:318:in `sendOnce'"./home/esp/esp2/lib/email.rb:340:in `send'",/home/esp/esp2/lib/msg.rb:68:in `retry'"./home/esp/esp2/lib/email.rb:339:in `send'"B/home/esp/esp2/protocol/2G/utilities.rb:163:in `prepAndImage'"-/home/esp/esp2/lib/email.rb:66:in `call'"3/home/esp/esp2/lib/email.rb:66:in `initialize'"-/home/esp/esp2/lib/email.rb:63:in `loop'"3/home/esp/esp2/lib/email.rb:63:in `initialize'"7/home/esp/esp2/lib/schedule.rb:481:in `initialize'"0/home/esp/esp2/lib/thread.rb:738:in `start'"7/home/esp/esp2/lib/schedule.rb:474:in `initialize'"'/home/esp/esp2/lib/schedule.rb:472 +2 !o:Email::Queue::Purge: mesg"Purged output queue:bt[ "//home/esp/esp2/lib/email.rb:106:in `purge'"3/home/esp/esp2/lib/email.rb:75:in `initialize'"-/home/esp/esp2/lib/email.rb:63:in `loop'"3/home/esp/esp2/lib/email.rb:63:in `initialize'"7/home/esp/esp2/lib/schedule.rb:481:in `initialize'"0/home/esp/esp2/lib/thread.rb:738:in `start'"7/home/esp/esp2/lib/schedule.rb:474:in `initialize'"'/home/esp/esp2/lib/schedule.rb:472 +3 "core" ' + "manipulator"&*& +5 "core" &l t   +2 "storage"(& +4 "core" &? 5\ + ."da"Elbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 ."da"Forearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 ."da"Forearm.seek 1 + "manipulator"&L' +32 "core" ' +2 ."da"Elbow.hold + "manipulator"&, +4 "core" , +2 ."da"Elbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 ."da"SE.reconfigure :default +3 "storage"(#QK-0-\ b +2 ."da"SE.seek 2.11 Pucks below Top Plate +2 "storage"(4'H +26 "core" ' + "manipulator"&:% +5 "core" % x + "storage"(8& +4 "core" &? x y +\ +2 ."da"Forearm.force -20 + "manipulator"&5 +3 ."da"Forearm.seek 1 + 315 counts +2 "manipulator"&"' +17 "core" ' + "manipulator"&& +5 "core" &l c a   + "storage"(& +5 "core" &? !\ +2 ."da"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 ."da"Forearm.seek 1 + 450 counts +2 "manipulator"&'Ф +18 "core" ' +2 "storage"(0% +4 "core" %N 4\ +2 ."downElevator"SE.seek :down +4 "storage"(+'N +98 (2% +3 "core" % 6 %\ RO +2 "manipulator"&% +4 "core" %М Q R  +2 ."da"Forearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 ."da"Forearm.seek :retract +2 "manipulator"&<'\ +97 "core" ' +34 ' + ."downElevator"SE.stop +2 "storage"(5 +3 ( & +3 "core" &? \ +3 #"psFlush"Loading FlushPuck into Processing Clamp from FlushPuck::Garage +3 #tStarting finalPurge +2 "processing"%?& +4 "core" &O\ +2 "manipulator"&9& +4 "core" &l n d  + "manipulator"&% +4 "core" %\ ~ 9  +2 ."psFlush"Elbow.seek FlushPuck::Garage +3 "manipulator"&}(, +185 "core" ( +2 "manipulator"&G& +4 "core" &,  +2 ."psFlush"Elbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &, i ~  +2 ."psFlush"Forearm.seek :garage +2 "manipulator"&r' +106 "core" ' +2 ."psFlush"Hand.close + "manipulator"&$/ +64 "core" / +2 "manipulator"&B& +4 "core" &,  $  + "manipulator"&C% +4 "core" %    +2 ."psFlush"Forearm.seek :retract +2 "manipulator"&K'\ +99 "core" ' +2 ."psFlush"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 ."psFlush"Elbow.seek PC +2 "manipulator"&I(c +113 "core" ( +2 "manipulator"&H& +4 "core" &k C ` + ."psFlush"Elbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &7& +3 "core" &k X ` +2 ."psFlush"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 ."psFlush"Forearm.seek PC +2 "manipulator"&M'[ +98 "core" ' +2 "manipulator"&o& +4 "core" &k . ` +2 "manipulator"&Q% +4 "core" %N  +2 "processing"%A& +4 "core" &J\ +2 "processing"%P& +4 "core" &L\ +3 ."psFlush"PC.seek :closed + "processing"%\ (Z +5 "core" &K\ \ +9 &0xF\ *x +9 &eJ\ > +10 &DvF\ N +9 & YF\ L +9 &[<\ L +10 &ZA\ L +9 &!OZC\ L +10 &#VC\ M +9 &$\\E\ M +9 &&\\F\ M +10 &(VW?\ M +9 &*[E\ M +9 &+YE\ M +10 &-WC\ M +9 &/^Y \ M +10 &1 X9\ M +9 &2]>\ M +9 &4Z9\ M +10 &6g]1\ L +9 &8(],\ M +9 &9Z+\ M +10 &;\\'\ L +9 &=n]1\ M +10 &?0Y1\ M +9 &@Z:\ M +9 &BX;\ M +10 &Dv]1\ M +9 &F7\\3\ M +9 &G`b\ M +10 &Ik!\ N +9 &Ktx0\ P +10 &M/2\ R +9 &N3\ S +9 &P1\ S +10 &Rs/\ S +9 &T42\ S +9 &U1\ T +10 &W4\ T +9 &Yy1\ A +10 &Zv:2\ ^ +9 &Z2-\ 1 +5 ( +2 "processing"%P& +4 #"psFlush"Processing Clamp onSpring/offSpring for 9/25 samples, on/off torque 1.60 +2 "processing"%O& +4 "core" &Z*2\ 1 + &Z*)\ 1 + ."psFlush"Hand.open +2 "manipulator"&51 +54 "core" 1 +2 "manipulator"&6% +4 "core" % N  +2 ."psFlush"Forearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 ."psFlush"Forearm.seek :retract +2 "manipulator"&D'\ +106 "core" ' + ."psFlush"PSR.select :air +2 .PSV.dial PSR +2 "processing"%, +50 "core"  + "processing"%% +4 "core" %!\ +2 #"psFlush"Pulling 0.5ml of PSR.flush + .PSR.select :flush +2 "processing"%@ +10 ."psFlush"PS.seek 0.5ml +2 "processing"%T' +539 #tWaiting >20 seconds for psFlush to relinquish FlushPuck +56 "core" ' +2 ."psFlush"delay 5 seconds +502 .PSR.select :air +2 "processing"% +10 ."psFlush"PS.seek 2.5ml +2 "processing"%i'm +2116 "core" ' +2 ."psFlush"delay 1 second +102 .PRV.dial :waste2,avoiding: :ab2 + "processing"%\\ @ +184 "core" B +2 ."psFlush"PTV.dial :PRVmixing + "processing"%J  +125 "core" +2 ."psFlush"PSV.dial :mixloop +2 "processing"% +101 "core" +2 ."psFlush"PS.seek :empty +2 "processing"%=' +2643 "core" ' + ."psFlush"PSR.select :air +56 .PSV.dial PSR + "processing"%Y +109 "core"  +2 "processing"%% +4 "core" %\ + #"psFlush"Pulling 0.5ml of PSR.flush + .PSR.select :flush +3 "processing"%@ +10 ."psFlush"PS.seek 0.5ml + "processing"%W' +589 "core" ' +2 ."psFlush"delay 5 seconds +502 .PSR.select :air +2 "processing"% +10 ."psFlush"PS.seek 2.5ml + "processing"%c'm +2142 "core" ' +2 ."psFlush"delay 1 second +102 .PBV.dial :waste1 +2 "processing"%E  +33 "core" +2 ."psFlush"PTV.dial :mixing +2 "processing"%F @ +70 "core" A + ."psFlush"PSV.dial :mixloop +2 "processing"%` +108 "core" + ."psFlush"PS.seek :empty +2 "processing"%N' +2639 "core" ' + ."psFlush"PSV.dial PSR +2 "processing"%k +108 "core"  + ."psFlush"PSR.select :flush +3 "processing"%@ +9 ."psFlush"PS.seek 1ml +2 "processing"%'T +1108 "core" ' + ."psFlush"PSR.select :air +3 "processing"% +9 ."psFlush"PS.seek 2.5ml +2 "processing"%_'m +1626 "core" ' + ."psFlush"PSV.dial PTV +2 "processing"%/ +80 "core" + ."psFlush"PTV.dial :puck +2 "processing"%  +68 "core"  +2 ."psFlush"PBV.dial :waste1 +2 .PS.seek 0ml +2 "processing"%q' +2633 "core" ' +2 ."psFlush"PSV.dial PSR +2 "processing"%U +78 "core"  + ."psFlush"PSR.select :flush +3 "processing"%@ +9 ."psFlush"PS.seek 0.5ml +2 "processing"%d' +591 "core" ' + ."psFlush"PSR.select :air +2 "processing"% +10 ."psFlush"PS.seek 2.5ml +2 "processing"%s'm +1588 "Can" 1A> +541 "core" ' + ."psFlush"PSV.dial PTV +3 "processing"%~ +77 "core" + ."psFlush"PBV.dial PSV +2 "processing"%V U +55 "core" W +2 ."psFlush"PS.seek 0ml +2 "processing"%[' +2638 "core" ' + ."psFlush"PSV.dial PBV +2 "processing"%S @ +48 "core" ? +3 ."psFlush"PS.seek 2.5ml + "processing"%b'm +2648 "core" ' + ."psFlush"PSV.dial :waste1 +2 "processing"%{  +72 "core"  +2 ."psFlush"PS.seek 0ml +2 "processing"%@' +2630 "core" ' +2 ."psFlush"PSV.dial PSR +2 "processing"%X +48 "core"  + ."psFlush"PSR.select :air +3 .PS.seek 2.5ml +2 "processing"%1'm +2655 "core" ' + ."psFlush"PSV.dial PTV +2 "processing"%^ +73 "core" +2 ."psFlush"PBV.dial PSV +2 .PS.seek 0ml +2 "processing"%w' +2640 "core" ' + ."psFlush"PSV.dial PBV +2 "processing"%m @ +61 "core" @ +2 ."psFlush"PS.seek 2.5ml +2 "processing"%h'm +2644 "core" ' + ."psFlush"PSV.dial :waste1 +2 "processing"%u  +75 "core"  +2 ."psFlush"PS.seek 0ml +2 "processing"%|' +2631 "core" ' + ."psFlush"PSV.dial PSR +2 "processing"% +50 "core"  + ."psFlush"PSR.select :flush +3 "processing"%@ +9 ."psFlush"PS.seek 1ml +2 "processing"%x'T +1100 "core" ' +2 ."psFlush"PSR.select :air +2 "processing"% +9 ."psFlush"PS.seek 2.5ml +2 "processing"%Z'm +1629 "core" ' + ."psFlush"PSV.dial PTV +2 "processing"%# +72 "core" + ."psFlush"PTV.dial :puck +2 .PBV.dial :waste1 +2 "processing"%;  +54 "core" +2 ."psFlush"PS.seek 0ml +2 "processing"%p' +2637 "core" ' + ."psFlush"PSV.dial PSR +2 "processing"%] +80 "core"  + ."psFlush"PSR.select :flush +3 "processing"%@ +9 ."psFlush"PS.seek 0.5ml +2 "processing"%j' +596 "core" ' + ."psFlush"PSR.select :air +2 "processing"% +10 ."psFlush"PS.seek 2.5ml +2 "processing"%z'm +2141 "core" ' + ."psFlush"PSV.dial PTV +2 "processing"%- +78 "core" +2 ."psFlush"PBV.dial PSV +2 "processing"%t U +54 "core" W +2 ."psFlush"PS.seek 0ml +2 "processing"%' +2638 "core" ' +2 ."psFlush"PSV.dial PBV + "processing"%v @ +49 "core" ? +2 ."psFlush"PS.seek 2.5ml +2 "processing"%'m +2628 "core" ' +2 ."psFlush"PSV.dial :waste1 +2 "processing"%!  +72 "core"  +2 ."psFlush"PS.seek 0ml + "processing"%f' +2631 "core" ' + ."psFlush"PSV.dial PSR +2 "processing"%( +50 "core"  + ."psFlush"PSR.select :air +3 .PS.seek 2.5ml +2 "processing"%'m +2631 "core" ' +2 ."psFlush"PSV.dial PTV +2 "processing"%y +71 "core" +2 ."psFlush"PBV.dial PSV +2 .PS.seek 0ml +2 "processing"%' +2638 "core" ' + ."psFlush"PSV.dial PBV +3 "processing"% @ +48 "core" ? +2 ."psFlush"PS.seek 2.5ml +2 "processing"%'m +2638 "core" ' + ."psFlush"PSV.dial :waste1 +2 "processing"%  +73 "core"  +2 ."psFlush"PS.seek 0ml +2 "processing"%' +2632 "core" ' +2 #tLoading FlushPuck into Collection Clamp from Processing Clamp +2 "collection"'%& +4 "core" &I  +2 "manipulator"&& +3 "core" &k   ` +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +2 "manipulator"&l(c +3 "core" ( + "manipulator"&a& +5 "core" &k t  ` + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &n& +3 "core" &k  ` +2 .tForearm.seek PC + "manipulator"&'[ +99 "core" ' +2 .tHand.close + "manipulator"&/ +63 "core" / +2 .tPC.seek :open + "processing"%&(p +396 "core" ( + "manipulator"&.& +4 "core" &k w x  ` +2 "manipulator"& % +4 "core" % E v ^  +2 .tForearm.seek :retract + "manipulator"&*'\ +98 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&( +371 "core" ( +2 "manipulator"&:& +4 "core" & R % + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &8& +2 "core" & g % +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&'| +97 "core" ' + "manipulator"&& +4 "core" & ? % +2 "manipulator"&0% +4 "core" %s 8 +2 "collection"' & +3 "core" &K  +3 "collection"'& +4 "core" &J  +2 .tCC.seek :closed +2 "collection"''(] +4 "core" &0  +9 &3~8\ *x +9 &b.\ > +9 &L{8\ N +10 &]7\ N +9 &_/\ N +10 &_3\ N +9 &!T]0\ N +9 &#]1\ N +10 &$]4\ N +9 &&]0\ N +9 &(]]5\ N +10 &*]3\ N +9 &+_6\ N +10 &-\\1\ N +9 &/da.\ N +9 &1&^2\ N +10 &2].\ N +9 &4\\2\ N +9 &6n\\2\ M +10 &8/Z3\ N +9 &9]:\ N +10 &;Z0\ M +9 &=u\\1\ N +9 &?7Z9\ N +10 &@]2\ N +9 &B\\;\ N +9 &D~\\4\ M +10 &F?\\/\ N +9 &H[:\ N +10 &Ih;\ O +9 &K{u0\ Q +9 &M27\ U +10 &N5\ X +9 &P=\ X +10 &Rn;\ X +9 &T,7\ Z +9 &U:\ Z +9 &W/\ Z +10 &Yk6\ \\ +9 &[,6\ \\ +10 &\\r4\ D +9 &]~0\ "c +9 ( +2 "collection"'& +4 #tCollection Clamp onSpring/offSpring for 9/25 samples, on/off torque 2.00 + "collection"'2& +4 "core" &]4\ \\ + &]8\ \\ +2 .tHand.open + "manipulator"&1 +53 "core" 1 +2 "manipulator"&% +4 "core" % r + +43 .tForearm.reconfigure :loose +11 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&g'\ +91 "core" ' +2 #tFlushing the Collection Valve::Manifold + "collection"')& +4 "core" &]O\ \\ +2 "collection"'L% +4 "core" %2\ + .tCSV.dial CSR +2 "collection"'  +43 "core"  +2 "collection"'?% +4 "core" %1\ +2 #tPulling 5ml of CSR.flush + .CSR.select :flush +2 "collection"' +10 .tCS.seek 5ml + "collection"'9's +1361 "core" ' +2 .tdelay 5 seconds +502 .CSR.select :air +2 "collection"' +9 '"% +2 "core" %sK\  +2 .tCS.reconfigure :fast +3 "collection"'#d @b +2 .tCS.seek 7.501ml +2 "collection"''v +652 "core" ' +2 .tCSV.dial :waste + "collection"'4 +125 "core" +2 .tCS.reconfigure :default +3 "collection"'#P d@b +2 .tCS.seek 0ml +2 "collection"'' +1998 "core" ' + #tFlushing lower manifold's waste1 port +2 "collection"'G& +4 "core" &]0\ \\ + "collection"'% +4 "core" %I\ +2 .tCSV.dial :flush + "collection"'+  +42 "core"  +2 .tCS.reconfigure :fast +3 "collection"'#d @b +2 .tCS.seek 5ml +2 "collection"''s +1221 "core" ' +2 .tdelay 5 seconds +502 .CSV.dial :air +2 "collection"'$ @ +42 "core" B +2 "collection"'B% +4 "core" %s-\  +2 .tCS.seek 7ml +2 "collection"'C' +533 "core" ' + ."connect"CSV.dial CTV +4 .tCTV.dial CSV +2 "collection"'<  + 'H  +42 "core"  +90  +2 .tCBV.dial :waste1 + "collection"'7 @ +44 "core" > +2 .tCS.seek 0ml +2 "collection"'r' +1646 "core" ' +2 #tFlushing lower manifold's waste2 port + "collection"'o& +4 "core" &].\ \\ +2 "collection"'Q% +4 "core" %H\ + .tCSV.dial :flush +2 "collection"'A  +72 "core" +2 .tCS.seek 5ml +2 "collection"'}'s +1217 "core" ' +2 .tdelay 5 seconds +502 .CSV.dial :air +3 "collection"'K @ +44 "core" B + "collection"'% +4 "core" %sI\  +2 .tCS.seek 7ml +2 "collection"'O' +266 "Can" %US +265 "core" ' +2 ."connect"CSV.dial CTV +4 .tCTV.dial CSV +2 "collection"'5  +41 "core"  + .tCBV.dial :waste2 +2 "collection"'6  +103 "core"  +2 .tCS.seek 0ml +2 "collection"'P' +1647 "core" ' +2 #tDisinfecting external Intake with kill + "collection"',& +5 "core" &].\ \\ + "collection"'% +4 "core" %E\ + .tCSV.dial CSR +2 "collection"'M  +42 "core"  +2 "collection"'e% +4 "core" %1\ + #tPulling 8ml of CSR.kill +2 .CSR.select :kill +2 "collection"' +9 .tCS.seek 8ml +2 "collection"'T'X +1898 "core" ' +2 .tdelay 5 seconds +502 .CSR.select :air +3 "collection"' +9 .tCS.seek 10ml +2 "collection"'\\' +545 "core" ' +2 ."connect"CSV.dial CBV +3 .tCBV.dial CSV +2 "collection"'J + '  +111 "core"  +31  + .tCTV.dial :intake +2 "collection"'i  +73 "core" +2 .tIntake.select :open + "sampler") +10 .tCS.seek 2ml +2 "collection"'Y'~ +1890 "core" ' + .tIntake.select :close +2 "sampler")0 +9 .tCTV.dial :air +2 "collection"'  +72 "core"  +2 .tCS.reconfigure :default +2 "collection"'#P d@b +3 .tCS.seek 0ml + "collection"'=' +587 "core" ' +2 .tCSV.dial CSR + "collection"'W  +97 "core"  +2 "collection"'E% +4 "core" %D\ + #tPulling 5ml of CSR.flush +2 .CSR.select :flush +2 "collection"' +9 .tCS.seek 5ml +2 "collection"'F's +1356 "core" ' +2 .tdelay 5 seconds +502 .CSR.select :air +71 "collection"' +9 .tCS.seek 10ml +2 "collection"'`' +1355 "core" ' + .tCSV.dial CBV +2 "collection"'c +99 "core" +2 .tCS.seek 0ml + "collection"'k' +2623 "core" ' +2 #tGaraging FlushPuck in Collection Clamp + "manipulator"&N& +4 "core" & # +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&( +3 "core" ( +2 "manipulator"&/& +4 "core" & @ # +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" & % # +2 .tForearm.seek CC +2 "manipulator"&_'| +108 "core" ' + .tHand.close + "manipulator"&U/ +58 "core" / +2 .tCC.seek :open +2 "collection"'q(p +409 "core" ( + "manipulator"&d& +4 "core" & w a # +2 "manipulator"&~% +4 "core" % t s G + .tForearm.seek :retract +2 "manipulator"&V'\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek :garage + "manipulator"&s(, +291 "core" ( + "manipulator"&S& +4 "core" &, )  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &[& +3 "core" &, =  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :garage +2 "manipulator"&{' +109 "core" ' +2 .tHand.open +2 "manipulator"&b1 +59 "core" 1 +2 "manipulator"&X% +4 "core" % } 9 ļ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&@'\ +97 "core" ' +2 "processing"%^& +4 "core" &s\ +44595 "Can" 386 +60002  386 +60002  386 +60002  386 +2486 #t-> access 1 +3 "storage"(1% +3 "core" %G .\  +2 "manipulator"&m% +4 "core" %\ &  A + "manipulator"&w& +4 "core" &,  +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 + "storage"(u(<< +1310 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (h& +2 "core" &<: d f \  +1335 #t-> access 2 + "storage"(% +4 "core" %G H\  +2 "manipulator"&|% +4 "core" %\ & , A +2 "manipulator"&x& +4 "core" &, 3  + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"(#(K +353 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (;& +3 "core" &K c c\  +54450 "Can" 385 +16407 #t-> exit +6 #mEXIT @1663169986.10EDT @1663184156.59EDT = =mMAIN_scheduler =tMAIN @EDT1663184158.41 #"core_reset"Sent BREAK + #t@60890 receive with ifg=0x10, ie=0xFD + #@61550 receive with ifg=0x10, ie=0xFD + #@62188 receive with ifg=0x10, ie=0xFD + #@62830 receive with ifg=0x10, ie=0xFD + #@63469 receive with ifg=0x10, ie=0xFD #@64116 receive with ifg=0x10, ie=0xFD + #@64763 receive with ifg=0x10, ie=0xFD #@65090 receive with ifg=0x80, ie=0xFD + #@12212 idle with ifg=0x00, ie=0x75 #ESP2 v3.41 I2C Gateway v3.20 +9 #ESP2 v3.41 I2C Gateway v3.20 for core bus +201 !o:Instrument::ISUSCore: @configS:Instrument::Configuration: name" ISUS:calFileName0:sampleCmd"TS: prompt"\ :statusCmd"C:sampleTimeouti#:promptTimeouti:statusTimeouti: retriesi:strToPrompt"W: pace0: echoF: @refiK:\ @name@ +96 #Configuration for don (12651-03) 10/9/20 brent@mbari.org\ /home/esp/esp2/type/shallow/don/configure.rb\ +370 "Can"/ 0<8 + / 0<8 + #tPolling Can every 10:00 + #Cleanly exited at 11:39:46EDT14-Sep-22 +882 #-> ESP.ready! +154 "sampler") +2 ) +2 "core"  +2 "collection"' +2 ' +2 "core"  +2 "processing"% +2 % +3 "core"  +4 "collection"' 9\ +2 ' 0\ +2 ' -\ +3 "processing"% 9\ +2 % 2\ +2 % *\ +2 % 0\ +3 "sampler")&\ +2 "collection"'% +4 "core" %  + .tCS.configure :default +3 "collection"'#P d@b +2 .tCS.hold +2 "collection"'+ +3 "core" + + .tCS.configure :default +4 "collection"'#P d@b +2 "processing"%% +3 "core" %\ + .tPS.configure :default +3 "processing"%#A d`xb +2 .tPS.hold +2 "processing"%+ +3 "core" + +2 .tPS.configure :default +2 "processing"%#A d`xb +2 "sampler")% +3 "core" %3  +2 .tSS.configure :default +2 "sampler")#.0X access 3 +2 "storage"(2% +3 "core" %G z z L\  +2 "manipulator"&3% +4 "core" %\ &  A + "manipulator"&4& +4 "core" &, m  +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 7 +2 "storage"(5([ +379 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (6& +2 "core" &[ j\ +606 #t-> access 4 +2 "storage"(7% +4 "core" %G 4\  + "manipulator"&8% +4 "core" %\ & E A +2 "manipulator"&9& +3 "core" &, u  +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 1 + "storage"(:(B +1943 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (;& +2 "core" &D K M \ +15422 #t-> require 'shuffle.rb' +1508 #-> 2.times{shuffle 2..4} +2 #Shuffling pucks in tube 2 of [2..4] +2 #Loading generic puck from tube 2 into Collection Clamp + "collection"'<& +4 "core" &  + .tHand.open +2 "manipulator"&=1 +17 "core" 1 +2 "manipulator"&>% +4 "core" %\ & A + "storage"(?% +4 "core" %G \  +2 "storage"(@. +3 "core" .(B + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"(A(  +359 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (B& +2 "core" &  i w\  +2 "manipulator"&C& +4 "core" &, W  + "manipulator"&D% +4 "core" %\ & h A +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&E(; +200 "core" ( + "manipulator"&F& +4 "core" &> y  \ +2 "storage"(G& +4 "core" &  X\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&H'Ѐ +106 "core" ' + "storage"(I& +4 "core" &  6\  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(J'e +280 "core" ' +2 "storage"(K- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (L& +3 "core" &  \  +2 "manipulator"&M& +4 "core" &> T ^ $ \ +2 .tElbow.seek 2 + "manipulator"&N(; +4 "core" ( + "manipulator"&O& +4 "core" &> e S k \ + "storage"(P& +4 "core" &  }\  +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&Q' +60 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&R/ +61 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&S& +2 "storage"(T'N +7 "core" &>  \ +2 "manipulator"&U% +4 "core" % ? +2 .tForearm.seek :retract +2 "manipulator"&V'\ +92 "core" ' +2 .tElbow.seek CC +2 "manipulator"&W( +151 "core" ' + ."downElevator"SE.stop + "storage"(5 +4 "core" ( + "manipulator"&X& +4 "core" && j =D +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &Y& +3 "core" && =D +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&Z'| +104 "core" ' + "manipulator"&[& +5 "core" && 6 =C + "manipulator"&\\% +5 "core" %q  +2 "collection"']& +4 "core" & +2 "collection"'^& +6 "core" & +2 .tCC.seek :closed + "collection"'_(] +5 "core" & +6 &8\ $e +9 &kT\ 7 +10 &}}\ K +9 &q\\\ N +10 &3\\\ N +9 &_\ N +9 & ]\ O +10 &"yZ\ N +9 &$<Y\ N +9 &%\\\ N +10 &'[\ N +9 &)]\ N +10 &+C\\\ N +9 &-^\ N +9 &.^\ O +10 &0]\ N +9 &2K\\\ N +9 &4 _\ N +10 &5\\\ N +9 &7\\\ N +10 &9V[\ M +9 &;]\ N +9 &<\\\ N +10 &>]\ N +9 &@]]\ N +9 &B^\ N +10 &C\\\ N +9 &E[\ N +10 &Gb]\ O +9 &I#c\ O +9 &Jr\ Q +10 &L\ T +9 &NQ\ W +9 &P\ X +10 &Q\ Y +9 &S\ Y +10 &UQ\ Z +9 &W\ Z +9 &X\ \\ +10 &Z\ \\ +9 &\\R\ I +9 &][>\ *~ +10 &]s\ K +5 ( +2 "collection"'^& +4 #tCollection Clamp onSpring/offSpring for 10/26 samples, on/off torque 1.99 + .Hand.open +2 "manipulator"&`1 +3 "core" &]o\ K +57 1 +2 "manipulator"&a% +4 "core" % q +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&b'\ +97 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%c& +4 "core" &\ +2 "manipulator"&d% +4 "core" %\ - g "^ +2 "storage"(e% +3 "core" %Q a a\ +2 "storage"(f. +3 "core" .(  +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 + "storage"(g(  +7 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (h& +3 "core" &    h\  +2 "manipulator"&i& +4 "core" &$ b ;3 + "manipulator"&j% +4 "core" %\ - M "^ +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&k(; +162 "core" ( + "manipulator"&l& +4 "core" &0   +2 "storage"(m& +4 "core" &  h e M\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts +2 "manipulator"&n'Ѐ +94 "core" ' + "storage"(o& +5 "core" &  z\  + .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(p'e +283 "core" ' + "storage"(q- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (r& +3 "core" &  _ T\  + "manipulator"&s& +4 "core" &0  +2 .tElbow.seek 2 + "manipulator"&t(; +8 "core" ( + "manipulator"&u& +4 "core" &1 w +2 "storage"(v& +4 "core" &  b b\  +2 .tForearm.seek 2 + 300 counts + "manipulator"&w' +11 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&x/ +62 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&y& +2 "storage"(z'N +7 "core" &1  +2 "manipulator"&{% +4 "core" %  / H + .tForearm.seek :retract +2 "manipulator"&|'\ +91 "core" ' +2 .tElbow.seek PC + "manipulator"&}(c +167 "core" ' + ."downElevator"SE.stop + "storage"(5 +71 "core" ( +2 "manipulator"&~& +4 "core" &f - ` +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &f  ` +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&'[ +109 "core" ' +2 "manipulator"&& +4 "core" &f c I  ` +2 "manipulator"&% +4 "core" %V b b v +2 "processing"%& +4 "core" &\ +2 "processing"%& +5 "core" &\ +2 .tPC.seek :closed + "processing"%(Z +5 "core" &\ \ +9 &0y\ *x +9 &c\ > +9 &Fv\ N +10 & X\ M +9 &_\ M +10 &]\ M +9 &!M]\ N +9 &#Z\ M +10 &$Z\ M +9 &&Z\ M +9 &(W[\ M +10 &*\\\ M +9 &+\\\ M +9 &-^\ M +10 &/^^\ M +9 &1!Y\ M +10 &2]\ M +9 &4[\ M +9 &6g]\ M +10 &8)]\ M +9 &9[\ M +9 &;\\\ M +10 &=n\\\ M +9 &?0Z\ M +10 &@`\ M +9 &B]\ M +9 &Dw\\\ M +10 &F8]\ M +9 &Gb\ N +9 &Ik\ O +10 &Kty\ Q +9 &M0\ S +10 &N\ T +9 &P\ T +9 &Rs\ T +10 &T4\ T +9 &U\ U +9 &W\ U +10 &Yy\ B +9 &Zu8\ !c +10 &Z \ * +2 ( + "processing"%& +3 #tProcessing Clamp onSpring/offSpring for 9/25 samples, on/off torque 1.57 +2 .Hand.open + "manipulator"& 1 +59 "core" 1 + "manipulator"& % +4 "core" % V k ] v +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"& '\ +91 "core" ' +2 "processing"%& +4 "core" &Z\ * +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 + "manipulator"&% +4 "core" %\ ( < L +2 "storage"(% +3 "core" %T a a\  +2 "storage"(. +3 "core" .(  +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"((  +3 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (& +3 "core" &  % 9 \  +2 "manipulator"&& +2 ."raiseStack"SE.reconfigure :place +6 "storage"(#]kK-0-\ b +2 "core" &f m ` +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +2 ."raiseStack"SE.seek :beamBreak +3 "manipulator"&(c + "storage"('e +5 "core" ( +2 "manipulator"&& +4 "core" &f  ` + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &f  ` +2 .tForearm.seek PC + "manipulator"&'[ +96 "core" ' +2 .tHand.close + "manipulator"&/ +54 "core" / + .tPC.seek :open +2 "processing"%(p +95 "core" ' + "storage"(- +4 "core" -'e + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +2 ."raiseStack"SE.seek :place +2 "storage"( 'B +35 "core" ' +250 ( +2 "storage"(!& +4 "core" &  a c\  + "manipulator"&"& +4 "core" &f z E ` +2 "manipulator"&#% +4 "core" % R x  +2 .tForearm.seek :retract + "manipulator"&$'\ +99 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&%(; +266 "core" ( + "manipulator"&&& +4 "core" &A F  +2 "storage"('& +4 "core" &  a a\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&('Ѐ +95 "core" ' + .tHand.open +2 "manipulator"&)1 +56 "core" 1 +2 "storage"(*- +3 "core" -'B +3 .tSE.seek -0.16 Pucks below Top Plate + "storage"(+' +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.83 Pucks below Top Plate + "storage"(,' +53 "core" ' +2 #tLights, camera, ACTION! + "storage"(-- +4 "core" -' + "storage"(.& +4 "core" &  \  + "manipulator"&/& +4 "core" &A y y {  +2 .tElbow.seek 2 +2 "manipulator"&0(; +3 "core" ( +2 "manipulator"&1& +4 "core" &A | v )  + "storage"(2& +4 "core" &  l\  +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&3'Ѐ +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"(4'M +57 "core" ' + "manipulator"&& +5 "core" &A  + "storage"(6& +4 "core" &  c a \ \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&7'ξ +34 "core" ' +2 .tElbow.hold + "manipulator"&8, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.07 Pucks below Top Plate + "storage"(9'7 +25 "core" ' +2 "manipulator"&5% +4 "core" %L > G ͮ +2 "storage"(;& +4 "core" &  D 6\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 308 counts + "manipulator"&<' +19 "core" ' +2 "manipulator"&=& +4 "core" &; e _ +2 "storage"(>& +4 "core" &  z { J\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&?'Ѐ +17 "core" ' +2 "storage"(@% +4 "core" %? w z\ +3 ."downElevator"SE.seek :down +4 "storage"(:'N +98 (B% +18 "core" %8 a a\ U] +2 "manipulator"&C% +4 "core" %І ` b & +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&D'\ +88 "core" ' +48 ' + ."downElevator"SE.stop + "storage"(5 +3 (F& +4 "core" &  f j \  +2 "collection"'G& +4 "core" &]n \ K + #tStoring generic puck in Collection Clamp to tube 2 +2 "manipulator"&% +4 "core" %\ %  7 + "storage"(I% +4 "core" %L b a\ + "storage"(. +4 "core" .(  + "storage"(K& +4 "core" &  a b\  + "storage"(L& +5 "core" &  a a\  + "manipulator"&M& +4 "core" &; & +2 .tElbow.seek 2 + "manipulator"&O(; +4 "core" ( + "manipulator"&P& +4 "core" &; } w  +2 "storage"(R& +3 "core" &  [ t 7\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&S'Ѐ +101 "core" ' +2 "storage"(U& +4 "core" &  { y \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(E'e +282 "core" ' +11 "storage"(H- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&X& +2 "core" &; n +2 "storage"(Y& +4 "core" &  c c\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 + "manipulator"&J'ξ +34 "core" ' +2 .tElbow.hold + "manipulator"&Q, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"([- +3 "core" -' +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(\\'h +43 "core" ' + "manipulator"&]% +4 "core" %L 8 & D ͮ +2 "storage"(N& +4 "core" &  B 3\  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 2 + 312 counts +2 "manipulator"&T' +16 "core" ' +2 "manipulator"&V& +4 "core" &; e S +2 "storage"(\ & +4 "core" &  z z K\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&`'Ѐ +24 "core" ' +3 .tSE.seek 1.11 Pucks below Top Plate + "storage"(a'W +51 "core" ' + "manipulator"&c& +4 "core" &; W ^ +2 "manipulator"&d% +4 "core" %Щ S ] +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&e'\ +93 "core" ' +2 .tElbow.seek CC +2 "manipulator"&f( +167 "core" ( + "manipulator"&^& +4 "core" &- ' 1 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &h& +3 "core" &-  1 +2 .tForearm.seek CC +2 "manipulator"&i'| +94 "core" ' +2 .tHand.close + "manipulator"&j/ +60 "core" / +2 .tCC.seek :open + "collection"'Z(p +409 "core" ( +2 "storage"(l& +4 "core" &  \  + "storage"(m& +4 "core" &  e\  +2 "manipulator"&A& +3 "core" &- ] 1 +2 "manipulator"&o% +4 "core" % z  +2 .tForearm.seek :retract + "manipulator"&W'\ +92 "core" ' +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&b(; +155 "core" ( +2 "manipulator"&q& +4 "core" &= z 2  +2 "storage"(r& +4 "core" &  o\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 2 +2 "manipulator"&s'ξ +110 "core" ' + .tElbow.hold +2 "manipulator"&u, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&v1 +62 "core" 1 +2 "manipulator"&x% +4 "core" % d   Ǵ + "storage"(y& +4 "core" &  ` a\  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 2 + 318 counts +2 "manipulator"&{' +11 "core" ' +2 "manipulator"&k& +4 "core" &9 Q d  +2 "storage"(n& +4 "core" &  \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&p'Ѐ +23 "core" ' + "storage"(w% +4 "core" %\\ G\ +2 ."downElevator"SE.seek :down +4 "storage"(~'N +99 (% +3 "core" %>7 \ TW +2 "manipulator"&t% +4 "core" %{ V S K +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +96 "core" ' +43 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 3 of [2..4] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"'& +4 "core" &  +2 "manipulator"&% +4 "core" %\ 1  $o +2 "storage"(z% +4 "core" %< R\ + "storage"(|. +3 "core" .(  +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 + "storage"( ( +358 "core" ( +2 .tSC.configure :limp +3 "storage"($\ 1b +2 ( & +3 "core" & d `\  + "manipulator"& & +4 "core" &9   +2 .tElbow.seek 3 + "manipulator"&(D +30 "core" ( + "manipulator"&& +4 "core" &: \\ !s +2 "storage"(& +4 "core" & x z !\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&' +96 "core" ' +2 "storage"(& +4 "core" & a\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"('e +279 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (& +2 "core" & y A\  +2 "manipulator"&& +4 "core" &@ I m +2 .tElbow.seek 3 + "manipulator"&(D +3 "core" ( +2 "manipulator"&& +4 "core" &@ , m + "storage"(g& +4 "core" & W\  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&'y +22 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&}/ +65 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"& & +2 "storage"('N +7 "core" &@ o S  m + "manipulator"&!% +4 "core" % t V ` +2 .tForearm.seek :retract +2 "manipulator"&"'\ +89 "core" ' +2 .tElbow.seek CC + "manipulator"&#( +156 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +10 "core" ( + "manipulator"&& +5 "core" & ~ 9 A + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" & f A +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&&'| +104 "core" ' + "manipulator"&'& +4 "core" &  A +2 "manipulator"&% +4 "core" %υ  +2 "collection"')& +4 "core" & \ +2 "collection"'*& +5 "core" & +2 .tCC.seek :closed + "collection"'-(] +4 "core" &\  +9 &3~\ *y +9 &c\ > +9 &Rx\ N +10 &Y\ M +9 &_\ N +10 &_\ N +9 &![Y\ N +9 &#\\\ N +10 &$\\\ N +9 &&]\ N +9 &(c]\ N +10 &*%]\ N +9 &+\\\ M +10 &-W\ N +9 &/kY\ N +9 &1.[\ M +10 &2[\ M +9 &4Y\ M +9 &6s]\ N +10 &85Z\ N +9 &9Z\ N +10 &;V\ M +9 &={\\\ N +9 &?=\\\ N +10 &@\\\ N +9 &B\\\ M +9 &DV\ M +10 &FFZ\ M +9 &Ha\ N +10 &Ik\ P +9 &K}}\ R +9 &M3\ W +10 &N\ X +9 &P\ X +9 &Rr\ Y +10 &T2\ Z +9 &U\ Z +10 &W\ [ +9 &Yq\ \\ +9 &[1\ ] +10 &\\|\ 1 +9 &]!\ 'q +9 &]\ !` +3 ( + "collection"'*& +3 #tCollection Clamp onSpring/offSpring for 9/25 samples, on/off torque 2.07 +2 .Hand.open + "manipulator"&.1 +58 "core" 1 +2 "manipulator"&/% +4 "core" % d S +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&1'\ +91 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp +2 "processing"%2& +4 "core" &\ + "manipulator"&$% +4 "core" %\ & = ; +2 "storage"(% +4 "core" %@ a a\ + "storage"(6. +3 "core" .( +2 "storage"(5& +4 "core" & a a\  + "storage"( & +4 "core" & a a\  +2 "manipulator"&;& +4 "core" &  A + "manipulator"&+% +4 "core" %\ &  ; +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 + "manipulator"&=(D +144 "core" ( + "manipulator"&>& +4 "core" &H A +2 "storage"(@& +4 "core" & a b\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&%' +101 "core" ' + "storage"((& +5 "core" & z z E\  + .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(,'e +281 "core" ' + "storage"(B- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (C& +3 "core" & j T E\  + "manipulator"&3& +4 "core" &I b d +2 .tElbow.seek 3 + "manipulator"&0(D +4 "core" ( + "manipulator"&4& +4 "core" &I g d + "storage"(7& +4 "core" & a a\  +2 .tForearm.seek 3 + 300 counts + "manipulator"&F'y +28 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&Z\ M +10 &,\\\ N +9 &.\\\ M +10 &0W\ M +9 &2F\\\ M +9 &4 W\ M +10 &5Z\ M +9 &7Z\ M +9 &9NY\ M +10 &;[\ M +9 &<W\ M +10 &>\\\ M +9 &@V]\ M +9 &B]\ M +10 &CZ\ M +9 &E[\ M +9 &G]a\ N +10 &Ij\ O +9 &Jw\ Q +10 &L\ S +9 &NR\ T +9 &P\ T +10 &Q\ T +9 &S\ T +9 &UX\ U +10 &W\ U +9 &X\ U +10 &Z9Ln\ - +9 &Z.\ ) +5 ( +2 "processing"%U& +4 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.59 + .Hand.open +2 "manipulator"&81 +3 "core" &Z\ ) +51 1 + "manipulator"&D% +5 "core" % [ / + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&H'\ +91 "core" ' +2 "processing"%X& +4 "core" &Z\ ) + #tImaging generic puck in Processing Clamp while storing it to tube 3 +2 "manipulator"&Y% +4 "core" %\ * 9 = + "storage"([% +4 "core" %L K J\ + "storage"(]. +4 "core" .( + "storage"(N& +43 "core" & J I R\  +12 "storage"(V& +4 "manipulator"&\ & +4 "core" & J K\  +2 &d $  + .tElbow.reconfigure :tight +4 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +2 "storage"(#]kK-0-\ b +2 .tElbow.seek PC +4 "manipulator"&c(c +4 ."raiseStack"SE.seek :beamBreak +2 "storage"(d'e +2 "core" ( +2 "manipulator"&S& +4 "core" &d r  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &O& +3 "core" &d 2  +2 .tForearm.seek PC + "manipulator"&E'[ +95 "core" ' + .tHand.close +2 "manipulator"&J/ +64 "core" / +2 .tPC.seek :open + "processing"%T(p +89 "core" ' + "storage"(\\- +4 "core" -'e + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(^'B +45 "core" ' +243 ( + "storage"(h& +4 "core" & R L \  +2 "manipulator"&`& +4 "core" &d y w h  + "manipulator"&Q% +4 "core" % n w y Z +2 .tForearm.seek :retract + "manipulator"&j'\ +96 "core" ' +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&e(D +266 "core" ( +2 "manipulator"&_& +4 "core" &O P  +2 "storage"(l& +3 "core" & = = o\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&m' +112 "core" ' + .tHand.open +2 "manipulator"&A1 +56 "core" 1 +2 "storage"(o- +3 "core" -'B +3 .tSE.seek -0.16 Pucks below Top Plate + "storage"(q' +23 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(r' +54 "core" ' +2 #tLights, camera, ACTION! + "storage"(i- +4 "core" -' + "storage"(f& +4 "core" & y\  + "manipulator"&v& +4 "core" &O \\ [  +2 .tElbow.seek 3 +2 "manipulator"&x(D +8 "core" ( + "manipulator"&y& +4 "core" &L X e   +2 "storage"(k& +4 "core" & =\  +2 .tForearm.seek 3 + 450 counts + "manipulator"&n' +17 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.11 Pucks below Top Plate + "storage"(w'M +60 "core" ' + "manipulator"&W& +5 "core" &L F  + "storage"(& +4 "core" & a a\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&t'M +31 "core" ' +2 .tElbow.hold + "manipulator"&b, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.07 Pucks below Top Plate + "storage"(s'7 +23 "core" ' +2 "manipulator"&% +4 "core" %`P ! " P ̯ +2 "storage"({& +4 "core" & \  P\  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 319 counts + "manipulator"&'ό +18 "core" ' + "manipulator"&z& +5 "core" & h d 5  + "storage"(|& +4 "core" & a b\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&a' +21 "core" ' + "storage"(p% +5 "core" %? c b\ +2 ."downElevator"SE.seek :down +4 "storage"(~'N +98 (% +3 "core" %9 Q _ 4\ U[ +2 "manipulator"& % +4 "core" % c b  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"& '\ +99 "core" ' +54 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (& +4 "core" & N > \  +2 "collection"'& +4 "core" &]\ !` +2 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&% +4 "core" %\ C  + "storage"(u% +4 "core" %G a `\ + "storage"(. +4 "core" .( + "storage"(& +4 "core" & a a\  + "storage"(& +4 "core" & b a\  +2 "manipulator"&& +3 "core" & 9  +2 .tElbow.seek 3 +2 "manipulator"&(D +22 "core" ( + "manipulator"&g& +4 "core" &; | R % +2 "storage"(}& +3 "core" & a c\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"& ' +92 "core" ' + "storage"(!& +4 "core" & b b\  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"('e +282 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" &= z  % + "storage"(& +4 "core" & G @ \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&'M +35 "core" ' + .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"('- +3 "core" -' +2 .tSE.seek 0.12 Pucks below Top Plate +2 "storage"('s +27 "core" ' + "manipulator"&% +5 "core" %TG a _ ѭ + "storage"()& +4 "core" & j\  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 3 + 307 counts + "manipulator"&'π +18 "core" ' + "manipulator"&"& +4 "core" &5 ] | v & +2 "storage"(Z& +4 "core" & a b\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&.' +18 "core" ' +2 .tSE.seek 1.12 Pucks below Top Plate +2 "storage"(/'b +49 "core" ' + "manipulator"&2& +5 "core" &6 R Q  & + "manipulator"&$% +4 "core" % p ~  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&'\ +97 "core" ' +2 .tElbow.seek CC +2 "manipulator"&6( +148 "core" ( + "manipulator"&5& +5 "core" &# :, + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 & & +3 "core" &" h :, +2 .tForearm.seek CC + "manipulator"&*'| +99 "core" ' + .tHand.close +2 "manipulator"&;/ +51 "core" / +2 .tCC.seek :open +2 "collection"'+(p +409 "core" ( +2 "storage"(>& +4 "core" & \  + "storage"(@& +4 "core" & A\  + "manipulator"&&& +4 "core" & ! j 8" +2 "manipulator"&(% +3 "core" % |  +2 .tForearm.seek :retract +2 "manipulator"&#'\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&1(D +166 "core" ( + "manipulator"&B& +4 "core" &< v  +2 "storage"(C& +4 "core" & \  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 +2 "manipulator"&3'M +110 "core" ' +2 .tElbow.hold + "manipulator"&4, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&71 +53 "core" 1 + "manipulator"&<% +5 "core" % Zn  + ŷ + "storage"(G& +4 "core" & c b\  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 3 + 313 counts +2 "manipulator"&I'φ +17 "core" ' +2 "manipulator"&=& +4 "core" & Q e  +2 "storage"(%& +3 "core" & \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&,' +20 "core" ' + "storage"(F% +4 "core" %g =\ +2 ."downElevator"SE.seek :down +4 "storage"(9'N +99 (L% +2 "core" %69 o\ TX +2 "manipulator"&0% +4 "core" % R ] n  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&P'\ +91 "core" ' +48 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 4 of [2..4] +2 #Loading generic puck from tube 4 into Collection Clamp + "collection"'R& +4 "core" &  +2 "manipulator"&?% +4 "core" %\ ,  "Y + "storage"(% +4 "core" %; =\ +2 "storage"(. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"((, +350 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +2 (8& +3 "core" &, | x >\  +2 "manipulator"&D& +4 "core" & j + .tElbow.seek 4 +2 "manipulator"&X(* +24 "core" ( + "manipulator"&Y& +4 "core" &0 e +2 "storage"([& +4 "core" &, { ~ J\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&]' +104 "core" ' +2 "storage"(N& +4 "core" &, H\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(U'e +278 "core" ' +2 "storage"(\ - +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (V& +3 "core" &, \  + "manipulator"&S& +4 "core" &2 } 1 c +2 .tElbow.seek 4 + "manipulator"&O(* +3 "core" ( +2 "manipulator"&M& +4 "core" &2  c + "storage"(J& +4 "core" &, \  +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&\\'Z +10 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&K/ +57 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&H& +2 "storage"(:'N +7 "core" &2 x y ! c +2 "manipulator"&h% +4 "core" % Q v y G  +2 .tForearm.seek :retract + "manipulator"&`'\ +93 "core" ' +2 .tElbow.seek CC + "manipulator"&Q( +146 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +3 "core" ( +2 "manipulator"&d& +6 "core" &#  ;3 +4 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +4 &E& +6 "core" &#  ;3 +4 .tForearm.reconfigure :tight +7 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&_'| +108 "core" ' + "manipulator"&l& +4 "core" &$ z ;3 +2 "manipulator"&c% +4 "core" %y  +2 "collection"'A& +4 "core" &  +53 "collection"'o& +5 "core" &  +2 .tCC.seek :closed +2 "collection"'i(] +5 "core" &  +9 &3~\ *x +9 &c\ > +10 &Wu\ N +9 &Z\ L +10 &\\\ M +9 &]\ M +9 &!a\\\ M +10 &#"_\ M +9 &$[\ M +10 &&_\ M +9 &(j\\\ L +9 &*+\\\ M +10 &+]\ M +9 &-Y\ M +9 &/r]\ L +10 &12]\ M +9 &2\\\ M +9 &4Y\ M +10 &6zZ\ L +9 &8<Y\ L +10 &9Y\ M +9 &;Z\ L +9 &=Y\ M +10 &?DZ\ L +9 &A\\\ L +9 &B\\\ L +10 &DZ\ L +9 &FJ_\ M +10 &H _\ M +9 &Ij\ N +9 &Kr\ O +10 &MA\ S +9 &N\ V +9 &P\ W +10 &Rw\ X +9 &T7\ Y +10 &U\ Z +9 &W\ Z +9 &Yv\ [ +10 &[7\ \\ +9 &\\{\ 0 +9 &]#\ $i +10 &]x\ W +2 ( +2 "collection"'o& +3 #tCollection Clamp onSpring/offSpring for 9/25 samples, on/off torque 1.99 + .Hand.open + "manipulator"&f1 +58 "core" 1 +2 "manipulator"&v% +5 "core" % y % +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&y'\ +92 "core" ' +2 #tLoading generic puck from tube 4 into Processing Clamp + "processing"%j& +4 "core" &\ +2 "manipulator"&k% +4 "core" %\ + # !O + "storage"(W% +4 "core" %8 a a\ +2 "storage"(. +3 "core" .(, +2 "storage"(^& +3 "core" &, a a\  +2 "storage"(& +4 "core" &, a a\  + "manipulator"&{& +4 "core" &" s 9$ +2 "manipulator"&q% +3 "core" %\ + I !O +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&z(* +165 "core" ( +2 "manipulator"&|& +4 "core" &# 4  +2 "storage"(p& +4 "core" &, e g \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&e' +96 "core" ' +2 "storage"(m& +4 "core" &, x\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(r'e +281 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 ( & +2 "core" &, ` a\  +2 "manipulator"&n& +4 "core" &#   + .tElbow.seek 4 +2 "manipulator"&x(* +3 "core" ( +2 "manipulator"&w& +4 "core" &#   + "storage"(t& +4 "core" &, t i \  +2 .tForearm.seek 4 + 300 counts + "manipulator"&'Z +22 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&/ +57 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& +2 "storage"('N +8 "core" &# V `  + "manipulator"&u% +5 "core" % g S ] s +2 .tForearm.seek :retract + "manipulator"&'\ +93 "core" ' +2 .tElbow.seek PC + "manipulator"&s(c +157 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +90 "core" ( + "manipulator"&& +5 "core" &a   +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &a 1 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&'[ +98 "core" ' + "manipulator"&g& +5 "core" &a c + "manipulator"&}% +4 "core" %d +2 "processing"%a& +4 "core" &\ +2 "processing"%!& +5 "core" &\ +2 .tPC.seek :closed + "processing"%~(Z +5 "core" &\  +9 &2~\ *y +9 &d\ > +10 &Lu\ N +9 &X\ M +9 &[\ M +10 &Y\ M +9 &!T\\\ M +10 &#Y\ M +9 &$X\ M +9 &&[\ M +10 &(]Y\ M +9 &* Y\ M +9 &+]\ M +10 &-Z\ M +9 &/d\\\ M +10 &1&Y\ M +9 &2[\ M +9 &4Z\ M +10 &6nY\ M +9 &8/]\ M +10 &9Y\ M +9 &;Y\ M +9 &=vZ\ M +10 &?8]\ M +9 &@\\\ M +9 &BY\ M +10 &D}]\ M +9 &F=^\ N +10 &Gd\ N +9 &It\ P +9 &Kv\ R +10 &M4\ S +9 &N\ S +9 &P\ T +10 &Rx\ T +9 &T9\ T +9 &U\ U +10 &W\ U +9 &Y~\ B +10 &Z{9\ \\ +9 &Z\ + +2 ( +2 "processing"%!& +3 #tProcessing Clamp onSpring/offSpring for 9/25 samples, on/off torque 1.63 + .Hand.open +2 "manipulator"&b1 +55 "core" 1 + "manipulator"& % +5 "core" % d F + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +92 "core" ' +2 "processing"%& +4 "core" &Z\ + +2 #tImaging generic puck in Processing Clamp while storing it to tube 4 + "manipulator"&% +4 "core" %\ &  < + "storage"('% +4 "core" %8 = G \ +2 "storage"(. +3 "core" .(, + "storage"()& +4 "core" &, @ G w\  +2 "storage"("& +5 "manipulator"&Z& +3 "core" &, J M $\  + &a { +3 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +4 "storage"(#]kK-0-\ b +2 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +2 "manipulator"&2(c +3 ."raiseStack"SE.seek :beamBreak +2 "storage"($'e +3 "core" ( + "manipulator"& & +4 "core" &a  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &a j +2 .tForearm.seek PC +2 "manipulator"&'[ +102 "core" ' + .tHand.close + "manipulator"&/ +57 "core" / +2 .tPC.seek :open + "processing"%(p +89 "core" ' +2 "storage"(- +3 "core" -'e + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place + "storage"(5'B +38 "core" ' +254 ( + "storage"( & +4 "core" &, a R !\  +2 "manipulator"&.& +4 "core" &a  + "manipulator"&% +4 "core" % d  +2 .tForearm.seek :retract + "manipulator"&;'\ +101 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&(* +272 "core" ( + "manipulator"&-& +4 "core" &- y  +2 "storage"(>& +4 "core" &, B R #\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&@' +104 "core" ' +2 .tHand.open + "manipulator"&&1 +52 "core" 1 +2 "storage"((- +3 "core" -'B +3 .tSE.seek -0.16 Pucks below Top Plate + "storage"(B' +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(C' +51 "core" ' +2 #tLights, camera, ACTION! + "storage"(*- +4 "core" -' + "storage"(6& +4 "core" &, \  +2 "manipulator"&7& +4 "core" &- :  +2 .tElbow.seek 4 + "manipulator"&<(* +4 "core" ( + "manipulator"&G& +4 "core" &-  + "storage"(=& +4 "core" &, \  +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&%' +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"(F'M +63 "core" ' +2 "manipulator"&#& +4 "core" &- x y c  +2 "storage"(L& +4 "core" &, b c\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 + "manipulator"&0'. +36 "core" ' +2 .tElbow.hold + "manipulator"&1, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.07 Pucks below Top Plate + "storage"(3'7 +25 "core" ' + "manipulator"&R% +5 "core" %<L % &  ̮ + "storage"(?& +4 "core" &, D 1\  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 4 + 314 counts + "manipulator"&I'h +17 "core" ' +2 "manipulator"&& +4 "core" & S h 2  +2 "storage"(& +4 "core" &, x z L\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&/' +20 "core" ' +2 "storage"(,% +4 "core" %@ y | &\ +2 ."downElevator"SE.seek :down +4 "storage"(9'N +99 ( % +2 "core" %'9 a `\ U[ +2 "manipulator"&8% +4 "core" % a b ! +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&D'\ +95 "core" ' +57 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (Y& +4 "core" &, T ` <\  +2 "collection"'[& +3 "core" &]v\ W +2 #tStoring generic puck in Collection Clamp to tube 4 + "manipulator"&N% +4 "core" %\ 0 $t +2 "storage"(4% +4 "core" %B b `\ + "storage"(P. +3 "core" .(, +2 "storage"(\ & +3 "core" &, a Y\  +2 "storage"(V& +4 "core" &, c b \  + "manipulator"&S& +4 "core" &   +2 .tElbow.seek 4 + "manipulator"&M(* +23 "core" ( + "manipulator"&J& +4 "core" &*  $ +2 "storage"(K& +4 "core" &, a a\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&H' +99 "core" ' +2 "storage"(h& +4 "core" &, y \\ E\  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(X'e +282 "core" ' + "storage"(]- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&d& +3 "core" &J z y O h + "storage"(E& +4 "core" &, a `\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&U'. +34 "core" ' + .tElbow.hold +2 "manipulator"&\\, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(O- +2 "core" -' +3 .tSE.seek 0.12 Pucks below Top Plate + "storage"(l'v +30 "core" ' +2 "manipulator"&c% +4 "core" %AR F H ΰ + "storage"(A& +4 "core" &, B \  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 4 + 319 counts +2 "manipulator"&:'m +20 "core" ' +2 "manipulator"&`& +4 "core" & p % +2 "storage"(+& +3 "core" &, v m \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&f' +10 "core" ' +2 .tSE.seek 1.12 Pucks below Top Plate +2 "storage"(v'e +47 "core" ' +2 "manipulator"&j& +5 "core" &   % + "manipulator"&k% +4 "core" %  6 +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +54 .tForearm.seek :retract + "manipulator"&W'\ +88 "core" ' +2 .tElbow.seek CC +2 "manipulator"&( +157 "core" ( + "manipulator"&^& +5 "core" &- Ct + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &-  Ct +2 .tForearm.seek CC +2 "manipulator"&o'| +95 "core" ' + .tHand.close +2 "manipulator"&{/ +59 "core" / +2 .tCC.seek :open +2 "collection"'q(p +409 "core" ( + "storage"(_& +5 "core" &, \  + "storage"(|& +4 "core" &, 0\  + "manipulator"&p& +4 "core" & ' t ?P +2 "manipulator"&m% +3 "core" % g t  +2 .tForearm.seek :retract +2 "manipulator"&Q'\ +92 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&y(* +154 "core" ( + "manipulator"&& +4 "core" &" y  +2 "storage"( & +4 "core" &, n\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 4 +2 "manipulator"&n'. +112 "core" ' + .tElbow.hold +2 "manipulator"&w, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&t1 +61 "core" 1 +2 "manipulator"&% +5 "core" % <[ " - ɲ + "storage"(& +4 "core" &, c a\  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 4 + 314 counts + "manipulator"&u'h +17 "core" ' +2 "manipulator"&z& +4 "core" & S g  +2 "storage"(e& +4 "core" &, Q\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&r' +10 "core" ' +2 "storage"(% +4 "core" %f 3\ +2 ."downElevator"SE.seek :down +4 "storage"('N +99 (% +3 "core" %7; U\ UZ +2 "manipulator"&x% +4 "core" % b b  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&g'\ +92 "core" ' +47 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 2 of [2..4] +2 #Loading generic puck from tube 2 into Collection Clamp +2 "collection"'}& +4 "core" &\ + "manipulator"&a% +4 "core" %\ 1  $m +2 "storage"(% +4 "core" %? \ + "storage"(. +4 "core" .(, + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"(T(  +670 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (b& +2 "core" &  a a\ +2 "manipulator"& & +4 "core" &   + .tElbow.seek 2 +2 "manipulator"&(; +31 "core" ( +2 "manipulator"&& +4 "core" &A = +2 "storage"('& +4 "core" &  U\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&'Ѐ +96 "core" ' +2 "storage"()& +4 "core" &  J\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(Z'e +278 "core" ' +2 "storage"("- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (!& +2 "core" &  \ +2 "manipulator"& & +4 "core" &A C + .tElbow.seek 2 +2 "manipulator"&(; +3 "core" ( +2 "manipulator"&& +3 "core" &A  +2 "storage"(& +4 "core" &  \ +2 .tForearm.seek 2 + 300 counts + "manipulator"&' +28 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&s/ +52 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"&& "storage"(~'N +8 "core" &A V ` + "manipulator"& % +5 "core" % ` ] + .tForearm.seek :retract +2 "manipulator"&.'\ +119 "core" ' +2 .tElbow.seek CC +2 "manipulator"&$( +125 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +26 "core" ( + "manipulator"&& +5 "core" &#  :/ + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 && +3 "core" &#  :/ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&-'| +101 "core" ' +2 "manipulator"&>& +4 "core" &# :. +2 "manipulator"&2% +3 "core" %  +2 "collection"'&& +5 "core" &\ +2 "collection"'(& +5 "core" &\ +2 .tCC.seek :closed +2 "collection"'*(] +4 "core" &\ +7 &?\ $e +9 &lV\ 7 +10 &~\ L +9 &V\ M +10 &BW\ M +9 &Y\ M +9 & Y\ L +10 &"Z\ M +9 &$JY\ M +9 && Z\ L +10 &'Y\ M +9 &)Z\ M +10 &+RY\ M +9 &-Y\ M +9 &.Y\ M +10 &0Z\ M +9 &2XY\ M +9 &4X\ M +10 &5W\ M +9 &7W\ M +10 &9`W\ M +9 &;"V\ M +9 &<W\ M +10 &>V\ M +9 &@hY\ M +9 &B*Z\ M +10 &CX\ M +9 &EW\ M +10 &GpY\ M +9 &I1`\ N +9 &Jq\ P +10 &L\ S +9 &N[\ W +9 &P\ X +10 &Q\ Y +9 &S\ Y +10 &UZ\ Z +9 &W\ Z +9 &X\ \\ +10 &Z\ \\ +9 &\\]\ I +9 &]b<\ )| +10 &]\ !` +2 ( +2 "collection"'(& +3 #tCollection Clamp onSpring/offSpring for 10/26 samples, on/off torque 2.07 + .Hand.open +2 "manipulator"&61 +54 "core" 1 +2 "manipulator"&7% +4 "core" % {  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&G'\ +99 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%=& +4 "core" &\ +2 "manipulator"&;% +3 "core" %\ 1 . $t +2 "storage"(#% +4 "core" %N N M ;\ + "storage"(L. +3 "core" .(  +2 "storage"(5& +3 "core" &  M M 4\ +2 "storage"(R& +4 "core" &  M M H\ + "manipulator"&?& +4 "core" &" # 9' +2 "manipulator"&B% +4 "core" %\ 1  $t +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&(; +154 "core" ( +2 "manipulator"&& +4 "core" &:   + "storage"(,& +4 "core" &  a a\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&'Ѐ +90 "core" ' +2 "storage"(@& +4 "core" &  y \\ E\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(C'e +280 "core" ' +2 "storage"( - +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (8& +2 "core" &  K F \ +2 "manipulator"&%& +4 "core" &: C  + .tElbow.seek 2 +2 "manipulator"&<(; +3 "core" ( +2 "manipulator"&F& +3 "core" &: +  +2 "storage"(0& +4 "core" &  ` ` \ +2 .tForearm.seek 2 + 300 counts + "manipulator"&I' +23 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&Y/ +56 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&[& + "storage"(N'N +8 "core" &: Y a  + "manipulator"&4% +4 "core" % a b  +2 .tForearm.seek :retract +2 "manipulator"&P'\ +89 "core" ' +2 .tElbow.seek PC +2 "manipulator"&\ (c +160 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +85 "core" ( + "manipulator"&3& +5 "core" &j   + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &V& +2 "core" &j \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&S'[ +105 "core" ' +2 "manipulator"&J& +4 "core" &j P  +2 "manipulator"&K% +3 "core" %c ` +2 "processing"%/& +4 "core" &\ +2 "processing"%h& +5 "core" &\ +2 .tPC.seek :closed +3 "processing"%9(Z +3 "core" &\ +6 & /\ #b +10 &^U\ 7 +9 &{\ K +9 &oX\ L +10 &0Z\ M +9 &Y\ M +10 & \\\ M +9 &"uW\ M +9 &$8Y\ M +10 &%Y\ M +9 &'Y\ M +9 &)Y\ M +10 &+@Z\ M +9 &-Z\ M +10 &.Z\ M +9 &0W\ M +9 &2GZ\ M +10 &4\ U\ M +9 &5Y\ M +9 &7Y\ M +10 &9OX\ M +9 &;Z\ M +9 &<X\ M +10 &>X\ M +9 &@VZ\ N +10 &BZ\ M +9 &CY\ M +9 &EZ\ M +10 &G^^\ N +9 &Ig\ N +10 &Jo\ P +9 &L\ R +9 &NT\ T +10 &P\ T +9 &Q\ T +9 &S\ T +10 &U[\ T +9 &W\ U +10 &X\ T +9 &Z:Lm\ - +9 &Z-\ ) +6 ( + "processing"%h& +4 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.57 +2 .Hand.open + "manipulator"&11 +4 "core" &Z\ ) +50 1 +2 "manipulator"&D% +4 "core" % c  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&]'\ +93 "core" ' + "processing"%d& +4 "core" &Z\ ) +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 + "manipulator"&E% +4 "core" %\ *  !Q +2 "storage"(O% +4 "core" %D M M )\  + "storage"(c. +3 "core" .(  +2 "storage"(A& +3 "core" &  L K\ +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"(`(  +33 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (+& +4 "core" &  4 : \ + "manipulator"&j& +4 ."raiseStack"SE.reconfigure :place +4 "storage"(#]kK-0-\ b +2 "core" &j J  +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +2 "manipulator"&k(c +3 ."raiseStack"SE.seek :beamBreak +2 "storage"(H'e +2 "core" ( +2 "manipulator"&M& +4 "core" &j 4  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &X& +3 "core" &j   +2 .tForearm.seek PC +2 "manipulator"&U'[ +94 "core" ' + .tHand.close +2 "manipulator"&:/ +58 "core" / +2 .tPC.seek :open + "processing"%l(p +92 "core" ' + "storage"(^- +4 "core" -'e +44 ."raiseStack"SE.configure :default +12 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('B +32 "core" ' +200 ( +2 "storage"(f& +4 "core" &  K L \  + "manipulator"&\\& +4 "core" &j x y S  +2 "manipulator"&{% +4 "core" % j z z i + .tForearm.seek :retract +2 "manipulator"&W'\ +99 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&i(; +253 "core" ( +2 "manipulator"&_& +4 "core" &5 "~ +2 "storage"(|& +3 "core" &   2 0\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&p'Ѐ +96 "core" ' + .tHand.open +2 "manipulator"&m1 +58 "core" 1 +2 "storage"(- +3 "core" -'B +3 .tSE.seek -0.16 Pucks below Top Plate + "storage"( ' +26 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(o' +52 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(- +3 "core" -' +2 "storage"(t& +3 "core" &  \  +2 "manipulator"&& +4 "core" &6 s "} +2 .tElbow.seek 2 +2 "manipulator"&(; +3 "core" ( +2 "manipulator"&z& +4 "core" &6  "} + "storage"(e& +4 "core" &  \  +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&'Ѐ +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"(Q'M +59 "core" ' +2 "manipulator"&& +4 "core" &6 x y c "} +2 "storage"(x& +3 "core" &   5\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&y'ξ +33 "core" ' + .tElbow.hold +2 "manipulator"&n, +5 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"(}'7 +21 "core" ' + "manipulator"&a% +5 "core" %X 1 1 n ˱ + "storage"(& +4 "core" &  O\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 309 counts + "manipulator"&u' +20 "core" ' + "manipulator"&& +4 "core" &_\ e b T +2 "storage"(v& +4 "core" &  L K 9\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&r'Ѐ +18 "core" ' +2 "storage"(% +4 "core" %? b a\ +2 ."downElevator"SE.seek :down +4 "storage"('N +99 (b% +3 "core" %37 J J\ U\\ +2 "manipulator"& % +4 "core" %v c b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +88 "core" ' +62 ' + ."downElevator"SE.stop + "storage"(5 +3 ('& +4 "core" &  9 ; s\  +2 "collection"')& +4 "core" &]\ !` + #tStoring generic puck in Collection Clamp to tube 2 +2 "manipulator"&w% +4 "core" %\ ( E + "storage"(g% +4 "core" %9 M M \  +2 "storage"(". +3 "core" .(  + "storage"(!& +4 "core" &  = < g\  +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"( (  +8 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (& +3 "core" &  .\ $ +2 "manipulator"&& +4 "core" &_\  T + .tElbow.seek 2 +2 "manipulator"&s(; +23 "core" ( + "manipulator"&& +5 "core" &B w +  + "storage"( & +4 "core" & a a\ ( +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&'Ѐ +92 "core" ' +2 "storage"(& +4 "core" & M M \ ( +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"('e +283 "core" ' +2 "storage"(Z- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" &B h #  +2 "storage"(& +3 "core" &    +\ 0 +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&>'ξ +32 "core" ' + .tElbow.hold +2 "manipulator"&2, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(&- +2 "core" -' +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"('c +26 "core" ' + "manipulator"&~% +4 "core" %P & & @ ɯ +2 "storage"(.& +4 "core" &  H\ 0 + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 309 counts + "manipulator"&q' +18 "core" ' + "manipulator"&6& +4 "core" &B P e   +2 "storage"(7& +4 "core" &  J K \ 0 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&='Ѐ +17 "core" ' +2 .tSE.seek 1.11 Pucks below Top Plate + "storage"(;'R +38 "core" ' +2 "manipulator"&#& +4 "core" &B W S H  +2 "manipulator"&L% +4 "core" %| X S $ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&5'\ +87 "core" ' +2 .tElbow.seek CC +2 "manipulator"&R( +158 "core" ( +2 "manipulator"&(& +4 "core" &( g ?S +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &?& +3 "core" &( ?S +2 .tForearm.seek CC + "manipulator"&B'| +95 "core" ' + .tHand.close +2 "manipulator"&-/ +55 "core" / +2 .tCC.seek :open + "collection"'(p +409 "core" ( +2 "storage"(,& +4 "core" &  z { \ 0 + "storage"(@& +4 "core" &  z z &\ 0 + "manipulator"&$& +4 "core" &'" x 9% +2 "manipulator"&G% +3 "core" % ~ x |   +2 .tForearm.seek :retract +2 "manipulator"& '\ +91 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&8(; +153 "core" ( + "manipulator"&%& +5 "core" &A q  \ + "storage"(F& +4 "core" &  y { ?\ 0 + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 2 +2 "manipulator"&0'ξ +111 "core" ' + .tElbow.hold +2 "manipulator"&Y, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&[1 +54 "core" 1 +2 "manipulator"&4% +5 "core" % g   + "storage"(& +4 "core" &  " % 1\ 0 + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 315 counts + "manipulator"&' +17 "core" ' +2 "manipulator"&C& +4 "core" &O X _  + "storage"(I& +4 "core" &  y x \ 0 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&3'Ѐ +17 "core" ' +2 "storage"(V% +4 "core" %X \ +2 ."downElevator"SE.seek :down +4 "storage"(<'N +99 (J% +3 "core" %A M\ U[ +2 "manipulator"&K% +4 "core" %~ U E +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&/'\ +88 "core" ' +49 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 3 of [2..4] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"'N& +3 "core" &\ +2 "manipulator"&P% +5 "core" %\ * P !O + "storage"(% +4 "core" %< ?\  +2 "storage"(1. +3 "core" .(  +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(D( +370 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (d& +2 "core" & { y V\ +2 "manipulator"&E& +4 "core" &O x y c  +2 .tElbow.seek 3 + "manipulator"&O(D +8 "core" ( + "manipulator"&c& +5 "core" &K q -  + "storage"(A& +4 "core" & ]\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&h' +89 "core" ' + "storage"(+& +4 "core" & x \ +2 .tSE.reconfigure :pick +51 "storage"(#]K-0-\ b +5 .tSE.seek :beamBreak + "storage"(j'e +281 "core" ' +2 "storage"(M- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (X& +2 "core" & y x )\ +2 "manipulator"&S& +4 "core" &K y   + .tElbow.seek 3 +2 "manipulator"&:(D +3 "core" ( +2 "manipulator"&T& +3 "core" &K   +2 "storage"(^& +4 "core" & \ +2 .tForearm.seek 3 + 300 counts + "manipulator"&\ 'y +12 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&]/ +56 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&9& +3 "storage"(f'N +6 "core" &K t e '  + "manipulator"&\\% +4 "core" % x s b z * +2 .tForearm.seek :retract +2 "manipulator"&{'\ +99 "core" ' +2 .tElbow.seek CC +2 "manipulator"&H( +146 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +4 "core" ( + "manipulator"&U& +4 "core" &" L 9& +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &_& +2 "core" &" @ 9& +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&|'| +105 "core" ' + "manipulator"&k& +4 "core" &" { }  9& +2 "manipulator"&m% +4 "core" %s  f +2 "collection"'& +4 "core" & \ +2 "collection"'& +6 "core" &\ +2 .tCC.seek :closed +2 "collection"'t(] +4 "core" &\ +7 &=\ $e +9 &iV}\ 7 +10 &{\ L +9 &|U\ M +9 &>W\ M +10 &W\ M +9 & X\ M +9 &"[\ M +10 &$EV\ M +9 &&W\ M +9 &'W\ L +10 &)X\ M +9 &+MW\ M +10 &-W\ M +9 &.W\ M +9 &0Y\ M +10 &2TY\ M +9 &4W\ M +10 &5V\ M +9 &7W\ M +9 &9^W\ M +10 &; U\ M +9 &<W\ M +9 &>U\ M +10 &@eW\ M +9 &B'X\ M +9 &CW\ M +10 &EU\ M +9 &GlZ\ M +10 &I*c\ O +9 &Ju\ Q +9 &L\ U +10 &NV\ X +9 &P\ X +9 &Q\ Z +10 &S\ Z +9 &UT\ [\ +10 &W\ [\ +9 &X\ \\ +9 &Z\ \\ +10 &\\Y\ I +9 &]`<\ )| +9 &]\ !b +6 ( + "collection"'& +4 #tCollection Clamp onSpring/offSpring for 10/26 samples, on/off torque 2.12 +2 .Hand.open + "manipulator"&1 +4 "core" &]\ !b +53 1 +2 "manipulator"&z% +4 "core" % s 5 +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&e'\ +91 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%W& +4 "core" &\ +2 "manipulator"&% +4 "core" %\ * 4 !N + "storage"(x% +4 "core" %E C \ + "storage"(a. +3 "core" .( +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(( +7 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (& +2 "core" & F & D\ +2 "manipulator"& & +4 "core" &" C 9& + "manipulator"&% +4 "core" %\ + K !N +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&v(D +158 "core" ( + "manipulator"&& +5 "core" &N z   + "storage"(i& +4 "core" & 1 .\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&p' +106 "core" ' + "storage"(o& +5 "core" & ` a\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(b'e +278 "core" ' +2 "storage"( - +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +2 "core" & I @ }\ +2 "manipulator"&& +4 "core" &L S T Q  +2 .tElbow.seek 3 + "manipulator"&Q(D +3 "core" ( +2 "manipulator"&y& +4 "core" &L c d  + "storage"('& +4 "core" & M M ?\ +2 .tForearm.seek 3 + 300 counts + "manipulator"&u'y +36 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&)/ +57 "core" / +2 ."downElevator"SE.seek :down +5 "manipulator"&w& "storage"(g'N +7 "core" &L S U ]  +2 "manipulator"&"% +4 "core" % Ϗ W ]  +2 .tForearm.seek :retract +2 "manipulator"&!'\ +93 "core" ' +2 .tElbow.seek PC +2 "manipulator"&}(c +158 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +77 "core" ( +2 "manipulator"&& +4 "core" &e \\ e + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &e 4 e +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&'[ +105 "core" ' +2 "manipulator"& & +4 "core" &e 7 e +2 "manipulator"&r% +4 "core" %b  + "processing"%& +4 "core" &\ +2 "processing"%& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%`(Z +4 "core" &\  +10 &2~\ *y +9 &c\ > +9 &Pv\ N +10 &W\ M +9 &Z\ M +9 &Y\ N +10 &!XY\ M +9 &#T\ M +10 &$W\ M +9 &&Y\ M +9 &(`X\ M +10 &*"Y\ M +9 &+Y\ N +9 &-X\ N +10 &/gZ\ N +9 &1)W\ N +9 &2Y\ M +10 &4U\ M +9 &6pZ\ M +10 &81Y\ N +9 &9W\ N +9 &;X\ M +10 &=x\\\ M +9 &?9]\ N +10 &@[\ N +9 &BU\ M +9 &DZ\ M +10 &FA]\ N +9 &Hb\ N +9 &Im\ P +10 &Kz\ R +9 &M7\ T +9 &N\ T +10 &P\ T +9 &R|\ T +10 &T=\ T +9 &U\ T +9 &W\ U +10 &Y\ B +9 &Z|7\ ^ +9 &Z \ - +3 ( + "processing"%& +4 #tProcessing Clamp onSpring/offSpring for 9/25 samples, on/off torque 1.63 + .Hand.open + "manipulator"&n1 +62 "core" 1 + "manipulator"&% +4 "core" % a  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&Z'\ +94 "core" ' + "processing"%& +4 "core" &Z\ - +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&% +4 "core" %\ , R "\\ +2 "storage"(&% +3 "core" %C D \  +2 "storage"(~. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(.( +7 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (6& + "manipulator"&7& +4 "core" & B H\ +5 ."raiseStack"SE.reconfigure :place +2 "storage"(#]kK-0-\ b +2 "core" &e  e +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +2 "storage"(#'e + "manipulator"&L(c +6 "core" ( +2 "manipulator"&& +4 "core" &e  e +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &s& +3 "core" &e M e +2 .tForearm.seek PC +2 "manipulator"&'[ +97 "core" ' +2 .tHand.close + "manipulator"&>/ +58 "core" / +2 .tPC.seek :open +2 "processing"%q(p +85 "core" ' + "storage"(- +4 "core" -'e +6 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(('B +41 "core" ' +249 ( + "storage"(?& +4 "core" & ( '\ +2 "manipulator"&=& +4 "core" &e | w w e + "manipulator"&2% +4 "core" % Z ^ +2 .tForearm.seek :retract +2 "manipulator"&-'\ +94 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&5(D +24 "Can"/ WT +226 "core" ( + "manipulator"&*& +5 "core" &> d # + "storage"(,& +4 "core" & B \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&@' +108 "core" ' + .tHand.open + "manipulator"&$1 +52 "core" 1 +2 "storage"(G- +4 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate + "storage"(%' +27 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(F' +54 "core" ' +2 #tLights, camera, ACTION! + "storage"(B- +4 "core" -' + "storage"(R& +4 "core" & \ +2 "manipulator"&[& +3 "core" &? U U m # +2 .tElbow.seek 3 +2 "manipulator"&4(D +3 "core" ( +2 "manipulator"&& +4 "core" &? X J  # + "storage"(C& +4 "core" & \ +52 .tForearm.seek 3 + 450 counts +3 "manipulator"&I' +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"(V'M +62 "core" ' +3 "manipulator"& & +4 "core" &? b ` # + "storage"(J& +4 "core" &   =\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&K'M +35 "core" ' +2 .tElbow.hold + "manipulator"&8, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"(0'7 +24 "core" ' + "manipulator"&N% +5 "core" %aL 1 2 j ˮ + "storage"(P& +4 "core" & R\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 320 counts + "manipulator"&'ύ +17 "core" ' + "manipulator"&& +5 "core" &9 c e # + "storage"(1& +4 "core" & 1 .\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&;' +11 "core" ' +2 "storage"(3% +4 "core" %A . K Z\ +2 ."downElevator"SE.seek :down +4 "storage"(<'N +99 ( % +2 "core" %:9 & '\ U\\ +2 "manipulator"&d% +4 "core" % U T  8 +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&E'\ +92 "core" ' +59 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (c& +4 "core" &\ = y\ +2 "collection"'A& +4 "core" &]\ !b +2 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&+% +4 "core" %\ .  #b +2 "storage"(Y% +3 "core" %C ' Y\ +2 "storage"(/. +3 "core" .( + "storage"(M& +4 "core" & !  \ \ +2 "storage"(X& +4 "core" &  \ + "manipulator"&S& +4 "core" &:  # +2 .tElbow.seek 3 +2 "manipulator"&T(D +4 "core" ( + "manipulator"&^& +4 "core" &:  # +2 "storage"(]& +3 "core" &  \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&9' +93 "core" ' + "storage"(\\& +5 "core" & . J P\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(O'e +281 "core" ' +2 "storage"(h- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&U& +2 "core" &A "} +2 "storage"(_& +4 "core" & # % \ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 + "manipulator"&j'M +34 "core" ' +2 .tElbow.hold + "manipulator"&\ , +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(k- +2 "core" -' +3 .tSE.seek 0.12 Pucks below Top Plate + "storage"(m's +28 "core" ' +2 "manipulator"&% +4 "core" %VL 1 3  ˮ + "storage"(:& +4 "core" & @\ +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 3 + 309 counts +2 "manipulator"&f'ς +17 "core" ' + "manipulator"&{& +5 "core" &> b g  # + "storage"(& +4 "core" & % ' 3\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&' +21 "core" ' +2 .tSE.seek 1.12 Pucks below Top Plate +2 "storage"(z'b +47 "core" ' +2 "manipulator"&W& +4 "core" &> b ` # +2 "manipulator"&% +4 "core" % c c  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&x'\ +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&a( +146 "core" ( +2 "manipulator"&& +4 "core" &#  :1 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &# A :1 +2 .tForearm.seek CC + "manipulator"& '| +99 "core" ' +2 .tHand.close +2 "manipulator"&/ +54 "core" / +2 .tCC.seek :open +2 "collection"'|(p +409 "core" ( + "storage"(& +4 "core" & y x 3\ +2 "storage"(i& +4 "core" & x x ?\ + "manipulator"&D& +4 "core" &" > :1 + "manipulator"&o% +4 "core" % π  +2 .tForearm.seek :retract + "manipulator"&H'\ +96 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&e(D +165 "core" ( +2 "manipulator"& & +4 "core" &: 9 & +2 "storage"(& +4 "core" & x z\ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 3 +2 "manipulator"&'M +110 "core" ' +2 .tElbow.hold + "manipulator"&y, +5 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&'1 +61 "core" 1 +2 "manipulator"&)% +4 "core" % Wu ¹* + "storage"(w& +4 "core" & J K\ + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 3 + 310 counts +2 "manipulator"&"'σ +18 "core" ' + "manipulator"&v& +4 "core" &\ K d \\ +2 "storage"(p& +4 "core" & | \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&b' +21 "core" ' +2 "storage"(u% +4 "core" %] 9\ +2 ."downElevator"SE.seek :down +3 "storage"('N +100 (% +2 "core" %I9 \ UZ +2 "manipulator"&Q% +4 "core" % c a ! +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"& '\ +90 "core" ' +50 ' + ."downElevator"SE.stop +2 "storage"(5 +2 #tShuffling pucks in tube 4 of [2..4] +2 #Loading generic puck from tube 4 into Collection Clamp + "collection"'r& +5 "core" &\ + "manipulator"&% +4 "core" %\ ,  "_ +2 "storage"(g% +4 "core" %M x 8\ + "storage"(!. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 + "storage"(l(, +356 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (n& +2 "core" &, 8 G \  +2 "manipulator"&& +4 "core" &\  \\ + .tElbow.seek 4 +2 "manipulator"&(* +34 "core" ( +2 "manipulator"&& +4 "core" &6 L  + "storage"(&& +4 "core" &, s\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&~' +99 "core" ' + "storage"(& +5 "core" &, \  + .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(6'e +287 "core" ' +2 "storage"(7- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" &, v { 2\  + "manipulator"&s& +4 "core" &6 =  +2 .tElbow.seek 4 + "manipulator"&(* +8 "core" ( +2 "manipulator"&>& +4 "core" &2 4  + "storage"(& +4 "core" &, k\  +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&'Z +10 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&}/ +54 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&Z& +2 "storage"(`'N +7 "core" &2 4  +2 "manipulator"&?% +4 "core" % P    +2 .tForearm.seek :retract + "manipulator"&='\ +92 "core" ' +2 .tElbow.seek CC +2 "manipulator"&#( +151 "core" ( +3 "manipulator"&2& +3 "core" ' +2 & & 7 + ."downElevator"SE.stop +3 .tElbow.reconfigure :loose +2 "storage"(5 +4 "manipulator"&$ &.,(#b +2 && +3 "core" & P 7 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&*'| +96 "core" ' + "manipulator"&,& +4 "core" & T 7 +2 "manipulator"&L% +4 "core" %τ . +2 "collection"'$& +3 "core" &\ +3 "collection"'G& +5 "core" &\ +2 .tCC.seek :closed +2 "collection"'B(] +54 "core" &\  +4 &3}\ *y + &c\ > +3 &Qr\ N + &U\ M +3 &W\ M + &X\ L +3 &!ZW\ M +9 &#X\ M +9 &$Z\ M +10 &&V\ M +9 &(cY\ M +9 &*%T\ M +10 &+T\ M +9 &-X\ M +10 &/jZ\ M +9 &1.Y\ L +9 &2W\ L +10 &4W\ M +9 &6rW\ M +9 &85V\ M +10 &9W\ M +9 &;V\ M +9 &={Z\ M +10 &?<Z\ M +9 &AX\ L +10 &BW\ M +9 &DU\ M +9 &FFW\ L +10 &HY\ M +9 &Ic\ N +9 &Kn\ P +10 &M;\ S +9 &N\ W +10 &P\ X +9 &Rp\ Y +9 &T/\ Z +10 &U\ Z +9 &W\ Z +9 &Yn\ \\ +10 &[1\ \\ +9 &\\{\ 2 +10 &]"\ #f +8 ( +2 &]\ W +2 "collection"'G& +3 #tCollection Clamp onSpring/offSpring for 9/25 samples, on/off torque 2.04 + .Hand.open +2 "manipulator"&R1 +59 "core" 1 + "manipulator"&[% +4 "core" % τ C +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +92 "core" ' +2 #tLoading generic puck from tube 4 into Processing Clamp +2 "processing"%C& +4 "core" &\ +2 "manipulator"&-% +3 "core" %\ * Q !N +2 "storage"( % +4 "core" %E \ + "storage"(J. +3 "core" .(, +2 "storage"((& +4 "core" &, ' & \  + "storage"(%& +4 "core" &,  \  + "manipulator"&N& +4 "core" & . 5 +2 "manipulator"&P% +4 "core" %\ *  !N +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&(* +173 "core" ( +2 "manipulator"&1& +4 "core" &8 : 5 +2 "storage"(5& +3 "core" &, # \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&3' +95 "core" ' + "storage"(@& +4 "core" &, J J\  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(F'e +283 "core" ' +2 "storage"( - +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (d& +3 "core" &, 0 " /\  +2 "manipulator"&I& +3 "core" &B  + +2 .tElbow.seek 4 +2 "manipulator"&4(* +19 "core" ( +2 "manipulator"&V& +4 "core" &1 x  + "storage"(K& +4 "core" &, < 8 \  +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&c'Z +10 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +55 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&A& + "storage"(+'N +8 "core" &1 $  + "manipulator"&Y% +4 "core" % V    +2 .tForearm.seek :retract +2 "manipulator"&/'\ +91 "core" ' +2 .tElbow.seek PC +2 "manipulator"&0(c +161 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +87 "core" ( +2 "manipulator"&M& +4 "core" &h ) +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &X& +2 "core" &h 4 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&S'[ +99 "core" ' +2 "manipulator"&^& +4 "core" &h 7 +2 "manipulator"&]% +4 "core" %D  +2 "processing"%;& +4 "core" &\ +2 "processing"%\\& +6 "core" &\ +2 .tPC.seek :closed +2 "processing"%<(Z +4 "core" &\ +8 &\ '\ #b +9 &[W\ 8 +9 &y\ L +10 &sW\ M +9 &5Y\ M +10 &Y\ N +9 & Z\ M +9 &"{W\ M +10 &$=X\ M +9 &%X\ M +9 &'W\ M +10 &)W\ M +9 &+FY\ M +10 &-Y\ M +9 &.Z\ N +9 &0Y\ M +10 &2MY\ M +9 &4T\ M +9 &5W\ M +10 &7Y\ M +9 &9UX\ M +10 &;Z\ M +9 &<X\ M +9 &>Z\ N +10 &@\\Y\ N +9 &BW\ M +9 &CY\ M +10 &EZ\ M +9 &Gba\ N +10 &I"j\ O +9 &J}\ Q +9 &L\ S +10 &NZ\ T +9 &P\ S +9 &Q\ T +10 &S\ T +9 &Ub\ T +10 &W"\ T +9 &X\ T +9 &Z>Kl\ +~ +10 &Z :\ ) +5 ( +2 "processing"%\\& +4 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.63 + .Hand.open + "manipulator"&81 +4 "core" &Z\ ) +60 1 + "manipulator"&E% +5 "core" % D 4 + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&h'\ +94 "core" ' +2 "processing"%U& +4 "core" &Z\ ) +2 #tImaging generic puck in Processing Clamp while storing it to tube 4 + "manipulator"&_% +4 "core" %\ .  #e +2 "storage"(k% +4 "core" %A  x\ + "storage"(. +3 "core" .(, +2 "storage"(:& +4 "core" &, N \  + "storage"({& +3 "manipulator"&& +7 "core" &, A \  + &h  +3 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +4 "storage"(#]kK-0-\ b +2 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +2 ."raiseStack"SE.seek :beamBreak +2 "manipulator"&W(c +4 "storage"('e +3 "core" ( + "manipulator"&9& +4 "core" &h V + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &T& +3 "core" &h q +2 .tForearm.seek PC + "manipulator"&O'[ +95 "core" ' + .tHand.close +2 "manipulator"&j/ +59 "core" / +2 .tPC.seek :open +2 "processing"%f(p +93 "core" ' + "storage"(m- +3 "core" -'e +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('B +35 "core" ' +252 ( + "storage"(& +4 "core" &, 2 ( @\  +2 "manipulator"&& +4 "core" &h  + "manipulator"&\ % +4 "core" % R >  +2 .tForearm.seek :retract +2 "manipulator"&'\ +99 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&x(* +273 "core" ( + "manipulator"&t& +5 "core" &1   + "storage"(& +4 "core" &,   .\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&i' +100 "core" ' + .tHand.open +2 "manipulator"&D1 +56 "core" 1 +2 "storage"(o- +4 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate + "storage"( ' +23 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(' +51 "core" ' +2 #tLights, camera, ACTION! + "storage"( - +4 "core" -' + "storage"(a& +4 "core" &, ^ ^\  + "manipulator"&'& +4 "core" &1 v | A  +2 .tElbow.seek 4 + "manipulator"&)(* +4 "core" ( + "manipulator"&w& +4 "core" &1 |  +2 "storage"(v& +4 "core" &, f d\  +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&p' +3 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.11 Pucks below Top Plate + "storage"(u'M +59 "core" ' +2 "manipulator"&H& +4 "core" &1 R  +2 "storage"(& +4 "core" &, ( ' \  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 + "manipulator"&Q'. +33 "core" ' + .tElbow.hold +2 "manipulator"&e, +5 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"('7 +24 "core" ' + "manipulator"&r% +5 "core" %<S # & ɰ + "storage"("& +4 "core" &, \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 314 counts + "manipulator"&'h +20 "core" ' + "manipulator"&g& +4 "core" & e S  +2 "storage"(!& +4 "core" &, N M 7\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&z' +20 "core" ' + "storage"(b% +5 "core" %@ G @ O\ +2 ."downElevator"SE.seek :down +4 "storage"('N +98 (.% +3 "core" %9 $ # @\ T[ +2 "manipulator"&n% +4 "core" % g b ! +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +90 "core" ' +62 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (& +4 "core" &, _ '\  +2 "collection"'&& +4 "core" &]\ W +2 #tStoring generic puck in Collection Clamp to tube 4 + "manipulator"&% +4 "core" %\ (  J + "storage"(y% +4 "core" %B   \ +2 "storage"( . +3 "core" .(, + "storage"(7& +4 "core" &,  \  +2 "storage"(& +3 "core" &,  # E\  +2 "manipulator"&s& +4 "core" &   +52 .tElbow.seek 4 +2 "manipulator"&>(* +25 "core" ( + "manipulator"&& +5 "core" &- c $ + "storage"(}& +4 "core" &, 2 2 \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&Z' +94 "core" ' +2 "storage"(?& +4 "core" &, 0 !\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"('e +278 "core" ' +2 "storage"(~- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&2& +3 "core" &G x t [ n + "storage"(& +4 "core" &, 2 3 N\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&6'. +33 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(,- +3 "core" -' +2 .tSE.seek 0.12 Pucks below Top Plate +2 "storage"(L'u +27 "core" ' + "manipulator"&$% +5 "core" %?S G H Ͱ + "storage"(& +4 "core" &, \  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 4 + 317 counts +2 "manipulator"&`'k +17 "core" ' + "manipulator"&=& +5 "core" &' | Q % + "storage"(|& +4 "core" &,  3 \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&R' +12 "core" ' +4 .tSE.seek 1.12 Pucks below Top Plate + "storage"(['d +51 "core" ' +2 "manipulator"&C& +4 "core" &( ` V $ +2 "manipulator"&-% +4 "core" % s a  : +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"& '\ +93 "core" ' +2 .tElbow.seek CC + "manipulator"&J( +147 "core" ( + "manipulator"&(& +4 "core" &# ;8 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &%& +2 "core" &#  ;8 +2 .tForearm.seek CC +2 "manipulator"&G'| +94 "core" ' +2 .tHand.close + "manipulator"&N/ +57 "core" / + .tCC.seek :open +2 "collection"'P(p +409 "core" ( +2 "storage"(*& +4 "core" &, y z .\  + "storage"(1& +47 "core" &, y x K\  + "manipulator"&5& +4 "core" & x 7 +2 "manipulator"&@% +4 "core" % { W + .tForearm.seek :retract +2 "manipulator"&#'\ +91 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&(* +156 "core" ( + "manipulator"& & +4 "core" &4 \ +2 "storage"(d& +4 "core" &, x y \  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 4 +2 "manipulator"&I'. +112 "core" ' + .tElbow.hold +2 "manipulator"&V, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&K1 +55 "core" 1 +3 "manipulator"&% +4 "core" % 6X + / 6 ɱ + "storage"(A& +4 "core" &, ' 'v\  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 4 + 308 counts +2 "manipulator"&Y'b +17 "core" ' + "manipulator"&& +5 "core" & H a 3 + "storage"(3& +4 "core" &, \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&F' +20 "core" ' +2 "storage"(c% +4 "core" %i "\ +2 ."downElevator"SE.seek :down +3 "storage"(M'N +100 (X% +2 "core" %: T\ TY +2 "manipulator"&4% +4 "core" % g _ # +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&^'\ +97 "core" ' +41 ' + ."downElevator"SE.stop +2 "storage"(5 +48277 "Can"' -<9 +60002   ,<9 +7978 #t-> access 2 +2 "storage"(]% +3 "core" %8 C\ +2 "manipulator"&;% +4 "core" %\ 4 & +2 "manipulator"&+& +3 "core" &  2 +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"(/(K +666 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (q& +3 "core" &K K K \  +4204 #t-> 3.times{shuffle 2..4} +2 #Shuffling pucks in tube 2 of [2..4] +2 #Loading generic puck from tube 2 into Collection Clamp + "collection"'8& +4 "core" &\ + "manipulator"&E% +5 "core" %\ 4 K & + "storage"(U% +4 "core" %8 { /\ + "storage"(_. +3 "core" .(K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 + "storage"(k(  +1303 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (& +3 "core" &  K K ,\ +2 "manipulator"&:& +3 "core" & 2 2 +2 .tElbow.seek 2 +2 "manipulator"&\\(; +19 "core" ( +2 "manipulator"&& +4 "core" &:  !s + "storage"({& +4 "core" &  z z "\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&9'Ѐ +97 "core" ' + "storage"(T& +5 "core" &  \ + .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(S'e +279 "core" ' +2 "storage"(j- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (m& +3 "core" &  w y \ + "manipulator"&0& +4 "core" &; w v ` !r +2 .tElbow.seek 2 + "manipulator"&h(; +3 "core" ( +2 "manipulator"&<& +4 "core" &;  d !r + "storage"(& +4 "core" &  z z H\ +2 .tForearm.seek 2 + 300 counts + "manipulator"&' +28 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&\ / +62 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& + "storage"(O'N +8 "core" &; T R  !r + "manipulator"&t% +4 "core" % V S I +2 .tForearm.seek :retract +2 "manipulator"&'\ +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"&W( +146 "core" ( +2 "manipulator"&D& +5 "core" &# q :0 + ' + .tElbow.reconfigure :loose +3 ."downElevator"SE.stop +4 "manipulator"&$ &.,(#b "storage"(5 +3 "manipulator"&o& +6 "core" &#  :0 + .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"& '| +100 "core" ' + "manipulator"&a& +5 "core" &# V :0 + "manipulator"&'% +4 "core" %  +2 "collection"'w& +4 "core" &\ +2 "collection"'v& +5 "core" &\\\ +3 .tCC.seek :closed + "collection"'(] +5 "core" &q\ +7 & 8\ %f +9 &hU\ 7 +10 &~\ L +9 &sY\ N +9 &4Z\ N +10 &W\ N +9 & Z\ N +9 &"y]\ O +10 &$<Y\ N +9 &%\\\ N +10 &'X\ N +9 &)[\ O +9 &+C\\\ O +10 &-Z\ N +9 &.Y\ N +9 &0Z\ N +10 &2L]\ N +9 &4^\ N +10 &5Y\ O +9 &7[\ N +9 &9TY\ N +10 &;Y\ N +9 &<Z\ N +9 &>Z\ N +10 &@[Z\ O +9 &B[\ N +10 &C[\ N +9 &EY\ N +9 &GdZ\ N +10 &I$c\ O +9 &Jq\ Q +9 &L\ T +10 &NQ\ X +9 &P\ X +10 &Q\ Y +9 &S\ Y +9 &UR\ Z +10 &W\ [ +9 &X \ \\ +9 &Z \ ] +10 &\\S\ I +9 &]\\9 \ *| +10 &]  \ [ +5 ( + "collection"'v& +5 #tCollection Clamp onSpring/offSpring for 10/26 samples, on/off torque 2.03 + .Hand.open + "manipulator"&H1 +3 "core" &] \ [ +51 1 +2 "manipulator"&% +4 "core" %  > +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&r'\ +92 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%& +4 "core" &\ +2 "manipulator"&"% +4 "core" %\ & M > + "storage"( % +4 "core" %@ ' '\  + "storage"(g. +3 "core" .(  +2 "storage"(!& +4 "core" &  ' (r\ + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"(b(  +31 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (x& +2 "core" &  \ & +2 "manipulator"&i& +4 "core" & _ 8! + "manipulator"&% +54 "core" %\ & g > +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&.(; +163 "core" ( + "manipulator"&n& +4 "core" &1 o 8  +2 "storage"(p& +4 "core" &  J J\ ( +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&)'Ѐ +106 "core" ' + "storage"(u& +4 "core" &  c b\ ( +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(Q'e +283 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" &  J I \ 5 +2 "manipulator"&&& +3 "core" &1 W S ?  +2 .tElbow.seek 2 +2 "manipulator"&(; +3 "core" ( + "manipulator"&y& +4 "core" &1 V ^   +2 "storage"( & +4 "core" &  L @ \ 5 +2 .tForearm.seek 2 + 300 counts + "manipulator"&' +16 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&7/ +61 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"(s'N +7 "core" &1 ~ 3  +2 "manipulator"&% +4 "core" % ~  ? +2 .tForearm.seek :retract +2 "manipulator"&}'\ +95 "core" ' +2 .tElbow.seek PC +2 "manipulator"&z(c +156 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +87 "core" ( +2 "manipulator"&?& +4 "core" &k  +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &k < +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&e'[ +109 "core" ' +2 "manipulator"&& +4 "core" &k  +2 "manipulator"&~% +4 "core" %T  : a +2 "processing"%2& +4 "core" &|\ +2 "processing"%& +5 "core" &D\ +2 .tPC.seek :closed +2 "processing"%,(Z +4 "core" &2\  +8 &0y]\ *x +10 &d\ > +9 &@x6\ N +9 &Y~\ M +10 &Z\ M +9 &Y\ M +9 &!IW\ M +10 &#\ Y\ M +9 &$U}\ M +10 &&Zm\ M +9 &(QZJ\ M +9 &*Ym\ M +10 &+Z\ M +9 &-Y\ N +10 &/W[\ N +9 &1U\ M +9 &2Z\ M +10 &4U\ M +9 &6_Z\ N +9 &8"Z\ M +10 &9V\ M +9 &;Y\ M +9 &=iV\ M +10 &?)\\\ N +9 &@\\\ M +13 &BU\ M +6 &DpZ\ M +9 &F1\\\ N +10 &Gb\ N +9 &Ij\ O +10 &Knv\ Q +9 &M)\ S +9 &N\ T +10 &P\ T +9 &Rl\ T +9 &T-\ T +10 &U\ T +9 &W\ T +9 &Yq\ B +10 &Z{A\ U +9 &Z\ ( +2 ( +2 "processing"%& +3 #tProcessing Clamp onSpring/offSpring for 9/25 samples, on/off torque 1.60 + .Hand.open +2 "manipulator"&$1 +58 "core" 1 +2 "manipulator"&% +4 "core" % U k ` +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&='\ +91 "core" ' +2 "processing"%|& +4 "core" &Z\ ( +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 + "manipulator"&C% +4 "core" %\ ( T J +2 "storage"(-% +4 "core" %I 7 o\  + "storage"(Z. +3 "core" .(  +2 "storage"(>& +4 "core" &  8 h\ 5 + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"((  +87 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (6& + "manipulator"&`& +5 "core" &  F G\  +4 ."raiseStack"SE.reconfigure :place +3 "storage"(#]kK-0-\ b +2 "core" &k ^ +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +2 "storage"(L'e +3 "manipulator"&((c +4 "core" ( + "manipulator"&%& +4 "core" &k 1 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &R& +2 "core" &k  +2 .tForearm.seek PC +2 "manipulator"&'[ +94 "core" ' +2 .tHand.close + "manipulator"&N/ +64 "core" / +3 .tPC.seek :open +2 "processing"% (p +82 "core" ' +2 "storage"(B- +3 "core" -'e +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(*'B +36 "core" ' +260 ( + "storage"(1& +5 "core" &  ' '\  + "manipulator"&5& +4 "core" &k # + "manipulator"&@% +4 "core" % o & +2 .tForearm.seek :retract +2 "manipulator"& '\ +99 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&d(; +245 "core" ( +2 "manipulator"&G& +4 "core" &E K . +2 "storage"(J& +4 "core" &  8 G\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&K'Ѐ +97 "core" ' +2 .tHand.open + "manipulator"&1 +61 "core" 1 +2 "storage"(A- +4 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate +2 "storage"(' +22 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(3' +51 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(c- +3 "core" -' +2 "storage"(#& +4 "core" &  @\  + "manipulator"&X& +4 "core" &E ` T . +2 .tElbow.seek 2 +2 "manipulator"&4(; +3 "core" ( + "manipulator"&& +4 "core" &E X ^ . +2 "storage"(I& +4 "core" &  } { g\  +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&Y'Ѐ +11 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"(['M +60 "core" ' + "manipulator"&F& +4 "core" &E c b . +2 "storage"(M& +4 "core" &  J K\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 + "manipulator"&]'ξ +34 "core" ' + .tElbow.hold +2 "manipulator"&;, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"(+'7 +28 "core" ' + "manipulator"&l% +5 "core" %\\  4 Ȳ + "storage"(q& +4 "core" &  `\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 318 counts + "manipulator"&8' +25 "core" ' + "manipulator"&E& +5 "core" &J c S ) + "storage"(U& +4 "core" &  J J\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&_'Ѐ +13 "core" ' + "storage"(/% +5 "core" %> H ? \ +2 ."downElevator"SE.seek :down +3 "storage"('N +99 (:% +3 "core" %(; "  G\ U^ +2 "manipulator"&% +4 "core" %~ a b  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&{'\ +95 "core" ' +57 ' + ."downElevator"SE.stop + "storage"(5 +3 (T& +4 "core" &  U B\  + "collection"'V& +4 "core" &]~ \ [ +2 #tStoring generic puck in Collection Clamp to tube 2 + "manipulator"&^% +4 "core" %\ 4 / & +2 "storage"(j% +4 "core" %N 2 1 8\ + "storage"(m. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 +2 "storage"(0(  +19 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (<& +3 "core" &  I\ ' + "manipulator"&& +4 "core" &J @ ) +2 .tElbow.seek 2 +2 "manipulator"&\ (; +26 "core" ( +2 "manipulator"&& +4 "core" &B  ~ +2 "storage"(t& +4 "core" & " . <\ , +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&\\'Ѐ +113 "core" ' +2 "storage"(9& +4 "core" & a a\ , +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(D'e +283 "core" ' + "storage"(o- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&S& +3 "core" &B R U  ~ +2 "storage"(& +4 "core" &  L G\ 4 + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 + "manipulator"&a'ξ +53 "core" ' +3 .tElbow.hold + "manipulator"&', +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(w- +3 "core" -' +2 .tSE.seek 0.11 Pucks below Top Plate + "storage"(h'd +25 "core" ' + "manipulator"&O% +4 "core" %Q  % ȯ +2 "storage"(& +3 "core" &  8\ 4 +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 2 + 317 counts + "manipulator"&P' +18 "core" ' +2 "manipulator"&H& +4 "core" &B c M ) ~ +2 "storage"(& +4 "core" &  0 \ 4 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&'Ѐ +26 "core" ' +2 .tSE.seek 1.11 Pucks below Top Plate +2 "storage"("'S +40 "core" ' +2 "manipulator"& & +4 "core" &B T R  ~ +2 "manipulator"&g% +4 "core" %П U \\ 5 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&!'\ +94 "core" ' + .tElbow.seek CC +2 "manipulator"&v( +164 "core" ( + "manipulator"&x& +5 "core" &, Bi + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &i& +3 "core" &+ G Bi +2 .tForearm.seek CC + "manipulator"&'| +96 "core" ' + .tHand.close +2 "manipulator"& / +53 "core" / +2 .tCC.seek :open +2 "collection"'n(p +408 "core" ( +2 "storage"(p& +4 "core" &  y x 5\ 4 + "storage"(k& +4 "core" &  x y J\ 4 +2 "manipulator"&u& +3 "core" &)% " <? +2 "manipulator"&W% +3 "core" % x E  +2 .tForearm.seek :retract +2 "manipulator"&r'\ +93 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&(; +157 "core" ( +2 "manipulator"&& +4 "core" &4 o  =  +2 "storage"(&& +4 "core" &  R\ 4 + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 2 +2 "manipulator"&y'ξ +110 "core" ' + .tElbow.hold +2 "manipulator"& , +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&71 +60 "core" 1 +2 "manipulator"&% +4 "core" % `  Ƴ + "storage"(& +4 "core" &    \ 4 +2 .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 2 + 303 counts +2 "manipulator"&.' +17 "core" ' + "manipulator"&)& +5 "core" &J P [   + "storage"(Q& +4 "core" &  \ 4 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&'Ѐ +16 "core" ' + "storage"(?% +5 "core" %U e\ +2 ."downElevator"SE.seek :down +3 "storage"('N +99 (% +3 "core" %19 \ TZ +2 "manipulator"&% +4 "core" %Ѓ R V W +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&~'\ +87 "core" ' +52 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 3 of [2..4] + #Loading generic puck from tube 3 into Collection Clamp +2 "collection"'2& +4 "core" &\ +2 "manipulator"&s% +3 "core" %\ ( t u ; G +2 "storage"(}% +4 "core" %9 \ + "storage"(f. +4 "core" .(  + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"($( +343 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (& +3 "core" & L J *\  +2 "manipulator"&|& +3 "core" &J z { N  +2 .tElbow.seek 3 +2 "manipulator"&C(D +3 "core" ( +2 "manipulator"&-& +3 "core" &J  V  +2 "storage"(Z& +4 "core" & \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&>' +93 "core" ' +2 "storage"(& +4 "core" & E\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(6'e +280 "core" ' + "storage"(`- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (%& +2 "core" & m x z\  +2 "manipulator"&R& +4 "core" &J j  +2 .tElbow.seek 3 + "manipulator"&e(D +3 "core" ( +2 "manipulator"&b& +3 "core" &J   +2 "storage"(N& +4 "core" & \  +2 .tForearm.seek 3 + 300 counts + "manipulator"&B'y +19 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&z/ +63 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&=& +2 "storage"(,'N +8 "core" &J q  +2 "manipulator"&1% +3 "core" % } +2 .tForearm.seek :retract +2 "manipulator"&L'\ +93 "core" ' +2 .tElbow.seek CC + "manipulator"&5( +147 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +15 "core" ( +2 "manipulator"&@& +4 "core" &% * <? +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &% b <? +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&G'| +101 "core" ' +2 "manipulator"&J& +4 "core" &%  <? +2 "manipulator"&(% +4 "core" %φ 5 +2 "collection"'& +4 "core" &\ +2 "collection"'A& +4 "core" &\ +2 .tCC.seek :closed +2 "collection"'c(] +4 "core" &\ +7 &? \ $d +9 &nV~\ 7 +9 &|\ L +10 &|W\ M +9 &=Z\ N +10 &Y\ N +9 & W\ N +9 &"W\ M +10 &$FV\ M +9 &&V\ M +10 &'T\ N +9 &)U\ M +9 &+MX\ N +10 &-[\ M +9 &.W\ N +9 &0V\ N +10 &2UZ\ N +9 &4[\ N +9 &5W\ N +10 &7U\ M +9 &9^T\ M +10 &; U\ M +9 &<Y\ M +9 &>U\ N +10 &@eZ\ N +9 &B'Y\ N +9 &CY\ N +10 &EW\ M +9 &GmZ\ N +10 &I,f\ O +9 &Jv\ Q +9 &L\ U +10 &NX \ X +9 &P\ Y +9 &Q \ Y +10 &S\ Z +9 &UV\ [\ +10 &W  \ [\ +9 &X\ \\ +9 &Z \ ] +10 &\\X \ J +9 &]^?\ + +9 &] \ Z +3 ( + "collection"'A& +3 #tCollection Clamp onSpring/offSpring for 10/26 samples, on/off torque 2.13 +2 .Hand.open + "manipulator" +58 "core" 1 +2 "manipulator"&X% +4 "core" % z  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +96 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp +2 "processing"%I& +4 "core" &\ + "manipulator"& % +4 "core" %\ . W #d +2 "storage"(F% +4 "core" %? F U\ + "storage"(M. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 + "storage"(*( +3 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (l& +3 "core" & \  +2 "manipulator"&q& +4 "core" &% t <? + "manipulator"&% +4 "core" %\ . #d +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&E(D +157 "core" ( +2 "manipulator"&U& +4 "core" &J < + "storage"(/& +4 "core" & 2 2 U\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&d' +97 "core" ' + "storage"(K& +4 "core" & J K \  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(3'e +280 "core" ' +2 "storage"(:- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +2 "core" & " 0\  +2 "manipulator"&Y& +3 "core" &J  +2 .tElbow.seek 3 +2 "manipulator"&4(D +3 "core" ( + "manipulator"&[& +4 "core" &J w  +2 "storage"(]& +3 "core" &  * \  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&T'y +31 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&8/ +56 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&V& + "storage"(^'N +7 "core" &J S Q  +2 "manipulator"&j% +4 "core" % χ _ _  +2 .tForearm.seek :retract + "manipulator"&m'\ +94 "core" ' + .tElbow.seek PC +2 "manipulator"&+(c +158 "core" ' +51 ."downElevator"SE.stop +3 "storage"(5 +39 "core" ( +2 "manipulator"&<& +5 "core" &h + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &h  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&'[ +93 "core" ' +2 "manipulator"&t& +4 "core" &h y  +2 "manipulator"&_% +4 "core" %P v  +2 "processing"%9& +4 "core" &\ +2 "processing"%& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%(Z +4 "core" &\ +7 &7\ $e +9 &hV\ 7 +10 &}\ L +9 &zU\ M +10 &;Y\ M +9 &[\ M +9 & Y\ N +10 &"V\ M +9 &$DU\ M +9 &&Y\ M +10 &'W\ M +9 &)Y\ M +9 &+MT\ M +10 &- Y\ M +9 &.Z\ M +10 &0V\ M +9 &2SY\ M +9 &4U\ M +10 &5X\ M +9 &7Y\ N +10 &9\\X\ M +9 &;Z\ N +9 &<W\ M +10 &>Z\ N +9 &@bY\ N +9 &B$Z\ N +10 &CX\ M +9 &E]\ M +9 &Ghc\ N +10 &I(l\ O +9 &Jv\ Q +10 &L\ T +9 &N_\ T +9 &P \ T +10 &Q\ T +9 &S\ U +9 &Uf\ T +10 &W'\ U +9 &X\ U +10 &ZBIf\ )x +9 &Z ?\ - +5 ( +2 "processing"%& +4 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.61 + .Hand.open +2 "manipulator"&;1 +3 "core" &Z\ - +54 1 +2 "manipulator"&{% +4 "core" % P y ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&o'\ +96 "core" ' +2 "processing"%S& +4 "core" &Z\ - +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&% +4 "core" %\ .  #i +2 "storage"(w% +3 "core" %9 @ \ +2 "storage"(O. +3 "core" .( + "storage"(& +4 "core" & A \  +2 "storage"(H& +4 "manipulator"&& +4 "core" &\ !\ \  + &h  +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +3 "storage"(#]kK-0-\ b + "manipulator"& (c +5 ."raiseStack"SE.seek :beamBreak +2 "storage"(g'e +3 "core" ( + "manipulator"&\\& +4 "core" &h  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &\ & +3 "core" &h F +2 .tForearm.seek PC +2 "manipulator"&D'[ +94 "core" ' +2 .tHand.close + "manipulator"&a/ +58 "core" / +2 .tPC.seek :open +2 "processing"%P(p +92 "core" ' +2 "storage"(h- +3 "core" -'e +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(x'B +47 "core" ' +240 ( + "storage"(i& +4 "core" & ' ' \  +2 "manipulator"&& +4 "core" &h w x G + "manipulator"&'% +4 "core" % ` w y R +2 .tForearm.seek :retract +2 "manipulator"& '\ +99 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&!(D +259 "core" ( +2 "manipulator"&& +3 "core" &O  "} +2 "storage"(p& +4 "core" & F ,\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&k' +99 "core" ' + .tHand.open +2 "manipulator"&u1 +58 "core" 1 +2 "storage"(W- +3 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate +2 "storage"(' +23 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.83 Pucks below Top Plate + "storage"(&' +54 "core" ' +2 #tLights, camera, ACTION! + "storage"(- +4 "core" -' + "storage"(v& +4 "core" & \  +2 "manipulator"&7& +4 "core" &O p "} +2 .tElbow.seek 3 + "manipulator"&(D +16 "core" ( +2 "manipulator"&& +4 "core" &P b l  + "storage"()& +4 "core" & 6\  +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&Q' +4 "core" ' + .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"(?'M +63 "core" ' + "manipulator"&r& +5 "core" &P w {   + "storage"(& +4 "core" & ' '\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&'M +33 "core" ' + .tElbow.hold +2 "manipulator"&, +5 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"(y'7 +24 "core" ' +2 "manipulator"&2% +4 "core" %]Q 0 0 E ˯ + "storage"(s& +4 "core" & :\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 316 counts +2 "manipulator"&.'ω +17 "core" ' +2 "manipulator"&}& +4 "core" & c R d +2 "storage"(f& +4 "core" & J I \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&"' +18 "core" ' + "storage"(% +5 "core" %@ F L z\ +2 ."downElevator"SE.seek :down +4 "storage"('N +98 (0% +3 "core" %: ' '~\ U] +2 "manipulator"&% +4 "core" % S U  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&|'\ +90 "core" ' +62 ' + ."downElevator"SE.stop + "storage"(5 +3 (-& +4 "core" & J\  + "collection"'Z& +4 "core" &]  \ Z +2 #tStoring generic puck in Collection Clamp to tube 3 +2 "manipulator"&% +4 "core" %\ +  !P + "storage"( % +4 "core" %N ' '\ +2 "storage"(~. +3 "core" .( + "storage"(`& +4 "core" & ' '\  +2 "storage"(%& +4 "core" & & #\  + "manipulator"&R& +4 "core" &  d +2 .tElbow.seek 3 + "manipulator"&b(D +23 "core" ( + "manipulator"&N& +5 "core" &Q $ * + "storage"(z& +4 "core" & 1 ' ,\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&=' +95 "core" ' +2 "storage"(1& +4 "core" & J I\  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(C'e +279 "core" ' +2 "storage"(>- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&@& +3 "core" &R J ) +2 "storage"(& +3 "core" & 1 2 e\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&6'M +32 "core" ' +2 .tElbow.hold + "manipulator"&B, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(J- +2 "core" -' +3 .tSE.seek 0.12 Pucks below Top Plate + "storage"(('s +27 "core" ' +2 "manipulator"&e% +4 "core" %`Q 0 2  ˯ + "storage"(& +4 "core" & ;\  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 3 + 319 counts +2 "manipulator"&,'ό +11 "core" ' +2 "manipulator"&L& +4 "core" & T d e +2 "storage"(n& +4 "core" &   {\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&#' +19 "core" ' +2 .tSE.seek 1.12 Pucks below Top Plate +2 "storage"(X'b +41 "core" ' +2 "manipulator"&I& +4 "core" & [ ^ I e +2 "manipulator"& % +4 "core" % R ] C +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&F'\ +90 "core" ' +2 .tElbow.seek CC + "manipulator"&M( +150 "core" ( +2 "manipulator"&A& +4 "core" &% + <> + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &l& +3 "core" &% 5 <> +2 .tForearm.seek CC + "manipulator"&q'| +96 "core" ' +2 .tHand.close + "manipulator"&/ +63 "core" / +2 .tCC.seek :open + "collection"'G(p +409 "core" ( +2 "storage"(U& +4 "core" & x w "\  + "storage"(/& +4 "core" & w y "\  + "manipulator"&$& +4 "core" &# ;2 +2 "manipulator"&K% +3 "core" % { +2 .tForearm.seek :retract +2 "manipulator"&5'\ +91 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +53 .tElbow.seek 3 +2 "manipulator"&(D +153 "core" ( +2 "manipulator"&:& +4 "core" &O  +2 "storage"(& +3 "core" & z\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 + "manipulator"&Y'M +110 "core" ' + .tElbow.hold +2 "manipulator"&[, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&]1 +53 "core" 1 +8 "manipulator"&8% +4 "core" % au 3 ù& + "storage"(V& +9 "core" & J J \  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 3 + 320 counts +2 "manipulator"&j'ύ +17 "core" ' + "manipulator"&E& +4 "core" &% P f &  +2 "storage"(d& +4 "core" & { | )\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&3' +10 "core" ' +2 "storage"(T% +4 "core" %b \ +2 ."downElevator"SE.seek :down +4 "storage"(<'N +99 (% +2 "core" %:7 r\ UZ +2 "manipulator"&4% +4 "core" % S \\ S : +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&t'\ +93 "core" ' +47 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 4 of [2..4] + #Loading generic puck from tube 4 into Collection Clamp +2 "collection"'_& +4 "core" &\ +2 "manipulator"&9% +4 "core" %\ 5  & +2 "storage"(^% +3 "core" %B 5\ +2 "storage"(m. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 + "storage"( (, +357 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (;& +3 "core" &,   @\  + "manipulator"&{& +4 "core" &%   +2 .tElbow.seek 4 + "manipulator"&S(* +4 "core" ( + "manipulator"&& +4 "core" &% c  + "storage"(w& +4 "core" &, w v ?\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&O' +99 "core" ' +2 "storage"(& +4 "core" &, z .\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"('e +280 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (H& +3 "core" &, z w '\  +2 "manipulator"&\\& +4 "core" &' C  +2 .tElbow.seek 4 + "manipulator"&\ (* +4 "core" ( + "manipulator"&& +4 "core" &'   + "storage"(a& +4 "core" &, 9\  +2 .tForearm.seek 4 + 300 counts + "manipulator"&h'Z +20 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&+/ +62 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&o& +2 "storage"('N +7 "core" &' _ `  +2 "manipulator"&i% +4 "core" % O U U J +2 .tForearm.seek :retract + "manipulator"&'\ +89 "core" ' +2 .tElbow.seek CC + "manipulator"&'( +141 "core" ( + "manipulator"&g& +4 "core" & 5 / +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &D& +4 "core" &  / +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 "core" ' + .tForearm.seek CC +3 ."downElevator"SE.stop +3 "manipulator"&'| + "storage"(5 +101 "core" ' + "manipulator"&p& +5 "core" &  / + "manipulator"& % +4 "core" %s F +2 "collection"'u& +4 "core" &\ +2 "collection"'W& +5 "core" &\ +2 .tCC.seek :closed +3 "collection"'(] +3 "core" &\ +6 &\ 8 +10 &H{\ 1 +9 &Br\ E +9 &^\ N +10 &Z\ M +9 &lW\ N +9 & 0Y\ M +10 &!Z\ N +9 &#Y\ M +9 &%uV\ M +10 &'7Z\ M +9 &(W\ M +10 &*Y\ M +9 &,~X\ M +9 &.?W\ M +10 &0V\ M +9 &1X\ N +9 &3U\ M +10 &5GX\ M +9 &7\ T\ M +10 &8V\ M +9 &:W\ M +9 &W\ M +9 &?Z\ M +9 &AT\ M +10 &CWX\ M +9 &ET\ M +10 &FX\ M +9 &H_\ N +9 &JXk\ P +10 &Lu\ Q +9 &M\ U +9 &O\ W +10 &QH\ X +9 &S \ Y +10 &T \ Y +9 &V\ Z +9 &XH \ [ +10 &Z \ \\ +9 &[\ \\ +9 &](\\ \ , +10 &]\ O +9 ( + &]_ \ J +2 "collection"'W& +3 #tCollection Clamp onSpring/offSpring for 9/26 samples, on/off torque 2.11 + .Hand.open +2 "manipulator"&v1 +62 "core" 1 +2 "manipulator"&7% +4 "core" % c  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +100 "core" ' +3 #tLoading generic puck from tube 4 into Processing Clamp + "processing"%)& +4 "core" &\ +2 "manipulator"& % +4 "core" %\ 7 @ ' + "storage"(r% +4 "core" %;   \ + "storage"(. +3 "core" .(,~ +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"(x(, +2 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (2& +3 "core" &,\ \  3\  +2 "manipulator"&s& +4 "core" & < . + "manipulator"&% +4 "core" %\ 7 W ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&}(* +157 "core" ( +2 "manipulator"&f& +4 "core" &4  \ + "storage"(& +4 "core" &, M L\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&!' +100 "core" ' + "storage"(k& +5 "core" &, ` `\  + .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(&'e +281 "core" ' + "storage"(0- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (& +3 "core" &, % # \  +2 "manipulator"&Q& +4 "core" &5 1 + .tElbow.seek 4 +2 "manipulator"&(* +7 "core" ( +2 "manipulator"&?& +4 "core" &1 n ^ + "storage"(& +4 "core" &, J J\  +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&-'Z +18 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&./ +56 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"&Z& "storage"('N +7 "core" &1 S U +2 "manipulator"& % +4 "core" % O R S  +2 .tForearm.seek :retract + "manipulator"&~'\ +89 "core" ' +2 .tElbow.seek PC + "manipulator"&y(c +166 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +82 "core" ( +2 "manipulator"&`& +4 "core" &g # +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &%& +3 "core" &g W +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&R'[ +100 "core" ' + "manipulator"&N& +5 "core" &g O + "manipulator"&z% +4 "core" %B # +2 "processing"%"& +4 "core" &\ +2 "processing"%1& +5 "core" &\ +2 .tPC.seek :closed + "processing"%(Z +5 "core" &\  +9 &/z\ *y +9 &e\ > +10 &Cu\ M +9 &X\ M +9 &Y\ M +10 &X\ L +9 &!JY\ M +10 &# W\ M +9 &$V\ M +9 &&\\\ M +10 &(TY\ M +9 &*Z\ M +9 &+Y\ M +10 &-X\ M +9 &/[^\ M +10 &1Y\ M +9 &2\\\ M +9 &4X\ M +10 &6c\\\ M +9 &8&X\ M +9 &9Y\ L +10 &;Y\ M +9 &=kY\ M +10 &?,Z\ M +9 &@W\ M +9 &BY\ M +10 &DsU\ M +9 &F2\\\ N +10 &Gc\ O +9 &In\ P +9 &Kl\ R +10 &M)\ T +9 &N\ T +9 &P\ T +10 &Rm\ T +9 &T/\ T +9 &U\ T +10 &W\ U +9 &Ys\ B +10 &Z{@\ S +9 &Z\ ) +2 ( +2 "processing"%1& +3 #tProcessing Clamp onSpring/offSpring for 9/25 samples, on/off torque 1.63 + .Hand.open + "manipulator"&1 +59 "core" 1 +2 "manipulator"&|% +4 "core" % B  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&>'\ +99 "core" ' + "processing"%@& +4 "core" &Z\ ) +2 #tImaging generic puck in Processing Clamp while storing it to tube 4 +2 "manipulator"&% +3 "core" %\ 3 d %y +2 "storage"(J% +4 "core" %G 2  $\  + "storage"(e. +3 "core" .(, +2 "storage"(& +3 "core" &, 2 2 @\  +2 "storage"(L& +2 "manipulator"&n& +7 "core" &g & + &,  ! q\  +4 ."raiseStack"SE.reconfigure :place +53 .tElbow.reconfigure :tight +4 "storage"(#]kK-0-\ b +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +3 ."raiseStack"SE.seek :beamBreak +2 "manipulator"&I(c + "storage"( 'e +5 "core" ( +2 "manipulator"&=& +4 "core" &g { + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &b& +3 "core" &g  +2 .tForearm.seek PC +2 "manipulator"&C'[ +95 "core" ' + .tHand.close +2 "manipulator"&6/ +53 "core" / +2 .tPC.seek :open +2 "processing"%,(p +97 "core" ' + "storage"((- +4 "core" -'e + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(A'B +44 "core" ' +241 ( + "storage"(l& +4 "core" &, L L \  +2 "manipulator"&#& +4 "core" &g  v d + "manipulator"&B% +4 "core" % N w x b +2 .tForearm.seek :retract +2 "manipulator"&'\ +101 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&F(* +274 "core" ( +2 "manipulator"&c& +4 "core" &(   +2 "storage"(U& +3 "core" &, J J\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&/' +98 "core" ' + .tHand.open + "manipulator"&$1 +65 "core" 1 +2 "storage"(K- +3 "core" -'B +3 .tSE.seek -0.16 Pucks below Top Plate + "storage"(q' +23 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(:' +55 "core" ' + #tLights, camera, ACTION! +2 "storage"(- +3 "core" -' +2 "storage"(M& +4 "core" &, i i !\  + "manipulator"&]& +4 "core" &(   +2 .tElbow.seek 4 + "manipulator"&8(* +4 "core" ( + "manipulator"&V& +4 "core" &( 6  + "storage"(E& +4 "core" &, h h \  +3 .tForearm.seek 4 + 450 counts + "manipulator"&d' +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.11 Pucks below Top Plate +3 "storage"(T'M +63 "core" ' +2 "manipulator"&5& +4 "core" &( ~   +2 "storage"(& +4 "core" &, A M \  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 + "manipulator"&4'. +35 "core" ' +2 .tElbow.hold + "manipulator"&, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"(Y'7 +24 "core" ' + "manipulator"&_% +5 "core" %=P % %  ɯ + "storage"(9& +4 "core" &,\ \ /\  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 4 + 315 counts +2 "manipulator"&^'i +17 "core" ' + "manipulator"&j& +5 "core" & Y _  + "storage"(m& +4 "core" &, a a \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&X' +11 "core" ' +2 "storage"(3% +4 "core" %@ z \\ S\  +2 ."downElevator"SE.seek :down +4 "storage"(<'N +99 (*% +2 "core" %? = F \ V` +2 "manipulator"&;% +4 "core" % Q T   +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&{'\ +93 "core" ' +56 ' + ."downElevator"SE.stop + "storage"(5 +3 (& +4 "core" &, 8 - \  +2 "collection"'w& +4 "core" &]^ \ J +2 #tStoring generic puck in Collection Clamp to tube 4 + "manipulator"&% +4 "core" %\ 3  %| +2 "storage"([% +4 "core" %B M M ;\  + "storage"(t. +3 "core" .(, +2 "storage"(& +4 "core" &, H D \  + "storage"(H& +4 "core" &, J H \  +2 "manipulator"&\\& +4 "core" & h + .tElbow.seek 4 +2 "manipulator"&(* +25 "core" ( +2 "manipulator"&a& +4 "core" &, # ' + "storage"(+& +4 "core" &, I J\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&o' +95 "core" ' +2 "storage"(i& +4 "core" &, ` a\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(S'e +281 "core" ' +2 "storage"(O- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&g& +3 "core" &@  % +2 "storage"(D& +3 "core" &, @ = s\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&'. +35 "core" ' +2 .tElbow.hold + "manipulator"&h, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(p- +3 "core" -' +2 .tSE.seek 0.12 Pucks below Top Plate +2 "storage"( 'v +31 "core" ' + "manipulator"&u% +5 "core" %;L H J Ϯ + "storage"(\ & +4 "core" &, \  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 4 + 313 counts +2 "manipulator"&'g +17 "core" ' +2 "manipulator"&& +4 "core" &* \\ } c ( +2 "storage"(G& +4 "core" &, < = \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&v' +19 "core" ' +2 .tSE.seek 1.12 Pucks below Top Plate +2 "storage"(7'e +41 "core" ' + "manipulator"&)& +5 "core" &* T T  ( + "manipulator"& % +4 "core" % S S  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&r'\ +97 "core" ' +2 .tElbow.seek CC +2 "manipulator"&( +160 "core" ( +2 "manipulator"&W& +5 "core" &   * + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &2& +2 "core" &  ' * +2 .tForearm.seek CC +2 "manipulator"&s'| +102 "core" ' + .tHand.close + "manipulator"&/ +52 "core" / +2 .tCC.seek :open +2 "collection"'(p +409 "core" ( + "storage"(f& +4 "core" &, z x\  +2 "storage"(& +3 "core" &, w x \  +2 "manipulator"& & +4 "core" &  0 * + "manipulator"&k% +4 "core" % ] +2 .tForearm.seek :retract + "manipulator"&''\ +101 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&(* +184 "core" ( + "manipulator"&0& +5 "core" &0   + "storage"(& +4 "core" &, u ,\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 4 + "manipulator"&Q'. +112 "core" ' +2 .tElbow.hold + "manipulator"&?, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&1 +62 "core" 1 +2 "manipulator"&.% +4 "core" % @_   Ƴ +2 "storage"(Z& +4 "core" &, 1 * >\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 318 counts + "manipulator"& 'l +18 "core" ' + "manipulator"&}& +4 "core" & Q c \\  +2 "storage"(!& +4 "core" &, y \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&&' +18 "core" ' +2 "storage"(-% +4 "core" %h E\ +2 ."downElevator"SE.seek :down +4 "storage"(`'N +99 (%% +2 "core" %< t\ UZ +2 "manipulator"&% +4 "core" % U S  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&N'\ +90 "core" ' +50 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 2 of [2..4] +2 #Loading generic puck from tube 2 into Collection Clamp + "collection"'z& +4 "core" &\ +2 "manipulator"&"% +4 "core" %\ *  !M + "storage"(% +4 "core" %8 \ +2 "storage"(~. +3 "core" .(, +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 + "storage"(P(  +673 "core" ( + .tSC.configure :limp +51 "storage"($\ 1b +3 (& +3 "core" &  a a\ +2 "manipulator"&|& +4 "core" &   +2 .tElbow.seek 2 + "manipulator"&@(; +31 "core" ( + "manipulator"&& +4 "core" &H  +2 "storage"(J& +4 "core" &  a\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&e'Ѐ +96 "core" ' +2 "storage"(& +4 "core" &   8\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(1'e +280 "core" ' +2 "storage"(n- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (L& +3 "core" &  z { g\ + "manipulator"&=& +4 "core" &H  +2 .tElbow.seek 2 + "manipulator"&b(; +7 "core" ( +2 "manipulator"&R& +4 "core" &A m ' \ +2 "storage"(6& +3 "core" &  w w 3\ +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&(' +10 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&y/ +55 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&>& + "storage"('N +8 "core" &A T Q I \ + "manipulator"&l% +4 "core" % T R 6 O +2 .tForearm.seek :retract +2 "manipulator"&#'\ +98 "core" ' + .tElbow.seek CC +2 "manipulator"&B( +150 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +11 "core" ( + "manipulator"& & +5 "core" &* @^ + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &C& +3 "core" &) O @^ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&c'| +111 "core" ' +2 "manipulator"&U& +5 "core" &*  @^ + "manipulator"&I% +4 "core" %~  +2 "collection"'$& +4 "core" &\ +2 "collection"'K& +5 "core" &\ +2 .tCC.seek :closed +2 "collection"'(] +4 "core" &\ +7 &?\ %f +9 &rW\ 8 +10 &{\ L +9 &T\ M +10 &PW\ M +9 &W\ M +9 & Y\ M +10 &"\\\ M +9 &$XV\ M +9 &&V\ M +10 &'W\ M +9 &)Z\ M +10 &+`X\ M +9 &-![\ M +9 &.Y\ M +10 &0Y\ M +9 &2fW\ M +9 &4(W\ M +10 &5R\ M +9 &7W\ M +9 &9pU\ M +10 &;2V\ M +9 &<V\ L +10 &>V\ M +9 &@vW\ M +9 &B8W\ M +10 &CX\ M +9 &EW\ M +9 &GY\ M +9 &I=b\ N +9 &Jp\ P +10 &L\ S +9 &Nk\ W +9 &P) \ X +10 &Q \ X +9 &S \ Z +10 &Ui \ Z +9 &W% \ \\ +9 &X \ \\ +10 &Z \ \\ +9 &\\\\\ K +9 &]l= \ "g +10 &] \ M +5 ( +2 "collection"'K& +4 #tCollection Clamp onSpring/offSpring for 9/26 samples, on/off torque 2.07 + .Hand.open +2 "manipulator"&M1 +3 "core" &]m \ L +51 1 +2 "manipulator"&]% +4 "core" % ~  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&V'\ +97 "core" ' + #tLoading generic puck from tube 2 into Processing Clamp +2 "processing"%E& +4 "core" &\ + "manipulator"&% +4 "core" %\ 0 B $s +2 "storage"(5% +4 "core" %Q ' %\ + "storage"(. +3 "core" .(  +2 "storage"(A& +3 "core" &  ' &v\ +2 "storage"(_& +4 "core" &  & $\ + "manipulator"&9& +4 "core" &% c =G +2 "manipulator"&q% +3 "core" %\ 0 ` $s +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&j(; +166 "core" ( +2 "manipulator"&m& +4 "core" &6 6 +2 "storage"(3& +3 "core" &  J I \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&F'Ѐ +101 "core" ' + "storage"(/& +4 "core" &  ` `\ +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(:'e +282 "core" ' + "storage"(*- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (;& +3 "core" &  & 0 /\ + "manipulator"&d& +4 "core" &6 v w ( 6 +2 .tElbow.seek 2 + "manipulator"&8(; +4 "core" ( + "manipulator"&T& +4 "core" &6 ~ g > 6 + "storage"(4& +4 "core" &  J J \ +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&' +11 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&w/ +58 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&^& +2 "storage"('N +7 "core" &6   6 +2 "manipulator"&[% +4 "core" %   N +2 .tForearm.seek :retract + "manipulator"&t'\ +95 "core" ' +2 .tElbow.seek PC +2 "manipulator"&(c +161 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +88 "core" ( +2 "manipulator"&Y& +4 "core" &g . + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &H& +2 "core" &g  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&\\'[ +104 "core" ' +2 "manipulator"&a& +4 "core" &g  +2 "manipulator"&+% +4 "core" %d : +2 "processing"%X& +4 "core" &\ +2 "processing"%i& +5 "core" &\ +2 .tPC.seek :closed + "processing"%<(Z +5 "core" &\  +8 &.z\ +z +10 &c\ > +9 &Gu\ M +10 &W\ M +9 &[\ M +9 &W\ M +10 &!NY\ M +9 &#U\ M +9 &$W\ M +10 &&Y\ M +9 &(YX\ L +10 &*W\ M +9 &+W\ M +9 &-X\ M +10 &/_[\ M +9 &1"Y\ M +9 &2Y\ M +10 &4X\ L +9 &6gY\ M +9 &8*X\ M +10 &9X\ L +9 &;Y\ M +10 &=pW\ M +9 &?1Z\ M +9 &@[\ M +10 &BY\ M +9 &DvY\ M +9 &F8Z\ M +10 &G]\ N +9 &Ig\ O +10 &Kuv\ P +9 &M/\ S +9 &N\ T +10 &P\ T +9 &Rs\ T +12 &T3\ T +7 &U\ U +9 &W\ U +10 &Yw\ B +9 &Zx;\ ^ +9 &Z\ ) +3 ( + "processing"%i& +3 #tProcessing Clamp onSpring/offSpring for 9/25 samples, on/off torque 1.60 +2 .Hand.open + "manipulator"&1 +59 "core" 1 + "manipulator"&{% +4 "core" % d d +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&O'\ +102 "core" ' +2 "processing"%g& +4 "core" &Z\ ) +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 + "manipulator"&D% +4 "core" %\ 5 ? & +2 "storage"(p% +3 "core" %U ' '\  +2 "storage"(u. +3 "core" .(  +2 "storage"(\ & +3 "core" &  ' 't\ +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 2 + "storage"((  +31 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (G& +3 "core" &  \ \ j\  +2 "manipulator"&)& +5 ."raiseStack"SE.reconfigure :place +3 "storage"(#]kK-0-\ b +2 "core" &g ? +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +3 ."raiseStack"SE.seek :beamBreak +2 "manipulator"& (c + "storage"(o'e +6 "core" ( + "manipulator"&& +4 "core" &g ' +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &S& +2 "core" &g 0 +2 .tForearm.seek PC +2 "manipulator"&'[ +96 "core" ' + .tHand.close + "manipulator"&/ +62 "core" / + .tPC.seek :open +2 "processing"% (p +86 "core" ' +2 "storage"(W- +3 "core" -'e +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(2'B +33 "core" ' +263 ( +2 "storage"(v& +4 "core" &  J . e\ ' + "manipulator"&h& +4 "core" &g u i +2 "manipulator"&% +3 "core" % m u  +2 .tForearm.seek :retract +2 "manipulator"&r'\ +101 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&(; +253 "core" ( +2 "manipulator"&f& +4 "core" &:  & +2 "storage"(& +4 "core" &   \ ' +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"& 'Ѐ +109 "core" ' + .tHand.open + "manipulator"&k1 +62 "core" 1 +2 "storage"(0- +3 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate +2 "storage"(' +23 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.83 Pucks below Top Plate +51 "storage"(s' +54 "core" ' + #tLights, camera, ACTION! +2 "storage"(- +3 "core" -' +2 "storage"(& +4 "core" &  \ ) + "manipulator"&.& +4 "core" &: } 0 & +2 .tElbow.seek 2 + "manipulator"&Z(; +4 "core" ( + "manipulator"&}& +4 "core" &: ] ) & +2 "storage"(!& +4 "core" &  \ ) +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&-'Ѐ +3 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"(''M +58 "core" ' +2 "manipulator"&%& +4 "core" &: t r > & + "storage"(& +4 "core" &  L J ,\ ) +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&'ξ +38 "core" ' + .tElbow.hold +2 "manipulator"&Q, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.07 Pucks below Top Plate + "storage"(z'7 +29 "core" ' + "manipulator"&"% +5 "core" %\\ % %  ɲ + "storage"( & +4 "core" &  \ ) +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 315 counts + "manipulator"&' +17 "core" ' +2 "manipulator"&~& +4 "core" &O V Y 2 # +2 "storage"(7& +4 "core" &  ? = \ ) +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&&'Ѐ +22 "core" ' +2 "storage"(`% +4 "core" %9 a a\ +3 ."downElevator"SE.seek :down +3 "storage"(x'N +100 (% +2 "core" %56 4 E\ U\\ +2 "manipulator"&|% +4 "core" %С R R 2 +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +87 "core" ' +62 ' + ."downElevator"SE.stop + "storage"(5 +2 (J& +4 "core" &  ! 7 \ ) +2 "collection"'& +4 "core" &]m\ L + #tStoring generic puck in Collection Clamp to tube 2 +2 "manipulator"&?% +4 "core" %\ +  !P + "storage"(N% +4 "core" %G @ J ?\  + "storage"(n. +4 "core" .(  + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"(L(  +36 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (=& +2 "core" &  / 8 \ +2 "manipulator"&R& +4 "core" &O  # +2 .tElbow.seek 2 + "manipulator"&6(; +37 "core" ( + "manipulator"&y& +4 "core" &E  H +2 "storage"(>& +4 "core" &  L M\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&l'Ѐ +91 "core" ' +2 "storage"(@& +4 "core" &  c c\ +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(e'e +283 "core" ' + "storage"( - +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&C& +3 "core" &E h } { H +2 "storage"(1& +4 "core" &  M M \  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&('ξ +33 "core" ' + .tElbow.hold +2 "manipulator"&U, +91 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(b- +2 "core" -' +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(I'd +26 "core" ' + "manipulator"&$% +5 "core" %Y   DZ + "storage"(& +4 "core" &  n\  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 2 + 313 counts + "manipulator"&#' +17 "core" ' +2 "manipulator"&& +4 "core" &E Y Q d H +2 "storage"(M& +3 "core" &  = < \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&]'Ѐ +16 "core" ' +2 .tSE.seek 1.11 Pucks below Top Plate +2 "storage"(E'S +41 "core" ' + "manipulator"&& +4 "core" &E T R # H +2 "manipulator"&5% +4 "core" %r R R   +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +96 "core" ' + .tElbow.seek CC +2 "manipulator"&A( +168 "core" ( +2 "manipulator"&_& +4 "core" &- Cm +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &K& +3 "core" &, L Bl +2 .tForearm.seek CC + "manipulator"&9'| +96 "core" ' +2 .tHand.close + "manipulator"&q/ +54 "core" / + .tCC.seek :open +2 "collection"'c(p +409 "core" ( + "storage"(m& +4 "core" &  y y &\  +2 "storage"(3& +4 "core" &  e [ _\  + "manipulator"&/& +4 "core" &*% @ =B + "manipulator"&B% +4 "core" % f y +2 .tForearm.seek :retract + "manipulator"&V'\ +96 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&*(; +155 "core" ( +2 "manipulator"&;& +4 "core" &? -  +2 "storage"(d& +4 "core" &  y x \  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 2 +2 "manipulator"&T'ξ +110 "core" ' +2 .tElbow.hold + "manipulator"&4, +60 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&w1 +54 "core" 1 +2 "manipulator"&^% +4 "core" % h  ( ĵ +2 "storage"([& +4 "core" &    \  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 2 + 319 counts +2 "manipulator"&j' +18 "core" ' +2 "manipulator"&F& +4 "core" &I c M *  + "storage"(:& +4 "core" &  } z a\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&'Ѐ +22 "core" ' + "storage"(Y% +5 "core" %Y \ +2 ."downElevator"SE.seek :down +3 "storage"(H'N +100 (8% +2 "core" %/: 7\ TY +2 "manipulator"&a% +4 "core" %Џ T R +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&+'\ +93 "core" ' +51 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 3 of [2..4] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"'X& +4 "core" &\ +2 "manipulator"&% +4 "core" %\ 4 Y & +2 "storage"(t% +3 "core" %F w\ +2 "storage"(,. +3 "core" .(  +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 + "storage"(( +353 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 ({& +2 "core" & 2 3 ^\  +2 "manipulator"&g& +4 "core" &I   +2 .tElbow.seek 3 + "manipulator"&D(D +3 "core" ( +2 "manipulator"&p& +4 "core" &I V  + "storage"(u& +4 "core" & w x B\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&i' +94 "core" ' +2 "storage"(\ & +4 "core" & \\\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(G'e +277 "core" ' + "storage"()- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (& +3 "core" & ~\  + "manipulator"&S& +4 "core" &I ~ H  +2 .tElbow.seek 3 + "manipulator"&\\(D +4 "core" ( + "manipulator"&& +4 "core" &I    + "storage"(P& +4 "core" & [\  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&W'y +23 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +53 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&O& +2 "storage"(<'N +7 "core" &I T ] ;  +2 "manipulator"&v% +4 "core" % p T \\ S +2 .tForearm.seek :retract + "manipulator"&o'\ +96 "core" ' +2 .tElbow.seek CC +2 "manipulator"&h( +149 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +3 "core" ( + "manipulator"&& +4 "core" &" :. +2 .tElbow.reconfigure :loose +51 "manipulator"&$ &.,(#b +3 && +3 "core" &" r :. +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&f'| +107 "core" ' +2 "manipulator"&& +4 "core" &# o :. +2 "manipulator"& % +4 "core" %{ w x . +2 "collection"'k& +4 "core" &\ +2 "collection"'0& +5 "core" & \ +2 .tCC.seek :closed +2 "collection"'r(] +4 "core" &\  +9 &4\ +{ +9 &d\ > +10 &\\s\ N +9 & V\ M +9 &X\ L +10 &X\ M +9 &!gW\ M +10 &#)W\ M +9 &$Y\ M +9 &&[\ M +10 &(oW\ M +9 &*2W\ L +9 &+Y\ M +10 &-Z\ M +9 &/wZ\ M +10 &19W\ M +9 &2W\ L +9 &4W\ L +10 &6W\ L +9 &8AU\ M +9 &:Y\ M +10 &;Y\ L +9 &=W\ M +9 &?JW\ L +10 &A W\ L +9 &BX\ M +10 &DU\ M +9 &FQW\ M +9 &H]\ M +10 &Im\ O +9 &K\ R +9 &M> \ V +10 &N \ X +9 &P \ X +10 &R| \ Y +9 &T;\ Z +9 &U\ [ +10 &W \ [ +9 &Y{ \ \\ +9 &[: \ ] +10 &\\y \ > +9 &]~\ , +10 &]j \ G +2 ( + "collection"'0& +4 #tCollection Clamp onSpring/offSpring for 9/25 samples, on/off torque 2.13 + .Hand.open +2 "manipulator"&1 +58 "core" 1 + "manipulator"&% +4 "core" % { q +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&.'\ +98 "core" ' + #tLoading generic puck from tube 3 into Processing Clamp +2 "processing"%}& +4 "core" &\ +2 "manipulator"&!% +3 "core" %\ 3 c %x +2 "storage"(%% +4 "core" %>  \  + "storage"(. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 + "storage"(2( +3 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (& +4 "core" &< :\  + "manipulator"&"& +4 "core" &" e 9) +2 "manipulator"& % +4 "core" %\ 3 %x +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&~(D +156 "core" ( +2 "manipulator"&7& +4 "core" &J 7  +2 "storage"(`& +4 "core" & I G \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&' +101 "core" ' + "storage"( & +4 "core" & a a\  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(s'e +282 "core" ' + "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (|& +3 "core" & ; G s\  + "manipulator"&-& +4 "core" &I   +2 .tElbow.seek 3 + "manipulator"&Z(D +3 "core" ( +2 "manipulator"&'& +4 "core" &I l (  + "storage"(& +4 "core" & a a\  +2 .tForearm.seek 3 + 300 counts + "manipulator"&'y +21 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&J/ +61 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"(?'N +7 "core" &I R R   +2 "manipulator"&N% +4 "core" % z Q R  +2 .tForearm.seek :retract + "manipulator"&n'\ +89 "core" ' +2 .tElbow.seek PC +2 "manipulator"&z(c +161 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +74 "core" ( +2 "manipulator"&=& +4 "core" &o o ' % +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &R& +3 "core" &o z y U % +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&y'[ +106 "core" ' + "manipulator"&>& +5 "core" &o f T  % + "manipulator"&&% +4 "core" %O a b +2 "processing"%@& +4 "core" &#\ +2 "processing"%x& +5 "core" &\ +2 .tPC.seek :closed + "processing"%(Z +5 "core" &\  +9 &1~\ *x +9 &d\ > +10 &Dw\ N +9 & V\ L +10 &\\\ M +9 &W\ L +9 &!MZ\ M +10 &#V\ L +9 &$X\ M +9 &&\\\ M +10 &(VZ\ M +9 &*Z\ M +10 &+U\ M +9 &-W\ L +9 &/^Z\ M +10 &1 [\ M +9 &2\\\ M +9 &4Z\ M +10 &6fZ\ M +9 &8(W\ M +10 &9U\ M +9 &;W\ M +9 &=oY\ L +10 &?/[\ M +9 &@Z\ L +9 &BZ\ M +10 &DuZ\ M +9 &F7Z\ M +10 &Ge\ N +9 &Ip\ O +9 &Kp~\ Q +10 &M-\ S +9 &N\ T +9 &P\ S +10 &Rq\ T +9 &T3\ T +10 &U\ T +9 &W\ T +9 &Yw\ A +10 &Zy=\ [ +9 &Z\ ( +2 ( +2 "processing"%x& +3 #tProcessing Clamp onSpring/offSpring for 9/25 samples, on/off torque 1.63 + .Hand.open +2 "manipulator"&Q1 +52 "core" 1 + "manipulator"&% +5 "core" % O [ X ? +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"& '\ +91 "core" ' + "processing"%C& +4 "core" &Z\ ( +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 +2 "manipulator"&1% +3 "core" %\ * 3 !W +2 "storage"(b% +4 "core" %:  ) 8\  + "storage"($. +3 "core" .( +2 "storage"(& +3 "core" & ( 4 =\  +2 "storage"(& +2 "manipulator"&M& +7 "core" &   7\  + &o & % +3 ."raiseStack"SE.reconfigure :place +2 .tElbow.reconfigure :tight +5 "storage"(#]kK-0-\ b +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +2 "manipulator"&(c +2 ."raiseStack"SE.seek :beamBreak +2 "storage"(5'e +4 "core" ( + "manipulator"&l& +4 "core" &m a  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &6& +3 "core" &m "  +2 .tForearm.seek PC + "manipulator"&e'[ +96 "core" ' + .tHand.close +2 "manipulator"&(/ +64 "core" / +2 .tPC.seek :open +2 "processing"%#(p +86 "core" ' + "storage"(I- +4 "core" -'e + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place + "storage"(_'B +35 "core" ' +255 ( +2 "storage"(K& +4 "core" & P A A\  + "manipulator"&]& +4 "core" &m E  +2 "manipulator"&U% +4 "core" % Q D +2 .tForearm.seek :retract +2 "manipulator"&q'\ +100 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&(D +250 "core" ( + "manipulator"&& +5 "core" &? 9 "y + "storage"(m& +4 "core" &   \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&3' +93 "core" ' +2 .tHand.open + "manipulator"&/1 +63 "core" 1 +2 "storage"(B- +3 "core" -'B +3 .tSE.seek -0.16 Pucks below Top Plate + "storage"(;' +25 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(d' +49 "core" ' +2 #tLights, camera, ACTION! + "storage"(9- +4 "core" -' + "storage"(A& +4 "core" & \  +2 "manipulator"&w& +4 "core" &?  y 0 "y + .tElbow.seek 3 +2 "manipulator"&^(D +3 "core" ( +2 "manipulator"&[& +4 "core" &? ! "y + "storage"(F& +4 "core" & n\  +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&:' +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"(V'M +60 "core" ' +2 "manipulator"&Y& +4 "core" &?  > "y +2 "storage"(*& +4 "core" & < = &\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 + "manipulator"&8'M +33 "core" ' +2 .tElbow.hold + "manipulator"&a, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"(T'7 +22 "core" ' +2 "manipulator"&X% +4 "core" %aY / / < ˱ +2 "storage"(j& +4 "core" & \  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 3 + 320 counts +2 "manipulator"&'ύ +24 "core" ' +2 "manipulator"&t& +4 "core" & Q Y O + +2 "storage"(,& +4 "core" & b b\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&E' +12 "core" ' + "storage"(% +5 "core" %A a a\  +2 ."downElevator"SE.seek :down +53 "storage"(H'N +49 (L% +3 "core" %@ - 8 \ V` +2 "manipulator"&{% +4 "core" % v  # +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&g'\ +88 "core" ' +115 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (p& +4 "core" & 9 / \  +2 "collection"'u& +4 "core" &]d \ G +2 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&\ % +4 "core" %\ )  J +2 "storage"(4% +3 "core" %R K J '\ +2 "storage"(+. +3 "core" .( +2 "storage"()& +4 "core" & J J\  + "storage"(& +4 "core" & J J\  +2 "manipulator"&S& +4 "core" &  * + .tElbow.seek 3 +2 "manipulator"&(D +32 "core" ( + "manipulator"&P& +4 "core" &? s +2 "storage"(& +4 "core" & ] Q H\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&O' +95 "core" ' +2 "storage"(v& +4 "core" & a b\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(D'e +282 "core" ' +2 "storage"(i- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +2 "core" &? } C +2 "storage"(& +4 "core" & Z = 3\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&G'M +31 "core" ' + .tElbow.hold +2 "manipulator"&W, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(\\- +2 "core" -' +2 .tSE.seek 0.12 Pucks below Top Plate +2 "storage"('r +28 "core" ' +2 "manipulator"& % +3 "core" %`Y  S ȱ +2 "storage"(k& +4 "core" & [\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 319 counts + "manipulator"&<'ό +17 "core" ' +2 "manipulator"&o& +4 "core" & C `  +2 "storage"(c& +4 "core" & a `\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&' +10 "core" ' +2 .tSE.seek 1.12 Pucks below Top Plate +2 "storage"('a +41 "core" ' +2 "manipulator"&}& +4 "core" & \\ _ g  +2 "manipulator"&!% +4 "core" % ] T % 5 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&%'\ +87 "core" ' +2 .tElbow.seek CC + "manipulator"&( +151 "core" ( +2 "manipulator"&0& +4 "core" &% V <; + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &% > <; +2 .tForearm.seek CC +2 "manipulator"&"'| +99 "core" ' + .tHand.close + "manipulator"& / +58 "core" / +2 .tCC.seek :open +2 "collection"'f(p +409 "core" ( + "storage"(7& +4 "core" & \\ U \  +2 "storage"(`& +4 "core" & a a\  + "manipulator"&& +4 "core" &# < ;6 + "manipulator"& % +4 "core" % { 3 +2 .tForearm.seek :retract + "manipulator"&h'\ +99 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 + "manipulator"&.(D +167 "core" ( +2 "manipulator"&& +4 "core" &B  A +2 "storage"(|& +4 "core" & y y \  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 3 +2 "manipulator"&-'M +112 "core" ' + .tElbow.hold +2 "manipulator"&', +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&1 +55 "core" 1 +2 "manipulator"&J% +5 "core" % Yn   Ʒ + "storage"(& +4 "core" & 1 1 i\  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 312 counts + "manipulator"&N'υ +17 "core" ' + "manipulator"&~& +5 "core" & M ]  # + "storage"(& +4 "core" & _\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&s' +20 "core" ' +2 "storage"(% +4 "core" %f z G\ +2 ."downElevator"SE.seek :down +4 "storage"(='N +98 (R% +3 "core" %*: \ U[ +2 "manipulator"&Z% +4 "core" % U S   +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&>'\ +90 "core" ' +51 ' + ."downElevator"SE.stop +2 "storage"(5 +2 #tShuffling pucks in tube 4 of [2..4] +2 #Loading generic puck from tube 4 into Collection Clamp + "collection"'&& +5 "core" &\ + "manipulator"&@% +4 "core" %\ / ` !W +2 "storage"(?% +4 "core" %9 w H\  + "storage"(n. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 + "storage"( (, +353 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (Q& +3 "core" &, J J \  + "manipulator"&& +4 "core" & W # +2 .tElbow.seek 4 + "manipulator"&C(* +35 "core" ( +2 "manipulator"&1& +4 "core" &(   + "storage"(b& +4 "core" &, }\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&$' +99 "core" ' +2 "storage"(& +4 "core" &,  \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(M'e +280 "core" ' + "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (x& +3 "core" &, p \  +2 "manipulator"&l& +3 "core" &' t   +2 .tElbow.seek 4 +2 "manipulator"&6(* +3 "core" ( + "manipulator"&y& +4 "core" &'   + "storage"((& +4 "core" &, \  +3 .tForearm.seek 4 + 300 counts + "manipulator"&I'Z +21 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&z/ +58 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"& & +2 "storage"('N +7 "core" &' S Q 9  + "manipulator"&K% +4 "core" % Z Q Q +2 .tForearm.seek :retract +2 "manipulator"&]'\ +92 "core" ' + .tElbow.seek CC +2 "manipulator"&5( +152 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +12 "core" ( + "manipulator"&U& +5 "core" &+ p Bi + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &e& +3 "core" &+ B Bh +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&'| +105 "core" ' +2 "manipulator"&m& +4 "core" &, _ Bg +2 "manipulator"&% +4 "core" %τ ] +2 "collection"'/& +4 "core" &\ +2 "collection"'B& +5 "core" &\ +2 .tCC.seek :closed + "collection"'9(] +5 "core" &\ +7 &>\ %f +9 &tW\ 8 +10 &x\ L +9 &U\ M +9 &QT\ M +10 &U\ M +9 & W\ M +10 &"V\ M +9 &$YU\ M +9 &&U\ M +10 &'V\ M +9 &)W\ M +9 &+aU\ M +10 &-#Y\ M +9 &.W\ M +10 &0W\ M +9 &2iV\ M +9 &4+V\ M +10 &5T\ M +9 &7W\ M +9 &9qU \ M +10 &;2X\ M +9 &<T\ M +10 &>U\ M +9 &@yV\ M +9 &B;V\ M +10 &CV\ L +9 &EV\ M +9 &GW\ M +10 &I?`\ N +9 &Jk\ P +10 &L}\ R +9 &No\ V +9 &P+\ X +10 &Q \ X +9 &S\ Y +9 &Uj \ Z +10 &W, \ Z +9 &X \ [ +9 &Z \ \\ +10 &\\n \ H +9 &]k7 \ %p +10 &]P \ B +2 ( +2 "collection"'B& +3 #tCollection Clamp onSpring/offSpring for 10/26 samples, on/off torque 2.06 + .Hand.open +2 "manipulator"&A1 +54 "core" 1 +2 "manipulator"&w% +4 "core" % ρ  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&['\ +100 "core" ' + #tLoading generic puck from tube 4 into Processing Clamp +2 "processing"%F& +4 "core" &\ + "manipulator"&q% +4 "core" %\ 3 D %w +2 "storage"(Y% +4 "core" %F 8 /\ + "storage"(*. +3 "core" .(, +2 "storage"(X& +3 "core" &,   E\  +2 "storage"(_& +4 "core" &,   ?\  + "manipulator"&j& +4 "core" &) : @[ +2 "manipulator"&;% +3 "core" %\ 3 V %w +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 + "manipulator"&t(* +158 "core" ( +52 "manipulator"&,& +4 "core" &2 7 \ +2 "storage"(& +3 "core" &, ` _ 8\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&' +97 "core" ' +2 "storage"(3& +4 "core" &, [ _ \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(d'e +280 "core" ' + "storage"(L- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 ({& +3 "core" &, d a\  + "manipulator"&:& +4 "core" &4  & \ +2 .tElbow.seek 4 + "manipulator"&^(* +4 "core" ( + "manipulator"&V& +4 "core" &4  \ +2 "storage"(8& +3 "core" &, a a\  +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&'Z +26 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&T/ +53 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&p& +2 "storage"(u'N +7 "core" &4 W S W \ +2 "manipulator"&\ % +4 "core" % n U R  +2 .tForearm.seek :retract + "manipulator"&4'\ +96 "core" ' +2 .tElbow.seek PC +2 "manipulator"&+(c +155 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +85 "core" ( +2 "manipulator"&)& +4 "core" &k  1 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &k  1 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&S'[ +112 "core" ' + "manipulator"&P& +4 "core" &k Q c 2 1 +2 "manipulator"&% +4 "core" %\\ a ` +2 "processing"%E& +4 "core" &\ +2 "processing"%v& +5 "core" &\ +2 .tPC.seek :closed + "processing"%H(Z +5 "core" &\ +7 &8W\ $e +9 &wW~\ 7 +10 &{\ K +9 &U\ M +10 &LZ\ M +9 &W\ L +9 & Z\ M +10 &"Y\ M +9 &$T\\\ M +9 &&Z\ M +10 &'W\ L +9 &)Y\ L +10 &+]X\ L +9 &-Y\ M +9 &.Z\ M +10 &0W\ M +9 &2d\\\ M +9 &4'V\ L +10 &5X\ M +9 &7V\ M +10 &9lV\ M +9 &;.[\ M +9 &<Y\ M +10 &>[\ M +9 &@uZ\ L +9 &B6Y\ M +10 &CZ\ M +9 &EZ\ M +10 &Gyc\ N +9 &I7m\ O +9 &J\ Q +10 &L\ S +9 &Nn\ T +9 &P2\ S +10 &Q\ T +9 &S\ T +10 &Uu\ T +9 &W6\ U +9 &X\ T +10 &ZRJh\ 'r +9 &Z5\ - +5 ( +2 "processing"%v& +4 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.62 + .Hand.open +2 "manipulator"&a1 +3 "core" &Z \ - +54 1 +2 "manipulator"&g% +4 "core" % f f N  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&i'\ +101 "core" ' + "processing"%& +4 "core" &Z \ - +2 #tImaging generic puck in Processing Clamp while storing it to tube 4 + "manipulator"&% +4 "core" %\ :  ( +2 "storage"(\\% +3 "core" %7   l\  +2 "storage"( . +3 "core" .(, + "storage"(k& +5 "core" &,  % =\  +2 "storage"(o& +4 "manipulator"&c& +4 "core" &, $  \  + &k + 1 +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +5 "storage"(#]kK-0-\ b + "manipulator"&}(c +6 ."raiseStack"SE.seek :beamBreak +2 "storage"(!'e +2 "core" ( +2 "manipulator"&O& +4 "core" &k  1 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &k  1 +2 .tForearm.seek PC +2 "manipulator"&D'[ +100 "core" ' +2 .tHand.close + "manipulator"&G/ +60 "core" / +2 .tPC.seek :open + "processing"%<(p +87 "core" ' + "storage"(- +4 "core" -'e + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place + "storage"(0'B +35 "core" ' +213 "Can" WT +45 "core" ( +2 "storage"(& +4 "core" &, R N\  + "manipulator"&& +4 "core" &k w w 9 1 +2 "manipulator"&W% +4 "core" % i w w Q +2 .tForearm.seek :retract + "manipulator"& '\ +101 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&%(* +255 "core" ( + "manipulator"&r& +4 "core" &6 2 d +2 "storage"(7& +4 "core" &, J J\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&`' +107 "core" ' +2 .tHand.open + "manipulator"&1 +53 "core" 1 +2 "storage"( - +4 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate +2 "storage"(' +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.83 Pucks below Top Plate + "storage"(|' +51 "core" ' +2 #tLights, camera, ACTION! + "storage"("- +4 "core" -' + "storage"(& +4 "core" &, C\  +2 "manipulator"&& +4 "core" &7 ~ s 0 c + .tElbow.seek 4 +2 "manipulator"&J(* +30 "core" ( +2 "manipulator"&& +4 "core" &4 j V l ~ + "storage"(~& +4 "core" &, I\  +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&' +4 "core" ' + .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"('M +63 "core" ' + "manipulator"&h& +5 "core" &4 R S  ~ + "storage"(R& +4 "core" &, h e V\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&Z'. +35 "core" ' + .tElbow.hold +2 "manipulator"&., +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.07 Pucks below Top Plate + "storage"(-'7 +24 "core" ' +2 "manipulator"&&% +4 "core" %?R   Ȱ +2 "storage"(N& +4 "core" &,\ \ \  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 4 + 317 counts +2 "manipulator"&@'k +16 "core" ' +2 "manipulator"&?& +4 "core" & Z O & +2 "storage"(n& +4 "core" &, x w \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&' +23 "core" ' + "storage"(s% +4 "core" %? z y 2\ +2 ."downElevator"SE.seek :down +4 "storage"(='N +99 (2% +2 "core" %; K ] I\ U] +2 "manipulator"&Q% +4 "core" % V ` +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +95 "core" ' +57 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (1& +4 "core" &, G ? [\  +2 "collection"'b& +4 "core" &]U \ B + #tStoring generic puck in Collection Clamp to tube 4 +2 "manipulator"&% +4 "core" %\ 3  % + "storage"('% +4 "core" %O X = [\ + "storage"(>. +3 "core" .(, +2 "storage"(& +4 "core" &, Q a A\  + "storage"(x& +4 "core" &, ` `\  +2 "manipulator"&l& +4 "core" &  + .tElbow.seek 4 +2 "manipulator"&y(* +28 "core" ( +2 "manipulator"&(& +4 "core" &: = # +2 "storage"(z& +4 "core" &, > = \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"& ' +101 "core" ' + "storage"(K& +4 "core" &, a b\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(C'e +363 "core" ' + "storage"($- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&U& +3 "core" &J z y 0 !t +2 "storage"(e& +3 "core" &, a a\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&M'. +34 "core" ' +2 .tElbow.hold + "manipulator"&I, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(m- +2 "core" -' +3 .tSE.seek 0.12 Pucks below Top Plate + "storage"(6'u +38 "core" ' +2 "manipulator"&% +4 "core" %?O 9 : * ͯ + "storage"(/& +4 "core" &, \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 317 counts + "manipulator"&'k +16 "core" ' +50 "manipulator"&]& +6 "core" & t ? * + "storage"(f& +4 "core" &, a a\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&A' +18 "core" ' +2 .tSE.seek 1.12 Pucks below Top Plate + "storage"(w'd +52 "core" ' + "manipulator"&F& +5 "core" & t e ? * + "manipulator"&q% +4 "core" % r } Z +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&Y'\ +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&*( +140 "core" ( + "manipulator"&X& +5 "core" &  / + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &B& +2 "core" &  / +2 .tForearm.seek CC +2 "manipulator"&_'| +96 "core" ' + .tHand.close +2 "manipulator"&j/ +59 "core" / +2 .tCC.seek :open +2 "collection"';(p +412 "core" ( + "storage"(& +4 "core" &, y x 5\  +2 "storage"(,& +4 "core" &, w w \  + "manipulator"&& +4 "core" & y / + "manipulator"&5% +4 "core" % z I +2 .tForearm.seek :retract +2 "manipulator"&3'\ +103 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&[(* +158 "core" ( + "manipulator"&L& +5 "core" &5 v  + "storage"({& +4 "core" &, w @\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 4 + "manipulator"&:'. +114 "core" ' + .tElbow.hold +2 "manipulator"&V, +68 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&81 +53 "core" 1 +2 "manipulator"&T% +5 "core" % B`   Ƴ + "storage"(p& +4 "core" &, & '\  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 4 + 320 counts +2 "manipulator"&\ 'n +16 "core" ' + "manipulator"&t& +5 "core" & e R  + "storage"(& +4 "core" &, | \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&d' +23 "core" ' + "storage"(% +5 "core" %f {\ +2 ."downElevator"SE.seek :down +4 "storage"()'N +98 (% +3 "core" %,8 \ SW +2 "manipulator"&^% +3 "core" % T S 7 +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&P'\ +101 "core" ' +40 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 2 of [2..4] +2 #Loading generic puck from tube 2 into Collection Clamp + "collection"'& +5 "core" &\ + "manipulator"&E% +4 "core" %\ V W P  +2 "storage"(u% +4 "core" %? {\ + "storage"(4. +3 "core" .(, +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"(#(  +672 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (a& +3 "core" &  s b \ +2 "manipulator"&g& +3 "core" & U V ]  +2 .tElbow.seek 2 +2 "manipulator"&(; +17 "core" ( +2 "manipulator"&& +4 "core" &6 [ w a a +2 "storage"(\\& +4 "core" &  \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"& 'Ѐ +93 "core" ' + "storage"(k& +5 "core" &  x \ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(v'e +279 "core" ' +2 "storage"(c- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (o& +2 "core" & u x \ +2 "manipulator"&O& +4 "core" &6 5 a + .tElbow.seek 2 +2 "manipulator"&(; +3 "core" ( +2 "manipulator"&S& +4 "core" &6 q N a + "storage"(G& +4 "core" & w x +\ +2 .tForearm.seek 2 + 300 counts + "manipulator"&' +25 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&+/ +56 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&i& + "storage"(H'N +8 "core" &6 V a a + "manipulator"&% +5 "core" %  X ` A + .tForearm.seek :retract +2 "manipulator"&'\ +97 "core" ' +2 .tElbow.seek CC +2 "manipulator"&!( +149 "core" ( +2 "manipulator"&W& +5 "core" ' + && * =B + ."downElevator"SE.stop +3 .tElbow.reconfigure :loose +3 "storage"(5 + "manipulator"&$ &.,(#b +4 &D& +3 "core" &&  =B +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&r'| +113 "core" ' +2 "manipulator"&7& +4 "core" && o S =A +2 "manipulator"&}% +4 "core" %r y  +2 "collection"'& +4 "core" &\ +2 "collection"' & +5 "core" &\ +2 .tCC.seek :closed +2 "collection"'"(] +4 "core" &\  +9 &2}\ )w +9 &d\ > +9 &Ev\ N +10 & V\ M +9 &\\\ M +9 &W\ M +10 &!PX\ L +9 &#X\ M +10 &$U\ M +9 &&X\ L +9 &(WW\ M +10 &*U\ M +9 &+V\ L +9 &-W\ L +10 &/_W\ M +9 &1!W\ M +9 &2V\ M +10 &4Y\ M +9 &6gT\ M +10 &8*V\ L +9 &9U\ M +9 &;V\ L +10 &=n[\ M +9 &?2V\ L +9 &@X\ M +10 &BZ\ M +9 &DwU\ M +10 &F9U\ M +9 &GY\ M +9 &Ie\ N +10 &Kuq\ P +9 &M*\ U +9 &N \ W +10 &P \ W +9 &Rd\ Y +10 &T& \ Y +9 &U\ Z +9 &W \ Z +10 &Yb\ \\ +9 &[%\ \\ +9 &\\{ \ 7 +10 &]$  \ #h +9 &]e \ M +2 ( +2 "collection"' & +3 #tCollection Clamp onSpring/offSpring for 9/25 samples, on/off torque 2.10 +2 .Hand.open + "manipulator"&1 +61 "core" 1 +2 "manipulator"&% +4 "core" % r w  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +3 "manipulator"& '\ +92 "core" ' + #tLoading generic puck from tube 2 into Processing Clamp +2 "processing"%& +4 "core" &\ +2 "manipulator"&~% +3 "core" %\ -  "_ +2 "storage"(h% +4 "core" %P   \  + "storage"(R. +3 "core" .(  + "storage"(0& +4 "core" &   v\ +2 "storage"(&& +4 "core" & 3 ( K\ + "manipulator"&& +4 "core" &# $ :. + "manipulator"&N% +4 "core" %\ - 1 "_ +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 + "manipulator"&?(; +175 "core" ( +2 "manipulator"&n& +4 "core" &C\ T + "storage"(%& +4 "core" & M M \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&s'Ѐ +94 "core" ' +2 "storage"(`& +4 "core" & a `\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(|'e +277 "core" ' + "storage"(2- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (Q& +3 "core" &  I = \ +2 "manipulator"&& +3 "core" &D\ w w W S +2 .tElbow.seek 2 + "manipulator"&J(; +3 "core" ( +2 "manipulator"&& +3 "core" &D\ k ~  S +2 "storage"(Z& +4 "core" &  B @ U\ +2 .tForearm.seek 2 + 300 counts + "manipulator"&@' +11 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&1/ +53 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&b& +2 "storage"('N +8 "core" &D\ w J S + "manipulator"&'% +4 "core" %   L +2 .tForearm.seek :retract +2 "manipulator"&>'\ +100 "core" ' +2 .tElbow.seek PC +2 "manipulator"&(c +153 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +112 "core" ( +2 "manipulator"&-& +5 "core" &b   + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &x& +2 "core" &b { j  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&l'[ +98 "core" ' +2 "manipulator"&(& +4 "core" &c   + "manipulator"&z% +4 "core" %e K +2 "processing"%& +4 "core" &B\ +2 "processing"%K& +5 "core" &>\ +2 .tPC.seek :closed + "processing"%=(Z +5 "core" &|\ +6 & .{\ $c +61 &]V}N\ 7 +9 &yT\ K + &nU\ M + &1W\ M + &X\ L +2 & Z\ M + &"wV\ M + &$9W\ M +7 &%W\ M +10 &'W\ M +9 &)Z\ M +10 &+BW\ L +9 &-Y\ M +9 &.Y\ M +10 &0X\ M +9 &2HX\ M +9 &4\ V\ M +10 &5V\ M +9 &7W\ L +10 &9PW\ M +9 &;X\ M +9 &<U\ M +10 &>Y\ M +9 &@WY\ M +9 &BW\ M +10 &CW\ M +9 &EX\ N +10 &G^\\\ N +9 &I`\ N +9 &Jm\ P +10 &L~\ R +9 &NT\ T +9 &P\ T +10 &Q\ T +9 &S\ T +10 &UZ\ T +9 &W\ U +9 &X\ T +10 &Z;Oq\ , +9 &Z[\ 7 +9 ( +2 "processing"%K& +4 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.59 + .Hand.open +2 "manipulator"&.1 +3 "core" &Z2\ 5 +60 1 + "manipulator"&% +4 "core" % e I +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&$'\ +100 "core" ' +2 "processing"%U& +4 "core" &Z2\ 5 + #tImaging generic puck in Processing Clamp while storing it to tube 2 +2 "manipulator"&e% +4 "core" %\ 5 h & + "storage"(m% +4 "core" %C\ !\ \ + "storage"(. +4 "core" .(  + "storage"(/& +4 "core" & \ !\ ! \ +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"(](  +36 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (f& +3 "manipulator"&F& +4 "core" &  \ ( +2 &j L  +2 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +3 "storage"(#]kK-0-\ b + "manipulator"&q(c +6 ."raiseStack"SE.seek :beamBreak +2 "storage"( 'e +3 "core" ( + "manipulator"&y& +4 "core" &j B  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &C& +4 "core" &j N  +2 .tForearm.seek PC + "manipulator"&M'[ +93 "core" ' + .tHand.close +2 "manipulator"&/ +58 "core" / +2 .tPC.seek :open +2 "processing"%6(p +92 "core" ' + "storage"(X- +4 "core" -'e + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place + "storage"(B'B +37 "core" ' +253 ( +2 "storage"(A& +4 "core" &  J @ V\ 6 +2 "manipulator"&I& +3 "core" &j x w 3  +2 "manipulator"&j% +4 "core" % k x w 3 +2 .tForearm.seek :retract + "manipulator"&Y'\ +101 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&9(; +250 "core" ( + "manipulator"&& +5 "core" &8 % % + "storage"(,& +4 "core" &  % '\ 6 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&'Ѐ +98 "core" ' +2 .tHand.open + "manipulator"&51 +64 "core" 1 +2 "storage"(L- +4 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate +2 "storage"({' +22 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.83 Pucks below Top Plate + "storage"(_' +52 "core" ' +2 #tLights, camera, ACTION! + "storage"(*- +4 "core" -' + "storage"(8& +4 "core" &  %\ 8 +2 "manipulator"&T& +4 "core" &8 ! % +2 .tElbow.seek 2 + "manipulator"&p(; +4 "core" ( + "manipulator"&t& +4 "core" &8  % + "storage"(& +4 "core" &  } { u\ 8 +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&3'Ѐ +16 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"('M +59 "core" ' +2 "manipulator"&[& +4 "core" &8   % + "storage"(& +4 "core" &  M L \ 8 +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&^'ξ +35 "core" ' + .tElbow.hold +2 "manipulator"&:, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate + "storage"('7 +29 "core" ' + "manipulator"&\ % +5 "core" %X $ %  ʱ + "storage"(E& +4 "core" &  X\ 8 +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 311 counts + "manipulator"&u' +17 "core" ' +2 "manipulator"&4& +4 "core" &T V _ A !w +2 "storage"(w& +4 "core" &  ` a %\ 8 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&d'Ѐ +20 "core" ' + "storage"()% +5 "core" %> c b\ +2 ."downElevator"SE.seek :down +4 "storage"( 'N +98 (a% +3 "core" %0< G I \ U^ +2 "manipulator"&g% +4 "core" %V V V E " +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +88 "core" ' +62 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (\\& +4 "core" &  7 ( X\ 8 +2 "collection"'k& +4 "core" &]c \ M +2 #tStoring generic puck in Collection Clamp to tube 2 + "manipulator"&V% +4 "core" %\ +  !U + "storage"(P% +4 "core" %9 L L\  +2 "storage"(c. +3 "core" .(  + "storage"(o& +4 "core" &  J K \ 8 +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 + "storage"(O(  +47 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (S& +3 "core" & \ \ \ +2 "manipulator"&G& +4 "core" &T  !w + .tElbow.seek 2 +2 "manipulator"&+(; +36 "core" ( +2 "manipulator"&i& +4 "core" &5 u Y ? +2 "storage"(& +4 "core" &  ? = 3\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&'Ѐ +93 "core" ' + "storage"( & +4 "core" &  a b\ +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(W'e +284 "core" ' + "storage"(D- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&v& +3 "core" &5 t [ ? +2 "storage"(& +3 "core" &  ` Z \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&7'ξ +34 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(}- +2 "core" -' +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"('c +27 "core" ' +2 "manipulator"&H% +4 "core" %P # #  ɯ + "storage"(& +4 "core" &  =\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 310 counts + "manipulator"&;' +21 "core" ' + "manipulator"&& +4 "core" &6 d a  > +2 "storage"(& +4 "core" &  a ` 4\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&'Ѐ +21 "core" ' +2 .tSE.seek 1.11 Pucks below Top Plate +2 "storage"(~'R +41 "core" ' + "manipulator"&h& +5 "core" &6 V ^ T > + "manipulator"&R% +4 "core" %П T U G +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&0'\ +88 "core" ' +2 .tElbow.seek CC + "manipulator"&&( +158 "core" ( +2 "manipulator"& & +4 "core" &% a <= + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &% [ <= +2 .tForearm.seek CC + "manipulator"&N'| +102 "core" ' +2 .tHand.close + "manipulator"&r/ +64 "core" / +2 .tCC.seek :open +2 "collection"'n(p +409 "core" ( + "storage"(%& +4 "core" &  x h S\ +2 "storage"(`& +3 "core" &  V ]\ +2 "manipulator"&!& +4 "core" &# % ;5 + "manipulator"& % +4 "core" % ψ k +2 .tForearm.seek :retract + "manipulator"&2'\ +99 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&Q(; +167 "core" ( +2 "manipulator"&& +4 "core" &/\  ] + "storage"(& +4 "core" &  y x /\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 2 +51 "manipulator"&Z'ξ +112 "core" ' +2 .tElbow.hold + "manipulator"&1, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&b1 +56 "core" 1 +2 "manipulator"&'% +4 "core" % k   Ŷ + "storage"(?& +4 "core" &    \ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 311 counts + "manipulator"&s' +19 "core" ' +2 "manipulator"&|& +4 "core" &j f R " +2 "storage"(@& +4 "core" &  x w &\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&-'Ѐ +18 "core" ' + "storage"(x% +5 "core" %U ~\ +2 ."downElevator"SE.seek :down +4 "storage"(J'N +98 ((% +3 "core" %9B E\ U] +2 "manipulator"&z% +4 "core" % _ V _ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +88 "core" ' +53 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 3 of [2..4] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"'& +4 "core" &j\ +2 "manipulator"&>% +4 "core" %\ * ? !O +2 "storage"(<% +4 "core" %E \ + "storage"(.. +3 "core" .(  +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 + "storage"(( +364 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (U& +2 "core" & "  *\  +2 "manipulator"&e& +4 "core" &j : " + .tElbow.seek 3 +2 "manipulator"&m(D +21 "core" ( + "manipulator"&& +5 "core" &8 u  + "storage"(K& +4 "core" & |\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&/' +94 "core" ' + "storage"(F& +4 "core" &  $\  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(f'e +281 "core" ' +2 "storage"(y- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (C& +2 "core" & v { )\  +2 "manipulator"&l& +4 "core" &8  +2 .tElbow.seek 3 + "manipulator"&(D +27 "core" ( + "manipulator"&#& +4 "core" &:\ ` b V +3 "storage"(X& +4 "core" & { x \  +2 .tForearm.seek 3 + 300 counts + "manipulator"&'y +11 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&$/ +52 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&=& + "storage"(A'N +7 "core" &:\  V +2 "manipulator"&I% +3 "core" % t C  +2 .tForearm.seek :retract +2 "manipulator"& '\ +102 "core" ' +2 .tElbow.seek CC + "manipulator"&j( +143 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +6 "core" ( + "manipulator"&M& +4 "core" &' >O +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &' k >O +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&,'| +108 "core" ' + "manipulator"&q& +5 "core" &'  >N + "manipulator"&5% +4 "core" %{ : +3 "collection"'L& +3 "core" &j\ +2 "collection"'*& +6 "core" &\ +2 .tCC.seek :closed + "collection"'8(] +5 "core" &\ +7 &>\ $e +9 &kV~ ~\ 7 +9 &}\ L +10 &R\ M +9 &CT\ L +9 &V\ M +10 & Y\ L +9 &"W\ M +10 &$JX\ M +9 && X\ M +9 &'W\ L +10 &)X\ L +9 &+SW\ L +9 &-Y\ M +10 &.Y\ M +9 &0W\ L +9 &2[W\ L +10 &4X\ M +9 &5V\ M +10 &7U\ L +9 &9bY\ M +9 &;$X\ M +10 &<U\ M +9 &>T\ M +10 &@jT\ M +9 &B,U\ M +9 &CU\ M +10 &ET\ M +9 &GqX\ M +9 &I.f\ O +10 &Jv\ Q +9 &L\ T +9 &N\\\ W +10 &P \ X +9 &Q  \ Y +10 &S \ Y +9 &UW \ [ +9 &W \ [\ +10 &X \ [\ +9 &Z \ ] +9 &\\I \ O +10 &]_6 \ , +9 &]i \ F +6 ( + "collection"'*& +4 #tCollection Clamp onSpring/offSpring for 9/26 samples, on/off torque 2.12 +2 .Hand.open + "manipulator"&T1 +4 "core" &]Z \ F +50 1 + "manipulator"&t% +5 "core" % { u  + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +97 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%Y& +5 "core" &\ + "manipulator"&[% +4 "core" %\ 5 3 & + "storage"(% +4 "core" %C 4 \ +2 "storage"(B. +3 "core" .( + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(\ ( +15 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (E& +3 "core" & 1 ' =\ +2 "manipulator"&{& +4 "core" && O =D + "manipulator"&4% +4 "core" %\ 5 _ & +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&w(D +153 "core" ( + "manipulator"&)& +5 "core" &E W  + "storage"(9& +4 "core" & = X T\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&' +95 "core" ' + "storage"(_& +4 "core" & y w +\ +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(a'e +280 "core" ' +2 "storage"(g- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (3& +2 "core" & a d\ +2 "manipulator"&p& +4 "core" &E U o S  + .tElbow.seek 3 +2 "manipulator"&(D +3 "core" ( +2 "manipulator"&^& +4 "core" &E y U  + "storage"(\\& +4 "core" & a `\ +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&u'y +19 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&k/ +61 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&V& + "storage"(P'N +7 "core" &E ] `  +2 "manipulator"&c% +4 "core" % n \\ S P +2 .tForearm.seek :retract + "manipulator"&o'\ +92 "core" ' +2 .tElbow.seek PC + "manipulator"&(c +162 "core" ' + ."downElevator"SE.stop + "storage"(5 +88 "core" ( + "manipulator"&S& +5 "core" &k + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &G& +2 "core" &k M +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&i'[ +104 "core" ' + "manipulator"&d& +4 "core" &k  +2 "manipulator"&% +4 "core" %c  +2 "processing"% & +4 "core" &}\ +2 "processing"% & +5 "core" &2\ +2 .tPC.seek :closed +2 "processing"%](Z +4 "core" &z\ +7 & 6\ $d +10 &aT{\ 6 +9 &|\ K +9 &lW[\ M +10 &0W\ M +9 &X\ L +9 & Y\ M +10 &"wU\ L +9 &$9W\ L +10 &%U\ M +9 &'W\ L +9 &)W\ L +10 &+AW\ L +9 &-Y\ M +9 &.[\ M +10 &0X\ L +9 &2HY\ M +10 &4 W\ L +9 &5W\ M +9 &7Z\ M +10 &9QW\ L +9 &;X\ M +9 &<Y\ M +10 &>Y\ M +9 &@XY\ M +10 &BV\ M +9 &CW\ L +9 &EY\ M +10 &G]_\ N +9 &Ig\ O +9 &Jw\ Q +10 &L\ S +9 &NR\ T +10 &P\ S +9 &Q\ S +9 &S\ T +10 &UZ\ T +9 &W\ U +9 &X\ U +10 &Z9Lm\ - +9 &ZV\ 4 +5 ( +2 "processing"% & +4 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.61 +2 .Hand.open + "manipulator"&:1 +4 "core" &Z-\ 4 +57 1 + "manipulator"&% +4 "core" % c D +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&D'\ +95 "core" ' + "processing"%v& +4 "core" &Z-\ 4 +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&% +4 "core" %\ , q "\\ +2 "storage"(}% +3 "core" %= 1 . \  +2 "storage"(H. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(( +8 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (& +4 "core" & ' '\  + "manipulator"&& +3 ."raiseStack"SE.reconfigure :place +6 "storage"(#]kK-0-\ b +2 "core" &k  +3 .tElbow.reconfigure :tight +52 "manipulator"&$&.,(\ #b +4 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +2 "storage"(h'e +3 "manipulator"&R(c +4 "core" ( + "manipulator"&& +4 "core" &k N +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &+& +3 "core" &k W +2 .tForearm.seek PC +2 "manipulator"&W'[ +93 "core" ' + .tHand.close +2 "manipulator"&7/ +59 "core" / +2 .tPC.seek :open +2 "processing"%;(p +91 "core" ' + "storage"(- +4 "core" -'e + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place + "storage"( 'B +34 "core" ' +258 ( + "storage"(& +4 "core" & G K \  +2 "manipulator"&& +4 "core" &k * + "manipulator"&% +4 "core" % ^  +2 .tForearm.seek :retract +2 "manipulator"&r'\ +99 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&0(D +269 "core" ( +2 "manipulator"&"& +4 "core" &D  T + "storage"(%& +4 "core" & = G x\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&`' +96 "core" ' + .tHand.open +2 "manipulator"&!1 +59 "core" 1 +2 "storage"( - +4 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate + "storage"(' +25 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(' +51 "core" ' +2 #tLights, camera, ACTION! + "storage"(N- +4 "core" -' + "storage"(&& +4 "core" & \  +2 "manipulator"&b& +3 "core" &D  T +2 .tElbow.seek 3 +2 "manipulator"&'(D +3 "core" ( +2 "manipulator"&?& +4 "core" &D h  T + "storage"(|& +4 "core" & t\  +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&@' +12 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.11 Pucks below Top Plate + "storage"(2'M +66 "core" ' +2 "manipulator"&x& +4 "core" &D ` b T + "storage"((& +4 "core" & a c\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&z'M +33 "core" ' +2 .tElbow.hold + "manipulator"&Q, +5 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"(Z'7 +25 "core" ' +2 "manipulator"&% +4 "core" %^T   Ȱ +2 "storage"(>& +4 "core" &\ \ 9\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 317 counts + "manipulator"&s'ϊ +18 "core" ' +2 "manipulator"&<& +4 "core" & ` f  +2 "storage"(.& +4 "core" & ^ W\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&~' +23 "core" ' + "storage"(-% +5 "core" %A w w \ +2 ."downElevator"SE.seek :down +4 "storage"(J'N +98 (O% +4 "core" %,F O ` :\ V_ +2 "manipulator"&U% +4 "core" % ^ ` & +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&e'\ +97 "core" ' +54 ' + ."downElevator"SE.stop + "storage"(5 +3 (& +4 "core" &  5\  + "collection"'K& +4 "core" &]Z \ F +2 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&F% +4 "core" %\ 5  & + "storage"(1% +4 "core" %@ < <\ +2 "storage"(. +3 "core" .( + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(y( +7 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (C& +4 "core" & @ G L\  + "manipulator"&l& +4 "core" &   +2 .tElbow.seek 3 + "manipulator"&#(D +24 "core" ( + "manipulator"&X& +5 "core" &A l ' + "storage"($& +4 "core" & K K\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&=' +107 "core" ' + "storage"(I& +4 "core" & w w 3\  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(m'e +281 "core" ' +2 "storage"(/- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&M& +2 "core" &C e q 5 ' +2 "storage"(& +4 "core" & ` ` n\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 + "manipulator"&f'M +37 "core" ' + .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(q- +3 "core" -' +2 .tSE.seek 0.12 Pucks below Top Plate + "storage"(5'r +28 "core" ' + "manipulator"&L% +4 "core" %VT 8 < Ͱ +2 "storage"(& +3 "core" & ;\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 309 counts + "manipulator"&A'ς +12 "core" ' + "manipulator"& & +4 "core" &+ { ^ Z * +2 "storage"(n& +4 "core" & a a\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&T' +18 "core" ' +2 .tSE.seek 1.12 Pucks below Top Plate +2 "storage"(t'a +50 "core" ' + "manipulator"&Y& +5 "core" &- g t \ * + "manipulator"&[% +4 "core" % | K  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +92 "core" ' +2 .tElbow.seek CC + "manipulator"&B( +148 "core" ( +2 "manipulator"&*& +4 "core" &# o ;3 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &E& +2 "core" &# 4 ;3 +2 .tForearm.seek CC +2 "manipulator"&{'| +97 "core" ' + .tHand.close +2 "manipulator"&4/ +55 "core" / + .tCC.seek :open +2 "collection"',(p +409 "core" ( + "storage"()& +4 "core" & y x \  +2 "storage"(9& +4 "core" & s e m\  + "manipulator"&& +4 "core" &" 9$ + "manipulator"&_% +4 "core" % ω 3 +2 .tForearm.seek :retract + "manipulator"&j'\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +7 "manipulator"&(D +156 "core" ( + "manipulator"&g& +4 "core" &E n   +2 "storage"(3& +4 "core" & y w \  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 3 + "manipulator"&p'M +109 "core" ' + .tElbow.hold +2 "manipulator"&^, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&\\1 +61 "core" 1 +2 "manipulator"&k% +4 "core" % ^u ù. + "storage"(V& +4 "core" & J J\  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 317 counts + "manipulator"&c'ϊ +18 "core" ' + "manipulator"&w& +4 "core" & P d *  +2 "storage"(& +4 "core" & k o W\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&a' +10 "core" ' +2 "storage"(u% +4 "core" %f g\ +2 ."downElevator"SE.seek :down +3 "storage"(S'N +99 (G% +3 "core" %C O\ U\\ +2 "manipulator"&% +4 "core" % ` \\ 5 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&d'\ +91 "core" ' +47 ' + ."downElevator"SE.stop +2 "storage"(5 +2 #tShuffling pucks in tube 4 of [2..4] +2 #Loading generic puck from tube 4 into Collection Clamp + "collection"'& +5 "core" &\ + "manipulator"& % +4 "core" %\ 1  $o +2 "storage"(P% +3 "core" %7 z\  +2 "storage"(o. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 +51 "storage"(6(, +356 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (:& +3 "core" &, ] J T\  +2 "manipulator"&& +3 "core" &   +2 .tElbow.seek 4 +2 "manipulator"&v(* +36 "core" ( +2 "manipulator"&& +4 "core" &6   +2 "storage"(}& +4 "core" &, \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&H' +102 "core" ' +2 "storage"( & +4 "core" &, X\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('e +283 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" &, \  + "manipulator"&+& +4 "core" &5 ^ _  +2 .tElbow.seek 4 + "manipulator"&i(* +10 "core" ( +2 "manipulator"&7& +4 "core" &* a `   +2 "storage"(\ & +3 "core" &, V\  +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&'Z +27 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +59 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&D& +2 "storage"(]'N +7 "core" &* _ ^  +2 "manipulator"&% +4 "core" % [ U ` # +2 .tForearm.seek :retract + "manipulator"&'\ +93 "core" ' +2 .tElbow.seek CC +2 "manipulator"&h( +150 "core" ' +2 ( + ."downElevator"SE.stop +3 "manipulator"&& + "storage"(5 +7 "core" &  ( , +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &W& +2 "core" &  f , +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&"'| +110 "core" ' +2 "manipulator"&%& +4 "core" &  K , +2 "manipulator"&R% +4 "core" %z  = +2 "collection"'!& +4 "core" &k\ +2 "collection"' & +5 "core" &\ +2 .tCC.seek :closed +2 "collection"'N(] +4 "core" &\ +8 &? \ %f +9 &sX\ 8 +10 &x\ L +9 &S\ L +10 &RZ\ L +9 &W\ L +9 & [\ M +10 &"Y\ M +9 &$ZX\ L +9 &&W\ L +10 &'W\ L +9 &)Z\ M +10 &+bY\ L +9 &-#Y\ M +9 &.Y\ M +10 &0U\ M +9 &2iT\ M +9 &4+Y\ M +10 &5X\ L +9 &7W\ L +10 &9qT\ M +9 &;4T\ L +9 &<U\ L +10 &>Y\ M +9 &@yY\ M +9 &B;Y\ M +10 &CU\ M +9 &ET\ L +9 &GX\ M +10 &I?_\ N +9 &Jk\ O +10 &L{\ Q +9 &No\ V +9 &P, \ W +10 &Q\ W +9 &S \ Y +9 &Uk \ Z +10 &W. \ Y +9 &X \ [ +10 &Z  \ [ +9 &\\o \ H +9 &]l7 \ %n +10 &]Y \ @ +2 ( +2 "collection"' & +2 #tCollection Clamp onSpring/offSpring for 10/26 samples, on/off torque 2.02 +2 .Hand.open + "manipulator"&&1 +56 "core" 1 +2 "manipulator"&b% +4 "core" % z  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&?'\ +97 "core" ' + #tLoading generic puck from tube 4 into Processing Clamp +2 "processing"%|& +4 "core" &\ +2 "manipulator"&r% +4 "core" %\ 5  & + "storage"(x% +4 "core" %@ M M 4\  + "storage"((. +4 "core" .(,~ + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"( (, +2 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (& +3 "core" &, A \  +2 "manipulator"&>& +4 "core" &  : , + "manipulator"&% +4 "core" %\ 5 8 & +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&<(* +174 "core" ( + "manipulator"&.& +4 "core" &5 ^ 9 +2 "storage"(-& +4 "core" &, ? = =\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&0' +95 "core" ' + "storage"(`& +4 "core" &, ^ T \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"('e +278 "core" ' +2 "storage"(O- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (U& +3 "core" &, d a\  +2 "manipulator"&@& +4 "core" &6 }  8 +2 .tElbow.seek 4 + "manipulator"&'(* +16 "core" ( +2 "manipulator"&2& +4 "core" &5 m / \ +2 "storage"(z& +3 "core" &, b `\  +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&s'Z +10 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +61 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&K& +2 "storage"(F'N +7 "core" &5   \ +2 "manipulator"&1% +4 "core" % a ~ ,  +2 .tForearm.seek :retract + "manipulator"&'\ +92 "core" ' +2 .tElbow.seek PC + "manipulator"&Z(c +158 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +92 "core" ( +2 "manipulator"&C& +4 "core" &m < +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &l& +2 "core" &m I +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&X'[ +99 "core" ' +2 "manipulator"&$& +4 "core" &m  +2 "manipulator"&~% +4 "core" %[  + "processing"%I& +4 "core" &\ +2 "processing"%J& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%(Z +4 "core" &^\ +8 & 0\ #b +9 &^V~p\ 7 +10 &yh\ K +9 &qU\ L +9 &4WW\ L +10 &X\ L +9 & Y\ M +10 &"yY\ M +9 &$;Y\ M +9 &%U\ M +10 &'U\ M +9 &)U\ L +9 &+CW\ M +10 &-Z\ M +9 &.W\ M +10 &0W\ L +9 &2LY\ L +9 &4 X\ M +10 &5W\ M +9 &7W\ L +9 &9TW\ L +10 &;Y\ L +9 &<U\ M +10 &>Y\ M +9 &@[]\ M +9 &BV\ M +10 &CU\ M +9 &EY\ L +9 &G_a\ N +10 &Ik\ O +9 &J{\ Q +10 &L\ S +9 &NV\ T +9 &P\ T +10 &Q\ S +9 &S\ T +9 &U^\ T +10 &W\ T +9 &X\ U +10 &Z<Ml\ + +9 &Z 3\ * +5 ( +2 "processing"%J& +4 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.63 + .Hand.open +2 "manipulator"&Q1 +3 "core" &Z\ * +61 1 + "manipulator"&e% +4 "core" % [  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&/'\ +99 "core" ' +2 "processing"%M& +4 "core" &Z\ * +2 #tImaging generic puck in Processing Clamp while storing it to tube 4 + "manipulator"&% +4 "core" %\ 5 h & +2 "storage"(q% +4 "core" %N   \ + "storage"(L. +3 "core" .(, +2 "storage"(& +4 "core" &,   \  +2 "storage"( & +2 "manipulator"&n& +7 "core" &,   \  + &m  +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +3 "storage"(#]kK-0-\ b + "manipulator"&Y(c +6 ."raiseStack"SE.seek :beamBreak +2 "storage"(['e +2 "core" ( +2 "manipulator"&=& +4 "core" &m 1 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &#& +3 "core" &m  +2 .tForearm.seek PC + "manipulator"&m'[ +95 "core" ' +2 .tHand.close + "manipulator"&f/ +54 "core" / + .tPC.seek :open +2 "processing"%A(p +96 "core" ' + "storage"(5- +4 "core" -'e + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +2 ."raiseStack"SE.seek :place +2 "storage"(*'B +46 "core" ' +235 ( + "storage"(E& +4 "core" &, a Q \  +2 "manipulator"&T& +4 "core" &m w v E + "manipulator"&% +4 "core" % h } w I +2 .tForearm.seek :retract + "manipulator"&4'\ +100 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&(* +259 "core" ( +2 "manipulator"&8& +4 "core" &+  % + "storage"()& +4 "core" &, @ J A\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&9' +94 "core" ' + .tHand.open +2 "manipulator"&1 +55 "core" 1 + "storage"(_- +4 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate +2 "storage"(g' +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.83 Pucks below Top Plate +51 "storage"(3' +55 "core" ' + #tLights, camera, ACTION! +2 "storage"({- +3 "core" -' +2 "storage"(B& +4 "core" &, z o >\  + "manipulator"&\\& +4 "core" &, w z  $ +2 .tElbow.seek 4 + "manipulator"&k(* +4 "core" ( +2 "manipulator"&V& +4 "core" &, v } D $ + "storage"(w& +4 "core" &, u \  +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&' +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"(u'M +60 "core" ' + "manipulator"&j& +4 "core" &, 7 $ +2 "storage"(G& +4 "core" &, G K P\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&'. +33 "core" ' +2 .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"(p'7 +22 "core" ' + "manipulator"&% +4 "core" %BW , ( ̱ +2 "storage"( & +4 "core" &,\ \ 1\  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 4 + 320 counts +2 "manipulator"&P'n +18 "core" ' +2 "manipulator"&o& +4 "core" &  * +2 "storage"(c& +4 "core" &, a b\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&t' +22 "core" ' + "storage"(a% +5 "core" %> i w ]\ +2 ."downElevator"SE.seek :down +4 "storage"(S'N +98 (y% +3 "core" %Z= M K\ V` +2 "manipulator"&:% +4 "core" % ~ '  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +90 "core" ' +61 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (& +4 "core" &, 1 9\  +2 "collection"'}& +4 "core" &]W \ @ +2 #tStoring generic puck in Collection Clamp to tube 4 + "manipulator"& % +4 "core" %\ + !V + "storage"(^% +4 "core" %@ = ? \ +2 "storage"(d. +3 "core" .(, +2 "storage"(& +3 "core" &, = ? y\  +2 "storage"(& +4 "core" &, < < I\  +2 "manipulator"&+& +3 "core" & Q * +2 .tElbow.seek 4 +2 "manipulator"&7(* +38 "core" ( +2 "manipulator"&\ & +4 "core" &0 u  k +2 "storage"(& +4 "core" &, ` ` \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&D' +96 "core" ' +2 "storage"(& +4 "core" &, y \\ X\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(v'e +281 "core" ' +2 "storage"(H- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" &. r I m + "storage"(W& +4 "core" &, a `\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 + "manipulator"&'. +35 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(%- +2 "core" -' +2 .tSE.seek 0.12 Pucks below Top Plate +2 "storage"(R'u +28 "core" ' +2 "manipulator"&i% +4 "core" %9L ! ! ! ʮ +2 "storage"(!& +4 "core" &,\ \ \  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 4 + 311 counts +2 "manipulator"&]'e +18 "core" ' +2 "manipulator"&& +4 "core" & b P +2 "storage"(,& +4 "core" &, y x %\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&&' +21 "core" ' +2 .tSE.seek 1.12 Pucks below Top Plate +2 "storage"(b'd +40 "core" ' +2 "manipulator"&|& +4 "core" & ^ V } +2 "manipulator"&r% +4 "core" % R [ D  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&x'\ +95 "core" ' +2 .tElbow.seek CC +2 "manipulator"&(( +148 "core" ( + "manipulator"& & +5 "core" & & , + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" & V , +2 .tForearm.seek CC +2 "manipulator"&>'| +94 "core" ' +2 .tHand.close +2 "manipulator"&/ +64 "core" / + .tCC.seek :open +2 "collection"'"(p +409 "core" ( + "storage"(.& +4 "core" &, .\  +2 "storage"(-& +4 "core" &, y x \  + "manipulator"&6& +4 "core" & a + + "manipulator"&`% +4 "core" % v [  +2 .tForearm.seek :retract +2 "manipulator"&h'\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&?(* +167 "core" ( +2 "manipulator"&O& +4 "core" &7   +2 "storage"(U& +3 "core" &, ~\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 4 + "manipulator"&@'. +114 "core" ' + .tElbow.hold +2 "manipulator"&2, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&z1 +60 "core" 1 +2 "manipulator"&% +4 "core" % :X + . = ɱ +2 "storage"(K& +4 "core" &, ' '\  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 4 + 312 counts +2 "manipulator"&1'f +17 "core" ' + "manipulator"&<& +5 "core" &\ R Z V [ + "storage"(0& +4 "core" &, { { b\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&' +23 "core" ' +2 "storage"(s% +3 "core" %f r\ +3 ."downElevator"SE.seek :down +4 "storage"(C'N +99 (l% +2 "core" %4: J\ UZ +2 "manipulator"&'% +4 "core" % ` ` +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&$'\ +90 "core" ' +49 ' +2 ."downElevator"SE.stop + "storage"(5 +2011 #t-> access 2 +2 "storage"(~% +3 "core" %9 \  +2 "manipulator"&I% +4 "core" %\ ) E I +2 "manipulator"&F& +3 "core" &\ 0 Z +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"((K +666 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (;& +3 "core" &K J J \  +745 #t-> access 3 +3 "storage"(Q% +3 "core" %9 \  + "manipulator"&e% +4 "core" %\ ) 3 I +2 "manipulator"&M& +3 "core" &\ C Z +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 7 + "storage"(([ +360 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +2 (q& +3 "core" &[ K K 3\  +859 #t-> access 4 +2 "storage"(L% +3 "core" %9 L\  +2 "manipulator"&J% +3 "core" %\ )  I +2 "manipulator"&& +4 "core" &\  Z +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 1 +2 "storage"( (B +1944 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (n& +2 "core" &D C 3\ +886 #t-> access 2 +2 "storage"(=% +3 "core" %9 \  +2 "manipulator"&#% +4 "core" %\ )  I +2 "manipulator"&X& +3 "core" &\  Z +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"(f(K +1622 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (5& +3 "core" &K L I \  +243 #t-> exit +5 #mEXIT @1663186950.60EDT @1663244482.85EDT = =mMAIN_scheduler =tMAIN @EDT1663244484.85 #"core_reset"Sent BREAK +2 #t@270 idle with ifg=0x00, ie=0x75 + #>RESET< ESP2 v3.41 I2C Gateway v3.20 +207 #>RESET< ESP2 v3.41 I2C Gateway v3.20 for core bus +218 !o:Instrument::ISUSCore: @refiԠM: @configS:Instrument::Configuration: name" ISUS:calFileName0:sampleCmd"TS: prompt"\ :statusCmd"C:sampleTimeouti#:promptTimeouti:statusTimeouti: retriesi:strToPrompt"W: pace0: echoF:\ @name@ +109 #Configuration for don (12651-03) 10/9/20 brent@mbari.org\ /home/esp/esp2/type/shallow/don/configure.rb\ +493 "Can"F <$!s +2 F <$!s +2 #tPolling Can every 10:00 +3 #Cleanly exited at 16:22:30EDT14-Sep-22 +722 #-> ESP.ready! +3 #Powering core bus +576 .Gate.power :raw,:ON +2 "sampler") +16 ) +2 "core"  +2 "collection"' +2 ' +3 "core"  + "processing"% +2 % +3 "core"  +4 "collection"' 9\ +3 ' 0\ +2 ' -\ +3 "processing"% 9\ +3 % 2\ + % *\ +2 % 0\ +4 "sampler")&\ +2 "collection"'% +2 "core" % +2 .tCS.configure :default +2 "collection"'#P d@b +3 "processing"%% +3 "core" %\ + .tPS.configure :default +3 "processing"%#A d`xb +2 "sampler")% +3 "core" %  + .tSS.configure :default +3 "sampler")#.0X access 2 +2 "storage"(;% +4 "core" %H+ c e H\ T + "manipulator"&<% +4 "core" %\ 1  $H +2 "manipulator"&=& +4 "core" &1  k +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"(>(K +663 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (?& +3 "core" &K ) 4 \  +2045 #t-> exit +5 #mEXIT @1663247067.00EDT @946684873.53EST = =mMAIN_scheduler =tMAIN @EST946684875.50 #"core_reset"Sent BREAK +2 #t@19460 idle with ifg=0x00, ie=0x75 + #>RESET< ESP2 v3.41 I2C Gateway v3.20 +208 #>RESET< ESP2 v3.41 I2C Gateway v3.20 for core bus +210 !o:Instrument::ISUSCore: @refiK: @configS:Instrument::Configuration: name" ISUS:calFileName0:sampleCmd"TS: prompt"\ :statusCmd"C:sampleTimeouti#:promptTimeouti:statusTimeouti: retriesi:strToPrompt"W: pace0: echoF:\ @name@ +106 #Configuration for don (12651-03) 10/9/20 brent@mbari.org\ /home/esp/esp2/type/shallow/don/configure.rb\ +402 "Can" <%"l +  <%"l + #tPolling Can every 10:00 +2 #Cleanly exited at 09:04:26EDT15-Sep-22 +606 #-> ESP.ready! +4 #Powering core bus @EDT1663248317.09 .Gate.power :raw,:ON +2 "sampler") +31 ) +2 "core"  +2 "collection"' +2 ' +3 "core"  +2 "processing"% +2 % +3 "core"  +4 "collection"' 9\ +3 ' 0\ + ' -\ +4 "processing"% 9\ +2 % 2\ +2 % *\ +2 % 0\ +3 "sampler")&\ +2 "collection"'% +3 "core" %D +2 .tCS.configure :default +2 "collection"'#P d@b +3 "processing"%% +3 "core" %\ + .tPS.configure :default +3 "processing"%#A d`xb +2 "sampler")% +3 "core" %  + .tSS.configure :default +3 "sampler")#.0X access 3 + "storage"(;% +4 "core" %V; f p \ ^ +2 "manipulator"&<% +4 "core" %\ *   + "manipulator"&=& +4 "core" &5  +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 7 +2 "storage"(>([ +981 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (?& +3 "core" &[\ \  g\  +444 #t-> access 4 +2 "storage"(@% +3 "core" %W; e e \ ] + "manipulator"&A% +4 "core" %\ *   +2 "manipulator"&B& +4 "core" &5  + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 1 + "storage"(C(B +1944 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (D& +2 "core" &D n\ +1259 #t-> require 'shuffle.rb' +1410 #-> 5.times {shuffle 2..4} +2 #Shuffling pucks in tube 2 of [2..4] + #Loading generic puck from tube 2 into Collection Clamp +2 "collection"'E& +3 "core" &Zc\  +2 .tHand.open +2 "manipulator"&F1 +59 "core" 1 +2 "manipulator"&G% +4 "core" % \ ) |  + "storage"(H% +4 "core" %W; d b %\ ] +2 "storage"(I. +3 "core" .(B +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +37 .tSC.seek 2 +8 "storage"(J(  +366 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (K& +2 "core" & \ \ \ \  +2 "manipulator"&L& +4 "core" &5 F + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&M(; +3 "core" ( + "manipulator"&N& +4 "core" &5  +2 "storage"(O& +4 "core" &  M I \ ! +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&P'Ѐ +108 "core" ' +2 "storage"(Q& +4 "core" &  | d\ ! +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(R'e +284 "core" ' +2 "storage"(S- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (T& +3 "core" &  \\\ ! +2 "manipulator"&U& +4 "core" &5 h g K + .tElbow.seek 2 +2 "manipulator"&V(; +3 "core" ( +2 "manipulator"&W& +4 "core" &5 l d + "storage"(X& +4 "core" &  \ ! +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&Y' +25 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&Z/ +59 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&[& +2 "storage"(\\'N +7 "core" &5 ` d ( +2 "manipulator"&]% +4 "core" % _ a  +2 .tForearm.seek :retract +2 "manipulator"&^'\ +95 "core" ' +2 .tElbow.seek CC + "manipulator"&_( +147 "core" ' + ."downElevator"SE.stop + "storage"(5 +11 "core" ( + "manipulator"&`& +4 "core" &* & @Y +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &a& +3 "core" &*  @Y +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&b'| +111 "core" ' +2 "manipulator"&c& +4 "core" &*  @Y +2 "manipulator"&d% +4 "core" %q J + "collection"'e& +4 "core" &ZX\  +3 "collection"'f& +4 "core" &ZF\  +3 .tCC.seek :closed + "collection"'g(] +5 "core" &Z[\  +9 &6Y\ +| +9 &e\\\ @ +10 &0y[\ O +9 &^Y\ N +9 &`W\ N +10 &w^V\ N +9 &!:_G\ N +9 &"cR\ O +10 &$]^\ N +9 &&b]\ N +10 &(@a^\ O +9 &*_Y\ N +9 &+`^\ N +10 &-]R\ N +9 &/I^X\ N +10 &1 bL\ N +9 &2a]\ N +9 &4__\ N +10 &6R]W\ N +9 &8\\W\ N +9 &9]U\ N +10 &;]Y\ N +9 &=[^Z\ N +9 &?]X\ N +10 &@`W\ N +9 &B`U\ N +10 &DbbW\ N +9 &F%_R\ N +9 &GaW\ N +10 &IlV\ O +9 &KbuT\ Q +9 &Mb\ R +10 &N\\\ V +9 &PQ\ W +10 &RVY\ X +9 &TV\ X +9 &UL\ Y +10 &WV\ Y +9 &YU[\ [ +9 &[\\\ \\ +10 &\\|[\ : +9 &]/R\ ^ +10 &]Y\\\ B +2 ( + "collection"'f& +4 #tCollection Clamp onSpring/offSpring for 9/25 samples, on/off torque 1.91 + .Hand.open + "manipulator"&h1 +63 "core" 1 + "manipulator"&i% +4 "core" % q z e +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&j'\ +97 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%k& +4 "core" &c&\  +2 "manipulator"&l% +3 "core" %\ /  #h +2 "storage"(m% +4 "core" %B 6 6\ + "storage"(n. +3 "core" .(  +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 +2 "storage"(o(  +6 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (p& +3 "core" & G o\  +2 "manipulator"&q& +4 "core" &'  >O +2 "manipulator"&r% +4 "core" %\ 0  #h +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&s(; +157 "core" ( +2 "manipulator"&t& +4 "core" &7 y  + "storage"(u& +4 "core" &  Q J \ " +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&v'Ѐ +105 "core" ' +2 "storage"(w& +4 "core" &  d d F\ " +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(x'e +275 "core" ' +2 "storage"(y- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (z& +2 "core" &  _ Q\ " +2 "manipulator"&{& +4 "core" &7 b e N  + .tElbow.seek 2 +2 "manipulator"&|(; +3 "core" ( +2 "manipulator"&}& +4 "core" &7 q p %  +2 "storage"(~& +4 "core" &  o l \ " +2 .tForearm.seek 2 + 300 counts + "manipulator"&' +16 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&/ +62 "core" / +2 ."downElevator"SE.seek :down +5 "manipulator"&& +2 "storage"('N +6 "core" &7 r } 8  + "manipulator"&% +4 "core" % s   * +2 .tForearm.seek :retract +2 "manipulator"&'\ +90 "core" ' +2 .tElbow.seek PC + "manipulator"&(c +162 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +105 "core" ( +2 "manipulator"&& +4 "core" &Z w + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &Z  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"& '[ +102 "core" ' +2 "manipulator"&\ & +4 "core" &Z s o +2 "manipulator"& % +4 "core" %O n n " v + "processing"% & +4 "core" &c*\  +2 "processing"% & +5 "core" &c%\  +2 .tPC.seek :closed +2 "processing"%(Z +4 "core" &c\ \  +8 &6~\ +} +10 &g\ @ +9 &Dr\ N +10 & Y\ M +9 &\\\ N +9 &X\ M +10 &!M_\ N +9 &#Y\ M +9 &$W\ M +10 &&^\ M +9 &(U[\ N +10 &*Z\ N +9 &+[\ N +9 &-\\\ M +10 &/]`\ N +9 &1 X\ M +9 &2[\ M +10 &4]\ N +9 &6gZ\ M +10 &8']\ N +9 &9W\ M +9 &;\\\ N +10 &=nZ\ M +9 &?/\\\ N +9 &@_\ N +10 &B\\\ M +9 &DuY\ N +10 &F6a\ N +9 &Gi\ O +9 &Ir\ P +10 &Kp\ R +9 &M+\ T +9 &N\ U +10 &P\ T +9 &Rr\ T +10 &T2\ U +9 &U\ U +9 &W\ U +10 &Yu\ C +9 &Zw<\ ] +9 &Z\ ) +3 ( + "processing"% & +3 #tProcessing Clamp onSpring/offSpring for 9/25 samples, on/off torque 1.63 +2 .Hand.open + "manipulator"&1 +63 "core" 1 + "manipulator"&% +5 "core" % W u p 1 n + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +90 "core" ' +2 "processing"%& +4 "core" &Z\ ) +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 + "manipulator"&% +4 "core" %\ '  = + "storage"(% +4 "core" %H % %\  +2 "storage"(. +3 "core" .(  + "storage"(& +4 "core" &  & %v\ " +2 "storage"(& +2 "manipulator"&& +7 "core" &  % % !\ " + &Z  +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +2 "storage"(#]kK-0-\ b +2 .tElbow.seek PC +4 "manipulator"&(c +4 ."raiseStack"SE.seek :beamBreak +2 "storage"('e +3 "core" ( + "manipulator"&& +4 "core" &Z  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &"& +3 "core" &Z . +2 .tForearm.seek PC +2 "manipulator"&%'[ +95 "core" ' +2 .tHand.close + "manipulator"&'/ +63 "core" / +2 .tPC.seek :open + "processing"%)(p +85 "core" ' +2 "storage"((- +4 "core" -'e + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('B +34 "core" ' +261 ( +2 "storage"(& +4 "core" &  G L\ " +2 "manipulator"&#& +3 "core" &Z  +2 "manipulator"&,% +4 "core" % m ( +2 .tForearm.seek :retract + "manipulator"&-'\ +93 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&.(; +262 "core" ( + "manipulator"&/& +5 "core" &F ~  + "storage"(0& +4 "core" &  N O E\ " +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&1'Ѐ +98 "core" ' +2 .tHand.open + "manipulator"&21 +61 "core" 1 +2 "storage"(3- +4 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate +2 "storage"(4' +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.83 Pucks below Top Plate + "storage"(5' +55 "core" ' + #tLights, camera, ACTION! +2 "storage"(6- +3 "core" -' +2 "storage"(7& +4 "core" &  \ " + "manipulator"&8& +4 "core" &F   +2 .tElbow.seek 2 + "manipulator"&9(; +8 "core" ( +2 "manipulator"&:& +4 "core" &E @  +2 "storage"(;& +4 "core" &  C\ " +2 .tForearm.seek 2 + 450 counts + "manipulator"&<'Ѐ +4 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"(='M +62 "core" ' +2 "manipulator"&!& +4 "core" &E   +2 "storage"(?& +4 "core" &  U J J\ " +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&@'ξ +34 "core" ' + .tElbow.hold +2 "manipulator"&A, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.07 Pucks below Top Plate + "storage"(B'7 +23 "core" ' + "manipulator"&>% +6 "core" %Y + "storage"(D& +4 "core" & \ \ \ " +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 308 counts + "manipulator"&E' +17 "core" ' +2 "manipulator"&F& +4 "core" &E Y E S  +2 "storage"(G& +4 "core" &  o o K\ " +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&H'Ѐ +17 "core" ' +2 "storage"(I% +4 "core" %? c g 1\  +2 ."downElevator"SE.seek :down +4 "storage"(C'N +99 (K% +2 "core" %; Q T W\ V_ +2 "manipulator"&L% +4 "core" %y g k 9 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +39 "manipulator"&N'\ +96 "core" ' +17 ' + ."downElevator"SE.stop + "storage"(5 +3 (O& +4 "core" &  E 0\ " + "collection"'Q& +4 "core" &]`>\ B +2 #tStoring generic puck in Collection Clamp to tube 2 +2 "manipulator"&$% +4 "core" %\ %  0 + "storage"(&% +4 "core" %H G J \  +2 "storage"(S. +3 "core" .(  +2 "storage"(T& +3 "core" &  K K\ " +2 "storage"(U& +4 "core" &  D > =\ " + "manipulator"& & +4 "core" &E   +2 .tElbow.seek 2 +2 "manipulator"&W(; +3 "core" ( +2 "manipulator"&X& +4 "core" &E   + "storage"(Z& +4 "core" &  L R \ " +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&['Ѐ +111 "core" ' +2 "storage"(]& +4 "core" &  d b \ " +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(M'e +277 "core" ' + "storage"(P- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&`& +3 "core" &E k g  + "storage"(a& +4 "core" &  a d P\ " +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&R'ξ +37 "core" ' + .tElbow.hold +2 "manipulator"&Y, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(c- +2 "core" -' +2 .tSE.seek 0.12 Pucks below Top Plate +2 "storage"(V'v +27 "core" ' +2 "manipulator"&d% +4 "core" %U  ± +2 "storage"(e& +4 "core" &  \ " + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 2 + 311 counts +2 "manipulator"&\\' +16 "core" ' +2 "manipulator"&^& +4 "core" &E h W   + "storage"(+& +4 "core" &  c e\ " +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&h'Ѐ +24 "core" ' +2 .tSE.seek 1.12 Pucks below Top Plate +2 "storage"(i'e +52 "core" ' + "manipulator"&k& +4 "core" &E f e 0  +2 "manipulator"&l% +4 "core" %У _ a +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&m'\ +87 "core" ' +2 .tElbow.seek CC +2 "manipulator"&n( +154 "core" ( +2 "manipulator"&f& +4 "core" & #  :1 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &p& +3 "core" & # B :1 +2 .tForearm.seek CC + "manipulator"&q'| +95 "core" ' + .tHand.close +2 "manipulator"&r/ +61 "core" / +2 .tCC.seek :open + "collection"'b(p +411 "core" ( +2 "storage"(t& +4 "core" &  ` l\ " + "storage"(u& +4 "core" &  o o m\ " + "manipulator"&J& +4 "core" & # :1 +2 "manipulator"&w% +4 "core" % ρ 6 +2 .tForearm.seek :retract + "manipulator"&_'\ +94 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&j(; +160 "core" ( +2 "manipulator"&y& +4 "core" &: 2  +2 "storage"(z& +4 "core" &  z\ " + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 2 +2 "manipulator"&{'ξ +112 "core" ' + .tElbow.hold +2 "manipulator"&}, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&~1 +53 "core" 1 +2 "manipulator"&% +4 "core" % ^ " + "storage"(& +4 "core" &  3 3 >\ " + .tForearm.force -20 +3 "manipulator"&5 +2 .tForearm.seek 2 + 320 counts +2 "manipulator"&' +18 "core" ' +2 "manipulator"&s& +4 "core" &: c D S  +2 "storage"(v& +4 "core" &  \ " +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&x'Ѐ +16 "core" ' +2 "storage"(% +4 "core" %j \ +2 ."downElevator"SE.seek :down +4 "storage"('N +99 (% +2 "core" %#< ~ \ UZ +2 "manipulator"&|% +4 "core" %r d `  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&\ '\ +87 "core" ' +56 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 3 of [2..4] + #Loading generic puck from tube 3 into Collection Clamp +2 "collection"' & +4 "core" &L\ + "manipulator"& % +5 "core" %\ + / < + "storage"(% +4 "core" %L G\  +2 "storage"(. +3 "core" .(  +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(*( +352 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (& +3 "core" & ' & \  + "manipulator"&& +4 "core" &:   +2 .tElbow.seek 3 + "manipulator"&(D +3 "core" ( +2 "manipulator"&& +4 "core" &:   + "storage"(& +4 "core" & K\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&' +95 "core" ' + "storage"(& +5 "core" & \  + .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('e +281 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 ( & +3 "core" & z B\  + "manipulator"&& +4 "core" &: 7  +2 .tElbow.seek 3 + "manipulator"&"(D +4 "core" ( + "manipulator"& & +4 "core" &:   + "storage"('& +4 "core" & } | \  +2 .tForearm.seek 3 + 300 counts + "manipulator"&('y +11 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&/ +54 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"('N +7 "core" &: f e s  +2 "manipulator"&% +4 "core" % r f e Y % +2 .tForearm.seek :retract + "manipulator"&'\ +97 "core" ' +2 .tElbow.seek CC + "manipulator"&#( +145 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +5 "core" ( +2 "manipulator"&,& +4 "core" &&  :, +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &%& +3 "core" &' 9 :, +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&/'| +104 "core" ' +2 "manipulator"&0& +4 "core" &# :, +2 "manipulator"&% +4 "core" %p  +2 "collection"'2& +3 "core" &M\ +2 "collection"'3& +6 "core" &F\ +2 .tCC.seek :closed + "collection"'6(] +5 "core" &H\ +6 & /M\ $c +10 &eUG\ 7 +9 &K\ L +9 &p\\R\ N +10 &3ZS\ N +9 &[T\ N +9 & \\Z\ N +10 &"y\\N\ N +9 &$;Z\\\ N +9 &%ZY\ M +10 &'Z]\ N +9 &)[[\ N +10 &+C\\U\ N +9 &-_[\ N +9 &.\\`\ N +10 &0\\`\ N +9 &2L\\W\ M +9 &4 \\Y\ N +10 &5Y`\ M +9 &7[W\ M +10 &9SYV\ N +9 &;\\`\ N +9 &<[X\ N +10 &>YW\ N +9 &@\\ZX\ M +9 &B\\V\ N +10 &C]Q\ N +9 &EXW\ M +10 &Gd\\Z\ M +9 &I!fQ\ O +9 &JrT\ P +10 &LM\ S +10 &NRY\ V +8 &PW\ W +10 &QW\ X +9 &SS\ Y +10 &UPU\ Z +9 &WV\ Y +9 &Xa\ [ +10 &ZS\ [\ +9 &\\EU\ O +9 &]_?O\ #k +10 &] {S\ L +5 ( +2 "collection"'3& +4 #tCollection Clamp onSpring/offSpring for 9/26 samples, on/off torque 2.02 + .Hand.open + "manipulator"&71 +4 "core" &]qT\ L +58 1 + "manipulator"&8% +5 "core" % p H +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&:'\ +97 "core" ' +3 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%;& +5 "core" &\ + "manipulator"&-% +4 "core" %\ 3  % + "storage"(!% +4 "core" %> 3 3\  +2 "storage"(?. +3 "core" .( + "storage"(& +4 "core" & ) 3 5\  +2 "storage"(>& +4 "core" & & &\  + "manipulator"&D& +4 "core" & Z 8 + "manipulator"&4% +4 "core" %\ 3  % +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 + "manipulator"&F(D +166 "core" ( + "manipulator"&G& +5 "core" &E C  +2 "storage"(I& +4 "core" & M N 0\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&.' +100 "core" ' +2 "storage"(1& +4 "core" & O X \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(5'e +283 "core" ' + "storage"(K- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +2 (L& +3 "core" & * ( *\  +2 "manipulator"&<& +4 "core" &E ]  + .tElbow.seek 3 +2 "manipulator"&9(D +3 "core" ( + "manipulator"&=& +4 "core" &E   +2 "storage"(@& +4 "core" & L L <\  +2 .tForearm.seek 3 + 300 counts + "manipulator"&O'y +25 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&E/ +55 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&Q& +2 "storage"($'N +8 "core" &E d `   + "manipulator"&&% +4 "core" % ~ f d +2 .tForearm.seek :retract + "manipulator"&S'\ +89 "core" ' + .tElbow.seek PC +2 "manipulator"&T(c +166 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +81 "core" ( + "manipulator"&B& +5 "core" &] i  + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &U& +3 "core" &] b  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"& '[ +108 "core" ' +2 "manipulator"&X& +4 "core" &] t [  +2 "manipulator"&Z% +4 "core" %_ m o Z +2 "processing"%H& +3 "core" &$\ +2 "processing"%]& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%C(Z +4 "core" &\ \ +8 &/{\ *y +10 &d\ > +9 &Bv\ N +9 &X\ M +10 &\\\ M +9 &Y\ M +9 &!J]\ N +10 &#X\ M +9 &$Y\ M +10 &&X\ M +9 &(SW\ M +9 &*W\ M +45 &+\\\ N +13 &-Z\ N + &/[Y\ M + &1X\ N &2[\ N + &4U\ M +5 &6b[\ N +9 &8$[\ N +10 &9V\ M +9 &;W\ M +9 &=kW\ M +10 &?-\\\ M +9 &@]\ N +10 &BZ\ M +9 &DsZ\ M +9 &F4]!\ N +10 &Gb\ N +9 &Ih!\ O +9 &Kpu"\ Q +10 &M+"\ T +9 &N$\ U +10 &P"\ U +9 &Rn&\ T +9 &T0!\ T +10 &U%\ U +9 &W#\ U +9 &Ys'\ B +10 &Z|@(\ S +10 &Z"\ & + ( +2 "processing"%]& +3 #tProcessing Clamp onSpring/offSpring for 9/25 samples, on/off torque 1.59 + .Hand.open +2 "manipulator"&A1 +53 "core" 1 +2 "manipulator"&N% +4 "core" % _ v _  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&P'\ +96 "core" ' + "processing"%`& +4 "core" &Z.\ & +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 +2 "manipulator"&a% +3 "core" %\ 0 L #e +2 "storage"(c% +4 "core" %J & &\  +2 "storage"(d. +3 "core" .( + "storage"(e& +4 "core" & & %\  +2 "storage"(^& +5 "manipulator"&+& +4 "core" & ) 1\  + &]   +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +6 "manipulator"&$&.,(\ #b + "storage"(#]kK-0-\ b +3 .tElbow.seek PC +5 "manipulator"&k(c +4 ."raiseStack"SE.seek :beamBreak +2 "storage"(l'e +2 "core" ( + "manipulator"&[& +5 "core" &]   + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &W& +3 "core" &]   +2 .tForearm.seek PC +2 "manipulator"&M'[ +97 "core" ' + .tHand.close +2 "manipulator"&R/ +53 "core" / +2 .tPC.seek :open +2 "processing"%\\(p +93 "core" ' +2 "storage"(V- +3 "core" -'e + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(f'B +42 "core" ' +243 ( + "storage"(p& +4 "core" & M N \  +2 "manipulator"&h& +4 "core" &]   + "manipulator"&Y% +4 "core" % Z / +2 .tForearm.seek :retract + "manipulator"&r'\ +99 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&m(D +252 "core" ( + "manipulator"&g& +4 "core" &M 6 !u +2 "storage"(t& +4 "core" & % &\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&u' +99 "core" ' +2 .tHand.open + "manipulator"&J1 +55 "core" 1 +2 "storage"(w- +3 "core" -'B +3 .tSE.seek -0.16 Pucks below Top Plate + "storage"(y' +23 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(z' +52 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(q- +3 "core" -' +2 "storage"(n& +3 "core" & \  +2 "manipulator"&~& +4 "core" &M ` f 7 !u + .tElbow.seek 3 +2 "manipulator"&(D +4 "core" ( + "manipulator"&& +5 "core" &M l k - !u + "storage"(s& +4 "core" & \  +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&v' +11 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"('M +62 "core" ' + "manipulator"&_& +4 "core" &M m o !u +2 "storage"(& +4 "core" & I P k\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&|'M +33 "core" ' + .tElbow.hold +2 "manipulator"&j, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"({'7 +23 "core" ' + "manipulator"& % +5 "core" %^h  ö\ + "storage"( & +4 "core" & [\  +3 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 3 + 317 counts +2 "manipulator"&'ϊ +17 "core" ' +2 "manipulator"&& +3 "core" &. t [ % +2 "storage"(& +4 "core" & N N \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&i' +18 "core" ' + "storage"(x% +5 "core" %? H L \ +2 ."downElevator"SE.seek :down +4 "storage"('N +98 (o% +3 "core" %>   \ U] +2 "manipulator"&% +4 "core" % m m +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +91 "core" ' +59 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (& +4 "core" & ' B 8\  +2 "collection"'& +4 "core" &]jM\ L +2 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&% +4 "core" %\ +  !R +2 "storage"(}% +4 "core" %;   _\ + "storage"(\ . +3 "core" .( +2 "storage"(& +4 "core" &   E\  + "storage"( & +4 "core" & % " \  +2 "manipulator"&& +4 "core" &/  % + .tElbow.seek 3 +2 "manipulator"& (D +16 "core" ( +2 "manipulator"&'& +4 "core" &Y 3 "| + "storage"(& +4 "core" & 9 +\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&' +100 "core" ' +2 "storage"(& +4 "core" & L H\  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"('e +278 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&,& +3 "core" &`  !u +2 "storage"(%& +3 "core" & J N :\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&'M +35 "core" ' +2 .tElbow.hold + "manipulator"&(, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(0- +2 "core" -' +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"('i +28 "core" ' + "manipulator"&2% +4 "core" %LW   Ʊ +2 "storage"("& +3 "core" & q\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 299 counts + "manipulator"&'x +13 "core" ' + "manipulator"&& +5 "core" &A s \\  % + "storage"(b& +4 "core" & N M *\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&7' +12 "core" ' +2 .tSE.seek 1.11 Pucks below Top Plate +2 "storage"(8'X +41 "core" ' +2 "manipulator"&;& +4 "core" &B l n | % +2 "manipulator"&-% +4 "core" % m m ! +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&!'\ +88 "core" ' +2 .tElbow.seek CC +2 "manipulator"&?( +156 "core" ( + "manipulator"&3& +4 "core" &, 2 Bg +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &, Bg +2 .tForearm.seek CC + "manipulator"&>'| +96 "core" ' + .tHand.close + "manipulator"&D/ +62 "core" / + .tCC.seek :open +2 "collection"'4(p +411 "core" ( + "storage"(/& +4 "core" & k d\  +2 "storage"(G& +4 "core" & e e\  + "manipulator"&I& +4 "core" &\ +  Ae + "manipulator"&1% +4 "core" % χ  +2 .tForearm.seek :retract +2 "manipulator"&#'\ +93 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 + "manipulator"&:(D +155 "core" ( + "manipulator"&K& +5 "core" &I X + "storage"(L& +4 "core" & r\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 3 +2 "manipulator"&<'M +109 "core" ' + .tElbow.hold +2 "manipulator"&=, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&@1 +62 "core" 1 + "manipulator"&E% +5 "core" % ]m E  + "storage"(Q& +4 "core" & 3 3 v\  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 316 counts + "manipulator"&&'ω +11 "core" ' +2 "manipulator"&F& +4 "core" & M h 1 +2 "storage"(.& +3 "core" & \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&5' +18 "core" ' + "storage"(O% +5 "core" %^ \ +2 ."downElevator"SE.seek :down +3 "storage"(B'N +100 (U% +2 "core" %=? { q\ U[ +2 "manipulator"&9% +4 "core" % d ` $ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&X'\ +95 "core" ' +44 ' +2 ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 4 of [2..4] + #Loading generic puck from tube 4 into Collection Clamp +2 "collection"'Z& +4 "core" &R\ +2 "manipulator"&H% +4 "core" %\ 6 \ & +2 "storage"($% +4 "core" %= y x ,\  + "storage"(S. +3 "core" .( +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 4 + "storage"()(, +352 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (A& +2 "core" &,~ 6 6 \  +2 "manipulator"&N& +4 "core" & \ 1 +2 .tElbow.seek 4 + "manipulator"&`(* +30 "core" ( + "manipulator"&a& +5 "core" &2  + "storage"(c& +4 "core" &,~ ~ t\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&d' +95 "core" ' +2 "storage"(e& +4 "core" &,~ 9\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(+'e +289 "core" ' +2 "storage"(^- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (]& +2 "core" &,~ | \  +2 "manipulator"&[& +4 "core" &3 m l  +2 .tElbow.seek 4 + "manipulator"&W(* +3 "core" ( +2 "manipulator"& & +4 "core" &3 e t  + "storage"(R& +4 "core" &,~ \  +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&V'Z +21 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&T/ +55 "core" / +12 ."downElevator"SE.seek :down +4 "manipulator"&P& + "storage"(C'N +8 "core" &3 e g C  + "manipulator"&p% +5 "core" % O _ ` +2 .tForearm.seek :retract + "manipulator"&h'\ +99 "core" ' +2 .tElbow.seek CC + "manipulator"&Y( +148 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +12 "core" ( + "manipulator"&l& +4 "core" &,  Bi +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &M& +3 "core" &,  Bi +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC + "manipulator"&g'| +94 "core" ' +2 "manipulator"&t& +4 "core" &, D Bh +2 "manipulator"&k% +4 "core" %π   +2 "collection"'J& +4 "core" &F\ +2 "collection"'w& +5 "core" &X\ +2 .tCC.seek :closed +2 "collection"'q(] +5 "core" &V\ +6 &8P\ $e +9 &nVR\ 7 +10 &U\ L +9 &~YX\ M +10 &@\\S\ M +9 &]U\ M +9 & _[\ N +10 &"]V\ M +9 &$HWQ\ M +9 && YU\ N +10 &'ZN\ M +9 &)]X\ M +9 &+O]P\ N +10 &-ZS\ M +9 &.]T\ N +10 &0^S\ M +9 &2XZT\ M +9 &4^Z\ N +10 &5TU\ M +9 &7\\Z\ M +9 &9`[V\ M +10 &;"[T\ M +9 &<UT\ M +10 &>ZU\ M +9 &@hXR\ M +9 &B)\\X\ N +10 &CZU\ M +9 &EUY\ N +9 &Gn^X\ N +10 &I,i[\ O +9 &JyZ\ Q +10 &LW\ U +9 &N[U\ W +9 &PW\ X +10 &QX\ Y +9 &SY\ Z +9 &U[\\\ Z +10 &WS\ Z +9 &XP\ [\ +10 &ZW\ \\ +9 &\\YX\ H +9 &]a:Z\ + +10 &]nT\ I +5 ( +2 "collection"'w& +4 #tCollection Clamp onSpring/offSpring for 9/26 samples, on/off torque 2.05 +2 .Hand.open + "manipulator"&n1 +3 "core" &]iL\ I +58 1 +2 "manipulator"&~% +4 "core" % π )  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +92 "core" ' +2 #tLoading generic puck from tube 4 into Processing Clamp +2 "processing"%s& +4 "core" &\ + "manipulator"&r% +4 "core" %\ )  J +2 "storage"(_% +4 "core" %D 0 & $\  + "storage"(. +3 "core" .(,~ +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 + "storage"(f(, +3 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 ( & +4 "core" &,\ \ \  + "manipulator"& & +4 "core" & *  @^ +2 "manipulator"&y% +4 "core" %\ )  J +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&(* +160 "core" ( + "manipulator"&& +5 "core" &0   + "storage"(x& +4 "core" &,~ G G\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&m' +99 "core" ' + "storage"(u& +4 "core" &,~ Y N L\  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(z'e +282 "core" ' + "storage"(o- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (& +3 "core" &,~ K J \  +2 "manipulator"&v& +4 "core" &0 D  + .tElbow.seek 4 +2 "manipulator"&(* +3 "core" ( +2 "manipulator"&& +4 "core" &0 I  + "storage"(|& +4 "core" &,~ T U ]\  +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&'Z +20 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +61 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"('N +7 "core" &0 d f 3  +2 "manipulator"&}% +4 "core" % Q _ ^ +2 .tForearm.seek :retract + "manipulator"&\ '\ +93 "core" ' +2 .tElbow.seek PC +2 "manipulator"&(c +158 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +87 "core" ( + "manipulator"&{& +5 "core" &d E +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 & & +3 "core" &d ( +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&'[ +109 "core" ' + "manipulator"&'& +4 "core" &d \\ t | +2 "manipulator"&% +4 "core" %Y p m } +2 "processing"%i& +4 "core" & \ +2 "processing"%& +5 "core" &#\ +2 .tPC.seek :closed +3 "processing"%(Z +3 "core" &!\ +6 &8!\ $c +10 &pU\ 7 +9 &}#\ K +9 &~Z(\ M +10 &@Z\ M +9 &W \ M +10 & \\!\ N +9 &"W#\ M +9 &$H[\ M +10 && \\\ M +9 &'Z\ M +9 &)Z \ M +10 &+QZ\ M +9 &-Z \ M +9 &.Z\ M +10 &0Z\ M +9 &2X\\!\ M +10 &4Y!\ M +9 &5Z\ M +9 &7Z\ N +10 &9aY\ M +9 &;#[\ M +9 &<Z\ M +10 &>\\\ M +9 &@i\\\ M +10 &B*Z\ M +9 &CW\ M +9 &E]#\ M +10 &Gmd \ N +9 &I-j\ O +9 &Jy\ Q +10 &L#\ S +9 &Nf\ S +10 &P&\ T +9 &Q!\ T +9 &S#\ T +10 &Ul \ T +9 &W+!\ U +9 &X \ U +10 &ZFIh$\ )y +9 &Z\ :"\ , +6 ( + "processing"%& +5 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.59 + .Hand.open + "manipulator"&j1 +4 "core" &Z\ , +55 1 + "manipulator"&% +4 "core" % Y l i 1 } +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +90 "core" ' + "processing"%,& +4 "core" &Z"\ , +2 #tImaging generic puck in Processing Clamp while storing it to tube 4 +2 "manipulator"&%% +4 "core" %\ * d !M + "storage"(0% +4 "core" %> ( 0 \  +2 "storage"(2. +3 "core" .(, + "storage"("& +4 "core" &,~ ) 3 \  +2 "storage"(& +3 "manipulator"&b& +5 "core" &,~ 0 2 \  + &d +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +4 "storage"(#]kK-0-\ b + "manipulator"&;(c +6 ."raiseStack"SE.seek :beamBreak +2 "storage"(-'e +3 "core" ( + "manipulator"&& +4 "core" &d k + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 & & +3 "core" &d | +2 .tForearm.seek PC +2 "manipulator"&'[ +97 "core" ' + .tHand.close +2 "manipulator"&/ +63 "core" / + .tPC.seek :open +2 "processing"%(p +82 "core" ' +2 "storage"(- +4 "core" -'e + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place + "storage"(3'B +44 "core" ' +255 ( +2 "storage"(& +4 "core" &,~ O 0 @\  + "manipulator"&7& +4 "core" &d  +2 "manipulator"&(% +4 "core" % N \ +2 .tForearm.seek :retract + "manipulator"&D'\ +100 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 + "manipulator"&!(* +255 "core" ( + "manipulator"&6& +5 "core" &3 % # + "storage"(/& +4 "core" &,~ ) 3 d\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&G' +96 "core" ' +2 .tHand.open + "manipulator"&I1 +63 "core" 1 +2 "storage"(1- +3 "core" -'B +3 .tSE.seek -0.16 Pucks below Top Plate + "storage"(K' +23 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(L' +51 "core" ' + #tLights, camera, ACTION! +2 "storage"(>- +3 "core" -' +2 "storage"(?& +4 "core" &,~ \  + "manipulator"&@& +5 "core" &4 z Z # + .tElbow.seek 4 +2 "manipulator"&E(* +3 "core" ( +2 "manipulator"&Q& +4 "core" &4 e # + "storage"(F& +4 "core" &,~ \  +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&.' +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"(O'M +63 "core" ' + "manipulator"&#& +5 "core" &4  # + "storage"(U& +4 "core" &,~ & & %\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&9'. +31 "core" ' + .tElbow.hold +2 "manipulator"&:, +5 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"(<'7 +24 "core" ' + "manipulator"&Z% +5 "core" %A` E Ĵ + "storage"(H& +5 "core" &,~ \  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 4 + 319 counts +2 "manipulator"&&'m +17 "core" ' +2 "manipulator"&$& +4 "core" & Y i \ ' +2 "storage"(S& +4 "core" &,~ K L\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&8' +22 "core" ' + "storage"(5% +4 "core" %@ e e\  +3 ."downElevator"SE.seek :down +3 "storage"(B'N +99 (*% +4 "core" %; *  \ U] +2 "manipulator"&A% +4 "core" % ` e 7 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&N'\ +93 "core" ' +56 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (a& +4 "core" &,~ D l\  +2 "collection"'c& +4 "core" &]hM\ I + #tStoring generic puck in Collection Clamp to tube 4 +2 "manipulator"&e% +4 "core" %\ -  "_ + "storage"(=% +4 "core" %B ) & $\  +2 "storage"(X. +3 "core" .(, + "storage"(^& +4 "core" &,~  & \  + "storage"(]& +4 "core" &,~   $\  +2 "manipulator"&[& +4 "core" &  ' +2 .tElbow.seek 4 + "manipulator"& (* +12 "core" ( + "manipulator"&R& +5 "core" &: * !u + "storage"(T& +4 "core" &,~ L L \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&P' +93 "core" ' +2 "storage"(p& +4 "core" &,~ P U 3\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(`'e +282 "core" ' +2 "storage"(d- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&l& +3 "core" &C  l + "storage"(M& +4 "core" &,~ I ;\  +2 .tElbow.reconfigure :limp +44 "manipulator"&$ ,(b +12 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 + "manipulator"&+'. +33 "core" ' + .tElbow.hold +2 "manipulator"&V, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(t- +3 "core" -' +2 .tSE.seek 0.11 Pucks below Top Plate + "storage"(k'n +28 "core" ' + "manipulator"&J% +5 "core" %@U   n Ʊ + "storage"(W& +4 "core" &,~ \  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 4 + 318 counts + "manipulator"&C'l +15 "core" ' +2 "manipulator"&h& +4 "core" & k Z d & +2 "storage"(4& +4 "core" &,~ K L \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&n' +18 "core" ' +2 .tSE.seek 1.11 Pucks below Top Plate +2 "storage"(~'] +41 "core" ' +2 "manipulator"&s& +4 "core" & n l & +2 "manipulator"&r% +4 "core" % m l  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&_'\ +89 "core" ' +2 .tElbow.seek CC + "manipulator"&( +152 "core" ( + "manipulator"&w& +4 "core" &+ E Bj +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 & & +2 "core" &+  Bj +2 .tForearm.seek CC +2 "manipulator"& '| +99 "core" ' + .tHand.close +2 "manipulator"&y/ +62 "core" / +3 .tCC.seek :open + "collection"'g(p +411 "core" ( + "storage"(& +4 "core" &,~ p g `\  +2 "storage"(x& +4 "core" &,~ e e 5\  + "manipulator"&)& +4 "core" && T >O + "manipulator"&u% +4 "core" % σ C +2 .tForearm.seek :retract + "manipulator"&Y'\ +94 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 + "manipulator"&(* +175 "core" ( +2 "manipulator"&o& +4 "core" &9 ' H +2 "storage"(& +4 "core" &,~ | W\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 4 +2 "manipulator"&v'. +108 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&|1 +54 "core" 1 +2 "manipulator"&% +4 "core" % ;s > * + "storage"(& +4 "core" &,~ & %\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 313 counts + "manipulator"&}'g +16 "core" ' +2 "manipulator"&& +4 "core" & t Z g b +2 "storage"(m& +4 "core" &,~ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&z' +26 "core" ' + "storage"(% +5 "core" %` \ +2 ."downElevator"SE.seek :down +4 "storage"({'N +99 ( % +3 "core" %0= x { Z\ U[ +2 "manipulator"&% +4 "core" % b i 2  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&''\ +87 "core" ' +54 ' +2 ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 2 of [2..4] +2 #Loading generic puck from tube 2 into Collection Clamp + "collection"'& +4 "core" &I\ +2 "manipulator"&i% +4 "core" %\ ( 9 +2 "storage"(% +4 "core" %D \\\  + "storage"(\ . +3 "core" .(, +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 2 + "storage"(\\(  +676 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (j& +3 "core" &  & ) Q\ + "manipulator"&& +4 "core" & y s b +2 .tElbow.seek 2 + "manipulator"&,(; +19 "core" ( +2 "manipulator"&%& +4 "core" &Z j R ! +2 "storage"(0& +4 "core" &  { %\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&2'Ѐ +105 "core" ' +2 "storage"("& +4 "core" &  \ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(b'e +283 "core" ' +2 "storage"(- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" & } O\ + "manipulator"&& +4 "core" &Z e e  ! +2 .tElbow.seek 2 + "manipulator"& (; +22 "core" ( + "manipulator"&& +5 "core" &C X c  z + "storage"(& +4 "core" & \ +2 .tForearm.seek 2 + 300 counts + "manipulator"&' +23 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +51 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"&& "storage"('N +8 "core" &C b V z + "manipulator"&% +4 "core" % a U z +2 .tForearm.seek :retract +2 "manipulator"&-'\ +94 "core" ' +2 .tElbow.seek CC +2 "manipulator"&7( +148 "core" ( + "manipulator"&(& +5 "core" ' + &  / + .tElbow.reconfigure :loose +3 ."downElevator"SE.stop +3 "manipulator"&$ &.,(#b + "storage"(5 +4 "manipulator"&& +4 "core" &  / +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&6'| +102 "core" ' +2 "manipulator"&/& +4 "core" &  / +2 "manipulator"&;% +4 "core" %υ O + "collection"'I& +4 "core" &F\ +2 "collection"'1& +5 "core" &V\ +2 .tCC.seek :closed +2 "collection"'>(] +4 "core" &S\ +8 &?S\ $d +9 &lT~S\ 6 +10 &G\ K +9 &tXF\ M +9 &6WL\ M +10 &UI\ M +9 & VN\ M +10 &"|US\ M +9 &$?XQ\ M +9 &&XC\ M +10 &'UR\ M +9 &)WK\ M +9 &+EYC\ N +10 &- W>\ M +9 &.YD\ N +9 &0U;\ M +10 &2NW;\ M +9 &4[D\ M +10 &5X;\ N +9 &7Y7\ M +9 &9VT:\ M +10 &;U:\ M +9 &<W;\ M +9 &>Y:\ M +10 &@^Z@\ M +9 &BZD\ N +10 &CXL\ M +9 &EY?\ M +9 &GeZG\ N +10 &I%aI\ N +9 &JjQ\ P +9 &L~N\ R +10 &NVS\ V +9 &PQ\ X +10 &QS\ X +9 &SS\ Y +9 &USM\ Y +10 &WS\ Z +9 &XJ\ [ +9 &ZJ\ \\ +10 &\\VP\ H +9 &][:N\ + +10 &]N\ [ +5 ( +2 "collection"'1& +4 #tCollection Clamp onSpring/offSpring for 10/26 samples, on/off torque 2.06 + .Hand.open +2 "manipulator"&?1 +3 "core" &]R\ [ +58 1 +2 "manipulator"&@% +4 "core" % σ / +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&Q'\ +92 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%F& +5 "core" &\ + "manipulator"&D% +4 "core" %\ %  8 + "storage"(#% +4 "core" %B ( C\  +2 "storage"(U. +3 "core" .(  +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 + "storage"(Z(  +33 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (3& +3 "core" &  \ & + "manipulator"&H& +4 "core" &  / +2 "manipulator"&K% +4 "core" %\ %  8 +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&$(; +169 "core" ( +2 "manipulator"&S& +4 "core" &7 } \\ L + "storage"(5& +4 "core" & % / \ ) +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&!'Ѐ +102 "core" ' +2 "storage"(G& +4 "core" & N N \ ) +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(L'e +284 "core" ' + "storage"(*- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (A& +3 "core" &  ( 2 D\ / + "manipulator"&.& +4 "core" &8 _ b o K +2 .tElbow.seek 2 + "manipulator"&E(; +3 "core" ( +2 "manipulator"&O& +4 "core" &8 p r K + "storage"(9& +4 "core" &  & ) +\ / +2 .tForearm.seek 2 + 300 counts + "manipulator"&&' +20 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&a/ +56 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&c& + "storage"(e'N +7 "core" &8  K + "manipulator"&=% +4 "core" %   +2 .tForearm.seek :retract +2 "manipulator"&X'\ +94 "core" ' + .tElbow.seek PC +2 "manipulator"&^(c +163 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +87 "core" ( + "manipulator"&<& +5 "core" &b p  + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &]& +3 "core" &b Y +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&['[ +108 "core" ' +2 "manipulator"&R& +4 "core" &b Z s +2 "manipulator"&T% +4 "core" %] l l +2 "processing"%8& +3 "core" &$\ +3 "processing"%p& +4 "core" &\ +2 .tPC.seek :closed +2 "processing"%B(Z +5 "core" &\ +6 & 0\ #a +9 &]V\ 7 +9 &~\ L +10 &oV\ M +9 &0Z\ M +10 &\\\ M +9 & \\\ M +9 &"wU\ M +10 &$8Z\ M +9 &%Y\ M +9 &'V\ M +10 &)Z\ M +9 &+@Y\ M +10 &-\\\ M +9 &.\\\ M +9 &0[\ M +10 &2GZ\ N +9 &4\ Y\ M +9 &5V\ M +10 &7Y\ N +9 &9PX\ M +10 &;Z\ N +9 &<X\ M +9 &>\\\ M +10 &@XZ\ M +9 &BW\ M +9 &CW\ M +10 &E]\ M +9 &G_b\ N +10 &In\ O +9 &J~\ Q +9 &L\ T +10 &NU\ T +9 &P\ T +9 &Q\ T +10 &S\ U +9 &UZ\ U +10 &W\ U +9 &X\ U +9 &Z:Mp\ - +10 &ZZ\ 7 +5 ( +2 "processing"%p& +4 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.62 + .Hand.open +2 "manipulator"&:1 +3 "core" &Z>\ 7 +52 1 + "manipulator"&N% +56 "core" % ^ d a - +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&d'\ +97 "core" ' +3 "processing"%l& +4 "core" &Z>\ 7 + #tImaging generic puck in Processing Clamp while storing it to tube 2 +2 "manipulator"&M% +4 "core" %\ 6  & + "storage"(t% +4 "core" %O\ \ \ \ +2 "storage"(J. +3 "core" .(  + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"(W(  +48 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (h& +2 "manipulator"&4& +4 "core" &  \ +7 ."raiseStack"SE.reconfigure :place +2 "storage"(#]kK-0-\ b +3 ."raiseStack"SE.seek :beamBreak +2 "storage"(s'e +3 "core" &b  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +2 "manipulator"&r(c +3 "core" ( + "manipulator"&P& +5 "core" &b  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 & & +3 "core" &b  +2 .tForearm.seek PC +2 "manipulator"&`'[ +93 "core" ' + .tHand.close +2 "manipulator"&+/ +53 "core" / +2 .tPC.seek :open + "processing"%C(p +84 "core" ' + "storage"(k- +4 "core" -'e + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(w'B +36 "core" ' +262 ( + "storage"( & +4 "core" &   \ +2 "manipulator"&n& +4 "core" &b  + "manipulator"&V% +4 "core" % a  +2 .tForearm.seek :retract + "manipulator"&y'\ +98 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&_(; +274 "core" ( +2 "manipulator"&q& +4 "core" &= }  k +2 "storage"(& +4 "core" &  F S\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&x'Ѐ +108 "core" ' +2 .tHand.open +2 "manipulator"&)1 +57 "core" 1 +2 "storage"(u- +4 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate +2 "storage"(o' +23 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(' +51 "core" ' +2 #tLights, camera, ACTION! + "storage"( - +3 "core" -' +2 "storage"(& +4 "core" &  l l \ + "manipulator"&|& +4 "core" &= d `  k +2 .tElbow.seek 2 +2 "manipulator"&(; +3 "core" ( +2 "manipulator"&& +4 "core" &= j W / k + "storage"(& +4 "core" &  g l O\ +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&m'Ѐ +15 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.11 Pucks below Top Plate + "storage"('M +63 "core" ' +2 "manipulator"&Y& +4 "core" &= g e = k +2 "storage"( & +4 "core" &  3 3 r\ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 + "manipulator"&'ξ +34 "core" ' +2 .tElbow.hold + "manipulator"&, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"(v'7 +23 "core" ' + "manipulator"&% +5 "core" %b + "storage"(}& +4 "core" &  \ + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 2 + 320 counts +2 "manipulator"&i' +18 "core" ' +2 "manipulator"&& +4 "core" &= D Y / k +2 "storage"(\ & +4 "core" &  L L \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&~'Ѐ +15 "core" ' +2 "storage"(z% +4 "core" %A G H\  +2 ."downElevator"SE.seek :down +4 "storage"({'N +98 (f% +3 "core" %< % & \ V` +2 "manipulator"&j% +4 "core" %~ e e @ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +87 "core" ' +64 ' + ."downElevator"SE.stop + "storage"(5 +3 (%& +4 "core" &  `\  L\ + "collection"'0& +4 "core" &]E\ [ +2 #tStoring generic puck in Collection Clamp to tube 2 +2 "manipulator"&"% +4 "core" %\ '  A + "storage"(% +4 "core" %D 3 3\ +2 "storage"('. +3 "core" .(  +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"((  +28 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (& +3 "core" &  \ ' +2 "manipulator"&& +4 "core" &=  k + .tElbow.seek 2 +2 "manipulator"&(; +4 "core" ( + "manipulator"&& +4 "core" &= k + "storage"(& +4 "core" & % &\ - +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&'Ѐ +101 "core" ' + "storage"(& +4 "core" & / K :\ - +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(,'e +285 "core" ' + "storage"(2- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&(& +3 "core" &=  k +2 "storage"(& +3 "core" &  2 3 e\ 3 +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&b'ξ +34 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(/- +2 "core" -' +3 .tSE.seek 0.12 Pucks below Top Plate + "storage"(;'r +26 "core" ' + "manipulator"&I% +5 "core" %R , ð + "storage"( & +4 "core" &  \ 3 + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 2 + 312 counts +2 "manipulator"&' +18 "core" ' +2 "manipulator"&-& +4 "core" &> j X ( j +2 "storage"(g& +4 "core" &  4 4 -\ 3 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&?'Ѐ +24 "core" ' +2 .tSE.seek 1.12 Pucks below Top Plate +2 "storage"(@'a +41 "core" ' + "manipulator"&F& +5 "core" &> f e @ j + "manipulator"&D% +5 "core" %Ъ d f  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&#'\ +87 "core" ' +2 .tElbow.seek CC + "manipulator"&U( +158 "core" ( +2 "manipulator"&1& +4 "core" && Q =D + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &3& +3 "core" && g =D +2 .tForearm.seek CC + "manipulator"&H'| +97 "core" ' +2 .tHand.close + "manipulator"&K/ +63 "core" / +2 .tCC.seek :open + "collection"'6(p +411 "core" ( +2 "storage"(S& +4 "core" &  l e =\ 3 +2 "storage"(5& +4 "core" &  p f L\ 3 + "manipulator"&\\& +4 "core" &# 0 ;2 + "manipulator"&G% +4 "core" % Ϗ 3 +2 .tForearm.seek :retract + "manipulator"&7'\ +94 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&Q(; +157 "core" ( +2 "manipulator"&*& +4 "core" &D   + "storage"(A& +4 "core" &  w F\ 3 +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 2 + "manipulator"&.'ξ +109 "core" ' +2 .tElbow.hold + "manipulator"&O, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&91 +59 "core" 1 +2 "manipulator"&a% +4 "core" % _ *  + "storage"(c& +4 "core" &  & ) (\ 3 +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 2 + 318 counts +2 "manipulator"&=' +13 "core" ' +2 "manipulator"&$& +4 "core" &I U 7  + "storage"(!& +4 "core" &  \ 3 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +43 "manipulator"&L'Ѐ +28 "core" ' +2 "storage"(&% +4 "core" %e 0\ +2 ."downElevator"SE.seek :down +4 "storage"(<'N +98 (]% +3 "core" %m< { { O\ U\\ +2 "manipulator"&E% +4 "core" %] c a   +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&R'\ +86 "core" ' +56 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 3 of [2..4] + #Loading generic puck from tube 3 into Collection Clamp +2 "collection"'T& +4 "core" &G\ +2 "manipulator"&8% +4 "core" %\ )  I +2 "storage"(e% +3 "core" %C { { \  +2 "storage"(X. +3 "core" .(  +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(( +346 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (:& +3 "core" & + ;\  + "manipulator"&N& +4 "core" &I   +2 .tElbow.seek 3 +2 "manipulator"&p(D +3 "core" ( + "manipulator"&l& +4 "core" &I   +2 "storage"(M& +4 "core" & K\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&t' +93 "core" ' +2 "storage"(J& +4 "core" & \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(h'e +280 "core" ' + "storage"(4- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (P& +3 "core" & w P\  +2 "manipulator"& & +3 "core" &I h k 2  +2 .tElbow.seek 3 +2 "manipulator"&[(D +3 "core" ( +2 "manipulator"&+& +4 "core" &I k g  + "storage"(Z& +4 "core" & | { a\  +2 .tForearm.seek 3 + 300 counts + "manipulator"&k'y +10 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&^/ +53 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"&d& "storage"(B'N +8 "core" &I e g   + "manipulator"& % +4 "core" % m e c $ # +2 .tForearm.seek :retract +2 "manipulator"&s'\ +91 "core" ' +2 .tElbow.seek CC + "manipulator"&n( +153 "core" ' + ( + "manipulator"&V& +2 ."downElevator"SE.stop +5 "storage"(5 +3 "core" &" ` 9) + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &`& +3 "core" &"  9) +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&q'| +101 "core" ' +2 "manipulator"&& +4 "core" &"  9) +2 "manipulator"&r% +4 "core" %r , +2 "collection"')& +4 "core" &I\ +2 "collection"'u& +5 "core" &8\ +3 .tCC.seek :closed + "collection"' (] +4 "core" &B\  +9 &1E\ *z +9 &dC\ > +9 &PuE\ M +10 &W8\ L +9 &ZC\ M +10 &[>\ M +9 &!YY?\ M +9 &#YI\ L +10 &$YD\ M +9 &&XA\ M +9 &(`Z@\ M +10 &*$YG\ L +9 &+XH\ M +10 &-VH\ M +9 &/hYH\ M +9 &1*ZK\ M +10 &2YH\ M +9 &4XB\ M +9 &6qU8\ M +10 &83X<\ M +9 &9YI\ M +10 &;UE\ M +9 &=zXE\ L +9 &?:WL\ M +10 &@YI\ M +9 &BYF\ M +9 &DZH\ M +10 &FCXO\ M +9 &H[M\ M +10 &IgL\ O +9 &K~vS\ P +9 &M4J\ U +10 &NN\ W +9 &PL\ X +9 &RnL\ Y +10 &T0N\ Y +9 &UN\ Z +10 &WL\ Z +9 &YnL\ [ +9 &[.L\ \\ +10 &\\zO\ 3 +9 &])K\ "g +9 ( +3 "collection"'u& +3 #tCollection Clamp onSpring/offSpring for 9/25 samples, on/off torque 2.09 + .Hand.open +2 "manipulator"&1 +3 "core" &]O\ [ +51 1 +2 "manipulator"&|% +4 "core" % r | +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&'\ +97 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp +2 "processing"%& +4 "core" &!\ + "manipulator"&y% +4 "core" %\ 6  & +2 "storage"(Y% +4 "core" %; F \ + "storage"( . +3 "core" .( + "storage"(w& +4 "core" & F c\  +2 "storage"(& +4 "core" & E o\  + "manipulator"&}& +4 "core" & H 8! +2 "manipulator"&o% +4 "core" %\ 6  & +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&(D +172 "core" ( +2 "manipulator"&\ & +4 "core" &D  e + "storage"(z& +4 "core" & & ) 6\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&_' +101 "core" ' + "storage"(x& +4 "core" & I N \  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('e +281 "core" ' + "storage"(f- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (j& +3 "core" & 4 * b\  +2 "manipulator"&m& +4 "core" &I n l ` + .tElbow.seek 3 +2 "manipulator"&(D +3 "core" ( + "manipulator"&& +4 "core" &I s o ` +2 "storage"(& +4 "core" & % % '\  +2 .tForearm.seek 3 + 300 counts + "manipulator"&%'y +15 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&i/ +59 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&0& +2 "storage"("'N +7 "core" &I $ ` +2 "manipulator"&% +4 "core" % {  & +2 .tForearm.seek :retract + "manipulator"&''\ +94 "core" ' +2 .tElbow.seek PC +2 "manipulator"&v(c +156 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +93 "core" ( +2 "manipulator"&& +4 "core" &e f S +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &e ? +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&'[ +100 "core" ' + "manipulator"&& +5 "core" &e y + "manipulator"&~% +4 "core" %b  +2 "processing"%& +4 "core" &\ +2 "processing"%{& +6 "core" &\ +2 .tPC.seek :closed +3 "processing"%W(Z +3 "core" &\ +5 &\ 3 +10 &G~\ 1 +9 &5r\ E +9 &b\ N +10 &X\ M +9 &aZ\ M +10 & "Z\ M +9 &![\ M +9 &#Y\ M +10 &%iY\ M +9 &'*Y\ M +9 &(U\ M +10 &*Y\ M +9 &,q[\ M +10 &.2X\ M +9 &/W\ M +9 &1V\ M +10 &3xY\ M +9 &5:Y\ M +9 &6U\ M +10 &8Y\ M +9 &:X\ N +10 &W\ M +9 &?W\ M +10 &A]\ M +9 &CI[\ N +9 &E X\ M +10 &FY\ M +9 &Ha\ N +10 &JKm\ P +9 &L|\ Q +9 &M\ T +10 &O\ T +9 &QE\ T +9 &S\ T +10 &T\ U +9 &V\ U +10 &XL\ U +9 &Y{t\ (} +9 &Z,}\ 6 +9 ( +3 "processing"%{& +3 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.57 + .Hand.open +2 "manipulator"&1 +3 "core" &Z\ ) +55 1 + "manipulator"&% +4 "core" % b  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&2'\ +105 "core" ' + "processing"%(& +4 "core" &Z#\ ) +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&% +4 "core" %\  s n J  +2 "storage"(/% +4 "core" %F 3 /\  + "storage"(I. +3 "core" .( +2 "storage"( & +4 "core" & & &\  +2 "storage"(-& +4 "manipulator"&g& +5 "core" & 3 ) D\  + &e q +3 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +3 "storage"(#]kK-0-\ b +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +2 "manipulator"&F(c +3 ."raiseStack"SE.seek :beamBreak +2 "storage"(D'e +2 "core" ( + "manipulator"&& +4 "core" &e r ? +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +4 "core" &e +2 .tForearm.seek PC + "manipulator"&,'[ +94 "core" ' +2 .tHand.close + "manipulator"&b/ +64 "core" / +2 .tPC.seek :open +2 "processing"%(p +86 "core" ' +2 "storage"(;- +3 "core" -'e +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(1'B +39 "core" ' +256 ( + "storage"(3& +5 "core" & & /\  +2 "manipulator"&?& +4 "core" &e  + "manipulator"&% +4 "core" % Y  +2 .tForearm.seek :retract + "manipulator"&K'\ +100 "core" ' +52 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&#(D +257 "core" ( + "manipulator"&>& +4 "core" &A  ' +2 "storage"(S& +4 "core" & E \\\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&5' +104 "core" ' +2 .tHand.open + "manipulator"&\\1 +64 "core" 1 +2 "storage"(G- +4 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate +2 "storage"(*' +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(A' +52 "core" ' +2 #tLights, camera, ACTION! + "storage"(H- +4 "core" -' + "storage"(U& +4 "core" & G\  +2 "manipulator"&9& +4 "core" &B w I ' +2 .tElbow.seek 3 + "manipulator"&a(D +4 "core" ( + "manipulator"&c& +4 "core" &B ) ' +2 "storage"($& +3 "core" & G\  +3 .tForearm.seek 3 + 450 counts + "manipulator"&!' +4 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"(7'M +65 "core" ' +2 "manipulator"&&& +4 "core" &B c d I ' +2 "storage"(Q& +4 "core" & 7 6 \  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&]'M +34 "core" ' +2 .tElbow.hold + "manipulator"&E, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.07 Pucks below Top Plate + "storage"(.'7 +23 "core" ' +3 "manipulator"&T% +4 "core" %[_  + ų +2 "storage"(=& +3 "core" & R\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 314 counts + "manipulator"&8'χ +12 "core" ' + "manipulator"&e& +5 "core" &I ^ s 0 & + "storage"(X& +4 "core" & H M \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&@' +13 "core" ' + "storage"(L% +5 "core" %< N O J\  +2 ."downElevator"SE.seek :down +3 "storage"(<'N +100 (% +2 "core" %F  % &\ Wa +2 "manipulator"&:% +4 "core" %  d e $  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&N'\ +95 "core" ' +57 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (l& +4 "core" & B -\  +2 "collection"'M& +4 "core" &]~A\ [ +2 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&J% +4 "core" %\ 6 6 & +2 "storage"(O% +3 "core" %T C i\ +2 "storage"(R. +3 "core" .( + "storage"(4& +4 "core" & B \  +2 "storage"(P& +4 "core" & B \  + "manipulator"& & +4 "core" &I & +2 .tElbow.seek 3 + "manipulator"&+(D +4 "core" ( + "manipulator"&Z& +4 "core" &I  & + "storage"(^& +4 "core" & C N\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&d' +105 "core" ' +2 "storage"( & +4 "core" & K G\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(p'e +278 "core" ' + "storage"(t- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&V& +3 "core" &J c d $ & +2 "storage"(`& +3 "core" & & % \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&h'M +34 "core" ' +2 .tElbow.hold + "manipulator"&k, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(- +2 "core" -' +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(r'h +27 "core" ' +2 "manipulator"&)% +4 "core" %YV   ű + "storage"([& +5 "core" & M\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 312 counts + "manipulator"&B'υ +21 "core" ' + "manipulator"&s& +4 "core" &C g Y / & +2 "storage"(6& +4 "core" & 3 4 l\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&' +12 "core" ' +2 .tSE.seek 1.11 Pucks below Top Plate + "storage"(|'W +53 "core" ' + "manipulator"&& +4 "core" &C c e  & +2 "manipulator"&y% +4 "core" % e c . - +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&Y'\ +87 "core" ' +2 .tElbow.seek CC +2 "manipulator"& ( +154 "core" ( +2 "manipulator"&w& +4 "core" &+ 1 Aa + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &+ ] Aa +2 .tForearm.seek CC +2 "manipulator"&u'| +99 "core" ' +2 .tHand.close +2 "manipulator"&}/ +59 "core" / +2 .tCC.seek :open + "collection"'o(p +414 "core" ( +25 "storage"(q& +5 "core" & a ] \  + "storage"(\ & +4 "core" & c `\  + "manipulator"&z& +4 "core" & $  <= + "manipulator"&x% +4 "core" % χ  +2 .tForearm.seek :retract +2 "manipulator"&n'\ +101 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&(D +154 "core" ( +2 "manipulator"&f& +4 "core" &<  +2 "storage"(j& +3 "core" & x u \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 +2 "manipulator"&m'M +113 "core" ' +2 .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&1 +59 "core" 1 +3 "manipulator"&i% +4 "core" % R_ ) +2 "storage"(0& +4 "core" & ) 3 \  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 305 counts + "manipulator"&'~ +19 "core" ' + "manipulator"&& +5 "core" & j b   + "storage"(_& +4 "core" & \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&' +18 "core" ' +2 "storage"(%% +4 "core" %Z \ +2 ."downElevator"SE.seek :down +3 "storage"('N +100 (% +2 "core" %;; ~ ~\ UZ +2 "manipulator"&% +4 "core" % e f  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +90 "core" ' +48 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 4 of [2..4] + #Loading generic puck from tube 4 into Collection Clamp +2 "collection"'~& +4 "core" &>\ +2 "manipulator"&% +3 "core" %\ - X F +2 "storage"("% +4 "core" %= ~\ +2 "storage"('. +3 "core" .( + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"(C(, +352 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (& +3 "core" &, * & \  +2 "manipulator"&& +4 "core" & z   +2 .tElbow.seek 4 + "manipulator"&((* +19 "core" ( + "manipulator"&& +4 "core" &1\  \\ +2 "storage"(/& +4 "core" &, z x 0\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&I' +111 "core" ' + "storage"({& +4 "core" &, ~ R\  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"( 'e +290 "core" ' + "storage"(g- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (-& +3 "core" &, { \  +2 "manipulator"&& +3 "core" &4 m n Y +2 .tElbow.seek 4 +2 "manipulator"&(* +3 "core" ( +2 "manipulator"&& +4 "core" &4 p n L Y +2 "storage"(b& +3 "core" &, | Y\  +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&;'Z +25 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +50 "manipulator"&v/ +53 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&2& +2 "storage"(W'N +7 "core" &4 Y +2 "manipulator"&3% +4 "core" % X  +2 .tForearm.seek :retract + "manipulator"&D'\ +92 "core" ' +2 .tElbow.seek CC +2 "manipulator"&?( +137 "core" ( + "manipulator"&& +4 "core" &  / +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &,& +2 "core" ' +3 ."downElevator"SE.stop + "storage"(5 +3 "core" &  / +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +4 "manipulator"&>'| +94 "core" ' +2 "manipulator"&S& +5 "core" &  / + "manipulator"&F% +4 "core" %ρ   +2 "collection"'\\& +4 "core" &K\ +2 "collection"'G& +5 "core" &Q\ +2 .tCC.seek :closed +2 "collection"'H(] +4 "core" &R\  +9 &1~K\ *z +9 &dQ\ > +10 &NsQ\ N +9 &\\=\ L +9 &^J\ M +10 &\\R\ M +9 &!ZZK\ L +10 &#]G\ M +9 &$\\M\ L +9 &&YJ\ M +10 &(aXG\ L +9 &*"YF\ M +9 &+ZI\ M +10 &-ZH\ M +9 &/iWK\ L +9 &1*ZJ\ M +10 &2ZI\ M +9 &4VK\ L +10 &6rYI\ L +9 &82[H\ M +9 &9ZH\ L +10 &;XP\ L +9 &=x]M\ M +10 &?;[L\ L +9 &@ZK\ L +9 &B]J\ M +10 &DWJ\ L +9 &FBYI\ M +9 &HbN\ M +10 &IkI\ O +9 &K{|N\ Q +9 &M1O\ U +10 &NJ\ W +9 &PL\ X +10 &RmG\ Y +9 &T-N\ Y +9 &UI\ Z +10 &WJ\ [ +9 &YkN\ \\ +9 &[,I\ \\ +10 &\\|P\ 4 +9 &]&J\ E +9 ( +3 "collection"'G& +3 #tCollection Clamp onSpring/offSpring for 9/25 samples, on/off torque 2.08 + .Hand.open +2 "manipulator"&U1 +3 "core" &]]M\ B +58 1 +2 "manipulator"&9% +4 "core" % ρ   +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&c'\ +98 "core" ' +2 #tLoading generic puck from tube 4 into Processing Clamp +2 "processing"%$& +4 "core" &\ + "manipulator"&K% +4 "core" %\ 4 / %~ +2 "storage"(&% +4 "core" %= $ # K\ + "storage"(Q. +3 "core" .(,~ +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"(1(, +2 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (T& +4 "core" &,*\ \  \  + "manipulator"&=& +4 "core" & A / +2 "manipulator"&*% +4 "core" %\ 3  %~ +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&e(* +151 "core" ( +2 "manipulator"&X& +4 "core" &3   +2 "storage"(L& +3 "core" &, L L\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&#' +94 "core" ' +2 "storage"(5& +4 "core" &, e g ;\  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(A'e +278 "core" ' + "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (:& +2 "core" &, M R :\  +2 "manipulator"&!& +4 "core" &5 r o  + .tElbow.seek 4 +2 "manipulator"&a(* +8 "core" ( + "manipulator"&7& +5 "core" &1 r   +2 "storage"(]& +4 "core" &, _ W +\  +2 .tForearm.seek 4 + 300 counts + "manipulator"&l'Z +24 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&8/ +52 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&M& +2 "storage"(J'N +7 "core" &1 e e +  +2 "manipulator"&O% +4 "core" % Y f e O +2 .tForearm.seek :retract +2 "manipulator"&R'\ +92 "core" ' +2 .tElbow.seek PC +2 "manipulator"&.(c +155 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +87 "core" ( + "manipulator"&4& +5 "core" &j  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &P& +3 "core" &j 7 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC + "manipulator"& '[ +102 "core" ' + "manipulator"&Z& +5 "core" &j  + "manipulator"&^% +4 "core" %[  +2 "processing"%@& +4 "core" &$\ +2 "processing"% & +6 "core" &\ +2 .tPC.seek :closed +2 "processing"%<(Z +4 "core" & \ +7 & )\ #b +9 &[V\ 7 +10 &}\ L +9 &p[\ M +9 &3X\ M +10 &Z\ L +9 & \\\ M +10 &"xX\ M +9 &$9Y\ M +9 &%X\ M +10 &'Y\ N +9 &)X\ M +9 &+CY\ M +10 &-Z\ M +9 &.[\ M +10 &0Z\ M +9 &2JZ\ M +9 &4 X\ M +10 &5Y\ M +9 &7Y\ M +9 &9R\\\ M +10 &;Z\ M +10 &<W\ M +9 &>Z\ M +9 &@ZZ\ M +9 &BZ\ M +10 &CZ\ N +9 &EY\ M +9 &G__\ N +10 &Ij\ O +9 &Jw\ Q +10 &L\ T +9 &NU\ T +9 &P\ S +10 &Q\ T +9 &S\ T +9 &U]\ T +10 &W\ U +9 &X\ U +10 &Z:Ii\ *{ +9 &Z<\ ) +5 ( +2 "processing"% & +4 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.61 + .Hand.open +2 "manipulator"&E1 +3 "core" &Z\ ) +52 1 +2 "manipulator"&N% +4 "core" % [  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&t'\ +103 "core" ' +2 "processing"%V& +4 "core" &Z\ ) +2 #tImaging generic puck in Processing Clamp while storing it to tube 4 + "manipulator"&`% +4 "core" %\ :  ( +2 "storage"(% +4 "core" %9 & &z\  + "storage"(). +3 "core" .(, +2 "storage"([& +4 "core" &, ) % \  +2 "storage"(s& +2 "manipulator"&6& +7 "core" &, % &\  + &j P +3 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +3 "storage"(#]kK-0-\ b +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +3 ."raiseStack"SE.seek :beamBreak +2 "manipulator"&(c + "storage"(y'e +5 "core" ( + "manipulator"&d& +4 "core" &j  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &+& +2 "core" &j  +2 .tForearm.seek PC +2 "manipulator"&p'[ +100 "core" ' + .tHand.close +2 "manipulator"&h/ +58 "core" / + .tPC.seek :open +3 "processing"%B(p +87 "core" ' +2 "storage"(r- +3 "core" -'e +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(w'B +46 "core" ' +247 ( +2 "storage"(& +4 "core" &, N N ?\  + "manipulator"&& +4 "core" &j  +2 "manipulator"&k% +4 "core" % a  +2 .tForearm.seek :retract + "manipulator"&}'\ +96 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&Y(* +243 "core" ( +2 "manipulator"& & +4 "core" &- ` 0 + "storage"(q& +4 "core" &, $ %\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&\ ' +102 "core" ' +2 .tHand.open + "manipulator"&z1 +60 "core" 1 +2 "storage"(x- +3 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate +2 "storage"(f' +24 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(j' +52 "core" ' +2 #tLights, camera, ACTION! + "storage"(u- +4 "core" -' + "storage"( & +4 "core" &, \  +2 "manipulator"&& +4 "core" &- x  0 + .tElbow.seek 4 +2 "manipulator"&i(* +3 "core" ( +2 "manipulator"&0& +4 "core" &- 0 + "storage"(& +4 "core" &, J\  +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&_' +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"(%'M +62 "core" ' + "manipulator"&n& +5 "core" &-  0 + "storage"(& +4 "core" &, & . \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&'. +33 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"(m'7 +23 "core" ' +51 "manipulator"&~% +7 "core" %<K   Ʈ + "storage"(& +4 "core" &, \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 314 counts + "manipulator"&'h +18 "core" ' +2 "manipulator"&"& +4 "core" & a j  # +2 "storage"('& +4 "core" &, e e \ \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&|' +20 "core" ' + "storage"(% +5 "core" %> e e y\  +2 ."downElevator"SE.seek :down +4 "storage"('N +98 (% +3 "core" %= 9 +\ U] +2 "manipulator"&% +4 "core" % m m  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +91 "core" ' +59 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (& +4 "core" &, / ) \ \  +2 "collection"'/& +4 "core" &]^I\ B +2 #tStoring generic puck in Collection Clamp to tube 4 + "manipulator"&{% +4 "core" %\ -  "X +2 "storage"(% +4 "core" %M L M \ \ + "storage"(. +3 "core" .(, +2 "storage"(g& +4 "core" &, L K \  + "storage"(-& +4 "core" &, L L \  +2 "manipulator"&& +4 "core" &  "} +2 .tElbow.seek 4 + "manipulator"&(* +39 "core" ( +2 "manipulator"&b& +4 "core" &5 { # ` +2 "storage"(v& +4 "core" &, J H\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&2' +96 "core" ' +2 "storage"(3& +4 "core" &, o p 8\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(('e +278 "core" ' +2 "storage"(I- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +2 "core" &3 d j Q b +2 "storage"(,& +4 "core" &, ` R `\  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 + "manipulator"& '. +36 "core" ' + .tElbow.hold +2 "manipulator"&;, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(S- +2 "core" -' +3 .tSE.seek 0.11 Pucks below Top Plate + "storage"(F'm +29 "core" ' + "manipulator"&\\% +5 "core" %7B   Ŭ + "storage"(& +4 "core" &, \  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 4 + 309 counts +2 "manipulator"&W'c +17 "core" ' + "manipulator"&D& +5 "core" & N g  + "storage"(o& +4 "core" &, e e\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&U' +17 "core" ' +2 .tSE.seek 1.11 Pucks below Top Plate +2 "storage"(9'\\ +41 "core" ' +2 "manipulator"&$& +5 "core" & c d .  + "manipulator"&K% +4 "core" % d c  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&&'\ +98 "core" ' +2 .tElbow.seek CC + "manipulator"&Q( +156 "core" ( +2 "manipulator"&G& +4 "core" &' 5 >H + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &T& +3 "core" &'  >H +2 .tForearm.seek CC + "manipulator"&='| +95 "core" ' + .tHand.close + "manipulator"&*/ +62 "core" / + .tCC.seek :open +2 "collection"'>(p +216 "Can"\ SP +195 "core" ( + "storage"(X& +4 "core" &, b l\  +2 "storage"(L& +4 "core" &, o o r\  + "manipulator"&5& +4 "core" &%  <> + "manipulator"&C% +4 "core" % |  +2 .tForearm.seek :retract + "manipulator"&?'\ +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&c(* +173 "core" ( +2 "manipulator"&& +4 "core" &4 y  I + "storage"(:& +5 "core" &, y y >\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 4 +2 "manipulator"&!'. +111 "core" ' +2 .tElbow.hold + "manipulator"&7, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&]1 +54 "core" 1 +2 "manipulator"&8% +4 "core" % @l ( I  +2 "storage"(M& +4 "core" &, & ) \  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 4 + 318 counts +2 "manipulator"&O'l +17 "core" ' +2 "manipulator"&e& +4 "core" & Z r d + "storage"(#& +4 "core" &, | | 9\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&A' +18 "core" ' + "storage"(l% +4 "core" %a \ +3 ."downElevator"SE.seek :down +3 "storage"(4'N +99 (P% +3 "core" %D y z 6\ T\\ +2 "manipulator"&a% +4 "core" % l l +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&Z'\ +91 "core" ' +48 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 2 of [2..4] +2 #Loading generic puck from tube 2 into Collection Clamp + "collection"'^& +5 "core" &G\ + "manipulator"&@% +4 "core" %\ +  !M +2 "storage"(J% +4 "core" %L y 1\ +2 "storage"(R. +3 "core" .(, + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 2 + "storage"((  +672 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +2 (E& +4 "core" &  O M \ + "manipulator"&N& +4 "core" &  d +2 .tElbow.seek 2 + "manipulator"&V(; +35 "core" ( + "manipulator"&`& +4 "core" &@ }   +2 "storage"(& +4 "core" &  (\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&)'Ѐ +99 "core" ' +2 "storage"([& +4 "core" &  ~ '\ +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"( 'e +285 "core" ' + "storage"(6- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (s& +3 "core" &  u 2\ + "manipulator"&d& +5 "core" &@ ` e ?  +2 .tElbow.seek 2 + "manipulator"&+(; +3 "core" ( +2 "manipulator"& & +4 "core" &@ k h  +2 "storage"(h& +3 "core" &  { { j\ +3 .tForearm.seek 2 + 300 counts + "manipulator"&r' +20 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&./ +61 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&t& +2 "storage"(<'N +7 "core" &@ S  +2 "manipulator"&% +4 "core" % s .  +2 .tForearm.seek :retract + "manipulator"&'\ +100 "core" ' + .tElbow.seek CC +2 "manipulator"&y( +151 "core" ' + ."downElevator"SE.stop + "storage"(5 +4 "core" ( + "manipulator"&k& +4 "core" &&  =B +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &p& +2 "core" &%  =B +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"& '| +101 "core" ' +2 "manipulator"&q& +5 "core" && 2 =B + "manipulator"&% +4 "core" %υ M +2 "collection"'z& +4 "core" &I\ +2 "collection"'x& +5 "core" &J\ +2 .tCC.seek :closed + "collection"'u(] +5 "core" &J\  +9 &2~X\ *y +9 &d[\ > +9 &KtK\ N +10 &WJ\ M +9 &YP\ L +10 &YH\ M +9 &!VWF\ M +9 &#XH\ M +10 &$WI\ M +9 &&WH\ M +10 &(_WI\ L +9 &* WE\ M +9 &+WI\ L +10 &-WH\ M +9 &/eZM\ M +9 &1'YJ\ M +10 &2XG\ M +9 &4UF\ M +9 &6nUF\ M +10 &80UE\ M +9 &9VF\ L +10 &;WH\ M +9 &=vZH\ M +9 &?9VG\ L +10 &@XF\ M +9 &BWG\ L +9 &D~WM\ M +10 &F@VL\ M +9 &HZF\ M +10 &IgM\ O +9 &K}nN\ P +9 &M6I\ S +10 &NK\ V +9 &PN\ W +9 &RnI\ X +10 &T/O\ X +9 &UI\ Z +10 &WE\ Y +9 &YlI\ [\ +9 &[,I\ \\ +10 &\\zE\ 2 +9 &]$H\ "e +9 &]qN\ O +3 ( + "collection"'x& +3 #tCollection Clamp onSpring/offSpring for 9/25 samples, on/off torque 2.04 +2 .Hand.open + "manipulator"& 1 +60 "core" 1 +2 "manipulator"&% +4 "core" % g  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +53 .tForearm.seek :retract +2 "manipulator"&0'\ +91 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%& +4 "core" &\ +2 "manipulator"&}% +4 "core" %\ ) g G + "storage"(n% +4 "core" %V & &\  +2 "storage"(. +3 "core" .(  + "storage"(~& +4 "core" &  % %\ +2 "storage"(w& +4 "core" &  2 /\ + "manipulator"&f& +4 "core" &% G <: +2 "manipulator"&% +4 "core" %\ ) p G +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&"(; +159 "core" ( +2 "manipulator"&'& +4 "core" &= |   +2 "storage"(Y& +3 "core" &  L K \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&\ 'Ѐ +105 "core" ' +2 "storage"(& +4 "core" &  g o r\ +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(j'e +276 "core" ' + "storage"(_- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (& +2 "core" &  ? F\ +2 "manipulator"&& +4 "core" &= e e ,  + .tElbow.seek 2 +2 "manipulator"&i(; +3 "core" ( +2 "manipulator"&%& +4 "core" &= a X  + "storage"(& +4 "core" &  H J\ +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&' +33 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +58 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&/& +2 "storage"({'N +7 "core" &= c d   +2 "manipulator"&% +4 "core" % d e  +2 .tForearm.seek :retract + "manipulator"&'\ +95 "core" ' +2 .tElbow.seek PC +2 "manipulator"&g(c +152 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +93 "core" ( + "manipulator"&m& +5 "core" &h  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &-& +3 "core" &h  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&'[ +103 "core" ' +2 "manipulator"&b& +4 "core" &h \ +2 "manipulator"&v% +4 "core" %`  +2 "processing"%|& +4 "core" &*\ +2 "processing"%3& +5 "core" &%\ +2 .tPC.seek :closed +2 "processing"%(Z +4 "core" &\ +8 & +!\ #` +9 &_V\ 7 +9 &|\ K +10 &oW\ M +9 &1X\ M +9 &Y\ M +10 & [\ M +9 &"wW\ M +10 &$9Z\ M +9 &%Y\ M +9 &'Y\ M +10 &)Y\ M +9 &+BW\ M +9 &-Z\ M +10 &.[\ M +9 &0Z\ M +10 &2IZ\ M +9 &4 X\ M +9 &5Y\ M +10 &7\\\ M +9 &9SY\ L +9 &;Z\ M +10 &<]\ M +9 &>[\ M +10 &@Y]\ M +9 &BZ\ M +9 &CZ\ M +10 &EY\ M +9 &G^f\ N +9 &Io\ O +10 &J\ Q +9 &L\ S +10 &NT\ T +9 &P\ S +9 &Q\ T +10 &S\ T +9 &U\\\ T +9 &W\ T +10 &X\ U +9 &Z9Ij\ +} +10 &ZY\ 0 +5 ( +2 "processing"%3& +4 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.62 + .Hand.open + "manipulator"&1 +4 "core" &Z%\ / +58 1 + "manipulator"&% +5 "core" % `  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&I'\ +102 "core" ' + "processing"%& +5 "core" &Z%\ / + #tImaging generic puck in Processing Clamp while storing it to tube 2 +2 "manipulator"&,% +4 "core" %\ 8  ' + "storage"(S% +4 "core" %6 B\  +2 "storage"(\\. +3 "core" .(  +2 "storage"(& +4 "core" &  A \ + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"(D(  +34 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (o& +3 "core" & \ \ \  +2 "manipulator"&$& +5 ."raiseStack"SE.reconfigure :place +4 "storage"(#]kK-0-\ b +3 "core" &h  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +3 ."raiseStack"SE.seek :beamBreak +2 "manipulator"&K(c + "storage"(2'e +6 "core" ( + "manipulator"&& +4 "core" &h  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &(& +3 "core" &h + +2 .tForearm.seek PC +2 "manipulator"& '[ +94 "core" ' +2 .tHand.close + "manipulator"&W/ +55 "core" / +2 .tPC.seek :open +2 "processing"%F(p +94 "core" ' + "storage"(G- +4 "core" -'e + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(T'B +33 "core" ' +254 ( + "storage"(U& +4 "core" &  L K \  +2 "manipulator"&;& +4 "core" &h l + "manipulator"&*% +4 "core" % f  +2 .tForearm.seek :retract +2 "manipulator"&&'\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&H(; +276 "core" ( +2 "manipulator"&X& +4 "core" &G   +2 "storage"(L& +3 "core" &  K L \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&5'Ѐ +91 "core" ' +2 .tHand.open +2 "manipulator"&C1 +53 "core" 1 + "storage"(- +4 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate +2 "storage"(:' +23 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.83 Pucks below Top Plate + "storage"(=' +51 "core" ' +2 #tLights, camera, ACTION! + "storage"(Q- +4 "core" -' + "storage"(]& +4 "core" &  o s W\  +2 "manipulator"&8& +4 "core" &G 4  +2 .tElbow.seek 2 + "manipulator"&M(; +14 "core" ( +2 "manipulator"&e& +4 "core" &D b S + "storage"(#& +4 "core" &  l g d\  +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&l'Ѐ +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"(?'M +58 "core" ' +2 "manipulator"&P& +4 "core" &D k g S +2 "storage"(a& +4 "core" &  0 ' '\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 + "manipulator"&c'ξ +35 "core" ' + .tElbow.hold +2 "manipulator"&!, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"(^'7 +22 "core" ' + "manipulator"&@% +4 "core" %[ + +2 "storage"(O& +4 "core" &  d\  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 2 + 314 counts +2 "manipulator"&J' +18 "core" ' +2 "manipulator"&R& +4 "core" &D C b S +2 "storage"(9& +4 "core" &  K K \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&A'Ѐ +21 "core" ' + "storage"(4% +5 "core" %> b a\ +2 ."downElevator"SE.seek :down +3 "storage"(1'N +99 (E% +4 "core" %b> M 0 N\ U^ +2 "manipulator"&N% +4 "core" %n e e  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&`'\ +87 "core" ' +64 ' + ."downElevator"SE.stop + "storage"(5 +3 (& +3 "core" &  \  +2 "collection"'[& +4 "core" &]oC\ O + #tStoring generic puck in Collection Clamp to tube 2 +2 "manipulator"&7% +4 "core" %\ (  C + "storage"(Z% +4 "core" %@ M L \ + "storage"(6. +4 "core" .(  + "storage"(s& +4 "core" &  L L \  +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"(d(  +17 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 ( & +2 "core" &  \ & +2 "manipulator"&h& +4 "core" &D  S +2 .tElbow.seek 2 + "manipulator"&.(; +4 "core" ( + "manipulator"&t& +4 "core" &D  S +2 "storage"(& +4 "core" &  ; H \ + +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&V'Ѐ +96 "core" ' +2 "storage"()& +4 "core" &  N W v\ + +2 .tSE.reconfigure :pick +54 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(k'e +283 "core" ' + "storage"(p- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"& & +3 "core" &D b c  S + "storage"(r& +4 "core" &  H M /\ 4 +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&q'ξ +34 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(z- +2 "core" -' +3 .tSE.seek 0.12 Pucks below Top Plate + "storage"(+'s +26 "core" ' + "manipulator"&<% +4 "core" %O ¯ +2 "storage"(& +4 "core" &  \ 4 + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 2 + 313 counts +2 "manipulator"&>' +18 "core" ' +2 "manipulator"& & +4 "core" &D i X  S + "storage"(& +4 "core" &  M L \ 4 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&x'Ѐ +24 "core" ' +2 .tSE.seek 1.12 Pucks below Top Plate +2 "storage"('b +52 "core" ' + "manipulator"&}& +4 "core" &D ` S 6 S +2 "manipulator"&n% +4 "core" %Ж d _ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +94 "core" ' + .tElbow.seek CC +2 "manipulator"&~( +154 "core" ( +2 "manipulator"&w& +4 "core" &   , +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &f& +2 "core" &  & , +2 .tForearm.seek CC +2 "manipulator"&'| +95 "core" ' +2 .tHand.close + "manipulator"& / +63 "core" / +2 .tCC.seek :open + "collection"''(p +411 "core" ( +2 "storage"(Y& +4 "core" &  v z _\ 4 + "storage"(& +4 "core" &  t z :\ 4 +2 "manipulator"&y& +4 "core" &  v , + "manipulator"&0% +4 "core" % j v 2 +2 .tForearm.seek :retract + "manipulator"&_'\ +100 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&(; +158 "core" ( + "manipulator"&& +5 "core" &B   + "storage"(%& +4 "core" &  x x !\ 4 +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 2 + "manipulator"&'ξ +112 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&/1 +62 "core" 1 + "manipulator"&% +5 "core" % W * ^ +2 "storage"("& +4 "core" &  % (\ 4 + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 2 + 308 counts +2 "manipulator"&\ ' +18 "core" ' + "manipulator"&j& +5 "core" &B i X  + "storage"(& +4 "core" &  K\ 4 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&m'Ѐ +32 "core" ' + "storage"(-% +4 "core" %g { Y\ +3 ."downElevator"SE.seek :down +4 "storage"(i'N +99 (b% +3 "core" % C \ U\\ +2 "manipulator"&v% +4 "core" %s e c 4 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&|'\ +87 "core" ' +53 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 3 of [2..4] + #Loading generic puck from tube 3 into Collection Clamp +2 "collection"'{& +4 "core" &B\ + "manipulator"&% +4 "core" %\ ( H +2 "storage"(B% +4 "core" %= { { \\\  +2 "storage"(. +3 "core" .(  + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(( +345 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (& +3 "core" & 4 3 \  + "manipulator"&,& +4 "core" &B   +2 .tElbow.seek 3 + "manipulator"&S(D +4 "core" ( + "manipulator"&3& +5 "core" &B x  + "storage"(\\& +4 "core" & \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&' +93 "core" ' +2 "storage"(o& +4 "core" & @\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"($'e +282 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 ((& +3 "core" & | \  +2 "manipulator"&& +4 "core" &C d e V  + .tElbow.seek 3 +2 "manipulator"&W(D +3 "core" ( + "manipulator"&& +4 "core" &C p  +2 "storage"(G& +4 "core" & \  +2 .tForearm.seek 3 + 300 counts + "manipulator"&g'y +23 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&I/ +61 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& + "storage"(U'N +8 "core" &C e f ;  + "manipulator"&;% +4 "core" % { c f  +2 .tForearm.seek :retract +2 "manipulator"&*'\ +88 "core" ' +2 .tElbow.seek CC + "manipulator"&2( +147 "core" ( + "manipulator"& & +5 "core" &  . + .tElbow.reconfigure :loose +4 "manipulator"&$ &.,(#b + "core" ' +2 ."downElevator"SE.stop +3 "manipulator"&X& +3 "storage"(5 +4 "core" & . + .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&L'| +104 "core" ' +2 "manipulator"&K& +4 "core" &  . +2 "manipulator"&C% +4 "core" %q B +2 "collection"'& +4 "core" &H\ +2 "collection"'Q& +6 "core" &<\ +2 .tCC.seek :closed +2 "collection"'](] +5 "core" &@\ +7 &>M\ $e +9 &nVF\ 7 +10 &~F\ L +9 &XH\ M +9 &FXK\ M +10 & UG\ L +9 & WI\ L +9 &"UH\ M +10 &$OVJ\ L +9 &&VM\ M +9 &'VE\ L +10 &)YI\ M +9 &+WYK\ L +10 &-WM\ L +9 &.[H\ M +9 &0\\L\ M +10 &2^ZI\ M +9 &4 [L\ M +9 &5YJ\ L +10 &7WG\ L +9 &9fUL\ M +10 &;)TG\ L +9 &<UI\ L +9 &>ZG\ M +10 &@oVH\ L +9 &B0WD\ M +9 &C[D\ M +10 &EYL\ M +9 &GvYG\ M +10 &I6`I\ M +9 &JoK\ P +10 &LI\ R +9 &NbG\ V +9 &P G\ X +9 &QE\ X +10 &SG\ Y +9 &UaF\ Y +10 &W#G\ Y +9 &XE\ [ +9 &ZD\ ] +10 &\\bI\ I +9 &]`7E\ ){ +9 &]kE\ I +3 ( + "collection"'Q& +4 #tCollection Clamp onSpring/offSpring for 10/26 samples, on/off torque 2.09 + .Hand.open + "manipulator"&81 +56 "core" 1 +2 "manipulator"&e% +5 "core" % q 3 + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&#'\ +90 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%&& +5 "core" & \ + "manipulator"&P% +4 "core" %\ )  E +2 "storage"(a% +3 "core" %= L 1 7\  +2 "storage"(T. +3 "core" .( + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(@( +3 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (O& +3 "core" &\ \  \  +2 "manipulator"&:& +4 "core" &  . + "manipulator"&R% +4 "core" %\ (  E +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&9(D +168 "core" ( +2 "manipulator"&4& +4 "core" &E @ 2 +2 "storage"(H& +4 "core" & K N \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&5' +95 "core" ' + "storage"(=& +4 "core" & H L \  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(E'e +282 "core" ' + "storage"(N- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (l& +3 "core" & ; - O\  + "manipulator"&M& +4 "core" &E + 2 +2 .tElbow.seek 3 + "manipulator"&?(D +3 "core" ( +2 "manipulator"&c& +4 "core" &E { ; 2 +2 "storage"(J& +3 "core" & G G\  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&'y +10 "core" ' +2 .tForearm.reconfigure :loose +52 "manipulator"&#Q@2^d^b +3 .tHand.close +2 "manipulator"&[/ +57 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&7& +2 "storage"(Z'N +7 "core" &E W 2 +2 "manipulator"&6% +4 "core" % ~ M + +2 .tForearm.seek :retract + "manipulator"&s'\ +99 "core" ' +2 .tElbow.seek PC +2 "manipulator"&^(c +154 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +94 "core" ( +2 "manipulator"& & +5 "core" &l ) + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &h& +3 "core" &l G +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&t'[ +112 "core" ' +2 "manipulator"&& +4 "core" &l f h  +2 "manipulator"&A% +4 "core" %Q d b  n + "processing"%)& +5 "core" & \ +2 "processing"%1& +4 "core" &"\ +3 .tPC.seek :closed + "processing"%D(Z +5 "core" &\ \ +9 &0{\ *x +9 &d\ > +9 &Av\ N +10 &X\ M +9 &Z\ M +10 &X\ M +9 &!KZ\ M +9 &# V\ M +10 &$V\ M +9 &&X\ M +9 &(TY\ L +10 &*Y\ M +9 &+[\ M +10 &-Y\ L +9 &/Z[\ M +9 &1Y\ M +10 &2Y\ L +9 &4Y\ M +9 &6c\\\ M +10 &8&Z!\ L +9 &9Y\ L +10 &;Z\ M +9 &=kZ\ M +9 &?-Z\ M +10 &@^\ M +9 &BY\ M +9 &Ds\\\ M +10 &F4]\ M +9 &G`!\ N +10 &Ii\ N +9 &Kpw\ P +9 &M+\ S +10 &N\ T +9 &P\ T +9 &Ro\ S +10 &T0\ T +9 &U\ T +10 &W\ T +9 &Yu\ A +9 &Zy>\ V +10 &Z\ ( +2 ( +2 "processing"%1& +3 #tProcessing Clamp onSpring/offSpring for 9/25 samples, on/off torque 1.61 + .Hand.open +2 "manipulator"&!1 +59 "core" 1 + "manipulator"&`% +5 "core" % Q m _ q n +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&p'\ +91 "core" ' + "processing"% & +4 "core" &Z\ ( +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 +2 "manipulator"&r% +3 "core" %\ +  !O +2 "storage"(z% +4 "core" %E * & \  + "storage"(<. +3 "core" .( +2 "storage"(& +4 "core" & & %\  +2 "storage"( & +3 "manipulator"&& +5 "core" & & / \  + &l 6 +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +2 "storage"(#]kK-0-\ b +2 .tElbow.seek PC +4 "manipulator"&}(c +4 ."raiseStack"SE.seek :beamBreak +2 "storage"(n'e +2 "core" ( +2 "manipulator"&V& +4 "core" &l ` +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &.& +2 "core" &l  +2 .tForearm.seek PC +2 "manipulator"&k'[ +95 "core" ' +2 .tHand.close + "manipulator"&q/ +63 "core" / +2 .tPC.seek :open + "processing"%>(p +87 "core" ' + "storage"(+- +4 "core" -'e + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(w'B +34 "core" ' +257 ( +2 "storage"(f& +4 "core" & L M -\  +2 "manipulator"&x& +4 "core" &l p + "manipulator"&% +4 "core" % j m  +2 .tForearm.seek :retract +2 "manipulator"& '\ +93 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 + "manipulator"&(D +253 "core" ( +2 "manipulator"&u& +4 "core" &E v  "~ +2 "storage"(Y& +3 "core" & / ( #\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&' +96 "core" ' + .tHand.open +2 "manipulator"&y1 +61 "core" 1 +2 "storage"(0- +3 "core" -'B +3 .tSE.seek -0.16 Pucks below Top Plate + "storage"(' +23 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(%' +51 "core" ' + #tLights, camera, ACTION! +2 "storage"(- +3 "core" -' +2 "storage"(~& +4 "core" & \  + "manipulator"&/& +4 "core" &F "} +2 .tElbow.seek 3 + "manipulator"&(D +4 "core" ( + "manipulator"&"& +4 "core" &F . "} +2 "storage"(j& +3 "core" & A\  +3 .tForearm.seek 3 + 450 counts + "manipulator"&' +25 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"(-'M +63 "core" ' + "manipulator"&_& +5 "core" &F k l "} + "storage"(b& +4 "core" & K L '\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&v'M +33 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"('7 +22 "core" ' +2 "manipulator"&\ % +4 "core" %`f õ +2 "storage"({& +4 "core" & \ !\  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 319 counts + "manipulator"&'ό +19 "core" ' +2 "manipulator"&B& +4 "core" & Q v Q + +2 "storage"(& +4 "core" & K L\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&' +19 "core" ' +2 "storage"(m% +4 "core" %< e f \ +2 ."downElevator"SE.seek :down +4 "storage"(i'N +99 (d% +2 "core" %C %  \ Va +2 "manipulator"&% +4 "core" % d c   +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&,'\ +90 "core" ' +61 ' + ."downElevator"SE.stop + "storage"(5 +3 (3& +4 "core" & $ ( X\  + "collection"'\\& +4 "core" &]g<\ I +2 #tStoring generic puck in Collection Clamp to tube 3 +2 "manipulator"&o% +4 "core" %\ , # "_ +2 "storage"(% +4 "core" %N 1 , \ + "storage"(|. +3 "core" .( +2 "storage"(& +4 "core" & 0 ' &\  + "storage"((& +4 "core" & "  j\  +2 "manipulator"&& +4 "core" &  + +2 .tElbow.seek 3 + "manipulator"&(D +37 "core" ( +2 "manipulator"&G& +4 "core" &L |  M +2 "storage"(I& +4 "core" & M N \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&' +102 "core" ' +2 "storage"(;& +4 "core" & d b\  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(S'e +277 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"& & +2 "core" &L d e M +2 "storage"(X& +4 "core" & d a \  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&$'M +34 "core" ' +2 .tElbow.hold + "manipulator"&g, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(K- +3 "core" -' +2 .tSE.seek 0.11 Pucks below Top Plate + "storage"(C'h +37 "core" ' +2 "manipulator"&% +4 "core" %`[  + "storage"(W& +4 "core" & \  \  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 3 + 319 counts +2 "manipulator"&U'ό +19 "core" ' + "manipulator"&*& +5 "core" & h a  + "storage"('& +4 "core" & S N \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&8' +11 "core" ' +2 .tSE.seek 1.11 Pucks below Top Plate +2 "storage"(e'W +41 "core" ' + "manipulator"&&& +4 "core" & f e .  +2 "manipulator"&P% +4 "core" % d d $ . +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&a'\ +88 "core" ' + .tElbow.seek CC +2 "manipulator"&T( +161 "core" ( + "manipulator"&O& +4 "core" && N =E +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &Q& +3 "core" &&  =E +2 .tForearm.seek CC +2 "manipulator"&:'| +110 "core" ' +51 .tHand.close +2 "manipulator"&R/ +53 "core" / +2 .tCC.seek :open +2 "collection"'L(p +413 "core" ( +2 "storage"(4& +4 "core" & y L\  +2 "storage"(H& +3 "core" & y 7\  +2 "manipulator"&& +4 "core" &#  :, + "manipulator"&=% +4 "core" % k 7 +2 .tForearm.seek :retract + "manipulator"&2'\ +94 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&#(D +156 "core" ( +2 "manipulator"&N& +4 "core" &L {   +2 "storage"(l& +4 "core" & w x .\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 3 +2 "manipulator"&M'M +112 "core" ' + .tElbow.hold +2 "manipulator"&c, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&J1 +52 "core" 1 +2 "manipulator"&[% +4 "core" % Ve * +2 "storage"(7& +4 "core" & 2 0 D\  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 3 + 309 counts +2 "manipulator"&6'ς +18 "core" ' +2 "manipulator"&9& +4 "core" & g a  +2 "storage"(5& +4 "core" & \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&E' +21 "core" ' +2 "storage"(% +4 "core" %\\ k\ +2 ."downElevator"SE.seek :down +3 "storage"( 'N +100 (h% +2 "core" %A 7\ U\\ +2 "manipulator"&?% +4 "core" % e c +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +97 "core" ' +41 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 4 of [2..4] + #Loading generic puck from tube 4 into Collection Clamp +2 "collection"'A& +4 "core" &8\ + "manipulator"&)% +4 "core" %\ 5  & +2 "storage"(Z% +4 "core" %> y &\  +2 "storage"(s. +3 "core" .( + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"(F(, +355 "core" ( +2 .tSC.configure :limp +3 "storage"($\ 1b +2 (!& +3 "core" &, 3 3 g\  +2 "manipulator"&`& +4 "core" & 4  + .tElbow.seek 4 +2 "manipulator"& (* +19 "core" ( +2 "manipulator"&r& +4 "core" &.\  X +2 "storage"(z& +4 "core" &, z { C\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&<' +96 "core" ' +2 "storage"(& +4 "core" &, _\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('e +291 "core" ' + "storage"( - +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (1& +3 "core" &, g v \  + "manipulator"&V& +4 "core" &8 N +2 .tElbow.seek 4 + "manipulator"&.(* +25 "core" ( +2 "manipulator"&t& +4 "core" &1 c k W  +2 "storage"(q& +4 "core" &, } | ;\  +2 .tForearm.seek 4 + 300 counts + "manipulator"&+'Z +23 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&^/ +63 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&p& +2 "storage"(D'N +8 "core" &1 d e ,  +2 "manipulator"&f% +4 "core" % Z d d +2 .tForearm.seek :retract + "manipulator"&x'\ +90 "core" ' + .tElbow.seek CC +2 "manipulator"&n( +151 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +3 "core" ( + "manipulator"&& +4 "core" & - . +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &k& +3 "core" & . +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC + "manipulator"&u'| +102 "core" ' +2 "manipulator"&Y& +4 "core" &  . +2 "manipulator"&}% +4 "core" %σ  +2 "collection"'y& +4 "core" &K\ +2 "collection"'0& +5 "core" &X\ +3 .tCC.seek :closed + "collection"'(] +5 "core" &U\ +6 &6Y\ $e +10 &iVN\ 7 +9 &{S\ K +9 &}UM\ L +10 &?ZP\ L +9 &YP\ M +9 & YC\ M +10 &"UD\ L +9 &$GWB\ L +9 &&VH\ M +10 &'UB\ L +9 &)WH\ L +10 &+OUF\ L +9 &-WE\ L +9 &.\\E\ M +10 &0WG\ L +9 &2VXF\ M +9 &4YD\ M +10 &5UF\ L +9 &7ZC\ M +10 &9_YD\ L +9 &; ZG\ M +9 &<XG\ M +10 &>UF\ L +9 &@fYD\ M +10 &B'ZH\ M +9 &CWM\ M +9 &EXM\ M +10 &GoZS\ L +9 &I,gO\ N +9 &JvE\ P +10 &LT\ S +9 &NXZ\ W +10 &PM\ W +9 &QF\ X +9 &SO\ Y +10 &UXO\ Z +9 &WJ\ Z +9 &XG\ [ +10 &ZJ\ \\ +9 &\\\\R\ H +9 &]hBP\ "h +10 &]KS\ > +2 ( +2 "collection"'0& +3 #tCollection Clamp onSpring/offSpring for 10/26 samples, on/off torque 2.13 + .Hand.open +2 "manipulator"&~1 +56 "core" 1 +2 "manipulator"&/% +5 "core" % l 3 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&"'\ +93 "core" ' + #tLoading generic puck from tube 4 into Processing Clamp +2 "processing"%j& +4 "core" &1\ +2 "manipulator"& % +3 "core" %\ )  D +2 "storage"(_% +4 "core" %7 G Q\  + "storage"(b. +3 "core" .(, +2 "storage"(w& +3 "core" &, C K \  +2 "storage"(\ & +4 "core" &, G Q\  + "manipulator"&{& +4 "core" &  . +2 "manipulator"&% +3 "core" %\ )  D +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&B(* +166 "core" ( +2 "manipulator"&& +4 "core" &$ x  = +2 "storage"(m& +4 "core" &, T ^ U\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&' +93 "core" ' + "storage"(& +5 "core" &, o e b\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(%'e +281 "core" ' +2 "storage"(d- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +2 "core" &, J N \  +2 "manipulator"&& +4 "core" &)  8 + .tElbow.seek 4 +2 "manipulator"&(* +3 "core" ( +2 "manipulator"&-& +4 "core" &)  8 + "storage"(v& +4 "core" &, e e\  +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&3'Z +21 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&/ +58 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&\\& + "storage"(o'N +7 "core" &) k l 8 + "manipulator"&% +4 "core" % ] j g V +2 .tForearm.seek :retract +2 "manipulator"&|'\ +101 "core" ' +2 .tElbow.seek PC +2 "manipulator"&(c +150 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +92 "core" ( +2 "manipulator"&& +4 "core" &m q { 5 ' +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &(& +3 "core" &m t d = ' +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&'[ +105 "core" ' + "manipulator"&G& +5 "core" &m Y i D ' + "manipulator"&I% +4 "core" %T k k w +2 "processing"%& +4 "core" &1\ +2 "processing"%;& +4 "core" &/\ +3 .tPC.seek :closed + "processing"%i(Z +5 "core" &/\ +6 &9)\ $d +10 &oV,\ 7 +9 &z/\ K +10 &W'\ M +9 &DW,\ M +9 &W-\ M +10 & [\ M +9 &"[\ M +9 &$L\\\ M +10 && Z\ M +9 &'X\ L +10 &)Z#\ L +9 &+TW\ M +9 &-Y\ M +10 &.Z&\ M +9 &0Y\ M +9 &2\\\\!\ M +10 &4W\ M +9 &5W"\ M +10 &7W\ L +9 &9dY!\ M +9 &;&\\\ M +10 &<[#\ L +9 &>\\#\ M +9 &@k] \ M +10 &B-Y\ M +9 &CY\ M +10 &EY&\ M +9 &Gqb'\ N +9 &I/i \ O +10 &Jy'\ Q +9 &L'\ S +9 &Ng'\ T +10 &P*\ S +9 &Q#\ S +10 &S\ T +10 &Uo\ T +8 &W1\ T +10 &X&\ T +9 &ZJIe\ )w +9 &Z 3\ * +6 ( + "processing"%;& +5 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.60 + .Hand.open + "manipulator"&1 +3 "core" &Z\ * +56 1 + "manipulator"&,% +4 "core" % T s a 5 w +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&'\ +90 "core" ' +2 "processing"% & +4 "core" &Z'\ * +52 #tImaging generic puck in Processing Clamp while storing it to tube 4 + "manipulator"&X% +4 "core" %\ * !V +2 "storage"(K% +4 "core" %: L K \  + "storage"(. +3 "core" .(, +2 "storage"(W& +4 "core" &, N L ,\  +2 "storage"(*& +2 "manipulator"&'& +7 "core" &, K L \  + &m v y % ' +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +3 "storage"(#]kK-0-\ b + "manipulator"&&(c +6 ."raiseStack"SE.seek :beamBreak +2 "storage"(P'e +2 "core" ( +2 "manipulator"&& +4 "core" &m  ' + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &m { 7 ' +2 .tForearm.seek PC + "manipulator"&S'[ +100 "core" ' + .tHand.close +2 "manipulator"&$/ +58 "core" / +2 .tPC.seek :open +2 "processing"%U(p +87 "core" ' +2 "storage"(C- +3 "core" -'e +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place + "storage"(O'B +35 "core" ' +258 ( +2 "storage"(Q& +4 "core" &, X N 5\  +2 "manipulator"&8& +4 "core" &m L ' + "manipulator"&g% +4 "core" % X D +2 .tForearm.seek :retract +2 "manipulator"&R'\ +101 "core" ' +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&a(* +260 "core" ( + "manipulator"&]& +5 "core" & ?  + "storage"(4& +4 "core" &, M K )\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&H' +93 "core" ' +2 .tHand.open + "manipulator"&1 +58 "core" 1 +2 "storage"(=- +4 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate +2 "storage"(N' +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.83 Pucks below Top Plate + "storage"(l' +51 "core" ' +3 #tLights, camera, ACTION! + "storage"(:- +4 "core" -' + "storage"(T& +4 "core" &, \  +2 "manipulator"&J& +4 "core" & r ~ s  + .tElbow.seek 4 +2 "manipulator"&[(* +29 "core" ( +2 "manipulator"&7& +4 "core" &! ~ c !t + "storage"(9& +5 "core" &, .\  +2 .tForearm.seek 4 + 450 counts + "manipulator"&5' +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.11 Pucks below Top Plate + "storage"('M +63 "core" ' +2 "manipulator"&2& +4 "core" &! !t +2 "storage"(h& +4 "core" &, L K\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 + "manipulator"&?'. +35 "core" ' + .tElbow.hold +2 "manipulator"&#, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.07 Pucks below Top Plate + "storage"(M'7 +24 "core" ' +2 "manipulator"&A% +4 "core" %>R & Ű +2 "storage"()& +3 "core" &,\ \ \ `\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 316 counts + "manipulator"&6'j +17 "core" ' +2 "manipulator"&Z& +4 "core" & h l J & +2 "storage"(s& +4 "core" &, e o ^\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&e' +12 "core" ' + "storage"(E% +5 "core" %? b f (\ +2 ."downElevator"SE.seek :down +3 "storage"( 'N +99 (@% +3 "core" %B M K *\ Wb +2 "manipulator"&!% +4 "core" % d c 6 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&`'\ +93 "core" ' +57 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (r& +4 "core" &, G 5 \  +2 "collection"'z& +4 "core" &]JJ\ > + #tStoring generic puck in Collection Clamp to tube 4 +2 "manipulator"&% +4 "core" %\ 1 V $u +2 "storage"(c% +3 "core" %M M N &\ +2 "storage"(. +3 "core" .(, +2 "storage"( & +3 "core" &, L H #\  +2 "storage"(1& +4 "core" &, J K\  + "manipulator"&V& +4 "core" & $ & +2 .tElbow.seek 4 +2 "manipulator"&t(* +35 "core" ( + "manipulator"&q& +4 "core" &/ y  +2 "storage"(^& +4 "core" &, b d\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&p' +93 "core" ' +2 "storage"(f& +4 "core" &, z h\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"( 'e +278 "core" ' +2 "storage"(<- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" &- i ^ 3  + "storage"(k& +4 "core" &, p o #\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 + "manipulator"&'. +34 "core" ' +2 .tElbow.hold + "manipulator"&+, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(Y- +2 "core" -' +3 .tSE.seek 0.11 Pucks below Top Plate + "storage"(}'m +35 "core" ' +2 "manipulator"&y% +4 "core" %@Q x ° + "storage"(.& +5 "core" &,\ \ \  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 318 counts + "manipulator"&D'l +17 "core" ' +2 "manipulator"&x& +4 "core" & f M  +2 "storage"(L& +4 "core" &, o o X\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&~' +20 "core" ' +2 .tSE.seek 1.11 Pucks below Top Plate + "storage"(/'\\ +49 "core" ' +2 "manipulator"&j& +4 "core" & b d  + "manipulator"& % +5 "core" % d d \ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&_'\ +98 "core" ' +2 .tElbow.seek CC + "manipulator"&b( +147 "core" ( +2 "manipulator"&w& +4 "core" &  - + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &\ & +3 "core" &  - +2 .tForearm.seek CC + "manipulator"&0'| +97 "core" ' +2 .tHand.close + "manipulator"&{/ +57 "core" / +2 .tCC.seek :open + "collection"'(p +411 "core" ( +2 "storage"(u& +4 "core" &, | D\  + "storage"(& +4 "core" &, | |\  + "manipulator"&m& +4 "core" & y * - + "manipulator"&% +5 "core" % ύ c + .tForearm.seek :retract +2 "manipulator"&n'\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&"(* +164 "core" ( + "manipulator"&d& +5 "core" &' q > 0 + "storage"(& +4 "core" &, z\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 4 +2 "manipulator"&'. +111 "core" ' + .tElbow.hold +2 "manipulator"&-, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&v1 +53 "core" 1 +2 "manipulator"&% +4 "core" % =z ! U @ + "storage"(\\& +4 "core" &, $ ! \  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 4 + 315 counts +2 "manipulator"&'i +16 "core" ' +2 "manipulator"&B& +4 "core" & c N  J + "storage"(& +4 "core" &, \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&%' +18 "core" ' + "storage"(3% +5 "core" %b { q\ +2 ."downElevator"SE.seek :down +4 "storage"('N +98 ((% +3 "core" %$? y z I\ U[ +2 "manipulator"&% +4 "core" % a d   +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&G'\ +91 "core" ' +48 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 2 of [2..4] +51 #Loading generic puck from tube 2 into Collection Clamp + "collection"'I& +4 "core" &C\ +2 "manipulator"&% +4 "core" %\ ( - = +2 "storage"(o% +3 "core" %6 \  +2 "storage"(|. +4 "core" .(, + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"(>(  +671 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (& +3 "core" &  M M \ +2 "manipulator"&,& +3 "core" & w ? J +2 .tElbow.seek 2 +2 "manipulator"& (; +14 "core" ( + "manipulator"&X& +5 "core" &2 q !t + "storage"(;& +4 "core" &  { { ?\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&K'Ѐ +105 "core" ' +2 "storage"(& +4 "core" &  C\ +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(W'e +283 "core" ' +2 "storage"(*- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 ('& +3 "core" &  s Z \ + "manipulator"&& +4 "core" &4 c i * !r +2 .tElbow.seek 2 + "manipulator"&(; +4 "core" ( + "manipulator"&& +4 "core" &4 r n  !r + "storage"($& +4 "core" &  \ +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&C' +21 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&/ +54 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&& +2 "storage"(i'N +7 "core" &4  !r +2 "manipulator"&Q% +4 "core" %  +2 .tForearm.seek :retract + "manipulator"&P'\ +96 "core" ' +2 .tElbow.seek CC +2 "manipulator"&8( +140 "core" ( + "manipulator"&g& +5 "core" &  , + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 "core" ' +2 ."downElevator"SE.stop +3 "manipulator"&S& +3 "storage"(5 +4 "core" &  , + .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&]'| +102 "core" ' +2 "manipulator"&4& +4 "core" &  , +2 "manipulator"&&% +4 "core" %φ  +2 "collection"'& +4 "core" &e\ +2 "collection"'=& +5 "core" &k\ +2 .tCC.seek :closed +2 "collection"':(] +5 "core" &a\  +8 &4~`\ *y +9 &f`\ ? +10 &\\rd\ M +9 &!Vc\ L +10 &Z]\ M +9 &UT\ L +9 &!fWT\ M +10 &#'X\\\ M +9 &$V[\ L +9 &&Z]\ M +10 &(oUU\ L +9 &*1WJ\ L +9 &+UT\ L +10 &-YS\ M +9 &/vYY\ M +10 &18YU\ M +9 &2YW\ M +9 &4YQ\ L +10 &6VB\ L +9 &8@YQ\ M +9 &:YW\ M +10 &;YX\ L +9 &=U]\ M +10 &?HTR\ M +9 &A TV\ L +9 &BVT\ M +10 &DYS\ M +9 &FPYR\ M +9 &H]T\ M +10 &IgX\ O +9 &KnX\ O +10 &MGW\ R +9 &NS\ V +9 &PS\ X +10 &R~X\ X +9 &T<U\ Y +9 &UT\ [\ +10 &WY\ Z +9 &Y{Z\ [ +10 &[+W\ b +9 &\\V\ / +9 &]#Z\ ^ +9 ( +3 "collection"'=& +3 #tCollection Clamp onSpring/offSpring for 8/25 samples, on/off torque 2.05 + .Hand.open +2 "manipulator"&T1 +3 "core" &]eV\ N +55 1 + "manipulator"&J% +4 "core" % d I +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&7'\ +93 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%R& +4 "core" &#\ +2 "manipulator"&9% +4 "core" %\ ' \ A + "storage"(2% +4 "core" %U % % (\  + "storage"(h. +3 "core" .(  +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"(O(  +28 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (A& +3 "core" &  \ % +2 "manipulator"&N& +4 "core" &  , + "manipulator"&)% +4 "core" %\ '  A +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&Z(; +151 "core" ( +2 "manipulator"&s& +4 "core" &? z   + "storage"(E& +4 "core" &  G F\ ( +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&a'Ѐ +108 "core" ' +2 "storage"(H& +4 "core" &  b l\ ( +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(l'e +277 "core" ' + "storage"(@- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (!& +3 "core" &  J A <\ 4 + "manipulator"&5& +5 "core" &? e e   +2 .tElbow.seek 2 + "manipulator"&[(; +3 "core" ( +2 "manipulator"&& +4 "core" &? f _  + "storage"(?& +4 "core" &  e e\ 4 +2 .tForearm.seek 2 + 300 counts + "manipulator"&r' +24 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&z/ +63 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&6& +2 "storage"('N +8 "core" &? d e  +2 "manipulator"&c% +4 "core" % b e +2 .tForearm.seek :retract + "manipulator"&'\ +90 "core" ' +2 .tElbow.seek PC +2 "manipulator"& (c +157 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +79 "core" ( + "manipulator"&M& +4 "core" &h m  & +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &1& +2 "core" &h / & +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&V'[ +98 "core" ' +2 "manipulator"&q& +4 "core" &h r S & +2 "manipulator"&^% +4 "core" %\\ w O +2 "processing"%e& +3 "core" &0\ +2 "processing"%f& +6 "core" &>\ +2 .tPC.seek :closed +2 "processing"% (Z +4 "core" &1\ \ +9 &0{4\ *x +9 &d0\ > +10 &=u/\ N +9 &S1\ M +10 &Z,\ M +9 &Y2\ M +9 &!GY1\ M +10 &#\ W3\ M +9 &$W2\ M +9 &&\\+\ M +10 &(NX"\ M +9 &*X+\ M +10 &+Y \ M +9 &-X\ M +9 &/V[\ M +10 &1Y\ M +9 &2Z\ M +9 &4W&\ M +10 &6_X&\ M +9 &8"Y'\ M +10 &9X!\ M +9 &;X\ M +9 &=iX"\ L +10 &?)Z'\ M +9 &@Z&\ M +9 &BY&\ M +10 &Do[$\ M +9 &F0['\ M +10 &Gd#\ O +9 &Ip'\ O +9 &Kh'\ R +10 &M%'\ T +9 &N#\ T +9 &P%\ T +10 &Rk"\ T +9 &T,&\ T +10 &U\ U +9 &W&\ U +9 &Yp\ B +10 &ZyA \ T +9 &Z\ ( +2 ( +2 "processing"%f& +3 #tProcessing Clamp onSpring/offSpring for 9/25 samples, on/off torque 1.66 +2 .Hand.open + "manipulator" +56 "core" 1 +2 "manipulator"&`% +4 "core" % \\ \\ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&<'\ +105 "core" ' +2 "processing"%& +4 "core" &Z\ ( +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 +2 "manipulator"&k% +3 "core" %\  b b  +2 "storage"(Y% +4 "core" %> L K \  + "storage"(y. +3 "core" .(  +2 "storage"(.& +4 "core" &  ' :\ 4 + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"(x(  +47 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (L& +4 "core" & \  \ + "manipulator"&j& +3 ."raiseStack"SE.reconfigure :place +6 "storage"(#]kK-0-\ b +2 "core" &h d q { & +3 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +2 "storage"( 'e +2 "manipulator"&p(c +5 "core" ( + "manipulator"&t& +4 "core" &h g ~ Z & + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 & & +4 "core" &h Q & +2 .tForearm.seek PC + "manipulator"&'[ +98 "core" ' +2 .tHand.close + "manipulator"&D/ +61 "core" / +2 .tPC.seek :open +2 "processing"%}(p +78 "core" ' +2 "storage"(w- +3 "core" -'e +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(\ 'B +35 "core" ' +265 ( + "storage"(~& +4 "core" &  L 1 S\ +2 "manipulator"&+& +3 "core" &h  & +2 "manipulator"&{% +4 "core" % i  + .tForearm.seek :retract +2 "manipulator"&_'\ +95 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&(; +253 "core" ( + "manipulator"&u& +55 "core" &B ! !p +2 "storage"(& +3 "core" &  4 3 o\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&m'Ѐ +89 "core" ' +2 .tHand.open + "manipulator"&1 +55 "core" 1 +2 "storage"(d- +3 "core" -'B +3 .tSE.seek -0.16 Pucks below Top Plate + "storage"(' +23 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.83 Pucks below Top Plate + "storage"(0' +51 "core" ' +2 #tLights, camera, ACTION! + "storage"(b- +4 "core" -' +2 "storage"(v& +3 "core" &  ^ ]\ +2 "manipulator"&& +4 "core" &B  !p +2 .tElbow.seek 2 + "manipulator"&\\(; +4 "core" ( + "manipulator"&B& +4 "core" &B ! !p +2 "storage"(& +4 "core" &  } p\ +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&3'Ѐ +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"(n'M +63 "core" ' + "manipulator"&(& +5 "core" &B | !p + "storage"(& +4 "core" &  M L 0\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&"'ξ +33 "core" ' + .tElbow.hold +2 "manipulator"&, +5 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"(I'7 +22 "core" ' +2 "manipulator"&% +4 "core" %[ R ² +2 "storage"(/& +4 "core" &  T\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 310 counts + "manipulator"&' +19 "core" ' +2 "manipulator"&o& +4 "core" &R\ i d $ ` +2 "storage"(|& +4 "core" &  N I %\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&%'Ѐ +23 "core" ' + "storage"(% +5 "core" %? X O <\ +2 ."downElevator"SE.seek :down +4 "storage"(F'N +98 (% +3 "core" %A H .\ V` +2 "manipulator"&,% +4 "core" %А c d 9  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&X'\ +87 "core" ' +62 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (;& +4 "core" &  ( / :\ +2 "collection"'& +4 "core" &]eR\ N +2 #tStoring generic puck in Collection Clamp to tube 2 + "manipulator"&-% +4 "core" %\ +  !O + "storage"(G% +5 "core" %< K K\ + "storage"(*. +3 "core" .(  + "storage"('& +5 "core" &  L K\ + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"((  +62 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (& +3 "core" &  L M \ \ +2 "manipulator"&$& +4 "core" &R\  ` +2 .tElbow.seek 2 + "manipulator"&(; +34 "core" ( +2 "manipulator"&& +4 "core" &A } 4 +2 "storage"(Q& +3 "core" &  L N \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +3 "manipulator"& 'Ѐ +107 "core" ' +2 "storage"(K& +4 "core" &  g e y\ +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(g'e +279 "core" ' + "storage"(S- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&W& +3 "core" &A b c 4 + "storage"(C& +4 "core" &  _ K *\ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 + "manipulator"&4'ξ +38 "core" ' + .tElbow.hold +2 "manipulator"&&, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(- +3 "core" -' +2 .tSE.seek 0.12 Pucks below Top Plate +2 "storage"('r +26 "core" ' + "manipulator"&i% +4 "core" %R l ° +2 "storage"(P& +3 "core" &  R\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 312 counts + "manipulator"&' +19 "core" ' +2 "manipulator"&T& +4 "core" &A V i 4 +2 "storage"(J& +3 "core" &  L I 2\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&R'Ѐ +18 "core" ' +2 .tSE.seek 1.12 Pucks below Top Plate +2 "storage"(9'a +51 "core" ' +2 "manipulator"&2& +4 "core" &A d e 4 +2 "manipulator"&h% +4 "core" %v b d +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&='\ +87 "core" ' +2 .tElbow.seek CC +2 "manipulator"&A( +168 "core" ( +2 "manipulator"&N& +4 "core" &\ D S +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &)& +3 "core" &\ x $ S +2 .tForearm.seek CC +2 "manipulator"&]'| +101 "core" ' +2 .tHand.close + "manipulator"&s/ +57 "core" / + .tCC.seek :open +2 "collection"'E(p +411 "core" ( + "storage"(>& +4 "core" &  { ,\ +2 "storage"(H& +4 "core" &  y z (\ + "manipulator"&8& +4 "core" &\ x A S + "manipulator"&7% +4 "core" % z   +2 .tForearm.seek :retract + "manipulator"&@'\ +107 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&!(; +164 "core" ( + "manipulator"&5& +5 "core" &H Y r C  + "storage"(& +4 "core" &  \ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 2 +2 "manipulator"&?'ξ +109 "core" ' + .tElbow.hold +2 "manipulator"&z, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&61 +52 "core" 1 +3 "manipulator"&c% +4 "core" % [ 2 +2 "storage"(Z& +4 "core" &  / &\ + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 2 + 316 counts +2 "manipulator"&a' +16 "core" ' +2 "manipulator"&l& +4 "core" &Q L d U  + "storage"(r& +5 "core" &  \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&M'Ѐ +21 "core" ' + "storage"(1% +5 "core" %d 6\ +2 ."downElevator"SE.seek :down +3 "storage"(['N +100 (q% +2 "core" %%; J\ UZ +2 "manipulator"&^% +4 "core" %q c d +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&e'\ +88 "core" ' +51 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 3 of [2..4] + #Loading generic puck from tube 3 into Collection Clamp +2 "collection"'& +4 "core" &G\ +2 "manipulator"&% +4 "core" %\ &  B +2 "storage"(U% +4 "core" %7 a\  + "storage"(#. +3 "core" .(  +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 3 + "storage"(`( +345 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (& +2 "core" & N N 3\  +2 "manipulator"&k& +4 "core" &Q   +2 .tElbow.seek 3 + "manipulator"&Y(D +14 "core" ( +2 "manipulator"&y& +4 "core" &N o  +2 "storage"(f& +3 "core" & | U\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&.' +93 "core" ' + "storage"(L& +5 "core" & \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(j'e +289 "core" ' + "storage"(t- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 ( & +3 "core" & z \  +2 "manipulator"&V& +4 "core" &N k o   +2 .tElbow.seek 3 + "manipulator"&D(D +4 "core" ( + "manipulator"&O& +4 "core" &N   + "storage"(w& +4 "core" & \  +2 .tForearm.seek 3 + 300 counts + "manipulator"& 'y +11 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +52 .tHand.close + "manipulator"& +9 &Zsa\ M +10 &Uc\ L +9 &\\a\ L +9 &Zb\ M +10 &!cYb\ M +9 &#&Z[\ L +10 &$ZT\ L +9 &&ZZ\ L +9 &(lZ[\ L +10 &*/[S\ L +9 &+YX\ L +9 &-YS\ L +10 &/t\\Z\ L +9 &15ZW\ M +10 &2Z]\ L +9 &4[Q\ L +9 &6|YW\ L +10 &8=YR\ M +9 &:WW\ L +9 &;WX\ L +10 &=YT\ M +9 &?FTU\ L +10 &AWP\ L +9 &BWT\ M +9 &DYX\ L +10 &FMVZ\ M +9 &HYV\ M +9 &IgV\ N +10 &KrZ\ P +9 &MAW\ T +10 &NU\ V +9 &PV\ W +9 &R{W\ X +10 &T:T\ Y +9 &UU\ Z +10 &WQ\ Z +9 &YxR\ [ +9 &[:X\ [ +10 &\\|O\ . +9 &].S\ Q +9 ( +3 "collection"'b& +3 #tCollection Clamp onSpring/offSpring for 9/25 samples, on/off torque 2.08 + .Hand.open +2 "manipulator"&1 +3 "core" &]SQ\ B +61 1 + "manipulator"&B% +5 "core" % q 6 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +90 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp +2 "processing"%_& +4 "core" &=\ + "manipulator"&(% +4 "core" %\ +  !O +2 "storage"(% +3 "core" %C K K \  +2 "storage"(. +3 "core" .( +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(\ ( +2 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (/& +4 "core" & E 3\  + "manipulator"&& +4 "core" &  8! +2 "manipulator"&o% +4 "core" %\ +  !O +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&|(D +161 "core" ( +2 "manipulator"&& +4 "core" &@ ~  \ +2 "storage"(& +4 "core" & d d\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&m' +94 "core" ' +2 "storage"(0& +4 "core" & l a\  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"('e +278 "core" ' +2 "storage"(,- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (3& +2 "core" & _ K Z\  +2 "manipulator"&\\& +4 "core" &@ R \ +2 .tElbow.seek 3 + "manipulator"&n(D +3 "core" ( +2 "manipulator"&"& +4 "core" &@ k ~ 8 \ + "storage"(& +4 "core" & d d\  +2 .tForearm.seek 3 + 300 counts + "manipulator"&;'y +21 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +58 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&-& +2 "storage"(G'N +7 "core" &@ c c \ +2 "manipulator"&*% +4 "core" % p b d +2 .tForearm.seek :retract +2 "manipulator"&''\ +91 "core" ' +2 .tElbow.seek PC + "manipulator"&I(c +162 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +85 "core" ( + "manipulator"&& +5 "core" &h 7 +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &$& +3 "core" &h  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC + "manipulator"&%'[ +98 "core" ' + "manipulator"&& +5 "core" &h  + "manipulator"&Q% +4 "core" %d x U +2 "processing"%K& +4 "core" &@\ +2 "processing"%F& +6 "core" &A\ +2 .tPC.seek :closed +2 "processing"%x(Z +4 "core" &4\ +7 &@4\ $e +9 &kV1\ 7 +10 &}3\ L +9 &Y9\ M +9 &BW1\ M +10 &Y:\ L +9 & Z4\ M +9 &"W2\ M +10 &$JW1\ M +9 && Y0\ M +10 &'V0\ M +9 &)X1\ M +9 &+RZ7\ M +10 &-X&\ M +9 &.Z\ M +9 &0Y#\ M +10 &2YW\ M +9 &4X"\ M +10 &5X!\ L +9 &7Y\ M +9 &9cW\ L +10 &;#Z \ M +9 &<X&\ M +9 &>Z&\ M +10 &@i\\%\ M +9 &B+Y$\ M +10 &CY'\ M +9 &EX'\ M +9 &Gp\\'\ M +10 &I0c \ N +9 &Jq%\ P +9 &L'\ R +10 &Nf%\ S +9 &P(!\ S +10 &Q&\ T +9 &S&\ T +9 &Ul&\ T +10 &W.%\ T +9 &X'\ U +9 &ZIIh'\ )y +10 &Z1'\ , +5 ( +2 "processing"%F& +4 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.61 + .Hand.open +2 "manipulator"&1 +2 "core" &Z!$\ , +53 1 + "manipulator"&X% +5 "core" % d e + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&S'\ +100 "core" ' +2 "processing"%W& +4 "core" &Z &\ , +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&C% +4 "core" %\ :  ( + "storage"(% +4 "core" %P ( 0\ \ +2 "storage"(i. +3 "core" .( + "storage"(P& +4 "core" & 0 (\  +2 "storage"(T& +2 "manipulator"&J& +7 "core" & % &~\  + &h  +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +2 "storage"(#]kK-0-\ b +2 .tElbow.seek PC +5 "manipulator"&2(c +3 ."raiseStack"SE.seek :beamBreak +2 "storage"(h'e +3 "core" ( + "manipulator"& & +4 "core" &h  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &h Z +2 .tForearm.seek PC +2 "manipulator"&g'[ +95 "core" ' + .tHand.close +2 "manipulator"&4/ +53 "core" / +2 .tPC.seek :open +2 "processing"%(p +94 "core" ' + "storage"(- +4 "core" -'e + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(N'B +45 "core" ' +239 ( + "storage"()& +4 "core" & H G\  +2 "manipulator"&R& +3 "core" &h X +2 "manipulator"&&% +4 "core" % _ ( +2 .tForearm.seek :retract +2 "manipulator"&s'\ +103 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&=(D +257 "core" ( +2 "manipulator"&:& +4 "core" &<  ( +2 "storage"(>& +3 "core" & "  O\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&H' +93 "core" ' + .tHand.open +2 "manipulator"&81 +63 "core" 1 + "storage"(7- +4 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate +2 "storage"(5' +24 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(' +51 "core" ' + #tLights, camera, ACTION! +2 "storage"(]- +3 "core" -' +2 "storage"(A& +4 "core" & \  + "manipulator"&6& +4 "core" &?  ( +2 .tElbow.seek 3 + "manipulator"&c(D +4 "core" ( + "manipulator"&Z& +4 "core" &? w # ( +2 "storage"(l& +4 "core" & \  +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&r' +3 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.11 Pucks below Top Plate + "storage"(1'M +65 "core" ' +2 "manipulator"&@& +4 "core" &? t ( +2 "storage"(q& +3 "core" & G G \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&^'M +96 "core" ' +2 .tElbow.hold + "manipulator"&!, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +52 "storage"(?'7 +29 "core" ' +2 "manipulator"&% +4 "core" %aq \ ¸ + "storage"(a& +4 "core" &\ \ \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 320 counts + "manipulator"&'ύ +17 "core" ' +2 "manipulator"&U& +4 "core" &7 g X S ) +2 "storage"(#& +4 "core" & d b\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&9' +22 "core" ' +2 "storage"(M% +4 "core" %< o g \ +2 ."downElevator"SE.seek :down +4 "storage"(['N +99 (% +3 "core" %.C M K \ U^ +2 "manipulator"&% +4 "core" % c b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&k'\ +100 "core" ' +50 ' + ."downElevator"SE.stop + "storage"(5 +3 (y& +4 "core" & U\  + "collection"'f& +5 "core" &]TQ\ B + #tStoring generic puck in Collection Clamp to tube 3 +2 "manipulator"&L% +4 "core" %\ 8  ' +3 "storage"(z% +4 "core" %< K K\ +2 "storage"(e. +3 "core" .( + "storage"(t& +4 "core" & K K \  +2 "storage"( & +4 "core" & M G \  + "manipulator"&V& +5 "core" &:  ( +2 .tElbow.seek 3 + "manipulator"&O(D +4 "core" ( + "manipulator"&w& +4 "core" &:  ( +2 "storage"(<& +4 "core" & K K \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"& ' +97 "core" ' + "storage"(~& +5 "core" & d d\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(Y'e +278 "core" ' + "storage"(.- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&& +3 "core" &;  ( +2 "storage"(u& +4 "core" & N H \  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 + "manipulator"&j'M +33 "core" ' + .tElbow.hold +2 "manipulator"& , +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(- +2 "core" -' +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"('h +27 "core" ' +2 "manipulator"&D% +4 "core" %[W   F ű +2 "storage"(d& +3 "core" & m\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 314 counts +2 "manipulator"& 'χ +18 "core" ' + "manipulator"&+& +5 "core" &4 P d ) + "storage"(E& +4 "core" & I K \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&' +19 "core" ' +2 .tSE.seek 1.11 Pucks below Top Plate +2 "storage"(B'W +46 "core" ' + "manipulator"&_& +4 "core" &7 _ d  ) +2 "manipulator"&(% +4 "core" % k i 0 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +95 "core" ' +2 .tElbow.seek CC +2 "manipulator"&( +171 "core" ( +2 "manipulator"&b& +4 "core" & / , + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &/& +3 "core" &  , +2 .tForearm.seek CC +2 "manipulator"&'| +95 "core" ' +2 .tHand.close + "manipulator"&o/ +57 "core" / + .tCC.seek :open +2 "collection"'p(p +414 "core" ( + "storage"(& +4 "core" & v\  +2 "storage"(& +4 "core" & y { 4\  + "manipulator"&`& +4 "core" & v  , + "manipulator"&0% +4 "core" % σ y  +2 .tForearm.seek :retract +2 "manipulator"&{'\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&(D +169 "core" ( + "manipulator"&,& +4 "core" &> }  +2 "storage"(3& +4 "core" & } \  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 3 + "manipulator"&\\'M +109 "core" ' + .tElbow.hold +2 "manipulator"&", +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&1 +58 "core" 1 +2 "manipulator"&% +4 "core" % aq v  +2 "storage"(-& +4 "core" & * 6 9\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 320 counts + "manipulator"&*'ύ +12 "core" ' +2 "manipulator"&|& +4 "core" &\ k i  V +2 "storage"(m& +4 "core" & U\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&' +19 "core" ' + "storage"(;% +5 "core" %Y ~ \ +2 ."downElevator"SE.seek :down +3 "storage"('N +99 ($% +3 "core" %<@ z \ U\\ +2 "manipulator"&n% +4 "core" % l l >  + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +90 "core" ' +49 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 4 of [2..4] + #Loading generic puck from tube 4 into Collection Clamp +2 "collection"'Q& +4 "core" &`\ +2 "manipulator"&K% +4 "core" %\ -  "_ +2 "storage"(G% +4 "core" %K  m\ + "storage"('. +3 "core" .( +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"(}(, +356 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (& +3 "core" &, L K \  + "manipulator"&X& +4 "core" &  U +2 .tElbow.seek 4 + "manipulator"&W(* +18 "core" ( +2 "manipulator"&C& +4 "core" &C  N + "storage"(& +4 "core" &, z x $\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&i' +99 "core" ' + "storage"(P& +5 "core" &, \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(F'e +281 "core" ' + "storage"(J- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (T& +3 "core" &, x C\  +2 "manipulator"& & +4 "core" &D M + .tElbow.seek 4 +2 "manipulator"&(* +28 "core" ( +2 "manipulator"&%& +4 "core" &' g k  v +2 "storage"(4& +3 "core" &, \  +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&'Z +21 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&I/ +52 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&S& +2 "storage"(x'N +7 "core" &' b d v +2 "manipulator"&)% +4 "core" % ] c c +2 .tForearm.seek :retract + "manipulator"&R'\ +89 "core" ' + .tElbow.seek CC +2 "manipulator"&&( +151 "core" ( +2 "manipulator"&h& +5 "core" &  - + ' + .tElbow.reconfigure :loose +3 ."downElevator"SE.stop +4 "manipulator"&$ &.,(#b "storage"(5 +3 "manipulator"&g& +6 "core" & \ - +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&:'| +103 "core" ' +2 "manipulator"&>& +4 "core" &  - +2 "manipulator"&2% +4 "core" %ς  +2 "collection"'8& +4 "core" &Z\ +2 "collection"'7& +5 "core" &U\ +2 .tCC.seek :closed +2 "collection"'](] +4 "core" &f\ +7 &>k\ $d +10 &gW~k\ 7 +9 &{h\ K +9 &{Tj\ L +10 &<Yi\ M +9 &Wj\ M +10 & Ud\ M +9 &"U[\ M +9 &$EXa\ L +10 &&Vj\ L +9 &'W`\ L +9 &)U]\ M +10 &+MTd\ L +9 &-UZ\ L +10 &.ZZ\ M +9 &0US\ M +9 &2TUQ\ M +10 &4UP\ M +9 &5SV\ M +9 &7UU\ M +10 &9\\YR\ M +9 &;YP\ M +10 &<WT\ L +9 &>V[\ L +9 &@dVP\ M +10 &B%WW\ M +9 &CWX\ L +9 &EVV\ L +10 &GlYU\ M +9 &I*cQ\ N +10 &JuK\ P +9 &LV\ T +9 &NUJ\ W +10 &PN\ X +9 &QN\ X +10 &SP\ X +9 &UWT\ Y +9 &WN\ Y +10 &XP\ [\ +9 &ZS\ [ +9 &\\YN\ H +10 &]c>O\ $l +9 &]pJ\ M +2 ( +2 "collection"'7& +3 #tCollection Clamp onSpring/offSpring for 10/26 samples, on/off torque 2.16 + .Hand.open + "manipulator"&A1 +54 "core" 1 +2 "manipulator"&6% +4 "core" % {  +51 .tForearm.reconfigure :loose +4 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&Z'\ +99 "core" ' +2 #tLoading generic puck from tube 4 into Processing Clamp + "processing"%l& +5 "core" &<\ + "manipulator"&s% +4 "core" %\ 5  & +2 "storage"(@% +3 "core" %> 3 3 \ +2 "storage"(q. +3 "core" .(, + "storage"(N& +4 "core" &, 5 4 \  +2 "storage"(5& +4 "core" &, 3 3 y\  + "manipulator"&=& +4 "core" &  - +2 "manipulator"&% +4 "core" %\ 6  & +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&H(* +169 "core" ( + "manipulator"&a& +5 "core" &'  + + "storage"(& +5 "core" &, H K p\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&U' +99 "core" ' + "storage"(#& +5 "core" &, J G \ \  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(M'e +277 "core" ' + "storage"(r- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (& +3 "core" &, A M W\  +2 "manipulator"&& +3 "core" &+ l ' +2 .tElbow.seek 4 +2 "manipulator"&c(* +3 "core" ( +2 "manipulator"&1& +4 "core" &+ + ' + "storage"(^& +4 "core" &, L K \  +2 .tForearm.seek 4 + 300 counts + "manipulator"&'Z +32 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&y/ +60 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&f& +2 "storage"(L'N +7 "core" &+ a b ' +2 "manipulator"&z% +4 "core" % u e f  +2 .tForearm.seek :retract + "manipulator"&e'\ +96 "core" ' +2 .tElbow.seek PC + "manipulator"&?(c +154 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +99 "core" ( +2 "manipulator"&t& +4 "core" &d 7 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 & & +3 "core" &d  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&V'[ +101 "core" ' + "manipulator"&w& +4 "core" &d  +2 "manipulator"&<% +4 "core" %_  +2 "processing"%9& +4 "core" &E\ +2 "processing"%~& +5 "core" &1\ +2 .tPC.seek :closed + "processing"%[(Z +4 "core" &8\  +9 &2>\ *y +9 &d:\ > +10 &Tu:\ M +9 &X4\ M +9 &Z:\ M +10 &W5\ M +9 &!]Y3\ M +9 &# W:\ L +10 &$X5\ M +9 &&Z2\ L +9 &(eY2\ M +10 &*'W4\ M +9 &+X/\ L +10 &-Y+\ M +9 &/m[-\ M +9 &1/[,\ M +10 &2Y&\ L +9 &4X"\ M +10 &6u\\"\ M +9 &87\\ \ M +9 &9X \ L +10 &;Y\ M +9 &=}\\\ M +9 &??Z\ M +10 &AZ$\ M +9 &BY$\ M +9 &DZ&\ M +10 &FE\\(\ M +9 &Hb(\ O +10 &Il!\ O +9 &K}'\ R +9 &M;#\ S +10 &N$\ T +9 &P\ T +9 &R~\ T +10 &T@'\ T +9 &V(\ U +10 &W(\ U +9 &Y&\ B +9 &Z9"\ W +10 &Z"&\ , +2 ( +2 "processing"%~& +3 #tProcessing Clamp onSpring/offSpring for 9/25 samples, on/off torque 1.60 + .Hand.open + "manipulator"&!1 +60 "core" 1 +2 "manipulator"&k% +4 "core" % _  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&.'\ +95 "core" ' +2 "processing"%& +4 "core" &Z 3\ , +2 #tImaging generic puck in Processing Clamp while storing it to tube 4 + "manipulator"&u% +4 "core" %\ 0  $o +2 "storage"(% +4 "core" %? E ?\  + "storage"(D. +3 "core" .(, +2 "storage"(d& +3 "core" &, B t\  +2 "storage"(+& +5 "manipulator"&E& +4 "core" &, B q\  + &d  +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +2 "storage"(#]kK-0-\ b +4 .tElbow.seek PC +3 "manipulator"&_(c +4 ."raiseStack"SE.seek :beamBreak + "storage"(('e +3 "core" ( + "manipulator"& & +4 "core" &d  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &O& +3 "core" &d  +2 .tForearm.seek PC +2 "manipulator"&Y'[ +95 "core" ' +2 .tHand.close + "manipulator"&j/ +58 "core" / +2 .tPC.seek :open + "processing"% (p +92 "core" ' + "storage"(- +3 "core" -'e +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(b'B +42 "core" ' +248 ( + "storage"(/& +4 "core" &, N 0 R\  +2 "manipulator"&& +4 "core" &d [ + "manipulator"& % +27 "core" % a +2 .tForearm.seek :retract +2 "manipulator"&o'\ +100 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&(* +281 "core" ( +2 "manipulator"&v& +4 "core" &-  # + "storage"(& +4 "core" &, % & \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&' +104 "core" ' +2 .tHand.open + "manipulator"&`1 +54 "core" 1 +2 "storage"(0- +4 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate +2 "storage"(,' +23 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(3' +51 "core" ' +2 #tLights, camera, ACTION! + "storage"(- +3 "core" -' +2 "storage"(& +4 "core" &, \  + "manipulator"&& +4 "core" &. a c # +2 .tElbow.seek 4 + "manipulator"&(* +3 "core" ( +2 "manipulator"&-& +5 "core" &. c f # + "storage"(|& +4 "core" &, \  +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&m' +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"(;'M +62 "core" ' + "manipulator"&{& +4 "core" &. a _  # +2 "storage"($& +4 "core" &, G H\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 + "manipulator"&n'. +37 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"(\\'7 +23 "core" ' + "manipulator"&Q% +5 "core" %<K   Ǯ + "storage"(K& +5 "core" &, \  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 4 + 314 counts +2 "manipulator"&*'h +16 "core" ' + "manipulator"&G& +5 "core" & e h & + "storage"('& +5 "core" &, L L\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&B' +18 "core" ' + "storage"(% +5 "core" %= c c\  +2 ."downElevator"SE.seek :down +4 "storage"('N +98 (\ % +3 "core" %< ) 0 ?\ V` +2 "manipulator"&% +4 "core" % e _ &  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&X'\ +90 "core" ' +62 ' + ."downElevator"SE.stop + "storage"(5 +3 (C& +4 "core" &, $ / \  +2 "collection"'& +4 "core" &]lL\ M +2 #tStoring generic puck in Collection Clamp to tube 4 + "manipulator"&P% +4 "core" %\ +  !Q +2 "storage"("% +3 "core" %O )  \ +2 "storage"(. +3 "core" .(, +2 "storage"(J& +3 "core" &,  "\  +2 "storage"(T& +4 "core" &, ' & \ \  + "manipulator"& & +4 "core" &  & +2 .tElbow.seek 4 + "manipulator"&%(* +15 "core" ( +2 "manipulator"&4& +4 "core" &0  ) + "storage"(I& +4 "core" &,  ! B\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&S' +96 "core" ' + "storage"()& +5 "core" &, J K\  + .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(W'e +281 "core" ' + "storage"(i- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&h& +3 "core" &?  ' +2 "storage"(g& +3 "core" &, + : =\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +52 "manipulator"&#Q@2^d^b +3 .tForearm.seek 4 +2 "manipulator"&F'. +33 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(>- +3 "core" -' +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(2'm +28 "core" ' +2 "manipulator"&8% +4 "core" %=O   Ư + "storage"(& +4 "core" &, \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 315 counts + "manipulator"&x'i +17 "core" ' +2 "manipulator"&R& +4 "core" &8 g X  ( + "storage"(p& +5 "core" &, K L \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&A' +21 "core" ' +2 .tSE.seek 1.11 Pucks below Top Plate + "storage"(6'\\ +41 "core" ' +2 "manipulator"&7& +4 "core" &9 b b ' +2 "manipulator"&l% +4 "core" % _ b  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&s'\ +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&@( +140 "core" ( +2 "manipulator"&q& +4 "core" & 8 . + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &N& +3 "core" &  . +2 .tForearm.seek CC + "manipulator"&5'| +101 "core" ' + .tHand.close +2 "manipulator"&=/ +64 "core" / +2 .tCC.seek :open + "collection"'(p +411 "core" ( +2 "storage"(:& +4 "core" &, z s \  + "storage"(a& +4 "core" &, c b )\  +2 "manipulator"&& +4 "core" &  - + "manipulator"&#% +4 "core" % π - +2 .tForearm.seek :retract + "manipulator"&&'\ +95 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 + "manipulator"&Z(* +185 "core" ( + "manipulator"&r& +4 "core" &, z z  +2 "storage"(& +4 "core" &, } z G\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 4 +2 "manipulator"&'. +112 "core" ' + .tElbow.hold +2 "manipulator"&1, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&^1 +52 "core" 1 +3 "manipulator"&y% +4 "core" % =m *  + "storage"(f& +4 "core" &, 3 3 v\  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 4 + 315 counts + "manipulator"&z'i +17 "core" ' + "manipulator"&H& +5 "core" & L c = + "storage"(U& +4 "core" &, \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&M' +21 "core" ' + "storage"(% +4 "core" %` } D\ +2 ."downElevator"SE.seek :down +4 "storage"(t'N +99 ( % +3 "core" %3; Z\ V] +2 "manipulator"&c% +4 "core" % b b  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&w'\ +97 "core" ' +41 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 2 of [2..4] + #Loading generic puck from tube 2 into Collection Clamp +2 "collection"'<& +4 "core" &I\ +2 "manipulator"&9% +4 "core" %\ 8  ' +2 "storage"(L% +4 "core" %8 \  + "storage"(e. +4 "core" .(, + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"((  +674 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (!& +2 "core" &  L N &\ +2 "manipulator"&k& +4 "core" &  + .tElbow.seek 2 +2 "manipulator"&(; +19 "core" ( +2 "manipulator"&u& +4 "core" &4  ` + "storage"(& +4 "core" &  b b \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&D'Ѐ +105 "core" ' +2 "storage"(d& +4 "core" &  | \ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(~'e +281 "core" ' +2 "storage"(E- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (+& +2 "core" & z \ +2 "manipulator"& & +4 "core" &4\ _ a ` +2 .tElbow.seek 2 + "manipulator"&O(; +3 "core" ( +2 "manipulator"&V& +4 "core" &4\ l n f ` + "storage"(j& +4 "core" & { { b\ +2 .tForearm.seek 2 + 300 counts + "manipulator"&' +14 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&?/ +62 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&.& +2 "storage"(['N +8 "core" &4\ = ` +2 "manipulator"&/% +4 "core" % \\ A +2 .tForearm.seek :retract + "manipulator"&'\ +90 "core" ' +2 .tElbow.seek CC + "manipulator"&(( +142 "core" ( +2 "manipulator"& & +4 "core" &  - +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &Y& +3 "core" ' +2 ."downElevator"SE.stop +2 "storage"(5 +3 "core" &  - +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&v'| +109 "core" ' +2 "manipulator"&& +4 "core" & z  - +2 "manipulator"&_% +4 "core" %ρ 2 +2 "collection"'`& +4 "core" &Q\ +2 "collection"'0& +5 "core" &V\ +2 .tCC.seek :closed +2 "collection"'(] +5 "core" &X\ +7 & 6`\ $e +9 &kWR\ 7 +9 &z^\ K +10 &RZ\ L +9 &BUX\ L +10 &UY\ L +9 & Za\ L +9 &"ZY\ M +10 &$KW[\ L +9 && XZ\ M +9 &'UY\ L +10 &)YY\ M +9 &+RYc\ L +10 &-U]\ L +9 &.ZY\ L +9 &0[T\ L +10 &2Z[Z\ L +9 &4YW\ M +9 &5VX\ L +10 &7UX\ L +9 &9cTK\ L +9 &;$ZJ\ L +10 &<WI\ L +9 &>WN\ L +10 &@jZS\ L +9 &B+ZX\ M +9 &CYV\ M +10 &ETM\ L +9 &GqWT\ M +9 &I1`O\ M +10 &JnW\ O +9 &LzM\ Q +10 &NcV\ T +9 &PV\ W +9 &QN\ W +10 &SV\ X +9 &U^J\ Y +9 &W N\ X +10 &XS\ Z +9 &ZP\ [ +10 &\\aJ\ G +9 &]Z9U\ 1 +9 &]nW\ R +3 ( + "collection"'0& +3 #tCollection Clamp onSpring/offSpring for 10/26 samples, on/off torque 2.04 +2 .Hand.open + "manipulator"&1 +56 "core" 1 +2 "manipulator"&% +5 "core" % ρ x +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&-'\ +96 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp +2 "processing"%|& +4 "core" &C\ + "manipulator"&o% +4 "core" %\ 3  %w +2 "storage"({% +4 "core" %E 3 3 v\  + "storage"($. +3 "core" .(  + "storage"(Q& +5 "core" & 0 2 '\ + "storage"(b& +4 "core" & 1 3 N\ + "manipulator"&K& +4 "core" & - +2 "manipulator"&,% +4 "core" %\ 3 %w +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&G(; +180 "core" ( +2 "manipulator"&'& +4 "core" &H 4  + "storage"(& +4 "core" & K L \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&'Ѐ +110 "core" ' + "storage"(& +4 "core" & _ a\ +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(3'e +279 "core" ' +2 "storage"(\ - +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +2 "core" &  F ` ^\ +2 "manipulator"&m& +4 "core" &H b b  + .tElbow.seek 2 +2 "manipulator"&(; +8 "core" ( + "manipulator"&;& +4 "core" &C L d <  +2 "storage"(n& +4 "core" &  L K \ +2 .tForearm.seek 2 + 300 counts + "manipulator"&C' +23 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&*/ +56 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"&& "storage"(P'N +8 "core" &C c b '  + "manipulator"&"% +4 "core" % b c +2 .tForearm.seek :retract +2 "manipulator"&'\ +96 "core" ' +2 .tElbow.seek PC + "manipulator"&\\(c +155 "core" ' +2 ."downElevator"SE.stop +50 "storage"(5 +62 "core" ( + "manipulator"&J& +5 "core" &X , , + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &T& +3 "core" &Y  + +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC + "manipulator"& '[ +109 "core" ' +2 "manipulator"&4& +4 "core" &Y q m c + +2 "manipulator"&I% +4 "core" %W k k +2 "processing"%B& +3 "core" &B\ +3 "processing"%)& +5 "core" &9\ +2 .tPC.seek :closed + "processing"%(Z +4 "core" &-\ +9 & 14\ #b +9 &_T|6\ 6 +9 &|0\ K +10 &mU7\ M +9 &/U3\ M +9 &X2\ M +10 & \\4\ M +9 &"vW9\ L +9 &$7Y1\ M +10 &%Z/\ M +9 &'[3\ M +10 &)}W1\ M +9 &+?U.\ M +9 &-Z-\ L +10 &.Y(\ M +9 &0Y0\ L +9 &2HY,\ L +10 &4\ X)\ L +9 &5W0\ M +10 &7W!\ M +9 &9PU!\ L +9 &;Y'\ M +10 &<Z\ M +9 &>Z\ L +9 &@WY\ M +10 &BY\ M +9 &CX\ M +10 &EZ!\ M +9 &G[d"\ N +9 &Il,\ O +10 &Jz \ Q +9 &L%\ S +10 &NS#\ S +9 &P#\ T +9 &Q\ T +10 &S\ T +9 &UZ\ T +9 &W!\ T +10 &X"\ U +9 &Z9Mq\ - +9 &Z W \ 6 +6 ( + "processing"%)& +5 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.62 + .Hand.open +2 "manipulator"&1 +3 "core" &Z4"\ 6 +55 1 + "manipulator"&X% +5 "core" % Z j \\  + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&i'\ +98 "core" ' +2 "processing"%h& +4 "core" &Z4)\ 6 +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 + "manipulator"&g% +4 "core" %\ 8  ' +2 "storage"(>% +4 "core" %; A \ + "storage"(8. +3 "core" .(  +2 "storage"(& +4 "core" &  B \ +2 "storage"(R& + "manipulator"&p& +7 "core" &  E \ + &Y  + +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +4 "storage"(#]kK-0-\ b + "manipulator"&7(c +5 ."raiseStack"SE.seek :beamBreak +2 "storage"(l'e +2 "core" ( +2 "manipulator"&S& +4 "core" &Y 9 + + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &%& +3 "core" &Y  + +2 .tForearm.seek PC +2 "manipulator"&W'[ +95 "core" ' + .tHand.close + "manipulator"&F/ +54 "core" / +2 .tPC.seek :open + "processing"%x(p +95 "core" ' + "storage"(q- +4 "core" -'e + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(2'B +33 "core" ' +254 ( + "storage"(N& +4 "core" &  L L G\ +2 "manipulator"&A& +4 "core" &Y \\ + + "manipulator"&% +4 "core" % d e  +2 .tForearm.seek :retract +2 "manipulator"&='\ +98 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&s(; +245 "core" ( +2 "manipulator"&]& +4 "core" &D # + "storage"(:& +4 "core" &  3 3 C\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&a'Ѐ +96 "core" ' + .tHand.open +2 "manipulator"&1 +61 "core" 1 +2 "storage"(#- +3 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate +2 "storage"(r' +25 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(' +53 "core" ' + #tLights, camera, ACTION! +2 "storage"(5- +3 "core" -' +2 "storage"(@& +3 "core" &  l f D\ +2 "manipulator"&^& +4 "core" &E } "~ +2 .tElbow.seek 2 + "manipulator"&y(; +4 "core" ( + "manipulator"&f& +4 "core" &E ; "~ +2 "storage"(H& +4 "core" &  E E B\ +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&U'Ѐ +3 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"('M +61 "core" ' +2 "manipulator"&&& +4 "core" &E "~ + "storage"( & +5 "core" &    /\ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 + "manipulator"&c'ξ +36 "core" ' +2 .tElbow.hold + "manipulator"&Z, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"('7 +24 "core" ' + "manipulator"&<% +5 "core" %Z ò + "storage"(z& +4 "core" &  3\ +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 2 + 305 counts + "manipulator"&9' +19 "core" ' +2 "manipulator"&L& +4 "core" &Y g i j +2 "storage"(e& +4 "core" &  L M \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&6'Ѐ +16 "core" ' + "storage"(M% +5 "core" %< G G\ +2 ."downElevator"SE.seek :down +3 "storage"(t'N +99 (}% +3 "core" %@ - 1 -\ U_ +2 "manipulator"&!% +4 "core" %w j j E +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&k'\ +87 "core" ' +66 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (u& +4 "core" &  ' / =\ + "collection"'& +4 "core" &]jS\ R +2 #tStoring generic puck in Collection Clamp to tube 2 + "manipulator"&d% +4 "core" %\ *  H +2 "storage"(1% +4 "core" %J   \  + "storage"(w. +3 "core" .(  +2 "storage"(E& +4 "core" &  % % \ +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"(+(  +29 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 ( & +4 "core" &  \ + + "manipulator"&V& +4 "core" &Z ! i +2 .tElbow.seek 2 + "manipulator"&j(; +33 "core" ( +2 "manipulator"&?& +4 "core" &8 ~  > +2 "storage"(.& +4 "core" & M L "\ / +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&/'Ѐ +110 "core" ' +2 "storage"(& +4 "core" & a b \ / +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(D'e +281 "core" ' + "storage"( - +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&Y& +3 "core" &8 b b > +2 "storage"(~& +4 "core" & G G\ 2 + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 + "manipulator"&'ξ +37 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(_- +2 "core" -' +3 .tSE.seek 0.12 Pucks below Top Plate + "storage"(`'r +24 "core" ' +2 "manipulator"&O% +4 "core" %K < î + "storage"([& +4 "core" & \ 2 +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 2 + 314 counts +2 "manipulator"&' +16 "core" ' + "manipulator"&& +5 "core" &: L c 7 < + "storage"(& +4 "core" & K K\ 2 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&'Ѐ +18 "core" ' +2 .tSE.seek 1.12 Pucks below Top Plate + "storage"(|'a +49 "core" ' +2 "manipulator"&o& +4 "core" &: b b < +2 "manipulator"&{% +4 "core" %{ _ b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&$'\ +87 "core" ' +2 .tElbow.seek CC + "manipulator"&Q( +150 "core" ( + "manipulator"&b& +5 "core" & P - + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &0& +3 "core" &  - +2 .tForearm.seek CC + "manipulator"&K'| +94 "core" ' +2 .tHand.close + "manipulator"&,/ +58 "core" / +2 .tCC.seek :open +2 "collection"'v(p +411 "core" ( + "storage"('& +4 "core" & Z\ 2 +2 "storage"(& +4 "core" & | | '\ 2 + "manipulator"&(& +4 "core" &  , + "manipulator"&% +4 "core" % φ  +51 .tForearm.seek :retract +3 "manipulator"&-'\ +92 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&\ (; +170 "core" ( + "manipulator"&& +5 "core" &F   + "storage"(m& +4 "core" & y y 6\ 2 +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 2 + "manipulator"&;'ξ +112 "core" ' + .tElbow.hold +2 "manipulator"&n, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&*1 +57 "core" 1 +2 "manipulator"&% +4 "core" % R 5 ð +2 "storage"("& +4 "core" & & &\ 2 + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 2 + 303 counts +2 "manipulator"&G' +18 "core" ' +2 "manipulator"&& +4 "core" &T g U  +2 "storage"(3& +4 "core" & z }\ 2 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&C'Ѐ +18 "core" ' + "storage"(J% +5 "core" %Z \ \ +2 ."downElevator"SE.seek :down +4 "storage"(T'N +99 (% +3 "core" %C< \ U[ +2 "manipulator"&4% +3 "core" %Ѓ b c +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&I'\ +88 "core" ' +6 "Can"\ &GE +49 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 3 of [2..4] + #Loading generic puck from tube 3 into Collection Clamp +2 "collection"'B& +4 "core" &`\ +2 "manipulator"&P% +5 "core" %\ * !U +2 "storage"(% +4 "core" %L =\ + "storage"( . +3 "core" .(  +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(( +345 "core" ( +2 .tSC.configure :limp +3 "storage"($\ 1b +2 (X& +3 "core" &  $ 1\  +2 "manipulator"&h& +4 "core" &T   +2 .tElbow.seek 3 + "manipulator"&g(D +24 "core" ( +2 "manipulator"&>& +4 "core" &C |  w +2 "storage"(8& +3 "core" & | { \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&' +102 "core" ' +2 "storage"()& +4 "core" & \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(p'e +281 "core" ' +2 "storage"(R- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (S& +2 "core" & z !\  +2 "manipulator"&%& +4 "core" &C p }  w + .tElbow.seek 3 +2 "manipulator"& (D +4 "core" ( + "manipulator"&F& +4 "core" &C n  w + "storage"(q& +4 "core" & `\  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&\\'y +21 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&i/ +64 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&& + "storage"(N'N +8 "core" &C b a w + "manipulator"&A% +4 "core" % q b a +2 .tForearm.seek :retract +2 "manipulator"&'\ +96 "core" ' +2 .tElbow.seek CC +2 "manipulator"&l( +146 "core" ' + ."downElevator"SE.stop + "storage"(5 +20 "core" ( +2 "manipulator"&W& +4 "core" &  T K + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &]& +3 "core" &  K +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&:'| +99 "core" ' +3 "manipulator"&7& +4 "core" &  K +2 "manipulator"&% +4 "core" %π x +2 "collection"'#& +3 "core" &I\ +3 "collection"'5& +5 "core" &Y\ +2 .tCC.seek :closed + "collection"'@(] +5 "core" &b\ +7 &>n\ $e +9 &kVa\ 7 +9 &}c\ L +10 &We\ L +9 &DXY\ M +9 &Xf\ M +10 & X[\ M +9 &"X_\ M +10 &$MWb\ L +9 &&Ub\ L +9 &'WZ\ L +10 &)Ya\ M +9 &+UYd\ L +9 &-V]\ L +10 &.UW\ L +9 &0WU\ L +10 &2\\XZ\ M +9 &4X`\ M +9 &5U^\ L +10 &7UW\ L +9 &9eUT\ L +9 &;'UZ\ L +10 &<UV\ L +9 &>YV\ M +10 &@lXb\ M +9 &B.Yf\ M +9 &CUe\ L +10 &EUg\ L +9 &GuYg\ L +9 &I4`]\ M +10 &Jre\ P +9 &La\ R +10 &Naa\ V +9 &P c\ W +9 &Qe\ W +10 &SX\ X +9 &U`_\ Y +9 &WW\ Z +10 &X^\ Z +9 &Ze\ \\ +10 &\\bY\ H +9 &]a8U\ )y +9 &]V\ Q +6 ( + "collection"'5& +5 #tCollection Clamp onSpring/offSpring for 10/26 samples, on/off torque 2.12 + .Hand.open +2 "manipulator"&^1 +3 "core" &]v[\ Q +58 1 +2 "manipulator"&f% +4 "core" %  Q +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&H'\ +92 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%=& +4 "core" &0\ +2 "manipulator"&&% +4 "core" %\ ) u  F + "storage"( % +4 "core" %E   M\  +2 "storage"(2. +3 "core" .( + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(<( +3 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (z& +3 "core" &\ \ \  +2 "manipulator"&r& +4 "core" & s  K + "manipulator"&L% +5 "core" %\ )  F + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&e(D +162 "core" ( +2 "manipulator"&M& +4 "core" &B y   + "storage"(s& +4 "core" & K K \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&a' +94 "core" ' +2 "storage"(& +4 "core" & H K\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(}'e +281 "core" ' +2 "storage"(!- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (U& +2 "core" & ) 1\  +2 "manipulator"&y& +4 "core" &C _  + .tElbow.seek 3 +2 "manipulator"&(D +3 "core" ( +2 "manipulator"&c& +4 "core" &C  + "storage"(u& +4 "core" & 0 2 ,\  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&9'y +24 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +61 "core" / +2 ."downElevator"SE.seek :down +5 "manipulator"&d& "storage"(1'N +8 "core" &C c c   + "manipulator"&w% +4 "core" % } a a +2 .tForearm.seek :retract +2 "manipulator"&'\ +88 "core" ' +2 .tElbow.seek PC +2 "manipulator"&E(c +163 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +88 "core" ( +2 "manipulator"& & +5 "core" &f V + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &V& +2 "core" &f y { > +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&?'[ +100 "core" ' + "manipulator"&.& +4 "core" &f  +2 "manipulator"&6% +4 "core" %a  +2 "processing"%& +4 "core" &C\ +2 "processing"%t& +5 "core" &6\ +2 .tPC.seek :closed + "processing"%(Z +4 "core" &2\  +9 &1y0\ *x +9 &d'\ > +9 &Hs-\ M +10 & W/\ M +9 &Y,\ M +9 &W2\ M +10 &!OX1\ M +9 &#V/\ M +10 &$W2\ M +9 &&X3\ M +9 &(YW.\ M +10 &*W2\ M +9 &+W:\ M +9 &-X2\ M +10 &/aZ/\ M +9 &1#X.\ M +10 &2Y-\ M +9 &4W:\ M +9 &6hX/\ M +10 &8*Y5\ M +9 &9V.\ M +9 &;Y,\ M +10 &=pW#\ M +9 &?1Y\ M +10 &@W"\ M +9 &BX!\ M +9 &DwW \ M +10 &F9Z\ M +9 &G`'\ N +10 &Ig+\ O +9 &Kws'\ P +9 &M1!\ S +10 &N\ T +9 &P \ T +9 &Rt\ T +10 &T5\ T +9 &U\ T +10 &W\ U +9 &Yx\ B +9 &Zy<\ Y +10 &Z \ ) +2 ( + "processing"%t& +4 #tProcessing Clamp onSpring/offSpring for 9/25 samples, on/off torque 1.63 + .Hand.open + "manipulator"&Z1 +57 "core" 1 + "manipulator"&k% +4 "core" % a  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"& '\ +95 "core" ' +2 "processing"%Y& +4 "core" &Z)\ ) +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 +2 "manipulator"&~% +4 "core" %\ + M !T + "storage"(_% +4 "core" %> B +\  + "storage"(O. +3 "core" .( +51 "storage"([& +5 "core" & B\  +2 "storage"(& +4 "manipulator"&& +4 "core" & B )\  +2 &f x  +2 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +4 "storage"(#]kK-0-\ b + "manipulator"&o(c +7 ."raiseStack"SE.seek :beamBreak +2 "storage"({'e +2 "core" ( + "manipulator"&/& +4 "core" &f ' +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &j& +2 "core" &f  +2 .tForearm.seek PC +2 "manipulator"&D'[ +97 "core" ' + .tHand.close + "manipulator"&/ +54 "core" / +2 .tPC.seek :open +2 "processing"%(p +106 "core" ' +2 "storage"(`- +3 "core" -'e +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(b'B +34 "core" ' +237 ( +2 "storage"(0& +4 "core" & , 3 P\  +2 "manipulator"&& +3 "core" &f  M +2 "manipulator"&% +4 "core" % W t +2 .tForearm.seek :retract + "manipulator"&,'\ +96 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&$(D +280 "core" ( + "manipulator"&& +5 "core" &P B q + "storage"('& +4 "core" & K F C\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&' +92 "core" ' + .tHand.open +2 "manipulator"&(1 +61 "core" 1 +2 "storage"(- +3 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate +2 "storage"(' +23 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(m' +52 "core" ' + #tLights, camera, ACTION! +2 "storage"(K- +3 "core" -' +2 "storage"(Q& +4 "core" & &\  + "manipulator"&*& +4 "core" &P b b q +2 .tElbow.seek 3 + "manipulator"&(D +12 "core" ( + "manipulator"&"& +5 "core" &M ^ U P + "storage"(& +4 "core" & A\  +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&3' +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"(J'M +66 "core" ' + "manipulator"&-& +5 "core" &M a a P + "storage"(& +4 "core" & L L \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&4'M +34 "core" ' +2 .tElbow.hold + "manipulator"&\ , +5 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"(;'7 +22 "core" ' +2 "manipulator"&B% +4 "core" %Q[ F +2 "storage"(G& +4 "core" & P\  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 304 counts + "manipulator"&P'} +17 "core" ' + "manipulator"&& +4 "core" & S f +2 "storage"( & +4 "core" & _ b !\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&|' +17 "core" ' +2 "storage"(C% +4 "core" %> d d\  +2 ."downElevator"SE.seek :down +3 "storage"(T'N +99 (+% +3 "core" %D  %\ Va +2 "manipulator"&X% +4 "core" % b a +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&h'\ +90 "core" ' +62 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (>& +4 "core" & % & \  +2 "collection"'8& +4 "core" &]vM\ Q +2 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&)% +4 "core" %\ +  !W +2 "storage"(n% +3 "core" %L K K H\ +2 "storage"(I. +3 "core" .( +2 "storage"(R& +4 "core" & K K \  + "storage"(S& +4 "core" & K K\  +2 "manipulator"&%& +4 "core" &  + .tElbow.seek 3 +2 "manipulator"&F(D +22 "core" ( +2 "manipulator"&q& +4 "core" &J u  & + "storage"(i& +4 "core" & , 1 [\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&' +100 "core" ' +2 "storage"(A& +4 "core" & L M \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(g'e +278 "core" ' +2 "storage"(- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&W& +3 "core" &J $ ' +2 "storage"(]& +4 "core" & 2 ) "\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 + "manipulator"&p'M +32 "core" ' +2 .tElbow.hold + "manipulator"&\\, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(7- +2 "core" -' +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"('h +27 "core" ' +2 "manipulator"& % +4 "core" %_W  ű + "storage"(#& +5 "core" & \  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 318 counts + "manipulator"&N'ϋ +17 "core" ' +2 "manipulator"&& +4 "core" &" ` m + +2 "storage"(v& +4 "core" & L K \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&^' +21 "core" ' +2 .tSE.seek 1.11 Pucks below Top Plate +2 "storage"(f'W +47 "core" ' + "manipulator"&=& +5 "core" &/ b a * +2 "manipulator"&&% +4 "core" % a ` & +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"& '\ +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&2( +159 "core" ( + "manipulator"&5& +5 "core" &,  Bi + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &z& +3 "core" &+ Y Bi +2 .tForearm.seek CC + "manipulator"&r'| +97 "core" ' +2 .tHand.close + "manipulator"&L/ +63 "core" / +2 .tCC.seek :open + "collection"':(p +411 "core" ( + "storage"(M& +5 "core" & z g ~\  + "storage"(s& +4 "core" & b a \  + "manipulator"&& +4 "core" &+  Ac + "manipulator"&% +5 "core" % j  + .tForearm.seek :retract +2 "manipulator"&l'\ +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&H(D +186 "core" ( + "manipulator"&!& +5 "core" &Q p g [ + "storage"(U& +4 "core" & z { 0\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 3 + "manipulator"&y'M +107 "core" ' +2 .tElbow.hold + "manipulator"&c, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&u1 +56 "core" 1 +2 "manipulator"&% +5 "core" % _m  .  + "storage"(d& +4 "core" & K L \  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 3 + 318 counts +2 "manipulator"&w'ϋ +17 "core" ' + "manipulator"&e& +4 "core" & U e \ +2 "storage"(a& +4 "core" & \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&}' +21 "core" ' +2 "storage"(9% +4 "core" %T \ +2 ."downElevator"SE.seek :down +4 "storage"( 'N +99 (V% +3 "core" %6 G\ TZ +2 "manipulator"&% +4 "core" % a b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&.'\ +91 "core" ' +51 ' + ."downElevator"SE.stop +2 "storage"(5 +2 #tShuffling pucks in tube 4 of [2..4] +2 #Loading generic puck from tube 4 into Collection Clamp + "collection"'6& +5 "core" &W\ + "manipulator"&% +4 "core" %\ +  !S +2 "storage"(1% +4 "core" %L G\ + "storage"(. +53 "core" .( + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"(x(, +356 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (Z& +3 "core" &, ; H\  + "manipulator"&k& +4 "core" &  \ +2 .tElbow.seek 4 +2 "manipulator"&Y(* +25 "core" ( + "manipulator"&~& +5 "core" &'  "x + "storage"(_& +4 "core" &, %\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&O' +97 "core" ' +2 "storage"([& +4 "core" &, \  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(t'e +281 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +2 "core" &, x *\  +2 "manipulator"&/& +4 "core" &, l !s +2 .tElbow.seek 4 + "manipulator"&j(* +4 "core" ( + "manipulator"&?& +4 "core" &, 6 !s + "storage"(& +4 "core" &, x } C\  +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&`'Z +24 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&E/ +58 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"& & + "storage"('N +8 "core" &, ^ b ? !s +2 "manipulator"&0% +4 "core" % W j h J +2 .tForearm.seek :retract + "manipulator"&'\ +90 "core" ' +2 .tElbow.seek CC + "manipulator"&( +151 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +5 "core" ( +2 "manipulator"&{& +4 "core" & _  ? +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &D& +3 "core" &  O ? +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&'| +101 "core" ' +3 "manipulator"&'& +4 "core" &  ? +2 "manipulator"&o% +4 "core" %ς  + "collection"'(& +4 "core" &b\ +2 "collection"'& +6 "core" &V\ +2 .tCC.seek :closed + "collection"'K(] +5 "core" &d\  +8 &3~i\ *y +9 &d\\\ > +10 &Ztc\ M +9 &Yf\ L +9 &Zj\ L +10 &Ze\ L +9 &!dZl\ L +10 &#%Yg\ L +9 &$Uf\ L +9 &&Xf\ L +10 &(jYd\ M +9 &*.Xh\ L +9 &+Xb\ L +10 &-Yg\ L +9 &/sXe\ L +10 &15Ue\ L +9 &2Zd\ L +9 &4Wb\ L +10 &6{Ya\ L +9 &8=Wc\ L +9 &9Yd\ L +10 &;Yd\ L +9 &=Ye\ L +10 &?EYb\ L +9 &AZc\ L +9 &BYa\ M +10 &DTd\ L +9 &FLYc\ M +9 &H _i\ M +10 &Ikf\ O +9 &K^\ Q +10 &M;b\ U +9 &Nd\ W +9 &Pc\ W +10 &Rya\ X +9 &T8g\ Y +9 &Ug\ Z +10 &Wc\ Z +9 &Yxd\ [\ +10 &[8]\ \\ +9 &\\sY\ 8 +9 &]%a\ 't +10 &]T\ U +2 ( +2 "collection"'& +3 #tCollection Clamp onSpring/offSpring for 9/25 samples, on/off torque 2.14 + .Hand.open +2 "manipulator"&Q1 +53 "core" 1 + "manipulator"&*% +5 "core" % y  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&"'\ +103 "core" ' +2 #tLoading generic puck from tube 4 into Processing Clamp + "processing"%& +4 "core" &6\ +2 "manipulator"&,% +4 "core" %\ : b ( + "storage"(-% +4 "core" %6 % /\  +2 "storage"(. +3 "core" .(,~ +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"(b(, +3 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (B& +3 "core" &, +\  +2 "manipulator"&G& +4 "core" &  ? + "manipulator"&% +4 "core" %\ :  ( +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&(* +161 "core" ( +2 "manipulator"& & +4 "core" &,   +2 "storage"(C& +4 "core" &, ) 3 c\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&$' +98 "core" ' + "storage"(& +4 "core" &, L K \  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(m'e +282 "core" ' + "storage"(+- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (X& +3 "core" &, " ( .\  + "manipulator"&3& +4 "core" &.  +2 .tElbow.seek 4 + "manipulator"&(* +3 "core" ( +2 "manipulator"&J& +4 "core" &. z   + "storage"(4& +4 "core" &, L K\  +2 .tForearm.seek 4 + 300 counts + "manipulator"&>'Z +22 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&P/ +52 "core" / +2 ."downElevator"SE.seek :down +5 "manipulator"&8& "storage"()'N +8 "core" &. a b  + "manipulator"&n% +4 "core" % T b c +2 .tForearm.seek :retract +2 "manipulator"&I'\ +88 "core" ' +2 .tElbow.seek PC +2 "manipulator"&;(c +163 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +90 "core" ( + "manipulator"&R& +4 "core" &b r $ +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &S& +3 "core" &b y +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&%'[ +113 "core" ' + "manipulator"&q& +4 "core" &b X g  +2 "manipulator"&i% +4 "core" %Y k ` = + "processing"%|& +4 "core" &<\ +2 "processing"%A& +5 "core" &<\ +2 .tPC.seek :closed +2 "processing"%T(Z +4 "core" &<\ +7 &?:\ $e +9 &nV~=\ 7 +10 &|3\ L +9 &X)\ M +9 &F[6\ M +10 &\\A\ M +9 & \\6\ M +10 &"U:\ L +9 &$NY<\ M +9 &&Z<\ M +10 &'Y;\ M +9 &)V7\ M +10 &+VV?\ M +9 &-Y:\ M +9 &.\\7\ M +10 &0X4\ M +9 &2^Y>\ M +9 &4!W:\ L +10 &5W:\ M +9 &7W8\ M +9 &9gW9\ L +10 &;(Y1\ M +9 &<W#\ L +10 &>Z8\ M +9 &@mZ-\ M +9 &B/W*\ M +10 &CW"\ M +9 &EY\ M +9 &Gr`.\ N +10 &I0k.\ O +9 &Jx8\ Q +10 &L)\ S +9 &Ni)\ T +9 &P,!\ S +10 &Q'\ T +9 &S#\ T +9 &Un*\ U +10 &W0$\ U +9 &X(\ U +10 &ZLIg.\ *z +9 &Z*%\ ( +5 ( +2 "processing"%A& +4 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.62 +2 .Hand.open + "manipulator"&\ 1 +3 "core" &Z%\ ( +49 1 +2 "manipulator"&h% +4 "core" % Y k \\ 8 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +91 "core" ' +2 "processing"%W& +4 "core" &Z(\ ( + #tImaging generic puck in Processing Clamp while storing it to tube 4 +2 "manipulator"&]% +4 "core" %\ * ~ y U !U + "storage"(7% +4 "core" %G B \  + "storage"( . +3 "core" .(, +2 "storage"(#& +4 "core" &, B ,\  +2 "storage"(& +3 "manipulator"&v& +5 "core" &, B P\  + &b y +3 ."raiseStack"SE.reconfigure :place +2 .tElbow.reconfigure :tight +5 "storage"(#]kK-0-\ b +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +2 "manipulator"&=(c +3 ."raiseStack"SE.seek :beamBreak +2 "storage"(&'e +3 "core" ( + "manipulator"&& +4 "core" &b { +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &F& +3 "core" &b  +2 .tForearm.seek PC +2 "manipulator"&g'[ +95 "core" ' + .tHand.close +2 "manipulator"&p/ +64 "core" / +2 .tPC.seek :open +2 "processing"%N(p +88 "core" ' +2 "storage"(- +3 "core" -'e + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(5'B +33 "core" ' +260 ( + "storage"(z& +4 "core" &, 2 3 C\  +2 "manipulator"&^& +4 "core" &b + "manipulator"&\\% +4 "core" % [ +2 .tForearm.seek :retract +2 "manipulator"&L'\ +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"& (* +267 "core" ( +2 "manipulator"&@& +4 "core" &/ y  q +2 "storage"(M& +4 "core" &, % %\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&s' +93 "core" ' + .tHand.open +2 "manipulator"&1 +58 "core" 1 +2 "storage"(- +3 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate +50 "storage"(!' +26 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(U' +49 "core" ' +2 #tLights, camera, ACTION! + "storage"(r- +4 "core" -' + "storage"(2& +4 "core" &, B\  +2 "manipulator"&u& +4 "core" &/ b b q + .tElbow.seek 4 +2 "manipulator"&(* +4 "core" ( + "manipulator"&d& +4 "core" &/ g e q + "storage"(e& +4 "core" &, +\  +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&a' +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"(9'M +62 "core" ' +2 "manipulator"&l& +4 "core" &/ ^ W q +2 "storage"(V& +4 "core" &, 1 < J\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&'. +34 "core" ' + .tElbow.hold +2 "manipulator"&H, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"(y'7 +24 "core" ' +2 "manipulator"&6% +4 "core" %;R ° +2 "storage"(w& +4 "core" &, \  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 4 + 313 counts + "manipulator"&'g +17 "core" ' + "manipulator"&1& +4 "core" & e V +2 "storage"(& +4 "core" &, K K\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&f' +20 "core" ' +2 "storage"(}% +4 "core" %A K K\ +2 ."downElevator"SE.seek :down +4 "storage"( 'N +99 (<% +2 "core" %2; ( 3 U\ V_ +2 "manipulator"&Z% +4 "core" % b c  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&k'\ +91 "core" ' +58 ' +2 ."downElevator"SE.stop +2 "storage"(5 +2 (~& +4 "core" &, ` \  +2 "collection"'_& +4 "core" &]|Q\ U +2 #tStoring generic puck in Collection Clamp to tube 4 + "manipulator"&[% +4 "core" %\ ,  "` +2 "storage"(c% +4 "core" %> 0 ) U\  + "storage"(.. +3 "core" .(, +2 "storage"(& +4 "core" &, 5 3 ^\  + "storage"(& +4 "core" &,   *\  +2 "manipulator"&/& +4 "core" & w T + .tElbow.seek 4 +2 "manipulator"&?(* +26 "core" ( +2 "manipulator"&& +4 "core" &0 J ( +2 "storage"(E& +4 "core" &, % $ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"& ' +101 "core" ' + "storage"(0& +4 "core" &, $ % -\  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(Y'e +282 "core" ' + "storage"(O- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&{& +3 "core" &5 v w j ( + "storage"(D& +4 "core" &, F \  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&t'. +32 "core" ' + .tElbow.hold + "manipulator"&`, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"('- +2 "core" -' +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(o'n +31 "core" ' + "manipulator"&(% +5 "core" %=K   t Ǯ + "storage"(j& +4 "core" &, \  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 4 + 315 counts +2 "manipulator"&'i +17 "core" ' + "manipulator"&& +5 "core" &0 i X ( + "storage"(:& +4 "core" &, K K\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&Q' +24 "core" ' +2 .tSE.seek 1.11 Pucks below Top Plate +2 "storage"(*'] +47 "core" ' + "manipulator"&& +4 "core" &0 b b ( +2 "manipulator"&,% +4 "core" % W b ( +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&-'\ +95 "core" ' +2 .tElbow.seek CC +2 "manipulator"&( +156 "core" ( + "manipulator"&& +5 "core" &+ Bh + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &B& +3 "core" &, h Bh +2 .tForearm.seek CC +2 "manipulator"&G'| +95 "core" ' + .tHand.close +2 "manipulator"&/ +58 "core" / + .tCC.seek :open +2 "collection"'(p +411 "core" ( + "storage"( & +4 "core" &, z ] p\  +2 "storage"(C& +4 "core" &, i Y \  + "manipulator"&x& +4 "core" &0"  :1 + "manipulator"&% +4 "core" % υ  +2 .tForearm.seek :retract +2 "manipulator"&'\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&"(* +173 "core" ( +2 "manipulator"&+& +4 "core" &( r  O + "storage"(X& +4 "core" &, { { 0\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 4 + "manipulator"&3'. +112 "core" ' +2 .tElbow.hold + "manipulator"&J, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&41 +54 "core" 1 +3 "manipulator"&P% +4 "core" % =i ! O + "storage"(8& +4 "core" &, % %\  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 4 + 315 counts +2 "manipulator"&n'i +17 "core" ' +2 "manipulator"&& +4 "core" & W r b + "storage"($& +4 "core" &, 9\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&m' +22 "core" ' +2 "storage"(>% +4 "core" %c \ +2 ."downElevator"SE.seek :down +4 "storage"(R'N +99 (S% +2 "core" %89 } N\ TZ +2 "manipulator"&% +4 "core" %\ a c +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&q'\ +90 "core" ' +50 ' + ."downElevator"SE.stop + "storage"(5 +43440 "Can"y\ +@= +47277 #t-> access 2 +3 "storage"(i% +3 "core" %6 \  +2 "manipulator"&|% +4 "core" %\ .  #f + "manipulator"&)& +4 "core" &  a +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"(I(K +665 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (& +3 "core" &K L L \  +1697 #t-> access 3 +3 "storage"(\ % +3 "core" %6 ~ \  +2 "manipulator"&h% +4 "core" %\ . l #f + "manipulator"&W& +4 "core" &  a + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 7 +2 "storage"(]([ +355 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (7& +3 "core" &[ 5 6\  +598 #t-> access 4 +2 "storage"( % +4 "core" %6 ~ 4\  + "manipulator"&#% +4 "core" %\ .  #f +2 "manipulator"&v& +3 "core" &  a +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 1 + "storage"((B +1952 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (A& +3 "core" &C\ \  Q\ +6607 #t-> access 2 +2 "storage"(% +3 "core" %6 ~ ;\  +2 "manipulator"&F% +4 "core" %\ .  #f + "manipulator"&%& +4 "core" &  a +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"(p(K +726 "Can"n mk +898 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (& +3 "core" &K % \  +2250 #t-> exit +6 #mEXIT @1663250739.85EDT @1663250755.74EDT = =mMAIN_scheduler =tMAIN @EDT1663250757.55 #"core_reset"Sent BREAK + #t@50124 receive with ifg=0x10, ie=0xFD + #@50768 receive with ifg=0x10, ie=0xFD + #@51421 receive with ifg=0x10, ie=0xFD + #@52063 receive with ifg=0x10, ie=0xFD #@52711 receive with ifg=0x10, ie=0xFD + #@53358 receive with ifg=0x10, ie=0xFD + #@54005 receive with ifg=0x10, ie=0xFD #@54332 receive with ifg=0x80, ie=0xFD + #@21797 idle with ifg=0x00, ie=0x75 #ESP2 v3.41 I2C Gateway v3.20 +9 #ESP2 v3.41 I2C Gateway v3.20 for core bus +200 !o:Instrument::ISUSCore: @configS:Instrument::Configuration: name" ISUS:calFileName0:sampleCmd"TS: prompt"\ :statusCmd"C:sampleTimeouti#:promptTimeouti:statusTimeouti: retriesi:strToPrompt"W: pace0: echoF: @refiK:\ @name@ +95 #Configuration for don (12651-03) 10/9/20 brent@mbari.org\ /home/esp/esp2/type/shallow/don/configure.rb\ +367 "Can"l )B? + l )B? #tPolling Can every 10:00 +4354 #-> startTube 2 +1482 #-> $da[:extractVol]=.19 +6511 #-> purgeIntake +3 #Loading FlushPuck into Collection Clamp from FlushPuck::Garage +154 "sampler") +2 ) +2 "core"  +2 "collection"' +2 ' +3 "core"  +2 "processing"% + % +3 "core"  +5 "collection"' 9\ +2 ' 0\ +2 ' -\ +4 "processing"% 9\ +2 % 2\ +2 % *\ +2 % 0\ +4 "sampler")&\ +2 "collection"'% +3 "core" %\ +2 .tCS.configure :default +3 "collection"'#P d@b +2 .tCS.hold + "collection"'+ +4 "core" + + .tCS.configure :default +2 "collection"'#P d@b +3 "processing"%% +3 "core" %\ + .tPS.configure :default +3 "processing"%#A d`xb +2 "sampler")% +3 "core" %, \ y +2 .tSS.configure :default +2 "sampler")#.0XY\ N +9 &Z\ N +9 & Z\ N +10 &"Z\ N +9 &$DY\ N +10 &&Y\ N +9 &'Y\ N +9 &)Z\ N +10 &+NZ\ N +9 &-W\ N +9 &.[\ N +10 &0Z\ N +9 &2V[\ N +10 &4]\ N +9 &5W\ N +9 &7]\ N +10 &9_W\ M +9 &; Y\ N +9 &<\\\ N +10 &>W\ N +9 &@eX\ N +10 &B'Y\ N +9 &CY\ N +9 &EZ\ N +10 &GnW\ N +9 &I-_\ O +9 &Jp\ P +10 &L\ T +9 &N[\ W +10 &P\ X +9 &Q\ X +9 &S\ Y +10 &U\\\ Y +9 &W\ Z +9 &X\ [\ +10 &Z\ [ +9 &\\]\ I +10 &]dA\ &s +9 &]\ T +5 ( +2 "collection"')& +4 #tCollection Clamp onSpring/offSpring for 10/26 samples, on/off torque 2.07 + "collection"'+& +4 "core" &]\ T +2 &]\ T + .tHand.open + "manipulator"&,1 +56 "core" 1 + "manipulator"&-% +4 "core" % ς { +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&.'\ +97 "core" ' +2 #tPurging external Intake +2 "collection"'/& +4 "core" &]\ T + "collection"'0% +4 "core" %\ + .tCSV.dial :flush +2 "collection"'1  +42 "core"  +2 .tCS.reconfigure :fast +3 "collection"'#d @b +2 .tCS.seek 10ml +2 "collection"'2' +2399 "core" ' +2 .tdelay 5 seconds +502 ."connect"CSV.dial CBV +4 .tCBV.dial CSV +3 "collection"'3 + '4  +5 "core" +66  + .tCTV.dial :intake +2 "collection"'5  +72 "core"  + .tIntake.select :open +2 "sampler") +9 .tCS.seek 0ml +2 "collection"'6' +2356 "core" ' + .tIntake.select :close +2 "sampler")0 +9 .tCTV.dial :air +2 "collection"'7  +71 "core"  + #tGaraging FlushPuck in Collection Clamp +2 "manipulator"&8& +4 "core" &'! E 9$ +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&9( +31 "core" ( +2 "manipulator"&:& +4 "core" & ^ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &;& +38 "core" & +7 .tForearm.seek CC +2 "manipulator"&<'| +96 "core" ' +2 .tHand.close + "manipulator"&=/ +56 "core" / +2 .tCC.seek :open +2 "collection"'>(p +411 "core" ( + "manipulator"&?& +4 "core" &  +2 "manipulator"&@% +3 "core" % ϐ +2 .tForearm.seek :retract +2 "manipulator"&A'\ +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage +2 "manipulator"&B(, +268 "core" ( +2 "manipulator"&C& +4 "core" &, { | +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &D& +3 "core" &, J | +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :garage +2 "manipulator"&E' +112 "core" ' + .tHand.open +2 "manipulator"&F1 +62 "core" 1 +2 "manipulator"&G% +4 "core" %  6 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&H'\ +101 "core" ' +1042 #t-> purgeIntake +2 #Loading FlushPuck into Collection Clamp from FlushPuck::Garage +2 "collection"'I& +3 "core" &\ +2 "manipulator"&J& +4 "core" &, { I | + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek FlushPuck::Garage +2 "manipulator"&K(, +2 "core" ( +2 "manipulator"&L& +4 "core" &, s | +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &M& +3 "core" &, y u 8 | +2 .tForearm.seek :garage + "manipulator"&N' +106 "core" ' + .tHand.close +2 "manipulator"&O/ +56 "core" / +2 "manipulator"&P& +4 "core" &,  | + "manipulator"&Q% +4 "core" %   +2 .tForearm.seek :retract + "manipulator"&R'\ +105 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&S( +285 "core" ( +2 "manipulator"&T& +4 "core" &, 0 Bl + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &U& +3 "core" &, H Bl +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&V'| +107 "core" ' +2 "manipulator"&W& +4 "core" &, b e Bl + "manipulator"&X% +4 "core" %z } v & +2 "collection"'Y& +3 "core" &\ +3 "collection"'Z& +4 "core" &\ +2 .tCC.seek :closed +2 "collection"'[(] +4 "core" &\ +8 &?\ $e +9 &qW\ 8 +9 &y\ L +10 &U\ M +9 &KW\ M +9 & U\ M +10 & [\ M +9 &"Y\ N +10 &$SV\ M +9 &&W\ N +9 &'W\ M +10 &)U\ M +9 &+[Y\ M +9 &-W\ M +10 &.U\ M +9 &0Z\ M +10 &2cY\ M +9 &4%Y\ M +9 &5U\ M +10 &7T\ M +9 &9kV\ M +9 &;.W\ M +10 &<U\ M +9 &>X\ M +10 &@rX\ N +9 &B4W\ N +9 &CW\ M +10 &EV\ N +9 &G{V\ M +9 &I<]\ N +10 &Jn\ P +9 &L\ S +10 &Ni\ V +9 &P'\ X +9 &Q\ X +10 &S\ Y +9 &Ug\ Z +9 &W(\ Z +10 &X\ [\ +9 &Z\ \\ +10 &\\j\ H +9 &]jA\ $p +9 &]f\ H +3 ( + "collection"'Z& +3 #tCollection Clamp onSpring/offSpring for 10/26 samples, on/off torque 2.11 +2 "collection"'\\& +4 "core" &]j\ H + .tHand.open +2 "manipulator"&]1 +60 "core" 1 + "manipulator"&^% +5 "core" % z z  + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&_'\ +97 "core" ' +2 #tPurging external Intake + "collection"'`& +4 "core" &]c\ H +2 "collection"'a% +3 "core" %\ +2 .tCSV.dial :flush + "collection"'b  +83 "core" +2 .tCS.seek 10ml +2 "collection"'c' +2354 "core" ' +2 .tdelay 5 seconds +502 ."connect"CSV.dial CBV +4 .tCBV.dial CSV +3 "collection"'d +70 "core"  +2 .tCTV.dial :intake +2 "collection"'e  +70 "core"  + .tIntake.select :open +2 "sampler") +9 .tCS.seek 0ml +2 "collection"'f' +2340 "core" ' +2 .tIntake.select :close + "sampler")0 +9 .tCTV.dial :air +2 "collection"'g  +71 "core" ~ +2 #tGaraging FlushPuck in Collection Clamp + "manipulator"&h& +4 "core" &0% H =A +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC + "manipulator"&i( +32 "core" ( + "manipulator"&j& +4 "core" &   +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &k& +3 "core" & x  +2 .tForearm.seek CC + "manipulator"&l'| +95 "core" ' +2 .tHand.close + "manipulator"&m/ +52 "core" / +2 .tCC.seek :open + "collection"'n(p +411 "core" ( + "manipulator"&o& +4 "core" & ~  +2 "manipulator"&p% +3 "core" % n +2 .tForearm.seek :retract +2 "manipulator"&q'\ +100 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage +2 "manipulator"&r(, +279 "core" ( +2 "manipulator"&s& +4 "core" &, G  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &t& +3 "core" &,   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek :garage + "manipulator"&u' +96 "core" ' +2 .tHand.open + "manipulator"&v1 +63 "core" 1 + "manipulator"&w% +4 "core" %   i +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&x'\ +96 "core" ' +29447 "Can"E #LJ +14865 #t-> purgeIntake +2 #Loading FlushPuck into Collection Clamp from FlushPuck::Garage + "collection"'y& +3 "core" &e\ +2 "manipulator"&z& +4 "core" &, t {  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek FlushPuck::Garage + "manipulator"&{(, +4 "core" ( + "manipulator"&|& +4 "core" &, b ~  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &}& +3 "core" &, y z i  +2 .tForearm.seek :garage + "manipulator"&~' +104 "core" ' +2 .tHand.close + "manipulator"&/ +55 "core" / +2 "manipulator"&& +4 "core" &, *  + "manipulator"&% +4 "core" %   +2 .tForearm.seek :retract + "manipulator"&'\ +107 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&( +292 "core" ( + "manipulator"&& +4 "core" &- R Cp +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &- e Cp +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"& '| +99 "core" ' +2 "manipulator"& & +4 "core" &Q" w B 9' +2 "manipulator"& % +4 "core" %p  ? +2 "collection"'& +4 "core" &m\ +2 "collection"'& +5 "core" &\ +2 .tCC.seek :closed + "collection"'(] +5 "core" &o\  +9 &2~n\ )w +9 &ct\ > +10 &Aup\ N +9 &To\ N +9 &[\ N +10 &Yq\ N +9 &!JWx\ N +10 &# Wo\ N +9 &$Zt\ N +9 &&Xl\ M +10 &(QWn\ N +9 &*Xp\ M +9 &+W\ N +10 &-Uz\ M +9 &/ZYv\ N +10 &1X{\ N +9 &2Wv\ M +9 &4Wx\ N +10 &6cWx\ M +9 &8$Vo\ N +9 &9Wp\ N +10 &;Ut\ M +9 &=jWr\ N +10 &?,T|\ N +9 &@Ww\ N +9 &BV{\ N +10 &DsVy\ M +9 &F4Wx\ N +9 &GV|\ N +10 &Icy\ O +9 &Kqn\ Q +10 &M({\ U +9 &N{\ X +9 &Pt\ Y +10 &Raz\ Y +9 &T!x\ Z +9 &Us\ [ +10 &Ww\ [\ +9 &Y`p\ \\ +10 &[ w\ ] +9 &\\{y\ 9 +9 &]+p\ )z +10 &]\ [ +2 ( + "collection"'& +4 #tCollection Clamp onSpring/offSpring for 9/25 samples, on/off torque 2.13 + "collection"'& +4 "core" &]\ [ +2 .tHand.open + "manipulator"&1 +57 "core" 1 +2 "manipulator"&% +4 "core" % p  ? +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +99 "core" ' +2 #tPurging external Intake + "collection"'& +4 "core" &]p\ [ +2 "collection"'% +3 "core" %r\ +2 .tCSV.dial :flush + "collection"'  +72 "core"  +2 .tCS.seek 10ml +2 "collection"'' +2388 "core" ' +2 .tdelay 5 seconds +502 ."connect"CSV.dial CBV +4 .tCBV.dial CSV +3 "collection"' +71 "core" ~ + .tCTV.dial :intake +2 "collection"'  +72 "core"  + .tIntake.select :open + "sampler") +10 .tCS.seek 0ml +2 "collection"'' +2361 "core" ' + .tIntake.select :close + "sampler")0 +9 .tCTV.dial :air +2 "collection"'  +71 "core"  +2 #tGaraging FlushPuck in Collection Clamp + "manipulator"&& +4 "core" &Q"  9' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&( +49 "core" ( +2 "manipulator"&#& +4 "core" &" - 9) + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &$& +2 "core" &" 3 9) +2 .tForearm.seek CC +2 "manipulator"&'| +101 "core" ' + .tHand.close +2 "manipulator"&&/ +56 "core" / +2 .tCC.seek :open +2 "collection"''(p +410 "core" ( +2 "manipulator"&(& +4 "core" &E  / + "manipulator"&!% +4 "core" % c  +2 .tForearm.seek :retract + "manipulator"&\ '\ +94 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage +2 "manipulator"&+(, +289 "core" ( + "manipulator"&,& +4 "core" &, s 1  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &-& +2 "core" &,  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek :garage + "manipulator"&/' +109 "core" ' +2 .tHand.open +2 "manipulator"&01 +59 "core" 1 + "manipulator"&)% +4 "core" %  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&1'\ +108 "core" ' +36799 "Can"A\ 'FD +33597 #t-> purgeIntake +2 #Loading FlushPuck into Collection Clamp from FlushPuck::Garage +2 "collection"'%& +3 "core" &\ +2 "manipulator"&& +4 "core" &, ] g  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek FlushPuck::Garage +2 "manipulator"&4(, +4 "core" ( + "manipulator"&3& +4 "core" &, d M  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &5& +3 "core" &, b ^  +2 .tForearm.seek :garage +2 "manipulator"&2' +103 "core" ' +2 .tHand.close + "manipulator"&7/ +57 "core" / +2 "manipulator"&8& +4 "core" &,   + "manipulator"&:% +4 "core" %   +2 .tForearm.seek :retract +2 "manipulator"&;'\ +97 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC + "manipulator"&=( +291 "core" ( + "manipulator"&"& +4 "core" &,  Bh +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &.& +3 "core" &- % Bh +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&*'| +100 "core" ' +2 "manipulator"&?& +4 "core" &,  Bg +40 "manipulator"&@% +14 "core" %s  { +2 "collection"'<& +3 "core" &j\ +2 "collection"'C& +5 "core" &k\ +2 .tCC.seek :closed +2 "collection"'D(] +5 "core" &r\  +9 &4~k\ *z +9 &di\ ? +10 &Zrk\ N +9 &Wk\ N +9 &Yq\ N +10 &Zd\ N +9 &!bUi\ N +10 &##Yl\ N +9 &$Wk\ N +9 &&Xk\ N +10 &(jTu\ N +9 &*,Wr\ N +9 &+Vr\ N +10 &-Ui\ N +9 &/rYl\ N +10 &13Yg\ N +9 &2Xm\ O +9 &4Wm\ N +10 &6{Wl\ N +9 &8=Ul\ N +9 &9Xm\ N +10 &;Ur\ N +9 &=Xo\ N +10 &?DUk\ N +9 &AWv\ N +9 &BVu\ N +10 &DVw\ N +9 &FKWw\ N +9 &H Xw\ O +10 &Ic|\ O +9 &Ku}\ Q +10 &M?\ U +9 &N}\ X +9 &Pz\ X +10 &Rz{\ Y +9 &T:|\ Z +9 &Ux\ Z +10 &W|\ [ +9 &Yxx\ \\ +10 &[;z\ \\ +9 &\\{\ / +9 &](t\ K +9 ( +3 "collection"'C& +3 #tCollection Clamp onSpring/offSpring for 9/25 samples, on/off torque 2.10 + "collection"'9& +4 "core" &]_\ B + &]`w\ B +2 .tHand.open + "manipulator"&F1 +55 "core" 1 +2 "manipulator"&G% +4 "core" % s p > { +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&A'\ +94 "core" ' +2 #tPurging external Intake + "collection"'E& +4 "core" &]`\ B +2 "collection"'I% +3 "core" %\ +2 .tCSV.dial :flush + "collection"'J  +72 "core"  +3 .tCS.seek 10ml + "collection"'L' +2362 "core" ' +2 .tdelay 5 seconds +502 ."connect"CSV.dial CBV +4 .tCBV.dial CSV +3 "collection"'M +70 "core"  +2 .tCTV.dial :intake +2 "collection"'O  +71 "core"  +2 .tIntake.select :open + "sampler") +10 .tCS.seek 0ml + "collection"'P' +2346 "core" ' + .tIntake.select :close + "sampler")0 +9 .tCTV.dial :air +2 "collection"'Q  +72 "core" ~ +2 #tGaraging FlushPuck in Collection Clamp +2 "manipulator"&B& +4 "core" &0$ 2 <9 +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&H( +58 "core" ( +2 "manipulator"&N& +4 "core" & 6 6 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &T& +2 "core" &  6 +2 .tForearm.seek CC +2 "manipulator"&U'| +96 "core" ' +2 .tHand.close + "manipulator"&K/ +60 "core" / + .tCC.seek :open +2 "collection"'W(p +414 "core" ( + "manipulator"&X& +4 "core" &  1 +2 "manipulator"&Y% +3 "core" % φ  +2 .tForearm.seek :retract +2 "manipulator"&R'\ +100 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage +2 "manipulator"&>(, +289 "core" ( + "manipulator"&\\& +4 "core" &, v : +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &]& +2 "core" &, y  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek :garage + "manipulator"&^' +112 "core" ' +2 .tHand.open +2 "manipulator"&`1 +59 "core" 1 + "manipulator"&a% +4 "core" %  . +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&Z'\ +99 "core" ' +1071 #t-> purgeIntake + #Loading FlushPuck into Collection Clamp from FlushPuck::Garage +2 "collection"'b& +3 "core" &`\ +2 "manipulator"&V& +4 "core" &, ? +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek FlushPuck::Garage +2 "manipulator"&6(, +3 "core" ( +2 "manipulator"&d& +4 "core" &, 8 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &e& +3 "core" &, g +2 .tForearm.seek :garage + "manipulator"&c' +107 "core" ' + .tHand.close +2 "manipulator"&g/ +53 "core" / +2 "manipulator"&h& +3 "core" &, W +2 "manipulator"&j% +4 "core" %   +2 .tForearm.seek :retract +2 "manipulator"&k'\ +98 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&m( +293 "core" ( +2 "manipulator"&S& +4 "core" &)  1 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &_& +2 "core" &)  1 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&['| +102 "core" ' +2 "manipulator"&o& +4 "core" &) o  1 + "manipulator"&p% +4 "core" %t p p +2 "collection"'l& +4 "core" &`\ +2 "collection"'s& +5 "core" &e\ +2 .tCC.seek :closed + "collection"'t(] +5 "core" &h\ +6 &7f\ #c +10 &cU}a\ 7 +9 &~y]\ K +9 &oW\\\ M +10 &2Te\ M +9 &U\\\ M +10 & Vj\ N +9 &"wX`\ N +9 &$:Wh\ M +10 &%Xh\ N +9 &'V[\ N +10 &)XX\ N +9 &+@Wa\ N +9 &-V[\ M +10 &.X[\ N +9 &0W_\ N +9 &2IW^\ N +10 &4\ V]\ N +9 &5RZ\ N +10 &7TZ\ M +9 &9RR`\ M +9 &;Ub\ N +10 &<Td\ N +9 &>Sa\ N +9 &@ZWc\ M +10 &BUb\ M +9 &CXg\ N +10 &EUa\ N +9 &GbT^\ M +9 &I![h\ N +10 &JfZ\ P +9 &Lb\ S +9 &NM^\ W +10 &PX\ X +9 &QW\ Y +9 &Sa\ Y +10 &UNc\ Z +9 &W\\\ Z +10 &Xa\ [ +9 &Zi\ \\ +9 &\\N^\ I +10 &]]<b\ (v +9 &]qX\ J +6 ( + "collection"'s& +4 #tCollection Clamp onSpring/offSpring for 10/26 samples, on/off torque 2.10 +2 "collection"'i& +4 "core" &]i^\ J + &]h]\ J + .tHand.open +2 "manipulator"&v1 +58 "core" 1 +2 "manipulator"&w% +4 "core" % t { + p +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&q'\ +91 "core" ' +2 #tPurging external Intake + "collection"'u& +4 "core" &]ha\ J +2 "collection"'y% +3 "core" %\ + .tCSV.dial :flush +2 "collection"'z  +83 "core" +2 .tCS.seek 10ml +2 "collection"'|' +2363 "core" ' +2 .tdelay 5 seconds +502 ."connect"CSV.dial CBV +5 .tCBV.dial CSV + "collection"'} +70 "core"  +2 .tCTV.dial :intake + "collection"'  +72 "core"  + .tIntake.select :open +2 "sampler") +9 .tCS.seek 0ml +2 "collection"'' +2356 "core" ' + .tIntake.select :close +2 "sampler")0 +9 .tCTV.dial :air + "collection"'  +72 "core"  + #tGaraging FlushPuck in Collection Clamp +2 "manipulator"&r& +4 "core" &) D 1 +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&x( +27 "core" ( + "manipulator"&~& +5 "core" & x l ' + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" & v y A ' +2 .tForearm.seek CC +2 "manipulator"&'| +94 "core" ' +2 .tHand.close + "manipulator"&{/ +63 "core" / +2 .tCC.seek :open + "collection"' (p +411 "core" ( + "manipulator"& & +4 "core" &  +2 "manipulator"&% +3 "core" % x \ +2 .tForearm.seek :retract +2 "manipulator"&'\ +95 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage + "manipulator"&n(, +282 "core" ( + "manipulator"&& +4 "core" &, { + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &, x  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :garage +2 "manipulator"&' +113 "core" ' +2 .tHand.open +2 "manipulator"&1 +61 "core" 1 + "manipulator"&% +4 "core" %  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +101 "core" ' +8710 "Can"7\ #LJ +9424 #t-> purgeIntake +2 #Loading FlushPuck into Collection Clamp from FlushPuck::Garage +2 "collection"'& +3 "core" &n\ + "manipulator"& & +5 "core" &, z w Q + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek FlushPuck::Garage +2 "manipulator"&f(, +3 "core" ( + "manipulator"&& +4 "core" &,  + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &, ~ } * +2 .tForearm.seek :garage +2 "manipulator"&' +104 "core" ' +2 .tHand.close + "manipulator"& / +53 "core" / +2 "manipulator"&& +4 "core" &, 7 + "manipulator"&#% +4 "core" %  C +2 .tForearm.seek :retract +2 "manipulator"&$'\ +96 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC + "manipulator"&&( +281 "core" ( +2 "manipulator"&& +3 "core" &$  <? +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +2 "core" &%  <? +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&'| +94 "core" ' +2 "manipulator"&(& +4 "core" &% . <? +2 "manipulator"&!% +4 "core" %w ? + "collection"'& +4 "core" &n\ +2 "collection"',& +5 "core" &n\ +2 .tCC.seek :closed + "collection"'-(] +4 "core" &v\ +8 &?u\ $f +9 &nVq\ 7 +9 &~s\ L +10 &Wp\ N +9 &AWm\ N +10 &Vp\ N +9 & Wm\ N +9 &"V^\ N +10 &$JR^\ M +9 && Um\ N +9 &'U`\ M +10 &)Wd\ N +9 &+QWd\ N +10 &-Yq\ N +9 &.Vj\ N +9 &0Y^\ N +10 &2XUg\ N +9 &4W[\ N +9 &5Ue\ N +10 &7Xg\ N +9 &9bW]\ M +9 &;#Uh\ N +10 &<V[\ N +9 &>Ug\ N +10 &@iW_\ N +9 &B,Ug\ M +9 &CUY\ M +10 &ETh\ M +9 &GqUi\ N +9 &I1]r\ N +10 &Jjl\ P +9 &Lz\ T +10 &N\\h\ X +9 &P^\ X +9 &Qm\ Y +10 &Si\ Z +9 &U\\k\ Z +9 &W]\ Z +10 &Xe\ [ +9 &Zk\ \\ +10 &\\_]\ I +9 &]jAk\ !e +9 &]Ol\ > +3 ( + "collection"',& +3 #tCollection Clamp onSpring/offSpring for 10/26 samples, on/off torque 2.11 +2 "collection"'& +4 "core" &]N}\ > + .tHand.open +2 "manipulator"&01 +60 "core" 1 +2 "manipulator"&)% +4 "core" % w  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&\ '\ +93 "core" ' + #tPurging external Intake +2 "collection"'/& +4 "core" &]N\ > + "collection"'%% +4 "core" %e\ + .tCSV.dial :flush +2 "collection"'  +72 "core"  +2 .tCS.seek 10ml + "collection"'3' +2358 "core" ' + .tdelay 5 seconds +502 ."connect"CSV.dial CBV +4 .tCBV.dial CSV +3 "collection"'5 +71 "core"  +2 .tCTV.dial :intake + "collection"'7  +72 "core"  + .tIntake.select :open +2 "sampler") +10 .tCS.seek 0ml + "collection"'8' +2348 "core" ' +2 .tIntake.select :close + "sampler")0 +9 .tCTV.dial :air +2 "collection"':  +71 "core"  +2 #tGaraging FlushPuck in Collection Clamp + "manipulator"&+& +4 "core" &  8 +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC + "manipulator"&1( +27 "core" ( +2 "manipulator"&2& +4 "core" & z o  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &"& +3 "core" & D  +43 .tForearm.seek CC +11 "manipulator"&.'| +95 "core" ' +2 .tHand.close + "manipulator"&4/ +58 "core" / +2 .tCC.seek :open +2 "collection"'?(p +413 "core" ( +2 "manipulator"&@& +4 "core" &\  k  + "manipulator"&<% +4 "core" % σ  +2 .tForearm.seek :retract + "manipulator"&;'\ +94 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek :garage + "manipulator"&'(, +286 "core" ( + "manipulator"&9& +5 "core" &, {  + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &F& +2 "core" &,   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :garage +2 "manipulator"&G' +110 "core" ' + .tHand.open +2 "manipulator"&E1 +58 "core" 1 + "manipulator"&I% +4 "core" %  I +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&C'\ +97 "core" ' +40095 #t-> purgeIntake +2 #Loading FlushPuck into Collection Clamp from FlushPuck::Garage + "collection"'J& +3 "core" &{\ +2 "manipulator"&*& +4 "core" &, z R  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek FlushPuck::Garage + "manipulator"&(, +3 "core" ( +2 "manipulator"&M& +3 "core" &,   +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &O& +4 "core" &, {   + .tForearm.seek :garage +2 "manipulator"&L' +105 "core" ' +2 .tHand.close + "manipulator"&Q/ +57 "core" / + "manipulator"&B& +4 "core" &, C  +2 "manipulator"&N% +4 "core" %   + .tForearm.seek :retract +2 "manipulator"&T'\ +101 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC + "manipulator"&K( +281 "core" ( +2 "manipulator"&=& +4 "core" &# ;4 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &A& +3 "core" &$  ;4 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&D'| +104 "core" ' + "manipulator"&X& +5 "core" &$ z / ;4 + "manipulator"&Y% +4 "core" %s y y ) z +2 "collection"'U& +4 "core" &{\ +2 "collection"'\\& +5 "core" &{\ +2 .tCC.seek :closed + "collection"'](] +4 "core" &{y\  +9 &3}\ *x +9 &cz\ > +9 &9r}\ N +10 &U\ N +9 &W|\ O +9 &X\ N +10 &!AWu\ N +9 &#X\ N +10 &$W}\ N +9 &&W|\ N +9 &(IU{\ N +10 &* Xt\ N +9 &+Ww\ N +9 &-T~\ N +10 &/QWw\ N +9 &1Xt\ N +10 &2Ww\ N +9 &4V}\ N +9 &6ZUq\ N +10 &8Tz\ M +9 &9Uw\ N +9 &;Tp\ N +10 &=bXy\ N +9 &?$U{\ N +10 &@Xv\ N +9 &BX~\ M +9 &DjUu\ N +10 &F,Z}\ N +9 &GX\ N +9 &Ic\ O +10 &Kjm\ P +9 &M\ U +10 &N\ X +9 &P}\ X +9 &RZ\ Y +10 &T\ Y +9 &U\ Z +9 &Wv\ Z +10 &YXq\ \\ +9 &[u\ \\ +10 &\\||\ : +9 &]~+\ (x +9 &]\ Z +3 ( + "collection"'\\& +3 #tCollection Clamp onSpring/offSpring for 9/25 samples, on/off torque 2.10 +2 "collection"'H& +4 "core" &]|\ Z + .tHand.open +2 "manipulator"&`1 +57 "core" 1 +2 "manipulator"&a% +4 "core" % s z  z +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&R'\ +96 "core" ' + #tPurging external Intake +2 "collection"'^& +4 "core" &]\ Z + "collection"'b% +4 "core" %~\ + .tCSV.dial :flush +2 "collection"'V  +72 "core"  +2 .tCS.seek 10ml + "collection"'d' +765 "Can"B\ ki +1611 "core" ' +2 .tdelay 5 seconds +502 ."connect"CSV.dial CBV +4 .tCBV.dial CSV +3 "collection"'e +83 "core" +2 .tCTV.dial :intake + "collection"'g  +74 "core"  + .tIntake.select :open +2 "sampler") +9 .tCS.seek 0ml +2 "collection"'h' +2378 "core" ' + .tIntake.select :close +2 "sampler")0 +9 .tCTV.dial :air + "collection"'j  +73 "core"  +2 #tGaraging FlushPuck in Collection Clamp + "manipulator"&>& +4 "core" &) A 5 +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&Z( +27 "core" ( +2 "manipulator"&c& +4 "core" & q   +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &S& +3 "core" & y y 0  +2 .tForearm.seek CC + "manipulator"&_'| +101 "core" ' + .tHand.close +2 "manipulator"&6/ +61 "core" / +2 .tCC.seek :open + "collection"'o(p +411 "core" ( + "manipulator"&p& +4 "core" & \  +2 "manipulator"&l% +4 "core" % v ~ + .tForearm.seek :retract +2 "manipulator"&k'\ +103 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek :garage + "manipulator"&W(, +281 "core" ( +2 "manipulator"&i& +4 "core" &,   +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &v& +3 "core" &,   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek :garage + "manipulator"&w' +96 "core" ' +2 .tHand.open +2 "manipulator"&u1 +57 "core" 1 +2 "manipulator"&y% +4 "core" %   p + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&s'\ +102 "core" ' +424 #t-> da 50 + #da sampling at most 50ml +5 ."Qmail"DAfans.email "Started da in tube 2 at 10:47:09EDT15-Sep-22\\n{}\\nCTD data unavailable\\nISUS data unavailable\\nCan@10:46:04, 17% flow, 23.6C, 37% humidity, 14.4psia, 13.62V, 0.547A avg, 0.534A avg, 7.44W",Subject: "da sampling at most 50ml" +3 #tLoading sh1 puck from tube 2 into Collection Clamp +4 "collection"'z& +4 "core" &\ + "manipulator"&[% +5 "core" %\ 5  & +2 "storage"(P% +4 "core" %6 ? > '\  + "storage"(}. +3 "core" .,K +2 .tSC.reconfigure :tight +6 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"((  +64 !"Qmail"o:!Net::SMTPAuthenticationError: mesg"E534-5.7.9 Application-specific password required. Learn more at\ :@checkpoint: omitted:bt["E/opt/mbari/lib/ruby/1.8/net/smtp.rb:954:in `check_auth_response'"/opt/mbari/lib/ruby/1.8/net/smtp.rb:723:in `authenticate'":/opt/mbari/lib/ruby/1.8/net/smtp.rb:566:in `do_start'"7/opt/mbari/lib/ruby/1.8/net/smtp.rb:525:in `start'"2/home/esp/esp2/lib/email.rb:325:in `sendOnce'"3/home/esp/esp2/lib/schedule.rb:292:in `unsync'"3/home/esp/esp2/lib/schedule.rb:594:in `unsync'"3/home/esp/esp2/lib/schedule.rb:621:in `unsync'"2/home/esp/esp2/lib/email.rb:318:in `sendOnce'"//home/esp/esp2/lib/email.rb:340:in `email'",/home/esp/esp2/lib/msg.rb:68:in `retry'"//home/esp/esp2/lib/email.rb:339:in `email'"./home/esp/esp2/lib/email.rb:348:in `mail'"-/home/esp/esp2/lib/email.rb:66:in `call'"3/home/esp/esp2/lib/email.rb:66:in `initialize'"-/home/esp/esp2/lib/email.rb:63:in `loop'"3/home/esp/esp2/lib/email.rb:63:in `initialize'"7/home/esp/esp2/lib/schedule.rb:481:in `initialize'"0/home/esp/esp2/lib/thread.rb:738:in `start'"7/home/esp/esp2/lib/schedule.rb:474:in `initialize'"'/home/esp/esp2/lib/schedule.rb:472 +2 !o:Email::Queue::Purge: mesg"Purged output queue:bt[ "//home/esp/esp2/lib/email.rb:106:in `purge'"3/home/esp/esp2/lib/email.rb:75:in `initialize'"-/home/esp/esp2/lib/email.rb:63:in `loop'"3/home/esp/esp2/lib/email.rb:63:in `initialize'"7/home/esp/esp2/lib/schedule.rb:481:in `initialize'"0/home/esp/esp2/lib/thread.rb:738:in `start'"7/home/esp/esp2/lib/schedule.rb:474:in `initialize'"'/home/esp/esp2/lib/schedule.rb:472 +1252 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (|& +2 "core" &  # # U\ +2 "manipulator"&& +3 "core" &,   +2 "manipulator"&r% +4 "core" %\ 5 a & +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&~(; +197 "core" ( +2 "manipulator"&& +4 "core" &H { ' + "storage"({& +4 "core" &  x u \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts +2 "manipulator"&m'Ѐ +93 "core" ' + "storage"(q& +4 "core" &  n )\ +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(t'e +280 "core" ' + "storage"( - +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" & \ _ a\ + "manipulator"&& +4 "core" &H T W L +2 .tElbow.seek 2 + "manipulator"&(; +18 "core" ( + "manipulator"&& +5 "core" &D h [ I z + "storage"(x& +4 "core" & \ w w \ +2 .tForearm.seek 2 + 300 counts + "manipulator"&' +20 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +58 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& +2 "storage"('N +8 "core" &D b b z +2 "manipulator"&% +4 "core" % W ^ + .tForearm.seek :retract +2 "manipulator"& '\ +96 "core" ' +2 .tElbow.seek CC + "manipulator"&( +136 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +17 "core" ( +2 "manipulator"&& +4 "core" &# J ;7 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 & & +3 "core" &# ` ;7 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&'| +109 "core" ' + "manipulator"&#& +4 "core" &$  ;7 +2 "manipulator"&n% +4 "core" %q 2 + "collection"'& +4 "core" &\ +2 "collection"'& +5 "core" &\ +2 .tCC.seek :closed +2 "collection"'(] +4 "core" &|\ +8 &7\ $e +10 &nW{\ 7 +9 &{y\ L +9 &~Vw\ N +10 &@U|\ N +9 &Tv\ M +9 & V|\ N +10 &"Y{\ M +9 &$IRy\ M +10 && Tm\ M +9 &'Wl\ N +9 &)Wt\ N +10 &+RTr\ M +9 &-Yf\ M +9 &.Yf\ N +10 &0Yf\ M +9 &2YUh\ M +10 &4Yg\ N +9 &5Ti\ N +9 &7Wm\ M +10 &9aRn\ M +9 &;#Tf\ M +9 &<Wf\ N +10 &>Vk\ N +9 &@iTg\ M +10 &B+Uj\ M +9 &CUh\ M +9 &EVf\ M +10 &GqUj\ M +9 &I0[d\ N +9 &Jgk\ P +10 &L{k\ S +9 &N`k\ V +10 &Pf\ X +9 &Qg\ ] +9 &Sf\ Y +10 &U[f\ Z +9 &Wf\ [\ +10 &Xg\ b +9 &Ze\ ] +9 &\\]e\ I +10 &]g?f\ $n +9 &]h\ #g +5 ( +2 "collection"'& +4 #tCollection Clamp onSpring/offSpring for 10/26 samples, on/off torque 2.19 + .Hand.open +2 "manipulator"&1 +3 "core" &]g\ #g +50 1 + "manipulator"&f% +5 "core" % q  + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&('\ +94 "core" ' +2 #tcollectSample 50ml w/bubble point of 24psi +2 #Priming 7ml + .Intake.select :close + .Exhaust.select :close +2 .SS.hold +2 "sampler")!+ +4 "core" + + "sampler")% +4 "core" %, \ y + "collection"'$& +5 "core" &]\ #g +2 "Can"?\ `^ +2 #tCalibrating pressure and temperature sensors +3 .CTV.dial :air +2 .SSV.dial :spit,avoiding: :exhaust +2 "sampler")  +3 "core"  +2 "sampler")  +5 "core" +2 .tSS.reconfigure :fast +2 "sampler")#.0X% +4 "core" %^\ + #tIntake @13.0psia, vacuum from 7.5 to 10.5psi +2 .SS.reconfigure :inhaling 1.80ml/s +3 "sampler")#.z0X\ % +3 "core" %e\ +2 "sampler")C% +3 "core" %H\ \ \  +22 "collection"'6% +3 "core" %\ + "sampler")K% +4 "core" %H\ \ |\  +24 "collection"'R% +3 "core" %e\ +2 "sampler")]% +3 "core" %H\ \ \  +31 "collection"'p% +3 "core" %\ +2 "sampler")l% +4 "core" %G\ \ x\  +31 "collection"'_% +3 "core" %g\ +2 "sampler")i% +56 "core" %H\ \ \  +3 "collection"'v% +4 "core" %e\ +2 "sampler")Z% +3 "core" %H\ \ \  +42 "collection"'u% +3 "core" %e\ +2 "sampler")y% +4 "core" %G\ \ \  +47 "collection"'k% +3 "core" %e\ +2 "sampler")w% +4 "core" %H\ \ \  +53 "collection"'z% +3 "core" %d\ +2 "sampler")[% +4 "core" %H\ \ \  +60 "collection"'P% +3 "core" %c\ +2 "sampler")}% +3 "core" %H\ \ |\  +72 "collection"'c% +3 "core" %\ +2 "sampler")% +4 "core" %H\ \ |\  +78 "collection"'S% +2 "core" %f\ +2 "sampler")% +4 "core" %G\ \ \  +88 "collection"'r% +3 "core" %e\ +2 "sampler")|% +4 "core" %H\ \ \  +100 "collection"'W% +2 "core" %\ +2 "sampler")q% +4 "core" %H \ {\  +113 "collection"'s% +3 "core" %\ + "sampler") % +4 "core" %G  \ \  +128 "collection"'% +3 "core" %e\ +2 "sampler")% +4 "core" %G   \  +144 "collection"'% +3 "core" %a\ + "sampler")x% +4 "core" % 2 * \ / +163 "collection"'% +3 "core" %\ +2 "sampler")% +4 "core" % H C }\ / +183 "collection"'% +3 "core" %d\ + "sampler")~% +4 "core" % _ Z \ / +2 "sampler")m% +3 "core" % c [ }\ / + .tIntake.select :close +2 "sampler")0 +9 )% +2 "core" % c ] ~\ / +2 .tSSV.dial :exhaust + "sampler")  +74 "core"  + .tExhaust.select :open + "sampler")@ +10 .tSS.seek 0ml +2 "sampler") '0 +914 "core" ' + .tExhaust.select :close + "sampler") +9 #tSampled 50.0ml +2 #Evacuating Puck (bubblePt=24psi, evacVolume=10ml, delay 15 seconds) + .Intake.select :close +2 "collection"'t& +3 "core" &]\ #g +2 ."airStroke"CSV.dial :waste +4 "sampler")% "collection"'# +6 "core" %/  w \ \ P +2 ."connect"SSV.dial CBV,avoiding: :exhaust +3 .tCBV.dial SSV +2 "sampler")n  +32 "core" +2 ."airStroke"CS.seek 0ml +2 "collection"'' +3 "core" ' +2 ."airStroke"CSV.dial :air + "collection"' @ +72 "core" A +3 ."airStroke"CS.seek 10ml + "collection"'' +75 "core"  +2 .tCTV.dial :air + "collection"'  +73 "core" ~ +2 .tdelay 15 seconds +1502 .SSV.dial :spit,avoiding: :exhaust +2 "sampler")o +130 "core"  +3 ."prepCSV"CTV.dial CSV,avoiding: :intake +5 .tSS.seek 0ml +2 "collection"'  +3 "sampler"){'0 +6 "core" ' + .tSSV.dial CBV,avoiding: :exhaust +2 "sampler")$  +120 "core"  +12  +482 ' +2 "sampler") % +4 "core" %3 }\ L + .tCBV.dial between SSV and waste2 +2 "collection"'  +30 "core"  +2 "collection"'% +4 "core" %a\  +2 ."connect"CTV.dial CSV,avoiding: :air +3 .tCSV.dial CTV +2 "collection"'  +42 "core"  +2 .tCS.reconfigure :pressurize +2 "collection"'# d@<<\ b +2 .tCS.seek 0ml +2 "collection"'' +2283 "core" '\ \ d\ è +3 "collection"'!% +4 "core" %\ \ \ d\  + "sampler")/% +4 "core" %3 \ L +2 #tBubblePoint: Intake @38.7psia, Outlet @14.5psia + .CBV.dial SSV +2 "collection"') @ +31 "core" A +2 .tSS.reconfigure :default +2 "sampler")#.0X' +331 "core" ' +2 .tdelay 5 seconds +502 .CSR.select :air +3 "collection"' +8 'C% +3 "core" %y\ +2 .tCS.seek 6.001ml +2 "collection"'6' +1360 "core" ' + .tdelay 2 seconds +202 .CSV.dial :waste2 +2 "collection"'K +40 "core"  +2 .tCS.reconfigure :fast +2 "collection"'#d @b +3 .tCS.seek 0ml + "collection"'R' +1440 "core" ' +2 .tCSV.dial CSR +2 "collection"']  +42 "core"  + "collection"'p% +4 "core" %w\ +2 #tPulling 2ml of CSR.AqMeOH + .CSR.select :AqMeOH +2 "collection"' +9 .tCS.reconfigure :default +2 "collection"'#P d@b +2 .tCS.seek 2ml +2 "collection"'l'~ +586 "core" ' + .tdelay 5 seconds +502 .CSR.select :air +3 "collection"' +9 '_% +2 "core" %{s\  +2 .tCS.seek 5ml +2 "collection"'i's +841 "core" ' +2 .tdelay 2 seconds +202 .CSV.dial CTV + "collection"'v  +42 "core"  +2 .tCS.seek 1ml +2 "collection"'Z' +1096 "core" ' + "collection"'u9 +4 "core" 9 + "collection"'y% +4 "core" % K\ +2 #tBefore lysing Collection Puck Heater at 22.6C/29.6psia +2 #Heating Puck.from 2, :sh1 in Collection Clamp to 70C for 10:00 +2 .CH.seek 70C,8:00 +2 "collection"'e \  +3 'k9 +5 "core" 9 +102 "collection"'w9 +3 "core" 9d +102 "collection"'z9 +3 "core" 9 d +102 "collection"'[9 +2 "core" 9 d +102 "collection"'P9 +2 "core" 9d +103 "collection"'}9 +2 "core" 9d +103 "collection"'c9 +3 "core" 9d +102 "collection"'9 +2 "core" 9d +102 "collection"'S9 +2 "core" 9"d +103 "collection"'9 +2 "core" 9&d +102 "collection"'r9 +3 "core" 9*d +102 "collection"'|9 +3 "core" 9/d +102 "collection"'W9 +2 "core" 9,3d +103 "collection"'q9 +2 "core" 9E7d +103 "collection"'s9 +2 "core" 9`;d +102 "collection"' 9 +4 "core" 9|?d +102 "collection"'9 +2 "core" 9Dd +103 "collection"'9 +2 "core" 9Hd +103 "collection"'9 +2 "core" 9Ld +102 "collection"'x9 +2 "core" 9Pd +103 "collection"'9 +3 "core" 9!Td +102 "collection"'9 +3 "core" 9DYd +102 "collection"'9 +2 "core" 9g]a +102 "collection"'~9 +3 "core" 9a^ +102 "collection"'m9 +2 "core" 9eZ +102 "collection"'9 +3 "core" 9iW +103 "collection"'9 +2 "core" 9mS +102 "collection"'g9 +2 "core" 9!rO +103 "collection"'t9 +2 "core" 9EvL +102 "collection"'9 +3 "core" 9kzI +102 "collection"'#9 +3 "core" 9~F +102 "collection"'9 +2 "core" 9C +103 "collection"'n9 +2 "core" 9@ +102 "collection"' 9 +2 "core" 9< +103 "collection"'h9 +2 "core" 9; +102 "collection"'9 +3 "core" 9<8 +102 "collection"'o9 +3 "core" 9\\6 +102 "collection"'9 +2 "core" 9|4 +103 "collection"'$9 +2 "core" 92 +103 "collection"' 9 +2 "core" 91 +102 "collection"' 9 +3 "core" 9\ / +102 "collection"'9 +2 "core" 9- +103 "collection"'9 +2 "core" 9, +102 "collection"'9 +2 "core" 9* +102 "collection"'9 +3 "core" 95* +102 "collection"'!9 +3 "core" 9J( +102 "collection"'/9 +2 "core" 9_' +103 "collection"')9 +2 "core" 9s"' +102 "collection"'{9 +2 "core" 9%& +102 "collection"',9 +3 "core" 9(% +102 "collection"'9 +2 "core" 9+$ +102 "collection"'09 +3 "core" 9.# +102 "collection"'%9 +2 "core" 90# +102 "collection"'9 +3 "core" 94" +102 "collection"'f9 +2 "core" 97 +102 "collection"'79 +3 "core" 99 +102 "collection"'+9 +3 "core" 9< +102 "collection"'59 +2 "core" 9 > +102 "collection"'"9 +3 "core" 9 A +102 "collection"'9 +2 "core" 9 C +102 "collection"'9 +3 "core" 9 'F +102 "collection"'29 +3 "core" 9 0I +102 "collection"'49 +2 "core" 9 ;K +102 "collection"'39 +3 "core" 9 CN +102 "collection"':9 +2 "core" 9 KP  +102 "collection"'&9 +3 "core" 9 SS +102 "collection"'<9 +3 "core" 9 ZU +102 "collection"'.9 +2 "core" 9 cW +102 "collection"'9 +3 "core" 9 iZ +102 "collection"'-9 +2 "core" 9 q\\! +102 "collection"'I9 +3 "core" 9 v_& +102 "collection"'@9 +2 "core" 9 }`* +102 "collection"'E9 +3 "core" 9 c. +23 "Can"\ ][ +79 "collection"'G9 +2 "core" 9 e2 +103 "collection"'J9 +2 "core" 9 g6 +102 "collection"'M9 +3 "core" 9 i; +102 "collection"'O9 +2 "core" 9 k? +102 "collection"'Q9 +3 "core" 9 nC +102 "collection"'B9 +2 "core" 9 oG +102 "collection"'N9 +3 "core" 9 qK +102 "collection"';9 +3 "core" 9 sO +103 "collection"'19 +2 "core" 9 uT +102 "collection"'L9 +2 "core" 9 wX +103 "collection"'=9 +2 "core" 9 y\\ +102 "collection"'*9 +3 "core" 9 {` +102 "collection"'A9 +3 "core" 9 |d +102 "collection"'9 +2 "core" 9 ~i +102 "collection"'X9 +3 "core" 9 m +102 "collection"'\ 9 +2 "core" 9 q +102 "collection"'Y9 +3 "core" 9 u +102 "collection"'T9 +3 "core" 9 y +102 "collection"'?9 +3 "core" 9 ~ +102 "collection"'`9 +3 "core" 9  +102 "collection"'U9 +2 "core" 9  +103 "collection"'^9 +2 "core" 9\  +102 "collection"'F9 +3 "core" 9\  +102 "collection"'H9 +2 "core" 9\  +102 "collection"'a9 +3 "core" 9\  +102 "collection"'b9 +2 "core" 9\  +102 "collection"'\\9 +4 "core" 9\  +102 "collection"'V9 +3 "core" 9\  +102 "collection"''9 +2 "core" 9\ # +102 "collection"'89 +3 "core" 9\ ( +102 "collection"'99 +2 "core" 9\ - +102 "collection"'D9 +3 "core" 9\ 1 +102 "collection"'d9 +3 "core" 9\ 5 +102 "collection"'j9 +2 "core" 9\ 9 +102 "collection"'C9 +3 "core" 9\ = +102 "collection"'>9 +2 "core" 9\ B +102 "collection"'K9 +3 "core" 9\ E +102 "collection"'69 +3 "core" 9\ I +102 "collection"']9 +3 "core" 9\ N +102 "collection"'p9 +3 "core" 9\ Q +102 "collection"'R9 +2 "core" 9\ V +102 "collection"'_9 +3 "core" 9\ X +102 "collection"'l9 +2 "core" 9\ \\ +102 "collection"'v9 +3 "core" 9\ _ +102 "collection"'i9 +2 "core" 9\ e +103 "collection"'u9 +2 "core" 9\ g +102 "collection"'y9 +3 "core" 9\ k +102 "collection"'k9 +3 "core" 9\ n +3 .tCH.hold 10:00,70C +3 "collection"'w `\ `\ n  +3 'z9 +4 "core"  + 9\ o\ n + "collection"'[% +4 "core" %\ +\ - \ c +2 #tBegun lysing Collection Puck Heater at 68C/33.6psia +54979 "Can"o \  +5010 "core" ` +2 "collection"'P9 +3 "core" 9\  +2 "collection"'}% +4 "core" % \ + #tEnded lysing Collection Puck Heater at 70.1C/29.2psia +2 .CS.seek 0ml +2 "collection"'c' +330 "core" ' +2 .tCTV.dial between spare and air,avoiding: :intake +2 "collection"' @ +99 "core" A + .tCSV.dial :air +2 "collection"'S @ +42 "core" ? +2 .tCS.seek 5ml +2 "collection"''s +1351 "core" ' + .tCSV.dial CTV +2 "collection"'r  +42 "core"  +2 .tdelay 2 seconds +202 .CSV.dial :air + "collection"'| @ +43 "core" > +2 .tdelay 2 seconds +202 .CSV.dial CTV +2 "collection"'W  +54 "core"  +2 .tdelay 2 seconds +202 .CSV.dial :air + "collection"'q @ +40 "core" @ +2 .tdelay 2 seconds +202 .CS.seek 0ml +2 "collection"'s' +1355 "core" ' + "collection"' % +5 "core" %\ \ \ + #tPuck @42.7psia after final lysis pressurization +2 #Recovering Lysate into Collection syringe + .CSV.dial CBV + "collection"' +100 "core"  + .tCBV.dial CSV +2 "collection"'  +30 "core"  + "collection"'% +4 "core" %\ \ \ +2 .tCS.seek 5ml +2 "collection"'x's +1350 "core" ' +2 .tdelay 5 seconds +502 .CTV.dial :air +2 "collection"'  +43 "core" + "collection"'% +4 "core" %sYY\  +2 .tCS.seek 7ml +2 "collection"'' +592 "core" ' +2 .tdelay 5 seconds +502 .CSV.dial :air2 +2 "collection"'~ @ +41 "core" > +2 .tCS.seek 10ml +2 "collection"'m' +840 "core" ' + .tCSV.dial between air and CTV,avoiding: CBV +2 "collection"' ` +111 "core" _ +2 #tLysing Complete + "collection"'& +4 "core" &]BA\ #g +2 #tStoring sh1 puck in Collection Clamp to tube 1 + "manipulator"&g% +4 "core" %\ . W #d +2 "storage"(t% +3 "core" %= K K\  + "storage"(. +3 "core" .(  +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 1 + "storage"(#(B +374 "core" ( +2 .tSC.configure :limp +54 "storage"($\ 1b +3 (& +2 "core" &@ \ +2 "manipulator"&n& +4 "core" &" m :- + "manipulator"& % +4 "core" %\ . t #d +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 1 +2 "manipulator"&h(c +154 "core" ( +2 "manipulator"&& +4 "core" &g p # +2 "storage"(o& +3 "core" &@ c b\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 1 + 450 counts +2 "manipulator"&'Ф +115 "core" ' + "storage"($& +5 "core" &@ z x 0\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"( 'e +272 "core" ' +2 "storage"( - +3 "core" -'e +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek :place +2 "storage"('B +39 "core" ' +2 "manipulator"&& +4 "core" &g c b +2 "manipulator"&% +4 "core" %Ъ ` U  j +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +88 "core" ' +2 .tElbow.seek CC +2 "manipulator"&!( +152 "core" ( +2 "manipulator"&/& +4 "core" &$ O <; +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &)& +3 "core" &$  <; +2 .tForearm.seek CC +2 "manipulator"&{'| +105 "core" ' + .tHand.close +2 "manipulator"&,/ +61 "core" / +2 .tCC.seek :open +2 "collection"'(p +413 "core" ( + "storage"(0& +4 "core" &@ \ +2 "storage"(%& +3 "core" &@ u\ +2 "manipulator"&& +3 "core" &" ] :0 +2 "manipulator"&f% +3 "core" % p   } +2 .tForearm.seek :retract +2 "manipulator"&7'\ +90 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 1 + "manipulator"&+(c +158 "core" ( + "manipulator"&5& +5 "core" &m  \ + "storage"("& +4 "core" &@ \ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 1 +2 "manipulator"&' +110 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&21 +59 "core" 1 +2 "manipulator"&4% +4 "core" % n * r  + "storage"(3& +4 "core" &@ z y L\ +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 1 + 320 counts +2 "manipulator"&:'" +18 "core" ' + "manipulator"&&& +5 "core" &m M Y & \ + "storage"(<& +4 "core" &@ )\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 1 + 450 counts + "manipulator"&.'Ф +11 "core" ' + "storage"(% +4 "core" %J \ +3 ."downElevator"SE.seek :down +4 "storage"(-'N +99 (I% +3 "core" %C u\ U] +2 "manipulator"&@% +4 "core" %а ` ] ^ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&E'\ +93 "core" ' +55 ' + ."downElevator"SE.stop +2 "storage"(5 +2 #tTranferring DA +2 #Beginning samplePassC + #Loading FlushPuck into Collection Clamp from FlushPuck::Garage +2 "collection"'G& +4 "core" &=>  +2 "manipulator"&J& +4 "core" &m x y k \ +2 "manipulator"&M% +3 "core" %\ 3 w v f %x +2 .tElbow.seek FlushPuck::Garage +2 "manipulator"&O(, +168 "core" ( + "manipulator"&Q& +5 "core" &, p + r + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &B& +2 "core" &, w v . r +2 .tForearm.seek :garage +2 "manipulator"&N' +107 "core" ' + .tHand.close +2 "manipulator"&;/ +58 "core" / + "manipulator"&1& +4 "core" &, r +2 "manipulator"&L% +4 "core" %   + .tForearm.seek :retract +2 "manipulator"&='\ +105 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&*( +276 "core" ( + "manipulator"&A& +5 "core" &" A :1 + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &"  :1 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&X'| +93 "core" ' +2 "manipulator"&\ & +4 "core" &"  :1 + "manipulator"&Y% +4 "core" %u   +2 "collection"'T& +4 "core" &BD  +2 "collection"'?& +5 "core" &CD  +2 .tCC.seek :closed + "collection"'`(] +4 "core" &AD  +8 &6CD\ $e +9 &gW~AE\ 7 +10 &~CDg\ K +9 &\\DDM\ K +10 &G_CE\ K +9 & \\BE\ K +9 & ]BDZ\ K +10 &"]BD<\ K +9 &$P\\BDy\ K +9 &&]CC\ K +10 &'\\CF \ K +9 &)]CD\ K +10 &+WZCE\ K +9 &-]DF\ K +9 &.]FG\ K +10 &0]CE{\ K +9 &2_]CDh\ K +9 &4!]DDU\ K +10 &5\\DD5\ K +9 &7]BE\ K +10 &9g`DE\ K +9 &;)]EE\ K +9 &<]EE8\ K +10 &>]EE,\ K +9 &@p_DEy\ K +9 &B2]DC #\ K +10 &C]DF \ K +9 &E]FF \ K +10 &Gw_CF\ K +9 &I7eCF\ L +9 &JuDG\ N +10 &LFF\ S +9 &NaFG\ U +9 &P!GI\ V +10 &QHGx\ W +9 &SGI^\ X +10 &U`GKV\ Y +9 &W#GH7\ X +9 &XFI&\ Z +10 &ZIH!\ \\ +9 &\\ZGH\ J +9 &]\\4HJ\ - +10 &]gIH\ I +2 ( +2 "collection"'?& +3 #tCollection Clamp onSpring/offSpring for 10/26 samples, on/off torque 2.08 + "collection"'U& +4 "core" &]gHIq\ I +2 .tHand.open + "manipulator"&^1 +58 "core" 1 +2 "manipulator"&F% +4 "core" % u i  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&H'\ +92 "core" ' + .tPSV.dial PSR +2 "processing"%a +133 "core"  + "processing"%b% +4 "core" %\ +2 #tPulling 1.5ml of PSR.flush + .PSR.select :flush +2 "processing"%j +10 .tPS.seek 1.5ml + "processing"%\\' +1616 "core" ' +2 .tdelay 5 seconds +502 .PSV.dial :waste1 +2 "processing"%V  +43 "core"  +2 .tPS.seek 0ml + "processing"%'' +1617 "core" ' + .tPSV.dial PSR +2 "processing"%8 +50 "core"  + .tPSR.select :air +2 "processing"% +10 .tPS.seek 2.5ml +2 "processing"%9'm +2647 "core" ' +2 ."connect"PRV.dial CBV,avoiding: :ab2 +3 .tCBV.dial PRV +3 "processing"%D "collection"'d  +6 "core" B +2 "processing"%j  +69 "core" +87  +2 .tPSV.dial :mixloop + "processing"%C +104 "core" + .tCTV.dial :air,avoiding: :intake +2 .PTV.dial :PRVmixing + "processing"%>  +127 "core" +2 .tPS.seek 0ml +2 "processing"%K' +2630 "core" ' + .tPSV.dial :air +2 "processing"%6  +44 "core"  +2 .tPS.seek 2.5ml +2 "processing"%]'m +2649 "core" ' + .tPSV.dial :mixloop +2 "processing"%p +50 "core" +2 .tPS.seek 0ml +2 "processing"%R' +2634 "core" ' + .tPSV.dial :air +2 "processing"%_  +50 "core"  +2 .tPS.seek 2.5ml + "processing"%l'm +2634 "core" ' +2 .tPSV.dial :mixloop + "processing"%v +50 "core" +2 .tPS.seek 0ml +2 "processing"%i' +2640 "core" ' +2 #tGaraging FlushPuck in Collection Clamp + "manipulator"&u& +4 "core" & ! 7 +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC + "manipulator"&y( +32 "core" ( +2 "manipulator"&k& +4 "core" & R ( + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &z& +3 "core" &  ( +2 .tForearm.seek CC + "manipulator"&['| +95 "core" ' + .tHand.close +2 "manipulator"&e/ +52 "core" / + .tCC.seek :open +2 "collection"'w(p +413 "core" ( +2 "manipulator"&P& +4 "core" & x v L % + "manipulator"&}% +4 "core" % k w v T +2 .tForearm.seek :retract + "manipulator"&Z'\ +99 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek :garage + "manipulator"&(, +266 "core" ( + "manipulator"&S& +4 "core" &,   +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &c& +3 "core" &, R  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :garage +2 "manipulator"&r' +164 "core" ' + .tHand.open +2 "manipulator"&|1 +58 "core" 1 + "manipulator"&W% +4 "core" % \\   & Dz8 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&q'\ +107 "core" ' + .tPSV.dial :mixloop +2 .PTV.dial :PRVmixing + ."connect"PRV.dial CBV +3 .tCBV.dial PRV +2 .CTV.dial :air,avoiding: :intake +2 #Loading lyfil puck from tube 2 into Collection Clamp +2 "collection"'& +4 "core" &tv]  + "manipulator"& % +4 "core" %\ 3  %y +2 "storage"(% +4 "core" %C \  + "storage"(. +3 "core" .(B +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 2 + "storage"((  +364 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (s& +2 "core" &  c b\  +2 "manipulator"&& +4 "core" &,   + "manipulator"&% +4 "core" %\ 3 . %y +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&x(; +190 "core" ( + "manipulator"&~& +5 "core" &H m + "storage"(& +4 "core" & K\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&'Ѐ +114 "core" ' + "storage"(& +4 "core" & 4\  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(g'e +279 "core" ' +2 "storage"(t- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" & \  + "manipulator"&& +4 "core" &H ~  +2 .tElbow.seek 2 +2 "manipulator"&(; +14 "core" ( + "manipulator"&n& +4 "core" &E w  +2 "storage"( & +3 "core" & \  +3 .tForearm.seek 2 + 300 counts + "manipulator"&' +20 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&o/ +64 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&$& + "storage"('N +7 "core" &E   +2 "manipulator"&(% +4 "core" % ~  +2 .tForearm.seek :retract + "manipulator"& '\ +93 "core" ' +2 .tElbow.seek CC +2 "manipulator"&( +154 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +5 "core" ( + "manipulator"&& +5 "core" &(  ?R + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 & & +3 "core" &( G ?R +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&/'| +96 "core" ' +2 "manipulator"&)& +4 "core" &( ?R +2 "manipulator"&% +4 "core" %{ +2 "collection"'h& +4 "core" &uw\ +2 "collection"',& +5 "core" &uv\ +2 .tCC.seek :closed + "collection"'(] +4 "core" &uw5\ +9 & 7tvb\ $e +9 &fW~uu\ 7 +9 &zsv\ K +10 &WtvO\ K +9 &DZtw?\ K +9 &]uw\ L +10 & [vv\ L +9 &"Xtu\ L +10 &$L\\sx\ K +9 && ]tv\ L +9 &'\\vv\ L +10 &)Zwv{\ K +9 &+SYuve\ L +9 &-[uvR\ L +10 &.]tvI\ K +9 &0Zvt2\ K +10 &2[]vu"\ L +9 &4\\ww\ L +9 &5Wtw\ K +10 &7Ztw\ K +9 &9c[uv\ L +9 &;&Ytw\ K +10 &<Xtv\ K +9 &>Ztv8\ K +10 &@k^uvl\ L +9 &B.]uvk\ K +9 &CZvw_\ K +10 &E\\tvW\ K +9 &GsZvvU\ L +9 &I3ctwO\ L +10 &Jp|w\ N +9 &L\ Q +10 &N^\ V +9 &P\ W +9 &Q{\ W +10 &S}\ X +9 &U_h\ X +9 &Wa\ X +10 &Xx\ Z +9 &Z\ [ +10 &\\a\ G +9 &]g?\ #k +9 &]n\ S +3 ( + "collection"',& +3 #tCollection Clamp onSpring/offSpring for 10/26 samples, on/off torque 2.04 +2 .Hand.open + "manipulator"&1 +54 "core" 1 +2 "manipulator"&0% +4 "core" % { < +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&%'\ +92 "core" ' +2 .tCTV.dial CSV,avoiding: :intake +2 "collection"'  +129 "core" ~ + .tCSV.dial CTV +2 "collection"'f  +28 "core"  +2 .tPS.seek 2.5ml +2 "processing"%5'm +2646 "core" ' + "collection"'"% +4 "core" %svb\  +2 .tCS.seek 4.5ml +2 "collection"'{'d +1491 "core" ' + .tdelay 8 seconds +803 .PSV.dial :air + "processing"%!  +50 "core"  + .tdelay 2 seconds +202 .PSV.dial :waste2 +2 "processing"%2  +74 "core"  +2 .tPS.seek 0ml +2 "processing"%4' +2640 "core" ' + .tCBV.dial between PRV and waste1 +2 "collection"'3 ` +30 "core" _ + .tCSV.dial :air +2 "collection"'& @ +43 "core" ? +3 .tCS.seek 10ml + "collection"'<' +1479 "core" ' +2 .tCSV.dial CTV + "collection"'  +43 "core"  +2 .tCS.seek 0ml + "collection"'7' +2626 "core" ' +2 .tCBV.dial :waste1 + "collection"'I @ +30 "core" > +2 .tdelay 5 seconds +502 .CTV.dial :air,avoiding: :intake +2 "collection"'@  +130 "core" +2 "collection"'+& +4 "core" &]gxzt\ S + #tStoring lyfil puck in Collection Clamp to tube 1 +2 "manipulator"&% +4 "core" %\ ( [ 5 + "storage"(G% +4 "core" %P E F\ + "storage"(:. +3 "core" .(  +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 1 +2 "storage"(J(B +363 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (M& +3 "core" &E B \ + "manipulator"&& +4 "core" &% ^ =D +2 "manipulator"&.% +3 "core" %\ ( q 5 +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 1 + "manipulator"&Q(c +165 "core" ( + "manipulator"&B& +4 "core" &l e    +2 "storage"(-& +4 "core" &E a a\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 1 + 450 counts +2 "manipulator"&'Ф +93 "core" ' +2 "storage"(;& +4 "core" &E z 9\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(1'e +281 "core" ' + "storage"(L- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&E& +2 "core" &l T S >  +2 "storage"(N& +4 "core" &E c a \ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 1 + "manipulator"&A' +30 "core" ' + .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(O- +2 "core" -' +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(\ 'e +29 "core" ' + "manipulator"&Y% +5 "core" %g   ŵ + "storage"(T& +4 "core" &E 8 \ + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 1 + 320 counts +2 "manipulator"&='" +18 "core" ' +2 "manipulator"&& +4 "core" &U M Y  + "storage"(U& +4 "core" &E z { D\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 1 + 450 counts + "manipulator"&^'Ф +23 "core" ' +2 .tSE.seek 1.11 Pucks below Top Plate +2 "storage"(F'T +51 "core" ' + "manipulator"&?& +5 "core" &U ] _  + "manipulator"&a% +4 "core" %Э U R 1 . +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&b'\ +95 "core" ' +2 .tElbow.seek CC + "manipulator"&X( +156 "core" ( +2 "manipulator"&V& +4 "core" &# ? ;5 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &\\& +3 "core" &#  ;5 +2 .tForearm.seek CC + "manipulator"&8'| +96 "core" ' +2 .tHand.close + "manipulator"&'/ +58 "core" / +2 .tCC.seek :open +2 "collection"'D(p +410 "core" ( +2 "storage"(d& +4 "core" &E \ + "storage"(j& +4 "core" &E \ + "manipulator"&C& +4 "core" & 8 +2 "manipulator"&>% +3 "core" % o 8 +2 .tForearm.seek :retract +2 "manipulator"&9'\ +100 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 1 + "manipulator"&6(c +155 "core" ( + "manipulator"&K& +5 "core" &g 6 + "storage"(p& +4 "core" &E | \ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +45 .tForearm.seek 1 +9 "manipulator"&]' +107 "core" ' +2 .tElbow.hold + "manipulator"&_, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&R1 +57 "core" 1 +2 "manipulator"&v% +5 "core" % n \\ ÷ + "storage"(l& +4 "core" &E d d\ + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 1 + 315 counts +2 "manipulator"&u' +11 "core" ' +2 "manipulator"&k& +4 "core" &M M c 9  + "storage"(z& +4 "core" &E \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 1 + 450 counts +2 "manipulator"&e'Ф +16 "core" ' +2 "storage"(*% +4 "core" %O z\ +2 ."downElevator"SE.seek :down +4 "storage"(H'N +98 (`% +3 "core" %G= \ \ U[ +2 "manipulator"&P% +4 "core" %Ю \\ _ I  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&}'\ +87 "core" ' +55 ' + ."downElevator"SE.stop + "storage"(5 +3 .tPSV.dial :air + "processing"%[  +79 "core" +2 .tPS.seek 2.5ml +2 "processing"%S'm +2187 "Can"3\ /?< +447 "core" ' + .tdelay 1 second +102 .PSV.dial :mixloop +2 "processing"%c +43 "core" +2 .tdelay 1 second +101 .PSV.dial :air +2 "processing"%y  +50 "core"  + .tdelay 1 second +102 .PSV.dial :mixloop +2 "processing"%| +51 "core" +2 .tdelay 1 second +102 .PSV.dial :air + "processing"%W  +51 "core"  +2 .tdelay 1 second +102 .PS.seek 0ml +2 "processing"%Z' +2632 "core" ' + #tLoading FlushPuck into Processing Clamp from FlushPuck::Garage +2 "processing"%& +4 "core" &\ + "manipulator"& & +4 "core" &M 5  +2 "manipulator"&% +3 "core" %\ ( J E +2 .tElbow.seek FlushPuck::Garage +2 "manipulator"&(, +184 "core" ( + "manipulator"&r& +4 "core" &, u  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &#& +2 "core" &, ,  +2 .tForearm.seek :garage +2 "manipulator"&s' +105 "core" ' +2 .tHand.close + "manipulator"&/ +58 "core" / +2 "manipulator"&& +4 "core" &,    + "manipulator"&~% +4 "core" %    | +2 .tForearm.seek :retract + "manipulator"&'\ +102 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +2 "manipulator"&(c +123 "core" ( +2 "manipulator"&& +4 "core" &[   + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &q& +3 "core" &[   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&t'[ +101 "core" ' + "manipulator"&& +4 "core" &[ >  +2 "manipulator"&% +4 "core" %N & + "processing"%n& +4 "core" &:\ +2 "processing"% & +5 "core" &@\ +2 .tPC.seek :closed +2 "processing"%o(Z +4 "core" &3\ +7 &.4\ "` +9 &_U{9\ 6 +9 &~;\ K +10 &j\\<\ M +9 &-Z;\ M +9 &Y9\ M +10 & ]H\ M +9 &"rXJ\ M +10 &$4ZO\ M +9 &%YQ\ M +9 &'XJ\ L +10 &)zZM\ M +9 &+=WX\ M +9 &,Z`\ M +10 &.Z^\ M +9 &0Y`\ M +10 &2EYe\ M +9 &4Xe\ L +9 &5Yr\ M +10 &7Ys\ M +9 &9MXp\ M +9 &;Zv\ M +10 &<Ws\ M +9 &>Zi\ M +10 &@TZ|\ M +9 &BY|\ M +9 &CX\ M +10 &EX\ N +9 &GY]q\ N +9 &Ift\ O +10 &Ju\ P +9 &L\ S +10 &NN\ T +9 &P\ T +9 &Q\ T +10 &S\ T +9 &UW\ T +9 &WD\ U +10 &Xt\ T +9 &Z:Qs\ (w +9 &Zc\ 9 +9 ( +2 &Z-\ 4 +2 "processing"% & +3 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.59 + "processing"%$& +4 "core" &Z-\ 4 + .tHand.open +2 "manipulator"&(1 +56 "core" 1 + "manipulator"&x% +4 "core" % N  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +101 "core" ' +2 .tPRV.dial :air + "processing"%  +44 "core"  + .tPSV.dial :mixloop +2 "processing"% +52 "core" + "processing"%g% +4 "core" %8\ +2 .tPS.seek 0.3ml +2 "processing"%'l +381 "core" ' +2 .tPSV.dial PSR + "processing"%) +103 "core"  +2 "processing"%% +4 "core" %kF\  + #tPulling 0.4ml of PSR.air +2 .PSR.select :air +2 .PS.seek 0.7ml +2 "processing"%h'. +487 "core" ' +2 .tdelay 3 seconds +302 .PSR.select :air +2 .PS.seek 2.5ml +2 "processing"%'m +1933 "core" ' + .tdelay 3 seconds +302 .PSV.dial :mixloop +2 "processing"% +109 "core" + .tPTV.dial :mixing +2 "processing"% @ +72 "core" B + .tPBV.dial :waste2 +2 "processing"%w  +92 "core"  +2 .tPS.seek 0ml +2 "processing"%' +2634 "core" ' + #tGaraging FlushPuck in Processing Clamp +2 "manipulator"&0& +4 "core" &[   +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +2 "manipulator"&,(c +3 "core" ( + "manipulator"&& +4 "core" &[ Y  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &f& +3 "core" &[   +2 .tForearm.seek PC +2 "manipulator"&/'[ +95 "core" ' +2 .tHand.close + "manipulator"&i/ +52 "core" / +2 .tPC.seek :open +2 "processing"%"(p +394 "core" ( +2 "manipulator"&m& +4 "core" &[ (  + "manipulator"&!% +4 "core" % e $  +2 .tForearm.seek :retract + "manipulator"&2'\ +101 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage +2 "manipulator"&5(, +142 "core" ( + "manipulator"&3& +4 "core" &,  6 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &&& +3 "core" &, q 6 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek :garage + "manipulator"&{' +115 "core" ' +2 .tHand.open + "manipulator"&1 +60 "core" 1 + "manipulator"&<% +4 "core" % j  öZ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&I'\ +101 "core" ' +2 #tLoading da puck from tube 2 into Processing Clamp + "processing"%@& +4 "core" &\ +2 "manipulator"&+% +4 "core" %\ * !R + "storage"(% +4 "core" %G f\  +2 "storage"(G. +3 "core" .(E +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"(:(  +369 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (& +3 "core" &  M L\ +2 "manipulator"&M& +3 "core" &,  6 +2 "manipulator"&% +3 "core" %\ * + !R +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&.(; +179 "core" ( + "manipulator"&B& +4 "core" &5 G n +2 "storage"(-& +4 "core" & v\ " +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&;'Ѐ +89 "core" ' +2 "storage"(& +4 "core" & \ " +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(%'e +278 "core" ' +2 "storage"(L- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (E& +3 "core" & r y \ " +2 "manipulator"&N& +3 "core" &5 { ~ | n +2 .tElbow.seek 2 + "manipulator"&O(; +3 "core" ( +2 "manipulator"&Y& +4 "core" &5  D n + "storage"(T& +4 "core" & u\ " +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&' +10 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&U/ +58 "core" / +4 ."downElevator"SE.seek :down +4 "manipulator"&?& +2 "storage"(a'N +8 "core" &5 t n +2 "manipulator"&% +4 "core" %   Q +2 .tForearm.seek :retract + "manipulator"&Q'\ +97 "core" ' + .tElbow.seek PC +2 "manipulator"&1(c +154 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +86 "core" ( +2 "manipulator"&A& +4 "core" &] o & e + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &=& +3 "core" &]  e +52 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&\ '[ +99 "core" ' + "manipulator"&V& +5 "core" &] Y e + "manipulator"&\\% +4 "core" %] V +2 "processing"%^& +4 "core" &M\ +2 "processing"%& +5 "core" &d\ +2 .tPC.seek :closed + "processing"%'(Z +5 "core" &A\  +8 &2}B\ )w +10 &e4\ > +9 &Iv1\ N +10 &W3\ L +9 &Y=\ L +9 &W5\ L +10 &!SY'\ M +9 &#Y,\ M +9 &$V.\ M +10 &&\\+\ M +9 &(ZX/\ M +10 &*W$\ L +9 &+W\ L +9 &-W\ L +10 &/cZ\ M +9 &1%V#\ M +9 &2X\ L +10 &4W \ L +9 &6k\\\ M +10 &8-[\ M +9 &9Z\ \ L +9 &;X\ L +10 &=tY \ L +9 &?5Z\ M +9 &@[\ M +10 &BY\ L +9 &D{W\ M +10 &F=\\\ M +9 &G]\ M +9 &Ig\ N +10 &Kxs\ P +9 &M4\ R +9 &N\ S +10 &P\ T +9 &Rv\ T +10 &T8\ T +9 &U\ T +9 &W\ U +10 &Y{\ B +9 &Zv7\ !c +9 &Z\ ( +3 ( + "processing"%& +3 #tProcessing Clamp onSpring/offSpring for 9/25 samples, on/off torque 1.60 +2 .Hand.open + "manipulator"&b1 +57 "core" 1 +2 "manipulator"&% +4 "core" % ] / +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&d'\ +102 "core" ' +3 #tHeating Puck.from 2, :da in Processing Clamp to 28C for 2:00:00 +2 .PH.seek 28C,5:00 +2 "processing"%j  +3 %C9 +6 "core" 9 +102 "processing"%>9 +2 "core" 9 +102 "processing"%K9 +3 "core" 9  +102 "processing"%p9 +2 "core" 9  +102 "processing"%89 +2 "core" 9  +103 "processing"%X9 +2 "core" 9  +103 "processing"%R9 +2 "core" 9\  +102 "processing"%v9 +2 "core" 9\  +103 "processing"%l9 +2 "core" 9 " +102 "processing"%k9 +3 "core" 9& +102 "processing"%z9 +2 "core" 9* +103 "processing"%*9 +2 "core" 9/ +102 "processing"%99 +2 "core" 93 +103 "processing"%`9 +2 "core" 97 +102 "processing"%P9 +2 "core" 9; +103 "processing"%69 +2 "core" 9? +103 "processing"%]9 +2 "core" 9"D +102 "processing"%u9 +2 "core" 9'H +103 "processing"%F9 +2 "core" 9-L +102 "processing"%[9 +2 "core" 92P +102 "processing"%e9 +3 "core" 98T +102 "processing"%H9 +2 "core" 9?X +102 "processing"%49 +3 "core" 9E] +102 "processing"%c9 +2 "core" 9La +102 "processing"%y9 +3 "core" 9Se +102 "processing"%|9 +2 "core" 9[i +102 "processing"%W9 +3 "core" 9cm +102 "processing"%S9 +2 "core" 9iq +102 "processing"%9 +2 "core" 9qv +103 "processing"% 9 +2 "core" 9xz +102 "processing"%9 +3 "core" 9~ +3 .tPH.hold 2:00:00,28C +3 "processing"%r pp} +3 .tdelay 1:30 +3 "core" ~ +9001 .tPSR.select :air +2 .PSV.dial PSR + "processing"%# +111 "core"  + "processing"%_% +5 "core" %.\ + #tPulling 0.5ml of PSR.wash + .PSR.select :wash +2 "processing"% +10 .tPS.seek 0.5ml + "processing"%' +588 "core" ' +2 .tdelay 5 seconds +502 .PSR.select :air +2 "processing"% +10 .tPS.seek 2ml + "processing"%'ԏ +1618 "core" ' + .tPTV.dial :puck + "processing"%~  +69 "core"  +2 .tPSV.dial PTV + "processing"%} +82 "core" + .tPBV.dial :waste1 +2 "processing"%  +131 "core"  +2 "processing"%q% +4 "core" %Ԍ \  +2 .tPS.seek 1.5ml +2 "processing"%s' +593 "core" ' +2 .tdelay 3 seconds +302 .PBV.dial between PSV and waste1 + "processing"% * +33 "core" + +2 .tPS.seek 0ml +2 "processing"%' +1614 "core" ' +2 .tdelay 5:00 +26973 "Can". *B@ +3029 #trecoverPSRreagent08 + .PTV.dial :puck +2 .PBV.dial :waste1 + "processing"%n  +34 "core" +2 .tdelay 30 seconds +3002 .PBV.dial between PSV and waste1 +2 "processing"% * +33 "core" + +2 .tPSR.select :air +2 .PSV.dial PSR +2 "processing"% +80 "core"  +2 .tPS.reconfigure :fast +3 "processing"%#A ,`xb +2 .tPS.seek 2.5ml +2 "processing"% 'm +2405 "core" ' +2 .tPSV.dial PTV + "processing"%$ +82 "core" + .tdelay 5 seconds +502 .PSV.dial PSR +2 "processing"%( +79 "core"  +2 .tdelay 5 seconds +502 .PSV.dial PTV + "processing"%x +79 "core" +2 .tdelay 5 seconds +502 .PSV.dial :air +2 "processing"%  +74 "core"  +2 .tPS.seek 0ml +2 "processing"%' +2357 "core" ' +2 .tPTV.dial :PRVmixing,via: PRV + "processing"%  +127 "core" + .tPSV.dial :mixloop +2 "processing"%g +50 "core" + .tPRV.dial :ab1 +2 "processing"%t @ +72 "core" A +2 .tPS.reconfigure :slow +2 "processing"%#A 2`xb +3 .tPS.seek 0.15ml + "processing"%Z'@ +346 "core" ' +2 .tdelay 2 seconds +202 ."connect"CBV.dial PRV +4 .tPRV.dial CBV + "collection"')  + "processing"%  +45 "core" +3  + "processing"%% +4 "core" %=C\  +2 .tPS.seek 0.34ml +2 "processing"%h' +440 "core" ' + .tdelay 2 seconds +202 .CBV.dial between PRV and PSV +2 "collection"'  +29 "core" + .tPRV.dial :air +2 "processing"%  +42 "core"  +2 .tPS.seek 0.9ml +2 "processing"%w'H +1198 "core" ' + .tPRV.dial :waste2 +2 "processing"% @ +72 "core" ? +2 .tPS.seek 0.5ml +2 "processing"%0' +865 "core" ' + #taddPMLReagent08 + .PSV.dial :air +2 "processing"%  +50 "core"  +2 .tPS.reconfigure :default +3 "processing"%#A d`xb +2 .tPS.seek 2ml +2 "processing"%f'ԏ +1640 "core" ' + .tPSV.dial :PML +2 "processing"%i +50 "core" + .tPTV.dial :mixing +2 "processing"% @ +72 "core" B + .tPBV.dial :waste1 +2 "processing"%  +34 "core" +2 "processing"%o% +4 "core" %Ԍk\ +2 .tPS.seek 1.85ml + "processing"%m'c +238 "core" ' +2 .tPBV.dial between PSV and waste1 + "processing"%! * +35 "core" , +2 .tPS.seek 0ml +2 "processing"%3' +1964 "core" ' +2 .tdelay 2 seconds +202 #Beginning samplePassC + #Loading FlushPuck into Collection Clamp from FlushPuck::Garage +2 "collection"'&& +3 "core" &V\ + "manipulator"&/& +4 "core" &] j e +2 "manipulator"&,% +3 "core" %\ 4  & +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek FlushPuck::Garage + "manipulator"&(, +137 "core" ( + "manipulator"&<& +5 "core" &, & @ + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &@& +2 "core" &, \ @ +2 .tForearm.seek :garage +2 "manipulator"&+' +107 "core" ' +2 .tHand.close + "manipulator"&2/ +53 "core" / +2 "manipulator"&& +5 "core" &,  $ @ + "manipulator"&G% +4 "core" %   Z +2 .tForearm.seek :retract + "manipulator"&{'\ +104 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&J( +280 "core" ( + "manipulator"&& +4 "core" &%  <: +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &M& +3 "core" &% ( <: +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&'| +103 "core" ' +2 "manipulator"&B& +4 "core" &% $ <: + "manipulator"&-% +4 "core" %u O +2 "collection"'& +4 "core" &T\ +2 "collection"'5& +4 "core" &Q\ +2 .tCC.seek :closed +2 "collection"'I(] +4 "core" &T\ +8 &>O\ $e +9 &mWQ\ 8 +10 &|V\ L +9 &VT\ N +9 &C\\Q\ N +10 &XT\ N +9 & XU\ N +9 &"XT\ N +10 &$KVS\ N +9 && \\P\ N +10 &'ZR\ N +9 &)ZS\ N +9 &+TZQ\ M +10 &-ZS\ M +9 &.YT\ N +9 &0[T\ M +10 &2[WS\ N +9 &4XO\ N +9 &5RS\ M +10 &7VJ\ M +9 &9cYR\ N +10 &;$ZO\ N +9 &<WS\ M +9 &>YS\ N +10 &@kTY\ N +9 &B-TQ\ N +9 &CTU\ M +10 &EUT\ M +9 &GsUT\ N +10 &I4[V\ N +9 &JhV\ P +9 &LM\ T +10 &N]P\ X +9 &PQ\ Y +9 &QO\ Y +10 &SN\ Y +9 &U]Q\ Z +10 &W Q\ Z +9 &XM\ \\ +9 &ZT\ ] +10 &\\`U\ I +9 &]jAR\ !e +9 &]yR\ R +6 ( + "collection"'5& +5 #tCollection Clamp onSpring/offSpring for 10/26 samples, on/off torque 2.11 + "collection"'L& +4 "core" &]yR\ R + &]yT\ R +2 .tHand.open + "manipulator"&E1 +53 "core" 1 +2 "manipulator"&N% +4 "core" % u  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +50 "manipulator"&Y'\ +101 "core" ' + .tPSV.dial PSR +2 "processing"%T +104 "core"  +2 "processing"%U% +4 "core" %i\ + #tPulling 1.5ml of PSR.flush + .PSR.select :flush +3 "processing"%@ +10 .tPS.seek 1.5ml + "processing"%?' +1614 "core" ' +2 .tdelay 5 seconds +502 .PSV.dial :waste1 + "processing"%  +43 "core"  +3 .tPS.seek 0ml + "processing"%.' +1620 "core" ' + .tPSV.dial PSR +2 "processing"%; +50 "core"  + .tPSR.select :air +2 "processing"% +10 .tPS.seek 2.5ml +2 "processing"%%'m +2647 "core" ' +2 ."connect"PRV.dial CBV,avoiding: :ab2 +4 .tCBV.dial PRV +2 "processing"%  + "collection"'A  +33 "core" ~ +123  + .tPSV.dial :mixloop +2 "processing"%= +115 "core" +2 .tCTV.dial :air,avoiding: :intake +2 .PTV.dial :PRVmixing + "processing"%O  +72 "core" +2 .tPS.seek 0ml +2 "processing"%V' +2633 "core" ' +2 .tPSV.dial :air + "processing"%\\  +47 "core"  +2 .tPS.seek 2.5ml +2 "processing"%^'m +2659 "core" ' + .tPSV.dial :mixloop +2 "processing"%a +50 "core" +2 .tPS.seek 0ml +2 "processing"%Q' +2630 "core" ' +2 .tPSV.dial :air + "processing"%"  +50 "core"  +2 .tPS.seek 2.5ml +2 "processing"%b'm +2646 "core" ' +2 .tPSV.dial :mixloop + "processing"% +51 "core" +2 .tPS.seek 0ml + "processing"%C' +2640 "core" ' +2 #tGaraging FlushPuck in Collection Clamp + "manipulator"&& +4 "core" & T 7 +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC + "manipulator"&>( +26 "core" ( +2 "manipulator"&\ & +4 "core" & r : +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &K& +3 "core" & M : +2 .tForearm.seek CC + "manipulator"&p'| +98 "core" ' + .tHand.close +2 "manipulator"&8/ +61 "core" / +2 .tCC.seek :open + "collection"'X(p +410 "core" ( +2 "manipulator"&R& +4 "core" & ' + + "manipulator"&v% +4 "core" % m = +2 .tForearm.seek :retract +2 "manipulator"&l'\ +94 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage +2 "manipulator"&k(, +273 "core" ( +2 "manipulator"&z& +4 "core" &, %  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &*& +3 "core" &,   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :garage +2 "manipulator"&9' +111 "core" ' +2 .tHand.open +2 "manipulator"&`1 +59 "core" 1 +2 "manipulator"&P% +4 "core" % }  - +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&6'\ +97 "core" ' +2 ."da"delayUntil "11:37:33.06" +15827 "Can"9\ (C@ +8868 #"da"recoverPRVreagent08 +2 .PTV.dial :mixing + "processing"%] @ +71 "core" A + ."da"PBV.dial :waste1 +2 "processing"%u  +34 "core" +2 ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%F * +34 "core" + +2 ."da"PSV.dial :air + "processing"%[  +50 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%e'm +2410 "core" ' + ."da"PSV.dial :mixloop +2 "processing"%H +50 "core" +2 ."da"delay 2 seconds +201 .PSV.dial :air +2 "processing"%4  +50 "core"  + ."da"delay 2 seconds +202 .PSV.dial :mixloop +2 "processing"%c +49 "core" +2 ."da"delay 2 seconds +202 .PSV.dial :air +2 "processing"%y  +49 "core"  +2 ."da"PS.seek 0ml +2 "processing"%|' +2348 "core" ' + #"da"washCycleDA #1 of 2 + .PSR.select :air +3 .PSV.dial PSR + "processing"%W +134 "core"  +2 "processing"%S% +4 "core" %\ + #"da"Pulling 0.5ml of PSR.wash + .PSR.select :wash +3 "processing"% +9 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"%' +598 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +3 "processing"% +9 ."da"PS.seek 2ml +2 "processing"% 'ԏ +1623 "core" ' + ."da"PTV.dial :puck +2 "processing"%  +70 "core"  +2 ."da"PSV.dial PTV + "processing"%# +74 "core" + ."da"PBV.dial :waste1 +2 "processing"%_  +34 "core" +2 "processing"%% +4 "core" %Ԕr\  +2 ."da"PS.seek 1.5ml + "processing"%' +588 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 + "processing"%~ * +34 "core" + +2 ."da"PS.seek 0ml +2 "processing"%}' +1620 "core" ' + ."da"delay 2:00 +12003 #recoverPSRreagent08 +2 .PTV.dial :puck + .PBV.dial :waste1 +2 "processing"%  +34 "core" +2 ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%q * +34 "core" + + ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"% +81 "core"  +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml + "processing"%'m +2424 "core" ' +2 ."da"PSV.dial PTV +2 "processing"%s +79 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PSR +2 "processing"%j +79 "core"  + ."da"delay 5 seconds +503 .PSV.dial PTV + "processing"%n +79 "core" +2 ."da"delay 5 seconds +502 .PSV.dial :air +2 "processing"%  +72 "core"  +2 ."da"PS.seek 0ml +2 "processing"%' +2354 "core" ' + #"da"washCycleDA #2 of 2 +2 .PSR.select :air +2 .PSV.dial PSR + "processing"% +135 "core"  + "processing"%$% +4 "core" %\ + #"da"Pulling 0.5ml of PSR.wash +2 .PSR.select :wash +2 "processing"% +9 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"%(' +595 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +3 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%x'ԏ +1660 "core" ' +2 ."da"PTV.dial :puck + .PSV.dial PTV +2 "processing"% +74 "core" + ."da"PBV.dial :waste1 +2 "processing"%  +34 "core" +2 "processing"% % +3 "core" %ԉ\  +2 ."da"PS.seek 1.5ml +2 "processing"%g' +594 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 + "processing"%t * +34 "core" + +2 ."da"PS.seek 0ml +2 "processing"%' +1607 "core" ' +2 ."da"delay 2:00 +9287 "Can", +@= +2716 #"da"recoverPSRreagent08 + .PTV.dial :puck + .PBV.dial :waste1 +2 "processing"%)  +33 "core" +2 ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"% * +34 "core" + + ."da"PSR.select :air +3 .PSV.dial PSR + "processing"% +79 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%Z'm +2396 "core" ' + ."da"PSV.dial PTV +2 "processing"% +80 "core" + ."da"delay 5 seconds +503 .PSV.dial PSR + "processing"% +79 "core"  +2 ."da"delay 5 seconds +502 .PSV.dial PTV +49 "processing"%h +81 "core" +2 ."da"delay 5 seconds +502 .PSV.dial :air +2 "processing"%  +73 "core"  +2 ."da"PS.seek 0ml + "processing"%w' +2345 "core" ' + #"da"getPMLReagent08 +2 .PRV.dial :air +2 "processing"%  +43 "core"  +2 ."da"delay 5 seconds +502 .PTV.dial :PRVmixing +2 "processing"%0  +126 "core" + ."da"delay 5 seconds +503 .PRV.dial :ab2 + "processing"%i  +41 "core"  +2 ."da"PTV.dial :PRVmixing +2 .PSV.dial :mixloop + "processing"% +50 "core" +2 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 0.3ml +2 "processing"%'i +404 "core" ' +2 ."da"delay 2 seconds +202 .PRV.dial :air +2 "processing"%o  +44 "core"  + "processing"%!% +4 "core" %dE\ +2 ."da"PS.seek 0.55ml +2 "processing"%f'S +331 "core" ' +2 #"da"addPMLReagent08 + .PSV.dial :air + "processing"%m  +49 "core"  +2 ."da"PS.seek 2ml +2 "processing"%&'ԏ +1568 "core" ' +2 ."da"PSV.dial :PML + "processing"%/ +50 "core" +2 ."da"PTV.dial :mixing +2 "processing"%, @ +71 "core" B +2 ."da"PBV.dial :waste1 +2 "processing"%<  +34 "core" + "processing"%@% +4 "core" %Ԋ*t\  +2 ."da"PS.seek 1.85ml +2 "processing"%1'a +235 "core" ' + ."da"PBV.dial between PSV and waste1 +2 "processing"%2 * +34 "core" , +2 ."da"PS.seek 0ml +2 "processing"%' +1965 "core" ' + ."da"delay 2 seconds +203 .delay 8:00 +40963 "Can"# )@= +7039 #"da"recoverPRVreagent08 +2 .PTV.dial :mixing + .PBV.dial :waste1 +2 "processing"%G  +33 "core" +2 ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%d * +34 "core" , +2 ."da"PSV.dial :air + "processing"%+  +50 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%'m +2393 "core" ' + ."da"PSV.dial :mixloop +2 "processing"%M +50 "core" + ."da"delay 2 seconds +202 .PSV.dial :air +2 "processing"%  +50 "core"  + ."da"delay 2 seconds +202 .PSV.dial :mixloop +2 "processing"%B +49 "core" +2 ."da"delay 2 seconds +202 .PSV.dial :air + "processing"%-  +51 "core"  +3 ."da"PS.seek 0ml + "processing"%' +2359 "core" ' +2 #"da"washCycleDA #1 of 3 + .PSR.select :air +2 .PSV.dial PSR + "processing"%{ +133 "core"  + "processing"%D% +4 "core" %N\ +2 #"da"Pulling 0.5ml of PSR.wash + .PSR.select :wash +2 "processing"% +9 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"%L' +591 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +3 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%E'ԏ +1638 "core" ' +2 ."da"PTV.dial :puck + "processing"%N  +69 "core"  +2 ."da"PSV.dial PTV +2 "processing"%5 +73 "core" + ."da"PBV.dial :waste1 +2 "processing"%T  +34 "core" +2 "processing"%U% +4 "core" %ԆX\ +2 ."da"PS.seek 1.5ml +2 "processing"%' +607 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%3 * +34 "core" , +2 ."da"PS.seek 0ml + "processing"%' +1607 "core" ' +2 ."da"delay 2:00 +12003 #recoverPSRreagent08 +2 .PTV.dial :puck + .PBV.dial :waste1 +2 "processing"%?  +34 "core" +2 ."da"delay 30 seconds +3002 .PBV.dial between PSV and waste1 +2 "processing"%; * +35 "core" , + ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"%. +79 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%A'm +2397 "core" ' +2 ."da"PSV.dial PTV +2 "processing"% +79 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PSR +2 "processing"%= +78 "core"  +2 ."da"delay 5 seconds +502 .PSV.dial PTV +2 "processing"%O +79 "core" + ."da"delay 5 seconds +503 .PSV.dial :air + "processing"%%  +74 "core"  +3 ."da"PS.seek 0ml + "processing"%\\' +2353 "core" ' + #"da"washCycleDA #2 of 3 +2 .PSR.select :air +2 .PSV.dial PSR + "processing"%V +133 "core"  + "processing"%a% +4 "core" %:\ + #"da"Pulling 0.5ml of PSR.wash +2 .PSR.select :wash +2 "processing"% +9 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"%^' +597 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +2 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%"'ԏ +1617 "core" ' +2 ."da"PTV.dial :puck + .PSV.dial PTV +2 "processing"%Q +74 "core" + ."da"PBV.dial :waste1 +2 "processing"%  +34 "core" +2 "processing"%b% +4 "core" %Ԍ#S\  +2 ."da"PS.seek 1.5ml + "processing"%' +610 "core" ' + ."da"delay 3 seconds +303 .PBV.dial between PSV and waste1 + "processing"%\ * +34 "core" , +2 ."da"PS.seek 0ml +2 "processing"%K' +1610 "core" ' +2 ."da"delay 2:00 +11233 "Can" 'B? +770 #"da"recoverPSRreagent08 + .PTV.dial :puck +2 .PBV.dial :waste1 + "processing"%8  +35 "core" + ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%J * +34 "core" , +2 ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"%Y +79 "core"  + ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%I'm +2401 "core" ' + ."da"PSV.dial PTV +2 "processing"%R +80 "core" + ."da"delay 5 seconds +503 .PSV.dial PSR + "processing"%v +79 "core"  +2 ."da"delay 5 seconds +502 .PSV.dial PTV + "processing"%p +81 "core" +2 ."da"delay 5 seconds +502 .PSV.dial :air +2 "processing"%z  +74 "core"  +2 ."da"PS.seek 0ml + "processing"%*' +2342 "core" ' +2 #"da"washCycleDA #3 of 3 + .PSR.select :air +2 .PSV.dial PSR +2 "processing"%> +132 "core"  + "processing"%`% +4 "core" %8\ +2 #"da"Pulling 0.5ml of PSR.wash + .PSR.select :wash +2 "processing"% +9 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"%P' +588 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +2 "processing"% +10 ."da"PS.seek 2ml + "processing"%l'ԏ +1617 "core" ' +2 ."da"PTV.dial :puck + .PSV.dial PTV +2 "processing"%9 +74 "core" + ."da"PBV.dial :waste1 +2 "processing"%]  +34 "core" +2 "processing"%u% +4 "core" %Ԋv\  +2 ."da"PS.seek 1.5ml + "processing"%F' +610 "core" ' + ."da"delay 3 seconds +303 .PBV.dial between PSV and waste1 + "processing"%[ * +34 "core" , +2 ."da"PS.seek 0ml +2 "processing"%C' +1613 "core" ' +2 ."da"delay 2:00 +12003 #recoverPSRreagent08 + .PTV.dial :puck +45 .PBV.dial :waste1 +8 "processing"%H  +35 "core" + ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%4 * +34 "core" , +2 ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"%c +79 "core"  + ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%y'm +2391 "core" ' +2 ."da"PSV.dial PTV +2 "processing"%e +79 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PSR +2 "processing"%W +79 "core"  + ."da"delay 5 seconds +503 .PSV.dial PTV + "processing"%S +79 "core" +2 ."da"delay 5 seconds +502 .PSV.dial :air + "processing"%|  +73 "core"  +2 ."da"PS.seek 0ml +2 "processing"%' +2348 "core" ' + ."da"Gate.power :camera,:ON +2 #Mixing DA Substrates + .PSR.select :air +2 .PSV.dial PSR +2 "processing"% +144 "core"  +7 "processing"%#% +10 "core" %;\ +6 #"da"Pulling 0.25ml of PSR.sub1 + .PSR.select :sub1 +7 "processing"% +14 ."da"PS.reconfigure :default +5 "processing"%#A d`xb +6 ."da"PS.seek 0.25ml +4 "processing"%_' +335 "core" ' +2 ."da"delay 5 seconds +502 "processing"%% +3 "core" %\\\  +2 #"da"Pulling 0.25ml of PSR.sub2 + .PSR.select :sub2 +3 "processing"% +9 ."da"PS.seek 0.5ml +2 "processing"% ' +332 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +2 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%~'ԏ +1630 "core" ' + ."da"PTV.dial :puck +2 .PSV.dial PTV + "processing"% +83 "core" +2 ."da"PBV.dial :waste1 + "processing"%  +36 "core" +2 "processing"%q% +4 "core" %Ԕ$\ l +2 ."da"PS.seek 1.5ml + "processing"%' +586 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%} * +35 "core" , +2 ."da"PS.seek 0ml +2 "processing"%s' +1615 "core" ' + ."da"delay 10 seconds +1004 #recoverPSRreagent08 + .PTV.dial :puck + .PBV.dial :waste1 +2 "processing"%j  +35 "core" + ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%n * +36 "core" , + ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"% +82 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%'m +2449 "core" ' + ."da"PSV.dial PTV +2 "processing"% +83 "core" + ."da"delay 5 seconds +503 .PSV.dial PSR +2 "processing"%$ +80 "core"  +2 ."da"delay 5 seconds +502 .PSV.dial PTV +2 "processing"% +83 "core" + ."da"delay 5 seconds +503 .PSV.dial :air + "processing"%(  +76 "core"  +2 ."da"PS.seek 0ml +2 "processing"% ' +2413 "core" ' +2 #"da"Additional air clear + .PSR.select :air +2 .PSV.dial PSR +2 "processing"% +137 "core"  +2 "processing"% % +3 "core" %\ u +2 #"da"Pulling 2ml of PSR.air + .PSR.select :air +3 .PS.reconfigure :default +2 "processing"%#A d`xb +3 ."da"PS.seek 2ml + "processing"%x'ԏ +2180 "core" ' + ."da"delay 5 seconds +503 .PTV.dial :puck +2 .PSV.dial PTV + "processing"%t +76 "core" + ."da"PBV.dial :waste1 +2 "processing"%g  +34 "core" +2 "processing"%)% +4 "core" %Ԍs\  + ."da"PS.seek 1.5ml +2 "processing"%' +615 "core" ' + ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"% * +46 "core" ) +2 ."da"delay 1 second +102 .PSV.dial :waste1 +2 "processing"%  +111 "core"  +2 ."da"PS.seek 0ml +2 "processing"%' +825 "Can"\  +781 "core" ' + "processing"% 9 +3 "core" 95 +2 #"da"Processing Puck Heater at 27.9C before imaging +2 .PH.coast + "processing"%h  +4 "core" 5 + 5 + "processing"%& +3 "core" &Z\ ( +2 #"da"Imaging da puck in Processing Clamp while storing it to tube 1 +2 "manipulator"&Z% +3 "core" %\ (  G +2 "storage"(% +3 "core" %; r s\  +2 "storage"(0. +3 "core" .(  + ."da"SC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 ."da"SC.seek 1 +2 "storage"(i(B +375 "core" ( +2 ."da"SC.configure :limp +2 "storage"($\ 1b +2 (& +3 "core" &C M\ t +2 "manipulator"&w& +3 "core" &,   +2 "manipulator"&o% +3 "core" %\ ) ~ G +2 ."da"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 ."da"Elbow.seek 1 +2 "manipulator"&!(c +179 "core" ( +2 "manipulator"&& +4 "core" &a i o + "storage"(m& +4 "core" &C ; \  +2 ."da"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 ."da"Forearm.seek 1 + 450 counts +2 "manipulator"&f'Ф +112 "core" ' + "storage"(/& +4 "core" &C n g D\ +2 ."da"SE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 ."da"SE.seek :beamBreak + "storage"(,'e +294 "core" ' +2 "storage"(<- +3 "core" -' + ."da"SE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&@& +2 "core" &a s f o +2 "storage"(2& +3 "core" &C P T '\ +2 ."da"Elbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 ."da"Forearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 ."da"Forearm.seek 1 + "manipulator"&&' +32 "core" ' + ."da"Elbow.hold +2 "manipulator"&1, +4 "core" , + ."da"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(G- +2 "core" -' +3 ."da"SE.seek 1.11 Pucks below Top Plate + "storage"(d'U +31 "core" ' +2 "manipulator"&+% +4 "core" %s  ƹ+ + "storage"(& +4 "core" &C 3\ u + ."da"Forearm.force -20 +2 "manipulator"&5 +3 ."da"Forearm.seek 1 + 319 counts + "manipulator"&M'! +21 "core" ' + "manipulator"&& +4 "core" &L } H # +2 "storage"(B& +4 "core" &C P P T\ +2 ."da"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 ."da"Forearm.seek 1 + 450 counts + "manipulator"&-'Ф +17 "core" ' +2 ."da"SE.seek 2.11 Pucks below Top Plate + "storage"('D +54 "core" ' + "manipulator"&{& +4 "core" &L V _ # +2 "manipulator"&D% +4 "core" %Ж \\ S L +2 ."da"Forearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 ."da"Forearm.seek :retract + "manipulator"&'\ +88 "core" ' +2 ."da"Elbow.seek PC +2 "manipulator"&L(c +257 "core" ( + "manipulator"&N& +4 "core" &_  +2 ."da"Elbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &5& +2 "core" &_  +2 ."da"Forearm.seek PC +2 "manipulator"&T'[ +99 "core" ' + ."da"Hand.close +2 "manipulator"&U/ +56 "core" / +2 ."da"PC.seek :open +2 "processing"%E(p +394 "core" ( +2 "storage"(3& +4 "core" &C P R ?\ + "manipulator"&& +4 "core" &_ z t J + "manipulator"&?% +4 "core" % [ { +2 ."da"Forearm.seek :retract +2 "manipulator"&;'\ +101 "core" ' +2 ."da"Elbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 ."da"Elbow.seek 1 +2 "manipulator"&.(c +248 "core" ( +2 "manipulator"&& +4 "core" &a I e + "storage"(& +4 "core" &C \  +2 ."da"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 ."da"Forearm.seek 1 + 450 counts +2 "manipulator"&='Ф +109 "core" ' +2 ."da"Hand.open +2 "manipulator"&O1 +101 "core" 1 +10 "storage"(%- +3 "core" -'D +2 ."da"SE.seek 1.86 Pucks below Top Plate +2 "storage"(A' +23 "core" ' +2 ."da"SE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 ."da"SE.seek 1.2 Pucks below Top Plate +2 "storage"(V' +47 "core" ' +2 #"da"Lights, camera, ACTION! +4 #PuckCamera: snap -bin=2,2 -auto /var/log/esp/da22sep1512h50ml.tif +1985 #"psFlush"Waiting >20 seconds for da to relinquish FlushPuck +20738 #"da"SX HX9/16 (USB:02): 1392x1040 pixel 16-bit CCD camera\ Exposing 696x520 pixel 16-bit image for 222.93 seconds\ /var/log/esp/da22sep1512h50ml.tif: TIFF Upload Complete\ +5 #PuckCamera: snap -bin=2,2 15.0 /var/log/esp/midres/da22sep1512h50ml15s.tif +1563 #SX HX9/16 (USB:02): 1392x1040 pixel 16-bit CCD camera\ Exposing 696x520 pixel 16-bit image for 15 seconds\ /var/log/esp/midres/da22sep1512h50ml15s.tif: TIFF Upload Complete\ +4 #PuckCamera: snap -bin=2,2 30.0 /var/log/esp/midres/da22sep1512h50ml30s.tif +3068 #SX HX9/16 (USB:02): 1392x1040 pixel 16-bit CCD camera\ Exposing 696x520 pixel 16-bit image for 30 seconds\ /var/log/esp/midres/da22sep1512h50ml30s.tif: TIFF Upload Complete\ +5 #PuckCamera: snap -bin=1,1 70.0 /var/log/esp/hires/da22sep1512h50ml70s.tif +7169 #SX HX9/16 (USB:02): 1392x1040 pixel 16-bit CCD camera\ Exposing 1392x1040 pixel 16-bit image for 70 seconds\ /var/log/esp/hires/da22sep1512h50ml70s.tif: TIFF Upload Complete\ +2 .Gate.power :camera,:OFF +3 ."Qmail"DAfans.email "222.93 sec auto-exposure",Subject: "da22sep1512h50ml images!" +9 "storage"(a- +3 "core" -' +2 "storage"(\\& +6 "core" &C\ \  -\ +2 "manipulator"&^& +4 "core" &d S R  b +2 ."da"Elbow.seek 1 +2 "manipulator"&Q(c +4 "core" ( + "manipulator"&& +4 "core" &d b c b +2 "storage"(b& +5 "core" &C\ \ \ +2 ."da"Forearm.seek 1 + 450 counts +2 "manipulator"&"'Ф +3 "core" ' +2 ."da"SE.reconfigure :gently +3 "storage"(#QK-0-\ b +4 ."da"SE.seek 1.91 Pucks below Top Plate +3 "storage"(\ 'O +55 !"Qmail"o:!Net::SMTPAuthenticationError: mesg"E534-5.7.9 Application-specific password required. Learn more at\ :@checkpoint: omitted:bt["E/opt/mbari/lib/ruby/1.8/net/smtp.rb:954:in `check_auth_response'"/opt/mbari/lib/ruby/1.8/net/smtp.rb:723:in `authenticate'":/opt/mbari/lib/ruby/1.8/net/smtp.rb:566:in `do_start'"7/opt/mbari/lib/ruby/1.8/net/smtp.rb:525:in `start'"2/home/esp/esp2/lib/email.rb:325:in `sendOnce'"3/home/esp/esp2/lib/schedule.rb:292:in `unsync'"3/home/esp/esp2/lib/schedule.rb:594:in `unsync'"3/home/esp/esp2/lib/schedule.rb:621:in `unsync'"2/home/esp/esp2/lib/email.rb:318:in `sendOnce'"./home/esp/esp2/lib/email.rb:340:in `send'",/home/esp/esp2/lib/msg.rb:68:in `retry'"./home/esp/esp2/lib/email.rb:339:in `send'"B/home/esp/esp2/protocol/2G/utilities.rb:163:in `prepAndImage'"-/home/esp/esp2/lib/email.rb:66:in `call'"3/home/esp/esp2/lib/email.rb:66:in `initialize'"-/home/esp/esp2/lib/email.rb:63:in `loop'"3/home/esp/esp2/lib/email.rb:63:in `initialize'"7/home/esp/esp2/lib/schedule.rb:481:in `initialize'"0/home/esp/esp2/lib/thread.rb:738:in `start'"7/home/esp/esp2/lib/schedule.rb:474:in `initialize'"'/home/esp/esp2/lib/schedule.rb:472 +2 !o:Email::Queue::Purge: mesg"Purged output queue:bt[ "//home/esp/esp2/lib/email.rb:106:in `purge'"3/home/esp/esp2/lib/email.rb:75:in `initialize'"-/home/esp/esp2/lib/email.rb:63:in `loop'"3/home/esp/esp2/lib/email.rb:63:in `initialize'"7/home/esp/esp2/lib/schedule.rb:481:in `initialize'"0/home/esp/esp2/lib/thread.rb:738:in `start'"7/home/esp/esp2/lib/schedule.rb:474:in `initialize'"'/home/esp/esp2/lib/schedule.rb:472 +9 "core" ' +2 "manipulator"&& +4 "core" &d ] ` \ b +2 "storage"(8& +4 "core" &C $\ + ."da"Elbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 ."da"Forearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 ."da"Forearm.seek 1 +2 "manipulator"&J' +34 "core" ' + ."da"Elbow.hold +2 "manipulator"&Y, +5 "core" , + ."da"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 ."da"SE.reconfigure :default +2 "storage"(#QK-0-\ b +2 ."da"SE.seek 2.1 Pucks below Top Plate +3 "storage"(K'9 +26 "core" ' + "manipulator"&R% +4 "core" % U | +2 "storage"(v& +4 "core" &C   H\ + ."da"Forearm.force -20 +2 "manipulator"&5 +3 ."da"Forearm.seek 1 + 305 counts +2 "manipulator"&p' +19 "core" ' +2 "manipulator"&z& +4 "core" &d h i b +2 "storage"(I& +4 "core" &C `\ +2 ."da"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 ."da"Forearm.seek 1 + 450 counts +3 "manipulator"&>'Ф +17 "core" ' +2 "storage"(`% +4 "core" %> o\ +2 ."downElevator"SE.seek :down +3 "storage"(*'N +99 (P% +3 "core" %;4 u ,\ RP +2 "manipulator"&9% +4 "core" %П a ` +2 ."da"Forearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 ."da"Forearm.seek :retract +2 "manipulator"&]'\ +88 "core" ' +46 ' + ."downElevator"SE.stop + "storage"(5 +3 (u& +3 "core" &C k k \ +3 #"psFlush"Loading FlushPuck into Processing Clamp from FlushPuck::Garage +3 #tStarting finalPurge +2 "processing"%l& +4 "core" &\ +2 "manipulator"&[& +4 "core" &d b +2 "manipulator"&F% +4 "core" %\ )  G +2 ."psFlush"Elbow.seek FlushPuck::Garage +2 "manipulator"&H(, +191 "core" ( + "manipulator"&4& +5 "core" &, k  +2 ."psFlush"Elbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &c& +3 "core" &, k  +2 ."psFlush"Forearm.seek :garage +2 "manipulator"&C' +104 "core" ' +2 ."psFlush"Hand.close +2 "manipulator"&e/ +54 "core" / +2 "manipulator"&W& +4 "core" &, D  + "manipulator"&S% +4 "core" %  +2 ."psFlush"Forearm.seek :retract +2 "manipulator"&|'\ +98 "core" ' +2 ."psFlush"Elbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 ."psFlush"Elbow.seek PC + "manipulator"&y(c +123 "core" ( + "manipulator"&& +5 "core" &e u i  + ."psFlush"Elbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &#& +3 "core" &e   +2 ."psFlush"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 ."psFlush"Forearm.seek PC +2 "manipulator"&'[ +92 "core" ' +2 "manipulator"&& +4 "core" &e x G  + "manipulator"&_% +4 "core" %Q z B +2 "processing"% & +4 "core" &\ +2 "processing"%& +4 "core" &\ +2 ."psFlush"PC.seek :closed +2 "processing"%(Z +5 "core" &\ +7 & -\ $c +9 &^U\ 7 +9 &{\ K +10 &qV\ M +9 &3\\\ M +10 &\\\ M +9 & ]\ M +9 &"zW\ L +10 &$<Y\ L +9 &%Y\ L +9 &'Y\ L +10 &)X\ M +9 &+CZ\ M +10 &-Y\ M +9 &.Z\ M +9 &0Y\ M +10 &2KY\ M +9 &4 X\ M +9 &5\\\ M +10 &7X\ L +9 &9RX\ M +10 &;Y\ M +9 &<W\ M +9 &>Z\ M +10 &@[Z\ M +9 &BX\ L +9 &CX\ M +10 &EZ\ M +9 &Ga\\\ M +10 &I"b\ N +9 &Js\ P +9 &L\ S +10 &NT\ T +9 &P\ T +9 &Q\ T +10 &S\ T +9 &U\\\ T +10 &W\ T +9 &X\ U +9 &Z;Jg\ *z +10 &Z;\ ) +5 ( + "processing"%& +5 #"psFlush"Processing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.59 + "processing"%q& +4 "core" &Z\ ) + &Z\ ) +2 ."psFlush"Hand.open + "manipulator"&~1 +56 "core" 1 +2 "manipulator"&}% +4 "core" % Q s +2 ."psFlush"Forearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 ."psFlush"Forearm.seek :retract +2 "manipulator"&'\ +95 "core" ' + ."psFlush"PSR.select :air +2 .PSV.dial PSR +2 "processing"%j +50 "core"  +2 "processing"%n% +4 "core" %\ + #"psFlush"Pulling 0.5ml of PSR.flush + .PSR.select :flush +3 "processing"%@ +9 ."psFlush"PS.seek 0.5ml +2 "processing"%' +556 #tWaiting >20 seconds for psFlush to relinquish FlushPuck +36 "core" ' +2 ."psFlush"delay 5 seconds +502 .PSR.select :air +2 "processing"% +56 ."psFlush"PS.seek 2.5ml +2 "processing"%s'm +2142 "core" ' +2 ."psFlush"delay 1 second +102 .PRV.dial :waste2,avoiding: :ab2 + "processing"% @ +184 "core" A +2 ."psFlush"PTV.dial :PRVmixing + "processing"%$  +127 "core" + ."psFlush"PSV.dial :mixloop +2 "processing"% +105 "core" +2 ."psFlush"PS.seek :empty +2 "processing"%(' +2644 "core" ' + ."psFlush"PSR.select :air +3 .PSV.dial PSR + "processing"% +111 "core"  + "processing"% % +4 "core" %Q\ +2 #"psFlush"Pulling 0.5ml of PSR.flush + .PSR.select :flush +2 "processing"%@ +10 ."psFlush"PS.seek 0.5ml + "processing"% ' +594 "core" ' +2 ."psFlush"delay 5 seconds +502 .PSR.select :air +3 "processing"% +9 ."psFlush"PS.seek 2.5ml +2 "processing"% 'm +2142 "core" ' + ."psFlush"delay 1 second +102 .PBV.dial :waste1 +2 "processing"%t  +32 "core" +2 ."psFlush"PTV.dial :mixing +2 "processing"%g @ +70 "core" @ + ."psFlush"PSV.dial :mixloop +2 "processing"%) +111 "core" +2 ."psFlush"PS.seek :empty +2 "processing"%x' +2636 "core" ' +2 ."psFlush"PSV.dial PSR +2 "processing"% +110 "core"  +2 ."psFlush"PSR.select :flush +2 "processing"%@ +10 ."psFlush"PS.seek 1ml +2 "processing"%'T +1102 "core" ' + ."psFlush"PSR.select :air +2 "processing"% +9 ."psFlush"PS.seek 2.5ml +2 "processing"%'m +1617 "core" ' + ."psFlush"PSV.dial PTV +54 "processing"% +81 "core" + ."psFlush"PTV.dial :puck +2 "processing"%h  +69 "core"  + ."psFlush"PBV.dial :waste1 +2 .PS.seek 0ml +2 "processing"%' +2640 "core" ' + ."psFlush"PSV.dial PSR +2 "processing"%Z +80 "core"  + ."psFlush"PSR.select :flush +3 "processing"%@ +9 ."psFlush"PS.seek 0.5ml +2 "processing"%' +596 "core" ' + ."psFlush"PSR.select :air +2 "processing"% +10 ."psFlush"PS.seek 2.5ml +2 "processing"%0'm +438 "Can"\ &DB +1681 "core" ' + ."psFlush"PSV.dial PTV +2 "processing"%: +80 "core" + ."psFlush"PBV.dial PSV +2 "processing"% U +55 "core" V +2 ."psFlush"PS.seek 0ml +2 "processing"%w' +2630 "core" ' + ."psFlush"PSV.dial PBV +2 "processing"%o @ +50 "core" ? +2 ."psFlush"PS.seek 2.5ml +2 "processing"%'m +2659 "core" ' + ."psFlush"PSV.dial :waste1 +2 "processing"%m  +73 "core"  +2 ."psFlush"PS.seek 0ml +2 "processing"%k' +2629 "core" ' + ."psFlush"PSV.dial PSR +2 "processing"%/ +50 "core"  + ."psFlush"PSR.select :air +3 .PS.seek 2.5ml +2 "processing"%6'm +2647 "core" ' + ."psFlush"PSV.dial PTV +2 "processing"%< +86 "core"  +2 ."psFlush"PBV.dial PSV +2 .PS.seek 0ml +2 "processing"%@' +2627 "core" ' + ."psFlush"PSV.dial PBV +2 "processing"%2 @ +48 "core" > +2 ."psFlush"PS.seek 2.5ml +2 "processing"%G'm +2642 "core" ' + ."psFlush"PSV.dial :waste1 +2 "processing"%+  +75 "core"  +2 ."psFlush"PS.seek 0ml +2 "processing"%' +2640 "core" ' + ."psFlush"PSV.dial PSR +2 "processing"% +50 "core"  + ."psFlush"PSR.select :flush +3 "processing"%@ +9 ."psFlush"PS.seek 1ml +2 "processing"%B'T +1103 "core" ' +2 ."psFlush"PSR.select :air +2 "processing"% +9 ."psFlush"PS.seek 2.5ml +2 "processing"%{'m +1632 "core" ' +2 ."psFlush"PSV.dial PTV + "processing"%D +74 "core" + ."psFlush"PTV.dial :puck +2 .PBV.dial :waste1 +2 "processing"%f  +54 "core" +2 ."psFlush"PS.seek 0ml +2 "processing"%!' +2638 "core" ' +2 ."psFlush"PSV.dial PSR + "processing"%, +82 "core"  + ."psFlush"PSR.select :flush +3 "processing"%@ +9 ."psFlush"PS.seek 0.5ml +2 "processing"%&' +597 "core" ' + ."psFlush"PSR.select :air +3 "processing"% +10 ."psFlush"PS.seek 2.5ml + "processing"%M'm +2126 "core" ' + ."psFlush"PSV.dial PTV +2 "processing"%d +81 "core" +2 ."psFlush"PBV.dial PSV +2 "processing"%- U +54 "core" V +2 ."psFlush"PS.seek 0ml +2 "processing"%N' +2632 "core" ' + ."psFlush"PSV.dial PBV +2 "processing"%5 @ +50 "core" ? +2 ."psFlush"PS.seek 2.5ml +2 "processing"%1'm +2643 "core" ' + ."psFlush"PSV.dial :waste1 +2 "processing"%U  +75 "core"  +2 ."psFlush"PS.seek 0ml +2 "processing"%' +2633 "core" ' +2 ."psFlush"PSV.dial PSR +2 "processing"%' +51 "core"  +2 ."psFlush"PSR.select :air +2 .PS.seek 2.5ml +2 "processing"%3'm +2652 "core" ' + ."psFlush"PSV.dial PTV +2 "processing"% +73 "core" +2 ."psFlush"PBV.dial PSV +2 .PS.seek 0ml +2 "processing"%?' +2630 "core" ' +2 ."psFlush"PSV.dial PBV + "processing"%T @ +51 "core" ? +2 ."psFlush"PS.seek 2.5ml + "processing"%'m +2653 "core" ' + ."psFlush"PSV.dial :waste1 +2 "processing"%  +75 "core"  +2 ."psFlush"PS.seek 0ml +2 "processing"%L' +2661 "core" ' +2 #tLoading FlushPuck into Collection Clamp from Processing Clamp +2 "collection"'O& +4 "core" &\ + "manipulator"&%& +4 "core" &e m  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +2 "manipulator"&;(c +2 "core" ( +2 "manipulator"&& +4 "core" &e  + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &A& +2 "core" &e   +2 .tForearm.seek PC +2 "manipulator"&a'[ +95 "core" ' + .tHand.close +2 "manipulator"&\\/ +61 "core" / +2 .tPC.seek :open + "processing"%^(p +391 "core" ( +2 "manipulator"&& +4 "core" &e   + "manipulator"&b% +4 "core" % P  +2 .tForearm.seek :retract +2 "manipulator"&'\ +100 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC + "manipulator"&8( +352 "core" ( + "manipulator"&R& +4 "core" &% << +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &v& +3 "core" &% x << +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&z'| +109 "core" ' + "manipulator"&I& +5 "core" &% << + "manipulator"&`% +4 "core" %} 6 +2 "collection"'.& +3 "core" &\ +2 "collection"'=& +6 "core" &\ +2 .tCC.seek :closed +2 "collection"'V(] +4 "core" &\  +10 &5\ *z +9 &e\ ? +9 &Xv\ N +10 &Z\ N +9 &^\ N +9 &]\ N +10 &!aZ\ N +9 &#"]\ N +10 &$Y\ N +9 &&Z\ N +9 &(h]\ N +10 &*,Y\ M +9 &+X\ N +9 &-W\ N +10 &/pZ\ N +9 &12Z\ N +10 &2Y\ N +9 &4X\ M +9 &6yX\ N +10 &8;[\ N +9 &9Z\ N +9 &;V\ M +10 &=Z\ N +9 &?CW\ N +10 &AY\ N +9 &BY\ N +9 &DV\ N +10 &FKW\ N +9 &H X\ N +9 &Id\ O +10 &Ks\ P +9 &M?\ U +10 &N\ V +9 &P\ X +9 &R|\ X +10 &T:\ Y +9 &U\ Z +9 &W\ Z +10 &Yy\ [ +9 &[;\ [ +10 &\\z\ / +9 &]&\ ^ +9 &]p\ K +3 ( + "collection"'=& +3 #tCollection Clamp onSpring/offSpring for 9/25 samples, on/off torque 2.06 +2 "collection"'P& +4 "core" &]p\ K + .tHand.open +2 "manipulator"&91 +61 "core" 1 +2 "manipulator"&"% +4 "core" % }  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&Q'\ +93 "core" ' + #tFlushing the Collection Valve::Manifold +2 "collection"'\ & +4 "core" &]p \ K + "collection"'J% +4 "core" %\ +2 .tCSV.dial CSR + "collection"'u  +43 "core"  + "collection"'l% +4 "core" %\ +2 #tPulling 5ml of CSR.flush + .CSR.select :flush +2 "collection"' +10 .tCS.seek 5ml + "collection"'p's +1358 "core" ' +2 .tdelay 5 seconds +502 .CSR.select :air +2 "collection"' +9 '[% +2 "core" %s\  +2 .tCS.reconfigure :fast +3 "collection"'#d @b +2 .tCS.seek 7.5ml + "collection"'F'r +653 "core" ' +2 .tCSV.dial :waste + "collection"'K +126 "core" + .tCS.reconfigure :default +3 "collection"'#P d@b +2 .tCS.seek 0ml +2 "collection"'>' +1991 "core" ' +2 #tFlushing lower manifold's waste1 port +2 "collection"'4& +4 "core" &]o \ K + "collection"'c% +4 "core" %!\ + .tCSV.dial :flush +2 "collection"'*  +42 "core"  +2 .tCS.reconfigure :fast +3 "collection"'#d @b +2 .tCS.seek 5ml +2 "collection"'Y's +1227 "core" ' +2 .tdelay 5 seconds +502 .CSV.dial :air +51 "collection"'e @ +42 "core" B +2 "collection"'W% +4 "core" %s\  +2 .tCS.seek 7ml + "collection"'S' +538 "core" ' +2 ."connect"CSV.dial CTV +4 .tCTV.dial CSV +2 "collection"']  +2 '  +40 "core"  +92  +2 .tCBV.dial :waste1 + "collection"'# @ +44 "core" > +2 .tCS.seek 0ml +2 "collection"'C' +1648 "core" ' + #tFlushing lower manifold's waste2 port +2 "collection"'& +4 "core" &]m\ K + "collection"'_% +4 "core" %\ + .tCSV.dial :flush +2 "collection"'  +72 "core" +2 .tCS.seek 5ml +2 "collection"'H's +837 "Can"\  RP +378 "core" ' + .tdelay 5 seconds +503 .CSV.dial :air + "collection"'| @ +43 "core" B +2 "collection"'E% +4 "core" %s\  +2 .tCS.seek 7ml +2 "collection"'q' +535 "core" ' +2 ."connect"CSV.dial CTV +4 .tCTV.dial CSV + "collection"'~  +53 "core"  +2 .tCBV.dial :waste2 + "collection"'}  +103 "core"  +2 .tCS.seek 0ml +2 "collection"'' +1649 "core" ' +2 #tDisinfecting external Intake with kill + "collection"'j& +4 "core" &]m\ K +2 "collection"'n% +4 "core" %\ + .tCSV.dial CSR +2 "collection"'  +44 "core"  + "collection"'% +4 "core" %\ +2 #tPulling 8ml of CSR.kill + .CSR.select :kill +2 "collection"' +9 .tCS.seek 8ml +2 "collection"''X +1897 "core" ' +2 .tdelay 5 seconds +502 .CSR.select :air +3 "collection"' +9 .tCS.seek 10ml + "collection"'' +543 "core" ' +2 ."connect"CSV.dial CBV +3 .tCBV.dial CSV +3 "collection"'$ +2 '  +97 "core" +43  + .tCTV.dial :intake +2 "collection"'s  +73 "core" +2 .tIntake.select :open + "sampler") +10 .tCS.seek 2ml + "collection"''~ +1885 "core" ' + .tIntake.select :close + "sampler")0 +9 .tCTV.dial :air +2 "collection"'  +69 "core"  +2 .tCS.reconfigure :default +3 "collection"'#P d@b +2 .tCS.seek 0ml +2 "collection"'(' +584 "core" ' + .tCSV.dial CSR +2 "collection"'  +98 "core"  +2 "collection"'t% +4 "core" %\ + #tPulling 5ml of CSR.flush +2 .CSR.select :flush +2 "collection"' +10 .tCS.seek 5ml + "collection"'g's +1352 "core" ' +2 .tdelay 5 seconds +502 .CSR.select :air +2 "collection"' +9 .tCS.seek 10ml +2 "collection"')' +1351 "core" ' +2 .tCSV.dial CBV + "collection"' +99 "core" +2 .tCS.seek 0ml +2 "collection"'' +2622 "core" ' +2 #tGaraging FlushPuck in Collection Clamp +2 "manipulator"&x& +4 "core" &' 7 + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&( +28 "core" ( + "manipulator"& & +5 "core" & =  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &h& +2 "core" &   +2 .tForearm.seek CC +2 "manipulator"&'| +95 "core" ' + .tHand.close + "manipulator"&Z/ +60 "core" / +2 .tCC.seek :open + "collection"'(p +410 "core" ( + "manipulator"&& +4 "core" &   +2 "manipulator"&:% +3 "core" % χ 0 +2 .tForearm.seek :retract +2 "manipulator"&'\ +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage +2 "manipulator"&0(, +284 "core" ( +2 "manipulator"&o& +4 "core" &, %  + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &w& +2 "core" &,   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :garage +2 "manipulator"&m' +111 "core" ' +2 .tHand.open + "manipulator"&1 +61 "core" 1 +2 "manipulator"&/% +4 "core" %   ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&k'\ +97 "core" ' +2 "processing"%<& +4 "core" &\ +43455 "Can" .63 +30406 #t-> access 1 +3 "storage"(6% +3 "core" %L \  +2 "manipulator"&2% +4 "core" %\ # x x / * + "manipulator"&@& +4 "core" &, x x +  +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"(+(<< +1314 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (G& +3 "core" &<; )  &\  +1366 #t-> access 2 +2 "storage"(% +4 "core" %L \  + "manipulator"&% +4 "core" %\ # x x 7 * +2 "manipulator"&B& +4 "core" &, u x   + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"(D(K +350 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (f& +3 "core" &K K K -\  +683 #t-> purgeIntake +2 #Loading FlushPuck into Collection Clamp from FlushPuck::Garage +2 "collection"'{& +3 "core" &\ +2 "manipulator"&,& +4 "core" &, y u L  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek FlushPuck::Garage +2 "manipulator"&!(, +4 "core" ( + "manipulator"&&& +4 "core" &, { z  + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &d& +2 "core" &, z }   +2 .tForearm.seek :garage +2 "manipulator"&-' +108 "core" ' + .tHand.close +2 "manipulator"&M/ +63 "core" / + "manipulator"&5& +4 "core" &, &   +2 "manipulator"&N% +4 "core" %   +2 .tForearm.seek :retract +2 "manipulator"&U'\ +108 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&1( +281 "core" ( +2 "manipulator"&'& +4 "core" &# U :0 + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &# _ :0 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&'| +105 "core" ' +2 "manipulator"&3& +4 "core" &# o :0 + "manipulator"&T% +4 "core" %τ j +2 "collection"'?& +4 "core" &\ +2 "collection"'& +5 "core" &\ +2 .tCC.seek :closed + "collection"'(] +5 "core" &\ +7 &@\ $e +9 &lU\ 7 +9 &~\ L +10 &xY\ N +9 &;V\ N +9 &X\ N +10 & ]\ N +9 &"Y\ N +10 &$CY\ N +9 &&\\\ N +10 &'U\ N +9 &)W\ N +9 &+LY\ M +9 &- Z\ N +10 &.]\ N +9 &0\\\ N +10 &2TY\ M +9 &4Z\ N +9 &5U\ N +10 &7\\\ N +9 &9\\V\ M +9 &;X\ M +10 &<Y\ M +9 &>Y\ N +10 &@c[\ N +9 &B&\\\ M +9 &CY\ M +10 &EZ\ N +9 &GkZ\ N +10 &I*`\ O +9 &Jk\ P +9 &L\ T +10 &NX\ W +9 &P\ X +9 &Q\ X +10 &S\ Y +9 &UW\ Z +9 &W\ Z +10 &X\ \\ +9 &Z\ \\ +10 &\\Z\ I +9 &]hC\ "h +9 &]Q\ = +3 ( + "collection"'& +4 #tCollection Clamp onSpring/offSpring for 10/26 samples, on/off torque 2.05 + "collection"'O& +4 "core" &]P\ = +2 .tHand.open + "manipulator"&%1 +62 "core" 1 + "manipulator"&% +4 "core" % e  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&A'\ +101 "core" ' + #tPurging external Intake +2 "collection"'\\& +4 "core" &]Q\ = + "collection"'y% +4 "core" %\ + .tCSV.dial :flush +2 "collection"'  +71 "core"  +2 .tCS.reconfigure :fast +2 "collection"'#d @b +2 .tCS.seek 10ml +2 "collection"'' +2370 "core" ' + .tdelay 5 seconds +503 ."connect"CSV.dial CBV +4 .tCBV.dial CSV + "collection"' +72 "core"  +2 .tCTV.dial :intake + "collection"'b  +72 "core"  + .tIntake.select :open +2 "sampler") +9 .tCS.seek 0ml +2 "collection"'a' +2345 "core" ' +2 .tIntake.select :close + "sampler")0 +9 .tCTV.dial :air +2 "collection"';  +72 "core" ~ +2 #tGaraging FlushPuck in Collection Clamp + "manipulator"&R& +4 "core" &-  3 +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC +50 "manipulator"&v( +55 "core" ( + "manipulator"&I& +5 "core" &$ L ;5 + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &`& +2 "core" &$ 8 ;5 +2 .tForearm.seek CC +2 "manipulator"&.'| +96 "core" ' + .tHand.close +2 "manipulator"&/ +59 "core" / +2 .tCC.seek :open +2 "collection"'X(p +409 "core" ( + "manipulator"&P& +5 "core" &0 { 5 + "manipulator"&9% +4 "core" % i p +2 .tForearm.seek :retract + "manipulator"&"'\ +100 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek :garage + "manipulator"&\ (, +275 "core" ( + "manipulator"&J& +4 "core" &,   +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &=& +2 "core" &,   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :garage +2 "manipulator"&u' +111 "core" ' +2 .tHand.open +2 "manipulator"&l1 +52 "core" 1 +2 "manipulator"&z% +4 "core" %    +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&7'\ +104 "core" ' +8106 #t-> exit +6 #mEXIT @1663260871.12EDT @1663277504.07EDT = =tMAIN =mMAIN_scheduler @EDT1663277505.96 #"core_reset"Sent BREAK +2 #t@5869 idle with ifg=0x00, ie=0x75 #>RESET< ESP2 v3.41 I2C Gateway v3.20 +209 #>RESET< ESP2 v3.41 I2C Gateway v3.20 for core bus +204 !o:Instrument::ISUSCore: @refiPO: @configS:Instrument::Configuration: name" ISUS:calFileName0:sampleCmd"TS: prompt"\ :statusCmd"C:sampleTimeouti#:promptTimeouti:statusTimeouti: retriesi:strToPrompt"W: pace0: echoF:\ @name@ +99 #Configuration for don (12651-03) 10/9/20 brent@mbari.org\ /home/esp/esp2/type/shallow/don/configure.rb\ +388 "Can"j ;%"w + j ;%"w + #tPolling Can every 10:00 +2 #Cleanly exited at 12:54:31EDT15-Sep-22 +773 #-> startTube 2 +1756 #-> $da[:extractVol]=.19 +1410 #-> samplePassF; shortDA + #Beginning samplePassF +2 #Loading FlushPuck into Collection Clamp from FlushPuck::Garage +4 #Powering core bus +571 .Gate.power :raw,:ON + "sampler") +38 ) +2 "core"  +2 "collection"' +2 ' +3 "core"  +2 "processing"% +2 % +3 "core"  +5 "collection"' 9\ +2 ' 0\ + ' -\ +4 "processing"% 9\ +2 % 2\ +2 % *\ +3 % 0\ +3 "sampler")&\ +2 "collection"'% +3 "core" %A +2 .tCS.configure :default +2 "collection"'#P d@b +3 "processing"%% +3 "core" %(\ + .tPS.configure :default +3 "processing"%#A d`xb +2 "sampler")% +3 "core" % V Q + .tSS.configure :default +3 "sampler")#.0X ESP.ready! +2 "collection"'% +3 "processing"%% +4 "core" %<  + "manipulator"&% +6 ."rdySampler"Intake.select :close +5 .Exhaust.select :close +2 .CTV.dial :air + "collection"'  +3 "core" %-\ +2 % D \\ +  + ."rdyProcessing"PSV.dial :air +4 "manipulator"&% + ."rdySampler"CSV.dial :waste1 +4 "processing"%  + "collection"' +4 "core" % F F  +2 .tForearm.reconfigure :loose +2 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&'\ +32 "core" + ."rdySampler"SSV.dial :spit,avoiding: :exhaust +2 "sampler") +3 "core"  +2 "sampler")  +5 "core"  +2 ."readyCS"CS.reconfigure :fast +3 ."rdySampler"SS.reconfigure :default +4 "collection"'#d @b +2 "sampler")#.0X samplePassF; shortDA +2 #Beginning samplePassF +2 #Loading FlushPuck into Collection Clamp from FlushPuck::Garage + "collection"'<& +4 "core" &aG\  + .tHand.open +2 "manipulator"&=1 +60 "core" 1 +2 "manipulator"&>& +4 "core" &- ~  + "manipulator"&?% +4 "core" % \ 1 y $E +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek FlushPuck::Garage + "manipulator"&@(, +180 "core" ( + "manipulator"&A& +4 "core" &,   +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &B& +3 "core" &, r  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :garage + "manipulator"&C' +104 "core" ' +2 .tHand.close + "manipulator"&D/ +60 "core" / + "manipulator"&E& +4 "core" &, 6  +2 "manipulator"&F% +39 "core" %   +8 .tForearm.seek :retract +2 "manipulator"&G'\ +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC + "manipulator"&H( +281 "core" ( +2 "manipulator"&I& +4 "core" & #  :+ + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &J& +2 "core" & # 8 :+ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&K'| +99 "core" ' +2 "manipulator"&L& +4 "core" & # H :+ +2 "manipulator"&M% +4 "core" %τ ( +2 "collection"'N& +4 "core" &af\  +2 "collection"'O& +5 "core" &aL\  +2 .tCC.seek :closed +2 "collection"'P(] +4 "core" &aT\  +7 &xNJ\ %g +10 &QYP\ 8 +9 &<\ M +10 &g\\D\ N +9 &+ZL\ N +9 &[I\ M +10 & ]I\ N +9 &"p\\F\ N +9 &$3Z?\ N +10 &%YF\ N +9 &'ZF\ N +10 &)y^L\ N +9 &+;[@\ N +9 &,_A\ N +10 &._<\ N +9 &0^<\ N +10 &2D\\C\ M +9 &4\\5\ N +9 &5Z;\ N +10 &7Y<\ M +9 &9LY?\ M +9 &;ZC\ M +10 &<\\F\ M +9 &>[L\ M +9 &@S_H\ N +10 &B]L\ N +9 &CZG\ M +10 &EYN\ M +9 &G[YL\ N +9 &I_Q\ N +10 &JnW\ P +9 &LM\ S +9 &NJB\ V +10 &P E\ W +9 &QJ\ W +10 &SL\ X +9 &UJG\ Y +10 &W G\ Y +9 &XN\ [ +9 &Z[\ [ +10 &\\MM\ G +9 &]Y9N\ + +9 &]gG\ D +6 ( + "collection"'O& +4 #tCollection Clamp onSpring/offSpring for 10/26 samples, on/off torque 2.03 +2 "collection"'Q& +4 "core" &]`H\ D + &]`I\ D + .tHand.open + "manipulator"&R1 +59 "core" 1 +2 "manipulator"&S% +4 "core" % _ H +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&T'\ +92 "core" ' +2 .tPSV.dial PSR,avoiding: PBV +2 "processing"%U  +140 "core"  +2 "processing"%V% +4 "core" %F\ + #tPulling 1.5ml of PSR.flush + .PSR.select :flush +2 "processing"%j +10 .tPS.seek 1.5ml + "processing"%W' +1631 "core" ' + .tdelay 5 seconds +502 .PSV.dial :waste1 +4 "processing"%X  +50 "core"  +2 .tPS.seek 0ml +2 "processing"%Y' +648 #"dave"Session Begun +969 "core" ' + .tPSV.dial PSR +2 "processing"%Z +51 "core"  +2 .tPSR.select :air +2 "processing"% +11 .tPS.seek 2.5ml +2 "processing"%['m +2650 "core" ' +2 ."connect"PRV.dial CBV +3 .tCBV.dial PRV +4 "processing"%\\  +2 "collection"']  +75 "core" +24  +2 .tPSV.dial :PTV,via: :air +2 "processing"%^ +204 "core"  + .tCTV.dial :air,avoiding: :intake +2 .PTV.dial :PRV,avoiding: :puck +3 "processing"%_ +5 "core"  +2 "processing"%` @ +71 "core" B +2 .tPS.seek 0ml +2 "processing"%a' +2632 "core" ' + .tPSV.dial :air +3 "processing"%b  +82 "core"  +2 .tPS.seek 2.5ml +2 "processing"%c'm +2657 "core" ' + .tPSV.dial :PTV +2 "processing"%d +83 "core" ~ +2 .tPS.seek 0ml +3 "processing"%e' +2643 "core" ' +2 #tGaraging FlushPuck in Collection Clamp + "manipulator"&f& +6 "core" &#  7 +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +4 .tElbow.seek CC +2 "manipulator"&g( +31 "core" ( +2 "manipulator"&h& +27 "core" &   +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &i& +3 "core" &   +2 .tForearm.seek CC +2 "manipulator"&j'| +105 "core" ' + .tHand.close + "manipulator"&k/ +65 "core" / +2 .tCC.seek :open +2 "collection"'l(p +410 "core" ( +2 "manipulator"&m& +4 "core" & (  + "manipulator"&n% +4 "core" % k J L +2 .tForearm.seek :retract + "manipulator"&o'\ +102 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +4 .tElbow.seek :garage +2 "manipulator"&p(, +271 "core" ( + "manipulator"&q& +4 "core" &, ? x +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +4 &r& +3 "core" &,  x +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek :garage +2 "manipulator"&s' +114 "core" ' + .tHand.open + "manipulator"&t1 +59 "core" 1 + "manipulator"&u% +4 "core" %  +  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +4 .tForearm.seek :retract +2 "manipulator"&v'\ +102 "core" ' +2 "collection"'w% +2 "processing"%x% +7 "core" %R\ +2 %G\ +2 #tAwaiting answer to "Ready to sample after 10 seconds from PRV.sipper? " +32323 "Can"Y\ +B? @1663605763.70EDT = =tMAIN =mMAIN_scheduler @EDT1663605765.56 #"core_reset"Sent BREAK +3 #t@32042 idle with ifg=0x00, ie=0x75 #>RESET< ESP2 v3.41 I2C Gateway v3.20 +208 #>RESET< ESP2 v3.41 I2C Gateway v3.20 for core bus +203 !o:Instrument::ISUSCore: @refixP: @configS:Instrument::Configuration: name" ISUS:calFileName0:sampleCmd"TS: prompt"\ :statusCmd"C:sampleTimeouti#:promptTimeouti:statusTimeouti: retriesi:strToPrompt"W: pace0: echoF:\ @name@ +97 #Configuration for don (12651-03) 10/9/20 brent@mbari.org\ /home/esp/esp2/type/shallow/don/configure.rb\ +383 "Can"< :%"t + < :%"t + #tPolling Can every 10:00 +2 !o:Storage::Warning: mesg"Uncleanly Exited:bt[ "8/home/esp/esp2/utils/storage.rb:438:in `readPucks!'"6/home/esp/esp2/utils/storage.rb:627:in `restore!'"-/home/esp/esp2/lib/esp.rb:115:in `shell'"7/home/esp/esp2/lib/schedule.rb:481:in `initialize'"0/home/esp/esp2/lib/thread.rb:738:in `start'"7/home/esp/esp2/lib/schedule.rb:474:in `initialize'"'/home/esp/esp2/lib/schedule.rb:472 +2853 #-> ESP.ready! +3 #Powering core bus +550 .Gate.power :raw,:ON +2 "sampler") +15 ) +2 "core"  +2 "collection"' +2 ' +3 "core"  +2 "processing"% +2 % +3 "core"  +5 "collection"' 9\ +2 ' 0\ + ' -\ +4 "processing"% 9\ +2 % 2\ +2 % *\ +2 % 0\ +4 "sampler")&\ +2 "collection"'% +3 "core" %&  + .tCS.configure :default +3 "collection"'#P d@b +2 "processing"%% +3 "core" %\ +2 .tPS.configure :default +2 "processing"%#A d`xb +2 "sampler")% +4 "core" %   + .tSS.configure :default +3 "sampler")#.0X purgeIntake +3 #Loading FlushPuck into Collection Clamp from FlushPuck::Garage + "collection"';& +3 "core" &_+\  +2 .tHand.open + "manipulator"&<1 +59 "core" 1 +2 "manipulator"&=& +4 "core" &/  ^ # + "manipulator"&>% +4 "core" % \ ) & +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek FlushPuck::Garage + "manipulator"&?(, +175 "core" ( +2 "manipulator"&@& +4 "core" &, (  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &A& +3 "core" &,   +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :garage +2 "manipulator"&B' +105 "core" ' +2 .tHand.close + "manipulator"&C/ +63 "core" / + "manipulator"&D& +4 "core" &,  +2 "manipulator"&E% +4 "core" %  a +2 .tForearm.seek :retract + "manipulator"&F'\ +105 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&G( +278 "core" ( + "manipulator"&H& +4 "core" &\ % + <@ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &I& +3 "core" &\ % > <@ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&J'| +95 "core" ' + "manipulator"&K& +4 "core" &\ % <@ +2 "manipulator"&L% +38 "core" %u x +8 "collection"'M& +4 "core" &_-\  +2 "collection"'N& +5 "core" &_$\  +2 .tCC.seek :closed + "collection"'O(] +5 "core" &_(\ \  +9 &6.\ +| +9 &d%\ @ +9 &0x+\ P +10 &Z(\ O +9 &`+\ O +10 &wa&\ O +9 &!9^,\ O +9 &"a"\ O +10 &$_\ O +9 &&a'\ O +9 &(A`-\ O +10 &*a'\ O +9 &+_*\ O +10 &-]!\ N +9 &/I`'\ O +9 &1 b,\ O +10 &2`#\ O +9 &4_)\ O +9 &6T]!\ N +10 &8\\$\ O +9 &9_*\ O +10 &;Z$\ O +9 &=[_)\ O +9 &?]*\ O +10 &@`-\ O +9 &B_"\ O +9 &Dc]'\ O +10 &F$`-\ O +9 &G^-\ O +10 &Ii+\ P +9 &Kbp-\ R +9 &M-\ V +10 &N.\ X +9 &P-\ Y +9 &RS,\ Z +10 &T&\ Z +9 &U'\ [\ +10 &W-\ [ +9 &YQ.\ ] +9 &[-\ ] +10 &\\{*\ ? +9 &]+/\ "g +9 &]e-\ F +3 ( + "collection"'N& +3 #tCollection Clamp onSpring/offSpring for 9/25 samples, on/off torque 1.97 +2 "collection"'P& +4 "core" &]e*\ F +2 .tHand.open + "manipulator"&Q1 +63 "core" 1 + "manipulator"&R% +5 "core" % u  + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&S'\ +92 "core" ' +2 #tPurging external Intake +2 "collection"'T& +4 "core" &]e"\ F + "collection"'U% +4 "core" %*\ +2 .tCSV.dial :flush + "collection"'V  +42 "core"  +2 .tCS.seek 10ml +2 "collection"'W' +2399 "core" ' +2 .tdelay 5 seconds +502 ."connect"CSV.dial CBV +4 .tCBV.dial CSV +2 "collection"'X 'Y  +73 "core"  +5  + .tCTV.dial :intake +2 "collection"'Z  +72 "core"  + .tIntake.select :open +2 "sampler") +9 .tCS.seek 0ml +2 "collection"'[' +2355 "core" ' + .tIntake.select :close + "sampler")0 +9 .tCTV.dial :air +2 "collection"'\\  +71 "core"  +2 #tGaraging FlushPuck in Collection Clamp + "manipulator"&]& +4 "core" &'! c 9# +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC + "manipulator"&^( +28 "core" ( +2 "manipulator"&_& +4 "core" &   + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &`& +3 "core" & 7  +2 .tForearm.seek CC + "manipulator"&a'| +95 "core" ' + .tHand.close +2 "manipulator"&b/ +58 "core" / +2 .tCC.seek :open + "collection"'c(p +411 "core" ( +2 "manipulator"&d& +4 "core" & A  + "manipulator"&e% +4 "core" % w 8 +2 .tForearm.seek :retract + "manipulator"&f'\ +98 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek :garage + "manipulator"&g(, +272 "core" ( + "manipulator"&h& +4 "core" &,  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &i& +2 "core" &, 8 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :garage +2 "manipulator"&j' +113 "core" ' + .tHand.open +2 "manipulator"&k1 +55 "core" 1 + "manipulator"&l% +4 "core" %  G +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&m'\ +102 "core" ' +24382 #t-> purgeIntake +2 #Loading FlushPuck into Collection Clamp from FlushPuck::Garage +2 "collection"'n& +3 "core" &2\ +2 "manipulator"&o& +4 "core" &, r +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek FlushPuck::Garage +2 "manipulator"&p(, +3 "core" ( +2 "manipulator"&q& +4 "core" &,  { + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &r& +3 "core" &, l +2 .tForearm.seek :garage + "manipulator"&s' +99 "core" ' +2 .tHand.close + "manipulator"&t/ +58 "core" / +2 "manipulator"&u& +4 "core" &, o + "manipulator"&v% +4 "core" %  P $ +2 .tForearm.seek :retract +2 "manipulator"&w'\ +104 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC + "manipulator"&x( +287 "core" ( +2 "manipulator"&y& +4 "core" &,  Bg + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &z& +3 "core" &,  Bg +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&{'| +106 "core" ' + "manipulator"&|& +4 "core" &+ s 2 Ad +2 "manipulator"&}% +4 "core" %y +2 "collection"'~& +4 "core" &9\ +2 "collection"'& +4 "core" &9\ +2 .tCC.seek :closed +2 "collection"'(] +4 "core" &?\ +7 & 89\ $e +10 &iU;\ 8 +9 &>\ L +9 &uZ:\ O +10 &7`.\ O +9 &^4\ O +10 & _8\ O +9 &"}_4\ O +9 &$@]4\ N +10 &&]1\ N +9 &'\\8\ O +9 &)`6\ O +10 &+G_2\ O +9 &- _2\ O +10 &.`3\ O +9 &0_8\ O +9 &2Nb6\ O +10 &4_7\ O +9 &5^1\ N +9 &7[2\ O +10 &9W],\ O +9 &;Z7\ O +10 &<_1\ O +9 &>_,\ O +9 &@_`4\ O +10 &B![7\ O +9 &C\\:\ N +9 &EZ8\ O +10 &GgY8\ O +9 &I&b6\ P +10 &Jl-\ Q +9 &L5\ T +9 &NT6\ X +10 &P6\ Y +9 &Q.\ Y +9 &S6\ Z +10 &UU1\ Z +9 &W6\ [ +10 &X>\ \\ +9 &Z:\ ] +9 &\\X7\ I +10 &]a;6\ %p +9 &]}6\ P +5 ( +2 "collection"'& +4 #tCollection Clamp onSpring/offSpring for 10/26 samples, on/off torque 1.99 +2 "collection"'& +4 "core" &]u7\ P + &]u7\ P + .tHand.open +2 "manipulator"&1 +54 "core" 1 +2 "manipulator"&% +4 "core" % y # +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +89 "core" ' +2 #tPurging external Intake +2 "collection"'& +4 "core" &]t1\ P + "collection"'% +4 "core" %5\ +2 .tCSV.dial :flush + "collection"'  +72 "core"  +2 .tCS.seek 10ml +2 "collection"' ' +2392 "core" ' + .tdelay 5 seconds +503 ."connect"CSV.dial CBV +3 .tCBV.dial CSV +3 "collection"'\ +71 "core"  +2 .tCTV.dial :intake + "collection"'  +72 "core"  + .tIntake.select :open +2 "sampler") +9 .tCS.seek 0ml +2 "collection"' ' +2370 "core" ' + .tIntake.select :close +2 "sampler")0 +9 .tCTV.dial :air +2 "collection"'  +71 "core"  + #tGaraging FlushPuck in Collection Clamp +2 "manipulator"&& +4 "core" &'# 9 ;7 +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&( +58 "core" ( + "manipulator"&& +4 "core" &% x <; +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &% E <: +2 .tForearm.seek CC +2 "manipulator"&'| +99 "core" ' + .tHand.close +2 "manipulator"&/ +58 "core" / +2 .tCC.seek :open + "collection"'(p +411 "core" ( +2 "manipulator"&& +4 "core" &2 < 4 + "manipulator"&% +4 "core" % r 3 +2 .tForearm.seek :retract + "manipulator"&'\ +101 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage +2 "manipulator"&(, +291 "core" ( +2 "manipulator"&& +4 "core" &, |   + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &,  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :garage +2 "manipulator"&' +96 "core" ' +2 .tHand.open +2 "manipulator"&"1 +60 "core" 1 +2 "manipulator"&%% +4 "core" %  % +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&''\ +94 "core" ' +10861 "Can"' FD +29193 #t-> access 2 +2 "storage"()% +4 "core" %T:  " \ _ + "manipulator"&(% +4 "core" %\ # R ( +2 "manipulator"&& +3 "core" &, <  +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 6 + "storage"((K +671 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (#& +3 "core" &K \  +1000 #t-> startTube 2 +1176 #-> $da[:extractVol]=.19 @1663607130.07EDT = =tMAIN =mMAIN_scheduler @EDT1663607131.95 #"core_reset"Sent BREAK +2 #t@21824 idle with ifg=0x00, ie=0x75 #>RESET< ESP2 v3.41 I2C Gateway v3.20 +208 #>RESET< ESP2 v3.41 I2C Gateway v3.20 for core bus +205 !o:Instrument::ISUSCore: @refi`M: @configS:Instrument::Configuration: name" ISUS:calFileName0:sampleCmd"TS: prompt"\ :statusCmd"C:sampleTimeouti#:promptTimeouti:statusTimeouti: retriesi:strToPrompt"W: pace0: echoF:\ @name@ +99 #Configuration for don (12651-03) 10/9/20 brent@mbari.org\ /home/esp/esp2/type/shallow/don/configure.rb\ +394 "Can" ;%"q +  ;%"q + #tPolling Can every 10:00 +2 !o:Storage::Warning: mesg"Uncleanly Exited:bt[ "8/home/esp/esp2/utils/storage.rb:438:in `readPucks!'"6/home/esp/esp2/utils/storage.rb:627:in `restore!'"-/home/esp/esp2/lib/esp.rb:115:in `shell'"7/home/esp/esp2/lib/schedule.rb:481:in `initialize'"0/home/esp/esp2/lib/thread.rb:738:in `start'"7/home/esp/esp2/lib/schedule.rb:474:in `initialize'"'/home/esp/esp2/lib/schedule.rb:472 +1112 #-> ESP.ready! +3 #Powering core bus +533 .Gate.power :raw,:ON +2 "sampler") +50 ) +2 "core"  +2 "collection"' +2 ' +3 "core"  +2 "processing"% +2 % +3 "core"  +5 "collection"' 9\ +2 ' 0\ +2 ' -\ +3 "processing"% 9\ +2 % 2\ +2 % *\ +2 % 0\ +3 "sampler")&\ +2 "collection"'% +4 "core" % \ + .tCS.configure :default +3 "collection"'#P d@b +2 "processing"%% +3 "core" %\ +2 .tPS.configure :default +2 "processing"%#A d`xb +2 "sampler")% +3 "core" % G +2 .tSS.configure :default +2 "sampler")#.0X startTube 2 +1633 #-> $da[extractVol]=.19 +51364 "Can" LI +60002  KI +60002  KH +60002  KH +60002  JH +60002  JH +60002  JH +60001  KI +60002  KI +60002  KI +60002  JI +60002  JI +60002  LH +5481 #t-> DA 50 +2 !o:NoMethodError : mesg"+undefined method `DA' for Object:Class: name0: args0:bt[\ ";/home/esp/esp2/lib/framework.rb:51:in `method_missing'";/home/esp/esp2/lib/framework.rb:63:in `method_missing'"(ESP):4:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +776 #-> da 50 +2 #da sampling at most 50ml +4 #Loading sh1 puck from tube 2 into Collection Clamp +3 ."Qmail"DAfans.email "Started da in tube 2 at 15:16:46EDT19-Sep-22\\n{}\\nCTD data unavailable\\nISUS data unavailable\\nCan@15:15:43, 16% flow, 23.7C, 42% humidity, 14.3psia, 13.67V, 0.358A avg, 0.333A avg, 4.89W",Subject: "da sampling at most 50ml" +2 "collection"';& +5 "core" &Q~\  +2 .tHand.open +2 "manipulator"&<1 +60 "core" 1 +7 "manipulator"&=% +6 "core" % \ 0 A $E +2 "storage"(>% +4 "core" %N8\ "\ " P\ ` + "storage"(?. +5 "core" .(, + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"(@(  +48 !"Qmail"o:!Net::SMTPAuthenticationError: mesg"E534-5.7.9 Application-specific password required. Learn more at\ :@checkpoint: omitted:bt["E/opt/mbari/lib/ruby/1.8/net/smtp.rb:954:in `check_auth_response'"/opt/mbari/lib/ruby/1.8/net/smtp.rb:723:in `authenticate'":/opt/mbari/lib/ruby/1.8/net/smtp.rb:566:in `do_start'"7/opt/mbari/lib/ruby/1.8/net/smtp.rb:525:in `start'"2/home/esp/esp2/lib/email.rb:325:in `sendOnce'"3/home/esp/esp2/lib/schedule.rb:292:in `unsync'"3/home/esp/esp2/lib/schedule.rb:594:in `unsync'"3/home/esp/esp2/lib/schedule.rb:621:in `unsync'"2/home/esp/esp2/lib/email.rb:318:in `sendOnce'"//home/esp/esp2/lib/email.rb:340:in `email'",/home/esp/esp2/lib/msg.rb:68:in `retry'"//home/esp/esp2/lib/email.rb:339:in `email'"./home/esp/esp2/lib/email.rb:348:in `mail'"-/home/esp/esp2/lib/email.rb:66:in `call'"3/home/esp/esp2/lib/email.rb:66:in `initialize'"-/home/esp/esp2/lib/email.rb:63:in `loop'"3/home/esp/esp2/lib/email.rb:63:in `initialize'"7/home/esp/esp2/lib/schedule.rb:481:in `initialize'"0/home/esp/esp2/lib/thread.rb:738:in `start'"7/home/esp/esp2/lib/schedule.rb:474:in `initialize'"'/home/esp/esp2/lib/schedule.rb:472 +2 !o:Email::Queue::Purge: mesg"Purged output queue:bt[ "//home/esp/esp2/lib/email.rb:106:in `purge'"3/home/esp/esp2/lib/email.rb:75:in `initialize'"-/home/esp/esp2/lib/email.rb:63:in `loop'"3/home/esp/esp2/lib/email.rb:63:in `initialize'"7/home/esp/esp2/lib/schedule.rb:481:in `initialize'"0/home/esp/esp2/lib/thread.rb:738:in `start'"7/home/esp/esp2/lib/schedule.rb:474:in `initialize'"'/home/esp/esp2/lib/schedule.rb:472 +624 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (A& +2 "core" &  X\ +2 "manipulator"&B& +4 "core" && L !s + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&C(; +18 "core" ( +2 "manipulator"&D& +4 "core" &H  # +2 "storage"(E& +3 "core" &  N\ +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&F'Ѐ +92 "core" ' + "storage"(G& +4 "core" & \ \  @\ +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(H'e +275 "core" ' + "storage"(I- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (J& +2 "core" & \ \ 2\ +2 "manipulator"&K& +4 "core" &H ~ # +2 .tElbow.seek 2 + "manipulator"&L(; +30 "core" ( +2 "manipulator"&M& +3 "core" &E q  +2 "storage"(N& +4 "core" & ' '\ +3 .tForearm.seek 2 + 300 counts + "manipulator"&O' +20 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&P/ +57 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&Q& "storage"(R'N +8 "core" &E S S )  + "manipulator"&S% +4 "core" % N D  +2 .tForearm.seek :retract +2 "manipulator"&T'\ +96 "core" ' +2 .tElbow.seek CC + "manipulator"&U( +139 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +22 "core" ( +2 "manipulator"&V& +4 "core" & ) h @[ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &W& +3 "core" & * K @[ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&X'| +106 "core" ' +2 "manipulator"&Y& +4 "core" &' % ?T +2 "manipulator"&Z% +4 "core" %υ > +2 "collection"'[& +4 "core" &Q\  +2 "collection"'\\& +4 "core" &Q\  +3 .tCC.seek :closed + "collection"'](] +4 "core" &Q\  +9 &8\ ,~ +9 &f\ @ +9 &*y\ P +10 &[\ N +9 &_\ O +10 &r_\ O +9 &!4`\ O +9 &"`\ O +10 &$]\ O +9 &&x_\ O +9 &(;]\ O +10 &)^\ O +9 &+]\ O +10 &-]\ O +9 &/D_\ O +9 &1`\ N +10 &2a\ N +9 &4]\ O +9 &6L[\ O +10 &8Y\ O +9 &9Z\ O +10 &;Y\ O +9 &=U\\\ N +9 &?]\ O +10 &@]\ O +9 &B^\ O +9 &D]\\\ N +10 &F]\ O +9 &Ge\ O +10 &Ik\ Q +9 &KX\ S +9 &M\ W +10 &N\ X +9 &P\ X +9 &RM\ Y +10 &T\ Y +9 &U\ [ +9 &W\ Z +10 &YM\ \\ +10 &[\ \\ +9 &\\{\ @ +9 &](\ $j +9 &]j\ I +3 ( + "collection"'\\& +3 #tCollection Clamp onSpring/offSpring for 9/25 samples, on/off torque 2.02 + .Hand.open +2 "manipulator"&^1 +64 "core" 1 +2 "manipulator"&_% +4 "core" % y % +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&`'\ +101 "core" ' +2 #tcollectSample 50ml w/bubble point of 24psi +2 #Priming 7ml + .Intake.select :close + .Exhaust.select :close +2 .SS.hold + "sampler")a+ +4 "core" + +2 "sampler")b% +3 "core" %3 {\ k +2 "collection"'c& +4 "core" &]i\ I +2 "Can" YU +2 #tCalibrating pressure and temperature sensors +3 .CTV.dial :air +2 .SSV.dial :spit,avoiding: :exhaust +2 .SS.reconfigure :fast +2 "sampler")#.0X+ +42 "core" + +3 "collection"'?% +4 "core" %\ + "sampler")!% +4 "core" %W<\ \ \  +18 "collection"'A% +3 "core" %\ +2 "sampler")B% +4 "core" %W<\ \ }\  +21 "collection"'D% +3 "core" %\ +2 "sampler")E% +4 "core" %W<\ \ \  +24 "collection"'G% +3 "core" %\ +2 "sampler")$% +4 "core" %W;\ \ \  +27 "collection"'&% +3 "core" %\ +2 "sampler")I% +4 "core" %W<\ \ \  +32 "collection"'J% +2 "core" %\ +2 "sampler")K% +4 "core" %W<\ \ \  +36 "collection"' % +3 "core" %\ +2 "sampler")M% +4 "core" %W;\ \ }\  +41 "collection"'N% +3 "core" %\ +2 "sampler")P% +4 "core" %W<\ \ \  +47 "collection"'Q% +3 "core" %\ +2 "sampler")S% +4 "core" %W<\ \ \  +53 "collection"'C% +3 "core" %\ +2 "sampler")F% +3 "core" %W \  \ { +2 "collection"'V% +4 "core" %\ + #tIntake @13.4psia, vacuum from 7.9 to 10.9psi +2 .SS.reconfigure :inhaling 1.80ml/s +2 "sampler")#.z0X\ \ \ \  +18 "collection"'% +3 "core" %\ +2 "sampler")% +4 "core" %>\ \ |\  +21 "collection"'% +3 "core" %\ +2 "sampler")% +4 "core" %>\ \ \  +24 "collection"'% +3 "core" %\ + "sampler")% +4 "core" %>\ \ \  +28 "collection"'% +3 "core" %\ +2 "sampler") % +4 "core" %>\ \ \  +31 "collection"'\ % +3 "core" %\ +2 "sampler") % +4 "core" %>\ \ ~\  +36 "collection"' % +3 "core" %\ +2 "sampler") % +3 "core" %>\ \ \  +42 "collection"'% +3 "core" %\ +2 "sampler")% +4 "core" %>\ \ \  +47 "collection"'% +3 "core" %\ +2 "sampler")% +4 "core" %6 \ \  +53 "collection"'% +3 "core" %\ +2 "sampler")% +3 "core" %4  \  +2 "collection"'% +4 "core" %\ +2 .tSS.reconfigure :inhaling 1.31ml/s +2 "sampler")#.Y0X\ % +4 "core" %J \ \  +28 "collection"'O% +3 "core" %\ +2 "sampler")Y% +3 "core" %I   {\  +32 "collection"'L% +3 "core" %\ +2 "sampler")Z% +3 "core" %   |\ r +37 "collection"'[% +3 "core" %\ +2 "sampler")R% +3 "core" % . % \  +42 "collection"'T% +3 "core" %\ + "sampler")+% +4 "core" % B ; \  +47 "collection"'^% +3 "core" %\ +2 "sampler")_% +4 "core" % X R |\  +53 "collection"'b% +3 "core" %\ +2 "sampler")\\% +3 "core" % p m {\  +2 "sampler")W% +4 "core" % u l \  + .tIntake.select :close + "sampler")0 +9 )c% +3 "core" % x q \  + .tSSV.dial :exhaust +2 "sampler")X  +73 "core"  +2 .tExhaust.select :open +2 "sampler")@ +10 .tSS.seek 0ml + "sampler")'0 +890 "core" ' + .tExhaust.select :close +2 "sampler") +9 ."connect"SSV.dial CBV +4 .tCBV.dial SSV + "sampler")a  +75 "core" +2 #tAllowing 130s for 25.0ml of remaining 25.0ml + .Intake.select :open +2 "sampler") +210 "collection"'f% +3 "core" %\ + #tIntake @14.0psia, vacuum from 8.5 to 11.5psi +2 .SS.reconfigure :inhaling 1.06ml/s +3 "sampler")#.H0X\ \ \ |\  +18 "collection"'k% +3 "core" %\ + "sampler")l% +4 "core" %!>\ \ \  +21 "collection"'m% +3 "core" %\ +2 "sampler")j% +3 "core" %!>\ \ |\  +28 "collection"'p% +2 "core" %\ +2 "sampler")q% +4 "core" %!>\ \ \  +28 "collection"'r% +3 "core" %\ +2 "sampler")s% +4 "core" %!>\ \ z\  +31 "collection"'t% +3 "core" %\ +2 "sampler")u% +4 "core" %!>\ \ |\  +36 "collection"'v% +3 "core" %\ +2 "sampler")w% +4 "core" %!>\ \ \  +41 "collection"'e% +3 "core" %\ +2 "sampler")x% +3 "core" %!>\ \ \  +48 "collection"'y% +2 "core" %\ +2 "sampler")z% +4 "core" %!>   }\  + "collection"'{% +4 "core" %\ +2 #tIntake @13.6psia, vacuum from 8.1 to 11.1psi +2 .SS.reconfigure :inhaling 0.96ml/s +2 "sampler")#.A0X\ % +3 "core" %\ +2 "sampler")O% +3 "core" %p*\ \ |\  +196 "collection"'Y% +3 "core" %\ +2 "sampler")L% +4 "core" %p*\ \ }\  +196 "collection"'Z% +3 "core" %\ +2 "sampler")[% +4 "core" %p*\ \ \  +145 "collection"'R% +3 "core" %\ +2 "sampler")T% +4 "core" %p*\ \ }\  +2 .tSS.reconfigure :default +2 "sampler")#.0X9 +2 "core" 9);d +103 "collection"'O9 +2 "core" 9;?d +103 "collection"'Y9 +2 "core" 9ODd +102 "collection"'L9 +2 "core" 9bHd +103 "collection"'Z9 +2 "core" 9uLd +102 "collection"'[9 +2 "core" 9Pd +103 "collection"'R9 +2 "core" 9Td +102 "collection"'T9 +2 "core" 9Xd +103 "collection"'M9 +2 "core" 9]d +102 "collection"'^9 +2 "core" 9ad +102 "collection"'_9 +3 "core" 9ed +102 "collection"'9 +3 "core" 9 id +102 "collection"'+9 +2 "core" 9md +102 "collection"'\\9 +3 "core" 94rd +102 "collection"'W9 +3 "core" 9Jvd +102 "collection"'X9 +2 "core" 9_zd +102 "collection"'=9 +3 "core" 9v~d +103 "collection"'f9 +2 "core" 9d +102 "collection"'9 +2 "core" 9d +102 "collection"'c9 +3 "core" 9d +102 "collection"'9 +2 "core" 9b +102 "collection"'i9 +3 "core" 9` +103 "collection"'k9 +2 "core" 9^ +102 "collection"'b9 +2 "core" 9[ +102 "collection"'l9 +3 "core" 9-Y +102 "collection"'m9 +2 "core" 9EV +102 "collection"'j9 +3 "core" 9^T +102 "collection"'p9 +2 "core" 9uR +102 "collection"'a9 +3 "core" 9P +3 "Can" vx +99 "collection"'r9 +2 "core" 9M +102 "collection"'s9 +3 "core" 9K +102 "collection"'t9 +3 "core" 9H +102 "collection"'d9 +2 "core" 9 F +102 "collection"'v9 +3 "core" 9 D +102 "collection"'w9 +2 "core" 9 B +102 "collection"'e9 +3 "core" 96@ +102 "collection"'u9 +3 "core" 9N> +102 "collection"'x9 +2 "core" 9e= +102 "collection"'y9 +3 "core" 9{; +102 "collection"'z9 +2 "core" 9: +102 "collection"'h9 +3 "core" 97 +102 "collection"'H9 +3 "core" 96 +102 "collection"'n9 +3 "core" 94 +102 "collection"'q9 +2 "core" 93 +103 "collection"'{9 +2 "core" 9!1 +102 "collection"'g9 +2 "core" 9 #1 +103 "collection"'9 +2 "core" 9$/ +103 "collection"'9 +2 "core" 91&. +102 "collection"'9 +2 "core" 9B)- +102 "collection"'9 +3 "core" 9R*, +102 "collection"'9 +2 "core" 9b+ + +102 "collection"'9 +3 "core" 9q.* +102 "collection"'9 +3 "core" 90* +102 "collection"' 9 +2 "core" 90( +102 "collection"' 9 +3 "core" 92( +102 "collection"'9 +2 "core" 94!& +102 "collection"'\ 9 +4 "core" 95&& +102 "collection"' 9 +2 "core" 98*% +102 "collection"'9 +3 "core" 99.% +102 "collection"'9 +2 "core" 9:2# +102 "collection"'~9 +3 "core" 9;6# +102 "collection"'9 +3 "core" 9=:# +102 "collection"'}9 +2 "core" 9>?! +103 "collection"'9 +2 "core" 9 @C +102 "collection"' 9 +2 "core" 9 @G +102 "collection"'9 +3 "core" 9 AK +102 "collection"'9 +3 "core" 9 CO +102 "collection"'o9 +2 "core" 9 &DT +102 "collection"'9 +3 "core" 9 /FX +102 "collection"'9 +2 "core" 9 5G\\ +103 "collection"'|9 +2 "core" 9 >H` +102 "collection"'9 +2 "core" 9 EId +102 "collection"'%9 +3 "core" 9 KKh +102 "collection"'9 +2 "core" 9 RLm +102 "collection"'"9 +3 "core" 9 XMq +102 "collection"')9 +3 "core" 9 [Nu" +102 "collection"'9 +2 "core" 9 ]Oy" +103 "collection"'#9 +2 "core" 9 ^O}$ +102 "collection"'9 +2 "core" 9 _P% +102 "collection"'9 +3 "core" 9 `P% +102 "collection"'9 +2 "core" 9 aQ& +102 "collection"'9 +3 "core" 9 bP& +103 "collection"',9 +2 "core" 9 dP& +102 "collection"'-9 +2 "core" 9 fQ& +102 "collection"'.9 +3 "core" 9 iQ% +102 "collection"'09 +2 "core" 9 mR% +102 "collection"'19 +3 "core" 9 sQ$ +102 "collection"'/9 +2 "core" 9 xR% +103 "collection"'39 +2 "core" 9 }R$ +102 "collection"'49 +2 "core" 9 Q# +103 "collection"'29 +2 "core" 9 R# +102 "collection"'9 +2 "core" 9 S# +102 "collection"'69 +3 "core" 9 R# +102 "collection"'89 +2 "core" 9 R# +103 "collection"'79 +2 "core" 9 R$ +102 "collection"':9 +2 "core" 9 S" +102 "collection"'99 +3 "core" 9 R# +102 "collection"'<9 +3 "core" 9 S# +102 "collection"'(9 +2 "core" 9 S# +102 "collection"';9 +3 "core" 9 R" +102 "collection"'!9 +3 "core" 9 S! +102 "collection"'?9 +2 "core" 9 R" +103 "collection"'B9 +2 "core" 9 S! +102 "collection"'A9 +2 "core" 9 S! +103 "collection"'E9 +2 "core" 9 T! +102 "collection"'G9 +2 "core" 9 S! +102 "collection"'59 +3 "core" 9 T +103 "collection"'&9 +2 "core" 9 T +102 "collection"'I9 +2 "core" 9 U +103 "collection"'J9 +2 "core" 9 U +102 "collection"'K9 +2 "core" 9 U +102 "collection"' 9 +3 "core" 9\ V  +102 "collection"''9 +3 "core" 9\ U +102 "collection"'N9 +2 "core" 9\ U +103 "collection"'P9 +2 "core" 9\ V +102 "collection"'Q9 +2 "core" 9\ !V +102 "collection"'S9 +3 "core" 9\ 'W! +102 "collection"'C9 +3 "core" 9\ -W% +102 "collection"'F9 +2 "core" 9\ 4W) +102 "collection"'V9 +3 "core" 9\ :X- +102 "collection"'>9 +2 "core" 9\ @X1 +102 "collection"'O9 +3 "core" 9\ FY5 +102 "collection"'Y9 +3 "core" 9\ LY: +102 "collection"'L9 +2 "core" 9\ RY> +102 "collection"'Z9 +3 "core" 9\ ZYB +102 "collection"'[9 +2 "core" 9\ _ZF +102 "collection"'R9 +3 "core" 9\ e[J +102 "collection"'T9 +3 "core" 9\ k[O +102 "collection"'M9 +2 "core" 9\ q\\S +3 .tCH.hold 10:00,70C +3 "collection"'^ `\ `\ m  +4 '_9 +2 "core" S + 9\ q[ +2 "collection"'% +4 "core" %\ G\ I 6 +2 #tBegun lysing Collection Puck Heater at 68.1C/34.9psia +49526 "Can"\  +10464 "core" ` + "collection"'+9 +4 "core" 9\  + "collection"'\\% +4 "core" % \ +2 #tEnded lysing Collection Puck Heater at 70C/28.1psia + .CS.seek 0ml +2 "collection"'W' +333 "core" ' +2 .tCTV.dial between spare and air,avoiding: :intake +2 "collection"'X @ +101 "core" B + .tCSV.dial :air +2 "collection"'= @ +42 "core" ? +2 .tCS.seek 5ml +2 "collection"'f's +1352 "core" ' +2 .tCSV.dial CTV + "collection"'  +43 "core"  + .tdelay 2 seconds +202 .CSV.dial :air +2 "collection"'c @ +43 "core" > +2 .tdelay 2 seconds +202 .CSV.dial CTV + "collection"'  +43 "core"  +3 .tdelay 2 seconds +202 .CSV.dial :air + "collection"'i @ +43 "core" ? + .tdelay 2 seconds +203 .CS.seek 0ml +2 "collection"'k' +1347 "core" ' + "collection"'b% +4 "core" %\ \ .\ +2 #tPuck @41.3psia after final lysis pressurization + #Recovering Lysate into Collection syringe +2 .CSV.dial CBV + "collection"'l +100 "core" ~ + .tCBV.dial CSV +2 "collection"'m  +30 "core"  + "collection"'j% +4 "core" %\ \ \ +2 .tCS.seek 5ml +2 "collection"'p's +1356 "core" ' +2 .tdelay 5 seconds +502 .CTV.dial :air +2 "collection"'a  +41 "core" +2 "collection"'r% +4 "core" %s \  +2 .tCS.seek 7ml +2 "collection"'s' +590 "core" ' +2 .tdelay 5 seconds +502 .CSV.dial :air2 +2 "collection"'t @ +39 "core" ? +3 .tCS.seek 10ml + "collection"'d' +842 "core" ' + .tCSV.dial between air and CTV,avoiding: CBV +2 "collection"'v ` +112 "core" ^ +2 #tLysing Complete +2 "collection"'w& +4 "core" &]c$%\ I +2 #tStoring sh1 puck in Collection Clamp to tube 1 + "manipulator"&e% +4 "core" %\ 4 4 & + "storage"(u% +4 "core" %O\ !\ ! \ + "storage"(x. +3 "core" .(  +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 1 + "storage"(y(B +369 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (z& +2 "core" &B x \ +2 "manipulator"&h& +4 "core" &5" l :1 + "manipulator"&H% +4 "core" %\ 5 7 & +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 1 +2 "manipulator"&n(c +166 "core" ( +2 "manipulator"&q& +4 "core" &i o  q + "storage"({& +4 "core" &B I I\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 1 + 450 counts + "manipulator"&g'Ф +97 "core" ' + "storage"(& +5 "core" &B h w y\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('e +269 "core" ' + "storage"(- +3 "core" -'e +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek :place + "storage"('B +36 "core" ' +2 "manipulator"&& +4 "core" &i W \\ [ q +2 "manipulator"&% +3 "core" %Й [ P L g +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&'\ +89 "core" ' +2 .tElbow.seek CC +2 "manipulator"& ( +158 "core" ( + "manipulator"& & +4 "core" & " 8 :, +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +4 "core" & " 7 :, +2 .tForearm.seek CC + "manipulator"&\ '| +95 "core" ' +2 .tHand.close + "manipulator"& / +52 "core" / +2 .tCC.seek :open + "collection"'(p +410 "core" ( +2 "storage"(& +4 "core" &B \ + "storage"(~& +4 "core" &B x v \ + "manipulator"&& +4 "core" &  9' +2 "manipulator"&}% +4 "core" %   +2 .tForearm.seek :retract + "manipulator"&'\ +93 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 1 + "manipulator"& (c +169 "core" ( +2 "manipulator"&& +4 "core" &j | / g + "storage"(& +4 "core" &B [\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 1 + "manipulator"&o' +153 "core" ' +11 .tElbow.hold +2 "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&1 +58 "core" 1 +2 "manipulator"&|% +4 "core" % | & A +2 "storage"(& +4 "core" &B  n\ + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 1 + 318 counts +2 "manipulator"&%' +18 "core" ' +2 "manipulator"&& +4 "core" &j Y B  g +2 "storage"("& +3 "core" &B \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 1 + 450 counts +2 "manipulator"&)'Ф +16 "core" ' +2 "storage"(% +4 "core" %E \ +2 ."downElevator"SE.seek :down +4 "storage"(#'N +99 (% +3 "core" %; 8\ U\\ +2 "manipulator"&% +4 "core" %Й + E +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +87 "core" ' +63 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tTranferring DA + #Beginning samplePassC +2 #Loading FlushPuck into Collection Clamp from FlushPuck::Garage + "collection"'& +5 "core" &"$ T  + "manipulator"&,& +4 "core" &j } g +2 "manipulator"&-% +4 "core" %\ & v t 8 @ +2 .tElbow.seek FlushPuck::Garage +2 "manipulator"&.(, +179 "core" ( + "manipulator"&0& +4 "core" &, r  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &1& +2 "core" &, }   +2 .tForearm.seek :garage +2 "manipulator"&/' +105 "core" ' + .tHand.close +2 "manipulator"&3/ +63 "core" / + "manipulator"&4& +4 "core" &, 1  +2 "manipulator"&2% +4 "core" %  ) +2 .tForearm.seek :retract + "manipulator"&'\ +101 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC +2 "manipulator"&6( +285 "core" ( + "manipulator"&8& +5 "core" &" @ 5 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &7& +3 "core" &"  5 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +3 "manipulator"&:'| +103 "core" ' + "manipulator"&9& +4 "core" &# D 5 +2 "manipulator"&<% +4 "core" %d K +2 "collection"'(& +4 "core" &'*\ +2 "collection"';& +5 "core" &*)\ +2 .tCC.seek :closed + "collection"'!(] +5 "core" &&* \  +8 &0** \ +{ +9 &c)+\ > +10 &Nx(+\ N +9 &\\() \ M +9 &b',\ L +10 &_)+\ L +9 &!Y^*) ;\ M +10 &#\\+( \ M +9 &$\\+* \ M +9 &&_(+\ L +10 &(b_(,\ L +9 &*$])-\ L +9 &+`*,\ M +10 &-`)* \ L +9 &/i^(+ \ M +10 &1,_+* \ L +9 &2^,)\ M +9 &4])(\ L +10 &6q_)*\ M +9 &84[*,\ L +9 &9\\*+\ L +10 &;\\*+\ L +9 &=x`), *\ M +10 &?<],, \ L +9 &@_), \ M +9 &B\\*, \ M +10 &D]+,\ M +9 &FC_*,\ M +9 &H_**\ M +10 &Ik)*\ N +9 &K~y,+\ P +10 &M1*+\ V +9 &N+.\ W +9 &P+- \ X +10 &Rp,, \ X +9 &T/,/\ Y +9 &U--\ [ +10 &W,/\ Z +9 &Yl,-\ \\ +10 &[-/\ b +9 &\\..\ 0 +9 &]-+/\ ` +9 ( +3 "collection"';& +3 #tCollection Clamp onSpring/offSpring for 7/25 samples, on/off torque 1.95 + "collection"'?& +4 "core" &]f,.\ I + &]g-/t\ I +2 .tHand.open + "manipulator"&B1 +53 "core" 1 +2 "manipulator"&A% +4 "core" % c Q +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&E'\ +97 "core" ' + .tPSV.dial PSR +2 "processing"%G +134 "core"  +2 "processing"%5% +4 "core" %l\ + #tPulling 1.5ml of PSR.flush + .PSR.select :flush +2 "processing"%j +10 .tPS.seek 1.5ml + "processing"%&' +1613 "core" ' +2 .tdelay 5 seconds +502 .PSV.dial :waste1 +2 "processing"%I  +50 "core"  +2 .tPS.seek 0ml +2 "processing"%J' +1609 "core" ' + .tPSV.dial PSR +2 "processing"%K +50 "core"  +2 .tPSR.select :air +2 "processing"% +9 .tPS.seek 2.5ml +2 "processing"% 'm +2654 "core" ' +2 ."connect"PRV.dial CBV,avoiding: :ab2 +3 .tCBV.dial PRV +2 "processing"%' + "collection"'N  +6 "core"  + "processing"%P  +5 "core"  +65 +2 .tPSV.dial :mixloop + "processing"%Q +104 "core" +2 .tCTV.dial :air,avoiding: :intake + .PTV.dial :PRVmixing +2 "processing"%S  +70 "core" +2 .tPS.seek 0ml + "processing"%C' +2636 "core" ' + .tPSV.dial :air +2 "processing"%F  +44 "core"  +2 .tPS.seek 2.5ml + "processing"%V'm +2650 "core" ' + .tPSV.dial :mixloop +2 "processing"%> +50 "core" +2 .tPS.seek 0ml +2 "processing"%O' +2640 "core" ' + .tPSV.dial :air +2 "processing"%Y  +50 "core"  +2 .tPS.seek 2.5ml + "processing"%L'm +2634 "core" ' +2 .tPSV.dial :mixloop + "processing"%Z +50 "core" +3 .tPS.seek 0ml + "processing"%[' +2631 "core" ' + #tGaraging FlushPuck in Collection Clamp +2 "manipulator"&R& +4 "core" &#  5 +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC +2 "manipulator"&T( +25 "core" ( +2 "manipulator"&M& +4 "core" &  6 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &_& +3 "core" &  6 +2 .tForearm.seek CC + "manipulator"&'| +107 "core" ' +2 .tHand.close + "manipulator"&$/ +64 "core" / +2 .tCC.seek :open +2 "collection"'^(p +409 "core" ( +2 "manipulator"&+& +4 "core" & d r ] + + "manipulator"&\\% +4 "core" % j w p h +2 .tForearm.seek :retract + "manipulator"&D'\ +94 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage +2 "manipulator"&X(, +271 "core" ( +2 "manipulator"&=& +4 "core" &,  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &W& +3 "core" &,  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :garage +2 "manipulator"&' +115 "core" ' + .tHand.open +2 "manipulator"&c1 +59 "core" 1 +2 "manipulator"&% +4 "core" % ` 7 ijF +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&i'\ +100 "core" ' +2 .tPSV.dial :mixloop + .PTV.dial :PRVmixing +2 ."connect"PRV.dial CBV +3 .tCBV.dial PRV +2 .CTV.dial :air,avoiding: :intake +2 #Loading lyfil puck from tube 2 into Collection Clamp +2 "collection"'f& +4 "core" &PQB + "manipulator"&b% +4 "core" %\ ) r u P F +2 "storage"(l% +4 "core" %O V\ + "storage"(m. +3 "core" .(B +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 + "storage"(j(  +370 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (k& +3 "core" &  Z 4 i\  + "manipulator"&a& +4 "core" &, v v 5 +2 "manipulator"&r% +3 "core" %\ ) u v 8 F +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 + "manipulator"&p(; +180 "core" ( + "manipulator"&t& +4 "core" &=  !p +2 "storage"(s& +3 "core" &  C\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&v'Ѐ +107 "core" ' +2 "storage"(w& +4 "core" &  \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(e'e +281 "core" ' +2 "storage"(u- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (x& +2 "core" &  \  +2 "manipulator"&@& +3 "core" &= S S - !p +2 .tElbow.seek 2 +2 "manipulator"&z(; +3 "core" ( +2 "manipulator"&h& +3 "core" &= K ^  !p +2 "storage"(H& +4 "core" &  f\  +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&q' +15 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&{/ +58 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +5 "storage"(U'N +3 "core" &= t Y !p +2 "manipulator"&`% +4 "core" % u m  +2 .tForearm.seek :retract +2 "manipulator"&'\ +93 "core" ' +2 .tElbow.seek CC +2 "manipulator"&( +147 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +4 "core" ( +2 "manipulator"&& +4 "core" &* w Ab +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &*  Ab +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC + "manipulator"& '| +99 "core" ' +2 "manipulator"&& +5 "core" &*  Ab + "manipulator"&g% +4 "core" %π  +2 "collection"'n& +4 "core" &PQ.\ +2 "collection"' & +5 "core" &QPi\ +2 .tCC.seek :closed + "collection"'(] +5 "core" &RQ\  +9 &1~OP\ *z +9 &dNQ\ > +10 &SwNQ\ N +9 &[OQ~\ L +10 &`QQd\ M +9 &[PQM\ M +9 &!_\\RQ\ L +10 &# ]PS\ M +9 &$]QR\ M +9 &&]QQ{\ L +10 &(g]PQg\ L +9 &*)\\OOP\ L +10 &+[QP\ L +9 &-^OR\ M +9 &/nZOQ\ M +10 &11]PR\ L +9 &2\\RR}\ M +9 &4]NPh\ M +10 &6w_PTb\ L +9 &88ZORW\ M +10 &9\\PRH\ M +9 &;YQR3\ L +9 &=\\OR3\ L +10 &?A\\PO\ L +9 &A\\QQ\ L +9 &B]PQ\ L +10 &DZQR\ M +9 &FH_PQ\ M +10 &H_PR\ M +9 &IjQQ\ N +9 &KQQ\ R +10 &M3RS\ W +9 &NSUo\ W +9 &PSU^\ X +10 &RsRTn\ Y +10 &T-QTa\ \\ +9 &USSL\ [ +9 &WRRL\ Z +9 &YnRSC\ ] +10 &[(SU8\ b& +9 &\\SU"\ 1 +9 &]+VU#\ !d +9 ( +3 "collection"' & +4 #tCollection Clamp onSpring/offSpring for 8/25 samples, on/off torque 2.06 + .Hand.open + "manipulator"&]1 +4 "core" &]cUU\ N +55 1 +2 "manipulator"&% +4 "core" % ~  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&~'\ +93 "core" ' + .tCTV.dial CSV,avoiding: :intake +2 "collection"'  +130 "core"  + .tCSV.dial CTV +2 "collection"'}  +41 "core"  +2 .tPS.seek 2.5ml + "processing"%'m +2658 "core" ' + "collection"'% +4 "core" %ST\  +2 .tCS.seek 4.499ml +2 "collection"'\ 'c +1484 "core" ' +2 .tdelay 8 seconds +855 .PSV.dial :air +4 "processing"%  +50 "core"  +2 .tdelay 2 seconds +202 .PSV.dial :waste2 + "processing"%  +74 "core"  +2 .tPS.seek 0ml + "processing"%|' +2639 "core" ' + .tCBV.dial between PRV and waste1 +2 "collection"' ` +31 "core" _ + .tCSV.dial :air +2 "collection"' @ +42 "core" > +2 .tCS.seek 10ml +2 "collection"'"' +1488 "core" ' +2 .tCSV.dial CTV + "collection"'  +55 "core"  +2 .tCS.seek 0ml +2 "collection"'' +2629 "core" ' + .tCBV.dial :waste1 +2 "collection"' @ +28 "core" ? +2 .tdelay 5 seconds +502 .CTV.dial :air,avoiding: :intake +2 "collection"'  +15 "Can" ge +115 "core" +2 "collection"' & +4 "core" &]bQM\ N + #tStoring lyfil puck in Collection Clamp to tube 1 +2 "manipulator"&o% +4 "core" %\ #  . + "storage"(% +4 "core" %H C >\ +2 "storage"(%. +3 "core" .(  + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 1 +2 "storage"(,(B +360 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (-& +2 "core" &B C\ +2 "manipulator"&& +4 "core" &%  =E + "manipulator"&)% +4 "core" %\ # T . +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 1 + "manipulator"&0(c +157 "core" ( +2 "manipulator"&1& +4 "core" &j y + "storage"(#& +4 "core" &B   /\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 1 + 450 counts +2 "manipulator"&'Ф +93 "core" ' + "storage"(3& +4 "core" &B Q N 2\ +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(4'e +283 "core" ' +2 "storage"(2- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +2 "core" &j r |  +2 "storage"(/& +4 "core" &B   #\ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 1 +2 "manipulator"&8' +29 "core" ' + .tElbow.hold +2 "manipulator"&7, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(.- +24 "core" -' +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(9'n +30 "core" ' +2 "manipulator"&<% +4 "core" %z »= + "storage"((& +4 "core" &B >\ +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 1 + 319 counts +2 "manipulator"&'! +19 "core" ' + "manipulator"&& +4 "core" &  L X 2 +2 "storage"(?& +4 "core" &B _ P \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 1 + 450 counts + "manipulator"&B'Ф +15 "core" ' +2 .tSE.seek 1.11 Pucks below Top Plate +2 "storage"(A'] +47 "core" ' +2 "manipulator"&;& +4 "core" &  _ _ 2 +2 "manipulator"&G% +4 "core" %Ж _ `  + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&5'\ +92 "core" ' + .tElbow.seek CC +2 "manipulator"&:( +158 "core" ( +2 "manipulator"&I& +4 "core" &) u @\\ + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &&& +3 "core" &(  @\\ +2 .tForearm.seek CC + "manipulator"&K'| +96 "core" ' + .tHand.close + "manipulator"&J/ +59 "core" / + .tCC.seek :open +2 "collection"''(p +410 "core" ( + "storage"(P& +4 "core" &B w w \ +2 "storage"(N& +3 "core" &B y y <\ +2 "manipulator"&Q& +3 "core" &0" " :0 +2 "manipulator"&S% +4 "core" % π B +2 .tForearm.seek :retract + "manipulator"& '\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 1 + "manipulator"&F(c +153 "core" ( +2 "manipulator"&C& +4 "core" &l x \ +2 "storage"(>& +3 "core" &B 6\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 1 + "manipulator"&V' +105 "core" ' + .tElbow.hold +2 "manipulator"&Y, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&O1 +59 "core" 1 +2 "manipulator"&Z% +4 "core" %  i +2 "storage"(L& +3 "core" &B $ . %\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 1 + 319 counts +2 "manipulator"&R'! +19 "core" ' +2 "manipulator"&M& +4 "core" &% ] _  +2 "storage"(_& +3 "core" &B @\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 1 + 450 counts +2 "manipulator"&$'Ф +17 "core" ' +2 "storage"(6% +4 "core" %W ;\ +2 ."downElevator"SE.seek :down +3 "storage"(E'N +99 (!% +3 "core" %e7 @\ TX +2 "manipulator"&+% +4 "core" %К T R [ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&\\'\ +87 "core" ' +53 ' + ."downElevator"SE.stop + "storage"(5 +3 .tPSV.dial :air + "processing"%  +79 "core" +3 .tPS.seek 2.5ml + "processing"%='m +2651 "core" ' +2 .tdelay 1 second +101 .PSV.dial :mixloop +2 "processing"%W +44 "core" + .tdelay 1 second +102 .PSV.dial :air +2 "processing"%T  +49 "core"  +2 .tdelay 1 second +101 .PSV.dial :mixloop +3 "processing"%c +49 "core" + .tdelay 1 second +102 .PSV.dial :air +3 "processing"%  +49 "core"  + .tdelay 1 second +103 .PS.seek 0ml + "processing"%f' +2629 "core" ' +2 #tLoading FlushPuck into Processing Clamp from FlushPuck::Garage + "processing"%D& +4 "core" &b\  +2 "manipulator"&b& +3 "core" &%  +2 "manipulator"&l% +3 "core" %\ & ' > +2 .tElbow.seek FlushPuck::Garage +2 "manipulator"&m(, +189 "core" ( + "manipulator"&& +5 "core" &, s  \ + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &y& +2 "core" &, w  \ +2 .tForearm.seek :garage +2 "manipulator"&k' +105 "core" ' +2 .tHand.close + "manipulator"&a/ +60 "core" / + "manipulator"&r& +5 "core" &, %  \ + "manipulator"&t% +4 "core" %   n +2 .tForearm.seek :retract + "manipulator"&s'\ +103 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC + "manipulator"&X(c +112 "core" ( +2 "manipulator"&w& +4 "core" &f s _ R +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &i& +3 "core" &f  R +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&u'[ +101 "core" ' +2 "manipulator"&x& +4 "core" &g  Q +2 "manipulator"&@% +4 "core" %@ P +2 "processing"%h& +3 "core" &b \  +3 "processing"%H& +6 "core" &b\  +2 .tPC.seek :closed +3 "processing"%{(Z +3 "core" &b\  +6 &d\ J\ B +9 &I \ 2 +9 &+u \ G +10 &f \ N +9 &\\P\ N +10 &[_\ N +9 & _ \ N +9 &!]\ \ M +10 &#] \ N +9 &%cZ \ N +9 &'%^ \ N +10 &(`\ M +9 &*_\ M +10 &,j`\ N +9 &./]#\ M +9 &/b\ N +10 &1_ \ M +9 &3tb\ M +9 &55`\ N +10 &6]\ M +9 &8]"\ N +10 &:{_&\ N +9 &<=\\'\ N +9 &=_#\ N +10 &?\\!\ M +9 &A]+\ N +9 &CE_*\ N +10 &E_6\ M +9 &Fc7\ N +10 &Hh5\ N +9 &JFv,\ P +9 &L4\ R +10 &M;\ T +9 &O:\ T +9 &QB;\ T +10 &SC\ T +9 &T:\ T +9 &V;\ T +10 &XJ=\ T +10 &YzzA\ + +9 &Z'hO\ / +8 ( +2 &ZC\ ( +2 "processing"%H& +3 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.54 + "processing"%& +4 "core" &Z2\ ( +2 .tHand.open + "manipulator"&`1 +62 "core" 1 +2 "manipulator"&p% +4 "core" % @ F +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&v'\ +96 "core" ' + .tPRV.dial :air +2 "processing"%  +43 "core"  + .tPSV.dial :mixloop +2 "processing"% +50 "core" +52 "processing"%e% +4 "core" %x\ +2 .tPS.seek 0.3ml +2 "processing"%q'l +395 "core" ' + .tPSV.dial PSR +2 "processing"% +105 "core"  +2 "processing"%g% +4 "core" %q\  + #tPulling 0.4ml of PSR.air + .PSR.select :air +3 .PS.seek 0.7ml +2 "processing"%n'. +491 "core" ' +2 .tdelay 3 seconds +302 .PSR.select :air +3 .PS.seek 2.5ml + "processing"%z'm +1939 "core" ' +2 .tdelay 3 seconds +302 .PSV.dial :mixloop + "processing"%U +111 "core" + .tPTV.dial :mixing +2 "processing"% @ +70 "core" B +2 .tPBV.dial :waste2 + "processing"%^  +94 "core"  +2 .tPS.seek 0ml +2 "processing"%]' +2641 "core" ' +2 #tGaraging FlushPuck in Processing Clamp + "manipulator"&& +5 "core" &g  Q + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +2 "manipulator"& (c +3 "core" ( + "manipulator"&& +4 "core" &g > Q + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &}& +3 "core" &g  Q +2 .tForearm.seek PC + "manipulator"& '[ +93 "core" ' +2 .tHand.close + "manipulator"&[/ +64 "core" / +2 .tPC.seek :open +2 "processing"%(p +391 "core" ( + "manipulator"&d& +5 "core" &g   Q + "manipulator"& % +4 "core" % J w +2 .tForearm.seek :retract + "manipulator"&'\ +101 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage +2 "manipulator"&(, +137 "core" ( +2 "manipulator"&& +4 "core" &, 4 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &, 4 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :garage +2 "manipulator"&\ ' +118 "core" ' + .tHand.open +2 "manipulator"&1 +51 "core" 1 +2 "manipulator"&"% +4 "core" % t ) G ¹w +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +99 "core" ' +2 #tLoading da puck from tube 2 into Processing Clamp + "processing"%& +4 "core" &\ +2 "manipulator"& % +3 "core" %\ % ~ w < 2 +2 "storage"(o% +4 "core" %< \\\ + "storage"(. +4 "core" .(B + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"(%(  +357 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (j& +3 "core" & * D K \  +2 "manipulator"&-& +4 "core" &, } z  4 + "manipulator"&% +4 "core" %\ % y ~ e 2 +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&)(; +178 "core" ( + "manipulator"&1& +4 "core" &8 " m +2 "storage"(#& +3 "core" &  t\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&3'Ѐ +109 "core" ' + "storage"(& +4 "core" &  \  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(~'e +283 "core" ' +2 "storage"(2- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" &  J\  +2 "manipulator"&/& +3 "core" &8 _ _ m +2 .tElbow.seek 2 + "manipulator"&.(; +4 "core" ( + "manipulator"&<& +4 "core" &8 a [ m + "storage"((& +4 "core" &  m j S\  +2 .tForearm.seek 2 + 300 counts + "manipulator"&' +16 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&?/ +54 "core" / +4 ."downElevator"SE.seek :down +3 "manipulator"&;& +2 "storage"(G'N +7 "core" &8 + m +2 "manipulator"&% +4 "core" %  < +2 .tForearm.seek :retract +2 "manipulator"&0'\ +96 "core" ' +2 .tElbow.seek PC +2 "manipulator"&4(c +153 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +106 "core" ( + "manipulator"&8& +4 "core" &c }  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &c   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC + "manipulator"&9'[ +104 "core" ' +2 "manipulator"&I& +5 "core" &d   + "manipulator"&&% +4 "core" %c  +2 "processing"%B& +4 "core" &\ +2 "processing"%7& +4 "core" &\ +3 .tPC.seek :closed + "processing"%J(Z +4 "core" &\  +9 &1\ *y +10 &e\ ? +9 &Px\ O +9 &Y\ M +10 &`\ M +9 &\\\ M +9 &!Z_\ N +10 &#[\ M +9 &$[\ M +9 &&Z\ M +10 &(c_\ M +9 &*%]\ M +10 &+]\ M +9 &-Y\ M +9 &/k_\ M +10 &1.\\\ M +9 &2^z\ M +9 &4\\z\ M +10 &6u]\ M +9 &87]\ M +10 &9\\w\ M +9 &;\\s\ M +9 &=|\\z\ M +10 &?=]q\ M +9 &AZo\ M +10 &B\\n\ M +9 &D\\e\ M +9 &FE\\Z\ M +10 &H`c\ M +9 &Ih`\ N +9 &Kwf\ P +10 &M=`\ S +9 &N`\ T +9 &P`\ T +10 &R~\\\ T +10 &TBL\ T +9 &VI\ T +9 &WQ\ T +9 &YQ\ A +10 &Z8R\ Z +9 &ZJ\ ) +2 ( +2 "processing"%7& +3 #tProcessing Clamp onSpring/offSpring for 9/25 samples, on/off torque 1.57 + .Hand.open +2 "manipulator"&51 +60 "core" 1 +2 "manipulator"&% +4 "core" % c 9 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&P'\ +102 "core" ' +2 #tHeating Puck.from 2, :da in Processing Clamp to 28C for 2:00:00 +2 .PH.seek 28C,5:00 +3 "processing"%N  +2 %Q9 +6 "core" 9!  +102 "processing"%S9 +2 "core" 9 +102 "processing"%C9 +3 "core" 9  +102 "processing"%>9 +2 "core" 9  +102 "processing"%K9 +2 "core" 9 +103 "processing"%:9 +2 "core" 9 +102 "processing"%O9 +3 "core" 9 +102 "processing"%Z9 +2 "core" 9 +102 "processing"%L9 +2 "core" 9" +102 "processing"%M9 +3 "core" 9& +103 "processing"%_9 +2 "core" 9* +102 "processing"%69 +2 "core" 9/ +102 "processing"% 9 +3 "core" 93 +102 "processing"%!9 +2 "core" 97 +102 "processing"%+9 +3 "core" 9; +102 "processing"%F9 +3 "core" 9!? +102 "processing"%V9 +3 "core" 9%C +101 "processing"%R9 +3 "core" 9(H +102 "processing"%A9 +2 "core" 9,L +103 "processing"%9 +2 "core" 90P +103 "processing"%$9 +2 "core" 96T +102 "processing"%E9 +2 "core" 9;X +102 "processing"%|9 +3 "core" 9@] +102 "processing"%W9 +2 "core" 9Fa +102 "processing"%T9 +3 "core" 9Le +102 "processing"%c9 +2 "core" 9Pi +102 "processing"%9 +3 "core" 9Wm +102 "processing"%=9 +3 "core" 9]q +101 "processing"%D9 +3 "core" 9dv +102 "processing"%b9 +3 "core" 9jz +103 "processing"%l9 +2 "core" 9p~ +102 "processing"%9 +2 "core" 9w +102 "processing"%y9 +2 "core" 9}\ +3 .tPH.hold 2:00:00,28C +3 "processing"%Y pp| +2 .tdelay 1:30 +5 "core"  +9001 .tPSR.select :air +2 .PSV.dial PSR +2 "processing"%a +110 "core"  +2 "processing"%r% +4 "core" %*\ + #tPulling 0.5ml of PSR.wash + .PSR.select :wash +3 "processing"% +9 .tPS.seek 0.5ml +2 "processing"%t' +597 "core" ' +2 .tdelay 5 seconds +502 .PSR.select :air +2 "processing"% +9 .tPS.seek 2ml +2 "processing"%\\'ԏ +1630 "core" ' + .tPTV.dial :puck +2 "processing"%w  +70 "core"  +2 .tPSV.dial PTV + "processing"%i +80 "core" + .tPBV.dial :waste1 +2 "processing"%k  +131 "core"  +2 "processing"%x% +4 "core" %ԙ\  +2 .tPS.seek 1.5ml + "processing"%@' +594 "core" ' +2 .tdelay 3 seconds +302 .PBV.dial between PSV and waste1 + "processing"%h * +33 "core" , +2 .tPS.seek 0ml +2 "processing"%m' +1605 "core" ' +2 .tdelay 5:00 +21362 "Can" &C@ +8640 #trecoverPSRreagent08 +2 .PTV.dial :puck + .PBV.dial :waste1 +2 "processing"%s  +33 "core" +2 .tdelay 30 seconds +3002 .PBV.dial between PSV and waste1 +2 "processing"%* * +35 "core" , + .tPSR.select :air +2 .PSV.dial PSR +2 "processing"% +79 "core"  +2 .tPS.reconfigure :fast +2 "processing"%#A ,`xb +3 .tPS.seek 2.5ml + "processing"%`'m +2412 "core" ' +2 .tPSV.dial PTV + "processing"%p +82 "core" + .tdelay 5 seconds +502 .PSV.dial PSR +2 "processing"%H +81 "core"  + .tdelay 5 seconds +502 .PSV.dial PTV +2 "processing"% +81 "core" + .tdelay 5 seconds +502 .PSV.dial :air +53 "processing"%  +73 "core"  +2 .tPS.seek 0ml +2 "processing"%e' +2360 "core" ' +2 .tPTV.dial :PRVmixing,via: PRV +2 "processing"%u  +128 "core" + .tPSV.dial :mixloop + "processing"%f +51 "core" + .tPRV.dial :ab1 +2 "processing"% @ +72 "core" A +2 .tPS.reconfigure :slow +2 "processing"%#A 2`xb +3 .tPS.seek 0.15ml + "processing"%g'@ +357 "core" ' +2 .tdelay 2 seconds +202 ."connect"CBV.dial PRV +4 .tPRV.dial CBV +2 "collection"'q  +2 "processing"%n  +43 "core" +  +2 "processing"%U% +4 "core" %BJ\  +2 .tPS.seek 0.34ml +2 "processing"%' +437 "core" ' +2 .tdelay 2 seconds +202 .CBV.dial between PRV and PSV +2 "collection"'^  +28 "core" +2 .tPRV.dial :air +2 "processing"%z  +42 "core"  +2 .tPS.seek 0.9ml +2 "processing"%'H +1194 "core" ' +2 .tPRV.dial :waste2 +2 "processing"% @ +71 "core" ? +3 .tPS.seek 0.5ml + "processing"%}' +865 "core" ' +2 #taddPMLReagent08 + .PSV.dial :air +2 "processing"%[  +48 "core"  +2 .tPS.reconfigure :default +3 "processing"%#A d`xb +2 .tPS.seek 2ml +2 "processing"%X'ԏ +1616 "core" ' +2 .tPSV.dial :PML + "processing"%v +50 "core" +2 .tPTV.dial :mixing + "processing"%{ @ +72 "core" B +2 .tPBV.dial :waste1 + "processing"%d  +35 "core" + "processing"% % +4 "core" %ԋ\  +2 .tPS.seek 1.85ml +2 "processing"%'b +253 "core" ' +2 .tPBV.dial between PSV and waste1 +2 "processing"% * +34 "core" , +2 .tPS.seek 0ml +2 "processing"% ' +1971 "core" ' + .tdelay 2 seconds +202 #Beginning samplePassC +2 #Loading FlushPuck into Collection Clamp from FlushPuck::Garage +2 "collection"' & +2 "core" &^`\ +3 "manipulator"&& +8 "core" &d N  +3 "manipulator"&"% +9 "core" %\ 4 + & +4 .tElbow.reconfigure :tight +4 "manipulator"&$&.,(\ #b +4 .tElbow.seek FlushPuck::Garage + "manipulator"&(, +132 "core" ( +2 "manipulator"& & +4 "core" &, @ + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &o& +3 "core" &, & @ +2 .tForearm.seek :garage + "manipulator"&' +109 "core" ' +2 .tHand.close + "manipulator"&/ +64 "core" / +2 "manipulator"&\ & +4 "core" &, * @ + "manipulator"&,% +4 "core" %  ~ +2 .tForearm.seek :retract + "manipulator"&j'\ +106 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC + "manipulator"&-( +280 "core" ( + "manipulator"&& +4 "core" &#  ;4 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &1& +4 "core" &$  ;4 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&#'| +102 "core" ' + "manipulator"&& +5 "core" &#  ;4 + "manipulator"&% +4 "core" %σ  +2 "collection"'& +4 "core" &]^\ +2 "collection"'2& +5 "core" &_a\ +2 .tCC.seek :closed +2 "collection"'(] +4 "core" &^_\  +8 &3^`\ *z +9 &d]_\ ? +10 &Kv_`\ O +9 & Y__\ O +10 &_]^\ O +9 &Z]_\ N +9 &!SZ^a\ N +10 &#Y^_\ N +9 &$Z^a\ N +9 &&_^_\ N +10 &([Y``\ N +9 &*Y``\ N +10 &+\\`_~\ N +9 &-\\aa~\ O +9 &/b]^^\ O +10 &1$]_`w\ O +9 &2Y__}\ N +9 &4\\_^}\ N +10 &6l\\`_\ N +9 &8-[__\ N +10 &9Z__\ O +9 &;[^`t\ O +9 &=s\\_`u\ N +10 &?6Y__~\ N +9 &@[]`\ O +9 &B[^b}\ O +10 &D|Y^`\ N +9 &F=\\^`\ N +9 &GY]_\ N +10 &Ica`\ P +9 &K{rab\ Q +10 &M/ab\ V +9 &N_b\ Y +9 &P_b\ Y +10 &Rj``\ Z +9 &T)bb\ [ +9 &U`a\ \\ +10 &Waa\ \\ +10 &Ygac\ ] +9 &["_b\ b# +9 &\\`b\ 5 +9 &]$ca\ %l +10 &]pbc\ N +2 ( +2 "collection"'2& +3 #tCollection Clamp onSpring/offSpring for 8/25 samples, on/off torque 2.03 + "collection"'/& +4 "core" &]sab|\ N +2 .tHand.open + "manipulator"&<1 +55 "core" 1 +2 "manipulator"&(% +5 "core" % ~  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&?'\ +95 "core" ' + .tPSV.dial PSR +2 "processing"%; +105 "core"  +2 "processing"%% +4 "core" %\ +2 #tPulling 1.5ml of PSR.flush + .PSR.select :flush +2 "processing"%@ +10 .tPS.seek 1.5ml +2 "processing"%)' +1616 "core" ' +2 .tdelay 5 seconds +502 .PSV.dial :waste1 +2 "processing"%3  +43 "core"  +2 .tPS.seek 0ml + "processing"%~' +1611 "core" ' + .tPSV.dial PSR +2 "processing"% +52 "core"  + .tPSR.select :air +2 "processing"% +10 .tPS.seek 2.5ml + "processing"%8'm +2646 "core" ' +2 ."connect"PRV.dial CBV,avoiding: :ab2 +4 .tCBV.dial PRV +2 "processing"%  + "collection"'.  +33 "core"  +124  +2 .tPSV.dial :mixloop + "processing"%I +103 "core" +2 .tCTV.dial :air,avoiding: :intake +2 .PTV.dial :PRVmixing + "processing"%&  +72 "core" +2 .tPS.seek 0ml + "processing"%B' +2633 "core" ' + .tPSV.dial :air +2 "processing"%G  +45 "core"  +2 .tPS.seek 2.5ml +2 "processing"%0'm +2645 "core" ' + .tPSV.dial :mixloop + "processing"% +51 "core" +2 .tPS.seek 0ml + "processing"%5' +2644 "core" ' + .tPSV.dial :air + "processing"%  +52 "core"  +2 .tPS.seek 2.5ml +2 "processing"%Q'm +2648 "core" ' + .tPSV.dial :mixloop +2 "processing"%7 +51 "core" +3 .tPS.seek 0ml + "processing"%S' +2642 "core" ' + #tGaraging FlushPuck in Collection Clamp +2 "manipulator"&9& +4 "core" &(  6 +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&C( +26 "core" ( +2 "manipulator"&>& +4 "core" &  ! + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &K& +3 "core" &  ! +2 .tForearm.seek CC +2 "manipulator"&:'| +95 "core" ' +2 .tHand.close + "manipulator"&O/ +57 "core" / +2 .tCC.seek :open + "collection"'Z(p +413 "core" ( + "manipulator"&L& +4 "core" &   +2 "manipulator"&M% +3 "core" % k  +2 .tForearm.seek :retract +2 "manipulator"&_'\ +101 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage +2 "manipulator"&6(, +265 "core" ( +2 "manipulator"& & +4 "core" &,   +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &!& +3 "core" &,   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek :garage + "manipulator"&+' +112 "core" ' +2 .tHand.open + "manipulator"&F1 +58 "core" 1 + "manipulator"&V% +4 "core" %    +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&R'\ +105 "core" ' +2 ."da"delayUntil "16:08:09.47" +10194 "Can" 'C@ +14544 #"da"recoverPRVreagent08 + .PTV.dial :mixing +2 "processing"%A @ +72 "core" A + ."da"PBV.dial :waste1 +2 "processing"%  +34 "core" +2 ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%$ * +34 "core" , +2 ."da"PSV.dial :air + "processing"%E  +52 "core"  +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%|'m +2413 "core" ' +2 ."da"PSV.dial :mixloop + "processing"%W +51 "core" + ."da"delay 2 seconds +202 .PSV.dial :air +2 "processing"%T  +49 "core"  +2 ."da"delay 2 seconds +201 .PSV.dial :mixloop +2 "processing"%c +50 "core" +2 ."da"delay 2 seconds +202 .PSV.dial :air + "processing"%  +50 "core"  +51 ."da"PS.seek 0ml +2 "processing"%=' +2354 "core" ' +7 #"da"washCycleDA #1 of 2 + .PSR.select :air +2 .PSV.dial PSR + "processing"%D +135 "core"  + "processing"%b% +4 "core" %i\ + #"da"Pulling 0.5ml of PSR.wash +2 .PSR.select :wash +2 "processing"% +9 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"%l' +585 "core" ' + ."da"delay 5 seconds +503 .PSR.select :air +2 "processing"% +10 ."da"PS.seek 2ml + "processing"%'ԏ +1664 "core" ' + ."da"PTV.dial :puck +2 "processing"%y  +70 "core"  +2 ."da"PSV.dial PTV +2 "processing"%a +74 "core" +2 ."da"PBV.dial :waste1 +2 "processing"%r  +34 "core" + "processing"%]% +4 "core" %ԋS\  +2 ."da"PS.seek 1.5ml +2 "processing"%t' +614 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%w * +33 "core" , +3 ."da"PS.seek 0ml + "processing"%i' +1614 "core" ' + ."da"delay 2:00 +12003 #recoverPSRreagent08 +2 .PTV.dial :puck + .PBV.dial :waste1 +2 "processing"%k  +34 "core" +2 ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%x * +34 "core" + + ."da"PSR.select :air +3 .PSV.dial PSR + "processing"%\\ +81 "core"  +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml + "processing"%h'm +2406 "core" ' + ."da"PSV.dial PTV +2 "processing"%@ +81 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PSR +2 "processing"%N +79 "core"  + ."da"delay 5 seconds +502 .PSV.dial PTV +3 "processing"%s +79 "core" +2 ."da"delay 5 seconds +502 .PSV.dial :air +2 "processing"%*  +73 "core"  +2 ."da"PS.seek 0ml +2 "processing"%' +2360 "core" ' + #"da"washCycleDA #2 of 2 +2 .PSR.select :air +2 .PSV.dial PSR + "processing"%m +133 "core"  + "processing"%p% +4 "core" %w\ + #"da"Pulling 0.5ml of PSR.wash +2 .PSR.select :wash +2 "processing"% +9 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"%H' +588 "core" ' + ."da"delay 5 seconds +503 .PSR.select :air +2 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%'ԏ +1620 "core" ' + ."da"PTV.dial :puck +2 .PSV.dial PTV +2 "processing"% +73 "core" +2 ."da"PBV.dial :waste1 + "processing"%`  +35 "core" + "processing"%u% +4 "core" %Ԓp\  +2 ."da"PS.seek 1.5ml +2 "processing"%f' +594 "core" ' + ."da"delay 3 seconds +303 .PBV.dial between PSV and waste1 +2 "processing"% * +33 "core" + +2 ."da"PS.seek 0ml +2 "processing"%e' +1607 "core" ' +2 ."da"delay 2:00 +3555 "Can" 'C? +8447 #"da"recoverPSRreagent08 +2 .PTV.dial :puck + .PBV.dial :waste1 +2 "processing"%n  +34 "core" +2 ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%q * +34 "core" + +2 ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"%U +78 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%g'm +2394 "core" ' +2 ."da"PSV.dial PTV + "processing"%^ +80 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PSR +2 "processing"%z +80 "core"  +2 ."da"delay 5 seconds +502 .PSV.dial PTV +2 "processing"% +80 "core" +2 ."da"delay 5 seconds +502 .PSV.dial :air + "processing"%  +73 "core"  +2 ."da"PS.seek 0ml +2 "processing"%' +2357 "core" ' +2 #"da"getPMLReagent08 + .PRV.dial :air +2 "processing"%[  +42 "core"  +2 ."da"delay 5 seconds +502 .PTV.dial :PRVmixing +2 "processing"%}  +127 "core" +2 ."da"delay 5 seconds +502 .PRV.dial :ab2 +2 "processing"%v  +42 "core"  +2 ."da"PTV.dial :PRVmixing + .PSV.dial :mixloop +2 "processing"%{ +50 "core" +2 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 0.3ml + "processing"%d'i +381 "core" ' + ."da"delay 2 seconds +203 .PRV.dial :air + "processing"%  +43 "core"  +2 "processing"%% +4 "core" %nP\  +2 ."da"PS.seek 0.55ml + "processing"%X'] +330 "core" ' +2 #"da"addPMLReagent08 +2 .PSV.dial :air + "processing"%  +50 "core"  +2 ."da"PS.seek 2ml +2 "processing"% 'ԏ +1570 "core" ' + ."da"PSV.dial :PML +2 "processing"% +50 "core" + ."da"PTV.dial :mixing +2 "processing"%" @ +70 "core" A +2 ."da"PBV.dial :waste1 + "processing"%  +35 "core" + "processing"%o% +4 "core" %ԔE\  +2 ."da"PS.seek 1.85ml +2 "processing"%4'k +230 "core" ' + ."da"PBV.dial between PSV and waste1 +2 "processing"% * +34 "core" + +3 ."da"PS.seek 0ml + "processing"%\ ' +1974 "core" ' +2 ."da"delay 2 seconds +202 .delay 8:00 +35284 "Can" HF +12719 #"da"recoverPRVreagent08 + .PTV.dial :mixing + .PBV.dial :waste1 +2 "processing"%,  +34 "core" +2 ."da"delay 30 seconds +3002 .PBV.dial between PSV and waste1 +2 "processing"%P * +35 "core" + + ."da"PSV.dial :air +2 "processing"%  +50 "core"  +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml + "processing"%'m +2390 "core" ' + ."da"PSV.dial :mixloop +2 "processing"%1 +50 "core" +2 ."da"delay 2 seconds +202 .PSV.dial :air + "processing"%  +50 "core"  + ."da"delay 2 seconds +203 .PSV.dial :mixloop +2 "processing"% +50 "core" +2 ."da"delay 2 seconds +202 .PSV.dial :air + "processing"%  +50 "core"  +2 ."da"PS.seek 0ml +2 "processing"%' +2352 "core" ' +2 #"da"washCycleDA #1 of 3 + .PSR.select :air +2 .PSV.dial PSR +2 "processing"%j +132 "core"  +2 "processing"%'% +4 "core" %B\ + #"da"Pulling 0.5ml of PSR.wash +2 .PSR.select :wash +2 "processing"% +10 ."da"PS.reconfigure :default +2 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"%/' +597 "core" ' + ."da"delay 5 seconds +503 .PSR.select :air +2 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%<'ԏ +1645 "core" ' + ."da"PTV.dial :puck +2 "processing"%(  +69 "core"  + ."da"PSV.dial PTV +2 "processing"%2 +73 "core" +2 ."da"PBV.dial :waste1 +2 "processing"%;  +34 "core" + "processing"%% +4 "core" %Ԉ?\ +2 ."da"PS.seek 1.5ml +2 "processing"%#' +627 "core" ' + ."da"delay 3 seconds +303 .PBV.dial between PSV and waste1 +2 "processing"% * +45 "core" ) +3 ."da"PS.seek 0ml +2 "processing"%3' +1616 "core" ' + ."da"delay 2:00 +12004 #recoverPSRreagent08 + .PTV.dial :puck + .PBV.dial :waste1 +2 "processing"%)  +33 "core" + ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +45 "processing"% * +40 "core" , + ."da"PSR.select :air +3 .PSV.dial PSR + "processing"%~ +81 "core"  +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml + "processing"%.'m +2406 "core" ' + ."da"PSV.dial PTV +2 "processing"% +80 "core" + ."da"delay 5 seconds +502 .PSV.dial PSR +3 "processing"%I +80 "core"  + ."da"delay 5 seconds +502 .PSV.dial PTV +2 "processing"%& +79 "core" + ."da"delay 5 seconds +503 .PSV.dial :air +2 "processing"%8  +74 "core"  +2 ."da"PS.seek 0ml +2 "processing"%G' +2360 "core" ' + #"da"washCycleDA #2 of 3 +2 .PSR.select :air +2 .PSV.dial PSR +2 "processing"%B +132 "core"  + "processing"%% +4 "core" %C\ + #"da"Pulling 0.5ml of PSR.wash +2 .PSR.select :wash +2 "processing"% +10 ."da"PS.reconfigure :default +2 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"%0' +585 "core" ' + ."da"delay 5 seconds +503 .PSR.select :air +2 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%'ԏ +1620 "core" ' + ."da"PTV.dial :puck +2 .PSV.dial PTV +2 "processing"%5 +73 "core" +2 ."da"PBV.dial :waste1 + "processing"%7  +35 "core" + "processing"%Q% +4 "core" %Ԍ(>\  +2 ."da"PS.seek 1.5ml +2 "processing"%9' +587 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%> * +34 "core" + +2 ."da"PS.seek 0ml + "processing"%K' +1607 "core" ' +2 ."da"delay 2:00 +5480 "Can" 'C@ +6523 #"da"recoverPSRreagent08 + .PTV.dial :puck +2 .PBV.dial :waste1 + "processing"%O  +35 "core" +2 ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%- * +34 "core" + + ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"%? +81 "core"  +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml +2 "processing"%'m +2405 "core" ' + ."da"PSV.dial PTV +2 "processing"%L +81 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PSR +2 "processing"%M +80 "core"  + ."da"delay 5 seconds +503 .PSV.dial PTV + "processing"%: +79 "core" +2 ."da"delay 5 seconds +502 .PSV.dial :air +2 "processing"%  +76 "core"  +2 ."da"PS.seek 0ml +2 "processing"%!' +2363 "core" ' + #"da"washCycleDA #3 of 3 +2 .PSR.select :air +2 .PSV.dial PSR +2 "processing"%C +132 "core"  + "processing"%F% +4 "core" %D\ + #"da"Pulling 0.5ml of PSR.wash +2 .PSR.select :wash +2 "processing"% +9 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"%V' +594 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +2 "processing"% +10 ."da"PS.seek 2ml + "processing"%_'ԏ +1664 "core" ' +2 ."da"PTV.dial :puck + .PSV.dial PTV +2 "processing"%+ +73 "core" +2 ."da"PBV.dial :waste1 +2 "processing"%A  +34 "core" + "processing"%% +4 "core" %Ԗl\  +2 ."da"PS.seek 1.5ml +2 "processing"%$' +594 "core" ' + ."da"delay 3 seconds +303 .PBV.dial between PSV and waste1 +2 "processing"%E * +33 "core" + +2 ."da"PS.seek 0ml +2 "processing"%S' +1632 "core" ' +2 ."da"delay 2:00 +12003 #recoverPSRreagent08 + .PTV.dial :puck + .PBV.dial :waste1 +2 "processing"%W  +35 "core" + ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%T * +34 "core" + +2 ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"%c +79 "core"  + ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml +2 "processing"%'m +2409 "core" ' +2 ."da"PSV.dial PTV + "processing"%| +82 "core" + ."da"delay 5 seconds +503 .PSV.dial PSR + "processing"%D +81 "core"  + ."da"delay 5 seconds +502 .PSV.dial PTV +2 "processing"%b +80 "core" +2 ."da"delay 5 seconds +502 .PSV.dial :air +2 "processing"%=  +73 "core"  +2 ."da"PS.seek 0ml + "processing"%l' +2353 "core" ' + ."da"Gate.power :camera,:ON +2 #Mixing DA Substrates + .PSR.select :air +2 .PSV.dial PSR +2 "processing"%y +143 "core"  +2 "processing"%a% +13 "core" %R\ g +3 #"da"Pulling 0.25ml of PSR.sub1 +3 .PSR.select :sub1 +6 "processing"% +12 ."da"PS.reconfigure :default +8 "processing"%#A d`xb +5 ."da"PS.seek 0.25ml +8 "processing"%r' +345 "core" ' +2 ."da"delay 5 seconds +502 "processing"%]% +4 "core" % G\ c + #"da"Pulling 0.25ml of PSR.sub2 +2 .PSR.select :sub2 +2 "processing"% +9 ."da"PS.seek 0.5ml +2 "processing"%' +335 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +2 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%w'ԏ +1615 "core" ' + ."da"PTV.dial :puck +2 .PSV.dial PTV + "processing"%t +78 "core" +2 ."da"PBV.dial :waste1 +2 "processing"%k  +36 "core" + "processing"%x% +4 "core" %ԍk\ Q +2 ."da"PS.seek 1.5ml +2 "processing"%\\' +597 "core" ' + ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%i * +46 "core" ) +2 ."da"PS.seek 0ml +2 "processing"%@' +1617 "core" ' + ."da"delay 10 seconds +1003 #recoverPSRreagent08 + .PTV.dial :puck + .PBV.dial :waste1 +2 "processing"%N  +34 "core" + ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%s * +36 "core" , + ."da"PSR.select :air +3 .PSV.dial PSR + "processing"%* +84 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%h'm +2511 "core" ' +2 ."da"PSV.dial PTV + "processing"%m +85 "core" + ."da"delay 5 seconds +503 .PSV.dial PSR + "processing"%p +84 "core"  + ."da"delay 5 seconds +503 .PSV.dial PTV +2 "processing"% +83 "core" +2 ."da"delay 5 seconds +502 .PSV.dial :air +2 "processing"%H  +75 "core"  +2 ."da"PS.seek 0ml +2 "processing"%' +1493 "Can"\  +947 "core" ' + #"da"Additional air clear +2 .PSR.select :air +2 .PSV.dial PSR + "processing"%` +138 "core"  + "processing"%u% +4 "core" %\ T + #"da"Pulling 2ml of PSR.air +2 .PSR.select :air +3 .PS.reconfigure :default +2 "processing"%#A d`xb +2 ."da"PS.seek 2ml +2 "processing"%'ԏ +2126 "core" ' +2 ."da"delay 5 seconds +502 .PTV.dial :puck +2 .PSV.dial PTV +2 "processing"% +77 "core" + ."da"PBV.dial :waste1 +2 "processing"%f  +34 "core"  +2 "processing"%n% +3 "core" %ԍ|\  +2 ."da"PS.seek 1.5ml +2 "processing"%q' +597 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%U * +35 "core" , +46 ."da"delay 1 second +109 .PSV.dial :waste1 +2 "processing"%e  +115 "core"  +2 ."da"PS.seek 0ml +2 "processing"%^' +1608 "core" ' +2 "processing"%z9 +3 "core" 95 +2 #"da"Processing Puck Heater at 28C before imaging + .PH.coast +2 "processing"%  +4 "core" 5 5 +2 "processing"%& +3 "core" &Z\ _) +2 #"da"Imaging da puck in Processing Clamp while storing it to tube 1 +2 "manipulator"&g% +4 "core" %\ 0  $t + "storage"([% +4 "core" %@\ \  :\ [ + "storage"(}. +3 "core" .(  +2 ."da"SC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 ."da"SC.seek 1 +2 "storage"(v(B +371 "core" ( + ."da"SC.configure :limp +3 "storage"($\ 1b +2 ({& +3 "core" &@ y )\ E +2 "manipulator"&& +4 "core" &,   + "manipulator"& % +4 "core" %\ 0  $t +2 ."da"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 ."da"Elbow.seek 1 +2 "manipulator"&(c +180 "core" ( + "manipulator"&d& +4 "core" &c . !s +2 "storage"(& +4 "core" &@\ \ \  u\ Z +2 ."da"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 ."da"Forearm.seek 1 + 450 counts +2 "manipulator"&X'Ф +100 "core" ' +2 "storage"(& +4 "core" &@   7\ ^ +2 ."da"SE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 ."da"SE.seek :beamBreak +2 "storage"("'e +295 "core" ' + "storage"( - +3 "core" -' +2 ."da"SE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&o& +3 "core" &c - !s +2 "storage"(& +3 "core" &@\ \ \ '\ Z +2 ."da"Elbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 ."da"Forearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 ."da"Forearm.seek 1 +2 "manipulator"& ' +27 "core" ' +2 ."da"Elbow.hold +2 "manipulator"&4, +4 "core" , + ."da"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(,- +3 "core" -' +2 ."da"SE.seek 1.12 Pucks below Top Plate +2 "storage"(P'` +31 "core" ' +2 "manipulator"&% +4 "core" %~  żH + "storage"(\ & +4 "core" &@ 1\ +2 ."da"Forearm.force -20 + "manipulator"&5 +3 ."da"Forearm.seek 1 + 315 counts + "manipulator"&1' +18 "core" ' +2 "manipulator"&& +4 "core" &c w S f !s + "storage"(& +4 "core" &@ . / :\ +2 ."da"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 ."da"Forearm.seek 1 + 450 counts +2 "manipulator"&'Ф +24 "core" ' +2 ."da"SE.seek 2.12 Pucks below Top Plate +2 "storage"('O +51 "core" ' + "manipulator"&j& +4 "core" &c X f !s +2 "manipulator"&'% +4 "core" % S W > +2 ."da"Forearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 ."da"Forearm.seek :retract +2 "manipulator"&'\ +87 "core" ' +2 ."da"Elbow.seek PC +2 "manipulator"&/(c +257 "core" ( +2 "manipulator"&(& +4 "core" &^ ( +2 ."da"Elbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &2& +2 "core" &^ R +2 ."da"Forearm.seek PC +2 "manipulator"&;'[ +95 "core" ' +2 ."da"Hand.close + "manipulator"&/ +63 "core" / +2 ."da"PC.seek :open + "processing"%<(p +394 "core" ( +2 "storage"( & +4 "core" &@ 7 f \ c + "manipulator"&#& +4 "core" &^ w v < + "manipulator"&)% +4 "core" % j j w 8 +2 ."da"Forearm.seek :retract +2 "manipulator"&'\ +94 "core" ' +2 ."da"Elbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +8 ."da"Elbow.seek 1 + "manipulator"&~(c +252 "core" ( +2 "manipulator"&3& +4 "core" &b ] "z + "storage"(& +4 "core" &@   `\ ] +2 ."da"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 ."da"Forearm.seek 1 + 450 counts +2 "manipulator"&I'Ф +96 "core" ' + ."da"Hand.open +2 "manipulator"&&1 +55 "core" 1 +2 "storage"(8- +3 "core" -'O +2 ."da"SE.seek 1.87 Pucks below Top Plate +2 "storage"(.' +33 "core" ' +2 ."da"SE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 ."da"SE.seek 1.21 Pucks below Top Plate +2 "storage"(B' +47 "core" ' +2 #"da"Lights, camera, ACTION! +4 #PuckCamera: snap -bin=2,2 -auto /var/log/esp/da22sep1916h36ml.tif +1950 #"psFlush"Waiting >20 seconds for da to relinquish FlushPuck +15728 #"da"SX HX9/16 (USB:02): 1392x1040 pixel 16-bit CCD camera\ Exposing 696x520 pixel 16-bit image for 173.298 seconds\ /var/log/esp/da22sep1916h36ml.tif: TIFF Upload Complete\ +4 #PuckCamera: snap -bin=2,2 15.0 /var/log/esp/midres/da22sep1916h36ml15s.tif +1564 #SX HX9/16 (USB:02): 1392x1040 pixel 16-bit CCD camera\ Exposing 696x520 pixel 16-bit image for 15 seconds\ /var/log/esp/midres/da22sep1916h36ml15s.tif: TIFF Upload Complete\ +3 #PuckCamera: snap -bin=2,2 30.0 /var/log/esp/midres/da22sep1916h36ml30s.tif +3069 #SX HX9/16 (USB:02): 1392x1040 pixel 16-bit CCD camera\ Exposing 696x520 pixel 16-bit image for 30 seconds\ /var/log/esp/midres/da22sep1916h36ml30s.tif: TIFF Upload Complete\ +4 #PuckCamera: snap -bin=1,1 70.0 /var/log/esp/hires/da22sep1916h36ml70s.tif +7168 #SX HX9/16 (USB:02): 1392x1040 pixel 16-bit CCD camera\ Exposing 1392x1040 pixel 16-bit image for 70 seconds\ /var/log/esp/hires/da22sep1916h36ml70s.tif: TIFF Upload Complete\ +2 .Gate.power :camera,:OFF +4 ."Qmail"DAfans.email "173.298 sec auto-exposure",Subject: "da22sep1916h36ml images!" +7 "storage"(- +3 "core" -' +2 "storage"(G& +6 "core" &@\ \ \ + "manipulator"&0& +4 "core" &j ( !r +2 ."da"Elbow.seek 1 +2 "manipulator"&5(c +4 "core" ( + "manipulator"&7& +5 "core" &j  !r + "storage"(Q& +4 "core" &@\ \  w\ +3 ."da"Forearm.seek 1 + 450 counts + "manipulator"&'Ф +4 "core" ' +2 ."da"SE.reconfigure :gently +6 "storage"(#QK-0-\ b +2 ."da"SE.seek 1.92 Pucks below Top Plate +2 "storage"(>'Z +64 "core" ' +2 "manipulator"&9& +4 "core" &j x v 9 !r +2 "storage"(O& +4 "core" &@ y | \ + ."da"Elbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 ."da"Forearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 ."da"Forearm.seek 1 +2 "manipulator"&-' +6 !"Qmail"o:!Net::SMTPAuthenticationError: mesg"E534-5.7.9 Application-specific password required. Learn more at\ :@checkpoint: omitted:bt["E/opt/mbari/lib/ruby/1.8/net/smtp.rb:954:in `check_auth_response'"/opt/mbari/lib/ruby/1.8/net/smtp.rb:723:in `authenticate'":/opt/mbari/lib/ruby/1.8/net/smtp.rb:566:in `do_start'"7/opt/mbari/lib/ruby/1.8/net/smtp.rb:525:in `start'"2/home/esp/esp2/lib/email.rb:325:in `sendOnce'"3/home/esp/esp2/lib/schedule.rb:292:in `unsync'"3/home/esp/esp2/lib/schedule.rb:594:in `unsync'"3/home/esp/esp2/lib/schedule.rb:621:in `unsync'"2/home/esp/esp2/lib/email.rb:318:in `sendOnce'"./home/esp/esp2/lib/email.rb:340:in `send'",/home/esp/esp2/lib/msg.rb:68:in `retry'"./home/esp/esp2/lib/email.rb:339:in `send'"B/home/esp/esp2/protocol/2G/utilities.rb:163:in `prepAndImage'"-/home/esp/esp2/lib/email.rb:66:in `call'"3/home/esp/esp2/lib/email.rb:66:in `initialize'"-/home/esp/esp2/lib/email.rb:63:in `loop'"3/home/esp/esp2/lib/email.rb:63:in `initialize'"7/home/esp/esp2/lib/schedule.rb:481:in `initialize'"0/home/esp/esp2/lib/thread.rb:738:in `start'"7/home/esp/esp2/lib/schedule.rb:474:in `initialize'"'/home/esp/esp2/lib/schedule.rb:472 +2 !o:Email::Queue::Purge: mesg"Purged output queue:bt[ "//home/esp/esp2/lib/email.rb:106:in `purge'"3/home/esp/esp2/lib/email.rb:75:in `initialize'"-/home/esp/esp2/lib/email.rb:63:in `loop'"3/home/esp/esp2/lib/email.rb:63:in `initialize'"7/home/esp/esp2/lib/schedule.rb:481:in `initialize'"0/home/esp/esp2/lib/thread.rb:738:in `start'"7/home/esp/esp2/lib/schedule.rb:474:in `initialize'"'/home/esp/esp2/lib/schedule.rb:472 +23 "core" ' +2 ."da"Elbow.hold +2 "manipulator"&?, +4 "core" , + ."da"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 ."da"SE.reconfigure :default +2 "storage"(#QK-0-\ b +2 ."da"SE.seek 2.11 Pucks below Top Plate +2 "storage"(K'D +22 "core" ' + "manipulator"&L% +4 "core" % ÿg +2 "storage"(M& +4 "core" &@ ' '\ + ."da"Forearm.force -20 +2 "manipulator"&5 +3 ."da"Forearm.seek 1 + 318 counts + "manipulator"&:' +18 "core" ' +2 "manipulator"& & +4 "core" &j S X L !r +2 "storage"(& +4 "core" &@ x w \ +2 ."da"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 ."da"Forearm.seek 1 + 450 counts +2 "manipulator"&C'Ф +18 "core" ' + "storage"(F% +4 "core" %M E\ +3 ."downElevator"SE.seek :down +3 "storage"(!'N +99 (V% +3 "core" %h1 { F\ RO +2 "manipulator"&+% +4 "core" %Г ` b  +2 ."da"Forearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 ."da"Forearm.seek :retract +2 "manipulator"&A'\ +87 "core" ' +41 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (& +4 "core" &@ g Q i\ +3 #"psFlush"Loading FlushPuck into Processing Clamp from FlushPuck::Garage +2 #tStarting finalPurge +3 "processing"%_& +4 "core" &5\ +2 "manipulator"&E& +4 "core" &j  !r +2 "manipulator"&$% +4 "core" %\ + p !Q +2 ."psFlush"Elbow.seek FlushPuck::Garage +2 "manipulator"&W(, +189 "core" ( +2 "manipulator"&T& +4 "core" &,  . +2 ."psFlush"Elbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &c& +3 "core" &,  . +2 ."psFlush"Forearm.seek :garage +2 "manipulator"&S' +105 "core" ' + ."psFlush"Hand.close +55 "manipulator"&|/ +62 "core" / +2 "manipulator"&D& +4 "core" &, / . +2 "manipulator"&b% +3 "core" %  ] +2 ."psFlush"Forearm.seek :retract +2 "manipulator"&='\ +96 "core" ' +2 ."psFlush"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 ."psFlush"Elbow.seek PC +2 "manipulator"&(c +113 "core" ( +2 "manipulator"&y& +4 "core" &a w @ \\ +2 ."psFlush"Elbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &a& +2 "core" &a / \\ +3 ."psFlush"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 ."psFlush"Forearm.seek PC + "manipulator"&l'[ +101 "core" ' +2 "manipulator"&]& +4 "core" &a [ \\ +2 "manipulator"&r% +4 "core" %`  +2 "processing"%& +4 "core" &`\ +2 "processing"%t& +5 "core" &V\ +2 ."psFlush"PC.seek :closed +2 "processing"%k(Z +5 "core" &,\ +7 & .*\ #b +9 &[W#\ 7 +9 &!\ L +10 &m\\&\ M +9 &/]!\ M +9 &]*\ M +10 & `-\ M +9 &"t\\+\ M +10 &$7^,\ M +9 &%\\+\ M +9 &'\\+\ M +10 &)~]!\ M +9 &+@Z!\ M +9 &-_%\ M +10 &._#\ M +9 &0])\ M +10 &2H\\ \ M +9 &4\ \\ \ M +9 &5[\ M +10 &7]\ M +9 &9Q\\%\ L +9 &;_"\ M +10 &<Z&\ M +9 &>^#\ M +10 &@X^ \ M +9 &B_&\ M +9 &C]*\ L +10 &E\\$\ M +9 &G_`\ M +10 &Ih)\ N +9 &Ju&\ P +9 &L\ R +10 &NS\ T +9 &P\ T +9 &Q%\ T +10 &S\ T +9 &UZ"\ T +9 &W\ U +10 &X \ T +9 &Z:Mq\ - +10 &Z-\ ( +5 ( + "processing"%t& +5 #"psFlush"Processing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.56 +2 "processing"%x& +4 "core" &Z \ ( + &Z \ ( + ."psFlush"Hand.open +2 "manipulator"&w1 +55 "core" 1 +2 "manipulator"&i% +4 "core" % ` +2 ."psFlush"Forearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 ."psFlush"Forearm.seek :retract +2 "manipulator"&\\'\ +102 "core" ' + ."psFlush"PSR.select :air +2 .PSV.dial PSR +2 "processing"%N +50 "core"  + "processing"%s% +4 "core" %\ +2 #"psFlush"Pulling 0.5ml of PSR.flush + .PSR.select :flush +2 "processing"%@ +10 ."psFlush"PS.seek 0.5ml + "processing"%*' +489 #tWaiting >20 seconds for psFlush to relinquish FlushPuck +99 "core" ' +2 ."psFlush"delay 5 seconds +502 .PSR.select :air +2 "processing"% +9 ."psFlush"PS.seek 2.5ml +2 "processing"%@'m +2139 "core" ' +2 ."psFlush"delay 1 second +102 .PRV.dial :waste2,avoiding: :ab2 +2 "processing"%m @ +183 "core" A +2 ."psFlush"PTV.dial :PRVmixing +2 "processing"%p  +126 "core" + ."psFlush"PSV.dial :mixloop +2 "processing"% +103 "core" +3 ."psFlush"PS.seek :empty + "processing"%H' +2637 "core" ' + ."psFlush"PSR.select :air +2 .PSV.dial PSR +2 "processing"%h +109 "core"  + "processing"%`% +4 "core" %\ +2 #"psFlush"Pulling 0.5ml of PSR.flush + .PSR.select :flush +2 "processing"%@ +10 ."psFlush"PS.seek 0.5ml + "processing"%u' +596 "core" ' +2 ."psFlush"delay 5 seconds +502 .PSR.select :air +3 "processing"% +9 ."psFlush"PS.seek 2.5ml +2 "processing"%'m +2145 "core" ' + ."psFlush"delay 1 second +102 .PBV.dial :waste1 +2 "processing"%  +34 "core"  + ."psFlush"PTV.dial :mixing +2 "processing"%f @ +70 "core" A +2 ."psFlush"PSV.dial :mixloop + "processing"%n +110 "core" + ."psFlush"PS.seek :empty +2 "processing"%' +2631 "core" ' + ."psFlush"PSV.dial PSR +2 "processing"%U +111 "core"  + ."psFlush"PSR.select :flush +3 "processing"%@ +9 ."psFlush"PS.seek 1ml +2 "processing"%e'T +1102 "core" ' + ."psFlush"PSR.select :air +3 "processing"% +9 ."psFlush"PS.seek 2.5ml +2 "processing"%q'm +1629 "core" ' + ."psFlush"PSV.dial PTV +2 "processing"%z +80 "core" + ."psFlush"PTV.dial :puck +2 "processing"%  +69 "core"  + ."psFlush"PBV.dial :waste1 +2 .PS.seek 0ml +2 "processing"%' +2637 "core" ' + ."psFlush"PSV.dial PSR +2 "processing"%g +80 "core"  + ."psFlush"PSR.select :flush +2 "processing"%@ +10 ."psFlush"PS.seek 0.5ml +2 "processing"%[' +314 "Can" JH +278 "core" ' +2 ."psFlush"PSR.select :air +2 "processing"% +9 ."psFlush"PS.seek 2.5ml +2 "processing"%}'m +2138 "core" ' +2 ."psFlush"PSV.dial PTV + "processing"%% +80 "core" +2 ."psFlush"PBV.dial PSV + "processing"%{ U +55 "core" W +2 ."psFlush"PS.seek 0ml +2 "processing"%' +2633 "core" ' +2 ."psFlush"PSV.dial PBV +2 "processing"% @ +50 "core" > +2 ."psFlush"PS.seek 2.5ml + "processing"%d'm +2647 "core" ' + ."psFlush"PSV.dial :waste1 +2 "processing"%  +73 "core"  +2 ."psFlush"PS.seek 0ml +2 "processing"%6' +2635 "core" ' + ."psFlush"PSV.dial PSR +2 "processing"% +50 "core"  +2 ."psFlush"PSR.select :air +3 .PS.seek 2.5ml + "processing"%R'm +2651 "core" ' + ."psFlush"PSV.dial PTV +2 "processing"% +73 "core" +2 ."psFlush"PBV.dial PSV +2 .PS.seek 0ml + "processing"%o' +2634 "core" ' + ."psFlush"PSV.dial PBV +2 "processing"% @ +50 "core" ? +2 ."psFlush"PS.seek 2.5ml +2 "processing"%,'m +2652 "core" ' +2 ."psFlush"PSV.dial :waste1 + "processing"%  +74 "core"  +2 ."psFlush"PS.seek 0ml +2 "processing"%\ ' +2635 "core" ' + ."psFlush"PSV.dial PSR +2 "processing"% +50 "core"  +2 ."psFlush"PSR.select :flush +2 "processing"%@ +10 ."psFlush"PS.seek 1ml +2 "processing"%'T +1097 "core" ' + ."psFlush"PSR.select :air +2 "processing"% +10 ."psFlush"PS.seek 2.5ml + "processing"%j'm +1614 "core" ' + ."psFlush"PSV.dial PTV +2 "processing"%' +73 "core" +2 ."psFlush"PTV.dial :puck + .PBV.dial :waste1 +2 "processing"%X  +55 "core" +2 ."psFlush"PS.seek 0ml + "processing"%' +2639 "core" ' + ."psFlush"PSV.dial PSR +2 "processing"%" +80 "core"  + ."psFlush"PSR.select :flush +3 "processing"%@ +9 ."psFlush"PS.seek 0.5ml +2 "processing"% ' +599 "core" ' + ."psFlush"PSR.select :air +2 "processing"% +10 ."psFlush"PS.seek 2.5ml + "processing"%1'm +2139 "core" ' + ."psFlush"PSV.dial PTV +2 "processing"%P +80 "core" + ."psFlush"PBV.dial PSV +2 "processing"% U +54 "core" W +2 ."psFlush"PS.seek 0ml +2 "processing"%(' +2637 "core" ' + ."psFlush"PSV.dial PBV +2 "processing"%2 @ +50 "core" ? +2 ."psFlush"PS.seek 2.5ml +2 "processing"%4'm +2652 "core" ' +2 ."psFlush"PSV.dial :waste1 + "processing"%  +74 "core"  +2 ."psFlush"PS.seek 0ml +2 "processing"%' +2638 "core" ' + ."psFlush"PSV.dial PSR +2 "processing"%J +50 "core"  +2 ."psFlush"PSR.select :air +51 .PS.seek 2.5ml +2 "processing"% 'm +2655 "core" ' + ."psFlush"PSV.dial PTV +2 "processing"%# +73 "core" +2 ."psFlush"PBV.dial PSV +2 .PS.seek 0ml + "processing"%)' +2656 "core" ' + ."psFlush"PSV.dial PBV +2 "processing"%; @ +50 "core" ? +2 ."psFlush"PS.seek 2.5ml +2 "processing"%3'm +2652 "core" ' +2 ."psFlush"PSV.dial :waste1 + "processing"%  +75 "core"  +3 ."psFlush"PS.seek 0ml +2 "processing"%/' +2639 "core" ' +2 #tLoading FlushPuck into Collection Clamp from Processing Clamp +2 "collection"'&& +4 "core" &K\ + "manipulator"&8& +4 "core" &b  [ +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC + "manipulator"&(c +4 "core" ( + "manipulator"&& +5 "core" &b v [ + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &.& +3 "core" &b  [ +2 .tForearm.seek PC +2 "manipulator"&'[ +97 "core" ' + .tHand.close + "manipulator"&G/ +63 "core" / +2 .tPC.seek :open +2 "processing"%0(p +390 "core" ( +2 "manipulator"&7& +4 "core" &b  [ + "manipulator"&Q% +4 "core" % i y ~ + +2 .tForearm.seek :retract + "manipulator"&9'\ +94 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&O( +357 "core" ( +2 "manipulator"&L& +4 "core" &. / Co + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &M& +3 "core" &- C Co +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"& '| +91 "core" ' +2 "manipulator"&& +4 "core" &, S Bk +2 "manipulator"&F% +4 "core" %r ? +2 "collection"'~& +4 "core" &Q\ +2 "collection"'I& +5 "core" &h\ +2 .tCC.seek :closed + "collection"'B(] +5 "core" &H\  +9 &2}M\ *y +9 &bI\ > +9 &Bx@\ O +10 &ZA\ N +9 &]J\ O +9 &ZL\ O +10 &!KZE\ N +9 &# \\@\ O +10 &$[M\ N +9 &&ZN\ N +9 &(TZQ\ N +10 &*_F\ N +9 &+]L\ O +9 &-\\O\ N +10 &/\\\\N\ N +9 &1^J\ O +10 &2ZB\ N +9 &4XH\ N +10 &6cXN\ N +9 &8%WO\ N +9 &9ZK\ O +9 &;WI\ N +10 &=j^L\ O +9 &?,[R\ O +11 &@]R\ N +8 &BZL\ N +9 &Dr]S\ O +10 &F4]Q\ O +9 &GYV\ N +9 &IgU\ P +10 &KqsP\ R +10 &M'O\ V +9 &NO\ Y +9 &PX\ Y +10 &RcW\ Y +9 &T Y\ [\ +9 &UO\ \\ +9 &WP\ [ +10 &Y^N\ ^ +9 &[!O\ ] +10 &\\~V\ = +9 &]$T\ &n +9 &]eY\ N +3 ( + "collection"'I& +4 #tCollection Clamp onSpring/offSpring for 9/25 samples, on/off torque 2.03 + "collection"'V& +4 "core" &]gY\ N +2 .tHand.open + "manipulator"&+1 +56 "core" 1 +2 "manipulator"&% +4 "core" % r c +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&5'\ +92 "core" ' +2 #tFlushing the Collection Valve::Manifold + "collection"'>& +4 "core" &]g\\\ N +2 "collection"'-% +4 "core" %x\ + .tCSV.dial CSR +2 "collection"'  +43 "core"  +2 "collection"'_% +4 "core" %w\ + #tPulling 5ml of CSR.flush + .CSR.select :flush +2 "collection"' +10 .tCS.seek 5ml + "collection"'E's +1357 "core" ' +2 .tdelay 5 seconds +502 .CSR.select :air + "collection"' +9 ':% +3 "core" %sv\  +2 .tCS.reconfigure :fast +3 "collection"'#d @b +2 .tCS.seek 7.501ml + "collection"'$'v +644 "core" ' + .tCSV.dial :waste +2 "collection"'K +125 "core" +2 .tCS.reconfigure :default +2 "collection"'#P d@b +3 .tCS.seek 0ml + "collection"'C' +1998 "core" ' +2 #tFlushing lower manifold's waste1 port + "collection"'T& +4 "core" &]fc\ N +2 "collection"'c% +3 "core" %n\ +2 .tCSV.dial :flush + "collection"'!  +43 "core"  +2 .tCS.reconfigure :fast +2 "collection"'#d @b +3 .tCS.seek 5ml + "collection"'?'s +1226 "core" ' +2 .tdelay 5 seconds +504 .CSV.dial :air +2 "collection"'| @ +42 "core" B +2 "collection"'D% +4 "core" %sK\  +2 .tCS.seek 7ml +2 "collection"'b' +542 "core" ' +2 ."connect"CSV.dial CTV +3 .tCTV.dial CSV +2 "collection"'A  +2 'y  +41 "core"  +90  +2 .tCBV.dial :waste1 +2 "collection"'a @ +43 "core" ? +2 .tCS.seek 0ml +2 "collection"'S' +1665 "core" ' +2 #tFlushing lower manifold's waste2 port + "collection"']& +4 "core" &]e_\ N +2 "collection"'r% +4 "core" %V\ + .tCSV.dial :flush + "collection"'  +73 "core" +2 .tCS.seek 5ml + "collection"'W's +80 "Can" SQ +1145 "core" ' + .tdelay 5 seconds +503 .CSV.dial :air +2 "collection"'= @ +42 "core" A +2 "collection"'<% +4 "core" %s@\  +2 .tCS.seek 7ml + "collection"'x' +533 "core" ' +2 ."connect"CSV.dial CTV +3 .tCTV.dial CSV +3 "collection"'w  +41 "core"  + .tCBV.dial :waste2 +2 "collection"'i  +103 "core"  +2 .tCS.seek 0ml +2 "collection"'t' +1657 "core" ' +2 #tDisinfecting external Intake with kill + "collection"'N& +4 "core" &]e@\ N +2 "collection"'s% +3 "core" %[\ +2 .tCSV.dial CSR + "collection"'l  +54 "core"  + "collection"'^% +4 "core" %c\ +2 #tPulling 8ml of CSR.kill + .CSR.select :kill +2 "collection"' +10 .tCS.seek 8ml + "collection"'*'X +1894 "core" ' +2 .tdelay 5 seconds +502 .CSR.select :air +2 "collection"' +9 .tCS.seek 10ml +2 "collection"'m' +536 "core" ' +2 ."connect"CSV.dial CBV +3 .tCBV.dial CSV +3 "collection"'p + '  +101 "core" +39  + .tCTV.dial :intake +2 "collection"'@  +72 "core" + .tIntake.select :open +2 "sampler") +9 .tCS.seek 2ml +2 "collection"'h'~ +1884 "core" ' + .tIntake.select :close +2 "sampler")0 +9 .tCTV.dial :air + "collection"'`  +72 "core" ~ + .tCS.reconfigure :default +3 "collection"'#P d@b +2 .tCS.seek 0ml +2 "collection"'H' +585 "core" ' +2 .tCSV.dial CSR + "collection"'u  +99 "core"  + "collection"'% +5 "core" %3\ + #tPulling 4.999ml of CSR.flush + .CSR.select :flush +2 "collection"' +10 .tCS.seek 5ml + "collection"'f's +1358 "core" ' +2 .tdelay 5 seconds +502 .CSR.select :air +2 "collection"' +10 .tCS.seek 10ml +2 "collection"'n' +1348 "core" ' + .tCSV.dial CBV +2 "collection"' +99 "core" +2 .tCS.seek 0ml + "collection"'U' +2633 "core" ' + #tGaraging FlushPuck in Collection Clamp +2 "manipulator"&& +4 "core" &)%  =A +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&e( +61 "core" ( +2 "manipulator"&z& +4 "core" &# x ;5 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &# \ ;5 +2 .tForearm.seek CC + "manipulator"&q'| +96 "core" ' +2 .tHand.close + "manipulator"&g/ +54 "core" / +2 .tCC.seek :open + "collection"'(p +409 "core" ( + "manipulator"&[& +4 "core" &, n 4 +2 "manipulator"&%% +4 "core" % ~ n +2 .tForearm.seek :retract + "manipulator"&{'\ +94 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage +2 "manipulator"&}(, +292 "core" ( +2 "manipulator"& & +4 "core" &, d ;  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +2 "core" &,   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :garage +2 "manipulator"&' +110 "core" ' + .tHand.open +50 "manipulator"&d1 +58 "core" 1 +2 "manipulator"&% +4 "core" %  " / +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&6'\ +105 "core" ' +2 "processing"% & +4 "core" &H\ +42596 "Can" ,;9 +44482 #t-> access 1 +2 "storage"(R% +4 "core" %= \ +2 "manipulator"&% +4 "core" %\ 2  %y + "manipulator"&o& +4 "core" &,   +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 + "storage"((<< +1310 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (,& +3 "core" &<9 ) 9 \  +219 #t-> exit +6 #mEXIT @1663622604.72EDT @1664289250.41EDT = =tMAIN =mMAIN_scheduler @EDT1664289252.29 #"core_reset"Sent BREAK +2 #t@12141 idle with ifg=0x00, ie=0x75 #>RESET< ESP2 v3.41 I2C Gateway v3.20 +208 #>RESET< ESP2 v3.41 I2C Gateway v3.20 for core bus +204 !o:Instrument::ISUSCore: @refip`O: @configS:Instrument::Configuration: name" ISUS:calFileName0:sampleCmd"TS: prompt"\ :statusCmd"C:sampleTimeouti#:promptTimeouti:statusTimeouti: retriesi:strToPrompt"W: pace0: echoF:\ @name@ +100 #Configuration for don (12651-03) 10/9/20 brent@mbari.org\ /home/esp/esp2/type/shallow/don/configure.rb\ +396 "Can"k >&#z + k >&#z #tPolling Can every 10:00 +3 #Cleanly exited at 17:23:24EDT19-Sep-22 +522 #-> ESP.ready! +3 #Powering core bus +532 .Gate.power :raw,:ON +2 "sampler") +16 ) + "core"  +2 "collection"' +2 ' +4 "core"  + "processing"% +2 % +3 "core"  +5 "collection"' 9\ + ' 0\ +2 ' -\ +4 "processing"% 9\ +2 % 2\ +2 % *\ + % 0\ +4 "sampler")&\ +2 "collection"'% +4 "core" %'  + .tCS.configure :default +3 "collection"'#P d@b +2 "processing"%% +3 "core" %q\ + .tPS.configure :default +3 "processing"%#A d`xb +2 "sampler")% +3 "core" %   +2 .tSS.configure :default +2 "sampler")#.0X + +2 ."rdySampler"CSV.dial :waste1 +3 .tForearm.reconfigure :loose +2 "collection"' +4 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&'\ +34 "core" +2 ."rdySampler"SSV.dial :spit,avoiding: :exhaust +2 "sampler") +3 "core"  +2 "sampler")  +4 "core" +2 ."readyCS"CS.reconfigure :fast +4 ."rdySampler"SS.reconfigure :default +4 "collection"'#d @b + "sampler")#.0X Intake.open +3 .Intake.select :open + "sampler") +391 #t-> Intake.close +2 .Intake.select :close + "sampler")0 +6734 #t-> SSV.CBV +2 .SSV.dial CBV + "sampler");  +132 "core"  +1753 #t-> CBV.CTV +2 !o:NoMethodError : mesgu:NameError::message)undefined method `CTV' for CBV:Shaft: name:CTV: args[:bt[ "7/home/esp/esp2/lib/shaft.rb:80:in `method_missing'"(ESP):5:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +482 #-> CTV.CBV +2 !o:NoMethodError : mesgu:NameError::message)undefined method `CBV' for CTV:Shaft: name:CBV: args[:bt[ "7/home/esp/esp2/lib/shaft.rb:80:in `method_missing'"(ESP):6:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +4500 #-> CTV.intake +2 .CTV.dial :intake +2 "collection"'<  +71 "core"  +1534 #t-> CSV.CTV + .CSV.dial CTV +2 "collection"'=  +99 "core"  +8888 #t-> SSV.SS +2 !o:NoMethodError : mesgu:NameError::message(undefined method `SS' for SSV:Shaft: name:SS: args[:bt[ "7/home/esp/esp2/lib/shaft.rb:80:in `method_missing'"(ESP):9:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +4684 #-> SSV.CBV + .SSV.dial CBV +3305 #-> CBV.CTV +2 !o:NoMethodError : mesgu:NameError::message)undefined method `CTV' for CBV:Shaft: name:CTV: args[:bt[ "7/home/esp/esp2/lib/shaft.rb:80:in `method_missing'"(ESP):11:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +378 #-> CTV.CBV + !o:NoMethodError : mesgu:NameError::message)undefined method `CBV' for CTV:Shaft: name:CBV: args[:bt[ "7/home/esp/esp2/lib/shaft.rb:80:in `method_missing'"(ESP):12:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +7612 #-> CBV>CSV +3 !o:Log::CannotDump: mesg"9#' for CBV:Shaft>:bt["7/home/esp/esp2/lib/log.rb:471:in `recordException'"7/home/esp/esp2/lib/log.rb:597:in `recordException'"5/home/esp/esp2/lib/rmutex.rb:99:in `synchronize'"7/home/esp/esp2/lib/log.rb:596:in `recordException'"5/home/esp/esp2/lib/esp.rb:314:in `log_exception'"7/opt/mbari/lib/ruby/1.8/irb.rb:177:in `eval_input'":/opt/mbari/lib/ruby/1.8/irb.rb:277:in `signal_status'"7/opt/mbari/lib/ruby/1.8/irb.rb:163:in `eval_input'"N/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:241:in `each_top_level_statement'":/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:227:in `loop'"N/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:227:in `each_top_level_statement'";/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:226:in `catch'"N/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:226:in `each_top_level_statement'"7/opt/mbari/lib/ruby/1.8/irb.rb:162:in `eval_input'"1/opt/mbari/lib/ruby/1.8/irb.rb:69:in `start'"1/opt/mbari/lib/ruby/1.8/irb.rb:67:in `catch'"1/opt/mbari/lib/ruby/1.8/irb.rb:67:in `start'"-/home/esp/esp2/lib/esp.rb:200:in `shell'"7/home/esp/esp2/lib/schedule.rb:481:in `initialize'"0/home/esp/esp2/lib/thread.rb:738:in `start'"7/home/esp/esp2/lib/schedule.rb:474:in `initialize'"'/home/esp/esp2/lib/schedule.rb:472 +408 #-> CBV.CSV + .CBV.dial CSV +2 "collection"'>  +4 "core"  +1349 #t-> CSV.CTV +2 .CSV.dial CTV +654 #-> CTV.Intake +2 .CTV.dial Intake +5956 #-> SS.fill +2 .SS.seek 25ml + "sampler")?' +1238 "core" ' + "sampler")@% +4 "core" %L\ \ \  +903 #t-> SS.empty +2 .SS.seek 0ml +2 "sampler")A'0 +1225 "core" ' +2 "sampler")B% +4 "core" %3 \ +2822 "Can"V &C@ +1451 #t-> SSV.CBV +2 .SSV.dial CBV +2164 #-> CBV.CSV +2 .CBV.dial CSV +2256 #-> CSV.CTV +2 .CSV.dial CTV +662 #-> CTV.intake + .CTV.dial :intake +1055 #-> Intake.open +2 .Intake.select :open + "sampler") +469 #t-> SS.fill +3 .SS.seek 25ml + "sampler")C' +1223 "core" ' + "sampler")D% +4 "core" %*\ \ \  +626 #t-> SS.empty +3 .SS.seek 0ml + "sampler")E'0 +1212 "core" ' + "sampler")F% +4 "core" %* \ +11481 #t-> Flush.CC +2 #Loading FlushPuck into Collection Clamp from FlushPuck::Garage + "collection"'G& +3 "core" &_\\\  +2 .tHand.open +2 "manipulator"&H1 +56 "core" 1 + "manipulator"&I& +4 "core" &#\  ` +2 "manipulator"&J% +4 "core" % \ "   +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek FlushPuck::Garage +2 "manipulator"&K(, +187 "core" ( +2 "manipulator"&L& +4 "core" &, _ 1 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &M& +3 "core" &, R 1 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :garage +2 "manipulator"&N' +94 "core" ' +2 .tHand.close + "manipulator"&O/ +61 "core" / +2 "manipulator"&P& +4 "core" &,  1 +2 "manipulator"&Q% +3 "core" %  g +2 .tForearm.seek :retract + "manipulator"&R'\ +104 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&S( +295 "core" ( + "manipulator"&T& +4 "core" &  l - +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &U& +2 "core" &   - +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&V'| +102 "core" ' + "manipulator"&W& +4 "core" &  K - +2 "manipulator"&X% +4 "core" %r  + "collection"'Y& +4 "core" &_Y\  +2 "collection"'Z& +5 "core" &_V\  +2 .tCC.seek :closed +2 "collection"'[(] +4 "core" &_R\  +7 &sLY\ &j +10 &KXY\ 9 +9 &X\ N +9 &^`[\ O +10 &]U\ P +9 &bZ\ O +10 & cO\ P +9 &"ebN\ P +9 &$(aY\ O +10 &%`S\ O +9 &'_\\\ O +9 &)naS\ O +10 &+0aU\ O +9 &,`Z\ P +10 &.aL\ P +9 &0u_[\ P +9 &28bW\ O +10 &3aX\ P +9 &5]X\ P +10 &7}_T\ P +9 &9?_R\ P +9 &;bS\ O +10 &<bW\ O +9 &>`P\ O +9 &@GcQ\ P +10 &B bN\ P +9 &C_N\ O +9 &E^S\ O +10 &GQ^Y\ O +9 &IjM\ P +10 &JpQ\ R +9 &LV\ U +9 &N?L\ X +10 &OQ\ Y +9 &QL\ Y +9 &S}S\ [ +10 &U?Y\ [ +9 &WX\ [\ +10 &XL\ ] +9 &ZO\ ] +9 &\\BP\ I +10 &]U:O\ . +9 &]]F\ B +5 ( +2 "collection"'Z& +4 #tCollection Clamp onSpring/offSpring for 10/26 samples, on/off torque 1.95 +2 "collection"'\\& +4 "core" &]UY\ B + &]VY\ B + .tHand.open + "manipulator"&]1 +52 "core" 1 +2 "manipulator"&^% +4 "core" % r W +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&_'\ +97 "core" ' +764 #t-> CBV.CTV + !o:NoMethodError : mesgu:NameError::message)undefined method `CTV' for CBV:Shaft: name:CTV: args[:bt[ "7/home/esp/esp2/lib/shaft.rb:80:in `method_missing'"(ESP):27:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'" (null):0 +341 #-> CTV.CBV +2 !o:NoMethodError : mesgu:NameError::message)undefined method `CBV' for CTV:Shaft: name:CBV: args[:bt[ "7/home/esp/esp2/lib/shaft.rb:80:in `method_missing'"(ESP):28:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'" (null):0 +3770 #-> CTV.CC +2 !o:NoMethodError : mesgu:NameError::message(undefined method `CC' for CTV:Shaft: name:CC: args[:bt[ "7/home/esp/esp2/lib/shaft.rb:80:in `method_missing'"(ESP):29:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'" (null):0 +438 #-> CBV.CC +2 !o:NoMethodError : mesgu:NameError::message(undefined method `CC' for CBV:Shaft: name:CC: args[:bt[ "7/home/esp/esp2/lib/shaft.rb:80:in `method_missing'"(ESP):30:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'" (null):0 +4399 #-> CBV.SSV +2 .CBV.dial SSV + "collection"'` @ +105 "core" @ +2741 #t-> CTV.CBV +2 !o:NoMethodError : mesgu:NameError::message)undefined method `CBV' for CTV:Shaft: name:CBV: args[:bt[ "7/home/esp/esp2/lib/shaft.rb:80:in `method_missing'"(ESP):32:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'" (null):0 +5591 #-> CSV.CBV +2 .CSV.dial CBV + "collection"'a +127 "core" +992 #t-> CTV.CSV +2 .CTV.dial CSV +2 "collection"'b  +71 "core"  +2420 #t-> CTV.intake + .CTV.dial :intake +2 "collection"'c  +72 "core" +3682 #t-> CH.CTV +2 !o:NoMethodError : mesgu:NameError::message*undefined method `CTV' for CH:Thermal: name:CTV: args[:bt[ "8/home/esp/esp2/lib/slide.rb:396:in `method_missing'"(ESP):36:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'" (null):0 +491 #-> CC.CTV +2 !o:NoMethodError : mesgu:NameError::message(undefined method `CTV' for CC:Clamp: name:CTV: args[:bt[ "8/home/esp/esp2/lib/slide.rb:396:in `method_missing'"(ESP):37:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'" (null):0 +4636 #-> CBV.SSV +2 .CBV.dial SSV +898 #-> Intake.open + .Intake.select :open +355 #-> SS.fill +3 .SS.seek 25ml +2 "sampler")d' +1225 "core" ' + "sampler")e% +4 "core" % i b \ +1881 #t-> SSV.exhaust +2 .SSV.dial :exhaust + "sampler")f  +73 "core"  +646 "Can"G _\\ +523 #t-> SS.empty +3 .SS.seek 0ml + "sampler")g'0 +336 "core" '% \ u +3 !to:Slide::Error\ : mesg"+Sampler Syringe overCurrent at 19.23ml:@checkpoint: omitted: @replyo:I2C::Servo::AbsMove3Reply :@destinationi%: @channeli: @statusIS:I2C::Servo::Status: enabledT: pastRLSF: pastFLSF:pastThresholdF: lostF: homeF: positioni%: velocityi: currenti:pwmi:erri: inPressi : outPressi :deltaPressi : voltagef13.305875306823761: @type2F: @tagil: @sourcei.: @error:overCurrent:@axisName"Sampler Syringe:bt["2/home/esp/esp2/lib/slide.rb:587:in `raiseErr'"7/home/esp/esp2/lib/slide.rb:350:in `unlimitedSeek'"5/home/esp/esp2/lib/thread.rb:74:in `recoverable'"7/home/esp/esp2/lib/slide.rb:323:in `unlimitedSeek'"6/home/esp/esp2/lib/scale.rb:93:in `unlimitedSeek'"./home/esp/esp2/lib/slide.rb:314:in `seek'"0/home/esp/esp2/lib/slide.rb:357:in `moveTo'"0/home/esp/esp2/lib/syringe.rb:28:in `empty'"(ESP):42:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'" (null):0 +1647 #-> Exhaust.open + .Exhaust.select :open + "sampler")@ +372 #t-> SS.empty +2 .SS.seek 0ml +2 "sampler")h'0 +1038 "core" ' +2 "sampler")i% +4 "core" %/ \ +803 #t-> SSV.CBV +2 .SSV.dial CBV + "sampler")j  +74 "core"  +419 #t-> SS.fill +3 .SS.seek 25ml + "sampler")k' +1254 "core" ' + "sampler")l% +4 "core" % a Z \ +1408 #t-> SSV.Exhaust +2 .SSV.dial Exhaust + "sampler")m  +73 "core"  +636 #t-> SS.empty +2 .SS.seek 0ml +2 "sampler")n'0 +1241 "core" ' +2 "sampler")o% +4 "core" %2 \ . +409 #t-> SSV.CBV + .SSV.dial CBV +2 "sampler")p  +76 "core" +640 #t-> Exhaust.close +2 .Exhaust.select :close + "sampler") +1417 #t-> Intake.close + .Intake.select :close +2 "sampler")0 +47583 "Can"T SO +60002 V SO +60002 b RO +60002 C RO +60002 A SO +60002 ? RO +60002 H SO +60002 ^ SO +60001 L RO +60003 N SP +60002 T SO +60002 ^ RO +60002 [ RP +60002 ; RO +60002  RO +60001 D SO +60002 r RO +60002 o RO +60002 k SO +60002 g RO +60002 V RO +60002 L RO +32902 !to:SignalException: mesg" SIGHUP:\ signoi:bt["+/home/esp/esp2/lib/esp.rb:77:in `join'"1/home/esp/esp2/lib/esp.rb:77:in `mainThread'""/home/esp/esp2/lib/esp.rb:339 +4 !o:Storage::Warning: mesg"/Exiting with FlushPuck in Collection Clamp:bt["6/home/esp/esp2/utils/storage.rb:560:in `writeAll'"2/home/esp/esp2/utils/storage.rb:555:in `each'"6/home/esp/esp2/utils/storage.rb:555:in `writeAll'"2/home/esp/esp2/utils/storage.rb:551:in `open'"6/home/esp/esp2/utils/storage.rb:551:in `writeAll'"(/home/esp/esp2/utils/storage.rb:567"4/home/esp/esp2/lib/framework.rb:171:in `atExit'"2/home/esp/esp2/lib/framework.rb:175:in `call'"4/home/esp/esp2/lib/framework.rb:175:in `atExit'"2/home/esp/esp2/lib/framework.rb:175:in `call'"4/home/esp/esp2/lib/framework.rb:175:in `atExit'"2/home/esp/esp2/lib/framework.rb:175:in `call'"4/home/esp/esp2/lib/framework.rb:175:in `atExit'"-/home/esp/esp2/lib/thread.rb:762:in `[]'"0/home/esp/esp2/lib/thread.rb:762:in `start'"7/home/esp/esp2/lib/schedule.rb:474:in `initialize'"'/home/esp/esp2/lib/schedule.rb:472 +2 #mEXIT @1664303993.72EDT @1664477737.26EDT = =tMAIN =mMAIN_scheduler @EDT1664477739.07 #"core_reset"Sent BREAK + #t@59663 sendCRC with ifg=0x20, ie=0x7F + #@60810 sendCRC with ifg=0x20, ie=0x7F + #@62172 sendCRC with ifg=0x08, ie=0x5F + #@3293 sendCRC with ifg=0x20, ie=0x7F #@3740 sendCRC with ifg=0x20, ie=0x7F + #@5052 sendCRC with ifg=0x20, ie=0x7F #@5268 sendCRC with ifg=0x20, ie=0x7F + #@7095 sendCRC with ifg=0x08, ie=0x5F #@10340 idle with ifg=0x00, ie=0x75 + #ESP2 v3.41 I2C Gateway v3.20 +9 #ESP2 v3.41 I2C Gateway v3.20 for core bus +201 !o:Instrument::ISUSCore: @configS:Instrument::Configuration: name" ISUS:calFileName0:sampleCmd"TS: prompt"\ :statusCmd"C:sampleTimeouti#:promptTimeouti:statusTimeouti: retriesi:strToPrompt"W: pace0: echoF: @refitlK:\ @name@ +95 #Configuration for don (12651-03) 10/9/20 brent@mbari.org\ /home/esp/esp2/type/shallow/don/configure.rb\ +360 "Can" TR +  TR + #tPolling Can every 10:00 +2 #Cleanly exited at 14:39:53EDT27-Sep-22 + !o:Storage::Warning: mesg"CC.holds FlushPuck:bt["8/home/esp/esp2/utils/storage.rb:445:in `readPucks!'"2/home/esp/esp2/utils/storage.rb:444:in `each'"8/home/esp/esp2/utils/storage.rb:444:in `readPucks!'"6/home/esp/esp2/utils/storage.rb:627:in `restore!'"-/home/esp/esp2/lib/esp.rb:115:in `shell'"7/home/esp/esp2/lib/schedule.rb:481:in `initialize'"0/home/esp/esp2/lib/thread.rb:738:in `start'"7/home/esp/esp2/lib/schedule.rb:474:in `initialize'"'/home/esp/esp2/lib/schedule.rb:472 +2 #ESP.ready! will restore puck positions +2381 #-> ESP.ready! +154 "sampler") + ) +2 "core"  +2 "collection"' +2 ' +2 "core"  +2 "processing"% +2 % +3 "core"  +4 "collection"' 9\ +3 ' 0\ +2 ' -\ +3 "processing"% 9\ +2 % 2\ +2 % *\ +2 % 0\ +3 "sampler")&\ +2 "collection"'% +3 "core" %5\ +2 .tCS.configure :default +2 "collection"'#P d@b +2 .tCS.hold +2 "collection"'+ +3 "core" + +2 .tCS.configure :default +2 "collection"'#P d@b +2 "processing"%% +3 "core" % \ +2 .tPS.configure :default +2 "processing"%#A d`xb +2 "sampler")% +3 "core" %2 \ . +2 .tSS.configure :default +2 "sampler")#.0X Flush.garage +740 #-> Flush +931 #-> Hand.open +2 .Hand.open + "manipulator"&31 +21 "core" 1 +412 #t-> Arm.Cs + "manipulator"&4& +4 "core" & ~ , +2 !to:Axis::Error: mesg"Unknown Elbow position: Cs:@axisName"\ Elbow:bt["0/home/esp/esp2/lib/axis.rb:512:in `baseRaw'",/home/esp/esp2/lib/axis.rb:293:in `raw'"1/home/esp/esp2/lib/axismap.rb:171:in `fetch'"1/home/esp/esp2/lib/axismap.rb:159:in `fetch'"./home/esp/esp2/lib/axis.rb:277:in `fetch'",/home/esp/esp2/lib/axis.rb:288:in `raw'",/home/esp/esp2/lib/axis.rb:552:in `raw'"./home/esp/esp2/lib/axis.rb:666:in `near?'",/home/esp/esp2/utils/misc.rb:32:in `to'"8/home/esp/esp2/utils/misc.rb:38:in `method_missing'"(ESP):5:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +407 #-> Arm.CS + "manipulator"&5& +3 "core" & , +3 !to:Axis::Error: mesg"Unknown Elbow position: CS:@axisName"\ Elbow:bt["0/home/esp/esp2/lib/axis.rb:512:in `baseRaw'",/home/esp/esp2/lib/axis.rb:293:in `raw'"1/home/esp/esp2/lib/axismap.rb:171:in `fetch'"1/home/esp/esp2/lib/axismap.rb:159:in `fetch'"./home/esp/esp2/lib/axis.rb:277:in `fetch'",/home/esp/esp2/lib/axis.rb:288:in `raw'",/home/esp/esp2/lib/axis.rb:552:in `raw'"./home/esp/esp2/lib/axis.rb:666:in `near?'",/home/esp/esp2/utils/misc.rb:32:in `to'"8/home/esp/esp2/utils/misc.rb:38:in `method_missing'"(ESP):6:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +886 #-> Arm.CS +2 "manipulator"&6& +3 "core" & , +2 !to:Axis::Error: mesg"Unknown Elbow position: CS:@axisName"\ Elbow:bt["0/home/esp/esp2/lib/axis.rb:512:in `baseRaw'",/home/esp/esp2/lib/axis.rb:293:in `raw'"1/home/esp/esp2/lib/axismap.rb:171:in `fetch'"1/home/esp/esp2/lib/axismap.rb:159:in `fetch'"./home/esp/esp2/lib/axis.rb:277:in `fetch'",/home/esp/esp2/lib/axis.rb:288:in `raw'",/home/esp/esp2/lib/axis.rb:552:in `raw'"./home/esp/esp2/lib/axis.rb:666:in `near?'",/home/esp/esp2/utils/misc.rb:32:in `to'"8/home/esp/esp2/utils/misc.rb:38:in `method_missing'"(ESP):7:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +1215 #-> Arm.CC +2 "manipulator"&7& +3 "core" & _ , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek :CC +2 "manipulator"&8( +21 "core" ( +2 "manipulator"&9& +3 "core" & < 9 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &:& +2 "core" & A 9 +2 .tForearm.seek CC +2 "manipulator"&;'| +99 "core" ' +2 "manipulator"&<& +4 "core" &  9 + "manipulator"&=% +9 "core" %ρ 5 +341 #t-> Hand,close +3 !o:SyntaxError: mesg"Hcompile error\ (ESP):9: syntax error, unexpected '\\n', expecting '=':bt["(ESP):9:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +820 #-> Hand.close + .Hand.close +2 "manipulator"&>/ +63 "core" / +344 #t-> CC.open +2 .CC.seek :open + "collection"'?(p +413 "core" ( +2 "collection"'@& +4 "core" & \ +436 #t-> Arm.garage +2 "manipulator"&A& +3 "core" &  0 + "manipulator"&B% +4 "core" % π ^ +2 .tForearm.seek :retract + "manipulator"&C'\ +102 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage +2 "manipulator"&D(, +289 "core" ( + "manipulator"&E& +4 "core" &,  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &F& +3 "core" &,  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :garage +2 "manipulator"&G' +110 "core" ' +2 "manipulator"&H& +4 "core" &,  + "manipulator"&I% +4 "core" %  +397 #t-> Hand.open +2 .Hand.open + "manipulator"&J1 +55 "core" 1 +350 #t-> Arm.home + "manipulator"&K& +3 "core" &,  +2 "manipulator"&L% +4 "core" %  + +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&M'\ +98 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek :home + "manipulator"&N( +107 "core" ( + "manipulator"&O& +4 "core" &  \\ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &P& +2 "core" & \\ +2 .tForearm.seek :home +2 "manipulator"&Q' +41 "core" ' +2 "manipulator"&R& +4 "core" & h v \\ + "manipulator"&S% +4 "core" % ` a K ' +2861 #t-> CTV +2 "collection"'T +2 "core"  +432 #t-> Intake +641 #-> CBV + "collection"'U +2 "core" @ +439 #t-> SSV +2 "sampler")V +2 "core"  +1098 #t-> Exhaust +738 #-> Intake.open + .Intake.select :open +2 "sampler") +1195 #t-> Flush.CC +2 #Loading FlushPuck into Collection Clamp from FlushPuck::Garage +2 "collection"'W& +3 "core" &N\ +2 "manipulator"&X& +4 "core" & l m G \\ + "manipulator"&Y% +4 "core" % a b e ' +2 .tForearm.seek :retract + "manipulator"&Z'\ +39 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek FlushPuck::Garage +2 "manipulator"&[(, +126 "core" ( +2 "manipulator"&\\& +4 "core" &, W Q + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &]& +3 "core" &, . Q +2 .tForearm.seek :garage + "manipulator"&^' +104 "core" ' +2 .tHand.close + "manipulator"&_/ +63 "core" / + "manipulator"&`& +4 "core" &, N Q +2 "manipulator"&a% +3 "core" %  * +2 .tForearm.seek :retract +2 "manipulator"&b'\ +97 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&c( +304 "core" ( +2 "manipulator"&d& +4 "core" &  |  * + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &e& +2 "core" &  l * +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&f'| +94 "core" ' + "manipulator"&g& +4 "core" &   * +2 "manipulator"&h% +4 "core" %ρ "  + "collection"'i& +4 "core" &:\ +2 "collection"'j& +5 "core" &6\ +2 .tCC.seek :closed + "collection"'k(] +4 "core" &2\ +8 & ..\ $e +9 &ZV/\ 9 +10 &}=\ M +9 &i\\+\ O +9 &,Z/\ O +10 &\\7\ O +9 & _7\ O +10 &"q\\-\ O +9 &$5WA\ O +11 &%\\C\ O +8 &'\\4\ O +9 &){_:\ O +10 &+=Z>\ O +9 &,Z>\ O +9 &.^7\ N +10 &0^6\ O +9 &2E^C\ O +9 &4`D\ O +10 &5Z;\ O +9 &7`1\ O +9 &9M\\C\ O +10 &;^2\ O +9 &<]:\ O +10 &>[;\ N +9 &@V[C\ N +9 &B\\?\ N +10 &C_<\ O +9 &EY=\ O +9 &G^Y@\ N +10 &I]C\ O +9 &Jj>\ P +10 &L~F\ S +9 &NKL\ X +9 &P J\ Y +10 &QH\ Z +9 &SF\ Z +9 &UG>\ \\ +10 &W C\ [\ +9 &XE\ \\ +10 &ZF\ ] +9 &\\GG\ K +9 &][<E\ (v +10 &]sC\ K +5 ( +2 "collection"'j& +4 #tCollection Clamp onSpring/offSpring for 10/26 samples, on/off torque 2.02 + "collection"'l& +4 "core" &]kG\ K + &]kJ\ K + .tHand.open +2 "manipulator"&m1 +59 "core" 1 + "manipulator"&n% +4 "core" % ρ "  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&o'\ +92 "core" ' +1064 #t-> SS.fill +3 .SS.seek 25ml + "sampler")p' +1222 "core" ' + "sampler")q% +5 "core" %<   \  +1353 #t-> SS.empty +3 .SS.seek 0ml + "sampler")r'0 +1216 "core" ' +2 "sampler")s% +4 "core" %5 \ f +1674 #t-> SS.fill +2 .SS.seek 25ml +2 "sampler")t' +1234 "core" ' + "sampler")u% +4 "core" %9   \  +3167 #t-> SSV.exhaust +2 .SSV.dial :exhaust +2 "sampler")v  +74 "core"  +520 #t-> Exhaust.open +2 .Exhaust.select :open + "sampler")@ +493 #t-> SS.empty +2 .SS.seek 0ml +2 "sampler")w'0 +1219 "core" ' + "sampler")x% +4 "core" %6 \ q +1064 #t-> Intake.close + .Intake.select :close + "sampler")0 +556 #t-> Exhaust.close + .Exhaust.select :close + "sampler") +833 #t-> SSV.CBV +2 .SSV.dial CBV + "sampler")y  +77 "core" +828 #t-> Intake.open +2 .Intake.select :open + "sampler") +509 #t-> SS.fill +2 .SS.seek 25ml +2 "sampler")z' +1256 "core" ' + "sampler"){% +4 "core" % . ' \ % +8733 #t-> SS.empty +2 .SS.seek 0ml + "sampler")|'0 +1218 "core" ' + "sampler")}% +5 "core" %4 \ c +409 #t-> SS.fill +2 .SS.seek 25ml + "sampler")~' +1246 "core" ' + "sampler")% +4 "core" % %  \ C +1671 #t-> Intake.close +2 .Intake.select :close + "sampler")0 +828 #t-> SSV.Exhaust +2 .SSV.dial Exhaust +2 "sampler")  +73 "core"  +426 #t-> Exhaust.open + .Exhaust.select :open +2 "sampler")@ +429 #t-> SS.empty +2 .SS.seek 0ml + "sampler")'0 +1247 "core" ' +2 "sampler")% +3 "core" %+ \  +644 #t-> Exhaust.close +2 .Exhaust.select :close + "sampler") +2583 "Can" _] +6061 #t-> exit +5 !o:Storage::Warning: mesg"/Exiting with FlushPuck in Collection Clamp:bt["6/home/esp/esp2/utils/storage.rb:560:in `writeAll'"2/home/esp/esp2/utils/storage.rb:555:in `each'"6/home/esp/esp2/utils/storage.rb:555:in `writeAll'"2/home/esp/esp2/utils/storage.rb:551:in `open'"6/home/esp/esp2/utils/storage.rb:551:in `writeAll'"(/home/esp/esp2/utils/storage.rb:567"4/home/esp/esp2/lib/framework.rb:171:in `atExit'"2/home/esp/esp2/lib/framework.rb:175:in `call'"4/home/esp/esp2/lib/framework.rb:175:in `atExit'"2/home/esp/esp2/lib/framework.rb:175:in `call'"4/home/esp/esp2/lib/framework.rb:175:in `atExit'"2/home/esp/esp2/lib/framework.rb:175:in `call'"4/home/esp/esp2/lib/framework.rb:175:in `atExit'"-/home/esp/esp2/lib/thread.rb:762:in `[]'"0/home/esp/esp2/lib/thread.rb:762:in `start'"7/home/esp/esp2/lib/schedule.rb:474:in `initialize'"'/home/esp/esp2/lib/schedule.rb:472 +2 #mEXIT @1664478405.88EDT @946684890.34EST = =mMAIN_scheduler =tMAIN @EST946684892.26 #"core_reset"Sent BREAK + #t@53878 idle with ifg=0x00, ie=0x75 + #>RESET< ESP2 v3.41 I2C Gateway v3.20 +208 #>RESET< ESP2 v3.41 I2C Gateway v3.20 for core bus @EDT1665761060.40 !o:Instrument::ISUSCore: @refig: @configS:Instrument::Configuration: name" ISUS:calFileName0:sampleCmd"TS: prompt"\ :statusCmd"C:sampleTimeouti#:promptTimeouti:statusTimeouti: retriesi:strToPrompt"W: pace0: echoF:\ @name@ +127 #Configuration for don (12651-03) 10/9/20 brent@mbari.org\ /home/esp/esp2/type/shallow/don/configure.rb\ +843 "Can"Y 9&#| +2 Y 9&#| + #tPolling Can every 10:00 +5 #Cleanly exited at 15:06:45EDT29-Sep-22 +4 !o:Storage::Warning: mesg"CC.holds FlushPuck:bt["8/home/esp/esp2/utils/storage.rb:445:in `readPucks!'"2/home/esp/esp2/utils/storage.rb:444:in `each'"8/home/esp/esp2/utils/storage.rb:444:in `readPucks!'"6/home/esp/esp2/utils/storage.rb:627:in `restore!'"-/home/esp/esp2/lib/esp.rb:115:in `shell'"7/home/esp/esp2/lib/schedule.rb:481:in `initialize'"0/home/esp/esp2/lib/thread.rb:738:in `start'"7/home/esp/esp2/lib/schedule.rb:474:in `initialize'"'/home/esp/esp2/lib/schedule.rb:472 +3 !o:Storage::Warning: mesg"CC.holds FlushPuck:bt["8/home/esp/esp2/utils/storage.rb:445:in `readPucks!'"2/home/esp/esp2/utils/storage.rb:444:in `each'"8/home/esp/esp2/utils/storage.rb:444:in `readPucks!'"6/home/esp/esp2/utils/storage.rb:627:in `restore!'"-/home/esp/esp2/lib/esp.rb:115:in `shell'"7/home/esp/esp2/lib/schedule.rb:481:in `initialize'"0/home/esp/esp2/lib/thread.rb:738:in `start'"7/home/esp/esp2/lib/schedule.rb:474:in `initialize'"'/home/esp/esp2/lib/schedule.rb:472 +3 #ESP.ready! will restore puck positions +552 #-> ESP.ready! +5 #Powering core bus +564 .Gate.power :raw,:ON +5 "sampler") +34 ) +4 "core"  +5 "collection"' +5 ' +9 "core"  +4 "processing"% +3 % +9 "core"  +11 "collection"' 9\ +5 ' 0\ +4 ' -\ +10 "processing"% 9\ +7 % 2\ +3 % *\ +5 % 0\ +7 "sampler")&\ +5 "collection"'% +9 "core" % +3 .tCS.configure :default +6 "collection"'#P d@b +3 "processing"%% +8 "core" %?\ +4 .tPS.configure :default +5 "processing"%#A d`xb +9 "sampler")% +7 "core" %   +4 .tSS.configure :default +4 "sampler")#.0X(p +357 "core" ( +4 "collection"'? +8 "core" @ +4 "processing"%@ +7 "core" V +4 "processing"%A +7 "core"  +3 "processing"%B +7 "core" A +76 "collection"'C% +22 "core" %\ +3 "processing"%D% +8 "core" %!\ +4 "sampler")E% +10 "core" %5 \  +5 "collection"'F& +6 "core" &]f#\ E +3 "processing"%G& +9 "core" &Z\ \ +4 "manipulator"&H% +7 "core" %\ + !O +3 "manipulator"&I& +8 "core" &G - +5 "storage"(J& +6 "core" &, \  +2 "storage"(K% +9 "core" %L\ \  (\ E +4 "collection"'L9 +7 "core" 9gk +5 "processing"%M9 +7 "core" 9{ +12074 #t-> Arm.CC +3 "manipulator"&N& +8 "core" &G ; - +5 .tElbow.reconfigure :tight +4 "manipulator"&$&.,(\ #b +5 .tElbow.seek :CC +3 "manipulator"&O( +25 "core" ( +3 "manipulator"&P& +8 "core" &  +3 .tElbow.reconfigure :loose +5 "manipulator"&$ &.,(#b +4 &Q& +6 "core" & v +4 .tForearm.seek CC +4 "manipulator"&R'| +100 "core" ' +4 "manipulator"&S& +8 "core" & Y +4 "manipulator"&T% +8 "core" %ϐ M 0 +565 #t-> Hand.close +3 .Hand.close +3 "manipulator"&U/ +64 "core" / +456 #t-> CC.open +5 "collection"'V& +8 "core" &]e\ E +6 !to:Puck::Error: mesg"(Collection Clamp contains FlushPuck:bt[ "4/home/esp/esp2/utils/puckmoves.rb:948:in `open'"(ESP):4:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'":0 +895 #-> Flush.garage +2 #Garaging FlushPuck in Collection Clamp +2 "collection"'W& +8 "core" &]d\ E +3 .tHand.open +3 "manipulator"&X1 +62 "core" 1 +4 "manipulator"&Y& +6 "core" &* ?  +4 .tElbow.reconfigure :tight +6 "manipulator"&$&.,(\ #b +4 .tElbow.seek CC +2 "manipulator"&Z( +28 "core" ( +4 "manipulator"&[& +12 "core" &\ m +2 .tElbow.reconfigure :loose +6 "manipulator"&$ &.,(#b +4 &\\& +8 "core" &\ +5 .tForearm.seek CC +2 "manipulator"&]'| +7 "core" ' +4 .tHand.close + "manipulator"&^/ +66 "core" / +5 .tCC.seek :open +5 "collection"'_(p +410 "core" ( +3 "manipulator"&`& +9 "core" & F +3 "manipulator"&a% +8 "core" % ; ! +3 .tForearm.seek :retract +4 "manipulator"&b'\ +96 "core" ' +5 .tElbow.reconfigure :tight +4 "manipulator"&$&.,(\ #b +6 .tElbow.seek :garage +2 "manipulator"&c(, +262 "core" ( +4 "manipulator"&d& +7 "core" &,   +3 .tElbow.reconfigure :loose +6 "manipulator"&$ &.,(#b +5 &e& +6 "core" &, t  +4 .tForearm.reconfigure :tight +8 "manipulator"&#Q@2^d^\ b +6 .tForearm.seek :garage +8 "manipulator"&f' +95 "core" ' +3 .tHand.open +4 "manipulator"&g1 +53 "core" 1 +3 "manipulator"&h% +8 "core" %  +4 .tForearm.reconfigure :loose +6 "manipulator"&#Q@2^d^b +4 .tForearm.seek :retract +3 "manipulator"&i'\ +97 "core" ' +6453 #t-> exit +9 #mEXIT @1665761363.19EDT @946684873.59EST = =tMAIN =mMAIN_scheduler @EST946684875.54 #"core_reset"Sent BREAK +3 #t@54961 idle with ifg=0x00, ie=0x75 #>RESET< ESP2 v3.41 I2C Gateway v3.20 +208 #>RESET< ESP2 v3.41 I2C Gateway v3.20 for core bus +207 !o:Instrument::ISUSCore: @refiI: @configS:Instrument::Configuration: name" ISUS:calFileName0:sampleCmd"TS: prompt"\ :statusCmd"C:sampleTimeouti#:promptTimeouti:statusTimeouti: retriesi:strToPrompt"W: pace0: echoF:\ @name@ +104 #Configuration for don (12651-03) 10/9/20 brent@mbari.org\ /home/esp/esp2/type/shallow/don/configure.rb\ +396 "Can"O ;&"o + O ;&"o + #tPolling Can every 10:00 +2 #Cleanly exited at 11:29:23EDT14-Oct-22 +610 #-> ESP.ready! +3 #Powering core bus @EDT1666010535.87 .Gate.power :raw,:ON +5 "sampler") +48 ) +4 "core"  +5 "collection"' +5 ' +7 "core"  +4 "processing"% +4 % +7 "core"  +9 "collection"' 9\ +4 ' 0\ +5 ' -\ +9 "processing"% 9\ +5 % 2\ +4 % *\ +3 % 0\ +8 "sampler")&\ +4 "collection"'% +8 "core" %1 +3 .tCS.configure :default +4 "collection"'#P d@b +6 "processing"%% +5 "core" %\ +5 .tPS.configure :default +5 "processing"%#A d`xb +5 "sampler")% +7 "core" % T \ +3 .tSS.configure :default +5 "sampler")#.0X access 6 +5 "storage"(;% +6 "core" %U \ C +4 "manipulator"&<% +8 "core" %\ #   +4 "manipulator"&=& +9 "core" &8  +3 .tSC.reconfigure :tight +6 "storage"($\ .\ 1~b +5 .tSC.seek 3 + "storage"(>( +364 "core" ( +4 .tSC.configure :limp +5 "storage"($\ 1b +5 (?& +5 "core" & u\  \ +1578 #t-> require 'shuffle.rb' +1334 #-> 20.times {shuffle 6..7} +4 #Shuffling pucks in tube 6 of [6..7] +4 #Loading generic puck from tube 6 into Collection Clamp + "collection"'@& +8 "core" &]H\  +4 .tHand.open +4 "manipulator"&A1 +64 "core" 1 +3 "manipulator"&B% +8 "core" % \ #   +4 "storage"(C% +8 "core" %U \ C +3 "storage"(D. +5 "core" .( +3 .tSC.reconfigure :tight +6 "storage"($\ .\ 1~b +5 .tSC.seek 6 +3 "storage"(E(K +992 "core" ( +3 .tSC.configure :limp +5 "storage"($\ 1b +5 (F& +9 "core" &K$ B A \  +2 "manipulator"&G& +9 "core" &8 D +6 .tElbow.reconfigure :tight +4 "manipulator"&$&.,(\ #b +5 .tElbow.seek 6 +4 "manipulator"&H( +19 "core" ( +3 "manipulator"&I& +87 "core" & X  +17 "storage"(J& +9 "core" &K \  +3 .tForearm.seek 6 + 450 counts +4 "manipulator"&K'< +98 "core" ' +4 "storage"(L& +9 "core" &K \  +5 .tSE.reconfigure :pick +5 "storage"(#]K-0-\ b +7 .tSE.seek :beamBreak + "storage"(M'e +289 "core" ' +3 "storage"(N- +8 "core" -' +4 .tSE.configure :default +5 "storage"(#QK-0-\ b +6 (O& +9 "core" &K ,\  +3 "manipulator"&P& +9 "core" & p q  +3 .tElbow.seek 6 +4 "manipulator"&Q( +7 "core" ( +4 "manipulator"&R& +8 "core" & o q @  +3 "storage"(S& +10 "core" &K =\  +4 .tForearm.seek 6 + 300 counts +5 "manipulator"&T'Ϧ +28 "core" ' +3 .tForearm.reconfigure :loose +5 "manipulator"&#Q@2^d^b +4 .tHand.close +4 "manipulator"&U/ +58 "core" / +6 ."downElevator"SE.seek :down +8 "manipulator"&V& +5 "storage"(W'N +16 "core" & r r #  +4 "manipulator"&X% +9 "core" % Ϩ o o  +4 .tForearm.seek :retract +6 "manipulator"&Y'\ +90 "core" ' +3 .tElbow.seek CC +5 "manipulator"&Z( +129 "core" ' +2 ."downElevator"SE.stop +3 "storage"(5 +21 "core" ( +3 "manipulator"&[& +11 "core" &# , :0 +3 .tElbow.reconfigure :loose +5 "manipulator"&$ &.,(#b +5 &\\& +8 "core" &# C :0 +4 .tForearm.reconfigure :tight +4 "manipulator"&#Q@2^d^\ b +5 .tForearm.seek CC +5 "manipulator"&]'| +108 "core" ' +4 "manipulator"&^& +9 "core" &# V :0 +3 "manipulator"&_% +8 "core" %u c +5 "collection"'`& +9 "core" &]E\  +5 "collection"'a& +10 "core" &]H\  +4 &]@\  +4 .tCC.seek :closed +9 "collection"'b(] +9 "core" &]<\  +2 &]D\  +4 &rNA\ &k +8 &LY5\ : +12 &6\ N +8 &k`.\ N +9 &,f;\ O +10 &c>\ O +8 & f;\ O +10 &"ri6\ O +10 &$5b9\ N +9 &%c=\ O +10 &'b7\ N +9 &)zg6\ O +10 &+<g:\ O +10 &,c;\ N +7 &.f;\ O +10 &0d=\ O +10 &2Ed?\ N +9 &4d.\ N +11 &5`?\ O +8 &7d?\ O +9 &9Lc>\ O +11 &;e?\ N +7 &<e3\ O +10 &>`>\ O +10 &@Tg;\ O +8 &Bg7\ O +12 &Cd<\ O +9 &Eb9\ O +9 &G\\c:\ O +9 &Ir4\ P +8 &J=\ R +11 &L5\ V +9 &NJ9\ X +9 &P }5\ X +9 &Qvy2\ Y +12 &Srv-\ Y +6 &UJkn3\ Z +11 &W hi3\ Z +8 &Xae4\ \\ +11 &Z^^4\ \\ +10 &\\MXZ/\ I +8 &]Z:RW0\ )y +9 &] UV0\ R +5 ( +8 "collection"'a& +7 #tCollection Clamp onSpring/offSpring for 10/26 samples, on/off torque 1.94 +2 .Hand.open +3 "manipulator"&c1 +9 "core" &]yUW6\ R +53 1 +3 "manipulator"&d% +8 "core" % u  +4 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +4 .tForearm.seek :retract +4 "manipulator"&e'\ +99 "core" ' +3 #tLoading generic puck from tube 6 into Processing Clamp +5 "processing"%f& +11 "core" &X \  +2 "manipulator"&g% +7 "core" %\ 1 < $r +4 "storage"(h% +8 "core" %> 4 5 3\  +2 "storage"(i. +8 "core" .(K +4 "storage"(j& +7 "core" &K & 8 E\  +4 "storage"(k& +8 "core" &K 2 % S\  +3 "manipulator"&l& +9 "core" &! > 8" +3 "manipulator"&m% +9 "core" %\ 1 " $r +4 .tElbow.reconfigure :tight +4 "manipulator"&$&.,(\ #b +5 .tElbow.seek 6 +4 "manipulator"&n( +157 "core" ( +3 "manipulator"&o& +10 "core" & O +3 "storage"(p& +8 "core" &K 5 2\  +4 .tForearm.reconfigure :tight +4 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 6 + 450 counts +4 "manipulator"&q'< +103 "core" ' +3 "storage"(r& +8 "core" &K d ^\  +4 .tSE.reconfigure :pick +5 "storage"(#]K-0-\ b +7 .tSE.seek :beamBreak +3 "storage"(s'e +282 "core" ' +3 "storage"(t- +8 "core" -' +3 .tSE.configure :default +5 "storage"(#QK-0-\ b +5 (u& +7 "core" &K Y \\ \  +3 "manipulator"&v& +8 "core" & o q ! +5 .tElbow.seek 6 +3 "manipulator"&w( +7 "core" ( +4 "manipulator"&x& +8 "core" & p p +3 "storage"(y& +10 "core" &K [ Y \  +4 .tForearm.seek 6 + 300 counts +4 "manipulator"&z'Ϧ +26 "core" ' +3 .tForearm.reconfigure :loose +6 "manipulator"&#Q@2^d^b +4 .tHand.close +5 "manipulator"&{/ +53 "core" / +7 ."downElevator"SE.seek :down +8 "manipulator"&|& +6 "storage"(}'N +18 "core" & o p - +3 "manipulator"&~% +10 "core" % ϣ q q - +5 .tForearm.seek :retract + "manipulator"&'\ +89 "core" ' +4 .tElbow.seek PC +4 "manipulator"&(c +147 "core" ' +3 ."downElevator"SE.stop +2 "storage"(5 +101 "core" ( +4 "manipulator"&& +10 "core" &\\ +3 .tElbow.reconfigure :loose +6 "manipulator"&$ &.,(#b +4 && +9 "core" &\\  +3 .tForearm.reconfigure :tight +6 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek PC +6 "manipulator"&'[ +105 "core" ' +3 "manipulator"&& +9 "core" &\\ +4 "manipulator"&% +9 "core" %\\ +5 "processing"%& +10 "core" &X\  +4 "processing"%& +13 "core" &X\  +2 &X\  +7 .tPC.seek :closed +4 "processing"% (Z +8 "core" &X\  +2 &X\ \  +6 &6\ , +9 &h\ A +8 &:{\ O +12 &`\ N +8 &c\ N +9 &^\ N +10 &!Db\ N +8 &#_\ N +9 &$c\ N +11 &&`\ N +9 &(N`\ M +10 &*`\ N +8 &+b\ N +11 &-b\ N +9 &/Te\ N +8 &1b\ M +10 &2b\ M +11 &4c\ N +8 &6\\b\ N +10 &8^\ N +8 &9_\ M +10 &;`\ M +11 &=dc\ N +7 &?(c\ M +10 &@`\ M +11 &B_\ M +8 &Dmc\ N +9 &F/`\ N +9 &Gk\ O +10 &Is\ P +10 &Kk\ Q +9 &M(\ S +9 &N\ T +10 &P\ T +9 &Rl\ S +9 &T-\ T +10 &U\ T +9 &W\ U +11 &Yp\ B +9 &ZxA\ V +10 &Z\ ( +6 ( +4 "processing"%& +5 #tProcessing Clamp onSpring/offSpring for 9/25 samples, on/off torque 1.56 +4 .Hand.open +2 "manipulator"&\ 1 +7 "core" &Z\ ( +53 1 +5 "manipulator"& % +9 "core" % \\ +5 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +4 "manipulator"& '\ +103 "core" ' +4 "processing"% & +7 "core" &Z\ ( +3 #tImaging generic puck in Processing Clamp while storing it to tube 6 +4 "manipulator"&% +10 "core" %\ 1 $t +2 "storage"(% +7 "core" %W  # \  +4 "storage"(. +6 "core" .(K +2 "storage"(& +9 "core" &K   ~\  +8 "storage"(& +6 "manipulator"&& +10 "core" &K   X\  +3 &\\ +6 .tElbow.reconfigure :tight +5 ."raiseStack"SE.reconfigure :place +10 "manipulator"&$&.,(\ #b +7 .tElbow.seek PC +5 "storage"(#]kK-0-\ b +3 "manipulator"&(c +17 ."raiseStack"SE.seek :beamBreak +3 "storage"('e +4 "core" ( +9 "manipulator"&& +9 "core" &\\ +4 .tElbow.reconfigure :loose +4 "manipulator"&$ &.,(#b +5 && +8 "core" &\\ N +4 .tForearm.seek PC +5 "manipulator"&'[ +100 "core" ' +3 .tHand.close +4 "manipulator"&/ +57 "core" / +4 .tPC.seek :open + "processing"%(p +51 "core" ' +2 "storage"(- +8 "core" -'e +2 ."raiseStack"SE.configure :default +7 "storage"(#QK-0-\ b +4 ."raiseStack"SE.seek :place +3 "storage"("'B +45 "core" ' +271 ( +4 "storage"(%& +8 "core" &K 4 4 \  +4 "manipulator"&'& +10 "core" &\\ 2 +4 "manipulator"&)% +8 "core" % e  +5 .tForearm.seek :retract +3 "manipulator"&('\ +95 "core" ' +4 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +4 .tElbow.seek 6 +4 "manipulator"&( +247 "core" ( +4 "manipulator"&& +9 "core" &  ? +4 "storage"(#& +8 "core" &K 9 ? \  +5 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +5 .tForearm.seek 6 + 450 counts +2 "manipulator"&,'< +102 "core" ' +3 .tHand.open +3 "manipulator"&-1 +62 "core" 1 +4 "storage"(.- +9 "core" -'B +6 .tSE.seek -0.16 Pucks below Top Plate +5 "storage"(/' +24 "core" ' +5 .tSE.reconfigure :seal +5 "storage"(#QK-0-\ b +5 .tSE.seek -0.83 Pucks below Top Plate +4 "storage"(0' +54 "core" ' +4 #tLights, camera, ACTION! +3 "storage"(1- +7 "core" -' +4 "storage"(2& +9 "core" &K \  +2 "manipulator"&3& +9 "core" & s z a ? +4 .tElbow.seek 6 + "manipulator"&4( +7 "core" ( +4 "manipulator"&5& +9 "core" & ~ } ? +2 "storage"(6& +8 "core" &K :\  +5 .tForearm.seek 6 + 450 counts +5 "manipulator"&7'< +6 "core" ' +4 .tSE.reconfigure :gently +5 "storage"(#QK-0-\ b +4 .tSE.seek -0.11 Pucks below Top Plate +4 "storage"(8'M +60 "core" ' +4 "manipulator"&9& +8 "core" & n n  ? +3 "storage"(:& +9 "core" &K X [\  +4 .tElbow.reconfigure :limp +6 "manipulator"&$ ,(b +5 .tForearm.reconfigure :loose +5 "manipulator"&#Q@2^d^b +6 .tForearm.seek 6 +4 "manipulator"&;'z +34 "core" ' +2 .tElbow.hold +4 "manipulator"&<, +8 "core" , +2 .tElbow.reconfigure :tight +5 "manipulator"&$&.,(\ #b +5 .tSE.reconfigure :default +6 "storage"(#QK-0-\ b +4 .tSE.seek 0.07 Pucks below Top Plate +4 "storage"(='7 +25 "core" ' +4 "manipulator"&!% +10 "core" %{\\  $ ų +3 "storage"(?& +9 "core" &K \ \  +3 .tForearm.force -20 +2 "manipulator"&5 +4 .tForearm.seek 6 + 301 counts +4 "manipulator"&@'ϧ +22 "core" ' +3 "manipulator"&A& +10 "core" & o q A % +3 "storage"(B& +10 "core" &K M A .\  +5 .tForearm.reconfigure :tight +6 "manipulator"&#Q@2^d^\ b +5 .tForearm.seek 6 + 450 counts +4 "manipulator"&C'< +18 "core" ' +4 "storage"(D% +9 "core" %< Y Y\ +6 ."downElevator"SE.seek :down +5 "storage"(>'N +99 (F% +6 "core" %P8 3 4\ U\\ +3 "manipulator"&G% +11 "core" %C p o +4 .tForearm.reconfigure :loose +4 "manipulator"&#Q@2^d^b +5 .tForearm.seek :retract +4 "manipulator"&I'\ +90 "core" ' +44 ' +2 ."downElevator"SE.stop +4 "storage"(5 +6 (J& +9 "core" &K A ? r\  +3 "collection"'L& +8 "core" &]xTV2\ R +5 #tStoring generic puck in Collection Clamp to tube 6 + "manipulator"&$% +9 "core" %\ # ) +4 "storage"(&% +8 "core" %S 9 B \  +3 "storage"(N. +9 "core" .(K +5 "storage"( & +9 "core" &K 9 - U\  +87 "storage"(O& +28 "core" &K ) )\  +3 "manipulator"&P& +9 "core" & % +4 .tElbow.seek 6 +2 "manipulator"&R( +34 "core" ( +4 "manipulator"&S& +9 "core" & L  +3 "storage"(U& +8 "core" &K X X Z\  +5 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +6 .tForearm.seek 6 + 450 counts +4 "manipulator"&V'< +104 "core" ' +3 "storage"(X& +9 "core" &K t o \  +5 .tSE.reconfigure :pick +5 "storage"(#]K-0-\ b +6 .tSE.seek :beamBreak +3 "storage"(H'e +285 "core" ' +2 "storage"(K- +8 "core" -' +2 .tSE.configure :default +7 "storage"(#QK-0-\ b +4 "manipulator"&[& +8 "core" & p r   +2 "storage"(M& +9 "core" &K u v \  +4 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +7 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +4 .tForearm.seek 6 +4 "manipulator"&\\'z +33 "core" ' +4 .tElbow.hold + "manipulator"&T, +8 "core" , +2 .tElbow.reconfigure :tight +8 "manipulator"&$&.,(\ #b +5 "storage"(Q- +6 "core" -' +5 .tSE.seek 0.11 Pucks below Top Plate +4 "storage"(^'k +32 "core" ' +3 "manipulator"&_% +9 "core" %΀\\   W ó +3 "storage"(`& +9 "core" &K \  +4 .tForearm.force -20 +2 "manipulator"&5 +7 .tForearm.seek 6 + 306 counts +2 "manipulator"&W'Ϭ +19 "core" ' +5 "manipulator"&Y& +10 "core" & o p   +3 "storage"(*& +8 "core" &K Y [ \  +6 .tForearm.reconfigure :tight +7 "manipulator"&#Q@2^d^\ b +5 .tForearm.seek 6 + 450 counts +5 "manipulator"&c'< +17 "core" ' +5 .tSE.seek 1.11 Pucks below Top Plate +3 "storage"(d'Z +47 "core" ' +3 "manipulator"&f& +10 "core" & p o  +3 "manipulator"&a% +10 "core" %. r o   +4 .tForearm.reconfigure :loose +4 "manipulator"&#Q@2^d^b +4 .tForearm.seek :retract +5 "manipulator"&g'\ +90 "core" ' +4 .tElbow.seek CC +4 "manipulator"&h( +166 "core" ( +4 "manipulator"&i& +10 "core" &"  :. +2 .tElbow.reconfigure :loose +6 "manipulator"&$ &.,(#b +5 &j& +11 "core" &" 0 :. +4 .tForearm.seek CC +2 "manipulator"&k'| +103 "core" ' +3 .tHand.close +2 "manipulator"&l/ +64 "core" / +5 .tCC.seek :open +4 "collection"'m(p +413 "core" ( +3 "storage"(]& +9 "core" &K y { X\  +3 "storage"(o& +8 "core" &K r o 4\  +5 "manipulator"&p& +9 "core" &" w :- +3 "manipulator"&Z% +10 "core" % ~  +4 .tForearm.seek :retract + "manipulator"&r'\ +95 "core" ' +4 .tElbow.reconfigure :tight +6 "manipulator"&$&.,(\ #b +5 .tElbow.seek 6 +4 "manipulator"&e( +155 "core" ( +3 "manipulator"&t& +11 "core" &   +3 "storage"(u& +13 "core" &K \  +4 .tElbow.reconfigure :limp +4 "manipulator"&$ ,(b +7 .tForearm.seek 6 + "manipulator"&v'z +108 "core" ' +2 .tElbow.hold +6 "manipulator"&x, +8 "core" , +4 .tElbow.reconfigure :tight +4 "manipulator"&$&.,(\ #b +6 .tHand.open +4 "manipulator"&y1 +55 "core" 1 +5 "manipulator"&{% +9 "core" % Ί 9 c +3 "storage"(|& +7 "core" &K X Z \  +5 .tForearm.force -20 + "manipulator"&5 +5 .tForearm.seek 6 + 316 counts +2 "manipulator"&~'϶ +20 "core" ' +3 "manipulator"&n& +11 "core" & q r & 2 +3 "storage"(q& +8 "core" &K \  +4 .tForearm.reconfigure :tight +6 "manipulator"&#Q@2^d^\ b +6 .tForearm.seek 6 + 450 counts + "manipulator"&s'< +21 "core" ' +3 "storage"(z% +11 "core" %` 3\ +6 ."downElevator"SE.seek :down +7 "storage"('N +99 (% +7 "core" %8 P\ TY +5 "manipulator"&w% +8 "core" %* p q  +4 .tForearm.reconfigure :loose +6 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +4 "manipulator"&'\ +89 "core" ' +44 ' +2 ."downElevator"SE.stop +5 "storage"(5 +6 #tShuffling pucks in tube 7 of [6..7] +4 #Loading generic puck from tube 7 into Collection Clamp +4 "collection"'& +10 "core" &5\ +5 "manipulator"&% +9 "core" %\ % T 0 +3 "storage"(}% +9 "core" %O }\  +3 "storage"(. +7 "core" .(K +4 .tSC.reconfigure :tight +5 "storage"($\ .\ 1~b +5 .tSC.seek 7 +4 "storage"(+([ +361 "core" ( +4 .tSC.configure :limp +3 "storage"($\ 1b +5 (\ & +6 "core" &[ ? ] Q\  +5 "manipulator"& & +9 "core" & W 2 +3 .tElbow.seek 7 +2 "manipulator"&( +32 "core" ( +3 "manipulator"& & +10 "core" &  Y +4 "storage"(& +6 "core" &[ F\  +7 .tForearm.reconfigure :tight +6 "manipulator"&#Q@2^d^\ b +5 .tForearm.seek 7 + 450 counts +4 "manipulator"&'k +99 "core" ' +4 "storage"(& +9 "core" &[ ?\  +4 .tSE.reconfigure :pick +4 "storage"(#]K-0-\ b +7 .tSE.seek :beamBreak +3 "storage"('e +284 "core" ' +2 "storage"(- +9 "core" -' +4 .tSE.configure :default +5 "storage"(#QK-0-\ b +7 (& +6 "core" &[ \  +5 "manipulator"&& +8 "core" & s o T Y +3 .tElbow.seek 7 +2 "manipulator"&( +7 "core" ( +3 "manipulator"&& +12 "core" & q u  Y +3 "storage"(& +9 "core" &[ =\  +4 .tForearm.seek 7 + 300 counts +5 "manipulator"&' +25 "core" ' +4 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +5 .tHand.close +6 "manipulator"&/ +59 "core" / +7 ."downElevator"SE.seek :down +9 "manipulator"& & + "storage"( 'N +19 "core" & o o Y +5 "manipulator"&% +9 "core" % p p +4 .tForearm.seek :retract + "manipulator"&%'\ +91 "core" ' +5 .tElbow.seek CC +3 "manipulator"&'( +139 "core" ' +2 ."downElevator"SE.stop +5 "storage"(5 +11 "core" ( +4 "manipulator"&)& +9 "core" & ! 8" +4 .tElbow.reconfigure :loose +5 "manipulator"&$ &.,(#b +8 && +10 "core" & ! x 8" +3 .tForearm.reconfigure :tight +4 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek CC +5 "manipulator"&'| +105 "core" ' +4 "manipulator"&#& +11 "core" & !  8! +3 "manipulator"&% +10 "core" %z 6 +4 "collection"'-& +9 "core" &&\ +6 "collection"'.& +11 "core" &5\ +6 &4\ +6 .tCC.seek :closed +3 "collection"'1(] +9 "core" &7\ +3 &*\ +8 & 8,\ $d +5 &kV \ 8 +9 &&\ L +11 &w`+\ O +9 &9b$\ O +10 &d/\ N +11 & c"\ N +6 &"`(\ O +9 &$A` \ O +13 &&b)\ O +6 &'`"\ N +10 &)e\ N +10 &+I`,\ O +8 &- b1\ N +11 &.a,\ O +10 &0`*\ N +8 &2Qa.\ O +10 &4d\ N +8 &5^\ N +11 &7^"\ O +10 &9Z`\ N +7 &;_J\ N +11 &<]\ N +10 &>cK\ N +8 &@bcd\ N +10 &B$eD\ N +8 &Ccd\ N +11 &E`l\ O +10 &Giaj\ O +7 &I*iJ\ O +11 &JvB\ Q +9 &LD\ T +10 &NYA\ W +13 &P|?\ X +9 &Qy~E\ Y +5 &Sux\ Z +10 &UWnrK\ Z +9 &Wfn\\\ Z +10 &Xgjd\ \\ +10 &Zce]\ \\ +8 &\\[^a\ I +10 &]gA]^P\ !g +8 &]]\\c\ \\ +6 ( +5 "collection"'.& +8 #tCollection Clamp onSpring/offSpring for 10/26 samples, on/off torque 1.97 +3 .Hand.open + "manipulator"&(1 +8 "core" &][\\b\ \\ +54 1 +2 "manipulator"&2% +9 "core" % v l +3 .tForearm.reconfigure :loose +6 "manipulator"&#Q@2^d^b +4 .tForearm.seek :retract +6 "manipulator"&3'\ +95 "core" ' +4 #tLoading generic puck from tube 7 into Processing Clamp +3 "processing"%5& +10 "core" &\ +2 "manipulator"&6% +8 "core" %\ +  !S +5 "storage"(9% +7 "core" %L   \  +3 "storage"(:. +6 "core" .([ +4 "storage"("& +6 "core" &[   \  +4 "storage"(/& +9 "core" &[  \  +3 "manipulator"&!& +7 "core" & * 8 +4 "manipulator"&?% +11 "core" %\ + P !S +3 .tElbow.reconfigure :tight +6 "manipulator"&$&.,(\ #b +2 .tElbow.seek 7 +4 "manipulator"&( +161 "core" ( +6 "manipulator"&A& +8 "core" & F  +2 "storage"(,& +9 "core" &[ A A \  +5 .tForearm.reconfigure :tight +6 "manipulator"&#Q@2^d^\ b +5 .tForearm.seek 7 + 450 counts +2 "manipulator"&B'k +96 "core" ' +2 "storage"(0& +9 "core" &[ X X 1\  +3 .tSE.reconfigure :pick +5 "storage"(#]K-0-\ b +10 .tSE.seek :beamBreak +5 "storage"(D'e +280 "core" ' +5 "storage"(7- +6 "core" -' +4 .tSE.configure :default +3 "storage"(#QK-0-\ b +6 (4& +7 "core" &[ V L X\  +2 "manipulator"&F& +9 "core" & { | i  +5 .tElbow.seek 7 + "manipulator"&G( +8 "core" ( +3 "manipulator"&8& +5 "core" & v | @  +6 "storage"(;& +9 "core" &[ Y Y #\  +5 .tForearm.seek 7 + 300 counts +5 "manipulator"&@' +27 "core" ' +3 .tForearm.reconfigure :loose +5 "manipulator"&#Q@2^d^b +5 .tHand.close +4 "manipulator"&J/ +66 "core" / +5 ."downElevator"SE.seek :down +11 "manipulator"&L& + "storage"(='N +18 "core" & o o   +4 "manipulator"&$% +8 "core" % o n +4 .tForearm.seek :retract +3 "manipulator"&&'\ +91 "core" ' +4 .tElbow.seek PC +5 "manipulator"&N(c +149 "core" ' +3 ."downElevator"SE.stop +2 "storage"(5 +85 "core" ( +3 "manipulator"& & +10 "core" &h  N +5 .tElbow.reconfigure :loose +5 "manipulator"&$ &.,(#b +4 &O& +8 "core" &h - N +4 .tForearm.reconfigure :tight +4 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +4 "manipulator"&C'[ +105 "core" ' +4 "manipulator"&P& +10 "core" &h N +4 "manipulator"&S% +8 "core" %^ +4 "processing"%U& +9 "core" &\ +6 "processing"%>& +10 "core" &\ +6 .tPC.seek :closed +7 "processing"%X(Z +9 "core" &\ +2 &\ +2 &\ 3 +8 &G\ 1 +10 &<q\ E +6 &j\ O +10 &[\ N +9 &f_\ M +8 & '_\ N +14 &!]\ N +5 &#\\\ N +12 &%m]\ N +9 &'/^\ N +9 &(\\\ N +9 &*Z\ M +8 &,u_\ N +10 &.7b\ N +11 &/b\ N +7 &1b\ N +10 &3~b\ M +10 &5?\\\ N +9 &7a\ M +10 &8`\ M +9 &:\\\ N +9 &\ a\ M +7 &?_\ M +12 &Aa\ M +11 &CP]\ M +6 &E^\ M +10 &Fh\ N +9 &Hm\ P +8 &JN|\ Q +10 &L \ S +12 &M\ T +8 &O\ T +9 &QM\ T +8 &S\ T +11 &T\ T +9 &V\ U +10 &XR\ U +148 &Yz{\ (} +2 &Z+\ 8 + ( +3 &Z\ * +5 &Z\ * +3 &Z\ * +2 &Z\ * +4 &Z\ * +2 &Z\ * +3 &Z\ * +5 &Z\ * +2 &Z\ * +2 &Z\ * +4 &Z\ * +2 &Z\ * +2 &Z\ * +2 &Z\ * +4 &Z\ * +3 &Z\ * +3 &Z\ * +5 &Z\ * +2 &Z\ * +2 &Z\ * +4 "processing"%>& +6 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.55 +4 .Hand.open + "manipulator"&<1 +7 "core" &Z\ * +46 1 +5 "manipulator"&I% +9 "core" % ^ +4 .tForearm.reconfigure :loose +4 "manipulator"&#Q@2^d^b +4 .tForearm.seek :retract +4 "manipulator"&K'\ +98 "core" ' +3 "processing"%[& +8 "core" &Z\ * +3 #tImaging generic puck in Processing Clamp while storing it to tube 7 +4 "manipulator"&M% +7 "core" %\ , "\\ +4 "storage"(Q% +8 "core" %O   \  +4 "storage"(_. +8 "core" .([ +3 "storage"(`& +10 "core" &[   +\  +5 "storage"(Y& +3 "manipulator"&*& +14 "core" &[ \  +3 &h N +7 .tElbow.reconfigure :tight +6 ."raiseStack"SE.reconfigure :place +7 "manipulator"&$&.,(\ #b +7 .tElbow.seek PC +8 "storage"(#]kK-0-\ b + "manipulator"&f(c +16 ."raiseStack"SE.seek :beamBreak +3 "storage"(V'e +5 "core" ( +3 "manipulator"&a& +9 "core" &h 8 N +3 .tElbow.reconfigure :loose +5 "manipulator"&$ &.,(#b +5 &R& +6 "core" &h Q N +4 .tForearm.seek PC +5 "manipulator"&H'[ +99 "core" ' +2 .tHand.close +5 "manipulator"&\\/ +54 "core" / +4 .tPC.seek :open +4 "processing"%W(p +60 "core" ' +2 "storage"(^- +10 "core" -'e +3 ."raiseStack"SE.configure :default +5 "storage"(#QK-0-\ b +7 ."raiseStack"SE.seek :place +4 "storage"(i'B +36 "core" ' +268 ( +3 "storage"(j& +8 "core" &[ 4 4\  +2 "manipulator"&c& +7 "core" &h  N +4 "manipulator"&T% +10 "core" % a  +3 .tForearm.seek :retract +4 "manipulator"&l'\ +95 "core" ' +3 .tElbow.reconfigure :tight +4 "manipulator"&$&.,(\ #b +5 .tElbow.seek 7 +7 "manipulator"&g( +242 "core" ( +5 "manipulator"&b& +8 "core" & O B +2 "storage"(]& +8 "core" &[ 8 % \  +5 .tForearm.reconfigure :tight +4 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 7 + 450 counts +5 "manipulator"&o'k +104 "core" ' +4 .tHand.open +2 "manipulator"&p1 +63 "core" 1 +4 "storage"(Z- +6 "core" -'B +7 .tSE.seek -0.16 Pucks below Top Plate +2 "storage"(t' +27 "core" ' +5 .tSE.reconfigure :seal +5 "storage"(#QK-0-\ b +5 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(u' +60 "core" ' +3 #tLights, camera, ACTION! +2 "storage"(k- +7 "core" -' +4 "storage"(h& +8 "core" &[ 8\  +3 "manipulator"&y& +10 "core" & p q 0 B +4 .tElbow.seek 7 +2 "manipulator"&{( +8 "core" ( +3 "manipulator"&|& +8 "core" & p o  B +2 "storage"(n& +9 "core" &[ H\  +5 .tForearm.seek 7 + 450 counts + "manipulator"&q'k +16 "core" ' +4 .tSE.reconfigure :gently +5 "storage"(#QK-0-\ b +6 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"(r'M +66 "core" ' +5 "manipulator"&z& +10 "core" & ( B +4 "storage"(e& +9 "core" &[ 7 4\  +3 .tElbow.reconfigure :limp +4 "manipulator"&$ ,(b +5 .tForearm.reconfigure :loose +4 "manipulator"&#Q@2^d^b +4 .tForearm.seek 7 +5 "manipulator"&'Ω +36 "core" ' +3 .tElbow.hold +3 "manipulator"&w, +7 "core" , +4 .tElbow.reconfigure :tight +5 "manipulator"&$&.,(\ #b +7 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +4 .tSE.seek 0.07 Pucks below Top Plate +4 "storage"(v'7 +24 "core" ' +4 "manipulator"&~% +10 "core" %ιr  * ' +3 "storage"(& +8 "core" &[ ;\  +4 .tForearm.force -20 +3 "manipulator"&5 +6 .tForearm.seek 7 + 316 counts +2 "manipulator"&d' +17 "core" ' +4 "manipulator"&& +10 "core" & q y 4 B +4 "storage"(}& +8 "core" &[ X X h\  +4 .tForearm.reconfigure :tight +6 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +4 "manipulator"&'k +20 "core" ' +5 "storage"(s% +9 "core" %? X X y\  +5 ."downElevator"SE.seek :down +9 "storage"('N +101 (E% +5 "core" %@5 9 7\ U\\ +4 "manipulator"&\ % +8 "core" %Z r q   +4 .tForearm.reconfigure :loose +6 "manipulator"&#Q@2^d^b +5 .tForearm.seek :retract + "manipulator"& '\ +89 "core" ' +44 ' +3 ."downElevator"SE.stop +3 "storage"(5 +6 ( & +9 "core" &[ 9 :\  +2 "collection"'& +8 "core" &][\\\ \\ +4 #tStoring generic puck in Collection Clamp to tube 7 +2 "manipulator"&% +9 "core" %\ %  6 +2 "storage"(x% +8 "core" %W 4 4\  +3 "storage"(. +7 "core" .([ +2 "storage"(& +10 "core" &[ ? 7 !\  +5 "storage"(& +6 "core" &[ 3 3\  +5 "manipulator"&& +9 "core" & n B +4 .tElbow.seek 7 +2 "manipulator"&( +6 "core" ( +5 "manipulator"&& +9 "core" & B +2 "storage"(& +8 "core" &[ 4 3\  +5 .tForearm.reconfigure :tight +4 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 7 + 450 counts +5 "manipulator"& 'k +99 "core" ' +2 "storage"(& +10 "core" &[ B A \  +4 .tSE.reconfigure :pick +5 "storage"(#]K-0-\ b +7 .tSE.seek :beamBreak +5 "storage"('e +286 "core" ' +2 "storage"(- +14 "core" -' +3 .tSE.configure :default +5 "storage"(#QK-0-\ b +9 "manipulator"&)& +8 "core" &  B +3 "storage"(& +8 "core" &[ A B \  +3 .tElbow.reconfigure :limp +6 "manipulator"&$ ,(b +4 .tForearm.reconfigure :loose +5 "manipulator"&#Q@2^d^b +3 .tForearm.seek 7 +4 "manipulator"&'Ω +29 "core" ' +5 .tElbow.hold + "manipulator"&, +10 "core" , +2 .tElbow.reconfigure :tight +6 "manipulator"&$&.,(\ #b +6 "storage"(- +7 "core" -' +5 .tSE.seek 0.12 Pucks below Top Plate +3 "storage"(#'t +32 "core" ' +2 "manipulator"&% +12 "core" %ν{  C +4 "storage"(-& +9 "core" &[ a\  +3 .tForearm.force -20 +4 "manipulator"&5 +7 .tForearm.seek 7 + 320 counts +2 "manipulator"& ' +20 "core" ' +2 "manipulator"&%& +11 "core" & r | } B +2 "storage"(m& +9 "core" &[ X X _\  +4 .tForearm.reconfigure :tight +6 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 7 + 450 counts +4 "manipulator"&('k +21 "core" ' +5 .tSE.seek 1.12 Pucks below Top Plate +4 "storage"(2'c +43 "core" ' +3 "manipulator"&5& +10 "core" & p p B +3 "manipulator"&.% +10 "core" %\\ p p / +5 .tForearm.reconfigure :loose +5 "manipulator"&#Q@2^d^b +7 .tForearm.seek :retract +3 "manipulator"&6'\ +89 "core" ' +3 .tElbow.seek CC +4 "manipulator"&9( +149 "core" ( +3 "manipulator"&:& +10 "core" &$ 5 ;4 +5 .tElbow.reconfigure :loose +4 "manipulator"&$ &.,(#b +6 &"& +4 "core" &$ w ;4 +5 .tForearm.seek CC +4 "manipulator"&/'| +102 "core" ' +4 .tHand.close + "manipulator"&!/ +56 "core" / +3 .tCC.seek :open +2 "collection"'?(p +411 "core" ( +3 "storage"(& +9 "core" &[ g m s\  +3 "storage"(A& +10 "core" &[ m g !\  +3 "manipulator"&,& +9 "core" & 7 +3 "manipulator"&'% +9 "core" % k  +4 .tForearm.seek :retract +2 "manipulator"&0'\ +93 "core" ' +4 .tElbow.reconfigure :tight +7 "manipulator"&$&.,(\ #b +3 .tElbow.seek 7 +4 "manipulator"&3( +160 "core" ( +3 "manipulator"&7& +9 "core" &   +4 "storage"(4& +8 "core" &[ \  +3 .tElbow.reconfigure :limp +4 "manipulator"&$ ,(b +7 .tForearm.seek 7 + "manipulator"&F'Ω +108 "core" ' +4 .tElbow.hold + "manipulator"&8, +10 "core" , +2 .tElbow.reconfigure :tight +7 "manipulator"&$&.,(\ #b +4 .tHand.open +2 "manipulator"&;1 +56 "core" 1 +5 "manipulator"&J% +12 "core" % κ K y +2 "storage"(L& +10 "core" &[ W [ \  +3 .tForearm.force -20 +3 "manipulator"&5 +5 .tForearm.seek 7 + 317 counts +2 "manipulator"&$' +20 "core" ' +4 "manipulator"&& +9 "core" & d \\   +3 "storage"(B& +10 "core" &[ I\  +5 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +5 .tForearm.seek 7 + 450 counts +5 "manipulator"&D'k +20 "core" ' +2 "storage"(@% +11 "core" %g D\ +4 ."downElevator"SE.seek :down +9 "storage"( 'N +94 (O% +6 "core" %6 0\ TX +5 "manipulator"&G% +9 "core" %p J ^ T +4 .tForearm.reconfigure :loose +5 "manipulator"&#Q@2^d^b +4 .tForearm.seek :retract +5 "manipulator"&P'\ +90 "core" ' +39 ' +3 ."downElevator"SE.stop +3 "storage"(5 +8 #tShuffling pucks in tube 6 of [6..7] + #Loading generic puck from tube 6 into Collection Clamp +5 "collection"'S& +8 "core" &"\ +4 "manipulator"&U% +9 "core" %\ (  K +4 "storage"(=% +8 "core" %S \  +4 "storage"(&. +7 "core" .([ +3 .tSC.reconfigure :tight +6 "storage"($\ .\ 1~b +6 .tSC.seek 6 + "storage"((K +361 "core" ( +6 .tSC.configure :limp +4 "storage"($\ 1b +5 (<& +7 "core" &K X W _\ +3 "manipulator"&I& +8 "core" &   +4 .tElbow.seek 6 +3 "manipulator"&[( +23 "core" ( +2 "manipulator"&M& +9 "core" &\  ` +3 "storage"(>& +9 "core" &K (\ +4 .tForearm.reconfigure :tight +5 "manipulator"&#Q@2^d^\ b +6 .tForearm.seek 6 + 450 counts +3 "manipulator"&Q'< +108 "core" ' +2 "storage"(_& +9 "core" &K 0\ +4 .tSE.reconfigure :pick +5 "storage"(#]K-0-\ b +7 .tSE.seek :beamBreak +3 "storage"(`'e +287 "core" ' +3 "storage"(*- +8 "core" -' +3 .tSE.configure :default +5 "storage"(#QK-0-\ b +7 (Y& +7 "core" &K \ +3 "manipulator"&a& +10 "core" &\ o o  _ +4 .tElbow.seek 6 +4 "manipulator"&R( +7 "core" ( +4 "manipulator"&C& +9 "core" & u o ^ _ +2 "storage"(\\& +8 "core" &K U\ +5 .tForearm.seek 6 + 300 counts +6 "manipulator"&^'Ϧ +25 "core" ' +5 .tForearm.reconfigure :loose +5 "manipulator"&#Q@2^d^b +4 .tHand.close +4 "manipulator"&N/ +54 "core" / +6 ."downElevator"SE.seek :down +12 "manipulator"&K& +5 "storage"(X'N +15 "core" &\ o z s _ +99 "manipulator"&V% +29 "core" % ϟ n q +5 .tForearm.seek :retract +4 "manipulator"&j'\ +99 "core" ' +4 .tElbow.seek CC +5 "manipulator"&c( +14 "core" ' +3 ."downElevator"SE.stop +4 "storage"(5 +150 "core" ( +3 "manipulator"&T& +8 "core" & a +2 .tElbow.reconfigure :loose +6 "manipulator"&$ &.,(#b +5 &H& +8 "core" & a +4 .tForearm.reconfigure :tight +5 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +4 "manipulator"&b'| +101 "core" ' +3 "manipulator"&]& +9 "core" & a +3 "manipulator"&f% +11 "core" %σ +5 "collection"'p& +8 "core" &\ +4 "collection"'Z& +12 "core" &\ +4 &\ +4 .tCC.seek :closed +5 "collection"'k(] +9 "core" &'\ +3 &!\  +5 &0$\ +{ +9 &d&\ ? +10 &H}$\ O +9 & _-\ N +8 &c\ N +11 &b(\ O +8 &!Qb"\ N +11 &#_(\ N +9 &$`*\ N +8 &&c'\ O +9 &(Za\ N +11 &*`\ N +8 &+_\ N +12 &-c \ N +7 &/ac\ N +11 &1#c$\ N +10 &2d"\ N +7 &4b"\ N +10 &6lb\ M +10 &8,a\ N +8 &9_#\ N +12 &;]$\ M +9 &=sb\ N +8 &?5_*\ N +10 &@b\ N +8 &Ba)\ N +10 &D{b\ N +10 &F<_*\ N +10 &Gc0\ N +10 &Io$\ P +7 &Kv1\ R +12 &M,+\ V +9 &Nx}&\ W +9 &Prw*\ Y +7 &Rjns+\ Y +11 &T*im*\ Z +10 &Udf'\ Z +9 &W`a)\ [ +8 &Yi[_/\ \\ +11 &[,WY+\ \\ +9 &\\|SS)\ 3 +9 &]%PR,\ "c +8 ( +7 "collection"'Z& +8 #tCollection Clamp onSpring/offSpring for 9/25 samples, on/off torque 2.00 + .Hand.open + "manipulator"&l1 +9 "core" &]}OQ%\ T +2 &]}PS#\ T +54 1 +3 "manipulator"&h% +8 "core" %  +3 .tForearm.reconfigure :loose +5 "manipulator"&#Q@2^d^b +4 .tForearm.seek :retract +6 "manipulator"&y'\ +95 "core" ' +5 #tLoading generic puck from tube 6 into Processing Clamp + "processing"%|& +9 "core" &\ +5 "manipulator"&n% +8 "core" %\ ' { ; +3 "storage"(z% +10 "core" %M 1 =\  +3 "storage"(e. +6 "core" .(K +4 "storage"(i& +6 "core" &K - 6\ +4 "storage"(t& +8 "core" &K / 9 S\ +2 "manipulator"&~& +7 "core" & N a +3 "manipulator"&g% +11 "core" %\ ' [ ; +4 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +6 .tElbow.seek 6 +2 "manipulator"&( +150 "core" ( +3 "manipulator"&o& +10 "core" &  +3 "storage"(& +9 "core" &K . = M\ +4 .tForearm.reconfigure :tight +5 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +5 "manipulator"&}'< +94 "core" ' +3 "storage"(u& +10 "core" &K Z [ \ +4 .tSE.reconfigure :pick +6 "storage"(#]K-0-\ b +7 .tSE.seek :beamBreak +5 "storage"(s'e +284 "core" ' +4 "storage"(q- +7 "core" -' +5 .tSE.configure :default +5 "storage"(#QK-0-\ b +6 ({& +4 "core" &K B : {\ +4 "manipulator"&E& +9 "core" & k n +4 .tElbow.seek 6 +6 "manipulator"&\ ( +8 "core" ( +4 "manipulator"&r& +8 "core" & o n  +3 "storage"(& +11 "core" &K 5 3\ +5 .tForearm.seek 6 + 300 counts +5 "manipulator"&d'Ϧ +22 "core" ' +3 .tForearm.reconfigure :loose +6 "manipulator"&#Q@2^d^b +3 .tHand.close +5 "manipulator"& / +61 "core" / +5 ."downElevator"SE.seek :down +10 "manipulator"&& + "storage"(v'N +18 "core" & o p +4 "manipulator"&% +8 "core" % Ϩ o q  +4 .tForearm.seek :retract +4 "manipulator"&x'\ +99 "core" ' +4 .tElbow.seek PC +4 "manipulator"&(c +145 "core" ' +3 ."downElevator"SE.stop +3 "storage"(5 +92 "core" ( +5 "manipulator"&& +9 "core" &[ } C +3 .tElbow.reconfigure :loose +4 "manipulator"&$ &.,(#b +4 && +7 "core" &[ b C +4 .tForearm.reconfigure :tight +5 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +5 "manipulator"&'[ +105 "core" ' +4 "manipulator"&& +9 "core" &[ C +4 "manipulator"&% +11 "core" %a +5 "processing"%& +9 "core" &\ +5 "processing"%& +10 "core" &\ +5 .tPC.seek :closed +4 "processing"%(Z +14 "core" &\ +3 &\ + &\ 0 +6 &H\ 1 +9 &1s\ E +10 &i\ N +8 &`\ M +12 &\\_\ M +8 & ^\ N +8 &!\\\ N +11 &#Z\ M +9 &%d\\\ M +9 &'%\\\ N +11 &(\\\ M +7 &*]\ M +9 &,k\\\ N +11 &.-\\\ N +9 &/]\ N +10 &1`\ N +9 &3s]\ N +9 &56`\ M +12 &6[\ N +6 &8c\ N +9 &:{_\ N +12 &<>\\\ M +7 &=]\ N +10 &?\\\ M +10 &A`\ M +9 &CF\\\ M +10 &E]\ N +9 &Fe\ N +9 &Hl\ O +11 &JFt\ P +9 &L\ R +9 &M\ S +10 &O\ T +9 &QD\ S +9 &S\ T +9 &T\ T +11 &V\ U +8 &XI\ T +9 &Yzx\ + +10 &Z$a\ L +9 &Z6\ 5 +2 ( +9 "processing"%& +7 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.53 +2 .Hand.open +4 "manipulator"&w1 +6 "core" &Z4\ 5 +60 1 +4 "manipulator"& % +8 "core" % a k +4 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +5 .tForearm.seek :retract +4 "manipulator"&'\ +102 "core" ' +3 "processing"%)& +8 "core" &Z4\ 5 +3 #tImaging generic puck in Processing Clamp while storing it to tube 6 +4 "manipulator"&% +8 "core" %\ 3 %{ +3 "storage"(% +8 "core" %T   [\  +4 "storage"(. +7 "core" .(K +3 "storage"(-& +8 "core" &K   v\ +6 "storage"(%& +9 "manipulator"&m& +10 "core" &K   f\ +2 &[ C +7 .tElbow.reconfigure :tight +6 ."raiseStack"SE.reconfigure :place +6 "manipulator"&$&.,(\ #b +5 "storage"(#]kK-0-\ b +4 .tElbow.seek PC +11 "manipulator"&5(c +6 ."raiseStack"SE.seek :beamBreak +3 "storage"(.'e +4 "core" ( +4 "manipulator"& & +8 "core" &[ C +4 .tElbow.reconfigure :loose +4 "manipulator"&$ &.,(#b +4 && +8 "core" &[ C +4 .tForearm.seek PC +5 "manipulator"&'[ +104 "core" ' +2 .tHand.close +5 "manipulator"&/ +55 "core" / +5 .tPC.seek :open +4 "processing"% (p +55 "core" ' +4 "storage"(#- +7 "core" -'e +3 ."raiseStack"SE.configure :default +4 "storage"(#QK-0-\ b +6 ."raiseStack"SE.seek :place +5 "storage"(:'B +35 "core" ' +277 ( +3 "storage"("& +10 "core" &K 4 3\ +3 "manipulator"&(& +9 "core" &[ F C +3 "manipulator"&% +9 "core" % h +4 .tForearm.seek :retract +2 "manipulator"&!'\ +97 "core" ' +4 .tElbow.reconfigure :tight +6 "manipulator"&$&.,(\ #b +5 .tElbow.seek 6 +6 "manipulator"&6( +245 "core" ( +3 "manipulator"&1& +9 "core" &\ 3 X +3 "storage"(& +9 "core" &K 9 5\ +4 .tForearm.reconfigure :tight +4 "manipulator"&#Q@2^d^\ b +5 .tForearm.seek 6 + 450 counts +4 "manipulator"&A'< +114 "core" ' +5 .tHand.open +4 "manipulator"&,1 +62 "core" 1 +7 "storage"('- +7 "core" -'B +5 .tSE.seek -0.16 Pucks below Top Plate +2 "storage"(7' +26 "core" ' +5 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +6 .tSE.seek -0.83 Pucks below Top Plate +4 "storage"(4' +55 "core" ' +3 #tLights, camera, ACTION! +4 "storage"(/- +8 "core" -' +4 "storage"(9& +9 "core" &K \ +5 "manipulator"&;& +9 "core" &\ t o a X +4 .tElbow.seek 6 +2 "manipulator"&J( +8 "core" ( +4 "manipulator"&L& +8 "core" &\ n o 3 X +3 "storage"(& +8 "core" &K 5\ +4 .tForearm.seek 6 + 450 counts +4 "manipulator"&B'< +6 "core" ' +4 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +5 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"(0'M +65 "core" ' +5 "manipulator"&@& +10 "core" &\ o q A X +4 "storage"(3& +9 "core" &K X X _\ +5 .tElbow.reconfigure :limp +4 "manipulator"&$ ,(b +6 .tForearm.reconfigure :loose +5 "manipulator"&#Q@2^d^b +4 .tForearm.seek 6 +6 "manipulator"&O'z +41 "core" ' +2 .tElbow.hold +4 "manipulator"&G, +8 "core" , +3 .tElbow.reconfigure :tight +4 "manipulator"&$&.,(\ #b +7 .tSE.reconfigure :default +4 "storage"(#QK-0-\ b +6 .tSE.seek 0.07 Pucks below Top Plate +4 "storage"(F'7 +26 "core" ' +3 "manipulator"&$% +8 "core" %΃d  l µ +3 "storage"(S& +11 "core" &K /\ +4 .tForearm.force -20 +2 "manipulator"&5 +7 .tForearm.seek 6 + 309 counts + "manipulator"&U'ϯ +20 "core" ' +3 "manipulator"&2& +10 "core" & | | O +2 "storage"(=& +9 "core" &K Y Y\ +5 .tForearm.reconfigure :tight +4 "manipulator"&#Q@2^d^\ b +6 .tForearm.seek 6 + 450 counts +5 "manipulator"&&'< +17 "core" ' +5 "storage"(D% +9 "core" %> [ X N\  +5 ."downElevator"SE.seek :down +9 "storage"( 'N +99 (+% +7 "core" %8 8 9\ U\\ +4 "manipulator"&<% +9 "core" %4 q m  +5 .tForearm.reconfigure :loose +4 "manipulator"&#Q@2^d^b +4 .tForearm.seek :retract +4 "manipulator"&I'\ +89 "core" ' +41 ' +2 ."downElevator"SE.stop +2 "storage"(5 +5 (M& +7 "core" &K A A \ +4 "collection"'>& +9 "core" &]|RR.\ T +3 #tStoring generic puck in Collection Clamp to tube 6 +5 "manipulator"&_% +8 "core" %\ # c - +3 "storage"(8% +8 "core" %S ) 1 (\ +5 "storage"(P. +6 "core" .(K +4 "storage"(*& +8 "core" &K < + M\ +4 "storage"(Y& +9 "core" &K 7 9 9\ +4 "manipulator"&a& +7 "core" &\  O +3 .tElbow.seek 6 +4 "manipulator"&C( +6 "core" ( +4 "manipulator"&\\& +9 "core" &\  O +3 "storage"(N& +8 "core" &K ) 1 \ +4 .tForearm.reconfigure :tight +6 "manipulator"&#Q@2^d^\ b +6 .tForearm.seek 6 + 450 counts +4 "manipulator"&K'< +99 "core" ' +3 "storage"(V& +11 "core" &K Y X\ +4 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +8 .tSE.seek :beamBreak +5 "storage"(['e +282 "core" ' +3 "storage"(Q- +8 "core" -' +3 .tSE.configure :default +5 "storage"(#QK-0-\ b +5 "manipulator"&`& +7 "core" &  O +4 "storage"(T& +6 "core" &K A M ~\ +5 .tElbow.reconfigure :limp +4 "manipulator"&$ ,(b +6 .tForearm.reconfigure :loose +5 "manipulator"&#Q@2^d^b +5 .tForearm.seek 6 +4 "manipulator"&H'z +32 "core" ' +3 .tElbow.hold +5 "manipulator"&^, +8 "core" , +4 .tElbow.reconfigure :tight +5 "manipulator"&$&.,(\ #b +5 "storage"(R- +106 "core" -' +27 .tSE.seek 0.11 Pucks below Top Plate +5 "storage"(]'k +30 "core" ' +3 "manipulator"&X% +11 "core" %΍b    ô +3 "storage"(f& +9 "core" &K >\ +2 .tForearm.force -20 +4 "manipulator"&5 +7 .tForearm.seek 6 + 319 counts +2 "manipulator"&p'Ϲ +20 "core" ' +3 "manipulator"&j& +10 "core" & o n - N +3 "storage"(?& +9 "core" &K Y Y \ +6 .tForearm.reconfigure :tight +4 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 6 + 450 counts +5 "manipulator"&l'< +26 "core" ' +6 .tSE.seek 1.11 Pucks below Top Plate + "storage"(h'Z +51 "core" ' +4 "manipulator"&|& +9 "core" &\ o o  N +3 "manipulator"&Z% +11 "core" %Q o n +4 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +4 .tForearm.seek :retract +4 "manipulator"&n'\ +94 "core" ' +3 .tElbow.seek CC +4 "manipulator"&z( +149 "core" ( +4 "manipulator"&e& +9 "core" &$  ;4 +2 .tElbow.reconfigure :loose +6 "manipulator"&$ &.,(#b +4 &i& +7 "core" &$ / ;4 +4 .tForearm.seek CC +5 "manipulator"&t'| +98 "core" ' +2 .tHand.close +4 "manipulator"&~/ +66 "core" / +4 .tCC.seek :open + "collection"'g(p +410 "core" ( +3 "storage"(b& +11 "core" &K e w \ +3 "storage"(o& +9 "core" &K v e b\ +3 "manipulator"&& +8 "core" &\ " 9' +3 "manipulator"&u% +9 "core" % ρ  +4 .tForearm.seek :retract + "manipulator"&c'\ +96 "core" ' +3 .tElbow.reconfigure :tight +5 "manipulator"&$&.,(\ #b +4 .tElbow.seek 6 +5 "manipulator"&y( +160 "core" ( +2 "manipulator"&q& +9 "core" &   +3 "storage"({& +8 "core" &K \ +4 .tElbow.reconfigure :limp +5 "manipulator"&$ ,(b +7 .tForearm.seek 6 + "manipulator"&E'z +111 "core" ' +3 .tElbow.hold +5 "manipulator"&r, +7 "core" , +3 .tElbow.reconfigure :tight +7 "manipulator"&$&.,(\ #b +5 .tHand.open +4 "manipulator"&1 +59 "core" 1 +4 "manipulator"& % +11 "core" % · D +2 "storage"(& +8 "core" &K [ Y \ +3 .tForearm.force -20 +4 "manipulator"&5 +6 .tForearm.seek 6 + 313 counts +2 "manipulator"&'ϳ +19 "core" ' +3 "manipulator"&& +8 "core" & o o "  +5 "storage"(}& +11 "core" &K P\ +4 .tForearm.reconfigure :tight +4 "manipulator"&#Q@2^d^\ b +8 .tForearm.seek 6 + 450 counts +4 "manipulator"&s'< +27 "core" ' +4 "storage"(d% +9 "core" %_ b\ +6 ."downElevator"SE.seek :down +5 "storage"('N +99 (% +7 "core" %_8 \ TX +4 "manipulator"&\ % +8 "core" %L o p +5 .tForearm.reconfigure :loose +4 "manipulator"&#Q@2^d^b +5 .tForearm.seek :retract +5 "manipulator"&'\ +89 "core" ' +36 ' +2 ."downElevator"SE.stop +2 "storage"(5 +7 #tShuffling pucks in tube 7 of [6..7] +4 #Loading generic puck from tube 7 into Collection Clamp +2 "collection"'& +10 "core" &\ +3 "manipulator"&% +9 "core" %\ (  G +3 "storage"(v% +10 "core" %S \  +2 "storage"(x. +8 "core" .(K +3 .tSC.reconfigure :tight +7 "storage"($\ .\ 1~b +4 .tSC.seek 7 +3 "storage"(W([ +360 "core" ( +5 .tSC.configure :limp +3 "storage"($\ 1b +5 (w& +6 "core" &[ 8 \\ 5\  +5 "manipulator"& & +9 "core" &   +3 .tElbow.seek 7 +3 "manipulator"&( +36 "core" ( +3 "manipulator"&)& +11 "core" &\  ] +3 "storage"(& +9 "core" &[ 1\  +5 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +5 "manipulator"&'k +104 "core" ' +5 "storage"(& +8 "core" &[ 2\  +4 .tSE.reconfigure :pick +5 "storage"(#]K-0-\ b +5 .tSE.seek :beamBreak +3 "storage"(-'e +295 "core" ' +3 "storage"(m- +9 "core" -' +4 .tSE.configure :default +5 "storage"(#QK-0-\ b +6 (%& +4 "core" &[ =\  +4 "manipulator"& & +9 "core" & } q ] +3 .tElbow.seek 7 +3 "manipulator"&( +6 "core" ( +2 "manipulator"&& +9 "core" &\ s | Z ] +5 "storage"(& +4 "core" &[ Q\  +5 .tForearm.seek 7 + 300 counts +4 "manipulator"&#' +18 "core" ' +2 .tForearm.reconfigure :loose +6 "manipulator"&#Q@2^d^b +4 .tHand.close + "manipulator"&/ +56 "core" / +6 ."downElevator"SE.seek :down +5 "manipulator"&& +5 "storage"('N +15 "core" &\  ] +5 "manipulator"&.% +9 "core" % 6 +4 .tForearm.seek :retract +4 "manipulator"&"'\ +89 "core" ' +4 .tElbow.seek CC +5 "manipulator"&(( +137 "core" ' +3 ."downElevator"SE.stop +3 "storage"(5 +12 "core" ( +2 "manipulator"&& +12 "core" && % =C +2 .tElbow.reconfigure :loose +6 "manipulator"&$ &.,(#b +6 && +5 "core" &&  =C +5 .tForearm.reconfigure :tight +6 "manipulator"&#Q@2^d^\ b +5 .tForearm.seek CC + "manipulator"&1'| +100 "core" ' +5 "manipulator"&& +8 "core" && =C +5 "manipulator"&5% +8 "core" %p T o +3 "collection"',& +8 "core" &1\ +7 "collection"''& +8 "core" &-\ +6 &/\ +3 .tCC.seek :closed +5 "collection"'!(] +9 "core" &\ +2 &%\ 8 +7 &G\ 1 +9 &;p"\ E +11 &h \ N +9 &_#\ N +10 &da#\ M +10 & $b(\ N +8 &!b'\ N +9 &#`\ N +10 &%l`&\ M +8 &'-b\ N +11 &(b\ N +9 &*_$\ N +8 &,t]'\ M +11 &.5`!\ N +9 &/a\ N +9 &1a!\ N +10 &3|_'\ M +9 &5=_'\ N +9 &6^!\ N +11 &8_\ N +8 &:_\ N +11 &^\ N +10 &?`"\ N +10 &AaB\ N +8 &CL_)\ N +9 &E_-\ N +13 &F`-\ N +8 &He$\ N +10 &JMp)\ P +6 &L *\ R +12 &M)\ W +9 &O}z}"\ X +10 &Q=sx)\ Y +9 &Rqr/\ Y +11 &Tln+\ Z +8 &V~hh)\ Z +9 &X>ae*\ [\ +11 &Y\\_I\ ] +7 &[Y[&\ \\ +11 &]%YUW(\ , +8 &]TUE\ V +8 ( +7 "collection"''& +10 #tCollection Clamp onSpring/offSpring for 9/26 samples, on/off torque 2.04 +3 .Hand.open +2 "manipulator"&/1 +9 "core" &]rTV*\ N + &]sSU\ N +47 1 +4 "manipulator"&9% +8 "core" % p O o +3 .tForearm.reconfigure :loose +4 "manipulator"&#Q@2^d^b +5 .tForearm.seek :retract +5 "manipulator"&;'\ +90 "core" ' +7 #tLoading generic puck from tube 7 into Processing Clamp +4 "processing"%L& +9 "core" &\ +2 "manipulator"&% +8 "core" %\ (  F +4 "storage"(@% +9 "core" %G 3 3\  +3 "storage"(3. +6 "core" .([ +5 .tSC.reconfigure :tight +4 "storage"($\ .\ 1~b +4 .tSC.seek 7 +4 "storage"(:([ +6 "core" ( +3 .tSC.configure :limp +5 "storage"($\ 1b +5 (7& +5 "core" &[\  j\  +5 "manipulator"&$& +8 "core" &$  ;5 +4 "manipulator"&6% +8 "core" %\ ( B F +4 .tElbow.reconfigure :tight +5 "manipulator"&$&.,(\ #b +5 .tElbow.seek 7 +4 "manipulator"&S( +168 "core" ( +3 "manipulator"&A& +9 "core" & . q +3 "storage"(2& +10 "core" &[ X X [\  +5 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +5 .tForearm.seek 7 + 450 counts +2 "manipulator"&4'k +102 "core" ' +3 "storage"(=& +10 "core" &[ t s \  +3 .tSE.reconfigure :pick +6 "storage"(#]K-0-\ b +6 .tSE.seek :beamBreak +4 "storage"(D'e +282 "core" ' +4 "storage"(B- +8 "core" -' +5 .tSE.configure :default +5 "storage"(#QK-0-\ b +6 (J& +7 "core" &[ b Y\  +4 "manipulator"&+& +8 "core" & o o  q +3 .tElbow.seek 7 +5 "manipulator"&<( +6 "core" ( +3 "manipulator"&0& +9 "core" & p o q +5 "storage"(O& +9 "core" &[ u u \\\  +4 .tForearm.seek 7 + 300 counts +3 "manipulator"&U' +27 "core" ' +3 .tForearm.reconfigure :loose +4 "manipulator"&#Q@2^d^b +4 .tHand.close +3 "manipulator"&M/ +62 "core" / +6 ."downElevator"SE.seek :down +6 "manipulator"&>& +5 "storage"(_'N +17 "core" & o o q +5 "manipulator"&F% +8 "core" % n o  +5 .tForearm.seek :retract + "manipulator"&8'\ +98 "core" ' +4 .tElbow.seek PC +3 "manipulator"&P(c +140 "core" ' +3 ."downElevator"SE.stop +4 "storage"(5 +102 "core" ( +4 "manipulator"&*& +8 "core" &i > +3 .tElbow.reconfigure :loose +5 "manipulator"&$ &.,(#b +6 &Y& +11 "core" &i +3 .tForearm.reconfigure :tight +7 "manipulator"&#Q@2^d^\ b +6 .tForearm.seek PC +6 "manipulator"&a'[ +105 "core" ' +3 "manipulator"&\\& +8 "core" &i +3 "manipulator"&N% +9 "core" %] s +4 "processing"%&& +9 "core" &\ +4 "processing"%V& +10 "core" &\ \ +8 .tPC.seek :closed + "processing"% (Z +8 "core" &\ +4 &\  +6 &+y\ +z +8 &e\ ? +8 &I{\ O +10 &Z\ M +10 &_\ M +8 &`\ M +13 &!T^\ M +8 &#_\ M +8 &$_\ M +11 &&b\ N +7 &([_\ N +11 &*_\ N +9 &+^\ N +8 &-[\ M +10 &/c_\ N +10 &1%^\ N +9 &2_\ N +10 &4]\ N +8 &6k_\ N +11 &8.a\ M +9 &9Z\ M +8 &;`\ N +12 &=t^\ M +9 &?6_\ M +9 &@b\ N +10 &B^\ N +8 &D{`\ N +9 &F=_\ N +10 &Gm\ O +8 &Iv\ P +11 &Ku\ R +9 &M2\ T +10 &N\ T +10 &P\ T +7 &Rz\ S +10 &T9\ T +11 &U\ U +9 &W\ U +8 &Y~\ B +10 &Zy9\ ` +10 &Z"\ - +2 ( +2 "processing"%V& +11 #tProcessing Clamp onSpring/offSpring for 9/25 samples, on/off torque 1.60 + .Hand.open +2 "manipulator"&G1 +9 "core" &Z\ - +50 1 +2 "manipulator"&I% +10 "core" % ] +4 .tForearm.reconfigure :loose +4 "manipulator"&#Q@2^d^b +4 .tForearm.seek :retract +4 "manipulator"&Q'\ +102 "core" ' +2 "processing"%`& +8 "core" &Z\ - +3 #tImaging generic puck in Processing Clamp while storing it to tube 7 +4 "manipulator"&T% +10 "core" %\ 3 %| +3 "storage"(R% +10 "core" %T $  p\  +3 "storage"(X. +7 "core" .([ +3 "storage"(f& +7 "core" &[   (\  +5 "storage"(j& +133 "manipulator"&K& +11 "core" &[   g\  +2 &i +6 .tElbow.reconfigure :tight +6 ."raiseStack"SE.reconfigure :place +6 "manipulator"&$&.,(\ #b +6 "storage"(#]kK-0-\ b +4 .tElbow.seek PC +7 "manipulator"&?(c +10 ."raiseStack"SE.seek :beamBreak +4 "storage"(C'e +5 "core" ( +3 "manipulator"&|& +9 "core" &i u +3 .tElbow.reconfigure :loose +5 "manipulator"&$ &.,(#b +4 &Z& +9 "core" &i +6 .tForearm.seek PC +5 "manipulator"&['[ +98 "core" ' +3 .tHand.close +2 "manipulator"&H/ +58 "core" / +4 .tPC.seek :open +4 "processing"%p(p +54 "core" ' +3 "storage"(]- +8 "core" -'e +3 ."raiseStack"SE.configure :default +4 "storage"(#QK-0-\ b +7 ."raiseStack"SE.seek :place +4 "storage"(e'B +36 "core" ' +276 ( +2 "storage"(i& +10 "core" &[ ) * 5\  +3 "manipulator"&l& +9 "core" &i +2 "manipulator"&^% +8 "core" % Y S +4 .tForearm.seek :retract +5 "manipulator"&~'\ +98 "core" ' +4 .tElbow.reconfigure :tight +6 "manipulator"&$&.,(\ #b +5 .tElbow.seek 7 +5 "manipulator"&n( +250 "core" ( +3 "manipulator"&k& +11 "core" & + +2 "storage"(b& +9 "core" &[ A A \  +4 .tForearm.reconfigure :tight +8 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 7 + 450 counts +4 "manipulator"&o'k +95 "core" ' +3 .tHand.open +4 "manipulator"&1 +64 "core" 1 +4 "storage"(u- +7 "core" -'B +7 .tSE.seek -0.16 Pucks below Top Plate + "storage"(q' +26 "core" ' +4 .tSE.reconfigure :seal +5 "storage"(#QK-0-\ b +5 .tSE.seek -0.83 Pucks below Top Plate +4 "storage"({' +53 "core" ' +3 #tLights, camera, ACTION! +4 "storage"(t- +6 "core" -' +6 "storage"(z& +11 "core" &[ \  +2 "manipulator"&& +9 "core" &  + +4 .tElbow.seek 7 +4 "manipulator"& ( +7 "core" ( +5 "manipulator"&& +6 "core" & Y + +5 "storage"(& +8 "core" &[ H\  +5 .tForearm.seek 7 + 450 counts +4 "manipulator"&}'k +7 "core" ' +5 .tSE.reconfigure :gently +4 "storage"(#QK-0-\ b +4 .tSE.seek -0.11 Pucks below Top Plate +4 "storage"(c'M +64 "core" ' +5 "manipulator"&d& +9 "core" & Y + +3 "storage"(y& +10 "core" &[ X X [\  +3 .tElbow.reconfigure :limp +4 "manipulator"&$ ,(b +6 .tForearm.reconfigure :loose +4 "manipulator"&#Q@2^d^b +5 .tForearm.seek 7 +4 "manipulator"&'Ω +34 "core" ' +2 .tElbow.hold +4 "manipulator"&\ , +10 "core" , +2 .tElbow.reconfigure :tight +7 "manipulator"&$&.,(\ #b +7 .tSE.reconfigure :default +5 "storage"(#QK-0-\ b +5 .tSE.seek 0.07 Pucks below Top Plate +3 "storage"(E'7 +27 "core" ' +3 "manipulator"&% +10 "core" %μu  3 +3 "storage"(& +8 "core" &[\ \  \  +4 .tForearm.force -20 +3 "manipulator"&5 +7 .tForearm.seek 7 + 319 counts +4 "manipulator"&' +19 "core" ' +3 "manipulator"&h& +8 "core" & s q 1 + +4 "storage"(v& +9 "core" &[ X W [\  +4 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +6 .tForearm.seek 7 + 450 counts +4 "manipulator"&x'k +26 "core" ' +2 "storage"(s% +10 "core" %A u u 2\ +5 ."downElevator"SE.seek :down +9 "storage"('N +96 (% +6 "core" %8 - +\ U\\ +5 "manipulator"&w% +9 "core" %Ё p o   +4 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +6 .tForearm.seek :retract +3 "manipulator"& '\ +95 "core" ' +37 ' +2 ."downElevator"SE.stop +4 "storage"(5 +6 ()& +10 "core" &[ 5 0 w\  +3 "collection"'& +7 "core" &]rTW.\ N +6 #tStoring generic puck in Collection Clamp to tube 7 +3 "manipulator"&% +10 "core" %\ 3 %v +4 "storage"(r% +7 "core" %> 3 ) \ \ +3 "storage"(. +7 "core" .([ +6 "storage"(m& +8 "core" &[ ) ) \  +4 "storage"(%& +8 "core" &[ ) ) S\  +4 "manipulator"& & +9 "core" & + +4 .tElbow.seek 7 + "manipulator"&( +6 "core" ( +5 "manipulator"&& +8 "core" & + +2 "storage"(& +8 "core" &[ ( (\  +5 .tForearm.reconfigure :tight +5 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +4 "manipulator"&'k +112 "core" ' +3 "storage"(.& +11 "core" &[ u u 6\  +5 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +9 .tSE.seek :beamBreak +2 "storage"('e +282 "core" ' +5 "storage"(- +8 "core" -' +2 .tSE.configure :default +7 "storage"(#QK-0-\ b +4 "manipulator"&& +10 "core" & r p  + +3 "storage"(-& +9 "core" &[ Y Y\  +3 .tElbow.reconfigure :limp +8 "manipulator"&$ ,(b +4 .tForearm.reconfigure :loose +6 "manipulator"&#Q@2^d^b +3 .tForearm.seek 7 +5 "manipulator"&'Ω +36 "core" ' +4 .tElbow.hold + "manipulator"&#, +9 "core" , +2 .tElbow.reconfigure :tight +6 "manipulator"&$&.,(\ #b +5 "storage"(- +4 "core" -' +8 .tSE.seek 0.12 Pucks below Top Plate + "storage"('t +33 "core" ' +3 "manipulator"&5% +10 "core" %μr m ) +3 "storage"(,& +9 "core" &[\ \  \  +3 .tForearm.force -20 +3 "manipulator"&5 +7 .tForearm.seek 7 + 319 counts +2 "manipulator"&' +18 "core" ' +5 "manipulator"&"& +8 "core" & p p  + +4 "storage"(g& +10 "core" &[ [ Y\  +5 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +6 .tForearm.seek 7 + 450 counts +2 "manipulator"&/'k +20 "core" ' +5 .tSE.seek 1.12 Pucks below Top Plate + "storage"(9'c +51 "core" ' +3 "manipulator"&L& +10 "core" & n o + +3 "manipulator"&'% +10 "core" %W o o +4 .tForearm.reconfigure :loose +5 "manipulator"&#Q@2^d^b +5 .tForearm.seek :retract + "manipulator"&'\ +89 "core" ' +4 .tElbow.seek CC +5 "manipulator"&@( +180 "core" ( +4 "manipulator"&3& +8 "core" & 3 O +2 .tElbow.reconfigure :loose +8 "manipulator"&$ &.,(#b +4 &7& +9 "core" &  O +3 .tForearm.seek CC +2 "manipulator"&$'| +101 "core" ' +2 .tHand.close +4 "manipulator"&6/ +61 "core" / +6 .tCC.seek :open + "collection"'1(p +413 "core" ( +3 "storage"(A& +8 "core" &[ L\  +5 "storage"(2& +7 "core" &[ \  +4 "manipulator"&W& +7 "core" &\ 6 O +3 "manipulator"&(% +8 "core" % z # +7 .tForearm.seek :retract +4 "manipulator"&='\ +93 "core" ' +5 .tElbow.reconfigure :tight +5 "manipulator"&$&.,(\ #b +3 .tElbow.seek 7 +4 "manipulator"&;( +150 "core" ( +2 "manipulator"&B& +10 "core" &   +3 "storage"(J& +8 "core" &[ \  +3 .tElbow.reconfigure :limp +4 "manipulator"&$ ,(b +5 .tForearm.seek 7 +3 "manipulator"&+'Ω +113 "core" ' +4 .tElbow.hold +4 "manipulator"&0, +8 "core" , +4 .tElbow.reconfigure :tight +4 "manipulator"&$&.,(\ #b +4 .tHand.open +5 "manipulator"&O1 +57 "core" 1 +4 "manipulator"&M% +9 "core" % η k r +2 "storage"(>& +9 "core" &[ Z X\  +2 .tForearm.force -20 +5 "manipulator"&5 +5 .tForearm.seek 7 + 314 counts +2 "manipulator"&F' +18 "core" ' +4 "manipulator"&S& +8 "core" & p r   +3 "storage"(4& +9 "core" &[ l\  +7 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +5 .tForearm.seek 7 + 450 counts +5 "manipulator"&D'k +17 "core" ' +2 "storage"(U% +11 "core" %f Q\ +4 ."downElevator"SE.seek :down +9 "storage"(*'N +95 (Y% +7 "core" %8 ?\ TX +3 "manipulator"&<% +10 "core" %s n o 8 +5 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +4 .tForearm.seek :retract +4 "manipulator"&\\'\ +89 "core" ' +37 ' +2 ."downElevator"SE.stop +3 "storage"(5 +8 #tShuffling pucks in tube 6 of [6..7] +2 #Loading generic puck from tube 6 into Collection Clamp +5 "collection"'N& +8 "core" &\ +4 "manipulator"&&% +10 "core" %\ %  7 +4 "storage"(_% +10 "core" %Z ]\  +4 "storage"(8. +7 "core" .([ +5 .tSC.reconfigure :tight +6 "storage"($\ .\ 1~b +117 .tSC.seek 6 +4 "storage"( (K +358 "core" ( +5 .tSC.configure :limp +4 "storage"($\ 1b +5 (G& +6 "core" &K X Y \ +4 "manipulator"&I& +9 "core" & K  +4 .tElbow.seek 6 +2 "manipulator"&`( +24 "core" ( +2 "manipulator"&V& +9 "core" & H B +4 "storage"(T& +8 "core" &K \ +5 .tForearm.reconfigure :tight +5 "manipulator"&#Q@2^d^\ b +5 .tForearm.seek 6 + 450 counts +4 "manipulator"&R'< +106 "core" ' +3 "storage"(X& +9 "core" &K \ +4 .tSE.reconfigure :pick +5 "storage"(#]K-0-\ b +7 .tSE.seek :beamBreak +4 "storage"(f'e +285 "core" ' +4 "storage"(K- +70 "core" -' +3 .tSE.configure :default +5 "storage"(#QK-0-\ b +6 (j& +8 "core" &K l\ +3 "manipulator"&a& +9 "core" & n q h B +4 .tElbow.seek 6 + "manipulator"&|( +19 "core" ( +4 "manipulator"&Z& +9 "core" & q o \ +4 "storage"(H& +9 "core" &K g\ +7 .tForearm.seek 6 + 300 counts + "manipulator"&]'Ϧ +34 "core" ' +4 .tForearm.reconfigure :loose +5 "manipulator"&#Q@2^d^b +5 .tHand.close +4 "manipulator"&P/ +57 "core" / +5 ."downElevator"SE.seek :down +7 "manipulator"&Q& +4 "storage"( 'N +16 "core" & n R 4 \ +4 "manipulator"&C% +9 "core" % ϸ p o +5 .tForearm.seek :retract +4 "manipulator"&i'\ +92 "core" ' +5 .tElbow.seek CC +5 "manipulator"&l( +124 "core" ' +3 ."downElevator"SE.stop +3 "storage"(5 +30 "core" ( +3 "manipulator"&^& +10 "core" &' # >L +3 .tElbow.reconfigure :loose +4 "manipulator"&$ &.,(#b +5 &[& +7 "core" &' < >L +5 .tForearm.reconfigure :tight +6 "manipulator"&#Q@2^d^\ b +5 .tForearm.seek CC + "manipulator"&k'| +109 "core" ' +3 "manipulator"&b& +9 "core" &' * >I +7 "manipulator"&?% +9 "core" %| 3 +3 "collection"'& +9 "core" &$\ +4 "collection"'u& +14 "core" &)\ +3 &1\ +7 .tCC.seek :closed +2 "collection"'t(] +13 "core" &\ +5 &/\  +2 &1%\ *z +7 &d$\ ? +7 &N~\ O +11 &]\ M +10 &c+\ M +7 &c#\ M +12 &!Yb\ M +6 &#b\ M +11 &$b!\ M +11 &&`%\ N +7 &(`_\ N +9 &*#c&\ M +12 &+b.\ M +7 &-c!\ M +11 &/he \ N +8 &1*b\ N +10 &2]!\ M +11 &4_\ M +7 &6pb&\ N +10 &83c\ M +11 &9a(\ N +8 &;_&\ M +11 &=yc\ M +8 &?:a$\ N +9 &@`+\ N +11 &B_)\ N +8 &D` \ N +9 &FAa-\ N +10 &Hb)\ N +8 &Ip)\ O +11 &K{&\ R +9 &M3|,\ V +11 &Not)\ W +8 &Phm*\ X +9 &Rpdh'\ Y +10 &T1_c'\ Y +10 &UZ])\ Z +8 &WVY+\ Z +11 &YmOT(\ \\ +8 &[/MP'\ \\ +9 &\\|EK \ 3 +11 &]#FE'\ $i +7 &]mII\ Q +3 ( +6 "collection"'u& +8 #tCollection Clamp onSpring/offSpring for 9/25 samples, on/off torque 1.98 + .Hand.open +3 "manipulator"&z1 +8 "core" &]kFG'\ Q +56 1 +2 "manipulator"&~% +11 "core" % | +6 .tForearm.reconfigure :loose +4 "manipulator"&#Q@2^d^b +4 .tForearm.seek :retract +5 "manipulator"&'\ +100 "core" ' +4 #tLoading generic puck from tube 6 into Processing Clamp +6 "processing"%& +10 "core" &\ +3 "manipulator"&% +8 "core" %\ 1 ' $u +4 "storage"(d% +10 "core" %C 4 3\ \ +4 "storage"(y. +6 "core" .(K +5 .tSC.reconfigure :tight +5 "storage"($\ .\ 1~b +3 .tSC.seek 6 +5 "storage"(e(K +11 "core" ( +2 .tSC.configure :limp +6 "storage"($\ 1b +4 (q& +9 "core" &K\  R a\ +3 "manipulator"&& +8 "core" & $  ;8 +4 "manipulator"&n% +9 "core" %\ 1 E $u +5 .tElbow.reconfigure :tight +5 "manipulator"&$&.,(\ #b +5 .tElbow.seek 6 +4 "manipulator"&( +164 "core" ( +4 "manipulator"&o& +9 "core" &   +3 "storage"(h& +8 "core" &K Y Y w\ +4 .tForearm.reconfigure :tight +7 "manipulator"&#Q@2^d^\ b +5 .tForearm.seek 6 + 450 counts +5 "manipulator"&v'< +108 "core" ' +5 "storage"({& +8 "core" &K s p\ +4 .tSE.reconfigure :pick +6 "storage"(#]K-0-\ b +7 .tSE.seek :beamBreak +4 "storage"(s'e +281 "core" ' +5 "storage"(}- +7 "core" -' +4 .tSE.configure :default +9 "storage"(#QK-0-\ b +6 ( & +7 "core" &K J U 7\ +9 "manipulator"&& +12 "core" & o o   +5 .tElbow.seek 6 + "manipulator"&w( +7 "core" ( +4 "manipulator"&c& +8 "core" & o o  +2 "storage"(& +10 "core" &K t s *\ +5 .tForearm.seek 6 + 300 counts +4 "manipulator"&'Ϧ +16 "core" ' +5 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +4 .tHand.close +3 "manipulator"&)/ +63 "core" / +6 ."downElevator"SE.seek :down +10 "manipulator"&& + "storage"(E'N +17 "core" & o n  +2 "manipulator"&% +9 "core" % Ϛ o o J +4 .tForearm.seek :retract +5 "manipulator"&r'\ +94 "core" ' +4 .tElbow.seek PC +2 "manipulator"&(c +148 "core" ' +2 ."downElevator"SE.stop +3 "storage"(5 +99 "core" ( +4 "manipulator"&m& +11 "core" &a $ +3 .tElbow.reconfigure :loose +8 "manipulator"&$ &.,(#b +6 &%& +10 "core" &a _ +3 .tForearm.reconfigure :tight +6 "manipulator"&#Q@2^d^\ b +5 .tForearm.seek PC +4 "manipulator"& '[ +99 "core" ' +3 "manipulator"&& +9 "core" &a  +5 "manipulator"&% +8 "core" %]  +3 "processing"%x& +8 "core" &\ +5 "processing"%.& +10 "core" &\ +4 &\ +4 .tPC.seek :closed +7 "processing"%(Z +10 "core" &\ +2 &\  +7 &.~\ +z +7 &c\ > +11 &Cy\ N +9 &Z\ M +10 &b\ N +9 &]\ M +9 &!K\\\ N +10 &#\\\ M +10 &$Z\ M +7 &&\\\ M +11 &(T\\\ M +10 &*[\ M +7 &+_\ M +11 &-[\ M +9 &/\\`\ M +9 &1_\ M +10 &2`\ M +8 &4_\ M +11 &6d_\ M +10 &8%_\ N +7 &9]\ M +11 &;[\ M +10 &=l`\ M +7 &?-b\ N +11 &@_\ N +8 &B_\ M +10 &Ds`\ N +10 &F5`\ N +9 &Gh\ N +10 &Iq\ P +9 &Kty\ P +10 &M/\ R +10 &N\ T +7 &P\ S +11 &Rr\ S +9 &T3\ T +9 &U\ T +9 &W\ T +11 &Yw\ B +8 &Zu:\ ` +10 &Z-\ . +4 ( +7 "processing"%.& +7 #tProcessing Clamp onSpring/offSpring for 9/25 samples, on/off torque 1.56 +2 .Hand.open +5 "manipulator"&\ 1 +9 "core" &Z#\ . +56 1 +2 "manipulator"& % +11 "core" % ] +4 .tForearm.reconfigure :loose +5 "manipulator"&#Q@2^d^b +5 .tForearm.seek :retract +2 "manipulator"&'\ +96 "core" ' +4 "processing"%& +9 "core" &Z#\ . +3 #tImaging generic puck in Processing Clamp while storing it to tube 6 +2 "manipulator"&-% +8 "core" %\ % 2 +4 "storage"(% +8 "core" %T : 6\  +3 "storage"(5. +6 "core" .(K +4 "storage"(,& +7 "core" &K 9 :\ +6 "storage"("& +4 "manipulator"&g& +15 "core" &K 5 9\ +2 &a +6 .tElbow.reconfigure :tight +8 ."raiseStack"SE.reconfigure :place +7 "manipulator"&$&.,(\ #b +8 "storage"(#]kK-0-\ b +4 .tElbow.seek PC +9 "manipulator"&L(c +8 ."raiseStack"SE.seek :beamBreak +3 "storage"('e +6 "core" ( +3 "manipulator"&'& +8 "core" &a N +5 .tElbow.reconfigure :loose +4 "manipulator"&$ &.,(#b +4 && +7 "core" &a  +6 .tForearm.seek PC +4 "manipulator"&'[ +97 "core" ' +4 .tHand.close +3 "manipulator"&/ +61 "core" / +5 .tPC.seek :open + "processing"%(p +56 "core" ' +4 "storage"(- +6 "core" -'e +4 ."raiseStack"SE.configure :default +4 "storage"(#QK-0-\ b +6 ."raiseStack"SE.seek :place +4 "storage"(3'B +37 "core" ' +274 ( +3 "storage"(7& +9 "core" &K A A \ +2 "manipulator"&/& +8 "core" &a , +5 "manipulator"&#% +9 "core" % P ? +3 .tForearm.seek :retract +2 "manipulator"&6'\ +109 "core" ' +3 .tElbow.reconfigure :tight +5 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +4 "manipulator"&( +262 "core" ( +4 "manipulator"&!& +9 "core" & o o   +4 "storage"(A& +9 "core" &K W X _\ +4 .tForearm.reconfigure :tight +4 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 6 + 450 counts +4 "manipulator"&2'< +102 "core" ' +2 .tHand.open +4 "manipulator"&W1 +58 "core" 1 +4 "storage"((- +9 "core" -'B +5 .tSE.seek -0.16 Pucks below Top Plate +5 "storage"(B' +24 "core" ' +116 .tSE.reconfigure :seal +7 "storage"(#QK-0-\ b +5 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(J' +57 "core" ' +3 #tLights, camera, ACTION! +3 "storage"($- +8 "core" -' +3 "storage"(@& +9 "core" &K \ +4 "manipulator"&O& +9 "core" & m o   +4 .tElbow.seek 6 +3 "manipulator"&M( +7 "core" ( +2 "manipulator"&>& +9 "core" & | { M  +3 "storage"(S& +9 "core" &K l\ +4 .tForearm.seek 6 + 450 counts +6 "manipulator"&4'< +7 "core" ' +6 .tSE.reconfigure :gently +4 "storage"(#QK-0-\ b +6 .tSE.seek -0.11 Pucks below Top Plate + "storage"(='M +61 "core" ' +4 "manipulator"&U& +10 "core" & o o   +3 "storage"(;& +9 "core" &K s s -\ +5 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +5 .tForearm.reconfigure :loose +4 "manipulator"&#Q@2^d^b +4 .tForearm.seek 6 +3 "manipulator"&Y'z +38 "core" ' +3 .tElbow.hold +2 "manipulator"&<, +9 "core" , +3 .tElbow.reconfigure :tight +5 "manipulator"&$&.,(\ #b +6 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +4 .tSE.seek 0.07 Pucks below Top Plate +6 "storage"(+'7 +29 "core" ' +4 "manipulator"&F% +8 "core" %Ί` p ´ +4 "storage"(N& +9 "core" &K o\ +3 .tForearm.force -20 +2 "manipulator"&5 +6 .tForearm.seek 6 + 316 counts +2 "manipulator"&&'϶ +20 "core" ' +3 "manipulator"&9& +9 "core" & o o  +3 "storage"(_& +8 "core" &K c ^ /\ +4 .tForearm.reconfigure :tight +6 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 6 + 450 counts +2 "manipulator"&8'< +23 "core" ' +3 "storage"(D% +11 "core" %2 t u \ +4 ."downElevator"SE.seek :down +9 "storage"(*'N +95 (:% +6 "core" %9 - 9\ U] +4 "manipulator"&G% +10 "core" % o o  +5 .tForearm.reconfigure :loose +5 "manipulator"&#Q@2^d^b +4 .tForearm.seek :retract +4 "manipulator"&I'\ +89 "core" ' +51 ' +2 ."downElevator"SE.stop +3 "storage"(5 +4 (V& +8 "core" &K V J \ +4 "collection"'T& +9 "core" &]kJL)\ Q +4 #tStoring generic puck in Collection Clamp to tube 6 +2 "manipulator"&X% +10 "core" %\ & / ? +4 "storage"(0% +10 "core" %Q X Y \  +2 "storage"(\\. +6 "core" .(K +5 "storage"(K& +7 "core" &K X X d\ +3 "storage"(j& +9 "core" &K Y [ \ +3 "manipulator"&a& +9 "core" & K  +4 .tElbow.seek 6 +2 "manipulator"&Z( +7 "core" ( +4 "manipulator"&H& +9 "core" &   +3 "storage"(P& +8 "core" &K Y Y \ +4 .tForearm.reconfigure :tight +7 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 6 + 450 counts +4 "manipulator"&Q'< +96 "core" ' +3 "storage"(C& +9 "core" &K d X\ +4 .tSE.reconfigure :pick +5 "storage"(#]K-0-\ b +6 .tSE.seek :beamBreak +4 "storage"(`'e +285 "core" ' +4 "storage"(R- +7 "core" -' +4 .tSE.configure :default +4 "storage"(#QK-0-\ b +5 "manipulator"&f& +6 "core" & o o L  +2 "storage"(^& +9 "core" &K X Z n\ +3 .tElbow.reconfigure :limp +4 "manipulator"&$ ,(b +7 .tForearm.reconfigure :loose +5 "manipulator"&#Q@2^d^b +5 .tForearm.seek 6 +3 "manipulator"&['z +37 "core" ' +3 .tElbow.hold +3 "manipulator"&], +9 "core" , +2 .tElbow.reconfigure :tight +6 "manipulator"&$&.,(\ #b +6 "storage"(|- +6 "core" -' +4 .tSE.seek 0.11 Pucks below Top Plate +4 "storage"(b'k +43 "core" ' +3 "manipulator"&?% +9 "core" %΃Y   F ò +2 "storage"(& +7 "core" &K }\ +3 .tForearm.force -20 +4 "manipulator"&5 +5 .tForearm.seek 6 + 309 counts +2 "manipulator"& 'ϯ +19 "core" ' +4 "manipulator"&i& +9 "core" & p s   +4 "storage"(1& +10 "core" &K Y X \ +5 .tForearm.reconfigure :tight +6 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +4 "manipulator"&z'< +22 "core" ' +5 .tSE.seek 1.11 Pucks below Top Plate +4 "storage"(~'Z +50 "core" ' +2 "manipulator"&u& +10 "core" & n k   +2 "manipulator"&% +12 "core" % o o  \ +4 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +5 .tForearm.seek :retract +2 "manipulator"&'\ +90 "core" ' +5 .tElbow.seek CC +2 "manipulator"&d( +155 "core" ( +3 "manipulator"&y& +9 "core" & ! 8 +4 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +4 &q& +7 "core" & ` 8 +4 .tForearm.seek CC +5 "manipulator"&'| +99 "core" ' +4 .tHand.close +2 "manipulator"&n/ +63 "core" / +6 .tCC.seek :open +4 "collection"'k(p +412 "core" ( +4 "storage"(o& +9 "core" &K \ +4 "storage"(h& +9 "core" &K \ +4 "manipulator"& & +10 "core" & x 8 +4 "manipulator"&l% +8 "core" % g w  +4 .tForearm.seek :retract +4 "manipulator"&{'\ +93 "core" ' +4 .tElbow.reconfigure :tight +6 "manipulator"&$&.,(\ #b +6 .tElbow.seek 6 + "manipulator"&( +166 "core" ( +3 "manipulator"&}& +9 "core" &   +5 "storage"( & +9 "core" &K /\ +2 .tElbow.reconfigure :limp +7 "manipulator"&$ ,(b +4 .tForearm.seek 6 +4 "manipulator"&'z +113 "core" ' +3 .tElbow.hold +5 "manipulator"&c, +7 "core" , +2 .tElbow.reconfigure :tight +5 "manipulator"&$&.,(\ #b +4 .tHand.open +3 "manipulator"&1 +57 "core" 1 +4 "manipulator"&)% +11 "core" % Ί~  S +3 "storage"(& +9 "core" &K [ Y \ +2 .tForearm.force -20 +5 "manipulator"&5 +5 .tForearm.seek 6 + 316 counts +2 "manipulator"&'϶ +17 "core" ' +3 "manipulator"&& +10 "core" & m o 7  +2 "storage"(v& +9 "core" &K \ +5 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +7 .tForearm.seek 6 + 450 counts + "manipulator"&s'< +20 "core" ' +3 "storage"(% +11 "core" %^ ,\ +7 ."downElevator"SE.seek :down +8 "storage"(m'N +99 (%% +6 "core" %u6 \ UY +4 "manipulator"&w% +8 "core" % p \\ w  +5 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +5 .tForearm.seek :retract +4 "manipulator"&'\ +89 "core" ' +40 ' +2 ."downElevator"SE.stop +3 "storage"(5 +6 #tShuffling pucks in tube 7 of [6..7] +2 #Loading generic puck from tube 7 into Collection Clamp +5 "collection"'& +9 "core" &\ +4 "manipulator"&x% +9 "core" %\ '  : +3 "storage"(E% +10 "core" %S W\  +3 "storage"(r. +7 "core" .(K +3 .tSC.reconfigure :tight +6 "storage"($\ .\ 1~b +3 .tSC.seek 7 +2 "storage"(p([ +367 "core" ( +2 .tSC.configure :limp +7 "storage"($\ 1b +6 (\ & +9 "core" &[ u \  +2 "manipulator"& & +9 "core" &   +5 .tElbow.seek 7 + "manipulator"&.( +33 "core" ( +2 "manipulator"&& +10 "core" & V A +5 "storage"(-& +8 "core" &[ \  +5 .tForearm.reconfigure :tight +4 "manipulator"&#Q@2^d^\ b +6 .tForearm.seek 7 + 450 counts +2 "manipulator"&'k +112 "core" ' +3 "storage"(5& +9 "core" &[ Z\  +4 .tSE.reconfigure :pick +4 "storage"(#]K-0-\ b +6 .tSE.seek :beamBreak +4 "storage"(,'e +287 "core" ' +4 "storage"(g- +7 "core" -' +4 .tSE.configure :default +6 "storage"(#QK-0-\ b +5 ("& +5 "core" &[ r\  +2 "manipulator"&'& +10 "core" & o o @ +3 .tElbow.seek 7 +4 "manipulator"&( +6 "core" ( +4 "manipulator"& & +9 "core" & n p @ +4 "storage"(& +9 "core" &[ \  +4 .tForearm.seek 7 + 300 counts +3 "manipulator"&' +16 "core" ' +2 .tForearm.reconfigure :loose +6 "manipulator"&#Q@2^d^b +4 .tHand.close +2 "manipulator"&/ +57 "core" / +6 ."downElevator"SE.seek :down +7 "manipulator"&& +6 "storage"('N +14 "core" & 7 @ +5 "manipulator"&% +9 "core" % V J +4 .tForearm.seek :retract +4 "manipulator"&7'\ +91 "core" ' +4 .tElbow.seek CC +4 "manipulator"&/( +136 "core" ' +4 ."downElevator"SE.stop +3 "storage"(5 +10 "core" ( +3 "manipulator"&#& +10 "core" &"  9# +3 .tElbow.reconfigure :loose +4 "manipulator"&$ &.,(#b +5 && +9 "core" &" O 9# +117 .tForearm.reconfigure :tight +8 "manipulator"&#Q@2^d^\ b +5 .tForearm.seek CC +4 "manipulator"&!'| +106 "core" ' +3 "manipulator"&A& +9 "core" &" } 9# +4 "manipulator"&L% +9 "core" %t +4 "collection"'W& +10 "core" &+\ +4 "collection"'(& +12 "core" &\ +9 .tCC.seek :closed +2 "collection"'6(] +11 "core" &'\ +4 & \ +2 &#\ 9 +6 &H~+\ 1 +10 &Gt$\ E +2 "Can" SP +8 "core" &g\ N +10 &a \ M +7 &qc"\ N +10 & 3c#\ N +12 &!b*\ N +7 &#_(\ M +11 &%z],\ M +8 &';`,\ N +9 &(` \ N +11 &*^\ N +7 &,`\ N +10 &.Ca)\ N +11 &0a&\ M +7 &1c\ N +10 &3b&\ M +11 &5L^!\ M +8 &7 `\ N +11 &8_\ N +8 &:`#\ N +10 &b-\ N +8 &?a%\ N +13 &A^(\ N +7 &C\\^'\ M +9 &E]&\ N +10 &F`+\ N +8 &Hh)\ N +11 &J^p'\ O +12 &L,\ S +8 &M}'\ W +10 &Oqw&\ W +7 &QLor+\ X +10 &S gm'\ Y +9 &Tbh$\ Z +10 &V^c \ Z +10 &XIY^%\ \\ +9 &Z\ QY(\ \\ +9 &[PS+\ \\ +12 &]+MMO(\ 1 +6 &]KL(\ X +5 ( +6 "collection"'(& +6 #tCollection Clamp onSpring/offSpring for 9/26 samples, on/off torque 2.04 +4 .Hand.open +2 "manipulator"&$1 +7 "core" &]HL%\ X +54 1 +2 "manipulator"&@% +10 "core" % u 3 +4 .tForearm.reconfigure :loose +6 "manipulator"&#Q@2^d^b +4 .tForearm.seek :retract +4 "manipulator"&O'\ +91 "core" ' +4 #tLoading generic puck from tube 7 into Processing Clamp +4 "processing"%>& +9 "core" &\ +4 "manipulator"&S% +9 "core" %\ &  2 +4 "storage"(3% +8 "core" %N 3 3\  +5 "storage"(U. +7 "core" .([ +3 "storage"(;& +8 "core" &[ 4 5 \  +3 "storage"(B& +10 "core" &[ 4 4 \  +2 "manipulator"&F& +9 "core" &" = 7 +4 "manipulator"&N% +7 "core" %\ & - 2 +5 .tElbow.reconfigure :tight +7 "manipulator"&$&.,(\ #b +4 .tElbow.seek 7 +4 "manipulator"&( +159 "core" ( +5 "manipulator"&2& +8 "core" &  +3 "storage"(9& +10 "core" &[ H 8 \  +5 .tForearm.reconfigure :tight +5 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 7 + 450 counts +4 "manipulator"&_'k +109 "core" ' +3 "storage"(J& +10 "core" &[ c ^ .\  +5 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +6 .tSE.seek :beamBreak +3 "storage"(D'e +282 "core" ' +5 "storage"(4- +6 "core" -' +3 .tSE.configure :default +4 "storage"(#QK-0-\ b +6 (M& +5 "core" &[ Z [\  +4 "manipulator"&:& +7 "core" & n o  +5 .tElbow.seek 7 +3 "manipulator"&G( +7 "core" ( +4 "manipulator"&=& +9 "core" & p e ^ +2 "storage"(Y& +10 "core" &[ o ^ \  +4 .tForearm.seek 7 + 300 counts +5 "manipulator"&&' +25 "core" ' +4 .tForearm.reconfigure :loose +4 "manipulator"&#Q@2^d^b +6 .tHand.close +2 "manipulator"&V/ +55 "core" / +6 ."downElevator"SE.seek :down +8 "manipulator"&T& +2 "storage"(+'N +15 "core" &  +3 "manipulator"&X% +10 "core" %   +5 .tForearm.seek :retract + "manipulator"&0'\ +95 "core" ' +4 .tElbow.seek PC +5 "manipulator"&\\(c +145 "core" ' +3 ."downElevator"SE.stop + "storage"(5 +106 "core" ( +3 "manipulator"&K& +11 "core" &c  +3 .tElbow.reconfigure :loose +4 "manipulator"&$ &.,(#b +5 &j& +7 "core" &c +4 .tForearm.reconfigure :tight +5 "manipulator"&#Q@2^d^\ b +7 .tForearm.seek PC + "manipulator"&a'[ +105 "core" ' +2 "manipulator"&H& +10 "core" &c  +3 "manipulator"&P% +8 "core" %M x +5 "processing"%8& +8 "core" &\ +4 "processing"%C& +11 "core" &\ +8 .tPC.seek :closed +10 "processing"%*(Z +5 "core" &\ +2 &\ +5 &\ \ +7 &/~\ *y +7 &e\ ? +14 &E{\ N +7 & Y\ M +8 &[\ M +9 &Y\ M +10 &!O`\ M +9 &#_\ M +8 &$]\ N +10 &&]\ M +11 &(WZ\ M +7 &*_\ M +12 &+]\ M +7 &-[\ M +10 &/^c\ N +10 &1"^\ M +8 &2_\ N +11 &4\\\ M +8 &6f^\ N +9 &8)_\ M +11 &9\\\ M +8 &;`\ M +10 &=o]\ M +11 &?2\\\ M +8 &@^\ N +9 &B]\ N +11 &Dv_\ N +7 &F7b\ N +11 &Gj\ O +8 &Iu\ P +10 &Kr\ R +10 &M.\ T +9 &N\ T +10 &P\ T +9 &Ru\ S +10 &T5\ T +11 &U\ T +6 &W\ T +11 &Yz\ A +10 &Zu9\ !c +11 &Z!\ + + ( +5 "processing"%C& +8 #tProcessing Clamp onSpring/offSpring for 9/25 samples, on/off torque 1.60 +2 .Hand.open + "manipulator"&<1 +7 "core" &Z"\ + +48 1 +2 "manipulator"&I% +8 "core" % M +4 .tForearm.reconfigure :loose +6 "manipulator"&#Q@2^d^b +5 .tForearm.seek :retract + "manipulator"&R'\ +97 "core" ' +5 "processing"%f& +9 "core" &Z"\ + +4 #tImaging generic puck in Processing Clamp while storing it to tube 7 +2 "manipulator"&^% +9 "core" %\ , "a +4 "storage"(|% +8 "core" %U  \  +3 "storage"(?. +6 "core" .([ +4 "storage"(& +7 "core" &[   -\  +5 "storage"(i& +10 "manipulator"&1& +9 "core" &[  \  +2 &c +7 .tElbow.reconfigure :tight +6 ."raiseStack"SE.reconfigure :place +9 "manipulator"&$&.,(\ #b +7 .tElbow.seek PC +4 "storage"(#]kK-0-\ b +3 "manipulator"&Q(c +14 ."raiseStack"SE.seek :beamBreak +4 "storage"(u'e +5 "core" ( +5 "manipulator"&& +9 "core" &c ~ +5 .tElbow.reconfigure :loose +4 "manipulator"&$ &.,(#b +4 &Z& +7 "core" &c +4 .tForearm.seek PC +5 "manipulator"&`'[ +99 "core" ' +4 .tHand.close + "manipulator"&[/ +59 "core" / +4 .tPC.seek :open +2 "processing"% (p +57 "core" ' +4 "storage"(b- +6 "core" -'e +3 ."raiseStack"SE.configure :default +4 "storage"(#QK-0-\ b +6 ."raiseStack"SE.seek :place +6 "storage"(y'B +45 "core" ' +265 ( +3 "storage"(q& +8 "core" &[ ? A 8\  +4 "manipulator"&z& +9 "core" &c  +3 "manipulator"&]% +8 "core" % k  +4 .tForearm.seek :retract +4 "manipulator"&n'\ +105 "core" ' +4 .tElbow.reconfigure :tight +6 "manipulator"&$&.,(\ #b +4 .tElbow.seek 7 +4 "manipulator"&( +258 "core" ( +2 "manipulator"&t& +11 "core" & 7 d +4 "storage"(o& +8 "core" &[   U\  +4 .tForearm.reconfigure :tight +4 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 7 + 450 counts +6 "manipulator"&h'k +98 "core" ' +3 .tHand.open +4 "manipulator"& 1 +63 "core" 1 +4 "storage"(l- +9 "core" -'B +4 .tSE.seek -0.16 Pucks below Top Plate +4 "storage"(}' +27 "core" ' +4 .tSE.reconfigure :seal +4 "storage"(#QK-0-\ b +4 .tSE.seek -0.83 Pucks below Top Plate +5 "storage"( ' +56 "core" ' +3 #tLights, camera, ACTION! +4 "storage"(- +6 "core" -' +5 "storage"(d& +10 "core" &[ I\  +3 "manipulator"&& +9 "core" & N d +4 .tElbow.seek 7 +2 "manipulator"&)( +7 "core" ( +5 "manipulator"&& +8 "core" & N d +2 "storage"(& +9 "core" &[ \  +4 .tForearm.seek 7 + 450 counts +5 "manipulator"&v'k +7 "core" ' +5 .tSE.reconfigure :gently +6 "storage"(#QK-0-\ b +4 .tSE.seek -0.11 Pucks below Top Plate + "storage"({'M +62 "core" ' +3 "manipulator"&& +10 "core" &  d +4 "storage"(& +10 "core" &[ 7 5\  +2 .tElbow.reconfigure :limp +6 "manipulator"&$ ,(b +4 .tForearm.reconfigure :loose +7 "manipulator"&#Q@2^d^b +4 .tForearm.seek 7 +7 "manipulator"&%'Ω +28 "core" ' +4 .tElbow.hold + "manipulator"&w, +9 "core" , +2 .tElbow.reconfigure :tight +7 "manipulator"&$&.,(\ #b +6 .tSE.reconfigure :default +6 "storage"(#QK-0-\ b +5 .tSE.seek 0.07 Pucks below Top Plate +4 "storage"('7 +25 "core" ' +4 "manipulator"&% +10 "core" %ν{ X E +3 "storage"(& +9 "core" &[\ \  \  +3 .tForearm.force -20 +4 "manipulator"&5 +9 .tForearm.seek 7 + 320 counts +4 "manipulator"&x' +21 "core" ' +2 "manipulator"&~& +10 "core" & q z C b +3 "storage"(E& +10 "core" &[ [ [\  +4 .tForearm.reconfigure :tight +6 "manipulator"&#Q@2^d^\ b +5 .tForearm.seek 7 + 450 counts +5 "manipulator"&r'k +20 "core" ' +4 "storage"(s% +8 "core" %@ [ X a\  +5 ."downElevator"SE.seek :down +6 "storage"(m'N +98 (e% +7 "core" %8 8 5\ U] +5 "manipulator"&\ % +8 "core" %a x p ! +5 .tForearm.reconfigure :loose +5 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +115 "manipulator"& '\ +21 "core" ' +3 ."downElevator"SE.stop +3 "storage"(5 +67 "core" ' +3 "storage"(& +10 "core" &[ A B \  +4 "collection"'-& +8 "core" &]QR&\ X +5 #tStoring generic puck in Collection Clamp to tube 7 +3 "manipulator"&5% +9 "core" %\ ' | @ +3 "storage"(c% +9 "core" %S B A \  +2 "storage"(. +6 "core" .([ +5 "storage"(g& +6 "core" &[ B A z\  +5 "storage"("& +8 "core" &[ A A \  +4 "manipulator"&'& +10 "core" & V b +3 .tElbow.seek 7 +2 "manipulator"& ( +8 "core" ( +3 "manipulator"&& +9 "core" & h b +3 "storage"(& +9 "core" &[ A B \  +4 .tForearm.reconfigure :tight +5 "manipulator"&#Q@2^d^\ b +5 .tForearm.seek 7 + 450 counts +4 "manipulator"&'k +101 "core" ' +3 "storage"(& +10 "core" &[ [ X r\  +5 .tSE.reconfigure :pick +4 "storage"(#]K-0-\ b +7 .tSE.seek :beamBreak +4 "storage"(.'e +283 "core" ' +3 "storage"(- +9 "core" -' +2 .tSE.configure :default +6 "storage"(#QK-0-\ b +7 "manipulator"&#& +5 "core" & x n 9 b +4 "storage"(,& +10 "core" &[ X X Q\  +2 .tElbow.reconfigure :limp +8 "manipulator"&$ ,(b +7 .tForearm.reconfigure :loose +4 "manipulator"&#Q@2^d^b +5 .tForearm.seek 7 +4 "manipulator"&'Ω +36 "core" ' +3 .tElbow.hold +2 "manipulator"&, +9 "core" , +3 .tElbow.reconfigure :tight +5 "manipulator"&$&.,(\ #b +6 "storage"(- +6 "core" -' +5 .tSE.seek 0.12 Pucks below Top Plate +5 "storage"(A't +34 "core" ' +4 "manipulator"&L% +8 "core" %ιo ] +3 "storage"(& +8 "core" &[ )\  +3 .tForearm.force -20 +4 "manipulator"&5 +5 .tForearm.seek 7 + 316 counts +3 "manipulator"&W' +20 "core" ' +3 "manipulator"&7& +10 "core" & | z A a +3 "storage"(k& +9 "core" &[ Y X b\  +4 .tForearm.reconfigure :tight +4 "manipulator"&#Q@2^d^\ b +5 .tForearm.seek 7 + 450 counts +4 "manipulator"&$'k +19 "core" ' +4 .tSE.seek 1.12 Pucks below Top Plate +4 "storage"(@'c +48 "core" ' +5 "manipulator"&>& +9 "core" & o q F a +4 "manipulator"&(% +9 "core" %_ s { K +4 .tForearm.reconfigure :loose +6 "manipulator"&#Q@2^d^b +5 .tForearm.seek :retract +4 "manipulator"&S'\ +96 "core" ' +4 .tElbow.seek CC +4 "manipulator"&3( +155 "core" ( +3 "manipulator"&U& +10 "core" && h >H +3 .tElbow.reconfigure :loose +6 "manipulator"&$ &.,(#b +6 &;& +8 "core" &' >H +5 .tForearm.seek CC +3 "manipulator"&B'| +104 "core" ' +3 .tHand.close +2 "manipulator"&F/ +65 "core" / +4 .tCC.seek :open +5 "collection"'N(p +414 "core" ( +3 "storage"(!& +11 "core" &[ | { \  +3 "storage"(2& +9 "core" &[ m | Q\  +2 "manipulator"&9& +9 "core" &% b << +3 "manipulator"&/% +10 "core" % π b +4 .tForearm.seek :retract +5 "manipulator"&J'\ +100 "core" ' +4 .tElbow.reconfigure :tight +5 "manipulator"&$&.,(\ #b +4 .tElbow.seek 7 +4 "manipulator"&O( +166 "core" ( +4 "manipulator"&4& +8 "core" & i  +5 "storage"(M& +8 "core" &[ <\  +2 .tElbow.reconfigure :limp +7 "manipulator"&$ ,(b +4 .tForearm.seek 7 +4 "manipulator"&:'Ω +112 "core" ' +3 .tElbow.hold +3 "manipulator"&=, +4 "core" , +4 .tElbow.reconfigure :tight +6 "manipulator"&$&.,(\ #b +5 .tHand.open +2 "manipulator"&Y1 +65 "core" 1 +5 "manipulator"&V% +8 "core" % η M p +2 "storage"(T& +10 "core" &[ W U *\  +3 .tForearm.force -20 +3 "manipulator"&5 +5 .tForearm.seek 7 + 314 counts +3 "manipulator"&X' +18 "core" ' +3 "manipulator"&& +9 "core" & o p r  +3 "storage"(_& +13 "core" &[ r\  +4 .tForearm.reconfigure :tight +4 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 7 + 450 counts +4 "manipulator"&D'k +25 "core" ' +2 "storage"(&% +11 "core" %] +\ +5 ."downElevator"SE.seek :down +7 "storage"(K'N +99 (j% +4 "core" %: \ TY +3 "manipulator"&G% +7 "core" %~ Z d [  +5 .tForearm.reconfigure :loose +7 "manipulator"&#Q@2^d^b +5 .tForearm.seek :retract +2 "manipulator"&H'\ +95 "core" ' +31 ' +2 ."downElevator"SE.stop +4 "storage"(5 +9 #tShuffling pucks in tube 6 of [6..7] +5 #Loading generic puck from tube 6 into Collection Clamp +2 "collection"'P& +8 "core" &"\ +4 "manipulator"&8% +9 "core" %\ 3  %z +3 "storage"(+% +9 "core" %Q \  +4 "storage"(0. +7 "core" .([ +5 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +4 .tSC.seek 6 +4 "storage"((K +359 "core" ( +3 .tSC.configure :limp +5 "storage"($\ 1b +4 (<& +7 "core" &K L _ s\ +4 "manipulator"&I& +8 "core" & 3  +3 .tElbow.seek 6 +3 "manipulator"&f( +23 "core" ( +3 "manipulator"&^& +9 "core" &\ V +4 "storage"(C& +11 "core" &K \ +4 .tForearm.reconfigure :tight +4 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 6 + 450 counts +5 "manipulator"&|'< +112 "core" ' +7 "storage"(?& +10 "core" &K \ +5 .tSE.reconfigure :pick +4 "storage"(#]K-0-\ b +7 .tSE.seek :beamBreak +4 "storage"('e +289 "core" ' +3 "storage"(1- +7 "core" -' +4 .tSE.configure :default +6 "storage"(#QK-0-\ b +7 (i& +5 "core" &K \ \ +5 "manipulator"&& +8 "core" & n p V +4 .tElbow.seek 6 +2 "manipulator"&Z( +7 "core" ( +4 "manipulator"&a& +9 "core" &\ y q \\ V +4 "storage"([& +9 "core" &K \ +5 .tForearm.seek 6 + 300 counts +4 "manipulator"&b'Ϧ +16 "core" ' +5 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +5 .tHand.close +4 "manipulator"&\\/ +57 "core" / +5 ."downElevator"SE.seek :down +9 "manipulator"&R& +3 "storage"(*'N +18 "core" &\  V +3 "manipulator"&u% +10 "core" % ϝ 1 G +4 .tForearm.seek :retract + "manipulator"&q'\ +96 "core" ' +3 .tElbow.seek CC +2 "manipulator"&z( +137 "core" ' +3 ."downElevator"SE.stop +2 "storage"(5 +8 "core" ( +4 "manipulator"&]& +9 "core" &# :+ +3 .tElbow.reconfigure :loose +4 "manipulator"&$ &.,(#b +7 &`& +7 "core" &# \ :+ +5 .tForearm.reconfigure :tight +5 "manipulator"&#Q@2^d^\ b +8 .tForearm.seek CC +4 "manipulator"&t'| +94 "core" ' +4 "manipulator"&o& +8 "core" &#  :+ +5 "manipulator"&Q% +9 "core" %ρ Q  +4 "collection"' & +9 "core" &/\ +6 "collection"'l& +10 "core" &,\ +4 &5\ +5 .tCC.seek :closed +6 "collection"'(] +9 "core" &2\ +2 &2\  +8 &0*\ +{ +7 &b/\ > +11 &J~1\ N +9 &].\ M +9 &`+\ N +11 &e%\ M +8 &!T`\ M +9 &#c%\ N +10 &$a&\ N +8 &&b*\ N +11 &(\\b*\ M +9 &*a'\ N +9 &+_*\ M +12 &-],\ M +6 &/d`%\ M +12 &1%d'\ N +8 &2`*\ N +8 &4]+\ M +10 &6lb(\ M +10 &8-b'\ N +9 &9^&\ M +10 &;`+\ M +8 &=t`)\ M +10 &?6a/\ M +10 &@c%\ M +9 &Bb'\ M +9 &D}\\&\ M +13 &F=_'\ N +6 &Gc+\ N +11 &Ip*\ O +8 &Kw)\ R +9 &M.w)\ V +10 &Nkp)\ W +9 &Pdj*\ Y +10 &Rk^b&\ Y +12 &T+X^E\ Y +6 &USW0\ Z +10 &WQS)\ [\ +8 &YhKN*\ \\ +11 &[)FI%\ ] +10 &\\CC%\ 7 +8 &]'>A$\ U +9 ( +10 "collection"'l& +6 #tCollection Clamp onSpring/offSpring for 9/25 samples, on/off torque 2.02 + .Hand.open +2 "manipulator"&n1 +9 "core" &]e@@%\ N +2 &]e>@'\ N +48 1 +4 "manipulator"&d% +8 "core" % ρ  +5 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +4 .tForearm.seek :retract +5 "manipulator"&'\ +94 "core" ' +5 #tLoading generic puck from tube 6 into Processing Clamp +2 "processing"%& +10 "core" &\ +3 "manipulator"&% +12 "core" %\ ) { F +3 "storage"(% +7 "core" %N 1 5 /\  +3 "storage"(. +6 "core" .(K +3 .tSC.reconfigure :tight +8 "storage"($\ .\ 1~b +4 .tSC.seek 6 +5 "storage"(y(K +8 "core" ( +4 .tSC.configure :limp +5 "storage"($\ 1b +6 (}& +10 "core" &K 9 _ !\ +3 "manipulator"&& +8 "core" & [ 8! +3 "manipulator"&% +7 "core" %\ ) g F +5 .tElbow.reconfigure :tight +5 "manipulator"&$&.,(\ #b +5 .tElbow.seek 6 +4 "manipulator"&( +253 "core" ( +25 "manipulator"&h& +10 "core" & F +2 "storage"(~& +9 "core" &K Z Y \ +4 .tForearm.reconfigure :tight +5 "manipulator"&#Q@2^d^\ b +6 .tForearm.seek 6 + 450 counts +3 "manipulator"&E'< +100 "core" ' +3 "storage"( & +8 "core" &K o o \ +4 .tSE.reconfigure :pick +8 "storage"(#]K-0-\ b +6 .tSE.seek :beamBreak +4 "storage"(s'e +278 "core" ' +4 "storage"(v- +7 "core" -' +4 .tSE.configure :default +4 "storage"(#QK-0-\ b +6 ()& +6 "core" &K q e c\ +4 "manipulator"&e& +8 "core" & o n +4 .tElbow.seek 6 +6 "manipulator"&\ ( +8 "core" ( +3 "manipulator"&{& +9 "core" & o o  +3 "storage"(%& +10 "core" &K p u F\ +5 .tForearm.seek 6 + 300 counts +5 "manipulator"&x'Ϧ +18 "core" ' +4 .tForearm.reconfigure :loose +4 "manipulator"&#Q@2^d^b +4 .tHand.close +5 "manipulator"&/ +62 "core" / +7 ."downElevator"SE.seek :down +9 "manipulator"&& +2 "storage"(-'N +19 "core" & + +3 "manipulator"&5% +9 "core" % ϭ ! * +5 .tForearm.seek :retract +4 "manipulator"&c'\ +95 "core" ' +4 .tElbow.seek PC +3 "manipulator"&(c +133 "core" ' +3 ."downElevator"SE.stop +6 "storage"(5 +108 "core" ( +3 "manipulator"&g& +8 "core" &m +5 .tElbow.reconfigure :loose +4 "manipulator"&$ &.,(#b +4 &"& +8 "core" &m + +4 .tForearm.reconfigure :tight +5 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek PC +4 "manipulator"&''[ +105 "core" ' +2 "manipulator"&& +11 "core" &m +2 "manipulator"&% +9 "core" %X +5 "processing"%r& +10 "core" &\ +4 "processing"%m& +9 "core" &\ +10 .tPC.seek :closed +7 "processing"%(Z +9 "core" &\ +3 &\ +4 &\ 1 +2 &H\ 1 +8 &1r\ E +11 &e\ M +7 &]\ M +11 &Z]\ N +9 & ]\ M +8 &!^\ M +11 &#\\\ M +9 &%c\\\ M +8 &'&Y\ M +12 &(]\ M +7 &*Y\ M +10 &,k]\ M +11 &.-Z\ M +7 &/_\ M +11 &1]\ M +10 &3s_\ M +8 &55\\\ M +11 &6^\ M +8 &8_\ M +10 &:{]\ M +10 &<>Y\ M +7 &=^\ N +11 &?]\ M +8 &A_\ N +10 &CE^\ M +12 &E^\ M +6 &Fc\ N +10 &Hh\ N +10 &JFr\ P +8 &L}\ Q +12 &M\ S +8 &O\ S +10 &QC\ S +9 &S\ T +10 &T\ T +9 &V\ T +10 &XI\ T +9 &Yyv\ , +10 &Z'b\ - +7 ( +4 "processing"%m& +11 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.52 +2 .Hand.open +4 "manipulator"&w1 +7 "core" &Z\ ' +2 &Z\ ' +46 1 +2 "manipulator"& % +11 "core" % W +4 .tForearm.reconfigure :loose +4 "manipulator"&#Q@2^d^b +5 .tForearm.seek :retract +2 "manipulator"&'\ +103 "core" ' +3 "processing"%#& +9 "core" &Z\ ' +4 #tImaging generic puck in Processing Clamp while storing it to tube 6 +2 "manipulator"&,% +9 "core" %\ : ( +3 "storage"(% +9 "core" %G : 5\  +4 "storage"(L. +7 "core" .(K +4 .tSC.reconfigure :tight +5 "storage"($\ .\ 1~b +6 .tSC.seek 6 + "storage"((K +10 "core" ( +3 .tSC.configure :limp +7 "storage"($\ 1b +7 (7& +4 "manipulator"&k& +9 "core" &K 5 9 M\ +12 ."raiseStack"SE.reconfigure :place +6 "storage"(#]kK-0-\ b +6 ."raiseStack"SE.seek :beamBreak +2 "storage"(>'e +7 "core" &m +4 .tElbow.reconfigure :tight +6 "manipulator"&$&.,(\ #b +5 .tElbow.seek PC + "manipulator"&(c +7 "core" ( +3 "manipulator"&(& +8 "core" &m +6 .tElbow.reconfigure :loose +4 "manipulator"&$ &.,(#b +5 & & +7 "core" &m +4 .tForearm.seek PC +4 "manipulator"&.'[ +100 "core" ' +3 .tHand.close +2 "manipulator"&/ +60 "core" / +4 .tPC.seek :open +2 "processing"%W(p +31 "core" ' +2 "storage"(A- +9 "core" -'e +3 ."raiseStack"SE.configure :default +4 "storage"(#QK-0-\ b +7 ."raiseStack"SE.seek :place +4 "storage"(U'B +42 "core" ' +293 ( +5 "storage"(;& +11 "core" &K Y X H\ +2 "manipulator"&$& +7 "core" &m  +3 "manipulator"&% +8 "core" % i +5 .tForearm.seek :retract +4 "manipulator"&F'\ +97 "core" ' +4 .tElbow.reconfigure :tight +6 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +4 "manipulator"&S( +247 "core" ( +2 "manipulator"&6& +11 "core" & ) +3 "storage"(!& +9 "core" &K , * \ +5 .tForearm.reconfigure :tight +4 "manipulator"&#Q@2^d^\ b +7 .tForearm.seek 6 + 450 counts +2 "manipulator"&2'< +111 "core" ' +5 .tHand.open +2 "manipulator"&91 +57 "core" 1 +5 "storage"(/- +7 "core" -'B +4 .tSE.seek -0.16 Pucks below Top Plate +4 "storage"(4' +27 "core" ' +4 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +7 .tSE.seek -0.83 Pucks below Top Plate + "storage"(M' +55 "core" ' +5 #tLights, camera, ACTION! + "storage"(B- +9 "core" -' +3 "storage"(3& +10 "core" &K \ +2 "manipulator"&Y& +8 "core" & n n  ) +5 .tElbow.seek 6 +3 "manipulator"&V( +9 "core" ( +3 "manipulator"&T& +9 "core" & x r _ ) +3 "storage"(& +9 "core" &K \ +4 .tForearm.seek 6 + 450 counts +4 "manipulator"&_'< +9 "core" ' +5 .tSE.reconfigure :gently +4 "storage"(#QK-0-\ b +4 .tSE.seek -0.11 Pucks below Top Plate +4 "storage"(J'M +61 "core" ' +4 "manipulator"&&& +9 "core" & o q ) +3 "storage"(O& +9 "core" &K e X\ +4 .tElbow.reconfigure :limp +4 "manipulator"&$ ,(b +6 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +5 .tForearm.seek 6 +4 "manipulator"&j'z +37 "core" ' +4 .tElbow.hold +4 "manipulator"&G, +4 "core" , +3 .tElbow.reconfigure :tight +6 "manipulator"&$&.,(\ #b +8 .tSE.reconfigure :default +4 "storage"(#QK-0-\ b +4 .tSE.seek 0.07 Pucks below Top Plate +5 "storage"(:'7 +27 "core" ' +6 "manipulator"&X% +10 "core" %a u ´ +4 "storage"(P& +10 "core" &K\ \  _\ +4 .tForearm.force -20 +2 "manipulator"&5 +6 .tForearm.seek 6 + 305 counts + "manipulator"&8'ϫ +20 "core" ' +3 "manipulator"&@& +11 "core" &  p p  +3 "storage"(+& +8 "core" &K s t (\ +4 .tForearm.reconfigure :tight +5 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +6 "manipulator"&0'< +18 "core" ' +3 "storage"(D% +8 "core" %@ u v =\ +6 ."downElevator"SE.seek :down +9 "storage"(K'N +99 (p% +7 "core" %s7 G U G\ U\\ +4 "manipulator"&<% +8 "core" %5 o p +4 .tForearm.reconfigure :loose +6 "manipulator"&#Q@2^d^b +5 .tForearm.seek :retract +4 "manipulator"&I'\ +95 "core" ' +35 ' +2 ."downElevator"SE.stop +3 "storage"(5 +6 (^& +10 "core" &K 7 L\ +2 "collection"'C& +9 "core" &]eFH'\ N +5 #tStoring generic puck in Collection Clamp to tube 6 +3 "manipulator"&?% +10 "core" %\ / r #c +3 "storage"(=% +9 "core" %P Y X \ +2 "storage"(H. +8 "core" .(K +3 .tSC.reconfigure :tight +6 "storage"($\ .\ 1~b +5 .tSC.seek 6 +3 "storage"(1(K +7 "core" ( +3 .tSC.configure :limp +6 "storage"($\ 1b +3 (i& +8 "core" &K\  l 6\ +3 "manipulator"&& +8 "core" &  s  +4 .tElbow.seek 6 +2 "manipulator"&a( +18 "core" ( +4 "manipulator"&[& +8 "core" & + +3 "storage"(\\& +9 "core" &K X X e\ +4 .tForearm.reconfigure :tight +4 "manipulator"&#Q@2^d^\ b +5 .tForearm.seek 6 + 450 counts +4 "manipulator"&R'< +111 "core" ' +5 "storage"(u& +8 "core" &K n n\ +5 .tSE.reconfigure :pick +7 "storage"(#]K-0-\ b +7 .tSE.seek :beamBreak +4 "storage"(f'e +282 "core" ' +3 "storage"(|- +8 "core" -' +2 .tSE.configure :default +7 "storage"(#QK-0-\ b +4 "manipulator"&]& +8 "core" & p n +3 "storage"(& +9 "core" &K { r =\ +2 .tElbow.reconfigure :limp +5 "manipulator"&$ ,(b +5 .tForearm.reconfigure :loose +6 "manipulator"&#Q@2^d^b +4 .tForearm.seek 6 +3 "manipulator"&`'z +38 "core" ' +3 .tElbow.hold +4 "manipulator"&b, +9 "core" , +4 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +5 "storage"(Z- +5 "core" -' +116 .tSE.seek 0.11 Pucks below Top Plate +3 "storage"(o'k +31 "core" ' +3 "manipulator"&Q% +9 "core" %΅Z | ² +4 "storage"( & +8 "core" &K\ \  \ +3 .tForearm.force -20 +3 "manipulator"&5 +5 .tForearm.seek 6 + 311 counts +5 "manipulator"&*'ϱ +21 "core" ' +3 "manipulator"&q& +8 "core" & o o  +4 "storage"(N& +9 "core" &K X Y e\ +4 .tForearm.reconfigure :tight +6 "manipulator"&#Q@2^d^\ b +7 .tForearm.seek 6 + 450 counts +4 "manipulator"&n'< +18 "core" ' +5 .tSE.seek 1.11 Pucks below Top Plate + "storage"(d'Z +50 "core" ' +4 "manipulator"&& +10 "core" & n n +3 "manipulator"&l% +10 "core" %5 o o +4 .tForearm.reconfigure :loose +6 "manipulator"&#Q@2^d^b +5 .tForearm.seek :retract + "manipulator"&'\ +94 "core" ' +3 .tElbow.seek CC +5 "manipulator"&( +156 "core" ( +4 "manipulator"&& +11 "core" &\ ! 8 +5 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +5 &}& +6 "core" &\ ! 5 8 +4 .tForearm.seek CC +3 "manipulator"&'| +95 "core" ' +5 .tHand.close + "manipulator"&/ +65 "core" / +5 .tCC.seek :open +4 "collection"'t(p +414 "core" ( +2 "storage"(& +10 "core" &K \ +3 "storage"(h& +11 "core" &K \ +3 "manipulator"&~& +8 "core" & u 7 +3 "manipulator"&z% +9 "core" % ρ V \ +4 .tForearm.seek :retract + "manipulator"& '\ +94 "core" ' +4 .tElbow.reconfigure :tight +4 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +4 "manipulator"&( +160 "core" ( +3 "manipulator"&v& +10 "core" & J  +2 "storage"()& +9 "core" &K G\ +4 .tElbow.reconfigure :limp +4 "manipulator"&$ ,(b +6 .tForearm.seek 6 + "manipulator"&e'z +108 "core" ' +4 .tElbow.hold + "manipulator"&{, +9 "core" , +2 .tElbow.reconfigure :tight +8 "manipulator"&$&.,(\ #b +4 .tHand.open +2 "manipulator"&%1 +63 "core" 1 +4 "manipulator"&% +10 "core" % Έ "  ] +2 "storage"(& +9 "core" &K Y X `\ +3 .tForearm.force -20 +2 "manipulator"&5 +6 .tForearm.seek 6 + 314 counts +5 "manipulator"&5'ϴ +20 "core" ' +3 "manipulator"&& +9 "core" & s o  +4 "storage"(E& +9 "core" &K .\ +4 .tForearm.reconfigure :tight +5 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 6 + 450 counts +5 "manipulator"&s'< +18 "core" ' +3 "storage"(x% +9 "core" %Z J\ +6 ."downElevator"SE.seek :down +8 "storage"(g'N +100 ("% +5 "core" %4 *\ TX +6 "manipulator"&\ % +9 "core" %H o n +4 .tForearm.reconfigure :loose +4 "manipulator"&#Q@2^d^b +5 .tForearm.seek :retract +5 "manipulator"&'\ +96 "core" ' +21 ' +2 ."downElevator"SE.stop +3 "storage"(5 +5 #tShuffling pucks in tube 7 of [6..7] +2 #Loading generic puck from tube 7 into Collection Clamp +3 "collection"'& +10 "core" &#\ +3 "manipulator"&r% +10 "core" %\ 3 T %y +3 "storage"(-% +9 "core" %P h\ +2 "storage"(c. +9 "core" .(K +4 .tSC.reconfigure :tight +4 "storage"($\ .\ 1~b +5 .tSC.seek 7 +4 "storage"( ([ +384 "core" ( +3 .tSC.configure :limp +4 "storage"($\ 1b +4 (w& +11 "core" &[ \ +4 "manipulator"& & +7 "core" &  +3 .tElbow.seek 7 +4 "manipulator"&#( +31 "core" ( +3 "manipulator"&m& +9 "core" & ~ G +4 "storage"(,& +8 "core" &[ \ +4 .tForearm.reconfigure :tight +6 "manipulator"&#Q@2^d^\ b +6 .tForearm.seek 7 + 450 counts +3 "manipulator"&'k +107 "core" ' +3 "storage"(L& +10 "core" &[ \ +4 .tSE.reconfigure :pick +5 "storage"(#]K-0-\ b +7 .tSE.seek :beamBreak + "storage"(7'e +290 "core" ' +5 "storage"(k- +8 "core" -' +3 .tSE.configure :default +5 "storage"(#QK-0-\ b +7 ((& +4 "core" &[ \ +5 "manipulator"& & +10 "core" & n o G +4 .tElbow.seek 7 +3 "manipulator"&'( +16 "core" ( +3 "manipulator"&y& +9 "core" & o p  & +5 "storage"(& +8 "core" &[ S\ +5 .tForearm.seek 7 + 300 counts + "manipulator"&A' +18 "core" ' +4 .tForearm.reconfigure :loose +5 "manipulator"&#Q@2^d^b +5 .tHand.close +5 "manipulator"&/ +56 "core" / +6 ."downElevator"SE.seek :down +5 "manipulator"&& +4 "storage"('N +21 "core" & 2 & +5 "manipulator"&>% +10 "core" %  0 +4 .tForearm.seek :retract +4 "manipulator"&;'\ +91 "core" ' +4 .tElbow.seek CC +4 "manipulator"&$( +128 "core" ' +2 ."downElevator"SE.stop +3 "storage"(5 +16 "core" ( +2 "manipulator"&& +11 "core" &# } :0 +3 .tElbow.reconfigure :loose +6 "manipulator"&$ &.,(#b +4 &.& +4 "core" &# $ :0 +5 .tForearm.reconfigure :tight +7 "manipulator"&#Q@2^d^\ b +5 .tForearm.seek CC +2 "manipulator"&6'| +94 "core" ' +4 "manipulator"&!& +10 "core" &# :0 +3 "manipulator"&% +9 "core" %{  +5 "collection"'9& +10 "core" &5\ +5 "collection"'/& +10 "core" &+\ +5 &6\ +4 .tCC.seek :closed +6 "collection"'B(] +10 "core" &1\ +3 &5\  +4 &0/\ +{ +10 &c/\ > +10 &E|)\ N +10 & ],\ M +7 &c&\ N +9 &b&\ N +11 &!O]%\ M +8 &#a%\ N +10 &$]&\ M +11 &&^(\ N +8 &(W`)\ M +10 &*a%\ N +8 &+_(\ M +10 &-b*\ M +10 &/_b&\ M +8 &1 c$\ N +10 &2`'\ N +10 &4\\)\ M +8 &6ga&\ M +13 &8)\\)\ M +6 &9\\)\ M +10 &;\\-\ M +10 &=o`&\ M +8 &?1`(\ M +10 &@])\ M +11 &Bb*\ M +8 &Dwa%\ M +11 &F9`'\ M +7 &G_(\ N +10 &Ik(\ O +10 &Ks*\ Q +10 &M+)\ U +8 &Ntv(\ W +11 &Plq)\ X +7 &Rgfk*\ X +12 &T&dd'\ Y +7 &U]a$\ Z +13 &WXZ(\ [ +7 &YeRU#\ \\ +9 &[%OR'\ \\ +9 &\\vJN%\ @ +10 &]}(IH*\ +~ +11 &]jFG$\ J +2 ( +5 "collection"'/& +7 #tCollection Clamp onSpring/offSpring for 9/25 samples, on/off torque 1.99 +3 .Hand.open +5 "manipulator"&F1 +6 "core" &]hHK(\ J +51 1 +2 "manipulator"&3% +10 "core" % { l  +5 .tForearm.reconfigure :loose +4 "manipulator"&#Q@2^d^b +5 .tForearm.seek :retract +4 "manipulator"&Y'\ +93 "core" ' +4 #tLoading generic puck from tube 7 into Processing Clamp +4 "processing"%T& +11 "core" &\ +2 "manipulator"&% +10 "core" %\ *  !M +3 "storage"(&% +9 "core" %E 5 6 \  +2 "storage"(O. +8 "core" .([ +3 .tSC.reconfigure :tight +5 "storage"($\ .\ 1~b +5 .tSC.seek 7 + "storage"(U([ +11 "core" ( +2 .tSC.configure :limp +8 "storage"($\ 1b +4 (4& +9 "core" &[ , ) L\ +3 "manipulator"&X& +7 "core" &" ; 9% +5 "manipulator"&S% +9 "core" %\ *  !M +6 .tElbow.reconfigure :tight +4 "manipulator"&$&.,(\ #b +4 .tElbow.seek 7 +5 "manipulator"&P( +160 "core" ( +4 "manipulator"&2& +11 "core" & H \ +3 "storage"(@& +9 "core" &[ Z Y\ +4 .tForearm.reconfigure :tight +5 "manipulator"&#Q@2^d^\ b +5 .tForearm.seek 7 + 450 counts +5 "manipulator"&+'k +103 "core" ' +3 "storage"(M& +10 "core" &[ o n #\ +4 .tSE.reconfigure :pick +7 "storage"(#]K-0-\ b +6 .tSE.seek :beamBreak +2 "storage"(D'e +282 "core" ' +2 "storage"(_- +9 "core" -' +4 .tSE.configure :default +4 "storage"(#QK-0-\ b +8 (V& +3 "core" &[ c Y\ +4 "manipulator"&p& +10 "core" & o o \ +3 .tElbow.seek 7 +4 "manipulator"&<( +6 "core" ( +3 "manipulator"&J& +8 "core" & o o \ +2 "storage"(j& +8 "core" &[ u u E\ +5 .tForearm.seek 7 + 300 counts +4 "manipulator"&8' +17 "core" ' +2 .tForearm.reconfigure :loose +10 "manipulator"&#Q@2^d^b +3 .tHand.close +3 "manipulator"&^/ +63 "core" / +6 ."downElevator"SE.seek :down +7 "manipulator"&C& +5 "storage"(:'N +13 "core" & p o \ +3 "manipulator"&?% +9 "core" % o o H +5 .tForearm.seek :retract +3 "manipulator"&='\ +91 "core" ' +4 .tElbow.seek PC +5 "manipulator"&H(c +144 "core" ' +3 ."downElevator"SE.stop +2 "storage"(5 +105 "core" ( +4 "manipulator"&i& +9 "core" &a e +4 .tElbow.reconfigure :loose +6 "manipulator"&$ &.,(#b +3 && +117 "core" &a +7 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek PC +8 "manipulator"&['[ +94 "core" ' +5 "manipulator"&\\& +9 "core" &a  +4 "manipulator"&0% +8 "core" %b 0 +5 "processing"%u& +9 "core" &\ +4 "processing"%K& +10 "core" &\ +8 &\ +7 .tPC.seek :closed +7 "processing"%(Z +10 "core" &\ +3 &\ +2 &\ 1 +4 &G\ 1 +10 &4r\ E +10 &c\ N +9 &[\ M +8 &a[\ M +12 & #]\ M +8 &!\\\ M +9 &#\\\ M +12 &%h\\\ M +6 &'*]\ M +12 &(\\\ M +8 &*\\\ M +8 &,p]\ M +11 &.2]\ M +10 &/]\ M +9 &1\\\ M +10 &3x\\\ M +7 &5:\\\ M +9 &6]\ M +13 &8^\ M +7 &:_\ M +10 &]\ M +9 &?\\\ M +10 &A_\ M +8 &CK]\ M +8 &E ]\ M +12 &Fe\ M +7 &Hl\ O +11 &JJ|\ P +9 &L\ R +10 &M\ T +10 &O\ S +8 &QE\ T +9 &S\ T +10 &T\ S +9 &V\ T +11 &XK\ U +8 &Y{x\ (| +10 &Z+\ G +8 &Z#\ 0 +4 ( +6 "processing"%K& +7 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.56 +5 .Hand.open + "manipulator"&G1 +6 "core" &Z"\ 0 +50 1 +3 "manipulator"&I% +8 "core" % b  +5 .tForearm.reconfigure :loose +5 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +4 "manipulator"&|'\ +103 "core" ' +3 "processing"%]& +11 "core" &Z#\ 0 +3 #tImaging generic puck in Processing Clamp while storing it to tube 7 +2 "manipulator"&% +9 "core" %\ 4 & +5 "storage"(Z% +8 "core" %R 8 9 \  +3 "storage"(Q. +7 "core" .([ +5 .tSC.reconfigure :tight +6 "storage"($\ .\ 1~b +5 .tSC.seek 7 +3 "storage"( ([ +5 "core" ( +3 .tSC.configure :limp +6 "storage"($\ 1b +5 (q& +6 "manipulator"&N& +13 "core" &[ 1 8 Y\ +2 &a +8 .tElbow.reconfigure :tight +5 ."raiseStack"SE.reconfigure :place +9 "manipulator"&$&.,(\ #b +6 .tElbow.seek PC +5 "storage"(#]kK-0-\ b +5 "manipulator"&R(c +14 ."raiseStack"SE.seek :beamBreak +3 "storage"(a'e +5 "core" ( +3 "manipulator"&& +9 "core" &a a +4 .tElbow.reconfigure :loose +4 "manipulator"&$ &.,(#b +6 &l& +6 "core" &a v +5 .tForearm.seek PC +2 "manipulator"&f'[ +97 "core" ' +3 .tHand.close +2 "manipulator"&`/ +57 "core" / +3 .tPC.seek :open +4 "processing"%*(p +61 "core" ' +3 "storage"(o- +9 "core" -'e +2 ."raiseStack"SE.configure :default +6 "storage"(#QK-0-\ b +6 ."raiseStack"SE.seek :place +5 "storage"('B +44 "core" ' +259 ( +4 "storage"(}& +6 "core" &[ X Z d\ +5 "manipulator"&n& +10 "core" &a 6 +3 "manipulator"&b% +9 "core" % j T +4 .tForearm.seek :retract +4 "manipulator"&'\ +94 "core" ' +6 .tElbow.reconfigure :tight +5 "manipulator"&$&.,(\ #b +6 .tElbow.seek 7 +5 "manipulator"&( +262 "core" ( +3 "manipulator"&& +9 "core" &   +5 "storage"(& +7 "core" &[ X X [\ +6 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +5 .tForearm.seek 7 + 450 counts +2 "manipulator"&h'k +105 "core" ' +3 .tHand.open +3 "manipulator"&~1 +62 "core" 1 +5 "storage"(z- +7 "core" -'B +6 .tSE.seek -0.16 Pucks below Top Plate +3 "storage"(v' +27 "core" ' +4 .tSE.reconfigure :seal +4 "storage"(#QK-0-\ b +4 .tSE.seek -0.83 Pucks below Top Plate +4 "storage"()' +52 "core" ' +3 #tLights, camera, ACTION! +4 "storage"(- +8 "core" -' +5 "storage"(& +7 "core" &[ /\ +5 "manipulator"&%& +9 "core" & o o  +4 .tElbow.seek 7 +2 "manipulator"&( +7 "core" ( +3 "manipulator"&& +9 "core" & p o  +3 "storage"(& +6 "core" &[ \ +6 .tForearm.seek 7 + 450 counts +7 "manipulator"&E'k +8 "core" ' +5 .tSE.reconfigure :gently +4 "storage"(#QK-0-\ b +4 .tSE.seek -0.11 Pucks below Top Plate +3 "storage"( 'M +64 "core" ' +3 "manipulator"&x& +9 "core" & o n  +4 "storage"(& +10 "core" &[ u u ;\ +4 .tElbow.reconfigure :limp +5 "manipulator"&$ ,(b +5 .tForearm.reconfigure :loose +6 "manipulator"&#Q@2^d^b +6 .tForearm.seek 7 + "manipulator"&"'Ω +40 "core" ' +3 .tElbow.hold +4 "manipulator"&\ , +9 "core" , +5 .tElbow.reconfigure :tight +7 "manipulator"&$&.,(\ #b +13 .tSE.reconfigure :default +5 "storage"(#QK-0-\ b +9 .tSE.seek 0.07 Pucks below Top Plate +3 "storage"(e'7 +25 "core" ' +3 "manipulator"&5% +9 "core" %κy B +3 "storage"(& +8 "core" &[   K\ +3 .tForearm.force -20 +4 "manipulator"&5 +7 .tForearm.seek 7 + 317 counts +2 "manipulator"&r' +19 "core" ' +3 "manipulator"&-& +10 "core" & q o   +3 "storage"(d& +8 "core" &[ y | i\ +4 .tForearm.reconfigure :tight +6 "manipulator"&#Q@2^d^\ b +6 .tForearm.seek 7 + 450 counts +4 "manipulator"&c'k +24 "core" ' +4 "storage"(s% +10 "core" %= f e \\\ +6 ."downElevator"SE.seek :down +6 "storage"(g'N +98 (1% +7 "core" %7 X Y W\ T\\ +6 "manipulator"&w% +9 "core" %А m j +4 .tForearm.reconfigure :loose +5 "manipulator"&#Q@2^d^b +4 .tForearm.seek :retract +5 "manipulator"& '\ +89 "core" ' +44 ' +3 ."downElevator"SE.stop +4 "storage"(5 +5 (m& +9 "core" &[ Z X P\ +4 "collection"',& +9 "core" &]hQQ)\ J +4 #tStoring generic puck in Collection Clamp to tube 7 +2 "manipulator"&L% +8 "core" %\ ' Q < +5 "storage"({% +9 "core" %T L N \  +3 "storage"(. +7 "core" .([ +4 "storage"(k& +9 "core" &[ [ Y \ +4 "storage"((& +43 "core" &[ X X e\ +4 "manipulator"& & +10 "core" & -  +3 .tElbow.seek 7 +6 "manipulator"&y( +8 "core" ( +3 "manipulator"&& +9 "core" &   +3 "storage"(& +7 "core" &[ N X &\ +6 .tForearm.reconfigure :tight +4 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 7 + 450 counts +4 "manipulator"&'k +104 "core" ' +2 "storage"(>& +10 "core" &[ f f \ +4 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +7 .tSE.seek :beamBreak +4 "storage"(#'e +284 "core" ' +2 "storage"(- +9 "core" -' +2 .tSE.configure :default +6 "storage"(#QK-0-\ b +9 "manipulator"&& +5 "core" & n n   +4 "storage"(7& +7 "core" &[ [ d \ +3 .tElbow.reconfigure :limp +6 "manipulator"&$ ,(b +6 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +4 .tForearm.seek 7 +5 "manipulator"&.'Ω +36 "core" ' +3 .tElbow.hold +5 "manipulator"&A, +8 "core" , +3 .tElbow.reconfigure :tight +4 "manipulator"&$&.,(\ #b +4 "storage"(!- +8 "core" -' +4 .tSE.seek 0.12 Pucks below Top Plate +2 "storage"(''t +45 "core" ' +3 "manipulator"&% +9 "core" %μk 2 $  +5 "storage"(9& +8 "core" &[\ \  \ +2 .tForearm.force -20 +4 "manipulator"&5 +6 .tForearm.seek 7 + 319 counts +2 "manipulator"&' +20 "core" ' +4 "manipulator"&;& +10 "core" & o p  +2 "storage"(t& +8 "core" &[ u u L\ +5 .tForearm.reconfigure :tight +4 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 7 + 450 counts +4 "manipulator"&F'k +19 "core" ' +4 .tSE.seek 1.12 Pucks below Top Plate +2 "storage"(3'c +43 "core" ' +3 "manipulator"&T& +11 "core" & o o   +3 "manipulator"&/% +11 "core" %j o o +4 .tForearm.reconfigure :loose +5 "manipulator"&#Q@2^d^b +4 .tForearm.seek :retract +4 "manipulator"&'\ +90 "core" ' +3 .tElbow.seek CC +4 "manipulator"&&( +160 "core" ( +2 "manipulator"&O& +10 "core" &'  >O +3 .tElbow.reconfigure :loose +6 "manipulator"&$ &.,(#b +3 &4& +9 "core" &' : >N +3 .tForearm.seek CC +2 "manipulator"&X'| +99 "core" ' +3 .tHand.close + "manipulator"&S/ +60 "core" / +4 .tCC.seek :open + "collection"'6(p +411 "core" ( +3 "storage"(2& +8 "core" &[ j C\ +4 "storage"(@& +9 "core" &[ \ +3 "manipulator"& & +9 "core" &% <> +2 "manipulator"&$% +11 "core" % q +5 .tForearm.seek :retract +4 "manipulator"&M'\ +94 "core" ' +4 .tElbow.reconfigure :tight +5 "manipulator"&$&.,(\ #b +117 .tElbow.seek 7 +4 "manipulator"&Y( +159 "core" ( +5 "manipulator"&_& +8 "core" &  +2 "storage"(V& +9 "core" &[ \ +3 .tElbow.reconfigure :limp +5 "manipulator"&$ ,(b +6 .tForearm.seek 7 + "manipulator"&p'Ω +111 "core" ' +2 .tElbow.hold +2 "manipulator"&J, +8 "core" , +2 .tElbow.reconfigure :tight +7 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"&j1 +66 "core" 1 +5 "manipulator"&^% +8 "core" % μ  [ +4 "storage"(C& +9 "core" &[ X X a\ +3 .tForearm.force -20 +4 "manipulator"&5 +6 .tForearm.seek 7 + 319 counts +3 "manipulator"&?' +19 "core" ' +4 "manipulator"&P& +9 "core" & o p  +2 "storage"(+& +8 "core" &[ \ +6 .tForearm.reconfigure :tight +4 "manipulator"&#Q@2^d^\ b +5 .tForearm.seek 7 + 450 counts +4 "manipulator"&D'k +19 "core" ' +3 "storage"(8% +12 "core" %[ \ +4 ."downElevator"SE.seek :down +9 "storage"(i'N +94 (% +8 "core" %8 `\ TY +4 "manipulator"&<% +8 "core" %d o n +4 .tForearm.reconfigure :loose +4 "manipulator"&#Q@2^d^b +4 .tForearm.seek :retract +4 "manipulator"&:'\ +89 "core" ' +38 ' +4 ."downElevator"SE.stop +3 "storage"(5 +6 #tShuffling pucks in tube 6 of [6..7] +4 #Loading generic puck from tube 6 into Collection Clamp +3 "collection"'\\& +10 "core" &!\ +2 "manipulator"&0% +12 "core" %\ (  I +3 "storage"(u% +10 "core" %Q A\  +2 "storage"(=. +6 "core" .([ +5 .tSC.reconfigure :tight +5 "storage"($\ .\ 1~b +5 .tSC.seek 6 +3 "storage"(W(K +353 "core" ( +3 .tSC.configure :limp +4 "storage"($\ 1b +5 (G& +7 "core" &K u Z\ +3 "manipulator"&I& +10 "core" &  +4 .tElbow.seek 6 +3 "manipulator"&]( +37 "core" ( +6 "manipulator"&K& +10 "core" &  +3 "storage"(& +10 "core" &K \ +5 .tForearm.reconfigure :tight +5 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 6 + 450 counts +2 "manipulator"&Z'< +114 "core" ' +3 "storage"(Q& +13 "core" &K S\ +4 .tSE.reconfigure :pick +4 "storage"(#]K-0-\ b +7 .tSE.seek :beamBreak +4 "storage"(N'e +283 "core" ' +3 "storage"(q- +7 "core" -' +4 .tSE.configure :default +5 "storage"(#QK-0-\ b +7 (& +6 "core" &K \ +3 "manipulator"&l& +21 "core" & p o +4 .tElbow.seek 6 +2 "manipulator"&[( +8 "core" ( +4 "manipulator"&`& +9 "core" & o n +2 "storage"(U& +8 "core" &K \ +5 .tForearm.seek 6 + 300 counts +5 "manipulator"&o'Ϧ +26 "core" ' +5 .tForearm.reconfigure :loose +5 "manipulator"&#Q@2^d^b +4 .tHand.close +3 "manipulator"&H/ +58 "core" / +9 ."downElevator"SE.seek :down +6 "manipulator"&|& +5 "storage"('N +15 "core" & n n +6 "manipulator"&a% +8 "core" % ϧ p o +5 .tForearm.seek :retract +5 "manipulator"&}'\ +91 "core" ' +4 .tElbow.seek CC + "manipulator"&n( +129 "core" ' +2 ."downElevator"SE.stop +4 "storage"(5 +23 "core" ( +3 "manipulator"&b& +9 "core" &# 8 ;2 +5 .tElbow.reconfigure :loose +4 "manipulator"&$ &.,(#b +6 &f& +8 "core" &$  ;2 +4 .tForearm.reconfigure :tight +4 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek CC +4 "manipulator"&'| +103 "core" ' +4 "manipulator"&& +10 "core" &$ O ;2 +3 "manipulator"&R% +9 "core" %p ; ` +3 "collection"'~& +7 "core" &)\ +6 "collection"'z& +10 "core" &"\ +9 .tCC.seek :closed +2 "collection"'(] +9 "core" &5\ +5 &3\ +2 &0\ 6 +10 &G4\ 1 +8 &@t1\ E +7 &g/\ N +11 &_1\ M +8 &lc1\ M +10 & .^/\ M +11 &!_-\ M +7 &#b*\ M +10 &%tb.\ M +10 &'6_)\ M +8 &(\\)\ M +11 &*\\'\ N +9 &,|_$\ M +10 &.>]'\ M +10 &0_(\ M +7 &1b%\ N +9 &3^'\ N +11 &5E^(\ N +9 &7a'\ M +11 &8\\(\ N +7 &:`)\ N +11 &_%\ N +8 &?_&\ M +10 &A\\#\ N +11 &CU`"\ N +9 &E^&\ N +9 &F`!\ M +9 &Hg*\ N +10 &JVu(\ P +9 &L#\ S +10 &Moz)\ W +9 &Ohk%\ X +9 &QE`e(\ Y +10 &S[a'\ Y +10 &TV[.\ Z +7 &VSU'\ Z +11 &XBNP%\ \\ +8 &ZHK&\ ] +10 &[BF$\ \\ +10 &])P?@*\ 4 +9 &] =?%\ !a +7 ( +8 "collection"'z& +10 #tCollection Clamp onSpring/offSpring for 9/26 samples, on/off torque 2.07 +3 .Hand.open +3 "manipulator"&1 +6 "core" &]@=*\ ^ +2 &]=@#\ ^ +48 1 +2 "manipulator"&% +10 "core" % p % ` +5 .tForearm.reconfigure :loose +4 "manipulator"&#Q@2^d^b +4 .tForearm.seek :retract +5 "manipulator"&%'\ +92 "core" ' +4 #tLoading generic puck from tube 6 into Processing Clamp +3 "processing"%& +10 "core" &\ +5 "manipulator"&% +10 "core" %\ ) ( L +3 "storage"(x% +9 "core" %A   \ \ +3 "storage"(. +8 "core" .(K +3 "storage"(& +9 "core" &K   \ +2 "storage"(v& +8 "core" &K   \ +4 "manipulator"&& +7 "core" &# # :, +3 "manipulator"&5% +9 "core" %\ ( F L +5 .tElbow.reconfigure :tight +4 "manipulator"&$&.,(\ #b +4 .tElbow.seek 6 +4 "manipulator"&( +158 "core" ( +5 "manipulator"&h& +9 "core" & 4 +2 "storage"(-& +8 "core" &K 8 > \ +5 .tForearm.reconfigure :tight +5 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +4 "manipulator"&)'< +95 "core" ' +4 "storage"(d& +8 "core" &K A M h\ +5 .tSE.reconfigure :pick +4 "storage"(#]K-0-\ b +7 .tSE.seek :beamBreak +4 "storage"(s'e +282 "core" ' +4 "storage"(E- +9 "core" -' +2 .tSE.configure :default +7 "storage"(#QK-0-\ b +4 (& +10 "core" &K 9 7 \ +2 "manipulator"&1& +8 "core" & w t 6 +4 .tElbow.seek 6 + "manipulator"&w( +9 "core" ( +4 "manipulator"& & +9 "core" & s  +2 "storage"("& +8 "core" &K > @ y\ +5 .tForearm.seek 6 + 300 counts +4 "manipulator"&r'Ϧ +26 "core" ' +3 .tForearm.reconfigure :loose +5 "manipulator"&#Q@2^d^b +4 .tHand.close +4 "manipulator"&m/ +55 "core" / +6 ."downElevator"SE.seek :down +10 "manipulator"&,& +2 "storage"(e'N +16 "core" & o o  +2 "manipulator"&L% +8 "core" % Ϩ n o +5 .tForearm.seek :retract +4 "manipulator"&{'\ +91 "core" ' +3 .tElbow.seek PC +4 "manipulator"&(c +151 "core" ' +3 ."downElevator"SE.stop +3 "storage"(5 +93 "core" ( +3 "manipulator"&k& +11 "core" &l +3 .tElbow.reconfigure :loose +5 "manipulator"&$ &.,(#b +4 &(& +8 "core" &l  +4 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +5 .tForearm.seek PC +5 "manipulator"& '[ +104 "core" ' +5 "manipulator"&& +10 "core" &l d +4 "manipulator"&c% +8 "core" %L s +3 "processing"%& +10 "core" & \ +4 "processing"%>& +9 "core" &\ +8 .tPC.seek :closed +6 "processing"%g(Z +6 "core" & \ +4 &\ + &\ 3 +9 &G\ 1 +8 &2r\ E +9 &d\ N +9 &Z\ M +13 &]\\\ M +7 & \\\ M +10 &!\\\ M +9 &#[\ M +9 &%d[\ M +11 &'%\\\ N +7 &([\ M +11 &*Z\ M +9 &,l^\ M +8 &..\\\ M +12 &/Z\ M +8 &1Y\ M +9 &3u]\ M +10 &56[\ M +8 &6]\ M +11 &8]\ N +10 &:|[\ M +7 &_\ M +10 &?^\ M +9 &A^\ N +9 &CF\\\ M +8 &EY\ M +10 &Fb\ N +11 &Hg\ N +7 &JGp\ P +11 &L~\ Q +9 &M\ S +8 &O\ S +12 &QC\ T +9 &S\ T +8 &T\ S +11 &V\ T +9 &XI\ T +8 &Yzs\ * +10 &Z%d\ I +9 &Z.\ 3 +5 ( +4 "processing"%>& +5 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.53 +2 .Hand.open +5 "manipulator"&\ 1 +8 "core" &Z,\ 3 +54 1 +4 "manipulator"& % +9 "core" % L +4 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +7 .tForearm.seek :retract +2 "manipulator"&'\ +100 "core" ' +3 "processing"%& +9 "core" &Z,\ 3 +6 #tImaging generic puck in Processing Clamp while storing it to tube 6 + "manipulator"&7% +10 "core" %\ 0 o $t +4 "storage"(!% +8 "core" %S\ \  3\  +5 "storage"(. +6 "core" .(K +4 "storage"(9& +8 "core" &K\ \  f\ +4 "storage"(;& +9 "manipulator"&t& +8 "core" &K\ \  #\ +3 &l +7 .tElbow.reconfigure :tight +4 ."raiseStack"SE.reconfigure :place +8 "manipulator"&$&.,(\ #b +6 .tElbow.seek PC +123 "storage"(#]kK-0-\ b +6 "manipulator"&T(c +15 ."raiseStack"SE.seek :beamBreak +3 "storage"('e +5 "core" ( +4 "manipulator"&/& +11 "core" &l g +4 .tElbow.reconfigure :loose +4 "manipulator"&$ &.,(#b +4 &y& +8 "core" &l u +3 .tForearm.seek PC +2 "manipulator"&#'[ +97 "core" ' +3 .tHand.close +2 "manipulator"&./ +64 "core" / +4 .tPC.seek :open +6 "processing"%(p +52 "core" ' +2 "storage"('- +7 "core" -'e +3 ."raiseStack"SE.configure :default +5 "storage"(#QK-0-\ b +7 ."raiseStack"SE.seek :place +4 "storage"(O'B +43 "core" ' +275 ( +3 "storage"(4& +10 "core" &K 8 3 "\ +3 "manipulator"&F& +8 "core" &l ] +3 "manipulator"&A% +9 "core" % Z   +5 .tForearm.seek :retract +3 "manipulator"&S'\ +94 "core" ' +4 .tElbow.reconfigure :tight +6 "manipulator"&$&.,(\ #b +4 .tElbow.seek 6 +4 "manipulator"&( +261 "core" ( +2 "manipulator"&B& +10 "core" & % +3 "storage"(2& +9 "core" &K   \ +4 .tForearm.reconfigure :tight +6 "manipulator"&#Q@2^d^\ b +5 .tForearm.seek 6 + 450 counts +4 "manipulator"&@'< +93 "core" ' +5 .tHand.open + "manipulator"& 1 +58 "core" 1 +4 "storage"($- +9 "core" -'B +4 .tSE.seek -0.16 Pucks below Top Plate +4 "storage"(X' +27 "core" ' +3 .tSE.reconfigure :seal +7 "storage"(#QK-0-\ b +5 .tSE.seek -0.83 Pucks below Top Plate +4 "storage"(_' +57 "core" ' +5 #tLights, camera, ACTION! + "storage"(V- +8 "core" -' +4 "storage"(&& +9 "core" &K =\ +3 "manipulator"&j& +10 "core" & % +4 .tElbow.seek 6 + "manipulator"&^( +8 "core" ( +3 "manipulator"&C& +9 "core" &  % +2 "storage"(P& +9 "core" &K e\ +6 .tForearm.seek 6 + 450 counts + "manipulator"&+'< +10 "core" ' +4 .tSE.reconfigure :gently +5 "storage"(#QK-0-\ b +5 .tSE.seek -0.11 Pucks below Top Plate +4 "storage"(M'M +62 "core" ' +3 "manipulator"&8& +10 "core" & 3 % +4 "storage"(Y& +9 "core" &K 4 3\ +5 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +6 .tForearm.reconfigure :loose +5 "manipulator"&#Q@2^d^b +5 .tForearm.seek 6 +3 "manipulator"&'z +36 "core" ' +2 .tElbow.hold +4 "manipulator"&<, +9 "core" , +3 .tElbow.reconfigure :tight +5 "manipulator"&$&.,(\ #b +5 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +7 .tSE.seek 0.07 Pucks below Top Plate + "storage"(p'7 +27 "core" ' +4 "manipulator"&?% +10 "core" %΂d  w õ +3 "storage"(\\& +10 "core" &K Y\ +5 .tForearm.force -20 +2 "manipulator"&5 +6 .tForearm.seek 6 + 308 counts + "manipulator"&0'Ϯ +18 "core" ' +5 "manipulator"&3& +7 "core" & n q ( "x +5 "storage"(u& +9 "core" &K X X D\ +4 .tForearm.reconfigure :tight +7 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +4 "manipulator"&='< +18 "core" ' +5 "storage"(D% +9 "core" %: X X V\ +4 ."downElevator"SE.seek :down +8 "storage"(i'N +97 ( % +5 "core" %8   i\ U^ +4 "manipulator"&G% +8 "core" %C m n +4 .tForearm.reconfigure :loose +6 "manipulator"&#Q@2^d^b +5 .tForearm.seek :retract + "manipulator"&I'\ +91 "core" ' +43 ' +2 ."downElevator"SE.stop +2 "storage"(5 +5 (K& +7 "core" &K E \\\ +4 "collection"'& +9 "core" &]BC&\ ^ +4 #tStoring generic puck in Collection Clamp to tube 6 +3 "manipulator"&Q% +8 "core" %\ ' L A +4 "storage"(J% +10 "core" %C 5 8\ +3 "storage"(:. +7 "core" .(K +3 "storage"(q& +6 "core" &K 5 4\ +4 "storage"(& +9 "core" &K 9 5\ +2 "manipulator"&l& +10 "core" & X "x +3 .tElbow.seek 6 +3 "manipulator"&`( +29 "core" ( +4 "manipulator"&U& +10 "core" &   +3 "storage"(H& +10 "core" &K A A \ +4 .tForearm.reconfigure :tight +4 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 6 + 450 counts +4 "manipulator"&|'< +103 "core" ' +4 "storage"(a& +10 "core" &K > 8\ +6 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +6 .tSE.seek :beamBreak +3 "storage"(]'e +279 "core" ' +4 "storage"(Z- +7 "core" -' +3 .tSE.configure :default +6 "storage"(#QK-0-\ b +5 "manipulator"&b& +9 "core" &   +3 "storage"(N& +9 "core" &K 9 > c\ +3 .tElbow.reconfigure :limp +4 "manipulator"&$ ,(b +6 .tForearm.reconfigure :loose +4 "manipulator"&#Q@2^d^b +5 .tForearm.seek 6 +5 "manipulator"&f'z +34 "core" ' +2 .tElbow.hold +4 "manipulator"&o, +7 "core" , +3 .tElbow.reconfigure :tight +4 "manipulator"&$&.,(\ #b +4 "storage"([- +7 "core" -' +6 .tSE.seek 0.11 Pucks below Top Plate +3 "storage"('l +29 "core" ' +3 "manipulator"&R% +8 "core" %Ή] N ³ +4 "storage"(~& +8 "core" &K N\ +2 .tForearm.force -20 +3 "manipulator"&5 +5 .tForearm.seek 6 + 315 counts + "manipulator"&'ϵ +19 "core" ' +2 "manipulator"&}& +11 "core" & o q $  +2 "storage"(6& +9 "core" &K X X q\ +4 .tForearm.reconfigure :tight +8 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 6 + 450 counts +5 "manipulator"&'< +19 "core" ' +4 .tSE.seek 1.11 Pucks below Top Plate +4 "storage"('[ +50 "core" ' +4 "manipulator"&& +9 "core" & o n  +3 "manipulator"&z% +9 "core" %/ n n " +5 .tForearm.reconfigure :loose +7 "manipulator"&#Q@2^d^b +5 .tForearm.seek :retract +5 "manipulator"&'\ +88 "core" ' +3 .tElbow.seek CC +5 "manipulator"&x( +163 "core" ( +4 "manipulator"&& +7 "core" &* 3 @[ +4 .tElbow.reconfigure :loose +4 "manipulator"&$ &.,(#b +4 && +6 "core" &* ' @[ +4 .tForearm.seek CC +4 "manipulator"&v'| +103 "core" ' +2 .tHand.close +4 "manipulator"&/ +55 "core" / +3 .tCC.seek :open +2 "collection"'5(p +410 "core" ( +4 "storage"(& +10 "core" &K o y 2\ +2 "storage"(h& +9 "core" &K q z [\ +3 "manipulator"&-& +9 "core" &( L ?V +5 "manipulator"&d% +8 "core" % σ  +5 .tForearm.seek :retract +4 "manipulator"&n'\ +94 "core" ' +3 .tElbow.reconfigure :tight +7 "manipulator"&$&.,(\ #b +5 .tElbow.seek 6 +4 "manipulator"&%( +159 "core" ( +2 "manipulator"&E& +9 "core" & . +4 "storage"(& +8 "core" &K p\ +2 .tElbow.reconfigure :limp +5 "manipulator"&$ ,(b +6 .tForearm.seek 6 +2 "manipulator"&1'z +111 "core" ' +3 .tElbow.hold +4 "manipulator"& , +7 "core" , +3 .tElbow.reconfigure :tight +5 "manipulator"&$&.,(\ #b +6 .tHand.open +3 "manipulator"&"1 +59 "core" 1 +5 "manipulator"&m% +9 "core" % ΋  +3 "storage"(,& +9 "core" &K X N\ +2 .tForearm.force -20 +4 "manipulator"&5 +6 .tForearm.seek 6 + 317 counts +2 "manipulator"&L'Ϸ +19 "core" ' +3 "manipulator"&& +7 "core" & r o  +3 "storage"()& +9 "core" &K \ +5 .tForearm.reconfigure :tight +5 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 6 + 450 counts +4 "manipulator"&s'< +14 "core" ' +5 "storage"(r% +8 "core" %V \ +5 ."downElevator"SE.seek :down +6 "storage"(k'N +99 ((% +6 "core" %A6 /\ TY +5 "manipulator"&w% +8 "core" %E n o 4 +5 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +4 .tForearm.seek :retract +4 "manipulator"&'\ +93 "core" ' +32 ' +2 ."downElevator"SE.stop +6 "storage"(5 +5 #tShuffling pucks in tube 7 of [6..7] +2 #Loading generic puck from tube 7 into Collection Clamp +4 "collection"'c& +11 "core" &/\ +2 "manipulator"&% +9 "core" %\ 1 $t +3 "storage"(e% +8 "core" %O \  +2 "storage"({. +9 "core" .(K +3 .tSC.reconfigure :tight +6 "storage"($\ .\ 1~b +5 .tSC.seek 7 +3 "storage"(*([ +357 "core" ( +4 .tSC.configure :limp +3 "storage"($\ 1b +6 (\ & +5 "core" &[ Y Y\  +4 "manipulator"& & +10 "core" &  +114 .tElbow.seek 7 +5 "manipulator"&>( +30 "core" ( +6 "manipulator"&& +9 "core" & h +3 "storage"(7& +8 "core" &[ \  +4 .tForearm.reconfigure :tight +5 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +4 "manipulator"&!'k +101 "core" ' +3 "storage"(& +11 "core" &[ \  +4 .tSE.reconfigure :pick +4 "storage"(#]K-0-\ b +8 .tSE.seek :beamBreak +4 "storage"(9'e +285 "core" ' +3 "storage"(t- +10 "core" -' +4 .tSE.configure :default +6 "storage"(#QK-0-\ b +5 (;& +6 "core" &[ }\  +4 "manipulator"& & +8 "core" & m x  h +4 .tElbow.seek 7 +2 "manipulator"&/( +19 "core" ( +3 "manipulator"&y& +10 "core" & c o n ( +3 "storage"(.& +10 "core" &[ N\  +4 .tForearm.seek 7 + 300 counts +6 "manipulator"&'' +30 "core" ' +4 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tHand.close +4 "manipulator"&/ +62 "core" / +4 ."downElevator"SE.seek :down +8 "manipulator"&& +4 "storage"(g'N +18 "core" & n o ) +4 "manipulator"&% +10 "core" % s t  +4 .tForearm.seek :retract +4 "manipulator"&4'\ +99 "core" ' +3 .tElbow.seek CC +5 "manipulator"&F( +123 "core" ' +3 ."downElevator"SE.stop +3 "storage"(5 +23 "core" ( +5 "manipulator"&A& +10 "core" &%  <> +4 .tElbow.reconfigure :loose +6 "manipulator"&$ &.,(#b +4 &#& +9 "core" &% F <= +5 .tForearm.reconfigure :tight +4 "manipulator"&#Q@2^d^\ b +6 .tForearm.seek CC +5 "manipulator"&B'| +102 "core" ' +2 "manipulator"&2& +10 "core" &% 5 <= +3 "manipulator"&T% +7 "core" %z  +4 "collection"' & +8 "core" &)\ +6 "collection"'$& +10 "core" &2\ +8 .tCC.seek :closed +4 "collection"'V(] +9 "core" &1\ +3 &6\ +5 &1\ 6 +6 &I7\ 0 +8 &=q4\ E +10 &g0\ N +11 &_<\ M +8 &i`3\ M +10 & *`5\ M +11 &!]0\ M +7 &#a2\ M +10 &%o_2\ N +8 &'1a)\ N +11 &(_2\ M +10 &*\\2\ M +8 &,x^3\ M +10 &.;]/\ M +9 &/`,\ N +9 &1_*\ N +10 &3^(\ N +9 &5B^&\ M +9 &7`'\ M +11 &8^'\ N +8 &:_'\ M +9 & `%\ M +9 &?]$\ M +12 &A_,\ N +6 &CR`!\ M +10 &E^\ N +10 &F_$\ M +8 &Hh+\ N +10 &JSq \ P +10 &L(\ R +10 &My%\ V +9 &Onp"\ X +9 &QCgk\ X +10 &Scf&\ Y +9 &T[`&\ Z +9 &VV[%\ Z +10 &XETV\ Z +10 &ZOQ\ \\ +9 &[JK!\ ^ +9 &]%PDF\ 4 +9 &] EG#\ P +5 ( +6 "collection"'$& +6 #tCollection Clamp onSpring/offSpring for 8/26 samples, on/off torque 2.01 +3 .Hand.open +2 "manipulator"&&1 +7 "core" &]gGF"\ P +52 1 +2 "manipulator"&S% +9 "core" % v  +3 .tForearm.reconfigure :loose +7 "manipulator"&#Q@2^d^b +4 .tForearm.seek :retract +4 "manipulator"&j'\ +99 "core" ' +5 #tLoading generic puck from tube 7 into Processing Clamp + "processing"%C& +10 "core" &\ +3 "manipulator"&P% +9 "core" %\ 0  $q +3 "storage"(8% +9 "core" %I A A \ +2 "storage"(Y. +7 "core" .([ +4 "storage"(O& +7 "core" &[ A B \  +3 "storage"(X& +9 "core" &[ A A \  +5 "manipulator"&?& +8 "core" &# J :. +2 "manipulator"&\\% +9 "core" %\ 0  $q +4 .tElbow.reconfigure :tight +6 "manipulator"&$&.,(\ #b +3 .tElbow.seek 7 +4 "manipulator"&( +179 "core" ( +4 "manipulator"&@& +9 "core" & z G +2 "storage"(3& +8 "core" &[ X X Z\  +4 .tForearm.reconfigure :tight +6 "manipulator"&#Q@2^d^\ b +6 .tForearm.seek 7 + 450 counts +3 "manipulator"&u'k +95 "core" ' +3 "storage"(_& +9 "core" &[ c o \  +5 .tSE.reconfigure :pick +7 "storage"(#]K-0-\ b +11 .tSE.seek :beamBreak +4 "storage"(D'e +278 "core" ' +4 "storage"(+- +10 "core" -' +2 .tSE.configure :default +5 "storage"(#QK-0-\ b +5 (^& +10 "core" &[ Y Y \  +5 "manipulator"& & +7 "core" & A G +4 .tElbow.seek 7 +4 "manipulator"&G( +8 "core" ( +3 "manipulator"&M& +7 "core" & N G +5 "storage"(& +9 "core" &[ X b t\  +4 .tForearm.seek 7 + 300 counts +3 "manipulator"&0' +24 "core" ' +3 .tForearm.reconfigure :loose +7 "manipulator"&#Q@2^d^b +4 .tHand.close +5 "manipulator"&K/ +64 "core" / +4 ."downElevator"SE.seek :down +9 "manipulator"&& + "storage"(Q'N +16 "core" & x p  G +3 "manipulator"&p% +8 "core" % o n  +4 .tForearm.seek :retract +5 "manipulator"&J'\ +99 "core" ' +3 .tElbow.seek PC +5 "manipulator"&:(c +136 "core" ' +3 ."downElevator"SE.stop +2 "storage"(5 +118 "core" ( +3 "manipulator"&q& +8 "core" &c 4 +4 .tElbow.reconfigure :loose +7 "manipulator"&$ &.,(#b +6 && +9 "core" &c f +5 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +5 .tForearm.seek PC +4 "manipulator"&l'[ +100 "core" ' +3 "manipulator"&U& +11 "core" &c p +4 "manipulator"&H% +9 "core" %[ +4 "processing"%=& +9 "core" &\ +5 "processing"%a& +11 "core" &\ +4 &\ +4 .tPC.seek :closed +6 "processing"%i(Z +8 "core" &\ +4 &\ 2 +6 &G\ 0 +10 &0r\ E +9 &c\ M +10 &Z\ M +9 &\\\\\ M +9 & \\\ M +11 &!\\\ M +7 &#[\ M +11 &%dZ\ M +10 &'%[\ M +7 &([\ M +11 &*Z\ M +9 &,j\\\ M +9 &.-]\ M +11 &/_\ M +7 &1\\\ M +10 &3s]\ M +10 &55Z\ M +8 &6\\\ M +12 &8\\\ M +8 &:{[\ M +9 &<<[\ M +11 &=]\ M +7 &?]\ M +10 &A^\ M +11 &CC\\\ N +8 &E\\\ M +12 &Fc\ N +7 &Hl\ O +10 &JCy\ P +11 &K\ S +7 &M\ S +14 &O\ T +5 &QB\ S +12 &S\ S +7 &T\ S +9 &V\ T +8 &XH\ T +11 &Yzx\ + +8 &Z&d\ / +8 ( +5 &Z\ ) +2 "processing"%a& +10 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.57 + .Hand.open +2 "manipulator"&<1 +9 "core" &Z\ ) +50 1 +3 "manipulator"&I% +10 "core" % [ a +3 .tForearm.reconfigure :loose +8 "manipulator"&#Q@2^d^b +5 .tForearm.seek :retract +5 "manipulator"&Z'\ +94 "core" ' +2 "processing"%b& +10 "core" &Z\ ) +4 #tImaging generic puck in Processing Clamp while storing it to tube 7 +2 "manipulator"&N% +9 "core" %\ ) > C +3 "storage"([% +7 "core" %N A A \  +4 "storage"(R. +4 "core" .([ +3 "storage"(~& +10 "core" &[ A > \  +3 "storage"(}& +6 "manipulator"&6& +15 "core" &[ A A x\  +3 &c  +6 .tElbow.reconfigure :tight +5 ."raiseStack"SE.reconfigure :place +12 "manipulator"&$&.,(\ #b +3 "storage"(#]kK-0-\ b +6 .tElbow.seek PC +11 "manipulator"&(c +7 ."raiseStack"SE.seek :beamBreak +3 "storage"(z'e +5 "core" ( +5 "manipulator"&|& +9 "core" &c Z +3 .tElbow.reconfigure :loose +4 "manipulator"&$ &.,(#b +3 &`& +8 "core" &c { +3 .tForearm.seek PC +4 "manipulator"&]'[ +97 "core" ' +3 .tHand.close +2 "manipulator"&f/ +64 "core" / +4 .tPC.seek :open +4 "processing"%(p +54 "core" ' +3 "storage"(- +7 "core" -'e +4 ."raiseStack"SE.configure :default +4 "storage"(#QK-0-\ b +5 ."raiseStack"SE.seek :place +5 "storage"('B +52 "core" ' +261 ( +2 "storage"(& +10 "core" &[ X X _\  +3 "manipulator"&& +8 "core" &c +2 "manipulator"&o% +9 "core" % i   +4 .tForearm.seek :retract +5 "manipulator"&'\ +92 "core" ' +4 .tElbow.reconfigure :tight +4 "manipulator"&$&.,(\ #b +5 .tElbow.seek 7 +3 "manipulator"&( +257 "core" ( +4 "manipulator"&& +9 "core" & V +2 "storage"(& +10 "core" &[ X X \  +6 .tForearm.reconfigure :tight +5 "manipulator"&#Q@2^d^\ b +5 .tForearm.seek 7 + 450 counts +4 "manipulator"&h'k +96 "core" ' +3 .tHand.open +3 "manipulator"&-1 +55 "core" 1 +3 "storage"(d- +7 "core" -'B +4 .tSE.seek -0.16 Pucks below Top Plate +5 "storage"(E' +28 "core" ' +3 .tSE.reconfigure :seal +7 "storage"(#QK-0-\ b +5 .tSE.seek -0.83 Pucks below Top Plate +5 "storage"(' +57 "core" ' +4 #tLights, camera, ACTION! + "storage"(v- +10 "core" -' +2 "storage"(x& +10 "core" &[ \  +3 "manipulator"&"& +9 "core" & P +4 .tElbow.seek 7 +4 "manipulator"&m( +7 "core" ( +3 "manipulator"&,& +120 "core" & } +5 "storage"(& +9 "core" &[ j\  +4 .tForearm.seek 7 + 450 counts +4 "manipulator"&)'k +7 "core" ' +4 .tSE.reconfigure :gently +6 "storage"(#QK-0-\ b +5 .tSE.seek -0.11 Pucks below Top Plate +5 "storage"(n'M +64 "core" ' +3 "manipulator"&r& +9 "core" & & +3 "storage"(%& +7 "core" &[ Y X \  +6 .tElbow.reconfigure :limp +7 "manipulator"&$ ,(b +5 .tForearm.reconfigure :loose +5 "manipulator"&#Q@2^d^b +4 .tForearm.seek 7 +4 "manipulator"&('Ω +34 "core" ' +2 .tElbow.hold +4 "manipulator"&w, +7 "core" , +3 .tElbow.reconfigure :tight +6 "manipulator"&$&.,(\ #b +5 .tSE.reconfigure :default +4 "storage"(#QK-0-\ b +5 .tSE.seek 0.07 Pucks below Top Plate +3 "storage"(1'7 +25 "core" ' +2 "manipulator"&c% +10 "core" %νr J - +2 "storage"(L& +12 "core" &[\ #\  R\  +2 .tForearm.force -20 +5 "manipulator"&5 +8 .tForearm.seek 7 + 320 counts + "manipulator"&' +22 "core" ' +3 "manipulator"&& +10 "core" & o o B +4 "storage"(e& +7 "core" &[ | { o\  +8 .tForearm.reconfigure :tight +5 "manipulator"&#Q@2^d^\ b +6 .tForearm.seek 7 + 450 counts +3 "manipulator"&{'k +17 "core" ' +3 "storage"(s% +9 "core" %; q o \ +4 ."downElevator"SE.seek :down +6 "storage"(k'N +99 (W% +6 "core" %9 X X Y\ U\\ +5 "manipulator"&\ % +10 "core" %f n n W +4 .tForearm.reconfigure :loose +5 "manipulator"&#Q@2^d^b +5 .tForearm.seek :retract +5 "manipulator"& '\ +90 "core" ' +36 ' +3 ."downElevator"SE.stop +2 "storage"(5 +5 (& +9 "core" &[ T Z 2\  +3 "collection"'7& +9 "core" &]gMN\ P +4 #tStoring generic puck in Collection Clamp to tube 7 + "manipulator"&% +8 "core" %\ * N !P +3 "storage"( % +10 "core" %? [ [ \ +2 "storage"(. +7 "core" .([ +3 "storage"(t& +8 "core" &[ X X c\  +2 "storage"(;& +9 "core" &[ Y Z {\  +4 "manipulator"& & +8 "core" & +4 .tElbow.seek 7 +5 "manipulator"&y( +6 "core" ( +3 "manipulator"&.& +7 "core" & 5 +7 "storage"(& +9 "core" &[ Z X a\  +5 .tForearm.reconfigure :tight +4 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 7 + 450 counts +5 "manipulator"&'k +107 "core" ' +5 "storage"(& +8 "core" &[ q g \  +5 .tSE.reconfigure :pick +5 "storage"(#]K-0-\ b +7 .tSE.seek :beamBreak + "storage"(>'e +288 "core" ' +3 "storage"(!- +8 "core" -' +4 .tSE.configure :default +4 "storage"(#QK-0-\ b +6 "manipulator"&9& +6 "core" & o m +4 "storage"(A& +8 "core" &[ q y [\  +4 .tElbow.reconfigure :limp +6 "manipulator"&$ ,(b +5 .tForearm.reconfigure :loose +6 "manipulator"&#Q@2^d^b +4 .tForearm.seek 7 + "manipulator"&#'Ω +34 "core" ' +2 .tElbow.hold +4 "manipulator"&', +8 "core" , +3 .tElbow.reconfigure :tight +6 "manipulator"&$&.,(\ #b +4 "storage"(/- +6 "core" -' +6 .tSE.seek 0.12 Pucks below Top Plate + "storage"(2's +42 "core" ' +4 "manipulator"&T% +11 "core" %νx c : +2 "storage"( & +9 "core" &[   <\  +4 .tForearm.force -20 +3 "manipulator"&5 +6 .tForearm.seek 7 + 320 counts +2 "manipulator"&g' +19 "core" ' +4 "manipulator"&4& +10 "core" & e k _ +6 "storage"(5& +10 "core" &[ u v \  +4 .tForearm.reconfigure :tight +4 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 7 + 450 counts +4 "manipulator"&&'k +18 "core" ' +5 .tSE.seek 1.12 Pucks below Top Plate +4 "storage"(S'b +47 "core" ' +4 "manipulator"&C& +10 "core" & m n +5 "manipulator"&$% +8 "core" %X m m  +5 .tForearm.reconfigure :loose +6 "manipulator"&#Q@2^d^b +5 .tForearm.seek :retract +3 "manipulator"&P'\ +95 "core" ' +5 .tElbow.seek CC +6 "manipulator"&8( +162 "core" ( +3 "manipulator"&Y& +8 "core" &* 9 @^ +5 .tElbow.reconfigure :loose +6 "manipulator"&$ &.,(#b +3 &O& +7 "core" &* @^ +5 .tForearm.seek CC +5 "manipulator"&X'| +96 "core" ' +4 .tHand.close +2 "manipulator"&?/ +63 "core" / +4 .tCC.seek :open +2 "collection"'\\(p +413 "core" ( +4 "storage"(B& +10 "core" &[ w 7\  +2 "storage"(@& +8 "core" &[ \  +4 "manipulator"&3& +7 "core" && >M +3 "manipulator"&F% +9 "core" % ϋ u +5 .tForearm.seek :retract +2 "manipulator"&_'\ +94 "core" ' +3 .tElbow.reconfigure :tight +6 "manipulator"&$&.,(\ #b +3 .tElbow.seek 7 +5 "manipulator"&j( +155 "core" ( +4 "manipulator"&+& +10 "core" &  \ +3 "storage"(^& +9 "core" &[ \  +4 .tElbow.reconfigure :limp +5 "manipulator"&$ ,(b +5 .tForearm.seek 7 +4 "manipulator"& 'Ω +109 "core" ' +4 .tElbow.hold + "manipulator"&M, +11 "core" , +2 .tElbow.reconfigure :tight +8 "manipulator"&$&.,(\ #b +3 .tHand.open +4 "manipulator"&1 +62 "core" 1 +5 "manipulator"&K% +9 "core" % ν z k +3 "storage"(& +9 "core" &[ X X \  +2 .tForearm.force -20 +3 "manipulator"&5 +8 .tForearm.seek 7 + 320 counts +2 "manipulator"&p' +18 "core" ' +3 "manipulator"&& +9 "core" & n l \ +4 "storage"(u& +10 "core" &[ \  +4 .tForearm.reconfigure :tight +5 "manipulator"&#Q@2^d^\ b +5 .tForearm.seek 7 + 450 counts +3 "manipulator"&D'k +20 "core" ' +3 "storage"(0% +10 "core" %[ W\ +4 ."downElevator"SE.seek :down +5 "storage"(q'N +100 (% +5 "core" %I< %\ TZ +4 "manipulator"&G% +10 "core" %b m n +5 .tForearm.reconfigure :loose +6 "manipulator"&#Q@2^d^b +5 .tForearm.seek :retract + "manipulator"&U'\ +90 "core" ' +33 ' +3 ."downElevator"SE.stop +2 "storage"(5 +7 #tShuffling pucks in tube 6 of [6..7] +3 #Loading generic puck from tube 6 into Collection Clamp +3 "collection"'H& +9 "core" &#\ +4 "manipulator"&=% +6 "core" %\ ' = +5 "storage"(Q% +10 "core" %M \\\ \ +2 "storage"(J. +9 "core" .([ +4 .tSC.reconfigure :tight +5 "storage"($\ .\ 1~b +5 .tSC.seek 6 +4 "storage"((K +357 "core" ( +3 .tSC.configure :limp +6 "storage"($\ 1b +6 (<& +10 "core" &K t !\ +4 "manipulator"&I& +9 "core" & Z \ +3 .tElbow.seek 6 +2 "manipulator"&b( +21 "core" ( +4 "manipulator"&a& +9 "core" &  c +4 "storage"(N& +8 "core" &K 2\ +5 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +5 .tForearm.seek 6 + 450 counts +6 "manipulator"&['< +103 "core" ' +2 "storage"(R& +13 "core" &K \ +5 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +6 .tSE.seek :beamBreak +4 "storage"(~'e +285 "core" ' +2 "storage"(6- +9 "core" -' +2 .tSE.configure :default +7 "storage"(#QK-0-\ b +4 (}& +5 "core" &K s\ +3 "manipulator"&|& +8 "core" & q p c +3 .tElbow.seek 6 +4 "manipulator"&`( +6 "core" ( +3 "manipulator"&l& +7 "core" & r p  c +5 "storage"(f& +10 "core" &K 4\ +3 .tForearm.seek 6 + 300 counts +4 "manipulator"&'Ϧ +25 "core" ' +2 .tForearm.reconfigure :loose +7 "manipulator"&#Q@2^d^b +4 .tHand.close +2 "manipulator"&:/ +55 "core" / +7 ."downElevator"SE.seek :down +6 "manipulator"&Z& +4 "storage"(i'N +17 "core" & G c +4 "manipulator"&z% +8 "core" % Ϛ \ +5 .tForearm.seek :retract +3 "manipulator"&'\ +98 "core" ' +5 .tElbow.seek CC +5 "manipulator"&( +123 "core" ' +3 ."downElevator"SE.stop +2 "storage"(5 +32 "core" ( +3 "manipulator"&o& +11 "core" & +  Aa +2 .tElbow.reconfigure :loose +5 "manipulator"&$ &.,(#b +6 &]& +8 "core" & + 3 Aa +4 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +5 .tForearm.seek CC +5 "manipulator"&'| +113 "core" ' +4 "manipulator"&& +10 "core" &>" l :, +3 "manipulator"&% +9 "core" %w +4 "collection"'-& +9 "core" &(\ +4 "collection"'d& +15 "core" &$\ +2 &(\ +138 .tCC.seek :closed +11 "collection"'v(] +10 "core" &1\ +2 &9\ +2 &4\ +2 &8\ +5 &4\ +2 &2\ +4 &3\ +2 &-\ +2 &.\ +6 &3\ +2 &)\ +2 &-\ +4 &0\ +2 &,\ +2 &&\ +2 &,\ +2 &'\  +4 &1-\ *z +2 &d/\ > +4 &Ky4\ N +4 &_+\ M +2 &`"\ M +4 &b&\ M +2 &!Tb/\ M +8 &#`(\ M +7 &$_.\ N +11 &&`"\ M +10 &([`&\ N +9 &*](\ M +10 &+]\ M +10 &-_&\ M +9 &/d_9\ M +10 &1&]&\ M +7 &2[&\ M +9 &4\\'\ M +11 &6l_\ M +8 &8.a!\ M +11 &9^\ N +9 &;\\!\ M +9 &=t^"\ M +10 &?6["\ M +9 &@`'\ M +9 &B^$\ N +12 &D}]'\ M +7 &F>_%\ M +10 &G`-\ N +9 &In(\ O +9 &Kw(\ R +11 &M.{2\ V +7 &Nmr(\ W +12 &Pdj%\ X +8 &Rmac*\ X +9 &T,[_,\ Y +9 &UWY,\ Z +10 &WOT.\ Z +12 &YiMP \ \\ +10 &[,EI+\ \\ +6 &\\yBG+\ 6 +10 &]$>A'\ &o +9 &]o@A\ L +2 ( +7 "collection"'d& +8 #tCollection Clamp onSpring/offSpring for 9/25 samples, on/off torque 2.03 +3 .Hand.open +2 "manipulator"&x1 +6 "core" &]m=B&\ L +52 1 +3 "manipulator"&% +9 "core" % ~ e +4 .tForearm.reconfigure :loose +6 "manipulator"&#Q@2^d^b +4 .tForearm.seek :retract +3 "manipulator"&"'\ +100 "core" ' +5 #tLoading generic puck from tube 6 into Processing Clamp + "processing"%,& +10 "core" &\ +3 "manipulator"&% +8 "core" %\ 6 8 & +3 "storage"(% +11 "core" %K 5 > \ +2 "storage"(E. +7 "core" .(K +5 "storage"(r& +10 "core" &K 3 4\ +2 "storage"(%& +9 "core" &K 4 5 \ +3 "manipulator"&& +9 "core" &>" E :, +2 "manipulator"&c% +9 "core" %\ 6 L & +4 .tElbow.reconfigure :tight +6 "manipulator"&$&.,(\ #b +5 .tElbow.seek 6 +4 "manipulator"&L( +157 "core" ( +4 "manipulator"&h& +8 "core" &  +3 "storage"(& +8 "core" &K Y X e\ +4 .tForearm.reconfigure :tight +4 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 6 + 450 counts +4 "manipulator"&e'< +108 "core" ' +4 "storage"(& +11 "core" &K p o\ +4 .tSE.reconfigure :pick +6 "storage"(#]K-0-\ b +6 .tSE.seek :beamBreak +4 "storage"(s'e +284 "core" ' +5 "storage"()- +6 "core" -' +3 .tSE.configure :default +5 "storage"(#QK-0-\ b +6 (m& +4 "core" &K Y Y\ +5 "manipulator"&W& +9 "core" & n m  +4 .tElbow.seek 6 +5 "manipulator"&\ ( +6 "core" ( +3 "manipulator"&n& +10 "core" & n n \  +3 "storage"((& +9 "core" &K u t M\ +4 .tForearm.seek 6 + 300 counts +4 "manipulator"&'Ϧ +18 "core" ' +3 .tForearm.reconfigure :loose +6 "manipulator"&#Q@2^d^b +5 .tHand.close +2 "manipulator"&/ +55 "core" / +6 ."downElevator"SE.seek :down +9 "manipulator"&7& +3 "storage"('N +17 "core" & q q M  +2 "manipulator"&1% +7 "core" % Ϧ  ( +5 .tForearm.seek :retract +4 "manipulator"& '\ +101 "core" ' +3 .tElbow.seek PC +2 "manipulator"&(c +138 "core" ' +2 ."downElevator"SE.stop +3 "storage"(5 +110 "core" ( +3 "manipulator"&t& +8 "core" &j T +5 .tElbow.reconfigure :loose +5 "manipulator"&$ &.,(#b +4 &;& +8 "core" &j 9 +6 .tForearm.reconfigure :tight +5 "manipulator"&#Q@2^d^\ b +5 .tForearm.seek PC +4 "manipulator"& '[ +105 "core" ' +3 "manipulator"&.& +10 "core" &j l +3 "manipulator"&% +7 "core" %V K +4 "processing"%{& +8 "core" &\ +4 "processing"%& +14 "core" &\ +2 &\ +8 .tPC.seek :closed +4 "processing"%k(Z +9 "core" & \ +5 &\ +2 &\ 5 +7 &G~\ 0 +10 &@r\ \ E +9 &c\ M +9 &Z\ M +10 &j\\\ M +8 & -Y\ M +11 &!\\\ M +8 &#Z\ M +11 &%s[\ M +10 &'5[\ M +8 &([\ M +9 &*[\ M +11 &,|]\ M +7 &.>\\\ M +11 &/\\\ M +9 &1\\\ M +8 &3\\\ M +11 &5D[\ M +8 &7[\ M +10 &8_\ M +10 &:\\\ M +8 &]\ M +10 &?\\\ M +9 &A[\ M +10 &CU\\\ M +8 &E]\ M +11 &Fc\ N +10 &Hk\ N +7 &JVq\ O +10 &L\ Q +10 &M\ S +9 &O\ T +10 &QR\ S +8 &S\ S +11 &T\ T +9 &V\ T +10 &XW\ T +10 &Y{v\ '{ +9 &Z)w\ 5 +6 ( +7 "processing"%& +7 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.55 +4 .Hand.open +3 "manipulator"&w1 +12 "core" &Z\ ) +3 &Z\ ) +46 1 +3 "manipulator"& % +9 "core" % V s +4 .tForearm.reconfigure :loose +4 "manipulator"&#Q@2^d^b +4 .tForearm.seek :retract +5 "manipulator"&!'\ +99 "core" ' +4 "processing"%9& +9 "core" &Z\ ) +5 #tImaging generic puck in Processing Clamp while storing it to tube 6 +3 "manipulator"&A% +8 "core" %\ 6 z & +5 "storage"(/% +9 "core" %A 5 8 \ +3 "storage"(T. +7 "core" .(K +5 "storage"( & +8 "core" &K 4 7\ +5 "storage"(4& +3 "manipulator"&5& +15 "core" &K 4 4\ +3 &j ~ +5 ."raiseStack"SE.reconfigure :place +6 .tElbow.reconfigure :tight +5 "storage"(#]kK-0-\ b +10 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +5 "manipulator"&C(c +6 ."raiseStack"SE.seek :beamBreak +3 "storage"('e +6 "core" ( +4 "manipulator"&$& +8 "core" &j Y +3 .tElbow.reconfigure :loose +4 "manipulator"&$ &.,(#b +5 &y& +6 "core" &j +6 .tForearm.seek PC +5 "manipulator"&>'[ +95 "core" ' +2 .tHand.close +4 "manipulator"&#/ +61 "core" / +5 .tPC.seek :open +5 "processing"%g(p +52 "core" ' +2 "storage"(2- +10 "core" -'e +2 ."raiseStack"SE.configure :default +7 "storage"(#QK-0-\ b +6 ."raiseStack"SE.seek :place +5 "storage"(Y'B +45 "core" ' +266 ( +2 "storage"(O& +9 "core" &K < Y '\ +3 "manipulator"&&& +7 "core" &j ` +3 "manipulator"&'% +8 "core" % U / +4 .tForearm.seek :retract +4 "manipulator"&?'\ +97 "core" ' +3 .tElbow.reconfigure :tight +5 "manipulator"&$&.,(\ #b +4 .tElbow.seek 6 +4 "manipulator"&P( +254 "core" ( +4 "manipulator"&V& +8 "core" &  $ +4 "storage"(B& +10 "core" &K A A \ +4 .tForearm.reconfigure :tight +4 "manipulator"&#Q@2^d^\ b +5 .tForearm.seek 6 + 450 counts +4 "manipulator"&@'< +95 "core" ' +4 .tHand.open +2 "manipulator"&31 +56 "core" 1 +4 "storage"(F- +7 "core" -'B +5 .tSE.seek -0.16 Pucks below Top Plate +4 "storage"(+' +27 "core" ' +4 .tSE.reconfigure :seal +6 "storage"(#QK-0-\ b +5 .tSE.seek -0.83 Pucks below Top Plate +5 "storage"(^' +53 "core" ' +4 #tLights, camera, ACTION! +2 "storage"(X- +9 "core" -' +3 "storage"(8& +7 "core" &K Z\ +3 "manipulator"&& +11 "core" & T $ +4 .tElbow.seek 6 +5 "manipulator"&K( +6 "core" ( +5 "manipulator"&& +6 "core" & $ +4 "storage"(& +9 "core" &K \ +5 .tForearm.seek 6 + 450 counts +8 "manipulator"&u'< +7 "core" ' +4 .tSE.reconfigure :gently +7 "storage"(#QK-0-\ b +4 .tSE.seek -0.11 Pucks below Top Plate +5 "storage"(_'M +62 "core" ' +3 "manipulator"&0& +8 "core" & N $ +3 "storage"(j& +7 "core" &K X X G\ +5 .tElbow.reconfigure :limp +4 "manipulator"&$ ,(b +6 .tForearm.reconfigure :loose +4 "manipulator"&#Q@2^d^b +4 .tForearm.seek 6 +6 "manipulator"&'z +33 "core" ' +3 .tElbow.hold +3 "manipulator"&G, +7 "core" , +3 .tElbow.reconfigure :tight +5 "manipulator"&$&.,(\ #b +7 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +3 .tSE.seek 0.07 Pucks below Top Plate +5 "storage"( '7 +25 "core" ' +2 "manipulator"&p% +9 "core" %΁^ \\ ó +3 "storage"(H& +10 "core" &K f\ +3 .tForearm.force -20 +2 "manipulator"&5 +5 .tForearm.seek 6 + 307 counts +2 "manipulator"&='ϭ +21 "core" ' +2 "manipulator"&Q& +11 "core" & r z 7 j +2 "storage"(S& +10 "core" &K u u 1\ +5 .tForearm.reconfigure :tight +4 "manipulator"&#Q@2^d^\ b +5 .tForearm.seek 6 + 450 counts +4 "manipulator"&J'< +19 "core" ' +4 "storage"(D% +10 "core" %< s s G\  +5 ."downElevator"SE.seek :down +7 "storage"(q'N +99 (*% +7 "core" %: ) ( \ T[ +4 "manipulator"&<% +9 "core" %? m m +5 .tForearm.reconfigure :loose +4 "manipulator"&#Q@2^d^b +4 .tForearm.seek :retract +4 "manipulator"&I'\ +90 "core" ' +46 ' +2 ."downElevator"SE.stop +3 "storage"(5 +6 (a& +11 "core" &K Y X\ +4 "collection"'N& +9 "core" &]mEF\ L +3 #tStoring generic puck in Collection Clamp to tube 6 +4 "manipulator"&R% +9 "core" %\ ) * I +4 "storage"(M% +126 "core" %T Y Y \  +4 "storage"(U. +6 "core" .(K +3 "storage"(6& +9 "core" &K Y X _\ +3 "storage"(}& +7 "core" &K X X ]\ +9 "manipulator"&|& +12 "core" & K j +10 .tElbow.seek 6 +4 "manipulator"&l( +27 "core" ( +3 "manipulator"&f& +11 "core" &   +3 "storage"(:& +9 "core" &K W X r\ +5 .tForearm.reconfigure :tight +6 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 6 + 450 counts +4 "manipulator"&Z'< +102 "core" ' +3 "storage"(z& +9 "core" &K X X <\ +4 .tSE.reconfigure :pick +7 "storage"(#]K-0-\ b +7 .tSE.seek :beamBreak +3 "storage"(b'e +281 "core" ' +3 "storage"([- +6 "core" -' +3 .tSE.configure :default +4 "storage"(#QK-0-\ b +6 "manipulator"&~& +5 "core" &   +4 "storage"(o& +9 "core" &K Y X t\ +3 .tElbow.reconfigure :limp +6 "manipulator"&$ ,(b +4 .tForearm.reconfigure :loose +6 "manipulator"&#Q@2^d^b +6 .tForearm.seek 6 +3 "manipulator"&]'z +35 "core" ' +3 .tElbow.hold +3 "manipulator"&, +9 "core" , +2 .tElbow.reconfigure :tight +6 "manipulator"&$&.,(\ #b +4 "storage"(`- +6 "core" -' +6 .tSE.seek 0.11 Pucks below Top Plate +5 "storage"('l +33 "core" ' +3 "manipulator"&% +11 "core" %΃^ 5 ³ +3 "storage"(-& +9 "core" &K\ \  \ +5 .tForearm.force -20 +2 "manipulator"&5 +6 .tForearm.seek 6 + 309 counts +4 "manipulator"&i'ϯ +20 "core" ' +4 "manipulator"&& +6 "core" & o o C  +5 "storage"(\\& +9 "core" &K u v 7\ +6 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 6 + 450 counts +4 "manipulator"&x'< +18 "core" ' +4 .tSE.seek 1.11 Pucks below Top Plate +4 "storage"('[ +51 "core" ' +4 "manipulator"&,& +9 "core" & a c  +4 "manipulator"&d% +11 "core" %< n m +4 .tForearm.reconfigure :loose +5 "manipulator"&#Q@2^d^b +5 .tForearm.seek :retract +7 "manipulator"&'\ +89 "core" ' +6 .tElbow.seek CC +2 "manipulator"&( +155 "core" ( +3 "manipulator"&E& +9 "core" &# :. +4 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +5 &r& +7 "core" &# G :. +5 .tForearm.seek CC +5 "manipulator"&%'| +101 "core" ' +2 .tHand.close +4 "manipulator"&/ +65 "core" / +3 .tCC.seek :open +4 "collection"'c(p +412 "core" ( +4 "storage"(& +9 "core" &K f e @\ +3 "storage"(h& +8 "core" &K f e 0\ +3 "manipulator"&& +9 "core" &@  2 +3 "manipulator"&% +7 "core" % y v +5 .tForearm.seek :retract +2 "manipulator"&'\ +102 "core" ' +5 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +4 .tElbow.seek 6 +4 "manipulator"&"( +153 "core" ( +5 "manipulator"&)& +9 "core" & +3 "storage"(m& +10 "core" &K \ +2 .tElbow.reconfigure :limp +6 "manipulator"&$ ,(b +5 .tForearm.seek 6 +5 "manipulator"&W'z +112 "core" ' +4 .tElbow.hold +5 "manipulator"&n, +6 "core" , +4 .tElbow.reconfigure :tight +4 "manipulator"&$&.,(\ #b +8 .tHand.open +5 "manipulator"&(1 +64 "core" 1 +4 "manipulator"&% +8 "core" % ΋  m +2 "storage"(7& +8 "core" &K X X Z\ +3 .tForearm.force -20 +3 "manipulator"&5 +6 .tForearm.seek 6 + 317 counts +2 "manipulator"&1'Ϸ +18 "core" ' +5 "manipulator"&L& +8 "core" & r p  +5 "storage"(e& +8 "core" &K F\ +4 .tForearm.reconfigure :tight +5 "manipulator"&#Q@2^d^\ b +6 .tForearm.seek 6 + 450 counts +4 "manipulator"&s'< +25 "core" ' +3 "storage"(% +9 "core" %Z 0\ +5 ."downElevator"SE.seek :down +9 "storage"(t'N +94 (;% +8 "core" %8 2\ SX +6 "manipulator"&\ % +9 "core" %T m n +4 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +4 .tForearm.seek :retract +4 "manipulator"&.'\ +89 "core" ' +33 ' +2 ."downElevator"SE.stop + "storage"(5 +7 #tShuffling pucks in tube 7 of [6..7] +3 #Loading generic puck from tube 7 into Collection Clamp +3 "collection"'& +4 "core" &'\ +5 "manipulator"&{% +11 "core" %\ ( I +4 "storage"(% +11 "core" %E a\ \ +3 "storage"( . +7 "core" .(K +4 .tSC.reconfigure :tight +5 "storage"($\ .\ 1~b +4 .tSC.seek 7 +5 "storage"(([ +361 "core" ( +3 .tSC.configure :limp +6 "storage"($\ 1b +5 (w& +9 "core" &[ u U C\  +2 "manipulator"& & +10 "core" & +3 .tElbow.seek 7 +2 "manipulator"&9( +34 "core" ( +3 "manipulator"&& +9 "core" &\ n S +4 "storage"(A& +9 "core" &[ \  +4 .tForearm.reconfigure :tight +4 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 7 + 450 counts +4 "manipulator"&/'k +98 "core" ' +4 "storage"(T& +9 "core" &[ H\  +5 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +7 .tSE.seek :beamBreak +2 "storage"( 'e +283 "core" ' +3 "storage"(5- +7 "core" -' +3 .tSE.configure :default +5 "storage"(#QK-0-\ b +6 (4& +4 "core" &[ \  +6 "manipulator"&$& +10 "core" &\ q n  S +3 .tElbow.seek 7 +2 "manipulator"&y( +7 "core" ( +4 "manipulator"& & +10 "core" &\ q p 5 S +2 "storage"(#& +9 "core" &[ 8\  +4 .tForearm.seek 7 + 300 counts +6 "manipulator"&2' +27 "core" ' +4 .tForearm.reconfigure :loose +5 "manipulator"&#Q@2^d^b +5 .tHand.close +4 "manipulator"&/ +58 "core" / +7 ."downElevator"SE.seek :down +5 "manipulator"&!& +4 "storage"(k'N +16 "core" &\ q n S +4 "manipulator"&% +8 "core" % w o  +4 .tForearm.seek :retract +3 "manipulator"&O'\ +95 "core" ' +4 .tElbow.seek CC + "manipulator"&&( +139 "core" ' +3 ."downElevator"SE.stop +2 "storage"(5 +9 "core" ( +3 "manipulator"&'& +7 "core" &# r :. +4 .tElbow.reconfigure :loose +4 "manipulator"&$ &.,(#b +6 &>& +9 "core" &#  :. +4 .tForearm.reconfigure :tight +5 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek CC +5 "manipulator"&V'| +106 "core" ' +4 "manipulator"&B& +9 "core" &#  :. +3 "manipulator"&C% +7 "core" %τ  +4 "collection"'3& +9 "core" &.\ +4 "collection"'F& +12 "core" &\ +4 &1\ +4 .tCC.seek :closed +6 "collection"'X(] +8 "core" &8\ +3 &*\  +8 &2A\ *z +9 &c4\ > +8 &Ny3\ N +11 &^2\ M +8 &a3\ N +10 &`)\ N +9 &!U_9\ N +10 &#_/\ N +9 &$_4\ N +10 &&`,\ M +8 &(^\\6\ M +10 &* _1\ M +10 &+](\ M +9 &-_2\ N +10 &/f_4\ M +8 &1(]:\ M +10 &2`8\ M +12 &4_1\ M +6 &6n_2\ M +10 &8/_5\ N +10 &9\\6\ M +8 &;Y2\ M +11 &=v_-\ M +9 &?8Z<\ M +8 &@[1\ M +11 &B`2\ M +8 &D~_<\ M +11 &F?]<\ N +10 &H`:\ N +7 &Il9\ O +11 &K|{8\ Q +9 &M47\ T +8 &Ngm:\ W +12 &Pdf2\ X +9 &Ro\\b+\ X +8 &T/YZ7\ Y +10 &USU.\ Y +10 &WKP;\ Z +10 &YlIL0\ \\ +8 &[-DH8\ \\ +9 &\\{=B0\ 3 +11 &]#<=1\ #g +7 &]~=>+\ V +3 ( +6 "collection"'F& +8 #tCollection Clamp onSpring/offSpring for 9/25 samples, on/off torque 2.04 + .Hand.open +4 "manipulator"&81 +6 "core" &]}=?-\ V +57 1 +3 "manipulator"&?% +11 "core" % | 3 +4 .tForearm.reconfigure :loose +4 "manipulator"&#Q@2^d^b +5 .tForearm.seek :retract +5 "manipulator"&'\ +98 "core" ' +4 #tLoading generic puck from tube 7 into Processing Clamp +3 "processing"%& +9 "core" &\ \ +4 "manipulator"&% +7 "core" %\ 1 7 $m +4 "storage"(0% +9 "core" %G 8 :\ +3 "storage"(j. +5 "core" .([ +3 .tSC.reconfigure :tight +6 "storage"($\ .\ 1~b +3 .tSC.seek 7 +2 "storage"(Y([ +9 "core" ( +2 .tSC.configure :limp +6 "storage"($\ 1b +5 (+& +8 "core" &[\  \  +4 "manipulator"&p& +9 "core" &! , 9% +4 "manipulator"&H% +9 "core" %\ 1  $m +4 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +4 .tElbow.seek 7 +4 "manipulator"&P( +173 "core" ( +3 "manipulator"&Q& +9 "core" & [ R +2 "storage"(@& +9 "core" &[ ( ) %\  +6 .tForearm.reconfigure :tight +4 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 7 + 450 counts +5 "manipulator"&S'k +100 "core" ' +4 "storage"(^& +9 "core" &[ t t #\  +116 .tSE.reconfigure :pick +9 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +4 "storage"(D'e +22 "Can" lk +256 "core" ' +4 "storage"(u- +8 "core" -' +3 .tSE.configure :default +4 "storage"(#QK-0-\ b +5 (K& +5 "core" &[ Y Y\  +4 "manipulator"&*& +9 "core" & n l R +4 .tElbow.seek 7 +2 "manipulator"&<( +7 "core" ( +3 "manipulator"&_& +8 "core" & m n R +2 "storage"(& +8 "core" &[ X a\  +4 .tForearm.seek 7 + 300 counts +4 "manipulator"&=' +20 "core" ' +4 .tForearm.reconfigure :loose +4 "manipulator"&#Q@2^d^b +5 .tHand.close +3 "manipulator"&a/ +65 "core" / +5 ."downElevator"SE.seek :down +12 "manipulator"&N& + "storage"( 'N +19 "core" &  R +5 "manipulator"&R% +9 "core" %  +5 .tForearm.seek :retract +4 "manipulator"&M'\ +100 "core" ' +6 .tElbow.seek PC + "manipulator"&J(c +128 "core" ' +3 ."downElevator"SE.stop +2 "storage"(5 +114 "core" ( +4 "manipulator"&U& +9 "core" &k  +4 .tElbow.reconfigure :loose +6 "manipulator"&$ &.,(#b +3 &6& +8 "core" &k c +4 .tForearm.reconfigure :tight +4 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek PC +4 "manipulator"&}'[ +105 "core" ' +5 "manipulator"&|& +10 "core" &k  +5 "manipulator"&f% +9 "core" %Q | +6 "processing"%:& +8 "core" &\ +4 "processing"%q& +17 "core" &\ +2 &\ +7 .tPC.seek :closed + "processing"%z(Z +12 "core" &\ +5 &\  +2 &.~\ *y +9 &d\ > +8 &Ax\ M +9 &W\ M +10 &]\ M +8 &[\ M +10 &!H]\ M +11 &# Z\ M +7 &$Z\ M +11 &&\\\ M +9 &(P\\\ M +10 &*[\ M +9 &+Z\ M +8 &-Z\ M +10 &/X_\ M +11 &1[\ M +7 &2]\ M +13 &4Z\ M +8 &6`\\\ M +10 &8"[\ M +9 &9Z\ M +7 &;\\\ M +10 &=h\\\ M +10 &?*_\ M +8 &@]\ M +11 &B\\\ N +10 &Dq\\\ M +9 &F1_\ N +10 &Gg\ N +7 &Is\ P +9 &Ki\ R +12 &M'\ T +7 &N\ T +12 &P\ T +8 &Rm\ T +9 &T0\ S +11 &U\ T +8 &W\ U +11 &Yr\ B +9 &Z{@\ S +10 &Z\ ( + ( +8 "processing"%q& +6 #tProcessing Clamp onSpring/offSpring for 9/25 samples, on/off torque 1.60 + .Hand.open +3 "manipulator"&G1 +8 "core" &Z\ ( +50 1 +2 "manipulator"&I% +9 "core" % Q t +4 .tForearm.reconfigure :loose +4 "manipulator"&#Q@2^d^b +4 .tForearm.seek :retract +4 "manipulator"&['\ +103 "core" ' +5 "processing"%~& +9 "core" &Z\ ( +4 #tImaging generic puck in Processing Clamp while storing it to tube 7 +2 "manipulator"&o% +9 "core" %\ 8 t ' +6 "storage"(`% +8 "core" %I   \ \ +3 "storage"(. +7 "core" .([ +4 .tSC.reconfigure :tight +5 "storage"($\ .\ 1~b +3 .tSC.seek 7 +4 "storage"(-([ +10 "core" ( +5 .tSC.configure :limp +3 "storage"($\ 1b +6 (& +10 "core" &[ Q\  B\  +2 "manipulator"&\\& +6 ."raiseStack"SE.reconfigure :place +12 "storage"(#]kK-0-\ b +4 ."raiseStack"SE.seek :beamBreak +3 "storage"(,'e +7 "core" &k x +4 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +5 .tElbow.seek PC +4 "manipulator"&Z(c +7 "core" ( +3 "manipulator"&d& +10 "core" &k  +4 .tElbow.reconfigure :loose +7 "manipulator"&$ &.,(#b +4 &l& +9 "core" &k +4 .tForearm.seek PC + "manipulator"&b'[ +100 "core" ' +5 .tHand.close + "manipulator"&]/ +61 "core" / +4 .tPC.seek :open +3 "processing"%i(p +23 "core" ' +3 "storage"(- +6 "core" -'e +6 ."raiseStack"SE.configure :default +5 "storage"(#QK-0-\ b +6 ."raiseStack"SE.seek :place +5 "storage"(E'B +49 "core" ' +289 ( +4 "storage"(r& +9 "core" &[ 3 4\  +4 "manipulator"&x& +8 "core" &k ! +3 "manipulator"&% +9 "core" % R  +4 .tForearm.seek :retract + "manipulator"&'\ +103 "core" ' +4 .tElbow.reconfigure :tight +4 "manipulator"&$&.,(\ #b +4 .tElbow.seek 7 +4 "manipulator"&( +257 "core" ( +3 "manipulator"&v& +10 "core" & U $ +2 "storage"(& +7 "core" &[   0\  +4 .tForearm.reconfigure :tight +5 "manipulator"&#Q@2^d^\ b +6 .tForearm.seek 7 + 450 counts +3 "manipulator"&h'k +105 "core" ' +2 .tHand.open +4 "manipulator"&1 +57 "core" 1 +5 "storage"(- +9 "core" -'B +4 .tSE.seek -0.16 Pucks below Top Plate +2 "storage"()' +27 "core" ' +4 .tSE.reconfigure :seal +4 "storage"(#QK-0-\ b +6 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(m' +55 "core" ' +4 #tLights, camera, ACTION! +2 "storage"(%- +8 "core" -' +4 "storage"(& +8 "core" &[ \  +4 "manipulator"&(& +8 "core" & o e $ +4 .tElbow.seek 7 +4 "manipulator"&( +7 "core" ( +4 "manipulator"&7& +8 "core" & ` ` F $ +4 "storage"(L& +7 "core" &[ #\  +5 .tForearm.seek 7 + 450 counts +4 "manipulator"&e'k +6 "core" ' +6 .tSE.reconfigure :gently +7 "storage"(#QK-0-\ b +5 .tSE.seek -0.11 Pucks below Top Plate +4 "storage"('M +66 "core" ' +4 "manipulator"&& +8 "core" & o p $ +3 "storage"("& +8 "core" &[ X Y {\  +3 .tElbow.reconfigure :limp +6 "manipulator"&$ ,(b +6 .tForearm.reconfigure :loose +4 "manipulator"&#Q@2^d^b +4 .tForearm.seek 7 +4 "manipulator"&;'Ω +32 "core" ' +3 .tElbow.hold +4 "manipulator"&\ , +8 "core" , +2 .tElbow.reconfigure :tight +5 "manipulator"&$&.,(\ #b +5 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +4 .tSE.seek 0.07 Pucks below Top Plate +4 "storage"(W'7 +24 "core" ' +3 "manipulator"&1% +9 "core" %ν 8 s +2 "storage"(& +8 "core" &[\ \  \  +4 .tForearm.force -20 +2 "manipulator"&5 +8 .tForearm.seek 7 + 320 counts +2 "manipulator"&{' +22 "core" ' +3 "manipulator"&& +11 "core" & r r 7 $ +4 "storage"(& +8 "core" &[ X X ]\  +4 .tForearm.reconfigure :tight +5 "manipulator"&#Q@2^d^\ b +5 .tForearm.seek 7 + 450 counts +4 "manipulator"& 'k +25 "core" ' +5 "storage"(s% +9 "core" %? X X b\ +6 ."downElevator"SE.seek :down +7 "storage"(t'N +99 (% +6 "core" %,; 6 4\ U] +5 "manipulator"&w% +9 "core" %| n p  \ +5 .tForearm.reconfigure :loose +4 "manipulator"&#Q@2^d^b +6 .tForearm.seek :retract +4 "manipulator"& '\ +91 "core" ' +36 ' +2 ."downElevator"SE.stop +5 "storage"(5 +5 (& +9 "core" &[ ' 1 V\  +4 "collection"'A& +9 "core" &]{FI*\ V +4 #tStoring generic puck in Collection Clamp to tube 7 + "manipulator"&T% +9 "core" %\ % ) 5 +5 "storage"(n% +8 "core" %E A ;\ +2 "storage"(.. +6 "core" .([ +5 .tSC.reconfigure :tight +6 "storage"($\ .\ 1~b +4 .tSC.seek 7 +4 "storage"(5([ +5 "core" ( +4 .tSC.configure :limp +4 "storage"($\ 1b +4 (4& +9 "core" &[\  e \  +3 "manipulator"&$& +8 "core" &  $ +3 .tElbow.seek 7 +2 "manipulator"& ( +6 "core" ( +4 "manipulator"&#& +9 "core" &  $ +4 "storage"(& +7 "core" &[ 8 : 0\  +5 .tForearm.reconfigure :tight +4 "manipulator"&#Q@2^d^\ b +6 .tForearm.seek 7 + 450 counts +2 "manipulator"&!'k +100 "core" ' +4 "storage"(& +9 "core" &[ X X Y\  +4 .tSE.reconfigure :pick +7 "storage"(#]K-0-\ b +7 .tSE.seek :beamBreak +4 "storage"(9'e +280 "core" ' +3 "storage"(/- +8 "core" -' +4 .tSE.configure :default +4 "storage"(#QK-0-\ b +7 "manipulator"&'& +5 "core" & $ +4 "storage"( & +11 "core" &[ 6 3 X\  +3 .tElbow.reconfigure :limp +6 "manipulator"&$ ,(b +5 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +7 .tForearm.seek 7 +4 "manipulator"&>'Ω +34 "core" ' +3 .tElbow.hold +4 "manipulator"&2, +7 "core" , +3 .tElbow.reconfigure :tight +4 "manipulator"&$&.,(\ #b +4 "storage"(y- +6 "core" -' +5 .tSE.seek 0.12 Pucks below Top Plate +3 "storage"(B's +30 "core" ' +3 "manipulator"&C% +8 "core" %λo F ¸" +4 "storage"(3& +10 "core" &[ &\  +2 .tForearm.force -20 +5 "manipulator"&5 +6 .tForearm.seek 7 + 318 counts +2 "manipulator"&k' +115 "core" ' +5 "manipulator"&O& +10 "core" & q q Y $ +4 "storage"(c& +9 "core" &[ Z Y 0\  +4 .tForearm.reconfigure :tight +5 "manipulator"&#Q@2^d^\ b +5 .tForearm.seek 7 + 450 counts +4 "manipulator"&8'k +22 "core" ' +4 .tSE.seek 1.12 Pucks below Top Plate +4 "storage"(?'b +42 "core" ' +4 "manipulator"&F& +10 "core" & o r  $ +4 "manipulator"&% +7 "core" %j o p  +5 .tForearm.reconfigure :loose +6 "manipulator"&#Q@2^d^b +4 .tForearm.seek :retract +5 "manipulator"&'\ +89 "core" ' +3 .tElbow.seek CC +4 "manipulator"&0( +160 "core" ( +3 "manipulator"&j& +10 "core" &*  @] +3 .tElbow.reconfigure :loose +5 "manipulator"&$ &.,(#b +3 &+& +8 "core" &*  @] +5 .tForearm.seek CC +3 "manipulator"&p'| +103 "core" ' +2 .tHand.close +5 "manipulator"&H/ +57 "core" / +3 .tCC.seek :open +5 "collection"'V(p +413 "core" ( +4 "storage"(Q& +9 "core" &[ | { ;\  +3 "storage"(@& +10 "core" &[ r | '\  +3 "manipulator"&& +7 "core" &2"  :0 +3 "manipulator"&&% +10 "core" % ό } +4 .tForearm.seek :retract + "manipulator"&^'\ +96 "core" ' +4 .tElbow.reconfigure :tight +4 "manipulator"&$&.,(\ #b +4 .tElbow.seek 7 +5 "manipulator"&( +158 "core" ( +3 "manipulator"&u& +12 "core" & x +4 "storage"(K& +8 "core" &[ \  +3 .tElbow.reconfigure :limp +5 "manipulator"&$ ,(b +6 .tForearm.seek 7 + "manipulator"&*'Ω +111 "core" ' +3 .tElbow.hold +4 "manipulator"&_, +8 "core" , +2 .tElbow.reconfigure :tight +6 "manipulator"&$&.,(\ #b +5 .tHand.open +5 "manipulator"&1 +56 "core" 1 +4 "manipulator"&a% +9 "core" % μ ) x +5 "storage"(N& +9 "core" &[ [ Y\  +3 .tForearm.force -20 +3 "manipulator"&5 +7 .tForearm.seek 7 + 319 counts +3 "manipulator"&R' +19 "core" ' +3 "manipulator"&P& +9 "core" & o p D +4 "storage"(S& +9 "core" &[ \  +5 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +5 .tForearm.seek 7 + 450 counts +2 "manipulator"&D'k +21 "core" ' +3 "storage"(=% +8 "core" %h P\ +6 ."downElevator"SE.seek :down +9 "storage"(U'N +98 (6% +6 "core" %|8 \ U[ +5 "manipulator"&<% +9 "core" %k k e +5 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +4 .tForearm.seek :retract +4 "manipulator"&|'\ +92 "core" ' +30 ' +2 ."downElevator"SE.stop +3 "storage"(5 +6 #tShuffling pucks in tube 6 of [6..7] +4 #Loading generic puck from tube 6 into Collection Clamp +2 "collection"'f& +9 "core" &>\ +4 "manipulator"&:% +10 "core" %\ & U B +5 "storage"( % +9 "core" %J K\ \ +2 "storage"(M. +8 "core" .([ +5 .tSC.reconfigure :tight +4 "storage"($\ .\ 1~b +7 .tSC.seek 6 +2 "storage"(g(K +359 "core" ( +3 .tSC.configure :limp +4 "storage"($\ 1b +5 (G& +7 "core" &K \ +4 "manipulator"&I& +8 "core" & > +4 .tElbow.seek 6 +2 "manipulator"&~( +39 "core" ( +5 "manipulator"&q& +9 "core" & :  +3 "storage"(o& +9 "core" &K +\ +4 .tForearm.reconfigure :tight +4 "manipulator"&#Q@2^d^\ b +5 .tForearm.seek 6 + 450 counts +4 "manipulator"&`'< +103 "core" ' +3 "storage"(& +10 "core" &K ^\ +3 .tSE.reconfigure :pick +5 "storage"(#]K-0-\ b +5 .tSE.seek :beamBreak +5 "storage"('e +282 "core" ' +3 "storage"(\\- +8 "core" -' +3 .tSE.configure :default +5 "storage"(#QK-0-\ b +7 (d& +7 "core" &K >\ +4 "manipulator"&l& +8 "core" & n k o  +3 .tElbow.seek 6 +4 "manipulator"&}( +7 "core" ( +4 "manipulator"&]& +9 "core" & d p O  +3 "storage"(Y& +9 "core" &K \ +5 .tForearm.seek 6 + 300 counts +3 "manipulator"&'Ϧ +16 "core" ' +3 .tForearm.reconfigure :loose +6 "manipulator"&#Q@2^d^b +4 .tHand.close +4 "manipulator"&J/ +56 "core" / +5 ."downElevator"SE.seek :down +5 "manipulator"&[& +5 "storage"(z'N +15 "core" & d a p  +3 "manipulator"&,% +9 "core" % ϫ n o * +4 .tForearm.seek :retract + "manipulator"&r'\ +99 "core" ' +5 .tElbow.seek CC +3 "manipulator"&x( +128 "core" ' +3 ."downElevator"SE.stop +4 "storage"(5 +22 "core" ( +2 "manipulator"&& +10 "core" &$ { ;8 +3 .tElbow.reconfigure :loose +4 "manipulator"&$ &.,(#b +5 &b& +8 "core" &#  ;8 +4 .tForearm.reconfigure :tight +5 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek CC +5 "manipulator"&v'| +100 "core" ' +3 "manipulator"&& +10 "core" &$ M ;7 +4 "manipulator"&Z% +9 "core" %~ ; +4 "collection"'& +9 "core" &L\ +4 "collection"'& +11 "core" &5\ +4 &9\ +5 .tCC.seek :closed +5 "collection"'%(] +9 "core" &>\ +4 &5\  +5 &2=\ *z +9 &dF\ > +11 &O{F\ N +9 &_E\ M +9 &`F\ M +10 &b:\ M +8 &!X`7\ M +12 &#bA\ M +9 &$_9\ M +8 &&\\:\ M +8 &(``E\ M +12 &*"_<\ M +7 &+]>\ M +12 &-^9\ M +8 &/i];\ M +10 &1*_7\ M +11 &2\\:\ M +6 &4_;\ M +10 &6p];\ M +10 &83[:\ M +8 &9\\1\ M +11 &;^6\ M +9 &=y^:\ M +9 &?9]<\ N +10 &@]9\ M +8 &B[:\ N +10 &D]:\ M +11 &FB`;\ M +7 &Hc9\ N +11 &Il?\ O +8 &K{:\ R +11 &M1q<\ V +11 &Ncf@\ W +7 &PZ_0\ X +10 &RoU[6\ Y +9 &T0PU9\ Y +10 &UJN.\ Z +8 &WCF,\ [\ +10 &Ym?C+\ \\ +10 &[.:@,\ \\ +8 &\\r55,\ F +10 &]37+\ #g +8 ( +8 &]15-\ !b +4 &]55,\ !b +2 "collection"'& +9 #tCollection Clamp onSpring/offSpring for 9/25 samples, on/off torque 2.04 +3 .Hand.open + "manipulator"&1 +6 "core" &]36*\ !a +51 1 +3 "manipulator"&% +10 "core" % } b +4 .tForearm.reconfigure :loose +4 "manipulator"&#Q@2^d^b +5 .tForearm.seek :retract +3 "manipulator"&('\ +93 "core" ' +4 #tLoading generic puck from tube 6 into Processing Clamp +3 "processing"%7& +9 "core" &\ +2 "manipulator"&L% +8 "core" %\ +  !O +5 "storage"(% +10 "core" %A  \  +3 "storage"(". +6 "core" .(K +4 "storage"(E& +9 "core" &K   \ +2 "storage"()& +9 "core" &K   1\ +4 "manipulator"&1& +5 "core" &# J :. +4 "manipulator"&% +10 "core" %\ * c !O +4 .tElbow.reconfigure :tight +5 "manipulator"&$&.,(\ #b +6 .tElbow.seek 6 +4 "manipulator"&( +165 "core" ( +4 "manipulator"&h& +11 "core" & G  +2 "storage"(& +9 "core" &K A > \ +4 .tForearm.reconfigure :tight +7 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 6 + 450 counts +5 "manipulator"&'< +101 "core" ' +5 "storage"(m& +10 "core" &K [ Y\ +4 .tSE.reconfigure :pick +5 "storage"(#]K-0-\ b +7 .tSE.seek :beamBreak + "storage"(s'e +283 "core" ' +4 "storage"(e- +7 "core" -' +5 .tSE.configure :default +3 "storage"(#QK-0-\ b +7 (& +4 "core" &K 9 7 o\ +4 "manipulator"&& +9 "core" & m f  +3 .tElbow.seek 6 +2 "manipulator"&w( +8 "core" ( +3 "manipulator"&& +9 "core" & o p  +2 "storage"(;& +9 "core" &K B ,\ +8 .tForearm.seek 6 + 300 counts + "manipulator"&{'Ϧ +22 "core" ' +2 .tForearm.reconfigure :loose +6 "manipulator"&#Q@2^d^b +4 .tHand.close + "manipulator"&/ +62 "core" / +6 ."downElevator"SE.seek :down +5 "manipulator"&A& +4 "storage"(W'N +16 "core" &   +4 "manipulator"&T% +8 "core" % ϧ   +5 .tForearm.seek :retract +4 "manipulator"&n'\ +99 "core" ' +3 .tElbow.seek PC +4 "manipulator"&.(c +135 "core" ' +2 ."downElevator"SE.stop +2 "storage"(5 +112 "core" ( +4 "manipulator"&4& +10 "core" &g R +3 .tElbow.reconfigure :loose +7 "manipulator"&$ &.,(#b +6 &$& +8 "core" &g +3 .tForearm.reconfigure :tight +5 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek PC +4 "manipulator"&#'[ +96 "core" ' +6 "manipulator"&& +9 "core" &g  +4 "manipulator"& % +9 "core" %c -  +4 "processing"%& +10 "core" &\ +4 "processing"%t& +11 "core" &\ +4 &\ +4 .tPC.seek :closed +148 "processing"%-(Z +17 "core" & \ +2 &\ +2 &\ +2 &\ +2 &\ +5 &\ +2 &\ +4 &\ +2 &\ +2 &\ +6 &\ +2 &\ +3 &\ +2 &\ +2 &\ +5 &\ +4 &\ +2 &\ 5 +2 &F{\ 0 +2 &Cr\ E +4 &c\ M +2 &Z\ M +2 &n\\\ M +7 & 0[\ M +2 &!Z\ M +6 &#Y\ M +10 &%uZ\ M +8 &'7Z\ M +9 &(Z\ M +10 &*[\ M +8 &,}\\\ M +10 &.?[\ M +11 &0Y\ M +9 &1Z\ M +8 &3[\ M +10 &5G[\ M +10 &7 Z\ M +9 &8\\\ M +9 &:[\ M +12 &]\ M +10 &?\\\ M +8 &A]\ M +11 &CW]\ M +10 &E\\\ M +8 &Fc\ N +9 &Hj\ N +11 &JYs\ O +9 &L\ Q +8 &M\ S +10 &O\ T +9 &QU\ S +11 &S\ S +8 &T\ T +11 &V\ T +8 &X[\ T +9 &Zzt\ '{ +9 &Z)v\ 4 +9 ( +6 "processing"%t& +7 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.55 +3 .Hand.open +2 "manipulator"&\ 1 +9 "core" &Z\ ) +2 &Z\ ) +48 1 +4 "manipulator"& % +8 "core" % c   +5 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +4 .tForearm.seek :retract +4 "manipulator"&/'\ +93 "core" ' +4 "processing"%'& +9 "core" &Z\ ) +3 #tImaging generic puck in Processing Clamp while storing it to tube 6 +2 "manipulator"& % +10 "core" %\ *  !S +3 "storage"(y% +6 "core" %X   l\  +4 "storage"(C. +7 "core" .(K +3 "storage"(3& +8 "core" &K   Q\ +4 "storage"(O& +9 "manipulator"&c& +8 "core" &K   B\ +2 &g  +7 .tElbow.reconfigure :tight +5 ."raiseStack"SE.reconfigure :place +8 "manipulator"&$&.,(\ #b +8 "storage"(#]kK-0-\ b +5 .tElbow.seek PC +10 "manipulator"&!(c +7 ."raiseStack"SE.seek :beamBreak +3 "storage"( 'e +6 "core" ( +3 "manipulator"&9& +8 "core" &g  +4 .tElbow.reconfigure :loose +4 "manipulator"&$ &.,(#b +4 &F& +7 "core" &g P +4 .tForearm.seek PC +5 "manipulator"&'[ +99 "core" ' +4 .tHand.close +2 "manipulator"&>/ +59 "core" / +4 .tPC.seek :open + "processing"%k(p +59 "core" ' +2 "storage"(B- +9 "core" -'e +2 ."raiseStack"SE.configure :default +6 "storage"(#QK-0-\ b +7 ."raiseStack"SE.seek :place +5 "storage"(j'B +33 "core" ' +273 ( +3 "storage"(+& +12 "core" &K   \ +3 "manipulator"&8& +10 "core" &g  +2 "manipulator"&2% +10 "core" % g @ +4 .tForearm.seek :retract +6 "manipulator"&H'\ +98 "core" ' +4 .tElbow.reconfigure :tight +5 "manipulator"&$&.,(\ #b +5 .tElbow.seek 6 +3 "manipulator"&( +251 "core" ( +3 "manipulator"&X& +8 "core" &\ ` +4 "storage"(Q& +8 "core" &K  \ +4 .tForearm.reconfigure :tight +4 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 6 + 450 counts +4 "manipulator"&@'< +99 "core" ' +3 .tHand.open +3 "manipulator"&1 +63 "core" 1 +5 "storage"(&- +6 "core" -'B +6 .tSE.seek -0.16 Pucks below Top Plate +2 "storage"(u' +27 "core" ' +5 .tSE.reconfigure :seal +4 "storage"(#QK-0-\ b +4 .tSE.seek -0.83 Pucks below Top Plate +4 "storage"(K' +55 "core" ' +3 #tLights, camera, ACTION! +2 "storage"(p- +8 "core" -' +3 "storage"(0& +9 "core" &K :\ +5 "manipulator"&& +9 "core" &\  ` +4 .tElbow.seek 6 +2 "manipulator"&a( +11 "core" ( +2 "manipulator"&N& +8 "core" &\  ` +4 "storage"(P& +9 "core" &K \ +4 .tForearm.seek 6 + 450 counts + "manipulator"&S'< +7 "core" ' +5 .tSE.reconfigure :gently +4 "storage"(#QK-0-\ b +7 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"(^'M +59 "core" ' +3 "manipulator"&=& +9 "core" &\ ` +3 "storage"(& +9 "core" &K A A \ +4 .tElbow.reconfigure :limp +6 "manipulator"&$ ,(b +4 .tForearm.reconfigure :loose +5 "manipulator"&#Q@2^d^b +6 .tForearm.seek 6 +3 "manipulator"&6'z +34 "core" ' +4 .tElbow.hold + "manipulator"&<, +9 "core" , +2 .tElbow.reconfigure :tight +6 "manipulator"&$&.,(\ #b +6 .tSE.reconfigure :default +6 "storage"(#QK-0-\ b +5 .tSE.seek 0.07 Pucks below Top Plate +4 "storage"(*'7 +29 "core" ' +4 "manipulator"&R% +10 "core" %·g 5 ¶ +2 "storage"(f& +8 "core" &K L\ +5 .tForearm.force -20 +2 "manipulator"&5 +6 .tForearm.seek 6 + 313 counts + "manipulator"&:'ϳ +21 "core" ' +3 "manipulator"& & +9 "core" &\ \ p q  O +3 "storage"(?& +9 "core" &K + ( \ +4 .tForearm.reconfigure :tight +4 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 6 + 450 counts +5 "manipulator"&M'< +20 "core" ' +4 "storage"(D% +9 "core" %3 X T .\ +4 ."downElevator"SE.seek :down +7 "storage"(U'N +100 (5% +7 "core" %:   \ T\\ +4 "manipulator"&G% +9 "core" %- o q   +4 .tForearm.reconfigure :loose +4 "manipulator"&#Q@2^d^b +5 .tForearm.seek :retract +4 "manipulator"&I'\ +93 "core" ' +37 ' +2 ."downElevator"SE.stop +3 "storage"(5 +5 (q& +8 "core" &K J 3\ +3 "collection"'o& +7 "core" &]<>0\ !a +4 #tStoring generic puck in Collection Clamp to tube 6 +3 "manipulator"&% +8 "core" %\ 0  $m +5 "storage"(_% +8 "core" %; 9 8\ \ +3 "storage"(|. +6 "core" .(K +4 "storage"(\\& +9 "core" &K ! ' \ +3 "storage"(d& +9 "core" &K 8 5\ +8 "manipulator"&l& +8 "core" &\ 7 O +5 .tElbow.seek 6 +5 "manipulator"&]( +27 "core" ( +2 "manipulator"&Y& +11 "core" & ~  +3 "storage"(J& +8 "core" &K 4 8\ +4 .tForearm.reconfigure :tight +5 "manipulator"&#Q@2^d^\ b +5 .tForearm.seek 6 + 450 counts +4 "manipulator"&['< +92 "core" ' +3 "storage"(,& +11 "core" &K ( (\ +4 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +6 .tSE.seek :beamBreak +3 "storage"(~'e +279 "core" ' +2 "storage"(`- +7 "core" -' +4 .tSE.configure :default +3 "storage"(#QK-0-\ b +6 "manipulator"&& +7 "core" & 1  +3 "storage"(& +7 "core" &K B A \ +3 .tElbow.reconfigure :limp +6 "manipulator"&$ ,(b +7 .tForearm.reconfigure :loose +6 "manipulator"&#Q@2^d^b +4 .tForearm.seek 6 +4 "manipulator"&b'z +36 "core" ' +4 .tElbow.hold +2 "manipulator"&, +9 "core" , +2 .tElbow.reconfigure :tight +6 "manipulator"&$&.,(\ #b +4 "storage"(}- +5 "core" -' +6 .tSE.seek 0.11 Pucks below Top Plate + "storage"('l +39 "core" ' +3 "manipulator"&Z% +9 "core" %Ί^ 5 ³ +2 "storage"(& +9 "core" &K \ +4 .tForearm.force -20 +3 "manipulator"&5 +4 .tForearm.seek 6 + 316 counts +4 "manipulator"&z'϶ +20 "core" ' +3 "manipulator"&r& +10 "core" & e o  +2 "storage"(V& +9 "core" &K I > _\ +4 .tForearm.reconfigure :tight +6 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +3 "manipulator"&'< +23 "core" ' +5 .tSE.seek 1.11 Pucks below Top Plate +4 "storage"('[ +48 "core" ' +5 "manipulator"&7& +9 "core" & k n  +3 "manipulator"&% +7 "core" % e m   +6 .tForearm.reconfigure :loose +5 "manipulator"&#Q@2^d^b +5 .tForearm.seek :retract +5 "manipulator"&L'\ +90 "core" ' +3 .tElbow.seek CC +2 "manipulator"&( +165 "core" ( +4 "manipulator"&"& +11 "core" & * ! @^ +2 .tElbow.reconfigure :loose +5 "manipulator"&$ &.,(#b +5 &E& +7 "core" & )  @^ +7 .tForearm.seek CC +6 "manipulator"&)'| +96 "core" ' +5 .tHand.close + "manipulator"&1/ +55 "core" / +5 .tCC.seek :open +5 "collection"'(p +413 "core" ( +2 "storage"(v& +9 "core" &K \ +3 "storage"(h& +9 "core" &K \ +3 "manipulator"&& +9 "core" &%% =B +2 "manipulator"&x% +10 "core" % v  +5 .tForearm.seek :retract +3 "manipulator"&m'\ +94 "core" ' +4 .tElbow.reconfigure :tight +7 "manipulator"&$&.,(\ #b +5 .tElbow.seek 6 +4 "manipulator"&(( +162 "core" ( +3 "manipulator"&e& +9 "core" & 6 O +4 "storage"(& +8 "core" &K ?\ +2 .tElbow.reconfigure :limp +6 "manipulator"&$ ,(b +4 .tForearm.seek 6 +7 "manipulator"&'z +110 "core" ' +3 .tElbow.hold +3 "manipulator"&, +6 "core" , +4 .tElbow.reconfigure :tight +5 "manipulator"&$&.,(\ #b +5 .tHand.open +117 "manipulator"&;1 +64 "core" 1 +4 "manipulator"&% +8 "core" % ΃ / X +2 "storage"(A& +9 "core" &K Z W \ +5 .tForearm.force -20 +3 "manipulator"&5 +5 .tForearm.seek 6 + 309 counts +3 "manipulator"&T'ϯ +18 "core" ' +4 "manipulator"&& +9 "core" & d p T ( +4 "storage"(& +10 "core" &K \ +4 .tForearm.reconfigure :tight +4 "manipulator"&#Q@2^d^\ b +6 .tForearm.seek 6 + 450 counts +2 "manipulator"&s'< +25 "core" ' +2 "storage"({% +10 "core" %[ !\ +4 ."downElevator"SE.seek :down +10 "storage"(4'N +94 ($% +7 "core" %6 \ TY +4 "manipulator"&w% +9 "core" %1 n o +4 .tForearm.reconfigure :loose +6 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +5 "manipulator"&'\ +98 "core" ' +29 ' +2 ."downElevator"SE.stop +2 "storage"(5 +5 #tShuffling pucks in tube 7 of [6..7] +2 #Loading generic puck from tube 7 into Collection Clamp +4 "collection"' & +8 "core" &F\ +4 "manipulator"&% +10 "core" %\ 5  & +3 "storage"(W% +9 "core" %X b\  +2 "storage"(n. +10 "core" .(K +3 .tSC.reconfigure :tight +4 "storage"($\ .\ 1~b +3 .tSC.seek 7 +5 "storage"(i([ +360 "core" ( +3 .tSC.configure :limp +6 "storage"($\ 1b +4 (\ & +9 "core" &[ ) W *\  +3 "manipulator"& & +7 "core" & , ( +8 .tElbow.seek 7 +2 "manipulator"&'( +19 "core" ( +6 "manipulator"&t& +9 "core" & Z  +4 "storage"( & +8 "core" &[ \  +4 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +5 "manipulator"&y'k +97 "core" ' +3 "storage"(C& +11 "core" &[ \  +5 .tSE.reconfigure :pick +4 "storage"(#]K-0-\ b +6 .tSE.seek :beamBreak +4 "storage"(3'e +282 "core" ' +4 "storage"(c- +7 "core" -' +3 .tSE.configure :default +6 "storage"(#QK-0-\ b +6 (O& +9 "core" &[ ~\  +3 "manipulator"&9& +7 "core" & o o  +5 .tElbow.seek 7 +3 "manipulator"&F( +7 "core" ( +4 "manipulator"&#& +7 "core" & n p  +4 "storage"(>& +9 "core" &[ D\  +5 .tForearm.seek 7 + 300 counts +5 "manipulator"&B' +14 "core" ' +3 .tForearm.reconfigure :loose +6 "manipulator"&#Q@2^d^b +3 .tHand.close +4 "manipulator"&./ +65 "core" / +5 ."downElevator"SE.seek :down +8 "manipulator"&/& +3 "storage"(-'N +20 "core" & n o  +3 "manipulator"& % +9 "core" % c g W H +4 .tForearm.seek :retract +4 "manipulator"&+'\ +101 "core" ' +3 .tElbow.seek CC +5 "manipulator"&8( +120 "core" ' +2 ."downElevator"SE.stop +3 "storage"(5 +57 "core" ( +5 "manipulator"&2& +9 "core" &  + @ +3 .tElbow.reconfigure :loose +7 "manipulator"&$ &.,(#b +4 && +8 "core" &  u D @ +4 .tForearm.reconfigure :tight +4 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek CC +4 "manipulator"&X'| +99 "core" ' +4 "manipulator"&Q& +10 "core" &   @ +5 "manipulator"&!% +8 "core" %z  +4 "collection"'& +9 "core" &N\ +6 "collection"'&& +14 "core" &L\ +2 &I\ +5 &I\ +4 .tCC.seek :closed +6 "collection"'p(] +9 "core" &L\ +2 &J\ 5 +7 &H~@\ 0 +10 &;r@\ E +10 &e>\ L +8 &^=\ M +10 &f_>\ M +12 & (_B\ M +8 &!`B\ M +8 &#_D\ M +11 &%m_@\ M +8 &'/`C\ M +10 &(_D\ M +8 &*^=\ M +11 &,w]?\ M +12 &.9^D\ M +5 &/`@\ M +10 &1_<\ M +10 &3}_<\ M +9 &5?]=\ M +11 &7_B\ M +6 &8_>\ M +11 &:[>\ M +11 & ^;\ M +11 &?`;\ M +8 &A_@\ M +10 &CP_<\ M +10 &E];\ M +8 &F];\ M +9 &Hd<\ N +11 &JQt@\ O +9 &L ;\ R +10 &Mu:\ V +9 &Ohl;\ W +8 &Q@dgA\ X +13 &R_b:\ Y +6 &TUZ9\ Y +11 &VRV;\ Z +9 &XAMP<\ Z +9 &YHL:\ ^ +11 &[AD:\ [ +8 &]%R>@?\ 0 +9 &]??8\ P +9 ( +6 &]l=?9\ L +9 "collection"'&& +10 #tCollection Clamp onSpring/offSpring for 9/26 samples, on/off torque 2.06 + .Hand.open +4 "manipulator"&H1 +4 "core" &]l??9\ L +2 &]m=>4\ L +52 1 +2 "manipulator"&0% +8 "core" % o  +4 .tForearm.reconfigure :loose +7 "manipulator"&#Q@2^d^b +5 .tForearm.seek :retract +4 "manipulator"&'\ +95 "core" ' +3 #tLoading generic puck from tube 7 into Processing Clamp +3 "processing"%N& +8 "core" &\ \ +4 "manipulator"&P% +9 "core" %\ ' B +3 "storage"(=% +8 "core" %K Z [ M\ \ +4 "storage"(. +6 "core" .([ +5 .tSC.reconfigure :tight +4 "storage"($\ .\ 1~b +4 .tSC.seek 7 +4 "storage"(j([ +6 "core" ( +3 .tSC.configure :limp +6 "storage"($\ 1b +5 (u& +5 "core" &[   5\  +5 "manipulator"&R& +8 "core" &  4 @ +2 "manipulator"&f% +11 "core" %\ ' B +4 .tElbow.reconfigure :tight +4 "manipulator"&$&.,(\ #b +4 .tElbow.seek 7 +4 "manipulator"&( +151 "core" ( +3 "manipulator"&@& +9 "core" & *  +5 "storage"( & +10 "core" &[ Y [\  +4 .tForearm.reconfigure :tight +5 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 7 + 450 counts +4 "manipulator"&?'k +116 "core" ' +3 "storage"(K& +9 "core" &[ e e M\  +5 .tSE.reconfigure :pick +7 "storage"(#]K-0-\ b +7 .tSE.seek :beamBreak +3 "storage"(D'e +284 "core" ' +2 "storage"(S- +7 "core" -' +3 .tSE.configure :default +4 "storage"(#QK-0-\ b +6 (a& +4 "core" &[ b o N\  +5 "manipulator"&5& +8 "core" & ` b  +4 .tElbow.seek 7 +3 "manipulator"&G( +8 "core" ( +2 "manipulator"&^& +9 "core" & e b  +3 "storage"(6& +8 "core" &[ u u :\  +5 .tForearm.seek 7 + 300 counts +4 "manipulator"&:' +17 "core" ' +5 .tForearm.reconfigure :loose +6 "manipulator"&#Q@2^d^b +5 .tHand.close + "manipulator"&q/ +56 "core" / +6 ."downElevator"SE.seek :down +8 "manipulator"&o& +4 "storage"('N +18 "core" & b e  +4 "manipulator"&*% +9 "core" % o e = +4 .tForearm.seek :retract +3 "manipulator"&_'\ +92 "core" ' +5 .tElbow.seek PC +4 "manipulator"&|(c +140 "core" ' +2 ."downElevator"SE.stop +3 "storage"(5 +105 "core" ( +3 "manipulator"&\\& +10 "core" &c V +4 .tElbow.reconfigure :loose +5 "manipulator"&$ &.,(#b +3 &d& +9 "core" &c +4 .tForearm.reconfigure :tight +4 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek PC +4 "manipulator"&l'[ +103 "core" ' +3 "manipulator"&Y& +10 "core" &c L +3 "manipulator"&J% +8 "core" %` * +4 "processing"%M& +9 "core" &\ +4 "processing"%,& +12 "core" & \ +6 &\ +7 .tPC.seek :closed + "processing"%U(Z +10 "core" &\ +5 & \ \ +3 &/~ \ *y +7 &c\ > +9 &Cx\ N +8 &Z\ \ M +12 &`\ M +8 &[\ M +10 &!L\\\ M +11 &#Y\ M +7 &$Z\ M +9 &&]\ M +10 &(VZ\ L +12 &*[\ M +8 &+\\\ M +7 &-\\\ M +11 &/[a\ M +9 &1\\\ M +8 &2]\ M +11 &4Y\ M +10 &6e[\ M +8 &8&Z\ M +10 &9[\ M +8 &;[\ L +10 &=mZ\ M +10 &?/]\ M +8 &@]\ M +10 &BZ\ M +11 &Dt_\ M +9 &F5`\ M +9 &Gg\ N +8 &Is\ O +10 &Kn\ R +10 &M,\ S +9 &N\ S +9 &P\ S +11 &Rq\ S +8 &T3\ S +10 &U\ T +8 &W\ T +11 &Yw\ A +10 &Zx=\ [ +9 &Z\ ( + ( +8 "processing"%,& +8 #tProcessing Clamp onSpring/offSpring for 9/25 samples, on/off torque 1.63 +5 .Hand.open + "manipulator"&<1 +8 "core" &Z\ ( +52 1 +3 "manipulator"&I% +9 "core" % ` u +3 .tForearm.reconfigure :loose +5 "manipulator"&#Q@2^d^b +4 .tForearm.seek :retract +4 "manipulator"&`'\ +104 "core" ' +3 "processing"%& +9 "core" &Z\ ( +4 #tImaging generic puck in Processing Clamp while storing it to tube 7 + "manipulator"&% +9 "core" %\ 5 a & +3 "storage"(}% +10 "core" %O 4 3 \  +3 "storage"(Z. +7 "core" .([ +4 "storage"(& +9 "core" &[ 4 5\  +6 "storage"(r& +5 "manipulator"&V& +15 "core" &[ 4 8\  +2 &c o +7 .tElbow.reconfigure :tight +6 ."raiseStack"SE.reconfigure :place +8 "manipulator"&$&.,(\ #b +7 .tElbow.seek PC +4 "storage"(#]kK-0-\ b +3 "manipulator"&7(c +12 ."raiseStack"SE.seek :beamBreak +4 "storage"(['e +4 "core" ( +4 "manipulator"&& +9 "core" &c ) +2 .tElbow.reconfigure :loose +5 "manipulator"&$ &.,(#b +4 &]& +9 "core" &c +3 .tForearm.seek PC +120 "manipulator"&~'[ +98 "core" ' +3 .tHand.close +2 "manipulator"&b/ +8 "core" ' +4 "storage"(z- +6 "core" -'e +3 ."raiseStack"SE.configure :default +9 "storage"(#QK-0-\ b +6 ."raiseStack"SE.seek :place +5 "storage"('B +22 "core" / +5 .tPC.seek :open +4 "processing"%"(p +8 "core" ' +389 ( +3 "storage"(E& +8 "core" &[ X X R\  +4 "manipulator"&& +8 "core" &c " +3 "manipulator"&% +9 "core" % b   +4 .tForearm.seek :retract +2 "manipulator"&1'\ +95 "core" ' +4 .tElbow.reconfigure :tight +5 "manipulator"&$&.,(\ #b +5 .tElbow.seek 7 +3 "manipulator"&L( +247 "core" ( +4 "manipulator"&%& +10 "core" & r ; +2 "storage"(v& +9 "core" &[ X X b\  +5 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 7 + 450 counts +5 "manipulator"&h'k +113 "core" ' +3 .tHand.open +4 "manipulator"&1 +58 "core" 1 +5 "storage"(x- +9 "core" -'B +4 .tSE.seek -0.16 Pucks below Top Plate +4 "storage"(e' +26 "core" ' +5 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +5 .tSE.seek -0.83 Pucks below Top Plate +4 "storage"(' +53 "core" ' +4 #tLights, camera, ACTION! +2 "storage"()- +8 "core" -' +4 "storage"(& +9 "core" &[ Z\  +3 "manipulator"&m& +7 "core" & o q  ; +5 .tElbow.seek 7 +5 "manipulator"&;( +6 "core" ( +4 "manipulator"&& +8 "core" & o m  ; +2 "storage"(A& +9 "core" &[ \  +4 .tForearm.seek 7 + 450 counts +5 "manipulator"&'k +24 "core" ' +4 .tSE.reconfigure :gently +9 "storage"(#QK-0-\ b +6 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"('M +65 "core" ' +4 "manipulator"&(& +9 "core" &  ; +3 "storage"({& +9 "core" &[ X Y \  +5 .tElbow.reconfigure :limp +4 "manipulator"&$ ,(b +5 .tForearm.reconfigure :loose +5 "manipulator"&#Q@2^d^b +4 .tForearm.seek 7 +4 "manipulator"&$'Ω +35 "core" ' +4 .tElbow.hold + "manipulator"&w, +8 "core" , +2 .tElbow.reconfigure :tight +7 "manipulator"&$&.,(\ #b +5 .tSE.reconfigure :default +5 "storage"(#QK-0-\ b +6 .tSE.seek 0.07 Pucks below Top Plate +5 "storage"('7 +26 "core" ' +4 "manipulator"&T% +8 "core" %μv 7 3 +3 "storage"( & +9 "core" &[\ \  \  +3 .tForearm.force -20 +3 "manipulator"&5 +6 .tForearm.seek 7 + 319 counts +4 "manipulator"&' +21 "core" ' +4 "manipulator"&W& +11 "core" & o q  ; +3 "storage"(& +8 "core" &[ s s <\  +6 .tForearm.reconfigure :tight +4 "manipulator"&#Q@2^d^\ b +5 .tForearm.seek 7 + 450 counts +4 "manipulator"&n'k +20 "core" ' +4 "storage"(s% +8 "core" %@ u u >\ +4 ."downElevator"SE.seek :down +6 "storage"(4'N +99 (g% +6 "core" %9 K > N\ U] +4 "manipulator"&\ % +8 "core" %b l p z +5 .tForearm.reconfigure :loose +5 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +5 "manipulator"& '\ +90 "core" ' +39 ' +2 ."downElevator"SE.stop +2 "storage"(5 +5 (t& +8 "core" &[ U F \  +4 "collection"' & +10 "core" &]lFH,\ L +3 #tStoring generic puck in Collection Clamp to tube 7 +3 "manipulator"&C% +8 "core" %\ ( 4 I +3 "storage"(% +9 "core" %A X X \\\ +2 "storage"(. +7 "core" .([ +3 "storage"(c& +8 "core" &[ Z W F\  +3 "storage"(O& +11 "core" &[ X X S\  +2 "manipulator"&9& +9 "core" & 5 ; +5 .tElbow.seek 7 +3 "manipulator"&#( +8 "core" ( +3 "manipulator"&>& +10 "core" & ; +2 "storage"(.& +8 "core" &[ Z Y p\  +4 .tForearm.reconfigure :tight +6 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +5 "manipulator"&/'k +101 "core" ' +4 "storage"( & +8 "core" &[ t u\  +4 .tSE.reconfigure :pick +6 "storage"(#]K-0-\ b +7 .tSE.seek :beamBreak + "storage"(''e +282 "core" ' +3 "storage"(y- +9 "core" -' +4 .tSE.configure :default +4 "storage"(#QK-0-\ b +4 "manipulator"&3& +7 "core" & l n ; +4 "storage"(2& +8 "core" &[ u u E\  +3 .tElbow.reconfigure :limp +6 "manipulator"&$ ,(b +6 .tForearm.reconfigure :loose +5 "manipulator"&#Q@2^d^b +5 .tForearm.seek 7 + "manipulator"&B'Ω +34 "core" ' +3 .tElbow.hold +4 "manipulator"&, +7 "core" , +2 .tElbow.reconfigure :tight +7 "manipulator"&$&.,(\ #b +4 "storage"(F- +5 "core" -' +6 .tSE.seek 0.12 Pucks below Top Plate + "storage"(Q's +31 "core" ' +3 "manipulator"&!% +9 "core" %ν{  D +2 "storage"(& +13 "core" &[\ \  v\  +7 .tForearm.force -20 + "manipulator"&5 +8 .tForearm.seek 7 + 320 counts +2 "manipulator"&-' +20 "core" ' +3 "manipulator"&+& +9 "core" & | q 8 ; +5 "storage"(& +8 "core" &[ K T \  +4 .tForearm.reconfigure :tight +4 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 7 + 450 counts +4 "manipulator"&H'k +18 "core" ' +4 .tSE.seek 1.12 Pucks below Top Plate +5 "storage"(0'b +43 "core" ' +4 "manipulator"&N& +6 "core" & m e ; +6 "manipulator"&&% +13 "core" %] n f |  +4 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +4 .tForearm.seek :retract +4 "manipulator"&P'\ +89 "core" ' +3 .tElbow.seek CC +4 "manipulator"&=( +161 "core" ( +2 "manipulator"&& +10 "core" &*  @\\ +3 .tElbow.reconfigure :loose +5 "manipulator"&$ &.,(#b +3 &u& +9 "core" &* , @\\ +5 .tForearm.seek CC + "manipulator"&R'| +100 "core" ' +2 .tHand.close +3 "manipulator"&f/ +54 "core" / +4 .tCC.seek :open +6 "collection"'X(p +412 "core" ( +3 "storage"(@& +8 "core" &[ g k \  +5 "storage"( & +8 "core" &[ e e <\  +3 "manipulator"&i& +9 "core" &(% <9 +2 "manipulator"&8% +10 "core" % f +3 .tForearm.seek :retract +4 "manipulator"&K'\ +93 "core" ' +3 .tElbow.reconfigure :tight +9 "manipulator"&$&.,(\ #b +4 .tElbow.seek 7 +4 "manipulator"&( +153 "core" ( +4 "manipulator"&S& +10 "core" &  \ +2 "storage"(a& +9 "core" &[ \  +4 .tElbow.reconfigure :limp +4 "manipulator"&$ ,(b +7 .tForearm.seek 7 +3 "manipulator"&5'Ω +110 "core" ' +3 .tElbow.hold +2 "manipulator"&^, +8 "core" , +2 .tElbow.reconfigure :tight +5 "manipulator"&$&.,(\ #b +3 .tHand.open +4 "manipulator"&61 +65 "core" 1 +4 "manipulator"&q% +9 "core" % ν ^ a +2 "storage"(o& +8 "core" &[ X X M\  +2 .tForearm.force -20 +4 "manipulator"&5 +7 .tForearm.seek 7 + 320 counts +2 "manipulator"&*' +22 "core" ' +4 "manipulator"&& +9 "core" & a a N \ +5 "storage"(?& +8 "core" &[ >\  +4 .tForearm.reconfigure :tight +5 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 7 + 450 counts +4 "manipulator"&D'k +21 "core" ' +3 "storage"(:% +10 "core" %g \ +5 ."downElevator"SE.seek :down +6 "storage"(\\'N +100 (d% +5 "core" %$: \ TZ +6 "manipulator"&G% +10 "core" %Z K ` L +4 .tForearm.reconfigure :loose +5 "manipulator"&#Q@2^d^b +4 .tForearm.seek :retract +4 "manipulator"&Y'\ +91 "core" ' +29 ' +2 ."downElevator"SE.stop +4 "storage"(5 +6 #tShuffling pucks in tube 6 of [6..7] + #Loading generic puck from tube 6 into Collection Clamp +4 "collection"'J& +9 "core" &F\ +2 "manipulator"&M% +9 "core" %\ '  @ +4 "storage"(% +7 "core" %> c\ +4 "storage"(_. +6 "core" .([ +5 .tSC.reconfigure :tight +6 "storage"($\ .\ 1~b +5 .tSC.seek 6 +3 "storage"(k(K +355 "core" ( +3 .tSC.configure :limp +5 "storage"($\ 1b +4 (<& +9 "core" &K K q \ +5 "manipulator"&I& +8 "core" & Q \ +3 .tElbow.seek 6 +2 "manipulator"&,( +39 "core" ( +2 "manipulator"&& +10 "core" & c  +3 "storage"(& +9 "core" &K \ +5 .tForearm.reconfigure :tight +5 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 6 + 450 counts +5 "manipulator"&}'< +99 "core" ' +4 "storage"(Z& +8 "core" &K H\ +114 .tSE.reconfigure :pick +4 "storage"(#]K-0-\ b +6 .tSE.seek :beamBreak +3 "storage"('e +277 "core" ' +5 "storage"(V- +7 "core" -' +4 .tSE.configure :default +4 "storage"(#QK-0-\ b +5 (r& +5 "core" &K "\ +5 "manipulator"&& +9 "core" & r   +3 .tElbow.seek 6 +2 "manipulator"&]( +10 "core" ( +3 "manipulator"&l& +10 "core" & r &  +2 "storage"(z& +10 "core" &K ;\ +4 .tForearm.seek 6 + 300 counts +4 "manipulator"&|'Ϧ +21 "core" ' +5 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +4 .tHand.close +4 "manipulator"&b/ +58 "core" / +7 ."downElevator"SE.seek :down +10 "manipulator"&`& + "storage"(['N +18 "core" & n k  +5 "manipulator"&U% +10 "core" % ϛ l o +4 .tForearm.seek :retract +4 "manipulator"&E'\ +93 "core" ' +4 .tElbow.seek CC +5 "manipulator"&( +126 "core" ' +2 ."downElevator"SE.stop +3 "storage"(5 +60 "core" ( +2 "manipulator"&& +11 "core" & u 6 +4 .tElbow.reconfigure :loose +4 "manipulator"&$ &.,(#b +5 &~& +6 "core" & 9 6 +4 .tForearm.reconfigure :tight +6 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek CC +4 "manipulator"&%'| +98 "core" ' +4 "manipulator"&v& +8 "core" & 6 +4 "manipulator"&7% +10 "core" %ς g +5 "collection"'& +8 "core" &A\ +5 "collection"'x& +9 "core" &N\ +10 .tCC.seek :closed +7 "collection"')(] +9 "core" &J\ +5 &J\ +2 &K\ +2 &6F\ $e +6 &hWE\ 8 +11 &N\ L +7 &]K\ M +10 &D]C\ M +10 &^?\ M +9 & bE\ M +9 &"_@\ N +11 &$J]B\ M +9 && _?\ N +10 &']?\ M +7 &)_=\ M +11 &+S[E\ M +10 &-]C\ M +7 &._H\ M +11 &0_E\ M +10 &2[\\F\ M +8 &4_@\ M +10 &5]=\ M +8 &7^<\ M +10 &9b^G\ M +10 &;%Z>\ M +8 &<]=\ M +11 &>^=\ M +11 &@k^@\ M +7 &B,_9\ M +10 &C]@\ M +8 &E]E\ M +10 &Gq_=\ N +11 &I1kE\ N +7 &JyE\ P +11 &LC\ U +10 &N_chB\ V +9 &P`aC\ W +9 &QW\\E\ X +10 &SPVD\ Y +10 &U^LPD\ Z +8 &W!GJC\ Y +10 &X?CD\ [ +9 &Z;>D\ [ +11 &\\a59;\ H +6 &]i?44C\ !g +11 &]/2A\ S +4 ( +6 "collection"'x& +7 #tCollection Clamp onSpring/offSpring for 10/26 samples, on/off torque 2.00 +5 .Hand.open + "manipulator"&11 +9 "core" &]v12E\ S +52 1 +4 "manipulator"&% +9 "core" % ς n +6 .tForearm.reconfigure :loose +6 "manipulator"&#Q@2^d^b +4 .tForearm.seek :retract +5 "manipulator"&m'\ +98 "core" ' +4 #tLoading generic puck from tube 6 into Processing Clamp +5 "processing"%& +9 "core" &\ +4 "manipulator"&A% +9 "core" %\ 6 1 & +3 "storage"((% +7 "core" %= 9 5\ \ +5 "storage"(. +6 "core" .(K +3 "storage"({& +7 "core" &K 8 5\ +4 "storage"(e& +9 "core" &K 9 5\ +3 "manipulator"&L& +10 "core" &  4 +4 "manipulator"&T% +8 "core" %\ 6  & +6 .tElbow.reconfigure :tight +5 "manipulator"&$&.,(\ #b +5 .tElbow.seek 6 +5 "manipulator"& ( +154 "core" ( +4 "manipulator"&h& +10 "core" & w +4 "storage"(W& +9 "core" &K ) / .\ +5 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +5 .tForearm.seek 6 + 450 counts +4 "manipulator"&'< +102 "core" ' +4 "storage"(& +9 "core" &K [ X \ +4 .tSE.reconfigure :pick +4 "storage"(#]K-0-\ b +6 .tSE.seek :beamBreak +5 "storage"(s'e +282 "core" ' +3 "storage"(- +8 "core" -' +3 .tSE.configure :default +5 "storage"(#QK-0-\ b +5 (;& +6 "core" &K - 8 \ \ +4 "manipulator"&g& +8 "core" & ) +3 .tElbow.seek 6 +4 "manipulator"&\ ( +7 "core" ( +2 "manipulator"&& +9 "core" & 3 +3 "storage"($& +7 "core" &K X X U\ +5 .tForearm.seek 6 + 300 counts +4 "manipulator"&'Ϧ +21 "core" ' +3 .tForearm.reconfigure :loose +6 "manipulator"&#Q@2^d^b +4 .tHand.close +4 "manipulator"&t/ +58 "core" / +6 ."downElevator"SE.seek :down +9 "manipulator"& & +4 "storage"(C'N +14 "core" & n o +5 "manipulator"&% +8 "core" % Ϧ n o +4 .tForearm.seek :retract +4 "manipulator"&'\ +96 "core" ' +4 .tElbow.seek PC +2 "manipulator"&(c +134 "core" ' +3 ."downElevator"SE.stop +2 "storage"(5 +115 "core" ( +4 "manipulator"&c& +9 "core" &d +4 .tElbow.reconfigure :loose +4 "manipulator"&$ &.,(#b +4 &O& +9 "core" &d . +6 .tForearm.reconfigure :tight +5 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek PC +5 "manipulator"&9'[ +101 "core" ' +4 "manipulator"&>& +8 "core" &d 3 +5 "manipulator"&.% +9 "core" %R 4 +4 "processing"%n& +9 "core" &\ +4 "processing"% & +15 "core" &\ +4 &\ +6 .tPC.seek :closed +4 "processing"%4(Z +10 "core" &\ +4 & \ +2 &\ 1 +8 &I\ 0 +9 &4s\ E +8 &b\ M +10 &Y\ M +10 &`Z\ M +9 & "\\\ M +9 &!Z\ M +10 &#X\ M +8 &%gZ\ M +11 &'*[\ M +9 &(Z\ L +11 &*Z\ M +9 &,p[\ M +7 &.2Z\ M +11 &/Z\ M +11 &1Z\ M +8 &3wZ\ M +9 &59Z\ M +8 &6Z\ M +10 &8\\\ M +11 &:Z\ M +7 &\\\ M +10 &?[\ M +8 &A\\\ M +13 &CHZ\ M +7 &E\ [\ M +9 &F\\ \ N +11 &He\ N +7 &JJr\ O +10 &L~\ Q +10 &M\ S +10 &O\ S +10 &QF\ S +8 &S\ S +9 &T\ S +11 &V\ S +8 &XK\ T +10 &Y{x\ ) +9 &Z(p\ 3 +7 ( +8 "processing"% & +8 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.55 +2 .Hand.open +5 "manipulator"&w1 +7 "core" &Z\ ) +2 &Z\ ) +49 1 +3 "manipulator"& % +8 "core" % R  +6 .tForearm.reconfigure :loose +4 "manipulator"&#Q@2^d^b +5 .tForearm.seek :retract +4 "manipulator"&y'\ +104 "core" ' +4 "processing"%3& +9 "core" &Z\ ) +3 #tImaging generic puck in Processing Clamp while storing it to tube 6 +2 "manipulator"&2% +9 "core" %\ 8 ' +2 "storage"(F% +8 "core" %D   \ +3 "storage"(!. +6 "core" .(K +3 "storage"(& +9 "core" &K   -\ +5 "storage"(+& +6 "manipulator"&& +11 "core" &K   &\ +2 &d u +7 ."raiseStack"SE.reconfigure :place +4 .tElbow.reconfigure :tight +11 "storage"(#]kK-0-\ b +8 "manipulator"&$&.,(\ #b +7 .tElbow.seek PC +5 ."raiseStack"SE.seek :beamBreak +4 "manipulator"&N(c +3 "storage"(&'e +10 "core" ( +5 "manipulator"&/& +9 "core" &d +2 .tElbow.reconfigure :loose +6 "manipulator"&$ &.,(#b +4 &#& +6 "core" &d e +4 .tForearm.seek PC +2 "manipulator"&''[ +98 "core" ' +3 .tHand.close +2 "manipulator"&B/ +59 "core" / +4 .tPC.seek :open +7 "processing"%-(p +57 "core" ' +3 "storage"(Q- +9 "core" -'e +3 ."raiseStack"SE.configure :default +4 "storage"(#QK-0-\ b +5 ."raiseStack"SE.seek :place +5 "storage"('B +43 "core" ' +267 ( +4 "storage"(u& +9 "core" &K ) ) 0\ +3 "manipulator"&H& +8 "core" &d  +2 "manipulator"&% +9 "core" % U  +3 .tForearm.seek :retract +3 "manipulator"&f'\ +97 "core" ' +3 .tElbow.reconfigure :tight +6 "manipulator"&$&.,(\ #b +5 .tElbow.seek 6 + "manipulator"&P( +266 "core" ( +3 "manipulator"&p& +9 "core" & $ +4 "storage"(@& +10 "core" &K A A \ +6 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +5 .tForearm.seek 6 + 450 counts +2 "manipulator"& '< +93 "core" ' +3 .tHand.open +3 "manipulator"&i1 +57 "core" 1 +5 "storage"(8- +8 "core" -'B +5 .tSE.seek -0.16 Pucks below Top Plate +4 "storage"(S' +29 "core" ' +5 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +7 .tSE.seek -0.83 Pucks below Top Plate + "storage"(a' +56 "core" ' +2 #tLights, camera, ACTION! +4 "storage"(R- +6 "core" -' +4 "storage"(=& +6 "core" &K X\ +6 "manipulator"&6& +9 "core" &  +5 .tElbow.seek 6 + "manipulator"&q( +7 "core" ( +3 "manipulator"&o& +11 "core" & q  +4 "storage"(& +9 "core" &K \ +5 .tForearm.seek 6 + 450 counts + "manipulator"&?'< +9 "core" ' +4 .tSE.reconfigure :gently +5 "storage"(#QK-0-\ b +4 .tSE.seek -0.11 Pucks below Top Plate +6 "storage"(K'M +64 "core" ' +4 "manipulator"&:& +127 "core" & d a o +4 "storage"(& +10 "core" &K X X \\\ +4 .tElbow.reconfigure :limp +7 "manipulator"&$ ,(b +4 .tForearm.reconfigure :loose +6 "manipulator"&#Q@2^d^b +6 .tForearm.seek 6 +4 "manipulator"&d'z +34 "core" ' +2 .tElbow.hold +4 "manipulator"&G, +9 "core" , +2 .tElbow.reconfigure :tight +6 "manipulator"&$&.,(\ #b +5 .tSE.reconfigure :default +8 "storage"(#QK-0-\ b +4 .tSE.seek 0.07 Pucks below Top Plate +5 "storage"(5'7 +26 "core" ' +4 "manipulator"&*% +10 "core" %΋e $ +2 "storage"(J& +9 "core" &K\ \  \ +4 .tForearm.force -20 + "manipulator"&5 +6 .tForearm.seek 6 + 317 counts +4 "manipulator"&M'Ϸ +18 "core" ' +4 "manipulator"&& +10 "core" & o o  +3 "storage"(0& +9 "core" &K f ^ \ +5 .tForearm.reconfigure :tight +5 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 6 + 450 counts +4 "manipulator"&_'< +20 "core" ' +4 "storage"(D% +12 "core" %5 u u >\  +5 ."downElevator"SE.seek :down +5 "storage"(\\'N +99 (j% +7 "core" %> , + O\ V^ +4 "manipulator"&<% +9 "core" % o o \ +4 .tForearm.reconfigure :loose +7 "manipulator"&#Q@2^d^b +6 .tForearm.seek :retract +4 "manipulator"&I'\ +94 "core" ' +37 ' +2 ."downElevator"SE.stop +3 "storage"(5 +5 (& +9 "core" &K 9 , \ +4 "collection"'& +7 "core" &]u;9/\ S +5 #tStoring generic puck in Collection Clamp to tube 6 +6 "manipulator"&Z% +9 "core" %\ 3 T %x +4 "storage"(^% +9 "core" %V F = '\  +2 "storage"(Y. +7 "core" .(K +4 "storage"(V& +9 "core" &K M ? r\ +2 "storage"(r& +8 "core" &K M > \ +3 "manipulator"&& +10 "core" & > +3 .tElbow.seek 6 +3 "manipulator"&l( +8 "core" ( +3 "manipulator"&z& +10 "core" & p +3 "storage"(b& +9 "core" &K 7 I \ +4 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 6 + 450 counts +6 "manipulator"&`'< +111 "core" ' +4 "storage"(U& +9 "core" &K t s +\ +4 .tSE.reconfigure :pick +4 "storage"(#]K-0-\ b +7 .tSE.seek :beamBreak +3 "storage"(,'e +283 "core" ' +2 "storage"(}- +10 "core" -' +2 .tSE.configure :default +5 "storage"(#QK-0-\ b +6 "manipulator"&& +5 "core" & q y H +4 "storage"(& +7 "core" &K X Y \ +3 .tElbow.reconfigure :limp +6 "manipulator"&$ ,(b +4 .tForearm.reconfigure :loose +5 "manipulator"&#Q@2^d^b +3 .tForearm.seek 6 +4 "manipulator"&|'z +38 "core" ' +4 .tElbow.hold + "manipulator"&~, +8 "core" , +2 .tElbow.reconfigure :tight +7 "manipulator"&$&.,(\ #b +4 "storage"(]- +7 "core" -' +5 .tSE.seek 0.11 Pucks below Top Plate +5 "storage"(v'm +32 "core" ' +3 "manipulator"&7% +10 "core" %·Y  ò +2 "storage"(& +8 "core" &K G\ +4 .tForearm.force -20 +2 "manipulator"&5 +6 .tForearm.seek 6 + 313 counts +2 "manipulator"&['ϳ +20 "core" ' +4 "manipulator"&E& +9 "core" & n n  +3 "storage"(X& +9 "core" &K W X \ +4 .tForearm.reconfigure :tight +6 "manipulator"&#Q@2^d^\ b +5 .tForearm.seek 6 + 450 counts +5 "manipulator"&1'< +18 "core" ' +6 .tSE.seek 1.11 Pucks below Top Plate +5 "storage"('\\ +54 "core" ' +4 "manipulator"&x& +9 "core" & e n v +3 "manipulator"&% +10 "core" %D m n +4 .tForearm.reconfigure :loose +5 "manipulator"&#Q@2^d^b +5 .tForearm.seek :retract +4 "manipulator"&A'\ +89 "core" ' +3 .tElbow.seek CC +6 "manipulator"&(( +154 "core" ( +2 "manipulator"&& +9 "core" &" U 9) +3 .tElbow.reconfigure :loose +9 "manipulator"&$ &.,(#b +4 &{& +9 "core" &" > 9) +4 .tForearm.seek CC + "manipulator"&e'| +105 "core" ' +3 .tHand.close +2 "manipulator"&L/ +65 "core" / +3 .tCC.seek :open +5 "collection"'T(p +413 "core" ( +4 "storage"(%& +9 "core" &K ?\ +3 "storage"(h& +8 "core" &K \ +2 "manipulator"&W& +10 "core" & X 7 +4 "manipulator"&% +7 "core" % q x +4 .tForearm.seek :retract +3 "manipulator"&'\ +92 "core" ' +3 .tElbow.reconfigure :tight +5 "manipulator"&$&.,(\ #b +4 .tElbow.seek 6 +2 "manipulator"&m( +156 "core" ( +4 "manipulator"&& +10 "core" &  +2 "storage"(;& +8 "core" &K \ +3 .tElbow.reconfigure :limp +4 "manipulator"&$ ,(b +5 .tForearm.seek 6 +2 "manipulator"&g'z +112 "core" ' +4 .tElbow.hold +2 "manipulator"&, +8 "core" , +2 .tElbow.reconfigure :tight +5 "manipulator"&$&.,(\ #b +5 .tHand.open +2 "manipulator"&$1 +60 "core" 1 +4 "manipulator"&t% +10 "core" % ΁ ' l +2 "storage"( & +10 "core" &K N W d\ +3 .tForearm.force -20 +4 "manipulator"&5 +5 .tForearm.seek 6 + 307 counts +2 "manipulator"&'ϭ +22 "core" ' +3 "manipulator"& & +11 "core" & o q J  +2 "storage"(& +7 "core" &K \ +5 .tForearm.reconfigure :tight +7 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 6 + 450 counts +4 "manipulator"&s'< +18 "core" ' +3 "storage"(% +9 "core" %[ L\ +4 ."downElevator"SE.seek :down +8 "storage"(c'N +96 (O% +7 "core" %\ 6 \ TY +4 "manipulator"&\ % +9 "core" %B o n @ +4 .tForearm.reconfigure :loose +4 "manipulator"&#Q@2^d^b +5 .tForearm.seek :retract +4 "manipulator"&>'\ +90 "core" ' +35 ' +2 ."downElevator"SE.stop +4 "storage"(5 +5 #tShuffling pucks in tube 7 of [6..7] +4 #Loading generic puck from tube 7 into Collection Clamp + "collection"'.& +8 "core" &>\ +5 "manipulator"&n% +9 "core" %\ ( D +3 "storage"(C% +8 "core" %O @\  +3 "storage"(. +8 "core" .(K +4 .tSC.reconfigure :tight +6 "storage"($\ .\ 1~b +4 .tSC.seek 7 +4 "storage"("([ +364 "core" ( +3 .tSC.configure :limp +5 "storage"($\ 1b +4 (w& +7 "core" &[ X s \  +4 "manipulator"& & +9 "core" & i  +4 .tElbow.seek 7 +2 "manipulator"& ( +35 "core" ( +2 "manipulator"&3& +9 "core" & / 1 +3 "storage"(2& +8 "core" &[ \  +5 .tForearm.reconfigure :tight +4 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 7 + 450 counts +4 "manipulator"&F'k +101 "core" ' +3 "storage"(!& +9 "core" &[ V\  +4 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +6 .tSE.seek :beamBreak +4 "storage"('e +289 "core" ' +2 "storage"(- +9 "core" -' +3 .tSE.configure :default +4 "storage"(#QK-0-\ b +6 (+& +6 "core" &[ \  +3 "manipulator"&/& +9 "core" & @ 1 +3 .tElbow.seek 7 +4 "manipulator"&#( +7 "core" ( +4 "manipulator"&9& +7 "core" &  1 +4 "storage"(B& +9 "core" &[ \  +5 .tForearm.seek 7 + 300 counts + "manipulator"&Q' +13 "core" ' +3 .tForearm.reconfigure :loose +5 "manipulator"&#Q@2^d^b +5 .tHand.close +5 "manipulator"&/ +54 "core" / +5 ."downElevator"SE.seek :down +5 "manipulator"&y& +5 "storage"(4'N +16 "core" & o n 1 +3 "manipulator"&&% +11 "core" % r q * Q +3 .tForearm.seek :retract + "manipulator"&u'\ +94 "core" ' +4 .tElbow.seek CC +4 "manipulator"&H( +132 "core" ' +4 ."downElevator"SE.stop +2 "storage"(5 +43 "core" ( +2 "manipulator"&& +9 "core" & Q F +3 .tElbow.reconfigure :loose +6 "manipulator"&$ &.,(#b +4 &'& +9 "core" & L F +4 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +6 .tForearm.seek CC +5 "manipulator"&p'| +102 "core" ' +5 "manipulator"&@& +13 "core" & Q F +4 "manipulator"&N% +7 "core" %r g +5 "collection"'i& +9 "core" &N\ +4 "collection"'8& +11 "core" &O\ +4 &P\ +6 .tCC.seek :closed +4 "collection"'R(] +8 "core" &L\ +3 &G\  +5 &1J\ *z +8 &dI\ > +13 &Ox?\ N +7 &]D\ M +10 &cF\ M +9 &`C\ M +9 &!Y`A\ M +10 &#`E\ M +9 &$_@\ M +8 &&_=\ M +11 &(b_:\ M +9 &*$]A\ M +8 &+`A\ M +12 &-]?\ M +7 &/i`I\ M +11 &1+_H\ M +9 &2_<\ M +8 &4]>\ M +11 &6r^E\ M +9 &84_G\ M +122 &9]D\ M +6 &;ZG\ M +7 &=z^H\ M +2 &?<]E\ M +4 &@^H\ M +23 &B^H\ M +6 &D]?\ M +2 &FD^;\ M +2 &H`D\ M +3 &IkF\ N +2 &K{G\ P +2 &M6C\ T +2 &NjnD\ W +5 &PehC\ X +2 &Rq_c=\ X + &T0Z\\=\ Y +2 &UUX@\ [ +6 &WOR=\ Z +3 &YoJN@\ [ +3 &[,EGE\ ] +2 &\\B?C\ 2 +5 &]'=@A\ ^ +7 ( +2 &]j>@<\ M +6 "collection"'8& +9 #tCollection Clamp onSpring/offSpring for 8/25 samples, on/off torque 1.98 +3 .Hand.open +4 "manipulator"&=1 +6 "core" &]k@@C\ M +2 &]k@?>\ M +48 1 +4 "manipulator"&f% +10 "core" % [ @ +4 .tForearm.reconfigure :loose +5 "manipulator"&#Q@2^d^b +6 .tForearm.seek :retract +5 "manipulator"&6'\ +95 "core" ' +5 #tLoading generic puck from tube 7 into Processing Clamp +2 "processing"%o& +10 "core" & \ +2 "manipulator"&% +10 "core" %\ )  D +3 "storage"(:% +7 "core" %: X X 7\ +3 "storage"(. +8 "core" .([ +4 "storage"(S& +9 "core" &[ Y Y \  +2 "storage"(& +9 "core" &[ X X a\  +4 "manipulator"&P& +9 "core" & M F +2 "manipulator"& % +9 "core" %\ )  D +4 .tElbow.reconfigure :tight +7 "manipulator"&$&.,(\ #b +5 .tElbow.seek 7 +6 "manipulator"&a( +151 "core" ( +3 "manipulator"&*& +8 "core" & p +5 "storage"(J& +8 "core" &[ [ W {\  +4 .tForearm.reconfigure :tight +4 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +5 "manipulator"&'k +90 "core" ' +5 "storage"(0& +10 "core" &[ s s !\  +5 .tSE.reconfigure :pick +5 "storage"(#]K-0-\ b +7 .tSE.seek :beamBreak +5 "storage"(D'e +278 "core" ' +4 "storage"(?- +9 "core" -' +3 .tSE.configure :default +4 "storage"(#QK-0-\ b +6 (q& +4 "core" &[ Y Y \  +4 "manipulator"&j& +7 "core" &  +4 .tElbow.seek 7 +5 "manipulator"&<( +6 "core" ( +4 "manipulator"&K& +8 "core" & + +3 "storage"(d& +9 "core" &[ W X l\  +5 .tForearm.seek 7 + 300 counts + "manipulator"&M' +14 "core" ' +4 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +4 .tHand.close +4 "manipulator"&/ +53 "core" / +8 ."downElevator"SE.seek :down +6 "manipulator"&& +5 "storage"(5'N +14 "core" & n n +8 "manipulator"&Z% +8 "core" % p n = +4 .tForearm.seek :retract +3 "manipulator"&^'\ +92 "core" ' +3 .tElbow.seek PC +5 "manipulator"&Y(c +136 "core" ' +3 ."downElevator"SE.stop +2 "storage"(5 +109 "core" ( +5 "manipulator"&V& +10 "core" &c  +3 .tElbow.reconfigure :loose +6 "manipulator"&$ &.,(#b +6 &r& +8 "core" &c [ +3 .tForearm.reconfigure :tight +5 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek PC +4 "manipulator"&'[ +105 "core" ' +3 "manipulator"&z& +10 "core" &c +4 "manipulator"&b% +8 "core" %Q | +5 "processing"%_& +8 "core" &&\ +4 "processing"%U& +11 "core" & \ +6 .tPC.seek :closed +4 "processing"%\\(Z +9 "core" &\ +3 &\ +4 & ,\ #` +9 &cV\ 7 +11 &}\ K +7 &sW\ M +10 &6Z\ M +11 &X\ M +8 & \\\ M +10 &"}Y\ L +9 &$>Z\ M +10 &%]\ M +10 &'Z\ M +7 &)^\ M +11 &+FY \ M +10 &-]\ M +8 &.Z\ M +11 &0[\ M +7 &2M\\\ M +11 &4Z\ M +10 &5Z\ M +8 &7Y\ M +9 &9U\\\ M +10 &;Z\ M +9 &<X\ M +11 &>]\ \ M +7 &@^]\ M +10 &B[\ M +11 &CZ\ \ M +7 &E\\\ M +10 &Gag\ N +10 &I"l\ \ O +10 &J\ Q +9 &L\ S +8 &NX\ \ T +10 &P \ S +10 &Q\ \ S +9 &S\ T +9 &U`\ T +11 &W \ U +9 &X\ U +9 &Z<Ij \ *z +9 &Z <\ * +4 ( +5 "processing"%U& +6 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.59 +4 .Hand.open + "manipulator"&G1 +8 "core" &Z\ * +53 1 +2 "manipulator"&I% +10 "core" % P z +4 .tForearm.reconfigure :loose +4 "manipulator"&#Q@2^d^b +5 .tForearm.seek :retract +4 "manipulator"&}'\ +104 "core" ' +2 "processing"%& +9 "core" &Z\ * +3 #tImaging generic puck in Processing Clamp while storing it to tube 7 +4 "manipulator"&% +7 "core" %\ 5 r & +3 "storage"(]% +10 "core" %L ? 8\ \ +3 "storage"(7. +6 "core" .([ +3 "storage"(& +8 "core" &[ 5 9\  +4 "storage"(E& +8 "manipulator"&X& +9 "core" &[ 8 4\  +2 &c s +7 .tElbow.reconfigure :tight +6 ."raiseStack"SE.reconfigure :place +10 "manipulator"&$&.,(\ #b +7 .tElbow.seek PC +8 "storage"(#]kK-0-\ b +3 "manipulator"&`(c +13 ."raiseStack"SE.seek :beamBreak +4 "storage"(x'e +4 "core" ( +4 "manipulator"&& +9 "core" &c F +3 .tElbow.reconfigure :loose +6 "manipulator"&$ &.,(#b +3 &l& +9 "core" &c N +5 .tForearm.seek PC + "manipulator"&,'[ +98 "core" ' +4 .tHand.close +2 "manipulator"&|/ +56 "core" / +4 .tPC.seek :open + "processing"%[(p +64 "core" ' +4 "storage"(v- +8 "core" -'e +3 ."raiseStack"SE.configure :default +7 "storage"(#QK-0-\ b +4 ."raiseStack"SE.seek :place +3 "storage"('B +37 "core" ' +269 ( +4 "storage"({& +9 "core" &[ X Y z\  +3 "manipulator"&1& +9 "core" &c  +4 "manipulator"&~% +9 "core" % Q I +4 .tForearm.seek :retract + "manipulator"&L'\ +103 "core" ' +4 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +6 .tElbow.seek 7 +3 "manipulator"&A( +256 "core" ( +3 "manipulator"&)& +9 "core" & +4 "storage"(%& +11 "core" &[ ( (\  +5 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 7 + 450 counts +5 "manipulator"&h'k +102 "core" ' +3 .tHand.open +4 "manipulator"&W1 +61 "core" 1 +3 "storage"(- +12 "core" -'B +4 .tSE.seek -0.16 Pucks below Top Plate +5 "storage"(' +25 "core" ' +4 .tSE.reconfigure :seal +6 "storage"(#QK-0-\ b +5 .tSE.seek -0.83 Pucks below Top Plate +4 "storage"(;' +53 "core" ' +3 #tLights, camera, ACTION! +3 "storage"(e- +6 "core" -' +4 "storage"((& +8 "core" &[ G\  +3 "manipulator"&$& +8 "core" & n o +4 .tElbow.seek 7 +2 "manipulator"&t( +9 "core" ( +5 "manipulator"& & +11 "core" & q r \ +4 "storage"( & +8 "core" &[ V\  +4 .tForearm.seek 7 + 450 counts +4 "manipulator"&'k +8 "core" ' +5 .tSE.reconfigure :gently +6 "storage"(#QK-0-\ b +4 .tSE.seek -0.11 Pucks below Top Plate +4 "storage"('M +66 "core" ' +2 "manipulator"&& +12 "core" & o n \ +2 "storage"(m& +10 "core" &[ u s '\  +4 .tElbow.reconfigure :limp +4 "manipulator"&$ ,(b +6 .tForearm.reconfigure :loose +4 "manipulator"&#Q@2^d^b +5 .tForearm.seek 7 +3 "manipulator"&O'Ω +36 "core" ' +4 .tElbow.hold +3 "manipulator"&\ , +9 "core" , +2 .tElbow.reconfigure :tight +6 "manipulator"&$&.,(\ #b +7 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +3 .tSE.seek 0.07 Pucks below Top Plate +4 "storage"(g'7 +25 "core" ' +4 "manipulator"&% +10 "core" %μy i ? +2 "storage"(.& +13 "core" &[ B I\  +3 .tForearm.force -20 +5 "manipulator"&5 +7 .tForearm.seek 7 + 319 counts +3 "manipulator"&n' +20 "core" ' +2 "manipulator"&C& +9 "core" & r o  \ +2 "storage"(& +10 "core" &[ n o\  +4 .tForearm.reconfigure :tight +4 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 7 + 450 counts +5 "manipulator"&'k +19 "core" ' +6 "storage"(s% +9 "core" %@ g l \  +4 ."downElevator"SE.seek :down +5 "storage"(c'N +99 (k% +7 "core" %: Y Y n\ U] +4 "manipulator"&w% +9 "core" %\\ o n +4 .tForearm.reconfigure :loose +6 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +5 "manipulator"& '\ +94 "core" ' +38 ' +2 ."downElevator"SE.stop +2 "storage"(5 +4 (3& +9 "core" &[ U H \  +4 "collection"'2& +9 "core" &]kEHD\ M +3 #tStoring generic puck in Collection Clamp to tube 7 +2 "manipulator"&!% +9 "core" %\ 1  $s +3 "storage"(% +9 "core" %M X X a\ \ +4 "storage"(>. +6 "core" .([ +3 "storage"(& +9 "core" &[ Y Y \  +4 "storage"(+& +10 "core" &[ X X q\  +3 "manipulator"&/& +7 "core" & K \ +4 .tElbow.seek 7 + "manipulator"&9( +8 "core" ( +3 "manipulator"&B& +8 "core" &  \ +2 "storage"(& +11 "core" &[ [ Z k\  +6 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +5 .tForearm.seek 7 + 450 counts +4 "manipulator"&y'k +95 "core" ' +3 "storage"(&& +126 "core" &[ u s ;\  +5 .tSE.reconfigure :pick +5 "storage"(#]K-0-\ b +7 .tSE.seek :beamBreak +5 "storage"( 'e +277 "core" ' +4 "storage"(F- +8 "core" -' +5 .tSE.configure :default +3 "storage"(#QK-0-\ b +6 "manipulator"&& +7 "core" & q y 5 \ +3 "storage"(& +9 "core" &[ s s \  +3 .tElbow.reconfigure :limp +5 "manipulator"&$ ,(b +5 .tForearm.reconfigure :loose +4 "manipulator"&#Q@2^d^b +3 .tForearm.seek 7 +4 "manipulator"&''Ω +35 "core" ' +4 .tElbow.hold + "manipulator"&Q, +8 "core" , +2 .tElbow.reconfigure :tight +7 "manipulator"&$&.,(\ #b +5 "storage"(#- +5 "core" -' +6 .tSE.seek 0.12 Pucks below Top Plate +4 "storage"(@'r +29 "core" ' +2 "manipulator"&N% +10 "core" %ηl  +2 "storage"(i& +9 "core" &[\ \  \  +3 .tForearm.force -20 +3 "manipulator"&5 +5 .tForearm.seek 7 + 314 counts +2 "manipulator"&4' +21 "core" ' +2 "manipulator"&u& +12 "core" & o k s \ +2 "storage"(T& +10 "core" &[ u u d\  +4 .tForearm.reconfigure :tight +5 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 7 + 450 counts +4 "manipulator"&='k +18 "core" ' +6 .tSE.seek 1.12 Pucks below Top Plate +2 "storage"(f'a +49 "core" ' +3 "manipulator"&o& +10 "core" & n o \ +4 "manipulator"&8% +10 "core" %n n n  +5 .tForearm.reconfigure :loose +5 "manipulator"&#Q@2^d^b +6 .tForearm.seek :retract +2 "manipulator"&'\ +97 "core" ' +4 .tElbow.seek CC +5 "manipulator"&:( +156 "core" ( +6 "manipulator"&& +9 "core" &" e 9% +3 .tElbow.reconfigure :loose +6 "manipulator"&$ &.,(#b +4 &S& +10 "core" &" 9% +5 .tForearm.seek CC +5 "manipulator"&'| +97 "core" ' +3 .tHand.close +2 "manipulator"&P/ +64 "core" / +5 .tCC.seek :open +4 "collection"' (p +414 "core" ( +2 "storage"(p& +9 "core" &[ \  +3 "storage"(*& +9 "core" &[ \  +2 "manipulator"&J& +9 "core" & p 6 +4 "manipulator"&0% +9 "core" % ό +4 .tForearm.seek :retract + "manipulator"&H'\ +93 "core" ' +4 .tElbow.reconfigure :tight +6 "manipulator"&$&.,(\ #b +4 .tElbow.seek 7 +5 "manipulator"&6( +160 "core" ( +3 "manipulator"&?& +10 "core" &  \ +3 "storage"(q& +9 "core" &[ \  +3 .tElbow.reconfigure :limp +4 "manipulator"&$ ,(b +6 .tForearm.seek 7 +2 "manipulator"&j'Ω +110 "core" ' +2 .tElbow.hold +4 "manipulator"&K, +7 "core" , +3 .tElbow.reconfigure :tight +5 "manipulator"&$&.,(\ #b +4 .tHand.open +4 "manipulator"&d1 +65 "core" 1 +4 "manipulator"&% +11 "core" % μ Q y +5 "storage"(& +8 "core" &[ d X |\  +3 .tForearm.force -20 +3 "manipulator"&5 +6 .tForearm.seek 7 + 319 counts +4 "manipulator"&Z' +18 "core" ' +4 "manipulator"&a& +8 "core" & q p \ +3 "storage"(& +11 "core" &[ \  +4 .tForearm.reconfigure :tight +4 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 7 + 450 counts +4 "manipulator"&D'k +26 "core" ' +3 "storage"(M% +9 "core" %b \ +7 ."downElevator"SE.seek :down +5 "storage"(V'N +100 (r% +5 "core" %H< 4\ TZ +5 "manipulator"&<% +10 "core" %s o n +4 .tForearm.reconfigure :loose +5 "manipulator"&#Q@2^d^b +5 .tForearm.seek :retract +4 "manipulator"&z'\ +99 "core" ' +22 ' +2 ."downElevator"SE.stop +2 "storage"(5 +7 #tShuffling pucks in tube 6 of [6..7] +4 #Loading generic puck from tube 6 into Collection Clamp +2 "collection"'b& +10 "core" &8\ +3 "manipulator"&_% +9 "core" %\ 3  %~ +4 "storage"(5% +9 "core" %J \ +5 "storage"(^. +5 "core" .([ +3 .tSC.reconfigure :tight +6 "storage"($\ .\ 1~b +5 .tSC.seek 6 +4 "storage"(-(K +359 "core" ( +2 .tSC.configure :limp +6 "storage"($\ 1b +4 (G& +8 "core" &K j O @\ +5 "manipulator"&I& +9 "core" & ^ \ +3 .tElbow.seek 6 +2 "manipulator"&U( +40 "core" ( +3 "manipulator"&& +10 "core" & g  +3 "storage"(& +10 "core" &K C\ +5 .tForearm.reconfigure :tight +6 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 6 + 450 counts +2 "manipulator"&]'< +94 "core" ' +6 "storage"(7& +8 "core" &K 1\ +6 .tSE.reconfigure :pick +4 "storage"(#]K-0-\ b +6 .tSE.seek :beamBreak +4 "storage"('e +281 "core" ' +4 "storage"(X- +8 "core" -' +3 .tSE.configure :default +5 "storage"(#QK-0-\ b +5 (E& +8 "core" &K "\ +3 "manipulator"&& +9 "core" & o m E  +3 .tElbow.seek 6 +2 "manipulator"&l( +8 "core" ( +3 "manipulator"&& +7 "core" & q x %  +4 "storage"(|& +8 "core" &K I\ +5 .tForearm.seek 6 + 300 counts + "manipulator"&v'Ϧ +26 "core" ' +2 .tForearm.reconfigure :loose +7 "manipulator"&#Q@2^d^b +5 .tHand.close +2 "manipulator"&Y/ +62 "core" / +6 ."downElevator"SE.seek :down +7 "manipulator"&}& +8 "storage"(\\'N +13 "core" & d k  +5 "manipulator"&x% +9 "core" % ϯ o o +4 .tForearm.seek :retract +5 "manipulator"&{'\ +97 "core" ' +4 .tElbow.seek CC +3 "manipulator"&1( +124 "core" ' +2 ."downElevator"SE.stop +4 "storage"(5 +29 "core" ( +4 "manipulator"&~& +5 "core" &$ ;4 +4 .tElbow.reconfigure :loose +5 "manipulator"&$ &.,(#b +5 &,& +9 "core" &# ;4 +3 .tForearm.reconfigure :tight +4 "manipulator"&#Q@2^d^\ b +5 .tForearm.seek CC +4 "manipulator"&)'| +97 "core" ' +4 "manipulator"&%& +8 "core" &$ ;4 +4 "manipulator"&`% +7 "core" %~  +4 "collection"'W& +9 "core" &F\ +5 "collection"'& +13 "core" &W\ +2 &P\ +4 .tCC.seek :closed +6 "collection"'e(] +16 "core" &O\ +2 &N\  +2 &1O\ *z +6 &dO\ > +9 &P{O\ N +8 &_N\ M +11 &`H\ M +8 &`I\ M +10 &!Z^N\ M +10 &#_H\ M +9 &$_J\ M +10 &&_B\ N +9 &(b_H\ M +10 &*#]@\ M +10 &+]A\ M +7 &-]A\ M +10 &/i_?\ M +10 &1,\\A\ M +9 &2^>\ M +10 &4]C\ M +9 &6r]B\ M +8 &84]D\ M +11 &9\\J\ M +8 &;\\H\ M +11 &={^I\ M +9 &?=]B\ M +9 &@]L\ M +9 &B^C\ M +10 &D]B\ M +8 &FE]B\ M +13 &Ha?\ M +6 &In=\ O +11 &K~N\ Q +9 &M4pA\ U +9 &Nad?\ W +10 &P\\^A\ X +9 &RsWYC\ X +10 &T1MR=\ Y +9 &UJKA\ Z +8 &WBGJ\ Z +10 &Yn=AB\ \\ +10 &[07<K\ \\ +10 &\\u31@\ < +9 &]+/2<\ #h +10 &]i.0A\ J +2 ( +7 "collection"'& +7 #tCollection Clamp onSpring/offSpring for 9/25 samples, on/off torque 2.04 +2 .Hand.open +2 "manipulator"&L1 +8 "core" &]h/3>\ J +56 1 +2 "manipulator"&(% +10 "core" % ~  +3 .tForearm.reconfigure :loose +6 "manipulator"&#Q@2^d^b +5 .tForearm.seek :retract +4 "manipulator"&$'\ +98 "core" ' +4 #tLoading generic puck from tube 6 into Processing Clamp +4 "processing"% & +8 "core" &\ +3 "manipulator"& % +8 "core" %\ 3  %z +5 "storage"(% +9 "core" %< A A \ +3 "storage"(m. +6 "core" .(K +6 "storage"(& +6 "core" &K B A \ +4 "storage"(& +10 "core" &K B A \ +5 "manipulator"&& +9 "core" &"  9& +5 "manipulator"&A% +9 "core" %\ 3 . %z +5 .tElbow.reconfigure :tight +6 "manipulator"&$&.,(\ #b +5 .tElbow.seek 6 +4 "manipulator"&.( +158 "core" ( +5 "manipulator"&h& +9 "core" &  +3 "storage"(C& +11 "core" &K Y X ^\ +5 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 6 + 450 counts +4 "manipulator"&;'< +96 "core" ' +3 "storage"(& +8 "core" &K e ^ j\ +4 .tSE.reconfigure :pick +6 "storage"(#]K-0-\ b +5 .tSE.seek :beamBreak +4 "storage"(s'e +277 "core" ' +3 "storage"(- +6 "core" -' +4 .tSE.configure :default +6 "storage"(#QK-0-\ b +5 (t& +6 "core" &K X X r\ +4 "manipulator"&k& +7 "core" &   +4 .tElbow.seek 6 + "manipulator"&w( +8 "core" ( +3 "manipulator"&& +7 "core" & W  +5 "storage"(O& +7 "core" &K p t k\ +5 .tForearm.seek 6 + 300 counts +2 "manipulator"&n'Ϧ +13 "core" ' +3 .tForearm.reconfigure :loose +5 "manipulator"&#Q@2^d^b +3 .tHand.close +93 "manipulator"&3/ +92 "core" / +7 ."downElevator"SE.seek :down +9 "manipulator"&2& +2 "storage"(!'N +16 "core" & r r 6  +6 "manipulator"&g% +9 "core" % ϝ $ 8 +5 .tForearm.seek :retract +3 "manipulator"&'\ +99 "core" ' +5 .tElbow.seek PC +4 "manipulator"&>(c +133 "core" ' +3 ."downElevator"SE.stop +2 "storage"(5 +114 "core" ( +3 "manipulator"&& +10 "core" &d n +3 .tElbow.reconfigure :loose +6 "manipulator"&$ &.,(#b +4 &+& +6 "core" &d i +5 .tForearm.reconfigure :tight +7 "manipulator"&#Q@2^d^\ b +5 .tForearm.seek PC +5 "manipulator"&/'[ +101 "core" ' +2 "manipulator"&B& +11 "core" &d  +4 "manipulator"&% +8 "core" %S  +5 "processing"%& +9 "core" &\ +5 "processing"%&& +10 "core" &\ +6 &\ +3 .tPC.seek :closed +8 "processing"%c(Z +8 "core" &\ +2 &\  +7 &/~\ *x +10 &d\ > +8 &;x\ N +10 &Y\ M +8 &_\ M +11 &X\ M +9 &!EZ \ M +8 &#\\\ M +11 &$X\ M +9 &&Z\ M +10 &(MZ\ M +9 &*]\ M +8 &+Z\ M +10 &-]\ M +10 &/U]\ M +8 &1Z\ M +10 &2Z \ L +10 &4Z\ M +8 &6]Z\ M +12 &8^\ M +7 &9Y\ M +12 &;Z\ M +9 &=d\\\ M +7 &?&\\\ M +11 &@\\\ M +9 &BZ\ M +8 &Dm\\ \ M +11 &F.\\\ M +8 &Ge\ N +11 &Il\ O +9 &Klv\ P +9 &M&\ \ R +9 &N \ T +10 &P\ S +9 &Ri\ S +11 &T*\ \ T +7 &U\ T +12 &W\ T +9 &Yn\ A +7 &Zw?\ T +12 &Z;\ 4 +10 ( +3 &Z3\ 4 +5 "processing"%&& +10 #tProcessing Clamp onSpring/offSpring for 9/25 samples, on/off torque 1.58 +2 .Hand.open +2 "manipulator"&\ 1 +7 "core" &Z3\ 4 +51 1 +2 "manipulator"& % +10 "core" % S +3 .tForearm.reconfigure :loose +6 "manipulator"&#Q@2^d^b +6 .tForearm.seek :retract +5 "manipulator"&F'\ +93 "core" ' +3 "processing"%& +8 "core" &Z1\ 4 +4 #tImaging generic puck in Processing Clamp while storing it to tube 6 +4 "manipulator"&% +8 "core" %\ ) d C +3 "storage"(#% +9 "core" %A 8 3\ +2 "storage"(N. +6 "core" .(K +5 "storage"(i& +8 "core" &K 9 9\ +5 "storage"(u& +5 "manipulator"&T& +16 "core" &K 5 7\ +2 &d _ +7 .tElbow.reconfigure :tight +7 ."raiseStack"SE.reconfigure :place +7 "manipulator"&$&.,(\ #b +8 "storage"(#]kK-0-\ b +4 .tElbow.seek PC +10 "manipulator"&o(c +8 ."raiseStack"SE.seek :beamBreak +2 "storage"(8'e +7 "core" ( +3 "manipulator"&y& +8 "core" &d , +2 .tElbow.reconfigure :loose +6 "manipulator"&$ &.,(#b +4 &9& +7 "core" &d  +5 .tForearm.seek PC +4 "manipulator"& '[ +96 "core" ' +5 .tHand.close + "manipulator"&'/ +60 "core" / +5 .tPC.seek :open + "processing"%4(p +59 "core" ' +4 "storage"(@- +6 "core" -'e +3 ."raiseStack"SE.configure :default +5 "storage"(#QK-0-\ b +8 ."raiseStack"SE.seek :place +4 "storage"('B +41 "core" ' +265 ( +3 "storage"(S& +9 "core" &K Z Y t\ +3 "manipulator"&=& +8 "core" &d D +3 "manipulator"&Q% +8 "core" % R h +3 .tForearm.seek :retract +2 "manipulator"&P'\ +96 "core" ' +5 .tElbow.reconfigure :tight +5 "manipulator"&$&.,(\ #b +6 .tElbow.seek 6 + "manipulator"&( +258 "core" ( +2 "manipulator"&R& +9 "core" & Z !w +3 "storage"(p& +8 "core" &K 8 ; \ +5 .tForearm.reconfigure :tight +4 "manipulator"&#Q@2^d^\ b +5 .tForearm.seek 6 + 450 counts +6 "manipulator"&*'< +94 "core" ' +3 .tHand.open +3 "manipulator"&J1 +58 "core" 1 +4 "storage"(0- +9 "core" -'B +4 .tSE.seek -0.16 Pucks below Top Plate +4 "storage"(?' +27 "core" ' +3 .tSE.reconfigure :seal +6 "storage"(#QK-0-\ b +5 .tSE.seek -0.83 Pucks below Top Plate +5 "storage"(q' +56 "core" ' +3 #tLights, camera, ACTION! +4 "storage"(- +9 "core" -' +5 "storage"(:& +9 "core" &K \ +3 "manipulator"&d& +8 "core" & ) !w +4 .tElbow.seek 6 +3 "manipulator"&( +7 "core" ( +4 "manipulator"&& +8 "core" & !w +5 "storage"(a& +10 "core" &K \ +4 .tForearm.seek 6 + 450 counts +4 "manipulator"&'< +7 "core" ' +4 .tSE.reconfigure :gently +5 "storage"(#QK-0-\ b +4 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"(H'M +64 "core" ' +3 "manipulator"&M& +8 "core" &  !w +2 "storage"(6& +9 "core" &K Y W U\ +5 .tElbow.reconfigure :limp +5 "manipulator"&$ ,(b +6 .tForearm.reconfigure :loose +4 "manipulator"&#Q@2^d^b +5 .tForearm.seek 6 +4 "manipulator"&r'z +36 "core" ' +2 .tElbow.hold +4 "manipulator"&<, +9 "core" , +4 .tElbow.reconfigure :tight +4 "manipulator"&$&.,(\ #b +7 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +4 .tSE.seek 0.07 Pucks below Top Plate +4 "storage"(j'7 +25 "core" ' +5 "manipulator"&Z% +9 "core" %΁Z ? IJ +4 "storage"(b& +9 "core" &K \  z\ +2 .tForearm.force -20 +4 "manipulator"&5 +6 .tForearm.seek 6 + 307 counts + "manipulator"&_'ϭ +19 "core" ' +4 "manipulator"&f& +8 "core" & | { I P +3 "storage"(5& +8 "core" &K t u $\ +5 .tForearm.reconfigure :tight +7 "manipulator"&#Q@2^d^\ b +5 .tForearm.seek 6 + 450 counts +4 "manipulator"&^'< +20 "core" ' +2 "storage"(D% +10 "core" %> u u [\ +4 ."downElevator"SE.seek :down +10 "storage"(V'N +95 ("% +6 "core" %: M @ U\ U\\ +4 "manipulator"&G% +8 "core" %) n i  +5 .tForearm.reconfigure :loose +7 "manipulator"&#Q@2^d^b +4 .tForearm.seek :retract +5 "manipulator"&I'\ +94 "core" ' +39 ' +3 ."downElevator"SE.stop +2 "storage"(5 +7 (& +8 "core" &K T I \ +4 "collection"'& +8 "core" &]h790\ J +4 #tStoring generic puck in Collection Clamp to tube 6 +2 "manipulator"&7% +9 "core" %\ 5 & +3 "storage"(K% +7 "core" %Q X Y W\  +4 "storage"(z. +7 "core" .(K +5 "storage"(X& +7 "core" &K X X Z\ +3 "storage"(E& +10 "core" &K X X [\ +3 "manipulator"&& +9 "core" & O +4 .tElbow.seek 6 +3 "manipulator"&( +24 "core" ( +2 "manipulator"&|& +9 "core" &  +3 "storage"(Y& +8 "core" &K Y Y\ +4 .tForearm.reconfigure :tight +6 "manipulator"&#Q@2^d^\ b +6 .tForearm.seek 6 + 450 counts +4 "manipulator"&}'< +100 "core" ' +3 "storage"(x& +12 "core" &K s s \ +4 .tSE.reconfigure :pick +4 "storage"(#]K-0-\ b +7 .tSE.seek :beamBreak +3 "storage"(U'e +284 "core" ' +5 "storage"(]- +8 "core" -' +3 .tSE.configure :default +5 "storage"(#QK-0-\ b +6 "manipulator"&& +9 "core" &   +2 "storage"(~& +11 "core" &K [ X ~\ +3 .tElbow.reconfigure :limp +5 "manipulator"&$ ,(b +6 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +5 .tForearm.seek 6 +5 "manipulator"&,'z +36 "core" ' +2 .tElbow.hold +4 "manipulator"&v, +8 "core" , +3 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +6 "storage"(l- +4 "core" -' +6 .tSE.seek 0.11 Pucks below Top Plate +3 "storage"(%'m +32 "core" ' +2 "manipulator"&`% +11 "core" %΋^ 4 ³ +4 "storage"(W& +8 "core" &K\ \  \ +4 .tForearm.force -20 +2 "manipulator"&5 +7 .tForearm.seek 6 + 317 counts +3 "manipulator"&\\'Ϸ +19 "core" ' +4 "manipulator"&{& +10 "core" & n o  +3 "storage"( & +10 "core" &K y n \ +5 .tForearm.reconfigure :tight +4 "manipulator"&#Q@2^d^\ b +5 .tForearm.seek 6 + 450 counts +5 "manipulator"&L'< +24 "core" ' +4 .tSE.seek 1.11 Pucks below Top Plate +3 "storage"(('\\ +42 "core" ' +4 "manipulator"& & +10 "core" & o m  +3 "manipulator"&% +11 "core" %W o o +3 .tForearm.reconfigure :loose +7 "manipulator"&#Q@2^d^b +4 .tForearm.seek :retract +4 "manipulator"& '\ +97 "core" ' +4 .tElbow.seek CC + "manipulator"&( +158 "core" ( +4 "manipulator"&m& +9 "core" & r 8 +3 .tElbow.reconfigure :loose +5 "manipulator"&$ &.,(#b +5 && +6 "core" & R 8 +6 .tForearm.seek CC +5 "manipulator"&'| +96 "core" ' +3 .tHand.close +2 "manipulator"&/ +64 "core" / +112 .tCC.seek :open +8 "collection"'A(p +413 "core" ( +2 "storage"()& +9 "core" &K \ +3 "storage"(h& +8 "core" &K \ +2 "manipulator"&C& +9 "core" &! n 8 +4 "manipulator"&1% +10 "core" % π ^  +3 .tForearm.seek :retract +2 "manipulator"&'\ +94 "core" ' +3 .tElbow.reconfigure :tight +7 "manipulator"&$&.,(\ #b +4 .tElbow.seek 6 +5 "manipulator"&$( +159 "core" ( +3 "manipulator"&& +9 "core" & R  +4 "storage"(t& +8 "core" &K \ +3 .tElbow.reconfigure :limp +6 "manipulator"&$ ,(b +6 .tForearm.seek 6 + "manipulator"&k'z +112 "core" ' +4 .tElbow.hold +4 "manipulator"&, +10 "core" , +2 .tElbow.reconfigure :tight +7 "manipulator"&$&.,(\ #b +4 .tHand.open +4 "manipulator"&O1 +56 "core" 1 +4 "manipulator"&3% +9 "core" % Ό  ' T +3 "storage"(2& +8 "core" &K b W \ +2 .tForearm.force -20 +3 "manipulator"&5 +7 .tForearm.seek 6 + 318 counts +2 "manipulator"&g'ϸ +18 "core" ' +3 "manipulator"&.& +13 "core" & p r : +3 "storage"(;& +10 "core" &K \ +5 .tForearm.reconfigure :tight +6 "manipulator"&#Q@2^d^\ b +5 .tForearm.seek 6 + 450 counts +4 "manipulator"&s'< +12 "core" ' +3 "storage"(n% +9 "core" %` \ +6 ."downElevator"SE.seek :down +7 "storage"('N +99 (+% +6 "core" %*= \ TZ +4 "manipulator"&w% +9 "core" %G n o % +6 .tForearm.reconfigure :loose +6 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +4 "manipulator"&B'\ +97 "core" ' +21 ' +3 ."downElevator"SE.stop +2 "storage"(5 +6 #tShuffling pucks in tube 7 of [6..7] +4 #Loading generic puck from tube 7 into Collection Clamp +2 "collection"'& +8 "core" &D\ +4 "manipulator"&% +9 "core" %\ 8 H ' +5 "storage"(!% +11 "core" %> \ +2 "storage"(. +7 "core" .(K +4 .tSC.reconfigure :tight +5 "storage"($\ .\ 1~b +4 .tSC.seek 7 +5 "storage"([([ +362 "core" ( +4 .tSC.configure :limp +4 "storage"($\ 1b +5 (\ & +9 "core" &[ L = W\  +4 "manipulator"& & +9 "core" & j +4 .tElbow.seek 7 +2 "manipulator"&( +30 "core" ( +2 "manipulator"&&& +10 "core" & < +3 "storage"(& +8 "core" &[ \  +4 .tForearm.reconfigure :tight +4 "manipulator"&#Q@2^d^\ b +5 .tForearm.seek 7 + 450 counts +4 "manipulator"&#'k +113 "core" ' +4 "storage"(N& +10 "core" &[ S\  +6 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +7 .tSE.seek :beamBreak +3 "storage"(i'e +280 "core" ' +3 "storage"(T- +7 "core" -' +3 .tSE.configure :default +5 "storage"(#QK-0-\ b +7 (u& +7 "core" &[ Y\  +4 "manipulator"&y& +8 "core" & n m ; +5 .tElbow.seek 7 + "manipulator"&9( +8 "core" ( +3 "manipulator"&/& +8 "core" & o n ; +5 "storage"('& +8 "core" &[ K\  +6 .tForearm.seek 7 + 300 counts + "manipulator"&@' +27 "core" ' +3 .tForearm.reconfigure :loose +4 "manipulator"&#Q@2^d^b +5 .tHand.close +4 "manipulator"&>/ +52 "core" / +8 ."downElevator"SE.seek :down +10 "manipulator"&F& + "storage"(c'N +18 "core" & o k ; +3 "manipulator"&8% +10 "core" % n m +6 .tForearm.seek :retract + "manipulator"&S'\ +94 "core" ' +3 .tElbow.seek CC +2 "manipulator"&=( +133 "core" ' +3 ."downElevator"SE.stop +2 "storage"(5 +20 "core" ( +3 "manipulator"&Q& +10 "core" && W =A +3 .tElbow.reconfigure :loose +4 "manipulator"&$ &.,(#b +4 & & +9 "core" &&  =A +4 .tForearm.reconfigure :tight +5 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek CC +4 "manipulator"&R'| +109 "core" ' +4 "manipulator"&p& +10 "core" && J =A +4 "manipulator"&o% +7 "core" %} +4 "collection"'J& +8 "core" &Q\ +4 "collection"'0& +11 "core" &O\ +4 &P\ +5 .tCC.seek :closed +5 "collection"'(] +9 "core" &O\ +3 &W\ 8 +7 &G~M\ 1 +9 &FtQ\ E +11 &dK\ M +9 &^P\ M +10 &v_N\ L +8 & 6`K\ M +8 &!`O\ M +12 &#_X\ L +8 &%~_G\ L +8 &'?`B\ M +12 &)`B\ M +7 &*aE\ M +11 &,\\F\ M +10 &.G_B\ M +7 &0_=\ M +10 &1_@\ M +10 &3]M\ M +8 &5M]F\ M +11 &7_C\ M +9 &8^A\ M +10 &:]?\ M +10 &`B\ M +10 &?`?\ M +11 &A_R\ M +7 &C_]L\ M +11 &E!]F\ M +8 &F]Q\ M +10 &HdW\ M +11 &J^pS\ P +7 &LV\ R +12 &MsX\ V +9 &OklR\ W +9 &QOdfR\ X +9 &S^`U\ X +8 &TX\\V\ Y +10 &VQUT\ Z +11 &XOIMT\ Z +9 &Z DIN\ \\ +8 &[@DS\ [ +10 &]+J<?Q\ 0 +9 &];?C\ K +7 ( +4 "collection"'0& +7 #tCollection Clamp onSpring/offSpring for 9/26 samples, on/off torque 2.03 +4 .Hand.open + "manipulator"&P1 +7 "core" &]];=P\ J +53 1 +3 "manipulator"&:% +10 "core" % } % +4 .tForearm.reconfigure :loose +5 "manipulator"&#Q@2^d^b +4 .tForearm.seek :retract +5 "manipulator"&d'\ +101 "core" ' +4 #tLoading generic puck from tube 7 into Processing Clamp + "processing"%& +9 "core" &\ +3 "manipulator"&a% +9 "core" %\ 5 & +4 "storage"(M% +7 "core" %? ( (\ +3 "storage"(6. +7 "core" .([ +4 .tSC.reconfigure :tight +5 "storage"($\ .\ 1~b +5 .tSC.seek 7 +4 "storage"(([ +8 "core" ( +3 .tSC.configure :limp +5 "storage"($\ 1b +5 (?& +13 "core" &[\  d t\  +3 "manipulator"&Z& +9 "core" &% <9 +4 "manipulator"&b% +8 "core" %\ 6  & +4 .tElbow.reconfigure :tight +4 "manipulator"&$&.,(\ #b +5 .tElbow.seek 7 +4 "manipulator"&( +159 "core" ( +3 "manipulator"&*& +9 "core" & E +4 "storage"(f& +10 "core" &[ Z X x\  +5 .tForearm.reconfigure :tight +4 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 7 + 450 counts +4 "manipulator"&5'k +97 "core" ' +4 "storage"(q& +9 "core" &[ n n\  +5 .tSE.reconfigure :pick +4 "storage"(#]K-0-\ b +6 .tSE.seek :beamBreak +4 "storage"(D'e +278 "core" ' +3 "storage"(- +7 "core" -' +3 .tSE.configure :default +6 "storage"(#QK-0-\ b +5 (& +7 "core" &[ r n A\  +3 "manipulator"&"& +8 "core" & k m j +4 .tElbow.seek 7 +4 "manipulator"&G( +8 "core" ( +3 "manipulator"&H& +10 "core" & m m D  +4 "storage"(r& +8 "core" &[ s o\  +4 .tForearm.seek 7 + 300 counts + "manipulator"&_' +23 "core" ' +3 .tForearm.reconfigure :loose +5 "manipulator"&#Q@2^d^b +4 .tHand.close +2 "manipulator"&/ +58 "core" / +4 ."downElevator"SE.seek :down +13 "manipulator"&& + "storage"(j'N +18 "core" & e m O  +4 "manipulator"&7% +7 "core" % n k +5 .tForearm.seek :retract +4 "manipulator"&K'\ +94 "core" ' +6 .tElbow.seek PC +4 "manipulator"&z(c +137 "core" ' +2 ."downElevator"SE.stop +3 "storage"(5 +111 "core" ( +6 "manipulator"&X& +8 "core" &i J +3 .tElbow.reconfigure :loose +7 "manipulator"&$ &.,(#b +4 &E& +9 "core" &i ` +7 .tForearm.reconfigure :tight +4 "manipulator"&#Q@2^d^\ b +7 .tForearm.seek PC +3 "manipulator"&'[ +102 "core" ' +6 "manipulator"&|& +11 "core" &i ` +3 "manipulator"&Y% +11 "core" %\\ U +3 "processing"%^& +10 "core" &\ +5 "processing"%x& +12 "core" &\ +2 &\ +4 .tPC.seek :closed +5 "processing"%V(Z +8 "core" &\ +2 &\  +8 &2\ *x +9 &b\ = +9 &?w \ M +10 &Z \ M +8 &\\\ M +10 &]\ M +10 &!I[\ L +9 &# Y\ L +9 &$Z\ L +10 &&[\ M +8 &(P]\ M +11 &*^\ M +8 &+Z\ L +10 &-Z\ M +10 &/X]\ M +9 &1_\ M +10 &2Z\ M +9 &4Y\ L +8 &6`[\ M +11 &8"_\ M +8 &9Y\ M +11 &;Y\ M +10 &=hZ\ M +7 &?*]\ M +11 &@\\\ M +9 &BZ\ M +9 &Dp_\ M +10 &F2_\ M +8 &Gk\ N +10 &Iv\ P +10 &Kj\ Q +9 &M'\ S +10 &N\ S +10 &P\ S +9 &Rl\ S +9 &T.\ S +9 &U\ T +12 &W\ T +8 &Yr\ A +10 &ZzB\ T +9 &Z\ ( +2 ( +6 "processing"%x& +7 #tProcessing Clamp onSpring/offSpring for 9/25 samples, on/off torque 1.63 +5 .Hand.open + "manipulator"&<1 +8 "core" &Z\ ( +43 "Can"+ YV +13 "core" 1 +4 "manipulator"&I% +9 "core" % \\ v +4 .tForearm.reconfigure :loose +4 "manipulator"&#Q@2^d^b +115 .tForearm.seek :retract +5 "manipulator"&]'\ +103 "core" ' +3 "processing"%& +10 "core" &Z\ ( +3 #tImaging generic puck in Processing Clamp while storing it to tube 7 +4 "manipulator"&~% +9 "core" %\ 4 & +2 "storage"(l% +8 "core" %J A A \ \ +3 "storage"(`. +6 "core" .([ +4 "storage"(W& +9 "core" &[ A A \  +5 "storage"({& +5 "manipulator"& & +16 "core" &[ A A \  +3 &i Y +7 .tElbow.reconfigure :tight +7 ."raiseStack"SE.reconfigure :place +7 "manipulator"&$&.,(\ #b +7 .tElbow.seek PC +5 "storage"(#]kK-0-\ b +4 "manipulator"& (c +10 ."raiseStack"SE.seek :beamBreak +2 "storage"(}'e +6 "core" ( +3 "manipulator"&& +10 "core" &i ` +5 .tElbow.reconfigure :loose +4 "manipulator"&$ &.,(#b +4 && +8 "core" &i ` +5 .tForearm.seek PC +3 "manipulator"&U'[ +95 "core" ' +4 .tHand.close +4 "manipulator"&,/ +67 "core" / +4 .tPC.seek :open +3 "processing"%\\(p +50 "core" ' +2 "storage"(%- +9 "core" -'e +2 ."raiseStack"SE.configure :default +5 "storage"(#QK-0-\ b +6 ."raiseStack"SE.seek :place +5 "storage"(m'B +35 "core" ' +279 ( +5 "storage"(& +9 "core" &[ X X H\  +4 "manipulator"&L& +9 "core" &i R +2 "manipulator"&v% +9 "core" % ] I +4 .tForearm.seek :retract +2 "manipulator"&'\ +95 "core" ' +6 .tElbow.reconfigure :tight +4 "manipulator"&$&.,(\ #b +4 .tElbow.seek 7 +4 "manipulator"& ( +257 "core" ( +2 "manipulator"&e& +10 "core" & * "z +4 "storage"()& +8 "core" &[ X X i\  +4 .tForearm.reconfigure :tight +4 "manipulator"&#Q@2^d^\ b +5 .tForearm.seek 7 + 450 counts +2 "manipulator"&h'k +104 "core" ' +3 .tHand.open +4 "manipulator"&C1 +61 "core" 1 +4 "storage"(1- +8 "core" -'B +4 .tSE.seek -0.16 Pucks below Top Plate +4 "storage"(' +26 "core" ' +4 .tSE.reconfigure :seal +6 "storage"(#QK-0-\ b +6 .tSE.seek -0.83 Pucks below Top Plate +4 "storage"(t' +53 "core" ' +5 #tLights, camera, ACTION! +2 "storage"(- +9 "core" -' +5 "storage"(& +8 "core" &[ u\  +3 "manipulator"&O& +11 "core" & j n "y +4 .tElbow.seek 7 +2 "manipulator"&3( +6 "core" ( +4 "manipulator"&2& +8 "core" & i l "y +3 "storage"(.& +8 "core" &[ .\  +4 .tForearm.seek 7 + 450 counts +4 "manipulator"&;'k +7 "core" ' +5 .tSE.reconfigure :gently +6 "storage"(#QK-0-\ b +5 .tSE.seek -0.11 Pucks below Top Plate +3 "storage"('M +65 "core" ' +4 "manipulator"&n& +8 "core" & k n "y +6 "storage"($& +9 "core" &[ s s >\  +3 .tElbow.reconfigure :limp +5 "manipulator"&$ ,(b +7 .tForearm.reconfigure :loose +4 "manipulator"&#Q@2^d^b +4 .tForearm.seek 7 +4 "manipulator"&+'Ω +35 "core" ' +4 .tElbow.hold +4 "manipulator"&w, +8 "core" , +4 .tElbow.reconfigure :tight +5 "manipulator"&$&.,(\ #b +5 .tSE.reconfigure :default +5 "storage"(#QK-0-\ b +6 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"(k'7 +27 "core" ' +4 "manipulator"&% +10 "core" %λ| X L +2 "storage"(g& +10 "core" &[\  `\  +3 .tForearm.force -20 +3 "manipulator"&5 +6 .tForearm.seek 7 + 318 counts +3 "manipulator"&' +18 "core" ' +5 "manipulator"&!& +9 "core" & z x F "x +4 "storage"((& +9 "core" &[ u t /\  +6 .tForearm.reconfigure :tight +4 "manipulator"&#Q@2^d^\ b +5 .tForearm.seek 7 + 450 counts +5 "manipulator"&'k +18 "core" ' +3 "storage"(s% +9 "core" %@ n n\ +6 ."downElevator"SE.seek :down +9 "storage"('N +99 (-% +8 "core" %l> X X V\ U^ +4 "manipulator"&\ % +9 "core" %W n q +4 .tForearm.reconfigure :loose +4 "manipulator"&#Q@2^d^b +4 .tForearm.seek :retract +4 "manipulator"& '\ +97 "core" ' +36 ' +2 ."downElevator"SE.stop +2 "storage"(5 +5 (&& +9 "core" &[ U G s\  +3 "collection"'& +8 "core" &]]DEA\ J +4 #tStoring generic puck in Collection Clamp to tube 7 + "manipulator"&N% +8 "core" %\ 5 Q & +3 "storage"(% +8 "core" %H Y X \\\ +3 "storage"(B. +6 "core" .([ +3 "storage"(T& +8 "core" &[ X X b\  +3 "storage"(u& +12 "core" &[ X X W\  +3 "manipulator"&y& +8 "core" & "x +5 .tElbow.seek 7 + "manipulator"&/( +7 "core" ( +3 "manipulator"&'& +9 "core" & l "x +2 "storage"(>& +9 "core" &[ X X U\  +6 .tForearm.reconfigure :tight +6 "manipulator"&#Q@2^d^\ b +5 .tForearm.seek 7 + 450 counts +3 "manipulator"&F'k +114 "core" ' +5 "storage"(8& +9 "core" &[ i o \  +4 .tSE.reconfigure :pick +4 "storage"(#]K-0-\ b +7 .tSE.seek :beamBreak +3 "storage"('e +281 "core" ' +5 "storage"(#- +8 "core" -' +4 .tSE.configure :default +5 "storage"(#QK-0-\ b +5 "manipulator"&i& +9 "core" & w p " "x +3 "storage"(Q& +9 "core" &[ n n\  +2 .tElbow.reconfigure :limp +6 "manipulator"&$ ,(b +4 .tForearm.reconfigure :loose +6 "manipulator"&#Q@2^d^b +6 .tForearm.seek 7 +3 "manipulator"& 'Ω +35 "core" ' +3 .tElbow.hold +4 "manipulator"&@, +7 "core" , +4 .tElbow.reconfigure :tight +4 "manipulator"&$&.,(\ #b +4 "storage"(9- +7 "core" -' +6 .tSE.seek 0.12 Pucks below Top Plate +3 "storage"(p'r +34 "core" ' +2 "manipulator"&o% +9 "core" %λr 8 ) +4 "storage"(J& +10 "core" &[\ \  *\  +3 .tForearm.force -20 +2 "manipulator"&5 +7 .tForearm.seek 7 + 318 counts +3 "manipulator"&c' +20 "core" ' +2 "manipulator"&S& +9 "core" & r z > "x +3 "storage"(A& +9 "core" &[ n o\  +5 .tForearm.reconfigure :tight +7 "manipulator"&#Q@2^d^\ b +5 .tForearm.seek 7 + 450 counts +5 "manipulator"&P'k +13 "core" ' +5 .tSE.seek 1.12 Pucks below Top Plate + "storage"(:'a +51 "core" ' +2 "manipulator"&0& +11 "core" & m o  !w +4 "manipulator"&% +10 "core" %v m m  +5 .tForearm.reconfigure :loose +5 "manipulator"&#Q@2^d^b +4 .tForearm.seek :retract +5 "manipulator"&a'\ +96 "core" ' +4 .tElbow.seek CC +2 "manipulator"&M( +155 "core" ( +3 "manipulator"&6& +8 "core" &' ' >M +5 .tElbow.reconfigure :loose +5 "manipulator"&$ &.,(#b +4 &?& +9 "core" &' $ >M +3 .tForearm.seek CC + "manipulator"&Z'| +105 "core" ' +3 .tHand.close +2 "manipulator"&b/ +55 "core" / +5 .tCC.seek :open +2 "collection"'R(p +415 "core" ( +3 "storage"(*& +9 "core" &[ .\  +4 "storage"(f& +8 "core" &[ C\  +2 "manipulator"&[& +10 "core" & $ ;7 +3 "manipulator"&=% +8 "core" % o  Z +4 .tForearm.seek :retract +5 "manipulator"&q'\ +90 "core" ' +5 .tElbow.reconfigure :tight +5 "manipulator"&$&.,(\ #b +3 .tElbow.seek 7 +4 "manipulator"&d( +165 "core" ( +3 "manipulator"&& +9 "core" &  +2 "storage"(& +8 "core" &[ \  +3 .tElbow.reconfigure :limp +5 "manipulator"&$ ,(b +6 .tForearm.seek 7 +2 "manipulator"&"'Ω +112 "core" ' +3 .tElbow.hold +4 "manipulator"&H, +8 "core" , +3 .tElbow.reconfigure :tight +6 "manipulator"&$&.,(\ #b +4 .tHand.open +3 "manipulator"&r1 +57 "core" 1 +4 "manipulator"&% +10 "core" % ν V e +4 "storage"(& +8 "core" &[ X X t\  +2 .tForearm.force -20 +3 "manipulator"&5 +6 .tForearm.seek 7 + 320 counts +3 "manipulator"&7' +19 "core" ' +4 "manipulator"&& +9 "core" & o m  +4 "storage"(5& +8 "core" &[ \  +5 .tForearm.reconfigure :tight +5 "manipulator"&#Q@2^d^\ b +5 .tForearm.seek 7 + 450 counts +5 "manipulator"&D'k +19 "core" ' +4 "storage"(_% +10 "core" %e V\ +5 ."downElevator"SE.seek :down +6 "storage"(X'N +99 (E% +6 "core" %%> 4\ U[ +4 "manipulator"&G% +10 "core" %` m n g +4 .tForearm.reconfigure :loose +4 "manipulator"&#Q@2^d^b +5 .tForearm.seek :retract +4 "manipulator"&|'\ +89 "core" ' +31 ' +109 ."downElevator"SE.stop +6 "storage"(5 +4 #tShuffling pucks in tube 6 of [6..7] +2 #Loading generic puck from tube 6 into Collection Clamp +3 "collection"'Y& +10 "core" &F\ +3 "manipulator"&^% +10 "core" %\ ( { C +3 "storage"(j% +11 "core" %= D\ +2 "storage"(K. +8 "core" .([ +4 .tSC.reconfigure :tight +4 "storage"($\ .\ 1~b +6 .tSC.seek 6 +2 "storage"(4(K +364 "core" ( +3 .tSC.configure :limp +6 "storage"($\ 1b +4 (<& +8 "core" &K K b\ +3 "manipulator"&I& +10 "core" & 3  +4 .tElbow.seek 6 + "manipulator"&x( +26 "core" ( +3 "manipulator"&& +11 "core" & G G +3 "storage"(~& +9 "core" &K \ +5 .tForearm.reconfigure :tight +5 "manipulator"&#Q@2^d^\ b +5 .tForearm.seek 6 + 450 counts +5 "manipulator"&l'< +93 "core" ' +3 "storage"(`& +8 "core" &K 0\ +5 .tSE.reconfigure :pick +6 "storage"(#]K-0-\ b +7 .tSE.seek :beamBreak +3 "storage"(W'e +280 "core" ' +3 "storage"( - +8 "core" -' +5 .tSE.configure :default +3 "storage"(#QK-0-\ b +6 ({& +7 "core" &K )\ +3 "manipulator"&& +7 "core" &  G +5 .tElbow.seek 6 +5 "manipulator"&( +8 "core" ( +2 "manipulator"&& +9 "core" &  G +3 "storage"(,& +10 "core" &K \ +6 .tForearm.seek 6 + 300 counts + "manipulator"&%'Ϧ +25 "core" ' +3 .tForearm.reconfigure :loose +6 "manipulator"&#Q@2^d^b +4 .tHand.close +4 "manipulator"&z/ +58 "core" / +5 ."downElevator"SE.seek :down +10 "manipulator"&]& +2 "storage"(V'N +16 "core" & o p G +3 "manipulator"&}% +8 "core" % Ϧ n n +5 .tForearm.seek :retract + "manipulator"&'\ +90 "core" ' +4 .tElbow.seek CC +4 "manipulator"&L( +138 "core" ' +3 ."downElevator"SE.stop +3 "storage"(5 +8 "core" ( +4 "manipulator"&v& +8 "core" &! > 8 +3 .tElbow.reconfigure :loose +4 "manipulator"&$ &.,(#b +4 &U& +12 "core" &! 2 8 +4 .tForearm.reconfigure :tight +4 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek CC +4 "manipulator"&e'| +96 "core" ' +3 "manipulator"&)& +8 "core" &! 8 +4 "manipulator"& % +9 "core" %q  +4 "collection"'C& +8 "core" &H\ +5 "collection"'1& +12 "core" &V\ +2 &X\ +8 .tCC.seek :closed +4 "collection"'(] +9 "core" &P\ +2 &L\ +4 & 7W\ $e +10 &iW]\ 7 +10 &S\ L +7 &|_X\ M +11 &>]Q\ M +10 &]Y\ M +9 & _Q\ M +11 &"\\J\ M +6 &$D]Q\ N +10 &&^K\ M +10 &'_O\ M +8 &)^N\ M +12 &+M^N\ M +7 &-]X\ M +10 &._J\ M +10 &0_F\ N +8 &2U^C\ M +10 &4^A\ N +10 &5]N\ M +8 &7^M\ M +11 &9^]R\ M +9 &; \\C\ M +10 &<]C\ M +9 &>]D\ M +8 &@e^N\ M +10 &B'^Z\ M +11 &CZO\ M +7 &E\\T\ M +11 &Gm]U\ M +8 &I-f^\ N +10 &JvU\ P +10 &L\\\ T +10 &NZcf^\ W +8 &P^`]\ X +11 &QU\\S\ X +9 &SPS\\\ X +9 &UZJN^\ Y +9 &WCIX\ Y +10 &X@B\\\ [ +9 &Z:;]\ \\ +9 &\\]27T\ H +11 &]d</2Y\ %o +12 &]i0/X\ N + ( +6 "collection"'1& +8 #tCollection Clamp onSpring/offSpring for 10/26 samples, on/off torque 2.01 +2 .Hand.open +3 "manipulator"&1 +7 "core" &]g.3W\ N +59 1 +4 "manipulator"&% +11 "core" % q   +3 .tForearm.reconfigure :loose +4 "manipulator"&#Q@2^d^b +4 .tForearm.seek :retract +4 "manipulator"&O'\ +95 "core" ' +5 #tLoading generic puck from tube 6 into Processing Clamp +5 "processing"%2& +7 "core" & \ +4 "manipulator"&.% +9 "core" %\ * !O +4 "storage"(n% +8 "core" %C ( (\ +2 "storage"($. +8 "core" .(K +4 .tSC.reconfigure :tight +7 "storage"($\ .\ 1~b +6 .tSC.seek 6 +3 "storage"(m(K +9 "core" ( +3 .tSC.configure :limp +5 "storage"($\ 1b +5 (& +10 "core" &K\  j <\ +4 "manipulator"&& +8 "core" & 7 +4 "manipulator"& % +8 "core" %\ *  !O +5 .tElbow.reconfigure :tight +4 "manipulator"&$&.,(\ #b +4 .tElbow.seek 6 +5 "manipulator"&g( +163 "core" ( +3 "manipulator"&h& +10 "core" & b  +4 "storage"(!& +8 "core" &K Y X }\ +5 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 6 + 450 counts +4 "manipulator"&('< +105 "core" ' +2 "storage"(t& +10 "core" &K e e J\ +4 .tSE.reconfigure :pick +4 "storage"(#]K-0-\ b +7 .tSE.seek :beamBreak +4 "storage"(s'e +279 "core" ' +2 "storage"(;- +10 "core" -' +3 .tSE.configure :default +4 "storage"(#QK-0-\ b +6 (3& +4 "core" &K u j \ +5 "manipulator"&-& +8 "core" & j d  +3 .tElbow.seek 6 +2 "manipulator"&\ ( +10 "core" ( +2 "manipulator"&& +9 "core" & W a M  +5 "storage"(+& +9 "core" &K f k \ +4 .tForearm.seek 6 + 300 counts + "manipulator"&'Ϧ +27 "core" ' +4 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tHand.close +3 "manipulator"&&/ +59 "core" / +7 ."downElevator"SE.seek :down +10 "manipulator"&& +2 "storage"(k'N +19 "core" & m n M  +3 "manipulator"&N% +10 "core" % ϡ ` ` 7 +5 .tForearm.seek :retract + "manipulator"&'\ +98 "core" ' +4 .tElbow.seek PC +3 "manipulator"&B(c +141 "core" ' +2 ."downElevator"SE.stop +3 "storage"(5 +114 "core" ( +5 "manipulator"&T& +11 "core" &` N +2 .tElbow.reconfigure :loose +6 "manipulator"&$ &.,(#b +4 &u& +89 "core" &` V +3 .tForearm.reconfigure :tight +6 "manipulator"&#Q@2^d^\ b +5 .tForearm.seek PC +4 "manipulator"&y'[ +112 "core" ' +3 "manipulator"&'& +10 "core" &` m c +2 "manipulator"&>% +8 "core" %W l g q +3 "processing"%& +11 "core" &\ +4 "processing"%8& +9 "core" &\ +6 .tPC.seek :closed +5 "processing"%(Z +9 "core" &\ +4 & \ +2 &\ 6 +7 &H~ \ 0 +9 &Es\ E +9 &a \ M +12 &Z\ L +8 &rZ\ L +10 & 3[\ M +9 &!Y\ M +8 &#Y\ M +10 &%y\\\ M +10 &':] \ M +8 &(X\ M +11 &*W\ M +12 &,Z\ M +6 &.CW \ M +15 &0[\ L +7 &1[\ L +8 &3[\ L +8 &5LZ\ L +8 &7[\ L +11 &8\\\ L +9 &:Z\ L +10 &]\ L +8 &?\\\ M +9 &Aa\ M +11 &C\\[\ L +7 &E\\\ M +11 &F^\ M +9 &Hg\ N +10 &J\\t\ O +9 &L\ Q +10 &M\ S +9 &O\ S +11 &QY \ S +7 &S\ S +11 &T\ S +7 &V\ T +10 &X^\ T +10 &Zxs\ (| +9 &Z#g\ 1 +8 ( +7 "processing"%8& +9 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.57 + .Hand.open +4 "manipulator"&w1 +6 "core" &Z\ * +3 &Z\ * +55 1 +3 "manipulator"& % +9 "core" % W u  q +4 .tForearm.reconfigure :loose +5 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +5 "manipulator"&#'\ +92 "core" ' +3 "processing"%i& +8 "core" &Z\ * +3 #tImaging generic puck in Processing Clamp while storing it to tube 6 +2 "manipulator"&Q% +10 "core" %\ *  !U +4 "storage"(9% +10 "core" %? A A \ +3 "storage"(o. +7 "core" .(K +4 "storage"(J& +8 "core" &K A 7 \ +5 "storage"(S& +5 "manipulator"&A& +15 "core" &K = 7\ +2 &`  +7 .tElbow.reconfigure :tight +4 ."raiseStack"SE.reconfigure :place +12 "manipulator"&$&.,(\ #b +7 .tElbow.seek PC +5 "storage"(#]kK-0-\ b +5 "manipulator"&0(c +11 ."raiseStack"SE.seek :beamBreak +5 "storage"(F'e +5 "core" ( +3 "manipulator"&& +10 "core" &` ) +5 .tElbow.reconfigure :loose +4 "manipulator"&$ &.,(#b +4 &/& +7 "core" &` ! +5 .tForearm.seek PC +5 "manipulator"&'[ +102 "core" ' +3 .tHand.close +4 "manipulator"& / +65 "core" / +4 .tPC.seek :open +6 "processing"%c(p +42 "core" ' +3 "storage"(p- +6 "core" -'e +4 ."raiseStack"SE.configure :default +5 "storage"(#QK-0-\ b +6 ."raiseStack"SE.seek :place +4 "storage"(6'B +32 "core" ' +293 ( +2 "storage"(?& +9 "core" &K X X P\ +3 "manipulator"&P& +10 "core" &` 4 +2 "manipulator"&@% +8 "core" % Z 9 +4 .tForearm.seek :retract +4 "manipulator"&b'\ +104 "core" ' +4 .tElbow.reconfigure :tight +5 "manipulator"&$&.,(\ #b +4 .tElbow.seek 6 +5 "manipulator"&a( +256 "core" ( +3 "manipulator"&& +9 "core" & } 9 +2 "storage"(*& +9 "core" &K ) , O\ +4 .tForearm.reconfigure :tight +124 "manipulator"&#Q@2^d^\ b +7 .tForearm.seek 6 + 450 counts +6 "manipulator"&f'< +101 "core" ' +4 .tHand.open +4 "manipulator"&[1 +65 "core" 1 +5 "storage"(=- +6 "core" -'B +5 .tSE.seek -0.16 Pucks below Top Plate +2 "storage"(' +27 "core" ' +4 .tSE.reconfigure :seal +5 "storage"(#QK-0-\ b +5 .tSE.seek -0.83 Pucks below Top Plate +4 "storage"(' +57 "core" ' +4 #tLights, camera, ACTION! +2 "storage"(Z- +8 "core" -' +3 "storage"(M& +12 "core" &K \ +4 "manipulator"&r& +10 "core" &  9 +3 .tElbow.seek 6 +4 "manipulator"&( +15 "core" ( +3 "manipulator"&& +9 "core" & ,  +5 "storage"(& +8 "core" &K \ +6 .tForearm.seek 6 + 450 counts +4 "manipulator"&5'< +6 "core" ' +4 .tSE.reconfigure :gently +5 "storage"(#QK-0-\ b +6 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"(q'M +63 "core" ' +4 "manipulator"&_& +10 "core" &   +3 "storage"(d& +8 "core" &K X X X\ +4 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +6 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +4 .tForearm.seek 6 +4 "manipulator"&E'z +34 "core" ' +2 .tElbow.hold +3 "manipulator"&G, +10 "core" , +3 .tElbow.reconfigure :tight +6 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +6 "storage"(#QK-0-\ b +5 .tSE.seek 0.07 Pucks below Top Plate +4 "storage"("'7 +24 "core" ' +3 "manipulator"&7% +8 "core" %΋h 5 +3 "storage"(Y& +9 "core" &K\ \  z\ +5 .tForearm.force -20 +2 "manipulator"&5 +6 .tForearm.seek 6 + 317 counts + "manipulator"&:'Ϸ +19 "core" ' +4 "manipulator"&^& +9 "core" & n e \\  +4 "storage"(j& +6 "core" &K n r\ +6 .tForearm.reconfigure :tight +4 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 6 + 450 counts +4 "manipulator"&K'< +20 "core" ' +5 "storage"(D% +9 "core" %> i r 0\ +4 ."downElevator"SE.seek :down +8 "storage"(X'N +99 (% +5 "core" %< X X W\ U^ +4 "manipulator"&<% +9 "core" %- j _ U  +6 .tForearm.reconfigure :loose +5 "manipulator"&#Q@2^d^b +6 .tForearm.seek :retract +4 "manipulator"&I'\ +97 "core" ' +29 ' +3 ."downElevator"SE.stop +2 "storage"(5 +6 (& +8 "core" &K K W\ +3 "collection"'~& +10 "core" &]g99H\ N +6 #tStoring generic puck in Collection Clamp to tube 6 +2 "manipulator"&`% +7 "core" %\ 5  & +6 "storage"(H% +8 "core" %I X X X\ +2 "storage"(|. +9 "core" .(K +4 "storage"( & +10 "core" &K Y Y r\ +2 "storage"({& +8 "core" &K X X ]\ +3 "manipulator"&& +10 "core" &  +7 .tElbow.seek 6 +2 "manipulator"&( +11 "core" ( +2 "manipulator"&,& +10 "core" & o  +3 "storage"(z& +8 "core" &K X X a\ +5 .tForearm.reconfigure :tight +7 "manipulator"&#Q@2^d^\ b +5 .tForearm.seek 6 + 450 counts +3 "manipulator"&]'< +93 "core" ' +4 "storage"(}& +10 "core" &K s t \ +5 .tSE.reconfigure :pick +4 "storage"(#]K-0-\ b +7 .tSE.seek :beamBreak +5 "storage"(x'e +275 "core" ' +4 "storage"(l- +7 "core" -' +3 .tSE.configure :default +4 "storage"(#QK-0-\ b +8 "manipulator"&v& +7 "core" & m c O  +3 "storage"(W& +7 "core" &K p b G\ +3 .tElbow.reconfigure :limp +7 "manipulator"&$ ,(b +4 .tForearm.reconfigure :loose +4 "manipulator"&#Q@2^d^b +5 .tForearm.seek 6 +5 "manipulator"&U'z +36 "core" ' +3 .tElbow.hold +4 "manipulator"&%, +8 "core" , +3 .tElbow.reconfigure :tight +4 "manipulator"&$&.,(\ #b +5 "storage"(- +10 "core" -' +4 .tSE.seek 0.11 Pucks below Top Plate +3 "storage"()'l +35 "core" ' +4 "manipulator"& % +10 "core" %΃Z   ò +2 "storage"(C& +10 "core" &K\ \  \ +3 .tForearm.force -20 +3 "manipulator"&5 +5 .tForearm.seek 6 + 309 counts +4 "manipulator"&V'ϯ +20 "core" ' +3 "manipulator"&& +9 "core" & o o   +4 "storage"(R& +9 "core" &K X X ]\ +4 .tForearm.reconfigure :tight +5 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 6 + 450 counts +4 "manipulator"&'< +20 "core" ' +4 .tSE.seek 1.11 Pucks below Top Plate +2 "storage"('[ +52 "core" ' +4 "manipulator"&1& +9 "core" & j c {  +4 "manipulator"&2% +8 "core" %2 n j +7 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +5 .tForearm.seek :retract +4 "manipulator"&.'\ +89 "core" ' +5 .tElbow.seek CC +6 "manipulator"&n( +166 "core" ( +3 "manipulator"&$& +10 "core" &\  k , +2 .tElbow.reconfigure :loose +7 "manipulator"&$ &.,(#b +5 && +9 "core" &\  O , +4 .tForearm.seek CC +2 "manipulator"&'| +99 "core" ' +3 .tHand.close +2 "manipulator"& / +64 "core" / +3 .tCC.seek :open +4 "collection"'e(p +414 "core" ( +5 "storage"(h& +9 "core" &K \ +3 "storage"(!& +8 "core" &K \ +3 "manipulator"&4& +7 "core" &\  K , +5 "manipulator"&L% +6 "core" % z # +5 .tForearm.seek :retract +4 "manipulator"&t'\ +94 "core" ' +4 .tElbow.reconfigure :tight +9 "manipulator"&$&.,(\ #b +6 .tElbow.seek 6 +4 "manipulator"&O( +156 "core" ( +4 "manipulator"&;& +8 "core" &  +4 "storage"(3& +8 "core" &K \ +3 .tElbow.reconfigure :limp +5 "manipulator"&$ ,(b +6 .tForearm.seek 6 +4 "manipulator"&-'z +112 "core" ' +3 .tElbow.hold +5 "manipulator"&, +6 "core" , +3 .tElbow.reconfigure :tight +7 "manipulator"&$&.,(\ #b +4 .tHand.open +4 "manipulator"&+1 +64 "core" 1 +4 "manipulator"&&% +9 "core" % ·~  W +2 "storage"(& +10 "core" &K Z Y \ +4 .tForearm.force -20 +2 "manipulator"&5 +6 .tForearm.seek 6 + 313 counts +3 "manipulator"&N'ϳ +20 "core" ' +2 "manipulator"&g& +10 "core" & m m +2 "storage"((& +10 "core" &K \ +4 .tForearm.reconfigure :tight +6 "manipulator"&#Q@2^d^\ b +5 .tForearm.seek 6 + 450 counts +4 "manipulator"&s'< +19 "core" ' +4 "storage"(% +8 "core" %_ \ +4 ."downElevator"SE.seek :down +11 "storage"(T'N +94 (\ % +6 "core" %; \ TY +5 "manipulator"&u% +9 "core" %3 n m { +5 .tForearm.reconfigure :loose +4 "manipulator"&#Q@2^d^b +4 .tForearm.seek :retract +5 "manipulator"&k'\ +90 "core" ' +35 ' +2 ."downElevator"SE.stop +2 "storage"(5 +5 #tShuffling pucks in tube 7 of [6..7] +2 #Loading generic puck from tube 7 into Collection Clamp +3 "collection"''& +10 "core" &U\ +3 "manipulator"&>% +8 "core" %\ (  J +3 "storage"(% +8 "core" %< ]\ +3 "storage"(. +7 "core" .(K +4 .tSC.reconfigure :tight +6 "storage"($\ .\ 1~b +5 .tSC.seek 7 +4 "storage"(\\([ +356 "core" ( +3 .tSC.configure :limp +5 "storage"($\ 1b +4 (w& +7 "core" &[ Y t\  +4 "manipulator"& & +8 "core" & Q +4 .tElbow.seek 7 +3 "manipulator"&i( +32 "core" ( +3 "manipulator"&8& +9 "core" &\ K S +3 "storage"(Q& +9 "core" &[ \  +5 .tForearm.reconfigure :tight +5 "manipulator"&#Q@2^d^\ b +5 .tForearm.seek 7 + 450 counts +2 "manipulator"&9'k +95 "core" ' +2 "storage"(o& +12 "core" &[ 8\  +5 .tSE.reconfigure :pick +5 "storage"(#]K-0-\ b +8 .tSE.seek :beamBreak +2 "storage"(J'e +283 "core" ' +3 "storage"(A- +6 "core" -' +4 .tSE.configure :default +6 "storage"(#QK-0-\ b +6 (S& +5 "core" &[ \  +3 "manipulator"&& +9 "core" &\  S +5 .tElbow.seek 7 + "manipulator"&/( +7 "core" ( +3 "manipulator"&y& +8 "core" &\ A S +4 "storage"( & +12 "core" &[ L\  +5 .tForearm.seek 7 + 300 counts + "manipulator"&p' +29 "core" ' +3 .tForearm.reconfigure :loose +4 "manipulator"&#Q@2^d^b +5 .tHand.close +4 "manipulator"&B/ +57 "core" / +5 ."downElevator"SE.seek :down +6 "manipulator"&#& +4 "storage"('N +16 "core" &\ p m  S +3 "manipulator"&F% +10 "core" % q q  +4 .tForearm.seek :retract +118 "manipulator"&?'\ +98 "core" ' +3 .tElbow.seek CC +4 "manipulator"&P( +15 "core" ' +3 ."downElevator"SE.stop +4 "storage"(5 +134 "core" ( +4 "manipulator"&@& +10 "core" && w =E +3 .tElbow.reconfigure :loose +6 "manipulator"&$ &.,(#b +4 && +9 "core" && ^ =E +5 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek CC +4 "manipulator"&'| +114 "core" ' +2 "manipulator"&*& +10 "core" && C =E +4 "manipulator"&0% +9 "core" %t +6 "collection"'[& +9 "core" &T\ +4 "collection"'=& +10 "core" &N\ +4 &X\ +5 .tCC.seek :closed +6 "collection"'Z(] +9 "core" &_\ +2 &^\  +9 &3\\\ *z +7 &d^\ > +9 &RyQ\ M +8 &Zb\ M +11 &_Y\ M +9 &__\ M +9 &![^Z\ M +10 &#_Y\ M +9 &$]Z\ M +10 &&^Z\ N +9 &(c]]\ M +8 &*%]\\\ M +10 &+]X\ M +10 &-]T\ M +8 &/k]Y\ M +12 &1-^_\ M +8 &2]V\ M +8 &4]\\\ M +11 &6r]U\ M +8 &84]L\ M +9 &9\\O\ M +11 &;ZU\ M +9 &={]Z\ M +12 &?>\\S\ M +6 &A]T\ M +12 &B]U\ M +9 &D[S\ M +7 &FF]V\ M +10 &H_S\ M +13 &IjQ\ O +8 &KxR\ P +9 &M7S\ U +8 &NmrQ\ W +10 &Pfk[\ X +11 &Rt`cV\ X +9 &T3Y^Z\ Y +8 &UVV_\ Y +9 &WNR\\\ Z +9 &YrIMS\ [\ +10 &[3FFR\ [ +9 &\\|>AY\ 0 +9 &])<>_\ [ +8 ( +4 &]m=?\\\ L +7 "collection"'=& +6 #tCollection Clamp onSpring/offSpring for 9/25 samples, on/off torque 2.02 +4 .Hand.open + "manipulator"&b1 +9 "core" &]m=>\\\ L +48 1 +3 "manipulator"&M% +10 "core" % t  +4 .tForearm.reconfigure :loose +6 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +4 "manipulator"&r'\ +91 "core" ' +3 #tLoading generic puck from tube 7 into Processing Clamp +6 "processing"%& +9 "core" & \ +5 "manipulator"&% +11 "core" %\ &  6 +4 "storage"(_% +7 "core" %L ) ) \ \ +5 "storage"(6. +6 "core" .([ +5 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +5 .tSC.seek 7 +4 "storage"(d([ +4 "core" ( +5 .tSC.configure :limp +4 "storage"($\ 1b +8 (& +5 "core" &[ , <\  +5 "manipulator"&7& +9 "core" &$ ;6 +2 "manipulator"&Y% +8 "core" %\ &  6 +5 .tElbow.reconfigure :tight +6 "manipulator"&$&.,(\ #b +5 .tElbow.seek 7 +6 "manipulator"&a( +161 "core" ( +3 "manipulator"&^& +10 "core" &  +4 "storage"(f& +7 "core" &[ N X T\  +4 .tForearm.reconfigure :tight +9 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 7 + 450 counts +4 "manipulator"&j'k +95 "core" ' +3 "storage"(& +9 "core" &[ t t \  +5 .tSE.reconfigure :pick +4 "storage"(#]K-0-\ b +7 .tSE.seek :beamBreak +4 "storage"(D'e +277 "core" ' +3 "storage"(5- +7 "core" -' +4 .tSE.configure :default +5 "storage"(#QK-0-\ b +7 (& +4 "core" &[ X X f\  +4 "manipulator"&& +8 "core" & m o a +4 .tElbow.seek 7 +3 "manipulator"&<( +6 "core" ( +4 "manipulator"&q& +7 "core" & ` ` Q +4 "storage"(E& +11 "core" &[ s s \  +4 .tForearm.seek 7 + 300 counts + "manipulator"&:' +23 "core" ' +4 .tForearm.reconfigure :loose +5 "manipulator"&#Q@2^d^b +4 .tHand.close +2 "manipulator"&/ +63 "core" / +6 ."downElevator"SE.seek :down +6 "manipulator"&~& +4 "storage"(`'N +17 "core" & n m +3 "manipulator"&"% +10 "core" % n o +4 .tForearm.seek :retract + "manipulator"&H'\ +93 "core" ' +4 .tElbow.seek PC +4 "manipulator"&|(c +134 "core" ' +4 ."downElevator"SE.stop +4 "storage"(5 +96 "core" ( +3 "manipulator"& & +10 "core" &j  K +2 .tElbow.reconfigure :loose +7 "manipulator"&$ &.,(#b +5 &{& +9 "core" &j \\ K +4 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +5 .tForearm.seek PC +4 "manipulator"&'[ +94 "core" ' +3 "manipulator"&,& +9 "core" &j j K +4 "manipulator"&z% +7 "core" %T  +5 "processing"%K& +8 "core" &\ +5 "processing"%}& +10 "core" &\ +5 .tPC.seek :closed +6 "processing"%X(Z +10 "core" &\ +4 &\ +3 & 3 \ #a +6 &]V\ 7 +11 &~\ L +9 &qY\ M +8 &4Y\ M +11 &Z\ M +10 & _ \ M +8 &"zY\ M +11 &$=Z\ L +8 &%Z\ M +8 &'X\ M +11 &)Y\ M +8 &+CX\ M +11 &-[\ M +9 &.[\ M +9 &0Z\ L +10 &2KZ \ M +9 &4Z\ M +8 &5]\ M +12 &7Y\ \ M +8 &9TY\ M +11 &;Z\ M +8 &<Y\ M +9 &>[\ M +10 &@[Z\ M +8 &BZ\ M +9 &CZ\ M +13 &EZ\ M +6 &Gab\ N +11 &In \ O +8 &J{\ Q +11 &L\ T +10 &NV\ T +8 &P\ S +11 &Q\ T +8 &S\ T +9 &U_\ T +11 &W \ T +9 &X\ T +8 &Z=Nq\ - +10 &Z)\ ) +5 ( +5 &Z\ ) +6 "processing"%}& +9 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.61 + .Hand.open +3 "manipulator"&G1 +8 "core" &Z\ ) +50 1 +2 "manipulator"&I% +11 "core" % T  +4 .tForearm.reconfigure :loose +4 "manipulator"&#Q@2^d^b +5 .tForearm.seek :retract +5 "manipulator"&l'\ +96 "core" ' +3 "processing"%v& +8 "core" &Z \ ) +5 #tImaging generic puck in Processing Clamp while storing it to tube 7 +3 "manipulator"&W% +10 "core" %\ ) ; K +3 "storage"(% +7 "core" %E , 6 s\ +3 "storage"( . +8 "core" .([ +4 "storage"(C& +9 "core" &[ ( + "\  +3 "storage"(& +6 "manipulator"&R& +18 "core" &[ 5 - :\  +2 &j ; K +7 .tElbow.reconfigure :tight +5 ."raiseStack"SE.reconfigure :place +8 "manipulator"&$&.,(\ #b +8 "storage"(#]kK-0-\ b +2 .tElbow.seek PC +11 "manipulator"&1(c +7 ."raiseStack"SE.seek :beamBreak +3 "storage"(]'e +5 "core" ( +4 "manipulator"&2& +9 "core" &j K +2 .tElbow.reconfigure :loose +7 "manipulator"&$ &.,(#b +4 && +8 "core" &j  K +3 .tForearm.seek PC +2 "manipulator"&x'[ +100 "core" ' +5 .tHand.close +3 "manipulator"&U/ +65 "core" / +3 .tPC.seek :open +5 "processing"%V(p +52 "core" ' +4 "storage"()- +8 "core" -'e +4 ."raiseStack"SE.configure :default +4 "storage"(#QK-0-\ b +5 ."raiseStack"SE.seek :place +5 "storage"($'B +42 "core" ' +272 ( +4 "storage"(& +8 "core" &[ X X T\  +3 "manipulator"&& +9 "core" &j  K +3 "manipulator"&%% +8 "core" % i  +4 .tForearm.seek :retract +3 "manipulator"& '\ +96 "core" ' +5 .tElbow.reconfigure :tight +4 "manipulator"&$&.,(\ #b +5 .tElbow.seek 7 +4 "manipulator"&.( +254 "core" ( +3 "manipulator"&& +9 "core" & $ +4 "storage"(h& +9 "core" &[ 9 B q\  +6 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 7 + 450 counts +4 "manipulator"&!'k +96 "core" ' +5 .tHand.open +4 "manipulator"&41 +64 "core" 1 +3 "storage"(L- +10 "core" -'B +4 .tSE.seek -0.16 Pucks below Top Plate +4 "storage"(;' +25 "core" ' +3 .tSE.reconfigure :seal +7 "storage"(#QK-0-\ b +4 .tSE.seek -0.83 Pucks below Top Plate +5 "storage"(3' +52 "core" ' +4 #tLights, camera, ACTION! +3 "storage"(- +9 "core" -' +3 "storage"(n& +8 "core" &[ \  +3 "manipulator"&+& +9 "core" & E $ +4 .tElbow.seek 7 +5 "manipulator"&&( +7 "core" ( +4 "manipulator"&& +10 "core" & [ $ +2 "storage"(g& +9 "core" &[ \  +5 .tForearm.seek 7 + 450 counts +4 "manipulator"&('k +6 "core" ' +4 .tSE.reconfigure :gently +6 "storage"(#QK-0-\ b +4 .tSE.seek -0.11 Pucks below Top Plate +5 "storage"(t'M +64 "core" ' +3 "manipulator"&& +9 "core" &  $ +4 "storage"(O& +10 "core" &[ X X Y\  +3 .tElbow.reconfigure :limp +7 "manipulator"&$ ,(b +5 .tForearm.reconfigure :loose +7 "manipulator"&#Q@2^d^b +4 .tForearm.seek 7 +4 "manipulator"&\ 'Ω +29 "core" ' +4 .tElbow.hold +2 "manipulator"&u, +12 "core" , +2 .tElbow.reconfigure :tight +6 "manipulator"&$&.,(\ #b +5 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +4 .tSE.seek 0.07 Pucks below Top Plate +5 "storage"(-'7 +28 "core" ' +5 "manipulator"&N% +10 "core" %ν & k +2 "storage"('& +8 "core" &[ \  +3 .tForearm.force -20 +2 "manipulator"&5 +7 .tForearm.seek 7 + 320 counts + "manipulator"&>' +22 "core" ' +2 "manipulator"&& +125 "core" & i n 3 $ +7 "storage"(& +9 "core" &[ X X ]\  +4 .tForearm.reconfigure :tight +6 "manipulator"&#Q@2^d^\ b +5 .tForearm.seek 7 + 450 counts +3 "manipulator"&'k +19 "core" ' +4 "storage"(s% +9 "core" %8 X X Z\ +4 ."downElevator"SE.seek :down +10 "storage"(T'N +94 (m% +7 "core" %c@ 1 , \ U] +3 "manipulator"&w% +9 "core" %c g j +4 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +4 .tForearm.seek :retract +4 "manipulator"& '\ +90 "core" ' +49 ' +2 ."downElevator"SE.stop +3 "storage"(5 +5 (8& +10 "core" &[ > G\  +3 "collection"'Q& +10 "core" &]lGFK\ L +4 #tStoring generic puck in Collection Clamp to tube 7 +2 "manipulator"&o% +8 "core" %\ ) H +4 "storage"(% +10 "core" %> W X T\ +4 "storage"(k. +6 "core" .([ +4 "storage"(A& +8 "core" &[ X X S\  +2 "storage"(S& +10 "core" &[ X X e\  +3 "manipulator"&& +9 "core" &  $ +5 .tElbow.seek 7 +3 "manipulator"&y( +8 "core" ( +3 "manipulator"& & +12 "core" &  $ +3 "storage"(B& +9 "core" &[ X X S\  +4 .tForearm.reconfigure :tight +4 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 7 + 450 counts +4 "manipulator"&#'k +103 "core" ' +4 "storage"(F& +9 "core" &[ u s %\  +4 .tSE.reconfigure :pick +7 "storage"(#]K-0-\ b +9 .tSE.seek :beamBreak +3 "storage"(i'e +283 "core" ' +3 "storage"(9- +6 "core" -' +3 .tSE.configure :default +5 "storage"(#QK-0-\ b +6 "manipulator"&J& +8 "core" & n o $ +4 "storage"(@& +9 "core" &[ t s \  +2 .tElbow.reconfigure :limp +7 "manipulator"&$ ,(b +5 .tForearm.reconfigure :loose +7 "manipulator"&#Q@2^d^b +5 .tForearm.seek 7 +5 "manipulator"&'Ω +35 "core" ' +3 .tElbow.hold +2 "manipulator"&p, +8 "core" , +2 .tElbow.reconfigure :tight +5 "manipulator"&$&.,(\ #b +4 "storage"(/- +7 "core" -' +5 .tSE.seek 0.12 Pucks below Top Plate + "storage"(*'r +33 "core" ' +2 "manipulator"&% +12 "core" %νr  % +3 "storage"(0& +9 "core" &[\ \  \  +4 .tForearm.force -20 +2 "manipulator"&5 +7 .tForearm.seek 7 + 320 counts +2 "manipulator"&[' +20 "core" ' +3 "manipulator"&?& +8 "core" & q p  $ +5 "storage"(e& +10 "core" &[ t s \  +5 .tForearm.reconfigure :tight +5 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +4 "manipulator"&b'k +17 "core" ' +6 .tSE.seek 1.12 Pucks below Top Plate +5 "storage"(M'a +43 "core" ' +5 "manipulator"&& +8 "core" & p p $ +5 "manipulator"&=% +9 "core" %n p k +4 .tForearm.reconfigure :loose +5 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +4 "manipulator"&'\ +96 "core" ' +5 .tElbow.seek CC +2 "manipulator"&_( +150 "core" ( +2 "manipulator"&6& +11 "core" &" y 9) +2 .tElbow.reconfigure :loose +5 "manipulator"&$ &.,(#b +5 && +7 "core" &"  9) +4 .tForearm.seek CC +2 "manipulator"&7'| +104 "core" ' +4 .tHand.close +2 "manipulator"&Y/ +66 "core" / +5 .tCC.seek :open + "collection"'(p +413 "core" ( +4 "storage"(^& +9 "core" &[ | | c\  +2 "storage"(f& +9 "core" &[ k f \  +4 "manipulator"&\\& +8 "core" & ' 7 +3 "manipulator"&P% +12 "core" %  i +4 .tForearm.seek :retract +4 "manipulator"&'\ +97 "core" ' +4 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +4 .tElbow.seek 7 +4 "manipulator"&r( +160 "core" ( +3 "manipulator"&5& +10 "core" & H +3 "storage"(& +13 "core" &[ \  +6 .tElbow.reconfigure :limp +5 "manipulator"&$ ,(b +12 .tForearm.seek 7 + "manipulator"&'Ω +115 "core" ' +2 .tElbow.hold +6 "manipulator"&q, +10 "core" , +3 .tElbow.reconfigure :tight +4 "manipulator"&$&.,(\ #b +5 .tHand.open +3 "manipulator"&E1 +62 "core" 1 +4 "manipulator"&% +12 "core" % ι 8 o +2 "storage"(~& +8 "core" &[ Y [\  +2 .tForearm.force -20 +5 "manipulator"&5 +6 .tForearm.seek 7 + 316 counts +2 "manipulator"&"' +19 "core" ' +3 "manipulator"&a& +9 "core" & o q $ +4 "storage"(j& +9 "core" &[ \  +4 .tForearm.reconfigure :tight +4 "manipulator"&#Q@2^d^\ b +5 .tForearm.seek 7 + 450 counts +5 "manipulator"&D'k +17 "core" ' +6 "storage"(:% +8 "core" %e k\ +6 ."downElevator"SE.seek :down +12 "storage"( 'N +92 ({% +5 "core" %R4 \ TX +5 "manipulator"&<% +7 "core" %a ` g * +5 .tForearm.reconfigure :loose +6 "manipulator"&#Q@2^d^b +5 .tForearm.seek :retract +4 "manipulator"&,'\ +90 "core" ' +37 ' + ."downElevator"SE.stop +2 "storage"(5 +9 #tShuffling pucks in tube 6 of [6..7] + #Loading generic puck from tube 6 into Collection Clamp +3 "collection"'z& +11 "core" &V\ +4 "manipulator"&K% +8 "core" %\ )  H +4 "storage"(`% +9 "core" %> <\ +3 "storage"(H. +7 "core" .([ +4 .tSC.reconfigure :tight +8 "storage"($\ .\ 1~b +5 .tSC.seek 6 +4 "storage"(c(K +357 "core" ( +3 .tSC.configure :limp +4 "storage"($\ 1b +5 (G& +4 "core" &K c #\ +3 "manipulator"&I& +10 "core" & +4 .tElbow.seek 6 +2 "manipulator"&v( +40 "core" ( +3 "manipulator"&}& +9 "core" &  +3 "storage"(W& +9 "core" &K B\ +4 .tForearm.reconfigure :tight +4 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 6 + 450 counts +4 "manipulator"&'< +94 "core" ' +4 "storage"( & +10 "core" &K >\ +4 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +7 .tSE.seek :beamBreak +3 "storage"(C'e +281 "core" ' +2 "storage"(R- +8 "core" -' +2 .tSE.configure :default +6 "storage"(#QK-0-\ b +5 (& +8 "core" &K 6\ +4 "manipulator"&2& +8 "core" & e q +4 .tElbow.seek 6 +3 "manipulator"&( +8 "core" ( +4 "manipulator"&& +7 "core" & n e c +4 "storage"(U& +9 "core" &K L\ +5 .tForearm.seek 6 + 300 counts + "manipulator"&)'Ϧ +20 "core" ' +3 .tForearm.reconfigure :loose +6 "manipulator"&#Q@2^d^b +3 .tHand.close +5 "manipulator"&|/ +56 "core" / +5 ."downElevator"SE.seek :down +8 "manipulator"&l& +5 "storage"(X'N +16 "core" & k d @ +4 "manipulator"&]% +10 "core" % Ϛ a l F +5 .tForearm.seek :retract +3 "manipulator"&'\ +94 "core" ' +3 .tElbow.seek CC +4 "manipulator"&( +127 "core" ' +3 ."downElevator"SE.stop +3 "storage"(5 +23 "core" ( +3 "manipulator"&%& +9 "core" &$ ;6 +3 .tElbow.reconfigure :loose +5 "manipulator"&$ &.,(#b +5 &x& +6 "core" &$  ;6 +4 .tForearm.reconfigure :tight +6 "manipulator"&#Q@2^d^\ b +5 .tForearm.seek CC +3 "manipulator"&'| +108 "core" ' +3 "manipulator"&h& +8 "core" &$ ;6 +4 "manipulator"&1% +8 "core" %ς  +5 "collection"'4& +10 "core" &]\ +4 "collection"'L& +12 "core" &b\ +2 &d\ +4 .tCC.seek :closed +6 "collection"'(] +9 "core" &^\ +2 &i\  +6 &2c\ *y +8 &d]\ > +13 &Ox]\ M +10 &]a\ M +7 &_j\ M +12 &_e\ M +5 &!W]`\ M +11 &#_Z\ M +9 &$^g\ M +8 &&^]\ M +12 &(_Za\ M +7 &*"\\c\ M +11 &+\\b\ M +9 &-`Z\ M +8 &/g_b\ M +10 &1)_b\ M +10 &2^c\ M +8 &4]b\ M +10 &6p]^\ M +13 &81]b\ M +6 &9\\[\ M +10 &;[`\ M +9 &=w]c\ M +9 &?9\\`\ M +11 &@][\ M +8 &B^_\ M +11 &D~[W\ M +8 &F@\\[\ M +10 &H]]\ M +10 &Ilh\ O +7 &Kyg\ R +12 &M/q[\ V +8 &NabW\ W +10 &P]ZT\ X +8 &RoSYR\ X +10 &T/MQU\ Y +9 &UGM^\ Z +11 &WCG\\\ Z +8 &Yl>AT\ \\ +10 &[/7;Z\ [ +9 &\\{05P\ 3 +11 &]%01Y\ !a +6 ( +6 "collection"'L& +9 #tCollection Clamp onSpring/offSpring for 9/25 samples, on/off torque 2.02 +2 .Hand.open +4 "manipulator"& 1 +8 "core" &]u/1Y\ Q + &]u/0V\ Q +48 1 +4 "manipulator"&n% +10 "core" % w  +4 .tForearm.reconfigure :loose +4 "manipulator"&#Q@2^d^b +4 .tForearm.seek :retract +5 "manipulator"&+'\ +98 "core" ' +3 #tLoading generic puck from tube 6 into Processing Clamp +3 "processing"%& +8 "core" &\ +2 "manipulator"&g% +10 "core" %\ -  "[ +5 "storage"(% +8 "core" %= 4 8\ +112 "storage"(O. +6 "core" .(K +4 "storage"($& +9 "core" &K 9 9\ +4 "storage"(;& +10 "core" &K 7 5\ +2 "manipulator"&N& +9 "core" &"  9( +3 "manipulator"&.% +9 "core" %\ -  "[ +5 .tElbow.reconfigure :tight +4 "manipulator"&$&.,(\ #b +6 .tElbow.seek 6 +4 "manipulator"&'( +154 "core" ( +4 "manipulator"&!& +11 "core" & ~  +3 "storage"(& +14 "core" &K X X Y\ +5 .tForearm.reconfigure :tight +5 "manipulator"&#Q@2^d^\ b +5 .tForearm.seek 6 + 450 counts +4 "manipulator"&3'< +105 "core" ' +3 "storage"(& +10 "core" &K u u /\ +5 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +6 .tSE.seek :beamBreak +3 "storage"(('e +284 "core" ' +3 "storage"(&- +8 "core" -' +2 .tSE.configure :default +6 "storage"(#QK-0-\ b +6 (s& +5 "core" &K o b L\ +5 "manipulator"&t& +9 "core" & g c W  +4 .tElbow.seek 6 +2 "manipulator"&\ ( +6 "core" ( +4 "manipulator"&m& +10 "core" & o o 0  +3 "storage"(w& +10 "core" &K s t \ +4 .tForearm.seek 6 + 300 counts +4 "manipulator"&>'Ϧ +19 "core" ' +4 .tForearm.reconfigure :loose +5 "manipulator"&#Q@2^d^b +4 .tHand.close +4 "manipulator"&8/ +58 "core" / +8 ."downElevator"SE.seek :down +6 "manipulator"&Q& +4 "storage"(-'N +17 "core" &   +4 "manipulator"&o% +8 "core" % ϧ $ ' +4 .tForearm.seek :retract +4 "manipulator"&'\ +98 "core" ' +5 .tElbow.seek PC + "manipulator"&k(c +137 "core" ' +2 ."downElevator"SE.stop +3 "storage"(5 +110 "core" ( +4 "manipulator"&A& +9 "core" &i u +3 .tElbow.reconfigure :loose +4 "manipulator"&$ &.,(#b +4 &S& +6 "core" &i  +5 .tForearm.reconfigure :tight +7 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek PC +5 "manipulator"&'[ +103 "core" ' +3 "manipulator"& & +8 "core" &i g +7 "manipulator"&B% +9 "core" %^ 4 +5 "processing"%& +9 "core" & \ +6 "processing"%F& +10 "core" &\ +6 .tPC.seek :closed +4 "processing"%T(Z +8 "core" &\ +2 &\ +8 &9\ $e +6 &oV\ 7 +11 &} \ L +7 &U\ M +10 &FX\ M +10 &Y\ M +8 & [\ M +12 &"X\ M +9 &$NZ\ M +9 &&Y\ M +9 &'Y\ M +8 &)Y\ M +12 &+TW\ M +8 &-Z\ M +8 &.X\ M +12 &0Z\ M +9 &2\\\\\ M +8 &4Y\ M +10 &5Y\ N +8 &7Y\ M +10 &9eW \ M +10 &;&Z\ M +9 &<Y\ M +11 &>X\ M +8 &@l]\ M +9 &B.Y\ M +10 &CY \ M +9 &EW\ M +8 &Gsb\ N +11 &I1g\ O +8 &Jt\ \ P +10 &L\ R +10 &Nj\ S +8 &P+\ T +11 &Q\ T +9 &S\ T +11 &Uq\ T +9 &W2\ T +7 &X \ U +13 &ZKIi\ *{ +8 &Z) \ ( +4 ( +6 "processing"%F& +7 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.58 +4 .Hand.open + "manipulator"&u1 +6 "core" &Z\ ( +50 1 +2 "manipulator"& % +10 "core" % ^ w +3 .tForearm.reconfigure :loose +7 "manipulator"&#Q@2^d^b +4 .tForearm.seek :retract +5 "manipulator"&9'\ +103 "core" ' +4 "processing"%J& +9 "core" &Z\ ( +4 #tImaging generic puck in Processing Clamp while storing it to tube 6 + "manipulator"&@% +8 "core" %\ 5 N $t +4 "storage"(/% +6 "core" %= #  \ \ +4 "storage"(. +7 "core" .(K +4 "storage"(0& +8 "core" &K # \ +4 "storage"(?& +9 "manipulator"&e& +9 "core" &K   p\ +2 &i S +6 .tElbow.reconfigure :tight +7 ."raiseStack"SE.reconfigure :place +9 "manipulator"&$&.,(\ #b +8 .tElbow.seek PC +7 "storage"(#]kK-0-\ b +4 "manipulator"&(c +11 ."raiseStack"SE.seek :beamBreak +2 "storage"(='e +8 "core" ( +3 "manipulator"&#& +9 "core" &i | +3 .tElbow.reconfigure :loose +6 "manipulator"&$ &.,(#b +4 &y& +10 "core" &i | +3 .tForearm.seek PC +5 "manipulator"&i'[ +95 "core" ' +3 .tHand.close +3 "manipulator"&/ +62 "core" / +8 .tPC.seek :open +4 "processing"%[(p +51 "core" ' +3 "storage"(*- +7 "core" -'e +3 ."raiseStack"SE.configure :default +8 "storage"(#QK-0-\ b +4 ."raiseStack"SE.seek :place +3 "storage"(6'B +34 "core" ' +284 ( +4 "storage"(& +10 "core" &K W X O\ +2 "manipulator"&b& +7 "core" &i  +5 "manipulator"&p% +8 "core" % ^  +4 .tForearm.seek :retract +4 "manipulator"&Y'\ +97 "core" ' +3 .tElbow.reconfigure :tight +4 "manipulator"&$&.,(\ #b +5 .tElbow.seek 6 +4 "manipulator"&( +266 "core" ( +4 "manipulator"&Z& +9 "core" & ! +4 "storage"(^& +8 "core" &K K ;\ +4 .tForearm.reconfigure :tight +5 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 6 + 450 counts +4 "manipulator"&f'< +95 "core" ' +2 .tHand.open +4 "manipulator"&\\1 +64 "core" 1 +5 "storage"(P- +7 "core" -'B +5 .tSE.seek -0.16 Pucks below Top Plate +2 "storage"(5' +24 "core" ' +5 .tSE.reconfigure :seal +6 "storage"(#QK-0-\ b +4 .tSE.seek -0.83 Pucks below Top Plate +4 "storage"(' +52 "core" ' +4 #tLights, camera, ACTION! +5 "storage"(7- +7 "core" -' +4 "storage"(_& +8 "core" &K \ +2 "manipulator"&E& +10 "core" & +4 .tElbow.seek 6 +5 "manipulator"&( +9 "core" ( +3 "manipulator"&~& +9 "core" &  +3 "storage"(a& +9 "core" &K \ +4 .tForearm.seek 6 + 450 counts +4 "manipulator"&j'< +6 "core" ' +4 .tSE.reconfigure :gently +6 "storage"(#QK-0-\ b +4 .tSE.seek -0.11 Pucks below Top Plate +4 "storage"('M +61 "core" ' +4 "manipulator"&:& +8 "core" &  +3 "storage"(r& +8 "core" &K X X S\ +5 .tElbow.reconfigure :limp +5 "manipulator"&$ ,(b +6 .tForearm.reconfigure :loose +4 "manipulator"&#Q@2^d^b +4 .tForearm.seek 6 +4 "manipulator"&{'z +36 "core" ' +2 .tElbow.hold +5 "manipulator"&<, +9 "core" , +2 .tElbow.reconfigure :tight +7 "manipulator"&$&.,(\ #b +5 .tSE.reconfigure :default +6 "storage"(#QK-0-\ b +4 .tSE.seek 0.07 Pucks below Top Plate +5 "storage"('7 +26 "core" ' +4 "manipulator"&"% +8 "core" %·d " +3 "storage"(z& +10 "core" &K B\ +2 .tForearm.force -20 +4 "manipulator"&5 +5 .tForearm.seek 6 + 313 counts +4 "manipulator"&K'ϳ +17 "core" ' +4 "manipulator"&`& +9 "core" & m o +3 "storage"(M& +10 "core" &K X X [\ +4 .tForearm.reconfigure :tight +4 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 6 + 450 counts +5 "manipulator"&H'< +18 "core" ' +3 "storage"(D% +9 "core" %@ r o C\ +6 ."downElevator"SE.seek :down +9 "storage"( 'N +97 (d% +9 "core" %]@ * + N\ V_ +5 "manipulator"&G% +8 "core" %@ ` k  +4 .tForearm.reconfigure :loose +4 "manipulator"&#Q@2^d^b +5 .tForearm.seek :retract +4 "manipulator"&I'\ +93 "core" ' +42 ' +2 ."downElevator"SE.stop +4 "storage"(5 +5 (}& +9 "core" &K 8 ; \ +4 "collection"'W& +8 "core" &]u69A\ Q +3 #tStoring generic puck in Collection Clamp to tube 6 +2 "manipulator"& % +8 "core" %\ . } #h +5 "storage"(q% +9 "core" %M X X \\\ +2 "storage"(,. +7 "core" .(K +5 "storage"(R& +10 "core" &K X X Y\ +3 "storage"(& +18 "core" &K X X Z\ +5 "manipulator"&2& +8 "core" & / +4 .tElbow.seek 6 +3 "manipulator"&( +7 "core" ( +3 "manipulator"&U& +9 "core" &  +3 "storage"(|& +10 "core" &K X X S\ +4 .tForearm.reconfigure :tight +4 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 6 + 450 counts +4 "manipulator"&l'< +96 "core" ' +3 "storage"(]& +9 "core" &K W J E\ +3 .tSE.reconfigure :pick +4 "storage"(#]K-0-\ b +7 .tSE.seek :beamBreak +4 "storage"(v'e +285 "core" ' +3 "storage"(- +9 "core" -' +2 .tSE.configure :default +4 "storage"(#QK-0-\ b +5 "manipulator"&C& +5 "core" & +5 "storage"(%& +9 "core" &K X X ?\ +3 .tElbow.reconfigure :limp +5 "manipulator"&$ ,(b +6 .tForearm.reconfigure :loose +5 "manipulator"&#Q@2^d^b +5 .tForearm.seek 6 + "manipulator"&x'z +36 "core" ' +3 .tElbow.hold +4 "manipulator"&), +8 "core" , +2 .tElbow.reconfigure :tight +5 "manipulator"&$&.,(\ #b +3 "storage"(- +8 "core" -' +116 .tSE.seek 0.11 Pucks below Top Plate +4 "storage"(h'm +33 "core" ' +4 "manipulator"&1% +9 "core" %~W ] ñ +2 "storage"(4& +8 "core" &K -\ +3 .tForearm.force -20 +4 "manipulator"&5 +5 .tForearm.seek 6 + 304 counts +2 "manipulator"&X'Ϫ +20 "core" ' +3 "manipulator"&& +11 "core" & p f +5 "storage"(& +8 "core" &K X X C\ +5 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +5 .tForearm.seek 6 + 450 counts +2 "manipulator"& '< +27 "core" ' +5 .tSE.seek 1.11 Pucks below Top Plate +5 "storage"(n'\\ +47 "core" ' +4 "manipulator"&& +8 "core" & m d s +4 "manipulator"&L% +8 "core" %[ g c Z +4 .tForearm.reconfigure :loose +5 "manipulator"&#Q@2^d^b +4 .tForearm.seek :retract +4 "manipulator"&g'\ +91 "core" ' +3 .tElbow.seek CC +5 "manipulator"&( +164 "core" ( +2 "manipulator"&O& +11 "core" &+  Ad +3 .tElbow.reconfigure :loose +5 "manipulator"&$ &.,(#b +3 &$& +8 "core" &+ 7 Ad +5 .tForearm.seek CC + "manipulator"&;'| +104 "core" ' +2 .tHand.close +4 "manipulator"&N/ +55 "core" / +3 .tCC.seek :open +3 "collection"'.(p +411 "core" ( +3 "storage"(& +9 "core" &K n n\ +3 "storage"(!& +8 "core" &K n y\ +3 "manipulator"&& +7 "core" &+  Aa +3 "manipulator"&% +9 "core" % l +5 .tForearm.seek :retract + "manipulator"&'\ +93 "core" ' +5 .tElbow.reconfigure :tight +5 "manipulator"&$&.,(\ #b +6 .tElbow.seek 6 + "manipulator"&+( +165 "core" ( +3 "manipulator"&&& +11 "core" &  " +3 "storage"(s& +10 "core" &K \ +3 .tElbow.reconfigure :limp +4 "manipulator"&$ ,(b +7 .tForearm.seek 6 +5 "manipulator"&t'z +111 "core" ' +2 .tElbow.hold +5 "manipulator"&m, +8 "core" , +3 .tElbow.reconfigure :tight +5 "manipulator"&$&.,(\ #b +4 .tHand.open +4 "manipulator"&w1 +55 "core" 1 +4 "manipulator"&8% +10 "core" % ΅ $ 4 f +3 "storage"(Q& +9 "core" &K Z Y \ +2 .tForearm.force -20 +4 "manipulator"&5 +5 .tForearm.seek 6 + 311 counts +2 "manipulator"&o'ϱ +18 "core" ' +4 "manipulator"&'& +9 "core" & e l " +4 "storage"(3& +8 "core" &K \ +4 .tForearm.reconfigure :tight +4 "manipulator"&#Q@2^d^\ b +5 .tForearm.seek 6 + 450 counts +2 "manipulator"&('< +20 "core" ' +3 "storage"(>% +9 "core" %Z \ +4 ."downElevator"SE.seek :down +9 "storage"(A'N +95 (S% +6 "core" %4 X\ TY +4 "manipulator"&\ % +8 "core" % d k V  +4 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +4 .tForearm.seek :retract +4 "manipulator"& '\ +94 "core" ' +32 ' +2 ."downElevator"SE.stop +3 "storage"(5 +4 #tShuffling pucks in tube 7 of [6..7] +4 #Loading generic puck from tube 7 into Collection Clamp +3 "collection"'B& +7 "core" &i\ +3 "manipulator"&% +8 "core" %\ 3  %~ +3 "storage"(-% +7 "core" %; \ +3 "storage"(. +6 "core" .(K +4 .tSC.reconfigure :tight +4 "storage"($\ .\ 1~b +4 .tSC.seek 7 +4 "storage"(V([ +359 "core" ( +4 .tSC.configure :limp +3 "storage"($\ 1b +4 (u& +5 "core" &[ 7 > \  +4 "manipulator"& & +6 "core" & ; " +4 .tElbow.seek 7 +4 "manipulator"&J( +17 "core" ( +4 "manipulator"&F& +8 "core" & 4  +2 "storage"(@& +8 "core" &[ \  +4 .tForearm.reconfigure :tight +5 "manipulator"&#Q@2^d^\ b +5 .tForearm.seek 7 + 450 counts +4 "manipulator"&/'k +110 "core" ' +3 "storage"(& +8 "core" &[ b\  +4 .tSE.reconfigure :pick +4 "storage"(#]K-0-\ b +6 .tSE.seek :beamBreak +3 "storage"(0'e +283 "core" ' +2 "storage"(e- +8 "core" -' +2 .tSE.configure :default +6 "storage"(#QK-0-\ b +4 (?& +7 "core" &[ U\  +3 "manipulator"&#& +8 "core" & m l  +3 .tElbow.seek 7 +3 "manipulator"&y( +6 "core" ( +4 "manipulator"&& +8 "core" & e o  +2 "storage"(& +8 "core" &[ 8\  +4 .tForearm.seek 7 + 300 counts +4 "manipulator"&*' +27 "core" ' +3 .tForearm.reconfigure :loose +4 "manipulator"&#Q@2^d^b +5 .tHand.close +2 "manipulator"&k/ +55 "core" / +4 ."downElevator"SE.seek :down +9 "manipulator"&9& +2 "storage"(T'N +13 "core" & ` `  +4 "manipulator"&=% +8 "core" % m n +4 .tForearm.seek :retract +3 "manipulator"&'\ +92 "core" ' +3 .tElbow.seek CC +4 "manipulator"&b( +134 "core" ' +3 ."downElevator"SE.stop +2 "storage"(5 +22 "core" ( +3 "manipulator"&p& +8 "core" &' >K +4 .tElbow.reconfigure :loose +4 "manipulator"&$ &.,(#b +4 &i& +8 "core" &'  >K +4 .tForearm.reconfigure :tight +4 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek CC +4 "manipulator"&Z'| +96 "core" ' +2 "manipulator"&^& +9 "core" &' >J +3 "manipulator"&% +8 "core" %ρ ~  +4 "collection"'\\& +8 "core" &`\ +4 "collection"'P& +9 "core" &d\ +7 .tCC.seek :closed + "collection"'7(] +10 "core" &c\ +2 &m\  +6 &1g\ *z +8 &dd\ > +10 &Oyf\ M +8 &Zj\ M +10 &_j\ L +10 &_j\ M +8 &!Y^c\ M +10 &#_d\ M +10 &$]c\ M +9 &&^i\ M +10 &(`]d\ M +8 &*"]f\ M +10 &+[b\ M +10 &-]c\ M +8 &/i^d\ M +10 &1*^`\ M +10 &2]d\ M +8 &4]e\ M +11 &6p\\e\ M +8 &82^b\ M +10 &9[_\ M +10 &;[c\ M +9 &=x\\^\ M +9 &?:\\b\ M +10 &@]e\ M +9 &B]b\ M +10 &D\\^\ M +8 &FC]a\ M +10 &H_`\ M +10 &Ima\ O +8 &K~y_\ P +10 &M5^\ T +10 &Nim^\ V +9 &Pbh\\\ X +10 &Rq``T\ X +8 &T/W[V\ Y +10 &UTV\\\ Z +10 &WLO\\\ Z +9 &YoGJV\ [\ +9 &[-BET\ \\ +10 &\\<?O\ 7 +9 &]#:;S\ %m +10 &]o;:W\ N +6 ( +4 &]r8<W\ N +4 "collection"'P& +6 #tCollection Clamp onSpring/offSpring for 9/25 samples, on/off torque 2.05 +4 .Hand.open + "manipulator"&_1 +6 "core" &]r9;\\\ N +53 1 +2 "manipulator"&Y% +8 "core" % ρ w  +4 .tForearm.reconfigure :loose +6 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +4 "manipulator"&E'\ +93 "core" ' +4 #tLoading generic puck from tube 7 into Processing Clamp +2 "processing"%~& +8 "core" &)\ +3 "manipulator"&a% +8 "core" %\ -  "Y +4 "storage"(:% +8 "core" %H A A \ +2 "storage"(r. +6 "core" .([ +4 .tSC.reconfigure :tight +4 "storage"($\ .\ 1~b +4 .tSC.seek 7 +4 "storage"(6([ +6 "core" ( +3 .tSC.configure :limp +4 "storage"($\ 1b +4 (5& +6 "core" &[ \  ]\  +4 "manipulator"&"& +8 "core" &\ %  <9 +2 "manipulator"&z% +8 "core" %\ -  "Y +4 .tElbow.reconfigure :tight +5 "manipulator"&$&.,(\ #b +3 .tElbow.seek 7 +4 "manipulator"&( +170 "core" ( +4 "manipulator"&f& +7 "core" & % x +2 "storage"(`& +8 "core" &[ X X a\  +4 .tForearm.reconfigure :tight +5 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 7 + 450 counts +4 "manipulator"&M'k +110 "core" ' +3 "storage"(& +9 "core" &[ p j \  +4 .tSE.reconfigure :pick +4 "storage"(#]K-0-\ b +6 .tSE.seek :beamBreak +4 "storage"(D'e +282 "core" ' +3 "storage"(j- +6 "core" -' +4 .tSE.configure :default +4 "storage"(#QK-0-\ b +6 (& +7 "core" &[ u p \  +3 "manipulator"&d& +8 "core" & H Z i x +3 .tElbow.seek 7 +4 "manipulator"&G( +6 "core" ( +4 "manipulator"&& +8 "core" & b W $ x +2 "storage"({& +8 "core" &[ n o [\  +4 .tForearm.seek 7 + 300 counts +4 "manipulator"&K' +23 "core" ' +3 .tForearm.reconfigure :loose +4 "manipulator"&#Q@2^d^b +4 .tHand.close +3 "manipulator"&}/ +57 "core" / +4 ."downElevator"SE.seek :down +7 "manipulator"&W& +5 "storage"('N +13 "core" &  x +4 "manipulator"& % +7 "core" %  +4 .tForearm.seek :retract +2 "manipulator"&q'\ +96 "core" ' +4 .tElbow.seek PC + "manipulator"&,(c +138 "core" ' +2 ."downElevator"SE.stop +3 "storage"(5 +108 "core" ( +3 "manipulator"&R& +9 "core" &m @ +2 .tElbow.reconfigure :loose +6 "manipulator"&$ &.,(#b +102 && +12 "core" &m +4 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek PC +2 "manipulator"&2'[ +94 "core" ' +2 "manipulator"&U& +10 "core" &m N +3 "manipulator"&|% +8 "core" %\\ b +3 "processing"%H& +5 "core" &'\ +6 "processing"%]& +14 "core" &$\ +2 &\ +4 .tPC.seek :closed +6 "processing"% (Z +8 "core" &\ +2 &\ \ +6 &1}\ )w +9 &d\ > +10 &Gw\ M +10 & Y\ M +8 &\\\ M +11 &Y\ M +9 &!PY\ M +9 &#W\ L +10 &$Y\ M +8 &&Z\ M +9 &(XY\ M +11 &*Y\ M +8 &+Y\ M +11 &-Y\ M +9 &/_[\ M +9 &1!Y\ M +10 &2Y\ M +8 &4Y\ M +10 &6iY \ L +10 &8)Z\ M +8 &9Y\ M +11 &;Y\ M +9 &=pZ\ M +9 &?1\\\ M +10 &@Z\ M +8 &BY\ M +10 &DvZ\ M +9 &F8_\ M +9 &Gf\ N +11 &Ip\ P +9 &Kq\ R +10 &M.\ S +9 &N\ S +9 &P\ T +10 &Rs\ T +9 &T4\ T +9 &U \ T +10 &W \ U +9 &Yx\ B +9 &Z{= \ V +10 &Z \ * +6 ( +4 "processing"%]& +6 #tProcessing Clamp onSpring/offSpring for 9/25 samples, on/off torque 1.64 +3 .Hand.open +2 "manipulator"&<1 +6 "core" &Z \ * +54 1 +2 "manipulator"&I% +8 "core" % \\  +4 .tForearm.reconfigure :loose +6 "manipulator"&#Q@2^d^b +4 .tForearm.seek :retract +3 "manipulator"&'\ +93 "core" ' +3 "processing"%C& +9 "core" &Z\ * +3 #tImaging generic puck in Processing Clamp while storing it to tube 7 +3 "manipulator"&%% +8 "core" %\ * @ !P +3 "storage"(% +8 "core" %< 3 3\ +3 "storage"(1. +6 "core" .([ +3 "storage"(4& +8 "core" &[ 8 4\  +5 "storage"(& +4 "manipulator"&& +15 "core" &[ 8 4\  +2 &m 6 +6 .tElbow.reconfigure :tight +6 ."raiseStack"SE.reconfigure :place +7 "manipulator"&$&.,(\ #b +6 "storage"(#]kK-0-\ b +2 .tElbow.seek PC +9 "manipulator"&l(c +7 ."raiseStack"SE.seek :beamBreak +3 "storage"('e +4 "core" ( +4 "manipulator"&& +8 "core" &m  +2 .tElbow.reconfigure :loose +6 "manipulator"&$ &.,(#b +4 &L& +6 "core" &m < +4 .tForearm.seek PC +4 "manipulator"&v'[ +101 "core" ' +3 .tHand.close +2 "manipulator"&x/ +65 "core" / +4 .tPC.seek :open +4 "processing"%X(p +54 "core" ' +2 "storage"(h- +8 "core" -'e +2 ."raiseStack"SE.configure :default +5 "storage"(#QK-0-\ b +6 ."raiseStack"SE.seek :place +4 "storage"(O'B +48 "core" ' +268 ( +2 "storage"($& +8 "core" &[ 9 - ?\  +3 "manipulator"& & +8 "core" &m +3 "manipulator"&)% +7 "core" % e  +4 .tForearm.seek :retract +4 "manipulator"&N'\ +97 "core" ' +4 .tElbow.reconfigure :tight +5 "manipulator"&$&.,(\ #b +5 .tElbow.seek 7 + "manipulator"&g( +277 "core" ( +3 "manipulator"&& +8 "core" & | m +3 "storage"(& +8 "core" &[ > 6 =\  +4 .tForearm.reconfigure :tight +5 "manipulator"&#Q@2^d^\ b +5 .tForearm.seek 7 + 450 counts +3 "manipulator"&!'k +111 "core" ' +4 .tHand.open +3 "manipulator"&1 +60 "core" 1 +4 "storage"(- +8 "core" -'B +4 .tSE.seek -0.16 Pucks below Top Plate +4 "storage"(&' +24 "core" ' +3 .tSE.reconfigure :seal +6 "storage"(#QK-0-\ b +4 .tSE.seek -0.83 Pucks below Top Plate +4 "storage"(s' +55 "core" ' +3 #tLights, camera, ACTION! +3 "storage"(;- +6 "core" -' +4 "storage"(& +8 "core" &[ \  +3 "manipulator"&w& +8 "core" & c k l +3 .tElbow.seek 7 +4 "manipulator"&8( +6 "core" ( +3 "manipulator"&Q& +9 "core" & o o # l +2 "storage"('& +8 "core" &[ \  +4 .tForearm.seek 7 + 450 counts +4 "manipulator"&3'k +20 "core" ' +4 .tSE.reconfigure :gently +6 "storage"(#QK-0-\ b +4 .tSE.seek -0.11 Pucks below Top Plate +4 "storage"('M +64 "core" ' +4 "manipulator"&>& +8 "core" &  l +3 "storage"(+& +8 "core" &[ X X [\  +3 .tElbow.reconfigure :limp +4 "manipulator"&$ ,(b +5 .tForearm.reconfigure :loose +4 "manipulator"&#Q@2^d^b +4 .tForearm.seek 7 +4 "manipulator"&S'Ω +29 "core" ' +3 .tElbow.hold +3 "manipulator"&\ , +8 "core" , +2 .tElbow.reconfigure :tight +6 "manipulator"&$&.,(\ #b +5 .tSE.reconfigure :default +4 "storage"(#QK-0-\ b +3 .tSE.seek 0.07 Pucks below Top Plate +4 "storage"(t'7 +27 "core" ' +3 "manipulator"&o% +9 "core" %ν  w +2 "storage"(B& +8 "core" &[\ \  \  +4 .tForearm.force -20 + "manipulator"&5 +5 .tForearm.seek 7 + 320 counts +2 "manipulator"&' +20 "core" ' +2 "manipulator"&-& +10 "core" & s { E l +3 "storage"(n& +9 "core" &[ X X U\  +4 .tForearm.reconfigure :tight +4 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 7 + 450 counts +4 "manipulator"&'k +19 "core" ' +4 "storage"((% +8 "core" %; s s \ +4 ."downElevator"SE.seek :down +5 "storage"(A'N +99 (c% +6 "core" %)= 5 +\ V^ +4 "manipulator"&u% +9 "core" %] p m +4 .tForearm.reconfigure :loose +5 "manipulator"&#Q@2^d^b +5 .tForearm.seek :retract +3 "manipulator"& '\ +88 "core" ' +47 ' +2 ."downElevator"SE.stop +2 "storage"(5 +4 (F& +8 "core" &[ . 5\  +4 "collection"'@& +8 "core" &]qDD?\ N +3 #tStoring generic puck in Collection Clamp to tube 7 +2 "manipulator"&% +8 "core" %\ * 1 !S +3 "storage"(m% +9 "core" %F = F :\ +3 "storage"( . +6 "core" .([ +3 "storage"(e& +7 "core" &[ X X [\  +3 "storage"(?& +8 "core" &[ X X R\  +3 "manipulator"&#& +8 "core" &  l +3 .tElbow.seek 7 +5 "manipulator"&( +7 "core" ( +3 "manipulator"&& +9 "core" & x l +2 "storage"(k& +8 "core" &[ X X Y\  +5 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 7 + 450 counts +4 "manipulator"&9'k +100 "core" ' +4 "storage"(=& +8 "core" &[ K N |\  +4 .tSE.reconfigure :pick +4 "storage"(#]K-0-\ b +6 .tSE.seek :beamBreak +3 "storage"(J'e +281 "core" ' +3 "storage"(/- +7 "core" -' +3 .tSE.configure :default +4 "storage"(#QK-0-\ b +5 "manipulator"&p& +6 "core" &  l +3 "storage"(0& +7 "core" &[ X W Y\  +3 .tElbow.reconfigure :limp +4 "manipulator"&$ ,(b +6 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek 7 +4 "manipulator"&i'Ω +36 "core" ' +3 .tElbow.hold +3 "manipulator"&*, +7 "core" , +2 .tElbow.reconfigure :tight +6 "manipulator"&$&.,(\ #b +4 "storage"(y- +6 "core" -' +4 .tSE.seek 0.12 Pucks below Top Plate +4 "storage"(^'r +31 "core" ' +3 "manipulator"&% +8 "core" %ηo 7  +2 "storage"(\\& +8 "core" &[\ \  \  +3 .tForearm.force -20 +2 "manipulator"&5 +6 .tForearm.seek 7 + 314 counts + "manipulator"&T' +18 "core" ' +4 "manipulator"&& +8 "core" & } { z l +3 "storage"(.& +9 "core" &[ X X Q\  +4 .tForearm.reconfigure :tight +4 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 7 + 450 counts +4 "manipulator"&_'k +25 "core" ' +4 .tSE.seek 1.12 Pucks below Top Plate +2 "storage"(Y'a +48 "core" ' +4 "manipulator"&~& +8 "core" & p n  l +4 "manipulator"&P% +8 "core" %Є s z E +4 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +5 .tForearm.seek :retract +6 "manipulator"&a'\ +87 "core" ' +4 .tElbow.seek CC +4 "manipulator"&:( +150 "core" ( +3 "manipulator"&r& +8 "core" &% \\ <9 +3 .tElbow.reconfigure :loose +5 "manipulator"&$ &.,(#b +5 &5& +7 "core" &%  <9 +3 .tForearm.seek CC +3 "manipulator"&"'| +100 "core" ' +3 .tHand.close +3 "manipulator"&z/ +60 "core" / +4 .tCC.seek :open +4 "collection"'Z(p +409 "core" ( +3 "storage"(f& +8 "core" &[ '\  +3 "storage"(`& +7 "core" &[ \  +3 "manipulator"&V& +8 "core" &! v 6 +3 "manipulator"&b% +7 "core" % v l +4 .tForearm.seek :retract + "manipulator"&'\ +94 "core" ' +4 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +4 .tElbow.seek 7 +4 "manipulator"&E( +157 "core" ( +2 "manipulator"&j& +9 "core" &  +3 "storage"(& +8 "core" &[ 5\  +100 .tElbow.reconfigure :limp +8 "manipulator"&$ ,(b +5 .tForearm.seek 7 + "manipulator"&d'Ω +107 "core" ' +3 .tElbow.hold +4 "manipulator"&, +6 "core" , +3 .tElbow.reconfigure :tight +5 "manipulator"&$&.,(\ #b +4 .tHand.open +4 "manipulator"&{1 +60 "core" 1 +4 "manipulator"&}% +9 "core" % μ +2 "storage"(W& +8 "core" &[ s s \  +3 .tForearm.force -20 +3 "manipulator"&5 +5 .tForearm.seek 7 + 319 counts +2 "manipulator"& ' +18 "core" ' +4 "manipulator"&& +8 "core" & l o +4 "storage"(M& +8 "core" &[ :\  +4 .tForearm.reconfigure :tight +4 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 7 + 450 counts +4 "manipulator"&D'k +19 "core" ' +4 "storage"(K% +8 "core" %a >\ +4 ."downElevator"SE.seek :down +5 "storage"(R'N +99 (% +6 "core" %C< _\ U\\ +4 "manipulator"&G% +7 "core" %_ d m ; +4 .tForearm.reconfigure :loose +6 "manipulator"&#Q@2^d^b +4 .tForearm.seek :retract +4 "manipulator"&'\ +89 "core" ' +35 ' +2 ."downElevator"SE.stop +3 "storage"(5 +6 #tShuffling pucks in tube 6 of [6..7] +2 #Loading generic puck from tube 6 into Collection Clamp +3 "collection"'U& +9 "core" &f\ +4 "manipulator"&|% +8 "core" %\ * Y !P +4 "storage"(H% +8 "core" %N ]\ +2 "storage"(q. +7 "core" .([ +4 .tSC.reconfigure :tight +4 "storage"($\ .\ 1~b +4 .tSC.seek 6 +4 "storage"([(K +359 "core" ( +3 .tSC.configure :limp +4 "storage"($\ 1b +5 (<& +5 "core" &K X X _\ +3 "manipulator"&I& +8 "core" &  +3 .tElbow.seek 6 +4 "manipulator"&C( +42 "core" ( +3 "manipulator"&]& +9 "core" & k  +2 "storage"(%& +9 "core" &K 7\ +4 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 6 + 450 counts +4 "manipulator"&'< +103 "core" ' +4 "storage"(1& +8 "core" &K g\ +4 .tSE.reconfigure :pick +6 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +4 "storage"(4'e +281 "core" ' +3 "storage"(- +6 "core" -' +4 .tSE.configure :default +4 "storage"(#QK-0-\ b +5 (& +7 "core" &K F\ +3 "manipulator"&& +8 "core" & m S S  +4 .tElbow.seek 6 +4 "manipulator"&L( +6 "core" ( +3 "manipulator"&2& +7 "core" & c W  +5 "storage"(x& +7 "core" &K ,\ +4 .tForearm.seek 6 + 300 counts +4 "manipulator"&h'Ϧ +16 "core" ' +4 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +4 .tHand.close +4 "manipulator"&,/ +56 "core" / +5 ."downElevator"SE.seek :down +8 "manipulator"&& +2 "storage"( 'N +15 "core" & m n %  +3 "manipulator"&% +8 "core" % ϧ c n O ; +4 .tForearm.seek :retract +4 "manipulator"&$'\ +92 "core" ' +4 .tElbow.seek CC +4 "manipulator"& ( +133 "core" ' +3 ."downElevator"SE.stop +2 "storage"(5 +28 "core" ( +4 "manipulator"&)& +8 "core" & &  =G +3 .tElbow.reconfigure :loose +4 "manipulator"&$ &.,(#b +4 &v& +6 "core" & & @ =G +4 .tForearm.reconfigure :tight +5 "manipulator"&#Q@2^d^\ b +5 .tForearm.seek CC + "manipulator"&'| +109 "core" ' +2 "manipulator"&& +9 "core" & &  =F +3 "manipulator"&l% +8 "core" %p s +3 "collection"'& +9 "core" &h\ +4 "collection"'& +10 "core" &e\ +4 &k\ +4 .tCC.seek :closed +5 "collection"';(] +8 "core" &g\ +3 &a\ 7 +8 &H~c\ 1 +8 &@sf\ E +10 &be\ M +10 &\\c\ M +9 &m]f\ M +10 & /]f\ M +8 &!^e\ M +10 &#]c\ M +10 &%u]e\ M +8 &'7^f\ M +10 &(\\f\ M +10 &*_d\ M +9 &,}\\e\ M +10 &.>\\d\ M +8 &0]b\ M +10 &1]e\ M +10 &3\\e\ M +8 &5G]e\ M +10 &7\ _e\ L +10 &8^d\ M +9 &:^_\ M +10 &`d\ M +10 &?^c\ M +10 &A]^\ M +8 &CW^c\ M +10 &E_b\ M +10 &F\\b\ M +9 &HfV\ M +10 &JVt]\ P +8 &L]\ S +10 &Mds_\ V +10 &O_bW\ W +9 &QGX]]\ X +9 &SPUX\ X +10 &TKN[\ Y +9 &VFGN\ Z +10 &XH?DT\ Z +9 &Z8=R\ \\ +10 &[49]\ [ +9 &](O-2W\ 4 +9 &],.W\ V +8 ( +6 "collection"'& +9 #tCollection Clamp onSpring/offSpring for 9/26 samples, on/off torque 2.06 +2 .Hand.open +4 "manipulator"&N1 +6 "core" &]k,/W\ Q +4 &]k/1]\ Q +54 1 +3 "manipulator"&% +8 "core" % p + +4 .tForearm.reconfigure :loose +5 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +4 "manipulator"&w'\ +98 "core" ' +4 #tLoading generic puck from tube 6 into Processing Clamp +2 "processing"%Q& +8 "core" &%\ +3 "manipulator"&'% +9 "core" %\ 6  & +3 "storage"(>% +7 "core" %: 8 5 \ +4 "storage"(+. +5 "core" .(K +4 .tSC.reconfigure :tight +4 "storage"($\ .\ 1~b +4 .tSC.seek 6 +4 "storage"(O(K +7 "core" ( +3 .tSC.configure :limp +4 "storage"($\ 1b +4 (&& +8 "core" &K = l\ +2 "manipulator"&o& +8 "core" &# ;7 +3 "manipulator"&B% +8 "core" %\ 6 c & +4 .tElbow.reconfigure :tight +5 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +4 "manipulator"&g( +165 "core" ( +3 "manipulator"&!& +9 "core" & r * +3 "storage"(-& +8 "core" &K X X X\ +4 .tForearm.reconfigure :tight +4 "manipulator"&#Q@2^d^\ b +7 .tForearm.seek 6 + 450 counts +4 "manipulator"&n'< +93 "core" ' +3 "storage"(s& +8 "core" &K d o\ +3 .tSE.reconfigure :pick +6 "storage"(#]K-0-\ b +6 .tSE.seek :beamBreak +3 "storage"(('e +278 "core" ' +3 "storage"(3- +7 "core" -' +3 .tSE.configure :default +4 "storage"(#QK-0-\ b +5 (c& +5 "core" &K [ c\ +4 "manipulator"&u& +7 "core" & r  * +3 .tElbow.seek 6 +4 "manipulator"&8( +6 "core" ( +3 "manipulator"&& +7 "core" & w * +3 "storage"(S& +9 "core" &K s ^ P\ +4 .tForearm.seek 6 + 300 counts + "manipulator"&'Ϧ +23 "core" ' +3 .tForearm.reconfigure :loose +4 "manipulator"&#Q@2^d^b +4 .tHand.close +2 "manipulator"&F/ +55 "core" / +5 ."downElevator"SE.seek :down +5 "manipulator"&@& +4 "storage"('N +14 "core" & p w  * +4 "manipulator"&t% +8 "core" % Ϟ s y C +4 .tForearm.seek :retract + "manipulator"&m'\ +91 "core" ' +3 .tElbow.seek PC +4 "manipulator"& (c +149 "core" ' +2 ."downElevator"SE.stop +3 "storage"(5 +99 "core" ( +2 "manipulator"&e& +9 "core" &m D +3 .tElbow.reconfigure :loose +5 "manipulator"&$ &.,(#b +3 &?& +8 "core" &m +4 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +6 .tForearm.seek PC +4 "manipulator"&#'[ +93 "core" ' +3 "manipulator"&& +8 "core" &m y +4 "manipulator"&k% +8 "core" %[ 5 +4 "processing"%& +7 "core" &&\ +5 "processing"%=& +8 "core" &\ +6 &\ +3 .tPC.seek :closed +2 "processing"%A(Z +8 "core" &\ +7 &&\ 2 +7 &\ G|\ 0 +10 &6s\ D +8 &e\ M +11 &Y\ L +9 &`Y\ M +9 & !X\ M +10 &!Y \ M +8 &#W!\ M +10 &%hY"\ M +10 &'*W$\ M +8 &(X \ M +11 &*\\"\ M +8 &,oX \ M +10 &.2Y \ M +10 &/Y!\ M +8 &1W\ M +10 &3xY\ M +10 &5:\\\ M +8 &6[\ M +11 &8Y!\ M +9 &:Y\ M +9 &Y\ M +8 &?Z\ M +10 &A\\\ M +10 &CKZ\ L +8 &E Z \ M +10 &F_\ M +10 &Hd\ N +9 &JJr\ O +10 &L{ \ Q +9 &M \ S +9 &O \ S +10 &QE\ T +9 &S\ T +9 &T\ T +10 &V\ S +9 &XK\ T +10 &Y{t\ (} +8 &Z)u\ E +11 &Z#\ / +4 ( +4 &Z#\ / +4 "processing"%=& +4 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.55 +3 .Hand.open +3 "manipulator"&\ 1 +61 "core" 1 +3 "manipulator"& % +8 "core" % [ ' +4 .tForearm.reconfigure :loose +5 "manipulator"&#Q@2^d^b +5 .tForearm.seek :retract + "manipulator"&/'\ +95 "core" ' +3 "processing"%p& +8 "core" &Z#\ / +2 #tImaging generic puck in Processing Clamp while storing it to tube 6 +3 "manipulator"&0% +8 "core" %\ )  L +3 "storage"(y% +7 "core" %P 8 5\  +4 "storage"(. +6 "core" .(K +3 "storage"(\\& +7 "core" &K 9 9 \ +4 "storage"(& +8 "manipulator"&.& +8 "core" &K 9 8\ +2 &m - +6 .tElbow.reconfigure :tight +6 ."raiseStack"SE.reconfigure :place +9 "manipulator"&$&.,(\ #b +7 .tElbow.seek PC +109 "storage"(#]kK-0-\ b +5 "manipulator"&~(c +13 ."raiseStack"SE.seek :beamBreak +3 "storage"(P'e +4 "core" ( +4 "manipulator"&9& +8 "core" &m  +2 .tElbow.reconfigure :loose +6 "manipulator"&$ &.,(#b +3 && +7 "core" &m  +4 .tForearm.seek PC +4 "manipulator"&J'[ +96 "core" ' +4 .tHand.close + "manipulator"&i/ +65 "core" / +4 .tPC.seek :open +4 "processing"%T(p +58 "core" ' +3 "storage"(^- +6 "core" -'e +4 ."raiseStack"SE.configure :default +5 "storage"(#QK-0-\ b +5 ."raiseStack"SE.seek :place +4 "storage"(r'B +41 "core" ' +271 ( +2 "storage"(5& +10 "core" &K X X U\ +3 "manipulator"&_& +7 "core" &m < +3 "manipulator"&*% +8 "core" % S  +4 .tForearm.seek :retract +4 "manipulator"&z'\ +98 "core" ' +3 .tElbow.reconfigure :tight +4 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +4 "manipulator"&a( +256 "core" ( +3 "manipulator"&7& +9 "core" & 8  +2 "storage"(f& +8 "core" &K K 8 !\ +4 .tForearm.reconfigure :tight +4 "manipulator"&#Q@2^d^\ b +5 .tForearm.seek 6 + 450 counts +2 "manipulator"&`'< +96 "core" ' + .tHand.open +4 "manipulator"&V1 +60 "core" 1 +4 "storage"(b- +7 "core" -'B +4 .tSE.seek -0.16 Pucks below Top Plate +4 "storage"(j' +26 "core" ' +4 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +4 .tSE.seek -0.83 Pucks below Top Plate +4 "storage"(' +54 "core" ' +3 #tLights, camera, ACTION! +2 "storage"("- +7 "core" -' +3 "storage"(:& +8 "core" &K H\ +3 "manipulator"&{& +8 "core" &   +3 .tElbow.seek 6 +2 "manipulator"&}( +24 "core" ( +3 "manipulator"&W& +9 "core" & s )  +2 "storage"(& +8 "core" &K /\ +5 .tForearm.seek 6 + 450 counts + "manipulator"&M'< +7 "core" ' +4 .tSE.reconfigure :gently +5 "storage"(#QK-0-\ b +4 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"('M +65 "core" ' +3 "manipulator"&K& +9 "core" & d k  +2 "storage"(E& +8 "core" &K X Y \ +4 .tElbow.reconfigure :limp +4 "manipulator"&$ ,(b +5 .tForearm.reconfigure :loose +5 "manipulator"&#Q@2^d^b +4 .tForearm.seek 6 +4 "manipulator"&'z +35 "core" ' +3 .tElbow.hold +4 "manipulator"&G, +7 "core" , +3 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +6 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +3 .tSE.seek 0.07 Pucks below Top Plate +4 "storage"(d'7 +24 "core" ' +4 "manipulator"&U% +9 "core" %΂a = +3 "storage"( & +7 "core" &K\ \  \ +3 .tForearm.force -20 +3 "manipulator"&5 +5 .tForearm.seek 6 + 308 counts +3 "manipulator"&|'Ϯ +18 "core" ' +2 "manipulator"&H& +10 "core" & p n B  +2 "storage"(Y& +8 "core" &K t s -\ +5 .tForearm.reconfigure :tight +4 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 6 + 450 counts +5 "manipulator"&q'< +19 "core" ' +3 "storage"(D% +9 "core" %A z | \ +4 ."downElevator"SE.seek :down +5 "storage"(R'N +99 (6% +6 "core" %~< @ X 0\ U] +4 "manipulator"&<% +8 "core" %< d j +4 .tForearm.reconfigure :loose +5 "manipulator"&#Q@2^d^b +5 .tForearm.seek :retract +4 "manipulator"&I'\ +88 "core" ' +44 ' +2 ."downElevator"SE.stop +2 "storage"(5 +6 (]& +8 "core" &K X V\ +3 "collection"'%& +57 "core" &]j35[\ Q +3 #tStoring generic puck in Collection Clamp to tube 6 +4 "manipulator"&1% +8 "core" %\ + !Q +3 "storage"(% +7 "core" %> X Z s\ +4 "storage"(. +6 "core" .(K +3 "storage"(& +8 "core" &K [ Y\ +2 "storage"(& +7 "core" &K [ [\ +4 "manipulator"&& +8 "core" & W  +3 .tElbow.seek 6 +2 "manipulator"&2( +7 "core" ( +3 "manipulator"&x& +8 "core" & l  +2 "storage"(,& +8 "core" &K [ [\ +4 .tForearm.reconfigure :tight +6 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +3 "manipulator"&'< +101 "core" ' +4 "storage"(& +8 "core" &K o ^ \ +4 .tSE.reconfigure :pick +5 "storage"(#]K-0-\ b +7 .tSE.seek :beamBreak + "storage"(C'e +281 "core" ' +2 "storage"(- +8 "core" -' +3 .tSE.configure :default +4 "storage"(#QK-0-\ b +5 "manipulator"&4& +5 "core" &   +4 "storage"()& +7 "core" &K X X ^\ +3 .tElbow.reconfigure :limp +5 "manipulator"&$ ,(b +5 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek 6 +4 "manipulator"&v'z +35 "core" ' +3 .tElbow.hold +2 "manipulator"&h, +7 "core" , +3 .tElbow.reconfigure :tight +5 "manipulator"&$&.,(\ #b +5 "storage"(L- +4 "core" -' +4 .tSE.seek 0.11 Pucks below Top Plate +3 "storage"('l +29 "core" ' +4 "manipulator"&l% +8 "core" %΄Z i ² +2 "storage"(& +7 "core" &K\ \  ^\ +3 .tForearm.force -20 +3 "manipulator"&5 +4 .tForearm.seek 6 + 310 counts +4 "manipulator"& 'ϰ +19 "core" ' +2 "manipulator"&$& +9 "core" & o q (  +3 "storage"(Z& +8 "core" &K W Y %\ +4 .tForearm.reconfigure :tight +5 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 6 + 450 counts +3 "manipulator"&N'< +19 "core" ' +5 .tSE.seek 1.11 Pucks below Top Plate +3 "storage"('[ +53 "core" ' +2 "manipulator"&Q& +10 "core" & n n  +2 "manipulator"&% +8 "core" %B e n Q +3 .tForearm.reconfigure :loose +6 "manipulator"&#Q@2^d^b +4 .tForearm.seek :retract +4 "manipulator"&''\ +90 "core" ' +4 .tElbow.seek CC + "manipulator"&>( +171 "core" ( +3 "manipulator"&+& +9 "core" &\  K * +2 .tElbow.reconfigure :loose +6 "manipulator"&$ &.,(#b +4 &&& +8 "core" &\  c * +3 .tForearm.seek CC +3 "manipulator"&o'| +104 "core" ' +3 .tHand.close + "manipulator"&B/ +62 "core" / +4 .tCC.seek :open + "collection"'(p +411 "core" ( +4 "storage"(!& +8 "core" &K \ +2 "storage"(-& +7 "core" &K \ +3 "manipulator"&[& +7 "core" &\   * +3 "manipulator"& % +9 "core" % p  | +3 .tForearm.seek :retract +3 "manipulator"&s'\ +93 "core" ' +4 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +4 .tElbow.seek 6 +4 "manipulator"&w( +160 "core" ( +4 "manipulator"&3& +8 "core" & l  +3 "storage"(c& +9 "core" &K \ +2 .tElbow.reconfigure :limp +6 "manipulator"&$ ,(b +4 .tForearm.seek 6 +4 "manipulator"&u'z +110 "core" ' +3 .tElbow.hold + "manipulator"&, +8 "core" , +2 .tElbow.reconfigure :tight +6 "manipulator"&$&.,(\ #b +4 .tHand.open +3 "manipulator"&S1 +65 "core" 1 +5 "manipulator"&F% +5 "core" % ΄ k ^ +4 "storage"(@& +8 "core" &K [ Z\ +3 .tForearm.force -20 +2 "manipulator"&5 +4 .tForearm.seek 6 + 310 counts +4 "manipulator"&t'ϰ +18 "core" ' +3 "manipulator"&g& +8 "core" & e q  +3 "storage"(n& +8 "core" &K O\ +5 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 6 + 450 counts +4 "manipulator"&('< +18 "core" ' +3 "storage"(% +8 "core" %\\ V\ +5 ."downElevator"SE.seek :down +8 "storage"(e'N +99 (?% +6 "core" %,: \ U[ +3 "manipulator"&8% +9 "core" %< n n +4 .tForearm.reconfigure :loose +4 "manipulator"&#Q@2^d^b +4 .tForearm.seek :retract +4 "manipulator"&'\ +92 "core" ' +30 ' +2 ."downElevator"SE.stop +2 "storage"(5 +6 #tShuffling pucks in tube 7 of [6..7] +3 #Loading generic puck from tube 7 into Collection Clamp +3 "collection"'k& +9 "core" &e\ +3 "manipulator"&% +7 "core" %\ 1  $p +4 "storage"(% +8 "core" %: W\ +2 "storage"(m. +7 "core" .(K +4 .tSC.reconfigure :tight +4 "storage"($\ .\ 1~b +4 .tSC.seek 7 +4 "storage"(X([ +364 "core" ( +3 .tSC.configure :limp +4 "storage"($\ 1b +4 (\ & +6 "core" &[ F U P\  +3 "manipulator"& & +7 "core" &  +100 .tElbow.seek 7 +5 "manipulator"&p( +33 "core" ( +3 "manipulator"&=& +9 "core" &\ A ` +2 "storage"(0& +9 "core" &[ q\  +8 .tForearm.reconfigure :tight +5 "manipulator"&#Q@2^d^\ b +8 .tForearm.seek 7 + 450 counts +2 "manipulator"&y'k +112 "core" ' +3 "storage"(& +8 "core" &[ b\  +4 .tSE.reconfigure :pick +4 "storage"(#]K-0-\ b +6 .tSE.seek :beamBreak +3 "storage"(\\'e +290 "core" ' +2 "storage"(.- +8 "core" -' +2 .tSE.configure :default +6 "storage"(#QK-0-\ b +5 (& +5 "core" &[ \  +4 "manipulator"&#& +8 "core" &\ o p ` +4 .tElbow.seek 7 +3 "manipulator"&9( +6 "core" ( +4 "manipulator"&& +8 "core" &\ p n ` +2 "storage"(i& +8 "core" &[ E\  +4 .tForearm.seek 7 + 300 counts +4 "manipulator"&^' +25 "core" ' +3 .tForearm.reconfigure :loose +4 "manipulator"&#Q@2^d^b +4 .tHand.close +4 "manipulator"& / +62 "core" / +6 ."downElevator"SE.seek :down +6 "manipulator"&/& +4 "storage"(A'N +14 "core" &\  ` +4 "manipulator"&P% +8 "core" %   +4 .tForearm.seek :retract +4 "manipulator"&5'\ +100 "core" ' +4 .tElbow.seek CC +4 "manipulator"&_( +121 "core" ' +2 ."downElevator"SE.stop +3 "storage"(5 +33 "core" ( +4 "manipulator"&*& +8 "core" &( < ?U +3 .tElbow.reconfigure :loose +4 "manipulator"&$ &.,(#b +5 &J& +5 "core" &(  ?U +4 .tForearm.reconfigure :tight +6 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek CC +4 "manipulator"&7'| +103 "core" ' +4 "manipulator"&f& +8 "core" &(  ?U +3 "manipulator"&~% +9 "core" %  +3 "collection"'V& +9 "core" &u\ +4 "collection"'b& +10 "core" &g\ +4 &l\ +4 .tCC.seek :closed +6 "collection"'"(] +6 "core" &n\ +4 &p\ 8 +9 &H~o\ 0 +10 &=rf\ E +8 &bf\ M +10 &\\e\ M +10 &g]e\ M +8 & )^f\ M +10 &!^l\ M +10 &#]g\ M +8 &%n]f\ M +11 &'0^e\ M +8 &(\\f\ M +10 &*\\g\ M +10 &,w\\e\ M +8 &.:]d\ M +10 &/]d\ M +10 &1]g\ M +8 &3[d\ M +11 &5B\\f\ M +8 &7]e\ M +10 &8^`\ M +10 &:]e\ M +8 & \\d\ M +10 &?_c\ M +8 &A\\d\ M +11 &CQ]f\ M +8 &E\\f\ M +10 &F]d\ M +10 &Hck\ M +8 &JRob\ O +10 &L a\ R +10 &Mrh\ V +9 &Ogkb\ W +10 &QBcfb\ X +8 &S[\\j\ X +10 &TUYX\ Y +10 &VPSX\ Y +9 &XAHM\\\ [ +9 &YDG`\ \\ +10 &[<@U\ [\ +9 &]%P<;_\ 4 +10 &]7:W\ V +8 ( +4 "collection"'b& +6 #tCollection Clamp onSpring/offSpring for 9/26 samples, on/off torque 2.05 +4 .Hand.open + "manipulator"&:1 +7 "core" &]w9:]\ R +47 1 +3 "manipulator"&{% +8 "core" % ~  +4 .tForearm.reconfigure :loose +4 "manipulator"&#Q@2^d^b +4 .tForearm.seek :retract +4 "manipulator"&z'\ +97 "core" ' +4 #tLoading generic puck from tube 7 into Processing Clamp + "processing"%W& +9 "core" &\ +3 "manipulator"&% +8 "core" %\ 0  $r +3 "storage"(K% +9 "core" %; 9 :\ +2 "storage"(E. +6 "core" .([ +4 .tSC.reconfigure :tight +5 "storage"($\ .\ 1~b +3 .tSC.seek 7 +4 "storage"(r([ +105 "core" ( +3 .tSC.configure :limp +5 "storage"($\ 1b +5 (j& +5 "core" &[ \  \  +4 "manipulator"&U& +7 "core" &%  =B +3 "manipulator"& % +8 "core" %\ 1  $r +4 .tElbow.reconfigure :tight +5 "manipulator"&$&.,(\ #b +3 .tElbow.seek 7 +4 "manipulator"&a( +159 "core" ( +3 "manipulator"&H& +9 "core" &   +2 "storage"(Y& +8 "core" &[ X X a\  +4 .tForearm.reconfigure :tight +5 "manipulator"&#Q@2^d^\ b +5 .tForearm.seek 7 + 450 counts +4 "manipulator"&`'k +94 "core" ' +3 "storage"(& +8 "core" &[ o ^\  +4 .tSE.reconfigure :pick +6 "storage"(#]K-0-\ b +6 .tSE.seek :beamBreak +3 "storage"(D'e +279 "core" ' +3 "storage"(M- +7 "core" -' +3 .tSE.configure :default +4 "storage"(#QK-0-\ b +5 (6& +4 "core" &[ [ X t\  +3 "manipulator"&<& +9 "core" & p o  +3 .tElbow.seek 7 +2 "manipulator"&}( +6 "core" ( +3 "manipulator"&& +8 "core" & k r   +2 "storage"(& +8 "core" &[ X N E\  +4 .tForearm.seek 7 + 300 counts +4 "manipulator"&|' +20 "core" ' +4 .tForearm.reconfigure :loose +4 "manipulator"&#Q@2^d^b +4 .tHand.close +3 "manipulator"&]/ +64 "core" / +5 ."downElevator"SE.seek :down +5 "manipulator"&d& +4 "storage"(%'N +14 "core" & o n   +4 "manipulator"&1% +8 "core" % o n +4 .tForearm.seek :retract +3 "manipulator"&'\ +99 "core" ' +3 .tElbow.seek PC +4 "manipulator"&(c +142 "core" ' +2 ."downElevator"SE.stop +3 "storage"(5 +92 "core" ( +3 "manipulator"&& +10 "core" &^ h C +2 .tElbow.reconfigure :loose +5 "manipulator"&$ &.,(#b +5 && +7 "core" &^  C +4 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek PC +4 "manipulator"&'[ +105 "core" ' +4 "manipulator"&x& +8 "core" &^  C +4 "manipulator"&q% +8 "core" %a < +3 "processing"%,& +8 "core" &&\ +5 "processing"%& +12 "core" &\ +4 &\ +6 .tPC.seek :closed +4 "processing"%R(Z +8 "core" &\ +2 &\  +6 &/|\ *y +8 &d\ > +9 &Fu\ N +11 & W\ L +8 &Z\ M +10 &Y\ M +10 &!PY \ M +9 &#W \ M +10 &$W$\ L +8 &&Y#\ M +10 &(WY\ M +10 &*Y!\ M +8 &+X \ M +10 &-Y#\ M +10 &/_[ \ M +9 &1!X\ M +10 &2Y!\ M +8 &4W\ M +10 &6fY"\ M +10 &8(Y\ M +8 &9X \ M +10 &;Y\ M +10 &=oY\ M +9 &?0Z!\ M +10 &@Z$\ M +8 &BU\ M +12 &DvZ\ M +8 &F8_\ M +8 &Gd!\ N +10 &Is!\ P +10 &Kp\ R +8 &M/ \ S +11 &N\ S +8 &P\ S +10 &Rr\ T +10 &T6\ S +9 &U\ T +9 &W \ T +10 &Yx \ B +10 &Zu8\ !c +9 &Z"\ * +6 ( +4 &Z \ * +4 "processing"%& +6 #tProcessing Clamp onSpring/offSpring for 9/25 samples, on/off torque 1.65 +4 .Hand.open + "manipulator"&G1 +6 "core" &Z \ * +56 1 +2 "manipulator"&I% +8 "core" % a g +4 .tForearm.reconfigure :loose +4 "manipulator"&#Q@2^d^b +5 .tForearm.seek :retract +2 "manipulator"&'\ +97 "core" ' +3 "processing"%4& +8 "core" &Z\ * +3 #tImaging generic puck in Processing Clamp while storing it to tube 7 +4 "manipulator"&)% +8 "core" %\ .  #b +3 "storage"(L% +7 "core" %Q 9 9 \  +3 "storage"(l. +6 "core" .([ +2 "storage"(& +7 "core" &[ 8 5\  +4 "storage"($& +10 "manipulator"&Z& +8 "core" &[ 5 9\  +2 &^  C +6 .tElbow.reconfigure :tight +6 ."raiseStack"SE.reconfigure :place +7 "manipulator"&$&.,(\ #b +6 "storage"(#]kK-0-\ b +2 .tElbow.seek PC +8 "manipulator"&Q(c +7 ."raiseStack"SE.seek :beamBreak +4 "storage"('e +4 "core" ( +4 "manipulator"&& +8 "core" &^  C +2 .tElbow.reconfigure :loose +6 "manipulator"&$ &.,(#b +4 &2& +8 "core" &^  C +3 .tForearm.seek PC +3 "manipulator"&C'[ +98 "core" ' +2 .tHand.close +4 "manipulator"&v/ +58 "core" / +4 .tPC.seek :open + "processing"% (p +63 "core" ' +2 "storage"(- +8 "core" -'e +2 ."raiseStack"SE.configure :default +5 "storage"(#QK-0-\ b +5 ."raiseStack"SE.seek :place +4 "storage"(+'B +35 "core" ' +272 ( +3 "storage"(&& +8 "core" &[ X A &\  +3 "manipulator"&N& +7 "core" &^  C +3 "manipulator"&h% +9 "core" % c  +3 .tForearm.seek :retract +5 "manipulator"&B'\ +97 "core" ' +4 .tElbow.reconfigure :tight +4 "manipulator"&$&.,(\ #b +4 .tElbow.seek 7 +4 "manipulator"&'( +245 "core" ( +3 "manipulator"&;& +8 "core" & | F +3 "storage"(!& +8 "core" &[ A A \  +4 .tForearm.reconfigure :tight +4 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 7 + 450 counts +4 "manipulator"&-'k +104 "core" ' +4 .tHand.open +3 "manipulator"&[1 +63 "core" 1 +3 "storage"( - +8 "core" -'B +4 .tSE.seek -0.16 Pucks below Top Plate +4 "storage"(3' +26 "core" ' +3 .tSE.reconfigure :seal +5 "storage"(#QK-0-\ b +4 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(c' +54 "core" ' +3 #tLights, camera, ACTION! +3 "storage"(o- +6 "core" -' +4 "storage"(>& +106 "Can"# wt +10 "core" &[ \  +2 "manipulator"&S& +8 "core" & r o  F +3 .tElbow.seek 7 +4 "manipulator"&F( +6 "core" ( +3 "manipulator"&@& +8 "core" & o p  F +3 "storage"(g& +7 "core" &[ \  +5 .tForearm.seek 7 + 450 counts +2 "manipulator"&n'k +7 "core" ' +4 .tSE.reconfigure :gently +4 "storage"(#QK-0-\ b +5 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"(s'M +63 "core" ' +4 "manipulator"&& +8 "core" & c a | F +4 "storage"(w& +8 "core" &[ X Z T\  +3 .tElbow.reconfigure :limp +4 "manipulator"&$ ,(b +5 .tForearm.reconfigure :loose +5 "manipulator"&#Q@2^d^b +4 .tForearm.seek 7 +4 "manipulator"&?'Ω +36 "core" ' +4 .tElbow.hold +4 "manipulator"&8, +7 "core" , +3 .tElbow.reconfigure :tight +5 "manipulator"&$&.,(\ #b +5 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +5 .tSE.seek 0.07 Pucks below Top Plate + "storage"(u'7 +26 "core" ' +4 "manipulator"&k% +8 "core" %μ| I K +4 "storage"(t& +8 "core" &[\ \  \  +3 .tForearm.force -20 +2 "manipulator"&5 +6 .tForearm.seek 7 + 319 counts + "manipulator"&' +20 "core" ' +3 "manipulator"&& +9 "core" & p o F +3 "storage"(& +9 "core" &[ ` J 7\  +4 .tForearm.reconfigure :tight +5 "manipulator"&#Q@2^d^\ b +5 .tForearm.seek 7 + 450 counts +4 "manipulator"&m'k +22 "core" ' +3 "storage"((% +9 "core" %< s s \  +4 ."downElevator"SE.seek :down +5 "storage"(e'N +99 (O% +5 "core" %9 A @ 7\ U] +4 "manipulator"&\ % +8 "core" %p q q \ ! +4 .tForearm.reconfigure :loose +6 "manipulator"&#Q@2^d^b +4 .tForearm.seek :retract +4 "manipulator"& '\ +98 "core" ' +38 ' +2 ."downElevator"SE.stop +3 "storage"(5 +4 (=& +8 "core" &[ T Z \  +4 "collection"'0& +8 "core" &]vAB\\\ R +3 #tStoring generic puck in Collection Clamp to tube 7 +3 "manipulator"&% +8 "core" %\    +3 "storage"(% +8 "core" %O Z X \  +2 "storage"(. +7 "core" .([ +3 "storage"(.& +8 "core" &[ N X @\  +2 "storage"(& +7 "core" &[ Z X _\  +3 "manipulator"&#& +9 "core" &  F +3 .tElbow.seek 7 +2 "manipulator"&( +6 "core" ( +4 "manipulator"&i& +8 "core" & * F +2 "storage"( & +8 "core" &[ X X 8\  +4 .tForearm.reconfigure :tight +4 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 7 + 450 counts +2 "manipulator"&/'k +100 "core" ' +4 "storage"(P& +8 "core" &[ r s \  +4 .tSE.reconfigure :pick +5 "storage"(#]K-0-\ b +6 .tSE.seek :beamBreak +3 "storage"(p'e +280 "core" ' +2 "storage"(y- +8 "core" -' +2 .tSE.configure :default +5 "storage"(#QK-0-\ b +5 "manipulator"&\\& +8 "core" & p o F +3 "storage"(*& +7 "core" &[ W U \  +3 .tElbow.reconfigure :limp +5 "manipulator"&$ ,(b +5 .tForearm.reconfigure :loose +4 "manipulator"&#Q@2^d^b +4 .tForearm.seek 7 +4 "manipulator"&J'Ω +37 "core" ' +3 .tElbow.hold +2 "manipulator"&^, +8 "core" , +2 .tElbow.reconfigure :tight +5 "manipulator"&$&.,(\ #b +3 "storage"(9- +7 "core" -' +5 .tSE.seek 0.12 Pucks below Top Plate + "storage"(f'r +30 "core" ' +3 "manipulator"&~% +8 "core" %μr * ) +3 "storage"(V& +9 "core" &[\ \  4\  +2 .tForearm.force -20 +3 "manipulator"&5 +6 .tForearm.seek 7 + 319 counts +2 "manipulator"&A' +20 "core" ' +3 "manipulator"&5& +9 "core" & h z  F +3 "storage"(& +9 "core" &[ X W\  +4 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 7 + 450 counts +2 "manipulator"&:'k +21 "core" ' +4 .tSE.seek 1.12 Pucks below Top Plate +4 "storage"({'a +42 "core" ' +4 "manipulator"&W& +9 "core" &\ o k [ F +3 "manipulator"&% +9 "core" %R e n +4 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +4 .tForearm.seek :retract +4 "manipulator"&b'\ +96 "core" ' +3 .tElbow.seek CC +3 "manipulator"&K( +172 "core" ( +2 "manipulator"&E& +9 "core" &\ { [ +3 .tElbow.reconfigure :loose +5 "manipulator"&$ &.,(#b +4 &j& +7 "core" &\ d [ +4 .tForearm.seek CC + "manipulator"&U'| +98 "core" ' +2 .tHand.close +3 "manipulator"& / +62 "core" / +4 .tCC.seek :open + "collection"'7(p +412 "core" ( +4 "storage"(X& +8 "core" &[ \  +2 "storage"(H& +7 "core" &[ \  +3 "manipulator"&Y& +7 "core" &\  [ +3 "manipulator"&% +9 "core" % } +  +3 .tForearm.seek :retract +2 "manipulator"&_'\ +93 "core" ' +4 .tElbow.reconfigure :tight +4 "manipulator"&$&.,(\ #b +4 .tElbow.seek 7 +4 "manipulator"&z( +148 "core" ( +4 "manipulator"&M& +8 "core" & 8 +2 "storage"(6& +8 "core" &[ \  +4 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +5 .tForearm.seek 7 +3 "manipulator"&<'Ω +109 "core" ' +3 .tElbow.hold +4 "manipulator"&, +7 "core" , +3 .tElbow.reconfigure :tight +4 "manipulator"&$&.,(\ #b +4 .tHand.open +4 "manipulator"&1 +53 "core" 1 +4 "manipulator"&]% +8 "core" % ν Z } +3 "storage"(d& +8 "core" &[ X Y '\  +2 .tForearm.force -20 +3 "manipulator"&5 +6 .tForearm.seek 7 + 320 counts +2 "manipulator"&1' +20 "core" ' +3 "manipulator"&a& +9 "core" & o p +3 "storage"(`& +8 "core" &[ K\  +5 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 7 + 450 counts +4 "manipulator"&D'k +19 "core" ' +3 "storage"(|% +9 "core" %e Z\ +4 ."downElevator"SE.seek :down +8 "storage"('N +96 (% +6 "core" %9 \ T[ +3 "manipulator"&}% +9 "core" %_ o m +4 .tForearm.reconfigure :loose +4 "manipulator"&#Q@2^d^b +4 .tForearm.seek :retract +4 "manipulator"&x'\ +96 "core" ' +29 ' +2 ."downElevator"SE.stop +3 "storage"(5 +5 #tShuffling pucks in tube 6 of [6..7] +2 #Loading generic puck from tube 6 into Collection Clamp +3 "collection"'q& +9 "core" &V\ +3 "manipulator"&,% +8 "core" %\ 3  %y +2 "storage"(%% +8 "core" %C C\ +4 "storage"(. +6 "core" .([ +4 .tSC.reconfigure :tight +5 "storage"($\ .\ 1~b +5 .tSC.seek 6 +3 "storage"(T(K +356 "core" ( +4 .tSC.configure :limp +3 "storage"($\ 1b +5 (G& +5 "core" &K [ X M\ +3 "manipulator"&I& +8 "core" &  +3 .tElbow.seek 6 +4 "manipulator"&4( +44 "core" ( +2 "manipulator"&& +9 "core" &   +2 "storage"()& +7 "core" &K \ +4 .tForearm.reconfigure :tight +5 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +4 "manipulator"&L'< +100 "core" ' +4 "storage"(l& +8 "core" &K J\ +4 .tSE.reconfigure :pick +5 "storage"(#]K-0-\ b +5 .tSE.seek :beamBreak +3 "storage"('e +281 "core" ' +3 "storage"(Z- +7 "core" -' +3 .tSE.configure :default +4 "storage"(#QK-0-\ b +5 ($& +5 "core" &K Q\ +3 "manipulator"&& +7 "core" &   +4 .tElbow.seek 6 +3 "manipulator"&2( +35 "core" ( +2 "manipulator"&& +9 "core" & a h +3 "storage"(v& +8 "core" &K \ +4 .tForearm.seek 6 + 300 counts + "manipulator"&'Ϧ +13 "core" ' +3 .tForearm.reconfigure :loose +4 "manipulator"&#Q@2^d^b +4 .tHand.close +4 "manipulator"&/ +56 "core" / +6 ."downElevator"SE.seek :down +9 "manipulator"&& + "storage"(R'N +16 "core" &  h +2 "manipulator"&% +8 "core" % Ϣ < +4 .tForearm.seek :retract +4 "manipulator"&&'\ +97 "core" ' +3 .tElbow.seek CC +2 "manipulator"&N( +135 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +13 "core" ( +2 "manipulator"&h& +4 "core" &$ T ;7 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &C& +3 "core" &$  ;7 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&;'| +97 "core" ' +2 "manipulator"&!& +4 "core" &$ 4 ;7 +2 "manipulator"&Q% +54 "core" %k D +2 "collection"'[& +4 "core" &`\ +2 "collection"' & +6 "core" &e\ +2 .tCC.seek :closed +3 "collection"'o(] +4 "core" &m\ +5 &>n\ $e +10 &kVp\ 7 +9 &g\ L +9 &]d\ M +10 &A\\b\ M +9 &\\d\ L +10 & ^k\ M +9 &"]d\ L +9 &$I\\g\ M +10 && ^g\ L +9 &']f\ M +9 &)\\e\ L +10 &+Q]e\ M +9 &-_e\ M +10 &.\\e\ M +9 &0_f\ M +9 &2Y\\e\ M +10 &4]b\ M +9 &5`c\ M +9 &7ab\ M +10 &9b^f\ L +9 &;$\\e\ L +9 &<]c\ L +10 &>]f\ M +9 &@i`c\ M +10 &B+]d\ M +9 &C`b\ M +9 &E\\^\ L +10 &Gq_^\ M +9 &I.h]\ N +9 &Jvd\ P +10 &L\\\ T +9 &N]cfc\ V +10 &P]_Y\ W +9 &QUYZ\ X +9 &SNQ[\ X +10 &U[FKb\ Z +9 &W?Ee\ Y +9 &X:?]\ Z +10 &Z59X\ \\ +9 &\\^24X\ H +10 &]c=,._\ &r +9 &]f,.V\ M +2 ( +2 "collection"' & +3 #tCollection Clamp onSpring/offSpring for 10/26 samples, on/off torque 2.03 + .Hand.open +2 "manipulator"&B1 +56 "core" 1 +2 "manipulator"&>% +4 "core" % j z +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&S'\ +92 "core" ' +2 #tLoading generic puck from tube 6 into Processing Clamp +2 "processing"%@& +4 "core" &%\ +2 "manipulator"&g% +4 "core" %\ -  G + "storage"(+% +4 "core" %L ) ( \ + "storage"(3. +4 "core" .(K + "storage"(& +5 "core" &K ) (\ + "storage"(w& +4 "core" &K ) )\ +2 "manipulator"&k& +4 "core" &$  ;7 + "manipulator"&t% +4 "core" %\ -  G +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 + "manipulator"&'( +153 "core" ( + "manipulator"&& +5 "core" &  + "storage"(-& +4 "core" &K Z W \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&'< +92 "core" ' +2 "storage"(c& +4 "core" &K q u c\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(('e +283 "core" ' + "storage"(n- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (O& +3 "core" &K V Y -\ + "manipulator"&F& +5 "core" & a c b  + .tElbow.seek 6 +2 "manipulator"&\ ( +3 "core" ( +2 "manipulator"&s& +3 "core" & p v  +2 "storage"(?& +4 "core" &K t s \ +2 .tForearm.seek 6 + 300 counts + "manipulator"&'Ϧ +22 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&=/ +58 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&0& + "storage"(u'N +8 "core" & a d `  + "manipulator"&% +4 "core" % Ϩ d n ~ +2 .tForearm.seek :retract +2 "manipulator"&'\ +88 "core" ' +2 .tElbow.seek PC +2 "manipulator"&(c +162 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +87 "core" ( + "manipulator"&.& +5 "core" &c t 1 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &c : +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&#'[ +102 "core" ' + "manipulator"&i& +5 "core" &c < + "manipulator"& % +5 "core" %P +2 "processing"%m& +3 "core" &7\ +3 "processing"%P& +4 "core" &%\ +3 .tPC.seek :closed + "processing"%e(Z +4 "core" &*\ +8 & 3,\ #b +9 &_V)\ 7 +10 &|(\ K +9 &qV+\ M +9 &5Y)\ L +10 &Y\ M +9 & \\\ M +10 &"zX\ M +9 &$<X\ M +9 &%Y\ M +10 &'X\ M +9 &)\\$\ M +9 &+DW\ M +10 &-Y \ M +9 &.]&\ M +10 &0Y!\ M +9 &2KY!\ M +9 &4X!\ M +10 &5Y!\ L +9 &7Y \ M +9 &9TW!\ M +10 &;Y"\ M +9 &<Z \ M +10 &>Z\ M +9 &@\\Y \ M +9 &BZ\ M +10 &C\\\ M +9 &EY\ M +9 &G`_\ N +10 &I g\ O +9 &Jr \ P +10 &L \ R +9 &NX \ S +9 &P\ S +10 &Q\ T +9 &S\ T +9 &U_\ T +10 &W!\ T +9 &X\ S +9 &Z=Ms\ . +10 &Z*\ & +5 ( +2 "processing"%P& +4 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.58 +2 .Hand.open + "manipulator"&81 +3 "core" &Z\ & +49 1 + "manipulator"& % +4 "core" % P  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&y'\ +96 "core" ' + "processing"%\\& +4 "core" &Z \ & +2 #tImaging generic puck in Processing Clamp while storing it to tube 6 + "manipulator"&*% +5 "core" %\ 1 Y $m + "storage"(9% +4 "core" %< A A \ +2 "storage"(~. +3 "core" .(K + "storage"(V& +4 "core" &K A A \ +2 "storage"(5& +4 "manipulator"&& +4 "core" &K A @ \ +2 &c  +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +2 "storage"(#]kK-0-\ b +3 .tElbow.seek PC +4 "manipulator"&W(c +4 ."raiseStack"SE.seek :beamBreak +2 "storage"('e +2 "core" ( +2 "manipulator"&/& +4 "core" &c T + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &c E +2 .tForearm.seek PC +2 "manipulator"&p'[ +95 "core" ' + .tHand.close +2 "manipulator"&J/ +56 "core" / +2 .tPC.seek :open +2 "processing"%A(p +89 "core" ' + "storage"(f- +4 "core" -'e + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place + "storage"(E'B +34 "core" ' +262 ( + "storage"(j& +4 "core" &K [ Y\ +2 "manipulator"&:& +4 "core" &c  + "manipulator"&^% +4 "core" % V   +2 .tForearm.seek :retract +2 "manipulator"& '\ +97 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&b( +250 "core" ( + "manipulator"&"& +5 "core" &\ J ] + "storage"(X& +4 "core" &K ( * >\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&H'< +99 "core" ' +2 .tHand.open + "manipulator"&Y1 +65 "core" 1 +2 "storage"(- +4 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate +2 "storage"(M' +23 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.83 Pucks below Top Plate + "storage"(6' +51 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(U- +3 "core" -' +2 "storage"(K& +4 "core" &K 0\ + "manipulator"&& +4 "core" &\ ] +2 .tElbow.seek 6 + "manipulator"&]( +4 "core" ( + "manipulator"&d& +5 "core" &\  ] + "storage"(a& +4 "core" &K o\ +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&`'< +16 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"(_'M +59 "core" ' + "manipulator"&|& +5 "core" &\ m m ] + "storage"(z& +5 "core" &K U N _\ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 + "manipulator"&'z +33 "core" ' +2 .tElbow.hold + "manipulator"&}, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"(<'7 +24 "core" ' + "manipulator"&1% +5 "core" %Ίa   ô + "storage"(q& +4 "core" &K\ \  \ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 316 counts + "manipulator"&,'϶ +17 "core" ' + "manipulator"&%& +5 "core" & t y  U + "storage"({& +5 "core" &K W U \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&'< +22 "core" ' +2 "storage"(D% +4 "core" %? s r .\ +3 ."downElevator"SE.seek :down +4 "storage"('N +99 (r% +3 "core" %9 X X Q\ U\\ +2 "manipulator"&G% +4 "core" % w t , +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&I'\ +87 "core" ' +65 ' + ."downElevator"SE.stop + "storage"(5 +3 (& +4 "core" &K G @ j\ +2 "collection"')& +3 "core" &]b13G\ M +2 #tStoring generic puck in Collection Clamp to tube 6 +53 "manipulator"&l% +5 "core" %\ +  !O + "storage"(% +5 "core" %L Z Y z\ + "storage"(x. +3 "core" .(K +2 "storage"(Z& +4 "core" &K Y X \ + "storage"($& +4 "core" &K Z X F\ + "manipulator"&& +5 "core" & 9 U +2 .tElbow.seek 6 + "manipulator"&( +3 "core" ( +2 "manipulator"&v& +4 "core" & { U + "storage"(& +4 "core" &K X Y }\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&'< +94 "core" ' +2 "storage"(& +4 "core" &K s ^ b\ +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(4'e +283 "core" ' + "storage"(L- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&h& +3 "core" & U +2 "storage"(C& +3 "core" &K X X N\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 6 + "manipulator"&'z +33 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(!- +2 "core" -' +3 .tSE.seek 0.11 Pucks below Top Plate + "storage"(Q'l +30 "core" ' + "manipulator"&2% +4 "core" %·Y IJ +2 "storage"([& +4 "core" &K d\ + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 6 + 313 counts +2 "manipulator"&R'ϳ +17 "core" ' + "manipulator"&&& +5 "core" &\ ^ v  T + "storage"(7& +5 "core" &K ^ b i\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&B'< +24 "core" ' +2 .tSE.seek 1.11 Pucks below Top Plate +2 "storage"(>'[ +42 "core" ' + "manipulator"&@& +5 "core" & o o T + "manipulator"&g% +5 "core" %M m n  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&+'\ +87 "core" ' +2 .tElbow.seek CC +2 "manipulator"&3( +146 "core" ( + "manipulator"&& +5 "core" &"  9% +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &w& +2 "core" &! # 9% +2 .tForearm.seek CC +2 "manipulator"& '| +96 "core" ' +2 .tHand.close + "manipulator"&k/ +52 "core" / +2 .tCC.seek :open +2 "collection"'t(p +410 "core" ( +2 "storage"(& +4 "core" &K 4\ + "storage"(;& +4 "core" &K \ +2 "manipulator"&-& +4 "core" & 1 5 + "manipulator"&c% +4 "core" % f 5  +2 .tForearm.seek :retract +2 "manipulator"&N'\ +91 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 + "manipulator"&S( +164 "core" ( +2 "manipulator"&n& +4 "core" &  L +2 "storage"(O& +3 "core" &K =\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 6 +2 "manipulator"&F'z +110 "core" ' + .tElbow.hold +2 "manipulator"&s, +78 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&?1 +52 "core" 1 +2 "manipulator"&=% +4 "core" % ΄ + P +2 "storage"(0& +3 "core" &K X Y f\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 310 counts + "manipulator"&'ϰ +16 "core" ' +2 "manipulator"&'& +4 "core" &\  t r 1 0 +2 "storage"(& +4 "core" &K {\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&('< +16 "core" ' +2 "storage"(% +4 "core" %b C\ +3 ."downElevator"SE.seek :down +3 "storage"(.'N +99 (% +3 "core" %+9 )\ U\\ +2 "manipulator"&\ % +4 "core" %4 m n % + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&i'\ +87 "core" ' +56 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 7 of [6..7] +2 #Loading generic puck from tube 7 into Collection Clamp + "collection"' & +4 "core" &e\ +2 "manipulator"&m% +4 "core" %\ ) E +2 "storage"(u% +3 "core" %L V\ +2 "storage"(. +3 "core" .(K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 7 + "storage"( ([ +360 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (8& +3 "core" &[ J U \  +2 "manipulator"& & +3 "core" &\   0 +2 .tElbow.seek 7 +2 "manipulator"&\\( +18 "core" ( + "manipulator"&*& +4 "core" & E +2 "storage"(9& +3 "core" &[ =\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&~'k +106 "core" ' + "storage"(V& +4 "core" &[ k\  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"('e +289 "core" ' +2 "storage"(5- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (P& +2 "core" &[ \  +2 "manipulator"&/& +4 "core" & n n  + .tElbow.seek 7 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&#& +3 "core" & e M  +2 "storage"(J& +4 "core" &[ \  +2 .tForearm.seek 7 + 300 counts +2 "manipulator"&f' +15 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +59 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&y& + "storage"(e'N +7 "core" & n p + "manipulator"&j% +5 "core" % n p M + .tForearm.seek :retract +2 "manipulator"&'\ +98 "core" ' +2 .tElbow.seek CC +2 "manipulator"&:( +148 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +11 "core" ( + "manipulator"&^& +5 "core" &( r ?S + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &p& +3 "core" &( o ?S +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&"'| +100 "core" ' +2 "manipulator"&X& +5 "core" &( D ?Q +2 "manipulator"&W% +4 "core" %o  + "collection"'Y& +5 "core" &c\ +2 "collection"'& +6 "core" &h\ +2 .tCC.seek :closed +2 "collection"'U(] +4 "core" &s\ +7 & 8t\ %f +9 &oWp\ 7 +9 &n\ L +10 &^o\ M +9 &E[j\ M +9 &\\f\ M +10 & ]e\ M +9 &"^c\ M +10 &$N\\f\ M +9 &&]e\ M +9 &'Zd\ M +10 &)\\d\ M +9 &+V\\g\ M +10 &-Zg\ M +9 &.]d\ M +9 &0^e\ M +10 &2]]e\ M +9 &4]e\ M +9 &5\\f\ M +10 &7\\j\ M +9 &9f]f\ M +10 &;)[d\ L +9 &<\\f\ M +9 &>Zd\ M +10 &@m\\e\ M +9 &B/]c\ M +9 &C\\e\ M +10 &E\\f\ M +9 &Gv]d\ M +9 &I4fc\ N +10 &JqX\ P +9 &Lc\ S +10 &Ncmw\\\ V +9 &P!hjh\ W +9 &Q`cb\ X +10 &SY\\]\ X +9 &UaSX`\ Y +9 &W#MQ]\ Y +10 &XGKb\ [ +9 &Z@E[\ [ +10 &\\d<?[\ H +9 &]b87;Z\ )y +9 &]Y::Z\ A +3 ( + "collection"'& +3 #tCollection Clamp onSpring/offSpring for 10/26 samples, on/off torque 2.01 +2 .Hand.open + "manipulator"&K1 +57 "core" 1 + "manipulator"&% +5 "core" % n  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&d'\ +92 "core" ' +2 #tLoading generic puck from tube 7 into Processing Clamp + "processing"%a& +4 "core" &~\ +2 "manipulator"& % +3 "core" %\ + : !M +2 "storage"(|% +4 "core" %F M X P\ + "storage"(z. +4 "core" .([ +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 7 +2 "storage"(E([ +2 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (1& +3 "core" &[+   3\  + "manipulator"&q& +4 "core" &#  ;6 +2 "manipulator"&M% +4 "core" %\ +  !M +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 7 +2 "manipulator"&%( +153 "core" ( +2 "manipulator"&{& +4 "core" & <  +2 "storage"(D& +4 "core" &[ r s \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"&b'k +107 "core" ' +50 "storage"(H& +6 "core" &[ \  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +7 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek :down +2 "storage"(6'N +3 "core" ' + .tSE.stop +2 "storage"(5 +2 "manipulator"&r% +5 "core" %Ј c k | +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&G'\ +88 "core" ' +2 !to:Log::CannotDump: mesg"V#:bt["7/home/esp/esp2/lib/log.rb:471:in `recordException'"7/home/esp/esp2/lib/log.rb:597:in `recordException'"5/home/esp/esp2/lib/rmutex.rb:99:in `synchronize'"7/home/esp/esp2/lib/log.rb:596:in `recordException'"5/home/esp/esp2/lib/esp.rb:314:in `log_exception'"7/opt/mbari/lib/ruby/1.8/irb.rb:177:in `eval_input'":/opt/mbari/lib/ruby/1.8/irb.rb:277:in `signal_status'"7/opt/mbari/lib/ruby/1.8/irb.rb:163:in `eval_input'"N/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:241:in `each_top_level_statement'":/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:227:in `loop'"N/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:227:in `each_top_level_statement'";/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:226:in `catch'"N/opt/mbari/lib/ruby/1.8/irb/ruby-lex.rb:226:in `each_top_level_statement'"7/opt/mbari/lib/ruby/1.8/irb.rb:162:in `eval_input'"1/opt/mbari/lib/ruby/1.8/irb.rb:69:in `start'"1/opt/mbari/lib/ruby/1.8/irb.rb:67:in `catch'"1/opt/mbari/lib/ruby/1.8/irb.rb:67:in `start'"-/home/esp/esp2/lib/esp.rb:200:in `shell'"7/home/esp/esp2/lib/schedule.rb:481:in `initialize'"0/home/esp/esp2/lib/thread.rb:738:in `start'"7/home/esp/esp2/lib/schedule.rb:474:in `initialize'"'/home/esp/esp2/lib/schedule.rb:472 +45533 "Can" %KH +60002  $JH +60002 # %KG +60002 / $LH +60002  $KH +3078 #t-> access 6 +2 "storage"(`% +4 "core" %F u u ]\ + "manipulator"&]% +4 "core" %\ * !T +2 "manipulator"&_& +4 "core" &  + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(( +1314 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (,& +3 "core" & H\ +13119 #t-> CC.unloadPuck 7, :SH1 +2 "collection"'& +3 "core" &]UDFs\ A +2 !to:Puck::Warning: mesg"8Unloading Puck.from 7, :generic to Storage Carousel:bt[\ "6/home/esp/esp2/utils/puckmoves.rb:419:in `unload'":/home/esp/esp2/utils/puckmoves.rb:962:in `unloadPuck'"(ESP):6:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +2 #Storing SH1 puck in Collection Clamp to tube 7 + "manipulator"&)% +4 "core" %\ * !T +2 "storage"(l% +3 "core" %F t s >\ +2 "storage"(<. +3 "core" .( + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 7 +2 "storage"(([ +1332 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (x& +3 "core" &[ Y Y\ + "manipulator"&Z& +4 "core" & |  +2 .tElbow.seek 7 +2 "manipulator"&$( +3 "core" ( + "manipulator"&& +4 "core" &   + "storage"(v& +4 "core" &[ X [\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&'k +121 "core" ' +2 "storage"(& +4 "core" &[ r u =\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"('e +278 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&}& +2 "core" &   +2 "storage"(I& +4 "core" &[ c [\ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 7 +2 "manipulator"&L'Ω +32 "core" ' +2 .tElbow.hold +2 "manipulator"&h, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(C- +2 "core" -' +2 .tSE.seek 0.12 Pucks below Top Plate +2 "storage"(!'r +27 "core" ' +2 "manipulator"&2% +4 "core" %νm $ Z  + "storage"([& +4 "core" &[\ !\ % 5\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 7 + 320 counts + "manipulator"&&' +18 "core" ' +2 "manipulator"&7& +4 "core" & j Y ?  + "storage"(@& +4 "core" &[ y n\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&g'k +15 "core" ' +2 .tSE.seek 1.12 Pucks below Top Plate + "storage"('a +50 "core" ' + "manipulator"&& +5 "core" & k c D  + "manipulator"&4% +5 "core" %i j ` 7 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +88 "core" ' + .tElbow.seek CC +2 "manipulator"&R( +156 "core" ( + "manipulator"&Q& +4 "core" &$ ( ;2 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &$  ;2 + .tForearm.seek CC +2 "manipulator"&w'| +104 "core" ' +2 .tHand.close + "manipulator"&B/ +58 "core" / + .tCC.seek :open +2 "collection"'(p +410 "core" ( +2 "storage"(k& +4 "core" &[ 6\ + "storage"(+& +4 "core" &[ \ + "manipulator"&o& +4 "core" & + 6 + "manipulator"&% +4 "core" % o Z u +2 .tForearm.seek :retract +2 "manipulator"&;'\ +90 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 7 +2 "manipulator"&-( +156 "core" ( + "manipulator"&c& +4 "core" &  W +2 "storage"(n& +4 "core" &[ \ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 7 +2 "manipulator"&O'Ω +107 "core" ' +2 .tElbow.hold + "manipulator"& , +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&31 +54 "core" 1 +2 "manipulator"&?% +4 "core" % λ Z +2 "storage"(=& +3 "core" &[ Z X \ +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 7 + 318 counts +2 "manipulator"&0' +18 "core" ' +2 "manipulator"&'& +4 "core" & ? c q + "storage"(& +4 "core" &[ \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&N'k +21 "core" ' + "storage"(% +5 "core" %h @\ +2 ."downElevator"SE.seek :down +3 "storage"(S'N +99 (% +3 "core" %/> $\ U\\ +2 "manipulator"&\ % +4 "core" %Џ h f +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&F'\ +87 "core" ' +51 ' +2 ."downElevator"SE.stop + "storage"(5 +481 #t-> access 6 +2 "storage"( % +4 "core" %= q\ + "manipulator"&% +4 "core" %\ (  D +2 "manipulator"&m& +4 "core" &  + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(u( +1307 "core" ( +4 .tSC.configure :limp +3 "storage"($\ 1b +2 (& +2 "core" &\ \  \ +709 #t-> access 7 +2 "storage"(>% +3 "core" %= }\ +2 "manipulator"&(% +4 "core" %\ (  D +2 "manipulator"&.& +3 "core" &  +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"(T(, +360 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (8& +2 "core" &, \\ e 1\  +2747 #t-> access 2 +2 "storage"( % +3 "core" %= \ +2 "manipulator"&*% +4 "core" %\ (  D +2 "manipulator"&9& +3 "core" &  +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 + "storage"(V(K @1666034479.75EDT = =tMAIN =mMAIN_scheduler @EDT1666034483.68 #"core_reset"Sent BREAK +2 #t@46262 idle with ifg=0x00, ie=0x75 +2 #>RESET< ESP2 v3.41 I2C Gateway v3.20 +216 #>RESET< ESP2 v3.41 I2C Gateway v3.20 for core bus +463 !o:Instrument::ISUSCore: @refiK: @configS:Instrument::Configuration: name" ISUS:calFileName0:sampleCmd"TS: prompt"\ :statusCmd"C:sampleTimeouti#:promptTimeouti:statusTimeouti: retriesi:strToPrompt"W: pace0: echoF:\ @name@ +228 #Configuration for don (12651-03) 10/9/20 brent@mbari.org\ /home/esp/esp2/type/shallow/don/configure.rb\ +858 "Can" 8&#w +3  8&#w +2 #tPolling Can every 10:00 +917 #-> ESP.ready! +8 #Powering core bus +572 .Gate.power :raw,:ON + "sampler") +42 ) +4 "core"  +4 "collection"' +4 ' +10 "core"  +4 "processing"% +5 % +7 "core"  +9 "collection"' 9\ +5 ' 0\ +4 ' -\ +5 "processing"% 9\ +4 % 2\ +4 % *\ +5 % 0\ +8 "sampler")&\ +4 "collection"'% +8 "core" % 6  +3 .tCS.configure :default +6 "collection"'#P d@b +4 "processing"%% +8 "core" %"\ +2 .tPS.configure :default +4 "processing"%#A d`xb +6 "sampler")% +8 "core" % 7  +2 .tSS.configure :default +8 "sampler")#.0X\  +4 "processing"%1% +7 "core" %N\ +4 "sampler")2% +9 "core" %4 \ +4 "collection"'3& +9 "core" &\\  ?\  +3 "processing"%4& +8 "core" &]o\  +4 "manipulator"&5% +8 "core" %\ -  ": +2 "manipulator"&6& +8 "core" &( ; 4 +5 "storage"(7& +8 "core" &,~ ] Z\  +2 "storage"(8% +10 "core" %P \\ ]\ H +4 "collection"'99 +7 "core" 9jm +5 "processing"%:9 +7 "core" 9 +718 #t-> startTube 2 +2008 #-> $da[:extractVol]=.19 +708 #-> purgeIntake +5 #Loading FlushPuck into Collection Clamp from FlushPuck::Garage +4 "collection"';& +6 "core" &\\  4\  +2 .tHand.open +4 "manipulator"&<1 +65 "core" 1 +4 "manipulator"&=& +8 "core" &(  4 +6 "manipulator"&>% +8 "core" % \ - m ": +5 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +4 .tElbow.seek FlushPuck::Garage +4 "manipulator"&?(, +188 "core" ( +4 "manipulator"&@& +8 "core" &,   +3 .tElbow.reconfigure :loose +6 "manipulator"&$ &.,(#b +2 &A& +8 "core" &,  +5 .tForearm.reconfigure :loose +4 "manipulator"&#Q@2^d^b +6 .tForearm.seek :garage + "manipulator"&B' +105 "core" ' +4 .tHand.close + "manipulator"&C/ +62 "core" / +6 "manipulator"&D& +8 "core" &,   +2 "manipulator"&E% +8 "core" %    +4 .tForearm.seek :retract + "manipulator"&F'\ +108 "core" ' +5 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +5 .tElbow.seek CC +4 "manipulator"&G( +291 "core" ( +4 "manipulator"&H& +9 "core" &  A . +3 .tElbow.reconfigure :loose +6 "manipulator"&$ &.,(#b +2 &I& +8 "core" &  . +4 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +93 .tForearm.seek CC +4 "manipulator"&J'| +99 "core" ' +2 "manipulator"&K& +10 "core" &   . +5 "manipulator"&L% +8 "core" %m +4 "collection"'M& +8 "core" &\\  2\  +4 "collection"'N& +12 "core" &\\  3\  +5 &\\  @\  +4 .tCC.seek :closed +6 "collection"'O(] +8 "core" &\\  =\  +2 &\\  <\  +6 &5  >\ +| +10 &e  <\ @ +8 &.y  >\ P +13 &_  ?\ O +7 &a  <\ O +11 &ua  >\ O +8 &!7b <\ O +8 &"a  <\ P +11 &$_ =\ O +10 &&` <\ O +7 &(B`  <\ N +12 &*a <\ O +9 &+_ 8\ O +7 &-_  ;\ N +12 &/Hb ;\ O +7 &1\ b ?\ O +11 &2a  <\ O +10 &4_ ;\ O +7 &6Q\\  =\ O +12 &8\\  =\ N +8 &9_  =\ N +9 &;]  ?\ N +11 &=Y`  ;\ O +7 &?b  <\ O +11 &@_  ;\ O +9 &B]  ;\ O +8 &Da_  6\ O +11 &F#b  8\ O +10 &G]  <\ O +9 &Ih  ;\ P +9 &Kau  1\ Q +10 &M:\ U +9 &N5\ X +9 &P;\ Y +10 &RS9\ Y +9 &T6\ Z +10 &U9\ [ +8 &W;\ [ +11 &YR<\ \\ +7 &[:\ \\ +12 &\\t=\ L +8 &]%w;\ ; +8 ( +6 "collection"'N& +10 #tCollection Clamp onSpring/offSpring for 9/25 samples, on/off torque 1.96 + "collection"'P& +8 "core" &]9<\ 9 +2 &]9?\ 9 +2 &]9<\ 9 +4 .tHand.open + "manipulator"&Q1 +59 "core" 1 +4 "manipulator"&R% +8 "core" % m \ +5 .tForearm.reconfigure :loose +6 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +4 "manipulator"&S'\ +92 "core" ' +4 #tPurging external Intake + "collection"'T& +9 "core" &]9>\ 9 +4 "collection"'U% +8 "core" %3\  +2 .tCSV.dial :flush +4 "collection"'V  +43 "core"  +5 .tCS.seek 10ml +4 "collection"'W' +2404 "core" ' +3 .tdelay 5 seconds +503 ."connect"CSV.dial CBV +6 .tCBV.dial CSV +6 "collection"'X +2 'Y  +75 "core" ~ +37  +2 .tCTV.dial :intake +5 "collection"'Z  +73 "core"  +4 .tIntake.select :open + "sampler") +15 .tCS.seek 0ml + "collection"'[' +2362 "core" ' +5 .tIntake.select :close + "sampler")0 +15 .tCTV.dial :air +2 "collection"'\\  +74 "core"  +4 #tGaraging FlushPuck in Collection Clamp + "manipulator"&]& +8 "core" & ] , +4 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +5 .tElbow.seek CC +4 "manipulator"&^( +19 "core" ( +4 "manipulator"&_& +8 "core" &  @ +3 .tElbow.reconfigure :loose +6 "manipulator"&$ &.,(#b +4 &`& +5 "core" & m @ +6 .tForearm.seek CC +4 "manipulator"&a'| +99 "core" ' +5 .tHand.close + "manipulator"&b/ +55 "core" / +6 .tCC.seek :open +4 "collection"'c(p +412 "core" ( +2 "manipulator"&d& +11 "core" &   8 +2 "manipulator"&e% +8 "core" % |  +4 .tForearm.seek :retract + "manipulator"&f'\ +100 "core" ' +4 .tElbow.reconfigure :tight +4 "manipulator"&$&.,(\ #b +5 .tElbow.seek :garage +4 "manipulator"&g(, +286 "core" ( +2 "manipulator"&h& +10 "core" &,  +2 .tElbow.reconfigure :loose +5 "manipulator"&$ &.,(#b +4 &i& +10 "core" &, +  +5 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +8 .tForearm.seek :garage + "manipulator"&j' +117 "core" ' +4 .tHand.open + "manipulator"&k1 +65 "core" 1 +2 "manipulator"&l% +11 "core" %  ] +2 .tForearm.reconfigure :loose +6 "manipulator"&#Q@2^d^b +4 .tForearm.seek :retract + "manipulator"&m'\ +107 "core" ' +453 #t-> da 50 +3 #da sampling at most 50ml +9 ."Qmail"DAfans.email "Started da in tube 2 at 15:24:51EDT17-Oct-22\\n{}\\nCTD data unavailable\\nISUS data unavailable\\nCan@15:21:41, 15% flow, 21.5C, 50% humidity, 14.2psia, 13.82V, 0.126A avg, 0.108A avg, 1.75W",Subject: "da sampling at most 50ml" +6 #tLoading sh1 puck from tube 2 into Collection Clamp +9 "collection"'n& +7 "core" &  2\ +4 "manipulator"&o% +11 "core" %\ 5 m & +5 "storage"(p% +5 "core" %P Z ]\ H +4 "storage"(q. +10 "core" .(,~ +4 .tSC.reconfigure :tight +6 "storage"($\ .\ 1~b +9 .tSC.seek 2 + "storage"(r(  +59 !"Qmail"o:!Net::SMTPAuthenticationError: mesg"E534-5.7.9 Application-specific password required. Learn more at\ :@checkpoint: omitted:bt["E/opt/mbari/lib/ruby/1.8/net/smtp.rb:954:in `check_auth_response'"/opt/mbari/lib/ruby/1.8/net/smtp.rb:723:in `authenticate'":/opt/mbari/lib/ruby/1.8/net/smtp.rb:566:in `do_start'"7/opt/mbari/lib/ruby/1.8/net/smtp.rb:525:in `start'"2/home/esp/esp2/lib/email.rb:325:in `sendOnce'"3/home/esp/esp2/lib/schedule.rb:292:in `unsync'"3/home/esp/esp2/lib/schedule.rb:594:in `unsync'"3/home/esp/esp2/lib/schedule.rb:621:in `unsync'"2/home/esp/esp2/lib/email.rb:318:in `sendOnce'"//home/esp/esp2/lib/email.rb:340:in `email'",/home/esp/esp2/lib/msg.rb:68:in `retry'"//home/esp/esp2/lib/email.rb:339:in `email'"./home/esp/esp2/lib/email.rb:348:in `mail'"-/home/esp/esp2/lib/email.rb:66:in `call'"3/home/esp/esp2/lib/email.rb:66:in `initialize'"-/home/esp/esp2/lib/email.rb:63:in `loop'"3/home/esp/esp2/lib/email.rb:63:in `initialize'"7/home/esp/esp2/lib/schedule.rb:481:in `initialize'"0/home/esp/esp2/lib/thread.rb:738:in `start'"7/home/esp/esp2/lib/schedule.rb:474:in `initialize'"'/home/esp/esp2/lib/schedule.rb:472 +4 !o:Email::Queue::Purge: mesg"Purged output queue:bt[ "//home/esp/esp2/lib/email.rb:106:in `purge'"3/home/esp/esp2/lib/email.rb:75:in `initialize'"-/home/esp/esp2/lib/email.rb:63:in `loop'"3/home/esp/esp2/lib/email.rb:63:in `initialize'"7/home/esp/esp2/lib/schedule.rb:481:in `initialize'"0/home/esp/esp2/lib/thread.rb:738:in `start'"7/home/esp/esp2/lib/schedule.rb:474:in `initialize'"'/home/esp/esp2/lib/schedule.rb:472 +613 "core" ( +3 .tSC.configure :limp +4 "storage"($\ 1b +5 (s& +9 "core" &  C f \ +4 "manipulator"&t& +8 "core" &,  +2 "manipulator"&u% +8 "core" %\ 5 Q & +5 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +4 .tElbow.seek 2 +4 "manipulator"&v(; +185 "core" ( +2 "manipulator"&w& +9 "core" &5 U !t +5 "storage"(x& +9 "core" &  8 7\ +4 .tForearm.reconfigure :tight +4 "manipulator"&#Q@2^d^\ b +6 .tForearm.seek 2 + 450 counts +4 "manipulator"&y'Ѐ +96 "core" ' +2 "storage"(z& +11 "core" &  f g \ +4 .tSE.reconfigure :pick 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"manipulator"& '| +101 "core" ' +2 "manipulator"& & +9 "core" & G 7 +5 "manipulator"&% +9 "core" %h +4 "collection"'& +9 "core" &  O\ +4 "collection"'& +11 "core" &  Q\ +4 & O\ +2 .tCC.seek :closed +5 "collection"'(] +11 "core" &  F\ +3 &  M\  +5 &1 N\ *y +9 &b  O\ > +11 &E~  J\ O +7 &[  M\ N +11 &c G\ N +9 &c  F\ N +10 &!N^  O\ N +9 &#b I\ O +8 &$^ L\ N +11 &&_  O\ N +10 &(Vb L\ N +7 &*`  K\ O +12 &+]  H\ N +9 &-[  M\ N +7 &/^_ Q\ N +11 &1b  O\ O +8 &2` D\ O +11 &4_  U\ N +9 &6f] M\ N +7 &8([  H\ N +12 &9]  W\ N +9 &;\\ L\ N +8 &=nZ  L\ N +12 &?0^  R\ N +7 &@\\  [\ N +11 &BZ ]\ N +10 &DwY  W\ N +7 &F8] \ \\\ N +11 &G]  ]\ O +9 &Ig]\ O +8 &Kuz[\ Q +11 &M,y\\\ U +8 &Nbe]\ W +12 &PafW\ X +9 &Rg^`X\ Y +10 &T(Y[X\ Y +8 &UTW]\ Z +9 &WRT]\ Z +10 &YfQR\\\ \\ +9 &[*PT\\\ [ +8 &\\{QR\\\ 5 +11 &]#US\\\ %m +10 &]mUU]\ K +5 ( +4 "collection"'& +6 #tCollection Clamp onSpring/offSpring for 9/25 samples, on/off torque 2.00 +3 .Hand.open +5 "manipulator"&1 +6 "core" &]pUV\\\ K +57 1 +3 "manipulator"&% +10 "core" % h +5 .tForearm.reconfigure :loose +4 "manipulator"&#Q@2^d^b +4 .tForearm.seek :retract +5 "manipulator"&'\ +95 "core" ' +4 #tcollectSample 50ml w/bubble point of 24psi + #Priming 7ml +5 .Intake.select :close +2 .Exhaust.select :close + .SS.hold +4 "sampler")+ +6 "core" + +4 "sampler")% +5 "core" %4 \ +4 "collection"'& +9 "core" &]pPQ\\\ K +5 "Can"~ SQ +6 #tCalibrating pressure and temperature sensors +6 .CTV.dial :air +4 .SSV.dial :spit,avoiding: :exhaust +3 .SS.reconfigure :fast +3 "sampler")#.0X% +3 "core" %; | } \  +4 .tSSV.dial :exhaust + "sampler")@  +76 "core"  +2 .tExhaust.select :open +5 "sampler")@ +12 .tSS.seek 0ml +5 "sampler")A'0 +869 "core" ' +3 .tExhaust.select :close +87 "sampler") +34 ."connect"SSV.dial CBV +9 .tCBV.dial SSV + "sampler")$  +79 "core"  +2 #tAllowing 130s for 25.0ml of remaining 25.0ml +4 .Intake.select :open +2 "sampler") +215 "collection"'C% +6 "core" %ST7\ +4 #tIntake @14.6psia, vacuum from 9.1 to 12.1psi +4 .SS.reconfigure :inhaling 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"collection"'u9 +5 "core" 9 [+ +104 "collection"'x9 +5 "core" 9 g0 +107 "collection"'q9 +3 "core" 9 n4 +103 "collection"'w9 +5 "core" 9 x9 +105 "collection"'z9 +7 "core" 9 = +104 "collection"'m9 +5 "core" 9 A +108 "collection"'}9 +4 "core" 9 F +106 "collection"' 9 +6 "core" 9 J +104 "collection"'~9 +4 "core" 9 O +107 "collection"'9 +4 "core" 9 S +103 "collection"'9 +4 "core" 9 X +108 "collection"'g9 +5 "core" 9 \\ +105 "collection"'9 +4 "core" 9 ` +107 "collection"'9 +5 "core" 9 e +106 "collection"'v9 +4 "core" 9 i +103 "collection"'y9 +5 "core" 9 n +105 "collection"'\ 9 +4 "core" 9 r +105 "collection"'|9 +7 "core" 9 v +104 "collection"'{9 +5 "core" 9 { +107 "collection"'9 +3 "core" 9  +106 "collection"'9 +3 "core" 9  +104 "collection"' 9 +4 "core" 9  +106 "collection"' 9 +5 "core" 9  +104 "collection"'9 +5 "core" 9  +103 "collection"'9 +5 "core" 9  +108 "collection"'c9 +3 "core" 9  +103 "collection"'9 +6 "core" 9  +104 "collection"'9 +5 "core" 9\  +104 "collection"'9 +4 "core" 9\  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"collection"'6 `\ `\ q +2 '29 +12 "core"  +2 9\ t +4 "collection"'9% +6 "core" % Q P \ / +4 #tBegun lysing Collection Puck Heater at 68.1C/29.1psia +47428 "Can"\  +12549 "core" ` +2 "collection"':9 +3 "core" 9\  +2 "collection"';% +3 "core" % ; : )\ +2 #tEnded lysing Collection Puck Heater at 70C/27.8psia +2 .CS.seek 0ml + "collection"'<' +352 "core" ' +2 .tCTV.dial between spare and air,avoiding: :intake +2 "collection"'= @ +101 "core" A + .tCSV.dial :air +2 "collection"'> @ +42 "core" ? +3 .tCS.seek 5ml + "collection"'@'s +1349 "core" ' +2 .tCSV.dial CTV + "collection"'7  +43 "core"  + .tdelay 2 seconds +202 .CSV.dial :air +2 "collection"'8 @ +43 "core" > +2 .tdelay 2 seconds +201 .CSV.dial CTV +2 "collection"'$  +43 "core"  +2 .tdelay 2 seconds +202 .CSV.dial :air +2 "collection"'C @ +43 "core" > + .tdelay 2 seconds +203 .CS.seek 0ml +2 "collection"'A' +1350 "core" ' + "collection"'&% +4 "core" %\ \ \ +2 #tPuck @39.5psia after final lysis pressurization + #Recovering Lysate into Collection syringe +2 .CSV.dial CBV + "collection"'B +112 "core" +2 .tCBV.dial CSV + "collection"'H  +30 "core" +2 "collection"'?% +4 "core" % \ +2 .tCS.seek 5ml + "collection"'I's +1354 "core" ' + .tdelay 5 seconds +503 .CTV.dial :air +2 "collection"'K  +42 "core" +2 "collection"'L% +4 "core" %s C\  +2 .tCS.seek 7ml +2 "collection"'D' +595 "core" ' + .tdelay 5 seconds +503 .CSV.dial :air2 +2 "collection"'E @ +42 "core" ? +2 .tCS.seek 10ml +2 "collection"'F' +845 "core" ' + .tCSV.dial between air and CTV,avoiding: CBV +3 "collection"'* ` +111 "core" _ +2 #tLysing Complete +2 "collection"'P& +4 "core" &]j\ K +2 #tStoring sh1 puck in Collection Clamp to tube 1 + "manipulator"&N% +4 "core" %\ % i 8 + "storage"(Q% +4 "core" %E\ \  k\ + "storage"(U. +3 "core" .(  +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 1 + "storage"([(B +361 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (R& +2 "core" &E ~\ +2 "manipulator"&V& +4 "core" & 6 + "manipulator"&J% +4 "core" %\ & 8 +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 1 +2 "manipulator"&X(c +156 "core" ( + "manipulator"&M& +4 "core" &m I \ +2 "storage"(Y& +4 "core" &F 3 /\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 1 + 450 counts +2 "manipulator"&Z'Ф +109 "core" ' + "storage"(W& +4 "core" &F [ X\ +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(\\'e +271 "core" ' + "storage"(T- +4 "core" -'e + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek :place +2 "storage"(_'B +43 "core" ' +2 "manipulator"&`& +4 "core" &m n n  \ +2 "manipulator"&b% +3 "core" %а b l   +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&'\ +95 "core" ' + .tElbow.seek CC +2 "manipulator"&S( +151 "core" ( +2 "manipulator"&O& +4 "core" &  8" + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &d& +2 "core" &  8" +2 .tForearm.seek CC +2 "manipulator"&G'| +101 "core" ' + .tHand.close +2 "manipulator"&e/ +53 "core" / +3 .tCC.seek :open + "collection"'h(p +410 "core" ( +2 "storage"(i& +4 "core" &F f m \ + "storage"(k& +4 "core" &F | } b\ +2 "manipulator"&a& +3 "core" & 7 +2 "manipulator"&f% +3 "core" % o " ~ +2 .tForearm.seek :retract +2 "manipulator"&]'\ +89 "core" ' +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 1 +2 "manipulator"&^(c +154 "core" ( + "manipulator"&l& +4 "core" &g  \ +2 "storage"(j& +4 "core" &F } } |\ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 1 +2 "manipulator"&o' +106 "core" ' + .tElbow.hold +2 "manipulator"&p, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&!1 +58 "core" 1 +2 "manipulator"&n% +4 "core" % _ + "storage"(s& +4 "core" &F A C \ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 1 + 317 counts + "manipulator"&t' +18 "core" ' + "manipulator"&u& +4 "core" &g \\ u \ +2 "storage"(x& +4 "core" &F .\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 1 + 450 counts +2 "manipulator"&q'Ф +18 "core" ' +2 "storage"(w% +4 "core" %G \ +2 ."downElevator"SE.seek :down +4 "storage"(z'N +99 (m% +2 "core" % ; K\ U] +2 "manipulator"&}% +4 "core" %Ѕ n o 0 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"& '\ +87 "core" ' +62 ' + ."downElevator"SE.stop +2 "storage"(5 +2 #tTranferring DA +2 #Beginning samplePassC +2 #Loading FlushPuck into Collection Clamp from FlushPuck::Garage + "collection"'~& +4 "core" &]^\ +2 "manipulator"&& +4 "core" &g F \ + "manipulator"&% +4 "core" %\ + !R +2 .tElbow.seek FlushPuck::Garage +2 "manipulator"&g(, +183 "core" ( + "manipulator"&& +4 "core" &, N  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &,   +2 .tForearm.seek :garage +2 "manipulator"&v' +100 "core" ' +2 .tHand.close + "manipulator"&y/ +55 "core" / +2 "manipulator"&\ & +5 "core" &, 3  + "manipulator"&|% +4 "core" %   +2 .tForearm.seek :retract + "manipulator"&{'\ +102 "core" ' +2 .tElbow.reconfigure :tight +47 "manipulator"&$&.,(\ #b +12 .tElbow.seek CC +2 "manipulator"&( +281 "core" ( +2 "manipulator"&& +4 "core" &" \ :- + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 & & +3 "core" &"  :- +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"& '| +110 "core" ' +2 "manipulator"&& +4 "core" &#  :- + "manipulator"&% +5 "core" %t U + "collection"'c& +4 "core" &de\ +2 "collection"'& +5 "core" &de\ +2 .tCC.seek :closed +2 "collection"'(] +4 "core" &dg\ +8 & 6ef\ $e +9 &hVfg\ 7 +10 &ed\ L +9 &}Xef\ M +10 &@_ea :\ L +9 &\\eg !\ L +9 & ]gg \ M +10 &"_de\ M +9 &$GZgf\ M +9 && [ff\ M +10 &'Zfhy\ M +9 &)\\eh\ L +10 &+N_fg=\ M +9 &-[ff\ L +9 &.^ef\ M +10 &0_df\ M +9 &2W[dg\ M +9 &4\\ff\ M +10 &5Zff %\ L +9 &7^gg\ L +10 &9_Zhg \ M +9 &;!_eg \ M +9 &<]hf\ M +10 &>[hi\ M +9 &@gZgh \ M +9 &B)\\ff\ M +10 &C\\gg~\ M +9 &E_gj\ L +10 &Gp]fgY\ L +9 &I.ccf;\ N +9 &Js]b5\ O +10 &L*?\ T +9 &NX\ W +9 &P\ W +10 &Q\ X +9 &S\ Y +10 &UY\ Z +9 &W %\ Z +9 &X -\ [\ +10 &Z \ \\ +9 &\\] \ H +9 &]g@\ "i +10 &]z\ T +2 ( +2 "collection"'& +3 #tCollection Clamp onSpring/offSpring for 10/26 samples, on/off torque 2.03 + "collection"'& +4 "core" &]}\ T +2 .tHand.open + "manipulator"&1 +57 "core" 1 +2 "manipulator"&% +4 "core" % t  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&'\ +102 "core" ' + .tPSV.dial PSR +2 "processing"% +133 "core"  + "processing"% % +18 "core" %\ +2 #tPulling 1.5ml of PSR.flush + .PSR.select :flush +2 "processing"%j +10 .tPS.seek 1.5ml +2 "processing"%' +1626 "core" ' +2 .tdelay 5 seconds +502 .PSV.dial :waste1 +2 "processing"%  +44 "core"  +2 .tPS.seek 0ml +2 "processing"%' +1609 "core" ' + .tPSV.dial PSR +2 "processing"% +50 "core"  + .tPSR.select :air +2 "processing"% +10 .tPS.seek 2.5ml + "processing"%'m +2658 "core" ' +2 ."connect"PRV.dial CBV,avoiding: :ab2 +3 .tCBV.dial PRV +3 "processing"% "collection"'%  +6 "core" A +2 "processing"%"  +71 "core" +88  + .tPSV.dial :mixloop +2 "processing"%) +103 "core" +2 .tCTV.dial :air,avoiding: :intake + .PTV.dial :PRVmixing +2 "processing"%  +128 "core" +2 .tPS.seek 0ml + "processing"%' +2642 "core" ' + .tPSV.dial :air +2 "processing"%'  +44 "core"  +2 .tPS.seek 2.5ml +2 "processing"%('m +2649 "core" ' + .tPSV.dial :mixloop +2 "processing"%- +52 "core" +2 .tPS.seek 0ml + "processing"%,' +2639 "core" ' + .tPSV.dial :air +2 "processing"%/  +52 "core"  +2 .tPS.seek 2.5ml + "processing"%.'m +2657 "core" ' +2 .tPSV.dial :mixloop + "processing"% +52 "core" +2 .tPS.seek 0ml +2 "processing"%#' +2629 "core" ' +2 #tGaraging FlushPuck in Collection Clamp + "manipulator"&4& +4 "core" &# c 5 +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&5( +24 "core" ( + "manipulator"&1& +5 "core" &  } A ' + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &2& +2 "core" &   ' +2 .tForearm.seek CC +2 "manipulator"&9'| +94 "core" ' +2 .tHand.close + "manipulator"&3/ +60 "core" / +2 .tCC.seek :open + "collection"'6(p +411 "core" ( +2 "manipulator"&:& +4 "core" &\  X & + "manipulator"&;% +4 "core" % k +2 .tForearm.seek :retract + "manipulator"&0'\ +94 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage +2 "manipulator"&=(, +287 "core" ( + "manipulator"&>& +5 "core" &,   + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &<& +2 "core" &,  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :garage +2 "manipulator"&7' +113 "core" ' + .tHand.open +2 "manipulator"&81 +56 "core" 1 +2 "manipulator"&$% +4 "core" % j %  0 ŷe +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&C'\ +99 "core" ' + .tPSV.dial :mixloop +2 .PTV.dial :PRVmixing + ."connect"PRV.dial CBV +3 .tCBV.dial PRV +2 .CTV.dial :air,avoiding: :intake +2 #Loading lyfil puck from tube 2 into Collection Clamp +2 "collection"'@& +4 "core" &\ + "manipulator"&&% +4 "core" %\ + O !V +2 "storage"(B% +3 "core" %? } | \ \ +2 "storage"(H. +3 "core" .(E +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"(?(  +387 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (A& +3 "core" &  ] i \ + "manipulator"&K& +4 "core" &, a  +2 "manipulator"&L% +3 "core" %\ + F !V +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&I(; +180 "core" ( +2 "manipulator"&E& +4 "core" &6 t !r + "storage"(D& +4 "core" &  v v W\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&*'Ѐ +109 "core" ' +2 "storage"(P& +4 "core" &  Y\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(N'e +285 "core" ' + "storage"(Q- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (U& +2 "core" &  } | \ +2 "manipulator"&r& +4 "core" &6 p o  !r + .tElbow.seek 2 +2 "manipulator"&R(; +3 "core" ( +2 "manipulator"&V& +4 "core" &6 u ] > !r + "storage"(J& +4 "core" &  \ +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&M' +14 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&Y/ +52 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&W& +2 "storage"( 'N +7 "core" &6  !r +2 "manipulator"&% +4 "core" %  = +2 .tForearm.seek :retract + "manipulator"&T'\ +96 "core" ' +2 .tElbow.seek CC +2 "manipulator"&`( +145 "core" ' +2 ."downElevator"SE.stop +2 "storage"(5 +3 "core" ( + "manipulator"&b& +4 "core" & "  9& + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &\\& +3 "core" & "  9& +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&O'| +102 "core" ' +2 "manipulator"&d& +4 "core" & " W 9& +2 "manipulator"&Z% +4 "core" %| % +2 "collection"'X& +3 "core" &\ +3 "collection"'e& +6 "core" &\ +2 .tCC.seek :closed +3 "collection"'(] +3 "core" &\ +6 &>\ $e +9 &kVm\ 7 +10 &P\ L +9 &}\\:\ M +9 &@Z \ M +10 &\\\ M +9 & [T\ M +10 &"\\S\ M +9 &$I\\\ L +9 &&\ \\\ M +10 &'Z\ M +9 &)\\\ L +9 &+P]\ M +10 &-_\ M +9 &.]\ M +10 &0[\ M +9 &2X\\\ M +9 &4\\r\ L +10 &5\\b\ M +9 &7_P\ M +9 &9a\\\ L +10 &;#Z\ L +9 &<[\ L +10 &>\\\ M +9 &@h^\ M +9 &B*Zy\ M +10 &C\\r\ M +9 &E`g\ M +9 &Gpaa\ M +10 &I-gT\ N +9 &JxgN\ P +10 &L; M\ U +9 &NW"&?\ X +9 &P #5\ X +10 &Q *\ X +9 &S\ Y +9 &UX\ Z +10 &W\ Z +9 &X \ [ +10 &ZQ\ \\ +9 &\\We\ J +9 &]`9Z\ 'u +10 &]uX\ N +5 ( +2 "collection"'e& +4 #tCollection Clamp onSpring/offSpring for 9/26 samples, on/off torque 2.04 + .Hand.open +2 "manipulator"&1 +3 "core" &]dF\ N +49 1 + "manipulator"&i% +5 "core" % { +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&k'\ +98 "core" ' +2 .tCTV.dial CSV,avoiding: :intake +2 "collection"'a  +131 "core"  + .tCSV.dial CTV +2 "collection"'f  +28 "core"  +2 .tPS.seek 2.5ml +2 "processing"%l'm +2657 "core" ' +2 "collection"'j% +4 "core" %\  +2 .tCS.seek 4.5ml +2 "collection"'G'd +1481 "core" ' + .tdelay 8 seconds +803 .PSV.dial :air + "processing"%S  +49 "core"  +2 .tdelay 2 seconds +201 .PSV.dial :waste2 +2 "processing"%!  +73 "core"  +2 .tPS.seek 0ml +2 "processing"%n' +2642 "core" ' + .tCBV.dial between PRV and waste1 +2 "collection"'s ` +31 "core" _ +2 .tCSV.dial :air + "collection"'u @ +44 "core" ? +2 .tCS.seek 10ml +2 "collection"'x' +1483 "core" ' +2 .tCSV.dial CTV + "collection"'w  +55 "core"  +2 .tCS.seek 0ml +2 "collection"']' +924 "Can"V VS +1708 "core" ' + .tCBV.dial :waste1 +2 "collection"'m @ +30 "core" > +2 .tdelay 5 seconds +502 .CTV.dial :air,avoiding: :intake +3 "collection"'}  +129 "core" + "collection"'^& +4 "core" &]d\ N +2 #tStoring lyfil puck in Collection Clamp to tube 1 +2 "manipulator"&o% +4 "core" %\ 3 L %} + "storage"(~% +4 "core" %=\ &\ ' =\ \ + "storage"(t. +3 "core" .(  +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 1 + "storage"((B +358 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (& +2 "core" &> \ +2 "manipulator"&_& +4 "core" &  8 + "manipulator"&q% +4 "core" %\ 3 * %} +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 1 +2 "manipulator"&(c +173 "core" ( + "manipulator"&& +5 "core" &m  u + "storage"(z& +9 "core" &?   O\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 1 + 450 counts +2 "manipulator"&p'Ф +93 "core" ' +2 "storage"(y& +4 "core" &? Y B 8\ +2 .tSE.reconfigure :pick +54 "storage"(#]K-0-\ b +6 .tSE.seek :beamBreak + "storage"(\ 'e +277 "core" ' + "storage"(|- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"& & +3 "core" &m b a M u +2 "storage"(v& +4 "core" &? 4 > -\ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 1 + "manipulator"&' +30 "core" ' + .tElbow.hold +2 "manipulator"& , +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(g- +2 "core" -' +3 .tSE.seek 0.11 Pucks below Top Plate + "storage"('l +29 "core" ' + "manipulator"&% +4 "core" %e  #  Ƶ +2 "storage"(c& +4 "core" &? r\ + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 1 + 318 counts + "manipulator"&{' +18 "core" ' +2 "manipulator"&h& +4 "core" & u ` w  +2 "storage"(& +4 "core" &? D C \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 1 + 450 counts + "manipulator"&'Ф +19 "core" ' +2 .tSE.seek 1.11 Pucks below Top Plate +2 "storage"('[ +47 "core" ' +2 "manipulator"&& +4 "core" & o m  +2 "manipulator"&% +4 "core" %Т o o  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"& '\ +93 "core" ' +2 .tElbow.seek CC +2 "manipulator"& ( +164 "core" ( + "manipulator"&& +5 "core" &) q @[ + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &) @[ +2 .tForearm.seek CC +2 "manipulator"&'| +96 "core" ' + .tHand.close + "manipulator"&/ +63 "core" / +2 .tCC.seek :open +2 "collection"'(p +410 "core" ( +2 "storage"(%& +4 "core" &? u ` Z\ + "storage"("& +4 "core" &? Y Y\ +2 "manipulator"&)& +3 "core" && >O +2 "manipulator"&% +4 "core" % m   +2 .tForearm.seek :retract + "manipulator"&'\ +94 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 1 +2 "manipulator"&'(c +153 "core" ( + "manipulator"&& +5 "core" &_ v  + "storage"(-& +4 "core" &? p x \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 1 + "manipulator"&(' +97 "core" ' + .tElbow.hold +2 "manipulator"&/, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&,1 +64 "core" 1 +2 "manipulator"&% +4 "core" % -  + "storage"(.& +4 "core" &? Y X\ + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 1 + 312 counts + "manipulator"&4' +19 "core" ' +2 "manipulator"&1& +5 "core" & w { ' B + "storage"(2& +4 "core" &? "\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 1 + 450 counts + "manipulator"&3'Ф +22 "core" ' +2 "storage"(% +4 "core" %Y J\ +2 ."downElevator"SE.seek :down +4 "storage"('N +99 (% +2 "core" %= r f \ T[ +2 "manipulator"&:% +4 "core" %й y p  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&;'\ +95 "core" ' +43 ' + ."downElevator"SE.stop +2 "storage"(5 +2 .tPSV.dial :air +2 "processing"%9  +77 "core" +2 .tPS.seek 2.5ml +2 "processing"%>'m +2632 "core" ' + .tdelay 1 second +102 .PSV.dial :mixloop +2 "processing"%< +43 "core" +2 .tdelay 1 second +101 .PSV.dial :air +2 "processing"%5  +50 "core"  +2 .tdelay 1 second +101 .PSV.dial :mixloop +2 "processing"%8 +50 "core" + .tdelay 1 second +102 .PSV.dial :air +2 "processing"%$  +49 "core"  +2 .tdelay 1 second +102 .PS.seek 0ml + "processing"%@' +2630 "core" ' + #tLoading FlushPuck into Processing Clamp from FlushPuck::Garage +2 "processing"%0& +4 "core" &]\  + "manipulator"&&& +4 "core" & C A + "manipulator"&B% +4 "core" %\ 2 n %} +2 .tElbow.seek FlushPuck::Garage + "manipulator"&H(, +184 "core" ( +2 "manipulator"&7& +4 "core" &, n  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &[& +2 "core" &, Z  +2 .tForearm.seek :garage +2 "manipulator"&A' +104 "core" ' +2 .tHand.close +2 "manipulator"&K/ +59 "core" / + "manipulator"&L& +4 "core" &,  +2 "manipulator"&E% +4 "core" % + .tForearm.seek :retract +2 "manipulator"&D'\ +106 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +2 "manipulator"&=(c +126 "core" ( +2 "manipulator"&P& +4 "core" &k F +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &C& +3 "core" &k +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&Q'[ +102 "core" ' +2 "manipulator"&U& +4 "core" &k a +2 "manipulator"&r% +3 "core" %d  +2 "processing"%V& +4 "core" &]\  +2 "processing"%J& +5 "core" &]\  +2 .tPC.seek :closed +2 "processing"%Y(Z +4 "core" &]\  +7 &sI\ %h +9 &LY\ 9 +9 &}\ M +10 &i]\ M +9 &+Z \ N +10 &Y\ M +9 & \\\ N +9 &"qZ(\ N +10 &$3Z,\ N +9 &%[2\ N +9 &'Y3\ M +10 &)y]2\ N +9 &+<X2\ M +9 &,\\4\ N +10 &.Y:\ N +9 &0Y:\ N +10 &2C\\<\ N +9 &4Z:\ N +10 &5X5\ N +9 &7XG\ M +9 &9MZJ\ M +10 &; ]J\ N +9 &<WO\ M +9 &>\\O\ M +10 &@S]F\ N +9 &B]E\ N +9 &C[K\ N +10 &EYW\ M +9 &GZ_X\ N +10 &IiU\ O +9 &JtY\ Q +9 &L]\ S +10 &NN_\ U +9 &P_\ T +9 &Qc\ U +10 &S`\ T +9 &UXg\ T +10 &Wg\ U +9 &Xk\ U +9 &Z8Nsc\ 0 +10 &Z+m\ % +5 ( +2 "processing"%J& +4 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.58 + "processing"%W& +4 "core" &Zm\ % + &Zn\ % + .tHand.open +2 "manipulator"&1 +62 "core" 1 + "manipulator"&I% +4 "core" % `  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&*'\ +101 "core" ' + .tPRV.dial :air +2 "processing"%b  +42 "core"  + .tPSV.dial :mixloop +2 "processing"%\\ +50 "core" +2 "processing"%N% +4 "core" %\ +2 .tPS.seek 0.3ml + "processing"%M'm +415 "core" ' + .tPSV.dial PSR +2 "processing"%d +104 "core"  +2 "processing"%Z% +4 "core" %l\  + #tPulling 0.4ml of PSR.air + .PSR.select :air +3 .PS.seek 0.7ml +2 "processing"%X'. +486 "core" ' + .tdelay 3 seconds +302 .PSR.select :air +3 .PS.seek 2.5ml + "processing"%R'm +1937 "core" ' + .tdelay 3 seconds +302 .PSV.dial :mixloop +2 "processing"% +109 "core" + .tPTV.dial :mixing +2 "processing"%T @ +70 "core" A + .tPBV.dial :waste2 +2 "processing"%6  +95 "core"  +2 .tPS.seek 0ml +2 "processing"%' +2639 "core" ' + #tGaraging FlushPuck in Processing Clamp +2 "manipulator"&i& +4 "core" &k Z +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +2 "manipulator"&e(c +2 "core" ( +2 "manipulator"&a& +3 "core" &k D +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &f& +3 "core" &k  +2 .tForearm.seek PC + "manipulator"&O'[ +95 "core" ' +2 .tHand.close + "manipulator"&#/ +54 "core" / + .tPC.seek :open +2 "processing"%j(p +395 "core" ( + "manipulator"&F& +5 "core" &k + "manipulator"&S% +4 "core" % l 9 + .tForearm.seek :retract +2 "manipulator"&!'\ +100 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage +2 "manipulator"&l(, +123 "core" ( +2 "manipulator"&s& +4 "core" &,  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +53 &u& +3 "core" &,  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :garage +2 "manipulator"&G' +114 "core" ' + .tHand.open +2 "manipulator"&w1 +53 "core" 1 + "manipulator"&x% +5 "core" % t  ù~ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&m'\ +97 "core" ' +2 #tLoading da puck from tube 2 into Processing Clamp + "processing"%}& +4 "core" &\ +2 "manipulator"&^% +4 "core" %\ %  3 + "storage"(o% +4 "core" %= \ \ +2 "storage"(~. +3 "core" .(> +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"(t(  +359 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (?& +2 "core" &  C C ]\  +2 "manipulator"&& +4 "core" &,   +2 "manipulator"&_% +3 "core" %\ %  3 +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 + "manipulator"&q(; +175 "core" ( +2 "manipulator"&& +4 "core" &B O # + "storage"(z& +4 "core" &  g i \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&y'Ѐ +101 "core" ' +2 "storage"(`& +4 "core" &  l\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(k'e +278 "core" ' +2 "storage"(|- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 ( & +2 "core" &  P\  +2 "manipulator"&v& +4 "core" &B k ` U # + .tElbow.seek 2 +2 "manipulator"&g(; +3 "core" ( +2 "manipulator"&& +3 "core" &B q r I # +2 "storage"(c& +4 "core" &  !\  +2 .tForearm.seek 2 + 300 counts + "manipulator"&h' +16 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&/ +58 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"&& "storage"('N +8 "core" &B # + "manipulator"&p% +4 "core" %  ) +2 .tForearm.seek :retract +2 "manipulator"&'\ +90 "core" ' + .tElbow.seek PC +2 "manipulator"&\ (c +161 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +92 "core" ( + "manipulator"&& +5 "core" &h 5 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &{& +3 "core" &h  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&'[ +93 "core" ' + "manipulator"&& +4 "core" &h  +2 "manipulator"&% +4 "core" %S > +2 "processing"%& +3 "core" &`\ +2 "processing"% & +5 "core" &T\ +2 .tPC.seek :closed +2 "processing"%(Z +5 "core" &`\ \ +9 &0|\\\ *x +9 &cb\ > +10 &Cxc\ N +9 &Z[\ M +10 &Y\\\ M +9 &]R\ M +9 &!J\\M\ N +10 &# Y@\ M +9 &$ZH\ M +9 &&YM\ M +10 &(S[O\ M +9 &*\\R\ M +10 &+XH\ M +9 &-XG\ M +9 &/Z[P\ N +10 &1[<\ N +9 &2\\K\ N +9 &4ZK\ M +10 &6c]\ M +9 &8$\\\ N +9 &9[\ M +10 &;YW\ M +9 &=jZI\ N +10 &?.ZH\ M +9 &@]K\ N +9 &BY\ M +10 &Dt]\ M +9 &F5\\\ M +10 &G]\ N +9 &Ie\ N +9 &Kss\ P +10 &M.\ R +9 &N\ T +9 &P\ T +10 &Ro\ T +9 &T0\ T +9 &U\ T +10 &W\ U +9 &Yu\ B +10 &Zz>\ U +9 &Z\ ) +2 ( +2 "processing"% & +3 #tProcessing Clamp onSpring/offSpring for 9/25 samples, on/off torque 1.58 + .Hand.open + "manipulator"& 1 +60 "core" 1 +2 "manipulator"&% +4 "core" % S Y +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&%'\ +91 "core" ' +3 #tHeating Puck.from 2, :da in Processing Clamp to 28C for 2:00:00 +2 .PH.seek 28C,5:00 +2 "processing"%"  +2 %)9 +6 "core" 9 +102 "processing"%9 +2 "core" 9 +102 "processing"%9 +3 "core" 9  +102 "processing"%-9 +15 "core" 9 +102 "processing"%9 +2 "core" 9 +102 "processing"% 9 +3 "core" 9 +102 "processing"%,9 +2 "core" 9 +103 "processing"%9 +2 "core" 9 +102 "processing"%.9 +3 "core" 9# +102 "processing"%19 +3 "core" 9' +102 "processing"%29 +2 "core" 9+ +102 "processing"%9 +3 "core" 9/ +102 "processing"%9 +2 "core" 93 +102 "processing"%9 +3 "core" 97 +102 "processing"%:9 +3 "core" 9< +102 "processing"%'9 +2 "core" 9@ +102 "processing"%(9 +3 "core" 9D +102 "processing"%49 +2 "core" 9H +102 "processing"%9 +2 "core" 9L +103 "processing"%99 +2 "core" 9Q +102 "processing"%39 +2 "core" 9U +102 "processing"%9 +3 "core" 9Y +102 "processing"%n9 +2 "core" 9] +103 "processing"%<9 +2 "core" 9a +102 "processing"%59 +3 "core" 9 e +102 "processing"%89 +2 "core" 9j +102 "processing"%$9 +3 "core" 9n +102 "processing"%>9 +2 "core" 9%r +102 "processing"%09 +3 "core" 9-v +102 "processing"%&9 +3 "core" 95z +102 "processing"%B9 +2 "core" 9? +103 "processing"%79 +2 "core" 9G +102 "processing"%[9 +2 "core" 9P +102 "processing"%/9 +3 "core" 9X +102 "processing"%K9 +2 "core" 9a +103 "processing"%L9 +2 "core" 9j +102 "processing"%E9 +2 "core" 9r +102 "processing"%;9 +3 "core" 9z +102 "processing"%P9 +2 "core" 9 +3 .tPH.hold 2:00:00,28C +3 "processing"%C pp| +3 .tdelay 1:30 +3 "core"  +9001 .tPSR.select :air +2 .PSV.dial PSR + "processing"%A +109 "core"  +2 "processing"%U% +4 "core" %\ + #tPulling 0.5ml of PSR.wash + .PSR.select :wash +3 "processing"% +9 .tPS.seek 0.5ml +2 "processing"%r' +594 "core" ' + .tdelay 5 seconds +503 .PSR.select :air +2 "processing"% +9 .tPS.seek 2ml +2 "processing"%V'ԏ +1620 "core" ' + .tPTV.dial :puck +2 "processing"%H  +71 "core"  + .tPSV.dial PTV +2 "processing"%D +92 "core"  + .tPBV.dial :waste1 +2 "processing"%+  +131 "core"  +2 "processing"%W% +4 "core" %ԓ\  +2 .tPS.seek 1.5ml + "processing"%' +597 "core" ' +2 .tdelay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%I * +32 "core" , +2 .tPS.seek 0ml +2 "processing"%J' +1615 "core" ' + .tdelay 5:00 +18464 "Can"L &A? +11539 #trecoverPSRreagent08 + .PTV.dial :puck + .PBV.dial :waste1 +2 "processing"%b  +33 "core" +2 .tdelay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%\\ * +34 "core" , +2 .tPSR.select :air + .PSV.dial PSR +2 "processing"%N +78 "core"  +2 .tPS.reconfigure :fast +2 "processing"%#A ,`xb +2 .tPS.seek 2.5ml +2 "processing"%Q'm +2432 "core" ' +2 .tPSV.dial PTV +2 "processing"%@ +79 "core" +2 .tdelay 5 seconds +502 .PSV.dial PSR +2 "processing"%d +79 "core"  + .tdelay 5 seconds +502 .PSV.dial PTV +2 "processing"%Z +79 "core" +2 .tdelay 5 seconds +502 .PSV.dial :air + "processing"%M  +73 "core"  +2 .tPS.seek 0ml +2 "processing"%X' +2388 "core" ' +2 .tPTV.dial :PRVmixing,via: PRV + "processing"%  +127 "core" + .tPSV.dial :mixloop +2 "processing"%T +50 "core" + .tPRV.dial :ab1 +2 "processing"%6 @ +72 "core" A +2 .tPS.reconfigure :slow +2 "processing"%#A 2`xb +3 .tPS.seek 0.15ml + "processing"%R'@ +359 "core" ' +2 .tdelay 2 seconds +202 ."connect"CBV.dial PRV +4 .tPRV.dial CBV + "collection"'i  + "processing"%a  +45 "core"  +3 + "processing"%f% +4 "core" %Bq\  +2 .tPS.seek 0.34ml + "processing"%#' +437 "core" ' +2 .tdelay 2 seconds +202 .CBV.dial between PRV and PSV + "collection"'=  +30 "core" +2 .tPRV.dial :air + "processing"%*  +42 "core"  +2 .tPS.seek 0.9ml +2 "processing"%Y'H +1191 "core" ' +2 .tPRV.dial :waste2 + "processing"%F @ +72 "core" ? +2 .tPS.seek 0.5ml +2 "processing"%S' +865 "core" ' +2 #taddPMLReagent08 + .PSV.dial :air + "processing"%s  +49 "core"  +2 .tPS.reconfigure :default +3 "processing"%#A d`xb +2 .tPS.seek 2ml + "processing"%u'ԏ +1630 "core" ' + .tPSV.dial :PML + "processing"%O +49 "core" +2 .tPTV.dial :mixing + "processing"%e @ +71 "core" @ + .tPBV.dial :waste1 +51 "processing"%w  +35 "core" +2 "processing"%x% +4 "core" %ԏ q\  +2 .tPS.seek 1.85ml + "processing"%}'f +232 "core" ' + .tPBV.dial between PSV and waste1 +2 "processing"%^ * +34 "core" + +3 .tPS.seek 0ml + "processing"%o' +1974 "core" ' +2 .tdelay 2 seconds +202 #Beginning samplePassC + #Loading FlushPuck into Collection Clamp from FlushPuck::Garage +2 "collection"'!& +2 "core" &\ +2 "manipulator"&~& +4 "core" &h  +2 "manipulator"&G% +3 "core" %\ & ! > +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek FlushPuck::Garage +2 "manipulator"&(, +123 "core" ( + "manipulator"&?& +5 "core" &, 2  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &,   +2 .tForearm.seek :garage +2 "manipulator"&_' +93 "core" ' +2 .tHand.close + "manipulator"&/ +63 "core" / +2 "manipulator"&z& +4 "core" &, N  + "manipulator"&`% +4 "core" %  l q +2 .tForearm.seek :retract +2 "manipulator"&l'\ +101 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&m( +275 "core" ( + "manipulator"&|& +4 "core" &$ 8 <; +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 & & +3 "core" &% q <; +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&v'| +104 "core" ' +2 "manipulator"&& +4 "core" &% <; +2 "manipulator"&c% +4 "core" %z z +2 "collection"'& +4 "core" &\ +2 "collection"'& +5 "core" &\ +2 .tCC.seek :closed +2 "collection"'p(] +4 "core" &\ +7 &<\ $e +9 &gU\ 7 +10 &}\ L +9 &l\\\ O +9 &0\\\ N +10 &]\ O +9 & Y\ O +10 &"u]\ O +9 &$8Y\ N +9 &%\\\ O +10 &'[\ O +9 &)}\\\ O +9 &+>Z\ O +10 &-V\ O +9 &.Y\ O +10 &0Y\ O +9 &2GX\ O +9 &4 Y\ O +10 &5X\ O +9 &7V\ O +9 &9PY\ N +10 &;\\\ N +9 &<_\ O +10 &>\\\ N +9 &@WY\ O +9 &B\\\ O +10 &C[\ O +9 &EZ\ N +9 &G`V\ N +10 &I!`\ O +9 &Ju|\ Q +10 &LTh\ U +9 &NK/7\ X +9 &P ,0\ Y +10 &Q(+\ Y +9 &S"&\ Z +9 &UL!!\ [ +10 &W \ [ +9 &X\ \\ +10 &Z\ ] +11 &\\E\ P +7 &]^C \ &s +10 &]q \ P +5 ( +2 "collection"'& +4 #tCollection Clamp onSpring/offSpring for 9/26 samples, on/off torque 2.04 +2 "collection"'q& +4 "core" &]g \ P + &]g \ P + .tHand.open +2 "manipulator"&y1 +58 "core" 1 +2 "manipulator"&k% +4 "core" % z z +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&h'\ +93 "core" ' +2 .tPSV.dial PSR + "processing"% +104 "core"  + "processing"%{% +4 "core" %m\ +2 #tPulling 1.5ml of PSR.flush + .PSR.select :flush +2 "processing"%@ +10 .tPS.seek 1.5ml + "processing"%g' +1619 "core" ' +2 .tdelay 5 seconds +502 .PSV.dial :waste1 +2 "processing"%  +43 "core"  +2 .tPS.seek 0ml + "processing"%' +1620 "core" ' + .tPSV.dial PSR +2 "processing"% +50 "core"  +2 .tPSR.select :air + "processing"% +10 .tPS.seek 2.5ml +2 "processing"%'m +2651 "core" ' +2 ."connect"PRV.dial CBV,avoiding: :ab2 +4 .tCBV.dial PRV +2 "processing"%  "collection"'j  +34 "core"  +123  +2 .tPSV.dial :mixloop + "processing"% +105 "core" +2 .tCTV.dial :air,avoiding: :intake + .PTV.dial :PRVmixing +2 "processing"%  +72 "core" +2 .tPS.seek 0ml + "processing"%)' +2634 "core" ' +2 .tPSV.dial :air + "processing"%  +46 "core"  +4 .tPS.seek 2.5ml + "processing"%'m +2660 "core" ' + .tPSV.dial :mixloop +2 "processing"% +49 "core" +2 .tPS.seek 0ml +2 "processing"%' +2636 "core" ' +2 .tPSV.dial :air + "processing"%-  +51 "core"  +2 .tPS.seek 2.5ml + "processing"%'m +2653 "core" ' + .tPSV.dial :mixloop +2 "processing"% +50 "core" +2 .tPS.seek 0ml +2 "processing"%,' +2640 "core" ' + #tGaraging FlushPuck in Collection Clamp +2 "manipulator"&& +4 "core" & 8 +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&.( +30 "core" ( + "manipulator"&1& +4 "core" & I  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &2& +2 "core" &  +2 .tForearm.seek CC +2 "manipulator"&'| +96 "core" ' + .tHand.close +2 "manipulator"&/ +55 "core" / +2 .tCC.seek :open + "collection"'(p +411 "core" ( + "manipulator"&:& +4 "core" &   +2 "manipulator"&'% +4 "core" % ϊ  + .tForearm.seek :retract +2 "manipulator"&('\ +94 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage +2 "manipulator"&4(, +268 "core" ( +2 "manipulator"&& +4 "core" &,  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &9& +3 "core" &, +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :garage +2 "manipulator"&3' +112 "core" ' + .tHand.open +2 "manipulator"&1 +64 "core" 1 + "manipulator"&n% +4 "core" %    +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&<'\ +104 "core" ' +2 ."da"delayUntil "16:14:38.90" +7286 "Can"K je +17469 #"da"recoverPRVreagent08 +2 .PTV.dial :mixing + "processing"%5 @ +72 "core" A +2 ."da"PBV.dial :waste1 +2 "processing"%8  +34 "core" + ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%$ * +34 "core" + +2 ."da"PSV.dial :air +2 "processing"%>  +50 "core"  +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%0'm +2406 "core" ' + ."da"PSV.dial :mixloop +2 "processing"%& +50 "core" + ."da"delay 2 seconds +202 .PSV.dial :air +2 "processing"%B  +49 "core"  +2 ."da"delay 2 seconds +202 .PSV.dial :mixloop +2 "processing"%7 +49 "core" +2 ."da"delay 2 seconds +202 .PSV.dial :air + "processing"%[  +51 "core"  +2 ."da"PS.seek 0ml +2 "processing"%/' +2396 "core" ' +2 #"da"washCycleDA #1 of 2 + .PSR.select :air +2 .PSV.dial PSR +2 "processing"%K +132 "core"  +2 "processing"%L% +4 "core" %\  + #"da"Pulling 0.5ml of PSR.wash +2 .PSR.select :wash +2 "processing"% +9 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"%E' +597 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +2 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%;'ԏ +1617 "core" ' + ."da"PTV.dial :puck +2 "processing"%P  +71 "core"  + ."da"PSV.dial PTV +2 "processing"%A +73 "core" +2 ."da"PBV.dial :waste1 + "processing"%U  +35 "core" + "processing"%% +4 "core" %Ԋ\  +2 ."da"PS.seek 1.5ml +2 "processing"%r' +597 "core" ' + ."da"delay 3 seconds +303 .PBV.dial between PSV and waste1 + "processing"%H * +34 "core" + +2 ."da"PS.seek 0ml +2 "processing"%D' +1610 "core" ' +2 ."da"delay 2:00 +12002 #recoverPSRreagent08 +2 .PTV.dial :puck + .PBV.dial :waste1 +2 "processing"%+  +33 "core" +2 ."da"delay 30 seconds +3002 .PBV.dial between PSV and waste1 +2 "processing"%W * +35 "core" + + ."da"PSR.select :air +2 .PSV.dial PSR +52 "processing"%V +82 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%I'm +2427 "core" ' + ."da"PSV.dial PTV +2 "processing"% +80 "core" + ."da"delay 5 seconds +503 .PSV.dial PSR + "processing"%" +79 "core"  +2 ."da"delay 5 seconds +502 .PSV.dial PTV +2 "processing"%b +80 "core" +2 ."da"delay 5 seconds +502 .PSV.dial :air +2 "processing"%\\  +75 "core"  +2 ."da"PS.seek 0ml +3 "processing"%N' +2377 "core" ' + #"da"washCycleDA #2 of 2 +2 .PSR.select :air + .PSV.dial PSR +2 "processing"%J +133 "core"  + "processing"%@% +4 "core" %\ + #"da"Pulling 0.5ml of PSR.wash +2 .PSR.select :wash +2 "processing"% +9 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"%d' +588 "core" ' + ."da"delay 5 seconds +503 .PSR.select :air +2 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%Z'ԏ +1614 "core" ' + ."da"PTV.dial :puck +2 .PSV.dial PTV +2 "processing"%M +73 "core" +2 ."da"PBV.dial :waste1 + "processing"%Q  +35 "core" + "processing"% % +4 "core" %ԑ\  +2 ."da"PS.seek 1.5ml +2 "processing"%T' +600 "core" ' + ."da"delay 3 seconds +303 .PBV.dial between PSV and waste1 + "processing"%6 * +34 "core" + +2 ."da"PS.seek 0ml +2 "processing"%X' +1619 "core" ' +2 ."da"delay 2:00 +604 "Can"D "C@ +11398 #"da"recoverPSRreagent08 +2 .PTV.dial :puck + .PBV.dial :waste1 +2 "processing"%a  +33 "core" +2 ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 + "processing"%i * +35 "core" + +2 ."da"PSR.select :air +2 .PSV.dial PSR + "processing"%f +81 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%R'm +2400 "core" ' +2 ."da"PSV.dial PTV + "processing"%= +80 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PSR + "processing"%* +79 "core"  +2 ."da"delay 5 seconds +502 .PSV.dial PTV +2 "processing"%# +79 "core" + ."da"delay 5 seconds +503 .PSV.dial :air + "processing"%F  +75 "core"  +2 ."da"PS.seek 0ml + "processing"%Y' +2384 "core" ' + #"da"getPMLReagent08 +2 .PRV.dial :air + "processing"%s  +44 "core"  +2 ."da"delay 5 seconds +502 .PTV.dial :PRVmixing +2 "processing"%S  +127 "core" +2 ."da"delay 5 seconds +502 .PRV.dial :ab2 +2 "processing"%O  +43 "core"  + ."da"PTV.dial :PRVmixing +2 .PSV.dial :mixloop + "processing"%e +52 "core" +2 ."da"PS.reconfigure :default +2 "processing"%#A d`xb +3 ."da"PS.seek 0.3ml + "processing"%w'i +400 "core" ' +2 ."da"delay 2 seconds +201 .PRV.dial :air +2 "processing"%x  +43 "core"  +2 "processing"%^% +3 "core" %i\ +2 ."da"PS.seek 0.55ml +2 "processing"%u'X +346 "core" ' + #"da"addPMLReagent08 +2 .PSV.dial :air + "processing"%}  +52 "core"  +2 ."da"PS.seek 2ml +7 "processing"%!'ԏ +1572 "core" ' +2 ."da"PSV.dial :PML + "processing"%~ +50 "core" +2 ."da"PTV.dial :mixing +2 "processing"%G @ +70 "core" A +2 ."da"PBV.dial :waste1 +2 "processing"%?  +33 "core" +2 "processing"%% +4 "core" %Ԏ"\  +2 ."da"PS.seek 1.85ml +2 "processing"%\ 'e +236 "core" ' + ."da"PBV.dial between PSV and waste1 +2 "processing"% * +34 "core" + +2 ."da"PS.seek 0ml +2 "processing"%z' +1971 "core" ' +2 ."da"delay 2 seconds +202 .delay 8:00 +32251 "Can"+ "B? +15751 #"da"recoverPRVreagent08 +2 .PTV.dial :mixing + .PBV.dial :waste1 +2 "processing"%`  +34 "core" + ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%% * +34 "core" + +2 ."da"PSV.dial :air +2 "processing"%_  +50 "core"  + ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%|'m +2421 "core" ' + ."da"PSV.dial :mixloop +2 "processing"% +51 "core" + ."da"delay 2 seconds +202 .PSV.dial :air +2 "processing"%  +49 "core"  +2 ."da"delay 2 seconds +202 .PSV.dial :mixloop +2 "processing"% +49 "core" + ."da"delay 2 seconds +202 .PSV.dial :air +2 "processing"%c  +49 "core"  +2 ."da"PS.seek 0ml +2 "processing"%' +2385 "core" ' +2 #"da"washCycleDA #1 of 3 +2 .PSR.select :air +2 .PSV.dial PSR + "processing"%l +134 "core"  +2 "processing"%% +3 "core" %\ +2 #"da"Pulling 0.5ml of PSR.wash + .PSR.select :wash +2 "processing"% +9 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"%q' +593 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +2 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%y'ԏ +1630 "core" ' + ."da"PTV.dial :puck +2 "processing"%k  +70 "core"  + ."da"PSV.dial PTV +2 "processing"% +74 "core" + ."da"PBV.dial :waste1 +2 "processing"%  +34 "core" +2 "processing"%{% +3 "core" %ԏ\  +2 ."da"PS.seek 1.5ml +2 "processing"%v' +610 "core" ' + ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%o * +34 "core" + +2 ."da"PS.seek 0ml +2 "processing"%' +1616 "core" ' +2 ."da"delay 2:00 +12003 #recoverPSRreagent08 + .PTV.dial :puck +2 .PBV.dial :waste1 + "processing"%g  +35 "core" + ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"% * +34 "core" + +2 ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"% +79 "core"  +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml + "processing"%j'm +2429 "core" ' +2 ."da"PSV.dial PTV + "processing"% +80 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PSR +2 "processing"% +78 "core"  +2 ."da"delay 5 seconds +502 .PSV.dial PTV +3 "processing"% +79 "core" +2 ."da"delay 5 seconds +502 .PSV.dial :air +2 "processing"%  +72 "core"  +3 ."da"PS.seek 0ml + "processing"% ' +2375 "core" ' + #"da"washCycleDA #2 of 3 +2 .PSR.select :air +2 .PSV.dial PSR + "processing"%) +133 "core"  + "processing"%% +4 "core" %\ + #"da"Pulling 0.5ml of PSR.wash +2 .PSR.select :wash +2 "processing"% +9 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"%' +591 "core" ' + ."da"delay 5 seconds +503 .PSR.select :air +2 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%-'ԏ +1626 "core" ' +2 ."da"PTV.dial :puck + .PSV.dial PTV +2 "processing"% +74 "core" + ."da"PBV.dial :waste1 +2 "processing"%  +77 "core" +9 "processing"%% +4 "core" %ԏ%\  +2 ."da"PS.seek 1.5ml +2 "processing"%' +609 "core" ' + ."da"delay 3 seconds +303 .PBV.dial between PSV and waste1 + "processing"%1 * +34 "core" + +2 ."da"PS.seek 0ml +2 "processing"%2' +1610 "core" ' +2 ."da"delay 2:00 +2357 "Can"3\ ~| +9645 #"da"recoverPSRreagent08 + .PTV.dial :puck +2 .PBV.dial :waste1 + "processing"%  +34 "core" +2 ."da"delay 30 seconds +3002 .PBV.dial between PSV and waste1 +2 "processing"%m * +35 "core" + + ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"%h +79 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%p'm +2424 "core" ' + ."da"PSV.dial PTV +2 "processing"%: +80 "core" + ."da"delay 5 seconds +502 .PSV.dial PSR +2 "processing"%' +91 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PTV +2 "processing"% +77 "core" +2 ."da"delay 5 seconds +502 .PSV.dial :air +2 "processing"%  +72 "core"  +2 ."da"PS.seek 0ml +2 "processing"%9' +2374 "core" ' +2 #"da"washCycleDA #3 of 3 +2 .PSR.select :air +2 .PSV.dial PSR + "processing"%. +133 "core"  + "processing"%% +4 "core" %\ + #"da"Pulling 0.5ml of PSR.wash +2 .PSR.select :wash +2 "processing"% +9 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"%n' +594 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +2 "processing"% +10 ."da"PS.seek 2ml + "processing"%('ԏ +1614 "core" ' + ."da"PTV.dial :puck +2 .PSV.dial PTV +2 "processing"%3 +73 "core" +2 ."da"PBV.dial :waste1 + "processing"%5  +35 "core" + "processing"%8% +4 "core" %ԍ\  +2 ."da"PS.seek 1.5ml +2 "processing"%$' +600 "core" ' + ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%> * +34 "core" + +2 ."da"PS.seek 0ml +2 "processing"%,' +1616 "core" ' +2 ."da"delay 2:00 +12003 #recoverPSRreagent08 +2 .PTV.dial :puck + .PBV.dial :waste1 +2 "processing"%&  +34 "core" +2 ."da"delay 30 seconds +3002 .PBV.dial between PSV and waste1 +2 "processing"%B * +35 "core" + + ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"%7 +79 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%['m +2419 "core" ' + ."da"PSV.dial PTV +2 "processing"%0 +80 "core" + ."da"delay 5 seconds +503 .PSV.dial PSR + "processing"%K +79 "core"  +2 ."da"delay 5 seconds +502 .PSV.dial PTV +2 "processing"%L +79 "core" + ."da"delay 5 seconds +502 .PSV.dial :air +2 "processing"%/  +73 "core"  +2 ."da"PS.seek 0ml +2 "processing"%E' +2369 "core" ' + ."da"Gate.power :camera,:ON +2 #Mixing DA Substrates +2 .PSR.select :air + .PSV.dial PSR +2 "processing"%P +138 "core"  +2 "processing"%A% +11 "core" %\ +5 #"da"Pulling 0.25ml of PSR.sub1 + .PSR.select :sub1 +5 "processing"% +13 ."da"PS.reconfigure :default +8 "processing"%#A d`xb +5 ."da"PS.seek 0.25ml +4 "processing"%U' +344 "core" ' + ."da"delay 5 seconds +503 "processing"%% +3 "core" % \ | +2 #"da"Pulling 0.25ml of PSR.sub2 + .PSR.select :sub2 +2 "processing"% +10 ."da"PS.seek 0.5ml +2 "processing"%;' +335 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +2 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%H'ԏ +1624 "core" ' + ."da"PTV.dial :puck +2 .PSV.dial PTV + "processing"%r +75 "core" +2 ."da"PBV.dial :waste1 +2 "processing"%+  +36 "core" + "processing"%W% +4 "core" %ԋ(\ v +2 ."da"PS.seek 1.5ml +2 "processing"%V' +597 "core" ' + ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%D * +46 "core" ) +2 ."da"PS.seek 0ml +2 "processing"%' +1613 "core" ' +2 ."da"delay 10 seconds +1003 #recoverPSRreagent08 + .PTV.dial :puck +2 .PBV.dial :waste1 +2 "processing"%"  +33 "core" + ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%b * +34 "core" + +2 ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"%\\ +91 "core" +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%I'm +2465 "core" ' + ."da"PSV.dial PTV +2 "processing"%J +79 "core" +2 ."da"delay 5 seconds +192 "Can"6\  +310 ."da"PSV.dial PSR +2 "processing"%@ +80 "core"  +2 ."da"delay 5 seconds +502 .PSV.dial PTV +2 "processing"%N +80 "core" +2 ."da"delay 5 seconds +502 .PSV.dial :air +2 "processing"%d  +74 "core"  +2 ."da"PS.seek 0ml +2 "processing"%M' +2424 "core" ' +2 #"da"Additional air clear + .PSR.select :air +2 .PSV.dial PSR + "processing"%Q +136 "core"  +2 "processing"% % +4 "core" %\ +2 #"da"Pulling 2ml of PSR.air + .PSR.select :air +2 .PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 2ml +2 "processing"%Z'ԏ +2137 "core" ' + ."da"delay 5 seconds +503 .PTV.dial :puck +2 .PSV.dial PTV + "processing"%6 +74 "core" +2 ."da"PBV.dial :waste1 + "processing"%T  +35 "core" + "processing"%a% +4 "core" %ԑ\ z +2 ."da"PS.seek 1.5ml +2 "processing"%i' +587 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%f * +46 "core" ) +2 ."da"delay 1 second +102 .PSV.dial :waste1 + "processing"%X  +112 "core"  +3 ."da"PS.seek 0ml +2 "processing"%=' +1620 "core" ' +2 "processing"%*9 +3 "core" 95 +2 #"da"Processing Puck Heater at 27.9C before imaging + .PH.coast +2 "processing"%#  +3 "core" 5 + 5 + "processing"%F& +3 "core" &Z\ ) +2 #"da"Imaging da puck in Processing Clamp while storing it to tube 1 +2 "manipulator"&R% +4 "core" %\ 3 ) %y + "storage"(s% +4 "core" %? U U\ + "storage"(S. +3 "core" .(  +2 ."da"SC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 ."da"SC.seek 1 + "storage"(O(B +372 "core" ( + ."da"SC.configure :limp +2 "storage"($\ 1b +3 (e& +2 "core" &E O F =\ e +2 "manipulator"&Y& +3 "core" &,  +2 "manipulator"&x% +4 "core" %\ 2 S %y +2 ."da"Elbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 ."da"Elbow.seek 1 +2 "manipulator"&^(c +173 "core" ( + "manipulator"&w& +4 "core" &Y = + "storage"(}& +4 "core" &E 4 ;\ +2 ."da"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 ."da"Forearm.seek 1 + 450 counts +2 "manipulator"&u'Ф +93 "core" ' + "storage"(~& +5 "core" &E F\ z +2 ."da"SE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 ."da"SE.seek :beamBreak +2 "storage"(G'e +280 "core" ' +2 "storage"(?- +3 "core" -' +2 ."da"SE.configure :default +2 "storage"(#QK-0-\ b +48 "manipulator"&& +10 "core" &Y / = +2 "storage"(& +4 "core" &E \ t + ."da"Elbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 ."da"Forearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 ."da"Forearm.seek 1 +2 "manipulator"&!' +33 "core" ' +2 ."da"Elbow.hold +2 "manipulator"&\ , +3 "core" , +2 ."da"Elbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(`- +2 "core" -' +3 ."da"SE.seek 1.12 Pucks below Top Plate + "storage"(%'` +41 "core" ' +2 "manipulator"&_% +4 "core" %j   - Ƕ + "storage"(z& +4 "core" &E !\ + ."da"Forearm.force -20 +2 "manipulator"&5 +3 ."da"Forearm.seek 1 + 316 counts + "manipulator"& ' +18 "core" ' + "manipulator"&& +5 "core" &Y [ u = + "storage"(& +4 "core" &E U U c\ +2 ."da"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 ."da"Forearm.seek 1 + 450 counts +2 "manipulator"&c'Ф +24 "core" ' +2 ."da"SE.seek 2.12 Pucks below Top Plate +2 "storage"(|'O +51 "core" ' + "manipulator"&l& +4 "core" &Y n q = +2 "manipulator"&% +4 "core" %к m n +2 ."da"Forearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 ."da"Forearm.seek :retract +2 "manipulator"&'\ +95 "core" ' +2 ."da"Elbow.seek PC +2 "manipulator"&q(c +249 "core" ( +2 "manipulator"&k& +4 "core" &m 2 + ."da"Elbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &m +2 ."da"Forearm.seek PC +2 "manipulator"&'[ +95 "core" ' +2 ."da"Hand.close + "manipulator"&{/ +58 "core" / +2 ."da"PC.seek :open +2 "processing"%y(p +394 "core" ( +2 "storage"(o& +4 "core" &E \ p +2 "manipulator"&v& +4 "core" &m \\ + "manipulator"&g% +4 "core" % [ +2 ."da"Forearm.seek :retract +2 "manipulator"&'\ +101 "core" ' +2 ."da"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 ."da"Elbow.seek 1 +2 "manipulator"&(c +249 "core" ( +2 "manipulator"&& +4 "core" &c O "y + "storage"(& +4 "core" &E   H\ +2 ."da"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 ."da"Forearm.seek 1 + 450 counts +2 "manipulator"& 'Ф +99 "core" ' + ."da"Hand.open +3 "manipulator"&1 +62 "core" 1 + "storage"(- +4 "core" -'O +2 ."da"SE.seek 1.87 Pucks below Top Plate +2 "storage"(j' +24 "core" ' + ."da"SE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 ."da"SE.seek 1.21 Pucks below Top Plate +2 "storage"()' +48 "core" ' +2 #"da"Lights, camera, ACTION! +3 #PuckCamera: snap -bin=2,2 -auto /var/log/esp/da22oct1716h50ml.tif +1951 #"psFlush"Waiting >20 seconds for da to relinquish FlushPuck +1768 #"da"SX HX9/16 (USB:02): 1392x1040 pixel 16-bit CCD camera\ Exposing 696x520 pixel 16-bit image for 33.7 seconds\ /var/log/esp/da22oct1716h50ml.tif: TIFF Upload Complete\ +4 #PuckCamera: snap -bin=2,2 15.0 /var/log/esp/midres/da22oct1716h50ml15s.tif +1564 #SX HX9/16 (USB:02): 1392x1040 pixel 16-bit CCD camera\ Exposing 696x520 pixel 16-bit image for 15 seconds\ /var/log/esp/midres/da22oct1716h50ml15s.tif: TIFF Upload Complete\ +3 #PuckCamera: snap -bin=2,2 30.0 /var/log/esp/midres/da22oct1716h50ml30s.tif +3069 #SX HX9/16 (USB:02): 1392x1040 pixel 16-bit CCD camera\ Exposing 696x520 pixel 16-bit image for 30 seconds\ /var/log/esp/midres/da22oct1716h50ml30s.tif: TIFF Upload Complete\ +4 #PuckCamera: snap -bin=1,1 70.0 /var/log/esp/hires/da22oct1716h50ml70s.tif +7184 #SX HX9/16 (USB:02): 1392x1040 pixel 16-bit CCD camera\ Exposing 1392x1040 pixel 16-bit image for 70 seconds\ /var/log/esp/hires/da22oct1716h50ml70s.tif: TIFF Upload Complete\ +2 .Gate.power :camera,:OFF +3 ."Qmail"DAfans.email "33.7 sec auto-exposure",Subject: "da22oct1716h50ml images!" +5 "storage"(- +4 "core" -' +2 "storage"( & +5 "core" &E \ +2 "manipulator"&& +7 "core" &e | t  !w +2 ."da"Elbow.seek 1 +2 "manipulator"&(c +3 "core" ( + "manipulator"& & +4 "core" &e e ' !w +2 "storage"(& +4 "core" &E ^\ +3 ."da"Forearm.seek 1 + 450 counts +3 "manipulator"&-'Ф +4 "core" ' +2 ."da"SE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 ."da"SE.seek 1.92 Pucks below Top Plate +4 "storage"(1'Z +58 !"Qmail"o:!Net::SMTPAuthenticationError: mesg"E534-5.7.9 Application-specific password required. Learn more at\ :@checkpoint: omitted:bt["E/opt/mbari/lib/ruby/1.8/net/smtp.rb:954:in `check_auth_response'"/opt/mbari/lib/ruby/1.8/net/smtp.rb:723:in `authenticate'":/opt/mbari/lib/ruby/1.8/net/smtp.rb:566:in `do_start'"7/opt/mbari/lib/ruby/1.8/net/smtp.rb:525:in `start'"2/home/esp/esp2/lib/email.rb:325:in `sendOnce'"3/home/esp/esp2/lib/schedule.rb:292:in `unsync'"3/home/esp/esp2/lib/schedule.rb:594:in `unsync'"3/home/esp/esp2/lib/schedule.rb:621:in `unsync'"2/home/esp/esp2/lib/email.rb:318:in `sendOnce'"./home/esp/esp2/lib/email.rb:340:in `send'",/home/esp/esp2/lib/msg.rb:68:in `retry'"./home/esp/esp2/lib/email.rb:339:in `send'"B/home/esp/esp2/protocol/2G/utilities.rb:163:in `prepAndImage'"-/home/esp/esp2/lib/email.rb:66:in `call'"3/home/esp/esp2/lib/email.rb:66:in `initialize'"-/home/esp/esp2/lib/email.rb:63:in `loop'"3/home/esp/esp2/lib/email.rb:63:in `initialize'"7/home/esp/esp2/lib/schedule.rb:481:in `initialize'"0/home/esp/esp2/lib/thread.rb:738:in `start'"7/home/esp/esp2/lib/schedule.rb:474:in `initialize'"'/home/esp/esp2/lib/schedule.rb:472 +2 !o:Email::Queue::Purge: mesg"Purged output queue:bt[ "//home/esp/esp2/lib/email.rb:106:in `purge'"3/home/esp/esp2/lib/email.rb:75:in `initialize'"-/home/esp/esp2/lib/email.rb:63:in `loop'"3/home/esp/esp2/lib/email.rb:63:in `initialize'"7/home/esp/esp2/lib/schedule.rb:481:in `initialize'"0/home/esp/esp2/lib/thread.rb:738:in `start'"7/home/esp/esp2/lib/schedule.rb:474:in `initialize'"'/home/esp/esp2/lib/schedule.rb:472 +6 "core" ' +2 "manipulator"&& +4 "core" &e _ ` O !w +2 "storage"(& +3 "core" &E N T C\ +2 ."da"Elbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 ."da"Forearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 ."da"Forearm.seek 1 +2 "manipulator"&m' +30 "core" ' + ."da"Elbow.hold +2 "manipulator"&h, +4 "core" , + ."da"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 ."da"SE.reconfigure :default +2 "storage"(#QK-0-\ b +2 ."da"SE.seek 2.11 Pucks below Top Plate +2 "storage"(2'D +28 "core" ' +2 "manipulator"&:% +4 "core" % +2 "storage"('& +4 "core" &E   \ +2 ."da"Forearm.force -20 + "manipulator"&5 +3 ."da"Forearm.seek 1 + 319 counts +2 "manipulator"&'! +16 "core" ' +2 "manipulator"&& +4 "core" &e l d = !w +2 "storage"(p& +4 "core" &E t r #\ +2 ."da"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 ."da"Forearm.seek 1 + 450 counts +3 "manipulator"&.'Ф +17 "core" ' + "storage"(% +31 "core" %L \ +2 ."downElevator"SE.seek :down +4 "storage"(9'N +98 (n% +3 "core" %H4 r ` =\ SU +2 "manipulator"&3% +4 "core" %Ь q n  +2 ."da"Forearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 ."da"Forearm.seek :retract +2 "manipulator"&5'\ +88 "core" ' +45 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (8& +4 "core" &E U M \ +3 #"psFlush"Loading FlushPuck into Processing Clamp from FlushPuck::Garage +2 #tStarting finalPurge +3 "processing"%(& +4 "core" &\ + "manipulator"&>& +4 "core" &e ( !w +2 "manipulator"&$% +4 "core" %\ + a !T +2 ."psFlush"Elbow.seek FlushPuck::Garage +2 "manipulator"&&(, +175 "core" ( + "manipulator"&B& +5 "core" &,  + ."psFlush"Elbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &7& +3 "core" &,   +2 ."psFlush"Forearm.seek :garage +2 "manipulator"&,' +104 "core" ' +2 ."psFlush"Hand.close +2 "manipulator"&0/ +59 "core" / +2 "manipulator"&K& +4 "core" &, E  + "manipulator"&L% +4 "core" %  R +2 ."psFlush"Forearm.seek :retract +2 "manipulator"&/'\ +99 "core" ' +2 ."psFlush"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 ."psFlush"Elbow.seek PC +2 "manipulator"&[(c +118 "core" ( + "manipulator"&P& +4 "core" &m  J +2 ."psFlush"Elbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &A& +2 "core" &m  J +2 ."psFlush"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 ."psFlush"Forearm.seek PC +2 "manipulator"&E'[ +105 "core" ' +2 "manipulator"&& +4 "core" &m J +2 "manipulator"&U% +4 "core" %U +2 "processing"%;& +4 "core" &\ +2 "processing"%r& +4 "core" &\ +2 ."psFlush"PC.seek :closed +4 "processing"%+(Z +3 "core" &\ +6 & 0\ #b +10 &YW\ 7 +9 &\ L +9 &kZ\ M +10 &.[\ M +9 &[\ M +9 & Y{\ M +10 &"tWu\ M +9 &$5\\u\ M +10 &%[t\ M +9 &'W|\ M +9 &)z\\u\ N +10 &+>Zu\ M +9 &,\\q\ M +10 &._q\ M +9 &0\\n\ M +9 &2F\\_\ M +10 &4 [i\ M +9 &5Zj\ L +9 &7\\a\ M +10 &9NZ_\ M +9 &;]_\ M +9 &<Zc\ M +10 &>\\a\ M +9 &@V[Z\ M +10 &B\\V\ M +9 &C\\U\ M +9 &E\\Y\ M +10 &G]_V\ M +9 &IcU\ N +9 &JsY\ P +10 &LV\ S +9 &NRT\ T +10 &PO\ S +9 &QT\ T +9 &ST\ T +10 &UYB\ T +9 &WD\ U +9 &X@\ U +10 &Z9MqD\ . +9 &Z)C\ ( +6 ( + "processing"%r& +4 #"psFlush"Processing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.59 +57 "processing"%W& +4 "core" &ZH\ ( + &Zi\ ( + ."psFlush"Hand.open +2 "manipulator"&H1 +53 "core" 1 +2 "manipulator"&D% +4 "core" % T  +2 ."psFlush"Forearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 ."psFlush"Forearm.seek :retract +2 "manipulator"&V'\ +99 "core" ' +2 ."psFlush"PSR.select :air +2 .PSV.dial PSR +2 "processing"%" +50 "core"  +2 "processing"%b% +4 "core" %\ + #"psFlush"Pulling 0.5ml of PSR.flush +2 .PSR.select :flush +2 "processing"%@ +10 ."psFlush"PS.seek 0.5ml + "processing"%\\' +500 #tWaiting >20 seconds for psFlush to relinquish FlushPuck +100 "core" ' +2 ."psFlush"delay 5 seconds +502 .PSR.select :air +2 "processing"% +10 ."psFlush"PS.seek 2.5ml + "processing"%'m +2133 "core" ' +2 ."psFlush"delay 1 second +102 .PRV.dial :waste2,avoiding: :ab2 + "processing"%J @ +184 "core" @ +2 ."psFlush"PTV.dial :PRVmixing +2 "processing"%@  +126 "core" + ."psFlush"PSV.dial :mixloop +2 "processing"%N +102 "core" +2 ."psFlush"PS.seek :empty +2 "processing"%d' +2632 "core" ' + ."psFlush"PSR.select :air +2 .PSV.dial PSR +2 "processing"%I +109 "core"  + "processing"%Q% +4 "core" %'\ + #"psFlush"Pulling 0.5ml of PSR.flush +2 .PSR.select :flush +2 "processing"%@ +9 ."psFlush"PS.seek 0.5ml +2 "processing"% ' +590 "core" ' + ."psFlush"delay 5 seconds +503 .PSR.select :air +2 "processing"% +9 ."psFlush"PS.seek 2.5ml +2 "processing"%M'm +2136 "core" ' + ."psFlush"delay 1 second +102 .PBV.dial :waste1 +2 "processing"%6  +32 "core" +2 ."psFlush"PTV.dial :mixing + "processing"%T @ +71 "core" B + ."psFlush"PSV.dial :mixloop +2 "processing"%a +109 "core" +2 ."psFlush"PS.seek :empty +2 "processing"%Z' +2638 "core" ' +2 ."psFlush"PSV.dial PSR + "processing"%f +111 "core"  +2 ."psFlush"PSR.select :flush +2 "processing"%@ +10 ."psFlush"PS.seek 1ml +2 "processing"%X'T +1114 "core" ' + ."psFlush"PSR.select :air +2 "processing"% +10 ."psFlush"PS.seek 2.5ml +2 "processing"%i'm +1629 "core" ' + ."psFlush"PSV.dial PTV +2 "processing"%* +81 "core" +2 ."psFlush"PTV.dial :puck + "processing"%#  +70 "core"  +2 ."psFlush"PBV.dial :waste1 +2 .PS.seek 0ml +2 "processing"%F' +2630 "core" ' +2 ."psFlush"PSV.dial PSR + "processing"%R +82 "core"  + ."psFlush"PSR.select :flush +3 "processing"%@ +9 ."psFlush"PS.seek 0.5ml +2 "processing"%s' +600 "core" ' +2 ."psFlush"PSR.select :air +2 "processing"% +9 ."psFlush"PS.seek 2.5ml +2 "processing"%S'm +2123 "core" ' + ."psFlush"PSV.dial PTV +2 "processing"%t +81 "core" +2 ."psFlush"PBV.dial PSV +2 "processing"%e U +54 "core" V +2 ."psFlush"PS.seek 0ml +2 "processing"%Y' +2638 "core" ' + ."psFlush"PSV.dial PBV +2 "processing"%x @ +50 "core" ? +2 ."psFlush"PS.seek 2.5ml +2 "processing"%w'm +2646 "core" ' +2 ."psFlush"PSV.dial :waste1 + "processing"%}  +74 "core"  +2 ."psFlush"PS.seek 0ml +2 "processing"%~' +2638 "core" ' + ."psFlush"PSV.dial PSR +2 "processing"%4 +50 "core"  +2 ."psFlush"PSR.select :air +2 .PS.seek 2.5ml +2 "processing"%<'m +189 "Can"6 FC +2443 "core" ' + ."psFlush"PSV.dial PTV +2 "processing"%? +72 "core" + ."psFlush"PBV.dial PSV +2 .PS.seek 0ml +2 "processing"%' +2638 "core" ' +2 ."psFlush"PSV.dial PBV + "processing"% @ +61 "core" @ +2 ."psFlush"PS.seek 2.5ml +2 "processing"%`'m +2654 "core" ' + ."psFlush"PSV.dial :waste1 +2 "processing"%_  +75 "core"  +2 ."psFlush"PS.seek 0ml +2 "processing"%z' +2627 "core" ' +2 ."psFlush"PSV.dial PSR +2 "processing"% +50 "core"  + ."psFlush"PSR.select :flush +2 "processing"%@ +10 ."psFlush"PS.seek 1ml +2 "processing"%'T +1100 "core" ' + ."psFlush"PSR.select :air +2 "processing"% +10 ."psFlush"PS.seek 2.5ml +2 "processing"%l'm +1613 "core" ' +2 ."psFlush"PSV.dial PTV + "processing"% +72 "core" +2 ."psFlush"PTV.dial :puck + .PBV.dial :waste1 +2 "processing"%u  +55 "core" +2 ."psFlush"PS.seek 0ml +2 "processing"%^' +2633 "core" ' + ."psFlush"PSV.dial PSR +2 "processing"%G +80 "core"  + ."psFlush"PSR.select :flush +3 "processing"%@ +9 ."psFlush"PS.seek 0.5ml +2 "processing"%!' +593 "core" ' + ."psFlush"PSR.select :air +2 "processing"% +10 ."psFlush"PS.seek 2.5ml +2 "processing"% 'm +2144 "core" ' + ."psFlush"PSV.dial PTV +2 "processing"%% +80 "core" + ."psFlush"PBV.dial PSV +2 "processing"%c U +55 "core" V +2 ."psFlush"PS.seek 0ml +2 "processing"%k' +2639 "core" ' +2 ."psFlush"PSV.dial PBV +2 "processing"% @ +50 "core" > +2 ."psFlush"PS.seek 2.5ml + "processing"%\ 'm +2659 "core" ' + ."psFlush"PSV.dial :waste1 +2 "processing"%{  +74 "core"  +2 ."psFlush"PS.seek 0ml + "processing"%' +2642 "core" ' + ."psFlush"PSV.dial PSR +2 "processing"% +61 "core" + ."psFlush"PSR.select :air +3 .PS.seek 2.5ml +2 "processing"%o'm +2658 "core" ' + ."psFlush"PSV.dial PTV +2 "processing"%v +86 "core"  + ."psFlush"PBV.dial PSV +3 .PS.seek 0ml + "processing"%g' +2637 "core" ' + ."psFlush"PSV.dial PBV +2 "processing"% @ +47 "core" ? +2 ."psFlush"PS.seek 2.5ml +2 "processing"%'m +2655 "core" ' + ."psFlush"PSV.dial :waste1 +2 "processing"%  +73 "core"  +2 ."psFlush"PS.seek 0ml +2 "processing"%q' +2632 "core" ' +2 #tLoading FlushPuck into Collection Clamp from Processing Clamp + "collection"'& +4 "core" &\ +2 "manipulator"&& +4 "core" &m  J + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +2 "manipulator"&(c +3 "core" ( + "manipulator"&|& +4 "core" &m  J +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &j& +3 "core" &m C J +2 .tForearm.seek PC +2 "manipulator"&'[ +94 "core" ' +2 .tHand.close + "manipulator"& / +54 "core" / + .tPC.seek :open +2 "processing"%(p +391 "core" ( +2 "manipulator"& & +4 "core" &m U J + "manipulator"&% +4 "core" % Z +2 .tForearm.seek :retract + "manipulator"&'\ +106 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +49 "manipulator"&( +348 "core" ( +2 "manipulator"&:& +4 "core" &#  :- + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &'& +2 "core" &#  :- +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&'| +97 "core" ' +2 "manipulator"&p& +4 "core" &# > :- +2 "manipulator"&% +4 "core" %ρ +2 "collection"'& +4 "core" &\ +2 "collection"' & +5 "core" &\ +2 .tCC.seek :closed +3 "collection"')(] +3 "core" &\ +6 &>p\ $e +10 &lU\ 7 +9 &}\ L +9 &o]\ O +10 &4^\ N +9 &_\ N +10 & _\ N +9 &"z`\ N +9 &$<]\ N +10 &%`\ N +9 &'\\\ N +9 &)_\ N +10 &+Ca\ O +9 &-_\ N +10 &.a\ N +9 &0_\ N +9 &2Kc\ O +10 &4]\ N +9 &5Z\ N +9 &7_\ N +10 &9T_\ N +9 &;`\ O +10 &<_O\ N +9 &>^\ N +9 &@\\_\ N +10 &Ba\ O +9 &C^\ O +9 &E[\ N +10 &Gd]\ N +9 &I#e\ O +10 &JrO\ Q +9 &LG\ T +9 &NQglG\ X +10 &Pac\ X +9 &Q[^h\ Y +9 &SVYR\ Y +10 &URRV\ Z +9 &WNPl\ [\ +10 &XHNl\ [ +9 &ZEGq\ ] +9 &\\ODE\ I +10 &]nI@Co\ ` +9 &]@Co\ &r +9 &]]@B\ H +3 ( + "collection"' & +4 #tCollection Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.97 + "collection"'n& +4 "core" &]`AB\ H + .tHand.open +2 "manipulator"&31 +55 "core" 1 + "manipulator"&-% +4 "core" % v N +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +101 "core" ' + #tFlushing the Collection Valve::Manifold +2 "collection"'1& +4 "core" &]`ED\ H + "collection"'m% +4 "core" %BD\ +2 .tCSV.dial CSR + "collection"'  +43 "core"  +2 "collection"'8% +4 "core" %CC\ + #tPulling 5ml of CSR.flush +2 .CSR.select :flush +2 "collection"' +10 .tCS.seek 5ml + "collection"'('s +1353 "core" ' +2 .tdelay 5 seconds +502 .CSR.select :air +2 "collection"' +9 '>% +2 "core" %sCF\  +2 .tCS.reconfigure :fast +3 "collection"'#d @b +2 .tCS.seek 7.499ml +2 "collection"'$'l +656 "core" ' + .tCSV.dial :waste +2 "collection"'2 +126 "core" +2 .tCS.reconfigure :default +3 "collection"'#P d@b +2 .tCS.seek 0ml +2 "collection"'.' +1990 "core" ' + #tFlushing lower manifold's waste1 port +2 "collection"'B& +4 "core" &]_CF\ H + "collection"'7% +4 "core" %DF\ + .tCSV.dial :flush +2 "collection"'9  +42 "core"  +2 .tCS.reconfigure :fast +3 "collection"'#d @b +2 .tCS.seek 5ml +2 "collection"'h's +1231 "core" ' + .tdelay 5 seconds +502 .CSV.dial :air +3 "collection"'0 @ +42 "core" B +2 "collection"'K% +4 "core" %sEE\  +2 .tCS.seek 7ml + "collection"'L' +536 "core" ' +2 ."connect"CSV.dial CTV +3 .tCTV.dial CSV +3 "collection"'5  + 'P  +54 "core"  +83  + .tCBV.dial :waste1 +2 "collection"'A @ +43 "core" > +3 .tCS.seek 0ml + "collection"',' +1660 "core" ' +2 #tFlushing lower manifold's waste2 port + "collection"'& +5 "core" &]_MM^\ H + "collection"'U% +4 "core" %LL\ + .tCSV.dial :flush +2 "collection"';  +70 "core" +3 .tCS.seek 5ml + "collection"'&'s +1226 "core" ' +2 .tdelay 5 seconds +502 .CSV.dial :air +2 "collection"'/ @ +55 "core" ? +2 "collection"'y% +4 "core" %sFG\  +2 .tCS.seek 6.999ml + "collection"'W' +533 "core" ' +2 ."connect"CSV.dial CTV +4 .tCTV.dial CSV + "collection"'H  +43 "core"  +2 .tCBV.dial :waste2 + "collection"'D  +105 "core"  +2 .tCS.seek 0ml +2 "collection"'r' +1657 "core" ' + #tDisinfecting external Intake with kill +2 "collection"'"& +4 "core" &]_MN\ H + "collection"'b% +4 "core" %MOE\ + .tCSV.dial CSR +2 "collection"'E  +41 "core"  +2 "collection"'=% +4 "core" %LL \ + #tPulling 7.999ml of CSR.kill +2 .CSR.select :kill + "collection"' +10 .tCS.seek 8ml +2 "collection"'\\'X +1919 "core" ' + .tdelay 5 seconds +503 .CSR.select :air +2 "collection"' +9 .tCS.seek 10ml +2 "collection"'J' +536 "core" ' +2 ."connect"CSV.dial CBV +4 .tCBV.dial CSV +3 "collection"'@ + 'N  +99 "core" +42  +2 .tCTV.dial :intake + "collection"'  +74 "core" + .tIntake.select :open +2 "sampler") +10 .tCS.seek 2ml + "collection"'I'~ +1889 "core" ' + .tIntake.select :close +2 "sampler")0 +9 .tCTV.dial :air + "collection"'Q  +70 "core"  +2 .tCS.reconfigure :default +2 "collection"'#P d@b +3 .tCS.seek 0ml + "collection"'d' +590 "core" ' +2 .tCSV.dial CSR + "collection"'  +101 "core"  + "collection"'6% +4 "core" %FH\ + #tPulling 5ml of CSR.flush +2 .CSR.select :flush + "collection"' +11 .tCS.seek 5ml + "collection"'T's +817 "Can"0 SP +530 "core" ' +2 .tdelay 5 seconds +503 .CSR.select :air +2 "collection"' +9 .tCS.seek 10ml +2 "collection"'a' +1351 "core" ' + .tCSV.dial CBV +2 "collection"'M +98 "core" +2 .tCS.seek 0ml +2 "collection"'f' +2623 "core" ' +2 #tGaraging FlushPuck in Collection Clamp + "manipulator"&Z& +4 "core" &% i 4 +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&X( +28 "core" ( + "manipulator"&*& +4 "core" & h  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &#& +3 "core" & n  +2 .tForearm.seek CC + "manipulator"&i'| +96 "core" ' + .tHand.close +2 "manipulator"&R/ +55 "core" / + .tCC.seek :open +2 "collection"'F(p +413 "core" ( +2 "manipulator"&s& +4 "core" &\   + "manipulator"&t% +4 "core" % n +2 .tForearm.seek :retract + "manipulator"&e'\ +92 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage + "manipulator"&S(, +283 "core" ( +2 "manipulator"&x& +4 "core" &, 2 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &Y& +3 "core" &,  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :garage +2 "manipulator"&}' +112 "core" ' + .tHand.open + "manipulator"&w1 +63 "core" 1 +2 "manipulator"&4% +4 "core" %  $ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&~'\ +99 "core" ' + "processing"%?& +4 "core" &\ +53530 "Can"3 *96 +60002 6 )96 +60002 @ *86 +60002 < )85 +60001 6 (96 +60002 = (96 +60002 D )96 +60002 D )96 +60002 5 (96 +60002 8 (96 +60002 @ )96 +60002 B (85 +60002 3 )85 +60002 4 (96 +60001 < (85 +60002 D (95 @1666051289.29EDT = =tMAIN =mMAIN_scheduler @EDT1666051291.18 #"core_reset"Sent BREAK + #t@9687 receive with ifg=0x10, ie=0xFD + #@10323 receive with ifg=0x10, ie=0xFD + #@10979 receive with ifg=0x10, ie=0xFD + #@11617 receive with ifg=0x10, ie=0xFD #@12264 receive with ifg=0x10, ie=0xFD + #@12910 receive with ifg=0x10, ie=0xFD + #@13557 receive with ifg=0x10, ie=0xFD #@13883 receive with ifg=0x80, ie=0xFD + #@39279 idle with ifg=0x00, ie=0x75 #ESP2 v3.41 I2C Gateway v3.20 +10 #ESP2 v3.41 I2C Gateway v3.20 for core bus +192 !o:Errno::ESRCH:\ errnoi: mesg"7No such process -- removing stale lock on /dev/ctd:bt["9/home/esp/esp2/lib/posix/serialport.rb:188:in `kill'"/home/esp/esp2/lib/posix/serialport.rb:64:in `initialize'":/home/esp/esp2/type/shallow/initialize.rb:17:in `new'"1/home/esp/esp2/type/shallow/initialize.rb:17"2/home/esp/esp2/lib/framework.rb:125:in `load'"2/home/esp/esp2/lib/framework.rb:125:in `load'"5/home/esp/esp2/lib/framework.rb:183:in `execute'"-/home/esp/esp2/lib/esp.rb:110:in `shell'"7/home/esp/esp2/lib/schedule.rb:481:in `initialize'"0/home/esp/esp2/lib/thread.rb:738:in `start'"7/home/esp/esp2/lib/schedule.rb:474:in `initialize'"'/home/esp/esp2/lib/schedule.rb:472 +3 !o:Errno::ESRCH:\ errnoi: mesg"8No such process -- removing stale lock on /dev/isus:bt["9/home/esp/esp2/lib/posix/serialport.rb:188:in `kill'"/home/esp/esp2/lib/posix/serialport.rb:64:in `initialize'":/home/esp/esp2/type/shallow/initialize.rb:36:in `new'"1/home/esp/esp2/type/shallow/initialize.rb:36"2/home/esp/esp2/lib/framework.rb:125:in `load'"2/home/esp/esp2/lib/framework.rb:125:in `load'"5/home/esp/esp2/lib/framework.rb:183:in `execute'"-/home/esp/esp2/lib/esp.rb:110:in `shell'"7/home/esp/esp2/lib/schedule.rb:481:in `initialize'"0/home/esp/esp2/lib/thread.rb:738:in `start'"7/home/esp/esp2/lib/schedule.rb:474:in `initialize'"'/home/esp/esp2/lib/schedule.rb:472 +17 !o:Instrument::ISUSCore: @configS:Instrument::Configuration: name" ISUS:calFileName0:sampleCmd"TS: prompt"\ :statusCmd"C:sampleTimeouti#:promptTimeouti:statusTimeouti: retriesi:strToPrompt"W: pace0: echoF: @refi@P:\ @name@ +99 #Configuration for don (12651-03) 10/9/20 brent@mbari.org\ /home/esp/esp2/type/shallow/don/configure.rb\ +376 "Can"4 &<8 + 4 &<8 + #tPolling Can every 10:00 +3 !o:Storage::Warning: mesg"Uncleanly Exited:bt[ "8/home/esp/esp2/utils/storage.rb:438:in `readPucks!'"6/home/esp/esp2/utils/storage.rb:627:in `restore!'"-/home/esp/esp2/lib/esp.rb:115:in `shell'"7/home/esp/esp2/lib/schedule.rb:481:in `initialize'"0/home/esp/esp2/lib/thread.rb:738:in `start'"7/home/esp/esp2/lib/schedule.rb:474:in `initialize'"'/home/esp/esp2/lib/schedule.rb:472 +1936 #-> ESP.ready! +154 "sampler") +3 ) +2 "core"  +2 "collection"' +2 ' +3 "core"  + "processing"% +2 % +3 "core"  +5 "collection"' 9\ +2 ' 0\ +2 ' -\ +4 "processing"% 9\ +2 % 2\ +2 % *\ +2 % 0\ +3 "sampler")&\ +2 "collection"'% +3 "core" %\ +2 .tCS.configure :default +2 "collection"'#P d@b +2 .tCS.hold +2 "collection"'+ +4 "core" + + .tCS.configure :default +2 "collection"'#P d@b +2 "processing"%% +3 "core" %[\ +2 .tPS.configure :default +2 "processing"%#A d`xb +2 .tPS.hold +2 "processing"%+ +3 "core" + + .tPS.configure :default +3 "processing"%#A d`xb +2 "sampler")% +3 "core" %/ \ + .tSS.configure :default +2 "sampler")#.0X access 1 +2 "storage"(2% +4 "core" %P\ \  \  + "manipulator"&3% +4 "core" %\ (  F +2 "manipulator"&4& +3 "core" &,  +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 + "storage"(5(<< +1311 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (6& +3 "core" &<9 ; ; \  +504 #t-> samplePassF +2 #Beginning samplePassF +2 #Loading FlushPuck into Collection Clamp from FlushPuck::Garage + "collection"'7& +3 "core" &\ +2 .tHand.open + "manipulator"&81 +19 "core" 1 + "manipulator"&9& +4 "core" &, 8 +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek FlushPuck::Garage + "manipulator"&:(, +2 "core" ( +2 "manipulator"&;& +4 "core" &, , + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &<& +2 "core" &,  +2 .tForearm.seek :garage +2 "manipulator"&=' +103 "core" ' + .tHand.close + "manipulator"&>/ +62 "core" / + "manipulator"&?& +4 "core" &,  _ +2 "manipulator"&@% +4 "core" %  d + .tForearm.seek :retract +2 "manipulator"&A'\ +104 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&B( +287 "core" ( + "manipulator"&C& +4 "core" &+ * Ac +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &D& +3 "core" &+ r Ac +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&E'| +92 "core" ' +2 "manipulator"&F& +4 "core" &+ M Ab +2 "manipulator"&G% +4 "core" %y  +2 "collection"'H& +3 "core" &\ +2 "collection"'I& +5 "core" &\ +2 .tCC.seek :closed +2 "collection"'J(] +5 "core" &\ +7 & 2\ #b +9 &[T\ 8 +9 &~\ L +10 &e`\ O +9 &)_\ N +9 &a\ O +10 & a\ N +9 &"me\ O +10 &$1^\ N +9 &%]\ N +9 &'`\ N +10 &)wc\ N +9 &+8_\ O +10 &,a\ O +9 &.a\ O +9 &0~`\ O +10 &2@b\ O +9 &4e\ O +9 &5`\ N +10 &7c\ N +9 &9I]\ N +9 &; _\ N +10 &<^\ N +9 &>`\ N +10 &@Qc\ N +9 &Bc\ O +9 &Cc\ N +10 &E]\ N +9 &GY]\ N +9 &If\ O +10 &Jt\ Q +9 &L\ T +10 &NG\ W +9 &P\ X +9 &Q\ X +10 &S\ Z +9 &UF\ Z +48 &W}\ [ + &Xzz\ \\ + &Zwx\ ] + &\\Drv\ I + &]uRnt\ _ +4 ( +3 "collection"'I& +3 #tCollection Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.95 + "collection"'K& +4 "core" &]Qrs\ = + &]Rpq\ = +2 .tHand.open + "manipulator"&L1 +60 "core" 1 +2 "manipulator"&M% +4 "core" % y X +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&N'\ +92 "core" ' +2 .tPSV.dial PSR,avoiding: PBV +2 "processing"%O +3 "core"  +2 "processing"%P  +49 "core"  +2 "processing"%Q% +4 "core" %^\ + #tPulling 1.5ml of PSR.flush + .PSR.select :flush +3 "processing"%j +10 .tPS.seek 1.5ml + "processing"%R' +1611 "core" ' +2 .tdelay 5 seconds +502 .PSV.dial :waste1 +2 "processing"%S  +49 "core"  +2 .tPS.seek 0ml + "processing"%T' +1614 "core" ' +2 .tPSV.dial PSR +2 "processing"%U +51 "core"  + .tPSR.select :air +2 "processing"% +10 .tPS.seek 2.5ml + "processing"%V'm +2637 "core" ' +2 ."connect"PRV.dial CBV +3 .tCBV.dial PRV +2 "processing"%W  + "collection"'X  +77 "core" +25  + .tPSV.dial :PTV,via: :air +2 "processing"%Y +201 "core" ~ +2 .tCTV.dial :air,avoiding: :intake + "collection"'Z +4 "core"  + "collection"'[  +4 "core" +2 .tPTV.dial :PRV,avoiding: :puck + "processing"%\\ +3 "core"  +2 "processing"%] @ +71 "core" A +2 .tPS.seek 0ml + "processing"%^' +2639 "core" ' + .tPSV.dial :air +2 "processing"%_  +81 "core"  +2 .tPS.seek 2.5ml +2 "processing"%`'m +2653 "core" ' + .tPSV.dial :PTV + "processing"%a +80 "core" ~ +2 .tPS.seek 0ml +2 "processing"%b' +2632 "core" ' +2 #tGaraging FlushPuck in Collection Clamp + "manipulator"&c& +4 "core" &'#  ;3 +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&d( +61 "core" ( + "manipulator"&e& +4 "core" &"  :* +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &f& +3 "core" &#  :* +2 .tForearm.seek CC +2 "manipulator"&g'| +99 "core" ' + .tHand.close +2 "manipulator"&h/ +59 "core" / +2 .tCC.seek :open +2 "collection"'i(p +408 "core" ( +2 "manipulator"&j& +4 "core" &-  2 + "manipulator"&k% +4 "core" % ~  +2 .tForearm.seek :retract + "manipulator"&l'\ +98 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage +2 "manipulator"&m(, +270 "core" ( + "manipulator"&n& +4 "core" &, q  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &o& +2 "core" &, !  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :garage +2 "manipulator"&p' +114 "core" ' +2 .tHand.open +2 "manipulator"&q1 +57 "core" 1 +2 "manipulator"&r% +4 "core" %  ¿ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&s'\ +104 "core" ' +776 #t-> PS.flush + #Flushing Processing stage +2 "processing"%t% +3 "core" %c\ +2 #tLoading FlushPuck into Processing Clamp from FlushPuck::Garage + "processing"%u& +5 "core" &a\ + "manipulator"&v& +4 "core" &,   + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek FlushPuck::Garage +2 "manipulator"&w(, +3 "core" ( + "manipulator"&x& +4 "core" &, %  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &y& +3 "core" &,  +2 .tForearm.seek :garage + "manipulator"&z' +98 "core" ' +2 .tHand.close + "manipulator"&{/ +58 "core" / +2 "manipulator"&|& +4 "core" &, @  + "manipulator"&}% +4 "core" %   Q +2 .tForearm.seek :retract +2 "manipulator"&~'\ +103 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +2 "manipulator"&(c +132 "core" ( +2 "manipulator"&& +4 "core" &[ l  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &[ l  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&'[ +104 "core" ' + "manipulator"&& +5 "core" &\\ 8  + "manipulator"&% +4 "core" %a  +2 "processing"%& +3 "core" &T\ +2 "processing"% & +5 "core" &S\ +2 .tPC.seek :closed +2 "processing"% (Z +4 "core" &S\ +7 & 7X\ %f +10 &oVT\ 7 +9 &U\ L +9 &|\\T\ N +10 &@[T\ M +9 &]W\ M +10 & bV\ N +9 &"\\U\ N +9 &$H`T\ M +10 && ]U\ M +9 &'`X\ M +9 &)_U\ N +10 &+P_U\ M +9 &-bW\ N +10 &._W\ N +9 &0\\W\ M +9 &2W_V\ N +10 &4ZW\ M +9 &5]W\ N +9 &7[V\ M +10 &9`\\T\ M +9 &;"aV\ M +10 &<[V\ M +9 &>\\W\ M +9 &@h[V\ M +10 &B*]V\ M +9 &C`U\ M +9 &EZU\ M +10 &Gp`V\ M +9 &I.jV\ O +10 &JyU\ P +9 &LU\ S +9 &NdV\ T +10 &P&U\ T +9 &QV\ T +10 &SV\ U +9 &UkR\ T +9 &W-V\ T +10 &XW\ U +9 &ZFIhW\ )y +9 &Z 9U\ , +6 ( + "processing"% & +4 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.57 +2 "processing"% & +4 "core" &Z T\ , + &Z T\ , + .tHand.open + "manipulator"&1 +57 "core" 1 +2 "manipulator"&% +4 "core" % a 1 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +100 "core" ' +2 .tPSV.dial PSR + "processing"% +74 "core"  +2 .tPSR.select :flush +2 "processing"%@ +9 .tPS.seek 1ml +2 "processing"%'T +1110 "core" ' + .tPSR.select :air +2 "processing"% +10 .tPS.seek 2.5ml +2 "processing"%'m +1626 "core" ' + .tPSV.dial PTV +2 "processing"% +80 "core" + .tPTV.dial :puck +2 "processing"%  +72 "core"  + .tPBV.dial :waste1 +2 "processing"%  +54 "core" +2 .tPS.seek 0ml +2 "processing"%' +2628 "core" ' + .tPSV.dial PSR + "processing"% +80 "core"  +2 .tPSR.select :flush +2 "processing"%@ +10 .tPS.seek 0.5ml + "processing"%' +590 "core" ' + .tPSR.select :air +2 "processing"% +10 .tPS.seek 2.5ml + "processing"%'m +2142 "core" ' +2 .tPSV.dial PTV + "processing"% +80 "core" +2 .tPBV.dial PSV + "processing"% U +53 "core" V +2 .tPS.seek 0ml +2 "processing"% ' +2632 "core" ' +2 .tPSV.dial PBV + "processing"%! @ +61 "core" @ +2 .tPS.seek 2.5ml +2 "processing"%"'m +2648 "core" ' + .tPSV.dial :waste1 +2 "processing"%#  +75 "core"  +2 .tPS.seek 0ml +2 "processing"%$' +2635 "core" ' +2 .tPSV.dial PSR +3 "processing"%% +52 "core"  +4 .tPSR.select :air +6 .PS.seek 2.5ml +4 "processing"%&'m +2659 "core" ' + .tPSV.dial PTV + "processing"%' +73 "core" + .tPBV.dial PSV +2 .PS.seek 0ml +2 "processing"%(' +2635 "core" ' +2 .tPSV.dial PBV + "processing"%) @ +50 "core" > +2 .tPS.seek 2.5ml +2 "processing"%*'m +2653 "core" ' + .tPSV.dial :waste1 + "processing"%+  +74 "core"  +2 .tPS.seek 0ml +2 "processing"%,' +2638 "core" ' +2 #tGaraging FlushPuck in Processing Clamp + "manipulator"&-& +5 "core" &\\   + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +2 "manipulator"&.(c +3 "core" ( +2 "manipulator"&/& +4 "core" &\\   + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &0& +2 "core" &\\   +2 .tForearm.seek PC +2 "manipulator"&1'[ +94 "core" ' +2 .tHand.close + "manipulator"&2/ +63 "core" / +2 .tPC.seek :open + "processing"%3(p +397 "core" ( +2 "manipulator"&4& +4 "core" &\\   + "manipulator"&% +4 "core" % a , + .tForearm.seek :retract +2 "manipulator"&6'\ +100 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage +2 "manipulator"&7(, +144 "core" ( + "manipulator"&8& +4 "core" &,  5 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &9& +3 "core" &,  5 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :garage +2 "manipulator"&;' +109 "core" ' + .tHand.open +2 "manipulator"&<1 +62 "core" 1 +2 "manipulator"&>% +4 "core" %  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&?'\ +104 "core" ' +4296 #t-> exit +5 #mEXIT @1666051878.44EDT @1666095347.86EDT = =tMAIN =mMAIN_scheduler @EDT1666095349.74 #"core_reset"Sent BREAK + #t@34383 sendCRC with ifg=0x20, ie=0x7F + #@36215 sendCRC with ifg=0x08, ie=0x5F + #@18360 idle with ifg=0x84, ie=0x75 + #@19042 select with ifg=0x10, ie=0xF5 #@19690 receive with ifg=0x10, ie=0xFD + #@20337 receive with ifg=0x10, ie=0xFD #@20985 receive with ifg=0x10, ie=0xFD + #@21312 receive with ifg=0x80, ie=0xFD + #@47668 idle with ifg=0x00, ie=0x75 #ESP2 v3.41 I2C Gateway v3.20 +8 #ESP2 v3.41 I2C Gateway v3.20 for core bus +208 !o:Instrument::ISUSCore: @configS:Instrument::Configuration: name" ISUS:calFileName0:sampleCmd"TS: prompt"\ :statusCmd"C:sampleTimeouti#:promptTimeouti:statusTimeouti: retriesi:strToPrompt"W: pace0: echoF: @refii:\ @name@ +100 #Configuration for don (12651-03) 10/9/20 brent@mbari.org\ /home/esp/esp2/type/shallow/don/configure.rb\ +380 "Can", $>; + , $>; + #tPolling Can every 10:00 +2 #Cleanly exited at 20:11:18EDT17-Oct-22 +622 #-> ESP.ready! +154 "sampler") +2 ) + "core"  +2 "collection"' +2 ' +3 "core"  + "processing"% +2 % +3 "core"  +5 "collection"' 9\ +2 ' 0\ +2 ' -\ +4 "processing"% 9\ +2 % 2\ +2 % *\ +2 % 0\ +3 "sampler")&\ +2 "collection"'% +3 "core" %  }\ +2 .tCS.configure :default +2 "collection"'#P d@b +2 .tCS.hold +2 "collection"'+ +4 "core" + + .tCS.configure :default +2 "collection"'#P d@b +2 "processing"%% +3 "core" %R\ +2 .tPS.configure :default +2 "processing"%#A d`xb +2 .tPS.hold +2 "processing"%+ +4 "core" + +2 .tPS.configure :default +2 "processing"%#A d`xb +2 "sampler")% +3 "core" %/ \ +2 .tSS.configure :default +2 "sampler")#.0X access 2 +2 "storage"(2% +3 "core" %P & 8\  +2 "manipulator"&3% +4 "core" %\ 0 { $p + "manipulator"&4& +4 "core" &, { 5 +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"(5(K +353 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (6& +2 "core" &K   4\  +730 #t-> startTube 2 +2039 #-> $da[:extractVol]=.19 +45330 #-> purgetIntake +598 #-> purgeIntake +2 #Loading FlushPuck into Collection Clamp from FlushPuck::Garage +2 "collection"'7& +3 "core" &  w\ +2 .tHand.open + "manipulator"&81 +22 "core" 1 +2 "manipulator"&9& +4 "core" &, 5 + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek FlushPuck::Garage + "manipulator"&:(, +3 "core" ( + "manipulator"&;& +4 "core" &, Y 5 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &<& +3 "core" &, S 5 +2 .tForearm.seek :garage + "manipulator"&=' +108 "core" ' + .tHand.close +2 "manipulator"&>/ +56 "core" / +2 "manipulator"&?& +4 "core" &, e 5 + "manipulator"&@% +4 "core" %  E +2 .tForearm.seek :retract + "manipulator"&A'\ +98 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC +2 "manipulator"&B( +282 "core" ( +2 "manipulator"&C& +4 "core" &# + ;4 + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &D& +2 "core" &$  ;4 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&E'| +108 "core" ' +2 "manipulator"&F& +4 "core" &$ [ ;4 +2 "manipulator"&G% +3 "core" %w  +2 "collection"'H& +4 "core" &  \ +2 "collection"'I& +5 "core" &  \ +2 .tCC.seek :closed + "collection"'J(] +5 "core" &  n\  +9 &2  p\ *y +9 &b  l\ > +9 &D|  k\ O +10 &^  r\ N +9 &`  n\ O +9 &_  j\ O +10 &!K]  h\ O +9 &# ^  k\ O +9 &$^  j\ N +10 &&]  l\ O +9 &(T]  l\ N +10 &*^  l\ O +9 &+_  k\ O +9 &-`  k\ O +10 &/[_  k\ O +9 &1_  i\ N +10 &2`  d\ N +9 &4^  j\ O +9 &6d_  m\ N +10 &8&\\  n\ N +9 &9\\  k\ N +9 &;Z  k\ N +10 &=la  k\ N +9 &?.`  h\ N +10 &@b  j\ O +9 &B`  f\ O +9 &Dt]  a\ N +10 &F6]  a\ N +9 &Gb i\ O +9 &Imi\ P +10 &Ksyk\ Q +9 &M)k\ V +10 &Ni\ X +9 &Pc\ Y +9 &Rch\ Z +10 &T$l\ Z +9 &Uf\ [\ +45 &Wj\ [ +10 &Yci\ \\ + &[$j\ ] + &\\{e\ 8 +4 &]#l\ #h + &]ud\ P + ( +3 "collection"'I& +2 #tCollection Clamp onSpring/offSpring for 9/25 samples, on/off torque 2.00 +2 "collection"'K& +4 "core" &]uh\ P + &]t\ P + .tHand.open + "manipulator"&L1 +61 "core" 1 +2 "manipulator"&M% +4 "core" % w  + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&N'\ +98 "core" ' +2 #tPurging external Intake +2 "collection"'O& +4 "core" &]u`\ P + "collection"'P% +4 "core" %f\ + .tCSV.dial :flush +2 "collection"'Q  +71 "core"  +2 .tCS.reconfigure :fast +2 "collection"'#d @b +3 .tCS.seek 10ml + "collection"'R' +2423 "core" ' + .tdelay 5 seconds +503 ."connect"CSV.dial CBV +4 .tCBV.dial CSV +2 "collection"'S +2 'T  +72 "core" ~ +5  + .tCTV.dial :intake +2 "collection"'U  +72 "core"  + .tIntake.select :open +2 "sampler") +9 .tCS.seek 0ml +2 "collection"'V' +2372 "core" ' + .tIntake.select :close +2 "sampler")0 +9 .tCTV.dial :air + "collection"'W  +71 "core"  +2 #tGaraging FlushPuck in Collection Clamp + "manipulator"&X& +4 "core" & y 7 +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC + "manipulator"&Y( +29 "core" ( + "manipulator"&Z& +4 "core" & !  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &[& +3 "core" & B  +2 .tForearm.seek CC + "manipulator"&\\'| +101 "core" ' +2 .tHand.close + "manipulator"&]/ +58 "core" / +2 .tCC.seek :open +2 "collection"'^(p +411 "core" ( + "manipulator"&_& +4 "core" & _ ` +  +2 "manipulator"&`% +3 "core" % g c i G +2 .tForearm.seek :retract + "manipulator"&a'\ +91 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage +2 "manipulator"&b(, +281 "core" ( +2 "manipulator"&c& +4 "core" &, \ & + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &d& +2 "core" &,  & +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :garage + "manipulator"&e' +113 "core" ' + .tHand.open +2 "manipulator"&f1 +54 "core" 1 +2 "manipulator"&g% +4 "core" %  , N +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&h'\ +102 "core" ' +991 "Can" ';8 +220 #t-> da 50 +2 #da sampling at most 50ml +4 ."Qmail"DAfans.email "Started da in tube 2 at 08:25:58EDT18-Oct-22\\n{}\\nCTD data unavailable\\nISUS data unavailable\\nCan@08:25:56, 15% flow, 22.4C, 45% humidity, 14.2psia, 13.74V, 0.254A avg, 0.236A avg, 3.49W",Subject: "da sampling at most 50ml" +5 #tLoading sh1 puck from tube 2 into Collection Clamp + "collection"'i& +3 "core" &  \ +2 "manipulator"&j% +5 "core" %\ . _ #h +2 "storage"(k% +4 "core" %O o t \ + "storage"(l. +3 "core" .(K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"(m(  +83 !"Qmail"o:!Net::SMTPAuthenticationError: mesg"E534-5.7.9 Application-specific password required. Learn more at\ :@checkpoint: omitted:bt["E/opt/mbari/lib/ruby/1.8/net/smtp.rb:954:in `check_auth_response'"/opt/mbari/lib/ruby/1.8/net/smtp.rb:723:in `authenticate'":/opt/mbari/lib/ruby/1.8/net/smtp.rb:566:in `do_start'"7/opt/mbari/lib/ruby/1.8/net/smtp.rb:525:in `start'"2/home/esp/esp2/lib/email.rb:325:in `sendOnce'"3/home/esp/esp2/lib/schedule.rb:292:in `unsync'"3/home/esp/esp2/lib/schedule.rb:594:in `unsync'"3/home/esp/esp2/lib/schedule.rb:621:in `unsync'"2/home/esp/esp2/lib/email.rb:318:in `sendOnce'"//home/esp/esp2/lib/email.rb:340:in `email'",/home/esp/esp2/lib/msg.rb:68:in `retry'"//home/esp/esp2/lib/email.rb:339:in `email'"./home/esp/esp2/lib/email.rb:348:in `mail'"-/home/esp/esp2/lib/email.rb:66:in `call'"3/home/esp/esp2/lib/email.rb:66:in `initialize'"-/home/esp/esp2/lib/email.rb:63:in `loop'"3/home/esp/esp2/lib/email.rb:63:in `initialize'"7/home/esp/esp2/lib/schedule.rb:481:in `initialize'"0/home/esp/esp2/lib/thread.rb:738:in `start'"7/home/esp/esp2/lib/schedule.rb:474:in `initialize'"'/home/esp/esp2/lib/schedule.rb:472 +2 !o:Email::Queue::Purge: mesg"Purged output queue:bt[ "//home/esp/esp2/lib/email.rb:106:in `purge'"3/home/esp/esp2/lib/email.rb:75:in `initialize'"-/home/esp/esp2/lib/email.rb:63:in `loop'"3/home/esp/esp2/lib/email.rb:63:in `initialize'"7/home/esp/esp2/lib/schedule.rb:481:in `initialize'"0/home/esp/esp2/lib/thread.rb:738:in `start'"7/home/esp/esp2/lib/schedule.rb:474:in `initialize'"'/home/esp/esp2/lib/schedule.rb:472 +1220 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (n& +2 "core" &    7\ +2 "manipulator"&o& +4 "core" &, r & + "manipulator"&p% +4 "core" %\ . _ #h +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&q(; +183 "core" ( +2 "manipulator"&r& +4 "core" &9  $ + "storage"(s& +4 "core" &  Z Y \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&t'Ѐ +95 "core" ' +2 "storage"(u& +4 "core" &  w t \ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(v'e +272 "core" ' +2 "storage"(w- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (x& +2 "core" & 5 @ g\ +2 "manipulator"&y& +3 "core" &9  $ +2 .tElbow.seek 2 +2 "manipulator"&z(; +3 "core" ( +2 "manipulator"&{& +3 "core" &9 % $ +2 "storage"(|& +3 "core" & X Y\ +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&}' +20 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&~/ +61 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&& +2 "storage"('N +7 "core" &:  $ +2 "manipulator"&% +3 "core" % [ +2 .tForearm.seek :retract +2 "manipulator"&'\ +93 "core" ' +2 .tElbow.seek CC +2 "manipulator"&( +138 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +25 "core" ( +2 "manipulator"&& +4 "core" & 0 N + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &  N +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"& '| +102 "core" ' +2 "manipulator"& & +4 "core" & {  N +2 "manipulator"& % +4 "core" %w , | +2 "collection"'& +4 "core" &  \ +2 "collection"'& +4 "core" &  \ +2 .tCC.seek :closed +2 "collection"'(] +4 "core" &  i\  +9 &0|  g\ *y +9 &c  h\ > +9 &Hz  b\ O +10 & ]  j\ N +9 &_  i\ N +9 &`  j\ N +10 &!P^  d\ N +9 &#_  f\ N +9 &$]  \\\ N +10 &&]  X\ N +9 &(Z_  V\ N +10 &*]  W\ M +9 &+]  Y\ N +9 &-_  [\ N +10 &/a`  ^\ N +9 &1"`  [\ N +9 &2_  Z\ N +10 &4[  T\ N +9 &6k]  X\ M +10 &8+]  W\ N +9 &9\\  U\ N +9 &;]  V\ N +10 &=q\\  \\\ N +9 &?3\\  Y\ N +9 &@^  R\ N +10 &B_  O\ N +9 &DyZ  G\ N +10 &F;^  F\ N +9 &GbE\ O +9 &IsE\ P +10 &KpE\ T +9 &M(E\ W +10 &NK\ W +9 &P~|L\ Y +9 &Rg|{O\ Z +10 &T(y|G\ Z +9 &U{yK\ [ +9 &WvxN\ [ +10 &Y`quI\ _ +9 &[(rtG\ ] +9 &\\zrpG\ 8 +10 &]$rrD\ $j +9 &]pvtF\ M +2 ( +2 "collection"'& +3 #tCollection Clamp onSpring/offSpring for 9/25 samples, on/off torque 2.07 +2 .Hand.open + "manipulator"&1 +56 "core" 1 +2 "manipulator"&% +4 "core" % w A | +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&'\ +99 "core" ' +2 #tcollectSample 50ml w/bubble point of 24psi + #Priming 7ml + .Intake.select :close +2 .Exhaust.select :close + .SS.hold +2 "sampler")+ +3 "core" + +2 "sampler")% +3 "core" %/ \  +2 "collection"'& +4 "core" &]nuu'\ M +2 "Can"" MJ +2 #tCalibrating pressure and temperature sensors +3 .CTV.dial :air + .SSV.dial :spit,avoiding: :exhaust +2 "sampler") +3 "core"  +2 "sampler")  +4 "core"  +2 .tSS.reconfigure :fast +2 "sampler")#.0X\ +2 #tIntake @14.8psia, vacuum from 9.3 to 12.3psi +2 .SS.reconfigure :inhaling 2.21ml/s +2 "sampler")#.0X\ % +4 "core" %O !  \  +24 "collection"'?% +3 "core" %65(\ +2 "sampler")@% +4 "core" %O > 6 \  +28 "collection"'% +2 "core" %DEO\ +2 "sampler")% +4 "core" % m i \ i + "sampler")=% +4 "core" % t n \ V + .tIntake.select :close +2 "sampler")0 +8 )C% +3 "core" %  \  +2 .tSSV.dial :exhaust + "sampler")D  +74 "core"  + .tExhaust.select :open +2 "sampler")@ +9 .tSS.seek 0ml +2 "sampler"):'0 +861 "core" ' + .tExhaust.select :close + "sampler") +10 ."connect"SSV.dial CBV +4 .tCBV.dial SSV + "sampler")F  +75 "core"  + #tAllowing 130s for 25.0ml of remaining 25.0ml +2 .Intake.select :open + "sampler") +210 "collection"'G% +3 "core" %|\ + #tIntake @15.1psia, vacuum from 9.6 to 12.6psi +2 .SS.reconfigure :inhaling 2.21ml/s +3 "sampler")#.0X\ s\ +2 "sampler")Q% +3 "core" % W U \ - +2 "sampler")E% +4 "core" % a Y \ - + .tIntake.select :close +2 "sampler")0 +8 )% +3 "core" % s n \ - + .tSSV.dial :exhaust +2 "sampler")S  +73 "core"  +2 .tExhaust.select :open + "sampler")@ +10 .tSS.seek 0ml +2 "sampler")T'0 +907 "core" ' + .tExhaust.select :close +2 "sampler") +9 #tSampled 50.0ml +2 #Evacuating Puck (bubblePt=24psi, evacVolume=10ml, delay 15 seconds) + .Intake.select :close +2 "collection"'U& +3 "core" &]l==b\ M +2 ."airStroke"CSV.dial :waste +4 "sampler")R% +3 "collection"'W +3 "core" %- \ A +2 ."connect"SSV.dial CBV,avoiding: :exhaust 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"core" 9\ (" +102 "collection"',9 +3 "core" 9\ ,# +102 "collection"'&9 +2 "core" 9\ /$ +103 "collection"'.9 +2 "core" 9\ 4% +102 "collection"'19 +2 "core" 9\ 8& +102 "collection"'29 +3 "core" 9\ <' +102 "collection"''9 +2 "core" 9\ A( +102 "collection"'/9 +3 "core" 9\ C) +102 "collection"'39 +3 "core" 9\ H* +102 "collection"'09 +2 "core" 9\ L* +102 "collection"'49 +3 "core" 9\ O+ +102 "collection"'89 +2 "core" 9\ S, +102 "collection"'99 +3 "core" 9\ V- +102 "collection"'<9 +3 "core" 9\ Z. +102 "collection"'>9 +2 "core" 9\ ]/ +102 "collection"'?9 +3 "core" 9\ `0 +102 "collection"'@9 +2 "core" 9\ d0 +102 "collection"'9 +3 "core" 9\ h2 +102 "collection"'9 +3 "core" 9\ j2\  +102 "collection"'=9 +2 "core" 9\ n3 +102 "collection"'C9 +3 "core" 9\ q3 +102 "collection"'D9 +2 "core" 9\ t5 +3 .tCH.hold 10:00,70C +3 "collection"' `\ `\ q +2 '69 +7 "core"  + 9\ t5 + "collection"'F% +4 "core" % b b \  + #tBegun lysing Collection Puck Heater at 68.1C/28.1psia +6682 "Can"\ k +53307 "core" ` +2 "collection"'G9 +3 "core" 9\  +2 "collection"':% +4 "core" % C D\ + #tEnded lysing Collection Puck Heater at 70C/26.4psia +2 .CS.seek 0ml +2 "collection"'\ ' +334 "core" ' +2 .tCTV.dial between spare and air,avoiding: :intake +2 "collection"'K @ +102 "core" A +2 .tCSV.dial :air +2 "collection"'L @ +42 "core" ? +2 .tCS.seek 5ml +2 "collection"'M's +1357 "core" ' + .tCSV.dial CTV + "collection"'O  +45 "core"  + .tdelay 2 seconds +202 .CSV.dial :air +2 "collection"'P @ +43 "core" ? + .tdelay 2 seconds +202 .CSV.dial CTV +2 "collection"'I  +43 "core"  +2 .tdelay 2 seconds +202 .CSV.dial :air + "collection"'Q @ +44 "core" ? + .tdelay 2 seconds +203 .CS.seek 0ml + "collection"'E' +1353 "core" ' + "collection"'% +4 "core" %\ \ \ + #tPuck @38.2psia after final lysis pressurization +2 #Recovering Lysate into Collection syringe + .CSV.dial CBV + "collection"'S +102 "core"  +2 .tCBV.dial CSV + "collection"'H  +30 "core"  + "collection"'A% +4 "core" % =\ +2 .tCS.seek 5ml +2 "collection"'U's +1358 "core" ' +2 .tdelay 5 seconds +502 .CTV.dial :air +2 "collection"'R  +42 "core" +2 "collection"'W% +4 "core" %s\  +2 .tCS.seek 7.001ml +2 "collection"'[' +412 "Can"C TQ +174 "core" ' + .tdelay 5 seconds +502 .CSV.dial :air2 +2 "collection"'X @ +42 "core" ? +2 .tCS.seek 10ml + "collection"'B' +847 "core" ' + .tCSV.dial between air and CTV,avoiding: CBV +2 "collection"'V ` +115 "core" ^ +2 #tLysing Complete +2 "collection"'Z& +4 "core" &]h 8\ M +2 #tStoring sh1 puck in Collection Clamp to tube 1 + "manipulator"&N% +4 "core" %\ 3  %} + "storage"(J% +4 "core" %K 1 0 \ + "storage"(`. +3 "core" .(  +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 1 +2 "storage"(T(B +363 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (\\& +2 "core" &E \ | +2 "manipulator"&c& +4 "core" &\  N + "manipulator"&d% +4 "core" %\ 3  %} +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 1 +2 "manipulator"&Y(c +159 "core" ( + "manipulator"&]& +4 "core" &k ! +2 "storage"(g& +3 "core" &G D G f\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 1 + 450 counts + "manipulator"&a'Ф +97 "core" ' +2 "storage"(e& +4 "core" &G ^\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(_'e +269 "core" ' +2 "storage"(j- +3 "core" -'e +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek :place + "storage"(k'B +35 "core" ' +2 "manipulator"&l& +4 "core" &k  +2 "manipulator"&i% +3 "core" %Р * ( +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&5'\ +98 "core" ' + .tElbow.seek CC +2 "manipulator"&o( +156 "core" ( + "manipulator"&p& +4 "core" &# ;2 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &s& +2 "core" &# 1 ;2 +2 .tForearm.seek CC +2 "manipulator"&n'| +101 "core" ' + .tHand.close +2 "manipulator"&b/ +59 "core" / +3 .tCC.seek :open + "collection"'f(p +410 "core" ( +2 "storage"(r& +4 "core" &G \ + "storage"(u& +4 "core" &G ]\ + "manipulator"&h& +4 "core" &# C :1 + "manipulator"&x% +4 "core" % } ^ +2 .tForearm.seek :retract + "manipulator"&y'\ +100 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 1 +2 "manipulator"&w(c +165 "core" ( +2 "manipulator"&|& +4 "core" &k U  + "storage"(~& +4 "core" &G F\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 1 + "manipulator"&' +109 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&t1 +59 "core" 1 +2 "manipulator"&{% +4 "core" %  B + "storage"(q& +4 "core" &G v v )\ + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 1 + 319 counts +2 "manipulator"&'! +18 "core" ' + "manipulator"&v& +4 "core" &k Z s R  +2 "storage"( & +4 "core" &G\ \  \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 1 + 450 counts + "manipulator"& 'Ф +18 "core" ' +2 "storage"(z% +4 "core" %I  6\ +2 ."downElevator"SE.seek :down +3 "storage"('N +99 (% +4 "core" %; :\ V` +2 "manipulator"&% +4 "core" %Г b j  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&^'\ +91 "core" ' +60 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tTranferring DA + #Beginning samplePassC +2 #Loading FlushPuck into Collection Clamp from FlushPuck::Garage + "collection"'& +4 "core" &X\\ \ +2 "manipulator"&& +4 "core" &k   + "manipulator"&}% +4 "core" %\ '  I +2 .tElbow.seek FlushPuck::Garage +2 "manipulator"&(, +181 "core" ( +2 "manipulator"&& +4 "core" &, %  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &,   +2 .tForearm.seek :garage + "manipulator"&' +106 "core" ' +2 .tHand.close + "manipulator"&/ +61 "core" / + "manipulator"&& +4 "core" &, {  +2 "manipulator"&% +4 "core" %  ^ +2 .tForearm.seek :retract + "manipulator"&'\ +106 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"& ( +306 "core" ( + "manipulator"&!& +5 "core" & u c +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &  c +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&'| +99 "core" ' +2 "manipulator"& & +4 "core" & . c + "manipulator"&% +4 "core" %} +2 "collection"'$& +58 "core" &^^ \ +2 "collection"'%& +5 "core" &]^ \ +2 .tCC.seek :closed +2 "collection"'#(] +4 "core" &\\_\ +7 & 6\\]\ %f +9 &lV]^\ 7 +10 &^a\ L +9 &|Z\\`\ M +10 &=\\]]\ N +9 &[]^\ N +9 & \\__z\ N +10 &"\\\\^R\ M +9 &$FY__<\ M +9 &&Y]^\ M +10 &']\\`\ M +9 &)\\]` !\ N +10 &+N\\^^\ M +9 &-Y]a\ M +9 &.]_`\ N +10 &0\\^a\ N +9 &2U]]_\ N +9 &4]]_\ N +10 &5Z]aX\ M +9 &7]\\_\ M +10 &9^[\\`\ M +9 &; X_`\ M +9 &<\\_ah\ N +10 &>[a_Z\ N +9 &@e\\^aT\ N +9 &B'\\^_=\ N +10 &C]_a\ M +9 &EZ_^\ N +10 &GnY]` \ M +9 &I,c\\^ &\ O +9 &JuW[ \ Q +10 &L0C\ V +9 &NU\ Y +9 &P\ Y +10 &Q\ Z +9 &S\ \\ +10 &UU\ [ +9 &W  \ [\ +9 &X \ ] +10 &Z~\ {b +9 &\\Xn\ J +9 &]e@\ #l +10 &]~\ U +5 ( +2 "collection"'%& +4 #tCollection Clamp onSpring/offSpring for 10/26 samples, on/off torque 2.11 + "collection"'(& +4 "core" &]n\ U + &]mh\ U +2 .tHand.open + "manipulator"&)1 +62 "core" 1 + "manipulator"&"% +5 "core" % | R + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&*'\ +94 "core" ' + .tPSV.dial PSR + "processing"%+ +51 "core"  +2 "processing"%-% +4 "core" %\ + #tPulling 1.5ml of PSR.flush + .PSR.select :flush +3 "processing"%j +10 .tPS.seek 1.5ml + "processing"%,' +1612 "core" ' +2 .tdelay 5 seconds +502 .PSV.dial :waste1 +2 "processing"%&  +52 "core"  +2 .tPS.seek 0ml +2 "processing"%.' +1613 "core" ' +2 .tPSV.dial PSR +2 "processing"%1 +51 "core"  +2 .tPSR.select :air +2 "processing"% +9 .tPS.seek 2.5ml +2 "processing"%2'm +2652 "core" ' +2 ."connect"PRV.dial CBV,avoiding: :ab2 +4 .tCBV.dial PRV +2 "processing"%' + "collection"'/  +4 "core"  +2 "processing"%3  +6 "core"  +66 +2 .tPSV.dial :mixloop + "processing"%0 +106 "core" + .tCTV.dial :air,avoiding: :intake +2 .PTV.dial :PRVmixing + "processing"%4  +128 "core" +2 .tPS.seek 0ml +2 "processing"%8' +2631 "core" ' + .tPSV.dial :air +2 "processing"%9  +45 "core"  +2 .tPS.seek 2.5ml +2 "processing"%<'m +2651 "core" ' + .tPSV.dial :mixloop +2 "processing"%> +51 "core" +3 .tPS.seek 0ml + "processing"%?' +2642 "core" ' + .tPSV.dial :air +2 "processing"%@  +51 "core"  +2 .tPS.seek 2.5ml +2 "processing"%'m +2635 "core" ' +2 .tPSV.dial :mixloop + "processing"% +52 "core" +2 .tPS.seek 0ml +2 "processing"%=' +2632 "core" ' +2 #tGaraging FlushPuck in Collection Clamp + "manipulator"&C& +4 "core" & ` +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC + "manipulator"&D( +3 "core" ( +2 "manipulator"&6& +4 "core" & " ` + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &F& +3 "core" &  ` +2 .tForearm.seek CC + "manipulator"&;'| +109 "core" ' + .tHand.close +2 "manipulator"&/ +59 "core" / +2 .tCC.seek :open +2 "collection"'G(p +414 "core" ( + "manipulator"&:& +4 "core" &\ \ j   U +2 "manipulator"&7% +4 "core" % ~ j h h +2 .tForearm.seek :retract + "manipulator"&K'\ +97 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage + "manipulator"&L(, +286 "core" ( +2 "manipulator"&\ & +4 "core" &,  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &O& +3 "core" &,   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :garage +2 "manipulator"&P' +118 "core" ' +2 .tHand.open + "manipulator"&I1 +59 "core" 1 +2 "manipulator"&Q% +4 "core" % b 1 ) O ȴI +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&M'\ +104 "core" ' + .tPSV.dial :mixloop +2 .PTV.dial :PRVmixing + ."connect"PRV.dial CBV +3 .tCBV.dial PRV +2 .CTV.dial :air,avoiding: :intake +2 #Loading lyfil puck from tube 2 into Collection Clamp + "collection"'& +4 "core" &f\ +2 "manipulator"&S% +4 "core" %\ .  #j + "storage"(H% +4 "core" %= \  + "storage"(A. +3 "core" .(E +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 + "storage"(E(  +366 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (R& +3 "core" &  o o \  + "manipulator"&W& +4 "core" &, >  + "manipulator"&U% +4 "core" %\ . . #j +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&X(; +183 "core" ( +2 "manipulator"&[& +4 "core" &> U "z +2 "storage"(V& +3 "core" &  }\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&Z'Ѐ +105 "core" ' +2 "storage"(N& +4 "core" &    .\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(J'e +280 "core" ' + "storage"(`- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (m& +2 "core" &  \  +2 "manipulator"&\\& +4 "core" &> a d = "z + .tElbow.seek 2 +2 "manipulator"&c(; +3 "core" ( + "manipulator"&d& +4 "core" &> l i H "z + "storage"(]& +4 "core" & \ \ \  \  +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&g' +18 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&e/ +58 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& + "storage"('N +7 "core" &>  "z +2 "manipulator"&j% +4 "core" %  + .tForearm.seek :retract +2 "manipulator"&l'\ +98 "core" ' +2 .tElbow.seek CC +2 "manipulator"&i( +148 "core" ( + "manipulator"&_& +5 "core" ' + &" / 9) +2 .tElbow.reconfigure :loose +2 ."downElevator"SE.stop +4 "manipulator"&$ &.,(#b "storage"(5 +3 "manipulator"&p& +5 "core" &" 9) +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&s'| +99 "core" ' +2 "manipulator"&a& +4 "core" &" - 9) + "manipulator"&Y% +4 "core" %w +2 "collection"'b& +4 "core" &\ +2 "collection"'5& +5 "core" &\ +2 .tCC.seek :closed + "collection"'(] +4 "core" &\ +9 &>\ %f +9 &iT}\ 7 +9 &\ L +10 &xZ\ M +9 &9Z\ M +9 &Y\ M +10 & [\ N +9 &"~[\ N +10 &$AZ\ M +9 &&X\ M +9 &'\\r\ M +10 &)[f\ N +9 &+I\\Y\ M +9 &- Y?\ M +10 &.]3\ M +9 &0X*\ M +10 &2QY\ M +9 &4Z\ M +9 &5\\\ M +10 &7]^\ N +9 &9YYJ\ M +9 &;WE\ M +10 &<W5\ M +9 &>\\\ N +9 &@aZ\ M +10 &B$Z\ M +9 &C[\ N +10 &EZ\ N +9 &Gh_\ N +9 &I%k}\ O +10 &J`m\ T +9 &L3=\ W +9 &NP+.\ X +10 &P(*\ Y +9 &Q"&\ Z +10 &S"\ Z +9 &UQ\ [\ +9 &W\ \\ +10 &X\ ] +9 &Z  \ ] +9 &\\R\ J +10 &]^:\ (v +9 &]}\ P +6 ( + "collection"'5& +4 #tCollection Clamp onSpring/offSpring for 10/26 samples, on/off torque 2.11 +2 .Hand.open + "manipulator"&r1 +4 "core" &]no\ P +58 1 +2 "manipulator"&u% +4 "core" % v +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&h'\ +92 "core" ' +2 .tCTV.dial CSV,avoiding: :intake + "collection"'x  +133 "core" ~ +2 .tCSV.dial CTV + "collection"'|  +30 "core"  +2 .tPS.seek 2.5ml +2 "processing"%~'m +2642 "core" ' + "collection"'n% +4 "core" % \ \  +2 .tCS.seek 4.5ml +2 "collection"'o'd +1478 "core" ' + .tdelay 8 seconds +803 .PSV.dial :air + "processing"%t  +51 "core"  +2 .tdelay 2 seconds +202 .PSV.dial :waste2 + "processing"%{  +75 "core"  +2 .tPS.seek 0ml +2 "processing"%q' +2641 "core" ' +2 .tCBV.dial between PRV and waste1 +2 "collection"'v ` +30 "core" _ +2 .tCSV.dial :air + "collection"' @ +44 "core" ? +2 .tCS.seek 10ml +2 "collection"'z' +1484 "core" ' + .tCSV.dial CTV + "collection"'y  +44 "core"  +3 .tCS.seek 0ml + "collection"'' +2640 "core" ' + .tCBV.dial :waste1 +2 "collection"' @ +30 "core" ? +2 .tdelay 5 seconds +502 .CTV.dial :air,avoiding: :intake + "collection"'w  +132 "core" +2 "collection"'& +4 "core" &]mr\ P +2 #tStoring lyfil puck in Collection Clamp to tube 1 + "manipulator"&% +4 "core" %\ %  5 + "storage"(% +4 "core" %V . % /\  + "storage"(. +3 "core" .(  +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 1 + "storage"(}(B +367 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (k& +3 "core" &B } { N\ + "manipulator"& & +4 "core" &  8" + "manipulator"&% +4 "core" %\ %  5 +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 1 +2 "manipulator"&(c +164 "core" ( + "manipulator"&& +5 "core" &l  + "storage"(& +4 "core" &D W W ]\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 1 + 450 counts +2 "manipulator"&'Ф +92 "core" ' + "storage"(& +5 "core" &D | (\ + .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('e +284 "core" ' +2 "storage"(^- +3 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&& +3 "core" &l   +2 "storage"(& +4 "core" &D S G\ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 1 + "manipulator"&!' +20 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"( - +2 "core" -' +3 .tSE.seek 0.12 Pucks below Top Plate + "storage"('p +31 "core" ' +53 "manipulator"&$% +7 "core" % T + "storage"(& +4 "core" &D\ + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 1 + 320 counts +2 "manipulator"&f'" +18 "core" ' + "manipulator"&(& +4 "core" & \\ s  +2 "storage"()& +4 "core" &D u \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 1 + 450 counts + "manipulator"&"'Ф +20 "core" ' +2 .tSE.seek 1.12 Pucks below Top Plate +2 "storage"(%'_ +46 "core" ' +2 "manipulator"&+& +4 "core" & m m  +2 "manipulator"&-% +4 "core" %{ l n ! +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +87 "core" ' +2 .tElbow.seek CC +2 "manipulator"&( +150 "core" ( +2 "manipulator"&&& +4 "core" &" D :, + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &,& +3 "core" &" U :, +2 .tForearm.seek CC +2 "manipulator"&1'| +101 "core" ' + .tHand.close +2 "manipulator"&./ +56 "core" / +2 .tCC.seek :open +2 "collection"''(p +410 "core" ( +2 "storage"(3& +4 "core" &D \ + "storage"(/& +4 "core" &D \ + "manipulator"&0& +4 "core" &"  :, + "manipulator"&4% +4 "core" % _ U +2 .tForearm.seek :retract +2 "manipulator"&2'\ +91 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 1 +2 "manipulator"&9(c +156 "core" ( + "manipulator"&8& +5 "core" &o  \ + "storage"(>& +4 "core" &D \ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 1 +2 "manipulator"&<' +108 "core" ' + .tElbow.hold +2 "manipulator"&@, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&?1 +53 "core" 1 +2 "manipulator"&% +4 "core" % z    Ż9 + "storage"(& +4 "core" &D 6 & 6\ + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 1 + 308 counts +2 "manipulator"&C' +11 "core" ' +3 "manipulator"&6& +4 "core" &\ m e R D + "storage"(F& +4 "core" &D\ \ m\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 1 + 450 counts +2 "manipulator"&'Ф +15 "core" ' +2 "storage"( % +4 "core" %a\ \  \ +2 ."downElevator"SE.seek :down +4 "storage"(*'N +99 (#% +2 "core" %*8 \ V^ +2 "manipulator"&:% +4 "core" %М m n +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&7'\ +94 "core" ' +46 ' + ."downElevator"SE.stop + "storage"(5 +3 .tPSV.dial :air +2 "processing"%;  +80 "core" +2 .tPS.seek 2.5ml +2 "processing"%\ 'm +2641 "core" ' +2 .tdelay 1 second +101 .PSV.dial :mixloop +2 "processing"%O +44 "core" + .tdelay 1 second +102 .PSV.dial :air +2 "processing"%D  +49 "core"  +2 .tdelay 1 second +101 .PSV.dial :mixloop +2 "processing"%I +50 "core" +2 .tdelay 1 second +101 .PSV.dial :air +2 "processing"%Q  +50 "core"  + .tdelay 1 second +103 .PS.seek 0ml + "processing"%' +2641 "core" ' +2 #tLoading FlushPuck into Processing Clamp from FlushPuck::Garage +2 "processing"%K& +3 "core" &\ +2 "manipulator"&S& +4 "core" &  D + "manipulator"&H% +4 "core" %\ 3 9 %| +2 .tElbow.seek FlushPuck::Garage + "manipulator"&A(, +184 "core" ( + "manipulator"&P& +4 "core" &, N  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &T& +2 "core" &, 1  +2 .tForearm.seek :garage +2 "manipulator"&R' +108 "core" ' +2 .tHand.close + "manipulator"&W/ +55 "core" / +2 "manipulator"&U& +4 "core" &,  s  + "manipulator"&[% +4 "core" %  # +2 .tForearm.seek :retract +2 "manipulator"&V'\ +104 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +2 "manipulator"&L(c +126 "core" ( +2 "manipulator"&N& +4 "core" &g f + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &M& +3 "core" &g X +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&`'[ +104 "core" ' + "manipulator"&m& +4 "core" &g J +2 "manipulator"&\\% +4 "core" %a - +2 "processing"%d& +3 "core" &r\ +3 "processing"%]& +4 "core" &2\ +2 .tPC.seek :closed +2 "processing"%e(Z +4 "core" &'\ +8 & /%\ #b +9 &TV'\ 8 +9 &.\ M +10 &aY*\ O +9 &$\\&\ O +9 &\\7\ O +10 & _:\ O +9 &"h\\8\ O +10 &$+\\:\ O +9 &%[:\ O +9 &'Z:\ N +10 &)s[\ N +9 &+5Z\ N +9 &,\\J\ O +10 &._.\ O +9 &0z] \ O +10 &2<Z;\ O +9 &3YD\ O +9 &5]K\ O +10 &7X\ O +9 &9E[\ N +9 &;_\ O +10 &<Z-\ N +9 &>\\\ O +10 &@LY\ O +9 &BZ\ O +9 &CZ\ N +10 &EZ\ O +9 &GS_\ O +10 &Ih\ P +9 &Js\ R +9 &L\ T +10 &NG\ V +9 &P\ \ U +9 &Q\ U +10 &S\ U +9 &UN\ V +9 &W\ V +10 &X \ V +9 &Z6U \ ){ +10 &Zh \ < +9 ( + &Z6 \ 7 +2 "processing"%]& +3 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.56 + "processing"%& +4 "core" &Z6 \ 7 +2 .tHand.open + "manipulator"&j1 +58 "core" 1 +2 "manipulator"&X% +4 "core" % a O +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&Z'\ +95 "core" ' +2 .tPRV.dial :air + "processing"%_  +43 "core"  +2 .tPSV.dial :mixloop + "processing"%p +52 "core" + "processing"%J% +4 "core" %6\ +2 .tPS.seek 0.3ml +2 "processing"%g'j +402 "core" ' + .tPSV.dial PSR +2 "processing"%a +105 "core"  +2 "processing"%Y% +4 "core" %g\ + #tPulling 0.4ml of PSR.air + .PSR.select :air +3 .PS.seek 0.7ml +2 "processing"%b'. +488 "core" ' +2 .tdelay 3 seconds +302 .PSR.select :air +3 .PS.seek 2.5ml + "processing"%c'm +1939 "core" ' + .tdelay 3 seconds +302 .PSV.dial :mixloop +2 "processing"% +112 "core" +2 .tPTV.dial :mixing + "processing"%l @ +72 "core" A +2 .tPBV.dial :waste2 + "processing"%G  +97 "core"  +2 .tPS.seek 0ml +2 "processing"%r' +2638 "core" ' +2 #tGaraging FlushPuck in Processing Clamp + "manipulator"&u& +4 "core" &g  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC + "manipulator"&5(c +4 "core" ( + "manipulator"&x& +4 "core" &g  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &|& +3 "core" &g R +2 .tForearm.seek PC + "manipulator"&s'[ +18 "Can"C C@ +77 "core" ' +2 .tHand.close + "manipulator"&=/ +55 "core" / +2 .tPC.seek :open + "processing"%n(p +399 "core" ( + "manipulator"&B& +5 "core" &g  + "manipulator"&t% +4 "core" % S  +2 .tForearm.seek :retract + "manipulator"&{'\ +93 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage + "manipulator"&~(, +122 "core" ( + "manipulator"&v& +5 "core" &,   + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 & & +2 "core" &,   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :garage + "manipulator"&o' +116 "core" ' + .tHand.open + "manipulator"&y1 +58 "core" 1 +2 "manipulator"&z% +4 "core" % w  ĺ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +97 "core" ' +3 #tLoading da puck from tube 2 into Processing Clamp + "processing"%w& +4 "core" &}j\ +2 "manipulator"&% +3 "core" %\ (  D +2 "storage"(% +4 "core" %= \ + "storage"(. +3 "core" .(B +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 + "storage"((  +411 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (E& +2 "core" &  N G Y\  +2 "manipulator"&k& +4 "core" &,   + "manipulator"& % +4 "core" %\ (  D +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&(; +181 "core" ( +2 "manipulator"&& +4 "core" &I 3 k +2 "storage"(& +3 "core" &  n\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&'Ѐ +101 "core" ' + "storage"(i& +5 "core" & \ \  \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(h'e +279 "core" ' +2 "storage"(^- +3 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (& +3 "core" &  =\  + "manipulator"&& +4 "core" &I d i L k +2 .tElbow.seek 2 + "manipulator"& (; +29 "core" ( +2 "manipulator"&$& +4 "core" &E W g   + "storage"(& +4 "core" &  \  +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&(' +15 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +3 "manipulator"&)/ +59 "core" / +4 ."downElevator"SE.seek :down +3 "manipulator"&+& +2 "storage"(-'N +7 "core" &E   +2 "manipulator"&% +4 "core" % , +2 .tForearm.seek :retract + "manipulator"&'\ +91 "core" ' +2 .tElbow.seek PC +2 "manipulator"&(c +166 "core" ' + ."downElevator"SE.stop + "storage"(5 +69 "core" ( + "manipulator"&!& +4 "core" &[ Z +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &f& +2 "core" &[ } Z +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&'[ +92 "core" ' +2 "manipulator"&&& +5 "core" &[ A Z + "manipulator"&,% +4 "core" %e   +2 "processing"%"& +3 "core" &}1\ +2 "processing"%& +5 "core" &}3\ +2 .tPC.seek :closed +2 "processing"%.(Z +4 "core" &}\  +9 &,{\ +| +9 &e\ ? +9 &7v\ O +10 &W\ N +9 &Z\ N +10 &Z\ N +9 &!A\\\ N +9 &#Z\ M +10 &$[\ N +9 &&Z\ N +9 &(J\\!\ N +10 &* _/\ N +9 &+[G\ M +10 &-[F\ N +9 &/Q^H\ N +9 &1\\F\ N +10 &2\\J\ N +9 &4Z=\ N +9 &6Z\\C\ N +10 &8ZC\ N +9 &9Z5\ N +10 &;]2\ N +9 &=b[1\ N +9 &?$]0\ N +10 &@\\.\ N +9 &B[$\ M +9 &Dj\\.\ N +10 &F+]\ N +9 &G^\ N +10 &Ie"\ O +9 &Kjq\ P +9 &M$\ S +10 &N \ U +9 &P\ T +9 &Rd\ U +10 &T'\ U +9 &U\ U +10 &W\ U +9 &Yk \ C +9 &Zw@\ T +10 &ZG\ 8 +5 ( +2 "processing"%& +4 #tProcessing Clamp onSpring/offSpring for 9/25 samples, on/off torque 1.56 + .Hand.open + "manipulator"&1 +3 "core" &Z5\ 8 +59 1 + "manipulator"&% +4 "core" % e ^  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&3'\ +92 "core" ' +3 #tHeating Puck.from 2, :da in Processing Clamp to 28C for 2:00:00 +2 .PH.seek 28C,5:00 +2 "processing"%/  +3 %09 +5 "core" 9 +102 "processing"%49 +2 "core" 9 +102 "processing"%89 +2 "core" 9  +102 "processing"%>9 +3 "core" 9  +102 "processing"%19 +3 "core" 9 +102 "processing"%9 +2 "core" 9 +102 "processing"%?9 +2 "core" 9 +102 "processing"%9 +3 "core" 9 +102 "processing"%9 +2 "core" 9" +102 "processing"%69 +3 "core" 9& +102 "processing"%F9 +2 "core" 9* +102 "processing"% 9 +3 "core" 9/ +102 "processing"%29 +2 "core" 93 +102 "processing"%#9 +2 "core" 97 +103 "processing"%:9 +2 "core" 9; +103 "processing"%99 +2 "core" 9? +102 "processing"%<9 +2 "core" 9C +102 "processing"%C9 +3 "core" 9H +102 "processing"%%9 +2 "core" 9L +103 "processing"%;9 +2 "core" 9P +102 "processing"%9 +3 "core" 9T +102 "processing"%*9 +2 "core" 9 X +102 "processing"%q9 +2 "core" 9] +103 "processing"%O9 +2 "core" 9a +102 "processing"%D9 +2 "core" 9#e +102 "processing"%I9 +3 "core" 9*i +102 "processing"%Q9 +2 "core" 94m +102 "processing"%\ 9 +3 "core" 9;q +102 "processing"%K9 +2 "core" 9Ev +102 "processing"%S9 +4 "core" 9Nz +102 "processing"%H9 +2 "core" 9W~ +102 "processing"%P9 +2 "core" 9` +103 "processing"%T9 +2 "core" 9h +102 "processing"%@9 +2 "core" 9q +102 "processing"%W9 +4 "core" 9x +102 "processing"%U9 +2 "core" 9 +3 .tPH.hold 2:00:00,28C +3 "processing"%[ pp} +2 .tdelay 1:30 +4 "core"  +9000 .tPSR.select :air +2 .PSV.dial PSR +2 "processing"%7 +111 "core"  +2 "processing"%N% +4 "core" %\ + #tPulling 0.5ml of PSR.wash +2 .PSR.select :wash +2 "processing"% +10 .tPS.seek 0.5ml + "processing"%M' +592 "core" ' +2 .tdelay 5 seconds +502 .PSR.select :air +2 "processing"% +10 .tPS.seek 2ml + "processing"%R'ԏ +1618 "core" ' + .tPTV.dial :puck +2 "processing"%m  +72 "core"  + .tPSV.dial PTV +2 "processing"%\\ +83 "core" + .tPBV.dial :waste1 +2 "processing"%d  +133 "core"  + "processing"%A% +4 "core" %ԑ\  +2 .tPS.seek 1.5ml +2 "processing"%V' +594 "core" ' + .tdelay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"% * +34 "core" , +2 .tPS.seek 0ml +2 "processing"%' +1616 "core" ' +2 .tdelay 5:00 +30002 #recoverPSRreagent08 + .PTV.dial :puck +2 .PBV.dial :waste1 + "processing"%j  +36 "core" + .tdelay 30 seconds +3002 .PBV.dial between PSV and waste1 +2 "processing"%X * +35 "core" , +2 .tPSR.select :air +2 .PSV.dial PSR + "processing"%] +83 "core"  +2 .tPS.reconfigure :fast +2 "processing"%#A ,`xb +2 .tPS.seek 2.5ml +2 "processing"%_'m +2448 "core" ' + .tPSV.dial PTV +2 "processing"%p +81 "core" +2 .tdelay 5 seconds +502 .PSV.dial PSR + "processing"%J +83 "core"  + .tdelay 5 seconds +503 .PSV.dial PTV +2 "processing"%` +83 "core" + .tdelay 5 seconds +503 .PSV.dial :air + "processing"%  +74 "core"  +3 .tPS.seek 0ml + "processing"%a' +756 "Can"+ FC +1653 "core" ' + .tPTV.dial :PRVmixing,via: PRV +2 "processing"%Y  +128 "core" +2 .tPSV.dial :mixloop + "processing"%g +50 "core" +2 .tPRV.dial :ab1 + "processing"%b @ +72 "core" A +2 .tPS.reconfigure :slow +3 "processing"%#A 2`xb +2 .tPS.seek 0.15ml +2 "processing"%'@ +357 "core" ' + .tdelay 2 seconds +203 ."connect"CBV.dial PRV +3 .tPRV.dial CBV +2 "collection"'l  + "processing"%G  +45 "core"  + +2 "processing"%c% +4 "core" %D\  +2 .tPS.seek 0.34ml +2 "processing"%u' +431 "core" ' + .tdelay 2 seconds +202 .CBV.dial between PRV and PSV +2 "collection"'x  +30 "core" +2 .tPRV.dial :air + "processing"%|  +41 "core"  +3 .tPS.seek 0.9ml + "processing"%='H +1192 "core" ' + .tPRV.dial :waste2 +2 "processing"%L @ +73 "core" ? +2 .tPS.seek 0.5ml +2 "processing"%Z' +867 "core" ' + #taddPMLReagent08 + .PSV.dial :air +2 "processing"%e  +52 "core"  +2 .tPS.reconfigure :default +2 "processing"%#A d`xb +2 .tPS.seek 2ml +2 "processing"%B'ԏ +1617 "core" ' + .tPSV.dial :PML +2 "processing"%t +51 "core" +2 .tPTV.dial :mixing + "processing"%v @ +72 "core" A +2 .tPBV.dial :waste1 + "processing"%  +37 "core" + "processing"%s% +4 "core" %ԋ\  +2 .tPS.seek 1.85ml +2 "processing"%5'b +231 "core" ' +2 .tPBV.dial between PSV and waste1 + "processing"%y * +47 "core" ) +2 .tPS.seek 0ml +2 "processing"%z' +1971 "core" ' +2 .tdelay 2 seconds +202 #Beginning samplePassC +2 #Loading FlushPuck into Collection Clamp from FlushPuck::Garage + "collection"'w& +3 "core" &\ +2 "manipulator"&& +3 "core" &[  Z +2 "manipulator"&{% +4 "core" %\ *  !N + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek FlushPuck::Garage +2 "manipulator"&(, +121 "core" ( + "manipulator"&& +4 "core" &, :  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &o& +2 "core" &,   +51 .tForearm.seek :garage +4 "manipulator"&}' +103 "core" ' +2 .tHand.close + "manipulator"&E/ +70 "core" / +2 "manipulator"&k& +4 "core" &, \\  + "manipulator"& % +4 "core" % y +2 .tForearm.seek :retract +2 "manipulator"&'\ +96 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&( +284 "core" ( +2 "manipulator"&~& +4 "core" &,  Bj +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &i& +3 "core" &, + Bj +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&'| +93 "core" ' + "manipulator"&^& +5 "core" &, % Bj + "manipulator"&% +4 "core" %τ   +2 "collection"'& +4 "core" &\ +2 "collection"'$& +4 "core" &\ +3 .tCC.seek :closed + "collection"'(] +4 "core" &\  +9 &2~\ +{ +9 &a\ ? +9 &Ax\ P +10 &T\ P +9 &X\ P +10 &X\ P +9 &!JU\ P +9 &# W\ P +10 &$V\ O +9 &&W\ O +9 &(RX\ P +10 &*Z\ P +9 &+Y\ P +10 &-X\ P +9 &/YW\ P +9 &1W\ P +10 &2V\ P +9 &4V\ O +9 &6cW\ O +10 &8%W\ O +9 &9T\ P +10 &;S\ P +9 &=jU\ P +9 &?-U\ O +10 &@W\ P +9 &BU\ P +9 &DsW\ O +10 &F4\\\ P +9 &GZ\ P +10 &Ia\ Q +9 &Knwmw\ T +9 &M%GW\ X +10 &N:@\ xZ +9 &P8:\ u[ +9 &Ra38\ u[\ +10 &T 14\ p\\ +9 &U*0\ o] +10 &W*,\ o] +9 &Y_&&\ h^ +9 &[ #'\ h_ +10 &\\{!"\ x: +9 &]%!"\ y%l +9 &]i!\ I +3 ( + "collection"'$& +3 #tCollection Clamp onSpring/offSpring for 9/25 samples, on/off torque 2.10 +2 "collection"')& +4 "core" &]i"\ I + .tHand.open +2 "manipulator"&+1 +57 "core" 1 +2 "manipulator"&% +4 "core" % τ m  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +100 "core" ' +2 .tPSV.dial PSR + "processing"% +107 "core"  +2 "processing"%h% +4 "core" %\ + #tPulling 1.5ml of PSR.flush + .PSR.select :flush +3 "processing"%@ +9 .tPS.seek 1.5ml +2 "processing"%(' +1615 "core" ' +2 .tdelay 5 seconds +502 .PSV.dial :waste1 +2 "processing"%!  +55 "core"  +2 .tPS.seek 0ml +2 "processing"%f' +1617 "core" ' + .tPSV.dial PSR + "processing"% +49 "core"  +2 .tPSR.select :air +2 "processing"% +9 .tPS.seek 2.5ml +2 "processing"%&'m +2649 "core" ' +2 ."connect"PRV.dial CBV,avoiding: :ab2 +4 .tCBV.dial PRV +3 "processing"%,  + "collection"'"  +33 "core"  +126  + .tPSV.dial :mixloop +2 "processing"%- +106 "core" +2 .tCTV.dial :air,avoiding: :intake +2 .PTV.dial :PRVmixing + "processing"%  +73 "core" +2 .tPS.seek 0ml +2 "processing"%n' +2637 "core" ' + .tPSV.dial :air +2 "processing"%  +45 "core"  +2 .tPS.seek 2.5ml +2 "processing"%'m +2657 "core" ' +2 .tPSV.dial :mixloop + "processing"%0 +52 "core" +2 .tPS.seek 0ml +2 "processing"%' +2638 "core" ' + .tPSV.dial :air +2 "processing"%4  +52 "core"  +2 .tPS.seek 2.5ml +2 "processing"%'m +2647 "core" ' +2 .tPSV.dial :mixloop + "processing"%8 +52 "core" +2 .tPS.seek 0ml +2 "processing"%>' +2635 "core" ' +2 #tGaraging FlushPuck in Collection Clamp + "manipulator"&1& +4 "core" &1$  <@ +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC + "manipulator"&( +32 "core" ( + "manipulator"&?& +4 "core" &   +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &   +2 .tForearm.seek CC +2 "manipulator"&'| +93 "core" ' + .tHand.close + "manipulator"&6/ +54 "core" / +2 .tCC.seek :open + "collection"'F(p +411 "core" ( + "manipulator"& & +4 "core" &  N +2 "manipulator"&2% +4 "core" % } C + .tForearm.seek :retract +2 "manipulator"&#'\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage +2 "manipulator"&:(, +280 "core" ( + "manipulator"&9& +4 "core" &,  $ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &<& +3 "core" &, I $ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek :garage + "manipulator"&C' +114 "core" ' + .tHand.open +2 "manipulator"&%1 +53 "core" 1 + "manipulator"&;% +4 "core" %   +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +105 "core" ' + ."da"delayUntil "09:15:33.34" +24689 #recoverPRVreagent08 + .PTV.dial :mixing +2 "processing"%* @ +71 "core" B + ."da"PBV.dial :waste1 +2 "processing"%q  +33 "core" + ."da"delay 30 seconds +2175 "Can" EB +828 ."da"PBV.dial between PSV and waste1 +2 "processing"%O * +34 "core" + +2 ."da"PSV.dial :air + "processing"%D  +52 "core"  +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml +2 "processing"%I'm +2431 "core" ' +2 ."da"PSV.dial :mixloop + "processing"%Q +51 "core" + ."da"delay 2 seconds +202 .PSV.dial :air +2 "processing"%\  +49 "core"  +2 ."da"delay 2 seconds +202 .PSV.dial :mixloop +2 "processing"%K +49 "core" + ."da"delay 2 seconds +202 .PSV.dial :air +2 "processing"%S  +51 "core"  +2 ."da"PS.seek 0ml +2 "processing"%H' +2402 "core" ' +2 #"da"washCycleDA #1 of 2 + .PSR.select :air +2 .PSV.dial PSR +2 "processing"%P +136 "core"  + "processing"%T% +4 "core" %\ + #"da"Pulling 0.5ml of PSR.wash +2 .PSR.select :wash +2 "processing"% +9 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"%@' +597 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +2 "processing"% +10 ."da"PS.seek 2ml +2 "processing"%W'ԏ +1619 "core" ' +2 ."da"PTV.dial :puck + "processing"%U  +71 "core"  + ."da"PSV.dial PTV +2 "processing"%7 +75 "core" + ."da"PBV.dial :waste1 +2 "processing"%N  +34 "core" +2 "processing"%r% +4 "core" %ԓ\  +2 ."da"PS.seek 1.5ml +2 "processing"%M' +601 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%m * +33 "core" + +3 ."da"PS.seek 0ml +4 "processing"%\\' +1608 "core" ' + ."da"delay 2:00 +12003 #recoverPSRreagent08 + .PTV.dial :puck +2 .PBV.dial :waste1 + "processing"%d  +34 "core" + ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%A * +34 "core" + +2 ."da"PSR.select :air +2 .PSV.dial PSR + "processing"%R +81 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"% 'm +2450 "core" ' +2 ."da"PSV.dial PTV + "processing"%V +82 "core" + ."da"delay 5 seconds +503 .PSV.dial PSR + "processing"%/ +81 "core"  + ."da"delay 5 seconds +503 .PSV.dial PTV + "processing"%j +81 "core" + ."da"delay 5 seconds +503 .PSV.dial :air + "processing"%X  +74 "core"  +2 ."da"PS.seek 0ml +2 "processing"%]' +2395 "core" ' +2 #"da"washCycleDA #2 of 2 + .PSR.select :air +2 .PSV.dial PSR +50 "processing"% +135 "core"  +2 "processing"%p% +4 "core" %\ + #"da"Pulling 0.5ml of PSR.wash +2 .PSR.select :wash +2 "processing"% +9 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"%J' +592 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +3 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%`'ԏ +1626 "core" ' + ."da"PTV.dial :puck +2 .PSV.dial PTV + "processing"% +76 "core" + ."da"PBV.dial :waste1 +2 "processing"%_  +34 "core" +2 "processing"%Y% +3 "core" %ԕ\  +2 ."da"PS.seek 1.5ml +2 "processing"%g' +599 "core" ' + ."da"delay 3 seconds +303 .PBV.dial between PSV and waste1 + "processing"%b * +34 "core" + +2 ."da"PS.seek 0ml +2 "processing"%a' +1610 "core" ' + ."da"delay 2:00 +12004 #recoverPSRreagent08 + .PTV.dial :puck + .PBV.dial :waste1 +2 "processing"%G  +35 "core" + ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%l * +34 "core" + +2 ."da"PSR.select :air +2 .PSV.dial PSR + "processing"%c +83 "core"  +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml + "processing"%'m +2448 "core" ' + ."da"PSV.dial PTV +2 "processing"%x +81 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PSR +2 "processing"%| +80 "core"  +2 ."da"delay 5 seconds +502 .PSV.dial PTV +2 "processing"%u +80 "core" +2 ."da"delay 5 seconds +502 .PSV.dial :air + "processing"%L  +73 "core"  +2 ."da"PS.seek 0ml +2 "processing"%=' +802 "Can" HE +1607 "core" ' + #"da"getPMLReagent08 +2 .PRV.dial :air + "processing"%e  +43 "core"  + ."da"delay 5 seconds +502 .PTV.dial :PRVmixing +3 "processing"%Z  +128 "core" +2 ."da"delay 5 seconds +502 .PRV.dial :ab2 +2 "processing"%t  +42 "core"  +2 ."da"PTV.dial :PRVmixing + .PSV.dial :mixloop +2 "processing"%v +50 "core" +2 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 0.3ml +2 "processing"% 'i +382 "core" ' + ."da"delay 2 seconds +202 .PRV.dial :air +2 "processing"%s  +45 "core"  + "processing"%y% +4 "core" %e\  +2 ."da"PS.seek 0.55ml +2 "processing"%B'T +325 "core" ' +2 #"da"addPMLReagent08 + .PSV.dial :air + "processing"%5  +51 "core"  +2 ."da"PS.seek 2ml + "processing"%w'ԏ +1567 "core" ' + ."da"PSV.dial :PML +2 "processing"% +52 "core" + ."da"PTV.dial :mixing +2 "processing"%{ @ +72 "core" A + ."da"PBV.dial :waste1 +2 "processing"%  +34 "core" +2 "processing"%o% +3 "core" %ԏ\  +3 ."da"PS.seek 1.85ml +2 "processing"%'f +245 "core" ' + ."da"PBV.dial between PSV and waste1 +2 "processing"%E * +34 "core" + +3 ."da"PS.seek 0ml + "processing"%k' +1968 "core" ' +2 ."da"delay 2 seconds +202 .delay 8:00 +48002 #recoverPRVreagent08 +2 .PTV.dial :mixing + .PBV.dial :waste1 +2 "processing"%  +34 "core" + ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%3 * +34 "core" + +2 ."da"PSV.dial :air +2 "processing"%}  +51 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%~'m +731 "Can"\ UR +1713 "core" ' + ."da"PSV.dial :mixloop +2 "processing"%i +50 "core" +2 ."da"delay 2 seconds +202 .PSV.dial :air +2 "processing"%  +51 "core"  + ."da"delay 2 seconds +202 .PSV.dial :mixloop +2 "processing"%^ +51 "core" + ."da"delay 2 seconds +202 .PSV.dial :air +2 "processing"%  +51 "core"  +2 ."da"PS.seek 0ml +2 "processing"%' +2402 "core" ' +2 #"da"washCycleDA #1 of 3 + .PSR.select :air +2 .PSV.dial PSR +2 "processing"% +135 "core"  +2 "processing"%'% +4 "core" %\ + #"da"Pulling 0.5ml of PSR.wash + .PSR.select :wash +3 "processing"% +9 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"%)' +597 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +2 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%+'ԏ +1627 "core" ' + ."da"PTV.dial :puck +2 "processing"%  +72 "core"  + ."da"PSV.dial PTV +2 "processing"%$ +75 "core" + ."da"PBV.dial :waste1 +2 "processing"%  +34 "core" +2 "processing"%h% +4 "core" %Ԏ"\  +2 ."da"PS.seek 1.5ml +2 "processing"%' +596 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%z * +46 "core" ) +2 ."da"PS.seek 0ml +2 "processing"%!' +1619 "core" ' +2 ."da"delay 2:00 +12003 #recoverPSRreagent08 + .PTV.dial :puck +2 .PBV.dial :waste1 +2 "processing"%(  +32 "core"  +2 ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 + "processing"% * +35 "core" , +2 ."da"PSR.select :air +2 .PSV.dial PSR + "processing"%f +81 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%"'m +2438 "core" ' + ."da"PSV.dial PTV +2 "processing"%, +81 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PSR +2 "processing"%- +80 "core"  +2 ."da"delay 5 seconds +502 .PSV.dial PTV +2 "processing"% +80 "core" +2 ."da"delay 5 seconds +502 .PSV.dial :air + "processing"%&  +75 "core"  +2 ."da"PS.seek 0ml +2 "processing"%' +2407 "core" ' + #"da"washCycleDA #2 of 3 +2 .PSR.select :air +2 .PSV.dial PSR + "processing"%n +136 "core"  + "processing"%0% +4 "core" %\ + #"da"Pulling 0.5ml of PSR.wash +2 .PSR.select :wash +2 "processing"% +9 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"%' +588 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +2 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%4'ԏ +1614 "core" ' + ."da"PTV.dial :puck +2 .PSV.dial PTV +2 "processing"% +73 "core" +2 ."da"PBV.dial :waste1 + "processing"%8  +35 "core" + "processing"%% +4 "core" %Ԑ\  +2 ."da"PS.seek 1.5ml +2 "processing"%1' +597 "core" ' + ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%? * +34 "core" + +2 ."da"PS.seek 0ml +2 "processing"%' +1616 "core" ' +2 ."da"delay 2:00 +12003 #recoverPSRreagent08 + .PTV.dial :puck +2 .PBV.dial :waste1 +2 "processing"%6  +34 "core" +2 ."da"delay 30 seconds +3002 .PBV.dial between PSV and waste1 +2 "processing"% * +35 "core" + + ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"% +80 "core"  +2 ."da"PS.reconfigure :fast +51 "processing"%#A ,`xb +5 ."da"PS.seek 2.5ml + "processing"%'m +2452 "core" ' +2 ."da"PSV.dial PTV + "processing"% +82 "core" + ."da"delay 5 seconds +503 .PSV.dial PSR + "processing"%2 +82 "core"  +2 ."da"delay 5 seconds +502 .PSV.dial PTV +2 "processing"% +94 "core"  +2 ."da"delay 5 seconds +502 .PSV.dial :air +2 "processing"%9  +75 "core"  +3 ."da"PS.seek 0ml + "processing"%<' +2387 "core" ' +2 #"da"washCycleDA #3 of 3 + .PSR.select :air +2 .PSV.dial PSR +2 "processing"% +17 "Can"\ ig +118 "core"  +2 "processing"%%% +4 "core" %\ + #"da"Pulling 0.5ml of PSR.wash + .PSR.select :wash +3 "processing"% +9 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"%;' +593 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +3 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%#'ԏ +1614 "core" ' + ."da"PTV.dial :puck +2 .PSV.dial PTV + "processing"%C +75 "core" +2 ."da"PBV.dial :waste1 +2 "processing"%*  +34 "core" + "processing"%q% +4 "core" %Ԋ\  +2 ."da"PS.seek 1.5ml +2 "processing"%O' +602 "core" ' + ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%D * +34 "core" + +2 ."da"PS.seek 0ml +2 "processing"%>' +1616 "core" ' +2 ."da"delay 2:00 +12003 #recoverPSRreagent08 + .PTV.dial :puck +2 .PBV.dial :waste1 + "processing"%Q  +35 "core" + ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%\ * +34 "core" + +2 ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"%K +80 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%S'm +2446 "core" ' + ."da"PSV.dial PTV +2 "processing"%I +81 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PSR +3 "processing"%P +81 "core"  + ."da"delay 5 seconds +503 .PSV.dial PTV + "processing"%T +81 "core" + ."da"delay 5 seconds +503 .PSV.dial :air + "processing"%H  +74 "core"  +3 ."da"PS.seek 0ml + "processing"%@' +2412 "core" ' + ."da"Gate.power :camera,:ON +2 #Mixing DA Substrates +2 .PSR.select :air + .PSV.dial PSR +2 "processing"%U +141 "core"  +5 "processing"%7% +10 "core" %\ 7 +3 #"da"Pulling 0.25ml of PSR.sub1 +3 .PSR.select :sub1 +7 "processing"% +15 ."da"PS.reconfigure :default +8 "processing"%#A d`xb +3 ."da"PS.seek 0.25ml +4 "processing"%N' +340 "core" ' +2 ."da"delay 5 seconds +502 "processing"%r% +4 "core" %\ J +2 #"da"Pulling 0.25ml of PSR.sub2 + .PSR.select :sub2 +2 "processing"% +10 ."da"PS.seek 0.5ml +2 "processing"%W' +337 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +2 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%m'ԏ +1624 "core" ' + ."da"PTV.dial :puck +2 .PSV.dial PTV +2 "processing"%M +76 "core" +2 ."da"PBV.dial :waste1 + "processing"%d  +36 "core" +2 "processing"%A% +4 "core" %ԋ'\ . +2 ."da"PS.seek 1.5ml + "processing"%R' +590 "core" ' + ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%\\ * +46 "core" ) +2 ."da"PS.seek 0ml +2 "processing"%V' +1610 "core" ' +2 ."da"delay 10 seconds +1003 #recoverPSRreagent08 + .PTV.dial :puck +2 .PBV.dial :waste1 + "processing"%/  +35 "core" +2 ."da"delay 30 seconds +3002 .PBV.dial between PSV and waste1 +2 "processing"%j * +35 "core" + + ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"%X +81 "core"  + ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"% 'm +2518 "core" ' + ."da"PSV.dial PTV +2 "processing"% +83 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PSR + "processing"%p +82 "core"  +2 ."da"delay 5 seconds +502 .PSV.dial PTV +2 "processing"%] +80 "core" +2 ."da"delay 5 seconds +502 .PSV.dial :air +2 "processing"%J  +76 "core"  +2 ."da"PS.seek 0ml +2 "processing"%' +2496 "core" ' + #"da"Additional air clear +2 .PSR.select :air + .PSV.dial PSR +2 "processing"%_ +139 "core"  + "processing"%Y% +4 "core" %\ g +2 #"da"Pulling 2ml of PSR.air + .PSR.select :air +2 .PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 2ml +2 "processing"%`'ԏ +2138 "core" ' + ."da"delay 5 seconds +502 .PTV.dial :puck +2 .PSV.dial PTV +2 "processing"%b +75 "core" +2 ."da"PBV.dial :waste1 +2 "processing"%g  +35 "core" +2 "processing"%G% +4 "core" %Ԑ\ , +2 ."da"PS.seek 1.5ml +2 "processing"%l' +597 "core" ' + ."da"delay 3 seconds +303 .PBV.dial between PSV and waste1 + "processing"%c * +35 "core" , +2 ."da"delay 1 second +102 .PSV.dial :waste1 +2 "processing"%a  +115 "core"  +2 ."da"PS.seek 0ml + "processing"%x' +1608 "core" ' + "processing"%|9 +3 "core" 95 +2 #"da"Processing Puck Heater at 27.9C before imaging + .PH.coast +2 "processing"%u  +4 "core" 5 5 +2 "processing"%L& +3 "core" &Z3\ *8 +2 #"da"Imaging da puck in Processing Clamp while storing it to tube 1 +2 "manipulator"&% +3 "core" %\ 0 7 $s +2 "storage"(e% +3 "core" %W \ & + "storage"(Z. +3 "core" .(  +2 ."da"SC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 ."da"SC.seek 1 +2 "storage"(t(B +372 "core" ( +2 ."da"SC.configure :limp +2 "storage"($\ 1b +3 (v& +2 "core" &@ y 7\  +2 "manipulator"&=& +3 "core" &, H $ +2 "manipulator"&s% +3 "core" %\ 1 W 5 $s +2 ."da"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 ."da"Elbow.seek 1 +2 "manipulator"&y(c +191 "core" ( + "manipulator"& & +4 "core" &q  ' "~ +2 "storage"(5& +4 "core" &@ \ # +2 ."da"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 ."da"Forearm.seek 1 + 450 counts + "manipulator"&B'Ф +107 "core" ' +2 "storage"(& +4 "core" &@ \ v +2 ."da"SE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 ."da"SE.seek :beamBreak +2 "storage"({'e +282 "core" ' +2 "storage"(- +3 "core" -' +2 ."da"SE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&o& +3 "core" &q M "~ + "storage"(E& +4 "core" &@ u a\ q + ."da"Elbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 ."da"Forearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 ."da"Forearm.seek 1 +2 "manipulator"&w' +34 "core" ' +2 ."da"Elbow.hold +2 "manipulator"&, +3 "core" , + ."da"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 "storage"( - +2 "core" -' +2 ."da"SE.seek 1.12 Pucks below Top Plate +2 "storage"(3'g +40 "core" ' + "manipulator"&}% +5 "core" %j p  ! z + "storage"(k& +4 "core" &@ P N\  + ."da"Forearm.force -20 +2 "manipulator"&5 +2 ."da"Forearm.seek 1 + 319 counts +2 "manipulator"&i'! +49 "core" ' +8 "manipulator"&& +4 "core" &q  ` "~ +2 "storage"(^& +4 "core" &@ \ ' +2 ."da"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 ."da"Forearm.seek 1 + 450 counts +2 "manipulator"&'Ф +18 "core" ' +2 ."da"SE.seek 2.12 Pucks below Top Plate +2 "storage"(~'V +40 "core" ' + "manipulator"&& +5 "core" &q  E J "~ + "manipulator"&'% +4 "core" %Д c e +2 ."da"Forearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 ."da"Forearm.seek :retract +2 "manipulator"&'\ +87 "core" ' +2 ."da"Elbow.seek PC +2 "manipulator"&)(c +251 "core" ( + "manipulator"&& +4 "core" &l (  +2 ."da"Elbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &$& +3 "core" &l   +2 ."da"Forearm.seek PC +2 "manipulator"&'[ +104 "core" ' +2 ."da"Hand.close + "manipulator"&h/ +74 "core" / +2 ."da"PC.seek :open +2 "processing"%+(p +394 "core" ( +2 "storage"(z& +4 "core" &@ ,\ r + "manipulator"&& +4 "core" &l   + "manipulator"&(% +4 "core" % ?  +2 ."da"Forearm.seek :retract +2 "manipulator"& '\ +99 "core" ' +2 ."da"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 ."da"Elbow.seek 1 +2 "manipulator"&f(c +254 "core" ( + "manipulator"&!& +4 "core" &c  & +2 "storage"(,& +3 "core" &@ \ & +2 ."da"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 ."da"Forearm.seek 1 + 450 counts +2 "manipulator"&-'Ф +109 "core" ' +2 ."da"Hand.open + "manipulator"&1 +76 "core" 1 +2 "storage"(&- +4 "core" -'V +2 ."da"SE.seek 1.88 Pucks below Top Plate +2 "storage"("'" +25 "core" ' +2 ."da"SE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 ."da"SE.seek 1.21 Pucks below Top Plate +2 "storage"(n' +47 "core" ' +2 #"da"Lights, camera, ACTION! +4 #PuckCamera: snap -bin=2,2 -auto /var/log/esp/da22oct1809h50ml.tif +1950 #"psFlush"Waiting >20 seconds for da to relinquish FlushPuck +944 #"da"SX HX9/16 (USB:03): 1392x1040 pixel 16-bit CCD camera\ Exposing 696x520 pixel 16-bit image for 25.659 seconds\ /var/log/esp/da22oct1809h50ml.tif: TIFF Upload Complete\ +4 #PuckCamera: snap -bin=2,2 15.0 /var/log/esp/midres/da22oct1809h50ml15s.tif +1564 #SX HX9/16 (USB:03): 1392x1040 pixel 16-bit CCD camera\ Exposing 696x520 pixel 16-bit image for 15 seconds\ /var/log/esp/midres/da22oct1809h50ml15s.tif: TIFF Upload Complete\ +3 #PuckCamera: snap -bin=2,2 30.0 /var/log/esp/midres/da22oct1809h50ml30s.tif +2145 "Can"\  +924 #"da"SX HX9/16 (USB:03): 1392x1040 pixel 16-bit CCD camera\ Exposing 696x520 pixel 16-bit image for 30 seconds\ /var/log/esp/midres/da22oct1809h50ml30s.tif: TIFF Upload Complete\ +4 #PuckCamera: snap -bin=1,1 70.0 /var/log/esp/hires/da22oct1809h50ml70s.tif +7168 #SX HX9/16 (USB:03): 1392x1040 pixel 16-bit CCD camera\ Exposing 1392x1040 pixel 16-bit image for 70 seconds\ /var/log/esp/hires/da22oct1809h50ml70s.tif: TIFF Upload Complete\ +2 .Gate.power :camera,:OFF +3 ."Qmail"DAfans.email "25.659 sec auto-exposure",Subject: "da22oct1809h50ml images!" +3 "storage"(0- +7 "core" -' +2 "storage"(& +4 "core" &@   t\ +3 "manipulator"&& +3 "core" &r d c @ $ +2 ."da"Elbow.seek 1 +3 "manipulator"&(c +42 "core" ( + "manipulator"&8& +6 "core" &k b l 2 d +2 "storage"(& +3 "core" &@ ! " >\ +3 ."da"Forearm.seek 1 + 450 counts +2 "manipulator"&4'Ф +19 "core" ' +2 ."da"SE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 ."da"SE.seek 1.93 Pucks below Top Plate +2 "storage"(?'a +9 !"Qmail"o:!Net::SMTPAuthenticationError: mesg"E534-5.7.9 Application-specific password required. Learn more at\ :@checkpoint: omitted:bt["E/opt/mbari/lib/ruby/1.8/net/smtp.rb:954:in `check_auth_response'"/opt/mbari/lib/ruby/1.8/net/smtp.rb:723:in `authenticate'":/opt/mbari/lib/ruby/1.8/net/smtp.rb:566:in `do_start'"7/opt/mbari/lib/ruby/1.8/net/smtp.rb:525:in `start'"2/home/esp/esp2/lib/email.rb:325:in `sendOnce'"3/home/esp/esp2/lib/schedule.rb:292:in `unsync'"3/home/esp/esp2/lib/schedule.rb:594:in `unsync'"3/home/esp/esp2/lib/schedule.rb:621:in `unsync'"2/home/esp/esp2/lib/email.rb:318:in `sendOnce'"./home/esp/esp2/lib/email.rb:340:in `send'",/home/esp/esp2/lib/msg.rb:68:in `retry'"./home/esp/esp2/lib/email.rb:339:in `send'"B/home/esp/esp2/protocol/2G/utilities.rb:163:in `prepAndImage'"-/home/esp/esp2/lib/email.rb:66:in `call'"3/home/esp/esp2/lib/email.rb:66:in `initialize'"-/home/esp/esp2/lib/email.rb:63:in `loop'"3/home/esp/esp2/lib/email.rb:63:in `initialize'"7/home/esp/esp2/lib/schedule.rb:481:in `initialize'"0/home/esp/esp2/lib/thread.rb:738:in `start'"7/home/esp/esp2/lib/schedule.rb:474:in `initialize'"'/home/esp/esp2/lib/schedule.rb:472 +2 !o:Email::Queue::Purge: mesg"Purged output queue:bt[ "//home/esp/esp2/lib/email.rb:106:in `purge'"3/home/esp/esp2/lib/email.rb:75:in `initialize'"-/home/esp/esp2/lib/email.rb:63:in `loop'"3/home/esp/esp2/lib/email.rb:63:in `initialize'"7/home/esp/esp2/lib/schedule.rb:481:in `initialize'"0/home/esp/esp2/lib/thread.rb:738:in `start'"7/home/esp/esp2/lib/schedule.rb:474:in `initialize'"'/home/esp/esp2/lib/schedule.rb:472 +53 "core" ' +2 "manipulator"&1& +4 "core" &k c c  d +2 "storage"(6& +3 "core" &@ R\ +2 ."da"Elbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 ."da"Forearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 ."da"Forearm.seek 1 +2 "manipulator"&' +32 "core" ' + ."da"Elbow.hold +2 "manipulator"&, +4 "core" , + ."da"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 ."da"SE.reconfigure :default +2 "storage"(#QK-0-\ b +2 ."da"SE.seek 2.11 Pucks below Top Plate +2 "storage"('K +30 "core" ' + "manipulator"& % +4 "core" % C +2 "storage"(2& +4 "core" &@ u u #\ + ."da"Forearm.force -20 +2 "manipulator"&5 +3 ."da"Forearm.seek 1 + 318 counts +2 "manipulator"&' +17 "core" ' + "manipulator"&9& +4 "core" &j j Y  e +2 "storage"(& +4 "core" &@ +\ +2 ."da"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 ."da"Forearm.seek 1 + 450 counts +2 "manipulator"&'Ф +17 "core" ' +2 "storage"(%% +4 "core" %R\ \ \ +2 ."downElevator"SE.seek :down +4 "storage"(<'N +98 (;% +3 "core" %^4 N\ TW +2 "manipulator"&C% +4 "core" %Й d e   +2 ."da"Forearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 ."da"Forearm.seek :retract +2 "manipulator"&*'\ +88 "core" ' +40 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (q& +4 "core" &@ \ +3 #"psFlush"Loading FlushPuck into Processing Clamp from FlushPuck::Garage +2 #tStarting finalPurge +2 "processing"%#& +4 "core" &\ +2 "manipulator"&D& +4 "core" &j  e + "manipulator"&O% +4 "core" %\ (  C +2 ."psFlush"Elbow.seek FlushPuck::Garage +2 "manipulator"&Q(, +178 "core" ( + "manipulator"&\ & +4 "core" &, & +2 ."psFlush"Elbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &K& +2 "core" &,  & +2 ."psFlush"Forearm.seek :garage +2 "manipulator"&>' +107 "core" ' + ."psFlush"Hand.close +2 "manipulator"&I/ +62 "core" / +2 "manipulator"&P& +4 "core" &,  1 & + "manipulator"&T% +4 "core" %   +2 ."psFlush"Forearm.seek :retract +2 "manipulator"&H'\ +98 "core" ' +2 ."psFlush"Elbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 ."psFlush"Elbow.seek PC +2 "manipulator"&S(c +112 "core" ( +2 "manipulator"&U& +4 "core" &` ' \\ + ."psFlush"Elbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &7& +3 "core" &` U \\ +2 ."psFlush"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 ."psFlush"Forearm.seek PC +2 "manipulator"&@'[ +92 "core" ' +2 "manipulator"&r& +4 "core" &` % \\ +2 "manipulator"&N% +4 "core" %W  + "processing"%W& +4 "core" &\ +2 "processing"%M& +5 "core" &\ +2 ."psFlush"PC.seek :closed +2 "processing"%d(Z +4 "core" &\  +9 &.\ +{ +10 &d\ ? +9 &Av\ O +9 &Y\ N +10 &_\ N +9 &]\ N +10 &!L\\\ M +9 &# Yg\ N +9 &$X\ M +10 &&Zt\ N +9 &(RZs\ N +9 &*Zt\ M +10 &+]u\ N +9 &-]v\ N +10 &/[_t\ N +9 &1Zt\ N +9 &2Yr\ N +10 &4]o\ M +9 &6dZb\ M +9 &8$^f\ N +10 &9Xq\ N +9 &;Xw\ M +10 &=lZ\ M +9 &?-\\\ N +9 &@\\w\ N +10 &BZw\ M +9 &Ds_t\ N +9 &F5\\i\ N +10 &G_b\ N +9 &Ih`\ O +10 &Kpu`\ Q +9 &M*f\ T +9 &Nl\ U +10 &Pc\ T +9 &Rog\ T +9 &T0_\ U +10 &Ub\ U +9 &Wb\ V +10 &Ytb\ B +9 &Zv<\\\ ` +9 &Z]\ + +3 ( + "processing"%M& +3 #"psFlush"Processing Clamp onSpring/offSpring for 9/25 samples, on/off torque 1.59 +2 "processing"%A& +4 "core" &ZO\ + +2 ."psFlush"Hand.open + "manipulator"&m1 +57 "core" 1 + "manipulator"&\\% +4 "core" % W  +2 ."psFlush"Forearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 ."psFlush"Forearm.seek :retract +2 "manipulator"&R'\ +91 "core" ' + ."psFlush"PSR.select :air +3 .PSV.dial PSR + "processing"%/ +51 "core"  +2 "processing"%j% +4 "core" %C\ + #"psFlush"Pulling 0.5ml of PSR.flush +2 .PSR.select :flush +2 "processing"%@ +10 ."psFlush"PS.seek 0.5ml +2 "processing"%X' +576 #tWaiting >20 seconds for psFlush to relinquish FlushPuck +12 "core" ' +2 ."psFlush"delay 5 seconds +502 .PSR.select :air +76 "processing"% +57 ."psFlush"PS.seek 2.5ml +2 "processing"%V'm +2142 "core" ' +2 ."psFlush"delay 1 second +102 .PRV.dial :waste2,avoiding: :ab2 +2 "processing"% @ +187 "core" A + ."psFlush"PTV.dial :PRVmixing +2 "processing"%p  +128 "core" + ."psFlush"PSV.dial :mixloop +2 "processing"%] +105 "core" +2 ."psFlush"PS.seek :empty +2 "processing"%J' +2636 "core" ' +2 ."psFlush"PSR.select :air +2 .PSV.dial PSR + "processing"% +111 "core"  +2 "processing"%_% +4 "core" %\ + #"psFlush"Pulling 0.5ml of PSR.flush + .PSR.select :flush +3 "processing"%@ +9 ."psFlush"PS.seek 0.5ml +2 "processing"%Y' +594 "core" ' + ."psFlush"delay 5 seconds +503 .PSR.select :air +2 "processing"% +9 ."psFlush"PS.seek 2.5ml +2 "processing"%'m +2145 "core" ' + ."psFlush"delay 1 second +103 .PBV.dial :waste1 + "processing"%b  +36 "core" +2 ."psFlush"PTV.dial :mixing + "processing"%g @ +72 "core" B + ."psFlush"PSV.dial :mixloop +2 "processing"%G +112 "core" +2 ."psFlush"PS.seek :empty +2 "processing"%`' +2631 "core" ' + ."psFlush"PSV.dial PSR +2 "processing"%c +112 "core"  +2 ."psFlush"PSR.select :flush +2 "processing"%@ +10 ."psFlush"PS.seek 1ml +2 "processing"%a'T +1100 "core" ' + ."psFlush"PSR.select :air +2 "processing"% +10 ."psFlush"PS.seek 2.5ml +2 "processing"%l'm +1629 "core" ' + ."psFlush"PSV.dial PTV +2 "processing"%| +79 "core" +2 ."psFlush"PTV.dial :puck +2 "processing"%u  +70 "core"  + ."psFlush"PBV.dial :waste1 +3 .PS.seek 0ml + "processing"%L' +2629 "core" ' + ."psFlush"PSV.dial PSR +3 "processing"% +81 "core"  + ."psFlush"PSR.select :flush +2 "processing"%@ +10 ."psFlush"PS.seek 0.5ml +2 "processing"%e' +594 "core" ' + ."psFlush"PSR.select :air +2 "processing"% +10 ."psFlush"PS.seek 2.5ml +2 "processing"%Z'm +2144 "core" ' +2 ."psFlush"PSV.dial PTV + "processing"% +82 "core" + ."psFlush"PBV.dial PSV +2 "processing"%v U +54 "core" V +2 ."psFlush"PS.seek 0ml +2 "processing"%=' +2632 "core" ' +2 ."psFlush"PSV.dial PBV + "processing"%s @ +50 "core" ? +3 ."psFlush"PS.seek 2.5ml + "processing"% 'm +2649 "core" ' +2 ."psFlush"PSV.dial :waste1 +2 "processing"%5  +75 "core"  +2 ."psFlush"PS.seek 0ml +2 "processing"%:' +2627 "core" ' + ."psFlush"PSV.dial PSR +2 "processing"% +50 "core"  + ."psFlush"PSR.select :air +3 .PS.seek 2.5ml +2 "processing"%'m +2656 "core" ' +2 ."psFlush"PSV.dial PTV +2 "processing"% +73 "core" + ."psFlush"PBV.dial PSV +3 .PS.seek 0ml + "processing"%o' +2628 "core" ' + ."psFlush"PSV.dial PBV +2 "processing"%E @ +50 "core" > +2 ."psFlush"PS.seek 2.5ml +2 "processing"% 'm +2655 "core" ' + ."psFlush"PSV.dial :waste1 +3 "processing"%}  +73 "core"  +2 ."psFlush"PS.seek 0ml +2 "processing"%k' +2644 "core" ' +2 ."psFlush"PSV.dial PSR +2 "processing"% +49 "core"  +2 ."psFlush"PSR.select :flush +2 "processing"%@ +10 ."psFlush"PS.seek 1ml +2 "processing"%^'T +1100 "core" ' + ."psFlush"PSR.select :air +2 "processing"% +10 ."psFlush"PS.seek 2.5ml +2 "processing"%'m +1632 "core" ' + ."psFlush"PSV.dial PTV +2 "processing"%' +73 "core" +2 ."psFlush"PTV.dial :puck +2 .PBV.dial :waste1 + "processing"%B  +53 "core" +2 ."psFlush"PS.seek 0ml +2 "processing"%y' +2637 "core" ' + ."psFlush"PSV.dial PSR +2 "processing"%{ +81 "core"  +2 ."psFlush"PSR.select :flush +2 "processing"%@ +10 ."psFlush"PS.seek 0.5ml + "processing"%w' +588 "core" ' + ."psFlush"PSR.select :air +2 "processing"% +10 ."psFlush"PS.seek 2.5ml +2 "processing"%i'm +2157 "core" ' + ."psFlush"PSV.dial PTV +2 "processing"%3 +81 "core" +2 ."psFlush"PBV.dial PSV +2 "processing"% U +54 "core" W +2 ."psFlush"PS.seek 0ml +2 "processing"%' +789 "Can" C? +1849 "core" ' +2 ."psFlush"PSV.dial PBV + "processing"%$ @ +51 "core" ? +2 ."psFlush"PS.seek 2.5ml + "processing"%'m +2656 "core" ' + ."psFlush"PSV.dial :waste1 +2 "processing"%h  +75 "core"  +2 ."psFlush"PS.seek 0ml +2 "processing"%' +2630 "core" ' +2 ."psFlush"PSV.dial PSR + "processing"%. +50 "core"  +2 ."psFlush"PSR.select :air +3 .PS.seek 2.5ml + "processing"%z'm +2648 "core" ' + ."psFlush"PSV.dial PTV +2 "processing"% +73 "core" +2 ."psFlush"PBV.dial PSV +2 .PS.seek 0ml +2 "processing"%(' +2639 "core" ' +2 ."psFlush"PSV.dial PBV + "processing"% @ +51 "core" > +2 ."psFlush"PS.seek 2.5ml + "processing"%!'m +2653 "core" ' + ."psFlush"PSV.dial :waste1 +2 "processing"%,  +73 "core"  +2 ."psFlush"PS.seek 0ml +2 "processing"%)' +2642 "core" ' + #tLoading FlushPuck into Collection Clamp from Processing Clamp +2 "collection"'& +4 "core" &\ + "manipulator"&&& +4 "core" &` 6 \\ +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC + "manipulator"& (c +3 "core" ( +2 "manipulator"&~& +4 "core" &` 2 \\ + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &"& +3 "core" &` ( \\ +2 .tForearm.seek PC + "manipulator"&0'[ +98 "core" ' + .tHand.close + "manipulator"&/ +54 "core" / +2 .tPC.seek :open +2 "processing"%(p +394 "core" ( +2 "manipulator"&8& +4 "core" &`  \\ + "manipulator"&% +4 "core" % `  +2 .tForearm.seek :retract +2 "manipulator"&1'\ +98 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&6( +371 "core" ( +2 "manipulator"& & +4 "core" & L !s + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &2& +2 "core" &  !s +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&9'| +107 "core" ' +2 "manipulator"&f& +4 "core" & }  !s +2 "manipulator"&% +3 "core" %z ! +2 "collection"'%& +4 "core" &\ +2 "collection"'-& +4 "core" &\ +2 .tCC.seek :closed +2 "collection"'n(] +5 "core" &\  +9 &2\ *z +9 &c\ ? +10 &E{\ P +9 & \\\ O +9 &b\ O +10 &b\ O +9 &!O\\\ O +10 &#\\\ O +9 &$[\ O +9 &&a\ O +10 &(Xa\ N +9 &*\\\ O +9 &+_\ N +10 &-\\\ O +9 &/_]\ O +10 &1!b\ O +9 &2b\ O +9 &4`\ O +58 &6h[\ N +3 &8+]\ N + &9]\ O +3 &;Y\ N + &=p^\ N +4 &?1_\ \ O + &@^\ O +4 &B\\ \ O +10 &DyY\ N +9 &F9`\ O +10 &G^\ \ O +9 &Ig\ P +9 &Kt}\ R +10 &M+}\ V +9 &Nsu\ Y +9 &Pno\ Y +10 &Rhjm\ Y +9 &T'gh\ Z +10 &Uef\ [\ +9 &W_e\ [ +9 &Ye]a\ ] +10 &['Z^\ ] +9 &\\xX[\ 9 +9 &]&YY\ %m +10 &]mUY\ I +2 ( +2 "collection"'-& +3 #tCollection Clamp onSpring/offSpring for 9/25 samples, on/off torque 2.02 + "collection"';& +4 "core" &]kXZ\ I +2 .tHand.open + "manipulator"&C1 +55 "core" 1 + "manipulator"&4% +5 "core" % z @ + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +97 "core" ' +2 #tFlushing the Collection Valve::Manifold + "collection"'?& +4 "core" &]kX\\ \ I +2 "collection"'% +4 "core" %ZZ \ + .tCSV.dial CSR +2 "collection"'q  +43 "core"  + "collection"'#% +4 "core" %YZ\ +2 #tPulling 5ml of CSR.flush + .CSR.select :flush +2 "collection"' +9 .tCS.seek 5ml +2 "collection"'D's +1347 "core" ' +2 .tdelay 5 seconds +502 .CSR.select :air +3 "collection"' +9 'O% +2 "core" %s[\\\  +2 .tCS.reconfigure :fast +3 "collection"'#d @b +2 .tCS.seek 7.5ml +2 "collection"''m +670 "core" ' + .tCSV.dial :waste +2 "collection"' +128 "core" +2 .tCS.reconfigure :default +3 "collection"'#P d@b +2 .tCS.seek 0ml +2 "collection"'' +1988 "core" ' +2 #tFlushing lower manifold's waste1 port + "collection"'\ & +4 "core" &]j[\\%\ I +2 "collection"'K% +3 "core" %[[\ +2 .tCSV.dial :flush + "collection"'<  +41 "core"  +2 .tCS.reconfigure :fast +3 "collection"'#d @b +3 .tCS.seek 5ml + "collection"''s +1244 "core" ' +2 .tdelay 5 seconds +502 .CSV.dial :air +2 "collection"'I @ +41 "core" A +2 "collection"'P% +4 "core" %s[]%\  +2 .tCS.seek 7ml +2 "collection"'T' +543 "core" ' +2 ."connect"CSV.dial CTV +4 .tCTV.dial CSV +2 "collection"'*  + 'U  +43 "core"  +88  + .tCBV.dial :waste1 +2 "collection"'7 @ +43 "core" > +2 .tCS.seek 0ml +2 "collection"'>' +1660 "core" ' +2 #tFlushing lower manifold's waste2 port + "collection"'r& +5 "core" &]kcg(\ I + "collection"'N% +4 "core" %fg"\ + .tCSV.dial :flush +2 "collection"'W  +70 "core" +3 .tCS.seek 5ml + "collection"'Q's +1210 "core" ' +2 .tdelay 5 seconds +502 .CSV.dial :air +4 "collection"'H @ +41 "core" A + "collection"'+% +4 "core" %s__\  +3 .tCS.seek 7.001ml + "collection"'A' +533 "core" ' +2 ."connect"CSV.dial CTV +4 .tCTV.dial CSV + "collection"'m  +52 "core"  +2 .tCBV.dial :waste2 +2 "collection"'\\  +103 "core"  +2 .tCS.seek 0ml +2 "collection"'M' +1652 "core" ' + #tDisinfecting external Intake with kill +2 "collection"'/& +4 "core" &]jfg\ I + "collection"'j% +4 "core" %fg\ + .tCSV.dial CSR +2 "collection"'@  +44 "core"  +2 "collection"'x% +4 "core" %ef\ + #tPulling 8ml of CSR.kill +2 .CSR.select :kill + "collection"' +11 .tCS.seek 8ml + "collection"'X'X +1897 "core" ' +2 .tdelay 5 seconds +502 .CSR.select :air + "collection"' +10 .tCS.seek 10ml + "collection"'' +534 "core" ' +2 ."connect"CSV.dial CBV +4 .tCBV.dial CSV + "collection"'p + ']  +98 "core" +42  +2 .tCTV.dial :intake + "collection"'V  +74 "core" + .tIntake.select :open +2 "sampler") +10 .tCS.seek 2ml + "collection"' '~ +1883 "core" ' + .tIntake.select :close +2 "sampler")0 +9 .tCTV.dial :air + "collection"'_  +71 "core" ~ +2 .tCS.reconfigure :default +2 "collection"'#P d@b +3 .tCS.seek 0ml + "collection"'J' +586 "core" ' + .tCSV.dial CSR +2 "collection"'Y  +98 "core"  +2 "collection"'b% +4 "core" %^_\ + #tPulling 5ml of CSR.flush +2 .CSR.select :flush + "collection"' +11 .tCS.seek 5ml + "collection"'g's +1352 "core" ' +2 .tdelay 5 seconds +502 .CSR.select :air +2 "collection"' +9 .tCS.seek 10ml +2 "collection"'G' +1361 "core" ' + .tCSV.dial CBV +2 "collection"' +97 "core" +2 .tCS.seek 0ml +2 "collection"'c' +2630 "core" ' +2 #tGaraging FlushPuck in Collection Clamp + "manipulator"&`& +5 "core" &  l +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&a( +2 "core" ( +2 "manipulator"&|& +4 "core" & Q l + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &u& +3 "core" &  l +2 .tForearm.seek CC + "manipulator"&l'| +95 "core" ' + .tHand.close +2 "manipulator"&/ +53 "core" / +2 .tCC.seek :open + "collection"'L(p +410 "core" ( +2 "manipulator"&e& +4 "core" &  l + "manipulator"&% +4 "core" % σ  +2 .tForearm.seek :retract + "manipulator"&v'\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage +2 "manipulator"&Z(, +289 "core" ( + "manipulator"&s& +4 "core" &,   +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &=& +3 "core" &, $  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :garage +2 "manipulator"&5' +112 "core" ' + .tHand.open +2 "manipulator"& 1 +60 "core" 1 + "manipulator"&% +4 "core" %   ¿ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&:'\ +102 "core" ' +2 "processing"%& +4 "core" &\ +13577 "Can" /;7 +60002  .;7 +60002  /;7 +60002  /;7 +60002  -:7 +56818 #t-> access 1 +2 "storage"(% +3 "core" %> l\ +2 "manipulator"&E% +4 "core" %\ . P #k + "manipulator"&o& +4 "core" &, F  + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"(}(<< +1309 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 ( & +3 "core" &<; X Y\  +1217 #t-> PS.flush +2 #Flushing Processing stage +2 "processing"%% +3 "core" %\ +2 #tLoading FlushPuck into Processing Clamp from FlushPuck::Garage + "processing"%k& +4 "core" &\ +2 "manipulator"&^& +3 "core" &, 7  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek FlushPuck::Garage +2 "manipulator"&'(, +3 "core" ( + "manipulator"&B& +4 "core" &, F  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &, O  +2 .tForearm.seek :garage + "manipulator"&{' +106 "core" ' +2 .tHand.close + "manipulator"&y/ +56 "core" / +2 "manipulator"&w& +4 "core" &, )  +2 "manipulator"&3% +3 "core" %  I +2 .tForearm.seek :retract +2 "manipulator"&'\ +96 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC + "manipulator"&i(c +113 "core" ( + "manipulator"&$& +5 "core" &b  \\ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &b \\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&h'[ +92 "core" ' +3 "manipulator"&& +4 "core" &b 4 \\ + "manipulator"&.% +4 "core" %\\  +2 "processing"%& +3 "core" &\ +2 "processing"%& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%z(Z +4 "core" &\ +8 & 0\ $c +9 &WV\ 7 +10 &\ L +7 "Can" 'GD +2 "core" &h]\ M +9 &*b\ M +10 &`\ M +9 & `\ N +10 &"p^\ M +9 &$2a\ M +9 &%_\ M +10 &'^\ M +9 &)y_\ M +9 &+<]\ M +10 &,`\ M +9 &.]\ M +10 &0_\ M +9 &2C_\ M +53 &4]\ M + &5]\ M +5 &7]\ M + &9L]\ M + &; c\ M + &<\\\ M +4 &>]\ M +9 &@T^\ M +9 &B_\ M +10 &C^\ M +9 &E]\ M +9 &G[b\ M +10 &Ij\ N +9 &Jt\ O +10 &L\ R +9 &NO\ T +9 &P\ S +10 &Q\ S +9 &S\ T +9 &UW\ T +10 &W\ T +9 &X\ T +10 &Z8Ou\ . +9 &Z*\ ( +5 ( +2 "processing"%& +4 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.55 + "processing"%& +4 "core" &Z\ ( +2 &Z\ ( + .tHand.open + "manipulator"&(1 +56 "core" 1 +2 "manipulator"&,% +4 "core" % \\  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&!'\ +92 "core" ' +2 .tPSV.dial PSR +2 "processing"% +51 "core"  + .tPSR.select :flush +2 "processing"%@ +10 .tPS.seek 1ml +2 "processing"%&'T +1110 "core" ' + .tPSR.select :air +2 "processing"% +9 .tPS.seek 2.5ml +2 "processing"%~'m +1632 "core" ' +3 .tPSV.dial PTV + "processing"%" +71 "core" +2 .tPTV.dial :puck + .PBV.dial :waste1 +2 "processing"%  +53 "core" +2 .tPS.seek 0ml +2 "processing"%S' +2632 "core" ' + .tPSV.dial PSR +2 "processing"%R +80 "core"  + .tPSR.select :flush +3 "processing"%@ +10 .tPS.seek 0.5ml + "processing"%d' +590 "core" ' + .tPSR.select :air +2 "processing"% +9 .tPS.seek 2.5ml +2 "processing"%8'm +2142 "core" ' + .tPSV.dial PTV +2 "processing"% +80 "core" + .tPBV.dial PSV +2 "processing"%0 U +53 "core" V +2 .tPS.seek 0ml +2 "processing"% ' +2632 "core" ' + .tPSV.dial PBV +2 "processing"% @ +50 "core" > +2 .tPS.seek 2.5ml +2 "processing"%2'm +2652 "core" ' + .tPSV.dial :waste1 +2 "processing"%f  +74 "core"  +2 .tPS.seek 0ml + "processing"%' +2633 "core" ' + .tPSV.dial PSR + "processing"%% +51 "core"  + .tPSR.select :air +3 .PS.seek 2.5ml +2 "processing"%1'm +2641 "core" ' + .tPSV.dial PTV + "processing"%F +74 "core" +2 .tPBV.dial PSV +2 .PS.seek 0ml + "processing"%;' +2640 "core" ' +2 .tPSV.dial PBV + "processing"%C @ +51 "core" > +2 .tPS.seek 2.5ml + "processing"%4'm +2646 "core" ' +2 .tPSV.dial :waste1 + "processing"%?  +74 "core"  +2 .tPS.seek 0ml +2 "processing"%' +2641 "core" ' +2 #tGaraging FlushPuck in Processing Clamp + "manipulator"&-& +5 "core" &b = \\ + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC + "manipulator"&q(c +3 "core" ( +2 "manipulator"&#& +3 "core" &b ` \\ +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &9& +2 "core" &b / \\ +2 .tForearm.seek PC +2 "manipulator"&'[ +94 "core" ' +2 .tHand.close + "manipulator"&O/ +54 "core" / + .tPC.seek :open +2 "processing"%D(p +392 "core" ( + "manipulator"&& +4 "core" &b  \\ + "manipulator"&% +4 "core" % n A +2 .tForearm.seek :retract +2 "manipulator"&\ '\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek :garage + "manipulator"&K(, +136 "core" ( + "manipulator"&<& +4 "core" &, 4 S +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &, R S +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :garage +2 "manipulator"&I' +94 "core" ' +2 .tHand.open + "manipulator"&P1 +60 "core" 1 + "manipulator"&% +4 "core" %  ) +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&*'\ +93 "core" ' +30871 "Can"8 /84 +60001 - /75 +60002 ( .85 +60002 7 /85 +60002 J .85 +60002 V /85 +22991 #t-> samplePassF +2 #Beginning samplePassF + #Loading FlushPuck into Collection Clamp from FlushPuck::Garage +2 "collection"'U& +3 "core" &v\ +2 "manipulator"&7& +4 "core" &, a S +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek FlushPuck::Garage +2 "manipulator"&T(, +9 "core" ( + "manipulator"&r& +4 "core" &,  % +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &N& +3 "core" &,  % +2 .tForearm.seek :garage + "manipulator"&W' +97 "core" ' + .tHand.close +2 "manipulator"&>/ +58 "core" / + "manipulator"&H& +4 "core" &, % +2 "manipulator"&+% +4 "core" %   Z +2 .tForearm.seek :retract + "manipulator"&Q'\ +97 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&m( +282 "core" ( +2 "manipulator"&\\& +4 "core" & " 9) + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &A& +2 "core" & "  9) +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&/'| +96 "core" ' + "manipulator"&j& +4 "core" & " Q 9) +2 "manipulator"&@% +4 "core" %ρ +2 "collection"'x& +3 "core" &l\ +2 "collection"'M& +5 "core" &n\ +2 .tCC.seek :closed + "collection"'X(] +5 "core" &o\  +9 &3o\ *z +9 &cm\ ? +9 &O{`\ O +10 &_m\ N +9 &ab\ N +9 &bi\ N +10 &!V_l\ O +9 &#ac\ N +10 &$_m\ N +9 &&bf\ N +9 &(_`c\ N +10 &*!^l\ N +9 &+bm\ N +9 &-`m\ N +10 &/h`i\ N +9 &1(ca\ O +10 &2`b\ N +9 &4`l\ N +9 &6q^j\ N +10 &83`o\ N +9 &9\\o\ N +9 &;\\m\ N +10 &=w_l\ N +9 &?9]l\ N +10 &@an\ N +9 &B_b\ N +9 &D]i\ N +10 &FB_g\ N +9 &H`d\ N +9 &Ikd\ P +10 &K~}m\ Q +9 &M4k\ V +10 &Ng\ W +9 &Po\ X +9 &Rqh\ Y +10 &T2f\ Y +9 &Ui\ Z +9 &Wm\ Z +10 &Ynm\ \\ +9 &[1j\ \\ +10 &\\zl\ 2 +9 &]$l\ A +9 ( +3 "collection"'M& +3 #tCollection Clamp onSpring/offSpring for 9/25 samples, on/off torque 2.00 + "collection"'p& +4 "core" &]Ne\ = + &]Nk\ = +2 .tHand.open + "manipulator"&]1 +57 "core" 1 + "manipulator"&V% +4 "core" % π B +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +91 "core" ' +2 .tPSV.dial PSR,avoiding: PBV +2 "processing"%_  +49 "core"  + "processing"% % +4 "core" %C\ +2 #tPulling 1.5ml of PSR.flush + .PSR.select :flush +2 "processing"%@ +9 .tPS.seek 1.5ml +2 "processing"%Y' +1635 "core" ' +2 .tdelay 5 seconds +502 .PSV.dial :waste1 +2 "processing"%b  +50 "core"  +2 .tPS.seek 0ml +2 "processing"%J' +1605 "core" ' +2 .tPSV.dial PSR + "processing"%g +51 "core"  + .tPSR.select :air +2 "processing"% +10 .tPS.seek 2.5ml + "processing"%'m +2651 "core" ' +2 ."connect"PRV.dial CBV +3 .tCBV.dial PRV +3 "processing"%G  + "collection"'`  +75 "core" +26  + .tPSV.dial :PTV,via: :air +2 "processing"%| +201 "core" ~ +2 .tCTV.dial :air,avoiding: :intake +2 .PTV.dial :PRV,avoiding: :puck +2 "processing"%u @ +69 "core" @ +2 .tPS.seek 0ml +2 "processing"%' +2645 "core" ' + .tPSV.dial :air +2 "processing"%6  +81 "core"  +2 .tPS.seek 2.5ml +2 "processing"%'m +2649 "core" ' + .tPSV.dial :PTV +2 "processing"%n +82 "core" ~ +2 .tPS.seek 0ml + "processing"%e' +2628 "core" ' + #tGaraging FlushPuck in Collection Clamp +2 "manipulator"&& +4 "core" & 7 +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&l( +32 "core" ( +2 "manipulator"&s& +4 "core" & f  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &=& +3 "core" &  +2 .tForearm.seek CC + "manipulator"&a'| +148 "core" ' + .tHand.close +2 "manipulator"& / +58 "core" / +2 .tCC.seek :open + "collection"'(p +412 "core" ( +2 "manipulator"&& +4 "core" & o  + "manipulator"&v% +4 "core" % ϋ u +2 .tForearm.seek :retract + "manipulator"&5'\ +99 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek :garage + "manipulator"&[(, +264 "core" ( + "manipulator"&& +4 "core" &, a  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &E& +2 "core" &, A  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :garage +2 "manipulator"&o' +111 "core" ' +2 .tHand.open +2 "manipulator"&t1 +62 "core" 1 + "manipulator"& % +4 "core" %  2 } +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +103 "core" ' +19201 "Can"N ,;8 +60002 ` -;8 +60002 N ,;7 +60002 g ,;8 +60002 ` ,;8 +60001 X ,;8 +60002 O +;8 +60002 g ,;8 +60002 \\ ,;8 +60002 9 ,;8 +60002 d -:7 +60002 w ,;7 +60002 q ,;8 +60002 m ,;8 +60002 h .<8 +60001 e ,;8 +60002 = -;8 +60002 ; ,<8 +60002 L ,;8 +60002 X -;8 +60002 \\ -;8 +60002 Q ,;8 +60002 Z ,;8 +60002 M ,;8 +60002 R -;8 +60001 < ,<9 +60002 / ,;8 +60002 ( ,;7 +60002  ,;8 +60002  -;8 +60002  -;8 +60002  -;8 +60002  -;8 +60002  -;8 +60002  -;8 +60002  -;8 +60001 W -;7 +60002 : .;8 +60002 1 .;8 +60002 / -;8 +60002 + ,;9 +60002 . .;8 +60002 0 .;9 +60002 4 -;8 +60002 ' .<8 +60002 ' .:7 +60002 " .;8 +60001 $ .;8 +60002  .;8 +60002  .;8 +60002  /;8 +60002  .;8 +60002   .;8 +60002   .;8 +60002  .;8 +60002  .;8 +60002  .;8 +60001  .;8 +60002  .;8 +60002  .;8 +60002  /;8 +60002  /;8 +60002  /;8 +60002  .;7 +60002  .;8 +60002  .;8 +60002  .;8 +60001  .;8 +60002  /;8 +60002  .;8 +60002  /;8 @EDT1666152357.90  /;7 +60002  /;8 +60002  .;8 +60002  .;7 +60002  /;8 +60002  /;8 +60001  /;8 +60002  /;8 +60002  /;7 +60002  /;7 +60002  /;7 +60002  .;8 +60002  /;8 +60002  /<8 +60002  .;8 +60002  /;8 +60001  /;8 +60002  /;8 +60002  /;8 +60002  .<8 +60002  /;8 +60002  /;8 +60002  .;8 +60002  /;8 +60002 ~ /;8 +60001 { .;8 +60002  /:7 +60002 ~ /;8 +60002 z /;8 +60002 { .;8 +60002 u /<8 +60002 y /<8 +60002 t /;8 +60002 { /;7 +60002 { /;7 +60001 | /;7 +60002  /;8 +60002  /;8 +60002 { /;8 +60002 { /;8 +60002  /;8 +60002  /;8 +60002  /;8 +60002  /;8 +60002  /;8 +60001 ~ /;8 +60002 t /<8 +60002 { /;8 +60002  /;8 +60002  /;8 +60002  .;8 +60002  /;8 +60002  /;8 +60002  /;7 +60002  /;8 +60001  /;7 +60002  /;8 +60002  /;8 +60002  /;8 +60002  /;8 +60002  /<7 +60002  /;7 +60002  .;8 +60002  /;8 +60002  /;8 +60001  /;8 +60002  .;9 +60002  /;8 +60002  /;8 +60002  /;8 +60002 u /;7 +60002 p /;8 +60002 i /;8 +60002 f .;7 +60002 _ /;8 +60001 ` .<8 +60002 \\ .;8 +60002 f /;8 +52039 #t-> access 2 +2 "storage"(k% +4 "core" %> S\ + "manipulator"&^% +4 "core" %\ 3 T %~ +2 "manipulator"&B& +3 "core" &,   +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 6 + "storage"((K +351 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (y& +3 "core" &K t u +\  +979 #t-> access 3 +2 "storage"(w% +3 "core" %> \ +2 "manipulator"&3% +4 "core" %\ 3  %~ +2 "manipulator"&Z& +3 "core" &,   +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 7 +2 "storage"(:([ +352 "core" ( +6 .tSC.configure :limp +3 "storage"($\ 1b +2 ($& +3 "core" &[ Y Y\  +963 #t-> require 'shuffle.rb' +1452 #-> 20.times {shuffle 2..3} +2 #Shuffling pucks in tube 2 of [2..3] + #Loading generic puck from tube 2 into Collection Clamp +2 "collection"'& +3 "core" &<=\ +2 "manipulator"&{% +4 "core" %\ 3 7 %~ + "storage"(% +4 "core" %> \ + "storage"(.. +3 "core" .([ +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 2 + "storage"((  +1625 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 ('& +2 "core" &  Q 8 6\ +2 "manipulator"&& +4 "core" &,   + "manipulator"&% +4 "core" %\ 3 %~ +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&(; +183 "core" ( +2 "manipulator"&(& +4 "core" &?  "z +2 "storage"(,& +3 "core" &  m\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts + "manipulator"&'Ѐ +111 "core" ' +2 "storage"(& +4 "core" &  9\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(h'e +279 "core" ' + "storage"()- +4 "core" -' +44 .tSE.configure :default +9 "storage"(#QK-0-\ b +3 (&& +2 "core" &  O\ +2 "manipulator"&"& +4 "core" &@  "y + .tElbow.seek 2 +2 "manipulator"&(; +3 "core" ( +2 "manipulator"&~& +3 "core" &@ ? "y +2 "storage"(R& +4 "core" &  G\ +2 .tForearm.seek 2 + 300 counts + "manipulator"&S' +25 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&d/ +54 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& + "storage"(0'N +8 "core" &@ m "y + "manipulator"&8% +4 "core" % R +2 .tForearm.seek :retract +2 "manipulator"& '\ +96 "core" ' +2 .tElbow.seek CC + "manipulator"& ( +147 "core" ( + "manipulator"&f& +5 "core" ' + &$ w ;7 + .tElbow.reconfigure :loose +3 ."downElevator"SE.stop +3 "manipulator"&$ &.,(#b + "storage"(5 +3 "manipulator"&2& +5 "core" &$ ;7 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&%'| +105 "core" ' + "manipulator"&& +5 "core" &$ ;7 + "manipulator"&F% +4 "core" %ς +2 "collection"'1& +4 "core" &;=\ +2 "collection"'C& +5 "core" &=<\ +3 .tCC.seek :closed + "collection"';(] +5 "core" &:< \ +7 & .:=\ $d +9 &\\V<=\ 7 +9 &~:=\ L +10 &f_;= \ N +9 &'a<;\ N +9 &b:=\ N +10 & `;<\ N +9 &"mb;<\ N +10 &$0a:< \ N +9 &%b:<\ N +10 &'b<=\ N +9 &)w`;=\ N +9 &+9a8<\ N +9 &,f;:\ N +10 &.j:;(\ N +9 &0~b;=&\ N +10 &2>b;>)\ O +9 &4c9=&\ N +9 &5_;<\ N +10 &7b<;)\ O +9 &9I^:<\ N +9 &;\ _9>\ N +10 &<_;<$\ N +9 &>`:;'\ N +10 &@O`:<*\ N +9 &Bc<;.\ N +9 &C`;;1\ N +10 &E_8=1\ N +9 &GVb599\ O +9 &Ik(.5\ O +10 &J0\ R +9 &L3\ V +9 &NE5\ W +10 &P5\ X +9 &Q1\ X +10 &S3\ X +9 &UF1\ Z +9 &W 3\ Y +10 &X0\ [\ +9 &Z0\ [ +9 &\\I.\ H +10 &]Y:4\ *| +9 &]m!\ C +6 ( + "collection"'C& +4 #tCollection Clamp onSpring/offSpring for 10/26 samples, on/off torque 1.95 +2 .Hand.open + "manipulator"&?1 +4 "core" &]W+\ C +55 1 +2 "manipulator"&4% +4 "core" % m g +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&-'\ +92 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%#& +5 "core" &\ + "manipulator"&9% +4 "core" %\ % ` / + "storage"(O% +4 "core" %P ^ c d\ +2 "storage"(i. +3 "core" .(  +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"(!(  +26 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (z& +2 "core" &  i\ $ +2 "manipulator"&& +4 "core" &!  9# + "manipulator"&% +4 "core" %\ %  / +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&<(; +165 "core" ( + "manipulator"&& +4 "core" &7   +2 "storage"(& +4 "core" & w B\ ' +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&q'Ѐ +42 "Can"f &HE +56 "core" ' + "storage"(P& +4 "core" & \ ' +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"('e +284 "core" ' +2 "storage"(\ - +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (I& +2 "core" &  v r \ 2 +2 "manipulator"&U& +3 "core" &7 a  +2 .tElbow.seek 2 +2 "manipulator"&7(; +3 "core" ( +2 "manipulator"&r& +3 "core" &7   +2 "storage"(N& +4 "core" &  r y *\ 2 +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&>' +11 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&H/ +58 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&+& +2 "storage"(K'N +7 "core" &7 %  +2 "manipulator"&*% +4 "core" %  N +2 .tForearm.seek :retract + "manipulator"&W'\ +90 "core" ' +2 .tElbow.seek PC +2 "manipulator"&\\(c +154 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +80 "core" ( +2 "manipulator"&A& +4 "core" &e P + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &T& +3 "core" &e F P +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&j'[ +99 "core" ' +2 "manipulator"&@& +4 "core" &e r P + "manipulator"&x% +4 "core" %] J +2 "processing"%Q& +4 "core" &\ +2 "processing"%L& +4 "core" &\ +2 .tPC.seek :closed +2 "processing"%p(Z +5 "core" &\ +7 & 8\ $d +9 &lU\ 8 +10 &\ L +9 &}]\ N +9 &A`\ M +10 &`\ N +9 & c\ M +9 &"_\ N +10 &$H`\ N +9 && ]\ M +10 &']\ M +9 &)`\ N +9 &+R\\\ M +10 &-e\ N +9 &.b\ N +9 &0^\ M +10 &2X]\ N +9 &4_\ N +10 &5`\ N +9 &7a\ M +9 &9a\\\ M +10 &;#c\ M +9 &<` \ M +9 &>d\ M +10 &@ib\ M +9 &B,b\ M +10 &Ca\ M +9 &Ed\ M +9 &Gnj\ N +10 &I,r\ P +9 &J\ Q +9 &L\ S +10 &Nf\ T +9 &P(\ T +10 &Q\ T +9 &S\ S +9 &Ul\ T +10 &W.\ T +9 &X\ T +9 &ZHHj\ *{ +10 &Z1\ - +5 ( +2 "processing"%L& +4 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.55 + .Hand.open + "manipulator"&]1 +4 "core" &Z\ - +55 1 + "manipulator"&V% +4 "core" % ] m +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&M'\ +96 "core" ' +2 "processing"%_& +4 "core" &Z \ - +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 + "manipulator"& % +4 "core" %\ * s !Q + "storage"(/% +4 "core" %B W X j\  +2 "storage"(. +3 "core" .(  + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"(b(  +46 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (Y& +2 "manipulator"&g& +7 "core" & \  k \ + &e U P +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +4 "storage"(#]kK-0-\ b +2 "manipulator"&J(c +4 ."raiseStack"SE.seek :beamBreak +2 "storage"(`'e +2 "core" ( +2 "manipulator"&G& +4 "core" &e u P + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &|& +2 "core" &e P +3 .tForearm.seek PC + "manipulator"&u'[ +98 "core" ' +2 .tHand.close + "manipulator"&/ +64 "core" / +2 .tPC.seek :open +2 "processing"%6(p +81 "core" ' + "storage"(- +4 "core" -'e + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place + "storage"(n'B +43 "core" ' +258 ( +2 "storage"(& +4 "core" &  u q H\ + "manipulator"&& +4 "core" &e  P + "manipulator"&s% +4 "core" % b  +2 .tForearm.seek :retract +2 "manipulator"&='\ +94 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"& (; +251 "core" ( +2 "manipulator"&m& +4 "core" &C  "y + "storage"(& +4 "core" &  Y [ "\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&X'Ѐ +92 "core" ' +2 .tHand.open + "manipulator"&1 +64 "core" 1 +2 "storage"(v- +4 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate + "storage"(a' +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.83 Pucks below Top Plate + "storage"(' +53 "core" ' +2 #tLights, camera, ACTION! + "storage"(E- +4 "core" -' + "storage"(l& +4 "core" &  \ +2 "manipulator"&t& +4 "core" &D  "x + .tElbow.seek 2 +2 "manipulator"& (; +3 "core" ( +2 "manipulator"&5& +4 "core" &D  "x + "storage"(o& +4 "core" &  \ +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&k'Ѐ +3 "core" ' +2 .tSE.reconfigure :gently +52 "storage"(#QK-0-\ b +4 .tSE.seek -0.11 Pucks below Top Plate + "storage"(^'M +57 "core" ' +2 "manipulator"&B& +4 "core" &D "x + "storage"(}& +4 "core" &  q t \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&y'ξ +32 "core" ' +2 .tElbow.hold + "manipulator"&w, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.07 Pucks below Top Plate + "storage"(3'7 +26 "core" ' + "manipulator"&Z% +5 "core" %j 5 - Y ɶ + "storage"(& +4 "core" &    E\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 316 counts + "manipulator"&$' +19 "core" ' +2 "manipulator"&& +4 "core" &[ t q a +2 "storage"({& +4 "core" &  \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&'Ѐ +23 "core" ' + "storage"(.% +5 "core" %> \  +2 ."downElevator"SE.seek :down +3 "storage"(:'N +99 ('% +3 "core" %; u v I\ U] +2 "manipulator"&% +4 "core" %У y u +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +87 "core" ' +61 ' + ."downElevator"SE.stop +2 "storage"(5 +2 ((& +4 "core" &  X b o\ +2 "collection"',& +4 "core" &]V/\ C +2 #tStoring generic puck in Collection Clamp to tube 2 + "manipulator"&[% +4 "core" %\ *  !N +2 "storage"(% +4 "core" %? u u {\ + "storage"(. +3 "core" .(  +2 "storage"()& +4 "core" &  u u s\ +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 2 +3 "storage"(&(  +34 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 ("& +3 "core" &  , L I\ +2 "manipulator"&~& +4 "core" &[  a +2 .tElbow.seek 2 + "manipulator"&R(; +24 "core" ( +2 "manipulator"&d& +4 "core" &; u  +2 "storage"(& +4 "core" &  | m 2\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&8'Ѐ +102 "core" ' +2 "storage"(& +4 "core" &  \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"('e +276 "core" ' + "storage"(f- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&2& +3 "core" &; o n \  +2 "storage"(h& +3 "core" &  g w 8\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&S'ξ +35 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(F- +3 "core" -' +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(1'i +25 "core" ' +2 "manipulator"&% +4 "core" %S 7 6  ˰ + "storage"(0& +4 "core" & \ \  T\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 316 counts + "manipulator"& ' +19 "core" ' +2 "manipulator"&& +4 "core" &> v _ =  + "storage"(?& +4 "core" &  q { C\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&4'Ѐ +16 "core" ' +2 .tSE.seek 1.11 Pucks below Top Plate + "storage"(#'X +51 "core" ' +2 "manipulator"&9& +4 "core" &> l d |  +2 "manipulator"&O% +4 "core" %s o o ^ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&i'\ +88 "core" ' +2 .tElbow.seek CC + "manipulator"&C( +164 "core" ( +2 "manipulator"&z& +4 "core" &. Cm + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +2 "core" &. x Cm +2 .tForearm.seek CC +2 "manipulator"&'| +95 "core" ' + .tHand.close + "manipulator"&%/ +52 "core" / +2 .tCC.seek :open +2 "collection"'(p +410 "core" ( +2 "storage"(& +4 "core" &  \  + "storage"(& +4 "core" &  2\  + "manipulator"&P& +4 "core" &)&  =D +2 "manipulator"& % +3 "core" % t   +2 .tForearm.seek :retract +2 "manipulator"&-'\ +91 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&\ (; +152 "core" ( + "manipulator"&I& +5 "core" &/ l  + "storage"(U& +4 "core" &  \  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 2 +2 "manipulator"&r'ξ +103 "core" ' + .tElbow.hold +2 "manipulator"&N, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&H1 +60 "core" 1 +2 "manipulator"&+% +4 "core" %  * ½W + "storage"(*& +4 "core" &  b [ E\  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 2 + 320 counts + "manipulator"&<' +18 "core" ' + "manipulator"&q& +4 "core" &V \\ k x \ +2 "storage"(& +4 "core" &  o\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&>'Ѐ +20 "core" ' + "storage"(A% +5 "core" %Z \ +2 ."downElevator"SE.seek :down +3 "storage"(T'N +99 (7% +3 "core" %\ ; \ \ TZ +2 "manipulator"&@% +4 "core" % m d  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&x'\ +87 "core" ' +56 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 3 of [2..3] + #Loading generic puck from tube 3 into Collection Clamp +2 "collection"'Q& +4 "core" &:;\ +2 "manipulator"&K% +3 "core" %\ +  !Q +2 "storage"(W% +4 "core" %M A\ + "storage"(D. +3 "core" .(  +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(]( +348 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (V& +3 "core" & M W "\  + "manipulator"&_& +61 "core" &V  \ + .tElbow.seek 3 +2 "manipulator"& (D +16 "core" ( +2 "manipulator"&/& +4 "core" &= +  + "storage"(& +4 "core" & 0\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&L' +94 "core" ' + "storage"(g& +4 "core" & \  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(Y'e +280 "core" ' + "storage"(G- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (|& +2 "core" & \\\  +2 "manipulator"&j& +4 "core" &=   + .tElbow.seek 3 +2 "manipulator"&(D +3 "core" ( +2 "manipulator"&!& +3 "core" &=   +2 "storage"(& +3 "core" & K\  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&\\'y +11 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&M/ +52 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&p& + "storage"(`'N +8 "core" &=   + "manipulator"&% +4 "core" % n  < +2 .tForearm.seek :retract +2 "manipulator"&'\ +93 "core" ' + .tElbow.seek CC +2 "manipulator"&s( +148 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +13 "core" ( + "manipulator"&u& +4 "core" &-  y Cn +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &m& +3 "core" &- Cm +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&'| +100 "core" ' +2 "manipulator"&J& +4 "core" &- Cm +2 "manipulator"&% +3 "core" %m +2 "collection"'v& +4 "core" &<<\ +2 "collection"'E& +5 "core" &;;\ +57 .tCC.seek :closed +2 "collection"'l(] +4 "core" &:=\ + &<=\ + &;<\ + &:=\ + &>>*\ + &:;)\ + &:<*\  +3 &2:;8\ *x +9 &c<=2\ > +9 &A9=#\ N +10 &_9</\ N +9 &d<=#\ N +10 &`;=+\ N +9 &!J`:=/\ N +9 &# `:=\ N +10 &$`:<(\ N +9 &&b<=$\ N +9 &(Rc;=)\ N +10 &*c;=-\ N +9 &+];;1\ N +10 &-b8=,\ N +9 &/[`9="\ M +9 &1b<;,\ N +10 &2_:<$\ N +9 &4b::\ N +9 &6c]:= \ M +10 &8$_9;)\ N +9 &9a:>'\ M +10 &;]8:"\ M +9 &=ia:<*\ N +9 &?-^<;=\ M +10 &@_=<@\ M +9 &B_<;?\ N +9 &Dr`;<;\ N +10 &F3_:;?\ N +9 &Gc06A\ N +10 &Iv'@\ Q +9 &KiB\ T +9 &M ?\ W +10 &NB\ W +9 &PB\ X +9 &RbB\ Y +10 &T#@\ Y +9 &UB\ Z +10 &WA\ Z +9 &Ya=\ \\ +9 &[A\ _ +10 &\\<\ 7 +9 &]%A\ #h +9 &]e@\ L +3 ( + "collection"'E& +3 #tCollection Clamp onSpring/offSpring for 8/25 samples, on/off torque 1.98 +2 .Hand.open + "manipulator"&t1 +57 "core" 1 + "manipulator"&5% +4 "core" % l d +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&o'\ +92 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%=& +4 "core" &\ +2 "manipulator"&B% +4 "core" %\ %  1 + "storage"(}% +4 "core" %> X X Z\ +2 "storage"(n. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(a( +4 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (Z& +2 "core" & D \  +2 "manipulator"&& +4 "core" &( ? ?S + "manipulator"&% +4 "core" %\ % 1 +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&{(D +166 "core" ( +2 "manipulator"& & +4 "core" &G `  + "storage"(X& +4 "core" & o o P\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&.' +96 "core" ' + "storage"(& +4 "core" & n -\  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(''e +280 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (k& +2 "core" & X Q a\  +2 "manipulator"& & +4 "core" &G   + .tElbow.seek 3 +2 "manipulator"&^(D +3 "core" ( + "manipulator"&y& +4 "core" &G D  +2 "storage"((& +3 "core" & u t a\  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&$'y +19 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&,/ +63 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&[& + "storage"('N +8 "core" &G n o  + "manipulator"&% +4 "core" % x o o +2 .tForearm.seek :retract +2 "manipulator"&)'\ +88 "core" ' +2 .tElbow.seek PC +2 "manipulator"&3(c +167 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +81 "core" ( + "manipulator"&"& +5 "core" &Y ?  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &~& +3 "core" &Y  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&d'[ +99 "core" ' + "manipulator"&& +5 "core" &Y @  + "manipulator"&% +4 "core" %e  +2 "processing"%& +3 "core" &\ +3 "processing"%:& +5 "core" & \ +2 .tPC.seek :closed + "processing"%b(Z +5 "core" &\ +7 & (\ #b +9 &XV\ 8 +9 &\ M +10 &p]\ M +9 &1`\ N +10 &_\ M +9 & _\ M +9 &"w^\ N +10 &$9^\ N +9 &%_\ N +9 &'[\ M +10 &)`\ N +9 &+CY\ M +10 &-`\ M +9 &.^\ N +9 &0\\\ M +10 &2J[\ M +9 &4 Z\ M +9 &5_\ N +10 &7^\ M +9 &9S_\ M +10 &;`\ M +9 &<\\\ N +9 &>`\ N +10 &@[[\ M +9 &B^\ M +9 &C_\ M +10 &E_\ M +9 &Gac\ N +10 &I k \ O +9 &Jy\ P +9 &L\ R +10 &NX\ S +9 &P\ S +9 &Q\ T +10 &S\ T +9 &U_\ T +10 &W \ T +9 &X\ U +9 &Z;Kr\ - +10 &Z-\ ) +5 ( +2 "processing"%:& +4 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.56 + .Hand.open +2 "manipulator"&w1 +3 "core" &Z\ ) +55 1 + "manipulator"&% +4 "core" % e  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&f'\ +91 "core" ' +2 "processing"%2& +4 "core" &Z\ ) +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&h% +4 "core" %\ % z 3 +2 "storage"(F% +3 "core" %M Y X \ +2 "storage"(. +3 "core" .( + "storage"(0& +4 "core" & X Y \  +2 "storage"(& +4 "manipulator"&?& +3 "core" & X X U\  + &Y   +3 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +4 "storage"(#]kK-0-\ b +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +3 ."raiseStack"SE.seek :beamBreak + "manipulator"&9(c + "storage"(O'e +5 "core" ( +2 "manipulator"&8& +4 "core" &Y c  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &R& +3 "core" &Y v  +2 .tForearm.seek PC + "manipulator"&'[ +95 "core" ' + .tHand.close +2 "manipulator"&S/ +53 "core" / +2 .tPC.seek :open +2 "processing"% (p +95 "core" ' + "storage"(1- +4 "core" -'e + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place + "storage"(z'B +43 "core" ' +244 ( +2 "storage"(& +4 "core" & W Y \  + "manipulator"&4& +4 "core" &Z d + "manipulator"&% +4 "core" % c : +2 .tForearm.seek :retract + "manipulator"&%'\ +98 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&i(D +247 "core" ( + "manipulator"&;& +4 "core" &B  !u +2 "storage"(& +3 "core" & X Z d\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&' +95 "core" ' + .tHand.open + "manipulator"&P1 +63 "core" 1 +2 "storage"( - +4 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate + "storage"(I' +27 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.83 Pucks below Top Plate + "storage"(U' +56 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(- +3 "core" -' +2 "storage"(C& +3 "core" & \  +2 "manipulator"&H& +3 "core" &C 3 !t +2 .tElbow.seek 3 +2 "manipulator"&+(D +3 "core" ( +2 "manipulator"&*& +3 "core" &C B !t +2 "storage"(q& +4 "core" & {\  +2 .tForearm.seek 3 + 450 counts + "manipulator"&' +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"(A'M +63 "core" ' + "manipulator"&-& +5 "core" &C  !t + "storage"(7& +4 "core" & ^ t ]\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 + "manipulator"&@'M +33 "core" ' + .tElbow.hold +2 "manipulator"&\ , +5 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"(r'7 +25 "core" ' + "manipulator"&Q% +4 "core" %\\X Y Z α +2 "storage"(<& +4 "core" &\ \  \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 315 counts + "manipulator"&K'ψ +20 "core" ' +2 "manipulator"&W& +4 "core" &7 } s w # +2 "storage"(D& +4 "core" & f g \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&#' +20 "core" ' + "storage"(>% +4 "core" %@ \ +3 ."downElevator"SE.seek :down +4 "storage"(T'N +98 (&% +3 "core" %< [ Y\ U^ +2 "manipulator"&V% +4 "core" %  & +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&_'\ +90 "core" ' +59 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (/& +3 "core" & 2 E \  +2 "collection"'& +3 "core" &]c7\ L +2 #tStoring generic puck in Collection Clamp to tube 3 +53 "manipulator"&g% +5 "core" %\ *  !Q + "storage"(N% +4 "core" %A X X &\ +2 "storage"(x. +3 "core" .( + "storage"(G& +4 "core" & X X ^\  + "storage"(|& +4 "core" & O V \  +2 "manipulator"&j& +3 "core" &8 k # +2 .tElbow.seek 3 +2 "manipulator"&!(D +14 "core" ( +2 "manipulator"&& +4 "core" &D F ( +2 "storage"(M& +4 "core" & X X 8\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&p' +93 "core" ' +2 "storage"(& +4 "core" & u r C\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"( 'e +280 "core" ' +2 "storage"(L- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&u& +2 "core" &I < ' +2 "storage"(m& +4 "core" & X X \  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 + "manipulator"&Y'M +32 "core" ' +2 .tElbow.hold + "manipulator"&\\, +5 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(J- +2 "core" -' +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"('k +27 "core" ' +2 "manipulator"&v% +4 "core" %^T W Y ϰ + "storage"(& +4 "core" & U\  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 317 counts + "manipulator"&`'ϊ +12 "core" ' + "manipulator"&& +4 "core" &] m $ +2 "storage"(& +4 "core" & w { s\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&t' +12 "core" ' +2 .tSE.seek 1.11 Pucks below Top Plate +2 "storage"(5'Z +41 "core" ' +2 "manipulator"&=& +5 "core" &] s  $ + "manipulator"&B% +4 "core" % x  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&}'\ +87 "core" ' +2 .tElbow.seek CC + "manipulator"&n( +156 "core" ( +2 "manipulator"&E& +4 "core" &, Bk +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &Z& +3 "core" &, u Bk +2 .tForearm.seek CC +2 "manipulator"&'| +102 "core" ' + .tHand.close +2 "manipulator"&/ +61 "core" / +2 .tCC.seek :open + "collection"'(p +411 "core" ( + "storage"( & +4 "core" & 4\  +2 "storage"(X& +3 "core" & o\  +2 "manipulator"&]& +4 "core" &) @\\ + "manipulator"&% +4 "core" % k C S +2 .tForearm.seek :retract + "manipulator"&s'\ +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&o(D +164 "core" ( + "manipulator"&& +5 "core" &= .  + "storage"(k& +4 "core" & \  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 3 +2 "manipulator"& 'M +107 "core" ' +2 .tElbow.hold + "manipulator"&y, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&(1 +56 "core" 1 +2 "manipulator"&,% +4 "core" % a C d + "storage"([& +4 "core" & u u h\  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 320 counts + "manipulator"&'ύ +19 "core" ' +2 "manipulator"&{& +4 "core" & u ^   +2 "storage"(.& +3 "core" & {\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&'' +18 "core" ' + "storage"($% +4 "core" %^ \ +3 ."downElevator"SE.seek :down +3 "storage"("'N +100 (~% +2 "core" %; D\ UZ +2 "manipulator"&^% +4 "core" % o o +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +90 "core" ' +53 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 2 of [2..3] + #Loading generic puck from tube 2 into Collection Clamp +2 "collection"'& +4 "core" &:<3\ +2 "manipulator"&% +4 "core" %\ + P !Q +2 "storage"(% +4 "core" %B B\ \ + "storage"(). +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 + "storage"(6(  +357 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (w& +2 "core" &  t u \ +2 "manipulator"&& +4 "core" & s  +2 .tElbow.seek 2 + "manipulator"&2(; +19 "core" ( + "manipulator"&h& +4 "core" &9 M +2 "storage"(F& +4 "core" &  \\\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&'Ѐ +98 "core" ' + "storage"(0& +5 "core" &  ^\ + .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(?'e +280 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (:& +3 "core" &  \ + "manipulator"&8& +4 "core" &9 M +2 .tElbow.seek 2 + "manipulator"&R(; +4 "core" ( + "manipulator"&d& +5 "core" &9 = M + "storage"(S& +4 "core" &  Z\ +2 .tForearm.seek 2 + 300 counts + "manipulator"&1' +11 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&3/ +53 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&f& +2 "storage"(b'N +7 "core" &9 M M +2 "manipulator"&% +4 "core" % ) N +2 .tForearm.seek :retract + "manipulator"&4'\ +92 "core" ' +2 .tElbow.seek CC +2 "manipulator"&( +153 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +3 "core" ( + "manipulator"&O& +4 "core" &,  > Bj +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &, \\ Bj +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&;'| +111 "core" ' + "manipulator"&& +4 "core" &, Bj +2 "manipulator"&9% +4 "core" %φ | +2 "collection"'P& +4 "core" &==/\ +2 "collection"' & +6 "core" &9;+\ +2 .tCC.seek :closed +2 "collection"'(] +4 "core" &:;#\ +8 &89;/\ $e +9 &mW;;1\ 7 +10 &:<'\ L +9 &}\\=;(\ M +10 &>_;; \ N +9 &[::(\ M +9 & _:<"\ N +10 &"b9<\ M +9 &$H]8;\ M +9 &&_:;\ N +10 &'[9:!\ M +9 &)`:<"\ M +10 &+O[9;"\ M +9 &-\\:< \ M +9 &._::!\ M +10 &0a=<\ N +9 &2V\\9<\ N +9 &4_<;\ N +10 &5W<;\ M +9 &7_9<\ N +10 &9_\\;:\ M +9 &;!Z:;"\ M +9 &<^8:\ M +10 &>[:;!\ M +9 &@g]7<"\ M +9 &B)]:<"\ M +10 &C_9<!\ N +9 &E\\9:\ M +9 &Go\\58!\ M +10 &I-j)0\ O +9 &J~\ R +10 &L"\ U +9 &N\\\ V +9 &P\ W +10 &Q!\ X +9 &S!\ X +10 &UY"\ Z +9 &W"\ Z +9 &X \ [ +10 &Z"\ \\ +9 &\\]!\ H +9 &]`9"\ )y +10 &]\ \ S +5 ( +2 "collection"' & +4 #tCollection Clamp onSpring/offSpring for 10/26 samples, on/off torque 2.03 + .Hand.open + "manipulator"&C1 +4 "core" &]{\ S +49 1 + "manipulator"&H% +5 "core" % φ = + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&*'\ +91 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%q& +4 "core" &\ +2 "manipulator"&%% +3 "core" %\ + l !V +2 "storage"(-% +4 "core" %H B A \ \ + "storage"(7. +3 "core" .(  +2 "storage"(z& +3 "core" &  A ? x\ +2 "storage"(Q& +4 "core" &  B A \ + "manipulator"&<& +4 "core" &+  Aa + "manipulator"&I% +4 "core" %\ + } !V +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&W(; +159 "core" ( + "manipulator"&D& +5 "core" &F g + "storage"(>& +4 "core" &  \\ [\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&i'Ѐ +89 "core" ' + "storage"(& +4 "core" &  r u P\ +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +50 "storage"(U'e +284 "core" ' + "storage"(&- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (V& +2 "core" &  X L \ +2 "manipulator"&& +4 "core" &F  +2 .tElbow.seek 2 + "manipulator"&+(; +7 "core" ( +2 "manipulator"&A& +4 "core" &A  +2 "storage"(@& +4 "core" &  X X C\ +2 .tForearm.seek 2 + 300 counts + "manipulator"&K' +10 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&// +55 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&& +2 "storage"(g'N +8 "core" &A   +2 "manipulator"&r% +4 "core" %  K +2 .tForearm.seek :retract + "manipulator"&N'\ +95 "core" ' +2 .tElbow.seek PC + "manipulator"&x(c +157 "core" ' + ."downElevator"SE.stop + "storage"(5 +80 "core" ( +2 "manipulator"&G& +4 "core" &g  P +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &|& +3 "core" &g s P +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&j'[ +103 "core" ' + "manipulator"&& +5 "core" &g P + "manipulator"&M% +4 "core" %X +2 "processing"%#& +4 "core" &\ +2 "processing"%& +6 "core" &\ +2 .tPC.seek :closed +3 "processing"%T(Z +3 "core" &\ +6 &\ / +9 &F \ 1 +9 &.r \ E +10 &d\ N +9 &Z \ M +9 &X\\\ M +10 & Z\ M +9 &!^\ M +10 &#\\\ M +9 &%`Y\ M +9 &'"_\ M +10 &([\ M +9 &*]\ M +9 &,h]\ M +10 &.+Y\ M +9 &/_ \ M +10 &1\\\ M +9 &3pZ\ M +9 &53]\ M +10 &6\\\ M +9 &8[\ N +9 &:x[\ M +10 &<;]\ M +9 &=]\ M +10 &?Z\ M +9 &A`\ M +9 &CB\\\ M +10 &E]\ N +9 &Fb\ N +9 &Hh\ O +10 &J@{\ Q +9 &K\ R +10 &M\ T +9 &O|\ T +9 &Q>\ T +10 &S\ T +9 &T\ T +9 &V\ U +10 &XD\ U +9 &Yzw\ , +10 &Z(f\ / +8 ( +2 &Z\ ) +2 "processing"%& +3 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.58 + .Hand.open +2 "manipulator"&\ 1 +54 "core" 1 + "manipulator"&_% +4 "core" % X d +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&L'\ +99 "core" ' +2 "processing"%u& +4 "core" &Z\ ) +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 + "manipulator"&m% +4 "core" %\ 3 k %w + "storage"(J% +4 "core" %B A B \ + "storage"(v. +3 "core" .(  +2 "storage"(& +4 "core" &  B B \ + "storage"(& +4 "manipulator"&& +5 "core" &  B B \ + &g z P +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +3 "storage"(#]kK-0-\ b +2 "manipulator"&=(c +4 ."raiseStack"SE.seek :beamBreak +2 "storage"(B'e +3 "core" ( + "manipulator"&p& +4 "core" &g P + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &!& +3 "core" &g M P +2 .tForearm.seek PC + "manipulator"& '[ +100 "core" ' + .tHand.close +2 "manipulator"&Y/ +64 "core" / +2 .tPC.seek :open +2 "processing"%`(p +79 "core" ' +2 "storage"(- +4 "core" -'e + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place + "storage"(E'B +46 "core" ' +256 ( + "storage"(Z& +4 "core" &  Y [\ +2 "manipulator"&t& +4 "core" &g . P + "manipulator"&\\% +4 "core" % a Q +2 .tForearm.seek :retract + "manipulator"&'\ +98 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&}(; +242 "core" ( + "manipulator"&l& +4 "core" &3  : +2 "storage"( & +4 "core" &  ( ) \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&X'Ѐ +101 "core" ' + .tHand.open +2 "manipulator"&]1 +61 "core" 1 +2 "storage"(- +4 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate + "storage"(' +26 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(k' +53 "core" ' + #tLights, camera, ACTION! +2 "storage"(- +3 "core" -' +2 "storage"(n& +4 "core" &  s\ + "manipulator"&(& +4 "core" &3  r 8 : +2 .tElbow.seek 2 + "manipulator"&,(; +4 "core" ( + "manipulator"&[& +4 "core" &3 u q  : + "storage"({& +4 "core" &  \ +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&.'Ѐ +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"($'M +62 "core" ' +2 "manipulator"&s& +4 "core" &3 o o : +2 "storage"(~& +3 "core" &  e p S\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&^'ξ +35 "core" ' +2 .tElbow.hold + "manipulator"&o, +5 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"( '7 +25 "core" ' + "manipulator"&% +5 "core" %i )  ȶ +2 "storage"(& +4 "core" & \ \  \ + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 2 + 309 counts + "manipulator"&' +17 "core" ' + "manipulator"&& +4 "core" &4 h y @ 9 +2 "storage"()& +4 "core" &  W X \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&5'Ѐ +23 "core" ' + "storage"('% +5 "core" %> v u *\ +2 ."downElevator"SE.seek :down +4 "storage"("'N +98 (a% +3 "core" %9 X X b\ U^ +2 "manipulator"&w% +5 "core" %~ o o 2 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +92 "core" ' +57 ' + ."downElevator"SE.stop + "storage"(5 +3 (h& +3 "core" &  + 1\ +2 "collection"'F& +4 "core" &]z \ S +2 #tStoring generic puck in Collection Clamp to tube 2 + "manipulator"&0% +4 "core" %\ . o #k +2 "storage"(y% +3 "core" %@ X Y ]\ +2 "storage"(. +3 "core" .(  + "storage"(& +4 "core" &  X X g\ +2 "storage"(:& +4 "core" &  X X m\ +2 "manipulator"&8& +3 "core" &4 r 9 +2 .tElbow.seek 2 +2 "manipulator"&d(; +3 "core" ( + "manipulator"&S& +4 "core" &4 d 9 +2 "storage"(3& +4 "core" &  X Y n\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&f'Ѐ +104 "core" ' +2 "storage"(& +5 "core" &  | u $\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(2'e +278 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&O& +2 "core" &4 n n " 9 +2 "storage"(& +3 "core" &  W X (\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&?'ξ +32 "core" ' +2 .tElbow.hold + "manipulator"&1, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(- +2 "core" -' +3 .tSE.seek 0.11 Pucks below Top Plate + "storage"(9'n +31 "core" ' +2 "manipulator"&R% +4 "core" %l  $ Ʒ + "storage"(P& +4 "core" & \ \ ! \ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 320 counts + "manipulator"&b' +18 "core" ' +2 "manipulator"&4& +4 "core" &4 [ r 9 +2 "storage"(& +3 "core" &  u t 1\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&C'Ѐ +16 "core" ' +2 .tSE.seek 1.11 Pucks below Top Plate +2 "storage"(H'] +40 "core" ' +2 "manipulator"&q& +4 "core" &4 q s " 9 +51 "manipulator"&%% +6 "core" %Ѕ m x  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&-'\ +87 "core" ' +2 .tElbow.seek CC + "manipulator"&7( +162 "core" ( +2 "manipulator"&z& +4 "core" &  Z ) +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &Q& +3 "core" &  D ) +2 .tForearm.seek CC +2 "manipulator"&<'| +99 "core" ' + .tHand.close + "manipulator"&I/ +63 "core" / +2 .tCC.seek :open +2 "collection"' (p +410 "core" ( +2 "storage"(;& +4 "core" &  \ + "storage"(D& +4 "core" &  9\ + "manipulator"&>& +4 "core" & ' +2 "manipulator"&% +3 "core" % φ h +2 .tForearm.seek :retract +2 "manipulator"&'\ +94 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&*(; +164 "core" ( +2 "manipulator"&&& +4 "core" &6 [ E +2 "storage"(V& +3 "core" &  o\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 2 + "manipulator"&'ξ +113 "core" ' + .tElbow.hold +2 "manipulator"&A, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&@1 +60 "core" 1 +2 "manipulator"&/% +4 "core" % m ! & N Ʒ + "storage"(& +4 "core" &  X X \\\ + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 2 + 310 counts +2 "manipulator"&r' +19 "core" ' +2 "manipulator"&W& +4 "core" &9 u g  B + "storage"(i& +4 "core" &  v\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&U'Ѐ +23 "core" ' +2 "storage"(K% +4 "core" %a \ +2 ."downElevator"SE.seek :down +3 "storage"(G'N +100 (|% +2 "core" %4> Q\ U[ +2 "manipulator"&+% +4 "core" %П m n +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +87 "core" ' +52 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 3 of [2..3] + #Loading generic puck from tube 3 into Collection Clamp +2 "collection"'M& +4 "core" &;=\ +2 "manipulator"&#% +4 "core" %\ ( } C +2 "storage"(g% +4 "core" %> J\ + "storage"(N. +3 "core" .(  +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 + "storage"( ( +365 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (\ & +3 "core" & Y X \  +2 "manipulator"&_& +4 "core" &9 g B +2 .tElbow.seek 3 + "manipulator"&u(D +8 "core" ( +2 "manipulator"&m& +4 "core" &: J e + "storage"(J& +4 "core" & h\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&v' +94 "core" ' + "storage"(& +4 "core" & _\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"('e +286 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +2 "core" & \  +2 "manipulator"&p& +4 "core" &< r c +2 .tElbow.seek 3 + "manipulator"&!(D +3 "core" ( +2 "manipulator"&j& +4 "core" &< G c + "storage"(Y& +4 "core" & ,\  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&'y +20 "core" ' +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&x/ +57 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&L& +2 "storage"(T'N +7 "core" &< m n c +2 "manipulator"&B% +4 "core" % y q  +2 .tForearm.seek :retract + "manipulator"&Z'\ +89 "core" ' + .tElbow.seek CC +2 "manipulator"&t( +155 "core" ' + ."downElevator"SE.stop + "storage"(5 +4 "core" ( + "manipulator"&\\& +4 "core" &-  * Cm + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 & & +3 "core" &- Cm +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&l'| +93 "core" ' +2 "manipulator"& & +4 "core" &, J Bl +2 "manipulator"&=% +4 "core" %π   +2 "collection"']& +4 "core" &;<\ +2 "collection"'& +5 "core" &<=\ +2 .tCC.seek :closed + "collection"'(] +5 "core" &<= \  +9 &3;<\ *y +9 &d:>\ > +9 &Qx;>\ N +10 &Z;< \ M +9 &_==\ M +10 &];=\ M +9 &!Z^:<\ M +9 &#_<<\ M +10 &$\\;>\ M +9 &&Z:<\ M +10 &(a]:<\ N +9 &*%\\:<\ M +9 &+\\:<\ M +10 &-]<=\ M +9 &/i^;;\ N +9 &1,^9<\ \ M +10 &2[9=\ M +9 &4\\;< \ M +9 &6r];;\ M +10 &84]:<\ M +9 &9\\:>\ M +9 &;\\8= \ M +10 &=|_;>\ M +9 &??^==\ L +10 &@_:< \ M +9 &B]:<\ N +9 &DZ:<\ M +10 &FD]:=\ M +9 &H`18\ N +10 &Iu'\ P +9 &Ky\ \ S +9 &M0\ W +10 &N\ W +9 &P\ X +9 &Rq\ Y +10 &T2\ Y +9 &U\ Z +10 &W\ Z +9 &Yp\ \\ +9 &[2\ \\ +10 &\\z\ 3 +9 &]&\ %m +9 ( +2 "collection"'& +3 #tCollection Clamp onSpring/offSpring for 9/25 samples, on/off torque 2.09 +2 .Hand.open + "manipulator"&n1 +4 "core" &]\ !b +49 1 + "manipulator"&(% +4 "core" % π q  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&['\ +94 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp +2 "processing"%{& +4 "core" &\ + "manipulator"&% +4 "core" %\ . "Y +2 "storage"(s% +3 "core" %@ : : !\ +2 "storage"(~. +3 "core" .( + "storage"(E& +4 "core" & 9 : \  +2 "storage"(& +4 "core" & 4 8\  + "manipulator"&& +4 "core" &:# ;6 + "manipulator"&% +4 "core" %\ - "Y +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&(D +163 "core" ( + "manipulator"&)& +5 "core" &= H 5 + "storage"('& +4 "core" & , ) M\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&}' +101 "core" ' +2 "storage"(X& +4 "core" & [ [\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(k'e +276 "core" ' + "storage"(a- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (w& +3 "core" & 6 7 ~\  +2 "manipulator"&.& +3 "core" &>  4 +2 .tElbow.seek 3 + "manipulator"&,(D +4 "core" ( + "manipulator"&$& +3 "core" &> # 4 +2 "storage"(^& +4 "core" & Y X n\  +2 .tForearm.seek 3 + 300 counts + "manipulator"&'y +11 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&h/ +58 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&F& +2 "storage"(0'N +7 "core" &> 4 +2 "manipulator"&y% +4 "core" % ~ i - +2 .tForearm.seek :retract + "manipulator"&'\ +99 "core" ' + .tElbow.seek PC +2 "manipulator"&(c +158 "core" ' + ."downElevator"SE.stop + "storage"(5 +93 "core" ( + "manipulator"& & +4 "core" &l @ +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &:& +3 "core" &l | +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&8'[ +100 "core" ' +2 "manipulator"&S& +4 "core" &l +2 "manipulator"&3% +3 "core" %Y n +2 "processing"%5& +4 "core" &\ +2 "processing"%& +4 "core" &\ +2 .tPC.seek :closed +2 "processing"%"(Z +4 "core" &\ +8 &\ (\ #a +9 &]V\ 7 +10 &\ L +9 &q[\ M +9 &3[\ M +10 &\\\ M +9 & _\ M +10 &"y\\\ M +9 &$;[\ M +9 &%\\\ M +10 &'X\ M +9 &)\\\ M +9 &+B[\ M +10 &-\\\ N +9 &.]\ M +10 &0\\\ M +9 &2I]\ N +9 &4 [\ M +10 &5[\ M +9 &7\\\ M +10 &9R\\\ M +9 &;]\ M +9 &<Z\ M +10 &>^\ M +9 &@ZY\ M +9 &BZ\ M +10 &C[\ M +9 &EY\ M +9 &Gaa\ N +10 &I h\ O +9 &Jt\ P +60 &L\ R +8 &NX\ S +3 &P\ T &Q\ T + &S\ T + &U]\ T + &W\ T +3 &X\ T +8 &Z<Lm\ - +9 &Z)\ ( +5 ( +2 "processing"%& +4 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.57 + .Hand.open +2 "manipulator"&o1 +3 "core" &Z\ ( +55 1 + "manipulator"&% +5 "core" % Y o +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +94 "core" ' +2 "processing"%O& +4 "core" &Z\ ( + #tImaging generic puck in Processing Clamp while storing it to tube 3 +2 "manipulator"&% +4 "core" %\ % 1 + "storage"(% +4 "core" %N 8 3\ + "storage"(R. +4 "core" .( + "storage"(P& +4 "core" & 8 5\  +2 "storage"(4& +2 "manipulator"&& +7 "core" & 5 8\  + &l s +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +3 "storage"(#]kK-0-\ b + "manipulator"&q(c +5 ."raiseStack"SE.seek :beamBreak +2 "storage"(%'e +3 "core" ( + "manipulator"&f& +4 "core" &l + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &d& +3 "core" &l I +2 .tForearm.seek PC +2 "manipulator"&2'[ +95 "core" ' + .tHand.close +2 "manipulator"&?/ +59 "core" / +2 .tPC.seek :open +2 "processing"%b(p +89 "core" ' + "storage"(9- +4 "core" -'e + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place + "storage"(z'B +43 "core" ' +247 ( + "storage"(Q& +4 "core" & Y Y\  +2 "manipulator"&C& +4 "core" &l + "manipulator"&1% +4 "core" % d L +2 .tForearm.seek :retract +2 "manipulator"&I'\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&-(D +251 "core" ( +2 "manipulator"&& +4 "core" &D j + "storage"(;& +4 "core" & B A \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&D' +95 "core" ' +2 .tHand.open + "manipulator"&>1 +54 "core" 1 + "storage"(- +4 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate +2 "storage"(&' +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(V' +52 "core" ' +2 #tLights, camera, ACTION! + "storage"(<- +4 "core" -' + "storage"(7& +4 "core" & Y\  + "manipulator"&@& +4 "core" &D j +2 .tElbow.seek 3 + "manipulator"&/(D +4 "core" ( +2 "manipulator"&& +4 "core" &D ~ j + "storage"(W& +4 "core" & J\  +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&i' +4 "core" ' + .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"(K'M +63 "core" ' +2 "manipulator"&& +4 "core" &D S j + "storage"(|& +4 "core" & B B l\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&+'M +31 "core" ' + .tElbow.hold +2 "manipulator"&*, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"('7 +24 "core" ' + "manipulator"&M% +4 "core" %a[ ; I n ̲ +2 "storage"(r& +4 "core" & H\  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 3 + 320 counts +2 "manipulator"&#'ύ +19 "core" ' +2 "manipulator"&g& +4 "core" &4 { 8 "z +2 "storage"(N& +4 "core" & X Y \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&H' +11 "core" ' +2 "storage"(U% +4 "core" %> u t \  +2 ."downElevator"SE.seek :down +4 "storage"(G'N +99 (6% +3 "core" %; A A \ U] +2 "manipulator"&\ % +4 "core" %  ) +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&_'\ +91 "core" ' +56 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (m& +4 "core" & 3 L T\  +2 "collection"'J& +4 "core" &]\ !b + #tStoring generic puck in Collection Clamp to tube 3 +2 "manipulator"&% +4 "core" %\ - + "Z + "storage"(A% +4 "core" %D A A `\ +2 "storage"(. +3 "core" .( + "storage"(& +4 "core" & B A \  + "storage"(& +4 "core" & A A \  +2 "manipulator"&p& +3 "core" &5  "y +2 .tElbow.seek 3 +2 "manipulator"&j(D +16 "core" ( +2 "manipulator"&Y& +4 "core" &L a ( +2 "storage"(x& +3 "core" & A A \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&L' +93 "core" ' + "storage"(B& +4 "core" & Y [\  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(u'e +283 "core" ' + "storage"(v- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&\\& +3 "core" &O : ( +2 "storage"( & +3 "core" & A > \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 + "manipulator"&'M +31 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"( - +2 "core" -' +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(='k +44 "core" ' + "manipulator"&]% +4 "core" %`W [ V ϱ +2 "storage"(!& +4 "core" & Q\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 319 counts + "manipulator"&T'ό +19 "core" ' + "manipulator"&Z& +4 "core" &f n  % +2 "storage"( & +4 "core" & X Y Y\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&n' +10 "core" ' +2 .tSE.seek 1.11 Pucks below Top Plate +2 "storage"(('Z +48 "core" ' + "manipulator"&{& +5 "core" &f % + "manipulator"&% +4 "core" %  & +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&s'\ +87 "core" ' +2 .tElbow.seek CC +2 "manipulator"&~( +157 "core" ( + "manipulator"&E& +4 "core" &- \\ Cs +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &- p Cr +2 .tForearm.seek CC +2 "manipulator"&'| +96 "core" ' + .tHand.close +2 "manipulator"&/ +58 "core" / +2 .tCC.seek :open + "collection"'(p +411 "core" ( + "storage"(l& +4 "core" & -\  +2 "storage"()& +3 "core" & b\  +2 "manipulator"&'& +4 "core" &&& >L + "manipulator"&X% +4 "core" % ϐ  +2 .tForearm.seek :retract + "manipulator"&t'\ +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&[(D +159 "core" ( +2 "manipulator"&a& +4 "core" &G G  +2 "storage"(w& +4 "core" & :\  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 +2 "manipulator"&.'M +108 "core" ' +2 .tElbow.hold + "manipulator"&$, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&^1 +57 "core" 1 +2 "manipulator"&h% +4 "core" % _}  ¼C + "storage"(F& +4 "core" & t u 0\  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 3 + 318 counts +2 "manipulator"&y'ϋ +16 "core" ' +2 "manipulator"&& +4 "core" & u _ ;  +2 "storage"(}& +3 "core" & s\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&k' +69 "core" ' +3 "storage"(% +4 "core" %] \ +2 ."downElevator"SE.seek :down +3 "storage"( 'N +99 (:% +3 "core" %> `\ U[ + "manipulator"&,% +4 "core" % n n  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&S'\ +91 "core" ' +51 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 2 of [2..3] +2 #Loading generic puck from tube 2 into Collection Clamp + "collection"'3& +3 "core" &<<\ +2 "manipulator"&5% +4 "core" %\ - L "X +2 "storage"(0% +4 "core" %G >\ + "storage"(. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 + "storage"(`(  +357 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +2 (o& +3 "core" &  v t \ +2 "manipulator"&& +3 "core" & `  +2 .tElbow.seek 2 +2 "manipulator"&O(; +18 "core" ( +2 "manipulator"&& +4 "core" &3 ; K +2 "storage"(& +3 "core" &  c\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&R'Ѐ +105 "core" ' +2 "storage"(P& +4 "core" &  D\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(4'e +281 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (& +3 "core" &  } ;\ +2 "manipulator"&f& +4 "core" &4 p y  J + .tElbow.seek 2 +2 "manipulator"&d(; +4 "core" ( + "manipulator"&8& +4 "core" &4 z r ' J + "storage"(?& +4 "core" &  g\ +2 .tForearm.seek 2 + 300 counts + "manipulator"&9' +21 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +54 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& +7 "storage"("'N +8 "core" &4 3 J +2 "manipulator"&Q% +9 "core" % v  +2 .tForearm.seek :retract +2 "manipulator"&C'\ +92 "core" ' +2 .tElbow.seek CC +2 "manipulator"&%( +142 "core" ' + ."downElevator"SE.stop + "storage"(5 +16 "core" ( +2 "manipulator"&1& +4 "core" & . +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &2& +3 "core" &  . +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&'| +101 "core" ' +2 "manipulator"&;& +4 "core" & : . +2 "manipulator"&q% +4 "core" % p + "collection"'>& +4 "core" &;=\ +2 "collection"'& +5 "core" &<>\ +2 .tCC.seek :closed +2 "collection"'<(] +4 "core" &;=\ +8 &6;=\ $d +9 &jV;;\ \ 7 +10 &7=\ L +9 &}W;<\ M +10 &?_:>\ M +9 &Z:=\ M +9 & [:;\ M +10 &"\\;=\ M +9 &$EZ=<\ M +9 &&\\<=\ M +10 &'Z9< \ M +9 &)\\;=\ M +10 &+OZ<>\ M +9 &-]<<\ M +9 &.\\9<\ M +10 &0]:>\ M +9 &2V\\8>\ M +9 &4];<\ M +10 &5\\<<\ M +9 &7\\:;\ M +10 &9_Y8<\ M +9 &;![<<\ M +9 &<X:<\ M +10 &>[;;\ M +9 &@h]:=\ L +9 &B(];<\ M +10 &C\\:<\ M +9 &E\\::\ M +10 &Go]5:\ M +9 &I,k'/\ N +9 &J}\ Q +10 &L\ U +9 &NY\ W +9 &P\ X +10 &Q\ X +9 &S\ Y +10 &UX\ Z +9 &W\ Z +9 &X\ \\ +10 &Z \ \\ +9 &\\Z\ I +9 &]`<\ * +10 &]\ "e +5 ( +2 "collection"'& +4 #tCollection Clamp onSpring/offSpring for 10/26 samples, on/off torque 2.09 + .Hand.open +2 "manipulator"&71 +3 "core" &]\ #e +55 1 +2 "manipulator"&@% +4 "core" % } ` +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +94 "core" ' +3 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%W& +4 "core" &\ +2 "manipulator"&I% +3 "core" %\ - "^ +2 "storage"(% +4 "core" %=   ;\ + "storage"(|. +3 "core" .(  +2 "storage"(M& +3 "core" &    \ +2 "storage"(z& +4 "core" &    _\ + "manipulator"&r& +4 "core" &\   . +2 "manipulator"&&% +3 "core" %\ -  "^ +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 + "manipulator"&g(; +162 "core" ( +2 "manipulator"&N& +4 "core" &5  + "storage"(U& +4 "core" &  4 7 \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&-'Ѐ +103 "core" ' +2 "storage"(D& +4 "core" &  ` r K\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(V'e +276 "core" ' + "storage"(6- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (\ & +3 "core" &  < N x\ +2 "manipulator"&i& +3 "core" &5 o o  +2 .tElbow.seek 2 + "manipulator"&/(; +4 "core" ( + "manipulator"&K& +4 "core" &5 u s   + "storage"(+& +4 "core" &  Y [ )\ +2 .tForearm.seek 2 + 300 counts + "manipulator"&m' +33 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&J/ +61 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"&#& "storage"('N +8 "core" &5 o o   + "manipulator"&A% +4 "core" % e n G +2 .tForearm.seek :retract +2 "manipulator"&'\ +90 "core" ' + .tElbow.seek PC +2 "manipulator"&(c +161 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +89 "core" ( +2 "manipulator"&& +4 "core" &_ + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &_ n +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&p'[ +102 "core" ' + "manipulator"&Y& +5 "core" &_ + "manipulator"&x% +4 "core" %W +2 "processing"%H& +3 "core" & \ +2 "processing"%B& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%G(Z +5 "core" &\ +7 & 9\ $e +9 &jW\ 7 +9 &\ L +10 &}Y\ M +9 &?[\ M +10 &Z\ M +9 & X\ M +9 &"Z\ M +10 &$FZ\ M +9 &&Z\ M +9 &'Z\ M +10 &)X\ M +9 &+OY\ M +9 &-\\\ M +10 &.\\\ M +9 &0W\ M +10 &2UZ\ N +9 &4Y\ N +9 &5Z\ M +10 &7Z\ M +9 &9^U\ M +9 &; \\\ M +10 &<Y\ M +9 &>]\ M +10 &@fZ\ M +9 &B(X\ M +9 &CZ\ N +10 &E[\ M +9 &Gkc\ N +9 &I*m\ O +10 &J\ Q +9 &L\ S +10 &Nc\ T +9 &P%\ T +9 &Q\ T +10 &S\ T +9 &Uj\ T +9 &W)\ U +10 &X\ T +9 &ZDHh\ )y +10 &Z ;\ + +5 ( +2 "processing"%B& +4 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.63 + .Hand.open +2 "manipulator"&*1 +3 "core" &Z\ + +48 1 +2 "manipulator"&_% +4 "core" % W 8 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&v'\ +97 "core" ' +2 "processing"%\\& +4 "core" &Z\ + +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 + "manipulator"& % +4 "core" %\ 3 B %w + "storage"( % +4 "core" %B   '\ \ +2 "storage"(]. +3 "core" .(  + "storage"(!& +4 "core" &    \ + "storage"(Z& +3 "manipulator"& & +7 "core" & \ \  '\ + &_  +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +3 "storage"(#]kK-0-\ b +2 "manipulator"&{(c +5 ."raiseStack"SE.seek :beamBreak + "storage"('e +3 "core" ( + "manipulator"&L& +4 "core" &_ O +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &j& +3 "core" &_ +2 .tForearm.seek PC + "manipulator"&u'[ +101 "core" ' + .tHand.close +2 "manipulator"&/ +64 "core" / +2 .tPC.seek :open + "processing"%T(p +78 "core" ' +2 "storage"(=- +3 "core" -'e +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(E'B +33 "core" ' +271 ( + "storage"(& +4 "core" &   $ \ +2 "manipulator"&n& +3 "core" &_ ~ +2 "manipulator"&% +4 "core" % X U + .tForearm.seek :retract +2 "manipulator"&'\ +99 "core" ' +2 .tElbow.reconfigure :tight +53 "manipulator"&$&.,(\ #b +4 .tElbow.seek 2 + "manipulator"&s(; +253 "core" ( + "manipulator"&& +4 "core" &< U "~ +2 "storage"(l& +4 "core" &    x\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&)'Ѐ +112 "core" ' + .tHand.open +2 "manipulator"&'1 +61 "core" 1 +2 "storage"(X- +3 "core" -'B +3 .tSE.seek -0.16 Pucks below Top Plate + "storage"(a' +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(w' +51 "core" ' +2 #tLights, camera, ACTION! + "storage"(- +4 "core" -' + "storage"(~& +4 "core" &  <\ +2 "manipulator"&^& +3 "core" &<  "~ +2 .tElbow.seek 2 +2 "manipulator"&h(; +3 "core" ( +2 "manipulator"&F& +4 "core" &< C "~ + "storage"(& +4 "core" &  K\ +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&}'Ѐ +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"(t'M +60 "core" ' +2 "manipulator"&& +4 "core" &< O "~ +2 "storage"([& +3 "core" &  A B \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&:'ξ +37 "core" ' +2 .tElbow.hold + "manipulator"&,, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.07 Pucks below Top Plate + "storage"(.'7 +24 "core" ' +2 "manipulator"&y% +4 "core" %i   2 ȶ\ +2 "storage"(3& +4 "core" &  {\ + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 2 + 317 counts + "manipulator"&5' +20 "core" ' + "manipulator"&0& +5 "core" &< y s "~ + "storage"(& +4 "core" &  B A #\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&('Ѐ +17 "core" ' +2 "storage"(k% +4 "core" %? A X R\ +3 ."downElevator"SE.seek :down +4 "storage"( 'N +99 ( % +3 "core" %9 4 % 6\ U^ +2 "manipulator"&o% +4 "core" %Љ c n +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +87 "core" ' +61 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (& +4 "core" &  S\  Y\ +2 "collection"'& +4 "core" &]\ #e +2 #tStoring generic puck in Collection Clamp to tube 2 + "manipulator"&P% +4 "core" %\ - "Z + "storage"($% +4 "core" %7  c\ +2 "storage"(S. +3 "core" .(  + "storage"(& +4 "core" &    m\ + "storage"(& +4 "core" &    I\ +2 "manipulator"&f& +3 "core" &< "~ +2 .tElbow.seek 2 +2 "manipulator"&8(; +3 "core" ( + "manipulator"&?& +4 "core" &< "~ +2 "storage"(& +4 "core" &  & 1 \ \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&'Ѐ +89 "core" ' +2 "storage"(Q& +4 "core" &  ) 1 A\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(O'e +279 "core" ' +2 "storage"(R- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +2 "manipulator"&1& +3 "core" &<  "~ +2 "storage"(2& +3 "core" &  4 8 x\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&4'ξ +29 "core" ' + .tElbow.hold +2 "manipulator"&9, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(;- +2 "core" -' +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(q'm +28 "core" ' + "manipulator"&>% +5 "core" %v   7 ź4 + "storage"(d& +4 "core" &  a\ + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 2 + 320 counts +2 "manipulator"&"' +16 "core" ' +2 "manipulator"&C& +4 "core" &= ~ o F "} +2 "storage"(& +3 "core" &  A A j\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&7'Ѐ +15 "core" ' +2 .tSE.seek 1.11 Pucks below Top Plate + "storage"(@'\\ +47 "core" ' +2 "manipulator"&W& +4 "core" &= o d "} +2 "manipulator"&I% +4 "core" %i n e  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +88 "core" ' + .tElbow.seek CC +2 "manipulator"&|( +150 "core" ( + "manipulator"&M& +4 "core" && 6 >J +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &z& +3 "core" &' + >J +2 .tForearm.seek CC +2 "manipulator"&'| +97 "core" ' +2 .tHand.close + "manipulator"&r/ +52 "core" / +2 .tCC.seek :open + "collection"'&(p +411 "core" ( + "storage"(& +4 "core" &  \ +2 "storage"(N& +3 "core" &  E\ +2 "manipulator"&U& +3 "core" &! 9' +2 "manipulator"&D% +4 "core" % ύ  + .tForearm.seek :retract +2 "manipulator"&%'\ +99 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&(; +160 "core" ( +2 "manipulator"&6& +4 "core" &7 o I + "storage"(\ & +4 "core" &  \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +2 .tForearm.seek 2 +2 "manipulator"&i'ξ +112 "core" ' +2 .tElbow.hold +2 "manipulator"&K, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&+1 +60 "core" 1 +3 "manipulator"&J% +4 "core" % m   1 Ʒ + "storage"(#& +4 "core" &  X W c\ + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 2 + 307 counts +2 "manipulator"&A' +11 "core" ' +2 "manipulator"&g& +4 "core" &9 ^ r G + "storage"(-& +4 "core" &  W\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts + "manipulator"&V'Ѐ +17 "core" ' +2 "storage"(m% +4 "core" %Z \ +2 ."downElevator"SE.seek :down +3 "storage"('N +99 (% +3 "core" %=> \ U\\ +2 "manipulator"&/% +4 "core" %Є o q  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&Y'\ +87 "core" ' +52 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 3 of [2..3] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"'x& +4 "core" &;>\ +2 "manipulator"&H% +4 "core" %\ ( c J + "storage"(% +4 "core" %B F\  +2 "storage"(. +3 "core" .(  +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(b( +364 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (*& +3 "core" & [ X\  + "manipulator"&_& +4 "core" &9 s G +2 .tElbow.seek 3 + "manipulator"&\\(D +22 "core" ( + "manipulator"& & +4 "core" &a   +2 "storage"( & +4 "core" & G\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&]' +93 "core" ' +2 "storage"(!& +4 "core" & &\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(Z'e +282 "core" ' +2 "storage"( - +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (B& +2 "core" & \  +2 "manipulator"&L& +3 "core" &a c  +2 .tElbow.seek 3 +2 "manipulator"&j(D +40 "core" ( + "manipulator"&p& +4 "core" &9 I P +2 "storage"(& +3 "core" & \ \  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&='y +11 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +113 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&v& + "storage"(G'N +7 "core" &9  P +2 "manipulator"&% +4 "core" % m 3 J +2 .tForearm.seek :retract + "manipulator"&'\ +90 "core" ' +2 .tElbow.seek CC + "manipulator"&n( +155 "core" ' + ."downElevator"SE.stop +3 "storage"(5 +2 "core" ( +2 "manipulator"&& +4 "core" &- ; Cm + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &u& +3 "core" &- 4 Cm +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&'| +96 "core" ' +2 "manipulator"&l& +4 "core" &- C Cm +2 "manipulator"&{% +4 "core" %{ +2 "collection"''& +4 "core" &;<\ +2 "collection"'X& +5 "core" &<>\ +2 .tCC.seek :closed +2 "collection"'(] +4 "core" &;=\  +9 &2<<\ *y +9 &d<<\ > +9 &Rz;>\ N +10 &Z:>\ M +9 &]:<\ L +10 &\\9>\ M +9 &!\\Z<?\ M +9 &#\\;:\ M +10 &$[;<\ M +9 &&_:= \ M +9 &(e];<\ M +10 &*']:=\ M +9 &+Y:=\ L +10 &-\\;<\ M +9 &/m_9<\ M +9 &1/]:= \ M +10 &2Y<<\ M +9 &4Z=<\ L +9 &6u[=: \ M +10 &87Y<;\ M +9 &9Y<< \ M +10 &;Z7<\ M +9 &=|]<;\ M +9 &??Y<= \ M +10 &AZ:<\ M +9 &B[:<\ M +9 &DZ9;\ L +10 &FG\\:<\ M +9 &H`16\ M +10 &It%\ P +9 &Kz \ S +9 &M1\ W +10 &N\ W +9 &P\ X +9 &Rr\ Y +10 &T3\ Y +9 &U\ Z +10 &W \ [\ +9 &Yq\ \\ +9 &[2\ \\ +10 &\\|\ 1 +9 &]&\ "d +9 ( +3 "collection"'X& +3 #tCollection Clamp onSpring/offSpring for 9/25 samples, on/off torque 2.12 + .Hand.open +2 "manipulator"&~1 +3 "core" &]\ X +55 1 + "manipulator"&^% +4 "core" % { Z +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&F'\ +92 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%& +5 "core" &\ + "manipulator"&% +4 "core" %\ ( a G + "storage"(% +4 "core" %@ 8 4\  +2 "storage"([. +3 "core" .( + "storage"(E& +4 "core" & 8 9\  + "storage"(y& +4 "core" & 8 4\  +2 "manipulator"&3& +3 "core" &* C Ae +2 "manipulator"&a% +4 "core" %\ ( 9 G +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&0(D +162 "core" ( +2 "manipulator"&& +4 "core" &H e  +2 "storage"(k& +3 "core" & Z [ \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&s' +104 "core" ' + "storage"()& +4 "core" & r | D\  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(w'e +279 "core" ' +2 "storage"( - +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (o& +2 "core" & X c \  +2 "manipulator"&}& +3 "core" &H o o !  +2 .tElbow.seek 3 +2 "manipulator"&h(D +3 "core" ( + "manipulator"&t& +4 "core" &H u r  + "storage"(:& +4 "core" & s s 3\  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&'y +24 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&5/ +53 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& + "storage"(P'N +8 "core" &H q o   + "manipulator"&$% +4 "core" % r e n _ +2 .tForearm.seek :retract +2 "manipulator"&S'\ +96 "core" ' +2 .tElbow.seek PC +2 "manipulator"&(c +155 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +78 "core" ( +2 "manipulator"&.& +4 "core" &l D + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &l D +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&f'[ +99 "core" ' +2 "manipulator"&?& +4 "core" &l D D +2 "manipulator"&% +4 "core" %O x +2 "processing"%(& +3 "core" &\ +2 "processing"%Q& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"% (Z +4 "core" &\ +7 & 0\ #a +9 &]V\ 7 +10 &\ L +9 &pW\ M +9 &3Y\ M +10 &Z\ L +9 & \\\ M +10 &"yY\ M +9 &$;Z\ M +9 &%]\ M +10 &'Z\ M +9 &)Y\ M +9 &+CZ\ M +10 &-[\ M +9 &.Z\ M +10 &0Z\ M +9 &2JZ\ M +9 &4 Z\ M +10 &5Z\ L +9 &7[\ M +9 &9RZ\ M +10 &;Z\ M +9 &<Y\ M +10 &>\\\ M +9 &@[\\\ M +9 &B[\ M +10 &C]\ M +9 &E[\ M +9 &Ga_\ M +10 &Ig\ O +9 &Jr\ P +10 &L\ R +9 &NV\ T +9 &P\ S +10 &Q\ S +9 &S\ T +9 &U^\ T +10 &W\ T +9 &X\ T +10 &Z:Ih\ +} +9 &Z[\ 1 +9 ( +2 "processing"%Q& +3 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.58 +2 .Hand.open + "manipulator"&,1 +4 "core" &Z%\ / +57 1 +2 "manipulator"&% +4 "core" % O 0 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&R'\ +93 "core" ' + "processing"%1& +4 "core" &Z"\ / +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&2% +4 "core" %\ & > ? +2 "storage"(;% +4 "core" %@ 3 3\ + "storage"(>. +3 "core" .( +2 "storage"(d& +4 "core" & 8 4\  +2 "storage"(C& +2 "manipulator"&& +7 "core" & 8 :\  + &l Q D +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +3 "storage"(#]kK-0-\ b + "manipulator"&W(c +5 ."raiseStack"SE.seek :beamBreak +2 "storage"(I'e +2 "core" ( +2 "manipulator"&& +4 "core" &l ^ D + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &8& +3 "core" &l Q D +2 .tForearm.seek PC +2 "manipulator"&O'[ +94 "core" ' +2 .tHand.close + "manipulator"&4/ +61 "core" / +2 .tPC.seek :open +2 "processing"%"(p +90 "core" ' +2 "storage"(q- +3 "core" -'e +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(M'B +38 "core" ' +253 ( +2 "storage"(z& +4 "core" & Y Z \  + "manipulator"&7& +4 "core" &l  D + "manipulator"&9% +4 "core" % ]   +2 .tForearm.seek :retract +2 "manipulator"&r'\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&(D +250 "core" ( +2 "manipulator"&<& +4 "core" &I { "x + "storage"(& +4 "core" & ( ) \ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&N' +103 "core" ' + .tHand.open +2 "manipulator"&U1 +56 "core" 1 +3 "storage"(D- +4 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate + "storage"(6' +26 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.83 Pucks below Top Plate + "storage"(\ ' +53 "core" ' +2 #tLights, camera, ACTION! + "storage"(- +4 "core" -' + "storage"(|& +4 "core" & \  +2 "manipulator"&+& +3 "core" &I ! "x +2 .tElbow.seek 3 +2 "manipulator"&J(D +3 "core" ( + "manipulator"&#& +4 "core" &I F "x +2 "storage"(g& +4 "core" & \  +2 .tForearm.seek 3 + 450 counts + "manipulator"&-' +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.11 Pucks below Top Plate +3 "storage"(m'M +62 "core" ' + "manipulator"&%& +4 "core" &I D "x +2 "storage"(& +4 "core" & X [\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 + "manipulator"&/'M +31 "core" ' +2 .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tSE.reconfigure :default +8 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate + "storage"(i'7 +51 "core" ' + "manipulator"&x% +4 "core" %af 4 6 ʵ +2 "storage"(H& +4 "core" & %\  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 3 + 320 counts +51 "manipulator"&A'ύ +20 "core" ' + "manipulator"&& +5 "core" &7 o  $ + "storage"(& +4 "core" & s t \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&@' +16 "core" ' + "storage"(V% +5 "core" %9 u t \ +2 ."downElevator"SE.seek :down +4 "storage"('N +98 (`% +3 "core" %x; ) * \ U^ +2 "manipulator"&*% +4 "core" % , +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&_'\ +95 "core" ' +56 ' + ."downElevator"SE.stop +2 "storage"(5 +2 ( & +4 "core" & M '\  +2 "collection"' & +4 "core" &]\ X +2 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&!% +4 "core" %\ 2 $t +2 "storage"(K% +4 "core" %E ) 1 L\  + "storage"(Y. +3 "core" .( +2 "storage"( & +3 "core" & ( 0 \  +2 "storage"(B& +4 "core" & + ) 3\  +2 "manipulator"&L& +3 "core" &7  $ +2 .tElbow.seek 3 +2 "manipulator"&p(D +17 "core" ( + "manipulator"&& +4 "core" &O ( +2 "storage"(& +4 "core" & 8 ;\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&v' +90 "core" ' +2 "storage"(& +4 "core" & W K 9\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(\\'e +277 "core" ' +2 "storage"(]- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +2 "core" &P < ( +2 "storage"(u& +4 "core" & V X A\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 + "manipulator"&Z'M +31 "core" ' + .tElbow.hold +2 "manipulator"&=, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(l- +3 "core" -' +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"({'k +28 "core" ' + "manipulator"&'% +4 "core" %`[ Y Y β +2 "storage"(j& +4 "core" & L\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 319 counts + "manipulator"&G'ό +19 "core" ' + "manipulator"&& +4 "core" &[ p > & +2 "storage"(&& +4 "core" & [ [\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&~' +20 "core" ' +2 .tSE.seek 1.11 Pucks below Top Plate +2 "storage"(^'Z +49 "core" ' + "manipulator"&& +5 "core" &[  & + "manipulator"&% +4 "core" %  P +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&'\ +92 "core" ' +2 .tElbow.seek CC + "manipulator"&[( +150 "core" ( +2 "manipulator"&E& +4 "core" &+ ~ Bf + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &y& +3 "core" &+ Bf +2 .tForearm.seek CC + "manipulator"&X'| +102 "core" ' +2 .tHand.close + "manipulator"&3/ +52 "core" / +2 .tCC.seek :open + "collection"'a(p +411 "core" ( +2 "storage"(& +4 "core" & z\  + "storage"(& +4 "core" & \  + "manipulator"&k& +4 "core" &*  @[ + "manipulator"&)% +4 "core" % ς  +2 .tForearm.seek :retract + "manipulator"&n'\ +99 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&F(D +166 "core" ( + "manipulator"& & +4 "core" &? !  +2 "storage"(o& +4 "core" & p\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 3 +2 "manipulator"&}'M +110 "core" ' +2 .tElbow.hold + "manipulator"&t, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&:1 +57 "core" 1 +3 "manipulator"&5% +4 "core" % `z \  = û; +2 "storage"(& +4 "core" & N K \  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 319 counts + "manipulator"&$'ό +17 "core" ' +2 "manipulator"&0& +4 "core" & ^ u   +2 "storage"(s& +3 "core" & \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&w' +16 "core" ' +2 "storage"(% +4 "core" %_ p\ +2 ."downElevator"SE.seek :down +3 "storage"(.'N +99 (% +3 "core" %< \ UZ +2 "manipulator"&h% +4 "core" % e k m +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&?'\ +95 "core" ' +44 ' + ."downElevator"SE.stop +2 "storage"(5 +2 #tShuffling pucks in tube 2 of [2..3] +2 #Loading generic puck from tube 2 into Collection Clamp +2 "collection"'& +4 "core" &::\ + "manipulator"&(% +4 "core" %\ 3 %| +2 "storage"(P% +4 "core" %: C\ + "storage"(S. +4 "core" .( + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"(T(  +355 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (,& +3 "core" &  t v '\ + "manipulator"&& +4 "core" & |  +2 .tElbow.seek 2 + "manipulator"&1(; +22 "core" ( + "manipulator"&2& +5 "core" &7\ S + "storage"(;& +4 "core" &  d\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&>'Ѐ +92 "core" ' +2 "storage"(d& +4 "core" &  \ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(Q'e +276 "core" ' + "storage"(C- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" &  k\ + "manipulator"&& +4 "core" &7\ v S +2 .tElbow.seek 2 + "manipulator"&8(; +3 "core" ( +2 "manipulator"&f& +4 "core" &7\  S + "storage"(4& +4 "core" &  )\ +2 .tForearm.seek 2 + 300 counts + "manipulator"&q' +20 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +62 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&R& +2 "storage"( 'N +7 "core" &7\ a c k S +2 "manipulator"&z% +4 "core" % l e + .tForearm.seek :retract +2 "manipulator"&7'\ +97 "core" ' + .tElbow.seek CC +2 "manipulator"&I( +144 "core" ' + ."downElevator"SE.stop + "storage"(5 +4 "core" ( + "manipulator"&9& +4 "core" &% n << + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &O& +3 "core" &$ l << +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&<'| +103 "core" ' +2 "manipulator"&& +4 "core" &% << +2 "manipulator"&W% +4 "core" %υ U +2 "collection"'U& +3 "core" &<=\ +2 "collection"'D& +5 "core" &<;\ +2 .tCC.seek :closed +2 "collection"'(] +4 "core" &:=\  +9 &1;<\ *z +9 &d<<\ > +10 &Vv:<\ M +9 &[;=\ L +10 &`<<\ M +9 &]:<\ L +9 &!a\\<=\ L +10 &#"_;<\ M +9 &$\\<=\ L +9 &&Z:=\ M +10 &(h];=\ M +9 &*+^;:\ L +10 &+];>\ L +9 &-];<\ M +9 &/p];<\ M +10 &13_;=\ L +9 &2`;>\ L +9 &4_;= \ L +10 &6x\\== \ M +9 &8;Z;=\ L +10 &9Z;<\ L +9 &;X:;\ M +9 &=\\;= \ M +10 &?DZ;>\ L +9 &A^<< \ M +9 &B_;9\ M +10 &D\\<= \ L +9 &FK];<\ L +10 &H\ c17\ M +9 &Io) \ O +9 &K \ R +10 &M7\ \ V +9 &N \ W +9 &P\ X +10 &Rw\ X +9 &T6\ Y +10 &U\ Z +9 &W \ Z +9 &Yq\ ] +10 &[6\ \\ +9 &\\{\ 1 +9 &]"\ 'q +10 &] \ ] +2 ( +2 "collection"'D& +3 #tCollection Clamp onSpring/offSpring for 9/25 samples, on/off torque 2.07 + .Hand.open +2 "manipulator"&|1 +56 "core" 1 +2 "manipulator"&+% +4 "core" % ς o +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&#'\ +92 "core" ' + #tLoading generic puck from tube 2 into Processing Clamp +2 "processing"%g& +4 "core" &\ + "manipulator"&r% +4 "core" %\ %  6 +53 "storage"(%% +4 "core" %: 8 5\ + "storage"(. +3 "core" .(  +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 2 + "storage"(M(  +8 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (x& +3 "core" & \ \  \ +2 "manipulator"&6& +4 "core" &%  <: + "manipulator"&H% +5 "core" %\ %  6 +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&(; +163 "core" ( + "manipulator"&& +5 "core" &3 a  + "storage"(& +4 "core" &  X X L\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&N'Ѐ +109 "core" ' +2 "storage"(\ & +4 "core" &  p s :\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(V'e +277 "core" ' +2 "storage"(-- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (J& +2 "core" &  Y V q\ +2 "manipulator"&`& +3 "core" &3 n n  +2 .tElbow.seek 2 +2 "manipulator"&*(; +3 "core" ( + "manipulator"&m& +4 "core" &3 r t 5  +2 "storage"(/& +4 "core" &  p r \ +2 .tForearm.seek 2 + 300 counts + "manipulator"& ' +26 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&A/ +57 "core" / +2 ."downElevator"SE.seek :down +5 "manipulator"& & +2 "storage"(!'N +6 "core" &3 n o  + "manipulator"&K% +4 "core" % o o P +2 .tForearm.seek :retract +2 "manipulator"&Y'\ +90 "core" ' +2 .tElbow.seek PC +2 "manipulator"& (c +160 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +84 "core" ( +2 "manipulator"&i& +4 "core" &i  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &B& +3 "core" &i K +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&L'[ +91 "core" ' +2 "manipulator"&& +4 "core" &i K +2 "manipulator"&% +4 "core" %W   +2 "processing"%@& +4 "core" &\ +2 "processing"%& +5 "core" &\ +2 .tPC.seek :closed + "processing"%(Z +5 "core" &\  +9 &2\ )w +10 &d\ > +9 &Dx\ N +10 &Y\ M +9 &[\ M +9 &Y\ L +10 &!M\\\ M +9 &#X\ M +9 &$]\ M +10 &&Z\ M +9 &(UY\ M +10 &*Y\ M +9 &+Y\ M +9 &-Z\ L +10 &/]\\\ M +9 &1!Z\ L +9 &2[\ M +10 &4Y\ M +9 &6f\\\ M +9 &8)[\ L +10 &9Z\ M +9 &;X\ M +10 &=oZ\ L +9 &?/\\\ M +9 &@]\ M +10 &BY\ L +9 &Dv\\\ M +9 &F6b\ M +10 &Gg\ N +9 &Iu\ O +10 &Ko\ R +9 &M-\ S +9 &N\ T +10 &P\ S +9 &Rr\ S +9 &T4\ S +10 &U\ T +9 &W\ T +10 &Yy\ A +9 &Zx<\ Z +9 &Z3\ 3 +6 ( + "processing"%& +5 #tProcessing Clamp onSpring/offSpring for 9/25 samples, on/off torque 1.65 + .Hand.open + "manipulator"&1 +4 "core" &Z+\ 3 +48 1 +2 "manipulator"&_% +4 "core" % W N  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&]'\ +91 "core" ' +2 "processing"%& +4 "core" &Z+\ 3 + #tImaging generic puck in Processing Clamp while storing it to tube 2 +2 "manipulator"&u% +4 "core" %\ & B +2 "storage"(l% +3 "core" %D   "\ +2 "storage"('. +3 "core" .(  +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"(j(  +8 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (& +4 "core" &  \  #\ + "manipulator"&&& +3 ."raiseStack"SE.reconfigure :place +6 "storage"(#]kK-0-\ b +2 "core" &i | +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +3 ."raiseStack"SE.seek :beamBreak +3 "manipulator"&(c + "storage"('e +5 "core" ( +2 "manipulator"&v& +4 "core" &i + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &p& +3 "core" &i k +2 .tForearm.seek PC +2 "manipulator"&\\'[ +100 "core" ' + .tHand.close +2 "manipulator"&Z/ +55 "core" / +2 .tPC.seek :open +2 "processing"%G(p +88 "core" ' + "storage"({- +4 "core" -'e + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place + "storage"(E'B +35 "core" ' +259 ( + "storage"(y& +4 "core" &  C I \ +2 "manipulator"&~& +3 "core" &i T +2 "manipulator"&=% +4 "core" % ` +2 .tForearm.seek :retract + "manipulator"&3'\ +99 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&(; +278 "core" ( + "manipulator"&& +4 "core" &: w  +2 "storage"(& +4 "core" &  A B W\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&'Ѐ +100 "core" ' + .tHand.open +2 "manipulator"&k1 +62 "core" 1 +2 "storage"()- +4 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate + "storage"( ' +26 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(o' +54 "core" ' +2 #tLights, camera, ACTION! + "storage"(X- +4 "core" -' + "storage"([& +4 "core" &  \ + "manipulator"&:& +4 "core" &:  +2 .tElbow.seek 2 +2 "manipulator"&5(; +3 "core" ( +2 "manipulator"&& +3 "core" &: M  +2 "storage"(0& +4 "core" &  .\ +2 .tForearm.seek 2 + 450 counts + "manipulator"&s'Ѐ +22 "core" ' + .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"('M +62 "core" ' + "manipulator"&n& +5 "core" &: n n C  + "storage"(& +4 "core" &  X N Q\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 + "manipulator"&h'ξ +35 "core" ' + .tElbow.hold +2 "manipulator"&F, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"(}'7 +25 "core" ' +2 "manipulator"&% +4 "core" %v   ú4 +2 "storage"((& +4 "core" & \ \  \ + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 2 + 320 counts + "manipulator"&$' +18 "core" ' +2 "manipulator"&P& +4 "core" &: ^ u   +2 "storage"(S& +4 "core" &  s s \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts +2 "manipulator"&^'Ѐ +19 "core" ' + "storage"(w% +4 "core" %8 w x\  +3 ."downElevator"SE.seek :down +4 "storage"(.'N +99 (b% +3 "core" %= A . 0\ U^ +2 "manipulator"&,% +4 "core" %v n n  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +87 "core" ' +63 ' + ."downElevator"SE.stop + "storage"(5 +3 (2& +3 "core" &   -\ +3 "collection"';& +3 "core" &]\ ] +2 #tStoring generic puck in Collection Clamp to tube 2 + "manipulator"&d% +4 "core" %\ (  G +2 "storage"(t% +3 "core" %E X X L\  +2 "storage"(?. +3 "core" .(  +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"(C(  +8 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (& +2 "core" &  x\ +2 "manipulator"&& +4 "core" &: 4  + .tElbow.seek 2 +2 "manipulator"&f(; +3 "core" ( +2 "manipulator"&4& +4 "core" &: &  + "storage"(& +4 "core" &  X X "\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&R'Ѐ +100 "core" ' + "storage"(z& +4 "core" &  o s M\ +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(1'e +278 "core" ' +50 "storage"(>- +6 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&9& +3 "core" &:  9  +2 "storage"(O& +4 "core" &  [ Y \ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 + "manipulator"&Q'ξ +34 "core" ' + .tElbow.hold +2 "manipulator"&q, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(- +2 "core" -' +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(W'm +28 "core" ' + "manipulator"&U% +5 "core" %b  ' ƴ + "storage"(8& +4 "core" &  r\ + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 2 + 310 counts + "manipulator"& ' +19 "core" ' +2 "manipulator"&7& +4 "core" &: _ j w  +2 "storage"(a& +4 "core" &  [ X 9\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts +2 "manipulator"&|'Ѐ +23 "core" ' +2 .tSE.seek 1.11 Pucks below Top Plate +2 "storage"(+'\\ +46 "core" ' +2 "manipulator"&g& +4 "core" &: o m $  +2 "manipulator"&r% +4 "core" %Ф k n +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&D'\ +87 "core" ' +2 .tElbow.seek CC +2 "manipulator"&%( +152 "core" ( +2 "manipulator"&& +5 "core" &#  ;6 + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &x& +2 "core" &# V ;6 +2 .tForearm.seek CC +2 "manipulator"&6'| +101 "core" ' +2 .tHand.close + "manipulator"&H/ +55 "core" / +2 .tCC.seek :open +2 "collection"'<(p +410 "core" ( +2 "storage"(& +4 "core" &  \ \ + "storage"(& +4 "core" &  \ + "manipulator"&T& +4 "core" &&  5 +2 "manipulator"&\ % +3 "core" %   +2 .tForearm.seek :retract +2 "manipulator"&I'\ +100 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&#(; +156 "core" ( +2 "manipulator"&-& +4 "core" &> E  +2 "storage"(J& +3 "core" &  ^\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 2 + "manipulator"&`'ξ +108 "core" ' + .tElbow.hold +2 "manipulator"&m, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&/1 +55 "core" 1 +2 "manipulator"&A% +4 "core" %  N M +2 "storage"( & +3 "core" &  t u 2\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 319 counts +2 "manipulator"&K' +19 "core" ' + "manipulator"&& +5 "core" &> s q 9  + "storage"(N& +4 "core" &  O\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&V'Ѐ +15 "core" ' +2 "storage"( % +4 "core" %V =\ +2 ."downElevator"SE.seek :down +4 "storage"(i'N +98 (B% +3 "core" %*? \ TZ +2 "manipulator"&*% +3 "core" %v n n +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +87 "core" ' +52 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 3 of [2..3] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"'& +4 "core" &9=\ +2 "manipulator"&@% +4 "core" %\ & s B + "storage"(!% +4 "core" %9 B\ +2 "storage"(Y. +3 "core" .(  +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 + "storage"("( +361 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (& +2 "core" & Z [ \  +2 "manipulator"&_& +4 "core" &>   + .tElbow.seek 3 +2 "manipulator"&(D +3 "core" ( + "manipulator"&u& +4 "core" &> m  +2 "storage"(l& +3 "core" & D\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&'' +104 "core" ' +2 "storage"(& +4 "core" & Y\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('e +288 "core" ' +2 "storage"(&- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (v& +2 "core" & \  +2 "manipulator"&p& +4 "core" &> m k  + .tElbow.seek 3 +2 "manipulator"&L(D +3 "core" ( +2 "manipulator"&Z& +4 "core" &> t r 6  + "storage"(M& +4 "core" & \  +2 .tForearm.seek 3 + 300 counts + "manipulator"&{'y +23 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"& / +61 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&]& + "storage"('N +7 "core" &> ` e r  +2 "manipulator"&y% +4 "core" % p o n +2 .tForearm.seek :retract + "manipulator"&~'\ +89 "core" ' +2 .tElbow.seek CC +2 "manipulator"&( +153 "core" ( +2 "manipulator"&=& +4 "core" ' + &# s ;7 + ."downElevator"SE.stop +3 .tElbow.reconfigure :loose +3 "storage"(5 + "manipulator"&$ &.,(#b +4 &\\& +3 "core" &$ I ;7 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&'| +98 "core" ' + "manipulator"&& +4 "core" &$  ;7 +2 "manipulator"&% +4 "core" %~ p +2 "collection"'k& +4 "core" &9>\ +2 "collection"')& +4 "core" &;>\ +3 .tCC.seek :closed + "collection"'X(] +5 "core" &<=\ +7 & 7<>\ %f +10 &qX;>\ 7 +9 &:< \ L +11 &[;:\ L +8 &L_:=\ L +9 &^;<\ L +10 & [;< \ M +9 &"\\:>\ M +9 &$TY;=\ L +10 &&[<=\ L +9 &'[;>\ L +9 &)\\;>\ M +10 &+[\\;=\ M +9 &-\\;<\ M +10 &.];>\ M +9 &0^:=\ M +9 &2dZ<=\ L +10 &4&[;=\ L +9 &5Y;< \ L +9 &7\\9<\ M +10 &9k\\9=\ \ M +9 &;-\\;=\ M +10 &<[9= \ L +9 &>[;=\ L +9 &@t_;=\ L +10 &B5_8;\ \ M +9 &C]9=\ M +9 &E\\:<\ M +10 &G{]2: \ M +9 &I8n", \ N +10 &J \ R +9 &L \ V +9 &Ne \ W +10 &P&\ W +9 &Q \ X +9 &S\ Y +10 &Ue\ Z +9 &W(\ Y +10 &X\ [\ +9 &Z\ \\ +9 &\\h\ H +10 &]\\2 \ 0 +9 &] \ ^ +5 ( +2 "collection"')& +4 #tCollection Clamp onSpring/offSpring for 10/26 samples, on/off torque 2.08 +2 .Hand.open + "manipulator"&[1 +4 "core" &]\ ^ +52 1 + "manipulator"&:% +4 "core" % ~ b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +98 "core" ' + #tLoading generic puck from tube 3 into Processing Clamp +2 "processing"%0& +4 "core" &\ + "manipulator"&3% +4 "core" %\ 3 %~ +2 "storage"(n% +4 "core" %< # \ + "storage"(. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 + "storage"(E( +3 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (& +3 "core" & L\  + "manipulator"&(& +4 "core" &# ;6 +2 "manipulator"& % +3 "core" %\ 3 %~ +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&P(D +164 "core" ( + "manipulator"&S& +4 "core" &=  +2 "storage"(w& +3 "core" & K = \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&' +102 "core" ' +2 "storage"(& +4 "core" & o s _\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(o'e +276 "core" ' +2 "storage"(b- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +2 (,& +3 "core" & Y W m\  +2 "manipulator"&s& +3 "core" &= d m l  +2 .tElbow.seek 3 + "manipulator"&5(D +4 "core" ( + "manipulator"&& +4 "core" &= r t  + "storage"(h& +4 "core" & o ^ h\  +2 .tForearm.seek 3 + 300 counts + "manipulator"&$'y +22 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&2/ +58 "core" / +54 ."downElevator"SE.seek :down +4 "manipulator"&;& + "storage"(d'N +7 "core" &= .  +2 "manipulator"&t% +4 "core" % y : +2 .tForearm.seek :retract + "manipulator"&?'\ +92 "core" ' +2 .tElbow.seek PC +2 "manipulator"&}(c +162 "core" ' + ."downElevator"SE.stop + "storage"(5 +85 "core" ( +2 "manipulator"&& +4 "core" &a ` +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &a n +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&4'[ +104 "core" ' +2 "manipulator"&& +4 "core" &a U +2 "manipulator"&^% +4 "core" %\\ P m + "processing"%z& +4 "core" &\ +2 "processing"%.& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%j(Z +5 "core" &\  +9 &2\ )w +9 &d\ > +10 &Cv\ N +9 &T\ M +10 &Z\ L +9 &Y\ M +9 &!N]\ M +10 &#[\ L +9 &$X\ L +9 &&Z\ L +10 &(WZ\ L +9 &*]\ M +9 &+\\\ M +11 &-\\\ M +8 &/]]\ M +10 &1!Z\ L +9 &2Z\ L +9 &4X\ M +10 &6gW\ L +9 &8)Z\ L +10 &9W\ M +9 &;Y\ L +9 &=oZ\ L +10 &?1\\\ L +9 &@\\\ L +9 &BY\ L +10 &Dv]\ M +9 &F8_\ M +10 &Gd\ N +9 &Il\ N +9 &Ktz\ P +10 &M/\ R +9 &N\ S +9 &P\ S +10 &Rs\ S +9 &T5\ S +10 &U\ T +9 &W\ S +9 &Yz\ @ +10 &Zz>\ U +9 &Z6\ 4 +2 ( +2 "processing"%.& +3 #tProcessing Clamp onSpring/offSpring for 9/25 samples, on/off torque 1.63 + .Hand.open +2 "manipulator"&F1 +62 "core" 1 +2 "manipulator"&% +4 "core" % \\ ~ * m +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&>'\ +97 "core" ' +2 "processing"%9& +4 "core" &Z-\ 4 +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&O% +4 "core" %\ 6  & + "storage"(% +4 "core" %N   A\ \ + "storage"(U. +3 "core" .( +2 "storage"(8& +4 "core" &   =\  +2 "storage"(7& +2 "manipulator"&a& +6 "core" &   5\  +2 &a  +2 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +2 "storage"(#]kK-0-\ b +2 .tElbow.seek PC +5 "manipulator"&g(c +3 ."raiseStack"SE.seek :beamBreak +2 "storage"(r'e +3 "core" ( + "manipulator"&R& +4 "core" &a M + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &f& +3 "core" &a % +2 .tForearm.seek PC +2 "manipulator"&1'[ +95 "core" ' + .tHand.close +2 "manipulator"&Q/ +56 "core" / +2 .tPC.seek :open +2 "processing"% (p +92 "core" ' + "storage"(W- +3 "core" -'e +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('B +33 "core" ' +257 ( + "storage"(x& +4 "core" & 1 ' \  +2 "manipulator"&|& +4 "core" &a 9 + "manipulator"&q% +4 "core" % W 8 +2 .tForearm.seek :retract +2 "manipulator"&H'\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&D(D +264 "core" ( + "manipulator"&& +5 "core" &A ; ) + "storage"(& +4 "core" & : 9 F\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&' +17 "Can"` WU +75 "core" ' + .tHand.open +2 "manipulator"&T1 +53 "core" 1 +2 "storage"(\ - +4 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate + "storage"(-' +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.83 Pucks below Top Plate + "storage"(J' +51 "core" ' +2 #tLights, camera, ACTION! + "storage"(6- +4 "core" -' + "storage"(%& +4 "core" & 9\  +2 "manipulator"&/& +4 "core" &B  ( + .tElbow.seek 3 +2 "manipulator"&A(D +3 "core" ( +2 "manipulator"& & +4 "core" &B * ( + "storage"(& +4 "core" & 9\  +2 .tForearm.seek 3 + 450 counts + "manipulator"&N' +4 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"( 'M +63 "core" ' +2 "manipulator"&I& +4 "core" &B ( +2 "storage"(B& +4 "core" & A A N\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 + "manipulator"&*'M +31 "core" ' +2 .tElbow.hold + "manipulator"&#, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"(`'7 +24 "core" ' + "manipulator"&% +5 "core" %_f 8 7 ̵ + "storage"(@& +4 "core" & g\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 318 counts + "manipulator"&!'ϋ +15 "core" ' +2 "manipulator"&K& +4 "core" &V w  & +2 "storage"(Y& +4 "core" & [ Y\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&+' +19 "core" ' + "storage"(V% +5 "core" %= Z Y\ +2 ."downElevator"SE.seek :down +4 "storage"(i'N +98 (C% +3 "core" %w? < 9 \ V_ +2 "manipulator"&% +4 "core" % 5 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&_'\ +95 "core" ' +53 ' + ."downElevator"SE.stop + "storage"(5 +3 (u& +4 "core" & K c\  +2 "collection"'l& +4 "core" &]\ ^ +2 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&% +4 "core" %\ 1  $l + "storage"(m% +4 "core" %: 5 9 "\ + "storage"(. +3 "core" .( +2 "storage"(&& +4 "core" & 8 3\  + "storage"(v& +4 "core" & ? 7\  + "manipulator"&p& +4 "core" &W  & +2 .tElbow.seek 3 +2 "manipulator"&Z(D +33 "core" ( +2 "manipulator"&M& +4 "core" &H 9 + "storage"( & +4 "core" & . )\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&]' +98 "core" ' +3 "storage"(y& +4 "core" & [ [ 5\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('e +278 "core" ' + "storage"('- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&=& +3 "core" &H  +2 "storage"(\\& +4 "core" & W V /\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&'M +32 "core" ' + .tElbow.hold +2 "manipulator"&{, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(- +2 "core" -' +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"('k +28 "core" ' + "manipulator"&k% +5 "core" %^W & 0 ɱ + "storage"(L& +4 "core" & M\  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 3 + 317 counts + "manipulator"&'ϊ +19 "core" ' + "manipulator"&~& +5 "core" & t Y  + "storage"(<& +4 "core" & Y Z\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&[' +14 "core" ' +2 .tSE.seek 1.11 Pucks below Top Plate + "storage"(:'Z +50 "core" ' +2 "manipulator"&0& +4 "core" & p p +2 "manipulator"&3% +4 "core" % o n +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&n'\ +95 "core" ' +2 .tElbow.seek CC +2 "manipulator"&( +153 "core" ( + "manipulator"&)& +4 "core" &% a <@ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &% <@ +2 .tForearm.seek CC +2 "manipulator"&('| +94 "core" ' +2 .tHand.close + "manipulator"& / +58 "core" / +2 .tCC.seek :open +51 "collection"'(p +411 "core" ( + "storage"(S& +4 "core" & %\  +2 "storage"(w& +4 "core" & \  + "manipulator"&"& +4 "core" & % <9 + "manipulator"&% +4 "core" % p  +2 .tForearm.seek :retract + "manipulator"&'\ +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&(D +162 "core" ( +2 "manipulator"&b& +4 "core" &8 V  +2 "storage"(,& +4 "core" & v\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 3 +2 "manipulator"&s'M +108 "core" ' +2 .tElbow.hold + "manipulator"&, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&h1 +54 "core" 1 +2 "manipulator"&2% +4 "core" % a  Y +2 "storage"(;& +3 "core" & s s \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 320 counts +2 "manipulator"&t'ύ +19 "core" ' + "manipulator"&P& +4 "core" & t \\ +2 "storage"(& +4 "core" & D\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&o' +10 "core" ' +2 "storage"($% +4 "core" %^ {\ +2 ."downElevator"SE.seek :down +3 "storage"('N +100 (% +2 "core" %< ?\ U[ +2 "manipulator"&5% +4 "core" % p o 1 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +92 "core" ' +50 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 2 of [2..3] + #Loading generic puck from tube 2 into Collection Clamp +2 "collection"'^& +4 "core" &<=\ +2 "manipulator"&z% +3 "core" %\ 1 $o +2 "storage"(d% +4 "core" %A A\ + "storage"(?. +4 "core" .( + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"(G(  +361 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (F& +3 "core" &  X X +\ +2 "manipulator"&& +3 "core" & \\ +2 .tElbow.seek 2 +2 "manipulator"&9(; +18 "core" ( +2 "manipulator"&O& +4 "core" &6 n G + "storage"(& +3 "core" &  [\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts + "manipulator"&U'Ѐ +91 "core" ' + "storage"(.& +4 "core" &  .\ +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(8'e +280 "core" ' + "storage"(7- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (a& +3 "core" &  } c\ + "manipulator"&R& +4 "core" &6 G +2 .tElbow.seek 2 + "manipulator"&f(; +3 "core" ( +2 "manipulator"&4& +3 "core" &6  G +2 "storage"(Q& +4 "core" &  6\ +2 .tForearm.seek 2 + 300 counts + "manipulator"&W' +21 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&}/ +58 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&>& +2 "storage"(j'N +7 "core" &6 c k G + "manipulator"&x% +4 "core" % e o +2 .tForearm.seek :retract +2 "manipulator"&|'\ +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&r( +145 "core" ( + "manipulator"&q& +4 "core" & I 8 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 "core" ' +2 ."downElevator"SE.stop +2 "manipulator"&1& + "storage"(5 +6 "core" &!  8 + .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&'| +94 "core" ' +2 "manipulator"&& +4 "core" & , 8 +2 "manipulator"&g% +3 "core" %π   +2 "collection"'T& +4 "core" &<=\ +2 "collection"'\ & +5 "core" &;< \ +2 .tCC.seek :closed + "collection"'6(] +5 "core" &<=\ +7 &>==\ $e +10 &kV:;\ 7 +9 &<<\ L +9 &Y<= \ L +10 &F]:; \ L +9 &];=\ L +10 & ];=\ L +9 &"[9=\ L +9 &$M\\;>\ L +10 &&];>\ L +9 &'Z9<\ L +9 &)]8=\ L +10 &+T\\;=\ M +9 &-]:<\ L +10 &.^==\ L +9 &0^9>\ \ L +9 &2]Z== \ L +10 &4 [:;\ L +9 &5]:=\ L +9 &7^;= \ L +10 &9f];<\ L +9 &;(];<\ L +10 &<\\9<\ L +9 &>]9<\ \ L +9 &@o]8=\ L +10 &B1^:>\ L +9 &C^<;\ L +9 &E^;>\ L +10 &Gu`6;\ L +9 &I3k(1 \ N +10 &J \ P +9 &L\ T +9 &N`\ V +10 &P  \ W +9 &Q\ X +9 &S\ X +10 &U^\ Z +9 &W!\ Y +10 &X \ Z +9 &Z\ [ +9 &\\e\ G +10 &]h>\ #k +9 &] \ \\ +5 ( +2 "collection"'\ & +4 #tCollection Clamp onSpring/offSpring for 10/26 samples, on/off torque 2.06 +2 .Hand.open + "manipulator"&%1 +6 "core" &]|\ \\ +47 1 + "manipulator"&/% +4 "core" % π   +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"& '\ +95 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%& +4 "core" &\ +2 "manipulator"&H% +3 "core" %\ -  "\\ +2 "storage"(I% +4 "core" %P @ A !\  + "storage"(B. +3 "core" .(  +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 + "storage"((  +7 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (& +2 "core" &  {\ +2 "manipulator"&@& +4 "core" & 7 7 + "manipulator"&K% +4 "core" %\ - Z "\\ +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&-(; +162 "core" ( + "manipulator"&Y& +4 "core" &2 9  +2 "storage"(V& +3 "core" &  [ X\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&D'Ѐ +105 "core" ' +2 "storage"(& +4 "core" &  n .\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(J'e +281 "core" ' + "storage"(C- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +2 "core" &  W d ;\ +2 "manipulator"&N& +4 "core" &2 n o D  + .tElbow.seek 2 +2 "manipulator"&A(; +3 "core" ( +2 "manipulator"& & +4 "core" &2 t q y  + "storage"(*& +4 "core" &  s u >\ +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&u' +14 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&!/ +57 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&l& +2 "storage"('N +8 "core" &2 6  +2 "manipulator"&m% +4 "core" % M C +2 .tForearm.seek :retract + "manipulator"&'\ +96 "core" ' +2 .tElbow.seek PC + "manipulator"&&(c +156 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +80 "core" ( +2 "manipulator"&`& +9 "core" &^ c ? +5 .tElbow.reconfigure :loose +4 "manipulator"&$ &.,(#b +3 &v& +2 "core" &^ V ? +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&p'[ +107 "core" ' + "manipulator"&M& +4 "core" &^ w f \\ ? +2 "manipulator"& % +4 "core" %X g e O +2 "processing"%+& +3 "core" &\ +2 "processing"%y& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%i(Z +4 "core" &\  +9 &1\ *y +9 &e\ > +10 &Iu\ M +9 & X\ L +10 &^\ L +9 &Y\ L +9 &!Q]\ M +10 &#Y\ L +9 &$Y\ L +9 &&\\\ M +10 &(ZX\ L +9 &*\\\ M +10 &+Z\ M +9 &-W\ L +9 &/b\\\ L +10 &1#X\ M +9 &2]\ L +9 &4W\ L +10 &6jY\ L +9 &8+^\ M +10 &9Z\ M +9 &;\\\ L +9 &=q]\ M +10 &?4^\ L +9 &@Z\ M +9 &BY\ L +10 &Dy_\ M +9 &F:`\ M +10 &Gh\ N +9 &Iu\ O +9 &Kt\ Q +10 &M0\ S +9 &N\ S +9 &P\ S +10 &Ru\ S +9 &T7\ S +9 &U\ T +10 &W\ T +9 &Y{\ @ +10 &Z}?\ R +9 &Z\ ) +2 ( +2 "processing"%y& +3 #tProcessing Clamp onSpring/offSpring for 9/25 samples, on/off torque 1.63 + .Hand.open +2 "manipulator" +59 "core" 1 +2 "manipulator"&_% +4 "core" % X u ] n +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&''\ +91 "core" ' +3 "processing"%=& +4 "core" &Z\ ) +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 + "manipulator"&\\% +4 "core" %\ * ] !T +2 "storage"(% +3 "core" %P B A \ +2 "storage"(k. +3 "core" .(  +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"(L(  +5 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (~& +3 "core" &  \ + "manipulator"&<& +3 ."raiseStack"SE.reconfigure :place +6 "storage"(#]kK-0-\ b +2 "core" &^ J ? +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +3 ."raiseStack"SE.seek :beamBreak +2 "manipulator"&0(c + "storage"(3'e +5 "core" ( +2 "manipulator"&]& +4 "core" &^ ? + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &Z& +3 "core" &^ b ? +2 .tForearm.seek PC +2 "manipulator"&'[ +94 "core" ' +2 .tHand.close + "manipulator"&/ +52 "core" / +2 .tPC.seek :open +2 "processing"%(p +96 "core" ' +2 "storage"(- +4 "core" -'e + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"()'B +34 "core" ' +247 ( + "storage"(& +4 "core" &  Y Z\ +2 "manipulator"&[& +4 "core" &^  ? + "manipulator"&{% +4 "core" % a  \ +2 .tForearm.seek :retract + "manipulator"& '\ +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&n(; +261 "core" ( + "manipulator"&X& +4 "core" &M "{ +2 "storage"(S& +4 "core" &  ( ( \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&w'Ѐ +96 "core" ' +2 .tHand.open + "manipulator"&"1 +55 "core" 1 +2 "storage"(- +4 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate + "storage"(b' +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(,' +51 "core" ' +2 #tLights, camera, ACTION! + "storage"((- +4 "core" -' + "storage"(& +4 "core" &  \ + "manipulator"&h& +4 "core" &M  "{ +2 .tElbow.seek 2 +2 "manipulator"&2(; +29 "core" ( +2 "manipulator"&;& +4 "core" &C j y 7  +2 "storage"(P& +3 "core" &  \ +3 .tForearm.seek 2 + 450 counts + "manipulator"&'Ѐ +9 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.11 Pucks below Top Plate + "storage"($'M +62 "core" ' +2 "manipulator"&& +4 "core" &C n n  + "storage"(& +5 "core" &  s u \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&5'ξ +36 "core" ' + .tElbow.hold +2 "manipulator"&, +5 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"(s'7 +25 "core" ' +2 "manipulator"&^% +4 "core" %i   Ŷ +2 "storage"(z& +4 "core" & \ \ \ + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 2 + 308 counts + "manipulator"&d' +17 "core" ' + "manipulator"&t& +5 "core" &C Y s r  + "storage"(?& +4 "core" &  x { 5\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&:'Ѐ +16 "core" ' + "storage"(o% +5 "core" %7 x z x\  +2 ."downElevator"SE.seek :down +3 "storage"('N +99 (E% +3 "core" %? [ [ \ V_ +2 "manipulator"&F% +4 "core" %w m n +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +87 "core" ' +64 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (O& +4 "core" &  Z U v\ +2 "collection"'& +4 "core" &]{\ \\ +2 #tStoring generic puck in Collection Clamp to tube 2 + "manipulator"&.% +4 "core" %\ ( O D + "storage"(% +4 "core" %R [ X }\ + "storage"(. +4 "core" .(  + "storage"(7& +4 "core" &  X Z {\ + "storage"(a& +4 "core" &  Z O \ + "manipulator"&R& +4 "core" &C C  +2 .tElbow.seek 2 + "manipulator"&4(; +4 "core" ( + "manipulator"&Q& +4 "core" &C /  + "storage"(}& +4 "core" &  [ X \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts +6 "manipulator"&>'Ѐ +106 "core" ' +2 "storage"(x& +4 "core" &  n j :\ +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(9'e +276 "core" ' + "storage"(U- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&q& +3 "core" &C n n  + "storage"(1& +4 "core" &  v t #\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 + "manipulator"&8'ξ +33 "core" ' + .tElbow.hold +2 "manipulator"&W, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(- +3 "core" -' +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(g'n +28 "core" ' + "manipulator"&T% +4 "core" %s < ù( +2 "storage"(f& +3 "core" & \ %\  \ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 318 counts + "manipulator"&j' +19 "core" ' + "manipulator"&|& +4 "core" &C t \\ {  +2 "storage"(& +4 "core" &  u s ?\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&%'Ѐ +17 "core" ' +2 .tSE.seek 1.11 Pucks below Top Plate + "storage"(/'] +42 "core" ' +2 "manipulator"&& +4 "core" &C n m V  +2 "manipulator"&H% +4 "core" %Њ c k +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&I'\ +88 "core" ' +2 .tElbow.seek CC + "manipulator"&B( +155 "core" ( + "manipulator"&\ & +4 "core" &% k <? +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &% J <? +2 .tForearm.seek CC + "manipulator"&@'| +95 "core" ' + .tHand.close +2 "manipulator"&K/ +59 "core" / +2 .tCC.seek :open +2 "collection"'(p +410 "core" ( +2 "storage"(Y& +4 "core" &  \ + "storage"(V& +4 "core" &  /\ + "manipulator"&G& +4 "core" &%  <? + "manipulator"&% +4 "core" % σ  +2 .tForearm.seek :retract +2 "manipulator"&r'\ +91 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"& (; +172 "core" ( + "manipulator"&C& +5 "core" &/  + "storage"(& +4 "core" &  (\ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 2 +2 "manipulator"&N'ξ +107 "core" ' +2 .tElbow.hold + "manipulator"& , +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&*1 +62 "core" 1 +3 "manipulator"&!% +4 "core" % } , ¼K + "storage"(l& +4 "core" &  f o j\ + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 2 + 320 counts +2 "manipulator"&m' +19 "core" ' + "manipulator"&-& +4 "core" &/ t Y f +2 "storage"(D& +4 "core" &  \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&J'Ѐ +23 "core" ' + "storage"(u% +5 "core" %e {\ +2 ."downElevator"SE.seek :down +3 "storage"(`'N +100 (v% +2 "core" %(= \ U\\ +2 "manipulator"&A% +4 "core" %Њ d o q + +2 .tForearm.reconfigure :loose +51 "manipulator"&#Q@2^d^b +4 .tForearm.seek :retract +2 "manipulator"&M'\ +87 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +3 "core" ' +2 #tShuffling pucks in tube 3 of [2..3] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"' & +4 "core" &=>\ +2 "manipulator"&+% +4 "core" %\ - "^ +2 "storage"(% +4 "core" %9 \ + "storage"(. +4 "core" .(  + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"( ( +360 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (#& +2 "core" & [ Z\  +2 "manipulator"&_& +3 "core" &/ = +2 .tElbow.seek 3 +2 "manipulator"&=(D +21 "core" ( +2 "manipulator"&\\& +4 "core" &=  o +2 "storage"(& +3 "core" & i\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&k' +93 "core" ' + "storage"(y& +5 "core" & \  + .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(~'e +277 "core" ' + "storage"(<- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (]& +2 "core" & r\  +2 "manipulator"&Z& +3 "core" &B W j +2 .tElbow.seek 3 +2 "manipulator"&p(D +3 "core" ( + "manipulator"&& +4 "core" &B z j +2 "storage"(& +4 "core" & G\  +2 .tForearm.seek 3 + 300 counts + "manipulator"&'y +23 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&&/ +52 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&'& +2 "storage"(i'N +7 "core" &B a d p j +2 "manipulator"&% +4 "core" % o i o +2 .tForearm.seek :retract +2 "manipulator"&['\ +88 "core" ' +2 .tElbow.seek CC + "manipulator"&{( +147 "core" ( + "manipulator"&3& +5 "core" &# $ ;7 + .tElbow.reconfigure :loose +4 "manipulator"&$ &.,(#b + "core" ' +2 ."downElevator"SE.stop +3 "manipulator"&& +3 "storage"(5 +4 "core" &#  ;7 + .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&X'| +93 "core" ' +2 "manipulator"&S& +4 "core" &#  ;7 +2 "manipulator"&0% +4 "core" %{ #  +2 "collection"'"& +4 "core" &:<\ +2 "collection"'& +5 "core" &;<\ +2 .tCC.seek :closed +2 "collection"'((] +4 "core" &;=\ +7 & 6;<\ %f +9 &nV;@\ 7 +10 &;<\ L +9 &Y<>\ L +9 &I];<\ L +10 & \\:>\ L +9 & ];<\ L +9 &"]<>\ L +10 &$Q^;=\ L +9 &&]:>\ L +9 &'];=\ L +10 &)]=?\ L +9 &+X\\;>\ L +10 &-\\;;\ \ L +9 &._;= \ L +9 &0Z<=\ L +10 &2`];> \ L +9 &4"]<=\ L +9 &5\\;= \ L +10 &7^8;\ L +9 &9i\\<;\ L +10 &;+]9:\ L +9 &<Z;<\ \ L +9 &>\\:<\ L +10 &@p]:<\ L +9 &B3_;> \ L +9 &C]9<\ L +10 &E]9:\ L +9 &Gx]68\ L +10 &I5o&,\ N +9 &J\ P +9 &L \ V +10 &Nb\ W +9 &P!\ X +9 &Q\ W +10 &S\ Y +9 &Ub\ Y +10 &W$\ Y +9 &X\ [\ +9 &Z\ \\ +10 &\\e\ H +9 &][4\ 1 +9 &]r\ U +3 ( + "collection"'& +4 #tCollection Clamp onSpring/offSpring for 10/26 samples, on/off torque 2.06 + .Hand.open + "manipulator"&1 +57 "core" 1 + "manipulator"&h% +5 "core" % { B  + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&;'\ +97 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp +2 "processing"% & +4 "core" &\ + "manipulator"&P% +4 "core" %\ 1 e $m +2 "storage"(% +3 "core" %; ( ( \ +2 "storage"(. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 + "storage"()( +3 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (b& +4 "core" &\ "\  \  + "manipulator"&^& +4 "core" &# u :- + "manipulator"&z% +4 "core" %\ 1 k $m +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&t(D +160 "core" ( + "manipulator"&?& +4 "core" &G +2 "storage"(n& +4 "core" & W X _\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&o' +92 "core" ' + "storage"(w& +4 "core" & w m V\  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(,'e +276 "core" ' +2 "storage"(E- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (F& +2 "core" & f r\  +2 "manipulator"&& +3 "core" &G \ +2 .tElbow.seek 3 +2 "manipulator"&2(D +3 "core" ( +2 "manipulator"&$& +4 "core" &G & + "storage"(5& +4 "core" & n p\  +2 .tForearm.seek 3 + 300 counts + "manipulator"&O'y +20 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&d/ +61 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& + "storage"(.'N +8 "core" &G q q + "manipulator"&% +4 "core" % q o m +2 .tForearm.seek :retract +2 "manipulator"&'\ +96 "core" ' +2 .tElbow.seek PC + "manipulator"&s(c +155 "core" ' + ."downElevator"SE.stop + "storage"(5 +84 "core" ( + "manipulator"&7& +4 "core" &[ 7 : +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &a& +3 "core" &[ r : +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&R'[ +94 "core" ' + "manipulator"&Q& +5 "core" &[ b : + "manipulator"&}% +4 "core" %Z A +2 "processing"%:& +3 "core" &\ +3 "processing"%x& +4 "core" &\ +2 .tPC.seek :closed +2 "processing"%(Z +4 "core" &\  +9 &2\ *y +9 &d\ > +10 &Lu\ N +9 &V\ M +10 &^\ M +9 &Z\ M +9 &!VX\ M +10 &#Y\ M +9 &$[\ L +9 &&_\ M +10 &(^[\ M +9 &*!W\ L +10 &+W\ M +9 &-\\\ L +9 &/fZ\ M +10 &1)W\ L +9 &2Z\ L +9 &4W\ L +10 &6oY\ L +9 &80_\ M +10 &9Z\ M +9 &;X\ M +9 &=w\\\ L +10 &?9[\ L +9 &@[\ L +9 &BZ\ L +10 &DZ\ L +9 &F@]\ M +10 &Gc\ N +9 &Im\ O +9 &K{w\ P +10 &M7\ R +9 &N\ S +9 &P\ S +10 &R{\ S +9 &T<\ S +10 &U\ T +9 &W\ T +9 &Y\ A +10 &Zy7\ ` +9 &Z$\ - +2 ( +2 "processing"%x& +3 #tProcessing Clamp onSpring/offSpring for 9/25 samples, on/off torque 1.61 + .Hand.open + "manipulator"&1 +57 "core" 1 + "manipulator"&% +5 "core" % Z M + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&U'\ +92 "core" ' +2 "processing"%q& +4 "core" &Z!\ - +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&1% +4 "core" %\ ( s C + "storage"(% +4 "core" %= ) ) \ + "storage"(T. +3 "core" .( +2 "storage"(f& +4 "core" & ) (\  +2 "storage"(|& +3 "manipulator"&& +5 "core" & ( (\  + &[ < : +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +3 "storage"(#]kK-0-\ b + "manipulator"&(c +6 ."raiseStack"SE.seek :beamBreak +2 "storage"(H'e +2 "core" ( +2 "manipulator"&>& +4 "core" &[ * : + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &4& +2 "core" &[ 0 : +2 .tForearm.seek PC +2 "manipulator"&9'[ +95 "core" ' +2 .tHand.close + "manipulator"&8/ +63 "core" / +2 .tPC.seek :open + "processing"%j(p +91 "core" ' + "storage"(g- +4 "core" -'e + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +2 ."raiseStack"SE.seek :place +2 "storage"(\ 'B +37 "core" ' +255 ( + "storage"(& +4 "core" & t u \  +2 "manipulator"&%& +4 "core" &[ P : + "manipulator"&W% +4 "core" % _  +2 .tForearm.seek :retract + "manipulator"&K'\ +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&I(D +251 "core" ( +2 "manipulator"&6& +56 "core" &P X j + "storage"(Y& +4 "core" & Y Y \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&V' +103 "core" ' + .tHand.open + "manipulator"&G1 +54 "core" 1 +2 "storage"(- +3 "core" -'B +3 .tSE.seek -0.16 Pucks below Top Plate + "storage"(C' +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(' +51 "core" ' +2 #tLights, camera, ACTION! + "storage"(@- +4 "core" -' + "storage"(B& +4 "core" & >\  +2 "manipulator"&*& +4 "core" &Q  i +2 .tElbow.seek 3 + "manipulator"&!(D +34 "core" ( + "manipulator"&l& +5 "core" &N  n + "storage"(-& +4 "core" & "\  +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&D' +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.11 Pucks below Top Plate + "storage"(u'M +62 "core" ' + "manipulator"&r& +5 "core" &N n m n + "storage"(v& +4 "core" & | { <\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&A'M +32 "core" ' +2 .tElbow.hold + "manipulator"& , +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"(N'7 +25 "core" ' + "manipulator"& % +4 "core" %_^   ȳ +2 "storage"(m& +4 "core" &\ \ !\  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 3 + 318 counts +2 "manipulator"&+'ϋ +19 "core" ' + "manipulator"&& +5 "core" & t \\ l + "storage"(& +4 "core" & s s \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&/' +11 "core" ' +2 "storage"(J% +4 "core" %A p t \ +2 ."downElevator"SE.seek :down +4 "storage"(`'N +99 (L% +2 "core" %; Z [\ U^ +2 "manipulator"&#% +4 "core" % p r , +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&_'\ +93 "core" ' +56 ' + ."downElevator"SE.stop + "storage"(5 +3 (\\& +4 "core" & J 4\  +2 "collection"'& +4 "core" &]n\ U + #tStoring generic puck in Collection Clamp to tube 3 +2 "manipulator"&y% +4 "core" %\ 3 S %y + "storage"( % +4 "core" %@ [ [ Y\ +2 "storage"(M. +3 "core" .( + "storage"(<& +4 "core" & W X v\  + "storage"(]& +4 "core" & X Y \  +2 "manipulator"&Z& +4 "core" & L +2 .tElbow.seek 3 + "manipulator"&(D +21 "core" ( + "manipulator"&& +4 "core" &: % +2 "storage"(&& +3 "core" & W X \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&'' +98 "core" ' +2 "storage"(& +4 "core" & t ^ ^\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(='e +277 "core" ' + "storage"(k- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&3& +3 "core" &: X % +2 "storage"(& +4 "core" & [ Y \  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 + "manipulator"&~'M +32 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(S- +2 "core" -' +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(0'l +28 "core" ' + "manipulator"&"% +5 "core" %\\W Y Z ͱ + "storage"(p& +4 "core" & \  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 315 counts + "manipulator"&i'ψ +19 "core" ' + "manipulator"&[& +5 "core" &4 o | & + "storage"(& +4 "core" & u t 7\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&' +17 "core" ' +2 .tSE.seek 1.11 Pucks below Top Plate + "storage"(h'[ +47 "core" ' + "manipulator"& & +5 "core" &5 g ( % + "manipulator"&P% +4 "core" % k f _ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +91 "core" ' +2 .tElbow.seek CC + "manipulator"&( +148 "core" ( +2 "manipulator"&& +5 "core" & ' >M + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &b& +2 "core" & ' >M +2 .tForearm.seek CC +2 "manipulator"&^'| +102 "core" ' + .tHand.close + "manipulator"&z/ +55 "core" / +2 .tCC.seek :open +2 "collection"'X(p +410 "core" ( +2 "storage"(?& +4 "core" & \  + "storage"(n& +4 "core" & \  + "manipulator"& & +4 "core" &% 0 =D + "manipulator"&w% +4 "core" % | E +2 .tForearm.seek :retract + "manipulator"&{'\ +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&;(D +158 "core" ( + "manipulator"&E& +4 "core" &H [ \ +2 "storage"(F& +4 "core" & \  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 +2 "manipulator"&'M +109 "core" ' + .tElbow.hold +2 "manipulator"&$, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&51 +58 "core" 1 +2 "manipulator"&d% +5 "core" % _ ½W + "storage"(& +4 "core" & s u 2\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 318 counts +2 "manipulator"&'ϋ +17 "core" ' +2 "manipulator"&t& +4 "core" & ] w / # + "storage"(o& +4 "core" & \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&,' +20 "core" ' +2 "storage"(O% +4 "core" %W \ +2 ."downElevator"SE.seek :down +3 "storage"(7'N +99 (a% +3 "core" %9@ m\ U[ +2 "manipulator"&2% +4 "core" % o o  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&Q'\ +91 "core" ' +48 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 2 of [2..3] + #Loading generic puck from tube 2 into Collection Clamp +2 "collection"'}& +4 "core" &:=\ + "manipulator"&:% +4 "core" %\ . a #g +2 "storage"(.% +4 "core" %> E\ + "storage"(. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 + "storage"((  +359 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (& +3 "core" &  s t P\ +2 "manipulator"&& +3 "core" & s # +2 .tElbow.seek 2 + "manipulator"&q(; +16 "core" ( +2 "manipulator"&1& +4 "core" &D A + "storage"(& +4 "core" &  V\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&T'Ѐ +101 "core" ' +2 "storage"(f& +4 "core" &  \ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('e +281 "core" ' + "storage"(|- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (x& +2 "core" &  A\ +2 "manipulator"&>& +4 "core" &D p p A + .tElbow.seek 2 +2 "manipulator"&4(; +3 "core" ( +2 "manipulator"&R& +4 "core" &D v z = A + "storage"(8& +4 "core" &  h\ +2 .tForearm.seek 2 + 300 counts + "manipulator"&g' +25 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&s/ +57 "core" / +2 ."downElevator"SE.seek :down +5 "manipulator"&U& "storage"('N +59 "core" &D n o A + "manipulator"&% +4 "core" % m p  +2 .tForearm.seek :retract +2 "manipulator"&%'\ +97 "core" ' +2 .tElbow.seek CC + "manipulator"&H( +148 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +8 "core" ( +2 "manipulator"&W& +4 "core" &.  Dv +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &9& +3 "core" &. Dv +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&6'| +98 "core" ' +2 "manipulator"&& +5 "core" &- ) Ct + "manipulator"&Y% +4 "core" %~ _ +2 "collection"'G& +4 "core" &<?\ +2 "collection"'& +5 "core" &<=\ +2 .tCC.seek :closed +2 "collection"'@(] +4 "core" &;<\ +7 & 7:<\ $e +9 &hW<<\ 7 +10 &<<\ L +9 &W<<\ L +9 &A^<=\ L +10 &[<<\ M +9 & [:>\ M +9 &"[;<\ M +10 &$JW<?\ L +9 &&\ \\<<\ M +10 &'Y;<\ L +9 &)X<=\ L +9 &+QW=<\ L +10 &-\\<>\ L +9 &.]9=\ L +9 &0^<<\ M +10 &2X[<<\ M +9 &4]<=\ L +10 &5Z;=\ M +9 &7]:>\ L +9 &9a\\:= \ L +10 &;#\\:>\ L +9 &<\\:;\ \ L +9 &>[;<\ M +10 &@i\\;=\ L +9 &B+];<\ L +10 &CY<<\ L +9 &EX9<\ L +9 &GpZ6;\ M +10 &I.f(0\ N +9 &Jz \ P +10 &L\ T +9 &NZ\ W +9 &P\ W +10 &Q\ X +9 &S\ Y +9 &U]\ Y +10 &W\ Z +9 &X\ Z +9 &Z\ \ \\ +10 &\\[\ H +9 &]\\5$\ . +10 &] \ O +5 ( + "collection"'& +5 #tCollection Clamp onSpring/offSpring for 10/26 samples, on/off torque 2.08 + .Hand.open +2 "manipulator"&B1 +3 "core" &]q\ O +55 1 +2 "manipulator"&*% +4 "core" % ~ +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&K'\ +92 "core" ' + #tLoading generic puck from tube 2 into Processing Clamp +2 "processing"%l& +4 "core" &\ + "manipulator"&-% +4 "core" %\ +  !R +2 "storage"(r% +3 "core" %? K U C\ +2 "storage"(v. +3 "core" .(  +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 + "storage"(\ (  +7 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 ( & +3 "core" &   # W\ +2 "manipulator"&C& +4 "core" &6% * =F +2 "manipulator"&m% +4 "core" %\ * !R +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&(; +180 "core" ( +2 "manipulator"&& +4 "core" &0 < +2 "storage"(J& +4 "core" &  M T 1\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&I'Ѐ +105 "core" ' +2 "storage"(V& +4 "core" &  \ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"('e +281 "core" ' + "storage"(L- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (#& +3 "core" &  w f >\ + "manipulator"&D& +4 "core" &0 m n < +2 .tElbow.seek 2 + "manipulator"&!(; +9 "core" ( +2 "manipulator"&u& +4 "core" &1 ^ u G l + "storage"(A& +4 "core" &  x { 9\ +2 .tForearm.seek 2 + 300 counts + "manipulator"&\\' +24 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +63 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&+& +2 "storage"(y'N +7 "core" &4  i +2 "manipulator"& % +4 "core" %   +2 .tForearm.seek :retract +2 "manipulator"&M'\ +98 "core" ' +2 .tElbow.seek PC +2 "manipulator"&<(c +151 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +99 "core" ( + "manipulator"&N& +5 "core" &j  + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &]& +2 "core" &j  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&Z'[ +103 "core" ' +2 "manipulator"&& +4 "core" &j + "manipulator"&&% +4 "core" %W t +2 "processing"%/& +4 "core" & \ +2 "processing"%& +4 "core" &\ +2 .tPC.seek :closed +2 "processing"%`(Z +4 "core" &\  +9 &0}\ *x +10 &d\ > +9 &Cv\ N +10 & W\ L +9 &]\ M +9 &W\ L +10 &!MZ\ M +9 &#[\ L +9 &$X\ L +10 &&Z\ L +9 &(VY\ L +10 &*\\\ M +9 &+[\ M +9 &-\\\ L +10 &/^[\ L +9 &1 Y\ L +9 &2Z\ L +10 &4X\ L +9 &6eV\ M +10 &8'X\ M +9 &9W\ L +9 &;Y\ M +10 &=m\\\ M +9 &?.]\ M +9 &@Z\ M +10 &B[\ L +9 &DuY\ M +10 &F5_\ M +9 &Gc\ N +9 &Ir\ O +10 &Kn\ R +9 &M,\ S +9 &N\ S +10 &P\ T +9 &Rq\ S +10 &T2\ T +9 &U\ T +9 &W\ T +10 &Yu\ B +9 &Zz>\ U +9 &Z7\ 6 +3 ( + "processing"%& +3 #tProcessing Clamp onSpring/offSpring for 9/25 samples, on/off torque 1.63 +2 .Hand.open + "manipulator"& 1 +56 "core" 1 +2 "manipulator"&_% +4 "core" % W e +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&k'\ +96 "core" ' + "processing"%3& +4 "core" &Z/\ 6 +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 +2 "manipulator"&% +4 "core" %\ , "^ + "storage"(S% +4 "core" %? 8 5\ + "storage"(". +3 "core" .(  +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 + "storage"(p(  +7 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 ([& + "manipulator"&& +5 "core" &  a \ +4 ."raiseStack"SE.reconfigure :place +4 "storage"(#]kK-0-\ b +2 "core" &j N +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +2 ."raiseStack"SE.seek :beamBreak +3 "manipulator"& (c + "storage"(P'e +5 "core" ( +2 "manipulator"&'& +4 "core" &j w + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &j I +2 .tForearm.seek PC + "manipulator"&='[ +95 "core" ' + .tHand.close +2 "manipulator"&~/ +58 "core" / +2 .tPC.seek :open + "processing"%i(p +94 "core" ' +2 "storage"(0- +3 "core" -'e +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('B +31 "core" ' +257 ( + "storage"(b& +4 "core" &  r s \ +2 "manipulator"&& +4 "core" &j + "manipulator"&% +4 "core" % W ~ +2 .tForearm.seek :retract +2 "manipulator"&z'\ +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&(; +256 "core" ( + "manipulator"&(& +5 "core" &5 ! $ + "storage"(?& +4 "core" &  X [\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&n'Ѐ +101 "core" ' +2 .tHand.open + "manipulator"& 1 +61 "core" 1 +2 "storage"(w- +4 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate +2 "storage"(E' +26 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.83 Pucks below Top Plate + "storage"(F' +53 "core" ' +2 #tLights, camera, ACTION! + "storage"(^- +4 "core" -' + "storage"(& +4 "core" &  &\ +2 "manipulator"&5& +3 "core" &6  $ +2 .tElbow.seek 2 + "manipulator"&d(; +4 "core" ( + "manipulator"&& +4 "core" &6 & $ +2 "storage"(t& +3 "core" &  g\ +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&o'Ѐ +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.11 Pucks below Top Plate + "storage"(O'M +58 "core" ' +2 "manipulator"&{& +4 "core" &6 ~  $ + "storage"(a& +4 "core" &  o n \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&2'ξ +32 "core" ' +2 .tElbow.hold + "manipulator"&;, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.07 Pucks below Top Plate + "storage"('7 +54 "core" ' +3 "manipulator"&}% +4 "core" %}  < ļG +2 "storage"(:& +4 "core" & \ \  \ + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 2 + 319 counts +2 "manipulator"&' +20 "core" ' +2 "manipulator"&.& +4 "core" &D { s [ "z +2 "storage"(& +4 "core" &  r o ;\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&h'Ѐ +19 "core" ' +2 "storage"(,% +4 "core" %@ u v &\ +3 ."downElevator"SE.seek :down +4 "storage"(7'N +99 ()% +3 "core" %; X Z v\ U] +2 "manipulator"&% +4 "core" %w ~ u R  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +91 "core" ' +58 ' + ."downElevator"SE.stop + "storage"(5 +3 (1& +3 "core" &  H ? '\ +2 "collection"'& +4 "core" &]p\ O +2 #tStoring generic puck in Collection Clamp to tube 2 + "manipulator"&f% +4 "core" %\ .  #h +2 "storage"($% +4 "core" %? X X :\ + "storage"(Q. +3 "core" .(  +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 + "storage"(|(  +7 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (x& +2 "core" &  , 7 \ +2 "manipulator"&>& +4 "core" &D / "z + .tElbow.seek 2 +2 "manipulator"&R(; +3 "core" ( +2 "manipulator"&8& +4 "core" &D "z + "storage"(s& +4 "core" &  X W q\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&U'Ѐ +101 "core" ' +2 "storage"(& +4 "core" &  j n ?\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(q'e +280 "core" ' +2 "storage"(T- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" &D ~ } I "z + "storage"(W& +4 "core" &  n n\ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 + "manipulator"&9'ξ +32 "core" ' +2 .tElbow.hold + "manipulator"&g, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(- +2 "core" -' +3 .tSE.seek 0.11 Pucks below Top Plate + "storage"(Y'n +30 "core" ' + "manipulator"&G% +4 "core" %p ( ) Ƹ +2 "storage"(4& +4 "core" & \ \  R\ + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 320 counts + "manipulator"&' +17 "core" ' +2 "manipulator"&%& +4 "core" &I d D !u +2 "storage"(X& +3 "core" &  n o \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&B'Ѐ +16 "core" ' +2 .tSE.seek 1.11 Pucks below Top Plate +2 "storage"(*'] +40 "core" ' +2 "manipulator"&l& +4 "core" &I d !u +2 "manipulator"&-% +4 "core" %c p +  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&r'\ +88 "core" ' +2 .tElbow.seek CC +2 "manipulator"&v( +160 "core" ( + "manipulator"&& +4 "core" &$  <; +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 & & +3 "core" &$  <: +2 .tForearm.seek CC + "manipulator"&C'| +95 "core" ' +2 .tHand.close + "manipulator"&m/ +61 "core" / +2 .tCC.seek :open +2 "collection"'6(p +410 "core" ( +2 "storage"(& +4 "core" &  \ + "storage"(J& +4 "core" &  =\ + "manipulator"&& +4 "core" &$  <9 + "manipulator"&H% +4 "core" % υ   +2 .tForearm.seek :retract + "manipulator"&V'\ +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&K(; +155 "core" ( + "manipulator"&L& +4 "core" &C u \ +2 "storage"(#& +4 "core" &  Z\ + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 2 +2 "manipulator"&D'ξ +109 "core" ' + .tElbow.hold +2 "manipulator"&u, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&A1 +61 "core" 1 +2 "manipulator"&% +4 "core" % s  O Ĺ& +2 "storage"(+& +4 "core" &  W U\ + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 317 counts +2 "manipulator"& ' +20 "core" ' +2 "manipulator"&& +4 "core" &C \\ t r \ +2 "storage"(I& +4 "core" &  \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&'Ѐ +19 "core" ' +2 "storage"(\\% +4 "core" %d ?\ +2 ."downElevator"SE.seek :down +4 "storage"(N'N +99 (]% +2 "core" %; l\ U[ +2 "manipulator"&!% +4 "core" %_ o m  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +88 "core" ' +53 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 3 of [2..3] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"'&& +4 "core" &:>\ +2 "manipulator"&/% +4 "core" %\ ,  "X +2 "storage"(y% +4 "core" %> \ + "storage"(M. +3 "core" .(  +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 3 + "storage"(j( +360 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 ( & +2 "core" & c ] k\  +2 "manipulator"&_& +4 "core" &C  \ +2 .tElbow.seek 3 + "manipulator"&3(D +3 "core" ( +2 "manipulator"&& +3 "core" &C _ \ +2 "storage"(S& +4 "core" & \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&"' +95 "core" ' + "storage"(& +4 "core" & \  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(['e +277 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 ('& +3 "core" & \  + "manipulator"&& +4 "core" &C $ \ +2 .tElbow.seek 3 +2 "manipulator"&Z(D +3 "core" ( + "manipulator"&~& +5 "core" &C  \ +2 "storage"(\ & +4 "core" & \  +2 .tForearm.seek 3 + 300 counts + "manipulator"&0'y +25 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&\ +2 .tCC.seek :closed +2 "collection"'^(] +4 "core" &>>\ +8 &6;=\ $e +9 &lV;=\ 7 +10 &>= \ L +9 &X9>\ L +9 &FY;?\ L +10 &\\<=\ L +9 & ]<>\ L +10 &"]=;\ L +9 &$MZ<=\ M +9 &&[:< \ M +10 &'Z;<\ M +9 &)[=;\ L +9 &+VW;;\ L +10 &-Z<<\ M +9 &.[>>\ L +10 &0Z==\ M +9 &2][;<\ M +9 &4\\<>\ \ M +10 &5Y;:\ L +9 &7\\;=\ L +9 &9eY<=\ M +10 &;(Z9=\ \ L +9 &<Z;<\ L +10 &>X<=\ M +9 &@m[;= \ M +9 &B0X:<\ L +10 &CX;;\ L +9 &EX=<\ L +9 &Gu\\4< \ M +10 &I3j$,\ N +9 &J\ Q +10 &L\ V +9 &N_\ W +9 &P  \ W +10 &Q\ X +9 &S\ \ X +9 &U` \ Y +10 &W\ [ +9 &X\ Z +10 &Z \ [ +9 &\\a \ H +9 &]_6\ 0 +10 &]u \ M +5 ( +2 "collection"'w& +4 #tCollection Clamp onSpring/offSpring for 9/26 samples, on/off torque 2.09 + .Hand.open +53 "manipulator"&1 +5 "core" &]k\ M +59 1 + "manipulator"&5% +4 "core" % | C +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&'\ +93 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%t& +4 "core" &\ +2 "manipulator"&z% +4 "core" %\ ' 9 @ + "storage"({% +4 "core" %C X X L\  + "storage"(a. +3 "core" .( +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(( +24 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (}& +3 "core" & / A \ +2 "manipulator"&:& +4 "core" &( D ?V + "manipulator"&E% +4 "core" %\ ' < @ +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&.(D +166 "core" ( +2 "manipulator"&& +4 "core" &9 J  + "storage"(,& +4 "core" & t t \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&' +115 "core" ' +2 "storage"(n& +4 "core" & \ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(F'e +278 "core" ' + "storage"()- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (o& +3 "core" & f c U\ + "manipulator"&& +4 "core" &9 n n  +2 .tElbow.seek 3 + "manipulator"&d(D +9 "core" ( + "manipulator"&O& +4 "core" &: ] t s +2 "storage"(2& +3 "core" & \ +3 .tForearm.seek 3 + 300 counts + "manipulator"&1'y +20 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +56 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"(f'N +7 "core" &: C +2 "manipulator"&$% +4 "core" % ς @ +2 .tForearm.seek :retract +2 "manipulator"&Q'\ +91 "core" ' +2 .tElbow.seek PC +2 "manipulator"&(c +157 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +86 "core" ( + "manipulator"&x& +5 "core" &m  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &>& +3 "core" &m  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&8'[ +103 "core" ' +2 "manipulator"&s& +4 "core" &m | +2 "manipulator"&h% +4 "core" %c ' + "processing"%& +4 "core" &\ +2 "processing"%7& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%p(Z +4 "core" &\ +7 & 0\ $c +10 &^U~\ 6 +9 &\ K +9 &lY\ M +10 &/W\ L +9 &Z\ L +9 & _\ M +10 &"tZ\ M +9 &$6[\ M +10 &%]\ L +9 &'\\\ M +9 &)|[\ M +10 &+>[\ M +9 &-Y\ M +9 &.\\\ L +10 &0Y\ L +9 &2FX\ M +10 &4 W\ L +9 &5Y\ L +9 &7]\ M +10 &9O\\\ L +9 &;W\ M +9 &<U\ L +10 &>[\ M +9 &@W]\ L +10 &BZ\ M +9 &C[\ M +9 &EY\ L +10 &G\\`\ M +9 &If\ N +9 &Jt\ P +10 &L\ Q +9 &NS\ S +10 &P\ S +9 &Q\ T +9 &S\ T +10 &UY\ T +9 &W\ T +9 &X\ T +10 &Z9Lm\ - +9 &Z*\ ( +6 ( + "processing"%7& +4 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.58 +2 .Hand.open + "manipulator"&;1 +4 "core" &Z\ ( +51 1 +2 "manipulator"&% +4 "core" % c | + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&T'\ +99 "core" ' + "processing"%& +4 "core" &Z\ ( +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 +2 "manipulator"&W% +4 "core" %\ 5 & + "storage"(% +4 "core" %= , 1 _\ + "storage"(G. +3 "core" .( +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(4( +5 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (%& +4 "core" & T 2 l\ + "manipulator"&X& +3 ."raiseStack"SE.reconfigure :place +6 "storage"(#]kK-0-\ b +2 "core" &m . +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +3 ."raiseStack"SE.seek :beamBreak +3 "manipulator"&l(c + "storage"(-'e +5 "core" ( + "manipulator"&U& +4 "core" &m 9 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &R& +3 "core" &m  +2 .tForearm.seek PC +2 "manipulator"&q'[ +95 "core" ' +2 .tHand.close + "manipulator"&9/ +57 "core" / +2 .tPC.seek :open +2 "processing"%(p +91 "core" ' + "storage"(Y- +4 "core" -'e + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('B +41 "core" ' +245 ( +2 "storage"( & +4 "core" & Y ^ m\ + "manipulator"&B& +4 "core" &m +2 "manipulator"&g% +3 "core" % e } $ +2 .tForearm.seek :retract +2 "manipulator"&m'\ +91 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&r(D +256 "core" ( + "manipulator"&@& +5 "core" &A 5 % + "storage"(& +4 "core" & W Z m\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&J' +94 "core" ' + .tHand.open + "manipulator"&1 +52 "core" 1 +3 "storage"(H- +3 "core" -'B +3 .tSE.seek -0.16 Pucks below Top Plate + "storage"(L' +25 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(#' +53 "core" ' + #tLights, camera, ACTION! +2 "storage"(C- +3 "core" -' +2 "storage"(v& +4 "core" & \ + "manipulator"&A& +4 "core" &A . % +2 .tElbow.seek 3 + "manipulator"&(D +4 "core" ( + "manipulator"&+& +4 "core" &A * % + "storage"(& +4 "core" & \ +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&I' +3 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.11 Pucks below Top Plate + "storage"(\\'M +63 "core" ' +2 "manipulator"&V& +4 "core" &A / % + "storage"(]& +4 "core" & [ X\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&!'M +32 "core" ' +2 .tElbow.hold + "manipulator"&K, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate + "storage"(D'7 +26 "core" ' + "manipulator"&&% +4 "core" %Y[ N Y 4 Ͳ +2 "storage"( & +4 "core" &\ \  \ + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 312 counts + "manipulator"&/'υ +18 "core" ' + "manipulator"&y& +4 "core" &8 `  & +2 "storage"(M& +4 "core" & s t \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&*' +17 "core" ' + "storage"(% +5 "core" %: s t\ +2 ."downElevator"SE.seek :down +4 "storage"(N'N +98 (|% +3 "core" %; Y [\ U^ +2 "manipulator"& % +4 "core" %  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&_'\ +95 "core" ' +55 ' + ."downElevator"SE.stop + "storage"(5 +3 (& +3 "core" & - E \ +2 "collection"'S& +4 "core" &]k\ M +2 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&% +12 "core" %\ 4 %w + "storage"(u% +4 "core" %L X X T\ +2 "storage"(. +3 "core" .( + "storage"(& +4 "core" & W X b\ +2 "storage"('& +3 "core" & Z [ {\ +2 "manipulator"&& +3 "core" &8  & +2 .tElbow.seek 3 +2 "manipulator"&~(D +17 "core" ( + "manipulator"&\ & +4 "core" &B Z - +2 "storage"(<& +3 "core" & X X K\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +52 "manipulator"&k' +101 "core" ' + "storage"(b& +5 "core" & p r \ \ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(3'e +277 "core" ' +2 "storage"("- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" &J b , +2 "storage"(=& +3 "core" & U N H\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&['M +31 "core" ' +2 .tElbow.hold + "manipulator"&0, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(?- +2 "core" -' +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"( 'l +30 "core" ' + "manipulator"& % +4 "core" %`[ V Y b β + "storage"(Z& +4 "core" & \\\ + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 3 + 319 counts +2 "manipulator"&`'ό +11 "core" ' +2 "manipulator"&& +4 "core" &l o f ( +2 "storage"(6& +4 "core" & s s (\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&' +19 "core" ' +2 .tSE.seek 1.11 Pucks below Top Plate +2 "storage"(5'[ +42 "core" ' + "manipulator"&w& +4 "core" &o \ ' +2 "manipulator"&t% +4 "core" % H  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&z'\ +95 "core" ' +2 .tElbow.seek CC + "manipulator"&{( +145 "core" ( +2 "manipulator"&a& +4 "core" && x =B + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &}& +3 "core" && } =B +2 .tForearm.seek CC +2 "manipulator"&:'| +95 "core" ' +2 .tHand.close + "manipulator"&E/ +60 "core" / + .tCC.seek :open +2 "collection"'((p +414 "core" ( +2 "storage"(& +4 "core" & \ + "storage"(,& +4 "core" & \ + "manipulator"&j& +4 "core" &#  :0 +2 "manipulator"&P% +3 "core" % z +2 .tForearm.seek :retract +2 "manipulator"&n'\ +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&(D +167 "core" ( +2 "manipulator"&)& +4 "core" &@   + "storage"(o& +4 "core" & \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 + "manipulator"&'M +108 "core" ' + .tElbow.hold +2 "manipulator"&O, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&21 +58 "core" 1 +2 "manipulator"&% +4 "core" % \\  M +2 "storage"(& +4 "core" & u t 8\ +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 3 + 315 counts +2 "manipulator"&$'ψ +20 "core" ' +2 "manipulator"&.& +4 "core" & ] t y +2 "storage"(& +3 "core" & 1\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&F' +18 "core" ' + "storage"(1% +5 "core" %d 7\ +2 ."downElevator"SE.seek :down +3 "storage"(x'N +99 (>% +3 "core" %1< \ UZ +2 "manipulator"&d% +4 "core" % k d h +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&s'\ +90 "core" ' +48 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 2 of [2..3] +2 #Loading generic puck from tube 2 into Collection Clamp + "collection"'h& +4 "core" &;;\ +2 "manipulator"&% +4 "core" %\ +  !M +2 "storage"(f% +4 "core" %< \ + "storage"(Q. +4 "core" .( + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"(i(  +353 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (;& +3 "core" &  f f [\ + "manipulator"&& +4 "core" & + +2 .tElbow.seek 2 + "manipulator"&(; +20 "core" ( +2 "manipulator"&W& +4 "core" &7 3 S +2 "storage"(& +3 "core" &  p\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts + "manipulator"&G'Ѐ +92 "core" ' +2 "storage"(7& +4 "core" &  q\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(%'e +289 "core" ' + "storage"(X- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (U& +2 "core" &  ?\ +2 "manipulator"&R& +4 "core" &8\ + R + .tElbow.seek 2 +2 "manipulator"&8(; +3 "core" ( + "manipulator"&9& +4 "core" &8 ` R + "storage"(& +4 "core" &  \ +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&Y' +20 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +61 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&T& +2 "storage"(p'N +7 "core" &8\ ` d w R +2 "manipulator"& % +4 "core" % ` c n +2 .tForearm.seek :retract + "manipulator"&B'\ +95 "core" ' +2 .tElbow.seek CC +2 "manipulator"&g( +148 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +5 "core" ( + "manipulator"&-& +4 "core" &+  } Bf +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &q& +2 "core" &+ Bf +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&@'| +106 "core" ' +2 "manipulator"&& +4 "core" &+ c Ad +2 "manipulator"&l% +4 "core" %z +2 "collection"'& +4 "core" &;=\ +2 "collection"'H& +5 "core" &>= \ +2 .tCC.seek :closed +2 "collection"'C(] +4 "core" &:>\  +9 &4:=\ *z +9 &f9:\ > +9 &[u<?\ M +10 & Y9?\ L +9 &\\;=\ L +10 &\\:?\ M +9 &!e\\<=\ L +9 &#(Y;?\ L +10 &$\\;<\ L +9 &&];<\ L +9 &(nY:= \ L +10 &*/\\:;\ L +9 &+[<<\ L +10 &-\\;=\ L +9 &/u\\;:\ L +9 &17]9>\ L +10 &2]9=\ L +9 &4\\:;\ L +9 &6|Z;<\ M +10 &8?\\9;\ L +9 &:\\9< \ L +10 &;Z9=\ L +9 &=];=\ M +9 &?H\\<> \ L +10 &A ]9= \ L +9 &BZ;:\ L +9 &D\\:;\ L +10 &FP]9=\ L +9 &H_49\ \ M +10 &In )\ O +9 &K\ R +9 &M=\ U +10 &N\ \ W +9 &P\ X +9 &R|\ X +10 &T;\ Y +9 &U \ Z +10 &W \ [ +9 &Yx \ \\ +9 &[; \ [ +10 &\\q\ ; +9 &]' \ 't +9 &]~\ V +3 ( + "collection"'H& +3 #tCollection Clamp onSpring/offSpring for 9/25 samples, on/off torque 2.07 +2 .Hand.open + "manipulator"&v1 +60 "core" 1 +2 "manipulator"&A% +4 "core" % z  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&+'\ +97 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%& +4 "core" &\ +2 "manipulator"&m% +3 "core" %\ 6 q $o +2 "storage"(V% +4 "core" %J 4 8 \ + "storage"(]. +3 "core" .(  +2 "storage"(& +3 "core" &  ? 8 \ +2 "storage"(&& +4 "core" &  9 5 \ \ + "manipulator"& & +4 "core" &% n =C + "manipulator"&L% +4 "core" %\ 6 x $o +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&y(; +160 "core" ( + "manipulator"&M& +5 "core" &=  + "storage"(& +4 "core" &  Y Y *\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&r'Ѐ +94 "core" ' + "storage"(J& +4 "core" &  p e ~\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(#'e +276 "core" ' +2 "storage"(|- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +2 ( & +3 "core" &  W Z F\ +2 "manipulator"&I& +3 "core" &= k m  +2 .tElbow.seek 2 +2 "manipulator"&(; +4 "core" ( + "manipulator"&\\& +4 "core" &= z "  + "storage"(!& +4 "core" &  s s +\ +2 .tForearm.seek 2 + 300 counts + "manipulator"&' +29 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +51 "manipulator"&// +62 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&S& +2 "storage"('N +7 "core" &= d n g  +2 "manipulator"&u% +3 "core" %  d m _ +2 .tForearm.seek :retract +2 "manipulator"&D'\ +95 "core" ' +2 .tElbow.seek PC +2 "manipulator"&(c +159 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +84 "core" ( +2 "manipulator"&& +4 "core" &k k +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &'& +3 "core" &k j +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&'[ +104 "core" ' +2 "manipulator"&\ & +4 "core" &k s +2 "manipulator"&<% +4 "core" %e +2 "processing"%*& +4 "core" &\ +2 "processing"%b& +5 "core" &\ +2 .tPC.seek :closed + "processing"%N(Z +5 "core" &\  +9 &1{\ *x +9 &d\ > +10 &Xv\ N +9 &X\ M +9 &]\ M +10 &W\ M +9 &!cY\ M +9 &#%U\ M +10 &$V\ M +9 &&Z\ L +10 &(lY\ L +9 &*.X\ L +9 &+Y\ M +10 &-W\ M +9 &/tZ\ L +9 &15X\ M +10 &2\\\ M +9 &4U\ M +10 &6|Y\ L +9 &8>Z\ L +9 &9Y\ M +10 &;\\\ M +9 &=W\ M +9 &?FY\ L +10 &A\\\ M +9 &BW\ L +10 &DZ\ M +9 &FM]\ M +9 &H\ h\ N +10 &Iq\ O +9 &K\ R +9 &MB\ S +10 &O\ T +9 &P\ S +10 &R\ T +9 &TH\ T +9 &V\ \ T +10 &W\ T +9 &Y\ A +9 &Z7\ W +10 &Z\ + +2 ( +2 "processing"%b& +3 #tProcessing Clamp onSpring/offSpring for 9/25 samples, on/off torque 1.64 + .Hand.open +2 "manipulator"&K1 +53 "core" 1 + "manipulator"&_% +4 "core" % e  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&"'\ +96 "core" ' +2 "processing"%& +4 "core" &Z \ + + #tImaging generic puck in Processing Clamp while storing it to tube 2 +2 "manipulator"&=% +3 "core" %\ , z "` +2 "storage"(?% +4 "core" %O 9 9 \ + "storage"( . +3 "core" .(  +2 "storage"(Z& +3 "core" &  9 5 \ +2 "storage"(& +4 "manipulator"&6& +5 "core" &  8 8\ + &k +3 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +3 "storage"(#]kK-0-\ b +4 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +3 ."raiseStack"SE.seek :beamBreak +3 "manipulator"&w(c + "storage"(t'e +5 "core" ( +2 "manipulator"&k& +4 "core" &k q + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &~& +3 "core" &k K +2 .tForearm.seek PC + "manipulator"&3'[ +94 "core" ' +2 .tHand.close + "manipulator"&[/ +60 "core" / + .tPC.seek :open +2 "processing"%`(p +92 "core" ' +2 "storage"( - +3 "core" -'e +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(a'B +34 "core" ' +255 ( +2 "storage"(}& +4 "core" &  X X `\ + "manipulator"&& +4 "core" &k  +2 "manipulator"&0% +3 "core" % \\ % +2 .tForearm.seek :retract +2 "manipulator"&E'\ +96 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&z(; +271 "core" ( +2 "manipulator"&^& +4 "core" &G p \ + "storage"(& +4 "core" &  X X g\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&,'Ѐ +111 "core" ' + .tHand.open +2 "manipulator"&j1 +61 "core" 1 +2 "storage"(P- +3 "core" -'B +3 .tSE.seek -0.16 Pucks below Top Plate + "storage"()' +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.83 Pucks below Top Plate + "storage"(o' +53 "core" ' + #tLights, camera, ACTION! +2 "storage"(:- +3 "core" -' +2 "storage"({& +4 "core" &  7\ + "manipulator"&2& +4 "core" &G q p ) \ +2 .tElbow.seek 2 + "manipulator"&(; +14 "core" ( +2 "manipulator"&& +4 "core" &E } v + "storage"(.& +4 "core" &  \ +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&'Ѐ +15 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.11 Pucks below Top Plate + "storage"(1'M +59 "core" ' +2 "manipulator"&n& +4 "core" &E  v + "storage"(>& +4 "core" &  s s \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&d'ξ +31 "core" ' + .tElbow.hold +2 "manipulator"&, +5 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"('7 +27 "core" ' +2 "manipulator"&h% +4 "core" %o  ĸ" +2 "storage"(& +4 "core" & \ \  \ + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 2 + 318 counts + "manipulator"&$' +14 "core" ' +2 "manipulator"&f& +4 "core" &E ^ t v +2 "storage"(Q& +3 "core" &  n n \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&5'Ѐ +16 "core" ' +2 "storage"(F% +4 "core" %8 } p <\ +2 ."downElevator"SE.seek :down +3 "storage"(x'N +99 (4% +3 "core" %3< M X t\ V_ +2 "manipulator"&;% +4 "core" %u m n +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +87 "core" ' +61 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (W& +4 "core" &  @ N 6\ +2 "collection"'& +4 "core" &]| \ V +2 #tStoring generic puck in Collection Clamp to tube 2 + "manipulator"&7% +4 "core" %\ ' > + "storage"(O% +4 "core" %< K K 0\ +2 "storage"(s. +3 "core" .(  + "storage"(X& +4 "core" &  L K 8\ + "storage"(U& +4 "core" &  W V '\ +2 "manipulator"&R& +4 "core" &E v + .tElbow.seek 2 +2 "manipulator"&9(; +3 "core" ( +2 "manipulator"&& +3 "core" &E c v +2 "storage"(& +4 "core" &  J J \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&T'Ѐ +100 "core" ' +2 "storage"( & +5 "core" &  j n v\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('e +280 "core" ' + "storage"(G- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&-& +3 "core" &E o o  v + "storage"(q& +4 "core" &  o i\ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 + "manipulator"&%'ξ +34 "core" ' +2 .tElbow.hold + "manipulator"&Y, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(- +2 "core" -' +3 .tSE.seek 0.11 Pucks below Top Plate + "storage"(l'n +30 "core" ' + "manipulator"&% +4 "core" %e   ŵ +2 "storage"(8& +3 "core" & \ \ \ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 320 counts + "manipulator"&p' +19 "core" ' + "manipulator"&B& +5 "core" &E t q > v + "storage"((& +4 "core" &  n o \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&v'Ѐ +15 "core" ' +2 .tSE.seek 1.11 Pucks below Top Plate +2 "storage"(A'] +46 "core" ' +2 "manipulator"&& +4 "core" &E a k  v +2 "manipulator"&m% +4 "core" %o n n F +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&V'\ +88 "core" ' +2 .tElbow.seek CC +2 "manipulator"&]( +162 "core" ( + "manipulator"&& +4 "core" &- V Cp +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &H& +3 "core" &- m Co +2 .tForearm.seek CC + "manipulator"&&'| +95 "core" ' + .tHand.close +2 "manipulator"& / +61 "core" / +51 .tCC.seek :open +4 "collection"'L(p +409 "core" ( + "storage"(@& +4 "core" &  \ +2 "storage"(M& +4 "core" &  1\ + "manipulator"&& +4 "core" &) \ @\\ + "manipulator"&J% +4 "core" % t  +2 .tForearm.seek :retract + "manipulator"&g'\ +100 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&+(; +173 "core" ( + "manipulator"&|& +5 "core" &/ q / + "storage"( & +4 "core" &  a\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 2 + "manipulator"&I'ξ +111 "core" ' + .tElbow.hold +2 "manipulator"&\\, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&!1 +62 "core" 1 +2 "manipulator"&/% +4 "core" % z   d û; +2 "storage"(S& +4 "core" &  W U m\ + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 2 + 318 counts + "manipulator"&u' +19 "core" ' + "manipulator"&y& +4 "core" &/ t \\ z / +2 "storage"(r& +3 "core" &  \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&#'Ѐ +15 "core" ' +2 "storage"(% +4 "core" %\\ \ +2 ."downElevator"SE.seek :down +4 "storage"('N +98 ('% +3 "core" %< \ U\\ +2 "manipulator"&% +4 "core" %| r o  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&\ '\ +87 "core" ' +52 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 3 of [2..3] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"'<& +4 "core" &9=$\ +2 "manipulator"&*% +4 "core" %\ ) i H + "storage"(% +4 "core" %8 c\ +2 "storage"(D. +3 "core" .(  +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(( +362 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (K& +3 "core" & g O \  + "manipulator"&_& +4 "core" &/ j / +2 .tElbow.seek 3 + "manipulator"&(D +24 "core" ( + "manipulator"&=& +4 "core" &[ S @ +2 "storage"(?& +3 "core" & J\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"& ' +93 "core" ' +2 "storage"(Z& +4 "core" & ~\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(6'e +288 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (b& +2 "core" & Z\  +2 "manipulator"&k& +3 "core" &\\ Z ? +2 .tElbow.seek 3 +2 "manipulator"&~(D +27 "core" ( +2 "manipulator"&& +4 "core" &< ; z +2 "storage"([& +4 "core" & W\  +2 .tForearm.seek 3 + 300 counts + "manipulator"& 'y +23 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&/ +63 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&"& + "storage"(N'N +7 "core" &< m n Q z +2 "manipulator"&}% +4 "core" % t n n +2 .tForearm.seek :retract + "manipulator"&'\ +92 "core" ' +2 .tElbow.seek CC + "manipulator"&t( +153 "core" ' + ."downElevator"SE.stop +3 "storage"(5 +2 "core" ( +2 "manipulator"&0& +4 "core" &( . ?R + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &3& +3 "core" &( V ?R +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&^'| +101 "core" ' +2 "manipulator"&& +4 "core" &( e ?Q +2 "manipulator"&w% +4 "core" %u Z +2 "collection"'j& +4 "core" &:<\ +2 "collection"'P& +5 "core" &;=\ +2 .tCC.seek :closed +2 "collection"':(] +5 "core" &9="\ +7 &6:;\ $e +9 &jW~;>$\ 7 +10 &~9=$\ L +9 &Y:<\ L +9 &C[:=#\ M +10 &Z=='\ L +9 & W;<&\ L +9 &"\\9="\ L +10 &$L\\;=#\ L +9 && \\:?!\ M +10 &'Z<;\ L +9 &)W<<\ L +9 &+SZ9;\ M +10 &-Z:<#\ L +9 &.[;<"\ L +9 &0]<; \ L +10 &2[[<="\ M +9 &4Z:<\ M +10 &5Y<;\ L +9 &7[9>\ L +9 &9eX<<\ L +10 &;&Z9;\ L +9 &<Z=<\ L +9 &>\\;< \ L +10 &@k\\;;\ M +9 &B.[:<\ L +10 &C]9=\ L +9 &E[6=\ L +9 &Gs\\59\ M +10 &I1l&.\ N +9 &J\ Q +9 &L#\ V +10 &N]\ W +9 &P\ X +10 &Q\ X +9 &S \ Y +9 &U]\ Z +10 &W\ Z +9 &X \ [ +9 &Z\ \\ +10 &\\a\ H +9 &]_8\ + +10 &]\ Y +5 ( +2 "collection"'P& +4 #tCollection Clamp onSpring/offSpring for 10/26 samples, on/off torque 2.09 + .Hand.open +2 "manipulator"&{1 +3 "core" &]\ Y +59 1 + "manipulator"&2% +4 "core" % t V +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&E'\ +96 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp +2 "processing"%& +4 "core" & \ + "manipulator"&.% +4 "core" %\ 0 \\ $s +2 "storage"(n% +4 "core" %B 9 9 (\ + "storage"(>. +3 "core" .( +2 "storage"(a& +4 "core" & 8 5 \  + "storage"(h& +4 "core" & 9 8\  + "manipulator"&& +4 "core" && } =G +2 "manipulator"&)% +3 "core" %\ 1 z $s +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 + "manipulator"&f(D +161 "core" ( + "manipulator"&Q& +5 "core" &I   + "storage"(F& +4 "core" & X X u\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&z' +101 "core" ' +2 "storage"(,& +4 "core" & s t \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(o'e +281 "core" ' + "storage"(4- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (;& +2 "core" & ) ( T\  +2 "manipulator"&& +4 "core" &I   + .tElbow.seek 3 +2 "manipulator"&(D +3 "core" ( +2 "manipulator"&1& +3 "core" &I   +2 "storage"(d& +4 "core" & X X B\  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&W'y +10 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&$/ +54 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&& + "storage"(7'N +7 "core" &I X  +2 "manipulator"&O% +4 "core" % s  & +2 .tForearm.seek :retract + "manipulator"&s'\ +98 "core" ' +2 .tElbow.seek PC +2 "manipulator"&X(c +159 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +86 "core" ( + "manipulator"&& +5 "core" &l  + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &U& +2 "core" &l G +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&R'[ +102 "core" ' +2 "manipulator"&& +4 "core" &l + "manipulator"&% +4 "core" %[ +2 "processing"%5& +3 "core" &\ +3 "processing"% & +4 "core" &\ +2 .tPC.seek :closed +2 "processing"%x(Z +5 "core" & \ +7 & 0 \ #a +9 &]V\ 7 +9 &~\ L +10 &rY\ M +9 &5V\ M +10 &X\ L +9 & Z\ M +9 &"|U\ L +10 &$=Y\ M +9 &%[\ M +9 &'[\ L +10 &)X\ L +9 &+FW\ L +10 &-Z\ L +9 &.\\\ M +9 &0W\ M +10 &2MW\ M +9 &4U\ M +9 &5U\ M +10 &7[\ M +9 &9UZ\ M +10 &;\\\ M +9 &<U\ M +9 &>X\ M +10 &@^Z\ L +9 &BY\ M +9 &CW\ M +10 &EV\ M +9 &Gb]\ N +10 &I#d\ N +9 &Jr\ P +9 &L\ Q +10 &NY\ S +9 &P\ S +9 &Q\ T +10 &S\ T +9 &U_\ T +10 &W!\ T +9 &X\ U +9 &Z<Jm\ +} +10 &Z\ 3\ ) +5 ( +2 "processing"% & +4 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.60 + .Hand.open +2 "manipulator"&1 +3 "core" &Z\ ) +58 1 + "manipulator"&% +5 "core" % [  + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&G'\ +95 "core" ' +2 "processing"%-& +4 "core" &Z\ ) +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&q% +55 "core" %\ / #c +3 "storage"(% +4 "core" %P 9 9 \ + "storage"(. +3 "core" .( +2 "storage"(8& +3 "core" & 5 9\  +2 "storage"(B& +3 "manipulator"&(& +7 "core" & 9 9 \ \  + &l  +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +6 "manipulator"&$&.,(\ #b + "storage"(#]kK-0-\ b +5 .tElbow.seek PC + "manipulator"&(c +4 ."raiseStack"SE.seek :beamBreak +2 "storage"(m'e +2 "core" ( +2 "manipulator"&T& +4 "core" &l + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &9& +3 "core" &l k +2 .tForearm.seek PC +2 "manipulator"&'[ +94 "core" ' + .tHand.close +2 "manipulator"&%/ +56 "core" / +2 .tPC.seek :open +2 "processing"%p(p +90 "core" ' + "storage"(l- +4 "core" -'e + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place + "storage"('B +35 "core" ' +254 ( + "storage"(H& +4 "core" & Y Y\  +2 "manipulator"&v& +3 "core" &l +2 "manipulator"&Y% +4 "core" % a  +2 .tForearm.seek :retract + "manipulator"& '\ +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&V(D +251 "core" ( +2 "manipulator"&C& +4 "core" &R @  +2 "storage"(@& +4 "core" & W X i\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&M' +94 "core" ' +2 .tHand.open + "manipulator"&1 +53 "core" 1 +2 "storage"(J- +4 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate +2 "storage"(|' +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"( ' +54 "core" ' +2 #tLights, camera, ACTION! + "storage"(&- +4 "core" -' + "storage"(]& +4 "core" & \  +2 "manipulator"&!& +3 "core" &R   +2 .tElbow.seek 3 +2 "manipulator"&/(D +14 "core" ( + "manipulator"&S& +4 "core" &L ~  \ +2 "storage"(y& +4 "core" & \  +2 .tForearm.seek 3 + 450 counts + "manipulator"&r' +15 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"('M +62 "core" ' + "manipulator"&g& +4 "core" &L n o P \ +2 "storage"('& +4 "core" & s s \  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 + "manipulator"&'M +33 "core" ' +2 .tElbow.hold + "manipulator"&+, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"(I'7 +24 "core" ' +2 "manipulator"&<% +4 "core" %ab    ȴ +2 "storage"(*& +4 "core" &\ \  \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 320 counts + "manipulator"&'ύ +18 "core" ' +2 "manipulator"&u& +4 "core" & w g C . +2 "storage"(D& +4 "core" & s s \ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&A' +20 "core" ' +2 "storage"(#% +4 "core" %? q t ^\ +2 ."downElevator"SE.seek :down +3 "storage"('N +99 (i% +3 "core" %= W X r\ V_ +2 "manipulator"&K% +4 "core" % q o +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&_'\ +90 "core" ' +59 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (=& +3 "core" & -  \ \  +2 "collection"'?& +4 "core" &]\ Y +2 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&Z% +4 "core" %\ . #d + "storage"(\\% +4 "core" %8 X X J\  +2 "storage"(\ . +3 "core" .( + "storage"(& +4 "core" & X X _\  +2 "storage"(b& +3 "core" & W X ]\  +2 "manipulator"&k& +4 "core" & F . + .tElbow.seek 3 +2 "manipulator"&(D +15 "core" ( + "manipulator"&[& +5 "core" &B\ a + "storage"(& +4 "core" & X X c\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&"' +103 "core" ' +2 "storage"(}& +4 "core" & s s\  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"('e +279 "core" ' + "storage"( - +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&0& +3 "core" &B ~ ` a + "storage"(3& +4 "core" & K N \  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 + "manipulator"&6'M +33 "core" ' + .tElbow.hold +2 "manipulator"& , +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(- +2 "core" -' +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(w'l +28 "core" ' + "manipulator"&j% +4 "core" %`Z 4 6 ̲ +2 "storage"(~& +4 "core" & p\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 319 counts + "manipulator"&N'ό +19 "core" ' + "manipulator"&& +4 "core" & o  $ +2 "storage"(L& +4 "core" & [ [\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&{' +17 "core" ' + .tSE.seek 1.11 Pucks below Top Plate +2 "storage"(2'[ +51 "core" ' +2 "manipulator"&& +4 "core" & $ +2 "manipulator"&.% +4 "core" % x T +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&n'\ +96 "core" ' +2 .tElbow.seek CC + "manipulator"&>( +155 "core" ( + "manipulator"&P& +4 "core" &+ Bj +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &a& +3 "core" &+ Bj +2 .tForearm.seek CC +2 "manipulator"&h'| +96 "core" ' + .tHand.close +2 "manipulator"&/ +54 "core" / +2 .tCC.seek :open +2 "collection"')(p +410 "core" ( +2 "storage"(^& +4 "core" & \  + "storage"(Q& +4 "core" & w\  + "manipulator"&F& +4 "core" &)  @[ + "manipulator"&,% +4 "core" % u   +2 .tForearm.seek :retract + "manipulator"&t'\ +100 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&E(D +159 "core" ( +2 "manipulator"&4& +4 "core" &G + "storage"(;& +4 "core" & p\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 3 +2 "manipulator"&'M +109 "core" ' +2 .tElbow.hold + "manipulator"&1, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&d1 +52 "core" 1 +2 "manipulator"&$% +4 "core" % a -  ? Y +2 "storage"(& +4 "core" & s s \  + .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 3 + 320 counts +2 "manipulator"&O'ύ +18 "core" ' + "manipulator"&f& +5 "core" & v [   + "storage"(z& +4 "core" & t\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&o' +11 "core" ' + "storage"(W% +4 "core" %a ]\ +2 ."downElevator"SE.seek :down +4 "storage"('N +99 (U% +2 "core" %%> W\ U[ +2 "manipulator"&% +4 "core" % q q  5 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +92 "core" ' +49 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 2 of [2..3] +2 #Loading generic puck from tube 2 into Collection Clamp + "collection"'& +55 "core" &;=\ +2 "manipulator"&5% +4 "core" %\ 3  #c +2 "storage"(7% +4 "core" %; I\ + "storage"(s. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 + "storage"(`(  +357 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (& +2 "core" &  t t \ +2 "manipulator"&& +3 "core" & )  +2 .tElbow.seek 2 +2 "manipulator"&-(; +20 "core" ( +2 "manipulator"&q& +4 "core" &: B V + "storage"( & +4 "core" &  ]\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&'Ѐ +105 "core" ' + "storage"(& +4 "core" &  P\ +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(8'e +290 "core" ' +2 "storage"((- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (B& +2 "core" &  } Z\ +2 "manipulator"&T& +4 "core" &: n p V + .tElbow.seek 2 +2 "manipulator"&9(; +3 "core" ( +2 "manipulator"&R& +3 "core" &: w r 5 V +2 "storage"(%& +3 "core" &  f\ +3 .tForearm.seek 2 + 300 counts + "manipulator"&l' +26 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&X/ +57 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"&G& +2 "storage"(x'N +6 "core" &:\ m m T V + "manipulator"&H% +4 "core" % n o V +2 .tForearm.seek :retract +2 "manipulator"&v'\ +94 "core" ' +2 .tElbow.seek CC +2 "manipulator"&m( +149 "core" ' +2 ."downElevator"SE.stop +2 "storage"(5 +2 "core" ( +2 "manipulator"&Y& +4 "core" &(  ?U + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &( h ?U +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&C'| +101 "core" ' +2 "manipulator"&@& +4 "core" &( @ ?T +2 "manipulator"&% +4 "core" %~ +2 "collection"'& +4 "core" &;="\ +2 "collection"'J& +5 "core" &:=\ +2 .tCC.seek :closed +2 "collection"'&(] +4 "core" &;=\  +8 &3<<\ *z +10 &d9=\ > +9 &Ws;=\ M +9 &V=;\ L +10 &Z:<!\ M +9 &Z:<!\ L +9 &!aZ<<&\ L +10 &#"Z:<#\ L +9 &$W;=!\ L +10 &&X;=%\ L +9 &(hX;=!\ L +9 &*+\\:<$\ L +10 &+Y<<#\ L +9 &-Z:=&\ M +9 &/pZ:<\ L +10 &12Y::!\ L +9 &2[:<#\ L +10 &4Z9<"\ L +9 &6x[=;#\ L +9 &8:Z;;"\ L +10 &9W:;!\ L +9 &;Y:< \ L +10 &=[;:\ M +9 &?BZ:=\ L +9 &AW;=\ L +10 &BY9<\ L +9 &D\\9; \ L +9 &FIZ:<#\ M +10 &H\ ^38!\ M +9 &Im!*$\ O +9 &K%\ Q +10 &M8'\ U +9 &N%\ W +10 &P"\ X +9 &Ru"\ X +9 &T6$\ Y +10 &U \ Z +9 &W\ Z +9 &Ys\ \\ +10 &[5\ \\ +9 &\\u\ 7 +10 &](\ )y +9 &]v\ Y +2 ( +2 "collection"'J& +3 #tCollection Clamp onSpring/offSpring for 9/25 samples, on/off torque 2.12 + .Hand.open + "manipulator"&]1 +54 "core" 1 +2 "manipulator"&!% +4 "core" % } +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&S'\ +98 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%y& +4 "core" &\ +2 "manipulator"& % +3 "core" %\ 4 l %{ +2 "storage"(g% +4 "core" %I A A \  + "storage"('. +3 "core" .(  +2 "storage"(& +3 "core" &  @ @ \ +2 "storage"(<& +4 "core" &  A A \ + "manipulator"&*& +4 "core" &% u <= +2 "manipulator"&|% +4 "core" %\ 4 p %{ +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&u(; +167 "core" ( + "manipulator"&D& +4 "core" &7 f : +2 "storage"(#& +3 "core" &  X [\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&V'Ѐ +106 "core" ' + "storage"(M& +4 "core" &  \ +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"( 'e +278 "core" ' + "storage"(i- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (K& +3 "core" &  s g 3\ + "manipulator"&r& +4 "core" &7 p l ~ : +2 .tElbow.seek 2 + "manipulator"&/(; +3 "core" ( +2 "manipulator"&& +4 "core" &7 z t ! : + "storage"(& +4 "core" &  o n\ +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&=' +15 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +52 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&?& +2 "storage"(Z'N +7 "core" &7 + : +2 "manipulator"&\\% +4 "core" %  @ +2 .tForearm.seek :retract + "manipulator"&\ '\ +90 "core" ' +2 .tElbow.seek PC + "manipulator"&(c +159 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +90 "core" ( + "manipulator"&I& +4 "core" &g , +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &b& +2 "core" &g  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&k'[ +100 "core" ' +2 "manipulator"&[& +4 "core" &g +2 "manipulator"&% +3 "core" %V +2 "processing"%A& +4 "core" & \ +2 "processing"%}& +6 "core" &\ \ +2 .tPC.seek :closed + "processing"%(Z +5 "core" & \ +6 &8\ $e +9 &sX\ 7 +10 &{ \ L +9 &Y\ M +9 &NX\ L +10 &V\ M +9 & X\ M +9 &"U\ M +10 &$U[\ M +9 &&Z\ M +10 &'Y\ L +9 &)]\ M +9 &+^W\ L +10 &- Z\ L +9 &.Z\ M +9 &0W\ L +10 &2eW\ M +9 &4'V\ M +10 &5]\ L +9 &7W\ M +9 &9n\\\ L +10 &;0Z\ L +9 &<[\ M +9 &>Y\ M +10 &@u\\\ M +9 &B7X\ M +10 &C]\ M +9 &EZ\ M +9 &Gyb\ N +10 &I8m\ O +9 &J\ Q +9 &L\ S +10 &Nq\ S +9 &P3\ S +10 &Q\ T +9 &S\ T +9 &Ux\ T +10 &W:\ T +9 &X\ T +9 &ZTIj\ $l +10 &Z\ ?\ . +5 ( +2 "processing"%}& +4 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.61 + .Hand.open +2 "manipulator"&+1 +3 "core" &Z"\ . +52 1 + "manipulator"&_% +4 "core" % V +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"& '\ +92 "core" ' + "processing"%0& +4 "core" &Z"\ . +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 + "manipulator"&3% +4 "core" %\ ' p A +2 "storage"(% +3 "core" %< @ A \ +2 "storage"(j. +3 "core" .(  + "storage"(~& +4 "core" &  @ A \ +2 "storage"(& +5 "manipulator"&L& +4 "core" &  @ A u\ + &g 9 +3 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +3 "storage"(#]kK-0-\ b +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +2 "manipulator"&(c +3 ."raiseStack"SE.seek :beamBreak +2 "storage"(.'e +2 "core" ( +2 "manipulator"&"& +4 "core" &g f + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &g +2 .tForearm.seek PC +2 "manipulator"&'[ +94 "core" ' +2 .tHand.close + "manipulator"&6/ +53 "core" / +2 .tPC.seek :open +2 "processing"%N(p +96 "core" ' +2 "storage"(w- +4 "core" -'e + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place + "storage"(P'B +36 "core" ' +249 ( +2 "storage"(a& +4 "core" &  Y Z\ + "manipulator"&{& +4 "core" &g + "manipulator"& % +4 "core" % [ j +2 .tForearm.seek :retract + "manipulator"&'\ +100 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&n(; +267 "core" ( + "manipulator"&:& +4 "core" &2 c  +2 "storage"(^& +4 "core" &  W X a\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&Q'Ѐ +96 "core" ' +2 .tHand.open + "manipulator"&F1 +52 "core" 1 +2 "storage"(,- +3 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate +2 "storage"(4' +82 "core" ' +3 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(;' +52 "core" ' +2 #tLights, camera, ACTION! + "storage"(h- +3 "core" -' +2 "storage"(>& +4 "core" &  \ + "manipulator"&d& +4 "core" &2   +2 .tElbow.seek 2 + "manipulator"&$(; +4 "core" ( + "manipulator"&& +4 "core" &2   +2 "storage"(f& +3 "core" &  \ +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&z'Ѐ +4 "core" ' + .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"(W'M +63 "core" ' + "manipulator"&t& +4 "core" &2   +2 "storage"(U& +4 "core" &  J K \ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&'ξ +32 "core" ' + .tElbow.hold +2 "manipulator"&E, +4 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"('7 +23 "core" ' + "manipulator"&% +4 "core" %p A ø +2 "storage"(O& +4 "core" &   \ + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 2 + 317 counts +2 "manipulator"&2' +18 "core" ' + "manipulator"&5& +4 "core" &2 ^ u 1  +2 "storage"(7& +4 "core" &  \\ m U\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts +2 "manipulator"&s'Ѐ +22 "core" ' + "storage"(o% +5 "core" %> \ +2 ."downElevator"SE.seek :down +3 "storage"('N +99 (% +3 "core" %s> X X &\ U] +2 "manipulator"&% +4 "core" %Ѝ n n  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +88 "core" ' +61 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (q& +4 "core" &  J 5 _\ +2 "collection"' & +4 "core" &]u\ Y + #tStoring generic puck in Collection Clamp to tube 2 +2 "manipulator"&% +4 "core" %\ * !W + "storage"(1% +4 "core" %= N T !\ +2 "storage"(. +3 "core" .(  + "storage"((& +4 "core" &  V J C\ +2 "storage"(B& +4 "core" &  Z X 4\ +2 "manipulator"&T& +4 "core" &2   + .tElbow.seek 2 +2 "manipulator"&R(; +3 "core" ( +2 "manipulator"&%& +4 "core" &2 0  + "storage"(X& +4 "core" &  W W ,\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&G'Ѐ +103 "core" ' +2 "storage"(H& +4 "core" &  \ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(-'e +280 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&Y& +3 "core" &2 j ` N  +2 "storage"(& +3 "core" &  f x\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&8'ξ +37 "core" ' + .tElbow.hold +2 "manipulator"&l, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(@- +3 "core" -' +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"('n +29 "core" ' +2 "manipulator"&% +52 "core" %f ! Ƶ +2 "storage"(9& +4 "core" & \ \  \ + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 2 + 317 counts + "manipulator"&x' +18 "core" ' + "manipulator"&v& +4 "core" &2 t \\ r  +2 "storage"()& +4 "core" &  s r\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&]'Ѐ +16 "core" ' +2 .tSE.seek 1.11 Pucks below Top Plate + "storage"(!'] +50 "core" ' + "manipulator"&y& +4 "core" &2 n n =  +2 "manipulator"& % +4 "core" %І a f r +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&g'\ +87 "core" ' +2 .tElbow.seek CC + "manipulator"&'( +145 "core" ( +2 "manipulator"&& +4 "core" &  1 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +7 &<& +3 "core" &  1 +2 .tForearm.seek CC + "manipulator"&J'| +96 "core" ' +2 .tHand.close + "manipulator"&*/ +53 "core" / +3 .tCC.seek :open + "collection"'|(p +410 "core" ( +2 "storage"(C& +4 "core" &  L\ + "storage"(D& +4 "core" &  ;\ + "manipulator"&#& +4 "core" &  0 + "manipulator"&M% +4 "core" % Ϗ  +2 .tForearm.seek :retract + "manipulator"&m'\ +101 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 + "manipulator"&S(; +100 "Can"^ )DA +69 "core" ( + "manipulator"&i& +5 "core" &5 W 6 + "storage"(K& +4 "core" &  o\ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 2 +2 "manipulator"&r'ξ +111 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&1 +52 "core" 1 +2 "manipulator"&% +4 "core" % p !  Ÿ! + "storage"(?& +4 "core" &  [ Z \ + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 2 + 316 counts +2 "manipulator"&\\' +16 "core" ' +2 "manipulator"&u& +4 "core" &C w ^ 1 ( + "storage"(V& +4 "core" &  \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"& 'Ѐ +23 "core" ' +2 "storage"(=% +4 "core" %a \ +2 ."downElevator"SE.seek :down +3 "storage"(I'N +99 (b% +4 "core" %? w\ U[ +2 "manipulator"&/% +3 "core" %А m n  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&['\ +87 "core" ' +49 ' +2 ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 3 of [2..3] + #Loading generic puck from tube 3 into Collection Clamp +2 "collection"'& +4 "core" &<<\ +2 "manipulator"&A% +4 "core" %\ , ~ "] +2 "storage"(Z% +4 "core" %9 z\ + "storage"(\ . +3 "core" .(  +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 + "storage"(p( +360 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (+& +3 "core" & X X F\  +2 "manipulator"&_& +4 "core" &C ( + .tElbow.seek 3 +2 "manipulator"&0(D +3 "core" ( +2 "manipulator"&3& +4 "core" &C ( + "storage"(& +4 "core" & W\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&j' +103 "core" ' + "storage"(~& +4 "core" & \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(L'e +279 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +2 (}& +3 "core" & \  +2 "manipulator"&"& +4 "core" &C n s # ( + .tElbow.seek 3 +2 "manipulator"&(D +3 "core" ( +2 "manipulator"&k& +3 "core" &C { w  ( +2 "storage"(6& +3 "core" & \\\  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&w'y +27 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&/ +64 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"& & +2 "storage"('N +7 "core" &C p p ( + "manipulator"&a% +4 "core" % v q p 7 +2 .tForearm.seek :retract +2 "manipulator"&{'\ +89 "core" ' +2 .tElbow.seek CC + "manipulator"& ( +139 "core" ( + "manipulator"&.& +5 "core" &  0 + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &  0 +3 .tForearm.reconfigure :tight +53 "manipulator"&#Q@2^d^\ b +3 "core" ' + ."downElevator"SE.stop +2 .tForearm.seek CC +2 "storage"(5 + "manipulator"&:'| +110 "core" ' +2 "manipulator"&^& +4 "core" & > 0 +2 "manipulator"&% +4 "core" %w +2 "collection"'F& +4 "core" &=?' +2 "collection"',& +4 "core" &=>" +2 .tCC.seek :closed +2 "collection"'(] +5 "core" &>=! +7 &>;<\ $e +9 &oW<<!\ 7 +10 &~<=\ K +9 &Y=<%\ L +9 &K[;>$\ L +10 & Z<<&\ L +9 & ]=>"\ L +9 &"Z<=%\ L +10 &$RY;>%\ L +9 &&[<=&\ L +9 &'Z;>/\ L +10 &)Z8=&\ L +9 &+[Z==&\ L +10 &-Z=@"\ K +9 &.Z<<"\ L +9 &0Z:= \ L +10 &2bZ==\ L +9 &4%Z<<$\ L +9 &5Y=>!\ L +10 &7Z<>\ L +9 &9kZ;< \ L +10 &;.Y;; \ K +9 &<Z9=!\ L +9 &>[:=\ L +10 &@r[<;\ L +9 &B4[:= \ L +9 &C[<=\ L +10 &EZ;> \ L +9 &Gx_4; \ M +10 &I7j%-"\ N +9 &J\ &\ Q +9 &L$\ U +10 &Nc\ W +9 &P#!\ W +9 &Q"\ W +10 &S\ X +9 &Ud\ Y +10 &W"\ Z +9 &X \ [ +9 &Z \ [ +10 &\\c\ H +9 &]a8 \ + +9 &] :\ U +6 ( + "collection"',& +5 #tCollection Clamp onSpring/offSpring for 10/26 samples, on/off torque 2.11 + .Hand.open + "manipulator"&h1 +4 "core" &]~#\ U +55 1 +2 "manipulator"&>% +4 "core" % w & +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&d'\ +96 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%& +5 "core" &\ + "manipulator"&f% +4 "core" %\ 3 ' %v + "storage"(t% +4 "core" %@ , / X\ +2 "storage"(U. +3 "core" .( + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(P( +2 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (& +4 "core" &3\ \ \  + "manipulator"&O& +4 "core" & d 0 +2 "manipulator"&4% +3 "core" %\ 3 ~ %v +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&5(D +176 "core" ( + "manipulator"&7& +4 "core" &9 C k +2 "storage"(o& +4 "core" & W W r\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&n' +96 "core" ' +2 "storage"(Q& +4 "core" & r r\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(;'e +277 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +2 "core" & c X u\  +2 "manipulator"&z& +4 "core" &; i + .tElbow.seek 3 +2 "manipulator"&$(D +3 "core" ( +2 "manipulator"&W& +3 "core" &; M i +2 "storage"(& +4 "core" & Z W \\\  +2 .tForearm.seek 3 + 300 counts + "manipulator"&q'y +20 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&2/ +64 "core" / +2 ."downElevator"SE.seek :down +5 "manipulator"& & "storage"('N +8 "core" &< ; h + "manipulator"&1% +4 "core" % o ~ Z +2 .tForearm.seek :retract +2 "manipulator"&'\ +91 "core" ' +2 .tElbow.seek PC +2 "manipulator"&((c +161 "core" ' + ."downElevator"SE.stop + "storage"(5 +93 "core" ( + "manipulator"&& +4 "core" &l  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &B& +2 "core" &l +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&T'[ +105 "core" ' + "manipulator"&%& +5 "core" &l n D + "manipulator"&X% +4 "core" %Q  +2 "processing"%s& +4 "core" &\ +2 "processing"%H& +4 "core" &\ +2 .tPC.seek :closed +2 "processing"%(Z +5 "core" & \  +8 &0} \ *x +10 &c\ = +9 &@u \ M +9 &U\ L +10 &Z\ L +9 &\\\ L +9 &!HX\ M +10 &#\ Y\ M +9 &$Z\ M +10 &&\\\ L +9 &(QW\ L +9 &*W\ L +10 &+Y\ M +9 &-U\ L +9 &/X[\ M +10 &1Y\ M +9 &2\\\ M +10 &4Y\ L +9 &6aX\ L +9 &8#\\\ L +10 &9W\ M +9 &;[\ L +9 &=hW\ M +10 &?*W\ M +9 &@]\ M +10 &B\\\ L +9 &DqY\ L +10 &F1^\ M +9 &Gb\ M +9 &Ik\ O +9 &Knv\ P +10 &M*\ R +9 &N\ S +10 &P\ S +9 &Rl\ S +9 &T.\ S +10 &U\ S +9 &W\ T +9 &Yr\ @ +10 &Zw>\ T +9 &ZJ\ 5 +6 ( + "processing"%H& +4 #tProcessing Clamp onSpring/offSpring for 8/25 samples, on/off torque 1.59 +2 .Hand.open + "manipulator"&E1 +4 "core" &Z3\ 5 +51 1 +2 "manipulator"&% +4 "core" % Q  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +91 "core" ' +2 "processing"%Y& +4 "core" &Z3\ 5 + #tImaging generic puck in Processing Clamp while storing it to tube 3 +2 "manipulator"&% +3 "core" %\ * !W +2 "storage"(@% +4 "core" %L #  l\ + "storage"(. +3 "core" .( +2 "storage"(9& +4 "core" &   B\  + "storage"(v& +4 "manipulator"&)& +4 "core" & " I\  +2 &l X +3 ."raiseStack"SE.reconfigure :place +2 .tElbow.reconfigure :tight +4 "storage"(#]kK-0-\ b +4 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +3 ."raiseStack"SE.seek :beamBreak +2 "manipulator"&y(c + "storage"( 'e +5 "core" ( +2 "manipulator"&G& +3 "core" &l q +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &R& +3 "core" &l Q +2 .tForearm.seek PC +2 "manipulator"&-'[ +97 "core" ' + .tHand.close +2 "manipulator"&8/ +62 "core" / +2 .tPC.seek :open +2 "processing"%x(p +82 "core" ' +2 "storage"(- +4 "core" -'e + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +2 ."raiseStack"SE.seek :place +2 "storage"('B +35 "core" ' +264 ( +2 "storage"(<& +4 "core" & W X P\  + "manipulator"&]& +4 "core" &l  + "manipulator"&l% +4 "core" % M  +2 .tForearm.seek :retract +2 "manipulator"&*'\ +94 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&g(D +253 "core" ( + "manipulator"&&& +4 "core" &; c !q +2 "storage"(C& +4 "core" & 0 4 o\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&D' +95 "core" ' + .tHand.open +2 "manipulator" +59 "core" 1 +2 "storage"(M- +4 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate + "storage"(i' +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(K' +55 "core" ' + #tLights, camera, ACTION! +2 "storage"(J- +3 "core" -' +2 "storage"('& +4 "core" & 7\  + "manipulator"&& +4 "core" &; !q +2 .tElbow.seek 3 + "manipulator"&(D +4 "core" ( + "manipulator"&?& +4 "core" &; ) !q + "storage"(u& +4 "core" & U\  +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&V' +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"(='M +62 "core" ' +2 "manipulator"&m& +4 "core" &; M !q + "storage"(b& +4 "core" & X X B\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&/'M +32 "core" ' +2 .tElbow.hold + "manipulator"&S, +5 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate + "storage"(r'7 +26 "core" ' + "manipulator"&% +4 "core" %_^ 1 ' n ˳ +2 "storage"(\\& +3 "core" & Z\  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 3 + 318 counts +2 "manipulator"&A'ϋ +18 "core" ' +2 "manipulator"&Z& +4 "core" &+ a # +2 "storage"(\ & +4 "core" & W W :\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&!' +11 "core" ' +2 "storage"( % +4 "core" %? u _ \ +2 ."downElevator"SE.seek :down +5 "storage"(I'N +99 (`% +3 "core" %J@ > 0 \ V_ +2 "manipulator"&+% +4 "core" %  , +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&_'\ +92 "core" ' +111 ' + ."downElevator"SE.stop + "storage"(5 +3 (3& +3 "core" & . * ;\  +2 "collection"'& +4 "core" &]} \ U + #tStoring generic puck in Collection Clamp to tube 3 +2 "manipulator"&~% +4 "core" %\ /  #c + "storage"(% +4 "core" %< N W e\ + "storage"([. +3 "core" .( +2 "storage"(& +4 "core" & L S ,\  + "storage"(}& +4 "core" & U O =\  +2 "manipulator"&"& +4 "core" &-  # + .tElbow.seek 3 +2 "manipulator"&k(D +18 "core" ( +2 "manipulator"&6& +4 "core" &[ ? "x +2 "storage"(& +4 "core" & X W T\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"& ' +99 "core" ' +2 "storage"(a& +4 "core" & ` P y\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(0'e +280 "core" ' +2 "storage"(j- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&.& +3 "core" &[  "x + "storage"(& +4 "core" & Y Z \  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 + "manipulator"&L'M +32 "core" ' +2 .tElbow.hold +2 "manipulator"&w, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(- +2 "core" -' +3 .tSE.seek 0.11 Pucks below Top Plate + "storage"(^'l +27 "core" ' +2 "manipulator"&% +4 "core" %[W Y Y α + "storage"(F& +4 "core" & M\  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 3 + 314 counts +2 "manipulator"&{'χ +20 "core" ' + "manipulator"&& +5 "core" &C c X % + "storage"(|& +4 "core" & W Y\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&h' +11 "core" ' +2 .tSE.seek 1.11 Pucks below Top Plate + "storage"(>'[ +50 "core" ' +2 "manipulator"&& +4 "core" &C  % +2 "manipulator"&f% +4 "core" %  / +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&t'\ +94 "core" ' +2 .tElbow.seek CC +2 "manipulator"&U( +174 "core" ( + "manipulator"&,& +4 "core" & % 2 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" & Q 2 +2 .tForearm.seek CC +2 "manipulator"&O'| +94 "core" ' +2 .tHand.close + "manipulator"&4/ +57 "core" / +2 .tCC.seek :open + "collection"':(p +410 "core" ( +2 "storage"(7& +4 "core" & &\  + "storage"(o& +4 "core" & \  +2 "manipulator"&p& +3 "core" &  2 +2 "manipulator"&Q% +3 "core" % q +2 .tForearm.seek :retract +2 "manipulator"& '\ +101 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&d(D +156 "core" ( + "manipulator"&& +5 "core" &;   + "storage"(& +4 "core" & O\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 3 +2 "manipulator"&z'M +111 "core" ' + .tElbow.hold +2 "manipulator"&W, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&1 +53 "core" 1 +2 "manipulator"&2% +4 "core" % _}   B üC + "storage"( & +4 "core" & d b\  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 318 counts + "manipulator"&1'ϋ +19 "core" ' +2 "manipulator"&5& +4 "core" & t \\ p I +2 "storage"(n& +3 "core" & }\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&;' +21 "core" ' +2 "storage"(q% +4 "core" %a \ +2 ."downElevator"SE.seek :down +4 "storage"('N +98 (B% +3 "core" %*@ \ U\\ +2 "manipulator"&$% +4 "core" % o m  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&%'\ +90 "core" ' +50 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 2 of [2..3] + #Loading generic puck from tube 2 into Collection Clamp +2 "collection"'X& +4 "core" &9>\ + "manipulator"&s% +5 "core" %\ + F !V +2 "storage"(% +4 "core" %< \ + "storage"(. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 + "storage"(N(  +358 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (E& +3 "core" &  w q \ +2 "manipulator"&& +4 "core" & ~ H + .tElbow.seek 2 +2 "manipulator"&Y(; +32 "core" ( +2 "manipulator"&& +4 "core" &? K  + "storage"(@& +4 "core" &  !\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&'Ѐ +103 "core" ' +2 "storage"(9& +4 "core" &  \ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(v'e +288 "core" ' +2 "storage"()- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (H& +3 "core" &  \ + "manipulator"&G& +4 "core" &? m m I  +2 .tElbow.seek 2 + "manipulator"&R(; +3 "core" ( +2 "manipulator"&T& +4 "core" &? t q  + "storage"(8& +4 "core" &  -\ +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&' +16 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&(/ +58 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"('N +7 "core" &?  +2 "manipulator"&<% +4 "core" %  @ +2 .tForearm.seek :retract + "manipulator"& '\ +101 "core" ' +2 .tElbow.seek CC +2 "manipulator"&]( +142 "core" ' + ."downElevator"SE.stop + "storage"(5 +19 "core" ( +2 "manipulator"&l& +4 "core" &, M Bj +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &-& +3 "core" &,  Bj +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&&'| +100 "core" ' +2 "manipulator"&C& +4 "core" &, ~ Bi +2 "manipulator"&y% +4 "core" %φ +2 "collection"'#& +4 "core" &;=/\ +2 "collection"'M& +5 "core" &:;#\ +2 .tCC.seek :closed +2 "collection"'J(] +4 "core" &=<-\  +10 &5==1\ *z +9 &f=<-\ ? +9 &as;<#\ M +10 &&W<=#\ L +9 &Z;<#\ L +9 &[;9\ L +10 &!jY:>!\ M +9 &#,Y;>\ M +10 &$Y;<\ L +9 &&U<<$\ L +9 &(s\\==$\ L +10 &*5Y9>'\ L +9 &+X:<#\ L +9 &-Z;<#\ L +10 &/{Y;="\ L +9 &1=W:<#\ L +10 &2U:<!\ L +9 &4Z:;#\ L +9 &6Y:;&\ L +10 &8EU<;!\ L +9 &:Y<=$\ M +9 &;W:;\ L +10 &=Z<>\ L +9 &?MZ<<#\ L +10 &AY<=\ M +9 &BZ;>!\ L +9 &DZ;?"\ L +10 &FUZ9=\ L +9 &H_48"\ M +10 &Ij"+%\ N +9 &K'\ R +9 &MB#\ V +10 &N\ W +9 &P%\ X +9 &R\ X +10 &T@(\ Y +9 &V\ Z +9 &W(\ Z +10 &Y(\ [ +9 &[@\ \\ +10 &\\x\ 0 +9 &];" \ )| +9 &]m\ M +3 ( + "collection"'M& +3 #tCollection Clamp onSpring/offSpring for 9/25 samples, on/off torque 2.14 +2 .Hand.open + "manipulator"&'1 +63 "core" 1 +2 "manipulator"&% +4 "core" % ~ +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&?'\ +110 "core" ' + #tLoading generic puck from tube 2 into Processing Clamp +2 "processing"%u& +4 "core" &\ +2 "manipulator"&*% +3 "core" %\ _  +2 "storage"(m% +4 "core" %= r s \ + "storage"(b. +3 "core" .(  +2 "storage"(& +3 "core" &  \\ ` \ +2 "storage"(& +3 "core" &  X e\ +2 "manipulator"&\\& +4 "core" &% e =F + "manipulator"&i% +4 "core" %\ F  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&Z(; +208 "core" ( +3 "manipulator"&\ & +4 "core" &2 c j d +2 "storage"( & +3 "core" &  \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&g'Ѐ +90 "core" ' + "storage"(D& +5 "core" &  o\ +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(K'e +276 "core" ' + "storage"(`- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (+& +3 "core" &  f x #\ +2 "manipulator"&V& +4 "core" &2 i i + .tElbow.seek 2 +2 "manipulator"&(; +3 "core" ( +2 "manipulator"&=& +3 "core" &2 q t F +2 "storage"(/& +4 "core" &  e d "\ +2 .tForearm.seek 2 + 300 counts + "manipulator"&A' +22 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&r/ +58 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&3& +2 "storage"('N +7 "core" &2 n n +2 "manipulator"&~% +3 "core" % o n +2 .tForearm.seek :retract +2 "manipulator"&'\ +90 "core" ' +2 .tElbow.seek PC + "manipulator"&[(c +162 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +88 "core" ( + "manipulator"&& +5 "core" &m r + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &}& +2 "core" &m +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&"'[ +97 "core" ' +2 "manipulator"&6& +4 "core" &m +2 "manipulator"&% +3 "core" %X +2 "processing"%!& +4 "core" &\ +2 "processing"%a& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%I(Z +4 "core" &\ \ +9 &1}\ )w +9 &d \ > +9 &Iu \ M +10 & U\ L +9 &Z\ L +10 &V\ M +9 &!Q\\\ M +9 &#X\ \ M +10 &$[\ L +9 &&Z \ L +9 &(Y\\\ M +10 &*\\\ L +9 &+W \ M +9 &-Z\ L +10 &/bZ\ L +9 &1$Y\ L +10 &2W\ M +9 &4U\ L +9 &6jY\ L +10 &8,Y\ L +9 &9V\ M +9 &;V\ M +10 &=q[\ M +9 &?3]\ M +10 &@\\\ M +9 &BU\ L +9 &DyZ\ M +10 &F:[\ M +9 &Gc\ N +9 &Ir\ O +10 &Kt\ Q +9 &M0\ S +10 &N\ S +9 &P\ S +9 &Ru\ S +10 &T7\ S +9 &U\ S +9 &W\ T +10 &Y{\ A +9 &Zw:\ _ +10 &Z3\ 3 +5 ( +2 "processing"%a& +4 #tProcessing Clamp onSpring/offSpring for 9/25 samples, on/off torque 1.65 + .Hand.open +2 "manipulator"&S1 +3 "core" &Z+\ 3 +52 1 + "manipulator"&_% +4 "core" % X +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&j'\ +95 "core" ' + "processing"%.& +4 "core" &Z+\ 3 +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 + "manipulator"&% +4 "core" %\ - 0 "^ +2 "storage"(% +3 "core" %@ A A X\ +2 "storage"(. +3 "core" .(  +2 "storage"(F& +3 "core" &  A A \ +2 "storage"(& +2 "manipulator"&|& +7 "core" &  A B \ +2 &m  +3 ."raiseStack"SE.reconfigure :place +2 .tElbow.reconfigure :tight +4 "storage"(#]kK-0-\ b +4 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +2 ."raiseStack"SE.seek :beamBreak +3 "manipulator"&(c + "storage"(f'e +5 "core" ( +2 "manipulator"& & +3 "core" &m @ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &k& +2 "core" &m  +2 .tForearm.seek PC +2 "manipulator"&0'[ +96 "core" ' + .tHand.close +2 "manipulator"&L/ +58 "core" / +2 .tPC.seek :open + "processing"%{(p +92 "core" ' + "storage"(^- +4 "core" -'e + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place + "storage"(,'B +34 "core" ' +260 ( + "storage"(& +4 "core" &  \\ ` \ +2 "manipulator"&h& +4 "core" &m  + "manipulator"&w% +4 "core" % ] E +2 .tForearm.seek :retract +2 "manipulator"&4'\ +98 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&t(; +256 "core" ( + "manipulator"&& +5 "core" &2 ^ "{ + "storage"(7& +4 "core" &  X X b\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&o'Ѐ +94 "core" ' + .tHand.open + "manipulator"&p1 +63 "core" 1 +3 "storage"(Q- +3 "core" -'B +3 .tSE.seek -0.16 Pucks below Top Plate + "storage"(' +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(' +54 "core" ' +2 #tLights, camera, ACTION! + "storage"(O- +3 "core" -' +2 "storage"(U& +4 "core" &  &\ + "manipulator"&& +4 "core" &5 "x +2 .tElbow.seek 2 + "manipulator"&2(; +4 "core" ( + "manipulator"& & +4 "core" &5 "x + "storage"(5& +4 "core" &  \ +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&n'Ѐ +18 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"(q'M +62 "core" ' + "manipulator"& & +4 "core" &5 j  "x +2 "storage"(B& +4 "core" &  u t 2\ + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&$'ξ +33 "core" ' + .tElbow.hold +2 "manipulator"&d, +5 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"(z'7 +23 "core" ' + "manipulator"&X% +4 "core" %v  ź/ +2 "storage"(1& +4 "core" &    0\ + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 2 + 316 counts + "manipulator"&s' +19 "core" ' +2 "manipulator"&& +4 "core" &B r v h k +2 "storage"(& +4 "core" &  s s \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&>'Ѐ +18 "core" ' + "storage"(;% +5 "core" %< n p \ +2 ."downElevator"SE.seek :down +4 "storage"('N +98 (P% +3 "core" %+A W Z\ V_ +2 "manipulator"&E% +4 "core" %} ` b f +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +87 "core" ' +64 ' + ."downElevator"SE.stop + "storage"(5 +3 (& +4 "core" &  R ? q\ + "collection"'@& +4 "core" &]l \ M +2 #tStoring generic puck in Collection Clamp to tube 2 + "manipulator"&9% +4 "core" %\ ) f I + "storage"(W% +4 "core" %= M K >\ +2 "storage"(%. +3 "core" .(  + "storage"()& +4 "core" &  K O 9\ + "storage"(H& +4 "core" &  Q L \ +2 "manipulator"&G& +3 "core" &B k k +2 .tElbow.seek 2 +2 "manipulator"&T(; +3 "core" ( +2 "manipulator"&8& +3 "core" &B O k +2 "storage"((& +4 "core" &  O K B\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&'Ѐ +96 "core" ' +2 "storage"(<& +4 "core" &  p q \ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(Y'e +278 "core" ' + "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&l& +3 "core" &B k + "storage"(-& +4 "core" &  d o\ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&v'ξ +33 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(C- +2 "core" -' +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(y'n +28 "core" ' + "manipulator"&R% +4 "core" %m # % Ƿ +2 "storage"(#& +4 "core" & \ \  q\ + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 315 counts + "manipulator"&' +17 "core" ' + "manipulator"& & +56 "core" &C d l _ j +2 "storage"(:& +3 "core" &  n n \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&''Ѐ +15 "core" ' +2 .tSE.seek 1.11 Pucks below Top Plate +2 "storage"('] +40 "core" ' + "manipulator"&u& +5 "core" &C k c j + "manipulator"&*% +4 "core" %j o o \ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&M'\ +87 "core" ' +2 .tElbow.seek CC + "manipulator"&m( +158 "core" ( +2 "manipulator"&b& +4 "core" &+ 8 Bi +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &+ Bi +2 .tForearm.seek CC +2 "manipulator"&'| +103 "core" ' + .tHand.close +2 "manipulator"&\\/ +58 "core" / + .tCC.seek :open +2 "collection"'i(p +410 "core" ( +2 "storage"(&& +4 "core" &  \ +2 "storage"(\ & +4 "core" &  C\ + "manipulator"& & +4 "core" & ( 2 ?V + "manipulator"&]% +4 "core" % l / . +2 .tForearm.seek :retract + "manipulator"&D'\ +101 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&?(; +182 "core" ( +2 "manipulator"&`& +4 "core" &E } 2  +2 "storage"(+& +3 "core" &  A\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 2 +2 "manipulator"&V'ξ +110 "core" ' + .tElbow.hold +2 "manipulator"&=, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&/1 +63 "core" 1 +3 "manipulator"&r% +4 "core" % } # C + "storage"(3& +4 "core" &  f o \ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 316 counts + "manipulator"&~' +20 "core" ' +2 "manipulator"&Z& +4 "core" &E \\ t  +2 "storage"(g& +3 "core" &  {\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&K'Ѐ +15 "core" ' + "storage"(A% +4 "core" %c \ +3 ."downElevator"SE.seek :down +4 "storage"('N +99 (}% +3 "core" %: )\ U[ +2 "manipulator"&% +4 "core" %| g b n +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&6'\ +87 "core" ' +52 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 3 of [2..3] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"'& +4 "core" &<?$\ +2 "manipulator"&!% +4 "core" %\ (  J + "storage"(% +5 "core" %9 <\  + "storage"(. +3 "core" .(  +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 + "storage"(x( +357 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (S& +2 "core" & r s \  +2 "manipulator"&_& +4 "core" &E   +2 .tElbow.seek 3 + "manipulator"&.(D +3 "core" ( +2 "manipulator"&& +3 "core" &E :  +2 "storage"(& +4 "core" & .\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&' +93 "core" ' +2 "storage"(F& +4 "core" & B\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('e +282 "core" ' +2 "storage"(|- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (a& +2 "core" & \  +2 "manipulator"& & +4 "core" &E   + .tElbow.seek 3 +2 "manipulator"&k(D +3 "core" ( +2 "manipulator"&"& +3 "core" &E Y  +2 "storage"(L& +4 "core" & c\  +2 .tForearm.seek 3 + 300 counts + "manipulator"&^'y +20 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&[/ +57 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&j& +2 "storage"(I'N +8 "core" &E n n  +2 "manipulator"&% +4 "core" % o n n +2 .tForearm.seek :retract + "manipulator"&h'\ +89 "core" ' +2 .tElbow.seek CC +2 "manipulator"&f( +148 "core" ( + "manipulator"&w& +5 "core" ' + &  . + .tElbow.reconfigure :loose +3 ."downElevator"SE.stop +4 "manipulator"&$ &.,(#b "storage"(5 +3 "manipulator"&0& +6 "core" &  . +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&'| +93 "core" ' + "manipulator"&7& +5 "core" & M . + "manipulator"&% +4 "core" %|  +2 "collection"'p& +4 "core" &==+\ +2 "collection"'Q& +4 "core" &:>%\ +3 .tCC.seek :closed + "collection"'O(] +5 "core" &<=,\  +9 &4:<.\ +{ +9 &e<<1\ > +10 &at9;0\ M +9 &%Z:;$\ L +10 &[;>!\ L +9 &[<=%\ L +9 &!jZ:;\ L +10 &#-W><"\ L +9 &$Y:;\ L +9 &&Z<:\ L +10 &(r\\:>\ L +9 &*4Y:<\ L +10 &+Y:<\ M +9 &-Y<<\ L +9 &/zZ:<%\ L +10 &1<W<>%\ L +9 &2V;>$\ L +9 &4Z:?"\ L +10 &6Y<=\ L +9 &8EZ;<\ L +9 &:Y<;#\ L +10 &;X;;-\ L +9 &=W<=)\ L +10 &?LY<<(\ L +9 &AV<='\ L +9 &BZ;=&\ L +10 &DZ8;+\ L +9 &FSZ9<+\ M +9 &Ha46-\ M +10 &In&(\ O +9 &K '\ S +10 &M@1\ V +9 &N7\ W +9 &P6\ X +10 &R)\ X +9 &T@*\ Y +9 &V)\ Y +10 &W+\ Z +9 &Y~+\ [ +10 &[@1\ [ +9 &\\w*\ 0 +9 &]*-\ $k +9 ( +3 "collection"'Q& +3 #tCollection Clamp onSpring/offSpring for 9/25 samples, on/off torque 2.15 +2 .Hand.open + "manipulator"&U1 +3 "core" &],\ W +49 1 + "manipulator"&% +5 "core" % | 4  + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"& '\ +91 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%5& +4 "core" & \ +2 "manipulator"&4% +3 "core" %\ *  !O +2 "storage"( % +3 "core" %: ( , \ +2 "storage"(B. +3 "core" .( +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(,( +3 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (X& +2 "core" &\ $\ " \  +2 "manipulator"&1& +4 "core" &  . + "manipulator"&% +4 "core" %\ *  !O +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 + "manipulator"&(D +175 "core" ( + "manipulator"&& +4 "core" &D ) f +2 "storage"(;& +4 "core" & X X Q\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&t' +109 "core" ' + "storage"(o& +4 "core" & o n \  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"('e +281 "core" ' + "storage"(P- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (E& +3 "core" & O W \  + "manipulator"&n& +4 "core" &F a c A d +2 .tElbow.seek 3 + "manipulator"&2(D +4 "core" ( + "manipulator"&q& +4 "core" &F q s d + "storage"($& +4 "core" & r s \  +2 .tForearm.seek 3 + 300 counts + "manipulator"&'y +25 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&s/ +52 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&@& +2 "storage"(9'N +7 "core" &F  d +2 "manipulator"&W% +4 "core" % d   +2 .tForearm.seek :retract +2 "manipulator"&%'\ +91 "core" ' +2 .tElbow.seek PC +2 "manipulator"&)(c +159 "core" ' + ."downElevator"SE.stop + "storage"(5 +93 "core" ( + "manipulator"&z& +5 "core" &i J +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &H& +3 "core" &i  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&G'[ +102 "core" ' +2 "manipulator"&8& +4 "core" &i Y + "manipulator"&(% +4 "core" %d  +2 "processing"%>& +4 "core" &\ +53 "processing"%<& +5 "core" &+\ +2 .tPC.seek :closed + "processing"%(Z +5 "core" &\  +9 &0{ \ *x +9 &c\ = +10 &=u\ N +9 &T\ M +9 &V\ M +10 &W \ L +9 &!GZ\ M +9 &#\ Z \ L +10 &$W\ M +9 &&\\ \ M +10 &(OZ\ M +9 &*[\ \ M +9 &+Y\ M +10 &-Y\ M +9 &/WY\ M +10 &1W\ \ M +9 &2Y\ M +9 &4Z \ M +10 &6_[\ M +9 &8 Z\ M +9 &9V\ L +10 &;W\ M +9 &=gW\ M +10 &?*Z\ L +9 &@Y\ M +9 &BX\ M +10 &DnV\ M +9 &F0Z\ M +9 &Gb\ N +10 &Ii\ O +9 &Kmx\ P +9 &M)\ R +10 &N \ S +9 &P\ S +10 &Rk\ S +9 &T,\ T +9 &U\ T +10 &W \ T +9 &Yp \ A +9 &Z|D\ W +10 &Z \ ' +2 ( +2 "processing"%<& +3 #tProcessing Clamp onSpring/offSpring for 9/25 samples, on/off torque 1.63 + .Hand.open +2 "manipulator"&d1 +62 "core" 1 +2 "manipulator"&% +4 "core" % d F +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +95 "core" ' +2 "processing"%l& +4 "core" &Z\ ' +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&-% +4 "core" %\ , o "[ +2 "storage"(C% +4 "core" %6 6 3 \  + "storage"(R. +3 "core" .( +2 "storage"(#& +4 "core" & 8 4 \  + "storage"( & +2 "manipulator"&:& +7 "core" & 4 8\  + &i P +3 ."raiseStack"SE.reconfigure :place +2 .tElbow.reconfigure :tight +5 "storage"(#]kK-0-\ b +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +3 ."raiseStack"SE.seek :beamBreak +2 "manipulator"&u(c + "storage"(*'e +5 "core" ( + "manipulator"&& +4 "core" &i  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &T& +3 "core" &i ~ +2 .tForearm.seek PC +2 "manipulator"&Y'[ +98 "core" ' +2 .tHand.close + "manipulator"&v/ +55 "core" / +3 .tPC.seek :open + "processing"%(p +93 "core" ' + "storage"(y- +4 "core" -'e + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place + "storage"(b'B +37 "core" ' +249 ( + "storage"(& +4 "core" & X X M\  +2 "manipulator"&'& +4 "core" &i  + "manipulator"&% +4 "core" % j  +2 .tForearm.seek :retract + "manipulator"&\\'\ +93 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 + "manipulator"&M(D +258 "core" ( + "manipulator"&J& +4 "core" &C  # +2 "storage"(&& +4 "core" & K = i\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&\ ' +91 "core" ' +2 .tHand.open + "manipulator"& 1 +63 "core" 1 +2 "storage"(]- +3 "core" -'B +3 .tSE.seek -0.16 Pucks below Top Plate + "storage"(`' +27 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(+' +53 "core" ' +2 #tLights, camera, ACTION! + "storage"(- +4 "core" -' +2 "storage"(m& +3 "core" & r\  +2 "manipulator"&/& +3 "core" &C  # +2 .tElbow.seek 3 +2 "manipulator"&r(D +4 "core" ( + "manipulator"&3& +4 "core" &C  # + "storage"(Z& +4 "core" & \  +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&g' +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"(A'M +61 "core" ' +2 "manipulator"&D& +4 "core" &C # +2 "storage"(}& +3 "core" & X X O\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&'M +31 "core" ' +2 .tElbow.hold + "manipulator"&?, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"(V'7 +23 "core" ' + "manipulator"&% +5 "core" %`b 5 4 ˴ + "storage"(!& +4 "core" & Z\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 319 counts + "manipulator"&~'ό +13 "core" ' +2 "manipulator"&& +4 "core" &2 p v L % +2 "storage"(& +4 "core" & p ^ X\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&' +21 "core" ' + "storage"(K% +5 "core" %= s s\  +2 ."downElevator"SE.seek :down +4 "storage"('N +98 (N% +3 "core" %; , * J\ U^ +2 "manipulator"&S% +4 "core" % x B  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&_'\ +90 "core" ' +61 ' + ."downElevator"SE.stop + "storage"(5 +3 (& +4 "core" & ' % \  +2 "collection"'& +4 "core" &]\ W + #tStoring generic puck in Collection Clamp to tube 3 +2 "manipulator"&F% +3 "core" %\ - { "\\ +2 "storage"(=% +4 "core" %L T X 5\ + "storage"(6. +3 "core" .( +2 "storage"(|& +3 "core" & X T \  +2 "storage"(a& +4 "core" & K U /\  + "manipulator"& & +4 "core" &6 l $ +2 .tElbow.seek 3 + "manipulator"&"(D +19 "core" ( + "manipulator"&L& +4 "core" &C W , +2 "storage"([& +3 "core" & ( ' 2\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&j' +93 "core" ' +2 "storage"(& +4 "core" & [ ] \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(.'e +277 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +2 "manipulator"&w& +3 "core" &\\  ) +2 "storage"(0& +4 "core" & X U\  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&'M +32 "core" ' +2 .tElbow.hold + "manipulator"&^, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(7- +2 "core" -' +3 .tSE.seek 0.11 Pucks below Top Plate + "storage"('l +28 "core" ' +2 "manipulator"&p% +4 "core" %]W [ U ϱ + "storage"(k& +4 "core" & K\  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 3 + 316 counts +2 "manipulator"&I'ω +12 "core" ' + "manipulator"&h& +5 "core" &] o E ( + "storage"(i& +4 "core" & [ \\\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&U' +12 "core" ' +2 .tSE.seek 1.11 Pucks below Top Plate +2 "storage"('[ +40 "core" ' + "manipulator"&5& +5 "core" &^ - ( + "manipulator"&4% +4 "core" %  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"& '\ +87 "core" ' +2 .tElbow.seek CC +2 "manipulator"&B( +159 "core" ( + "manipulator"&X& +4 "core" &+ U Bf +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &Q& +3 "core" &, v Bf +2 .tForearm.seek CC +2 "manipulator"&1'| +97 "core" ' +2 .tHand.close + "manipulator"&/ +54 "core" / +2 .tCC.seek :open + "collection"'(p +410 "core" ( +3 "storage"(& +4 "core" & E\  + "storage"(;& +4 "core" & B\  + "manipulator"&x& +4 "core" &'  ?S + "manipulator"&f% +4 "core" % e  +2 .tForearm.seek :retract + "manipulator"&o'\ +94 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 + "manipulator"& (D +172 "core" ( +2 "manipulator"&P& +4 "core" &A F  + "storage"(E& +4 "core" & \  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 3 +2 "manipulator"&n'M +111 "core" ' + .tElbow.hold +2 "manipulator"&q, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +52 "manipulator"&$1 +56 "core" 1 +2 "manipulator"&s% +4 "core" % _x m ĺ8 +2 "storage"(@& +3 "core" & J L \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 318 counts + "manipulator"&W'ϋ +15 "core" ' + "manipulator"&& +4 "core" &\ \\ r U +2 "storage"(t& +4 "core" & ^\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&' +18 "core" ' +2 "storage"(% +4 "core" %W W\ +2 ."downElevator"SE.seek :down +4 "storage"(z'N +99 (H% +3 "core" %> K\ U\\ +2 "manipulator"&2% +4 "core" % m n  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&8'\ +91 "core" ' +52 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 2 of [2..3] +2 #Loading generic puck from tube 2 into Collection Clamp + "collection"'(& +4 "core" &:>'\ +2 "manipulator"&>% +4 "core" %\ . #c + "storage"(9% +4 "core" %L :\ +2 "storage"(%. +3 "core" .( +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"({(  +363 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (d& +2 "core" &  , + \ +2 "manipulator"&& +3 "core" &\ U +2 .tElbow.seek 2 +2 "manipulator"&l(; +34 "core" ( +2 "manipulator"&-& +4 "core" &E   +2 "storage"(C& +3 "core" &  \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&R'Ѐ +102 "core" ' +2 "storage"(#& +4 "core" &  @\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(<'e +280 "core" ' +2 "storage"(:- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 ( & +2 "core" &  T\ +2 "manipulator"&& +3 "core" &E a a  +2 .tElbow.seek 2 +2 "manipulator"&T(; +3 "core" ( + "manipulator"&G& +4 "core" &E c m |  +2 "storage"(v& +4 "core" &  \ +2 .tForearm.seek 2 + 300 counts + "manipulator"&y' +26 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&)/ +55 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&& + "storage"('N +7 "core" &E a c n  +2 "manipulator"&% +4 "core" % m m +2 .tForearm.seek :retract + "manipulator"&''\ +97 "core" ' +2 .tElbow.seek CC + "manipulator"&( +148 "core" ' +2 ( + ."downElevator"SE.stop +3 "manipulator"&*& + "storage"(5 +7 "core" & * / + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &Y& +3 "core" & \\ / +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&J'| +94 "core" ' +2 "manipulator"&&& +4 "core" & / +2 "manipulator"&u% +4 "core" %q  +2 "collection"' & +4 "core" &<?*\ +2 "collection"']& +5 "core" &:=6\ +2 .tCC.seek :closed + "collection"'(] +5 "core" &;>,\ +7 & 6;>-\ $e +9 &lW<=;\ 7 +10 &}:=,\ L +9 &V;=3\ L +10 &GZ;?9\ L +9 & Y:=7\ L +9 & Z;>7\ L +10 &"Y;=!\ L +9 &$NY;=\ L +9 &&Z:=)\ L +10 &'V:>/\ L +9 &)Z<=/\ L +10 &+WY<<#\ L +9 &-Y:=-\ L +9 &.Z<<'\ L +10 &0Z:<5\ M +9 &2_Y<<,\ L +9 &4 Y==7\ L +10 &5Y<=/\ L +9 &7Y<<.\ M +9 &9gX<>$\ L +10 &;(X<<+\ L +9 &<W;<)\ L +10 &>Y9;7\ L +9 &@o[;<-\ L +9 &B0Z9=+\ L +10 &CZ:=3\ L +9 &EZ9<6\ M +10 &Gv\\7<6\ L +9 &I3e)28\ N +9 &Jz8\ P +10 &L6\ U +9 &N_6\ W +9 &P!4\ W +10 &Q4\ X +9 &S3\ X +9 &U`6\ Y +10 &W"0\ Y +9 &X.\ [\ +10 &Z3\ \\ +9 &\\d+\ H +9 &]V03\ : +10 &]|.\ Q +5 ( +2 "collection"']& +4 #tCollection Clamp onSpring/offSpring for 10/26 samples, on/off torque 2.11 + .Hand.open +2 "manipulator"&m1 +3 "core" &]w-\ Q +52 1 +2 "manipulator"&/% +4 "core" % q c  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&3'\ +92 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%Z& +4 "core" &\ +2 "manipulator"&\\% +3 "core" %\ (  J +2 "storage"(D% +4 "core" %D X X X\ + "storage"(}. +3 "core" .(  +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 + "storage"((  +7 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (b& +3 "core" &  \  `\ +2 "manipulator"&!& +4 "core" & \ / + "manipulator"&% +4 "core" %\ ( J +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&`(; +164 "core" ( +2 "manipulator"&& +4 "core" &5 9 1 +2 "storage"(K& +3 "core" &  J T X\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&M'Ѐ +101 "core" ' + "storage"(\ & +5 "core" &  x o T\ + .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(+'e +276 "core" ' +2 "storage"(N- +3 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (S& +3 "core" &  s t \ + "manipulator"&g& +4 "core" &5 s p  1 +2 .tElbow.seek 2 + "manipulator"&r(; +4 "core" ( + "manipulator"&A& +4 "core" &5 q p 4 1 + "storage"(& +4 "core" &  i o C\ +2 .tForearm.seek 2 + 300 counts + "manipulator"&' +25 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&~/ +56 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"&& "storage"(F'N +8 "core" &5 p p  1 + "manipulator"&=% +4 "core" % n p M +2 .tForearm.seek :retract +2 "manipulator"&6'\ +93 "core" ' +2 .tElbow.seek PC + "manipulator"&|(c +161 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +89 "core" ( + "manipulator"&V& +5 "core" &b _ + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &a& +2 "core" &b 9 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"& '[ +100 "core" ' +2 "manipulator"&L& +4 "core" &b J +2 "manipulator"&[% +3 "core" %e Y +2 "processing"%& +5 "core" &*\ +2 "processing"%& +5 "core" &%\ +2 .tPC.seek :closed + "processing"%(Z +4 "core" &\ +9 &9\ $d +9 &nU{\ 6 +9 &}\ K +10 &zW\ M +9 &=U\ M +10 &V\ M +9 & X\ M +9 &"R\ L +10 &$EX\ M +9 &&Y\ M +9 &'V\ L +10 &)W\ M +9 &+MU\ M +10 &-\\\ M +9 &.] \ M +9 &0U\ M +10 &2UU\ M +9 &4T \ L +9 &5W\ M +10 &7Z\ M +9 &9]Z\ M +9 &;V\ M +10 &<V \ L +9 &>Y\ M +10 &@fW\ L +9 &B&X\ M +9 &CX \ M +10 &EZ\ M +9 &Gib\ N +10 &I(m\ O +9 &J~\ \ Q +9 &L\ S +10 &Na \ S +9 &P$ \ S +9 &Q\ S +10 &S \ T +9 &Ui\ S +9 &W(\ T +10 &X\ T +9 &ZBIj\ )x +10 &Z A\ , +5 ( +2 "processing"%& +4 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.65 + .Hand.open +2 "manipulator"&?1 +3 "core" &Z\ , +58 1 + "manipulator"&_% +4 "core" % e +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&'\ +100 "core" ' + "processing"%w& +4 "core" &Z\ , +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 + "manipulator"&0% +4 "core" %\ 6 C & + "storage"(7% +4 "core" %E 9 9 \ + "storage"(p. +3 "core" .(  +2 "storage"(k& +4 "core" &  9 9 \ +2 "storage"(h& +2 "manipulator"&i& +6 "core" &  9 9 \ +2 &b  +3 ."raiseStack"SE.reconfigure :place +2 .tElbow.reconfigure :tight +4 "storage"(#]kK-0-\ b +4 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +2 ."raiseStack"SE.seek :beamBreak +3 "manipulator"&5(c + "storage"(4'e +5 "core" ( + "manipulator"&j& +4 "core" &b  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &"& +3 "core" &b  +2 .tForearm.seek PC + "manipulator"&.'[ +135 "core" ' +14 .tHand.close + "manipulator"&/ +54 "core" / +2 .tPC.seek :open + "processing"%I(p +45 "core" ' +2 "storage"(- +3 "core" -'e +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(X'B +43 "core" ' +294 ( + "storage"(Q& +4 "core" &  [ Z \ +2 "manipulator"&U& +4 "core" &b + "manipulator"&^% +4 "core" % g +2 .tForearm.seek :retract + "manipulator"&'\ +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"& (; +254 "core" ( +2 "manipulator"&O& +4 "core" &9 + !s +2 "storage"(& +3 "core" &  W X j\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&;'Ѐ +94 "core" ' +2 .tHand.open + "manipulator"&x1 +60 "core" 1 +2 "storage"(f- +3 "core" -'B +3 .tSE.seek -0.16 Pucks below Top Plate + "storage"(P' +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.83 Pucks below Top Plate + "storage"(E' +53 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(1- +3 "core" -' +2 "storage"(B& +4 "core" &  \ + "manipulator"&$& +4 "core" &9 !s +2 .tElbow.seek 2 + "manipulator"&s(; +4 "core" ( + "manipulator"&@& +4 "core" &9 [ !s + "storage"(& +4 "core" &  \ +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&t'Ѐ +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.11 Pucks below Top Plate + "storage"(o'M +62 "core" ' + "manipulator"&& +5 "core" &9 !s + "storage"(H& +4 "core" &  [ [\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"& 'ξ +31 "core" ' + .tElbow.hold +2 "manipulator"&2, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"(n'7 +25 "core" ' + "manipulator"&(% +5 "core" %w    ź7 + "storage"(W& +4 "core" & \ \  H\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 308 counts + "manipulator"&>' +18 "core" ' + "manipulator"&9& +5 "core" &F i n W f + "storage"(%& +4 "core" &  t s \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&'Ѐ +17 "core" ' +2 "storage"(% +4 "core" %8 i h \  +2 ."downElevator"SE.seek :down +4 "storage"(z'N +99 (,% +2 "core" %? X [ {\ V_ +2 "manipulator"&d% +4 "core" %} p e K +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +87 "core" ' +61 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (-& +4 "core" &  # F L\ +2 "collection"'C& +4 "core" &]v7\ Q +2 #tStoring generic puck in Collection Clamp to tube 2 + "manipulator"&#% +4 "core" %\ ) v L + "storage"(q% +4 "core" %: Z X s\ + "storage"(8. +3 "core" .(  +2 "storage"(:& +4 "core" &  Y Z\ + "storage"( & +4 "core" &  [ [ (\ +2 "manipulator"&& +3 "core" &F P f +2 .tElbow.seek 2 +2 "manipulator"&G(; +12 "core" ( + "manipulator"&v& +4 "core" &F   +2 "storage"()& +4 "core" &  O L &\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&'Ѐ +101 "core" ' +2 "storage"(& +4 "core" &  #\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(l'e +280 "core" ' +2 "storage"(R- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&*& +2 "core" &F x s <  +2 "storage"(Y& +3 "core" &  l x\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&<'ξ +34 "core" ' + .tElbow.hold +2 "manipulator"&y, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(&- +2 "core" -' +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(u'n +29 "core" ' +2 "manipulator"& % +4 "core" %p    Ÿ + "storage"(T& +4 "core" & \ \  \ + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 2 + 317 counts +2 "manipulator"&' +18 "core" ' +2 "manipulator"&'& +4 "core" &F t \\ o  +2 "storage"(& +3 "core" &  t t \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&m'Ѐ +16 "core" ' +2 .tSE.seek 1.11 Pucks below Top Plate +2 "storage"(/'] +40 "core" ' + "manipulator"&Z& +5 "core" &F m n  + "manipulator"&\\% +4 "core" %Ѐ e m ~ +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&D'\ +86 "core" ' +2 .tElbow.seek CC +2 "manipulator"&}( +167 "core" ( + "manipulator"&]& +5 "core" &/  . + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &b& +2 "core" &/  . +2 .tForearm.seek CC +2 "manipulator"&!'| +97 "core" ' +2 .tHand.close + "manipulator"&/ +53 "core" / +2 .tCC.seek :open +2 "collection"'J(p +410 "core" ( +2 "storage"(& +4 "core" &  \ + "storage"(K& +4 "core" &  +\ + "manipulator"&{& +4 "core" &/  . + "manipulator"&\ % +4 "core" % ρ $ +2 .tForearm.seek :retract +2 "manipulator"&'\ +93 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&3(; +168 "core" ( +2 "manipulator"&N& +4 "core" &?  K + "storage"(S& +4 "core" &  X\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 2 + "manipulator"&g'ξ +111 "core" ' + .tElbow.hold +2 "manipulator"&A, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&1 +60 "core" 1 +2 "manipulator"&~% +5 "core" % s  c Ĺ. + "storage"(& +4 "core" &  V W l\ + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 316 counts + "manipulator"&=' +12 "core" ' + "manipulator"&`& +4 "core" &W ] t 3 +2 "storage"(M& +3 "core" &  \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&+'Ѐ +15 "core" ' +2 "storage"(% +4 "core" %^ w\ +2 ."downElevator"SE.seek :down +3 "storage"(V'N +100 (a% +2 "core" %0; \ UZ +2 "manipulator"&r% +4 "core" %Њ m r +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&L'\ +87 "core" ' +56 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 3 of [2..3] + #Loading generic puck from tube 3 into Collection Clamp +2 "collection"'[& +4 "core" &;=/\ +2 "manipulator"&% +4 "core" %\ * _ !S + "storage"(F% +4 "core" %F y \  +2 "storage"(6. +3 "core" .(  +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 + "storage"(( +360 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (?& +2 "core" & ^ Z \  +2 "manipulator"&_& +4 "core" &W p 3 +2 .tElbow.seek 3 + "manipulator"&w(D +27 "core" ( + "manipulator"&0& +4 "core" &D E  +2 "storage"(7& +4 "core" & }\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&p' +103 "core" ' + "storage"(& +4 "core" & \  +52 .tSE.reconfigure :pick +4 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(k'e +280 "core" ' +2 "storage"(h- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (i& +3 "core" & N\  + "manipulator"&j& +4 "core" &D k m  +2 .tElbow.seek 3 + "manipulator"&"(D +4 "core" ( + "manipulator"& & +4 "core" &D z j   + "storage"(& +4 "core" & G\  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&'y +28 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&|/ +56 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& + "storage"('N +7 "core" &D c j  +2 "manipulator"&4% +4 "core" % { i ` I +2 .tForearm.seek :retract +2 "manipulator"&Q'\ +89 "core" ' +2 .tElbow.seek CC + "manipulator"&U( +156 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +10 "core" ( + "manipulator"&^& +5 "core" &,   Bj + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &.& +2 "core" &, C Bj +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&O'| +94 "core" ' +2 "manipulator"&& +5 "core" &+  Ac + "manipulator"&5% +4 "core" %|  +2 "collection"'x& +4 "core" &?=G\ +2 "collection"'f& +5 "core" &<=>\ +2 .tCC.seek :closed + "collection"'1(] +5 "core" &<=<\ +7 &=;<=\ $e +9 &oV==<\ 7 +9 &~<><\ L +10 &V<<<\ L +9 &JY:=:\ L +10 & V;>?\ L +9 & Y;<8\ L +9 &"Y=<5\ M +10 &$SW;<:\ L +9 &&Z<<4\ L +9 &'Y9>:\ L +10 &)[:<6\ L +9 &+[Y<=*\ L +10 &-Y<=5\ L +9 &.Z;=0\ L +9 &0Z;;/\ L +10 &2cV<;.\ L +9 &4$Z;<-\ L +9 &5W;>-\ M +10 &7X9<.\ L +9 &9jY:=1\ L +9 &;-U>;7\ L +10 &<Y;;4\ L +9 &>Z=</\ M +10 &@rZ<<1\ L +9 &B4[;=/\ L +12 &CY;;/\ M +8 &EY:<-\ L +7 &Gy^7:5\ M +10 &I6h'06\ N +9 &J 7\ Q +9 &L8\ V +10 &Nd6\ V +9 &P$7\ W +9 &Q6\ W +10 &S4\ X +9 &Ud8\ Y +10 &W%8\ Z +9 &X3\ [\ +9 &Z6\ \\ +10 &\\g2\ H +9 &]X13\ 7 +9 &]l1\ I +6 ( +2 "collection"'f& +4 #tCollection Clamp onSpring/offSpring for 10/26 samples, on/off torque 2.14 + .Hand.open +2 "manipulator"&B1 +3 "core" &]i8\ I +58 1 +2 "manipulator"&$% +5 "core" % |  + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&@'\ +92 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%& +4 "core" &\ +2 "manipulator"&% +3 "core" %\ * b !M +2 "storage"(% +4 "core" %G X X _\  + "storage"(H. +4 "core" .( + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"((( +3 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (X& +2 "core" &\ \  \  +2 "manipulator"&W& +4 "core" &&$ $ <? + "manipulator"&P% +4 "core" %\ * A !M +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&9(D +160 "core" ( + "manipulator"&%& +4 "core" &B \  +2 "storage"(& +3 "core" & s s \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"& ' +95 "core" ' + "storage"(;& +4 "core" & j l \  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(E'e +276 "core" ' + "storage"(,- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (d& +3 "core" & c ] c\  +2 "manipulator"&t& +4 "core" &B _  + .tElbow.seek 3 +2 "manipulator"&s(D +3 "core" ( +2 "manipulator"&o& +4 "core" &B #  + "storage"( & +4 "core" & m n\  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&-'y +11 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&>/ +58 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&C& + "storage"(#'N +7 "core" &B 2  +2 "manipulator"&q% +4 "core" % p  + +2 .tForearm.seek :retract + "manipulator"&8'\ +94 "core" ' + .tElbow.seek PC +2 "manipulator"&:(c +157 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +85 "core" ( + "manipulator"&n& +5 "core" &k + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 & & +3 "core" &k w +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&'[ +101 "core" ' +2 "manipulator"&v& +4 "core" &k  + "manipulator"&)% +4 "core" %a 7 +2 "processing"%& +4 "core" &%\ +2 "processing"%& +5 "core" &'\ +2 .tPC.seek :closed +2 "processing"%z(Z +4 "core" &\  +8 &0{\ *x +10 &b!\ = +9 &Cu\ M +9 &W\ M +10 &Z\ M +9 &W\ L +10 &!MY\ L +9 &#T#\ M +11 &$Z \ M +8 &&Z\ M +9 &(TV\ M +9 &*Z\ M +10 &+X\ M +9 &-W\ M +10 &/[\\\ M +9 &1W\ M +9 &2[\ M +10 &4T \ M +9 &6dU\ M +9 &8&U\ M +10 &9U\ \ M +9 &;U\ M +9 &=mW\ L +10 &?.X\ M +9 &@X\ L +10 &BX \ M +9 &DtW\ M +9 &F6Y\ M +10 &G`\ N +9 &Ih \ O +9 &Kss\ P +10 &M- \ R +9 &N \ T +10 &P \ S +9 &Rp \ S +9 &T1\ T +10 &U \ T +9 &W \ T +9 &Yt\ \ B +10 &Zx= \ Y +9 &Z3\ 3 +6 ( + "processing"%& +4 #tProcessing Clamp onSpring/offSpring for 9/25 samples, on/off torque 1.64 +2 .Hand.open + "manipulator"&21 +3 "core" &Z+\ \ 3 +52 1 +2 "manipulator"&% +4 "core" % a  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&R'\ +100 "core" ' +2 "processing"%*& +4 "core" &Z+\ 3 +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&Y% +4 "core" %\ 3 ) %y +2 "storage"(&% +3 "core" %@ 8 B N\  +2 "storage"( . +3 "core" .( +2 "storage"(T& +3 "core" & A A \  +2 "storage"('& +4 "manipulator"&& +4 "core" & @ > y\  + &k 1 +4 ."raiseStack"SE.reconfigure :place +2 .tElbow.reconfigure :tight +4 "storage"(#]kK-0-\ b +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +3 ."raiseStack"SE.seek :beamBreak +3 "manipulator"&Z(c + "storage"(\\'e +5 "core" ( + "manipulator"&& +4 "core" &k Q +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &G& +3 "core" &k  +2 .tForearm.seek PC +2 "manipulator"&l'[ +95 "core" ' +2 .tHand.close + "manipulator"& # + "storage"(`& +4 "core" & \  +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&M' +3 "core" ' +2 .tSE.reconfigure :gently +53 "storage"(#QK-0-\ b +4 .tSE.seek -0.11 Pucks below Top Plate + "storage"('M +63 "core" ' + "manipulator"&& +4 "core" &M H # +2 "storage"(a& +4 "core" & s r !\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 + "manipulator"&r'M +31 "core" ' +3 .tElbow.hold + "manipulator"&3, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.07 Pucks below Top Plate + "storage"(g'7 +25 "core" ' + "manipulator"&[% +5 "core" %`b 5 7 ˴ + "storage"(& +4 "core" &\ \  \  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 3 + 319 counts +2 "manipulator"&='ό +12 "core" ' + "manipulator"&F& +4 "core" &5 u  & +2 "storage"(6& +4 "core" & n n \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&/' +17 "core" ' +2 "storage"(+% +4 "core" %A v k W\ +2 ."downElevator"SE.seek :down +3 "storage"(V'N +99 (% +3 "core" %-= X Y \ U^ +2 "manipulator"&?% +4 "core" %  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&_'\ +91 "core" ' +56 ' + ."downElevator"SE.stop + "storage"(5 +3 (0& +4 "core" & K 8 F\  +2 "collection"'7& +4 "core" &]h\ I +2 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&% +4 "core" %\ +  !V + "storage"(A% +4 "core" %< O K X\ +2 "storage"(L. +3 "core" .( + "storage"(h& +4 "core" & J K T\  + "storage"(i& +4 "core" & J P 7\  +2 "manipulator"&j& +4 "core" &6 m & + .tElbow.seek 3 +2 "manipulator"& (D +16 "core" ( +2 "manipulator"&& +4 "core" &D A - + "storage"(|& +4 "core" & Z Y\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&' +94 "core" ' +2 "storage"(4& +4 "core" & s s -\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(w'e +277 "core" ' +2 "storage"(p- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&^& +3 "core" &Z  * + "storage"(.& +4 "core" & K N \  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 + "manipulator"&k'M +31 "core" ' + .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(- +2 "core" -' +3 .tSE.seek 0.11 Pucks below Top Plate + "storage"(5'l +28 "core" ' + "manipulator"&x% +4 "core" %`[ X X ` β +2 "storage"("& +4 "core" & D\  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 319 counts + "manipulator"&'ό +13 "core" ' + "manipulator"&Q& +5 "core" &i  ( + "storage"(J& +4 "core" & s t \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&B' +19 "core" ' +2 .tSE.seek 1.11 Pucks below Top Plate +2 "storage"($'[ +40 "core" ' +2 "manipulator"&& +4 "core" &o M ( +2 "manipulator"&% +4 "core" % #  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +94 "core" ' +2 .tElbow.seek CC +2 "manipulator"&H( +158 "core" ( +2 "manipulator"&f& +4 "core" &+ Bj + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &X& +3 "core" &+ Bj +2 .tForearm.seek CC + "manipulator"&W'| +95 "core" ' + .tHand.close +2 "manipulator"&P/ +59 "core" / +2 .tCC.seek :open +2 "collection"'O(p +410 "core" ( + "storage"(%& +5 "core" & K\  + "storage"(& +4 "core" & \  + "manipulator"&& +4 "core" &*$  <; + "manipulator"&;% +4 "core" % ώ   +2 .tForearm.seek :retract + "manipulator"&U'\ +98 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&@(D +155 "core" ( + "manipulator"&,& +4 "core" &J G \ +2 "storage"(d& +4 "core" & r\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 3 +2 "manipulator"&t'M +107 "core" ' +2 .tElbow.hold + "manipulator"&o, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"& 1 +60 "core" 1 +2 "manipulator"&>% +4 "core" % `z  ` û9 +2 "storage"(C& +4 "core" & Y Z \  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 319 counts +2 "manipulator"&q'ό +17 "core" ' +2 "manipulator"&9& +4 "core" & \\ v ! +2 "storage"( & +4 "core" & ~\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&E' +26 "core" ' + "storage"(-% +4 "core" %^ c\ +3 ."downElevator"SE.seek :down +4 "storage"(n'N +99 ( % +3 "core" %< \ TZ + "manipulator"&s% +4 "core" % o o  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&v'\ +88 "core" ' +56 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 2 of [2..3] + #Loading generic puck from tube 2 into Collection Clamp +2 "collection"')& +4 "core" &<<.\ +2 "manipulator"&% +3 "core" %\ ) I +2 "storage"(#% +4 "core" %E X\  + "storage"(8. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 + "storage"(I(  +366 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (2& +3 "core" &  - 9\ + "manipulator"&& +4 "core" &   +2 .tElbow.seek 2 + "manipulator"&*(; +30 "core" ( + "manipulator"&Y& +4 "core" &C \ +2 "storage"(&& +4 "core" &  \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"& 'Ѐ +92 "core" ' + "storage"(T& +4 "core" &  \ +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('e +277 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 ('& +3 "core" &  \ + "manipulator"&& +4 "core" &C  \ +2 .tElbow.seek 2 + "manipulator"&G(; +3 "core" ( +2 "manipulator"&& +3 "core" &C ! \ +2 "storage"(<& +4 "core" &  d\ +2 .tForearm.seek 2 + 300 counts + "manipulator"&u' +20 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&:/ +53 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&R& +2 "storage"(z'N +7 "core" &C m m \ +2 "manipulator"&b% +4 "core" % m n +2 .tForearm.seek :retract + "manipulator"&m'\ +97 "core" ' + .tElbow.seek CC +2 "manipulator"&y( +147 "core" ' + ."downElevator"SE.stop + "storage"(5 +9 "core" ( + "manipulator"&\\& +4 "core" &  s ( +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &l& +3 "core" &   ( +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&'| +103 "core" ' +2 "manipulator"&& +4 "core" &   ( +2 "manipulator"&Z% +4 "core" %ρ  +2 "collection"'{& +3 "core" &;<B\ +2 "collection"'\ & +5 "core" &:>1\ +2 .tCC.seek :closed +2 "collection"'!(] +4 "core" &==?\  +9 &3~:?E\ *y +10 &e<>B\ > +9 &Ws>=9\ M +9 &X<>=\ L +10 &Z<;>\ M +9 &Y<?<\ L +10 &!`Z;>A\ L +9 &#"Y;=8\ L +59 &$V:>;\ L +5 &&Z:=;\ L +4 &(i\\<=9\ L + &**Y:=8\ L + &+X;=-\ L + &-Y;=,\ M + &/pY;<0\ L +3 &11Z;>4\ M +9 &2Y;=/\ L +10 &4Z;<,\ L +9 &6yY<=/\ L +9 &8:Y:<-\ L +10 &9U9;0\ L +9 &;W;</\ L +10 &=Z;>.\ L +9 &?CU>;8\ L +9 &AY=</\ M +10 &BZ;=0\ L +9 &DU:=7\ L +9 &FIZ:<5\ M +10 &H _388\ M +9 &Io#,7\ N +10 &K6\ Q +9 &M87\ U +9 &N9\ V +10 &P7\ W +9 &Rw8\ X +9 &T74\ X +10 &U8\ Y +9 &W9\ Z +10 &Yu:\ [\ +9 &[69\ [ +9 &\\{6\ 0 +10 &]&4\ !a +9 ( +2 "collection"'\ & +3 #tCollection Clamp onSpring/offSpring for 9/25 samples, on/off torque 2.13 +2 .Hand.open + "manipulator"&}1 +4 "core" &]o.\ N +58 1 +2 "manipulator"&% +4 "core" % u M +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +92 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%`& +4 "core" &\ +2 "manipulator"&% +3 "core" %\ ' ! ? +2 "storage"(% +4 "core" %G X Z X\  + "storage"(a. +3 "core" .(  +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 2 + "storage"(](  +4 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (N& +2 "core" & \ \  \ +2 "manipulator"&[& +4 "core" &  k ( + "manipulator"&% +4 "core" %\ ' ; ? +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&F(; +149 "core" ( + "manipulator"&6& +5 "core" &? 2  + "storage"(D& +4 "core" &  r r\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&+'Ѐ +101 "core" ' +2 "storage"(K& +4 "core" &  \ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(S'e +277 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (?& +2 "core" &  i p \ +2 "manipulator"&M& +4 "core" &? c j a  + .tElbow.seek 2 +2 "manipulator"&~(; +3 "core" ( + "manipulator"&& +4 "core" &? p t x  +2 "storage"(r& +4 "core" &  \ +2 .tForearm.seek 2 + 300 counts + "manipulator"&0' +23 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&=/ +62 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&7& +2 "storage"('N +7 "core" &? c o ^  +2 "manipulator"&A% +4 "core" % m i n +2 .tForearm.seek :retract + "manipulator"&L'\ +97 "core" ' + .tElbow.seek PC +2 "manipulator"&h(c +154 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +93 "core" ( +2 "manipulator"&g& +4 "core" &a - +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &i& +3 "core" &a 8 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&j'[ +103 "core" ' +2 "manipulator"&& +4 "core" &a L +2 "manipulator"&|% +4 "core" %a ^ +2 "processing"%/& +4 "core" &&\ +2 "processing"%4& +5 "core" &-\ +2 .tPC.seek :closed + "processing"%V(Z +4 "core" &\ +9 & (\ #b +9 &^W~!\ 7 +9 &{\ L +10 &tU#\ M +9 &6Y!\ M +9 &Z\ M +10 & \\\ M +9 &"}T\ L +9 &$>W\ M +10 &&Z\ L +9 &'V\ L +10 &)W\ L +9 &+FT\ M +9 &-W\ M +10 &.Z\ M +9 &0V\ M +10 &2NU\ M +9 &4T\ M +9 &5Y\ M +10 &7U\ M +9 &9VY\ M +9 &;U\ M +10 &<U \ M +9 &>W\ M +10 &@]U\ M +9 &BV\ M +9 &CW\ M +10 &EX\ M +9 &Gc` \ N +9 &I!k\ O +10 &J\ Q +9 &L\ T +10 &NY \ T +9 &P\ S +9 &Q \ T +10 &S \ T +9 &U` \ T +9 &W!\ T +10 &X\ \ T +9 &Z;Hh\ +~ +9 &Z ; \ * +6 ( + "processing"%4& +5 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.65 + .Hand.open + "manipulator"&31 +4 "core" &Z\ * +55 1 + "manipulator"&_% +4 "core" % a  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&p'\ +101 "core" ' + "processing"%^& +4 "core" &Z\ * +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 +2 "manipulator"&.% +3 "core" %\ 3 , %y +2 "storage"(% +4 "core" %? = 4\ + "storage"(x. +3 "core" .(  +2 "storage"("& +3 "core" &  A @ R\ +2 "storage"(Q& +2 "manipulator"&J& +7 "core" &  + ;\ + &a K +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +3 "storage"(#]kK-0-\ b +2 "manipulator"&(c +7 ."raiseStack"SE.seek :beamBreak + "storage"('e +3 "core" ( + "manipulator"&& +4 "core" &a ( +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 & & +3 "core" &a  +2 .tForearm.seek PC +2 "manipulator"&w'[ +95 "core" ' +2 .tHand.close + "manipulator"&k/ +64 "core" / +2 .tPC.seek :open +2 "processing"%(p +87 "core" ' + "storage"(5- +4 "core" -'e + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +2 ."raiseStack"SE.seek :place +2 "storage"(f'B +38 "core" ' +257 ( + "storage"(X& +4 "core" &  U O B\ +2 "manipulator"&B& +4 "core" &a  + "manipulator"&% +4 "core" % _ W +2 .tForearm.seek :retract + "manipulator"&P'\ +96 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&(; +256 "core" ( +2 "manipulator"&1& +4 "core" &7 D $ + "storage"(%& +4 "core" &  K J \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&'Ѐ +103 "core" ' +2 .tHand.open + "manipulator"&1 +60 "core" 1 +2 "storage"(;- +3 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate +2 "storage"(,' +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(d' +51 "core" ' +2 #tLights, camera, ACTION! + "storage"(W- +4 "core" -' + "storage"(H& +4 "core" &  \ +2 "manipulator"& & +9 "core" &7  $ +2 .tElbow.seek 2 +6 "manipulator"&>(; +5 "core" ( +2 "manipulator"&C& +4 "core" &7 E $ + "storage"(9& +4 "core" &  \ +2 .tForearm.seek 2 + 450 counts +2 "manipulator"& 'Ѐ +17 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"(-'M +62 "core" ' + "manipulator"&U& +5 "core" &7 H $ + "storage"( & +4 "core" &  Z [\ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 + "manipulator"&s'ξ +35 "core" ' + .tElbow.hold +2 "manipulator"&@, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"(t'7 +23 "core" ' +3 "manipulator"&)% +4 "core" %p    Ƹ# + "storage"(q& +4 "core" & \ \  \ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 312 counts + "manipulator"&' +19 "core" ' +2 "manipulator"&#& +4 "core" &F Z t ? "z +2 "storage"(8& +4 "core" &  o n \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&$'Ѐ +18 "core" ' + "storage"(E% +5 "core" %> n V\  +2 ."downElevator"SE.seek :down +3 "storage"(n'N +100 ((% +2 "core" %V? [ Z x\ V_ +2 "manipulator"&2% +4 "core" %x ` d $ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +88 "core" ' +61 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (Y& +4 "core" &  8 K\ +2 "collection"'&& +4 "core" &]o7\ N + #tStoring generic puck in Collection Clamp to tube 2 +2 "manipulator"&T% +4 "core" %\ + 4 !O + "storage"(o% +4 "core" %F Z Z\ + "storage"(v. +3 "core" .(  +2 "storage"(& +3 "core" &  Z Z\ +2 "storage"('& +4 "core" &  Z Y\ + "manipulator"&& +4 "core" &F  "z +54 .tElbow.seek 2 + "manipulator"&(; +33 "core" ( + "manipulator"&<& +4 "core" &E -  +2 "storage"(:& +4 "core" &  r s \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 2 + 450 counts + "manipulator"&R'Ѐ +103 "core" ' + "storage"(b& +5 "core" &  \ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(*'e +277 "core" ' + "storage"( - +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&\\& +3 "core" &E n n  +2 "storage"(l& +4 "core" &  e f \ + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 + "manipulator"&'ξ +35 "core" ' +2 .tElbow.hold + "manipulator"&u, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(- +2 "core" -' +3 .tSE.seek 0.11 Pucks below Top Plate + "storage"(Z'n +36 "core" ' +2 "manipulator"&{% +4 "core" %^ $ % + dz + "storage"(G& +4 "core" & \ \  o\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 318 counts + "manipulator"&z' +18 "core" ' + "manipulator"&m& +5 "core" &E \\ s w  + "storage"(O& +4 "core" &  m n s\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&}'Ѐ +14 "core" ' +2 .tSE.seek 1.11 Pucks below Top Plate +2 "storage"('] +46 "core" ' +2 "manipulator"&`& +4 "core" &E _ i L  +2 "manipulator"&% +4 "core" %j a _ V  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +88 "core" ' +2 .tElbow.seek CC +2 "manipulator"&a( +146 "core" ( +2 "manipulator"&\ & +4 "core" & / + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &N& +3 "core" &  / +2 .tForearm.seek CC +2 "manipulator"&['| +101 "core" ' +2 .tHand.close +2 "manipulator"&/ +54 "core" / +2 .tCC.seek :open +2 "collection"'(p +410 "core" ( + "storage"(6& +4 "core" &  4\ +2 "storage"(D& +4 "core" &  <\ + "manipulator"&I& +4 "core" & / + "manipulator"&K% +4 "core" % ς +2 .tForearm.seek :retract + "manipulator"&y'\ +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&(; +175 "core" ( + "manipulator"&& +4 "core" &E # +2 "storage"(?& +4 "core" &  1\ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 2 +2 "manipulator"&M'ξ +107 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&r1 +56 "core" 1 +2 "manipulator"&=% +4 "core" % v  ^ ú5 + "storage"(7& +4 "core" &  K O V\ +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 2 + 319 counts +2 "manipulator"&A' +18 "core" ' + "manipulator"&F& +4 "core" &E ] q # +2 "storage"(+& +4 "core" &  J\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&S'Ѐ +17 "core" ' + "storage"(0% +4 "core" %] \ +3 ."downElevator"SE.seek :down +4 "storage"(g'N +99 (i% +3 "core" %7< \ U\\ +2 "manipulator"&~% +3 "core" % p l +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +87 "core" ' +52 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 3 of [2..3] +3 #Loading generic puck from tube 3 into Collection Clamp + "collection"'|& +5 "core" &:?+\ + "manipulator"&/% +4 "core" %\ (  E +2 "storage"(% +4 "core" %: \ + "storage"(L. +4 "core" .(  + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(( +365 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (3& +2 "core" & b n =\  +2 "manipulator"&_& +4 "core" &E  # + .tElbow.seek 3 +2 "manipulator"&^(D +3 "core" ( +2 "manipulator"&.& +3 "core" &E % # +2 "storage"(& +4 "core" & E\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&x' +94 "core" ' +2 "storage"("& +4 "core" & \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(4'e +277 "core" ' +2 "storage"(Q- +2 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (J& +3 "core" & e\  + "manipulator"&& +4 "core" &E @ # +2 .tElbow.seek 3 + "manipulator"& (D +3 "core" ( +2 "manipulator"&j& +4 "core" &E  # + "storage"(k& +4 "core" & 1\  +2 .tForearm.seek 3 + 300 counts + "manipulator"&5'y +11 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&h/ +61 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&p& +2 "storage"(V'N +8 "core" &E  # +2 "manipulator"&X% +4 "core" % }  4 + .tForearm.seek :retract +2 "manipulator"&'\ +94 "core" ' +2 .tElbow.seek CC +2 "manipulator"&B( +147 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +15 "core" ( + "manipulator"&& +4 "core" & s  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &w& +2 "core" &   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&1'| +102 "core" ' + "manipulator"&%& +4 "core" & N  +2 "manipulator"&% +4 "core" %τ d +2 "collection"'& +4 "core" &;<1\ +2 "collection"';& +5 "core" &;>@\ +2 .tCC.seek :closed +2 "collection"'W(] +4 "core" &;>B\ +7 &>:;A\ $e +10 &oV9><\ 7 +9 &|;<<\ K +9 &Y9<B\ L +10 &IZ:=>\ L +9 & Y;=<\ L +9 & Z;>>\ L +10 &"Y;=>\ L +9 &$PY:9?\ L +10 &&\\;<;\ L +9 &'Z;<;\ L +9 &)Z8;4\ L +10 &+YY<<8\ L +9 &-Y;;;\ L +9 &.Z7=7\ L +10 &0Z;<6\ L +9 &2`Z;:0\ L +10 &4#V9<*\ L +9 &5Y;<-\ L +9 &7[;;/\ L +10 &9iY:</\ L +9 &;+Y;=2\ L +9 &<Y;=/\ L +10 &>Y;=1\ L +9 &@oY;;+\ M +10 &B3Y8<3\ L +9 &CZ:=/\ L +9 &EY9=5\ L +10 &Gw_673\ M +9 &I6i%/,\ N +9 &J 6\ Q +10 &L8\ U +9 &Nc7\ V +10 &P#2\ W +9 &Q.\ W +9 &S9\ X +10 &Uc:\ Y +9 &W#:\ Z +10 &X:\ \\ +9 &Z9\ [ +9 &\\e:\ H +10 &]c84\ (v +9 &]h7\ H +2 ( +2 "collection"';& +3 #tCollection Clamp onSpring/offSpring for 10/26 samples, on/off torque 2.13 + .Hand.open +2 "manipulator"&H1 +57 "core" 1 + "manipulator"& % +4 "core" % π z +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&C'\ +96 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp +2 "processing"%P& +4 "core" &(\ + "manipulator"&9% +4 "core" %\ - y "_ +2 "storage"(U% +4 "core" %9 r r\ + "storage"( . +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 + "storage"(f( +8 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 ()& +3 "core" & 6 @ u\  + "manipulator"&q& +4 "core" & M  +2 "manipulator"&,% +4 "core" %\ - j "_ +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&#(D +167 "core" ( +2 "manipulator"&8& +4 "core" &<  f +2 "storage"(E& +3 "core" & o d `\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&' +112 "core" ' + "storage"(& +4 "core" & \  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(d'e +276 "core" ' +2 "storage"((- +3 "core" -' +2 .tSE.configure :default +53 "storage"(#QK-0-\ b +3 (2& +2 "core" & n m\  +2 "manipulator"& & +4 "core" &< ` e  f + .tElbow.seek 3 +2 "manipulator"&>(D +3 "core" ( +2 "manipulator"&-& +4 "core" &< m i k f + "storage"(s& +4 "core" & \  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&Y'y +19 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +53 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&&& +2 "storage"(T'N +7 "core" &< H f +2 "manipulator"&o% +4 "core" % σ  +2 .tForearm.seek :retract +2 "manipulator"&v'\ +92 "core" ' +2 .tElbow.seek PC +2 "manipulator"&(c +156 "core" ' + ."downElevator"SE.stop + "storage"(5 +99 "core" ( +2 "manipulator"&t& +4 "core" &a % +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &'& +3 "core" &a n +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&'[ +104 "core" ' + "manipulator"&<& +5 "core" &a M + "manipulator"&:% +4 "core" %S +2 "processing"%$& +4 "core" &\ +2 "processing"%b& +4 "core" &\ +2 .tPC.seek :closed +2 "processing"%n(Z +4 "core" &\ +8 & 0\ #a +9 &cV\ 7 +9 &y\ K +10 &xU\ L +9 &:U%\ L +9 &X%\ L +10 & Y%\ L +9 &"T$\ M +10 &$AY!\ M +9 &&Y\ M +9 &'T\ L +10 &)W\ M +9 &+JY\ L +9 &- W#\ M +10 &.\\\ M +9 &0U\ M +10 &2QU\ M +9 &4T\ M +9 &5Z\ M +10 &7Y\ M +9 &9YY\ M +9 &;Z\ M +10 &<U\ M +9 &>U\ M +10 &@bW\ L +9 &B#W\ M +9 &CU \ M +10 &EX\ L +9 &Gf^ \ N +9 &I'd\ N +10 &Jo\ P +9 &L\ R +10 &N]\ S +9 &P \ S +9 &Q\ T +10 &S\ S +9 &Ue \ S +9 &W% \ T +10 &X \ T +9 &Z>Hd \ )x +9 &Z : \ , +6 ( + "processing"%b& +5 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.59 + .Hand.open + "manipulator"&@1 +4 "core" &Z \ , +52 1 + "manipulator"&% +4 "core" % S  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"& '\ +101 "core" ' + "processing"%\\& +5 "core" &Z\ , + #tImaging generic puck in Processing Clamp while storing it to tube 3 +2 "manipulator"&l% +4 "core" %\ 3 | %z + "storage"(% +4 "core" %: T D P\  +2 "storage"({. +3 "core" .( + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(G( +8 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (m& +3 "core" & 0  \  +2 "manipulator"&O& +4 ."raiseStack"SE.reconfigure :place +4 "storage"(#]kK-0-\ b +2 "core" &a 2 +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +3 ."raiseStack"SE.seek :beamBreak +3 "manipulator"&`(c + "storage"('e +5 "core" ( +2 "manipulator"&R& +4 "core" &a k + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &a  +2 .tForearm.seek PC + "manipulator"&*'[ +95 "core" ' + .tHand.close +2 "manipulator"&/ +53 "core" / +2 .tPC.seek :open +2 "processing"%z(p +98 "core" ' + "storage"(Z- +3 "core" -'e +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +2 ."raiseStack"SE.seek :place +2 "storage"(\ 'B +32 "core" ' +249 ( + "storage"(N& +4 "core" & r s "\  +2 "manipulator"&}& +4 "core" &a % + "manipulator"&u% +4 "core" % m 4 +2 .tForearm.seek :retract + "manipulator"&'\ +91 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 + "manipulator"&(D +255 "core" ( + "manipulator"&!& +4 "core" &C Y $ +2 "storage"(6& +4 "core" & X Z 6\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&D' +95 "core" ' + .tHand.open +2 "manipulator"&I1 +52 "core" 1 +2 "storage"(K- +3 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate +2 "storage"(' +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(?' +53 "core" ' + #tLights, camera, ACTION! +2 "storage"([- +3 "core" -' +2 "storage"(a& +4 "core" & u\  + "manipulator"&r& +4 "core" &D g $ +2 .tElbow.seek 3 + "manipulator"&=(D +4 "core" ( + "manipulator"&7& +4 "core" &D $ + "storage"(F& +4 "core" & \  +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&+' +3 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"(0'M +58 "core" ' + "manipulator"&y& +4 "core" &D  $ +2 "storage"(i& +4 "core" & ` O \  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 + "manipulator"&~'M +31 "core" ' +2 .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"(M'7 +23 "core" ' +2 "manipulator"&|% +4 "core" %`b 7 5 ˴ +2 "storage"(/& +4 "core" &\ \  \  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 3 + 319 counts +2 "manipulator"&A'ό +17 "core" ' +2 "manipulator"&& +5 "core" & , * + "storage"(L& +4 "core" & r r\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&' +20 "core" ' + "storage"(S% +5 "core" %@ r t K\ +2 ."downElevator"SE.seek :down +4 "storage"(g'N +98 (]% +3 "core" %> L P 1\ U^ +2 "manipulator"&3% +4 "core" %  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&_'\ +90 "core" ' +61 ' + ."downElevator"SE.stop + "storage"(5 +3 (.& +4 "core" & 9 K J\  +2 "collection"'& +3 "core" &]i7\ H +2 #tStoring generic puck in Collection Clamp to tube 3 +2 "manipulator"&"% +4 "core" %\ /  #i + "storage"(% +4 "core" %G Y X q\  + "storage"(. +3 "core" .( +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 3 + "storage"(Q( +8 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (J& +2 "core" & / , \ +2 "manipulator"&& +4 "core" &  ) + .tElbow.seek 3 +2 "manipulator"&j(D +19 "core" ( + "manipulator"&k& +5 "core" &Z U $ + "storage"(h& +4 "core" & J T X\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&p' +103 "core" ' + "storage"(X& +4 "core" & n o \ +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(^'e +276 "core" ' + "storage"(x- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&& +3 "core" &Z  $ +2 "storage"(w& +4 "core" & o t s\ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 + "manipulator"&4'M +32 "core" ' +2 .tElbow.hold + "manipulator"&5, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(%- +2 "core" -' +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"('l +36 "core" ' + "manipulator"& % +4 "core" %]T Z \\ ϰ +2 "storage"(& +4 "core" & \ + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 316 counts + "manipulator"&V'ω +17 "core" ' +2 "manipulator"&& +4 "core" &? e G ( +2 "storage"(& +3 "core" & m m \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +51 .tForearm.seek 3 + 450 counts +5 "manipulator"&H' +19 "core" ' +2 .tSE.seek 1.11 Pucks below Top Plate +2 "storage"( '[ +46 "core" ' + "manipulator"&P& +5 "core" &A  ' + "manipulator"&9% +4 "core" % +  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&U'\ +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"& ( +144 "core" ( +2 "manipulator"&;& +4 "core" &  $ . +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &)& +3 "core" &  , . +2 .tForearm.seek CC +2 "manipulator"&q'| +94 "core" ' + .tHand.close +2 "manipulator"&,/ +55 "core" / +2 .tCC.seek :open +2 "collection"'1(p +409 "core" ( +2 "storage"(8& +4 "core" & \ + "storage"(E& +4 "core" & w\ +2 "manipulator"&& +3 "core" &  0 . +2 "manipulator"&% +4 "core" % u ? +2 .tForearm.seek :retract + "manipulator"&B'\ +102 "core" ' +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&C(D +171 "core" ( + "manipulator"&(& +5 "core" &D  m + "storage"(2& +4 "core" & "\ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 3 + "manipulator"& 'M +109 "core" ' +2 .tElbow.hold + "manipulator"&-, +5 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&s1 +62 "core" 1 +2 "manipulator"&% +4 "core" % _ ( ĽN + "storage"(&& +4 "core" & I J\ + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 318 counts + "manipulator"&o'ϋ +19 "core" ' +2 "manipulator"&#& +4 "core" &@ u a { !q + "storage"(& +4 "core" & \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&d' +12 "core" ' +2 "storage"(Y% +4 "core" %] \ +2 ."downElevator"SE.seek :down +4 "storage"(t'N +99 ('% +2 "core" %.A \ U] +2 "manipulator"&>% +4 "core" % h a : " +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&<'\ +89 "core" ' +50 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 2 of [2..3] +2 #Loading generic puck from tube 2 into Collection Clamp + "collection"':& +5 "core" &;>C\ + "manipulator"&$% +4 "core" %\ * k F +2 "storage"(T% +4 "core" %: \ + "storage"(v. +4 "core" .( + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"((  +353 "core" ( +2 .tSC.configure :limp +3 "storage"($\ 1b +2 (@& +3 "core" &  s q \ + "manipulator"&& +4 "core" &@ x !q +2 .tElbow.seek 2 + "manipulator"&\\(; +4 "core" ( + "manipulator"&l& +4 "core" &@ 6 !q + "storage"(& +4 "core" &  h\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&{'Ѐ +114 "core" ' + "storage"(b& +5 "core" &  \ + .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(m'e +279 "core" ' +2 "storage"(O- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (R& +3 "core" &  T\ + "manipulator"&& +4 "core" &@  !q +2 .tElbow.seek 2 + "manipulator"&(; +3 "core" ( +2 "manipulator"&& +3 "core" &@ T !q +2 "storage"(f& +3 "core" &  $\ +3 .tForearm.seek 2 + 300 counts + "manipulator"&Z' +15 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&/ +53 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"& & + "storage"(n'N +7 "core" &@ t g W !q +2 "manipulator"&N% +4 "core" % % +2 .tForearm.seek :retract + "manipulator"&}'\ +96 "core" ' +2 .tElbow.seek CC +2 "manipulator"&u( +140 "core" ( +2 "manipulator"&& +4 "core" &  . + .tElbow.reconfigure :loose +4 "manipulator"&$ &.,(#b +2 "core" ' + ."downElevator"SE.stop +3 "manipulator"&*& + "storage"(5 +6 "core" &  . + .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&!'| +107 "core" ' +2 "manipulator"&6& +4 "core" &  . +2 "manipulator"&`% +4 "core" %t  +2 "collection"'I& +4 "core" &<<0\ +2 "collection"'K& +4 "core" &;<<\ +3 .tCC.seek :closed + "collection"'[(] +5 "core" &<=C\ +7 &6;>E\ $e +9 &mW~:<E\ 7 +10 &}=<F\ L +9 &V;<D\ L +9 &GY<<A\ L +10 & X<;B\ L +9 & Z>>C\ L +9 &"Y:>B\ L +10 &$OW;==\ L +9 &&Z;>C\ L +10 &'Y<>@\ L +9 &)Y:<B\ M +9 &+XX:>@\ L +10 &-W;=<\ L +9 &.Y;>@\ L +9 &0Y;<<\ L +10 &2_Z<>8\ L +9 &4!Y;<6\ L +10 &5Y:<A\ L +9 &7X<<>\ L +9 &9hT;=>\ L +10 &;)W=<8\ L +9 &<Y;<4\ L +9 &>W;>:\ L +10 &@oT;</\ L +9 &B1U<?3\ L +10 &CU<?/\ L +9 &EZ9;2\ L +9 &Gv\\8<0\ M +10 &I6d,3-\ M +9 &Jx0\ P +9 &L+\ U +10 &Nb3\ V +9 &P!3\ W +9 &Q1\ X +10 &S1\ X +9 &U`1\ Z +10 &W#0\ Y +9 &X+\ Z +9 &Z4\ ^ +10 &\\b1\ H +9 &]`67\ *| +9 &]b1\ F +3 ( + "collection"'K& +3 #tCollection Clamp onSpring/offSpring for 10/26 samples, on/off torque 2.13 +2 .Hand.open + "manipulator"&a1 +54 "core" 1 +2 "manipulator"&r% +4 "core" % l I + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&7'\ +98 "Can"\\ #LI +2 "core" ' + #tLoading generic puck from tube 2 into Processing Clamp +2 "processing"%F& +4 "core" &+\ +2 "manipulator"&% +3 "core" %\ 4 %w +2 "storage"(y% +3 "core" %L d o >\ +2 "storage"(i. +3 "core" .(  + "storage"(|& +4 "core" &  b ] \ +2 "storage"(/& +3 "core" &  e o 1\ +2 "manipulator"&\ & +4 "core" &  - + "manipulator"&% +4 "core" %\ 3  %w +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&(; +166 "core" ( +2 "manipulator"&L& +4 "core" &3 ] G + "storage"(S& +4 "core" &  s t +\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&'Ѐ +94 "core" ' + "storage"(D& +4 "core" &  \ +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(?'e +278 "core" ' + "storage"(]- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (3& +3 "core" &  j p \ + "manipulator"&+& +4 "core" &4  F +2 .tElbow.seek 2 + "manipulator"&=(; +4 "core" ( + "manipulator"&0& +3 "core" &4 @ F +2 "storage"(~& +4 "core" &  \ +2 .tForearm.seek 2 + 300 counts + "manipulator"&.' +20 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&A/ +60 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"("'N +7 "core" &4 f c F +2 "manipulator"&% +4 "core" % b h t +2 .tForearm.seek :retract +2 "manipulator"&'\ +88 "core" ' +2 .tElbow.seek PC + "manipulator"&M(c +163 "core" ' + ."downElevator"SE.stop + "storage"(5 +84 "core" ( + "manipulator"&J& +4 "core" &W  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &W * +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&k'[ +98 "core" ' +2 "manipulator"&h& +4 "core" &W o J +2 "manipulator"&% +4 "core" %O ! Y +2 "processing"%X& +3 "core" &\ +3 "processing"%g& +4 "core" &\ +2 .tPC.seek :closed +2 "processing"%G(Z +4 "core" &\ +7 &8\ $e +10 &rW\ 7 +9 &{\ K +9 &W!\ M +10 &LY\ L +9 &U\ L +9 & Y#\ L +10 &"W$\ M +9 &$SX\ M +10 &&X\ M +59 &'W-\ L +4 &)V\ L +2 &+\\U\ L +5 &-[\ M + &.Z\ L + &0W\ L + &2cY\ M +2 &4'T\ L +9 &5Y#\ M +9 &7X#\ M +10 &9kW \ M +9 &;-Y\ M +9 &<X\ L +10 &>Y \ L +9 &@s[\ M +10 &B5X \ M +9 &CY \ M +9 &EW\ M +10 &Gyb\ M +9 &I6j\ O +9 &J{\ P +10 &L\ S +9 &No\ S +10 &P1 \ S +9 &Q\ S +9 &S\ S +10 &Uv \ T +9 &W7\ T +9 &X\ T +10 &ZOGf\ )y +9 &Z0\ + +6 ( + "processing"%g& +4 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.64 +2 .Hand.open + "manipulator"&1 +4 "core" &Z\ + +58 1 + "manipulator"&_% +4 "core" % O  Y +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&x'\ +94 "core" ' +2 "processing"%& +4 "core" &Z \ + +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 + "manipulator"&w% +4 "core" %\ 3 I %| +2 "storage"(%% +3 "core" %F Z Z\  +2 "storage"( . +3 "core" .(  +2 "storage"(& +3 "core" &  Z Z h\ +2 "storage"(& +4 "manipulator"&& +4 "core" &  Z W o\ +2 &W + +6 ."raiseStack"SE.reconfigure :place +4 .tElbow.reconfigure :tight +4 "storage"(#]kK-0-\ b +3 "manipulator"&$&.,(\ #b +8 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +3 "storage"(P'e +2 "manipulator"&9(c +29 "core" ( + "manipulator"&p& +5 "core" &[  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &j& +3 "core" &[ 7 +2 .tForearm.seek PC + "manipulator"&^'[ +96 "core" ' + .tHand.close +2 "manipulator"&4/ +61 "core" / +2 .tPC.seek :open +2 "processing"%V(p +60 "core" ' + "storage"(- +4 "core" -'e + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(;'B +36 "core" ' +285 ( + "storage"()& +4 "core" &  o d =\ +2 "manipulator"&H& +3 "core" &[  +2 "manipulator"&5% +4 "core" % Z   + .tForearm.seek :retract +2 "manipulator"&,'\ +91 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 + "manipulator"&U(; +253 "core" ( +2 "manipulator"&W& +4 "core" &5 ^ ) + "storage"(8& +4 "core" &  J J \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&E'Ѐ +96 "core" ' + .tHand.open +2 "manipulator"&1 +61 "core" 1 +2 "storage"(- +3 "core" -'B +3 .tSE.seek -0.16 Pucks below Top Plate + "storage"((' +24 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(2' +53 "core" ' + #tLights, camera, ACTION! +2 "storage"(q- +3 "core" -' +2 "storage"( & +4 "core" &  q\ + "manipulator"&s& +4 "core" &7  ( +2 .tElbow.seek 2 +2 "manipulator"&(; +3 "core" ( +2 "manipulator"&&& +4 "core" &7  ( + "storage"(#& +4 "core" &  h\ +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&'Ѐ +12 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"(Y'M +62 "core" ' + "manipulator"&B& +4 "core" &7 r ( +2 "storage"('& +4 "core" &  g l \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&>'ξ +34 "core" ' + .tElbow.hold +2 "manipulator"&C, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate + "storage"( '7 +23 "core" ' +2 "manipulator"&:% +4 "core" %l   ȷ + "storage"($& +4 "core" &    6\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 307 counts + "manipulator"&T' +17 "core" ' + "manipulator"&o& +5 "core" &P f ! % + "storage"(v& +4 "core" &  L\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"& 'Ѐ +23 "core" ' + "storage"(d% +5 "core" %> #\  +2 ."downElevator"SE.seek :down +4 "storage"(t'N +98 (Q% +3 "core" %B S Y "\ V` +2 "manipulator"&@% +4 "core" %Ќ  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +88 "core" ' +61 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (l& +4 "core" &  ` F (\ +2 "collection"'& +4 "core" &]Y5\ F + #tStoring generic puck in Collection Clamp to tube 2 +2 "manipulator"&b% +4 "core" %\ # { , + "storage"(-% +4 "core" %7 s r \  + "storage"(<. +3 "core" .(  +2 "storage"(O& +4 "core" &  s r \ + "storage"(R& +4 "core" &  r n \ + "manipulator"&& +4 "core" &Q p % +2 .tElbow.seek 2 + "manipulator"&(; +39 "core" ( +2 "manipulator"&f& +4 "core" &C 7 5 +2 "storage"(& +3 "core" &  y g e\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"& 'Ѐ +91 "core" ' +2 "storage"(N& +4 "core" &  \ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(\\'e +279 "core" ' + "storage"({- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&& +3 "core" &C F 5 +2 "storage"(*& +4 "core" &  e\ + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&m'ξ +34 "core" ' + .tElbow.hold +2 "manipulator"&Z, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(6- +2 "core" -' +2 .tSE.seek 0.12 Pucks below Top Plate +2 "storage"(`'o +29 "core" ' + "manipulator"&I% +5 "core" %Z   L Ȳ + "storage"(& +4 "core" &    \ + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 2 + 317 counts +2 "manipulator"&n' +18 "core" ' +2 "manipulator"&}& +4 "core" &C ] t 5 + "storage"(1& +4 "core" &  6\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&a'Ѐ +16 "core" ' +2 .tSE.seek 1.12 Pucks below Top Plate +2 "storage"(r'^ +40 "core" ' +2 "manipulator"&F& +4 "core" &C j d 2 5 +2 "manipulator"&% +4 "core" %w a `  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&y'\ +88 "core" ' + .tElbow.seek CC +2 "manipulator"&i( +150 "core" ( + "manipulator"&|& +4 "core" &  . +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &/& +2 "core" &  . +2 .tForearm.seek CC +2 "manipulator"&K'| +102 "core" ' + .tHand.close +2 "manipulator"&\ / +59 "core" / +2 .tCC.seek :open +2 "collection"'(p +413 "core" ( +2 "storage"(!& +4 "core" &  d\ + "storage"(L& +4 "core" &  \ + "manipulator"&S& +4 "core" &  , + "manipulator"&D% +4 "core" % l q 8 +2 .tForearm.seek :retract +2 "manipulator"&u'\ +91 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&7(; +170 "core" ( +2 "manipulator"&]& +4 "core" &= a J +2 "storage"(3& +3 "core" &  \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 2 + "manipulator"&+'ξ +110 "core" ' + .tElbow.hold +2 "manipulator"&0, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&~1 +59 "core" 1 +2 "manipulator"&A% +4 "core" % s  Q Ĺ* +2 "storage"(& +4 "core" &  X X g\ + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 2 + 315 counts + "manipulator"&' +53 "core" ' +4 "manipulator"&& +4 "core" &E o n B + "storage"(& +4 "core" &  z\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&?'Ѐ +20 "core" ' +2 "storage"(.% +4 "core" %d c\ +2 ."downElevator"SE.seek :down +3 "storage"(J'N +100 (% +2 "core" %2> Z\ U\\ +2 "manipulator"&=% +4 "core" %h p l +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&h'\ +86 "core" ' +52 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 3 of [2..3] + #Loading generic puck from tube 3 into Collection Clamp +2 "collection"'& +4 "core" &;=&\ +2 "manipulator"&X% +4 "core" %\ *  !R + "storage"("% +4 "core" %9 3\ +2 "storage"(. +3 "core" .(  +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 + "storage"(z( +360 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (& +2 "core" & Z X\  +2 "manipulator"&_& +3 "core" &E l B +2 .tElbow.seek 3 +2 "manipulator"&(D +4 "core" ( + "manipulator"&w& +4 "core" &E  B + "storage"(%& +4 "core" & K\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"& ' +103 "core" ' + "storage"(& +4 "core" & \  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(g'e +288 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" & 3\  + "manipulator"&p& +4 "core" &E i i B +2 .tElbow.seek 3 + "manipulator"&j(D +3 "core" ( +2 "manipulator"&k& +3 "core" &E p o B +2 "storage"(4& +4 "core" & r\  +2 .tForearm.seek 3 + 300 counts + "manipulator"&'y +22 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&M/ +59 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&x& + "storage"(G'N +7 "core" &E B +2 "manipulator"&P% +4 "core" % }  +2 .tForearm.seek :retract + "manipulator"&)'\ +92 "core" ' + .tElbow.seek CC +2 "manipulator"&H( +153 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +5 "core" ( + "manipulator"&5& +5 "core" & , Q + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &^& +3 "core" & Q +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&W'| +100 "core" ' +2 "manipulator"&8& +4 "core" & l Q +2 "manipulator"&9% +4 "core" %τ  +2 "collection"'& +4 "core" &;=3\ +2 "collection"'& +5 "core" &;>?\ +2 .tCC.seek :closed +2 "collection"'q(] +5 "core" &;<=\ +6 &<>F\ 7 +9 &I{=<F\ / +9 &<q<=F\ D +10 &^>=G\ M +9 &X;=D\ L +10 &fY<>F\ L +9 & (Z=>@\ L +9 &!Y:>C\ L +10 &#X;<E\ L +9 &%oX=>E\ L +9 &'1Z;>F\ L +10 &(Y<=G\ L +9 &*X:=F\ L +10 &,wX::E\ L +9 &.9W:;@\ L +9 &/Y;<=\ L +10 &1X:=?\ L +9 &3Y:=B\ L +9 &5AX<><\ L +10 &7Y<>A\ L +9 &8Y<>A\ L +10 &:[<<?\ L +9 &:\ L +9 &> Y<=5\ L +10 &?Z==1\ L +9 &AU;;5\ L +9 &COY;=1\ M +10 &EX<;/\ L +9 &F\\9<5\ L +10 &He05/\ N +9 &JMz#-\ P +9 &L4\ T +10 &M4\ V +9 &O/\ W +9 &Q?.\ X +10 &S+\ X +9 &T.\ Y +10 &V~1\ Z +9 &XA%\ Z +9 &Y,\ [\ +10 &[2\ [\ +9 &]%a/\ 1 +9 &])\ 5 +10 &]k-\ E +5 ( +2 "collection"'& +4 #tCollection Clamp onSpring/offSpring for 9/26 samples, on/off torque 2.16 + .Hand.open +2 "manipulator"& 1 +3 "core" &]c0\ E +49 1 +2 "manipulator"&s% +4 "core" % σ C +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&&'\ +101 "core" ' + #tLoading generic puck from tube 3 into Processing Clamp +2 "processing"%#& +4 "core" &"\ + "manipulator"&,% +4 "core" %\ 5  & +2 "storage"(B% +4 "core" %@ o a X\  + "storage"('. +3 "core" .( +2 "storage"(;& +4 "core" & o f S\  + "storage"(:& +4 "core" & r r $\  +2 "manipulator"&$& +3 "core" &  Q +2 "manipulator"&(% +3 "core" %\ 5  & +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&o(D +165 "core" ( + "manipulator"&v& +5 "core" &B  !q + "storage"(d& +4 "core" & [ d \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&U' +93 "core" ' +2 "storage"(E& +4 "core" & l N\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(2'e +276 "core" ' + "storage"(Q- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (@& +3 "core" & i s 5\  + "manipulator"&& +4 "core" &B  !q + .tElbow.seek 3 +2 "manipulator"&(D +3 "core" ( +2 "manipulator"&Y& +4 "core" &B  !q + "storage"(>& +4 "core" & m n\  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&l'y +21 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&T/ +60 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"(b'N +7 "core" &B v Z !q +2 "manipulator"&-% +4 "core" % t % +2 .tForearm.seek :retract + "manipulator"&<'\ +92 "core" ' + .tElbow.seek PC +2 "manipulator"&O(c +159 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +92 "core" ( +2 "manipulator"& & +5 "core" &h = + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &R& +2 "core" &h h +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&'[ +101 "core" ' +2 "manipulator"&f& +4 "core" &h ? +2 "manipulator"&% +4 "core" %d +2 "processing"% & +3 "core" &"\ +2 "processing"%N& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%t(Z +4 "core" &\ +7 & (\ #b +9 &cW} \ 7 +10 &x\ K +9 &vS\ \ M +10 &8Z\ M +9 &Y \ M +9 & Z\ M +10 &"S\ L +9 &$@W\ M +9 &&W\ M +10 &'U#\ L +9 &)W%\ L +10 &+IU\ L +9 &- W\ L +9 &.X\ L +10 &0W\ M +9 &2PY\ M +9 &4T\ M +10 &5X\ M +9 &7Y\ M +10 &9YX\ L +9 &;X\ M +9 &<W\ M +10 &>X\ M +9 &@_X\ \ M +9 &B"W\ M +10 &CZ \ M +9 &EZ\ \ M +10 &Gg]\ M +9 &I%h \ N +9 &Jp\ P +10 &L\ Q +9 &N]\ S +9 &P \ S +10 &Q\ R +9 &S\ S +10 &Uf\ S +9 &W%\ T +9 &X\ S +10 &Z@Mu\ - +9 &Z(\ ( +5 ( +2 "processing"%N& +4 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.60 +2 .Hand.open +2 "manipulator"&C1 +3 "core" &Z\ ( +57 1 +2 "manipulator"&% +4 "core" % d @ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&{'\ +94 "core" ' +2 "processing"%& +4 "core" &Z\ ( +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&*% +4 "core" %\ + !V + "storage"(6% +4 "core" %7 X W h\  + "storage"(I. +3 "core" .( +2 "storage"(& +3 "core" & W W i\  +2 "storage"(}& +5 "manipulator"&1& +4 "core" & X X ^\  + &h } +3 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +4 "storage"(#]kK-0-\ b +2 "manipulator"&$&.,(\ #b +4 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +2 "storage"(F'e + "manipulator"&(c +5 "core" ( +2 "manipulator"& & +4 "core" &h + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &h Q +2 .tForearm.seek PC +2 "manipulator"&\\'[ +96 "core" ' + .tHand.close +2 "manipulator"&m/ +59 "core" / +2 .tPC.seek :open +2 "processing"%n(p +87 "core" ' + "storage"(`- +4 "core" -'e + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +2 ."raiseStack"SE.seek :place +2 "storage"(|'B +34 "core" ' +258 ( + "storage"(/& +57 "core" & r r \  + "manipulator"&a& +4 "core" &h  + "manipulator"&Z% +4 "core" % \\  +2 .tForearm.seek :retract +2 "manipulator"&\ '\ +100 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&y(D +281 "core" ( + "manipulator"&[& +4 "core" &O # s +2 "storage"(!& +4 "core" & r r \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&L' +101 "core" ' + .tHand.open +2 "manipulator"&S1 +58 "core" 1 +2 "storage"(D- +3 "core" -'B +3 .tSE.seek -0.16 Pucks below Top Plate + "storage"(]' +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(3' +51 "core" ' + #tLights, camera, ACTION! +2 "storage"(K- +3 "core" -' +2 "storage"(i& +4 "core" & \  + "manipulator"&~& +4 "core" &O q p s +2 .tElbow.seek 3 +2 "manipulator"&A(D +4 "core" ( + "manipulator"&& +5 "core" &N y q T i + "storage"(& +4 "core" & q\  +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&' +8 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"(.'M +60 "core" ' + "manipulator"&u& +5 "core" &N o n i + "storage"(& +4 "core" & \  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 + "manipulator"&='M +35 "core" ' + .tElbow.hold +2 "manipulator"&7, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.07 Pucks below Top Plate + "storage"(+'7 +23 "core" ' +2 "manipulator"&% +4 "core" %][    Ȳ +2 "storage"(X& +4 "core" &  \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 316 counts + "manipulator"&'ω +19 "core" ' +2 "manipulator"&"& +4 "core" & s q - +2 "storage"(& +4 "core" & @\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&r' +21 "core" ' + "storage"(?% +5 "core" %@ \ \  +2 ."downElevator"SE.seek :down +3 "storage"(J'N +99 (% +3 "core" %? s o \ V^ +2 "manipulator"&% +4 "core" % n m  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&_'\ +90 "core" ' +59 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (w& +4 "core" & c T R\  +2 "collection"'%& +4 "core" &]b/\ E +2 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&% +4 "core" %\ / @ #d + "storage"(0% +4 "core" %K r s \ +2 "storage"(h. +3 "core" .( + "storage"(& +4 "core" & u t \  +2 "storage"(& +3 "core" & o s \  +2 "manipulator"&p& +4 "core" & P + .tElbow.seek 3 +2 "manipulator"&k(D +27 "core" ( +2 "manipulator"&4& +4 "core" &A  ( + "storage"(M& +4 "core" & s r\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&x' +94 "core" ' +2 "storage"(P& +4 "core" & \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('e +277 "core" ' +2 "storage"( - +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&5& +3 "core" &B m ( + "storage"(^& +4 "core" & u p \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&g'M +32 "core" ' + .tElbow.hold + "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(8- +2 "core" -' +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(9'l +28 "core" ' +2 "manipulator"&% +4 "core" %a[ Z [ Ͳ + "storage"(j& +4 "core" &\ \  \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 320 counts + "manipulator"&G'ύ +18 "core" ' +2 "manipulator"&)& +4 "core" &> ! ) +2 "storage"(& +3 "core" & e e D\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"& ' +19 "core" ' +2 .tSE.seek 1.11 Pucks below Top Plate +2 "storage"(s'[ +42 "core" ' +2 "manipulator"&#& +4 "core" &A  ( +2 "manipulator"&,% +3 "core" %  $ +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&B'\ +95 "core" ' +2 .tElbow.seek CC +2 "manipulator"&'( +153 "core" ( + "manipulator"&;& +4 "core" &+ >M +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &:& +3 "core" &+ >M +2 .tForearm.seek CC + "manipulator"&'| +94 "core" ' + .tHand.close + "manipulator"&$/ +57 "core" / +2 .tCC.seek :open + "collection"'((p +414 "core" ( + "storage"(W& +4 "core" & \  +2 "storage"(v& +3 "core" & \  +2 "manipulator"&d& +4 "core" &%" 3 9( + "manipulator"&E% +4 "core" % π / +2 .tForearm.seek :retract + "manipulator"&H'\ +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&&(D +170 "core" ( +2 "manipulator"&Q& +4 "core" &< ] d +2 "storage"(@& +3 "core" & \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 + "manipulator"&'M +110 "core" ' + .tElbow.hold +2 "manipulator"&Y, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&>1 +57 "core" 1 +2 "manipulator"&T% +4 "core" % _z !  Ż< +2 "storage"(& +4 "core" & Y Y \  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 3 + 318 counts +2 "manipulator"&-'ϋ +19 "core" ' + "manipulator"&o& +5 "core" &6 v e j + "storage"(U& +4 "core" & h\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&2' +17 "core" ' + "storage"(l% +5 "core" %^ X\ +2 ."downElevator"SE.seek :down +3 "storage"( 'N +100 (R% +3 "core" %B \ V[ + "manipulator"&% +4 "core" % l h ` +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&f'\ +90 "core" ' +53 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 2 of [2..3] + #Loading generic puck from tube 2 into Collection Clamp +2 "collection"'& +4 "core" &;=D\ + "manipulator"& % +4 "core" %\ , P "] +2 "storage"(b% +4 "core" %N 5\ +6 "storage"(<. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 2 +7 "storage"(V(  +357 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (C& +3 "core" &  s t \ + "manipulator"&& +4 "core" &6 : j +2 .tElbow.seek 2 + "manipulator"&(; +4 "core" ( + "manipulator"&*& +4 "core" &6 , j + "storage"(6& +4 "core" &  g\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&I'Ѐ +89 "core" ' +2 "storage"(& +4 "core" &  \ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(N'e +276 "core" ' + "storage"(1- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (}& +3 "core" &  T\ + "manipulator"& & +4 "core" &6 L j + .tElbow.seek 2 +2 "manipulator"&(; +3 "core" ( +2 "manipulator"&& +3 "core" &6 _ j +52 "storage"(m& +5 "core" &  c\ +2 .tForearm.seek 2 + 300 counts + "manipulator"&`' +12 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&O/ +63 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&{& + "storage"(t'N +8 "core" &6  j + "manipulator"&/% +4 "core" % [ H +2 .tForearm.seek :retract +2 "manipulator"&F'\ +95 "core" ' + .tElbow.seek CC +2 "manipulator"&a( +148 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +7 "core" ( + "manipulator"&Z& +4 "core" &*  b Aa +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &\\& +2 "core" &* Aa +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&['| +103 "core" ' +2 "manipulator"&!& +4 "core" &* @\\ +2 "manipulator"&% +4 "core" %ς +2 "collection"'S& +4 "core" &<<J\ +2 "collection"'D& +5 "core" &<=H\ +2 .tCC.seek :closed +2 "collection"'K(] +4 "core" &;=>\ +7 & /;;@\ $c +9 &bU~;<B\ 6 +9 &};<<\ K +10 &p[;=D\ M +9 &4Y9;D\ L +10 &X9;E\ M +9 & Y9>@\ L +9 &"yZ<==\ L +10 &$:X7<<\ M +9 &%X:<E\ L +9 &'Z=<>\ L +10 &)X:==\ L +9 &+DU:;:\ L +10 &-Y;<@\ L +9 &.Y<>C\ M +9 &0Y:>A\ L +10 &2KU;=B\ L +9 &4 Y;=3\ M +9 &5V9<;\ L +10 &7Z=;B\ L +9 &9TZ<;@\ L +10 &;X;<1\ L +9 &<Y;=3\ L +9 &>W><B\ M +10 &@ZX<=9\ M +9 &BW=<4\ L +9 &CU:=3\ L +10 &ET;<5\ L +9 &Gb[7;6\ M +10 &I g*03\ N +9 &Jy@\ P +9 &L8\ T +10 &NM<\ V +9 &P ;\ W +9 &Q3\ W +10 &S1\ Y +9 &UM1\ Y +9 &W 3\ [ +10 &X5\ Z +9 &Z4\ [ +10 &\\H.\ J +9 &]tO0\ Z +9 ( +2 &]K+\ = +2 "collection"'D& +3 #tCollection Clamp onSpring/offSpring for 9/26 samples, on/off torque 2.12 + .Hand.open +2 "manipulator"&i1 +63 "core" 1 +2 "manipulator"&~% +5 "core" %  + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +95 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%& +4 "core" &\ +2 "manipulator"&\ % +3 "core" %\ . , #d +2 "storage"(u% +4 "core" %= r r\ + "storage"(. +3 "core" .(  +2 "storage"(|& +4 "core" &  r s \ +2 "storage"(& +3 "core" &  r r \ +2 "manipulator"&X& +3 "core" &$ Y <@ +2 "manipulator"&]% +4 "core" %\ . d #d +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&"(; +157 "core" ( +2 "manipulator"&& +4 "core" &< S  + "storage"(?& +4 "core" &  \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts +2 "manipulator"&y'Ѐ +102 "core" ' + "storage"(L& +5 "core" &  |\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(3'e +277 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (& +3 "core" &  \ +2 "manipulator"&& +3 "core" &< m n   +2 .tElbow.seek 2 +2 "manipulator"&A(; +3 "core" ( + "manipulator"&.& +4 "core" &< o u  +2 "storage"(=& +3 "core" &  N\ +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&w' +20 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +63 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&%& + "storage"('N +7 "core" &< o m   +2 "manipulator"&0% +4 "core" % n m +2 .tForearm.seek :retract + "manipulator"&h'\ +93 "core" ' + .tElbow.seek PC +2 "manipulator"&(c +160 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +82 "core" ( + "manipulator"&+& +5 "core" &m / +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &m +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&p'[ +107 "core" ' + "manipulator"&4& +4 "core" &m n +2 "manipulator"&M% +4 "core" %X \ w +2 "processing"%r& +3 "core" &\ +2 "processing"%P& +5 "core" &$\ +2 .tPC.seek :closed + "processing"%J(Z +5 "core" &\  +9 &4~\ *y +9 &e \ > +10 &cr\ M +9 &&Y\ L +9 &Z\ M +10 &X \ M +9 &!lZ \ L +9 &#-Y\ M +10 &$X\ L +9 &&U\ L +10 &(tT\ L +9 &*6T \ L +9 &+U"\ L +10 &-U\ L +9 &/{W\ M +9 &1>X\ L +10 &3V\ L +9 &4U\ L +10 &6X \ M +9 &8EX \ M +9 &:W \ L +10 &;U \ L +9 &=U \ L +9 &?NV\ L +10 &AX\ M +9 &BY\ M +10 &D\\\ L +9 &FV[\ L +9 &Hf \ N +10 &Ip\ O +9 &K \ Q +9 &MJ\ S +10 &O \ S +9 &P \ S +10 &R\ S +9 &TP \ T +9 &V\ S +10 &W \ S +9 &Y\ A +9 &Z+z\ ^ +10 &Z)\ / +2 ( +2 "processing"%P& +3 #tProcessing Clamp onSpring/offSpring for 9/25 samples, on/off torque 1.68 + .Hand.open +2 "manipulator"&71 +56 "core" 1 + "manipulator"&_% +5 "core" % X |  w + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"& '\ +91 "core" ' + "processing"%5& +4 "core" &Z%\ / +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 + "manipulator"&^% +4 "core" %\ ) g D +2 "storage"(8% +4 "core" %@ Z Y\ + "storage"(. +3 "core" .(  +2 "storage"(j& +3 "core" &  Z Z \ +2 "storage"()& +4 "manipulator"&& +4 "core" &  [ Z\ + &m K +3 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +4 "storage"(#]kK-0-\ b +2 "manipulator"&$&.,(\ #b +4 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +2 "storage"(#'e + "manipulator"&,(c +6 "core" ( + "manipulator"&x& +4 "core" &m T +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &k& +3 "core" &m Z +2 .tForearm.seek PC +2 "manipulator"&'[ +101 "core" ' +2 .tHand.close + "manipulator"&g/ +57 "core" / +2 .tPC.seek :open + "processing"%G(p +83 "core" ' + "storage"(9- +3 "core" -'e +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(;'B +41 "core" ' +259 ( + "storage"(:& +4 "core" &  u u *\ + "manipulator"& & +4 "core" &m  + "manipulator"&% +4 "core" % a 0 +2 .tForearm.seek :retract + "manipulator"&$'\ +102 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&B(; +276 "core" ( + "manipulator"&q& +5 "core" &G ?  + "storage"(W& +4 "core" &  r t \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&v'Ѐ +107 "core" ' +2 .tHand.open + "manipulator"&d1 +55 "core" 1 +2 "storage"(E- +4 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate + "storage"(Q' +26 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(@' +52 "core" ' +2 #tLights, camera, ACTION! + "storage"(- +4 "core" -' + "storage"('& +4 "core" &  \ +2 "manipulator"&>& +3 "core" &G m v  +2 .tElbow.seek 2 +2 "manipulator"&T(; +12 "core" ( +2 "manipulator"&& +4 "core" &E y  [ +2 "storage"(o& +4 "core" &  :\ +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&U'Ѐ +14 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"(l'M +61 "core" ' +2 "manipulator"&H& +4 "core" &E  [ +2 "storage"(R& +3 "core" &  o\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&'ξ +36 "core" ' + .tElbow.hold +2 "manipulator"&&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +52 "storage"('7 +25 "core" ' + "manipulator"&% +5 "core" %[ &  Ȳ + "storage"(-& +4 "core" &    w\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 315 counts + "manipulator"& ' +17 "core" ' + "manipulator"&b& +4 "core" &E o t [ +2 "storage"(<& +4 "core" &  \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&s'Ѐ +15 "core" ' +2 "storage"(2% +4 "core" %A \  +2 ."downElevator"SE.seek :down +4 "storage"( 'N +98 (z% +3 "core" %F m m \ V` +2 "manipulator"&C% +4 "core" %k m m \ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +87 "core" ' +67 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (*& +4 "core" &  h s a\ +2 "collection"'6& +4 "core" &]L\ = + #tStoring generic puck in Collection Clamp to tube 2 +2 "manipulator"&% +4 "core" %\ * 7 !T + "storage"(Y% +4 "core" %P l y *\ + "storage"(f. +3 "core" .(  +2 "storage"(1& +4 "core" &  i w \ + "storage"(}& +4 "core" &  a\ +2 "manipulator"& & +4 "core" &E - [ +2 .tElbow.seek 2 + "manipulator"&(; +3 "core" ( +2 "manipulator"&m& +4 "core" &E  [ + "storage"(O& +4 "core" &  t\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&{'Ѐ +90 "core" ' + "storage"(/& +4 "core" &  \ +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"('e +282 "core" ' +2 "storage"(I- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&Z& +3 "core" &E  [ + "storage"(\\& +4 "core" &  b\ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 + "manipulator"&N'ξ +34 "core" ' +2 .tElbow.hold + "manipulator"&`, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(!- +2 "core" -' +2 .tSE.seek 0.12 Pucks below Top Plate +2 "storage"('o +40 "core" ' +2 "manipulator"&S% +4 "core" %W !  8 ȱ + "storage"(& +4 "core" &  R b\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 319 counts + "manipulator"&t' +20 "core" ' + "manipulator"&F& +5 "core" &E ] t [ + "storage"((& +5 "core" &  w\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&i'Ѐ +18 "core" ' +2 .tSE.seek 1.12 Pucks below Top Plate + "storage"(~'^ +53 "core" ' + "manipulator"&& +4 "core" &E m m U [ +2 "manipulator"&\ % +4 "core" %{ l l +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&u'\ +87 "core" ' +2 .tElbow.seek CC + "manipulator"&( +169 "core" ( + "manipulator"&D& +4 "core" &- Cq +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &|& +2 "core" &- N Cq +2 .tForearm.seek CC +2 "manipulator"&'| +99 "core" ' + .tHand.close +2 "manipulator"&X/ +53 "core" / +3 .tCC.seek :open + "collection"'](p +410 "core" ( + "storage"([& +4 "core" &  .\ +2 "storage"(& +4 "core" &  \ + "manipulator"&?& +4 "core" &( ?U + "manipulator"&L% +4 "core" % | +2 .tForearm.seek :retract + "manipulator"&a'\ +98 "core" ' +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&(; +154 "core" ( + "manipulator"&& +4 "core" &2 l \ +2 "storage"(& +4 "core" &  M\ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 2 +2 "manipulator"&'ξ +110 "core" ' +2 .tElbow.hold + "manipulator"&., +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&=1 +57 "core" 1 +2 "manipulator"&% +4 "core" % t   I ù, +2 "storage"(%& +4 "core" &  N [ 2\ + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 317 counts + "manipulator"&0' +17 "core" ' + "manipulator"&"& +4 "core" &2 s ] \ +2 "storage"(y& +4 "core" &  V\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&3'Ѐ +23 "core" ' + "storage"(w% +5 "core" %a F\ +2 ."downElevator"SE.seek :down +3 "storage"(+'N +100 (% +2 "core" %; B\ TZ +2 "manipulator"&A% +4 "core" %О m m +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&4'\ +87 "core" ' +51 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 3 of [2..3] + #Loading generic puck from tube 3 into Collection Clamp +2 "collection"'M& +4 "core" &;<*\ +2 "manipulator"&r% +3 "core" %\ - 3 "\\ +2 "storage"(% +4 "core" %8 e\ + "storage"(h. +3 "core" .(  +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 3 + "storage"(n( +363 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (7& +3 "core" & c Q\  +2 "manipulator"&_& +3 "core" &2 & \ +2 .tElbow.seek 3 + "manipulator"&5(D +25 "core" ( +2 "manipulator"&^& +4 "core" &< W f + "storage"(8& +4 "core" & ~\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&' +94 "core" ' + "storage"(j& +4 "core" & G\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"('e +279 "core" ' +2 "storage"()- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (P& +2 "core" & H\  +2 "manipulator"&x& +3 "core" &<  f +2 .tElbow.seek 3 +2 "manipulator"&k(D +3 "core" ( + "manipulator"&p& +4 "core" &< [ f +2 "storage"(g& +3 "core" & F\  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&9'y +10 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +52 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"& & +2 "storage"(J'N +7 "core" &< 3 f +2 "manipulator"&#% +4 "core" % w ! +2 .tForearm.seek :retract + "manipulator"&:'\ +100 "core" ' +2 .tElbow.seek CC + "manipulator"& ( +140 "core" ( +2 "manipulator"&& +5 "core" ' + & @ . + ."downElevator"SE.stop +3 .tElbow.reconfigure :loose +2 "storage"(5 +4 "manipulator"&$ &.,(#b +2 && +3 "core" & 7 . +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&q'| +107 "core" ' +2 "manipulator"&W& +4 "core" &  . + "manipulator"&,% +4 "core" %r h +2 "collection"'d& +4 "core" &<=D +2 "collection"'E& +5 "core" &;=A +2 .tCC.seek :closed + "collection"'(] +5 "core" &;;D\  +9 &3:;A\ )w +9 &e;<8\ > +10 &Qs<>E\ M +9 &U<=D\ L +10 &Z:>;\ L +9 &Y<;=\ L +9 &!\\X;=>\ L +10 &#Y<><\ L +9 &$W<?;\ L +9 &&Y<=<\ L +10 &(cY<=<\ L +9 &*%X;>7\ L +10 &+W;=;\ L +9 &-W;;;\ L +9 &/kX:<9\ L +10 &1-X<=?\ L +9 &2U:>7\ L +9 &4W9>;\ L +10 &6sV=>2\ L +9 &84X;<:\ M +10 &9W:><\ L +9 &;V:<3\ L +9 &=zW:=9\ M +10 &?=W<<<\ L +9 &@Y<=6\ L +9 &BX=<6\ L +10 &DT9;>\ L +9 &FEY<=9\ L +10 &H]48A\ M +9 &Io!*<\ O +9 &Ky <\ S +10 &M1<\ V +9 &N=\ W +9 &P7\ W +10 &Rr=\ X +9 &T1A\ Y +10 &U@\ Y +9 &W?\ Z +9 &Yq;\ [ +10 &[1@\ [ +9 &\\r2\ > +9 &])2\ #j +10 &]n:\ M +2 ( +2 "collection"'E& +3 #tCollection Clamp onSpring/offSpring for 9/25 samples, on/off torque 2.17 + .Hand.open +2 "manipulator"&'1 +63 "core" 1 + "manipulator"&>% +4 "core" % v . +2 .tForearm.reconfigure :loose +54 "manipulator"&#Q@2^d^b +4 .tForearm.seek :retract +2 "manipulator"&'\ +95 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%o& +5 "core" &\ + "manipulator"&$% +4 "core" %\ 1 $q + "storage"(H% +4 "core" %< X W ]\ +2 "storage"(R. +3 "core" .( + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(;( +2 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (Q& +2 "core" &  \  +2 "manipulator"&& +4 "core" & ' . + "manipulator"&-% +4 "core" %\ 1  $q +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&B(D +177 "core" ( + "manipulator"&b& +5 "core" &D  "x + "storage"(<& +4 "core" & Z Z\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&v' +96 "core" ' +2 "storage"(2& +4 "core" & q r 9\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(@'e +280 "core" ' +2 "storage"(U- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (z& +3 "core" & X S D\  +2 "manipulator"&C& +3 "core" &E h !w +2 .tElbow.seek 3 +2 "manipulator"&T(D +3 "core" ( + "manipulator"&l& +4 "core" &E $ !w + "storage"(& +4 "core" & r s \  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&*'y +21 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"& / +58 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&6& +2 "storage"('N +7 "core" &E e ~ !w +2 "manipulator"&Y% +4 "core" % t w  +2 .tForearm.seek :retract + "manipulator"&f'\ +97 "core" ' + .tElbow.seek PC +2 "manipulator"&(c +154 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +102 "core" ( +2 "manipulator"&1& +4 "core" &_ R +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &}& +2 "core" &_ x +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"& '[ +106 "core" ' + "manipulator"&m& +5 "core" &_ " + "manipulator"&O% +4 "core" %X (  +2 "processing"%s& +4 "core" &$\ +2 "processing"%/& +4 "core" &"\ +2 .tPC.seek :closed +2 "processing"% (Z +4 "core" &\  +9 &2~\ )w +9 &c\ = +10 &Ct\ M +9 &U\ L +9 &\\\ L +10 &Z \ L +9 &!LX\ L +10 &# W\ M +9 &$U\ L +9 &&Z\ M +10 &(SW\ \ M +9 &*Y \ L +9 &+Z\ M +10 &-X\ M +9 &/[\\\ M +10 &1Z \ L +9 &2U\ M +9 &4Y\ L +10 &6cY\ M +9 &8%Y\ M +9 &9U\ L +10 &;W \ L +9 &=l[\ L +10 &?.Y\ \ L +9 &@\\\ M +9 &BZ\ L +10 &DtW\ L +9 &F4\\ \ M +9 &G_\ N +10 &Ih \ N +9 &Kps\ P +10 &M-\ R +9 &N\ S +9 &P\ S +10 &Ro\ S +9 &T1"\ S +9 &U\ T +10 &W\ T +9 &Yv\ A +10 &Zv<\ ] +9 &Z\ ( +2 ( +2 "processing"%/& +3 #tProcessing Clamp onSpring/offSpring for 9/25 samples, on/off torque 1.61 + .Hand.open +2 "manipulator"&&1 +62 "core" 1 +2 "manipulator"&% +4 "core" % Y W ~ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&I'\ +91 "core" ' +2 "processing"%Z& +4 "core" &Z\ ( + #tImaging generic puck in Processing Clamp while storing it to tube 3 +2 "manipulator"&\\% +4 "core" %\ (  E + "storage"(!% +4 "core" %D X W l\ + "storage"(S. +3 "core" .( +2 "storage"(& +3 "core" & W X n\  +2 "storage"(F& +5 "manipulator"&(& +4 "core" & M K \  + &_ _ +3 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +3 "storage"(#]kK-0-\ b +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +2 "manipulator"&(c +3 ."raiseStack"SE.seek :beamBreak +2 "storage"(\ 'e +3 "core" ( + "manipulator"&{& +4 "core" &_ p + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &_ 9 +2 .tForearm.seek PC + "manipulator"&'[ +97 "core" ' +2 .tHand.close + "manipulator"&N/ +64 "core" / +2 .tPC.seek :open +2 "processing"%t(p +80 "core" ' +2 "storage"(- +3 "core" -'e +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(D'B +33 "core" ' +265 ( + "storage"(|& +4 "core" & N ` \  +2 "manipulator"&i& +4 "core" &_ + "manipulator"&`% +4 "core" % T +2 .tForearm.seek :retract + "manipulator"&X'\ +98 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&u(D +259 "core" ( + "manipulator"&K& +4 "core" &B : & +2 "storage"([& +4 "core" & T W\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&' +95 "core" ' + .tHand.open +2 "manipulator"&?1 +53 "core" 1 +2 "storage"(L- +4 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate + "storage"(' +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.83 Pucks below Top Plate + "storage"(' +52 "core" ' + #tLights, camera, ACTION! +2 "storage"(- +3 "core" -' +2 "storage"(& +4 "core" & \  + "manipulator"&=& +4 "core" &C  & +2 .tElbow.seek 3 + "manipulator"&(D +4 "core" ( + "manipulator"&%& +4 "core" &C ^ & + "storage"("& +4 "core" & q\  +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&y' +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"(w'M +61 "core" ' + "manipulator"&a& +5 "core" &C  & + "storage"(& +4 "core" & J V C\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&A'M +31 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"('7 +23 "core" ' +2 "manipulator"&M% +4 "core" %`b 4 5 ˴ +2 "storage"(0& +4 "core" &\ \  \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 319 counts + "manipulator"&r'ό +13 "core" ' +2 "manipulator"&& +4 "core" &7 q o  ' +2 "storage"(h& +4 "core" & o n \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&~' +20 "core" ' +2 "storage"(3% +4 "core" %> m <\ +2 ."downElevator"SE.seek :down +4 "storage"(+'N +99 (V% +2 "core" %xF W Z \ V` +2 "manipulator"&7% +4 "core" %  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&_'\ +90 "core" ' +58 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (^& +4 "core" & 9 F \ \  +2 "collection"'8& +4 "core" &]m;\ M +2 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&j% +4 "core" %\ .  #e +2 "storage"(.% +3 "core" %< Z [ p\ +2 "storage"(4. +3 "core" .( + "storage"()& +4 "core" & Y Z u\  +2 "storage"(P& +4 "core" & Z Z\  + "manipulator"&x& +4 "core" &9  ' +2 .tElbow.seek 3 + "manipulator"&p(D +18 "core" ( + "manipulator"&g& +5 "core" &C  . + "storage"(& +4 "core" & Z Z\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"& ' +92 "core" ' + "storage"(#& +5 "core" & t o \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(5'e +278 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +54 "core" &[ * +2 "storage"(& +4 "core" & r r \  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 + "manipulator"&'M +32 "core" ' +2 .tElbow.hold + "manipulator"&9, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(W- +2 "core" -' +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(,'l +27 "core" ' + "manipulator"&d% +5 "core" %]S Y [ ϰ + "storage"(k& +4 "core" & N\  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 316 counts + "manipulator"&J'ω +12 "core" ' + "manipulator"&:& +5 "core" &] d " * + "storage"(]& +4 "core" & r r \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&'' +21 "core" ' +3 .tSE.seek 1.11 Pucks below Top Plate + "storage"(>'[ +40 "core" ' +2 "manipulator"&E& +4 "core" &] - * + "manipulator"&o% +4 "core" % +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&$'\ +90 "core" ' + .tElbow.seek CC +2 "manipulator"&H( +153 "core" ( + "manipulator"&R& +4 "core" &  E # +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &Q& +2 "core" &  # +2 .tForearm.seek CC +2 "manipulator"&'| +94 "core" ' +2 .tHand.close + "manipulator"&-/ +57 "core" / +2 .tCC.seek :open + "collection"'q(p +410 "core" ( +2 "storage"(b& +4 "core" & \  + "storage"(<& +4 "core" & 6\  +2 "manipulator"&n& +4 "core" &  # + "manipulator"&2% +4 "core" % o   +2 .tForearm.seek :retract + "manipulator"& '\ +94 "core" ' +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&(D +171 "core" ( +2 "manipulator"&U& +4 "core" &8 ` g + "storage"(z& +4 "core" & |\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 + "manipulator"&C'M +109 "core" ' +2 .tElbow.hold +2 "manipulator"&l, +3 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&1 +57 "core" 1 +2 "manipulator"& % +4 "core" % _w  ! J ƺ4 +2 "storage"(6& +3 "core" & X W L\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 318 counts + "manipulator"&Y'ϋ +17 "core" ' + "manipulator"&B& +4 "core" &< s Y m c +2 "storage"(v& +3 "core" & ~\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&@' +20 "core" ' + "storage"(*% +4 "core" %_ \ +3 ."downElevator"SE.seek :down +3 "storage"(1'N +100 (}% +2 "core" %< \ U[ +2 "manipulator"&T% +4 "core" % f e W ) +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&m'\ +90 "core" ' +48 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 2 of [2..3] + #Loading generic puck from tube 2 into Collection Clamp +2 "collection"'O& +4 "core" &<;%\ + "manipulator"&s% +4 "core" %\ 0 B $p +2 "storage"(% +4 "core" %: \ + "storage"(f. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 + "storage"(G(  +356 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (&& +2 "core" &  s r !\ +2 "manipulator"&& +3 "core" &< D c +2 .tElbow.seek 2 +2 "manipulator"&Z(; +3 "core" ( + "manipulator"&\\& +4 "core" &< c +2 "storage"(!& +3 "core" &  \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&S'Ѐ +90 "core" ' +2 "storage"(& +4 "core" &  [\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(('e +279 "core" ' + "storage"(F- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (/& +2 "core" &  !\ +2 "manipulator"&{& +4 "core" &< \\ c + .tElbow.seek 2 +2 "manipulator"&(; +3 "core" ( +2 "manipulator"& & +4 "core" &< 6 c + "storage"(N& +4 "core" &  \ +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&' +21 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&/ +52 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&I& + "storage"( 'N +8 "core" &< f e T c + "manipulator"&|% +4 "core" % g e Q +2 .tForearm.seek :retract +2 "manipulator"&\ '\ +89 "core" ' +2 .tElbow.seek CC +2 "manipulator"&i( +154 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +5 "core" ( + "manipulator"&`& +5 "core" &  > + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &  g > +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&K'| +102 "core" ' +2 "manipulator"&[& +4 "core" &   > +2 "manipulator"&% +4 "core" %|  + "collection"'?& +4 "core" &:=C\ +2 "collection"'L& +5 "core" &=<F\ +2 .tCC.seek :closed + "collection"'(] +5 "core" &;;Q\  +8 &4};<S\ *y +9 &d;;C\ > +10 &]q<;@\ M +9 &"U<=K\ L +9 &X9;A\ L +10 &W:<E\ L +9 &!gU==G\ L +10 &#(X;;I\ L +9 &$U:=>\ L +9 &&Y<<C\ L +10 &(nY:;J\ L +9 &*1T;<C\ L +9 &+V:<A\ L +10 &-W;=>\ L +9 &/vY:=>\ L +10 &18Y:=>\ L +9 &2W<<C\ L +9 &4T9<?\ L +10 &6~W:;>\ L +9 &8AT:;>\ L +9 &:W<==\ M +10 &;V9;C\ L +9 &=Y<<=\ L +10 &?GW:<I\ M +9 &A\ W:>G\ L +9 &BU;<<\ L +10 &DY;;D\ L +9 &FOY;<I\ M +9 &H\\4:C\ M +10 &Ik#-C\ O +9 &KG\ R +10 &M=G\ V +9 &NC\ V +9 &PB\ X +10 &R|B\ X +9 &T=B\ X +9 &UB\ Z +10 &W>\ Z +9 &Y{>\ [\ +10 &[;A\ \\ +9 &\\yA\ / +9 &]; B\ %s +10 &]c?\ F +2 ( + "collection"'L& +3 #tCollection Clamp onSpring/offSpring for 9/25 samples, on/off torque 2.16 +2 .Hand.open + "manipulator"&1 +64 "core" 1 + "manipulator"&=% +4 "core" % f [ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&%'\ +96 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%"& +4 "core" &\ +2 "manipulator"&X% +4 "core" %\ . #h + "storage"(a% +4 "core" %L r r \ + "storage"(. +3 "core" .(  +2 "storage"(M& +3 "core" &  r r\ +2 "storage"(D& +4 "core" &  r r \ + "manipulator"&0& +4 "core" &  ! > + "manipulator"&% +4 "core" %\ . C #h +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&(; +165 "core" ( + "manipulator"&h& +4 "core" &J \\  +2 "storage"(3& +4 "core" &  r r \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&u'Ѐ +104 "core" ' +2 "storage"(& +4 "core" &  \ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('e +277 "core" ' + "storage"(V- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (7& +2 "core" &  w u E\ +2 "manipulator"&y& +3 "core" &J c p  +2 .tElbow.seek 2 +2 "manipulator"&(; +23 "core" ( + "manipulator"&w& +4 "core" &E a u w r +2 "storage"(A& +3 "core" &  P\ +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&^' +25 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&r/ +55 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&8& +2 "storage"(j'N +7 "core" &E a f m r +2 "manipulator"&.% +4 "core" % e ` 1 +2 .tForearm.seek :retract + "manipulator"&4'\ +131 "core" ' +12 .tElbow.seek PC +2 "manipulator"&)(c +114 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +134 "core" ( +2 "manipulator"&& +4 "core" &k 8 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &P& +3 "core" &k  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC + "manipulator"&x'[ +92 "core" ' + "manipulator"&g& +4 "core" &k +2 "manipulator"&% +4 "core" %_  +2 "processing"%~& +4 "core" &6\ +2 "processing"%#& +5 "core" &4\ +2 .tPC.seek :closed + "processing"%+(Z +4 "core" &&\  +9 &3~$\ *y +9 &e(\ > +10 &Us(\ M +9 &V\ L +9 &["\ L +10 &U#\ L +9 &!_V \ L +9 &# T#\ M +10 &$W'\ M +9 &&U\ L +10 &(fU\ M +9 &*)Z\ L +9 &+Z\ L +10 &-U\ L +9 &/oY \ L +9 &11Z\ \ L +10 &2U\ L +9 &4T\ L +9 &6vU\ M +10 &88Y\ M +9 &9W\ M +10 &;U\ L +9 &=~T\ M +9 &?AU$\ L +10 &AX\ L +9 &BU\ M +9 &DZ\ M +10 &FF\\\ M +9 &Hc\ M +10 &Ir\ P +9 &K\ Q +9 &M=\ S +10 &N\ T +9 &P\ S +9 &R\ S +10 &TC\ T +9 &V\ S +10 &W\ T +9 &Y\ A +9 &Z7\ Z +10 &Z\ * +2 ( +2 "processing"%#& +3 #tProcessing Clamp onSpring/offSpring for 9/25 samples, on/off torque 1.68 + .Hand.open +2 "manipulator"&1 +53 "core" 1 + "manipulator"&_% +4 "core" % _ b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&'\ +93 "core" ' + "processing"%& +4 "core" &Z\ * +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 +2 "manipulator"&% +4 "core" %\ ) R J + "storage"(W% +4 "core" %D X W a\ + "storage"(d. +3 "core" .(  +2 "storage"(k& +4 "core" &  W X U\ + "storage"(:& +5 "manipulator"&]& +4 "core" &  W W ]\ + &k W +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +2 "storage"(#]kK-0-\ b +2 .tElbow.seek PC +4 "manipulator"&E(c +3 ."raiseStack"SE.seek :beamBreak +3 "storage"(o'e +2 "core" ( +2 "manipulator"& & +4 "core" &k s + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &p& +3 "core" &k K +2 .tForearm.seek PC + "manipulator"&5'[ +97 "core" ' + .tHand.close + "manipulator"&/ +62 "core" / +2 .tPC.seek :open +2 "processing"%J(p +83 "core" ' +2 "storage"(,- +4 "core" -'e + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +2 ."raiseStack"SE.seek :place +2 "storage"(R'B +34 "core" ' +263 ( +2 "storage"(Q& +4 "core" &  V J 6\ + "manipulator"&'& +4 "core" &k ( +2 "manipulator"&9% +3 "core" % R U +2 .tForearm.seek :retract +2 "manipulator"&-'\ +99 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&$(; +265 "core" ( +2 "manipulator"&& +4 "core" &F c U + "storage"(b& +4 "core" &  X Z W\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&<'Ѐ +97 "core" ' + .tHand.open +2 "manipulator"&n1 +53 "core" 1 +2 "storage"(2- +4 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate + "storage"(U' +24 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(z' +54 "core" ' +2 #tLights, camera, ACTION! + "storage"(- +4 "core" -' + "storage"(H& +4 "core" &  t\ + "manipulator"&& +4 "core" &F  U +2 .tElbow.seek 2 + "manipulator"& (; +9 "core" ( + "manipulator"&6& +4 "core" &D   L +2 "storage"(B& +4 "core" &  \ +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&v'Ѐ +3 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.11 Pucks below Top Plate + "storage"(*'M +59 "core" ' +2 "manipulator"& & +4 "core" &D  L +2 "storage"(}& +3 "core" &  z i T\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&T'ξ +34 "core" ' +2 .tElbow.hold + "manipulator"&, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate + "storage"(C'7 +25 "core" ' +2 "manipulator"&O% +4 "core" %^ & % n dz +2 "storage"(s& +4 "core" &    \ + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 2 + 317 counts +2 "manipulator"&Y' +13 "core" ' + "manipulator"&& +5 "core" &D i X 3 L + "storage"(f& +4 "core" &  ,\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&>'Ѐ +16 "core" ' + "storage"(@% +5 "core" %= +\ +2 ."downElevator"SE.seek :down +4 "storage"(1'N +98 (;% +3 "core" %; r o\ U] +2 "manipulator"&&% +4 "core" %y ` ` $ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +87 "core" ' +62 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (\\& +4 "core" &  U c\ +2 "collection"'!& +4 "core" &]c;\ F + #tStoring generic puck in Collection Clamp to tube 2 +2 "manipulator"&% +4 "core" %\ * f !R + "storage"(l% +4 "core" %: m n\  + "storage"(m. +3 "core" .(  +2 "storage"(F& +3 "core" &  t q\ +2 "storage"(/& +4 "core" &  o u '\ + "manipulator"&{& +4 "core" &D  L +2 .tElbow.seek 2 + "manipulator"& (; +4 "core" ( + "manipulator"&N& +4 "core" &D  L + "storage"(& +4 "core" &  s n\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&I'Ѐ +105 "core" ' +2 "storage"(|& +4 "core" &  \ +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(Z'e +282 "core" ' + "storage"(S- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&`& +2 "core" &D ` ` M L +2 "storage"(& +4 "core" &  X\ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 + "manipulator"&('ξ +36 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"([- +2 "core" -' +2 .tSE.seek 0.12 Pucks below Top Plate +2 "storage"('p +29 "core" ' +2 "manipulator"&% +4 "core" %Z   Ȳ + "storage"(?& +4 "core" &    \ + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 2 + 319 counts +2 "manipulator"& ' +18 "core" ' +2 "manipulator"&\ & +4 "core" &D g X  L +2 "storage"(q& +3 "core" &  M\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&'Ѐ +23 "core" ' +2 .tSE.seek 1.12 Pucks below Top Plate + "storage"(='_ +46 "core" ' +2 "manipulator"&"& +5 "core" &D g f V L + "manipulator"&X% +4 "core" %К f g T +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&a'\ +88 "core" ' +2 .tElbow.seek CC +2 "manipulator"&( +148 "core" ( + "manipulator"&M& +4 "core" & 0 . +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &L& +2 "core" &  . +2 .tForearm.seek CC +2 "manipulator"&D'| +101 "core" ' + .tHand.close + "manipulator"&0/ +59 "core" / + .tCC.seek :open +2 "collection"'(p +410 "core" ( +2 "storage"(K& +4 "core" &  &\ + "storage"(h& +4 "core" &  J\ + "manipulator"&3& +4 "core" & E , + "manipulator"&% +4 "core" % ω N +2 .tForearm.seek :retract + "manipulator"&i'\ +152 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&%(; +171 "core" ( +2 "manipulator"&V& +4 "core" &F   + "storage"(7& +4 "core" &  ~\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 2 + "manipulator"&y'ξ +113 "core" ' + .tElbow.hold +2 "manipulator"&w, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&A1 +61 "core" 1 +2 "manipulator"&r% +4 "core" % q   [ ĸ + "storage"(8& +4 "core" &  P Q g\ + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 2 + 310 counts +2 "manipulator"&.' +11 "core" ' +2 "manipulator"&& +4 "core" &F \\ k b  +2 "storage"(u& +4 "core" &  I\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&'Ѐ +15 "core" ' + "storage"(^% +4 "core" %\\ Y\ +3 ."downElevator"SE.seek :down +4 "storage"('N +99 (P% +2 "core" %> \ U\\ +2 "manipulator"&% +4 "core" %Ѕ f e q +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&g'\ +95 "core" ' +46 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 3 of [2..3] + #Loading generic puck from tube 3 into Collection Clamp +2 "collection"'& +4 "core" &<=:\ +2 "manipulator"&~% +3 "core" %\ 5 } & +2 "storage"(j% +4 "core" %B E\ + "storage"(4. +3 "core" .(  +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(t( +357 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (& +2 "core" & Z W\  +2 "manipulator"&_& +4 "core" &F .  + .tElbow.seek 3 +2 "manipulator"&(D +3 "core" ( +2 "manipulator"&& +4 "core" &F \\  + "storage"(W& +4 "core" & a\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&d' +103 "core" ' +2 "storage"(k& +4 "core" & \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(]'e +280 "core" ' +2 "storage"(:- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (#& +2 "core" & N\  +2 "manipulator"& & +4 "core" &F D  + .tElbow.seek 3 +2 "manipulator"&p(D +3 "core" ( +2 "manipulator"&x& +3 "core" &F D  +2 "storage"(& +4 "core" & 1\  +2 .tForearm.seek 3 + 300 counts + "manipulator"&,'y +11 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&)/ +54 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"(+'N +7 "core" &F   + "manipulator"&Q% +4 "core" % s   +2 .tForearm.seek :retract +2 "manipulator"&o'\ +100 "core" ' +2 .tElbow.seek CC + "manipulator"&'( +147 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +3 "core" ( + "manipulator"&9& +4 "core" & J . +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &5& +3 "core" &  . +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC + "manipulator"&'| +95 "core" ' +2 "manipulator"&b& +4 "core" & u . +2 "manipulator"&E% +4 "core" %z 2 +2 "collection"'n& +3 "core" &:=D\ +2 "collection"'2& +5 "core" &<>X\ +2 .tCC.seek :closed +2 "collection"'(] +4 "core" &<<Z\ +8 &>:=F\ $e +9 &oV;<R\ 7 +10 &z9;R\ K +9 &V9=K\ L +9 &GY:=B\ L +10 & U:<G\ L +9 & Y9=M\ M +10 &"W;>E\ L +9 &$PY9;F\ L +9 &&Y;<J\ L +10 &'X;<K\ L +9 &)V:;E\ L +9 &+XW:;?\ L +10 &-W;9J\ L +9 &.Y;?J\ L +10 &0U8=I\ L +9 &2_X<;K\ L +9 &4"V:=J\ L +10 &5V9;K\ L +9 &7Y<<@\ L +9 &9hT:=F\ L +10 &;)W:=D\ L +9 &<W:=G\ L +10 &>Y:;J\ L +9 &@oW<<J\ L +9 &B1U;<H\ L +10 &CY:;@\ L +9 &EY;=G\ L +9 &Gv]6:K\ M +10 &I4g'0H\ N +9 &J\ G\ Q +10 &LJ\ U +9 &NaF\ V +9 &P!H\ W +10 &QD\ W +9 &S<\ X +9 &UaD\ Y +10 &W$F\ Y +9 &XC\ [ +10 &ZB\ [\ +9 &\\dB\ H +9 &]^5E\ , +10 &]r?\ N +2 ( + "collection"'2& +4 #tCollection Clamp onSpring/offSpring for 10/26 samples, on/off torque 2.15 + .Hand.open + "manipulator"&H1 +61 "core" 1 + "manipulator"&% +4 "core" % z > +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&6'\ +93 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp +2 "processing"%B& +4 "core" &/\ + "manipulator"&-% +4 "core" %\ -  "\\ +2 "storage"( % +3 "core" %A X W k\ +2 "storage"(}. +3 "core" .( + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(R( +3 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (O& +3 "core" &+ \  +2 "manipulator"&s& +4 "core" &  . + "manipulator"&U% +4 "core" %\ , " "\\ +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&(D +158 "core" ( +2 "manipulator"&f& +4 "core" &C   + "storage"(@& +4 "core" & N a\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&$' +112 "core" ' +2 "storage"(<& +4 "core" & \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(z'e +279 "core" ' + "storage"(;- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (&& +3 "core" & o r\  + "manipulator"&v& +4 "core" &C c m r  +2 .tElbow.seek 3 + "manipulator"& (D +3 "core" ( +2 "manipulator"&*& +4 "core" &C p i _  + "storage"(T& +4 "core" & \  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&\\'y +29 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&Y/ +60 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&!& +4 "storage"('N +4 "core" &C a ` U  +2 "manipulator"&l% +4 "core" % u a f +2 .tForearm.seek :retract + "manipulator"&m'\ +95 "core" ' +2 .tElbow.seek PC + "manipulator"&F(c +154 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +94 "core" ( +2 "manipulator"&C& +5 "core" &m + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &/& +3 "core" &m c +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&{'[ +103 "core" ' +2 "manipulator"&N& +4 "core" &m C + "manipulator"&% +4 "core" %Y 9 +2 "processing"%>& +4 "core" &5\ +2 "processing"%|& +4 "core" &4\ +2 .tPC.seek :closed +2 "processing"%1(Z +5 "core" &(\ \ +8 &1{!\ )v +10 &e$\ > +9 &Fu&\ N +9 & U)\ L +10 &\\\ M +9 &Y&\ L +9 &!QW(\ L +10 &#X\ M +9 &$W$\ M +10 &&U$\ L +9 &(YV'\ L +9 &*Y)\ M +10 &+W \ M +9 &-T\ L +9 &/aW\ L +10 &1"U\ M +9 &2Y\ M +10 &4Y\ L +9 &6iV\ L +9 &8*Z\ M +10 &9T\ L +9 &;V\ L +9 &=qW\ L +10 &?3W\ L +9 &@[\ M +10 &BW\ L +9 &DxW\ M +9 &F:\\\ M +10 &G`\ N +9 &Ih\ N +10 &Kuw \ P +9 &M1\ R +9 &N\ S +10 &P\ T +9 &Rt\ S +9 &T5\ T +10 &U\ T +9 &W\ T +9 &Yz \ A +10 &Zx<\ Y +9 &Z3\ 3 +2 ( +2 "processing"%|& +4 #tProcessing Clamp onSpring/offSpring for 9/25 samples, on/off torque 1.61 + .Hand.open + "manipulator"&1 +62 "core" 1 +2 "manipulator"&% +4 "core" % X ^ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&S'\ +101 "core" ' + "processing"%`& +4 "core" &Z+\ 3 +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&% +4 "core" %\ 3  %} +2 "storage"([% +4 "core" %= 9 9 \  + "storage"(. +3 "core" .( +2 "storage"(?& +3 "core" & 9 9 \  +2 "storage"(\ & +2 "manipulator"&q& +57 "core" & 9 9 \  +3 &m 1 +3 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +3 "storage"(#]kK-0-\ b +4 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +3 ."raiseStack"SE.seek :beamBreak +2 "manipulator"&"(c + "storage"(X'e +5 "core" ( +2 "manipulator"&I& +4 "core" &m ) + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 & & +3 "core" &m 6 +2 .tForearm.seek PC +2 "manipulator"&Z'[ +95 "core" ' + .tHand.close +2 "manipulator"&(/ +64 "core" / +2 .tPC.seek :open +2 "processing"% (p +83 "core" ' +2 "storage"(- +3 "core" -'e +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(M'B +35 "core" ' +263 ( + "storage"(L& +4 "core" & N ] \  +2 "manipulator"&& +4 "core" &m +2 "manipulator"&% +3 "core" % \\ +2 .tForearm.seek :retract +2 "manipulator"&0'\ +95 "core" ' +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&a(D +269 "core" ( +2 "manipulator"&& +4 "core" &O  H + "storage"(K& +4 "core" & Z Z \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&h' +91 "core" ' +2 .tHand.open + "manipulator"&31 +56 "core" 1 +2 "storage"(- +4 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate +2 "storage"(D' +25 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(V' +54 "core" ' +2 #tLights, camera, ACTION! + "storage"(7- +4 "core" -' + "storage"(& +4 "core" & ,\  +2 "manipulator"&A& +4 "core" &O  H +2 .tElbow.seek 3 + "manipulator"&r(D +8 "core" ( + "manipulator"&8& +4 "core" &J  B +2 "storage"(& +4 "core" & \  +2 .tForearm.seek 3 + 450 counts + "manipulator"&u' +4 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"(^'M +61 "core" ' +2 "manipulator"&i& +4 "core" &J  B +2 "storage"(P& +4 "core" & r r\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&'M +32 "core" ' + .tElbow.hold +2 "manipulator"&%, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.07 Pucks below Top Plate + "storage"(y'7 +23 "core" ' +2 "manipulator"&% +4 "core" %[W  *  ɱ +2 "storage"(~& +4 "core" &\ \  L\  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 314 counts + "manipulator"&.'χ +21 "core" ' + "manipulator"&j& +5 "core" & j n u  + "storage"(4& +4 "core" & \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&=' +20 "core" ' +2 "storage"(% +4 "core" %> _\  +3 ."downElevator"SE.seek :down +3 "storage"('N +99 (G% +3 "core" %; M X !\ U^ +2 "manipulator"&% +4 "core" % a c  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&_'\ +91 "core" ' +61 ' + ."downElevator"SE.stop + "storage"(5 +3 (& +3 "core" & S A 7\  +2 "collection"'W& +4 "core" &]p@\ N + #tStoring generic puck in Collection Clamp to tube 3 +2 "manipulator"&k% +4 "core" %\ -  "\\ + "storage"(w% +4 "core" %J r a t\ +2 "storage"(g. +3 "core" .( + "storage"(:& +4 "core" & i e \  + "storage"(#& +4 "core" & O J V\  +2 "manipulator"& & +4 "core" &   + .tElbow.seek 3 +2 "manipulator"&x(D +28 "core" ( + "manipulator"&& +5 "core" &B  ) + "storage"()& +4 "core" & Z [ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&' +101 "core" ' +2 "storage"(Q& +4 "core" & r ^ K\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('e +277 "core" ' +2 "storage"(d- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&9& +3 "core" &D  ( +2 "storage"(5& +4 "core" & Z N \  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&]'M +33 "core" ' +2 .tElbow.hold + "manipulator"&,, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(b- +2 "core" -' +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(E'l +28 "core" ' + "manipulator"&n% +4 "core" %UT Y X ΰ +2 "storage"(p& +4 "core" & _\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 308 counts + "manipulator"&+'ρ +13 "core" ' + "manipulator"&o& +4 "core" &= o e ) +2 "storage"(& +4 "core" & X Z \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&H' +12 "core" ' +2 .tSE.seek 1.11 Pucks below Top Plate +2 "storage"('[ +49 "core" ' + "manipulator"&B& +5 "core" &C  ) + "manipulator"&-% +4 "core" %   +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"& '\ +87 "core" ' +2 .tElbow.seek CC +2 "manipulator"&}( +149 "core" ( +2 "manipulator"&2& +62 "core" &  , + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &O& +3 "core" &  , +2 .tForearm.seek CC + "manipulator"&s'| +95 "core" ' + .tHand.close +2 "manipulator"&U/ +51 "core" / +2 .tCC.seek :open +2 "collection"'(p +410 "core" ( +2 "storage"(f& +4 "core" & \  + "storage"(@& +4 "core" & O\  + "manipulator"&t& +4 "core" &  + + "manipulator"&<% +4 "core" % k ( +2 .tForearm.seek :retract +2 "manipulator"&''\ +93 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&6(D +175 "core" ( + "manipulator"&;& +4 "core" &8 < c +2 "storage"(&& +3 "core" & \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 + "manipulator"&v'M +110 "core" ' + .tElbow.hold +2 "manipulator"&*, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&T1 +56 "core" 1 +2 "manipulator"&Y% +5 "core" % `w   n ƺ6 + "storage"(!& +4 "core" & Z Y\  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 3 + 319 counts +2 "manipulator"&l'ό +20 "core" ' + "manipulator"&& +5 "core" &7 X s d + "storage"($& +4 "core" & \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&z' +11 "core" ' + "storage"(\\% +4 "core" %^ B\ +3 ."downElevator"SE.seek :down +3 "storage"(C'N +100 (/% +2 "core" %@ \ U\\ +2 "manipulator"& % +4 "core" % c _ : - +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&N'\ +87 "core" ' +51 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 2 of [2..3] + #Loading generic puck from tube 2 into Collection Clamp +2 "collection"'& +4 "core" &9<J\ +2 "manipulator"&>% +4 "core" %\ &  2 + "storage"(% +4 "core" %7 \  +2 "storage"(m. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +52 .tSC.seek 2 +3 "storage"(J(  +364 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (& +2 "core" &  , 3 *\ +2 "manipulator"&& +4 "core" &8  c +2 .tElbow.seek 2 + "manipulator"&`(; +4 "core" ( + "manipulator"&& +4 "core" &8  c + "storage"([& +4 "core" &  o\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&'Ѐ +91 "core" ' + "storage"(|& +4 "core" &  \ +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(?'e +282 "core" ' +2 "storage"(q- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (\ & +2 "core" &  u\ +2 "manipulator"&I& +3 "core" &8  c +2 .tElbow.seek 2 +2 "manipulator"& (; +3 "core" ( + "manipulator"&{& +4 "core" &8  c +2 "storage"((& +3 "core" &  \ +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&' +20 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&F/ +58 "core" / +4 ."downElevator"SE.seek :down +3 "manipulator"&S& +2 "storage"(1'N +8 "core" &8 ` _ Y c +2 "manipulator"&L% +4 "core" % _ _  +2 .tForearm.seek :retract + "manipulator"&X'\ +93 "core" ' +2 .tElbow.seek CC +2 "manipulator"&( +146 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +11 "core" ( +2 "manipulator"&& +4 "core" &  < +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &Z& +3 "core" &  < +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&'| +101 "core" ' +2 "manipulator"&K& +4 "core" & < +2 "manipulator"&"% +4 "core" %τ +2 "collection"'3& +4 "core" &;;L\ +2 "collection"'& +6 "core" &;=G\ +2 .tCC.seek :closed +2 "collection"'7(] +4 "core" &:=W\ +7 &6<>Z\ $e +10 &mW~;=S\ 7 +9 &{<=Y\ L +9 &U;=Y\ L +10 &HW:=R\ L +9 & T;>O\ L +10 & X==O\ L +9 &"Y<=J\ L +9 &$PW9=I\ L +10 &&W<>K\ L +9 &'Z;<H\ L +9 &)X9<I\ L +10 &+XW;<J\ L +9 &-W:=K\ L +10 &.Z;>K\ L +9 &0X9<J\ L +9 &2_W;=J\ M +10 &4#W9<J\ L +9 &5V<:J\ L +9 &7Y8=J\ L +10 &9gW;:J\ M +9 &;+W9;I\ L +10 &<V9=H\ L +9 &>W:=G\ L +9 &@pY:<J\ L +10 &B2Y:;I\ L +9 &CU9<K\ L +9 &EX<<J\ L +10 &GxX8:H\ L +9 &I5c)2H\ N +10 &JvG\ P +9 &LJ\ T +9 &NcH\ V +10 &P#I\ W +9 &QG\ W +9 &SC\ X +10 &UbD\ Y +9 &W%F\ Y +10 &XI\ \\ +9 &ZC\ [\ +9 &\\eF\ H +10 &]b6F\ ){ +9 &]D\ Y +2 ( +2 "collection"'& +3 #tCollection Clamp onSpring/offSpring for 10/26 samples, on/off torque 2.15 + .Hand.open + "manipulator"&1 +61 "core" 1 + "manipulator"&A% +5 "core" % u  + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&8'\ +92 "core" ' +3 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%& +4 "core" &<\ +2 "manipulator"&0% +4 "core" %\ ) 6 F +2 "storage"(i% +3 "core" %< Z N \ +2 "storage"(P. +3 "core" .(  +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 + "storage"(M(  +5 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (& +2 "core" & \ \  \ +2 "manipulator"&~& +4 "core" & B < + "manipulator"&D% +4 "core" %\ ( ; F +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&j(; +163 "core" ( +2 "manipulator"&4& +4 "core" &5  ? + "storage"(& +4 "core" &  Z Z\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&a'Ѐ +94 "core" ' +2 "storage"(h& +4 "core" &  r r\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(V'e +280 "core" ' +2 "storage"(G- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +2 "core" &  V Y\ +2 "manipulator"&u& +4 "core" &6  > + .tElbow.seek 2 +2 "manipulator"&r(; +3 "core" ( + "manipulator"&^& +4 "core" &6  > +2 "storage"(& +3 "core" &  n _\ +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&.' +28 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&/ +57 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&W& +2 "storage"(k'N +8 "core" &6 o s > +2 "manipulator"&w% +4 "core" % o p +2 .tForearm.seek :retract + "manipulator"&g'\ +91 "core" ' +2 .tElbow.seek PC + "manipulator"&:(c +159 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +88 "core" ( +2 "manipulator"&y& +4 "core" &m - +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &#& +2 "core" &m ' +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"& '[ +101 "core" ' +2 "manipulator"&& +4 "core" &m  +2 "manipulator"&)% +3 "core" %c O +2 "processing"%=& +4 "core" &)\ +2 "processing"%Q& +5 "core" &)\ +2 .tPC.seek :closed +2 "processing"%(Z +4 "core" &(\ +7 &9(\ #b +9 &`V(\ 7 +10 &y'\ K +9 &uS)\ L +9 &6Y)\ M +10 &Y'\ L +9 & W&\ L +9 &"|X&\ M +10 &$>X)\ M +9 &&T'\ L +10 &'V\ L +9 &)U&\ M +9 &+GX(\ L +10 &-V\ M +9 &.U \ L +9 &0W"\ L +10 &2NU\ M +9 &4Y\ L +10 &5Y \ M +9 &7W\ M +9 &9WY\ L +10 &;Z\ M +9 &<W\ M +9 &>W\ L +10 &@_W\ L +9 &B!W\ L +10 &CW!\ L +9 &EW"\ M +9 &Gc`\ N +10 &I"h\ O +9 &J}\ Q +10 &L\ S +9 &NY\ T +9 &P!\ T +10 &Q\ S +9 &S!\ S +9 &Ub\ S +10 &W"\ T +9 &X \ T +9 &Z=Ii\ )y +10 &ZD\ * +5 ( +2 "processing"%Q& +4 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.65 + .Hand.open + "manipulator"&%1 +4 "core" &Z"\ * +49 1 + "manipulator"&_% +5 "core" % c l + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&d'\ +95 "core" ' +2 "processing"%9& +4 "core" &Z&\ * +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 + "manipulator"&5% +4 "core" %\ 1 k $p + "storage"(b% +4 "core" %< 9 9 1\ + "storage"(n. +3 "core" .(  +2 "storage"(p& +4 "core" &  ; 5 1\ + "storage"(o& +5 "manipulator"&& +5 "core" &  9 5 \ + &m 9 +3 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +3 "storage"(#]kK-0-\ b +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +3 ."raiseStack"SE.seek :beamBreak +3 "manipulator"&B(c + "storage"(-'e +6 "core" ( + "manipulator"&& +4 "core" &m 7 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &x& +3 "core" &m  +2 .tForearm.seek PC +2 "manipulator"&'[ +94 "core" ' + .tHand.close +2 "manipulator"&]/ +58 "core" / +2 .tPC.seek :open + "processing"%+(p +92 "core" ' +2 "storage"(E- +3 "core" -'e +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(H'B +41 "core" ' +249 ( + "storage"(2& +4 "core" &  Z Z\ +2 "manipulator"&O& +4 "core" &m + "manipulator"&,% +4 "core" % e Q +2 .tForearm.seek :retract +2 "manipulator"&U'\ +97 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 + "manipulator"& (; +255 "core" ( +2 "manipulator"&& +4 "core" &> L # + "storage"(f& +4 "core" &  + + 9\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&@'Ѐ +95 "core" ' + .tHand.open +2 "manipulator"&t1 +55 "core" 1 +2 "storage"(<- +3 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate +2 "storage"(;' +25 "core" ' +2 .tSE.reconfigure :seal +52 "storage"(#QK-0-\ b +4 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(&' +49 "core" ' +2 #tLights, camera, ACTION! + "storage"(s- +4 "core" -' +2 "storage"(}& +3 "core" &  )\ +2 "manipulator"&T& +4 "core" &?  "~ + .tElbow.seek 2 +2 "manipulator"&Y(; +3 "core" ( +2 "manipulator"&!& +4 "core" &? _ "~ + "storage"(& +4 "core" &  \ +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&$'Ѐ +19 "core" ' +3 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"(\\'M +63 "core" ' +2 "manipulator"&'& +4 "core" &? e a "~ +2 "storage"(/& +4 "core" &  ` e a\ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"& 'ξ +33 "core" ' +2 .tElbow.hold +2 "manipulator"&6, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"(v'7 +23 "core" ' + "manipulator"&% +5 "core" %f   ȵ + "storage"(>& +4 "core" & \ \  \ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 317 counts + "manipulator"&' +12 "core" ' + "manipulator"&l& +4 "core" &A Z t  "| +2 "storage"(m& +4 "core" &  r r \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts +2 "manipulator"&'Ѐ +17 "core" ' +2 "storage"(z% +4 "core" %@ s l k\  +2 ."downElevator"SE.seek :down +4 "storage"(C'N +99 (R% +2 "core" %? W X\ U^ +2 "manipulator"&% +4 "core" %x m l y +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +92 "core" ' +56 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (& +4 "core" &  ,  4\ +2 "collection"'[& +4 "core" &]w,\ Y + #tStoring generic puck in Collection Clamp to tube 2 +2 "manipulator"&|% +4 "core" %\ 1  $o + "storage"(*% +4 "core" %= U M -\  +2 "storage"(N. +3 "core" .(  + "storage"(q& +4 "core" &  W W \ + "storage"(\ & +4 "core" &  W W \ +2 "manipulator"&I& +4 "core" &A  "| + .tElbow.seek 2 +2 "manipulator"&{(; +3 "core" ( +2 "manipulator"&(& +4 "core" &A "| + "storage"(F& +4 "core" &  W W p\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&S'Ѐ +93 "core" ' +2 "storage"(L& +4 "core" &  s s M\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(`'e +279 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" &A  "| + "storage"(Z& +4 "core" &  c U \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&?'ξ +30 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(K- +3 "core" -' +2 .tSE.seek 0.12 Pucks below Top Plate + "storage"("'p +30 "core" ' + "manipulator"&3% +5 "core" %e    ȵ + "storage"( & +4 "core" & \ \  \ + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 320 counts + "manipulator"&1' +19 "core" ' + "manipulator"&X& +5 "core" &A v ] . "| + "storage"(& +4 "core" &  r r \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&'Ѐ +15 "core" ' +2 .tSE.seek 1.12 Pucks below Top Plate +2 "storage"(A'_ +46 "core" ' +2 "manipulator"&& +4 "core" &A f n Q "| +2 "manipulator"&0% +4 "core" %h n m  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&i'\ +88 "core" ' +2 .tElbow.seek CC +2 "manipulator"&P( +185 "core" ( +2 "manipulator"&& +4 "core" &( { >M + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +2 "core" &' D >M +2 .tForearm.seek CC +2 "manipulator"&~'| +101 "core" ' + .tHand.close +2 "manipulator"&D/ +59 "core" / +2 .tCC.seek :open +2 "collection"'(p +410 "core" ( + "storage"(4& +4 "core" &  \ +2 "storage"(& +4 "core" &  O\ + "manipulator"&J& +4 "core" &!  9' + "manipulator"&h% +4 "core" % ϊ  +2 .tForearm.seek :retract + "manipulator"&'\ +94 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&8(; +165 "core" ( + "manipulator"&G& +5 "core" &/ - + "storage"(& +4 "core" &  \ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 2 +2 "manipulator"&u'ξ +109 "core" ' +2 .tElbow.hold + "manipulator"&^, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&1 +52 "core" 1 +2 "manipulator"&% +5 "core" % q  = ĸ" + "storage"(W& +4 "core" &  [ Z\ + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 315 counts +2 "manipulator"&w' +19 "core" ' + "manipulator"&j& +4 "core" &F s Z j  +2 "storage"(a& +4 "core" &  G\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&V'Ѐ +23 "core" ' +2 "storage"(.% +4 "core" %b >\ +2 ."downElevator"SE.seek :down +4 "storage"(y'N +98 (#% +3 "core" %-> f\ T[ + "manipulator"&r% +4 "core" %У p p +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +90 "core" ' +53 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 3 of [2..3] + #Loading generic puck from tube 3 into Collection Clamp +2 "collection"')& +4 "core" &8;I\ + "manipulator"&=% +4 "core" %\ 1 v $u +2 "storage"(k% +4 "core" %G 3\  + "storage"(g. +3 "core" .(  +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 + "storage"( ( +364 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (%& +3 "core" & Z N -\  + "manipulator"&_& +4 "core" &F y  +2 .tElbow.seek 3 + "manipulator"&9(D +4 "core" ( + "manipulator"&5& +4 "core" &F 9  + "storage"(b& +4 "core" & X\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&n' +96 "core" ' +2 "storage"(p& +4 "core" & \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('e +280 "core" ' +2 "storage"(o- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (Q& +2 "core" & >\  +2 "manipulator"&& +3 "core" &F   +2 .tElbow.seek 3 +2 "manipulator"&x(D +3 "core" ( + "manipulator"& & +4 "core" &F   + "storage"(]& +4 "core" & \  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&E'y +11 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&:/ +61 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&d& +2 "storage"('N +7 "core" &F ?  +2 "manipulator"&2% +4 "core" % m + 5 +2 .tForearm.seek :retract + "manipulator"&O'\ +98 "core" ' +2 .tElbow.seek CC +2 "manipulator"&-( +143 "core" ' +2 ."downElevator"SE.stop +2 "storage"(5 +2 "core" ( +2 "manipulator"&,& +4 "core" &   - + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &   - +2 .tForearm.reconfigure :tight +53 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&'| +105 "core" ' +2 "manipulator"&f& +4 "core" &   - + "manipulator"&B% +4 "core" %ρ  +2 "collection"'t& +4 "core" &;=Z\ +2 "collection"'<& +5 "core" &;;[\ +2 .tCC.seek :closed +3 "collection"'s(] +3 "core" &9<Z\ +6 &:>R\ 7 +9 &J{;;\\\ / +10 &>r:>V\ D +9 &`9>Y\ M +9 &X;>U\ L +10 &iY;>X\ L +9 & +Y<<S\ L +10 &!Y;<N\ L +9 &#X=<Q\ L +9 &%qX;<L\ L +10 &'2Z>>J\ L +9 &(W9=I\ L +9 &*W:?K\ L +10 &,yW9>K\ L +9 &.;W:=I\ L +10 &/X;=K\ L +9 &1W<<I\ L +9 &3W==J\ L +10 &5BX<=J\ L +9 &7X:9J\ L +9 &8W;;J\ L +10 &:Z:>J\ L +9 &W:>E\ L +9 &?Y;=J\ L +9 &AW;=J\ L +10 &CRY9;G\ L +9 &EX<>I\ L +9 &F\\8;J\ L +10 &Hd06K\ N +9 &JPu L\ P +10 &LK\ T +9 &ML\ V +9 &OI\ W +10 &QAJ\ X +9 &SK\ X +9 &TK\ Y +10 &VJ\ Y +9 &XBJ\ Z +10 &ZJ\ [\ +9 &[J\ [ +9 &]$NF\ 4 +10 &]J\ [ +5 ( +2 "collection"'<& +3 "core" &]~F\ Z +2 #tCollection Clamp onSpring/offSpring for 9/26 samples, on/off torque 2.18 +2 .Hand.open + "manipulator"&U1 +61 "core" 1 + "manipulator"&}% +4 "core" %  ; +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&T'\ +100 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp +2 "processing"%!& +4 "core" & \ + "manipulator"&% +4 "core" %\ 3  %y +2 "storage"('% +3 "core" %6 ) * \  +2 "storage"(/. +3 "core" .( +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(H( +2 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (& +89 "core" & K M \  +2 "manipulator"&>& +4 "core" &   - + "manipulator"&;% +4 "core" %\ 3  %y +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&l(D +184 "core" ( +2 "manipulator"&m& +4 "core" &B  "y + "storage"(z& +4 "core" & X N X\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"& ' +96 "core" ' + "storage"(@& +4 "core" & ` r \  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(&'e +278 "core" ' + "storage"(R- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (& +3 "core" & Q W ^\  + "manipulator"&$& +4 "core" &D !w +2 .tElbow.seek 3 + "manipulator"&Y(D +4 "core" ( + "manipulator"&\\& +4 "core" &D  !w + "storage"( & +4 "core" & Y X +\  +2 .tForearm.seek 3 + 300 counts + "manipulator"&'y +22 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +62 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&[& +2 "storage"(|'N +7 "core" &D i o P !w +2 "manipulator"&*% +3 "core" % { f b [ +2 .tForearm.seek :retract +2 "manipulator"&N'\ +89 "core" ' +2 .tElbow.seek PC + "manipulator"&q(c +162 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +94 "core" ( +2 "manipulator"&v& +5 "core" &i ; + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &\ & +2 "core" &i +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&I'[ +95 "core" ' +2 "manipulator"&(& +4 "core" &i s + "manipulator"&F% +4 "core" %T 6 +2 "processing"%& +4 "core" &1\ +2 "processing"%L& +6 "core" &2\ +2 .tPC.seek :closed +2 "processing"%C(Z +4 "core" &'\ +7 & 09\ #a +10 &aV)\ 6 +9 &|&\ K +9 &oV+\ M +10 &3T*\ L +9 &T3\ L +9 & Y'\ L +10 &"yT4\ L +9 &$;W'\ L +10 &%W(\ M +9 &'S)\ L +9 &)U'\ M +10 &+CX)\ L +9 &-Z+\ M +9 &.X'\ M +10 &0V+\ L +9 &2J[+\ M +10 &4 W'\ M +9 &5T#\ L +9 &7W%\ L +10 &9RY"\ M +9 &;Z$\ L +10 &<T\ M +9 &>\\\ M +9 &@ZZ\ M +10 &BZ\ M +9 &CZ\ M +9 &EY\ M +10 &G`]\ M +9 &I c\ N +10 &Jr\ P +9 &L\ Q +9 &NW\ S +10 &P\ S +9 &Q\ S +9 &S\ T +10 &U]\ T +9 &W#\ T +9 &X\ T +10 &Z;Ln\ - +9 &Z)!\ ' +6 ( + "processing"%L& +4 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.60 +2 .Hand.open + "manipulator"&61 +4 "core" &Z!\ ' +48 1 +2 "manipulator"&% +4 "core" % T _ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +96 "core" ' + "processing"%& +4 "core" &Z&\ ' +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&Z% +4 "core" %\ 0 Q $o +2 "storage"(K% +4 "core" %8 6 3 \ + "storage"(3. +3 "core" .( +2 "storage"( & +4 "core" & 7 5\  +2 "storage"(X& +2 "manipulator"&& +7 "core" & 5 ; H\  + &i  +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +3 "storage"(#]kK-0-\ b +2 "manipulator"&(c +6 ."raiseStack"SE.seek :beamBreak + "storage"(0'e +3 "core" ( +2 "manipulator"&S& +4 "core" &i 6 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &{& +3 "core" &i  +2 .tForearm.seek PC + "manipulator"&`'[ +95 "core" ' +2 .tHand.close + "manipulator"&?/ +58 "core" / +2 .tPC.seek :open +2 "processing"%1(p +91 "core" ' +2 "storage"("- +4 "core" -'e + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place + "storage"('B +43 "core" ' +213 "Can"a ^[ +31 "core" ( + "storage"(& +5 "core" & X Y \  + "manipulator"&& +4 "core" &i > + "manipulator"&% +4 "core" % _ u  +2 .tForearm.seek :retract + "manipulator"&D'\ +96 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&i(D +248 "core" ( +2 "manipulator"&7& +4 "core" &D ] 2 +2 "storage"(4& +3 "core" & , (\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&' +91 "core" ' +2 .tHand.open + "manipulator"&J1 +57 "core" 1 +2 "storage"(h- +3 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate +2 "storage"(G' +23 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.83 Pucks below Top Plate + "storage"(' +55 "core" ' + #tLights, camera, ACTION! +2 "storage"(~- +3 "core" -' +2 "storage"(P& +4 "core" & \  + "manipulator"&& +4 "core" &D  2 +2 .tElbow.seek 3 + "manipulator"&(D +4 "core" ( + "manipulator"&W& +4 "core" &D |  2 + "storage"(j& +4 "core" & \  +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&a' +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"(.'M +61 "core" ' + "manipulator"&& +5 "core" &D  2 + "storage"(#& +4 "core" & Z Z\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&r'M +31 "core" ' + .tElbow.hold +2 "manipulator"&8, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"(u'7 +23 "core" ' +2 "manipulator"&)% +4 "core" %af 4 ) - ɵ +2 "storage"(w& +4 "core" &\ \  \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 320 counts + "manipulator"&='ύ +19 "core" ' +2 "manipulator"&k& +5 "core" & {  # + "storage"(g& +4 "core" & r r \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&A' +18 "core" ' +2 "storage"(V% +4 "core" %= s s \  +2 ."downElevator"SE.seek :down +4 "storage"(y'N +99 (M% +3 "core" %|D + - *\ Vb +53 "manipulator"&%% +5 "core" %  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&_'\ +95 "core" ' +2 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (5& +4 "core" &  , C\  +2 "collection"'b& +4 "core" &]~D\ Z +2 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&p% +4 "core" %\ 5  & +2 "storage"(^% +4 "core" %9 ; -\  + "storage"(. +3 "core" .( +2 "storage"(o& +3 "core" & + ) \  +2 "storage"(Q& +4 "core" & , ) Z\  +2 "manipulator"&& +4 "core" &  # +2 .tElbow.seek 3 + "manipulator"& (D +40 "core" ( +2 "manipulator"&]& +4 "core" &N U T +2 "storage"(:& +3 "core" & W W q\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&d' +93 "core" ' +2 "storage"(2& +4 "core" & q o E\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(9'e +278 "core" ' +2 "storage"(n- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&,& +3 "core" &N  T + "storage"(& +4 "core" & a n U\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 + "manipulator"&'M +31 "core" ' +2 .tElbow.hold + "manipulator"&E, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(x- +2 "core" -' +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(f'l +28 "core" ' + "manipulator"&B% +4 "core" %a_ # % dz +2 "storage"(t& +4 "core" &\ \ 2\  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 3 + 320 counts +2 "manipulator"&'ύ +16 "core" ' +2 "manipulator"&O& +4 "core" & ] j  +2 "storage"(& +4 "core" & r r\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&U' +10 "core" ' +2 .tSE.seek 1.11 Pucks below Top Plate +2 "storage"(}'[ +46 "core" ' +2 "manipulator"&!& +4 "core" & ` j 8  +2 "manipulator"&% +4 "core" % _ `  ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&''\ +88 "core" ' +2 .tElbow.seek CC +2 "manipulator"&/( +171 "core" ( + "manipulator"&<& +4 "core" &- I Bl +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &, a Bl +2 .tForearm.seek CC +2 "manipulator"&>'| +97 "core" ' +2 .tHand.close + "manipulator"&;/ +55 "core" / +2 .tCC.seek :open +2 "collection"'(p +410 "core" ( + "storage"( & +4 "core" & @\  +2 "storage"(m& +4 "core" & Z\  + "manipulator"&z& +4 "core" &)  @\\ + "manipulator"&-% +4 "core" % ψ  +2 .tForearm.seek :retract + "manipulator"&@'\ +93 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 + "manipulator"&T(D +177 "core" ( + "manipulator"&R& +5 "core" &>  d + "storage"(& +4 "core" & \  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 3 +2 "manipulator"&$'M +111 "core" ' + .tElbow.hold +2 "manipulator"&\\, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"& 1 +53 "core" 1 +2 "manipulator"&% +4 "core" % ]w   x ƺ6 +2 "storage"([& +4 "core" & Z Z\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 316 counts + "manipulator"&*'ω +13 "core" ' + "manipulator"&l& +5 "core" &6 v ] l + "storage"( & +4 "core" & \\\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&&' +20 "core" ' +2 "storage"(% +4 "core" %Z j\ +2 ."downElevator"SE.seek :down +4 "storage"(v'N +99 (\ % +2 "core" %9< I\ U[ +2 "manipulator"&Y% +4 "core" % n n "  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&('\ +90 "core" ' +48 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 2 of [2..3] +2 #Loading generic puck from tube 2 into Collection Clamp + "collection"'F& +4 "core" &<<5\ +2 "manipulator"&% +26 "core" %\ .  #d + "storage"(|% +5 "core" %@ \  +2 "storage"(N. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 + "storage"(+(  +358 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (6& +2 "core" &  s t \ +2 "manipulator"&& +3 "core" &6 l +2 .tElbow.seek 2 +2 "manipulator"&(; +3 "core" ( +2 "manipulator"&Z& +3 "core" &6  l +2 "storage"(K& +3 "core" &  \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&3'Ѐ +103 "core" ' +2 "storage"( & +4 "core" &  \ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('e +282 "core" ' +2 "storage"(X- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (L& +2 "core" &  g\ +2 "manipulator"&S& +3 "core" &7 _ _  k +2 .tElbow.seek 2 +2 "manipulator"&{(; +3 "core" ( + "manipulator"&I& +4 "core" &7 l j L k + "storage"(?& +4 "core" &  k\ +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&"' +24 "core" ' + .tForearm.reconfigure :loose +7 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&q/ +57 "core" / +2 ."downElevator"SE.seek :down +5 "manipulator"&& "storage"(C'N +7 "core" &7 c k v k +2 "manipulator"&% +4 "core" % e ` D +2 .tForearm.seek :retract + "manipulator"&'\ +97 "core" ' +2 .tElbow.seek CC + "manipulator"&( +141 "core" ( + "manipulator"&0& +5 "core" & @ - + ' + ."downElevator"SE.stop +3 .tElbow.reconfigure :loose +2 "storage"(5 +4 "manipulator"&$ &.,(#b +2 &`& +3 "core" & # - +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&7'| +101 "core" ' +2 "manipulator"&4& +5 "core" & a - + "manipulator"&% +4 "core" %υ +2 "collection"'J& +4 "core" &;<I\ +2 "collection"'h& +5 "core" &<=K\ +2 .tCC.seek :closed +2 "collection"'~(] +4 "core" &;>[\ +8 &7;<[\ $e +9 &mW~;>\\\ 7 +10 &{;=[\ K +9 &W;<[\ K +10 &IY;;V\ L +9 & X;<[\ L +9 & X;=[\ L +10 &"W<<W\ L +9 &$RW:=X\ L +9 &&Y==X\ K +10 &'Y;<N\ L +9 &)Z:<K\ L +10 &+YW;<L\ L +9 &-W;<K\ L +10 &.W<<K\ L +11 &0Y<<I\ L +8 &2`Y9=K\ L +8 &4"Y;=J\ L +10 &5Y;<J\ L +9 &7Y;<K\ L +10 &9kW9>K\ K +9 &;+W<>J\ L +9 &<W:=J\ L +10 &>X:<K\ L +9 &@rY;<L\ L +9 &B4Y9<H\ L +10 &CY;<I\ L +9 &EY;;J\ L +10 &Gy\\7;L\ L +9 &I7d*4L\ M +9 &J{J\ P +10 &LK\ T +9 &NdK\ V +9 &P#J\ W +10 &QJ\ W +9 &SJ\ X +10 &UbK\ Y +9 &W%I\ Y +9 &XG\ Z +10 &ZJ\ [\ +9 &\\fK\ H +9 &]a6J\ ){ +10 &]aE\ H +2 ( +2 "collection"'h& +3 #tCollection Clamp onSpring/offSpring for 10/26 samples, on/off torque 2.11 + .Hand.open +2 "manipulator"&P1 +60 "core" 1 +2 "manipulator"&% +4 "core" % a  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&W'\ +97 "core" ' + #tLoading generic puck from tube 2 into Processing Clamp +2 "processing"%j& +4 "core" &2\ + "manipulator"&D% +4 "core" %\ 0  $l +2 "storage"(% +4 "core" %A J J -\  + "storage"(#. +3 "core" .(  +2 "storage"()& +4 "core" &  L I \ + "storage"(& +4 "core" &  K P \ + "manipulator"&w& +4 "core" &  - +2 "manipulator"&G% +3 "core" %\ 0  $l +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 + "manipulator"&k(; +175 "core" ( +2 "manipulator"&g& +4 "core" &B H e + "storage"(V& +56 "core" &  r r \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&i'Ѐ +93 "core" ' +2 "storage"(& +5 "core" &  D\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('e +281 "core" ' + "storage"(M- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (a& +3 "core" &  r f \ +2 "manipulator"&%& +4 "core" &B  e + .tElbow.seek 2 +2 "manipulator"&(; +3 "core" ( +2 "manipulator"&.& +4 "core" &B E e + "storage"(r& +4 "core" &  e d 3\ +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&5' +22 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&=/ +57 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&b& +2 "storage"(p'N +8 "core" &B l e > e +2 "manipulator"&^% +4 "core" % k b M +2 .tForearm.seek :retract +2 "manipulator"&'\ +94 "core" ' +2 .tElbow.seek PC + "manipulator"&o(c +155 "core" ' + ."downElevator"SE.stop + "storage"(5 +101 "core" ( + "manipulator"&u& +5 "core" &f K + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &Q& +3 "core" &f ) +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&'[ +102 "core" ' +2 "manipulator"&]& +4 "core" &f + "manipulator"&:% +4 "core" %O +2 "processing"%A& +4 "core" &2\ +2 "processing"%2& +6 "core" &2\ +2 .tPC.seek :closed +2 "processing"%y(Z +4 "core" &'\ +7 &8+\ $e +10 &tW}*\ 7 +9 &{)\ L +9 &V+\ L +10 &NZ'\ L +9 &Y'\ M +9 & Y*\ M +10 &"U)\ L +9 &$WW'\ L +10 &&W'\ M +9 &'S)\ L +9 &)Y)\ M +10 &+^V(\ L +9 &- W'\ L +9 &.Y&\ M +10 &0T'\ L +9 &2gV&\ L +10 &4'W'\ M +9 &5W%\ M +9 &7T\ L +10 &9oU'\ L +9 &;/Y\ M +9 &<V\ M +10 &>U\ M +9 &@uT$\ M +9 &B8T\ L +10 &CW\ M +9 &E\\\ M +10 &Gz`\ N +9 &I8j&\ O +9 &J{\ Q +10 &L\ T +9 &Nq\ S +9 &P4\ S +10 &Q\ S +9 &S\ S +10 &Ux\ T +9 &W9\ T +9 &X\ T +10 &ZRHe\ )x +9 &Z.!\ . +5 ( +2 "processing"%2& +4 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.65 +2 .Hand.open + "manipulator"&81 +4 "core" &Z#\ . +48 1 +2 "manipulator"&_% +4 "core" % O p +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&n'\ +96 "core" ' + "processing"%,& +4 "core" &Z#&\ . +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 +2 "manipulator"&% +3 "core" %\ 0  $l +2 "storage"(x% +3 "core" %8 W M 6\  +2 "storage"(B. +3 "core" .(  + "storage"(t& +5 "core" &  K = g\ +2 "storage"(O& +2 "manipulator"&& +7 "core" &  F + \ + &f  +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +4 "storage"(#]kK-0-\ b + "manipulator"&!(c +5 ."raiseStack"SE.seek :beamBreak +2 "storage"('e +3 "core" ( + "manipulator"&d& +4 "core" &f  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 & & +3 "core" &f P +2 .tForearm.seek PC +2 "manipulator"&9'[ +94 "core" ' +2 .tHand.close + "manipulator"&/ +58 "core" / +2 .tPC.seek :open +2 "processing"%(p +88 "core" ' +2 "storage"(f- +3 "core" -'e + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(<'B +44 "core" ' +249 ( + "storage"(& +4 "core" &  t t \ +2 "manipulator"&U& +4 "core" &f + "manipulator"&E% +4 "core" % ` M  +2 .tForearm.seek :retract + "manipulator"&;'\ +98 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&'(; +256 "core" ( + "manipulator"&s& +4 "core" &<  $ +2 "storage"( & +4 "core" &  Z Z\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&m'Ѐ +103 "core" ' +2 .tHand.open + "manipulator"&z1 +58 "core" 1 +2 "storage"(-- +3 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate +2 "storage"(R' +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(' +51 "core" ' +2 #tLights, camera, ACTION! + "storage"(>- +4 "core" -' + "storage"(/& +4 "core" &  \ + "manipulator"& & +4 "core" &<  $ +2 .tElbow.seek 2 + "manipulator"&(; +4 "core" ( + "manipulator"&[& +4 "core" &< z  $ +2 "storage"(l& +4 "core" &  $\ +2 .tForearm.seek 2 + 450 counts + "manipulator"& 'Ѐ +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.11 Pucks below Top Plate + "storage"('M +60 "core" ' + "manipulator"&@& +4 "core" &< x ~ $ +2 "storage"(\ & +4 "core" &  m n\ + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&Y'ξ +36 "core" ' +2 .tElbow.hold + "manipulator"&T, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate + "storage"($'7 +24 "core" ' + "manipulator"&F% +5 "core" %f   { ȵ + "storage"(*& +4 "core" &   \ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 315 counts +2 "manipulator"&' +17 "core" ' +2 "manipulator"&|& +4 "core" &@ l g ' # + "storage"(}& +4 "core" &  \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&N'Ѐ +16 "core" ' + "storage"(&% +5 "core" %= \ +2 ."downElevator"SE.seek :down +4 "storage"(v'N +98 (H% +3 "core" %I d a\ Wc +2 "manipulator"&6% +4 "core" %Є q g +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +91 "core" ' +56 ' + ."downElevator"SE.stop + "storage"(5 +3 (Z& +3 "core" &  K W ;\ +2 "collection"'K& +4 "core" &]^4\ H +2 #tStoring generic puck in Collection Clamp to tube 2 + "manipulator"& % +4 "core" %\ 1  $t + "storage"(\\% +4 "core" %6 ` J 6\  +2 "storage"((. +3 "core" .(  + "storage"(X& +4 "core" &  ^ m d\ +2 "storage"(L& +4 "core" &  N ` -\ + "manipulator"&S& +4 "core" &@  # +2 .tElbow.seek 2 + "manipulator"&I(; +4 "core" ( + "manipulator"&?& +4 "core" &@  # + "storage"(q& +4 "core" &  r r \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&'Ѐ +95 "core" ' + "storage"(& +5 "core" &  o |\ + .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('e +280 "core" ' + "storage"(3- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&0& +3 "core" &@  # +2 "storage"(`& +3 "core" &  o t\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&'ξ +34 "core" ' + .tElbow.hold +2 "manipulator"&", +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(4- +2 "core" -' +2 .tSE.seek 0.12 Pucks below Top Plate +2 "storage"('q +29 "core" ' +2 "manipulator"&J% +4 "core" %_ ( 2 B ʳ + "storage"({& +4 "core" & \ \ 4\ + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 2 + 316 counts +2 "manipulator"&C' +18 "core" ' +2 "manipulator"&& +4 "core" &B j ^ N # +2 "storage"(& +55 "core" &  \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&P'Ѐ +15 "core" ' +2 .tSE.seek 1.12 Pucks below Top Plate +2 "storage"('` +40 "core" ' + "manipulator"&j& +5 "core" &B f a ^ # + "manipulator"&D% +4 "core" %g d a  \ +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +86 "core" ' +2 .tElbow.seek CC +2 "manipulator"&#( +143 "core" ( +2 "manipulator"&)& +4 "core" &   / +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &h& +3 "core" &   / +2 .tForearm.seek CC + "manipulator"&'| +101 "core" ' +2 .tHand.close + "manipulator"&w/ +54 "core" / + .tCC.seek :open +2 "collection"'G(p +410 "core" ( +2 "storage"(7& +4 "core" &  H\ +2 "storage"(g& +3 "core" &  d\ +2 "manipulator"&V& +4 "core" &   / + "manipulator"&% +4 "core" % } ) +2 .tForearm.seek :retract + "manipulator"&'\ +94 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&W(; +166 "core" ( +2 "manipulator"&M& +4 "core" &; l  +2 "storage"(a& +4 "core" &  \ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 2 +2 "manipulator"&%'ξ +105 "core" ' +2 .tElbow.hold + "manipulator"&., +66 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&r1 +52 "core" 1 +2 "manipulator"&=% +4 "core" %  c +2 "storage"(b& +4 "core" &  r r\ + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 320 counts +2 "manipulator"&^' +11 "core" ' + "manipulator"&k& +4 "core" &< X s $  +2 "storage"(i& +4 "core" &  ^\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&'Ѐ +18 "core" ' +2 "storage"(5% +4 "core" %b ^\ +2 ."downElevator"SE.seek :down +3 "storage"(u'N +99 (Q% +3 "core" %> "\ T[ +2 "manipulator"&% +4 "core" %Л o n +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&]'\ +87 "core" ' +55 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 3 of [2..3] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"':& +4 "core" &9<>\ +2 "manipulator"&A% +4 "core" %\ ,  "_ + "storage"(p% +4 "core" %: \  +2 "storage"(. +3 "core" .(  +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 + "storage"(1( +362 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (8& +3 "core" & L U \  +2 "manipulator"&_& +3 "core" &< D  +2 .tElbow.seek 3 + "manipulator"&,(D +4 "core" ( + "manipulator"&& +4 "core" &< *  + "storage"(x& +4 "core" & k\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&B' +104 "core" ' + "storage"(t& +4 "core" & \  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"('e +282 "core" ' +2 "storage"(O- +2 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (2& +3 "core" & \  + "manipulator"&d& +4 "core" &< p p  +2 .tElbow.seek 3 + "manipulator"& (D +4 "core" ( + "manipulator"&& +4 "core" &< ` r b  + "storage"(& +4 "core" & c\  +2 .tForearm.seek 3 + 300 counts + "manipulator"&f'y +30 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&o/ +63 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&n& +2 "storage"(y'N +8 "core" &< n o  + "manipulator"&% +4 "core" % y o m +2 .tForearm.seek :retract +2 "manipulator"&U'\ +88 "core" ' +2 .tElbow.seek CC +2 "manipulator"&( +155 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +5 "core" ( +2 "manipulator"&E& +4 "core" &  ) +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &9& +3 "core" & < ) +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&s'| +107 "core" ' +2 "manipulator"& & +4 "core" & r ) + "manipulator"&!% +4 "core" %r | d Y +2 "collection"'z& +4 "core" &<<M  +2 "collection"'-& +5 "core" &=;L  +2 .tCC.seek :closed +2 "collection"'>(] +4 "core" &=>V  +7 &7=>W\ $d +10 &mX;<W\ 7 +9 &z:?T\ K +10 &W;=[\ K +9 &IY;;Y\ L +9 & X<>U\ K +10 & Y<=T\ L +9 &"W:?Y\ K +9 &$PW<>Y\ L +10 &&X:;S\ K +9 &'X<<R\ L +10 &)X<>N\ L +9 &+ZW:=X\ K +9 &-Y;=M\ L +10 &.W:=K\ L +9 &0X;=N\ L +9 &2aX;<B\ L +10 &4#W<=H\ L +9 &5Z;<J\ L +10 &7Y;>K\ L +9 &9iV;=K\ L +9 &;+X<<K\ L +10 &<Z:;J\ L +9 &>X:=J\ K +9 &@pY:>H\ L +10 &B3Y:=J\ L +9 &CY==I\ L +10 &EY:=K\ L +9 &Gy]6<K\ L +9 &I3k'/J\ N +10 &J J\ P +9 &LL\ U +9 &NdJ\ U +10 &P#H\ V +9 &QJ\ X +10 &SH\ X +9 &UcJ\ Y +9 &W&J\ X +10 &XG\ Z +9 &ZH\ Z +9 &\\fL\ G +10 &]c8F\ (w +9 &]ZE\ B +2 ( +2 "collection"'-& +3 #tCollection Clamp onSpring/offSpring for 10/26 samples, on/off torque 2.14 + .Hand.open + "manipulator"&/1 +61 "core" 1 +2 "manipulator"& % +4 "core" % r n R +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&['\ +95 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp +2 "processing"%l& +4 "core" &+\ +2 "manipulator"&;% +3 "core" %\ 1 1 $t +2 "storage"(@% +3 "core" %= t t \  +2 "storage"(\ . +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(F( +2 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (<& +2 "core" & 5 9 \  +2 "manipulator"&*& +4 "core" & - ) + "manipulator"&R% +4 "core" %\ 1 S $t +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&|(D +152 "core" ( + "manipulator"&}& +5 "core" &M "  + "storage"(&& +4 "core" & o s %\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&'' +100 "core" ' + "storage"(m& +5 "core" & \  + .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('e +277 "core" ' + "storage"(H- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (6& +2 "core" & o p \  +2 "manipulator"& & +3 "core" &M   +2 .tElbow.seek 3 +2 "manipulator"&(D +3 "core" ( +2 "manipulator"&& +3 "core" &M *  +2 "storage"(Y& +3 "core" & f e `\  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&Z'y +11 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&/ +60 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&K& +2 "storage"( 'N +7 "core" &M   +2 "manipulator"&\\% +4 "core" % y  ' + .tForearm.seek :retract +2 "manipulator"&('\ +98 "core" ' +2 .tElbow.seek PC + "manipulator"&X(c +151 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +90 "core" ( +2 "manipulator"&$& +4 "core" &l ~ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &L& +4 "core" &l $ + .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&S'[ +113 "core" ' +2 "manipulator"&?& +4 "core" &l i ^ +2 "manipulator"&q% +4 "core" %R o  | +2 "processing"%N& +4 "core" &4\ +2 "processing"%& +5 "core" &3\ +55 &)\ + &)\ +4 &*\ + &%\ + &(\ + &(\ +3 .tPC.seek :closed + "processing"%v(Z +5 "core" &(\ + & \  +8 &1z(\ )w +10 &e'\ > +9 &Ht*\ M +9 & T,\ M +10 &Y'\ M +9 &X)\ L +9 &!RZ(\ L +10 &#W(\ L +9 &$X)\ L +10 &&W&\ M +9 &(YW'\ M +9 &*W%\ M +10 &+W%\ M +9 &-W(\ M +9 &/`Y&\ M +10 &1$T\ L +9 &2Z\ L +9 &4T\ L +10 &6jY\ L +9 &8+X\ M +10 &9S\ L +9 &;Y\ L +9 &=rY\ L +10 &?4W\ L +9 &@[)\ M +10 &BX\ M +9 &DzV\ L +9 &F<Y\ L +10 &G`\ M +9 &Ih\ O +9 &Kwu\ P +10 &M2\ R +9 &N\ S +10 &P#\ S +9 &Rv\ S +9 &T7\ S +10 &U"\ S +9 &W$\ T +9 &Yz#\ A +10 &Zu9\ !b +9 &Z"\ ( +2 ( +2 "processing"%& +3 #tProcessing Clamp onSpring/offSpring for 9/25 samples, on/off torque 1.62 + .Hand.open + "manipulator"&T1 +54 "core" 1 +2 "manipulator"&% +4 "core" % S o  { +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&3'\ +91 "core" ' + "processing"%0& +4 "core" &Z\ ( +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 +2 "manipulator"&`% +3 "core" %\ + d !R +2 "storage"(4% +4 "core" %< Z Z\ + "storage"(J. +3 "core" .( +2 "storage"({& +4 "core" & Z [\  +2 "storage"(& +2 "manipulator"&& +7 "core" & X Z 4\  + &l  +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +2 "storage"(#]kK-0-\ b +2 .tElbow.seek PC +5 "manipulator"&j(c +3 ."raiseStack"SE.seek :beamBreak +2 "storage"(D'e +3 "core" ( + "manipulator"&& +4 "core" &l S +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &I& +2 "core" &l l +2 .tForearm.seek PC +2 "manipulator"&'[ +94 "core" ' +2 .tHand.close + "manipulator"&/ +63 "core" / +2 .tPC.seek :open + "processing"%C(p +90 "core" ' + "storage"()- +3 "core" -'e +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +2 ."raiseStack"SE.seek :place +2 "storage"('B +33 "core" ' +259 ( + "storage"(h& +4 "core" & p h \  +2 "manipulator"&P& +4 "core" &l  + "manipulator"&"% +4 "core" % `  +2 .tForearm.seek :retract +2 "manipulator"&w'\ +92 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&(D +250 "core" ( +2 "manipulator"&~& +4 "core" &: = # + "storage"(7& +4 "core" & e ] D\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&g' +95 "core" ' +2 .tHand.open + "manipulator"&V1 +63 "core" 1 +2 "storage"(- +4 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate + "storage"(M' +24 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(a' +53 "core" ' + #tLights, camera, ACTION! +2 "storage"(- +3 "core" -' +2 "storage"(#& +4 "core" & b\  + "manipulator"&r& +4 "core" &:  # +2 .tElbow.seek 3 + "manipulator"&=(D +4 "core" ( + "manipulator"&b& +4 "core" &:  # + "storage"(k& +9 "core" & \  +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&i' +3 "core" ' +2 .tSE.reconfigure :gently +7 "storage"(#QK-0-\ b +3 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"('M +61 "core" ' +2 "manipulator"&5& +4 "core" &:  # +2 "storage"(W& +4 "core" & t r \  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 + "manipulator"&Q'M +31 "core" ' +2 .tElbow.hold + "manipulator"&, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate + "storage"(%'7 +24 "core" ' + "manipulator"&:% +5 "core" %^_ 6 4 ˳ + "storage"(A& +4 "core" &\ \  f\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 317 counts + "manipulator"&^'ϊ +18 "core" ' +2 "manipulator"&p& +4 "core" &  * +2 "storage"(& +4 "core" & i \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&' +11 "core" ' +2 "storage"(% +4 "core" %9 \ +3 ."downElevator"SE.seek :down +4 "storage"(u'N +99 (+% +3 "core" %wG J S V\ V` +2 "manipulator"&8% +4 "core" %  ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&_'\ +94 "core" ' +53 ' + ."downElevator"SE.stop + "storage"(5 +3 (& +4 "core" & M > d\  + "collection"'x& +4 "core" &]_;\ B +2 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&t% +4 "core" %\ 8  ' +2 "storage"(.% +4 "core" %: Z Z\ + "storage"(]. +3 "core" .( +2 "storage"(O& +3 "core" & P M\  +2 "storage"(2& +4 "core" & W Y\  +2 "manipulator"&d& +3 "core" & e * +2 .tElbow.seek 3 +2 "manipulator"&(D +36 "core" ( +2 "manipulator"&& +4 "core" &I : V +2 "storage"(o& +4 "core" & r r\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&n' +96 "core" ' +2 "storage"(& +4 "core" & \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(,'e +278 "core" ' +3 "storage"(B- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&E& +2 "core" &I  V +2 "storage"(9& +3 "core" & f d H\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&'M +33 "core" ' +2 .tElbow.hold + "manipulator"&f, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"( - +2 "core" -' +3 .tSE.seek 0.11 Pucks below Top Plate + "storage"( 'k +28 "core" ' + "manipulator"&!% +5 "core" %ZL * 4 ʮ + "storage"(z& +4 "core" &\ \ \  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 3 + 313 counts +2 "manipulator"&y'φ +18 "core" ' +2 "manipulator"&U& +4 "core" & s Y  + "storage"(G& +4 "core" & T\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&/' +22 "core" ' +2 .tSE.seek 1.11 Pucks below Top Plate +2 "storage"( 'Z +46 "core" ' +2 "manipulator"&l& +4 "core" & g a ;  +2 "manipulator"&;% +4 "core" %! m i u  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&@'\ +88 "core" ' +2 .tElbow.seek CC +2 "manipulator"&\ ( +148 "core" ( + "manipulator"&-& +4 "core" &  / +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &<& +3 "core" &  / +2 .tForearm.seek CC + "manipulator"&*'| +99 "core" ' + .tHand.close +2 "manipulator"&R/ +63 "core" / + .tCC.seek :open +2 "collection"'s(p +413 "core" ( +2 "storage"(}& +4 "core" & \\\  + "storage"(&& +4 "core" & |\  + "manipulator"&1& +4 "core" &  / + "manipulator"&m% +4 "core" % w +2 .tForearm.seek :retract + "manipulator"&'\ +100 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&[(D +170 "core" ( +2 "manipulator"&H& +4 "core" &: - 8 + "storage"(6& +4 "core" & \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 + "manipulator"& 'M +109 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +53 "manipulator"&Y1 +63 "core" 1 + "manipulator"&% +5 "core" % a}  J ļH + "storage"(K& +4 "core" & Z Z\  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 3 + 320 counts +2 "manipulator"&\\'ύ +17 "core" ' +2 "manipulator"&|& +4 "core" &\ _ w Z ^ +2 "storage"('& +4 "core" & Y\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&' +21 "core" ' +2 "storage"(Z% +4 "core" %Y u\ +2 ."downElevator"SE.seek :down +3 "storage"($'N +100 (L% +2 "core" %#C \ U] +2 "manipulator"&% +4 "core" % n m  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&?'\ +89 "core" ' +48 ' +2 ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 2 of [2..3] +2 #Loading generic puck from tube 2 into Collection Clamp + "collection"'q& +4 "core" &;>=\ +2 "manipulator"&N% +4 "core" %\ + l !U + "storage"( % +4 "core" %8 A\  +2 "storage"((. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"((  +356 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (T& +2 "core" &  s r \ +2 "manipulator"&& +4 "core" &\ ` ^ + .tElbow.seek 2 +2 "manipulator"&0(; +36 "core" ( +2 "manipulator"&`& +4 "core" &D 0  + "storage"(4& +4 "core" &  \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&J'Ѐ +92 "core" ' + "storage"({& +5 "core" &  Z\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('e +283 "core" ' +2 "storage"(- +3 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (& +3 "core" &  V\ +2 "manipulator"&& +3 "core" &D s D  +2 .tElbow.seek 2 +2 "manipulator"&I(; +3 "core" ( + "manipulator"&S& +4 "core" &D t ;  + "storage"(& +4 "core" &  S\ +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&)' +21 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&X/ +60 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&3& + "storage"(v'N +7 "core" &D ^ ` \\  +2 "manipulator"&h% +4 "core" % g e +2 .tForearm.seek :retract + "manipulator"&P'\ +95 "core" ' +2 .tElbow.seek CC +2 "manipulator"&D( +151 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +8 "core" ( + "manipulator"&"& +5 "core" &&  M >H + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" && 3 >H +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&~'| +103 "core" ' +3 "manipulator"&7& +4 "core" &'  >H +2 "manipulator"&j% +4 "core" %υ U +2 "collection"'V& +4 "core" &;<O\ +2 "collection"'& +4 "core" &;<^\ +2 .tCC.seek :closed +2 "collection"'(] +4 "core" &;=Y\  +9 &1{<<Y\ )w +9 &d<=T\ > +9 &Ms<=U\ M +10 &U<:[\ L +9 &Y;<Y\ L +9 &Z<=P\ L +10 &!WW:<[\ L +9 &#Y;;T\ L +9 &$Y<=Y\ L +10 &&X:>Z\ L +9 &(`U;>X\ L +10 &*!W:;V\ L +9 &+W=;Z\ L +9 &-W7>V\ L +10 &/hU:=Y\ L +9 &1)X<<U\ L +9 &2U:=M\ L +10 &4X:>N\ M +9 &6pW9;L\ L +10 &81X;=N\ L +9 &9T9;J\ L +9 &;W;=J\ L +10 &=vY:=J\ M +9 &?9W<<O\ L +9 &@U=:K\ L +10 &BY<>J\ L +9 &D~W;<I\ M +10 &FAY:<K\ L +9 &HY3:K\ M +9 &Il$,J\ N +10 &KwJ\ R +9 &M/I\ U +9 &NI\ V +10 &PJ\ W +9 &RnI\ X +10 &T.I\ X +9 &UI\ Y +9 &WJ\ Z +10 &YgH\ ] +9 &[,I\ \\ +9 &\\yJ\ 4 +10 &]#J\ 'r +9 &]xG\ W +3 ( + "collection"'& +4 #tCollection Clamp onSpring/offSpring for 9/25 samples, on/off torque 2.17 + .Hand.open + "manipulator" +57 "core" 1 +2 "manipulator"&r% +4 "core" % | +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&b'\ +95 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp +2 "processing"%k& +4 "core" &(\ + "manipulator"&w% +4 "core" %\ - O "X +2 "storage"(5% +4 "core" %= , ( \  + "storage"(W. +3 "core" .(  +2 "storage"(& +3 "core" &  ' ' 6\ +2 "storage"(:& +4 "core" &  ) + /\ + "manipulator"&A& +4 "core" &" B :, +2 "manipulator"&M% +3 "core" %\ - Z "X +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&p(; +172 "core" ( +2 "manipulator"&& +4 "core" &2 ] 4 + "storage"(& +4 "core" &  Z Z\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&'Ѐ +107 "core" ' + "storage"(g& +4 "core" &  q i 6\ +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(a'e +278 "core" ' + "storage"(+- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (8& +3 "core" &  O ` \ + "manipulator"&i& +4 "core" &2 i f y 4 +2 .tElbow.seek 2 + "manipulator"&=(; +4 "core" ( + "manipulator"&& +4 "core" &2 s p 4 + "storage"(Q& +4 "core" &  s m\ +2 .tForearm.seek 2 + 300 counts + "manipulator"&' +28 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&x/ +59 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"&^& "storage"(t'N +7 "core" &2 c j 4 +2 "manipulator"&.% +4 "core" % m m  +2 .tForearm.seek :retract + "manipulator"&]'\ +91 "core" ' + .tElbow.seek PC +2 "manipulator"&O(c +165 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +88 "core" ( +2 "manipulator"&%& +4 "core" &j 1 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &2& +3 "core" &j q +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&d'[ +99 "core" ' + "manipulator"&& +5 "core" &j U + "manipulator"&o% +4 "core" %J  +2 "processing"%& +4 "core" &'\ +2 "processing"%& +5 "core" &(\ +2 .tPC.seek :closed + "processing"%u(Z +5 "core" &#\ +6 & )+\ #a +10 &^V'\ 7 +9 &x.\ K +10 &rS)\ M +9 &4V(\ M +9 &T)\ M +10 & Z(\ M +9 &"{X'\ L +9 &$<Y'\ M +10 &%W)\ M +9 &'T'\ M +10 &)Y(\ L +9 &+DS+\ M +9 &-U(\ M +10 &.Y'\ M +9 &0W(\ L +9 &2MW'\ L +10 &4T&\ L +9 &5Y(\ M +9 &7X(\ L +10 &9UU&\ L +9 &;Y)\ M +10 &<X(\ L +9 &>W'\ L +9 &@\\V \ M +10 &BT#\ M +9 &CT&\ M +10 &EU\ M +9 &G`_"\ N +9 &Ih'\ O +10 &Jx%\ Q +9 &L'\ S +9 &NX%\ S +10 &P\ S +9 &Q\ S +9 &S\ S +10 &U`\ S +9 &W \ T +10 &X\ U +9 &Z:Il\ , +9 &Z 2\ ) +6 ( + "processing"%& +5 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.64 + .Hand.open + "manipulator"&1 +4 "core" &Z\ ) +48 1 +2 "manipulator"&_% +4 "core" % J +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&B'\ +96 "core" ' + "processing"%E& +4 "core" &Z(\ ) +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 +2 "manipulator"&9% +4 "core" %\ 0 " $n + "storage"( % +4 "core" %D 7 > B\  + "storage"(!. +3 "core" .(  +2 "storage"(z& +4 "core" &  A @ q\ + "storage"(U& +5 "manipulator"&G& +4 "core" &  A A u\ + &j T +3 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +3 "storage"(#]kK-0-\ b +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +3 ."raiseStack"SE.seek :beamBreak +3 "manipulator"&l(c + "storage"(;'e +6 "core" ( + "manipulator"&n& +4 "core" &j +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &j c +2 .tForearm.seek PC +2 "manipulator"&,'[ +95 "core" ' + .tHand.close + "manipulator"&/ +58 "core" / +2 .tPC.seek :open +53 "processing"%y(p +41 "core" ' + "storage"( - +3 "core" -'e +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(-'B +32 "core" ' +308 ( +2 "storage"(<& +4 "core" &  ` r P\ + "manipulator"&/& +4 "core" &j + "manipulator"&f% +4 "core" % U +2 .tForearm.seek :retract +2 "manipulator"&R'\ +94 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&@(; +268 "core" ( + "manipulator"&>& +4 "core" &4 E s +2 "storage"(}& +3 "core" &  T M \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&&'Ѐ +107 "core" ' +2 .tHand.open + "manipulator"&11 +56 "core" 1 +2 "storage"(m- +4 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate +2 "storage"(H' +25 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(6' +55 "core" ' + #tLights, camera, ACTION! +2 "storage"(*- +3 "core" -' +2 "storage"(\ & +3 "core" &  q w V\ +2 "manipulator"&Y& +4 "core" &4 n p s +2 .tElbow.seek 2 + "manipulator"&(; +4 "core" ( + "manipulator"&K& +4 "core" &4 t o s +2 "storage"(|& +4 "core" &  o q %\ +2 .tForearm.seek 2 + 450 counts + "manipulator"&''Ѐ +13 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"('M +63 "core" ' +2 "manipulator"&Z& +4 "core" &4 9 s + "storage"([& +4 "core" &  c \\\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&L'ξ +31 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate + "storage"( '7 +24 "core" ' + "manipulator"&q% +4 "core" %k ? ķ +2 "storage"(\\& +4 "core" & \ \ \  \ + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 2 + 320 counts + "manipulator"&N' +16 "core" ' +2 "manipulator"& & +4 "core" &4 [ j z s +2 "storage"((& +4 "core" &  n o t\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"& 'Ѐ +18 "core" ' + "storage"(% +5 "core" %A o q \ +2 ."downElevator"SE.seek :down +4 "storage"($'N +98 (F% +3 "core" %,E Y O :\ Va +2 "manipulator"&T% +4 "core" %x j _  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +88 "core" ' +64 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (`& +4 "core" &  8 E #\ +2 "collection"'4& +4 "core" &]vD\ W + #tStoring generic puck in Collection Clamp to tube 2 +2 "manipulator"&{% +3 "core" %\ + !W +2 "storage"(% +4 "core" %> J J \  + "storage"(?. +3 "core" .(  +2 "storage"(& +3 "core" &  X Z \ +2 "storage"(& +4 "core" &  J L T\ + "manipulator"&& +4 "core" &4  s +2 .tElbow.seek 2 + "manipulator"&S(; +4 "core" ( + "manipulator"&& +4 "core" &4  s + "storage"(X& +4 "core" &  T K F\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts + "manipulator"&3'Ѐ +89 "core" ' +2 "storage"(h& +4 "core" &  t q Z\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(0'e +277 "core" ' +2 "storage"(J- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&"& +3 "core" &4  s + "storage"(& +4 "core" &  r n \ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 + "manipulator"&'ξ +34 "core" ' + .tElbow.hold +2 "manipulator"&), +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(7- +2 "core" -' +3 .tSE.seek 0.12 Pucks below Top Plate + "storage"(j'r +28 "core" ' + "manipulator"&I% +4 "core" %]   dz +2 "storage"(V& +4 "core" & \ \  Z\ + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 2 + 316 counts + "manipulator"&v' +16 "core" ' +2 "manipulator"&P& +4 "core" &4 f K | s +2 "storage"(s& +3 "core" &  o s \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&#'Ѐ +16 "core" ' +2 .tSE.seek 1.12 Pucks below Top Plate +2 "storage"(r'a +49 "core" ' +2 "manipulator"&k& +4 "core" &4 l c 1 s +2 "manipulator"&w% +4 "core" %e p m  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&5'\ +96 "core" ' +2 .tElbow.seek CC + "manipulator"&W( +172 "core" ( +2 "manipulator"&& +4 "core" & I . +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &:& +4 "core" & " . + .tForearm.seek CC +2 "manipulator"&'| +95 "core" ' + .tHand.close +2 "manipulator"&A/ +56 "core" / +2 .tCC.seek :open +2 "collection"'M(p +410 "core" ( + "storage"(~& +4 "core" &  O\ +2 "storage"(& +3 "core" &  a\ +2 "manipulator"&& +4 "core" & . + "manipulator"&D% +4 "core" % ς +2 .tForearm.seek :retract + "manipulator"&g'\ +97 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&b(; +148 "core" ( +2 "manipulator"&+& +4 "core" &1  + "storage"(8& +4 "core" &  =\ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 2 +2 "manipulator"&i'ξ +106 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&Q1 +57 "core" 1 +2 "manipulator"&x% +4 "core" % / H U + "storage"(^& +4 "core" &  r r \ + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 2 + 318 counts +2 "manipulator"&.' +16 "core" ' +2 "manipulator"&p& +5 "core" &1 s o + "storage"(& +4 "core" &  "\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&a'Ѐ +23 "core" ' + "storage"(% +4 "core" %f F\ +2 ."downElevator"SE.seek :down +4 "storage"(%'N +99 (2% +2 "core" %A \ U] +2 "manipulator"&=% +4 "core" %Н ` _ - +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +88 "core" ' +54 ' + ."downElevator"SE.stop +2 "storage"(5 +2 #tShuffling pucks in tube 3 of [2..3] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"'o& +5 "core" &=>D\ + "manipulator"&% +4 "core" %\ -  "_ +2 "storage"(t% +4 "core" %B !\  + "storage"(]. +3 "core" .(  +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 + "storage"(C( +361 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (& +2 "core" & M W Z\  +2 "manipulator"&_& +3 "core" &1  +2 .tElbow.seek 3 +2 "manipulator"&E(D +25 "core" ( +2 "manipulator"&9& +4 "core" &@  !u + "storage"( & +4 "core" & \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&!' +100 "core" ' + "storage"(z& +5 "core" & d\  + .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(G'e +279 "core" ' +2 "storage"(U- +54 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (& +3 "core" & \  +2 "manipulator"&n& +3 "core" &A  !t +2 .tElbow.seek 3 +2 "manipulator"&(D +3 "core" ( + "manipulator"&d& +4 "core" &A !t + "storage"(& +4 "core" & P\  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"& 'y +10 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&O/ +58 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&B& +2 "storage"(u'N +8 "core" &B J !s +2 "manipulator"&;% +4 "core" % }  / +2 .tForearm.seek :retract + "manipulator"&<'\ +99 "core" ' +2 .tElbow.seek CC +2 "manipulator"&/( +143 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +40 "core" ( + "manipulator"&f& +4 "core" &"  9' +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +8 &,& +2 "core" &" Z 9' +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&>'| +104 "core" ' +2 "manipulator"&}& +4 "core" &" ; 9& +2 "manipulator"&l% +4 "core" %τ Q +2 "collection"'1& +3 "core" &<<I\ +3 "collection"'m& +5 "core" &=>U\ +2 .tCC.seek :closed + "collection"'*(] +5 "core" &<>Y\ +7 &7;=Z\ $e +9 &mW~<=\\\ 7 +9 &{:>[\ L +10 &Y;>X\ L +9 &HX;=U\ L +10 & X>=\\\ L +9 & W=<X\ L +9 &"U>>Z\ L +10 &$PW:=\\\ L +9 &&X;>[\ L +9 &'W;<X\ L +10 &)Y=>X\ L +9 &+XW<<W\ L +10 &-V==Z\ L +9 &.X<;Y\ L +9 &0Y;<Y\ L +10 &2_W;;[\ L +9 &4"Y<>Z\ L +9 &5W:=W\ L +10 &7Y<<K\ L +9 &9gW<=Y\ L +10 &;)W9;U\ L +9 &<W;<X\ L +9 &>W<;Y\ M +10 &@oX:>M\ L +9 &B0Y9=R\ M +9 &CX<=Q\ L +10 &EY;>K\ M +9 &Gv\\9<F\ M +10 &I3g'2H\ N +9 &J J\ Q +9 &LI\ U +10 &NaG\ V +9 &P K\ X +9 &QK\ X +10 &S@\ Y +9 &UcI\ Y +10 &W$K\ Y +9 &XL\ Z +9 &ZL\ [\ +10 &\\eJ\ H +9 &]b8L\ (w +9 &]hG\ H +3 ( + "collection"'m& +4 #tCollection Clamp onSpring/offSpring for 10/26 samples, on/off torque 2.13 + .Hand.open + "manipulator"&\ 1 +60 "core" 1 +2 "manipulator"&Y% +4 "core" %  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&K'\ +100 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp +2 "processing"%|& +4 "core" &8\ + "manipulator"&R% +4 "core" %\ 6 ^ & +2 "storage"(Z% +4 "core" %L X W f\ + "storage"([. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 + "storage"(-( +3 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (q& +3 "core" &\ \  \  +2 "manipulator"&\\& +4 "core" & f 7 + "manipulator"&H% +4 "core" %\ 6 ~ & +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"& (D +192 "core" ( + "manipulator"&(& +4 "core" &N c H +2 "storage"(& +3 "core" & r q \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&@' +102 "core" ' +2 "storage"(&& +4 "core" & [\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(6'e +280 "core" ' +2 "storage"(F- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (T& +2 "core" & q o \  +2 "manipulator"&'& +4 "core" &N m m H + .tElbow.seek 3 +2 "manipulator"&(D +3 "core" ( +2 "manipulator"&& +3 "core" &N t p H +2 "storage"(L& +3 "core" & u d \  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&`'y +15 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&N/ +53 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&4& +2 "storage"({'N +7 "core" &N p  H +2 "manipulator"&% +4 "core" % o j r u C +2 .tForearm.seek :retract + "manipulator"&?'\ +98 "core" ' +3 .tElbow.seek PC + "manipulator"&(c +157 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +93 "core" ( + "manipulator"& & +4 "core" &k +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &k  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&'[ +93 "core" ' +2 "manipulator"&& +4 "core" &k  +2 "manipulator"&X% +3 "core" %X W  +2 "processing"% & +4 "core" &4\ +2 "processing"%h& +4 "core" &4\ +2 .tPC.seek :closed +2 "processing"%$(Z +4 "core" &+\  +9 &4}'\ *x +10 &e/\ > +9 &^p&\ M +9 &"U0\ L +10 &Z)\ M +9 &V)\ M +9 &!hT/\ L +10 &#)T&\ M +9 &$Y(\ L +10 &&Y(\ M +9 &(oV'\ M +9 &*2W'\ L +10 &+Y(\ M +9 &-W*\ M +10 &/wU&\ M +9 &1:Y(\ L +9 &2U/\ L +10 &4W*\ M +9 &6~V(\ M +9 &8BS&\ L +10 &:T&\ L +9 &;S&\ M +10 &=X&\ L +9 &?JV'\ L +9 &A X'\ L +10 &BU'\ L +9 &DT(\ M +9 &FRX-\ L +10 &Ha)\ M +9 &Ih&\ O +10 &Kv'\ P +9 &MH&\ R +9 &O%\ S +10 &P\ S +9 &R\ S +9 &TL(\ T +10 &V\ T +9 &W \ S +9 &Y\ B +10 &Z/~\ Y +9 &Z"#\ , +3 ( + "processing"%h& +3 #tProcessing Clamp onSpring/offSpring for 9/25 samples, on/off torque 1.61 +2 .Hand.open + "manipulator"&1 +56 "core" 1 +2 "manipulator"&% +4 "core" % X   +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&J'\ +93 "core" ' + "processing"%"& +4 "core" &Z .\ , +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&% +4 "core" %\ ) u H +2 "storage"(7% +4 "core" %B W W 5\  + "storage"(I. +3 "core" .( +2 "storage"(V& +4 "core" & W M d\  +2 "storage"(P& +3 "manipulator"&s& +5 "core" & M W k\  + &k Z +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +3 "storage"(#]kK-0-\ b +2 .tElbow.seek PC +4 "manipulator"&k(c +4 ."raiseStack"SE.seek :beamBreak +2 "storage"(w'e +2 "core" ( +2 "manipulator"&3& +4 "core" &k m + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &S& +2 "core" &k 9 +2 .tForearm.seek PC +2 "manipulator"&0'[ +95 "core" ' +2 .tHand.close + "manipulator"&/ +61 "core" / +2 .tPC.seek :open +2 "processing"%v(p +88 "core" ' +2 "storage"(j- +3 "core" -'e +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('B +39 "core" ' +254 ( + "storage"(:& +4 "core" & r r \  +2 "manipulator"&#& +4 "core" &k Z + "manipulator"&)% +4 "core" % k 1  +2 .tForearm.seek :retract + "manipulator"&A'\ +98 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&5(D +269 "core" ( + "manipulator"&& +4 "core" &P W ` +2 "storage"(~& +4 "core" & Z X \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&' +93 "core" ' + .tHand.open +2 "manipulator"&1 +55 "core" 1 +2 "storage"(D- +3 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate +2 "storage"(+' +23 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.83 Pucks below Top Plate + "storage"(8' +53 "core" ' +2 #tLights, camera, ACTION! + "storage"(- +4 "core" -' + "storage"(W& +4 "core" & _\  + "manipulator"&Q& +4 "core" &P  ` +2 .tElbow.seek 3 +2 "manipulator"&x(D +6 "core" ( +2 "manipulator"&^& +4 "core" &N  K + "storage"(p& +4 "core" & "\  +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&' +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"('M +62 "core" ' + "manipulator"&g& +5 "core" &N  K + "storage"(2& +4 "core" & t s \  +52 .tElbow.reconfigure :limp +4 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 + "manipulator"&='M +32 "core" ' + .tElbow.hold +2 "manipulator"&b, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"(i'7 +25 "core" ' + "manipulator"&o% +4 "core" %a^ ! $ dz +2 "storage"(.& +4 "core" &\ \  \  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 3 + 320 counts +2 "manipulator"&'ύ +18 "core" ' + "manipulator"&t& +5 "core" & h l L  + "storage"(]& +4 "core" & c x D\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&r' +11 "core" ' +2 "storage"(a% +4 "core" %< \ +2 ."downElevator"SE.seek :down +4 "storage"(%'N +99 (% +2 "core" %D; n ^ H\ U_ +2 "manipulator"&% +4 "core" % _ j G ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&_'\ +87 "core" ' +64 ' + ."downElevator"SE.stop + "storage"(5 +3 (9& +4 "core" & . B O\  +2 "collection"' & +3 "core" &]gF\ H +2 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&z% +4 "core" %\ .  #b +2 "storage"(% +4 "core" %E r r \ \  + "storage"(. +3 "core" .( +2 "storage"(U& +3 "core" & q s \  +2 "storage"(& +4 "core" & r r \  +2 "manipulator"&n& +3 "core" & '  +2 .tElbow.seek 3 +2 "manipulator"&d(D +29 "core" ( + "manipulator"&& +4 "core" &D @ + +2 "storage"(O& +4 "core" & V Z |\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&B' +92 "core" ' + "storage"(;& +5 "core" & k u .\  + .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(E'e +277 "core" ' + "storage"(!- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&G& +13 "core" &K * +2 "storage"(f& +4 "core" & s t\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 + "manipulator"&,'M +33 "core" ' + .tElbow.hold +2 "manipulator"& , +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(- +3 "core" -' +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(}'l +27 "core" ' +2 "manipulator"&l% +4 "core" %aT Z Z ϰ + "storage"(1& +4 "core" & w\  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 3 + 320 counts +2 "manipulator"&u'ύ +14 "core" ' + "manipulator"&<& +5 "core" &F o 4 + + "storage"(M& +4 "core" & t s \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&\ ' +19 "core" ' +2 .tSE.seek 1.11 Pucks below Top Plate + "storage"(Y'[ +40 "core" ' +2 "manipulator"&|& +4 "core" &J  * + "manipulator"&R% +4 "core" %  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&Z'\ +95 "core" ' +2 .tElbow.seek CC +2 "manipulator"&[( +140 "core" ( +2 "manipulator"&m& +4 "core" & . + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &q& +3 "core" & 2 . +2 .tForearm.seek CC +2 "manipulator"&\\'| +94 "core" ' +2 .tHand.close + "manipulator"&H/ +52 "core" / +2 .tCC.seek :open + "collection"'>(p +410 "core" ( +2 "storage"((& +4 "core" & \  +2 "storage"(& +3 "core" & \  +2 "manipulator"&C& +3 "core" &  . +2 "manipulator"&/% +4 "core" % {   +2 .tForearm.seek :retract + "manipulator"&&'\ +95 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&K(D +193 "core" ( +2 "manipulator"&F& +4 "core" &M ^ @ + "storage"(T& +4 "core" & 6\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 + "manipulator"&''M +106 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&L1 +63 "core" 1 +2 "manipulator"&N% +4 "core" % a  & R +2 "storage"(4& +3 "core" & r r\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 320 counts + "manipulator"&'ύ +20 "core" ' + "manipulator"& & +4 "core" & i [ y  +2 "storage"(@& +4 "core" & \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&6' +11 "core" ' + "storage"(`% +4 "core" %a \ +2 ."downElevator"SE.seek :down +4 "storage"( 'N +99 (% +2 "core" %; ]\ U[ +2 "manipulator"&% +4 "core" %  d m K ) +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +93 "core" ' +50 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 2 of [2..3] +2 #Loading generic puck from tube 2 into Collection Clamp + "collection"'X& +5 "core" &;=Z\ +2 "manipulator"& % +4 "core" %\ 5 N & + "storage"({% +5 "core" %C \  + "storage"(?. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 + "storage"(y(  +361 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (& +3 "core" &  * + \ +2 "manipulator"&& +5 "core" & j  + .tElbow.seek 2 +2 "manipulator"&"(; +23 "core" ( +2 "manipulator"&& +4 "core" &6 7 "~ +2 "storage"(7& +3 "core" &  l\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&I'Ѐ +109 "core" ' + "storage"(V& +4 "core" &  5\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(P'e +279 "core" ' + "storage"(s- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (h& +3 "core" &  ?\ +2 "manipulator"&3& +3 "core" &6 ` i "~ +2 .tElbow.seek 2 + "manipulator"&S(; +4 "core" ( + "manipulator"&& +4 "core" &6 f l  "~ + "storage"(& +4 "core" &  q\ +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&j' +29 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&/ +62 "core" / +2 ."downElevator"SE.seek :down +5 "manipulator"&J& +3 "storage"($'N +4 "core" &6 ^ ` 9 "~ +2 "manipulator"&:% +4 "core" % a e  +2 .tForearm.seek :retract + "manipulator"&#'\ +91 "core" ' +2 .tElbow.seek CC + "manipulator"&w( +142 "core" ( +2 "manipulator"&)& +4 "core" & X . + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 "core" ' +2 ."downElevator"SE.stop +3 "manipulator"&0& +3 "storage"(5 +4 "core" &  . +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&'| +98 "core" ' + "manipulator"&~& +5 "core" &  . + "manipulator"&k% +4 "core" %π  +2 "collection"'& +4 "core" &;9V\ +2 "collection"'D& +5 "core" &;=H\ +2 .tCC.seek :closed +2 "collection"'(] +4 "core" &;;W\  +9 &4~:=\\\ *x +9 &e:=X\ > +10 &Zs<<^\ M +9 & T=;Z\ L +9 &Y:?_\ L +10 &Y<>Z\ L +9 &!fY<>X\ L +9 &#'Y==W\ L +10 &$W9<V\ L +9 &&Y;?X\ L +10 &(kY;=Y\ M +9 &*/V=>X\ L +9 &+V;>V\ L +10 &-W=>[\ L +9 &/uW:=S\ L +9 &16X:<Y\ L +10 &2T9<S\ L +9 &4W<>S\ L +10 &6|W9:N\ L +9 &8>V<;S\ L +9 &:V:>P\ L +10 &;T;;Y\ L +9 &=Y::Q\ L +61 &?GW9=X\ L +3 &AY<<G\ L +3 &BY;;I\ L + &DW9<I\ L + &FNY9>P\ L +3 &HZ5;O\ M + &Il&-K\ O +2 &KZ\ R +9 &M<N\ U +10 &NG\ V +9 &PJ\ W +10 &R|I\ W +9 &T:Q\ Y +9 &UG\ Y +10 &WI\ Z +9 &Yw?\ \\ +9 &[:G\ [ +10 &\\|L\ . +9 &]+J\ N +9 ( +3 "collection"'D& +3 #tCollection Clamp onSpring/offSpring for 9/25 samples, on/off torque 2.16 + .Hand.open +2 "manipulator"&W1 +3 "core" &][O\ B +52 1 +2 "manipulator"&Q% +4 "core" %   +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +3 "manipulator"&^'\ +92 "core" ' + #tLoading generic puck from tube 2 into Processing Clamp +2 "processing"%p& +4 "core" &'\ +2 "manipulator"&A% +4 "core" %\ ) x K + "storage"(g% +4 "core" %C r r \  +2 "storage"(2. +3 "core" .(  + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"((  +7 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (+& +2 "core" & \ \  \ +2 "manipulator"&o& +4 "core" &  - + "manipulator"&.% +4 "core" %\ ) g K +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 + "manipulator"&t(; +177 "core" ( +2 "manipulator"&]& +4 "core" &< 9 o +2 "storage"(5& +3 "core" &  t s \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&a'Ѐ +101 "core" ' + "storage"(& +4 "core" &  7\ +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(8'e +278 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (& +3 "core" &  k\ +2 "manipulator"&& +3 "core" &< c ` o +2 .tElbow.seek 2 +2 "manipulator"&x(; +3 "core" ( +2 "manipulator"&& +3 "core" &< l i J o +2 "storage"(=& +4 "core" &  \ +2 .tForearm.seek 2 + 300 counts + "manipulator"&9' +23 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"& / +54 "core" / +2 ."downElevator"SE.seek :down +5 "manipulator"&& "storage"(z'N +7 "core" &< k d ? o +2 "manipulator"&% +4 "core" % e a l +2 .tForearm.seek :retract + "manipulator"&'\ +89 "core" ' +2 .tElbow.seek PC +2 "manipulator"&U(c +162 "core" ' + ."downElevator"SE.stop + "storage"(5 +96 "core" ( +2 "manipulator"&i& +5 "core" &l  + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &l +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&n'[ +98 "core" ' +2 "manipulator"&& +4 "core" &l +2 "manipulator"&O% +3 "core" %S | +2 "processing"%r& +4 "core" &>\ +2 "processing"%;& +5 "core" &8\ +2 .tPC.seek :closed +2 "processing"%%(Z +4 "core" &0\ +7 & 02\ #b +9 &\\Uz,\ 6 +10 &{-\ K +9 &lU)\ L +9 &/U,\ L +10 &S+\ M +9 & Y)\ L +9 &"uR)\ L +10 &$7U7\ L +9 &%X+\ L +10 &'T'\ M +9 &)|W'\ M +9 &+?R&\ L +10 &-T(\ M +9 &.Z(\ L +9 &0U'\ L +10 &2GZ*\ L +9 &4 S)\ L +10 &5U(\ L +9 &7W&\ M +9 &9OR%\ L +10 &;U&\ M +9 &<U(\ M +9 &>U'\ M +10 &@WY(\ L +9 &BW'\ L +10 &CZ'\ M +9 &EY&\ M +9 &G[_%\ N +10 &Ih)\ N +9 &J{&\ Q +9 &L(\ S +10 &NS%\ S +9 &P&\ S +9 &Q&\ S +10 &S%\ S +9 &UY'\ T +10 &W(\ T +9 &X$\ T +9 &Z8Jj$\ , +10 &ZV\ 3 +5 ( +2 "processing"%;& +4 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.65 + .Hand.open +2 "manipulator"&b1 +3 "core" &Z+\ 3 +58 1 +2 "manipulator"&_% +4 "core" % S +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&!'\ +97 "core" ' +2 "processing"%G& +4 "core" &Z+"\ 3 +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 + "manipulator"&f% +4 "core" %\ 3 M %| + "storage"(% +4 "core" %; + + D\ + "storage"(l. +3 "core" .(  +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 2 + "storage"(1(  +4 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (<& +3 "core" &  \  G\ + "manipulator"&M& +3 ."raiseStack"SE.reconfigure :place +6 "storage"(#]kK-0-\ b +2 "core" &l W +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +3 ."raiseStack"SE.seek :beamBreak +3 "manipulator"&|(c + "storage"(R'e +5 "core" ( +2 "manipulator"&B& +4 "core" &l  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &d& +3 "core" &l  +2 .tForearm.seek PC +2 "manipulator"&E'[ +95 "core" ' +2 .tHand.close + "manipulator"&,/ +60 "core" / +2 .tPC.seek :open +2 "processing"%u(p +89 "core" ' +2 "storage"(m- +4 "core" -'e + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +2 ."raiseStack"SE.seek :place +2 "storage"(}'B +35 "core" ' +256 ( +2 "storage"(q& +4 "core" &  n o q\ + "manipulator"&\ & +4 "core" &l +2 "manipulator"& % +3 "core" % Z   +2 .tForearm.seek :retract +2 "manipulator"&H'\ +96 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&Z(; +259 "core" ( + "manipulator"&*& +5 "core" &4  % + "storage"((& +4 "core" &  J M \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&'Ѐ +97 "core" ' + .tHand.open + "manipulator"&C1 +63 "core" 1 +2 "storage"(/- +4 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate + "storage"(F' +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.83 Pucks below Top Plate + "storage"(\\' +53 "core" ' +2 #tLights, camera, ACTION! + "storage"(T- +4 "core" -' + "storage"([& +4 "core" &  \ + "manipulator"&L& +4 "core" &5  % +2 .tElbow.seek 2 +2 "manipulator"&N(; +3 "core" ( +2 "manipulator"&4& +3 "core" &5 s % +2 "storage"( & +4 "core" &  (\ +2 .tForearm.seek 2 + 450 counts + "manipulator"&@'Ѐ +17 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"(`'M +58 "core" ' +2 "manipulator"&&& +4 "core" &5 v : % +2 "storage"(& +4 "core" &  g p n\ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 + "manipulator"&'ξ +36 "core" ' + .tElbow.hold +2 "manipulator"&K, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"(''7 +25 "core" ' +4 "manipulator"&X% +5 "core" %b 6 2 ɴ + "storage"( & +4 "core" &   \ +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 2 + 316 counts +2 "manipulator"&' +18 "core" ' +2 "manipulator"&{& +4 "core" &E p u ` # +2 "storage"(?& +4 "core" &  e d 0\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&Y'Ѐ +16 "core" ' +2 "storage"(6% +4 "core" %; m J\ +2 ."downElevator"SE.seek :down +3 "storage"( 'N +101 (-% +3 "core" %@ O Q 0\ U_ +2 "manipulator"&% +4 "core" %e j q  +7 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +88 "core" ' +56 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (& +4 "core" &  K a I\ +2 "collection"'7& +4 "core" &]\\H\ B +2 #tStoring generic puck in Collection Clamp to tube 2 + "manipulator"&V% +4 "core" %\ ( Z L +2 "storage"(% +4 "core" %J r r\  + "storage"(. +3 "core" .(  +2 "storage"(s& +4 "core" &  s r \ +2 "storage"(h& +3 "core" &  s r \ +2 "manipulator"&3& +4 "core" &F O # +52 .tElbow.seek 2 +3 "manipulator"&(; +15 "core" ( + "manipulator"&& +5 "core" &F   + "storage"(& +4 "core" &  s o \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&J'Ѐ +92 "core" ' + "storage"(:& +5 "core" &  \ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"("'e +280 "core" ' + "storage"(I- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&)& +3 "core" &F   +2 "storage"(0& +3 "core" &  8\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&P'ξ +32 "core" ' +2 .tElbow.hold + "manipulator"&j, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(~- +2 "core" -' +3 .tSE.seek 0.12 Pucks below Top Plate + "storage"(k'r +26 "core" ' +2 "manipulator"&% +4 "core" %e   W Ƶ + "storage"(S& +4 "core" &    %\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 320 counts + "manipulator"&$' +20 "core" ' +2 "manipulator"&#& +4 "core" &F u Z  +2 "storage"(>& +4 "core" &  u\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&W'Ѐ +18 "core" ' +2 .tSE.seek 1.12 Pucks below Top Plate +2 "storage"(Q'a +39 "core" ' +4 "manipulator"&p& +5 "core" &F p o  + "manipulator"&A% +4 "core" %v o o +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&g'\ +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"&2( +143 "core" ( + "manipulator"&D& +4 "core" &  . +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &+& +3 "core" &  . +2 .tForearm.seek CC +2 "manipulator"&o'| +100 "core" ' +2 .tHand.close + "manipulator"&./ +54 "core" / +2 .tCC.seek :open + "collection"'(p +413 "core" ( +2 "storage"(]& +4 "core" &  $\ + "storage"(5& +4 "core" &  \ + "manipulator"&y& +4 "core" & - +2 "manipulator"&% +3 "core" % m h +2 .tForearm.seek :retract +2 "manipulator"&w'\ +99 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&^(; +174 "core" ( + "manipulator"&& +4 "core" &/  j +2 "storage"(& +3 "core" &  f\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 2 +2 "manipulator"&'ξ +110 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&=1 +59 "core" 1 +2 "manipulator"& % +5 "core" % v   ĺ2 + "storage"(& +4 "core" &  X Z 2\ + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 319 counts + "manipulator"&' +21 "core" ' + "manipulator"&t& +4 "core" &W f w j B +2 "storage"(a& +4 "core" &  |\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&8'Ѐ +18 "core" ' +2 "storage"(9% +4 "core" %f q\ +2 ."downElevator"SE.seek :down +3 "storage"(i'N +100 (% +2 "core" %&@ \ U] +2 "manipulator"&x% +4 "core" %v o p ! +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +87 "core" ' +53 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 3 of [2..3] + #Loading generic puck from tube 3 into Collection Clamp +2 "collection"'O& +4 "core" &|<<X\ + "manipulator"&r% +4 "core" %\ + I !R +2 "storage"(z% +4 "core" %F 1\  +2 "storage"(. +3 "core" .(  + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(v( +360 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (b& +3 "core" & Y Z\  + "manipulator"&_& +4 "core" &X a A +2 .tElbow.seek 3 + "manipulator"&G(D +30 "core" ( +2 "manipulator"&f& +4 "core" &? } | + "storage"(& +4 "core" & \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&l' +106 "core" ' +2 "storage"(;& +4 "core" & \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(<'e +288 "core" ' + "storage"(M- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (B& +3 "core" & \  + "manipulator"&d& +4 "core" &? n c | +2 .tElbow.seek 3 + "manipulator"&n(D +4 "core" ( + "manipulator"&,& +4 "core" &? s p S | + "storage"(& +4 "core" & @\  +2 .tForearm.seek 3 + 300 counts + "manipulator"&m'y +27 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&U/ +61 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&!& +2 "storage"(%'N +7 "core" &? a c u | +2 "manipulator"&q% +4 "core" % o m l +2 .tForearm.seek :retract + "manipulator"&\ '\ +97 "core" ' +2 .tElbow.seek CC + "manipulator"&R( +148 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +21 "core" ( + "manipulator"& & +5 "core" &+  9 Ad + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &E& +3 "core" &+ Ad +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&*'| +107 "core" ' +2 "manipulator"&(& +4 "core" &+ 6 Ac +2 "manipulator"&|% +4 "core" %ς < +2 "collection"'C& +3 "core" &|<=[\ +2 "collection"'/& +5 "core" &|;<J\ +2 .tCC.seek :closed +2 "collection"'T(] +4 "core" &|==\\\  +9 &2}:=_\ )w +10 &c;>Z\ = +9 &<s;=\\\ L +9 &T==Z\ L +10 &Z;=\\\ L +9 &Y8:^\ L +9 &!ET:=[\ L +10 &#X;=Z\ M +9 &$W8?Y\ L +10 &&X:=Z\ L +9 &(MU:<X\ L +9 &*W<<Z\ L +10 &+W;=Z\ L +9 &-X;;\\\ L +9 &/UY:>Y\ L +10 &1Y<<Y\ M +9 &2X;=Z\ L +10 &4W:=U\ M +9 &6]V<=Z\ L +9 &8W:=Q\ L +10 &9X;<R\ L +9 &;V9=W\ L +9 &=dX;<Q\ L +10 &?%W9<U\ M +9 &@W9<J\ L +10 &BY;>I\ L +9 &DlW;<I\ L +9 &F/T:;H\ L +10 &G^5;I\ M +9 &In"*L\ O +9 &Kc L\ R +10 &MM\ W +9 &NM\ W +10 &PO\ X +9 &RYL\ X +9 &TI\ Y +10 &UM\ Z +9 &WL\ Z +9 &YWI\ \\ +10 &[K\ \\ +9 &\\zX\ < +10 &]-L\ "f +9 &]eO\ H +2 ( +2 "collection"'/& +3 #tCollection Clamp onSpring/offSpring for 9/25 samples, on/off torque 2.16 + .Hand.open +2 "manipulator"&[1 +54 "core" 1 + "manipulator"&L% +5 "core" % ς  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&4'\ +92 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"% & +4 "core" &)\ +2 "manipulator"&H% +3 "core" %\ +  !W +2 "storage"(&% +4 "core" %> W W n\  + "storage"(. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 + "storage"(}( +3 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (X& +3 "core" &3\ \  7\  +2 "manipulator"& & +3 "core" && g >O +2 "manipulator"&F% +4 "core" %\ + 3 !W +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&{(D +192 "core" ( + "manipulator"&?& +5 "core" &L  G + "storage"(6& +4 "core" & t s 1\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&Z' +94 "core" ' + "storage"(& +4 "core" & M\  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(\\'e +277 "core" ' +2 "storage"(-- +3 "core" -' +2 .tSE.configure :default +45 "storage"(#QK-0-\ b +11 (& +3 "core" & i q\  + "manipulator"&@& +4 "core" &L  G +2 .tElbow.seek 3 + "manipulator"&N(D +4 "core" ( + "manipulator"&`& +4 "core" &L 4 G + "storage"(& +4 "core" & i m /\  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&'y +21 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +53 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&7& +2 "storage"(V'N +7 "core" &L m m  G +2 "manipulator"&% +4 "core" % r j `  +2 .tForearm.seek :retract + "manipulator"&'\ +97 "core" ' + .tElbow.seek PC +2 "manipulator"&'(c +156 "core" ' + ."downElevator"SE.stop + "storage"(5 +107 "core" ( +2 "manipulator"&s& +4 "core" &[  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &h& +3 "core" &\\ `  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&3'[ +105 "core" ' +2 "manipulator"&& +4 "core" &\\ R  +2 "manipulator"&% +3 "core" %b X + "processing"%Y& +4 "core" &4\ +2 "processing"%:& +5 "core" &/\ +2 .tPC.seek :closed +2 "processing"% (Z +4 "core" &2\ +7 &8&\ #b +9 &`T|0\ 6 +10 &{(\ K +9 &pU0\ L +9 &1X+\ M +10 &Y'\ L +9 & Z(\ M +10 &"wV&\ M +9 &$9W+\ M +9 &%W,\ M +10 &'T'\ L +9 &)Y*\ M +9 &+BV(\ L +10 &-U+\ L +9 &.Y)\ L +10 &0V&\ L +9 &2JZ)\ L +9 &4 W(\ M +10 &5V&\ M +9 &7X'\ L +9 &9QT&\ M +10 &;W&\ M +9 &<R'\ L +10 &>V(\ L +9 &@ZV&\ L +9 &BV\ L +10 &CT\ M +9 &EU\ M +10 &G`[.\ M +9 &If1\ N +9 &Jn#\ O +10 &L%\ Q +9 &NT%\ T +9 &P%\ S +10 &Q\ T +9 &S\ S +9 &U]\ S +10 &W\ T +9 &X\ T +10 &Z:Jk\ , +9 &ZU\ 3 +5 ( +2 "processing"%:& +4 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.59 +2 .Hand.open + "manipulator"&K1 +4 "core" &Z+\ 2 +51 1 +2 "manipulator"&% +4 "core" % b P +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&I'\ +100 "core" ' +2 "processing"%)& +4 "core" &Z+\ 2 +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&0% +4 "core" %\ 5 2 & + "storage"(~% +4 "core" %? < 0 d\ + "storage"(. +3 "core" .( +2 "storage"(S& +4 "core" & . 8\  + "storage"(#& +2 "manipulator"&>& +7 "core" & A A :\  + &\\   +3 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +3 "storage"(#]kK-0-\ b +4 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +3 ."raiseStack"SE.seek :beamBreak +2 "manipulator"&p(c + "storage"(A'e +5 "core" ( +2 "manipulator"&J& +4 "core" &\\   +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &\\  +2 .tForearm.seek PC +2 "manipulator"&"'[ +94 "core" ' +2 .tHand.close + "manipulator"&P/ +55 "core" / +2 .tPC.seek :open +2 "processing"%$(p +91 "core" ' +2 "storage"(k- +3 "core" -'e + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(D'B +35 "core" ' +255 ( + "storage"(+& +4 "core" & s q\  +2 "manipulator"&W& +4 "core" &\\   + "manipulator"&j% +4 "core" % c  +2 .tForearm.seek :retract + "manipulator"&.'\ +98 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&g(D +242 "core" ( + "manipulator"&& +4 "core" &K  = +2 "storage"(]& +4 "core" & W W K\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&5' +98 "core" ' + .tHand.open +2 "manipulator"&y1 +52 "core" 1 +2 "storage"(- +3 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate +2 "storage"(' +23 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.83 Pucks below Top Plate + "storage"(' +55 "core" ' + #tLights, camera, ACTION! +2 "storage"(o- +3 "core" -' +2 "storage"(2& +4 "core" & @\  + "manipulator"&=& +4 "core" &K ` = +2 .tElbow.seek 3 + "manipulator"& (D +4 "core" ( + "manipulator"&& +4 "core" &K  = + "storage"(t& +4 "core" & N\  +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&a' +20 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"(9'M +62 "core" ' + "manipulator"&w& +5 "core" &K n m  = + "storage"(& +4 "core" & e e w\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 + "manipulator"&x'M +37 "core" ' + .tElbow.hold +2 "manipulator"&^, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"('7 +21 "core" ' +2 "manipulator"&O% +4 "core" %[W 7 2 ̱ +2 "storage"(r& +4 "core" &\ \  \  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 3 + 314 counts +2 "manipulator"&'χ +11 "core" ' +2 "manipulator"&z& +4 "core" & Y  & +2 "storage"(& +4 "core" & e e \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&Q' +18 "core" ' +2 "storage"(8% +4 "core" %7 \  +2 ."downElevator"SE.seek :down +4 "storage"(i'N +98 (1% +3 "core" %G Z Z\ Wb +2 "manipulator"&b% +4 "core" % 5 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&_'\ +90 "core" ' +62 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (f& +4 "core" & 5 J 3\  +2 "collection"'& +4 "core" &]hJ\ H +2 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&;% +4 "core" %\ .  #e + "storage"(% +4 "core" %K Z W\ + "storage"(. +3 "core" .( +2 "storage"(M& +3 "core" & M V t\  +2 "storage"(B& +4 "core" & L Q \  +2 "manipulator"&d& +3 "core" &  % +2 .tElbow.seek 3 +2 "manipulator"&,(D +37 "core" ( + "manipulator"&& +5 "core" &I A C + "storage"(U& +4 "core" & s r \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&!' +95 "core" ' +2 "storage"(q& +4 "core" & \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(G'e +278 "core" ' +2 "storage"(l- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"& & +2 "core" &I  C +2 "storage"(E& +4 "core" & e d y\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 + "manipulator"&<'M +33 "core" ' + .tElbow.hold +2 "manipulator"&m, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(n- +2 "core" -' +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(('l +37 "core" ' + "manipulator"&|% +4 "core" %^S ' * j ɰ +2 "storage"(C& +3 "core" &\ \  \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 317 counts + "manipulator"&%'ϊ +19 "core" ' +2 "manipulator"&\ & +4 "core" & X q 8  + "storage"(& +4 "core" & f x g\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&[' +20 "core" ' +2 .tSE.seek 1.11 Pucks below Top Plate +2 "storage"(L'[ +51 "core" ' +2 "manipulator"& & +4 "core" & ` ^  + "manipulator"&H% +4 "core" % e `  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +54 "manipulator"&&'\ +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&( +149 "core" ( +2 "manipulator"&X& +4 "core" &  / +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &/& +3 "core" &  / +2 .tForearm.seek CC + "manipulator"& '| +95 "core" ' + .tHand.close +2 "manipulator"&F/ +64 "core" / +2 .tCC.seek :open +2 "collection"'*(p +410 "core" ( + "storage"(?& +4 "core" & &\  +2 "storage"(6& +3 "core" & \  +2 "manipulator"&v& +4 "core" & a / + "manipulator"&R% +4 "core" % q c +2 .tForearm.seek :retract + "manipulator"&'\ +100 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&4(D +165 "core" ( +2 "manipulator"&-& +4 "core" &8\ f X + "storage"(& +4 "core" & 7\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 + "manipulator"&@'M +111 "core" ' + .tElbow.hold +2 "manipulator"&`, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&1 +57 "core" 1 +2 "manipulator"&% +4 "core" % ^w "  ƺ7 +2 "storage"(7& +4 "core" & X X O\  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 3 + 317 counts +2 "manipulator"&'ϊ +17 "core" ' + "manipulator"&{& +4 "core" &. f } b +2 "storage"(Z& +3 "core" & <\  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&\\' +12 "core" ' + "storage"(% +5 "core" %\\ \ +2 ."downElevator"SE.seek :down +3 "storage"(s'N +99 (h% +3 "core" %? \ U[ +2 "manipulator"&N% +4 "core" % e _ 4 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +92 "core" ' +49 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 2 of [2..3] + #Loading generic puck from tube 2 into Collection Clamp +2 "collection"'& +4 "core" &;<O\ +2 "manipulator"&Y% +3 "core" %\ /  #g +2 "storage"(V% +4 "core" %? \  + "storage"(. +4 "core" .( + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"(u(  +354 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (K& +2 "core" &  N X I\ +2 "manipulator"&& +4 "core" &/  a + .tElbow.seek 2 +2 "manipulator"&)(; +21 "core" ( + "manipulator"&0& +4 "core" &K\  _ +2 "storage"(~& +3 "core" &  H\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&'Ѐ +103 "core" ' + "storage"(S& +4 "core" &  9\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(:'e +279 "core" ' + "storage"(>- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (#& +3 "core" &  7\ +2 "manipulator"&J& +3 "core" &K p o _ +2 .tElbow.seek 2 + "manipulator"&(; +31 "core" ( +2 "manipulator"&3& +4 "core" &C j b z +2 "storage"(P& +4 "core" &  \ +2 .tForearm.seek 2 + 300 counts + "manipulator"&k' +29 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&'/ +53 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&I& +2 "storage"( 'N +7 "core" &C _ e : z +2 "manipulator"&+% +4 "core" % _ b / +2 .tForearm.seek :retract + "manipulator"&W'\ +96 "core" ' +2 .tElbow.seek CC +2 "manipulator"&A( +148 "core" ' + ."downElevator"SE.stop + "storage"(5 +14 "core" ( + "manipulator"&j& +4 "core" &+ # Ab +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &"& +2 "core" &* R Aa +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&'| +97 "core" ' + "manipulator"&]& +5 "core" &+ < A` + "manipulator"&p% +4 "core" % , +2 "collection"'y& +4 "core" &:;Z\ +2 "collection"'& +5 "core" &;=M\ +2 .tCC.seek :closed + "collection"'o(] +5 "core" &;<U\  +9 &2}8=U\ *x +9 &c:<P\ = +10 &Ms;;V\ L +9 &T:;X\ L +9 &X;=Y\ L +10 &W;=[\ M +9 &!UV;;Y\ L +9 &#X=:Z\ M +10 &$V=;Y\ L +9 &&W>;W\ L +10 &(^T:;[\ L +9 &*V9<Z\ L +9 &+X:=[\ L +10 &-V<;Z\ L +9 &/eX9;W\ L +9 &1&W8<X\ M +15 &2V:<Y\ L +4 &4V=<X\ L +11 &6lU:;Z\ M +8 &8/U;<[\ L +9 &9W::\\\ L +10 &;S;:Z\ L +9 &=uW;=L\ L +9 &?7W;;W\ L +10 &@T7<V\ L +9 &BX:=L\ M +10 &D}W;=W\ L +9 &F?Y9;G\ L +9 &H\\49T\ M +10 &Ik&.Y\ N +9 &Ku]\ R +9 &M,]\ V +10 &N\\\ V +9 &PM\ W +10 &RmN\ W +9 &T+M\ Y +9 &UP\ Y +10 &WT\ Y +9 &Y^[\ _ +9 &[)G\ \\ +10 &\\zL\ 5 +9 &]&O\ "e +10 &]qL\ P +2 ( + "collection"'& +3 #tCollection Clamp onSpring/offSpring for 9/25 samples, on/off torque 2.23 +2 .Hand.open + "manipulator"&21 +61 "core" 1 +2 "manipulator"&=% +4 "core" %  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +92 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%t& +4 "core" &)\ +2 "manipulator"&.% +3 "core" %\ +  !M +2 "storage"(w% +4 "core" %? J J ~\  + "storage"(. +3 "core" .(  +2 "storage"(D& +3 "core" &  K T 6\ +2 "storage"(O& +4 "core" &  ; J U\ + "manipulator"&r& +4 "core" &' s >M +2 "manipulator"&% +4 "core" %\ + !M + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&z(; +177 "core" ( +2 "manipulator"&& +4 "core" &7 \\ a +2 "storage"(8& +4 "core" &  Q L ,\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&g'Ѐ +102 "core" ' +2 "storage"(5& +4 "core" &  \ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('e +279 "core" ' + "storage"(1- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (b& +3 "core" &  u p\ + "manipulator"&a& +4 "core" &7 e e t a +2 .tElbow.seek 2 + "manipulator"& (; +3 "core" ( +2 "manipulator"&9& +4 "core" &7 o r a + "storage"(x& +4 "core" &  g e \ +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&f' +21 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +55 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&& + "storage"(;'N +7 "core" &7 } d S a +2 "manipulator"&% +4 "core" % d ` 2 +2 .tForearm.seek :retract + "manipulator"&'\ +95 "core" ' +2 .tElbow.seek PC +2 "manipulator"&M(c +157 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +96 "core" ( +2 "manipulator"&& +4 "core" &l ] +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &B& +3 "core" &l E +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&d'[ +99 "core" ' + "manipulator"&& +4 "core" &l 7 +2 "manipulator"&U% +4 "core" %e H + "processing"%Q& +4 "core" &C\ +2 "processing"%q& +5 "core" &H\ +2 .tPC.seek :closed +2 "processing"%i(Z +4 "core" &4\  +9 &0z9\ *x +9 &c2\ = +9 &Bs,\ M +10 &S0\ L +9 &W)\ L +10 &Y-\ L +9 &!KW'\ L +9 &# X(\ L +10 &$X'\ M +9 &&V(\ M +9 &(SY'\ L +10 &*X'\ L +9 &+T&\ L +10 &-U'\ L +9 &/Z\\(\ M +9 &1W+\ L +10 &2W(\ L +9 &4W*\ L +9 &6cZ)\ L +10 &8$Y)\ M +9 &9W(\ L +10 &;U(\ L +9 &=jX'\ M +9 &?,U'\ M +10 &@['\ L +9 &BU'\ L +9 &DrZ(\ M +10 &F4\\'\ M +9 &Gc&\ N +10 &Ip&\ O +9 &Kl'\ Q +9 &M('\ S +10 &N&\ S +9 &P(\ S +9 &Rn'\ S +10 &T0'\ S +9 &U(\ T +10 &W$\ T +9 &Yt \ A +9 &Zt<\ !d +10 &Z" \ - +2 ( +52 "processing"%q& +13 #tProcessing Clamp onSpring/offSpring for 9/25 samples, on/off torque 1.65 +2 .Hand.open + "manipulator"&^1 +4 "core" &Z\ - + &Z \ - + &Z\ - &Z\ - + &Z \ - + &Z\ - + &Z\ - +43 1 + "manipulator"&_% +5 "core" % e h + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&l'\ +97 "core" ' +2 "processing"% & +4 "core" &Z\ - +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 + "manipulator"&E% +4 "core" %\ 1 9 $o + "storage"(n% +4 "core" %D 3 2 \  +2 "storage"(|. +3 "core" .(  +2 "storage"(C& +3 "core" &  6 5 e\ +2 "storage"(\ & +4 "manipulator"&& +4 "core" &  @ A \ + &l  +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +3 "storage"(#]kK-0-\ b + "manipulator"& (c +6 ."raiseStack"SE.seek :beamBreak +2 "storage"(H'e +3 "core" ( + "manipulator"&!& +4 "core" &l  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &,& +2 "core" &l & +2 .tForearm.seek PC +2 "manipulator"&G'[ +93 "core" ' +2 .tHand.close + "manipulator"& ʳ +2 "storage"(Y& +4 "core" & \ \  \ + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 2 + 315 counts +2 "manipulator"&V' +19 "core" ' +2 "manipulator"&& +4 "core" &B r $ + "storage"(& +4 "core" &  m n \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&L'Ѐ +18 "core" ' + "storage"(\\% +4 "core" %A m j 2\  +3 ."downElevator"SE.seek :down +4 "storage"(s'N +99 (}% +3 "core" %sF V W\ Wb +2 "manipulator"&K% +4 "core" %y } e ` +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +87 "core" ' +61 ' + ."downElevator"SE.stop + "storage"(5 +3 (0& +4 "core" &  D $ v\ + "collection"'~& +4 "core" &]oO\ P +2 #tStoring generic puck in Collection Clamp to tube 2 + "manipulator"&S% +4 "core" %\ - U "Z +2 "storage"(`% +3 "core" %7 X Z j\  +2 "storage"(. +4 "core" .(  + "storage"(>& +4 "core" &  Y Z |\ + "storage"(#& +4 "core" &  Z X L\ +2 "manipulator"&J& +3 "core" &B  $ +2 .tElbow.seek 2 +2 "manipulator"&3(; +3 "core" ( + "manipulator"&P& +4 "core" &B  $ +2 "storage"('& +3 "core" &  Y Z\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&I'Ѐ +88 "core" ' + "storage"(+& +5 "core" &  s r \ + .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"()'e +279 "core" ' +2 "storage"(- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&j& +3 "core" &B $ + "storage"("& +4 "core" &  n b L\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&:'ξ +33 "core" ' +2 .tElbow.hold + "manipulator"&k, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(]- +2 "core" -' +3 .tSE.seek 0.12 Pucks below Top Plate + "storage"(p's +29 "core" ' +2 "manipulator"&y% +4 "core" %[ ) % < ʲ + "storage"(& +4 "core" & \ \  \ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 316 counts + "manipulator"& ' +20 "core" ' +2 "manipulator"&W& +4 "core" &I _ v M # +2 "storage"(*& +4 "core" &  m t\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&2'Ѐ +15 "core" ' +2 .tSE.seek 1.12 Pucks below Top Plate + "storage"(='b +42 "core" ' + "manipulator"&t& +4 "core" &I ` ` # +2 "manipulator"&.% +4 "core" %t e d ;  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&w'\ +95 "core" ' +2 .tElbow.seek CC + "manipulator"&( +156 "core" ( +2 "manipulator"&D& +4 "core" &) @Z +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &O& +2 "core" &) @Z +2 .tForearm.seek CC +2 "manipulator"&'| +91 "Can"] UR +4 "core" ' +2 .tHand.close + "manipulator"&r/ +63 "core" / +2 .tCC.seek :open + "collection"'(p +410 "core" ( +2 "storage"(& +4 "core" &  T\ +2 "storage"(& +3 "core" &  d\ +2 "manipulator"&8& +3 "core" &'  >M +2 "manipulator"&A% +3 "core" % ~  +2 .tForearm.seek :retract +2 "manipulator"&5'\ +99 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 + "manipulator"&(; +172 "core" ( +2 "manipulator"&1& +3 "core" &3 > F +2 "storage"(b& +4 "core" &  w\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 2 + "manipulator"&a'ξ +108 "core" ' + .tElbow.hold +2 "manipulator"&9, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&x1 +53 "core" 1 +3 "manipulator"&% +4 "core" %  ½T + "storage"(& +4 "core" &  p _ s\ + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 2 + 320 counts +2 "manipulator"&' +19 "core" ' + "manipulator"&z& +5 "core" &J s [ q / + "storage"(g& +4 "core" &  e\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&'Ѐ +25 "core" ' + "storage"(f% +5 "core" %g N\ +56 ."downElevator"SE.seek :down +4 "storage"('N +98 (B% +3 "core" % E =\ V^ +2 "manipulator"& % +4 "core" %М o o +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +88 "core" ' +51 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 3 of [2..3] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"'U& +5 "core" &=>M\ + "manipulator"&Q% +4 "core" %\ - $ "_ +2 "storage"(;% +4 "core" %8 /\  + "storage"(. +4 "core" .(  + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"($( +358 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (^& +3 "core" & X X \  + "manipulator"&_& +4 "core" &J h / +2 .tElbow.seek 3 + "manipulator"& (D +4 "core" ( + "manipulator"&E& +4 "core" &J [ / + "storage"(n& +4 "core" & P\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&|' +99 "core" ' +2 "storage"(C& +4 "core" & \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"('e +288 "core" ' +2 "storage"(\ - +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (q& +3 "core" & =\  +2 "manipulator"&!& +4 "core" &J 7 / + .tElbow.seek 3 +2 "manipulator"&,(D +4 "core" ( + "manipulator"&d& +4 "core" &J 0 / + "storage"(<& +4 "core" & *\  +2 .tForearm.seek 3 + 300 counts + "manipulator"&('y +11 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&M/ +64 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&l& +4 "storage"(i'N +4 "core" &J / +2 "manipulator"&/% +4 "core" % s  & + .tForearm.seek :retract +2 "manipulator"&['\ +96 "core" ' +2 .tElbow.seek CC +2 "manipulator"&m( +142 "core" ( + "manipulator"&H& +5 "core" & 1 / + ' + ."downElevator"SE.stop +3 .tElbow.reconfigure :loose +3 "storage"(5 + "manipulator"&$ &.,(#b +4 &G& +3 "core" &  / +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC + "manipulator"&T'| +107 "core" ' +2 "manipulator"&?& +4 "core" & Z / +2 "manipulator"& % +4 "core" %v  +2 "collection"'v& +3 "core" &=?\\  +3 "collection"'R& +4 "core" &;=[  +3 .tCC.seek :closed + "collection"' (] +5 "core" &=<V  +6 &>;=\\\ %f +10 &sX<=V\ 7 +9 &{;<W\ L +10 &U<=Z\ K +9 &QX<>V\ L +9 &W8;X\ L +10 & W;<[\ L +9 &"Y<;V\ L +9 &$YW<=\\\ L +10 &&W;=[\ L +9 &'W;=Z\ L +10 &)W:;[\ L +9 &+aU<=Z\ L +9 &-$V:<[\ L +10 &.W==[\ L +9 &0W<>Y\ L +9 &2jW<=Z\ L +10 &4,W;<Y\ L +9 &5Y=<X\ L +10 &7W:;[\ L +9 &9rV:;Z\ L +9 &;4W:<[\ L +10 &<Y9>S\ L +9 &>W9:V\ L +9 &@yW:>Z\ L +10 &B;X:<R\ L +9 &CW7=b\ L +10 &EW<=_\ L +9 &GZ8;h\ M +9 &I=g'1b\ N +10 &J\ h\ Q +9 &L[\ U +9 &Njg\ V +10 &P)T\ X +9 &Q_\ W +10 &SS\ X +9 &UaR\ \\ +9 &W+L\ Y +10 &XS\ [ +9 &ZW\ \\ +9 &\\]\\\ M +10 &]j8\\\ %n +9 &]YQ\ B +3 ( + "collection"'R& +4 #tCollection Clamp onSpring/offSpring for 10/26 samples, on/off torque 2.26 + .Hand.open + "manipulator"&1 +54 "core" 1 + "manipulator"&% +5 "core" % w  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&7'\ +100 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%{& +4 "core" &'\ +2 "manipulator"&F% +4 "core" %\ 8 P ' + "storage"(% +4 "core" %@ L Q +\  + "storage"(h. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 + "storage"(X( +3 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (& +2 "core" &\ \  x\  +2 "manipulator"&Y& +3 "core" & c / +2 "manipulator"&-% +4 "core" %\ 8 : ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&(D +173 "core" ( +2 "manipulator"&& +4 "core" &D  i + "storage"(\\& +4 "core" & r r \ \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&&' +101 "core" ' + "storage"(6& +4 "core" & p j M\  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('e +278 "core" ' + "storage"(}- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (K& +3 "core" & g p \  +2 "manipulator"&Z& +3 "core" &E  h +2 .tElbow.seek 3 +2 "manipulator"&(D +3 "core" ( + "manipulator"&& +4 "core" &E  h +2 "storage"(N& +3 "core" & n m\  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&0'y +10 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&V/ +55 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&~& +2 "storage"(S'N +8 "core" &E\ R h +2 "manipulator"&`% +4 "core" % z  ' +2 .tForearm.seek :retract + "manipulator"&'\ +101 "core" ' + .tElbow.seek PC +2 "manipulator"&>(c +152 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +99 "core" ( +2 "manipulator"&@& +4 "core" &j * +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &#& +2 "core" &j j +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&J'[ +103 "core" ' + "manipulator"&P& +5 "core" &j " + "manipulator"&'% +4 "core" %A  +2 "processing"%L& +3 "core" &5\ +2 "processing"%+& +5 "core" &,\ +2 .tPC.seek :closed +2 "processing"%s(Z +4 "core" &7\ +7 & 02\ #b +10 &_V6\ 7 +9 &y6\ K +10 &uR*\ L +9 &7Y.\ L +9 &Y\ L +10 & U%\ M +9 &"|U0\ M +9 &$>W*\ M +10 &&V'\ M +9 &'V,\ M +10 &)V)\ M +9 &+FV*\ M +9 &-X)\ M +10 &.T&\ L +9 &0T(\ L +9 &2OU&\ L +10 &4S(\ L +9 &5S)\ L +10 &7Y'\ L +9 &9VX'\ M +9 &;X(\ L +10 &<R(\ L +9 &>U"\ M +9 &@_Y'\ L +10 &B!V)\ L +9 &CY(\ M +10 &EW\ M +9 &Ge[&\ M +9 &I$f'\ N +10 &Jn'\ O +9 &L(\ Q +9 &N['\ S +10 &P'\ T +9 &Q'\ S +10 &S'\ S +9 &Ub&\ S +9 &W$&\ S +10 &X\ T +9 &Z=Ih\ )y +9 &Z :&\ ( +6 ( + "processing"%+& +4 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.60 +2 .Hand.open + "manipulator"&41 +4 "core" &Z1\ ( +58 1 + "manipulator"&% +4 "core" % A t +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +100 "core" ' +2 "processing"%j& +4 "core" &Z\ ( + #tImaging generic puck in Processing Clamp while storing it to tube 3 +2 "manipulator"&"% +3 "core" %\ 5 D & +2 "storage"(]% +4 "core" %< X X e\  + "storage"(y. +3 "core" .( +2 "storage"(& +4 "core" & W W g\  +2 "storage"(W& +3 "manipulator"&*& +5 "core" & W W o\  + &j ? +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +3 "storage"(#]kK-0-\ b +3 .tElbow.seek PC +7 "manipulator"&t(c +9 ."raiseStack"SE.seek :beamBreak +4 "storage"(.'e +4 "core" ( +2 "manipulator"&I& +7 "core" &j / +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &3& +2 "core" &j  +2 .tForearm.seek PC +2 "manipulator"&)'[ +94 "core" ' +2 .tHand.close + "manipulator"&:/ +63 "core" / +2 .tPC.seek :open + "processing"% (p +84 "core" ' +2 "storage"(p- +3 "core" -'e + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place + "storage"(D'B +42 "core" ' +253 ( +2 "storage"(O& +4 "core" & q e \  + "manipulator"&2& +4 "core" &j  +2 "manipulator"&k% +3 "core" % L   +2 .tForearm.seek :retract +49 "manipulator"&r'\ +104 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&w(D +252 "core" ( +2 "manipulator"&o& +4 "core" &L  # +2 "storage"(& +4 "core" & _ \\\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&' +99 "core" ' +2 .tHand.open + "manipulator"&81 +64 "core" 1 +2 "storage"(A- +4 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate +2 "storage"(1' +24 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(b' +52 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(- +3 "core" -' +2 "storage"(& +4 "core" & l\  + "manipulator"&x& +4 "core" &L  # +2 .tElbow.seek 3 + "manipulator"&(D +4 "core" ( + "manipulator"&& +4 "core" &L 5 # +2 "storage"(z& +4 "core" & 0\  +2 .tForearm.seek 3 + 450 counts + "manipulator"&g' +23 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.11 Pucks below Top Plate + "storage"(f'M +63 "core" ' +2 "manipulator"&5& +4 "core" &L  # +2 "storage"(& +3 "core" & j m\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&B'M +34 "core" ' +2 .tElbow.hold + "manipulator"& , +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate + "storage"(a'7 +24 "core" ' +2 "manipulator"&% +4 "core" %^W U N M ͱ +2 "storage"(U& +4 "core" &\ \ $ \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 317 counts +2 "manipulator"&Q'ϊ +11 "core" ' +2 "manipulator"&;& +4 "core" &, n | B ( +2 "storage"(& +4 "core" & \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&=' +20 "core" ' +2 "storage"(% +4 "core" %6 \  +2 ."downElevator"SE.seek :down +4 "storage"('N +99 (u% +3 "core" %? f o g\ V` +2 "manipulator"&^% +4 "core" % r   +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&_'\ +91 "core" ' +62 ' + ."downElevator"SE.stop + "storage"(5 +3 (E& +4 "core" & N W ;\  +2 "collection"'n& +4 "core" &]_A\ B + #tStoring generic puck in Collection Clamp to tube 3 +2 "manipulator"&C% +3 "core" %\ ,  "a +2 "storage"(9% +4 "core" %M r r \ + "storage"(. +3 "core" .( +2 "storage"(\ & +4 "core" & r r\  + "storage"(q& +4 "core" & r r\  +2 "manipulator"&!& +3 "core" &- o ( +2 .tElbow.seek 3 +2 "manipulator"&d(D +18 "core" ( + "manipulator"&<& +5 "core" &_ M $ + "storage"(M& +4 "core" & s s\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&l' +101 "core" ' +2 "storage"(/& +4 "core" & p k (\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"( 'e +280 "core" ' +2 "storage"(|- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&H& +2 "core" &_  $ +2 "storage"(G& +4 "core" & u u \  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&'M +33 "core" ' + .tElbow.hold +2 "manipulator"&(, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(?- +2 "core" -' +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"( 'l +29 "core" ' + "manipulator"&v% +5 "core" %_S N U 1 ΰ + "storage"(,& +4 "core" &\ \  \  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 3 + 318 counts +2 "manipulator"&i'ϋ +12 "core" ' + "manipulator"&[& +4 "core" &C o X ( +2 "storage"(& +4 "core" & \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&' +21 "core" ' +2 .tSE.seek 1.11 Pucks below Top Plate +2 "storage"('[ +43 "core" ' +2 "manipulator"&{& +5 "core" &C  ( + "manipulator"&F% +4 "core" %  $ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"&h( +156 "core" ( + "manipulator"&R& +4 "core" &+  Bg +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &+ t Bf +2 .tForearm.seek CC + "manipulator"&Y'| +97 "core" ' + .tHand.close + "manipulator"&-/ +54 "core" / +2 .tCC.seek :open + "collection"'T(p +413 "core" ( +2 "storage"(& +4 "core" & u\  +2 "storage"(\\& +3 "core" & s\  +2 "manipulator"&$& +4 "core" &0" :. + "manipulator"&6% +4 "core" % φ +2 .tForearm.seek :retract + "manipulator"&m'\ +96 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&7(D +188 "core" ( + "manipulator"&}& +4 "core" &R  S +2 "storage"(K& +4 "core" & ~ x\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 3 +2 "manipulator"&Z'M +109 "core" ' + .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&N1 +62 "core" 1 +3 "manipulator"&V% +4 "core" % ]~  C +2 "storage"(~& +3 "core" & q r \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 316 counts + "manipulator"&`'ω +20 "core" ' +2 "manipulator"&& +4 "core" & X i  +2 "storage"(&& +3 "core" & r\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&' +18 "core" ' +2 "storage"(0% +4 "core" %U \ +2 ."downElevator"SE.seek :down +3 "storage"(@'N +99 (#% +3 "core" %/< \ U[ + "manipulator"&% +4 "core" % a f x +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&P'\ +95 "core" ' +45 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 2 of [2..3] +2 #Loading generic puck from tube 2 into Collection Clamp +2 "collection"''& +4 "core" &:<\\\ + "manipulator"&L% +4 "core" %\ 3 B %| +2 "storage"(S% +4 "core" %; ~ \  + "storage"(. +4 "core" .( + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"(%(  +360 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (4& +2 "core" &  X Z i\ +2 "manipulator"&& +4 "core" & k  + .tElbow.seek 2 +2 "manipulator"&j(; +22 "core" ( + "manipulator"&"& +5 "core" &6  !u + "storage"(]& +4 "core" &  \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&y'Ѐ +103 "core" ' + "storage"(+& +5 "core" &  r\ + .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"('e +279 "core" ' +2 "storage"(W- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (*& +2 "core" &  2\ +2 "manipulator"&I& +3 "core" &7 k f h !t +2 .tElbow.seek 2 +2 "manipulator"&3(; +4 "core" ( + "manipulator"&J& +4 "core" &7 m j \\ !t + "storage"(:& +4 "core" &  x\ +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&p' +25 "core" ' +2 .tForearm.reconfigure :loose +58 "manipulator"&#Q@2^d^b +4 .tHand.close + "manipulator"&>/ +62 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&& +2 "storage"(s'N +8 "core" &7 g f p !t +2 "manipulator"&O% +4 "core" % e a G +2 .tForearm.seek :retract +2 "manipulator"&.'\ +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"&2( +141 "core" ( +2 "manipulator"&k& +4 "core" &  . +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 "core" ' + "manipulator"&)& +2 ."downElevator"SE.stop +4 "storage"(5 +3 "core" &  . +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&o'| +104 "core" ' + "manipulator"&& +28 "core" & 6 . +2 "manipulator"&t% +4 "core" %W  +2 "collection"'8& +4 "core" &:=O\ +2 "collection"'A& +5 "core" &<;P\ +2 .tCC.seek :closed +2 "collection"'(] +4 "core" &:<X\ +8 &7;;Y\ $c +10 &dW<<Y\ 7 +9 &y:;U\ K +9 &zV;>T\ L +10 &=W<=\\\ L +9 &V<;\\\ L +9 & W;;V\ L +10 &"X;>Y\ L +9 &$EW9<\\\ L +9 &&W9=_\ L +10 &'V:;_\ L +9 &)W:<Z\ L +10 &+MW<<[\ L +9 &-U;=Z\ L +9 &.X;=Y\ L +10 &0X:;Z\ L +9 &2UW<;[\ L +9 &4W9<Y\ L +10 &5U:=X\ L +9 &7W:<X\ L +10 &9\\V<=Y\ L +9 &;W<;V\ L +9 &<W<;W\ L +10 &>X:;W\ L +9 &@dX<<Y\ L +9 &B&Y:;W\ L +10 &CV9<Z\ L +9 &EW:9]\ L +10 &GlZ89]\ L +9 &I*d-4f\ N +9 &Jxa\ P +10 &Ld\ T +9 &NWf\ V +9 &P\\\ W +10 &Q`\ X +9 &S]\ X +10 &UVW\ Y +9 &W^\ Y +9 &XX\ Z +10 &ZU\ [\ +9 &\\ZS\ G +9 &]_:X\ 'v +10 &]Z\ X +5 ( +2 "collection"'A& +4 #tCollection Clamp onSpring/offSpring for 9/26 samples, on/off torque 2.12 + .Hand.open +2 "manipulator"&1 +3 "core" &]]\ X +53 1 +2 "manipulator"&x% +4 "core" % W  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +92 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%z& +5 "core" &3\ + "manipulator"&r% +4 "core" %\ )  H +2 "storage"(5% +3 "core" %F W N ^\  +2 "storage"(. +3 "core" .(  +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"(D(  +8 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (& +3 "core" &  \ +2 "manipulator"&U& +3 "core" &  - +2 "manipulator"&1% +3 "core" %\ ) ) H +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&;(; +152 "core" ( + "manipulator"&& +4 "core" &< Y  +2 "storage"(& +4 "core" &  Q M\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&w'Ѐ +104 "core" ' +2 "storage"(& +4 "core" &  j m -\ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(b'e +275 "core" ' +2 "storage"(u- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (^& +2 "core" &  c ] n\ +2 "manipulator"&g& +4 "core" &< n o  + .tElbow.seek 2 +2 "manipulator"&(; +4 "core" ( + "manipulator"&f& +4 "core" &< p w   + "storage"(B& +4 "core" &  n s\ +2 .tForearm.seek 2 + 300 counts + "manipulator"&Q' +20 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&E/ +56 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&n& + "storage"(C'N +7 "core" &<   +2 "manipulator"&9% +4 "core" %   +2 .tForearm.seek :retract + "manipulator"&'\ +98 "core" ' +2 .tElbow.seek PC +2 "manipulator"&a(c +152 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +98 "core" ( +2 "manipulator"&\ & +4 "core" &h O + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &q& +3 "core" &h E +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&!'[ +105 "core" ' + "manipulator"&<& +4 "core" &h  +2 "manipulator"&M% +4 "core" %S  y + "processing"%=& +4 "core" &D\ +2 "processing"%/& +5 "core" &9\ +2 .tPC.seek :closed +2 "processing"%(Z +4 "core" &8\  +9 &5|:\ *y +9 &f<\ ? +9 &dp9\ N +10 &*R0\ L +9 &W.\ L +10 &S=\ L +9 &!pU)\ L +9 &#2S(\ L +10 &$T'\ L +9 &&W'\ M +9 &(xR(\ L +10 &*9T#\ M +9 &+W)\ M +10 &-T)\ L +9 &/U(\ M +9 &1BS*\ L +10 &3S*\ M +9 &4U'\ M +9 &6S(\ L +10 &8IX(\ M +9 &: U'\ M +10 &;T&\ L +9 &=U(\ L +9 &?QY\ M +10 &AY'\ M +9 &BX4\ M +9 &DY(\ M +10 &FX\\(\ M +9 &He(\ N +10 &Ip+\ P +9 &K%\ Q +9 &MN(\ S +10 &O(\ T +9 &P"\ S +9 &R'\ S +10 &TU(\ S +9 &V(\ T +10 &W(\ T +9 &Y(\ A +9 &Z)p\ ] +10 &Z&#\ . +2 ( + "processing"%/& +4 #tProcessing Clamp onSpring/offSpring for 9/25 samples, on/off torque 1.68 + .Hand.open + "manipulator"& 1 +57 "core" 1 + "manipulator"&_% +4 "core" % S  y +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&|'\ +92 "core" ' +2 "processing"%H& +4 "core" &Z%&\ . + #tImaging generic puck in Processing Clamp while storing it to tube 2 +2 "manipulator"&G% +3 "core" %\ ) g E +2 "storage"(?% +4 "core" %; 8 9 \  + "storage"(v. +3 "core" .(  +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 + "storage"(,(  +7 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 ([& + "manipulator"&& +4 "core" &  c\ +4 ."raiseStack"SE.reconfigure :place +3 "storage"(#]kK-0-\ b +2 "core" &h u +3 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +3 ."raiseStack"SE.seek :beamBreak +2 "manipulator"&{(c + "storage"(F'e +5 "core" ( +2 "manipulator"&l& +4 "core" &h +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &d& +3 "core" &h I +2 .tForearm.seek PC +2 "manipulator"& '[ +98 "core" ' + .tHand.close +2 "manipulator"&/ +59 "core" / +2 .tPC.seek :open +2 "processing"%i(p +88 "core" ' +2 "storage"( - +3 "core" -'e + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(R'B +35 "core" ' +258 ( + "storage"(& +4 "core" &  X W U\ +2 "manipulator"&& +4 "core" &h  + "manipulator"&(% +4 "core" % g P +2 .tForearm.seek :retract + "manipulator"&-'\ +98 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&(; +259 "core" ( +2 "manipulator"& & +4 "core" &7  % + "storage"(& +4 "core" &  8 9\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&\\'Ѐ +97 "core" ' + .tHand.open +2 "manipulator"&$1 +61 "core" 1 +2 "storage"(6- +3 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate +2 "storage"(}' +23 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.83 Pucks below Top Plate + "storage"(K' +52 "core" ' + #tLights, camera, ACTION! +2 "storage"(Y- +3 "core" -' +2 "storage"(h& +4 "core" &  /\ + "manipulator"&N& +4 "core" &7 v % +2 .tElbow.seek 2 + "manipulator"&V(; +4 "core" ( + "manipulator"&~& +4 "core" &7  % + "storage"(& +4 "core" &  n o \ +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&&'Ѐ +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"(0'M +59 "core" ' +2 "manipulator"&m& +4 "core" &7  % + "storage"(#& +4 "core" &  . +\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&'ξ +33 "core" ' + .tElbow.hold +51 "manipulator"&7, +13 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.07 Pucks below Top Plate + "storage"(Z'7 +26 "core" ' + "manipulator"&'% +5 "core" %c  , + ȴ + "storage"(L& +5 "core" &  B\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 310 counts + "manipulator"&`' +20 "core" ' +2 "manipulator"&S& +4 "core" &P p u !w +2 "storage"(& +4 "core" &  J J \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts +2 "manipulator"&'Ѐ +22 "core" ' + "storage"(% +4 "core" %; r r \ +3 ."downElevator"SE.seek :down +4 "storage"(@'N +99 (X% +3 "core" %H * 2 -\ Wc +2 "manipulator"&4% +4 "core" %М b f B +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +87 "core" ' +67 ' + ."downElevator"SE.stop +2 "storage"(5 +2 ("& +4 "core" &  , 9\ +2 "collection"']& +3 "core" &]T\ X +2 #tStoring generic puck in Collection Clamp to tube 2 +2 "manipulator"&+% +4 "core" %\ , c "[ + "storage"(% +4 "core" %M W W *\ +2 "storage"(P. +3 "core" .(  + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"(W(  +2 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (*& +2 "core" &  R\ +2 "manipulator"&I& +4 "core" &P !w +2 .tElbow.seek 2 + "manipulator"&J(; +36 "core" ( + "manipulator"&:& +5 "core" &E * 8 +2 "storage"(>& +4 "core" &  X X j\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&'Ѐ +103 "core" ' +2 "storage"(O& +4 "core" &  i m 1\ +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(j'e +278 "core" ' +2 "storage"(y- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&k& +2 "core" &E h i Y 8 +2 "storage"()& +4 "core" &  t u X\ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 + "manipulator"&'ξ +34 "core" ' +2 .tElbow.hold + "manipulator"&p, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(3- +2 "core" -' +3 .tSE.seek 0.12 Pucks below Top Plate + "storage"('t +28 "core" ' + "manipulator"&t% +5 "core" %Z    Ȳ + "storage"(8& +4 "core" &  \ + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 2 + 319 counts +2 "manipulator"&s' +18 "core" ' +2 "manipulator"&.& +4 "core" &E j ] 8 +2 "storage"(T& +4 "core" &  r r\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&'Ѐ +18 "core" ' +2 .tSE.seek 1.12 Pucks below Top Plate +2 "storage"(x'c +49 "core" ' + "manipulator"&z& +4 "core" &E f b I 8 +2 "manipulator"&r% +4 "core" %d h f  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&5'\ +86 "core" ' +2 .tElbow.seek CC +2 "manipulator"&( +171 "core" ( +2 "manipulator"&A& +4 "core" &, Bi + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &, F Bi +2 .tForearm.seek CC +2 "manipulator"&U'| +95 "core" ' +2 .tHand.close +2 "manipulator"&1/ +60 "core" / +2 .tCC.seek :open +2 "collection"'o(p +410 "core" ( + "storage"(& +4 "core" &  \ +2 "storage"(& +3 "core" &  f\ +2 "manipulator"&%& +4 "core" &+  Bf + "manipulator"&% +4 "core" % w   +2 .tForearm.seek :retract +2 "manipulator"&2'\ +100 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&(; +188 "core" ( + "manipulator"&u& +4 "core" &D  !v +2 "storage"(^& +4 "core" &  C\ + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 2 +2 "manipulator"&g'ξ +110 "core" ' +2 .tElbow.hold + "manipulator"&f, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&B1 +60 "core" 1 +2 "manipulator"&E% +4 "core" % t   9 Ź$ +2 "storage"(n& +3 "core" &  X Z S\ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 315 counts + "manipulator"&9' +21 "core" ' + "manipulator"&;& +5 "core" &o g l K + "storage"(w& +4 "core" &  k\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&b'Ѐ +21 "core" ' +2 "storage"(Q% +4 "core" %h n\ +2 ."downElevator"SE.seek :down +4 "storage"(\ 'N +99 (q% +2 "core" %-C u\ V^ +2 "manipulator"&% +4 "core" %М o n +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&<'\ +87 "core" ' +51 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 3 of [2..3] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"'M& +4 "core" &<=M\ +2 "manipulator"&=% +4 "core" %\ - n "[ +2 "storage"(C% +4 "core" %8 \ + "storage"(. +3 "core" .(  +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 + "storage"( ( +361 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 ( & +2 "core" & [ Z\  +2 "manipulator"&_& +3 "core" &o I K +2 .tElbow.seek 3 +2 "manipulator"&H(D +25 "core" ( +2 "manipulator"&G& +4 "core" &F  Y + "storage"(?& +4 "core" & A\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&v' +101 "core" ' +2 "storage"(/& +4 "core" & s\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(['e +290 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (l& +3 "core" & \  + "manipulator"&d& +4 "core" &F  Y +2 .tElbow.seek 3 + "manipulator"&!(D +4 "core" ( + "manipulator"&& +4 "core" &F 2 Y + "storage"(D& +4 "core" & \  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"& 'y +10 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&a/ +58 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&|& +2 "storage"('N +7 "core" &F Q Y +2 "manipulator"&% +4 "core" % ρ > 2 +2 .tForearm.seek :retract + "manipulator"&'\ +99 "core" ' + .tElbow.seek CC +2 "manipulator"&F( +145 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +56 "core" ( +2 "manipulator"&(& +4 "core" &' >K +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 & & +3 "core" && E >K +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"& '| +102 "core" ' +3 "manipulator"&& +4 "core" &' 2 >K + "manipulator"&{% +4 "core" %σ ` +2 "collection"'$& +3 "core" &;=_\ +3 "collection"'6& +4 "core" &9>V\ +2 .tCC.seek :closed +2 "collection"'Y(] +4 "core" &<=f\  +9 &3}9<_\ *y +10 &e:<X\ > +9 &Zs;;Z\ M +9 &T:;f\ L +10 &Y:=[\ L +9 &X;;Z\ L +10 &!dW<>^\ L +9 &#%X;>[\ M +9 &$W;<Y\ L +10 &&X9;]\ L +9 &(mW<;X\ L +9 &*/W;<Z\ L +10 &+W<=T\ L +9 &-V<;X\ L +10 &/tW<=Y\ L +9 &17Z:;W\ L +9 &2X9<]\ L +10 &4W;;[\ L +9 &6|W;<[\ L +9 &8?Y:=_\ L +10 &:V:9[\ L +9 &;W8;V\ L +10 &=X;:[\ L +9 &?FW<<a\ L +9 &AZ9<_\ L +10 &BX<<b\ L +9 &DT;<g\ L +9 &FNW;<d\ L +10 &H\\58h\ M +9 &Ir!,j\ O +10 &K i\ S +9 &M9a\ V +59 &N_\ W +2 &Pe\ W + &Ry[\ X + &T:Y\ Y &Ub\ Z + &Wf\ Z +2 &Yu_\ \\ +9 &[:Q\ [ +12 &\\{d\ / +7 &]*a\ !d +9 ( + &]ih\ Q +2 "collection"'6& +3 #tCollection Clamp onSpring/offSpring for 9/25 samples, on/off torque 2.16 + .Hand.open +2 "manipulator"&h1 +52 "core" 1 + "manipulator"&N% +5 "core" % j / +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&~'\ +95 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%& +5 "core" &4\ + "manipulator"&-% +4 "core" %\ 0  $o +2 "storage"(m% +3 "core" %= M J v\ +2 "storage"(#. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(R( +3 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (}& +3 "core" &\ \ \ \  +2 "manipulator"&'& +4 "core" &"  :/ + "manipulator"&L% +4 "core" %\ 0 " $o +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&S(D +178 "core" ( + "manipulator"&& +5 "core" &A o "x + "storage"(& +4 "core" & P U 9\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&\\' +96 "core" ' +2 "storage"(K& +4 "core" & o s \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"('e +277 "core" ' +2 "storage"(&- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (X& +2 "core" & V H T\  +2 "manipulator"&4& +4 "core" &B ` !w +2 .tElbow.seek 3 + "manipulator"&V(D +3 "core" ( +2 "manipulator"&0& +3 "core" &B  !w +2 "storage"(& +4 "core" & s r \  +2 .tForearm.seek 3 + 300 counts + "manipulator"&`'y +23 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&"/ +59 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&]& +2 "storage"(+'N +7 "core" &B h l G !w +2 "manipulator"&% +4 "core" % z o t  +2 .tForearm.seek :retract + "manipulator"&P'\ +89 "core" ' +2 .tElbow.seek PC + "manipulator"&Z(c +164 "core" ' + ."downElevator"SE.stop + "storage"(5 +85 "core" ( +2 "manipulator"&*& +4 "core" &^ , +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &I& +3 "core" &^  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&:'[ +101 "core" ' +2 "manipulator"&>& +4 "core" &^ > +2 "manipulator"&% +4 "core" %b +2 "processing"%O& +4 "core" &1\ +2 "processing"%@& +5 "core" &7\ +2 .tPC.seek :closed +3 "processing"%,(Z +3 "core" &0\ +6 &8\ 5 +9 & Gx3\ 0 +10 &7q-\ D +9 &_)\ M +9 &S-\ M +10 &aX.\ L +9 & #U,\ L +10 &!U(\ L +9 &#X)\ L +9 &%iT'\ L +10 &',U.\ L +9 &(X)\ L +9 &*W'\ L +10 &,pY)\ M +9 &.2W'\ M +10 &/S*\ M +9 &1V)\ M +9 &3yR$\ L +10 &5:R%\ M +9 &6V'\ M +9 &8T(\ L +10 &:T(\ L +9 &Y(\ M +9 &?W(\ M +9 &AV'\ M +10 &CLU(\ L +9 &E V(\ L +9 &F]\ M +10 &H^&\ N +9 &JKl(\ O +10 &Ly\ Q +9 &M$\ T +9 &O%\ S +10 &QG\ S +9 &S\ T +9 &T\ S +10 &V\ T +9 &XM\ T +10 &Yzn\ \ (| +9 &Z*x\ 6 +9 ( +3 "processing"%@& +3 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.59 + .Hand.open +2 "manipulator"&71 +3 "core" &Z\ ( +61 1 + "manipulator"&% +4 "core" % b 9 +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&y'\ +101 "core" ' + "processing"%k& +4 "core" &Z\ ( +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 +2 "manipulator"&)% +4 "core" %\ 3 @ %~ + "storage"(3% +4 "core" %C J E <\  + "storage"(t. +4 "core" .( + "storage"(8& +3 "core" & E )\  +2 "storage"(.& +4 "manipulator"&T& +5 "core" & + ( #\  + &^ ; +3 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +3 "storage"(#]kK-0-\ b +4 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +3 ."raiseStack"SE.seek :beamBreak +2 "manipulator"&z(c + "storage"(r'e +5 "core" ( +2 "manipulator"&& +4 "core" &^ g + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &J& +2 "core" &^ p +2 .tForearm.seek PC +2 "manipulator"&j'[ +95 "core" ' + .tHand.close +2 "manipulator"&/ +55 "core" / +2 .tPC.seek :open + "processing"%s(p +95 "core" ' +2 "storage"(- +3 "core" -'e +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(A'B +42 "core" ' +241 ( +2 "storage"(& +4 "core" & r r \  + "manipulator"&& +4 "core" &^  +2 "manipulator"&p% +3 "core" % a | +2 .tForearm.seek :retract +2 "manipulator"&1'\ +97 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&5(D +259 "core" ( +2 "manipulator"&& +4 "core" &;  ' + "storage"(& +4 "core" & X W s\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&' +105 "core" ' + .tHand.open +2 "manipulator"&%1 +56 "core" 1 +2 "storage"(- +4 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate + "storage"(u' +24 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(U' +53 "core" ' + #tLights, camera, ACTION! +2 "storage"(^- +3 "core" -' +2 "storage"(& +4 "core" & 7\  + "manipulator"&B& +4 "core" &<  ' +2 .tElbow.seek 3 + "manipulator"&E(D +4 "core" ( + "manipulator"&n& +4 "core" &= G & +2 "storage"(;& +3 "core" & w\  +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&w' +14 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"(Q'M +60 "core" ' + "manipulator"&2& +5 "core" &= M & + "storage"(q& +4 "core" & t s \  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 + "manipulator"&'M +34 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"(g'7 +21 "core" ' +2 "manipulator"&M% +4 "core" %`W O W  ͱ +2 "storage"(9& +4 "core" & Z\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 319 counts + "manipulator"&='ό +13 "core" ' +2 "manipulator"&C& +4 "core" &5 k b \ ( +2 "storage"(& +4 "core" & n n\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&x' +19 "core" ' +2 "storage"(b% +4 "core" %; o d A\ +2 ."downElevator"SE.seek :down +4 "storage"(\ 'N +99 (W% +2 "core" %A W Y\ V` +2 "manipulator"& % +4 "core" % e u   +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&_'\ +89 "core" ' +61 ' + ."downElevator"SE.stop + "storage"(5 +3 (G& +4 "core" & D ' M\  +2 "collection"'?& +3 "core" &]jI\ Q +2 #tStoring generic puck in Collection Clamp to tube 3 +2 "manipulator"&/% +3 "core" %\ / #g +2 "storage"(f% +4 "core" %G Z Z\  + "storage"(<. +3 "core" .( +2 "storage"(& +3 "core" & Z Z z\  +2 "storage"(l& +4 "core" & Z Z\  +2 "manipulator"&d& +4 "core" &9  ' + .tElbow.seek 3 +2 "manipulator"&(D +16 "core" ( +2 "manipulator"&D& +4 "core" &F V - +2 "storage"(a& +3 "core" & Z Z\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +52 "manipulator"&|' +102 "core" ' +2 "storage"(& +4 "core" & s s \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(H'e +280 "core" ' +2 "storage"(v- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&[& +2 "core" &\\  * +2 "storage"( & +4 "core" & X W L\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 + "manipulator"&('M +33 "core" ' + .tElbow.hold +2 "manipulator"& , +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(!- +2 "core" -' +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"('l +38 "core" ' + "manipulator"&{% +5 "core" %YW X \\ ϱ + "storage"($& +4 "core" & l\  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 3 + 312 counts +2 "manipulator"&'υ +14 "core" ' + "manipulator"&& +4 "core" &\\ p } > * +2 "storage"(o& +4 "core" & s s \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&h' +20 "core" ' +2 .tSE.seek 1.11 Pucks below Top Plate +2 "storage"(N'[ +47 "core" ' +2 "manipulator"&& +4 "core" &] ) * +2 "manipulator"&-% +4 "core" % w D +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&m'\ +94 "core" ' +2 .tElbow.seek CC +2 "manipulator"&#( +140 "core" ( +2 "manipulator"&6& +4 "core" &  . + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &}& +3 "core" & W . +2 .tForearm.seek CC + "manipulator"&''| +98 "core" ' + .tHand.close +2 "manipulator"&L/ +59 "core" / +2 .tCC.seek :open +2 "collection"' (p +410 "core" ( + "storage"(& +4 "core" & \  +2 "storage"(& +4 "core" & m\  + "manipulator"& & +4 "core" &  . + "manipulator"&K% +4 "core" % g T  +2 .tForearm.seek :retract +2 "manipulator"&F'\ +92 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 + "manipulator"&~(D +172 "core" ( +2 "manipulator"&&& +4 "core" &> O e + "storage"(X& +4 "core" & \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 + "manipulator"&4'M +109 "core" ' +2 .tElbow.hold + "manipulator"&0, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&1 +60 "core" 1 +2 "manipulator"&"% +4 "core" % [{ "  ) Ļ> +2 "storage"(]& +3 "core" & M K \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 314 counts + "manipulator"&'χ +21 "core" ' + "manipulator"&S& +4 "core" &8 m j 6 k +2 "storage"(\\& +4 "core" & U\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&' +20 "core" ' + "storage"(`% +5 "core" %Y D\ +2 ."downElevator"SE.seek :down +3 "storage"(*'N +100 (I% +2 "core" %? Q\ U^ +2 "manipulator"&V% +4 "core" % n o  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&>'\ +90 "core" ' +57 ' + ."downElevator"SE.stop +2 "storage"(5 +11459 #t-> exit +6 #mEXIT @1666202536.64EDT @1666203416.10EDT = =tMAIN =mMAIN_scheduler @EDT1666203418.00 #"core_reset"Sent BREAK +3 #t@20106 idle with ifg=0x00, ie=0x75 #>RESET< ESP2 v3.41 I2C Gateway v3.20 +207 #>RESET< ESP2 v3.41 I2C Gateway v3.20 for core bus +207 !o:Instrument::ISUSCore: @refiHO: @configS:Instrument::Configuration: name" ISUS:calFileName0:sampleCmd"TS: prompt"\ :statusCmd"C:sampleTimeouti#:promptTimeouti:statusTimeouti: retriesi:strToPrompt"W: pace0: echoF:\ @name@ +99 #Configuration for don (12651-03) 10/9/20 brent@mbari.org\ /home/esp/esp2/type/shallow/don/configure.rb\ +396 "Can"l ?%#t + l ?%#t #tPolling Can every 10:00 +23 #Cleanly exited at 14:02:16EDT19-Oct-22 +445 #-> ESP.ready! +3 #Powering core bus +554 .Gate.power :raw,:ON +2 "sampler") +19 ) + "core"  +2 "collection"' +2 ' +4 "core"  + "processing"% +2 % +3 "core"  +5 "collection"' 9\ +2 ' 0\ +2 ' -\ +3 "processing"% 9\ +2 % 2\ +2 % *\ +2 % 0\ +4 "sampler")&\ + "collection"'% +3 "core" %58Q +2 .tCS.configure :default +2 "collection"'#P d@b +3 "processing"%% +2 "core" %!\ +2 .tPS.configure :default +2 "processing"%#A d`xb +3 "sampler")% +3 "core" %\ \  + .tSS.configure :default +2 "sampler")#.0X access 2 +2 "storage"(;% +3 "core" %X# 6\ N +2 "manipulator"&<% +4 "core" %\ - "2 +2 "manipulator"&=& +3 "core" & 0 +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 + "storage"(>(K +672 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (?& +2 "core" &K A A j\  +1336 #t-> access 3 +2 "storage"(@% +3 "core" %X# ?\ N + "manipulator"&A% @1666619099.59EDT = =tMAIN =mMAIN_scheduler @EDT1666619101.52 #"core_reset"Sent BREAK + #t@1154 idle with ifg=0x00, ie=0x75 + #>RESET< ESP2 v3.41 I2C Gateway v3.20 +208 #>RESET< ESP2 v3.41 I2C Gateway v3.20 for core bus +215 !o:Instrument::ISUSCore: @refi`h: @configS:Instrument::Configuration: name" ISUS:calFileName0:sampleCmd"TS: prompt"\ :statusCmd"C:sampleTimeouti#:promptTimeouti:statusTimeouti: retriesi:strToPrompt"W: pace0: echoF:\ @name@ +203 #Configuration for don (12651-03) 10/9/20 brent@mbari.org\ /home/esp/esp2/type/shallow/don/configure.rb\ +467 "Can"m '$!w + m '$!w #tPolling Can every 10:00 +946 #-> ESP.ready! +3 #Powering core bus +557 .Gate.power :raw,:ON +2 "sampler") +16 ) +2 "core"  +2 "collection"' +2 ' +3 "core"  + "processing"% +2 % +3 "core"  +5 "collection"' 9\ +2 ' 0\ +2 ' -\ +3 "processing"% 9\ +2 % 2\ +2 % *\ +2 % 0\ +4 "sampler")&\ +2 "collection"'% +3 "core" %I + .tCS.configure :default +3 "collection"'#P d@b +2 "processing"%% +3 "core" % +2 .tPS.configure :default +2 "processing"%#A d`xb +2 "sampler")% +3 "core" %  + .tSS.configure :default +3 "sampler")#.0X + "processing"%(& +4 "collection"')& +4 "core" &( + &= +2 .tCC.reconfigure :default +2 ."openPC"PC.reconfigure :default +5 "collection"'$x2 ^22b +3 "processing"%$x2 ^22b + .tCC.home.seek :open +4 ."openPC"PC.home.seek :open +2 "collection"'*(p + "processing"%+(p +356 "core" ( +10 ( +2 "collection"', +3 "core"  +2 "processing"%- +3 "core" U +2 "processing"%. +3 "core" @ + "processing"%/ +3 "core"  +2 "collection"'0% +3 "core" %Z +2 "processing"%1% +4 "core" % +2 "sampler")2% +3 "core" %, +2 "collection"'3& +4 "core" &ZX  + "processing"%4& +4 "core" &Y  +2 "manipulator"&5% +3 "core" %\ / #> +2 "manipulator"&6& +4 "core" &0 } + "storage"(7& +4 "core" &,\ #\ " +  +2 "storage"(8% +3 "core" %V(\ "\ # 3 P +2 "collection"'99 +3 "core" 9pt +2 "processing"%:9 +3 "core" 9 +385 #t-> access 2 +2 "storage"(;% +4 "core" %V(\ "\ #  P + "manipulator"&<% +4 "core" %\ / m #> +2 "manipulator"&=& +4 "core" &0 + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"(>(K +668 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (?& +3 "core" &K\ \   +273 #t-> startTube 2 +1325 #-> $da[:extractVol]=.19 +20092 #-> purgeIntake +2 #Loading FlushPuck into Collection Clamp from FlushPuck::Garage + "collection"'@& +3 "core" &ZU  +2 .tHand.open + "manipulator"&A1 +60 "core" 1 + "manipulator"&B& +4 "core" &0 X +2 "manipulator"&C% +3 "core" % \ .  #> +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek FlushPuck::Garage + "manipulator"&D(, +171 "core" ( + "manipulator"&E& +4 "core" &, / y +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &F& +3 "core" &, O y +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :garage + "manipulator"&G' +107 "core" ' +2 .tHand.close + "manipulator"&H/ +54 "core" / + "manipulator"&I& +4 "core" &, ~ y +2 "manipulator"&J% +3 "core" %  +37 .tForearm.seek :retract +7 "manipulator"&K'\ +100 "core" ' +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&L( +285 "core" ( +2 "manipulator"&M& +4 "core" &* D @] + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &N& +3 "core" &*  @] +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&O'| +104 "core" ' + "manipulator"&P& +4 "core" &* z @\\ +2 "manipulator"&Q% +4 "core" %ρ 1 +2 "collection"'R& +3 "core" &Zq  +2 "collection"'S& +5 "core" &Zw  +2 .tCC.seek :closed +2 "collection"'T(] +4 "core" &ZU \  +9 &7T *x +9 &iV > +10 &RX I +9 &rW H +9 &sY H +10 &u[ H +9 &!ZrZ I +10 &#vO H +9 &$pZ H +9 &&tY H +10 &(bq[ I +9 &*%uY H +9 &+tV H +10 &-pV H +9 &/jsX I +10 &1+vP I +9 &2t[ H +9 &4uW H +10 &6ts\\ H +9 &84rS I +9 &9qY H +10 &;p[ H +9 &={oU H +10 &?>pY H +9 &@sR I +9 &BpY H +10 &DnU H +9 &FEpY H +9 &Hu\\ H +10 &I[ I +9 &KY L +10 &M:Ob\\ O +9 &N@DT P +9 &P:?[ Q +10 &Rz68W Q +9 &T:14Y R +9 &U-1T S +10 &W)+Z S +9 &Yx&(\\ T +10 &[;!%\\ T +9 &\\w\\ , +9 &]&U Q +9 ( +3 "collection"'S& +3 #tCollection Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.75 + "collection"'U& +4 "core" &]oV F + &]n\\ F +2 .tHand.open + "manipulator"&V1 +64 "core" 1 +2 "manipulator"&W% +4 "core" % x  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&X'\ +100 "core" ' +2 #tPurging external Intake + "collection"'Y& +4 "core" &]n$$Q F +2 "collection"'Z% +3 "core" %$$U +2 .tCSV.dial :flush + "collection"'[  +38 "core"  +2 .tCS.seek 10ml +2 "collection"'\\' +2201 "core" ' + .tdelay 5 seconds +503 ."connect"CSV.dial CBV +3 .tCBV.dial CSV +3 "collection"'] + '^  +69 "core"  +4  +2 .tCTV.dial :intake + "collection"'_  +66 "core"  + .tIntake.select :open +2 "sampler") +10 .tCS.seek 0ml + "collection"'`' +2164 "core" ' + .tIntake.select :close +2 "sampler")0 +9 .tCTV.dial :air + "collection"'a  +67 "core"  + #tGaraging FlushPuck in Collection Clamp +2 "manipulator"&b& +4 "core" &7"  :- +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&c( +30 "core" ( + "manipulator"&d& +4 "core" &  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &e& +3 "core" &  +2 .tForearm.seek CC + "manipulator"&f'| +101 "core" ' +2 .tHand.close + "manipulator"&g/ +52 "core" / +2 .tCC.seek :open + "collection"'h(p +412 "core" ( + "manipulator"&i& +4 "core" & Q  + "manipulator"&j% +4 "core" % z +2 .tForearm.seek :retract + "manipulator"&k'\ +94 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage +2 "manipulator"&l(, +272 "core" ( + "manipulator"&m& +4 "core" &,  S +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &n& +3 "core" &,  S +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :garage +2 "manipulator"&o' +110 "core" ' +2 .tHand.open +2 "manipulator"&p1 +62 "core" 1 + "manipulator"&q% +5 "core" %  $ w + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&r'\ +103 "core" ' +23404 "Can"g DA +13184 #t-> da 50 +2 #da sampling at most 50ml +5 #Loading sh1 puck from tube 2 into Collection Clamp + ."Qmail"DAfans.email "Started da in tube 2 at 09:57:26EDT24-Oct-22\\n{}\\nCTD data unavailable\\nISUS data unavailable\\nCan@09:55:14, 16% flow, 21.6C, 48% humidity, 14.5psia, 14.92V, 0.309A avg, 0.291A avg, 4.61W",Subject: "da sampling at most 50ml" +5 "collection"'s& +3 "core" & +2 "manipulator"&t% +5 "core" %\ 4 & +2 "storage"(u% +4 "core" %W#\ \  O + "storage"(v. +3 "core" .(K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 + "storage"(w(  +106 !"Qmail"o:!Net::SMTPAuthenticationError: mesg"E534-5.7.9 Application-specific password required. Learn more at\ :@checkpoint: omitted:bt["E/opt/mbari/lib/ruby/1.8/net/smtp.rb:954:in `check_auth_response'"/opt/mbari/lib/ruby/1.8/net/smtp.rb:723:in `authenticate'":/opt/mbari/lib/ruby/1.8/net/smtp.rb:566:in `do_start'"7/opt/mbari/lib/ruby/1.8/net/smtp.rb:525:in `start'"2/home/esp/esp2/lib/email.rb:325:in `sendOnce'"3/home/esp/esp2/lib/schedule.rb:292:in `unsync'"3/home/esp/esp2/lib/schedule.rb:594:in `unsync'"3/home/esp/esp2/lib/schedule.rb:621:in `unsync'"2/home/esp/esp2/lib/email.rb:318:in `sendOnce'"//home/esp/esp2/lib/email.rb:340:in `email'",/home/esp/esp2/lib/msg.rb:68:in `retry'"//home/esp/esp2/lib/email.rb:339:in `email'"./home/esp/esp2/lib/email.rb:348:in `mail'"-/home/esp/esp2/lib/email.rb:66:in `call'"3/home/esp/esp2/lib/email.rb:66:in `initialize'"-/home/esp/esp2/lib/email.rb:63:in `loop'"3/home/esp/esp2/lib/email.rb:63:in `initialize'"7/home/esp/esp2/lib/schedule.rb:481:in `initialize'"0/home/esp/esp2/lib/thread.rb:738:in `start'"7/home/esp/esp2/lib/schedule.rb:474:in `initialize'"'/home/esp/esp2/lib/schedule.rb:472 + !o:Email::Queue::Purge: mesg"Purged output queue:bt[ "//home/esp/esp2/lib/email.rb:106:in `purge'"3/home/esp/esp2/lib/email.rb:75:in `initialize'"-/home/esp/esp2/lib/email.rb:63:in `loop'"3/home/esp/esp2/lib/email.rb:63:in `initialize'"7/home/esp/esp2/lib/schedule.rb:481:in `initialize'"0/home/esp/esp2/lib/thread.rb:738:in `start'"7/home/esp/esp2/lib/schedule.rb:474:in `initialize'"'/home/esp/esp2/lib/schedule.rb:472 +1197 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (x& +3 "core" & \ # + "manipulator"&y& +4 "core" &, S +2 "manipulator"&z% +3 "core" %\ 4 & +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&{(; +183 "core" ( + "manipulator"&|& +5 "core" &6 ) m + "storage"(}& +4 "core" & \ O +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&~'Ѐ +95 "core" ' +2 "storage"(& +4 "core" & \ "\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('e +270 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +2 "core" & \ \ \  +2 "manipulator"&& +4 "core" &6  m +2 .tElbow.seek 2 + "manipulator"&(; +3 "core" ( +2 "manipulator"&& +3 "core" &6 p m +2 "storage"(& +4 "core" & \ \ !\  +2 .tForearm.seek 2 + 300 counts + "manipulator"&' +22 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"& / +60 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&\ & + "storage"( 'N +7 "core" &6 { p / m + "manipulator"& % +4 "core" % | | +2 .tForearm.seek :retract + "manipulator"& '\ +99 "core" ' +2 .tElbow.seek CC +2 "manipulator"&( +133 "core" ' + ."downElevator"SE.stop + "storage"(5 +11 "core" ( + "manipulator"&& +5 "core" &$ P ;4 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +2 "core" &$ " ;4 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&'| +104 "core" ' + "manipulator"&& +4 "core" &$ G ;4 +2 "manipulator"&% +4 "core" %p Q + "collection"'& +4 "core" & +2 "collection"'& +5 "core" &x +2 .tCC.seek :closed + "collection"'(] +4 "core" & +8 &< #b +10 &vY 6 +9 &~ I +9 &ms H +10 &ar{ H +9 &!r I +9 & pz H +10 &"q} I +9 &$grw I +9 &&*s H +10 &'n| I +9 &)q I +10 &+oqz I +9 &-3mw H +9 &.u I +10 &0s{ I +9 &2xp H +9 &4:v H +10 &5q H +9 &7q H +10 &9q G +9 &;Bp H +9 &=o H +10 &>m H +9 &@p H +9 &BKn H +10 &D o H +9 &Er H +10 &Gr H +9 &IP} I +9 &K  K +10 &L P +9 &N~} Q +9 &P@}~ Q +10 &R}~ R +9 &Sz{ R +10 &Uxz R +9 &WDwv S +9 &Ytv U +10 &Zst U +9 &\\rs A +9 &]s3qr "f +10 &]Gsu < +2 ( +2 "collection"'& +3 #tCollection Clamp onSpring/offSpring for 10/25 samples, on/off torque 1.81 + .Hand.open + "manipulator"&1 +60 "core" 1 +2 "manipulator"&% +5 "core" % p C + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&'\ +95 "core" ' +2 #tcollectSample 50ml w/bubble point of 24psi + #Priming 7ml +2 .Intake.select :close + .Exhaust.select :close +2 .SS.hold + "sampler")+ +4 "core" + + "sampler")% +4 "core" %, +2 "collection"'"& +3 "core" &]Nno < +3 "Can"h PN + #tCalibrating pressure and temperature sensors +4 .CTV.dial :air + .SSV.dial :spit,avoiding: :exhaust +2 .SS.reconfigure :fast +3 "sampler")#.0X +120 "core"  +2 .tSS.reconfigure :exhale +3 "sampler")#.0X9 +2 "core" 9  +102 "collection"'t9 +3 "core" 9 & +102 "collection"'x9 +3 "core" 9 : +102 "collection"'z9 +2 "core" 9 K +102 "collection"'|9 +3 "core" 9 \\ +102 "collection"'9 +3 "core" 9 l +102 "collection"'y9 +2 "core" 9 z +102 "collection"'r9 +3 "core" 9  +102 "collection"'q9 +2 "core" 9  +102 "collection"'}9 +4 "core" 9  +102 "collection"'l9 +2 "core" 9  +102 "collection"'9 +3 "core" 9  +102 "collection"'9 +3 "core" 9   +102 "collection"'9 +2 "core" 9   +102 "collection"'9 +3 "core" 9  +102 "collection"'9 +3 "core" 9  +102 "collection"' 9 +2 "core" 9  +102 "collection"'\ 9 +3 "core" 9  +102 "collection"' 9 +3 "core" 9 " +102 "collection"'~9 +3 "core" 9 & +102 "collection"' 9 +3 "core" 9 * +102 "collection"'{9 +2 "core" 9 . +102 "collection"'9 +3 "core" 9  2 +102 "collection"'9 +2 "core" 9 \ 7 +102 "collection"'9 +3 "core" 9  ; +84 "Can" )' +18 "collection"'9 +3 "core" 9  ? +102 "collection"'9 +3 "core" 9  C +102 "collection"'9 +2 "core" 9 G +102 "collection"' 9 +3 "core" 9\ L +102 "collection"'9 +3 "core" 9\ P +102 "collection"'h9 +2 "core" 9\ \ T +103 "collection"'9 +2 "core" 9\ X +102 "collection"'9 +2 "core" 9\ \\ +103 "collection"'9 +2 "core" 9\ ` +102 "collection"'"9 +3 "core" 9\ e +102 "collection"'9 +2 "core" 9\ i +102 "collection"'9 +3 "core" 9\ !m +102 "collection"'9 +2 "core" 9\ $q +102 "collection"'9 +3 "core" 9\ 'u +102 "collection"')9 +3 "core" 9\ +z +102 "collection"''9 +2 "core" 9\ /~ +102 "collection"'9 +3 "core" 9\ 2 +102 "collection"'9 +3 "core" 9\ 5  +102 "collection"'%9 +3 "core" 9\ 8! +102 "collection"' 9 +3 "core" 9\ :" +102 "collection"'(9 +2 "core" 9\ ># +102 "collection"'9 +3 "core" 9\ ;# +102 "collection"',9 +3 "core" 9\ F% +102 "collection"'.9 +2 "core" 9\ I% +102 "collection"'#9 +3 "core" 9\ L& +102 "collection"'-9 +3 "core" 9\ O' +102 "collection"'29 +2 "core" 9\ R' +102 "collection"'39 +3 "core" 9\ V) +102 "collection"'19 +3 "core" 9\ X) +102 "collection"'49 +2 "core" 9\ [) +102 "collection"'59 +3 "core" 9\ ]* +102 "collection"'09 +2 "core" 9\ _+ +102 "collection"'/9 +3 "core" 9\ b, +102 "collection"'99 +2 "core" 9\ d, +102 "collection"'89 +3 "core" 9\ d- +102 "collection"'69 +3 "core" 9\ g- +102 "collection"';9 +3 "core" 9\ h. +102 "collection"':9 +3 "core" 9\ g. +102 "collection"'!9 +3 "core" 9\ g. +102 "collection"'79 +3 "core" 9\ h/ +102 "collection"'@9 +2 "core" 9\ e/ +102 "collection"'?9 +3 "core" 9\ f/ +102 "collection"'B9 +2 "core" 9\ d/ +103 "collection"'C9 +2 "core" 9\ d/ +102 "collection"'F9 +3 "core" 9\ d0 +102 "collection"'$9 +3 "core" 9\ g/ +102 "collection"'H9 +3 "core" 9\ g0 +103 "collection"'I9 +2 "core" 9\ j0 +102 "collection"'J9 +3 "core" 9\ n/ +102 "collection"'&9 +3 "core" 9\ q/  +102 "collection"'<9 +3 "core" 9\ v0 +2 .tCH.hold 10:00,70C +3 "collection"'= `\ `\ q +2 'M9 +5 "core"  + 9\ v\ v +2 "collection"'N% +4 "core" % ; + #tBegun lysing Collection Puck Heater at 68.1C/30.8psia +54726 "Can"]  +5265 "core" ` + "collection"'G9 +4 "core" 9\  + "collection"'Q% +4 "core" % T U +2 #tEnded lysing Collection Puck Heater at 70C/27.8psia +2 .CS.seek 0ml + "collection"'R' +333 "core" ' +2 .tCTV.dial between spare and air,avoiding: :intake +2 "collection"'K @ +93 "core" A +2 .tCSV.dial :air + "collection"'* @ +39 "core" ? +2 .tCS.seek 5ml +2 "collection"'U's +1351 "core" ' + .tCSV.dial CTV +2 "collection"'V  +52 "core"  + .tdelay 2 seconds +202 .CSV.dial :air +2 "collection"'W @ +39 "core" ? + .tdelay 2 seconds +202 .CSV.dial CTV +2 "collection"'Y  +40 "core"  +2 .tdelay 2 seconds +202 .CSV.dial :air + "collection"'Z @ +40 "core" > +2 .tdelay 2 seconds +202 .CS.seek 0ml +2 "collection"'S' +1371 "core" ' + "collection"'[% +4 "core" %\ )\ )  + #tPuck @40.0psia after final lysis pressurization +2 #Recovering Lysate into Collection syringe + .CSV.dial CBV +2 "collection"'O +92 "core"  + .tCBV.dial CSV +2 "collection"'  +30 "core"  + "collection"']% +4 "core" %  +2 .tCS.seek 5.001ml + "collection"'D's +1359 "core" ' + .tdelay 5 seconds +502 .CTV.dial :air +3 "collection"'^  +39 "core" +2 "collection"'P% +3 "core" %s   +2 .tCS.seek 7.001ml +2 "collection"'\\' +599 "core" ' + .tdelay 5 seconds +502 .CSV.dial :air2 +3 "collection"'a @ +38 "core" > +2 .tCS.seek 10ml + "collection"'b' +850 "core" ' + .tCSV.dial between air and CTV,avoiding: CBV +2 "collection"'g ` +103 "core" ^ +2 #tLysing Complete + "collection"'d& +4 "core" &]L < +2 #tStoring sh1 puck in Collection Clamp to tube 1 + "manipulator"&X% +4 "core" %\ 3  %y +2 "storage"(`% +3 "core" %@\ \   +2 "storage"(e. +2 "core" .(  +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 1 + "storage"(T(B +362 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (i& +3 "core" &C q +2 "manipulator"&f& +3 "core" &"  :, +2 "manipulator"&_% +3 "core" %\ 3  %y +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 1 + "manipulator"&m(c +155 "core" ( + "manipulator"&n& +4 "core" &f @ +2 "storage"(c& +4 "core" &D\ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 1 + 450 counts + "manipulator"&p'Ф +98 "core" ' + "storage"(L& +5 "core" &D\ \  + .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(k'e +269 "core" ' +2 "storage"(o- +3 "core" -'e +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek :place + "storage"(s'B +39 "core" ' +2 "manipulator"&j& +4 "core" &f  + "manipulator"&u% +4 "core" %У   +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&v'\ +96 "core" ' +2 .tElbow.seek CC + "manipulator"&>( +155 "core" ( + "manipulator"&t& +4 "core" &#  ;5 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &x& +3 "core" &#  ;5 +2 .tForearm.seek CC + "manipulator"&z'| +95 "core" ' +2 .tHand.close + "manipulator"&|/ +52 "core" / +2 .tCC.seek :open + "collection"'(p +411 "core" ( +2 "storage"(y& +4 "core" &D\ \  6 + "storage"(r& +4 "core" &D\ "\ "  + "manipulator"&q& +4 "core" & C 8 + "manipulator"&}% +4 "core" % f S  +2 .tForearm.seek :retract + "manipulator"&l'\ +98 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 1 +2 "manipulator"&(c +151 "core" ( +2 "manipulator"&& +4 "core" &c O + "storage"(& +4 "core" &D\ "\ " +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 1 + "manipulator"&' +111 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"& 1 +60 "core" 1 +2 "manipulator"&\ % +4 "core" % z +2 "storage"( & +3 "core" &D \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 1 + 305 counts +2 "manipulator"&~' +22 "core" ' + "manipulator"& & +4 "core" &c i Z P +2 "storage"({& +4 "core" &D\ C\ C +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 1 + 450 counts + "manipulator"&'Ф +18 "core" ' +2 "storage"(% +4 "core" %J\ D\ C +3 ."downElevator"SE.seek :down +3 "storage"('N +98 (% +3 "core" %F\ !\  NA +2 "manipulator"&% +4 "core" %Д b V  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&'\ +93 "core" ' +56 ' + ."downElevator"SE.stop + "storage"(5 +3 #tTranferring DA +2 #Beginning samplePassC +56 #Loading FlushPuck into Collection Clamp from FlushPuck::Garage +2 "collection"' & +4 "core" & + "manipulator"&& +5 "core" &c  + "manipulator"&h% +4 "core" %\ 1 _ $t +2 .tElbow.seek FlushPuck::Garage + "manipulator"&(, +185 "core" ( + "manipulator"&& +4 "core" &, q  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &,   +2 .tForearm.seek :garage +2 "manipulator"&"' +108 "core" ' +2 .tHand.close + "manipulator"&/ +61 "core" / +2 "manipulator"&& +4 "core" &, )  +2 "manipulator"&% +3 "core" %  I +2 .tForearm.seek :retract +2 "manipulator"&'\ +100 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&)( +279 "core" ( +2 "manipulator"&'& +4 "core" & " O :1 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +2 "core" & "  :1 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&'| +102 "core" ' +2 "manipulator"&%& +4 "core" & "  :1 + "manipulator"& % +4 "core" %~  +2 "collection"'(& +4 "core" & +2 "collection"'& +5 "core" & +2 .tCC.seek :closed +3 "collection"',(] +3 "core" & +7 &C #c +9 &p[j 6 +9 & H +10 &j  F +9 &cp  G +9 &$m  G +10 & p G +9 &"o G +10 &$km G +9 &&.o F +9 &'o G +10 &)r  G +9 &+tp  F +9 &-6o!u F +10 &.pV G +9 &0q G +9 &2{p G +10 &4<s! $ G +9 &5k  G +10 &7n F +9 &9n F +9 &;Fo F +10 &=n  F +9 &>n! F +9 &@nx G +10 &BMs G +9 &Do  F +10 &Er  G +9 &Gm G +9 &IQx"z H +10 &K a K +9 &LQ N +9 &N P +10 &PB P +10 &R Q +9 &S & R +9 &U  R +10 &WA S +9 &Y T +9 &Z T +9 &\\ A +10 &]^. 2 +9 &][ C +2 ( +2 "collection"'& +3 #tCollection Clamp onSpring/offSpring for 9/25 samples, on/off torque 1.82 + "collection"'.& +5 "core" &]Y C + .tHand.open + "manipulator" +64 "core" 1 + "manipulator"&-% +5 "core" % q R + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&2'\ +101 "core" ' + .tPSV.dial PSR +2 "processing"%3 +127 "core"  + "processing"%1% +4 "core" %8 +2 #tPulling 1.5ml of PSR.flush + .PSR.select :flush +2 "processing"%j +10 .tPS.seek 1.5ml + "processing"%4' +1615 "core" ' + .tdelay 5 seconds +503 .PSV.dial :waste1 + "processing"%5  +40 "core"  +2 .tPS.seek 0ml +2 "processing"%0' +1622 "core" ' +2 .tPSV.dial PSR + "processing"%/ +48 "core"  + .tPSR.select :air +2 "processing"% +9 .tPS.seek 2.5ml +2 "processing"%9'm +2648 "core" ' +2 ."connect"PRV.dial CBV,avoiding: :ab2 +3 .tCBV.dial PRV +2 "processing"%8 +2 "collection"'6  +5 "core"  +2 "processing"%;  +15 "core"  +50 +2 .tPSV.dial :mixloop + "processing"%: +96 "core" + .tCTV.dial :air,avoiding: :intake +2 .PTV.dial :PRVmixing + "processing"%!  +67 "core" +2 .tPS.seek 0ml +2 "processing"%7' +2639 "core" ' + .tPSV.dial :air + "processing"%@  +43 "core"  +2 .tPS.seek 2.5ml +2 "processing"%?'m +2654 "core" ' + .tPSV.dial :mixloop + "processing"%B +49 "core" +2 .tPS.seek 0ml +2 "processing"%C' +2642 "core" ' + .tPSV.dial :air + "processing"%F  +49 "core"  +2 .tPS.seek 2.5ml + "processing"%$'m +2652 "core" ' + .tPSV.dial :mixloop +2 "processing"%H +48 "core" +2 .tPS.seek 0ml +2 "processing"%I' +2638 "core" ' +2 #tGaraging FlushPuck in Collection Clamp +2 "manipulator"&J& +4 "core" &* Q 6 + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&&( +28 "core" ( +2 "manipulator"&<& +4 "core" &  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &M& +2 "core" &   +3 .tForearm.seek CC + "manipulator"&N'| +104 "core" ' + .tHand.close +2 "manipulator"&E/ +61 "core" / +2 .tCC.seek :open + "collection"'=(p +411 "core" ( +2 "manipulator"&G& +4 "core" &   + "manipulator"&Q% +4 "core" % t  e +2 .tForearm.seek :retract + "manipulator"&A'\ +99 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage + "manipulator"&K(, +282 "core" ( + "manipulator"&*& +4 "core" &, h  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &R& +3 "core" &, K  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek :garage + "manipulator"&V' +111 "core" ' + .tHand.open +2 "manipulator"&W1 +61 "core" 1 + "manipulator"&Y% +4 "core" % q   Ÿs +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&Z'\ +96 "core" ' + .tPSV.dial :mixloop +2 .PTV.dial :PRVmixing +2 ."connect"PRV.dial CBV +3 .tCBV.dial PRV + .CTV.dial :air,avoiding: :intake +3 #Loading lyfil puck from tube 2 into Collection Clamp + "collection"'U& +4 "core" &MO +2 "manipulator"&[% +3 "core" %\ % 7 8 +2 "storage"(O% +4 "core" %D\ C\ @ b  + "storage"(. +3 "core" .(B +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 + "storage"(](  +364 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (S& +2 "core" &  \  J  +2 "manipulator"&^& +4 "core" &, 8  + "manipulator"&P% +4 "core" %\ % * 8 +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&D(; +183 "core" ( +2 "manipulator"&a& +4 "core" &D  + "storage"(\\& +4 "core" & \ C\ C  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&g'Ѐ +98 "core" ' +2 "storage"(d& +4 "core" & \ C\ =  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(X'e +287 "core" ' +2 "storage"(`- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (e& +2 "core" & \ 3\ (  +2 "manipulator"&w& +4 "core" &D _ _  + .tElbow.seek 2 +2 "manipulator"&i(; +3 "core" ( +2 "manipulator"&f& +4 "core" &D s Y  + "storage"(_& +4 "core" & \ C\ C  +2 .tForearm.seek 2 + 300 counts + "manipulator"&n' +25 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&c/ +60 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&L& + "storage"('N +6 "core" &D x +2 "manipulator"&% +3 "core" % U +2 .tForearm.seek :retract +2 "manipulator"&o'\ +99 "core" ' + .tElbow.seek CC +2 "manipulator"&j( +143 "core" ' + ."downElevator"SE.stop + "storage"(5 +28 "core" ( +2 "manipulator"&u& +4 "core" & 8 ; + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &k& +2 "core" & l ; +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&t'| +99 "core" ' +2 "manipulator"&x& +4 "core" & \ ; +2 "manipulator"&p% +4 "core" %ς  +2 "collection"'m& +4 "core" &LO +2 "collection"'|& +4 "core" &LP +2 .tCC.seek :closed +2 "collection"'v(] +4 "core" &PP  +10 &6MNt )w +9 &kMNw = +9 &}NQs G +10 &LnMOc F +9 & nOP G +9 &mMO G +10 &!oNO G +9 &#SoOP G +10 &%pNL G +9 &&nNO F +9 &(mON G +10 &*[pONm G +9 &,lMOf F +9 &-pMQG G +10 &/nNO9 G +9 &1cnMO, G +10 &3%mNN G +9 &4mPN G +9 &6pMN G +10 &8klMOZ G +9 &:.lNO F +9 &;mMO F +10 &=nON G +9 &?soNNt G +9 &A5qLP G +10 &BqMN G +9 &DkOP F +10 &F{oOO G +9 &H<vMQ G +9 &IIM J +10 &K M +9 &Mh./ P +9 &O,/1 O +10 &P64 Q +9 &R;< Q +10 &Tk7; R +9 &V+34 R +9 &W,1 R +10 &Y+. T +9 &[o$( S +9 &]p!# %t +10 &]*" Q +9 ( +2 "collection"'|& +4 #tCollection Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.86 + .Hand.open + "manipulator"&1 +4 "core" &]J > +58 1 + "manipulator"&y% +4 "core" % π H +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&r'\ +91 "core" ' +2 .tCTV.dial CSV,avoiding: :intake +2 "collection"'q  +120 "core" ~ + .tCSV.dial CTV +2 "collection"'}  +28 "core"  +2 .tPS.seek 2.5ml +2 "processing"%'m +2648 "core" ' + "collection"'% +4 "core" %\   +2 .tCS.seek 4.5ml + "collection"'z'd +1501 "core" ' +2 .tdelay 8 seconds +802 .PSV.dial :air +2 "processing"%>  +45 "core"  +2 .tdelay 2 seconds +202 .PSV.dial :waste2 + "processing"%  +67 "core"  +7 .tPS.seek 0ml + "processing"%\ ' +2634 "core" ' +2 .tCBV.dial between PRV and waste1 +2 "collection"' ` +29 "core" _ +2 .tCSV.dial :air + "collection"' @ +41 "core" > +2 .tCS.seek 10ml +2 "collection"'{' +1485 "core" ' + .tCSV.dial CTV +2 "collection"'  +41 "core"  +2 .tCS.seek 0ml + "collection"'l' +2619 "core" ' + .tCBV.dial :waste1 + "collection"' @ +27 "core" ? +2 .tdelay 5 seconds +502 .CTV.dial :air,avoiding: :intake +3 "collection"'  +118 "core" +2 "collection"'& +4 "core" &]L > +2 #tStoring lyfil puck in Collection Clamp to tube 1 + "manipulator"&% +4 "core" %\ &  9 + "storage"( % +4 "core" %I\ \ X  + "storage"(~. +3 "core" .(  +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 1 + "storage"(s(B +368 "core" ( +55 .tSC.configure :limp +4 "storage"($\ 1b +2 (& +3 "core" &E b + "manipulator"&h& +4 "core" &  ; + "manipulator"&% +4 "core" %\ &  9 +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 1 + "manipulator"&(c +156 "core" ( +2 "manipulator"&& +4 "core" &l 7  + "storage"(& +4 "core" &E\ \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 1 + 450 counts + "manipulator"&'Ф +103 "core" ' +2 "storage"(& +4 "core" &E\ !\ " +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"('e +278 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&& +3 "core" &l b k j  +2 "storage"("& +3 "core" &E\ !\ ! V +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 1 +2 "manipulator"&'' +27 "core" ' + .tElbow.hold + "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(- +3 "core" -' +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(%'k +25 "core" ' + "manipulator"& % +5 "core" %| Q üD + "storage"((& +4 "core" &E + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 1 + 319 counts +2 "manipulator"&'! +17 "core" ' +2 "manipulator"&& +4 "core" & Z t  +2 "storage"(.& +4 "core" &E\ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 1 + 450 counts + "manipulator"&#'Ф +21 "core" ' +2 .tSE.seek 1.11 Pucks below Top Plate +2 "storage"(-'Z +42 "core" ' +2 "manipulator"&& +4 "core" & p n  + "manipulator"&3% +4 "core" %Ц n n  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&1'\ +94 "core" ' +2 .tElbow.seek CC +2 "manipulator"&( +154 "core" ( +2 "manipulator"&5& +4 "core" &" :, +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &4& +3 "core" &#  :, +2 .tForearm.seek CC +2 "manipulator"&/'| +103 "core" ' + .tHand.close +2 "manipulator"&0/ +56 "core" / +2 .tCC.seek :open +2 "collection"'8(p +411 "core" ( + "storage"(;& +4 "core" &E\ "\ " +2 "storage"(6& +3 "core" &E\ "\ !  +2 "manipulator"&:& +3 "core" & !  8 +2 "manipulator"&!% +3 "core" % o  f +2 .tForearm.seek :retract +2 "manipulator"&9'\ +90 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 1 + "manipulator"&@(c +168 "core" ( + "manipulator"&7& +4 "core" &g , { +2 "storage"(B& +3 "core" &E\ "\ ! +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 1 + "manipulator"&?' +107 "core" ' + .tElbow.hold +2 "manipulator"&F, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&C1 +57 "core" 1 +2 "manipulator"&H% +5 "core" % % + "storage"($& +4 "core" &E\ \ \  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 1 + 316 counts + "manipulator"&J' +20 "core" ' + "manipulator"&<& +4 "core" & Y h f +2 "storage"(M& +3 "core" &E\ C\ C +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 1 + 450 counts +2 "manipulator"&E'Ф +16 "core" ' +2 "storage"()% +5 "core" %_\ C\ C +2 ."downElevator"SE.seek :down +3 "storage"(2'N +99 (,% +3 "core" %D\ !\ " N? + "manipulator"&G% +4 "core" %Ы j a  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&Q'\ +93 "core" ' +46 ' + ."downElevator"SE.stop + "storage"(5 +3 .tPSV.dial :air + "processing"%N  +74 "core" +2 .tPS.seek 2.5ml +2 "processing"%*'m +2127 "Can"L @= +527 "core" ' +2 .tdelay 1 second +102 .PSV.dial :mixloop + "processing"%R +40 "core" +2 .tdelay 1 second +102 .PSV.dial :air + "processing"%&  +47 "core"  +2 .tdelay 1 second +101 .PSV.dial :mixloop +2 "processing"%W +46 "core" +2 .tdelay 1 second +102 .PSV.dial :air + "processing"%Y  +47 "core"  +2 .tdelay 1 second +102 .PS.seek 0ml +2 "processing"%U' +2641 "core" ' + #tLoading FlushPuck into Processing Clamp from FlushPuck::Garage +2 "processing"%A& +4 "core" &Y  + "manipulator"&[& +4 "core" & t + "manipulator"&O% +4 "core" %\ 3 v %w +2 .tElbow.seek FlushPuck::Garage + "manipulator"&(, +185 "core" ( + "manipulator"&V& +4 "core" &, x  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &T& +3 "core" &, P  +2 .tForearm.seek :garage + "manipulator"&S' +98 "core" ' +2 .tHand.close + "manipulator"&^/ +63 "core" / + "manipulator"&P& +4 "core" &,   +2 "manipulator"&a% +4 "core" %  P = +2 .tForearm.seek :retract + "manipulator"&\\'\ +103 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +2 "manipulator"&K(c +123 "core" ( +2 "manipulator"&d& +4 "core" &l < + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &Z& +3 "core" &l ? +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&`'[ +102 "core" ' +2 "manipulator"&e& +4 "core" &l  8 +2 "manipulator"&w% +3 "core" %O  6 +2 "processing"%f& +4 "core" &Yx  +2 "processing"%_& +4 "core" &Yn  +2 .tPC.seek :closed +2 "processing"%c(Z +4 "core" &Yo  +8 &nOt $e +9 &V_q 7 +9 &y H +10 &kz G +9 &Qm G +9 &m{ G +10 & n| H +9 &"k G +10 &$Ym G +9 &&l G +9 &'k G +10 &)m G +9 &+al G +9 &-#m G +10 &.m G +9 &0m G +10 &2il G +9 &4+k G +9 &5k G +10 &7m G +9 &9qk G +9 &;3m G +10 &<l G +9 &>m G +9 &@yn G +10 &B;mG G +9 &Cl G +10 &Em: G +9 &Gs G +9 &I?w H +10 &J J +9 &L L +9 &Nx M +10 &P: M +9 &Q M +10 &S M +9 &U~4 N +9 &W@ N +10 &Y N +9 &ZSDg &n +9 &Z+! % +6 ( +2 "processing"%_& +4 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.46 + "processing"%L& +4 "core" &Z % + &Z % + .tHand.open +2 "manipulator"&1 +55 "core" 1 +2 "manipulator"&D% +4 "core" % O ~ 6 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&g'\ +93 "core" ' + .tPRV.dial :air +2 "processing"%u  +40 "core"  +2 .tPSV.dial :mixloop + "processing"%k +100 "core" +2 "processing"%X% +4 "core" % +2 .tPS.seek 0.3ml +2 "processing"%n'e +404 "core" ' +2 .tPSV.dial PSR + "processing"%x +98 "core"  +2 "processing"%i% +4 "core" %`> + #tPulling 0.4ml of PSR.air + .PSR.select :air +3 .PS.seek 0.7ml + "processing"%p'. +494 "core" ' +2 .tdelay 3 seconds +302 .PSR.select :air +2 .PS.seek 2.5ml +2 "processing"%m'm +1942 "core" ' + .tdelay 3 seconds +302 .PSV.dial :mixloop + "processing"% +102 "core" + .tPTV.dial :mixing +2 "processing"%o @ +66 "core" @ + .tPBV.dial :waste2 + "processing"%=  +87 "core"  +2 .tPS.seek 0ml +2 "processing"%' +2638 "core" ' + #tGaraging FlushPuck in Processing Clamp +2 "manipulator"&y& +4 "core" &l @ +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC + "manipulator"&|(c +4 "core" ( + "manipulator"&q& +4 "core" &l F +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &}& +3 "core" &l J +2 .tForearm.seek PC +51 "manipulator"&t'[ +100 "core" ' + .tHand.close +2 "manipulator"&I/ +56 "core" / +2 .tPC.seek :open + "processing"%(p +393 "core" ( + "manipulator"&b& +4 "core" &l N + "manipulator"&>% +4 "core" % [ 5 +2 .tForearm.seek :retract + "manipulator"& '\ +102 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek :garage + "manipulator"&(, +125 "core" ( + "manipulator"& & +5 "core" &, z  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 & & +2 "core" &, X  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :garage +2 "manipulator"&z' +108 "core" ' +2 .tHand.open + "manipulator"&1 +60 "core" 1 + "manipulator"&{% +4 "core" %  0 0 +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +103 "core" ' +2 #tLoading da puck from tube 2 into Processing Clamp + "processing"%& +5 "core" & + "manipulator"&% +4 "core" %\ 3 e %| + "storage"(% +4 "core" %?\ \ !  +2 "storage"( . +3 "core" .(E + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"(~(  +360 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (]& +3 "core" & \ \   + "manipulator"&& +4 "core" &, W  + "manipulator"&h% +4 "core" %\ 3 9 %| +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&(; +176 "core" ( +2 "manipulator"&& +4 "core" &: 3 "z + "storage"(& +4 "core" & \ \ !  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&'Ѐ +95 "core" ' + "storage"(j& +4 "core" & \ C\ C  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(r'e +281 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (& +3 "core" & \ !\   + "manipulator"&"& +4 "core" &:  "z +2 .tElbow.seek 2 + "manipulator"&(; +4 "core" ( + "manipulator"& & +4 "core" &:  "z + "storage"((& +4 "core" & \ \  T  +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&' +20 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&./ +61 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"&& "storage"(3'N +8 "core" &: s . "z + "manipulator"&% +4 "core" % g h = +2 .tForearm.seek :retract +2 "manipulator"&'\ +90 "core" ' +2 .tElbow.seek PC +2 "manipulator"&(c +163 "core" ' + ."downElevator"SE.stop + "storage"(5 +89 "core" ( +2 "manipulator"&'& +4 "core" &l A + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &l V +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&%'[ +99 "core" ' +2 "manipulator"&5& +4 "core" &l  +2 "manipulator"&4% +4 "core" %d 8 +2 "processing"%#& +4 "core" &0 +2 "processing"%& +4 "core" &% +2 .tPC.seek :closed +2 "processing"%0(Z +4 "core" &6  +9 &85 *x +10 &l2 > +9 &{) H +10 &Ok) G +9 &m G +9 &i G +10 &!m" G +9 &#Uk$ G +9 &%j G +10 &&j G +9 &(f G +10 &*^j G +9 &, k G +9 &-k G +10 &/n G +9 &1ek G +9 &3'l G +10 &4k G +9 &6k G +9 &8mk G +10 &:/j< G +9 &;k G +10 &=m< G +9 &?vi G +9 &A8mZ G +10 &Bk G +9 &Dl4 G +9 &FlM G +10 &H>pN H +9 &IyY I +10 &KX J +9 &MwP L +9 &O6M M +10 &PS M +9 &RS M +9 &T}A M +10 &V>E M +9 &X> M +10 &Y> 2 +9 &Z-J T +9 &ZF * +3 ( + "processing"%& +4 #tProcessing Clamp onSpring/offSpring for 8/26 samples, on/off torque 1.47 + .Hand.open + "manipulator"&11 +54 "core" 1 + "manipulator"&v% +4 "core" % d R +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&;'\ +99 "core" ' +3 #tHeating Puck.from 2, :da in Processing Clamp to 28C for 2:00:00 +2 .PH.seek 28C,5:00 +2 "processing"%6  +2 %:9 +6 "core" 9 +102 "processing"%!9 +2 "core" 9 +102 "processing"%79 +3 "core" 9  +102 "processing"%B9 +2 "core" 9  +102 "processing"%/9 +3 "core" 9 +102 "processing"%9 +3 "core" 9 +102 "processing"%C9 +2 "core" 9 +102 "processing"%H9 +2 "core" 9 +102 "processing"%$9 +3 "core" 9" +102 "processing"%<9 +3 "core" 9& +102 "processing"%M9 +2 "core" 9* +103 "processing"%)9 +2 "core" 9/ +102 "processing"%99 +2 "core" 93 +102 "processing"%,9 +3 "core" 97 +102 "processing"%G9 +2 "core" 9; +102 "processing"%@9 +3 "core" 9? +102 "processing"%?9 +2 "core" 9C +102 "processing"%J9 +2 "core" 9H +102 "processing"%-9 +3 "core" 9L +102 "processing"%N9 +2 "core" 9 P +102 "processing"%E9 +3 "core" 9T +102 "processing"%29 +2 "core" 9X\ +102 "processing"%\ 9 +2 "core" 9&] +102 "processing"%R9 +3 "core" 90a +102 "processing"%&9 +2 "core" 9:e +102 "processing"%W9 +3 "core" 9Ci +102 "processing"%Y9 +3 "core" 9Mm +102 "processing"%*9 +2 "core" 9Wq +102 "processing"%A9 +2 "core" 9av +102 "processing"%[9 +3 "core" 9jz +102 "processing"%O9 +3 "core" 9s~ +102 "processing"%V9 +2 "core" 9| +3 .tPH.hold 2:00:00,28C +3 "processing"%T pp| + .tdelay 1:30 +5 "core"  +9000 .tPSR.select :air +2 .PSV.dial PSR +2 "processing"%F +100 "core"  +2 "processing"%^% +3 "core" % +2 #tPulling 0.5ml of PSR.wash + .PSR.select :wash +2 "processing"% +10 .tPS.seek 0.5ml +2 "processing"%P' +594 "core" ' +2 .tdelay 5 seconds +502 .PSR.select :air +2 "processing"% +10 .tPS.seek 2ml + "processing"%a'ԏ +1658 "core" ' + .tPTV.dial :puck +2 "processing"%Q  +66 "core"  + .tPSV.dial PTV +2 "processing"%d +75 "core" + .tPBV.dial :waste1 +2 "processing"%Z  +120 "core"  +2 "processing"%S% +4 "core" %Ԉ  +2 .tPS.seek 1.5ml + "processing"%e' +608 "core" ' +2 .tdelay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%w * +32 "core" , +2 .tPS.seek 0ml + "processing"%f' +1606 "core" ' +2 .tdelay 5:00 +26733 "Can"  +3269 #trecoverPSRreagent08 + .PTV.dial :puck + .PBV.dial :waste1 +2 "processing"%  +32 "core"  +2 .tdelay 30 seconds +3002 .PBV.dial between PSV and waste1 +2 "processing"%\\ * +33 "core" , +2 .tPSR.select :air +2 .PSV.dial PSR +2 "processing"%+ +73 "core"  + .tPS.reconfigure :fast +3 "processing"%#A ,`xb +2 .tPS.seek 2.5ml +2 "processing"%L'm +2234 "core" ' + .tPSV.dial PTV +2 "processing"% +86 "core"  + .tdelay 5 seconds +503 .PSV.dial PSR + "processing"%D +71 "core"  +2 .tdelay 5 seconds +502 .PSV.dial PTV +2 "processing"%_ +74 "core" +2 .tdelay 5 seconds +502 .PSV.dial :air + "processing"%u  +69 "core"  +2 .tPS.seek 0ml + "processing"%k' +2175 "core" ' + .tPTV.dial :PRVmixing,via: PRV +2 "processing"%X  +117 "core" + .tPSV.dial :mixloop +2 "processing"%` +48 "core" +2 .tPRV.dial :ab1 +2 "processing"%U @ +67 "core" A +2 .tPS.reconfigure :slow +2 "processing"%#A 2`xb +2 .tPS.seek 0.15ml +2 "processing"%x'@ +381 "core" ' + .tdelay 2 seconds +202 ."connect"CBV.dial PRV +4 .tPRV.dial CBV +2 "collection"'i  + "processing"%n  +42 "core"  + +2 "processing"%p% +4 "core" %@  +2 .tPS.seek 0.34ml + "processing"%' +432 "core" ' + .tdelay 2 seconds +202 .CBV.dial between PRV and PSV +2 "collection"'o  +27 "core" +2 .tPRV.dial :air + "processing"%=  +40 "core"  +2 .tPS.seek 0.9ml + "processing"%m'H +1190 "core" ' +2 .tPRV.dial :waste2 + "processing"%y @ +68 "core" > +2 .tPS.seek 0.5ml + "processing"%q' +867 "core" ' + #taddPMLReagent08 +2 .PSV.dial :air +52 "processing"%}  +46 "core"  +2 .tPS.reconfigure :default +3 "processing"%#A d`xb +2 .tPS.seek 2ml + "processing"%I'ԏ +1616 "core" ' + .tPSV.dial :PML + "processing"%K +46 "core" +2 .tPTV.dial :mixing + "processing"%g @ +66 "core" B + .tPBV.dial :waste1 +2 "processing"%c  +33 "core"  +2 "processing"%b% +4 "core" %ԑ   +2 .tPS.seek 1.85ml + "processing"%>'h +232 "core" ' + .tPBV.dial between PSV and waste1 +2 "processing"% * +33 "core" , +2 .tPS.seek 0ml + "processing"% ' +1973 "core" ' +2 .tdelay 2 seconds +202 #Beginning samplePassC + #Loading FlushPuck into Collection Clamp from FlushPuck::Garage +2 "collection"'t& +3 "core" &abw +2 "manipulator"&|& +4 "core" &l  + "manipulator"&% +4 "core" %\ 4  & +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek FlushPuck::Garage +2 "manipulator"&{(, +131 "core" ( + "manipulator"&& +4 "core" &,\ B X +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &,\  X +2 .tForearm.seek :garage +2 "manipulator"& ' +107 "core" ' + .tHand.close + "manipulator"&/ +55 "core" / +2 "manipulator"& & +4 "core" &, . Q +2 "manipulator"&z% +4 "core" %   +2 .tForearm.seek :retract + "manipulator"&s'\ +96 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&]( +269 "core" ( +2 "manipulator"&& +4 "core" &$ R <; +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &h& +3 "core" &% 9 <; +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&'| +95 "core" ' +2 "manipulator"&& +4 "core" &% + <; +2 "manipulator"&j% +3 "core" %φ I +2 "collection"'& +4 "core" &ba +2 "collection"'& +5 "core" &ab +2 .tCC.seek :closed +2 "collection"'(] +4 "core" &^am +7 &;`am #c +10 &nY``t 6 +9 &`be I +10 &kbag H +9 &[qaao H +9 &u`bg H +10 & r`ek H +9 &"pacs H +9 &$crabo H +10 &&%s`at H +9 &'paat H +10 &)q`bu H +9 &+jq_`m H +9 &-,p_bo H +10 &.madv H +9 &0rb`x H +9 &2sr`aj H +10 &45r``f H +9 &5oaar H +10 &7p`^t H +9 &9|o`ai H +9 &;=s_co H +10 &=o`ai H +9 &>p`bu H +9 &@p^an H +10 &BFq``r H +9 &Doads H +10 &Er^ap H +9 &Gn`as H +9 &IJu[]r I +10 &KSXt K +9 &L@Gx N +9 &N{48u P +10 &P<43o Q +9 &Q/1w Q +10 &S-0w Q +9 &Uw-.v T +9 &W@**t R +10 &X()v S +9 &Z)'w V +9 &\\}#%w B +10 &]q3%&s "g +9 &]O%&i = +3 ( + "collection"'& +3 #tCollection Clamp onSpring/offSpring for 10/26 samples, on/off torque 1.83 +2 "collection"'& +4 "core" &]M#& = + .tHand.open +2 "manipulator"&"1 +57 "core" 1 +2 "manipulator"& % +4 "core" % υ T +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&('\ +92 "core" ' +2 .tPSV.dial PSR + "processing"%. +95 "core"  +2 "processing"%% +4 "core" % +2 #tPulling 1.5ml of PSR.flush + .PSR.select :flush +2 "processing"%@ +10 .tPS.seek 1.5ml + "processing"%' +1619 "core" ' +2 .tdelay 5 seconds +502 .PSV.dial :waste1 +2 "processing"%  +41 "core"  +2 .tPS.seek 0ml +2 "processing"%' +1608 "core" ' +2 .tPSV.dial PSR + "processing"%r +47 "core"  +2 .tPSR.select :air +2 "processing"% +10 .tPS.seek 2.5ml + "processing"%'m +2651 "core" ' +2 ."connect"PRV.dial CBV,avoiding: :ab2 +4 .tCBV.dial PRV +2 "processing"%'  + "collection"'  +32 "core"  +112  +2 .tPSV.dial :mixloop + "processing"% +96 "core" + .tCTV.dial :air,avoiding: :intake +2 .PTV.dial :PRVmixing + "processing"%5  +67 "core" +2 .tPS.seek 0ml +2 "processing"%4' +2635 "core" ' +2 .tPSV.dial :air + "processing"%#  +42 "core"  +2 .tPS.seek 2.5ml + "processing"%3'm +2631 "core" ' + .tPSV.dial :mixloop + "processing"% +48 "core" +2 .tPS.seek 0ml + "processing"%' +2634 "core" ' + .tPSV.dial :air +2 "processing"%1  +47 "core"  +2 .tPS.seek 2.5ml + "processing"%v'm +2650 "core" ' + .tPSV.dial :mixloop +2 "processing"%: +47 "core" +2 .tPS.seek 0ml + "processing"%' +2635 "core" ' + #tGaraging FlushPuck in Collection Clamp + "manipulator"&!& +5 "core" & O 7 + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&%( +27 "core" ( + "manipulator"&7& +4 "core" & 9 % +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &B& +2 "core" &  % +2 .tForearm.seek CC +2 "manipulator"&/'| +107 "core" ' + .tHand.close +2 "manipulator"&/ +53 "core" / +2 .tCC.seek :open +2 "collection"'C(p +410 "core" ( + "manipulator"&H& +5 "core" & v r  % + "manipulator"&$% +4 "core" % j t " +2 .tForearm.seek :retract + "manipulator"&<'\ +91 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage +2 "manipulator"&M(, +279 "core" ( +2 "manipulator"&)& +4 "core" &, R  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &9& +3 "core" &,   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :garage + "manipulator"&,' +112 "core" ' +2 .tHand.open + "manipulator"&G1 +56 "core" 1 +2 "manipulator"&@% +4 "core" %  1 N +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&?'\ +99 "core" ' + ."da"delayUntil "10:46:41.86" +16144 "Can" {{ +8729 #"da"recoverPRVreagent08 +2 .PTV.dial :mixing + "processing"%J @ +67 "core" B +2 ."da"PBV.dial :waste1 + "processing"%-  +33 "core"  +2 ."da"delay 30 seconds +3002 .PBV.dial between PSV and waste1 +2 "processing"%N * +33 "core" , +2 ."da"PSV.dial :air +2 "processing"%E  +46 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%2'm +2185 "core" ' + ."da"PSV.dial :mixloop +2 "processing"%\ +47 "core" +2 ."da"delay 2 seconds +202 .PSV.dial :air + "processing"%R  +47 "core"  + ."da"delay 2 seconds +202 .PSV.dial :mixloop +2 "processing"%& +46 "core" +2 ."da"delay 2 seconds +202 .PSV.dial :air +2 "processing"%W  +46 "core"  +2 ."da"PS.seek 0ml +2 "processing"%Y' +2166 "core" ' +2 #"da"washCycleDA #1 of 2 + .PSR.select :air +2 .PSV.dial PSR +2 "processing"%* +127 "core"  +2 "processing"%A% +4 "core" % + #"da"Pulling 0.5ml of PSR.wash +2 .PSR.select :wash +2 "processing"% +9 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"%[' +586 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +2 "processing"% +10 ."da"PS.seek 2ml + "processing"%O'ԏ +1655 "core" ' + ."da"PTV.dial :puck +2 "processing"%V  +66 "core"  + ."da"PSV.dial PTV +2 "processing"%F +73 "core" + ."da"PBV.dial :waste1 +2 "processing"%^  +33 "core"  + "processing"%% +4 "core" %ԋ  +2 ."da"PS.seek 1.5ml +2 "processing"%P' +594 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%Q * +32 "core" , +3 ."da"PS.seek 0ml + "processing"%d' +1621 "core" ' + ."da"delay 2:00 +12004 #recoverPSRreagent08 +2 .PTV.dial :puck + .PBV.dial :waste1 +2 "processing"%Z  +32 "core" + ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%S * +33 "core" , + ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"%a +74 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%w'm +2199 "core" ' + ."da"PSV.dial PTV +2 "processing"%e +74 "core" + ."da"delay 5 seconds +503 .PSV.dial PSR + "processing"%6 +74 "core"  +2 ."da"delay 5 seconds +502 .PSV.dial PTV +2 "processing"% +74 "core" +2 ."da"delay 5 seconds +502 .PSV.dial :air +2 "processing"%\\  +68 "core"  +2 ."da"PS.seek 0ml +2 "processing"%+' +2155 "core" ' + #"da"washCycleDA #2 of 2 +2 .PSR.select :air +2 .PSV.dial PSR +2 "processing"%f +121 "core"  + "processing"%% +4 "core" % +2 #"da"Pulling 0.5ml of PSR.wash + .PSR.select :wash +2 "processing"% +10 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"%D' +595 "core" ' + ."da"delay 5 seconds +503 .PSR.select :air +2 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%_'ԏ +1614 "core" ' + ."da"PTV.dial :puck +2 .PSV.dial PTV +2 "processing"%u +67 "core" + ."da"PBV.dial :waste1 +2 "processing"%L  +33 "core" + "processing"%X% +4 "core" %ԋ  +2 ."da"PS.seek 1.5ml +2 "processing"%`' +599 "core" ' + ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%U * +32 "core" , +2 ."da"PS.seek 0ml +2 "processing"%k' +1609 "core" ' + ."da"delay 2:00 +10358 "Can" A> +1645 #"da"recoverPSRreagent08 +2 .PTV.dial :puck + .PBV.dial :waste1 + "processing"%n  +34 "core" + ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%i * +33 "core" , + ."da"PSR.select :air +3 .PSV.dial PSR + "processing"%p +74 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%x'm +2208 "core" ' +2 ."da"PSV.dial PTV +2 "processing"%o +73 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PSR +2 "processing"%= +72 "core"  +2 ."da"delay 5 seconds +502 .PSV.dial PTV +2 "processing"% +72 "core" +2 ."da"delay 5 seconds +502 .PSV.dial :air +2 "processing"%y  +66 "core"  +2 ."da"PS.seek 0ml +2 "processing"%m' +2163 "core" ' +2 #"da"getPMLReagent08 + .PRV.dial :air +2 "processing"%}  +41 "core"  + ."da"delay 5 seconds +502 .PTV.dial :PRVmixing +2 "processing"%q  +116 "core" +2 ."da"delay 5 seconds +502 .PRV.dial :ab2 +2 "processing"%K  +40 "core" ~ + ."da"PTV.dial :PRVmixing +2 .PSV.dial :mixloop + "processing"%g +47 "core" +2 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 0.3ml +2 "processing"%c'i +415 "core" ' +2 ."da"delay 2 seconds +202 .PRV.dial :air + "processing"%b  +40 "core"  +2 "processing"% % +3 "core" %m  +2 ."da"PS.seek 0.55ml +2 "processing"%I'\\ +340 "core" ' + #"da"addPMLReagent08 +2 .PSV.dial :air + "processing"%>  +47 "core"  +2 ."da"PS.seek 2ml +2 "processing"%t'ԏ +1560 "core" ' + ."da"PSV.dial :PML +2 "processing"%| +47 "core" +2 ."da"PTV.dial :mixing + "processing"% @ +66 "core" A + ."da"PBV.dial :waste1 +2 "processing"%  +33 "core" + "processing"%% +4 "core" %Ԋ  +2 ."da"PS.seek 1.85ml +2 "processing"%'a +236 "core" ' + ."da"PBV.dial between PSV and waste1 +3 "processing"% * +32 "core" , +2 ."da"PS.seek 0ml +2 "processing"% ' +1969 "core" ' +2 ."da"delay 2 seconds +202 .delay 8:00 +42502 "Can" A? +5500 #"da"recoverPRVreagent08 +2 .PTV.dial :mixing + .PBV.dial :waste1 +2 "processing"%z  +33 "core" + ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%; * +33 "core" , + ."da"PSV.dial :air +2 "processing"%  +47 "core"  +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml +2 "processing"%'m +2201 "core" ' +2 ."da"PSV.dial :mixloop +2 "processing"%h +47 "core" + ."da"delay 2 seconds +202 .PSV.dial :air + "processing"%{  +47 "core"  +2 ."da"delay 2 seconds +202 .PSV.dial :mixloop +2 "processing"% +46 "core" + ."da"delay 2 seconds +202 .PSV.dial :air +2 "processing"%j  +46 "core"  +2 ."da"PS.seek 0ml +2 "processing"%' +2166 "core" ' +2 #"da"washCycleDA #1 of 3 +2 .PSR.select :air +2 .PSV.dial PSR + "processing"%s +122 "core"  + "processing"%8% +4 "core" % + #"da"Pulling 0.5ml of PSR.wash +2 .PSR.select :wash +2 "processing"% +9 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"%' +595 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +3 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%"'ԏ +1673 "core" ' + ."da"PTV.dial :puck +2 "processing"%  +66 "core"  + ."da"PSV.dial PTV +2 "processing"% +67 "core" + ."da"PBV.dial :waste1 +2 "processing"%.  +33 "core" + "processing"%% +4 "core" %ԑ  +2 ."da"PS.seek 1.5ml +2 "processing"%' +597 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"% * +32 "core" , +2 ."da"PS.seek 0ml +2 "processing"%' +1611 "core" ' +2 ."da"delay 2:00 +12003 #recoverPSRreagent08 + .PTV.dial :puck + .PBV.dial :waste1 +2 "processing"%  +32 "core" + ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%r * +33 "core" , + ."da"PSR.select :air +3 .PSV.dial PSR + "processing"% +75 "core"  + ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%'m +2207 "core" ' + ."da"PSV.dial PTV +2 "processing"%' +74 "core" + ."da"delay 5 seconds +503 .PSV.dial PSR + "processing"% +73 "core"  + ."da"delay 5 seconds +503 .PSV.dial PTV + "processing"%5 +73 "core" + ."da"delay 5 seconds +503 .PSV.dial :air + "processing"%  +67 "core"  +2 ."da"PS.seek 0ml +2 "processing"%#' +2169 "core" ' +2 #"da"washCycleDA #2 of 3 + .PSR.select :air +2 .PSV.dial PSR +2 "processing"%4 +126 "core"  +2 "processing"%% +4 "core" % + #"da"Pulling 0.5ml of PSR.wash + .PSR.select :wash +2 "processing"% +9 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"%3' +594 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +52 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%1'ԏ +1665 "core" ' + ."da"PTV.dial :puck + .PSV.dial PTV +2 "processing"% +75 "core" +2 ."da"PBV.dial :waste1 + "processing"%:  +33 "core" +2 "processing"%v% +4 "core" %ԕ  +2 ."da"PS.seek 1.5ml + "processing"%!' +588 "core" ' + ."da"delay 3 seconds +303 .PBV.dial between PSV and waste1 +2 "processing"%7 * +32 "core" , +2 ."da"PS.seek 0ml +2 "processing"%B' +1617 "core" ' +2 ."da"delay 2:00 +12003 #recoverPSRreagent08 + .PTV.dial :puck + .PBV.dial :waste1 +2 "processing"%  +32 "core" + ."da"delay 30 seconds +1464 "Can" A> +1539 ."da"PBV.dial between PSV and waste1 +2 "processing"%] * +33 "core" , + ."da"PSR.select :air +3 .PSV.dial PSR + "processing"%( +73 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%'m +2202 "core" ' + ."da"PSV.dial PTV +2 "processing"%H +86 "core"  + ."da"delay 5 seconds +503 .PSV.dial PSR +2 "processing"%$ +71 "core"  + ."da"delay 5 seconds +502 .PSV.dial PTV +2 "processing"%/ +73 "core" + ."da"delay 5 seconds +503 .PSV.dial :air + "processing"%)  +68 "core"  +2 ."da"PS.seek 0ml +2 "processing"%9' +2157 "core" ' +2 #"da"washCycleDA #3 of 3 + .PSR.select :air +2 .PSV.dial PSR + "processing"%% +133 "core" +2 "processing"%G% +3 "core" % +2 #"da"Pulling 0.5ml of PSR.wash + .PSR.select :wash +2 "processing"% +10 ."da"PS.reconfigure :default +2 "processing"%#A d`xb +3 ."da"PS.seek 0.5ml +2 "processing"%@' +587 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +2 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%<'ԏ +1614 "core" ' +2 ."da"PTV.dial :puck + .PSV.dial PTV +2 "processing"%, +81 "core"  +2 ."da"PBV.dial :waste1 + "processing"%J  +33 "core" +2 "processing"%-% +4 "core" %Ԓ   + ."da"PS.seek 1.5ml +2 "processing"%N' +597 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%E * +32 "core" , +2 ."da"PS.seek 0ml +2 "processing"%' +1608 "core" ' +2 ."da"delay 2:00 +12003 #recoverPSRreagent08 + .PTV.dial :puck + .PBV.dial :waste1 +2 "processing"%\  +32 "core" + ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%R * +33 "core" , + ."da"PSR.select :air +3 .PSV.dial PSR + "processing"%& +71 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%W'm +2219 "core" ' +2 ."da"PSV.dial PTV +2 "processing"%2 +73 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PSR +2 "processing"%* +72 "core"  +2 ."da"delay 5 seconds +502 .PSV.dial PTV + "processing"%A +73 "core" +2 ."da"delay 5 seconds +502 .PSV.dial :air +2 "processing"%Y  +68 "core"  +2 ."da"PS.seek 0ml + "processing"%[' +2162 "core" ' +2 ."da"Gate.power :camera,:ON +2 #Mixing DA Substrates + .PSR.select :air +2 .PSV.dial PSR +2 "processing"%V +131 "core"  +2 "processing"%F% +10 "core" % +4 #"da"Pulling 0.25ml of PSR.sub1 +2 .PSR.select :sub1 +5 "processing"% +15 ."da"PS.reconfigure :default +8 "processing"%#A d`xb +5 ."da"PS.seek 0.25ml +5 "processing"%^' +332 "core" ' +3 ."da"delay 5 seconds +502 "processing"%% +3 "core" %  +2 #"da"Pulling 0.25ml of PSR.sub2 + .PSR.select :sub2 +2 "processing"% +10 ."da"PS.seek 0.5ml +2 "processing"%O' +344 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +2 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%Q'ԏ +1649 "core" ' + ."da"PTV.dial :puck +2 .PSV.dial PTV +2 "processing"%P +74 "core" +2 ."da"PBV.dial :waste1 + "processing"%Z  +33 "core"  +2 "processing"%S% +4 "core" %Ԉ  +2 ."da"PS.seek 1.5ml +2 "processing"%a' +597 "core" ' + ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%d * +32 "core" , +2 ."da"PS.seek 0ml +2 "processing"%e' +1609 "core" ' + ."da"delay 10 seconds +1003 #recoverPSRreagent08 +2 .PTV.dial :puck + .PBV.dial :waste1 + "processing"%6  +32 "core"  +2 ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"% * +32 "core" , +2 ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"%\\ +72 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%w'm +2196 "core" ' + ."da"PSV.dial PTV +2 "processing"%f +74 "core" + ."da"delay 5 seconds +503 .PSV.dial PSR +2 "processing"% +72 "core"  + ."da"delay 5 seconds +503 .PSV.dial PTV +2 "processing"%+ +73 "core" +2 ."da"delay 5 seconds +502 .PSV.dial :air +2 "processing"%D  +68 "core"  +2 ."da"PS.seek 0ml + "processing"%u' +2180 "core" ' + #"da"Additional air clear +2 .PSR.select :air +2 .PSV.dial PSR + "processing"%L +122 "core"  + "processing"%X% +4 "core" % + #"da"Pulling 2ml of PSR.air +2 .PSR.select :air +3 .PS.reconfigure :default +2 "processing"%#A d`xb +2 ."da"PS.seek 2ml +2 "processing"%_'ԏ +2130 "core" ' + ."da"delay 5 seconds +502 .PTV.dial :puck +2 .PSV.dial PTV +2 "processing"%U +68 "core" + ."da"PBV.dial :waste1 +2 "processing"%`  +32 "core"  +2 "processing"%n% +4 "core" %Ԏ  +2 ."da"PS.seek 1.5ml + "processing"%i' +587 "core" ' + ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%p * +32 "core" , +2 ."da"delay 1 second +102 .PSV.dial :waste1 +2 "processing"%k  +101 "core"  +2 ."da"PS.seek 0ml +2 "processing"%o' +1608 "core" ' + "processing"%=9 +4 "core" 94 +2 #"da"Processing Puck Heater at 28C before imaging + .PH.coast +2 "processing"%  +3 "core" 4 + 4 + "processing"%y& +3 "core" &Z * +2 #"da"Imaging da puck in Processing Clamp while storing it to tube 1 +2 "manipulator"&x% +3 "core" %\ ,  "\\ +2 "storage"(}% +4 "core" %H O F > + "storage"(q. +3 "core" .(  +2 ."da"SC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 ."da"SC.seek 1 + "storage"(K(B +371 "core" ( +2 ."da"SC.configure :limp +2 "storage"($\ 1b +3 (g& +2 "core" &E ^ / +2 "manipulator"&m& +3 "core" &,   +2 "manipulator"&b% +4 "core" %\ , S "\\ +2 ."da"Elbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 ."da"Elbow.seek 1 + "manipulator"& (c +202 "core" ( +2 "manipulator"&c& +4 "core" &m K \ + "storage"(>& +4 "core" &F  +2 ."da"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 ."da"Forearm.seek 1 + 450 counts +2 "manipulator"&I'Ф +108 "core" ' +2 "storage"(|& +57 "core" &F V W i + ."da"SE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 ."da"SE.seek :beamBreak +2 "storage"('e +288 "core" ' +2 "storage"(- +3 "core" -' +2 ."da"SE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" &m a e L \ +2 "storage"(& +4 "core" &F B A + ."da"Elbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 ."da"Forearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 ."da"Forearm.seek 1 +2 "manipulator"&t' +35 "core" ' +2 ."da"Elbow.hold +2 "manipulator"&, +3 "core" , +2 ."da"Elbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(z- +2 "core" -' +2 ."da"SE.seek 1.12 Pucks below Top Plate +2 "storage"(;'b +36 "core" ' +2 "manipulator"& % +4 "core" %v   ź8 +2 "storage"( & +3 "core" &F 1 +2 ."da"Forearm.force -20 + "manipulator"&5 +3 ."da"Forearm.seek 1 + 312 counts +2 "manipulator"&h' +17 "core" ' +2 "manipulator"&{& +4 "core" &m j V % \ +2 "storage"(& +4 "core" &F < +2 ."da"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 ."da"Forearm.seek 1 + 450 counts +2 "manipulator"&j'Ф +19 "core" ' +2 ."da"SE.seek 2.12 Pucks below Top Plate +2 "storage"('Q +46 "core" ' + "manipulator"&s& +4 "core" &m g e C \ +2 "manipulator"&8% +4 "core" %Д c e M +2 ."da"Forearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 ."da"Forearm.seek :retract +2 "manipulator"&'\ +95 "core" ' +2 ."da"Elbow.seek PC +2 "manipulator"&(c +246 "core" ( + "manipulator"& & +5 "core" &l  + ."da"Elbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &l F  +2 ."da"Forearm.seek PC + "manipulator"&.'[ +95 "core" ' + ."da"Hand.close + "manipulator"&/ +52 "core" / +2 ."da"PC.seek :open +2 "processing"%"(p +391 "core" ( +2 "storage"( & +4 "core" &F d d + "manipulator"&& +4 "core" &m   + "manipulator"&% +4 "core" % g : +2 ."da"Forearm.seek :retract + "manipulator"&r'\ +97 "core" ' +2 ."da"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 ."da"Elbow.seek 1 +2 "manipulator"&(c +251 "core" ( + "manipulator"&& +4 "core" &\\ G # +2 "storage"('& +3 "core" &F C B { +2 ."da"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 ."da"Forearm.seek 1 + 450 counts +2 "manipulator"&'Ф +101 "core" ' + ."da"Hand.open +2 "manipulator"&51 +56 "core" 1 +2 "storage"(- +4 "core" -'Q +2 ."da"SE.seek 1.87 Pucks below Top Plate + "storage"(' +24 "core" ' +2 ."da"SE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 ."da"SE.seek 1.21 Pucks below Top Plate + "storage"(4' +47 "core" ' +2 #"da"Lights, camera, ACTION! +3 #PuckCamera: snap -bin=2,2 -auto /var/log/esp/da22oct2411h50ml.tif +64 "Can"  +1888 #"psFlush"Waiting >20 seconds for da to relinquish FlushPuck +1182 #"da"SX HX9/16 (USB:02): 1392x1040 pixel 16-bit CCD camera\ Exposing 696x520 pixel 16-bit image for 27.81 seconds\ /var/log/esp/da22oct2411h50ml.tif: TIFF Upload Complete\ +4 #PuckCamera: snap -bin=2,2 15.0 /var/log/esp/midres/da22oct2411h50ml15s.tif +1564 #SX HX9/16 (USB:02): 1392x1040 pixel 16-bit CCD camera\ Exposing 696x520 pixel 16-bit image for 15 seconds\ /var/log/esp/midres/da22oct2411h50ml15s.tif: TIFF Upload Complete\ +4 #PuckCamera: snap -bin=2,2 30.0 /var/log/esp/midres/da22oct2411h50ml30s.tif +3060 #SX HX9/16 (USB:02): 1392x1040 pixel 16-bit CCD camera\ Exposing 696x520 pixel 16-bit image for 30 seconds\ /var/log/esp/midres/da22oct2411h50ml30s.tif: TIFF Upload Complete\ +4 #PuckCamera: snap -bin=1,1 70.0 /var/log/esp/hires/da22oct2411h50ml70s.tif +7185 #SX HX9/16 (USB:02): 1392x1040 pixel 16-bit CCD camera\ Exposing 1392x1040 pixel 16-bit image for 70 seconds\ /var/log/esp/hires/da22oct2411h50ml70s.tif: TIFF Upload Complete\ + .Gate.power :camera,:OFF +4 ."Qmail"DAfans.email "27.81 sec auto-exposure",Subject: "da22oct2411h50ml images!" +7 "storage"(- +3 "core" -' +2 "storage"(#& +6 "core" &F\ \  + "manipulator"&3& +4 "core" &\\ X # +2 ."da"Elbow.seek 1 +2 "manipulator"&(c +3 "core" ( +2 "manipulator"&:& +4 "core" &\\ Z # + "storage"(v& +6 "core" &F\ \ +2 ."da"Forearm.seek 1 + 450 counts +2 "manipulator"&1'Ф +4 "core" ' +2 ."da"SE.reconfigure :gently +4 "storage"(#QK-0-\ b +3 ."da"SE.seek 1.92 Pucks below Top Plate +2 "storage"(7'\\ +59 "core" ' + !"Qmail"o:!Net::SMTPAuthenticationError: mesg"E534-5.7.9 Application-specific password required. Learn more at\ :@checkpoint: omitted:bt["E/opt/mbari/lib/ruby/1.8/net/smtp.rb:954:in `check_auth_response'"/opt/mbari/lib/ruby/1.8/net/smtp.rb:723:in `authenticate'":/opt/mbari/lib/ruby/1.8/net/smtp.rb:566:in `do_start'"7/opt/mbari/lib/ruby/1.8/net/smtp.rb:525:in `start'"2/home/esp/esp2/lib/email.rb:325:in `sendOnce'"3/home/esp/esp2/lib/schedule.rb:292:in `unsync'"3/home/esp/esp2/lib/schedule.rb:594:in `unsync'"3/home/esp/esp2/lib/schedule.rb:621:in `unsync'"2/home/esp/esp2/lib/email.rb:318:in `sendOnce'"./home/esp/esp2/lib/email.rb:340:in `send'",/home/esp/esp2/lib/msg.rb:68:in `retry'"./home/esp/esp2/lib/email.rb:339:in `send'"B/home/esp/esp2/protocol/2G/utilities.rb:163:in `prepAndImage'"-/home/esp/esp2/lib/email.rb:66:in `call'"3/home/esp/esp2/lib/email.rb:66:in `initialize'"-/home/esp/esp2/lib/email.rb:63:in `loop'"3/home/esp/esp2/lib/email.rb:63:in `initialize'"7/home/esp/esp2/lib/schedule.rb:481:in `initialize'"0/home/esp/esp2/lib/thread.rb:738:in `start'"7/home/esp/esp2/lib/schedule.rb:474:in `initialize'"'/home/esp/esp2/lib/schedule.rb:472 +3 "manipulator"&!& + !"Qmail"o:Email::Queue::Purge: mesg"Purged output queue:bt[ "//home/esp/esp2/lib/email.rb:106:in `purge'"3/home/esp/esp2/lib/email.rb:75:in `initialize'"-/home/esp/esp2/lib/email.rb:63:in `loop'"3/home/esp/esp2/lib/email.rb:63:in `initialize'"7/home/esp/esp2/lib/schedule.rb:481:in `initialize'"0/home/esp/esp2/lib/thread.rb:738:in `start'"7/home/esp/esp2/lib/schedule.rb:474:in `initialize'"'/home/esp/esp2/lib/schedule.rb:472 +6 "core" &\\ a # +2 "storage"(& +4 "core" &F\ \  + ."da"Elbow.reconfigure :limp +4 "manipulator"&$ ,(b +2 ."da"Forearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 ."da"Forearm.seek 1 +2 "manipulator"&]' +30 "core" ' + ."da"Elbow.hold +2 "manipulator"&(, +4 "core" , + ."da"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 ."da"SE.reconfigure :default +2 "storage"(#QK-0-\ b +3 ."da"SE.seek 2.11 Pucks below Top Plate + "storage"(B'F +25 "core" ' + "manipulator"&H% +4 "core" % Y +2 "storage"($& +4 "core" &F\ \ 8 +2 ."da"Forearm.force -20 + "manipulator"&5 +3 ."da"Forearm.seek 1 + 313 counts + "manipulator"&/' +19 "core" ' +2 "manipulator"&)& +4 "core" &\\ l g  # +2 "storage"(& +4 "core" &F\ \  +2 ."da"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 ."da"Forearm.seek 1 + 450 counts +2 "manipulator"&%'Ф +18 "core" ' +2 "storage"(G% +4 "core" %O\ #\  +3 ."downElevator"SE.seek :down +3 "storage"(9'N +99 (@% +2 "core" %>\ \  P M: +2 "manipulator"&,% +4 "core" %Ф b e  +2 ."da"Forearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 ."da"Forearm.seek :retract +2 "manipulator"&J'\ +93 "core" ' +37 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (-& +4 "core" &F\ \  +2 #tStarting finalPurge +3 #"psFlush"Loading FlushPuck into Processing Clamp from FlushPuck::Garage +2 "processing"%<& +4 "core" &w +2 "manipulator"&E& +4 "core" &\\  # + "manipulator"&N% +4 "core" %\ 6  & +2 ."psFlush"Elbow.seek FlushPuck::Garage +2 "manipulator"&\ (, +187 "core" ( + "manipulator"&R& +5 "core" &,  + ."psFlush"Elbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &&& +2 "core" &,   +3 ."psFlush"Forearm.seek :garage + "manipulator"&' +101 "core" ' + ."psFlush"Hand.close +2 "manipulator"&2/ +55 "core" / + "manipulator"&*& +4 "core" &, X  +2 "manipulator"&A% +3 "core" %  g s +2 ."psFlush"Forearm.seek :retract +2 "manipulator"&Y'\ +95 "core" ' +2 ."psFlush"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 ."psFlush"Elbow.seek PC + "manipulator"&W(c +115 "core" ( +2 "manipulator"&V& +4 "core" &m W E + ."psFlush"Elbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &F& +3 "core" &m  E +2 ."psFlush"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 ."psFlush"Forearm.seek PC +2 "manipulator"&['[ +92 "core" ' +2 "manipulator"&& +4 "core" &m  E +2 "manipulator"&^% +3 "core" %c  +3 "processing"%O& +4 "core" &B +2 "processing"%P& +5 "core" &? +2 ."psFlush"PC.seek :closed + "processing"%Z(Z +5 "core" &i  +8 &6f *x +9 &je = +10 &}{g G +9 &@ki G +10 &mg G +9 &ke G +9 &!nc G +10 &#GkW G +9 &% kM G +9 &&l` G +10 &(hh G +9 &*Pll G +10 &,ji G +9 &-lf G +9 &/mh G +10 &1Wkf G +9 &3m[ G +9 &4kU G +10 &6kZ G +9 &8`kZ G +64 &:#jV F +3 &;lX G +6 &=lX G +2 &?enS H + &A*mS G + &BkI G + &DoP G + &FpmO G +6 &H1r@ G +9 &I}I I +9 &K@ J +10 &MgO M +9 &O*< L +9 &PF L +10 &RI M +9 &ToI M +10 &V2B L +9 &WL N +9 &YB 5 +10 &Z2| Y +9 &Z % +2 ( +2 "processing"%P& +3 #"psFlush"Processing Clamp onSpring/offSpring for 8/26 samples, on/off torque 1.47 +2 "processing"%S& +85 "core" &Z % +2 ."psFlush"Hand.open +2 "manipulator"&Q1 +63 "core" 1 + "manipulator"&d% +4 "core" % c +2 ."psFlush"Forearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 ."psFlush"Forearm.seek :retract + "manipulator"&a'\ +93 "core" ' + ."psFlush"PSR.select :air +2 .PSV.dial PSR +2 "processing"%6 +46 "core"  +2 "processing"%% +4 "core" % + #"psFlush"Pulling 0.5ml of PSR.flush + .PSR.select :flush +2 "processing"%@ +10 ."psFlush"PS.seek 0.5ml +2 "processing"%\\' +498 #tWaiting >20 seconds for psFlush to relinquish FlushPuck +103 "core" ' +15 ."psFlush"delay 5 seconds +502 .PSR.select :air +2 "processing"% +9 ."psFlush"PS.seek 2.5ml +2 "processing"%e'm +2150 "core" ' + ."psFlush"delay 1 second +103 .PRV.dial :waste2,avoiding: :ab2 +2 "processing"%f @ +167 "core" A +2 ."psFlush"PTV.dial :PRVmixing +2 "processing"%  +118 "core" +2 ."psFlush"PSV.dial :mixloop +2 "processing"%+ +93 "core" +2 ."psFlush"PS.seek :empty +2 "processing"%D' +2645 "core" ' + ."psFlush"PSR.select :air +2 .PSV.dial PSR +2 "processing"%w +101 "core"  + "processing"%L% +4 "core" % +2 #"psFlush"Pulling 0.5ml of PSR.flush + .PSR.select :flush +2 "processing"%@ +10 ."psFlush"PS.seek 0.5ml +2 "processing"%X' +597 "core" ' + ."psFlush"delay 5 seconds +503 .PSR.select :air +2 "processing"% +9 ."psFlush"PS.seek 2.5ml +2 "processing"%u'm +2123 "core" ' +2 ."psFlush"delay 1 second +102 .PBV.dial :waste1 + "processing"%U  +33 "core" + ."psFlush"PTV.dial :mixing +2 "processing"%` @ +66 "core" @ + ."psFlush"PSV.dial :mixloop + "processing"%n +102 "core" +2 ."psFlush"PS.seek :empty +2 "processing"%_' +2635 "core" ' +2 ."psFlush"PSV.dial PSR +2 "processing"%p +99 "core"  +2 ."psFlush"PSR.select :flush +2 "processing"%@ +10 ."psFlush"PS.seek 1ml +2 "processing"%k'T +1106 "core" ' + ."psFlush"PSR.select :air +3 "processing"% +9 ."psFlush"PS.seek 2.5ml +2 "processing"%i'm +1613 "core" ' +2 ."psFlush"PSV.dial PTV +2 "processing"%= +73 "core" + ."psFlush"PTV.dial :puck +2 "processing"%  +66 "core"  + ."psFlush"PBV.dial :waste1 +2 .PS.seek 0ml +2 "processing"%y' +2630 "core" ' +2 ."psFlush"PSV.dial PSR +2 "processing"%x +73 "core"  + ."psFlush"PSR.select :flush +3 "processing"%@ +9 ."psFlush"PS.seek 0.5ml +2 "processing"%}' +608 "core" ' +2 ."psFlush"PSR.select :air +2 "processing"% +9 ."psFlush"PS.seek 2.5ml +2 "processing"%q'm +2139 "core" ' + ."psFlush"PSV.dial PTV +2 "processing"%~ +73 "core" + ."psFlush"PBV.dial PSV +3 "processing"%g U +51 "core" W +2 ."psFlush"PS.seek 0ml +2 "processing"%m' +2630 "core" ' + ."psFlush"PSV.dial PBV +2 "processing"%b @ +47 "core" > +2 ."psFlush"PS.seek 2.5ml +2 "processing"%c'm +2649 "core" ' + ."psFlush"PSV.dial :waste1 +3 "processing"%>  +67 "core"  +2 ."psFlush"PS.seek 0ml + "processing"%M' +2667 "core" ' + ."psFlush"PSV.dial PSR +2 "processing"%| +47 "core"  + ."psFlush"PSR.select :air +3 .PS.seek 2.5ml +2 "processing"%?'m +2644 "core" ' + ."psFlush"PSV.dial PTV +2 "processing"% +67 "core" + ."psFlush"PBV.dial PSV +3 .PS.seek 0ml + "processing"%' +2631 "core" ' + ."psFlush"PSV.dial PBV +2 "processing"% @ +47 "core" > +2 ."psFlush"PS.seek 2.5ml +2 "processing"%z'm +2643 "core" ' + ."psFlush"PSV.dial :waste1 +2 "processing"%  +67 "core"  +2 ."psFlush"PS.seek 0ml +2 "processing"% ' +2635 "core" ' + ."psFlush"PSV.dial PSR +2 "processing"%{ +47 "core"  +2 ."psFlush"PSR.select :flush +2 "processing"%@ +10 ."psFlush"PS.seek 1ml + "processing"%'T +1110 "core" ' + ."psFlush"PSR.select :air +3 "processing"% +9 ."psFlush"PS.seek 2.5ml +2 "processing"%s'm +1606 "Can" FC +26 "core" ' + ."psFlush"PSV.dial PTV +2 "processing"%8 +67 "core" +2 ."psFlush"PTV.dial :puck + .PBV.dial :waste1 +2 "processing"%I  +52 "core" +2 ."psFlush"PS.seek 0ml + "processing"% ' +2636 "core" ' + ."psFlush"PSV.dial PSR +2 "processing"% +75 "core"  + ."psFlush"PSR.select :flush +3 "processing"%@ +9 ."psFlush"PS.seek 0.5ml +2 "processing"%t' +591 "core" ' + ."psFlush"PSR.select :air +2 "processing"% +10 ."psFlush"PS.seek 2.5ml +2 "processing"%h'm +2138 "core" ' + ."psFlush"PSV.dial PTV +2 "processing"%; +74 "core" + ."psFlush"PBV.dial PSV +2 "processing"%j U +51 "core" W +2 ."psFlush"PS.seek 0ml +2 "processing"% ' +2637 "core" ' + ."psFlush"PSV.dial PBV +2 "processing"% @ +47 "core" > +2 ."psFlush"PS.seek 2.5ml + "processing"%'m +2631 "core" ' + ."psFlush"PSV.dial :waste1 +2 "processing"%  +68 "core"  + ."psFlush"PS.seek 0ml +2 "processing"%' +2636 "core" ' + ."psFlush"PSV.dial PSR +2 "processing"%0 +47 "core"  + ."psFlush"PSR.select :air +3 .PS.seek 2.5ml + "processing"% 'm +2663 "core" ' + ."psFlush"PSV.dial PTV +3 "processing"% +68 "core" +2 ."psFlush"PBV.dial PSV +2 .PS.seek 0ml +2 "processing"%' +2632 "core" ' + ."psFlush"PSV.dial PBV +2 "processing"%. @ +47 "core" ? +2 ."psFlush"PS.seek 2.5ml +2 "processing"%'m +2649 "core" ' + ."psFlush"PSV.dial :waste1 +2 "processing"%'  +67 "core"  +2 ."psFlush"PS.seek 0ml +2 "processing"%' +2629 "core" ' +2 #tLoading FlushPuck into Collection Clamp from Processing Clamp + "collection"'5& +4 "core" & +2 "manipulator"&& +4 "core" &m ) E + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC + "manipulator"&r(c +4 "core" ( + "manipulator"&& +4 "core" &m - E + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &m  E +2 .tForearm.seek PC + "manipulator"&'[ +98 "core" ' +2 .tHand.close + "manipulator"&#/ +57 "core" / + .tPC.seek :open +2 "processing"%3(p +442 "core" ( + "manipulator"&:& +4 "core" &m  E +2 "manipulator"&v% +3 "core" % n $ +2 .tForearm.seek :retract +2 "manipulator"&!'\ +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC + "manipulator"&( +349 "core" ( + "manipulator"&H& +4 "core" &% C <: +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &$& +3 "core" &% . <: +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&)'| +106 "core" ' + "manipulator"&& +5 "core" &% <: + "manipulator"&G% +4 "core" %x  +2 "collection"'& +3 "core" & +2 "collection"'& +5 "core" &\ +2 .tCC.seek :closed +2 "collection"'4(] +4 "core" &  +10 &4 )v +9 &g = +9 &j I +10 &0m H +9 &s H +9 &p H +10 &!tn H +9 &#6p H +10 &$n H +9 &&p H +9 &({r I +10 &*?r H +9 &,p H +9 &-r H +10 &/t H +9 &1Fu H +10 &3 s H +9 &4q H +9 &6p H +10 &8Om H +9 &:p H +9 &;n H +10 &=s H +9 &?Wp H +10 &Ar I +9 &Bp H +9 &Do H +10 &F_t H +9 &H!r H +9 &I} J +10 &K L +9 &MSu{ O +10 &Oln P +9 &Phl Q +9 &Rgh Q +10 &TTdg Q +9 &Vae R +9 &W`c S +10 &Y]` U +9 &[V]^ S +10 &\\v[\\ ) +9 &]3[\\ W +9 ( +3 "collection"'& +3 #tCollection Clamp onSpring/offSpring for 9/25 samples, on/off torque 1.80 + "collection"'@& +4 "core" &]b[^ C + &]dZZ C +2 .tHand.open + "manipulator"&,1 +62 "core" 1 +2 "manipulator"&1% +4 "core" % x  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +94 "core" ' + #tFlushing the Collection Valve::Manifold +2 "collection"'7& +4 "core" &]d[^ C + "collection"']% +4 "core" %_\\ + .tCSV.dial CSR +2 "collection"'-  +39 "core"  + "collection"'<% +4 "core" %]^ +2 #tPulling 5ml of CSR.flush + .CSR.select :flush +2 "collection"' +10 .tCS.seek 5ml +2 "collection"'E's +1357 "core" ' +2 .tdelay 5 seconds +502 .CSR.select :air +2 "collection"' +9 '/% +2 "core" %s\\^;  +3 .tCS.reconfigure :fast +2 "collection"'#d @b +2 .tCS.seek 7.5ml +2 "collection"'N'q +612 "core" ' + .tCSV.dial :waste +2 "collection"'B +116 "core" + .tCS.reconfigure :default +3 "collection"'#P d@b +2 .tCS.seek 0ml +2 "collection"'%' +1998 "core" ' + #tFlushing lower manifold's waste1 port +2 "collection"'R& +4 "core" &]c\\^7 C + "collection"'&% +4 "core" %]`1 + .tCSV.dial :flush +2 "collection"'9  +39 "core"  +2 .tCS.reconfigure :fast +3 "collection"'#d @b +2 .tCS.seek 5ml +2 "collection"'('s +1130 "core" ' +2 .tdelay 5 seconds +502 .CSV.dial :air +2 "collection"'2 @ +40 "core" A + "collection"'*% +4 "core" %s]^  +2 .tCS.seek 7ml +2 "collection"'A' +508 "core" ' +2 ."connect"CSV.dial CTV +3 .tCTV.dial CSV +2 "collection"'J  +2 'V  +50 "core"  +74  + .tCBV.dial :waste1 +2 "collection"'F @ +40 "core" > +3 .tCS.seek 0ml + "collection"'' +1520 "core" ' + #tFlushing lower manifold's waste2 port +2 "collection"'& +4 "core" &]chh2 C + "collection"'^% +4 "core" %hg1 +2 .tCSV.dial :flush +2 "collection"'O  +65 "core" +2 .tCS.seek 5ml +2 "collection"'\ 's +1115 "core" ' + .tdelay 5 seconds +503 .CSV.dial :air +2 "collection"'Y @ +41 "core" B + "collection"'"% +4 "core" %s_c  +2 .tCS.seek 6.999ml +2 "collection"'S' +497 "core" ' +2 ."connect"CSV.dial CTV +4 .tCTV.dial CSV +3 "collection"'Q  +39 "core"  +2 .tCBV.dial :waste2 +2 "collection"'d  +95 "core"  +2 .tCS.seek 0ml +2 "collection"'P' +1524 "core" ' + #tDisinfecting external Intake with kill +2 "collection"'6& +4 "core" &]ckk( C + "collection"'% +4 "core" %ik* + .tCSV.dial CSR +2 "collection"'[  +38 "core"  +2 "collection"'o% +4 "core" %il. + #tPulling 8ml of CSR.kill + .CSR.select :kill +2 "collection"' +10 .tCS.seek 8ml +2 "collection"'\\'X +1759 "core" ' +2 .tdelay 5 seconds +502 .CSR.select :air +2 "collection"' +10 .tCS.seek 10ml + "collection"'f' +499 "core" ' +2 ."connect"CSV.dial CBV +3 .tCBV.dial CSV +3 "collection"' + '+  +91 "core" +36  + .tCTV.dial :intake +2 "collection"'e  +69 "core" + .tIntake.select :open + "sampler") +10 .tCS.seek 2ml +2 "collection"'w'~ +1734 "core" ' + .tIntake.select :close +2 "sampler")0 +9 .tCTV.dial :air +2 "collection"'L  +64 "core"  +2 .tCS.reconfigure :default +2 "collection"'#P d@b +3 .tCS.seek 0ml + "collection"'D' +595 "core" ' +2 .tCSV.dial CSR + "collection"'X  +91 "core"  +2 "collection"'U% +4 "core" %cc + #tPulling 5ml of CSR.flush + .CSR.select :flush +2 "collection"' +10 .tCS.seek 5ml +2 "collection"'`'s +1359 "core" ' +2 .tdelay 5 seconds +502 .CSR.select :air +2 "collection"' +9 .tCS.seek 10ml +2 "collection"'n' +1346 "core" ' + .tCSV.dial CBV +2 "collection"'u +91 "core" +2 .tCS.seek 0ml + "collection"'p' +2622 "core" ' + #tGaraging FlushPuck in Collection Clamp +2 "manipulator"&_& +4 "core" &# ' 6 + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&k( +30 "core" ( +2 "manipulator"&=& +4 "core" & a  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" & >  +2 .tForearm.seek CC +2 "manipulator"&i'| +100 "core" ' +2 .tHand.close + "manipulator"&x/ +63 "core" / +2 .tCC.seek :open + "collection"'y(p +410 "core" ( +2 "manipulator"&}& +4 "core" &   + "manipulator"&~% +4 "core" % } ' +2 .tForearm.seek :retract + "manipulator"&g'\ +99 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage +2 "manipulator"&q(, +282 "core" ( + "manipulator"&b& +5 "core" &,  + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &m& +2 "core" &, C  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :garage + "manipulator"&>' +111 "core" ' +2 .tHand.open + "manipulator"&c1 +59 "core" 1 +2 "manipulator"&|% +4 "core" %  / G +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&M'\ +99 "core" ' +2 "processing"%& +4 "core" & +8031 "Can" 74 +60002  74 +60001  !74 +60002  !85 +60002  !75 +60002  !74 +60002  74 +60001  !74 +60002  !75 +60002  75 +60002  74 +60002  74 +60002  75 +60002  74 +60002  "74 +60002   !74 +60001   !74 +60002   75 +60002 # 74 +60002  74 +60002   75 +60002   75 +60002 ( 74 +60002  !74 +60002  !74 +60002  "74 +60002 " !74 +60002  74 +60001  !75 +60002  !75 +60002  75 +60051  74 +59953  64 +60002  64 +60002   75 +60002  75 +60002  74 +60002  75 +60001 & 75 +60002   74 +60002  74 +60002  74 +60002 ' 75 +60002   75 +60002 \  75 +60002 0 !74 +60002  74 +60002  85 +60002 + 74 +60002 < 64 +60001  75 +60002 $ 74 +60002 8 64 +60002 9 75 +60002  75 +60002 $ !75 +60002 7 74 +60002 " 74 +60002  64 +60001 - 74 +60002   74 +60002  !85 +60002   84 +60002 6 75 +60002 C !75 +60002  74 +60002  74 +60002 7 !74 +60002 J 64 +60001  74 +60003 % !74 +60001 7 75 +60002 M 75 +60002 , 75 @EDT1666670716.10 & 75 +60002 < !74 +60002 D 75 +60002  !74 +60001 3 74 +60003 @ !74 +60001 U !74 +60002 = 85 +60002 . !75 +60002 @ 64 +60002 P 74 +60002 D 74 +60002 , !74 +60002 @ 74 +60002 K 75 +60002 ( 74 +60001 & 75 +60002 9 75 +60002 , 64 +60002  74 +60002 6 75 +60002 K 74 +60002 / 75 +60002 0 "74 +60002 @ 74 +60001 ? 75 +60002 % 75 +60002 ; 74 +60002 C 74 +60002 & !74 +60002 1 74 +60002 I 75 +60002 2 85 +60002 * !75 +60002 @ 75 +60001  !75 +60002  74 +60002 D 74 +60002 > !74 +60002 ' 74 +60002 E 74 +60002 ? 74 +60002 ( 75 +60001 < 74 +60002 C 74 +60002 ' !74 +60002 < 74 +60002 F 74 +60002 4 74 +21514 #t-> access 1 +2 "storage"(?% +3 "core" %S\ \ " _  +2 "manipulator"&% +4 "core" %\ , + "` +2 "manipulator"&& +3 "core" &, 6  +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 + "storage"( (<< +1316 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (z& +2 "core" &<<\ \   +1539 #t-> access 2 +2 "storage"({% +3 "core" %S\ \   + "manipulator"& % +4 "core" %\ , / "` +2 "manipulator"&& +4 "core" &, !  +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"(8(K +360 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (I& +2 "core" &K\ \ &  +1719 #t-> access 3 +2 "storage"(s% +3 "core" %R\ \  C +2 "manipulator"&% +4 "core" %\ ,  "` +2 "manipulator"& & +3 "core" &,   +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 7 + "storage"(t([ +349 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (;& +2 "core" &[\  N  +7286 #t-> require 'shuffle.rb' +1215 #-> 20.times {shuffle 2..3} +2 #Shuffling pucks in tube 2 of [2..3] + #Loading generic puck from tube 2 into Collection Clamp +2 "collection"'j& +3 "core" & x +2 "manipulator"&h% +4 "core" %\ + J "` + "storage"(% +4 "core" %R\ \  + "storage"( . +4 "core" .([ + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 2 + "storage"((  +1621 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (& +2 "core" & \  ( +2 "manipulator"&0& +3 "core" &, ]  +2 "manipulator"&% +4 "core" %\ , 6 "` +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&(; +180 "core" ( + "manipulator"& & +4 "core" &I n  +2 "storage"(.& +4 "core" & \ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&'Ѐ +93 "core" ' +2 "storage"('& +4 "core" & \ B\ C +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"('e +284 "core" ' +2 "storage"(5- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" & \ \ | +2 "manipulator"&& +4 "core" &I   +2 .tElbow.seek 2 + "manipulator"&(; +21 "core" ( + "manipulator"&#& +5 "core" &@ |  + "storage"(W& +4 "core" & \ !\ ! +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&a' +27 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&Z/ +53 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&:& +2 "storage"(v'N +6 "core" &@ n n  +2 "manipulator"&% +4 "core" %  ` _ ,  +2 .tForearm.seek :retract +2 "manipulator"&r'\ +95 "core" ' +2 .tElbow.seek CC + "manipulator"&H( +146 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +4 "core" ( +2 "manipulator"&$& +4 "core" &% | <; +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &% K <; +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&G'| +104 "core" ' + "manipulator"&& +4 "core" &% <; +2 "manipulator"&!% +4 "core" %s +2 "collection"'C& +4 "core" &  \  +2 "collection"'@& +4 "core" &  \  +3 .tCC.seek :closed +2 "collection"',(] +4 "core" &   +6 &9   $d +10 &uZ   6 +9 &   I +9 &m  H +10 &^t \  H +9 & s  { H +10 & u  r H +9 &"v  s I +9 &$fr  q H +10 &&)n t H +9 &'r  \ p H +9 &)p \ k H +10 &+ot  o H +9 &-2r k H +10 &.u h H +9 &0w b H +9 &2uv  f I +10 &49u  \ f H +9 &5s \ h H +9 &7s  \ f H +10 &9r  h H +9 &;Br \ d H +10 &=r f H +9 &>s \ h H +9 &@w \ d H +10 &BHu  [ H +9 &D\ s  \ U H +9 &Et R H +10 &Gv  Q H +9 &IN \ R I +10 &K Q L +9 &L Q O +10 &N ] P +9 &PA R P +9 &R R Q +9 &S R Q +10 &U X R +9 &WC  Y R +10 &Y  R S +9 &Z  P S +10 &\\  P @ +9 &]i- P , +9 &]u F H +2 ( +2 "collection"'@& +3 #tCollection Clamp onSpring/offSpring for 10/25 samples, on/off torque 1.79 + .Hand.open +2 "manipulator"&11 +56 "core" 1 +2 "manipulator"&7% +4 "core" % p +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&]'\ +99 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%& +5 "core" &T + "manipulator"&-% +4 "core" %\ 0 $l + "storage"(<% +4 "core" %>\ \   +2 "storage"(). +3 "core" .(  + "storage"(l& +4 "core" & \ \ \  +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 +6 "storage"(/(  +15 "core" ( +2 .tSC.configure :limp +52 "storage"($\ 1b +3 (E& +2 "core" &  " +2 "manipulator"&B& +4 "core" &% <; + "manipulator"&N% +4 "core" %\ 1 $l +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&R(; +154 "core" ( + "manipulator"&&& +4 "core" &8 Z  +2 "storage"(9& +4 "core" & \ \ \ \  % +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&%'Ѐ +93 "core" ' +2 "storage"(2& +5 "core" & \ \   % +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(*'e +274 "core" ' + "storage"((- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (J& +3 "core" &  \ { / +2 "manipulator"&V& +3 "core" &8 #  +2 .tElbow.seek 2 + "manipulator"&F(; +4 "core" ( + "manipulator"&A& +4 "core" &8 n (  + "storage"(& +4 "core" & \ C / +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&^' +28 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&O/ +58 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"(Y'N +7 "core" &8 n o   +2 "manipulator"&"% +4 "core" %  o m +2 .tForearm.seek :retract +2 "manipulator"&\ '\ +92 "core" ' +2 .tElbow.seek PC +2 "manipulator"&Q(c +154 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +86 "core" ( + "manipulator"&d& +4 "core" &p  2 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &S& +2 "core" &p  2 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&6'[ +100 "core" ' +2 "manipulator"&& +4 "core" &p | 2 +2 "manipulator"&[% +4 "core" % Q +2 "processing"%o& +3 "core" &V +2 "processing"%P& +5 "core" &U +2 .tPC.seek :closed +2 "processing"%\\(Z +5 "core" &V  +9 &7V *x +9 &hW = +10 &{W H +9 &?mU H +9 &rV H +10 &nU G +9 &!nS H +9 &#GkU H +10 &% mT G +9 &&rW H +9 &(iK G +10 &*Pm? G +9 &,p> H +10 &-pB G +9 &/mN H +9 &1XkM G +10 &3lI H +9 &4oO H +10 &6nM G +9 &8_kK H +9 &:"jL G +10 &;mJ H +9 &=nK H +9 &?fnE H +10 &A)k8 H +9 &Bh: H +10 &Dp: H +9 &Fmu9 H +9 &H-xA I +10 &I: K +9 &K/ M +9 &Mg8 M +10 &O(: N +9 &P3 N +9 &R9 M +10 &Tm8 N +9 &V1: M +10 &W8 N +9 &Y: 5 +9 &Z59 Q +10 &Z: ) +2 ( +2 "processing"%P& +3 #tProcessing Clamp onSpring/offSpring for 8/26 samples, on/off torque 1.47 + .Hand.open + "manipulator"&1 +62 "core" 1 + "manipulator"&+% +4 "core" % Q c +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&e'\ +97 "core" ' + "processing"%f& +4 "core" &Z6 ) +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 + "manipulator"&L% +4 "core" %\ . #h +2 "storage"(w% +4 "core" %B \ \ H + "storage"(X. +3 "core" .(  +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"(U(  +43 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (D& +3 "core" &  9 +3 "manipulator"&`& +2 ."raiseStack"SE.reconfigure :place +6 "storage"(#]kK-0-\ b +2 ."raiseStack"SE.seek :beamBreak +2 "storage"(u'e +3 "core" &p _ 2 +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC + "manipulator"&n(c +8 "core" ( + "manipulator"&_& +5 "core" &l h ) + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &=& +3 "core" &l  ) +2 .tForearm.seek PC + "manipulator"&'[ +94 "core" ' +2 .tHand.close + "manipulator"&x/ +57 "core" / + .tPC.seek :open +2 "processing"%(p +75 "core" ' +2 "storage"(- +3 "core" -'e +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(4'B +32 "core" ' +270 ( + "storage"(}& +4 "core" &  \ E +2 "manipulator"&~& +3 "core" &m Z ( +2 "manipulator"&i% +3 "core" % \\ O +2 .tForearm.seek :retract +2 "manipulator"&b'\ +93 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&m(; +268 "core" ( +2 "manipulator"&k& +4 "core" &G A +2 "storage"(c& +3 "core" & \ \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts + "manipulator"&|'Ѐ +92 "core" ' +2 .tHand.open +2 "manipulator"&1 +53 "core" 1 + "storage"(g- +4 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate + "storage"(>' +23 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(T' +54 "core" ' +2 #tLights, camera, ACTION! + "storage"(?- +4 "core" -' + "storage"(& +4 "core" &  / + "manipulator"&& +4 "core" &G  +2 .tElbow.seek 2 + "manipulator"&K(; +11 "core" ( + "manipulator"&z& +4 "core" &E   +2 "storage"({& +4 "core" &  +2 .tForearm.seek 2 + 450 counts +2 "manipulator"& 'Ѐ +3 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.11 Pucks below Top Plate + "storage"('M +60 "core" ' +2 "manipulator"& & +4 "core" &E   +2 "storage"(I& +3 "core" & \  S +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&s'ξ +35 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.07 Pucks below Top Plate + "storage"( '7 +24 "core" ' +2 "manipulator"&8% +4 "core" %c #  + Ǵ +2 "storage"(;& +4 "core" &  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 318 counts + "manipulator"&j' +17 "core" ' + "manipulator"&h& +4 "core" &E r p y  +2 "storage"(& +4 "core" & \ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"& 'Ѐ +18 "core" ' +2 "storage"(t% +4 "core" %:\ \  +3 ."downElevator"SE.seek :down +3 "storage"('N +98 (0% +4 "core" %E\ \ / NA +2 "manipulator"&% +4 "core" %m c ` x +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"& '\ +88 "core" ' +63 ' + ."downElevator"SE.stop + "storage"(5 +3 (.& +4 "core" & \   + "collection"''& +4 "core" &]v  j H +2 #tStoring generic puck in Collection Clamp to tube 2 + "manipulator"&q% +4 "core" %\ (  I +2 "storage"(M% +4 "core" %I\ \ \ \ , + "storage"(5. +3 "core" .(  +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"((  +30 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (& +2 "core" &  l  +2 "manipulator"&#& +4 "core" &E   + .tElbow.seek 2 +2 "manipulator"&W(; +3 "core" ( +2 "manipulator"&Z& +4 "core" &E   + "storage"(:& +4 "core" & \ \ \ \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&'Ѐ +92 "core" ' + "storage"(& +4 "core" & \ \   +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('e +276 "core" ' +2 "storage"($- +3 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&& +3 "core" &E q  +2 "storage"(& +3 "core" & \ \   +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +53 .tForearm.seek 2 + "manipulator"&a'ξ +35 "core" ' + .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(!- +3 "core" -' +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(C'k +27 "core" ' + "manipulator"&% +4 "core" %\\    Ȳ +2 "storage"(v& +3 "core" &   +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 313 counts + "manipulator"&r' +13 "core" ' +2 "manipulator"&y& +4 "core" &E C c ?  +2 "storage"(1& +4 "core" & \  I  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&7'Ѐ +18 "core" ' +2 .tSE.seek 1.11 Pucks below Top Plate +2 "storage"('Z +53 "core" ' + "manipulator"&-& +4 "core" &E m j R  +2 "manipulator"&<% +4 "core" %r f ` W  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&)'\ +87 "core" ' + .tElbow.seek CC +2 "manipulator"&l( +164 "core" ( +2 "manipulator"&@& +4 "core" &- k Co +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &E& +3 "core" &. O Cn +2 .tForearm.seek CC +2 "manipulator"&B'| +100 "core" ' + .tHand.close + "manipulator"&N/ +59 "core" / + .tCC.seek :open +2 "collection"'G(p +414 "core" ( + "storage"(&& +5 "core" & \ \   + "storage"(9& +4 "core" & \ \   + "manipulator"&& +4 "core" &, Z Bk + "manipulator"&2% +4 "core" % υ . +2 .tForearm.seek :retract +2 "manipulator"&H'\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&](; +161 "core" ( + "manipulator"&(& +4 "core" &A   +2 "storage"(J& +4 "core" & \ \   + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 2 + "manipulator"&V'ξ +107 "core" ' +3 .tElbow.hold + "manipulator"&A, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&1 +55 "core" 1 +2 "manipulator"&O% +5 "core" % { »? + "storage"(& +4 "core" & \ \  -  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 2 + 320 counts +2 "manipulator"&"' +11 "core" ' +2 "manipulator"&R& +4 "core" &A F d q  +2 "storage"(%& +3 "core" & \ B\ B  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&*'Ѐ +15 "core" ' + "storage"(^% +4 "core" %\\\ C\ C +2 ."downElevator"SE.seek :down +3 "storage"(d'N +100 (S% +2 "core" %D\ "\  M> +2 "manipulator"&F% +4 "core" %~ e ` +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +87 "core" ' +52 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 3 of [2..3] + #Loading generic puck from tube 3 into Collection Clamp +2 "collection"'[& +4 "core" & \ p +2 "manipulator"&o% +4 "core" %\ & B +2 "storage"(Y% +4 "core" %I\ \  O + "storage"(\ . +3 "core" .(  +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 3 + "storage"(3( +350 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (& +2 "core" & \  J  +2 "manipulator"&+& +4 "core" &A  +2 .tElbow.seek 3 + "manipulator"&f(D +4 "core" ( +2 "manipulator"&L& +4 "core" &A w   + "storage"(w& +4 "core" &\ \  i  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&X' +95 "core" ' +2 "storage"(P& +4 "core" &\ $\ 8  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(D'e +283 "core" ' + "storage"(`- +3 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (_& +2 "core" &\ \ !   +2 "manipulator"&=& +4 "core" &A   +2 .tElbow.seek 3 + "manipulator"&6(D +4 "core" ( + "manipulator"&x& +4 "core" &A   + "storage"(/& +4 "core" &\ \   +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&'y +17 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&Q/ +61 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"&e& "storage"(\\'N +8 "core" &A k m  + "manipulator"&u% +4 "core" % m ` a O +2 .tForearm.seek :retract +2 "manipulator"&}'\ +94 "core" ' +2 .tElbow.seek CC +2 "manipulator"&~( +152 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +3 "core" ( + "manipulator"&i& +4 "core" &# + :- + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &#  :- +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&k'| +107 "core" ' +2 "manipulator"&c& +4 "core" &# :- +2 "manipulator"&n% +4 "core" %p ] ` +2 "collection"'& +4 "core" &  \ d +2 "collection"'g& +5 "core" & a +2 .tCC.seek :closed + "collection"'?(] +5 "core" & \ a  +9 &4  [ )w +10 &i \ Q = +9 &h  Q H +9 &-n \ S G +10 &s \ R G +9 &t \ U H +9 &!rv \ S H +10 &#4r \ R H +9 &$p  N G +10 &&s Q G +9 &(zr \ O H +9 &*<u Q H +10 &+s  J H +9 &-t D G +9 &/s  E G +10 &1Es  C G +9 &3r \ B G +10 &4p \ B G +9 &6s ? H +9 &8Kr \ F H +10 &:n  \ D G +9 &;m \ G G +9 &=v J H +10 &?Tr  J H +9 &Au C G +10 &Bq  C G +9 &Dp \ B G +9 &F\\t J H +10 &Hx \ K H +9 &I \ J J +10 &K \ I M +9 &MM  K P +9 &O A O +10 &P  > Q +9 &R A Q +10 &TO  = R +9 &V H R +9 &W A S +9 &Y  I T +10 &[R  C S +9 &\\w  H (| +9 &])  D S +9 ( +3 "collection"'g& +3 #tCollection Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.80 + .Hand.open +2 "manipulator"&1 +3 "core" &]t  F I +55 1 + "manipulator"&% +5 "core" % p h ` + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&z'\ +91 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%{& +5 "core" &] + "manipulator"&b% +4 "core" %\ '  A + "storage"( % +4 "core" %O\ \  R \ + "storage"(I. +4 "core" .( + "storage"(4& +4 "core" &\ \  J  +2 "storage"(8& +3 "core" &\ \  +2 "manipulator"&;& +4 "core" &#  :- +2 "manipulator"&>% +3 "core" %\ &  A +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 + "manipulator"&h(D +166 "core" ( +2 "manipulator"&& +4 "core" &8 A I +2 "storage"(t& +3 "core" &\ \ G  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&m' +94 "core" ' +2 "storage"(|& +4 "core" &\    +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(T'e +278 "core" ' +2 "storage"(0- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" &\ \  t  + "manipulator"& & +4 "core" &8\ 5 I + .tElbow.seek 3 +2 "manipulator"&K(D +14 "core" ( +2 "manipulator"&& +4 "core" &;  $ + "storage"(s& +4 "core" &\ \ \ \ ]  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&.'y +10 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&j/ +63 "core" / +2 ."downElevator"SE.seek :down +5 "manipulator"&'& + "storage"(q'N +6 "core" &< % # +2 "manipulator"&M% +4 "core" % v 0 2 +2 .tForearm.seek :retract + "manipulator"&5'\ +98 "core" ' +2 .tElbow.seek PC + "manipulator"& (c +157 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +105 "core" ( + "manipulator"&& +4 "core" &k N +53 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &#& +2 "core" &k ? +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&Z'[ +104 "core" ' + "manipulator"&:& +4 "core" &k +2 "manipulator"& % +4 "core" %c _ +2 "processing"%& +4 "core" &R +2 "processing"%& +5 "core" &U +2 .tPC.seek :closed +2 "processing"%U(Z +4 "core" &M +8 &<G #c +9 &wZJ 6 +10 &J H +9 &gJ G +9 &enO H +10 &'mJ H +9 & oK H +9 &"hK G +10 &$nn8 G +9 &&0k7 G +10 &'i< G +9 &)n3 G +9 &+um5 H +10 &-8n6 G +9 &.n9 H +9 &0i9 G +10 &2~p: G +9 &4An6 G +10 &6m9 G +9 &7j: G +9 &9k9 G +10 &;Hp: G +9 &=\ l; G +9 &>s6 G +10 &@n3 H +9 &BQm( G +10 &Dm+ G +9 &En% G +9 &Gt H +10 &IT{# I +9 &K I +9 &L L +10 &N) M +9 &PQ+ M +10 &R( M +9 &S" M +12 &U% N +9 &WW( M +7 &Y( K +9 &ZT;d& #g +10 &Z;# & +5 ( +2 "processing"%& +4 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.46 + .Hand.open +2 "manipulator"&1 +3 "core" &Z& & +50 1 +2 "manipulator"& % +4 "core" % c ( +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&$'\ +101 "core" ' + "processing"%& +4 "core" &Z( & +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&% +4 "core" %\ 3 _ %| +2 "storage"(!% +4 "core" %G\ \  + "storage"(. +3 "core" .( +2 "storage"(v& +4 "core" & \   +2 "storage"(y& +2 "manipulator"&1& +7 "core" &\ \   + &l w +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +2 "storage"(#]kK-0-\ b +4 .tElbow.seek PC +2 "manipulator"&-(c +3 ."raiseStack"SE.seek :beamBreak +2 "storage"(<'e +3 "core" ( + "manipulator"&& +4 "core" &l < + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &W& +3 "core" &l  +2 .tForearm.seek PC +2 "manipulator"&'[ +95 "core" ' +2 .tHand.close + "manipulator"&a/ +53 "core" / +3 .tPC.seek :open +2 "processing"%r(p +90 "core" ' + "storage"(C- +4 "core" -'e + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place + "storage"(@'B +38 "core" ' +248 ( +2 "storage"(E& +4 "core" &\  D  + "manipulator"&7& +4 "core" &s  \ +2 "manipulator"&% +4 "core" % c  + .tForearm.seek :retract +2 "manipulator"&N'\ +94 "core" ' +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&)(D +243 "core" ( + "manipulator"&,& +4 "core" &= 1 "~ +2 "storage"(&& +4 "core" &\ \   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&9' +100 "core" ' + .tHand.open + "manipulator"&1 +57 "core" 1 +2 "storage"(2- +3 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate +2 "storage"((' +23 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.83 Pucks below Top Plate + "storage"(J' +54 "core" ' +3 #tLights, camera, ACTION! + "storage"(B- +3 "core" -' +2 "storage"(l& +4 "core" & >  + "manipulator"&& +4 "core" &= \\ "~ +2 .tElbow.seek 3 +2 "manipulator"&O(D +3 "core" ( + "manipulator"&& +4 "core" &= i "~ + "storage"(R& +4 "core" &  +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&%' +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"(^'M +60 "core" ' +2 "manipulator"&H& +4 "core" &=  "~ +2 "storage"(S& +3 "core" &\   +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&F'M +35 "core" ' +2 .tElbow.hold + "manipulator"&], +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.07 Pucks below Top Plate + "storage"(V'7 +23 "core" ' + "manipulator"&[% +5 "core" %\\T L < ̰ + "storage"(o& +4 "core" & )  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 315 counts +2 "manipulator"&"'ψ +18 "core" ' + "manipulator"&Y& +5 "core" &0 i ] + $ + "storage"(\ & +4 "core" &\ \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&' +19 "core" ' + "storage"(*% +5 "core" %?\ \    +2 ."downElevator"SE.seek :down +4 "storage"(d'N +98 (% +3 "core" %F\ \ \ * OB +2 "manipulator"&% +4 "core" % f f D  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&+'\ +92 "core" ' +60 ' + ."downElevator"SE.stop + "storage"(5 +3 (L& +4 "core" & f  + "collection"'w& +4 "core" &]s  f I +2 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&P% +4 "core" %\ ) x L +2 "storage"(A% +3 "core" %K\ \ P +2 "storage"(. +3 "core" .( +2 "storage"(`& +4 "core" & \   +2 "storage"(_& +3 "core" &\ \ \ \   +2 "manipulator"&=& +4 "core" &0 P $ +2 .tElbow.seek 3 + "manipulator"&x(D +14 "core" ( + "manipulator"&/& +4 "core" &B 7 * +2 "storage"(Q& +3 "core" & \ \ W  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&e' +102 "core" ' +2 "storage"(u& +4 "core" &\ \    +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(f'e +277 "core" ' + "storage"(X- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&i& +3 "core" &C  * +2 "storage"(& +3 "core" &\ \   +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&D'M +29 "core" ' +2 .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(c- +2 "core" -' +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(n'i +30 "core" ' + "manipulator"&6% +9 "core" %ah 2 7 ʶ + "storage"(& +4 "core" &   +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 320 counts + "manipulator"&\\'ύ +19 "core" ' +2 "manipulator"&}& +4 "core" &f ` u B & +2 "storage"(G& +3 "core" &\ \ ]  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&' +18 "core" ' +2 .tSE.seek 1.11 Pucks below Top Plate + "storage"('X +46 "core" ' + "manipulator"&{& +4 "core" &f c a & +2 "manipulator"&b% +4 "core" % b e =  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"& '\ +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&I( +146 "core" ( +2 "manipulator"&4& +4 "core" &#  ;5 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &8& +3 "core" &#  ;5 +2 .tForearm.seek CC +2 "manipulator"&g'| +97 "core" ' + .tHand.close + "manipulator"&;/ +55 "core" / +2 .tCC.seek :open +2 "collection"'>(p +411 "core" ( +2 "storage"(k& +4 "core" &\ !\  V  + "storage"(& +4 "core" &\ \  l  + "manipulator"&t& +4 "core" &#  :, + "manipulator"&|% +4 "core" % φ   +2 .tForearm.seek :retract +2 "manipulator"&~'\ +96 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&z(D +169 "core" ( + "manipulator"&0& +5 "core" &; x d +51 "storage"(& +5 "core" &\ \   +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 +2 "manipulator"& 'M +109 "core" ' + .tElbow.hold + "manipulator"&, +5 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&s1 +56 "core" 1 +2 "manipulator"&j% +4 "core" % ^   ýV +2 "storage"('& +3 "core" &\ \   +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 317 counts + "manipulator"&M'ϊ +16 "core" ' +2 "manipulator"&h& +4 "core" &7 t p h +2 "storage"(m& +4 "core" &\ B\ B y  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&T' +22 "core" ' + "storage"(.% +4 "core" %V\ C\ C +3 ."downElevator"SE.seek :down +3 "storage"('N +99 (K% +3 "core" %F\ \  N? + "manipulator"&#% +4 "core" % o p +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&:'\ +91 "core" ' +49 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 2 of [2..3] +2 #Loading generic puck from tube 2 into Collection Clamp + "collection"' & +4 "core" & \ R +2 "manipulator"&% +4 "core" %\ . 3 #b +2 "storage"(q% +4 "core" %A\ \ !  + "storage"(5. +3 "core" .( +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 2 + "storage"((  +362 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (& +2 "core" &  \ 6 +2 "manipulator"& & +4 "core" &7  h +2 .tElbow.seek 2 + "manipulator"&(; +3 "core" ( +2 "manipulator"&& +4 "core" &7 ^ h + "storage"(!& +4 "core" & \ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&'Ѐ +105 "core" ' +2 "storage"(v& +4 "core" & \ 8\ 5 P +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"('e +289 "core" ' +2 "storage"(1- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (y& +2 "core" & \ \   +2 "manipulator"&& +4 "core" &7 i o h +2 .tElbow.seek 2 + "manipulator"&W(; +3 "core" ( +2 "manipulator"&Z& +4 "core" &7 n q h + "storage"(a& +4 "core" & \ %\ 4 ) +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&C' +15 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"& / +57 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"&$& + "storage"(U'N +6 "core" &7  h +2 "manipulator"&E% +4 "core" %  ; +2 .tForearm.seek :retract +2 "manipulator"&7'\ +96 "core" ' + .tElbow.seek CC +2 "manipulator"&( +147 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +6 "core" ( +2 "manipulator"&<& +4 "core" &+  Ae + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &* M Ae +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&,'| +98 "core" ' +2 "manipulator"&&& +4 "core" &+  Ad +2 "manipulator"&-% +4 "core" %τ  +2 "collection"'& +4 "core" & \ X +2 "collection"'2& +5 "core" & u +2 .tCC.seek :closed + "collection"'B(] +5 "core" &  R  +9 &6 \ R )w +9 &l  T > +9 & \ \ S I +10 &Jk \ K G +9 &\ r P H +10 &s  R H +9 &!n \ \ P H +9 &#Pn \ O H +10 &%l \ I G +9 &&n  S H +9 &(o  \ S H +10 &*Xm \ S H +9 &,p \ S G +10 &-l \ R G +9 &/n  \ M H +9 &1as P G +10 &3#n  \ G G +9 &4k G G +9 &6n  \ O G +10 &8ir  J G +9 &:*o  \ G H +10 &;m P G +9 &=l J G +9 &?rm  I G +10 &A3r  \ Q G +9 &Bn E H +9 &Dj \ C G +10 &Fxr  A H +9 &H:v E H +10 &I \ \ C J +9 &K A L +10 &Mj C O +9 &O) \ B P +9 &P  F P +9 &R C R +10 &Tk C R +9 &V*  D S +10 &W  J T +9 &Y  F U +10 &[k ? T +9 &] w  G 'y +9 &]  K U +9 ( +3 "collection"'2& +3 #tCollection Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.82 + .Hand.open + "manipulator"&l1 +4 "core" &]}  J N +51 1 +2 "manipulator"&% +4 "core" % π q +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +93 "core" ' + #tLoading generic puck from tube 2 into Processing Clamp +2 "processing"%R& +4 "core" &I + "manipulator"&N% +4 "core" %\ & J < +2 "storage"(H% +4 "core" %L\ \ \ a + "storage"(S. +3 "core" .(  +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 2 + "storage"([(  +6 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (@& +3 "core" &  = +2 "manipulator"&o& +4 "core" &+  Ac + "manipulator"&(% +4 "core" %\ & Q < +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 + "manipulator"&Y(; +172 "core" ( + "manipulator"&\ & +4 "core" &8  U +2 "storage"(*& +4 "core" & \ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&)'Ѐ +104 "core" ' +2 "storage"(9& +4 "core" & \ \   +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(J'e +276 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +2 "core" & \ \ \ R +2 "manipulator"&%& +3 "core" &8\ o l U +2 .tElbow.seek 2 + "manipulator"&O(; +4 "core" ( + "manipulator"&^& +4 "core" &8\ t o \\ U + "storage"(F& +4 "core" &  \  +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&L' +24 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&"/ +60 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&w& +2 "storage"(P'N +8 "core" &8\ f k U + "manipulator"&A% +4 "core" % j b t +2 .tForearm.seek :retract +2 "manipulator"&'\ +95 "core" ' + .tElbow.seek PC +2 "manipulator"&V(c +157 "core" ' + ."downElevator"SE.stop + "storage"(5 +86 "core" ( + "manipulator"&`& +5 "core" &m  K +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &_& +3 "core" &m # K +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&='[ +104 "core" ' + "manipulator"&/& +4 "core" &m  K +2 "manipulator"&Q% +4 "core" %: Y +2 "processing"%& +3 "core" &B +2 "processing"%u& +5 "core" &A +2 .tPC.seek :closed +2 "processing"%d(Z +4 "core" &J +7 &<H $d +10 &z[I 6 +9 &I H +9 &iA G +10 &nn; G +9 &0l> G +9 & n< G +10 &"k< G +9 &$vn7 G +11 &&8m- G +10 &'l9 G +7 &)m, G +10 &+~m6 G +9 &-?n- G +9 &/n0 H +10 &0k8 G +9 &2m4 G +10 &4Fk7 H +9 &6\ k3 G +9 &7k8 G +10 &9k9 G +9 &;Om+ G +9 &=l6 G +10 &>j) G +9 &@m6 G +10 &BXj6 G +9 &Dm4 G +9 &En9 H +10 &Gv8 H +9 &IY2 J +9 &K7 K +10 &L5 L +9 &N. M +9 &PW/ M +10 &R7 M +10 &S* N +9 &U+ M +9 &W^ M +9 &Y! H +10 &ZR>x )w +9 &Z# % +6 ( + "processing"%u& +4 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.49 + .Hand.open + "manipulator"&]1 +4 "core" &Z % +51 1 + "manipulator"&+% +4 "core" % : 1 +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&X'\ +98 "core" ' + "processing"%i& +4 "core" &Z6 % +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 + "manipulator"&% +4 "core" %\ 0 q $t +2 "storage"(c% +3 "core" %> \ ~ +2 "storage"(6. +3 "core" .(  + "storage"(& +4 "core" & \ \  j +2 "storage"(}& +5 "manipulator"&G& +3 "core" & \ \  , + &m y K +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +3 "storage"(#]kK-0-\ b +2 .tElbow.seek PC +55 "manipulator"&{(c +4 ."raiseStack"SE.seek :beamBreak +2 "storage"(b'e +2 "core" ( +2 "manipulator"&e& +3 "core" &m L K +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &x& +2 "core" &m U K +2 .tForearm.seek PC +3 "manipulator"&f'[ +95 "core" ' + .tHand.close + "manipulator"&D/ +57 "core" / +3 .tPC.seek :open +2 "processing"%\\(p +88 "core" ' + "storage"(n- +3 "core" -'e +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place + "storage"(4'B +35 "core" ' +256 ( + "storage"(8& +5 "core" & \ \ \ \  + "manipulator"&& +4 "core" &m  K +2 "manipulator"&% +4 "core" % P  \ +2 .tForearm.seek :retract +2 "manipulator"&;'\ +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"& (; +258 "core" ( +2 "manipulator"&?& +4 "core" &? 8  + "storage"(k& +4 "core" &  \ ) +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&'Ѐ +102 "core" ' + .tHand.open +2 "manipulator"&t1 +59 "core" 1 +2 "storage"(|- +4 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate +2 "storage"(0' +22 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(' +52 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(g- +3 "core" -' +2 "storage"(I& +4 "core" &  + +2 "manipulator"&s& +3 "core" &? d n h  +2 .tElbow.seek 2 + "manipulator"&j(; +4 "core" ( +2 "manipulator"&'& +4 "core" &? m i   +2 "storage"(h& +4 "core" &   +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&m'Ѐ +4 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"(.'M +59 "core" ' + "manipulator"&~& +4 "core" &? d n  +2 "storage"(K& +4 "core" & \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&#'ξ +33 "core" ' + .tElbow.hold +2 "manipulator"&z, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.07 Pucks below Top Plate + "storage"( '7 +24 "core" ' +2 "manipulator"& % +4 "core" %} 5 I +2 "storage"(M& +4 "core" &  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 2 + 320 counts + "manipulator"&' +18 "core" ' +2 "manipulator"&q& +4 "core" &? s \\  +2 "storage"(5& +4 "core" & \ \   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts +2 "manipulator"&'Ѐ +17 "core" ' + "storage"(T% +5 "core" %?\ \ ; +2 ."downElevator"SE.seek :down +4 "storage"('N +99 (3% +3 "core" %F\ \   OB +2 "manipulator"&% +4 "core" %Љ j ` +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"& '\ +87 "core" ' +60 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (& +4 "core" & \ \  W +2 "collection"'!& +4 "core" &]|  C N +2 #tStoring generic puck in Collection Clamp to tube 2 + "manipulator"&v% +4 "core" %\ (  F +2 "storage"(% +3 "core" %E\ \ \ +2 "storage"(:. +3 "core" .(  +2 "storage"(1& +3 "core" & \ \ \ \ +2 "storage"(y& +4 "core" & \ \ \ \ +2 "manipulator"&& +4 "core" &?   +2 .tElbow.seek 2 + "manipulator"&Z(; +3 "core" ( +2 "manipulator"&a& +4 "core" &?   +2 "storage"( & +4 "core" &  \ 1 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&$'Ѐ +92 "core" ' + "storage"(E& +5 "core" & \ \  ? + .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"('e +286 "core" ' +2 "storage"(- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&<& +3 "core" &?   +2 "storage"(& +3 "core" & \ \ \ \ K +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&'ξ +32 "core" ' +2 .tElbow.hold + "manipulator"&C, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(&- +2 "core" -' +3 .tSE.seek 0.12 Pucks below Top Plate + "storage"(-'o +34 "core" ' + "manipulator"&% +4 "core" %m ķ +2 "storage"(W& +4 "core" &  c + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 318 counts +2 "manipulator"&U' +12 "core" ' +2 "manipulator"&7& +4 "core" &? s Z h  + "storage"(>& +4 "core" &  \  S +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts + "manipulator"&l'Ѐ +16 "core" ' +2 .tSE.seek 1.12 Pucks below Top Plate + "storage"('^ +52 "core" ' + "manipulator"&R& +5 "core" &? j _ =  + "manipulator"&N% +4 "core" %v _ `  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&H'\ +88 "core" ' +2 .tElbow.seek CC +2 "manipulator"&S( +155 "Can"K TR +8 "core" ( +2 "manipulator"&2& +4 "core" &- C Cm + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &@& +2 "core" &, 6 Bl +2 .tForearm.seek CC +2 "manipulator"&o'| +96 "core" ' +2 .tHand.close + "manipulator"&(/ +60 "core" / +2 .tCC.seek :open + "collection"',(p +411 "core" ( +2 "storage"(\ & +4 "core" & \ \  + "storage"(*& +4 "core" & \ \  y + "manipulator"&& +4 "core" &&  >N + "manipulator"&9% +4 "core" % ϊ  +2 .tForearm.seek :retract + "manipulator"&'\ +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&(; +173 "core" ( +2 "manipulator"&& +4 "core" &>  \\ +2 "storage"(& +3 "core" & \ !\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 2 +2 "manipulator"&%'ξ +108 "core" ' +2 .tElbow.hold + "manipulator"&^, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&F1 +58 "core" 1 +3 "manipulator"&"% +4 "core" % w  c ĺ1 + "storage"(w& +4 "core" & \ \  @ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 318 counts + "manipulator"&A' +20 "core" ' +2 "manipulator"&Y& +4 "core" &?\ e y A [ +2 "storage"()& +3 "core" & \ 2\ ' +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&J'Ѐ +16 "core" ' +2 "storage"(L% +4 "core" %^\ C\ B +3 ."downElevator"SE.seek :down +3 "storage"(`'N +98 (_% +3 "core" %F\ \  r M> +2 "manipulator"&O% +4 "core" %z q p +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&/'\ +86 "core" ' +56 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 3 of [2..3] + #Loading generic puck from tube 3 into Collection Clamp +2 "collection"'Q& +4 "core" &  \ R +2 "manipulator"&% +4 "core" %\ (  C + "storage"(P% +4 "core" %G\ \   +2 "storage"(. +3 "core" .(  + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(r( +359 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (]& +3 "core" &\ \ \ \   +2 "manipulator"&+& +3 "core" &@\  Z +44 .tElbow.seek 3 +11 "manipulator"&i(D +3 "core" ( + "manipulator"&& +4 "core" &@\ _ Z + "storage"(c& +4 "core" &\ \   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts + "manipulator"&6' +95 "core" ' +2 "storage"(& +4 "core" &\ \  j  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(G'e +277 "core" ' + "storage"(}- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (u& +2 "core" &\ \   +2 "manipulator"&e& +4 "core" &@\ Q Z +2 .tElbow.seek 3 + "manipulator"&x(D +4 "core" ( + "manipulator"&=& +4 "core" &@\ H Z + "storage"(D& +4 "core" &\ \ !  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&n'y +11 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&V/ +63 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&X& +2 "storage"(d'N +7 "core" &@\ 7 Z +2 "manipulator"&8% +4 "core" % }  0 +2 .tForearm.seek :retract +2 "manipulator"&'\ +98 "core" ' + .tElbow.seek CC +2 "manipulator"&b( +144 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +4 "core" ( + "manipulator"&& +4 "core" &#  :1 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &f& +3 "core" &" 3 :1 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&?'| +98 "core" ' +2 "manipulator"&k& +4 "core" &#  :1 +2 "manipulator"&{% +4 "core" %n  +2 "collection"'t& +4 "core" & \ \  +2 "collection"'|& +5 "core" & b +2 .tCC.seek :closed +2 "collection"'g(] +5 "core" & \ e +6 &C  [ $e +9 &~]  c 7 +10 & \ \ Q H +9 &k \ R G +9 &tp \ V H +10 &6n \ Q H +9 & p  M H +9 &"p  \ M H +10 &$}o  R G +9 &&?n  N G +10 &(r  R G +9 &)p \ T G +9 &+m  S G +10 &-Hm J G +9 &/p P H +9 &0q  R G +10 &2m \ \ O G +9 &4Np  O H +10 &6n S G +9 &7o \ L G +9 &9m  S G +10 &;Xn \ K G +9 &=n O G +9 &>n Q G +10 &@n \ Q G +9 &B_q \ Q G +10 &D!n \ J G +9 &Eo H H +9 &Gq P H +10 &Ic}  J I +9 &K \ L K +10 &L J P +9 &N L P +9 &PV K P +10 &R > Q +9 &S < Q +10 &U C R +9 &WX @ R +9 &Y C T +9 &Z B T +10 &\\  B = +9 &]j)  D *{ +10 &]S @ > +2 ( + "collection"'|& +4 #tCollection Clamp onSpring/offSpring for 9/25 samples, on/off torque 1.82 + .Hand.open + "manipulator"&I1 +60 "core" 1 +2 "manipulator"&s% +4 "core" % n E +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&''\ +92 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%h& +4 "core" &O +2 "manipulator"&;% +4 "core" %\ *  G +2 "storage"(~% +3 "core" %7\ \ \ \ V +2 "storage"(K. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 + "storage"( ( +7 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (4& +3 "core" & "  +2 "manipulator"&M& +4 "core" &" \ 9( + "manipulator"&0% +4 "core" %\ )  G +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&q(D +153 "core" ( + "manipulator"&5& +4 "core" &@  +2 "storage"(T& +4 "core" &\ \    +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"& ' +103 "core" ' + "storage"(& +4 "core" &\ \ >  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"('e +282 "core" ' + "storage"(3- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +2 "core" &\ \  >  +2 "manipulator"&m& +4 "core" &A l m + .tElbow.seek 3 +2 "manipulator"&j(D +3 "core" ( + "manipulator"&.& +4 "core" &A r s P +2 "storage"(#& +3 "core" &\ \  7  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&'y +15 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +58 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&!& +2 "storage"(v'N +7 "core" &A # +2 "manipulator"&% +4 "core" % }  % +2 .tForearm.seek :retract + "manipulator"&:'\ +97 "core" ' + .tElbow.seek PC +2 "manipulator"&1(c +153 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +97 "core" ( + "manipulator"& & +4 "core" &l 1 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &y& +3 "core" &l + +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&'[ +102 "core" ' +2 "manipulator"&a& +4 "core" &l s +2 "manipulator"& % +4 "core" %B  + "processing"%& +4 "core" &I +2 "processing"%E& +5 "core" &D +2 .tPC.seek :closed +2 "processing"%(Z +4 "core" &H +7 &;I $d +9 &}[K 6 +10 &= H +9 &hD G +9 &okH G +10 &2hH G +9 & l< G +10 &"g@ G +9 &$xl< G +9 &&:k9 G +10 &'j, G +9 &)k6 G +9 &+~k, H +10 &-Ak, G +9 &/m( H +10 &0k8 G +9 &2l9 G +9 &4Ik: G +10 &6 k9 G +9 &7k) G +9 &9k4 G +10 &;Qm, G +9 &=l/ G +10 &>p- G +9 &@m) G +9 &BYm3 G +10 &Dk, G +9 &En5 G +9 &Gs+ H +10 &I]z3 I +9 &K( J +10 &L0 L +9 &N5 M +9 &PY' M +10 &R) M +9 &S2 M +9 &U. M +10 &W_- N +9 &Y!& I +10 &ZT;l! %l +9 &Z 3 & +5 ( +2 "processing"%E& +4 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.46 + .Hand.open +2 "manipulator"&z1 +3 "core" &Z! & +54 1 + "manipulator"& % +4 "core" % B ~ +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&'\ +101 "core" ' + "processing"%<& +5 "core" &Z9 & + #tImaging generic puck in Processing Clamp while storing it to tube 3 +2 "manipulator"&% +3 "core" %\ 2 i %} +2 "storage"(&% +4 "core" %L \ a + "storage"(. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 + "storage"(W( +3 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (7& +3 "core" &   + "manipulator"&>& +3 ."raiseStack"SE.reconfigure :place +6 "storage"(#]kK-0-\ b +2 "core" &l  +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +3 ."raiseStack"SE.seek :beamBreak +3 "manipulator"&R(c +2 "storage"(N'e +5 "core" ( +2 "manipulator"&$& +4 "core" &l D +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &Z& +3 "core" &l  +2 .tForearm.seek PC +2 "manipulator"&'[ +100 "core" ' + .tHand.close + "manipulator"&/ +52 "core" / +2 .tPC.seek :open +2 "processing"%U(p +92 "core" ' +2 "storage"(-- +3 "core" -'e + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(2'B +38 "core" ' +246 ( +2 "storage"(@& +4 "core" & \  }  + "manipulator"&l& +4 "core" &l  + "manipulator"&C% +4 "core" % _ J +2 .tForearm.seek :retract +2 "manipulator"&('\ +97 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&H(D +250 "core" ( +2 "manipulator"&B& +4 "core" &; & "} + "storage"(\ & +4 "core" &\ \  (  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&*' +100 "core" ' + .tHand.open + "manipulator"&1 +60 "core" 1 +2 "storage"(9- +4 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate + "storage"(' +23 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.83 Pucks below Top Plate +45 "storage"(' +61 "core" ' + #tLights, camera, ACTION! +2 "storage"(o- +3 "core" -' +2 "storage"(S& +3 "core" &   +2 "manipulator"&F& +4 "core" &<  "| +2 .tElbow.seek 3 + "manipulator"&"(D +4 "core" ( + "manipulator"&w& +4 "core" &<  "| +2 "storage"(Y& +4 "core" &   +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&)' +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"(L'M +60 "core" ' + "manipulator"&& +4 "core" &<  "| +2 "storage"(_& +4 "core" &\ \ \ \   +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 + "manipulator"&O'M +33 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"(%'7 +31 "core" ' +2 "manipulator"&Q% +4 "core" %_[ 5 4 ˲ + "storage"(& +4 "core" & Q  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 318 counts + "manipulator"&A'ϋ +17 "core" ' +2 "manipulator"&P& +4 "core" &/ j l ! $ +2 "storage"(& +4 "core" &\ \   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&' +20 "core" ' +2 "storage"(J% +4 "core" %@\ \  +3 ."downElevator"SE.seek :down +4 "storage"(`'N +98 ([% +3 "core" %E\ \ \ } N@ +2 "manipulator"&]% +4 "core" % g l P  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&+'\ +90 "core" ' +56 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (& +4 "core" &\ \  N  + "collection"'c& +4 "core" &]L  F > +2 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&% +4 "core" %\ - - "a +2 "storage"(^% +32 "core" %C\  ~  + "storage"(/. +4 "core" .( +2 "storage"(}& +4 "core" &\ \ \ `  +2 "storage"(u& +3 "core" &\ \ u  +2 "manipulator"&e& +4 "core" &/  $ +2 .tElbow.seek 3 + "manipulator"&=(D +20 "core" ( +2 "manipulator"&D& +4 "core" &_\ I ^ +2 "storage"(V& +4 "core" & \ \ 9  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&X' +92 "core" ' + "storage"(8& +5 "core" &\ \  #  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(i'e +281 "core" ' + "storage"(6- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" &_\  ^ +2 "storage"(f& +3 "core" &\ \ c  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&G'M +30 "core" ' + .tElbow.hold + "manipulator"&n, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(k- +2 "core" -' +3 .tSE.seek 0.11 Pucks below Top Plate + "storage"({'j +34 "core" ' +2 "manipulator"&t% +4 "core" %ae 1 &  ɵ + "storage"(x& +4 "core" &  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 320 counts + "manipulator"&d'ύ +19 "core" ' + "manipulator"&& +5 "core" &> f s s # + "storage"(,& +4 "core" &\ \  *  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&I' +16 "core" ' +2 .tSE.seek 1.11 Pucks below Top Plate + "storage"(s'Y +54 "core" ' + "manipulator"&h& +4 "core" &> ` d  # +2 "manipulator"&;% +4 "core" % b ` & +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&~'\ +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"&K( +149 "core" ( + "manipulator"&|& +5 "core" &#  ;6 + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &4& +2 "core" &#  ;6 +2 .tForearm.seek CC +2 "manipulator"&M'| +96 "core" ' +2 .tHand.close + "manipulator"&0/ +63 "core" / + .tCC.seek :open +2 "collection"'?(p +411 "core" ( + "storage"(5& +5 "core" &\ \    + "storage"(T& +4 "core" &\ \    + "manipulator"&r& +4 "core" &# # :, + "manipulator"&% +4 "core" % ς 7  +2 .tForearm.seek :retract +2 "manipulator"&b'\ +98 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&'(D +194 "core" ( + "manipulator"&3& +4 "core" &@ b b +2 "storage"(& +3 "core" &\ \  u  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 + "manipulator"&m'M +113 "core" ' + .tElbow.hold +2 "manipulator"&., +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator" +53 "core" 1 +3 "manipulator"&% +4 "core" % [  ýW + "storage"(!& +4 "core" & \  G  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 3 + 314 counts +2 "manipulator"&'χ +19 "core" ' + "manipulator"&q& +4 "core" &< v [ f +2 "storage"( & +4 "core" &\ C\ B  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&' +18 "core" ' +2 "storage"(% +4 "core" %Y\ B\ 8 m +2 ."downElevator"SE.seek :down +4 "storage"( 'N +98 (y% +3 "core" %G\ \  X M> +2 "manipulator"&j% +4 "core" % p q  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&a'\ +100 "core" ' +43 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 2 of [2..3] + #Loading generic puck from tube 2 into Collection Clamp +2 "collection"' & +4 "core" & \ N +2 "manipulator"&% +4 "core" %\   +2 "storage"(v% +4 "core" %M\ 8\ C K + "storage"(:. +4 "core" .( + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"(\\(  +358 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (z& +2 "core" & \ \  p +2 "manipulator"& & +4 "core" &<  f + .tElbow.seek 2 +2 "manipulator"&<(; +3 "core" ( +2 "manipulator"&& +4 "core" &<  f + "storage"(&& +4 "core" & \ ?\ B O +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&'Ѐ +91 "core" ' + "storage"(E& +4 "core" & \ 7\ ? H +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(7'e +283 "core" ' + "storage"(>- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 ($& +3 "core" & \ \  + "manipulator"&Z& +4 "core" &<  f +2 .tElbow.seek 2 + "manipulator"&(; +4 "core" ( + "manipulator"&& +5 "core" &< z f + "storage"( & +4 "core" & \ !\ ! +2 .tForearm.seek 2 + 300 counts + "manipulator"&-' +28 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&1/ +56 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"&& "storage"('N +8 "core" &< p m f + "manipulator"&@% +4 "core" %  b m +2 .tForearm.seek :retract +2 "manipulator"&l'\ +91 "core" ' +2 .tElbow.seek CC + "manipulator"&C( +151 "core" ' + ."downElevator"SE.stop + "storage"(5 +5 "core" ( + "manipulator"&N& +4 "core" &+ T Bf +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &, ] Bf +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +52 "manipulator"&B'| +103 "core" ' +2 "manipulator"&\ & +4 "core" & + H Ae +2 "manipulator"&R% +4 "core" %~ X + "collection"'& +4 "core" & \ \  +2 "collection"'9& +5 "core" & ~ +2 .tCC.seek :closed +2 "collection"'((] +4 "core" & \ d  +9 &5 e )v +9 &j  [ = +9 &p  O H +10 &5n \ R G +9 &o  S G +9 &m R G +10 &!zk T G +9 &#<m  \ S G +10 &$p  E G +9 &&n R G +9 &(l \ R G +10 &*Dn Q G +9 &,n \ R G +9 &-m \ \ P G +10 &/n \ J H +9 &1Kn \ P H +9 &3n \ R G +10 &4n \ S G +9 &6l N G +10 &8Tn O G +9 &:h O G +9 &;k P G +10 &=m \ P H +9 &?]k T G +9 &An  J G +10 &Bm \ N H +9 &Dk \ R G +10 &Fdo \ S G +9 &H$p \ R H +9 &I  S I +10 &K S L +9 &MS T P +9 &O T P +10 &P S Q +9 &R  B Q +10 &TV N R +9 &V S S +9 &W  H S +10 &Y \ H U +9 &[V  < T +9 &\\y  F (} +10 &]$  F D +9 ( + &]M  B = +2 "collection"'9& +3 #tCollection Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.87 + .Hand.open +2 "manipulator"&o1 +54 "core" 1 +2 "manipulator"&S% +4 "core" % | +5 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&F'\ +101 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%w& +5 "core" &@ + "manipulator"&Y% +4 "core" %\ 5 V & + "storage"(% +4 "core" %7\ \ 6  +2 "storage"(_. +3 "core" .(  + "storage"(2& +4 "core" & \  p +2 "storage"(& +3 "core" &  \ +2 "manipulator"&Q& +3 "core" &?" :/ +2 "manipulator"&% +4 "core" %\ 5 : & +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&P(; +168 "core" ( +2 "manipulator"&& +4 "core" &6 z P + "storage"(J& +4 "core" & \ \  % +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&H'Ѐ +105 "core" ' +2 "storage"(*& +4 "core" & \ \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"('e +281 "core" ' +2 "storage"([- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (]& +2 "core" & \  U +2 "manipulator"&)& +4 "core" &6 o n P +2 .tElbow.seek 2 + "manipulator"&"(; +4 "core" ( + "manipulator"&L& +4 "core" &6 { u P + "storage"(O& +4 "core" & \ \   +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&' +34 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&A/ +58 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&c& +2 "storage"('N +8 "core" &6\ n o  P + "manipulator"&%% +4 "core" % n n +2 .tForearm.seek :retract +2 "manipulator"&^'\ +94 "core" ' +2 .tElbow.seek PC + "manipulator"&/(c +157 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +101 "core" ( +2 "manipulator"&}& +4 "core" &i . +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &u& +3 "core" &i +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&e'[ +110 "core" ' +2 "manipulator"&D& +4 "core" &i ^ t [ +2 "manipulator"&V% +4 "core" %R _ ` % +2 "processing"%& +3 "core" &> +2 "processing"%8& +5 "core" &R +2 .tPC.seek :closed +2 "processing"%`(Z +4 "core" &B  +8 &7B *x +10 &j= = +9 &z@ H +10 &HjI F +9 &n> G +9 &k? G +10 &!kE G +9 &#Oj. G +9 &%n% G +10 &&m8 G +9 &(k: G +10 &*Wj) G +9 &,l' G +9 &-k/ G +10 &/l8 G +9 &1_l/ G +9 &3!l( G +10 &4k0 G +9 &6o6 G +10 &8gm: G +9 &:*k* F +9 &;l) G +10 &=m( G +9 &?om" G +9 &A0l5 G +10 &Bk/ G +9 &Dm* G +10 &Ftr( H +9 &H5w- H +9 &I9 J +10 &K9 L +9 &Mn1 M +9 &O/) M +10 &P' L +9 &R( M +10 &Tt' M +9 &V6! M +10 &W( N +9 &Y' 3 +9 &Z4) M +9 &Z! & +3 ( + "processing"%8& +4 #tProcessing Clamp onSpring/offSpring for 8/25 samples, on/off torque 1.50 + .Hand.open + "manipulator"&1 +58 "core" 1 +2 "manipulator"&+% +4 "core" % T ` 2 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&6'\ +91 "core" ' + "processing"%& +4 "core" &Z; & +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 +2 "manipulator"&f% +3 "core" %\ . T !Q +2 "storage"(k% +4 "core" %M\ \ \  + "storage"(t. +3 "core" .(  +2 "storage"(x& +3 "core" & \ > +3 "storage"(& +2 "manipulator"&,& +7 "core" &  \ +2 &i N +2 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +3 "storage"(#]kK-0-\ b +2 "manipulator"&h(c +5 ."raiseStack"SE.seek :beamBreak +2 "storage"(;'e +3 "core" ( + "manipulator"&X& +4 "core" &i a + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &=& +3 "core" &i G +2 .tForearm.seek PC +2 "manipulator"&i'[ +96 "core" ' + .tHand.close +2 "manipulator"&G/ +59 "core" / +2 .tPC.seek :open +2 "processing"%d(p +89 "core" ' + "storage"({- +4 "core" -'e + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(|'B +37 "core" ' +250 ( + "storage"(4& +5 "core" & \  P + "manipulator"&I& +4 "core" &i h + "manipulator"&n% +4 "core" % f +2 .tForearm.seek :retract + "manipulator"&0'\ +93 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 + "manipulator"&~(; +245 "core" ( +2 "manipulator"&g& +4 "core" &@ 3 +2 "storage"(5& +3 "core" & \ \ \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts + "manipulator"&T'Ѐ +89 "core" ' +2 .tHand.open + "manipulator"&r1 +55 "core" 1 +2 "storage"(- +4 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate + "storage"(M' +21 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(3' +52 "core" ' +2 #tLights, camera, ACTION! + "storage"(- +4 "core" -' + "storage"(K& +4 "core" &  Z +2 "manipulator"&#& +4 "core" &@ 3 + .tElbow.seek 2 +2 "manipulator"&(; +3 "core" ( +2 "manipulator"&!& +3 "core" &@  3 +2 "storage"(q& +4 "core" &  & +2 .tForearm.seek 2 + 450 counts +2 "manipulator"& 'Ѐ +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"('M +59 "core" ' + "manipulator"&b& +4 "core" &@  3 +2 "storage"(y& +4 "core" & \ \ = +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&j'ξ +33 "core" ' +2 .tElbow.hold + "manipulator"&', +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.07 Pucks below Top Plate + "storage"(m'7 +35 "core" ' +2 "manipulator"& % +4 "core" %m   - ŷ +2 "storage"(& +4 "core" &  ^ + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 2 + 319 counts +2 "manipulator"&' +18 "core" ' +2 "manipulator"&v& +5 "core" &@ u z  3 + "storage"(:& +4 "core" & \ \  j +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts + "manipulator"&s'Ѐ +24 "core" ' +2 "storage"(% +4 "core" %:\ !\  +3 ."downElevator"SE.seek :down +3 "storage"( 'N +98 (W% +3 "core" %I \ NA +2 "manipulator"&z% +3 "core" %Ч n n +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"& '\ +92 "core" ' +59 ' + ."downElevator"SE.stop + "storage"(5 +3 (& +56 "core" &  \ R + "collection"'&& +4 "core" &]M  s = +2 #tStoring generic puck in Collection Clamp to tube 2 + "manipulator"&E% +4 "core" %\ 1 N $n +2 "storage"(.% +3 "core" %M\  @ +2 "storage"(a. +3 "core" .(  +2 "storage"(>& +3 "core" &  \ M +2 "storage"($& +4 "core" & \ \  ` +2 "manipulator"&Z& +3 "core" &@ w 3 +2 .tElbow.seek 2 +2 "manipulator"&(; +3 "core" ( +2 "manipulator"& & +4 "core" &@ 3 +2 "storage"(1& +4 "core" &  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&'Ѐ +103 "core" ' +2 "storage"(@& +4 "core" & \ \ > +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(<'e +279 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&N& +3 "core" &@ o o 3 +2 "storage"(& +4 "core" & \ \   +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&7'ξ +35 "core" ' +2 .tElbow.hold + "manipulator"&-, +47 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(- +3 "core" -' +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(\ 'n +33 "core" ' + "manipulator"&R% +5 "core" %f   Ƶ + "storage"(& +4 "core" &  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 2 + 317 counts +2 "manipulator"&' +19 "core" ' + "manipulator"&l& +5 "core" &@ s \\ o 3 +2 "storage"(?& +4 "core" & \ \  g +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts + "manipulator"&o'Ѐ +16 "core" ' +2 .tSE.seek 1.11 Pucks below Top Plate +2 "storage"(S'] +45 "core" ' + "manipulator"&w& +5 "core" &@ m m 3 + "manipulator"&Y% +4 "core" %w c k p +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +87 "core" ' +2 .tElbow.seek CC +2 "manipulator"&_( +149 "core" ( +2 "manipulator"&9& +4 "core" &$  ;5 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &2& +3 "core" &#  ;5 +2 .tForearm.seek CC +2 "manipulator"&'| +97 "core" ' + .tHand.close +2 "manipulator"&Q/ +65 "core" / + .tCC.seek :open +2 "collection"'(p +410 "core" ( +2 "storage"(B& +4 "core" & \ \ [ +2 "storage"(& +3 "core" & \ \  [ +2 "manipulator"&J& +3 "core" &\  8! +2 "manipulator"&*% +4 "core" % ύ  +2 .tForearm.seek :retract + "manipulator"&C'\ +92 "core" ' +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&F(; +160 "core" ( +2 "manipulator"&[& +4 "core" &/ T  + "storage"(]& +4 "core" & \ !\ ! +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 2 + "manipulator"&)'ξ +112 "core" ' +2 .tElbow.hold + "manipulator"&L, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&O1 +54 "core" 1 +2 "manipulator"&A% +4 "core" % z »: +2 "storage"(c& +4 "core" &  \  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 317 counts + "manipulator"&%' +12 "core" ' + "manipulator"&P& +4 "core" &/ [ t }  +2 "storage"(H& +4 "core" & \ C\ C +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&'Ѐ +16 "core" ' + "storage"(% +5 "core" %]\ C\ C s +2 ."downElevator"SE.seek :down +3 "storage"(}'N +99 (u% +3 "core" %F\ \  N@ +2 "manipulator"&"% +4 "core" %Є m n +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&D'\ +87 "core" ' +53 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 3 of [2..3] + #Loading generic puck from tube 3 into Collection Clamp +2 "collection"'V& +4 "core" & \ o +2 "manipulator"&% +3 "core" %\ (  K +2 "storage"(% +4 "core" %E\ \   +2 "storage"(^. +3 "core" .(  + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(U( +382 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (& +3 "core" &\ \  N + "manipulator"&+& +4 "core" &/   +2 .tElbow.seek 3 + "manipulator"&(D +17 "core" ( + "manipulator"&f& +5 "core" &> B !q + "storage"(k& +4 "core" &\ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&t' +94 "core" ' + "storage"(x& +4 "core" &\ \ $ u +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(,'e +288 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (8& +2 "core" &\ \   +2 "manipulator"&X& +4 "core" &> !q +2 .tElbow.seek 3 + "manipulator"&=(D +4 "core" ( + "manipulator"&e& +4 "core" &>  !q + "storage"(G& +4 "core" &\ \  . +2 .tForearm.seek 3 + 300 counts + "manipulator"&{'y +12 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&// +53 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&6& +2 "storage"(`'N +8 "core" &> !q + "manipulator"&4% +4 "core" % r  +2 .tForearm.seek :retract + "manipulator"&I'\ +94 "core" ' + .tElbow.seek CC +2 "manipulator"&n( +147 "core" ( +2 "manipulator"&;& +4 "core" ' + &"  :* + ."downElevator"SE.stop +4 .tElbow.reconfigure :loose +2 "storage"(5 + "manipulator"&$ &.,(#b +5 &i& +2 "core" &"  :* +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&g'| +100 "core" ' +2 "manipulator"&5& +4 "core" &"  :* + "manipulator"&h% +4 "core" %p  +2 "collection"'r& +4 "core" & d +2 "collection"'& +5 "core" & \ Y +2 .tCC.seek :closed +2 "collection"'(] +4 "core" &  \ ] +7 &B \ b $e +9 &w]  \ ] 7 +9 &  \ ^ H +10 &i \ d G +9 &qn X G +9 &2n _ G +10 & n J H +9 &"n  K G +10 &$wn  U G +9 &&:j  R G +9 &'m \ S G +10 &)m \ P G +9 &+m \ \ M G +9 &-Bl \ P G +10 &/n \ R G +9 &0n \ T H +10 &2m \ \ U G +9 &4Jm \ T G +9 &6 m  S G +10 &7n \ L G +9 &9k  \ S G +9 &;Sk T G +10 &=p  \ P G +9 &>m \ P G +10 &@k R G +9 &BYm P G +9 &Dm \ T G +10 &El \ T G +9 &Gp  U G +9 &I]~ \ M I +10 &K \ \ S L +10 &L U O +9 &N U O +9 &PO R P +10 &R T Q +9 &S T Q +9 &U K R +9 &WQ  S R +10 &Y  P S +9 &Z  P T +10 &\\  K A +9 &]n1  S &p +10 &]Q  R > +2 ( + "collection"'& +3 #tCollection Clamp onSpring/offSpring for 9/25 samples, on/off torque 1.85 +2 .Hand.open + "manipulator"&K1 +60 "core" 1 + "manipulator"&#% +4 "core" % p +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&!'\ +91 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%q& +5 "core" &5 + "manipulator"&0% +4 "core" %\ ( I + "storage"(b% +4 "core" %I\ \ \ \ k  +2 "storage"(y. +3 "core" .( + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(|( +10 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 ( & +2 "core" &\ \ 1 +2 "manipulator"&& +4 "core" &!  8 +2 "manipulator"&M% +3 "core" %\ (  I +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&v(D +151 "core" ( + "manipulator"&:& +4 "core" &O 1 \ +2 "storage"(& +3 "core" &\ \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +54 "manipulator"&~' +97 "core" ' +2 "storage"(T& +4 "core" &\ \  . +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(3'e +277 "core" ' + "storage"(W- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (z& +3 "core" &\  +2 "manipulator"& & +3 "core" &O  \ +2 .tElbow.seek 3 + "manipulator"&(D +8 "core" ( +2 "manipulator"&& +4 "core" &J  + "storage"(j& +4 "core" &\ \  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&'y +20 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +55 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&m& +2 "storage"(&'N +7 "core" &J d m l + "manipulator"&E% +4 "core" % v k c +2 .tForearm.seek :retract +2 "manipulator"&.'\ +90 "core" ' +2 .tElbow.seek PC +2 "manipulator"&a(c +164 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +82 "core" ( +2 "manipulator"&>& +4 "core" &l  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &$& +2 "core" &l 4 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&Z'[ +92 "core" ' + "manipulator"& & +5 "core" &l ^ + "manipulator"&1% +4 "core" %O  +2 "processing"%s& +4 "core" &M +2 "processing"%@& +5 "core" &K +2 .tPC.seek :closed + "processing"% (Z +5 "core" &>  +8 &5A )w +9 &jB = +10 &z< G +9 &=j9 G +9 &lB G +10 &k; G +9 &!m@ G +10 &#En9 G +9 &%j: G +9 &&pC G +10 &(k5 F +9 &*Mk0 G +9 &,k3 G +10 &-j) G +9 &/l) G +10 &1Wk- F +9 &3l- G +9 &4k/ G +10 &6j+ F +9 &8]l/ G +9 &:j' G +10 &;k' G +9 &=k. G +10 &?el. G +9 &A'm7 G +9 &Bj( G +10 &Dk' G +9 &Fmm, G +9 &H,v3 H +10 &I~/ I +9 &K+ J +10 &Mf) L +9 &O&( M +10 &P( M +9 &R& M +9 &Tm& M +9 &V-' M +10 &W! N +9 &Y& 5 +10 &Z5+ Q +9 &Z6 % +2 ( +2 "processing"%@& +3 #tProcessing Clamp onSpring/offSpring for 8/26 samples, on/off torque 1.45 + .Hand.open +2 "manipulator"&'1 +55 "core" 1 + "manipulator"& % +4 "core" % O  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +92 "core" ' + "processing"%N& +4 "core" &Z % +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 +2 "manipulator"&% +4 "core" %\ ' = : + "storage"(% +4 "core" %J\ \  M  +2 "storage"(R. +3 "core" .( + "storage"(& +4 "core" &\ \  b +2 "storage"(l& +4 "manipulator"&?& +4 "core" &\ \ \  + &l  +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +2 "storage"(#]kK-0-\ b +4 .tElbow.seek PC +2 "manipulator"&w(c +3 ."raiseStack"SE.seek :beamBreak +2 "storage"(Y'e +3 "core" ( + "manipulator"&& +4 "core" &l 8 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &l  +2 .tForearm.seek PC + "manipulator"&<'[ +96 "core" ' + .tHand.close +2 "manipulator"&7/ +63 "core" / + .tPC.seek :open +2 "processing"%(p +83 "core" ' +2 "storage"(\ - +3 "core" -'e +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +2 ."raiseStack"SE.seek :place +2 "storage"(9'B +35 "core" ' +258 ( +2 "storage"(2& +4 "core" &\ \ ( +2 "manipulator"&o& +3 "core" &l i +2 "manipulator"&-% +4 "core" % X +2 .tForearm.seek :retract + "manipulator"&Q'\ +94 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&(D +250 "core" ( +2 "manipulator"&(& +4 "core" &? ] !q + "storage"(B& +4 "core" &\ \ \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&' +94 "core" ' + .tHand.open + "manipulator"&J1 +57 "core" 1 +2 "storage"(*- +3 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate +2 "storage"([' +21 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.83 Pucks below Top Plate + "storage"(]' +52 "core" ' + #tLights, camera, ACTION! +2 "storage"(- +3 "core" -' +2 "storage"(_& +4 "core" & + "manipulator"&O& +4 "core" &@ !p +2 .tElbow.seek 3 +2 "manipulator"&A(D +3 "core" ( + "manipulator"&c& +4 "core" &@  !p + "storage"(P& +4 "core" & C +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&H' +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.11 Pucks below Top Plate + "storage"('M +62 "core" ' +2 "manipulator"&C& +4 "core" &@ Z !p +2 "storage"(u& +3 "core" & \ } +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&"'M +33 "core" ' +2 .tElbow.hold +2 "manipulator"&F, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"()'7 +22 "core" ' +2 "manipulator"&V% +4 "core" %_Z 5 6 ˲ +2 "storage"(& +4 "core" & P + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 318 counts + "manipulator"&%'ϋ +19 "core" ' +2 "manipulator"&& +4 "core" &5 p s "{ +2 "storage"(^& +4 "core" &\ \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&S' +20 "core" ' + "storage"(% +5 "core" %?\ \  +2 ."downElevator"SE.seek :down +4 "storage"(}'N +99 (\\% +3 "core" %F\ \ \  NA + "manipulator"&% +4 "core" % n p  0 +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&+'\ +91 "core" ' +59 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (f& +3 "core" &\ \  +2 "collection"'k& +4 "core" &]M  u > +2 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&x% +4 "core" %\ - : "` +2 "storage"(L% +3 "core" %K \  , +2 "storage"(D. +3 "core" .( +2 "storage"(& +3 "core" & ~ +2 "storage"(8& +4 "core" &\  +2 "manipulator"&X& +3 "core" &5  "{ +2 .tElbow.seek 3 +2 "manipulator"&e(D +21 "core" ( +2 "manipulator"&G& +4 "core" &b s P + "storage"(/& +4 "core" & \  ' +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&6' +94 "core" ' +2 "storage"(4& +5 "core" &\ \  $ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('e +275 "core" ' +2 "storage"(t- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&;& +3 "core" &b  P +2 "storage"(i& +3 "core" &\ \  O +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&,'M +34 "core" ' +2 .tElbow.hold + "manipulator"&{, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(5- +2 "core" -' +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(h'j +29 "core" ' + "manipulator"&r% +4 "core" %\\O M J H ͯ +2 "storage"(=& +3 "core" & 5 +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 3 + 315 counts +2 "manipulator"&`'ψ +18 "core" ' +2 "manipulator"&I& +4 "core" &8 o t v "z + "storage"(& +4 "core" &\ \  O +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +53 "manipulator"&K' +21 "core" ' +2 .tSE.seek 1.11 Pucks below Top Plate +2 "storage"(#'Y +44 "core" ' + "manipulator"&q& +5 "core" &8 m d "z + "manipulator"&0% +4 "core" % n o  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&b'\ +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&y( +146 "core" ( +2 "manipulator"&& +4 "core" &" :, + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 & & +3 "core" &# d :, +2 .tForearm.seek CC + "manipulator"&'| +96 "core" ' + .tHand.close +2 "manipulator"&M/ +59 "core" / +3 .tCC.seek :open + "collection"'g(p +411 "core" ( + "storage"(:& +4 "core" &\ \ ! +2 "storage"(& +4 "core" &\ \  Y + "manipulator"&U& +4 "core" &  8 + "manipulator"&n% +4 "core" % τ   +2 .tForearm.seek :retract +2 "manipulator"&T'\ +100 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&!(D +173 "core" ( + "manipulator"&W& +5 "core" &D ( a + "storage"(z& +4 "core" &\ \  D +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 + "manipulator"& 'M +110 "core" ' +2 .tElbow.hold + "manipulator"&, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&j1 +61 "core" 1 +2 "manipulator"&% +4 "core" % Y ¿h + "storage"(m& +4 "core" & \  b + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 3 + 312 counts +2 "manipulator"&E'υ +17 "core" ' +2 "manipulator"&v& +5 "core" &@ W s r e + "storage"(~& +4 "core" &\ %\ 3  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&3' +22 "core" ' + "storage"(% +5 "core" %X\ C\ B +2 ."downElevator"SE.seek :down +3 "storage"(>'N +99 ($% +3 "core" %?\ \  N> +2 "manipulator"&% +4 "core" % m o W +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"& '\ +96 "core" ' +43 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 2 of [2..3] +2 #Loading generic puck from tube 2 into Collection Clamp + "collection"'1& +4 "core" & \ U +2 "manipulator"&s% +4 "core" %\ 0 K $q +2 "storage"(&% +4 "core" %9\ \  + "storage"(.. +3 "core" .( +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 2 + "storage"(d(  +353 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 ('& +2 "core" & \ \ \  +2 "manipulator"& & +4 "core" &A  d + .tElbow.seek 2 +2 "manipulator"&N(; +4 "core" ( + "manipulator"&& +4 "core" &A O d + "storage"(& +4 "core" & \ \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&R'Ѐ +94 "core" ' +2 "storage"(& +4 "core" & \ (\  0 +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(?'e +278 "core" ' + "storage"(l- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (@& +2 "core" & \ \ +2 "manipulator"&& +3 "core" &A ) d +2 .tElbow.seek 2 + "manipulator"&(; +4 "core" ( +2 "manipulator"&Z& +4 "core" &A , d + "storage"(7& +4 "core" & \ !\  +2 .tForearm.seek 2 + 300 counts + "manipulator"&\ ' +11 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&a/ +55 "core" / +2 ."downElevator"SE.seek :down +5 "manipulator"&& "storage"( 'N +8 "core" &A  d + "manipulator"&2% +4 "core" %  N +2 .tForearm.seek :retract +2 "manipulator"&o'\ +96 "core" ' +2 .tElbow.seek CC + "manipulator"&Y( +145 "core" ( +3 "manipulator"&-& +4 "core" ' + & C 8 + ."downElevator"SE.stop +3 .tElbow.reconfigure :loose +2 "storage"(5 +2 "manipulator"&$ &.,(#b +4 &<& +2 "core" &  8 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&('| +104 "core" ' + "manipulator"&B& +4 "core" &  8 +2 "manipulator"&w% +4 "core" %p S +2 "collection"'J& +3 "core" & \ y +2 "collection"'*& +5 "core" &  +3 .tCC.seek :closed + "collection"'(] +4 "core" & \ f  +9 &7 ` *x +9 &k \ \ _ = +9 &y{  \ f G +10 &=m b G +9 &q \ U G +10 &p \ T G +9 &!n \ V G +9 &#Dm X G +10 &%m U G +9 &&q \ R G +9 &(m \ T G +10 &*Ml U G +9 &,j  \ R G +10 &-n R G +9 &/m  V G +9 &1Sm  \ U G +10 &3i  V G +9 &4j  P G +9 &6k \ T G +10 &8]k  U G +9 &:m \ U G +10 &;j V G +9 &=k  U G +9 &?ej \ M G +10 &A'l R G +9 &Bk V G +9 &Di  \ U G +10 &Flk \ U G +9 &H,n \ U H +10 &I} \ T I +9 &K U L +9 &M[ P P +10 &O U P +9 &P S Q +9 &R  P Q +10 &T] S R +9 &V  U R +10 &W T T +9 &Y T T +9 &[^  L T +10 &\\q  O * +9 &]3  V Z +9 ( +2 "collection"'*& +4 #tCollection Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.87 + .Hand.open +2 "manipulator"&_1 +3 "core" &]k U F +51 1 +2 "manipulator"&O% +4 "core" % j +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&c'\ +96 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%P& +4 "core" &3 +2 "manipulator"&Q% +4 "core" %\ +  !S + "storage"(C% +4 "core" %A\ \ &  + "storage"(u. +4 "core" .(  + "storage"(V& +4 "core" &  \ \ @ + "storage"(& +4 "core" & \  y +2 "manipulator"&9& +4 "core" &  7 + "manipulator"&[% +4 "core" %\ *  !S +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&(; +171 "core" ( +2 "manipulator"&^& +4 "core" &B K N + "storage"(& +4 "core" & \ \  - +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts +2 "manipulator"&'Ѐ +91 "core" ' +2 "storage"(& +4 "core" & \ \   +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(]'e +278 "core" ' + "storage"(\\- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +2 "core" & \ \  +2 "manipulator"&H& +3 "core" &B  N +2 .tElbow.seek 2 + "manipulator"&A(; +4 "core" ( + "manipulator"&& +5 "core" &B  N + "storage"("& +4 "core" &  \ m +2 .tForearm.seek 2 + 300 counts + "manipulator"&f' +20 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&%/ +58 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&k& + "storage"(x'N +6 "core" &B l p J N +2 "manipulator"&L% +4 "core" % n o i +2 .tForearm.seek :retract +2 "manipulator"&D'\ +96 "core" ' +2 .tElbow.seek PC +2 "manipulator"&(c +153 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +98 "core" ( +2 "manipulator"&)& +4 "core" &] a +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &8& +3 "core" &] H +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&X'[ +94 "core" ' +2 "manipulator"&G& +4 "core" &] F +2 "manipulator"&/% +3 "core" %d  +2 "processing"%S& +4 "core" &C +2 "processing"%4& +5 "core" &L +2 .tPC.seek :closed +2 "processing"%}(Z +4 "core" &;  +8 &5: )w +10 &j; = +9 &|~: G +9 &Aj< F +10 &l; G +9 &i> G +10 &!l5 G +9 &#Hi2 G +9 &%\ j9 G +10 &&o4 G +9 &(i: F +9 &*Pk5 G +10 &,n2 G +9 &-j( G +10 &/m- F +9 &1Xk* G +9 &3l& G +62 &4m$ G +3 &6j. G + &8aj( F +5 &:!j0 G + &;j) G + &=j' G +2 &?fl* G + &A(m( G +9 &Bj' G +9 &Di( G +9 &Fmo+ H +10 &H/x( H +9 &I' I +10 &K( L +9 &Mf' M +10 &O(( M +9 &P4 L +9 &R/ M +9 &Tn( M +10 &V/' M +10 &W M +9 &Y) 4 +9 &Z8) I +10 &Z & +2 ( + "processing"%4& +3 #tProcessing Clamp onSpring/offSpring for 8/26 samples, on/off torque 1.49 +2 .Hand.open + "manipulator"&F1 +55 "core" 1 +2 "manipulator"&+% +4 "core" % d W +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&t'\ +92 "core" ' +2 "processing"%;& +4 "core" &Z & +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 + "manipulator"&i% +4 "core" %\ (  J +2 "storage"(5% +3 "core" %:\ \  +2 "storage"(r. +3 "core" .(  +2 "storage"(=& +4 "core" & \ \ ? +2 "storage"(I& +2 "manipulator"&& +7 "core" & \ \ D + &]  +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +2 "storage"(#]kK-0-\ b +4 .tElbow.seek PC +3 "manipulator"&q(c +4 ."raiseStack"SE.seek :beamBreak + "storage"(0'e +3 "core" ( +2 "manipulator"&6& +3 "core" &]  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &e& +2 "core" &]  +3 .tForearm.seek PC + "manipulator"&'[ +97 "core" ' + .tHand.close +2 "manipulator"&,/ +58 "core" / +2 .tPC.seek :open +2 "processing"%`(p +86 "core" ' + "storage"(h- +3 "core" -'e +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('B +40 "core" ' +251 ( + "storage"( & +4 "core" &  \ @ +2 "manipulator"&K& +4 "core" &] + "manipulator"&{% +4 "core" % h +2 .tForearm.seek :retract + "manipulator"&M'\ +98 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&b(; +245 "core" ( +2 "manipulator"&& +4 "core" &5 d . + "storage"(:& +4 "core" & \ \ 2 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&'Ѐ +104 "core" ' +2 .tHand.open + "manipulator"&U1 +60 "core" 1 +2 "storage"(n- +4 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate + "storage"(W' +23 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(z' +53 "core" ' + #tLights, camera, ACTION! +2 "storage"(- +3 "core" -' +2 "storage"(y& +4 "core" &  b + "manipulator"&j& +4 "core" &5 n m  . +2 .tElbow.seek 2 + "manipulator"&(; +4 "core" ( + "manipulator"&m& +4 "core" &5 q p . +2 "storage"(v& +3 "core" &  B +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&~'Ѐ +8 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.11 Pucks below Top Plate + "storage"('M +60 "core" ' + "manipulator"&T& +4 "core" &5 e j . + "storage"($& +4 "core" & \ \  i + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&'ξ +36 "core" ' +2 .tElbow.hold + "manipulator"&!, +5 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"( '7 +22 "core" ' +2 "manipulator"&1% +4 "core" %p " ĸ +2 "storage"(E& +4 "core" &  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 315 counts + "manipulator"&s' +19 "core" ' +2 "manipulator"&&& +4 "core" &5 \\ u h . +2 "storage"(.& +4 "core" & \ \  ( +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&#'Ѐ +15 "core" ' +2 "storage"(3% +4 "core" %=\ \  +3 ."downElevator"SE.seek :down +3 "storage"(>'N +99 (|% +2 "core" %F\ \ 5 OB +2 "manipulator"&'% +4 "core" %~ o m +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"& '\ +88 "core" ' +61 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (& +3 "core" & \ \ ( +2 "collection"'& +4 "core" &]k  k F +2 #tStoring generic puck in Collection Clamp to tube 2 + "manipulator"&% +4 "core" %\ &  < +2 "storage"(% +3 "core" %F\   +2 "storage"( . +3 "core" .(  + "storage"(l& +4 "core" & \ \  + "storage"(@& +4 "core" &  \ \ d +2 "manipulator"&& +4 "core" &5 / . +2 .tElbow.seek 2 + "manipulator"&Z(; +4 "core" ( + "manipulator"&7& +4 "core" &5 N . + "storage"(a& +4 "core" & \ \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts + "manipulator"&'Ѐ +114 "core" ' +2 "storage"(2& +4 "core" & \ \   +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(N'e +280 "core" ' + "storage"(R- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&-& +3 "core" &5  . + "storage"(<& +4 "core" & \ \ f +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&?'ξ +34 "core" ' +2 .tElbow.hold + "manipulator"&\ , +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(B- +3 "core" -' +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(w'n +28 "core" ' + "manipulator"&J% +4 "core" %i   Ŷ +2 "storage"(& +4 "core" &  L + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 320 counts + "manipulator"& ' +20 "core" ' + "manipulator"&o& +4 "core" &5 r ^ { . +2 "storage"(g& +4 "core" & \ \   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&_'Ѐ +17 "core" ' +2 .tSE.seek 1.11 Pucks below Top Plate +2 "storage"(O'] +48 "core" ' +2 "manipulator"&P& +5 "core" &5 m n . + "manipulator"&Q% +4 "core" %z q n = +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&C'\ +93 "core" ' +2 .tElbow.seek CC + "manipulator"&u( +161 "core" ( + "manipulator"&V& +4 "core" &% <> +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &% d <> +2 .tForearm.seek CC + "manipulator"&*'| +98 "core" ' +2 .tHand.close + "manipulator"&9/ +58 "core" / +2 .tCC.seek :open +2 "collection"'[(p +411 "core" ( + "storage"((& +4 "core" & \ \  +2 "storage"(^& +4 "core" & \ \  X +2 "manipulator"&& +4 "core" &%  <> + "manipulator"&% +4 "core" % ω  +2 .tForearm.seek :retract + "manipulator"&Y'\ +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&c(; +167 "core" ( +2 "manipulator"&\\& +4 "core" &7  @ + "storage"(& +4 "core" & \ !\ ! ' +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 2 + "manipulator"&H'ξ +111 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +3 "manipulator"&"1 +60 "core" 1 +2 "manipulator"&%% +5 "core" % z  »> + "storage"(k& +4 "core" & \ \ \ \  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 2 + 320 counts + "manipulator"&L' +21 "core" ' + "manipulator"&& +5 "core" &7 ] u  @ + "storage"(& +4 "core" & \ B\ B +53 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&]'Ѐ +16 "core" ' +2 "storage"(f% +4 "core" %[\ B\ B g +2 ."downElevator"SE.seek :down +4 "storage"()'N +99 (8% +3 "core" %F\ \  N? +2 "manipulator"&A% +4 "core" %z n o +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&G'\ +87 "core" ' +54 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 3 of [2..3] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"'/& +5 "core" & r + "manipulator"&S% +4 "core" %\ %  8 +2 "storage"(x% +4 "core" %C\ \   +2 "storage"(D. +3 "core" .(  +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 + "storage"(( +356 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (F& +2 "core" &\ \ \ *  +2 "manipulator"&+& +4 "core" &7  @ + .tElbow.seek 3 +2 "manipulator"&;(D +15 "core" ( + "manipulator"&i& +4 "core" &B  !w +2 "storage"(5& +4 "core" &\ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&r' +96 "core" ' +2 "storage"(=& +4 "core" &\ C\ ( 0  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"('e +278 "core" ' +2 "storage"(I- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (4& +2 "core" &\ \ !   +2 "manipulator"&6& +3 "core" &B  !w +2 .tElbow.seek 3 +2 "manipulator"&e(D +4 "core" ( +2 "manipulator"&X& +3 "core" &B  !w +2 "storage"(,& +4 "core" &\ \  u  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&h'y +23 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&/ +59 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&t& +2 "storage"(}'N +7 "core" &B h m T !w +2 "manipulator"& % +4 "core" % z o n  +2 .tForearm.seek :retract +2 "manipulator"&K'\ +93 "core" ' + .tElbow.seek CC +2 "manipulator"&0( +147 "core" ( + "manipulator"&{& +5 "core" &"  9) + ' + ."downElevator"SE.stop +3 .tElbow.reconfigure :loose +2 "storage"(5 +2 "manipulator"&$ &.,(#b +4 && +3 "core" &"  9) +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC + "manipulator"&'| +107 "core" ' +2 "manipulator"&:& +4 "core" &"  9) +2 "manipulator"&q% +4 "core" %} | +2 "collection"'U& +3 "core" & g +2 "collection"'n& +5 "core" &   +2 .tCC.seek :closed +2 "collection"'(] +4 "core" & i  +10 &8 f *x +9 &l \ i > +10 &| h G +9 &Jm \ _ F +9 & m \ f F +10 &p f G +9 &!m \ f G +9 &#Qn \ ` G +10 &%j \ \ ^ G +9 &&m h F +10 &(l Z G +9 &*Yj S G +9 &,k  U G +10 &-n V G +9 &/l S G +9 &1`p \ V G +10 &3#l \ U G +9 &4j  \ T F +9 &6k V G +10 &8ii \ \ V G +9 &:+h W G +10 &;h \ W G +9 &=l \ V F +9 &?ql \ \ V G +10 &A4l \ R F +9 &Bm \ W G +9 &Di W G +10 &Fzl \ S F +9 &H7r \ U H +10 &I V J +9 &K W M +9 &Mf V P +10 &O)  V P +9 &P  W Q +9 &R  U Q +10 &Th  V R +9 &V(  V S +10 &W  V S +9 &Y  U T +9 &[j  T T +10 &]n  V ) +9 &]3  U X +9 ( +3 "collection"'n& +3 #tCollection Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.87 + .Hand.open +2 "manipulator"&y1 +3 "core" &]K  N = +61 1 + "manipulator"&j% +4 "core" % } +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&m'\ +98 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%v& +4 "core" &1 +2 "manipulator"&M% +3 "core" %\ 6 , & +2 "storage"(T% +4 "core" %F\  + "storage"($. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 +2 "storage"(( +3 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (1& +2 "core" & $  +2 "manipulator"&E& +4 "core" & S 8 + "manipulator"&W% +4 "core" %\ 6 - & +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&&(D +171 "core" ( + "manipulator"&.& +4 "core" &: % j +2 "storage"(3& +4 "core" &\ v  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&b' +98 "core" ' + "storage"(& +4 "core" &\ \  C  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(z'e +282 "core" ' + "storage"(|- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 ('& +3 "core" &\ \ \ n  + "manipulator"&~& +4 "core" &> 6 f +2 .tElbow.seek 3 + "manipulator"&(D +4 "core" ( + "manipulator"&& +4 "core" &> . f +4 "storage"(& +6 "core" &\  U  +2 .tForearm.seek 3 + 300 counts + "manipulator"&'y +25 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&s/ +53 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"('N +7 "core" &> n n f +2 "manipulator"&% +4 "core" % τ a c n +2 .tForearm.seek :retract +2 "manipulator"& '\ +88 "core" ' +2 .tElbow.seek PC + "manipulator"&l(c +168 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +87 "core" ( +32 "manipulator"& & +4 "core" &m  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &@& +2 "core" &m  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&'[ +108 "core" ' +2 "manipulator"&7& +4 "core" &m N p +2 "manipulator"&a% +4 "core" %S k c I x + "processing"%#& +4 "core" &E +2 "processing"%2& +6 "core" &M +2 .tPC.seek :closed +2 "processing"%>(Z +4 "core" &? +7 &<? #b +10 &x\\< 6 +9 &< G +9 &h@ F +10 &li; G +9 &/j; G +10 & o; G +9 &"g- G +9 &$uh8 G +10 &&7i0 G +9 &'h6 G +9 &)i) G +10 &+}h. G +9 &-?i' G +10 &/k& G +9 &0j. G +9 &2o* G +10 &4Gh( G +9 &6 h( G +9 &7i) G +10 &9h( G +9 &;Pl/ F +10 &=k' F +9 &>l) G +9 &@o" G +10 &BXk' F +9 &Dk( F +9 &El) G +10 &Gr' G +9 &IYx' I +10 &K) I +9 &L+ K +10 &N' M +9 &PW- L +9 &R) L +9 &S' M +10 &U( M +9 &W]' M +10 &Y# I +9 &ZR7`& "b +10 &ZT$ % +5 ( + "processing"%2& +5 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.48 + .Hand.open + "manipulator"&!1 +4 "core" &Z) % +56 1 +2 "manipulator"& % +4 "core" % S d  x +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&R'\ +91 "core" ' +2 "processing"%-& +4 "core" &Z* % + #tImaging generic puck in Processing Clamp while storing it to tube 3 +2 "manipulator"&<% +4 "core" %\ ( I +2 "storage"(B% +3 "core" %H\ \ \ \   +2 "storage"(J. +3 "core" .( + "storage"(& +4 "core" &\ \ \ \   +2 "storage"(o& +4 "manipulator"&g& +4 "core" &\ \ \ \ x  + &m  +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +4 "storage"(#]kK-0-\ b + .tElbow.seek PC +4 "manipulator"&P(c +3 ."raiseStack"SE.seek :beamBreak +2 "storage"(Q'e +3 "core" ( + "manipulator"&& +4 "core" &m  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &Z& +3 "core" &m +2 .tForearm.seek PC +2 "manipulator"&N'[ +96 "core" ' + .tHand.close + "manipulator"&?/ +63 "core" / +2 .tPC.seek :open +3 "processing"% (p +82 "core" ' + "storage"(w- +4 "core" -'e + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +2 ."raiseStack"SE.seek :place +2 "storage"(V'B +38 "core" ' +256 ( +53 "storage"(& +5 "core" &\ \ \  ^  + "manipulator"&_& +4 "core" &m = +2 "manipulator"&\ % +4 "core" % T + .tForearm.seek :retract +2 "manipulator"&9'\ +98 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&C(D +254 "core" ( + "manipulator"&& +5 "core" &A 6 "y + "storage"((& +4 "core" &\ \ \    +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&^' +104 "core" ' +2 .tHand.open + "manipulator"&1 +60 "core" 1 +2 "storage"(- +3 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate +2 "storage"(\\' +23 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(' +53 "core" ' +2 #tLights, camera, ACTION! + "storage"(*- +4 "core" -' + "storage"(u& +4 "core" &  +2 "manipulator"&"& +4 "core" &A j C "y +2 .tElbow.seek 3 + "manipulator"&%(D +4 "core" ( + "manipulator"&k& +4 "core" &A + "y + "storage"(& +4 "core" &  +3 .tForearm.seek 3 + 450 counts + "manipulator"&' +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"(Y'M +59 "core" ' + "manipulator"&f& +4 "core" &A b ` 8 "y +2 "storage"(c& +4 "core" &\ \   +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&8'M +36 "core" ' + .tElbow.hold +2 "manipulator"&A, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.07 Pucks below Top Plate + "storage"(H'7 +26 "core" ' + "manipulator"&/% +5 "core" %YW 4 ) ̱ + "storage"(L& +4 "core" & F  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 312 counts + "manipulator"&S'υ +13 "core" ' + "manipulator"&x& +4 "core" &5 i [  # +2 "storage"(D& +4 "core" &\ \  a  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&O' +12 "core" ' +2 "storage"(]% +4 "core" %?\ \  +3 ."downElevator"SE.seek :down +3 "storage"()'N +99 (d% +3 "core" %F \   N@ + "manipulator"&F% +4 "core" % f _ 7  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&+'\ +93 "core" ' +58 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (i& +4 "core" & \    +2 "collection"'5& +4 "core" &]M  k = + #tStoring generic puck in Collection Clamp to tube 3 +2 "manipulator"&=% +4 "core" %\ 3 L %| + "storage"(% +4 "core" %K\ \ \ + "storage"(G. +3 "core" .( +2 "storage"(I& +4 "core" &\ \   +2 "storage"(4& +4 "core" &\ \ \ \   + "manipulator"&6& +4 "core" &5 # +2 .tElbow.seek 3 + "manipulator"&X(D +13 "core" ( + "manipulator"&,& +4 "core" &D R ' +2 "storage"(& +4 "core" &\ \ \ \ 3  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&t' +100 "core" ' + "storage"( & +4 "core" &\ \  .  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(;'e +282 "core" ' + "storage"(r- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&{& +3 "core" &M  & +2 "storage"(& +4 "core" & \ W  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&'M +34 "core" ' +2 .tElbow.hold + "manipulator"&h, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(:- +2 "core" -' +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(q'j +27 "core" ' +2 "manipulator"&U% +4 "core" %YL X Y D ή + "storage"(e& +4 "core" & u  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 3 + 312 counts + "manipulator"&}'υ +12 "core" ' +2 "manipulator"&K& +4 "core" &Y ^ v $ +2 "storage"([& +3 "core" &\ \  f  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&y' +18 "core" ' +2 .tSE.seek 1.11 Pucks below Top Plate +2 "storage"(j'Y +49 "core" ' +2 "manipulator"&v& +4 "core" &Y d o < $ +2 "manipulator"&M% +4 "core" % k c +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&T'\ +90 "core" ' +2 .tElbow.seek CC + "manipulator"&$( +150 "core" ( + "manipulator"&n& +4 "core" &" < :/ +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &1& +3 "core" &"  :/ +2 .tForearm.seek CC +2 "manipulator"&E'| +97 "core" ' + .tHand.close + "manipulator"&W/ +54 "core" / + .tCC.seek :open +2 "collection"'(p +408 "core" ( +2 "storage"(.& +4 "core" &\ \   +2 "storage"(3& +4 "core" &\ \  s  + "manipulator"&& +4 "core" & 8 7 + "manipulator"&% +4 "core" % l . +2 .tForearm.seek :retract + "manipulator"&0'\ +100 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&m(D +167 "core" ( + "manipulator"&|& +4 "core" &8  R +2 "storage"('& +4 "core" &\ \   + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 +2 "manipulator"&~'M +112 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&1 +55 "core" 1 +3 "manipulator"&s% +4 "core" % ]}  T üG + "storage"(& +4 "core" & \ z  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 316 counts + "manipulator"&'ω +19 "core" ' + "manipulator"&&& +4 "core" &5\ u [ U +2 "storage"(b& +4 "core" &\ 4\ @   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&z' +17 "core" ' + "storage"(% +5 "core" %V\ C\ B g +2 ."downElevator"SE.seek :down +3 "storage"( 'N +100 (@% +2 "core" %D\ \  } N> +2 "manipulator"&% +4 "core" % m p +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&7'\ +96 "core" ' +46 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 2 of [2..3] + #Loading generic puck from tube 2 into Collection Clamp +2 "collection"'a& +4 "core" & n  + "manipulator"&#% +4 "core" %\ 5 2 & +2 "storage"(% +4 "core" %G\ !\ !  + "storage"( . +3 "core" .( +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 2 + "storage"(`(  +362 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (!& +2 "core" & \ \ \ K +2 "manipulator"& & +3 "core" &5\ % U +2 .tElbow.seek 2 +2 "manipulator"&-(; +3 "core" ( +2 "manipulator"&<& +4 "core" &5\  U + "storage"(B& +4 "core" & \ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&J'Ѐ +111 "core" ' +2 "storage"(& +4 "core" & \ C\ C +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(g'e +281 "core" ' +2 "storage"(o- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (2& +2 "core" & \ \  s +2 "manipulator"&& +3 "core" &5\ o o U +2 .tElbow.seek 2 +2 "manipulator"&Z(; +4 "core" ( + "manipulator"&& +44 "core" &5\ p y & U +13 "storage"(?& +4 "core" & \ \  k +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&w' +22 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&l/ +64 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&R& + "storage"(>'N +8 "core" &5\ l o U + "manipulator"&% +4 "core" % p p  +2 .tForearm.seek :retract +2 "manipulator"&Q'\ +93 "core" ' + .tElbow.seek CC +2 "manipulator"&_( +147 "core" ( + "manipulator"&\ & +5 "core" &" :* + ' + ."downElevator"SE.stop +3 .tElbow.reconfigure :loose +2 "storage"(5 +3 "manipulator"&$ &.,(#b +3 &N& +3 "core" &#  :* +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&'| +102 "core" ' +2 "manipulator"&(& +5 "core" &# s :* + "manipulator"&P% +4 "core" %n = +2 "collection"'& +4 "core" & \   +2 "collection"'& +5 "core" & \ h  +3 .tCC.seek :closed + "collection"'*(] +5 "core" & \ i  +6 &T \ f $e +10 &_ h 8 +9 &  h H +10 &j \ e F +9 &l \ i G +9 &_k \ ] G +10 &!!m i G +9 &"l j G +9 &$m \ j G +10 &&hm ` G +9 &()k W G +10 &)k \ S G +9 &+l Y F +9 &-pk \ \ W G +10 &/2k [ G +9 &0j \ S G +9 &2k \ S G +10 &4wk U G +9 &69i P G +9 &7j V G +10 &9h \ W G +9 &;k \ X F +10 &=Bk \ U G +9 &?n  W G +9 &@k W G +10 &Bl \ V F +9 &DIj \ W G +9 &F k X G +10 &Gq W G +9 &Iy V I +10 &KF \ X K +9 &L Z O +9 &N W O +10 &P| W P +9 &R<  W Q +9 &S  [ Q +10 &U  V S +9 &W|  W S +10 &Y;  U T +9 &Z  V T +9 &\\{  W = +10 &]s0  Y )y +9 &]n  W G +2 ( +2 "collection"'& +3 #tCollection Clamp onSpring/offSpring for 9/25 samples, on/off torque 1.88 + .Hand.open +2 "manipulator"&u1 +56 "core" 1 +2 "manipulator"&"% +4 "core" % m 7 +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&k'\ +93 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%& +4 "core" &3 +2 "manipulator"&9% +4 "core" %\ %  6 + "storage"(f% +4 "core" %K\ \  ? +2 "storage"(c. +3 "core" .(  + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"(V(  +6 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (/& +2 "core" &  i +2 "manipulator"&L& +4 "core" &"  9# + "manipulator"&\\% +4 "core" %\ %  6 +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&x(; +156 "core" ( +2 "manipulator"&D& +4 "core" &/ q $  +2 "storage"(]& +3 "core" &  \  S +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts + "manipulator"&C'Ѐ +100 "core" ' +2 "storage"(^& +4 "core" & \ \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('e +281 "core" ' + "storage"(d- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (F& +3 "core" & \ \ 3 +2 "manipulator"&& +3 "core" &/ n c I  +2 .tElbow.seek 2 + "manipulator"&%(; +24 "core" ( +2 "manipulator"&Y& +4 "core" &? W g  f + "storage"(8& +4 "core" & \ \  ^ +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&i' +23 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&S/ +54 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&5& +3 "storage"(='N +7 "core" &? a f +2 "manipulator"&% +4 "core" % +2 .tForearm.seek :retract +2 "manipulator"&G'\ +97 "core" ' +2 .tElbow.seek PC +2 "manipulator"&I(c +156 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +98 "core" ( +2 "manipulator"&H& +4 "core" &b s +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &4& +2 "core" &b +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC + "manipulator"&6'[ +105 "core" ' +2 "manipulator"&,& +4 "core" &b i +2 "manipulator"&% +3 "core" %R +2 "processing"%O& +4 "core" &: +2 "processing"% & +5 "core" &: +2 .tPC.seek :closed + "processing"%)(Z +5 "core" &@ +7 &<A $d +9 &}\\; 6 +10 &: G +9 &h= F +9 &rkC F +10 &3j; G +9 & k9 F +9 &"iA G +10 &$yn= G +9 &&;i3 G +9 &'i# G +10 &)n, G +9 &+j* F +10 &-Bk. G +9 &/m+ G +9 &0m' G +10 &2k+ F +9 &4Kj' G +10 &6 h' G +9 &7k) G +9 &9h+ G +10 &;Sk( G +9 &=i+ G +9 &>m( G +10 &@j. G +9 &B\\j( F +9 &Dj7 G +10 &Em) G +9 &Gv. H +10 &I^) H +9 &K) K +9 &L( L +10 &N' M +9 &P[' L +9 &R( M +10 &S* M +9 &U- M +10 &W`+ M +9 &Y!' G +9 &ZTB2 "f +10 &Z/0 ) +5 ( +2 "processing"% & +4 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.50 + .Hand.open +2 "manipulator"&A1 +3 "core" &Z ) +57 1 + "manipulator"&+% +4 "core" % R , +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&r'\ +101 "core" ' + "processing"%{& +5 "core" &Z( ) + #tImaging generic puck in Processing Clamp while storing it to tube 2 +2 "manipulator"&% +3 "core" %\ 2 O %| +2 "storage"(:% +4 "core" %Q\ \  + "storage"(U. +3 "core" .(  +2 "storage"(e& +4 "core" &  \  + "storage"(K& +2 "manipulator"&[& +7 "core" & \ \  H + &b 0 +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +6 "manipulator"&$&.,(\ #b +3 "storage"(#]kK-0-\ b +2 .tElbow.seek PC +4 "manipulator"&v(c +3 ."raiseStack"SE.seek :beamBreak +2 "storage"(M'e +3 "core" ( + "manipulator"&t& +4 "core" &b M +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &X& +3 "core" &b / +2 .tForearm.seek PC + "manipulator"&;'[ +96 "core" ' + .tHand.close + "manipulator"&/ +54 "core" / +2 .tPC.seek :open + "processing"%}(p +93 "core" ' +2 "storage"(q- +3 "core" -'e + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(n'B +37 "core" ' +247 ( + "storage"(1& +4 "core" &  \ \  +2 "manipulator"&y& +3 "core" &b Y +2 "manipulator"&h% +4 "core" % \\ \\ +2 .tForearm.seek :retract +2 "manipulator"&W'\ +93 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 + "manipulator"&T(; +250 "core" ( +2 "manipulator"&& +4 "core" &I } A  +2 "storage"(.& +3 "core" & \ \ \ \ Y +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&3'Ѐ +108 "core" ' +2 .tHand.open + "manipulator"&1 +54 "core" 1 +2 "storage"(- +3 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate +2 "storage"(|' +21 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.83 Pucks below Top Plate + "storage"('' +54 "core" ' +2 #tLights, camera, ACTION! + "storage"(E- +4 "core" -' + "storage"($& +4 "core" &  : +2 "manipulator"&& +3 "core" &I p o  +2 .tElbow.seek 2 +2 "manipulator"&s(; +12 "core" ( + "manipulator"&& +5 "core" &E t X T  + "storage"(&& +4 "core" &  +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&b'Ѐ +13 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.11 Pucks below Top Plate + "storage"('M +60 "core" ' + "manipulator"&0& +4 "core" &E f b N  +2 "storage"(@& +4 "core" & \ \ m +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&'ξ +34 "core" ' +2 .tElbow.hold +2 "manipulator"&m, +4 "core" , +52 .tElbow.reconfigure :tight +4 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"(~'7 +24 "core" ' + "manipulator"&a% +5 "core" %i Ķ\ + "storage"(#& +4 "core" &  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 2 + 315 counts +2 "manipulator"&' +19 "core" ' + "manipulator"&& +5 "core" &E \\ t p  + "storage"( & +4 "core" & \ \  2 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&j'Ѐ +17 "core" ' +2 "storage"(z% +4 "core" %@\ \  p +3 ."downElevator"SE.seek :down +3 "storage"( 'N +99 (% +2 "core" %F \   O@ +2 "manipulator"&!% +4 "core" %y l j +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"& '\ +86 "core" ' +63 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (<& +4 "core" & \ + "collection"'B& +4 "core" &]k  W G +2 #tStoring generic puck in Collection Clamp to tube 2 + "manipulator"&% +4 "core" %\ (  L +2 "storage"(% +4 "core" %H \ I  + "storage"(7. +4 "core" .(  + "storage"(o& +4 "core" &  \  O +2 "storage"(2& +4 "core" & \ \  l + "manipulator"&& +4 "core" &E h  +2 .tElbow.seek 2 + "manipulator"&(; +4 "core" ( + "manipulator"&?& +4 "core" &E  + "storage"(l& +4 "core" & \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts + "manipulator"&R'Ѐ +107 "core" ' +2 "storage"(& +4 "core" & \ \  d +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(-'e +279 "core" ' +2 "storage"(J- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&\ & +2 "core" &E m n c  +2 "storage"(N& +4 "core" & \ \  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&g'ξ +36 "core" ' + .tElbow.hold +2 "manipulator"&w, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"((- +3 "core" -' +2 .tSE.seek 0.11 Pucks below Top Plate + "storage"(P'n +29 "core" ' + "manipulator"&% +5 "core" %e   ŵ + "storage"(Z& +4 "core" &  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 2 + 318 counts + "manipulator"&>' +18 "core" ' +2 "manipulator"&Q& +4 "core" &E [ s v  +2 "storage"(& +3 "core" & \ \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&u'Ѐ +27 "core" ' +2 .tSE.seek 1.11 Pucks below Top Plate +2 "storage"("'] +52 "core" ' + "manipulator"&& +4 "core" &E ` ` 2  +2 "manipulator"&9% +4 "core" %n j b # +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&f'\ +88 "core" ' +2 .tElbow.seek CC + "manipulator"&c( +167 "core" ( + "manipulator"&& +5 "core" && c =G + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &/& +2 "core" &&  =G +3 .tForearm.seek CC + "manipulator"&L'| +95 "core" ' + .tHand.close + "manipulator"&\\/ +63 "core" / +2 .tCC.seek :open +2 "collection"'(p +414 "core" ( + "storage"(D& +4 "core" & \ \  +2 "storage"(]& +3 "core" & \ \  x +2 "manipulator"&`& +3 "core" &&  =F +2 "manipulator"&^% +4 "core" % ρ 4  +2 .tForearm.seek :retract + "manipulator"&_'\ +93 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&k(; +157 "core" ( +2 "manipulator"&d& +4 "core" &E   + "storage"(F& +4 "core" & \ \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 2 + "manipulator"&'ξ +109 "core" ' +2 .tElbow.hold + "manipulator"&Y, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&81 +57 "core" 1 +2 "manipulator"&S% +4 "core" % z , = +2 "storage"(5& +4 "core" & \ \ + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 2 + 314 counts +2 "manipulator"&' +20 "core" ' +2 "manipulator"&x& +4 "core" &E [ s A  + "storage"(C& +4 "core" & \ C\ C +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts + "manipulator"&'Ѐ +22 "core" ' + "storage"(i% +5 "core" %[\ C\ B +2 ."downElevator"SE.seek :down +3 "storage"(H'N +99 (4% +3 "core" %D\ !\  N? +2 "manipulator"&%% +4 "core" %Т d k e +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&,'\ +87 "core" ' +54 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 3 of [2..3] + #Loading generic puck from tube 3 into Collection Clamp +2 "collection"'& +4 "core" & \ i +2 "manipulator"&O% +4 "core" %\ *  !W +2 "storage"(=% +4 "core" %@\ \  t +2 "storage"(G. +3 "core" .(  + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"( ( +358 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (A& +3 "core" &\ \ \ \ i  + "manipulator"&+& +4 "core" &E   +2 .tElbow.seek 3 + "manipulator"&{(D +4 "core" ( + "manipulator"&& +4 "core" &E   +2 "storage"(:& +3 "core" &\ \   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts + "manipulator"&U' +107 "core" ' +2 "storage"( & +4 "core" &\ D\ C  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(e'e +278 "core" ' +2 "storage"([- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (K& +2 "core" &\ 0\  U  +2 "manipulator"&t& +4 "core" &E j c f  + .tElbow.seek 3 +2 "manipulator"&X(D +3 "core" ( +2 "manipulator"&6& +4 "core" &E p t  + "storage"(& +4 "core" &\ B\ C  +2 .tForearm.seek 3 + 300 counts + "manipulator"&q'y +28 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&I/ +55 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&r& +2 "storage"()'N +8 "core" &E e _ i  + "manipulator"&1% +4 "core" % t m l r +2 .tForearm.seek :retract +2 "manipulator"&y'\ +94 "core" ' +2 .tElbow.seek CC +2 "manipulator"&h( +142 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +12 "core" ( +2 "manipulator"&M& +4 "core" &(   ?Q +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &;& +3 "core" &( * ?Q +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&'| +104 "core" ' +3 "manipulator"&.& +4 "core" &( ?Q +2 "manipulator"&v% +3 "core" %~ L +2 "collection"'& +4 "core" & \ c +2 "collection"'& +6 "core" & i +2 .tCC.seek :closed +3 "collection"'E(] +3 "core" & \ m +6 & \ h 8 +9 &L  i / +10 &Yz \ k D +9 &n j G +10 &o k G +9 &n \ k G +9 & Wj i G +10 &"l \ k G +9 &#n k G +9 &%i \ i G +10 &'_k \ i G +9 &)!i h G +10 &*h j G +9 &,h \ \ ] G +9 &.hl d F +10 &0)l f G +9 &1k c F +9 &3k \ Y G +10 &5pi _ F +9 &70m a G +9 &8j _ F +10 &:n \ ] G +9 &8n X G +9 &?m W G +9 &Aj V G +10 &C~k V G +9 &EAh \ X G +9 &Gl Z G +10 &Hv X I +9 &J} X J +10 &L4 X N +9 &M  U P +9 &O  Z P +10 &Qr  V Q +9 &S3  Y Q +9 &T Y R +10 &V Y R +9 &Xs  ] S +10 &Z1  W T +9 &[  [ T +9 &]GC  X (u +10 &]  X N +5 ( +2 "collection"'& +4 #tCollection Clamp onSpring/offSpring for 10/26 samples, on/off torque 1.88 +51 .Hand.open +3 "manipulator"&$1 +4 "core" &]p  Y N +53 1 + "manipulator"&% +5 "core" % | y + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +96 "core" ' + #tLoading generic puck from tube 3 into Processing Clamp +2 "processing"%&& +4 "core" &C + "manipulator"&W% +4 "core" %\ , ! "` +2 "storage"(0% +4 "core" %7\ \  3  + "storage"(@. +4 "core" .( + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(n( +2 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (|& +2 "core" & h  +2 "manipulator"&a& +4 "core" && L =A +2 "manipulator"&#% +3 "core" %\ , N "` +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&T(D +172 "core" ( + "manipulator"&& +5 "core" &? I N + "storage"( & +4 "core" & \  i  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&3' +95 "core" ' +2 "storage"(z& +5 "core" &\  O  + .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(''e +275 "core" ' +2 "storage"(b- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +2 "core" &\ \ \   +2 "manipulator"&!& +4 "core" &B  K + .tElbow.seek 3 +2 "manipulator"&s(D +4 "core" ( + "manipulator"&& +4 "core" &B a K + "storage"(& +4 "core" &\  L  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&<'y +19 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +58 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&B& +2 "storage"('N +8 "core" &B l f w K + "manipulator"&% +4 "core" % u ` j M +2 .tForearm.seek :retract +2 "manipulator"&7'\ +88 "core" ' +2 .tElbow.seek PC +2 "manipulator"&o(c +164 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +87 "core" ( + "manipulator"&~& +5 "core" &h B + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &2& +3 "core" &h  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&'[ +93 "core" ' + "manipulator"&?& +4 "core" &h 4 +2 "manipulator"&l% +5 "core" %S C +2 "processing"%j& +3 "core" &8 +2 "processing"%& +5 "core" &? +2 .tPC.seek :closed +2 "processing"% (Z +4 "core" &A  +9 &5; )w +10 &k1 = +9 &}? G +9 &FjB F +10 &j: G +13 &g2 G +5 &!j0 G +11 &#Mg3 G +8 &%h9 F +10 &&k) G +9 &(h' G +9 &*Vh% F +10 &,k* F +9 &-j* G +10 &/m5 G +9 &1]i) G +9 &3m) G +10 &4j7 F +9 &6j) G +9 &8dm6 G +10 &:(h+ F +9 &;h5 G +10 &=k/ G +9 &?mj( G +9 &A/l) G +10 &Bh' G +9 &Dk( G +9 &Fum/ G +10 &H5v) G +9 &I' I +9 &K' I +10 &Mm' L +9 &O./ M +10 &P( L +9 &R' L +9 &Ts M +10 &V6. M +9 &W+ M +9 &Y* 1 +10 &Z/{# R +9 &Z ) +3 ( + "processing"%& +3 #tProcessing Clamp onSpring/offSpring for 8/26 samples, on/off torque 1.47 + .Hand.open + "manipulator"&m1 +62 "core" 1 +2 "manipulator"& % +4 "core" % S # +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&J'\ +92 "core" ' +2 "processing"%\ & +4 "core" &Z# ) +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&N% +4 "core" %\ ' = +2 "storage"((% +3 "core" %E \ +2 "storage"(. +3 "core" .( + "storage"(Z& +4 "core" &\ \ \ E  +2 "storage"(Q& +4 "manipulator"&& +5 "core" &\ \ \   + &h  +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +6 "manipulator"&$&.,(\ #b +2 "storage"(#]kK-0-\ b +2 .tElbow.seek PC +5 "manipulator"&(c +3 ."raiseStack"SE.seek :beamBreak +2 "storage"(9'e +3 "core" ( + "manipulator"&R& +4 "core" &h  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &h  +2 .tForearm.seek PC +2 "manipulator"&-'[ +96 "core" ' + .tHand.close + "manipulator"&g/ +60 "core" / +2 .tPC.seek :open +2 "processing"%>(p +86 "core" ' + "storage"(P- +3 "core" -'e +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('B +34 "core" ' +257 ( + "storage"(/& +5 "core" &\ \ \ \ H  + "manipulator"&u& +4 "core" &h 3 + "manipulator"&w% +4 "core" % Z + +2 .tForearm.seek :retract +2 "manipulator"&\\'\ +100 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&f(D +258 "core" ( +2 "manipulator"&*& +4 "core" &B 0 % +2 "storage"(D& +3 "core" &\ \ 1  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&]' +93 "core" ' +2 .tHand.open + "manipulator"&`1 +53 "core" 1 +2 "storage"(^- +4 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate + "storage"(d' +23 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.83 Pucks below Top Plate + "storage"(F' +51 "core" ' +2 #tLights, camera, ACTION! + "storage"(L- +4 "core" -' + "storage"(c& +4 "core" &   +2 "manipulator"&8& +3 "core" &C  % +2 .tElbow.seek 3 +2 "manipulator"&S(D +3 "core" ( + "manipulator"&5& +4 "core" &C ] % +2 "storage"(x& +3 "core" & j  +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&C' +4 "core" ' + .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"(i'M +60 "core" ' + "manipulator"&_& +4 "core" &C  % +2 "storage"(4& +4 "core" &\ \ \ \ )  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&%'M +28 "core" ' +2 .tElbow.hold + "manipulator"&k, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"('7 +35 "core" ' + "manipulator"&% +5 "core" %`g 5 / [ ɺ/ + "storage"(& +4 "core" & @  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 3 + 319 counts +2 "manipulator"&O'ό +12 "core" ' +2 "manipulator"&=& +4 "core" &K _ t ^ $ +2 "storage"(G& +4 "core" &\ \  >  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&"' +20 "core" ' + "storage"(% +5 "core" %7\ \  +2 ."downElevator"SE.seek :down +4 "storage"(H'N +99 (V% +3 "core" %D\ \  N? +2 "manipulator"&A% +4 "core" % _ e > +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&+'\ +90 "core" ' +59 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (& +4 "core" & x  + "collection"':& +4 "core" &]n  v N +2 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"& % +4 "core" %\ + ? !U +2 "storage"(Y% +4 "core" %G\ \ H  +2 "storage"(,. +3 "core" .( + "storage"([& +4 "core" &\ \ \ \ }  +2 "storage"(K& +3 "core" & \ \  +2 "manipulator"&t& +4 "core" &K O $ + .tElbow.seek 3 +2 "manipulator"&6(D +4 "core" ( + "manipulator"&& +4 "core" &K k $ + "storage"(I& +4 "core" &\ \  X  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&r' +103 "core" ' +2 "storage"(1& +4 "core" &\ \  %  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +53 "storage"({'e +280 "core" ' + "storage"(U- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&M& +3 "core" &M e a V $ +2 "storage"(;& +3 "core" & \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&e'M +35 "core" ' + .tElbow.hold +2 "manipulator"&q, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(.- +3 "core" -' +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(v'j +28 "core" ' +2 "manipulator"&% +4 "core" %]R W T C Ͱ + "storage"(X& +4 "core" &   +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 3 + 316 counts +2 "manipulator"&)'ω +13 "core" ' + "manipulator"&y& +4 "core" &T _ j P # +2 "storage"(& +4 "core" &\  /  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&$' +25 "core" ' +2 .tSE.seek 1.11 Pucks below Top Plate +2 "storage"('Y +53 "core" ' + "manipulator"&& +5 "core" &T ^ ` # + "manipulator"&&% +4 "core" %# m c S +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&W'\ +95 "core" ' +2 .tElbow.seek CC +2 "manipulator"&0( +146 "core" ( +2 "manipulator"&@& +4 "core" &"  9( + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &|& +3 "core" &" ; 9( +2 .tForearm.seek CC +2 "manipulator"&a'| +98 "core" ' + .tHand.close +2 "manipulator"&#/ +61 "core" / +2 .tCC.seek :open + "collection"'(p +415 "core" ( + "storage"(& +4 "core" &\ !\ ! +  +2 "storage"( & +3 "core" &\ \  S  +2 "manipulator"& & +3 "core" & $ 8 +2 "manipulator"&z% +4 "core" % w ? +2 .tForearm.seek :retract + "manipulator"&h'\ +94 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&(D +178 "core" ( +2 "manipulator"&b& +4 "core" &F $ e + "storage"(& +4 "core" &\ !\   +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 + "manipulator"&!'M +106 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&1 +63 "core" 1 +3 "manipulator"&% +4 "core" % a n q + "storage"(B& +4 "core" &\ \    +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 320 counts + "manipulator"&'ύ +19 "core" ' + "manipulator"&T& +4 "core" &C o Z x h +2 "storage"(3& +4 "core" &\ @\ B  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&'' +20 "core" ' + "storage"(<% +5 "core" %Y\ 7\ C t +2 ."downElevator"SE.seek :down +3 "storage"(~'N +99 (2% +3 "core" %D\ \  N@ + "manipulator"&s% +4 "core" % c m +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&?'\ +100 "core" ' +40 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 2 of [2..3] +2 #Loading generic puck from tube 2 into Collection Clamp + "collection"'l& +4 "core" & y +2 "manipulator"&j% +4 "core" %\ 8 & ' +2 "storage"(% +4 "core" %E\ \ !  + "storage"(7. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 + "storage"(}(  +356 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (m& +3 "core" & \ $ +3 "manipulator"& & +4 "core" &D ' g + .tElbow.seek 2 +2 "manipulator"&\ (; +3 "core" ( +2 "manipulator"&N& +3 "core" &D  g +2 "storage"((& +3 "core" & \ \  Z +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&'Ѐ +102 "core" ' +2 "storage"(Z& +4 "core" & \ B\ C +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(Q'e +278 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (& +3 "core" & \ \  R + "manipulator"&R& +4 "core" &D n p g +2 .tElbow.seek 2 + "manipulator"&(; +4 "core" ( + "manipulator"&& +5 "core" &D w W  g + "storage"(g& +4 "core" & \ 4\ @ +2 .tForearm.seek 2 + 300 counts + "manipulator"&P' +28 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&o/ +53 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&J& +3 "storage"( 'N +7 "core" &D k g g +2 "manipulator"&/% +4 "core" % m c T +2 .tForearm.seek :retract + "manipulator"&u'\ +91 "core" ' +2 .tElbow.seek CC +2 "Can"H FD + "manipulator"&9( +148 "core" ' +2 ( + ."downElevator"SE.stop +3 "manipulator"&w& + "storage"(5 +7 "core" &# d :0 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &-& +3 "core" &#  :0 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&*'| +101 "core" ' + "manipulator"&D& +4 "core" &# ' :0 +2 "manipulator"&% +4 "core" %ς  +2 "collection"'`& +4 "core" & \ j +2 "collection"'^& +6 "core" &  +2 .tCC.seek :closed + "collection"'L(] +4 "core" & m  +9 &8 n *x +10 &k \ h = +9 &}{ h G +9 &Aj \ h G +10 &o i G +9 &m \ h F +10 &!l j G +9 &#In g G +9 &% m  ` G +10 &&p h G +9 &(j j G +9 &*Qj k G +10 &,m e G +9 &-l \ \ h G +10 &/l \ i G +9 &1Yn \ d G +9 &3k Y G +10 &4k  \ \\ F +9 &6n  \\ G +9 &8bk X F +10 &:#i \ \\ G +9 &;h \ U F +10 &=j [ G +9 &?im \ X G +9 &A+n V G +10 &Bk V G +9 &Dj \ V F +9 &Fpo \ Z G +10 &H2p V G +9 &I V I +10 &K [ L +9 &Ma  Y O +9 &O!  V P +10 &P  W Q +9 &R  W Q +9 &Ta  U R +10 &V"  Z R +9 &W  V S +9 &Y  X T +10 &[c  V T +9 &]w  Y (| +10 &]  ^ O +8 ( +3 "collection"'^& +4 #tCollection Clamp onSpring/offSpring for 8/26 samples, on/off torque 1.83 + .Hand.open + "manipulator"&c1 +4 "core" &]k  V F +51 1 + "manipulator"&8% +4 "core" % }  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&5'\ +92 "core" ' +3 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%x& +4 "core" &' +2 "manipulator"&\\% +3 "core" %\ '  ? +2 "storage"(_% +4 "core" %?\ \ ]  +2 "storage"(4. +3 "core" .(  + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"((  +8 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (& +3 "core" &  + "manipulator"&& +4 "core" &#  :* +2 "manipulator"&=% +3 "core" %\ '  ? +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 + "manipulator"&d(; +161 "core" ( +2 "manipulator"&G& +4 "core" &0   +2 "storage"(& +3 "core" & \ \ \  4 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts + "manipulator"&f'Ѐ +102 "core" ' + "storage"(]& +4 "core" & \ \  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(F'e +277 "core" ' + "storage"(V- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (A& +3 "core" & \ \   + "manipulator"&C& +4 "core" &0 p n  +2 .tElbow.seek 2 + "manipulator"&S(; +12 "core" ( + "manipulator"&i& +4 "core" &1\ e y & a +2 "storage"(%& +3 "core" & \ \  S +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&' +31 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&O/ +106 "core" / +2 ."downElevator"SE.seek :down +5 "manipulator"&:& + "storage"( 'N +7 "core" &2\ n p  ` +2 "manipulator"&Y% +3 "core" % n p +2 .tForearm.seek :retract +2 "manipulator"&,'\ +91 "core" ' +2 .tElbow.seek PC +2 "manipulator"&(c +161 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +95 "core" ( + "manipulator"&[& +4 "core" &a * +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &K& +2 "core" &a \\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&t'[ +117 "core" ' +2 "manipulator"&& +4 "core" &a ` +2 "manipulator"&I% +4 "core" %P } d  z +2 "processing"%"& +4 "core" &: +2 "processing"%1& +5 "core" &D +2 .tPC.seek :closed + "processing"%H(Z +5 "core" &?  +9 &7; )w +9 &k; = +10 &x: H +9 &Gh: F +9 & l= F +10 &kC F +9 &!k5 F +10 &#Nh+ G +9 &%h0 F +9 &&k* F +10 &(j( F +9 &*Un* G +9 &,h/ G +10 &-g+ G +9 &/m) G +9 &1^m( G +10 &3 n' G +9 &4k6 G +10 &6h, G +9 &8fj. G +9 &:(g) G +10 &;h( F +9 &=k4 G +10 &?mp2 G +9 &A1m+ F +9 &Bk' F +10 &Dm* F +9 &Fup/ G +9 &H5{. H +10 &I3 I +9 &K2 K +10 &Mm& M +9 &O0" L +9 &P( L +10 &R( L +9 &Tv* L +9 &V76 M +10 &W+ M +9 &Y 3 +9 &Z9 E +10 &Z $ +2 ( +2 "processing"%1& +3 #tProcessing Clamp onSpring/offSpring for 8/26 samples, on/off torque 1.51 + .Hand.open +2 "manipulator"&k1 +54 "core" 1 +2 "manipulator"&+% +4 "core" % U n 2 u +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&U'\ +91 "core" ' +2 "processing"%M& +4 "core" &Z, $ +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 + "manipulator"&;% +4 "core" %\ * R !O + "storage"(.% +4 "core" %?\   +2 "storage"(. +3 "core" .(  + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"(X(  +7 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (y& + "manipulator"&& +4 "core" &  \  +5 ."raiseStack"SE.reconfigure :place +2 "storage"(#]kK-0-\ b +3 "core" &a 5 +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +3 "storage"('e + "manipulator"&&(c +5 "core" ( + "manipulator"&r& +4 "core" &a R +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &6& +3 "core" &a z +2 .tForearm.seek PC + "manipulator"&{'[ +96 "core" ' +2 .tHand.close + "manipulator"&e/ +63 "core" / +2 .tPC.seek :open +2 "processing"%)(p +79 "core" ' +3 "storage"(v- +3 "core" -'e + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(@'B +38 "core" ' +258 ( + "storage"(|& +5 "core" & \ \  c + "manipulator"&$& +4 "core" &a ) +2 "manipulator"&q% +3 "core" % [ x  +2 .tForearm.seek :retract +2 "manipulator"&#'\ +100 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&W(; +259 "core" ( +2 "manipulator"&E& +4 "core" &E w  + "storage"(& +4 "core" & \ G +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"& 'Ѐ +94 "core" ' + .tHand.open + "manipulator"& 1 +54 "core" 1 +2 "storage"(z- +3 "core" -'B +3 .tSE.seek -0.16 Pucks below Top Plate + "storage"(b' +23 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(' +51 "core" ' +2 #tLights, camera, ACTION! + "storage"(a- +4 "core" -' + "storage"(0& +4 "core" &  + "manipulator"&& +4 "core" &E   +2 .tElbow.seek 2 +2 "manipulator"&(; +3 "core" ( + "manipulator"&B& +4 "core" &E   +2 "storage"(T& +3 "core" &   +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&3'Ѐ +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"(<'M +60 "core" ' + "manipulator"&h& +4 "core" &E d k &  +2 "storage"(2& +4 "core" &  \  % +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&s'ξ +31 "core" ' +2 .tElbow.hold + "manipulator"&, +5 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"(!'7 +25 "core" ' +2 "manipulator"&l% +4 "core" %p 6 ø +2 "storage"(j& +4 "core" &  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 2 + 320 counts + "manipulator"&' +17 "core" ' +2 "manipulator"&& +4 "core" &E h l ]  +2 "storage"(7& +4 "core" & \ \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&'Ѐ +19 "core" ' +2 "storage"('% +4 "core" %@\ \  g +2 ."downElevator"SE.seek :down +4 "storage"(~'N +99 (n% +2 "core" %G Z N@ +2 "manipulator"&m% +4 "core" %w _ _ %  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"& '\ +86 "core" ' +66 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (N& +4 "core" & \ \ \ * +2 "collection"'(& +3 "core" &]j  X F +2 #tStoring generic puck in Collection Clamp to tube 2 + "manipulator"&Z% +4 "core" %\ *  !R +2 "storage"(% +4 "core" %M\ \ Q + "storage"(?. +3 "core" .(  +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"((  +4 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (& +3 "core" &  +2 "manipulator"&R& +4 "core" &E   +2 .tElbow.seek 2 + "manipulator"&(; +4 "core" ( + "manipulator"&g& +4 "core" &E   +2 "storage"(o& +3 "core" & \ + +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&J'Ѐ +95 "core" ' +2 "storage"(/& +4 "core" & \ \  s +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(\ 'e +285 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&w& +3 "core" &E   +2 "storage"(-& +4 "core" & \  d + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 + "manipulator"&Q'ξ +33 "core" ' + .tElbow.hold +2 "manipulator"&P, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(D- +2 "core" -' +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"('n +27 "core" ' + "manipulator"&`% +5 "core" %m M ÷ + "storage"(& +4 "core" &  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 2 + 319 counts +2 "manipulator"& ' +11 "core" ' +2 "manipulator"&u& +4 "core" &E b ? 8  + "storage"(& +4 "core" & \ \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&c'Ѐ +16 "core" ' +2 .tSE.seek 1.11 Pucks below Top Plate +2 "storage"(8'] +47 "core" ' + "manipulator"&x& +4 "core" &E i ` D  +2 "manipulator"&\\% +4 "core" %| m j  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&_'\ +87 "core" ' +2 .tElbow.seek CC + "manipulator"&4( +163 "core" ( + "manipulator"&^& +56 "core" &* ^ @X +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &* M @X +2 .tForearm.seek CC +2 "manipulator"&'| +101 "core" ' +2 .tHand.close + "manipulator"&=/ +63 "core" / +2 .tCC.seek :open +2 "collection"'*(p +410 "core" ( +2 "storage"(G& +4 "core" & \ \  ; + "storage"(& +4 "core" & \ \  p +2 "manipulator"&}& +4 "core" &&  >M + "manipulator"&]% +4 "core" % z  +2 .tForearm.seek :retract + "manipulator"&9'\ +95 "core" ' +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&5(; +162 "core" ( + "manipulator"&V& +4 "core" &B D +2 "storage"(A& +4 "core" & \ \  + .tElbow.reconfigure :limp +8 "manipulator"&$ ,(b +2 .tForearm.seek 2 + "manipulator"&C'ξ +111 "core" ' + .tElbow.hold +2 "manipulator"&i, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&%1 +59 "core" 1 + "manipulator"&O% +5 "core" % }  K + "storage"(:& +4 "core" & \ F + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 2 + 318 counts +2 "manipulator"&Y' +19 "core" ' +2 "manipulator"&d& +4 "core" &B r p \\ + "storage"(f& +4 "core" & \ C\ C +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&F'Ѐ +18 "core" ' + "storage"(% +4 "core" %b\ B\ B +3 ."downElevator"SE.seek :down +3 "storage"(['N +99 (K% +2 "core" %G\ !\  N> +2 "manipulator"&S% +4 "core" %_ ` ` 1  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&'\ +88 "core" ' +52 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 3 of [2..3] + #Loading generic puck from tube 3 into Collection Clamp +2 "collection"'I& +4 "core" & _ +2 "manipulator"&"% +4 "core" %\ ( C +2 "storage"( % +4 "core" %8\ \  + "storage"(,. +3 "core" .(  +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(>( +361 "core" ( +4 .tSC.configure :limp +2 "storage"($\ 1b +2 (k& +3 "core" &\ \ \ \   +2 "manipulator"&+& +3 "core" &B y +2 .tElbow.seek 3 +2 "manipulator"&M(D +3 "core" ( +2 "manipulator"&;& +4 "core" &B u + "storage"(.& +4 "core" &\ \   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&' +96 "core" ' + "storage"(1& +4 "core" &\ 5\ 4  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(y'e +277 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (r& +2 "core" &\ \   +2 "manipulator"&6& +4 "core" &B  +2 .tElbow.seek 3 + "manipulator"&t(D +3 "core" ( +2 "manipulator"&e& +3 "core" &B Q +2 "storage"(& +4 "core" &\ \   +2 .tForearm.seek 3 + 300 counts + "manipulator"&v'y +12 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&/ +60 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&U& +2 "storage"(H'N +7 "core" &B x 5 +2 "manipulator"&|% +4 "core" %   / +2 .tForearm.seek :retract +2 "manipulator"&'\ +94 "core" ' + .tElbow.seek CC +2 "manipulator"&$( +146 "core" ' + ."downElevator"SE.stop + "storage"(5 +5 "core" ( +2 "manipulator"&q& +4 "core" & J 7 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &{& +3 "core" &  7 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&E'| +93 "core" ' +2 "manipulator"&& +4 "core" & = 7 +2 "manipulator"&&% +3 "core" %τ $  +2 "collection"' & +4 "core" & i +2 "collection"'z& +5 "core" & g +2 .tCC.seek :closed + "collection"'a(] +5 "core" & \ h +7 & ) ` "_ +9 &wX \ i 4 +9 & g G +10 &e h F +9 &^j p G +10 & j \ j G +9 & k g F +9 &"k i F +10 &$gk \ h F +9 &&(o \ h G +9 &'h g F +10 &)k g F +9 &+nh c G +10 &-1m \ i F +9 &.l  h F +9 &0k h G +10 &2vn \ j G +9 &48m \ j G +9 &5m \ e F +10 &7k ^ G +9 &9m ^ F +10 &;Aj \ [ F +9 &=m c G +9 &>m d G +10 &@m \ g G +9 &BHi \ Z G +9 &D\ h \ V G +10 &Ei \ U G +9 &Gk Z G +10 &IKz \ Y I +9 &K \ W L +9 &L  V O +10 &N}  _ O +9 &P< U P +9 &Q  \\ P +10 &S U Q +9 &U|  T R +10 &W=  Y S +9 &X  V T +9 &Z  U T +10 &\\r  W E +9 &]h0  T 'r +9 &]G  X = +3 ( + "collection"'z& +4 #tCollection Clamp onSpring/offSpring for 10/25 samples, on/off torque 1.94 + .Hand.open + "manipulator"&01 +53 "core" 1 +2 "manipulator"&% +4 "core" % τ `  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&B'\ +93 "core" ' + #tLoading generic puck from tube 3 into Processing Clamp +2 "processing"%T& +4 "core" &? +2 "manipulator"&#% +3 "core" %\ % / +3 "storage"(h% +3 "core" %8\ \ \ \ s  +2 "storage"(2. +3 "core" .( + "storage"(l& +4 "core" &\ \ \ \   +2 "storage"(j& +3 "core" &\ \ \ \  +2 "manipulator"&@& +4 "core" & 6 + "manipulator"&% +4 "core" %\ %  / +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&b(D +162 "core" ( +2 "manipulator"&7& +4 "core" &< A  + "storage"('& +4 "core" &\ \    +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&W' +93 "core" ' + "storage"( & +4 "core" &\ \  \  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"('e +278 "core" ' +2 "storage"(n- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (m& +3 "core" & w  + "manipulator"&3& +4 "core" &<   +2 .tElbow.seek 3 + "manipulator"&(D +4 "core" ( + "manipulator"&<& +4 "core" &< n #  + "storage"(s& +4 "core" &\ \  H  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&'y +22 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&N/ +53 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&(& +2 "storage"(Z'N +7 "core" &< p p   +2 "manipulator"&% +4 "core" % q p o +2 .tForearm.seek :retract +2 "manipulator"&?'\ +97 "core" ' +2 .tElbow.seek PC +2 "manipulator"&!(c +152 "core" ' + ."downElevator"SE.stop + "storage"(5 +97 "core" ( + "manipulator"&& +5 "core" &g +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &R& +3 "core" &g +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&g'[ +103 "core" ' + "manipulator"&o& +4 "core" &g +2 "manipulator"&% +3 "core" %[ x +2 "processing"%/& +5 "core" &: +2 "processing"%~& +5 "core" &= +2 .tPC.seek :closed + "processing"%X(Z +5 "core" &>  +9 &5E )w +10 &k@ = +9 &}{> H +9 &AkC G +10 &j= F +9 &k9 F +9 &!k: F +10 &#JnA F +9 &% i< G +10 &&o3 G +9 &(k/ G +9 &*Rh. F +10 &,k( G +9 &-m( G +9 &/k) F +10 &1Yg/ G +9 &3i) G +10 &4h) G +9 &6h. G +9 &8an/ G +10 &:#h* G +9 &;n) G +9 &=m. G +10 &?ik* G +9 &A+k* G +10 &Bh) G +9 &Dj* G +9 &Fqn, G +10 &H0v, H +9 &I}( H +9 &K* J +10 &Mk3 L +9 &O+2 L +10 &P9 M +9 &R) M +9 &Tq" L +10 &V2. M +9 &W( M +9 &Y) 6 +10 &Z+3 ] +9 &Z % +3 ( + "processing"%~& +3 #tProcessing Clamp onSpring/offSpring for 8/26 samples, on/off torque 1.47 + .Hand.open + "manipulator"&1 +59 "core" 1 + "manipulator"& % +5 "core" % [ _ +52 .tForearm.reconfigure :loose +4 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +95 "core" ' + "processing"%w& +4 "core" &Z% % +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&-% +4 "core" %\ . L #c +2 "storage"(D% +4 "core" %I\ x  + "storage"(`. +3 "core" .( +2 "storage"(& +4 "core" &\ \   +2 "storage"(u& +2 "manipulator"&& +7 "core" & \  <  + &g H +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +6 "manipulator"&$&.,(\ #b +3 "storage"(#]kK-0-\ b +2 .tElbow.seek PC +4 "manipulator"&x(c +4 ."raiseStack"SE.seek :beamBreak + "storage"(\\'e +3 "core" ( + "manipulator"&J& +4 "core" &g n +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &g t +2 .tForearm.seek PC +2 "manipulator"&\ '[ +95 "core" ' +2 .tHand.close + "manipulator"&Q/ +55 "core" / +2 .tPC.seek :open +2 "processing"% (p +90 "core" ' +2 "storage"(- +3 "core" -'e +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(^'B +39 "core" ' +247 ( + "storage"(c& +4 "core" &\ \   +2 "manipulator"&& +4 "core" &g F + "manipulator"&P% +4 "core" % c T +2 .tForearm.seek :retract +2 "manipulator"&='\ +100 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&_(D +264 "core" ( +2 "manipulator"&L& +4 "core" &R \\  +2 "storage"(G& +4 "core" &\ \ \ \   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&' +98 "core" ' + .tHand.open + "manipulator"&}1 +55 "core" 1 +2 "storage"(]- +4 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate +2 "storage"(V' +21 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(A' +51 "core" ' +2 #tLights, camera, ACTION! + "storage"(- +4 "core" -' + "storage"(4& +4 "core" &   +2 "manipulator"&%& +3 "core" &R A  +2 .tElbow.seek 3 +2 "manipulator"&O(D +16 "core" ( + "manipulator"&:& +5 "core" &M   + "storage"(d& +4 "core" & X  +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&f' +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"('M +58 "core" ' + "manipulator"&9& +5 "core" &M   + "storage"(K& +4 "core" & ]  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&S'M +33 "core" ' +2 .tElbow.hold + "manipulator"&5, +5 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"(C'7 +23 "core" ' +2 "manipulator"&I% +4 "core" %\\S    Ȱ +2 "storage"("& +4 "core" &  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 315 counts +2 "manipulator"&Y'ψ +17 "core" ' + "manipulator"& & +5 "core" & \\ t \\  + "storage"(,& +4 "core" &\ \  #  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&8' +19 "core" ' +2 "storage"(F% +4 "core" %>\ \  [ +2 ."downElevator"SE.seek :down +4 "storage"(['N +98 (% +3 "core" %F\ N@ +2 "manipulator"&k% +4 "core" % ` j W \ +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&+'\ +91 "core" ' +60 ' + ."downElevator"SE.stop + "storage"(5 +3 (;& +3 "core" &\   +2 "collection"'.& +4 "core" &]M  t = +2 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&1% +4 "core" %\ .  #c + "storage"(i% +4 "core" %B \  ,  +2 "storage"(. +3 "core" .( + "storage"(& +4 "core" &\  H  + "storage"(r& +4 "core" & \  X  +2 "manipulator"&6& +3 "core" & 2  +2 .tElbow.seek 3 +2 "manipulator"&e(D +18 "core" ( + "manipulator"&& +5 "core" &: o !s + "storage"(& +4 "core" &\    +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&U' +104 "core" ' +2 "storage"(|& +4 "core" &\ \    +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(M'e +279 "core" ' +3 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&q& +3 "core" &; !r + "storage"({& +4 "core" &\ \ \ g  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&y'M +30 "core" ' + .tElbow.hold +2 "manipulator"&v, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(- +2 "core" -' +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(&'j +36 "core" ' +2 "manipulator"& % +4 "core" %]W 3 1 Z ˱ + "storage"(t& +4 "core" &   + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 3 + 316 counts +2 "manipulator"&H'ω +18 "core" ' + "manipulator"&& +4 "core" & w g ' % +2 "storage"(*& +4 "core" &\ \  x  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&0' +17 "core" ' +2 .tSE.seek 1.11 Pucks below Top Plate +2 "storage"('Y +53 "core" ' + "manipulator"&T& +5 "core" & k m i % + "manipulator"&#% +4 "core" % ` j i +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&h'\ +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&2( +145 "core" ( +2 "manipulator"&l& +4 "core" &! s 9) + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &j& +2 "core" &"  9) +2 .tForearm.seek CC +2 "manipulator"&@'| +99 "core" ' + .tHand.close +2 "manipulator"&z/ +58 "core" / +2 .tCC.seek :open + "collection"'(p +411 "core" ( +2 "storage"(E& +4 "core" &\ \ !  + "storage"(7& +4 "core" &\ \   + "manipulator"&'& +4 "core" & r 7 + "manipulator"& % +4 "core" % ~ ] +2 .tForearm.seek :retract +2 "manipulator"&$'\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&B(D +169 "core" ( + "manipulator"&n& +4 "core" &= $ +2 "storage"(m& +4 "core" &\ \ !  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 3 +2 "manipulator"&3'M +109 "core" ' + .tElbow.hold +2 "manipulator"&<, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&s1 +61 "core" 1 +3 "manipulator"&N% +4 "core" % \\  ½M +2 "storage"((& +3 "core" &\  s  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 3 + 315 counts +2 "manipulator"&'ψ +17 "core" ' +2 "manipulator"&b& +4 "core" & ^ u r [ + "storage"(W& +4 "core" &\ )\ C 7  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&' +16 "core" ' +2 "storage"(% +4 "core" %Y\ B\ B i +3 ."downElevator"SE.seek :down +3 "storage"('N +98 (R% +3 "core" %F\ \  N@ +2 "manipulator"&% +4 "core" % p o +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +53 "manipulator"&o'\ +89 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +4 "core" ' +2 #tShuffling pucks in tube 2 of [2..3] +2 #Loading generic puck from tube 2 into Collection Clamp + "collection"'& +5 "core" & i + "manipulator"&/% +4 "core" %\ 6  & +2 "storage"(Z% +4 "core" %@\ \ ! +2 "storage"(?. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 + "storage"()(  +362 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (& +3 "core" & \  I +2 "manipulator"& & +3 "core" &\  Z +2 .tElbow.seek 2 +2 "manipulator"&~(; +24 "core" ( + "manipulator"&w& +4 "core" &I j  +2 "storage"(-& +4 "core" & \ \ j +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&D'Ѐ +93 "core" ' +2 "storage"(`& +4 "core" & \ C\ B +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"('e +275 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (u& +2 "core" & \ \  9 +2 "manipulator"&J& +4 "core" &I   +2 .tElbow.seek 2 + "manipulator"&(; +22 "core" ( + "manipulator"&g& +4 "core" &> b :  +2 "storage"(Q& +3 "core" & \ \  a +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&' +23 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&!/ +61 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"(X'N +8 "core" &> ` a T  + "manipulator"&c% +4 "core" % n l +2 .tForearm.seek :retract +2 "manipulator"&'\ +90 "core" ' +2 .tElbow.seek CC + "manipulator"&P( +152 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +3 "core" ( +2 "manipulator"&\\& +4 "core" &" W 9) +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &\ & +3 "core" &! 9) +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&L'| +104 "core" ' +2 "manipulator"&G& +5 "core" &" 9) + "manipulator"&x% +4 "core" %π > +2 "collection"'}& +4 "core" & \  +2 "collection"']& +6 "core" & f +2 .tCC.seek :closed +2 "collection"'(] +4 "core" & e +6 &: g #c +9 &u[ \ i 6 +10 & j H +9 &h \ \ k F +10 &jj \ \ h G +9 &-k \ k F +9 & m k F +10 &"p h G +9 &$rl h G +9 &&3m h G +10 &'i d F +9 &)j \ f F +10 &+yl i G +9 &-=g g F +9 &.k g G +10 &0k h F +9 &2j \ h G +9 &4Dn i G +10 &6i j G +9 &7j g F +10 &9h g G +9 &;Lh  f G +9 &=m c G +10 &>n  d G +9 &@m \ [ G +9 &BTn \ Y G +10 &Di Z G +9 &Eh _ G +10 &Go ` G +9 &IXx U H +9 &K ] K +10 &L \\ N +9 &N V P +9 &PI V P +10 &R Y Q +9 &S T R +9 &U  U R +10 &WJ  V R +10 &Y  T T +9 &Z  S T +9 &\\  U A +9 &]i,  T . +10 &]g  X G +2 ( +2 "collection"']& +3 #tCollection Clamp onSpring/offSpring for 10/25 samples, on/off torque 1.88 + .Hand.open +2 "manipulator"&41 +53 "core" 1 + "manipulator"&%% +4 "core" % v 3 +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&:'\ +100 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%d& +4 "core" &1 +2 "manipulator"&=% +3 "core" %\ 5 ; & +2 "storage"(9% +4 "core" %:\ \ \ +  + "storage"(K. +3 "core" .(  +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 + "storage"(^(  +6 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (I& +3 "core" &  7 +2 "manipulator"&"& +3 "core" &" N 9# +2 "manipulator"&V% +4 "core" %\ 5  & +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"& (; +164 "core" ( + "manipulator"&,& +5 "core" &? ?  + "storage"(F& +4 "core" & \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&_'Ѐ +101 "core" ' +2 "storage"(& +4 "core" & \ \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(A'e +278 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (k& +3 "core" & \ \   +2 "manipulator"&f& +3 "core" &? d ` 7  +2 .tElbow.seek 2 +2 "manipulator"&O(; +3 "core" ( + "manipulator"&& +4 "core" &? q t   + "storage"(S& +4 "core" & \ \   +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&;' +25 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&Y/ +59 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"&.& "storage"(1'N +8 "core" &? a ` .  + "manipulator"&i% +4 "core" % f ` " +2 .tForearm.seek :retract +2 "manipulator"&'\ +96 "core" ' + .tElbow.seek PC +2 "manipulator"&(c +153 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +91 "core" ( +2 "manipulator"&C& +4 "core" &k { + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &r& +3 "core" &k = +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&6'[ +100 "core" ' +2 "manipulator"&& +4 "core" &k  + "manipulator"&% +4 "core" %S 6 +2 "processing"%8& +4 "core" &7 +2 "processing"%|& +5 "core" &@ +2 .tPC.seek :closed +3 "processing"%[(Z +3 "core" &< +7 &F> $d +9 &^; 7 +9 &= G +10 &g= F +9 &zn: G +9 &=g7 G +10 &!m1 F +9 &"g) G +10 &$h2 G +9 &&Dn+ G +9 &(g. G +10 &)n* G +9 &+m% G +9 &-Mm* G +10 &/n( G +9 &0m( G +10 &2n' G +9 &4Vm* F +9 &6j) F +10 &7h, G +9 &9g* G +9 &;]n/ G +10 &=m0 G +9 &>o' G +10 &@h) G +9 &Bfi* F +9 &D'h/ G +10 &El( G +9 &Gt& H +9 &If( I +10 &K#' K +9 &L( L +10 &N& M +9 &Pe( L +9 &R'( L +10 &S+ M +9 &U! M +9 &Wk# M +10 &Y+' E +9 &ZYG( [ +9 &Z3' + +6 ( + "processing"%|& +5 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.49 + .Hand.open + "manipulator"&51 +4 "core" &Z , + +50 1 +2 "manipulator"&+% +4 "core" % S w +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +100 "core" ' +2 "processing"%q& +4 "core" &Z " + +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 + "manipulator"&{% +9 "core" %\ 8 ; ' + "storage"(% +4 "core" %8\ \  +2 "storage"( . +7 "core" .(  +2 "storage"(t& +4 "core" & \ T +2 "storage"(& +2 "manipulator"&*& +7 "core" & \ + &k e +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +3 "storage"(#]kK-0-\ b + "manipulator"&T(c +5 ."raiseStack"SE.seek :beamBreak +2 "storage"(#'e +3 "core" ( + "manipulator"&U& +4 "core" &k a + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &e& +3 "core" &k +2 .tForearm.seek PC + "manipulator"&M'[ +94 "core" ' + .tHand.close +2 "manipulator"&y/ +58 "core" / +2 .tPC.seek :open + "processing"%H(p +91 "core" ' + "storage"(&- +4 "core" -'e + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place + "storage"(l'B +45 "core" ' +242 ( + "storage"(j& +4 "core" & \ \  0 +2 "manipulator"&0& +4 "core" &k  + "manipulator"&v% +4 "core" % `  +2 .tForearm.seek :retract + "manipulator"&z'\ +101 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&h(; +253 "core" ( + "manipulator"&a& +4 "core" &= v "{ +2 "storage"(E& +4 "core" & \ \ N +52 .tForearm.reconfigure :tight +4 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&7'Ѐ +104 "core" ' + .tHand.open +2 "manipulator"&'1 +59 "core" 1 +2 "storage"( - +4 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate +2 "storage"(n' +22 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.83 Pucks below Top Plate + "storage"(m' +51 "core" ' +2 #tLights, camera, ACTION! + "storage"(@- +4 "core" -' +2 "storage"(2& +3 "core" &   +2 "manipulator"&s& +4 "core" &= m 8 "{ +2 .tElbow.seek 2 + "manipulator"&N(; +3 "core" ( +2 "manipulator"&(& +4 "core" &= r t "{ + "storage"(b& +4 "core" &  5 +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&W'Ѐ +14 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"('M +59 "core" ' +2 "manipulator"&$& +4 "core" &= o m "{ +2 "storage"(R& +4 "core" & \ \  0 +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&'ξ +34 "core" ' + .tElbow.hold +2 "manipulator"&B, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"(3'7 +26 "core" ' + "manipulator"&% +4 "core" %p   ( Ÿ +2 "storage"(& +4 "core" &  b +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 319 counts + "manipulator"&/' +17 "core" ' +2 "manipulator"&Z& +4 "core" &> g u v "z +2 "storage"(?& +4 "core" & \ \  3 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&'Ѐ +22 "core" ' +2 "storage"(% +4 "core" %A\ \  +3 ."downElevator"SE.seek :down +3 "storage"('N +98 (>% +3 "core" %D\ \ . N@ +2 "manipulator"&% +4 "core" %Ѝ c ` b  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"& '\ +94 "core" ' +55 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (w& +4 "core" &  \  v +2 "collection"'-& +4 "core" &]`  z G +2 #tStoring generic puck in Collection Clamp to tube 2 + "manipulator"&`% +4 "core" %\ 5  & +2 "storage"(<% +4 "core" %L\  M + "storage"(o. +3 "core" .(  +2 "storage"(& +4 "core" & \ \ \ " +2 "storage"(u& +3 "core" & \ \ \ j +3 "manipulator"&J& +3 "core" &>  "z +2 .tElbow.seek 2 +2 "manipulator"&g(; +3 "core" ( +2 "manipulator"&Q& +4 "core" &>  "z + "storage"(!& +4 "core" & \ \ \ \ { +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&'Ѐ +100 "core" ' + "storage"(c& +4 "core" & \ \  P +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(~'e +280 "core" ' + "storage"(D- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&\\& +3 "core" &>  "z +2 "storage"(\ & +3 "core" &  \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&'ξ +31 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(G- +3 "core" -' +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(x'n +28 "core" ' + "manipulator"&}% +4 "core" %p   I Ÿ +2 "storage"(& +4 "core" &  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 2 + 320 counts +2 "manipulator"&X' +11 "core" ' + "manipulator"&& +5 "core" &? _ u "y + "storage"(& +4 "core" & \ \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&4'Ѐ +16 "core" ' +2 .tSE.seek 1.11 Pucks below Top Plate +2 "storage"(%'] +48 "core" ' + "manipulator"&d& +5 "core" &? q l  "y + "manipulator"&=% +4 "core" %| q o +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&9'\ +87 "core" ' +2 .tElbow.seek CC +2 "manipulator"&K( +151 "core" ( + "manipulator"&]& +5 "core" &+  Ad + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &I& +2 "core" &* , Ad +3 .tForearm.seek CC + "manipulator"&"'| +94 "core" ' +2 .tHand.close +2 "manipulator"&V/ +54 "core" / +2 .tCC.seek :open + "collection"'L(p +411 "core" ( +2 "storage"(,& +4 "core" & \ \  + "storage"(F& +4 "core" & \ \  +2 "manipulator"&)& +4 "core" &(  ?T + "manipulator"&% +4 "core" % ~ K +2 .tForearm.seek :retract + "manipulator"&P'\ +92 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&:(; +156 "core" ( + "manipulator"&& +4 "core" &/ =  +2 "storage"(k& +4 "core" & \ \   + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 2 +2 "manipulator"&f'ξ +110 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&S1 +61 "core" 1 +2 "manipulator"&Y% +5 "core" % s L ¹. + "storage"(.& +4 "core" &  \   + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 317 counts + "manipulator"&i' +20 "core" ' + "manipulator"& & +4 "core" &0 j \\ x  +2 "storage"(_& +4 "core" & \ C\ B +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&A'Ѐ +17 "core" ' + "storage"(;% +5 "core" %a\ B\ B +2 ."downElevator"SE.seek :down +3 "storage"(C'N +99 (r% +3 "core" %C\ \  N? + "manipulator"&O% +4 "core" %x k f [  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&'\ +88 "core" ' +55 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 3 of [2..3] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"'& +5 "core" &  + "manipulator"&8% +4 "core" %\ * " !O +2 "storage"(1% +4 "core" %I\ \   + "storage"(. +3 "core" .(  +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 + "storage"( ( +362 "core" ( +2 .tSC.configure :limp +3 "storage"($\ 1b +2 (5& +3 "core" &\ \   +2 "manipulator"&+& +3 "core" &0   +2 .tElbow.seek 3 +2 "manipulator"&q(D +21 "core" ( +2 "manipulator"&{& +4 "core" &P G Q +2 "storage"(& +3 "core" &\ \   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"& ' +93 "core" ' + "storage"(|& +5 "core" &\ ?\ (  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(t'e +277 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (*& +3 "core" &\ \    +2 "manipulator"&U& +3 "core" &P  Q +2 .tElbow.seek 3 +2 "manipulator"&e(D +8 "core" ( + "manipulator"&6& +4 "core" &P   +2 "storage"(y& +4 "core" &\ \   +2 .tForearm.seek 3 + 300 counts + "manipulator"&&'y +27 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&/ +61 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& +2 "storage"(['N +8 "core" &P n k  +2 "manipulator"&j% +54 "core" % v j k  +3 .tForearm.seek :retract +2 "manipulator"&0'\ +88 "core" ' +2 .tElbow.seek CC + "manipulator"&v( +104 "core" ' + ."downElevator"SE.stop + "storage"(5 +46 "core" ( + "manipulator"&#& +4 "core" &# ;2 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &M& +2 "core" &#  ;2 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&a'| +94 "core" ' +2 "manipulator"&E& +4 "core" &# ;2 +2 "manipulator"&T% +4 "core" %π %  +2 "collection"''& +4 "core" &  +2 "collection"' & +5 "core" & b +2 .tCC.seek :closed +3 "collection"'@(] +5 "core" & l +5 & p 9 +9 &%O \ g / +10 &h{ d D +9 & h a G +9 &k d G +10 &j \ i G +9 & gk g F +9 &"(k i G +10 &#m h G +9 &%m g G +10 &'nl \ g G +9 &)1n g F +9 &*h k F +10 &,h \ k G +9 &.vn g G +9 &08h \ k G +10 &1j h F +9 &3j \ e G +10 &5~k \ j G +9 &7@m \ h G +9 &9k g G +10 &:k j G +9 &<k \ j G +9 &>Ij g F +10 &@ k \ j F +9 &Aj i F +10 &Ck f G +9 &EPl g G +9 &Gm h G +10 &Hv ] H +9 &J ^ J +10 &LC b N +9 &M  b P +9 &O  c P +10 &Q W Q +9 &SA  b Q +9 &U  T R +10 &V  \\ R +9 &X  U S +9 &ZA  S T +10 &\\  S S +9 &]O?  T &q +9 &]  T K +6 ( +2 "collection"' & +4 #tCollection Clamp onSpring/offSpring for 10/26 samples, on/off torque 1.89 + .Hand.open +2 "manipulator"&21 +3 "core" &]r  W J +49 1 +2 "manipulator"&s% +4 "core" % π _  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&('\ +94 "core" ' + #tLoading generic puck from tube 3 into Processing Clamp +2 "processing"%b& +4 "core" &? + "manipulator"&z% +4 "core" %\ &  2 +2 "storage"($% +4 "core" %H\ \ w  + "storage"(R. +4 "core" .( + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 3 + "storage"(l( +3 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (& +3 "core" &* e  +2 "manipulator"&& +4 "core" &"  9& + "manipulator"&n% +4 "core" %\ %  2 +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&Z(D +166 "core" ( + "manipulator"&?& +4 "core" &E H +2 "storage"(& +4 "core" &\ \ \ \ )  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&h' +99 "core" ' +2 "storage"(7& +4 "core" &\ \  ^  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(m'e +278 "core" ' + "storage"(>- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (& +2 "core" &\ \   +2 "manipulator"&W& +4 "core" &F G + .tElbow.seek 3 +2 "manipulator"&N(D +3 "core" ( +2 "manipulator"&& +3 "core" &F { t G +2 "storage"(& +4 "core" &\ \ \ \ ~  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&w'y +10 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&// +56 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&-& +2 "storage"(`'N +7 "core" &F ^ G +2 "manipulator"&<% +4 "core" % u  , + .tForearm.seek :retract +2 "manipulator"&o'\ +99 "core" ' + .tElbow.seek PC +2 "manipulator"&(c +152 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +98 "core" ( + "manipulator"&3& +5 "core" &l +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &u& +2 "core" &l +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC + "manipulator"&J'[ +94 "core" ' +2 "manipulator"&Q& +4 "core" &l  + "manipulator"&!% +4 "core" %e :  +2 "processing"%& +4 "core" &8 +2 "processing"%c& +5 "core" &9 +2 .tPC.seek :closed +3 "processing"%(Z +3 "core" &: +7 &== $d +9 &]? 6 +9 &9 G +10 &g< F +9 &vn< F +9 &8j: F +10 & jD F +9 &"gG G +10 &$~g5 F +9 &&?i: G +9 &(j6 G +10 &)j9 F +9 &+m2 G +9 &-Gm, G +10 &/ n( G +9 &0l( G +10 &2k* G +9 &4Ph( F +10 &6h) G +9 &7g' G +9 &9g( F +9 &;Wk) G +10 &=l3 F +9 &>k' G +10 &@h( G +9 &B`j* F +9 &D"j) F +10 &Ek' G +9 &Gr( G +9 &Icx. H +10 &K!' I +9 &L% K +10 &N' M +9 &P_' L +9 &R!( L +10 &S' L +9 &U' M +9 &Wd* M +10 &Y&( E +9 &ZUF* a +9 &Z,' * +6 ( +2 "processing"%c& +4 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.49 + .Hand.open + "manipulator"&B1 +4 "core" &Z. * +60 1 + "manipulator"& % +4 "core" % e 9  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&D'\ +93 "core" ' +2 "processing"%\\& +4 "core" &Z * + #tImaging generic puck in Processing Clamp while storing it to tube 3 +2 "manipulator"&\ % +4 "core" %\ * u !S +2 "storage"(G% +3 "core" %A\ \   +2 "storage"(}. +3 "core" .( + "storage"(& +4 "core" &\ \ E  +2 "storage"(& +2 "manipulator"&& +7 "core" &\ \   + &l  +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +2 "storage"(#]kK-0-\ b +4 .tElbow.seek PC +2 "manipulator"&d(c +3 ."raiseStack"SE.seek :beamBreak +2 "storage"(='e +3 "core" ( + "manipulator"&& +4 "core" &l @ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &g& +2 "core" &l M +2 .tForearm.seek PC +2 "manipulator"&~'[ +96 "core" ' + .tHand.close + "manipulator"&/ +62 "core" / + .tPC.seek :open +2 "processing"%X(p +85 "core" ' +2 "storage"(x- +3 "core" -'e + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(]'B +34 "core" ' +258 ( + "storage"(I& +4 "core" &\ \ \ \ v  +2 "manipulator"&4& +3 "core" &l  +2 "manipulator"&% +3 "core" % f  +2 .tForearm.seek :retract +2 "manipulator"&V'\ +94 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&9(D +257 "core" ( +2 "manipulator"&& +4 "core" &J \\ $ + "storage"(,& +4 "core" &\   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&F' +98 "core" ' +2 .tHand.open + "manipulator"&)1 +57 "core" 1 +2 "storage"(- +3 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate +2 "storage"(' +22 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(k' +49 "core" ' +2 #tLights, camera, ACTION! + "storage"("- +4 "core" -' + "storage"(K& +4 "core" & C  +2 "manipulator"&S& +3 "core" &J  $ +2 .tElbow.seek 3 +2 "manipulator"&Y(D +3 "core" ( + "manipulator"&.& +4 "core" &J $ $ +2 "storage"( & +3 "core" & o  +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&_' +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"(;'M +61 "core" ' +2 "manipulator"&P& +4 "core" &J  $ + "storage"(r& +4 "core" &\ \  b  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&O'M +32 "core" ' +2 .tElbow.hold + "manipulator"&:, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"(f'7 +23 "core" ' + "manipulator"&% +5 "core" %]_ 3 ( S ʳ + "storage"(8& +4 "core" & j  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 3 + 316 counts +2 "manipulator"&i'ω +13 "core" ' +2 "manipulator"&1& +57 "core" &F g h b % + "storage"(& +5 "core" &\  >  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&%' +25 "core" ' + "storage"(A% +5 "core" %@ \  g +2 ."downElevator"SE.seek :down +3 "storage"(C'N +99 (^% +3 "core" %F\ \  NA +2 "manipulator"&5% +4 "core" %$ b a 8 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&+'\ +91 "core" ' +63 ' + ."downElevator"SE.stop + "storage"(5 +3 ({& +4 "core" &\   + "collection"'& +4 "core" &]p  ^ J +2 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&|% +4 "core" %\ /  #f +2 "storage"(% +4 "core" %K\ a + "storage"(. +3 "core" .( +2 "storage"(& +3 "core" & \   +2 "storage"(*& +4 "core" & c  + "manipulator"&U& +4 "core" &F  % +2 .tElbow.seek 3 + "manipulator"&6(D +4 "core" ( + "manipulator"&y& +4 "core" &F ) % +2 "storage"(& +4 "core" & \    +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&' +96 "core" ' +2 "storage"(j& +4 "core" &\ i  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(q'e +278 "core" ' + "storage"( - +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&t& +3 "core" &G % +2 "storage"(#& +4 "core" & \ \ >  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&M'M +34 "core" ' + .tElbow.hold +2 "manipulator"&&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(E- +2 "core" -' +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(T'j +34 "core" ' +2 "manipulator"&'% +4 "core" %RL O N 2 ή + "storage"(e& +4 "core" & N  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 3 + 305 counts +2 "manipulator"&['~ +12 "core" ' + "manipulator"&0& +4 "core" &O l ^ @ $ +2 "storage"(L& +4 "core" &\ \    +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&2' +18 "core" ' +2 .tSE.seek 1.11 Pucks below Top Plate +2 "storage"(s'Y +39 "core" ' +2 "manipulator"&b& +4 "core" &P n i # +2 "manipulator"&z% +4 "core" % n i +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&$'\ +94 "core" ' +2 .tElbow.seek CC +2 "manipulator"&R( +158 "core" ( +2 "manipulator"&& +4 "core" && z >N + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 & & +3 "core" &' | >N +2 .tForearm.seek CC +2 "manipulator"&'| +95 "core" ' +2 .tHand.close + "manipulator"&n/ +54 "core" / + .tCC.seek :open +2 "collection"'a(p +411 "core" ( + "storage"(?& +4 "core" &\ \  x  +2 "storage"(& +4 "core" &\ \   +2 "manipulator"& & +3 "core" && C >L +2 "manipulator"&7% +4 "core" % s   +2 .tForearm.seek :retract + "manipulator"&v'\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&((D +161 "core" ( + "manipulator"&>& +4 "core" &L   +2 "storage"(& +4 "core" &\ \   +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 + "manipulator"&W'M +109 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&1 +58 "core" 1 +2 "manipulator"&/% +4 "core" % ^ 2 , [ + "storage"(-& +4 "core" & \  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 317 counts + "manipulator"&<'ϊ +18 "core" ' + "manipulator"&Z& +4 "core" & [ t  +2 "storage"(h& +4 "core" &\ C\ B E  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&m' +18 "core" ' +2 "storage"(w% +4 "core" %[\ C\ B +3 ."downElevator"SE.seek :down +3 "storage"(3'N +98 (u% +3 "core" %D\ !\  M> +2 "manipulator"&N% +4 "core" % b b * +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&Q'\ +92 "core" ' +49 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 2 of [2..3] + #Loading generic puck from tube 2 into Collection Clamp +2 "collection"'!& +4 "core" &   +2 "manipulator"&% +4 "core" %\ 5  & + "storage"(`% +4 "core" %F\ \ &  + "storage"(o. +4 "core" .( + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 2 + "storage"(H(  +361 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (B& +3 "core" &  \ ( + "manipulator"& & +4 "core" & x  +2 .tElbow.seek 2 + "manipulator"&\\(; +19 "core" ( + "manipulator"&\ & +4 "core" &5 s X +2 "storage"(G& +3 "core" & \ !\ ! +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts + "manipulator"&}'Ѐ +102 "core" ' + "storage"(& +5 "core" & \ $\ 4 ` +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(c'e +276 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (& +3 "core" & \ \  + "manipulator"&& +4 "core" &5\  X +2 .tElbow.seek 2 + "manipulator"&g(; +4 "core" ( + "manipulator"&J& +4 "core" &5\ Y X + "storage"(& +4 "core" & \ !\ ! +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&x' +11 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +55 "core" / +2 ."downElevator"SE.seek :down +5 "manipulator"&D& + "storage"('N +7 "core" &5\ G X +2 "manipulator"&I% +3 "core" % * M +2 .tForearm.seek :retract +2 "manipulator"&4'\ +96 "core" ' +2 .tElbow.seek CC +2 "manipulator"&=( +148 "core" ( + ' + ."downElevator"SE.stop +3 "manipulator"&& + "storage"(5 +7 "core" &" O :, +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &~& +2 "core" &" 7 :, +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&'| +94 "core" ' + "manipulator"&,& +4 "core" &" ? :, +2 "manipulator"&d% +4 "core" %z ;  +2 "collection"')& +4 "core" &  +2 "collection"'& +5 "core" &  +2 .tCC.seek :closed +2 "collection"'"(] +4 "core" & \ w +8 &B \ m #c +9 &u[ l 6 +9 & \ h G +10 &h g F +9 &jm g G +9 &-h b F +10 & j \ k G +9 &"i k G +10 &$rg g G +9 &&4n i G +9 &'m i G +10 &)k f G +9 &+{h j F +9 &-=j j F +10 &.n i G +9 &0i i G +10 &2j \ j F +9 &4Cm d G +9 &6i j F +10 &7j b F +9 &9g e G +9 &;Mg j F +10 &=j g F +9 &>m j G +10 &@n h G +9 &BTm g G +9 &Dn a F +10 &Ej h G +9 &Go Z G +9 &IWx a I +10 &K ] J +9 &L  ^ N +10 &N \\ O +9 &PI  ^ P +10 &R  T Q +9 &S  \\ Q +9 &U  X R +9 &WK  Y R +10 &Y  Y U +9 &Z  V S +10 &\\  \\ @ +9 &]u/  _ $k +9 &]e  M C +3 ( + "collection"'& +4 #tCollection Clamp onSpring/offSpring for 10/25 samples, on/off torque 1.89 + .Hand.open + "manipulator"&K1 +60 "core" 1 + "manipulator"&S% +4 "core" % z   +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&.'\ +97 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp + "processing"% & +4 "core" &J +2 "manipulator"&V% +4 "core" %\ 3 U %v +2 "storage"(P% +3 "core" %L\ \ 4 +2 "storage"(r. +55 "core" .(  + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"((  +8 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (8& +2 "core" &  + +2 "manipulator"&]& +4 "core" &" R :+ + "manipulator"&1% +4 "core" %\ 1 E $u +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&(; +163 "core" ( +2 "manipulator"&& +4 "core" &5 o - +2 "storage"(9& +4 "core" & \ \ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&F'Ѐ +93 "core" ' + "storage"(A& +5 "core" & \ \ + +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(k'e +281 "core" ' + "storage"(_- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (^& +4 "core" & \ \ : +2 "manipulator"&5& +4 "core" &5 , - +2 .tElbow.seek 2 + "manipulator"&Y(; +4 "core" ( + "manipulator"&;& +4 "core" &5  - + "storage"(O& +4 "core" & \ \ A +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&i' +10 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&{/ +63 "core" / +2 ."downElevator"SE.seek :down +5 "manipulator"&& + "storage"(|'N +7 "core" &5 ( - + "manipulator"&% +4 "core" % U O +2 .tForearm.seek :retract + "manipulator"&'\ +99 "core" ' + .tElbow.seek PC +2 "manipulator"&f(c +155 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +95 "core" ( +2 "manipulator"&& +4 "core" &k h +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &*& +3 "core" &k  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&U'[ +105 "core" ' + "manipulator"&y& +5 "core" &k h g + "manipulator"&% +4 "core" %Q r  +2 "processing"%%& +4 "core" &@ +2 "processing"%j& +5 "core" &< +2 .tPC.seek :closed + "processing"%C(Z +5 "core" &;  +9 &6? )w +10 &l? = +9 &~x> G +10 &Ah; G +9 &n? G +9 &k< G +10 &!j: F +9 &#Im< G +9 &% j< G +10 &&h: G +9 &(g> G +10 &*Qk< G +9 &,k: G +9 &-j: F +10 &/kB F +9 &1Zh2 F +9 &3m6 G +10 &4g/ F +9 &6j) G +10 &8`k, G +9 &:$i' F +9 &;i" F +10 &=n% G +9 &?ii' G +9 &A*k' G +10 &Bg( G +9 &Di) G +10 &Fpl) G +9 &H0u( H +9 &I( I +10 &K' K +9 &Mi' L +9 &O** M +10 &P) M +9 &R* L +10 &Tq' L +9 &V2' M +10 &W' M +9 &Y' 3 +9 &Z0) R +9 &Z' * +3 ( + "processing"%j& +4 #tProcessing Clamp onSpring/offSpring for 8/26 samples, on/off torque 1.51 + .Hand.open + "manipulator"&:1 +55 "core" 1 +2 "manipulator"&+% +4 "core" % V e & ~ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"& '\ +91 "core" ' + "processing"%t& +4 "core" &Z+ * +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 + "manipulator"&#% +4 "core" %\ * ; !M +2 "storage"(E% +4 "core" %>\ \  + "storage"('. +3 "core" .(  +2 "storage"(e& +3 "core" &  \  +2 "storage"(0& +3 "manipulator"&L& +5 "core" & \ \  + &k H +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +6 "manipulator"&$&.,(\ #b +2 "storage"(#]kK-0-\ b +2 .tElbow.seek PC +5 "manipulator"&b(c +3 ."raiseStack"SE.seek :beamBreak +2 "storage"(z'e +2 "core" ( +2 "manipulator"&& +4 "core" &k j + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &6& +3 "core" &k G +2 .tForearm.seek PC + "manipulator"&q'[ +98 "core" ' + .tHand.close +2 "manipulator"&M/ +61 "core" / +2 .tPC.seek :open +2 "processing"%[(p +93 "core" ' +2 "storage"(T- +3 "core" -'e +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('B +38 "core" ' +245 ( + "storage"( & +5 "core" & \  U + "manipulator"&2& +4 "core" &k  + "manipulator"&&% +4 "core" % h & +2 .tForearm.seek :retract + "manipulator"&n'\ +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&$(; +253 "core" ( + "manipulator"&@& +5 "core" &= _ # + "storage"(?& +4 "core" &  \ \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&'Ѐ +107 "core" ' +2 .tHand.open + "manipulator"& 1 +52 "core" 1 +2 "storage"(7- +4 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate + "storage"(>' +23 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(' +53 "core" ' + #tLights, camera, ACTION! +2 "storage"(- +3 "core" -' +2 "storage"(R& +4 "core" &  + "manipulator"&& +4 "core" &> h c ? # + .tElbow.seek 2 +2 "manipulator"&/(; +3 "core" ( +2 "manipulator"&-& +4 "core" &> j n i # + "storage"(Z& +4 "core" &  a +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&h'Ѐ +19 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.11 Pucks below Top Plate + "storage"(w'M +60 "core" ' + "manipulator"&v& +4 "core" &>  # +2 "storage"(u& +4 "core" & \ \ \  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&N'ξ +33 "core" ' +2 .tElbow.hold + "manipulator"&(, +5 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"(W'7 +25 "core" ' +2 "manipulator"&!% +4 "core" %m   Ʒ +2 "storage"(<& +4 "core" &  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 2 + 319 counts + "manipulator"&' +16 "core" ' +2 "manipulator"&`& +4 "core" &> u ] R # +2 "storage"(o& +4 "core" & \ \   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&s'Ѐ +15 "core" ' +2 "storage"(m% +4 "core" %<\ \  @ +2 ."downElevator"SE.seek :down +4 "storage"(3'N +99 (l% +2 "core" %xJ\ \  NA +2 "manipulator"&B% +4 "core" %s g f  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"& '\ +86 "core" ' +66 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (\ & +4 "core" &  \  X + "collection"'G& +4 "core" &]b  R C +2 #tStoring generic puck in Collection Clamp to tube 2 + "manipulator"&% +4 "core" %\ ( T L +2 "storage"(% +3 "core" %E\ \ \   +2 "storage"(Q. +3 "core" .(  + "storage"(& +4 "core" & \ \ \ \  +2 "storage"(& +3 "core" & \ \ \ L +2 "manipulator"&& +4 "core" &> I # + .tElbow.seek 2 +2 "manipulator"&J(; +3 "core" ( +2 "manipulator"&& +3 "core" &> S # +2 "storage"(& +4 "core" & \ \ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&D'Ѐ +105 "core" ' +2 "storage"(I& +4 "core" & \ \ d +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(\\'e +286 "core" ' + "storage"(}- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +2 "core" &> b g ` # +2 "storage"(~& +4 "core" & \ \  0 + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 + "manipulator"&c'ξ +35 "core" ' +2 .tElbow.hold +44 "manipulator"&x, +12 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(,- +2 "core" -' +3 .tSE.seek 0.11 Pucks below Top Plate + "storage"(d'n +34 "core" ' + "manipulator"&)% +5 "core" %c   Ǵ + "storage"(g& +4 "core" &  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 2 + 319 counts +2 "manipulator"&' +19 "core" ' +2 "manipulator"&4& +4 "core" &> q t  # +2 "storage"(a& +4 "core" & \ \ g +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&K'Ѐ +23 "core" ' +2 .tSE.seek 1.11 Pucks below Top Plate +2 "storage"(S'] +38 "core" ' +2 "manipulator"& & +4 "core" &> b g p # +2 "manipulator"&V% +4 "core" %К o d +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&P'\ +87 "core" ' + .tElbow.seek CC +2 "manipulator"&r( +156 "core" ( + "manipulator"&& +5 "core" &*  A_ + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &8& +2 "core" &* ; A_ +3 .tForearm.seek CC + "manipulator"&]'| +98 "core" ' + .tHand.close + "manipulator"&1/ +59 "core" / +2 .tCC.seek :open +2 "collection"'(p +410 "core" ( + "storage"(& +4 "core" & \ \  S +2 "storage"(9& +3 "core" & \ \  k +2 "manipulator"&H& +4 "core" &'  >J + "manipulator"&A% +4 "core" % |  +2 .tForearm.seek :retract + "manipulator"&='\ +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&.(; +161 "core" ( + "manipulator"&_& +4 "core" &A   +2 "storage"(^& +4 "core" & \ !\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 2 +2 "manipulator"&5'ξ +109 "core" ' + .tElbow.hold +2 "manipulator"&;, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&O1 +58 "core" 1 + "manipulator"&{% +5 "core" % z  0 : + "storage"(& +4 "core" & \ \  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 2 + 317 counts +2 "manipulator"&' +14 "core" ' +2 "manipulator"&& +4 "core" &A A e  +2 "storage"(F& +4 "core" & \ C\ B +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&k'Ѐ +16 "core" ' +2 "storage"(i% +4 "core" %a\ B\ B G +2 ."downElevator"SE.seek :down +4 "storage"('N +99 (*% +3 "core" %F\ !\ !  N> +2 "manipulator"&Y% +4 "core" %Ј ` a  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&y'\ +93 "core" ' +44 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 3 of [2..3] + #Loading generic puck from tube 3 into Collection Clamp +2 "collection"'& +4 "core" &   +2 "manipulator"&%% +4 "core" %\ 5  & +2 "storage"(|% +3 "core" %<\ !\  V +2 "storage"(. +4 "core" .(  + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(X( +366 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (:& +3 "core" &\  I  +3 "manipulator"&+& +4 "core" &A C  + .tElbow.seek 3 +2 "manipulator"&t(D +3 "core" ( +2 "manipulator"&#& +3 "core" &A #  +2 "storage"(E& +4 "core" &\ !\ "   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&'' +98 "core" ' + "storage"(e& +4 "core" &\ B\ B  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(0'e +277 "core" ' + "storage"(L- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (j& +3 "core" &\ \  w  + "manipulator"&& +4 "core" &A   +2 .tElbow.seek 3 + "manipulator"&6(D +4 "core" ( + "manipulator"&U& +4 "core" &A '  +2 "storage"(M& +4 "core" &\ \   +2 .tForearm.seek 3 + 300 counts + "manipulator"&T'y +11 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&f/ +63 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"& & + "storage"(C'N +7 "core" &A   + "manipulator"& % +4 "core" %   +2 .tForearm.seek :retract +2 "manipulator"&2'\ +99 "core" ' + .tElbow.seek CC +2 "manipulator"&&( +142 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +13 "core" ( + "manipulator"&z& +4 "core" & &  S =F +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &q& +3 "core" & & 2 =F +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&@'| +101 "core" ' +2 "manipulator"&?& +4 "core" & & > =F +2 "manipulator"&b% +4 "core" %|  +2 "collection"' & +4 "core" &  +2 "collection"'7& +6 "core" &  +2 .tCC.seek :closed + "collection"'(] +5 "core" & \ m +6 &C k $e +10 &\\ k 6 +9 & \ ` G +10 &k a F +9 &wj \ \ e G +9 &:i g F +10 & k a G +9 &"n e G +9 &$k i G +10 &&Ai d G +9 &(i n G +10 &)i  i G +9 &+k l G +9 &-Jg h F +10 &/ k \ i G +9 &0n g G +9 &2h h G +10 &4Qh \ h G +9 &6h \ k F +10 &7k  i G +9 &9h j F +9 &;Yh e G +10 &=k \ g G +9 &>h  i G +9 &@h f G +10 &Bah k G +9 &D$i \ g F +10 &Em f G +9 &Gk f G +9 &Idy e H +10 &K g K +9 &L k P +9 &N e O +10 &PU  d P +9 &R  Y Q +10 &S  b Q +9 &U  k R +10 &WW  q R +9 &Y  [ T +9 &Z  Y T +9 &\\  \\ = +10 &]i(  _ +~ +9 &]H  V = +2 ( +2 "collection"'7& +3 #tCollection Clamp onSpring/offSpring for 9/25 samples, on/off torque 1.87 + .Hand.open +2 "manipulator"&R1 +59 "core" 1 +2 "manipulator"&% +4 "core" % |  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&-'\ +96 "core" ' +3 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%Z& +4 "core" &K +2 "manipulator"&n% +4 "core" %\ 0 d $s +2 "storage"(v% +3 "core" %<\ \ \ \ U  +2 "storage"(u. +3 "core" .( + "storage"(& +4 "core" &\ \ \ \   + "storage"(!& +4 "core" &\ \ \ \  +2 "manipulator"&<& +4 "core" &9  7 + "manipulator"&>% +4 "core" %\ 0  $s +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&`(D +151 "core" ( + "manipulator"&o& +4 "core" &? : + "storage"(m& +4 "core" &\  e  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&$' +101 "core" ' + "storage"(& +5 "core" &\ \  z  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"('e +279 "core" ' + "storage"(l- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (B& +2 "core" &\ \    +2 "manipulator"&h& +4 "core" &?  + .tElbow.seek 3 +2 "manipulator"&/(D +3 "core" ( + "manipulator"&w& +4 "core" &?  +2 "storage"(N& +3 "core" &\ \   +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&\ 'y +10 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&/ +54 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&G& + "storage"('N +7 "core" &?  + "manipulator"&% +4 "core" % |  6 +2 .tForearm.seek :retract +2 "manipulator"&Q'\ +98 "core" ' +2 .tElbow.seek PC +2 "manipulator"&W(c +154 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +94 "core" ( + "manipulator"&& +4 "core" &l  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &l U +3 .tForearm.reconfigure :tight +54 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&'[ +105 "core" ' + "manipulator"&& +5 "core" &l 5 + "manipulator"&% +4 "core" %d  +2 "processing"%s& +4 "core" &M +2 "processing"%I& +5 "core" &L +2 .tPC.seek :closed +2 "processing"%3(Z +4 "core" &:  +8 &7= )w +9 &l? = +10 &x@ H +9 &Hg> G +9 &\ h6 G +10 &f> G +9 &!g@ G +10 &#Pg? G +9 &%fB F +9 &&j> G +10 &(l= G +9 &*Xk3 G +9 &,m; G +10 &-f4 G +9 &/h4 F +9 &1`h) G +11 &3"k/ G +8 &4l) G +10 &6g) G +9 &8hg* G +9 &:)g+ G +10 &;i* F +9 &=i+ F +9 &?pk+ G +10 &A2p- G +9 &Bg, F +10 &Dk* G +9 &Fwj( G +9 &H7u' H +10 &I{. I +9 &K) J +10 &Mq( L +9 &O1( M +9 &P' M +10 &R' M +9 &Tx) L +10 &V8' M +9 &W M +9 &Y( / +9 &Z-i* Y +10 &Z* ( +2 ( +2 "processing"%I& +3 #tProcessing Clamp onSpring/offSpring for 8/26 samples, on/off torque 1.47 + .Hand.open + "manipulator"&(1 +55 "core" 1 +2 "manipulator"& % +4 "core" % d  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&}'\ +93 "core" ' +2 "processing"%& +4 "core" &Z ( +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&~% +4 "core" %\ . #g +2 "storage"(,% +3 "core" %K\  z \ +2 "storage"(). +3 "core" .( + "storage"(g& +4 "core" &\ \   +2 "storage"(4& +2 "manipulator"&a& +7 "core" & \  <  + &l +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +6 "manipulator"&$&.,(\ #b +2 "storage"(#]kK-0-\ b +2 .tElbow.seek PC +5 "manipulator"& (c +4 ."raiseStack"SE.seek :beamBreak + "storage"(V'e +3 "core" ( +2 "manipulator"&D& +3 "core" &l +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &J& +3 "core" &l U +2 .tForearm.seek PC +2 "manipulator"&\\'[ +93 "core" ' + .tHand.close +2 "manipulator"&c/ +59 "core" / +2 .tPC.seek :open +2 "processing"%(p +88 "core" ' + "storage"(d- +3 "core" -'e +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('B +33 "core" ' +256 ( +2 "storage"(8& +4 "core" &\ <  + "manipulator"&K& +4 "core" &l  +2 "manipulator"&x% +4 "core" % d $ + .tForearm.seek :retract +2 "manipulator"&1'\ +94 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&P(D +280 "core" ( + "manipulator"&"& +4 "core" &P E +2 "storage"(& +4 "core" &\    +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&9' +103 "core" ' +2 .tHand.open + "manipulator"&H1 +53 "core" 1 +2 "storage"(A- +4 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate + "storage"(_' +23 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.83 Pucks below Top Plate + "storage"(^' +52 "core" ' + #tLights, camera, ACTION! + "storage"(]- +4 "core" -' + "storage"(r& +4 "core" &  +2 "manipulator"&O& +3 "core" &P n n +2 .tElbow.seek 3 +2 "manipulator"&{(D +6 "core" ( + "manipulator"&& +4 "core" &N U l +2 "storage"(& +4 "core" & 5  +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&F' +13 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.11 Pucks below Top Plate + "storage"(i'M +60 "core" ' + "manipulator"&=& +4 "core" &N a `  l +2 "storage"(*& +4 "core" &\ \  x  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 + "manipulator"&Y'M +32 "core" ' +2 .tElbow.hold + "manipulator"&., +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"(5'7 +25 "core" ' + "manipulator"&% +5 "core" %[W   DZ +2 "storage"(%& +4 "core" &  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 314 counts + "manipulator"&|'χ +18 "core" ' +2 "manipulator"&& +4 "core" & ] j h +2 "storage"(& +4 "core" &\ \  c  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&S' +22 "core" ' +2 "storage"(k% +4 "core" %@\ !\  +2 ."downElevator"SE.seek :down +4 "storage"('N +99 (% +2 "core" %L\ \  E OC +2 "manipulator"&:% +4 "core" % n c  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&+'\ +100 "core" ' +51 ' + ."downElevator"SE.stop + "storage"(5 +3 (#& +3 "core" & \  ;  +2 "collection"'E& +4 "core" &]D  s = + #tStoring generic puck in Collection Clamp to tube 3 +2 "manipulator"&e% +3 "core" %\  } v B  +2 "storage"(;% +4 "core" %O\ \  E \ +2 "storage"(y. +3 "core" .( + "storage"(L& +4 "core" &\ \  T  + "storage"(j& +4 "core" &\ \  k  +2 "manipulator"&& +4 "core" & q  + .tElbow.seek 3 +2 "manipulator"&U(D +26 "core" ( + "manipulator"&M& +5 "core" &@  ( + "storage"(f& +4 "core" &\ \  N  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"& ' +95 "core" ' +2 "storage"( & +4 "core" &\ \  =  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(t'e +274 "core" ' +2 "storage"('- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&z& +2 "core" &@ ( +2 "storage"(q& +4 "core" &\    + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 + "manipulator"&0'M +32 "core" ' + .tElbow.hold +2 "manipulator"&T, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(?- +2 "core" -' +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(b'j +28 "core" ' +2 "manipulator"& % +4 "core" %\\[ * 2 ˲ +2 "storage"(6& +3 "core" &  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 315 counts + "manipulator"&C'ψ +12 "core" ' + "manipulator"&2& +4 "core" &< h v m ( +2 "storage"(& +4 "core" &\ \   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&R' +18 "core" ' +2 .tSE.seek 1.11 Pucks below Top Plate +2 "storage"('Y +51 "core" ' +2 "manipulator"&Z& +5 "core" &= a ` # ( +2 "manipulator"&n% +4 "core" % e l ,  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&v'\ +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"&u( +148 "core" ( + "manipulator"&& +4 "core" &# ? ;3 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &7& +2 "core" &# ' ;3 +2 .tForearm.seek CC +2 "manipulator"&!'| +94 "core" ' +2 .tHand.close + "manipulator"&(p +414 "core" ( + "storage"(@& +4 "core" &\ \ !  +2 "storage"(o& +3 "core" &\ \   +2 "manipulator"&m& +4 "core" & M 7 + "manipulator"&% +4 "core" % ϐ S +2 .tForearm.seek :retract +2 "manipulator"&&'\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&-(D +175 "core" ( + "manipulator"&l& +4 "core" &G\ ( ^ +2 "storage"(B& +4 "core" &\ !\ ! (  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +47 .tForearm.seek 3 +9 "manipulator"&h'M +110 "core" ' + .tElbow.hold +2 "manipulator"&w, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&N1 +62 "core" 1 +3 "manipulator"&% +4 "core" % [}  e üF +2 "storage"(G& +3 "core" &\   +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 314 counts + "manipulator"&'χ +19 "core" ' +2 "manipulator"&`& +4 "core" &A q o d + "storage"($& +4 "core" &\ B\ B  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts + "manipulator"&' +22 "core" ' + "storage"(\ % +5 "core" %[\ C\ B +2 ."downElevator"SE.seek :down +4 "storage"('N +99 (% +3 "core" %D\ \  % N? +2 "manipulator"&/% +4 "core" % q s 2 +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +93 "core" ' +47 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 2 of [2..3] +2 #Loading generic puck from tube 2 into Collection Clamp + "collection"'& +5 "core" & j + "manipulator"&s% +4 "core" %\ 5  & +2 "storage"(% +16 "core" %H\ !\    +2 "storage"(Q. +4 "core" .( + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"([(  +364 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 ((& +2 "core" & \ \ \ o +2 "manipulator"& & +4 "core" &A B d +2 .tElbow.seek 2 + "manipulator"&(; +4 "core" ( + "manipulator"&~& +3 "core" &A V d +2 "storage"(,& +4 "core" & \ \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&)'Ѐ +105 "core" ' + "storage"(g& +4 "core" & \ B\ B +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(4'e +275 "core" ' +2 "storage"(a- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (I& +2 "core" & \ \  +2 "manipulator"&D& +3 "core" &A l m d +2 .tElbow.seek 2 +2 "manipulator"&J(; +4 "core" ( + "manipulator"&& +4 "core" &A w | , d + "storage"(c& +4 "core" & \ (\  + +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&d' +18 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&W/ +62 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&}& +2 "storage"(3'N +7 "core" &A  d +2 "manipulator"&8% +4 "core" % { % +2 .tForearm.seek :retract + "manipulator"&K'\ +91 "core" ' + .tElbow.seek CC +2 "manipulator"&V( +149 "core" ' + ( + ."downElevator"SE.stop +4 "manipulator"&x& + "storage"(5 +7 "core" &( m ?U + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &\\& +3 "core" &( M ?U +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&"'| +94 "core" ' + "manipulator"&& +4 "core" &( ?U +2 "manipulator"& % +4 "core" %z   +2 "collection"'H& +4 "core" & j +2 "collection"'A& +5 "core" &  +2 .tCC.seek :closed +2 "collection"'](] +4 "core" & k  +9 &5 t )v +10 &h \ h < +9 &k| a G +9 &0i i F +10 &k l G +9 &o h G +9 &!ui e G +10 &#8k \ e F +9 &$j \ p F +10 &&j h F +9 &(~k h F +9 &*@k e F +10 &,m e G +9 &-k  k G +9 &/k e F +10 &1Gk h G +9 &3 m f G +10 &4l f F +9 &6g h G +9 &8Oi e G +10 &:h \ f G +9 &;k \ g F +9 &=h d G +10 &?Wh \ r G +9 &Ah k G +10 &Bh m G +9 &Dh g F +9 &F_j \ o G +10 &Hp \ w G +9 &I{ g I +9 &K  g K +10 &MN u O +9 &O  s P +10 &P  m P +9 &R  k Q +10 &TO  f R +9 &V  q R +9 &W  f S +9 &Y  ^ T +10 &[Q  h T +9 &\\v  b )~ +10 &]4  e !e +8 ( +3 "collection"'A& +4 #tCollection Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.88 + .Hand.open + "manipulator"&r1 +4 "core" &]e  ` I +60 1 +2 "manipulator"&O% +5 "core" % z <  + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&'\ +93 "core" ' + #tLoading generic puck from tube 2 into Processing Clamp +2 "processing"%& +4 "core" &C + "manipulator"&1% +4 "core" %\ * !T +2 "storage"(=% +4 "core" %<\ \  9 + "storage"(*. +3 "core" .(  +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"((  +5 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (& +3 "core" &  ! +2 "manipulator"&%& +4 "core" &' j >K + "manipulator"&_% +4 "core" %\ + 1 !T +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&(; +162 "core" ( +2 "manipulator"&& +4 "core" &/ c 1 + "storage"(k& +4 "core" & \ ! +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&P'Ѐ +104 "core" ' + "storage"(9& +4 "core" & \ \  v +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(^'e +275 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (:& +2 "core" & \ \ \  +2 "manipulator"&F& +4 "core" &/ z z 1 + .tElbow.seek 2 +2 "manipulator"&{(; +17 "core" ( +2 "manipulator"&i& +4 "core" &4 ]  # + "storage"(Y& +4 "core" & \ \   +2 .tForearm.seek 2 + 300 counts + "manipulator"&|' +16 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&#/ +52 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&E& +2 "storage"(e'N +7 "core" &4  # +2 "manipulator"&;% +4 "core" % q / +2 .tForearm.seek :retract +2 "manipulator"&y'\ +90 "core" ' + .tElbow.seek PC +2 "manipulator"&L(c +159 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +99 "core" ( +2 "manipulator"&5& +4 "core" &j 4 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &j& +2 "core" &j Q +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&'[ +103 "core" ' +2 "manipulator"&M& +4 "core" &j 1 + "manipulator"&f% +4 "core" %F W +2 "processing"%S& +4 "core" &H +2 "processing"% & +5 "core" &E +2 .tPC.seek :closed + "processing"%(Z +4 "core" &?  +9 &8@ *x +9 &k; = +10 &v@ H +9 &Me? G +10 &g@ G +9 &g? G +9 &!hA F +10 &#Ug> G +9 &%f? F +10 &&j5 G +9 &(k0 G +9 &*]j: G +10 &,k9 G +9 &-g6 F +9 &/h, G +10 &1ee, G +9 &3(h1 F +9 &4h6 G +10 &6k* G +9 &8mj) G +10 &:/f' G +9 &;f) G +9 &=j& F +10 &?uk* G +9 &A7h+ G +9 &Bi( G +10 &Dm, G +9 &F|m, G +10 &H:x* H +9 &I( J +9 &K( K +10 &Ms) M +9 &O7, L +9 &P+ M +10 &R( M +9 &T{* M +10 &V=) M +9 &W* M +10 &Y+ - +9 &Z2k, G +9 &Z!( , +2 ( +2 "processing"% & +3 #tProcessing Clamp onSpring/offSpring for 8/26 samples, on/off torque 1.52 + .Hand.open +2 "manipulator"&.1 +58 "core" 1 + "manipulator"&+% +4 "core" % F / +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&''\ +106 "core" ' +2 "processing"%z& +4 "core" &Z 6 , + #tImaging generic puck in Processing Clamp while storing it to tube 2 +2 "manipulator"&q% +4 "core" %\  G  +2 "storage"(?% +3 "core" %C \ \ 0  +2 "storage"( . +3 "core" .(  + "storage"(6& +4 "core" & \ \  +2 "storage"(2& +3 "manipulator"&& +5 "core" &  \  Q + &j  +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +4 "storage"(#]kK-0-\ b + .tElbow.seek PC +3 "manipulator"&Z(c +4 ."raiseStack"SE.seek :beamBreak + "storage"(n'e +3 "core" ( +53 "manipulator"& & +4 "core" &j  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &U& +2 "core" &j  +2 .tForearm.seek PC +2 "manipulator"&t'[ +92 "core" ' + .tHand.close +2 "manipulator"&0/ +62 "core" / +3 .tPC.seek :open +2 "processing"%C(p +33 "core" ' +2 "storage"(b- +3 "core" -'e +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('B +35 "core" ' +307 ( +2 "storage"(7& +4 "core" &  \ + "manipulator"&R& +4 "core" &j p +2 "manipulator"&T% +3 "core" % X +2 .tForearm.seek :retract +2 "manipulator"&<'\ +91 "core" ' +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&v(; +275 "core" ( +2 "manipulator"&& +4 "core" &E   +2 "storage"(@& +4 "core" & \ \ \ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&o'Ѐ +96 "core" ' + .tHand.open +2 "manipulator"&m1 +55 "core" 1 +2 "storage"(- +3 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate +2 "storage"(l' +23 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(B' +51 "core" ' + #tLights, camera, ACTION! +2 "storage"(!- +4 "core" -' + "storage"(u& +4 "core" &  O +2 "manipulator"&N& +3 "core" &E /  +2 .tElbow.seek 2 + "manipulator"&(; +4 "core" ( +2 "manipulator"&G& +4 "core" &E   + "storage"(`& +4 "core" &  ; +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&$'Ѐ +20 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.11 Pucks below Top Plate + "storage"(\ 'M +60 "core" ' + "manipulator"&&& +4 "core" &E l o  +2 "storage"(& +4 "core" & \ \   +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&/'ξ +34 "core" ' +2 .tElbow.hold +2 "manipulator"&-, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"(h'7 +30 "core" ' + "manipulator"&% +5 "core" %m   ! ÷ + "storage"(& +4 "core" &  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 319 counts + "manipulator"&s' +19 "core" ' + "manipulator"&& +5 "core" &E ] t  +2 "storage"(Q& +4 "core" & \ \   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&'Ѐ +17 "core" ' + "storage"(% +5 "core" %@\ \  1 +2 ."downElevator"SE.seek :down +3 "storage"('N +99 (X% +3 "core" %F \  N@ + "manipulator"&(% +4 "core" %u m n +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"& '\ +91 "core" ' +62 ' + ."downElevator"SE.stop + "storage"(5 +3 (~& +4 "core" & \ + "collection"',& +4 "core" &]e  b I +2 #tStoring generic puck in Collection Clamp to tube 2 + "manipulator"&g% +4 "core" %\ 0 3 $p +2 "storage"(w% +3 "core" %O\ \ \ \ P +2 "storage"(. +3 "core" .(  + "storage"(a& +4 "core" & \ \  ) +2 "storage"(I& +3 "core" & \ \ \ \  +2 "manipulator"&D& +4 "core" &E 1  +2 .tElbow.seek 2 + "manipulator"&(; +4 "core" ( + "manipulator"&c& +4 "core" &E h  +2 "storage"(W& +3 "core" & \ \   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&}'Ѐ +104 "core" ' +2 "storage"(8& +4 "core" & \ \  b +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"('e +281 "core" ' + "storage"()- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&x& +3 "core" &E m n G  +2 "storage"(\\& +4 "core" & \ \   + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&4'ξ +35 "core" ' +2 .tElbow.hold + "manipulator"&d, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(- +3 "core" -' +2 .tSE.seek 0.11 Pucks below Top Plate + "storage"( 'n +36 "core" ' +2 "manipulator"&H% +4 "core" %b  " y Ŵ + "storage"(J& +4 "core" &  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 318 counts + "manipulator"&3' +16 "core" ' +2 "manipulator"&K& +4 "core" &E d O T  +2 "storage"(>& +3 "core" & \ \  / +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&r'Ѐ +23 "core" ' +2 .tSE.seek 1.11 Pucks below Top Plate + "storage"(O'] +50 "core" ' +2 "manipulator"&& +4 "core" &E m m  +2 "manipulator"&1% +3 "core" %Ц o o +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&='\ +88 "core" ' + .tElbow.seek CC +2 "manipulator"&*( +167 "core" ( +2 "manipulator"&A& +4 "core" &" H :1 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &" :1 +2 .tForearm.seek CC + "manipulator"&%'| +99 "core" ' + .tHand.close +2 "manipulator"&_/ +56 "core" / +2 .tCC.seek :open + "collection"'"(p +412 "core" ( + "storage"(& +4 "core" & \ \ ! +2 "storage"(k& +3 "core" & \ \  Y +2 "manipulator"&[& +4 "core" &"  :0 + "manipulator"&9% +4 "core" % } , +2 .tForearm.seek :retract + "manipulator"&V'\ +93 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 + "manipulator"&(; +174 "core" ( + "manipulator"&& +4 "core" &E\  \\ +2 "storage"(:& +4 "core" & \ !\ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 2 +2 "manipulator"&F'ξ +109 "core" ' + .tElbow.hold +2 "manipulator"&i, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&Y1 +57 "core" 1 +2 "manipulator"&#% +5 "core" % }  o ¼L + "storage"(E& +4 "core" &  \ + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 2 + 319 counts + "manipulator"&;' +21 "core" ' + "manipulator"&& +5 "core" &E\ Z p d \\ + "storage"(P& +4 "core" & \ C\ C +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&^'Ѐ +23 "core" ' +2 "storage"(|% +4 "core" %\\\ C\ B +2 ."downElevator"SE.seek :down +3 "storage"(5'N +99 (j% +3 "core" %E\ \  i N? +2 "manipulator"&{% +4 "core" %Щ l v & +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&M'\ +86 "core" ' +54 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 3 of [2..3] + #Loading generic puck from tube 3 into Collection Clamp +2 "collection"'f& +4 "core" &   +2 "manipulator"&S% +4 "core" %\ * 4 !N + "storage"(e% +4 "core" %?\ !\ !  + "storage"(y. +3 "core" .(  +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(( +361 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (.& +2 "core" & \  Y  +2 "manipulator"&+& +4 "core" &E\ b \\ +2 .tElbow.seek 3 + "manipulator"&z(D +3 "core" ( +2 "manipulator"&q& +4 "core" &E\ % \\ + "storage"(?& +55 "core" &\ !\   +7 .tForearm.reconfigure :tight +6 "manipulator"&#Q@2^d^\ b +5 .tForearm.seek 3 + 450 counts +3 "manipulator"& ' +110 "core" ' +2 "storage"( & +4 "core" &\ B\ C  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(6'e +278 "core" ' + "storage"(2- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (& +3 "core" &\ \  +2 "manipulator"& & +3 "core" &E\ ~ { c \\ +2 .tElbow.seek 3 + "manipulator"&U(D +4 "core" ( + "manipulator"&& +4 "core" &E\ t [ \\ +2 "storage"(0& +3 "core" &\ \  b  +3 .tForearm.seek 3 + 300 counts + "manipulator"&b'y +36 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&L/ +64 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&'& +2 "storage"('N +8 "core" &E\ y w o \\ + "manipulator"&n% +4 "core" % ω o { +2 .tForearm.seek :retract +2 "manipulator"&7'\ +96 "core" ' +2 .tElbow.seek CC +2 "manipulator"&R( +146 "core" ( +3 "manipulator"&T& +4 "core" ' + &" M :+ + ."downElevator"SE.stop +3 .tElbow.reconfigure :loose +2 "storage"(5 +2 "manipulator"&$ &.,(#b +4 &t& +3 "core" &" V :+ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC + "manipulator"&'| +105 "core" ' +2 "manipulator"&@& +4 "core" &" p :+ +2 "manipulator"&Z% +4 "core" %τ B + "collection"'m& +4 "core" &  +2 "collection"'& +5 "core" &  +2 .tCC.seek :closed +2 "collection"'!(] +4 "core" & m  +8 &7 k *x +9 &k o = +10 &{ \ k G +9 &Dl \ n F +10 &k j F +9 &k \ m F +9 &!j \ k G +10 &#Kn i G +9 &%k f F +9 &&k c G +10 &(m e F +9 &*Ti d F +10 &,k f G +9 &-j a G +9 &/j g G +10 &1[m f G +9 &3m g G +9 &4k d G +10 &6k g G +9 &8dk i F +10 &:%g f G +9 &;f h F +9 &=g k G +10 &?kg d G +9 &A.j o F +9 &Bk k F +10 &Di \ w F +9 &Ftj s F +10 &H3p s G +9 &I q J +9 &K m M +10 &Ma  u P +9 &O#  t P +9 &P  s Q +10 &R  u Q +9 &Tc  l R +10 &V$  r R +9 &W t S +10 &Y  d T +9 &[d  o T +9 &]\ x  f (| +9 &]  r W +9 ( +3 "collection"'& +3 #tCollection Clamp onSpring/offSpring for 8/26 samples, on/off torque 1.87 + .Hand.open + "manipulator"&u1 +4 "core" &]r  p I +49 1 + "manipulator"&N% +4 "core" % x ] +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&G'\ +98 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%`& +4 "core" &E +2 "manipulator"&<% +4 "core" %\ 8 J ' +2 "storage"(&% +3 "core" %E\ \  \\  +2 "storage"(. +3 "core" .( +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(( +3 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (& +3 "core" &  +2 "manipulator"&& +4 "core" &" 9# + "manipulator"&l% +4 "core" %\ 8 p ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&(D +152 "core" ( +2 "manipulator"&Q& +4 "core" &M O  + "storage"(& +4 "core" & \ O  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&v' +95 "core" ' +2 "storage"(o& +4 "core" &\ \    +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(B'e +278 "core" ' + "storage"(X- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 ((& +2 "core" &\ \ \  4  +2 "manipulator"&$& +4 "core" &M   +2 .tElbow.seek 3 + "manipulator"&(D +4 "core" ( + "manipulator"&\ & +4 "core" &M Z   +2 "storage"(/& +4 "core" & \  Z  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&~'y +32 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&s/ +60 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&,& + "storage"(g'N +8 "core" &M m m  + "manipulator"&w% +4 "core" % Ϙ n o +2 .tForearm.seek :retract +2 "manipulator"&'\ +88 "core" ' +2 .tElbow.seek PC +2 "manipulator"&h(c +161 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +75 "core" ( + "manipulator"&a& +3 "core" &k | 3 +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &I& +2 "core" &k I 3 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&D'[ +103 "core" ' +2 "manipulator"&c& +4 "core" &k M 3 + "manipulator"&W% +4 "core" %O e +2 "processing"%& +5 "core" &@ +2 "processing"%8& +4 "core" &H +2 .tPC.seek :closed +2 "processing"%(Z +5 "core" &9  +9 &6? )w +9 &k< = +9 &}w< G +10 &@e? G +9 &h@ G +9 &k> G +10 &!h< F +9 &#Ig? F +10 &%\ h8 G +9 &&kA G +9 &(e> G +10 &*Qg3 F +9 &,h3 F +9 &-h) G +10 &/j( F +9 &1Xg& G +10 &3l/ G +9 &4k) G +9 &6k' G +10 &8`l) G +9 &:!i, G +9 &;h) F +10 &=l+ G +9 &?hi+ G +10 &A)m0 G +9 &Bh* F +9 &Dj+ G +10 &Fpj+ G +9 &H.r' H +9 &I{) I +10 &K* J +9 &Mh) L +10 &O)) M +9 &P' L +9 &R& L +10 &To* M +9 &V0' M +9 &W' M +10 &Y) 6 +9 &Z+) ^ +10 &Z) % +2 ( + "processing"%8& +4 #tProcessing Clamp onSpring/offSpring for 8/26 samples, on/off torque 1.47 + .Hand.open +3 "Can"  SP + "manipulator"&-1 +52 "core" 1 +2 "manipulator"& % +4 "core" % O W +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&)'\ +96 "core" ' + "processing"%x& +4 "core" &Z % +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&\\% +4 "core" %\ - k "\\ +2 "storage"(% +4 "core" %8\ .  + "storage"(H. +3 "core" .( + "storage"(J& +4 "core" &\ \   +2 "storage"(K& +2 "manipulator"&>& +7 "core" &\ \ T  + &k @ 3 +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +2 "storage"(#]kK-0-\ b +2 .tElbow.seek PC +5 "manipulator"&(c +4 ."raiseStack"SE.seek :beamBreak + "storage"(1'e +3 "core" ( + "manipulator"&}& +4 "core" &k ` 3 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &k @ 3 +2 .tForearm.seek PC + "manipulator"&'[ +95 "core" ' + .tHand.close +2 "manipulator"&4/ +59 "core" / +2 .tPC.seek :open + "processing"%3(p +88 "core" ' +2 "storage"( - +3 "core" -'e +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(A'B +41 "core" ' +248 ( +2 "storage"(& +4 "core" & \ \   + "manipulator"&r& +4 "core" &k  3 + "manipulator"&d% +4 "core" % Y  +2 .tForearm.seek :retract +2 "manipulator"&_'\ +99 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&=(D +250 "core" ( + "manipulator"&]& +4 "core" &>  # +2 "storage"(& +3 "core" &\   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts + "manipulator"&k' +103 "core" ' +2 .tHand.open + "manipulator"&[1 +55 "core" 1 +2 "storage"(9- +4 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate + "storage"(' +23 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.83 Pucks below Top Plate + "storage"(:' +51 "core" ' +2 #tLights, camera, ACTION! + "storage"(%- +4 "core" -' + "storage"(*& +4 "core" & _  +2 "manipulator"&Y& +3 "core" &> 7 # +2 .tElbow.seek 3 +2 "manipulator"&#(D +3 "core" ( + "manipulator"&E& +4 "core" &>  # +2 "storage"(& +55 "core" &   +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&P' +23 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"(|'M +62 "core" ' + "manipulator"&V& +4 "core" &> n o # +2 "storage"(j& +4 "core" &\ i  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&{'M +35 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.07 Pucks below Top Plate + "storage"(F'7 +32 "core" ' + "manipulator"&f% +4 "core" %\\_ 0 ) j ʳ +2 "storage"(;& +4 "core" &  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 3 + 315 counts +2 "manipulator"&S'ψ +13 "core" ' + "manipulator"&e& +4 "core" &0 ] t a % +2 "storage"(y& +4 "core" & \  (  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&O' +20 "core" ' +2 "storage"(^% +4 "core" %@\ \  ! +2 ."downElevator"SE.seek :down +4 "storage"(5'N +99 (% +2 "core" %F\ P N@ +2 "manipulator"&.% +4 "core" % n m # +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&+'\ +96 "core" ' +55 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (q& +4 "core" &  +2 "collection"'?& +4 "core" &]r   I +2 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"& % +4 "core" %\ 4  & +2 "storage"(i% +4 "core" %I\ \  + "storage"(M. +3 "core" .( +2 "storage"(2& +3 "core" &\ \  U  +2 "storage"(& +4 "core" &\ \ ]  +2 "manipulator"& & +3 "core" &0  % +2 .tElbow.seek 3 + "manipulator"&(D +17 "core" ( +2 "manipulator"&0& +4 "core" &^ > "{ +2 "storage"(L& +3 "core" &\ \ \    +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&'' +97 "core" ' +2 "storage"(n& +4 "core" &\  s  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(z'e +287 "core" ' + "storage"( - +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&T& +3 "core" &b R !w +2 "storage"(t& +3 "core" &\ \ \ \ W  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&6'M +33 "core" ' +2 .tElbow.hold + "manipulator"&b, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(@- +2 "core" -' +3 .tSE.seek 0.11 Pucks below Top Plate + "storage"(Z'j +29 "core" ' + "manipulator"&m% +4 "core" %WO X Y ͯ +2 "storage"(U& +4 "core" & L  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 310 counts + "manipulator"&'σ +12 "core" ' + "manipulator"&7& +5 "core" &H w g q % + "storage"("& +4 "core" &\  1  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&u' +17 "core" ' +2 .tSE.seek 1.11 Pucks below Top Plate +2 "storage"(N'Y +39 "core" ' + "manipulator"&`& +5 "core" &H o n  % + "manipulator"&<% +4 "core" % c m ?  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&&'\ +91 "core" ' + .tElbow.seek CC +2 "manipulator"&( +147 "core" ( + "manipulator"&& +4 "core" &' t >L +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &&  >L +2 .tForearm.seek CC +2 "manipulator"&'| +96 "core" ' + .tHand.close + "manipulator"&l/ +52 "core" / +2 .tCC.seek :open +2 "collection"'(p +410 "core" ( +2 "storage"(Q& +4 "core" &\ \ A  + "storage"(& +4 "core" &\ \   +2 "manipulator"&o& +3 "core" &! @ 9' +2 "manipulator"&% +3 "core" % z N  +2 .tForearm.seek :retract +2 "manipulator"&R'\ +92 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 + "manipulator"&G(D +169 "core" ( +2 "manipulator"&X& +4 "core" &8  "} + "storage"((& +4 "core" &\ \  *  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 3 +2 "manipulator"&$'M +111 "core" ' + .tElbow.hold +2 "manipulator"&\ , +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&/1 +61 "core" 1 +2 "manipulator"&s% +4 "core" % X~    üF +2 "storage"(,& +4 "core" &\ \   + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 311 counts + "manipulator"&w'τ +19 "core" ' +2 "manipulator"&& +4 "core" &? t \\ e !v + "storage"(v& +4 "core" &\ \  j  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&B' +19 "core" ' +2 "storage"(~% +4 "core" %]\ (\ B ) +3 ."downElevator"SE.seek :down +3 "storage"(a'N +98 (I% +3 "core" %B\ \  7 N? +2 "manipulator"&% +4 "core" % m m  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&c'\ +95 "core" ' +44 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 2 of [2..3] +2 #Loading generic puck from tube 2 into Collection Clamp + "collection"'W& +4 "core" &  +2 "manipulator"&% +4 "core" %\ 8  ' + "storage"(g% +4 "core" %>\ \ !  +2 "storage"(. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 + "storage"(C(  +355 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (-& +3 "core" & \ \ \  +2 "manipulator"& & +4 "core" &?  !v + .tElbow.seek 2 +2 "manipulator"&x(; +4 "core" ( + "manipulator"&\\& +4 "core" &? ! !v +2 "storage"(& +3 "core" & \ \  v +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts + "manipulator"&H'Ѐ +98 "core" ' + "storage"(J& +4 "core" & \ 5\ $ c +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(K'e +278 "core" ' +2 "storage"(>- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (8& +2 "core" & \ \  +2 "manipulator"&}& +4 "core" &? !v +2 .tElbow.seek 2 + "manipulator"&(; +4 "core" ( + "manipulator"&D& +4 "core" &? H !v +2 "storage"(4& +3 "core" & \ \ ! +2 .tForearm.seek 2 + 300 counts +2 "manipulator"& ' +10 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&h/ +52 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&)& + "storage"('N +7 "core" &?  !v +2 "manipulator"&% +3 "core" %  t +2 .tForearm.seek :retract +2 "manipulator"&r'\ +98 "core" ' + .tElbow.seek CC +2 "manipulator"&1( +147 "core" ' + ."downElevator"SE.stop +3 "storage"(5 +2 "core" ( +2 "manipulator"&d& +3 "core" &#  ;6 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &# 3 ;6 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&]'| +96 "core" ' + "manipulator"&& +4 "core" &#  ;5 +2 "manipulator"&% +4 "core" %υ \  +2 "collection"'[& +4 "core" & \  +2 "collection"'9& +5 "core" &  +2 .tCC.seek :closed +57 "collection"'%(] +6 "core" & o + & t + & \ k + & \ g + & n + & l +2 & n + &: \ _ $d +8 &\\ ^ 6 +10 & \ [ G +9 &h ] F +9 &{m e G +10 &=k e G +9 &!k \ j F +9 &"n d G +10 &$g  e F +9 &&Fj \ g F +10 &(k \ o F +9 &)g \ e F +9 &+i \ g F +10 &-Nk n F +9 &/i p G +9 &0h j G +10 &2h i F +9 &4Vj \ o F +10 &6g g G +9 &7m g G +9 &9j g G +10 &;^f f F +9 &=h l G +9 &>m l G +10 &@k p G +9 &Bfi \ p F +10 &D'g \ l G +9 &Eh p F +9 &Gk q F +10 &Ihy t I +9 &K$ q K +9 &L t N +10 &N o O +9 &PY  q P +10 &R  q Q +9 &S  u Q +10 &U  t R +9 &W[  i R +9 &Y  m S +9 &Z  o T +10 &\\  b < +9 &]j/  r *} +10 &]R  g > +2 ( + "collection"'9& +4 #tCollection Clamp onSpring/offSpring for 9/25 samples, on/off torque 1.87 + .Hand.open + "manipulator"&*1 +54 "core" 1 + "manipulator"&Y% +4 "core" % υ   +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&E'\ +93 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp +2 "processing"%& +4 "core" &9 +2 "manipulator"&_% +3 "core" %\ . X #g +2 "storage"(V% +4 "core" %I\ \ \ \ 6  +2 "storage"(j. +3 "core" .(  +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"(A(  +7 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (& +2 "core" &  } +2 "manipulator"&f& +4 "core" &# Y :, + "manipulator"&;% +4 "core" %\ . + #g +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&=(; +171 "core" ( +2 "manipulator"&e& +4 "core" &< B ; + "storage"(y& +4 "core" & \   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&^'Ѐ +109 "core" ' +2 "storage"(k& +4 "core" & \ \ > +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(:'e +281 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (.& +3 "core" & \  +2 "manipulator"&P& +3 "core" &= p o : +2 .tElbow.seek 2 + "manipulator"&#(; +4 "core" ( +2 "manipulator"&|& +4 "core" &= q u % : + "storage"({& +4 "core" & \ \  +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&q' +33 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&S/ +61 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&?& +2 "storage"( 'N +8 "core" &= n n : +2 "manipulator"&i% +4 "core" %  o q +2 .tForearm.seek :retract + "manipulator"&M'\ +98 "core" ' + .tElbow.seek PC +2 "manipulator"&F(c +155 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +95 "core" ( +2 "manipulator"&2& +4 "core" &h L +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &h K +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"& '[ +104 "core" ' +2 "manipulator"&0& +4 "core" &h 6 + "manipulator"&L% +4 "core" %] } +2 "processing"%O& +4 "core" &M +2 "processing"%n& +5 "core" &M +2 .tPC.seek :closed +2 "processing"%5(Z +4 "core" &@  +8 &7? )w +9 &k< = +10 &w= H +9 &HfF F +9 & jA G +10 &i< G +9 &!f@ G +10 &#Pf; F +9 &%h: F +9 &&g= G +10 &(l= F +9 &*Xh> F +9 &,k= G +10 &-e; G +9 &/m3 G +10 &1_f: G +9 &3"i4 F +9 &4f( G +10 &6h+ F +9 &8fg, G +10 &:*g& F +9 &;h' F +9 &=i- F +10 &?oi( G +9 &A1m$ G +9 &Bf* G +10 &Dj) G +9 &Fwl- G +9 &H5w* H +10 &I& I +9 &K+ L +10 &Mn) M +9 &O/' M +9 &P* L +10 &R) L +9 &Tv) M +9 &V8- M +10 &W* N +9 &Y' 0 +10 &Z-p3 W +9 &Z - * +2 ( +2 "processing"%n& +3 #tProcessing Clamp onSpring/offSpring for 8/26 samples, on/off torque 1.51 + .Hand.open +2 "manipulator"&1 +55 "core" 1 + "manipulator"&+% +4 "core" % ] J +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"& '\ +100 "core" ' + "processing"%T& +4 "core" &Z4 * +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 + "manipulator"&t% +4 "core" %\ 3 C %} +2 "storage"(@% +3 "core" %L\ \ z +2 "storage"(m. +3 "core" .(  +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 2 + "storage"(U(  +4 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (7& +4 "core" & \  +2 "manipulator"&"& +2 ."raiseStack"SE.reconfigure :place +6 "storage"(#]kK-0-\ b +2 "core" &h l +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 ."raiseStack"SE.seek :beamBreak +4 .tElbow.seek PC +2 "storage"(`'e +3 "manipulator"&<(c +3 "core" ( + "manipulator"&'& +4 "core" &h e +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &h Y +2 .tForearm.seek PC + "manipulator"&z'[ +94 "core" ' +2 .tHand.close + "manipulator"&6/ +58 "core" / +2 .tPC.seek :open +2 "processing"%(p +87 "core" ' +2 "storage"(Z- +3 "core" -'e + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place + "storage"('B +45 "core" ' +245 ( + "storage"(& +5 "core" & \ \  ( + "manipulator"&u& +4 "core" &h | + "manipulator"&b% +4 "core" % j ] +2 .tForearm.seek :retract + "manipulator"&l'\ +98 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&&(; +255 "core" ( +2 "manipulator"&!& +4 "core" &< 9 # + "storage"(Q& +4 "core" & \ \ \ \ V +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&'Ѐ +94 "core" ' + .tHand.open + "manipulator"&o1 +60 "core" 1 +2 "storage"(- +4 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate + "storage"(X' +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.83 Pucks below Top Plate + "storage"((' +52 "core" ' + #tLights, camera, ACTION! +2 "storage"(- +3 "core" -' +2 "storage"(& +4 "core" &  1 + "manipulator"&/& +4 "core" &<  # + .tElbow.seek 2 +2 "manipulator"&s(; +3 "core" ( +2 "manipulator"&,& +4 "core" &<  # + "storage"(& +4 "core" &  2 +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&v'Ѐ +4 "core" ' + .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"(~'M +59 "core" ' +2 "manipulator"&R& +4 "core" &<  # + "storage"(I& +4 "core" & \  s +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&'ξ +34 "core" ' + .tElbow.hold +2 "manipulator"&G, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"($'7 +33 "core" ' +2 "manipulator"&W% +4 "core" %g  ǵ +2 "storage"(& +4 "core" &  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 305 counts + "manipulator"&w' +20 "core" ' + "manipulator"&g& +5 "core" &J ^ v "x + "storage"(& +4 "core" & \ \  e +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts + "manipulator"&N'Ѐ +21 "core" ' +2 "storage"(B% +4 "core" %9\ \   +3 ."downElevator"SE.seek :down +3 "storage"(a'N +99 (% +2 "core" %&B\ \ \ \ N? +2 "manipulator"&-% +4 "core" %Е m n  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"& '\ +86 "core" ' +65 ' + ."downElevator"SE.stop +54 "storage"(5 +2 (\\& +4 "core" & \  I + "collection"'& +4 "core" &]L  i > +2 #tStoring generic puck in Collection Clamp to tube 2 + "manipulator"&J% +4 "core" %\ + { !T +2 "storage"(\ % +4 "core" %I \ \ n + "storage"(c. +3 "core" .(  +2 "storage"(>& +3 "core" &  \  c +2 "storage"(8& +4 "core" &  \  f +2 "manipulator"&}& +3 "core" &J h "x +2 .tElbow.seek 2 +2 "manipulator"&D(; +37 "core" ( +2 "manipulator"&4& +4 "core" &A c d + "storage"(h& +4 "core" &  \  0 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts +2 "manipulator"&)'Ѐ +101 "core" ' +2 "storage"(& +4 "core" & \ \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(x'e +290 "core" ' + "storage"(H- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&d& +3 "core" &A f b z d +2 "storage"(& +4 "core" & \ \   + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 + "manipulator"&K'ξ +36 "core" ' +2 .tElbow.hold + "manipulator"& , +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(- +2 "core" -' +2 .tSE.seek 0.12 Pucks below Top Plate +2 "storage"('o +28 "core" ' +2 "manipulator"&[% +4 "core" %[    Ʋ + "storage"(& +4 "core" &  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 313 counts + "manipulator"&' +19 "core" ' + "manipulator"&r& +5 "core" &A i Y < d + "storage"(& +4 "core" & \ \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&*'Ѐ +18 "core" ' +2 .tSE.seek 1.12 Pucks below Top Plate +2 "storage"(Y'^ +48 "core" ' +2 "manipulator"&& +4 "core" &A f b ( d +2 "manipulator"&_% +4 "core" %} a j (  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&V'\ +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"&j( +146 "core" ( +2 "manipulator"&9& +4 "core" & a 1 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &  1 +2 .tForearm.seek CC +2 "manipulator"&f'| +100 "core" ' +2 .tHand.close + "manipulator"&;/ +61 "core" / +2 .tCC.seek :open +2 "collection"'](p +410 "core" ( +2 "storage"(e& +4 "core" & \ \  [ + "storage"(y& +4 "core" & \ \  h +2 "manipulator"&C& +3 "core" & 8 0 +2 "manipulator"&1% +3 "core" % ω \\ +3 .tForearm.seek :retract + "manipulator"&k'\ +92 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&E(; +171 "core" ( +2 "manipulator"&& +4 "core" &K  G + "storage"(.& +4 "core" & \ \  ; +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 2 + "manipulator"&P'ξ +108 "core" ' + .tElbow.hold + "manipulator"&|, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&{1 +61 "core" 1 +2 "manipulator"&S% +4 "core" % ~ C K + "storage"(?& +4 "core" & \ \  8 + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 2 + 320 counts + "manipulator"&i' +21 "core" ' +2 "manipulator"&=& +4 "core" &K p u  G + "storage"(^& +4 "core" & \ /\   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&:'Ѐ +23 "core" ' +2 "storage"(q% +4 "core" %b\ )\ B * +2 ."downElevator"SE.seek :down +3 "storage"(2'N +100 (% +2 "core" %G\ \  # N@ +2 "manipulator"&#% +4 "core" %Х o q  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&0'\ +87 "core" ' +50 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 3 of [2..3] + #Loading generic puck from tube 3 into Collection Clamp +2 "collection"'L& +4 "core" & c +2 "manipulator"&O% +4 "core" %\ (  L +2 "storage"( % +3 "core" %7\ \  +2 "storage"(M. +3 "core" .(  +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 3 + "storage"(3( +359 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (& +3 "core" &\ \  X  + "manipulator"&+& +4 "core" &K  G +2 .tElbow.seek 3 +2 "manipulator"&T(D +3 "core" ( + "manipulator"&t& +4 "core" &K  G +2 "storage"(@& +3 "core" &\ !\   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts + "manipulator"&m' +106 "core" ' +2 "storage"(n& +4 "core" &\ B\ C  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(7'e +276 "core" ' + "storage"("- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 ('& +3 "core" &\ \  )  +2 "manipulator"&& +3 "core" &K p o G +2 .tElbow.seek 3 +2 "manipulator"& (D +3 "core" ( + "manipulator"&6& +4 "core" &K q o G + "storage"(A& +4 "core" &\ \   +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&Z'y +21 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close +2 "manipulator"&F/ +53 "core" / +2 ."downElevator"SE.seek :down +5 "manipulator"& & + "storage"(5'N +7 "core" &K D G + "manipulator"&% +4 "core" % ^   +2 .tForearm.seek :retract +2 "manipulator"&u'\ +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"&`( +148 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +9 "core" ( +2 "manipulator"&b& +4 "core" &, ! Bi +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &z& +3 "core" &, K Bi +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&!'| +101 "core" ' + "manipulator"&Q& +5 "core" &, Y Bi + "manipulator"&<% +4 "core" %~ q +2 "collection"'o& +4 "core" &  +2 "collection"'& +5 "core" & q +2 .tCC.seek :closed +2 "collection"'(] +4 "core" & \ w +8 &B \ o #c +9 &v\\ \ i 6 +9 & l G +10 &h j F +9 &jg s G +10 &-j  v F +9 & j s F +9 &"j k G +10 &$rl j G +9 &&4m v G +9 &'m h G +10 &)l \ d G +9 &+yj d G +10 &-<f s G +9 &.l \ r G +9 &0n h G +10 &2g \ g G +9 &4Dh s G +9 &6h \ l F +10 &7h i G +9 &9i h G +10 &;Lg k G +9 &=k \ u F +9 &>j r F +10 &@m \ r G +9 &BUj n F +9 &Dj k F +10 &Em t G +9 &Gk u G +10 &IW| t H +9 &K x L +9 &L  s O +10 &N  w P +9 &PI  r P +10 &R  u Q +9 &S  u Q +9 &U  t R +10 &WJ  q R +9 &Y\  w S +10 &Z  u T +9 &\\  y @ +9 &]v0  v #h +9 &]O  u > +3 ( + "collection"'& +4 #tCollection Clamp onSpring/offSpring for 10/25 samples, on/off torque 1.88 + .Hand.open + "manipulator"&1 +54 "core" 1 + "manipulator"&/% +4 "core" % } A +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&,'\ +96 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%& +4 "core" &G +2 "manipulator"&l% +4 "core" %\ 1  $o + "storage"(R% +4 "core" %9\ \ \  + "storage"(I. +3 "core" .( +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(( +3 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (W& +2 "core" &   +2 "manipulator"&& +4 "core" &<# ;5 + "manipulator"&X% +4 "core" %\ 1 , $o +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&g(D +164 "core" ( + "manipulator"&& +5 "core" &E  c + "storage"(B& +4 "core" & \  }  +2 .tForearm.reconfigure :tight +53 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&&' +102 "core" ' +2 "storage"(& +4 "core" &\ \    +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(('e +275 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (-& +3 "core" &\   + "manipulator"&v& +4 "core" &E  c +2 .tElbow.seek 3 +2 "manipulator"&s(D +3 "core" ( +2 "manipulator"&~& +4 "core" &E y  c + "storage"(& +4 "core" &\ \  e  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&w'y +23 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&\\/ +57 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&$& +2 "storage"('N +7 "core" &E _ a / c +2 "manipulator"&J% +4 "core" % ρ j a +2 .tForearm.seek :retract +2 "manipulator"&\ '\ +89 "core" ' + .tElbow.seek PC +2 "manipulator"&c(c +166 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +78 "core" ( + "manipulator"&>& +4 "core" &k  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &8& +3 "core" &k 3 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC + "manipulator"&}'[ +95 "core" ' +2 "manipulator"&4& +4 "core" &k  +2 "manipulator"&h% +4 "core" %[  +2 "processing"%N& +4 "core" &M +2 "processing"%& +5 "core" &? +2 .tPC.seek :closed + "processing"%a(Z +4 "core" &B +8 &<= #c +10 &{\\; 6 +9 &: G +10 &h4 F +9 &pk< G +9 &3d? F +10 & h: G +9 &"h9 G +9 &$xf: G +10 &&:j8 G +9 &'h/ G +10 &)f3 G +9 &+e( G +9 &-Bj( G +10 &/l( G +9 &0j( G +9 &2k' G +10 &4Ih! G +9 &6 e& G +9 &7k* G +10 &9h' G +9 &;Rg( G +10 &=f, F +9 &>j+ G +9 &@g( G +10 &BZg4 G +9 &De+ G +10 &Eh' G +9 &Go& G +9 &I]x' H +10 &K& J +9 &L( K +9 &N) L +10 &P[' L +9 &R) M +10 &S( M +9 &U( M +9 &W_( M +10 &Y!) G +9 &ZTA# "e +9 &Z+) ' +6 ( + "processing"%& +5 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.49 + .Hand.open + "manipulator"&G1 +4 "core" &Z( ' +60 1 + "manipulator"& % +4 "core" % [  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&H'\ +93 "core" ' + "processing"%d& +5 "core" &Z ' + #tImaging generic puck in Processing Clamp while storing it to tube 3 +2 "manipulator"&% +3 "core" %\ )  F +2 "storage"(% +4 "core" %O\ \  \ + "storage"([. +3 "core" .( +2 "storage"(& +4 "core" &\ \ \ !  +2 "storage"(r& +2 "manipulator"&& +7 "core" &\ \ (  + &k  +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +3 "storage"(#]kK-0-\ b + "manipulator"&(c +6 ."raiseStack"SE.seek :beamBreak +2 "storage"(_'e +3 "core" ( + "manipulator"&)& +4 "core" &k  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &D& +3 "core" &k  +2 .tForearm.seek PC + "manipulator"&x'[ +95 "core" ' + .tHand.close + "manipulator"&K/ +62 "core" / + .tPC.seek :open +2 "processing"%(p +88 "core" ' +2 "storage"(- +3 "core" -'e + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place + "storage"(9'B +44 "core" ' +245 ( +2 "storage"(& +4 "core" &\ \ K  +2 "manipulator"&*& +3 "core" &k  +2 "manipulator"& % +4 "core" % b  +2 .tForearm.seek :retract +2 "manipulator"&;'\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&V(D +259 "core" ( + "manipulator"&%& +5 "core" &I  & + "storage"(e& +4 "core" &\ \ \   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&y' +93 "core" ' +2 .tHand.open + "manipulator"&C1 +62 "core" 1 + "storage"(1- +4 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate + "storage"(' +23 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.83 Pucks below Top Plate + "storage"(.' +50 "core" ' +2 #tLights, camera, ACTION! + "storage"(f- +4 "core" -' + "storage"(j& +4 "core" & <  +2 "manipulator"&{& +3 "core" &I  & +2 .tElbow.seek 3 +2 "manipulator"&S(D +3 "core" ( + "manipulator"&?& +4 "core" &I * & + "storage"(=& +4 "core" & .  +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&^' +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"(q'M +55 "core" ' + "manipulator"&k& +4 "core" &I I & +2 "storage"(& +4 "core" & \ \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&#'M +33 "core" ' +2 .tElbow.hold + "manipulator"&E, +5 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"(P'7 +23 "core" ' +2 "manipulator"&L% +4 "core" %_[ 4 6 ˲ +2 "storage"(i& +4 "core" &   +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 318 counts + "manipulator"&O'ϋ +12 "core" ' +2 "manipulator"& & +5 "core" &J n m i & + "storage"(M& +4 "core" &\ \   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&Y' +21 "core" ' +2 "storage"(:% +4 "core" %?\ \  +2 ."downElevator"SE.seek :down +4 "storage"(2'N +99 (U% +2 "core" %D \ OA +2 "manipulator"&% +4 "core" % h m y  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&+'\ +96 "core" ' +52 ' + ."downElevator"SE.stop + "storage"(5 +3 (t& +4 "core" &\ \ o  + "collection"'@& +4 "core" &]M   > +2 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&n% +4 "core" %\  S  +2 "storage"(|% +3 "core" %A\ \  ?  +2 "storage"(0. +3 "core" .( +2 "storage"("& +3 "core" &\ \  5  +2 "storage"('& +4 "core" &\   +2 "manipulator"&& +4 "core" &J & + .tElbow.seek 3 +2 "manipulator"&6(D +4 "core" ( + "manipulator"&A& +4 "core" &J 3 & + "storage"(F& +4 "core" &\ \   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"& ' +100 "core" ' +2 "storage"(& +4 "core" &\ \  |  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +5 .tSE.seek :beamBreak + "storage"(T'e +286 "core" ' +2 "storage"(m- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +2 "manipulator"&b& +3 "core" &O x $ % +2 "storage"(z& +3 "core" &\ \  @  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&7'M +35 "core" ' + .tElbow.hold +2 "manipulator"&Z, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(Q- +2 "core" -' +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(<'i +28 "core" ' +2 "manipulator"&o% +4 "core" %[O L V g ͯ + "storage"( & +4 "core" &  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 314 counts + "manipulator"&5'χ +13 "core" ' +2 "manipulator"&u& +4 "core" &O o [ P % +2 "storage"(]& +3 "core" &\ \  %  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +45 .tForearm.seek 3 + 450 counts +11 "manipulator"&' +20 "core" ' +2 .tSE.seek 1.11 Pucks below Top Plate +2 "storage"(/'X +50 "core" ' + "manipulator"&& +5 "core" &O g f B % + "manipulator"&l% +4 "core" % e d \\ \ +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&R'\ +94 "core" ' + .tElbow.seek CC +2 "manipulator"&I( +154 "core" ( +2 "manipulator"&& +4 "core" &) " @] +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &W& +3 "core" &) { @] +2 .tForearm.seek CC + "manipulator"&'| +95 "core" ' + .tHand.close +2 "manipulator"&X/ +52 "core" / +2 .tCC.seek :open +2 "collection"'!(p +410 "core" ( + "storage"(& +4 "core" &\ \ c  +2 "storage"(B& +3 "core" &\ \  -  +2 "manipulator"&3& +4 "core" &$  <= + "manipulator"&`% +4 "core" % ψ   +2 .tForearm.seek :retract + "manipulator"&'\ +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&,(D +175 "core" ( + "manipulator"&& +4 "core" &= "{ +2 "storage"(-& +4 "core" &\ \  4  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 + "manipulator"&v'M +107 "core" ' +2 .tElbow.hold + "manipulator"&~, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&1 +57 "core" 1 +2 "manipulator"&\\% +4 "core" % _ G q +2 "storage"($& +3 "core" &\ \   +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 318 counts + "manipulator"&J'ϋ +20 "core" ' + "manipulator"&g& +4 "core" &@ s \\  "x +2 "storage"(&& +4 "core" &\ C\ 8 ^  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&(' +18 "core" ' +2 "storage"(w% +4 "core" %]\ 8\ 5 H +2 ."downElevator"SE.seek :down +4 "storage"(>'N +99 (8% +4 "core" %fG\ \  N? + "manipulator"&s% +5 "core" % n r  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&4'\ +91 "core" ' +51 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 2 of [2..3] +2 #Loading generic puck from tube 2 into Collection Clamp + "collection"'h& +4 "core" &  +2 "manipulator"&N% +3 "core" %\ , x "_ +2 "storage"(% +4 "core" %L\ \ !  +2 "storage"(\ . +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"((  +356 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (G& +2 "core" &  \  , +2 "manipulator"& & +4 "core" &A V !w + .tElbow.seek 2 +2 "manipulator"&d(; +3 "core" ( +2 "manipulator"&& +3 "core" &A u !w +2 "storage"(& +4 "core" & \ !\ ! +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&['Ѐ +106 "core" ' + "storage"(& +5 "core" & \ B\ B + .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"('e +277 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (r& +3 "core" & \ \  j +2 "manipulator"&)& +3 "core" &A o i !w +2 .tElbow.seek 2 + "manipulator"&D(; +4 "core" ( + "manipulator"&}& +4 "core" &A u [ E !w +2 "storage"(K& +3 "core" & \ 0\   +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&' +36 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&c/ +54 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"&H& + "storage"(a'N +6 "core" &A m p !w +2 "manipulator"&% +4 "core" % o o + .tForearm.seek :retract +2 "manipulator"&*'\ +91 "core" ' + .tElbow.seek CC +2 "manipulator"&_( +150 "core" ( + "manipulator"& & +5 "core" ' + &% ( <= + ."downElevator"SE.stop +4 .tElbow.reconfigure :loose +2 "storage"(5 + "manipulator"&$ &.,(#b +4 &x& +3 "core" &%  <= +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC + "manipulator"&%'| +110 "core" ' +2 "manipulator"&e& +4 "core" &% u  << +2 "manipulator"&% +4 "core" %|  + "collection"'C& +4 "core" & w +2 "collection"'1& +6 "core" & \ t +2 .tCC.seek :closed + "collection"'f(] +5 "core" & x +6 & q 8 +9 &M y / +10 &^| w D +9 &j \ n G +9 &h \ \ z F +10 &j y F +9 & ]k \ ~ F +9 &"n s G +10 &#h \ l G +9 &%h n F +9 &'dj  r G +10 &)'k \ j F +9 &*g k G +10 &,f m F +9 &.mj u F +9 &0/j \ s F +10 &1k \ x F +9 &3h t G +9 &5ug q F +10 &76k j G +9 &8k v F +10 &:i e F +9 &<|l l G +9 &>=j \ u G +10 &@j t F +9 &Ah l G +9 &Cj t F +10 &EFg v G +9 &Gm v G +10 &Hr  y H +9 &J v I +9 &L< u M +10 &M  v P +9 &O  p P +9 &Qw  v Q +10 &S8  x Q +9 &T  v R +10 &V  w R +9 &Xy  w S +10 &Z8  u T +9 &[  w S +9 &]LD  h #i +9 &]}  u D +6 ( + "collection"'1& +5 #tCollection Clamp onSpring/offSpring for 10/26 samples, on/off torque 1.89 + .Hand.open + "manipulator"&j1 +4 "core" &]Y  u D +55 1 + "manipulator"&{% +5 "core" % | F + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&?'\ +96 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp +2 "processing"%=& +4 "core" &2 + "manipulator"&;% +4 "core" %\ 0  $t +2 "storage"(k% +4 "core" %7 \   + "storage"(. +3 "core" .(  +2 "storage"(L& +3 "core" & \ \  +2 "storage"(i& +4 "core" & \ J + "manipulator"&9& +4 "core" &#  :0 + "manipulator"& % +4 "core" %\ 0 B $t +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&M(; +177 "core" ( + "manipulator"&& +4 "core" &J  U +2 "storage"(:& +3 "core" & \ \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts + "manipulator"&V'Ѐ +94 "core" ' + "storage"(y& +5 "core" & \ \  P +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(.'e +285 "core" ' +2 "storage"(U- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +2 "core" &  \  w +2 "manipulator"&^& +4 "core" &J\  U + .tElbow.seek 2 +2 "manipulator"&S(; +25 "core" ( +2 "manipulator"&q& +4 "core" &D c x  +2 "storage"(#& +3 "core" & \ \   +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&t' +28 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&O/ +52 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&@& +2 "storage"(n'N +7 "core" &D i a  +2 "manipulator"&|% +4 "core" % _ b ^ +2 .tForearm.seek :retract + "manipulator"&0'\ +96 "core" ' + .tElbow.seek PC +2 "manipulator"&"(c +158 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +84 "core" ( +2 "manipulator"&P& +4 "core" &m 9 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &'& +3 "core" &m | +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&'[ +93 "core" ' +2 "manipulator"&A& +4 "core" &m F +2 "manipulator"&F% +3 "core" %U r  +2 "processing"%Y& +4 "core" &; +2 "processing"%& +5 "core" &> +2 .tPC.seek :closed + "processing"%2(Z +5 "core" &< +7 &D? #c +9 &{\\? 6 +10 &< G +9 &d; F +9 &rj; F +10 &4f? F +9 & j; F +9 &"e: F +10 &$zj; F +9 &&;m2 G +10 &'k6 F +9 &)g< G +9 &+j= G +61 &-Dk< F +5 &/j= F + &0g+ F + &2k/ G +4 &4Le1 F + &6h0 F +2 &7k) G + &9h# G +9 &;Tg' F +9 &=h( F +9 &>h* F +10 &@g( G +9 &B[g* G +10 &Dg% G +9 &Ei( G +9 &Gr* H +10 &I\\{' I +9 &K) J +9 &L) M +10 &N( M +9 &P[+ L +9 &R) L +10 &S) M +9 &U/ L +10 &W_/ N +9 &Y"* H +9 &ZS:k( &o +10 &Z 0. & +5 ( +2 "processing"%& +4 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.51 + .Hand.open +2 "manipulator"&E1 +3 "core" &Z* & +60 1 + "manipulator"&+% +5 "core" % U r  + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&m'\ +92 "core" ' +2 "processing"%b& +4 "core" &Z$ & +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 + "manipulator"&z% +4 "core" %\ * G !V +2 "storage"(Q% +3 "core" %@\ \ ] +2 "storage"(o. +3 "core" .(  + "storage"( & +4 "core" &  \  +2 "storage"(u& +2 "manipulator"&]& +7 "core" & \ \  S +2 &m  +2 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +3 "storage"(#]kK-0-\ b +2 "manipulator"&(c +5 ."raiseStack"SE.seek :beamBreak +2 "storage"(l'e +3 "core" ( + "manipulator"& & +4 "core" &m B + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &6& +3 "core" &m $ +2 .tForearm.seek PC +2 "manipulator"&T'[ +95 "core" ' + .tHand.close + "manipulator"&7/ +60 "core" / +2 .tPC.seek :open + "processing"%5(p +86 "core" ' +2 "storage"(<- +3 "core" -'e +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('B +41 "core" ' +250 ( + "storage"(W& +4 "core" & \ \  4 +2 "manipulator"&& +3 "core" &m  +2 "manipulator"&Z% +4 "core" % f   +2 .tForearm.seek :retract +2 "manipulator"&X'\ +91 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 + "manipulator"&R(; +252 "core" ( + "manipulator"&& +5 "core" &9 ' "} + "storage"(& +4 "core" & \ \ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&B'Ѐ +95 "core" ' + .tHand.open +2 "manipulator"&31 +56 "core" 1 +2 "storage"(`- +94 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate +2 "storage"(' +23 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(-' +50 "core" ' + #tLights, camera, ACTION! + "storage"(- +4 "core" -' +2 "storage"(I& +3 "core" &  E +2 "manipulator"&& +3 "core" &9  "} +2 .tElbow.seek 2 +2 "manipulator"&\\(; +3 "core" ( +2 "manipulator"&$& +4 "core" &9 "} + "storage"(g& +4 "core" &  ; +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&&'Ѐ +4 "core" ' + .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"(w'M +59 "core" ' + "manipulator"&& +5 "core" &9 "} + "storage"(8& +4 "core" & \ \ \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&s'ξ +35 "core" ' +2 .tElbow.hold +2 "manipulator"&,, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.07 Pucks below Top Plate + "storage"(v'7 +33 "core" ' +2 "manipulator"&h% +4 "core" %Z 6 / N ɲ +2 "storage"(J& +4 "core" &  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 2 + 314 counts + "manipulator"&N' +20 "core" ' +2 "manipulator"&& +4 "core" &= h l Q "y +2 "storage"(\ & +4 "core" & \ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&/'Ѐ +16 "core" ' +2 "storage"((% +4 "core" %?\ \   +3 ."downElevator"SE.seek :down +3 "storage"(>'N +98 (% +3 "core" %G\ \   OA +2 "manipulator"&G% +4 "core" %{ ` ` +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"& '\ +88 "core" ' +64 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (& +4 "core" & \  +2 "collection"'& +4 "core" &]Y  g D + #tStoring generic puck in Collection Clamp to tube 2 +2 "manipulator"&% +3 "core" %\ + Q !M +2 "storage"(~% +4 "core" %N\ \  5 + "storage"(4. +3 "core" .(  +2 "storage"(& +4 "core" &  \  + "storage"(r& +4 "core" &  \  _ +2 "manipulator"&)& +3 "core" &= "y +2 .tElbow.seek 2 +2 "manipulator"&}(; +3 "core" ( +2 "manipulator"&K& +5 "core" &= "y +2 "storage"(c& +10 "core" & \ \ \  +5 .tForearm.reconfigure :tight +7 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&H'Ѐ +105 "core" ' + "storage"(& +4 "core" & \ \  g +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(d'e +286 "core" ' + "storage"([- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"& & +3 "core" &= s S "y + "storage"(x& +4 "core" & \ \  i +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 + "manipulator"&'ξ +37 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(e- +3 "core" -' +2 .tSE.seek 0.12 Pucks below Top Plate + "storage"('p +28 "core" ' +2 "manipulator"&D% +4 "core" %R * & [ ʰ + "storage"(C& +4 "core" &   +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 318 counts + "manipulator"&a' +16 "core" ' +2 "manipulator"&*& +4 "core" &> s \\ "x +2 "storage"(!& +4 "core" & \ \  C +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts +2 "manipulator"&j'Ѐ +22 "core" ' +2 .tSE.seek 1.12 Pucks below Top Plate + "storage"({'_ +44 "core" ' +2 "manipulator"&=& +4 "core" &> o o "x +2 "manipulator"&;% +4 "core" %А m o  + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&k'\ +94 "core" ' + .tElbow.seek CC +2 "manipulator"&( +137 "core" ( +2 "manipulator"&L& +4 "core" &  0 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &1& +3 "core" & J 0 +2 .tForearm.seek CC + "manipulator"&i'| +96 "core" ' +2 .tHand.close + "manipulator"&9/ +52 "core" / +2 .tCC.seek :open + "collection"' (p +411 "core" ( + "storage"(%& +5 "core" & \ \ + "storage"(& +4 "core" & \ \  7 + "manipulator"&:& +4 "core" & . + "manipulator"&y% +4 "core" % ϐ ) +2 .tForearm.seek :retract + "manipulator"&_'\ +92 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 + "manipulator"&?(; +163 "core" ( +2 "manipulator"&U& +4 "core" &/ # L + "storage"(& +4 "core" & \ \ ! + +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 2 + "manipulator"&^'ξ +109 "core" ' + .tElbow.hold +2 "manipulator"&q, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator" +58 "core" 1 +2 "manipulator"&O% +4 "core" % w º2 +2 "storage"(@& +3 "core" & \ \ Z +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 320 counts +2 "manipulator"&|' +20 "core" ' + "manipulator"&M& +5 "core" &0 e t K +44 "storage"(V& +12 "core" & \ @\ B  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&.'Ѐ +15 "core" ' + "storage"(t% +5 "core" %W\ C\ C +2 ."downElevator"SE.seek :down +4 "storage"(P'N +99 ('% +2 "core" %D\ \ ! N? +2 "manipulator"&S% +4 "core" %Ђ q n +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&A'\ +88 "core" ' +52 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 3 of [2..3] + #Loading generic puck from tube 3 into Collection Clamp +2 "collection"'F& +4 "core" & \  +2 "manipulator"&Y% +4 "core" %\ (  G +2 "storage"(n% +4 "core" %H\ \  }  +2 "storage"(0. +3 "core" .(  +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 + "storage"(( +359 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (E& +3 "core" &\ \ \ \   +2 "manipulator"&+& +3 "core" &1  J +2 .tElbow.seek 3 +2 "manipulator"&b(D +16 "core" ( +2 "manipulator"&z& +4 "core" &G \\ # +2 "storage"(Q& +3 "core" &\ \   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts + "manipulator"&o' +105 "core" ' + "storage"( & +4 "core" &\ C\ C  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"('e +277 "core" ' + "storage"(]- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (u& +3 "core" &\ \   +2 "manipulator"& & +4 "core" &G ` _ j # +2 .tElbow.seek 3 + "manipulator"&6(D +4 "core" ( + "manipulator"&& +3 "core" &G o t # +2 "storage"(7& +4 "core" &\ \   +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&<'y +26 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&"/ +62 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&m& +2 "storage"(2'N +8 "core" &H a a X # + "manipulator"&W% +4 "core" % | i j | +2 .tForearm.seek :retract +2 "manipulator"&'\ +89 "core" ' +2 .tElbow.seek CC +2 "manipulator"&l( +154 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +9 "core" ( +2 "manipulator"&Z& +4 "core" &  J $ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &T& +3 "core" &  H $ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&'| +95 "core" ' +2 "manipulator"&& +4 "core" &   $ + "manipulator"&% +4 "core" %σ  +2 "collection"'3& +4 "core" &  +2 "collection"'`& +6 "core" &  +2 .tCC.seek :closed +4 "collection"'X(] +3 "core" &  +6 &;  #c +9 &wZ  5 +10 & z H +9 &g  F +10 &fh \ ~ G +9 &(m } G +9 & k x G +10 &"j } F +9 &$nm ~ G +9 &&0n { G +10 &'k v G +9 &)h x G +9 &+wl \ x F +10 &-8k x G +9 &.k y G +10 &0j o F +9 &2~h m G +9 &4@h  u G +10 &6k q F +9 &7j v F +9 &9j q F +10 &;Hk s G +9 &=\ j  r G +10 &>g m F +9 &@i v F +9 &BQj w F +10 &Dj v F +9 &Em q G +10 &Gp v G +9 &IR| p I +9 &K q K +10 &L  p O +9 &N  o P +10 &PF  w P +9 &R t Q +9 &S  w Q +9 &U  w R +10 &WF  u R +9 &Y  w S +10 &Z  x T +9 &\\  x @ +10 &]s1  v #i +9 &]Q  z > +2 ( + "collection"'`& +4 #tCollection Clamp onSpring/offSpring for 10/25 samples, on/off torque 1.88 + .Hand.open + "manipulator"&1 +54 "core" 1 + "manipulator"&I% +5 "core" % σ  + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +92 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%$& +5 "core" &M + "manipulator"&g% +4 "core" %\ / : #b + "storage"(% +4 "core" %A \ p  +2 "storage"(8. +3 "core" .( + "storage"(& +4 "core" &\  |  + "storage"(h& +4 "core" & \ I  +2 "manipulator"&J& +3 "core" &   $ +2 "manipulator"&% +4 "core" %\ /  #b +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&(D +164 "core" ( + "manipulator"&\ & +4 "core" &F % 3 +2 "storage"((& +4 "core" & \  4  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&R' +104 "core" ' +2 "storage"(B& +4 "core" &\ \   +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(-'e +275 "core" ' + "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (G& +2 "core" &\ \  h  +2 "manipulator"&&& +4 "core" &G o o  2 +2 .tElbow.seek 3 + "manipulator"&\\(D +3 "core" ( +2 "manipulator"&w& +3 "core" &G u y  2 +2 "storage"(s& +4 "core" &\ \    +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&'y +25 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&N/ +55 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"('N +7 "core" &G o n 2 +2 "manipulator"&~% +3 "core" % o j d m +3 .tForearm.seek :retract + "manipulator"&4'\ +97 "core" ' + .tElbow.seek PC +2 "manipulator"&v(c +152 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +98 "core" ( +2 "manipulator"&& +4 "core" &j W + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &r& +3 "core" &j Y +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&)'[ +99 "core" ' + "manipulator"&K& +5 "core" &j Y + "manipulator"&c% +4 "core" %O % B +2 "processing"%/& +4 "core" &F +2 "processing"%& +5 "core" &L +2 .tPC.seek :closed +2 "processing"%>(Z +4 "core" &E +8 &DS #c +9 &}\\E 6 +10 &= G +9 &eD F +9 &tkI G +10 &7kI F +9 & iE F +9 &"e9 F +10 &$}hB F +9 &&>gC G +10 &(jG F +9 &)gK G +9 &+fK F +10 &-GhH F +9 &/nD G +9 &0fI F +10 &2hA G +9 &4OeB F +10 &6h@ F +9 &7m> G +9 &9h9 G +10 &;Wi5 F +9 &=l8 G +9 &>g1 G +10 &@k, G +9 &B^g1 G +10 &D f* G +9 &Eg6 G +9 &Go/ G +10 &Iav0 H +9 &K6 J +9 &L5 K +10 &N) M +9 &P]+ M +10 &R. M +9 &S6 M +10 &U9 M +9 &Wc6 M +9 &Y%* E +9 &ZZL- R +10 &Z C7 - +5 ( +2 "processing"%& +4 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.49 + .Hand.open +2 "manipulator"&,1 +3 "core" &Z4 - +57 1 + "manipulator"& % +4 "core" % O {  B +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&['\ +94 "core" ' + "processing"% & +4 "core" &Z= - +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&x% +4 "core" %\ - C "Y +2 "storage"(e% +4 "core" %E\ \  + "storage"(D. +3 "core" .( +2 "storage"(C& +3 "core" &\ \   +2 "storage"(*& +4 "manipulator"&!& +4 "core" &\ \ a  + &j k +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +3 "storage"(#]kK-0-\ b +3 "manipulator"&=(c +4 ."raiseStack"SE.seek :beamBreak +2 "storage"(;'e +2 "core" ( +2 "manipulator"&H& +4 "core" &j ^ + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &}& +3 "core" &j +2 .tForearm.seek PC + "manipulator"&d'[ +98 "core" ' +2 .tHand.close + "manipulator"&/ +60 "core" / +2 .tPC.seek :open + "processing"%a(p +83 "core" ' +2 "storage"(L- +3 "core" -'e +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +2 ."raiseStack"SE.seek :place +2 "storage"('B +35 "core" ' +259 ( + "storage"(1& +4 "core" &\ \    +2 "manipulator"&j& +4 "core" &j  + "manipulator"&% +4 "core" % K  +54 .tForearm.seek :retract + "manipulator"&9'\ +100 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 + "manipulator"&k(D +255 "core" ( + "manipulator"&f& +5 "core" &= r $ + "storage"(%& +4 "core" &\ \   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&' +93 "core" ' +2 .tHand.open + "manipulator"&:1 +57 "core" 1 +2 "storage"(y- +3 "core" -'B +3 .tSE.seek -0.16 Pucks below Top Plate + "storage"(U' +27 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(' +51 "core" ' + #tLights, camera, ACTION! + "storage"(i- +4 "core" -' +2 "storage"(& +3 "core" &  +2 "manipulator"&#& +4 "core" &= ! $ +2 .tElbow.seek 3 + "manipulator"&O(D +4 "core" ( + "manipulator"&@& +4 "core" &= t $ +2 "storage"(M& +3 "core" & t  +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&V' +9 "core" ' + .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.11 Pucks below Top Plate + "storage"(_'M +60 "core" ' +2 "manipulator"&t& +4 "core" &=  $ +2 "storage"(?& +3 "core" &\    +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 + "manipulator"&''M +32 "core" ' +2 .tElbow.hold + "manipulator"&S, +5 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"(^'7 +25 "core" ' + "manipulator"&F% +5 "core" %_^ & 2 F ʳ + "storage"(Y& +4 "core" & T  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 318 counts +2 "manipulator"&|'ϋ +18 "core" ' +2 "manipulator"&n& +4 "core" &: k n A % +2 "storage"(0& +4 "core" &\ \  u  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&{' +21 "core" ' + "storage"(.% +5 "core" %@\ \  g +2 ."downElevator"SE.seek :down +4 "storage"(P'N +99 (% +3 "core" %I\ \ \ \ } NA +2 "manipulator"&E% +4 "core" % _ a + +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&+'\ +91 "core" ' +58 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (z& +4 "core" &\  z  +2 "collection"'Q& +4 "core" &]M  z > + #tStoring generic puck in Collection Clamp to tube 3 +2 "manipulator"& % +4 "core" %\ .  #k +2 "storage"(q% +3 "core" %I\  +2 "storage"(A. +3 "core" .( + "storage"(]& +4 "core" &\ \ \  G  + "storage"(u& +4 "core" &\ \ \ \  +2 "manipulator"& & +4 "core" &:  % + .tElbow.seek 3 +2 "manipulator"&(D +4 "core" ( + "manipulator"&7& +4 "core" &: ` % + "storage"("& +4 "core" &\ \ \   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts + "manipulator"&m' +102 "core" ' + "storage"(W& +4 "core" &\ \    +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(b'e +287 "core" ' +2 "storage"(o- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&Z& +2 "core" &< 6 $ +2 "storage"(T& +4 "core" &   + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 + "manipulator"&'M +32 "core" ' +2 .tElbow.hold + "manipulator"&<, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(- +2 "core" -' +3 .tSE.seek 0.11 Pucks below Top Plate + "storage"('j +36 "core" ' +2 "manipulator"&3% +4 "core" %\\W 4 4 ˱ + "storage"(6& +4 "core" &   + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 3 + 315 counts +2 "manipulator"&2'ψ +18 "core" ' + "manipulator"&& +5 "core" &8 l f t % + "storage"( & +4 "core" &\ \   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&' +18 "core" ' +2 .tSE.seek 1.11 Pucks below Top Plate +2 "storage"(I'Y +39 "core" ' +2 "manipulator"&$& +4 "core" &8 e ` g % +2 "manipulator"&g% +4 "core" % f a [  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +91 "core" ' + .tElbow.seek CC +2 "manipulator"&8( +156 "core" ( + "manipulator"&& +4 "core" &) @X +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &h& +3 "core" &) g ?W +2 .tForearm.seek CC + "manipulator"&J'| +98 "core" ' +2 .tHand.close + "manipulator"&`/ +57 "core" / +2 .tCC.seek :open + "collection"'(p +411 "core" ( + "storage"(& +4 "core" &\ \  +2 "storage"(\ & +4 "core" &\ \   + "manipulator"&(& +4 "core" &$  <? + "manipulator"&B% +4 "core" % m  +2 .tForearm.seek :retract + "manipulator"&l'\ +101 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&(D +164 "core" ( + "manipulator"&& +4 "core" &8 e @ +2 "storage"(G& +4 "core" &\ \  V  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 3 + "manipulator"&&'M +112 "core" ' + .tElbow.hold +2 "manipulator"&w, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&s1 +55 "core" 1 +3 "manipulator"&N% +4 "core" % [w   ú5 + "storage"(& +4 "core" &\ \   +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 314 counts + "manipulator"&~'χ +17 "core" ' +2 "manipulator"&& +4 "core" &\ \\ q v \\ + "storage"(R& +4 "core" &\ \   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts + "manipulator"&-' +20 "core" ' +2 "storage"(% +4 "core" %^\ C\ C { +2 ."downElevator"SE.seek :down +4 "storage"('N +99 (r% +2 "core" %H\ \  N? +2 "manipulator"&\\% +4 "core" % o n  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&K'\ +97 "core" ' +47 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 2 of [2..3] + #Loading generic puck from tube 2 into Collection Clamp +2 "collection"'c& +4 "core" &  + "manipulator"&/% +4 "core" %\ 5  & +2 "storage"(% +4 "core" %M\ \   + "storage"(4. +3 "core" .( +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"(5(  +363 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (,& +3 "core" & \ \ \ * +2 "manipulator"& & +3 "core" &\ T \\ +2 .tElbow.seek 2 +2 "manipulator"& (; +13 "core" ( + "manipulator"&x& +4 "core" &< 4 "x +2 "storage"(e& +4 "core" & \ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&D'Ѐ +109 "core" ' + "storage"(C& +5 "core" & \ 8\ B v + .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"('e +277 "core" ' +2 "storage"(!- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (*& +3 "core" & \ \  + "manipulator"&H& +4 "core" &= q y  !w +2 .tElbow.seek 2 + "manipulator"&}(; +4 "core" ( + "manipulator"&)& +4 "core" &= x { . !w + "storage"(& +4 "core" & \ C\ B H +2 .tForearm.seek 2 + 300 counts +52 "manipulator"&L' +26 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&v/ +55 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&[& + "storage"(>'N +8 "core" &= e k e !w + "manipulator"&1% +4 "core" % h j +2 .tForearm.seek :retract +2 "manipulator"&;'\ +88 "core" ' +2 .tElbow.seek CC + "manipulator"&j( +145 "core" ( +2 "manipulator"&& +4 "core" &  9$ +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 "core" ' + ."downElevator"SE.stop +4 "manipulator"&d& "storage"(5 +6 "core" &"  9$ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&f'| +104 "core" ' +2 "manipulator"&%& +4 "core" &" : 9$ +2 "manipulator"&=% +4 "core" %t W + "collection"':& +4 "core" &   +2 "collection"'y& +5 "core" &  +3 .tCC.seek :closed + "collection"'i(] +5 "core" &  +7 &C  $e +10 &|_  7 +9 & \ { G +9 &h \ ~ G +10 &vk  G +9 &:j { F +9 & m  G +10 &"h | G +9 &$l  | G +10 &&@k ~ G +9 &(j y F +9 &)l s G +10 &+j \ u G +9 &-Jg v F +9 &/ j w F +10 &0j l F +9 &2j s F +9 &4Pm w G +10 &6k t G +9 &7k s G +10 &9f x F +9 &;Zh x F +9 &=l \ t G +10 &>j y G +9 &@g n G +9 &Bag v G +10 &D#g v G +9 &Em x G +10 &Gn w G +9 &Ifx t H +9 &K! p J +10 &L w N +9 &N  u O +9 &PU  w P +10 &R  x Q +9 &S  u Q +10 &U  z S +9 &WZ  v Q +9 &Y  w S +10 &Z  t W +9 &\\  x @ +9 &]s#  w 'q +10 &]_  w C +2 ( +2 "collection"'y& +3 #tCollection Clamp onSpring/offSpring for 10/25 samples, on/off torque 1.91 + .Hand.open +2 "manipulator"&1 +59 "core" 1 +3 "manipulator"&#% +4 "core" % t * +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&@'\ +98 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%M& +4 "core" &C +2 "manipulator"&9% +4 "core" %\ 5  & + "storage"(t% +4 "core" %E\ \   +2 "storage"(?. +3 "core" .(  + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"((  +2 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (F& +2 "core" &  5 +2 "manipulator"&Y& +4 "core" &  8" +2 "manipulator"&U% +3 "core" %\ 5  & +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 + "manipulator"&n(; +165 "core" ( +2 "manipulator"&0& +4 "core" &/\  U +2 "storage"(.& +3 "core" & \ \ \ p +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&k'Ѐ +93 "core" ' + "storage"(& +5 "core" & \ \  0 + .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"('e +278 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (E& +2 "core" & \ \  +2 "manipulator"&V& +4 "core" &/\  U +2 .tElbow.seek 2 + "manipulator"&O(; +19 "core" ( +2 "manipulator"&_& +4 "core" &K\  S + "storage"('& +4 "core" &  " +2 .tForearm.seek 2 + 300 counts + "manipulator"&z' +11 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&|/ +56 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&Q& + "storage"( 'N +8 "core" &K\ 2 S + "manipulator"&q% +4 "core" %  O +2 .tForearm.seek :retract +2 "manipulator"&A'\ +89 "core" ' +2 .tElbow.seek PC +2 "manipulator"&](c +162 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +88 "core" ( +2 "manipulator"&^& +4 "core" &i H + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &u& +3 "core" &i 8 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"& '[ +95 "core" ' +2 "manipulator"&7& +4 "core" &i 7 +2 "manipulator"&"% +4 "core" %T  + "processing"%{& +4 "core" &Q +2 "processing"%W& +5 "core" &O +2 .tPC.seek :closed + "processing"%P(Z +4 "core" &@  +9 &88 *x +10 &k? = +9 &vG H +9 &JfL F +10 & hI G +9 &kK F +10 &!iI F +9 &#QlK G +9 &%iK G +10 &&gK F +9 &(hK F +9 &*YlN G +10 &,jB G +9 &-f> G +10 &/lB G +9 &1bkK F +9 &3#gJ G +10 &4kI G +9 &6iJ G +9 &8jgE F +10 &:,gH F +9 &;g; G +10 &=m: F +9 &?rj: F +9 &A4j8 F +10 &Bg8 F +9 &Dk8 F +9 &Fxn; G +10 &H8x= H +9 &I9 I +10 &K7 K +9 &Mq7 L +9 &O4; L +10 &P* L +9 &R9 L +9 &Ty9 L +10 &V98 M +9 &W0 M +9 &Y7 1 +10 &Z09 O +9 &Z6 * +3 ( + "processing"%W& +3 #tProcessing Clamp onSpring/offSpring for 8/26 samples, on/off torque 1.51 +2 .Hand.open + "manipulator"&S1 +61 "core" 1 +2 "manipulator"&+% +4 "core" % T $ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&o'\ +96 "core" ' + "processing"%Z& +4 "core" &Z6 * +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 + "manipulator"&T% +4 "core" %\ 1 n $l +2 "storage"(% +3 "core" %B\ \ \  +2 "storage"(3. +3 "core" .(  + "storage"(6& +4 "core" & \ \ u +2 "storage"(& +2 "manipulator"& & +6 "core" &  \ \ 9 + &i a +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +3 "storage"(#]kK-0-\ b +2 .tElbow.seek PC +4 "manipulator"&$(c +4 ."raiseStack"SE.seek :beamBreak + "storage"(g'e +3 "core" ( + "manipulator"&m& +4 "core" &i + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &i r +2 .tForearm.seek PC +2 "manipulator"&b'[ +95 "core" ' + .tHand.close +2 "manipulator"&/ +59 "core" / +2 .tPC.seek :open +2 "processing"%2(p +89 "core" ' +2 "storage"(- +3 "core" -'e +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('B +39 "core" ' +248 ( + "storage"(h& +5 "core" & \  > + "manipulator"&& +4 "core" &i  + "manipulator"&<% +4 "core" % `  +2 .tForearm.seek :retract +2 "manipulator"&`'\ +97 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&(; +275 "core" ( + "manipulator"&X& +5 "core" &D ' + "storage"(& +4 "core" &  \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&\ 'Ѐ +103 "core" ' + .tHand.open +2 "manipulator"&(1 +56 "core" 1 +2 "storage"(B- +4 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate + "storage"(' +21 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(G' +51 "core" ' + #tLights, camera, ACTION! +2 "storage"(J- +3 "core" -' +2 "storage"(8& +3 "core" &   +2 "manipulator"&s& +3 "core" &D ` i +2 .tElbow.seek 2 +2 "manipulator"&N(; +4 "core" ( + "manipulator"&& +4 "core" &D t r } + "storage"(& +4 "core" &  +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&R'Ѐ +4 "core" ' + .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"('M +59 "core" ' + "manipulator"&l& +5 "core" &D c k Q + "storage"(r& +4 "core" & \ \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&\\'ξ +35 "core" ' +2 .tElbow.hold + "manipulator"&, +5 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +53 "storage"(#QK-0-\ b +4 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"(&'7 +23 "core" ' +2 "manipulator"&c% +4 "core" %b  Ĵ +2 "storage"(~& +3 "core" &  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 317 counts + "manipulator"&/' +20 "core" ' + "manipulator"&& +4 "core" &D H d Q +2 "storage"(4& +4 "core" & \ \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&I'Ѐ +17 "core" ' +2 "storage"(-% +4 "core" %A\ \  +2 ."downElevator"SE.seek :down +4 "storage"('N +98 (% +3 "core" %D\ \ \ N@ +2 "manipulator"&,% +4 "core" %u i j  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"& '\ +92 "core" ' +62 ' + ."downElevator"SE.stop + "storage"(5 +3 (x& +3 "core" & \ +2 "collection"'e& +4 "core" &]c  w C + #tStoring generic puck in Collection Clamp to tube 2 +2 "manipulator"&C% +4 "core" %\ 1  $u +2 "storage"(w% +3 "core" %O\ \  m \ +2 "storage"(K. +3 "core" .(  + "storage"(!& +4 "core" & \  G +2 "storage"(*& +4 "core" & \ \ # + "manipulator"&H& +5 "core" &D c +2 .tElbow.seek 2 + "manipulator"&)(; +4 "core" ( + "manipulator"&& +4 "core" &D + "storage"(v& +4 "core" &  n +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts + "manipulator"&['Ѐ +95 "core" ' + "storage"(1& +5 "core" & \ \   +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"( 'e +287 "core" ' + "storage"(D- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" &D l m + "storage"(d& +4 "core" & \ \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&'ξ +36 "core" ' +2 .tElbow.hold + "manipulator"&L, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(%- +2 "core" -' +3 .tSE.seek 0.12 Pucks below Top Plate + "storage"(='q +35 "core" ' + "manipulator"&:% +4 "core" %V   * Ʊ +2 "storage"(}& +3 "core" &  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 318 counts + "manipulator"&>' +18 "core" ' +2 "manipulator"&;& +4 "core" &D H d m +2 "storage"(& +3 "core" & \ \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&'Ѐ +15 "core" ' +2 .tSE.seek 1.12 Pucks below Top Plate +2 "storage"(#'` +48 "core" ' +2 "manipulator"&M& +4 "core" &D _ i +2 "manipulator"&9% +4 "core" %i i a a  + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&t'\ +87 "core" ' +2 .tElbow.seek CC +2 "manipulator"&?( +163 "core" ( +2 "manipulator"&y& +4 "core" &(  ?R + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &F& +3 "core" &(  ?R +2 .tForearm.seek CC + "manipulator"&Y'| +96 "core" ' +2 .tHand.close + "manipulator"&U/ +58 "core" / +2 .tCC.seek :open + "collection"'f(p +411 "core" ( +2 "storage"(0& +4 "core" & \ \  + "storage"(.& +4 "core" & \ \  h +2 "manipulator"&5& +4 "core" &'  >I + "manipulator"&% +4 "core" % e Y  +2 .tForearm.seek :retract + "manipulator"&j'\ +92 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 + "manipulator"&@(; +169 "core" ( + "manipulator"&& +5 "core" &8  , + "storage"(E& +4 "core" & \ \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 2 + "manipulator"&V'ξ +111 "core" ' + .tElbow.hold + "manipulator"&_, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&'1 +61 "core" 1 +2 "manipulator"&|% +4 "core" % w º4 +2 "storage"(Q& +3 "core" & \ \ # +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 312 counts + "manipulator"&q' +21 "core" ' + "manipulator"&n& +4 "core" &8 \\ s k , +2 "storage"(k& +4 "core" & \ \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&'Ѐ +16 "core" ' + "storage"(z% +4 "core" %i\ 7\ ? W +3 ."downElevator"SE.seek :down +3 "storage"(^'N +99 (u% +3 "core" %C\ !\ N? + "manipulator"&O% +4 "core" %p l l  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&7'\ +87 "core" ' +53 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 3 of [2..3] + #Loading generic puck from tube 3 into Collection Clamp +2 "collection"'"& +4 "core" &  + "manipulator"&{% +4 "core" %\ * = !N +2 "storage"( % +4 "core" %E\ \   +2 "storage"(A. +3 "core" .(  +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(a( +362 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (S& +2 "core" &\ \ \   +2 "manipulator"&+& +4 "core" &8 % , + .tElbow.seek 3 +2 "manipulator"&Z(D +14 "core" ( + "manipulator"&T& +4 "core" &> ] " +2 "storage"(& +3 "core" &\ \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts + "manipulator"&3' +94 "core" ' +2 "storage"(6& +4 "core" &\ ?\ ' !  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(W'e +290 "core" ' + "storage"( - +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (& +3 "core" &\ \ U  +2 "manipulator"&m& +3 "core" &? Y "~ +2 .tElbow.seek 3 +2 "manipulator"&(D +3 "core" ( + "manipulator"& & +4 "core" &? "~ + "storage"(& +4 "core" &\ \   +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&'y +22 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&]/ +53 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"&o& "storage"(P'N +8 "core" &? e k g "~ + "manipulator"&h% +4 "core" % x _ ` h +2 .tForearm.seek :retract +2 "manipulator"&'\ +88 "core" ' + .tElbow.seek CC +2 "manipulator"&<( +145 "core" ( +2 "manipulator"&g& +4 "core" &"  9# + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 "core" ' +2 "manipulator"&b& + ."downElevator"SE.stop +5 "storage"(5 +3 "core" &  8" +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&X'| +107 "core" ' +2 "manipulator"&& +4 "core" &  8" +2 "manipulator"&$% +9 "core" %ρ  +2 "collection"'(& +4 "core" &  +2 "collection"'B& +5 "core" &  +2 .tCC.seek :closed +2 "collection"'J(] +4 "core" &  +6 &C \  #c +10 &|\\  6 +9 &   G +9 &h \  F +10 &rk  G +9 &5h \  F +10 & j   F +9 &"h { G +9 &${g z F +10 &&=i y F +9 &'k { G +9 &)k   G +10 &+j | G +9 &-Ee w F +10 &/h x G +9 &0k x F +10 &2i t F +9 &4Lm s G +9 &6i p G +9 &7k x F +10 &9k u G +9 &;Ti x G +9 &=j w G +10 &>g n F +9 &@i u F +10 &B\\l \ r G +9 &Dl s F +9 &Eh z G +10 &Go x G +9 &I_{ v H +9 &K z K +10 &L  y O +9 &N  z P +10 &PP  y P +9 &R  | P +9 &S  x Q +10 &U  w R +9 &WQ  | S +9 &Y  { S +10 &Z  z S +9 &\\  w ? +10 &]j&  w 1 +9 &]t  l M +2 ( +2 "collection"'B& +3 #tCollection Clamp onSpring/offSpring for 10/25 samples, on/off torque 1.90 + .Hand.open +2 "manipulator"&81 +53 "core" 1 +2 "manipulator"&s% +55 "core" % ρ s  +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +97 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%& +5 "core" &O + "manipulator"&`% +4 "core" %\ 6 D & + "storage"(l% +4 "core" %N\ \ \  +2 "storage"(r. +3 "core" .( + "storage"(& +4 "core" & \  c  + "storage"(& +4 "core" &\ \   +2 "manipulator"&c& +3 "core" & = 7 +2 "manipulator"&~% +4 "core" %\ 6 # & +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&(D +162 "core" ( +2 "manipulator"&4& +4 "core" &F T  +2 "storage"(& +3 "core" &\ \ \ \ -  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&\ ' +96 "core" ' +2 "storage"(-& +4 "core" &\ \  <  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(G'e +279 "core" ' +2 "storage"(R- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +2 "core" &\ \  '  +2 "manipulator"&,& +4 "core" &F c m >  +2 .tElbow.seek 3 + "manipulator"&N(D +4 "core" ( + "manipulator"&& +4 "core" &F p t  + "storage"(\\& +4 "core" &\ \    +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&/'y +15 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&x/ +62 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&e& +3 "storage"(C'N +6 "core" &F   +2 "manipulator"&w% +3 "core" % σ  +2 .tForearm.seek :retract +2 "manipulator"&K'\ +94 "core" ' +2 .tElbow.seek PC +2 "manipulator"&&(c +156 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +87 "core" ( +2 "manipulator"&!& +4 "core" &l  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &*& +2 "core" &l  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&H'[ +103 "core" ' +2 "manipulator"&& +4 "core" &l  +2 "manipulator"&v% +3 "core" %d  +2 "processing"%I& +4 "core" &S +2 "processing"%1& +5 "core" &R +2 .tPC.seek :closed +2 "processing"%(Z +4 "core" &G +8 &<B #c +9 &~\\@ 6 +10 &L G +9 &eK F +9 &ujL F +10 &6gI G +9 & hK G +10 &"eK G +9 &$|fM G +9 &&>kK G +10 &(jM G +9 &)jK G +9 &+hK F +10 &-GiK F +9 &/ jE F +10 &0hD F +9 &2gH G +9 &4NeE G +10 &6gE G +9 &7f@ F +9 &9g; G +10 &;Vl: G +9 &=i+ G +10 &>i9 G +9 &@m: G +9 &B_h7 F +10 &D!h: F +9 &Ej: G +9 &Gp; G +10 &Ib|9 H +9 &K D I +10 &L: K +9 &N6 M +10 &P^9 L +9 &R9 M +9 &S5 M +9 &U: L +10 &Wc: M +9 &Y%9 E +10 &ZVG8 ] +9 &Z-7 * +5 ( +2 "processing"%1& +4 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.48 + .Hand.open +2 "manipulator"&1 +3 "core" &Z8 * +60 1 + "manipulator"& % +5 "core" % d / +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&D'\ +102 "core" ' + "processing"%& +5 "core" &Z0 * + #tImaging generic puck in Processing Clamp while storing it to tube 3 +2 "manipulator"&d% +3 "core" %\ 7 y ' +2 "storage"(%% +4 "core" %; n + "storage"(:. +3 "core" .( +2 "storage"(}& +4 "core" & d  + "storage"(;& +2 "manipulator"&& +8 "core" & q  + &l ) +3 ."raiseStack"SE.reconfigure :place +2 .tElbow.reconfigure :tight +5 "storage"(#]kK-0-\ b +4 "manipulator"&$&.,(\ #b +2 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +2 "storage"(M'e +2 "manipulator"&9(c +4 "core" ( +2 "manipulator"&[& +4 "core" &l  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &)& +3 "core" &l  +2 .tForearm.seek PC +2 "manipulator"& '[ +95 "core" ' + .tHand.close +2 "manipulator"&/ +63 "core" / + .tPC.seek :open +2 "processing"%>(p +80 "core" ' +2 "storage"(=- +3 "core" -'e +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(y'B +39 "core" ' +257 ( +2 "storage"(F& +4 "core" & u  + "manipulator"&& +4 "core" &l K +2 "manipulator"&L% +4 "core" % j  +2 .tForearm.seek :retract +2 "manipulator"&U'\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&t(D +254 "core" ( +2 "manipulator"&i& +4 "core" &: = % +2 "storage"(0& +3 "core" &\  ^  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts + "manipulator"&.' +92 "core" ' +2 .tHand.open + "manipulator"&51 +55 "core" 1 +2 "storage"(- +4 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate + "storage"(' +23 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(E' +51 "core" ' +2 #tLights, camera, ACTION! + "storage"(Y- +4 "core" -' + "storage"(?& +4 "core" & k  + "manipulator"&'& +4 "core" &; % +2 .tElbow.seek 3 +2 "manipulator"&|(D +3 "core" ( + "manipulator"&Q& +4 "core" &;  % + "storage"(n& +4 "core" & l  +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&k' +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.11 Pucks below Top Plate + "storage"(z'M +59 "core" ' +2 "manipulator"&j& +4 "core" &; % +2 "storage"(u& +4 "core" &\ \  9  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&O'M +31 "core" ' +2 .tElbow.hold +2 "manipulator"&@, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"(V'7 +25 "core" ' +2 "manipulator"&"% +4 "core" %ae & + B ɵ +2 "storage"({& +4 "core" & &  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 320 counts + "manipulator"&q'ύ +13 "core" ' +2 "manipulator"& & +5 "core" &A o q $ + "storage"(A& +4 "core" &\ \  :  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&#' +21 "core" ' +2 "storage"(% +4 "core" %@\ \  , +2 ."downElevator"SE.seek :down +4 "storage"(^'N +99 (% +2 "core" %K\ \  = OB +2 "manipulator"&S% +4 "core" % f l t # +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&+'\ +94 "core" ' +53 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (T& +3 "core" &\   +2 "collection"'& +4 "core" &]j   M +2 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&6% +4 "core" %\ 7  ' + "storage"(_% +4 "core" %A\ \  .  +2 "storage"(7. +3 "core" .( + "storage"( & +4 "core" &\ \   + "storage"(& +4 "core" &\ \   +2 "manipulator"&m& +4 "core" &A  $ +2 .tElbow.seek 3 +2 "manipulator"& (D +3 "core" ( + "manipulator"&& +4 "core" &A ) $ + "storage"(]& +4 "core" &\ \ K  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts + "manipulator"&o' +99 "core" ' + "storage"(h& +5 "core" & \  x  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(Z'e +287 "core" ' + "storage"(3- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&g& +3 "core" &A $ + "storage"(b& +4 "core" &\ \ \ \ S  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +55 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&W'M +28 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(- +2 "core" -' +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"($'j +35 "core" ' + "manipulator"&% +4 "core" %_i    ȶ +2 "storage"((& +4 "core" &   + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 3 + 318 counts + "manipulator"&P'ϋ +12 "core" ' + "manipulator"&& +5 "core" &B u h s $ + "storage"(f& +4 "core" &\ \    +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&8' +18 "core" ' +2 .tSE.seek 1.11 Pucks below Top Plate +2 "storage"(s'Y +39 "core" ' + "manipulator"&B& +4 "core" &B h l a $ +2 "manipulator"&% +4 "core" % m n +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&`'\ +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&l( +159 "core" ( + "manipulator"&r& +4 "core" &) 5 @Y +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &) ? @Y +2 .tForearm.seek CC + "manipulator"&'| +95 "core" ' + .tHand.close +2 "manipulator"&c/ +61 "core" / +2 .tCC.seek :open +2 "collection"'~(p +410 "core" ( +2 "storage"(X& +4 "core" &\ \    + "storage"(4& +4 "core" &\ \  X  + "manipulator"&& +4 "core" & )  @W +2 "manipulator"&-% +4 "core" % ώ  +2 .tForearm.seek :retract + "manipulator"&<'\ +92 "core" ' +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&(D +177 "core" ( +2 "manipulator"&R& +4 "core" &B % j +2 "storage"(& +3 "core" &\ \  a  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 +2 "manipulator"&,'M +108 "core" ' +2 .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&\\1 +53 "core" 1 +2 "manipulator"&x% +4 "core" % Y~  üG + "storage"(e& +4 "core" & \  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 3 + 312 counts +2 "manipulator"&w'υ +18 "core" ' + "manipulator"&& +4 "core" &: Y t 0 !r +2 "storage"(\ & +4 "core" &\ \ # d  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&G' +20 "core" ' + "storage"(/% +5 "core" %\\\ B\ ( & +2 ."downElevator"SE.seek :down +3 "storage"(!'N +99 (*% +3 "core" %D\ \  _ M> +2 "manipulator"&N% +4 "core" % m n  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +91 "core" ' +48 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 2 of [2..3] + #Loading generic puck from tube 2 into Collection Clamp +2 "collection"'v& +4 "core" & w +2 "manipulator"&I% +4 "core" %\ + z "Z +2 "storage"(C% +4 "core" %8\ \   + "storage"(K. +3 "core" .( +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"(2(  +364 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (& +3 "core" &  \  v + "manipulator"& & +4 "core" &: s !r +2 .tElbow.seek 2 + "manipulator"&(; +4 "core" ( + "manipulator"&d& +4 "core" &: W !r + "storage"(%& +4 "core" & \ \  x +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&1'Ѐ +108 "core" ' + "storage"(:& +4 "core" & \ 8\ C u +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(}'e +277 "core" ' + "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (;& +2 "core" & \ \  +2 "manipulator"&[& +4 "core" &; c ` S !q +2 .tElbow.seek 2 + "manipulator"&)(; +3 "core" ( +2 "manipulator"&H& +3 "core" &; q s !q +2 "storage"(& +4 "core" & \ \  +2 .tForearm.seek 2 + 300 counts + "manipulator"&=' +18 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&&/ +55 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&D& +2 "storage"('N +8 "core" &; , !q + "manipulator"&F% +4 "core" %  8 +2 .tForearm.seek :retract +2 "manipulator"&M'\ +90 "core" ' + .tElbow.seek CC +2 "manipulator"&( +137 "core" ( +2 "manipulator"&L& +4 "core" &  . +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 & & +2 "core" ' +3 ."downElevator"SE.stop +3 "storage"(5 +3 "core" &  . +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&i'| +93 "core" ' +2 "manipulator"&0& +4 "core" & . +2 "manipulator"&9% +4 "core" %| q +2 "collection"'5& +4 "core" &  +2 "collection"'& +4 "core" &  +2 .tCC.seek :closed +2 "collection"'Y(] +5 "core" &   +9 &8   *x +9 &k  = +10 &u  G +9 &Dh \  F +9 &j  F +10 &n  G +9 &!l \  F +9 &#Ki  G +10 &%g  F +9 &&k  F +9 &(m  G +10 &*Sj } G +9 &,k  F +10 &-k ~ F +9 &/l z G +9 &1\\l v F +10 &3g  x G +9 &4j s G +9 &6g x F +10 &8ej y F +9 &:%j x G +10 &;e \ y F +9 &=k w G +9 &?kj \ u G +10 &A.h o F +9 &Bk y F +9 &Dk \ | G +10 &Fsk \ t G +9 &H4k t G +10 &I{ s I +9 &K r K +9 &Mc  { O +10 &O#  | P +9 &P  v P +10 &R  o Q +9 &Tf  x Q +9 &V$  v R +10 &W  u R +9 &Y  w T +9 &[g  z S +10 &] x  z '{ +9 &]!  y U +9 ( +2 "collection"'& +4 #tCollection Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.87 + .Hand.open +2 "manipulator"&?1 +3 "core" &]X  t A +49 1 + "manipulator"&'% +4 "core" % | < +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&Q'\ +93 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%n& +5 "core" &H + "manipulator"&U% +4 "core" %\ , E "[ + "storage"(j% +4 "core" %E \ \ v  +2 "storage"(u. +3 "core" .(  + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"("(  +7 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 ({& +3 "core" &  6 + "manipulator"&y& +4 "core" &  . +2 "manipulator"& % +3 "core" %\ ,  "[ +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 + "manipulator"&(; +152 "core" ( + "manipulator"&A& +5 "core" &D 5 \ + "storage"(& +4 "core" & \  } +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&t'Ѐ +89 "core" ' + "storage"(.& +4 "core" & \ \  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(E'e +278 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (S& +2 "core" & \   +2 "manipulator"&k& +4 "core" &D  \ +2 .tElbow.seek 2 + "manipulator"&|(; +4 "core" ( + "manipulator"&z& +4 "core" &D w  \ +2 "storage"(O& +3 "core" & \ \  ) +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&T' +11 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&q/ +55 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"(6'N +7 "core" &D a _ O \ +2 "manipulator"&_% +4 "core" % c o n I +2 .tForearm.seek :retract +52 "manipulator"&7'\ +92 "core" ' +2 .tElbow.seek PC +2 "manipulator"& (c +106 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +140 "core" ( +2 "manipulator"&V& +4 "core" &i o +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &i  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&m'[ +92 "core" ' +2 "manipulator"&& +4 "core" &i [ +2 "manipulator"&]% +4 "core" %b d +2 "processing"%#& +4 "core" &P +2 "processing"%h& +5 "core" &E +2 .tPC.seek :closed +2 "processing"%^(Z +4 "core" &= +7 &=B #b +9 &x\\F 6 +10 &I G +9 &dN F +9 &lkK G +10 &/jH F +9 & iM F +10 &"fH F +9 &$tkJ G +9 &&5jP G +10 &'fO F +9 &)kK G +9 &+}jI F +10 &->hK G +9 &.kK G +10 &0gK G +9 &2jI G +9 &4FeD G +10 &6 eJ F +9 &7hI F +9 &9e; G +10 &;OgA F +9 &=g9 F +10 &>j= F +9 &@h9 F +9 &BWg9 F +10 &DhA F +9 &Ek5 G +10 &Gr7 H +9 &IX{7 I +9 &K5 K +10 &L: L +9 &N; L +10 &PW9 L +9 &R3 M +9 &S7 L +9 &U6 M +10 &W[6 M +9 &Y7 H +10 &ZTB~7 "e +9 &Z/7 ( +5 ( +2 "processing"%h& +4 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.52 + .Hand.open +2 "manipulator"&@1 +3 "core" &Z3 ( +57 1 + "manipulator"&+% +5 "core" % b z + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&3'\ +92 "core" ' +2 "processing"%g& +4 "core" &Z8 ( +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 + "manipulator"&b% +4 "core" %\ *  !O + "storage"(% +4 "core" %7\ \  +2 "storage"(. +3 "core" .(  + "storage"((& +4 "core" & \ \  +2 "storage"(& +5 "manipulator"&f& +3 "core" & \ \  +2 &i  +2 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +3 "storage"(#]kK-0-\ b +2 "manipulator"&B(c +5 ."raiseStack"SE.seek :beamBreak +2 "storage"('e +3 "core" ( + "manipulator"&o& +4 "core" &i  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 & & +3 "core" &i  +2 .tForearm.seek PC +2 "manipulator"&Z'[ +102 "core" ' + .tHand.close +2 "manipulator"&W/ +53 "core" / +2 .tPC.seek :open +2 "processing"%P(p +85 "core" ' +2 "storage"($- +4 "core" -'e + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place + "storage"(r'B +40 "core" ' +251 ( + "storage"(& +4 "core" &  \  +2 "manipulator"&8& +4 "core" &i + "manipulator"&% +4 "core" % ^  +2 .tForearm.seek :retract +2 "manipulator"&c'\ +99 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 + "manipulator"&`(; +263 "core" ( + "manipulator"&J& +5 "core" &; <  + "storage"(X& +4 "core" & \ \ \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&4'Ѐ +109 "core" ' + .tHand.open +2 "manipulator"&1 +61 "core" 1 +2 "storage"(-- +3 "core" -'B +3 .tSE.seek -0.16 Pucks below Top Plate + "storage"(R' +23 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(' +51 "core" ' +2 #tLights, camera, ACTION! + "storage"(- +4 "core" -' + "storage"(l& +4 "core" &  9 + "manipulator"&\\& +4 "core" &; i o s  +2 .tElbow.seek 2 +2 "manipulator"&x(; +3 "core" ( + "manipulator"&e& +4 "core" &; q u C  +2 "storage"(& +3 "core" &  d +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&\ 'Ѐ +18 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"(/'M +58 "core" ' +2 "manipulator"&<& +4 "core" &; x G  +2 "storage"(*& +4 "core" & \ \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&N'ξ +31 "core" ' +2 .tElbow.hold + "manipulator"&, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"(,'7 +25 "core" ' +2 "manipulator"&v% +4 "core" %j ; ö +2 "storage"(I& +4 "core" &  G +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 319 counts + "manipulator"&w' +18 "core" ' +2 "manipulator"&C& +4 "core" &; d C f  +2 "storage"(K& +4 "core" & \ \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&s'Ѐ +15 "core" ' +2 "storage"(G% +4 "core" %=\ \ +3 ."downElevator"SE.seek :down +3 "storage"(!'N +98 (a% +3 "core" %F\ \ \ w N@ +2 "manipulator"&% +4 "core" %Ћ ` d k +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"& '\ +88 "core" ' +63 ' + ."downElevator"SE.stop + "storage"(5 +3 (d& +4 "core" & \ \ \  + "collection"'%& +4 "core" &]X  w A +2 #tStoring generic puck in Collection Clamp to tube 2 + "manipulator"&:% +4 "core" %\ *  !T +2 "storage"(% +3 "core" %H \  C  +2 "storage"(. +3 "core" .(  + "storage"(& +4 "core" & \ \ \ t + "storage"(;& +4 "core" & \ \   +2 "manipulator"&[& +9 "core" &;  + .tElbow.seek 2 +2 "manipulator"&H(; +4 "core" ( + "manipulator"&& +8 "core" &; |   +2 "storage"(&& +4 "core" & \ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&D'Ѐ +94 "core" ' + "storage"(F& +4 "core" & \ \  K +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"('e +275 "core" ' +2 "storage"(1- +3 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&L& +3 "core" &; l h \  +2 "storage"( & +3 "core" & \ \  b +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&}'ξ +32 "core" ' + .tElbow.hold +2 "manipulator"&=, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(0- +2 "core" -' +2 .tSE.seek 0.12 Pucks below Top Plate +2 "storage"(9'q +20 "Can"G ][ +8 "core" ' + "manipulator"&5% +5 "core" %i 0 ö + "storage"()& +4 "core" &  i + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 320 counts + "manipulator"&' +17 "core" ' +2 "manipulator"&M& +4 "core" &; c D k  + "storage"(~& +4 "core" & \ \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts + "manipulator"&?'Ѐ +22 "core" ' +2 .tSE.seek 1.12 Pucks below Top Plate + "storage"(''` +46 "core" ' +2 "manipulator"&n& +4 "core" &; ` b >  +2 "manipulator"&U% +4 "core" %Ђ c m P $ + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&j'\ +87 "core" ' +2 .tElbow.seek CC + "manipulator"&u( +152 "core" ( + "manipulator"&& +4 "core" &  * , +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &{& +3 "core" &   , +2 .tForearm.seek CC +2 "manipulator"&y'| +100 "core" ' +2 .tHand.close + "manipulator"& / +61 "core" / +2 .tCC.seek :open +2 "collection"'i(p +411 "core" ( + "storage"(A& +4 "core" & \ #\ . $ +2 "storage"(& +3 "core" & \ \  z +2 "manipulator"&.& +4 "core" &   , + "manipulator"&2% +4 "core" % m  i +52 .tForearm.seek :retract +3 "manipulator"&'\ +91 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&Q(; +164 "core" ( + "manipulator"&& +4 "core" &8 4 ' +2 "storage"(S& +4 "core" & \ \  \\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 2 + "manipulator"&k'ξ +106 "core" ' + .tElbow.hold + "manipulator"&z, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&O1 +58 "core" 1 +2 "manipulator"&q% +4 "core" % r a ýS +2 "storage"(& +4 "core" &  \ @ + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 2 + 316 counts +2 "manipulator"&_' +17 "core" ' + "manipulator"&& +4 "core" &8 ^ u  ' +2 "storage"(t& +4 "core" & \ B\ B z +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts + "manipulator"&E'Ѐ +18 "core" ' +2 "storage"(T% +4 "core" %]\ B\ ? C +3 ."downElevator"SE.seek :down +3 "storage"(V'N +98 (% +3 "core" %F\ \  N? +2 "manipulator"&|% +4 "core" %t k _ Z  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +88 "core" ' +55 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 3 of [2..3] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"']& +4 "core" & { +2 "manipulator"&#% +4 "core" %\ *  !S +2 "storage"(6% +4 "core" %E\ \   + "storage"(7. +4 "core" .(  + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(>( +358 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (@& +2 "core" &\ F  +2 "manipulator"&+& +4 "core" &8  ' + .tElbow.seek 3 +2 "manipulator"&g(D +19 "core" ( + "manipulator"&b& +4 "core" &B ? !v +2 "storage"(& +4 "core" &\ \   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&' +107 "core" ' +2 "storage"((& +4 "core" &\ C\ B r  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(f'e +276 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (h& +3 "core" &\ \  z  +2 "manipulator"&o& +4 "core" &B c e !v +2 .tElbow.seek 3 + "manipulator"& (D +4 "core" ( + "manipulator"&m& +4 "core" &B j m l !v + "storage"(W& +4 "core" &\ $\  p  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&$'y +21 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"& / +63 "core" / +2 ."downElevator"SE.seek :down +5 "manipulator"&3& + "storage"(^'N +6 "core" &C !u +2 "manipulator"&% +4 "core" % x  + .tForearm.seek :retract +2 "manipulator"&8'\ +92 "core" ' +2 .tElbow.seek CC +2 "manipulator"&( +140 "core" ( + "manipulator"&& +5 "core" &  / + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &Z& +2 "core" ' + ."downElevator"SE.stop +4 "storage"(5 +3 "core" & N / +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&J'| +101 "core" ' +2 "manipulator"&X& +4 "core" &  / +2 "manipulator"&B% +3 "core" %  +2 "collection"'& +4 "core" &  +2 "collection"'-& +5 "core" &  +2 .tCC.seek :closed +2 "collection"'(] +4 "core" &  +8 &C  #c +9 &z\\ \  6 +10 &  G +9 &g  F +10 &rj \  F +9 &3m  F +9 & j  F +10 &"m  G +9 &$xj \  G +9 &&;m  F +10 &'j  F +9 &)k | F +10 &+l  F +9 &-Cl \ { F +9 &/h \  F +10 &0i \ \ x F +9 &2h \  G +9 &4Kl \  F +10 &6 m  F +9 &7h z F +10 &9g { F +9 &;Th r F +9 &=j \ s G +10 &>j z G +9 &@g y F +9 &BZh x G +10 &Dk w F +9 &El  s G +10 &Gn v G +9 &I^y k H +9 &K n K +10 &L  x O +9 &N  | P +9 &PN  | P +10 &R  x P +9 &S  w Q +9 &U  { S +10 &WS  n Q +9 &Y  { S +10 &Z  ~ X +9 &\\  x A +9 &]p!  o *z +10 &]W  u B +2 ( +2 "collection"'-& +3 #tCollection Clamp onSpring/offSpring for 10/25 samples, on/off torque 1.94 + .Hand.open +2 "manipulator"&l1 +53 "core" 1 +2 "manipulator"&\\% +4 "core" % z  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&e'\ +99 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%& +4 "core" &G +2 "manipulator"&c% +3 "core" %\ 8 ' +2 "storage"(<% +4 "core" %I\ \  *  + "storage"(*. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 + "storage"(r( +3 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (v& +2 "core" & C  +2 "manipulator"&I& +4 "core" & / / + "manipulator"&R% +4 "core" %\ 8  ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&C(D +166 "core" ( + "manipulator"&K& +4 "core" &9 , - +2 "storage"(G& +4 "core" &\ \ )  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&`' +96 "core" ' +2 "storage"(4& +4 "core" &\ \    +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('e +284 "core" ' + "storage"(a- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (& +3 "core" &\ \ \ u  +2 "manipulator"&\ & +3 "core" &;  + +2 .tElbow.seek 3 + "manipulator"&x(D +4 "core" ( + "manipulator"&/& +4 "core" &;  + + "storage"(N& +4 "core" & m  +2 .tForearm.seek 3 + 300 counts + "manipulator"&d'y +26 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&w/ +60 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&%& + "storage"(:'N +8 "core" &; n o + + "manipulator"&% +4 "core" % x n k +2 .tForearm.seek :retract +2 "manipulator"&'\ +88 "core" ' +2 .tElbow.seek PC + "manipulator"&(c +163 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +84 "core" ( +2 "manipulator"&,& +4 "core" &l  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &;& +3 "core" &l  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&['[ +98 "core" ' +2 "manipulator"&& +4 "core" &l ) +2 "manipulator"&&% +3 "core" %P 6 +2 "processing"%s& +4 "core" &< +2 "processing"%F& +4 "core" &@ +2 .tPC.seek :closed +2 "processing"%!(Z +5 "core" &C +6 &DA #c +10 &{\\E 6 +9 &> G +9 &gE G +10 &pkA G +9 &4fF F +10 & jC F +9 &"fH F +9 &$ygJ G +10 &&;iL G +9 &'eL F +9 &)hM F +10 &+kB G +9 &-DkQ F +10 &/hN G +9 &0eC G +9 &2jK G +10 &4KfL G +9 &6lL F +9 &7kO G +10 &9jO F +9 &;SmM G +10 &=jK G +9 &>hI G +9 &@gL F +10 &B\\iJ F +9 &DkL G +9 &Ek> G +10 &GnO G +9 &I^yO H +10 &KM I +9 &LJ K +9 &N= M +10 &PZH M +9 &R8 L +9 &S> L +10 &U9 M +9 &Wb6 M +10 &Y#6 G +9 &ZS;p7 )u +10 &Z9 " +5 ( + "processing"%F& +5 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.49 + .Hand.open + "manipulator"&1 +4 "core" &Z3 " +56 1 +2 "manipulator"& % +4 "core" % P 7 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&1'\ +94 "core" ' +2 "processing"%L& +4 "core" &ZJ " +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"& % +4 "core" %\ 1 $o + "storage"(0% +4 "core" %>\ \ "  +2 "storage"(5. +2 "core" .( +2 "storage"()& +4 "core" & \ \ `  +55 "storage"(M& +2 "manipulator"&~& +6 "core" &\ W  + &l s +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +6 "manipulator"&$&.,(\ #b +2 "storage"(#]kK-0-\ b +2 .tElbow.seek PC +5 "manipulator"&n(c +4 ."raiseStack"SE.seek :beamBreak + "storage"(U'e +3 "core" ( + "manipulator"&D& +4 "core" &l q +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &H& +2 "core" &l c +2 .tForearm.seek PC +2 "manipulator"&'[ +95 "core" ' + .tHand.close +2 "manipulator"&}/ +56 "core" / +3 .tPC.seek :open +2 "processing"%(p +88 "core" ' +2 "storage"(9- +3 "core" -'e + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('B +34 "core" ' +253 ( +2 "storage"({& +4 "core" & \ u  + "manipulator"&?& +4 "core" &l l +2 "manipulator"&=% +4 "core" % T [ +2 .tForearm.seek :retract +2 "manipulator"& '\ +101 "core" ' +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&j(D +254 "core" ( + "manipulator"&Y& +4 "core" &M F k +2 "storage"(A& +4 "core" &\ \  (  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&' +95 "core" ' + .tHand.open + "manipulator"&.1 +55 "core" 1 +2 "storage"(2- +4 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate +2 "storage"(' +20 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(S' +51 "core" ' +2 #tLights, camera, ACTION! + "storage"(y- +4 "core" -' + "storage"(u& +4 "core" &   +2 "manipulator"&O& +3 "core" &M w k +2 .tElbow.seek 3 +2 "manipulator"&q(D +3 "core" ( +2 "manipulator"&& +3 "core" &M O k +2 "storage"(& +4 "core" & J  +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&t' +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.11 Pucks below Top Plate + "storage"(T'M +60 "core" ' + "manipulator"&& +4 "core" &M  k +2 "storage"(& +4 "core" &\ \ \   +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&|'M +30 "core" ' +2 .tElbow.hold + "manipulator"&Q, +5 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"(k'7 +23 "core" ' +2 "manipulator"&]% +4 "core" %_i & % ` Ƕ +2 "storage"(_& +4 "core" &  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 318 counts + "manipulator"&#'ϋ +20 "core" ' +2 "manipulator"&6& +4 "core" &7 j b J # + "storage"(7& +4 "core" &\ \  |  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&'' +13 "core" ' + "storage"(E% +5 "core" %A\ \  S +2 ."downElevator"SE.seek :down +4 "storage"(V'N +99 ("% +3 "core" %,K\  2 NA + "manipulator"&@% +4 "core" % t i 3 +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&+'\ +92 "core" ' +57 ' + ."downElevator"SE.stop + "storage"(5 +3 (b& +4 "core" & \  =  + "collection"'& +4 "core" &]Y   B +2 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&(% +4 "core" %\ 0  $l +2 "storage"(z% +3 "core" %B\ \ \ \  +2 "storage"(. +3 "core" .( +2 "storage"(& +3 "core" &\ \ \ \ f  +2 "storage"(h& +4 "core" &\ \ \ \ ~  +2 "manipulator"&o& +3 "core" &7 > # +2 .tElbow.seek 3 +2 "manipulator"&m(D +17 "core" ( +2 "manipulator"&W& +4 "core" &C  , + "storage"( & +4 "core" &\ \ \ +  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&3' +92 "core" ' + "storage"(& +5 "core" &\ \  0  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(g'e +287 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +2 "core" &N  * +2 "storage"(Z& +4 "core" & \  m  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 + "manipulator"&f'M +33 "core" ' +2 .tElbow.hold + "manipulator"&$, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(X- +2 "core" -' +3 .tSE.seek 0.11 Pucks below Top Plate + "storage"(B'j +36 "core" ' +2 "manipulator"&% +4 "core" %^W ' 2 K ̱ + "storage"( & +4 "core" &   + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 3 + 317 counts + "manipulator"&^'ϊ +13 "core" ' + "manipulator"&8& +4 "core" &\\ w m h ( +2 "storage"(i& +4 "core" &\ \    +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&l' +21 "core" ' +2 .tSE.seek 1.11 Pucks below Top Plate +2 "storage"(\\'Y +39 "core" ' + "manipulator"&& +4 "core" &\\ f d  ( +2 "manipulator"&c% +4 "core" % | P  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&<'\ +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&*( +145 "core" ( + "manipulator"&-& +4 "core" &  9 , +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &v& +3 "core" &  k , +2 .tForearm.seek CC + "manipulator"&I'| +97 "core" ' +2 .tHand.close + "manipulator"&R/ +61 "core" / +2 .tCC.seek :open +2 "collection"'J(p +410 "core" ( +2 "storage"(K& +4 "core" &\ !\ !  + "storage"(G& +4 "core" &\ \   +2 "manipulator"&>& +3 "core" &   , +2 "manipulator"&4% +4 "core" % z   +2 .tForearm.seek :retract +2 "manipulator"&'\ +92 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&e(D +167 "core" ( + "manipulator"&a& +4 "core" &8\  _ +2 "storage"(& +3 "core" &\ \  Q  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 + "manipulator"&\ 'M +113 "core" ' + .tElbow.hold +2 "manipulator"&/, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&N1 +61 "core" 1 +2 "manipulator"&w% +5 "core" % _w  0 ĺ3 + "storage"(%& +4 "core" &\ \   + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 3 + 318 counts +2 "manipulator"&'ϋ +20 "core" ' +2 "manipulator"&C& +4 "core" &<\ \\ p s [ + "storage"(`& +4 "core" &\ %\ 5 N  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&' +12 "core" ' +2 "storage"(d% +4 "core" %]\ C\ B Z +2 ."downElevator"SE.seek :down +4 "storage"(,'N +98 (;% +3 "core" %D\ \  F N? +2 "manipulator"&x% +4 "core" % o k  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +86 "core" ' +51 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 2 of [2..3] + #Loading generic puck from tube 2 into Collection Clamp +2 "collection"'&& +4 "core" & \  +2 "manipulator"&s% +4 "core" %\ . e #d +2 "storage"(:% +4 "core" %6\ !\  7 + "storage"(. +4 "core" .( +51 .tSC.reconfigure :tight +4 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"(P(  +354 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (& +2 "core" &  \  $ +2 "manipulator"& & +4 "core" &<\ n [ +2 .tElbow.seek 2 + "manipulator"&L(; +4 "core" ( + "manipulator"& & +4 "core" &<\ | [ + "storage"(0& +4 "core" & \ !\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&5'Ѐ +100 "core" ' +2 "storage"()& +4 "core" & \ C\ B +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(M'e +273 "core" ' + "storage"(~- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (F& +3 "core" & \ \  +2 "manipulator"&D& +3 "core" &<\ p p  [ +2 .tElbow.seek 2 +2 "manipulator"&H(; +3 "core" ( +2 "manipulator"&[& +4 "core" &<\ x Y [ + "storage"(}& +4 "core" & \ 0\ $ * +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&9' +21 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +62 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&1& +2 "storage"(!'N +7 "core" &<\  [ +2 "manipulator"&{% +4 "core" %   +2 .tForearm.seek :retract +2 "manipulator"&?'\ +97 "core" ' +2 .tElbow.seek CC +2 "manipulator"&=( +147 "core" ' + ."downElevator"SE.stop + "storage"(5 +5 "core" ( +2 "manipulator"&U& +4 "core" &&  =C + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" && & =C +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&Y'| +115 "core" ' +2 "manipulator"&A& +4 "core" && ' =B +2 "manipulator"&n% +4 "core" %q  +2 "collection"'.& +4 "core" &  +2 "collection"'2& +5 "core" &  +2 .tCC.seek :closed + "collection"'y(] +5 "core" &  +7 &A  #c +9 &}[  6 +10 & \  G +9 &c  F +10 &rl  G +9 &3j  G +9 & g  G +10 &"m  G +9 &$zh  G +9 &&=g \  F +10 &'h  F +9 &)g \  G +10 &+h  G +9 &-Ee  F +9 &/i  F +10 &0g  G +9 &2g | G +9 &4Mg z F +10 &6h \ x F +9 &7l } G +10 &9h | G +9 &;Ue z F +9 &=g u G +10 &>k { F +9 &@h z F +9 &B\\k \ \ k G +10 &Dk p G +9 &Ej r G +10 &Gh \ q G +9 &I`x q H +9 &K s J +10 &L  s N +9 &N | O +9 &PQ  x P +10 &R  m Q +9 &S  l Q +9 &U  j T +10 &WS  u R +9 &Y  w S +10 &Z  h S +9 &\\  m E +9 &]o$  p 'r +10 &] u  v A +5 ( +2 "collection"'2& +4 #tCollection Clamp onSpring/offSpring for 9/25 samples, on/off torque 1.90 + .Hand.open +2 "manipulator"&u1 +3 "core" &]P  q A +55 1 +2 "manipulator"&O% +5 "core" % q  + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +90 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp +6 "processing"%& +4 "core" &H +2 "manipulator"& % +4 "core" %\ ,  "] + "storage"(% +4 "core" %T \ o  +2 "storage"(. +3 "core" .(  + "storage"(]& +4 "core" &  \  * + "storage"(_& +4 "core" & \ \   +2 "manipulator"&& +3 "core" &$  ;8 +2 "manipulator"&% +4 "core" %\ ,  "] +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&6(; +170 "core" ( + "manipulator"&7& +4 "core" &4 @ L +2 "storage"(E& +3 "core" & \  + +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&j'Ѐ +103 "core" ' + "storage"(& +4 "core" & \ \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(S'e +278 "core" ' + "storage"("- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (@& +3 "core" &  \  , +2 "manipulator"&t& +3 "core" &5 o p K +2 .tElbow.seek 2 + "manipulator"&q(; +4 "core" ( + "manipulator"&T& +4 "core" &5 q v  K + "storage"(|& +4 "core" & \ \  +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&b' +14 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +55 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&#& +2 "storage"(('N +7 "core" &5 % K +2 "manipulator"&z% +4 "core" %  3 +2 .tForearm.seek :retract + "manipulator"&'\ +91 "core" ' +2 .tElbow.seek PC + "manipulator"&(c +158 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +91 "core" ( + "manipulator"&k& +4 "core" &j  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &h& +3 "core" &j  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&o'[ +106 "core" ' +2 "manipulator"&W& +4 "core" &j P e +2 "manipulator"& % +3 "core" %Q b `  y +2 "processing"%'& +4 "core" &X +2 "processing"%& +6 "core" &[ +2 .tPC.seek :closed + "processing"%V(Z +5 "core" &M +7 &=H #b +10 &z\\B 6 +9 &A G +9 &c@ F +10 &ogE G +9 &2fL F +9 & iF F +10 &"eD F +9 &$wgE G +10 &&9jH G +9 &'hG G +9 &)jF F +10 &+gK F +9 &-CjO F +9 &/lI G +10 &0gI F +9 &2mL G +10 &4JiL F +9 &6 gM G +9 &7jN G +10 &9fO F +9 &;QnK G +9 &=jM F +10 &>kL F +9 &@hO G +10 &BZgL F +9 &DhK F +9 &EjJ G +10 &GsA H +9 &I]|I H +9 &KH J +10 &LJ L +9 &NN M +10 &PZI L +9 &RG M +9 &SJ M +10 &UJ M +9 &W`G M +9 &Y"E F +10 &ZSCC "d +9 &Z)D ( +6 ( + "processing"%& +5 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.51 + .Hand.open + "manipulator"&Q1 +4 "core" &ZJ ( +56 1 +2 "manipulator"&+% +4 "core" % X & r +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +91 "core" ' +2 "processing"%& +4 "core" &ZH ( + #tImaging generic puck in Processing Clamp while storing it to tube 2 +2 "manipulator"&Z% +4 "core" %\ *  !M + "storage"(X% +4 "core" %>\ \ P +2 "storage"(. +3 "core" .(  + "storage"( & +4 "core" & \   +2 "storage"(8& +4 "manipulator"&i& +4 "core" & \ \ \ \  + &j  +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +2 "storage"(#]kK-0-\ b +3 .tElbow.seek PC +4 "manipulator"&(c +3 ."raiseStack"SE.seek :beamBreak +2 "storage"(c'e +2 "core" ( +2 "manipulator"&3& +4 "core" &j  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &m& +3 "core" &j  +2 .tForearm.seek PC + "manipulator"&g'[ +95 "core" ' +2 .tHand.close + "manipulator"&f/ +64 "core" / +2 .tPC.seek :open +2 "processing"%^(p +83 "core" ' + "storage"(-- +4 "core" -'e + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +2 ."raiseStack"SE.seek :place +2 "storage"(B'B +38 "core" ' +256 ( + "storage"(v& +5 "core" & \ \  + "manipulator"&l& +4 "core" &j  +2 "manipulator"&$% +3 "core" % m   +2 .tForearm.seek :retract +2 "manipulator"&R'\ +91 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&<(; +254 "core" ( +2 "manipulator"&& +4 "core" &4 S !p +2 "storage"(K& +3 "core" & \ \ \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&G'Ѐ +109 "core" ' + .tHand.open + "manipulator"&>1 +52 "core" 1 +2 "storage"(4- +4 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate + "storage"(a' +23 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(' +50 "core" ' +53 #tLights, camera, ACTION! +2 "storage"(I- +4 "core" -' + "storage"(*& +4 "core" &  * +2 "manipulator"&N& +4 "core" &4  !p +2 .tElbow.seek 2 + "manipulator"&w(; +4 "core" ( + "manipulator"&%& +4 "core" &4  !p +2 "storage"(C& +3 "core" &  I +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&`'Ѐ +18 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.11 Pucks below Top Plate + "storage"(d'M +58 "core" ' + "manipulator"&& +5 "core" &4  !p + "storage"(;& +4 "core" & \ \  D +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&x'ξ +35 "core" ' +2 .tElbow.hold + "manipulator"&e, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.07 Pucks below Top Plate + "storage"(\ '7 +21 "core" ' + "manipulator"&&% +5 "core" %e #  ; ǵ + "storage"(s& +4 "core" &  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 2 + 317 counts + "manipulator"&:' +19 "core" ' +2 "manipulator"&& +4 "core" &8 q s E l +2 "storage"(& +4 "core" & \ \  } +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&\\'Ѐ +17 "core" ' + "storage"(% +5 "core" %=\ \  +2 ."downElevator"SE.seek :down +4 "storage"(,'N +99 (r% +3 "core" %F\ \ \ \ N@ +2 "manipulator"&% +4 "core" %Ђ ` e  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"& '\ +91 "core" ' +59 ' + ."downElevator"SE.stop +2 "storage"(5 +2 ( & +4 "core" &  \ \ c +2 "collection"'0& +4 "core" &]P  p A +2 #tStoring generic puck in Collection Clamp to tube 2 + "manipulator"&)% +4 "core" %\ 1  $n + "storage"(/% +4 "core" %J \ P  +2 "storage"(. +3 "core" .(  + "storage"(~& +4 "core" & \ \  Q + "storage"(F& +4 "core" &  \  j +2 "manipulator"&D& +4 "core" &8 C l +2 .tElbow.seek 2 + "manipulator"&[(; +4 "core" ( + "manipulator"&}& +4 "core" &8 < l +2 "storage"(& +3 "core" & \ \ . +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&1'Ѐ +107 "core" ' +3 "storage"({& +4 "core" & \ \ - +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(L'e +278 "core" ' +2 "storage"(5- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&U& +2 "core" &8 n o 7 l +2 "storage"(& +4 "core" & \ \  @ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&M'ξ +36 "core" ' + .tElbow.hold +2 "manipulator"&9, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(A- +3 "core" -' +2 .tSE.seek 0.12 Pucks below Top Plate +2 "storage"(H'r +29 "core" ' + "manipulator"&n% +4 "core" %^ % # W dz +2 "storage"(.& +3 "core" &  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 2 + 318 counts +2 "manipulator"&!' +18 "core" ' +2 "manipulator"&?& +4 "core" &: t \\ j +2 "storage"(J& +3 "core" & \ \  X +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&u'Ѐ +15 "core" ' +2 .tSE.seek 1.12 Pucks below Top Plate + "storage"(O'a +48 "core" ' +2 "manipulator"&& +4 "core" &: p o j +2 "manipulator"& % +4 "core" %l p o  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +87 "core" ' +2 .tElbow.seek CC +2 "manipulator"&( +141 "core" ( +2 "manipulator"&]& +4 "core" &  / +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &2& +3 "core" & \ / +2 .tForearm.seek CC + "manipulator"&_'| +101 "core" ' + .tHand.close +2 "manipulator"&/ +55 "core" / + .tCC.seek :open +2 "collection"'(p +414 "core" ( + "storage"(Y& +5 "core" & \ \ + "storage"(7& +4 "core" & \ \  + "manipulator"&E& +4 "core" & N / + "manipulator"&% +4 "core" % a + +2 .tForearm.seek :retract + "manipulator"&='\ +96 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&(; +172 "core" ( + "manipulator"&"& +5 "core" &5\ ` V + "storage"(@& +4 "core" & \ \  a +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 2 + "manipulator"&t'ξ +112 "core" ' +2 .tElbow.hold + "manipulator"&T, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&|1 +63 "core" 1 +2 "manipulator"&% +5 "core" % t   ù% + "storage"(#& +4 "core" & \ \ \  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 318 counts + "manipulator"&z' +19 "core" ' +2 "manipulator"&6& +4 "core" &8\ u [ S + "storage"(j& +4 "core" & \ 8\ 5 ; +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts + "manipulator"&S'Ѐ +17 "core" ' +2 "storage"(b% +4 "core" %g\ A\ ? F +3 ."downElevator"SE.seek :down +3 "storage"(k'N +98 (h% +3 "core" %H\ \  N@ +2 "manipulator"&q% +4 "core" %} p p +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&W'\ +87 "core" ' +58 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 3 of [2..3] + #Loading generic puck from tube 3 into Collection Clamp +2 "collection"' & +4 "core" &  +2 "manipulator"&'% +4 "core" %\ *  !T + "storage"((% +4 "core" %O\ \  g +2 "storage"(. +3 "core" .(  + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(( +363 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (Q& +3 "core" &\ \   +2 "manipulator"&+& +3 "core" &9\  R +2 .tElbow.seek 3 + "manipulator"&(D +14 "core" ( +2 "manipulator"&Z& +4 "core" &A h "{ + "storage"(X& +4 "core" &\ !\ !   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&' +117 "core" ' +2 "storage"( & +4 "core" &\ 8\ 5 P  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(i'e +281 "core" ' + "storage"(8- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" &\ \   +2 "manipulator"&3& +3 "core" &B  "z +2 .tElbow.seek 3 + "manipulator"&m(D +4 "core" ( + "manipulator"&o& +4 "core" &B $ "z +2 "storage"(f& +3 "core" &\ \  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&-'y +11 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +58 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& + "storage"(V'N +7 "core" &B & "z + "manipulator"&v% +4 "core" % p  , +2 .tForearm.seek :retract +2 "manipulator"&c'\ +98 "core" ' + .tElbow.seek CC +2 "manipulator"&l( +145 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +10 "core" ( + "manipulator"&$& +4 "core" & % <= +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &g& +2 "core" & %  <= +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&'| +178 "core" ' +3 "manipulator"&K& +4 "core" & %  <= +2 "manipulator"&% +4 "core" %u ) +2 "collection"'>& +4 "core" &  +2 "collection"'4& +5 "core" &  +2 .tCC.seek :closed +2 "collection"'I(] +4 "core" &  +6 &C \  #c +9 &v\\ \  6 +10 &   G +9 &h \  F +10 &mk  G +9 &/m  G +10 & j  F +9 &"o  F +9 &$vi \  F +9 &&7m  G +10 &'j  G +9 &)i v G +10 &+g \ } F +9 &-@l  F +9 &/m  G +10 &0k  G +9 &2g \  G +9 &4Gk  G +10 &6\ h  F +9 &7h  G +10 &9j  G +9 &;Oj  G +9 &=k  G +10 &>k | G +9 &@f \  F +9 &BWh  G +10 &Dj g G +9 &Eg t G +10 &Gh f G +9 &I[x w H +9 &K o L +10 &L m O +9 &N  k O +9 &PK  g P +10 &R  y P +9 &S  j R +10 &U  s Q +9 &WM  n R +9 &Y  m S +10 &Z  m T +9 &\\  l @ +9 &]t+  l $j +10 &]\\  u A +2 ( +2 "collection"'4& +3 #tCollection Clamp onSpring/offSpring for 10/25 samples, on/off torque 1.88 + .Hand.open +2 "manipulator"&R1 +59 "core" 1 +2 "manipulator"&*% +5 "core" % u  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&N'\ +92 "core" ' + #tLoading generic puck from tube 3 into Processing Clamp +2 "processing"%%& +4 "core" &9 +2 "manipulator"&C% +3 "core" %\ *  !M +2 "storage"(% +4 "core" %? \  o  + "storage"(;. +3 "core" .( +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(B( +22 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (a& +3 "core" &\ \ E +2 "manipulator"&&& +4 "core" &#  ;8 + "manipulator"&s% +4 "core" %\ * # !M +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&(D +168 "core" ( + "manipulator"&& +4 "core" &=  # +2 "storage"(& +4 "core" & \  T +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&<' +95 "core" ' + "storage"(G& +4 "core" &\ \   +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"('e +278 "core" ' + "storage"(r- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (& +3 "core" &\ \ \ 6 +2 "manipulator"&`& +3 "core" &=  # +2 .tElbow.seek 3 + "manipulator"&w(D +4 "core" ( + "manipulator"&d& +4 "core" &=  # + "storage"(x& +4 "core" & \ \ " +2 .tForearm.seek 3 + 300 counts + "manipulator"& 'y +11 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&:/ +55 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&0& +2 "storage"()'N +8 "core" &= G # +2 "manipulator"&/% +4 "core" % r   +2 .tForearm.seek :retract + "manipulator"&'\ +99 "core" ' +2 .tElbow.seek PC +2 "manipulator"&~(c +148 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +103 "core" ( + "manipulator"&\ & +5 "core" &h % +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &F& +2 "core" &h p +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC + "manipulator"&D'[ +107 "core" ' + "manipulator"&}& +5 "core" &h b 1 + "manipulator"&% +4 "core" %Q } f g +2 "processing"%\\& +3 "core" &R +2 "processing"%{& +5 "core" &T +2 .tPC.seek :closed +2 "processing"%,(Z +4 "core" &U +7 &DU #c +9 &}^Q 7 +10 &O G +9 &gG G +10 &yjA G +9 &<jD F +9 & h? G +10 &"e@ F +9 &$lF F +9 &&CkB G +10 &(h: G +9 &)iH G +10 &+kN F +9 &-KgL G +9 &/ kE G +10 &0gJ G +9 &2lH F +9 &4TfN F +10 &6hM F +9 &7lL F +10 &9fL G +9 &;\\lL F +9 &=kJ G +10 &>lI G +9 &@jK G +9 &BcgK G +10 &D&kI F +9 &EgF G +10 &Go? G +9 &IfyI H +9 &K%J J +10 &LJ K +9 &NL M +9 &PbN M +10 &R$K M +10 &SG L +9 &UE M +9 &WiH M +10 &Y*; C +9 &Z]P9 [ +9 &Z"9 * +2 ( +2 "processing"%{& +3 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.47 + .Hand.open +2 "manipulator"&e1 +52 "core" 1 + "manipulator"& % +4 "core" % V n  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&5'\ +90 "core" ' +2 "processing"%U& +4 "core" &ZJ * +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&% +4 "core" %\ . ~ #i +2 "storage"(A% +3 "core" %8\ \  +2 "storage"(n. +3 "core" .( + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(.( +6 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (?& +2 "manipulator"&J& +7 "core" &\ \ + &h x +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +6 "manipulator"&$&.,(\ #b +2 "storage"(#]kK-0-\ b +2 .tElbow.seek PC +5 "manipulator"&(c +3 ."raiseStack"SE.seek :beamBreak +2 "storage"( 'e +3 "core" ( + "manipulator"&1& +4 "core" &h + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &[& +3 "core" &h 6 +2 .tForearm.seek PC +2 "manipulator"&L'[ +95 "core" ' +2 .tHand.close + "manipulator"&M/ +61 "core" / +2 .tPC.seek :open +2 "processing"%!(p +86 "core" ' +2 "storage"(H- +3 "core" -'e + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(]'B +34 "core" ' +256 ( + "storage"(2& +5 "core" &\ \  + "manipulator"&u& +4 "core" &h  + "manipulator"&9% +4 "core" % X +2 .tForearm.seek :retract +2 "manipulator"&'\ +92 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&(D +257 "core" ( +2 "manipulator"&y& +4 "core" &B > $ + "storage"(Y& +4 "core" & \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&7' +103 "core" ' + .tHand.open +2 "manipulator"&E1 +53 "core" 1 +2 "storage"(- +4 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate + "storage"("' +26 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.83 Pucks below Top Plate + "storage"(@' +51 "core" ' +2 #tLights, camera, ACTION! + "storage"(_- +4 "core" -' + "storage"(& +4 "core" &  +2 "manipulator"&|& +3 "core" &B 2 $ +2 .tElbow.seek 3 +2 "manipulator"&(D +3 "core" ( + "manipulator"&#& +4 "core" &B " $ +2 "storage"(6& +3 "core" &  +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&j' +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.11 Pucks below Top Plate + "storage"(b'M +60 "core" ' + "manipulator"&=& +4 "core" &B d ~ K $ +2 "storage"(h& +4 "core" &\ I + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&q'M +33 "core" ' + .tElbow.hold + "manipulator"&, +5 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"(t'7 +25 "core" ' +2 "manipulator"& % +4 "core" %a] 3 + k ʳ +2 "storage"(z& +4 "core" & ] + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 3 + 320 counts +2 "manipulator"&''ύ +20 "core" ' + "manipulator"&(& +5 "core" &H q O 1 # + "storage"(& +4 "core" &\ \   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&O' +13 "core" ' + "storage"(S% +5 "core" %<\ \  $ +2 ."downElevator"SE.seek :down +4 "storage"(k'N +99 (P% +3 "core" %N\ \ OC + "manipulator"&Q% +57 "core" % g g e  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&+'\ +88 "core" ' +6 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (Z& +4 "core" &\ \ \ + +2 "collection"'X& +4 "core" &]Y   A +2 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"& % +4 "core" %\ + p !W +2 "storage"(T% +4 "core" %@\  Z  + "storage"(W. +4 "core" .( + "storage"(8& +4 "core" & \  M + "storage"(& +4 "core" &\  M +2 "manipulator"&3& +4 "core" &H J # +2 .tElbow.seek 3 +2 "manipulator"&o(D +3 "core" ( + "manipulator"&f& +4 "core" &H r # +2 "storage"(& +3 "core" &\  o +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&' +94 "core" ' + "storage"(v& +5 "core" &\ \  ] +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"('e +274 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&$& +3 "core" &I # +2 "storage"(g& +4 "core" & \  g + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 + "manipulator"&i'M +33 "core" ' +2 .tElbow.hold + "manipulator"&-, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(m- +2 "core" -' +3 .tSE.seek 0.11 Pucks below Top Plate + "storage"(K'j +28 "core" ' +2 "manipulator"&% +9 "core" %^W 4 4 \ ˱ + "storage"(>& +4 "core" &  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 3 + 317 counts +2 "manipulator"&V'ϊ +12 "core" ' + "manipulator"&c& +4 "core" &= u \\  % +2 "storage"(& +4 "core" &\ \  n +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&R' +18 "core" ' +2 .tSE.seek 1.11 Pucks below Top Plate +2 "storage"(*'Y +48 "core" ' + "manipulator"&%& +5 "core" &= ` a  % + "manipulator"&C% +4 "core" % e f   +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +91 "core" ' + .tElbow.seek CC +2 "manipulator"&;( +154 "core" ( +2 "manipulator"&4& +4 "core" && H >M + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &a& +3 "core" && O >M +2 .tForearm.seek CC + "manipulator"&&'| +99 "core" ' +2 .tHand.close + "manipulator"&s/ +54 "core" / + .tCC.seek :open +2 "collection"'(p +411 "core" ( + "storage"(& +4 "core" &\ \  q +2 "storage"(& +3 "core" &\ \  +2 "manipulator"&& +4 "core" &) A 8 + "manipulator"&G% +4 "core" % ς ) +2 .tForearm.seek :retract +2 "manipulator"&l'\ +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&N(D +172 "core" ( + "manipulator"&r& +4 "core" &D f k +2 "storage"(& +4 "core" &\ \  Y +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 + "manipulator"&`'M +106 "core" ' + .tElbow.hold +2 "manipulator"&d, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&x1 +59 "core" 1 +3 "manipulator"&:% +4 "core" % ` * \ r + "storage"(0& +4 "core" &\ \ \ B +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 3 + 319 counts +2 "manipulator"&/'ό +17 "core" ' +2 "manipulator"&& +4 "core" &F Z i ? i + "storage"(<& +4 "core" &\ \ ' K +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&' +16 "core" ' +2 "storage"( % +4 "core" %^\ B\ 8 + +2 ."downElevator"SE.seek :down +4 "storage"(\ 'N +98 (F% +3 "core" %E\ \  x N? +2 "manipulator"&w% +4 "core" % p o ] +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&}'\ +95 "core" ' +44 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 2 of [2..3] + #Loading generic puck from tube 2 into Collection Clamp +2 "collection"'& +4 "core" & \ ~ + "manipulator"&\\% +4 "core" %\ 6 @ & +2 "storage"()% +4 "core" %>\ \  Y  +2 "storage"(. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"(^(  +360 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (e& +2 "core" & \ \ +2 "manipulator"& & +4 "core" &F L i + .tElbow.seek 2 +2 "manipulator"&U(; +15 "core" ( +2 "manipulator"&& +4 "core" &F   +2 "storage"(A& +3 "core" & \ \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&n'Ѐ +101 "core" ' + "storage"(?& +4 "core" & \ B\ B w +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(J'e +278 "core" ' + "storage"({- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (1& +3 "core" & \ \  w +2 "manipulator"&[& +3 "core" &F e a 1  +2 .tElbow.seek 2 + "manipulator"&D(; +4 "core" ( +2 "manipulator"&M& +4 "core" &F s X -  +2 "storage"(B& +3 "core" & \ ?\ B  +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&H' +14 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&~/ +57 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&5& +2 "storage"(,'N +7 "core" &F A  +2 "manipulator"&2% +4 "core" % u Z N +2 .tForearm.seek :retract + "manipulator"&u'\ +97 "core" ' + .tElbow.seek CC +2 "manipulator"& ( +143 "core" ( +2 "manipulator"&9& +5 "core" &\   . ' +2 .tElbow.reconfigure :loose +2 ."downElevator"SE.stop +4 "manipulator"&$ &.,(#b + "storage"(5 +2 "manipulator"&L& +6 "core" &\   . +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&y'| +107 "core" ' +2 "manipulator"&Y& +4 "core" &\   . +2 "manipulator"&% +4 "core" %w  +2 "collection"'E& +4 "core" &  +2 "collection"'& +5 "core" &  +2 .tCC.seek :closed +2 "collection"'_(] +5 "core" &  +6 &1  "_ +10 &xY  4 +9 &  G +9 &e  F +10 &_j s G +9 &"m  F +10 & h  G +9 &"g  F +9 &$hh  F +10 &&)h  G +9 &'l  F +9 &)i } F +10 &+pk | F +9 &-2g p F +10 &.h  F +9 &0m z G +9 &2xk ~ F +10 &49g  G +9 &5h w G +9 &7g \ } F +10 &9h q F +9 &;Bj p F +10 &=k \ h F +9 &>g t G +9 &@f g F +10 &BJh e F +9 &D h q F +9 &Ek e G +10 &Gn d G +9 &INt i H +10 &K  j J +9 &L k N +9 &N~  d O +10 &P=  s P +9 &Q  m P +9 &S  s Q +10 &U{  m S +9 &WA  v R +9 &Y  ` S +10 &Z  d U +9 &\\z  w C +10 &]n-  t %n +9 &]T  m @ +2 ( +2 "collection"'& +3 #tCollection Clamp onSpring/offSpring for 10/25 samples, on/off torque 1.93 + .Hand.open +2 "manipulator"&1 +63 "core" 1 + "manipulator"&|% +4 "core" % w ~  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&#'\ +96 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%6& +4 "core" &K +2 "manipulator"&% +4 "core" %\ 3  %z + "storage"(=% +4 "core" %E\ \ \ \  + "storage"(h. +4 "core" .(  + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 2 + "storage"( (  +4 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (]& +4 "core" &   + "manipulator"&z& +4 "core" &\   . +2 "manipulator"&"% +3 "core" %\ 3 2 %z +2 .tElbow.reconfigure :tight +54 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&((; +163 "core" ( +2 "manipulator"&& +4 "core" &2 p  + "storage"(S& +4 "core" & \  D +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&'Ѐ +94 "core" ' +2 "storage"(7& +4 "core" & \ \   +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(@'e +276 "core" ' +2 "storage"(P- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (Q& +2 "core" &  \  : +2 "manipulator"&j& +4 "core" &2   + .tElbow.seek 2 +2 "manipulator"&(; +4 "core" ( + "manipulator"&b& +4 "core" &2 j C  + "storage"(q& +4 "core" & \ \   +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&Z' +20 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&X/ +65 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&'& +2 "storage"( 'N +7 "core" &2 o n  +2 "manipulator"&T% +4 "core" % p o +2 .tForearm.seek :retract +2 "manipulator"&W'\ +95 "core" ' +2 .tElbow.seek PC +2 "manipulator"&8(c +157 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +91 "core" ( +2 "manipulator"&t& +4 "core" &e + + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &e q +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC + "manipulator"&3'[ +106 "core" ' +2 "manipulator"&f& +4 "core" &e . +2 "manipulator"&% +3 "core" %d F +2 "processing"%v& +4 "core" &d +2 "processing"%O& +6 "core" &V +2 .tPC.seek :closed +2 "processing"%k(Z +4 "core" &I +7 &=R #b +10 &w]B 6 +9 &B H +9 &gA F +10 &kkA G +9 &.eG F +10 & hG G +9 &"hA F +9 &$tgG F +10 &&5kJ G +9 &'jU G +9 &)iJ G +10 &+{eL G +9 &->eK F +10 &.iK G +9 &0jL G +9 &2kO G +10 &4FjI F +9 &6gO F +9 &7kO G +10 &9cL F +9 &;NhM F +9 &=gG F +10 &>jP F +9 &@hJ F +10 &BVgJ F +9 &DkO G +9 &EhI G +10 &GqG H +9 &IW{L I +9 &KN K +10 &L= L +9 &NG L +10 &PUL L +9 &RH L +9 &S; M +10 &UF M +9 &W[7 M +9 &Y@ H +10 &ZP=s5 )v +10 &Z#9 " +5 ( + "processing"%O& +5 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.52 + .Hand.open + "manipulator"&1 +4 "core" &Z8 " +50 1 + "manipulator"&+% +5 "core" % d  + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +94 "core" ' +2 "processing"%$& +4 "core" &Z; " + #tImaging generic puck in Processing Clamp while storing it to tube 2 +2 "manipulator"&g% +3 "core" %\ , T "] +2 "storage"(m% +4 "core" %E\ \  +2 "storage"(. +3 "core" .(  +2 "storage"(>& +3 "core" & \ ' +2 "storage"(c& +5 "manipulator"&& +3 "core" & \  +2 &e  +2 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +3 "storage"(#]kK-0-\ b +2 "manipulator"&%(c +5 ."raiseStack"SE.seek :beamBreak + "storage"(C'e +3 "core" ( + "manipulator"&& +4 "core" &e  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &o& +3 "core" &e E +2 .tForearm.seek PC + "manipulator"&'[ +96 "core" ' + .tHand.close + "manipulator"&i/ +60 "core" / +2 .tPC.seek :open +2 "processing"%V(p +90 "core" ' +2 "storage"(K- +3 "core" -'e + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place + "storage"(4'B +37 "core" ' +250 ( + "storage"(a& +4 "core" &  \  f +2 "manipulator"&R& +4 "core" &e + "manipulator"&-% +4 "core" % d +2 .tForearm.seek :retract + "manipulator"&s'\ +96 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 + "manipulator"&(; +255 "core" ( + "manipulator"&I& +5 "core" &6 V # + "storage"(& +4 "core" & \ \ \ S +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&'Ѐ +97 "core" ' + .tHand.open + "manipulator"&1 +60 "core" 1 +2 "storage"(G- +4 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate + "storage"(r' +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.83 Pucks below Top Plate + "storage"(' +52 "core" ' + #tLights, camera, ACTION! + "storage"(&- +4 "core" -' + "storage"(;& +84 "core" &  a +2 "manipulator"&x& +4 "core" &6 * # + .tElbow.seek 2 +2 "manipulator"&:(; +3 "core" ( +2 "manipulator"&0& +4 "core" &6 _ # + "storage"(& +4 "core" &  2 +2 .tForearm.seek 2 + 450 counts + "manipulator"&<'Ѐ +17 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.11 Pucks below Top Plate + "storage"( 'M +61 "core" ' + "manipulator"&l& +4 "core" &6 d ` C # +2 "storage"(F& +4 "core" & \ \  x +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&w'ξ +35 "core" ' +2 .tElbow.hold +2 "manipulator"&N, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"(`'7 +22 "core" ' +2 "manipulator"&% +4 "core" %q  P Ÿ + "storage"(\\& +4 "core" &  j +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 318 counts + "manipulator"&/' +21 "core" ' +2 "manipulator"&)& +4 "core" &@ \\ j R !w +2 "storage"(& +4 "core" & \ \  ' +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&*'Ѐ +15 "core" ' +2 "storage"(% +4 "core" %>\ \  +2 ."downElevator"SE.seek :down +4 "storage"(\ 'N +99 (.% +2 "core" %N\ \  PC +2 "manipulator"&e% +4 "core" %z f ` 1 +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"& '\ +88 "core" ' +64 ' + ."downElevator"SE.stop + "storage"(5 +3 (& +4 "core" &  \  +2 "collection"'A& +4 "core" &]P  g @ + #tStoring generic puck in Collection Clamp to tube 2 +2 "manipulator"&?% +3 "core" %\ , W "` +2 "storage"(d% +4 "core" %N \  q \ +2 "storage"(}. +3 "core" .(  + "storage"({& +4 "core" &  o + "storage"(1& +4 "core" &  +2 "manipulator"&[& +3 "core" &@ e !w +2 .tElbow.seek 2 +2 "manipulator"&M(; +3 "core" ( +2 "manipulator"&B& +3 "core" &@ Z !w +2 "storage"(~& +4 "core" & \  P +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&5'Ѐ +103 "core" ' +2 "storage"(2& +4 "core" & \ \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(U'e +287 "core" ' + "storage"(n- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&9& +3 "core" &@ o l !w +2 "storage"(L& +3 "core" & \ \   +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&J'ξ +33 "core" ' +2 .tElbow.hold + "manipulator"&H, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(Y- +2 "core" -' +3 .tSE.seek 0.12 Pucks below Top Plate + "storage"('s +29 "core" ' + "manipulator"&E% +4 "core" %e   Ƶ +2 "storage"(D& +3 "core" &  +2 .tForearm.force -20 + "manipulator"&5 +52 .tForearm.seek 2 + 319 counts +3 "manipulator"&,' +14 "core" ' +2 "manipulator"&u& +4 "core" &A t Y L !v +2 "storage"(& +4 "core" & \ \  ^ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts + "manipulator"&'Ѐ +19 "core" ' +2 .tSE.seek 1.12 Pucks below Top Plate +2 "storage"(|'b +40 "core" ' +2 "manipulator"&6& +4 "core" &A b m { !v +2 "manipulator"&% +4 "core" %Л n n +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&='\ +87 "core" ' + .tElbow.seek CC +2 "manipulator"&h( +144 "core" ( + "manipulator"&& +4 "core" &  = . +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &]& +3 "core" &   . +2 .tForearm.seek CC + "manipulator"&z'| +100 "core" ' +2 .tHand.close + "manipulator"&"/ +54 "core" / +2 .tCC.seek :open +2 "collection"'y(p +410 "core" ( + "storage"(& +4 "core" & \ \  +2 "storage"(S& +3 "core" & \ \  ^ +2 "manipulator"&^& +37 "core" &  _ . + "manipulator"&7% +5 "core" % z B +2 .tForearm.seek :retract + "manipulator"& '\ +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&#(; +165 "core" ( +2 "manipulator"&P& +4 "core" &@ G C +2 "storage"(Q& +3 "core" & \ \  r +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 2 +2 "manipulator"&j'ξ +110 "core" ' + .tElbow.hold +2 "manipulator"&b, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&q1 +52 "core" 1 +2 "manipulator"&X% +4 "core" % ; A N +2 "storage"('& +3 "core" & \ \ \ _ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 319 counts + "manipulator"&T' +20 "core" ' + "manipulator"&(& +4 "core" &@ u \\ h C +2 "storage"(& +4 "core" & \ B\ B i +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts +2 "manipulator"&@'Ѐ +17 "core" ' +2 "storage"(Z% +4 "core" %a\ B\ 7 o +2 ."downElevator"SE.seek :down +4 "storage"(t'N +98 (% +3 "core" %F\ \  N? +2 "manipulator"&% +4 "core" %u n m % +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&f'\ +86 "core" ' +52 ' + ."downElevator"SE.stop +2 "storage"(5 +2 #tShuffling pucks in tube 3 of [2..3] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"'& +5 "core" &  + "manipulator"&v% +4 "core" %\ + v !N +2 "storage"( % +4 "core" %:\ \  +2 "storage"(W. +3 "core" .(  + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(!( +355 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (& +2 "core" &\ x  +2 "manipulator"&+& +4 "core" &A  B + .tElbow.seek 3 +2 "manipulator"&$(D +3 "core" ( +2 "manipulator"&g& +3 "core" &A \ B +2 "storage"(m& +4 "core" &\ \   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&' +97 "core" ' +2 "storage"(>& +4 "core" &\ B\ ?  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('e +278 "core" ' + "storage"(c- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (O& +3 "core" &\ \  .  +2 "manipulator"&& +3 "core" &D } ? +2 .tElbow.seek 3 + "manipulator"&o(D +4 "core" ( + "manipulator"&3& +4 "core" &D  ? + "storage"(i& +4 "core" &\ \ !  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&K'y +10 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&8/ +55 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& + "storage"(k'N +7 "core" &D $ ? +2 "manipulator"&a% +3 "core" % m  , +2 .tForearm.seek :retract +2 "manipulator"&R'\ +101 "core" ' +2 .tElbow.seek CC + "manipulator"&-( +144 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +16 "core" ( + "manipulator"&C& +4 "core" &+  I A` +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &* i A` +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&I'| +110 "core" ' + "manipulator"&& +4 "core" &+  A` +2 "manipulator"&%% +4 "core" %ό  +2 "collection"'& +4 "core" &  +2 "collection"'G& +4 "core" &  +2 .tCC.seek :closed +2 "collection"'&(] +5 "core" & y \ +9 &3 \ ~ (t +9 &i  < +10 &n{  H +9 &4f  F +9 &h  F +10 &i  F +9 &!zh   F +10 &#<h  F +9 &$g  G +9 &&g { G +10 &(k  G +9 &*Ci  G +9 &,e \  G +10 &-j  F +9 &/h   F +10 &1Lh  F +9 &3h \  F +9 &4g  F +10 &6j } G +9 &8Rj { G +9 &:g \ x F +10 &;i  z F +9 &=e  s G +9 &?\\e v F +10 &Ah e G +9 &Bk k G +10 &Dj v F +9 &Fcf n G +9 &H$m h G +10 &I  c I +9 &K  d L +9 &MQ  k P +10 &O  v P +9 &P  i Q +10 &R  q Q +9 &TT  l Q +9 &V  l S +10 &W  j S +9 &Y  k T +9 &[U  k T +10 &\\w  i (| +9 &]+  o W +9 ( +3 "collection"'G& +3 #tCollection Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.91 + .Hand.open +2 "manipulator"&s1 +3 "core" &]r  z I +55 1 + "manipulator"&;% +5 "core" % ό @ + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&x'\ +97 "core" ' +96 #tLoading generic puck from tube 3 into Processing Clamp +2 "processing"%0& +4 "core" &c +2 "manipulator"&% +3 "core" %\ 6  & +2 "storage"(l% +4 "core" %C\ \ c  + "storage"(F. +3 "core" .( +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 3 + "storage"(4( +8 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (r& +3 "core" &   +2 "manipulator"&& +4 "core" &=! . 9& + "manipulator"&\\% +4 "core" %\ 6 G & +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&)(D +150 "core" ( +2 "manipulator"&& +4 "core" &N 6 + "storage"(& +4 "core" & \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&' +104 "core" ' +2 "storage"(& +4 "core" &\ \  7  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +8 .tSE.seek :beamBreak +2 "storage"('e +279 "core" ' + "storage"(.- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (e& +3 "core" &\ \ \   +2 "manipulator"&<& +3 "core" &N  +2 .tElbow.seek 3 +2 "manipulator"&:(D +3 "core" ( + "manipulator"& & +4 "core" &N < + "storage"(w& +4 "core" &\ \  n  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&'y +16 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&// +56 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&A& +2 "storage"(?'N +7 "core" &N A +2 "manipulator"&d% +4 "core" % σ ) +2 .tForearm.seek :retract +2 "manipulator"&}'\ +97 "core" ' +2 .tElbow.seek PC +2 "manipulator"&`(c +151 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +96 "core" ( + "manipulator"&{& +4 "core" &l  +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &1& +3 "core" &l 4 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&['[ +94 "core" ' + "manipulator"&B& +4 "core" &l  +2 "manipulator"&~% +4 "core" %e  +52 "processing"%*& +5 "core" &C +2 "processing"%2& +6 "core" &> +2 .tPC.seek :closed +4 "processing"%\ (Z +3 "core" &@ +5 &J 7 +9 &NS / +9 &^|L C +10 &gR F +9 &kM G +10 &iS G +9 & [fN F +9 &"gS F +10 &#hO G +9 &%eL F +9 &'bfJ G +10 &)$hK G +9 &*eL F +9 &,lI G +10 &.jhN G +9 &0,eL G +10 &1hO G +9 &3fO F +9 &5thL F +10 &75kO F +9 &8mJ G +10 &:iD G +9 &<{jF F +9 &><nG G +10 &?lB F +9 &AiG F +9 &Ck? G +10 &ECj8 G +9 &Gm8 G +10 &Hu8 H +9 &J: I +9 &LB@ J +10 &M< L +9 &O7 L +9 &Q; M +10 &SC4 M +9 &U6 L +9 &V4 L +10 &X9 M +9 &Zfz: %p +10 &Z h< - +8 ( +3 "processing"%2& +4 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.49 + .Hand.open +2 "manipulator"&N1 +3 "core" &Z> ( +59 1 + "manipulator"& % +5 "core" % e  + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&n'\ +99 "core" ' + "processing"%9& +4 "core" &ZG ( +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&L% +4 "core" %\ 8 8 ' +2 "storage"(Y% +4 "core" %F L  + "storage"(E. +3 "core" .( +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(D( +3 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (u& + "manipulator"&& +4 "core" & P  +5 ."raiseStack"SE.reconfigure :place +2 "storage"(#]kK-0-\ b +3 "core" &l O +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +2 "storage"(6'e +2 "manipulator"&(c +5 "core" ( + "manipulator"&5& +4 "core" &l x + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &M& +3 "core" &l  +2 .tForearm.seek PC + "manipulator"&U'[ +100 "core" ' + .tHand.close +2 "manipulator"&J/ +55 "core" / +2 .tPC.seek :open +2 "processing"%,(p +83 "core" ' +2 "storage"(- +3 "core" -'e + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('B +33 "core" ' +259 ( +2 "storage"(]& +4 "core" &\ \ h  +2 "manipulator"&& +4 "core" &l  + "manipulator"&H% +4 "core" % h  +2 .tForearm.seek :retract + "manipulator"&"'\ +102 "core" ' +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&=(D +258 "core" ( +2 "manipulator"&_& +4 "core" &Q g % + "storage"(& +4 "core" &\ \ N  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts + "manipulator"&S' +94 "core" ' +2 .tHand.open + "manipulator"&^1 +64 "core" 1 +2 "storage"(7- +4 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate +2 "storage"(P' +21 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(Q' +51 "core" ' +2 #tLights, camera, ACTION! + "storage"(z- +4 "core" -' + "storage"(h& +4 "core" & f  +2 "manipulator"&q& +4 "core" &Q  % +2 .tElbow.seek 3 + "manipulator"&X(D +22 "core" ( +2 "manipulator"&'& +4 "core" &N G  +2 "storage"((& +4 "core" & 1  +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&' +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.11 Pucks below Top Plate + "storage"(Z'M +60 "core" ' + "manipulator"& & +4 "core" &N d s S  +2 "storage"(& +4 "core" &\ \ \   +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&'M +33 "core" ' +2 .tElbow.hold + "manipulator"&#, +5 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"(j'7 +25 "core" ' + "manipulator"&% +5 "core" %][  " Dz + "storage"(v& +4 "core" &  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 316 counts + "manipulator"&T'ω +19 "core" ' + "manipulator"& & +5 "core" & \\ r  +2 "storage"(W& +3 "core" & \    +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&|' +11 "core" ' +2 "storage"(@% +4 "core" %@\ \  / +2 ."downElevator"SE.seek :down +4 "storage"(t'N +99 ( % +3 "core" %L\ \  OD + "manipulator"&% +4 "core" % i c - +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&+'\ +93 "core" ' +54 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (g& +3 "core" &\ \  f  +2 "collection"'m& +4 "core" &]s  s I + #tStoring generic puck in Collection Clamp to tube 3 +2 "manipulator"&>% +4 "core" %\ 8 t ' +2 "storage"(b% +4 "core" %A\ \   + "storage"(f. +3 "core" .( +2 "storage"(c& +3 "core" &\ \ z  +2 "storage"(O& +4 "core" & X  +2 "manipulator"&& +3 "core" & q  +2 .tElbow.seek 3 +2 "manipulator"&3(D +26 "core" ( +2 "manipulator"&i& +4 "core" &= O & + "storage"(8& +4 "core" &\ Y  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts + "manipulator"&' +94 "core" ' + "storage"(a& +5 "core" &\ \  a  + .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"($'e +288 "core" ' +2 "storage"(- +3 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&C& +3 "core" &>  & +2 "storage"(& +3 "core" &\ \ \ K  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 + "manipulator"&'M +30 "core" ' + .tElbow.hold +2 "manipulator"&K, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(- +2 "core" -' +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(o'j +28 "core" ' +2 "manipulator"&%% +4 "core" %aV 3 3 ̱ + "storage"(& +4 "core" & ;  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 3 + 320 counts + "manipulator"&k'ύ +14 "core" ' + "manipulator"&R& +5 "core" &; h [ & + "storage"(y& +4 "core" &\ \ \ V  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&s' +21 "core" ' +2 .tSE.seek 1.11 Pucks below Top Plate +2 "storage"(;'Y +43 "core" ' + "manipulator"&G& +5 "core" &; b ` N & + "manipulator"&0% +4 "core" % d k A # +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&l( +140 "core" ( +2 "manipulator"&F& +4 "core" &  / + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &r& +3 "core" &  / +2 .tForearm.seek CC +2 "manipulator"&'| +97 "core" ' + .tHand.close + "manipulator"&\\/ +52 "core" / +2 .tCC.seek :open +2 "collection"'I(p +410 "core" ( +2 "storage"(& +4 "core" &\ \   + "storage"(& +4 "core" &\ !\    +2 "manipulator"&!& +3 "core" &  / +2 "manipulator"&% +4 "core" % |  +2 .tForearm.seek :retract + "manipulator"&-'\ +93 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&x(D +168 "core" ( +2 "manipulator"&.& +4 "core" &F\  U + "storage"(e& +4 "core" &\ !\   +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 +44 "manipulator"&<'M +120 "core" ' + .tElbow.hold +2 "manipulator"& , +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&w1 +59 "core" 1 +3 "manipulator"&/% +4 "core" % ^w L ú2 + "storage"(A& +4 "core" &\ _  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 317 counts + "manipulator"&d'ϊ +17 "core" ' +2 "manipulator"&)& +4 "core" &6 z t 0 e + "storage"(& +4 "core" &\ ?\ 4   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&' +16 "core" ' + "storage"(% +5 "core" %T\ C\ B = +2 ."downElevator"SE.seek :down +3 "storage"({'N +99 (1% +3 "core" %C\ \  5 M< +2 "manipulator"&:% +4 "core" % o o +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&B'\ +95 "core" ' +46 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 2 of [2..3] +2 #Loading generic puck from tube 2 into Collection Clamp + "collection"'~& +5 "core" &  + "manipulator"&*% +4 "core" %\ 4 + & +2 "storage"(?% +4 "core" %E\ \ !  +2 "storage"(}. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 + "storage"(V(  +355 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (N& +3 "core" & \ \  +2 "manipulator"& & +4 "core" &7  d + .tElbow.seek 2 +2 "manipulator"&9(; +3 "core" ( + "manipulator"&L& +4 "core" &7 0 d +2 "storage"(Y& +4 "core" & \ \ G +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&E'Ѐ +110 "core" ' + "storage"(2& +4 "core" & \ B\ ? [ +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(u'e +277 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (5& +2 "core" & \ \  +2 "manipulator"&M& +3 "core" &7 o p d +2 .tElbow.seek 2 +2 "manipulator"&[(; +4 "core" ( + "manipulator"&J& +4 "core" &7 v o / d +2 "storage"(4& +3 "core" & \ \ 1 +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&' +24 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&`/ +54 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&n& +2 "storage"(\ 'N +7 "core" &7 p o  d +2 "manipulator"&]% +3 "core" % c p < +2 .tForearm.seek :retract +2 "manipulator"&'\ +95 "core" ' + .tElbow.seek CC +2 "manipulator"&6( +140 "core" ( +2 "manipulator"&H& +4 "core" &  . +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 "core" ' + ."downElevator"SE.stop +3 "manipulator"&U& +3 "storage"(5 +4 "core" &  . +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&_'| +94 "core" ' +2 "manipulator"&& +4 "core" & x . +2 "manipulator"&% +3 "core" %r e  +2 "collection"'^& +4 "core" & \  +2 "collection"'7& +5 "core" &  +2 .tCC.seek :closed +2 "collection"'z(] +4 "core" &  +7 &D \  $d +10 &_  7 +9 &  H +9 &g { F +10 &g  F +9 &Ij  F +10 &! h  F +9 &"j  F +9 &$j  F +10 &&Ph  G +9 &(k  G +9 &)g \  F +10 &+k  F +9 &-Yk  F +10 &/m  F +9 &0m  G +9 &2j  G +10 &4am  F +9 &6"j  G +9 &7l  F +10 &9k | F +9 &;ij  F +10 &=+j | F +9 &>h  F +9 &@g w F +10 &Bph p G +9 &D2k \ z G +9 &Ek \ | G +10 &Gm y G +9 &Itx d H +10 &K1  m J +9 &L  p N +10 &N  n P +9 &Pe  l P +9 &R'  o P +9 &S  e Q +10 &U  l Q +9 &Wi  d Q +9 &Y'  c S +10 &Z  c S +9 &\\  g 5 +10 &]o*  q (u +9 &]  i M +5 ( +2 "collection"'7& +4 #tCollection Clamp onSpring/offSpring for 9/25 samples, on/off torque 1.88 + .Hand.open +2 "manipulator"&h1 +3 "core" &]q  h M +49 1 +2 "manipulator"&q% +4 "core" % r q  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&''\ +93 "core" ' + #tLoading generic puck from tube 2 into Processing Clamp +2 "processing"%"& +4 "core" &B + "manipulator"&(% +4 "core" %\ -  "\\ +2 "storage"( % +3 "core" %K\ ( +2 "storage"(. +4 "core" .(  + "storage"(& +4 "core" &  \ \ * +2 "storage"(& +3 "core" & \ . +2 "manipulator"&v& +4 "core" &  . + "manipulator"&P% +4 "core" %\ -  "\\ +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"& (; +172 "core" ( + "manipulator"&W& +4 "core" &C 8 f +2 "storage"(@& +4 "core" & \ \ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&='Ѐ +103 "core" ' + "storage"(S& +4 "core" & \ \  < +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(Q'e +278 "core" ' + "storage"( - +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +2 "core" &  \ 1 +2 "manipulator"&& +3 "core" &C o n f +2 .tElbow.seek 2 +2 "manipulator"&X(; +3 "core" ( + "manipulator"&Z& +4 "core" &C o v f + "storage"(& +4 "core" & \ \   +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&g' +24 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&m/ +58 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&T& +2 "storage"(>'N +7 "core" &C n m  f + "manipulator"&b% +4 "core" % p o +2 .tForearm.seek :retract +2 "manipulator"&f'\ +95 "core" ' +2 .tElbow.seek PC +2 "manipulator"&c(c +154 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +98 "core" ( + "manipulator"&j& +4 "core" &g V +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &O& +3 "core" &g +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&'[ +103 "core" ' + "manipulator"&i& +4 "core" &g ) +2 "manipulator"&8% +4 "core" %X +2 "processing"%|& +4 "core" &F +2 "processing"%a& +5 "core" &T +2 .tPC.seek :closed + "processing"%t(Z +5 "core" &G  +9 &7B )w +9 &lB = +10 &vA H +9 &GdD F +9 &hB G +10 &hC G +9 &!fL F +10 &#OeI F +9 &%gB F +9 &&gB G +10 &(eL F +9 &*WgK F +10 &,gK F +9 &-dN G +9 &/gL G +10 &1^eO G +9 &3 kN G +9 &4hN G +10 &6eK F +9 &8ghK F +9 &:(eN G +10 &;eO F +9 &=gE F +10 &?ohO F +9 &A1jN F +9 &BhL F +10 &DjJ F +9 &FulH G +9 &H4wI H +10 &IK J +9 &KL K +10 &MlO M +9 &O/K M +9 &PI L +10 &RE M +9 &TuH M +9 &V6C M +10 &W@ N +9 &YG 2 +10 &Z0= N +9 &Z< * +2 ( +2 "processing"%a& +3 #tProcessing Clamp onSpring/offSpring for 8/26 samples, on/off torque 1.52 + .Hand.open +2 "manipulator" +58 "core" 1 + "manipulator"&+% +5 "core" % X 3 + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&'\ +99 "core" ' +2 "processing"%C& +4 "core" &Z8 * +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 + "manipulator"&% +4 "core" %\ 9  ( +2 "storage"(% +3 "core" %7 D  +2 "storage"(%. +3 "core" .(  + "storage"(& +4 "core" &  h + "storage"(R& +5 "manipulator"&y& +4 "core" &  G + &g  +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +3 "storage"(#]kK-0-\ b + "manipulator"&G(c +6 ."raiseStack"SE.seek :beamBreak + "storage"(0'e +3 "core" ( + "manipulator"&& +4 "core" &g  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &3& +3 "core" &g  +2 .tForearm.seek PC +54 "manipulator"&$'[ +102 "core" ' + .tHand.close +2 "manipulator"&/ +59 "core" / +3 .tPC.seek :open + "processing"%k(p +28 "core" ' + "storage"(F- +4 "core" -'e + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(o'B +37 "core" ' +311 ( +2 "storage"(r& +4 "core" &  \ Q + "manipulator"&s& +4 "core" &g + "manipulator"&K% +4 "core" % X +2 .tForearm.seek :retract + "manipulator"&\\'\ +94 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&(; +262 "core" ( +2 "manipulator"&&& +4 "core" &?   + "storage"(& +4 "core" & \ \ \ \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&'Ѐ +102 "core" ' + .tHand.open +2 "manipulator"&!1 +61 "core" 1 +2 "storage"(- +3 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate +2 "storage"(.' +22 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(e' +51 "core" ' +2 #tLights, camera, ACTION! + "storage"(- +4 "core" -' + "storage"(l& +4 "core" &  M +2 "manipulator"&w& +4 "core" &? f m _  +2 .tElbow.seek 2 + "manipulator"&/(; +4 "core" ( + "manipulator"&A& +4 "core" &? s p c  + "storage"()& +4 "core" &  T +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&'Ѐ +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"('M +62 "core" ' + "manipulator"&-& +5 "core" &? k f :  + "storage"(1& +4 "core" &  \  _ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&:'ξ +33 "core" ' +2 .tElbow.hold +2 "manipulator"&x, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"(<'7 +25 "core" ' + "manipulator"&~% +5 "core" %t " $ + "storage"(*& +5 "core" &  8 + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 320 counts +2 "manipulator"&d' +20 "core" ' + "manipulator"&?& +5 "core" &? i Y )  + "storage"(}& +4 "core" & \ \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&;'Ѐ +17 "core" ' +2 "storage"(% +4 "core" %9\ !\   +2 ."downElevator"SE.seek :down +4 "storage"({'N +98 (D% +3 "core" %E\ \  f N@ +2 "manipulator"&N% +4 "core" %v c g p +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"& '\ +93 "core" ' +55 ' + ."downElevator"SE.stop + "storage"(5 +3 (L& +4 "core" &  + "collection"'Y& +4 "core" &]j  k M +2 #tStoring generic puck in Collection Clamp to tube 2 + "manipulator"&2% +4 "core" %\ 7  ' +2 "storage"( % +3 "core" %:\ \ \ \ m  +2 "storage"(B. +3 "core" .(  + "storage"(& +4 "core" & \ \ \ \ +2 "storage"(5& +4 "core" & \ D + "manipulator"&M& +4 "core" &? 7  +2 .tElbow.seek 2 + "manipulator"&J(; +3 "core" ( +2 "manipulator"&4& +4 "core" &? e  + "storage"(`& +4 "core" & \ \ { +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts + "manipulator"&n'Ѐ +96 "core" ' +2 "storage"(]& +4 "core" & \ \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(9'e +279 "core" ' + "storage"(E- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&H& +3 "core" &?   +2 "storage"(U& +3 "core" & \ \ @ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&u'ξ +33 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(- +2 "core" -' +3 .tSE.seek 0.12 Pucks below Top Plate + "storage"('t +28 "core" ' +2 "manipulator"&^% +4 "core" %_   ų + "storage"([& +4 "core" &  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 315 counts +2 "manipulator"&\ ' +20 "core" ' +2 "manipulator"&& +4 "core" &? W i \  +2 "storage"(I& +4 "core" & \ \  ; +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&h'Ѐ +17 "core" ' +2 .tSE.seek 1.12 Pucks below Top Plate + "storage"(q'c +39 "core" ' +2 "manipulator"&"& +4 "core" &? b f   +2 "manipulator"&(% +4 "core" %u j ` ) +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"& '\ +92 "core" ' + .tElbow.seek CC +2 "manipulator"&( +164 "core" ( +2 "manipulator"&& +4 "core" & 3 d + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &  d +2 .tForearm.seek CC + "manipulator"&v'| +99 "core" ' + .tHand.close +2 "manipulator"&7/ +59 "core" / +2 .tCC.seek :open +2 "collection"'P(p +413 "core" ( +2 "storage"(_& +4 "core" & \ !\  + "storage"(W& +4 "core" & \ \  +2 "manipulator"&@& +3 "core" & 5 d +2 "manipulator"&S% +3 "core" % q . +2 .tForearm.seek :retract +2 "manipulator"&6'\ +91 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&'(; +164 "core" ( +2 "manipulator"& & +4 "core" &>  Q + "storage"(& +4 "core" & \ \  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 2 + "manipulator"&'ξ +111 "core" ' + .tElbow.hold +2 "manipulator"&Z, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&1 +64 "core" 1 +2 "manipulator"&m% +4 "core" % z »= +2 "storage"(T& +4 "core" & \ \ \  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 317 counts + "manipulator"&b' +19 "core" ' +2 "manipulator"& & +4 "core" &> v _ 0 Q +2 "storage"(=& +3 "core" & \ \ / M +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&Q'Ѐ +30 "core" ' +2 "storage"(g% +4 "core" %f\ B\ ( C +2 ."downElevator"SE.seek :down +4 "storage"(j'N +99 (O% +2 "core" %D\ \  N? +2 "manipulator"&X% +4 "core" %l n o  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&i'\ +86 "core" ' +51 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 3 of [2..3] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"'8& +4 "core" &  +2 "manipulator"&|% +4 "core" %\ +  !S + "storage"(>% +4 "core" %9\ \   + "storage"(f. +3 "core" .(  +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 3 + "storage"(,( +363 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (#& +3 "core" &\ \ \ \ '  + "manipulator"&+& +4 "core" &>  Q +2 .tElbow.seek 3 + "manipulator"&C(D +4 "core" ( + "manipulator"&& +4 "core" &> t Q + "storage"(& +4 "core" &\ \   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&%' +145 "core" ' +2 "storage"(& +4 "core" &\ 5\ ? &  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(a'e +273 "core" ' + "storage"(y- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (R& +3 "core" &\ \  \  +2 "manipulator"&& +3 "core" &>  Q +2 .tElbow.seek 3 +2 "manipulator"&3(D +4 "core" ( + "manipulator"&& +4 "core" &>  Q +2 "storage"(& +4 "core" &\ \   +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&F'y +23 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&c/ +55 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"(t'N +8 "core" &> n p Q + "manipulator"&0% +4 "core" % r m p m +2 .tForearm.seek :retract +2 "manipulator"&r'\ +102 "core" ' +2 .tElbow.seek CC +2 "manipulator"&s( +139 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +6 "core" ( + "manipulator"&K& +5 "core" &"  9& + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &$& +3 "core" &"  9& +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&&'| +99 "core" ' +3 "manipulator"&& +4 "core" &"  9& +2 "manipulator"&G% +4 "core" %}  +2 "collection"'!& +4 "core" &  +2 "collection"'& +5 "core" & | +2 .tCC.seek :closed +2 "collection"'(] +4 "core" &   +8 &7  )w +9 &l  = +10 &v  G +9 &Cf \ \  F +9 &l  G +10 &k  G +9 &!f \  F +9 &#Lj  F +10 &% k  F +9 &&l  G +10 &(j   G +9 &*Sj \  F +9 &,e { F +10 &-e  F +9 &/h } F +9 &1Zk  G +10 &3j  G +9 &4f \  F +10 &6j  F +9 &8di \  F +9 &:$h  G +10 &;d \ u F +9 &=k { G +9 &?jh  G +10 &A-f x F +9 &Bi w F +10 &Df s F +9 &Fsj r F +9 &H3n p G +10 &I n I +9 &K \ h M +9 &Ma  b O +10 &O#  d O +9 &P  t Q +10 &R  o Q +9 &Tb  k R +10 &V#  o R +9 &W  g R +9 &Y  d T +9 &[c  o T +10 &] x  q (| +9 &]"  u W +9 ( +3 "collection"'& +3 #tCollection Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.91 + .Hand.open +2 "manipulator"&l1 +3 "core" &]m  l F +52 1 + "manipulator"&w% +4 "core" % } [ +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&A'\ +94 "core" ' + #tLoading generic puck from tube 3 into Processing Clamp +2 "processing"%)& +4 "core" &Q + "manipulator"&\\% +4 "core" %\ 1  $m +2 "storage"(-% +4 "core" %7\ \   + "storage"(1. +4 "core" .( + "storage"(~& +4 "core" &\ \  + "storage"(o& +4 "core" &\ \  +2 "manipulator"&*& +4 "core" &  7 + "manipulator"&.% +4 "core" %\ 1  $m +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&?(D +168 "core" ( +2 "manipulator"&}& +4 "core" &? V < + "storage"(& +4 "core" &\ \   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&' +103 "core" ' + "storage"(& +5 "core" &\ \  O  + .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(e'e +288 "core" ' +2 "storage"(D- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (N& +2 "core" & \ ;  +2 "manipulator"&& +4 "core" &? n r  < +2 .tElbow.seek 3 + "manipulator"&/(D +4 "core" ( + "manipulator"&& +4 "core" &? ] u  < + "storage"(:& +4 "core" &\ \  %  +2 .tForearm.seek 3 + 300 counts + "manipulator"&L'y +16 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&d/ +58 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&Y& +2 "storage"(2'N +8 "core" &?  < + "manipulator"& % +4 "core" % m  6 +2 .tForearm.seek :retract +2 "manipulator"&B'\ +98 "core" ' + .tElbow.seek PC +2 "manipulator"&(c +158 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +89 "core" ( + "manipulator"&<& +4 "core" &l s +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &5& +3 "core" &l +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&M'[ +103 "core" ' +2 "manipulator"&4& +3 "core" &l [ i  +3 "manipulator"&`% +4 "core" %O b f  v +2 "processing"%;& +3 "core" &b +2 "processing"%]& +5 "core" &b +2 .tPC.seek :closed +2 "processing"%{(Z +4 "core" &V +8 &<I #c +10 &{\\Q 6 +9 &F G +9 &bR F +10 &qeL F +9 &4fK F +10 & k? F +9 &"c: F +9 &$xf< G +10 &&:hB G +9 &'c8 F +9 &)eA G +10 &+gB G +9 &-CeD F +9 &/hK F +10 &0dN G +9 &2hN G +10 &4KcK F +9 &6 fK F +9 &7iJ G +10 &9fH G +9 &;RkK G +10 &=gJ G +9 &>eL G +9 &@jI G +10 &BZjK G +9 &DjJ G +9 &EjH G +10 &GoJ H +9 &I]wI I +10 &KI I +9 &LI K +9 &NL M +10 &PZJ L +9 &RN L +9 &SE M +10 &UE M +9 &W`J M +9 &Y"9 F +10 &ZVF: [ +9 &Z :7 + +6 ( + "processing"%]& +5 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.50 + .Hand.open + "manipulator"&x1 +4 "core" &Z @ + +53 1 +2 "manipulator"& % +4 "core" % Q ` t +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&E'\ +91 "core" ' +2 "processing"%H& +4 "core" &Z E + + #tImaging generic puck in Processing Clamp while storing it to tube 3 +2 "manipulator"&U% +4 "core" %\ * S !W + "storage"(% +4 "core" %O\ \  \ +2 "storage"(^. +3 "core" .( + "storage"([& +4 "core" &\ \  !  +2 "storage"(& +4 "manipulator"&I& +4 "core" &\ \ s  + &l w +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +3 "storage"(#]kK-0-\ b + "manipulator"&"(c +6 ."raiseStack"SE.seek :beamBreak +2 "storage"(('e +3 "core" ( + "manipulator"&n& +4 "core" &l  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &J& +3 "core" &l - +2 .tForearm.seek PC + "manipulator"&9'[ +96 "core" ' + .tHand.close + "manipulator"&u/ +63 "core" / +2 .tPC.seek :open +2 "processing"%\ (p +84 "core" ' + "storage"(- +4 "core" -'e + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place + "storage"('B +34 "core" ' +259 ( + "storage"(& +5 "core" &\ \  + "manipulator"&h& +4 "core" &l  + "manipulator"&% +4 "core" % R  +2 .tForearm.seek :retract + "manipulator"&7'\ +97 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"& (D +262 "core" ( +2 "manipulator"&z& +4 "core" &L !  + "storage"(_& +4 "core" & \  s  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&W' +106 "core" ' + .tHand.open +2 "manipulator"&@1 +55 "core" 1 +2 "storage"(S- +3 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate +2 "storage"( ' +21 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(' +51 "core" ' +2 #tLights, camera, ACTION! + "storage"(v- +4 "core" -' + "storage"(& +4 "core" & $  + "manipulator"&& +4 "core" &L c a U  +2 .tElbow.seek 3 + "manipulator"&m(D +4 "core" ( + "manipulator"&T& +4 "core" &L r p G  + "storage"( & +4 "core" & D  +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&=' +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.11 Pucks below Top Plate + "storage"(g'M +58 "core" ' + "manipulator"&6& +5 "core" &L a ` .  +53 "storage"(O& +4 "core" &\ \  c  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&X'M +36 "core" ' +2 .tElbow.hold + "manipulator"&', +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"('7 +33 "core" ' + "manipulator"&8% +4 "core" %_V   U ȱ +2 "storage"(b& +4 "core" & (  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 318 counts + "manipulator"&|'ϋ +19 "core" ' + "manipulator"&>& +5 "core" & u { P  + "storage"(f& +4 "core" &\ \  S  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&q' +19 "core" ' +2 "storage"(Q% +4 "core" %>\ \  +2 ."downElevator"SE.seek :down +3 "storage"(j'N +100 (V% +3 "core" %H\ \  x OB +2 "manipulator"&#% +4 "core" % b ` .  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&+'\ +95 "core" ' +55 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (& +4 "core" &\ \   +2 "collection"'& +4 "core" &]m   F +2 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&% +4 "core" %\ 8 E ' +2 "storage"(Z% +3 "core" %E\ \ \  +2 "storage"(i. +3 "core" .( + "storage"(y& +4 "core" &\ \ \ `  +2 "storage"(R& +4 "core" & \ R  + "manipulator"&& +4 "core" & 2  + .tElbow.seek 3 +2 "manipulator"&(D +16 "core" ( +2 "manipulator"&& +4 "core" &;\ # _ +2 "storage"(c& +3 "core" &\ \  /  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&' +97 "core" ' +2 "storage"(0& +4 "core" &\ \   +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(C'e +279 "core" ' +2 "storage"(%- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&K& +2 "core" &<\  ^ +2 "storage"($& +4 "core" &\ \ \ \ :  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 + "manipulator"&a'M +32 "core" ' +2 .tElbow.hold + "manipulator"&F, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(- +2 "core" -' +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(G'j +36 "core" ' + "manipulator"&!% +5 "core" %]S ) 4 t ʰ + "storage"(3& +4 "core" &   + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 3 + 316 counts + "manipulator"&t'ω +19 "core" ' + "manipulator"&r& +5 "core" & w ]  & + "storage"(P& +4 "core" &\ \   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&l' +20 "core" ' +2 .tSE.seek 1.11 Pucks below Top Plate +2 "storage"(w'Y +48 "core" ' +2 "manipulator"&)& +4 "core" & e a e & +2 "manipulator"&\\% +4 "core" % d f  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&-'\ +92 "core" ' +2 .tElbow.seek CC +2 "manipulator"&1( +151 "core" ( + "manipulator"&~& +4 "core" &  U & +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &o& +3 "core" &  N & +2 .tForearm.seek CC +2 "manipulator"&'| +99 "core" ' + .tHand.close + "manipulator"&*/ +60 "core" / +2 .tCC.seek :open + "collection"'.(p +411 "core" ( +2 "storage"(&& +4 "core" &\ "\   + "storage"(}& +4 "core" &\ \   +2 "manipulator"&& +3 "core" &  & +2 "manipulator"&% +3 "core" % p  +2 .tForearm.seek :retract +2 "manipulator"&s'\ +96 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 + "manipulator"&A(D +165 "core" ( + "manipulator"&D& +56 "core" &8\ W + "storage"(N& +4 "core" &\ \ I  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 + "manipulator"&'M +112 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&:1 +60 "core" 1 +2 "manipulator"&d% +4 "core" % `z + û= +2 "storage"(Y& +4 "core" &\ \   + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 319 counts + "manipulator"& 'ό +18 "core" ' + "manipulator"&?& +4 "core" &* e v 3 e +2 "storage"(& +4 "core" &\ 7\ ? )  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&e' +24 "core" ' +2 "storage"(L% +4 "core" %\\\ B\ ? K +2 ."downElevator"SE.seek :down +4 "storage"(<'N +99 (5% +2 "core" %D\ \ @ N> +2 "manipulator"&/% +4 "core" %! o l +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&4'\ +87 "core" ' +56 ' + ."downElevator"SE.stop +2 "storage"(5 +2 #tShuffling pucks in tube 2 of [2..3] +2 #Loading generic puck from tube 2 into Collection Clamp + "collection"'`& +5 "core" &  + "manipulator"&;% +4 "core" %\ *  !N +2 "storage"(2% +4 "core" %M\ \  + "storage"(B. +4 "core" .( + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 2 + "storage"(k(  +355 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +2 (x& +3 "core" & \  +2 "manipulator"& & +3 "core" &*  e +2 .tElbow.seek 2 +2 "manipulator"&H(; +20 "core" ( + "manipulator"&U& +4 "core" &g *  +2 "storage"(& +4 "core" & \ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&^'Ѐ +92 "core" ' + "storage"([& +4 "core" & \ 8\ B d +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(I'e +23 "Can"1 QO +252 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (]& +3 "core" & \ \  +2 "manipulator"&n& +3 "core" &g   +2 .tElbow.seek 2 +2 "manipulator"&J(; +19 "core" ( + "manipulator"&M& +5 "core" &8 #  + "storage"(u& +4 "core" & \ \  +2 .tForearm.seek 2 + 300 counts + "manipulator"&' +17 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&/ +53 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&E& +3 "storage"({'N +7 "core" &8 ` ` 2  +2 "manipulator"&% +3 "core" % a j > +2 .tForearm.seek :retract +2 "manipulator"&h'\ +91 "core" ' +2 .tElbow.seek CC + "manipulator"&(( +149 "core" ' +2 ( + ."downElevator"SE.stop +3 "manipulator"&& +2 "storage"(5 +6 "core" &   / + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &9& +3 "core" &   / +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&z'| +109 "core" ' + "manipulator"&_& +4 "core" &  5 / +2 "manipulator"&"% +4 "core" %ϋ / +2 "collection"'@& +4 "core" & \  +2 "collection"'S& +6 "core" &  +2 .tCC.seek :closed +3 "collection"'v(] +4 "core" & \  +5 &  8 +10 &(M  / +9 &k{ | D +10 &#i  G +9 &j  F +9 &h \  F +10 & jj  F +9 &",m \ } F +9 &#m } F +10 &%g | F +9 &'rg  F +10 &)4g | F +9 &*f  F +9 &,e  F +10 &.zk  F +9 &0;k  G +9 &1i | F +10 &3g | G +9 &5h { F +10 &7Dg  v F +59 &9g  G +4 &:i  F +5 &<f  F + &>Lk   F + &@ l  G + &Aj o F + &Cg z G +3 &ETh z F +9 &Gh o F +9 &Ht s H +10 &J r J +9 &LJ  m M +9 &N  ` O +10 &O  a P +9 &Q  l P +10 &SE  j Q +9 &U  g R +9 &V  h Q +10 &X  b S +9 &ZE  l T +9 &\\  p N +10 &]@>  k , +9 &] f  _ ; +6 ( + "collection"'S& +4 #tCollection Clamp onSpring/offSpring for 10/26 samples, on/off torque 1.89 +2 .Hand.open + "manipulator"&1 +4 "core" &]<  f ; +52 1 + "manipulator"&% +4 "core" % ϋ { % +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&T'\ +93 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp + "processing"% & +5 "core" &G + "manipulator"&7% +4 "core" %\ ,  "[ + "storage"(6% +4 "core" %E  +2 "storage"(O. +3 "core" .(  + "storage"(& +4 "core" &  \  B + "storage"( & +4 "core" &  \  z +2 "manipulator"&8& +4 "core" &   / + "manipulator"&b% +4 "core" %\ ,  "[ +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 + "manipulator"&>(; +160 "core" ( +2 "manipulator"&f& +4 "core" &9 v ~ +2 "storage"( & +3 "core" & \ \  Y +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&W'Ѐ +104 "core" ' + "storage"(& +5 "core" & \ -\ 0  + .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(Q'e +278 "core" ' +2 "storage"(V- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (#& +2 "core" & \ \  +2 "manipulator"&=& +4 "core" &9 T a ~ + .tElbow.seek 2 +2 "manipulator"&m(; +3 "core" ( + "manipulator"&g& +4 "core" &9 N _ 6 ~ +2 "storage"(X& +3 "core" & \ \ ! +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&' +21 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&|/ +60 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& +2 "storage"('N +8 "core" &9 _ a - ~ +2 "manipulator"&Z% +4 "core" % _ `  +2 .tForearm.seek :retract +6 "manipulator"&i'\ +90 "core" ' + .tElbow.seek PC +2 "manipulator"&y(c +156 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +88 "core" ( + "manipulator"&& +5 "core" &h ( + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &R& +3 "core" &h P +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&'[ +91 "core" ' +2 "manipulator"&& +4 "core" &h < +2 "manipulator"&c% +3 "core" %W +2 "processing"%q& +4 "core" &U +2 "processing"%0& +6 "core" &\\ +2 .tPC.seek :closed +2 "processing"%j(Z +4 "core" &K +7 &EU #b +9 &~\\T 6 +10 &V G +9 &hV F +10 &ukE F +9 &8gL F +9 & mC G +10 &"iD F +9 &$|j? G +9 &&=h8 G +10 &(e7 G +9 &)hG G +10 &+eA G +9 &-GkE F +9 &/gG G +10 &0eI F +9 &2gO F +9 &4NjN G +10 &6hJ G +9 &7eK F +10 &9gP F +9 &;VeL G +9 &=jJ F +10 &>iK F +9 &@iJ F +9 &B_gO F +10 &D fJ G +9 &EhJ G +10 &GrJ H +9 &I`{J I +9 &KJ J +10 &LJ M +9 &NK M +9 &P^K L +10 &R J L +9 &SK M +9 &UI M +10 &WeH M +9 &Y%J E +10 &ZVHC ] +9 &Z,? , +5 ( +2 "processing"%0& +4 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.52 + .Hand.open + "manipulator"&'1 +4 "core" &ZE , +57 1 + "manipulator"&+% +5 "core" % W E +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&%'\ +92 "core" ' +2 "processing"%K& +4 "core" &Z6 , +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 + "manipulator"&$% +4 "core" %\ (  L +2 "storage"(% +3 "core" %A \ \ 9 +2 "storage"(!. +3 "core" .(  + "storage"(3& +4 "core" & \ \  +2 "storage"(r& +2 "manipulator"&P& +7 "core" & \ \ \ \  + &h  +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +3 "storage"(#]kK-0-\ b +2 "manipulator"&)(c +6 ."raiseStack"SE.seek :beamBreak + "storage"(\\'e +3 "core" ( + "manipulator"&& +4 "core" &h  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &h  +2 .tForearm.seek PC +2 "manipulator"&C'[ +99 "core" ' + .tHand.close +2 "manipulator"&a/ +56 "core" / +2 .tPC.seek :open +2 "processing"%t(p +89 "core" ' +2 "storage"(G- +3 "core" -'e + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(~'B +39 "core" ' +248 ( + "storage"(o& +5 "core" & \ \  N + "manipulator"&l& +4 "core" &h + "manipulator"&F% +4 "core" % _ I +2 .tForearm.seek :retract +2 "manipulator"&*'\ +99 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&-(; +259 "core" ( + "manipulator"&& +4 "core" &G   +2 "storage"(&& +4 "core" &  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&}'Ѐ +111 "core" ' + .tHand.open + "manipulator"&1 +63 "core" 1 +2 "storage"(- +4 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate + "storage"(' +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.83 Pucks below Top Plate + "storage"(D' +50 "core" ' +2 #tLights, camera, ACTION! + "storage"(N- +4 "core" -' + "storage"(1& +4 "core" &  w + "manipulator"&:& +4 "core" &G n n M  +2 .tElbow.seek 2 + "manipulator"&d(; +8 "core" ( + "manipulator"&Y& +5 "core" &E t \\  + "storage"(?& +4 "core" &  V +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&'Ѐ +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.11 Pucks below Top Plate + "storage"(L'M +60 "core" ' +2 "manipulator"&s& +4 "core" &E m m  + "storage"(5& +4 "core" & \ \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&/'ξ +35 "core" ' +2 .tElbow.hold + "manipulator"&A, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.07 Pucks below Top Plate + "storage"('7 +26 "core" ' +2 "manipulator"&`% +4 "core" %f ĵ + "storage"( & +4 "core" &   +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 320 counts + "manipulator"&;' +19 "core" ' +2 "manipulator"&2& +4 "core" &E h X  +2 "storage"(B& +4 "core" & \ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&w'Ѐ +24 "core" ' + "storage"(e% +5 "core" %7\ \  +2 ."downElevator"SE.seek :down +4 "storage"(<'N +98 (,% +3 "core" %J \  q N@ +2 "manipulator"&x% +4 "core" %Х ` ` 5 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"& '\ +87 "core" ' +61 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (U& +4 "core" & \ \ \ \  +2 "collection"'& +4 "core" &]<  m ; + #tStoring generic puck in Collection Clamp to tube 2 +2 "manipulator"&[% +3 "core" %\ * y !U +2 "storage"(% +4 "core" %?\ \   + "storage"(4. +3 "core" .(  +2 "storage"(& +3 "core" & \ \  \\ +2 "storage"(]& +4 "core" & \ \  L +2 "manipulator"&n& +4 "core" &E  +2 .tElbow.seek 2 + "manipulator"&M(; +4 "core" ( + "manipulator"&u& +4 "core" &E u |  +2 "storage"(& +3 "core" & \ \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +54 "manipulator"&E'Ѐ +105 "core" ' +2 "storage"(& +4 "core" & \ \ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(H'e +277 "core" ' +2 "storage"(^- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" &E ` `   + "storage"(9& +4 "core" & \ !\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&I'ξ +34 "core" ' +2 .tElbow.hold + "manipulator"&, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(_- +2 "core" -' +2 .tSE.seek 0.12 Pucks below Top Plate +2 "storage"("'u +29 "core" ' + "manipulator"&J% +5 "core" %b  Ŵ + "storage"(@& +4 "core" &  / + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 2 + 320 counts +2 "manipulator"&{' +18 "core" ' + "manipulator"&h& +5 "core" &E g Y m  + "storage"(.& +4 "core" & \ \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&'Ѐ +17 "core" ' +2 .tSE.seek 1.12 Pucks below Top Plate +2 "storage"('d +47 "core" ' +2 "manipulator"& & +4 "core" &E c f a  +2 "manipulator"&7% +4 "core" %Z _ e '  + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&6'\ +87 "core" ' +2 .tElbow.seek CC +2 "manipulator"&O( +146 "core" ( +2 "manipulator"&& +4 "core" & & / + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 & & +2 "core" & P / +3 .tForearm.seek CC + "manipulator"&8'| +98 "core" ' + .tHand.close + "manipulator"&S/ +59 "core" / + .tCC.seek :open +2 "collection"'b(p +411 "core" ( + "storage"(z& +4 "core" & \ \ l +2 "storage"(f& +3 "core" & \ \  +2 "manipulator"& & +4 "core" & C / + "manipulator"&% +4 "core" % π l +2 .tForearm.seek :retract +2 "manipulator"&('\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&T(; +161 "core" ( + "manipulator"&V& +4 "core" &:  ) +2 "storage"(#& +4 "core" & \ #\ ( + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 2 +2 "manipulator"&='ξ +106 "core" ' + .tElbow.hold + "manipulator"&g, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&X1 +61 "core" 1 +2 "manipulator"&|% +4 "core" % " O T + "storage"(& +4 "core" & \ \ { + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 2 + 320 counts + "manipulator"&Z' +22 "core" ' +2 "manipulator"&>& +4 "core" &: h X + ) +2 "storage"(W& +3 "core" & \ 7\ @ O +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&Q'Ѐ +23 "core" ' + "storage"(% +4 "core" %c\ B\ B +2 ."downElevator"SE.seek :down +3 "storage"('N +100 (R% +2 "core" %F\ \  M> +2 "manipulator"&m% +4 "core" %Н l k  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +91 "core" ' +47 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 3 of [2..3] + #Loading generic puck from tube 3 into Collection Clamp +2 "collection"'c& +4 "core" &  +2 "manipulator"&q% +4 "core" %\    + "storage"(% +4 "core" %7\ C\ B & + "storage"(i. +4 "core" .(  + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 3 + "storage"(\ ( +363 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 ('& +2 "core" &\ \ \   +2 "manipulator"&+& +3 "core" &:  ) +2 .tElbow.seek 3 +2 "manipulator"&K(D +3 "core" ( +2 "manipulator"&$& +3 "core" &:  ) +2 "storage"(& +4 "core" &\ /\    +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&!' +104 "core" ' +2 "storage"(3& +4 "core" &\ B\ C  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(P'e +278 "core" ' + "storage"(r- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (0& +2 "core" &\ \   +2 "manipulator"&& +4 "core" &: o p ) + .tElbow.seek 3 +2 "manipulator"&(D +4 "core" ( + "manipulator"&& +4 "core" &: n s ) + "storage"(a& +4 "core" &\ $\ 2 C  +3 .tForearm.seek 3 + 300 counts + "manipulator"&G'y +27 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&y/ +55 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&%& +2 "storage"(j'N +7 "core" &: m o  ) +2 "manipulator"&o% +3 "core" % } n n +2 .tForearm.seek :retract +2 "manipulator"&l'\ +89 "core" ' + .tElbow.seek CC +2 "manipulator"&F( +153 "core" ( + "manipulator"&\\& +5 "core" ' + &# K ;8 +2 .tElbow.reconfigure :loose +2 ."downElevator"SE.stop +3 "manipulator"&$ &.,(#b + "storage"(5 +3 "manipulator"&C& +7 "core" &#  ;8 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&'| +94 "core" ' +2 "manipulator"&&& +4 "core" &$ i ;8 + "manipulator"&)% +4 "core" %y 0 +3 "collection"'& +3 "core" &  +2 "collection"'& +5 "core" &  +2 .tCC.seek :closed +2 "collection"'N(] +3 "core" &  +9 &B  $d +9 &|]  6 +10 &  G +9 &g  F +9 &pi   G +10 &3f  G +9 & g  F +9 &"i \  F +10 &$ye  G +9 &&;k } G +10 &'j  G +9 &)g  F +9 &+g } F +10 &-De   F +9 &/i  F +9 &0k \  G +10 &2j  F +9 &4Kg } G +9 &6 i   G +10 &7g  F +9 &9g  F +10 &;Si   G +9 &=h { F +9 &>h ~ F +10 &@k o G +9 &B[i \ z G +10 &De z G +9 &Ei \  G +9 &Gh u G +10 &I]z u I +9 &K t K +9 &L  f O +10 &N  k O +9 &PO  s P +10 &R  h P +9 &S  b Q +9 &U  a R +10 &WS  l R +9 &Y  m S +9 &Z  j S +10 &\\  n @ +9 &]q!  ` +{ +9 &]U  f > +3 ( + "collection"'& +4 #tCollection Clamp onSpring/offSpring for 10/25 samples, on/off torque 1.91 + .Hand.open +2 "manipulator"&11 +59 "core" 1 +2 "manipulator"&:% +4 "core" % y 7 +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&Y'\ +91 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp +2 "processing"%*& +4 "core" &A + "manipulator"&?% +4 "core" %\ )  J +2 "storage"(s% +3 "core" %B\ \ \ \ ` +2 "storage"(5. +3 "core" .( + "storage"(~& +4 "core" &\ \ \ \  + "storage"(`& +4 "core" &\ \ \ \  +2 "manipulator"& & +4 "core" &$  ;6 + "manipulator"&% +4 "core" %\ (  J +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&2(D +172 "core" ( + "manipulator"&B& +4 "core" &< ' i +2 "storage"(e& +3 "core" & \ !  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&-' +93 "core" ' +2 "storage"(}& +4 "core" &\ \  e  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(D'e +281 "core" ' + "storage"(,- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (x& +3 "core" & \  s  + "manipulator"&& +4 "core" &> - g + .tElbow.seek 3 +2 "manipulator"&d(D +3 "core" ( +2 "manipulator"&L& +3 "core" &> S g +2 "storage"(/& +4 "core" &\ 0  +2 .tForearm.seek 3 + 300 counts + "manipulator"&U'y +22 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +52 "manipulator"&;/ +57 "core" / +2 ."downElevator"SE.seek :down +5 "manipulator"&& + "storage"(['N +7 "core" &> e _ j g +2 "manipulator"&% +3 "core" % | c l +2 .tForearm.seek :retract +2 "manipulator"&4'\ +90 "core" ' + .tElbow.seek PC +2 "manipulator"&(c +163 "core" ' + ."downElevator"SE.stop + "storage"(5 +86 "core" ( +2 "manipulator"&& +4 "core" &i " +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &]& +3 "core" &i 1 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC + "manipulator"&n'[ +104 "core" ' +2 "manipulator"&u& +4 "core" &i ] +2 "manipulator"&% +3 "core" %= O +2 "processing"%w& +4 "core" &b +2 "processing"%& +5 "core" &b +2 .tPC.seek :closed +2 "processing"%<(Z +4 "core" &S  +8 &9U *x +9 &lS = +10 &uQ H +9 &RdE F +9 &kC G +10 &jC F +9 &!gC F +9 &#XeL G +10 &%cC F +9 &&gA F +10 &(fD F +9 &*`i9 G +9 &,"hB G +10 &-eH F +9 &/gJ G +9 &1ihK F +10 &3+gJ F +9 &4cH F +10 &6fJ F +9 &8pdN G +9 &:3cN F +10 &;gJ F +9 &=gG F +9 &?ygK F +10 &A;iK F +9 &BgK F +10 &DhL G +9 &FmI G +9 &H?pJ H +10 &IyN I +9 &KK J +9 &MxL L +10 &O:I L +9 &PJ L +10 &RL M +9 &TL M +10 &V@K M +9 &XI M +9 &YI . +9 &Z.cH H +10 &Z!H - +2 ( +2 "processing"%& +3 #tProcessing Clamp onSpring/offSpring for 8/26 samples, on/off torque 1.50 + .Hand.open + "manipulator"&A1 +56 "core" 1 + "manipulator"& % +4 "core" % = q +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&^'\ +95 "core" ' +2 "processing"%& +4 "core" &Z E - + #tImaging generic puck in Processing Clamp while storing it to tube 3 +2 "manipulator"&9% +3 "core" %\ . } #h +2 "storage"(_% +4 "core" %G \  x  + "storage"(J. +3 "core" .( +2 "storage"(@& +3 "core" &\ \ E  +2 "storage"(h& +2 "manipulator"&.& +6 "core" &\ \  E  + &i ] +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +2 "storage"(#]kK-0-\ b +5 .tElbow.seek PC +2 "manipulator"& (c +3 ."raiseStack"SE.seek :beamBreak +2 "storage"(7'e +2 "core" ( +2 "manipulator"&E& +4 "core" &i +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &M& +3 "core" &i m +2 .tForearm.seek PC + "manipulator"&H'[ +95 "core" ' + .tHand.close + "manipulator"&I/ +62 "core" / + .tPC.seek :open +2 "processing"%{(p +86 "core" ' +2 "storage"("- +3 "core" -'e +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('B +45 "core" ' +245 ( +2 "storage"( & +4 "core" &\ \   + "manipulator"&& +4 "core" &i  +2 "manipulator"&% +4 "core" % J   + .tForearm.seek :retract +2 "manipulator"&S'\ +99 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&6(D +258 "core" ( + "manipulator"&v& +4 "core" &L V $ +2 "storage"(z& +4 "core" &\ \  ;  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&f' +96 "core" ' +2 .tHand.open + "manipulator"& 1 +54 "core" 1 + "storage"(- +4 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate + "storage"(V' +23 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.83 Pucks below Top Plate + "storage"(#' +51 "core" ' +2 #tLights, camera, ACTION! + "storage"(8- +4 "core" -' + "storage"(O& +4 "core" & L  +2 "manipulator"&X& +4 "core" &M  $ + .tElbow.seek 3 +2 "manipulator"&|(D +3 "core" ( +2 "manipulator"&& +4 "core" &M  $ + "storage"(>& +4 "core" & 0  +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&W' +4 "core" ' + .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"('M +57 "core" ' +2 "manipulator"&(& +4 "core" &M $ + "storage"(R& +4 "core" &\ \ g  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&m'M +32 "core" ' +2 .tElbow.hold + "manipulator"&T, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate + "storage"(='7 +34 "core" ' + "manipulator"&c% +4 "core" %][ 4 0 ` ˲ +2 "storage"(Z& +4 "core" & Z  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 3 + 316 counts +2 "manipulator"&q'ω +13 "core" ' + "manipulator"&& +4 "core" &I a y e $ +2 "storage"(i& +4 "core" &\ \  m  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&' +19 "core" ' + "storage"(Q% +5 "core" %=\ \  ? +2 ."downElevator"SE.seek :down +4 "storage"('N +99 (k% +3 "core" %F\ \ \ \ l M> + "manipulator"&'% +4 "core" % e a L  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&+'\ +95 "core" ' +57 ' + ."downElevator"SE.stop + "storage"(5 +3 ($& +4 "core" &\ \  6  + "collection"'& +4 "core" &]L   > +2 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&3% +4 "core" %\ 5  & +2 "storage"(g% +3 "core" %O\ \ \ \ \ +2 "storage"(. +3 "core" .( +2 "storage"(r& +4 "core" &\ \  $  + "storage"(0& +4 "core" &\ c  + "manipulator"&& +4 "core" &I  $ +2 .tElbow.seek 3 + "manipulator"&(D +4 "core" ( + "manipulator"&a& +4 "core" &I  $ + "storage"(y& +4 "core" &\ \ \ \ q  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&%' +97 "core" ' +2 "storage"(o& +4 "core" &\ \  2  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(K'e +277 "core" ' + "storage"(!- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&\\& +3 "core" &J  $ +2 "storage"(C& +4 "core" & \    + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&P'M +32 "core" ' + .tElbow.hold +2 "manipulator"&G, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(&- +2 "core" -' +3 .tSE.seek 0.11 Pucks below Top Plate + "storage"()'j +36 "core" ' + "manipulator"&% +4 "core" %_R 5 7 ̰ +2 "storage"(& +4 "core" & H  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 3 + 318 counts + "manipulator"&j'ϋ +12 "core" ' +2 "manipulator"&l& +4 "core" &E h Z  % +2 "storage"(b& +3 "core" &\ \  ;  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&1' +18 "core" ' +2 .tSE.seek 1.11 Pucks below Top Plate + "storage"(:'Y +55 "core" ' +2 "manipulator"&*& +4 "core" &E n m % +2 "manipulator"&?% +4 "core" % e a n +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&s'\ +91 "core" ' + .tElbow.seek CC +2 "manipulator"&5( +156 "core" ( + "manipulator"&~& +5 "core" &* Ab + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &`& +2 "core" &+ j Ab +2 .tForearm.seek CC +2 "manipulator"&'| +98 "core" ' + .tHand.close + "manipulator"& / +60 "core" / +52 .tCC.seek :open +4 "collection"'(p +411 "core" ( +2 "storage"(& +4 "core" &\ \ !  + "storage"(B& +4 "core" &\ \  a  + "manipulator"&e& +4 "core" &2#  ;4 +2 "manipulator"&}% +3 "core" % v M +2 .tForearm.seek :retract +2 "manipulator"&F'\ +96 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&Y(D +163 "core" ( +2 "manipulator"&,& +4 "core" &8\  T +2 "storage"(x& +4 "core" &\ \ !   +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 + "manipulator"&'M +112 "core" ' + .tElbow.hold +2 "manipulator"&L, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&/1 +57 "core" 1 + "manipulator"&;% +5 "core" % ^v  K ĺ3 + "storage"(& +4 "core" &   + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 3 + 317 counts +2 "manipulator"&'ϊ +11 "core" ' +2 "manipulator"&2& +4 "core" &2\ ] u 5 Z +2 "storage"(-& +4 "core" &\ B\ B a  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&D' +23 "core" ' +2 "storage"(U% +4 "core" %[\ C\ B +2 ."downElevator"SE.seek :down +4 "storage"('N +98 (]% +4 "core" %F\ \   N? +2 "manipulator"&d% +4 "core" % o m / +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&u'\ +91 "core" ' +50 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 2 of [2..3] + #Loading generic puck from tube 2 into Collection Clamp +2 "collection"'& +4 "core" &z  + "manipulator"&w% +4 "core" %\ . H #d +2 "storage"([% +4 "core" %@\ \ q  +2 "storage"(4. +3 "core" .( + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"(t(  +357 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (A& +2 "core" & \  k +2 "manipulator"& & +4 "core" &2\ \\ Z + .tElbow.seek 2 +2 "manipulator"&(; +3 "core" ( +2 "manipulator"&9& +4 "core" &2\ j Z + "storage"(_& +4 "core" & \ \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts +2 "manipulator"&J'Ѐ +88 "core" ' + "storage"(@& +4 "core" & \ 5\ 5 9 +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(.'e +276 "core" ' +2 "storage"(h- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +2 "core" & \ \ !  +2 "manipulator"&E& +4 "core" &2\ Z + .tElbow.seek 2 +2 "manipulator"&M(; +3 "core" ( +2 "manipulator"&n& +3 "core" &2\  Z +2 "storage"(I& +3 "core" & \ \  h +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&"' +10 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +63 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&^& +3 "storage"(<'N +5 "core" &2\ , Z +2 "manipulator"& % +4 "core" % G +2 .tForearm.seek :retract +2 "manipulator"&'\ +94 "core" ' +2 .tElbow.seek CC +2 "manipulator"&7( +140 "core" ( + "manipulator"&& +5 "core" & . + .tElbow.reconfigure :loose +4 "manipulator"&$ &.,(#b +2 "core" ' + ."downElevator"SE.stop +3 "manipulator"&H& +3 "storage"(5 +4 "core" &  . +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&v'| +96 "core" ' +2 "manipulator"&z& +4 "core" & R . +2 "manipulator"& % +3 "core" %q , +2 "collection"' & +4 "core" &z  +2 "collection"'& +5 "core" &z  +2 .tCC.seek :closed + "collection"'8(] +4 "core" &z   +9 &6  )v +9 &i  < +10 &kz   G +9 &.h  G +9 &g  F +10 &i \ { F +9 &!tk  G +10 &#6j  G +9 &$f  F +9 &&h  F +10 &(|l  G +9 &*>j \ { G +9 &,i y G +10 &-i n G +9 &/g  F +10 &1Gi  { F +9 &3j { G +9 &4h  G +10 &6j  F +9 &8Nf  G +9 &:i   G +10 &;e | F +9 &=k \ y F +10 &?Vj l G +9 &Aj u G +9 &Bl \ t G +10 &Di z G +9 &F_k w F +9 &H k  s G +10 &I}  n I +9 &K x K +10 &MP  t N +9 &O  r P +10 &P  ^ P +9 &R  o Q +9 &TO  [ Q +9 &V  _ R +10 &W  _ R +10 &Y  f T +9 &[K  a V +9 &\\  l (~ +9 &]&  i I +9 ( +3 "collection"'& +3 #tCollection Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.91 + .Hand.open +2 "manipulator"&O1 +3 "core" &]M  g > +52 1 + "manipulator"&X% +5 "core" % q + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +92 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%>& +5 "core" &A + "manipulator"&S% +4 "core" %\ * !V +2 "storage"((% +4 "core" %A\ \ W  +2 "storage"(R. +3 "core" .(  + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 2 + "storage"((  +8 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (c& +3 "core" &  8 + "manipulator"&Z& +4 "core" & N . +2 "manipulator"&V% +3 "core" %\ * * !V +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 + "manipulator"&(; +175 "core" ( +2 "manipulator"&i& +4 "core" &O / B +2 "storage"(Q& +4 "core" &  \  3 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&6'Ѐ +93 "core" ' +2 "storage"(f& +4 "core" & \ \  v +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(#'e +278 "core" ' +2 "storage"(k- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 ('& +2 "core" & \ \ 5 +2 "manipulator"&W& +4 "core" &O  B +2 .tElbow.seek 2 + "manipulator"&|(; +27 "core" ( +2 "manipulator"&& +8 "core" &E e s K { +2 "storage"(m& +4 "core" & \ \  p +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&$' +19 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&q/ +63 "core" / +2 ."downElevator"SE.seek :down +5 "manipulator"&& + "storage"(3'N +6 "core" &E a ` & { +2 "manipulator"&g% +4 "core" % e _  + .tForearm.seek :retract +2 "manipulator"&'\ +91 "core" ' + .tElbow.seek PC +2 "manipulator"&=(c +162 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +82 "core" ( +2 "manipulator"&r& +4 "core" &d 7 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &0& +3 "core" &d * +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&'[ +103 "core" ' +2 "manipulator"&a& +4 "core" &d h + "manipulator"&y% +4 "core" %8  +2 "processing"%& +4 "core" &G +2 "processing"%o& +5 "core" &I +2 .tPC.seek :closed +3 "processing"%(Z +3 "core" &S +6 &DG #c +10 &|\\K 6 +9 &V G +10 &cL F +9 &rhG G +9 &5d? G +10 & k? G +9 &"gG G +9 &$|dE F +10 &&>gJ F +9 &'jD G +10 &)hQ G +9 &+dM F +9 &-FgO F +10 &/hJ F +9 &0dM G +9 &2kI G +10 &4MgM G +9 &6jO F +10 &7fO F +9 &9fK F +9 &;UkM G +10 &=gJ G +9 &>fM G +9 &@jK G +10 &B]jJ G +9 &DkJ G +10 &ElI G +9 &GqF H +9 &I_{J I +10 &KL K +9 &LK L +9 &NI L +10 &P\\I M +9 &RK M +10 &SJ M +9 &UG M +10 &WcL M +9 &Y$> G +9 &ZV?wI $i +9 &Z*M ' +6 ( + "processing"%o& +5 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.51 + .Hand.open + "manipulator"&T1 +4 "core" &ZH ' +53 1 +2 "manipulator"&+% +4 "core" % 8  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&!'\ +147 "core" ' +2 "processing"%\\& +4 "core" &Z< ' +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 + "manipulator"&C% +4 "core" %\ / #g +2 "storage"(&% +3 "core" %=\ \ \ 3  +2 "storage"(. +3 "core" .(  + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"((  +7 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (l& + "manipulator"&b& +4 "core" &  \  B +7 ."raiseStack"SE.reconfigure :place +2 "storage"(#]kK-0-\ b +3 "core" &d ] +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +3 "storage"(*'e +3 "manipulator"&?(c +3 "core" ( + "manipulator"&%& +4 "core" &d +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &d } +2 .tForearm.seek PC +2 "manipulator"&K'[ +95 "core" ' +2 .tHand.close + "manipulator"&P/ +55 "core" / +2 .tPC.seek :open +2 "processing"%j(p +92 "core" ' + "storage"()- +3 "core" -'e +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place + "storage"(~'B +35 "core" ' +250 ( + "storage"(`& +4 "core" & \ \ V +2 "manipulator"&1& +4 "core" &d  + "manipulator"&G% +4 "core" % H  \ +2 .tForearm.seek :retract +2 "manipulator"& '\ +92 "core" ' +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&s(; +276 "core" ( + "manipulator"&N& +4 "core" &G  q +2 "storage"(& +4 "core" & \ \ 2 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&B'Ѐ +96 "core" ' +2 .tHand.open + "manipulator"&e1 +53 "core" 1 +2 "storage"(}- +4 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate +2 "storage"(,' +22 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.83 Pucks below Top Plate + "storage"(x' +51 "core" ' +2 #tLights, camera, ACTION! + "storage"(- +4 "core" -' + "storage"(5& +4 "core" &  +2 "manipulator"&/& +3 "core" &G @ q +2 .tElbow.seek 2 +2 "manipulator"&;(; +10 "core" ( +2 "manipulator"&& +4 "core" &D m * P +2 "storage"(2& +4 "core" &  _ +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&-'Ѐ +19 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.11 Pucks below Top Plate + "storage"(U'M +61 "core" ' + "manipulator"&F& +4 "core" &D e W P +2 "storage"(]& +4 "core" & \ \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&d'ξ +35 "core" ' + .tElbow.hold +2 "manipulator"&Y, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"('7 +25 "core" ' +2 "manipulator"&% +4 "core" %m  ÷ +2 "storage"(& +4 "core" &  ^ + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 2 + 318 counts + "manipulator"&w' +20 "core" ' +2 "manipulator"&[& +4 "core" &D f l J P +2 "storage"(4& +4 "core" & \ \  o +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&:'Ѐ +23 "core" ' +2 "storage"(D% +4 "core" %>\ \  +2 ."downElevator"SE.seek :down +4 "storage"('N +98 (\ % +3 "core" %F \  Y N? +2 "manipulator"&A% +4 "core" %У m m +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"& '\ +86 "core" ' +61 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (9& +4 "core" & \  +2 "collection"'_& +4 "core" &]L   > +2 #tStoring generic puck in Collection Clamp to tube 2 + "manipulator"&@% +4 "core" %\ +  !W +2 "storage"(L% +3 "core" %;\ \  # +2 "storage"(u. +3 "core" .(  + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"(h(  +7 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (& +3 "core" &  c +2 "manipulator"&E& +4 "core" &D  P +2 .tElbow.seek 2 + "manipulator"&n(; +4 "core" ( + "manipulator"&I& +4 "core" &D y P +2 "storage"(& +3 "core" & \ \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&^'Ѐ +89 "core" ' + "storage"( & +4 "core" & \ \  1 +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"('e +289 "core" ' + "storage"(J- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" &D  P +2 "storage"(H& +3 "core" & \ \  E +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&.'ξ +30 "core" ' +2 .tElbow.hold + "manipulator"&", +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(z- +2 "core" -' +3 .tSE.seek 0.12 Pucks below Top Plate + "storage"( 'v +28 "core" ' +2 "manipulator"& % +4 "core" %m ! ÷ + "storage"(M& +4 "core" &   + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 2 + 319 counts +2 "manipulator"&<' +16 "core" ' +2 "manipulator"&& +4 "core" &D X s  P +2 "storage"(& +3 "core" & \ \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&O'Ѐ +15 "core" ' +2 .tSE.seek 1.12 Pucks below Top Plate + "storage"(X'e +39 "core" ' +2 "manipulator"&>& +4 "core" &D d k h P +2 "manipulator"&S% +4 "core" %h e _ Q  + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&('\ +88 "core" ' +2 .tElbow.seek CC + "manipulator"&R( +150 "core" ( + "manipulator"&& +4 "core" & . +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &c& +3 "core" & . +2 .tForearm.seek CC +2 "manipulator"&Z'| +96 "core" ' +2 .tHand.close + "manipulator"&V/ +59 "core" / +2 .tCC.seek :open +2 "collection"'v(p +410 "core" ( +2 "storage"(i& +4 "core" & \ \  + "storage"(Q& +4 "core" & \ \  8 +2 "manipulator"&t& +3 "core" &  . +2 "manipulator"&f% +3 "core" % y !  +2 .tForearm.seek :retract +2 "manipulator"&7'\ +93 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&(; +168 "core" ( +2 "manipulator"&k& +4 "core" &8 ? g + "storage"('& +4 "core" & \ \   +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 2 + "manipulator"&W'ξ +109 "core" ' +2 .tElbow.hold + "manipulator"&, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +3 "manipulator"&m1 +61 "core" 1 +2 "manipulator"&q% +4 "core" % t   E ù& +2 "storage"(& +3 "core" &  \  \\ +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 2 + 318 counts +2 "manipulator"&g' +19 "core" ' +2 "manipulator"&& +5 "core" &9 u z N f + "storage"(6& +4 "core" & \ 4\ ? \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&#'Ѐ +18 "core" ' +2 "storage"($% +4 "core" %f\ C\ C +2 ."downElevator"SE.seek :down +46 "storage"(r'N +56 (0% +3 "core" %Q\ \  OD +2 "manipulator"&|% +4 "core" %v o m  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&a'\ +87 "core" ' +106 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 3 of [2..3] + #Loading generic puck from tube 3 into Collection Clamp +2 "collection"'y& +4 "core" &  +2 "manipulator"&% +4 "core" %\ - m "a + "storage"(3% +4 "core" %D\ \  +2 "storage"(. +3 "core" .(  +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 +2 "storage"({( +361 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (T& +2 "core" &\ \ g  +2 "manipulator"&+& +4 "core" &9 k f +2 .tElbow.seek 3 + "manipulator"&o(D +11 "core" ( + "manipulator"&\\& +4 "core" &: , ' +2 "storage"(C& +4 "core" &\ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&&' +100 "core" ' + "storage"(& +4 "core" &\ $\  '  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(l'e +290 "core" ' +2 "storage"(b- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (%& +2 "core" &\ \   +2 "manipulator"&& +4 "core" &C  & + .tElbow.seek 3 +2 "manipulator"&(D +3 "core" ( +2 "manipulator"&P& +3 "core" &C T & +2 "storage"(& +4 "core" &\ \ !  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&)'y +11 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&=/ +57 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&!& +2 "storage"('N +7 "core" &C Y & +2 "manipulator"&`% +4 "core" % ~  +2 .tForearm.seek :retract + "manipulator"&1'\ +95 "core" ' +2 .tElbow.seek CC +2 "manipulator"&G( +143 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +8 "core" ( + "manipulator"&*& +5 "core" & S j + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &K& +3 "core" & f j +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&N'| +101 "core" ' +2 "manipulator"&& +4 "core" & g j + "manipulator"&?% +4 "core" %\\  +2 "collection"'e& +4 "core" &  +2 "collection"'}& +5 "core" &   +2 .tCC.seek :closed + "collection"'(] +5 "core" &   +9 &9  *y +10 &m  > +9 &r  G +9 &Og | F +10 &l ~ G +9 &k r G +10 &!g  F +9 &#Vj { F +9 &%g  F +10 &&i  F +9 &(k ~ G +9 &*]j | G +10 &,h   G +9 &-h  G +10 &/k v F +9 &1eg z G +9 &3(k  { F +10 &4e r F +9 &6f x F +9 &8oj  F +10 &:/i q G +9 &;h  G +10 &=j { G +9 &?vk  o F +9 &A7l h G +10 &Bk l G +9 &Dj l F +9 &F}m l G +10 &H>r q G +9 &I  o I +10 &K  r L +9 &Mm  l O +10 &O-  m P +9 &P  m P +9 &R  g Q +9 &To  ` Q +10 &V/  [ R +9 &W  r R +10 &Y  h T +9 &[p  b S +10 &]v  n &v +9 &]  a O +9 ( + &]X  ` C +2 "collection"'}& +3 #tCollection Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.90 + .Hand.open +2 "manipulator"&51 +54 "core" 1 +2 "manipulator"&/% +4 "core" % \\ c +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +93 "core" ' + #tLoading generic puck from tube 3 into Processing Clamp +2 "processing"%2& +4 "core" &C +2 "manipulator"& % +3 "core" %\ ) E K +2 "storage"(F% +4 "core" %5  + "storage"(]. +3 "core" .( +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 3 + "storage"(~( +4 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (& +3 "core" &  +2 "manipulator"&& +4 "core" &  j + "manipulator"&,% +4 "core" %\ (  K +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 + "manipulator"&[(D +167 "core" ( +2 "manipulator"&4& +4 "core" &C 0 !p +2 "storage"(s& +3 "core" &\  1  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&D' +99 "core" ' +2 "storage"(B& +4 "core" &\ \  O  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(x'e +287 "core" ' + "storage"(\ - +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (A& +3 "core" &\ \  Z  + "manipulator"&-& +4 "core" &F  m +2 .tElbow.seek 3 + "manipulator"&;(D +3 "core" ( +2 "manipulator"&U& +4 "core" &F  m + "storage"(d& +4 "core" &\  I  +2 .tForearm.seek 3 + 300 counts + "manipulator"&9'y +26 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&w/ +58 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&_& +2 "storage"(@'N +7 "core" &F k b s m +2 "manipulator"&L% +4 "core" % ~ m j +2 .tForearm.seek :retract +2 "manipulator"&u'\ +92 "core" ' + .tElbow.seek PC +2 "manipulator"&(c +164 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +87 "core" ( +2 "manipulator"&& +5 "core" &g S + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &E& +3 "core" &g +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&I'[ +103 "core" ' + "manipulator"&& +5 "core" &g p + "manipulator"&:% +4 "core" %L X +2 "processing"% & +3 "core" &> +2 "processing"%& +5 "core" &; +2 .tPC.seek :closed + "processing"%(Z +5 "core" &H +7 &D; #b +10 &~\\; 6 +14 &A G +4 &c: F +11 &shD G +8 &6eH F +9 & iH F +10 &"cE F +9 &$|gN F +10 &&=eN G +9 &(cL F +9 &)eL G +10 &+dL F +9 &-FgJ F +9 &/fK G +10 &0dL F +9 &2hJ F +10 &4MdB G +9 &6dN F +9 &7gM F +10 &9cI G +9 &;UjN G +9 &=gK G +10 &>fK G +9 &@eI G +10 &B]eE G +9 &D d: F +9 &EhK G +10 &GnK G +9 &I`sJ I +9 &K@ J +10 &LK K +9 &NM M +10 &P\\E M +9 &RJ M +10 &S@ M +9 &U? L +9 &Wc= M +9 &Y%9 E +10 &ZVF8 \\ +9 &Z 39 ( +6 ( + "processing"%& +4 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.52 +2 .Hand.open + "manipulator"&Y1 +4 "core" &Z; ( +56 1 +2 "manipulator"& % +4 "core" % L l +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&J'\ +102 "core" ' +2 "processing"%& +4 "core" &ZI ( + #tImaging generic puck in Processing Clamp while storing it to tube 3 +2 "manipulator"&H% +3 "core" %\ 8 l ' +2 "storage"(z% +4 "core" %K \ [ + "storage"( . +3 "core" .( +2 "storage"(M& +3 "core" &\ \ \   +2 "storage"(& +5 "manipulator"&& +3 "core" & \  9  + &g +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +4 "storage"(#]kK-0-\ b + .tElbow.seek PC +4 "manipulator"&>(c +4 ."raiseStack"SE.seek :beamBreak + "storage"(S'e +3 "core" ( + "manipulator"&^& +4 "core" &g +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &n& +3 "core" &g  +2 .tForearm.seek PC +2 "manipulator"&'[ +105 "core" ' + .tHand.close + "manipulator"&./ +57 "core" / +2 .tPC.seek :open + "processing"%<(p +80 "core" ' +2 "storage"( - +3 "core" -'e +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('B +34 "core" ' +263 ( + "storage"(c& +4 "core" &\ \   +2 "manipulator"&O& +3 "core" &g  +2 "manipulator"&"% +4 "core" % M  & +2 .tForearm.seek :retract +2 "manipulator"&V'\ +92 "core" ' +2 .tElbow.reconfigure :tight +54 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&((D +244 "core" ( + "manipulator"&8& +4 "core" &J y 6 +2 "storage"(i& +4 "core" &\ \ \   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&Q' +101 "core" ' +2 .tHand.open + "manipulator"&t1 +53 "core" 1 +2 "storage"(f- +4 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate +2 "storage"(k' +23 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"('' +49 "core" ' +2 #tLights, camera, ACTION! + "storage"(Z- +4 "core" -' + "storage"(R& +4 "core" & K  +2 "manipulator"&m& +4 "core" &J 6 +2 .tElbow.seek 3 + "manipulator"&q(D +4 "core" ( + "manipulator"&& +4 "core" &J  6 +2 "storage"(& +3 "core" & 0  +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&6' +22 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"($'M +57 "core" ' + "manipulator"&7& +5 "core" &J m o 6 + "storage"(0& +4 "core" &\ \   +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&|'M +35 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"(W'7 +34 "core" ' +2 "manipulator"&g% +4 "core" %^S ' 2 P ʰ +2 "storage"(y& +4 "core" & *  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 317 counts + "manipulator"&'ϊ +18 "core" ' +2 "manipulator"&3& +4 "core" & t p C # +2 "storage"(& +4 "core" &\ \    +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&X' +20 "core" ' + "storage"(#% +5 "core" %>\ \  7 +2 ."downElevator"SE.seek :down +4 "storage"(r'N +98 (h% +3 "core" %H H OA +2 "manipulator"&T% +4 "core" % ` j J  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&+'\ +91 "core" ' +61 ' + ."downElevator"SE.stop + "storage"(5 +3 (\\& +3 "core" & \ ^  +2 "collection"'C& +4 "core" &]Y  _ C + #tStoring generic puck in Collection Clamp to tube 3 +2 "manipulator"&% +4 "core" %\ . B "` +2 "storage"(% +3 "core" %N\ \  @ \ +2 "storage"(a. +3 "core" .( + "storage"(b& +4 "core" & r  +2 "storage"(%& +3 "core" &\ \ \ ^  +2 "manipulator"&& +4 "core" & T # + .tElbow.seek 3 +2 "manipulator"&P(D +34 "core" ( + "manipulator"&& +4 "core" &L : r +2 "storage"(=& +4 "core" &\ \   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&!' +104 "core" ' +2 "storage"(`& +4 "core" &\ \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(o'e +279 "core" ' +2 "storage"(&- +3 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&*& +3 "core" &L i b C r +2 "storage"(K& +4 "core" &\ \  f  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&l'M +33 "core" ' + .tElbow.hold +2 "manipulator"&), +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(- +3 "core" -' +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(?'i +31 "core" ' + "manipulator"&e% +4 "core" %aZ   Ʋ +2 "storage"(& +4 "core" &  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 3 + 320 counts + "manipulator"&'ύ +12 "core" ' +2 "manipulator"&1& +4 "core" & Y h U +2 "storage"(v& +3 "core" &\ \    +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&5' +19 "core" ' +2 .tSE.seek 1.11 Pucks below Top Plate +2 "storage"(/'X +43 "core" ' +3 "manipulator"&2& +4 "core" & i h +2 "manipulator"& % +4 "core" % g b }  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&F'\ +95 "core" ' +2 .tElbow.seek CC + "manipulator"&]( +147 "core" ( + "manipulator"&& +5 "core" &\  A 0 + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &}& +2 "core" &\  ` 0 +2 .tForearm.seek CC +2 "manipulator"&'| +96 "core" ' + .tHand.close +2 "manipulator"&,/ +58 "core" / +2 .tCC.seek :open + "collection"'N(p +411 "core" ( + "storage"(4& +4 "core" &\ \  +2 "storage"(s& +3 "core" &\ \  6  +2 "manipulator"&{& +4 "core" &\  ] 0 + "manipulator"&B% +4 "core" % | U +2 .tForearm.seek :retract +2 "manipulator"&G'\ +98 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&(D +174 "core" ( + "manipulator"&\ & +4 "core" &E  !r +2 "storage"(A& +4 "core" &\ \  e  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 3 +2 "manipulator"&-'M +110 "core" ' +2 .tElbow.hold + "manipulator"&U, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&d1 +62 "core" 1 +2 "manipulator"&w% +5 "core" % _z Z Ļ< + "storage"(_& +4 "core" &\ \ )  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 3 + 318 counts + "manipulator"&L'ϋ +22 "core" ' +2 "manipulator"&[& +4 "core" &> h W "y +2 "storage"(D& +4 "core" &\ 8\ 5   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&x' +20 "core" ' + "storage"(9% +4 "core" %V\ 5\ 8 F +2 ."downElevator"SE.seek :down +3 "storage"('N +100 (E% +2 "core" %D\ \   N? +2 "manipulator"&;% +4 "core" % m m  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +90 "core" ' +53 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 2 of [2..3] + #Loading generic puck from tube 2 into Collection Clamp +2 "collection"':& +4 "core" & t + "manipulator"& % +4 "core" %\ . k #c +2 "storage"(@% +4 "core" %K\ \  + "storage"(u. +4 "core" .( + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 2 + "storage"(j(  +358 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (Y& +2 "core" & \ \  N +2 "manipulator"& & +4 "core" &> T "y + .tElbow.seek 2 +2 "manipulator"&(; +3 "core" ( +2 "manipulator"&H& +3 "core" &> _ "y +2 "storage"(z& +4 "core" & \ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"& 'Ѐ +109 "core" ' + "storage"(& +5 "core" & \ 4\ 7 A +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(M'e +288 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" & \ \  g + "manipulator"&^& +4 "core" &> ` b _ "y +2 .tElbow.seek 2 + "manipulator"&n(; +3 "core" ( +2 "manipulator"&I& +3 "core" &> s o "y +2 "storage"(.& +4 "core" & \ $\  +2 .tForearm.seek 2 + 300 counts +2 "manipulator"& ' +17 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&/ +53 "core" / +4 ."downElevator"SE.seek :down +5 "manipulator"&J& + "storage"('N +6 "core" &> 1 "y +2 "manipulator"&c% +4 "core" %   + .tForearm.seek :retract +2 "manipulator"&S'\ +94 "core" ' +2 .tElbow.seek CC +2 "manipulator"&O( +140 "core" ( + "manipulator"&"& +5 "core" & Q - + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 "core" ' + ."downElevator"SE.stop +3 "manipulator"&& + "storage"(5 +7 "core" &  - +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&8'| +98 "core" ' +2 "manipulator"&i& +4 "core" & z - +2 "manipulator"&>% +4 "core" %x h +2 "collection"'t& +4 "core" &  +2 "collection"'f& +6 "core" &  +2 .tCC.seek :closed +2 "collection"'Z(] +4 "core" &   +6 &:   #c +9 &x\\  6 +10 &  G +9 &e  F +9 &oi m F +10 &0m | G +9 & j   G +9 &"g \ r F +10 &$wh  { F +9 &&9l z F +10 &'k  G +9 &)h  u G +9 &+~i s G +10 &-@h  G +9 &/j u G +9 &0g  F +10 &2h  u F +9 &4Ik s F +10 &6 j ~ F +9 &7f  F +9 &9d s F +10 &;Rg  y F +9 &=h z G +9 &>i  { G +10 &@e \ p F +9 &BXf l G +10 &Dk j F +9 &Ek y G +9 &Gk l G +10 &I[u r I +9 &K x J +9 &L m N +10 &N  k P +9 &PM  w P +10 &R  s P +9 &S  s Q +10 &U  p V +9 &WR  s Q +9 &Y  w S +9 &Z  u U +10 &\\  k C +10 &]n  w - +9 &]T  l ? +5 ( + "collection"'f& +5 #tCollection Clamp onSpring/offSpring for 10/25 samples, on/off torque 1.96 + .Hand.open +2 "manipulator"&R1 +3 "core" &]T  h ? +55 1 +2 "manipulator"&m% +4 "core" % x / +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +93 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%& +5 "core" &A + "manipulator"&V% +4 "core" %\ +  !P + "storage"(7% +4 "core" %P \  ^  +2 "storage"(0. +3 "core" .(  + "storage"(& +4 "core" & \ \ \ O + "storage"(g& +4 "core" & \ \ \ \ v +2 "manipulator"&y& +4 "core" & - + "manipulator"&k% +4 "core" %\ + & !P +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&3(; +171 "core" ( +2 "manipulator"&& +4 "core" &H T N + "storage"(#& +4 "core" &  \  / +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts +2 "manipulator"&('Ѐ +88 "core" ' + "storage"(Q& +4 "core" & \ \  Y +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(''e +281 "core" ' +2 "storage"(h- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (T& +2 "core" &  \  q +2 "manipulator"&6& +4 "core" &H  N +2 .tElbow.seek 2 + "manipulator"&q(; +30 "core" ( +2 "manipulator"&$& +4 "core" &D   + "storage"(|& +4 "core" & \ \  +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&' +21 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&\\/ +58 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&C& +2 "storage"('N +7 "core" &D _ j B  +2 "manipulator"&% +4 "core" % _ _ . +2 .tForearm.seek :retract +2 "manipulator"&a'\ +95 "core" ' +2 .tElbow.seek PC +2 "manipulator"&W(c +156 "core" ' + ."downElevator"SE.stop + "storage"(5 +88 "core" ( +2 "manipulator"&b& +4 "core" &c  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &%& +3 "core" &c +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&'[ +97 "core" ' +2 "manipulator"&& +4 "core" &c . +2 "manipulator"&=% +4 "core" %Y W + "processing"%X& +4 "core" &I +2 "processing"%`& +5 "core" &S +2 .tPC.seek :closed + "processing"%r(Z +5 "core" &U +7 &FT #c +9 &~\\L 6 +9 &B G +10 &eC F +9 &uhA F +10 &7iA F +9 & f; G +9 &"i@ F +10 &$|jE G +9 &&>gB G +9 &(eK F +10 &)gQ F +9 &+iE F +10 &-FeM G +9 &/fE G +9 &0cM F +10 &2gN F +9 &4NcE G +9 &6jM F +10 &7dL G +9 &9bM F +10 &;WgI F +9 &=dP G +9 &>kL G +10 &@eO G +9 &B^eK G +9 &D eP G +10 &EgO G +9 &GrI H +10 &I`L I +9 &KK K +9 &LN L +10 &NJ L +9 &P^J L +9 &RI M +10 &SL M +9 &UJ M +10 &WdI M +9 &Y$M H +10 &ZU<nK (t +9 &Z!L $ +5 ( +2 "processing"%`& +4 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.52 + .Hand.open +2 "manipulator"&1 +3 "core" &Z@ $ +54 1 + "manipulator"&+% +4 "core" % Y  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&&'\ +93 "core" ' +2 "processing"%*& +4 "core" &ZG $ + #tImaging generic puck in Processing Clamp while storing it to tube 2 +2 "manipulator"&K% +3 "core" %\ *  !P +2 "storage"(% +4 "core" %O\ \ \ \ - + "storage"(e. +3 "core" .(  +2 "storage"(& +3 "core" & \ \  ) +2 "storage"(1& +4 "manipulator"&v& +4 "core" & \ \ \ \  + &c  +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +3 "storage"(#]kK-0-\ b +2 "manipulator"&2(c +6 ."raiseStack"SE.seek :beamBreak + "storage"( 'e +3 "core" ( + "manipulator"&!& +4 "core" &c = +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &P& +3 "core" &c 0 +2 .tForearm.seek PC +2 "manipulator"&o'[ +97 "core" ' +2 .tHand.close + "manipulator"&l/ +60 "core" / +2 .tPC.seek :open + "processing"%(p +85 "core" ' + "storage"(?- +4 "core" -'e + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place + "storage"('B +35 "core" ' +257 ( +2 "storage"(}& +4 "core" & \ \  + "manipulator"&5& +4 "core" &c  +2 "manipulator"&)% +4 "core" % n  + .tForearm.seek :retract +2 "manipulator"&,'\ +99 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&F(; +255 "core" ( + "manipulator"&& +4 "core" &6 P $ +2 "storage"(4& +4 "core" &  \ e +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&s'Ѐ +106 "core" ' + .tHand.open + "manipulator"&{1 +60 "core" 1 +2 "storage"(B- +4 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate + "storage"(\ ' +27 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(A' +51 "core" ' + #tLights, camera, ACTION! +2 "storage"(- +3 "core" -' +2 "storage"(]& +3 "core" &  +2 "manipulator"&d& +4 "core" &6  $ +2 .tElbow.seek 2 + "manipulator"&w(; +4 "core" ( + "manipulator"&_& +4 "core" &6 / $ + "storage"([& +4 "core" &   +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&D'Ѐ +9 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.11 Pucks below Top Plate + "storage"(9'M +57 "core" ' +2 "manipulator"&G& +4 "core" &6 m h $ + "storage"(E& +4 "core" & \ \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&;'ξ +37 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.07 Pucks below Top Plate + "storage"(-'7 +32 "core" ' +2 "manipulator"&:% +4 "core" %f & ' F ǵ +2 "storage"(L& +4 "core" &  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 317 counts +52 "manipulator"& ' +21 "core" ' +2 "manipulator"&@& +4 "core" &9 X s y # +2 "storage"(u& +4 "core" & \ \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&/'Ѐ +17 "core" ' + "storage"(x% +5 "core" %>\ \  k +2 ."downElevator"SE.seek :down +4 "storage"('N +99 (~% +3 "core" %G\ \ $ OB +2 "manipulator"&Y% +4 "core" %s ` _   +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"& '\ +86 "core" ' +65 ' + ."downElevator"SE.stop + "storage"(5 +3 (H& +3 "core" &  \ S +2 "collection"'z& +4 "core" &]O   ? +2 #tStoring generic puck in Collection Clamp to tube 2 + "manipulator"&% +4 "core" %\ - ` "` +2 "storage"(U% +4 "core" %F \  `  + "storage"(. +3 "core" .(  +2 "storage"(& +4 "core" &  +2 "storage"(& +3 "core" & \ i +2 "manipulator"&^& +4 "core" &9 h # +2 .tElbow.seek 2 + "manipulator"&I(; +4 "core" ( + "manipulator"&.& +4 "core" &9 G # +2 "storage"(& +3 "core" &  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&J'Ѐ +102 "core" ' +2 "storage"(c& +4 "core" & \ \  j +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('e +279 "core" ' + "storage"( - +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&"& +3 "core" &9 n n # +2 "storage"(& +3 "core" & \ \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&M'ξ +36 "core" ' +2 .tElbow.hold + "manipulator"& , +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(i- +2 "core" -' +3 .tSE.seek 0.12 Pucks below Top Plate + "storage"(>'v +38 "core" ' + "manipulator"&t% +4 "core" %^   e dz +2 "storage"(n& +4 "core" &  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 2 + 314 counts +2 "manipulator"&' +18 "core" ' + "manipulator"&S& +5 "core" &@ i Z F "} + "storage"(N& +4 "core" & \ \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&R'Ѐ +17 "core" ' +2 .tSE.seek 1.12 Pucks below Top Plate +2 "storage"(m'e +48 "core" ' +2 "manipulator"&& +5 "core" &@ p o "} + "manipulator"&V% +4 "core" % o p +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&7'\ +88 "core" ' + .tElbow.seek CC +2 "manipulator"&0( +161 "core" ( + "manipulator"&& +4 "core" &+  Aa +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &g& +3 "core" &+ [ Aa +2 .tForearm.seek CC +2 "manipulator"&f'| +97 "core" ' +2 .tHand.close + "manipulator"&y/ +61 "core" / +2 .tCC.seek :open +2 "collection"'k(p +410 "core" ( +2 "storage"(8& +4 "core" & \ \  J + "storage"(& +4 "core" & \ \  j + "manipulator"&#& +4 "core" & (  ?U +2 "manipulator"&Q% +3 "core" % ψ  +2 .tForearm.seek :retract +2 "manipulator"&O'\ +96 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 + "manipulator"&(; +174 "core" ( + "manipulator"&h& +5 "core" &8\ M \\ + "storage"(T& +4 "core" & \ \  r + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 2 +2 "manipulator"&6'ξ +111 "core" ' + .tElbow.hold + "manipulator"&$, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&|1 +53 "core" 1 +2 "manipulator"&\\% +5 "core" % ~ K + "storage"(C& +4 "core" & \ \ V + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 2 + 318 counts + "manipulator"&' +19 "core" ' +2 "manipulator"&3& +4 "core" &9\ q [ [ + "storage"((& +4 "core" & \ \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&''Ѐ +22 "core" ' +2 "storage"(% +4 "core" %l\ ?\ 4  +3 ."downElevator"SE.seek :down +3 "storage"(b'N +98 (%% +3 "core" %E\ \ M N? +2 "manipulator"&q% +4 "core" %У p o +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +87 "core" ' +51 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 3 of [2..3] + #Loading generic puck from tube 3 into Collection Clamp +2 "collection"'=& +4 "core" &   +2 "manipulator"&X% +4 "core" %\ , P "] + "storage"(% +4 "core" %?\ !\  + "storage"(a. +3 "core" .(  +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 3 + "storage"(<( +366 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (& +2 "core" &\ \ a  +2 "manipulator"&+& +4 "core" &9\ n [ +2 .tElbow.seek 3 + "manipulator"&*(D +11 "core" ( + "manipulator"&K& +4 "core" &: O & +2 "storage"(& +4 "core" &\ \   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&e' +101 "core" ' +2 "storage"(& +4 "core" &\ 4\ 4  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(v'e +281 "core" ' +2 "storage"(1- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (`& +2 "core" &\ \   +2 "manipulator"&!& +4 "core" &< o j v & +2 .tElbow.seek 3 + "manipulator"&P(D +3 "core" ( +2 "manipulator"&& +3 "core" &< R & +2 "storage"(l& +4 "core" &\ \   +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&?'y +20 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&W/ +53 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&&& + "storage"(r'N +8 "core" &= % + "manipulator"&}% +4 "core" % ρ  +2 .tForearm.seek :retract +2 "manipulator"&5'\ +91 "core" ' +2 .tElbow.seek CC + "manipulator"& ( +152 "core" ( +2 "manipulator"&)& +4 "core" ' + &#  :1 + ."downElevator"SE.stop +3 .tElbow.reconfigure :loose +2 "storage"(5 +2 "manipulator"&$ &.,(#b +4 &o& +2 "core" &"  :1 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&'| +101 "core" ' +2 "manipulator"&4& +4 "core" &" & :1 +2 "manipulator"&2% +4 "core" %w , +2 "collection"'{& +3 "core" &  +2 "collection"'B& +6 "core" &  +2 .tCC.seek :closed + "collection"'(] +4 "core" &   +9 &:  *y +9 &o z > +10 &r v G +9 &Xg x F +10 &g { G +9 &m  F +9 &!h  w G +10 &#`l  F +9 &%!k   G +9 &&j  G +10 &(g w F +9 &*hf | F +10 &,*e s F +9 &-f  F +9 &/h t F +10 &1pk t F +9 &31g s G +9 &4j u F +10 &6k   F +9 &8xj  u F +10 &::k | F +9 &;e v F +9 &=f t F +10 &?f y G +9 &ABl v F +9 &Cg o G +10 &Dj l F +9 &Fk q G +10 &HHq s G +9 &J  I +9 &K   L +10 &Mt   P +9 &O7  o P +9 &P  u P +10 &R  s Q +9 &Tx  | Q +10 &V7  n R +9 &W  e S +10 &Y  l T +9 &[y  a T +9 &\\Y  u ; +9 &]  o )w +10 &]v  u I +5 ( +2 "collection"'B& +4 #tCollection Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.92 + .Hand.open + "manipulator"&]1 +4 "core" &]s  o I +59 1 +2 "manipulator"&d% +4 "core" % t 6 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&_'\ +100 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%[& +4 "core" &L +2 "manipulator"&,% +3 "core" %\ 6 N & +2 "storage"(G% +57 "core" %F\ \ z  +2 "storage"(E. +3 "core" .( + "storage"(& +4 "core" &\ \ P  + "storage"(:& +4 "core" &\ \ '  +2 "manipulator"&L& +3 "core" &" u 9& +2 "manipulator"&\ % +4 "core" %\ 6 I & +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&@(D +165 "core" ( +2 "manipulator"&F& +4 "core" &8\ W Z + "storage"(u& +4 "core" &\ @  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&s' +97 "core" ' +2 "storage"(x& +5 "core" &\ \    +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(A'e +291 "core" ' + "storage"(D- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (~& +3 "core" &\ \  +2 "manipulator"&Y& +4 "core" &9\ } Y +2 .tElbow.seek 3 + "manipulator"&w(D +11 "core" ( + "manipulator"&9& +4 "core" &< & % +2 "storage"(;& +4 "core" &\ \ \ \ ~  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"& 'y +10 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&H/ +63 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&z& +3 "storage"('N +7 "core" &= % +2 "manipulator"&U% +4 "core" % w G ) +2 .tForearm.seek :retract + "manipulator"&'\ +101 "core" ' +2 .tElbow.seek PC + "manipulator"&-(c +155 "core" ' + ."downElevator"SE.stop + "storage"(5 +96 "core" ( + "manipulator"&& +5 "core" &m i + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &m c +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&^'[ +96 "core" ' +2 "manipulator"&.& +4 "core" &m  +2 "manipulator"&% +3 "core" %`  +2 "processing"%/& +4 "core" &V +2 "processing"%c& +5 "core" &T +2 .tPC.seek :closed + "processing"%(Z +5 "core" &P  +10 &6Q )w +9 &kT = +10 &zU G +9 &EdK F +9 &gO F +10 &i? G +9 &!dF F +9 &#MeG F +10 &%jC G +9 &&iA G +9 &(dB F +10 &*VfH F +9 &,kI F +10 &-gI F +9 &/lN G +9 &1]iP F +10 &3gM F +9 &4iH G +9 &6gO G +10 &8ddJ G +9 &:'eK F +10 &;eO F +9 &=eL G +9 &?mgP F +10 &A/hM F +9 &BcL G +9 &DeM F +10 &FtiN G +9 &H4qH G +10 &IyC I +9 &KO I +9 &MmL L +10 &O-G M +9 &PO M +9 &RO L +10 &TtN L +10 &V5J M +9 &W= M +9 &Y? 1 +10 &Z1}F N +9 &Z8 ( +2 ( +2 "processing"%c& +3 #tProcessing Clamp onSpring/offSpring for 8/26 samples, on/off torque 1.49 + .Hand.open + "manipulator"&1 +59 "core" 1 + "manipulator"& % +4 "core" % `  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"& '\ +99 "core" ' +2 "processing"%"& +4 "core" &ZC ( +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&% +4 "core" %\ 8 ' + "storage"(i% +4 "core" %N f \ +2 "storage"(t. +3 "core" .( + "storage"(n& +3 "core" & A  +2 "storage"(S& +3 "manipulator"&N& +7 "core" & b  + &m  +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +6 "manipulator"&$&.,(\ #b +2 "storage"(#]kK-0-\ b +2 .tElbow.seek PC +5 "manipulator"&(c +4 ."raiseStack"SE.seek :beamBreak + "storage"(V'e +3 "core" ( + "manipulator"&J& +4 "core" &m ( + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &I& +3 "core" &m  +2 .tForearm.seek PC + "manipulator"&'[ +96 "core" ' +2 .tHand.close + "manipulator"&M/ +54 "core" / + .tPC.seek :open +2 "processing"%(p +103 "core" ' + "storage"(>- +4 "core" -'e + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('B +36 "core" ' +237 ( +2 "storage"(g& +4 "core" & \ $  + "manipulator"&R& +4 "core" &m +2 "manipulator"& % +3 "core" % j +2 .tForearm.seek :retract +2 "manipulator"&y'\ +91 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 + "manipulator"&7(D +252 "core" ( + "manipulator"&Z& +4 "core" &E  !p +2 "storage"(8& +4 "core" & \   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&' +103 "core" ' + .tHand.open + "manipulator" +62 "core" 1 +2 "storage"(Q- +4 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate +2 "storage"(h' +23 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(T' +51 "core" ' +2 #tLights, camera, ACTION! + "storage"(f- +4 "core" -' + "storage"(0& +4 "core" & F  + "manipulator"&|& +4 "core" &E r s \ !p +2 .tElbow.seek 3 +2 "manipulator"&\\(D +3 "core" ( + "manipulator"&C& +4 "core" &E  !p +2 "storage"(3& +3 "core" & 3  +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&(' +4 "core" ' + .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.11 Pucks below Top Plate + "storage"('M +58 "core" ' + "manipulator"&O& +5 "core" &E d b : !p + "storage"(%& +4 "core" & ^  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&q'M +34 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"(6'7 +25 "core" ' +2 "manipulator"&=% +4 "core" %^V 2 5 u ʱ +2 "storage"(& +4 "core" &   + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 317 counts + "manipulator"&X'ϊ +19 "core" ' +2 "manipulator"&& +4 "core" &+ t o a $ +2 "storage"(a& +4 "core" &\ q  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&m' +13 "core" ' +2 "storage"('% +4 "core" %7 \  X +3 ."downElevator"SE.seek :down +3 "storage"(b'N +98 (j% +3 "core" %wU \ C PF +2 "manipulator"&% +5 "core" % j _   +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&+'\ +92 "core" ' +55 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (K& +4 "core" &   +2 "collection"'& +4 "core" &]r  i I +2 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&% +4 "core" %\ 6  & +2 "storage"($% +3 "core" %7\ \  +2 "storage"(. +3 "core" .( + "storage"(1& +4 "core" &\ \   + "storage"(`& +4 "core" &\  h  +2 "manipulator"&!& +4 "core" &,  $ + .tElbow.seek 3 +2 "manipulator"&(D +16 "core" ( +2 "manipulator"&l& +4 "core" &J  + + "storage"(W& +4 "core" &\ \ #  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&&' +94 "core" ' +2 "storage"(}& +4 "core" &\ \  ,  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(*'e +278 "core" ' + "storage"(e- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&)& +2 "core" &S * +2 "storage"(o& +4 "core" &\ \ t  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 + "manipulator"&v'M +33 "core" ' + .tElbow.hold +2 "manipulator"&?, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(4- +54 "core" -' +3 .tSE.seek 0.11 Pucks below Top Plate + "storage"(2'i +30 "core" ' + "manipulator"&{% +4 "core" %]T X M ? ̰ +2 "storage"(P& +4 "core" &   + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 3 + 316 counts +2 "manipulator"&r'ω +11 "core" ' +2 "manipulator"&5& +4 "core" &` w k 5 ) +2 "storage"(k& +4 "core" &\ \   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&]' +18 "core" ' +2 .tSE.seek 1.11 Pucks below Top Plate +2 "storage"(d'X +43 "core" ' +2 "manipulator"&[& +4 "core" &a g l K ( +2 "manipulator"&,% +4 "core" % b ` Q  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&G'\ +95 "core" ' +2 .tElbow.seek CC + "manipulator"&B( +159 "core" ( +2 "manipulator"&E& +5 "core" & U A + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &  A +2 .tForearm.seek CC + "manipulator"&:'| +99 "core" ' + .tHand.close + "manipulator"&L/ +63 "core" / +2 .tCC.seek :open +2 "collection"'\ (p +410 "core" ( +2 "storage"(& +4 "core" &\ \   + "storage"(F& +4 "core" &\ \    + "manipulator"&u& +4 "core" &  A +2 "manipulator"&x% +3 "core" % υ +2 .tForearm.seek :retract + "manipulator"& '\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&_(D +170 "core" ( +2 "manipulator"&D& +4 "core" &@ d "x + "storage"(~& +4 "core" &\ \   +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 +2 "manipulator"&Y'M +108 "core" ' + .tElbow.hold +2 "manipulator"&9, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&;1 +62 "core" 1 +2 "manipulator"&H% +4 "core" % _}   @ üE +2 "storage"(z& +4 "core" &\ \ .  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 3 + 318 counts +2 "manipulator"&U'ϋ +17 "core" ' + "manipulator"&@& +4 "core" &C Z o w !u +2 "storage"(s& +4 "core" &\ ?\ . z  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&A' +17 "core" ' + "storage"( % +4 "core" %P\ 4\ 4 +3 ."downElevator"SE.seek :down +3 "storage"('N +99 (% +3 "core" %D\ \  M> +2 "manipulator"&w% +4 "core" % ` l B +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&.'\ +95 "core" ' +45 ' + ."downElevator"SE.stop +2 "storage"(5 +4 #tShuffling pucks in tube 2 of [2..3] + #Loading generic puck from tube 2 into Collection Clamp +2 "collection"'& +4 "core" &  + "manipulator"&/% +4 "core" %\ 6  & +2 "storage"(% +4 "core" %H\ \   +2 "storage"(. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"((  +364 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (& +2 "core" & \ O +2 "manipulator"& & +4 "core" &C { !u +2 .tElbow.seek 2 + "manipulator"&"(; +4 "core" ( + "manipulator"&& +4 "core" &C  !u +2 "storage"(i& +3 "core" & \ \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts + "manipulator"&t'Ѐ +103 "core" ' +2 "storage"(n& +4 "core" & \ C\ B  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(c'e +278 "core" ' +2 "storage"(N- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (S& +2 "core" & \ \  p +2 "manipulator"&J& +4 "core" &C p q !u + .tElbow.seek 2 +2 "manipulator"&I(; +3 "core" ( + "manipulator"&^& +4 "core" &C o t !u +2 "storage"(M& +3 "core" & \ $\ / ) +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&>' +23 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close +2 "manipulator"&-/ +53 "core" / +2 ."downElevator"SE.seek :down +5 "manipulator"& & + "storage"('N +7 "core" &C m m !u +2 "manipulator"&g% +3 "core" % d n +2 .tForearm.seek :retract +2 "manipulator"&R'\ +94 "core" ' +2 .tElbow.seek CC +2 "manipulator"& ( +147 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +3 "core" ( + "manipulator"&V& +4 "core" && O =A + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &%  =A +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&Z'| +106 "core" ' +2 "manipulator"&8& +4 "core" &&  =A +2 "manipulator"&% +3 "core" %|  +2 "collection"'#& +4 "core" &  +2 "collection"'Q& +5 "core" &  +2 .tCC.seek :closed +3 "collection"'f(] +3 "core" &  +6 &C \  $d +10 &~]  | 6 +9 &  ~ G +10 &g ~ F +9 &vl r F +9 &7k v G +10 & i  y G +9 &"l t F +9 &$~e t F +10 &&@h z F +9 &(k z G +10 &)i } G +9 &+h ~ G +9 &-Gh  G +10 &/ i  v G +9 &0g  { F +9 &2g  t F +10 &4Ok  q G +9 &6h  q F +10 &7h t F +9 &9k t F +9 &;Xi s F +10 &=i u F +9 &>g m F +9 &@g u F +10 &B_j  G +9 &D!h  G +10 &Eh  z G +9 &Gg w F +9 &Idq  w H +10 &K   K +9 &L   N +9 &N   P +10 &PT  | P +10 &R  x P +9 &S  t R +9 &U  p Q +10 &WW   R +9 &Y  w S +9 &Z  s S +9 &\\  s > +10 &]r,  w %n +9 &]T  w ? +2 ( +2 "collection"'Q& +3 #tCollection Clamp onSpring/offSpring for 9/25 samples, on/off torque 1.86 + .Hand.open +2 "manipulator"&01 +54 "core" 1 + "manipulator"&|% +4 "core" % | Q +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&C'\ +98 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%3& +5 "core" &S + "manipulator"&y% +4 "core" %\  @  + "storage"(O% +4 "core" %@\ \ \ \ +2 "storage"(%. +3 "core" .(  + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"(=(  +8 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (& +2 "core" &  T +2 "manipulator"&& +4 "core" &# " ;6 +2 "manipulator"&h% +4 "core" %\    +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&(; +167 "core" ( + "manipulator"&a& +5 "core" &8 |  " + "storage"('& +4 "core" & \ \  I +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&7'Ѐ +107 "core" ' +2 "storage"(& +4 "core" & \ \  | +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(T'e +286 "core" ' + "storage"(j- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" & \ \  = + "manipulator"&(& +4 "core" &8 n n " +2 .tElbow.seek 2 + "manipulator"&\\(; +3 "core" ( +2 "manipulator"&& +3 "core" &8 u z ! " +2 "storage"(q& +4 "core" & \ \  +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&K' +25 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +55 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&X& +2 "storage"('N +8 "core" &8 l p  " + "manipulator"&$% +4 "core" % n n +2 .tForearm.seek :retract + "manipulator"&'\ +95 "core" ' +2 .tElbow.seek PC +2 "manipulator"&1(c +156 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +91 "core" ( +2 "manipulator"&6& +4 "core" &m  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &`& +53 "core" &m U +4 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&!'[ +106 "core" ' + "manipulator"&l& +4 "core" &m  +2 "manipulator"&W% +4 "core" %Y  +2 "processing"%m& +4 "core" &A +2 "processing"%}& +5 "core" &L +2 .tPC.seek :closed +2 "processing"%b(Z +4 "core" &@  +9 &7R )w +10 &lD = +9 &tA G +9 &EeC F +10 &hA F +9 &d@ G +9 &!eF F +10 &#LcD G +9 &%hA F +9 &&jM G +10 &(gI G +9 &*UdH F +10 &,gG F +9 &-eM G +9 &/kM G +10 &1\\gL G +9 &3eK F +9 &4fJ F +10 &6jG F +9 &8djK G +10 &:&gJ G +9 &;gM G +9 &=eO G +10 &?leL G +9 &A.eL G +9 &BcN F +10 &DgM G +9 &FsnK G +10 &H2uK H +9 &IM J +9 &KH K +10 &Mk? M +9 &O-H M +9 &PM L +10 &RK L +9 &TsL M +10 &V4G M +9 &WO M +10 &YE 5 +9 &Z-J \\ +9 &ZM ' +2 ( +2 "processing"%}& +3 #tProcessing Clamp onSpring/offSpring for 8/26 samples, on/off torque 1.51 + .Hand.open + "manipulator"&1 +59 "core" 1 +2 "manipulator"&+% +4 "core" % X 3 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&e'\ +100 "core" ' +2 "processing"%)& +4 "core" &Z6 ' +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 + "manipulator"&o% +4 "core" %\ 8 \\ ' + "storage"(4% +4 "core" %8\ \ \ W  +2 "storage"({. +3 "core" .(  + "storage"(P& +4 "core" & \ \ \ w +2 "storage"(5& +4 "manipulator"&k& +4 "core" & \ \  W +2 &m  +2 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +3 "storage"(#]kK-0-\ b + "manipulator"&[(c +6 ."raiseStack"SE.seek :beamBreak + "storage"(,'e +3 "core" ( + "manipulator"&&& +4 "core" &m D +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &m 8 +2 .tForearm.seek PC +2 "manipulator"&*'[ +95 "core" ' + .tHand.close +2 "manipulator"&v/ +53 "core" / +2 .tPC.seek :open +2 "processing"%r(p +93 "core" ' +2 "storage"(2- +3 "core" -'e + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(E'B +36 "core" ' +247 ( + "storage"(& +4 "core" & \ \ N +2 "manipulator"&]& +3 "core" &m @ +2 "manipulator"&?% +4 "core" % n " +2 .tForearm.seek :retract + "manipulator"&L'\ +98 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 + "manipulator"&G(; +258 "core" ( + "manipulator"&& +4 "core" &6  $ +2 "storage"(& +3 "core" &  \ \ H +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&F'Ѐ +103 "core" ' + .tHand.open + "manipulator"&u1 +62 "core" 1 + "storage"(x- +4 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate + "storage"(D' +23 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.83 Pucks below Top Plate + "storage"(~' +51 "core" ' +2 #tLights, camera, ACTION! + "storage"(:- +4 "core" -' + "storage"(B& +4 "core" &  X +2 "manipulator"&;& +3 "core" &6 s $ +2 .tElbow.seek 2 +2 "manipulator"&H(; +3 "core" ( + "manipulator"&z& +4 "core" &6 t { $ +2 "storage"(@& +4 "core" &   +2 .tForearm.seek 2 + 450 counts + "manipulator"&s'Ѐ +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"( 'M +59 "core" ' + "manipulator"& & +4 "core" &6 n o X $ +2 "storage"(& +4 "core" & \ \  C +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&w'ξ +35 "core" ' + .tElbow.hold +2 "manipulator"&_, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.07 Pucks below Top Plate + "storage"(Y'7 +38 "core" ' + "manipulator"&% +5 "core" %b  # Ǵ + "storage"(/& +4 "core" &  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 317 counts + "manipulator"&U' +21 "core" ' + "manipulator"&& +5 "core" &A u b Y # +2 "storage"(& +3 "core" & \ \  N +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&d'Ѐ +24 "core" ' + "storage"(A% +5 "core" %<\ \   +2 ."downElevator"SE.seek :down +4 "storage"('N +99 (<% +3 "core" %L OC +2 "manipulator"&% +4 "core" %Й o l +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"& '\ +91 "core" ' +58 ' + ."downElevator"SE.stop + "storage"(5 +3 (& +4 "core" &  \  C + "collection"'i& +4 "core" &]R   ? +2 #tStoring generic puck in Collection Clamp to tube 2 + "manipulator"&n% +4 "core" %\ 6 U & + "storage"(9% +4 "core" %@\ \ \ +2 "storage"(.. +3 "core" .(  + "storage"(N& +4 "core" & \ \ \  + "storage"(S& +4 "core" & \ \ \ * +2 "manipulator"&J& +4 "core" &A # +2 .tElbow.seek 2 + "manipulator"&^(; +4 "core" ( + "manipulator"&M& +4 "core" &A Y # +2 "storage"(-& +3 "core" & \ \ \ \ { +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"& 'Ѐ +110 "core" ' + "storage"(g& +4 "core" & \ \ ! +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"("'e +281 "core" ' +2 "storage"(t- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&V& +2 "core" &A d j Y # +2 "storage"(& +4 "core" & \ \ N + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 + "manipulator"&c'ξ +38 "core" ' + .tElbow.hold +2 "manipulator"&>, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(8- +2 "core" -' +2 .tSE.seek 0.12 Pucks below Top Plate +2 "storage"('v +28 "core" ' + "manipulator"&#% +5 "core" %b & &  ƴ + "storage"(I& +4 "core" &  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 2 + 314 counts + "manipulator"&' +19 "core" ' + "manipulator"&R& +5 "core" &R u Y ] n + "storage"(\ & +4 "core" & \ \  O +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts + "manipulator"&0'Ѐ +15 "core" ' +2 .tSE.seek 1.12 Pucks below Top Plate +2 "storage"(|'e +43 "core" ' +2 "manipulator"&3& +4 "core" &R n n n +2 "manipulator"&y% +4 "core" %n m p  + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&O'\ +138 "core" ' +2 .tElbow.seek CC + "manipulator"&%( +149 "core" ( + "manipulator"&Q& +4 "core" &  - +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &  d - +2 .tForearm.seek CC + "manipulator"&'| +95 "core" ' + .tHand.close +2 "manipulator"&h/ +59 "core" / +2 .tCC.seek :open +2 "collection"'Z(p +410 "core" ( +2 "storage"(a& +4 "core" & \ \  +2 "storage"('& +3 "core" & \ \  v +2 "manipulator"&& +4 "core" &\   - + "manipulator"&% +4 "core" % o  +2 .tForearm.seek :retract + "manipulator"& '\ +93 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&C(; +175 "core" ( + "manipulator"&j& +4 "core" &7  !q +2 "storage"(& +3 "core" & \ !\  & +2 .tElbow.reconfigure :limp +52 "manipulator"&$ ,(b +5 .tForearm.seek 2 + "manipulator"&('ξ +109 "core" ' +2 .tElbow.hold + "manipulator"&, +93 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&q1 +53 "core" 1 + "manipulator"&% +5 "core" % t  0 ù, + "storage"(X& +4 "core" & \ \ ! + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 2 + 313 counts +2 "manipulator"&$' +16 "core" ' + "manipulator"&& +4 "core" &G w ] & a +2 "storage"(7& +4 "core" & \ ?\ B  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts + "manipulator"&T'Ѐ +17 "core" ' + "storage"(K% +5 "core" %`\ B\ B t +2 ."downElevator"SE.seek :down +4 "storage"(6'N +99 (`% +3 "core" %F\ \  S N> + "manipulator"&\\% +4 "core" %І m o +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&l'\ +89 "core" ' +47 ' + ."downElevator"SE.stop +2 "storage"(5 +2 #tShuffling pucks in tube 3 of [2..3] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"'W& +5 "core" & p + "manipulator"&m% +4 "core" %\ - , "Y +2 "storage"(% +4 "core" %7\ \  +2 "storage"(. +3 "core" .(  +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(( +360 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (& +2 "core" &\ \    +2 "manipulator"&+& +4 "core" &G Y a +2 .tElbow.seek 3 + "manipulator"&)(D +4 "core" ( + "manipulator"&o& +4 "core" &G b a + "storage"(4& +4 "core" &\ \   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&{' +108 "core" ' + "storage"(P& +4 "core" &\ B\ B  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(}'e +290 "core" ' +2 "storage"(k- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (5& +2 "core" &\ \ !  +2 "manipulator"&&& +4 "core" &G o o X a + .tElbow.seek 3 +2 "manipulator"&(D +3 "core" ( +2 "manipulator"&!& +3 "core" &G z u P a +2 "storage"(v& +4 "core" &\ \  [  +2 .tForearm.seek 3 + 300 counts + "manipulator"&2'y +27 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&1/ +55 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&e& + "storage"(b'N +7 "core" &G b n j a +2 "manipulator"&% +4 "core" % w n m O +2 .tForearm.seek :retract + "manipulator"&]'\ +95 "core" ' + .tElbow.seek CC +2 "manipulator"&?( +145 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +4 "core" ( + "manipulator"&,& +4 "core" &# :+ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &*& +3 "core" &" G :+ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&'| +108 "core" ' +2 "manipulator"&& +4 "core" &# C :+ +2 "manipulator"&[% +4 "core" %q +2 "collection"'u& +4 "core" &  +2 "collection"'x& +5 "core" &  +2 .tCC.seek :closed + "collection"':(] +4 "core" &  \ +9 &3  (t +9 &i  < +10 &t{   G +9 &9f { F +9 &l w F +10 &h p F +9 &!i x F +10 &#?j v G +9 &%e x F +9 &&l  w F +10 &(m   F +9 &*Hg { F +9 &,\ h v F +10 &-h t G +9 &/j t F +10 &1Pl { F +9 &3g \ q F +9 &4e o F +10 &6f { F +9 &8Yh l F +9 &:h z F +10 &;e p F +9 &=g } F +10 &?`f \ z F +9 &A#h \ t F +9 &Bl  F +10 &Dd { F +9 &Fgg { G +9 &H(k { G +10 &I  u I +9 &K   L +10 &MV  | O +9 &O   O +9 &P  y P +10 &R  y P +9 &TX  y Q +9 &V  v R +10 &W  u R +9 &Y  w T +10 &[Z  | S +9 &\\u  t - +10 &]!  m D +8 ( +3 "collection"'x& +3 #tCollection Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.91 + .Hand.open +2 "manipulator"&B1 +3 "core" &]R  t @ +49 1 + "manipulator"&;% +5 "core" % q | +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&z'\ +99 "core" ' + #tLoading generic puck from tube 3 into Processing Clamp +2 "processing"%@& +4 "core" &B + "manipulator"&L% +4 "core" %\ 9 ? ' +2 "storage"( % +4 "core" %8 m  + "storage"(. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 +2 "storage"(E( +8 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (& +2 "core" & G  +2 "manipulator"&/& +4 "core" &" k 9' +2 "manipulator"&D% +3 "core" %\ 9 Z ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 + "manipulator"&(D +176 "core" ( + "manipulator"&& +4 "core" &:  j +2 "storage"(A& +4 "core" & \  x  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&G' +109 "core" ' + "storage"(F& +4 "core" &\ \ H  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(~'e +278 "core" ' + "storage"(<- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (& +3 "core" &\  z  +2 "manipulator"&s& +3 "core" &; ` _ 8 i +2 .tElbow.seek 3 +2 "manipulator"&H(D +3 "core" ( + "manipulator"& & +4 "core" &; t o ] i + "storage"(w& +4 "core" &\ \  _  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&U'y +33 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +56 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&i& + "storage"(n'N +8 "core" &; c j i + "manipulator"&9% +4 "core" % ϗ n j +2 .tForearm.seek :retract +2 "manipulator"&.'\ +93 "core" ' + .tElbow.seek PC +2 "manipulator"&N(c +121 "Can"8 YW +41 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +89 "core" ( +3 "manipulator"&Y& +4 "core" &j  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &S& +3 "core" &j { +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&J'[ +106 "core" ' +2 "manipulator"&M& +4 "core" &j ^ j G +2 "manipulator"&-% +3 "core" %Q t 0 ~ +2 "processing"%d& +4 "core" &R +2 "processing"%g& +6 "core" &J +2 .tPC.seek :closed +2 "processing"%(Z +4 "core" &B +7 &KD $d +9 &]B 6 +10 &? G +9 &fH F +9 &|iB G +10 &>eA G +9 &!eI F +10 &"eK F +9 &$gL G +9 &&GcL F +10 &( cK F +9 &)fF F +9 &+iI F +10 &-NeK G +9 &/kH F +10 &0eL F +9 &2jK F +9 &4WcL F +10 &6eK F +9 &7gK G +9 &9bK F +10 &;^eJ G +9 &=gK G +10 &>eB G +9 &@kH G +9 &BghK F +10 &D(iM G +9 &EhC G +9 &GmH G +10 &IiwL H +9 &K)~J I +10 &LJ K +9 &NJ M +9 &PfK L +10 &R(< L +9 &SD M +9 &UH M +10 &WnI L +9 &Y-: B +10 &ZZNH X +9 &Z/8 , +5 ( +2 "processing"%g& +3 "core" &Z7 , +3 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.48 + .Hand.open + "manipulator"&_1 +53 "core" 1 +2 "manipulator"& % +4 "core" % V  y +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&t'\ +91 "core" ' + "processing"%V& +4 "core" &Z5 , +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&% +4 "core" %\ * 9 !R +2 "storage"(8% +3 "core" %L +2 "storage"(#. +3 "core" .( + "storage"(I& +4 "core" &\ \ 5  +2 "storage"(R& +5 "manipulator"&\ & +3 "core" &\ \  C  + &j  +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +3 "storage"(#]kK-0-\ b + "manipulator"&3(c +47 ."raiseStack"SE.seek :beamBreak +13 "storage"(y'e +3 "core" ( + "manipulator"& & +4 "core" &j + + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &^& +3 "core" &j T +2 .tForearm.seek PC +2 "manipulator"&"'[ +96 "core" ' + .tHand.close + "manipulator"&c/ +60 "core" / +2 .tPC.seek :open +2 "processing"%(p +85 "core" ' +2 "storage"(- +3 "core" -'e + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place + "storage"(Q'B +37 "core" ' +255 ( + "storage"(& +4 "core" &\  2  +2 "manipulator"&0& +4 "core" &j T + "manipulator"&>% +4 "core" % \\ J +2 .tForearm.seek :retract +2 "manipulator"&h'\ +92 "core" ' +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&O(D +257 "core" ( +2 "manipulator"&f& +4 "core" &P  +2 "storage"(a& +3 "core" &\ \   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&'' +104 "core" ' + .tHand.open +2 "manipulator"&1 +62 "core" 1 +2 "storage"(- +4 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate +2 "storage"(j' +22 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(' +50 "core" ' + #tLights, camera, ACTION! +2 "storage"(- +3 "core" -' +2 "storage"(%& +4 "core" & (  + "manipulator"&q& +4 "core" &P ` _  +2 .tElbow.seek 3 +2 "manipulator"&(D +11 "core" ( +2 "manipulator"&X& +4 "core" &L m a D  +2 "storage"( & +3 "core" & 4  +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&' +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.11 Pucks below Top Plate + "storage"(7'M +55 "core" ' + "manipulator"&K& +4 "core" &L i l  +2 "storage"(C& +4 "core" &\ \   +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&`'M +35 "core" ' + .tElbow.hold +2 "manipulator"&\\, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.07 Pucks below Top Plate + "storage"(('7 +25 "core" ' +2 "manipulator"&W% +54 "core" %[W  " DZ + "storage"(m& +5 "core" &  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 314 counts +2 "manipulator"&'χ +17 "core" ' +2 "manipulator"&$& +4 "core" & e G h +2 "storage"(& +4 "core" &\ \  D  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&|' +18 "core" ' +2 "storage"(T% +4 "core" %7\ \  +2 ."downElevator"SE.seek :down +4 "storage"(6'N +99 (=% +2 "core" %qO\ \ \  OD +2 "manipulator"&% +4 "core" % m i p +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&+'\ +90 "core" ' +60 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (o& +3 "core" &\ \ j  +2 "collection"'4& +4 "core" &]R  u @ +2 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&P% +4 "core" %\ .  #c +2 "storage"(% +4 "core" %@\  < +2 "storage"(l. +3 "core" .( + "storage"(k& +4 "core" &\ \  a  + "storage"(5& +4 "core" &\ \  (  +2 "manipulator"&&& +3 "core" &  +2 .tElbow.seek 3 + "manipulator"&!(D +20 "core" ( + "manipulator"&v& +4 "core" &: q !p +2 "storage"(1& +4 "core" &\ \    +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&e' +104 "core" ' +2 "storage"(& +4 "core" &\ \  p  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"()'e +276 "core" ' + "storage"({- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&,& +3 "core" &:  !p + "storage"(*& +4 "core" &\ G  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&}'M +33 "core" ' +2 .tElbow.hold + "manipulator"&2, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(- +2 "core" -' +3 .tSE.seek 0.11 Pucks below Top Plate + "storage"(['i +28 "core" ' +2 "manipulator"&u% +4 "core" %_R 6 4 ˰ + "storage"(& +4 "core" & -  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 318 counts + "manipulator"&b'ϋ +17 "core" ' + "manipulator"&]& +4 "core" &) b v ? # +2 "storage"(Z& +4 "core" &\ \  t  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&B' +17 "core" ' +2 .tSE.seek 1.11 Pucks below Top Plate +2 "storage"(;'X +38 "core" ' +2 "manipulator"&@& +4 "core" &) h g # +2 "manipulator"&L% +4 "core" % j n +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"& '\ +95 "core" ' +2 .tElbow.seek CC +2 "manipulator"&( +140 "core" ( + "manipulator"&x& +4 "core" & # - +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &  - +3 .tForearm.seek CC +2 "manipulator"&/'| +95 "core" ' + .tHand.close + "manipulator"&D/ +52 "core" / +2 .tCC.seek :open +2 "collection"'(p +410 "core" ( +2 "storage"(& +4 "core" &\ \  ~  +2 "storage"(A& +4 "core" &\ \    + "manipulator"&& +4 "core" & % - + "manipulator"&?% +4 "core" % π  +2 .tForearm.seek :retract +2 "manipulator"&F'\ +92 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&z(D +164 "core" ( + "manipulator"&<& +4 "core" &?   +2 "storage"(& +3 "core" &\ \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 + "manipulator"&s'M +110 "core" ' + .tElbow.hold + "manipulator"& , +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&w1 +54 "core" 1 +2 "manipulator"&% +5 "core" % ]}  I + "storage"(i& +4 "core" &\ \ M  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 316 counts + "manipulator"&9'ω +22 "core" ' + "manipulator"&& +5 "core" & o p Q Q + "storage"(G& +4 "core" &\ 5\ ?  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&~' +19 "core" ' + "storage"(U% +4 "core" %[\ B\ C a +2 ."downElevator"SE.seek :down +3 "storage"(Y'N +100 (S% +2 "core" %C\ !\  s M> +2 "manipulator"&H% +4 "core" % o p +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&M'\ +94 "core" ' +44 ' + ."downElevator"SE.stop +2 "storage"(5 +54797 "Can"N 96 +60002 = 96 +60001 ? 97 +60002 D :7 +18987 #t-> PS.flush + #Flushing Processing stage +2 "processing"%-% +3 "core" %> +2 #tLoading FlushPuck into Processing Clamp from FlushPuck::Garage + "processing"%d& +4 "core" &< +2 "manipulator"&n& +3 "core" &  Q +2 "manipulator"&.% +3 "core" %\ 5 0 & +2 .tElbow.seek FlushPuck::Garage + "manipulator"&r(, +187 "core" ( + "manipulator"&_& +4 "core" &,  & +51 .tElbow.reconfigure :loose +4 "manipulator"&$ &.,(#b +2 & & +3 "core" &, & +2 .tForearm.seek :garage +2 "manipulator"&V' +107 "core" ' +2 .tHand.close + "manipulator"&/ +57 "core" / + "manipulator"&8& +4 "core" &, @ & +2 "manipulator"&#% +3 "core" %   q +2 .tForearm.seek :retract +2 "manipulator"&I'\ +98 "core" ' +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +2 "manipulator"&\ (c +113 "core" ( +2 "manipulator"&R& +4 "core" &k M + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &g& +2 "core" &k " M +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"& '[ +97 "core" ' +2 "manipulator"&^& +4 "core" &k  M +2 "manipulator"&J% +4 "core" %L  +2 "processing"%c& +3 "core" &A +2 "processing"%N& +5 "core" &@ +2 .tPC.seek :closed +2 "processing"%(Z +4 "core" &B +8 &DA $d +9 &^@ 7 +10 &A H +9 &c7 F +9 &i7 G +10 &Fe? G +9 &!iC G +10 &"eH G +9 &$g5 G +9 &&Mk? G +10 &(h2 G +9 &)h@ G +9 &+h9 G +10 &-Ug> G +9 &/jB G +10 &0h= G +9 &2k3 G +9 &4^h? G +10 &6jD G +9 &7hB G +9 &9gA F +10 &;ei: G +9 &=(h; G +10 &>i6 G +9 &@h? G +9 &Bnh3 G +10 &D1g? F +9 &EjB G +10 &Gn4 G +9 &Iqu4 H +9 &K/? J +10 &LA L +9 &NA M +10 &Pm7 M +9 &R0A L +9 &S7 M +9 &U8 M +10 &WsB M +10 &Y4B B +9 &ZZK4 X +9 &Z12 , +5 ( +2 "processing"%N& +4 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.48 + "processing"%t& +4 "core" &Z < , + &Z 5 , +2 .tHand.open + "manipulator"&1 +61 "core" 1 + "manipulator"&% +4 "core" % L $ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&0'\ +95 "core" ' + .tPSV.dial PSR +2 "processing"%y +46 "core"  +2 .tPSR.select :flush +2 "processing"%@ +10 .tPS.seek 1ml + "processing"%>'T +1109 "core" ' + .tPSR.select :air +2 "processing"% +9 .tPS.seek 2.5ml +2 "processing"%"'m +1614 "core" ' + .tPSV.dial PTV +2 "processing"%f +69 "core" + .tPTV.dial :puck + .PBV.dial :waste1 +2 "processing"%a  +50 "core" +2 .tPS.seek 0ml +2 "processing"%3' +2635 "core" ' +2 .tPSV.dial PSR + "processing"% +75 "core"  +2 .tPSR.select :flush +2 "processing"%@ +10 .tPS.seek 0.5ml + "processing"%' +589 "core" ' + .tPSR.select :air +2 "processing"% +9 .tPS.seek 2.5ml +2 "processing"%'m +2136 "core" ' + .tPSV.dial PTV + "processing"%% +76 "core" + .tPBV.dial PSV + "processing"%q U +51 "core" V +2 .tPS.seek 0ml + "processing"%X' +2631 "core" ' + .tPSV.dial PBV +2 "processing"% @ +47 "core" > +2 .tPS.seek 2.5ml +2 "processing"%h'm +2649 "core" ' + .tPSV.dial :waste1 +2 "processing"%K  +69 "core"  +2 .tPS.seek 0ml + "processing"%C' +2631 "core" ' +2 .tPSV.dial PSR + "processing"%Q +47 "core"  +2 .tPSR.select :air +2 .PS.seek 2.5ml +2 "processing"%j'm +2651 "core" ' + .tPSV.dial PTV +2 "processing"%W +67 "core" + .tPBV.dial PSV +3 .PS.seek 0ml + "processing"%m' +2631 "core" ' + .tPSV.dial PBV + "processing"%$ @ +46 "core" ? +2 .tPS.seek 2.5ml +2 "processing"%'m +2648 "core" ' + .tPSV.dial :waste1 + "processing"%O  +70 "core"  +2 .tPS.seek 0ml + "processing"%T' +2631 "core" ' +2 #tGaraging FlushPuck in Processing Clamp + "manipulator"&'& +4 "core" &k  M +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC + "manipulator"&(c +3 "core" ( + "manipulator"&& +4 "core" &k  M +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &=& +3 "core" &k e M +2 .tForearm.seek PC +2 "manipulator"&'[ +102 "core" ' + .tHand.close +2 "manipulator"&/ +59 "core" / +2 .tPC.seek :open + "processing"%7(p +391 "core" ( +2 "manipulator"&`& +4 "core" &k n M + "manipulator"&o% +4 "core" % H +2 .tForearm.seek :retract + "manipulator"&'\ +95 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage + "manipulator"&4(, +138 "core" ( + "manipulator"&P& +4 "core" &,  V +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &, V +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek :garage + "manipulator"&l' +96 "core" ' +2 .tHand.open + "manipulator"&(1 +55 "core" 1 +2 "manipulator"&k% +4 "core" %   z +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&5'\ +97 "core" ' +11081 "Can") !63 +60002  63 +60002 [ 63 +60002 1 63 +60002 # 63 +60002 p 63 +60002 P 63 +60002 @ !63 +60001 ? 64 +60002 ] 63 +60002 J 64 +60002 7 !63 +60002 c 53 +60002 R !63 +60002 D 63 +60002 < !73 +60002 : 63 +60002 _ 64 +60001 I 64 +60002 = !63 +60002 3 !63 +60002 W 53 +60002 8 53 +60002 ( !63 +60002 / 63 +60002 & 64 +60002 Z 64 +60002 @ 63 +60002 2\ !63 +60001 .\ !63 +60002 8\ !53 +60002 <\ 63 +60002 2 53 +60002 0\ 63 +60002 /\ 64 +60002 .\ !64 +54834 !to:SignalException: mesg" SIGHUP:\ signoi:bt["+/home/esp/esp2/lib/esp.rb:77:in `join'"1/home/esp/esp2/lib/esp.rb:77:in `mainThread'""/home/esp/esp2/lib/esp.rb:339 +6 #mEXIT @1666727666.31EDT @1667219286.03EDT = =tMAIN =mMAIN_scheduler @EDT1667219288.00 #"core_reset"Sent BREAK +2 #t@57290 idle with ifg=0x00, ie=0x75 + #>RESET< ESP2 v3.41 I2C Gateway v3.20 +208 #>RESET< ESP2 v3.41 I2C Gateway v3.20 for core bus +215 !o:Instrument::ISUSCore: @refiQ: @configS:Instrument::Configuration: name" ISUS:calFileName0:sampleCmd"TS: prompt"\ :statusCmd"C:sampleTimeouti#:promptTimeouti:statusTimeouti: retriesi:strToPrompt"W: pace0: echoF:\ @name@ +104 #Configuration for don (12651-03) 10/9/20 brent@mbari.org\ /home/esp/esp2/type/shallow/don/configure.rb\ +404 "Can" '$!w +  '$!w + #tPolling Can every 10:00 +24 !o:Storage::Warning: mesg"Uncleanly Exited:bt[ "8/home/esp/esp2/utils/storage.rb:438:in `readPucks!'"6/home/esp/esp2/utils/storage.rb:627:in `restore!'"-/home/esp/esp2/lib/esp.rb:115:in `shell'"7/home/esp/esp2/lib/schedule.rb:481:in `initialize'"0/home/esp/esp2/lib/thread.rb:738:in `start'"7/home/esp/esp2/lib/schedule.rb:474:in `initialize'"'/home/esp/esp2/lib/schedule.rb:472 +667 #-> ESP.ready! +3 #Powering core bus +552 .Gate.power :raw,:ON +3 "sampler") +52 ) +2 "core"  +2 "collection"' +2 ' +3 "core"  +2 "processing"% +2 % +3 "core"  +4 "collection"' 9\ +2 ' 0\ +2 ' -\ +3 "processing"% 9\ +2 % 2\ +2 % *\ + % 0\ +4 "sampler")&\ +2 "collection"'% +3 "core" %  +2 .tCS.configure :default +2 "collection"'#P d@b +3 "processing"%% +3 "core" %n + .tPS.configure :default +3 "processing"%#A d`xb +2 "sampler")% +3 "core" %  + .tSS.configure :default +3 "sampler")#.0X access 2 +2 "storage"(;% +3 "core" %R-\ \  x U +2 "manipulator"&<% +4 "core" %\ 7 &V +2 "manipulator"&=& +4 "core" &" f "} + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 6 + "storage"(>(K +669 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (?& +3 "core" &K E  +1063 #t-> access 3 +2 "storage"(@% +4 "core" %R-\ \  \ U + "manipulator"&A% +44 "core" %\ 6 _ &V +2 "manipulator"&B& +3 "core" &" P "} +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 7 + "storage"(C([ +365 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (D& +3 "core" &[\ \  +1367 #t-> access 2 +2 "storage"(E% +3 "core" %R-\ \  > U +2 "manipulator"&F% +4 "core" %\ 6 &V +2 "manipulator"&G& +4 "core" &" "} + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"(H(K +350 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (I& +3 "core" &K\ \ +3192 #t-> exit +5 #mEXIT @1667219418.73EDT @1667219434.51EDT = =tMAIN =mMAIN_scheduler @EDT1667219436.30 #"core_reset"Sent BREAK + #t@36090 receive with ifg=0x10, ie=0xFD + #@36728 receive with ifg=0x10, ie=0xFD + #@37383 receive with ifg=0x10, ie=0xFD + #@38022 receive with ifg=0x10, ie=0xFD #@38657 receive with ifg=0x10, ie=0xFD + #@39291 receive with ifg=0x10, ie=0xFD #@39926 receive with ifg=0x10, ie=0xFD + #@40252 receive with ifg=0x80, ie=0xFD + #@4640 idle with ifg=0x00, ie=0x75 #ESP2 v3.41 I2C Gateway v3.20 +9 #ESP2 v3.41 I2C Gateway v3.20 for core bus +197 !o:Instrument::ISUSCore: @configS:Instrument::Configuration: name" ISUS:calFileName0:sampleCmd"TS: prompt"\ :statusCmd"C:sampleTimeouti#:promptTimeouti:statusTimeouti: retriesi:strToPrompt"W: pace0: echoF: @refiDJ:\ @name@ +93 #Configuration for don (12651-03) 10/9/20 brent@mbari.org\ /home/esp/esp2/type/shallow/don/configure.rb\ +360 "Can" JH +  JH + #tPolling Can every 10:00 +616 #-> ESP.ready! +153 "sampler") +2 ) +3 "core"  + "collection"' +2 ' +3 "core"  + "processing"% +2 % +3 "core"  +6 "collection"' 9\ +2 ' 0\ +2 ' -\ +3 "processing"% 9\ +2 % 2\ +2 % *\ +2 % 0\ +3 "sampler")&\ +2 "collection"'% +3 "core" % +2 .tCS.configure :default +2 "collection"'#P d@b +2 .tCS.hold +2 "collection"'+ +5 "core" + + .tCS.configure :default +2 "collection"'#P d@b +2 "processing"%% +3 "core" % +2 .tPS.configure :default +2 "processing"%#A d`xb +2 "sampler")% +3 "core" %- +2 .tSS.configure :default +2 "sampler")#.0X startTube 2 +1401 #-> $da[:extractVol]=.19 +4098 #-> purgeIntake +2 #Loading FlushPuck into Collection Clamp from FlushPuck::Garage +2 "collection"'3& +3 "core" &]y  + .tHand.open +2 "manipulator"&41 +59 "core" 1 + "manipulator"&5& +4 "core" &# i "| +2 "manipulator"&6% +3 "core" % \ + [ !V +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek FlushPuck::Garage +2 "manipulator"&7(, +175 "core" ( + "manipulator"&8& +4 "core" &,   + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &9& +2 "core" &,  +2 .tForearm.seek :garage +2 "manipulator"&:' +98 "core" ' +2 .tHand.close + "manipulator"&;/ +63 "core" / + "manipulator"&<& +4 "core" &,   +2 "manipulator"&=% +4 "core" %  = +2 .tForearm.seek :retract + "manipulator"&>'\ +106 "core" ' +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC + "manipulator"&?( +279 "core" ( + "manipulator"&@& +4 "core" &- p Bh +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &A& +3 "core" &+ I Bh +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&B'| +103 "core" ' + "manipulator"&C& +4 "core" &,  Bf +2 "manipulator"&D% +4 "core" %r x +2 "collection"'E& +3 "core" &] #  +2 "collection"'F& +5 "core" &]  +2 .tCC.seek :closed + "collection"'G(] +5 "core" &]  +7 &uO $e +10 &X] 8 +9 & I +9 &h H +10 &Nq  I +9 &n I +10 & p H +9 &"q I +9 &$Vp I +10 &&o H +9 &'q H +9 &)r I +10 &+^o I +9 &-"l  H +10 &.o I +9 &0p  I +9 &2gq H +10 &4)q H +9 &5n I +9 &7n I +10 &9nn I +9 &;0o I +10 &<o I +9 &>m  H +9 &@vn & I +10 &B8s I +9 &Cp I +9 &Ep I +10 &Gn " H +9 &I>w # J +10 &J  K +9 &L_w # N +9 &No=B  Q +10 &P/6:  Q +9 &Q15 ' Q +9 &S-/ & R +10 &Uq&( - S +9 &W3!# ! S +10 &X ! U +9 &Z  T +9 &\\t # B +10 &]e4  &r +9 &]9  : +2 ( +2 "collection"'F& +3 #tCollection Clamp onSpring/offSpring for 10/26 samples, on/off torque 1.79 + "collection"'H& +4 "core" &]< # : +2 .tHand.open + "manipulator"&I1 +95 "core" 1 + "manipulator"&J% +4 "core" % e < +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&K'\ +98 "core" ' + #tPurging external Intake +2 "collection"'L& +4 "core" &]<  : + "collection"'M% +4 "core" % + .tCSV.dial :flush + "collection"'N  +39 "core"  +2 .tCS.reconfigure :fast +3 "collection"'#d @b +2 .tCS.seek 10ml + "collection"'O' +2195 "core" ' +2 .tdelay 5 seconds +502 ."connect"CSV.dial CBV +5 .tCBV.dial CSV +2 "collection"'P + 'Q  +5 "core"  +61 ~ +2 .tCTV.dial :intake + "collection"'R  +66 "core"  +2 .tIntake.select :open + "sampler") +10 .tCS.seek 0ml + "collection"'S' +2164 "core" ' + .tIntake.select :close +2 "sampler")0 +9 .tCTV.dial :air + "collection"'T  +67 "core" ~ +2 #tGaraging FlushPuck in Collection Clamp + "manipulator"&U& +4 "core" &"$ ? << +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC + "manipulator"&V( +33 "core" ( + "manipulator"&W& +5 "core" & D  + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &X& +2 "core" &   +2 .tForearm.seek CC + "manipulator"&Y'| +95 "core" ' +2 .tHand.close + "manipulator"&Z/ +52 "core" / +2 .tCC.seek :open + "collection"'[(p +412 "core" ( + "manipulator"&\\& +4 "core" &   +2 "manipulator"&]% +3 "core" % o  +2 .tForearm.seek :retract +2 "manipulator"&^'\ +95 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage + "manipulator"&_(, +280 "core" ( +2 "manipulator"&`& +4 "core" &,   + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &a& +3 "core" &, \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek :garage + "manipulator"&b' +111 "core" ' +2 .tHand.open +2 "manipulator"&c1 +64 "core" 1 + "manipulator"&d% +4 "core" %  G +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&e'\ +94 "core" ' +5932 #t-> da 50 +2 #da sampling at most 50ml +4 ."Qmail"DAfans.email "Started da in tube 2 at 08:34:23EDT31-Oct-22\\n{}\\nCTD data unavailable\\nISUS data unavailable\\nCan@08:30:42, 16% flow, 21.1C, 51% humidity, 14.4psia, 14.91V, 0.346A avg, 0.333A avg, 5.15W",Subject: "da sampling at most 50ml" +5 #tLoading sh1 puck from tube 2 into Collection Clamp + "collection"'f& +3 "core" &" +2 "manipulator"&g% +5 "core" %\ ( 8 + "storage"(h% +4 "core" %S&\ \  T +2 "storage"(i. +2 "core" .,K +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"(j(  +102 !"Qmail"o:!Net::SMTPAuthenticationError: mesg"E534-5.7.9 Application-specific password required. Learn more at\ :@checkpoint: omitted:bt["E/opt/mbari/lib/ruby/1.8/net/smtp.rb:954:in `check_auth_response'"/opt/mbari/lib/ruby/1.8/net/smtp.rb:723:in `authenticate'":/opt/mbari/lib/ruby/1.8/net/smtp.rb:566:in `do_start'"7/opt/mbari/lib/ruby/1.8/net/smtp.rb:525:in `start'"2/home/esp/esp2/lib/email.rb:325:in `sendOnce'"3/home/esp/esp2/lib/schedule.rb:292:in `unsync'"3/home/esp/esp2/lib/schedule.rb:594:in `unsync'"3/home/esp/esp2/lib/schedule.rb:621:in `unsync'"2/home/esp/esp2/lib/email.rb:318:in `sendOnce'"//home/esp/esp2/lib/email.rb:340:in `email'",/home/esp/esp2/lib/msg.rb:68:in `retry'"//home/esp/esp2/lib/email.rb:339:in `email'"./home/esp/esp2/lib/email.rb:348:in `mail'"-/home/esp/esp2/lib/email.rb:66:in `call'"3/home/esp/esp2/lib/email.rb:66:in `initialize'"-/home/esp/esp2/lib/email.rb:63:in `loop'"3/home/esp/esp2/lib/email.rb:63:in `initialize'"7/home/esp/esp2/lib/schedule.rb:481:in `initialize'"0/home/esp/esp2/lib/thread.rb:738:in `start'"7/home/esp/esp2/lib/schedule.rb:474:in `initialize'"'/home/esp/esp2/lib/schedule.rb:472 +2 !o:Email::Queue::Purge: mesg"Purged output queue:bt[ "//home/esp/esp2/lib/email.rb:106:in `purge'"3/home/esp/esp2/lib/email.rb:75:in `initialize'"-/home/esp/esp2/lib/email.rb:63:in `loop'"3/home/esp/esp2/lib/email.rb:63:in `initialize'"7/home/esp/esp2/lib/schedule.rb:481:in `initialize'"0/home/esp/esp2/lib/thread.rb:738:in `start'"7/home/esp/esp2/lib/schedule.rb:474:in `initialize'"'/home/esp/esp2/lib/schedule.rb:472 +1194 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (k& +3 "core" & \ \ N +2 "manipulator"&l& +3 "core" &,   +2 "manipulator"&m% +3 "core" %\ (  8 +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&n(; +175 "core" ( +2 "manipulator"&o& +4 "core" &C = L + "storage"(p& +4 "core" & \ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts +2 "manipulator"&q'Ѐ +102 "core" ' +2 "storage"(r& +4 "core" & \ \   +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(s'e +278 "core" ' +2 "storage"(t- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (u& +3 "core" & \ '\ # , + "manipulator"&v& +4 "core" &D\ } { K +2 .tElbow.seek 2 + "manipulator"&w(; +3 "core" ( +2 "manipulator"&x& +4 "core" &D\  ~ k K + "storage"(y& +4 "core" & \ "\ ! +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&z' +27 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&{/ +56 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&|& + "storage"(}'N +7 "core" &D r r  K +2 "manipulator"&~% +4 "core" % } { + .tForearm.seek :retract +2 "manipulator"&'\ +97 "core" ' +2 .tElbow.seek CC + "manipulator"&( +137 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +7 "core" ( + "manipulator"&& +4 "core" &# ;6 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &$ ' ;6 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&'| +103 "core" ' +3 "manipulator"&& +4 "core" &$  ;6 + "manipulator"&% +4 "core" %t  +2 "collection"' & +4 "core" &# +2 "collection"' & +5 "core" &" +2 .tCC.seek :closed + "collection"' (] +4 "core" &*  +9 &6) )w +9 &h+ = +9 &o( H +10 &1p( H +9 &q+ I +10 &s( I +9 &!vq* I +9 &#8r* I +10 &$n) H +9 &&q( I +9 &(n* H +10 &*Ap( H +9 &,k) H +10 &-p* H +9 &/q) H +9 &1In) H +10 &3 n) H +9 &4k+ H +9 &6n* H +10 &8Rj* H +9 &:n* H +10 &;m# H +9 &=p( H +9 &?Zl' H +10 &Ap) H +9 &Bp- H +9 &Dm) H +10 &Fbr) H +9 &H"s" I +10 &I) J +9 &K L +9 &MR P +10 &O2 Q +9 &P8 Q +9 &R- R +10 &TT: R +9 &V S +10 &W0 S +9 &Y. U +9 &[H!* Y +10 &\\y9 (} +9 &]&* C +9 ( +3 "collection"' & +3 #tCollection Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.88 + .Hand.open + "manipulator"&1 +4 "core" &]B+ ; +58 1 + "manipulator"&% +4 "core" % t  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&'\ +97 "core" ' +2 #tcollectSample 50ml w/bubble point of 24psi +2 #Priming 7ml + .Intake.select :close + .Exhaust.select :close +2 .SS.hold + "sampler")+ +4 "core" + +2 "sampler")% +3 "core" %- +2 "collection"'& +3 "core" &]B+ ; +3 "Can" PN + #tCalibrating pressure and temperature sensors +3 .CTV.dial :air +2 .SSV.dial :spit,avoiding: :exhaust +2 "sampler") +3 "core"  +2 "sampler")  +4 "core" +2 .tSS.reconfigure :fast +3 "sampler")#.0X' +1371 "core" ' + #tStroke completed -- waiting for pressure to equalize ... + .SS.reconfigure :exhale +3 "sampler")#.0X +2 ."CSpush"CS.reconfigure :fast +3 "collection"'#d @b +2 ."CSpush"CS.seek 0ml +2 "collection"'t' +103 "core" ' + .tSSV.dial :spit,avoiding: :exhaust +2 "sampler")u +120 "core"  +2 .tSS.reconfigure :exhale +3 "sampler")#.0X +2 ."CSpush"CS.reconfigure :fast +2 "collection"'#d @b +3 ."CSpush"CS.seek 0ml +2 "collection"'!' +109 "core" ' + .tSSV.dial :spit,avoiding: :exhaust +2 "sampler")" +122 "core"  +2 .tSS.reconfigure :exhale +3 "sampler")#.0X9 +2 "core" 9eP +103 "collection"'\ 9 +3 "core" 9iK +102 "collection"'U9 +2 "core" 9,mG +102 "collection"'W9 +2 "core" 9]qB +103 "collection"'X9 +2 "core" 9v= +102 "collection"'K9 +53 "core" 9|8 +102 "collection"'Z9 +2 "core" 94 +102 "collection"'\\9 +3 "core" 9+1 +102 "collection"'S9 +2 "core" 9V. +102 "collection"'?9 +3 "core" 9+ +102 "collection"']9 +2 "core" 9) +102 "collection"'Y9 +4 "core" 9' +102 "collection"'a9 +2 "core" 9% +102 "collection"'T9 +3 "core" 9$ +102 "collection"'V9 +2 "core" 95# +102 "collection"'c9 +3 "core" 9T +102 "collection"'d9 +3 "core" 9n +102 "collection"'^9 +2 "core" 9 +103 "collection"'G9 +2 "core" 9 +102 "collection"'f9 +2 "core" 9 +103 "collection"'g9 +2 "core" 9 +102 "collection"'h9 +3 "core" 9 +102 "collection"'`9 +2 "core" 9 +103 "collection"'9 +2 "core" 9  +102 "collection"'k9 +2 "core" 9  +102 "collection"'l9 +3 "core" 9 " +102 "collection"'i9 +2 "core" 9 / +102 "collection"'m9 +3 "core" 9 ; +102 "collection"'p9 +2 "core" 9 E +102 "collection"'r9 +2 "core" 9 R +103 "collection"'e9 +2 "core" 9 [ +102 "collection"'o9 +3 "core" 9 f +102 "collection"'u9 +2 "core" 9 p +103 "collection"'b9 +2 "core" 9 y +102 "collection"'_9 +2 "core" 9  +103 "collection"'t9 +2 "core" 9  +102 "collection"'v9 +3 "core" 9  +102 "collection"'x9 +2 "core" 9  +102 "collection"'y9 +3 "core" 9  +102 "collection"'|9 +3 "core" 9 \  +102 "collection"'9 +2 "core" 9  +102 "collection"'~9 +3 "core" 9  +102 "collection"'n9 +3 "core" 9  +102 "collection"'q9 +2 "core" 9  +102 "collection"'9 +2 "core" 9  +103 "collection"'{9 +2 "core" 9 # +102 "collection"'9 +2 "core" 9 ' +102 "collection"'z9 +3 "core" 9 + +102 "collection"'9 +2 "core" 9 0 +103 "collection"' 9 +2 "core" 9 4 +102 "collection"'w9 +2 "core" 9 8 +102 "collection"'}9 +3 "core" 9 < +103 "collection"'9 +2 "core" 9 @ +102 "collection"'[9 +2 "core" 9\ E +102 "collection"'s9 +3 "core" 9\ I +102 "collection"'9 +3 "core" 9\ M +102 "collection"'9 +2 "core" 9\ Q +103 "collection"'9 +2 "core" 9\ U +102 "collection"'9 +2 "core" 9\ "Z +103 "collection"' 9 +2 "core" 9\ (^ +102 "collection"'9 +2 "core" 9\ /b +102 "collection"'9 +3 "core" 9\ 3f +102 "collection"'9 +3 "core" 9\ 8j +102 "collection"'9 +2 "core" 9\ <n +102 "collection"'9 +3 "core" 9\ As +102 "collection"'9 +3 "core" 9\ Ew +102 "collection"'9 +2 "core" 9\ J{ +103 "collection"'9 +2 "core" 9\ N +102 "collection"'9 +2 "core" 9\ R +102 "collection"'9 +3 "core" 9\ U +102 "collection"'"9 +3 "core" 9\ Y +102 "collection"'9 +3 "core" 9\ \\ +102 "collection"'9 +2 "core" 9\ _ +102 "collection"'!9 +2 "core" 9\ c +103 "collection"'#9 +2 "core" 9\ f +102 "collection"'&9 +2 "core" 9\ i +103 "collection"''9 +3 "core" 9\ k +102 "collection"' 9 +2 "core" 9\ o  +102 "collection"')9 +2 "core" 9\ q  +103 "collection"'*9 +2 "core" 9\ t  +3 .tCH.hold 10:00,70C +2 "collection"'( `\ `\ r +2 '$9 +6 "core"  + 9\ u\ u +2 "collection"'%% +3 "core" % r +2 #tBegun lysing Collection Puck Heater at 68.1C/33.8psia +48218 "Can"\  +11772 "core" ` +2 "collection"'.9 +3 "core" 9\  +2 "collection"'-% +4 "core" % : + #tEnded lysing Collection Puck Heater at 70C/29.4psia +2 .CS.seek 0ml +2 "collection"'+' +331 "core" ' +2 .tCTV.dial between spare and air,avoiding: :intake +2 "collection"'/ @ +93 "core" A +2 .tCSV.dial :air + "collection"', @ +41 "core" > +2 .tCS.seek 5ml +2 "collection"'3's +1358 "core" ' +2 .tCSV.dial CTV + "collection"'0  +41 "core"  +2 .tdelay 2 seconds +201 .CSV.dial :air +2 "collection"'5 @ +40 "core" ? +2 .tdelay 2 seconds +202 .CSV.dial CTV + "collection"'4  +41 "core"  +2 .tdelay 2 seconds +202 .CSV.dial :air + "collection"'8 @ +40 "core" > + .tdelay 2 seconds +203 .CS.seek 0ml + "collection"'6' +1350 "core" ' + "collection"'% +4 "core" %\ s\ t + #tPuck @41.4psia after final lysis pressurization +2 #Recovering Lysate into Collection syringe + .CSV.dial CBV + "collection"'; +93 "core" ~ + .tCBV.dial CSV +2 "collection"'=  +28 "core" + "collection"'% +5 "core" %\ H\ I +2 .tCS.seek 5ml + "collection"':'s +1357 "core" ' + .tdelay 5 seconds +502 .CTV.dial :air +2 "collection"'@  +40 "core" + "collection"'A% +4 "core" %s  +2 .tCS.seek 7ml +2 "collection"'7' +596 "core" ' + .tdelay 5 seconds +502 .CSV.dial :air2 +2 "collection"'1 @ +38 "core" ? +2 .tCS.seek 10ml +2 "collection"'2' +846 "core" ' +2 .tCSV.dial between air and CTV,avoiding: CBV +2 "collection"'D ` +103 "core" _ +2 #tLysing Complete + "collection"'E& +4 "core" &]D O ; +2 #tStoring sh1 puck in Collection Clamp to tube 1 + "manipulator"&C% +4 "core" %\ 7 ' + "storage"(H% +4 "core" %>\ \  + "storage"(I. +3 "core" .(  + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 1 +2 "storage"(J(B +358 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (F& +3 "core" &D L +2 "manipulator"&L& +4 "core" & " :. + "manipulator"&M% +4 "core" %\ 7 ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 1 + "manipulator"&N(c +157 "core" ( +2 "manipulator"&B& +4 "core" &h + "storage"(& +4 "core" &D \  U +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 1 + 450 counts + "manipulator"&Q'Ф +106 "core" ' +2 "storage"(P& +4 "core" &D\ !\ #  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(R'e +269 "core" ' +2 "storage"(O- +3 "core" -'e +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek :place + "storage"(>'B +34 "core" ' +2 "manipulator"&\ & +4 "core" &h o o  + "manipulator"&U% +4 "core" %й c k + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&W'\ +88 "core" ' + .tElbow.seek CC +2 "manipulator"&X( +153 "core" ( + "manipulator"&K& +5 "core" &# ;6 + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &Z& +4 "core" &# [ ;6 +2 .tForearm.seek CC + "manipulator"&\\'| +95 "core" ' + .tHand.close + "manipulator"&S/ +58 "core" / +2 .tCC.seek :open +2 "collection"'?(p +411 "core" ( + "storage"(]& +4 "core" &D\ "\ "  +2 "storage"(Y& +3 "core" &D\ !\ !  +2 "manipulator"&a& +3 "core" &! 9' +2 "manipulator"&T% +3 "core" % { ^ +2 .tForearm.seek :retract + "manipulator"&V'\ +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 1 + "manipulator"&c(c +156 "core" ( +2 "manipulator"&d& +4 "core" &b { +2 "storage"(^& +3 "core" &D\ #\ !  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 1 + "manipulator"&G' +108 "core" ' + .tElbow.hold +2 "manipulator"&f, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&g1 +62 "core" 1 +2 "manipulator"&h% +4 "core" % Y +2 "storage"(`& +4 "core" &D\ \ f + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 1 + 316 counts + "manipulator"&' +22 "core" ' +2 "manipulator"&k& +4 "core" &b u \\ + "storage"(l& +4 "core" &D\ D\ D +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 1 + 450 counts + "manipulator"&i'Ф +19 "core" ' + "storage"(m% +4 "core" %H\ F\ E H +2 ."downElevator"SE.seek :down +3 "storage"(p'N +100 (r% +2 "core" %I\ "\ !  NB +2 "manipulator"&e% +4 "core" %З o p +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&o'\ +88 "core" ' +64 ' + ."downElevator"SE.stop + "storage"(5 +3 #tTranferring DA + #Beginning samplePassC +2 #Loading FlushPuck into Collection Clamp from FlushPuck::Garage + "collection"'u& +4 "core" & @ +2 "manipulator"&b& +4 "core" &b * +2 "manipulator"&_% +3 "core" %\ *  !U +2 .tElbow.seek FlushPuck::Garage + "manipulator"&t(, +165 "core" ( +2 "manipulator"&v& +4 "core" &, "  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &x& +3 "core" &, O  +2 .tForearm.seek :garage +2 "manipulator"&y' +97 "core" ' +2 .tHand.close + "manipulator"&|/ +56 "core" / +2 "manipulator"&& +4 "core" &,  +2 "manipulator"&~% +3 "core" %  8 +2 .tForearm.seek :retract + "manipulator"&n'\ +104 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&q( +275 "core" ( + "manipulator"&& +5 "core" && 9 >O + .tElbow.reconfigure :loose +7 "manipulator"&$ &.,(#b +3 &{& +2 "core" && a >O +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +6 .tForearm.seek CC +2 "manipulator"&'| +97 "core" ' +2 "manipulator"&z& +4 "core" && D >O + "manipulator"&% +4 "core" %φ " +2 "collection"' & +4 "core" &"! +2 "collection"'w& +6 "core" &!" +2 .tCC.seek :closed + "collection"'}(] +5 "core" &"# +6 &!! 9 +9 &O # / +9 &^{!# D D +10 &k " : G +9 &l$#  G +10 &m!! G +9 & Zn $ G +9 &"p!# G +10 &#m # G +9 &%k"$ G +9 &'dm!# G +10 &)'m## F +9 &*m $} G +10 &,n " G +9 &.mn!"  F +9 &0.o$% C G +10 &1r $ ' G +9 &3o#$  F +9 &5tm"$ G +10 &76m%$ G +9 &8k"$ G +10 &:p"$ G +9 &<|k"$ G +9 &>>l"$o G +10 &?l%V G +9 &An!" G +9 &Cm $ G +10 &EFl #{ G +9 &G m%$ F +10 &Ht!$ H +9 &J!$ H J +9 &L; U M +10 &M A P +9 &O * Q +9 &Qu  Q +10 &S6 R +9 &T R +10 &V R +9 &Xv T +9 &Z6 T +10 &[ T +9 &]ME "f +9 &]i B +6 ( + "collection"'w& +4 #tCollection Clamp onSpring/offSpring for 10/26 samples, on/off torque 1.83 +2 "collection"'& +58 "core" &]]^ A + &]\\ } A +2 .tHand.open + "manipulator"&[1 +63 "core" 1 +2 "manipulator"&s% +4 "core" % υ K +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +93 "core" ' + .tPSV.dial PSR +2 "processing"% +122 "core"  + "processing"%% +4 "core" % +2 #tPulling 1.5ml of PSR.flush + .PSR.select :flush +2 "processing"%j +10 .tPS.seek 1.5ml + "processing"%' +1621 "core" ' +2 .tdelay 5 seconds +502 .PSV.dial :waste1 +2 "processing"%  +41 "core"  +2 .tPS.seek 0ml + "processing"%' +1609 "core" ' +2 .tPSV.dial PSR + "processing"% +60 "core" + .tPSR.select :air +2 "processing"% +10 .tPS.seek 2.5ml + "processing"%'m +2651 "core" ' +2 ."connect"PRV.dial CBV,avoiding: :ab2 +4 .tCBV.dial PRV +2 "processing"% "collection"'  +6 "core" A +2 "processing"%  +66 "core" +79  +2 .tPSV.dial :mixloop + "processing"% +97 "core" +2 .tCTV.dial :air,avoiding: :intake + .PTV.dial :PRVmixing +2 "processing"%  +117 "core" +2 .tPS.seek 0ml +2 "processing"%' +2635 "core" ' +2 .tPSV.dial :air + "processing"%  +41 "core"  +2 .tPS.seek 2.5ml +2 "processing"%"'m +2633 "core" ' +2 .tPSV.dial :mixloop + "processing"% +47 "core" +2 .tPS.seek 0ml +2 "processing"%' +2634 "core" ' + .tPSV.dial :air +2 "processing"%!  +47 "core"  +2 .tPS.seek 2.5ml + "processing"%#'m +2650 "core" ' + .tPSV.dial :mixloop +2 "processing"%& +47 "core" +2 .tPS.seek 0ml +2 "processing"%'' +2633 "core" ' +2 #tGaraging FlushPuck in Collection Clamp + "manipulator"& & +4 "core" &%  8 +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&)( +28 "core" ( +2 "manipulator"&*& +4 "core" &  + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &$& +2 "core" & m  +2 .tForearm.seek CC +2 "manipulator"&%'| +96 "core" ' +2 .tHand.close + "manipulator"&lQS G +9 &@nST F +10 &BanTS G +9 &D#qRU G +9 &ErQT G +10 &GsRU G +9 &IdQR I +10 &K:Rx K +9 &LOCm O +9 &NOLa O +10 &PVUUo P +9 &RTX\\ Q +9 &S^\\F Q +10 &UZ[A R +9 &WWTV/ R +10 &YQT7 T +9 &ZNO U +9 &\\LM" = +10 &]e'IM . +9 &]LIK_ = +2 ( +2 "collection"'S& +3 #tCollection Clamp onSpring/offSpring for 9/25 samples, on/off torque 1.84 + .Hand.open + "manipulator"& 1 +57 "core" 1 +2 "manipulator"&]% +4 "core" % r C +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&Y'\ +99 "core" ' +2 .tCTV.dial CSV,avoiding: :intake +2 "collection"'a  +120 "core" ~ + .tCSV.dial CTV +2 "collection"'T  +28 "core"  +2 .tPS.seek 2.5ml +2 "processing"%d'm +2641 "core" ' +2 "collection"'^% +4 "core" %<>  + .tCS.seek 4.5ml +2 "collection"'\\'d +1479 "core" ' + .tdelay 8 seconds +803 .PSV.dial :air + "processing"%X  +46 "core"  +2 .tdelay 2 seconds +202 .PSV.dial :waste2 + "processing"%g  +69 "core"  +2 .tPS.seek 0ml + "processing"%h' +2631 "core" ' + .tCBV.dial between PRV and waste1 +2 "collection"'` ` +30 "core" ^ +2 .tCSV.dial :air + "collection"'k @ +41 "core" ? +2 .tCS.seek 10ml + "collection"'l' +1479 "core" ' +2 .tCSV.dial CTV + "collection"'m  +41 "core"  +2 .tCS.seek 0ml +2 "collection"'V' +1986 "Can" RP +638 "core" ' +2 .tCBV.dial :waste1 + "collection"'r @ +29 "core" ? + .tdelay 5 seconds +503 .CTV.dial :air,avoiding: :intake +2 "collection"'e  +120 "core" +2 "collection"'c& +4 "core" &]L46 = + #tStoring lyfil puck in Collection Clamp to tube 1 +2 "manipulator"&G% +4 "core" %\ 3 %{ + "storage"(u% +4 "core" %8\ p  + "storage"(. +3 "core" .(  +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 1 + "storage"(b(B +371 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (_& +2 "core" &D L +2 "manipulator"&>& +4 "core" & $ <= + "manipulator"&i% +4 "core" %\ 3 %{ +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 1 +2 "manipulator"&v(c +164 "core" ( +2 "manipulator"&x& +4 "core" &k   + "storage"(p& +4 "core" &D\ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 1 + 450 counts +2 "manipulator"&f'Ф +94 "core" ' + "storage"(|& +4 "core" &D\ !\ ! +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"('e +282 "core" ' + "storage"(~- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&o& +3 "core" &k   + "storage"(y& +4 "core" &D\ \ # +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 1 + "manipulator"&' +30 "core" ' +2 .tElbow.hold +2 "manipulator"&{, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(t- +2 "core" -' +3 .tSE.seek 0.11 Pucks below Top Plate + "storage"(z'm +27 "core" ' +2 "manipulator"&% +4 "core" %p   Ÿ! + "storage"( & +4 "core" &D + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 1 + 316 counts + "manipulator"&n' +19 "core" ' +2 "manipulator"&?& +4 "core" &0 \\ u  +2 "storage"(& +3 "core" &D\ !\ !  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 1 + 450 counts + "manipulator"&['Ф +17 "core" ' +2 .tSE.seek 1.11 Pucks below Top Plate +2 "storage"(s'\\ +52 "core" ' + "manipulator"&w& +4 "core" &0 n m +2 "manipulator"&% +4 "core" %З n p +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +96 "core" ' + .tElbow.seek CC +53 "manipulator"&( +156 "core" ( +2 "manipulator"& & +5 "core" &% =A + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +4 "core" &% =A + .tForearm.seek CC +2 "manipulator"&'| +96 "core" ' + .tHand.close + "manipulator"&/ +58 "core" / +2 .tCC.seek :open +2 "collection"'(p +411 "core" ( + "storage"(& +4 "core" &D\ !\ !  +2 "storage"(& +3 "core" &D\ !\ !  +2 "manipulator"&& +3 "core" &" :0 +2 "manipulator"&% +4 "core" % { , + .tForearm.seek :retract +2 "manipulator"&'\ +93 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 1 +2 "manipulator"&(c +157 "core" ( +2 "manipulator"&& +4 "core" &[  +2 "storage"(& +3 "core" &D\ !\ !  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 1 + "manipulator"&"' +104 "core" ' + .tElbow.hold +2 "manipulator"&!, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&1 +52 "core" 1 +3 "manipulator"&&% +3 "core" %  ] r +2 "storage"(#& +4 "core" &D\ \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 1 + 311 counts + "manipulator"& ' +20 "core" ' + "manipulator"&*& +5 "core" &4 ] v 7  + "storage"($& +4 "core" &D\ "\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 1 + 450 counts + "manipulator"&<'Ф +20 "core" ' +2 "storage"(q% +4 "core" %^\ !\ ' n +2 ."downElevator"SE.seek :down +4 "storage"('N +98 (}% +3 "core" %D\ !\ !  N@ +2 "manipulator"&.% +3 "core" %u n w ) +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&-'\ +99 "core" ' +43 ' + ."downElevator"SE.stop +2 "storage"(5 +2 .tPSV.dial :air +2 "processing"%%  +74 "core" +2 .tPS.seek 2.5ml + "processing"%,'m +2646 "core" ' +2 .tdelay 1 second +102 .PSV.dial :mixloop + "processing"%+ +41 "core" + .tdelay 1 second +102 .PSV.dial :air +2 "processing"%)  +46 "core"  +2 .tdelay 1 second +102 .PSV.dial :mixloop +2 "processing"%5 +48 "core" +2 .tdelay 1 second +102 .PSV.dial :air + "processing"%4  +46 "core"  +2 .tdelay 1 second +102 .PS.seek 0ml + "processing"%3' +2640 "core" ' +2 #tLoading FlushPuck into Processing Clamp from FlushPuck::Garage + "processing"%9& +4 "core" &V +2 "manipulator"&& +3 "core" &4 k _ M  +2 "manipulator"&;% +3 "core" %\ \ o !  +2 .tElbow.seek FlushPuck::Garage +2 "manipulator"&=(, +189 "core" ( +2 "manipulator"&0& +4 "core" &, s w 1  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &J& +2 "core" &, e k C  +2 .tForearm.seek :garage +2 "manipulator"&6' +97 "core" ' +2 .tHand.close + "manipulator"&@/ +61 "core" / +2 "manipulator"&A& +4 "core" &, 7  +2 "manipulator"&1% +3 "core" %   D +2 .tForearm.seek :retract + "manipulator"&7'\ +99 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +2 "manipulator"&/(c +114 "core" ( + "manipulator"&E& +4 "core" &m B +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &8& +3 "core" &m F B +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&H'[ +109 "core" ' + "manipulator"&I& +5 "core" &m n h g B + "manipulator"&j% +4 "core" %P ` a u k +2 "processing"%L& +4 "core" &V +2 "processing"%M& +5 "core" &V +2 .tPC.seek :closed +2 "processing"%(Z +3 "core" &V  +9 &9 *x +9 &l > +10 &Tx H +9 &j G +9 &l G +10 &j! G +9 &!\\n H +10 &# l G +9 &$h G +9 &&i' G +10 &(eh1 H +9 &*'k3 H +9 &+k3 H +10 &-g' G +9 &/nl) G +10 &11k0 G +9 &2n7 H +9 &4j; G +10 &6ui8 H +9 &88k8 G +9 &9g> G +10 &;hN G +9 &=~iJ G +10 &?AmP G +9 &AmJ H +9 &BkI H +10 &DnF G +9 &FHnY G +9 &H rU H +10 &IzT J +9 &K^ K +10 &M@^ M +9 &O^ N +9 &Pg M +10 &Ro M +9 &TGn M +9 &Vg N +10 &Wh N +9 &Ym ; +10 &Z{3i ^ +9 &Zm % +2 ( +2 "processing"%M& +3 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.49 + "processing"%P& +4 "core" &Zx % +2 .tHand.open + "manipulator"&1 +54 "core" 1 +2 "manipulator"&:% +4 "core" % P w ^ a k +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&D'\ +91 "core" ' +2 .tPRV.dial :air +2 "processing"%U  +40 "core"  + .tPSV.dial :mixloop +2 "processing"%K +47 "core" +2 "processing"%C% +4 "core" % +2 .tPS.seek 0.3ml + "processing"%B'g +391 "core" ' + .tPSV.dial PSR +2 "processing"%Z +97 "core"  +2 "processing"%Q% +4 "core" %jY  + #tPulling 0.4ml of PSR.air + .PSR.select :air +3 .PS.seek 0.7ml +2 "processing"%N'. +484 "core" ' + .tdelay 3 seconds +302 .PSR.select :air +3 .PS.seek 2.5ml + "processing"%F'm +1939 "core" ' +2 .tdelay 3 seconds +302 .PSV.dial :mixloop + "processing"% +102 "core" + .tPTV.dial :mixing +2 "processing"%O @ +66 "core" @ + .tPBV.dial :waste2 + "processing"%(  +87 "core"  +2 .tPS.seek 0ml +2 "processing"% ' +2631 "core" ' +2 #tGaraging FlushPuck in Processing Clamp + "manipulator"&]& +4 "core" &m  B +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC + "manipulator"&S(c +3 "core" ( + "manipulator"&a& +4 "core" &m * B + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &T& +3 "core" &m  B + .tForearm.seek PC +2 "manipulator"&R'[ +97 "core" ' + .tHand.close + "manipulator"&'/ +62 "core" / + .tPC.seek :open +2 "processing"%^(p +392 "core" ( + "manipulator"&2& +5 "core" &m B + "manipulator"&X% +4 "core" % b z + .tForearm.seek :retract +2 "manipulator"&g'\ +102 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage +2 "manipulator"&d(, +145 "core" ( + "manipulator"&`& +4 "core" &, M * +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &k& +3 "core" &, P * +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :garage +2 "manipulator"&\\' +111 "core" ' + .tHand.open + "manipulator"&m1 +63 "core" 1 +2 "manipulator"&l% +4 "core" %  " 7 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&r'\ +103 "core" ' +2 #tLoading da puck from tube 2 into Processing Clamp +2 "processing"%e& +4 "core" & + "manipulator"&c% +4 "core" %\ 1 $s +2 "storage"(G% +3 "core" %=\ !\ !  +2 "storage"(u. +3 "core" .(E + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 2 + "storage"((  +393 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (& +2 "core" & \ !\ ! +2 "manipulator"&_& +4 "core" &, } * + "manipulator"&>% +4 "core" %\ 0 $s + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&i(; +171 "core" ( + "manipulator"&x& +4 "core" &; D +2 "storage"(p& +3 "core" & \ \ ! +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts + "manipulator"&|'Ѐ +97 "core" ' +2 "storage"(\ & +4 "core" & \ #\ # +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(Y'e +278 "core" ' +2 "storage"(~- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +2 (o& +3 "core" & \ \  P +2 "manipulator"&y& +3 "core" &; D +51 .tElbow.seek 2 +3 "manipulator"&t(; +4 "core" ( + "manipulator"&& +4 "core" &; ` D + "storage"( & +4 "core" & \ "\ !  +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&?' +10 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&/ +58 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&w& + "storage"('N +7 "core" &;  D +2 "manipulator"&f% +4 "core" % @ 6 +2 .tForearm.seek :retract + "manipulator"&v'\ +91 "core" ' +2 .tElbow.seek PC +2 "manipulator"&(c +160 "core" ' + ."downElevator"SE.stop + "storage"(5 +83 "core" ( + "manipulator"&& +5 "core" &X 2 o + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &n& +2 "core" &X @ o +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&z'[ +100 "core" ' +2 "manipulator"&[& +5 "core" &X u o + "manipulator"& % +4 "core" %Y t +2 "processing"%& +4 "core" &r +2 "processing"%{& +5 "core" &: +2 .tPC.seek :closed + "processing"%(Z +5 "core" &. +7 &;% $d +10 &y\\% 6 +9 && H +9 &h' G +10 &jl G +9 &,h G +10 & iv G +9 &"h! G +9 &$rk G +10 &&4h G +9 &'k\ G +9 &)k\ G +10 &+zk G +9 &-<h G +9 &.l H +10 &0j H +9 &2m G +10 &4El G +9 &6k G +9 &7lt G +10 &9j G +9 &;Km H +9 &=k G +10 &>m H +9 &@k G +10 &BTl G +9 &Di G +9 &El G +10 &Gn G +9 &IZy H +9 &K J +10 &L L +9 &N M +10 &PS M +9 &R M +9 &S M +10 &U N +9 &WY N +9 &Y J +10 &ZR:` !a +9 &ZR & +6 ( + "processing"%{& +4 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.48 +2 .Hand.open + "manipulator"&1 +4 "core" &Z & +55 1 + "manipulator"&W% +4 "core" % Y A +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +95 "core" ' +2 #tHeating Puck.from 2, :da in Processing Clamp to 28C for 2:00:00 +2 .PH.seek 28C,5:00 +3 "processing"%  + %9 +6 "core" 9 +102 "processing"%9 +2 "core" 9 +102 "processing"%9 +3 "core" 9  +102 "processing"%9 +3 "core" 9  +102 "processing"%9 +2 "core" 9 +102 "processing"%9 +2 "core" 9 +102 "processing"%9 +3 "core" 9 +102 "processing"%&9 +3 "core" 9 +103 "processing"%#9 +2 "core" 9" +102 "processing"%*9 +3 "core" 9& +102 "processing"%$9 +2 "core" 9* +102 "processing"%q9 +2 "core" 9/ +103 "processing"%9 +2 "core" 93 +102 "processing"%}9 +2 "core" 97 +102 "processing"%.9 +3 "core" 9; +102 "processing"%9 +3 "core" 9? +102 "processing"%"9 +2 "core" 9C +102 "processing"% 9 +2 "core" 9H +102 "processing"%s9 +3 "core" 9L +102 "processing"%%9 +3 "core" 9P +102 "processing"%<9 +2 "core" 9T +103 "processing"%9 +2 "core" 9X +102 "processing"%h9 +2 "core" 9] +102 "processing"%+9 +3 "core" 9a\ +102 "processing"%)9 +2 "core" 9!e +102 "processing"%59 +2 "core" 9+i +102 "processing"%49 +3 "core" 94m +102 "processing"%,9 +3 "core" 9=q +102 "processing"%99 +3 "core" 9Hv +101 "processing"%9 +3 "core" 9Rz +102 "processing"%;9 +3 "core" 9[~ +102 "processing"%09 +2 "core" 9d +103 "processing"%J9 +2 "core" 9n +102 "processing"%!9 +2 "core" 9x +102 "processing"%@9 +3 "core" 9 +3 .tPH.hold 2:00:00,28C +3 "processing"%A ppz +4 .tdelay 1:30 +2 "core"  +9000 .tPSR.select :air +3 .PSV.dial PSR + "processing"%1 +102 "core"  + "processing"%-% +4 "core" %H +2 #tPulling 0.5ml of PSR.wash + .PSR.select :wash +2 "processing"% +10 .tPS.seek 0.5ml + "processing"%E' +588 "core" ' +2 .tdelay 5 seconds +502 .PSR.select :air +2 "processing"% +10 .tPS.seek 2ml + "processing"%8'ԏ +1639 "core" ' +2 .tPTV.dial :puck +2 "processing"%6  +65 "core"  +2 .tPSV.dial PTV + "processing"%I +75 "core" +2 .tPBV.dial :waste1 +2 "processing"%j  +120 "core"  + "processing"%L% +4 "core" %Ԇ +2 .tPS.seek 1.5ml +2 "processing"%=' +608 "core" ' + .tdelay 3 seconds +303 .PBV.dial between PSV and waste1 + "processing"%7 * +33 "core" , +2 .tPS.seek 0ml + "processing"% ' +1612 "core" ' +2 .tdelay 5:00 +20028 "Can"\\\ NJ +9974 #trecoverPSRreagent08 +2 .PTV.dial :puck + .PBV.dial :waste1 +2 "processing"%P  +33 "core"  +2 .tdelay 30 seconds +3002 .PBV.dial between PSV and waste1 +2 "processing"% * +33 "core" , + .tPSR.select :air +3 .PSV.dial PSR + "processing"%: +75 "core"  + .tPS.reconfigure :fast +3 "processing"%#A ,`xb +2 .tPS.seek 2.5ml +2 "processing"%M'm +2218 "core" ' + .tPSV.dial PTV +2 "processing"%U +75 "core" +2 .tdelay 5 seconds +502 .PSV.dial PSR + "processing"%K +75 "core"  +2 .tdelay 5 seconds +502 .PSV.dial PTV +2 "processing"%C +74 "core" + .tdelay 5 seconds +502 .PSV.dial :air +2 "processing"%H  +66 "core"  +3 .tPS.seek 0ml + "processing"%3' +2196 "core" ' +2 .tPTV.dial :PRVmixing,via: PRV +2 "processing"%Z  +117 "core" + .tPSV.dial :mixloop +2 "processing"%Q +47 "core" + .tPRV.dial :ab1 +2 "processing"%B @ +67 "core" A +2 .tPS.reconfigure :slow +2 "processing"%#A 2`xb +3 .tPS.seek 0.15ml + "processing"%N'@ +358 "core" ' + .tdelay 2 seconds +202 ."connect"CBV.dial PRV +4 .tPRV.dial CBV +2 "collection"'  + "processing"%O  +42 "core"  + +2 "processing"%(% +4 "core" %=a  +2 .tPS.seek 0.34ml + "processing"%F' +438 "core" ' + .tdelay 2 seconds +202 .CBV.dial between PRV and PSV +2 "collection"']  +27 "core" +2 .tPRV.dial :air +2 "processing"%a  +39 "core"  +2 .tPS.seek 0.9ml + "processing"%T'H +1200 "core" ' + .tPRV.dial :waste2 +2 "processing"%' @ +67 "core" > +2 .tPS.seek 0.5ml +2 "processing"%/' +866 "core" ' +2 #taddPMLReagent08 + .PSV.dial :air +2 "processing"%D  +45 "core"  +2 .tPS.reconfigure :default +3 "processing"%#A d`xb +2 .tPS.seek 2ml + "processing"%'ԏ +1617 "core" ' +2 .tPSV.dial :PML + "processing"%2 +47 "core" +2 .tPTV.dial :mixing + "processing"%X @ +66 "core" A +2 .tPBV.dial :waste1 + "processing"%`  +33 "core" + "processing"%k% +4 "core" %ԍ  +2 .tPS.seek 1.85ml +2 "processing"%R'd +230 "core" ' + .tPBV.dial between PSV and waste1 +2 "processing"%S * +33 "core" , +2 .tPS.seek 0ml +2 "processing"%m' +1963 "core" ' +2 .tdelay 2 seconds +202 #Beginning samplePassC + #Loading FlushPuck into Collection Clamp from FlushPuck::Garage +2 "collection"'l& +3 "core" &fe +2 "manipulator"&e& +4 "core" &X + o + "manipulator"&g% +4 "core" %\ & : = +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek FlushPuck::Garage + "manipulator"&c(, +134 "core" ( + "manipulator"&G& +4 "core" &, ,  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &u& +3 "core" &, J  +2 .tForearm.seek :garage +2 "manipulator"&\\' +96 "core" ' + .tHand.close +2 "manipulator"&b/ +62 "core" / +2 "manipulator"&& +4 "core" &, i  +2 "manipulator"&_% +3 "core" %  M T +2 .tForearm.seek :retract + "manipulator"&>'\ +100 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&x( +287 "core" ( + "manipulator"&p& +4 "core" &/ " 3 Dv +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &\ & +3 "core" &/ k Dv +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +3 "manipulator"&d'| +111 "core" ' +2 "manipulator"&r& +5 "core" &0  Du + "manipulator"&~% +4 "core" %ρ  +2 "collection"'o& +52 "core" &df +4 "collection"'y& +5 "core" &dh +2 .tCC.seek :closed + "collection"'(] +5 "core" &cg +7 & )dd #` +9 &uXdg 5 +10 &ef H +9 &jde H +10 &Vmcf I +9 &mdf I +9 & ped H +10 &"mde H +9 &$_kde H +9 &&"kef H +10 &'ocf H +9 &)pge I +10 &+fnde I +9 &-*nee H +9 &.reg H +10 &0rde H +9 &2nrgf I +9 &41pde H +10 &5mcg I +9 &7mce H +10 &9xlde H +9 &;8mcg I +9 &<mdf H +10 &>mfh I +9 &@mfd H +9 &BApfe H +10 &Dmdg I +9 &Emdf H +10 &Gmde H +9 &IIrdg H +9 &Kce J +10 &L\\_ N +9 &NyRU P +9 &P7SR Q +10 &QPR Q +9 &SQQ R +10 &UxNO S +9 &W:MN S +9 &XMN T +10 &ZJM T +9 &\\m$JM E +9 &]l9HL b +10 &]<KK : +2 ( +2 "collection"'y& +3 #tCollection Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.79 + "collection"' & +4 "core" &];KL : +2 .tHand.open + "manipulator"&1 +57 "core" 1 +2 "manipulator"&w% +4 "core" % ρ  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&f'\ +97 "core" ' +2 .tPSV.dial PSR +2 "processing"%i +95 "core"  + "processing"%|% +4 "core" %G +2 #tPulling 1.5ml of PSR.flush + .PSR.select :flush +2 "processing"%@ +10 .tPS.seek 1.5ml + "processing"%Y' +1611 "core" ' +2 .tdelay 5 seconds +502 .PSV.dial :waste1 +3 "processing"%?  +40 "core"  +2 .tPS.seek 0ml +2 "processing"%' +1615 "core" ' + .tPSV.dial PSR +2 "processing"%n +47 "core"  + .tPSR.select :air +3 "processing"% +9 .tPS.seek 2.5ml +2 "processing"%t'm +2651 "core" ' + ."connect"PRV.dial CBV,avoiding: :ab2 +4 .tCBV.dial PRV +2 "processing"%[  + "collection"'  +29 "core" +116  + .tPSV.dial :mixloop +2 "processing"% +95 "core" +2 .tCTV.dial :air,avoiding: :intake + .PTV.dial :PRVmixing +2 "processing"%  +67 "core" +2 .tPS.seek 0ml +2 "processing"%v' +2629 "core" ' + .tPSV.dial :air +2 "processing"%^  +41 "core"  +2 .tPS.seek 2.5ml + "processing"%'m +2647 "core" ' + .tPSV.dial :mixloop + "processing"%W +48 "core" +2 .tPS.seek 0ml + "processing"%' +2631 "core" ' + .tPSV.dial :air +2 "processing"%{  +47 "core"  +2 .tPS.seek 2.5ml + "processing"%'m +2650 "core" ' + .tPSV.dial :mixloop +2 "processing"%z +47 "core" +2 .tPS.seek 0ml +2 "processing"%' +2627 "core" ' +2 #tGaraging FlushPuck in Collection Clamp + "manipulator"&& +4 "core" &0& >K +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC + "manipulator"&( +32 "core" ( +2 "manipulator"&& +4 "core" & : + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +2 "core" & W +2 .tForearm.seek CC +2 "manipulator"&&'| +98 "core" ' + .tHand.close +2 "manipulator"&#/ +55 "core" / + .tCC.seek :open +2 "collection"'*(p +411 "core" ( + "manipulator"&$& +4 "core" & + "manipulator"&q% +4 "core" %  +2 .tForearm.seek :retract + "manipulator"&'\ +101 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage +2 "manipulator"&}(, +279 "core" ( +2 "manipulator"&.& +4 "core" &, /  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +2 "core" &,   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :garage +2 "manipulator"&"' +112 "core" ' + .tHand.open + "manipulator"& 1 +60 "core" 1 +2 "manipulator"&s% +4 "core" %  j + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&%'\ +103 "core" ' +2 ."da"delayUntil "09:23:16.57" +9402 "Can"U @= +15366 #"da"recoverPRVreagent08 + .PTV.dial :mixing +2 "processing"%< @ +66 "core" B + ."da"PBV.dial :waste1 +2 "processing"%  +33 "core" + ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%h * +33 "core" , + ."da"PSV.dial :air +2 "processing"%+  +47 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%)'m +2217 "core" ' +2 ."da"PSV.dial :mixloop + "processing"%5 +47 "core" +2 ."da"delay 2 seconds +202 .PSV.dial :air + "processing"%4  +47 "core"  +2 ."da"delay 2 seconds +201 .PSV.dial :mixloop +4 "processing"%, +46 "core" +2 ."da"delay 2 seconds +202 .PSV.dial :air + "processing"%9  +47 "core"  +2 ."da"PS.seek 0ml + "processing"%' +2168 "core" ' +2 #"da"washCycleDA #1 of 2 + .PSR.select :air +2 .PSV.dial PSR +2 "processing"%; +122 "core"  + "processing"%0% +4 "core" % + #"da"Pulling 0.5ml of PSR.wash +2 .PSR.select :wash +2 "processing"% +9 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"%J' +599 "core" ' + ."da"delay 5 seconds +503 .PSR.select :air +2 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%!'ԏ +1670 "core" ' + ."da"PTV.dial :puck +2 "processing"%@  +64 "core"  +2 ."da"PSV.dial PTV + "processing"%1 +69 "core" +2 ."da"PBV.dial :waste1 + "processing"%-  +33 "core" +2 "processing"% % +3 "core" %Ԍ  +2 ."da"PS.seek 1.5ml +2 "processing"%E' +594 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%6 * +32 "core" , +2 ."da"PS.seek 0ml +2 "processing"%I' +1608 "core" ' +2 ."da"delay 2:00 +12003 #recoverPSRreagent08 + .PTV.dial :puck + .PBV.dial :waste1 +2 "processing"%j  +32 "core" + ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%L * +33 "core" , + ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"%8 +73 "core"  +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml +2 "processing"%7'm +2211 "core" ' + ."da"PSV.dial PTV +2 "processing"%= +74 "core" + ."da"delay 5 seconds +502 .PSV.dial PSR +2 "processing"% +73 "core"  + ."da"delay 5 seconds +503 .PSV.dial PTV + "processing"%P +73 "core" +2 ."da"delay 5 seconds +502 .PSV.dial :air +2 "processing"%  +67 "core"  +2 ."da"PS.seek 0ml +2 "processing"%:' +2177 "core" ' +2 #"da"washCycleDA #2 of 2 + .PSR.select :air +2 .PSV.dial PSR +2 "processing"% +122 "core"  + "processing"%U% +4 "core" % + #"da"Pulling 0.5ml of PSR.wash +2 .PSR.select :wash +2 "processing"% +10 ."da"PS.reconfigure :default +2 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"%K' +592 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +2 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%C'ԏ +1618 "core" ' + ."da"PTV.dial :puck +2 .PSV.dial PTV + "processing"%H +68 "core" + ."da"PBV.dial :waste1 +2 "processing"%M  +33 "core" + "processing"%Z% +4 "core" %ԍ  +2 ."da"PS.seek 1.5ml + "processing"%Q' +596 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +50 "processing"%B * +34 "core" , +2 ."da"PS.seek 0ml +2 "processing"%3' +1614 "core" ' +2 ."da"delay 2:00 +3602 "Can"" @= +8400 #"da"recoverPSRreagent08 +2 .PTV.dial :puck + .PBV.dial :waste1 +2 "processing"%O  +32 "core" +2 ."da"delay 30 seconds +3002 .PBV.dial between PSV and waste1 +2 "processing"% * +33 "core" , + ."da"PSR.select :air +3 .PSV.dial PSR + "processing"%( +73 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%N'm +2214 "core" ' +2 ."da"PSV.dial PTV +2 "processing"%] +73 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PSR + "processing"%a +73 "core"  +2 ."da"delay 5 seconds +502 .PSV.dial PTV +2 "processing"%F +72 "core" +2 ."da"delay 5 seconds +502 .PSV.dial :air +2 "processing"%'  +68 "core"  +2 ."da"PS.seek 0ml + "processing"%T' +2190 "core" ' +2 #"da"getPMLReagent08 + .PRV.dial :air +2 "processing"%D  +41 "core"  + ."da"delay 5 seconds +503 .PTV.dial :PRVmixing + "processing"%/  +117 "core" + ."da"delay 5 seconds +502 .PRV.dial :ab2 +2 "processing"%2  +40 "core"  + ."da"PTV.dial :PRVmixing +2 .PSV.dial :mixloop +2 "processing"%X +46 "core" +2 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 0.3ml +2 "processing"%`'i +390 "core" ' + ."da"delay 2 seconds +203 .PRV.dial :air + "processing"%k  +40 "core"  +2 "processing"%S% +4 "core" %k  + ."da"PS.seek 0.55ml +2 "processing"%'Z +336 "core" ' +2 #"da"addPMLReagent08 +2 .PSV.dial :air + "processing"%R  +49 "core"  +2 ."da"PS.seek 2ml + "processing"%l'ԏ +1618 "core" ' +2 ."da"PSV.dial :PML +2 "processing"%e +48 "core" + ."da"PTV.dial :mixing +2 "processing"%g @ +66 "core" A + ."da"PBV.dial :waste1 +2 "processing"%G  +33 "core" + "processing"%u% +4 "core" %Ԍ  +2 ."da"PS.seek 1.85ml +2 "processing"%'c +250 "core" ' + ."da"PBV.dial between PSV and waste1 +3 "processing"%b * +32 "core" , +2 ."da"PS.seek 0ml +2 "processing"%' +1973 "core" ' + ."da"delay 2 seconds +202 .delay 8:00 +35665 "Can""\ @= +12338 #"da"recoverPRVreagent08 + .PTV.dial :mixing +2 .PBV.dial :waste1 + "processing"%_  +33 "core" + ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"% * +33 "core" , + ."da"PSV.dial :air +2 "processing"%\\  +47 "core"  +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%p'm +2215 "core" ' + ."da"PSV.dial :mixloop +2 "processing"%\ +47 "core" +2 ."da"delay 2 seconds +202 .PSV.dial :air + "processing"%c  +47 "core"  + ."da"delay 2 seconds +202 .PSV.dial :mixloop +3 "processing"%r +45 "core" +2 ."da"delay 2 seconds +202 .PSV.dial :air +2 "processing"%~  +46 "core"  +2 ."da"PS.seek 0ml + "processing"%o' +2173 "core" ' +2 #"da"washCycleDA #1 of 3 + .PSR.select :air +2 .PSV.dial PSR +2 "processing"%> +128 "core"  + "processing"%% +4 "core" % + #"da"Pulling 0.5ml of PSR.wash +2 .PSR.select :wash +2 "processing"% +9 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"% ' +599 "core" ' + ."da"delay 5 seconds +503 .PSR.select :air +2 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%'ԏ +1617 "core" ' + ."da"PTV.dial :puck +2 "processing"%w  +64 "core"  +2 ."da"PSV.dial PTV + "processing"%y +74 "core" + ."da"PBV.dial :waste1 +2 "processing"%i  +33 "core" + "processing"%|% +4 "core" %Ԋ  +2 ."da"PS.seek 1.5ml +2 "processing"%d' +589 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%m * +32 "core" , +2 ."da"PS.seek 0ml + "processing"%?' +1606 "core" ' +2 ."da"delay 2:00 +12002 #recoverPSRreagent08 +2 .PTV.dial :puck + .PBV.dial :waste1 +2 "processing"%Y  +33 "core" +2 ."da"delay 30 seconds +3002 .PBV.dial between PSV and waste1 +2 "processing"%n * +33 "core" , +2 ."da"PSR.select :air +2 .PSV.dial PSR + "processing"% +73 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"% 'm +2216 "core" ' + ."da"PSV.dial PTV +2 "processing"%[ +74 "core" + ."da"delay 5 seconds +503 .PSV.dial PSR + "processing"% +73 "core"  + ."da"delay 5 seconds +503 .PSV.dial PTV + "processing"% +73 "core" + ."da"delay 5 seconds +503 .PSV.dial :air +2 "processing"%t  +67 "core"  +2 ."da"PS.seek 0ml +2 "processing"%^' +2178 "core" ' + #"da"washCycleDA #2 of 3 +2 .PSR.select :air +2 .PSV.dial PSR + "processing"%v +122 "core"  + "processing"%W% +4 "core" % + #"da"Pulling 0.5ml of PSR.wash +2 .PSR.select :wash +2 "processing"% +9 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"%' +589 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +2 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%{'ԏ +1614 "core" ' +2 ."da"PTV.dial :puck + .PSV.dial PTV +2 "processing"% +67 "core" +2 ."da"PBV.dial :waste1 + "processing"%z  +33 "core" +2 "processing"%% +4 "core" %ԑ  + ."da"PS.seek 1.5ml +2 "processing"%' +596 "core" ' + ."da"delay 3 seconds +303 .PBV.dial between PSV and waste1 +2 "processing"% * +32 "core" + +2 ."da"PS.seek 0ml +2 "processing"%' +1611 "core" ' +2 ."da"delay 2:00 +6801 "Can"%\ ?= +5201 #"da"recoverPSRreagent08 +2 .PTV.dial :puck + .PBV.dial :waste1 +2 "processing"%#  +32 "core" + ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%x * +33 "core" + + ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"%f +73 "core"  +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml + "processing"%'m +2206 "core" ' + ."da"PSV.dial PTV +2 "processing"%$ +73 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PSR +2 "processing"%q +72 "core"  +2 ."da"delay 5 seconds +502 .PSV.dial PTV +2 "processing"%& +72 "core" +2 ."da"delay 5 seconds +502 .PSV.dial :air +2 "processing"%.  +66 "core"  +2 ."da"PS.seek 0ml +2 "processing"%' +2179 "core" ' +2 #"da"washCycleDA #3 of 3 + .PSR.select :air +2 .PSV.dial PSR +2 "processing"% +121 "core"  +2 "processing"% % +4 "core" % + #"da"Pulling 0.5ml of PSR.wash + .PSR.select :wash +3 "processing"% +53 ."da"PS.reconfigure :default +9 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"%s' +595 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +2 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%'ԏ +1702 "core" ' + ."da"PTV.dial :puck +2 .PSV.dial PTV +2 "processing"%" +67 "core" + ."da"PBV.dial :waste1 +2 "processing"%<  +33 "core" + "processing"%% +4 "core" %ԇ  +2 ."da"PS.seek 1.5ml +2 "processing"%h' +605 "core" ' + ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%+ * +32 "core" + +3 ."da"PS.seek 0ml + "processing"%' +1606 "core" ' + ."da"delay 2:00 +12003 #recoverPSRreagent08 +2 .PTV.dial :puck + .PBV.dial :waste1 +2 "processing"%5  +33 "core" + ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%4 * +33 "core" + + ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"%, +73 "core"  +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%9'm +2210 "core" ' +2 ."da"PSV.dial PTV +2 "processing"%) +73 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PSR + "processing"%; +73 "core"  +2 ."da"delay 5 seconds +502 .PSV.dial PTV + "processing"%0 +73 "core" +2 ."da"delay 5 seconds +502 .PSV.dial :air +2 "processing"%  +66 "core"  +2 ."da"PS.seek 0ml +2 "processing"%J' +2188 "core" ' +2 ."da"Gate.power :camera,:ON +2 #Mixing DA Substrates + .PSR.select :air +2 .PSV.dial PSR + "processing"%@ +124 "core"  +4 "processing"%1% +10 "core" %  +3 #"da"Pulling 0.25ml of PSR.sub1 +5 .PSR.select :sub1 +4 "processing"% +14 ."da"PS.reconfigure :default +5 "processing"%#A d`xb +6 ."da"PS.seek 0.25ml +7 "processing"%-' +338 "core" ' +3 ."da"delay 5 seconds +502 "processing"% % +3 "core" %  +2 #"da"Pulling 0.25ml of PSR.sub2 + .PSR.select :sub2 +2 "processing"% +9 ."da"PS.seek 0.5ml +2 "processing"%!' +342 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +2 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%6'ԏ +1633 "core" ' + ."da"PTV.dial :puck +2 .PSV.dial PTV + "processing"%E +69 "core" +2 ."da"PBV.dial :waste1 + "processing"%j  +33 "core" +2 "processing"%L% +4 "core" %ԛ  +2 ."da"PS.seek 1.5ml +2 "processing"%8' +597 "core" ' + ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%I * +32 "core" + +2 ."da"PS.seek 0ml +2 "processing"%=' +1612 "core" ' + ."da"delay 10 seconds +1003 #recoverPSRreagent08 +2 .PTV.dial :puck + .PBV.dial :waste1 +2 "processing"%  +33 "core" + ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%P * +33 "core" + + ."da"PSR.select :air +3 .PSV.dial PSR + "processing"% +75 "core"  + ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%7'm +2227 "core" ' +2 ."da"PSV.dial PTV + "processing"% +76 "core" + ."da"delay 5 seconds +503 .PSV.dial PSR + "processing"%U +74 "core"  +2 ."da"delay 5 seconds +502 .PSV.dial PTV +2 "processing"%: +74 "core" +2 ."da"delay 5 seconds +502 .PSV.dial :air +6 "processing"%K  +68 "core"  +2 ."da"PS.seek 0ml +2 "processing"%H' +2174 "core" ' +2 #"da"Additional air clear + .PSR.select :air +2 .PSV.dial PSR + "processing"%M +124 "core"  + "processing"%Z% +4 "core" % +2 #"da"Pulling 2ml of PSR.air + .PSR.select :air +2 .PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 2ml +2 "processing"%C'ԏ +1634 "Can"*\  +491 "core" ' + ."da"delay 5 seconds +503 .PTV.dial :puck + .PSV.dial PTV +2 "processing"%B +66 "core" +2 ."da"PBV.dial :waste1 + "processing"%Q  +33 "core" +2 "processing"%O% +4 "core" %Ԍ  +2 ."da"PS.seek 1.5ml +2 "processing"%' +597 "core" ' + ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%( * +32 "core" + +2 ."da"delay 1 second +102 .PSV.dial :waste1 +2 "processing"%3  +100 "core"  +3 ."da"PS.seek 0ml +2 "processing"%]' +1620 "core" ' +2 "processing"%a9 +3 "core" 94 +2 #"da"Processing Puck Heater at 27.9C before imaging + .PH.coast +2 "processing"%F  +3 "core" 4 4 +2 "processing"%'& +3 "core" &Z & +2 #"da"Imaging da puck in Processing Clamp while storing it to tube 1 +2 "manipulator"&N% +3 "core" %\ /  #f +2 "storage"(D% +3 "core" %; 7 6  +2 "storage"(/. +3 "core" .(  +2 ."da"SC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 ."da"SC.seek 1 +2 "storage"(2(B +367 "core" ( + ."da"SC.configure :limp +3 "storage"($\ 1b +2 (X& +3 "core" &? P +2 "manipulator"&T& +3 "core" &,   +2 "manipulator"&k% +3 "core" %\ . M #f +2 ."da"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 ."da"Elbow.seek 1 +2 "manipulator"&S(c +188 "core" ( + "manipulator"&`& +4 "core" &o ` $ + "storage"(R& +4 "core" &? q +2 ."da"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 ."da"Forearm.seek 1 + 450 counts +2 "manipulator"&'Ф +109 "core" ' + "storage"(e& +4 "core" &? K D +2 ."da"SE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 ."da"SE.seek :beamBreak +2 "storage"(g'e +287 "core" ' +2 "storage"(G- +3 "core" -' + ."da"SE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&u& +3 "core" &o  $ +2 "storage"(b& +4 "core" &?  k + ."da"Elbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 ."da"Forearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 ."da"Forearm.seek 1 +2 "manipulator"&l' +34 "core" ' +2 ."da"Elbow.hold + "manipulator"&, +5 "core" , + ."da"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(_- +2 "core" -' +3 ."da"SE.seek 1.12 Pucks below Top Plate +2 "storage"('_ +37 "core" ' +2 "manipulator"&\\% +4 "core" %t   5 ǹ) + "storage"(& +4 "core" &?\ \  + ."da"Forearm.force -20 +2 "manipulator"&5 +2 ."da"Forearm.seek 1 + 315 counts +2 "manipulator"&\ ' +21 "core" ' +2 "manipulator"&c& +4 "core" &o f n  $ + "storage"(r& +4 "core" &? ( +2 ."da"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 ."da"Forearm.seek 1 + 450 counts +2 "manipulator"&~'Ф +16 "core" ' +2 ."da"SE.seek 2.12 Pucks below Top Plate +2 "storage"(p'N +43 "core" ' +2 "manipulator"&>& +4 "core" &o c e 5 $ + "manipulator"&% +4 "core" %Ь o q q +2 ."da"Forearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 ."da"Forearm.seek :retract +2 "manipulator"&o'\ +91 "core" ' +2 ."da"Elbow.seek PC +2 "manipulator"& (c +245 "core" ( + "manipulator"&w& +4 "core" &g  M +2 ."da"Elbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &y& +2 "core" &g  M +48 ."da"Forearm.seek PC +9 "manipulator"&i'[ +94 "core" ' + ."da"Hand.close +2 "manipulator"&|/ +63 "core" / +2 ."da"PC.seek :open + "processing"%(p +392 "core" ( + "storage"(m& +4 "core" &? N D . +2 "manipulator"&d& +3 "core" &g , M +2 "manipulator"&Y% +3 "core" % X  +2 ."da"Forearm.seek :retract +2 "manipulator"&n'\ +100 "core" ' +2 ."da"Elbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 ."da"Elbow.seek 1 +2 "manipulator"&(c +252 "core" ( + "manipulator"&?& +4 "core" &i  ' +2 "storage"([& +3 "core" &? 2 ' +2 ."da"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 ."da"Forearm.seek 1 + 450 counts +2 "manipulator"&'Ф +96 "core" ' +2 ."da"Hand.open + "manipulator"&1 +57 "core" 1 +2 "storage"(t- +3 "core" -'N +2 ."da"SE.seek 1.87 Pucks below Top Plate +2 "storage"( ' +24 "core" ' + ."da"SE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 ."da"SE.seek 1.21 Pucks below Top Plate +2 "storage"(v' +48 "core" ' +2 #"da"Lights, camera, ACTION! +3 #PuckCamera: snap -bin=2,2 -auto /var/log/esp/da22oct3110h50ml.tif +1951 #"psFlush"Waiting >20 seconds for da to relinquish FlushPuck +1118 #"da"SX HX9/16 (USB:02): 1392x1040 pixel 16-bit CCD camera\ Exposing 696x520 pixel 16-bit image for 27.157 seconds\ /var/log/esp/da22oct3110h50ml.tif: TIFF Upload Complete\ +4 #PuckCamera: snap -bin=2,2 15.0 /var/log/esp/midres/da22oct3110h50ml15s.tif +1564 #SX HX9/16 (USB:02): 1392x1040 pixel 16-bit CCD camera\ Exposing 696x520 pixel 16-bit image for 15 seconds\ /var/log/esp/midres/da22oct3110h50ml15s.tif: TIFF Upload Complete\ +4 #PuckCamera: snap -bin=2,2 30.0 /var/log/esp/midres/da22oct3110h50ml30s.tif +3069 #SX HX9/16 (USB:02): 1392x1040 pixel 16-bit CCD camera\ Exposing 696x520 pixel 16-bit image for 30 seconds\ /var/log/esp/midres/da22oct3110h50ml30s.tif: TIFF Upload Complete\ +4 #PuckCamera: snap -bin=1,1 70.0 /var/log/esp/hires/da22oct3110h50ml70s.tif +7183 #SX HX9/16 (USB:02): 1392x1040 pixel 16-bit CCD camera\ Exposing 1392x1040 pixel 16-bit image for 70 seconds\ /var/log/esp/hires/da22oct3110h50ml70s.tif: TIFF Upload Complete\ +2 .Gate.power :camera,:OFF +3 ."Qmail"DAfans.email "27.157 sec auto-exposure",Subject: "da22oct3110h50ml images!" +6 "storage"(W- +4 "core" -' +2 "storage"(^& +4 "core" &? e +3 "manipulator"&& +6 "core" &n  & +2 ."da"Elbow.seek 1 +2 "manipulator"&(c +17 "core" ( +2 "manipulator"&z& +4 "core" &n U , + "storage"(& +5 "core" &? { +3 ."da"Forearm.seek 1 + 450 counts +2 "manipulator"&{'Ф +4 "core" ' +2 ."da"SE.reconfigure :gently +5 "storage"(#QK-0-\ b +2 ."da"SE.seek 1.92 Pucks below Top Plate +2 "storage"('Y +41 !"Qmail"o:!Net::SMTPAuthenticationError: mesg"E534-5.7.9 Application-specific password required. Learn more at\ :@checkpoint: omitted:bt["E/opt/mbari/lib/ruby/1.8/net/smtp.rb:954:in `check_auth_response'"/opt/mbari/lib/ruby/1.8/net/smtp.rb:723:in `authenticate'":/opt/mbari/lib/ruby/1.8/net/smtp.rb:566:in `do_start'"7/opt/mbari/lib/ruby/1.8/net/smtp.rb:525:in `start'"2/home/esp/esp2/lib/email.rb:325:in `sendOnce'"3/home/esp/esp2/lib/schedule.rb:292:in `unsync'"3/home/esp/esp2/lib/schedule.rb:594:in `unsync'"3/home/esp/esp2/lib/schedule.rb:621:in `unsync'"2/home/esp/esp2/lib/email.rb:318:in `sendOnce'"./home/esp/esp2/lib/email.rb:340:in `send'",/home/esp/esp2/lib/msg.rb:68:in `retry'"./home/esp/esp2/lib/email.rb:339:in `send'"B/home/esp/esp2/protocol/2G/utilities.rb:163:in `prepAndImage'"-/home/esp/esp2/lib/email.rb:66:in `call'"3/home/esp/esp2/lib/email.rb:66:in `initialize'"-/home/esp/esp2/lib/email.rb:63:in `loop'"3/home/esp/esp2/lib/email.rb:63:in `initialize'"7/home/esp/esp2/lib/schedule.rb:481:in `initialize'"0/home/esp/esp2/lib/thread.rb:738:in `start'"7/home/esp/esp2/lib/schedule.rb:474:in `initialize'"'/home/esp/esp2/lib/schedule.rb:472 +2 !o:Email::Queue::Purge: mesg"Purged output queue:bt[ "//home/esp/esp2/lib/email.rb:106:in `purge'"3/home/esp/esp2/lib/email.rb:75:in `initialize'"-/home/esp/esp2/lib/email.rb:63:in `loop'"3/home/esp/esp2/lib/email.rb:63:in `initialize'"7/home/esp/esp2/lib/schedule.rb:481:in `initialize'"0/home/esp/esp2/lib/thread.rb:738:in `start'"7/home/esp/esp2/lib/schedule.rb:474:in `initialize'"'/home/esp/esp2/lib/schedule.rb:472 +22 "core" ' + "manipulator"&& +4 "core" &n z , +2 "storage"(#& +4 "core" &?\ \  x + ."da"Elbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 ."da"Forearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 ."da"Forearm.seek 1 +2 "manipulator"&x' +29 "core" ' + ."da"Elbow.hold +2 "manipulator"&f, +4 "core" , + ."da"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 ."da"SE.reconfigure :default +3 "storage"(#QK-0-\ b +2 ."da"SE.seek 2.11 Pucks below Top Plate +2 "storage"('C +24 "core" ' +2 "manipulator"&$% +5 "core" % = + "storage"(q& +4 "core" &?\ \ \ K + ."da"Forearm.force -20 +2 "manipulator"&5 +3 ."da"Forearm.seek 1 + 314 counts + "manipulator"&&' +19 "core" ' + "manipulator"&.& +4 "core" &n t [ x , +2 "storage"(& +4 "core" &?\ \  o +2 ."da"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 ."da"Forearm.seek 1 + 450 counts +2 "manipulator"&'Ф +23 "core" ' +2 "storage"( % +4 "core" %M\ (\  n +2 ."downElevator"SE.seek :down +4 "storage"('N +99 (s% +3 "core" %>\ \  L8 + "manipulator"&"% +4 "core" % m n +2 ."da"Forearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 ."da"Forearm.seek :retract +2 "manipulator"&<'\ +88 "core" ' +39 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (& +4 "core" &?\ \ \  +2 #tStarting finalPurge +3 #"psFlush"Loading FlushPuck into Processing Clamp from FlushPuck::Garage +2 "processing"%& +4 "core" & + "manipulator"&+& +4 "core" &n V , +2 "manipulator"&h% +4 "core" %\ , ? "[ +2 ."psFlush"Elbow.seek FlushPuck::Garage + "manipulator"&5(, +186 "core" ( +2 "manipulator"&4& +4 "core" &,   + ."psFlush"Elbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &,& +3 "core" &,   +2 ."psFlush"Forearm.seek :garage +2 "manipulator"&' +105 "core" ' + ."psFlush"Hand.close +2 "manipulator"&)/ +55 "core" / + "manipulator"&;& +4 "core" &, /  +2 "manipulator"&0% +3 "core" %  u +2 ."psFlush"Forearm.seek :retract +2 "manipulator"&'\ +97 "core" ' + ."psFlush"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 ."psFlush"Elbow.seek PC +2 "manipulator"&9(c +112 "core" ( + "manipulator"&@& +4 "core" &d P _ +2 ."psFlush"Elbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &1& +2 "core" &d \ _ +2 ."psFlush"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 ."psFlush"Forearm.seek PC +2 "manipulator"&J'[ +92 "core" ' +3 "manipulator"& & +4 "core" &d  _ + "manipulator"&-% +4 "core" %b +2 "processing"%!& +4 "core" & +2 "processing"%E& +4 "core" & +2 ."psFlush"PC.seek :closed +2 "processing"%j(Z +4 "core" & +8 &D #c +9 &|[ 6 +10 & H +9 &k G +10 &nk G +9 &1n G +9 & l G +10 &"k G +9 &$xm G +9 &&9j G +10 &'k G +9 &)k G +10 &+k G +9 &-Bl G +9 &/m G +10 &0m G +9 &2m} G +9 &4Ik| G +10 &6 m G +9 &7k F +10 &9k} G +9 &;Rmx G +9 &=k} G +10 &>nz G +9 &@mr G +9 &BXld G +10 &Dlo G +9 &Ell G +10 &Gnn G +9 &I^un H +9 &Kl J +10 &Lo L +9 &Np M +9 &PYu M +10 &Rp M +9 &S^ M +10 &UZ M +9 &W^` N +9 &YZ J +10 &ZS8cb "d +9 &ZS[ % +5 ( +2 "processing"%E& +4 #"psFlush"Processing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.47 +2 "processing"%L& +4 "core" &Z] % + &ZZ % + ."psFlush"Hand.open +2 "manipulator"&61 +55 "core" 1 +2 "manipulator"&I% +4 "core" % b t  + ."psFlush"Forearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 ."psFlush"Forearm.seek :retract +2 "manipulator"&8'\ +91 "core" ' +2 ."psFlush"PSR.select :air +2 .PSV.dial PSR +2 "processing"% +46 "core"  + "processing"%P% +4 "core" %6 + #"psFlush"Pulling 0.5ml of PSR.flush +2 .PSR.select :flush +2 "processing"%@ +10 ."psFlush"PS.seek 0.5ml + "processing"%' +583 #tWaiting >20 seconds for psFlush to relinquish FlushPuck +14 "core" ' +2 ."psFlush"delay 5 seconds +502 .PSR.select :air +3 "processing"% +9 ."psFlush"PS.seek 2.5ml +2 "processing"%='m +2142 "core" ' + ."psFlush"delay 1 second +102 .PRV.dial :waste2,avoiding: :ab2 +2 "processing"% @ +170 "core" B + ."psFlush"PTV.dial :PRVmixing +2 "processing"%U  +117 "core" + ."psFlush"PSV.dial :mixloop +2 "processing"%: +95 "core" +2 ."psFlush"PS.seek :empty +2 "processing"%K' +2637 "core" ' + ."psFlush"PSR.select :air +2 .PSV.dial PSR +2 "processing"%7 +101 "core"  +2 "processing"%M% +4 "core" %5 + #"psFlush"Pulling 0.5ml of PSR.flush + .PSR.select :flush +2 "processing"%@ +10 ."psFlush"PS.seek 0.5ml + "processing"%Z' +601 "core" ' +2 ."psFlush"delay 5 seconds +502 .PSR.select :air +2 "processing"% +62 ."psFlush"PS.seek 2.5ml +2 "processing"%H'm +2139 "core" ' +2 ."psFlush"delay 1 second +102 .PBV.dial :waste1 + "processing"%B  +33 "core" + ."psFlush"PTV.dial :mixing +2 "processing"%Q @ +66 "core" A + ."psFlush"PSV.dial :mixloop +2 "processing"%O +101 "core" +2 ."psFlush"PS.seek :empty +2 "processing"%C' +2632 "core" ' +2 ."psFlush"PSV.dial PSR +2 "processing"%( +101 "core"  + ."psFlush"PSR.select :flush +3 "processing"%@ +10 ."psFlush"PS.seek 1ml + "processing"%3'T +1102 "core" ' + ."psFlush"PSR.select :air +3 "processing"% +9 ."psFlush"PS.seek 2.5ml +2 "processing"%'m +1632 "core" ' + ."psFlush"PSV.dial PTV +2 "processing"%a +74 "core" + ."psFlush"PTV.dial :puck +2 "processing"%F  +65 "core"  +2 ."psFlush"PBV.dial :waste1 +2 .PS.seek 0ml +2 "processing"%'' +2633 "core" ' +2 ."psFlush"PSV.dial PSR +2 "processing"%N +73 "core"  + ."psFlush"PSR.select :flush +3 "processing"%@ +9 ."psFlush"PS.seek 0.5ml +2 "processing"%D' +602 "core" ' + ."psFlush"PSR.select :air +2 "processing"% +10 ."psFlush"PS.seek 2.5ml +2 "processing"%/'m +2138 "core" ' + ."psFlush"PSV.dial PTV +2 "processing"% +86 "core"  +2 ."psFlush"PBV.dial PSV +2 "processing"%X U +51 "core" V +2 ."psFlush"PS.seek 0ml +2 "processing"%T' +2627 "core" ' + ."psFlush"PSV.dial PBV +2 "processing"%k @ +46 "core" > + ."psFlush"PS.seek 2.5ml +2 "processing"%`'m +2629 "core" ' +2 ."psFlush"PSV.dial :waste1 +2 "processing"%R  +67 "core"  +2 ."psFlush"PS.seek 0ml +2 "processing"%}' +2635 "core" ' + ."psFlush"PSV.dial PSR +2 "processing"%e +47 "core"  + ."psFlush"PSR.select :air +3 .PS.seek 2.5ml +2 "processing"%%'m +2650 "core" ' + ."psFlush"PSV.dial PTV +2 "processing"%G +67 "core" +2 ."psFlush"PBV.dial PSV +2 .PS.seek 0ml + "processing"%u' +2631 "core" ' + ."psFlush"PSV.dial PBV +2 "processing"%b @ +47 "core" > +2 ."psFlush"PS.seek 2.5ml +2 "processing"%_'m +1386 "Can" \ CA +1269 "core" ' +2 ."psFlush"PSV.dial :waste1 + "processing"%\\  +68 "core"  +2 ."psFlush"PS.seek 0ml + "processing"%' +2636 "core" ' + ."psFlush"PSV.dial PSR +2 "processing"%c +47 "core"  + ."psFlush"PSR.select :flush +3 "processing"%@ +9 ."psFlush"PS.seek 1ml +2 "processing"%r'T +1110 "core" ' + ."psFlush"PSR.select :air +2 "processing"% +10 ."psFlush"PS.seek 2.5ml + "processing"%>'m +1626 "core" ' +2 ."psFlush"PSV.dial PTV +2 "processing"% +67 "core" + ."psFlush"PTV.dial :puck +2 .PBV.dial :waste1 + "processing"%  +50 "core" +2 ."psFlush"PS.seek 0ml +2 "processing"%S' +2637 "core" ' + ."psFlush"PSV.dial PSR +2 "processing"%g +75 "core"  + ."psFlush"PSR.select :flush +3 "processing"%@ +9 ."psFlush"PS.seek 0.5ml +2 "processing"%l' +597 "core" ' +2 ."psFlush"PSR.select :air +2 "processing"% +9 ."psFlush"PS.seek 2.5ml +2 "processing"%\ 'm +2145 "core" ' + ."psFlush"PSV.dial PTV +2 "processing"% +73 "core" +2 ."psFlush"PBV.dial PSV +2 "processing"%~ U +50 "core" V +2 ."psFlush"PS.seek 0ml + "processing"%w' +2629 "core" ' +2 ."psFlush"PSV.dial PBV +2 "processing"%y @ +46 "core" > +2 ."psFlush"PS.seek 2.5ml +2 "processing"%'m +2631 "core" ' + ."psFlush"PSV.dial :waste1 +2 "processing"%|  +67 "core"  +2 ."psFlush"PS.seek 0ml +2 "processing"%o' +2657 "core" ' + ."psFlush"PSV.dial PSR +2 "processing"% +47 "core"  + ."psFlush"PSR.select :air +3 .PS.seek 2.5ml +2 "processing"%m'm +2653 "core" ' + ."psFlush"PSV.dial PTV +2 "processing"%d +68 "core" + ."psFlush"PBV.dial PSV +2 .PS.seek 0ml +2 "processing"%Y' +2649 "core" ' + ."psFlush"PSV.dial PBV +2 "processing"%i @ +47 "core" > +2 ."psFlush"PS.seek 2.5ml +2 "processing"%?'m +2643 "core" ' + ."psFlush"PSV.dial :waste1 +2 "processing"%[  +67 "core"  +2 ."psFlush"PS.seek 0ml +2 "processing"% ' +2632 "core" ' +2 #tLoading FlushPuck into Collection Clamp from Processing Clamp +2 "collection"'& +4 "core" &Q + "manipulator"&t& +4 "core" &e B ^ + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +2 "manipulator"&n(c +3 "core" ( +2 "manipulator"&p& +4 "core" &e  ^ + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 & & +2 "core" &e * ^ +2 .tForearm.seek PC +2 "manipulator"&W'[ +93 "core" ' + .tHand.close +2 "manipulator"&^/ +52 "core" / + .tPC.seek :open +2 "processing"%(p +392 "core" ( + "manipulator"&z& +4 "core" &e  ^ +2 "manipulator"&% +3 "core" % [  +2 .tForearm.seek :retract + "manipulator"&'\ +101 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC + "manipulator"&#( +358 "core" ( + "manipulator"&$& +4 "core" &- # e Bl +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &q& +3 "core" &- ; Bl +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&.'| +103 "core" ' +2 "manipulator"&& +4 "core" &-  Bl + "manipulator"& % +4 "core" % t  o +2 "collection"'& +4 "core" &I +2 "collection"'& +5 "core" &H +2 .tCC.seek :closed +2 "collection"'v(] +4 "core" &J  +9 &5K )w +10 &hG = +9 &lG I +9 &0nO H +10 &sH I +9 &rP I +9 &!unX H +10 &#7pP H +9 &$rR H +10 &&qO I +9 &(}pM H +9 &*?m H +10 &,m% H +9 &-r H +9 &/sE H +10 &1Go H +9 &3\ p H +10 &4o H +9 &6p H +9 &8Oo H +10 &:n H +9 &;k H +9 &=p H +10 &?Wo H +9 &Aq I +10 &Bp H +9 &Dn H +9 &F^p I +10 &H!p H +9 &Iy I +9 &K L +10 &MT O +9 &O Q +10 &P Q +9 &R R +9 &TR R +10 &V S +9 &W S +9 &Y U +10 &[S U +9 &\\u * +9 &]0 Q +9 ( +2 &]L = +2 "collection"'& +3 #tCollection Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.80 + "collection"'s& +4 "core" &]N = +2 .tHand.open + "manipulator"&"1 +62 "core" 1 +2 "manipulator"&{% +4 "core" % t  o + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +89 "core" ' +2 #tFlushing the Collection Valve::Manifold + "collection"'& +4 "core" &]N = +2 "collection"'x% +4 "core" % + .tCSV.dial CSR +2 "collection"'  +38 "core"  +2 "collection"'% +4 "core" % + #tPulling 5ml of CSR.flush +2 .CSR.select :flush +2 "collection"' +53 .tCS.seek 5ml +2 "collection"'+'s +1350 "core" ' +2 .tdelay 5 seconds +502 .CSR.select :air + "collection"' +9 '&% +3 "core" %s  +2 .tCS.reconfigure :fast +2 "collection"'#d @b +3 .tCS.seek 7.5ml +2 "collection"'h'o +608 "core" ' +2 .tCSV.dial :waste + "collection"' +116 "core" +2 .tCS.reconfigure :default +2 "collection"'#P d@b +3 .tCS.seek 0ml +2 "collection"'' +1985 "core" ' +2 #tFlushing lower manifold's waste1 port + "collection"'4& +4 "core" &]O = +2 "collection"',% +3 "core" % +2 .tCSV.dial :flush + "collection"'  +40 "core"  +2 .tCS.reconfigure :fast +2 "collection"'#d @b +3 .tCS.seek 5ml + "collection"'f's +1127 "core" ' +2 .tdelay 5 seconds +502 .CSV.dial :air +2 "collection"') @ +38 "core" B +2 "collection"';% +4 "core" %s  +2 .tCS.seek 7ml +2 "collection"'0' +506 "core" ' + ."connect"CSV.dial CTV +4 .tCTV.dial CSV +2 "collection"'<  +2 '@  +36 "core"  +84  +2 .tCBV.dial :waste1 +2 "collection"'1 @ +40 "core" ? +2 .tCS.seek 0ml +2 "collection"'' +1526 "core" ' +2 #tFlushing lower manifold's waste2 port + "collection"' & +4 "core" &]M = +2 "collection"'-% +3 "core" % +2 .tCSV.dial :flush + "collection"'!  +66 "core" +2 .tCS.seek 5ml +2 "collection"'5's +1140 "core" ' + .tdelay 5 seconds +503 .CSV.dial :air + "collection"' @ +40 "core" A +2 "collection"'% +5 "core" %s  +2 .tCS.seek 7ml + "collection"'L' +511 "core" ' +4 ."connect"CSV.dial CTV +10 .tCTV.dial CSV + "collection"'6  +42 "core"  +4 .tCBV.dial :waste2 +5 "collection"'I  +98 "core"  +2 .tCS.seek 0ml + "collection"'E' +1536 "core" ' + #tDisinfecting external Intake with kill +2 "collection"'& +4 "core" &]M = + "collection"'P% +4 "core" % + .tCSV.dial CSR +2 "collection"'J  +39 "core"  +2 "collection"']% +4 "core" % + #tPulling 8ml of CSR.kill +2 .CSR.select :kill +2 "collection"' +9 .tCS.seek 8ml +2 "collection"''X +1745 "core" ' +2 .tdelay 5 seconds +502 .CSR.select :air +3 "collection"' +9 .tCS.seek 10ml +2 "collection"' ' +501 "core" ' +3 ."connect"CSV.dial CBV +3 .tCBV.dial CSV +2 "collection"'U + ':  +90 "core" +39  + .tCTV.dial :intake +2 "collection"'=  +69 "core" + .tIntake.select :open + "sampler") +10 .tCS.seek 2ml +2 "collection"'7'~ +1742 "core" ' + .tIntake.select :close +2 "sampler")0 +9 .tCTV.dial :air + "collection"'M  +66 "core"  +2 .tCS.reconfigure :default +3 "collection"'#P d@b +2 .tCS.seek 0ml +2 "collection"'K' +593 "core" ' + .tCSV.dial CSR +2 "collection"'Z  +91 "core"  + "collection"'B% +4 "core" %! +2 #tPulling 5ml of CSR.flush + .CSR.select :flush +2 "collection"' +10 .tCS.seek 5ml +2 "collection"'Q's +1359 "core" ' +2 .tdelay 5 seconds +502 .CSR.select :air +2 "collection"' +10 .tCS.seek 10ml + "collection"'O' +1358 "core" ' + .tCSV.dial CBV +2 "collection"'H +91 "core" +2 .tCS.seek 0ml + "collection"'(' +2634 "core" ' +2 #tGaraging FlushPuck in Collection Clamp + "manipulator"&C& +4 "core" &0$ c <= +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC + "manipulator"&3( +30 "core" ( + "manipulator"&a& +4 "core" & 1  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &F& +3 "core" & )  +2 .tForearm.seek CC + "manipulator"&'| +100 "core" ' + .tHand.close +2 "manipulator"&N/ +62 "core" / +2 .tCC.seek :open +2 "collection"''(p +410 "core" ( + "manipulator"&D& +4 "core" &   +2 "manipulator"&% +3 "core" % f  D +2 .tForearm.seek :retract +2 "manipulator"&X'\ +99 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage +2 "manipulator"&/(, +281 "core" ( + "manipulator"&k& +5 "core" &, B  + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &T& +2 "core" &,   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :garage +2 "manipulator"&R' +105 "core" ' +2 .tHand.open +2 "manipulator"&`1 +52 "core" 1 +2 "manipulator"&e% +4 "core" %  1 u +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&}'\ +96 "core" ' + "processing"%G& +4 "core" &H +1198 "Can"\ 52 +52359 #t-> access 3 +2 "storage"(%% +3 "core" %=\ \  +2 "manipulator"&b% +4 "core" %\ #  - +2 "manipulator"&u& +3 "core" &,   +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 7 +2 "storage"(\\([ +1967 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (_& +3 "core" &[\ \ ! +259 #t-> access 1 +3 "storage"(c% +3 "core" %=\ "\  +2 "manipulator"&% +3 "core" %\ #  - +2 "manipulator"&r& +3 "core" &,   +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 5 + "storage"((<< +668 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (& +2 "core" &<:\ \  +556 #t-> access 2 +3 "storage"(>% +3 "core" %=\ \  * +2 "manipulator"&g% +4 "core" %\ #  - +2 "manipulator"&S& +3 "core" &,   +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 + "storage"(l(K +358 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (& +2 "core" &K u  +3737 "Can"6\ 52 +12151 #t-> access 3 +2 "storage"(~% +3 "core" %=\ \  D +2 "manipulator"&\ % +4 "core" %\ #  - +2 "manipulator"&y& +3 "core" &,   +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 7 + "storage"(w([ +364 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (|& +2 "core" &[\ \ !  +1308 #t-> require 'shuffle.rb' +1424 #-> 20.times [shuffle 2..3] +2 #Shuffling pucks in tube 2 of [2..3] +2 #Loading generic puck from tube 2 into Collection Clamp + "collection"'& +4 "core" & + "manipulator"&% +4 "core" %\ # - +2 "storage"(o% +4 "core" %=\ \   + "storage"(d. +3 "core" .([ +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"(m(  +1614 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (i& +3 "core" &  + "manipulator"&Y& +4 "core" &,   + "manipulator"&[% +4 "core" %\ #  - +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&?(; +201 "core" ( +2 "manipulator"&& +4 "core" &> p  + "storage"(t& +4 "core" & \ \  : +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&p'Ѐ +100 "core" ' + "storage"( & +4 "core" & \ C\ C +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(^'e +281 "core" ' + "storage"(9- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (8& +2 "core" & \ \   +2 "manipulator"&j& +3 "core" &> j b A  +2 .tElbow.seek 2 + "manipulator"&z(; +4 "core" ( + "manipulator"&& +4 "core" &> o r  + "storage"(W& +53 "core" & \ \ ! +2 .tForearm.seek 2 + 300 counts + "manipulator"&n' +22 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&$/ +63 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&q& +2 "storage"('N +7 "core" &>   +2 "manipulator"& % +4 "core" %  +2 .tForearm.seek :retract + "manipulator"&'\ +101 "core" ' +2 .tElbow.seek CC +2 "manipulator"&( +139 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +18 "core" ( + "manipulator"&*& +5 "core" &+  Ad + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &s& +3 "core" &+ # Ad +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&"'| +103 "core" ' +2 "manipulator"&{& +4 "core" &+ D Ad +2 "manipulator"&% +4 "core" %x | +2 "collection"'x& +3 "core" &U +3 "collection"'& +5 "core" &M +2 .tCC.seek :closed + "collection"'(] +5 "core" &H +7 &Dg $d +9 &wZO 6 +9 & H +10 &j H +9 &ap H +10 &#m H +9 & m H +9 &"s H +10 &$jo H +9 &&,p H +9 &'o H +10 &)r H +9 &+qo H +10 &-4k H +9 &.r H +9 &0r H +10 &2yr H +9 &4;r H +9 &5m H +10 &7o I +9 &9l H +10 &;Dn H +9 &=m H +9 &>o H +10 &@m H +9 &BJot I +9 &Dl H +10 &Emv H +9 &Gqx I +10 &IO} J +9 &K\ w L +9 &Lv P +10 &Nz Q +9 &PB Q +9 &Ru Q +10 &Sz R +9 &Uq S +10 &WDq S +9 &Yl U +9 &Zo U +10 &\\f A +9 &]p/m &q +9 &]kk I +3 ( + "collection"'& +4 #tCollection Clamp onSpring/offSpring for 10/25 samples, on/off torque 1.82 + .Hand.open + "manipulator"&1 +54 "core" 1 +2 "manipulator"&.% +5 "core" % x ' | +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&V'\ +96 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp +2 "processing"%&& +4 "core" & + "manipulator"&+% +4 "core" %\ 1 $r + "storage"(% +4 "core" %E % +2 "storage"(h. +3 "core" .(  + "storage"(4& +4 "core" &  \  " +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 + "storage"(,(  +26 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (& +2 "core" &   +2 "manipulator"&& +4 "core" &:" D :/ + "manipulator"&)% +4 "core" %\ 1 ^ $r +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&;(; +159 "core" ( + "manipulator"&f& +4 "core" &< ]  +2 "storage"(<& +4 "core" &  \  \\ $ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&@'Ѐ +101 "core" ' + "storage"(1& +5 "core" & \ \ \ A $ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(0'e +279 "core" ' +2 "storage"( - +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (-& +3 "core" & \ \   2 + "manipulator"&!& +4 "core" &<   +2 .tElbow.seek 2 + "manipulator"&(; +3 "core" ( +2 "manipulator"&& +4 "core" &< g  + "storage"(& +4 "core" & \ \ h 2 +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&5' +10 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&6/ +57 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&I& +2 "storage"(L'N +8 "core" &<   + "manipulator"&% +4 "core" %  L +2 .tForearm.seek :retract +2 "manipulator"&P'\ +96 "core" ' +2 .tElbow.seek PC +2 "manipulator"&J(c +154 "core" ' + ."downElevator"SE.stop + "storage"(5 +85 "core" ( +2 "manipulator"&]& +4 "core" &o U F +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &E& +3 "core" &o z F +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +3 "manipulator"&'[ +100 "core" ' +2 "manipulator"&U& +4 "core" &o h F + "manipulator"&:% +4 "core" %O  W +2 "processing"%=& +4 "core" & +2 "processing"% & +5 "core" & +2 .tPC.seek :closed +2 "processing"%M(Z +4 "core" &  +9 &7 *y +9 &k > +10 &z H +9 &Gj G +9 &p G +10 &k H +9 &!n H +9 &#Ok G +10 &%p G +9 &&px G +10 &(n} G +9 &*Um H +9 &,n G +10 &-k G +9 &/q G +10 &1^o G +9 &3n H +9 &4n{ G +10 &6nx G +9 &8fmx G +9 &:)ht G +10 &;lu H +9 &=ns G +9 &?nms G +10 &A/ms H +9 &Bnr H +10 &Dnl G +9 &Fvom G +9 &H6vl H +10 &Ij J +9 &Kn J +10 &Mo] M +9 &O/a M +9 &Pd M +10 &Rn M +9 &Tup M +9 &V5k N +10 &Wm N +9 &Yl 4 +9 &Z8h H +10 &Zj % +2 ( +2 "processing"% & +3 #tProcessing Clamp onSpring/offSpring for 8/26 samples, on/off torque 1.46 + .Hand.open +2 "manipulator"&71 +60 "core" 1 + "manipulator"&Z% +4 "core" % O F W +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&B'\ +91 "core" ' +2 "processing"%K& +4 "core" &Z[ % +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 + "manipulator"&Q% +4 "core" %\ %  6 +2 "storage"(H% +3 "core" %H  +2 "storage"(O. +3 "core" .(  + "storage"(C& +4 "core" & \ \  ' 2 +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"(a(  +53 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (F& +4 "manipulator"&N& +2 "core" &   +2 ."raiseStack"SE.reconfigure :place +6 "storage"(#]kK-0-\ b +2 "core" &o J F +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +2 ."raiseStack"SE.seek :beamBreak +3 "manipulator"&#(c + "storage"('e +7 "core" ( +2 "manipulator"&v& +4 "core" &l S = +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &D& +3 "core" &l  = +2 .tForearm.seek PC +2 "manipulator"&'[ +95 "core" ' +2 .tHand.close + "manipulator"&/ +58 "core" / +2 .tPC.seek :open +2 "processing"%k(p +88 "core" ' +2 "storage"(T- +3 "core" -'e +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(3'B +41 "core" ' +248 ( +2 "storage"(`& +4 "core" & \ \ \  + "manipulator"&e& +4 "core" &l  = + "manipulator"&G% +4 "core" % j  +2 .tForearm.seek :retract + "manipulator"&X'\ +93 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 + "manipulator"&R(; +252 "core" ( + "manipulator"&%& +4 "core" &? F $ +2 "storage"(b& +4 "core" & \ \ T +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&u'Ѐ +92 "core" ' + .tHand.open +2 "manipulator"&21 +58 "core" 1 +2 "storage"(_- +3 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate +2 "storage"(c' +23 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.83 Pucks below Top Plate + "storage"(' +55 "core" ' + #tLights, camera, ACTION! +2 "storage"(r- +3 "core" -' +2 "storage"(\\& +4 "core" &  + "manipulator"&& +4 "core" &? o $ +2 .tElbow.seek 2 +2 "manipulator"&>(; +3 "core" ( + "manipulator"&g& +4 "core" &? 9 $ +2 "storage"(S& +3 "core" &   +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&'Ѐ +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"('M +59 "core" ' +2 "manipulator"&~& +4 "core" &? \\ $ +2 "storage"(\ & +3 "core" &  \  S +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&y'ξ +53 "core" ' +3 .tElbow.hold + "manipulator"&l, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"(|'7 +28 "core" ' + "manipulator"&% +5 "core" %κU 3 2 ( ʱ + "storage"(& +4 "core" &  ! +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 296 counts + "manipulator"&o' +13 "core" ' +2 "manipulator"&d& +4 "core" &[ u p  k +2 "storage"(w& +4 "core" &  \ \ 5 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&i'Ѐ +15 "core" ' +2 "storage"(Y% +4 "core" %@ \  G +3 ."downElevator"SE.seek :down +4 "storage"(['N +99 (% +3 "core" %G\ \  NA +2 "manipulator"&t% +4 "core" %y e m f  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&/'\ +92 "core" ' +55 ' +2 ."downElevator"SE.stop + "storage"(5 +3 ( & +4 "core" &  \  s + "collection"'}& +4 "core" &]iV I +2 #tStoring generic puck in Collection Clamp to tube 2 + "manipulator"&9% +4 "core" %\ / : #c +2 "storage"(8% +4 "core" %@\ \  J  + "storage"(j. +3 "core" .(  +2 "storage"(& +4 "core" & \ \  ( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 + "storage"(W(  +28 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 ($& +3 "core" &  > % +2 "manipulator"&q& +3 "core" &[  k +2 .tElbow.seek 2 +2 "manipulator"& (; +28 "core" ( + "manipulator"&?& +4 "core" &5  } +2 "storage"(p& +4 "core" & \  \\ * +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts + "manipulator"&*'Ѐ +93 "core" ' +2 "storage"(s& +4 "core" & \ N * +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(^'e +278 "core" ' +2 "storage"(n- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&{& +3 "core" &5  } +2 "storage"(& +4 "core" & \ \  H . + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 + "manipulator"&x'ξ +33 "core" ' +2 .tElbow.hold +2 "manipulator"&z, +3 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(- +2 "core" -' +3 .tSE.seek 0.11 Pucks below Top Plate + "storage"('e +25 "core" ' + "manipulator"&'% +4 "core" %K 7 7 ɮ +2 "storage"(& +4 "core" &  : . + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 2 + 318 counts + "manipulator"&.' +18 "core" ' +2 "manipulator"&&& +4 "core" &; X i w + "storage"(+& +4 "core" & \ \ \  . +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts + "manipulator"&'Ѐ +17 "core" ' +2 .tSE.seek 1.11 Pucks below Top Plate +2 "storage"(h'T +41 "core" ' +2 "manipulator"&4& +4 "core" &; l d O w +2 "manipulator"&% +3 "core" %v b ` E +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +87 "core" ' + .tElbow.seek CC +2 "manipulator"&( +162 "core" ( +2 "manipulator"&)& +4 "core" &+ 9 Ae + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &"& +2 "core" &+ 2 Ae +2 .tForearm.seek CC +2 "manipulator"&f'| +98 "core" ' +2 .tHand.close + "manipulator"&rX H +10 &@pZ H +9 &BOpS H +9 &DpT H +10 &EmV H +9 &GnX G +9 &IR}Z J +10 &KS L +9 &LM O +10 &NG P +9 &PFE P +9 &RE Q +49 &SF R +10 &UJ R + &WG@ S + &YG T + &ZF T + &\\A A +3 &]t.E "e +9 &]OI > +3 ( + "collection"'\\& +3 #tCollection Clamp onSpring/offSpring for 10/25 samples, on/off torque 1.83 +2 .Hand.open + "manipulator"&g1 +54 "core" 1 +2 "manipulator"&S% +4 "core" % u  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&X'\ +102 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%~& +4 "core" & +2 "manipulator"&\ % +4 "core" %\  + "storage"(3% +4 "core" %K\ \ \  5 +2 "storage"(. +3 "core" .( + "storage"(& +4 "core" &\ 2  +2 "storage"(c& +4 "core" & \  I  + "manipulator"&d& +4 "core" &  F / +2 "manipulator"&w% +4 "core" %\   +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&Y(D +184 "core" ( +2 "manipulator"&R& +4 "core" &8 W A +2 "storage"(u& +3 "core" &\ \   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&' +93 "core" ' + "storage"(& +5 "core" &\ \  &  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(t'e +277 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (>& +3 "core" &\ \  + "manipulator"&& +4 "core" &8 A +2 .tElbow.seek 3 +2 "manipulator"&y(D +18 "core" ( + "manipulator"& & +4 "core" &I u  "| +2 "storage"(o& +3 "core" &\ \ \  8  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&}'y +23 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&9/ +56 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&8& +2 "storage"(j'N +7 "core" &I ` | B "| +2 "manipulator"&% +4 "core" % x _ b s + .tForearm.seek :retract +2 "manipulator"&|'\ +89 "core" ' + .tElbow.seek PC +2 "manipulator"&$(c +167 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +74 "core" ( +2 "manipulator"&q& +4 "core" &k  W + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &?& +3 "core" &k @ W +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&p'[ +106 "core" ' +2 "manipulator"&i& +4 "core" &k \\ s W +2 "manipulator"&s% +4 "core" %Q o p  +2 "processing"%[& +4 "core" &s +2 "processing"%a& +6 "core" & +2 .tPC.seek :closed +2 "processing"%l(Z +4 "core" &x +7 &F~ #b +10 &w[q 6 +9 &p G +9 &iw G +10 &jks G +9 &*ns G +10 & ir G +9 &"kr H +9 &$qlq G +10 &&2lt G +9 &'ka G +9 &)ha G +10 &+zkV G +9 &-<mm G +10 &.np G +9 &0nn G +9 &2oe G +10 &4Dlf G +9 &6lZ G +9 &7le G +10 &9kW F +9 &;Kng G +10 &=lU G +9 &>mR G +9 &@mT H +10 &BRmW G +9 &DlX G +9 &EkU G +10 &GyQ H +9 &IU~S I +10 &KR K +9 &LV M +9 &NX M +10 &PRM M +9 &RT L +9 &ST M +10 &UM N +9 &WXL N +9 &YB K +10 &ZX=h< $i +9 &Z2J ) +6 ( + "processing"%a& +4 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.49 +2 .Hand.open + "manipulator"&/1 +4 "core" &ZH ) +52 1 +2 "manipulator"&n% +4 "core" % R v p } +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&{'\ +91 "core" ' +2 "processing"%& +4 "core" &ZF ) + #tImaging generic puck in Processing Clamp while storing it to tube 3 +2 "manipulator"&% +4 "core" %\ *  !V + "storage"('% +4 "core" %O \ \ R \ +2 "storage"(. +3 "core" .( + "storage"(&& +4 "core" &\  +2 "storage"(+& +2 "manipulator"&4& +7 "core" &  + &k  W +3 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +3 "storage"(#]kK-0-\ b +4 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +2 ."raiseStack"SE.seek :beamBreak +3 "manipulator"&(c + "storage"(*'e +5 "core" ( + "manipulator"& & +4 "core" &k  W + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &^& +3 "core" &k  W +2 .tForearm.seek PC +2 "manipulator"&x'[ +96 "core" ' +2 .tHand.close + "manipulator"&./ +61 "core" / +2 .tPC.seek :open + "processing"%(p +89 "core" ' +2 "storage"()- +4 "core" -'e + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place + "storage"("'B +38 "core" ' +251 ( + "storage"(& +5 "core" &\  K  + "manipulator"&z& +4 "core" &k  W + "manipulator"&<% +4 "core" % `   +2 .tForearm.seek :retract +2 "manipulator"&'\ +91 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&(D +252 "core" ( +2 "manipulator"&1& +4 "core" &I S % +2 "storage"(& +3 "core" &\ \   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts + "manipulator"&V' +105 "core" ' + .tHand.open +2 "manipulator"& 1 +56 "core" 1 +2 "storage"(- +4 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate +2 "storage"(' +23 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(f' +53 "core" ' + #tLights, camera, ACTION! +2 "storage"(- +3 "core" -' +2 "storage"(& +4 "core" & H  + "manipulator"&;& +4 "core" &I ~ W % +2 .tElbow.seek 3 +2 "manipulator"&@(D +3 "core" ( + "manipulator"&5& +4 "core" &I 7 % +2 "storage"(]& +3 "core" & 6  +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&' +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"(-'M +59 "core" ' + "manipulator"&:& +5 "core" &I ` e J % + "storage"(=& +4 "core" &\  z  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&!'M +34 "core" ' +2 .tElbow.hold + "manipulator"&6, +5 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"(P'7 +23 "core" ' + "manipulator"&0% +5 "core" %_V ' 2 B ̱ + "storage"(& +4 "core" &  +2 .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 3 + 318 counts +2 "manipulator"&7'ϋ +17 "core" ' + "manipulator"&Z& +5 "core" &D j m  & + "storage"(h& +4 "core" &\    +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts + "manipulator"&E' +18 "core" ' +2 "storage"(U% +4 "core" %@\ \  4 +3 ."downElevator"SE.seek :down +3 "storage"(W'N +99 (Q% +2 "core" %G\ \  NA +2 "manipulator"&H% +4 "core" % _ e $ +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&C'\ +91 "core" ' +63 ' + ."downElevator"SE.stop +2 "storage"(5 +2 ( & +4 "core" &\ \  s  +2 "collection"'N& +4 "core" &]ME > +2 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&I% +4 "core" %\ + ; !U +2 "storage"(L% +3 "core" %P +2 "storage"(D. +3 "core" .( + "storage"(& +4 "core" &\ \\  +2 "storage"(& +3 "core" & \  1  +2 "manipulator"&T& +4 "core" &D  & +2 .tElbow.seek 3 + "manipulator"&J(D +4 "core" ( + "manipulator"&M& +4 "core" &D K & +2 "storage"(`& +3 "core" &\ S  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts + "manipulator"&' +104 "core" ' +3 "storage"(O& +4 "core" &\ \   +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(F'e +281 "core" ' + "storage"(%- +3 "core" -' +2 .tSE.configure :default +52 "storage"(#QK-0-\ b +4 "manipulator"&b& +3 "core" &K ` i G % +2 "storage"(v& +3 "core" &\ \ \ \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&B'M +36 "core" ' + .tElbow.hold +2 "manipulator"&,, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(2- +2 "core" -' +3 .tSE.seek 0.12 Pucks below Top Plate + "storage"(_'t +38 "core" ' +2 "manipulator"&r% +4 "core" %^V 0 * _ ̱ + "storage"(e& +4 "core" & (  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 317 counts + "manipulator"&G'ϊ +17 "core" ' +2 "manipulator"&m& +4 "core" &H k m d & +2 "storage"(g& +4 "core" &\    +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts + "manipulator"&S' +21 "core" ' +2 .tSE.seek 1.12 Pucks below Top Plate + "storage"(~'c +43 "core" ' +2 "manipulator"&\ & +4 "core" &H ` ` & +2 "manipulator"&3% +4 "core" % l  + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"&( +157 "core" ( +2 "manipulator"&\\& +5 "core" &- Cm + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &c& +3 "core" &- { Cm +2 .tForearm.seek CC + "manipulator"&d'| +103 "core" ' +2 .tHand.close + "manipulator"&w/ +60 "core" / +2 .tCC.seek :open +2 "collection"'#(p +409 "core" ( + "storage"(R& +4 "core" &\ \   +2 "storage"(u& +3 "core" &\ \  Z  +2 "manipulator"&& +4 "core" &) b @W + "manipulator"&% +4 "core" % l t A +2 .tForearm.seek :retract + "manipulator"&X'\ +99 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 + "manipulator"&(D +186 "core" ( +2 "manipulator"&>& +3 "core" &9\ = [ +2 "storage"(& +5 "core" &\ \  7  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 3 +2 "manipulator"& 'M +112 "core" ' + .tElbow.hold + "manipulator"&o, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&91 +62 "core" 1 +2 "manipulator"&8% +4 "core" % ]p  % @ Ÿ" +2 "storage"(& +4 "core" & H  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 3 + 316 counts + "manipulator"&Y'ω +12 "core" ' + "manipulator"&& +5 "core" &! q u 9 !s + "storage"(t& +4 "core" &\ /\ $ 1  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&}' +20 "core" ' + "storage"(q% +5 "core" %a\ '\  s +2 ."downElevator"SE.seek :down +3 "storage"(?'N +100 (y% +2 "core" %D\ \   M> +2 "manipulator"&i% +4 "core" % g a E ! +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&s'\ +95 "core" ' +46 ' + ."downElevator"SE.stop +2 "storage"(5 +3 !to:ArgumentError: mesg"(wrong number of arguments (1 for 0):bt[ "(ESP):11:in `times'"(ESP):11:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +26750 "Can" ;8 +848 #t-> 20.times [shuffle 2..3] +2 #Shuffling pucks in tube 2 of [2..3] + #Loading generic puck from tube 2 into Collection Clamp +2 "collection"'[& +3 "core" & +2 "manipulator"&j% +4 "core" %\ 7 e ' +2 "storage"(|% +3 "core" %D\ \   +2 "storage"(k. +3 "core" .( + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"(/(  +356 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (n& +3 "core" & \ \ \  # + "manipulator"&& +4 "core" &% " o +2 .tElbow.seek 2 + "manipulator"&(; +15 "core" ( + "manipulator"&'& +4 "core" &6 3 ( +2 "storage"(& +4 "core" & \ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&&'Ѐ +110 "core" ' +2 "storage"(4& +4 "core" & \ B\ ( Y +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(+'e +280 "core" ' +2 "storage"(a- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 ( & +2 "core" & \ \  +2 "manipulator"&^& +4 "core" &8  ' + .tElbow.seek 2 +2 "manipulator"&p(; +3 "core" ( +2 "manipulator"&.& +4 "core" &8 t Z ' + "storage"()& +4 "core" & \ !\ +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&$' +19 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&{/ +59 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&l& +2 "storage"('N +7 "core" &8  ' +2 "manipulator"&z% +4 "core" % ) +2 .tForearm.seek :retract + "manipulator"&*'\ +92 "core" ' +2 .tElbow.seek CC +2 "manipulator"&<( +151 "core" ( + ' + "manipulator"&x& +4 ."downElevator"SE.stop +2 "storage"(5 +3 "core" &( 8 ?V +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &1& +2 "core" &(  ?V +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC + "manipulator"&'| +93 "core" ' +2 "manipulator"&& +4 "core" &(  ?U +2 "manipulator"& % +4 "core" %q  +2 "collection"'& +4 "core" & +2 "collection"'& +5 "core" & +2 .tCC.seek :closed +2 "collection"'(] +4 "core" & +8 &D $d +10 &w[ 6 +9 & I +9 &h H +10 &en H +9 &&n H +9 & n I +10 &"n| H +9 &$ll H +10 &&.n H +9 &'n H +9 &)o H +10 &+ro I +9 &-6m H +9 &.p H +10 &0p H +9 &2|ks H +10 &4=ns H +9 &6m H +9 &7mx H +10 &9kw H +9 &;Gkp H +9 &=nt H +10 &>ms H +9 &@ls H +9 &BNmy H +10 &Dlu H +9 &Emm H +10 &Gpp H +9 &IQzk J +9 &K j L +10 &Li P +9 &Np P +9 &PDn Q +10 &Rs Q +9 &Sk R +10 &Uk S +9 &WGi S +9 &Yl T +10 &Zl T +9 &\\r B +9 &]q+h $k +10 &]Jd ? +2 ( +2 "collection"'& +3 #tCollection Clamp onSpring/offSpring for 10/25 samples, on/off torque 1.83 + .Hand.open + "manipulator"&;1 +64 "core" 1 +2 "manipulator"&5% +4 "core" % q  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&]'\ +100 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp +2 "processing"%& +4 "core" &{ + "manipulator"&:% +4 "core" %\ 4 T & + "storage"(=% +4 "core" %L\  b + "storage"(0. +4 "core" .(  + "storage"("& +4 "core" & \  + "storage"(& +4 "core" & \  +2 "manipulator"&& +3 "core" && i =F +2 "manipulator"&Z% +3 "core" %\ 4 L & +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&h(; +163 "core" ( +2 "manipulator"&U& +4 "core" &4 7  +2 "storage"(& +3 "core" & \ \ \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts + "manipulator"&V'Ѐ +97 "core" ' + "storage"(f& +5 "core" & \ \  x + .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(Q'e +279 "core" ' +2 "storage"(H- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +2 "core" & \ \ \ L +2 "manipulator"&@& +3 "core" &4   +2 .tElbow.seek 2 +2 "manipulator"&-(; +4 "core" ( + "manipulator"&!& +4 "core" &4 +  + "storage"( & +4 "core" & \ v +2 .tForearm.seek 2 + 300 counts + "manipulator"&7' +20 "core" ' +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&N/ +57 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&I& +2 "storage"(L'N +7 "core" &4 ` a P  +2 "manipulator"&D% +3 "core" % ` ` 4 +2 .tForearm.seek :retract +52 "manipulator"&P'\ +96 "core" ' + .tElbow.seek PC +2 "manipulator"&(c +106 "core" ' + ."downElevator"SE.stop + "storage"(5 +142 "core" ( + "manipulator"&& +5 "core" &b   + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &T& +3 "core" &b   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&M'[ +102 "core" ' +2 "manipulator"&`& +4 "core" &b 6  +2 "manipulator"&E% +4 "core" %a q +2 "processing"%O& +4 "core" & +2 "processing"%W& +5 "core" & +2 .tPC.seek :closed + "processing"%6(Z +4 "core" &{  +9 &5z )v +10 &kx = +9 &}~s H +9 &Bkx G +10 &my G +9 &kq G +9 &!mv G +10 &#Hkv G +9 &%\ lz G +10 &&h| G +9 &(kt G +9 &*Olk H +10 &,mf G +9 &-ic G +9 &/md H +10 &1Xk] G +9 &3ng G +10 &4kd G +9 &6hb G +9 &8_lc H +10 &:#kb G +9 &;kY G +9 &=mO H +10 &?gl[ H +9 &A*mY G +9 &BmV G +10 &DmV H +9 &Fon[ H +10 &H1tZ H +9 &I{[ J +9 &KX K +10 &MjZ L +9 &O)[ M +10 &P\\ L +9 &R[ M +9 &TpX M +10 &V1M M +9 &WO M +9 &Y; 4 +10 &Z8C I +9 &ZC % +2 ( +2 "processing"%W& +3 #tProcessing Clamp onSpring/offSpring for 8/26 samples, on/off torque 1.46 + .Hand.open +2 "manipulator"&C1 +63 "core" 1 +2 "manipulator"&%% +4 "core" % ` W +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&b'\ +103 "core" ' +2 "processing"%v& +4 "core" &ZG % +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 + "manipulator"&2% +4 "core" %\ 9 0 ( +2 "storage"(r% +3 "core" %C \    +2 "storage"(e. +3 "core" .(  + "storage"(m& +4 "core" &  \  +2 "storage"(g& +2 "manipulator"&\ & +7 "core" &  o + &b B  +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +4 "storage"(#]kK-0-\ b + "manipulator"&3(c +6 ."raiseStack"SE.seek :beamBreak +2 "storage"('e +3 "core" ( + "manipulator"&J& +4 "core" &b K  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &F& +3 "core" &b &  +2 .tForearm.seek PC + "manipulator"&B'[ +98 "core" ' + .tHand.close +2 "manipulator"&G/ +61 "core" / +2 .tPC.seek :open + "processing"%_(p +89 "core" ' +2 "storage"(\\- +3 "core" -'e +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(c'B +39 "core" ' +249 ( +2 "storage"(S& +4 "core" & \  < +2 "manipulator"&,& +3 "core" &b  +2 "manipulator"&w% +4 "core" % T + .tForearm.seek :retract +2 "manipulator"&'\ +100 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&(; +245 "core" ( + "manipulator"&R& +5 "core" &: k "} + "storage"(u& +4 "core" & \ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&'Ѐ +107 "core" ' +2 .tHand.open + "manipulator"&1 +54 "core" 1 +2 "storage"(>- +3 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate +2 "storage"(' +23 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(d' +51 "core" ' + #tLights, camera, ACTION! +2 "storage"(- +3 "core" -' +2 "storage"(9& +3 "core" &  K +2 "manipulator"&8& +4 "core" &: c ` g "} +2 .tElbow.seek 2 + "manipulator"&(; +4 "core" ( + "manipulator"&& +4 "core" &: h m @ "} +2 "storage"(t& +3 "core" &  $ +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&q'Ѐ +21 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"(X'M +60 "core" ' + "manipulator"&y& +4 "core" &:  "} +2 "storage"(i& +4 "core" & \ \ \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&'ξ +34 "core" ' + .tElbow.hold +2 "manipulator"& , +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.07 Pucks below Top Plate + "storage"(Y'7 +23 "core" ' +2 "manipulator"&~% +5 "core" %_    dz + "storage"(}& +4 "core" &  I +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 315 counts + "manipulator"&?' +19 "core" ' +2 "manipulator"&[& +4 "core" &^\ k e Y +2 "storage"(j& +4 "core" & \ \   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts +2 "manipulator"&|'Ѐ +17 "core" ' + "storage"(k% +5 "core" %>\ \ C +2 ."downElevator"SE.seek :down +4 "storage"(K'N +99 (n% +2 "core" %D\ \  N@ +2 "manipulator"&% +4 "core" %Ё o n +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&''\ +88 "core" ' +62 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (& +2 "core" & \ \ \ M +2 "collection"'4& +4 "core" &]Qe ? +2 #tStoring generic puck in Collection Clamp to tube 2 + "manipulator"&o% +4 "core" %\ (  E +2 "storage"(s% +4 "core" %L\ \ \ + "storage"(a. +3 "core" .(  +2 "storage"( & +4 "core" & \ \ h + "storage"(^& +4 "core" & \ \  +2 "manipulator"&.& +4 "core" &^\  Y +2 .tElbow.seek 2 + "manipulator"&)(; +25 "core" ( + "manipulator"&{& +4 "core" &6 d  +2 "storage"(l& +4 "core" & \ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts +2 "manipulator"&z'Ѐ +91 "core" ' + "storage"(& +4 "core" & \ \  O +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(&'e +281 "core" ' + "storage"(x- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&1& +3 "core" &6 n n T  +2 "storage"(+& +4 "core" & \  ( + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&$'ξ +32 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"( - +2 "core" -' +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"('i +37 "core" ' + "manipulator"&p% +5 "core" %X    Ʊ + "storage"(& +4 "core" &  f + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 2 + 319 counts + "manipulator"&*' +19 "core" ' +2 "manipulator"&#& +4 "core" &6 c E n  + "storage"(;& +4 "core" & \ \   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts +2 "manipulator"&5'Ѐ +15 "core" ' +2 .tSE.seek 1.11 Pucks below Top Plate + "storage"('X +46 "core" ' +2 "manipulator"&:& +5 "core" &6 c f p  + "manipulator"&=% +4 "core" %i ` e :  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&0'\ +87 "core" ' +2 .tElbow.seek CC + "manipulator"&( +169 "core" ( + "manipulator"&"& +4 "core" &- J 1 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &- * 1 +2 .tForearm.seek CC +2 "manipulator"&'| +97 "core" ' +2 .tHand.close + "manipulator"&Z/ +57 "core" / + .tCC.seek :open +2 "collection"'(p +410 "core" ( + "storage"(U& +4 "core" & \ \  +2 "storage"(& +4 "core" & \ \  M +2 "manipulator"&f& +3 "core" &-  1 +2 "manipulator"&<% +3 "core" % τ  +2 .tForearm.seek :retract +2 "manipulator"&]'\ +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +54 .tElbow.seek 2 + "manipulator"&H(; +158 "core" ( +2 "manipulator"&& +4 "core" &1 }   + "storage"(@& +4 "core" & \ !\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 2 +2 "manipulator"&!'ξ +106 "core" ' +2 .tElbow.hold + "manipulator"& , +5 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&N1 +61 "core" 1 +2 "manipulator"&I% +4 "core" % /  T +2 "storage"(D& +4 "core" & \ \ \ \ B + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 2 + 316 counts + "manipulator"&h' +18 "core" ' +2 "manipulator"&V& +4 "core" &? b @ V  + "storage"(Q& +4 "core" & \ @\ 7 < +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&7'Ѐ +16 "core" ' +2 "storage"(% +4 "core" %U\ C\ B O +2 ."downElevator"SE.seek :down +4 "storage"(T'N +98 (-% +3 "core" %G\ \ N@ +2 "manipulator"&`% +4 "core" %~ ` _  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&E'\ +87 "core" ' +54 ' +2 ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 3 of [2..3] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"'O& +5 "core" &g + "manipulator"&L% +4 "core" %\ * !P +2 "storage"(P% +4 "core" %I\ !\ !  +2 "storage"(. +3 "core" .(  + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(C( +369 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (%& +2 "core" & \   +2 "manipulator"&v& +4 "core" &?   + .tElbow.seek 3 +2 "manipulator"&2(D +3 "core" ( +2 "manipulator"&r& +4 "core" &?   + "storage"(W& +4 "core" &\ \   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&e' +99 "core" ' + "storage"(m& +4 "core" &\ \ %  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(\ 'e +288 "core" ' +2 "storage"(g- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (J& +2 "core" &\ \   +2 "manipulator"&F& +4 "core" &?   +2 .tElbow.seek 3 + "manipulator"&M(D +4 "core" ( + "manipulator"&G& +4 "core" &?   +2 "storage"(\\& +3 "core" &\ \    +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&'y +10 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&b/ +54 "core" / +2 ."downElevator"SE.seek :down +5 "manipulator"&6& + "storage"(S'N +7 "core" &? 1  +2 "manipulator"&,% +3 "core" % u f b  ) +2 .tForearm.seek :retract +2 "manipulator"&'\ +99 "core" ' +2 .tElbow.seek CC +2 "manipulator"&w( +144 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +9 "core" ( + "manipulator"&B& +4 "core" & #  :2 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &R& +2 "core" & $ W ;2 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&u'| +111 "core" ' + "manipulator"&3& +5 "core" & $ ( ;2 + "manipulator"&% +4 "core" %v U +2 "collection"'>& +4 "core" & +2 "collection"'& +6 "core" & +2 .tCC.seek :closed +2 "collection"'9(] +4 "core" &q +8 &Co $d +9 &]j 7 +9 &s H +10 &hn G +9 &spu H +9 &4qm H +10 & ni G +9 &"nq H +10 &${jh H +9 &&=j` H +9 &'j^ H +10 &)kb H +9 &+kb H +9 &-Eje H +10 &/kh H +9 &0m_ H +10 &2jZ H +9 &4Nk[ G +9 &6jY G +10 &7mf H +9 &9kW H +9 &;UhG H +10 &=nG H +9 &>nG G +9 &@kD H +10 &B]nK H +9 &DnK H +10 &EmK H +9 &GlC H +9 &IaxI I +10 &KK K +9 &LL O +10 &NE P +9 &PSH Q +9 &RI Q +10 &SL R +9 &UK S +9 &WU@ S +10 &YE T +9 &ZM T +9 &\\= @ +10 &]l+A +~ +9 &]I> > +2 ( +2 "collection"'& +3 #tCollection Clamp onSpring/offSpring for 9/25 samples, on/off torque 1.83 + .Hand.open +2 "manipulator"&81 +64 "core" 1 + "manipulator"&% +4 "core" % v  ; +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&t'\ +90 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp +2 "processing"%& +4 "core" &n + "manipulator"&y% +4 "core" %\ '  . + "storage"(i% +4 "core" %E\   +2 "storage"(c. +3 "core" .( + "storage"(~& +4 "core" & \ 0  + "storage"(}& +4 "core" &\ J  + "manipulator"&& +4 "core" &"  :- +2 "manipulator"&[% +3 "core" %\ '  . +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 + "manipulator"&j(D +166 "core" ( + "manipulator"&k& +5 "core" &M   + "storage"(& +4 "core" &\  ?  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&' +114 "core" ' + "storage"(d& +4 "core" &\ \    +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(n'e +276 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (q& +3 "core" &\ @  + "manipulator"&& +4 "core" &K ` `  +2 .tElbow.seek 3 + "manipulator"&X(D +4 "core" ( + "manipulator"&& +4 "core" &K s [ ^  + "storage"(& +4 "core" &\ \  `  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&?'y +21 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&4/ +63 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&o& +2 "storage"(s'N +7 "core" &K ,  +2 "manipulator"&a% +4 "core" % |  +2 .tForearm.seek :retract + "manipulator"& '\ +97 "core" ' +2 .tElbow.seek PC + "manipulator"&Y(c +154 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +81 "core" ( + "manipulator"&^& +4 "core" &Y & ^ +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &.& +2 "core" &Y  ^ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&{'[ +111 "core" ' + "manipulator"&l& +5 "core" &Y Z u ^ + "manipulator"&|% +4 "core" %S p m ~ +2 "processing"%& +4 "core" &a +2 "processing"%K& +6 "core" &u +2 .tPC.seek :closed +2 "processing"% (Z +4 "core" &_ +8 &<b #b +9 &x\\f 6 +10 &a H +9 &ka G +9 &kkb G +10 &-kW G +9 & l] F +10 &"kN G +9 &$smL G +9 &&5nV G +10 &'kY F +9 &)k` G +9 &+znc G +10 &-<l\\ G +9 &.lZ G +9 &0kZ G +10 &2kY F +9 &4DkO G +10 &6lN G +9 &7jH G +9 &9jC G +10 &;MmE G +9 &=nF G +10 &>mH G +9 &@mG G +9 &BTjG G +10 &DmG G +9 &EmE G +9 &GsF H +10 &IV}C I +9 &KB K +10 &LC M +9 &NF M +9 &PT< M +10 &R? M +9 &S5 M +9 &U/ M +10 &WZ/ M +9 &Y, I +9 &ZR>t. (t +10 &Z'7 % +5 ( +2 "processing"%K& +4 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.49 + .Hand.open + "manipulator"&'1 +4 "core" &Z: % +59 1 + "manipulator"&x% +5 "core" % S h Z ~ + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&1'\ +89 "core" ' +2 "processing"%+& +3 "core" &Z* % +3 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"& % +4 "core" %\ *  !T +2 "storage"(p% +3 "core" %= \ \ X +2 "storage"(. +3 "core" .( +2 "storage"(#& +3 "core" & \ =  +2 "storage"(;& +4 "manipulator"&:& +4 "core" &\ \ /  + &Y  ^ +3 ."raiseStack"SE.reconfigure :place +2 .tElbow.reconfigure :tight +5 "storage"(#]kK-0-\ b +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +3 "manipulator"&=(c +3 ."raiseStack"SE.seek :beamBreak +2 "storage"(z'e +2 "core" ( +2 "manipulator"&)& +55 "core" &Y  ^ +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &&& +3 "core" &Y ! ^ +2 .tForearm.seek PC +2 "manipulator"&$'[ +103 "core" ' +2 .tHand.close + "manipulator"&*/ +55 "core" / +3 .tPC.seek :open + "processing"%(p +29 "core" ' + "storage"("- +3 "core" -'e +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +2 ."raiseStack"SE.seek :place +2 "storage"('B +40 "core" ' +309 ( + "storage"(5& +4 "core" &\ i  +2 "manipulator"&& +4 "core" &Y ^ + "manipulator"&Z% +4 "core" % I +2 .tForearm.seek :retract +2 "manipulator"&0'\ +102 "core" ' +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&(D +251 "core" ( + "manipulator"&U& +4 "core" &C ? & +2 "storage"(& +4 "core" &\ \ \ \ ?  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&f' +107 "core" ' +2 .tHand.open + "manipulator"&<1 +57 "core" 1 +2 "storage"(- +3 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate +2 "storage"(' +22 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(@' +54 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(- +3 "core" -' +2 "storage"(N& +4 "core" & d  + "manipulator"&I& +4 "core" &D  & +2 .tElbow.seek 3 + "manipulator"&D(D +4 "core" ( + "manipulator"&V& +4 "core" &D  & + "storage"(Q& +4 "core" & J  +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&' +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"(]'M +57 "core" ' + "manipulator"&-& +5 "core" &D f c k & + "storage"(`& +4 "core" &\ \ O  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&H'M +34 "core" ' + .tElbow.hold +2 "manipulator"&!, +5 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"(O'7 +24 "core" ' + "manipulator"&L% +5 "core" %][ ) 1 ? ˲ + "storage"(h& +5 "core" & (  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 316 counts +2 "manipulator"&P'ω +19 "core" ' + "manipulator"&& +5 "core" &M m i F % + "storage"(& +4 "core" & \  /  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&7' +21 "core" ' + "storage"(T% +5 "core" %?\ \  +2 ."downElevator"SE.seek :down +4 "storage"(/'N +99 (%% +3 "core" %D\ \  N@ +2 "manipulator"&v% +4 "core" % a _ +  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&r'\ +95 "core" ' +54 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (W& +4 "core" &\   +2 "collection"'m& +4 "core" &]Lu > +2 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"& % +4 "core" %\ 4  & +2 "storage"(E% +3 "core" %I\   +2 "storage"(g. +3 "core" .( +2 "storage"(J& +3 "core" & \ \ +  +2 "storage"(F& +4 "core" & \ @  + "manipulator"&G& +4 "core" &M  % + .tElbow.seek 3 +2 "manipulator"&\\(D +3 "core" ( +2 "manipulator"&b& +3 "core" &M  % +2 "storage"(6& +4 "core" & \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&,' +101 "core" ' + "storage"(2& +5 "core" &\ \  $  + .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(e'e +278 "core" ' +2 "storage"(B- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&R& +2 "core" &] ^ "~ +2 "storage"(\ & +4 "core" &\ \ =  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 + "manipulator"&'M +31 "core" ' + .tElbow.hold + "manipulator"&3, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(- +2 "core" -' +3 .tSE.seek 0.12 Pucks below Top Plate + "storage"(M'u +28 "core" ' +2 "manipulator"&>% +4 "core" %__ 3 6  ʳ + "storage"(S& +4 "core" &   + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 3 + 318 counts + "manipulator"&'ϋ +12 "core" ' + "manipulator"&& +4 "core" &T \\ t # $ +2 "storage"(8& +4 "core" & \  ;  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&' +18 "core" ' +2 .tSE.seek 1.12 Pucks below Top Plate +2 "storage"('d +51 "core" ' + "manipulator"&y& +4 "core" &T c l p $ +2 "manipulator"&i% +4 "core" % i ` h +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&c'\ +89 "core" ' +2 .tElbow.seek CC +2 "manipulator"&~( +156 "core" ( + "manipulator"&}& +5 "core" &+ Aa + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &* # Aa +2 .tForearm.seek CC +2 "manipulator"&'| +99 "core" ' + .tHand.close +2 "manipulator"&[/ +55 "core" / + .tCC.seek :open +2 "collection"'u(p +410 "core" ( + "storage"(k& +4 "core" &\ \  y  +2 "storage"(& +3 "core" &\ \  F  +2 "manipulator"&d& +3 "core" &/$  <9 +2 "manipulator"&w% +4 "core" % υ  +2 .tForearm.seek :retract + "manipulator"&t'\ +102 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 + "manipulator"&(D +155 "core" ( +2 "manipulator"&q& +4 "core" &N   + "storage"(& +4 "core" &\ \   + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 3 + "manipulator"&'M +112 "core" ' +2 .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&41 +53 "core" 1 + "manipulator"&o% +5 "core" % _m  ; ÷ + "storage"(a& +15 "core" &\ \ \  +2 .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 318 counts + "manipulator"&j'ϋ +18 "core" ' + "manipulator"&& +5 "core" & [ s  + "storage"(n& +4 "core" &\ 4\ 4  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&?' +19 "core" ' + "storage"(^% +4 "core" %c\ 5\ 7 +2 ."downElevator"SE.seek :down +4 "storage"(.'N +99 (X% +2 "core" %G\ \  n N? +2 "manipulator"&l% +4 "core" % m j : +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&|'\ +94 "core" ' +46 ' + ."downElevator"SE.stop +2 "storage"(5 +3 !to:ArgumentError: mesg"(wrong number of arguments (1 for 0):bt[ "(ESP):12:in `times'"(ESP):12:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +7131 #-> access 2 +2 "storage"(% +3 "core" %F\ \ ! \  +2 "manipulator"&s% +4 "core" %\ 5 D & + "manipulator"& & +4 "core" & ,  +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"(_(K +977 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 ('& +2 "core" &K\ \ \ 5  +1936 #t-> access 4 +3 "storage"(x% +3 "core" %F\ \   +2 "manipulator"&+% +3 "core" %\ 4  & +2 "manipulator"& & +3 "core" & U  +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 1 +2 "storage"(p(B +1657 "core" ( +2 .tSC.configure :limp +51 "storage"($\ 1b +4 (& +3 "core" &>\ \  \ +5003 #t-> 10.times [shuffle 2..4] +2 #Shuffling pucks in tube 2 of [2..4] +2 #Loading generic puck from tube 2 into Collection Clamp + "collection"'#& +4 "core" & + "manipulator"&:% +5 "core" %\ 4 I & + "storage"(;% +4 "core" %F\ \   + "storage"(K. +3 "core" .(> +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 2 + "storage"()(  +364 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (&& +2 "core" &  I  +2 "manipulator"&{& +4 "core" & \\  + .tElbow.seek 2 +2 "manipulator"&*(; +33 "core" ( + "manipulator"&"& +5 "core" &F 6 + "storage"(Y& +4 "core" & \ !\  # +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts +2 "manipulator"&1'Ѐ +97 "core" ' +2 "storage"( & +4 "core" & \ 3\ ! # +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(z'e +272 "core" ' +2 "storage"(5- +3 "core" -'e + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 .tSE.seek :pick + "storage"(' +26 "core" ' +3 .tSE.seek :down + "storage"(Z'N +268 "core" ' + .tSE.stop +2 "storage"(5 +2 "manipulator"&$% +4 "core" %t  / +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&U'\ +97 "core" ' + !to:Puck::Error: mesg"Tube 2 is Empty:bt["4/home/esp/esp2/utils/puckmoves.rb:367:in `load'"4/home/esp/esp2/utils/puckmoves.rb:357:in `loop'"4/home/esp/esp2/utils/puckmoves.rb:357:in `load'"8/home/esp/esp2/utils/puckmoves.rb:958:in `loadPuck'"4/home/esp/esp2/utils/shuffle.rb:24:in `shuffle'""(ESP):15:in `each_with_index'"1/home/esp/esp2/utils/shuffle.rb:18:in `each'" 10.times [shuffle 3..4] +2 #Shuffling pucks in tube 3 of [3..4] + #Loading generic puck from tube 3 into Collection Clamp +2 "collection"'& +3 "core" & +2 "manipulator"&=% +4 "core" %\ 3  %z +2 "storage"(<% +3 "core" %>\ \   +2 "storage"(. +3 "core" .(  + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(( +347 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (N& +3 "core" & \   +2 "manipulator"&I& +3 "core" &F  +2 .tElbow.seek 3 + "manipulator"&V(D +4 "core" ( + "manipulator"&Q& +4 "core" &F  +2 "storage"(0& +3 "core" &\ \   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts + "manipulator"&-' +180 "core" ' +2 "storage"(`& +4 "core" &\ \   +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(L'e +290 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (h& +3 "core" &\ \  y  +2 "manipulator"&& +3 "core" &F  +2 .tElbow.seek 3 + "manipulator"&(D +4 "core" ( + "manipulator"&& +4 "core" &F  + "storage"(T& +4 "core" &\ \   +2 .tForearm.seek 3 + 300 counts + "manipulator"&'y +11 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&f/ +62 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&@& +2 "storage"(%'N +7 "core" &F  + "manipulator"&v% +4 "core" % q  +2 .tForearm.seek :retract +2 "manipulator"&'\ +100 "core" ' +2 .tElbow.seek CC +2 "manipulator"&D( +141 "core" ' + ."downElevator"SE.stop + "storage"(5 +11 "core" ( + "manipulator"&]& +4 "core" &"  :/ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &H& +3 "core" &#  :/ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC + "manipulator"&W'| +93 "core" ' +2 "manipulator"&P& +4 "core" &#  :. +2 "manipulator"&m% +3 "core" %~ h  +2 "collection"' & +4 "core" & +2 "collection"'E& +5 "core" &b +2 .tCC.seek :closed +2 "collection"'g(] +4 "core" &U +7 &D[ $e +10 &~] 7 +9 & H +9 &h G +10 &rq H +9 &5o H +10 & n G +9 &"o H +9 &$|m G +10 &&=n H +9 &'m H +9 &)l H +10 &+n G +9 &-Em H +10 &/l H +9 &0n H +9 &2m H +10 &4Mm H +9 &6j H +9 &7k G +10 &9k G +9 &;Uk H +10 &=o H +9 &>k H +9 &@ln H +10 &B\\ow H +9 &Dkq H +9 &Eoq H +10 &Gmw H +9 &I`zt J +10 &Ks L +9 &Lg O +9 &Ne P +10 &PSn Q +9 &Rv R +9 &Sl R +10 &Uu S +9 &WUp S +9 &Yk T +10 &Zd T +9 &\\e ? +10 &]m4g *| +9 &]Sp ? +2 ( +2 "collection"'E& +3 #tCollection Clamp onSpring/offSpring for 9/25 samples, on/off torque 1.82 + .Hand.open +2 "manipulator"&J1 +60 "core" 1 +2 "manipulator"&O% +4 "core" % ~   +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&F'\ +93 "core" ' + #tLoading generic puck from tube 3 into Processing Clamp +2 "processing"%G& +4 "core" & + "manipulator"&b% +4 "core" %\ *  !P +2 "storage"(6% +3 "core" %@ \ =  +2 "storage"(7. +3 "core" .( +2 "storage"(2& +3 "core" & \  +2 "storage"(/& +5 "core" &\ (  +2 "manipulator"&!& +4 "core" &#  :+ + "manipulator"&r% +4 "core" %\ +  !P +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&B(D +161 "core" ( +2 "manipulator"&R& +4 "core" &E t  + "storage"(\ & +4 "core" &\ \ \   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&' +105 "core" ' + "storage"(>& +4 "core" &\ \    +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(S'e +276 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (8& +2 "core" & \  +2 "manipulator"&y& +4 "core" &E _ a  + .tElbow.seek 3 +2 "manipulator"&i(D +3 "core" ( +2 "manipulator"&,& +3 "core" &E Y s 0  +2 "storage"(\\& +3 "core" &\ \   +3 .tForearm.seek 3 + 300 counts + "manipulator"&e'y +25 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +55 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"(M'N +7 "core" &E d a 1  +2 "manipulator"&}% +4 "core" % p ` _  +2 .tForearm.seek :retract +2 "manipulator"&'\ +88 "core" ' +2 .tElbow.seek PC +2 "manipulator"&(c +165 "core" ' + ."downElevator"SE.stop + "storage"(5 +82 "core" ( +2 "manipulator"&3& +4 "core" &k w  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &[& +3 "core" &k @ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&c'[ +99 "core" ' +2 "manipulator"&9& +4 "core" &k a +2 "manipulator"&k% +4 "core" %d H +2 "processing"%& +4 "core" & +2 "processing"%d& +6 "core" &| +2 .tPC.seek :closed +3 "processing"%w(Z +3 "core" &j +6 &n 7 +9 & Mn / +9 &`zt C +10 &lt G +9 &lv G +10 &lx G +9 & [p{ G +9 &"my G +10 &#ml G +9 &%kw G +9 &'clu G +10 &)&lq G +9 &*pi G +10 &,mq G +9 &.kki G +9 &0,mf G +10 &1ke G +9 &3lh G +9 &5tlk G +10 &77kl F +9 &8mb G +9 &:ma G +10 &<}jU F +9 &>=n_ G +10 &?nY G +9 &AnT G +9 &CjL G +10 &EDmF G +9 &GuM H +10 &HzN I +9 &JH J +9 &L>R L +10 &M\\ M +9 &O^ M +9 &Qb M +10 &SDY M +9 &U[ M +10 &Vd N +9 &X[ N +9 &Zi~V "j +10 &Z bV ) +9 ( + &ZT % +2 "processing"%d& +3 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.47 + .Hand.open + "manipulator"&q1 +56 "core" 1 + "manipulator"&% +4 "core" % d P +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&'\ +101 "core" ' +2 "processing"%~& +4 "core" &ZW % + #tImaging generic puck in Processing Clamp while storing it to tube 3 +2 "manipulator"&4% +3 "core" %\ 1 s $r +2 "storage"(o% +4 "core" %E  + "storage"(a. +3 "core" .( +2 "storage"(& +4 "core" &  +54 "storage"(n& +2 "manipulator"&^& +7 "core" & n  + &k d +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +4 "storage"(#]kK-0-\ b + "manipulator"&t(c +6 ."raiseStack"SE.seek :beamBreak + "storage"(X'e +3 "core" ( + "manipulator"&l& +4 "core" &k w +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &k + +2 .tForearm.seek PC +2 "manipulator"&'[ +95 "core" ' + .tHand.close +2 "manipulator"&j/ +62 "core" / +2 .tPC.seek :open +2 "processing"%(p +83 "core" ' +2 "storage"(?- +3 "core" -'e +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(.'B +35 "core" ' +259 ( + "storage"(& +5 "core" &\ \ \ [  + "manipulator"&s& +4 "core" &k +2 "manipulator"& % +3 "core" % ^ +2 .tForearm.seek :retract +2 "manipulator"&C'\ +99 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&'(D +251 "core" ( + "manipulator"&x& +4 "core" &<  # +2 "storage"(+& +4 "core" & @  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"& ' +109 "core" ' + .tHand.open +2 "manipulator"&_1 +58 "core" 1 +2 "storage"(- +4 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate + "storage"(#' +23 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(:' +55 "core" ' +2 #tLights, camera, ACTION! + "storage"(;- +4 "core" -' + "storage"(K& +4 "core" & d  +2 "manipulator"&p& +3 "core" &<  # +2 .tElbow.seek 3 + "manipulator"&&(D +4 "core" ( +2 "manipulator"&{& +4 "core" &< } ~ g # +2 "storage"("& +3 "core" &  +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&Y' +18 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"( 'M +65 "core" ' +2 "manipulator"&& +4 "core" &< # +2 "storage"(|& +4 "core" & \ >  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&5'M +31 "core" ' + .tElbow.hold +2 "manipulator"&$, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"(z'7 +25 "core" ' + "manipulator"&% +4 "core" %]g   ɵ +2 "storage"(Z& +5 "core" &  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 316 counts +2 "manipulator"&1'ω +19 "core" ' + "manipulator"&& +4 "core" &2 k  $ +2 "storage"(=& +4 "core" &\  $  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts + "manipulator"&<' +20 "core" ' + "storage"(% +5 "core" %?\ \ V +2 ."downElevator"SE.seek :down +3 "storage"()'N +99 (N% +3 "core" %|C\ \ X NA +2 "manipulator"&I% +4 "core" % ` a _ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&Q'\ +91 "core" ' +58 ' + ."downElevator"SE.stop + "storage"(5 +3 (0& +4 "core" & \  0  + "collection"'`& +4 "core" &]Y_ ? +2 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&*% +4 "core" %\ - V "\\ +2 "storage"(U% +3 "core" %I\  s  +2 "storage"(. +3 "core" .( + "storage"(h& +4 "core" & \ Y  + "storage"(& +4 "core" & \ 6  +2 "manipulator"&& +3 "core" &3 ( $ +2 .tElbow.seek 3 +2 "manipulator"&T(D +14 "core" ( +2 "manipulator"&f& +4 "core" &V ` !u + "storage"(@& +4 "core" & \ S  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&v' +111 "core" ' + "storage"(V& +4 "core" &\ \    +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(-'e +276 "core" ' + "storage"(]- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&H& +3 "core" &a e ` j +2 "storage"(L& +3 "core" &\  F  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 + "manipulator"&'M +33 "core" ' +2 .tElbow.hold +2 "manipulator"&P, +3 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(m- +2 "core" -' +3 .tSE.seek 0.12 Pucks below Top Plate + "storage"( 'v +29 "core" ' +2 "manipulator"&% +3 "core" %_g   ȵ +2 "storage"(%& +4 "core" & -  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 318 counts + "manipulator"&'ϋ +19 "core" ' + "manipulator"&u& +5 "core" &I w m # + "storage"(J& +4 "core" &\  o  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&O' +18 "core" ' +2 .tSE.seek 1.12 Pucks below Top Plate +2 "storage"(G'e +43 "core" ' + "manipulator"&b& +4 "core" &I c e | # +2 "manipulator"&6% +4 "core" % g b k  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&7'\ +91 "core" ' + .tElbow.seek CC +2 "manipulator"&2( +156 "core" ( +2 "manipulator"&/& +4 "core" &* 6 @W +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &E& +3 "core" &* d @W +2 .tForearm.seek CC + "manipulator"&!'| +96 "core" ' + .tHand.close +2 "manipulator"&r/ +53 "core" / +2 .tCC.seek :open + "collection"'W(p +410 "core" ( +2 "storage"(R& +4 "core" &\ \  S  + "storage"(\ & +4 "core" &\ \  a  + "manipulator"&>& +4 "core" &1"  9& + "manipulator"&D% +4 "core" % z  +2 .tForearm.seek :retract + "manipulator"&F'\ +101 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&(D +162 "core" ( +2 "manipulator"&8& +4 "core" &C ( ` + "storage"(y& +4 "core" &\ \  }  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 3 +2 "manipulator"&,'M +112 "core" ' +2 .tElbow.hold + "manipulator"&\\, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&1 +59 "core" 1 +3 "manipulator"&% +4 "core" % [k ö +2 "storage"(}& +3 "core" &  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 3 + 314 counts +2 "manipulator"&B'χ +20 "core" ' + "manipulator"&& +4 "core" & X r +  +2 "storage"(S& +4 "core" &\ B\ ( R  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&e' +11 "core" ' + "storage"(3% +4 "core" %g\ C\ B +2 ."downElevator"SE.seek :down +3 "storage"(['N +100 (i% +2 "core" %D\ \  | N@ +2 "manipulator"&9% +4 "core" %  ` _ . +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&k'\ +94 "core" ' +43 ' + ."downElevator"SE.stop +2 "storage"(5 +2 #tShuffling pucks in tube 4 of [3..4] +2 #Loading generic puck from tube 4 into Collection Clamp + "collection"'& +5 "core" & + "manipulator"&M% +4 "core" %\ 3  %{ +2 "storage"(% +3 "core" %7\ !\ "  +2 "storage"(. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 + "storage"(q(, +353 "core" ( +51 .tSC.configure :limp +3 "storage"($\ 1b +3 (& +2 "core" &,~ \ \ %  +2 "manipulator"&~& +4 "core" &   + .tElbow.seek 4 +2 "manipulator"&4(* +22 "core" ( + "manipulator"&o& +4 "core" &$\ L R +2 "storage"(a& +4 "core" &,~\ \  p  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&' +98 "core" ' + "storage"(d& +5 "core" &,~\ \  p  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(n'e +289 "core" ' +2 "storage"(^- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (l& +3 "core" &,~\ \   +2 "manipulator"&& +4 "core" &$\ R + .tElbow.seek 4 +2 "manipulator"&c(* +4 "core" ( + "manipulator"&j& +4 "core" &$\ 6 R + "storage"(?& +4 "core" &,~\ \  I  +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&'Z +10 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +58 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&w& +2 "storage"('N +7 "core" &$\ R +2 "manipulator"&X% +3 "core" % X & +2 .tForearm.seek :retract +2 "manipulator"&s'\ +99 "core" ' + .tElbow.seek CC +2 "manipulator"& ( +145 "core" ' + ."downElevator"SE.stop + "storage"(5 +9 "core" ( + "manipulator"&& +5 "core" &( , ?S + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &x& +3 "core" &( p ?R +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC + "manipulator"&+'| +99 "core" ' +2 "manipulator"&t& +4 "core" &(  ?R +2 "manipulator"&_% +4 "core" %q  +2 "collection"'& +4 "core" & +2 "collection"';& +6 "core" & +2 .tCC.seek :closed +2 "collection"'K(] +3 "core" &~ +9 &: #b +9 &v[ 6 +10 & H +9 &g G +10 &cn H +9 &%k H +9 & k G +10 &"m G +9 &$lk G +9 &&.mz G +10 &'l G +9 &)k H +10 &+tj G +9 &-6k| G +9 &.p| H +10 &0my G +9 &2|m G +9 &4>l G +10 &5ms H +9 &7n G +9 &9gy G +10 &;Fj G +9 &=n| G +10 &>k G +9 &@nt H +9 &BMnz H +10 &Dl H +9 &Eh G +9 &Gl H +10 &IPz| J +9 &K\  L +10 &Ly O +9 &Nl P +9 &PCt Q +10 &R Q +9 &Su R +9 &U} R +10 &WFu R +9 &Y| T +10 &Z T +9 &\\ A +9 &]t0| #h +10 &]Ow = +2 ( +2 "collection"';& +3 #tCollection Clamp onSpring/offSpring for 10/25 samples, on/off torque 1.85 + .Hand.open +2 "manipulator"&p1 +63 "core" 1 +2 "manipulator"&{% +5 "core" % p a + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&"'\ +91 "core" ' +2 #tLoading generic puck from tube 4 into Processing Clamp +2 "processing"%C& +4 "core" & + "manipulator"&% +4 "core" %\ '  = + "storage"(|% +4 "core" %L p  +2 "storage"(.. +3 "core" .(,~ + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"((, +6 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (Z& +2 "core" &,  +2 "manipulator"&#& +4 "core" &' 7 >O +2 "manipulator"&% +3 "core" %\ '  = +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&=(* +163 "core" ( + "manipulator"&& +4 "core" &/ }  +2 "storage"('& +3 "core" &,~ \ d  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"& ' +91 "core" ' +2 "storage"(:& +4 "core" &,~\ \  g  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(N'e +277 "core" ' +2 "storage"(I- +3 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (Y& +3 "core" &,}\ \ \   +2 "manipulator"&&& +3 "core" &/   +2 .tElbow.seek 4 +2 "manipulator"& (* +3 "core" ( +2 "manipulator"&5& +3 "core" &/   +2 "storage"(0& +3 "core" &,}\ \  R  +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&1'Z +20 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&`/ +58 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&*& +2 "storage"(U'N +7 "core" &/ e a I  +2 "manipulator"&% +4 "core" % P m i : +2 .tForearm.seek :retract + "manipulator"&h'\ +91 "core" ' +2 .tElbow.seek PC +2 "manipulator"&z(c +163 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +71 "core" ( + "manipulator"&& +5 "core" &e o % Z + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &e P Z +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&f'[ +92 "core" ' + "manipulator"&@& +4 "core" &e U Z +2 "manipulator"&<% +4 "core" %R  + "processing"%V& +4 "core" & +2 "processing"%)& +5 "core" & +2 .tPC.seek :closed + "processing"%$(Z +4 "core" &w  +9 &5r )w +9 &jp = +10 &|zo G +9 &>kp G +9 &lj G +10 &ip G +9 &!nq G +10 &#Fip G +9 &%jn G +9 &&kp G +10 &(jq G +9 &*Ofq G +9 &,kp G +10 &-jo G +9 &/lq G +10 &1Wkq G +9 &3kp G +9 &4kn G +10 &6kn G +9 &8_kn G +9 &: mi G +10 &;jp G +9 &=ko G +10 &?emp G +9 &A'kg G +9 &Bjp G +10 &Dmp G +9 &Fmjp G +9 &H.re H +10 &Izm I +9 &Kd J +10 &Mgo L +9 &O&k M +9 &Pp M +10 &Rk M +9 &Tne M +9 &V/l M +10 &W_ M +9 &Yc 4 +10 &Z7e J +9 &Zh $ +2 ( +2 "processing"%)& +3 #tProcessing Clamp onSpring/offSpring for 8/26 samples, on/off torque 1.46 + .Hand.open +2 "manipulator"&Q1 +54 "core" 1 + "manipulator"&]% +4 "core" % R y 1 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&H'\ +92 "core" ' +2 "processing"%L& +4 "core" &Zf $ + #tImaging generic puck in Processing Clamp while storing it to tube 4 +2 "manipulator"&m% +3 "core" %\ ) 3 F +2 "storage"(% +4 "core" %O a + "storage"(%. +3 "core" .(, + "storage"(u& +4 "core" &,} \ ]  +2 "storage"(J& +4 "manipulator"&b& +4 "core" &,} \ j  + &e  Z +3 ."raiseStack"SE.reconfigure :place +2 .tElbow.reconfigure :tight +4 "storage"(#]kK-0-\ b +2 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +3 "manipulator"&6(c +3 ."raiseStack"SE.seek :beamBreak +2 "storage"(v'e +3 "core" ( + "manipulator"&T& +4 "core" &e  Z + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &-& +3 "core" &e  Z +2 .tForearm.seek PC +2 "manipulator"&'[ +102 "core" ' +2 .tHand.close + "manipulator"&/ +57 "core" / + .tPC.seek :open +2 "processing"% (p +82 "core" ' +2 "storage"(/- +4 "core" -'e + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +2 ."raiseStack"SE.seek :place +2 "storage"(E'B +35 "core" ' +260 ( +2 "storage"(O& +4 "core" &,}\ \  A  + "manipulator"&P& +4 "core" &e Z +2 "manipulator"&r% +4 "core" % Y +2 .tForearm.seek :retract + "manipulator"&7'\ +100 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&g(* +270 "core" ( + "manipulator"&R& +4 "core" &5 A  +2 "storage"(\ & +4 "core" &,}\ \  7  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&>' +104 "core" ' +2 .tHand.open + "manipulator"&D1 +57 "core" 1 +2 "storage"(8- +3 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate +2 "storage"(y' +23 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.83 Pucks below Top Plate + "storage"(!' +51 "core" ' +2 #tLights, camera, ACTION! + "storage"(2- +4 "core" -' + "storage"(& +4 "core" &,} (  +2 "manipulator"&& +46 "core" &5 b k ]  +11 .tElbow.seek 4 + "manipulator"&}(* +4 "core" ( + "manipulator"&& +4 "core" &4 [ s w  +2 "storage"(S& +3 "core" &,} I  +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&3' +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.11 Pucks below Top Plate + "storage"(F'M +61 "core" ' + "manipulator"&i& +5 "core" &4 _ _   + "storage"(9& +4 "core" &,}\ \  X  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&'. +30 "core" ' + .tElbow.hold + "manipulator"&,, +5 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"('7 +23 "core" ' +2 "manipulator"&M% +4 "core" %Bm ķ +2 "storage"(& +4 "core" &,} =  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 4 + 320 counts + "manipulator"&'n +18 "core" ' + "manipulator"&B& +5 "core" & [ t y  + "storage"(G& +4 "core" &,}\ \   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&e' +19 "core" ' +2 "storage"([% +4 "core" %@\ \  | +2 ."downElevator"SE.seek :down +4 "storage"('N +98 (% +3 "core" %I\ \  NA +2 "manipulator"&~% +4 "core" % ` i   +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&o'\ +101 "core" ' +48 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (a& +4 "core" &,}\  n  +2 "collection"'d& +4 "core" &]L = +2 #tStoring generic puck in Collection Clamp to tube 4 + "manipulator"&\\% +4 "core" %\    + "storage"(k% +4 "core" %D\ \  b +2 "storage"(^. +3 "core" .(, + "storage"(l& +4 "core" &,}\ \  {  + "storage"(& +4 "core" &,}\ \    +2 "manipulator"&j& +4 "core" &   +2 .tElbow.seek 4 + "manipulator"&?(* +23 "core" ( + "manipulator"&& +4 "core" &0 } # $ +2 "storage"(w& +4 "core" &,} \ O  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&X' +93 "core" ' +2 "storage"(4& +4 "core" &,} \ \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('e +274 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&x& +3 "core" &3  # +2 "storage"(n& +3 "core" &,}\ \ \ \ X  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&'. +32 "core" ' +2 .tElbow.hold + "manipulator"&t, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(_- +2 "core" -' +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"('j +36 "core" ' +2 "manipulator"&c% +4 "core" %AT 5 3 ˰ +2 "storage"(& +3 "core" &,}   +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 319 counts + "manipulator"&s'm +17 "core" ' +2 "manipulator"&W& +4 "core" &) x d - % + "storage"(p& +4 "core" &,}  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&{' +19 "core" ' + .tSE.seek 1.11 Pucks below Top Plate +2 "storage"(C'Y +49 "core" ' +3 "manipulator"&& +4 "core" &* a d  % + "manipulator"&|% +4 "core" % f _  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&.'\ +92 "core" ' +2 .tElbow.seek CC +2 "manipulator"&;( +146 "core" ( +2 "manipulator"&Z& +4 "core" &" 1 9' + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &#& +2 "core" &"  9' +2 .tForearm.seek CC +2 "manipulator"&'| +98 "core" ' + .tHand.close +2 "manipulator"&+/ +56 "core" / +2 .tCC.seek :open + "collection"'(p +410 "core" ( +2 "storage"('& +4 "core" &,}\ \   + "storage"(q& +4 "core" &,}\ \    + "manipulator"&:& +4 "core" &)  4 + "manipulator"& % +4 "core" % ώ A +2 .tForearm.seek :retract +2 "manipulator"&"'\ +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&I(* +150 "core" ( + "manipulator"&Y& +4 "core" &  +2 "storage"(&& +3 "core" &,}\ \   +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 4 +2 "manipulator"&5'. +109 "core" ' + .tElbow.hold +2 "manipulator"&0, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&`1 +54 "core" 1 +2 "manipulator"&*% +4 "core" % A~ .  K + "storage"(& +4 "core" &,}\ a  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 319 counts + "manipulator"&='m +19 "core" ' + "manipulator"& & +4 "core" & [ u ( +2 "storage"(N& +3 "core" &,}\ 2\ $  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts + "manipulator"&1' +19 "core" ' +2 "storage"(% +4 "core" %V\ (\ B Z +2 ."downElevator"SE.seek :down +3 "storage"('N +99 ( % +3 "core" %F\ \  OA +2 "manipulator"&@% +4 "core" % ` a b  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&<'\ +92 "core" ' +46 ' + ."downElevator"SE.stop +2 "storage"(5 +2 !to:ArgumentError: mesg"(wrong number of arguments (1 for 0):bt[ "(ESP):16:in `times'"(ESP):16:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +7615 "Can"\ 86 +15684 #t-> exit +5 #mEXIT @1667228000.01EDT @1667228015.20EDT = =mMAIN_scheduler =tMAIN @EDT1667228017.08 #"core_reset"Sent BREAK +2 #t@47161 select with ifg=0x10, ie=0xF5 #@47795 receive with ifg=0x10, ie=0xFD + #@48428 receive with ifg=0x10, ie=0xFD + #@49060 receive with ifg=0x10, ie=0xFD + #@49388 receive with ifg=0x80, ie=0xFD #@24970 sendCRC with ifg=0x20, ie=0x7F + #@25416 sendCRC with ifg=0x20, ie=0x7F #@26999 sendCRC with ifg=0x08, ie=0x5F + #@33540 idle with ifg=0x00, ie=0x75 #ESP2 v3.41 I2C Gateway v3.20 +9 #ESP2 v3.41 I2C Gateway v3.20 for core bus +208 !o:Instrument::ISUSCore: @configS:Instrument::Configuration: name" ISUS:calFileName0:sampleCmd"TS: prompt"\ :statusCmd"C:sampleTimeouti#:promptTimeouti:statusTimeouti: retriesi:strToPrompt"W: pace0: echoF: @refiO:\ @name@ +99 #Configuration for don (12651-03) 10/9/20 brent@mbari.org\ /home/esp/esp2/type/shallow/don/configure.rb\ +381 "Can" ;8  ;8 + #tPolling Can every 10:00 +2132 #-> ESP.ready! +154 "sampler") +2 ) +2 "core"  +2 "collection"' +2 ' +3 "core"  +2 "processing"% +2 % +3 "core"  +4 "collection"' 9\ +2 ' 0\ +2 ' -\ +4 "processing"% 9\ +2 % 2\ +2 % *\ +2 % 0\ +4 "sampler")&\ +2 "collection"'% +2 "core" %C +2 .tCS.configure :default +2 "collection"'#P d@b +2 .tCS.hold +2 "collection"'+ +4 "core" + + .tCS.configure :default +3 "collection"'#P d@b +2 "processing"%% +3 "core" %o +2 .tPS.configure :default +2 "processing"%#A d`xb +2 .tPS.hold + "processing"%+ +3 "core" + + .tPS.configure :default +3 "processing"%#A d`xb +2 "sampler")% +3 "core" %5 +2 .tSS.configure :default +2 "sampler")#.0X require 'shuffle.rb' +1529 #-> 10.times {shuffle 3..4} +2 #Shuffling pucks in tube 3 of [3..4] +2 #Loading generic puck from tube 3 into Collection Clamp +2 "collection"'2& +4 "core" &! + .tHand.open +2 "manipulator"&31 +21 "core" 1 +2 "manipulator"&4% +4 "core" %\ -  "X + "storage"(5% +4 "core" %5  +2 "storage"(6. +3 "core" .,, + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 3 + "storage"(7( +358 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (8& +3 "core" &\  2 + "manipulator"&9& +4 "core" &  ( +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&:(D +19 "core" ( +2 "manipulator"&;& +4 "core" &@ c l + "storage"(<& +4 "core" &\ \  j +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&=' +102 "core" ' + "storage"(>& +5 "core" &\ B\ C +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(?'e +283 "core" ' + "storage"(@- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (A& +3 "core" &\ \  +2 "manipulator"&B& +4 "core" &A ` `  k +2 .tElbow.seek 3 + "manipulator"&C(D +3 "core" ( +2 "manipulator"&D& +4 "core" &A k m F k +2 "storage"(E& +3 "core" &\ !\  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&F'y +22 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&G/ +61 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"&H& + "storage"(I'N +7 "core" &A  k +2 "manipulator"&J% +3 "core" % ~  +2 .tForearm.seek :retract +2 "manipulator"&K'\ +92 "core" ' +2 .tElbow.seek CC +2 "manipulator"&L( +151 "core" ' + ."downElevator"SE.stop + "storage"(5 +4 "core" ( +2 "manipulator"&M& +4 "core" &* ! @^ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &N& +2 "core" &*  @^ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC + "manipulator"&O'| +96 "core" ' +37 "manipulator"&P& +10 "core" &* 1 @^ + "manipulator"&Q% +4 "core" %t  +2 "collection"'R& +4 "core" & +2 "collection"'S& +5 "core" & +2 .tCC.seek :closed +2 "collection"'T(] +4 "core" & +7 &: #c +9 &sZ 6 +10 & I +9 &j H +9 &an H +10 &"n H +9 & n H +9 &"n I +10 &$il H +9 &&+n H +10 &'m H +9 &)n H +9 &+qn H +10 &-2l H +9 &.n H +9 &0n H +10 &2xo H +9 &4:m H +9 &5k H +10 &7m H +9 &9i} H +10 &;Ck H +9 &=j H +9 &>l H +10 &@k~ H +9 &BKmu H +9 &D lt H +10 &Eox H +9 &Go{ H +10 &IN{t J +9 &K { L +9 &Lv O +10 &Nt Q +9 &PAo Q +9 &Rm Q +10 &Sm T +9 &Uk S +10 &WCu S +9 &Yw T +9 &Z(w [ +10 &\\n A +9 &]s1q "g +10 &]Ok ? +2 ( + "collection"'S& +4 #tCollection Clamp onSpring/offSpring for 10/25 samples, on/off torque 1.90 + .Hand.open + "manipulator"&U1 +58 "core" 1 + "manipulator"&V% +5 "core" % t 2 + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&W'\ +94 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%X& +4 "core" & +2 "manipulator"&Y% +3 "core" %\ %  8 +2 "storage"(Z% +4 "core" %> \ 4  + "storage"([. +3 "core" .( +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(\\( +30 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (]& +2 "core" &   +2 "manipulator"&^& +4 "core" &&  >N + "manipulator"&_% +4 "core" %\ %  8 +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&`(D +164 "core" ( +2 "manipulator"&a& +4 "core" &F }   + "storage"(b& +4 "core" &\ \ \ \   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&c' +94 "core" ' +2 "storage"(d& +4 "core" &\ \   +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(e'e +281 "core" ' + "storage"(f- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (g& +2 "core" &\ \  1 +2 "manipulator"&h& +4 "core" &F   +2 .tElbow.seek 3 + "manipulator"&i(D +3 "core" ( +2 "manipulator"&j& +4 "core" &F 6  + "storage"(k& +4 "core" &\ \ \ +2 .tForearm.seek 3 + 300 counts + "manipulator"&l'y +21 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&m/ +60 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&n& +2 "storage"(o'N +8 "core" &F ` c L  +2 "manipulator"&p% +4 "core" % | b g c + .tForearm.seek :retract +2 "manipulator"&q'\ +88 "core" ' +2 .tElbow.seek PC + "manipulator"&r(c +162 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +73 "core" ( + "manipulator"&s& +5 "core" &_ w W R + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &t& +2 "core" &_ R +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&u'[ +103 "core" ' +2 "manipulator"&v& +4 "core" &_  R +2 "manipulator"&w% +4 "core" %`  +2 "processing"%x& +4 "core" &m +2 "processing"%y& +6 "core" &y +2 .tPC.seek :closed +2 "processing"%z(Z +4 "core" &| +7 &<{ #c +10 &wZy 6 +9 &x H +9 &k| G +10 &ikx G +9 &+kx G +10 & nt G +9 &"ku G +9 &$qmu G +10 &&3ms G +9 &'kh G +9 &)mr G +10 &+zno G +9 &-;mh G +10 &.mi G +9 &0nj G +9 &2ml G +10 &4Ckj G +9 &6le G +9 &7mg G +10 &9kg G +9 &;Lle G +10 &=ld G +9 &>oW G +9 &@ka G +10 &BUn` G +9 &Dm] F +9 &EqX G +10 &GvZ H +9 &IWT I +10 &KX J +9 &Le M +9 &N_ M +10 &PTd M +9 &R_ M +9 &S` M +10 &U^ M +10 &WY] N +9 &Y_ K +9 &ZY<c^ #e +9 &Z\ 6Z ) +6 ( + "processing"%y& +5 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.49 + .Hand.open + "manipulator"&{1 +4 "core" &Z` ) +49 1 + "manipulator"&|% +5 "core" % ` J +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&}'\ +100 "core" ' +2 "processing"%~& +4 "core" &ZF ) +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&% +4 "core" %\ 7 w ' + "storage"(% +4 "core" %D  +2 "storage"(. +3 "core" .( + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +3 .tSC.seek 3 + "storage"(( +5 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (& +3 "manipulator"&& +5 "core" & S + &_  R + .tElbow.reconfigure :tight +4 ."raiseStack"SE.reconfigure :place +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +4 "storage"(#]kK-0-\ b + "manipulator"&(c +5 ."raiseStack"SE.seek :beamBreak +2 "storage"( 'e +3 "core" ( + "manipulator"& & +4 "core" &_ X R + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 & & +3 "core" &_ \ R +2 .tForearm.seek PC + "manipulator"&'[ +95 "core" ' +2 .tHand.close + "manipulator"&/ +57 "core" / + .tPC.seek :open +2 "processing"%(p +88 "core" ' +2 "storage"(- +4 "core" -'e + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place + "storage"('B +35 "core" ' +254 ( +2 "storage"(& +4 "core" &\ \ % +2 "manipulator"&& +3 "core" &_  R +2 "manipulator"&% +4 "core" % a  + .tForearm.seek :retract +2 "manipulator"&'\ +93 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 + "manipulator"&(D +250 "core" ( +2 "manipulator"&& +4 "core" &B L # + "storage"(& +4 "core" & \ \ # % +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts + "manipulator"&' +92 "core" ' +2 .tHand.open + "manipulator"&1 +58 "core" 1 +2 "storage"(- +4 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate + "storage"( ' +22 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(!' +54 "core" ' +2 #tLights, camera, ACTION! + "storage"("- +4 "core" -' + "storage"(#& +4 "core" & ( +2 "manipulator"&$& +3 "core" &C  # +2 .tElbow.seek 3 +2 "manipulator"&%(D +3 "core" ( + "manipulator"&&& +4 "core" &C 0 # +2 "storage"('& +4 "core" & > ( +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&(' +3 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"()'M +63 "core" ' + "manipulator"&*& +5 "core" &C # + "storage"(+& +4 "core" & \  ( +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&,'M +33 "core" ' + .tElbow.hold +2 "manipulator"&-, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"(.'7 +25 "core" ' + "manipulator"&/% +5 "core" %Yg    Ƶ + "storage"(0& +4 "core" & b ( +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 312 counts + "manipulator"&1'υ +18 "core" ' +2 "manipulator"&2& +5 "core" &g\ t z = ^ + "storage"(3& +4 "core" & \   ( +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&4' +17 "core" ' + "storage"(5% +5 "core" %9\ \  +2 ."downElevator"SE.seek :down +4 "storage"(6'N +100 (% +3 "core" %9O \ w PF + "manipulator"&8% +4 "core" % p l { +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&9'\ +91 "core" ' +60 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (;& +4 "core" &\ \  y ( +2 "collection"'<& +4 "core" &]Yn ? +2 #tStoring generic puck in Collection Clamp to tube 3 +2 "manipulator"&>% +3 "core" %\ . [ #c +2 "storage"(% +4 "core" %K\ \ \ |  + "storage"(. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(@( +38 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (A& +3 "core" & \  9 +2 "manipulator"&B& +4 "core" &g\ W ^ +2 .tElbow.seek 3 + "manipulator"&D(D +30 "core" ( + "manipulator"&E& +4 "core" &< ~ k +2 "storage"(G& +4 "core" &\ \ \ H +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&H' +103 "core" ' +2 "storage"(J& +4 "core" &\ \ # +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(:'e +276 "core" ' +2 "storage"(=- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&M& +2 "core" &< v k +2 "storage"(N& +4 "core" &\ \ \ \ J + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&?'M +30 "core" ' +2 .tElbow.hold + "manipulator"&F, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(P- +2 "core" -' +3 .tSE.seek 0.12 Pucks below Top Plate + "storage"(C'r +26 "core" ' + "manipulator"&Q% +5 "core" %Y\\    Ų + "storage"(R& +4 "core" &  + .tForearm.force -20 +2 "manipulator"&5 +41 .tForearm.seek 3 + 312 counts +10 "manipulator"&I'υ +18 "core" ' +2 "manipulator"&K& +4 "core" &M [ s 0 Z +2 "storage"(\ & +4 "core" & \  ` +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&U' +11 "core" ' +2 .tSE.seek 1.12 Pucks below Top Plate + "storage"(V'a +51 "core" ' + "manipulator"&X& +5 "core" &M m l b Z + "manipulator"&Y% +4 "core" % e a U ) +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&Z'\ +91 "core" ' +2 .tElbow.seek CC + "manipulator"&[( +158 "core" ( +2 "manipulator"&S& +4 "core" &#  :0 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &]& +3 "core" &#  :0 +2 .tForearm.seek CC +2 "manipulator"&^'| +97 "core" ' + .tHand.close +2 "manipulator"&_/ +59 "core" / +3 .tCC.seek :open + "collection"'O(p +412 "core" ( +2 "storage"(a& +4 "core" &\ \  x +2 "storage"(b& +3 "core" &\ \  +2 "manipulator"&7& +4 "core" &/  3 + "manipulator"&d% +4 "core" % ρ  +2 .tForearm.seek :retract +2 "manipulator"&L'\ +94 "core" ' +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&W(D +182 "core" ( + "manipulator"&f& +4 "core" &:  Q +2 "storage"(g& +4 "core" &\ \  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 3 +2 "manipulator"&h'M +109 "core" ' + .tElbow.hold +2 "manipulator"&j, +53 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&k1 +53 "core" 1 +2 "manipulator"&m% +4 "core" % \\x 9 / +2 "storage"(n& +4 "core" & \ 0 +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 315 counts + "manipulator"&p'ψ +17 "core" ' +2 "manipulator"&`& +4 "core" &m Z t \\  + "storage"(c& +4 "core" &\ (\ B X +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&e' +10 "core" ' +2 "storage"(l% +4 "core" %^\ C\ )  +2 ."downElevator"SE.seek :down +3 "storage"(s'N +100 (t% +2 "core" %F\ \  s N@ +2 "manipulator"&i% +4 "core" % p p 6 +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&v'\ +94 "core" ' +46 ' + ."downElevator"SE.stop +2 "storage"(5 +2 #tShuffling pucks in tube 4 of [3..4] +2 #Loading generic puck from tube 4 into Collection Clamp +2 "collection"'w& +4 "core" &x +2 "manipulator"&x% +4 "core" %\ 1 ( $o +2 "storage"(o% +4 "core" %F\ \   + "storage"(q. +4 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"( (, +359 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 ({& +2 "core" &,~ x  +2 "manipulator"&|& +4 "core" &m [  +2 .tElbow.seek 4 + "manipulator"&~(* +19 "core" ( +2 "manipulator"&& +4 "core" &" E  + "storage"(& +4 "core" &,~\ \ F  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts + "manipulator"&' +98 "core" ' +2 "storage"(y& +4 "core" &,~\ \  e  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"('e +286 "core" ' +2 "storage"(- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 ( & +3 "core" &,~\ \  F  +2 "manipulator"& & +3 "core" &"   +2 .tElbow.seek 4 + "manipulator"&u(* +4 "core" ( + "manipulator"&& +4 "core" &"   + "storage"(\\& +4 "core" &,~\ !\   +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&'Z +10 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&r/ +56 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&}& +3 "storage"(z'N +7 "core" &" -  + "manipulator"&% +4 "core" % U   +2 .tForearm.seek :retract + "manipulator"&'\ +97 "core" ' +2 .tElbow.seek CC + "manipulator"& ( +148 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +5 "core" ( +2 "manipulator"&& +4 "core" &!  9( +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &"  9( +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC + "manipulator"&'| +105 "core" ' +2 "manipulator"&& +4 "core" &" ` 9( +2 "manipulator"&% +4 "core" %z G +2 "collection"'& +3 "core" & +3 "collection"'& +5 "core" & +2 .tCC.seek :closed +3 "collection"'"(] +3 "core" & +7 & 5 +9 &L . +9 &Jv C +10 &m{ H +9 &lx G +9 &mv H +10 & Bqz H +9 &"mv H +10 &#mv G +9 &%ju H +9 &'Kmr G +10 &) kx G +9 &*kt G +9 &,ks G +10 &.Qot H +9 &0lu H +10 &1px H +9 &3jz H +9 &5Zhw H +10 &7jr G +9 &8ku G +9 &:lv G +10 &$jj H +10 &?kj H +9 &Anf H +9 &Cjni H +10 &E,kd H +9 &Fhk H +9 &Hub H +10 &Jin K +9 &L!j N +10 &Mo Q +9 &Oo Q +9 &Q`m Q +10 &Sf R +9 &Tl S +9 &Vg S +10 &X_i T +9 &Zf U +9 &[o X +10 &]6Gb +~ +9 &]\ m_ = +6 ( + "collection"'& +4 #tCollection Clamp onSpring/offSpring for 8/26 samples, on/off torque 1.86 +2 .Hand.open + "manipulator" +4 "core" &]L` = +53 1 + "manipulator"&$% +4 "core" % q  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&&'\ +99 "core" ' +2 #tLoading generic puck from tube 4 into Processing Clamp + "processing"%'& +5 "core" &e + "manipulator"&% +4 "core" %\ 3  %| +2 "storage"(*% +3 "core" %K \  +2 "storage"(+. +3 "core" .(,~ + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"(/(, +3 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (& +3 "core" &,( b  +2 "manipulator"&0& +3 "core" &" e 9( +2 "manipulator"& % +4 "core" %\ 3  %| +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&2(* +166 "core" ( +2 "manipulator"&3& +4 "core" &$ J  + "storage"(5& +4 "core" &,~\ \ \ z  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts + "manipulator"&' +95 "core" ' +2 "storage"(& +4 "core" &,~\ \   +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(!'e +282 "core" ' + "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (8& +3 "core" &,~\ \ \   + "manipulator"&(& +4 "core" &%   +2 .tElbow.seek 4 +2 "manipulator"&%(* +3 "core" ( + "manipulator"&)& +4 "core" &% E  + "storage"(,& +4 "core" &,~ \ v  +2 .tForearm.seek 4 + 300 counts + "manipulator"&;'Z +21 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&1/ +57 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&<& +2 "storage"(>'N +7 "core" &% n m  +2 "manipulator"&% +4 "core" % S o n  +2 .tForearm.seek :retract + "manipulator"&'\ +90 "core" ' + .tElbow.seek PC +2 "manipulator"&.(c +157 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +82 "core" ( + "manipulator"&A& +5 "core" &h v O + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &B& +3 "core" &h  O +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC + "manipulator"&E'[ +104 "core" ' + "manipulator"&G& +4 "core" &h  O +2 "manipulator"&4% +4 "core" %d + w +2 "processing"%J& +4 "core" &i +2 "processing"%6& +6 "core" &e +2 .tPC.seek :closed +2 "processing"%(Z +5 "core" &g +6 &Fk #c +10 &uZk 6 +9 &k H +10 &kk G +9 &jkk G +9 &,le G +10 & ki G +9 &"lj G +9 &$qkh G +10 &&3kg G +9 &'ke G +10 &)jh G +9 &+zka G +9 &-<kY G +10 &.kZ G +9 &0j] G +9 &2mZ G +10 &4Bib G +9 &6k^ H +10 &7jg G +9 &9ja G +9 &;Jk_ G +10 &= jX G +9 &>iZ G +9 &@h\\ G +10 &BRmc G +9 &Dj\\ G +10 &EnX G +9 &GoX G +9 &IVy[ I +10 &KX J +9 &LX K +9 &NX M +10 &PSY M +9 &RS L +10 &SM M +9 &US M +9 &WWO N +10 &YQ I +9 &ZQ=nQ 'p +9 &Z -W $ +6 ( + "processing"%6& +4 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.46 +2 .Hand.open + "manipulator"&-1 +4 "core" &ZR $ +56 1 + "manipulator"&9% +4 "core" % b < y +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&='\ +93 "core" ' + "processing"%M& +5 "core" &ZN $ + #tImaging generic puck in Processing Clamp while storing it to tube 4 +2 "manipulator"&N% +4 "core" %\ ,  "X + "storage"(P% +4 "core" %C f  +2 "storage"(Q. +4 "core" .(, + "storage"(R& +4 "core" &,~\  +2 "storage"(K& +3 "manipulator"&\ & +6 "core" &,~\   + &h  O +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +3 "storage"(#]kK-0-\ b + "manipulator"&X(c +6 ."raiseStack"SE.seek :beamBreak +2 "storage"(Y'e +3 "core" ( + "manipulator"&H& +4 "core" &h  O + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &D& +3 "core" &h  O +2 .tForearm.seek PC + "manipulator"&:'[ +95 "core" ' +2 .tHand.close +40 "manipulator"&?/ +71 "core" / + .tPC.seek :open +2 "processing"%I(p +35 "core" ' +2 "storage"(C- +4 "core" -'e + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place + "storage"(S'B +39 "core" ' +303 ( +2 "storage"(]& +4 "core" &,~  + "manipulator"&U& +4 "core" &h  O +2 "manipulator"&F% +3 "core" % e  +2 .tForearm.seek :retract +2 "manipulator"&_'\ +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&Z(* +256 "core" ( + "manipulator"&T& +5 "core" &4 x   + "storage"(a& +4 "core" &,~\ \ \ \ y  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts + "manipulator"&b' +100 "core" ' + .tHand.open +2 "manipulator"&71 +55 "core" 1 + "storage"(d- +4 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate +2 "storage"(f' +23 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(g' +51 "core" ' +2 #tLights, camera, ACTION! + "storage"(^- +4 "core" -' +2 "storage"([& +3 "core" &,~ R  +2 "manipulator"&k& +4 "core" &4 M  +2 .tElbow.seek 4 +2 "manipulator"&m(* +3 "core" ( + "manipulator"&n& +4 "core" &4 ;  +2 "storage"(`& +4 "core" &,~  +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&c' +3 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.11 Pucks below Top Plate + "storage"(l'M +63 "core" ' +2 "manipulator"&L& +4 "core" &4   +2 "storage"(t& +4 "core" &,~\ \ I  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&i'. +32 "core" ' +2 .tElbow.hold + "manipulator"&W, +5 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"(h'7 +24 "core" ' + "manipulator"&w% +5 "core" %A\\   Ʋ + "storage"(x& +5 "core" &,~ Z  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 4 + 319 counts +2 "manipulator"&o'm +19 "core" ' + "manipulator"&p& +5 "core" & p s  +2 "storage"(q& +4 "core" &,~ \    +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&V' +20 "core" ' + "storage"(e% +5 "core" %;\ \  s +2 ."downElevator"SE.seek :down +4 "storage"(s'N +99 (@% +3 "core" %rD\ \  N@ + "manipulator"&{% +4 "core" % c j   +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&|'\ +90 "core" ' +61 ' + ."downElevator"SE.stop + "storage"(5 +3 (& +4 "core" &,~\ \  f  + "collection"'& +4 "core" &]Lf = +2 #tStoring generic puck in Collection Clamp to tube 4 +2 "manipulator"&y% +3 "core" %\ + L !T +2 "storage"(j% +4 "core" %C\ \ \ \  + "storage"(v. +3 "core" .(, +2 "storage"(& +4 "core" &,~\ \ \ \  + "storage"( & +4 "core" &,~\ \ \ \  +2 "manipulator"& & +4 "core" &   + .tElbow.seek 4 +2 "manipulator"&(* +19 "core" ( +2 "manipulator"&\\& +4 "core" &) ; !t +2 "storage"(r& +4 "core" &,~\  k  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&}' +102 "core" ' +3 "storage"(& +4 "core" &,~\ \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(~'e +279 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&& +3 "core" &*  !s +2 "storage"(& +4 "core" &,~\ :  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 + "manipulator"&'. +33 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(- +2 "core" -' +3 .tSE.seek 0.11 Pucks below Top Plate + "storage"('j +29 "core" ' + "manipulator"&% +7 "core" %AX % $ ʱ +3 "storage"(u& +9 "core" &,~   +2 .tForearm.force -20 +4 "manipulator"&5 +6 .tForearm.seek 4 + 319 counts +2 "manipulator"&z'm +18 "core" ' + "manipulator"&& +4 "core" & c l  & +2 "storage"(O& +4 "core" &,~ \  A  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&#' +20 "core" ' +2 .tSE.seek 1.11 Pucks below Top Plate +2 "storage"($'Y +52 "core" ' + "manipulator"&'& +4 "core" &  ` e k % +2 "manipulator"&% +4 "core" % ` e ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&*'\ +95 "core" ' +2 .tElbow.seek CC +2 "manipulator"&+( +145 "core" ( + "manipulator"&& +4 "core" &" m 9% +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &" o 9% +2 .tForearm.seek CC + "manipulator"&0'| +98 "core" ' + .tHand.close +2 "manipulator"& / +56 "core" / +2 .tCC.seek :open +2 "collection"'(p +410 "core" ( + "storage"(3& +4 "core" &,~\ \   +2 "storage"(5& +3 "core" &,~\ \   +2 "manipulator"& & +4 "core" &  6 + "manipulator"&% +4 "core" % e : +2 .tForearm.seek :retract + "manipulator"& '\ +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&&(* +160 "core" ( + "manipulator"&& +4 "core" &3  \ +2 "storage"(8& +4 "core" &,~\ \   + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +4 .tForearm.seek 4 + "manipulator"&('. +112 "core" ' + .tElbow.hold +2 "manipulator"&), +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&,1 +54 "core" 1 +2 "manipulator"&1% +5 "core" % A~ F + "storage"(<& +4 "core" &,~ E  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 4 + 319 counts + "manipulator"&'m +19 "core" ' + "manipulator"&2& +5 "core" & s Z s  + "storage"(& +4 "core" &,~\ %\   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&!' +10 "core" ' + "storage"(;% +5 "core" %W\ (\ B - +2 ."downElevator"SE.seek :down +4 "storage"(A'N +99 (B% +3 "core" %D\ \  * N@ +2 "manipulator"&%% +4 "core" % m n ; +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&G'\ +87 "core" ' +53 ' + ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 3 of [3..4] + #Loading generic puck from tube 3 into Collection Clamp +2 "collection"'4& +4 "core" & +2 "manipulator"&J% +3 "core" %\ *  !N +2 "storage"(>% +4 "core" %:\ !\ !  + "storage"(. +4 "core" .(, +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(( +366 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (-& +2 "core" & +2 "manipulator"&9& +4 "core" &   +2 .tElbow.seek 3 + "manipulator"&M(D +18 "core" ( + "manipulator"&N& +5 "core" &A  = + "storage"(P& +4 "core" &\ !\ ! +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&Q' +107 "core" ' +2 "storage"(R& +4 "core" &\ B\ C +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(K'e +274 "core" ' + "storage"(\ - +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (6& +3 "core" &\ \  +2 "manipulator"&H& +3 "core" &A o o = +2 .tElbow.seek 3 +2 "manipulator"&D(D +4 "core" ( + "manipulator"&E& +4 "core" &A m i = + "storage"(?& +4 "core" &\ C\ B v +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&C'y +22 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&./ +53 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&=& + "storage"('N +7 "core" &A n m = +2 "manipulator"&Y% +4 "core" % m p m +2 .tForearm.seek :retract +2 "manipulator"&]'\ +88 "core" ' + .tElbow.seek CC +2 "manipulator"&U( +152 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +9 "core" ( + "manipulator"&F& +4 "core" &, O Bi +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &:& +3 "core" &, G Bh +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&T'| +103 "core" ' +2 "manipulator"&a& +4 "core" &, Bf +2 "manipulator"&X% +4 "core" % P + "collection"'7& +4 "core" & +2 "collection"'d& +5 "core" & +2 .tCC.seek :closed +2 "collection"'^(] +4 "core" &~ +7 &Dy $d +10 &z\\v 6 +9 &y H +9 &fu G +10 &inq H +9 &*mx H +10 & kz G +9 &"pu H +9 &$rmt G +10 &&3nx H +9 &'l{ H +9 &)ny G +10 &+zjy G +9 &-;hy H +10 &.ow G +9 &0l{ G +9 &2jz H +10 &4Dj} G +9 &6hx G +9 &7kx G +10 &9js H +9 &;Lgx G +10 &=mx G +9 &>jy H +9 &@mv G +10 &BSjs H +9 &Dh{ G +9 &Em~ H +10 &Gmx H +9 &IWuz I +10 &Ku K +9 &Lv O +9 &Nk P +10 &PJn P +9 &R f Q +9 &Sv R +10 &Ui S +54 &WJf S +12 &Y f T + &Zc U + &\\g A + &]l-l - +2 &]pc G + ( + &]lm G +3 "collection"'d& +3 #tCollection Clamp onSpring/offSpring for 10/25 samples, on/off torque 1.86 +2 .Hand.open + "manipulator"&[1 +3 "core" &]kf G +57 1 + "manipulator"&k% +5 "core" % } f +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&n'\ +100 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%`& +4 "core" &g +2 "manipulator"&_% +4 "core" %\ 5  & + "storage"(L% +4 "core" %E  +2 "storage"(t. +3 "core" .( + "storage"(w& +4 "core" & +2 "storage"(S& +3 "core" & x +2 "manipulator"&x& +4 "core" &4#  ;8 + "manipulator"&f% +4 "core" %\ 6 4 & +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&p(D +161 "core" ( +2 "manipulator"&q& +4 "core" &: c  + "storage"(e& +4 "core" &\  | +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts + "manipulator"&Z' +106 "core" ' +2 "storage"(b& +4 "core" &\ \  . +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(g'e +277 "core" ' + "storage"(@- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 ({& +3 "core" &\ \ \  + "manipulator"&c& +4 "core" &: i _  +2 .tElbow.seek 3 + "manipulator"&m(D +4 "core" ( + "manipulator"&l& +4 "core" &: p t  + "storage"(i& +4 "core" & \ w +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&'y +23 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&o/ +60 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& + "storage"(y'N +8 "core" &: ` ` 7  + "manipulator"&j% +4 "core" % p _ j  +2 .tForearm.seek :retract +2 "manipulator"&v'\ +91 "core" ' + .tElbow.seek PC +2 "manipulator"&h(c +160 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +87 "core" ( + "manipulator"&& +5 "core" &e 7 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 & & +3 "core" &e  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"& '[ +95 "core" ' +2 "manipulator"&\\& +4 "core" &e ' +2 "manipulator"&r% +4 "core" %a = +2 "processing"%V& +4 "core" &d +2 "processing"%& +5 "core" &i +2 .tPC.seek :closed + "processing"%s(Z +5 "core" &f +7 &<g #c +9 &y[e 6 +10 &f H +9 &gh G +9 &kke G +10 &-j[ G +9 & kf G +9 &"ha G +10 &$rk] G +9 &&3k[ H +10 &'j] G +9 &)jV G +9 &+{jR G +10 &-<kS G +9 &.kV H +9 &0j_ G +10 &2ka G +9 &4Ek^ G +10 &6ka G +9 &7jf G +9 &9ia H +10 &;Nj[ G +9 &=k` G +9 &>l^ G +10 &@k` G +9 &BUg[ G +10 &Djf G +9 &Eo] G +9 &Gv\\ H +10 &IX{Z I +9 &KX K +9 &LZ M +10 &N[ M +9 &PTW M +10 &R[ M +9 &SW M +9 &UV M +10 &WZU N +9 &YW L +9 &Z]>f[ #f +10 &Z4N * +5 ( +2 "processing"%& +4 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.50 + .Hand.open + "manipulator"&W1 +4 "core" &ZH * +56 1 + "manipulator"&|% +5 "core" % a U + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&'\ +92 "core" ' + "processing"%& +4 "core" &Z@ * +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 +2 "manipulator"&% +3 "core" %\ - C E +2 "storage"(% +4 "core" %E {  + "storage"(. +3 "core" .( +2 "storage"(u& +3 "core" & +2 "storage"(& +5 "manipulator"&O& +3 "core" & { +2 &e " +3 ."raiseStack"SE.reconfigure :place +2 .tElbow.reconfigure :tight +4 "storage"(#]kK-0-\ b +2 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +3 "manipulator"&'(c +3 ."raiseStack"SE.seek :beamBreak +2 "storage"('e +3 "core" ( + "manipulator"&}& +4 "core" &e E + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &e " +2 .tForearm.seek PC +2 "manipulator"&~'[ +95 "core" ' + .tHand.close +2 "manipulator"&/ +64 "core" / +2 .tPC.seek :open +2 "processing"%z(p +84 "core" ' +2 "storage"(- +4 "core" -'e + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place + "storage"('B +33 "core" ' +260 ( + "storage"(& +4 "core" & \ ` +2 "manipulator"&#& +4 "core" &e G +2 "manipulator"&% +3 "core" % P +2 .tForearm.seek :retract +2 "manipulator"& '\ +101 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 + "manipulator"&*(D +252 "core" ( + "manipulator"&"& +5 "core" &R (  + "storage"(3& +4 "core" & N +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&5' +101 "core" ' +2 .tHand.open + "manipulator"& 1 +52 "core" 1 +2 "storage"(- +3 "core" -'B +3 .tSE.seek -0.16 Pucks below Top Plate + "storage"(' +25 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(8' +53 "core" ' + #tLights, camera, ACTION! +2 "storage"(0- +3 "core" -' +2 "storage"(+& +4 "core" &  + "manipulator"&,& +4 "core" &R  +2 .tElbow.seek 3 + "manipulator"&1(D +19 "core" ( +2 "manipulator"&<& +4 "core" &M 3  +2 "storage"(2& +4 "core" & 3 +2 .tForearm.seek 3 + 450 counts + "manipulator"&' +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.11 Pucks below Top Plate + "storage"(;'M +59 "core" ' + "manipulator"& & +5 "core" &M   + "storage"(B& +4 "core" &\ / +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 + "manipulator"&%'M +34 "core" ' + .tElbow.hold + "manipulator"&&, +5 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"(('7 +23 "core" ' + "manipulator"&4% +5 "core" %]j 3 ö +2 "storage"(J& +4 "core" & 9 +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 316 counts + "manipulator"&>'ω +17 "core" ' +2 "manipulator"&& +4 "core" &M h l   +2 "storage"(& +4 "core" &\ \  y +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&$' +21 "core" ' + "storage"(!% +5 "core" %@\ \  E  +2 ."downElevator"SE.seek :down +4 "storage"(A'N +98 (/% +3 "core" %.I\ \ Y OC +2 "manipulator"&-% +4 "core" % ` `  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&9'\ +90 "core" ' +60 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (N& +4 "core" & \  ; + "collection"'P& +4 "core" &]kj G +2 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&R% +4 "core" %\ .  #d +2 "storage"()% +3 "core" %?\ \ \  +2 "storage"(G. +3 "core" .( +2 "storage"(\ & +3 "core" & \ \ ! +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 + "storage"(6( +35 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (H& +3 "core" & b % +2 "manipulator"&E& +4 "core" &M   + .tElbow.seek 3 +2 "manipulator"&?(D +4 "core" ( + "manipulator"&.& +4 "core" &M   +2 "storage"(=& +4 "core" & 1 ' +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&Y' +92 "core" ' +2 "storage"(M& +4 "core" &\ \ j ' +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(Q'e +280 "core" ' +2 "storage"(F- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +2 "manipulator"&:& +3 "core" &M e k ;  +2 "storage"(K& +4 "core" &\ \ \ \ ( + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 + "manipulator"&C'M +34 "core" ' +2 .tElbow.hold + "manipulator"&a, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(X- +2 "core" -' +2 .tSE.seek 0.12 Pucks below Top Plate +2 "storage"(D'r +26 "core" ' +2 "manipulator"&7% +4 "core" %Z\\    Ų + "storage"(& +4 "core" &  ( + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 3 + 313 counts +2 "manipulator"&]'φ +19 "core" ' + "manipulator"&& +4 "core" &M Z t D  +2 "storage"([& +4 "core" & \ > ( +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&k' +20 "core" ' +2 .tSE.seek 1.12 Pucks below Top Plate + "storage"(`'a +45 "core" ' +2 "manipulator"&_& +4 "core" &M j _ I  +2 "manipulator"&L% +4 "core" % c ` @ # +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&t'\ +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&d( +143 "core" ( + "manipulator"&w& +5 "core" &  / + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &S& +2 "core" &  / +2 .tForearm.seek CC +2 "manipulator"&x'| +94 "core" ' +2 .tHand.close + "manipulator"&f/ +60 "core" / +2 .tCC.seek :open + "collection"'T(p +413 "core" ( +43 "storage"(q& +14 "core" &\ \   ( +2 "storage"(e& +3 "core" &\ \   ( +2 "manipulator"&b& +4 "core" &  - + "manipulator"&U% +4 "core" % φ ( +2 .tForearm.seek :retract +2 "manipulator"&n'\ +91 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&@(D +162 "core" ( + "manipulator"&{& +4 "core" &8 < +2 "storage"(c& +4 "core" &\ \  ( + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 3 + "manipulator"&l'M +110 "core" ' +2 .tElbow.hold + "manipulator"&i, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&o1 +63 "core" 1 +3 "manipulator"&% +4 "core" % Vq  R ø" +2 "storage"(j& +4 "core" &\ \ Z ( +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 3 + 309 counts +2 "manipulator"&p'ς +16 "core" ' +2 "manipulator"&Z& +4 "core" &i o i b  +2 "storage"(g& +4 "core" &\ B\ B ( +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&' +12 "core" ' + "storage"(% +5 "core" %Z\ '\ B U +2 ."downElevator"SE.seek :down +4 "storage"( 'N +98 (m% +3 "core" %C\ \  X M> +2 "manipulator"&\\% +4 "core" % m k 9 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&r'\ +93 "core" ' +48 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 4 of [3..4] +2 #Loading generic puck from tube 4 into Collection Clamp + "collection"'V& +5 "core" & + "manipulator"&y% +4 "core" %\ 5 g & +2 "storage"(v% +4 "core" %@\ \   +2 "storage"(I. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"(W(, +347 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (|& +3 "core" &,~\ \ \ S  +2 "manipulator"&& +3 "core" &i f  +2 .tElbow.seek 4 +2 "manipulator"&(* +33 "core" ( + "manipulator"&& +4 "core" &% V  +2 "storage"(& +4 "core" &,~\ \   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&u' +106 "core" ' + "storage"(O& +4 "core" &,~\ \  l  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('e +273 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (}& +2 "core" &,~\ \  x  +2 "manipulator"&& +4 "core" && ]  +2 .tElbow.seek 4 + "manipulator"& (* +3 "core" ( +2 "manipulator"&& +4 "core" && W  + "storage"(& +4 "core" &,~\ \   +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&h'Z +21 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&/ +60 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&s& + "storage"('N +7 "core" && p o  +2 "manipulator"&#% +3 "core" % Y p p +2 .tForearm.seek :retract +2 "manipulator"&'\ +96 "core" ' +2 .tElbow.seek CC + "manipulator"&( +147 "core" ' + ."downElevator"SE.stop + "storage"(5 +12 "core" ( +2 "manipulator"&~& +4 "core" &- Bl +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &"& +2 "core" &, [ Bl +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&3'| +111 "core" ' +2 "manipulator"&'& +4 "core" &, ) Bl +2 "manipulator"& % +4 "core" %ω  +2 "collection"'& +4 "core" & +2 "collection"'0& +5 "core" & +2 .tCC.seek :closed +2 "collection"'+(] +4 "core" &  +9 &7 *x +9 &j{ = +10 &x}v H +9 &<mz G +9 &mz H +10 &nw H +9 &!ny G +9 &#Ckv G +10 &%or G +9 &&m| G +10 &(kx G +9 &*Kmy G +9 &,mx G +10 &-mv G +9 &/mx H +9 &1Sn| G +10 &3jz G +9 &4l{ G +9 &6lq G +10 &8\\iw G +9 &:k| G +10 &;kx G +9 &=lv G +9 &?dku G +10 &A%mz G +9 &Bmy G +9 &Dhs G +10 &Flmy G +9 &H+rx H +10 &Iy J +9 &Kr M +9 &M[y P +10 &Ow P +9 &Py Q +10 &Rz Q +9 &T\\{ R +9 &V{ S +10 &Wt S +9 &Yd U +9 &[^j T +10 &]ye (} +9 &] g P +9 ( +3 "collection"'0& +3 #tCollection Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.86 + .Hand.open +2 "manipulator"&,1 +3 "core" &]ih H +59 1 +2 "manipulator"&<% +4 "core" % ω / +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&2'\ +92 "core" ' +2 #tLoading generic puck from tube 4 into Processing Clamp + "processing"% & +4 "core" &e +2 "manipulator"& % +4 "core" %\ + !U + "storage"(B% +4 "core" %D  + "storage"(. +4 "core" .(,~ + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 4 + "storage"(4(, +9 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (J& +2 "core" &, "  +2 "manipulator"&& +4 "core" &*  Ae + "manipulator"&% +4 "core" %\ + X !U +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&(* +154 "core" ( +2 "manipulator"&!& +4 "core" &5 E \ +2 "storage"(*& +4 "core" &,~\  G  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&5' +98 "core" ' + "storage"(8& +4 "core" &,~ \ \   +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(/'e +277 "core" ' +2 "storage"(-- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +2 "core" &,~\ \   +2 "manipulator"&1& +4 "core" &6  + .tElbow.seek 4 +2 "manipulator"&;(* +7 "core" ( +2 "manipulator"&%& +4 "core" &4 }   +2 "storage"(N& +3 "core" &,~\ \ \ \ {  +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&>'Z +20 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&P/ +55 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"&R& "storage"()'N +8 "core" &4 c k  + "manipulator"&G% +4 "core" % V c m U +2 .tForearm.seek :retract + "manipulator"&\ '\ +92 "core" ' +2 .tElbow.seek PC + "manipulator"&((c +164 "core" ' + ."downElevator"SE.stop + "storage"(5 +86 "core" ( + "manipulator"&H& +4 "core" &k ) +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &E& +3 "core" &k  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&.'[ +102 "core" ' + "manipulator"&=& +4 "core" &k  +2 "manipulator"&$% +4 "core" %8 6 +2 "processing"%M& +4 "core" &h +2 "processing"%A& +4 "core" &o +2 .tPC.seek :closed +2 "processing"%(Z +4 "core" &f  +10 &5j )w +9 &ji = +9 &y}f H +10 &>hh G +9 &ng G +10 &ih G +9 &!kg H +9 &#Gje F +10 &%ih G +9 &&kg G +9 &(id G +10 &*Mhf G +9 &,ke G +9 &-k] G +10 &/kW G +9 &1Ug` G +10 &3j[ G +9 &4jR G +9 &6jW G +10 &8]kX G +9 &:ie G +9 &;jf G +10 &=ka G +9 &?dlb G +10 &A&mc G +9 &Bj^ G +9 &Dkc H +10 &Fkl] H +9 &H,n^ H +9 &I}e J +10 &Kf J +9 &Mf^ L +10 &O%] M +9 &P\\ M +9 &R` M +10 &TlY M +9 &V,` N +9 &W[ N +10 &YX 5 +9 &Z3] V +10 &ZZ % +2 ( +2 "processing"%A& +3 #tProcessing Clamp onSpring/offSpring for 8/26 samples, on/off torque 1.46 + .Hand.open + "manipulator"&&1 +54 "core" 1 +2 "manipulator"&9% +4 "core" % 8 t +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&F'\ +96 "core" ' + "processing"%:& +4 "core" &ZL % +2 #tImaging generic puck in Processing Clamp while storing it to tube 4 +2 "manipulator"&K% +3 "core" %\ 0 k $p +2 "storage"(X% +4 "core" %G  + "storage"(7. +3 "core" .(, +2 "storage"(& +3 "core" &,~  +2 "storage"(& +4 "manipulator"&[& +5 "core" &,~  + &k K +3 ."raiseStack"SE.reconfigure :place +2 .tElbow.reconfigure :tight +5 "storage"(#]kK-0-\ b +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +3 ."raiseStack"SE.seek :beamBreak +2 "manipulator"&_(c + "storage"(L'e +6 "core" ( + "manipulator"&Y& +4 "core" &k U + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &?& +3 "core" &k 0 +2 .tForearm.seek PC +2 "manipulator"&Q'[ +94 "core" ' +2 .tHand.close + "manipulator"&C/ +58 "core" / +2 .tPC.seek :open +2 "processing"%](p +91 "core" ' +2 "storage"(D- +4 "core" -'e + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place + "storage"(w'B +31 "core" ' +255 ( + "storage"(S& +5 "core" &,~ \ \  + "manipulator"&k& +4 "core" &k  +2 "manipulator"&a% +3 "core" % [ < +2 .tForearm.seek :retract +2 "manipulator"&f'\ +99 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 +44 "manipulator"&t(* +273 "core" ( + "manipulator"&^& +5 "core" &0 +  + "storage"(q& +4 "core" &,~\ \ \  6  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&e' +106 "core" ' + .tHand.open +2 "manipulator"&b1 +59 "core" 1 +2 "storage"(U- +4 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate +2 "storage"({' +26 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(c' +51 "core" ' +2 #tLights, camera, ACTION! + "storage"(x- +4 "core" -' + "storage"(d& +4 "core" &,~ E  +2 "manipulator"&o& +4 "core" &0 d b   +2 .tElbow.seek 4 + "manipulator"&(* +4 "core" ( + "manipulator"&j& +4 "core" &0 s o n  +2 "storage"(Z& +4 "core" &,~ H  +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&g' +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"('M +58 "core" ' + "manipulator"&n& +4 "core" &0 m d  +2 "storage"(m& +4 "core" &,~\ \  (  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 + "manipulator"&\\'. +36 "core" ' +2 .tElbow.hold + "manipulator"&@, +5 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"(l'7 +23 "core" ' + "manipulator"&V% +5 "core" %?R    Ȱ + "storage"(y& +4 "core" &,~  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 317 counts + "manipulator"&v'k +18 "core" ' +2 "manipulator"&p& +4 "core" & i m |  +2 "storage"(I& +4 "core" &,~\ \  N  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&`' +18 "core" ' +2 "storage"(% +4 "core" %@\ \  \  +3 ."downElevator"SE.seek :down +4 "storage"( 'N +99 (6% +2 "core" %J\  W OB +2 "manipulator"&|% +4 "core" % ` ` \  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +95 "core" ' +54 ' + ."downElevator"SE.stop + "storage"(5 +3 (& +4 "core" &,~\   + "collection"'& +4 "core" &]g H +2 #tStoring generic puck in Collection Clamp to tube 4 +2 "manipulator"&O% +3 "core" %\ 5 O & +2 "storage"(i% +4 "core" %?\   + "storage"(r. +3 "core" .(, +2 "storage"(& +4 "core" &,~ \ Q  + "storage"(}& +4 "core" &,~\  c  +2 "manipulator"&& +4 "core" & z  +2 .tElbow.seek 4 + "manipulator"&(* +21 "core" ( +2 "manipulator"&& +4 "core" &7  # + "storage"(& +4 "core" &,~\ \ \    +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&s' +94 "core" ' +2 "storage"(#& +4 "core" &,~\ \ \   +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('e +277 "core" ' + "storage"(u- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&~& +3 "core" &: v # +2 "storage"("& +3 "core" &,~\ \ \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&'. +31 "core" ' + .tElbow.hold +2 "manipulator"&h, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"('- +3 "core" -' +2 .tSE.seek 0.11 Pucks below Top Plate + "storage"( 'i +27 "core" ' +2 "manipulator"& % +4 "core" %BW 4 5 ˱ + "storage"(& +4 "core" &,~   +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 320 counts + "manipulator"&'n +17 "core" ' +2 "manipulator"&& +4 "core" & c  ( + "storage"(T& +4 "core" &,~  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&,' +18 "core" ' +2 .tSE.seek 1.11 Pucks below Top Plate + "storage"(<'X +45 "core" ' + "manipulator"& & +4 "core" & b f v ( +2 "manipulator"& % +4 "core" % f d 5  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&B'\ +91 "core" ' + .tElbow.seek CC +2 "manipulator"&( +161 "core" ( + "manipulator"&0& +4 "core" &(  1 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &J& +3 "core" &(  1 +2 .tForearm.seek CC + "manipulator"&'| +97 "core" ' +2 .tHand.close +2 "manipulator"&/ +52 "core" / +2 .tCC.seek :open + "collection"'3(p +410 "core" ( + "storage"(!& +4 "core" &,~\ \   +2 "storage"(*& +4 "core" &,~\ \  }  + "manipulator"&W& +4 "core" &(  1 + "manipulator"&8% +4 "core" % i 6 +2 .tForearm.seek :retract + "manipulator"&'\ +100 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&2(* +161 "core" ( +2 "manipulator"&-& +4 "core" &. k $ + "storage"(& +4 "core" &,~\ \   +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 4 + "manipulator"&1'. +112 "core" ' +2 .tElbow.hold + "manipulator"&%, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&N1 +60 "core" 1 +2 "manipulator"&P% +5 "core" % A~ G + "storage"(R& +4 "core" &,~ \  N  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 319 counts + "manipulator"&G'm +17 "core" ' + "manipulator"&& +4 "core" & w [ K +2 "storage"(5& +4 "core" &,~\ \  5  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&/' +23 "core" ' + "storage"(>% +5 "core" %V\ (\ B 9 +2 ."downElevator"SE.seek :down +3 "storage"(H'N +99 (E% +3 "core" %F\ \  / N? +2 "manipulator"&;% +4 "core" % q o  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&='\ +93 "core" ' +50 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 3 of [3..4] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"'$& +5 "core" &o + "manipulator"&M% +4 "core" %\ 3 T %z +2 "storage"()% +4 "core" %F\ \  c  +2 "storage"(\ . +3 "core" .(, +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(z( +364 "core" ( +2 .tSC.configure :limp +3 "storage"($\ 1b +2 (&& +3 "core" & R +2 "manipulator"&9& +4 "core" &  K +2 .tElbow.seek 3 + "manipulator"&:(D +35 "core" ( + "manipulator"&K& +5 "core" &C   + "storage"(X& +4 "core" &\ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&7' +94 "core" ' + "storage"(& +5 "core" &\ C\ ( ` +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(['e +282 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (A& +2 "core" &\ \  v +2 "manipulator"&Y& +4 "core" &C ` ` #  +2 .tElbow.seek 3 + "manipulator"&?(D +4 "core" ( + "manipulator"&.& +4 "core" &C t o |  +2 "storage"(C& +3 "core" &\ !\  +3 .tForearm.seek 3 + 300 counts +2 "manipulator"&D'y +21 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&(/ +55 "core" / +52 ."downElevator"SE.seek :down +3 "manipulator"&F& +2 "storage"('N +8 "core" &C e ` E  + "manipulator"&S% +4 "core" % } ` _  +2 .tForearm.seek :retract + "manipulator"&k'\ +89 "core" ' +2 .tElbow.seek CC +2 "manipulator"&a( +154 "core" ' + ."downElevator"SE.stop + "storage"(5 +8 "core" ( + "manipulator"&L& +4 "core" &( ^ ?U +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &Q& +3 "core" &( ?U +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&^'| +100 "core" ' +2 "manipulator"&q& +4 "core" &( S ?T +2 "manipulator"&_% +4 "core" %x U + "collection"'b& +4 "core" & +2 "collection"'U& +5 "core" & +3 .tCC.seek :closed + "collection"'x(] +5 "core" &  +9 &5 )w +9 &j| = +10 &} H +9 &Fk G +10 &m G +9 &o G +9 &!mz G +10 &#Lmn G +9 &%ky G +9 &&m{ G +10 &(mx G +9 &*Tn| G +10 &,ks G +9 &-km G +9 &/mw G +10 &1]ms G +9 &3my G +10 &4ku G +9 &6jy G +9 &8eix G +10 &:&k} G +9 &;jw G +9 &=ky G +10 &?ljz G +9 &A.mz G +9 &Bmy G +10 &Djy G +9 &Fun{ G +10 &H5nz H +9 &I|z J +9 &Kw L +10 &Mey O +9 &O$y P +9 &P{ Q +10 &Rz Q +9 &Tfy R +10 &V${ S +9 &Ww R +9 &Yw T +10 &[[| X +9 &] y| 'z +9 &]t Q +9 ( +2 &]`w B +2 "collection"'U& +3 #tCollection Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.91 + .Hand.open +2 "manipulator"&d1 +52 "core" 1 + "manipulator"&o% +5 "core" % s ( +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&j'\ +106 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%Z& +5 "core" &] + "manipulator"&f% +4 "core" %\  `  +2 "storage"(n% +3 "core" %<\ \ \ [  +2 "storage"(m. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(V( +29 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (w& +2 "core" &; _  +2 "manipulator"&y& +4 "core" &# k ;6 + "manipulator"&{% +4 "core" %\  d  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&p(D +158 "core" ( + "manipulator"&I& +5 "core" &M d y  + "storage"(& +4 "core" &\ \  f  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts + "manipulator"&t' +92 "core" ' + "storage"(e& +5 "core" &\ ?  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(c'e +283 "core" ' + "storage"(6- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (|& +3 "core" &\ \  R +2 "manipulator"&g& +4 "core" &M  + .tElbow.seek 3 +2 "manipulator"&(D +3 "core" ( +2 "manipulator"&& +4 "core" &M 6 + "storage"(\\& +4 "core" &\ \ \ o +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&'y +31 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&v/ +56 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& +2 "storage"(O'N +7 "core" &M b ` k +2 "manipulator"&i% +4 "core" % ό j c : +2 .tForearm.seek :retract + "manipulator"&r'\ +94 "core" ' +2 .tElbow.seek PC +2 "manipulator"&(c +167 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +68 "core" ( +2 "manipulator"&l& +4 "core" &i 5 5 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &}& +3 "core" &i  5 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&'[ +106 "core" ' +2 "manipulator"&& +4 "core" &i h l R 5 + "manipulator"&% +4 "core" %T e ` = h +2 "processing"%`& +4 "core" &d +2 "processing"%#& +5 "core" &g +2 .tPC.seek :closed +2 "processing"% (Z +4 "core" &g +7 &=f #c +10 &y\\f 6 +9 &g H +9 &jh G +10 &mhg G +9 &0kh F +9 & lf G +10 &"ic G +9 &$vjf F +10 &&7jf G +9 &'ig F +9 &)ia G +10 &+}i` G +9 &-?j\\ G +10 &/kT G +9 &0jR G +9 &2hT G +10 &4Fi^ G +9 &6i^ G +9 &7j^ G +10 &9j^ F +9 &;Ok\\ G +9 &=j^ F +10 &>m\\ G +9 &@hZ G +10 &BWj] G +9 &Dj^ G +10 &El` G +9 &Gtc H +9 &IW{^ J +9 &K\\ K +10 &L[ M +9 &NX M +10 &PUZ M +9 &R\\ M +9 &S\\ M +10 &U\\ M +9 &W[] N +9 &YW I +10 &ZS>sT (s +9 &Z&Z % +6 ( + "processing"%#& +4 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.50 +2 .Hand.open + "manipulator"&@1 +4 "core" &ZW % +52 1 +2 "manipulator"&% +4 "core" % T f h +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&u'\ +91 "core" ' +2 "processing"%~& +4 "core" &ZJ % + #tImaging generic puck in Processing Clamp while storing it to tube 3 +2 "manipulator"&"% +4 "core" %\ * B !T + "storage"('% +4 "core" %E\ \ \ ?  + "storage"( . +4 "core" .( + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 3 + "storage"(( +7 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (& +4 "core" & L  +2 "manipulator"&T& +2 ."raiseStack"SE.reconfigure :place +6 "storage"(#]kK-0-\ b +2 "core" &i  5 +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +3 ."raiseStack"SE.seek :beamBreak +2 "manipulator"& (c + "storage"( 'e +5 "core" ( +2 "manipulator"&s& +4 "core" &i / 5 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &i  5 +2 .tForearm.seek PC +2 "manipulator"&'[ +99 "core" ' +2 .tHand.close + "manipulator"&/ +60 "core" / +2 .tPC.seek :open + "processing"%(p +87 "core" ' + "storage"( - +4 "core" -'e + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place + "storage"(0'B +38 "core" ' +253 ( +2 "storage"(J& +4 "core" &\ \  K $ +2 "manipulator"&,& +3 "core" &i ] 5 +2 "manipulator"&h% +3 "core" % W @ +2 .tForearm.seek :retract +2 "manipulator"&'\ +98 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&B(D +255 "core" ( + "manipulator"&+& +4 "core" &A 8 $ +2 "storage"(!& +4 "core" & \ ( $ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&*' +103 "core" ' + .tHand.open + "manipulator"&W1 +63 "core" 1 +2 "storage"(8- +4 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate + "storage"(-' +23 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.83 Pucks below Top Plate + "storage"(' +53 "core" ' +2 #tLights, camera, ACTION! + "storage"(- +4 "core" -' +2 "storage"(& +3 "core" & ~ & +2 "manipulator"&N& +4 "core" &A  $ +2 .tElbow.seek 3 +2 "manipulator"&P(D +3 "core" ( + "manipulator"&R& +4 "core" &A E $ +2 "storage"(& +3 "core" & S & +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&5' +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.11 Pucks below Top Plate + "storage"(>'M +57 "core" ' +2 "manipulator"&& +4 "core" &A f l c $ +2 "storage"(E& +4 "core" &\ \  , & +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&;'M +35 "core" ' +2 .tElbow.hold + "manipulator"&2, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +52 "storage"(1'7 +27 "core" ' + "manipulator"&$% +4 "core" %Qf   Ƶ +2 "storage"(G& +4 "core" & w & +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 304 counts + "manipulator"&M'} +17 "core" ' + "manipulator"&)& +5 "core" &m l h s _ + "storage"(\ & +4 "core" &\ \  + & +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&<' +20 "core" ' +2 "storage"(/% +4 "core" %;\ \   +2 ."downElevator"SE.seek :down +4 "storage"(H'N +99 (4% +3 "core" %J\ \  OC + "manipulator"&&% +5 "core" % o n  + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&9'\ +91 "core" ' +59 ' + ."downElevator"SE.stop + "storage"(5 +3 (K& +4 "core" & 9 & + "collection"'X& +4 "core" &]Y B +2 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&% +4 "core" %\ 0 r $l +2 "storage"(%% +4 "core" %C\  b  + "storage"(=. +4 "core" .( + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(( +19 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (A& +3 "core" & 3  +2 "manipulator"&Y& +4 "core" &m\ [ _ +2 .tElbow.seek 3 + "manipulator"&.(D +26 "core" ( +2 "manipulator"&C& +3 "core" &A 6 h +2 "storage"((& +5 "core" &\ \ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&F' +100 "core" ' + "storage"(S& +4 "core" &\ \ 1  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(:'e +277 "core" ' +2 "storage"(7- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&L& +2 "core" &A  h +2 "storage"(Q& +4 "core" &\   + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 + "manipulator"&['M +28 "core" ' +2 .tElbow.hold + "manipulator"&D, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(q- +2 "core" -' +2 .tSE.seek 0.12 Pucks below Top Plate +2 "storage"(_'r +41 "core" ' +3 "manipulator"&b% +4 "core" %^m 2 · + "storage"(?& +4 "core" &  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 3 + 317 counts +2 "manipulator"&'ϊ +20 "core" ' + "manipulator"&k& +4 "core" &H t ] a +2 "storage"(3& +4 "core" &\ \   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts + "manipulator"&d' +21 "core" ' +2 .tSE.seek 1.12 Pucks below Top Plate +2 "storage"(o'a +41 "core" ' + "manipulator"&Z& +5 "core" &H m c i a + "manipulator"&f% +4 "core" % ` j D  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&n'\ +95 "core" ' + .tElbow.seek CC +2 "manipulator"&m( +156 "core" ( + "manipulator"&U& +5 "core" &#  :* + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &w& +2 "core" &# ' :* +3 .tForearm.seek CC + "manipulator"&y'| +96 "core" ' +2 .tHand.close +2 "manipulator"&{/ +63 "core" / +2 .tCC.seek :open + "collection"'^(p +410 "core" ( +2 "storage"(I& +4 "core" &\ \    + "storage"(& +4 "core" &\ \   +2 "manipulator"&z& +3 "core" &# I 4 +2 "manipulator"&e% +4 "core" % ς  +3 .tForearm.seek :retract + "manipulator"&a'\ +96 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 + "manipulator"&j(D +152 "core" ( + "manipulator"&6& +5 "core" &I [ + "storage"(|& +4 "core" &\ \    + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 3 + "manipulator"&g'M +111 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&\\1 +62 "core" 1 +2 "manipulator"&v% +5 "core" % _w /  P 2 + "storage"(& +4 "core" & {  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 318 counts + "manipulator"&i'ϋ +18 "core" ' +2 "manipulator"&p& +5 "core" &S p r a  + "storage"(t& +4 "core" &\ ?\ 3 Y  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&c' +22 "core" ' +2 "storage"(% +4 "core" %a\ B\ B +2 ."downElevator"SE.seek :down +3 "storage"(l'N +100 (}% +2 "core" %sG\ \  r N@ +2 "manipulator"&% +4 "core" % j m p  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&'\ +91 "core" ' +46 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 4 of [3..4] +2 #Loading generic puck from tube 4 into Collection Clamp + "collection"'& +5 "core" & + "manipulator"&`% +4 "core" %\ -  "] +2 "storage"(O% +4 "core" %5\ \    + "storage"(r. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"(](, +353 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (@& +2 "core" &,~\ \ \   +2 "manipulator"&& +4 "core" &S   +2 .tElbow.seek 4 + "manipulator"&~(* +13 "core" ( +2 "manipulator"&"& +4 "core" &, !  + "storage"('& +4 "core" &,~\ \ ! O  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"& ' +104 "core" ' + "storage"(#& +4 "core" &,~\ B\ B  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"('e +272 "core" ' +2 "storage"(T- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (s& +3 "core" &,~\ \   +2 "manipulator"&& +3 "core" &, m k V  +2 .tElbow.seek 4 +2 "manipulator"&(* +3 "core" ( + "manipulator"&& +4 "core" &, i n  + "storage"(V& +4 "core" &,~\ .\ %   +2 .tForearm.seek 4 + 300 counts + "manipulator"& 'Z +22 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +59 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&u& + "storage"( 'N +7 "core" &, &  + "manipulator"&J% +4 "core" % Y +2 .tForearm.seek :retract +2 "manipulator"&,'\ +92 "core" ' +2 .tElbow.seek CC + "manipulator"& ( +152 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +11 "core" ( + "manipulator"&h& +4 "core" &- Cn +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &- _ Cm +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC + "manipulator"&+'| +95 "core" ' +2 "manipulator"&!& +4 "core" &, Bl +2 "manipulator"& % +4 "core" %u  +2 "collection"'W& +4 "core" & +2 "collection"'8& +6 "core" & +2 .tCC.seek :closed + "collection"'(] +5 "core" & +6 &C $d +10 &~]| 6 +9 &| G +9 &g F +10 &ql{ G +9 &3lr G +10 & lp G +9 &"kv G +9 &$ykq G +10 &&;lq G +9 &'kq G +9 &)jq G +10 &+kq G +9 &-Dky F +10 &/m} G +9 &0mw G +9 &2kp G +10 &4Imw G +9 &6 jr G +9 &7kt G +10 &9jx F +9 &;Rjv G +10 &=jx F +9 &>kx G +9 &@kv G +10 &BZky G +9 &Dix G +9 &Ejz G +10 &Gly G +9 &I]xz I +10 &Ku K +9 &Lz O +9 &Nw O +10 &POw P +9 &Rw P +9 &Sy Q +10 &U| R +9 &WRy R +10 &Yz S +9 &Zz T +9 &\\w @ +10 &]w-{ #g +9 &]Pr > +2 ( +2 "collection"'8& +3 #tCollection Clamp onSpring/offSpring for 9/25 samples, on/off torque 1.83 +51 .Hand.open +2 "manipulator"&1 +54 "core" 1 +2 "manipulator"&N% +4 "core" % u 2 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&R'\ +92 "core" ' +2 #tLoading generic puck from tube 4 into Processing Clamp +2 "processing"%& +4 "core" &f + "manipulator"&% +4 "core" %\ * 1 I +2 "storage"(% +4 "core" %F\ \  P  + "storage"(E. +3 "core" .(,~ +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 + "storage"(0(, +8 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (-& +3 "core" &,~( /  +2 "manipulator"&$& +3 "core" &+ L Bl +2 "manipulator"&G% +4 "core" %\ ) , I +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&)(* +160 "core" ( + "manipulator"&\ & +5 "core" &4 7 + "storage"(B& +4 "core" &,~\  z  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts + "manipulator"&*' +101 "core" ' +2 "storage"(/& +4 "core" &,~\ \  8  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"('e +282 "core" ' + "storage"(5- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (4& +2 "core" &,~\ \   +2 "manipulator"&&& +4 "core" &5 i o +2 .tElbow.seek 4 + "manipulator"&P(* +8 "core" ( + "manipulator"&>& +5 "core" &2 ] t Y  + "storage"(;& +4 "core" &,~\ \   +2 .tForearm.seek 4 + 300 counts + "manipulator"&K'Z +20 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&M/ +53 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&X& +2 "storage"('N +7 "core" &2 0  +2 "manipulator"&%% +4 "core" % M  +2 .tForearm.seek :retract + "manipulator"&='\ +92 "core" ' + .tElbow.seek PC +2 "manipulator"&1(c +159 "core" ' + ."downElevator"SE.stop + "storage"(5 +89 "core" ( + "manipulator"&A& +5 "core" &k  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &Y& +2 "core" &k  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&C'[ +95 "core" ' + "manipulator"&(& +4 "core" &k & +2 "manipulator"&<% +4 "core" %O +2 "processing"%S& +4 "core" &d +2 "processing"%H& +5 "core" &d +2 .tPC.seek :closed + "processing"%(Z +5 "core" &a +7 &Ee #c +9 &x[e 6 +10 &e G +9 &fe G +10 &khg G +9 &-je G +9 & kc G +10 &"j^ G +9 &$tjf G +9 &&5h[ G +10 &'hY G +9 &)hW G +9 &+|jP G +11 &->lU G +8 &.oW G +10 &0kY G +9 &2o\\ G +9 &4GjX F +10 &6k\\ G +9 &7n\\ G +9 &9jX F +10 &;Ok^ F +9 &=k] F +11 &>mZ G +12 &@k[ G +6 &BVk[ G +9 &DnY G +9 &Em] G +10 &Gp[ H +9 &IZv[ H +9 &KV J +10 &L\\ K +9 &N\\ M +9 &PVY L +10 &RX L +9 &S[ M +9 &U[ M +10 &W[] M +10 &YW I +9 &ZQ:f[ %j +9 &Z 5\\ $ +5 ( +2 "processing"%H& +4 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.46 + .Hand.open + "manipulator"&21 +4 "core" &ZX $ +56 1 + "manipulator"&9% +5 "core" % O  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&7'\ +94 "core" ' +2 "processing"%L& +4 "core" &ZL $ + #tImaging generic puck in Processing Clamp while storing it to tube 4 +2 "manipulator"&Q% +4 "core" %\ & 6 < +2 "storage"(q% +3 "core" %H\ \   +2 "storage"(b. +3 "core" .(,~ + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"(?(, +6 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (k& +4 "core" &,  + "manipulator"&3& +3 ."raiseStack"SE.reconfigure :place +7 "storage"(#]kK-0-\ b +2 "core" &k  +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +2 "manipulator"&Z(c +3 ."raiseStack"SE.seek :beamBreak +2 "storage"(f'e +3 "core" ( + "manipulator"&F& +4 "core" &k  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &.& +3 "core" &k +2 .tForearm.seek PC +2 "manipulator"&:'[ +94 "core" ' + .tHand.close +2 "manipulator"&[/ +63 "core" / + .tPC.seek :open +2 "processing"%(p +87 "core" ' + "storage"(_- +3 "core" -'e +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +2 ."raiseStack"SE.seek :place +2 "storage"(U'B +48 "core" ' +243 ( +2 "storage"(w& +4 "core" &,~\ \ \  + "manipulator"&d& +4 "core" &k  +2 "manipulator"&D% +4 "core" % F  +2 .tForearm.seek :retract + "manipulator"&{'\ +100 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 + "manipulator"&n(* +257 "core" ( + "manipulator"&x& +4 "core" &5  "y +2 "storage"(I& +4 "core" &,~\ o  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&' +98 "core" ' + .tHand.open +2 "manipulator"&z1 +52 "core" 1 + "storage"(e- +4 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate +2 "storage"(6' +23 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(|' +50 "core" ' + #tLights, camera, ACTION! +2 "storage"(y- +3 "core" -' +2 "storage"(m& +4 "core" &,~ >  +2 "manipulator"&\\& +3 "core" &5  "y +2 .tElbow.seek 4 +2 "manipulator"&v(* +18 "core" ( +2 "manipulator"&& +4 "core" &5 r R  +2 "storage"(p& +3 "core" &,~  +3 .tForearm.seek 4 + 450 counts + "manipulator"&t' +4 "core" ' + .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.11 Pucks below Top Plate + "storage"('M +57 "core" ' +2 "manipulator"&a& +4 "core" &5 n  + "storage"(}& +4 "core" &,~\ \ \ \   +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&'. +35 "core" ' +2 .tElbow.hold + "manipulator"&j, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.07 Pucks below Top Plate + "storage"(g'7 +24 "core" ' +2 "manipulator"&% +4 "core" %?S 5 6 0 ɰ +2 "storage"(`& +4 "core" &,~ >  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 317 counts + "manipulator"&i'k +19 "core" ' + "manipulator"&O& +5 "core" & u { = O +2 "storage"(r& +3 "core" &,~\ \  r  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&o' +22 "core" ' +2 "storage"(c% +4 "core" %A\ \  0 +2 ."downElevator"SE.seek :down +4 "storage"(l'N +98 (% +3 "core" %C\ \ \ L N@ +2 "manipulator"&@% +4 "core" % q q  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +92 "core" ' +58 ' + ."downElevator"SE.stop +2 "storage"(5 +3 ("& +3 "core" &,~ a  +2 "collection"''& +3 "core" &]Mx > +2 #tStoring generic puck in Collection Clamp to tube 4 +2 "manipulator"&#% +4 "core" %\ . m #b +2 "storage"(% +4 "core" %?\ \  Z  + "storage"(. +3 "core" .(, +2 "storage"(T& +4 "core" &,~\ \  + "storage"(s& +4 "core" &,~\ \ \ \  +2 "manipulator"&& +3 "core" & ` O +2 .tElbow.seek 4 +2 "manipulator"&(* +21 "core" ( + "manipulator"&V& +5 "core" &) 9 % + "storage"(& +4 "core" &,~\ \    +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&u' +105 "core" ' +2 "storage"(J& +4 "core" &,~\ \  U  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(~'e +277 "core" ' +2 "storage"( - +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&h& +3 "core" &*  % +2 "storage"(& +3 "core" &,~ \ \   +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&'. +26 "core" ' + .tElbow.hold +2 "manipulator"& , +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(!- +3 "core" -' +2 .tSE.seek 0.11 Pucks below Top Plate + "storage"( 'i +29 "core" ' + "manipulator"&W% +5 "core" %Ap    Ƹ + "storage"(& +4 "core" &,~   + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 4 + 319 counts +2 "manipulator"& 'm +17 "core" ' + "manipulator"&,& +5 "core" & n C + + "storage"(^& +4 "core" &,~ \ X  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&' +16 "core" ' +2 .tSE.seek 1.11 Pucks below Top Plate + "storage"(N'X +40 "core" ' +2 "manipulator"&8& +4 "core" & p  * +2 "manipulator"&% +4 "core" % ^ +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&'\ +98 "core" ' + .tElbow.seek CC +2 "manipulator"&( +154 "core" ( +2 "manipulator"&E& +4 "core" &+ - Aa +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &-& +3 "core" &+ r A` +2 .tForearm.seek CC + "manipulator"&$'| +96 "core" ' +2 .tHand.close + "manipulator"&G/ +63 "core" / +2 .tCC.seek :open + "collection"'+(p +410 "core" ( +2 "storage"(\ & +4 "core" &,~\ \    + "storage"(B& +4 "core" &,~\ \  o  + "manipulator"&]& +4 "core" &1"  :. +2 "manipulator"&/% +4 "core" % χ  +2 .tForearm.seek :retract + "manipulator"& '\ +100 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&R(* +168 "core" ( +2 "manipulator"&5& +4 "core" &$ & + "storage"(4& +4 "core" &,~\ \    +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 4 +2 "manipulator"&&'. +111 "core" ' +2 .tElbow.hold +2 "manipulator"&>, +3 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&;1 +53 "core" 1 +2 "manipulator"&M% +4 "core" % @w 5 º1 +2 "storage"(X& +4 "core" &,~ G  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 318 counts +2 "manipulator"&%'l +17 "core" ' + "manipulator"&)& +4 "core" & [ u ^ +2 "storage"(*& +4 "core" &,~\ \  Q  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&' +11 "core" ' + "storage"(K% +5 "core" %\\\ \ % +2 ."downElevator"SE.seek :down +3 "storage"(A'N +100 (Y% +2 "core" %E\ \  d N> +2 "manipulator"&P% +4 "core" % c n 1 +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&('\ +94 "core" ' +47 ' +2 ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 3 of [3..4] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"'<& +4 "core" &o +2 "manipulator"&S% +4 "core" %\ 5 * & + "storage"(% +4 "core" %L\ \  ] +2 "storage"(=. +3 "core" .(, +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 + "storage"(( +359 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (2& +2 "core" & \ # +2 "manipulator"&9& +4 "core" &\ ? ] +2 .tElbow.seek 3 + "manipulator"&L(D +36 "core" ( +2 "manipulator"&Q& +4 "core" &? D q +2 "storage"(q& +4 "core" &\ \ ! +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&b' +96 "core" ' +2 "storage"(H& +4 "core" &\ 8\ B c +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(k'e +284 "core" ' +2 "storage"(3- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (F& +2 "core" &\ \   +2 "manipulator"&.& +4 "core" &?  q +2 .tElbow.seek 3 + "manipulator"&C(D +4 "core" ( + "manipulator"&[& +4 "core" &? A q +2 "storage"(0& +4 "core" &\ !\  +2 .tForearm.seek 3 + 300 counts + "manipulator"&_'y +23 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&1/ +54 "core" / +2 ."downElevator"SE.seek :down +5 "manipulator"&7& + "storage"('N +7 "core" &? n n  q + "manipulator"&w% +4 "core" % n ` b 0 +2 .tForearm.seek :retract +2 "manipulator"&d'\ +93 "core" ' + .tElbow.seek CC +2 "manipulator"&f( +149 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +12 "core" ( + "manipulator"&D& +5 "core" &,  I Bl + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &:& +3 "core" &+ N Bk +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&x'| +101 "core" ' +2 "manipulator"&I& +4 "core" &+ Bk +2 "manipulator"&Z% +4 "core" %υ B +2 "collection"'z& +4 "core" & +2 "collection"'e& +5 "core" & +2 .tCC.seek :closed +2 "collection"'y(] +4 "core" &  +9 &7 *x +9 &j = +10 &}xz H +9 &An| G +10 &lz G +9 &r{ G +9 &!nw G +10 &#Im{ G +9 &% kt G +9 &&pt G +10 &(ke G +9 &*Rlo F +10 &,mq G +9 &-nx G +9 &/pt G +10 &1Zn{ F +9 &3n} G +9 &4nx G +10 &6mq G +9 &8bnq F +10 &:#kq G +9 &;kv F +9 &=mt F +10 &?jks F +9 &A*mz G +9 &Bn{ G +10 &Dgz G +9 &Frmy F +10 &H1p{ G +9 &I~w I +9 &Kx L +10 &M`z O +9 &O!y P +9 &Px Q +10 &Rx Q +9 &T`{ R +10 &V { S +9 &Wz S +9 &Y| T +10 &[cz T +9 &]u{ )~ +9 &]-| _ +9 ( +3 "collection"'e& +3 #tCollection Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.83 + .Hand.open +2 "manipulator"&m1 +4 "core" &]ww K +55 1 +2 "manipulator"&\\% +4 "core" % π j +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +92 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp +2 "processing"%p& +4 "core" &h + "manipulator"&{% +4 "core" %\ ' 8 A +2 "storage"(a% +3 "core" %6  +2 "storage"(}. +3 "core" .( + "storage"(U& +4 "core" &  + "storage"(& +4 "core" & ` +2 "manipulator"&`& +4 "core" &*  A` + "manipulator"&6% +4 "core" %\ '  A +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&O(D +180 "core" ( + "manipulator"&r& +4 "core" &A  !r +2 "storage"(c& +3 "core" &\ \ H +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&n' +95 "core" ' + "storage"(& +4 "core" &\  h +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(|'e +279 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (@& +3 "core" &\ \  + "manipulator"&t& +4 "core" &B  !q +2 .tElbow.seek 3 + "manipulator"&v(D +4 "core" ( + "manipulator"&& +4 "core" &B  !q + "storage"(& +4 "core" & \  x +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&i'y +15 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&"/ +55 "core" / +52 ."downElevator"SE.seek :down +5 "manipulator"&'& "storage"(#'N +8 "core" &B  !q + "manipulator"&% +4 "core" % m e r K +2 .tForearm.seek :retract +2 "manipulator"&'\ +96 "core" ' +2 .tElbow.seek PC + "manipulator"&T(c +157 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +98 "core" ( +2 "manipulator"&g& +4 "core" &c m +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &s& +2 "core" &c _ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&'[ +104 "core" ' + "manipulator"&V& +5 "core" &c y  + "manipulator"&% +4 "core" %O r u  { +2 "processing"%o& +4 "core" &b +2 "processing"%J& +5 "core" &] +2 .tPC.seek :closed +2 "processing"%l(Z +5 "core" &d +6 &Dl #c +10 &y\\g 6 +9 &h G +9 &ge F +10 &mjg G +9 &.l[ G +10 & jX G +9 &"g\\ G +9 &$uhd G +10 &&7j^ G +9 &'gV G +9 &)jS G +10 &+|lS G +9 &->iT G +9 &/jS G +10 &0j\\ G +9 &2j` G +10 &4Fg[ G +9 &6 i^ G +9 &7je F +10 &9i\\ G +9 &;Pj] F +9 &=j] G +10 &>k\\ G +9 &@kY G +10 &BUj] G +9 &Dj] G +9 &Ek[ H +10 &Gt] H +9 &IY~[ I +10 &KY K +9 &L^ M +9 &N_ M +10 &PT\\ M +9 &R\\ M +9 &S[ N +10 &UX N +9 &W[Z N +9 &Y] I +10 &ZS>r] 'q +9 &Z*W % +6 ( + "processing"%J& +5 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.49 + .Hand.open + "manipulator"&j1 +4 "core" &ZW % +59 1 + "manipulator"&% +4 "core" % S  w +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"& '\ +91 "core" ' +2 "processing"%h& +4 "core" &ZH % +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&% +4 "core" %\ ,  "Y +2 "storage"(!% +3 "core" %E w  +2 "storage"(W. +3 "core" .( +2 "storage"(& +3 "core" & +2 "storage"(,& +5 "manipulator"&^& +3 "core" &  +2 &c D +3 ."raiseStack"SE.reconfigure :place +2 .tElbow.reconfigure :tight +3 "storage"(#]kK-0-\ b +4 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +2 ."raiseStack"SE.seek :beamBreak +3 "manipulator"&8(c + "storage"('e +5 "core" ( +2 "manipulator"&u& +4 "core" &c W +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &c +2 .tForearm.seek PC +2 "manipulator"&~'[ +95 "core" ' + .tHand.close +2 "manipulator"&/ +63 "core" / + .tPC.seek :open +2 "processing"% (p +85 "core" ' + "storage"( - +4 "core" -'e + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place + "storage"(E'B +39 "core" ' +173 "Can"* [Y +81 "core" ( +2 "storage"(-& +4 "core" &\ \ \ \  + "manipulator"&& +4 "core" &c F +2 "manipulator"& % +4 "core" % V Y  +2 .tForearm.seek :retract +2 "manipulator"&G'\ +105 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&(D +256 "core" ( + "manipulator"&& +5 "core" &? Q % + "storage"(\ & +4 "core" & +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&B' +106 "core" ' + .tHand.open +2 "manipulator"&]1 +62 "core" 1 +2 "storage"(/- +4 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate +2 "storage"(5' +23 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(4' +53 "core" ' + #tLights, camera, ACTION! +2 "storage"($- +3 "core" -' +2 "storage"(& +4 "core" &  +2 "manipulator"&;& +3 "core" &?  % +2 .tElbow.seek 3 +2 "manipulator"&M(D +3 "core" ( + "manipulator"&X& +5 "core" &? # % + "storage"()& +4 "core" & Z +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&*' +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"(K'M +61 "core" ' +2 "manipulator"& & +4 "core" &? a g % +2 "storage"(Y& +3 "core" &\ \ \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&P'M +35 "core" ' + .tElbow.hold +2 "manipulator"&R, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"(&'7 +26 "core" ' +2 "manipulator"&<% +5 "core" %Uf "  ' Ƶ + "storage"(S& +4 "core" & 4 + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 308 counts + "manipulator"&%'ρ +19 "core" ' +2 "manipulator"&& +4 "core" &k p s e +2 "storage"(=& +4 "core" &\ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&N' +19 "core" ' +2 "storage"(% +4 "core" %8 \ \  +2 ."downElevator"SE.seek :down +3 "storage"(A'N +100 (?% +2 "core" %G n OC +2 "manipulator"&2% +4 "core" % n m  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&9'\ +90 "core" ' +64 ' + ."downElevator"SE.stop + "storage"(5 +3 (Q& +3 "core" & [ +2 "collection"'q& +4 "core" &]v K + #tStoring generic puck in Collection Clamp to tube 3 +2 "manipulator"&H% +4 "core" %\ / j #f + "storage"(>% +4 "core" %L\ \  + "storage"((. +4 "core" .( + "storage"(3& +4 "core" &\ < +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(F( +31 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (.& +2 "core" & < % +2 "manipulator"&[& +4 "core" &k Q e +2 .tElbow.seek 3 + "manipulator"&0(D +30 "core" ( +2 "manipulator"&1& +4 "core" &= K +2 "storage"(7& +3 "core" & \  q ( +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&w' +102 "core" ' +2 "storage"(L& +4 "core" &\ \ \ \ T ( +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(b'e +283 "core" ' + "storage"(D- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&:& +3 "core" &=  K +2 "storage"(k& +3 "core" & x , +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 + "manipulator"&_'M +33 "core" ' +2 .tElbow.hold +2 "manipulator"&I, +3 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(Z- +2 "core" -' +3 .tSE.seek 0.12 Pucks below Top Plate + "storage"(C'q +26 "core" ' +2 "manipulator"&z% +5 "core" %QS  #  ǰ + "storage"(& +4 "core" & , + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 304 counts + "manipulator"&d'} +19 "core" ' + "manipulator"&+& +5 "core" &D s p D + "storage"(m& +4 "core" &\ \ \  , +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts + "manipulator"&\\' +20 "core" ' +2 .tSE.seek 1.12 Pucks below Top Plate + "storage"(p'` +51 "core" ' + "manipulator"&{& +5 "core" &D c i [ D + "manipulator"&a% +4 "core" % c j O  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&}'\ +97 "core" ' +2 .tElbow.seek CC + "manipulator"&U( +163 "core" ( + "manipulator"&& +4 "core" &( ?Q +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &e& +2 "core" &(  ?Q +52 .tForearm.seek CC +2 "manipulator"&`'| +100 "core" ' +2 .tHand.close +2 "manipulator"&6/ +59 "core" / +2 .tCC.seek :open + "collection"'x(p +410 "core" ( + "storage"(r& +5 "core" &\ \  q , + "storage"(c& +4 "core" &\ \  , +2 "manipulator"&& +3 "core" &1  7 +2 "manipulator"&f% +3 "core" % ϋ  +2 .tForearm.seek :retract +2 "manipulator"&'\ +96 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 + "manipulator"&(D +161 "core" ( +2 "manipulator"&@& +4 "core" &J ? g +2 "storage"(t& +8 "core" &\ !\  , +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 + "manipulator"&'M +107 "core" ' +2 .tElbow.hold + "manipulator"&, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&"1 +63 "core" 1 +2 "manipulator"&'% +5 "core" % ^{ a < + "storage"(& +4 "core" & C , + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 3 + 317 counts +2 "manipulator"&O'ϊ +11 "core" ' +3 "manipulator"&n& +4 "core" &Q l c \\ ` +2 "storage"(|& +3 "core" &\ B\ C , +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&i' +24 "core" ' +2 "storage"(g% +4 "core" %\\\ B\ B +2 ."downElevator"SE.seek :down +4 "storage"(s'N +99 (v% +3 "core" %D\ \   N? +2 "manipulator"&V% +4 "core" %) ` ` +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +87 "core" ' +54 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 4 of [3..4] + #Loading generic puck from tube 4 into Collection Clamp +2 "collection"'o& +4 "core" &n +2 "manipulator"&#% +4 "core" %\ * !T +2 "storage"(% +4 "core" %J\ \ ! + "storage"(. +4 "core" .( + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"(j(, +341 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (& +2 "core" &,~\ \ z  +2 "manipulator"&h& +4 "core" &Q | ` +2 .tElbow.seek 4 + "manipulator"&(* +30 "core" ( +2 "manipulator"&!& +4 "core" &*  O + "storage"(W& +4 "core" &,~\ !\   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts + "manipulator"&' +92 "core" ' +2 "storage"(^& +4 "core" &,~\ 2\ $ J  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(,'e +274 "core" ' + "storage"(J- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (u& +2 "core" &,~\ \   +2 "manipulator"&& +4 "core" &-  L + .tElbow.seek 4 +2 "manipulator"&(* +4 "core" ( + "manipulator"&& +4 "core" &- 4 L + "storage"( & +4 "core" &,~\ !\ !  +2 .tForearm.seek 4 + 300 counts + "manipulator"&T'Z +24 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"& / +60 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"&l& + "storage"(-'N +7 "core" &- o m  L + "manipulator"&% +4 "core" % Y c p = +2 .tForearm.seek :retract +2 "manipulator"&'\ +96 "core" ' + .tElbow.seek CC +2 "manipulator"& ( +149 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +12 "core" ( + "manipulator"&~& +5 "core" &) 2 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &)  2 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC + "manipulator"&\ '| +99 "core" ' + "manipulator"&8& +5 "core" &)  2 + "manipulator"&]% +4 "core" %φ  +2 "collection"'/& +4 "core" & +2 "collection"'$& +6 "core" & +2 .tCC.seek :closed + "collection"'(] +5 "core" & +6 &C $e +9 &y^z 7 +10 &| H +9 &jx G +9 &rn} G +10 &4k| G +9 & k G +9 &"kt G +10 &$|jq F +9 &&<ku G +10 &'kp G +9 &)ky G +9 &+mk G +10 &-Fjk F +9 &/ki G +9 &0ly G +10 &2kw G +9 &4Ljt G +10 &6kx F +9 &7ly G +9 &9nu G +10 &;Vmu F +9 &=ks F +9 &>ks F +10 &@l} F +9 &B^k~ F +10 &D kx F +9 &El} F +9 &Gm| G +10 &I`xx I +9 &K{ L +9 &Lw O +10 &Nw P +9 &PRz P +10 &Rz Q +9 &Sz Q +9 &Uy R +10 &WSy R +9 &Y} S +9 &Zz T +10 &\\z @ +9 &]u){ %m +9 &]R| ? +3 ( + "collection"'$& +3 #tCollection Clamp onSpring/offSpring for 10/25 samples, on/off torque 1.88 +2 .Hand.open + "manipulator"&;1 +61 "core" 1 + "manipulator"&X% +5 "core" % τ  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&)'\ +98 "core" ' +3 #tLoading generic puck from tube 4 into Processing Clamp + "processing"%G& +5 "core" &U + "manipulator"& % +4 "core" %\ 8  ' + "storage"(Y% +4 "core" %K\ \ " +2 "storage"(E. +3 "core" .(,~ + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"(<(, +7 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (S& +3 "core" &,~ 1  + "manipulator"&5& +4 "core" &) ? 2 +2 "manipulator"&% +3 "core" %\ 8  ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&=(* +152 "core" ( +2 "manipulator"&& +4 "core" &* [  + "storage"(& +4 "core" &,~\ \ \ ?  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts + "manipulator"&B' +106 "core" ' +2 "storage"(4& +4 "core" &,~\ \  }  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(?'e +286 "core" ' +2 "storage"(2- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (*& +2 "core" &,~\ \ U  +2 "manipulator"&M& +3 "core" &* c j P  +2 .tElbow.seek 4 +2 "manipulator"&K(* +3 "core" ( +2 "manipulator"&P& +3 "core" &* r s c  +2 "storage"(%& +3 "core" &,~\ \   +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&Q'Z +19 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&q/ +52 "core" / +2 ."downElevator"SE.seek :down +5 "manipulator"&H& + "storage"(>'N +7 "core" &* l q   +2 "manipulator"&(% +4 "core" % N n n u +2 .tForearm.seek :retract +2 "manipulator"&&'\ +91 "core" ' + .tElbow.seek PC +2 "manipulator"&3(c +160 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +76 "core" ( + "manipulator"&.& +4 "core" &m t R 5 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &[& +2 "core" &m 5 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&1'[ +103 "core" ' +2 "manipulator"&7& +4 "core" &m Z 5 +2 "manipulator"&N% +4 "core" %c $ r +2 "processing"%L& +4 "core" &M +2 "processing"%A& +6 "core" &R +2 .tPC.seek :closed +3 "processing"%(Z +3 "core" &T +6 &W 7 +9 &M[ / +9 &]z\\ C +10 &gY G +9 &h_ G +10 &hW G +9 & XiS G +9 &"hY G +10 &#hJ G +9 &%hX G +9 &'`hN G +10 &)"hN G +9 &*h9 G +9 &,jC G +10 &.igJ G +9 &0*jA G +10 &1gH G +9 &3iJ G +9 &5qhR G +10 &73eH G +9 &8iL G +9 &:hR G +10 &;jN G +10 &?iR G +9 &AiL G +9 &CiM G +10 &EAjY G +9 &GoV H +10 &HvO H +9 &J}U J +9 &L?F K +10 &MT M +9 &OL N +9 &Q~N M +10 &S@S M +9 &UP M +9 &VK M +10 &X[ N +9 &Zl}W d +10 &Z)Q 0 +9 ( + &ZB % +2 "processing"%A& +3 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.47 + .Hand.open +2 "manipulator"&R1 +58 "core" 1 + "manipulator"&9% +54 "core" % b  s +4 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&D'\ +94 "core" ' +2 "processing"%:& +4 "core" &Z> % +2 #tImaging generic puck in Processing Clamp while storing it to tube 4 + "manipulator"&k% +4 "core" %\ *  !R +2 "storage"(Z% +3 "core" %;\ \ e +2 "storage"(z. +3 "core" .(,~ +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"((, +3 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (+& +4 "core" &, /  + "manipulator"&m& +4 ."raiseStack"SE.reconfigure :place +4 "storage"(#]kK-0-\ b +2 "core" &m b 5 +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +3 ."raiseStack"SE.seek :beamBreak +3 "manipulator"&{(c +2 "storage"(a'e +5 "core" ( + "manipulator"&w& +4 "core" &m  5 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &0& +2 "core" &m g 5 +3 .tForearm.seek PC + "manipulator"&b'[ +95 "core" ' +2 .tHand.close + "manipulator"&_/ +61 "core" / +2 .tPC.seek :open +2 "processing"%d(p +83 "core" ' +2 "storage"(C- +3 "core" -'e +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('B +39 "core" ' +255 ( +2 "storage"(e& +4 "core" &,~\  %  + "manipulator"&\\& +4 "core" &m  5 +2 "manipulator"&I% +3 "core" % o  +2 .tForearm.seek :retract +2 "manipulator"&6'\ +96 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&}(* +253 "core" ( +2 "manipulator"&y& +4 "core" &0 Y % +2 "storage"(r& +3 "core" &,~ l  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&c' +105 "core" ' +2 .tHand.open + "manipulator"&1 +63 "core" 1 +2 "storage"(f- +3 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate +2 "storage"(@' +23 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.83 Pucks below Top Plate + "storage"(t' +51 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(`- +3 "core" -' +2 "storage"(U& +3 "core" &,~ n  +2 "manipulator"&"& +4 "core" &1  $ +2 .tElbow.seek 4 + "manipulator"&'(* +4 "core" ( + "manipulator"&& +4 "core" &1 a $ + "storage"(n& +4 "core" &,~ ^  +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&|' +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"(g'M +57 "core" ' +2 "manipulator"&& +4 "core" &1 c k \\ $ +2 "storage"(v& +4 "core" &,~ \  .  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 + "manipulator"&V'. +36 "core" ' +2 .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate + "storage"('7 +25 "core" ' +2 "manipulator"&o% +4 "core" %@S 4 5 ) ˰ +2 "storage"(O& +4 "core" &,~ *  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 318 counts +2 "manipulator"&#'l +18 "core" ' +2 "manipulator"&& +4 "core" & i |  ( +2 "storage"(& +4 "core" &,~  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&p' +19 "core" ' +2 "storage"(i% +4 "core" %A\ \  V +3 ."downElevator"SE.seek :down +3 "storage"(s'N +99 (F% +3 "core" %C\ \ \  OA + "manipulator"&% +4 "core" % c |  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&h'\ +97 "core" ' +56 ' + ."downElevator"SE.stop + "storage"(5 +3 (!& +3 "core" &,~ j  +2 "collection"'W& +3 "core" &]X ? +2 #tStoring generic puck in Collection Clamp to tube 4 +2 "manipulator"&^% +3 "core" %\ 5  & +2 "storage"(% +4 "core" %M\ \  + "storage"(. +3 "core" .(, +2 "storage"(J& +4 "core" &,~\ \ \ [  + "storage"(u& +4 "core" &,~\ \ J  +2 "manipulator"&& +3 "core" &  ( +2 .tElbow.seek 4 +2 "manipulator"&(* +16 "core" ( + "manipulator"& & +5 "core" &B  # + "storage"( & +4 "core" &,~\ \  U  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&l' +95 "core" ' +2 "storage"(& +5 "core" &,~\   +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('e +285 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&~& +3 "core" &C # +2 "storage"(& +4 "core" &,~\ \ \   + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 + "manipulator"&,'. +33 "core" ' + .tElbow.hold +2 "manipulator"&T, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(8- +3 "core" -' +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(]'j +27 "core" ' + "manipulator"&/% +5 "core" %?O 8 6 ̯ + "storage"(& +4 "core" &,~ )  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 4 + 317 counts + "manipulator"&-'k +15 "core" ' + "manipulator"&& +5 "core" && m j f & + "storage"(x& +4 "core" &,~ ~  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts + "manipulator"&;' +22 "core" ' +2 .tSE.seek 1.11 Pucks below Top Plate + "storage"(X'Y +46 "core" ' +2 "manipulator"&G& +4 "core" && t F & +2 "manipulator"& % +4 "core" % l n N +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&Y'\ +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&E( +140 "core" ( +2 "manipulator"&$& +4 "core" &  . + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &S& +2 "core" &  . +2 .tForearm.seek CC +2 "manipulator"&5'| +102 "core" ' +2 .tHand.close + "manipulator"&/ +58 "core" / +2 .tCC.seek :open +2 "collection"'\ (p +406 "core" ( +2 "storage"(& +4 "core" &,~\ \   + "storage"(& +4 "core" &,~\ \  6  +2 "manipulator"&j& +3 "core" &  + +2 "manipulator"&4% +3 "core" % w  z +2 .tForearm.seek :retract +2 "manipulator"& '\ +93 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&)(* +149 "core" ( +2 "manipulator"&2& +4 "core" &) 7 +2 "storage"(*& +3 "core" &,~\ !\    +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 4 + "manipulator"&M'. +113 "core" ' + .tElbow.hold + "manipulator"&P, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&%1 +56 "core" 1 +2 "manipulator"&q% +4 "core" % @w   2 + "storage"(H& +4 "core" &,~\ A  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 318 counts + "manipulator"&('l +18 "core" ' +2 "manipulator"&=& +4 "core" & p t  +2 "storage"(B& +3 "core" &,~\ B\ >   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&?' +19 "core" ' + "storage"(Q% +5 "core" %Z\ B\ B +2 ."downElevator"SE.seek :down +52 "storage"(.'N +51 ([% +2 "core" %Q\ \  R PC +2 "manipulator"&K% +4 "core" % c j  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&7'\ +93 "core" ' +96 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 3 of [3..4] + #Loading generic puck from tube 3 into Collection Clamp +2 "collection"'N& +4 "core" &  +2 "manipulator"&L% +3 "core" %\ 5 z $l +2 "storage"(>% +4 "core" %>\ \  y + "storage"(&. +4 "core" .(, + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"( ( +362 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (R& +2 "core" & > +2 "manipulator"&9& +4 "core" & w  +2 .tElbow.seek 3 +2 "manipulator"&A(D +34 "core" ( +2 "manipulator"&:& +4 "core" &O >  + "storage"(k& +4 "core" &\ \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts + "manipulator"&Z' +92 "core" ' +2 "storage"(z& +4 "core" &\ C\ 8 N +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(+'e +284 "core" ' +2 "storage"(m- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (w& +2 "core" &\ \  +2 "manipulator"&0& +4 "core" &O p p  +2 .tElbow.seek 3 + "manipulator"&1(D +8 "core" ( + "manipulator"&_& +4 "core" &K k v v +2 "storage"(<& +4 "core" &\ \  N +2 .tForearm.seek 3 + 300 counts + "manipulator"&C'y +12 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&3/ +58 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&D& + "storage"('N +8 "core" &K e ` X +2 "manipulator"&e% +3 "core" % o ` ` " 6 +2 .tForearm.seek :retract +2 "manipulator"&a'\ +93 "core" ' +2 .tElbow.seek CC +2 "manipulator"&\\( +145 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +12 "core" ( +2 "manipulator"&I& +4 "core" && 0 =A +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &b& +3 "core" && \\ =A +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC + "manipulator"&y'| +107 "core" ' + "manipulator"&r& +5 "core" &&  =A +2 "manipulator"&{% +4 "core" %v  +2 "collection"'& +4 "core" &  +2 "collection"'f& +5 "core" &  +2 .tCC.seek :closed +2 "collection"'`(] +4 "core" &y  +7 &Rx #d +10 &^ 7 +9 & H +9 &h F +10 &k G +9 &Xq G +10 &!i G +9 &"k| G +9 &$m{ G +10 &&`k{ G +9 &(#k} F +9 &)kp F +10 &+jz F +9 &-hms G +10 &/*jt G +9 &0k} F +9 &2l{ F +10 &4qk{ F +9 &63k| F +9 &7kz G +10 &9mt G +9 &;xlt G +10 &=9jw G +9 &>jy F +9 &@jy G +10 &Bmv G +9 &DBh{ G +9 &Fo{ G +10 &Gk{ G +9 &Iz{ I +10 &K>u K +9 &L} N +9 &N| P +10 &Pt~ P +9 &R5} Q +9 &S| Q +10 &U| R +9 &Wwx R +10 &Y6} S +9 &Zx T +9 &\\z 9 +10 &]x4| ` +9 &]A{ : +2 ( +2 "collection"'f& +3 #tCollection Clamp onSpring/offSpring for 9/25 samples, on/off torque 1.84 + .Hand.open +2 "manipulator"&U1 +57 "core" 1 +2 "manipulator"&"% +4 "core" % v n +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +92 "core" ' + #tLoading generic puck from tube 3 into Processing Clamp +2 "processing"%n& +4 "core" &> + "manipulator"&6% +4 "core" %\ (  A +2 "storage"(% +4 "core" %7\ \ \  + "storage"(v. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 + "storage"(o( +41 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (& +3 "core" &  \ + "manipulator"&O& +4 "core" & %  <@ +2 "manipulator"&@% +3 "core" %\ (  A +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&(D +154 "core" ( + "manipulator"&& +4 "core" &N `  +2 "storage"(i& +4 "core" &\   \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&}' +103 "core" ' + "storage"(c& +4 "core" &\ \  \ +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(t'e +276 "core" ' + "storage"(F- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" &\ \  ? +2 "manipulator"&|& +4 "core" &N _ ` 4  + .tElbow.seek 3 +2 "manipulator"&'(D +3 "core" ( + "manipulator"&g& +4 "core" &N s p y  +2 "storage"(V& +3 "core" &\ \   +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&#'y +21 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&!/ +59 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&W& +2 "storage"(^'N +7 "core" &N J  +2 "manipulator"&% +4 "core" % t  + .tForearm.seek :retract +2 "manipulator"&'\ +92 "core" ' +2 .tElbow.seek PC + "manipulator"&(c +157 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +84 "core" ( + "manipulator"&J& +5 "core" &m Y + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &u& +2 "core" &m  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&'[ +98 "core" ' + "manipulator"& & +4 "core" &m +2 "manipulator"& % +4 "core" %W  +2 "processing"%p& +4 "core" &U +2 "processing"%& +5 "core" &T +2 .tPC.seek :closed + "processing"%s(Z +5 "core" &T +7 &ER #c +9 &|]S 7 +10 &I H +9 &iQ G +10 &wlK G +9 &;hO F +9 & jG G +10 &"f@ G +9 &$jO G +9 &&AlO G +10 &(hB G +9 &)hL G +10 &+lP G +9 &-JhF G +9 &/ iL G +10 &0fG G +9 &2jN G +9 &4RgU G +10 &6hH G +9 &7mI G +9 &9hM G +10 &;YlM G +9 &=iL G +10 &>jM G +9 &@jM G +9 &BbjJ G +10 &D#lD G +9 &ElG G +10 &GuJ H +9 &Ib|N J +9 &KN K +10 &LU M +9 &NN M +9 &P^L N +10 &R"B M +9 &SH N +10 &UL N +9 &WfL N +9 &Y(G E +10 &Z[LJ V +9 &Z>I / +5 ( +2 "processing"%& +4 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.50 + .Hand.open + "manipulator"&1 +4 "core" &Z"G / +59 1 +2 "manipulator"&h% +4 "core" % W ? +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +99 "core" ' + "processing"%~& +5 "core" &Z"J / + #tImaging generic puck in Processing Clamp while storing it to tube 3 +2 "manipulator"&% +4 "core" %\ 5 D & + "storage"(8% +4 "core" %C  + "storage"(/. +3 "core" .( +2 "storage"(& +4 "core" & Q +2 "storage"(& +4 "manipulator"&x& +4 "core" & + &m z + .tElbow.reconfigure :tight +4 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +2 "storage"(#]kK-0-\ b +2 .tElbow.seek PC +5 "manipulator"&G(c +3 ."raiseStack"SE.seek :beamBreak +2 "storage"( 'e +3 "core" ( + "manipulator"&l& +4 "core" &m E + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &m  +2 .tForearm.seek PC +2 "manipulator"&'[ +95 "core" ' + .tHand.close +2 "manipulator"&,/ +56 "core" / +2 .tPC.seek :open +2 "processing"%-(p +93 "core" ' + "storage"(]- +3 "core" -'e +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"($'B +37 "core" ' +248 ( + "storage"(S& +5 "core" &\ \ D + "manipulator"&;& +4 "core" &m  + "manipulator"&T% +4 "core" % Y  +2 .tForearm.seek :retract + "manipulator"&'\ +100 "core" ' +2 .tElbow.reconfigure :tight +53 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&Y(D +256 "core" ( + "manipulator"&& +5 "core" &: ! ( + "storage"(& +4 "core" & +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&' +97 "core" ' + .tHand.open + "manipulator"&j1 +52 "core" 1 +2 "storage"(4- +4 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate +2 "storage"(2' +22 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(*' +51 "core" ' +2 #tLights, camera, ACTION! + "storage"(5- +4 "core" -' + "storage"(E& +4 "core" &   +2 "manipulator"&%& +4 "core" &;  ( +2 .tElbow.seek 3 + "manipulator"&q(D +4 "core" ( + "manipulator"&H& +4 "core" &;  ( +2 "storage"(=& +4 "core" & #  +2 .tForearm.seek 3 + 450 counts + "manipulator"&B' +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"(Q'M +60 "core" ' + "manipulator"& & +5 "core" &; # ( + "storage"([& +4 "core" &\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&K'M +33 "core" ' + .tElbow.hold +2 "manipulator"&), +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.07 Pucks below Top Plate + "storage"(M'7 +24 "core" ' +2 "manipulator"&(% +4 "core" %Nf   Ƶ +2 "storage"(X& +4 "core" &  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 301 counts + "manipulator"&N'z +17 "core" ' +2 "manipulator"&L& +4 "core" &m p w r !u +2 "storage"(>& +4 "core" & \  ?  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&&' +19 "core" ' +2 "storage"(?% +4 "core" %:\ \  T +2 ."downElevator"SE.seek :down +4 "storage"(.'N +99 (% +2 "core" %tI E NA +2 "manipulator"&R% +4 "core" % p m +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&9'\ +97 "core" ' +56 ' + ."downElevator"SE.stop + "storage"(5 +2 (:& +4 "core" & n  +2 "collection"'k& +3 "core" &]Ax : +2 #tStoring generic puck in Collection Clamp to tube 3 +2 "manipulator"&z% +3 "core" %\ 5 ? & +2 "storage"(P% +4 "core" %E \ \ ]  + "storage"(7. +4 "core" .( + "storage"(m& +4 "core" &\ \   + "storage"(w& +5 "core" &\ \ \ '  +2 "manipulator"&0& +3 "core" &m Z !u +2 .tElbow.seek 3 +2 "manipulator"&_(D +57 "core" ( +2 "manipulator"&<& +4 "core" &; \ ( + "storage"(3& +4 "core" & \ H  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&D' +93 "core" ' +2 "storage"(e& +4 "core" &\ \   +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(A'e +276 "core" ' + "storage"(Z- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&I& +30 "core" &<  ' + "storage"(b& +4 "core" &\ \  4  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&+'M +34 "core" ' + .tElbow.hold +2 "manipulator"&C, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(r- +2 "core" -' +2 .tSE.seek 0.12 Pucks below Top Plate +2 "storage"({'v +41 "core" ' +2 "manipulator"&1% +4 "core" %M_ % % dz + "storage"(& +4 "core" &  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 300 counts + "manipulator"&'y +19 "core" ' + "manipulator"&a& +5 "core" &q v | ? n + "storage"(\ & +4 "core" &\ \ 1  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts + "manipulator"&U' +20 "core" ' +2 .tSE.seek 1.12 Pucks below Top Plate + "storage"("'e +43 "core" ' +2 "manipulator"&n& +4 "core" &q p q n +2 "manipulator"&6% +4 "core" % m o + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +90 "core" ' +2 .tElbow.seek CC + "manipulator"&v( +163 "core" ( + "manipulator"&f& +4 "core" & ) a +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" & Y a +2 .tForearm.seek CC + "manipulator"&O'| +97 "core" ' + .tHand.close +2 "manipulator"&@/ +59 "core" / +5 .tCC.seek :open + "collection"'y(p +410 "core" ( +2 "storage"(& +3 "core" &\ !\    +2 "storage"(i& +4 "core" &\ \   +2 "manipulator"& & +4 "core" &\  \\ + "manipulator"&c% +4 "core" % m  +2 .tForearm.seek :retract + "manipulator"&\\'\ +95 "core" ' +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&(D +160 "core" ( + "manipulator"&F& +5 "core" &= : M + "storage"(& +4 "core" &\ \   +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 + "manipulator"&|'M +111 "core" ' + .tElbow.hold +2 "manipulator"&g, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&V1 +64 "core" 1 +2 "manipulator"&!% +4 "core" % Sq  _ ø + "storage"(W& +4 "core" &  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 306 counts + "manipulator"&' +19 "core" ' +2 "manipulator"&& +4 "core" &n u \\ w  +2 "storage"(}& +3 "core" &\ \  V  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&t' +18 "core" ' + "storage"(#% +5 "core" %k\ &\ 3 +2 ."downElevator"SE.seek :down +3 "storage"(J'N +100 (u% +2 "core" %F\ \  0 N? +2 "manipulator"&'% +4 "core" % j l | +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"& '\ +97 "core" ' +40 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 4 of [3..4] +2 #Loading generic puck from tube 4 into Collection Clamp + "collection"' & +5 "core" &| + "manipulator"&p% +4 "core" %\ 5 & + "storage"(^% +4 "core" %7\ \  ]  +2 "storage"(. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 + "storage"(d(, +354 "core" ( +2 .tSC.configure :limp +3 "storage"($\ 1b +2 (& +3 "core" &,~\ \    +2 "manipulator"&h& +4 "core" &n U  + .tElbow.seek 4 +2 "manipulator"&~(* +18 "core" ( + "manipulator"&& +5 "core" &! C  + "storage"(8& +4 "core" &,~\ \   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&/' +97 "core" ' + "storage"(& +4 "core" &,~\ \ & S  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"('e +279 "core" ' + "storage"(x- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +2 "core" &,~\ \    +2 "manipulator"&l& +4 "core" &! -  + .tElbow.seek 4 +2 "manipulator"&(* +3 "core" ( +2 "manipulator"&& +4 "core" &! |   + "storage"(,& +4 "core" &,~\ \   +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&]'Z +23 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +53 "core" / +51 ."downElevator"SE.seek :down +5 "manipulator"&& +3 "storage"(s'N +7 "core" &! m j  + "manipulator"&S% +4 "core" % Q b j ~ +2 .tForearm.seek :retract +2 "manipulator"&;'\ +89 "core" ' +2 .tElbow.seek CC +2 "manipulator"&T( +153 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +12 "core" ( + "manipulator"& & +5 "core" &%  <= + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &% & <= +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&'| +104 "core" ' +2 "manipulator"&& +4 "core" &% C <= +2 "manipulator"&G% +4 "core" %σ | +2 "collection"'j& +4 "core" & +2 "collection"'4& +5 "core" & +2 .tCC.seek :closed + "collection"'5(] +5 "core" & +7 &< $d +10 &v] 6 +9 & H +9 &h F +10 &km G +9 &-p| G +10 & o G +9 &"l} F +9 &$tk F +10 &&5m} G +9 &'p G +9 &)jx G +10 &+|ky F +9 &->kr F +10 &.n| G +9 &0mz F +9 &2mw G +10 &4Epy G +9 &6mu G +9 &7mz F +10 &9kz F +9 &;Oj{ F +10 &=ny F +9 &>j~ F +9 &@j} G +10 &BThs G +9 &Djx G +9 &Eny G +10 &Gk G +9 &IXyz H +10 &K| K +9 &Lx O +9 &Nz O +10 &PHy Q +9 &R z P +9 &S| Q +10 &U~ R +9 &WK| R +10 &Y\ | S +9 &Z{ S +9 &\\x @ +10 &]p'| &o +9 &]Sx ? +2 ( +2 "collection"'4& +3 #tCollection Clamp onSpring/offSpring for 10/25 samples, on/off torque 1.84 + .Hand.open +2 "manipulator"&E1 +54 "core" 1 +2 "manipulator"&%% +4 "core" % y x +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&H'\ +102 "core" ' +2 #tLoading generic puck from tube 4 into Processing Clamp + "processing"%=& +5 "core" &A + "manipulator"&% +4 "core" %\ 8 > ' +2 "storage"( % +3 "core" %=\   +2 "storage"([. +3 "core" .(,~ +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 + "storage"(((, +6 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 ($& +2 "core" &,0 5  +2 "manipulator"&X& +4 "core" &$ f << +2 "manipulator"&2% +3 "core" %\ 8 a ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&L(* +155 "core" ( +2 "manipulator"&>& +4 "core" &4 S  + "storage"(?& +4 "core" &,~\ \ \ \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&Y' +96 "core" ' + "storage"(& +5 "core" &,~\ \   +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(*'e +276 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (R& +2 "core" &,~\ \ ~  +2 "manipulator"&B& +4 "core" &4   +2 .tElbow.seek 4 + "manipulator"&q(* +4 "core" ( + "manipulator"&Q& +4 "core" &4   +2 "storage"(K& +3 "core" &,~\ \  +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&N'Z +22 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&:/ +61 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&k& +2 "storage"(z'N +8 "core" &4 n n  + "manipulator"&P% +4 "core" % U n n +2 .tForearm.seek :retract + "manipulator"&7'\ +92 "core" ' +2 .tElbow.seek PC + "manipulator"&M(c +160 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +76 "core" ( +2 "manipulator"&m& +4 "core" &[ q ? 5 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &w& +3 "core" &[ H 5 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&0'[ +92 "core" ' + "manipulator"&<& +4 "core" &[  5 +2 "manipulator"&3% +4 "core" %U +2 "processing"%&& +4 "core" &Q +2 "processing"%e& +4 "core" &Z +2 .tPC.seek :closed +2 "processing"%.(Z +4 "core" &Q  +10 &9S *x +9 &m[ > +9 &x\\ G +10 &NgV G +9 &iT G +9 &kH G +10 &!jM G +9 &#WgN F +10 &%hB G +9 &&gB G +9 &(gP F +10 &*^hO G +9 &,lT G +9 &-hS G +10 &/iT G +9 &1ekR G +10 &3(hS G +9 &4gT G +9 &6hT G +10 &8mkS G +9 &:0gL G +9 &;kT G +10 &=iN G +9 &?vjK G +9 &A8jD G +10 &BjO G +9 &DmM G +10 &F|kS G +9 &H=oO H +9 &IxO I +10 &KR J +9 &MwF L +10 &O6K M +9 &PK M +9 &RA M +10 &T|H M +9 &V>< M +9 &WD N +10 &YG 0 +9 &Z.t= N +9 &Z? , +3 ( + "processing"%e& +3 #tProcessing Clamp onSpring/offSpring for 8/26 samples, on/off torque 1.47 +2 .Hand.open + "manipulator"&)1 +64 "core" 1 + "manipulator"&9% +4 "core" % U r +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&Z'\ +93 "core" ' +2 "processing"%I& +4 "core" &Z? , + #tImaging generic puck in Processing Clamp while storing it to tube 4 +2 "manipulator"&b% +4 "core" %\ * X !V + "storage"(r% +4 "core" %B\ \  + "storage"(1. +3 "core" .(, +2 "storage"(& +4 "core" &,~ \ \ -  +2 "storage"(a& +2 "manipulator"&\ & +7 "core" &,~\ \   + &[  5 +3 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +4 "storage"(#]kK-0-\ b +3 "manipulator"&$&.,(\ #b +3 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +3 "storage"(n'e + "manipulator"&6(c +5 "core" ( + "manipulator"&D& +4 "core" &[ # 5 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &_& +3 "core" &[  5 +2 .tForearm.seek PC + "manipulator"&A'[ +96 "core" ' +2 .tHand.close + "manipulator"&+/ +60 "core" / +2 .tPC.seek :open + "processing"%(p +84 "core" ' +2 "storage"({- +3 "core" -'e + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(f'B +43 "core" ' +250 ( +2 "storage"(& +4 "core" &,~\ \ k  + "manipulator"&U& +4 "core" &[  5 +2 "manipulator"&C% +4 "core" % d 0 +2 .tForearm.seek :retract + "manipulator"&@'\ +103 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&(* +259 "core" ( +2 "manipulator"&`& +4 "core" &;  n + "storage"(& +4 "core" &,~ \  4  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&i' +103 "core" ' + .tHand.open +2 "manipulator"& 1 +53 "core" 1 +2 "storage"(c- +4 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate + "storage"(F' +22 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(' +51 "core" ' +2 #tLights, camera, ACTION! + "storage"(O- +4 "core" -' + "storage"(v& +4 "core" &,~  +2 "manipulator"&V& +3 "core" &;  n +2 .tElbow.seek 4 + "manipulator"&!(* +26 "core" ( +2 "manipulator"&W& +4 "core" &4   +2 "storage"(& +4 "core" &,~  +2 .tForearm.seek 4 + 450 counts + "manipulator"&}' +21 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"(#'M +58 "core" ' + "manipulator"&\\& +4 "core" &4 _ j G  +2 "storage"(u& +4 "core" &,~\ \  F  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 + "manipulator"&''. +35 "core" ' +2 .tElbow.hold + "manipulator"&, +5 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"(|'7 +24 "core" ' +2 "manipulator"& % +4 "core" %A[    Ʋ +2 "storage"(p& +4 "core" &,~   + .tForearm.force -20 +52 "manipulator"&5 +4 .tForearm.seek 4 + 319 counts + "manipulator"&'m +16 "core" ' +2 "manipulator"&^& +4 "core" & t ] y  +2 "storage"(& +4 "core" &,~\ \   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&"' +22 "core" ' + "storage"(t% +4 "core" %>\ \    +3 ."downElevator"SE.seek :down +4 "storage"(J'N +99 (o% +3 "core" %.H\ \ D OB +2 "manipulator"&% +4 "core" % n c H & +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&h'\ +91 "core" ' +59 ' + ."downElevator"SE.stop + "storage"(5 +2 (& +4 "core" &,~ `  +2 "collection"'8& +4 "core" &]Y ? + #tStoring generic puck in Collection Clamp to tube 4 +2 "manipulator"&% +4 "core" %\ /  #c +2 "storage"(g% +3 "core" %D\ \ \  +2 "storage"( . +3 "core" .(, +2 "storage"(x& +3 "core" &,~\ \ \ r  +2 "storage"(& +4 "core" &,~\ \ \  +2 "manipulator"&l& +3 "core" &   +2 .tElbow.seek 4 +2 "manipulator"&(* +23 "core" ( + "manipulator"&,& +4 "core" &' + & +2 "storage"(& +4 "core" &,~\ \   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&' +103 "core" ' + "storage"(S& +4 "core" &,~\ \ d  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(~'e +288 "core" ' + "storage"(/- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"& & +3 "core" &(  & +2 "storage"(& +3 "core" &,~\ \ \   +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&'. +30 "core" ' + .tElbow.hold + "manipulator"&], +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(- +2 "core" -' +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"('i +30 "core" ' +2 "manipulator"&G% +5 "core" %B\\ * 7 D ɲ + "storage"(j& +4 "core" &,~  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 4 + 320 counts +2 "manipulator"&s'n +11 "core" ' +2 "manipulator"&;& +4 "core" & + + +2 "storage"(y& +4 "core" &,~\  n  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&E' +18 "core" ' +2 .tSE.seek 1.11 Pucks below Top Plate +2 "storage"(%'X +43 "core" ' + "manipulator"&=& +4 "core" &  + +2 "manipulator"&% +4 "core" % g W +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"& '\ +95 "core" ' +2 .tElbow.seek CC +2 "manipulator"&[( +137 "core" ( + "manipulator"&4& +5 "core" & 9 . + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &$& +3 "core" & W . +2 .tForearm.seek CC + "manipulator"&X'| +96 "core" ' + .tHand.close +2 "manipulator"&2/ +53 "core" / +3 .tCC.seek :open + "collection"'(p +409 "core" ( +2 "storage"(>& +4 "core" &,~\ \   + "storage"(?& +4 "core" &,~\ \    + "manipulator"&d& +4 "core" & P , +2 "manipulator"&% +4 "core" % g T +2 .tForearm.seek :retract +2 "manipulator"&T'\ +100 "core" ' +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&H(* +183 "core" ( +2 "manipulator"&& +4 "core" &0  +2 "storage"(R& +4 "core" &,~\ \    + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 4 + "manipulator"&B'. +112 "core" ' + .tElbow.hold +2 "manipulator"&Q, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&K1 +61 "core" 1 +2 "manipulator"&:% +4 "core" % ? 0 Y + "storage"(k& +4 "core" &,~ \ '  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 4 + 317 counts + "manipulator"&P'k +18 "core" ' + "manipulator"&L& +4 "core" & [ s j  +2 "storage"(Y& +4 "core" &,~\ 2\  2  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&*' +20 "core" ' +2 "storage"(N% +4 "core" %\\\ B\ B +2 ."downElevator"SE.seek :down +3 "storage"(m'N +100 (w% +2 "core" %oG\ \  ; N> +2 "manipulator"&q% +4 "core" % c k S  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&<'\ +95 "core" ' +43 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 3 of [3..4] + #Loading generic puck from tube 3 into Collection Clamp +2 "collection"'3& +4 "core" & +2 "manipulator"&&% +4 "core" %\ 5 E & + "storage"(z% +4 "core" %9\ \   +2 "storage"(7. +3 "core" .(, +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(-( +362 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 ()& +2 "core" & 0 +2 "manipulator"&9& +4 "core" & f  + .tElbow.seek 3 +2 "manipulator"&I(D +16 "core" ( +2 "manipulator"&b& +4 "core" &B m R + "storage"(r& +4 "core" &\ \  p +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&1' +100 "core" ' +2 "storage"(& +4 "core" &\ 8\ 6 ! +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(e'e +286 "core" ' +2 "storage"(\ - +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (a& +2 "core" &\ \  +2 "manipulator"&D& +4 "core" &B\ p o R + .tElbow.seek 3 +2 "manipulator"&_(D +3 "core" ( +2 "manipulator"&0& +3 "core" &B\ z v  R +2 "storage"(+& +4 "core" &\ B\ B +2 .tForearm.seek 3 + 300 counts + "manipulator"&{'y +28 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&M/ +55 "core" / +2 ."downElevator"SE.seek :down +5 "manipulator"&Z& + "storage"(.'N +6 "core" &B\ k d S R +2 "manipulator"&% +4 "core" % ϋ h k  +2 .tForearm.seek :retract +2 "manipulator"&n'\ +88 "core" ' +2 .tElbow.seek CC + "manipulator"&U( +139 "core" ( +2 "manipulator"&C& +4 "core" & c . +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &A& +2 "core" &  . +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 "core" ' +2 .tForearm.seek CC +2 ."downElevator"SE.stop +3 "manipulator"&`'| +2 "storage"(5 +101 "core" ' + "manipulator"&& +4 "core" & S . +2 "manipulator"&6% +4 "core" %  +2 "collection"' & +4 "core" & +2 "collection"'c& +5 "core" & +2 .tCC.seek :closed + "collection"'O(] +5 "core" &  +8 &6 )w +9 &k = +10 &x G +9 &Dm G +10 &n G +9 &j G +9 &!l G +10 &#Kn G +9 &%i{ F +9 &&k G +10 &(m G +9 &*Ujw F +10 &,h F +9 &-i~ F +9 &/k} G +10 &1]jz F +9 &3jy G +9 &4g{ G +10 &6gu G +9 &8ej{ F +10 &:&kz G +9 &;l F +9 &=jz F +10 &?ljw G +9 &A.mw G +9 &Bku F +10 &Dhx F +9 &Ftkv G +10 &H6nx G +9 &I}y I +9 &K L +10 &Me| O +9 &O%u O +9 &P} P +10 &Rw Q +9 &Tf Q +10 &V%z R +9 &W R +9 &Y} T +10 &[a V +9 &] x (~ +9 &]$ Z +10 &]N > +2 ( +2 "collection"'c& +3 #tCollection Clamp onSpring/offSpring for 8/26 samples, on/off torque 1.85 + .Hand.open +2 "manipulator"&v1 +57 "core" 1 +2 "manipulator"&V% +4 "core" % {  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&W'\ +97 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp +51 "processing"%@& +5 "core" &O + "manipulator"&% +4 "core" %\ -  "] +2 "storage"(\\% +4 "core" %F\ \   + "storage"(u. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 + "storage"(f( +40 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (F& +2 "core" & p +2 "manipulator"& & +4 "core" &  . +2 "manipulator"&p% +3 "core" %\ - + "] +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&(D +197 "core" ( + "manipulator"&^& +5 "core" &? < # + "storage"(& +4 "core" & \ M +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&i' +92 "core" ' +2 "storage"(t& +4 "core" &\ \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"('e +277 "core" ' + "storage"(}- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (o& +2 "core" &\ \  +2 "manipulator"&& +4 "core" &@  "~ + .tElbow.seek 3 +2 "manipulator"&!(D +3 "core" ( +2 "manipulator"&#& +3 "core" &@ 8 "~ +2 "storage"('& +4 "core" & \  & +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&'y +11 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +53 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&8& +2 "storage"('N +7 "core" &@  "~ + "manipulator"&g% +4 "core" % m  A +2 .tForearm.seek :retract +2 "manipulator"& '\ +98 "core" ' +2 .tElbow.seek PC +2 "manipulator"&x(c +156 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +95 "core" ( + "manipulator"&|& +5 "core" &k  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &k ] +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC + "manipulator"&l'[ +108 "core" ' +2 "manipulator"&,& +4 "core" &k / +2 "manipulator"&% +3 "core" %P  b +2 "processing"%"& +4 "core" &P +2 "processing"%S& +5 "core" &P +2 .tPC.seek :closed + "processing"%J(Z +5 "core" &Y  +9 &5V )v +9 &i[ < +10 &w|I G +9 &;hH F +9 &jQ F +10 &hQ G +9 &!kR G +10 &#ChP F +9 &%hS G +9 &&mQ G +10 &(fT G +9 &*KhT F +9 &, hV G +10 &-gU G +9 &/jT G +10 &1QlU G +9 &3jT F +9 &4hS G +10 &6kU G +9 &8ZkU G +9 &:eP G +10 &;kI G +9 &=mP G +10 &?ckQ F +9 &A$kR G +9 &BlP G +10 &DnM G +9 &FimM G +9 &H'wN H +10 &IS I +9 &KN K +10 &MaN M +9 &O"N M +9 &PL M +10 &RM M +9 &TjI L +9 &V)H M +10 &WD M +9 &YN : +10 &Z#rG \\ +9 &Z"B + +2 ( +2 "processing"%S& +3 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.51 + .Hand.open +2 "manipulator"&1 +63 "core" 1 +2 "manipulator"&h% +4 "core" % Q @ a +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&/'\ +99 "core" ' + "processing"% & +4 "core" &Z G + +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&% +4 "core" %\ 8 , ' +2 "storage"(% +3 "core" %O +2 "storage"(G. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 3 +3 "storage"(j( +18 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (;& +4 "manipulator"&y& +2 "core" & v  +4 ."raiseStack"SE.reconfigure :place +4 "storage"(#]kK-0-\ b +2 "core" &k ^ +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 ."raiseStack"SE.seek :beamBreak +4 .tElbow.seek PC +2 "storage"(='e + "manipulator"&(c +5 "core" ( + "manipulator"&& +4 "core" &k " +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &k  +2 .tForearm.seek PC +2 "manipulator"&~'[ +100 "core" ' + .tHand.close +2 "manipulator"&/ +63 "core" / + .tPC.seek :open +2 "processing"%s(p +80 "core" ' +2 "storage"(4- +3 "core" -'e +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('B +33 "core" ' +264 ( +2 "storage"($& +4 "core" &\ \ \ n  + "manipulator"&E& +4 "core" &k u +2 "manipulator"&]% +4 "core" % ^  +2 .tForearm.seek :retract +2 "manipulator"&2'\ +102 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"& (D +256 "core" ( +2 "manipulator"&5& +4 "core" &;  ) +2 "storage"(>& +3 "core" & \ N  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&?' +93 "core" ' + .tHand.open +2 "manipulator"&d1 +64 "core" 1 +2 "storage"(- +4 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate + "storage"(' +23 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.83 Pucks below Top Plate + "storage"(R' +52 "core" ' + #tLights, camera, ACTION! +2 "storage"(X- +3 "core" -' +2 "storage"([& +4 "core" & ~ ~ %  + "manipulator"&K& +4 "core" &; R ) +2 .tElbow.seek 3 +2 "manipulator"&:(D +3 "core" ( + "manipulator"&k& +4 "core" &;  ) +2 "storage"(L& +3 "core" & } .  +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&Y' +4 "core" ' + .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"(N'M +59 "core" ' + "manipulator"&T& +5 "core" &;  ) + "storage"(w& +4 "core" &\ \   +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&q'M +30 "core" ' + .tElbow.hold +2 "manipulator"&H, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"(B'7 +25 "core" ' + "manipulator"&3% +4 "core" %_v  : ú/ +2 "storage"(&& +4 "core" & T  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 318 counts + "manipulator"&P'ϋ +18 "core" ' +2 "manipulator"&z& +4 "core" &p o t B "} +2 "storage"(7& +4 "core" &\ \   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&%' +10 "core" ' +2 "storage"(*% +4 "core" %7\ \    +3 ."downElevator"SE.seek :down +3 "storage"(m'N +99 ((% +2 "core" %&H\ \  OC +2 "manipulator"&)% +4 "core" % a b I / +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&9'\ +87 "core" ' +65 ' + ."downElevator"SE.stop +3 "storage"(5 +2 (b& +4 "core" & \  t  +2 "collection"'r& +4 "core" &]Ly > + #tStoring generic puck in Collection Clamp to tube 3 +2 "manipulator"&% +4 "core" %\ % \ 6 +2 "storage"(Q% +3 "core" %B\ \ \   +2 "storage"(<. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(\ ( +14 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (a& +3 "core" &  +2 "manipulator"&D& +4 "core" &p "} +2 .tElbow.seek 3 +2 "manipulator"&0(D +58 "core" ( +2 "manipulator"&+& +4 "core" &8 % ( +2 "storage"(M& +3 "core" &\ \  1  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&Z' +99 "core" ' + "storage"(& +5 "core" & \   +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +50 "storage"(I'e +275 "core" ' +2 "storage"(1- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&C& +2 "core" &9 0 ( +2 "storage"(A& +4 "core" &\ \   + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 + "manipulator"&e'M +33 "core" ' +2 .tElbow.hold + "manipulator"&{, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(- +3 "core" -' +2 .tSE.seek 0.12 Pucks below Top Plate +2 "storage"(6'v +28 "core" ' + "manipulator"& % +5 "core" %G\\   $ Dz + "storage"(_& +4 "core" & _  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 3 + 294 counts +2 "manipulator"&n's +17 "core" ' + "manipulator"&.& +5 "core" &s Z t c k + "storage"(& +4 "core" &\ \   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&v' +17 "core" ' +3 .tSE.seek 1.12 Pucks below Top Plate + "storage"(V'e +44 "core" ' +2 "manipulator"&@& +4 "core" &s n n k +2 "manipulator"&c% +4 "core" % m k +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +94 "core" ' +2 .tElbow.seek CC + "manipulator"&\\( +163 "core" ( +2 "manipulator"&u& +4 "core" &\  S + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &F& +3 "core" & ? S +2 .tForearm.seek CC + "manipulator"& '| +99 "core" ' + .tHand.close + "manipulator"&p/ +57 "core" / +2 .tCC.seek :open +2 "collection"'`(p +409 "core" ( + "storage"(^& +5 "core" &\ \   + "storage"(& +4 "core" &\ \   + "manipulator"&-& +4 "core" &  S +2 "manipulator"&U% +3 "core" % m  +2 .tForearm.seek :retract +2 "manipulator"&t'\ +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&W(D +171 "core" ( + "manipulator"&}& +5 "core" &>  !s + "storage"(o& +4 "core" &\ \    +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 + "manipulator"&'M +111 "core" ' + .tElbow.hold +2 "manipulator"&#, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&'1 +58 "core" 1 +2 "manipulator"&% +4 "core" % Wu  ¹' +2 "storage"(8& +3 "core" & \  ~  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 310 counts +2 "manipulator"&g'σ +18 "core" ' +2 "manipulator"&& +4 "core" &p u ^ W A + "storage"(i& +4 "core" &\ (\  $  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts + "manipulator"&' +19 "core" ' + "storage"(% +4 "core" %^\ B\ B +3 ."downElevator"SE.seek :down +3 "storage"(|'N +99 (% +2 "core" %F\ \  M> +2 "manipulator"&!% +4 "core" % o o !  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&,'\ +91 "core" ' +49 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 4 of [3..4] + #Loading generic puck from tube 4 into Collection Clamp +2 "collection"'& +4 "core" & + "manipulator"&"% +4 "core" %\ - ) "a +2 "storage"(% +4 "core" %B\ \   +2 "storage"( . +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"((, +354 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (& +2 "core" &,\ *  +2 "manipulator"&h& +4 "core" &p > A +2 .tElbow.seek 4 + "manipulator"& (* +55 "core" ( +2 "manipulator"&& +4 "core" &3  )  + "storage"(& +4 "core" &,~\ !\ ! %  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts + "manipulator"&G' +97 "core" ' + "storage"(S& +5 "core" &,~\ 5\ 5  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(;'e +281 "core" ' + "storage"(y- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (& +3 "core" &,~\ \   +2 "manipulator"&& +4 "core" &4   +2 .tElbow.seek 4 + "manipulator"&l(* +4 "core" ( + "manipulator"&& +4 "core" &4 %  + "storage"(f& +4 "core" &,~\ \   +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&4'Z +19 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&x/ +53 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&/& +2 "storage"(J'N +8 "core" &4 c n u  +2 "manipulator"&$% +4 "core" % O n d j +2 .tForearm.seek :retract +2 "manipulator"&='\ +88 "core" ' +2 .tElbow.seek CC +2 "manipulator"&E( +156 "core" ' +2 ."downElevator"SE.stop +2 "storage"(5 + "core" ( +2 "manipulator"&]& +5 "core" &* h @[ + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &~& +3 "core" &)  @[ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&5'| +102 "core" ' +2 "manipulator"&>& +5 "core" &) 6 @[ + "manipulator"&% +4 "core" %υ e +2 "collection"'d& +4 "core" & +2 "collection"'& +5 "core" & +2 .tCC.seek :closed +3 "collection"'X(] +3 "core" & +6 & : +10 &O 0 +9 &d} D +9 &g G +10 &l G +9 &j F +9 & bj G +10 &"%k G +9 &#j F +10 &%h G +9 &'kh G +9 &)-j G +10 &*k~ G +9 &,g| G +9 &.tj F +10 &04j G +9 &1j G +10 &3gy G +9 &5|h{ F +9 &7=j G +10 &8g{ G +9 &:hy F +9 &<hx F +10 &>Ejw G +9 &@m} G +10 &Ah} G +9 &Cjz F +9 &ENiy F +10 &Gk G +9 &Hv} H +9 &Jy J +10 &L@y N +9 &M{ P +10 &O P +9 &Qz P +9 &S<~ R +10 &T R +9 &Vt R +9 &X}~ T +10 &Z? T +9 &[{ Y +10 &]TI [ +9 &]&{ O +10 ( &]av B +2 "collection"'& +3 #tCollection Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.88 + .Hand.open + "manipulator"&[1 +57 "core" 1 + "manipulator"&K% +4 "core" % y u +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&k'\ +102 "core" ' +2 #tLoading generic puck from tube 4 into Processing Clamp + "processing"%L& +4 "core" &U +2 "manipulator"&2% +4 "core" %\ 7 f ' + "storage"(T% +4 "core" %J +2 "storage"(w. +3 "core" .(,~ + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"(3(, +3 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (&& +3 "core" &, 7  +2 "manipulator"&& +3 "core" &( g ?Q +2 "manipulator"&z% +4 "core" %\ 8 v ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&(* +173 "core" ( + "manipulator"&7& +4 "core" &(  @ +2 "storage"(*& +4 "core" &,~\ \   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"& ' +109 "core" ' + "storage"(?& +4 "core" &,~\ \  A  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(R'e +279 "core" ' + "storage"((- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 ()& +3 "core" &,~\ \ \  H  + "manipulator"&Y& +4 "core" &) n o ? +2 .tElbow.seek 4 + "manipulator"&:(* +4 "core" ( + "manipulator"&N& +4 "core" &) v \\  ? + "storage"(q& +4 "core" &,~\ \  +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&b'Z +20 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&P/ +111 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&r& +2 "storage"('N +7 "core" &)  ? +2 "manipulator"&Q% +4 "core" % V  +2 .tForearm.seek :retract +2 "manipulator"&<'\ +96 "core" ' +2 .tElbow.seek PC + "manipulator"&B(c +152 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +100 "core" ( + "manipulator"&a& +4 "core" &j " +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &D& +2 "core" &j i +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&+'[ +106 "core" ' +2 "manipulator"&M& +4 "core" &j q s +2 "manipulator"&%% +4 "core" %P e a s +2 "processing"%& +4 "core" &P +2 "processing"%m& +5 "core" &V +3 .tPC.seek :closed + "processing"%j(Z +5 "core" &L +7 &EN #c +10 &}[K 6 +9 &L G +9 &cP G +10 &rgN G +9 &4eL G +9 & iP F +10 &"gS F +9 &${jQ F +10 &&<gU G +9 &'hK G +9 &)fT G +10 &+hS F +9 &-ChS G +9 &/iS F +10 &0hS G +9 &2gT G +10 &4MfT F +9 &6gR G +9 &7eK G +10 &9gR G +9 &;SkQ G +9 &=hM F +10 &>hM G +9 &@hN G +10 &B\\iQ G +9 &DhH G +9 &EjP G +10 &GnR G +9 &I^uM I +9 &K~O J +10 &LK K +9 &NG M +10 &P[G M +9 &RF L +9 &SF M +10 &UA M +9 &WaF M +9 &Y#G F +10 &ZUFA ^ +9 &Z 4F * +5 ( +2 "processing"%m& +4 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.49 +2 .Hand.open + "manipulator"&H1 +3 "core" &ZB * +59 1 +2 "manipulator"&9% +3 "core" % W _ T +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&1'\ +90 "core" ' + "processing"%C& +4 "core" &Z8 * +2 #tImaging generic puck in Processing Clamp while storing it to tube 4 +2 "manipulator"&A% +3 "core" %\ , + "Y +2 "storage"(% +4 "core" %7 + "storage"( . +3 "core" .(, +2 "storage"(_& +8 "core" &,~  +2 "storage"(.& +4 "manipulator"&& +9 "core" &,~  + &j \\ +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +6 "manipulator"&$&.,(\ #b + "storage"(#]kK-0-\ b +3 .tElbow.seek PC +5 "manipulator"&@(c +4 ."raiseStack"SE.seek :beamBreak + "storage"(c'e +3 "core" ( + "manipulator"&Z& +4 "core" &j Y +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &0& +2 "core" &j T +2 .tForearm.seek PC +2 "manipulator"&I'[ +95 "core" ' + .tHand.close +2 "manipulator"&e/ +54 "core" / +2 .tPC.seek :open +2 "processing"%n(p +91 "core" ' +2 "storage"(6- +4 "core" -'e + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +2 ."raiseStack"SE.seek :place +2 "storage"(u'B +39 "core" ' +247 ( +2 "storage"(F& +4 "core" &,~\ \ \   + "manipulator"&v& +4 "core" &j  +2 "manipulator"&{% +3 "core" % U  +2 .tForearm.seek :retract +2 "manipulator"&p'\ +103 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 + "manipulator"&(* +247 "core" ( +2 "manipulator"&O& +4 "core" &% . 8 +2 "storage"(^& +3 "core" &,~\  8  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&' +94 "core" ' +2 .tHand.open + "manipulator"&-1 +61 "core" 1 +2 "storage"(U- +4 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate +2 "storage"(}' +21 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.83 Pucks below Top Plate + "storage"(o' +55 "core" ' + #tLights, camera, ACTION! +2 "storage"( - +3 "core" -' +2 "storage"(\\& +4 "core" &,~ L  +2 "manipulator"&'& +4 "core" &% ! 8 + .tElbow.seek 4 +2 "manipulator"&(* +3 "core" ( +2 "manipulator"&8& +4 "core" &%  8 + "storage"(& +4 "core" &,~  +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&i' +4 "core" ' + .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"('M +58 "core" ' + "manipulator"&t& +5 "core" &%  8 + "storage"(& +4 "core" &,~\ \ \ \   +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&!'. +33 "core" ' + .tElbow.hold +2 "manipulator"&W, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"('7 +23 "core" ' + "manipulator"&% +5 "core" %@[   Ȳ + "storage"("& +5 "core" &,~ k  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 318 counts +2 "manipulator"&g'l +19 "core" ' +2 "manipulator"&& +5 "core" & e l ? "z + "storage"( & +4 "core" &,~\ \   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&V' +10 "core" ' +2 "storage"(% +4 "core" %=\ \  s  +3 ."downElevator"SE.seek :down +4 "storage"(|'N +98 (\ % +3 "core" %$N K OC +2 "manipulator"&% +4 "core" % l c h 6 +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&h'\ +87 "core" ' +63 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (& +4 "core" &,~\ \   + "collection"'& +4 "core" &]b B +2 #tStoring generic puck in Collection Clamp to tube 4 + "manipulator"&S% +4 "core" %\ - G "_ +2 "storage"(#% +3 "core" %K\ \   +2 "storage"(,. +3 "core" .(, + "storage"(y& +4 "core" &,~\ \   +2 "storage"(& +4 "core" &,~\ \   +2 "manipulator"&& +3 "core" & "y +2 .tElbow.seek 4 +2 "manipulator"&(* +18 "core" ( + "manipulator"&f& +5 "core" &1 e ( + "storage"(x& +4 "core" &,~\ \ T  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&/' +100 "core" ' + "storage"($& +4 "core" &,~\ \ \ Y  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"( 'e +279 "core" ' +2 "storage"(G- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +2 "manipulator"&]& +3 "core" &5 " ' +2 "storage"(~& +4 "core" &,~  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&;'. +32 "core" ' + .tElbow.hold +2 "manipulator"&4, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(>- +2 "core" -' +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"('h +28 "core" ' + "manipulator"&l% +4 "core" %AO 6 ; h ̯ +2 "storage"(d& +3 "core" &,~  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 319 counts + "manipulator"&J'm +19 "core" ' +2 "manipulator"&=& +4 "core" &  , +2 "storage"(`& +3 "core" &,~\ \   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&[' +16 "core" ' +2 .tSE.seek 1.11 Pucks below Top Plate +2 "storage"(K'W +39 "core" ' +2 "manipulator"&L& +5 "core" &  , + "manipulator"&2% +4 "core" % 7 +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&T'\ +89 "core" ' +2 .tElbow.seek CC +2 "manipulator"&w( +156 "core" ( + "manipulator"&& +4 "core" &* Ab +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &&& +2 "core" &+  Ab +2 .tForearm.seek CC +2 "manipulator"&'| +94 "core" ' +2 .tHand.close + "manipulator"&z/ +53 "core" / +2 .tCC.seek :open +52 "collection"'5(p +409 "core" ( +2 "storage"(7& +4 "core" &,~\ \    +2 "storage"(*& +3 "core" &,~\ \   +2 "manipulator"&& +4 "core" &'#  ;5 + "manipulator"&E% +4 "core" % m  +2 .tForearm.seek :retract + "manipulator"&?'\ +100 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&k(* +165 "core" ( +2 "manipulator"&(& +4 "core" &(  / +2 "storage"()& +4 "core" &,~\ \    +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 4 + "manipulator"&Y'. +113 "core" ' +2 .tElbow.hold + "manipulator"&N, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&q1 +54 "core" 1 +2 "manipulator"&P% +5 "core" % @w  ú2 + "storage"(r& +4 "core" &,~ \   +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 4 + 318 counts +2 "manipulator"&Q'l +18 "core" ' +2 "manipulator"&& +4 "core" & x c d k +2 "storage"( & +3 "core" &,~\ \  ;  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&R' +23 "core" ' + "storage"(b% +5 "core" %Z\ \ % = +2 ."downElevator"SE.seek :down +4 "storage"(a'N +99 (D% +3 "core" %C\ \   M= +2 "manipulator"&:% +4 "core" % n l +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&M'\ +90 "core" ' +47 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 3 of [3..4] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"'%& +4 "core" & +2 "manipulator"&% +4 "core" %\ . { #g +2 "storage"(% +3 "core" %9\ \  +2 "storage"(<. +3 "core" .(, +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 + "storage"(s( +365 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (H& +3 "core" & \  N +2 "manipulator"&9& +3 "core" & Y j +2 .tElbow.seek 3 + "manipulator"&C(D +31 "core" ( + "manipulator"&A& +4 "core" &M   +2 "storage"(& +4 "core" &\ \  = +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"& ' +103 "core" ' + "storage"(_& +4 "core" &\ 8\ % g +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(m'e +277 "core" ' + "storage"(.- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +2 "core" &\ \  ? +2 "manipulator"&Z& +4 "core" &M   +2 .tElbow.seek 3 + "manipulator"&0(D +3 "core" ( +2 "manipulator"&+& +3 "core" &M   +2 "storage"(e& +4 "core" &\ \   +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&6'y +11 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&B/ +58 "core" / +2 ."downElevator"SE.seek :down +5 "manipulator"&1& + "storage"(j'N +7 "core" &M t 4  +2 "manipulator"&F% +3 "core" % ς P , +2 .tForearm.seek :retract +2 "manipulator"&v'\ +93 "core" ' +2 .tElbow.seek CC + "manipulator"&{( +148 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +20 "core" ( + "manipulator"&c& +4 "core" &-  Cn +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &I& +2 "core" &- - Cm +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&O'| +98 "core" ' +2 "manipulator"&^& +4 "core" &, \\ Bl +2 "manipulator"&@% +4 "core" %φ ( +3 "collection"'-& +4 "core" & +2 "collection"'U& +4 "core" & +2 .tCC.seek :closed +2 "collection"' (] +4 "core" &  +10 &9 *y +9 &m > +9 &x H +10 &Jg G +9 & j F +9 &k G +10 &!k G +9 &#Sj F +9 &%i G +10 &&m G +9 &(j G +10 &*Zh G +9 &,h G +9 &-j G +10 &/h G +9 &1bjt G +9 &3$ju G +10 &4l} G +9 &6gy G +10 &8kh{ F +9 &:+mu G +9 &;g} F +10 &=kw F +9 &?sjv F +9 &A4jx G +10 &Bnx G +9 &Dg} G +10 &F{k F +9 &H:n G +9 &Iz I +10 &K L +9 &Mky O +9 &O*} P +10 &Py P +9 &Rz P +10 &Tjy R +9 &V+ R +9 &W| S +10 &Y T +9 &[l{ T +10 &\\gv - +9 &]) F +9 ( +2 &]Y A + "collection"'U& +4 #tCollection Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.89 + .Hand.open +2 "manipulator"&\\1 +54 "core" 1 +2 "manipulator"&'% +4 "core" % ρ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&8'\ +92 "core" ' + #tLoading generic puck from tube 3 into Processing Clamp +2 "processing"%& +4 "core" &W +2 "manipulator"&p% +3 "core" %\ )  I +2 "storage"(t% +4 "core" %>\ \   + "storage"(. +3 "core" .( +2 "storage"(& +3 "core" &\ \  +2 "storage"(u& +4 "core" &\ \ Q + "manipulator"&"& +4 "core" &+ 9 Bf +2 "manipulator"&}% +4 "core" %\ ) 3 I +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&(D +179 "core" ( + "manipulator"& & +5 "core" &B ^ $ +2 "storage"(& +3 "core" &\ 0 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&' +96 "core" ' + "storage"(& +4 "core" &\   +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(o'e +282 "core" ' + "storage"(\ - +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (& +3 "core" &\ \ 6 + "manipulator"&i& +4 "core" &C  $ +2 .tElbow.seek 3 + "manipulator"&(D +4 "core" ( + "manipulator"&& +4 "core" &C  $ + "storage"(!& +4 "core" &\  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&'y +21 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +56 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"&g& + "storage"(S'N +7 "core" &C r Q $ +2 "manipulator"&#% +3 "core" % r p Z +2 .tForearm.seek :retract +2 "manipulator"&,'\ +97 "core" ' +2 .tElbow.seek PC +2 "manipulator"&y(c +153 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +100 "core" ( +2 "manipulator"&& +4 "core" &h c + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &h +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC + "manipulator"&'[ +108 "core" ' +2 "manipulator"&f& +4 "core" &h t p w + "manipulator"&x% +4 "core" %P ` c l +2 "processing"%V& +4 "core" &H +2 "processing"%$& +6 "core" &= +2 .tPC.seek :closed + "processing"%|(Z +5 "core" &E +6 &=O #c +10 &x[K 6 +9 &N G +9 &dL G +10 &mlF G +9 &0jG F +9 & jP G +10 &"jR F +9 &$vjU F +10 &&7gT G +9 &'hS F +9 &)hR F +10 &+~hT F +9 &-@hT F +9 &/jT F +10 &0hT G +9 &2kK G +10 &4GjN G +9 &6jF G +9 &7fR G +10 &9fK G +9 &;OgL G +9 &=gS G +10 &>jM G +9 &@hI G +10 &BXhF F +9 &Dj; G +9 &EnM G +10 &GsM H +9 &IXzP I +9 &KM K +10 &LF L +9 &NF M +10 &PTD M +9 &RK M +9 &SB M +10 &UG M +9 &W[C N +9 &YF H +10 &ZSA? #g +9 &Z/F ) +5 ( +2 "processing"%$& +4 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.49 +2 .Hand.open + "manipulator"&W1 +3 "core" &ZB ) +56 1 +2 "manipulator"&h% +4 "core" % U ] +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&G'\ +96 "core" ' + "processing"%]& +5 "core" &ZB ) + #tImaging generic puck in Processing Clamp while storing it to tube 3 +2 "manipulator"&~% +3 "core" %\ 8  ' +2 "storage"(>% +4 "core" %< +52 "storage"(l. +3 "core" .( +2 "storage"(d& +3 "core" & +2 "storage"(=& +5 "manipulator"&`& +3 "core" & + &h  +4 ."raiseStack"SE.reconfigure :place +2 .tElbow.reconfigure :tight +4 "storage"(#]kK-0-\ b +2 "manipulator"&$&.,(\ #b +5 .tElbow.seek PC + "manipulator"&L(c +4 ."raiseStack"SE.seek :beamBreak +2 "storage"(2'e +2 "core" ( + "manipulator"&/& +4 "core" &h + +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &h  +2 .tForearm.seek PC + "manipulator"& '[ +95 "core" ' + .tHand.close +2 "manipulator"&;/ +59 "core" / +3 .tPC.seek :open +2 "processing"%J(p +89 "core" ' + "storage"(- +3 "core" -'e +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +2 ."raiseStack"SE.seek :place +2 "storage"('B +41 "core" ' +247 ( + "storage"(&& +5 "core" & \ 8 + "manipulator"&[& +4 "core" &h  +2 "manipulator"&4% +3 "core" % Y  +2 .tForearm.seek :retract +2 "manipulator"&z'\ +99 "core" ' +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&T(D +245 "core" ( + "manipulator"&X& +4 "core" &B T 4 +2 "storage"(7& +3 "core" &\ \ \ Y +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&*' +101 "core" ' + .tHand.open +2 "manipulator"&1 +59 "core" 1 +2 "storage"(E- +4 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate +2 "storage"((' +22 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"()' +54 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(- +3 "core" -' +2 "storage"(w& +3 "core" & } +2 "manipulator"&q& +4 "core" &B ; 4 +2 .tElbow.seek 3 + "manipulator"&P(D +4 "core" ( + "manipulator"&r& +4 "core" &B  4 + "storage"(& +4 "core" &  +2 .tForearm.seek 3 + 450 counts +2 "manipulator"& ' +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.11 Pucks below Top Plate + "storage"(b'M +60 "core" ' + "manipulator"&?& +5 "core" &B W 4 + "storage"(D& +4 "core" &\ \ \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&:'M +33 "core" ' + .tElbow.hold +2 "manipulator"&k, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.07 Pucks below Top Plate + "storage"(Y'7 +23 "core" ' +2 "manipulator"&%% +4 "core" %Uc   Ŵ +2 "storage"(Q& +4 "core" &  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 308 counts + "manipulator"&'ρ +19 "core" ' +2 "manipulator"&& +4 "core" &W v z T  +2 "storage"(<& +4 "core" &\ \ d +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&K' +20 "core" ' +2 "storage"(R% +4 "core" %A\ \  +2 ."downElevator"SE.seek :down +4 "storage"(a'N +99 (3% +4 "core" %G\ \ p N@ +3 "manipulator"&H% +11 "core" %  o m  +4 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&9'\ +95 "core" ' +41 ' + ."downElevator"SE.stop + "storage"(5 +3 (A& +4 "core" &\ \  + "collection"'& +4 "core" &]X A +2 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&_% +4 "core" %\ 8 Q ' +2 "storage"(N% +4 "core" %@\ \   + "storage"(M. +3 "core" .( +2 "storage"(.& +4 "core" &\  : + "storage"(& +4 "core" &\ \  +2 "manipulator"&Z& +3 "core" &W   +2 .tElbow.seek 3 +2 "manipulator"&+(D +31 "core" ( + "manipulator"&e& +4 "core" &K { * +2 "storage"(B& +4 "core" &\ \ e +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&1' +101 "core" ' +2 "storage"(F& +4 "core" &\ \  ? +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(C'e +287 "core" ' +2 "storage"( - +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&c& +3 "core" &K a l l * +2 "storage"(I& +4 "core" &\ \  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 + "manipulator"&m'M +35 "core" ' +2 .tElbow.hold + "manipulator"&6, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(^- +2 "core" -' +2 .tSE.seek 0.12 Pucks below Top Plate +2 "storage"(@'v +35 "core" ' +2 "manipulator"&0% +4 "core" %^_   ų + "storage"(-& +4 "core" & [ + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 317 counts + "manipulator"&j'ϊ +19 "core" ' + "manipulator"&v& +5 "core" &K q s G * + "storage"(5& +4 "core" &\ \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts + "manipulator"&\\' +20 "core" ' +2 .tSE.seek 1.12 Pucks below Top Plate + "storage"(''e +49 "core" ' +2 "manipulator"&& +4 "core" &K m m * +2 "manipulator"&p% +4 "core" % m m  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&t'\ +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&( +151 "core" ( +2 "manipulator"&& +4 "core" &  0 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &u& +3 "core" &  0 +2 .tForearm.seek CC + "manipulator"&"'| +101 "core" ' + .tHand.close +2 "manipulator"&U/ +61 "core" / +2 .tCC.seek :open + "collection"'}(p +410 "core" ( + "storage"(O& +4 "core" &\ \  +2 "storage"( & +4 "core" &\ \  f + "manipulator"&& +4 "core" &  / + "manipulator"&% +4 "core" %   +2 .tForearm.seek :retract +2 "manipulator"&{'\ +99 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&8(D +169 "core" ( +2 "manipulator"&\ & +4 "core" &8 A o + "storage"(& +4 "core" &\ \   +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 + "manipulator"&i'M +107 "core" ' +2 .tElbow.hold + "manipulator"&, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&!1 +57 "core" 1 +3 "manipulator"&% +4 "core" % _ g +2 "storage"(g& +3 "core" & K +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 318 counts + "manipulator"&#'ϋ +17 "core" ' +2 "manipulator"&& +4 "core" &n ^ u * 9 + "storage"(& +4 "core" &\ \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&o' +22 "core" ' +2 "storage"(% +4 "core" %j\ B\ & O +2 ."downElevator"SE.seek :down +3 "storage"('N +100 (% +2 "core" %D\ \  G N? +2 "manipulator"&% +4 "core" % o p +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&f'\ +87 "core" ' +55 ' + ."downElevator"SE.stop +2 "storage"(5 +2 #tShuffling pucks in tube 4 of [3..4] +2 #Loading generic puck from tube 4 into Collection Clamp +2 "collection"'x& +4 "core" & + "manipulator"&V% +4 "core" %\ ,  "_ +2 "storage"(S% +63 "core" %J\ \  + "storage"(,. +4 "core" .( + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"(n(, +363 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (W& +2 "core" &,#\ \ R  +2 "manipulator"&h& +4 "core" &n  9 + .tElbow.seek 4 +2 "manipulator"&](* +41 "core" ( + "manipulator"&~& +5 "core" &5 K J + "storage"(>& +4 "core" &,~\ \   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts + "manipulator"&$' +101 "core" ' +2 "storage"(l& +4 "core" &,~\ \   +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(d'e +277 "core" ' + "storage"(`- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (=& +3 "core" &,~\ \  2  +2 "manipulator"&/& +3 "core" &: a E +2 .tElbow.seek 4 + "manipulator"&(* +28 "core" ( +2 "manipulator"&& +4 "core" &4 @  +2 "storage"(;& +3 "core" &,~\ \   +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&'Z +20 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&y/ +55 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&G& +2 "storage"(|'N +8 "core" &4 c `  +2 "manipulator"&&% +3 "core" % T a j [ +2 .tForearm.seek :retract +2 "manipulator"&['\ +97 "core" ' +2 .tElbow.seek CC + "manipulator"&4( +150 "core" ' + ."downElevator"SE.stop + "storage"(5 +17 "core" ( +2 "manipulator"&2& +4 "core" &\  Y +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 & & +3 "core" &\ h Y +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&X'| +104 "core" ' +2 "manipulator"&7& +5 "core" &\ % Y + "manipulator"&L% +4 "core" %σ ? +2 "collection"'& +4 "core" & +2 "collection"'E& +5 "core" & +2 .tCC.seek :closed +2 "collection"'(] +4 "core" &  +9 &4 )u +10 &i < +9 &xz H +9 &=g F +10 &j G +9 &n G +10 &!h G +9 &#Ek F +9 &%i F +10 &&k G +9 &(m G +9 &*Ll G +10 &,k G +9 &-k G +9 &/m G +10 &1Th G +9 &3j F +10 &4j F +9 &6l G +9 &8]h F +10 &:k~ G +9 &;gu G +9 &=g} F +10 &?dhw G +9 &A&hv G +10 &Bk| F +9 &Dh F +9 &Flk G +10 &H,ry G +9 &I} I +9 &K M +10 &MZw P +9 &O| P +10 &Pw P +9 &R| Q +9 &T] Q +10 &V{ R +9 &W{ S +10 &Y~ T +9 &[] T +9 &]xx '{ +10 &]'y X +8 ( +2 &]x~ M +2 "collection"'E& +3 #tCollection Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.88 + .Hand.open +2 "manipulator"&w1 +58 "core" 1 +2 "manipulator"&q% +5 "core" % y  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&r'\ +96 "core" ' +2 #tLoading generic puck from tube 4 into Processing Clamp +2 "processing"%& +4 "core" &R + "manipulator"&z% +4 "core" %\ 1 $l +2 "storage"(?% +3 "core" %M\ \  +2 "storage"(D. +3 "core" .(,~ +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 +2 "storage"(%(, +2 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (& +3 "core" &, m  + "manipulator"&Q& +4 "core" &\ Z Y +2 "manipulator"&(% +3 "core" %\ 1 ^ $l +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&(* +161 "core" ( + "manipulator"&<& +4 "core" &% K 5 +2 "storage"(R& +4 "core" &,~\ \ l  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&T' +92 "core" ' + "storage"(*& +4 "core" &,~ \ 8  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"()'e +282 "core" ' + "storage"(3- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (H& +3 "core" &,~ \ \   + "manipulator"& & +4 "core" &%  5 +2 .tElbow.seek 4 + "manipulator"&P(* +4 "core" ( + "manipulator"&b& +4 "core" &% 7 5 + "storage"(:& +4 "core" &,~ \   +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&A'Z +21 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +64 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"(_'N +8 "core" &% p p 5 +2 "manipulator"&N% +3 "core" % X m n +2 .tForearm.seek :retract +2 "manipulator"&M'\ +97 "core" ' +2 .tElbow.seek PC +2 "manipulator"&.(c +153 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +98 "core" ( +2 "manipulator"&Y& +4 "core" &l Z +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &l e +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&Z'[ +109 "core" ' + "manipulator"&e& +5 "core" &l x ` x + "manipulator"&B% +4 "core" %Q l g y +2 "processing"%K& +4 "core" &F +2 "processing"%F& +5 "core" &H +2 .tPC.seek :closed + "processing"%a(Z +5 "core" &B +7 &EF #c +9 &{^G 7 +10 &H H +9 &hK G +10 &ukH G +9 &9gH F +9 & iG G +10 &"eI G +9 &$~gJ G +9 &&AhP F +10 &(hD F +9 &)hP G +10 &+kT G +9 &-HgQ G +9 &/\ iM G +10 &0jM G +9 &2gE G +9 &4PgK G +10 &6kP G +9 &7fJ G +10 &9gF F +9 &;XiG G +9 &=gJ G +10 &>iG G +9 &@h: G +9 &B_hL G +10 &D!jE G +9 &EkF G +10 &GpL G +9 &IcwQ H +9 &K"? J +10 &LD K +9 &NK M +10 &P_H M +9 &R"; L +9 &SB M +10 &U7 M +9 &We: M +9 &Y'= D +10 &Z]PB [ +9 &Z(4 , +2 ( +2 "processing"%F& +3 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.50 + .Hand.open +2 "manipulator"&k1 +63 "core" 1 +2 "manipulator"&9% +4 "core" % V o ? t +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"& '\ +91 "core" ' +2 "processing"%c& +4 "core" &Z ; , + #tImaging generic puck in Processing Clamp while storing it to tube 4 +2 "manipulator"&I% +4 "core" %\ - i "[ + "storage"(^% +4 "core" %E + "storage"(0. +3 "core" .(, +2 "storage"(-& +4 "core" &,~  + "storage"(v& +5 "manipulator"&5& +4 "core" &,~ i  + &l  +3 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +4 "storage"(#]kK-0-\ b +3 "manipulator"&$&.,(\ #b +3 ."raiseStack"SE.seek :beamBreak +4 .tElbow.seek PC +2 "storage"('e +3 "manipulator"&p(c +3 "core" ( + "manipulator"&1& +4 "core" &l ] + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &+& +3 "core" &l +2 .tForearm.seek PC + "manipulator"&C'[ +96 "core" ' + .tHand.close +2 "manipulator"&m/ +62 "core" / +2 .tPC.seek :open +2 "processing"%j(p +80 "core" ' + "storage"(@- +4 "core" -'e + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place + "storage"('B +34 "core" ' +264 ( + "storage"(u& +4 "core" &,~ \   +2 "manipulator"&\\& +4 "core" &l a + "manipulator"&6% +4 "core" % a <  +2 .tForearm.seek :retract + "manipulator"&U'\ +97 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&t(* +255 "core" ( + "manipulator"& & +4 "core" &' # # +2 "storage"(O& +4 "core" &,~ T  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"& ' +92 "core" ' + .tHand.open + "manipulator"&1 +63 "core" 1 +2 "storage"(- +4 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate +50 "storage"(\ ' +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.83 Pucks below Top Plate + "storage"(' +52 "core" ' + #tLights, camera, ACTION! +2 "storage"("- +3 "core" -' +2 "storage"(& +4 "core" &,~   + "manipulator"&!& +4 "core" &' # +2 .tElbow.seek 4 + "manipulator"&(* +4 "core" ( + "manipulator"&g& +4 "core" &' 5 # +2 "storage"(& +4 "core" &,~  +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&' +3 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.11 Pucks below Top Plate + "storage"('M +59 "core" ' +2 "manipulator"&{& +4 "core" &'  # +2 "storage"(& +3 "core" &,~\ 2  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 + "manipulator"&'. +33 "core" ' +2 .tElbow.hold + "manipulator"&8, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"(i'7 +24 "core" ' + "manipulator"&x% +5 "core" %B[ 7 4 G ɲ + "storage"(#& +4 "core" &,~   +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 320 counts +2 "manipulator"&V'n +16 "core" ' + "manipulator"&S& +5 "core" & r  ( +2 "storage"('& +4 "core" &,~\ \   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&,' +10 "core" ' +2 "storage"(o% +4 "core" %?\   +2 ."downElevator"SE.seek :down +4 "storage"('N +99 (s% +3 "core" %D NA +2 "manipulator"&W% +4 "core" %  / +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&h'\ +94 "core" ' +55 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (~& +4 "core" &,~  + "collection"'>& +4 "core" &]x M +2 #tStoring generic puck in Collection Clamp to tube 4 + "manipulator"&l% +4 "core" %\ 5  & +2 "storage"(% +4 "core" %A  +2 "storage"(f. +3 "core" .(, + "storage"(`& +4 "core" &,~\ $  +2 "storage"(=& +4 "core" &,~ \  + "manipulator"&/& +4 "core" &  ( +2 .tElbow.seek 4 + "manipulator"&(* +38 "core" ( +2 "manipulator"&;& +4 "core" &5 $ L +2 "storage"(y& +3 "core" &,~\ \   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&G' +102 "core" ' +3 "storage"(&& +4 "core" &,~\ \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(]'e +279 "core" ' + "storage"($- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&2& +3 "core" &5  L + "storage"( & +4 "core" &,~\ \ V  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&d'. +32 "core" ' +2 .tElbow.hold +2 "manipulator"&, +3 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(7- +3 "core" -' +2 .tSE.seek 0.11 Pucks below Top Plate + "storage"('h +35 "core" ' +2 "manipulator"&L% +4 "core" %BO & ' ǯ +2 "storage"(& +3 "core" &,~   +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 320 counts + "manipulator"&|'n +15 "Can";\ DB +6 "core" ' + "manipulator"&[& +4 "core" & j \\   +2 "storage"(}& +4 "core" &,~ \ e  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts + "manipulator"&w' +12 "core" ' +2 .tSE.seek 1.11 Pucks below Top Plate + "storage"(q'W +48 "core" ' + "manipulator"&& +5 "core" & e l R  + "manipulator"&z% +4 "core" % c ` M 3 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&?'\ +93 "core" ' +2 .tElbow.seek CC + "manipulator"&D( +169 "core" ( + "manipulator"&E& +4 "core" &  9 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &  9 +2 .tForearm.seek CC +2 "manipulator"&Q'| +96 "core" ' + .tHand.close +2 "manipulator"&(/ +56 "core" / +2 .tCC.seek :open + "collection"'X(p +410 "core" ( +2 "storage"(<& +4 "core" &,~\ \   + "storage"(R& +4 "core" &,~\ !\ !  + "manipulator"&n& +4 "core" & 9 +2 "manipulator"&*% +3 "core" % f +2 .tForearm.seek :retract +2 "manipulator"&4'\ +100 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&r(* +175 "core" ( + "manipulator"&3& +4 "core" &7   +2 "storage"(H& +4 "core" &,~\ \   + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 4 + "manipulator"& '. +110 "core" ' +2 .tElbow.hold + "manipulator"&b, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&:1 +60 "core" 1 +2 "manipulator"&% +5 "core" % A 3 # Q + "storage"(& +4 "core" &,~\ \  [  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 319 counts + "manipulator"&N'm +18 "core" ' +2 "manipulator"&& +4 "core" & X r M + "storage"(T& +4 "core" &,~\ C\ B  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&)' +19 "core" ' +2 "storage"(A% +4 "core" %^\ C\ B +2 ."downElevator"SE.seek :down +4 "storage"(Y'N +99 (% +2 "core" %eG\ \  J M> +2 "manipulator"&P% +4 "core" % j m e  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&e'\ +97 "core" ' +46 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 3 of [3..4] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"'B& +4 "core" & +2 "manipulator"&K% +4 "core" %\ 8 { ' +2 "storage"(_% +3 "core" %P\ !\ ! Y +2 "storage"(M. +3 "core" .(, +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(J( +363 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (k& +2 "core" & 7 +2 "manipulator"&9& +4 "core" & y + .tElbow.seek 3 +2 "manipulator"&c(D +27 "core" ( +2 "manipulator"&I& +4 "core" &?  ' + "storage"(^& +4 "core" &\ \  L +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts + "manipulator"&0' +113 "core" ' + "storage"(-& +4 "core" &\ 8\ C ) +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(F'e +282 "core" ' + "storage"(5- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (v& +2 "core" &\ \ '  +2 "manipulator"&1& +4 "core" &B b k A & + .tElbow.seek 3 +2 "manipulator"&+(D +3 "core" ( +2 "manipulator"&Z& +4 "core" &B O e & +2 "storage"(m& +3 "core" &\ !\ ! +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&@'y +29 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&./ +56 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"& & + "storage"(a'N +8 "core" &B a k & + "manipulator"&u% +4 "core" % r ` f 8 +2 .tForearm.seek :retract + "manipulator"&'\ +93 "core" ' +2 .tElbow.seek CC +2 "manipulator"&\\( +155 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +31 "core" ( + "manipulator"&6& +4 "core" &&  =C +2 .tElbow.reconfigure :loose +51 "manipulator"&$ &.,(#b +3 &C& +3 "core" &&  =B +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"& '| +98 "core" ' +2 "manipulator"&O& +4 "core" &%  <@ +2 "manipulator"&p% +4 "core" %π ? +2 "collection"'& +4 "core" & +2 "collection"'& +5 "core" & +2 .tCC.seek :closed +3 "collection"'"(] +4 "core" & +5 & 9 +10 &P / +9 &a{ C +9 &g G +9 &j G +9 &j F +10 & ]j G +9 &"h G +9 &#h G +10 &%h G +9 &'fj F +9 &)&m G +10 &*g F +9 &,h F +10 &.ni F +9 &0/j~ G +9 &1l G +10 &3h} G +9 &5vh F +9 &76m| G +10 &8f{ F +9 &:h{ G +10 &<|jx G +9 &>?g} G +9 &@h{ G +10 &Aj F +9 &Cj G +9 &EHk F +10 &G j} G +9 &Hrz H +10 &Jz I +9 &L={ M +9 &M O +10 &O} P +9 &Qxx Q +9 &S8 Q +10 &T{ R +9 &V| R +10 &Xwu T +9 &Z7x T +9 &[r T +10 &]KAp 'r +9 &]p R +5 ( +2 "collection"'& +4 #tCollection Clamp onSpring/offSpring for 10/26 samples, on/off torque 1.88 +2 .Hand.open + "manipulator"&U1 +3 "core" &]x R +57 1 +2 "manipulator"&% +4 "core" % π U +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&!'\ +97 "core" ' + #tLoading generic puck from tube 3 into Processing Clamp +2 "processing"%g& +4 "core" &G +2 "manipulator"&% +3 "core" %\ 3 R %z +2 "storage"({% +4 "core" %J n + "storage"(. +3 "core" .( +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 3 + "storage"(( +6 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (x& +2 "core" & e +2 "manipulator"&#& +4 "core" &# V :1 +2 "manipulator"&S% +3 "core" %\ 4 h %z +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&\ (D +174 "core" ( + "manipulator"&'& +4 "core" &8  !q +2 "storage"(o& +4 "core" & \ t +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&t' +99 "core" ' +2 "storage"( & +4 "core" &\ \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"('e +278 "core" ' +2 "storage"(s- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (W& +3 "core" &\ \ +2 "manipulator"&& +4 "core" &9 !p +2 .tElbow.seek 3 +2 "manipulator"&(D +15 "core" ( +2 "manipulator"&& +4 "core" &E  L & + "storage"(& +4 "core" & s +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&~'y +10 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&>/ +53 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&V& +2 "storage"(l'N +8 "core" &F | % +2 "manipulator"&% +4 "core" % t r # +2 .tForearm.seek :retract + "manipulator"&f'\ +98 "core" ' + .tElbow.seek PC +2 "manipulator"&`(c +154 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +90 "core" ( + "manipulator"&i& +5 "core" &b u $ + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &=& +3 "core" &b $ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC + "manipulator"&/'[ +106 "core" ' +2 "manipulator"&;& +4 "core" &b v \\ $ +2 "manipulator"&y% +4 "core" %X o o +2 "processing"%,& +4 "core" &S +2 "processing"%&& +5 "core" &R +2 .tPC.seek :closed + "processing"%(Z +5 "core" &U +7 &DI #b +9 &yZK 5 +9 &J G +10 &eC F +9 &gkH G +9 &*gG G +10 & gP G +9 &"fK F +10 &$olI G +9 &&3gK F +9 &'hL G +10 &)kF G +9 &+xeQ G +9 &-;hH F +10 &.hC G +9 &0iK G +10 &2fS G +9 &4CgR F +9 &6gU F +10 &7hS G +9 &9jN G +9 &;JmO G +10 &= fK G +9 &>hM G +10 &@kJ G +9 &BRjF G +9 &DhG G +10 &EkF G +9 &GtN H +9 &IT{F I +10 &KL K +9 &LM M +10 &NG M +9 &PQG M +9 &RF M +10 &SB M +9 &U= N +9 &WV= N +10 &Y? K +9 &ZS:`E "d +10 &ZCB & +5 ( +2 "processing"%&& +4 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.51 + .Hand.open +2 "manipulator"&81 +3 "core" &ZI & +53 1 + "manipulator"&h% +4 "core" % ` j \\ p +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&$'\ +93 "core" ' +2 "processing"%2& +4 "core" &ZA & + #tImaging generic puck in Processing Clamp while storing it to tube 3 +2 "manipulator"& % +4 "core" %\ -  "_ +2 "storage"(7% +3 "core" %L +2 "storage"(L. +3 "core" .( + "storage"(& +4 "core" & +2 "storage"([& +2 "manipulator"&}& +7 "core" & + &b  $ +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +3 "storage"(#]kK-0-\ b + "manipulator"&(c +7 ."raiseStack"SE.seek :beamBreak +2 "storage"(z'e +2 "core" ( +2 "manipulator"&G& +4 "core" &b \ $ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &b  $ +2 .tForearm.seek PC +2 "manipulator"&]'[ +97 "core" ' +2 .tHand.close + "manipulator"&d/ +57 "core" / + .tPC.seek :open +2 "processing"%|(p +88 "core" ' +2 "storage"(- +4 "core" -'e + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +2 ."raiseStack"SE.seek :place +2 "storage"(E'B +41 "core" ' +248 ( +2 "storage"(& +4 "core" &\ \ O + "manipulator"&w& +4 "core" &b W $ +2 "manipulator"&% +4 "core" % \\ Z +2 .tForearm.seek :retract + "manipulator"&('\ +100 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&?(D +253 "core" ( + "manipulator"&& +4 "core" &; h # +2 "storage"(<& +4 "core" & +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&R' +110 "core" ' +2 .tHand.open + "manipulator"&n1 +55 "core" 1 +2 "storage"(*- +4 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate +2 "storage"(3' +22 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(H' +52 "core" ' + #tLights, camera, ACTION! +2 "storage"(Q- +3 "core" -' +2 "storage"(D& +4 "core" & { } Y + "manipulator"&:& +4 "core" &;  # +2 .tElbow.seek 3 + "manipulator"&(D +4 "core" ( +2 "manipulator"&& +4 "core" &;  # +2 "storage"(& +3 "core" & } { +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&T' +19 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.11 Pucks below Top Plate + "storage"(A'M +62 "core" ' + "manipulator"&4& +5 "core" &; # + "storage"(& +4 "core" &\ \ , +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 + "manipulator"&P'M +35 "core" ' +2 .tElbow.hold + "manipulator"&r, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate + "storage"( '7 +23 "core" ' +3 "manipulator"&B% +4 "core" %Tc   ƴ + "storage"(N& +4 "core" & * +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 307 counts + "manipulator"&K'π +18 "core" ' +2 "manipulator"&_& +4 "core" &e m i Z +2 "storage"(M& +4 "core" &\ \ \ \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&q' +22 "core" ' +2 "storage"()% +4 "core" %@\ \ \ \ +3 ."downElevator"SE.seek :down +3 "storage"(Y'N +99 (%% +3 "core" %K p OE + "manipulator"&k% +4 "core" % n n  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&9'\ +91 "core" ' +119 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (I& +3 "core" & +2 "collection"'^& +4 "core" &]y R +2 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&-% +4 "core" %\ 0 i $p +2 "storage"(b% +3 "core" %O\  o  +2 "storage"(e. +3 "core" .( +2 "storage"(5& +3 "core" &\  b +2 "storage"(v& +4 "core" &\ \ m + "manipulator"&1& +4 "core" &e\ g Z +2 .tElbow.seek 3 + "manipulator"&Z(D +33 "core" ( +2 "manipulator"&m& +4 "core" &I W  +2 "storage"(.& +4 "core" &\ \  Y +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts + "manipulator"& ' +97 "core" ' +2 "storage"(u& +4 "core" &\ \  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(c'e +289 "core" ' +2 "storage"(0- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&F& +2 "core" &I   +2 "storage"(6& +4 "core" &\ \ P + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 + "manipulator"&C'M +34 "core" ' +2 .tElbow.hold + "manipulator"&@, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(+- +3 "core" -' +3 .tSE.seek 0.12 Pucks below Top Plate + "storage"(O'w +28 "core" ' +2 "manipulator"&p% +4 "core" %U[   Ʋ +2 "storage"(& +4 "core" & ' + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 308 counts + "manipulator"&a'ρ +19 "core" ' +2 "manipulator"&& +4 "core" &I Y t t  +2 "storage"(X& +4 "core" &\ \ \ \ } +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts + "manipulator"&U' +21 "core" ' +2 .tSE.seek 1.12 Pucks below Top Plate +2 "storage"('f +50 "core" ' +2 "manipulator"&g& +4 "core" &I m j  +2 "manipulator"&% +4 "core" % m n (  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&{'\ +95 "core" ' +2 .tElbow.seek CC + "manipulator"&( +152 "core" ( + "manipulator"&& +4 "core" & < - +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &x& +3 "core" &  - +2 .tForearm.seek CC +2 "manipulator"&#'| +96 "core" ' +2 .tHand.close + "manipulator"&S/ +61 "core" / + .tCC.seek :open +2 "collection"' (p +410 "core" ( + "storage"('& +4 "core" &\ \  0 +2 "storage"(o& +3 "core" &\ \  +2 "manipulator"&J& +4 "core" &  * +2 "manipulator"& % +3 "core" % | $ +2 .tForearm.seek :retract +2 "manipulator"&\\'\ +91 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&!(D +172 "core" ( +2 "manipulator"&s& +4 "core" &8  "| + "storage"(W& +4 "core" &\ \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 +2 "manipulator"&'M +108 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&1 +61 "core" 1 +2 "manipulator"&>% +4 "core" % _z *  = +2 "storage"(V& +4 "core" &\ \ ~ + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 318 counts + "manipulator"&'ϋ +18 "core" ' +2 "manipulator"&\ & +4 "core" &m { v g G +2 "storage"(t& +4 "core" &\ 2\ ( R +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&' +19 "core" ' +2 "storage"(~% +4 "core" %c\ B\ C +2 ."downElevator"SE.seek :down +4 "storage"(i'N +98 (=% +3 "core" % I\ \  u N@ +2 "manipulator"&% +3 "core" % n m +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&;'\ +90 "core" ' +53 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 4 of [3..4] +2 #Loading generic puck from tube 4 into Collection Clamp + "collection"'y& +4 "core" & +2 "manipulator"&,% +4 "core" %\ . K #b +2 "storage"(l% +3 "core" %G\ \ T  +2 "storage"(f. +3 "core" .( +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 4 + "storage"(j(, +361 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (8& +2 "core" &,~\ \ 7  +2 "manipulator"&h& +4 "core" &m\ v G + .tElbow.seek 4 +2 "manipulator"&2(* +46 "core" ( + "manipulator"& & +4 "core" &) @ U +2 "storage"(7& +4 "core" &,~\ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&L' +92 "core" ' + "storage"(& +4 "core" &,~\ (\  n  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(['e +277 "core" ' +2 "storage"(}- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (&& +2 "core" &,~\ !\   +2 "manipulator"&G& +4 "core" &,\  R +2 .tElbow.seek 4 + "manipulator"&(* +4 "core" ( + "manipulator"&/& +4 "core" &,\  R +2 "storage"(d& +3 "core" &,~\ \ !  +3 .tForearm.seek 4 + 300 counts + "manipulator"&'Z +21 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&`/ +62 "core" / +2 ."downElevator"SE.seek :down +5 "manipulator"&$& "storage"('N +8 "core" &,\ e b R +2 "manipulator"&% +3 "core" % P _ a g +2 .tForearm.seek :retract +2 "manipulator"&w'\ +94 "core" ' +2 .tElbow.seek CC +2 "manipulator"&z( +142 "core" ( + "manipulator"&& +4 "core" & H - +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 "core" ' +2 "manipulator"&]& + ."downElevator"SE.stop +5 "storage"(5 +3 "core" &  - +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&'| +105 "core" ' + "manipulator"&<& +4 "core" & - +2 "manipulator"&% +5 "core" %τ  +2 "collection"'n& +4 "core" & +2 "collection"'*& +5 "core" & +2 .tCC.seek :closed + "collection"'Q(] +5 "core" &  +9 &9 *y +9 &m > +9 &r G +10 &Ug F +9 &j F +9 &n G +10 &!i F +9 &#]j F +10 &%g F +9 &&k F +9 &(h G +10 &*ek F +9 &,'k F +9 &-f F +10 &/k G +9 &1kk~ G +10 &3/i| F +9 &4k| G +9 &6kw F +10 &8tgz G +9 &:5ju G +9 &;e{ F +10 &=j F +9 &?|k| G +10 &A>gz G +9 &Cl| G +9 &Di| F +10 &Fjs F +9 &HDpq H +9 &J{ J +10 &K{ L +9 &Mrx P +10 &O4{ P +9 &Pq Q +9 &Rn Q +10 &Tt| R +9 &V4| R +9 &W~ T +10 &Yt U +9 &[tq T +10 &]ow #m +9 &]4u !g +10 ( &]jx J +2 "collection"'*& +3 #tCollection Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.92 + .Hand.open +2 "manipulator"&D1 +56 "core" 1 + "manipulator"&:% +4 "core" % x  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +100 "core" ' + #tLoading generic puck from tube 4 into Processing Clamp +2 "processing"%& +4 "core" &F +2 "manipulator"&(% +3 "core" %\ 6  & +2 "storage"(4% +4 "core" %H\ V  + "storage"(. +3 "core" .(,~ +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 + "storage"(E(, +8 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (B& +3 "core" &,   + "manipulator"&N& +4 "core" &  - +2 "manipulator"&3% +3 "core" %\ 5  & +52 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&_(* +159 "core" ( + "manipulator"&M& +4 "core" && F +2 "storage"()& +4 "core" &,~\ \   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&?' +93 "core" ' +2 "storage"(R& +4 "core" &,~\  d  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(H'e +276 "core" ' + "storage"(%- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (k& +3 "core" &,~ \ m  + "manipulator"&T& +4 "core" && C +2 .tElbow.seek 4 +2 "manipulator"&(* +3 "core" ( + "manipulator"&A& +4 "core" && | + "storage"(P& +4 "core" &,~\ \ \ \ Z  +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&K'Z +21 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"& / +63 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&I& + "storage"(^'N +7 "core" && m i 5 +2 "manipulator"&-% +4 "core" % U k c +2 .tForearm.seek :retract +2 "manipulator"&b'\ +91 "core" ' +3 .tElbow.seek PC + "manipulator"&e(c +160 "core" ' + ."downElevator"SE.stop + "storage"(5 +91 "core" ( + "manipulator"&5& +4 "core" &h  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &v& +2 "core" &h  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&1'[ +92 "core" ' +2 "manipulator"&m& +4 "core" &h  +2 "manipulator"&q% +3 "core" %U  +2 "processing"%.& +4 "core" &G +2 "processing"%u& +5 "core" &E +2 .tPC.seek :closed +2 "processing"%Y(Z +5 "core" &= +6 &<O #c +10 &z\\G 6 +9 &< G +9 &cH F +10 &mgB G +9 &0gA G +10 & kH G +9 &"fL G +9 &$ukR G +10 &&7eJ G +9 &'gE G +9 &)eE G +10 &+gH F +9 &-?hH G +10 &/iH G +9 &0kD G +9 &2hK F +10 &4HgK G +9 &6\ kO G +9 &7gF G +10 &9fI F +9 &;QhE F +10 &=iH G +9 &>mG G +9 &@hE F +10 &BXiI G +9 &Dk@ G +9 &EjK G +10 &GnO H +9 &I\\tR H +10 &KC J +9 &LB K +9 &NM M +10 &PX? L +9 &RC M +9 &S8 M +10 &U= M +9 &W]H M +10 &YI H +9 &ZS?v; &p +9 &Z'= % +6 ( + "processing"%u& +5 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.48 + .Hand.open + "manipulator"&r1 +4 "core" &Z@ % +56 1 + "manipulator"&9% +4 "core" % U  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&0'\ +94 "core" ' +2 "processing"%F& +4 "core" &Z< % +2 #tImaging generic puck in Processing Clamp while storing it to tube 4 + "manipulator"&6% +4 "core" %\ 1 $o +2 "storage"(+% +3 "core" %;  +2 "storage"(p. +3 "core" .(, +2 "storage"(& +3 "core" &,~  +2 "storage"(& +2 "manipulator"&X& +8 "core" &h A + &,~  +4 ."raiseStack"SE.reconfigure :place +2 .tElbow.reconfigure :tight +4 "storage"(#]kK-0-\ b +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +3 ."raiseStack"SE.seek :beamBreak +3 "manipulator"&g(c + "storage"('e +5 "core" ( + "manipulator"& & +4 "core" &h c +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &Z& +3 "core" &h  +2 .tForearm.seek PC +2 "manipulator"&c'[ +95 "core" ' + .tHand.close + "manipulator"&C/ +59 "core" / + .tPC.seek :open +2 "processing"%a(p +88 "core" ' + "storage"(O- +4 "core" -'e + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place + "storage"('B +45 "core" ' +245 ( +2 "storage"(x& +4 "core" &,~\  f  + "manipulator"&U& +4 "core" &h +2 "manipulator"&@% +4 "core" % X b + .tForearm.seek :retract +2 "manipulator"&S'\ +98 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&{(* +247 "core" ( + "manipulator"&"& +4 "core" &,  f * +2 "storage"('& +4 "core" &,~ s  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&o' +93 "core" ' +2 .tHand.open + "manipulator"&J1 +55 "core" 1 +2 "storage"( - +3 "core" -'B +3 .tSE.seek -0.16 Pucks below Top Plate + "storage"(s' +22 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.83 Pucks below Top Plate + "storage"(W' +50 "core" ' +2 #tLights, camera, ACTION! + "storage"(#- +4 "core" -' +2 "storage"(& +3 "core" &,~ 7  +2 "manipulator"&& +4 "core" &, * +2 .tElbow.seek 4 +2 "manipulator"&>(* +3 "core" ( + "manipulator"&V& +4 "core" &, & * +2 "storage"(\ & +3 "core" &,~ 9  +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&t' +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"(~'M +57 "core" ' +2 "manipulator"&\\& +4 "core" &, 8 * +2 "storage"(=& +3 "core" &,~\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&'. +33 "core" ' +2 .tElbow.hold + "manipulator"&!, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.07 Pucks below Top Plate + "storage"('7 +23 "core" ' +2 "manipulator"&y% +4 "core" %B[   f Ȳ +2 "storage"(& +4 "core" &,~  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 4 + 320 counts + "manipulator"&,'n +17 "core" ' + "manipulator"&l& +4 "core" & r q k +2 "storage"(f& +4 "core" &,~\ \  <  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&' +18 "core" ' +2 "storage"(% +4 "core" %:\ \  O +3 ."downElevator"SE.seek :down +3 "storage"(i'N +99 (% +4 "core" %}P\ \ ~ NC + "manipulator"&8% +4 "core" % a e Y  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&h'\ +90 "core" ' +57 ' + ."downElevator"SE.stop +2 "storage"(5 +2 ( & +4 "core" &,~ \  &  +2 "collection"'7& +4 "core" &]py J +2 #tStoring generic puck in Collection Clamp to tube 4 + "manipulator"&% +4 "core" %\ 1  "a + "storage"(% +4 "core" %7\ \ 4 +2 "storage"(;. +3 "core" .(, + "storage"(}& +4 "core" &,~\ \   + "storage"(&& +4 "core" &,~\ \   +2 "manipulator"&G& +4 "core" & - k + .tElbow.seek 4 +2 "manipulator"&/(* +17 "core" ( +2 "manipulator"&d& +4 "core" &5 S # + "storage"(`& +4 "core" &,~\ \   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts + "manipulator"&$' +100 "core" ' + "storage"(& +5 "core" &,~\ \ z  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(2'e +278 "core" ' + "storage"(L- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&& +3 "core" &6  # +2 "storage"(]& +3 "core" &,~ s  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&['. +33 "core" ' + .tElbow.hold + "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(<- +2 "core" -' +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"('h +27 "core" ' + "manipulator"&n% +4 "core" %@S 5 4 ˰ +2 "storage"(& +3 "core" &,~ /  +2 .tForearm.force -20 +50 "manipulator"&5 +5 .tForearm.seek 4 + 318 counts + "manipulator"&'l +17 "core" ' + "manipulator"&w& +5 "core" & k b ( + "storage"( & +4 "core" &,~\ \ \   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&D' +19 "core" ' +2 .tSE.seek 1.11 Pucks below Top Plate +2 "storage"(:'W +44 "core" ' + "manipulator"&& +5 "core" & j a _ ( + "manipulator"&(% +4 "core" % e a / +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&4'\ +96 "core" ' +2 .tElbow.seek CC +2 "manipulator"&( +138 "core" ( +2 "manipulator"&*& +5 "core" &  . + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &B& +4 "core" &  . + .tForearm.seek CC +2 "manipulator"&N'| +101 "core" ' + .tHand.close + "manipulator"&3/ +60 "core" / +2 .tCC.seek :open +2 "collection"'(p +409 "core" ( + "storage"(M& +5 "core" &,~\ \   + "storage"()& +4 "core" &,~\ \  B  + "manipulator"&j& +4 "core" &  . +2 "manipulator"&R% +3 "core" % y  +2 .tForearm.seek :retract +2 "manipulator"&z'\ +101 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&(* +172 "core" ( + "manipulator"&%& +4 "core" &4 N B +2 "storage"(k& +4 "core" &,~\ \  k  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 4 + "manipulator"&T'. +107 "core" ' +2 .tElbow.hold + "manipulator"&A, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&P1 +53 "core" 1 +2 "manipulator"& % +4 "core" % B /  P X +2 "storage"(I& +4 "core" &,~  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 320 counts + "manipulator"&-'n +17 "core" ' +2 "manipulator"&_& +4 "core" & f s O k +2 "storage"(?& +4 "core" &,~\ \  T  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&H' +23 "core" ' +2 "storage"(K% +4 "core" %T\ 2\ ( [ +2 ."downElevator"SE.seek :down +3 "storage"(5'N +100 (v% +2 "core" %H\ \  8 N? +2 "manipulator"&% +4 "core" % n o  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&m'\ +95 "core" ' +44 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 3 of [3..4] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"'q& +5 "core" & + "manipulator"&.% +4 "core" %\ 8 ' +2 "storage"(^% +3 "core" %:\ \  /  +2 "storage"(b. +4 "core" .(, +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(|( +362 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (r& +3 "core" & x + "manipulator"&9& +4 "core" & U j +2 .tElbow.seek 3 + "manipulator"&F(D +38 "core" ( +2 "manipulator"&6& +4 "core" &D & h +2 "storage"(+& +3 "core" &\ !\ !  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&p' +101 "core" ' + "storage"(& +4 "core" &\ C\ C +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(X'e +305 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (u& +3 "core" &\ \  +2 "manipulator"& & +4 "core" &D c l w h +2 .tElbow.seek 3 + "manipulator"&Z(D +4 "core" ( + "manipulator"&1& +4 "core" &D X r  h + "storage"(C& +4 "core" &\ (\  ' +2 .tForearm.seek 3 + 300 counts + "manipulator"&O'y +27 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&e/ +60 "core" / +2 ."downElevator"SE.seek :down +5 "manipulator"&0& + "storage"(Y'N +7 "core" &D d ` F h +2 "manipulator"&x% +3 "core" % | ` a  +2 .tForearm.seek :retract +2 "manipulator"&U'\ +90 "core" ' + .tElbow.seek CC +2 "manipulator"&( +157 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +10 "core" ( +2 "manipulator"&@& +4 "core" & & ; + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &c& +3 "core" & \ ; +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&"'| +95 "core" ' +2 "manipulator"&'& +4 "core" & 9 ; +2 "manipulator"&g% +4 "core" %ρ +2 "collection"'J& +4 "core" & +2 "collection"' & +5 "core" & +2 .tCC.seek :closed + "collection"'#(] +4 "core" &  +10 &: *x +9 &m > +9 &s G +10 &Rh F +9 &m G +10 &k G +9 &!j F +9 &#Xm G +10 &%k F +9 &&i G +9 &(g F +10 &*ag F +9 &,$g F +10 &-k} F +9 &/g G +9 &1ig F +10 &3+j F +9 &4e F +9 &6g{ F +10 &8pk{ G +9 &:2is G +10 &;hy G +9 &=g~ F +9 &?yhy F +10 &A:hr G +9 &Bg} F +9 &Dg} F +10 &Fli G +9 &HApt G +10 &I~ I +9 &Kt L +9 &Mps O +10 &O/ P +9 &P~ Q +9 &Rn Q +10 &Tps R +10 &V1r R +9 &W~ S +9 &Yx T +9 &[rt T +10 &]iw )| +9 &]q H +9 ( +3 "collection"' & +3 #tCollection Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.91 + .Hand.open +2 "manipulator"&1 +3 "core" &]`s E +59 1 +2 "manipulator"&% +4 "core" % ρ M +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&V'\ +92 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%\ & +5 "core" &N + "manipulator"&S% +4 "core" %\ +  !S +2 "storage"(\\% +3 "core" %N\ \ \ V \ +2 "storage"(=. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 + "storage"(y( +40 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (& +2 "core" &\ \  m  +2 "manipulator"&& +4 "core" &  ; + "manipulator"&l% +4 "core" %\ + $ !S +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&s(D +157 "core" ( +2 "manipulator"&f& +4 "core" &8  / +2 "storage"(& +4 "core" &\ \ \ 4  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&{' +93 "core" ' + "storage"(o& +5 "core" & \   +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(W'e +278 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (8& +3 "core" &\ \   +2 "manipulator"&t& +3 "core" &8 H / +2 .tElbow.seek 3 +2 "manipulator"&>(D +25 "core" ( + "manipulator"&~& +4 "core" &Q Z h +2 "storage"(& +3 "core" &\ \    +2 .tForearm.seek 3 + 300 counts +2 "manipulator"& 'y +22 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&,/ +53 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&7& + "storage"('N +8 "core" &R _ a E g + "manipulator"&% +4 "core" % t l f ~ +2 .tForearm.seek :retract + "manipulator"&;'\ +92 "core" ' +2 .tElbow.seek PC +2 "manipulator"&}(c +159 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +92 "core" ( +2 "manipulator"&& +4 "core" &l  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &&& +2 "core" &l  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC + "manipulator"&G'[ +102 "core" ' + "manipulator"&d& +5 "core" &l L +50 "manipulator"&`% +5 "core" %\\ _ +2 "processing"%& +4 "core" &@ +2 "processing"%& +5 "core" &H +2 .tPC.seek :closed + "processing"%i(Z +5 "core" &>  +9 &7D )w +9 &kF = +10 &uH H +9 &EgQ F +9 &hV G +10 &eQ G +9 &!iR G +9 &#MgK F +10 &% gQ G +9 &&hJ G +10 &(eH G +9 &*TgK G +9 &,kS G +10 &-hB G +9 &/lN G +9 &1\\gO G +10 &3kJ G +9 &4eM G +10 &6hE F +9 &8dhJ G +9 &:&jG G +10 &;eB G +9 &=gK G +9 &?ki< G +10 &A.h> G +9 &BkD G +9 &DjD G +10 &FsmL G +9 &H3tM H +10 &I~D J +9 &KD K +9 &Mi8 M +10 &O,; M +9 &PB M +9 &R< M +10 &Tr3 M +9 &V3C M +10 &W6 N +9 &Y; 5 +9 &Z/9 X +10 &ZD ( +2 ( +2 "processing"%& +3 #tProcessing Clamp onSpring/offSpring for 8/25 samples, on/off torque 1.52 + .Hand.open +2 "manipulator"&!1 +63 "core" 1 + "manipulator"&h% +5 "core" % \\ q +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&L'\ +100 "core" ' +2 "processing"%& +4 "core" &Z9 ( +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&]% +4 "core" %\ 6 h & +2 "storage"(<% +3 "core" %= +2 "storage"(n. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 + "storage"(( +3 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (w& +4 "core" &  + "manipulator"& & +3 ."raiseStack"SE.reconfigure :place +6 "storage"(#]kK-0-\ b +3 "core" &l ! +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +2 ."raiseStack"SE.seek :beamBreak +3 "manipulator"&(c + "storage"(('e +5 "core" ( +2 "manipulator"&$& +4 "core" &l V +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &/& +4 "core" &l ? +2 .tForearm.seek PC +2 "manipulator"&2'[ +99 "core" ' + .tHand.close +2 "manipulator"&[/ +64 "core" / +2 .tPC.seek :open +2 "processing"%(p +76 "core" ' +2 "storage"(- +3 "core" -'e +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(*'B +35 "core" ' +266 ( + "storage"(B& +4 "core" &\ \   + "manipulator"&D& +4 "core" &l  +2 "manipulator"&% +3 "core" % ] 6 +2 .tForearm.seek :retract +2 "manipulator"&3'\ +105 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&4(D +268 "core" ( +2 "manipulator"&Q& +4 "core" &> 3 J + "storage"(M& +4 "core" & \ \ e  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts + "manipulator"&)' +105 "core" ' + .tHand.open +2 "manipulator"&j1 +53 "core" 1 +2 "storage"(R- +3 "core" -'B +3 .tSE.seek -0.16 Pucks below Top Plate + "storage"(%' +23 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.83 Pucks below Top Plate + "storage"(k' +54 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(N- +3 "core" -' +2 "storage"(& +3 "core" &   +2 "manipulator"&P& +4 "core" &> o m  J +2 .tElbow.seek 3 + "manipulator"& (D +4 "core" ( + "manipulator"&I& +5 "core" &> i l V J + "storage"(_& +4 "core" & `  +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&?' +3 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"(K'M +56 "core" ' +2 "manipulator"&z& +4 "core" &> n j 4 J +2 "storage"(v& +4 "core" & \ #  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 + "manipulator"&'M +35 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.07 Pucks below Top Plate + "storage"(T'7 +25 "core" ' + "manipulator"&q% +4 "core" %`e ) õ +2 "storage"(-& +4 "core" &  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 319 counts + "manipulator"&.'ό +18 "core" ' +2 "manipulator"&^& +4 "core" &? ] i  I +2 "storage"(b& +4 "core" &\ \   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&:' +11 "core" ' + "storage"(H% +5 "core" %A\ \  +2 ."downElevator"SE.seek :down +4 "storage"(5'N +99 (E% +2 "core" %H\ \  OA +2 "manipulator"&r% +4 "core" % _ i I , +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&9'\ +87 "core" ' +63 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (6& +3 "core" & <  +2 "collection"'+& +4 "core" &]br E +2 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&% +4 "core" %\ -  "_ +2 "storage"(A% +3 "core" %D\ \ \  +2 "storage"(m. +3 "core" .( +2 "storage"(& +4 "core" &\ \  +2 "storage"(u& +4 "core" &\ \ \  + "manipulator"& & +4 "core" &?  I +2 .tElbow.seek 3 + "manipulator"&1(D +4 "core" ( + "manipulator"&C& +4 "core" &?  + I + "storage"(e& +4 "core" &\ \ \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&0' +95 "core" ' + "storage"(x& +5 "core" &\ \    + .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(F'e +282 "core" ' + "storage"(p- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&@& +3 "core" &?  I +2 "storage"(c& +3 "core" &\ \ \ s  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&X'M +31 "core" ' +2 .tElbow.hold +2 "manipulator"&O, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"('- +2 "core" -' +2 .tSE.seek 0.12 Pucks below Top Plate +2 "storage"(g'u +28 "core" ' + "manipulator"&Z% +4 "core" %_b Ĵ +2 "storage"(J& +4 "core" &   + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 318 counts + "manipulator"&Y'ϋ +12 "core" ' + "manipulator"&U& +4 "core" &A \\ s G +2 "storage"(& +4 "core" &\ \  _  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&' +19 "core" ' +2 .tSE.seek 1.12 Pucks below Top Plate + "storage"('d +52 "core" ' +2 "manipulator"&\ & +4 "core" &A n m G +2 "manipulator"&S% +4 "core" % d k _ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&\\'\ +91 "core" ' + .tElbow.seek CC +2 "manipulator"&=( +168 "core" ( +2 "manipulator"& & +4 "core" & M J + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" & n J +2 .tForearm.seek CC +2 "manipulator"&'| +96 "core" ' + .tHand.close +2 "manipulator"&l/ +60 "core" / +2 .tCC.seek :open +2 "collection"'"(p +409 "core" ( +2 "storage"(f& +4 "core" &\ \  e  + "storage"(& +4 "core" &\ !\ !  +2 "manipulator"&|& +3 "core" & G J +2 "manipulator"&o% +3 "core" % | I +2 .tForearm.seek :retract +2 "manipulator"&'\ +98 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&V(D +166 "core" ( +2 "manipulator"&& +4 "core" &9\ 7 [ +2 "storage"(8& +3 "core" &\ \    +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +52 .tForearm.seek 3 +3 "manipulator"&t'M +112 "core" ' + .tElbow.hold + "manipulator"&~, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&1 +56 "core" 1 +3 "manipulator"&,% +4 "core" % ^t ¹* + "storage"(7& +4 "core" &\ \  \\  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 3 + 317 counts +2 "manipulator"&'ϊ +18 "core" ' +2 "manipulator"&s& +4 "core" &e u [ / +2 "storage"({& +4 "core" &\ 2\ $  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&W' +11 "core" ' + "storage"( % +5 "core" %d\ C\ B +2 ."downElevator"SE.seek :down +3 "storage"('N +99 (&% +3 "core" %C\ \  N> +2 "manipulator"&>% +4 "core" % m p 5 +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&d'\ +95 "core" ' +46 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 4 of [3..4] + #Loading generic puck from tube 4 into Collection Clamp +2 "collection"'`& +4 "core" & +2 "manipulator"&% +4 "core" %\ : X ( + "storage"(% +4 "core" %E\ \  .  +2 "storage"(;. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 + "storage"(a(, +351 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (!& +2 "core" &,\ \   +2 "manipulator"&h& +4 "core" &e  / + .tElbow.seek 4 +2 "manipulator"&(* +35 "core" ( + "manipulator"&]& +5 "core" && [ ? + "storage"(<& +4 "core" &,\ \  v  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts + "manipulator"&' +94 "core" ' + "storage"(n& +4 "core" &,\ @\ ( I  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(w'e +291 "core" ' + "storage"( - +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 ($& +3 "core" &,\ \   +2 "manipulator"&/& +4 "core" &'  > +2 .tElbow.seek 4 + "manipulator"&G(* +4 "core" ( + "manipulator"&[& +4 "core" &' / > +2 "storage"(y& +4 "core" &,\ \ !  +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&'Z +23 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&}/ +56 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&L& +2 "storage"(i'N +7 "core" &' m p > +2 "manipulator"&(% +4 "core" % V p p +2 .tForearm.seek :retract +2 "manipulator"&B'\ +98 "core" ' +2 .tElbow.seek CC +2 "manipulator"&D( +139 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +14 "core" ( + "manipulator"&& +5 "core" &*  B @[ + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &2& +2 "core" &* 1 @[ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&Q'| +94 "core" ' + "manipulator"&M& +5 "core" &* p @Z +2 "manipulator"&% +4 "core" %q   +2 "collection"'j& +4 "core" & +2 "collection"'R& +5 "core" & +2 .tCC.seek :closed + "collection"'N(] +5 "core" &  +9 &9 *y +9 &m > +10 &x G +9 &Sf F +9 &i F +10 &k F +9 &!l G +10 &#Zh G +9 &%f F +9 &&i G +10 &(l F +9 &*dh F +9 &,%j~ F +10 &-h F +9 &/m| G +10 &1jgw G +9 &3,gz G +9 &4iz F +10 &6g} G +9 &8rl| G +9 &:3jq G +10 &;ev F +9 &=is F +9 &?zky G +10 &A<k{ G +9 &Bjr G +10 &Dgw F +9 &Flv G +9 &HDnx G +10 &I~w J +9 &Kx L +9 &Mpl P +10 &O2s P +9 &Po P +10 &Ru Q +9 &Trp R +9 &V2l R +10 &Wq S +9 &Ym U +9 &[ti T +10 &]is )| +9 &] x @ +9 ( +3 "collection"'R& +3 #tCollection Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.87 + .Hand.open +2 "manipulator"&1 +3 "core" &]J} < +53 1 + "manipulator"&P% +5 "core" % q   +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&I'\ +92 "core" ' +2 #tLoading generic puck from tube 4 into Processing Clamp + "processing"%_& +4 "core" &I +2 "manipulator"&3% +4 "core" %\ * , !V + "storage"(z% +4 "core" %7\ \  +2 "storage"(v. +3 "core" .(, + "storage"(q& +4 "core" &,\ \ P  + "storage"(*& +4 "core" &,\ \ T  +2 "manipulator"&-& +4 "core" &(  ?S +2 "manipulator"&%% +3 "core" %\ *  !V +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&^(* +169 "core" ( + "manipulator"&b& +5 "core" &4   + "storage"(H& +4 "core" &, \    +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&4' +101 "core" ' +2 "storage"()& +4 "core" &,\ \   +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(k'e +288 "core" ' + "storage"(E- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (r& +3 "core" &,\ \ %  +2 "manipulator"&?& +3 "core" &5   +2 .tElbow.seek 4 +2 "manipulator"& (* +4 "core" ( + "manipulator"&K& +5 "core" &6 |   + "storage"(& +4 "core" &, $  +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&6'Z +19 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&+/ +55 "core" / +2 ."downElevator"SE.seek :down +5 "manipulator"&.& + "storage"('N +7 "core" &6 p p  +2 "manipulator"&A% +3 "core" % V p q  +2 .tForearm.seek :retract +2 "manipulator"&m'\ +93 "core" ' +2 .tElbow.seek PC +2 "manipulator"&(c +162 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +106 "core" ( +2 "manipulator"&T& +4 "core" &Z 3  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &u& +3 "core" &Z D  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"& '[ +102 "core" ' + "manipulator"&C& +4 "core" &Z   +2 "manipulator"&e% +4 "core" %a  +2 "processing"%:& +3 "core" &: +3 "processing"%x& +5 "core" &6 +2 .tPC.seek :closed + "processing"%5(Z +5 "core" &5 +7 &F3 #c +9 &z\\? 6 +10 &8 G +9 &e@ F +9 &pg8 G +10 &2g6 G +9 & m? G +10 &"h6 G +9 &$yl? F +9 &&:m@ G +10 &'jA F +9 &)gC G +9 &+e@ G +10 &-Cg@ F +9 &/iD G +9 &0gD G +10 &2g? G +9 &4KgM F +10 &6 gM G +9 &7j? G +9 &9e6 G +10 &;RgE G +9 &=h; F +9 &>jC G +10 &@f> G +9 &B[h5 F +10 &Dh2 G +9 &En2 G +9 &Gn+ H +10 &I^uB H +9 &K; J +9 &L3 K +10 &N+ M +9 &PY0 M +10 &R0 L +9 &S- M +9 &U. M +10 &W^4 N +9 &Y!, G +9 &ZTB* "d +10 &Z*+ ( +5 ( +2 "processing"%x& +4 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.48 + .Hand.open +2 "manipulator"&1 +3 "core" &Z, ( +50 1 + "manipulator"&9% +5 "core" % a [ + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&p'\ +95 "core" ' + "processing"%@& +4 "core" &Z) ( +2 #tImaging generic puck in Processing Clamp while storing it to tube 4 + "manipulator"&c% +4 "core" %\ ' = = +2 "storage"('% +3 "core" %P\ \  +2 "storage"(Z. +3 "core" .(, + "storage"(J& +4 "core" &,\ \ K  +2 "storage"(U& +3 "manipulator"&& +5 "core" &,\ \  P  + &[   +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +3 "storage"(#]kK-0-\ b +2 "manipulator"&\ (c +4 ."raiseStack"SE.seek :beamBreak +2 "storage"(S'e +3 "core" ( + "manipulator"&0& +4 "core" &[   + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &1& +3 "core" &[ (  +2 .tForearm.seek PC +52 "manipulator"&F'[ +96 "core" ' +2 .tHand.close + "manipulator"&X/ +60 "core" / +2 .tPC.seek :open +2 "processing"%Y(p +34 "core" ' +2 "storage"(g- +3 "core" -'e +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"( 'B +36 "core" ' +306 ( +2 "storage"(& +4 "core" &, \ G  +2 "manipulator"&& +3 "core" &^   +2 "manipulator"&O% +4 "core" % l   +2 .tForearm.seek :retract +2 "manipulator"&l'\ +96 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&\\(* +248 "core" ( +2 "manipulator"&#& +4 "core" &3  $ + "storage"(f& +4 "core" &,\  Z  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts + "manipulator"&' +92 "core" ' + .tHand.open +2 "manipulator"&|1 +56 "core" 1 +2 "storage"(o- +4 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate +2 "storage"(' +21 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.83 Pucks below Top Plate + "storage"(8' +50 "core" ' +2 #tLights, camera, ACTION! + "storage"(- +4 "core" -' + "storage"(=& +4 "core" &, 4  +2 "manipulator"&& +3 "core" &3 $ +2 .tElbow.seek 4 +2 "manipulator"&,(* +3 "core" ( +2 "manipulator"&7& +3 "core" &3 $ +2 "storage"(s& +4 "core" &, |  +2 .tForearm.seek 4 + 450 counts + "manipulator"&{' +4 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.11 Pucks below Top Plate + "storage"( 'M +58 "core" ' + "manipulator"&& +4 "core" &3  $ +2 "storage"(&& +4 "core" &,\ \ -  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&>'. +33 "core" ' + .tElbow.hold + "manipulator"&V, +5 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"(t'7 +24 "core" ' +2 "manipulator"&`% +4 "core" %B_ ) 4 F ɳ +2 "storage"(& +4 "core" &,   +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 320 counts + "manipulator"&'n +18 "core" ' + "manipulator"&& +5 "core" & 3 ( +2 "storage"(;& +4 "core" &, \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&' +20 "core" ' +2 "storage"(W% +5 "core" %@\ 3 +2 ."downElevator"SE.seek :down +4 "storage"('N +99 (% +3 "core" %KK\ \  NB +2 "manipulator"&!% +4 "core" % @  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&h'\ +95 "core" ' +54 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (]& +4 "core" &, c  +2 "collection"'<& +4 "core" &]L < +2 #tStoring generic puck in Collection Clamp to tube 4 + "manipulator"&n% +4 "core" %\ 8  ' +2 "storage"(~% +3 "core" %B\ \  +2 "storage"(d. +3 "core" .(, +2 "storage"( & +4 "core" &,\ \   + "storage"($& +4 "core" &,\ \   +2 "manipulator"&/& +3 "core" &  ' +2 .tElbow.seek 4 +2 "manipulator"&[(* +8 "core" ( +2 "manipulator"&y& +4 "core" &!  . +2 "storage"(}& +4 "core" &,\ \   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&L' +96 "core" ' +2 "storage"((& +4 "core" &,\  p  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('e +294 "core" ' + "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" &1 + +2 "storage"(2& +3 "core" &,\  #  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&w'. +26 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(M- +3 "core" -' +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"('h +36 "core" ' + "manipulator"&j% +4 "core" %Aw  ( ƺ5 +2 "storage"(G& +4 "core" &, X  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 4 + 319 counts + "manipulator"&i'm +17 "core" ' + "manipulator"&B& +5 "core" &= # * + "storage"("& +4 "core" &, \ {  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&' +19 "core" ' +2 .tSE.seek 1.11 Pucks below Top Plate + "storage"(P'W +40 "core" ' +2 "manipulator"&_& +4 "core" &@ t  ) + "manipulator"&3% +4 "core" %   +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&z'\ +95 "core" ' + .tElbow.seek CC +2 "manipulator"&v( +140 "core" ( +2 "manipulator"&q& +4 "core" & [ , +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &*& +3 "core" &  , +2 .tForearm.seek CC +2 "manipulator"&R'| +99 "core" ' +2 .tHand.close + "manipulator"&-/ +63 "core" / +2 .tCC.seek :open + "collection"'%(p +410 "core" ( +2 "storage"(Q& +4 "core" &,\ \   + "storage"(b& +4 "core" &,\ \   +2 "manipulator"&H& +3 "core" &  X * +2 "manipulator"&)% +4 "core" % Ϗ ` +2 .tForearm.seek :retract +2 "manipulator"&D'\ +100 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&I(* +168 "core" ( +2 "manipulator"&E& +4 "core" &2 n C +2 "storage"(r& +3 "core" &,\ \   +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 4 + "manipulator"&?'. +110 "core" ' + .tElbow.hold + "manipulator"&K, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&1 +54 "core" 1 +3 "manipulator"&+% +4 "core" % B~  ¼K +2 "storage"(.& +4 "core" &,   + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 4 + 320 counts +2 "manipulator"&A'n +18 "core" ' + "manipulator"&^& +5 "core" &\ u z  Y + "storage"(4& +4 "core" &,\ \  y  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts + "manipulator"&k' +20 "core" ' + "storage"(6% +5 "core" %]\ \ &  +2 ."downElevator"SE.seek :down +4 "storage"(T'N +98 (u% +3 "core" %G\ \  m NA +2 "manipulator"& % +4 "core" % o o +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&C'\ +96 "core" ' +43 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 3 of [3..4] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"'e& +3 "core" & +2 "manipulator"&:% +5 "core" %\ 8 9 ' + "storage"(% +4 "core" %8\ \  d  +2 "storage"(m. +3 "core" .(, +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(( +360 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (& +3 "core" & { + "manipulator"&9& +4 "core" &  X +2 .tElbow.seek 3 + "manipulator"&@(D +17 "core" ( + "manipulator"&c& +4 "core" &L a "z +2 "storage"('& +4 "core" &\ \  w +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&Z' +154 "core" ' +2 "storage"(J& +4 "core" &\ 5\ 5 +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(U'e +277 "core" ' + "storage"(- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (x& +2 "core" &\ \ ! +2 "manipulator"&0& +4 "core" &M f f F "y +2 .tElbow.seek 3 + "manipulator"&1(D +4 "core" ( + "manipulator"& & +4 "core" &M p s "y + "storage"(X& +4 "core" &\ \ ! +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&g'y +30 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&/ +58 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&p& +2 "storage"(5'N +7 "core" &M a k "y +2 "manipulator"&S% +4 "core" %  a j U +2 .tForearm.seek :retract +2 "manipulator"&'\ +97 "core" ' +2 .tElbow.seek CC + "manipulator"&( +141 "core" ( + "manipulator"&O& +5 "core" ' + & Y - +2 .tElbow.reconfigure :loose +2 ."downElevator"SE.stop +4 "manipulator"&$ &.,(#b + "storage"(5 +2 "manipulator"&F& +6 "core" & N - +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&#'| +168 "core" ' + "manipulator"&f& +5 "core" &  - + "manipulator"&\ % +4 "core" %υ  +2 "collection"'|& +4 "core" & +2 "collection"'o& +5 "core" & +2 .tCC.seek :closed + "collection"'(] +5 "core" & +7 &C $d +9 &y] 6 +10 & G +9 &e F +9 &nk G +10 &1h G +9 & h F +9 &"j G +10 &$wi G +9 &&:h F +9 &'i F +10 &)h G +9 &+l F +10 &-Ak G +9 &/k G +9 &0i G +10 &2h G +9 &4Il G +9 &6 hz G +10 &7kw F +9 &9gv G +10 &;Rjx F +9 &=j G +9 &>kr G +10 &@fz G +9 &BYgs G +10 &Dgw G +9 &Ekl F +9 &Gk{ G +10 &I^vn H +9 &Kl K +9 &Ll N +10 &Nf P +9 &PNp P +9 &Rl P +10 &Si Q +10 &Um R +9 &WOt R +9 &Yj S +9 &Zh T +10 &\\n @ +9 &]r$v &n +9 &]]m A +3 ( + "collection"'o& +4 #tCollection Clamp onSpring/offSpring for 10/25 samples, on/off torque 1.87 + .Hand.open + "manipulator"&=1 +55 "core" 1 + "manipulator"&% +5 "core" % π  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&7'\ +97 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%s& +4 "core" &> +2 "manipulator"&l% +3 "core" %\ . #i +2 "storage"(% +4 "core" %G\ \   + "storage"(&. +3 "core" .( +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 3 + "storage"(`( +6 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (& +2 "core" & = +2 "manipulator"& & +4 "core" &  - +2 "manipulator"&% +3 "core" %\ .  #i +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 + "manipulator"&(D +164 "core" ( + "manipulator"&;& +5 "core" &9 0 ' + "storage"(W& +4 "core" &\ \ a +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&\\' +100 "core" ' +2 "storage"(& +4 "core" &\ \  & +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(8'e +277 "core" ' + "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (!& +2 "core" &\ \ \ v +2 "manipulator"&{& +4 "core" &:  & +2 .tElbow.seek 3 + "manipulator"&,(D +4 "core" ( + "manipulator"& & +4 "core" &:  & + "storage"(>& +4 "core" & \ O +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&]'y +23 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&/ +54 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&<& +2 "storage"(n'N +7 "core" &: n p & +2 "manipulator"&~% +4 "core" % { p p +2 .tForearm.seek :retract + "manipulator"&d'\ +89 "core" ' +2 .tElbow.seek PC +2 "manipulator"& (c +161 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +84 "core" ( + "manipulator"&t& +5 "core" &m < + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &$& +3 "core" &m  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&/'[ +101 "core" ' +2 "manipulator"&y& +4 "core" &m n +2 "manipulator"&}% +3 "core" %>  +2 "processing"%& +4 "core" &H +2 "processing"%(& +5 "core" &H +2 .tPC.seek :closed + "processing"%(Z +5 "core" &8  +9 &7< *x +9 &kA = +9 &}xE H +10 &BfA G +9 &lJ G +10 &eJ G +9 &!eE G +9 &#KdE F +10 &% fM G +9 &&jN G +9 &(eH F +10 &*RgG G +9 &,kA G +9 &-gK F +10 &/hI G +9 &1ZeG G +10 &3hD F +9 &4h? F +9 &6iD G +10 &8bk; G +9 &:$j6 G +9 &;k5 G +10 &=k? G +9 &?ihA G +10 &A,i8 G +9 &Bf9 G +9 &Dh4 G +10 &Fql. G +9 &H/v7 H +10 &ID I +9 &K? K +9 &Mj7 L +10 &O+6 M +9 &P2 M +9 &R0 L +10 &Tq8 M +9 &V26 M +10 &W2 M +9 &Y6 4 +9 &Z96 G +10 &Z+ " +2 ( +2 "processing"%(& +3 #tProcessing Clamp onSpring/offSpring for 8/26 samples, on/off torque 1.52 + .Hand.open + "manipulator"&V1 +61 "core" 1 + "manipulator"&h% +4 "core" % >  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&'\ +102 "core" ' +2 "processing"%& +4 "core" &Z3 " +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&2% +4 "core" %\ < I ) +2 "storage"(M% +3 "core" %< \  +2 "storage"(j. +3 "core" .( +2 "storage"(G& +4 "core" & O +2 "storage"(B& +3 "manipulator"&"& +5 "core" &\ \ \  I + &m  +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +3 "storage"(#]kK-0-\ b +2 "manipulator"&_(c +6 ."raiseStack"SE.seek :beamBreak +2 "storage"(3'e +3 "core" ( + "manipulator"&L& +4 "core" &m ] + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &[& +3 "core" &m  +2 .tForearm.seek PC + "manipulator"&'[ +103 "core" ' + .tHand.close +2 "manipulator"&w/ +56 "core" / +2 .tPC.seek :open +2 "processing"%i(p +81 "core" ' +2 "storage"(q- +3 "core" -'e +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('B +41 "core" ' +255 ( + "storage"(*& +4 "core" &\ \ C +2 "manipulator"&& +4 "core" &m c b < + "manipulator"&% +4 "core" % E c m q X +2 .tForearm.seek :retract + "manipulator"&-'\ +103 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&z(D +245 "core" ( + "manipulator"&N& +4 "core" &O f  +2 "storage"(Q& +4 "core" &\ \ 8 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&b' +95 "core" ' + .tHand.open + "manipulator"&H1 +63 "core" 1 +2 "storage"()- +4 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate + "storage"(E' +23 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(r' +54 "core" ' + #tLights, camera, ACTION! +2 "storage"(R- +3 "core" -' +2 "storage"(v& +4 "core" & { } , + "manipulator"&& +4 "core" &O M  +2 .tElbow.seek 3 + "manipulator"&+(D +4 "core" ( + "manipulator"&.& +5 "core" &O   + "storage"(^& +4 "core" & { z E +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&4' +3 "core" ' +2 .tSE.reconfigure :gently +53 "storage"(#QK-0-\ b +3 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"(6'M +60 "core" ' +2 "manipulator"&D& +3 "core" &O   +2 "storage"(u& +5 "core" &\ \ \  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"& 'M +34 "core" ' + .tElbow.hold +2 "manipulator"&I, +4 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"(?'7 +39 "core" ' +2 "manipulator"&e% +4 "core" %]g ? ĵ +2 "storage"(:& +3 "core" & +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 316 counts +2 "manipulator"&A'ω +16 "core" ' +2 "manipulator"&& +4 "core" &U r v M  +2 "storage"(m& +4 "core" &\ \  g +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&P' +18 "core" ' +2 "storage"(k% +4 "core" %9\ \   +3 ."downElevator"SE.seek :down +3 "storage"(T'N +99 (a% +3 "core" %I \ \ OB + "manipulator"&% +5 "core" % j d  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&9'\ +104 "core" ' +47 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (c& +5 "core" &\ \ = + "collection"''& +4 "core" &]O A +2 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&J% +4 "core" %\ c l x  +2 "storage"(K% +4 "core" %E\ \    +2 "storage"(C. +3 "core" .( +2 "storage"(& +3 "core" &\ \  +2 "storage"(x& +4 "core" &\ \  + "manipulator"&0& +4 "core" &U p o `  +2 .tElbow.seek 3 + "manipulator"& (D +26 "core" ( + "manipulator"&X& +4 "core" &N n k 2 c +2 "storage"(& +4 "core" &\ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&p' +97 "core" ' + "storage"(S& +4 "core" &\ \  U +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(@'e +273 "core" ' + "storage"(Z- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&O& +2 "core" &N  c +2 "storage"(F& +4 "core" & \  J + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&U'M +33 "core" ' +2 .tElbow.hold + "manipulator"&g, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(1- +2 "core" -' +3 .tSE.seek 0.12 Pucks below Top Plate + "storage"(f'w +37 "core" ' +2 "manipulator"&\ % +3 "core" %[\\   Ų +2 "storage"(|& +4 "core" & +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 314 counts + "manipulator"&5'χ +19 "core" ' + "manipulator"&& +4 "core" &N X h ) c +2 "storage"(%& +4 "core" &\ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&=' +20 "core" ' +2 .tSE.seek 1.12 Pucks below Top Plate + "storage"('f +49 "core" ' + "manipulator"&s& +5 "core" &N m n ^ c + "manipulator"&l% +4 "core" % b f f +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +101 "core" ' +2 .tElbow.seek CC +2 "manipulator"&&( +148 "core" ( + "manipulator"&o& +4 "core" & z ' , +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" & , +2 .tForearm.seek CC + "manipulator"& '| +97 "core" ' +2 .tHand.close +2 "manipulator"&/ +60 "core" / +2 .tCC.seek :open + "collection"'#(p +410 "core" ( + "storage"(;& +4 "core" &\ \ +2 "storage"(W& +3 "core" &\ \   +2 "manipulator"&& +4 "core" &  \ * + "manipulator"&% +4 "core" % χ  +2 .tForearm.seek :retract +4 "manipulator"&'\ +100 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&7(D +156 "core" ( +2 "manipulator"&& +4 "core" &A r \ +2 "storage"(!& +3 "core" &\ \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 + "manipulator"&{'M +113 "core" ' + .tElbow.hold +2 "manipulator"& , +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&>1 +62 "core" 1 +2 "manipulator"&% +4 "core" % ^t +  ' % +2 "storage"(<& +3 "core" &\ \ W +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 317 counts +2 "manipulator"&~'ϊ +19 "core" ' +2 "manipulator"&& +4 "core" &K j o o +2 "storage"(\\& +3 "core" &\ .\ % ( +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&8' +22 "core" ' + "storage"(]% +5 "core" %j\ B\ B H +2 ."downElevator"SE.seek :down +3 "storage"(t'N +99 ($% +3 "core" %J\ \  O OA +2 "manipulator"&,% +4 "core" % c j A +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&y'\ +90 "core" ' +48 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 4 of [3..4] + #Loading generic puck from tube 4 into Collection Clamp +2 "collection"'}& +4 "core" & +2 "manipulator"&% +4 "core" %\ 0  $s + "storage"(n% +4 "core" %7\ \   +2 "storage"(d. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"(Y(, +368 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (V& +2 "core" &,\ \ \   +2 "manipulator"&h& +8 "core" &K  +2 .tElbow.seek 4 +2 "manipulator"&(* +13 "core" ( +2 "manipulator"&2& +4 "core" &3 2  + "storage"(M& +4 "core" &,\ \   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts + "manipulator"&j' +102 "core" ' +2 "storage"((& +4 "core" &,\ \  [  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(G'e +271 "core" ' +2 "storage"("- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (B& +2 "core" &,\ \   +2 "manipulator"&L& +4 "core" &4   + .tElbow.seek 4 +2 "manipulator"&[(* +3 "core" ( +2 "manipulator"&/& +3 "core" &4 /  +2 "storage"(w& +4 "core" &,\ \   +2 .tForearm.seek 4 + 300 counts + "manipulator"&q'Z +22 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"& / +62 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"&& "storage"('N +8 "core" &4 n b G  + "manipulator"&*% +4 "core" % Z j m { +2 .tForearm.seek :retract +2 "manipulator"&3'\ +97 "core" ' +2 .tElbow.seek CC +2 "manipulator"&( +144 "core" ' + ."downElevator"SE.stop + "storage"(5 +4 "core" ( +2 "manipulator"&& +3 "core" & , +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" & = , +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&N'| +96 "core" ' +2 "manipulator"&Q& +4 "core" & _ , +2 "manipulator"&_% +4 "core" %u | +2 "collection"'H& +3 "core" & +3 "collection"')& +5 "core" & +2 .tCC.seek :closed + "collection"'R(] +4 "core" &  +9 &6 )v +9 &k = +10 &x} G +9 &Dj F +9 &j F +10 &n G +9 &!j F +9 &#Ki~ G +10 &% i G +59 &&h G +4 &(k G + &*Tk F +4 &,g F + &-k G + &/h G + &1\\h F +4 &3h G +9 &4j G +10 &6h} G +9 &8dhx F +9 &:%g~ G +10 &;ep G +9 &=kr G +9 &?kjm G +10 &A-ks G +9 &Bgp G +10 &Deo G +9 &Fsln G +9 &H4mc G +10 &Ih I +9 &Kl L +10 &Map P +9 &O#l P +9 &Pg Q +10 &Rm Q +9 &Tco R +9 &V"q S +10 &Wo S +9 &Yr T +9 &[Zm X +10 &]\ zh (| +9 &]%t X +9 ( +2 &]Mn > +2 "collection"')& +3 #tCollection Clamp onSpring/offSpring for 8/26 samples, on/off torque 1.87 + .Hand.open +2 "manipulator"&v1 +61 "core" 1 +2 "manipulator"&% +4 "core" % t ) +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&.'\ +92 "core" ' +2 #tLoading generic puck from tube 4 into Processing Clamp +2 "processing"%^& +4 "core" &K +2 "manipulator"&-% +3 "core" %\ * J !M +2 "storage"(D% +4 "core" %8\ \   +2 "storage"(u. +3 "core" .(, + "storage"(& +4 "core" &,\ \   +2 "storage"(E& +4 "core" &,\ \ H  + "manipulator"&e& +4 "core" &  , + "manipulator"&:% +4 "core" %\ *  !M +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 + "manipulator"&(* +168 "core" ( + "manipulator"&z& +4 "core" &'   +2 "storage"(m& +4 "core" &,\ @  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&b' +95 "core" ' + "storage"(k& +5 "core" &,\ \  ,  + .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(r'e +279 "core" ' + "storage"(a- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (& +3 "core" &,\ \ w  + "manipulator"&4& +4 "core" &'   +2 .tElbow.seek 4 +2 "manipulator"&+(* +3 "core" ( + "manipulator"&6& +4 "core" &' L  + "storage"( & +4 "core" &,\ \ \  +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&c'Z +21 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&A/ +60 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&'& + "storage"(J'N +7 "core" &' p n  +2 "manipulator"&K% +4 "core" % [ o o  +2 .tForearm.seek :retract + "manipulator"&C'\ +92 "core" ' +2 .tElbow.seek PC +2 "manipulator"&?(c +158 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +134 "core" ( + "manipulator"&& +4 "core" &m g +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &x& +2 "core" &m B +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&0'[ +95 "core" ' +2 "manipulator"&X& +4 "core" &m v  +2 "manipulator"&% +4 "core" %d  +2 "processing"%P& +3 "core" &Q +2 "processing"%S& +5 "core" &I +2 .tPC.seek :closed +2 "processing"%T(Z +4 "core" &F  +9 &8Q *x +10 &kH = +9 &vK H +9 &GeB G +10 & gH G +9 &eG G +10 &!hP F +9 &#OjG G +9 &%eR G +10 &&hR G +9 &(jP G +9 &*WeN G +10 &,eT G +9 &-gR F +10 &/hU G +9 &1_eT G +9 &3"hR F +10 &4gJ G +9 &6jN G +9 &8gjO G +10 &:)jK G +9 &;kK G +9 &=gO F +10 &?oiR G +9 &A0gT G +10 &BgM G +9 &DlL G +9 &FwkJ G +10 &H5rN H +9 &I|M I +10 &KJ J +9 &MoO L +9 &O0K M +10 &PE M +9 &RK M +9 &TuG M +10 &V7E M +9 &WK M +9 &YJ 0 +10 &Z/mH M +9 &Z!8 , +2 ( +2 "processing"%S& +3 #tProcessing Clamp onSpring/offSpring for 8/26 samples, on/off torque 1.49 + .Hand.open + "manipulator"&I1 +55 "core" 1 +2 "manipulator"&9% +4 "core" % d  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&Z'\ +92 "core" ' +2 "processing"%O& +4 "core" &Z @ , +2 #tImaging generic puck in Processing Clamp while storing it to tube 4 + "manipulator"&F% +4 "core" %\ , "_ +2 "storage"(1% +3 "core" %@ n  +2 "storage"(\ . +3 "core" .(, +2 "storage"(|& +3 "core" &,   +2 "storage"(& +2 "manipulator"&%& +8 "core" &, 8  + &m M +3 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +4 "storage"(#]kK-0-\ b +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +3 ."raiseStack"SE.seek :beamBreak +2 "manipulator"&s(c + "storage"(l'e +6 "core" ( + "manipulator"&p& +4 "core" &m + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 & & +3 "core" &m p +2 .tForearm.seek PC +2 "manipulator"&@'[ +93 "core" ' +2 .tHand.close + "manipulator"&U/ +61 "core" / +2 .tPC.seek :open + "processing"%5(p +90 "core" ' +2 "storage"(f- +4 "core" -'e + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place + "storage"(o'B +35 "core" ' +253 ( + "storage"(& +4 "core" &, \   +2 "manipulator"&=& +4 "core" &m +2 "manipulator"&g% +3 "core" % k +2 .tForearm.seek :retract +2 "manipulator"&'\ +102 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&(* +264 "core" ( +2 "manipulator"&& +4 "core" &"  + "storage"(;& +4 "core" &,\ \  (  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts + "manipulator"&W' +95 "core" ' +2 .tHand.open + "manipulator"&1 +57 "core" 1 +2 "storage"(- +3 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate +2 "storage"(' +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(!' +52 "core" ' + #tLights, camera, ACTION! +2 "storage"( - +3 "core" -' +2 "storage"(&& +3 "core" &, V  +2 "manipulator"&>& +4 "core" &"   + .tElbow.seek 4 +2 "manipulator"&(* +4 "core" ( + "manipulator"&<& +4 "core" &"   + "storage"(& +4 "core" &, |  +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&\\' +17 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.11 Pucks below Top Plate + "storage"(]'M +63 "core" ' +2 "manipulator"&& +4 "core" &" ` j n  +2 "storage"($& +3 "core" &,\ \  _  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&,'. +36 "core" ' +2 .tElbow.hold +2 "manipulator"&7, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"({'7 +22 "core" ' +2 "manipulator"&}% +4 "core" %AO   - ȯ +2 "storage"(~& +4 "core" &, b  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 319 counts + "manipulator"&'m +18 "core" ' +2 "manipulator"&n& +4 "core" & i l ` +2 "storage"(d& +4 "core" &,\ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&' +22 "core" ' +2 "storage"(8% +4 "core" %<\ \ (  +3 ."downElevator"SE.seek :down +3 "storage"(t'N +99 (`% +4 "core" %$L\ \ OC +2 "manipulator"&V% +4 "core" % c k ] +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&h'\ +96 "core" ' +54 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (2& +4 "core" &, >  +2 "collection"'M& +3 "core" &]Lx > +2 #tStoring generic puck in Collection Clamp to tube 4 +2 "manipulator"&(% +3 "core" %\ : h ( +2 "storage"( % +4 "core" %E\    + "storage"(y. +3 "core" .(, +2 "storage"("& +4 "core" &,\  +2 "storage"(B& +4 "core" &,\ R  + "manipulator"&L& +4 "core" & q +2 .tElbow.seek 4 + "manipulator"&/(* +23 "core" ( +2 "manipulator"&w& +4 "core" &)  & +2 "storage"( & +3 "core" &,\ \   +2 .tForearm.reconfigure :tight +53 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&' +104 "core" ' + "storage"(*& +5 "core" &,\ \   + .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('e +278 "core" ' + "storage"(j- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" &+ i v & +2 "storage"(& +3 "core" &, \  3  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&G'. +36 "core" ' + .tElbow.hold +2 "manipulator"&q, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(Q- +2 "core" -' +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(_'i +28 "core" ' +2 "manipulator"&H% +4 "core" %?K G 6 * ͮ +2 "storage"([& +4 "core" &,   + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 317 counts + "manipulator"&'k +18 "core" ' + "manipulator"&3& +4 "core" & o 7 + +2 "storage"(#& +4 "core" &,\   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&v' +22 "core" ' +2 .tSE.seek 1.11 Pucks below Top Plate +2 "storage"('X +39 "core" ' +2 "manipulator"&^& +4 "core" &  * +2 "manipulator"&-% +4 "core" % v h  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&D'\ +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&u( +140 "core" ( + "manipulator"&& +4 "core" &  - +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &)& +3 "core" &  - +2 .tForearm.seek CC +2 "manipulator"&E'| +96 "core" ' + .tHand.close + "manipulator"&e/ +60 "core" / +2 .tCC.seek :open + "collection"':(p +410 "core" ( + "storage"(N& +5 "core" &,\ \ &  + "storage"(z& +4 "core" &,\ \  x  + "manipulator"&m& +4 "core" &   * +2 "manipulator"&k% +3 "core" % z  +2 .tForearm.seek :retract +2 "manipulator"&'\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&.(* +170 "core" ( + "manipulator"&a& +5 "core" &* r  + "storage"(& +4 "core" &,\ \    +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 4 + "manipulator"&4'. +108 "core" ' +3 .tElbow.hold + "manipulator"&6, +8 "core" , +5 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +4 .tHand.open +3 "manipulator"& 1 +63 "core" 1 +3 "manipulator"&A% +4 "core" % B 1 e U + "storage"('& +4 "core" &,\  x  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 320 counts + "manipulator"&K'n +19 "core" ' + "manipulator"&& +4 "core" &\ j _ y X +2 "storage"(b& +4 "core" &,\ \  =  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&r' +21 "core" ' +2 "storage"(c% +4 "core" %]\ \  m +2 ."downElevator"SE.seek :down +3 "storage"('N +100 (+% +2 "core" %F\ \   N? +2 "manipulator"&x% +4 "core" % p w  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&X'\ +95 "core" ' +49 ' + ."downElevator"SE.stop +2 "storage"(5 +8541 "Can" :7 @1667432248.56EDT = =mMAIN_scheduler =tMAIN @EDT1667432250.50 #"core_reset"Sent BREAK +3 #t@15600 idle with ifg=0x00, ie=0x75 #>RESET< ESP2 v3.41 I2C Gateway v3.20 +208 #>RESET< ESP2 v3.41 I2C Gateway v3.20 for core bus +208 !o:Instrument::ISUSCore: @refi N: @configS:Instrument::Configuration: name" ISUS:calFileName0:sampleCmd"TS: prompt"\ :statusCmd"C:sampleTimeouti#:promptTimeouti:statusTimeouti: retriesi:strToPrompt"W: pace0: echoF:\ @name@ +100 #Configuration for don (12651-03) 10/9/20 brent@mbari.org\ /home/esp/esp2/type/shallow/don/configure.rb\ +398 "Can"N &$!y + N &$!y #tPolling Can every 10:00 +13 !o:Storage::Warning: mesg"Uncleanly Exited:bt[ "8/home/esp/esp2/utils/storage.rb:438:in `readPucks!'"6/home/esp/esp2/utils/storage.rb:627:in `restore!'"-/home/esp/esp2/lib/esp.rb:115:in `shell'"7/home/esp/esp2/lib/schedule.rb:481:in `initialize'"0/home/esp/esp2/lib/thread.rb:738:in `start'"7/home/esp/esp2/lib/schedule.rb:474:in `initialize'"'/home/esp/esp2/lib/schedule.rb:472 +637 #-> ESP.ready! +3 #Powering core bus +532 .Gate.power :raw,:ON +2 "sampler") +45 ) +2 "core"  +2 "collection"' +2 ' +3 "core"  +2 "processing"% + % +3 "core"  +5 "collection"' 9\ +2 ' 0\ +3 ' -\ +4 "processing"% 9\ +2 % 2\ + % *\ +2 % 0\ +4 "sampler")&\ +2 "collection"'% +3 "core" %WZ; + .tCS.configure :default +2 "collection"'#P d@b +3 "processing"%% +2 "core" % +2 .tPS.configure :default +2 "processing"%#A d`xb +3 "sampler")% +2 "core" % U M +2 .tSS.configure :default +2 "sampler")#.0X access 1 +3 "storage"(;% +3 "core" %P-\ \  W +2 "manipulator"&<% +4 "core" %\ 4  %U + "manipulator"&=& +4 "core" & = +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"(>(<< +352 "core" ( +2 .tSC.configure :limp +3 "storage"($\ 1b +2 (?& +2 "core" &<:   +1573 #t-> Puck.count +2 "storage"(@% +3 "core" %P-\ \  W +2 .tSE.seek :down +2 "storage"(A'N +3 "core" ' + .tSE.stop +2 "storage"(5 +2 .tHand.open + "manipulator"&B1 +52 "core" 1 +2 "manipulator"&C% +4 "core" % \ 3 W %U +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 1 +2 "storage"(D(B +1314 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (E& +2 "core" &> e +2 "manipulator"&F& +40 "core" & = +7 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 1 +2 "manipulator"&G(c +20 "core" ( +2 "manipulator"&H& +4 "core" &f | "x + "storage"(I& +4 "core" &>\ "\ "  +2 .tForearm.seek 1 + 450 counts +2 "manipulator"&J'Ф +88 "core" ' +2 "storage"(K& +4 "core" &>\ #\ $  +2 .tSE.reconfigure :place +2 "storage"(#]kK-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(L'e +269 "core" ' + "storage"(M- +4 "core" -'e + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (N% +2 "core" %m\ \  +2 ."downElevator"SE.seek :down +3 "storage"(O'N +100 (P% +2 "core" %R\ \  PH +2 "manipulator"&Q% +4 "core" %Н   +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&R'\ +98 "core" ' +61 ' + ."downElevator"SE.stop + "storage"(5 +3 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"(S(  +361 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (T& +2 "core" & R A +2 "manipulator"&U& +3 "core" &f "x +2 .tElbow.seek 2 +2 "manipulator"&V(; +27 "core" ( + "manipulator"&W& +4 "core" &9 J ~ +2 "storage"(X& +3 "core" & \ \ "\ "  $ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&Y'Ѐ +101 "core" ' + "storage"(Z& +4 "core" & \ \ F\ F $ +2 .tSE.reconfigure :place +3 "storage"(#]kK-0-\ b +3 .tSE.seek :beamBreak + "storage"(['e +273 "core" ' + "storage"(\\- +4 "core" -'e + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (]% +3 "core" %[\ 5\ ` +2 ."downElevator"SE.seek :down +3 "storage"(^'N +99 (_% +3 "core" %YN\ \ \ 2 OE +2 "manipulator"&`% +4 "core" %~ s s l + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&a'\ +93 "core" ' +64 ' + ."downElevator"SE.stop +2 "storage"(5 +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(b( +349 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (c& +3 "core" & I  +2 "manipulator"&d& +4 "core" &9 h ~ + .tElbow.seek 3 +2 "manipulator"&e(D +15 "core" ( +2 "manipulator"&f& +4 "core" &:  : + "storage"(g& +4 "core" &\ "\ #   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&h' +108 "core" ' +2 "storage"(i& +4 "core" &\ 3\ F ;  +2 .tSE.reconfigure :place +2 "storage"(#]kK-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(j'e +308 "core" ' +2 "storage"(k- +3 "core" -'V +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (l% +3 "core" % \\\ \  +2 ."downElevator"SE.seek :down +4 "storage"(m'N +98 (n% +3 "core" %F\ !\ "  NA +2 "manipulator"&o% +4 "core" % p o  + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&p'\ +95 "core" ' +38 ' + ."downElevator"SE.stop +2 "storage"(5 +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"(q(, +355 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (r& +3 "core" &, A  + "manipulator"&s& +4 "core" &: } +2 .tElbow.seek 4 +2 "manipulator"&t(* +22 "core" ( + "manipulator"&u& +4 "core" &3 q ^ +2 "storage"(v& +4 "core" &,\ !\ !   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&w' +101 "core" ' +2 "storage"(x& +4 "core" &,\ !\ "   +2 .tSE.reconfigure :place +2 "storage"(#]kK-0-\ b +3 .tSE.seek :beamBreak + "storage"(y'e +304 "core" ' +2 "storage"(z- +3 "core" -'N + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 ({% +3 "core" % P\ !\ "  +2 ."downElevator"SE.seek :down +3 "storage"(|'N +99 (}% +3 "core" %F\ \  OB +2 "manipulator"&~% +4 "core" %   + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +103 "core" ' +31 ' + ."downElevator"SE.stop +2 "storage"(5 +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"((<< +354 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (& +3 "core" &<:*\ \ %  + "manipulator"&& +4 "core" &3 } } 2 ^ +2 .tElbow.seek 5 + "manipulator"&( +47 "core" ( +2 "manipulator"&& +4 "core" & v  # + "storage"(& +4 "core" &<9\ \   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&' +92 "core" ' +2 "storage"(& +4 "core" &<9\ "\ "  +2 .tSE.reconfigure :place +2 "storage"(#]kK-0-\ b +3 .tSE.seek :beamBreak + "storage"( 'e +270 "core" ' + "storage"(\ - +4 "core" -'e + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 ( % +3 "core" %[\ \ 5 +2 ."downElevator"SE.seek :down +3 "storage"( 'N +99 ( % +3 "core" %ZM\ \  OE +2 "manipulator"&% +3 "core" %  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +92 "core" ' +65 ' + ."downElevator"SE.stop +2 "storage"(5 +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"((K +351 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (& +2 "core" &K0 g  +2 "manipulator"&& +4 "core" & $ # +2 .tElbow.seek 6 + "manipulator"&( +3 "core" ( +2 "manipulator"&& +3 "core" & S # +2 "storage"(& +3 "core" &K\ "\ !   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&'< +100 "core" ' +2 "storage"(& +4 "core" &K\ !\ "   +2 .tSE.reconfigure :place +2 "storage"(#]kK-0-\ b +3 .tSE.seek :beamBreak + "storage"('e +269 "core" ' + "storage"(- +3 "core" -'e +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (% +3 "core" %o\ 4\  +2 ."downElevator"SE.seek :down +3 "storage"('N +99 ("% +3 "core" %O\ \  OD +2 "manipulator"&%% +4 "core" %2 ~ N + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&''\ +90 "core" ' +64 ' + ."downElevator"SE.stop + "storage"(5 +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 7 + "storage"()([ +351 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 ((& +2 "core" &[ 2  +2 "manipulator"&& +4 "core" & " # +2 .tElbow.seek 7 + "manipulator"&( +21 "core" ( +2 "manipulator"&#& +4 "core" & {  + "storage"(,& +4 "core" &[\ !\ "   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&-'k +110 "core" ' + "storage"(.& +4 "core" &[\ E\ E  +2 .tSE.reconfigure :place +3 "storage"(#]kK-0-\ b +3 .tSE.seek :beamBreak + "storage"(/'e +273 "core" ' + "storage"(0- +4 "core" -'e + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (1% +3 "core" %`\ !\ "  +2 ."downElevator"SE.seek :down +3 "storage"(2'N +99 (3% +4 "core" %N\ \ ! M OD + "manipulator"&4% +4 "core" %x r s  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&5'\ +87 "core" ' +68 ' + ."downElevator"SE.stop +2 "storage"(5 +604 #t-> exit +6 #mEXIT @1667432449.38EDT @1667569342.29EDT = =mMAIN_scheduler =tMAIN @EDT1667569344.10 #"core_reset"Sent BREAK +2 #t@53228 select with ifg=0x10, ie=0xF5 + #@53869 receive with ifg=0x10, ie=0xFD + #@54502 receive with ifg=0x10, ie=0xFD + #@55136 receive with ifg=0x10, ie=0xFD #@55463 receive with ifg=0x80, ie=0xFD + #@4403 sendCRC with ifg=0x20, ie=0x7F #@4850 sendCRC with ifg=0x20, ie=0x7F + #@6437 sendCRC with ifg=0x08, ie=0x5F + #@18234 idle with ifg=0x00, ie=0x75 #ESP2 v3.41 I2C Gateway v3.20 +8 #ESP2 v3.41 I2C Gateway v3.20 for core bus +200 !o:Instrument::ISUSCore: @configS:Instrument::Configuration: name" ISUS:calFileName0:sampleCmd"TS: prompt"\ :statusCmd"C:sampleTimeouti#:promptTimeouti:statusTimeouti: retriesi:strToPrompt"W: pace0: echoF: @refidI:\ @name@ +95 #Configuration for don (12651-03) 10/9/20 brent@mbari.org\ /home/esp/esp2/type/shallow/don/configure.rb\ +374 "Can"; =: ; =: + #tPolling Can every 10:00 +3 #Cleanly exited at 19:40:49EDT02-Nov-22 +468 #-> ESP.ready! +154 "sampler") +2 ) +2 "core"  +2 "collection"' +2 ' +2 "core"  +2 "processing"% +2 % +3 "core"  +4 "collection"' 9\ +2 ' 0\ +2 ' -\ +4 "processing"% 9\ +2 % 2\ +3 % *\ +2 % 0\ +4 "sampler")&\ +2 "collection"'% +3 "core" % + .tCS.configure :default +3 "collection"'#P d@b +2 .tCS.hold + "collection"'+ +4 "core" + + .tCS.configure :default +3 "collection"'#P d@b +2 "processing"%% +3 "core" %+ + .tPS.configure :default +3 "processing"%#A d`xb +2 "sampler")% +3 "core" %2 + .tSS.configure :default +2 "sampler")#.0X PS.flush +2 #Flushing Processing stage + "processing"%2% +4 "core" %5 + #tLoading FlushPuck into Processing Clamp from FlushPuck::Garage +2 "processing"%3& +4 "core" &S6  + .tHand.open +2 "manipulator"&41 +19 "core" 1 + "manipulator"&5& +4 "core" & N  +2 "manipulator"&6% +4 "core" %\ ( - F +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek FlushPuck::Garage +2 "manipulator"&7(, +179 "core" ( +2 "manipulator"&8& +4 "core" &, U  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &9& +3 "core" &, Q  +2 .tForearm.seek :garage + "manipulator"&:' +98 "core" ' + .tHand.close +2 "manipulator"&;/ +58 "core" / + "manipulator"&<& +4 "core" &,   +2 "manipulator"&=% +3 "core" %  (  +2 .tForearm.seek :retract +2 "manipulator"&>'\ +97 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +2 "manipulator"&?(c +119 "core" ( + "manipulator"&@& +5 "core" &e + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &A& +2 "core" &e g +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&B'[ +103 "core" ' +2 "manipulator"&C& +4 "core" &e j ^ : +2 "manipulator"&D% +3 "core" %V e n j h +2 "processing"%E& +4 "core" &S0  +2 "processing"%F& +6 "core" &S5  +2 .tPC.seek :closed + "processing"%G(Z +5 "core" &S6  +8 &8* *y +10 &l- > +9 &O{6 I +9 &q+ G +10 &n3 G +9 &r) H +10 &!Zl( G +9 &#m& G +9 &$p' H +10 &&n H +9 &(bj* G +9 &*#o- H +10 &+o) H +9 &-m* H +10 &/jk' G +9 &1,m" G +9 &2k' H +10 &4n) G +9 &6rk/ G +9 &84j- G +10 &9j) G +9 &;k$ H +10 &=zn* G +9 &?<o- G +9 &@p' H +10 &Bm( H +9 &Dm) H +9 &FDl& G +10 &Hs( H +9 &I( J +10 &K% K +9 &M=( M +9 &N+ M +10 &P% M +9 &R' M +9 &TC' M +10 &V) N +9 &W( N +10 &Y) ; +9 &Zw4% ` +9 &Z/ ' +2 ( +2 "processing"%F& +3 #tProcessing Clamp onSpring/offSpring for 9/25 samples, on/off torque 1.47 +3 "processing"%H& +4 "core" &Z& ' + .tHand.open +2 "manipulator"&I1 +52 "core" 1 + "manipulator"&J% +4 "core" % V e I h +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&K'\ +91 "core" ' +2 .tPSV.dial PSR +2 "processing"%L +121 "core"  +7 .tPSR.select :flush +2 "processing"%j +10 .tPS.seek 1ml + "processing"%M'T +1103 "core" ' + .tPSR.select :air +2 "processing"% +10 .tPS.seek 2.5ml +2 "processing"%N'm +1632 "core" ' + .tPSV.dial PTV +2 "processing"%O +74 "core" + .tPTV.dial :puck +2 "processing"%P  +4 "core"  +2 .tPBV.dial :waste1 +2 "processing"%Q  +50 "core" +2 .tPS.seek 0ml +2 "processing"%R' +2633 "core" ' + .tPSV.dial PSR +2 "processing"%S +74 "core"  + .tPSR.select :flush +2 "processing"%@ +10 .tPS.seek 0.5ml +2 "processing"%T' +586 "core" ' + .tPSR.select :air +2 "processing"% +10 .tPS.seek 2.5ml +2 "processing"%U'm +2144 "core" ' +2 .tPSV.dial PTV + "processing"%V +74 "core" +2 .tPBV.dial PSV + "processing"%W U +52 "core" W +2 .tPS.seek 0ml +2 "processing"%X' +2636 "core" ' +2 .tPSV.dial PBV + "processing"%Y @ +47 "core" ? +2 .tPS.seek 2.5ml +2 "processing"%Z'm +2649 "core" ' +2 .tPSV.dial :waste1 + "processing"%[  +69 "core"  +2 .tPS.seek 0ml +2 "processing"%\\' +2634 "core" ' + .tPSV.dial PSR +2 "processing"%] +47 "core"  + .tPSR.select :air +3 .PS.seek 2.5ml +2 "processing"%^'m +2666 "core" ' + .tPSV.dial PTV +2 "processing"%_ +67 "core" + .tPBV.dial PSV +2 .PS.seek 0ml +2 "processing"%`' +2637 "core" ' + .tPSV.dial PBV +2 "processing"%a @ +47 "core" > +2 .tPS.seek 2.5ml +2 "processing"%b'm +2646 "core" ' + .tPSV.dial :waste1 +2 "processing"%c  +69 "core"  +2 .tPS.seek 0ml +2 "processing"%d' +2630 "core" ' +2 #tGaraging FlushPuck in Processing Clamp + "manipulator"&e& +4 "core" &e q +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC + "manipulator"&f(c +3 "core" ( +2 "manipulator"&g& +4 "core" &e d + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &h& +2 "core" &e Q +2 .tForearm.seek PC +2 "manipulator"&i'[ +95 "core" ' + .tHand.close + "manipulator"&j/ +55 "core" / +2 .tPC.seek :open +2 "processing"%k(p +389 "core" ( +2 "manipulator"&l& +4 "core" &e  +2 "manipulator"&m% +3 "core" % [  +2 .tForearm.seek :retract +2 "manipulator"&n'\ +99 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage +2 "manipulator"&o(, +146 "core" ( +2 "manipulator"&p& +4 "core" &, 8 < + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &q& +2 "core" &, 7 < +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :garage +2 "manipulator"&r' +112 "core" ' + .tHand.open +2 "manipulator"&s1 +51 "core" 1 +2 "manipulator"&t% +4 "core" %    +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&u'\ +102 "core" ' +27592 "Can"F KI +60002 K KH +31362 #t-> samplePassF + #Beginning samplePassF +2 #Loading FlushPuck into Collection Clamp from FlushPuck::Garage +2 "collection"'v& +3 "core" &W  + "manipulator"&w& +4 "core" &, < +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek FlushPuck::Garage + "manipulator"&x(, +3 "core" ( + "manipulator"&y& +4 "core" &, < + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &z& +3 "core" &, v < + .tForearm.seek :garage +2 "manipulator"&{' +108 "core" ' + .tHand.close +2 "manipulator"&|/ +62 "core" / +2 "manipulator"&}& +4 "core" &, 0 : < + "manipulator"&~% +4 "core" %  o +2 .tForearm.seek :retract +2 "manipulator"&'\ +104 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&( +280 "core" ( + "manipulator"&& +4 "core" &# G ;2 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +2 "core" &$ r ;2 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&'| +98 "core" ' + "manipulator"&& +5 "core" &$ ;2 + "manipulator"&% +4 "core" %σ 6 +2 "collection"' & +4 "core" &W  +2 "collection"' & +4 "core" &W  +2 .tCC.seek :closed +2 "collection"' (] +4 "core" &W  +9 &9 *z +9 &m ? +9 &Vz I +10 &k H +9 &p H +9 &r I +10 &!_r I +9 &# m I +10 &$k I +9 &&q I +9 &(gq I +10 &*)n I +9 &+l H +9 &-p I +10 &/or I +9 &11m I +10 &2n H +9 &4k I +9 &6wm I +10 &8:j H +9 &9p H +9 &;i H +10 &=m I +9 &?Bk H +10 &An H +9 &Bn I +9 &Dj H +10 &FJn H +9 &H\ s I +9 &I| I +10 &K L +9 &M? O +10 &N Q +9 &P Q +9 &R| R +10 &T< S +9 &U S +9 &W S +10 &Y| U +9 &[> U +10 &\\x}| )~ +9 &]0}{ N +9 ( +3 "collection"' & +3 #tCollection Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.81 + "collection"'& +4 "core" &]A~~ : + &]B~ : + .tHand.open +2 "manipulator"&1 +63 "core" 1 + "manipulator"&% +4 "core" % σ y +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +91 "core" ' +2 .tPSV.dial PSR,avoiding: PBV +2 "processing"%  +46 "core"  + "processing"%% +4 "core" %Z +2 #tPulling 1.5ml of PSR.flush + .PSR.select :flush +2 "processing"%@ +9 .tPS.seek 1.5ml +2 "processing"%' +1615 "core" ' + .tdelay 5 seconds +503 .PSV.dial :waste1 +2 "processing"%  +47 "core"  +2 .tPS.seek 0ml + "processing"%' +1622 "core" ' + .tPSV.dial PSR +2 "processing"% +47 "core"  + .tPSR.select :air +2 "processing"% +10 .tPS.seek 2.5ml + "processing"%'m +2645 "core" ' +2 ."connect"PRV.dial CBV +3 .tCBV.dial PRV +2 "processing"%  + "collection"'  +69 "core" +25  + .tPSV.dial :PTV,via: :air +2 "processing"% +184 "core" ~ +2 .tCTV.dial :air,avoiding: :intake + "collection"' +3 "core"  +2 "collection"'  +4 "core"  + .tPTV.dial :PRV,avoiding: :puck +2 "processing"%! @ +66 "core" A +2 .tPS.seek 0ml +2 "processing"%"' +2654 "core" ' + .tPSV.dial :air +2 "processing"%#  +74 "core"  +2 .tPS.seek 2.5ml + "processing"%$'m +2655 "core" ' + .tPSV.dial :PTV + "processing"%% +74 "core" ~ +2 .tPS.seek 0ml +2 "processing"%&' +2632 "core" ' + #tGaraging FlushPuck in Collection Clamp +2 "manipulator"&'& +4 "core" & < 6 +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&(( +28 "core" ( + "manipulator"&)& +4 "core" & @  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &*& +3 "core" &  +2 .tForearm.seek CC +2 "manipulator"&+'| +94 "core" ' +2 .tHand.close + "manipulator"&,/ +52 "core" / +2 .tCC.seek :open +2 "collection"'-(p +408 "core" ( +2 "manipulator"&.& +4 "core" &    + "manipulator"&/% +4 "core" % t ! + .tForearm.seek :retract +2 "manipulator"&0'\ +91 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage +2 "manipulator"&1(, +286 "core" ( + "manipulator"&2& +4 "core" &, B  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &3& +2 "core" &, %  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek :garage + "manipulator"&4' +111 "core" ' +2 .tHand.open + "manipulator"&51 +53 "core" 1 +2 "manipulator"&6% +4 "core" %   + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&8'\ +97 "core" ' @1667828433.88EST = =mMAIN_scheduler =tMAIN @EST1667828435.79 #"core_reset"Sent BREAK +2 #t@20974 idle with ifg=0x00, ie=0x75 + #>RESET< ESP2 v3.41 I2C Gateway v3.20 +213 #>RESET< ESP2 v3.41 I2C Gateway v3.20 for core bus +235 !o:Instrument::ISUSCore: @refif: @configS:Instrument::Configuration: name" ISUS:calFileName0:sampleCmd"TS: prompt"\ :statusCmd"C:sampleTimeouti#:promptTimeouti:statusTimeouti: retriesi:strToPrompt"W: pace0: echoF:\ @name@ +102 #Configuration for don (12651-03) 10/9/20 brent@mbari.org\ /home/esp/esp2/type/shallow/don/configure.rb\ +402 "Can" '$!x +  '$!x + #tPolling Can every 10:00 +3 #Cleanly exited at 09:42:30EDT04-Nov-22 +503 #-> ESP.ready! +3 #Powering core bus +571 .Gate.power :raw,:ON +2 "sampler") +38 ) +2 "core"  +2 "collection"' +2 ' +3 "core"  +2 "processing"% + % +3 "core"  +6 "collection"' 9\ +2 ' 0\ +2 ' -\ +3 "processing"% 9\ +2 % 2\ +2 % *\ +2 % 0\ +4 "sampler")&\ +2 "collection"'% +3 "core" %  + .tCS.configure :default +3 "collection"'#P d@b +2 "processing"%% +3 "core" %g + .tPS.configure :default +3 "processing"%#A d`xb +2 "sampler")% +3 "core" %  + .tSS.configure :default +3 "sampler")#.0X + "sampler")2% +4 "core" %3 +2 "collection"'3& +3 "core" &R $  +2 "processing"%4& +4 "core" &S?  + "manipulator"&5% +4 "core" %\ 1 $L +2 "manipulator"&6& +3 "core" &0 i # +2 "storage"(7& +4 "core" &,\ \   + "storage"(8% +4 "core" %O&\ \  P +2 "collection"'99 +3 "core" 9_b + "processing"%:9 +3 "core" 9p +1527 #t-> require 'shuddle.rb' +2 !o:LoadError: mesg"'no such file to load -- shuddle.rb:bt[ "(ESP):2:in `require'"(ESP):2:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +956 #-> require 'shuffle.rb' +2514 #-> 5.times {shuffle 3..4} +2 #Shuffling pucks in tube 3 of [3..4] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"';& +4 "core" &R   + .tHand.open +2 "manipulator"&<1 +57 "core" 1 +2 "manipulator"&=% +4 "core" % \ 1  $L +2 "storage"(>% +3 "core" %O&\ \  P +2 "storage"(?. +3 "core" .(,~ + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(@( +363 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (A& +3 "core" & e +2 "manipulator"&B& +3 "core" &0 # +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&C(D +21 "core" ( +2 "manipulator"&D& +4 "core" &_ > m +2 "storage"(E& +4 "core" &\ \  +2 .tForearm.seek 3 + 450 counts + "manipulator"&F' +102 "core" ' +2 "storage"(G& +4 "core" &\ "\ " +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(H'e +275 "core" ' +2 "storage"(I- +3 "core" -' +42 .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (J& +2 "core" &\ /\ # 3 +2 "manipulator"&K& +4 "core" &_ ~  m + .tElbow.seek 3 +2 "manipulator"&L(D +29 "core" ( + "manipulator"&M& +5 "core" &? y C ~ +2 "storage"(N& +4 "core" &\ @\ @ +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&O'y +25 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&P/ +60 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&Q& +2 "storage"(R'N +8 "core" &? ~ q L ~ + "manipulator"&S% +4 "core" % x } T +2 .tForearm.seek :retract +2 "manipulator"&T'\ +88 "core" ' +2 .tElbow.seek CC +2 "manipulator"&U( +157 "core" ' + ."downElevator"SE.stop + "storage"(5 +5 "core" ( + "manipulator"&V& +4 "core" &( o ?T +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &W& +2 "core" &( M ?T +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&X'| +109 "core" ' +2 "manipulator"&Y& +4 "core" &( ?T +2 "manipulator"&Z% +4 "core" %y  +2 "collection"'[& +4 "core" &R   +2 "collection"'\\& +6 "core" &R '  +2 .tCC.seek :closed +3 "collection"'](] +4 "core" &R &  +6 &S , > +9 &M * 0 +9 &+y & E +10 &q , I +9 &r + I +9 &cr * I +10 & %s 0 I +9 &!p * I +10 &#s . I +9 &%jp , I +9 &'.r , H +10 &(q ( H +9 &*p - H +9 &,tn ( H +10 &.5q % I +9 &/u , I +10 &1r $ I +9 &3{s ' I +9 &5=m ( I +10 &6s ' I +9 &8o ' I +9 &:n & I +10 &n + I +10 &?n ) I +9 &An % I +9 &CNp $ H +10 &Ep - H +9 &Fu % I +9 &H| + J +10 &JO ) K +9 &L  " N +10 &Mrx ' Q +9 &Oos + Q +9 &QCkm ' R +10 &Shj ( S +9 &Tcf 0 T +9 &V_a - S +10 &XDY^ 1 T +9 &ZVX ' U +10 &[QU ( T +9 &]%QPR . *~ +10 &]LO ( K +8 ( +3 "collection"'\\& +3 #tCollection Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.83 + .Hand.open +2 "manipulator"&^1 +3 "core" &]uPQ . H +58 1 +2 "manipulator"&_% +4 "core" % {  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&`'\ +92 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%a& +4 "core" &Sv  +2 "manipulator"&b% +4 "core" %\ + / !U +2 "storage"(c% +4 "core" %N  + "storage"(d. +3 "core" .( +2 "storage"(e& +4 "core" & N + "storage"(f& +4 "core" &  +2 "manipulator"&g& +4 "core" &( i ?Q + "manipulator"&h% +4 "core" %\ +  !U +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&i(D +163 "core" ( + "manipulator"&j& +4 "core" &H i  +2 "storage"(k& +4 "core" &\ \  D +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&l' +104 "core" ' +2 "storage"(m& +4 "core" &\ $\   +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(n'e +278 "core" ' + "storage"(o- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (p& +3 "core" &\ \ k +2 "manipulator"&q& +3 "core" &H } !  +2 .tElbow.seek 3 +2 "manipulator"&r(D +3 "core" ( + "manipulator"&s& +4 "core" &H y  + "storage"(t& +4 "core" &\ \  +2 .tForearm.seek 3 + 300 counts + "manipulator"&u'y +16 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&v/ +63 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"&w& + "storage"(x'N +7 "core" &H   + "manipulator"&y% +4 "core" % x  > & +2 .tForearm.seek :retract +2 "manipulator"&z'\ +97 "core" ' +2 .tElbow.seek PC +2 "manipulator"&{(c +157 "core" ' + ."downElevator"SE.stop + "storage"(5 +79 "core" ( +2 "manipulator"&|& +4 "core" &i D 5 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &}& +4 "core" &i | 5 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&~'[ +103 "core" ' + "manipulator"&& +5 "core" &i Q 5 + "manipulator"&% +4 "core" %_ ] +2 "processing"%& +4 "core" &S\\  +2 "processing"%& +6 "core" &S\\  +2 .tPC.seek :closed +2 "processing"%(Z +4 "core" &S  +7 &gR $f +9 &K] 8 +10 & H +9 &n H +10 &Hp H +9 &\ m H +9 & n H +10 &"m G +9 &$Qo G +9 &&r G +10 &'n G +9 &)p G +9 &+Xr H +10 &-s H +9 &.p H +10 &0m H +9 &2arx G +9 &4"m H +10 &5o H +9 &7k G +9 &9ik G +10 &;*l H +9 &<n H +9 &>s H +10 &@pp H +9 &B3m G +10 &Cl H +9 &Ep H +9 &Guy I +10 &I5 I +9 &J L +10 &L M +9 &No N +10 &P2 M +9 &Q M +9 &S M +9 &Uw N +10 &W: M +9 &X N +9 &ZIDn{ &n +10 &Z\ 3 ' +5 ( +2 "processing"%& +4 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.46 + .Hand.open + "manipulator"&1 +4 "core" &Z ' +52 1 +2 "manipulator"&% +4 "core" % _ T +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +99 "core" ' + "processing"%& +4 "core" &ZY ' +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"& % +4 "core" %\ / K #i +2 "storage"(\ % +4 "core" %N  + "storage"( . +3 "core" .( +2 "storage"( & +4 "core" &  + "storage"( & +2 "manipulator"&& +8 "core" &i 5 + &  +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +3 "storage"(#]kK-0-\ b +3 .tElbow.seek PC +2 "manipulator"&(c +4 ."raiseStack"SE.seek :beamBreak + "storage"('e +3 "core" ( + "manipulator"&& +4 "core" &i * 5 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &i 7 5 +2 .tForearm.seek PC +2 "manipulator"&'[ +94 "core" ' + .tHand.close +2 "manipulator"&/ +56 "core" / +2 .tPC.seek :open +2 "processing"%(p +96 "core" ' + "storage"(- +4 "core" -'e + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +2 ."raiseStack"SE.seek :place +2 "storage"('B +34 "core" ' +249 ( + "storage"(& +4 "core" &\ \  - +2 "manipulator"&& +4 "core" &i  5 + "manipulator"&% +4 "core" % `  +2 .tForearm.seek :retract + "manipulator"&'\ +99 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&"(D +253 "core" ( +2 "manipulator"&%& +4 "core" &= & + "storage"('& +4 "core" & D +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&(' +102 "core" ' + .tHand.open + "manipulator"&)1 +52 "core" 1 +2 "storage"(- +4 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate + "storage"(' +24 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(#' +56 "core" ' + #tLights, camera, ACTION! +2 "storage"(,- +3 "core" -' +2 "storage"(-& +3 "core" & \\ +2 "manipulator"&.& +4 "core" &= & +2 .tElbow.seek 3 + "manipulator"&/(D +4 "core" ( + "manipulator"&0& +4 "core" &= 1 & +2 "storage"(1& +3 "core" & @ +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&2' +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"(3'M +56 "core" ' +2 "manipulator"&4& +4 "core" &= & +2 "storage"(5& +4 "core" &\ \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&6'M +32 "core" ' +2 .tElbow.hold + "manipulator"&7, +5 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"(8'7 +35 "core" ' + "manipulator"&9% +5 "core" %Qd   õ + "storage"(:& +5 "core" & +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 304 counts + "manipulator"&;'} +19 "core" ' +2 "manipulator"&<& +4 "core" &o { q i +2 "storage"(=& +4 "core" &\ \  o +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&>' +18 "core" ' +2 "storage"(?% +4 "core" %=\ \  +2 ."downElevator"SE.seek :down +4 "storage"(!'N +99 (A% +3 "core" %E\ \ \ K NA + "manipulator"&B% +4 "core" % ~  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&D'\ +95 "core" ' +53 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (E& +4 "core" & 5 +2 "collection"'G& +4 "core" &]u^_  H +2 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&$% +4 "core" %\    +2 "storage"(&% +4 "core" %F\ \    + "storage"(I. +3 "core" .( +2 "storage"( & +4 "core" &\ \   +2 "storage"(J& +4 "core" &\ \  + "manipulator"&K& +4 "core" &o i +2 .tElbow.seek 3 + "manipulator"&M(D +25 "core" ( +2 "manipulator"&N& +4 "core" &H | Q | + "storage"(P& +4 "core" &\ \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts + "manipulator"&Q' +95 "core" ' +2 "storage"(S& +42 "core" &\ \ J +11 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(C'e +278 "core" ' +2 "storage"(F- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&V& +3 "core" &H  | +2 "storage"(W& +3 "core" &\ \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&H'M +30 "core" ' +2 .tElbow.hold + "manipulator"&O, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(Y- +2 "core" -' +3 .tSE.seek 0.12 Pucks below Top Plate + "storage"(L'v +26 "core" ' +2 "manipulator"&Z% +4 "core" %_g  a + "storage"([& +4 "core" & b +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 318 counts + "manipulator"&R'ϋ +17 "core" ' +2 "manipulator"&T& +4 "core" &H {  ? | +2 "storage"(+& +4 "core" &\ \  Q +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&^' +12 "core" ' +2 .tSE.seek 1.12 Pucks below Top Plate +2 "storage"(_'e +47 "core" ' + "manipulator"&a& +5 "core" &H r  | + "manipulator"&b% +4 "core" % { C  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&c'\ +98 "core" ' + .tElbow.seek CC +2 "manipulator"&d( +172 "core" ( + "manipulator"&e& +3 "core" &' k 1 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &f& +2 "core" &' 1 +2 .tForearm.seek CC +2 "manipulator"&\\'| +93 "core" ' +2 .tHand.close + "manipulator"&g/ +54 "core" / +2 .tCC.seek :open +2 "collection"'h(p +410 "core" ( +2 "storage"(X& +4 "core" &\ $\ !  + "storage"(j& +4 "core" &\ !\ $  + "manipulator"&k& +4 "core" &' n 1 +2 "manipulator"&m% +3 "core" % ϊ R +2 .tForearm.seek :retract +2 "manipulator"&U'\ +100 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&`(D +157 "core" ( +2 "manipulator"&o& +4 "core" &@ +  +2 "storage"(p& +3 "core" &\ "\ $ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 +2 "manipulator"&q'M +113 "core" ' +2 .tElbow.hold + "manipulator"&s, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&t1 +60 "core" 1 +2 "manipulator"&v% +5 "core" % ]o  Y + "storage"(w& +4 "core" & C + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 3 + 316 counts + "manipulator"&y'ω +20 "core" ' + "manipulator"&i& +4 "core" &A i  +2 "storage"(l& +5 "core" &\ >\ 3 n +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&n' +10 "core" ' + "storage"(u% +5 "core" %g\ 3\ C H +2 ."downElevator"SE.seek :down +4 "storage"(|'N +99 (}% +3 "core" %D\ $\ " ; N@ +2 "manipulator"&r% +4 "core" % } e 1 +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +93 "core" ' +48 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 4 of [3..4] +2 #Loading generic puck from tube 4 into Collection Clamp + "collection"'& +4 "core" &  +2 "manipulator"&% +4 "core" %\ 0  $t +2 "storage"(x% +4 "core" %H\ %\ 0 [  + "storage"(z. +4 "core" .( + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 4 + "storage"(*(, +364 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (& +2 "core" &,\ \    +2 "manipulator"&& +4 "core" &A p  +2 .tElbow.seek 4 + "manipulator"&(* +15 "core" ( + "manipulator"& & +4 "core" &" r  +2 "storage"(\ & +4 "core" &,\ -\ % 0  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"& ' +104 "core" ' + "storage"( & +5 "core" &,\ -\ # K  + .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"('e +290 "core" ' + "storage"( - +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (& +2 "core" &,\ \ # "  +2 "manipulator"&& +4 "core" &"   +2 .tElbow.seek 4 + "manipulator"&(* +4 "core" ( + "manipulator"&~& +4 "core" &"   +2 "storage"(& +3 "core" &,\ !\ $  +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&'Z +19 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&{/ +60 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"&& + "storage"('N +6 "core" &" q  +2 "manipulator"&% +4 "core" % P v  +2 .tForearm.seek :retract + "manipulator"&'\ +97 "core" ' + .tElbow.seek CC +2 "manipulator"&( +144 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +18 "core" ( +2 "manipulator"&& +4 "core" &. m Ct +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &. | Ct +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&%'| +111 "core" ' +2 "manipulator"&'& +4 "core" &. \\ Ct +2 "manipulator"&% +4 "core" %{ Y +2 "collection"')& +4 "core" &  +2 "collection"'& +5 "core" &  +2 .tCC.seek :closed + "collection"',(] +5 "core" & (  +8 &4 # )w +10 &h  = +9 &s & I +10 &7o " H +9 &r  H +9 &s & I +10 &!zq " I +9 &#=o  I +9 &%p  H +10 &&m  H +9 &(m ! H +10 &*Fm  H +9 &,l  H +9 &-r  H +10 &/r  H +9 &1Ns  H +9 &3s  H +10 &4n  H +9 &6k  H +10 &8Up  I +9 &:m  H +9 &;m  H +10 &=p  H +9 &?^p  H +9 &A p  H +10 &Bm  H +9 &Dj  H +10 &Ffp  H +9 &H's  I +9 &I  K +10 &K  M +11 &MV  Q +9 &O~  P +10 &Pz| R +7 &Rsv  R +10 &TYns  R +9 &Vjl  S +9 &Wdh  S +10 &Y`c  V +9 &[[[]  T +9 &\\xWX  ) +10 &]SU E +9 ( + &][VU  @ +2 "collection"'& +3 #tCollection Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.81 + .Hand.open +2 "manipulator"&-1 +57 "core" 1 +2 "manipulator"&.% +4 "core" % { . +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&0'\ +102 "core" ' +2 #tLoading generic puck from tube 4 into Processing Clamp + "processing"%1& +4 "core" & +2 "manipulator"&% +4 "core" %\  1  + "storage"(4% +4 "core" %7\ \   + "storage"(5. +3 "core" .(, +2 "storage"(& +3 "core" &,\ \   +2 "storage"(9& +4 "core" &,\ \  +2 "manipulator"&:& +3 "core" &- Ct +2 "manipulator"&% +4 "core" %\   + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 + "manipulator"&<(* +163 "core" ( + "manipulator"&=& +4 "core" &, t V  +2 "storage"(?& +4 "core" &,\ \ ;  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&"' +90 "core" ' +2 "storage"((& +4 "core" &,\ \  x  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(#'e +278 "core" ' +2 "storage"(A- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (B& +2 "core" &,\ \  ]  +2 "manipulator"&2& +4 "core" &, q q  + .tElbow.seek 4 +2 "manipulator"&/(* +3 "core" ( +2 "manipulator"&3& +3 "core" &, {  +2 "storage"(6& +4 "core" &,\ \    +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&E'Z +19 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&;/ +63 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&G& +2 "storage"($'N +8 "core" &,  q "  +2 "manipulator"&&% +3 "core" % T { +2 .tForearm.seek :retract +2 "manipulator"&I'\ +88 "core" ' +2 .tElbow.seek PC +2 "manipulator"& (c +166 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +88 "core" ( +2 "manipulator"&8& +4 "core" &_ 2  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &J& +3 "core" &_  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&K'[ +93 "core" ' + "manipulator"&N& +4 "core" &_   +2 "manipulator"&P% +4 "core" %_ +2 "processing"%>& +4 "core" & +2 "processing"%S& +5 "core" & +2 .tPC.seek :closed +3 "processing"%!(Z +3 "core" & +6 &? $d +10 &u[ 6 +9 & H +9 &n G +10 &er G +9 &'s G +9 & m G +10 &"m G +9 &$mr G +10 &&.l H +9 &'n H +9 &)n H +10 &+to H +9 &-7r G +9 &.r G +10 &0l G +9 &2~m G +10 &4>m H +9 &6n H +9 &7n H +10 &9n H +9 &;Gp G +9 &= p G +10 &>s H +9 &@m G +10 &BNk H +9 &Do H +9 &Em G +10 &Gu H +9 &IR{ I +9 &K J +10 &L L +9 &N M +10 &PN M +9 &R N +10 &S M +9 &U N +9 &WT N +9 &Y K +10 &ZT<e #f +9 &ZC $ +6 ( + "processing"%S& +4 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.43 +2 .Hand.open + "manipulator"&71 +3 "core" &Z $ +56 1 + "manipulator"&D% +4 "core" % _  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&F'\ +91 "core" ' +2 "processing"%V& +4 "core" &Z $ +2 #tImaging generic puck in Processing Clamp while storing it to tube 4 + "manipulator"&W% +4 "core" %\ + !P +2 "storage"(Y% +52 "core" %O\ \   + "storage"(Z. +4 "core" .(, + "storage"([& +4 "core" &,\  +2 "storage"(T& +4 "manipulator"&+& +4 "core" &,\ :  + &a )  +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +2 "storage"(#]kK-0-\ b +3 "manipulator"&a(c +4 ."raiseStack"SE.seek :beamBreak +2 "storage"(b'e +3 "core" ( + "manipulator"&Q& +4 "core" &a   + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &M& +3 "core" &a c  +2 .tForearm.seek PC +2 "manipulator"&C'[ +96 "core" ' + .tHand.close + "manipulator"&H/ +65 "core" / +2 .tPC.seek :open +2 "processing"%R(p +86 "core" ' + "storage"(L- +4 "core" -'e + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(e'B +40 "core" ' +251 ( + "storage"(f& +5 "core" &,\ \  p  + "manipulator"&^& +4 "core" &b }  +2 "manipulator"&O% +3 "core" % [ t +2 .tForearm.seek :retract +2 "manipulator"&g'\ +100 "core" ' +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&c(* +237 "core" ( + "manipulator"&]& +4 "core" &$ H +2 "storage"(X& +4 "core" &,\ \    +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&j' +96 "core" ' +2 .tHand.open + "manipulator"&k1 +58 "core" 1 +2 "storage"(m- +4 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate + "storage"(o' +22 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(p' +51 "core" ' +3 #tLights, camera, ACTION! + "storage"(\\- +4 "core" -' + "storage"(d& +4 "core" &, R  + "manipulator"&t& +4 "core" &$ H +2 .tElbow.seek 4 +2 "manipulator"&v(* +3 "core" ( + "manipulator"&w& +4 "core" &$ ? H +2 "storage"(i& +4 "core" &, R  +2 .tForearm.seek 4 + 450 counts + "manipulator"&l' +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.11 Pucks below Top Plate + "storage"(u'M +59 "core" ' + "manipulator"&U& +4 "core" &$ H +2 "storage"(}& +4 "core" &,\ \    +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&r'. +29 "core" ' +2 .tElbow.hold + "manipulator"&`, +5 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"(q'7 +26 "core" ' + "manipulator"&% +5 "core" %Be \  õ + "storage"(& +4 "core" &,  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 320 counts + "manipulator"&x'n +17 "core" ' + "manipulator"&y& +5 "core" & | # + "storage"(z& +5 "core" &,\ \  \\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&_' +11 "core" ' + "storage"(n% +5 "core" %<\ \  +2 ."downElevator"SE.seek :down +4 "storage"(|'N +98 (@% +3 "core" %rH\ \  NA +2 "manipulator"&% +4 "core" % y \ +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&'\ +87 "core" ' +65 ' + ."downElevator"SE.stop + "storage"(5 +3 ( & +4 "core" &, \ +  + "collection"'\ & +4 "core" &]Z_b  @ +2 #tStoring generic puck in Collection Clamp to tube 4 + "manipulator"& % +4 "core" %\ + !W +2 "storage"(s% +4 "core" %F\ \    + "storage"(. +3 "core" .(, +2 "storage"( & +3 "core" &,\ \  /  +2 "storage"(& +4 "core" &,\ \  !  +2 "manipulator"&& +4 "core" & X "~ + .tElbow.seek 4 +2 "manipulator"&~(* +32 "core" ( +2 "manipulator"&& +4 "core" &4 0  + "storage"({& +4 "core" &,\ \  T  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&' +97 "core" ' +2 "storage"(& +4 "core" &,\ \ G  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('e +280 "core" ' +2 "storage"( - +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" &4   +2 "storage"(& +3 "core" &,\ \  e  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&'. +32 "core" ' + .tElbow.hold + "manipulator"&, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(- +2 "core" -' +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(''h +27 "core" ' +2 "manipulator"&% +4 "core" %AI - - Ů + "storage"()& +4 "core" &,  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 4 + 319 counts +2 "manipulator"&'m +16 "core" ' + "manipulator"&& +4 "core" & k ) +2 "storage"(h& +4 "core" &,\ $\ $ 0  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&-' +18 "core" ' +2 .tSE.seek 1.11 Pucks below Top Plate +2 "storage"(.'W +49 "core" ' + "manipulator"&1& +4 "core" & r s +2 "manipulator"&% +4 "core" % t { +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&4'\ +94 "core" ' +2 .tElbow.seek CC +2 "manipulator"&5( +152 "core" ( +2 "manipulator"&& +5 "core" &&  =C + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" && C =C +2 .tForearm.seek CC +2 "manipulator"&9'| +105 "core" ' + .tHand.close +2 "manipulator"&:/ +53 "core" / +2 .tCC.seek :open +2 "collection"'(p +411 "core" ( + "storage"(%& +4 "core" &,\ !\ $ <  +2 "storage"(=& +4 "core" &,\ #\ " :  + "manipulator"&?& +4 "core" &$ C ;6 + "manipulator"&(% +4 "core" % l ? +2 .tForearm.seek :retract +2 "manipulator"&'\ +98 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 + "manipulator"&0(* +160 "core" ( + "manipulator"&A& +4 "core" &/  +2 "storage"(B& +4 "core" &,\ "\ $ !  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 4 +2 "manipulator"&2'. +111 "core" ' + .tElbow.hold +2 "manipulator"&3, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&61 +64 "core" 1 +2 "manipulator"&;% +4 "core" % @ &  ] +2 "storage"(G& +4 "core" &,\ \    + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 318 counts + "manipulator"&&'l +18 "core" ' + "manipulator"&<& +3 "core" & l Q  +3 "storage"("& +4 "core" &,\ (\ 4 -  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&#' +24 "core" ' +2 "storage"(E% +4 "core" %U\ @\ @  +2 ."downElevator"SE.seek :down +3 "storage"(8'N +99 (J% +3 "core" %C\ %\ % A N? +2 "manipulator"&/% +4 "core" %   +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&N'\ +91 "core" ' +50 ' +2 ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 3 of [3..4] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"'P& +3 "core" & +2 "manipulator"&>% +4 "core" %\ .  #h +2 "storage"($% +4 "core" %G\ ,\ $ Q  + "storage"(I. +3 "core" .(, +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 + "storage"(( +366 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (7& +3 "core" &\   + "manipulator"&D& +4 "core" &   +2 .tElbow.seek 3 + "manipulator"&V(D +18 "core" ( + "manipulator"&W& +4 "core" &:\ { Y +2 "storage"(Y& +4 "core" &\ $\ !  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&S' +100 "core" ' + "storage"(Z& +4 "core" &\ -\ & 7 +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(['e +279 "core" ' + "storage"(+- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (T& +3 "core" &\ $\ " - + "manipulator"&Q& +4 "core" &;\ k X +2 .tElbow.seek 3 + "manipulator"&M(D +4 "core" ( + "manipulator"&K& +4 "core" &;\ X +2 "storage"(H& +4 "core" &\ /\ , u +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&L'y +9 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"& / +58 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&F& +2 "storage"(!'N +7 "core" &;\  X +2 "manipulator"&f% +3 "core" % q  * +2 .tForearm.seek :retract +2 "manipulator"&^'\ +98 "core" ' +2 .tElbow.seek CC +2 "manipulator"&b( +141 "core" ' + ."downElevator"SE.stop + "storage"(5 +12 "core" ( +2 "manipulator"&O& +4 "core" &- Q Ct +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &C& +3 "core" &- Ct +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&]'| +107 "core" ' +2 "manipulator"&X& +5 "core" &. m Cp + "manipulator"&a% +4 "core" %x w +41 "collection"'k& +14 "core" &  +2 "collection"'m& +5 "core" & ! +2 .tCC.seek :closed +2 "collection"'\\(] +5 "core" & # +6 &;  #c +9 &rZ  6 +10 &  H +9 &j  H +9 &_o  H +10 & n  H +9 & o  H +9 &"l  H +10 &$dn  I +9 &&)n  H +9 &'n  H +10 &)n  H +9 &+nm  H +10 &-1m  H +9 &.p  H +9 &0p  H +10 &2un  H +9 &47o  H +9 &5m  H +10 &7l  H +9 &9k  H +10 &;Bm  G +9 &=m  H +9 &>m  G +10 &@m  H +9 &BHl  H +9 &D\ m  H +10 &Em  H +9 &Gn H +10 &IL|  J +9 &K   K +9 &L  O +10 &N~  P +9 &P=  Q +9 &Q  R +10 &Sz~  R +9 &U|wz  T +10 &W@qt  S +9 &Xlp  U +9 &Zgk  T +10 &\\x\ dg  E +9 &]m,bd  &o +10 &]Kad  > +2 ( + "collection"'m& +3 #tCollection Clamp onSpring/offSpring for 10/25 samples, on/off torque 1.88 +2 .Hand.open + "manipulator"&d1 +60 "core" 1 +2 "manipulator"&t% +4 "core" % x +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&w'\ +97 "core" ' + #tLoading generic puck from tube 3 into Processing Clamp +2 "processing"%i& +4 "core" &\\ + "manipulator"&g% +4 "core" %\ 3 < %z +2 "storage"(U% +4 "core" %7\ \   +2 "storage"(}. +3 "core" .( + "storage"(& +4 "core" &\ \   + "storage"(& +4 "core" &\ \   +2 "manipulator"&e& +4 "core" &2$ T << + "manipulator"&y% +4 "core" %\ 3 U %z +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&o(D +165 "core" ( + "manipulator"&z& +4 "core" &D  +2 "storage"(n& +4 "core" &\ \  T +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&c' +99 "core" ' +2 "storage"(j& +4 "core" &\ \  T +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(p'e +279 "core" ' + "storage"(@- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" &\ \ L + "manipulator"&l& +4 "core" &D   +2 .tElbow.seek 3 +2 "manipulator"&v(D +3 "core" ( + "manipulator"&u& +4 "core" &D   + "storage"(r& +4 "core" &\ \  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"& 'y +21 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&\ / +54 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&x& +2 "storage"( 'N +7 "core" &D  ~  +2 "manipulator"&s% +4 "core" % r t { d +2 .tForearm.seek :retract + "manipulator"&'\ +96 "core" ' +2 .tElbow.seek PC +2 "manipulator"& (c +157 "core" ' + ."downElevator"SE.stop + "storage"(5 +87 "core" ( +2 "manipulator"&q& +4 "core" &f C  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 && +2 "core" &f   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&'[ +104 "core" ' +2 "manipulator"&& +4 "core" &f m  +2 "manipulator"&{% +4 "core" %a  +2 "processing"%_& +4 "core" & +2 "processing"%& +6 "core" &\\ +2 .tPC.seek :closed +2 "processing"%|(Z +4 "core" & +8 &E #c +9 &{\\ 7 +10 & H +9 &m G +10 &qq G +9 &3k G +9 & m G +10 &"p G +9 &$xk H +9 &&:m H +10 &'j G +9 &)p G +10 &+p G +9 &-Br H +9 &/n G +10 &0j H +9 &2n H +9 &4Li G +10 &6 m H +9 &7m G +10 &9j G +9 &;Sk G +9 &=o G +10 &>r H +9 &@m G +9 &B[k G +10 &Dj G +9 &Eo G +10 &Gw I +9 &I\\ J +9 &K K +10 &L M +9 &N N +9 &PZ M +10 &R N +9 &S M +9 &U N +10 &Wa N +9 &Y" G +10 &ZUC !c +9 &Z4 * +5 ( +2 "processing"%& +4 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.48 +2 .Hand.open + "manipulator"&`1 +4 "core" &Z * +55 1 + "manipulator"&% +4 "core" % a 9 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"& '\ +97 "core" ' +2 "processing"%& +4 "core" &Z * +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&% +4 "core" %\ / } #i +2 "storage"(% +4 "core" %M\ \  + "storage"(. +3 "core" .( +2 "storage"()& +3 "core" &\ \   +2 "storage"(& +2 "manipulator"&h& +7 "core" &\ \  + &f  +3 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +3 "storage"(#]kK-0-\ b +4 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +3 ."raiseStack"SE.seek :beamBreak +3 "manipulator"&1(c + "storage"('e +6 "core" ( + "manipulator"&& +4 "core" &f I  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &~& +3 "core" &f 8  +2 .tForearm.seek PC + "manipulator"&'[ +97 "core" ' + .tHand.close + "manipulator"&/ +56 "core" / + .tPC.seek :open +2 "processing"%(p +96 "core" ' +2 "storage"('- +3 "core" -'e +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('B +38 "core" ' +244 ( + "storage"(& +5 "core" &\ \  + "manipulator"&-& +4 "core" &f C  + "manipulator"&% +4 "core" % X w +2 .tForearm.seek :retract +2 "manipulator"&:'\ +99 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 + "manipulator"&4(D +252 "core" ( + "manipulator"&,& +5 "core" &A O # + "storage"(%& +4 "core" &\ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&=' +95 "core" ' + .tHand.open +2 "manipulator"&?1 +59 "core" 1 +2 "storage"((- +4 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate +2 "storage"(A' +23 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(B' +51 "core" ' +2 #tLights, camera, ACTION! + "storage"(9- +4 "core" -' + "storage"(5& +4 "core" & = +2 "manipulator"&6& +3 "core" &A q # +2 .tElbow.seek 3 +2 "manipulator"&;(D +3 "core" ( +2 "manipulator"&G& +3 "core" &A # +2 "storage"(<& +4 "core" &  +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&"' +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"(E'M +59 "core" ' + "manipulator"&& +4 "core" &A # +2 "storage"(J& +4 "core" &\ \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&/'M +32 "core" ' +2 .tElbow.hold + "manipulator"&0, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"(2'7 +23 "core" ' + "manipulator"&P% +5 "core" %Wh   ¶ + "storage"(&& +4 "core" & w +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 310 counts + "manipulator"&>'σ +18 "core" ' +2 "manipulator"&$& +5 "core" &f z Z + "storage"(I& +4 "core" &\ $\ % 6 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&.' +21 "core" ' +2 "storage"(#% +4 "core" %@\ $\ " 8  +2 ."downElevator"SE.seek :down +4 "storage"(8'N +99 (*% +3 "core" %A\ \  N@ +2 "manipulator"&7% +4 "core" %\ } +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&D'\ +96 "core" ' +53 ' + ."downElevator"SE.stop + "storage"(5 +3 (W& +4 "core" &  + "collection"'Y& +4 "core" &]Fkn  > +2 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&Z% +4 "core" %\ 6 K & +2 "storage"(3% +4 "core" %H\ \   + "storage"(N. +3 "core" .( +2 "storage"(+& +4 "core" &\ \  + "storage"(T& +4 "core" &\ \  +2 "manipulator"&Q& +3 "core" &f\ $ Z +2 .tElbow.seek 3 +2 "manipulator"&K(D +49 "core" ( +2 "manipulator"&H& +4 "core" &H = "} +2 "storage"( & +3 "core" &\ \   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&F' +96 "core" ' + "storage"(f& +5 "core" &\ \   +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(V'e +282 "core" ' +2 "storage"(S- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&O& +2 "core" &H Y "} +2 "storage"(C& +4 "core" &\ \  } +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&['M +32 "core" ' + .tElbow.hold +2 "manipulator"&L, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(X- +3 "core" -' +2 .tSE.seek 0.12 Pucks below Top Plate + "storage"(a'u +37 "core" ' + "manipulator"&k% +4 "core" %Te  j µ +2 "storage"(M& +3 "core" & +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 307 counts + "manipulator"&!'π +11 "core" ' +2 "manipulator"&^& +4 "core" &e m ` +2 "storage"(& +3 "core" &\ \  # +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&d' +18 "core" ' +2 .tSE.seek 1.12 Pucks below Top Plate +2 "storage"(t'd +50 "core" ' +2 "manipulator"&i& +4 "core" &e } I ` +43 "manipulator"&g% +14 "core" % ~ ;  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&U'\ +92 "core" ' +2 .tElbow.seek CC + "manipulator"&}( +149 "core" ( + "manipulator"&& +4 "core" &$ <? +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &m& +3 "core" &% 2 <? +2 .tForearm.seek CC +2 "manipulator"&'| +96 "core" ' + .tHand.close + "manipulator"&e/ +59 "core" / + .tCC.seek :open +2 "collection"'y(p +411 "core" ( + "storage"(]& +4 "core" &\ $\ % 8 +2 "storage"(z& +4 "core" &\ %\ $ \\ + "manipulator"&n& +4 "core" &\ % \ <: +2 "manipulator"&j% +3 "core" % e  +2 .tForearm.seek :retract +2 "manipulator"&b'\ +100 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&w(D +159 "core" ( + "manipulator"&@& +4 "core" &> A +2 "storage"(& +4 "core" &\ #\ " / + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 3 +2 "manipulator"&l'M +114 "core" ' + .tElbow.hold +2 "manipulator"&u, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&r1 +59 "core" 1 +2 "manipulator"&\ % +5 "core" % Xl   + "storage"(x& +4 "core" &  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 3 + 311 counts + "manipulator"&s'τ +19 "core" ' +2 "manipulator"&o& +4 "core" &I m \ +2 "storage"(c& +4 "core" &\ G\ F +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&p' +11 "core" ' + "storage"( % +5 "core" %b\ @\ @ ] +2 ."downElevator"SE.seek :down +4 "storage"(q'N +99 (% +3 "core" %C\ $\ # 8 M> +2 "manipulator"&v% +4 "core" % q O 7 +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +93 "core" ' +46 ' + ."downElevator"SE.stop +2 "storage"(5 +2 #tShuffling pucks in tube 4 of [3..4] +2 #Loading generic puck from tube 4 into Collection Clamp +2 "collection"'{& +4 "core" &  +2 "manipulator"&_% +3 "core" %\ 3 b %v +2 "storage"( % +4 "core" %7\ ,\ / W  +2 "storage"(. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 +2 "storage"(R(, +370 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (`& +2 "core" &,\ \    +2 "manipulator"&& +4 "core" &I b \ +2 .tElbow.seek 4 +2 "manipulator"&(* +14 "core" ( + "manipulator"&& +4 "core" &2 s ~ +2 "storage"(& +3 "core" &,\ $\ $   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts + "manipulator"&' +96 "core" ' + "storage"()& +4 "core" &,\ 3\ @  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"('e +279 "core" ' + "storage"(h- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" &,~\ /\ % 6  +2 "manipulator"&& +3 "core" &2 | ~ +2 .tElbow.seek 4 +2 "manipulator"&~(* +3 "core" ( + "manipulator"&& +4 "core" &2 { a ~ + "storage"(& +4 "core" &,~\ "\ $ '  +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&''Z +23 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"& / +57 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"& & + "storage"(|'N +6 "core" &2 q r = ~ +2 "manipulator"&% +4 "core" % W u | { +2 .tForearm.seek :retract +2 "manipulator"&-'\ +101 "core" ' + .tElbow.seek CC +2 "manipulator"&( +141 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +31 "core" ( + "manipulator"&& +4 "core" & x 0 & +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &  & +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&,'| +108 "core" ' +2 "manipulator"&%& +4 "core" & z ~ % & +2 "manipulator"&1% +4 "core" %u s q + "collection"'?& +4 "core" &  +2 "collection"'(& +5 "core" &  +2 .tCC.seek :closed +2 "collection"'9(] +4 "core" & ' +8 &C $ #c +9 &sZ  6 +10 &  H +9 &j  H +10 &`p $ H +9 &"n  H +9 & n  H +10 &"n  H +9 &$hk  H +9 &&*l  H +10 &'k  H +9 &)l  H +10 &+rm # G +9 &-3m  H +9 &.p  H +10 &0n  H +9 &2zm  G +9 &4:m  H +10 &5j # H +9 &7k  G +10 &9j  H +9 &;Dk  G +9 &=p  H +10 &>k  G +9 &@l  H +10 &BJj  H +9 &D l  H +9 &Eq  H +10 &Gr  H +9 &INz J +9 &K  M +10 &L O +9 &N ! P +9 &P? . Q +10 &R - Q +9 &S~  R +10 &Ux{  S +9 &WAsv  S +9 &Xnp  U +10 &Zhl  U +9 &\\{dh  B +9 &]n:`b  !e +10 &]Q`b  ? +2 ( +2 "collection"'(& +3 #tCollection Clamp onSpring/offSpring for 9/25 samples, on/off torque 1.84 + .Hand.open + "manipulator"&51 +60 "core" 1 +2 "manipulator"&6% +4 "core" % u  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&G'\ +97 "core" ' +2 #tLoading generic puck from tube 4 into Processing Clamp + "processing"%<& +4 "core" &d +2 "manipulator"&:% +4 "core" %\ 6 7 & + "storage"(% +5 "core" %F\ \   + "storage"(J. +3 "core" .(, +2 "storage"(P& +4 "core" &,~\ \   + "storage"(&& +4 "core" &,~\ \   +2 "manipulator"&& +3 "core" & & +2 "manipulator"&$% +4 "core" %\ 6 A & +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&A(* +158 "core" ( + "manipulator"&I& +4 "core" &3  +2 "storage"(#& +4 "core" &,~\ \   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&4' +100 "core" ' +2 "storage"(=& +4 "core" &,~\ \   +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(B'e +286 "core" ' + "storage"(*- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (7& +96 "core" &,~\ \  R  + "manipulator"&"& +4 "core" &3   +2 .tElbow.seek 4 + "manipulator"&;(* +4 "core" ( + "manipulator"&E& +4 "core" &3 n '  +2 "storage"(/& +3 "core" &,~\ \   +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&W'Z +11 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&>/ +57 "core" / +2 ."downElevator"SE.seek :down +5 "manipulator"&Y& + "storage"(Z'N +7 "core" &3 u r U  +2 "manipulator"&3% +4 "core" % Q t r [  + .tForearm.seek :retract +2 "manipulator"&N'\ +96 "core" ' +2 .tElbow.seek PC +2 "manipulator"&+(c +160 "core" ' + ."downElevator"SE.stop + "storage"(5 +87 "core" ( +2 "manipulator"&2& +4 "core" &h 2 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &T& +3 "core" &h +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&Q'[ +103 "core" ' + "manipulator"&H& +5 "core" &h L + "manipulator"& % +4 "core" %` +2 "processing"%.& +4 "core" &k +2 "processing"%f& +5 "core" &k +2 .tPC.seek :closed + "processing"%8(Z +4 "core" &  +9 &7 *x +9 &j = +10 &|| H +9 &Ai G +9 &n H +10 &i G +9 &!p H +10 &#Hm G +9 &%\ i G +9 &&j G +10 &(n G +9 &*Om H +9 &,n H +10 &-m H +9 &/n H +10 &1Yj G +9 &3n H +9 &4mz G +10 &6p G +9 &8`o G +9 &:!m H +10 &;n G +9 &=k G +10 &?gk H +9 &A*m G +9 &Bk G +10 &Dm} G +9 &Fon H +9 &H/v H +10 &I I +9 &K J +10 &Mi M +9 &O+ M +9 &P M +10 &R M +9 &Tq M +9 &V1 M +10 &W M +9 &Y 8 +9 &Z, W +10 &Z ( +2 ( +2 "processing"%f& +3 #tProcessing Clamp onSpring/offSpring for 8/26 samples, on/off torque 1.46 + .Hand.open + "manipulator"&01 +63 "core" 1 +2 "manipulator"&D% +4 "core" % ` Y +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&S'\ +99 "core" ' +2 "processing"%O& +4 "core" &Z ( +2 #tImaging generic puck in Processing Clamp while storing it to tube 4 + "manipulator"&C% +4 "core" %\ 8 T ' +2 "storage"(X% +3 "core" %K  +2 "storage"(k. +3 "core" .(, + "storage"(M& +4 "core" &,~   +2 "storage"(^& +4 "manipulator"&& +4 "core" &,~   + &h +3 ."raiseStack"SE.reconfigure :place +2 .tElbow.reconfigure :tight +5 "storage"(#]kK-0-\ b +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +3 ."raiseStack"SE.seek :beamBreak +2 "manipulator"&i(c + "storage"(g'e +5 "core" ( + "manipulator"&F& +4 "core" &h \\ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &K& +3 "core" &h h +2 .tForearm.seek PC +2 "manipulator"&V'[ +95 "core" ' + .tHand.close + "manipulator"&[/ +55 "core" / +2 .tPC.seek :open +2 "processing"%!(p +93 "core" ' +2 "storage"(a- +3 "core" -'e +44 ."raiseStack"SE.configure :default +12 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('B +32 "core" ' +201 ( + "storage"(m& +4 "core" &,~\ \   +2 "manipulator"&d& +4 "core" &h  +2 "manipulator"&L% +3 "core" % d  +2 .tForearm.seek :retract +2 "manipulator"&e'\ +102 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&U(* +259 "core" ( + "manipulator"&\\& +4 "core" &@\ I b +2 "storage"(]& +4 "core" &,~\ \   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&z' +93 "core" ' +2 .tHand.open + "manipulator"&n1 +63 "core" 1 +2 "storage"(j- +3 "core" -'B +3 .tSE.seek -0.16 Pucks below Top Plate + "storage"(@' +23 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.83 Pucks below Top Plate + "storage"(' +53 "core" ' +2 #tLights, camera, ACTION! + "storage"(- +4 "core" -' + "storage"(}& +4 "core" &,~ d  +2 "manipulator"&r& +4 "core" &@  b + .tElbow.seek 4 +2 "manipulator"&\ (* +27 "core" ( + "manipulator"&x& +4 "core" &1 r  +2 "storage"(o& +4 "core" &,~ M  +2 .tForearm.seek 4 + 450 counts + "manipulator"&c' +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"( 'M +56 "core" ' +2 "manipulator"&b& +4 "core" &1 s u (  +2 "storage"(& +4 "core" &,~\ \  >  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 + "manipulator"&v'. +30 "core" ' +2 .tElbow.hold + "manipulator"&w, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"(l'7 +32 "core" ' +2 "manipulator"&{% +4 "core" %Be & +2 "storage"(_& +4 "core" &,~ [  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 320 counts + "manipulator"& 'n +19 "core" ' + "manipulator"&s& +5 "core" & y  [ + "storage"(& +4 "core" &,~\ \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&t' +11 "core" ' +2 "storage"(p% +4 "core" %=\ #\ $ ! +2 ."downElevator"SE.seek :down +4 "storage"(q'N +99 (% +3 "core" %E\ \   NA + "manipulator"&`% +5 "core" % q r 2 + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +88 "core" ' +65 ' + ."downElevator"SE.stop + "storage"(5 +3 (& +4 "core" &,~\ \    + "collection"'& +4 "core" &]Zkl  ? +2 #tStoring generic puck in Collection Clamp to tube 4 + "manipulator"&)% +4 "core" %\ %  1 +2 "storage"(u% +4 "core" %U\ \  = +2 "storage"(. +3 "core" .(, + "storage"(h& +4 "core" &,~\ \  E  +2 "storage"(& +4 "core" &,~\ \   + "manipulator"&& +4 "core" &  +2 .tElbow.seek 4 +2 "manipulator"&(* +26 "core" ( +2 "manipulator"&& +4 "core" &4 t & +2 "storage"( & +3 "core" &,~\ \ Q  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"& ' +97 "core" ' +2 "storage"(& +4 "core" &,~\ \  n  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"('e +279 "core" ' + "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" &6 & +2 "storage"(& +3 "core" &,~\ \   +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&'. +29 "core" ' +2 .tElbow.hold + "manipulator"&', +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(~- +2 "core" -' +3 .tSE.seek 0.11 Pucks below Top Plate + "storage"(%'i +35 "core" ' +2 "manipulator"&1% +4 "core" %Ab  Ŵ + "storage"(?& +4 "core" &,~  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 4 + 319 counts +2 "manipulator"&|'m +17 "core" ' +2 "manipulator"&-& +4 "core" &+ _ A ' + "storage"(y& +4 "core" &,~\ \  3  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&5' +18 "core" ' +2 .tSE.seek 1.11 Pucks below Top Plate +2 "storage"(6'X +48 "core" ' +2 "manipulator"&<& +5 "core" &+  w ' + "manipulator"&:% +4 "core" % u u c +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +94 "core" ' +2 .tElbow.seek CC + "manipulator"&J( +155 "core" ( + "manipulator"&P& +4 "core" &, 3 Bi +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &(& +3 "core" &, ` Bi +2 .tForearm.seek CC +2 "manipulator"&&'| +94 "core" ' +2 .tHand.close + "manipulator"&/ +52 "core" / +2 .tCC.seek :open + "collection"'$(p +411 "core" ( +2 "storage"(,& +4 "core" &,~\ $\ $   + "storage"(I& +4 "core" &,~\ $\   + "manipulator"&#& +4 "core" &%' >H +2 "manipulator"&=% +3 "core" % r +2 .tForearm.seek :retract + "manipulator"&'\ +99 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 +2 "manipulator"&G(* +154 "core" ( + "manipulator"&*& +4 "core" &4 r +2 "storage"(7& +3 "core" &,~\ $\ % 6  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 4 +2 "manipulator"&"'. +112 "core" ' +2 .tElbow.hold + "manipulator"&E, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&/1 +55 "core" 1 +2 "manipulator"&>% +4 "core" % Az 7 = + "storage"(Y& +4 "core" &,~ \  8  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 319 counts + "manipulator"&3'm +18 "core" ' + "manipulator"&A& +4 "core" & l L  +2 "storage"(4& +3 "core" &,~\ #\ # N  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&B' +20 "core" ' + "storage"(W% +5 "core" %]\ 3\ B # +2 ."downElevator"SE.seek :down +4 "storage"(2'N +99 (T% +3 "core" %F\ $\ # ) N@ +2 "manipulator"&;% +4 "core" % t }  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&H'\ +94 "core" ' +45 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 3 of [3..4] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"' & +3 "core" &  +2 "manipulator"&.% +4 "core" %\ 6  & +2 "storage"(Z% +4 "core" %I\ !\ # "  +2 "storage"(N. +3 "core" .(, + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(( +361 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (0& +3 "core" & / +2 "manipulator"&D& +3 "core" &  +2 .tElbow.seek 3 +2 "manipulator"&O(D +16 "core" ( + "manipulator"&C& +4 "core" &C L W +2 "storage"(X& +4 "core" &\ $\ $  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&k' +103 "core" ' + "storage"(f& +4 "core" &\ /\ - +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(M'e +282 "core" ' +2 "storage"(- +3 "core" -' + .tSE.configure :default +51 "storage"(#QK-0-\ b +4 (^& +3 "core" &\ \ 7  +2 "manipulator"&F& +4 "core" &C\  W + .tElbow.seek 3 +2 "manipulator"&K(D +3 "core" ( +2 "manipulator"&Q& +3 "core" &C\  W +2 "storage"([& +4 "core" &\ "\ & ^ +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&a'y +10 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&+/ +61 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&S& +2 "storage"(8'N +8 "core" &D\  V + "manipulator"&m% +4 "core" % t  & +2 .tForearm.seek :retract +2 "manipulator"&d'\ +99 "core" ' +2 .tElbow.seek CC + "manipulator"&L( +138 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +15 "core" ( +2 "manipulator"&g& +4 "core" &, Bf +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &V& +3 "core" &+ 7 Ae +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&\\'| +98 "core" ' +2 "manipulator"&]& +4 "core" &+ E Ae +2 "manipulator"&i% +4 "core" %φ  +2 "collection"'n& +4 "core" & & +2 "collection"'j& +6 "core" &  +2 .tCC.seek :closed +2 "collection"'(] +4 "core" & 0  +8 &5 % )w +9 &i % = +10 &r{ # H +9 &5j ' H +9 &j $ H +10 &n " H +9 &!|n . G +9 &#<n ' H +10 &$k ( H +9 &&n & G +10 &(m " G +9 &*Fl & G +9 &,k % G +10 &-k % G +9 &/m  H +9 &1Mk " H +10 &3m ! H +9 &4o  H +10 &6m  H +9 &8Vn % G +9 &:i  H +10 &;h & G +9 &=m G +9 &?^k % G +10 &A m $ G +9 &Bm $ G +10 &Dk % G +9 &Fdp , H +9 &H&m 1 H +10 &I} 3 J +9 &K 3 L +9 &MV , P +10 &O / P +9 &P 4 Q +10 &R 4 Q +9 &TX * R +9 &Vz~ 2 S +10 &Wvy * S +9 &Yqt 0 T +9 &[Xmo 2 T +10 &\\zik , (} +9 &]'ej 1 E +9 ( +2 &]Phh ' = +2 "collection"'j& +3 #tCollection Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.84 + .Hand.open +2 "manipulator"&}1 +63 "core" 1 +2 "manipulator"&r% +4 "core" % φ , +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&e'\ +92 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%x& +5 "core" & + "manipulator"&o% +4 "core" %\ + 7 !P +2 "storage"(b% +3 "core" %7\ \   +2 "storage"(. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 + "storage"(( +4 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 ({& +2 "core" & } +2 "manipulator"&_& +4 "core" &,$  <@ + "manipulator"&@% +4 "core" %\ + ( !P +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&s(D +162 "core" ( +2 "manipulator"&& +4 "core" &D + t + "storage"(p& +4 "core" &\ \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&U' +93 "core" ' + "storage"(z& +4 "core" &\ $\ % < +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"('e +274 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (`& +3 "core" &\ \  +2 "manipulator"&c& +3 "core" &D | ( t +2 .tElbow.seek 3 +2 "manipulator"&\ (D +3 "core" ( + "manipulator"& & +4 "core" &D { & t + "storage"(v& +4 "core" &\ #\ z +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&'y +20 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"& / +63 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& + "storage"()'N +8 "core" &D s u v t + "manipulator"&u% +4 "core" % n s s k +2 .tForearm.seek :retract +2 "manipulator"&'\ +93 "core" ' + .tElbow.seek PC +2 "manipulator"&l(c +158 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +87 "core" ( + "manipulator"&h& +5 "core" &h C +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &h +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&'[ +102 "core" ' +2 "manipulator"&& +4 "core" &h t + "manipulator"& % +4 "core" %_ B +2 "processing"%t& +5 "core" &s +2 "processing"%& +5 "core" & + .tPC.seek :closed +2 "processing"%q(Z +4 "core" & +8 &G #c +9 &|Z 6 +10 & H +9 &j G +10 &pi G +9 &1n G +9 & n H +10 &"n H +9 &$wn G +9 &&:o G +10 &'l G +9 &)m H +10 &+l G +9 &-Bp G +9 &/n G +10 &0h G +9 &2n G +9 &4Jj G +10 &6 m G +9 &7j G +10 &9m G +9 &;Qp G +9 &=m G +10 &>j G +9 &@p G +9 &BYm G +10 &Dk G +9 &Er G +10 &Gv H +9 &I[ J +9 &K K +10 &L M +9 &N M +9 &PY M +10 &R M +9 &S M +10 &U N +9 &W_ N +9 &Y" F +10 &ZTE ` +9 &Z ; + +6 ( + "processing"%& +4 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.49 +2 .Hand.open + "manipulator"&w1 +4 "core" &Z! + +48 1 +2 "manipulator"&% +4 "core" % _ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +97 "core" ' +2 "processing"%& +4 "core" &Z! + +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&% +4 "core" %\ 6 1 & + "storage"(~% +4 "core" %H  +2 "storage"(1. +3 "core" .( + "storage"(?& +4 "core" & ( +2 "storage"(-& +2 "manipulator"&y& +7 "core" & ~ + &h +3 ."raiseStack"SE.reconfigure :place +2 .tElbow.reconfigure :tight +4 "storage"(#]kK-0-\ b +4 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +2 ."raiseStack"SE.seek :beamBreak +2 "manipulator"&<(c + "storage"(:'e +6 "core" ( + "manipulator"& & +4 "core" &h # +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &h M +2 .tForearm.seek PC +2 "manipulator"&'[ +95 "core" ' + .tHand.close +2 "manipulator"&/ +56 "core" / +2 .tPC.seek :open +2 "processing"%|(p +94 "core" ' +2 "storage"(%- +4 "core" -'e + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place + "storage"(P'B +33 "core" ' +251 ( + "storage"((& +4 "core" &\ \ q +2 "manipulator"&5& +4 "core" &h  + "manipulator"&'% +4 "core" % c  +2 .tForearm.seek :retract +2 "manipulator"&'\ +100 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&(D +264 "core" ( + "manipulator"&9& +4 "core" &E K y +2 "storage"(,& +4 "core" &\ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&I' +101 "core" ' + .tHand.open +2 "manipulator" +52 "core" 1 +2 "storage"(=- +3 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate +2 "storage"(*' +21 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.83 Pucks below Top Plate + "storage"(7' +55 "core" ' +2 #tLights, camera, ACTION! + "storage"(&- +3 "core" -' +2 "storage"(J& +4 "core" & + "manipulator"&/& +4 "core" &E  y +2 .tElbow.seek 3 +2 "manipulator"&>(D +3 "core" ( + "manipulator"&Y& +4 "core" &E  y +2 "storage"(A& +4 "core" &  +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&4' +3 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"(W'M +60 "core" ' + "manipulator"&& +5 "core" &E  y + "storage"(T& +4 "core" &\ \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +53 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 + "manipulator"&;'M +33 "core" ' +2 .tElbow.hold +2 "manipulator"&G, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"("'7 +25 "core" ' + "manipulator"& % +5 "core" %\\e   + "storage"(3& +4 "core" & } +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 315 counts + "manipulator"&.'ψ +18 "core" ' +2 "manipulator"&Z& +4 "core" &E ` k t y +2 "storage"(N& +4 "core" &\ $\ % . +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&6' +21 "core" ' +2 "storage"(B% +4 "core" %A\ #\ " + +2 ."downElevator"SE.seek :down +4 "storage"(2'N +99 (R% +3 "core" %D\ \   OB +2 "manipulator"&0% +4 "core" % u t C +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&D'\ +91 "core" ' +60 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (C& +3 "core" &\ \ +2 "collection"'X& +4 "core" &]Ppr $ = +2 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&f% +4 "core" %\ -  "` +2 "storage"(E% +3 "core" %P\ \  : \ +2 "storage"(H. +3 "core" .( +2 "storage"(& +4 "core" &\ \  +2 "storage"(^& +4 "core" &\ \  ! + "manipulator"&F& +4 "core" &E  y +2 .tElbow.seek 3 +2 "manipulator"&Q(D +3 "core" ( + "manipulator"&[& +4 "core" &E  y +2 "storage"(+& +4 "core" &\ \  * +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&S' +103 "core" ' + "storage"(m& +4 "core" &\ $\ # +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(O'e +279 "core" ' + "storage"(k- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&g& +3 "core" &E o d y +2 "storage"(V& +3 "core" &\ $\ "  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&M'M +35 "core" ' +2 .tElbow.hold + "manipulator"&a, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(]- +2 "core" -' +3 .tSE.seek 0.12 Pucks below Top Plate +2 "storage"(i'u +36 "core" ' +2 "manipulator"&n% +4 "core" %ZU   t ± + "storage"(K& +4 "core" & U + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 3 + 313 counts + "manipulator"&8'φ +20 "core" ' + "manipulator"&d& +4 "core" &E t S U y +2 "storage"($& +4 "core" &\ \ F +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&}' +19 "core" ' +2 .tSE.seek 1.12 Pucks below Top Plate +2 "storage"(r'd +42 "core" ' +2 "manipulator"&x& +4 "core" &E _ o 1 y +2 "manipulator"&o% +4 "core" % _ ]  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&b'\ +91 "core" ' + .tElbow.seek CC +2 "manipulator"&( +154 "core" ( +2 "manipulator"&j& +4 "core" && ] :, + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &{& +3 "core" &' :, +2 .tForearm.seek CC +2 "manipulator"&_'| +100 "core" ' + .tHand.close +2 "manipulator"&@/ +64 "core" / +2 .tCC.seek :open +2 "collection"'\\(p +411 "core" ( + "storage"(& +4 "core" &\ \  +2 "storage"(p& +3 "core" &\ \  +2 "manipulator"&& +3 "core" &"  9& +2 "manipulator"&z% +4 "core" % φ O +2 .tForearm.seek :retract +2 "manipulator"&L'\ +101 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&e(D +165 "core" ( +2 "manipulator"&& +4 "core" &?  +2 "storage"(`& +14 "core" &\ $\ ! ! +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 + "manipulator"&c'M +114 "core" ' +2 .tElbow.hold + "manipulator"& , +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&v1 +52 "core" 1 +2 "manipulator"& % +5 "core" % Wp  + "storage"(& +4 "core" & P + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 3 + 310 counts +2 "manipulator"&u'σ +17 "core" ' +2 "manipulator"&s& +4 "core" &B j x  + "storage"(U& +4 "core" &\ $\ # & +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&' +19 "core" ' +2 "storage"(% +4 "core" %j\ @\ 3 S +3 ."downElevator"SE.seek :down +3 "storage"(h'N +98 (% +3 "core" %C\ "\ # $ N> +2 "manipulator"&\ % +4 "core" % a Y 5  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&'\ +90 "core" ' +48 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 4 of [3..4] + #Loading generic puck from tube 4 into Collection Clamp +2 "collection"' & +4 "core" &  +2 "manipulator"&t% +3 "core" %\ +  !W +2 "storage"()% +4 "core" %6\ /\ / h  +2 "storage"(. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"(!(, +363 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (w& +3 "core" &,\ \    +2 "manipulator"&& +3 "core" &B   +2 .tElbow.seek 4 +2 "manipulator"&(* +9 "core" ( +2 "manipulator"&& +4 "core" &1 b  +2 "storage"(~& +3 "core" &,~\ /\ / x  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&1' +102 "core" ' +2 "storage"(?& +4 "core" &,~\ ,\ . Z  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(-'e +280 "core" ' +2 "storage"(y- +3 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (& +2 "core" &,~\ "\ ! #  +2 "manipulator"& & +3 "core" &1   +2 .tElbow.seek 4 +2 "manipulator"&(* +3 "core" ( +2 "manipulator"&& +4 "core" &1   + "storage"(& +4 "core" &,~\ ,\ " )  +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&%'Z +17 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&l/ +63 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"(q'N +7 "core" &1 q t  +2 "manipulator"&(% +4 "core" % N r r d +2 .tForearm.seek :retract +2 "manipulator"&5'\ +95 "core" ' +2 .tElbow.seek CC +2 "manipulator"&'( +145 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +17 "core" ( + "manipulator"&:& +5 "core" &* | @\\ + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &* ; @\\ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&9'| +106 "core" ' +2 "manipulator"&,& +4 "core" &* x @[ +2 "manipulator"&<% +4 "core" % z - +2 "collection"'#& +4 "core" &  +2 "collection"'=& +5 "core" &  +2 .tCC.seek :closed + "collection"'&(] +4 "core" & 2  +9 &5 )w +9 &i 1 = +10 &m} 1 I +9 &2m * G +9 &n 1 H +10 &r 4 H +9 &!vn 4 H +9 &#:m 2 G +10 &$j 4 H +9 &&k 4 H +9 &(k - G +10 &*Bl 3 G +9 &,n 3 G +10 &-j 4 G +9 &/m / H +9 &1Jp & G +10 &3 l - G +9 &4j 2 G +9 &6m / H +10 &8Qi 3 H +9 &:m 2 G +10 &;j . G +9 &=n 1 H +9 &?Ym 4 H +10 &An 1 H +9 &Bn / H +9 &Dh 1 G +10 &Fak 2 H +9 &H!s $ H +10 &I 2 J +9 &K 2 M +9 &MP 1 P +55 &O 2 P +4 &P 1 Q + &R 0 R + &TR 3 R + &V| 1 S + &Wy{ 1 T +3 &Yrv 1 U +9 &[Sns ) U +10 &\\wik 2 ) +9 &]"fh 2 N +9 ( +3 "collection"'=& +3 #tCollection Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.85 + .Hand.open +2 "manipulator"&J1 +3 "core" &]rgi 1 H +61 1 + "manipulator"&/% +4 "core" % u & +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&Y'\ +95 "core" ' +2 #tLoading generic puck from tube 4 into Processing Clamp + "processing"%A& +5 "core" & + "manipulator"&% +4 "core" %\ - F "X +2 "storage"(% +3 "core" %B   +2 "storage"(T. +3 "core" .(,~ +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"(P(, +3 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (*& +2 "core" &,  +2 "manipulator"& & +4 "core" &* 3 @W +2 "manipulator"&3% +3 "core" %\ - 8 "X +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&Z(* +165 "core" ( +2 "manipulator"&N& +4 "core" &3 4  +2 "storage"(& +3 "core" &,~\ \   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&I' +94 "core" ' +2 "storage"(B& +4 "core" &,~\ \   +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(7'e +278 "core" ' +2 "storage"(R- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (0& +2 "core" &,~\ \ \ O  +2 "manipulator"&4& +4 "core" &3 s  +2 .tElbow.seek 4 + "manipulator"&>(* +4 "core" ( + "manipulator"&W& +4 "core" &3 "  +2 "storage"(;& +3 "core" &,~\ \   +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&.'Z +24 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&C/ +59 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&X& +2 "storage"(f'N +8 "core" &3 t t i  +2 "manipulator"&E% +4 "core" % ^ u s +2 .tForearm.seek :retract +2 "manipulator"&H'\ +94 "core" ' + .tElbow.seek PC +2 "manipulator"&"(c +157 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +88 "core" ( +2 "manipulator"&& +4 "core" &k  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &^& +3 "core" &k l +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&F'[ +104 "core" ' + "manipulator"&[& +4 "core" &k  +2 "manipulator"&+% +4 "core" %N 7 +2 "processing"%6& +3 "core" &~ +2 "processing"%m& +6 "core" & +2 .tPC.seek :closed +2 "processing"%2(Z +4 "core" & +8 &> #c +9 &x[ 6 +9 & H +10 &m G +9 &in G +9 &,o G +10 & n G +9 &"n G +10 &$qn G +9 &&4p G +9 &'m G +10 &)m G +9 &+yl G +9 &-;o G +10 &.n G +9 &0j G +10 &2m G +9 &4Ck G +9 &6m G +10 &7m G +9 &9k G +9 &;Km G +10 &=j G +9 &>n G +10 &@m H +9 &BTm G +9 &Dm G +10 &Ek G +9 &Gw H +9 &IV{ I +10 &K J +9 &L L +10 &N M +9 &PT M +9 &R M +10 &S M +9 &U N +9 &WX N +10 &Y I +9 &ZR>t 'r +10 &Z* ' +5 ( + "processing"%m& +5 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.46 + .Hand.open + "manipulator"&G1 +4 "core" &Z ' +58 1 +2 "manipulator"&D% +4 "core" % N T +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&k'\ +95 "core" ' +2 "processing"%g& +99 "core" &Z ' +2 #tImaging generic puck in Processing Clamp while storing it to tube 4 + "manipulator"&V% +4 "core" %\ . A #g +2 "storage"(]% +4 "core" %J   + "storage"(n. +3 "core" .(, + "storage"(K& +4 "core" &,~ ]  +2 "storage"(d& +4 "manipulator"&$& +4 "core" &,~   + &k  +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +2 "storage"(#]kK-0-\ b +2 "manipulator"&x(c +5 ."raiseStack"SE.seek :beamBreak +2 "storage"(o'e +2 "core" ( +2 "manipulator"&S& +4 "core" &k +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &Q& +3 "core" &k +2 .tForearm.seek PC +2 "manipulator"&O'[ +95 "core" ' +2 .tHand.close + "manipulator"&M/ +65 "core" / +2 .tPC.seek :open + "processing"%8(p +83 "core" ' +2 "storage"(i- +3 "core" -'e + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(j'B +31 "core" ' +264 ( + "storage"({& +4 "core" &,~\ \   +2 "manipulator"&}& +4 "core" &k  + "manipulator"&a% +4 "core" % Y  +2 .tForearm.seek :retract + "manipulator"&@'\ +96 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&b(* +255 "core" ( +2 "manipulator"&& +4 "core" &( # + "storage"(& +4 "core" &,~\  B  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&p' +101 "core" ' +2 .tHand.open + "manipulator"&1 +52 "core" 1 +2 "storage"(z- +4 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate + "storage"(' +23 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.83 Pucks below Top Plate + "storage"(`' +55 "core" ' +2 #tLights, camera, ACTION! + "storage"(_- +4 "core" -' +2 "storage"(& +3 "core" &,~ V  +2 "manipulator"&v& +3 "core" &(  # +2 .tElbow.seek 4 +2 "manipulator"& (* +3 "core" ( +2 "manipulator"&& +4 "core" &( u # +2 "storage"(s& +3 "core" &,~ _  +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&U' +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"('M +59 "core" ' + "manipulator"&L& +5 "core" &( { # + "storage"(& +4 "core" &,~ \  r  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 + "manipulator"&\ '. +32 "core" ' +2 .tElbow.hold + "manipulator"&e, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"(c'7 +30 "core" ' +2 "manipulator"& % +4 "core" %BW * + V Ʊ +2 "storage"(t& +3 "core" &,~  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 320 counts +2 "manipulator"&u'n +16 "core" ' +2 "manipulator"&)& +4 "core" & ~ ( +2 "storage"(& +4 "core" &,~\ \   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&r' +19 "core" ' +2 "storage"(% +4 "core" %A\ \ ' +2 ."downElevator"SE.seek :down +4 "storage"(h'N +99 (% +3 "core" %G > NA +2 "manipulator"&w% +4 "core" % t ~  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +96 "core" ' +54 ' + ."downElevator"SE.stop + "storage"(5 +3 (& +4 "core" &,~   + "collection"'~& +4 "core" &]stu * H +2 #tStoring generic puck in Collection Clamp to tube 4 + "manipulator"&?% +4 "core" %\ 6 2 & +2 "storage"( % +4 "core" %G e  + "storage"(. +3 "core" .(, +2 "storage"(y& +4 "core" &,~\ \ U  + "storage"(& +4 "core" &,~\ \  [  +2 "manipulator"& & +4 "core" & = ( + .tElbow.seek 4 +2 "manipulator"&(* +37 "core" ( + "manipulator"&& +4 "core" &1 l +2 "storage"(l& +4 "core" &,~\ \   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +52 "manipulator"&' +94 "core" ' + "storage"((& +4 "core" &,~\ \   +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('e +281 "core" ' +2 "storage"(1- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&:& +2 "core" &1 s  l +2 "storage"(& +4 "core" &,~\ \   + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 + "manipulator"&-'. +33 "core" ' + .tElbow.hold + "manipulator"&%, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(,- +3 "core" -' +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"('i +32 "core" ' + "manipulator"&<% +4 "core" %B^   +2 "storage"(#& +4 "core" &,~  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 4 + 320 counts +2 "manipulator"&q'n +18 "core" ' +2 "manipulator"&5& +4 "core" & m x H  +2 "storage"(\\& +4 "core" &,~\ \   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&J' +21 "core" ' +2 .tSE.seek 1.11 Pucks below Top Plate +2 "storage"(/'X +41 "core" ' + "manipulator"&A& +5 "core" & w |  + "manipulator"&% +4 "core" % ` p  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +96 "core" ' +2 .tElbow.seek CC +2 "manipulator"&T( +154 "core" ( +2 "manipulator"&=& +4 "core" &# = ;8 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &*& +3 "core" &$ \\ ;8 +2 .tForearm.seek CC +2 "manipulator"& '| +99 "core" ' +2 .tHand.close + "manipulator"&3/ +55 "core" / +2 .tCC.seek :open +2 "collection"'9(p +411 "core" ( + "storage"(N& +4 "core" &,~\ #\ $   +2 "storage"(& +3 "core" &,~\ \ @  +2 "manipulator"&!& +3 "core" &" 4 9$ +2 "manipulator"&B% +4 "core" % φ  +2 .tForearm.seek :retract +2 "manipulator"&''\ +95 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&Y(* +174 "core" ( +2 "manipulator"&R& +4 "core" &0  a +2 "storage"(0& +3 "core" &,~\ $\ # /  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 4 +2 "manipulator"&4'. +110 "core" ' +2 .tElbow.hold + "manipulator"&W, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&;1 +63 "core" 1 +3 "manipulator"&C% +4 "core" % @ ^ + "storage"(X& +4 "core" &,~\  Q  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 4 + 318 counts +2 "manipulator"&E'l +17 "core" ' +2 "manipulator"&Z& +4 "core" & p r % + "storage"(I& +4 "core" &,~\ .\ /  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&7' +21 "core" ' + "storage"(.% +5 "core" %]\ 4\ & H +2 ."downElevator"SE.seek :down +3 "storage"('N +99 (^% +3 "core" %F\ %\ # 0 N? + "manipulator"&>% +4 "core" % | 8 +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&['\ +95 "core" ' +47 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 3 of [3..4] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"'+& +4 "core" & % +2 "manipulator"&6% +4 "core" %\ 3 %v +2 "storage"(f% +4 "core" %I\ $\ $   + "storage"(H. +3 "core" .(, +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(|( +360 "Can" ZW +2 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (G& +3 "core" & ` +2 "manipulator"&D& +8 "core" & % +2 .tElbow.seek 3 + "manipulator"&m(D +37 "core" ( + "manipulator"&g& +4 "core" &@ J } +2 "storage"(V& +4 "core" &\ /\ /  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&]' +100 "core" ' + "storage"(n& +4 "core" &\ &\ # H +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(K'e +279 "core" ' + "storage"(d- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 ($& +3 "core" &\ !\ " 2 +2 "manipulator"&S& +3 "core" &@  } +2 .tElbow.seek 3 +2 "manipulator"&Q(D +3 "core" ( + "manipulator"&F& +4 "core" &@ R } + "storage"(M& +4 "core" &\ .\ + r +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&i'y +20 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&"/ +54 "core" / +2 ."downElevator"SE.seek :down +5 "manipulator"&k& + "storage"(2'N +7 "core" &@ t t / } +2 "manipulator"&{% +4 "core" % m t s ( +2 .tForearm.seek :retract + "manipulator"&o'\ +93 "core" ' +2 .tElbow.seek CC + "manipulator"&}( +149 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +7 "core" ( +2 "manipulator"&a& +4 "core" && V =B +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &O& +3 "core" &&  =B +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC + "manipulator"&'| +98 "core" ' + "manipulator"&& +4 "core" && =B +2 "manipulator"&x% +4 "core" %ρ  +2 "collection"'& +4 "core" & +2 "collection"'z& +6 "core" & +2 .tCC.seek :closed + "collection"'_(] +5 "core" & +7 &D #c +9 &zZ 6 +10 & * H +9 &f 0 G +9 &kn 0 H +10 &.o G +9 & k H +9 &"p . G +10 &$tj G +9 &&6k  G +10 &'j H +9 &)m - H +9 &+{n  H +10 &->m  G +9 &.k / H +9 &0p 2 G +10 &2j  H +9 &4Em  H +10 &6 i G +9 &7n G +9 &9k ( H +10 &;Nj / G +9 &=h  G +9 &>j , G +10 &@i . G +9 &BUj H +10 &Dl H +9 &Ek H +9 &Gp ) G +10 &IYx , I +9 &K K +9 &L N +10 &N P +10 &PL P +9 &R\  R +9 &S  R +9 &U R +10 &WM ( S +9 &Y {~  T +9 &Zxz  T +10 &\\sv B +9 &]q'ps &p +9 &]hsu D +3 ( + "collection"'z& +4 #tCollection Clamp onSpring/offSpring for 10/25 samples, on/off torque 1.86 + .Hand.open +2 "manipulator"&1 +56 "core" 1 +2 "manipulator"&v% +4 "core" % π x +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +92 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%s& +4 "core" & +2 "manipulator"&@% +3 "core" %\ + 0 !P +2 "storage"(L% +4 "core" %=\ \   +2 "storage"(. +3 "core" .( + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(j( +3 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 ( & +2 "core" & +2 "manipulator"&t& +4 "core" &%  <9 + "manipulator"&% +4 "core" %\ + E !P +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 + "manipulator"&)(D +173 "core" ( +2 "manipulator"&& +4 "core" &8 h + "storage"(& +4 "core" &\ \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&b' +102 "core" ' +2 "storage"(p& +4 "core" &\ \  O +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(`'e +278 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (w& +2 "core" &\ \  +2 "manipulator"&U& +3 "core" &8 { ~ R h +2 .tElbow.seek 3 +2 "manipulator"& (D +14 "core" ( + "manipulator"&& +4 "core" &D k ? $ +2 "storage"(\ & +4 "core" &\ \  +51 .tForearm.seek 3 + 300 counts +2 "manipulator"&'y +22 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&u/ +52 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&~& + "storage"(?'N +8 "core" &E s q v $ + "manipulator"& % +4 "core" % m q r T +2 .tForearm.seek :retract +2 "manipulator"&'\ +97 "core" ' +2 .tElbow.seek PC +2 "manipulator"&y(c +155 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +104 "core" ( + "manipulator"&c& +4 "core" &k V +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &k ` +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"& '[ +103 "core" ' +2 "manipulator"&& +4 "core" &k g +2 "manipulator"&l% +3 "core" %D U +2 "processing"%r& +4 "core" & +2 "processing"%(& +5 "core" & +2 .tPC.seek :closed +3 "processing"%h(Z +3 "core" & +7 &G #c +9 &z[ 6 +9 & H +10 &j G +9 &nl G +9 &/m G +10 & m G +9 &"j G +10 &$vm G +9 &&7m G +9 &'m G +10 &)n G +9 &+~m G +9 &-?m G +10 &/p G +9 &0m G +10 &2l H +9 &4Hk G +9 &6\ l G +10 &7l G +9 &9k H +9 &;Pm G +10 &=l G +9 &>j G +10 &@j G +9 &BWl G +9 &Dj G +10 &Ep H +9 &Gu H +9 &IY J +10 &K L +9 &L L +10 &N M +9 &PV M +9 &R M +10 &S M +9 &U M +9 &W] N +10 &Y J +9 &ZS8d "c +10 &ZT ' +5 ( +2 "processing"%(& +4 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.51 + .Hand.open +2 "manipulator"&e1 +3 "core" &Z ' +55 1 + "manipulator"&% +5 "core" % D $ + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&1'\ +99 "core" ' + "processing"%:& +4 "core" &Zj ' +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&% +4 "core" %\  .  +2 "storage"(,% +3 "core" %I\ \   +2 "storage"(<. +3 "core" .( + "storage"(#& +4 "core" &\ \  +2 "storage"(5& +2 "manipulator"&\\& +7 "core" &\ \  + &k  +3 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +4 "storage"(#]kK-0-\ b +3 "manipulator"&$&.,(\ #b +3 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +2 "storage"(A'e +3 "manipulator"&(c +3 "core" ( + "manipulator"&& +4 "core" &k  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &k  +2 .tForearm.seek PC +2 "manipulator"&'[ +94 "core" ' + .tHand.close + "manipulator"&-/ +57 "core" / +2 .tPC.seek :open + "processing"%q(p +92 "core" ' + "storage"(- +4 "core" -'e + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place + "storage"(='B +40 "core" ' +248 ( + "storage"(*& +4 "core" &\ \ +2 "manipulator"&J& +3 "core" &k @ +2 "manipulator"&%% +4 "core" % M  +2 .tForearm.seek :retract + "manipulator"&3'\ +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&(D +267 "core" ( + "manipulator"&&& +4 "core" &M 2 f +2 "storage"(N& +5 "core" &\ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&' +105 "core" ' + .tHand.open +2 "manipulator"&!1 +52 "core" 1 +2 "storage"(B- +3 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate +2 "storage"(R' +23 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(0' +51 "core" ' +2 #tLights, camera, ACTION! + "storage"( - +4 "core" -' + "storage"(T& +4 "core" & 7 +2 "manipulator"&;& +3 "core" &M { s s f +2 .tElbow.seek 3 +2 "manipulator"&C(D +3 "core" ( +2 "manipulator"&X& +3 "core" &M | _ f +2 "storage"(Z& +4 "core" & ( +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&I' +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"(.'M +59 "core" ' + "manipulator"&'& +4 "core" &M t { f +2 "storage"(^& +4 "core" &\ \  = +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&>'M +37 "core" ' +2 .tElbow.hold + "manipulator"&Y, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"(4'7 +27 "core" ' + "manipulator"&+% +5 "core" %Wb  + "storage"(E& +4 "core" & +2 .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 3 + 310 counts +2 "manipulator"&6'σ +19 "core" ' +2 "manipulator"&f& +4 "core" &M | f +2 "storage"(H& +4 "core" &\ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&/' +13 "core" ' + "storage"(7% +5 "core" %=\ \  # +2 ."downElevator"SE.seek :down +4 "storage"('N +98 (P% +3 "core" %E\ \  NA +2 "manipulator"&G% +4 "core" % s q # +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&D'\ +93 "core" ' +59 ' + ."downElevator"SE.stop + "storage"(5 +3 (g& +4 "core" & \ \ h +2 "collection"'V& +4 "core" &]d}|  D + #tStoring generic puck in Collection Clamp to tube 3 +2 "manipulator"&n% +3 "core" %\ 8 0 ' +2 "storage"(W% +4 "core" %I\ \  +2 "storage"([. +3 "core" .( + "storage"(d& +4 "core" &\ \  +2 "storage"($& +4 "core" &\ \  + "manipulator"&S& +4 "core" &M 9 f +2 .tElbow.seek 3 + "manipulator"&F(D +4 "core" ( + "manipulator"&M& +4 "core" &M H f +2 "storage"("& +3 "core" &\ \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&k' +94 "core" ' +5 "storage"({& +4 "core" &\ \  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(m'e +278 "core" ' + "storage"(]- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&a& +3 "core" &M ` f +2 "storage"(O& +3 "core" &\ \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&K'M +33 "core" ' + .tElbow.hold +2 "manipulator"&i, +3 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(- +2 "core" -' +3 .tSE.seek 0.12 Pucks below Top Plate + "storage"(x't +28 "core" ' + "manipulator"&% +4 "core" %`b W +2 "storage"(Q& +4 "core" & + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 3 + 319 counts +2 "manipulator"&2'ό +17 "core" ' + "manipulator"&o& +5 "core" &M m p f + "storage"(9& +4 "core" &\ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&' +18 "core" ' +2 .tSE.seek 1.12 Pucks below Top Plate +2 "storage"(v'c +41 "core" ' +2 "manipulator"&s& +4 "core" &M q q | f +2 "manipulator"&@% +4 "core" % ` m  + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&L'\ +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&( +157 "core" ( + "manipulator"&z& +5 "core" &% = <= + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 & & +2 "core" &% <= +52 .tForearm.seek CC +2 "manipulator"&t'| +96 "core" ' + .tHand.close +2 "manipulator"&/ +60 "core" / + .tCC.seek :open +2 "collection"'(p +411 "core" ( + "storage"(& +5 "core" &\ $\  e + "storage"(& +4 "core" &\ \ D + "manipulator"&|& +4 "core" &$ ;2 +2 "manipulator"&p% +3 "core" % ψ +2 .tForearm.seek :retract +2 "manipulator"&}'\ +92 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&(D +167 "core" ( +2 "manipulator"&& +4 "core" &8  1 +2 "storage"(w& +3 "core" &\ #\ # 6 +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 +2 "manipulator"&U'M +110 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&\ 1 +60 "core" 1 +2 "manipulator"&u% +4 "core" % Vp  W " +2 "storage"(~& +4 "core" & ] + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 3 + 309 counts +2 "manipulator"& 'ς +17 "core" ' + "manipulator"&)& +5 "core" &\\ m  + "storage"(b& +4 "core" &\ &\ # Q +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&`' +19 "core" ' +2 "storage"(% +4 "core" %i\ &\ 4 ~ +2 ."downElevator"SE.seek :down +4 "storage"(c'N +98 (% +3 "core" %F\ #\ $ ! N? +2 "manipulator"& % +4 "core" % r { +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +102 "core" ' +37 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 4 of [3..4] + #Loading generic puck from tube 4 into Collection Clamp +2 "collection"'l& +4 "core" & +2 "manipulator"&r% +4 "core" %\ | ~  +2 "storage"(?% +4 "core" %@\ 3\ " ,  + "storage"(. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 +2 "storage"(8(, +363 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (e& +3 "core" &,~\ \   +2 "manipulator"&& +4 "core" &\\ w }  +2 .tElbow.seek 4 + "manipulator"&:(* +37 "core" ( + "manipulator"&& +4 "core" &+ t  D +2 "storage"(,& +4 "core" &,~\ "\ "   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&<' +100 "core" ' + "storage"(#& +4 "core" &,~\ )\ G '  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(('e +277 "core" ' +2 "storage"(\\- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (5& +2 "core" &,~\ !\ , A  +2 "manipulator"&& +4 "core" &+ ~ } M D +2 .tElbow.seek 4 +2 "manipulator"&(* +3 "core" ( + "manipulator"& & +4 "core" &+  / D + "storage"(-& +4 "core" &,~\ &\ # F  +3 .tForearm.seek 4 + 300 counts + "manipulator"&'Z +19 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&y/ +62 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&1& +2 "storage"(h'N +8 "core" &+  D + "manipulator"&*% +4 "core" % ;   +2 .tForearm.seek :retract + "manipulator"&J'\ +92 "core" ' +2 .tElbow.seek CC +2 "manipulator"&%( +146 "core" ' + ."downElevator"SE.stop + "storage"(5 +4 "core" ( + "manipulator"&A& +4 "core" && * =D +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &% M =D +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&&'| +102 "core" ' +2 "manipulator"&N& +4 "core" && & =B +2 "manipulator"&% +4 "core" %τ C +3 "collection"'!& +3 "core" &  +2 "collection"'B& +6 "core" & ( +2 .tCC.seek :closed + "collection"' (] +5 "core" & ! +7 &; $d +9 &|[ 6 +9 & H +10 &k G +9 &lo G +9 &.j G +10 & m| G +9 &"p G +10 &$tjv G +9 &&6k  G +9 &'j G +10 &)j G +9 &+|j G +9 &-=k H +10 &.n H +9 &0p G +10 &2j G +9 &4Fj  G +9 &6m H +10 &7k G +9 &9h G +9 &;Nk G +10 &=n G +9 &>k H +10 &@l $ H +9 &BVm - G +9 &Dm * H +10 &El + G +9 &Go - H +10 &IXx # J +9 &K & L +9 &L  O +10 &N % P +9 &PL P +9 &R   Q +10 &S Q +9 &U S +9 &WN R +10 &Y |  T +9 &Zuz ) T +10 &\\os + B +9 &]o*mn , - +9 &]vmn + J +3 ( + "collection"'B& +3 #tCollection Clamp onSpring/offSpring for 10/25 samples, on/off torque 1.86 +2 .Hand.open + "manipulator"&T1 +59 "core" 1 +2 "manipulator"&;% +4 "core" % } 0 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&X'\ +102 "core" ' +2 #tLoading generic puck from tube 4 into Processing Clamp + "processing"%Z& +5 "core" &} + "manipulator"&3% +4 "core" %\  5  +2 "storage"('% +3 "core" %7\ \   +2 "storage"(^. +3 "core" .(,~ +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"(=(, +8 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (+& +2 "core" &,#  +2 "manipulator"&E& +4 "core" &$ ) ;7 + "manipulator"&R% +4 "core" %\   +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&f(* +170 "core" ( + "manipulator"&H& +5 "core" &$  $ + "storage"(7& +4 "core" &,~\ \   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&' +92 "core" ' +2 "storage"(& +4 "core" &,~\ \   +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(0'e +274 "core" ' +2 "storage"(P- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (G& +2 "core" &,~\ \   +2 "manipulator"&I& +4 "core" &%  # +2 .tElbow.seek 4 + "manipulator"&C(* +4 "core" ( + "manipulator"&.& +4 "core" &% > # + "storage"(>& +4 "core" &,~\ \   +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&g'Z +21 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&6/ +55 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&V& +2 "storage"(n'N +8 "core" &% } } # + "manipulator"&W% +4 "core" % Y  ~ +2 .tForearm.seek :retract +2 "manipulator"&['\ +88 "core" ' +2 .tElbow.seek PC +2 "manipulator"&4(c +164 "core" ' +2 ."downElevator"SE.stop +2 "storage"(5 +86 "core" ( + "manipulator"&d& +4 "core" &m b +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &$& +3 "core" &m Q +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&S'[ +100 "core" ' +2 "manipulator"&M& +4 "core" &m +2 "manipulator"&"% +4 "core" %O o +2 "processing"%/& +4 "core" &{ +2 "processing"%{& +4 "core" & +2 .tPC.seek :closed +2 "processing"%(Z +4 "core" & +8 &? #c +10 &vZ 6 +9 & H +9 &k G +10 &hl G +9 &+h G +9 & m G +10 &"m G +9 &$pl G +10 &&2k G +9 &'l G +9 &)k G +10 &+ym G +9 &-;l G +9 &.n G +10 &0l G +9 &2l G +10 &4Ck G +9 &6k G +9 &7l G +10 &9l G +9 &;Lm G +9 &=m G +10 &>m G +9 &@m G +10 &BSm G +9 &Dm G +9 &En G +10 &Gr H +9 &IV{ I +9 &K J +10 &L L +9 &N M +10 &PS M +9 &R M +9 &S M +10 &U M +9 &WX N +9 &Y J +10 &ZP9d #e +9 &ZL & +6 ( + "processing"%{& +4 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.49 +2 .Hand.open + "manipulator"&Y1 +3 "core" &Z % +53 1 + "manipulator"&D% +3 "core" % O +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&]'\ +98 "core" ' + "processing"%a& +4 "core" &Z % +2 #tImaging generic puck in Processing Clamp while storing it to tube 4 + "manipulator"&O% +4 "core" %\ 8  ' +2 "storage"(% +4 "core" %C 2  + "storage"(. +4 "core" .(, + "storage"(Q& +4 "core" &,~  +2 "storage"(o& +4 "manipulator"&9& +4 "core" &,~ )  + &m +3 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +4 "storage"(#]kK-0-\ b +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +3 ."raiseStack"SE.seek :beamBreak +4 "manipulator"&s(c + "storage"(@'e +5 "core" ( + "manipulator"&k& +4 "core" &m +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &F& +2 "core" &m +2 .tForearm.seek PC +2 "manipulator"&m'[ +95 "core" ' + .tHand.close +2 "manipulator"&K/ +64 "core" / +2 .tPC.seek :open +2 "processing"%2(p +91 "core" ' + "storage"(x- +4 "core" -'e + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(z'B +34 "core" ' +252 ( +2 "storage"( & +4 "core" &,~\ \   +2 "manipulator"&& +3 "core" &m  +2 "manipulator"&i% +4 "core" % c   + .tForearm.seek :retract +2 "manipulator"&'\ +99 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&L(* +283 "core" ( +2 "manipulator"&_& +4 "core" &1 1 # + "storage"(& +4 "core" &,~ ?  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&' +94 "core" ' +2 .tHand.open + "manipulator"&|1 +64 "core" 1 +2 "storage"(p- +4 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate +2 "storage"(' +26 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.83 Pucks below Top Plate + "storage"(w' +51 "core" ' +2 #tLights, camera, ACTION! + "storage"(t- +4 "core" -' + "storage"(& +4 "core" &,~ F  +2 "manipulator"&\ & +3 "core" &2 R "~ +2 .tElbow.seek 4 +2 "manipulator"&u(* +3 "core" ( + "manipulator"&~& +4 "core" &2 y "~ +2 "storage"()& +4 "core" &,~   +2 .tForearm.seek 4 + 450 counts + "manipulator"&b' +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.11 Pucks below Top Plate + "storage"('M +58 "core" ' + "manipulator"&}& +5 "core" &2 H "~ + "storage"(& +4 "core" &,~\ \   +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"& '. +33 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"(U'7 +20 "core" ' + "manipulator"&l% +5 "core" %@Z - ) d Ʋ + "storage"(r& +4 "core" &,~ q  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 318 counts + "manipulator"& 'l +17 "core" ' + "manipulator"&?& +5 "core" & y | X & +2 "storage"(& +4 "core" &,~\ \  ,  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&v' +26 "core" ' + "storage"(`% +5 "core" %?\ \  +2 ."downElevator"SE.seek :down +5 "storage"(c'N +98 (j% +3 "core" %D NA +2 "manipulator"&e% +4 "core" % r p V  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&'\ +91 "core" ' +57 ' + ."downElevator"SE.stop + "storage"(5 +3 (& +4 "core" &,~   + "collection"',& +4 "core" &]qwz # J +2 #tStoring generic puck in Collection Clamp to tube 4 + "manipulator"&#% +4 "core" %\ / #g + "storage"(% +4 "core" %<\ \   +2 "storage"(. +3 "core" .(, + "storage"(\\& +4 "core" &,~ \ 6  +2 "storage"(5& +3 "core" &,~\ 2  +2 "manipulator"&& +4 "core" & & +2 .tElbow.seek 4 +2 "manipulator"& (* +15 "core" ( + "manipulator"&-& +5 "core" &D x k + "storage"(y& +4 "core" &,~\ \   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&1' +101 "core" ' +2 "storage"(*& +4 "core" &,~\ \   +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(:'e +278 "core" ' +2 "storage"(<- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&A& +3 "core" &E  j +2 "storage"(& +4 "core" &,~\ \ \ Y  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&('. +26 "core" ' + .tElbow.hold + "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(N- +2 "core" -' +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"('i +33 "core" ' +2 "manipulator"&!% +4 "core" %Bv  ~ 2 + "storage"(& +4 "core" &,~  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 4 + 320 counts + "manipulator"&h'n +12 "core" ' +2 "manipulator"&J& +4 "core" & |  % + "storage"(& +4 "core" &,~\ \   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&T' +24 "core" ' +2 .tSE.seek 1.11 Pucks below Top Plate +2 "storage"(;'X +48 "core" ' +2 "manipulator"&Z& +4 "core" &$ y  $ +2 "manipulator"&3% +4 "core" % ~ ! + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&''\ +93 "core" ' +2 .tElbow.seek CC +2 "manipulator"&^( +150 "core" ( + "manipulator"&B& +5 "core" & 3 , + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &+& +2 "core" & H , +2 .tForearm.seek CC +2 "manipulator"&E'| +100 "core" ' +2 .tHand.close + "manipulator"&R/ +52 "core" / +2 .tCC.seek :open + "collection"'&(p +414 "core" ( +3 "storage"(H& +4 "core" &,~\ "\ $   + "storage"(7& +4 "core" &,~\ $\ # !  +2 "manipulator"&8& +4 "core" &  [ , + "manipulator"&% +4 "core" % i ; +2 .tForearm.seek :retract + "manipulator"&%'\ +107 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&X(* +173 "core" ( +2 "manipulator"&P& +4 "core" &-\ n V + "storage"(G& +4 "core" &,~\ /\ /   +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 4 + "manipulator"&I'. +105 "core" ' + .tElbow.hold +2 "manipulator"&., +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&>1 +56 "core" 1 +2 "manipulator"&6% +4 "core" % B   +2 "storage"(V& +3 "core" &,~\ \   +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 320 counts + "manipulator"&W'n +16 "core" ' +2 "manipulator"&f& +4 "core" & k B h +2 "storage"(& +3 "core" &,~\ #\ "  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&0' +18 "core" ' + "storage"(g% +5 "core" %[\ "\ " +2 ."downElevator"SE.seek :down +3 "storage"(d'N +99 ($% +3 "core" %A\ $\ #  N? + "manipulator"&C% +4 "core" % }  +2 .tForearm.reconfigure :loose +52 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&M'\ +87 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +6 "core" ' +2 #tShuffling pucks in tube 3 of [3..4] + #Loading generic puck from tube 3 into Collection Clamp +2 "collection"'"& +4 "core" &}  +2 "manipulator"&/% +4 "core" %\ 8 T ' + "storage"(n% +4 "core" %7\ #\ # '  +2 "storage"([. +3 "core" .(, +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(q( +368 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (Y& +2 "core" & +2 "manipulator"&D& +4 "core" & a h +2 .tElbow.seek 3 + "manipulator"&a(D +13 "core" ( + "manipulator"&O& +5 "core" &< L # + "storage"(& +4 "core" &\ $\ $  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&' +97 "core" ' +2 "storage"(Q& +4 "core" &\ )\ > +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(9'e +277 "core" ' + "storage"(o- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 ({& +3 "core" &\ \   +2 "manipulator"&k& +3 "core" &@ v r < # +2 .tElbow.seek 3 +2 "manipulator"&F(D +3 "core" ( + "manipulator"&S& +4 "core" &@ | # +2 "storage"(K& +3 "core" &\ /\ / ^ +3 .tForearm.seek 3 + 300 counts + "manipulator"&x'y +28 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&4/ +53 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&]& + "storage"('N +8 "core" &@ } , # + "manipulator"& % +4 "core" % ~ v { +2 .tForearm.seek :retract +2 "manipulator"&'\ +88 "core" ' +2 .tElbow.seek CC +2 "manipulator"&i( +155 "core" ' + ."downElevator"SE.stop + "storage"(5 +4 "core" ( + "manipulator"&@& +4 "core" &  P +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &m& +2 "core" & w P +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&_'| +101 "core" ' + "manipulator"&& +5 "core" & T P +2 "manipulator"&s% +4 "core" %σ 0 +2 "collection"'|& +4 "core" &}  +3 "collection"'p& +5 "core" &} +2 .tCC.seek :closed + "collection"'t(] +4 "core" &}   +9 &5  )w +9 &j ! = +9 &i{ " H +10 &.k  G +9 &n  G +10 &r  G +9 &!rn G +9 &#4k # G +10 &$m ) G +9 &&p  G +9 &(zn G +10 &*<m  G +9 &+m * G +10 &-l G +9 &/n & G +9 &1Do  G +10 &3m ) G +9 &4m  G +9 &6m G +10 &8Lm % G +9 &:l # G +10 &;g * G +9 &=l $ G +9 &?Tk ) G +10 &Aj # G +9 &Bn # H +9 &Dk # G +10 &F[m ! H +9 &Ho H +10 &I J +9 &K L +9 &ML P +10 &O   P +9 &P Q +9 &R R +10 &TM R +9 &V ~ S +10 &Wz S +9 &Y T +9 &[O~  T +10 &\\xy~ (} +9 &](x|  I +9 ( +3 "collection"'p& +3 #tCollection Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.83 + .Hand.open + "manipulator"&1 +4 "core" &]Nzy > +51 1 +2 "manipulator"&\ % +4 "core" % l ? +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&~'\ +99 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%)& +4 "core" & +2 "manipulator"&% +4 "core" %\ 3 @ % + "storage"(}% +4 "core" %=\ \   +2 "storage"(. +3 "core" .( + "storage"(l& +4 "core" &\ \   + "storage"(r& +4 "core" &\ \  +2 "manipulator"&z& +4 "core" & 3 P +2 "manipulator"&?% +3 "core" %\ 3 . % +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 + "manipulator"&(D +162 "core" ( + "manipulator"&& +5 "core" &8 r H + "storage"(`& +4 "core" &\ \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&L' +100 "core" ' +2 "storage"(& +4 "core" &\ \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(w'e +275 "core" ' +2 "storage"(j- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (e& +2 "core" &\ \ \ : +2 "manipulator"&b& +4 "core" &9 a G + .tElbow.seek 3 +2 "manipulator"&u(D +18 "core" ( +2 "manipulator"&& +4 "core" &P c +2 "storage"( & +3 "core" &\ \  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"& 'y +11 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +52 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&,& +2 "storage"(#'N +8 "core" &P  c + "manipulator"&% +4 "core" % v  " +2 .tForearm.seek :retract +2 "manipulator"&'\ +98 "core" ' + .tElbow.seek PC +2 "manipulator"&\\(c +149 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +107 "core" ( +2 "manipulator"&U& +4 "core" &i  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &5& +2 "core" &i X +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&'[ +106 "core" ' + "manipulator"&-& +5 "core" &i t ; + "manipulator"&y% +4 "core" %Q { ~ +2 "processing"%v& +4 "core" & +2 "processing"%*& +5 "core" &u +2 .tPC.seek :closed + "processing"%c(Z +5 "core" &  +9 &6 )w +10 &k = +9 &}{ H +10 &Bj G +9 &m G +9 &k G +10 &!l G +9 &#Ik G +9 &% j G +10 &&k G +9 &(k G +10 &*Rk G +9 &,l G +9 &-k G +10 &/m G +9 &1Xk G +9 &3k G +10 &4l G +9 &6k G +10 &8ak G +9 &:#k G +9 &;k G +10 &=l G +9 &?im G +9 &A+l G +10 &Bj G +9 &Dl G +10 &Fop H +9 &H/y H +9 &I J +10 &K L +9 &Mg M +9 &O* M +10 &P M +9 &R M +10 &To M +9 &V1 M +9 &W N +10 &Y 3 +9 &Z3 P +9 &Z ) +3 ( + "processing"%*& +4 #tProcessing Clamp onSpring/offSpring for 8/26 samples, on/off torque 1.51 + .Hand.open + "manipulator"&1 +60 "core" 1 + "manipulator"&% +4 "core" % S v g L +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&<'\ +90 "core" ' +2 "processing"%A& +4 "core" &Zw ) + #tImaging generic puck in Processing Clamp while storing it to tube 3 +2 "manipulator"&% +4 "core" %\ + M !W + "storage"(N% +4 "core" %6 :  + "storage"(!. +3 "core" .( +2 "storage"(& +3 "core" &\ j +2 "storage"(J& +5 "manipulator"&& +3 "core" & r + &i & +3 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +3 "storage"(#]kK-0-\ b +5 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +2 ."raiseStack"SE.seek :beamBreak +2 "manipulator"&Z(c + "storage"(3'e +6 "core" ( + "manipulator"&1& +4 "core" &i Z +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 & & +3 "core" &i  +2 .tForearm.seek PC +2 "manipulator"&:'[ +98 "core" ' +2 .tHand.close + "manipulator"&(/ +63 "core" / +2 .tPC.seek :open + "processing"%h(p +85 "core" ' +2 "storage"(- +7 "core" -'e +4 ."raiseStack"SE.configure :default +8 "storage"(#QK-0-\ b +4 ."raiseStack"SE.seek :place +2 "storage"(B'B +31 "core" ' +249 ( +2 "storage"(+& +4 "core" &\ \ K + "manipulator"&T& +4 "core" &i  +2 "manipulator"&% +3 "core" % ^  +2 .tForearm.seek :retract +2 "manipulator"&R'\ +99 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&'(D +300 "core" ( + "manipulator"& & +4 "core" &: * + "storage"(H& +4 "core" &\ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +51 "manipulator"&7' +110 "core" ' + .tHand.open + "manipulator"&81 +60 "core" 1 +2 "storage"(- +4 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate +2 "storage"(P' +23 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(G' +51 "core" ' + #tLights, camera, ACTION! +2 "storage"(E- +3 "core" -' +2 "storage"(^& +4 "core" & + "manipulator"&>& +4 "core" &B K ) +2 .tElbow.seek 3 +2 "manipulator"&6(D +3 "core" ( +2 "manipulator"&V& +3 "core" &B  ) +2 "storage"(f& +4 "core" & Z +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&' +15 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.11 Pucks below Top Plate + "storage"(g'M +61 "core" ' +2 "manipulator"&%& +4 "core" &C  ) +2 "storage"($& +4 "core" &\ \  G +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&C'M +34 "core" ' +2 .tElbow.hold +2 "manipulator"&X, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"(I'7 +24 "core" ' + "manipulator"&"% +5 "core" %Ub  ô + "storage"(W& +4 "core" & b +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 308 counts + "manipulator"&/'ρ +18 "core" ' +2 "manipulator"&n& +4 "core" &m } G # +2 "storage"([& +4 "core" &\ \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts + "manipulator"&;' +21 "core" ' + "storage"(0% +5 "core" %A\ \ \  +2 ."downElevator"SE.seek :down +4 "storage"(d'N +98 (=% +3 "core" %E\ \  NA +2 "manipulator"&Y% +4 "core" % # +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&D'\ +91 "core" ' +58 ' + ."downElevator"SE.stop + "storage"(5 +3 (O& +4 "core" &\ c + "collection"'& +4 "core" &]N > +2 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&Q% +4 "core" %\ 0 U $p +2 "storage"(.% +4 "core" %:\ \   + "storage"(M. +3 "core" .( +2 "storage"(o& +3 "core" &\ \  +2 "storage"({& +4 "core" &\ \  +2 "manipulator"&k& +4 "core" &m # +2 .tElbow.seek 3 + "manipulator"&S(D +55 "core" ( +2 "manipulator"&K& +5 "core" &B ] # + "storage"(4& +4 "core" &\ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&]' +101 "core" ' + "storage"( & +4 "core" &\ \  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(a'e +276 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&@& +3 "core" &C  # +2 "storage"(m& +4 "core" &\ \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&9'M +30 "core" ' + .tElbow.hold +2 "manipulator"&x, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(- +2 "core" -' +2 .tSE.seek 0.12 Pucks below Top Plate +2 "storage"(s'u +32 "core" ' +2 "manipulator"&|% +4 "core" %Yb   ´ + "storage"(F& +4 "core" & Q +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 312 counts + "manipulator"&'υ +18 "core" ' +2 "manipulator"&& +4 "core" &k\ o e \\ +2 "storage"(&& +4 "core" &\ \  C +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&' +13 "core" ' +2 .tSE.seek 1.12 Pucks below Top Plate +2 "storage"(\ 'd +49 "core" ' + "manipulator"&)& +5 "core" &k\ ~ ~ 1 \\ + "manipulator"&% +4 "core" % } :  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&}'\ +99 "core" ' +2 .tElbow.seek CC +2 "manipulator"&( +157 "core" ( + "manipulator"&l& +5 "core" &) @X + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &r& +2 "core" &* @X +2 .tForearm.seek CC +2 "manipulator"&p'| +93 "core" ' + .tHand.close +2 "manipulator"&z/ +56 "core" / +2 .tCC.seek :open +2 "collection"'?(p +411 "core" ( + "storage"(_& +4 "core" &\ \ i +2 "storage"(& +3 "core" &\ \  +2 "manipulator"&`& +4 "core" &%"  :* +2 "manipulator"&% +3 "core" % s F +2 .tForearm.seek :retract + "manipulator"&i'\ +94 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&~(D +158 "core" ( + "manipulator"&j& +4 "core" &F >  +2 "storage"(e& +4 "core" &\ $\ $ ( +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 + "manipulator"&b'M +109 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"& 1 +58 "core" 1 +2 "manipulator"&% +4 "core" % `v K 5 +2 "storage"(,& +4 "core" &\ \ \ J + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 319 counts + "manipulator"&'ό +17 "core" ' + "manipulator"&& +4 "core" &J r P  +2 "storage"(L& +4 "core" &\ "\ "  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&w' +17 "core" ' +2 "storage"( % +4 "core" %h\ 4\ G b +2 ."downElevator"SE.seek :down +4 "storage"(U'N +98 (5% +3 "core" %E\ #\ $ # N> +2 "manipulator"&u% +4 "core" % p s g +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&-'\ +94 "core" ' +48 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 4 of [3..4] +2 #Loading generic puck from tube 4 into Collection Clamp + "collection"'y& +4 "core" & +2 "manipulator"&v% +4 "core" %\ ; * & +2 "storage"(#% +4 "core" %G\ "\ #  +2 "storage"(. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"(2(, +368 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (& +2 "core" &,\ \   +2 "manipulator"&& +3 "core" &J   +2 .tElbow.seek 4 + "manipulator"&A(* +14 "core" ( + "manipulator"&& +4 "core" &0 x  +2 "storage"(N& +4 "core" &,\ $\ # B  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&!' +103 "core" ' + "storage"(& +4 "core" &,\ "\ " !  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('e +280 "core" ' +2 "storage"(J- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (*& +2 "core" &,\ $\   +2 "manipulator"&1& +4 "core" &0   +2 .tElbow.seek 4 + "manipulator"& (* +3 "core" ( +2 "manipulator"&& +3 "core" &0   +2 "storage"((& +4 "core" &,\ !\ #   +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&'Z +10 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&\\/ +61 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&<& +2 "storage"(c'N +8 "core" &0 p o Z  + "manipulator"&+% +4 "core" % [ s q G  +2 .tForearm.seek :retract +2 "manipulator"&T'\ +92 "core" ' +3 .tElbow.seek CC +2 "manipulator"&( +146 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +21 "core" ( +2 "manipulator"&3& +4 "core" & % o + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &:& +3 "core" &  o +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&Z'| +104 "core" ' +2 "manipulator"& & +4 "core" & 6 o +2 "manipulator"&H% +4 "core" %ρ s +2 "collection"'8& +4 "core" & # +2 "collection"'& +5 "core" & +2 .tCC.seek :closed +2 "collection"'R(] +4 "core" &   +9 &7  *x +9 &j = +10 &yz H +9 &>k G +9 &m G +10 &p  G +9 &!m H +9 &#Cm  H +10 &%k  G +9 &&k  H +10 &(k G +9 &*Kl  H +9 &,k  G +10 &-k  G +9 &/i  G +9 &1Tn  G +10 &3n  G +9 &4j  G +10 &6k G +9 &8]iu G +9 &:k G +10 &;j G +9 &=h{ G +9 &?dk  G +10 &A&m G +9 &Blx G +10 &Dhw G +9 &Fmmt G +9 &H-ro H +10 &I J +9 &K M +9 &M[y P +10 &O \ P +9 &Pw P +10 &Rw Q +9 &T]u R +9 &V R +10 &Wy S +9 &Y~r T +9 &[]x}z U +10 &\\}sty ) +9 &]"ptz C +9 ( +3 "collection"'& +3 #tCollection Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.88 +2 .Hand.open + "manipulator"&E1 +3 "core" &]Nrtw = +58 1 + "manipulator"&^% +4 "core" % } B +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&>'\ +101 "core" ' +2 #tLoading generic puck from tube 4 into Processing Clamp +2 "processing"%V& +4 "core" &h + "manipulator"&f% +4 "core" %\ 5 l & +2 "storage"(%% +3 "core" %=\ \   +2 "storage"($. +3 "core" .(, +2 "storage"(B& +4 "core" &,\ \   + "storage"("& +4 "core" &,\ \   +2 "manipulator"&W& +3 "core" & o +2 "manipulator"&P% +4 "core" %\ 5 & +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&n(* +179 "core" ( + "manipulator"&[& +4 "core" &2  +2 "storage"(0& +4 "core" &,\ \   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&'' +96 "core" ' +2 "storage"(7& +4 "core" &,\ \   +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(G'e +278 "core" ' +2 "storage"(=- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (Y& +2 "core" &,\ \ n  +2 "manipulator"&& +4 "core" &3 >  + .tElbow.seek 4 +2 "manipulator"&6(* +3 "core" ( +2 "manipulator"&g& +3 "core" &3   +2 "storage"(C& +3 "core" &,\ \   +3 .tForearm.seek 4 + 300 counts + "manipulator"&O'Z +22 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&// +63 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& + "storage"(Q'N +8 "core" &3 t {  + "manipulator"&.% +4 "core" % R s { +2 .tForearm.seek :retract +2 "manipulator"&M'\ +88 "core" ' +2 .tElbow.seek PC + "manipulator"&o(c +163 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +75 "core" ( + "manipulator"&I& +4 "core" &Y   +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &{& +4 "core" &Y   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&k'[ +103 "core" ' +2 "manipulator"&K& +4 "core" &Y ,  +2 "manipulator"&4% +3 "core" %c ( +2 "processing"%;& +4 "core" & +2 "processing"% & +6 "core" & +2 .tPC.seek :closed +3 "processing"%d(Z +3 "core" & +5 & 7 +10 & O / +9 &a{ D +10 &j G +9 &k G +9 &n G +10 & ]m G +9 &" m G +9 &#j G +10 &%k G +9 &'fj G +10 &)'n G +9 &*k G +9 &,k G +10 &.mj G +9 &0.l G +10 &1k G +9 &3k G +9 &5tk G +10 &76j G +9 &8k G +9 &:j G +10 &<}k G +9 &>?l G +10 &@k G +9 &Al G +9 &Ck G +10 &EGi G +9 &Gs H +9 &Hz I +10 &J I +9 &LC K +9 &N M +10 &O M +9 &Q M +10 &SF M +9 &U M +9 &V M +10 &X M +9 &Ze| 'u +9 &Zm 1 +9 ( +3 "processing"% & +3 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.45 + .Hand.open + "manipulator"&X1 +4 "core" &Z  + +58 1 +2 "manipulator"&D% +4 "core" % c 8 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +102 "core" ' + "processing"%@& +5 "core" &Z p + + #tImaging generic puck in Processing Clamp while storing it to tube 4 + "manipulator"&m% +4 "core" %\ < u ) +2 "storage"(% +3 "core" %D   +2 "storage"(|. +3 "core" .(, + "storage"(F& +4 "core" &,   +2 "storage"(& +4 "manipulator"&&& +4 "core" &,   + &Y  +3 ."raiseStack"SE.reconfigure :place +2 .tElbow.reconfigure :tight +5 "storage"(#]kK-0-\ b +3 "manipulator"&$&.,(\ #b +3 ."raiseStack"SE.seek :beamBreak +4 .tElbow.seek PC +2 "storage"()'e + "manipulator"&(c +5 "core" ( + "manipulator"&]& +4 "core" &Y N  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &S& +3 "core" &Y )  +2 .tForearm.seek PC +2 "manipulator"&a'[ +102 "core" ' + .tHand.close +2 "manipulator"&9/ +58 "core" / +2 .tPC.seek :open + "processing"%(p +79 "core" ' + "storage"(s- +4 "core" -'e + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +2 ."raiseStack"SE.seek :place +2 "storage"(l'B +39 "core" ' +261 ( + "storage"(r& +4 "core" &,\ \   +2 "manipulator"&& +4 "core" &Y G  + "manipulator"&x% +4 "core" % d ] +2 .tForearm.seek :retract + "manipulator"&z'\ +94 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&}(* +282 "core" ( +2 "manipulator"&t& +4 "core" &/ " # +2 "storage"(_& +3 "core" &,\ \   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts + "manipulator"&' +92 "core" ' + .tHand.open +2 "manipulator"&`1 +63 "core" 1 +2 "storage"(- +3 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate +2 "storage"(j' +21 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.83 Pucks below Top Plate + "storage"(e' +53 "core" ' +2 #tLights, camera, ACTION! + "storage"(p- +4 "core" -' + "storage"(& +4 "core" &, B  +2 "manipulator"& & +4 "core" &/  # + .tElbow.seek 4 +2 "manipulator"&(* +4 "core" ( + "manipulator"&,& +4 "core" &/ 9 # + "storage"(& +4 "core" &, *  +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&L' +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.11 Pucks below Top Plate + "storage"( 'M +59 "core" ' + "manipulator"&i& +4 "core" &/ \ # +2 "storage"(5& +3 "core" &,\ \   +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 + "manipulator"&u'. +31 "core" ' + .tElbow.hold +2 "manipulator"&~, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"(b'7 +23 "core" ' + "manipulator"&y% +5 "core" %Bp   ¸ + "storage"(& +4 "core" &, M  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 320 counts + "manipulator"&v'n +18 "core" ' +2 "manipulator"&#& +5 "core" & w } [ & + "storage"(& +4 "core" &,\ \   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&\ ' +20 "core" ' + "storage"(w% +5 "core" %=\ \  +53 ."downElevator"SE.seek :down +4 "storage"(U'N +99 (q% +3 "core" %zE\ \  NA + "manipulator"&% +4 "core" % s s ` +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +93 "core" ' +60 ' + ."downElevator"SE.stop + "storage"(5 +3 (& +4 "core" &, \ `  +2 "collection"'N& +3 "core" &]N~~z = +2 #tStoring generic puck in Collection Clamp to tube 4 + "manipulator"&% +4 "core" %\ 6 + & +2 "storage"(% +4 "core" %E\ \   +2 "storage"(-. +3 "core" .(, + "storage"(J& +4 "core" &,\ \   +2 "storage"(*& +4 "core" &,\ \   +2 "manipulator"&1& +3 "core" & j & +2 .tElbow.seek 4 +2 "manipulator"&(* +17 "core" ( +2 "manipulator"&(& +4 "core" &I  e +2 "storage"(\\& +4 "core" &,\ \   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&<' +101 "core" ' +2 "storage"(+& +4 "core" &,\ #\ #  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(A'e +278 "core" ' +2 "storage"(!- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&3& +2 "core" &I | s e +2 "storage"(:& +4 "core" &,\ \   + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 + "manipulator"&'. +35 "core" ' + .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"( - +2 "core" -' +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"( 'i +27 "core" ' + "manipulator"&H% +4 "core" %AV + , = ű +2 "storage"(8& +4 "core" &,  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 319 counts + "manipulator"&c'm +12 "core" ' + "manipulator"&T& +4 "core" & m C ( +2 "storage"(?& +4 "core" &,\ \ @  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&E' +20 "core" ' +2 .tSE.seek 1.11 Pucks below Top Plate +2 "storage"(^'X +47 "core" ' +2 "manipulator"&V& +5 "core" & t q M ( + "manipulator"&f% +4 "core" % t }  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&%'\ +96 "core" ' +2 .tElbow.seek CC +2 "manipulator"&$( +154 "core" ( +2 "manipulator"&& +4 "core" & \\ ( + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &B& +3 "core" & H ( +2 .tForearm.seek CC + "manipulator"&"'| +98 "core" ' + .tHand.close + "manipulator"&W/ +59 "core" / + .tCC.seek :open +2 "collection"'P(p +411 "core" ( + "storage"(Z& +5 "core" &,\ #\ $   + "storage"([& +4 "core" &,\ "\ ! #  + "manipulator"&0& +4 "core" & U ' + "manipulator"&7% +4 "core" % ς \\ +2 .tForearm.seek :retract +2 "manipulator"&'\ +97 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&>(* +156 "core" ( + "manipulator"&=& +4 "core" &0 \ +2 "storage"(Y& +4 "core" &,\ #\ $   +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 4 + "manipulator"&'. +106 "core" ' + .tElbow.hold + "manipulator"&g, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&C1 +61 "core" 1 +2 "manipulator"&/% +4 "core" % B # F + "storage"(& +4 "core" &,\ \   + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 4 + 320 counts + "manipulator"&.'n +18 "core" ' + "manipulator"&n& +4 "core" & h w  +2 "storage"('& +4 "core" &,\ "\ "   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&G' +21 "core" ' +2 "storage"(O% +4 "core" %^\ A\ E  +3 ."downElevator"SE.seek :down +3 "storage"(I'N +98 ({% +3 "core" %C\ #\ $  N? +2 "manipulator"&6% +4 "core" % p q M  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&K'\ +94 "core" ' +43 ' + ."downElevator"SE.stop +2 "storage"(5 +27502 "Can"M <9 +60002 u <: +31240 #t-> access 3 +3 "storage"(4% +3 "core" %8\ #\ # "  +2 "manipulator"&;% +4 "core" %\ 5 & + "manipulator"&Q& +4 "core" &  +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 7 +2 "storage"(M([ +981 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (h& +3 "core" &[\ \ N  +730 #t-> access 4 +3 "storage"(X% +3 "core" %8\ #\ # "  +2 "manipulator"&D% +4 "core" %\ 5 & + "manipulator"&@& +4 "core" &  +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 1 +2 "storage"(m(B +1938 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (& +2 "core" &E +897 #t-> access 2 +3 "storage"(|% +3 "core" %8\ #\ " ;  +2 "manipulator"& % +4 "core" %\ 5 & + "manipulator"&F& +4 "core" &  +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"(&(K +1627 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (& +2 "core" &K 2  +991 #t-> access 2 +2 "storage"(]% +4 "core" %8\ #\ #   + "manipulator"&S% +4 "core" %\ 5 & +2 "manipulator"&k& +4 "core" &  + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"(9(K +4 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (s& +2 "core" &K r  +21460 "Can" <9 +19445 #t-> startTube 2 +1694 #-> $da[:extractVol]=.19 +635 #-> da 50 +2 #da sampling at most 50ml +4 ."Qmail"DAfans.email "Started da in tube 2 at 09:24:25EST07-Nov-22\\n{1 => 0,\\n 5 => 0,\\n 6 => 0,\\n 7 => 0}\\nCTD data unavailable\\nISUS data unavailable\\nCan@09:20:48, 16% flow, 21.4C, 50% humidity, 14.4psia, 14.92V, 0.260A avg, 0.242A avg, 3.88W",Subject: "da sampling at most 50ml" +3 #tLoading sh1 puck from tube 2 into Collection Clamp +4 "collection"'o& +3 "core" &c +2 "manipulator"&% +5 "core" %\ 5 & +2 "storage"(d% +3 "core" %7\ "\ # #  +2 "storage"(). +3 "core" .(K +3 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"(r(  +75 !"Qmail"o:!Net::SMTPAuthenticationError: mesg"E534-5.7.9 Application-specific password required. Learn more at\ :@checkpoint: omitted:bt["E/opt/mbari/lib/ruby/1.8/net/smtp.rb:954:in `check_auth_response'"/opt/mbari/lib/ruby/1.8/net/smtp.rb:723:in `authenticate'":/opt/mbari/lib/ruby/1.8/net/smtp.rb:566:in `do_start'"7/opt/mbari/lib/ruby/1.8/net/smtp.rb:525:in `start'"2/home/esp/esp2/lib/email.rb:325:in `sendOnce'"3/home/esp/esp2/lib/schedule.rb:292:in `unsync'"3/home/esp/esp2/lib/schedule.rb:594:in `unsync'"3/home/esp/esp2/lib/schedule.rb:621:in `unsync'"2/home/esp/esp2/lib/email.rb:318:in `sendOnce'"//home/esp/esp2/lib/email.rb:340:in `email'",/home/esp/esp2/lib/msg.rb:68:in `retry'"//home/esp/esp2/lib/email.rb:339:in `email'"./home/esp/esp2/lib/email.rb:348:in `mail'"-/home/esp/esp2/lib/email.rb:66:in `call'"3/home/esp/esp2/lib/email.rb:66:in `initialize'"-/home/esp/esp2/lib/email.rb:63:in `loop'"3/home/esp/esp2/lib/email.rb:63:in `initialize'"7/home/esp/esp2/lib/schedule.rb:481:in `initialize'"0/home/esp/esp2/lib/thread.rb:738:in `start'"7/home/esp/esp2/lib/schedule.rb:474:in `initialize'"'/home/esp/esp2/lib/schedule.rb:472 + !o:Email::Queue::Purge: mesg"Purged output queue:bt[ "//home/esp/esp2/lib/email.rb:106:in `purge'"3/home/esp/esp2/lib/email.rb:75:in `initialize'"-/home/esp/esp2/lib/email.rb:63:in `loop'"3/home/esp/esp2/lib/email.rb:63:in `initialize'"7/home/esp/esp2/lib/schedule.rb:481:in `initialize'"0/home/esp/esp2/lib/thread.rb:738:in `start'"7/home/esp/esp2/lib/schedule.rb:474:in `initialize'"'/home/esp/esp2/lib/schedule.rb:472 +1233 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (& +3 "core" & \ \  +2 "manipulator"&x& +3 "core" &  +2 .tElbow.seek 2 + "manipulator"&a(; +20 "core" ( +2 "manipulator"&t& +4 "core" &E x $ + "storage"(_& +4 "core" & \ "\ "  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&'Ѐ +105 "core" ' + "storage"(`& +4 "core" & \ F\ ( 0 +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"('e +267 "core" ' +2 "storage"(p- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" & \ \ \ \  8 +2 "manipulator"& & +3 "core" &G ~ | $ +2 .tElbow.seek 2 +49 "manipulator"&,(; +24 "core" ( +2 "manipulator"&& +4 "core" &G g Q C  + "storage"(z& +4 "core" & \ \ "\ "  +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&i' +27 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&5/ +59 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"&y& + "storage"('N +6 "core" &G p q (  +2 "manipulator"&l% +4 "core" % q p  +2 .tForearm.seek :retract +2 "manipulator"&#'\ +94 "core" ' +2 .tElbow.seek CC +2 "manipulator"&j( +141 "core" ' + ."downElevator"SE.stop + "storage"(5 +4 "core" ( + "manipulator"&& +4 "core" &  Q , +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &w& +3 "core" &  , +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&}'| +98 "core" ' +2 "manipulator"&& +4 "core" &  \\ , +2 "manipulator"&e% +4 "core" % υ  +2 "collection"'L& +4 "core" &W +2 "collection"'q& +5 "core" &b +2 .tCC.seek :closed +2 "collection"'(] +4 "core" &b +7 &;d $d +10 &w\\j 7 +9 &d I +9 &hc H +10 &fri I +9 &'pe I +9 & nd H +10 &"nf I +9 &$nmi I +9 &&0p` I +10 &'pW I +9 &)rZ H +10 &+vsX I +9 &-9oh H +9 &.od H +10 &0si I +9 &2rl H +9 &4@sj I +10 &6ng H +9 &7nf H +10 &9mh I +9 &;Ing H +9 &= lq H +10 &>kd H +9 &@ng H +9 &BQre H +10 &Dpc H +9 &Eqe H +10 &Grk I +9 &ITd J +9 &K h M +10 &Lo Q +9 &Nm Q +9 &PFh R +10 &Rw R +9 &Sr R +10 &Uy T +9 &WIq S +10 &Yi U +9 &Z{k U +9 &\\x|p B +9 &]p-tvs *| +10 &]wrvq I +2 ( +2 "collection"'q& +3 #tCollection Clamp onSpring/offSpring for 10/25 samples, on/off torque 1.84 + .Hand.open +2 "manipulator"&1 +53 "core" 1 + "manipulator"& % +5 "core" % τ  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&u'\ +92 "core" ' +2 #tcollectSample 50ml w/bubble point of 24psi + #Priming 7ml +2 .Intake.select :close + .Exhaust.select :close + .SS.hold +2 "sampler")v+ +4 "core" + + "sampler")% +4 "core" %3 + "collection"'N& +4 "core" &]uy{s I +3 "Can" NL + #tCalibrating pressure and temperature sensors +3 .CTV.dial :air +2 .SSV.dial :spit,avoiding: :exhaust +2 .SS.reconfigure :fast +2 "sampler")#.0X +2 "collection"'T& +3 "core" &]s^]f I +3 "Can" ZX + .tCTV.dial :intake +2 ."connect"SSV.dial CBV +3 .tCBV.dial SSV +2 "sampler")?  +69 "core" + #tAllowing 130s for 25.0ml of remaining 50.0ml +2 .Intake.select :open + "sampler") +210 "collection"'V% +3 "core" %^ +2 #tIntake @14.7psia, vacuum from 9.2 to 12.2psi +2 .SS.reconfigure :inhaling 2.21ml/s +2 "sampler")#.0X   +69 "collection"'% +3 "core" %Z +2 "sampler")n% +4 "core" %_+ P K  +78 "collection"''% +3 "core" %a +2 "sampler")O% +3 "core" %`+ g _  +2 "collection"'% +4 "core" %^ +2 #tIntake @15.6psia, vacuum from 10.0 to 13.0psi +2 .SS.reconfigure :inhaling 1.99ml/s +2 "sampler")#.0X % +3 "core" %g + "sampler")% +4 "core" %@ / #  +18 "collection"'.% +3 "core" %V +2 "sampler")^% +4 "core" %@ / )  +21 "collection"'G% +3 "core" %` +2 "sampler")I% +3 "core" %@ 4 *  +25 "collection"'4% +3 "core" %[ + "sampler");% +4 "core" %@ 5 0  +28 "collection"'Q% +3 "core" %] +2 "sampler")2% +4 "core" %@ 8 2  +31 "collection"'h% +3 "core" %_ +2 "sampler")X% +3 "core" %@ = 6  +37 "collection"'D% +3 "core" %X +2 "sampler")@% +4 "core" %? C ;  +41 "collection"'M% +3 "core" %Y +2 "sampler")% +3 "core" %@ J C  +48 "collection"'|% +2 "core" %` +2 "sampler") % +4 "core" %@ S M  +53 "collection"'F% +3 "core" %\\ +2 "sampler")m% +4 "core" %@ c Y  +60 "collection"'% +3 "core" %` +2 "sampler")]% +4 "core" %@ y r  +69 "collection"'S% +3 "core" %\\ +2 "sampler")k% +4 "core" % + +78 "collection"'s% +3 "core" %W + "sampler")&% +4 "core" % + +88 "collection"'o% +3 "core" %Y +2 "sampler")% +4 "core" % + +100 "collection"'d% +3 "core" %_ + "sampler"))% +4 "core" % + +113 "collection"'9% +3 "core" %] + "sampler")% +4 "core" % + +128 "collection"'x% +4 "core" %W +2 "sampler")t% +4 "core" % + +143 "collection"'_% +3 "core" %W +2 "sampler")`% +3 "core" % + +163 "collection"'g% +3 "core" %W +2 "sampler")K% +3 "core" % + +184 "collection"'p% +3 "core" %\\ +2 "sampler")% +3 "core" % + +197 "collection"' % +2 "core" %Z +2 "sampler")% +3 "core" % + +199 "collection"'z% +3 "core" %U +2 "sampler")5% +4 "core" % + +196 "collection"'y% +3 "core" %\\ +2 "sampler")l% +3 "core" % + +196 "collection"'a% +3 "core" %] +2 "sampler")% +3 "core" % + +197 "collection"'% +3 "core" %X + "sampler")w% +4 "core" % + +196 "collection"'% +3 "core" %^ +2 "sampler")i% +4 "core" % + +195 "collection"'% +3 "core" %P +2 "sampler")e% +4 "core" % + +196 "collection"'L% +3 "core" %^ + "sampler"),% +4 "core" % + +196 "collection"'% +3 "core" %` +2 "sampler")#% +4 "core" % + +196 "collection"'P% +2 "core" %Q +2 "sampler")% +4 "core" % + +196 "collection"' % +3 "core" %^ +2 "sampler")% +3 "core" % + +143 "collection"'N% +3 "core" %T +2 "sampler")q% +4 "core" % + +2 .tSS.reconfigure :default +54 "sampler")#.0X  +29 "core"  + "collection"'% +4 "core" %H  +2 .tCSV.dial between air and CTV +2 "collection"'. ` +27 "core" b +2 .tCS.seek 7.089ml + "collection"'^'Z +695 "core" ' +2 ."connect"CTV.dial CSV,avoiding: :air +3 .tCSV.dial CTV + "collection"'G  +27 "core"  +2 .tCS.reconfigure :pressurize +2 "collection"'# d@<<\ b +2 .tCS.seek 0ml +2 "collection"'I' +1419 "core" ' \ \ Q а +3 "collection"'4% +4 "core" % \ \ \\  + "sampler");% +4 "core" %4 + #tBubblePoint: Intake @37.9psia, Outlet @13.9psia +2 .CBV.dial SSV + "collection"'Q @ +30 "core" A +2 .tSS.reconfigure :default +2 "sampler")#.0X +2 ."CSpush"CS.reconfigure :fast +2 "collection"'#d @b +3 ."CSpush"CS.seek 0ml + "collection"'F' +133 "core" ' + .tSSV.dial :spit,avoiding: :exhaust +2 "sampler")m +120 "core" +2 .tSS.reconfigure :exhale +2 "sampler")#.0X  +2 .tCS.seek 6ml +2 "collection"'' +1360 "core" ' + .tdelay 2 seconds +202 .CSV.dial :waste2 +2 "collection"'x +39 "core"  +2 .tCS.reconfigure :fast +3 "collection"'#d @b +2 .tCS.seek 0ml +2 "collection"'t' +1328 "core" ' +2 .tCSV.dial CSR +2 "collection"'_  +40 "core"  +2 "collection"'`% +4 "core" %? + #tPulling 2ml of CSR.AqMeOH + .CSR.select :AqMeOH +2 "collection"' +9 .tCS.reconfigure :default +3 "collection"'#P d@b +2 .tCS.seek 2ml +2 "collection"'g'~ +590 "core" ' + .tdelay 5 seconds +502 .CSR.select :air +3 "collection"' +8 'K% +3 "core" %E +2 .tCS.seek 5ml +2 "collection"'p's +182 "Can" PN +659 "core" ' +2 .tdelay 2 seconds +201 .CSV.dial CTV +2 "collection"'  +39 "core"  +2 .tCS.seek 1ml +2 "collection"' ' +1093 "core" ' + "collection"'9 +4 "core" 9nw + "collection"'z% +4 "core" % a + #tBefore lysing Collection Puck Heater at 20.7C/33.1psia +3 #Heating Puck.from 2, :sh1 in Collection Clamp to 70C for 10:00 +2 .CH.seek 70C,8:00 +2 "collection"'5 \  +2 'y9 +6 "core" 9nw +101 "collection"'l9 +3 "core" 9nxd +102 "collection"'a9 +2 "core" 9ow d +103 "collection"'9 +2 "core" 9ow d +102 "collection"'9 +3 "core" 9owd +102 "collection"'w9 +3 "core" 9oxd +102 "collection"'9 +3 "core" 9rxd +102 "collection"'i9 +2 "core" 9uxd +102 "collection"'9 +3 "core" 9xy"d +102 "collection"'e9 +2 "core" 9}y&d +102 "collection"'L9 +3 "core" 9y*d +102 "collection"',9 +3 "core" 9y/d +102 "collection"'9 +2 "core" 9{3d +102 "collection"'#9 +3 "core" 9{7d +102 "collection"'P9 +2 "core" 9|;d +102 "collection"'9 +3 "core" 9}?d +102 "collection"' 9 +2 "core" 9~Cd +102 "collection"'9 +3 "core" 9}Hd +102 "collection"'N9 +2 "core" 9Ld +102 "collection"'q9 +3 "core" 9Pd +102 "collection"'9 +3 "core" 9Td +102 "collection"'v9 +2 "core" 9Xd +103 "collection"'-9 +2 "core" 9)]d +102 "collection"'69 +2 "core" 9=ad +103 "collection"'}9 +2 "core" 9Ped +102 "collection"'b9 +3 "core" 9did +102 "collection"'J9 +2 "core" 9ymd +103 "collection"'(9 +2 "core" 9qd +102 "collection"'9 +2 "core" 9vd +103 "collection"'\ 9 +2 "core" 9zd +102 "collection"'9 +3 "core" 9~d +102 "collection"'*9 +2 "core" 9d +103 "collection"'19 +2 "core" 9d +102 "collection"'~9 +2 "core" 9d +103 "collection"'!9 +2 "core" 9'd +102 "collection"'9 +3 "core" 9=d +102 "collection"'39 +2 "core" 9Td +102 "collection"':9 +3 "core" 9kd +102 "collection"'+9 +2 "core" 9d +102 "collection"'U9 +3 "core" 9d +102 "collection"'\\9 +3 "core" 9d +102 "collection"'T9 +3 "core" 9c +102 "collection"'89 +2 "core" 9a +102 "collection"' 9 +3 "core" 9_ +102 "collection"'V9 +2 "core" 9 \\ +102 "collection"'H9 +4 "core" 9#[ +102 "collection"'9 +2 "core" 9:X +102 "collection"'A9 +3 "core" 9QV +102 "collection"'9 +2 "core" 9iU +102 "collection"'c9 +3 "core" 9R +102 "collection"'9 +3 "core" 9P +102 "collection"' 9 +2 "core" 9N +102 "collection"'B9 +3 "core" 9L +102 "collection"'E9 +2 "core" 9J +102 "collection"'W9 +2 "core" 9I +103 "collection"'9 +2 "core" 9F +102 "collection"'R9 +2 "core" 9D +103 "collection"'?9 +2 "core" 94B +102 "collection"'9 +2 "core" 9JA +103 "collection"'%9 +2 "core" 9_> +102 "collection"'Z9 +3 "core" 9u= +102 "collection"'f9 +2 "core" 9; +103 "collection"'09 +2 "core" 9: +102 "collection"'[9 +2 "core" 97 +102 "collection"'=9 +3 "core" 9 6 +102 "collection"'Y9 +3 "core" 94 +102 "collection"'"9 +3 "core" 92 +102 "collection"'$9 +2 "core" 91 +102 "collection"'/9 +3 "core" 9/ +102 "collection"'79 +2 "core" 9,!. +102 "collection"'C9 +3 "core" 9@%, +102 "collection"'n9 +3 "core" 9S** +102 "collection"''9 +2 "core" 9e.) +102 "collection"'9 +3 "core" 9w2' +102 "collection"'<9 +2 "core" 96& +102 "collection"'>9 +3 "core" 9:% +102 "collection"'9 +2 "core" 9?$ +103 "collection"'.9 +2 "core" 9C" +102 "collection"'9 +2 "core" 9G! +103 "collection"'G9 +2 "core" 9K +102 "collection"'^9 +2 "core" 9O +103 "collection"'49 +2 "core" 9S +102 "collection"';9 +2 "core" 9 X +103 "collection"'Q9 +2 "core" 9 \\ +102 "collection"'O9 +3 "core" 9 -` +102 "collection"'h9 +3 "core" 9 <d +102 "collection"'X9 +3 "core" 9 Jh +102 "collection"'D9 +2 "core" 9 Xm +102 "collection"'29 +2 "core" 9 eq +103 "collection"'@9 +2 "core" 9 tu +102 "collection"'9 +3 "core" 9 y +102 "collection"'{9 +3 "core" 9 } +102 "collection"' 9 +2 "core" 9  +102 "collection"'M9 +3 "core" 9  +102 "collection"'m9 +2 "core" 9  +102 "collection"'I9 +4 "core" 9  +102 "collection"'|9 +2 "core" 9  +102 "collection"'F9 +3 "core" 9  +102 "collection"'9 +2 "core" 9  +102 "collection"'S9 +3 "core" 9  +102 "collection"'k9 +2 "core" 9  +102 "collection"']9 +3 "core" 9\ \ +102 "collection"'&9 +2 "core" 9\ \  +102 "collection"'o9 +3 "core" 9\  +102 "collection"'s9 +3 "core" 9\  +103 "collection"'9 +3 "core" 9\ &  +102 "collection"'d9 +2 "core" 9\ /\  +102 "collection"'99 +3 "core" 9\ 8\  +102 "collection"')9 +3 "core" 9\ A  +102 "collection"'x9 +2 "core" 9\ H  +102 "collection"'9 +3 "core" 9\ Q +102 "collection"'_9 +3 "core" 9\ Y +102 "collection"'`9 +2 "core" 9\ ` +102 "collection"'t9 +3 "core" 9\ h +102 "collection"'K9 +2 "core" 9\ n +102 "collection"'g9 +4 "core" 9\ v +2 .tCH.hold 10:00,70C +3 "collection"' `\ `\ q +2 'p9 +6 "core"  + 9\ w +2 "collection"'% +3 "core" %\ \ \   +2 #tBegun lysing Collection Puck Heater at 68.1C/37.0psia +45923 "Can"W  +14067 "core" ` +2 "collection"'z9 +3 "core" 9\  +2 "collection"'y% +3 "core" %  +2 #tEnded lysing Collection Puck Heater at 70C/31.9psia +2 .CS.seek 0ml + "collection"'l' +352 "core" ' +2 .tCTV.dial between spare and air,avoiding: :intake +2 "collection"'a @ +93 "core" B +2 .tCSV.dial :air + "collection"' @ +41 "core" > +2 .tCS.seek 5ml + "collection"''s +1353 "core" ' + .tCSV.dial CTV +2 "collection"'w  +41 "core"  + .tdelay 2 seconds +202 .CSV.dial :air +2 "collection"' @ +40 "core" ? +2 .tdelay 2 seconds +202 .CSV.dial CTV + "collection"'i  +40 "core"  +3 .tdelay 2 seconds +201 .CSV.dial :air +2 "collection"' @ +40 "core" > + .tdelay 2 seconds +203 .CS.seek 0ml + "collection"'e' +1346 "core" ' +2 "collection"'L% +4 "core" %\ ~\  + #tPuck @43.9psia after final lysis pressurization + #Recovering Lysate into Collection syringe + .CSV.dial CBV +2 "collection"', +91 "core" ~ + .tCBV.dial CSV +2 "collection"'  +28 "core" +2 "collection"'#% +4 "core" %\ 1\ 2 +2 .tCS.seek 5ml + "collection"'P's +1358 "core" ' +2 .tdelay 5 seconds +502 .CTV.dial :air +2 "collection"'  +38 "core" +2 "collection"' % +4 "core" %s  8  +2 .tCS.seek 7ml + "collection"'' +582 "core" ' + .tdelay 5 seconds +502 .CSV.dial :air2 +3 "collection"'N @ +37 "core" > +2 .tCS.seek 10ml +2 "collection"'q' +840 "core" ' +2 .tCSV.dial between air and CTV,avoiding: CBV +2 "collection"' ` +102 "core" ^ +2 #tLysing Complete + "collection"'v& +5 "core" &]o" ( I + #tStoring sh1 puck in Collection Clamp to tube 1 +2 "manipulator"&-% +3 "core" %\ * !N +2 "storage"(6% +4 "core" %K\ \  + "storage"(}. +3 "core" .(  +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 1 +2 "storage"(b(B +361 "core" ( +52 .tSC.configure :limp +4 "storage"($\ 1b +3 (J& +4 "manipulator"&(& +2 "core" &E 4 +4 ."raiseStack"SE.reconfigure :place +4 "storage"(#]kK-0-\ b +2 "core" &  ` , +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC +2 ."raiseStack"SE.seek :beamBreak +2 "manipulator"&( + "storage"(\ 'e +18 "core" ( + "manipulator"&& +5 "core" &\   V + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &*& +3 "core" &\ \ B V +2 .tForearm.seek CC +2 "manipulator"&1'| +93 "core" ' +2 .tHand.close + "manipulator"&~/ +63 "core" / +2 .tCC.seek :open +2 "collection"'!(p +76 "core" ' +2 "storage"(- +3 "core" -'e +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(3'B +41 "core" ' +279 ( + "storage"(:& +4 "core" &E\ !\ !  +2 "storage"(+& +4 "core" &E\ \ ! + "manipulator"&U& +4 "core" &\ \ - V + "manipulator"&\\% +4 "core" % q 7 +2 .tForearm.seek :retract + "manipulator"&T'\ +103 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 1 +2 "manipulator"&8(c +159 "core" ( + "manipulator"& & +4 "core" &k Y  +2 "storage"(V& +4 "core" &E\ \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 1 + "manipulator"&H' +111 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&A1 +60 "core" 1 +3 "manipulator"&% +4 "core" % R e +2 "storage"(c& +3 "core" &E\ \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 1 + 317 counts + "manipulator"&' +21 "core" ' + "manipulator"& & +4 "core" &k D d T  +2 "storage"(B& +4 "core" &E\ E\ D +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 1 + 450 counts + "manipulator"&E'Ф +18 "core" ' +2 "storage"(W% +4 "core" %H\ @\ C +2 ."downElevator"SE.seek :down +4 "storage"('N +99 (R% +3 "core" %F\ "\  N@ + "manipulator"&?% +4 "core" %Ю n k  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +96 "core" ' +51 ' +2 ."downElevator"SE.stop + "storage"(5 +3 #tTranferring DA + #Beginning samplePassC + #Loading FlushPuck into Collection Clamp from FlushPuck::Garage +2 "collection"'%& +4 "core" & +2 "manipulator"&Z& +4 "core" &k  + "manipulator"&f% +4 "core" %\ 5 K & +2 .tElbow.seek FlushPuck::Garage + "manipulator"&0(, +181 "core" ( +2 "manipulator"&[& +4 "core" &,  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &=& +2 "core" &,   +2 .tForearm.seek :garage +2 "manipulator"&Y' +103 "core" ' +2 .tHand.close + "manipulator"&"/ +64 "core" / +2 "manipulator"&$& +4 "core" &, e  +2 "manipulator"&/% +3 "core" %  s +2 .tForearm.seek :retract + "manipulator"&7'\ +102 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&C( +280 "core" ( + "manipulator"&n& +4 "core" &" :0 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &'& +3 "core" &#  :0 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC + "manipulator"&'| +98 "core" ' + "manipulator"&<& +5 "core" &# :0 + "manipulator"&>% +4 "core" %v  +2 "collection"'& +3 "core" &&& +2 "collection"'.& +6 "core" &$& < + .tCC.seek :closed +2 "collection"'(] +5 "core" &%% 8 +6 &A&& $f +9 &^&& 7 +10 &%( H +9 &j%% F +10 &|q&%w F +9 &>m$&S F +9 &!n&' F +10 &"q%' * F +9 &$p&'  G +9 &&Fo%( F +10 &(m'' F +9 &)p#' F +10 &+q&' F +9 &-No&' F +9 &/m%& G +10 &0p&( F +9 &2k%' G +9 &4Un&(r G +10 &6n&'L G +9 &7n'( G +10 &9l)) F +9 &;^j(' % F +9 &= o&&  F +10 &>p%) F +9 &@p&( F +9 &Bfp'( F +10 &D(j(( F +9 &Ek&) F +10 &Gk'&x F +9 &Iix%& H +9 &K%&( J +10 &L() N +9 &N(( P +9 &PZ)) P +10 &R)*` Q +9 &S*)X Q +10 &U++ R +9 &W])- R +9 &Y*+ T +10 &Z(, $ T +9 &\\(* ! ; +9 &]c')* 2 +10 &]r++ I +2 ( +2 "collection"'.& +3 #tCollection Clamp onSpring/offSpring for 9/25 samples, on/off torque 1.83 + "collection"'G& +4 "core" &]q), I +2 .tHand.open + "manipulator"&^1 +54 "core" 1 +2 "manipulator"&4% +9 "core" % u L +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +7 "manipulator"&;'\ +92 "core" ' + .tPSV.dial PSR +2 "processing"%Q +122 "core"  + "processing"%O% +5 "core" % + #tPulling 1.5ml of PSR.flush + .PSR.select :flush +2 "processing"%j +10 .tPS.seek 1.5ml + "processing"%h' +1615 "core" ' +2 .tdelay 5 seconds +502 .PSV.dial :waste1 + "processing"%X  +46 "core"  +2 .tPS.seek 0ml +2 "processing"%D' +1610 "core" ' +2 .tPSV.dial PSR + "processing"%2 +48 "core"  + .tPSR.select :air +2 "processing"% +9 .tPS.seek 2.5ml +2 "processing"%@'m +2632 "core" ' +2 ."connect"PRV.dial CBV,avoiding: :ab2 +4 .tCBV.dial PRV +2 "processing"% + "collection"'{  +6 "core"  + "processing"%  +5 "core"  +59 + .tPSV.dial :mixloop +2 "processing"%M +95 "core" +2 .tCTV.dial :air,avoiding: :intake + .PTV.dial :PRVmixing +2 "processing"%m  +67 "core" +2 .tPS.seek 0ml +2 "processing"%I' +2631 "core" ' + .tPSV.dial :air + "processing"%|  +43 "core"  +2 .tPS.seek 2.5ml +2 "processing"%F'm +2647 "core" ' +2 .tPSV.dial :mixloop + "processing"% +49 "core" +2 .tPS.seek 0ml +2 "processing"%S' +2635 "core" ' + .tPSV.dial :air +2 "processing"%k  +47 "core"  +2 .tPS.seek 2.5ml +2 "processing"%]'m +2652 "core" ' +2 .tPSV.dial :mixloop + "processing"%& +47 "core" +2 .tPS.seek 0ml +2 "processing"%o' +2634 "core" ' + #tGaraging FlushPuck in Collection Clamp +2 "manipulator"&s& +4 "core" &  6 +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC + "manipulator"&( +31 "core" ( +2 "manipulator"&d& +4 "core" &  + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &9& +2 "core" &  +2 .tForearm.seek CC +2 "manipulator"&)'| +96 "core" ' +2 .tHand.close + "manipulator"&x/ +58 "core" / +2 .tCC.seek :open +2 "collection"'(p +413 "core" ( +2 "manipulator"&_& +4 "core" & c  + "manipulator"&`% +4 "core" % ς J +2 .tForearm.seek :retract + "manipulator"&t'\ +97 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek :garage + "manipulator"&K(, +272 "core" ( + "manipulator"&g& +4 "core" &,   +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &p& +2 "core" &, r  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek :garage + "manipulator"&' +109 "core" ' +2 .tHand.open + "manipulator"&51 +58 "core" 1 +2 "manipulator"&% +4 "core" % h  Ķ^ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&z'\ +106 "core" ' + .tPSV.dial :mixloop +2 .PTV.dial :PRVmixing + ."connect"PRV.dial CBV +3 .tCBV.dial PRV +2 .CTV.dial :air,avoiding: :intake +2 #Loading lyfil puck from tube 2 into Collection Clamp + "collection"'y& +53 "core" &TUj +3 "manipulator"& % +4 "core" %\ 6 & +2 "storage"(a% +4 "core" %D\ #\  + "storage"(. +3 "core" .(E +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 + "storage"(l(  +357 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (w& +3 "core" & \ \   + "manipulator"&& +4 "core" &, t  +2 "manipulator"&i% +3 "core" %\ 6 L & +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&(; +197 "core" ( + "manipulator"&& +4 "core" &F k y +2 "storage"(L& +4 "core" & \ #\ !  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&,'Ѐ +99 "core" ' + "storage"(& +4 "core" & \ C\ >  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(#'e +283 "core" ' + "storage"(e- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +4 "core" & \ \    +2 "manipulator"& & +4 "core" &F o n y +2 .tElbow.seek 2 + "manipulator"&P(; +10 "core" ( + "manipulator"&N& +4 "core" &D w e e c +2 "storage"(& +4 "core" & \ D\ D  +2 .tForearm.seek 2 + 300 counts + "manipulator"&' +28 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&v/ +60 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&-& +2 "storage"(6'N +8 "core" &D n p c +2 "manipulator"&}% +4 "core" % n n + .tForearm.seek :retract +2 "manipulator"&r'\ +97 "core" ' +2 .tElbow.seek CC +2 "manipulator"&J( +145 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +7 "core" ( +2 "manipulator"&(& +4 "core" &$  V << +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &% X << +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&*'| +100 "core" ' +2 "manipulator"&~& +4 "core" &% << +2 "manipulator"&% +4 "core" % U +2 "collection"'j& +4 "core" &UUK +2 "collection"'u& +4 "core" &UVq +3 .tCC.seek :closed + "collection"'(] +5 "core" &SU  +8 &8VUr *z +9 &mUT} > +10 &wQTn G +9 &GjTU F +10 &\ nQS F +9 &rTT G +9 &!nQT G +10 &#OlUT F +9 &%kTS F +10 &&mSU G +9 &(oUV{ G +9 &*XkSVa F +10 &,nUUS F +9 &-nST; G +9 &/lSU1 F +10 &1^lRS G +9 &3!pTT F +9 &4pSV G +10 &6mSU F +9 &8gmUT F +10 &:)oUS F +9 &;nSV F +9 &=pSV F +10 &?ooUU F +9 &A1kUU F +9 &BnSU F +10 &DoUU F +9 &FvmSV G +10 &H8sUW G +9 &IRU J +9 &KSU M +10 &McVV P +9 &O%WX P +10 &PVW Q +9 &RYX Q +9 &TdXU R +10 &V$UW S +9 &WVW R +10 &YWX T +9 &[fWU T +9 &]\ wTU (| +9 &]"RU Z +9 ( +3 "collection"'u& +3 #tCollection Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.85 + .Hand.open +2 "manipulator"&\ 1 +3 "core" &]XTWx B +49 1 + "manipulator"&:% +5 "core" % ~ f +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&+'\ +96 "core" ' + .tCTV.dial CSV,avoiding: :intake +2 "collection"'U  +120 "core" ~ + .tCSV.dial CTV +2 "collection"'\\  +28 "core"  +2 .tPS.seek 2.5ml +2 "processing"% 'm +2633 "core" ' +2 "collection"'V% +4 "core" %UV  +2 .tCS.seek 4.5ml + "collection"'1'd +1479 "core" ' + .tdelay 8 seconds +803 .PSV.dial :air + "processing"%  +47 "core"  + .tdelay 2 seconds +202 .PSV.dial :waste2 +2 "processing"%A  +66 "core"  +2 .tPS.seek 0ml +2 "processing"%' +2639 "core" ' + .tCBV.dial between PRV and waste1 +2 "collection"'c ` +31 "core" ^ +2 .tCSV.dial :air + "collection"' @ +41 "core" ? +2 .tCS.seek 10ml + "collection"'B' +1475 "core" ' + .tCSV.dial CTV +2 "collection"'W  +41 "core"  +2 .tCS.seek 0ml + "collection"'T' +615 "Can"? PM +2003 "core" ' +2 .tCBV.dial :waste1 + "collection"'R @ +29 "core" ? + .tdelay 5 seconds +503 .CTV.dial :air,avoiding: :intake +2 "collection"'?  +120 "core" +2 "collection"'8& +4 "core" &]Wij B + #tStoring lyfil puck in Collection Clamp to tube 1 +2 "manipulator"&H% +4 "core" %\ + H !V + "storage"(%% +4 "core" %@\ \   +2 "storage"(. +2 "core" .(  +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 1 + "storage"(Z(B +367 "core" ( +2 .tSC.configure :limp +3 "storage"($\ 1b +2 (f& +3 "core" &E U + "manipulator"&3& +4 "core" &" l :1 +2 "manipulator"&E% +3 "core" %\ + , !V +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 1 + "manipulator"&[(c +158 "core" ( +2 "manipulator"&=& +4 "core" &n  \ + "storage"(& +4 "core" &E\ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 1 + 450 counts + "manipulator"&'Ф +94 "core" ' + "storage"("& +4 "core" &E\ \  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +6 "storage"($'e +278 "core" ' + "storage"(/- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" &n  \ + "storage"(Y& +4 "core" &E\ \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 1 + "manipulator"&n' +29 "core" ' +2 .tElbow.hold + "manipulator"&', +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(0- +2 "core" -' +3 .tSE.seek 0.12 Pucks below Top Plate + "storage"(<'p +40 "core" ' + "manipulator"&>% +4 "core" %v 4 ú5 +2 "storage"(& +3 "core" &E { +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 1 + 315 counts + "manipulator"&7' +20 "core" ' + "manipulator"&!& +4 "core" &C ] u .  +2 "storage"(G& +4 "core" &E\ \ R +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 1 + 450 counts + "manipulator"&^'Ф +12 "core" ' +2 .tSE.seek 1.12 Pucks below Top Plate +2 "storage"(4'_ +50 "core" ' + "manipulator"&.& +4 "core" &C k b  +2 "manipulator"&Q% +4 "core" %Ъ n o X  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&O'\ +93 "core" ' +2 .tElbow.seek CC +2 "manipulator"&( +159 "core" ( + "manipulator"&X& +4 "core" &+ y Ac +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &h& +3 "core" &* Ab +2 .tForearm.seek CC +2 "manipulator"&2'| +94 "core" ' +2 .tHand.close + "manipulator"&D/ +53 "core" / +2 .tCC.seek :open +2 "collection"'(p +413 "core" ( +2 "storage"( & +4 "core" &E\ !\ !  +2 "storage"({& +4 "core" &E\ \ ! + "manipulator"&M& +4 "core" &#$  <> + "manipulator"&m% +4 "core" % |  +2 .tForearm.seek :retract + "manipulator"&@'\ +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 1 + "manipulator"&|(c +160 "core" ( +2 "manipulator"&I& +4 "core" &m   + "storage"(& +4 "core" &E\ \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +2 .tForearm.seek 1 +2 "manipulator"&F' +106 "core" ' +2 .tElbow.hold + "manipulator"&k, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&S1 +59 "core" 1 +2 "manipulator"&&% +5 "core" %  6 + "storage"(]& +4 "core" &E\ \  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 1 + 316 counts + "manipulator"&s' +20 "core" ' +52 "manipulator"&d& +4 "core" &= a `  \ +2 "storage"(9& +4 "core" &E\ @\ 3 6 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 1 + 450 counts + "manipulator"&x'Ф +17 "core" ' +2 "storage"(C% +4 "core" %]\ E\ E +2 ."downElevator"SE.seek :down +4 "storage"(;'N +99 (% +2 "core" %E\ !\  OA +2 "manipulator"&_% +4 "core" %П d k Q +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&`'\ +87 "core" ' +53 ' + ."downElevator"SE.stop +2 "storage"(5 +2 .tPSV.dial :air +2 "processing"%)  +72 "core" +2 .tPS.seek 2.5ml +2 "processing"%g'm +2645 "core" ' + .tdelay 1 second +102 .PSV.dial :mixloop +2 "processing"%p +41 "core" +2 .tdelay 1 second +102 .PSV.dial :air + "processing"%  +47 "core"  +2 .tdelay 1 second +101 .PSV.dial :mixloop +2 "processing"%5 +47 "core" + .tdelay 1 second +102 .PSV.dial :air + "processing"%  +47 "core"  +2 .tdelay 1 second +102 .PS.seek 0ml + "processing"%y' +2640 "core" ' +2 #tLoading FlushPuck into Processing Clamp from FlushPuck::Garage + "processing"%t& +4 "core" & +2 "manipulator"& & +4 "core" &= + \ + "manipulator"&a% +4 "core" %\ & ( B +2 .tElbow.seek FlushPuck::Garage +2 "manipulator"&(, +174 "core" ( + "manipulator"&& +4 "core" &,   +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &b& +2 "core" &,   +2 .tForearm.seek :garage +2 "manipulator"&w' +105 "core" ' +2 .tHand.close + "manipulator"&/ +61 "core" / +2 "manipulator"&i& +4 "core" &, 3  + "manipulator"&% +4 "core" %  _ +2 .tForearm.seek :retract + "manipulator"&L'\ +99 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +2 "manipulator"&K(c +120 "core" ( + "manipulator"&& +5 "core" &l 8 + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &z& +2 "core" &l T 8 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&e'[ +100 "core" ' +2 "manipulator"&& +4 "core" &l [ 8 +2 "manipulator"& % +4 "core" %R  +2 "processing"%N& +3 "core" & +2 "processing"%& +5 "core" &# +2 .tPC.seek :closed +4 "processing"%v(Z +2 "core" &- +7 &<, #b +9 &y[, 6 +9 &/ H +10 &j) G +9 &jn# G +9 &,j* G +10 & j; G +9 &"n; G +10 &$qn: H +9 &&3l? H +9 &'l3 H +10 &)lB G +9 &+zjH G +9 &-<pI G +10 &.oF G +9 &0jG G +10 &2jL G +9 &4DnR G +9 &6mS G +10 &7nY G +9 &9kV G +9 &;Mj_ G +10 &=l_ G +9 &>i] G +9 &@hn G +10 &BThd G +9 &Dil G +10 &Ept G +9 &Gp G +9 &IY{w H +10 &Ks J +9 &Lp M +9 &Nq M +10 &PU M +10 &R M +9 &S M +9 &U N +10 &WZ N +9 &Y~ I +9 &ZR=o &o +9 &Z 0 ' +6 ( + "processing"%& +5 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.47 + "processing"%-& +4 "core" &Z ' + &Z ' + .tHand.open +2 "manipulator"&}1 +52 "core" 1 +2 "manipulator"&% +4 "core" % R = +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&,'\ +102 "core" ' + .tPRV.dial :air +2 "processing"%(  +41 "core"  + .tPSV.dial :mixloop +2 "processing"% +47 "core" + "processing"%#% +4 "core" % +2 .tPS.seek 0.3ml + "processing"%'c +384 "core" ' + .tPSV.dial PSR +2 "processing"%~ +97 "core"  + "processing"%% +4 "core" %dZ  +2 #tPulling 0.4ml of PSR.air + .PSR.select :air +3 .PS.seek 0.7ml + "processing"%j'. +485 "core" ' + .tdelay 3 seconds +302 .PSR.select :air +2 .PS.seek 2.5ml +2 "processing"%P'm +1936 "core" ' +2 .tdelay 3 seconds +302 .PSV.dial :mixloop +2 "processing"%6 +101 "core" + .tPTV.dial :mixing +2 "processing"%r @ +65 "core" A +2 .tPBV.dial :waste2 + "processing"%  +100 "core"  +3 .tPS.seek 0ml +2 "processing"%\ ' +2630 "core" ' + #tGaraging FlushPuck in Processing Clamp +2 "manipulator"&:& +4 "core" &l B 8 +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC + "manipulator"&u(c +3 "core" ( +2 "manipulator"&U& +4 "core" &l 8 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &\\& +3 "core" &l \\ 8 +2 .tForearm.seek PC +2 "manipulator"&*'[ +97 "core" ' + .tHand.close + "manipulator"&o/ +60 "core" / +2 .tPC.seek :open +2 "processing"%V(p +391 "core" ( +2 "manipulator"&q& +4 "core" &l a 8 + "manipulator"&% +4 "core" % c  +2 .tForearm.seek :retract + "manipulator"&A'\ +102 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek :garage + "manipulator"& (, +122 "core" ( + "manipulator"&c& +4 "core" &, }  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 & & +2 "core" &, |  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek :garage + "manipulator"&1' +112 "core" ' +2 .tHand.open + "manipulator"&W1 +60 "core" 1 +4 "manipulator"&B% +6 "core" % m   b ŷc + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&R'\ +102 "core" ' +2 #tLoading da puck from tube 2 into Processing Clamp +2 "processing"%?& +4 "core" & + "manipulator"&8% +4 "core" %\ 3 %z +2 "storage"(H% +4 "core" %?\ !\ !  + "storage"(%. +3 "core" .(E +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 + "storage"((  +360 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (l& +2 "core" &  \ s  +2 "manipulator"&f& +4 "core" &, i  + "manipulator"&3% +4 "core" %\ 3 %z +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&E(; +190 "core" ( + "manipulator"&=& +4 "core" &B ;  +2 "storage"(& +4 "core" & \ "\ !   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&"'Ѐ +101 "core" ' +2 "storage"(J& +4 "core" & \ \ " 9  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(+'e +280 "core" ' +2 "storage"(/- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +2 (& +3 "core" & \ \    +2 "manipulator"&Y& +3 "core" &B l  +2 .tElbow.seek 2 +2 "manipulator"&0(; +3 "core" ( + "manipulator"&>& +4 "core" &B j  +2 "storage"(& +3 "core" & \ !\ !   +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&!' +10 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&G/ +63 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&.& + "storage"(Q'N +8 "core" &B u V  + "manipulator"&% +4 "core" %  p B +2 .tForearm.seek :retract + "manipulator"&['\ +90 "core" ' +2 .tElbow.seek PC +2 "manipulator"&$(c +164 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +89 "core" ( + "manipulator"&n& +4 "core" &[   +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &7& +3 "core" &[   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&<'[ +101 "core" ' +2 "manipulator"&X& +4 "core" &[  +2 "manipulator"&h% +4 "core" %c ' +2 "processing"%^& +3 "core" &a +2 "processing"%'& +5 "core" &a +2 .tPC.seek :closed +2 "processing"%D(Z +4 "core" & +8 &< $d +9 &z[ 6 +10 & H +9 &i G +9 &lk G +10 &-k G +9 & k G +9 &"j G +10 &$rlw G +9 &&5mv G +9 &'ku G +10 &)jx G +9 &+|jx G +10 &-=k| G +9 &.ki G +49 &0kg G +10 &2ke G + &4Djc G + &6jW G + &7jX G + &9iF G +3 &;Mh[ G +9 &=kQ G +9 &>mR G +10 &@lR G +9 &BUmM G +9 &DkH G +10 &EkJ G +9 &GoQ H +10 &IZvI H +9 &KV J +10 &LD K +9 &N M +9 &PUK M +10 &R= M +9 &SH M +9 &UL M +10 &W[N M +9 &Y J +10 &ZR:f #g +9 &ZB $ +5 ( +2 "processing"%'& +4 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.47 + .Hand.open +2 "manipulator"&O1 +3 "core" &Z $ +59 1 + "manipulator"&% +4 "core" % b  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"& '\ +99 "core" ' +3 #tHeating Puck.from 2, :da in Processing Clamp to 28C for 2:00:00 +2 .PH.seek 28C,5:00 +2 "processing"%{  +2 %M9 +6 "core" 9 +102 "processing"%m9 +2 "core" 9 +102 "processing"%I9 +3 "core" 9  +102 "processing"%9 +3 "core" 9  +102 "processing"%29 +3 "core" 9 +102 "processing"%9 +3 "core" 9 +102 "processing"%S9 +2 "core" 9 +102 "processing"%&9 +3 "core" 9 +102 "processing"%]9 +2 "core" 9" +102 "processing"%d9 +2 "core" 9& +103 "processing"%99 +3 "core" 9* +102 "processing"%@9 +2 "core" 9/ +103 "processing"%C9 +2 "core" 93 +102 "processing"%|9 +2 "core" 97 +102 "processing"%9 +3 "core" 9; +102 "processing"%_9 +3 "core" 9? +102 "processing"%F9 +2 "core" 9D +102 "processing"%s9 +3 "core" 9H +102 "processing"%49 +3 "core" 9L +103 "processing"%)9 +2 "core" 9 P +102 "processing"%x9 +3 "core" 9T\ +102 "processing"%;9 +3 "core" 9Y +102 "processing"%9 +3 "core" 9)] +102 "processing"%p9 +2 "core" 93a +102 "processing"%9 +2 "core" 9=e +103 "processing"%59 +3 "core" 9Gi +102 "processing"%9 +2 "core" 9Qm +102 "processing"%g9 +2 "core" 9[r +103 "processing"%t9 +2 "core" 9ev +102 "processing"% 9 +2 "core" 9mz +103 "processing"%a9 +3 "core" 9v~ +102 "processing"%9 +3 "core" 9 +2 .tPH.hold 2:00:00,28C +3 "processing"%b pp{ +2 .tdelay 1:30 +5 "core"  +9001 .tPSR.select :air +2 .PSV.dial PSR +2 "processing"%k +100 "core"  +2 "processing"%% +4 "core" %N + #tPulling 0.5ml of PSR.wash + .PSR.select :wash +2 "processing"% +10 .tPS.seek 0.5ml + "processing"%i' +596 "core" ' +2 .tdelay 5 seconds +502 .PSR.select :air +3 "processing"% +9 .tPS.seek 2ml +2 "processing"%'ԏ +1654 "core" ' + .tPTV.dial :puck +2 "processing"%`  +66 "core"  + .tPSV.dial PTV +2 "processing"% +75 "core" + .tPBV.dial :waste1 +3 "processing"%z  +121 "core" + "processing"%w% +5 "core" %ԉ(  +2 .tPS.seek 1.5ml + "processing"%' +591 "core" ' + .tdelay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"% * +32 "core" + +3 .tPS.seek 0ml + "processing"%N' +1628 "core" ' + .tdelay 5:00 +19003 "Can"R FC +11000 #trecoverPSRreagent08 + .PTV.dial :puck + .PBV.dial :waste1 +2 "processing"%  +32 "core" + .tdelay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%L * +33 "core" + + .tPSR.select :air +2 .PSV.dial PSR +2 "processing"% +73 "core"  +2 .tPS.reconfigure :fast +2 "processing"%#A ,`xb +3 .tPS.seek 2.5ml + "processing"%-'m +2222 "core" ' + .tPSV.dial PTV +2 "processing"%} +73 "core" +2 .tdelay 5 seconds +502 .PSV.dial PSR +2 "processing"% +74 "core"  + .tdelay 5 seconds +503 .PSV.dial PTV + "processing"% +73 "core" +2 .tdelay 5 seconds +502 .PSV.dial :air + "processing"%(  +68 "core"  +3 .tPS.seek 0ml + "processing"%' +2189 "core" ' + .tPTV.dial :PRVmixing,via: PRV +2 "processing"%#  +117 "core" + .tPSV.dial :mixloop +2 "processing"%e +47 "core" + .tPRV.dial :ab1 +2 "processing"%y @ +67 "core" A +2 .tPS.reconfigure :slow +3 "processing"%#A 2`xb +2 .tPS.seek 0.15ml +2 "processing"%~'@ +351 "core" ' + .tdelay 2 seconds +202 ."connect"CBV.dial PRV +3 .tPRV.dial CBV +3 "collection"'  + "processing"%  +41 "core" +3  +2 "processing"%j% +3 "core" %?  +2 .tPS.seek 0.34ml +2 "processing"%6' +437 "core" ' + .tdelay 2 seconds +202 .CBV.dial between PRV and PSV +2 "collection"'r  +26 "core" + .tPRV.dial :air +2 "processing"%  +39 "core"  +2 .tPS.seek 0.9ml +2 "processing"%P'H +1201 "core" ' + .tPRV.dial :waste2 +2 "processing"%: @ +67 "core" ? +2 .tPS.seek 0.5ml +2 "processing"%U' +873 "core" ' + #taddPMLReagent08 + .PSV.dial :air +2 "processing"%\\  +49 "core"  +2 .tPS.reconfigure :default +2 "processing"%#A d`xb +2 .tPS.seek 2ml +2 "processing"%o'ԏ +1639 "core" ' + .tPSV.dial :PML +2 "processing"%K +47 "core" + .tPTV.dial :mixing +2 "processing"%, @ +65 "core" B +2 .tPBV.dial :waste1 + "processing"%v  +32 "core"  + "processing"%q% +4 "core" %ԍt +2 .tPS.seek 1.85ml + "processing"%'d +229 "core" ' + .tPBV.dial between PSV and waste1 +2 "processing"%c * +33 "core" , +2 .tPS.seek 0ml +2 "processing"% ' +1973 "core" ' + .tdelay 2 seconds +202 #Beginning samplePassC + #Loading FlushPuck into Collection Clamp from FlushPuck::Garage +2 "collection"'*& +3 "core" &abB +4 "manipulator"&u& +9 "core" &\\   +4 "manipulator"&W% +6 "core" %\ 5  & +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek FlushPuck::Garage +2 "manipulator"&B(, +136 "core" ( +2 "manipulator"&?& +4 "core" &, S & + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &A& +3 "core" &,  & +2 .tForearm.seek :garage +2 "manipulator"&8' +106 "core" ' +3 .tHand.close + "manipulator"&H/ +59 "core" / + "manipulator"&%& +4 "core" &, 2 } & +2 "manipulator"&1% +4 "core" %  +2 .tForearm.seek :retract + "manipulator"&Z'\ +102 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&l( +281 "core" ( + "manipulator"&f& +4 "core" &' O >M +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &3& +3 "core" &' e >M +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&='| +106 "core" ' + "manipulator"&& +4 "core" &' >M +2 "manipulator"& % +4 "core" %z w +2 "collection"'J& +3 "core" &cdB +2 "collection"'R& +6 "core" &afB +2 .tCC.seek :closed +2 "collection"'/(] +3 "core" &`dB +7 &CcbH #c +9 &uYbcB 6 +9 &bd@ I +10 &iabC H +9 &`pacC H +10 &!lacA I +9 & pbc@ H +9 &"pbb? H +10 &$hn`c@ H +9 &&)nbcC I +9 &'mcbD I +10 &)n`bA I +9 &+onadA I +10 &-1na`A I +9 &.qac? H +9 &0ocdA H +10 &2wpbcB I +9 &48nba> I +9 &5hca> H +10 &7oabC I +9 &9lbbA H +10 &;Cna`C H +9 &=l`aB H +9 &>jbcC H +10 &@jabC H +9 &BJkacB H +9 &D ncbD H +10 &Emcc< H +9 &Gi`eC H +10 &IQqbeB I +9 &KbbB K +9 &LbcB N +10 &NbeB Q +9 &PBedA Q +9 &RccA R +10 &SbeB R +9 &Udc; S +10 &WDcdA S +9 &Ycf@ T +9 &ZcdB U +10 &\\dcC B +9 &]t2cd< !c +10 &]Oab@ = +2 ( + "collection"'R& +3 #tCollection Clamp onSpring/offSpring for 10/25 samples, on/off torque 1.81 + "collection"'& +4 "core" &]FddX = + .tHand.open +2 "manipulator"&Y1 +58 "core" 1 +2 "manipulator"&>% +5 "core" % z ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +96 "core" ' +2 .tPSV.dial PSR +2 "processing"%G +95 "core"  + "processing"%.% +4 "core" %Y +2 #tPulling 1.5ml of PSR.flush + .PSR.select :flush +2 "processing"%@ +10 .tPS.seek 1.5ml + "processing"%' +1618 "core" ' + .tdelay 5 seconds +502 .PSV.dial :waste1 +3 "processing"%E  +40 "core"  +3 .tPS.seek 0ml + "processing"%"' +1609 "core" ' + .tPSV.dial PSR +2 "processing"%+ +47 "core"  + .tPSR.select :air +52 "processing"% +11 .tPS.seek 2.5ml +2 "processing"%!'m +2653 "core" ' + ."connect"PRV.dial CBV,avoiding: :ab2 +4 .tCBV.dial PRV +2 "processing"%n  + "collection"'7  +31 "core"  +112  +2 .tPSV.dial :mixloop + "processing"%0 +96 "core" + .tCTV.dial :air,avoiding: :intake +2 .PTV.dial :PRVmixing +2 "processing"%X  +67 "core" +2 .tPS.seek 0ml + "processing"%h' +2631 "core" ' + .tPSV.dial :air +2 "processing"%^  +41 "core"  +2 .tPS.seek 2.5ml + "processing"%Q'm +2650 "core" ' + .tPSV.dial :mixloop +2 "processing"%[ +47 "core" +2 .tPS.seek 0ml +2 "processing"%V' +2627 "core" ' + .tPSV.dial :air +2 "processing"%O  +47 "core"  +2 .tPS.seek 2.5ml +2 "processing"%'m +2646 "core" ' + .tPSV.dial :mixloop +2 "processing"%M +47 "core" +2 .tPS.seek 0ml + "processing"%'' +2637 "core" ' +2 #tGaraging FlushPuck in Collection Clamp + "manipulator"&m& +5 "core" & f 9' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&<( +33 "core" ( +2 "manipulator"&I& +4 "core" & W  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" & 1  +2 .tForearm.seek CC + "manipulator"&2'| +95 "core" ' + .tHand.close + "manipulator"&/ +60 "core" / +2 .tCC.seek :open +2 "collection"'S(p +410 "core" ( + "manipulator"&&& +4 "core" &  +2 "manipulator"&]% +4 "core" % } z  +2 .tForearm.seek :retract + "manipulator"&d'\ +99 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage +2 "manipulator"&9(, +284 "core" ( + "manipulator"&@& +5 "core" &,  & + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &C& +2 "core" &,  & +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :garage + "manipulator"&|' +109 "core" ' + .tHand.open +2 "manipulator"&1 +60 "core" 1 + "manipulator"&_% +4 "core" %  9 ½ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&F'\ +104 "core" ' +2 ."da"delayUntil "10:13:32.21" +8333 "Can"[ A? +16412 #"da"recoverPRVreagent08 +2 .PTV.dial :mixing + "processing"%s @ +65 "core" @ + ."da"PBV.dial :waste1 +2 "processing"%4  +33 "core" + ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%) * +33 "core" , + ."da"PSV.dial :air +2 "processing"%x  +47 "core"  +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml + "processing"%;'m +2210 "core" ' +2 ."da"PSV.dial :mixloop +2 "processing"% +47 "core" + ."da"delay 2 seconds +202 .PSV.dial :air +2 "processing"%p  +46 "core"  +2 ."da"delay 2 seconds +202 .PSV.dial :mixloop +2 "processing"% +46 "core" + ."da"delay 2 seconds +202 .PSV.dial :air +2 "processing"%5  +46 "core"  +2 ."da"PS.seek 0ml +2 "processing"%' +2166 "core" ' +2 #"da"washCycleDA #1 of 2 + .PSR.select :air +2 .PSV.dial PSR +2 "processing"%g +122 "core"  + "processing"%t% +4 "core" % + #"da"Pulling 0.5ml of PSR.wash +2 .PSR.select :wash +2 "processing"% +10 ."da"PS.reconfigure :default +2 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"% ' +595 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +3 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%a'ԏ +1614 "core" ' + ."da"PTV.dial :puck +2 "processing"%  +65 "core"  +2 ."da"PSV.dial PTV +2 "processing"%k +67 "core" + ."da"PBV.dial :waste1 +2 "processing"%  +33 "core" + "processing"%\ % +4 "core" %Ԓ  +2 ."da"PS.seek 1.5ml +2 "processing"%i' +597 "core" ' + ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%` * +32 "core" + +3 ."da"PS.seek 0ml + "processing"%' +1631 "core" ' + ."da"delay 2:00 +12003 #recoverPSRreagent08 +2 .PTV.dial :puck + .PBV.dial :waste1 + "processing"%z  +34 "core" + ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%w * +33 "core" + + ."da"PSR.select :air +3 .PSV.dial PSR + "processing"% +73 "core"  +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml + "processing"% 'm +2214 "core" ' + ."da"PSV.dial PTV +2 "processing"% +73 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PSR +2 "processing"%{ +72 "core"  +2 ."da"delay 5 seconds +502 .PSV.dial PTV +2 "processing"% +74 "core" +2 ."da"delay 5 seconds +502 .PSV.dial :air +2 "processing"%L  +68 "core"  +2 ."da"PS.seek 0ml +2 "processing"%' +2178 "core" ' +2 #"da"washCycleDA #2 of 2 + .PSR.select :air +2 .PSV.dial PSR +2 "processing"%N +126 "core"  +2 "processing"%}% +4 "core" % + #"da"Pulling 0.5ml of PSR.wash + .PSR.select :wash +2 "processing"% +10 ."da"PS.reconfigure :default +2 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"%' +594 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +2 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%'ԏ +1621 "core" ' + ."da"PTV.dial :puck +2 .PSV.dial PTV +2 "processing"%( +75 "core" + ."da"PBV.dial :waste1 + "processing"%-  +34 "core" + "processing"%#% +4 "core" %ԋ  +2 ."da"PS.seek 1.5ml +2 "processing"%e' +600 "core" ' + ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%y * +32 "core" + +3 ."da"PS.seek 0ml +2 "processing"%' +1614 "core" ' +2 ."da"delay 2:00 +2624 "Can"> A>g +9378 #"da"recoverPSRreagent08 +2 .PTV.dial :puck + .PBV.dial :waste1 +2 "processing"%  +32 "core" + ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"% * +33 "core" * + ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"%j +73 "core"  +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml + "processing"%~'m +2212 "core" ' + ."da"PSV.dial PTV +2 "processing"%r +74 "core" + ."da"delay 5 seconds +502 .PSV.dial PSR +2 "processing"% +73 "core"  + ."da"delay 5 seconds +503 .PSV.dial PTV + "processing"%6 +74 "core" +2 ."da"delay 5 seconds +502 .PSV.dial :air +2 "processing"%:  +68 "core"  +2 ."da"PS.seek 0ml +2 "processing"%P' +2169 "core" ' +2 #"da"getPMLReagent08 + .PRV.dial :air +2 "processing"%\\  +41 "core"  + ."da"delay 5 seconds +502 .PTV.dial :PRVmixing +2 "processing"%U  +116 "core" +2 ."da"delay 5 seconds +502 .PRV.dial :ab2 +2 "processing"%K  +40 "core"  + ."da"PTV.dial :PRVmixing +50 .PSV.dial :mixloop +3 "processing"%, +46 "core" +2 ."da"PS.reconfigure :default +2 "processing"%#A d`xb +2 ."da"PS.seek 0.3ml +2 "processing"%v'i +404 "core" ' +2 ."da"delay 2 seconds +202 .PRV.dial :air +2 "processing"%q  +40 "core"  + "processing"%c% +4 "core" %b +2 ."da"PS.seek 0.55ml +2 "processing"%o'Q +333 "core" ' + #"da"addPMLReagent08 +2 .PSV.dial :air + "processing"%  +47 "core"  +2 ."da"PS.seek 2ml +2 "processing"%*'ԏ +1563 "core" ' +2 ."da"PSV.dial :PML + "processing"%u +47 "core" +2 ."da"PTV.dial :mixing +2 "processing"%W @ +65 "core" A +2 ."da"PBV.dial :waste1 + "processing"%?  +32 "core" + "processing"%A% +4 "core" %Ԏ  +2 ."da"PS.seek 1.85ml +2 "processing"%$'e +266 "core" ' + ."da"PBV.dial between PSV and waste1 +2 "processing"%H * +32 "core" , +3 ."da"PS.seek 0ml +2 "processing"%%' +1984 "core" ' +2 ."da"delay 2 seconds +202 .delay 8:00 +34681 "Can":  +13321 #"da"recoverPRVreagent08 +2 .PTV.dial :mixing + .PBV.dial :waste1 + "processing"%1  +34 "core" + ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"% * +33 "core" , + ."da"PSV.dial :air +2 "processing"%8  +47 "core"  + ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%f'm +2218 "core" ' + ."da"PSV.dial :mixloop +2 "processing"%3 +47 "core" +2 ."da"delay 2 seconds +202 .PSV.dial :air + "processing"%B  +47 "core"  + ."da"delay 2 seconds +202 .PSV.dial :mixloop +2 "processing"% +46 "core" +2 ."da"delay 2 seconds +202 .PSV.dial :air + "processing"%  +47 "core"  +2 ."da"PS.seek 0ml +2 "processing"%J' +2179 "core" ' + #"da"washCycleDA #1 of 3 +2 .PSR.select :air +2 .PSV.dial PSR +2 "processing"%Z +121 "core"  + "processing"%% +4 "core" % + #"da"Pulling 0.5ml of PSR.wash +2 .PSR.select :wash +2 "processing"% +10 ."da"PS.reconfigure :default +2 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"%' +589 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +3 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%Y'ԏ +1617 "core" ' + ."da"PTV.dial :puck +2 "processing"%>  +64 "core"  + ."da"PSV.dial PTV +2 "processing"%R +67 "core" +2 ."da"PBV.dial :waste1 + "processing"%G  +33 "core" +2 "processing"%.% +3 "core" %Ԋ  +2 ."da"PS.seek 1.5ml +2 "processing"%=' +602 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"% * +32 "core" + +2 ."da"PS.seek 0ml +2 "processing"%E' +1608 "core" ' +2 ."da"delay 2:00 +12003 #recoverPSRreagent08 + .PTV.dial :puck + .PBV.dial :waste1 +2 "processing"%  +33 "core" +2 ."da"delay 30 seconds +3002 .PBV.dial between PSV and waste1 +2 "processing"%+ * +33 "core" + +2 ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"%" +72 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%7'm +2210 "core" ' + ."da"PSV.dial PTV +2 "processing"%n +73 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PSR +2 "processing"%0 +85 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PTV +2 "processing"%X +71 "core" + ."da"delay 5 seconds +502 .PSV.dial :air +2 "processing"%!  +68 "core"  +2 ."da"PS.seek 0ml +2 "processing"%^' +2169 "core" ' +2 #"da"washCycleDA #2 of 3 +2 .PSR.select :air +2 .PSV.dial PSR + "processing"%h +120 "core"  +2 "processing"%[% +4 "core" % + #"da"Pulling 0.5ml of PSR.wash + .PSR.select :wash +2 "processing"% +10 ."da"PS.reconfigure :default +2 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"%Q' +597 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +2 "processing"% +10 ."da"PS.seek 2ml + "processing"%O'ԏ +1615 "core" ' + ."da"PTV.dial :puck + .PSV.dial PTV +2 "processing"%V +68 "core" + ."da"PBV.dial :waste1 + "processing"%M  +33 "core" +2 "processing"%% +4 "core" %ԋ  +2 ."da"PS.seek 1.5ml + "processing"%m' +615 "core" ' + ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%I * +32 "core" + +3 ."da"PS.seek 0ml +2 "processing"%' +1617 "core" ' +2 ."da"delay 2:00 +5786 "Can"D B? +6216 #"da"recoverPSRreagent08 +2 .PTV.dial :puck + .PBV.dial :waste1 +2 "processing"%  +32 "core" + ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%l * +33 "core" + + ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"% +73 "core"  +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml +2 "processing"%/'m +2196 "core" ' + ."da"PSV.dial PTV +2 "processing"%& +73 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PSR +2 "processing"%] +74 "core"  + ."da"delay 5 seconds +503 .PSV.dial PTV +2 "processing"%2 +72 "core" + ."da"delay 5 seconds +503 .PSV.dial :air + "processing"%@  +67 "core"  +2 ."da"PS.seek 0ml +2 "processing"%C' +2174 "core" ' + #"da"washCycleDA #3 of 3 +2 .PSR.select :air +2 .PSV.dial PSR +2 "processing"%< +119 "core"  +2 "processing"%% +4 "core" % + #"da"Pulling 0.5ml of PSR.wash + .PSR.select :wash +2 "processing"% +10 ."da"PS.reconfigure :default +2 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"%_' +598 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +2 "processing"% +10 ."da"PS.seek 2ml + "processing"%d'ԏ +1617 "core" ' + ."da"PTV.dial :puck +2 .PSV.dial PTV +2 "processing"%| +67 "core" + ."da"PBV.dial :waste1 +2 "processing"%s  +33 "core" + "processing"%4% +4 "core" %ԏ  +2 ."da"PS.seek 1.5ml +2 "processing"%)' +593 "core" ' + ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%x * +32 "core" + +2 ."da"PS.seek 0ml +2 "processing"%'' +1605 "core" ' +2 ."da"delay 2:00 +12003 #recoverPSRreagent08 + .PTV.dial :puck + .PBV.dial :waste1 +2 "processing"%  +30 "core"  +2 ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 + "processing"%p * +33 "core" , +2 ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"% +72 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%5'm +2210 "core" ' + ."da"PSV.dial PTV +2 "processing"%; +74 "core" + ."da"delay 5 seconds +503 .PSV.dial PSR +46 "processing"%g +79 "core"  +2 ."da"delay 5 seconds +502 .PSV.dial PTV +2 "processing"%t +73 "core" + ."da"delay 5 seconds +502 .PSV.dial :air +2 "processing"%  +66 "core"  +3 ."da"PS.seek 0ml +2 "processing"% ' +2177 "core" ' + ."da"Gate.power :camera,:ON +2 #Mixing DA Substrates + .PSR.select :air +2 .PSV.dial PSR +2 "processing"% +123 "core"  +5 "processing"%k% +11 "core" % +2 #"da"Pulling 0.25ml of PSR.sub1 +4 .PSR.select :sub1 +5 "processing"% +18 ."da"PS.reconfigure :default +4 "processing"%#A d`xb +6 ."da"PS.seek 0.25ml +2 "processing"%' +337 "core" ' +2 ."da"delay 5 seconds +502 "processing"%\ % +3 "core" %  +2 #"da"Pulling 0.25ml of PSR.sub2 + .PSR.select :sub2 +2 "processing"% +10 ."da"PS.seek 0.5ml + "processing"%a' +342 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +2 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%`'ԏ +1618 "core" ' + ."da"PTV.dial :puck +2 .PSV.dial PTV + "processing"%i +69 "core" + ."da"PBV.dial :waste1 +2 "processing"%z  +33 "core" +2 "processing"%w% +4 "core" %Ԏ  +2 ."da"PS.seek 1.5ml +2 "processing"%' +596 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"% * +32 "core" , +2 ."da"PS.seek 0ml +2 "processing"%' +1605 "core" ' +2 ."da"delay 10 seconds +1003 #recoverPSRreagent08 + .PTV.dial :puck + .PBV.dial :waste1 +2 "processing"%{  +32 "core" + ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"% * +33 "core" , + ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"%L +73 "core"  +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml + "processing"% 'm +2225 "core" ' + ."da"PSV.dial PTV +2 "processing"%N +73 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PSR +2 "processing"%} +72 "core"  +2 ."da"delay 5 seconds +502 .PSV.dial PTV +3 "processing"% +73 "core" + ."da"delay 5 seconds +503 .PSV.dial :air +2 "processing"%  +66 "core"  +2 ."da"PS.seek 0ml +2 "processing"%(' +2193 "core" ' + #"da"Additional air clear +2 .PSR.select :air +2 .PSV.dial PSR +2 "processing"%- +127 "core"  +2 "processing"%#% +4 "core" % + #"da"Pulling 2ml of PSR.air + .PSR.select :air +3 .PS.reconfigure :default +2 "processing"%#A d`xb +3 ."da"PS.seek 2ml + "processing"%'ԏ +758 "Can"H\ } +1381 "core" ' +2 ."da"delay 5 seconds +502 .PTV.dial :puck +2 .PSV.dial PTV +2 "processing"%y +75 "core" +2 ."da"PBV.dial :waste1 + "processing"%e  +33 "core" + "processing"%% +4 "core" %ԑ  +2 ."da"PS.seek 1.5ml +2 "processing"%' +594 "core" ' + ."da"delay 3 seconds +303 .PBV.dial between PSV and waste1 +2 "processing"%j * +32 "core" + + ."da"delay 1 second +102 .PSV.dial :waste1 +2 "processing"%  +101 "core"  +2 ."da"PS.seek 0ml +2 "processing"%r' +1618 "core" ' + "processing"%9 +3 "core" 94 +2 #"da"Processing Puck Heater at 28C before imaging +2 .PH.coast +2 "processing"%6  +3 "core" 4 + 4 + "processing"%:& +4 "core" &Z $ +2 #"da"Imaging da puck in Processing Clamp while storing it to tube 1 + "manipulator"&~% +4 "core" %\ 4  & + "storage"(\\% +4 "core" %L i + "storage"(U. +3 "core" .(  +2 ."da"SC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 ."da"SC.seek 1 + "storage"(K(B +399 "core" ( + ."da"SC.configure :limp +3 "storage"($\ 1b +2 (,& +3 "core" &> , ( 4  +2 "manipulator"&P& +4 "core" &,  $ + "manipulator"&q% +4 "core" %\ 4  & +2 ."da"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 ."da"Elbow.seek 1 +2 "manipulator"&c(c +174 "core" ( +2 "manipulator"&v& +4 "core" &Z O !v + "storage"(& +4 "core" &> 5 1 Z  +2 ."da"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 ."da"Forearm.seek 1 + 450 counts +2 "manipulator"&o'Ф +107 "core" ' +2 "storage"(u& +4 "core" &> @ A }  + ."da"SE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 ."da"SE.seek :beamBreak +2 "storage"(W'e +277 "core" ' + "storage"(?- +4 "core" -' + ."da"SE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&A& +3 "core" &Z = !v +2 "storage"(*& +3 "core" &> ! ! :  +2 ."da"Elbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 ."da"Forearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 ."da"Forearm.seek 1 + "manipulator"&H' +34 "core" ' + ."da"Elbow.hold +2 "manipulator"&$, +4 "core" , + ."da"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(1- +3 "core" -' +2 ."da"SE.seek 1.13 Pucks below Top Plate +2 "storage"( 'm +36 "core" ' + "manipulator"&8% +4 "core" %u   ƹ% +2 "storage"(%& +3 "core" &> F  +2 ."da"Forearm.force -20 + "manipulator"&5 +3 ."da"Forearm.seek 1 + 312 counts + "manipulator"&3' +21 "core" ' + "manipulator"&B& +4 "core" &Z b i !v +2 "storage"(& +4 "core" &> Y  +2 ."da"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 ."da"Forearm.seek 1 + 450 counts + "manipulator"& 'Ф +21 "core" ' +2 ."da"SE.seek 2.13 Pucks below Top Plate +2 "storage"(f'\\ +44 "core" ' +2 "manipulator"&Z& +4 "core" &Z c e G !v +2 "manipulator"&% +4 "core" %~ a d R  +2 ."da"Forearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 ."da"Forearm.seek :retract +2 "manipulator"&J'\ +88 "core" ' + ."da"Elbow.seek PC +2 "manipulator"&(c +261 "core" ( + "manipulator"&>& +4 "core" &]  +2 ."da"Elbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &R& +2 "core" &]  +2 ."da"Forearm.seek PC +2 "manipulator"&G'[ +94 "core" ' + ."da"Hand.close +2 "manipulator"&./ +55 "core" / +2 ."da"PC.seek :open + "processing"%Y(p +392 "core" ( + "storage"( & +4 "core" &> @ @ :  + "manipulator"&=& +4 "core" &] + "manipulator"&% +4 "core" % d +2 ."da"Forearm.seek :retract +2 "manipulator"&+'\ +100 "core" ' +2 ."da"Elbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 ."da"Elbow.seek 1 +2 "manipulator"&"(c +247 "core" ( + "manipulator"&E& +3 "core" &d  $ +2 "storage"(n& +4 "core" &> 6 3 `  +2 ."da"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 ."da"Forearm.seek 1 + 450 counts +2 "manipulator"&0'Ф +118 "core" ' +2 ."da"Hand.open + "manipulator"&X1 +53 "core" 1 +2 "storage"(!- +4 "core" -'\\ +2 ."da"SE.seek 1.88 Pucks below Top Plate +2 "storage"(7'( +23 "core" ' + ."da"SE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 ."da"SE.seek 1.22 Pucks below Top Plate +2 "storage"(h' +48 "core" ' +2 #"da"Lights, camera, ACTION! +3 #PuckCamera: snap -bin=2,2 -auto /var/log/esp/da22nov0710h25ml.tif +1951 #"psFlush"Waiting >20 seconds for da to relinquish FlushPuck +1287 #"da"SX HX9/16 (USB:02): 1392x1040 pixel 16-bit CCD camera\ Exposing 696x520 pixel 16-bit image for 28.895 seconds\ /var/log/esp/da22nov0710h25ml.tif: TIFF Upload Complete\ +4 #PuckCamera: snap -bin=2,2 15.0 /var/log/esp/midres/da22nov0710h25ml15s.tif +1570 #SX HX9/16 (USB:02): 1392x1040 pixel 16-bit CCD camera\ Exposing 696x520 pixel 16-bit image for 15 seconds\ /var/log/esp/midres/da22nov0710h25ml15s.tif: TIFF Upload Complete\ +3 #PuckCamera: snap -bin=2,2 30.0 /var/log/esp/midres/da22nov0710h25ml30s.tif +3064 #SX HX9/16 (USB:02): 1392x1040 pixel 16-bit CCD camera\ Exposing 696x520 pixel 16-bit image for 30 seconds\ /var/log/esp/midres/da22nov0710h25ml30s.tif: TIFF Upload Complete\ +3 #PuckCamera: snap -bin=1,1 70.0 /var/log/esp/hires/da22nov0710h25ml70s.tif +7169 #SX HX9/16 (USB:02): 1392x1040 pixel 16-bit CCD camera\ Exposing 1392x1040 pixel 16-bit image for 70 seconds\ /var/log/esp/hires/da22nov0710h25ml70s.tif: TIFF Upload Complete\ + .Gate.power :camera,:OFF +3 ."Qmail"DAfans.email "28.895 sec auto-exposure",Subject: "da22nov0710h25ml images!" +4 "storage"([- +8 "core" -' +3 "storage"(^& +5 "core" &> f  +3 "manipulator"&Q& +4 "core" &e r $ +2 ."da"Elbow.seek 1 +4 "manipulator"&V(c +4 "core" ( +2 "manipulator"&M& +4 "core" &e  $ +2 "storage"(& +7 "core" &>  +2 ."da"Forearm.seek 1 + 450 counts +2 "manipulator"&O'Ф +9 "core" ' +2 ."da"SE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 ."da"SE.seek 1.93 Pucks below Top Plate +2 "storage"(I'g +36 !"Qmail"o:!Net::SMTPAuthenticationError: mesg"E534-5.7.9 Application-specific password required. Learn more at\ :@checkpoint: omitted:bt["E/opt/mbari/lib/ruby/1.8/net/smtp.rb:954:in `check_auth_response'"/opt/mbari/lib/ruby/1.8/net/smtp.rb:723:in `authenticate'":/opt/mbari/lib/ruby/1.8/net/smtp.rb:566:in `do_start'"7/opt/mbari/lib/ruby/1.8/net/smtp.rb:525:in `start'"2/home/esp/esp2/lib/email.rb:325:in `sendOnce'"3/home/esp/esp2/lib/schedule.rb:292:in `unsync'"3/home/esp/esp2/lib/schedule.rb:594:in `unsync'"3/home/esp/esp2/lib/schedule.rb:621:in `unsync'"2/home/esp/esp2/lib/email.rb:318:in `sendOnce'"./home/esp/esp2/lib/email.rb:340:in `send'",/home/esp/esp2/lib/msg.rb:68:in `retry'"./home/esp/esp2/lib/email.rb:339:in `send'"B/home/esp/esp2/protocol/2G/utilities.rb:163:in `prepAndImage'"-/home/esp/esp2/lib/email.rb:66:in `call'"3/home/esp/esp2/lib/email.rb:66:in `initialize'"-/home/esp/esp2/lib/email.rb:63:in `loop'"3/home/esp/esp2/lib/email.rb:63:in `initialize'"7/home/esp/esp2/lib/schedule.rb:481:in `initialize'"0/home/esp/esp2/lib/thread.rb:738:in `start'"7/home/esp/esp2/lib/schedule.rb:474:in `initialize'"'/home/esp/esp2/lib/schedule.rb:472 +2 !o:Email::Queue::Purge: mesg"Purged output queue:bt[ "//home/esp/esp2/lib/email.rb:106:in `purge'"3/home/esp/esp2/lib/email.rb:75:in `initialize'"-/home/esp/esp2/lib/email.rb:63:in `loop'"3/home/esp/esp2/lib/email.rb:63:in `initialize'"7/home/esp/esp2/lib/schedule.rb:481:in `initialize'"0/home/esp/esp2/lib/thread.rb:738:in `start'"7/home/esp/esp2/lib/schedule.rb:474:in `initialize'"'/home/esp/esp2/lib/schedule.rb:472 +21 "core" ' + "manipulator"&m& +4 "core" &e  $ +2 "storage"(& +4 "core" &>\ \  ~  + ."da"Elbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 ."da"Forearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 ."da"Forearm.seek 1 +2 "manipulator"&l' +32 "core" ' +2 ."da"Elbow.hold +2 "manipulator"&, +4 "core" , + ."da"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 ."da"SE.reconfigure :default +2 "storage"(#QK-0-\ b +3 ."da"SE.seek 2.12 Pucks below Top Plate +2 "storage"('Q +25 "core" ' + "manipulator"&&% +5 "core" % ÿd + "storage"(]& +4 "core" &>\ \ *  +2 ."da"Forearm.force -20 + "manipulator"&5 +3 ."da"Forearm.seek 1 + 314 counts +2 "manipulator"&2' +17 "core" ' +2 "manipulator"&@& +4 "core" &e x p $ + "storage"(/& +4 "core" &>\ \   +2 ."da"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 ."da"Forearm.seek 1 + 450 counts +2 "manipulator"&<'Ф +17 "core" ' + "storage"(% +5 "core" %R\ \ +2 ."downElevator"SE.seek :down +4 "storage"(C'N +99 (_% +2 "core" %C\ \  = M: +2 "manipulator"&|% +4 "core" %О e ` +2 ."da"Forearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 ."da"Forearm.seek :retract +2 "manipulator"&s'\ +93 "core" ' +38 ' + ."downElevator"SE.stop + "storage"(5 +3 (4& +4 "core" &> \  x  +2 #"psFlush"Loading FlushPuck into Processing Clamp from FlushPuck::Garage +2 #tStarting finalPurge +3 "processing"%d& +4 "core" & +2 "manipulator"&x& +4 "core" &e  $ + "manipulator"&)% +4 "core" %\ 6  & +2 ."psFlush"Elbow.seek FlushPuck::Garage +2 "manipulator"&(, +174 "core" ( +2 "manipulator"&p& +4 "core" &, J  +2 ."psFlush"Elbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &, 8  +2 ."psFlush"Forearm.seek :garage +2 "manipulator"&'' +105 "core" ' +2 ."psFlush"Hand.close + "manipulator"&;/ +57 "core" / + "manipulator"&g& +4 "core" &,   +2 "manipulator"&t% +3 "core" %  D +2 ."psFlush"Forearm.seek :retract +2 "manipulator"&'\ +106 "core" ' +2 ."psFlush"Elbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 ."psFlush"Elbow.seek PC +2 "manipulator"&5(c +114 "core" ( +2 "manipulator"&& +4 "core" &] ) D +2 ."psFlush"Elbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &k& +3 "core" &] ; D +2 ."psFlush"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 ."psFlush"Forearm.seek PC +2 "manipulator"& '[ +103 "core" ' + "manipulator"&\ & +5 "core" &]  D + "manipulator"&% +4 "core" %V C +2 "processing"%a& +4 "core" & +2 "processing"%i& +5 "core" & +2 ."psFlush"PC.seek :closed +2 "processing"%z(Z +4 "core" &w  +9 &8 *x +9 &k = +10 &y H +9 &Dk G +9 &j G +10 &k G +9 &!l G +9 &#Mk F +10 &%k G +9 &&k F +10 &(k G +9 &*Tj G +9 &,k G +10 &-n G +9 &/k G +9 &1[n G +10 &3k G +9 &4n G +10 &6k F +9 &8dk G +9 &:%m G +10 &;j F +9 &=l F +9 &?kl G +10 &A.k G +9 &Bn G +10 &Dk G +9 &Fsp G +9 &H4q G +10 &Iy H +9 &Ku J +9 &Mkx M +10 &O-x M +9 &P M +10 &R M +9 &Tt L +10 &V3{ M +9 &W} N +9 &Yy 2 +10 &Z0| O +9 &Zv + +2 ( +2 "processing"%i& +3 #"psFlush"Processing Clamp onSpring/offSpring for 8/26 samples, on/off torque 1.45 + "processing"%w& +4 "core" &Z  + +2 ."psFlush"Hand.open + "manipulator"&`1 +61 "core" 1 +2 "manipulator"&% +4 "core" % V  +2 ."psFlush"Forearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 ."psFlush"Forearm.seek :retract + "manipulator"&'\ +100 "core" ' + ."psFlush"PSR.select :air +3 .PSV.dial PSR +2 "processing"%{ +45 "core"  +2 "processing"%% +4 "core" %S + #"psFlush"Pulling 0.5ml of PSR.flush + .PSR.select :flush +2 "processing"%@ +10 ."psFlush"PS.seek 0.5ml +2 "processing"%L' +558 #tWaiting >20 seconds for psFlush to relinquish FlushPuck +40 "core" ' +2 ."psFlush"delay 5 seconds +503 .PSR.select :air +2 "processing"% +9 ."psFlush"PS.seek 2.5ml +2 "processing"%'m +2136 "core" ' + ."psFlush"delay 1 second +102 .PRV.dial :waste2,avoiding: :ab2 +2 "processing"%N @ +170 "core" B + ."psFlush"PTV.dial :PRVmixing +2 "processing"%}  +117 "core" + ."psFlush"PSV.dial :mixloop +2 "processing"% +106 "core" +3 ."psFlush"PS.seek :empty + "processing"%' +2638 "core" ' +2 ."psFlush"PSR.select :air +2 .PSV.dial PSR +2 "processing"% +99 "core"  +2 "processing"%-% +4 "core" %\\ + #"psFlush"Pulling 0.5ml of PSR.flush + .PSR.select :flush +2 "processing"%@ +10 ."psFlush"PS.seek 0.5ml + "processing"%#' +593 "core" ' +2 ."psFlush"delay 5 seconds +502 .PSR.select :air +2 "processing"% +10 ."psFlush"PS.seek 2.5ml +2 "processing"%('m +2120 "core" ' + ."psFlush"delay 1 second +102 .PBV.dial :waste1 + "processing"%y  +33 "core" +2 ."psFlush"PTV.dial :mixing +2 "processing"%e @ +65 "core" A + ."psFlush"PSV.dial :mixloop +2 "processing"% +102 "core" + ."psFlush"PS.seek :empty +2 "processing"%' +2632 "core" ' +2 ."psFlush"PSV.dial PSR +2 "processing"%j +100 "core"  + ."psFlush"PSR.select :flush +2 "processing"%@ +10 ."psFlush"PS.seek 1ml + "processing"%'T +1107 "core" ' +2 ."psFlush"PSR.select :air +2 "processing"% +9 ."psFlush"PS.seek 2.5ml +2 "processing"%'m +1629 "core" ' + ."psFlush"PSV.dial PTV +3 "processing"% +73 "core" + ."psFlush"PTV.dial :puck +2 "processing"%6  +65 "core"  +2 ."psFlush"PBV.dial :waste1 +2 .PS.seek 0ml +2 "processing"%:' +2630 "core" ' +2 ."psFlush"PSV.dial PSR +2 "processing"%~ +73 "core"  + ."psFlush"PSR.select :flush +3 "processing"%@ +9 ."psFlush"PS.seek 0.5ml +2 "processing"%\\' +593 "core" ' + ."psFlush"PSR.select :air +2 "processing"% +61 ."psFlush"PS.seek 2.5ml +2 "processing"%U'm +2137 "core" ' + ."psFlush"PSV.dial PTV +2 "processing"% +73 "core" +2 ."psFlush"PBV.dial PSV +2 "processing"%, U +51 "core" W +2 ."psFlush"PS.seek 0ml +2 "processing"%P' +2634 "core" ' + ."psFlush"PSV.dial PBV +2 "processing"%q @ +57 "core" @ +3 ."psFlush"PS.seek 2.5ml +2 "processing"%v'm +2653 "core" ' +2 ."psFlush"PSV.dial :waste1 +2 "processing"%  +68 "core"  +2 ."psFlush"PS.seek 0ml +2 "processing"%9' +2640 "core" ' + ."psFlush"PSV.dial PSR +2 "processing"%u +47 "core"  + ."psFlush"PSR.select :air +3 .PS.seek 2.5ml +2 "processing"%F'm +2634 "core" ' +2 ."psFlush"PSV.dial PTV +2 "processing"%? +67 "core" + ."psFlush"PBV.dial PSV +3 .PS.seek 0ml + "processing"%A' +2628 "core" ' + ."psFlush"PSV.dial PBV +2 "processing"%* @ +45 "core" ? +2 ."psFlush"PS.seek 2.5ml +2 "processing"%1'm +366 "Can"' GD +2263 "core" ' + ."psFlush"PSV.dial :waste1 +2 "processing"%8  +69 "core"  +2 ."psFlush"PS.seek 0ml + "processing"%%' +2631 "core" ' + ."psFlush"PSV.dial PSR +2 "processing"%B +47 "core"  + ."psFlush"PSR.select :flush +3 "processing"%@ +9 ."psFlush"PS.seek 1ml +2 "processing"%'T +1107 "core" ' + ."psFlush"PSR.select :air +2 "processing"% +10 ."psFlush"PS.seek 2.5ml + "processing"%Z'm +1633 "core" ' + ."psFlush"PSV.dial PTV +2 "processing"% +67 "core" + ."psFlush"PTV.dial :puck +2 .PBV.dial :waste1 +2 "processing"%o  +50 "core" +2 ."psFlush"PS.seek 0ml + "processing"%c' +2634 "core" ' + ."psFlush"PSV.dial PSR +2 "processing"%W +74 "core"  + ."psFlush"PSR.select :flush +3 "processing"%@ +9 ."psFlush"PS.seek 0.5ml +2 "processing"%H' +596 "core" ' + ."psFlush"PSR.select :air +2 "processing"% +10 ."psFlush"PS.seek 2.5ml + "processing"%3'm +2142 "core" ' + ."psFlush"PSV.dial PTV +2 "processing"% +73 "core" +2 ."psFlush"PBV.dial PSV +2 "processing"% U +50 "core" V +2 ."psFlush"PS.seek 0ml +2 "processing"%>' +2631 "core" ' +2 ."psFlush"PSV.dial PBV +2 "processing"%R @ +46 "core" > +2 ."psFlush"PS.seek 2.5ml +2 "processing"%$'m +2640 "core" ' + ."psFlush"PSV.dial :waste1 +2 "processing"%.  +67 "core"  +2 ."psFlush"PS.seek 0ml +2 "processing"%J' +2642 "core" ' + ."psFlush"PSV.dial PSR +2 "processing"%D +47 "core"  + ."psFlush"PSR.select :air +3 .PS.seek 2.5ml +2 "processing"% 'm +2647 "core" ' + ."psFlush"PSV.dial PTV +2 "processing"%= +67 "core" +2 ."psFlush"PBV.dial PSV +2 .PS.seek 0ml +2 "processing"%' +2630 "core" ' + ."psFlush"PSV.dial PBV +2 "processing"%G @ +47 "core" > +2 ."psFlush"PS.seek 2.5ml +2 "processing"%E'm +2630 "core" ' +2 ."psFlush"PSV.dial :waste1 +2 "processing"%n  +67 "core"  +2 ."psFlush"PS.seek 0ml + "processing"%' +2633 "core" ' + #tLoading FlushPuck into Collection Clamp from Processing Clamp +2 "collection"'X& +4 "core" & +2 "manipulator"&!& +4 "core" &]  D +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC + "manipulator"&+(c +3 "core" ( + "manipulator"&f& +4 "core" &] 1 D + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &7& +3 "core" &] P D +2 .tForearm.seek PC +2 "manipulator"&['[ +96 "core" ' + .tHand.close + "manipulator"&^/ +62 "core" / +2 .tPC.seek :open + "processing"%Q(p +395 "core" ( + "manipulator"&M& +4 "core" &] 3 D + "manipulator"&% +4 "core" % ]  +2 .tForearm.seek :retract + "manipulator"&m'\ +98 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC + "manipulator"&( +350 "core" ( + "manipulator"&&& +4 "core" &% #  =A +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &]& +2 "core" && Y =A +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC + "manipulator"&@'| +104 "core" ' +2 "manipulator"&/& +3 "core" && A =A +3 "manipulator"&% +4 "core" %o 0 +2 "collection"'"& +3 "core" & +2 "collection"'0& +5 "core" & +2 .tCC.seek :closed +2 "collection"'h(] +4 "core" & +7 &B #c +10 &o[ 7 +9 & I +10 &k H +9 &_p I +9 &!p I +10 & m H +9 &"m H +9 &$hk H +10 &&*m H +9 &'l H +10 &)l H +9 &+pl H +9 &-2k H +10 &.o H +9 &0n H +9 &2vq I +10 &49p I +9 &5m H +10 &7k H +9 &9j H +9 &;Bn H +10 &=m I +9 &>m I +9 &@m I +10 &BIn I +9 &D j H +10 &Em I +9 &Gh H +9 &IOu J +10 &K K +9 &L N +9 &N Q +10 &PB Q +9 &R R +10 &S R +9 &U S +10 &WE R +9 &Y T +9 &Z U +10 &\\ A +9 &]r2 #i +9 &]H = +3 ( + "collection"'0& +3 #tCollection Clamp onSpring/offSpring for 10/25 samples, on/off torque 1.80 + "collection"'_& +5 "core" &]F = + .tHand.open + "manipulator"&|1 +59 "core" 1 +2 "manipulator"&O% +4 "core" % ` ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&V'\ +96 "core" ' +2 #tFlushing the Collection Valve::Manifold + "collection"'I& +4 "core" &]F = +2 "collection"'l% +3 "core" % +2 .tCSV.dial CSR +2 "collection"'4  +38 "core"  + "collection"'d% +5 "core" % + #tPulling 5ml of CSR.flush + .CSR.select :flush +2 "collection"' +10 .tCS.seek 5ml +2 "collection"'x's +1350 "core" ' + .tdelay 5 seconds +502 .CSR.select :air +2 "collection"' +9 '2% +2 "core" %s  +3 .tCS.reconfigure :fast +2 "collection"'#d @b +3 .tCS.seek 7.5ml + "collection"')'s +600 "core" ' + .tCSV.dial :waste +2 "collection"' +116 "core" + .tCS.reconfigure :default +3 "collection"'#P d@b +2 .tCS.seek 0ml +2 "collection"'<' +1995 "core" ' + #tFlushing lower manifold's waste1 port + "collection"'p& +5 "core" &]F = + "collection"'% +4 "core" % + .tCSV.dial :flush +2 "collection"'C  +38 "core"  +2 .tCS.reconfigure :fast +2 "collection"'#d @b +2 .tCS.seek 5ml +2 "collection"''s +1126 "core" ' +2 .tdelay 5 seconds +502 .CSV.dial :air +2 "collection"'; @ +39 "core" B +2 "collection"'g% +4 "core" %s  +2 .tCS.seek 7ml + "collection"'t' +509 "core" ' + ."connect"CSV.dial CTV +3 .tCTV.dial CSV +3 "collection"'s  + '  +38 "core"  +83  +2 .tCBV.dial :waste1 + "collection"'k @ +41 "core" > +2 .tCS.seek 0ml +2 "collection"''' +1526 "core" ' + #tFlushing lower manifold's waste2 port + "collection"'\ & +5 "core" &]F = + "collection"'% +3 "core" % +2 .tCSV.dial :flush +50 "collection"'a  +66 "core" +3 .tCS.seek 5ml +2 "collection"''s +1131 "core" ' +2 .tdelay 5 seconds +502 .CSV.dial :air +2 "collection"' @ +41 "core" A +2 "collection"'Y% +4 "core" %s  +2 .tCS.seek 7ml + "collection"'w' +497 "core" ' +3 ."connect"CSV.dial CTV +3 .tCTV.dial CSV +2 "collection"'`  +50 "core"  +2 .tCBV.dial :waste2 +2 "collection"'  +96 "core"  +2 .tCS.seek 0ml +2 "collection"'i' +1520 "core" ' + #tDisinfecting external Intake with kill +2 "collection"'{& +4 "core" &]E = + "collection"'% +4 "core" % + .tCSV.dial CSR +2 "collection"'  +39 "core"  +2 "collection"'r% +4 "core" % + #tPulling 8ml of CSR.kill +2 .CSR.select :kill +2 "collection"' +9 .tCS.seek 8ml +2 "collection"'L'X +1742 "core" ' +2 .tdelay 5 seconds +505 .CSR.select :air +2 "collection"' +12 .tCS.seek 10ml +2 "collection"'N' +496 "core" ' +2 ."connect"CSV.dial CBV +4 .tCBV.dial CSV +3 "collection"'} + '  +90 "core" +38  + .tCTV.dial :intake +2 "collection"'  +67 "core" + .tIntake.select :open +2 "sampler") +9 .tCS.seek 2ml +2 "collection"' '~ +1719 "core" ' + .tIntake.select :close + "sampler")0 +9 .tCTV.dial :air +2 "collection"'-  +66 "core"  +2 .tCS.reconfigure :default +3 "collection"'#P d@b +2 .tCS.seek 0ml +2 "collection"'' +593 "core" ' + .tCSV.dial CSR +2 "collection"'#  +91 "core"  + "collection"'y% +4 "core" % +2 #tPulling 5ml of CSR.flush + .CSR.select :flush +2 "collection"' +9 .tCS.seek 5ml +2 "collection"'e's +1347 "core" ' +2 .tdelay 5 seconds +502 .CSR.select :air +2 "collection"' +10 .tCS.seek 10ml + "collection"'' +1355 "core" ' + .tCSV.dial CBV +2 "collection"'( +91 "core" +2 .tCS.seek 0ml +2 "collection"'j' +2630 "core" ' +2 #tGaraging FlushPuck in Collection Clamp + "manipulator"&& +4 "core" & J 8! +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC + "manipulator"&( +30 "core" ( + "manipulator"&& +4 "core" &    +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &6& +2 "core" &    +3 .tForearm.seek CC + "manipulator"&'| +104 "core" ' + .tHand.close + "manipulator"&~/ +62 "core" / +2 .tCC.seek :open + "collection"':(p +410 "core" ( +2 "manipulator"&\\& +4 "core" &  e `   + "manipulator"&% +4 "core" % r g e  +2 .tForearm.seek :retract + "manipulator"&,'\ +90 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek :garage + "manipulator"&U(, +278 "core" ( +2 "manipulator"&q& +4 "core" &,  : + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &P& +2 "core" &, 3 : +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :garage +2 "manipulator"&' +108 "core" ' +2 .tHand.open +2 "manipulator"&v1 +62 "core" 1 + "manipulator"&u% +4 "core" %   s +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&9'\ +106 "core" ' + "processing"%?& +4 "core" & +320 "Can"1\ 85 +60001 A 74 +60003   85 +50795 #t-> access 1 +3 "storage"(F% +3 "core" %H\ \  v  +2 "manipulator"&*% +4 "core" %\ 3 6 %} + "manipulator"&A& +4 "core" &,  : +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"(8(<< +1299 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (1& +3 "core" &<9\ \ \ A  +4752 #t-> access 2 +2 "storage"(B% +3 "core" %H\ \  +2 "manipulator"&%% +4 "core" %\ 3 - %} +2 "manipulator"&& +3 "core" &, 6 : +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 + "storage"((K +351 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (o& +2 "core" &K\ \ \ \   +2738 "Can"( 85 +60002 ; 86 +60002  \ 85 +60002 A\ 86 @1668532259.33EST = =tMAIN =mMAIN_scheduler @EST1668532263.16 #"core_reset"Sent BREAK + #t@12902 idle with ifg=0x00, ie=0x75 +2 #>RESET< ESP2 v3.41 I2C Gateway v3.20 +215 #>RESET< ESP2 v3.41 I2C Gateway v3.20 for core bus +443 !o:Instrument::ISUSCore: @refi\ f: @configS:Instrument::Configuration: name" ISUS:calFileName0:sampleCmd"TS: prompt"\ :statusCmd"C:sampleTimeouti#:promptTimeouti:statusTimeouti: retriesi:strToPrompt"W: pace0: echoF:\ @name@ +215 #Configuration for don (12651-03) 10/9/20 brent@mbari.org\ /home/esp/esp2/type/shallow/don/configure.rb\ +822 "Can" '$!z +2  '$!z + #tPolling Can every 10:00 +6 !o:Storage::Warning: mesg"Uncleanly Exited:bt[ "8/home/esp/esp2/utils/storage.rb:438:in `readPucks!'"6/home/esp/esp2/utils/storage.rb:627:in `restore!'"-/home/esp/esp2/lib/esp.rb:115:in `shell'"7/home/esp/esp2/lib/schedule.rb:481:in `initialize'"0/home/esp/esp2/lib/thread.rb:738:in `start'"7/home/esp/esp2/lib/schedule.rb:474:in `initialize'"'/home/esp/esp2/lib/schedule.rb:472 +837 #-> ESP.ready! +6 #Powering core bus +555 .Gate.power :raw,:ON +2 "sampler") +22 ) +3 "core"  +4 "collection"' +5 ' +6 "core"  +5 "processing"% +2 % +6 "core"  +9 "collection"' 9\ +4 ' 0\ +3 ' -\ +8 "processing"% 9\ +4 % 2\ +5 % *\ +4 % 0\ +10 "sampler")&\ +5 "collection"'% +6 "core" %\\^ +4 .tCS.configure :default +3 "collection"'#P d@b +6 "processing"%% +5 "core" % +4 .tPS.configure :default +4 "processing"%#A d`xb +5 "sampler")% +5 "core" %\ \  +4 .tSS.configure :default +3 "sampler")#.0X access 2 +5 "storage"(;% +5 "core" %G%\ \  Q +4 "manipulator"&<% +9 "core" %\ )  ' +3 "manipulator"&=& +7 "core" &#  M +5 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +6 .tSC.seek 6 +3 "storage"(>(K +669 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (?& +2 "core" &K ]  +401 #t-> startTube 2 +1363 #-> $da[:extractVol]=.19 +2504 #-> purgeIntake +2 #Loading FlushPuck into Collection Clamp from FlushPuck::Garage +2 "collection"'@& +3 "core" &L]^  + .tHand.open +2 "manipulator"&A1 +53 "core" 1 +2 "manipulator"&B& +4 "core" &# u M +2 "manipulator"&C% +4 "core" % \ ) ] ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek FlushPuck::Garage + "manipulator"&D(, +185 "core" ( +2 "manipulator"&E& +4 "core" &, ( + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &F& +2 "core" &, M ( +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :garage + "manipulator"&G' +105 "core" ' + .tHand.close + "manipulator"&H/ +54 "core" / + "manipulator"&I& +4 "core" &, c ( +2 "manipulator"&J% +38 "core" %  { +8 .tForearm.seek :retract +2 "manipulator"&K'\ +104 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC + "manipulator"&L( +281 "core" ( +2 "manipulator"&M& +4 "core" &( $ ?R + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &N& +2 "core" &(  ?R +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&O'| +105 "core" ' +2 "manipulator"&P& +4 "core" &( _ ?R +2 "manipulator"&Q% +3 "core" %r v +2 "collection"'R& +4 "core" &L]^  +2 "collection"'S& +5 "core" &L\\]  +2 .tCC.seek :closed + "collection"'T(] +5 "core" &L^]k  +7 &_J]`n $f +9 &?\\\\] 7 +10 &\\a I +9 &no]_o H +10 &/n\\`c I +9 &r\\^l I +9 & u]^a I +10 &"ur^^o I +9 &$7s\\]j I +9 &%p\\\\b I +10 &'n_`e H +9 &)|t\\]` I +10 &+?n^]_ I +9 &-n[^c H +9 &.s]^Y I +10 &0p]^f I +9 &2Fu\\\\a I +9 &4\ r[]a H +10 &5k]]e I +9 &7r]^ H +10 &9Pq\\]b H +9 &;m\\]g H +9 &<s]]l I +10 &>pX\\n I +9 &@Ws\\_i I +9 &Br[]_ I +10 &Cm\\\\a H +9 &El\\[l H +10 &G`mY]d H +9 &IuNR` J +9 &J>Fa K +10 &L#.i M +9 &NOk Q +9 &Pg Q +10 &Qf Q +9 &Se R +10 &UR c S +9 &W a S +9 &X\  c T +10 &Z c U +9 &\\V b A +9 &]\\<a "g +10 &]v_ D +5 ( +2 "collection"'S& +4 #tCollection Clamp onSpring/offSpring for 10/26 samples, on/off torque 1.76 + "collection"'U& +4 "core" &]e f D + &]ec D +2 .tHand.open + "manipulator"&V1 +58 "core" 1 +2 "manipulator"&W% +4 "core" % r B v +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&X'\ +93 "core" ' + #tPurging external Intake +2 "collection"'Y& +4 "core" &]aa D + "collection"'Z% +4 "core" % g + .tCSV.dial :flush +2 "collection"'[  +40 "core"  +2 .tCS.seek 10ml + "collection"'\\' +2187 "core" ' +2 .tdelay 5 seconds +502 ."connect"CSV.dial CBV +4 .tCBV.dial CSV +3 "collection"'] '^  +6 "core"  +61  +2 .tCTV.dial :intake + "collection"'_  +68 "core"  + .tIntake.select :open + "sampler") +10 .tCS.seek 0ml +2 "collection"'`' +2172 "core" ' + .tIntake.select :close + "sampler")0 +9 .tCTV.dial :air +2 "collection"'a  +66 "core"  +2 #tGaraging FlushPuck in Collection Clamp + "manipulator"&b& +4 "core" &'" ^ :/ +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC + "manipulator"&c( +32 "core" ( + "manipulator"&d& +4 "core" &   +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &e& +3 "core" &  +2 .tForearm.seek CC +2 "manipulator"&f'| +94 "core" ' +2 .tHand.close + "manipulator"&g/ +60 "core" / + .tCC.seek :open +2 "collection"'h(p +414 "core" ( +2 "manipulator"&i& +4 "core" & k  + "manipulator"&j% +4 "core" % o b + .tForearm.seek :retract +2 "manipulator"&k'\ +102 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage + "manipulator"&l(, +268 "core" ( + "manipulator"&m& +4 "core" &, @  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &n& +2 "core" &,  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :garage + "manipulator"&o' +111 "core" ' +2 .tHand.open +2 "manipulator"&p1 +56 "core" 1 + "manipulator"&q% +4 "core" %   B +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&r'\ +102 "core" ' +35215 #t-> da 100 +2 #da sampling at most 100ml +4 ."Qmail"DAfans.email "Started da in tube 2 at 12:20:25EST15-Nov-22\\n{5 => 0,\\n 6 => 0,\\n 7 => 0}\\nCTD data unavailable\\nISUS data unavailable\\nCan@12:11:20, 15% flow, 20.9C, 20% humidity, 14.6psia, 14.97V, 0.114A avg, 0.096A avg, 1.71W",Subject: "da sampling at most 100ml" +5 #tLoading sh1 puck from tube 2 into Collection Clamp + "collection"'s& +3 "core" &ecU +2 "manipulator"&t% +5 "core" %\ /  #b +2 "storage"(u% +4 "core" %G%\ \  Q +2 "storage"(v. +2 "core" .(K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 + "storage"(w(  +90 !"Qmail"o:!Net::SMTPAuthenticationError: mesg"E534-5.7.9 Application-specific password required. Learn more at\ :@checkpoint: omitted:bt["E/opt/mbari/lib/ruby/1.8/net/smtp.rb:954:in `check_auth_response'"/opt/mbari/lib/ruby/1.8/net/smtp.rb:723:in `authenticate'":/opt/mbari/lib/ruby/1.8/net/smtp.rb:566:in `do_start'"7/opt/mbari/lib/ruby/1.8/net/smtp.rb:525:in `start'"2/home/esp/esp2/lib/email.rb:325:in `sendOnce'"3/home/esp/esp2/lib/schedule.rb:292:in `unsync'"3/home/esp/esp2/lib/schedule.rb:594:in `unsync'"3/home/esp/esp2/lib/schedule.rb:621:in `unsync'"2/home/esp/esp2/lib/email.rb:318:in `sendOnce'"//home/esp/esp2/lib/email.rb:340:in `email'",/home/esp/esp2/lib/msg.rb:68:in `retry'"//home/esp/esp2/lib/email.rb:339:in `email'"./home/esp/esp2/lib/email.rb:348:in `mail'"-/home/esp/esp2/lib/email.rb:66:in `call'"3/home/esp/esp2/lib/email.rb:66:in `initialize'"-/home/esp/esp2/lib/email.rb:63:in `loop'"3/home/esp/esp2/lib/email.rb:63:in `initialize'"7/home/esp/esp2/lib/schedule.rb:481:in `initialize'"0/home/esp/esp2/lib/thread.rb:738:in `start'"7/home/esp/esp2/lib/schedule.rb:474:in `initialize'"'/home/esp/esp2/lib/schedule.rb:472 + !o:Email::Queue::Purge: mesg"Purged output queue:bt[ "//home/esp/esp2/lib/email.rb:106:in `purge'"3/home/esp/esp2/lib/email.rb:75:in `initialize'"-/home/esp/esp2/lib/email.rb:63:in `loop'"3/home/esp/esp2/lib/email.rb:63:in `initialize'"7/home/esp/esp2/lib/schedule.rb:481:in `initialize'"0/home/esp/esp2/lib/thread.rb:738:in `start'"7/home/esp/esp2/lib/schedule.rb:474:in `initialize'"'/home/esp/esp2/lib/schedule.rb:472 +1213 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +2 (x& +3 "core" & \ \ \ +2 "manipulator"&y& +3 "core" &, <  +2 "manipulator"&z% +3 "core" %\ /  #b +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&{(; +180 "core" ( +2 "manipulator"&|& +4 "core" &@ # + "storage"(}& +4 "core" & \ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&~'Ѐ +97 "core" ' +2 "storage"(& +4 "core" & \ \ \  D +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"('e +267 "core" ' +2 "storage"(- +3 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (& +4 "core" & \ \ ! + "manipulator"&& +4 "core" &@  # + .tElbow.seek 2 +2 "manipulator"&(; +3 "core" ( + "manipulator"&& +4 "core" &@  # + "storage"(& +4 "core" & \ #\ # # +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&' +10 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"& / +63 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&\ & +2 "storage"( 'N +7 "core" &@  # + "manipulator"& % +4 "core" %  h +2 .tForearm.seek :retract +2 "manipulator"& '\ +95 "core" ' +2 .tElbow.seek CC +2 "manipulator"&( +145 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +4 "core" ( +2 "manipulator"&& +4 "core" &. ^ Co + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &. ! Co +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&'| +104 "core" ' + "manipulator"&& +4 "core" &. Q Cn +2 "manipulator"&% +4 "core" %r : } +2 "collection"'& +3 "core" &bc7 +2 "collection"'& +5 "core" &ad] +2 .tCC.seek :closed + "collection"'(] +5 "core" &`a] +7 &Ccci #c +10 &u[ac_ 7 +9 &cbc I +10 &maci H +9 &escd_ H +9 &'rcd^ H +10 & rbaa H +9 &"vdc I +9 &$mmbcY H +10 &&/nbbO H +9 &'padg I +10 &)scc^ I +9 &+srbc I +9 &-7nbdh H +10 &.rbch H +9 &0rbb` H +9 &2|pbci I +10 &4?tcd H +9 &6s`c H +10 &7occ I +9 &9obbj H +9 &;Gqbbp H +10 &=occ^ I +9 &>qccW I +9 &@pcbR I +10 &BOrcb^ H +9 &Drcda H +9 &Esccf H +10 &Gs^ch H +9 &IS~__\\ J +10 &Kjhg K +9 &LhlW O +10 &Ngi[ P +9 &PFhi\\ Q +9 &Rfjh R +9 &Shji R +10 &UzhiX W +9 &WIjiX S +10 &Yfha T +9 &Zihf V +10 &\\hiY E +9 &]m%hj\\ (t +9 &]NhiX @ +2 ( +2 "collection"'& +3 #tCollection Clamp onSpring/offSpring for 10/25 samples, on/off torque 1.87 + .Hand.open + "manipulator"&1 +57 "core" 1 +2 "manipulator"&% +5 "core" % r n } +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&'\ +91 "core" ' +2 #tcollectSample 100ml w/bubble point of 24psi + #Priming 7ml +2 .Intake.select :close + .Exhaust.select :close +2 .SS.hold + "sampler")+ +4 "core" + + "sampler")% +4 "core" %.\ \ \  +2 "collection"'"& +3 "core" &]Rhi< @ +3 "Can"p MJ + #tCalibrating pressure and temperature sensors +3 .CTV.dial :air +2 .SSV.dial :spit,avoiding: :exhaust +2 .SS.reconfigure :fast +3 "sampler")#.0X% +4 "core" %I O I  +21 "collection"'x% +3 "core" %A +2 "sampler")y% +4 "core" %I W R  +24 "collection"'z% +3 "core" %" + "sampler")|% +4 "core" %I c ^  +28 "collection"'}% +3 "core" % +2 "sampler")% +4 "core" %& x s  +31 "collection"'l% +3 "core" %? +2 "sampler")r% +4 "core" %  + "sampler")% +4 "core" %  + .tIntake.select :close + "sampler")0 +9 )% +3 "core" %  + .tSSV.dial :exhaust +2 "sampler")  +69 "core"  + .tExhaust.select :open + "sampler")@ +10 .tSS.seek 0ml +2 "sampler")'0 +878 "core" ' + .tExhaust.select :close + "sampler") +10 #tSampled 100.0ml +2 #Evacuating Puck (bubblePt=24psi, evacVolume=10ml, delay 15 seconds) + .Intake.select :close + "collection"'& +3 "core" &]QM @ +2 ."airStroke"CSV.dial :waste +3 "sampler") % + "collection"' +6 "core" %-  +2 ."connect"SSV.dial CBV,avoiding: :exhaust +3 .tCBV.dial SSV +2 "sampler")\  +29 "core" +2 ."airStroke"CS.seek 0ml + "collection"' ' +4 "core" ' + ."airStroke"CSV.dial :air +2 "collection"'{ @ +77 "core" ? +2 ."airStroke"CS.seek 10ml +2 "collection"'~' +53 "core"  + .tCTV.dial :air +2 "collection"'  +67 "core"  + .tdelay 15 seconds +1502 .SSV.dial :spit,avoiding: :exhaust +2 "sampler") +122 "core"  + ."prepCSV"CTV.dial CSV,avoiding: :intake +5 "collection"'  + .tSS.seek 0ml +5 "sampler")'0 +4 "core" ' +2 .tSSV.dial CBV,avoiding: :exhaust +2 "sampler")  +107 "core"  +13  +303 ' + "sampler")% +4 "core" %.\ \  +2 .tCBV.dial between SSV and waste2 +2 "collection"'  +28 "core"  +2 "collection"'% +4 "core" %gh +2 ."connect"CTV.dial CSV,avoiding: :air +3 .tCSV.dial CTV +2 "collection"'  +53 "core" ~ +2 .tCS.reconfigure :pressurize +2 "collection"'# d@<< b +3 .tCS.seek 0ml + "collection"' ' +2146 "core" ' M ٱ +2 "collection"'h% +4 "core" %\ D  +2 "sampler")% +3 "core" %.\ \ \  +2 #tBubblePoint: Intake @38.8psia, Outlet @14.7psia +2 .CBV.dial SSV + "collection"' @ +30 "core" B +2 .tSS.reconfigure :default +2 "sampler")#.0X +2 ."CSpush"CS.reconfigure :fast +3 "collection"'#d @b +2 ."CSpush"CS.seek 0ml +2 "collection"'' +110 "core" ' +2 .tSSV.dial :spit,avoiding: :exhaust +2 "sampler")% +120 "core" +2 .tSS.reconfigure :exhale +2 "sampler")#.0X +2 ."CSpush"CS.reconfigure :fast +2 "collection"'#d @b +3 ."CSpush"CS.seek 0ml + "collection"'P' +136 "core" ' +11 .tSSV.dial :spit,avoiding: :exhaust +2 "sampler")Q +121 "core"  +2 .tSS.reconfigure :exhale +3 "sampler")#.0X9 +3 "core" 9$q;d +102 "collection"'x9 +2 "core" 9Gr?d +102 "collection"'y9 +3 "core" 9ptCd +102 "collection"'z9 +2 "core" 9uHd +102 "collection"'|9 +3 "core" 9vLd +102 "collection"'}9 +3 "core" 9wPd +102 "collection"'9 +2 "core" 9yTb +102 "collection"'l9 +2 "core" 9G{X^ +102 "collection"'r9 +3 "core" 9v|]X +102 "collection"'9 +3 "core" 9~aT +102 "collection"'9 +2 "core" 9eO +102 "collection"'9 +2 "core" 9iK +103 "collection"'o9 +2 "core" 92mF +102 "collection"'s9 +3 "core" 9dqB +102 "collection"'9 +2 "core" 9v= +102 "collection"' 9 +3 "core" 9z9 +102 "collection"' 9 +2 "core" 9~6 +102 "collection"'{9 +3 "core" 92 +102 "collection"'\ 9 +2 "core" 9H/ +102 "collection"'9 +3 "core" 9s, +102 "collection"'`9 +3 "core" 9) +102 "collection"' 9 +2 "core" 9( +102 "collection"'9 +2 "core" 9& +102 "collection"'9 +3 "core" 9$ +102 "collection"'9 +3 "core" 9)# +102 "collection"'9 +3 "core" 9G! +102 "collection"'9 +2 "core" 9d! +102 "collection"'9 +2 "core" 9} +102 "collection"'9 +3 "core" 9 +102 "collection"' 9 +3 "core" 9 +102 "collection"'~9 +2 "core" 9 +102 "collection"'h9 +2 "core" 9 +102 "collection"'9 +3 "core" 9 +102 "collection"'9 +2 "core" 9 +102 "collection"'9 +3 "core" 9  +102 "collection"'"9 +2 "core" 9  +102 "collection"'9 +2 "core" 9 * +102 "collection"'9 +3 "core" 9 7 +102 "collection"'9 +2 "core" 9 E +102 "collection"'9 +3 "core" 9 P +102 "collection"'(9 +2 "core" 9 [ +102 "collection"''9 +3 "core" 9 f +102 "collection"'9 +2 "core" 9 p +102 "collection"'9 +3 "core" 9 z +102 "collection"'%9 +3 "core" 9  +102 "collection"' 9 +2 "core" 9  +102 "collection"')9 +2 "core" 9  +102 "collection"'9 +3 "core" 9  +102 "collection"',9 +3 "core" 9  +102 "collection"'.9 +3 "core" 9  +102 "collection"'#9 +2 "core" 9   +102 "collection"'-9 +2 "core" 9  +102 "collection"'29 +3 "core" 9  +102 "collection"'39 +3 "core" 9  +102 "collection"'49 +2 "core" 9  +102 "collection"'59 +3 "core" 9 ! +102 "collection"'09 +2 "core" 9 % +102 "collection"'19 +2 "core" 9 ) +102 "collection"'/9 +3 "core" 9 . +102 "collection"'99 +7 "core" 9 2 +102 "collection"':9 +3 "core" 9 6 +102 "collection"';9 +2 "core" 9 : +102 "collection"'79 +3 "core" 9\ > +102 "collection"'!9 +2 "core" 9\ C +102 "collection"'?9 +3 "core" 9\ G +102 "collection"'@9 +2 "core" 9\ K +103 "collection"'89 +2 "core" 9\ O +102 "collection"'B9 +2 "core" 9\ S +102 "collection"'C9 +3 "core" 9\ "X +102 "collection"'E9 +3 "core" 9\ '\\ +102 "collection"'69 +3 "core" 9\ ,` +102 "collection"'$9 +2 "core" 9\ 0d +102 "collection"'H9 +2 "core" 9\ 5h +103 "collection"'I9 +2 "core" 9\ 9l +102 "collection"'F9 +3 "core" 9\ >q +102 "collection"'<9 +3 "core" 9\ Bu +102 "collection"'&9 +2 "core" 9\ Fy +102 "collection"'G9 +2 "core" 9\ K} +102 "collection"'D9 +3 "core" 9\ O +102 "collection"'=9 +3 "core" 9\ Q +102 "collection"'Q9 +2 "core" 9\ U +102 "collection"'A9 +2 "core" 9\ X +103 "collection"'J9 +2 "core" 9\ \\ +102 "collection"'P9 +2 "core" 9\ _ +103 "collection"'R9 +2 "core" 9\ c +102 "collection"'+9 +3 "core" 9\ e +102 "collection"'U9 +2 "core" 9\ i +102 "collection"'K9 +3 "core" 9\ l +102 "collection"'W9 +2 "core" 9\ o +102 "collection"'Y9 +3 "core" 9\ r +3 .tCH.hold 10:00,70C +3 "collection"'V `\ `\ r \ + 'Z9 +7 "core"  + 9\ s + "collection"'S% +4 "core" % ; +2 #tBegun lysing Collection Puck Heater at 68C/32.8psia +10603 "Can"  +49385 "core" ` +2 "collection"'M9 +3 "core" 9\  +2 "collection"'[% +4 "core" %  + #tEnded lysing Collection Puck Heater at 70C/30.8psia +2 .CS.seek 0ml +2 "collection"'' +350 "core" ' +2 .tCTV.dial between spare and air,avoiding: :intake +2 "collection"'N @ +93 "core" A + .tCSV.dial :air +2 "collection"'O @ +40 "core" ? +3 .tCS.seek 5ml +2 "collection"'\\'s +1349 "core" ' + .tCSV.dial CTV +2 "collection"'^  +53 "core"  + .tdelay 2 seconds +202 .CSV.dial :air +2 "collection"'b @ +40 "core" > +2 .tdelay 2 seconds +202 .CSV.dial CTV +2 "collection"'a  +39 "core"  +2 .tdelay 2 seconds +202 .CSV.dial :air + "collection"'e @ +41 "core" ? + .tdelay 2 seconds +203 .CS.seek 0ml + "collection"'d' +1356 "core" ' + "collection"'L% +4 "core" % X Z + #tPuck @43.2psia after final lysis pressurization +2 #Recovering Lysate into Collection syringe + .CSV.dial CBV + "collection"'X +94 "core" ~ +2 .tCBV.dial CSV + "collection"'i  +29 "core"  + "collection"'j% +4 "core" % & ( \ +2 .tCS.seek 5ml +2 "collection"'f's +1351 "core" ' +2 .tdelay 5 seconds +502 .CTV.dial :air +2 "collection"'m  +40 "core" + "collection"'n% +4 "core" %s   +2 .tCS.seek 6.999ml +2 "collection"'c' +583 "core" ' + .tdelay 5 seconds +502 .CSV.dial :air2 +2 "collection"'] @ +39 "core" > +2 .tCS.seek 10ml + "collection"'_' +844 "core" ' + .tCSV.dial between air and CTV,avoiding: CBV +2 "collection"'q ` +104 "core" _ +2 #tLysing Complete +2 "collection"'k& +4 "core" &]P @ + #tStoring sh1 puck in Collection Clamp to tube 1 +2 "manipulator"&p% +3 "core" %\ (  K +2 "storage"(t% +3 "core" %Q\ \   +2 "storage"(u. +3 "core" .(  + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 1 + "storage"(v(B +362 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (>& +2 "core" &E  +2 "manipulator"&x& +4 "core" &*  Ac + "manipulator"&y% +4 "core" %\ ( K +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 1 +2 "manipulator"&z(c +168 "core" ( +2 "manipulator"&|& +4 "core" &e z s + "storage"(}& +4 "core" &E\ "\ !  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 1 + 450 counts + "manipulator"&'Ф +89 "core" ' +2 "storage"(l& +4 "core" &E\ "\ "  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(r'e +267 "core" ' + "storage"(- +4 "core" -'e + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek :place +2 "storage"('B +32 "core" ' +2 "manipulator"&& +4 "core" &e  s + "manipulator"&o% +4 "core" %Ю  " +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&s'\ +95 "core" ' +2 .tElbow.seek CC +2 "manipulator"&( +156 "core" ( + "manipulator"& & +4 "core" &%  =D +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 & & +3 "core" &%  =D +2 .tForearm.seek CC + "manipulator"&{'| +98 "core" ' +2 .tHand.close + "manipulator"&\ / +58 "core" / +2 .tCC.seek :open +2 "collection"'(p +410 "core" ( +2 "storage"(`& +4 "core" &E\ "\ " + "storage"( & +4 "core" &E\ "\ "  + "manipulator"&& +4 "core" &3 K 5 + "manipulator"&% +4 "core" % ω k +2 .tForearm.seek :retract +2 "manipulator"&'\ +99 "core" ' +45 .tElbow.reconfigure :tight +13 "manipulator"&$&.,(\ #b +2 .tElbow.seek 1 + "manipulator"&(c +150 "core" ( + "manipulator"&& +4 "core" &h / \ +2 "storage"(& +3 "core" &E\ !\ + 9 +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 1 + "manipulator"&' +32 "Can"s 85 +78 "core" ' + .tElbow.hold +2 "manipulator"& , +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&~1 +59 "core" 1 +3 "manipulator"&h% +4 "core" % ` + "storage"(& +4 "core" &E \  . +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 1 + 318 counts + "manipulator"&' +19 "core" ' + "manipulator"&& +4 "core" &h h O 4 \ +2 "storage"("& +4 "core" &E\ F\ F +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 1 + 450 counts +2 "manipulator"&'Ф +17 "core" ' +2 "storage"(% +4 "core" %K\ F\ D  +2 ."downElevator"SE.seek :down +4 "storage"('N +99 (% +3 "core" %0D\ #\ "  N@ +2 "manipulator"&(% +4 "core" %Ф o p +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&''\ +88 "core" ' +63 ' + ."downElevator"SE.stop +2 "storage"(5 +2 #tTranferring DA +2 #Beginning samplePassC +2 #Loading FlushPuck into Collection Clamp from FlushPuck::Garage + "collection"'& +4 "core" &  +2 "manipulator"&& +4 "core" &h  \ +2 "manipulator"&%% +3 "core" %\ )  J +2 .tElbow.seek FlushPuck::Garage + "manipulator"& (, +188 "core" ( +2 "manipulator"&)& +4 "core" &, r + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &,  +2 .tForearm.seek :garage + "manipulator"&,' +104 "core" ' +2 .tHand.close + "manipulator"&./ +55 "core" / +2 "manipulator"&#& +4 "core" &, j + "manipulator"&-% +4 "core" %  +2 .tForearm.seek :retract + "manipulator"&2'\ +99 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC + "manipulator"&3( +289 "core" ( +2 "manipulator"&4& +4 "core" &, Co + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &5& +3 "core" &, j Co +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&0'| +95 "core" ' + "manipulator"&1& +4 "core" &, < Cn +2 "manipulator"&/% +4 "core" % E +2 "collection"'9& +3 "core" & +2 "collection"':& +6 "core" & +2 .tCC.seek :closed +2 "collection"';(] +4 "core" & +6 &\ ! "_ +9 &wY 5 +10 & H +9 &j F +10 &cox G +9 &%nK G +9 & pk G +10 &"mq G +9 &$knM G +9 &&,k- G +10 &'n G +9 &)r G +10 &+sn  G +9 &-4q G +9 &.n G +10 &0o G +9 &2{m G +9 &4<mz G +10 &5la G +9 &7nM G +10 &9o8 G +9 &;Ek G +9 &=lY G +10 &>m4 F +9 &@m G +9 &BLm G +10 &Dk G +9 &El  G +10 &Gl  G +9 &IPw I +9 &K  K +10 &L N +9 &N P +9 &P@ Q +10 &R Q +9 &Sn R +10 &UZ R +9 &WCI R +9 &Y/ S +10 &Z+ T +9 &\\| B +9 &]k:Z %p +10 &]Eb < +2 ( +2 "collection"':& +3 #tCollection Clamp onSpring/offSpring for 9/25 samples, on/off torque 1.81 + "collection"'7& +4 "core" &]LK < + .tHand.open +2 "manipulator"&!1 +64 "core" 1 + "manipulator"&?% +4 "core" %   +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&@'\ +93 "core" ' + .tPSV.dial PSR +2 "processing"%8 +127 "core"  + "processing"%B% +4 "core" % + #tPulling 1.5ml of PSR.flush +2 .PSR.select :flush +2 "processing"%j +10 .tPS.seek 1.5ml + "processing"%C' +1616 "core" ' +2 .tdelay 5 seconds +502 .PSV.dial :waste1 +2 "processing"%E  +43 "core"  +2 .tPS.seek 0ml + "processing"%6' +1614 "core" ' + .tPSV.dial PSR +2 "processing"%$ +48 "core"  +2 .tPSR.select :air +2 "processing"% +9 .tPS.seek 2.5ml + "processing"%H'm +2650 "core" ' +2 ."connect"PRV.dial CBV,avoiding: :ab2 +4 .tCBV.dial PRV +2 "processing"%I + "collection"'F  +5 "core" B +2 "processing"%<  +64 "core" +81  +2 .tPSV.dial :mixloop + "processing"%& +99 "core" + .tCTV.dial :air,avoiding: :intake +2 .PTV.dial :PRVmixing + "processing"%G  +121 "core" +2 .tPS.seek 0ml + "processing"%D' +2628 "core" ' + .tPSV.dial :air +2 "processing"%=  +42 "core"  +2 .tPS.seek 2.5ml +2 "processing"%Q'm +2632 "core" ' + .tPSV.dial :mixloop +2 "processing"%A +49 "core" +2 .tPS.seek 0ml + "processing"%J' +2633 "core" ' + .tPSV.dial :air +2 "processing"%P  +48 "core"  +2 .tPS.seek 2.5ml +2 "processing"%R'm +2654 "core" ' + .tPSV.dial :mixloop +2 "processing"%+ +49 "core" +2 .tPS.seek 0ml + "processing"%U' +2632 "core" ' +2 #tGaraging FlushPuck in Collection Clamp + "manipulator"&K& +4 "core" &1% ] =C +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC + "manipulator"&W( +31 "core" ( + "manipulator"&Y& +4 "core" & p  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &Z& +3 "core" &  +2 .tForearm.seek CC + "manipulator"&S'| +95 "core" ' +2 .tHand.close + "manipulator"&T/ +63 "core" / + .tCC.seek :open +2 "collection"'V(p +411 "core" ( + "manipulator"&M& +4 "core" &  s  +2 "manipulator"&[% +4 "core" % ϋ 8 +2 .tForearm.seek :retract +2 "manipulator"&g'\ +93 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage + "manipulator"&N(, +282 "core" ( + "manipulator"&O& +4 "core" &,  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &, ] +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :garage + "manipulator"&^' +111 "core" ' + .tHand.open +2 "manipulator"&b1 +53 "core" 1 + "manipulator"&a% +4 "core" % l  ŷj +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&e'\ +98 "core" ' + .tPSV.dial :mixloop + .PTV.dial :PRVmixing +2 ."connect"PRV.dial CBV +3 .tCBV.dial PRV +2 .CTV.dial :air,avoiding: :intake +2 #Loading lyfil puck from tube 2 into Collection Clamp + "collection"'\\& +5 "core" &;; + "manipulator"&L% +4 "core" %\ ! { # +2 "storage"(X% +4 "core" %L\ !\ !  + "storage"(i. +3 "core" .(E +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 + "storage"(j(  +370 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (d& +2 "core" & \ \   +2 "manipulator"&m& +3 "core" &,  +2 "manipulator"&n% +4 "core" %\ L # +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&f(; +174 "core" ( + "manipulator"&]& +4 "core" &A j 8 +2 "storage"(c& +3 "core" & \ !\ !   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&q'Ѐ +101 "core" ' + "storage"(k& +4 "core" & \ F\ E  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(p'e +281 "core" ' + "storage"(t- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (u& +2 "core" & \ ,\ !  +2 "manipulator"&w& +4 "core" &A y q L 8 + .tElbow.seek 2 +2 "manipulator"&>(; +3 "core" ( + "manipulator"&x& +4 "core" &A | } G 8 + "storage"(y& +4 "core" & \ D\ D  +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&|' +26 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&}/ +52 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&l& +2 "storage"('N +7 "core" &A x r  8 + "manipulator"&% +4 "core" % w m B +2 .tForearm.seek :retract +2 "manipulator"&'\ +95 "core" ' +2 .tElbow.seek CC +2 "manipulator"&( +148 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +12 "core" ( +2 "manipulator"&o& +4 "core" &   * + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &r& +3 "core" &  = * +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"& '| +102 "core" ' +2 "manipulator"& & +4 "core" &  X * +2 "manipulator"&% +4 "core" % ` +2 "collection"'z& +3 "core" &;=E +2 "collection"'\ & +5 "core" &:< +2 .tCC.seek :closed +2 "collection"'s(] +4 "core" &<<  +10 &5;= )w +9 &j:;w = +9 &v{:<g G +10 &9k9<L G +9 &m<=: G +10 &r9= G +9 &!}n:: G +9 &#?n9< G +10 &%l9= G +9 &&n;< G +9 &(m9<v F +10 &*Hn:;] G +9 &, l;< F +10 &-n;= G +9 &/n;; G +9 &1Qn:= G +10 &3n;= G +9 &4m9= F +9 &6m:=r G +10 &8Xj8<_ G +9 &:l:=T G +10 &;j<< G +9 &=m;<w G +9 &?`o97w G +10 &A"n:=s G +9 &Bm;=g G +9 &Dk8>V G +10 &Fhm8;A G +9 &H'r!<5 H +10 &I--7 I +9 &K240 M +9 &MU=<! P +10 &ODD- Q +9 &PFG Q +9 &REF Q +10 &TXFH R +9 &VEH S +10 &WGH S +9 &YDE U +9 &[XEG U +10 &\\xDH )~ +9 &]!DH Q +9 ( +3 "collection"'\ & +56 #tCollection Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.87 +2 .Hand.open + "manipulator"&1 +4 "core" &]mDF H +51 1 + "manipulator"&`% +4 "core" % i Z +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"& '\ +91 "core" ' +2 .tCTV.dial CSV,avoiding: :intake +2 "collection"'  +120 "core" ~ + .tCSV.dial CTV +2 "collection"'  +28 "core"  +2 .tPS.seek 2.5ml +2 "processing"%{'m +2651 "core" ' + "collection"'% +4 "core" %@A  +2 .tCS.seek 4.499ml +2 "collection"''c +1475 "core" ' +2 .tdelay 8 seconds +802 .PSV.dial :air +2 "processing"%  +47 "core"  +2 .tdelay 2 seconds +202 .PSV.dial :waste2 + "processing"%~  +70 "core"  +2 .tPS.seek 0ml +2 "processing"%h' +2628 "core" ' + .tCBV.dial between PRV and waste1 +2 "collection"' ` +29 "core" ^ +2 .tCSV.dial :air +2 "collection"' @ +42 "core" > +2 .tCS.seek 10ml + "collection"'"' +1481 "core" ' + .tCSV.dial CTV +2 "collection"'  +41 "core"  +2 .tCS.seek 0ml + "collection"'' +2628 "core" ' + .tCBV.dial :waste1 +2 "collection"' @ +28 "core" ? +2 .tdelay 5 seconds +502 .CTV.dial :air,avoiding: :intake +3 "collection"'(  +120 "core" + "collection"'& +4 "core" &]eDF H +2 #tStoring lyfil puck in Collection Clamp to tube 1 + "manipulator"&% +4 "core" %\ % ( 7 +2 "storage"(% +3 "core" %B\ \ m +2 "storage"(. +3 "core" .(  + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 1 + "storage"((B +365 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (%& +2 "core" &E  +2 "manipulator"&& +3 "core" &  * +2 "manipulator"&% +3 "core" %\ % L 7 +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 1 + "manipulator"&)(c +165 "core" ( + "manipulator"&& +4 "core" &k ~ g o +2 "storage"(& +3 "core" &E\ \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 1 + 450 counts +2 "manipulator"& 'Ф +95 "core" ' + "storage"(.& +4 "core" &E\ \ O +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(#'e +280 "core" ' + "storage"(-- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&'& +3 "core" &k o +2 "storage"(,& +3 "core" &E\ \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 1 +2 "manipulator"&4' +25 "core" ' +2 .tElbow.hold + "manipulator"&5, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"( - +2 "core" -' +2 .tSE.seek 0.12 Pucks below Top Plate +2 "storage"(1'v +27 "core" ' +2 "manipulator"&/% +4 "core" % ( ] + "storage"(9& +4 "core" &E 5 + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 1 + 318 counts + "manipulator"&2' +20 "core" ' +2 "manipulator"&& +4 "core" &Q t [ m  + "storage"(7& +4 "core" &E\ \  Y +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 1 + 450 counts +2 "manipulator"&!'Ф +16 "core" ' +2 .tSE.seek 1.12 Pucks below Top Plate +2 "storage"(?'e +39 "core" ' + "manipulator"&:& +5 "core" &Q n m O  + "manipulator"&8% +4 "core" %Ѕ n o  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&B'\ +88 "core" ' +2 .tElbow.seek CC +2 "manipulator"&0( +154 "core" ( + "manipulator"&E& +4 "core" &" 6 :0 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &C& +3 "core" &"  :0 +2 .tForearm.seek CC +2 "manipulator"&$'| +96 "core" ' + .tHand.close +2 "manipulator"&6/ +52 "core" / + .tCC.seek :open +2 "collection"'I(p +411 "core" ( + "storage"(F& +4 "core" &E\ !\ !  +2 "storage"(<& +3 "core" &E\ \  +2 "manipulator"&&& +4 "core" &" \ 5 +2 "manipulator"&G% +3 "core" % v  +2 .tForearm.seek :retract +2 "manipulator"&H'\ +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 1 +2 "manipulator"&=(c +163 "core" ( + "manipulator"&D& +4 "core" &l j +2 "storage"(A& +3 "core" &E\ !\ !  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 1 + "manipulator"&Q' +108 "core" ' + .tElbow.hold + "manipulator"&P, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&J1 +56 "core" 1 +2 "manipulator"&+% +4 "core" % $ p + "storage"(R& +4 "core" &E\ \  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 1 + 317 counts + "manipulator"&K' +19 "core" ' +2 "manipulator"&Y& +4 "core" &X d F T ~ + "storage"(Z& +4 "core" &E\ D\ @  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 1 + 450 counts + "manipulator"&T'Ф +17 "core" ' +2 "storage"(3% +4 "core" %j\ D\ D +2 ."downElevator"SE.seek :down +4 "storage"(@'N +99 (;% +3 "core" %I\ "\ "  NA +2 "manipulator"&M% +4 "core" %Ж d k w +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&['\ +92 "core" ' +48 ' + ."downElevator"SE.stop + "storage"(5 +3 .tPSV.dial :air +2 "processing"%S  +74 "core" +2 .tPS.seek 2.5ml + "processing"%O'm +2632 "core" ' +2 .tdelay 1 second +102 .PSV.dial :mixloop + "processing"% +44 "core" + .tdelay 1 second +102 .PSV.dial :air +2 "processing"%W  +50 "core"  + .tdelay 1 second +102 .PSV.dial :mixloop + "processing"%b +50 "core" +2 .tdelay 1 second +102 .PSV.dial :air + "processing"%a  +48 "core"  +2 .tdelay 1 second +102 .PS.seek 0ml +2 "processing"%\\' +2630 "core" ' +2 #tLoading FlushPuck into Processing Clamp from FlushPuck::Garage + "processing"%L& +4 "core" &N  +2 "manipulator"&g& +3 "core" &X B ~ +2 "manipulator"&X% +3 "core" %\ 0 6 #d +2 .tElbow.seek FlushPuck::Garage +2 "manipulator"&i(, +179 "core" ( +2 "manipulator"&^& +4 "core" &,  $ + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &v& +2 "core" &, 0 $ +2 .tForearm.seek :garage +2 "manipulator"&d' +106 "core" ' + .tHand.close + "manipulator"&m/ +57 "core" / + "manipulator"&n& +4 "core" &,  $ +2 "manipulator"&]% +4 "core" %    + .tForearm.seek :retract +2 "manipulator"&c'\ +108 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC + "manipulator"&k(c +115 "core" ( + "manipulator"&N& +4 "core" &n  H +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &e& +3 "core" &n B H +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC + "manipulator"&t'[ +100 "core" ' + "manipulator"&u& +4 "core" &n M H +2 "manipulator"&w% +4 "core" %U +2 "processing"%x& +3 "core" &N  +2 "processing"%y& +5 "core" &N  +2 .tPC.seek :closed +2 "processing"%}(Z +4 "core" &N  +9 &8 *z +9 &l > +9 &M H +10 &n H +9 &r G +9 &n G +10 &!Vs\ H +9 &#q G +9 &$p G +10 &&t\ G +9 &(^n H +10 &* p H +9 &+o H +9 &-s G +10 &/gt G +9 &1)n G +9 &2o& G +10 &4r$ G +9 &6or" G +10 &80r H +9 &9n G +9 &;m* G +10 &=vp* H +9 &?7r1 H +9 &@l1 G +10 &Bm0 G +9 &Dk1 G +10 &FAs6 G +9 &Hv< H +57 &IB I +2 &K}@ K &M9? M + &NA M + &PD N + &RI M +4 &TAN M +9 &VM M +10 &WM N +9 &YL : +9 &Zs6P !b +9 &ZV % +3 ( + "processing"%y& +4 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.44 + "processing"%l& +4 "core" &ZU % +2 .tHand.open + "manipulator"&1 +54 "core" 1 + "manipulator"&f% +5 "core" % T + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&q'\ +95 "core" ' +2 .tPRV.dial :air +2 "processing"%o  +40 "core"  +2 .tPSV.dial :mixloop + "processing"%r +49 "core" + "processing"%p% +4 "core" % +2 .tPS.seek 0.3ml +2 "processing"%|'k +397 "core" ' + .tPSV.dial PSR +2 "processing"% +99 "core"  + "processing"%% +4 "core" %j + #tPulling 0.4ml of PSR.air +2 .PSR.select :air +3 .PS.seek 0.7ml + "processing"%>'. +486 "core" ' + .tdelay 3 seconds +302 .PSR.select :air +3 .PS.seek 2.5ml + "processing"%z'm +1943 "core" ' + .tdelay 3 seconds +302 .PSV.dial :mixloop +2 "processing"% +103 "core" + .tPTV.dial :mixing +2 "processing"% @ +65 "core" A +2 .tPBV.dial :waste2 + "processing"%V  +90 "core"  +2 .tPS.seek 0ml +2 "processing"%' +2633 "core" ' +2 #tGaraging FlushPuck in Processing Clamp + "manipulator"&`& +4 "core" &n P H +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC + "manipulator"&\ (c +10 "core" ( + "manipulator"&& +5 "core" &k \\ @ + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &k @ +2 .tForearm.seek PC +2 "manipulator"& '[ +99 "core" ' +2 .tHand.close + "manipulator"&U/ +63 "core" / +2 .tPC.seek :open + "processing"%(p +392 "core" ( +2 "manipulator"&_& +4 "core" &k @ + "manipulator"&% +4 "core" % a +2 .tForearm.seek :retract + "manipulator"&~'\ +100 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek :garage + "manipulator"&{(, +124 "core" ( + "manipulator"&& +4 "core" &,  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &,  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek :garage + "manipulator"&' +113 "core" ' +2 .tHand.open + "manipulator"&1 +58 "core" 1 +2 "manipulator"&"% +4 "core" %  , m +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +104 "core" ' +2 #tLoading da puck from tube 2 into Processing Clamp + "processing"%(& +4 "core" & +2 "manipulator"&% +3 "core" %\ 3 %v +2 "storage"(% +4 "core" %F\ \   + "storage"(. +3 "core" .(E +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 + "storage"((  +359 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (j& +3 "core" &  \   +2 "manipulator"&%& +3 "core" &, R  +2 "manipulator"&% +4 "core" %\ 3 o %v +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&(; +165 "core" ( +2 "manipulator"&& +4 "core" &> Q < + "storage"(& +4 "core" & \ !\ !   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&.'Ѐ +98 "core" ' + "storage"(& +4 "core" & \ \   +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"( 'e +288 "core" ' + "storage"(-- +3 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 ('& +2 "core" & \ "\   +2 "manipulator"&,& +3 "core" &>  < +2 .tElbow.seek 2 + "manipulator"& (; +4 "core" ( + "manipulator"&/& +4 "core" &> < + "storage"(9& +3 "core" & \ \ #  +3 .tForearm.seek 2 + 300 counts + "manipulator"&' +11 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&7/ +62 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&:& + "storage"(8'N +6 "core" &>  < +2 "manipulator"& % +3 "core" %  = +2 .tForearm.seek :retract +2 "manipulator"&)'\ +97 "core" ' +2 .tElbow.seek PC +2 "manipulator"&#(c +156 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +92 "core" ( + "manipulator"&4& +4 "core" &i J  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &2& +2 "core" &i  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC + "manipulator"&1'[ +103 "core" ' +2 "manipulator"&E& +4 "core" &i T  +2 "manipulator"&C% +3 "core" % c m +2 "processing"%!& +3 "core" & +3 "processing"%5& +5 "core" &T +2 .tPC.seek :closed +2 "processing"%6(Z +3 "core" &T  +9 &5O )w +9 &jO = +10 &w} H +9 &;mJ G +9 &lG G +10 &kC G +9 &!lE G +9 &#Cm G +10 &%k G +9 &&k G +10 &(m H +9 &*Kn G +9 &, p H +10 &-n G +9 &/l G +9 &1Tl G +10 &3p G +9 &4n G +9 &6m G +10 &8[p G +9 &:m G +10 &;k G +9 &=p G +9 &?cr G +10 &A%nw G +9 &Bp G +10 &Dn G +9 &Fjn H +9 &H,v} H +10 &I~ I +9 &K J +10 &Me L +9 &O% M +9 &Px M +9 &Rw M +10 &Tlz M +9 &V,y M +10 &Wp M +9 &Yo 8 +9 &Z/m Q +10 &Z` ' +2 ( +2 "processing"%5& +3 #tProcessing Clamp onSpring/offSpring for 8/26 samples, on/off torque 1.44 + .Hand.open +2 "manipulator"&B1 +62 "core" 1 +2 "manipulator"&s% +4 "core" % c _ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&F'\ +100 "core" ' +3 #tHeating Puck.from 2, :da in Processing Clamp to 28C for 2:00:00 +2 .PH.seek 28C,5:00 +2 "processing"%<  +2 %&9 +6 "core" 9 +102 "processing"%G9 +2 "core" 9 +102 "processing"%D9 +3 "core" 9  +102 "processing"%A9 +2 "core" 9  +102 "processing"%$9 +3 "core" 9 +102 "processing"%09 +2 "core" 9 +102 "processing"%J9 +2 "core" 9 +102 "processing"%+9 +3 "core" 9 +42 "Can"} ~, +60 "processing"%R9 +2 "core" 9" +102 "processing"%Y9 +3 "core" 9& +102 "processing"%Z9 +2 "core" 9* +102 "processing"%39 +3 "core" 9/ +102 "processing"%H9 +2 "core" 93 +102 "processing"%;9 +3 "core" 97 +103 "processing"%M9 +2 "core" 9; +103 "processing"%=9 +2 "core" 9? +102 "processing"%Q9 +2 "core" 9C +102 "processing"%K9 +3 "core" 9H +102 "processing"%?9 +2 "core" 9L +102 "processing"%S9 +3 "core" 9P +102 "processing"%T9 +2 "core" 9T +102 "processing"%@9 +3 "core" 9X +102 "processing"%h9 +2 "core" 9] +102 "processing"%9 +3 "core" 9a +102 "processing"%W9 +2 "core" 9e +102 "processing"%b9 +3 "core" 9i +102 "processing"%a9 +2 "core" 9m\ +102 "processing"%O9 +3 "core" 9$q +102 "processing"%L9 +2 "core" 9.v +102 "processing"%g9 +3 "core" 97z +102 "processing"%X9 +2 "core" 9A~ +102 "processing"%^9 +3 "core" 9L +102 "processing"%v9 +2 "core" 9U +102 "processing"%P9 +3 "core" 9_ +102 "processing"%m9 +3 "core" 9i +102 "processing"%n9 +22 "core" 9t +102 "processing"%]9 +2 "core" 9 +3 .tPH.hold 2:00:00,28C +2 "processing"%[ ppz +2 .tdelay 1:30 +6 "core"  +9000 .tPSR.select :air +2 .PSV.dial PSR +2 "processing"%N +103 "core"  +2 "processing"%e% +4 "core" % + #tPulling 0.5ml of PSR.wash + .PSR.select :wash +3 "processing"% +9 .tPS.seek 0.5ml +2 "processing"%d' +586 "core" ' +2 .tdelay 5 seconds +502 .PSR.select :air +2 "processing"% +10 .tPS.seek 2ml + "processing"%u'ԏ +1618 "core" ' + .tPTV.dial :puck +2 "processing"%w  +65 "core"  +2 .tPSV.dial PTV +2 "processing"%x +76 "core" +2 .tPBV.dial :waste1 + "processing"%i  +122 "core"  +2 "processing"%c% +4 "core" %Ԋ  +2 .tPS.seek 1.5ml + "processing"%*' +599 "core" ' + .tdelay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%l * +32 "core" , +3 .tPS.seek 0ml + "processing"%' +1615 "core" ' +2 .tdelay 5:00 +30002 #recoverPSRreagent08 +2 .PTV.dial :puck +51 .PBV.dial :waste1 +3 "processing"%f  +32 "core"  + .tdelay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%y * +33 "core" , + .tPSR.select :air +2 .PSV.dial PSR +2 "processing"%o +78 "core"  +2 .tPS.reconfigure :fast +2 "processing"%#A ,`xb +2 .tPS.seek 2.5ml +2 "processing"%r'm +2209 "core" ' + .tPSV.dial PTV +2 "processing"%p +77 "core" + .tdelay 5 seconds +502 .PSV.dial PSR +2 "processing"%t +76 "core"  + .tdelay 5 seconds +503 .PSV.dial PTV + "processing"%\\ +76 "core" +2 .tdelay 5 seconds +502 .PSV.dial :air +2 "processing"%  +72 "core"  +2 .tPS.seek 0ml +2 "processing"%' +2176 "core" ' + .tPTV.dial :PRVmixing,via: PRV +2 "processing"%|  +119 "core" + .tPSV.dial :mixloop +2 "processing"%> +48 "core" +2 .tPRV.dial :ab1 + "processing"% @ +68 "core" B +2 .tPS.reconfigure :slow +2 "processing"%#A 2`xb +2 .tPS.seek 0.15ml +2 "processing"%'@ +351 "core" ' + .tdelay 2 seconds +203 ."connect"CBV.dial PRV +3 .tPRV.dial CBV +2 "collection"'V  + "processing"%z  +42 "core" +  +2 "processing"%`% +4 "core" %A  +2 .tPS.seek 0.34ml +2 "processing"%' +437 "core" ' + .tdelay 2 seconds +202 .CBV.dial between PRV and PSV +2 "collection"'  +28 "core" + .tPRV.dial :air +2 "processing"%U  +40 "core"  +3 .tPS.seek 0.9ml + "processing"%k'H +1201 "core" ' + .tPRV.dial :waste2 +2 "processing"%q @ +67 "core" ? +3 .tPS.seek 0.5ml + "processing"%}' +4 "Can"g A? +863 "core" ' + #taddPMLReagent08 + .PSV.dial :air +2 "processing"%_  +47 "core"  +2 .tPS.reconfigure :default +2 "processing"%#A d`xb +3 .tPS.seek 2ml + "processing"%'ԏ +1659 "core" ' +2 .tPSV.dial :PML + "processing"% +49 "core" + .tPTV.dial :mixing +2 "processing"% @ +66 "core" @ + .tPBV.dial :waste1 +2 "processing"%  +33 "core"  + "processing"%\ % +4 "core" %ԉa  +2 .tPS.seek 1.85ml + "processing"%'` +235 "core" ' +2 .tPBV.dial between PSV and waste1 +2 "processing"%" * +32 "core" , +3 .tPS.seek 0ml + "processing"%(' +1970 "core" ' + .tdelay 2 seconds +202 #Beginning samplePassC +2 #Loading FlushPuck into Collection Clamp from FlushPuck::Garage + "collection"'& +3 "core" &BD +2 "manipulator"&~& +3 "core" &i   +2 "manipulator"&% +4 "core" %\ . 3 #f +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek FlushPuck::Garage + "manipulator"&(, +123 "core" ( +2 "manipulator"&& +4 "core" &, B  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &, Y  +2 .tForearm.seek :garage + "manipulator"&j' +104 "core" ' +2 .tHand.close + "manipulator"&%/ +53 "core" / +2 "manipulator"&& +3 "core" &,  [  +2 "manipulator"&% +4 "core" %  +2 .tForearm.seek :retract +2 "manipulator"&'\ +98 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&( +281 "core" ( +2 "manipulator"&{& +4 "core" &+ u Ad + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &+ i Ac +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&-'| +91 "core" ' +2 "manipulator"&'& +4 "core" &+ Ab +2 "manipulator"&,% +4 "core" %w +2 "collection"'/& +4 "core" &BB +2 "collection"'9& +5 "core" &BD +2 .tCC.seek :closed + "collection"'7(] +5 "core" &@C +7 &B@C $d +9 &|ZAC 6 +10 &AE I +9 &kAB H +9 &fn?A H +10 &'rBC I +9 & pAB H +10 &"p@B H +9 &$nkBB H +9 &&/m@D I +10 &'pAD I +9 &)rBA H +9 &+urCC I +10 &-6nAB I +9 &.o@B H +10 &0nCB I +9 &2~l@C H +9 &4@nBB H +10 &6k@B H +9 &7nAC H +9 &9n@B I +10 &;Gm@C I +9 &= n?C I +10 &>rCC H +9 &@qAC I +9 &BOpBD I +10 &Dn?C H +9 &Em?C H +9 &GlCF H +10 &IWsCD I +9 &KBC K +10 &LDD N +9 &NDE P +9 &PICE P +10 &REE R +9 &SBF S +10 &UDD R +9 &WJDD S +9 &YEF W +9 &ZCE T +10 &\\CF A +9 &]p'DE %m +10 &]MDG @ +2 ( + "collection"'9& +4 #tCollection Clamp onSpring/offSpring for 9/25 samples, on/off torque 1.82 + "collection"':& +4 "core" &]QDF @ +2 .tHand.open + "manipulator"& 1 +60 "core" 1 +2 "manipulator"&% +5 "core" % w  + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&.'\ +92 "core" ' + .tPSV.dial PSR +2 "processing"% +98 "core"  +2 "processing"%% +4 "core" %D + #tPulling 1.5ml of PSR.flush +2 .PSR.select :flush +2 "processing"%@ +9 .tPS.seek 1.5ml +2 "processing"%4' +1622 "core" ' +2 .tdelay 5 seconds +501 .PSV.dial :waste1 +3 "processing"%2  +42 "core"  +2 .tPS.seek 0ml +2 "processing"% ' +1620 "core" ' + .tPSV.dial PSR +2 "processing"%E +48 "core"  +2 .tPSR.select :air +2 "processing"% +9 .tPS.seek 2.5ml +2 "processing"%C'm +2631 "core" ' + ."connect"PRV.dial CBV,avoiding: :ab2 +4 .tCBV.dial PRV +2 "processing"%!  +2 "collection"'8  +31 "core"  +113  + .tPSV.dial :mixloop +2 "processing"%) +98 "core" +2 .tCTV.dial :air,avoiding: :intake + .PTV.dial :PRVmixing +2 "processing"%  +67 "core" +2 .tPS.seek 0ml +2 "processing"%B' +2632 "core" ' + .tPSV.dial :air +2 "processing"%s  +44 "core"  +2 .tPS.seek 2.5ml +2 "processing"%&'m +2633 "core" ' +2 .tPSV.dial :mixloop + "processing"%5 +49 "core" +2 .tPS.seek 0ml +2 "processing"%G' +2632 "core" ' + .tPSV.dial :air +2 "processing"%1  +48 "core"  +3 .tPS.seek 2.5ml + "processing"%D'm +2636 "core" ' + .tPSV.dial :mixloop + "processing"%A +49 "core" +2 .tPS.seek 0ml +2 "processing"%$' +2632 "core" ' + #tGaraging FlushPuck in Collection Clamp +2 "manipulator"&0& +4 "core" &1# { ;4 +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&J( +29 "core" ( + "manipulator"&+& +4 "core" & M  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &R& +3 "core" &  +2 .tForearm.seek CC + "manipulator"&Y'| +97 "core" ' + .tHand.close + "manipulator"&Z/ +57 "core" / +2 .tCC.seek :open +2 "collection"'3(p +410 "core" ( +2 "manipulator"&H& +4 "core" &   + "manipulator"&;% +4 "core" % Ϗ  +2 .tForearm.seek :retract + "manipulator"&M'\ +94 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek :garage + "manipulator"&=(, +269 "core" ( + "manipulator"&Q& +4 "core" &, 0 } +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &K& +3 "core" &, ) } +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek :garage + "manipulator"&?' +109 "core" ' +2 .tHand.open + "manipulator"&S1 +55 "core" 1 + "manipulator"&T% +4 "core" %  ( +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&@'\ +102 "core" ' +2 ."da"delayUntil "13:10:15.16" +24894 #recoverPRVreagent08 +2 .PTV.dial :mixing + "processing"%h @ +67 "core" A + ."da"PBV.dial :waste1 + "processing"%  +34 "core"  + ."da"delay 30 seconds +3002 .PBV.dial between PSV and waste1 +52 "processing"%W * +34 "core" , + ."da"PSV.dial :air +2 "processing"%b  +48 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%a'm +2191 "core" ' + ."da"PSV.dial :mixloop +2 "processing"%O +49 "core" + ."da"delay 2 seconds +202 .PSV.dial :air +2 "processing"%L  +48 "core"  + ."da"delay 2 seconds +202 .PSV.dial :mixloop +2 "processing"%g +48 "core" + ."da"delay 2 seconds +202 .PSV.dial :air +2 "processing"%X  +48 "core"  +2 ."da"PS.seek 0ml +2 "processing"%^' +547 "Can"[ B? +1622 "core" ' +2 #"da"washCycleDA #1 of 2 + .PSR.select :air +2 .PSV.dial PSR +2 "processing"%v +125 "core"  + "processing"%P% +4 "core" %| + #"da"Pulling 0.5ml of PSR.wash +2 .PSR.select :wash +2 "processing"% +10 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"%m' +610 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +2 "processing"% +10 ."da"PS.seek 2ml + "processing"%n'ԏ +1614 "core" ' +2 ."da"PTV.dial :puck +2 "processing"%]  +65 "core"  + ."da"PSV.dial PTV +2 "processing"%N +72 "core" +2 ."da"PBV.dial :waste1 + "processing"%e  +33 "core"  + "processing"%% +4 "core" %Ԋ  +2 ."da"PS.seek 1.5ml +2 "processing"%d' +599 "core" ' + ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%w * +32 "core" , +2 ."da"PS.seek 0ml +2 "processing"%x' +1609 "core" ' + ."da"delay 2:00 +12003 #recoverPSRreagent08 +2 .PTV.dial :puck + .PBV.dial :waste1 + "processing"%i  +34 "core"  + ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%c * +33 "core" + + ."da"PSR.select :air +3 .PSV.dial PSR + "processing"%u +76 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%l'm +2207 "core" ' + ."da"PSV.dial PTV +2 "processing"%* +75 "core" + ."da"delay 5 seconds +503 .PSV.dial PSR + "processing"%< +74 "core"  +2 ."da"delay 5 seconds +502 .PSV.dial PTV +2 "processing"%f +76 "core" + ."da"delay 5 seconds +503 .PSV.dial :air +2 "processing"%y  +111 "core"  +2 ."da"PS.seek 0ml +2 "processing"%o' +2177 "core" ' +2 #"da"washCycleDA #2 of 2 + .PSR.select :air +2 .PSV.dial PSR +2 "processing"% +126 "core"  + "processing"%p% +4 "core" %w +2 #"da"Pulling 0.5ml of PSR.wash + .PSR.select :wash +2 "processing"% +9 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"%t' +597 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +2 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%\\'ԏ +1640 "core" ' + ."da"PTV.dial :puck +2 .PSV.dial PTV + "processing"% +71 "core" + ."da"PBV.dial :waste1 + "processing"%r  +34 "core"  + "processing"%|% +4 "core" %Ԇw +2 ."da"PS.seek 1.5ml +2 "processing"%>' +608 "core" ' + ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"% * +32 "core" + +2 ."da"PS.seek 0ml +2 "processing"%' +1609 "core" ' + ."da"delay 2:00 +12003 #recoverPSRreagent08 + .PTV.dial :puck +2 .PBV.dial :waste1 +2 "processing"%z  +33 "core"  + ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%V * +33 "core" + + ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"%` +76 "core"  +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml +2 "processing"%'m +2216 "core" ' + ."da"PSV.dial PTV +2 "processing"% +75 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PSR +2 "processing"%U +75 "core"  +2 ."da"delay 5 seconds +502 .PSV.dial PTV +2 "processing"% +74 "core" + ."da"delay 5 seconds +503 .PSV.dial :air +2 "processing"%q  +71 "core"  +2 ."da"PS.seek 0ml +2 "processing"%k' +2174 "core" ' + #"da"getPMLReagent08 +2 .PRV.dial :air + "processing"%_  +39 "core"  +2 ."da"delay 5 seconds +502 .PTV.dial :PRVmixing +2 "processing"%}  +118 "core" + ."da"delay 5 seconds +503 .PRV.dial :ab2 + "processing"%  +40 "core"  + ."da"PTV.dial :PRVmixing +2 .PSV.dial :mixloop +2 "processing"% +48 "core" +2 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 0.3ml + "processing"% 'i +405 "core" ' +2 ."da"delay 2 seconds +202 .PRV.dial :air + "processing"%\  +42 "core"  + "processing"%"% +4 "core" %c +2 ."da"PS.seek 0.55ml +2 "processing"%'R +331 "core" ' +2 #"da"addPMLReagent08 + .PSV.dial :air +2 "processing"%  +48 "core"  +2 ."da"PS.seek 2ml +2 "processing"%'ԏ +1562 "core" ' + ."da"PSV.dial :PML +2 "processing"%~ +47 "core" + ."da"PTV.dial :mixing +2 "processing"% @ +66 "core" B + ."da"PBV.dial :waste1 +2 "processing"%  +33 "core" + "processing"%% +3 "core" %Ԋ  +3 ."da"PS.seek 1.85ml + "processing"%#'a +265 "core" ' + ."da"PBV.dial between PSV and waste1 +3 "processing"%% * +32 "core" + +2 ."da"PS.seek 0ml +2 "processing"%' +3 "Can"S \  +1976 "core" ' + ."da"delay 2 seconds +202 .delay 8:00 +48003 #recoverPRVreagent08 +2 .PTV.dial :mixing + .PBV.dial :waste1 + "processing"%  +33 "core" + ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%F * +33 "core" + + ."da"PSV.dial :air +2 "processing"%j  +49 "core"  + ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%{'m +2210 "core" ' + ."da"PSV.dial :mixloop +2 "processing"% +49 "core" + ."da"delay 2 seconds +202 .PSV.dial :air +2 "processing"%  +48 "core"  + ."da"delay 2 seconds +202 .PSV.dial :mixloop +2 "processing"%' +46 "core" +2 ."da"delay 2 seconds +202 .PSV.dial :air + "processing"%,  +49 "core"  +2 ."da"PS.seek 0ml +2 "processing"%/' +2164 "core" ' +2 #"da"washCycleDA #1 of 3 + .PSR.select :air +2 .PSV.dial PSR +2 "processing"% +125 "core"  + "processing"%I% +4 "core" % + #"da"Pulling 0.5ml of PSR.wash + .PSR.select :wash +2 "processing"% +10 ."da"PS.reconfigure :default +2 "processing"%#A d`xb +3 ."da"PS.seek 0.5ml +2 "processing"%:' +589 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +2 "processing"% +10 ."da"PS.seek 2ml + "processing"% 'ԏ +232 "Can"T EB +1410 "core" ' +2 ."da"PTV.dial :puck + "processing"%  +65 "core"  + ."da"PSV.dial PTV +44 "processing"%9 +77 "core" + ."da"PBV.dial :waste1 + "processing"%  +34 "core" + "processing"%% +4 "core" %ԇ +2 ."da"PS.seek 1.5ml + "processing"%-' +598 "core" ' + ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%( * +32 "core" + +2 ."da"PS.seek 0ml +2 "processing"%2' +1612 "core" ' + ."da"delay 2:00 +12004 #recoverPSRreagent08 + .PTV.dial :puck + .PBV.dial :waste1 +2 "processing"%4  +33 "core" + ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%E * +33 "core" + + ."da"PSR.select :air +3 .PSV.dial PSR + "processing"% +75 "core"  +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml + "processing"%8'm +2206 "core" ' + ."da"PSV.dial PTV +2 "processing"%! +75 "core" + ."da"delay 5 seconds +503 .PSV.dial PSR + "processing"%) +76 "core"  + ."da"delay 5 seconds +503 .PSV.dial PTV +2 "processing"% +74 "core" + ."da"delay 5 seconds +502 .PSV.dial :air +2 "processing"%C  +70 "core"  +2 ."da"PS.seek 0ml +2 "processing"%s' +2169 "core" ' +2 #"da"washCycleDA #2 of 3 + .PSR.select :air +2 .PSV.dial PSR +2 "processing"%B +124 "core"  +2 "processing"%5% +4 "core" % + #"da"Pulling 0.5ml of PSR.wash + .PSR.select :wash +2 "processing"% +9 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"%&' +593 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +2 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%1'ԏ +1658 "core" ' + ."da"PTV.dial :puck +2 .PSV.dial PTV +2 "processing"%G +70 "core" +2 ."da"PBV.dial :waste1 + "processing"%A  +33 "core" + "processing"%D% +4 "core" %Ԋ  +2 ."da"PS.seek 1.5ml +2 "processing"%0' +599 "core" ' + ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%+ * +32 "core" + +2 ."da"PS.seek 0ml +2 "processing"%R' +1612 "core" ' + ."da"delay 2:00 +12004 #recoverPSRreagent08 + .PTV.dial :puck + .PBV.dial :waste1 +2 "processing"%Z  +33 "core" + ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"% * +33 "core" + + ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"%. +76 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%7'm +2210 "core" ' + ."da"PSV.dial PTV +2 "processing"%H +75 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PSR +2 "processing"%; +75 "core"  +2 ."da"delay 5 seconds +502 .PSV.dial PTV +2 "processing"%Y +74 "core" + ."da"delay 5 seconds +503 .PSV.dial :air +2 "processing"%Q  +71 "core"  +2 ."da"PS.seek 0ml +2 "processing"%K' +2170 "core" ' +2 #"da"washCycleDA #3 of 3 +2 .PSR.select :air +2 .PSV.dial PSR + "processing"%J +125 "core"  + "processing"%S% +4 "core" % + #"da"Pulling 0.5ml of PSR.wash +2 .PSR.select :wash +2 "processing"% +9 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"%T' +592 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +2 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%M'ԏ +1615 "core" ' + ."da"PTV.dial :puck +2 .PSV.dial PTV + "processing"%? +71 "core" + ."da"PBV.dial :waste1 + "processing"%h  +34 "core" + "processing"%% +4 "core" %ԏ  +2 ."da"PS.seek 1.5ml + "processing"%W' +618 "core" ' + ."da"delay 3 seconds +303 .PBV.dial between PSV and waste1 +2 "processing"%b * +32 "core" * +2 ."da"PS.seek 0ml +2 "processing"%$' +1617 "core" ' +2 ."da"delay 2:00 +1897 "Can"O ]Y +10106 #"da"recoverPSRreagent08 + .PTV.dial :puck + .PBV.dial :waste1 +2 "processing"%O  +32 "core" + ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%L * +33 "core" * + ."da"PSR.select :air +3 .PSV.dial PSR + "processing"%g +75 "core"  +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%X'm +2207 "core" ' + ."da"PSV.dial PTV +2 "processing"%a +77 "core" + ."da"delay 5 seconds +503 .PSV.dial PSR + "processing"%v +75 "core"  + ."da"delay 5 seconds +502 .PSV.dial PTV +2 "processing"%P +76 "core" + ."da"delay 5 seconds +503 .PSV.dial :air + "processing"%^  +70 "core"  +2 ."da"PS.seek 0ml +2 "processing"%m' +2174 "core" ' + ."da"Gate.power :camera,:ON +2 #Mixing DA Substrates + .PSR.select :air +2 .PSV.dial PSR + "processing"%] +126 "core"  +4 "processing"%N% +10 "core" % +3 #"da"Pulling 0.25ml of PSR.sub1 +3 .PSR.select :sub1 +7 "processing"% +14 ."da"PS.reconfigure :default +9 "processing"%#A d`xb +4 ."da"PS.seek 0.25ml +6 "processing"%e' +341 "core" ' +2 ."da"delay 5 seconds +502 "processing"%% +4 "core" %  + #"da"Pulling 0.25ml of PSR.sub2 + .PSR.select :sub2 +2 "processing"% +10 ."da"PS.seek 0.5ml +2 "processing"%n' +342 "core" ' + ."da"delay 5 seconds +503 .PSR.select :air +2 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%w'ԏ +1617 "core" ' + ."da"PTV.dial :puck +2 .PSV.dial PTV +2 "processing"%d +72 "core" + ."da"PBV.dial :waste1 +2 "processing"%i  +33 "core" + "processing"%c% +4 "core" %Ԍ   +2 ."da"PS.seek 1.5ml +2 "processing"%u' +594 "core" ' + ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%x * +32 "core" * +2 ."da"PS.seek 0ml +2 "processing"%*' +1615 "core" ' +2 ."da"delay 10 seconds +1003 #recoverPSRreagent08 + .PTV.dial :puck + .PBV.dial :waste1 +2 "processing"%<  +32 "core" + ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%f * +33 "core" * + ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"%y +76 "core"  +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml +2 "processing"%l'm +2224 "core" ' + ."da"PSV.dial PTV +2 "processing"% +76 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PSR +2 "processing"%p +76 "core"  + ."da"delay 5 seconds +503 .PSV.dial PTV + "processing"%o +74 "core" +2 ."da"delay 5 seconds +502 .PSV.dial :air +2 "processing"%t  +71 "core"  +2 ."da"PS.seek 0ml +2 "processing"% ' +2188 "core" ' +2 #"da"Additional air clear + .PSR.select :air +2 .PSV.dial PSR +2 "processing"%r +124 "core"  +2 "processing"%|% +55 "core" % +2 #"da"Pulling 2ml of PSR.air + .PSR.select :air +3 .PS.reconfigure :default +2 "processing"%#A d`xb +2 ."da"PS.seek 2ml +2 "processing"%\\'ԏ +2125 "core" ' +2 ."da"delay 5 seconds +502 .PTV.dial :puck +2 .PSV.dial PTV +2 "processing"% +70 "core" +2 ."da"PBV.dial :waste1 + "processing"%>  +33 "core" +2 "processing"%z% +3 "core" %ԋ  +2 ."da"PS.seek 1.5ml +2 "processing"%V' +596 "core" ' + ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%` * +34 "core" , + ."da"delay 1 second +103 .PSV.dial :waste1 + "processing"%  +104 "core"  +3 ."da"PS.seek 0ml +2 "processing"%' +1619 "core" ' + "processing"%U9 +3 "core" 94 +2 #"da"Processing Puck Heater at 27.8C before imaging + .PH.coast +3 "processing"%  +3 "core" 4 + 4 + "processing"%q& +4 "core" &Z| ' +2 #"da"Imaging da puck in Processing Clamp while storing it to tube 1 + "manipulator"&% +4 "core" %\ /  #d + "storage"(_% +4 "core" %B y + "storage"(}. +3 "core" .(  +2 ."da"SC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 ."da"SC.seek 1 +2 "storage"((B +375 "core" ( + ."da"SC.configure :limp +3 "storage"($\ 1b +2 (& +2 "core" &> H a +2 "manipulator"&k& +4 "core" &, % } + "manipulator"&\ % +4 "core" %\ /  #d +2 ."da"Elbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 ."da"Elbow.seek 1 +2 "manipulator"&"(c +186 "core" ( + "manipulator"& & +4 "core" &o   +2 "storage"(& +3 "core" &> +2 ."da"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 ."da"Forearm.seek 1 + 450 counts +2 "manipulator"&'Ф +104 "core" ' +2 "storage"(~& +4 "core" &> O O g + ."da"SE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 ."da"SE.seek :beamBreak +2 "storage"('e +282 "core" ' + "storage"(- +4 "core" -' + ."da"SE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&& +3 "core" &o p q  +2 "storage"(& +4 "core" &> O O ) + ."da"Elbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 ."da"Forearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 ."da"Forearm.seek 1 +2 "manipulator"&%' +33 "core" ' + ."da"Elbow.hold +2 "manipulator"&#, +3 "core" , +2 ."da"Elbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(- +2 "core" -' +3 ."da"SE.seek 1.13 Pucks below Top Plate +2 "storage"(F'k +27 "core" ' + "manipulator"&j% +4 "core" %} üH + "storage"(& +4 "core" &> E . + ."da"Forearm.force -20 +2 "manipulator"&5 +3 ."da"Forearm.seek 1 + 317 counts +2 "manipulator"&' +19 "core" ' +2 "manipulator"&& +4 "core" &l \\ v + "storage"('& +4 "core" &> z +2 ."da"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 ."da"Forearm.seek 1 + 450 counts +2 "manipulator"&,'Ф +14 "core" ' +2 ."da"SE.seek 2.13 Pucks below Top Plate +3 "storage"({'Z +42 "core" ' +2 "manipulator"&& +4 "core" &l n c V + "manipulator"&I% +4 "core" %Л _ ` + +2 ."da"Forearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 ."da"Forearm.seek :retract +2 "manipulator"&/'\ +87 "core" ' + ."da"Elbow.seek PC +2 "manipulator"&:(c +254 "core" ( +2 "manipulator"&& +4 "core" &b  +2 ."da"Elbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &9& +2 "core" &b M +2 ."da"Forearm.seek PC +2 "manipulator"& '[ +103 "core" ' + ."da"Hand.close +2 "manipulator"&/ +53 "core" / +2 ."da"PC.seek :open +2 "processing"% (p +391 "core" ( +2 "storage"((& +4 "core" &> E / I + "manipulator"&-& +4 "core" &r ]  + "manipulator"&4% +4 "core" % K i +2 ."da"Forearm.seek :retract + "manipulator"&E'\ +96 "core" ' + ."da"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 ."da"Elbow.seek 1 +2 "manipulator"& (c +248 "core" ( +2 "manipulator"&2& +4 "core" &] $ + "storage"(!& +4 "core" &> ! _ +2 ."da"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 ."da"Forearm.seek 1 + 450 counts +2 "manipulator"&)'Ф +111 "core" ' +2 ."da"Hand.open +2 "manipulator"&1 +62 "core" 1 +2 "storage"(C- +3 "core" -'Z +2 ."da"SE.seek 1.88 Pucks below Top Plate +2 "storage"(8'& +24 "core" ' + ."da"SE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 ."da"SE.seek 1.22 Pucks below Top Plate +2 "storage"(B' +48 "core" ' +2 #"da"Lights, camera, ACTION! +3 #PuckCamera: snap -bin=2,2 -auto /var/log/esp/da22nov1513h100ml.tif +1951 #"psFlush"Waiting >20 seconds for da to relinquish FlushPuck +1350 #"da"SX HX9/16 (USB:02): 1392x1040 pixel 16-bit CCD camera\ Exposing 696x520 pixel 16-bit image for 29.503 seconds\ /var/log/esp/da22nov1513h100ml.tif: TIFF Upload Complete\ +4 #PuckCamera: snap -bin=2,2 15.0 /var/log/esp/midres/da22nov1513h100ml15s.tif +1565 #SX HX9/16 (USB:02): 1392x1040 pixel 16-bit CCD camera\ Exposing 696x520 pixel 16-bit image for 15 seconds\ /var/log/esp/midres/da22nov1513h100ml15s.tif: TIFF Upload Complete\ +3 #PuckCamera: snap -bin=2,2 30.0 /var/log/esp/midres/da22nov1513h100ml30s.tif +3068 #SX HX9/16 (USB:02): 1392x1040 pixel 16-bit CCD camera\ Exposing 696x520 pixel 16-bit image for 30 seconds\ /var/log/esp/midres/da22nov1513h100ml30s.tif: TIFF Upload Complete\ +4 #PuckCamera: snap -bin=1,1 70.0 /var/log/esp/hires/da22nov1513h100ml70s.tif +7185 #SX HX9/16 (USB:02): 1392x1040 pixel 16-bit CCD camera\ Exposing 1392x1040 pixel 16-bit image for 70 seconds\ /var/log/esp/hires/da22nov1513h100ml70s.tif: TIFF Upload Complete\ +2 .Gate.power :camera,:OFF +2 ."Qmail"DAfans.email "29.503 sec auto-exposure",Subject: "da22nov1513h100ml images!" +8 "storage"(5- +3 "core" -' +2 "storage"(s& +5 "core" &> F +2 "manipulator"&&& +5 "core" &^  $ +2 ."da"Elbow.seek 1 +2 "manipulator"&G(c +3 "core" ( + "manipulator"&A& +4 "core" &^  $ + "storage"(D& +4 "core" &> +2 ."da"Forearm.seek 1 + 450 counts +2 "manipulator"&1'Ф +3 "core" ' +2 ."da"SE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 ."da"SE.seek 1.93 Pucks below Top Plate +4 "storage"(+'e +65 "core" ' + "manipulator"&0& +4 "core" &^  $ +2 "storage"(Z& +4 "core" &>\ \ [ + ."da"Elbow.reconfigure :limp +3 "manipulator"&$ ,(b +4 ."da"Forearm.reconfigure :loose +3 !"Qmail"o:!Net::SMTPAuthenticationError: mesg"E534-5.7.9 Application-specific password required. Learn more at\ :@checkpoint: omitted:bt["E/opt/mbari/lib/ruby/1.8/net/smtp.rb:954:in `check_auth_response'"/opt/mbari/lib/ruby/1.8/net/smtp.rb:723:in `authenticate'":/opt/mbari/lib/ruby/1.8/net/smtp.rb:566:in `do_start'"7/opt/mbari/lib/ruby/1.8/net/smtp.rb:525:in `start'"2/home/esp/esp2/lib/email.rb:325:in `sendOnce'"3/home/esp/esp2/lib/schedule.rb:292:in `unsync'"3/home/esp/esp2/lib/schedule.rb:594:in `unsync'"3/home/esp/esp2/lib/schedule.rb:621:in `unsync'"2/home/esp/esp2/lib/email.rb:318:in `sendOnce'"./home/esp/esp2/lib/email.rb:340:in `send'",/home/esp/esp2/lib/msg.rb:68:in `retry'"./home/esp/esp2/lib/email.rb:339:in `send'"B/home/esp/esp2/protocol/2G/utilities.rb:163:in `prepAndImage'"-/home/esp/esp2/lib/email.rb:66:in `call'"3/home/esp/esp2/lib/email.rb:66:in `initialize'"-/home/esp/esp2/lib/email.rb:63:in `loop'"3/home/esp/esp2/lib/email.rb:63:in `initialize'"7/home/esp/esp2/lib/schedule.rb:481:in `initialize'"0/home/esp/esp2/lib/thread.rb:738:in `start'"7/home/esp/esp2/lib/schedule.rb:474:in `initialize'"'/home/esp/esp2/lib/schedule.rb:472 +3 "manipulator"&#Q@2^d^b + !"Qmail"o:Email::Queue::Purge: mesg"Purged output queue:bt[ "//home/esp/esp2/lib/email.rb:106:in `purge'"3/home/esp/esp2/lib/email.rb:75:in `initialize'"-/home/esp/esp2/lib/email.rb:63:in `loop'"3/home/esp/esp2/lib/email.rb:63:in `initialize'"7/home/esp/esp2/lib/schedule.rb:481:in `initialize'"0/home/esp/esp2/lib/thread.rb:738:in `start'"7/home/esp/esp2/lib/schedule.rb:474:in `initialize'"'/home/esp/esp2/lib/schedule.rb:472 +3 ."da"Forearm.seek 1 +3 "manipulator"&' +33 "Can"Q JH +2 "core" ' + ."da"Elbow.hold +2 "manipulator"&., +3 "core" , +2 ."da"Elbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 ."da"SE.reconfigure :default +3 "storage"(#QK-0-\ b +2 ."da"SE.seek 2.12 Pucks below Top Plate +2 "storage"(R'O +24 "core" ' + "manipulator"&H% +4 "core" % " s +3 "storage"(;& +3 "core" &>\ \  +2 ."da"Forearm.force -20 + "manipulator"&5 +3 ."da"Forearm.seek 1 + 309 counts + "manipulator"&Y' +21 "core" ' + "manipulator"&Q& +5 "core" &^ a O $ + "storage"(7& +4 "core" &>\ \  " +2 ."da"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 ."da"Forearm.seek 1 + 450 counts +2 "manipulator"&J'Ф +17 "core" ' +2 "storage"(S% +93 "core" %R\ \  +2 ."downElevator"SE.seek :down +4 "storage"(K'N +98 (T% +3 "core" %C\ \  M: + "manipulator"&?% +4 "core" %Ж l a O  +2 ."da"Forearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 ."da"Forearm.seek :retract +2 "manipulator"&h'\ +87 "core" ' +62 ' +2 ."downElevator"SE.stop +2 "storage"(5 +2 (& +4 "core" &>\ \  8 +2 #"psFlush"Loading FlushPuck into Processing Clamp from FlushPuck::Garage +2 #tStarting finalPurge +3 "processing"%M& +4 "core" & + "manipulator"&b& +4 "core" &^ W $ +2 "manipulator"&W% +3 "core" %\ + 7 !O +2 ."psFlush"Elbow.seek FlushPuck::Garage +2 "manipulator"&O(, +175 "core" ( +2 "manipulator"&L& +4 "core" &, k  + ."psFlush"Elbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &g& +3 "core" &,   +2 ."psFlush"Forearm.seek :garage +2 "manipulator"&$' +106 "core" ' +2 ."psFlush"Hand.close + "manipulator"&a/ +57 "core" / + "manipulator"&v& +4 "core" &, =  +2 "manipulator"&P% +3 "core" %  +2 ."psFlush"Forearm.seek :retract +2 "manipulator"&^'\ +100 "core" ' +2 ."psFlush"Elbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 ."psFlush"Elbow.seek PC + "manipulator"&X(c +125 "core" ( + "manipulator"&]& +3 "core" &f k  +2 ."psFlush"Elbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &N& +3 "core" &f   +2 ."psFlush"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 ."psFlush"Forearm.seek PC +2 "manipulator"&m'[ +100 "core" ' +2 "manipulator"&& +4 "core" &f p  +2 "manipulator"&e% +4 "core" %K I +2 "processing"%n& +3 "core" & +2 "processing"%d& +5 "core" & +2 ."psFlush"PC.seek :closed +3 "processing"%i(Z +2 "core" & +7 &< $d +10 &|[ 6 +9 & H +9 &n G +10 &mp G +9 &.p G +9 & p G +10 &"l G +9 &$vp G +9 &&7p G +10 &'ms G +9 &)l G +10 &+}n G +9 &-@n G +9 &/s G +10 &0oz G +9 &2pv F +9 &4Hnr G +10 &6\ lc G +9 &7nm F +10 &9mm G +9 &;Orn G +9 &=no G +10 &>rm G +9 &@m` G +10 &BXme G +9 &Dpo G +9 &En] F +10 &Gp[ G +9 &I\\zZ H +9 &KS J +10 &LU L +9 &N[ M +10 &PWV M +9 &RU M +9 &SY M +9 &UZ M +10 &W_X M +9 &Y P H +10 &ZS;kY %l +9 &Z 7J ' +5 ( +2 "processing"%d& +4 #"psFlush"Processing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.45 + "processing"%c& +5 "core" &ZJ ' + &ZK ' + ."psFlush"Hand.open + "manipulator"&w1 +59 "core" 1 +2 "manipulator"&x% +4 "core" % K Z + ."psFlush"Forearm.reconfigure :loose +4 "manipulator"&#Q@2^d^b +2 ."psFlush"Forearm.seek :retract +2 "manipulator"&u'\ +101 "core" ' + ."psFlush"PSR.select :air +2 .PSV.dial PSR +2 "processing"%< +48 "core"  + "processing"%f% +4 "core" %` + #"psFlush"Pulling 0.5ml of PSR.flush +2 .PSR.select :flush +2 "processing"%@ +10 ."psFlush"PS.seek 0.5ml + "processing"%y' +556 #tWaiting >20 seconds for psFlush to relinquish FlushPuck +34 "core" ' + ."psFlush"delay 5 seconds +503 .PSR.select :air +2 "processing"% +9 ."psFlush"PS.seek 2.5ml + "processing"%*'m +2134 "core" ' + ."psFlush"delay 1 second +102 .PRV.dial :waste2,avoiding: :ab2 +2 "processing"% @ +168 "core" A + ."psFlush"PTV.dial :PRVmixing +2 "processing"%p  +117 "core" +2 ."psFlush"PSV.dial :mixloop +2 "processing"%o +98 "core" +2 ."psFlush"PS.seek :empty +2 "processing"%t' +2632 "core" ' + ."psFlush"PSR.select :air +2 .PSV.dial PSR +2 "processing"%l +103 "core"  + "processing"%r% +4 "core" % + #"psFlush"Pulling 0.5ml of PSR.flush +2 .PSR.select :flush +2 "processing"%@ +9 ."psFlush"PS.seek 0.5ml +2 "processing"%|' +589 "core" ' +2 ."psFlush"delay 5 seconds +502 .PSR.select :air +3 "processing"% +9 ."psFlush"PS.seek 2.5ml + "processing"% 'm +2140 "core" ' + ."psFlush"delay 1 second +102 .PBV.dial :waste1 + "processing"%  +35 "core" + ."psFlush"PTV.dial :mixing +2 "processing"%> @ +67 "core" @ + ."psFlush"PSV.dial :mixloop +2 "processing"%z +103 "core" +2 ."psFlush"PS.seek :empty +2 "processing"%\\' +2634 "core" ' + ."psFlush"PSV.dial PSR +2 "processing"%` +103 "core"  + ."psFlush"PSR.select :flush +3 "processing"%@ +9 ."psFlush"PS.seek 1ml +2 "processing"%'T +1101 "core" ' + ."psFlush"PSR.select :air +2 "processing"% +9 ."psFlush"PS.seek 2.5ml +2 "processing"%V'm +1636 "core" ' + ."psFlush"PSV.dial PTV +2 "processing"%U +76 "core" +2 ."psFlush"PTV.dial :puck + "processing"%  +66 "core"  +2 ."psFlush"PBV.dial :waste1 +2 .PS.seek 0ml + "processing"%q' +2640 "core" ' +2 ."psFlush"PSV.dial PSR +2 "processing"% +75 "core"  + ."psFlush"PSR.select :flush +2 "processing"%@ +10 ."psFlush"PS.seek 0.5ml +2 "processing"%_' +597 "core" ' + ."psFlush"PSR.select :air +2 "processing"% +10 ."psFlush"PS.seek 2.5ml +2 "processing"%}'m +2141 "core" ' + ."psFlush"PSV.dial PTV +2 "processing"% +77 "core" + ."psFlush"PBV.dial PSV +2 "processing"% U +52 "core" W +2 ."psFlush"PS.seek 0ml +2 "processing"%k' +2630 "core" ' + ."psFlush"PSV.dial PBV +2 "processing"%\ @ +48 "core" > +2 ."psFlush"PS.seek 2.5ml +2 "processing"% 'm +2651 "core" ' + ."psFlush"PSV.dial :waste1 +2 "processing"%  +69 "core"  +2 ."psFlush"PS.seek 0ml +2 "processing"%=' +2630 "core" ' +2 ."psFlush"PSV.dial PSR +2 "processing"%~ +48 "core"  + ."psFlush"PSR.select :air +3 .PS.seek 2.5ml +2 "processing"%@'m +2652 "core" ' + ."psFlush"PSV.dial PTV +2 "processing"% +69 "core" + ."psFlush"PBV.dial PSV +2 .PS.seek 0ml +2 "processing"%' +2638 "core" ' +2 ."psFlush"PSV.dial PBV +2 "processing"% @ +46 "core" ? +2 ."psFlush"PS.seek 2.5ml +2 "processing"%'m +2631 "core" ' + ."psFlush"PSV.dial :waste1 +2 "processing"%j  +70 "core"  +2 ."psFlush"PS.seek 0ml +2 "processing"%' +2644 "core" ' +2 ."psFlush"PSV.dial PSR +2 "processing"% +47 "core"  + ."psFlush"PSR.select :flush +2 "processing"%@ +10 ."psFlush"PS.seek 1ml +2 "processing"%''T +1100 "core" ' + ."psFlush"PSR.select :air +2 "processing"% +10 ."psFlush"PS.seek 2.5ml +2 "processing"%'m +1635 "core" ' + ."psFlush"PSV.dial PTV +2 "processing"%I +70 "core" +2 ."psFlush"PTV.dial :puck +2 .PBV.dial :waste1 + "processing"%  +52 "core" +2 ."psFlush"PS.seek 0ml + "processing"%"' +2636 "core" ' + ."psFlush"PSV.dial PSR +2 "processing"% +75 "core"  + ."psFlush"PSR.select :flush +3 "processing"%@ +9 ."psFlush"PS.seek 0.5ml +2 "processing"%%' +594 "core" ' + ."psFlush"PSR.select :air +3 "processing"% +9 ."psFlush"PS.seek 2.5ml +2 "processing"%'m +2145 "core" ' + ."psFlush"PSV.dial PTV +2 "processing"%F +75 "core" + ."psFlush"PBV.dial PSV +51 "processing"%, U +52 "core" W +2 ."psFlush"PS.seek 0ml +2 "processing"%' +2632 "core" ' +2 ."psFlush"PSV.dial PBV +2 "processing"%9 @ +48 "core" > +2 ."psFlush"PS.seek 2.5ml +2 "processing"%#'m +2629 "core" ' + ."psFlush"PSV.dial :waste1 +2 "processing"%  +70 "core"  +2 ."psFlush"PS.seek 0ml +2 "processing"%/' +2644 "core" ' +2 ."psFlush"PSV.dial PSR +2 "processing"%6 +48 "core"  + ."psFlush"PSR.select :air +3 .PS.seek 2.5ml +2 "processing"%('m +1131 "Can"M FC +1518 "core" ' + ."psFlush"PSV.dial PTV +2 "processing"%- +70 "core" +2 ."psFlush"PBV.dial PSV +2 .PS.seek 0ml +2 "processing"%4' +2627 "core" ' + ."psFlush"PSV.dial PBV +2 "processing"% @ +47 "core" ? +2 ."psFlush"PS.seek 2.5ml +2 "processing"%2'm +2646 "core" ' + ."psFlush"PSV.dial :waste1 +2 "processing"%!  +70 "core"  +2 ."psFlush"PS.seek 0ml +2 "processing"%:' +2660 "core" ' +2 #tLoading FlushPuck into Collection Clamp from Processing Clamp +2 "collection"'& +4 "core" &KN + "manipulator"&C& +4 "core" &f   +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +2 "manipulator"&E(c +3 "core" ( +2 "manipulator"&{& +4 "core" &f %  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &8& +2 "core" &f   +2 .tForearm.seek PC +2 "manipulator"&5'[ +95 "core" ' + .tHand.close + "manipulator"&s/ +54 "core" / +2 .tPC.seek :open + "processing"%&(p +392 "core" ( + "manipulator"&A& +4 "core" &f k  +2 "manipulator"&D% +3 "core" % V 4 +2 .tForearm.seek :retract +2 "manipulator"&0'\ +97 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC + "manipulator"&Z( +359 "core" ( +2 "manipulator"&H& +4 "core" &+ ' P Ab + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &;& +2 "core" &+   Ab +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&Q'| +107 "core" ' + "manipulator"&7& +5 "core" &+ 7 Ab + "manipulator"& % +4 "core" %x = +2 "collection"')& +3 "core" &LO +2 "collection"'B& +6 "core" &LP +2 .tCC.seek :closed + "collection"'S(] +4 "core" &MO +8 &;MO #b +10 &rYOO 6 +9 &JO I +9 &pNO H +10 &ZpNO I +9 &sIN H +9 & rMO I +10 &"qMO I +9 &$ekKO H +10 &&%pMM H +9 &'mNN H +9 &)oKO H +10 &+kpLN H +9 &-,pLO I +9 &.rMN I +10 &0rLN I +9 &2snMN H +10 &45oML H +9 &5oLN I +9 &7nMO H +10 &9|nMQ H +9 &;=nLN H +9 &<nMN H +10 &>mMO H +9 &@pJL H +10 &BFrMN H +9 &DnLN H +9 &EnMN H +10 &GkLM H +9 &ILvMN I +9 &K OM K +10 &LOP N +9 &N|OP P +10 &P=MP Q +9 &QPQ Q +9 &SNR R +10 &UqLQ W +9 &W?PT S +10 &XNQ U +9 &ZOQ U +9 &\\xOR D +9 &]r3OO "f +10 &]DPQ < +2 ( +2 "collection"'B& +3 #tCollection Clamp onSpring/offSpring for 10/25 samples, on/off torque 1.87 + "collection"'1& +4 "core" &]MOQ < +2 .tHand.open + "manipulator"&G1 +61 "core" 1 +2 "manipulator"&T% +4 "core" % x 6 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&+'\ +96 "core" ' + #tFlushing the Collection Valve::Manifold +2 "collection"'?& +4 "core" &]MPQ < + "collection"'% +4 "core" %QQ + .tCSV.dial CSR +2 "collection"'Y  +40 "core"  +2 "collection"'% +4 "core" %NR + #tPulling 5ml of CSR.flush + .CSR.select :flush +2 "collection"' +9 .tCS.seek 5ml +2 "collection"'M's +1350 "core" ' + .tdelay 5 seconds +502 .CSR.select :air +2 "collection"' +9 'b% +2 "core" %sOS  +2 .tCS.reconfigure :fast +3 "collection"'#d @b +2 .tCS.seek 7.501ml + "collection"'W'u +613 "core" ' + .tCSV.dial :waste +2 "collection"'R +117 "core" +2 .tCS.reconfigure :default +3 "collection"'#P d@b +2 .tCS.seek 0ml + "collection"'J' +1988 "core" ' + #tFlushing lower manifold's waste1 port + "collection"'L& +5 "core" &]MPQ < + "collection"'g% +4 "core" %MP + .tCSV.dial :flush + "collection"'K  +40 "core"  +2 .tCS.reconfigure :fast +3 "collection"'#d @b +2 .tCS.seek 5ml +2 "collection"'.'s +1124 "core" ' +2 .tdelay 5 seconds +502 .CSV.dial :air +5 "collection"'a @ +38 "core" A + "collection"'v% +5 "core" %sNO  +2 .tCS.seek 7ml + "collection"'P' +497 "core" ' +2 ."connect"CSV.dial CTV +3 .tCTV.dial CSV +2 "collection"'h  + ']  +41 "core"  +81  + .tCBV.dial :waste1 +2 "collection"'N @ +41 "core" > +2 .tCS.seek 0ml + "collection"'$' +1520 "core" ' +2 #tFlushing lower manifold's waste2 port + "collection"'& +4 "core" &]LWX < +2 "collection"'e% +3 "core" %WX + .tCSV.dial :flush +2 "collection"'n  +66 "core" +2 .tCS.seek 5ml +2 "collection"'O's +1131 "core" ' + .tdelay 5 seconds +502 .CSV.dial :air +2 "collection"'^ @ +40 "core" A + "collection"' % +4 "core" %sQQ  +2 .tCS.seek 7.001ml +2 "collection"'c' +505 "core" ' +2 ."connect"CSV.dial CTV +4 .tCTV.dial CSV + "collection"'w  +51 "core"  + .tCBV.dial :waste2 +2 "collection"'x  +95 "core"  +2 .tCS.seek 0ml +2 "collection"'d' +1521 "core" ' +2 #tDisinfecting external Intake with kill + "collection"'<& +4 "core" &]LXY < +2 "collection"'f% +3 "core" %W[ +2 .tCSV.dial CSR + "collection"'m  +40 "core"  + "collection"'% +5 "core" %W[ + #tPulling 8ml of CSR.kill + .CSR.select :kill +2 "collection"' +9 .tCS.seek 8ml +2 "collection"'y'X +1737 "core" ' + .tdelay 5 seconds +503 .CSR.select :air +2 "collection"' +9 .tCS.seek 10ml +2 "collection"'' +498 "core" ' +3 ."connect"CSV.dial CBV +3 .tCBV.dial CSV +2 "collection"'p +2 'o  +90 "core" +36  +2 .tCTV.dial :intake + "collection"'*  +68 "core" + .tIntake.select :open +2 "sampler") +9 .tCS.seek 2ml + "collection"'l'~ +1749 "core" ' + .tIntake.select :close +2 "sampler")0 +9 .tCTV.dial :air + "collection"'r  +67 "core" ~ +2 .tCS.reconfigure :default +2 "collection"'#P d@b +2 .tCS.seek 0ml +2 "collection"'t' +593 "core" ' +2 .tCSV.dial CSR + "collection"'|  +93 "core"  + "collection"'% +4 "core" %PP + #tPulling 5ml of CSR.flush +2 .CSR.select :flush +2 "collection"' +9 .tCS.seek 5ml + "collection"'>'s +1356 "core" ' +2 .tdelay 5 seconds +502 .CSR.select :air +2 "collection"' +9 .tCS.seek 10ml +2 "collection"'z' +1352 "core" ' + .tCSV.dial CBV +2 "collection"' +92 "core" +2 .tCS.seek 0ml +2 "collection"'`' +2629 "core" ' +2 #tGaraging FlushPuck in Collection Clamp + "manipulator"&\\& +4 "core" &0# U ;2 +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&( +29 "core" ( +2 "manipulator"&U& +4 "core" & s + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &  +2 .tForearm.seek CC + "manipulator"&V'| +103 "core" ' + .tHand.close + "manipulator"&/ +54 "core" / +2 .tCC.seek :open +50 "collection"'q(p +411 "core" ( +2 "manipulator"&_& +4 "core" & h g b + "manipulator"&% +4 "core" % s g e d v +2 .tForearm.seek :retract + "manipulator"&'\ +92 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage +2 "manipulator"&}(, +267 "core" ( + "manipulator"&\ & +4 "core" &, 5  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &k& +3 "core" &,   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek :garage + "manipulator"&' +111 "core" ' + .tHand.open + "manipulator"& 1 +58 "core" 1 +2 "manipulator"&~% +4 "core" % v l +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&='\ +97 "core" ' +2 "processing"%& +4 "core" &n +23032 "Can"Q !53 +60002 L 53 +60001 I 42 +60002 C 52 +60002 A 52 +60002 > 52 +60002 A !53 +60002 < !42 +60003 ? 85 +60001 E 52 +60002 @ !52 +60002 N !52 +60001 L 52 +60002 R 42 +60002 P 52 +60002 K 52 +60002 U 52 +60002 Y 52 +60002 _ 53 +60002 f 52 +60002 o 52 +60001 u 52 +60002 { 41 +60002 y 52 +60002 ~ 52 +60002  42 +60002  52 +60002 ~ 52 +60002 } 52 +60002  52 +60001  !52 +60002  41 +60002  53 +60002  52 +60002  !53 +60002  53 +60002  !53 +60002  52 +60001  42 +60002  52 +60002  52 +60002  53 +60002  !52 +60002  52 +60002  53 +60002  52 +60002  52 +60002  42 +60002  52 +60002  42 +60001  52 +60002  52 +60002  52 +60002  53 +60002  52 +60002  52 +60002  42 +60002  52 +60002  52 @EST1668574884.49  52 +60002 \  52 +60001   53 +60002  52 +60002  52 +60002   52 +60002 ( !42 +60002 . 53 +60002 3 42 +60002 < 52 +60002 8 52 +60001 F 52 +60002 L !52 +60002 R !52 +60002 U 52 +60002 Y !51 +60002 ` 52 +60002 f 52 +60002 k !42 +60001 x 52 +60002 ~\ !52 +60002 \ 42 +60002 \ 42 +60002  42 +60002  42 +60002  42 +60002  42 +60002  52 +60002  52 +60001 ( 53 +60002 X 42 +60002 q 42 +60002 w 41 +60002  42 +60002  42 +60002  42 +60002  !53 +60002  !53 +60002  52 +60001  !52 +60002  52 +60002  52 +60002  52 +60002  !42 +60002  62 +60002  53 +60002  63 +60002  62 +60002  52 +60002  52 +60002  !51 +60001  52 +60002  !52 +60002  52 +60002  62 +60002  62 +60002  63 +60002  52 +60002  52 +60002  52 +60002  62 +60002   52 +60001 " 62 +60002   63 +60002  62 +60002  52 +60002  52 +60002  52 +60001  52 +60002  52 +60002  52 +60002   62 +60002  63 +60002  52 +60002  52 +60002  52 +60002  52 +60002  !52 +60002  62 +60002  52 +60001  63 +60002  !52 +60002  62 +60002  52 +60002  52 +60002  !52 +60002  52 +60002  52 +60001  52 +60002  !62 +60002  62 +60002  63 +60002  52 +60002  62 +60002 l 52 +60002 c 52 +60002 N 52 @1668632967.88EST = =mMAIN_scheduler =tMAIN @EST1668632969.69 #"core_reset"Sent BREAK +2 #t@24758 receive with ifg=0x10, ie=0xFD #@25397 receive with ifg=0x10, ie=0xFD + #@26055 receive with ifg=0x10, ie=0xFD + #@26693 receive with ifg=0x10, ie=0xFD + #@27344 receive with ifg=0x10, ie=0xFD #@27993 receive with ifg=0x10, ie=0xFD + #@28642 receive with ifg=0x10, ie=0xFD #@28968 receive with ifg=0x80, ie=0xFD + #@55911 idle with ifg=0x00, ie=0x75 #ESP2 v3.41 I2C Gateway v3.20 +8 #ESP2 v3.41 I2C Gateway v3.20 for core bus +188 !o:Errno::ESRCH:\ errnoi: mesg"7No such process -- removing stale lock on /dev/ctd:bt["9/home/esp/esp2/lib/posix/serialport.rb:188:in `kill'"/home/esp/esp2/lib/posix/serialport.rb:64:in `initialize'":/home/esp/esp2/type/shallow/initialize.rb:17:in `new'"1/home/esp/esp2/type/shallow/initialize.rb:17"2/home/esp/esp2/lib/framework.rb:125:in `load'"2/home/esp/esp2/lib/framework.rb:125:in `load'"5/home/esp/esp2/lib/framework.rb:183:in `execute'"-/home/esp/esp2/lib/esp.rb:110:in `shell'"7/home/esp/esp2/lib/schedule.rb:481:in `initialize'"0/home/esp/esp2/lib/thread.rb:738:in `start'"7/home/esp/esp2/lib/schedule.rb:474:in `initialize'"'/home/esp/esp2/lib/schedule.rb:472 +3 !o:Errno::ESRCH:\ errnoi: mesg"8No such process -- removing stale lock on /dev/isus:bt["9/home/esp/esp2/lib/posix/serialport.rb:188:in `kill'"/home/esp/esp2/lib/posix/serialport.rb:64:in `initialize'":/home/esp/esp2/type/shallow/initialize.rb:36:in `new'"1/home/esp/esp2/type/shallow/initialize.rb:36"2/home/esp/esp2/lib/framework.rb:125:in `load'"2/home/esp/esp2/lib/framework.rb:125:in `load'"5/home/esp/esp2/lib/framework.rb:183:in `execute'"-/home/esp/esp2/lib/esp.rb:110:in `shell'"7/home/esp/esp2/lib/schedule.rb:481:in `initialize'"0/home/esp/esp2/lib/thread.rb:738:in `start'"7/home/esp/esp2/lib/schedule.rb:474:in `initialize'"'/home/esp/esp2/lib/schedule.rb:472 +16 !o:Instrument::ISUSCore: @configS:Instrument::Configuration: name" ISUS:calFileName0:sampleCmd"TS: prompt"\ :statusCmd"C:sampleTimeouti#:promptTimeouti:statusTimeouti: retriesi:strToPrompt"W: pace0: echoF: @refihM:\ @name@ +96 #Configuration for don (12651-03) 10/9/20 brent@mbari.org\ /home/esp/esp2/type/shallow/don/configure.rb\ +374 "Can"> 85 + > 85 + #tPolling Can every 10:00 +3 !o:Storage::Warning: mesg"Uncleanly Exited:bt[ "8/home/esp/esp2/utils/storage.rb:438:in `readPucks!'"6/home/esp/esp2/utils/storage.rb:627:in `restore!'"-/home/esp/esp2/lib/esp.rb:115:in `shell'"7/home/esp/esp2/lib/schedule.rb:481:in `initialize'"0/home/esp/esp2/lib/thread.rb:738:in `start'"7/home/esp/esp2/lib/schedule.rb:474:in `initialize'"'/home/esp/esp2/lib/schedule.rb:472 +681 #-> ESP.ready! +155 "sampler") + ) +3 "core"  + "collection"' +2 ' +3 "core"  + "processing"% +2 % +3 "core"  +5 "collection"' 9\ +2 ' 0\ +3 ' -\ +3 "processing"% 9\ +2 % 2\ +2 % *\ +2 % 0\ +3 "sampler")&\ +2 "collection"'% +3 "core" %j +2 .tCS.configure :default +2 "collection"'#P d@b +3 .tCS.hold + "collection"'+ +4 "core" + + .tCS.configure :default +3 "collection"'#P d@b +2 "processing"%% +3 "core" %; + .tPS.configure :default +2 "processing"%#A d`xb +3 .tPS.hold + "processing"%+ +3 "core" + + .tPS.configure :default +2 "processing"%#A d`xb +3 "sampler")% +2 "core" %2 r h +2 .tSS.configure :default +2 "sampler")#.0X\ \  Q +2 .tSC.configure :loose +2 "storage"($.\ 1~b +3 .tSC.hold + "storage"(, +2 "core" , +2 .tSC.configure :loose +2 "storage"($.\ 1~b +3 (% +2 "core" %F\ \  \ +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +2 .tCH.coast + "collection"'  +3 "core" ` + .tCH.configure :default +2 "collection"'\ 2 + .tPH.coast +2 "processing"%  +3 "core" 4 + .tPH.configure :default + "processing"%\ 2 +3 #tAll dwarf controllers running firmware version 3.85 +2 "sampler") +9 "collection"'% +2 "processing"%% +2 "manipulator"&% +5 "core" %p +4 %= + %\ & ; +2 "manipulator"&& +2 "sampler")% +5 "core" &,  + %2 o j +2 "storage"(& +4 "core" &>\ \ _ + "storage"(% +4 "core" %F \  \ + "collection"'& +4 "core" &g + "processing"%& +4 "core" &B + "collection"' +3 "core"  +2 "collection"'  +3 "core" ~ + "collection"'! +3 "core"  +2 "processing"%" +4 "core"  + "processing"%# +3 "core" W +2 "processing"%$ +3 "core"  + "processing"%% +3 "core" A +2 "sampler")& +3 "core"  + "collection"''% +4 "core" %l +2 "processing"%(% +3 "core" %= +2 "sampler"))% +4 "core" %2 o h + "collection"'*& +4 "core" &r +2 "processing"%+& +3 "core" &> +2 "manipulator"&,% +4 "core" %\ & ; +2 "manipulator"&-& +3 "core" &, i  +2 "storage"(.& +4 "core" &> \  +2 "storage"(/% +3 "core" %F\ t \ +2 "collection"'09 +3 "core" 9 +2 "processing"%19 +3 "core" 9 +310 #t-> access 1 +3 "storage"(2% +3 "core" %F \  ? \ +2 "manipulator"&3% +4 "core" %\ & ; + "manipulator"&4& +4 "core" &,  +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"(5(<< +1312 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (6& +2 "core" &<:\ \   +742 #t-> PS.flush +2 #Flushing Processing stage + "processing"%7% +3 "core" %A +2 #tLoading FlushPuck into Processing Clamp from FlushPuck::Garage +2 "processing"%8& +4 "core" &A + .tHand.open + "manipulator"&91 +24 "core" 1 + "manipulator"&:& +4 "core" &, z   +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek FlushPuck::Garage + "manipulator"&;(, +2 "core" ( +2 "manipulator"&<& +3 "core" &,  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &=& +2 "core" &,  +2 .tForearm.seek :garage +2 "manipulator"&>' +106 "core" ' + .tHand.close + "manipulator"&?/ +59 "core" / + "manipulator"&@& +4 "core" &,  +2 "manipulator"&A% +3 "core" %  +2 .tForearm.seek :retract +2 "manipulator"&B'\ +104 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC + "manipulator"&C(c +124 "core" ( + "manipulator"&D& +4 "core" &h 1 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &E& +3 "core" &h 3 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&F'[ +111 "core" ' + "manipulator"&G& +5 "core" &h h O + "manipulator"&H% +4 "core" %V a d [ g +2 "processing"%I& +3 "core" &@ +3 "processing"%J& +5 "core" &2 +2 .tPC.seek :closed + "processing"%K(Z +5 "core" &<  +8 &6E *x +10 &hC = +9 &w> H +9 &;n> G +10 &rB G +9 &n= H +10 &!s= G +9 &#Bn= H +9 &%m; G +10 &&p< G +9 &(r; H +9 &*Jp: H +10 &, p> H +9 &-mB G +9 &/n> H +10 &1Ro= H +9 &3m> G +10 &4r? H +9 &6p1 G +9 &8[m= G +10 &:k= G +9 &;m? H +9 &=q5 H +10 &?cs2 G +9 &A$r< H +10 &Bo> G +9 &Dm= G +9 &Fln6 G +10 &H+x= H +9 &I> J +9 &K> K +10 &Mc? M +9 &O%> M +48 &P> M +8 &R> M + &Tj< M + &V,4 M +2 &W3 M +2 &Y: 9 +4 &Z/8 Q +9 &Z7 ( +2 ( +2 "processing"%J& +3 #tProcessing Clamp onSpring/offSpring for 8/26 samples, on/off torque 1.43 + "processing"%L& +4 "core" &Z= ( +2 .tHand.open + "manipulator"&M1 +61 "core" 1 + "manipulator"&N% +4 "core" % V o a g +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&O'\ +90 "core" ' + .tPSV.dial PSR +2 "processing"%P +46 "core"  + .tPSR.select :flush +2 "processing"%j +10 .tPS.seek 1ml +2 "processing"%Q'T +1106 "core" ' +2 .tPSR.select :air + "processing"% +10 .tPS.seek 2.5ml +2 "processing"%R'm +1610 "core" ' +2 .tPSV.dial PTV + "processing"%S +69 "core" +2 .tPTV.dial :puck + "processing"%T  +5 "core"  + .tPBV.dial :waste1 +2 "processing"%U  +50 "core" +2 .tPS.seek 0ml +2 "processing"%V' +2635 "core" ' + .tPSV.dial PSR +2 "processing"%W +75 "core"  +2 .tPSR.select :flush +2 "processing"%@ +10 .tPS.seek 0.5ml + "processing"%X' +588 "core" ' +2 .tPSR.select :air +2 "processing"% +9 .tPS.seek 2.5ml +2 "processing"%Y'm +2138 "core" ' +2 .tPSV.dial PTV + "processing"%Z +76 "core" + .tPBV.dial PSV +2 "processing"%[ U +51 "core" W +2 .tPS.seek 0ml +2 "processing"%\\' +2635 "core" ' +2 .tPSV.dial PBV + "processing"%] @ +49 "core" > +2 .tPS.seek 2.5ml + "processing"%^'m +2630 "core" ' + .tPSV.dial :waste1 + "processing"%_  +70 "core"  +2 .tPS.seek 0ml + "processing"%`' +2631 "core" ' + .tPSV.dial PSR +2 "processing"%a +47 "core"  + .tPSR.select :air +3 .PS.seek 2.5ml +2 "processing"%b'm +2650 "core" ' + .tPSV.dial PTV +2 "processing"%c +69 "core" + .tPBV.dial PSV +2 .PS.seek 0ml +2 "processing"%d' +2632 "core" ' +2 .tPSV.dial PBV + "processing"%e @ +47 "core" ? +2 .tPS.seek 2.5ml +2 "processing"%f'm +2649 "core" ' +2 .tPSV.dial :waste1 +2 "processing"%g  +68 "core"  +2 .tPS.seek 0ml +2 "processing"%h' +2631 "core" ' + #tGaraging FlushPuck in Processing Clamp +2 "manipulator"&i& +4 "core" &h +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC + "manipulator"&j(c +3 "core" ( + "manipulator"&k& +4 "core" &h " +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &l& +3 "core" &h  +2 .tForearm.seek PC + "manipulator"&m'[ +100 "core" ' + .tHand.close + "manipulator"&n/ +59 "core" / +2 .tPC.seek :open + "processing"%o(p +392 "core" ( +2 "manipulator"&p& +4 "core" &h | + "manipulator"&q% +4 "core" % d +2 .tForearm.seek :retract + "manipulator"&r'\ +95 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage + "manipulator"&s(, +124 "core" ( + "manipulator"&t& +4 "core" &,   +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &u& +3 "core" &,   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek :garage + "manipulator"&v' +112 "core" ' +2 .tHand.open + "manipulator"&w1 +52 "core" 1 + "manipulator"&x% +4 "core" %  þ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&y'\ +96 "core" ' +4417 #t-> samplePassF +2 #Beginning samplePassF + #Loading FlushPuck into Collection Clamp from FlushPuck::Garage +2 "collection"'z& +2 "core" &u +2 "manipulator"&{& +4 "core" &, 2  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek FlushPuck::Garage +2 "manipulator"&|(, +2 "core" ( + "manipulator"&}& +4 "core" &, W  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &~& +2 "core" &, H  +2 .tForearm.seek :garage +2 "manipulator"&' +106 "core" ' +2 .tHand.close + "manipulator"&/ +61 "core" / +2 "manipulator"&& +4 "core" &, 0 ]  + "manipulator"&% +4 "core" %  ; +2 .tForearm.seek :retract + "manipulator"&'\ +105 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&( +284 "core" ( +2 "manipulator"&& +4 "core" &$ ;8 + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 & & +2 "core" &# l ;8 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC + "manipulator"& '| +94 "core" ' + "manipulator"& & +4 "core" &# j ;6 +2 "manipulator"&% +4 "core" %| + "collection"'& +4 "core" &b +2 "collection"'& +5 "core" &f +2 .tCC.seek :closed +2 "collection"'(] +3 "core" &i +9 &;h #c +9 &nXh 6 +9 &g I +10 &kh H +9 &Wsd I +9 &pg H +10 & sh H +9 &"ti H +10 &$`ni H +9 &&"ng H +9 &'oe H +10 &)ph H +9 &+hoh H +9 &-*ng H +10 &.qi H +9 &0sg H +10 &2puh H +9 &41vi I +9 &5pb H +10 &7rf H +9 &9xph H +9 &;;mh H +10 &<qf H +9 &>sf H +10 &@qg I +9 &BAr` I +9 &Dna H +10 &Esf H +9 &Grb H +9 &IG{b J +10 &Ke K +9 &Lisg N +10 &Nx`ch Q +9 &P:`b` Q +10 &Q]`b Q +9 &S^`h R +9 &Uz]]\\ S +9 &W;Y\\e S +10 &XXYe T +9 &ZVXg T +10 &\\vVW` B +9 &]l7TVf ` +9 &] SVg H +6 ( + "collection"'& +4 #tCollection Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.76 + "collection"'& +5 "core" &]uXWf H + &]uTYh H + .tHand.open + "manipulator"&1 +59 "core" 1 + "manipulator"&% +4 "core" % | 0 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +91 "core" ' +2 .tPSV.dial PSR,avoiding: PBV +2 "processing"%  +47 "core"  + "processing"%% +4 "core" %/ + #tPulling 1.5ml of PSR.flush +2 .PSR.select :flush +2 "processing"%@ +9 .tPS.seek 1.5ml +2 "processing"%' +1616 "core" ' +2 .tdelay 5 seconds +502 .PSV.dial :waste1 +2 "processing"%  +47 "core"  +2 .tPS.seek 0ml +2 "processing"%' +1618 "core" ' + .tPSV.dial PSR +2 "processing"% +47 "core"  +2 .tPSR.select :air + "processing"% +10 .tPS.seek 2.5ml +2 "processing"%'m +2657 "core" ' + ."connect"PRV.dial CBV +4 .tCBV.dial PRV +2 "processing"%  +2 "collection"'!  +69 "core" +23  +2 .tPSV.dial :PTV,via: :air +2 "processing"%" +184 "core" ~ +2 .tCTV.dial :air,avoiding: :intake + "collection"'# +3 "core" ~ +2 "collection"'$  +5 "core"  + .tPTV.dial :PRV,avoiding: :puck +2 "processing"%% @ +67 "core" A +2 .tPS.seek 0ml + "processing"%&' +2640 "core" ' +2 .tPSV.dial :air + "processing"%'  +74 "core"  +2 .tPS.seek 2.5ml + "processing"%('m +2645 "core" ' +2 .tPSV.dial :PTV + "processing"%) +76 "core" ~ +2 .tPS.seek 0ml + "processing"%*' +2640 "core" ' +2 #tGaraging FlushPuck in Collection Clamp + "manipulator"&+& +4 "core" &/ p 8 +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&,( +27 "core" ( +2 "manipulator"&-& +4 "core" &   + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &.& +3 "core" & h  +2 .tForearm.seek CC + "manipulator"&/'| +95 "core" ' + .tHand.close + "manipulator"&0/ +54 "core" / +2 .tCC.seek :open + "collection"'1(p +411 "core" ( +2 "manipulator"&2& +4 "core" &   + "manipulator"&3% +4 "core" % σ  + .tForearm.seek :retract +2 "manipulator"&4'\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage +2 "manipulator"&(, +281 "core" ( +2 "manipulator"&6& +4 "core" &, 8  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &7& +2 "core" &, X  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :garage + "manipulator"&8' +110 "core" ' + .tHand.open +2 "manipulator"&91 +56 "core" 1 + "manipulator"&:% +4 "core" %  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&<'\ +99 "core" ' +3076 #t-> exit +5 #mEXIT @1668633562.23EST @1668794961.41EST = =tMAIN =mMAIN_scheduler @EST1668794963.20 #"core_reset"Sent BREAK +2 #t@62157 sendCRC with ifg=0x20, ie=0x7F #@63984 sendCRC with ifg=0x08, ie=0x5F + #@62889 idle with ifg=0x84, ie=0x75 + #@63568 select with ifg=0x10, ie=0xF5 + #@64216 receive with ifg=0x10, ie=0xFD #@64864 receive with ifg=0x10, ie=0xFD + #@65512 receive with ifg=0x10, ie=0xFD #@303 receive with ifg=0x80, ie=0xFD + #@5320 idle with ifg=0x00, ie=0x75 + #ESP2 v3.41 I2C Gateway v3.20 +8 #ESP2 v3.41 I2C Gateway v3.20 for core bus +200 !o:Instrument::ISUSCore: @configS:Instrument::Configuration: name" ISUS:calFileName0:sampleCmd"TS: prompt"\ :statusCmd"C:sampleTimeouti#:promptTimeouti:statusTimeouti: retriesi:strToPrompt"W: pace0: echoF: @refi\\M:\ @name@ +95 #Configuration for don (12651-03) 10/9/20 brent@mbari.org\ /home/esp/esp2/type/shallow/don/configure.rb\ +367 "Can" 96 +  96 #tPolling Can every 10:00 +3 #Cleanly exited at 16:19:22EST16-Nov-22 +822 #-> ESP.ready! +154 "sampler") +2 ) +2 "core"  +2 "collection"' + ' +3 "core"  +2 "processing"% +2 % +3 "core"  +4 "collection"' 9\ +2 ' 0\ +2 ' -\ +4 "processing"% 9\ +2 % 2\ +2 % *\ +2 % 0\ +3 "sampler")&\ +2 "collection"'% +3 "core" %z~| +2 .tCS.configure :default +2 "collection"'#P d@b +3 .tCS.hold + "collection"'+ +2 "core" + +2 .tCS.configure :default +2 "collection"'#P d@b +2 "processing"%% +3 "core" %T +2 .tPS.configure :default +2 "processing"%#A d`xb +2 .tPS.hold +2 "processing"%+ +2 "core" + + .tPS.configure :default +3 "processing"%#A d`xb +2 "sampler")% +3 "core" %2 + .tSS.configure :default +3 "sampler")#.0X Hand +474 #-> Hand.open +2 .Hand.open + "manipulator"&21 +20 "core" 1 +602 #t-> Hand.close + .Hand.close +2 "manipulator"&3/ +57 "core" / +222 #t-> Hand.open + .Hand.open +2 "manipulator"&41 +63 "core" 1 +314 #t-> Hand.close + .Hand.close +2 "manipulator"&5/ +58 "core" / +198 #t-> Hand.open + .Hand.open +2 "manipulator"&61 +61 "core" 1 +533 #t-> Arm.home + "manipulator"&7& +3 "core" &,   +2 "manipulator"&8% +4 "core" % \ )  L +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek :home + "manipulator"&9( +107 "core" ( + "manipulator"&:& +4 "core" & F O +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &;& +3 "core" &  O +2 .tForearm.seek :home + "manipulator"&<' +45 "core" ' +2 "manipulator"&=& +4 "core" & Z i { O + "manipulator"&>% +4 "core" % c a u +581 #t-> Arm.ready! +2 .Forearm.reconfigure :loose +3 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract + "manipulator"&?'\ +66 "core" ' +2 ."closeHand"Hand.close +3 .tElbow.jog 1500 + "manipulator"&@/ +2 &A* +56 "core" / +11 * +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 .tElbow.home.seek :clear +2 "manipulator"&B(d +236 "core" ( + "manipulator"&C& +4 "core" &d  8 +2 "manipulator"&D% +3 "core" % \   \ +380 #t-> Arm.home +2 "manipulator"&E& +3 "core" &d  8 +2 "manipulator"&F% +4 "core" % \  - \ +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek :home +2 "manipulator"&G( +216 "core" ( + "manipulator"&H& +4 "core" & u )  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &I& +3 "core" & /  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :home +2 "manipulator"&J' +45 "core" ' + "manipulator"&K& +4 "core" & u o   +2 "manipulator"&L% +4 "core" % o o +436 #t-> Arm.ready! +2 .Forearm.reconfigure :loose +2 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&M'\ +71 "core" ' +3 .tElbow.jog 1500 + "manipulator"&N* +42 "core" * +7 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 .tElbow.home.seek :clear + "manipulator"&O(d +241 "core" ( +2 "manipulator"&P& +4 "core" &d 6 # +2 "manipulator"&Q% +3 "core" %\ + W !U +300 #t-> Arm.home + "manipulator"&R& +4 "core" &d % # + "manipulator"&S% +4 "core" %\ * !U +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek :home + "manipulator"&T( +209 "core" ( + "manipulator"&U& +4 "core" & R  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &V& +3 "core" &   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek :home + "manipulator"&W' +40 "core" ' +2 "manipulator"&X& +4 "core" &   +2 "manipulator"&Y% +3 "core" %  = +217 #t-> Arm.ready! +3 .Forearm.reconfigure :loose +3 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract + "manipulator"&Z'\ +62 "core" ' +2 .tElbow.jog 1500 + "manipulator"&[* +42 "core" * +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 .tElbow.home.seek :clear + "manipulator"&\\(d +241 "core" ( + "manipulator"&]& +4 "core" &d C +2 "manipulator"&^% +4 "core" %\ !  ! +483 #t-> Arm.CC +2 "manipulator"&_& +3 "core" &d  C +2 "manipulator"&`% +4 "core" %\ ! # ! +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek :CC +2 "manipulator"&a( +196 "core" ( + "manipulator"&b& +4 "core" &# > ;6 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &c& +2 "core" &$ + ;6 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&d'| +101 "core" ' +2 "manipulator"&e& +4 "core" &$ s ;6 + "manipulator"&f% +4 "core" %s 0 +791 #t-> Arm.PC + "manipulator"&g& +4 "core" &$  ;6 + "manipulator"&h% +4 "core" %s  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&i'\ +91 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek :PC + "manipulator"&j(c +361 "core" ( +2 "manipulator"&k& +4 "core" &i D + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &l& +2 "core" &i  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&m'[ +114 "core" ' +2 "manipulator"&n& +4 "core" &i p u 8 + "manipulator"&o% +4 "core" %ό o p +692 #t-> Arm.garage + "manipulator"&p& +4 "core" &i k m } + "manipulator"&q% +4 "core" %ό d p +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&r'\ +90 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage +2 "manipulator"&s(, +120 "core" ( +2 "manipulator"&t& +4 "core" &,   + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &u& +2 "core" &,   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :garage +2 "manipulator"&v' +76 "core" 'f I +4 !to:Slide::Error\ : mesg")Forearm speedErr at CC + 4586 counts:@checkpoint: omitted: @replyo:I2C::Servo::AbsMove3Reply :@destinationi%: @channeli: @statusIS:I2C::Servo::Status: enabledT: pastRLSF: pastFLSF:pastThresholdF: lostF: homeF: positionif: velocityi: currenti:pwmi:erri: inPressi : outPressi :deltaPressiI : voltagef12.579316642120766: @type2F: @tagi{: @sourcei+: @error: speedErr:@axisName" Forearm:bt["2/home/esp/esp2/lib/slide.rb:587:in `raiseErr'"7/home/esp/esp2/lib/slide.rb:350:in `unlimitedSeek'"5/home/esp/esp2/lib/thread.rb:74:in `recoverable'"7/home/esp/esp2/lib/slide.rb:323:in `unlimitedSeek'"./home/esp/esp2/lib/slide.rb:314:in `seek'",/home/esp/esp2/lib/slide.rb:358:in `to'"8/home/esp/esp2/lib/slide.rb:74:in `inConfiguration'",/home/esp/esp2/lib/slide.rb:358:in `to'"0/home/esp/esp2/utils/misc.rb:92:in `extend'",/home/esp/esp2/utils/misc.rb:34:in `to'"8/home/esp/esp2/utils/misc.rb:38:in `method_missing'"(ESP):16:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +703 #-> Hand.open + .Hand.open +2 "manipulator"&w1 +63 "core" 1 +303 #t-> Arm.home +2 "manipulator"&x& +3 "core" &- h l Y +2 "manipulator"&y% +4 "core" % i n O +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&z'\ +80 "core" ' + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek :home + "manipulator"&{( +111 "core" ( +2 "manipulator"&|& +4 "core" & p t ` +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &}& +3 "core" & d m ` +2 .tForearm.seek :home + "manipulator"&~' +37 "core" ' + "manipulator"&& +5 "core" &  ` + "manipulator"&% +4 "core" %  +205 #t-> Arm.garage + "manipulator"&& +3 "core" &  ` +2 "manipulator"&% +4 "core" %  +2 .tForearm.seek :retract + "manipulator"&'\ +37 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage + "manipulator"&(, +127 "core" ( + "manipulator"&& +4 "core" &, # ( +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 & & +3 "core" &,  ( +2 .tForearm.seek :garage + "manipulator"& ' +105 "core" ' + "manipulator"& & +4 "core" &, d ( +2 "manipulator"&% +4 "core" % : +896 #t-> Puck.count +2 "storage"(% +3 "core" %F D \ +2 .tSE.seek :down +2 "storage"('N +3 "core" ' +2 .tSE.stop + "storage"(5 +2 "manipulator"&% +4 "core" % m +2 .tForearm.seek :retract + "manipulator"&'\ +102 "core" ' + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 1 + "storage"((B +1319 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (& +3 "core" &@\  v + "manipulator"&& +4 "core" &,  ( +2 "manipulator"&% +4 "core" %\ 1  $u +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 1 +2 "manipulator"&(c +182 "core" ( + "manipulator"&& +4 "core" &[ q ( +2 "storage"(& +3 "core" &@\ \  [ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 1 + 450 counts + "manipulator"&'Ф +102 "core" ' + "storage"(& +4 "core" &@\ 4\ 4 +2 .tSE.reconfigure :place +3 "storage"(#]kK-0-\ b +3 .tSE.seek :beamBreak + "storage"('e +273 "core" ' +2 "storage"( - +3 "core" -'e +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (!% +2 "core" %Z\ \  s +3 ."downElevator"SE.seek :down +3 "storage"("'N +99 (#% +2 "core" %<M\ \  S PE +2 "manipulator"&$% +4 "core" %Й s s  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&%'\ +92 "core" ' +65 ' + ."downElevator"SE.stop +2 "storage"(5 +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 + "storage"(&(  +365 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 ('& +2 "core" &  G  +2 "manipulator"&(& +4 "core" &\\ 6 ( +2 .tElbow.seek 2 + "manipulator"&)(; +31 "core" ( +2 "manipulator"&*& +4 "core" &1  G  +2 "storage"(+& +3 "core" & \ \  \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&,'Ѐ +102 "core" ' + "storage"(-& +4 "core" & \ B\ 7 c  +2 .tSE.reconfigure :place +3 "storage"(#]kK-0-\ b +3 .tSE.seek :beamBreak + "storage"(.'e +269 "core" ' + "storage"(/- +3 "core" -'e +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (0% +2 "core" %m\ \ * +2 ."downElevator"SE.seek :down +4 "storage"(1'N +99 (2% +2 "core" %O\ \  5 OD +2 "manipulator"&3% +4 "core" %z m i  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&4'\ +89 "core" ' +66 ' + ."downElevator"SE.stop + "storage"(5 +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 + "storage"(5( +348 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (6& +3 "core" &  +2 "manipulator"&7& +3 "core" &1 9  +2 .tElbow.seek 3 +2 "manipulator"&8(D +34 "core" ( + "manipulator"&:& +4 "core" &>  ' +2 "storage"(;& +3 "core" &\ \    +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&=' +105 "core" ' +2 "storage"(>& +4 "core" &\ 7\ 4  +2 .tSE.reconfigure :place +2 "storage"(#]kK-0-\ b +3 .tSE.seek :beamBreak + "storage"('e +270 "core" ' +2 "storage"(- +3 "core" -'e +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (@% +2 "core" %Z\ \  X +3 ."downElevator"SE.seek :down +3 "storage"(<'N +99 (9% +2 "core" %aN\ \  M OD +2 "manipulator"&C% +4 "core" %  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&D'\ +91 "core" ' +67 ' + ."downElevator"SE.stop + "storage"(5 +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 + "storage"(A(, +357 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (E& +3 "core" &,\ \  +2 "manipulator"&F& +3 "core" &? o ' +2 .tElbow.seek 4 +2 "manipulator"&H(* +31 "core" ( + "manipulator"&I& +4 "core" &/ j  +2 "storage"(K& +3 "core" &,\ \  )  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts + "manipulator"&L' +105 "core" ' +2 "storage"(B& +4 "core" &,\ B\ B  +2 .tSE.reconfigure :place +2 "storage"(#]kK-0-\ b +3 .tSE.seek :beamBreak + "storage"(?'e +272 "core" ' +2 "storage"(J- +3 "core" -'e + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (P% +2 "core" %\\\ \  +3 ."downElevator"SE.seek :down +3 "storage"(G'N +99 (Q% +3 "core" %aN\ \   OD +2 "manipulator"&N% +3 "core" % m m +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&R'\ +93 "core" ' +67 ' + ."downElevator"SE.stop +2 "storage"(5 +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 + "storage"(S(<< +348 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (U& +2 "core" &<= \  Z  +2 "manipulator"&V& +3 "core" &/   +2 .tElbow.seek 5 +2 "manipulator"&X( +13 "core" ( + "manipulator"&Y& +4 "core" &    +2 "storage"(O& +3 "core" &<=\ \    +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&M' +102 "core" ' +2 "storage"(W& +4 "core" &<=\ 8\ 4   +2 .tSE.reconfigure :place +2 "storage"(#]kK-0-\ b +4 .tSE.seek :beamBreak + "storage"(]'e +271 "core" ' +2 "storage"(^- +3 "core" -'e +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +47 (T% +3 "core" %\\\ \ #  +2 ."downElevator"SE.seek :down +4 "storage"(['N +99 (_% +2 "core" %J\ \  + NB +2 "manipulator"&`% +4 "core" % m d c +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&b'\ +91 "core" ' +64 ' + ."downElevator"SE.stop + "storage"(5 +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 +2 "storage"(c(K +353 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (\\& +3 "core" &K \ \ )  +2 "manipulator"&e& +3 "core" &    +2 .tElbow.seek 6 + "manipulator"&f( +10 "core" ( + "manipulator"&Z& +4 "core" & O  +2 "storage"(g& +4 "core" &K\ \  W  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&h'< +103 "core" ' + "storage"(d& +4 "core" &K\ B\ B  +2 .tSE.reconfigure :place +3 "storage"(#]kK-0-\ b +3 .tSE.seek :beamBreak + "storage"(a'e +272 "core" ' + "storage"(k- +4 "core" -'e + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (l% +3 "core" %[\ #\ " H +2 ."downElevator"SE.seek :down +4 "storage"(n'N +99 (o% +2 "core" %dK\ \  G OC +2 "manipulator"&i% +4 "core" %= n m  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&p'\ +90 "core" ' +65 ' + ."downElevator"SE.stop +2 "storage"(5 +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 7 + "storage"(q([ +380 "core" ( +2 .tSC.configure :limp +3 "storage"($\ 1b +2 (t& +3 "core" &[\ \  + "manipulator"&u& +4 "core" &  +2 .tElbow.seek 7 + "manipulator"&m( +29 "core" ( +2 "manipulator"&v& +4 "core" & G Q +2 "storage"(j& +3 "core" &[\ \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts + "manipulator"&r'k +89 "core" ' +2 "storage"(w& +4 "core" &[\ \ # x +2 .tSE.reconfigure :place +2 "storage"(#]kK-0-\ b +3 .tSE.seek :beamBreak + "storage"(x'e +272 "core" ' + "storage"(y- +4 "core" -'e + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (|% +3 "core" %[\ \  g +2 ."downElevator"SE.seek :down +3 "storage"(}'N +99 (% +3 "core" %QL \  t PE +2 "manipulator"&% +3 "core" %q 9 1 +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&s'\ +92 "core" ' +67 ' + ."downElevator"SE.stop + "storage"(5 +13117 "Can" 64 +6933 #t-> CC.close +3 !o:Arm::Error: mesg"3Claim Arm, then retry closing Collection Clamp:@checkpoint: omitted:bt["E/home/esp/esp2/utils/misc.rb:415:in `closeAndVerifyPuckPresence'"5/home/esp/esp2/utils/misc.rb:485:in `closeClamp'",/home/esp/esp2/lib/msg.rb:68:in `retry'"5/home/esp/esp2/utils/misc.rb:484:in `closeClamp'"5/home/esp/esp2/lib/thread.rb:74:in `recoverable'"5/home/esp/esp2/utils/misc.rb:483:in `closeClamp'"0/home/esp/esp2/utils/misc.rb:503:in `close'"(ESP):21:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +465 #-> PC.close +3 !o:Arm::Error: mesg"3Claim Arm, then retry closing Processing Clamp:@checkpoint: omitted:bt["E/home/esp/esp2/utils/misc.rb:415:in `closeAndVerifyPuckPresence'"0/home/esp/esp2/utils/misc.rb:485:in `close'",/home/esp/esp2/lib/msg.rb:68:in `retry'"0/home/esp/esp2/utils/misc.rb:484:in `close'"5/home/esp/esp2/lib/thread.rb:74:in `recoverable'"0/home/esp/esp2/utils/misc.rb:483:in `close'"(ESP):22:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +597 #-> Arm.garage + "manipulator"&& +4 "core" &\ P + "manipulator"&% +4 "core" %\ #  * +2 .tElbow.seek :garage +2 "manipulator"&z(, +177 "core" ( + "manipulator"&& +4 "core" &, 9 u + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 & & +2 "core" &,  u +3 .tForearm.seek :garage + "manipulator"& ' +98 "core" ' +2 "manipulator"&& +4 "core" &, u + "manipulator"&~% +4 "core" % R +302 #t-> Arm.PC +2 "manipulator"&{& +3 "core" &, x u +2 "manipulator"&% +4 "core" % u R +2 .tForearm.seek :retract + "manipulator"&'\ +101 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek :PC + "manipulator"&(c +117 "core" ( +2 "manipulator"&& +4 "core" &Y + V + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 & & +3 "core" &Y  V +2 .tForearm.seek PC + "manipulator"&'[ +99 "core" ' +2 "manipulator"&& +4 "core" &Y } 9 V +2 "manipulator"&% +3 "core" %_  +35774 #t-> Arm.garage +2 "manipulator"&& +3 "core" &Y  V +2 "manipulator"&% +4 "core" %_  +2 .tForearm.seek :retract + "manipulator"&'\ +96 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek :garage + "manipulator"&(, +142 "core" ( +2 "manipulator"&& +4 "core" &, +  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +2 "core" &, _  +2 .tForearm.seek :garage +2 "manipulator"& ' +106 "core" ' + "manipulator"&!& +4 "core" &, $  +2 "manipulator"&#% +3 "core" % N +7695 #t-> CC +2 "collection"'$& +3 "core" &~}m +149 #t-> PC +2 "processing"%& +3 "core" &K +305 #t-> Arm.PC +2 "manipulator"&& +3 "core" &, y  +2 "manipulator"&"% +4 "core" % q +2 .tForearm.seek :retract + "manipulator"&'\ +98 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek :PC +2 "manipulator"&'(c +115 "core" ( +2 "manipulator"&(& +4 "core" &f C \\ + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &*& +2 "core" &f ) \\ +2 .tForearm.seek PC +2 "manipulator"&+'[ +96 "core" ' +2 "manipulator"&-& +4 "core" &f 5 \\ + "manipulator"&% +4 "core" %e   +6327 "Can" 20 +10809 #t-> Arm.home + "manipulator"&%& +3 "core" &f  \\ +2 "manipulator"&/% +4 "core" %e   +2 .tForearm.seek :retract + "manipulator"&0'\ +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek :home +2 "manipulator"&2( +56 "core" ( + "manipulator"&3& +4 "core" &  9  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &.& +3 "core" &    +2 .tForearm.seek :home +2 "manipulator"&,' +41 "core" ' +2 "manipulator"&1& +4 "core" &    +2 "manipulator"&&% +3 "core" %  2 +8946 #t-> Arm.stretch! +2 .Forearm.seek :retract +2 "manipulator"&6'\ +36 "core" ' +2 .tElbow.seek :hammer + "manipulator"&7(* +225 "core" ( +2 "manipulator"&:& +4 "core" & G ? +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek retracted +2 "manipulator"&;'\ +3 "core" ' +2 "manipulator"&>% +4 "core" %\ +  !. +2 "manipulator"&)& +3 "core" & } ? +2 "manipulator"&4% +3 "core" %\ + b !. +627 #t-> Arm.stretch! +2 .Forearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +3 "core" ' +2 .tElbow.seek :hammer + "manipulator"&@(* +4 "core" ( + "manipulator"&9& +4 "core" & m ? +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek retracted +2 "manipulator"&C'\ +3 "core" ' +2 "manipulator"&% +4 "core" %\ +  !. +2 "manipulator"&=& +3 "core" & ! ? +2 "manipulator"&<% +3 "core" %\ +  !. +10322 #t-> Forearm.legens +2 !o:NoMethodError : mesgu:NameError::message0undefined method `legens' for Forearm:Slide: name: legens: args[:bt[ "8/home/esp/esp2/lib/slide.rb:396:in `method_missing'"(ESP):32:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +790 #-> Forearm.legends +2 !o:NoMethodError : mesgu:NameError::message1undefined method `legends' for Forearm:Slide: name: legends: args[:bt[ "8/home/esp/esp2/lib/slide.rb:396:in `method_missing'"(ESP):33:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +547 #-> Forearm.legend +2441 #-> Forearm.1 + !o:NoMethodError : mesg"0undefined method `Forearm' for Object:Class: name0: args0:bt[\ ";/home/esp/esp2/lib/framework.rb:51:in `method_missing'";/home/esp/esp2/lib/framework.rb:63:in `method_missing'"(ESP):35:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +1665 #-> Forearm.to :1 +2 !o:SyntaxError: mesg"compile error\ (ESP):36: syntax error, unexpected tINTEGER, expecting tSTRING_CONTENT or tSTRING_DBEG or tSTRING_DVAR or tSTRING_END:bt["(ESP):36:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +764 #-> Forearm.to 1 +2 .Forearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 1 +2 "manipulator"&5' +99 "core" ' +2 "manipulator"&E% +4 "core" % q +1224 #t-> Arm.home +2 "manipulator"&F& +3 "core" & ? +2 "manipulator"&I% +4 "core" % +2 .tForearm.seek :retract + "manipulator"&K'\ +100 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek :home +2 "manipulator"&B( +257 "core" ( +2 "manipulator"&8& +4 "core" &  Y  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &D& +2 "core" &    +2 .tForearm.seek :home +2 "manipulator"&J' +42 "core" ' + "manipulator"&P& +4 "core" &  a   +2 "manipulator"&Q% +3 "core" % ; E +378 #t-> Forearm.to 1 + .Forearm.seek 1 +2 "manipulator"&N' +74 "core" 'Ԟ 3 +2 !to:Slide::Error\ : mesg")Forearm speedErr at CC + 1314 counts:@checkpoint: omitted: @replyo:I2C::Servo::AbsMove3Reply :@destinationi%: @channeli: @statusIS:I2C::Servo::Status: enabledT: pastRLSF: pastFLSF:pastThresholdF: lostF: homeF: positioni: velocityi: currenti:pwmi:erri: inPressi : outPressi :deltaPressi3 : voltagef12.579316642120766: @type2F: @tagiS: @sourcei+: @error: speedErr:@axisName" Forearm:bt["2/home/esp/esp2/lib/slide.rb:587:in `raiseErr'"7/home/esp/esp2/lib/slide.rb:350:in `unlimitedSeek'"5/home/esp/esp2/lib/thread.rb:74:in `recoverable'"7/home/esp/esp2/lib/slide.rb:323:in `unlimitedSeek'"./home/esp/esp2/lib/slide.rb:314:in `seek'",/home/esp/esp2/lib/slide.rb:357:in `to'"(ESP):39:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +532 #-> Arm.home + "manipulator"&?& +4 "core" &  a ` B  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek :home +2 "manipulator"&L( +13 "core" ( + "manipulator"&G& +4 "core" &\  _ t s  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &A& +3 "core" &\  b T   +2 .tForearm.seek :home +2 "manipulator"&U' +79 "core" ' + "manipulator"&V& +4 "core" &\  @ c Q  +2 "manipulator"&Y% +3 "core" % n n +604 #t-> Forearm.to 2 +2 .Forearm.seek 2 + "manipulator"&O'ξ +77 "core" 'Ԛ  ߞ +3 !to:Slide::Error\ : mesg")Forearm speedErr at CC + 1310 counts:@checkpoint: omitted: @replyo:I2C::Servo::AbsMove3Reply :@destinationi%: @channeli: @statusIS:I2C::Servo::Status: enabledT: pastRLSF: pastFLSF:pastThresholdF: lostF: homeF: positioni: velocityi: currenti:pwmi:erri: inPressi : outPressi :deltaPressi : voltagef12.569498281786942d: @type2F: @tagiT: @sourcei+: @error: speedErr:@axisName" Forearm:bt["2/home/esp/esp2/lib/slide.rb:587:in `raiseErr'"7/home/esp/esp2/lib/slide.rb:350:in `unlimitedSeek'"5/home/esp/esp2/lib/thread.rb:74:in `recoverable'"7/home/esp/esp2/lib/slide.rb:323:in `unlimitedSeek'"./home/esp/esp2/lib/slide.rb:314:in `seek'",/home/esp/esp2/lib/slide.rb:357:in `to'"(ESP):41:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +503 #-> Arm.home +2 "manipulator"&W& +3 "core" &\  a a   +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek :home + "manipulator"&H( +2 "core" ( +2 "manipulator"&R& +4 "core" &\  m f  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &^& +2 "core" &\  ` ` 1  +3 .tForearm.seek :home + "manipulator"&T' +73 "core" ' + "manipulator"&_& +4 "core" &\  a u (  +2 "manipulator"&`% +3 "core" % o m \ i +440 #t-> Forearm.to 3 +3 .Forearm.seek 3 + "manipulator"&]'M +77 "core" 'Ԉ ߞ +2 !to:Slide::Error\ : mesg")Forearm speedErr at CC + 1292 counts:@checkpoint: omitted: @replyo:I2C::Servo::AbsMove3Reply :@destinationi%: @channeli: @statusIS:I2C::Servo::Status: enabledT: pastRLSF: pastFLSF:pastThresholdF: lostF: homeF: positioni: velocityi: currenti:pwmi:erri: inPressi : outPressi :deltaPressi : voltagef12.569498281786942d: @type2F: @tagib: @sourcei+: @error: speedErr:@axisName" Forearm:bt["2/home/esp/esp2/lib/slide.rb:587:in `raiseErr'"7/home/esp/esp2/lib/slide.rb:350:in `unlimitedSeek'"5/home/esp/esp2/lib/thread.rb:74:in `recoverable'"7/home/esp/esp2/lib/slide.rb:323:in `unlimitedSeek'"./home/esp/esp2/lib/slide.rb:314:in `seek'",/home/esp/esp2/lib/slide.rb:357:in `to'"(ESP):43:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +1068 #-> Arm.ready! +2 .Forearm.reconfigure :loose +2 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&M'\ +133 "core" ' +2 ."closeHand"Hand.close +3 .tElbow.jog 1500 +2 "manipulator"&[/ +50 &S* +62 "core" / +2 * +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 .tElbow.home.seek :clear +2 "manipulator"&\\(d +235 "core" ( +2 "manipulator"&e& +4 "core" &d E C +2 "manipulator"&Z% +3 "core" % \ * 7 !V +294 #t-> Forearm.to 3 + .Forearm.seek 3 +2 "manipulator"&g'M +74 "core" '  +3 !to:Slide::Error\ : mesg")Forearm speedErr at CC + 5407 counts:@checkpoint: omitted: @replyo:I2C::Servo::AbsMove3Reply :@destinationi%: @channeli: @statusIS:I2C::Servo::Status: enabledT: pastRLSF: pastFLSF:pastThresholdF: lostF: homeF: positioni: velocityi: currenti:pwmi:erri: inPressi : outPressi :deltaPressi : voltagef12.574407461953854W : @type2F: @tagil: @sourcei+: @error: speedErr:@axisName" Forearm:bt["2/home/esp/esp2/lib/slide.rb:587:in `raiseErr'"7/home/esp/esp2/lib/slide.rb:350:in `unlimitedSeek'"5/home/esp/esp2/lib/thread.rb:74:in `recoverable'"7/home/esp/esp2/lib/slide.rb:323:in `unlimitedSeek'"./home/esp/esp2/lib/slide.rb:314:in `seek'",/home/esp/esp2/lib/slide.rb:357:in `to'"(ESP):45:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +671 #-> Arm.ready! +2 .Forearm.reconfigure :loose +3 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract + "manipulator"&d'\ +122 "core" ' +2 .tElbow.jog 1500 +2 "manipulator"&X* +55 "core" * +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 .tElbow.home.seek :clear + "manipulator"&b(d +389 "core" ( +3 "manipulator"&k& +4 "core" &d ; h + "manipulator"&l% +4 "core" %\ 8 ' +7216 #t-> Forearm.to 7 +2 .Forearm.seek 7 +2 "manipulator"&o'Ω +75 "core" ' 5 ݞ +3 !to:Slide::Error\ : mesg")Forearm speedErr at CC + 5449 counts:@checkpoint: omitted: @replyo:I2C::Servo::AbsMove3Reply :@destinationi%: @channeli: @statusIS:I2C::Servo::Status: enabledT: pastRLSF: pastFLSF:pastThresholdF: lostF: homeF: positioni: velocityi: currenti:pwmi:erri: inPressi : outPressi :deltaPressi5 : voltagef12.559679921453117: @type2F: @tagit: @sourcei+: @error: speedErr:@axisName" Forearm:bt["2/home/esp/esp2/lib/slide.rb:587:in `raiseErr'"7/home/esp/esp2/lib/slide.rb:350:in `unlimitedSeek'"5/home/esp/esp2/lib/thread.rb:74:in `recoverable'"7/home/esp/esp2/lib/slide.rb:323:in `unlimitedSeek'"./home/esp/esp2/lib/slide.rb:314:in `seek'",/home/esp/esp2/lib/slide.rb:357:in `to'"(ESP):47:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +521 #-> Arm.ready! +2 .Forearm.reconfigure :loose +2 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&i'\ +114 "core" ' +3 .tElbow.jog 1500 + "manipulator"&a* +67 "core" * + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 .tElbow.home.seek :clear + "manipulator"&h(d +388 "core" ( +2 "manipulator"&n& +3 "core" &d  !s +2 "manipulator"&c% +4 "core" %\ #  $ +894 #t-> Forearm.to retract +2 .Forearm.seek :retract + "manipulator"&t'\ +4 "core" ' + "manipulator"&u% +4 "core" %\ #  $ +485 #t-> Forearm.to 7 +2 .Forearm.seek 7 +2 "manipulator"&v'Ω +75 "core" ' F ݞ +2 !to:Slide::Error\ : mesg")Forearm speedErr at CC + 5403 counts:@checkpoint: omitted: @replyo:I2C::Servo::AbsMove3Reply :@destinationi%: @channeli: @statusIS:I2C::Servo::Status: enabledT: pastRLSF: pastFLSF:pastThresholdF: lostF: homeF: positioni: velocityi: currenti:pwmi:erri: inPressi : outPressi :deltaPressiF : voltagef12.559679921453117: @type2F: @tagi{: @sourcei+: @error: speedErr:@axisName" Forearm:bt["2/home/esp/esp2/lib/slide.rb:587:in `raiseErr'"7/home/esp/esp2/lib/slide.rb:350:in `unlimitedSeek'"5/home/esp/esp2/lib/thread.rb:74:in `recoverable'"7/home/esp/esp2/lib/slide.rb:323:in `unlimitedSeek'"./home/esp/esp2/lib/slide.rb:314:in `seek'",/home/esp/esp2/lib/slide.rb:357:in `to'"(ESP):50:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +512 #-> Forearm.to retract +2 .Forearm.seek :retract + "manipulator"&j'\ +64 "core" ' +2 "manipulator"&w% +3 "core" %\ ( 1 C +1004 #t-> Arm.garage + "manipulator"&f& +4 "core" &e K + "manipulator"&p% +4 "core" %\ ( C +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek :garage + "manipulator"&y(, +122 "core" ( + "manipulator"&|& +4 "core" &,  < +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &, ' < +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :garage +2 "manipulator"&' +77 "core" ' X ݞ +3 !to:Slide::Error\ : mesg")Forearm speedErr at CC + 4624 counts:@checkpoint: omitted: @replyo:I2C::Servo::AbsMove3Reply :@destinationi%: @channeli: @statusIS:I2C::Servo::Status: enabledT: pastRLSF: pastFLSF:pastThresholdF: lostF: homeF: positioni: velocityi: currenti:pwmi:erri: inPressi : outPressi :deltaPressiX : voltagef12.559679921453117: @type2F: @tagi: @sourcei+: @error: speedErr:@axisName" Forearm:bt["2/home/esp/esp2/lib/slide.rb:587:in `raiseErr'"7/home/esp/esp2/lib/slide.rb:350:in `unlimitedSeek'"5/home/esp/esp2/lib/thread.rb:74:in `recoverable'"7/home/esp/esp2/lib/slide.rb:323:in `unlimitedSeek'"./home/esp/esp2/lib/slide.rb:314:in `seek'",/home/esp/esp2/lib/slide.rb:358:in `to'"8/home/esp/esp2/lib/slide.rb:74:in `inConfiguration'",/home/esp/esp2/lib/slide.rb:358:in `to'"0/home/esp/esp2/utils/misc.rb:92:in `extend'",/home/esp/esp2/utils/misc.rb:34:in `to'"8/home/esp/esp2/utils/misc.rb:38:in `method_missing'"(ESP):52:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +395 #-> Hand.open + .Hand.open +2 "manipulator"&x1 +58 "core" 1 +975 #t-> Forearm.to retract +3 .Forearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&r'\ +70 "core" ' + "manipulator"&}% +4 "core" %\ ,  "a +1293 "Can" 64 +86 #t-> Forearm.to 7 +2 .Forearm.seek 7 + "manipulator"&'Ω +107 "core" ' + "manipulator"&% +4 "core" %θC < + ɬ +59801 "Can" KH +1289 #t-> SE.jog 200 +2 .SE.jog 200 + "storage"() +27 "core" ) + "storage"( % +4 "core" %\  % M< +689 #t-> SE.jog 200 +2 .SE.jog 200 + "storage"() +21 "core" ) +2 "storage"(~% +4 "core" % P 4 \ I) +362 #t-> SE.jog 200 + .SE.jog 200 +2 "storage"(m) +9 "core" ) 4 b +2 !to:Slide::Error\ : mesg"6Storage Elevator overCurrent at down + 413 counts:@checkpoint: omitted: @replyo:I2C::Servo::RelMove3Reply :@destinationi%: @channeli: @statusIS:I2C::Servo::Status: enabledT: pastRLSF: pastFLSF:pastThresholdF: lostF: homeT: positioni: velocityi: currenti :pwmig:erri: inPressi : outPressi :deltaPressi4 : voltagef14.660809032891507W@: @type2F: @tagir: @sourcei-: @error:overCurrent:@axisName"Storage Elevator:bt[ "2/home/esp/esp2/lib/slide.rb:587:in `raiseErr'"-/home/esp/esp2/lib/slide.rb:298:in `jog'"5/home/esp/esp2/lib/thread.rb:74:in `recoverable'"-/home/esp/esp2/lib/slide.rb:273:in `jog'"(ESP):58:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +10124 #-> Storage.pucks +47459 "Can" JH +60002  JH +60002 x KI +60002  KI +60002 | KI +53286 #t-> Arm.stretch! +2 .Forearm.seek :retract +2 "manipulator"&s'\ +104 "core" ' + .tElbow.seek :hammer +2 "manipulator"&{(* +184 "core" ( +2 "manipulator"&& +4 "core" &5  $ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek retracted +2 "manipulator"&'\ +5 "core" ' + "manipulator"& % +4 "core" %\ C > . +2 "manipulator"& & +4 "core" &5 5 $ + "manipulator"&% +4 "core" %\ C  . +2394 #t-> Elbow.to 1 +2 .Elbow.seek 1 +2 "manipulator"&(c +17 "core" ( +2 "manipulator"&z& +4 "core" &{  $ +609 #t-> Arm/PC + !o:TypeError: mesg"PC is not a symbol:bt[\ "L/opt/mbari/lib/ruby/site_ruby/1.8/sourceref.rb:333:in `instance_method'">/opt/mbari/lib/ruby/site_ruby/1.8/sourceref.rb:333:in `/'"(ESP):62:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +577 #-> Arm.PC + "manipulator"&& +4 "core" &{  $ + "manipulator"&% +4 "core" %\ D  . +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek :PC + "manipulator"&(c +256 "core" ( +2 "manipulator"&& +4 "core" &c \  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +2 "core" &c  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek PC +2 "manipulator"&'[ +102 "core" ' +2 "manipulator"&!& +4 "core" &c x  + "manipulator"&#% +4 "core" %d +257 #t-> Elbow.to 1 +2 .Elbow.seek 1 +2 "manipulator"&(c +46 "core" ({  ! b +3 !to:Slide::Error\ : mesg"Elbow speedErr at PC:@checkpoint: omitted: @replyo:I2C::Servo::AbsMove3Reply :@destinationi%: @channeli: @statusIS:I2C::Servo::Status: enabledT: pastRLSF: pastFLSF:pastThresholdF: lostF: homeT: positioni: velocityi: currenti{:pwmig:erri: inPressi : outPressi! :deltaPressi : voltagef12.451677957781051: @type2F: @tagi: @sourcei+: @error: speedErr:@axisName"\ Elbow:bt["2/home/esp/esp2/lib/slide.rb:587:in `raiseErr'"7/home/esp/esp2/lib/slide.rb:350:in `unlimitedSeek'"5/home/esp/esp2/lib/thread.rb:74:in `recoverable'"7/home/esp/esp2/lib/slide.rb:323:in `unlimitedSeek'"./home/esp/esp2/lib/slide.rb:314:in `seek'",/home/esp/esp2/lib/slide.rb:357:in `to'"(ESP):64:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +2058 "Can"} 63 +861 #t-> Arm. to 1 +2 "manipulator"&& +3 "core" &R ^  +2 "manipulator"&$% +4 "core" %~  +2 .tForearm.seek :retract + "manipulator"&'\ +92 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 1 + "manipulator"&(c +244 "core" ( +2 "manipulator"&"& +4 "core" &[  # + "storage"((& +4 "core" &[\ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&*'k +109 "core" ' +2 "manipulator"& & +4 "core" &[ ^ i w # + "manipulator"&-% +4 "core" %В e j p +1043 #t-> Arm.PC +2 "manipulator"&& +3 "core" &[ g j V # +2 "manipulator"&% +4 "core" %В l a c + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +93 "core" ' + .tElbow.seek :PC +2 "manipulator"&%(c +255 "core" ( + "manipulator"&/& +4 "core" &]  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &3& +3 "core" &]  + .tForearm.seek PC +2 "manipulator"&.'[ +111 "core" ' + "manipulator"&1& +5 "core" &] c e 9 + "manipulator"&&% +4 "core" %i f e H +397 #t-> Arm. to 2 +2 "manipulator"&+& +3 "core" &] e c ; +2 "manipulator"&'% +4 "core" %i f ` 4 +2 .tForearm.seek :retract + "manipulator"&0'\ +92 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 + "manipulator"&:(; +245 "core" ( +2 "manipulator"&>& +3 "core" &6 $ $ +2 "storage"()& +4 "core" &[\ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&4'k +103 "core" ' + "manipulator"&,& +4 "core" &7 o s $ +2 "manipulator"&2% +4 "core" %v f ` i +600 #t-> Arm.PC +2 "manipulator"&6& +3 "core" &7 k h $ + "manipulator"&9% +4 "core" %v i b l +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +94 "core" ' +2 .tElbow.seek :PC +2 "manipulator"&=(c +254 "core" ( +2 "manipulator"&<& +4 "core" &j 4 ! + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &;& +2 "core" &j 0 ! +2 .tForearm.seek PC +2 "manipulator"&7'[ +98 "core" ' + "manipulator"&& +4 "core" &j H ! +2 "manipulator"&E% +3 "core" %O  +509 #t-> Arm. 1 + !o:SyntaxError: mesg">compile error\ (ESP):69: syntax error, unexpected tINTEGER:bt["(ESP):69:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +552 #-> Arm. to 1 +2 "manipulator"&C& +3 "core" &j  ! +2 "manipulator"&F% +4 "core" %O 7 +2 .tForearm.seek :retract + "manipulator"&I'\ +103 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 1 +2 "manipulator"&5(c +253 "core" ( + "manipulator"&8& +4 "core" &\\ C ' + "storage"(D& +4 "core" &[\ \  @ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts +2 "manipulator"&@'k +100 "core" ' + "manipulator"&P& +4 "core" &\\ ` i  ' +2 "manipulator"&Q% +4 "core" %_ e e  +4467 #t-> Arm.grab PC + "manipulator"&K& +3 "core" &\\ ` e 3 ' +2 "manipulator"&N% +4 "core" %_ ` b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&J'\ +94 "core" ' +2 .tElbow.seek PC +2 "manipulator"&?(c +257 "core" ( + "manipulator"&G& +4 "core" &e   +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &A& +3 "core" &e   +2 .tForearm.seek PC +2 "manipulator"&V'[ +104 "core" ' + .tHand.close +2 "manipulator"&Y/ +62 "core" / +950 #t-> Arm.grab garage + .Hand.open +2 "manipulator"&B1 +60 "core" 1 + "manipulator"&O& +4 "core" &e r [ 1  +2 "manipulator"&U% +3 "core" % V d f q +2 .tForearm.seek :retract +2 "manipulator"&W'\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage +2 "manipulator"&R(, +124 "core" ( + "manipulator"&^& +4 "core" &, &  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &_& +3 "core" &,   + .tForearm.seek :garage +2 "manipulator"&`' +104 "core" ' +2 .tHand.close + "manipulator"&L/ +63 "core" / +750 #t-> Flush.CC +2 #Loading FlushPuck into Collection Clamp from FlushPuck::Garage + "collection"']& +3 "core" & +2 .tHand.open + "manipulator"&T1 +54 "core" 1 + "manipulator"&[& +4 "core" &, \\  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek FlushPuck::Garage +2 "manipulator"&H(, +2 "core" ( +2 "manipulator"&e& +3 "core" &,   +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &Z& +43 "core" &, G  +11 .tForearm.seek :garage +2 "manipulator"&S' +3 "core" ' +2 .tHand.close + "manipulator"&g/ +61 "core" / +2 "manipulator"&M& +4 "core" &, v  +2 "manipulator"&\\% +3 "core" %   +2 .tForearm.seek :retract +2 "manipulator"&X'\ +100 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&k( +273 "core" ( + "manipulator"&l& +4 "core" &$ 1 <: +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &o& +3 "core" &%  <: +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&d'| +95 "core" ' + "manipulator"&b& +5 "core" &% f <: + "manipulator"&a% +4 "core" %ς +2 "collection"'n& +3 "core" & +2 "collection"'c& +5 "core" & +2 .tCC.seek :closed +2 "collection"'u(] +4 "core" &  +9 &7 *x +9 &j > +9 &v J +10 &:p I +9 &p H +9 &r I +10 &!s I +9 &#Bq I +9 &%q H +10 &&s H +9 &(s H +10 &*Ls H +9 &, q H +9 &-o H +10 &/u H +9 &1So H +10 &3p H +9 &4n H +9 &6r H +10 &8\\p H +9 &:p H +9 &;m H +10 &=s H +9 &?cr H +9 &A$r I +10 &Br H +9 &Dp H +10 &Fks H +9 &H,t{ I +9 &I}mq J +10 &KO^ L +9 &M_!0 O +9 &O Q +10 &P Q +9 &R Q +10 &T_ R +9 &V  S +9 &W  S +10 &Y U +9 &[` T +9 &\\o + +10 &]. O +10 ( &]\\ ? +2 "collection"'c& +3 #tCollection Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.78 + "collection"'i& +4 "core" &]^ ? +2 .tHand.open + "manipulator"&v1 +53 "core" 1 + "manipulator"&t% +4 "core" % ς O +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&w'\ +96 "core" ' +487 #t-> Flush.garage +2 #Garaging FlushPuck in Collection Clamp + "manipulator"&f& +3 "core" &)  7 +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&p( +25 "core" ( + "manipulator"&|& +4 "core" &  0 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &  0 +2 .tForearm.seek CC +2 "manipulator"&'| +98 "core" ' + .tHand.close + "manipulator"&h/ +58 "core" / +2 .tCC.seek :open +2 "collection"'j(p +410 "core" ( +2 "manipulator"&x& +4 "core" &  / + "manipulator"&}% +4 "core" % ψ  + .tForearm.seek :retract +2 "manipulator"&'\ +97 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage + "manipulator"&r(, +274 "core" ( + "manipulator"& & +4 "core" &, 2 n +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &~& +3 "core" &, & n +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :garage +2 "manipulator"&' +109 "core" ' +2 .tHand.open + "manipulator"&m1 +59 "core" 1 +2 "manipulator"&% +4 "core" %  N  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +99 "core" ' +7969 #t-> Arm.garage + "manipulator"&& +4 "core" &,  n + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage +2 "manipulator"& (, +2 "core" ( +2 "manipulator"& & +3 "core" &, 2 n +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &, # n +2 .tForearm.seek :garage + "manipulator"&y' +105 "core" ' +2 "manipulator"&s& +4 "core" &, . n + "manipulator"&z% +4 "core" %   +1221 #t-> Arm.withdraw +2 "manipulator"&{% +3 "core" %   +2 .tForearm.seek :retract +2 "manipulator"&'\ +100 "core" ' + "manipulator"&& +4 "core" &, n +2 "manipulator"&% +3 "core" %\ 2 %x +547 #t-> Arm.garage + "manipulator"&& +3 "core" &, # n +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage +2 "manipulator"&(, +2 "core" ( + "manipulator"&!& +4 "core" &,  n + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &#& +2 "core" &, D n +2 .tForearm.seek :garage +2 "manipulator"&' +104 "core" ' +2 "manipulator"&& +4 "core" &, E n +2 "manipulator"&% +3 "core" %   +628 #t-> Hand.close + .Hand.close +2 "manipulator"&/ +55 "core" / +468 #t-> Arm.withdraw +2 "manipulator"&$% +3 "core" %    +2 .tForearm.seek :retract +2 "manipulator"&'\ +100 "core" ' + "manipulator"&"& +4 "core" &, u  n +2 "manipulator"&(% +3 "core" %\ 0 ' $u +661 #t-> Arm.garage +2 "manipulator"& & +3 "core" &,  n +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage + "manipulator"&-(, +3 "core" ( +2 "manipulator"&& +4 "core" &, 9 n + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +2 "core" &,  n +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :garage +2 "manipulator"&' +109 "core" ' + "manipulator"&*& +4 "core" &, $ n +2 "manipulator"&/% +3 "core" % H  +586 #t-> Arm.retract +2 .Hand.open + "manipulator"&31 +55 "core" 1 +2 "manipulator"&% +4 "core" %  v  + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&1'\ +98 "core" ' +2 "manipulator"&&& +4 "core" &, w  n + "manipulator"&% +4 "core" %\ 1  %y +12447 #t-> Arm.home +2 "manipulator"&+& +3 "core" &,  n +2 "manipulator"&'% +4 "core" %\ 1  %y + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek :home + "manipulator"&.( +107 "core" ( + "manipulator"&>& +4 "core" &\ ~ d Q +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &)& +3 "core" &\ w Q +2 .tForearm.seek :home +2 "manipulator"&%' +41 "core" ' +2 "manipulator"&,& +4 "core" &\ n m ~ Q + "manipulator"&2% +4 "core" % m k D +668 #t-> Arm.flush +2 "manipulator"&0& +3 "core" &\ g d v Q +2 !to:Axis::Error: mesg""Unknown Elbow position: flush:@axisName"\ Elbow:bt["0/home/esp/esp2/lib/axis.rb:512:in `baseRaw'",/home/esp/esp2/lib/axis.rb:293:in `raw'"1/home/esp/esp2/lib/axismap.rb:171:in `fetch'"1/home/esp/esp2/lib/axismap.rb:159:in `fetch'"./home/esp/esp2/lib/axis.rb:277:in `fetch'",/home/esp/esp2/lib/axis.rb:288:in `raw'",/home/esp/esp2/lib/axis.rb:552:in `raw'"./home/esp/esp2/lib/axis.rb:666:in `near?'",/home/esp/esp2/utils/misc.rb:32:in `to'"8/home/esp/esp2/utils/misc.rb:38:in `method_missing'"(ESP):83:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +1713 #-> Forearm.to Flush + .Forearm.seek FlushPuck +2 "manipulator"&6' +74 "core" 'Ԋ  ڞ +3 !to:Slide::Error\ : mesg")Forearm speedErr at CC + 1294 counts:@checkpoint: omitted: @replyo:I2C::Servo::AbsMove3Reply :@destinationi%: @channeli: @statusIS:I2C::Servo::Status: enabledT: pastRLSF: pastFLSF:pastThresholdF: lostF: homeF: positioni: velocityi: currenti:pwmi:erri: inPressi : outPressi :deltaPressi: voltagef12.544952380952381": @type2F: @tagi;: @sourcei+: @error: speedErr:@axisName" Forearm:bt["2/home/esp/esp2/lib/slide.rb:587:in `raiseErr'"7/home/esp/esp2/lib/slide.rb:350:in `unlimitedSeek'"5/home/esp/esp2/lib/thread.rb:74:in `recoverable'"7/home/esp/esp2/lib/slide.rb:323:in `unlimitedSeek'"./home/esp/esp2/lib/slide.rb:314:in `seek'",/home/esp/esp2/lib/slide.rb:357:in `to'"(ESP):84:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +1399 #-> Arm.Flush + "manipulator"&9& +4 "core" & g e K R +2 !to:Axis::Error: mesg""Unknown Elbow position: Flush:@axisName"\ Elbow:bt["0/home/esp/esp2/lib/axis.rb:512:in `baseRaw'",/home/esp/esp2/lib/axis.rb:293:in `raw'"1/home/esp/esp2/lib/axismap.rb:171:in `fetch'"1/home/esp/esp2/lib/axismap.rb:159:in `fetch'"./home/esp/esp2/lib/axis.rb:277:in `fetch'",/home/esp/esp2/lib/axis.rb:288:in `raw'",/home/esp/esp2/lib/axis.rb:552:in `raw'"./home/esp/esp2/lib/axis.rb:666:in `near?'",/home/esp/esp2/utils/misc.rb:32:in `to'"8/home/esp/esp2/utils/misc.rb:38:in `method_missing'"(ESP):85:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +472 #-> Arm.garage + "manipulator"&4& +3 "core" & _ d  R +2 "manipulator"&<% +4 "core" %Պ d ` +2 .tForearm.seek :retract + "manipulator"&;'\ +85 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage +2 "manipulator"&:(, +123 "core" ( +2 "manipulator"&& +4 "core" &, W _ + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &E& +2 "core" &, z  _ +2 .tForearm.seek :garage +2 "manipulator"&' +101 "core" ' + "manipulator"&C& +4 "core" &, S _ +2 "manipulator"&F% +3 "core" %  +419 #t-> Arm.home + "manipulator"&7& +4 "core" &,  _ + "manipulator"&8% +4 "core" %  +2 .tForearm.seek :retract +2 "manipulator"&D'\ +94 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek :home + "manipulator"&=( +119 "core" ( + "manipulator"&P& +4 "core" & t  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &Q& +3 "core" & w  +2 .tForearm.seek :home +2 "manipulator"&I' +38 "core" ' +2 "manipulator"&K& +4 "core" & j X  + "manipulator"&N% +4 "core" % g i = O +560 #t-> Elbow.garage +2 .Elbow.seek :garage +2 "manipulator"&@(, +106 "core" ( +2 "manipulator"&G& +4 "core" &, m `  +1058 #t-> Arm.PC +2 "manipulator"&A& +3 "core" &, f f 3  + "manipulator"&5% +4 "core" % c f e O +2 .tForearm.seek :retract + "manipulator"&Y'\ +44 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek :PC +2 "manipulator"&J(c +129 "core" ( +2 "manipulator"&B& +4 "core" &l   + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &O& +2 "core" &l   +2 .tForearm.seek PC +2 "manipulator"&U'[ +96 "core" ' +2 "manipulator"&^& +4 "core" &l ,  + "manipulator"&_% +4 "core" %V   +611 #t-> Elbow.garage +2 .Elbow.seek :garage + "manipulator"&V(, +48 "core" (|   b +2 !to:Slide::Error\ : mesg"Elbow speedErr at PC:@checkpoint: omitted: @replyo:I2C::Servo::AbsMove3Reply :@destinationi%: @channeli: @statusIS:I2C::Servo::Status: enabledT: pastRLSF: pastFLSF:pastThresholdF: lostF: homeT: positioni: velocityi: currenti|:pwmig:erri: inPressi : outPressi :deltaPressi : voltagef12.446768777614139t: @type2F: @tagi[: @sourcei+: @error: speedErr:@axisName"\ Elbow:bt["2/home/esp/esp2/lib/slide.rb:587:in `raiseErr'"7/home/esp/esp2/lib/slide.rb:350:in `unlimitedSeek'"5/home/esp/esp2/lib/thread.rb:74:in `recoverable'"7/home/esp/esp2/lib/slide.rb:323:in `unlimitedSeek'"./home/esp/esp2/lib/slide.rb:314:in `seek'"0/home/esp/esp2/lib/slide.rb:357:in `moveTo'"8/home/esp/esp2/lib/slide.rb:403:in `method_missing'"(ESP):90:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +673 #-> Arm.home +2 "manipulator"&?& +3 "core" &w  r +2 "manipulator"&L% +4 "core" %ϵ | > +2 .tForearm.seek :retract + "manipulator"&W'\ +94 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek :home + "manipulator"&]( +61 "core" ( +2 "manipulator"&T& +4 "core" &  k + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &[& +2 "core" &  k +2 .tForearm.seek :home +2 "manipulator"&e' +43 "core" ' +2 "manipulator"&Z& +4 "core" & m m k k + "manipulator"&g% +4 "core" % c e R ' +470 #t-> Elbow.garage +2 .Elbow.seek :garage + "manipulator"&M(, +122 "core" ( +2 "manipulator"&\\& +4 "core" &, c  o +505 #t-> Elbow.PC +2 .Elbow.seek PC +42 "manipulator"&R(c +125 "core" ( +2 "manipulator"&`& +4 "core" &W i Z e +7176 "Can" 20 +60002 y 2/ +53988 #t-> Arm.garage +2 "manipulator"&S& +3 "core" &W q 6 e +2 "manipulator"&l% +4 "core" % q h ( +2 .tForearm.seek :retract + "manipulator"&o'\ +42 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek :garage + "manipulator"&H(, +124 "core" ( + "manipulator"&b& +4 "core" &, \\  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &a& +3 "core" &, m  +2 .tForearm.seek :garage +2 "manipulator"&n' +100 "core" ' +2 "manipulator"&X& +4 "core" &, u  + "manipulator"&\ % +4 "core" % H  +441 #t-> Arm.PC +2 "manipulator"&i& +3 "core" &,   +2 "manipulator"&v% +4 "core" %   + .tForearm.seek :retract +2 "manipulator"&t'\ +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek :PC + "manipulator"&c(c +134 "core" ( +2 "manipulator"&d& +4 "core" &h  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &f& +3 "core" &h  +2 .tForearm.seek PC + "manipulator"&|'[ +98 "core" ' +2 "manipulator"&& +4 "core" &h % + "manipulator"&h% +4 "core" %[ . +798 #t-> Hand.close + .Hand.close +2 "manipulator"&k/ +61 "core" / +319 #t-> Hand.open +2 .Hand.open + "manipulator"&w1 +53 "core" 1 +339 #t-> Arm.home +2 "manipulator"&u& +3 "core" &h j +2 "manipulator"&x% +4 "core" % [ + +2 .tForearm.seek :retract + "manipulator"&}'\ +99 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek :home +2 "manipulator"&( +61 "core" ( + "manipulator"& & +4 "core" & b  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &~& +3 "core" &  +2 .tForearm.seek :home +2 "manipulator"&p' +38 "core" ' +2 "manipulator"&m& +4 "core" & s } t  + "manipulator"&% +4 "core" % d  Z N +399 #t-> Arm.ready! +3 .Forearm.reconfigure :loose +2 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&'\ +51 "core" ' +2 ."closeHand"Hand.close +4 .tElbow.jog 1500 + "manipulator"&/ +4 &* +55 "core" / +6 * +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 .tElbow.home.seek :clear +2 "manipulator"& (d +248 "core" ( +2 "manipulator"&& +4 "core" &d !t +2 "manipulator"&s% +3 "core" % \ 3 T % +2255 "Can" 97 +60002 y 96 +60002 y\ 96 @946684871.44EST = =tMAIN =mMAIN_scheduler @EST946684873.39 #"core_reset"Sent BREAK +3 #t@25764 idle with ifg=0x00, ie=0x75 #>RESET< ESP2 v3.41 I2C Gateway v3.20 +209 #>RESET< ESP2 v3.41 I2C Gateway v3.20 for core bus +211 !o:Instrument::ISUSCore: @refiXd: @configS:Instrument::Configuration: name" ISUS:calFileName0:sampleCmd"TS: prompt"\ :statusCmd"C:sampleTimeouti#:promptTimeouti:statusTimeouti: retriesi:strToPrompt"W: pace0: echoF:\ @name@ +99 #Configuration for don (12651-03) 10/9/20 brent@mbari.org\ /home/esp/esp2/type/shallow/don/configure.rb\ +400 "Can" '#!{ +  '#!{ + #tPolling Can every 10:00 +3 !o:Storage::Warning: mesg"Uncleanly Exited:bt[ "8/home/esp/esp2/utils/storage.rb:438:in `readPucks!'"6/home/esp/esp2/utils/storage.rb:627:in `restore!'"-/home/esp/esp2/lib/esp.rb:115:in `shell'"7/home/esp/esp2/lib/schedule.rb:481:in `initialize'"0/home/esp/esp2/lib/thread.rb:738:in `start'"7/home/esp/esp2/lib/schedule.rb:474:in `initialize'"'/home/esp/esp2/lib/schedule.rb:472 +456 #-> ESP.ready! +4 #Powering core bus +554 .Gate.power :raw,:ON + "sampler") +35 ) +2 "core"  + "collection"' +3 ' +3 "core"  +2 "processing"% +2 % +3 "core"  +5 "collection"' 9\ +2 ' 0\ + ' -\ +4 "processing"% 9\ +2 % 2\ +2 % *\ +2 % 0\ +4 "sampler")&\ +2 "collection"'% +3 "core" %99 + .tCS.configure :default +3 "collection"'#P d@b +2 "processing"%% +3 "core" %B + .tPS.configure :default +3 "processing"%#A d`xb +2 "sampler")% +3 "core" %  + .tSS.configure :default +3 "sampler")#.0X +2 "processing"%(& +7 "collection"')& +15 "core" &L +3 &:9 +3 .tCC.reconfigure :default +5 ."openPC"PC.reconfigure :default +9 "collection"'$x2 ^22b +3 "processing"%$x2 ^22b +6 .tCC.home.seek :open +5 ."openPC"PC.home.seek :open +5 "collection"'*(p + "processing"%+(p +358 "core" ( +7 ( +5 "collection"', +8 "core"  +3 "processing"%- +7 "core" V +5 "processing"%. +6 "core" A +4 "processing"%/ +4 "core"  +4 "collection"'0% +9 "core" %:;8 +4 "processing"%1% +8 "core" % +3 "sampler")2% +9 "core" %2 +6 "collection"'3& +9 "core" &P8:  +2 "processing"%4& +9 "core" &YM  +4 "manipulator"&5% +7 "core" %\ 0  #= +5 "manipulator"&6& +8 "core" &, 9 C +2 "storage"(7& +8 "core" &,\ \   +5 "storage"(8% +9 "core" %J*\ \  Q +2 "collection"'99 +6 "core" 9ae +5 "processing"%:9 +7 "core" 9o +6333 #t-> CBV + "collection"'; +6 "core"  +657 #t-> CBV.SSV +5 .CBV.dial SSV + "collection"'< @ +98 "core" A +259 #t-> SSV +16297 #-> CBV.CSV + .CBV.dial CSV +4 "collection"'=  +98 "core"  +25603 #t-> purgeIntake +6 #Loading FlushPuck into Collection Clamp from FlushPuck::Garage + "collection"'>& +6 "core" &P>@  +4 .tHand.open +3 "manipulator"&?1 +65 "core" 1 +5 "manipulator"&@& +9 "core" &, > C +2 "manipulator"&A% +8 "core" % \ . ) #= +5 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +6 .tElbow.seek FlushPuck::Garage + "manipulator"&B(, +193 "core" ( +2 "manipulator"&C& +11 "core" &, E  +3 .tElbow.reconfigure :loose +4 "manipulator"&$ &.,(#b +4 &D& +8 "core" &,  +5 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +4 .tForearm.seek :garage +4 "manipulator"&E' +107 "core" ' +2 .tHand.close +4 "manipulator"&F/ +56 "core" / +4 "manipulator"&G& +4 "core" &,   +4 "manipulator"&H% +10 "core" %   +5 .tForearm.seek :retract +6 "manipulator"&I'\ +100 "core" ' +4 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +6 .tElbow.seek CC +4 "manipulator"&J( +368 "core" ( +16 "manipulator"&K& +10 "core" &-  Cs +4 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +5 &L& +6 "core" &.  Cs +4 .tForearm.reconfigure :tight +6 "manipulator"&#Q@2^d^\ b +6 .tForearm.seek CC +4 "manipulator"&M'| +104 "core" ' +6 "manipulator"&N& +8 "core" &- ! Cs +3 "manipulator"&O% +8 "core" %w  +3 "collection"'P& +8 "core" &P<=  +5 "collection"'Q& +11 "core" &P<?  +7 .tCC.seek :closed +5 "collection"'R(] +9 "core" &P;>  +5 &P<?  +2 &P;> > +7 &M=@ 1 +9 &+{>> E +8 &r<> I +11 &t9? I +9 &dv=> I +9 & 's<< I +10 &!r>= I +9 &#r9> I +10 &%mt>= I +13 &'/u=@ I +8 &(u=>6 I +8 &*t>> I +9 &,ut;= I +8 &.7v=? I +10 &/r<> H +10 &1t<= I +9 &3}p<> I +9 &5@o?= H +8 &7r<> H +11 &8r=> H +10 &:u:> I +7 & H +11 &>\ r<< H +9 &?w<;+ I +9 &Av<>/ I +11 &COs<>0 I +7 &Eo;=- H +11 &Fp:<. H +9 &Hx6;5 I +8 &JS~)22 J +12 &L 0 M +8 &M P +10 &O3 Q +11 &QE- R +7 &S R +11 &T1 S +10 &V4 S +8 &XI1 S +10 &Z. U +9 &[/ T +9 &]#L- 3 +10 &]A% 4 +4 ( +4 "collection"'Q& +9 #tCollection Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.80 +3 "collection"'S& +8 "core" &]., 4 +2 &]/+ 4 +2 .tHand.open +5 "manipulator"&T1 +55 "core" 1 +6 "manipulator"&U% +8 "core" % q , +4 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +5 .tForearm.seek :retract +5 "manipulator"&V'\ +94 "core" ' +4 #tPurging external Intake + "collection"'W& +8 "core" &]/ 4 +3 "collection"'X% +8 "core" %e +3 .tCSV.dial :flush +3 "collection"'Y  +45 "core"  +5 .tCS.seek 10ml +3 "collection"'Z' +2205 "core" ' +5 .tdelay 5 seconds +503 ."connect"CSV.dial CBV +8 .tCBV.dial CSV +6 "collection"'[ +68 "core" ~ +3 .tCTV.dial :intake +4 "collection"'\\  +67 "core"  +4 .tIntake.select :open + "sampler") +14 .tCS.seek 0ml + "collection"']' +412 "Can" da +1758 "core" ' +3 .tIntake.select :close +3 "sampler")0 +11 .tCTV.dial :air +5 "collection"'^  +69 "core"  +4 #tGaraging FlushPuck in Collection Clamp +3 "manipulator"&_& +11 "core" &3% = =E +3 .tElbow.reconfigure :tight +7 "manipulator"&$&.,(\ #b +4 .tElbow.seek CC +4 "manipulator"&`( +30 "core" ( +2 "manipulator"&a& +9 "core" &   +4 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +4 &b& +6 "core" & ,  +5 .tForearm.seek CC + "manipulator"&c'| +100 "core" ' +4 .tHand.close +2 "manipulator"&d/ +62 "core" / +5 .tCC.seek :open + "collection"'e(p +414 "core" ( +2 "manipulator"&f& +8 "core" &   +3 "manipulator"&g% +10 "core" % ώ  +4 .tForearm.seek :retract +4 "manipulator"&h'\ +93 "core" ' +4 .tElbow.reconfigure :tight +5 "manipulator"&$&.,(\ #b +4 .tElbow.seek :garage +4 "manipulator"&i(, +283 "core" ( +4 "manipulator"&j& +9 "core" &, ^  +2 .tElbow.reconfigure :loose +6 "manipulator"&$ &.,(#b +5 &k& +8 "core" &,   +3 .tForearm.reconfigure :tight +6 "manipulator"&#Q@2^d^\ b +6 .tForearm.seek :garage +3 "manipulator"&l' +109 "core" ' +4 .tHand.open +4 "manipulator"&m1 +62 "core" 1 +3 "manipulator"&n% +9 "core" %  * * +3 .tForearm.reconfigure :loose +5 "manipulator"&#Q@2^d^b +5 .tForearm.seek :retract + "manipulator"&o'\ +98 "core" ' +7605 #t-> CSV +1135 #-> CSV.flush +4 .CSV.dial :flush +2 "collection"'p  +69 "core"  +829 #t-> CS.fill +2 .CS.reconfigure :default +5 "collection"'#P d@b +5 .tCS.seek 10ml +4 "collection"'q' +2634 "core" ' +4 "collection"'r% +8 "core" %CD  +541 #t-> CSV.CBV + .CSV.dial CBV + "collection"'s +70 "core"  +1055 #t-> CBV.SSV + .CBV.dial SSV +4 "collection"'t @ +98 "core" @ +655 #t-> Flush.CC +4 #Loading FlushPuck into Collection Clamp from FlushPuck::Garage +4 "collection"'u& +6 "core" &CD +3 "manipulator"&v& +7 "core" &,   +3 .tElbow.reconfigure :tight +7 "manipulator"&$&.,(\ #b +2 .tElbow.seek FlushPuck::Garage +4 "manipulator"&w(, +5 "core" ( +5 "manipulator"&x& +8 "core" &,   +3 .tElbow.reconfigure :loose +7 "manipulator"&$ &.,(#b +4 &y& +8 "core" &, k  +3 .tForearm.seek :garage +3 "manipulator"&z' +104 "core" ' +2 .tHand.close +3 "manipulator"&{/ +60 "core" / +4 "manipulator"&|& +9 "core" &, 5  +2 "manipulator"&}% +8 "core" %  u +4 .tForearm.seek :retract + "manipulator"&~'\ +110 "core" ' +4 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +5 .tElbow.seek CC +4 "manipulator"&( +287 "core" ( +2 "manipulator"&& +9 "core" &' L >H +5 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +6 && +5 "core" &'  >H +4 .tForearm.reconfigure :tight +5 "manipulator"&#Q@2^d^\ b +6 .tForearm.seek CC +3 "manipulator"&'| +107 "core" ' +2 "manipulator"&& +8 "core" &'  >H +4 "manipulator"&% +9 "core" %s  +3 "collection"'& +9 "core" &CC +6 "collection"'& +13 "core" &BD +4 &DF +6 .tCC.seek :closed + "collection"'(] +8 "core" &CE +2 &DD  +8 &6BE *x +7 &iCD > +12 &pAE) J +9 &6rDD H +8 &uBC I +12 &vCD I +8 &!zvBD I +11 &#<tBD I +8 &$sDE H +8 &&tDF H +11 &(sEE H +10 &*EsBF H +9 &,sCE H +11 &-uCE I +7 &/sBE I +10 &1LpBF I +11 &3sCE I +6 &4nDF H +10 &6rDD H +11 &8VnDD H +8 &:rBD H +10 &;kDD H +10 &=rCD I +10 &?\\rDD I +9 &ArBE I +7 &BrCG I +12 &DpDE H +9 &FeoCE H +8 &H&pDC I +11 &I}AE J +8 &K.9 L +12 &MZ.( O +7 &O=> P +9 &P@A Q +13 &R=@ R +6 &TZ>? R +10 &V== S +12 &W== S +5 &Y:> U +11 &[T<> W +9 &\\{;> ) +12 &]#:> E +5 ( +4 &]O== > +6 "collection"'& +6 #tCollection Clamp onSpring/offSpring for 8/26 samples, on/off torque 1.75 +5 "collection"' & +9 "core" &]Q>? > +2 &]O=> > +3 .tHand.open +3 "manipulator"&\ 1 +54 "core" 1 +3 "manipulator"& % +9 "core" % _ i +4 .tForearm.reconfigure :loose +7 "manipulator"&#Q@2^d^b +5 .tForearm.seek :retract + "manipulator"& '\ +94 "core" ' +458 #t-> SSV.exhaust +3 .SSV.dial :exhaust +4 "sampler")  +70 "core"  +566 #t-> CS.empty +4 .CS.seek 0ml +4 "collection"'' +97 "core" ' vd>>' +7 !to:Slide::Error\ : mesg".Collection Syringe overCurrent at 9.764ml:@checkpoint: omitted: @replyo:I2C::Servo::AbsMove3Reply :@destinationi%: @channeli: @statusIS:I2C::Servo::Status: enabledT: pastRLSF: pastFLSF:pastThresholdF: lostF: homeF: positioniv : velocityi: currentid:pwmi:erri: inPressi>: outPressi>:deltaPressi': voltagef14.935723122238587@a: @type2F: @tagi: @sourcei,: @error:overCurrent:@axisName"Collection Syringe:bt["2/home/esp/esp2/lib/slide.rb:587:in `raiseErr'"7/home/esp/esp2/lib/slide.rb:350:in `unlimitedSeek'"5/home/esp/esp2/lib/thread.rb:74:in `recoverable'"7/home/esp/esp2/lib/slide.rb:323:in `unlimitedSeek'"6/home/esp/esp2/lib/scale.rb:93:in `unlimitedSeek'"./home/esp/esp2/lib/slide.rb:314:in `seek'"0/home/esp/esp2/lib/slide.rb:357:in `moveTo'"0/home/esp/esp2/lib/syringe.rb:28:in `empty'"(ESP):14:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +1922 #-> CSV +1466 #-> Exhaust.open + .Exhaust.select :open +4 "sampler")@ +517 #t-> CS.empty +4 .CS.seek 0ml + "collection"'' +56 "core" ' j;= +10 !to:Slide::Error\ : mesg".Collection Syringe overCurrent at 9.769ml:@checkpoint: omitted: @replyo:I2C::Servo::AbsMove3Reply :@destinationi%: @channeli: @statusIS:I2C::Servo::Status: enabledT: pastRLSF: pastFLSF:pastThresholdF: lostF: homeF: positioni : velocityi: currentij:pwmi:erri: inPressi;: outPressi=:deltaPressi: voltagef14.911177221404026: @type2F: @tagi: @sourcei,: @error:overCurrent:@axisName"Collection Syringe:bt["2/home/esp/esp2/lib/slide.rb:587:in `raiseErr'"7/home/esp/esp2/lib/slide.rb:350:in `unlimitedSeek'"5/home/esp/esp2/lib/thread.rb:74:in `recoverable'"7/home/esp/esp2/lib/slide.rb:323:in `unlimitedSeek'"6/home/esp/esp2/lib/scale.rb:93:in `unlimitedSeek'"./home/esp/esp2/lib/slide.rb:314:in `seek'"0/home/esp/esp2/lib/slide.rb:357:in `moveTo'"0/home/esp/esp2/lib/syringe.rb:28:in `empty'"(ESP):17:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +2289 #-> CBV +1578 #-> SSV +883 #-> CBV +1302 #-> CSV +199 #-> CTV +396 #-> CTV +392 #-> CTV.CBV + !o:NoMethodError : mesgu:NameError::message)undefined method `CBV' for CTV:Shaft: name:CBV: args[:bt[ "7/home/esp/esp2/lib/shaft.rb:80:in `method_missing'"(ESP):24:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +1299 #-> CTV.CSV + .CTV.dial CSV +4 "collection"'  +121 "core"  +386 #t-> CS.empty +4 .CS.seek 0ml +2 "collection"'' +55 "core" ' eAA> +4 !to:Slide::Error\ : mesg".Collection Syringe overCurrent at 9.767ml:@checkpoint: omitted: @replyo:I2C::Servo::AbsMove3Reply :@destinationi%: @channeli: @statusIS:I2C::Servo::Status: enabledT: pastRLSF: pastFLSF:pastThresholdF: lostF: homeF: positioni : velocityi: currentie:pwmi:erri: inPressiA: outPressiA:deltaPressi>: voltagef14.906268041237114 : @type2F: @tagi: @sourcei,: @error:overCurrent:@axisName"Collection Syringe:bt["2/home/esp/esp2/lib/slide.rb:587:in `raiseErr'"7/home/esp/esp2/lib/slide.rb:350:in `unlimitedSeek'"5/home/esp/esp2/lib/thread.rb:74:in `recoverable'"7/home/esp/esp2/lib/slide.rb:323:in `unlimitedSeek'"6/home/esp/esp2/lib/scale.rb:93:in `unlimitedSeek'"./home/esp/esp2/lib/slide.rb:314:in `seek'"0/home/esp/esp2/lib/slide.rb:357:in `moveTo'"0/home/esp/esp2/lib/syringe.rb:28:in `empty'"(ESP):26:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +1641 #-> CSV +1912 #-> CBV.SSV +4 .CBV.dial SSV +584 #-> SSV.exhaust + .SSV.dial :exhaust +2063 #-> CSV.intake +4 !o:NoMethodError : mesgu:NameError::message,undefined method `intake' for CSV:Shaft: name: intake: args[:bt[ "7/home/esp/esp2/lib/shaft.rb:80:in `method_missing'"(ESP):30:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +1186 #-> CSV.CTV +3 .CSV.dial CTV +4 "collection"'  +118 "core"  +406 #t-> CTV.intake +3 .CTV.dial :intake +4 "collection"'  +66 "core" +451 #t-> Intake.open +4 .Intake.select :open +2 "sampler") +858 #t-> CS.empty +4 .CS.seek 0ml +4 "collection"'' +170 "core" 'h33c +6 !to:Slide::Error\ : mesg".Collection Syringe overCurrent at 9.307ml:@checkpoint: omitted: @replyo:I2C::Servo::AbsMove3Reply :@destinationi%: @channeli: @statusIS:I2C::Servo::Status: enabledT: pastRLSF: pastFLSF:pastThresholdF: lostF: homeF: positioni: velocityi: currentih:pwmi:erri: inPressi3: outPressi3:deltaPressic: voltagef14.881722140402553`M: @type2F: @tagi: @sourcei,: @error:overCurrent:@axisName"Collection Syringe:bt["2/home/esp/esp2/lib/slide.rb:587:in `raiseErr'"7/home/esp/esp2/lib/slide.rb:350:in `unlimitedSeek'"5/home/esp/esp2/lib/thread.rb:74:in `recoverable'"7/home/esp/esp2/lib/slide.rb:323:in `unlimitedSeek'"6/home/esp/esp2/lib/scale.rb:93:in `unlimitedSeek'"./home/esp/esp2/lib/slide.rb:314:in `seek'"0/home/esp/esp2/lib/slide.rb:357:in `moveTo'"0/home/esp/esp2/lib/syringe.rb:28:in `empty'"(ESP):34:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +3751 #-> CSV.CBV + .CSV.dial CBV + "collection"' +123 "core" +546 #t-> CBV.CTV +2 !o:NoMethodError : mesgu:NameError::message)undefined method `CTV' for CBV:Shaft: name:CTV: args[:bt[ "7/home/esp/esp2/lib/shaft.rb:80:in `method_missing'"(ESP):36:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +620 #-> CTV.intake +4 .CTV.dial :intake +528 #-> CS.empty +5 .CS.seek 0ml + "collection"'' +92 "core" 'f`66d +9 !to:Slide::Error\ : mesg".Collection Syringe overCurrent at 9.133ml:@checkpoint: omitted: @replyo:I2C::Servo::AbsMove3Reply :@destinationi%: @channeli: @statusIS:I2C::Servo::Status: enabledT: pastRLSF: pastFLSF:pastThresholdF: lostF: homeF: positionif: velocityi: currenti`:pwmi:erri: inPressi6: outPressi6:deltaPressid: voltagef14.871903780068729N: @type2F: @tagi: @sourcei,: @error:overCurrent:@axisName"Collection Syringe:bt["2/home/esp/esp2/lib/slide.rb:587:in `raiseErr'"7/home/esp/esp2/lib/slide.rb:350:in `unlimitedSeek'"5/home/esp/esp2/lib/thread.rb:74:in `recoverable'"7/home/esp/esp2/lib/slide.rb:323:in `unlimitedSeek'"6/home/esp/esp2/lib/scale.rb:93:in `unlimitedSeek'"./home/esp/esp2/lib/slide.rb:314:in `seek'"0/home/esp/esp2/lib/slide.rb:357:in `moveTo'"0/home/esp/esp2/lib/syringe.rb:28:in `empty'"(ESP):38:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +2496 #-> CSV.waste1 +5 .CSV.dial :waste1 +4 "collection"' +43 "core" +743 #t-> CS.empty +6 .CS.seek 0ml +4 "collection"'' +2419 "core" ' +4 "collection"'% +8 "core" %64c +1160 #t-> CSV.flush +3 .CSV.dial :flush +3 "collection"'  +42 "core"  +622 #t-> CS.fill +3 .CS.seek 10ml + "collection"'' +2629 "core" ' +4 "collection"'"% +8 "core" %58$  +914 "Can" om +578 #t-> CSV.intake +4 !o:NoMethodError : mesgu:NameError::message,undefined method `intake' for CSV:Shaft: name: intake: args[:bt[ "7/home/esp/esp2/lib/shaft.rb:80:in `method_missing'"(ESP):43:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +599 #-> CSV.CTV + .CSV.dial CTV +4 "collection"'%  +69 "core"  +349 #t-> CTV.intake + .CTV.dial :intake +597 #-> CS.empty +5 .CS.seek 0ml +4 "collection"''' +100 "core" ' g79, +6 !to:Slide::Error\ : mesg".Collection Syringe overCurrent at 9.776ml:@checkpoint: omitted: @replyo:I2C::Servo::AbsMove3Reply :@destinationi%: @channeli: @statusIS:I2C::Servo::Status: enabledT: pastRLSF: pastFLSF:pastThresholdF: lostF: homeF: positioni : velocityi: currentig:pwmi:erri: inPressi7: outPressi9:deltaPressi,: voltagef14.857176239567993: @type2F: @tagi,: @sourcei,: @error:overCurrent:@axisName"Collection Syringe:bt["2/home/esp/esp2/lib/slide.rb:587:in `raiseErr'"7/home/esp/esp2/lib/slide.rb:350:in `unlimitedSeek'"5/home/esp/esp2/lib/thread.rb:74:in `recoverable'"7/home/esp/esp2/lib/slide.rb:323:in `unlimitedSeek'"6/home/esp/esp2/lib/scale.rb:93:in `unlimitedSeek'"./home/esp/esp2/lib/slide.rb:314:in `seek'"0/home/esp/esp2/lib/slide.rb:357:in `moveTo'"0/home/esp/esp2/lib/syringe.rb:28:in `empty'"(ESP):46:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +832 #-> Intake.open +2 .Intake.select :open +1815 #-> CC +3 "collection"')& +9 "core" &]P67\\ > +2401 #t-> CSV.CBV +4 .CSV.dial CBV +3 "collection"'( +120 "core" +704 #t-> CBV.CTV +5 !o:NoMethodError : mesgu:NameError::message)undefined method `CTV' for CBV:Shaft: name:CTV: args[:bt[ "7/home/esp/esp2/lib/shaft.rb:80:in `method_missing'"(ESP):50:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +649 #-> CTV +467 #-> CS.empty +5 .CS.seek 0ml +3 "collection"'' +94 "core" 'g6;b +5 !to:Slide::Error\ : mesg".Collection Syringe overCurrent at 9.645ml:@checkpoint: omitted: @replyo:I2C::Servo::AbsMove3Reply :@destinationi%: @channeli: @statusIS:I2C::Servo::Status: enabledT: pastRLSF: pastFLSF:pastThresholdF: lostF: homeF: positioni: velocityi: currentig:pwmi:erri: inPressi6: outPressi;:deltaPressib: voltagef14.857176239567993: @type2F: @tagi: @sourcei,: @error:overCurrent:@axisName"Collection Syringe:bt["2/home/esp/esp2/lib/slide.rb:587:in `raiseErr'"7/home/esp/esp2/lib/slide.rb:350:in `unlimitedSeek'"5/home/esp/esp2/lib/thread.rb:74:in `recoverable'"7/home/esp/esp2/lib/slide.rb:323:in `unlimitedSeek'"6/home/esp/esp2/lib/scale.rb:93:in `unlimitedSeek'"./home/esp/esp2/lib/slide.rb:314:in `seek'"0/home/esp/esp2/lib/slide.rb:357:in `moveTo'"0/home/esp/esp2/lib/syringe.rb:28:in `empty'"(ESP):52:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +1272 #-> CSV.waste1 +3 .CSV.dial :waste1 +4 "collection"' +41 "core" +348 #t-> CS.empty +4 .CS.seek 0ml +2 "collection"'#' +2547 "core" ' +3 "collection"',% +9 "core" %9:& +461 #t-> Flush.garage +4 #Garaging FlushPuck in Collection Clamp +4 "manipulator"&-& +6 "core" &" 8 +4 .tElbow.reconfigure :tight +4 "manipulator"&$&.,(\ #b +6 .tElbow.seek CC +5 "manipulator"&.( +60 "core" ( +3 "manipulator"&/& +13 "core" & 4 +2 .tElbow.reconfigure :loose +8 "manipulator"&$ &.,(#b +5 &0& +6 "core" & 4 +5 .tForearm.seek CC +7 "manipulator"&1'| +101 "core" ' +2 .tHand.close +4 "manipulator"&2/ +58 "core" / +4 .tCC.seek :open +2 "collection"'3(p +414 "core" ( +3 "manipulator"&4& +9 "core" &! : / +2 "manipulator"&5% +8 "core" % ό . +4 .tForearm.seek :retract + "manipulator"&6'\ +97 "core" ' +6 .tElbow.reconfigure :tight +5 "manipulator"&$&.,(\ #b +4 .tElbow.seek :garage +4 "manipulator"&7(, +278 "core" ( +2 "manipulator"&8& +9 "core" &, N j +6 .tElbow.reconfigure :loose +4 "manipulator"&$ &.,(#b +4 &9& +6 "core" &,  j +4 .tForearm.reconfigure :tight +4 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek :garage +4 "manipulator"&:' +110 "core" ' +3 .tHand.open + "manipulator"&;1 +60 "core" 1 +3 "manipulator"&<% +9 "core" %  *  +5 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +4 .tForearm.seek :retract +5 "manipulator"&='\ +98 "core" ' +13153 #t-> Intake.close +3 .Intake.select :close +2 "sampler")0 +454 #t-> Exhaust.close + .Exhaust.select :close +4 "sampler") +568 #t-> purgeIntake +4 #Loading FlushPuck into Collection Clamp from FlushPuck::Garage +4 "collection"'>& +5 "core" &IK= +4 "manipulator"&?& +7 "core" &,  j +3 .tElbow.reconfigure :tight +5 "manipulator"&$&.,(\ #b +7 .tElbow.seek FlushPuck::Garage + "manipulator"&@(, +5 "core" ( +3 "manipulator"&A& +8 "core" &,  j +2 .tElbow.reconfigure :loose +6 "manipulator"&$ &.,(#b +3 &C& +7 "core" &, 4 j +4 .tForearm.seek :garage +3 "manipulator"&D' +100 "core" ' +2 .tHand.close +3 "manipulator"&$/ +65 "core" / +3 "manipulator"&F& +8 "core" &, < j +2 "manipulator"&G% +8 "core" %  Z +4 .tForearm.seek :retract + "manipulator"&H'\ +97 "core" ' +4 .tElbow.reconfigure :tight +5 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC +4 "manipulator"&&( +280 "core" ( +2 "manipulator"&E& +8 "core" &$ Z ;5 +4 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +4 &B& +8 "core" &$ ;5 +3 .tForearm.reconfigure :tight +5 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek CC + "manipulator"&K'| +104 "core" ' +3 "manipulator"&L& +8 "core" &$ b ;5 +4 "manipulator"&N% +6 "core" %q I w +4 "collection"'O& +8 "core" &IJ +4 "collection"'P& +8 "core" &HL +4 .tCC.seek :closed +6 "collection"'I(] +8 "core" &IM* +2 &JK  +8 &4HL )v +9 &iII9 = +9 &dHL I +10 &+oHL G +8 &qJJ H +11 &uHK! H +9 &!ppJK H +8 &#1sKJ H +11 &$lHL H +9 &&sIK H +9 &(xnJL H +10 &*:nIK H +8 &+pJM G +11 &-oIK G +8 &/pJL H +9 &1CoJK G +11 &3pIK H +9 &4nJK G +9 &6rHK H +10 &8KnHM G +8 &: mJL H +11 &;jJK G +9 &=oIK H +8 &?RqIL H +11 &ArIK H +9 &BmIJ H +9 &DmJK G +10 &F[pKL G +8 &HpKJ G +11 &I{KK I +9 &KMO K +10 &MNLO O +9 &O KN P +9 &PKN Q +10 &RLN Q +9 &TLJN R +9 &V LM S +10 &WKM S +9 &YLL T +10 &[OJM T +9 &\\vIL (} +9 &]1ML S +8 ( +6 "collection"'P& +8 #tCollection Clamp onSpring/offSpring for 9/25 samples, on/off torque 1.80 +2 "collection"'*& +8 "core" &]KMM = +2 &]LLM = +2 &]MIM = +2 .tHand.open +4 "manipulator"&S1 +61 "core" 1 +2 "manipulator"&T% +9 "core" % q  w +3 .tForearm.reconfigure :loose +6 "manipulator"&#Q@2^d^b +4 .tForearm.seek :retract +3 "manipulator"&U'\ +92 "core" ' +2 #tPurging external Intake +4 "collection"'Q& +7 "core" &]LKM = +2 "collection"'W% +8 "core" %KM +2 .tCSV.dial :flush +4 "collection"'X  +43 "core"  +4 .tCS.reconfigure :fast +4 "collection"'#d @b +4 .tCS.seek 10ml +4 "collection"'Y' +2185 "core" ' +4 .tdelay 5 seconds +503 ."connect"CSV.dial CBV +8 .tCBV.dial CSV +5 "collection"'M +4 '  +67 "core"  +32  +3 .tCTV.dial :intake + .Intake.select :open +4 "sampler") +12 .tCS.seek 0ml +4 "collection"'[' +2175 "core" ' +2 .tIntake.select :close +4 "sampler")0 +12 .tCTV.dial :air + "collection"'\\  +67 "core"  +4 #tGaraging FlushPuck in Collection Clamp + "manipulator"&Z& +8 "core" &  7 +4 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +5 .tElbow.seek CC +3 "manipulator"&^( +34 "core" ( +4 "manipulator"&_& +8 "core" &   +2 .tElbow.reconfigure :loose +6 "manipulator"&$ &.,(#b +3 &a& +7 "core" & !  +4 .tForearm.seek CC + "manipulator"&b'| +96 "core" ' +3 .tHand.close + "manipulator"&d/ +65 "core" / +4 .tCC.seek :open +5 "collection"'J(p +412 "core" ( +2 "manipulator"&V& +8 "core" &   +4 "manipulator"&R% +6 "core" % ώ 3 +4 .tForearm.seek :retract +4 "manipulator"&f'\ +92 "core" ' +4 .tElbow.reconfigure :tight +5 "manipulator"&$&.,(\ #b +4 .tElbow.seek :garage +3 "manipulator"&g(, +270 "core" ( +4 "manipulator"&c& +8 "core" &,  w +2 .tElbow.reconfigure :loose +6 "manipulator"&$ &.,(#b +3 &j& +7 "core" &,  w +4 .tForearm.reconfigure :tight +4 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek :garage +4 "manipulator"&k' +96 "core" ' +3 .tHand.open +3 "manipulator"&`1 +63 "core" 1 +2 "manipulator"&m% +8 "core" %  +4 .tForearm.reconfigure :loose +5 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +4 "manipulator"&n'\ +97 "core" ' +22088 "Can"~ B? +3173 #t-> CSV.flush +2 .CSV.dial :flush +2 "collection"'h  +67 "core"  +492 #t-> CS.fill +2 .CS.reconfigure :default +3 "collection"'#P d@b +2 .tCS.seek 10ml + "collection"'l' +2623 "core" ' +2 "collection"'p% +4 "core" %KN  +414 #t-> CSV.CBV +2 .CSV.dial CBV + "collection"'] +66 "core" +248 #t-> CBV.CSV + .CBV.dial CSV +1383 #-> SSV.exhaust +2 .SSV.dial :exhaust +472 #-> exhaust.open +2 !o:NoMethodError : mesgu:NameError::message5private method `open' called for :exhaust:Symbol: name: open: args[:bt["(ESP):64:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +1186 #-> Exhaust.open +2 .Exhaust.select :open + "sampler")@ +1418 #t-> CS.empty +3 .CS.seek 0ml + "collection"'r' +2626 "core" ' +2 "collection"'s% +4 "core" %OP@ +1193 #t-> CSV.flush +2 .CSV.dial :flush +2 "collection"'t  +66 "core"  +349 #t-> CS.fill +2 .CS.seek 10ml +2 "collection"'u' +2625 "core" ' +2 "collection"'v% +4 "core" %KP  +701 #t-> CSV.CBV + .CSV.dial CBV +2 "collection"'x +68 "core" ~ +250 #t-> CBV.CSV +2 .CBV.dial CSV +768 #-> CTV.intake + .CTV.dial :intake +2 "collection"'y  +66 "core"  +636 #t-> Intake.open + .Intake.select :open +2 "sampler") +425 #t-> CS.empty +2 .CS.seek 0ml +2 "collection"'{' +2618 "core" ' +2 "collection"'|% +4 "core" %PRq +3824 #t-> Flush.CC +2 #Loading FlushPuck into Collection Clamp from FlushPuck::Garage +2 "collection"'}& +3 "core" &OR +2 "manipulator"&i& +4 "core" &,  w + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek FlushPuck::Garage + "manipulator"&o(, +3 "core" ( +2 "manipulator"&z& +4 "core" &,  w + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &, 8 w +2 .tForearm.seek :garage + "manipulator"&w' +104 "core" ' +2 .tHand.close + "manipulator"&/ +58 "core" / +2 "manipulator"&& +4 "core" &,  w + "manipulator"&% +4 "core" %    +2 .tForearm.seek :retract +2 "manipulator"&'\ +99 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC + "manipulator"&~( +288 "core" ( + "manipulator"&e& +4 "core" &* b @] + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 & & +3 "core" &* W @] +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&\ '| +103 "core" ' + "manipulator"& & +4 "core" &* K @] +2 "manipulator"&% +3 "core" %} B +2 "collection"'& +4 "core" &OQD +2 "collection"' & +4 "core" &OPF +2 .tCC.seek :closed +2 "collection"'(] +4 "core" &NOL  +10 &5OPQ )w +9 &gQQD = +9 &gQQ@ J +10 &,nQOA I +9 &tPQB I +9 &rOPE I +10 &!rpMPC I +9 &#4pOPA I +9 &$sMQC I +10 &&pORB I +9 &(znPOF I +10 &*<nQQA I +9 &+nOQB H +9 &-pQQ@ I +10 &/pOP@ I +9 &1CpLOB I +9 &3pMOC I +10 &4nNPA H +9 &6rOQB I +10 &8LkOOA I +9 &:mQO= I +9 &;lLQ@ H +10 &=pMRA I +9 &?TqOOA I +10 &AmOP? I +9 &BnMP@ I +9 &DmMRA H +10 &F\\sNQ: I +9 &HsPR2 I +9 &I{OR2 J +10 &KPR0 K +9 &MPST0 P +9 &OSQ3 Q +10 &PSR1 R +10 &RQV1 R +9 &TNSV4 S +9 &VRT2 S +9 &WRT3 T +10 &YSU4 U +9 &[QRT2 U +9 &\\xRT3 ) +10 &]*RT0 R +9 ( +2 "collection"' & +4 #tCollection Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.80 + "collection"'q& +4 "core" &]eQU2 G + &]eST3 G + .tHand.open +2 "manipulator"&1 +55 "core" 1 + "manipulator"&% +4 "core" % q  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +98 "core" ' +442 #t-> CSV.flush +2 .CSV.dial :flush +2 "collection"'  +68 "core"  +180 #t-> Cs.fill +2 !o:NameError: mesg"uninitialized constant Cs: name:Cs:bt["(ESP):76:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +259 #-> CS.fill +2 .CS.seek 10ml +2 "collection"'' +2631 "core" ' +2 "collection"'% +4 "core" %RS +816 #t-> CSV.CBV +2 .CSV.dial CBV + "collection"' +69 "core" ~ +210 #t-> CBV.CSV + .CBV.dial CSV +584 #-> CTV.intake + .CTV.dial :intake +268 #-> Intake +408 #-> CS.empty +2 .CS.seek 0ml + "collection"'' +2625 "core" ' + "collection"'% +4 "core" %HKY +425 #t-> Intake.close + .Intake.select :close +2 "sampler")0 +1500 #t-> CSV.air + .CSV.dial :air +2 "collection"' @ +95 "core" B +532 #t-> CTV.air +2 .CTV.dial :air + "collection"'  +67 "core"  +605 #t-> Flush.garage + #Garaging FlushPuck in Collection Clamp +2 "manipulator"&& +3 "core" &3" ] :/ +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC + "manipulator"&"( +26 "core" ( + "manipulator"&%& +5 "core" &  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &'& +2 "core" &  +2 .tForearm.seek CC +2 "manipulator"&'| +96 "core" ' + .tHand.close +2 "manipulator"&)/ +60 "core" / + .tCC.seek :open +2 "collection"'((p +411 "core" ( + "manipulator"&& +4 "core" & P  + "manipulator"&% +4 "core" % o J +2 .tForearm.seek :retract + "manipulator"&,'\ +101 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage + "manipulator"&-(, +282 "core" ( + "manipulator"&/& +4 "core" &,   +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &0& +3 "core" &, p  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek :garage + "manipulator"&2' +95 "core" ' +2 .tHand.open + "manipulator"&1 +62 "core" 1 +2 "manipulator"& % +4 "core" %  q +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +93 "core" ' +816 #t-> Flush.CC +2 #Loading FlushPuck into Collection Clamp from FlushPuck::Garage + "collection"'4& +3 "core" &NO +2 "manipulator"&5& +4 "core" &,   +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek FlushPuck::Garage +2 "manipulator"&1(, +3 "core" ( + "manipulator"&8& +5 "core" &,   + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &9& +2 "core" &,  +2 .tForearm.seek :garage +2 "manipulator"&.' +104 "core" ' + .tHand.close +2 "manipulator"&;/ +54 "core" / +2 "manipulator"&<& +4 "core" &, D  +2 "manipulator"&6% +3 "core" %  k  +2 .tForearm.seek :retract + "manipulator"&:'\ +104 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&>( +278 "core" ( + "manipulator"&?& +4 "core" &! O 9& +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &A& +3 "core" &" Z 9& +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&C'| +107 "core" ' +2 "manipulator"&$& +4 "core" &" = 9& +2 "manipulator"&F% +3 "core" %u 1 +2 "collection"'G& +4 "core" &OQ +2 "collection"'7& +5 "core" &NP + .tCC.seek :closed +2 "collection"'=(] +5 "core" &NP +7 &@NP $e +9 &\\MP 7 +9 &OQ I +10 &mPO H +9 &snLP H +10 &4oNO H +9 & nLN H +9 &"nNQ H +10 &${kNQ H +9 &&=oMO H +9 &'nNQ H +10 &)nOP H +9 &+nPN H +10 &-DpNO H +9 &/nPN H +9 &0oNR H +10 &2nOO H +9 &4KnNQ H +9 &6mLQ H +10 &7nNP H +9 &9kOQ H +10 &;UkOO H +9 &=oOO H +9 &>mPQ H +10 &@mNP H +9 &B]mOP H +9 &DmLQ H +10 &EkNP H +9 &GlNP H +10 &IbsMP I +9 &K NN J +9 &LJM M +10 &NJJ P +9 &PQIK Q +9 &RFH R +10 &SHL R +9 &UJL S +9 &WTHK S +10 &YKJ U +10 &ZKM U +9 &\\LK @ +9 &]s&MM &p +9 &]XMO B +3 ( + "collection"'7& +3 #tCollection Clamp onSpring/offSpring for 10/25 samples, on/off torque 1.82 +2 "collection"'D& +4 "core" &]YOP B + .tHand.open +2 "manipulator"&E1 +57 "core" 1 + "manipulator"&B% +5 "core" % u 3 + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&@'\ +95 "core" ' +358 #t-> CSV.flush + .CSV.dial :flush +2 "collection"'L  +42 "core" +662 #t-> CS.fill +3 .CS.seek 10ml + "collection"'N' +2630 "core" ' + "collection"'O% +4 "core" %OS  +593 #t-> CSV.CBV + .CSV.dial CBV +2 "collection"'H +68 "core"  +199 #t-> CBV.CSV +2 .CBV.dial CSV +687 #-> SSV.exhaust + .SSV.dial :exhaust +582 #-> exhaust.open + !o:NoMethodError : mesgu:NameError::message5private method `open' called for :exhaust:Symbol: name: open: args[:bt["(ESP):93:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +636 #-> Exhaust.open +2 .Exhaust.select :open +826 #-> CS.empty +3 .CS.seek 0ml + "collection"'3' +2622 "core" ' + "collection"'*% +4 "core" %VW +515 #t-> CSV.flush + .CSV.dial :flush +2 "collection"'S  +69 "core"  +248 #t-> CS.fill +2 .CS.seek 10ml +2 "collection"'T' +2628 "core" ' + "collection"'P% +4 "core" %TV  +864 #t-> CSV.CTV +2 .CSV.dial CTV + "collection"'Q  +78 "core"  +1091 #t-> CBV +63 "Can" b_ +400 #t-> CBV.SSV +2 .CBV.dial SSV +2 "collection"'W @ +95 "core" @ +277 #t-> Exhaust +896 #-> CTV.CBV +2 !o:NoMethodError : mesgu:NameError::message)undefined method `CBV' for CTV:Shaft: name:CBV: args[:bt[ "7/home/esp/esp2/lib/shaft.rb:80:in `method_missing'"(ESP):102:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +481 #-> CS.empty +3 .CS.seek 0ml + "collection"'X' +92 "core" ' hST +3 !to:Slide::Error\ : mesg".Collection Syringe overCurrent at 9.778ml:@checkpoint: omitted: @replyo:I2C::Servo::AbsMove3Reply :@destinationi%: @channeli: @statusIS:I2C::Servo::Status: enabledT: pastRLSF: pastFLSF:pastThresholdF: lostF: homeF: positioni : velocityi: currentih:pwmi:erri: inPressiS: outPressiT:deltaPressi: voltagef14.866994599901817: @type2F: @tagi]: @sourcei,: @error:overCurrent:@axisName"Collection Syringe:bt["2/home/esp/esp2/lib/slide.rb:587:in `raiseErr'"7/home/esp/esp2/lib/slide.rb:350:in `unlimitedSeek'"5/home/esp/esp2/lib/thread.rb:74:in `recoverable'"7/home/esp/esp2/lib/slide.rb:323:in `unlimitedSeek'"6/home/esp/esp2/lib/scale.rb:93:in `unlimitedSeek'"./home/esp/esp2/lib/slide.rb:314:in `seek'"0/home/esp/esp2/lib/slide.rb:357:in `moveTo'"0/home/esp/esp2/lib/syringe.rb:28:in `empty'"(ESP):103:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +4045 #-> CSV.CBV + .CSV.dial CBV +2 "collection"'K +120 "core" ~ +567 #t-> CBV.CSV + .CBV.dial CSV +2 "collection"'#  +94 "core" +849 #t-> CS.empty +3 .CS.seek 0ml + "collection"'M' +2591 "core" ' + "collection"'% +5 "core" %[Z +330 #t-> CSV +1735 #-> CSV.flush + .CSV.dial :flush +2 "collection"'Y  +68 "core"  +338 #t-> CS.fill +2 .CS.seek 10ml +2 "collection"'\\' +2628 "core" ' +2 "collection"'Z% +4 "core" %WV  +634 #t-> CSV.CBV +2 .CSV.dial CBV + "collection"'_ +68 "core"  +243 #t-> CBV.CSV + .CBV.dial CSV +690 #-> CTV.intake + .CTV.dial :intake +2 "collection"'a  +66 "core"  +532 #t-> Intake.open +2 .Intake.select :open + "sampler") +367 #t-> CS.empty +3 .CS.seek 0ml + "collection"'d' +2624 "core" ' +2 "collection"'&% +4 "core" %RU +556 #t-> Intake.close + .Intake.select :close + "sampler")0 +929 #t-> CSV.air + .CSV.dial :air +2 "collection"'U @ +93 "core" A +287 #t-> CTV.air +2 .CTV.dial :air +2 "collection"'I  +67 "core"  +546 #t-> CBV.waste1 + .CBV.dial :waste1 +2 "collection"'V @ +42 "core" A +464 #t-> Flush.garage +3 #Garaging FlushPuck in Collection Clamp +2 "manipulator"&R& +3 "core" & ? 5 +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC + "manipulator"&b( +27 "core" ( +2 "manipulator"&c& +4 "core" &  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &j& +2 "core" & W  +2 .tForearm.seek CC +2 "manipulator"&^'| +100 "core" ' + .tHand.close + "manipulator"&`/ +59 "core" / + .tCC.seek :open +2 "collection"'m(p +411 "core" ( + "manipulator"&f& +4 "core" & W  + "manipulator"&k% +4 "core" % ϐ t +2 .tForearm.seek :retract + "manipulator"&h'\ +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage +2 "manipulator"&[(, +272 "core" ( + "manipulator"&p& +4 "core" &,  x + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &]& +3 "core" &, P x +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek :garage + "manipulator"&l' +107 "core" ' +2 .tHand.open + "manipulator"&s1 +55 "core" 1 + "manipulator"&t% +5 "core" %  6  + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&r'\ +94 "core" ' +34797 "Can" MK +60002  MJ +60002  MJ +60001  MJ +60002  MJ +60002  MK +60002  MK +60002  MJ +60002  MK +60002  MK +60002  MK +60002  LJ +60002  LJ +60002  MK +60001  MJ +60002  MK +60002  MK +60002  MK +60002  MK +60002  LJ +60002  MK +60001  LJ +60003  LJ +60002  MK +60001  MK +60002  MK +60002  MK +60002  MK +60002  MK +60002  MK +60002  LJ +60002  LJ +60001  MK +60002  MK +60002  MK +60002  MK +60002  MK +60002  MJ +60002  LJ +60002  MK +60002  MJ +60002  MK @EST1669093270.57  MK +60001  MK +60002  MK +60002  MJ +60002  MJ +60002  MK +60002  MJ +60002  MJ +60001  MJ +60002  MK +60002  MJ +60002  MK +60002  MJ +60002  MK +60002  MK +60002  MJ +60002  LJ +60002  MK +60001  MJ +60002 } MK +60002 s LJ +60002 t MK +60002 r MK +60002 m MK +60002 c LJ +60002 _ MJ +60002 c MJ +60002 [ MK +60001 X MK +60002 O MK +60003 X MJ +60001 Y MK +60002 R LJ +60002 R MJ +60002 T MJ +60002 Z MJ +60002 V MK +60001 X MK +60002 U MK +60003 Y MK +60001 V MK +60002 Q MJ +60002 U MJ +60002 S MK +60002 R MJ +60002 N MJ +60002 I MK +60001 N MK +60003 W LJ +60001 M MJ +60002 I NK +60002 G MK +60002 J NK +60002 N NL +60002 N NL +60002 S NL +60001 L NL +60002 P NK +60003 Q MK +60002 V NL +60002 S NL +60002 V MK +60001 U LJ +60002 U LJ +60002 X MK +60002 [ MJ +60002 W MJ +60002 R MK +60001 S MK +60002 S MJ +60002 O LJ +60002 N MJ +60002 H MK +60002 H MK +60002 J MK +60002 H MK +60002 G MJ +60001 G MJ +60003 J MK +60001 K MJ +60002 K MJ +60002 K MK +60002 Q MJ +60002 W MJ +60001 Y MJ +60002 ^ MJ +60002 ` MK +60002 c MK +60002 l MK +60002 o MJ +60002 s MK +60002 s MJ +60002 m MJ +60001 { NK +60002 x MK +60003 w MK +1673 #t-> CC + "collection"'v& +4 "core" &imY +1144 #t-> Flush.CC +2 #Loading FlushPuck into Collection Clamp from FlushPuck::Garage + "collection"'x& +3 "core" &nmI +2 "manipulator"&y& +4 "core" &,  x +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek FlushPuck::Garage +2 "manipulator"&u(, +3 "core" ( + "manipulator"&|& +4 "core" &, b x + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &}& +3 "core" &, : x +2 .tForearm.seek :garage +2 "manipulator"&i' +108 "core" ' +2 .tHand.close + "manipulator"&z/ +53 "core" / +2 "manipulator"&& +4 "core" &, 1 x +2 "manipulator"&% +3 "core" % v @ / +2 .tForearm.seek :retract +2 "manipulator"&'\ +109 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&( +297 "core" ( + "manipulator"&g& +4 "core" &  " $ + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &n& +3 "core" &  e $ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&w'| +98 "core" ' + "manipulator"&e& +4 "core" &  ` $ +2 "manipulator"& % +4 "core" %q +2 "collection"'o& +3 "core" &jmU +2 "collection"' & +5 "core" &jlQ +2 .tCC.seek :closed + "collection"'(] +5 "core" &lmY +7 &>lma $e +9 &Zil] 7 +10 &mk] I +9 &njm[ I +10 &mrjl\\ I +9 &0qikY I +9 & plmS H +10 &"pknW I +9 &$vlll\\ I +9 &&9mjmU H +10 &'okn[ I +9 &)mjlW I +10 &+~mjmP I +9 &-AnklU H +9 &/qmmY I +10 &0qhkS I +9 &2pkl\\ H +9 &4HqjmZ I +10 &6\ pkmX I +9 &7mjj\\ H +10 &9kikW I +9 &;QojiS H +9 &=ljiX I +10 &>mhj[ H +9 &@oej[ I +9 &BXsfg[ I +10 &DkfhZ H +9 &EoeeT I +10 &Gr\\bY I +9 &I^x7G[ J +9 &KZ K +10 &L|^ O +9 &N09\\ Q +9 &PO(+[ Q +10 &R!Y R +9 &SZ S +10 &U\ ] S +9 &WQ[ S +9 &YZ U +10 &Z[ U +9 &\\V @ +9 &]v,[ #h +10 &]QN > +2 ( +2 "collection"' & +3 #tCollection Clamp onSpring/offSpring for 10/25 samples, on/off torque 1.77 + "collection"'& +4 "core" &]ML > +2 .tHand.open + "manipulator"&1 +54 "core" 1 +2 "manipulator"&J% +4 "core" % q +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&q'\ +91 "core" ' +3355 #t-> CSV +435 #-> CSV.CBV + .CSV.dial CBV +2 "collection"' +94 "core" ~ +228 #t-> CBV.CSV + .CBV.dial CSV +2 "collection"'  +41 "core" +6817 #t-> SSV.exhaust +2 .SSV.dial :exhaust +2922 #-> CSV.CTV +2 .CSV.dial CTV +2 "collection"'  +118 "core"  +386 #t-> CTV.CBV +3 !o:NoMethodError : mesgu:NameError::message)undefined method `CBV' for CTV:Shaft: name:CBV: args[:bt[ "7/home/esp/esp2/lib/shaft.rb:80:in `method_missing'"(ESP):127:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +309 #-> CBV.CTV +2 !o:NoMethodError : mesgu:NameError::message)undefined method `CTV' for CBV:Shaft: name:CTV: args[:bt[ "7/home/esp/esp2/lib/shaft.rb:80:in `method_missing'"(ESP):128:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +2205 #-> CTV.CSV + .CTV.dial CSV +2 "collection"'\  +120 "core"  +1177 #t-> CBV.SSV +2 .CBV.dial SSV +2 "collection"' @ +97 "core" ? +1170 #t-> CSV.flush + .CSV.dial :flush +2 "collection"'{  +67 "core" +223 #t-> CS.fill +2 .CS.seek 10ml +2 "collection"'' +2620 "core" ' +2 "collection"'% +4 "core" %@  +3724 #t-> CSV.CTV + .CSV.dial CTV +2 "collection"'  +80 "core"  +90 #t-> CTV +578 #-> Exhaust.open + .Exhaust.select :open +731 #-> Exhaust.close +2 .Exhaust.select :close + "sampler") +234 #t-> Exhaust.open + .Exhaust.select :open +2 "sampler")@ +739 #t-> CS.empty +2 .CS.seek 0ml + "collection"'' +277 "core" '&jh +2 !to:Slide::Error\ : mesg".Collection Syringe overCurrent at 9.063ml:@checkpoint: omitted: @replyo:I2C::Servo::AbsMove3Reply :@destinationi%: @channeli: @statusIS:I2C::Servo::Status: enabledT: pastRLSF: pastFLSF:pastThresholdF: lostF: homeF: positioni&: velocityi: currentij:pwmi:erri: inPressi: outPressi:deltaPressih: voltagef14.842448699067257m: @type2F: @tagi: @sourcei,: @error:overCurrent:@axisName"Collection Syringe:bt["2/home/esp/esp2/lib/slide.rb:587:in `raiseErr'"7/home/esp/esp2/lib/slide.rb:350:in `unlimitedSeek'"5/home/esp/esp2/lib/thread.rb:74:in `recoverable'"7/home/esp/esp2/lib/slide.rb:323:in `unlimitedSeek'"6/home/esp/esp2/lib/scale.rb:93:in `unlimitedSeek'"./home/esp/esp2/lib/slide.rb:314:in `seek'"0/home/esp/esp2/lib/slide.rb:357:in `moveTo'"0/home/esp/esp2/lib/syringe.rb:28:in `empty'"(ESP):138:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +2311 #-> CSV +321 #-> CTV +930 #-> CBV +14738 #-> SSV.CBV +2 .SSV.dial CBV +2 "sampler")  +72 "core" +736 #t-> CS.empty +3 .CS.seek 0ml + "collection"'' +297 "core" '7 o +2 !to:Slide::Error\ : mesg"FSampler Syringe overCurrent at 0ml during Collection Syringe move:@checkpoint: omitted: @replyo:I2C::Servo::AbsMove3Reply :@destinationi%: @channeli: @statusIS:I2C::Servo::Status: enabledT: pastRLSF: pastFLSF:pastThresholdF: lostF: homeT: positioni7: velocityi: currenti:pwmi:erri: inPressi: outPressi:deltaPressi : voltagef14.533170348551792t(: @type2F: @tagi: @sourcei.: @error:overCurrent:bt["2/home/esp/esp2/lib/slide.rb:587:in `raiseErr'"3/home/esp/esp2/lib/slide.rb:36:in `initialize'"3/home/esp/esp2/lib/i2c/servo.rb:1680:in `call'"6/home/esp/esp2/lib/i2c/servo.rb:1680:in `deliver'"3/home/esp/esp2/lib/i2c/msg.rb:605:in `process'"2/home/esp/esp2/lib/msg.rb:212:in `initialize'",/home/esp/esp2/lib/msg.rb:209:in `loop'"2/home/esp/esp2/lib/msg.rb:209:in `initialize'"7/home/esp/esp2/lib/schedule.rb:481:in `initialize'"0/home/esp/esp2/lib/thread.rb:738:in `start'"7/home/esp/esp2/lib/schedule.rb:474:in `initialize'"'/home/esp/esp2/lib/schedule.rb:472:@axisName"Sampler Syringe +2130 "core" ' +1370 #t-> CSV.air +2 .CSV.dial :air +2 "collection"' @ +40 "core" ? +524 #t-> Exhaust.close +2 .Exhaust.select :close +2 "sampler") +887 #t-> CS.fill +3 .CS.seek 10ml + "collection"'%' +2552 "Can"z US +74 "core" ' + "collection"''% +4 "core" %?  +957 #t-> CS.empty +2 .CS.seek 0ml +2 "collection"')' +2618 "core" ' +2 "collection"'~% +4 "core" %F +617 #t-> purgeIntake +2 "collection"'& +3 "core" &]L= > +2 #tPurging external Intake + "collection"'& +4 "core" &]L7 > +2 "collection"'% +3 "core" %8 +2 .tCSV.dial :flush + "collection"'  +40 "core" +2 .tCS.reconfigure :fast +2 "collection"'#d @b +3 .tCS.seek 10ml + "collection"'' +2175 "core" ' + .tdelay 5 seconds +503 ."connect"CSV.dial CBV +4 .tCBV.dial CSV +2 "collection"'/ + '0  +69 "core"  +32  +2 .tCTV.dial :intake + "collection"'"  +68 "core" + .tIntake.select :open + "sampler") +10 .tCS.seek 0ml +2 "collection"'' +2165 "core" ' +2 .tIntake.select :close + "sampler")0 +9 .tCTV.dial :air +2 "collection"'  +64 "core"  +2 "collection"',& +4 "core" &]Lyx/ > +2 "collection"'2& +3 "core" &]Lvz= > +637 #t-> FLush.garage + !o:NameError: mesg"!uninitialized constant FLush: name:\ FLush:bt["(ESP):149:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +382 #-> Flush.garage + #Garaging FlushPuck in Collection Clamp +2 "manipulator"&4& +3 "core" & 1 $ +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC + "manipulator"&5( +17 "core" ( + "manipulator"&8& +4 "core" &\  < * +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &9& +3 "core" &\  * +2 .tForearm.seek CC +2 "manipulator"&;'| +97 "core" ' +2 .tHand.close +2 "manipulator"& CBV.SSV + .CBV.dial SSV +2 "collection"'( @ +95 "core" @ +530 #t-> SSV.exhaust +2 .SSV.dial :exhaust +2 "sampler")D  +68 "core"  +1804 #t-> CTV.CSV +2 .CTV.dial CSV +2 "collection"'E  +118 "core" ~ +443 #t-> CSV.flush +2 .CSV.dial :flush +2 "collection"'B  +67 "core"  +209 #t-> CS.fill +2 .CS.reconfigure :default +2 "collection"'#P d@b +2 .tCS.seek 10ml +2 "collection"'7' +2633 "core" ' + "collection"'C% +4 "core" %z|X  +295 #t-> Flush.CC + #Loading FlushPuck into Collection Clamp from FlushPuck::Garage +2 "collection"'L& +3 "core" &x{T +2 "manipulator"&& +4 "core" &,  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek FlushPuck::Garage +2 "manipulator"&O(, +19 "core" ( + "manipulator"&H& +4 "core" &,   +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &N& +4 "core" &,   + .tForearm.seek :garage +2 "manipulator"&*' +105 "core" ' +2 .tHand.close + "manipulator"&S/ +61 "core" / +2 "manipulator"&3& +4 "core" &, 4  +2 "manipulator"&P% +3 "core" %  W +2 .tForearm.seek :retract +2 "manipulator"&Q'\ +104 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&W( +283 "core" ( + "manipulator"&X& +4 "core" &   w / +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &T& +3 "core" &  $ / +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&K'| +100 "core" ' +2 "manipulator"&#& +4 "core" &  / +2 "manipulator"&% +3 "core" %ς b +2 "collection"'Y& +4 "core" &|{O +2 "collection"'M& +5 "core" &{{U +2 .tCC.seek :closed + "collection"'Z(] +4 "core" &|{W +8 &9x|] #b +10 &pZ{wU 6 +9 &y}P H +9 &iy|N G +10 &]ny}U H +9 &sy}S H +9 & rz}O G +10 &"py}I G +9 &$fny|P G +10 &&'q||L H +9 &'lx|R H +9 &)m{|N H +10 &+nm{}Q G +9 &-0nz|P G +10 &.sxzS H +9 &0nz|R G +9 &2tmy{P H +10 &47mx|L H +9 &5j{{R G +9 &7mz}Q G +10 &9lx{Q G +9 &;?n{{L H +10 &=mzzQ H +9 &>q}}L G +9 &@ky|N H +10 &BHpz}P G +9 &D ky|J H +9 &Em|~S H +10 &Gk~R G +9 &IMtL H +10 &K\ Q J +9 &LO M +10 &N}F P +9 &P=I Q +9 &QH Q +9 &SP Q +10 &U}K S +9 &W@J R +10 &XO T +9 &ZQ T +10 &\\uM E +9 &]k0L &q +9 &]SG > +2 ( +2 "collection"'M& +3 #tCollection Clamp onSpring/offSpring for 10/25 samples, on/off torque 1.87 + "collection"'_& +4 "core" &]OG > +2 .tHand.open + "manipulator"&a1 +58 "core" 1 +2 "manipulator"&\\% +4 "core" % x G +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&&'\ +92 "core" ' +954 #t-> CSV.CTV +2 .CSV.dial CTV + "collection"'U  +68 "core"  +827 #t-> CTV +1871 #-> Exhaust.open + .Exhaust.select :open +2 "sampler")@ +1462 #t-> CS.empty +3 .CS.seek 0ml + "collection"'I' +120 "core" 'UgH +2 !to:Slide::Error\ : mesg".Collection Syringe overCurrent at 9.666ml:@checkpoint: omitted: @replyo:I2C::Servo::AbsMove3Reply :@destinationi%: @channeli: @statusIS:I2C::Servo::Status: enabledT: pastRLSF: pastFLSF:pastThresholdF: lostF: homeF: positioniU: velocityi: currentig:pwmi:erri: inPressi: outPressi:deltaPressiH: voltagef14.847357879234169): @type2F: @tagiN: @sourcei,: @error:overCurrent:@axisName"Collection Syringe:bt["2/home/esp/esp2/lib/slide.rb:587:in `raiseErr'"7/home/esp/esp2/lib/slide.rb:350:in `unlimitedSeek'"5/home/esp/esp2/lib/thread.rb:74:in `recoverable'"7/home/esp/esp2/lib/slide.rb:323:in `unlimitedSeek'"6/home/esp/esp2/lib/scale.rb:93:in `unlimitedSeek'"./home/esp/esp2/lib/slide.rb:314:in `seek'"0/home/esp/esp2/lib/slide.rb:357:in `moveTo'"0/home/esp/esp2/lib/syringe.rb:28:in `empty'"(ESP):160:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +12260 #-> CTV.SSV.CBV +2 !o:NoMethodError : mesgu:NameError::message)undefined method `SSV' for CTV:Shaft: name:SSV: args[:bt[ "7/home/esp/esp2/lib/shaft.rb:80:in `method_missing'"(ESP):161:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +445 #-> SSV.CBV + .SSV.dial CBV +2 "sampler")V  +72 "core" +538 #t-> CS.empty +4 .CS.seek 0ml + "collection"'R' +2553 "core" ' + "collection"'c% +4 "core" %\ \  +2285 #t-> Exhauaust.close + !o:NameError: mesg"%uninitialized constant Exhauaust: name:Exhauaust:bt["(ESP):164:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +526 #-> Exhaust.close +2 .Exhaust.select :close +2 "sampler") +1577 #t-> CSV.air +2 .CSV.dial :air + "collection"'j @ +42 "core" ? +236 #t-> CS.fill +2 .CS.seek 10ml + "collection"'`' +2624 "core" ' + "collection"'>% +4 "core" %  +5380 "Can" NL +12003 #t-> SSV.CBV + .SSV.dial CBV +480 #-> CBV.SSV + .CBV.dial SSV +2047 #-> CTV.intake +2 .CTV.dial :intake +2 "collection"'@  +64 "core"  +549 #t-> Intake.open + .Intake.select :open + "sampler") +458 #t-> SS.fill +2 .SS.seek 25ml + "sampler")=' +351 "core" ' + "sampler")f% +4 "core" % { +7867 #t-> SS.empty +2 .SS.seek 0ml + "sampler")k'0 +1223 "core" ' +2 "sampler")^% +4 "core" %1\ \ \ v +660 #t-> SS.fill +2 .SS.seek 25ml +2 "sampler")p' +1225 "core" ' +2 "sampler")]% +4 "core" %* s o  +442 #t-> Intake.close +2 .Intake.select :close + "sampler")0 +833 #t-> Exhaust.open +2 .Exhaust.select :open + "sampler")@ +1803 #t-> SSV.CBV +2 .SSV.dial CBV +428 #-> CBV.SSV + .CBV.dial SSV +2151 #-> SSV.Exhaust + .SSV.dial Exhaust +2 "sampler")b  +70 "core"  +533 #t-> SS.empty +3 .SS.seek 0ml + "sampler")s'0 +1235 "core" ' +2 "sampler")t% +5 "core" %+  +658 #t-> Exhaust.close +2 .Exhaust.select :close +2 "sampler") +1276 #t-> SSV.CBV + .SSV.dial CBV +2 "sampler")h  +68 "core" +446 #t-> Intake.open +2 .Intake.select :open +2 "sampler") +306 #t-> SS.fill +2 .SS.seek 25ml +2 "sampler")l' +1207 "core" ' + "sampler")v% +4 "core" %* m l  +499 #t-> Intake.close +2 .Intake.select :close + "sampler")0 +366 #t-> Exhaust.open + .Exhaust.select :open +2 "sampler")@ +435 #t-> SSV.exhaust +2 .SSV.dial :exhaust + "sampler")x  +70 "core"  +516 #t-> SS.empty +3 .SS.seek 0ml + "sampler")y'0 +1208 "core" ' +2 "sampler")|% +4 "core" %) +3550 #t-> Exhaust.close +2 .Exhaust.select :close + "sampler") +1691 #t-> SSV.CBV +2 .SSV.dial CBV +2 "sampler")}  +68 "core"  +724 #t-> CTV.intake +2 .CTV.dial :intake +500 #-> Intake.open +4 .Intake.select :open + "sampler") +853 #t-> SS.fill +2 .SS.seek 25ml +2 "sampler")z' +1215 "core" ' +2 "sampler")% +4 "core" %1 w s  +368 #t-> Intake.close +2 .Intake.select :close + "sampler")0 +1013 #t-> SSV.exhaust +2 .SSV.dial :exhaust +2 "sampler")  +69 "core"  +576 #t-> exhaust.open +2 !o:NoMethodError : mesgu:NameError::message5private method `open' called for :exhaust:Symbol: name: open: args[:bt["(ESP):196:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +574 #-> SS.empty +2 .SS.seek 0ml + "sampler")['0 +158 "core" 'y +3 !to:Slide::Error\ : mesg"+Sampler Syringe overCurrent at 24.18ml:@checkpoint: omitted: @replyo:I2C::Servo::AbsMove3Reply :@destinationi%: @channeli: @statusIS:I2C::Servo::Status: enabledT: pastRLSF: pastFLSF:pastThresholdF: lostF: homeF: positioniy: velocityi: currenti:pwmi:erri: inPressi : outPressi :deltaPressi : voltagef14.719719194894454: @type2F: @tagi`: @sourcei.: @error:overCurrent:@axisName"Sampler Syringe:bt["2/home/esp/esp2/lib/slide.rb:587:in `raiseErr'"7/home/esp/esp2/lib/slide.rb:350:in `unlimitedSeek'"5/home/esp/esp2/lib/thread.rb:74:in `recoverable'"7/home/esp/esp2/lib/slide.rb:323:in `unlimitedSeek'"6/home/esp/esp2/lib/scale.rb:93:in `unlimitedSeek'"./home/esp/esp2/lib/slide.rb:314:in `seek'"0/home/esp/esp2/lib/slide.rb:357:in `moveTo'"0/home/esp/esp2/lib/syringe.rb:28:in `empty'"(ESP):197:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +1228 #-> CBV +241 #-> SSV +1973 #-> SSV.exSSV.exhaust +2 !o:NoMethodError : mesgu:NameError::message+undefined method `exSSV' for SSV:Shaft: name:\ exSSV: args[:bt[ "7/home/esp/esp2/lib/shaft.rb:80:in `method_missing'"(ESP):200:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +435 #-> SSV.exhaust +2 .SSV.dial :exhaust +561 #-> exhaust.open +2 !o:NoMethodError : mesgu:NameError::message5private method `open' called for :exhaust:Symbol: name: open: args[:bt["(ESP):202:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +743 #-> SS.empty +2 .SS.seek 0ml +2 "sampler")r'0 +141 "core" 'y +2 !to:Slide::Error\ : mesg"+Sampler Syringe overCurrent at 24.18ml:@checkpoint: omitted: @replyo:I2C::Servo::AbsMove3Reply :@destinationi%: @channeli: @statusIS:I2C::Servo::Status: enabledT: pastRLSF: pastFLSF:pastThresholdF: lostF: homeF: positioniy: velocityi: currenti:pwmi:erri: inPressi : outPressi :deltaPressi : voltagef14.729537555228278щ: @type2F: @tagiw: @sourcei.: @error:overCurrent:@axisName"Sampler Syringe:bt["2/home/esp/esp2/lib/slide.rb:587:in `raiseErr'"7/home/esp/esp2/lib/slide.rb:350:in `unlimitedSeek'"5/home/esp/esp2/lib/thread.rb:74:in `recoverable'"7/home/esp/esp2/lib/slide.rb:323:in `unlimitedSeek'"6/home/esp/esp2/lib/scale.rb:93:in `unlimitedSeek'"./home/esp/esp2/lib/slide.rb:314:in `seek'"0/home/esp/esp2/lib/slide.rb:357:in `moveTo'"0/home/esp/esp2/lib/syringe.rb:28:in `empty'"(ESP):203:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +1696 "Can" NK +2793 #t-> SSV.exhaust +2 .SSV.dial :exhaust +1191 #-> exhaust.close +2 !o:NoMethodError : mesgu:NameError::message6private method `close' called for :exhaust:Symbol: name:\ close: args[:bt["(ESP):205:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +563 #-> Exhaust.close +2 .Exhaust.select :close +604 #-> Exhaust.open + .Exhaust.select :open + "sampler")@ +835 #t-> SS.empty +3 .SS.seek 0ml + "sampler")i'0 +1212 "core" ' + "sampler")g% +4 "core" %*  +532 #t-> FLush.garage + !o:NameError: mesg"!uninitialized constant FLush: name:\ FLush:bt["(ESP):209:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +468 #-> Flush.garage +2 #Garaging FlushPuck in Collection Clamp +2 "manipulator"&u& +3 "core" & L - +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&n( +25 "core" ( +2 "manipulator"&e& +4 "core" & Z ! + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 & & +3 "core" & ! +2 .tForearm.seek CC + "manipulator"&o'| +101 "core" ' + .tHand.close +2 "manipulator"&/ +55 "core" / + .tCC.seek :open +2 "collection"'m(p +410 "core" ( +2 "manipulator"&& +3 "core" &  d  +2 "manipulator"&% +4 "core" % w Q +2 .tForearm.seek :retract + "manipulator"&J'\ +94 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek :garage + "manipulator"& (, +291 "core" ( + "manipulator"&w& +4 "core" &,   +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &,   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :garage + "manipulator"&' +104 "core" ' +2 .tHand.open + "manipulator"& 1 +63 "core" 1 + "manipulator"&\ % +5 "core" %  u 0 + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&'\ +95 "core" ' +153 #t-> exit +4 "sampler") +10 #mEXIT @1669152169.63EST @1669820154.07EST = =tMAIN =mMAIN_scheduler @EST1669820155.95 #"core_reset"Sent BREAK +2 #t@20746 idle with ifg=0x00, ie=0x75 + #>RESET< ESP2 v3.41 I2C Gateway v3.20 +208 #>RESET< ESP2 v3.41 I2C Gateway v3.20 for core bus +205 !o:Instrument::ISUSCore: @refiXO: @configS:Instrument::Configuration: name" ISUS:calFileName0:sampleCmd"TS: prompt"\ :statusCmd"C:sampleTimeouti#:promptTimeouti:statusTimeouti: retriesi:strToPrompt"W: pace0: echoF:\ @name@ +97 #Configuration for don (12651-03) 10/9/20 brent@mbari.org\ /home/esp/esp2/type/shallow/don/configure.rb\ +388 "Can" %$!u +  %$!u + #tPolling Can every 10:00 +3 !o:Storage::Warning: mesg"6Invalid entry in line 8 of /var/log/esp/real.puck:bt["8/home/esp/esp2/utils/storage.rb:399:in `readPucks!'"2/home/esp/esp2/utils/storage.rb:397:in `each'"8/home/esp/esp2/utils/storage.rb:397:in `readPucks!'"(eval):2:in `eachRaw'"(eval):2:in `each'"8/home/esp/esp2/utils/storage.rb:372:in `readPucks!'"2/home/esp/esp2/utils/storage.rb:371:in `open'"8/home/esp/esp2/utils/storage.rb:371:in `readPucks!'"6/home/esp/esp2/utils/storage.rb:627:in `restore!'"-/home/esp/esp2/lib/esp.rb:115:in `shell'"7/home/esp/esp2/lib/schedule.rb:481:in `initialize'"0/home/esp/esp2/lib/thread.rb:738:in `start'"7/home/esp/esp2/lib/schedule.rb:474:in `initialize'"'/home/esp/esp2/lib/schedule.rb:472 +2 #Cleanly exited at 16:22:49EST22-Nov-22 +652 #-> ESP.ready! +3 #Powering core bus +574 .Gate.power :raw,:ON +2 "sampler") +15 ) +2 "core"  +2 "collection"' +2 ' +4 "core"  + "processing"% +2 % +3 "core"  +4 "collection"' 9\ +2 ' 0\ +2 ' -\ +4 "processing"% 9\ +2 % 2\ + % *\ +2 % 0\ +3 "sampler")&\ +2 "collection"'% +4 "core" %./ +2 .tCS.configure :default +2 "collection"'#P d@b +3 "processing"%% +2 "core" % +2 .tPS.configure :default +2 "processing"%#A d`xb +3 "sampler")% +3 "core" %\ \  + .tSS.configure :default +3 "sampler")#.0X access 2 +2 "storage"(;% +4 "core" %L*\ \ 0 R + "manipulator"&<% +4 "core" %\ . E ": +2 "manipulator"&=& +4 "core" &% ? "z + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"(>(K +665 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (?& +2 "core" &K c  +501 #t-> startTube 2 +2311 #-> $da[:extractVol]=.19 +41877 #-> da 100 +2 #da sampling at most 100ml +6 ."Qmail"DAfans.email "Started da in tube 2 at 10:05:00EST30-Nov-22\\n{1 => 0,\\n 3 => 0,\\n 4 => 0,\\n 5 => 0,\\n 6 => 0,\\n 7 => 0}\\nCTD data unavailable\\nISUS data unavailable\\nCan@09:56:04, 15% flow, 21.3C, 40% humidity, 14.4psia, 14.96V, 0.114A avg, 0.096A avg, 1.71W",Subject: "da sampling at most 100ml" +3 #tLoading sh1 puck from tube 2 into Collection Clamp +3 "collection"'@& +4 "core" &V44$  +2 .tHand.open + "manipulator"&A1 +75 "core" 1 +3 "manipulator"&B% +7 "core" % \ -  ": + "storage"(C% +4 "core" %L0\ \ ~ R +2 "storage"(D. +4 "core" .(K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 + "storage"(E(  +29 !"Qmail"o:!Net::SMTPAuthenticationError: mesg"E534-5.7.9 Application-specific password required. Learn more at\ :@checkpoint: omitted:bt["E/opt/mbari/lib/ruby/1.8/net/smtp.rb:954:in `check_auth_response'"/opt/mbari/lib/ruby/1.8/net/smtp.rb:723:in `authenticate'":/opt/mbari/lib/ruby/1.8/net/smtp.rb:566:in `do_start'"7/opt/mbari/lib/ruby/1.8/net/smtp.rb:525:in `start'"2/home/esp/esp2/lib/email.rb:325:in `sendOnce'"3/home/esp/esp2/lib/schedule.rb:292:in `unsync'"3/home/esp/esp2/lib/schedule.rb:594:in `unsync'"3/home/esp/esp2/lib/schedule.rb:621:in `unsync'"2/home/esp/esp2/lib/email.rb:318:in `sendOnce'"//home/esp/esp2/lib/email.rb:340:in `email'",/home/esp/esp2/lib/msg.rb:68:in `retry'"//home/esp/esp2/lib/email.rb:339:in `email'"./home/esp/esp2/lib/email.rb:348:in `mail'"-/home/esp/esp2/lib/email.rb:66:in `call'"3/home/esp/esp2/lib/email.rb:66:in `initialize'"-/home/esp/esp2/lib/email.rb:63:in `loop'"3/home/esp/esp2/lib/email.rb:63:in `initialize'"7/home/esp/esp2/lib/schedule.rb:481:in `initialize'"0/home/esp/esp2/lib/thread.rb:738:in `start'"7/home/esp/esp2/lib/schedule.rb:474:in `initialize'"'/home/esp/esp2/lib/schedule.rb:472 +2 !o:Email::Queue::Purge: mesg"Purged output queue:bt[ "//home/esp/esp2/lib/email.rb:106:in `purge'"3/home/esp/esp2/lib/email.rb:75:in `initialize'"-/home/esp/esp2/lib/email.rb:63:in `loop'"3/home/esp/esp2/lib/email.rb:63:in `initialize'"7/home/esp/esp2/lib/schedule.rb:481:in `initialize'"0/home/esp/esp2/lib/thread.rb:738:in `start'"7/home/esp/esp2/lib/schedule.rb:474:in `initialize'"'/home/esp/esp2/lib/schedule.rb:472 +1273 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (F& +2 "core" &  ( +2 "manipulator"&G& +4 "core" &%  "z + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&H(; +16 "core" ( + "manipulator"&I& +4 "core" &5 m * +2 "storage"(J& +4 "core" & \ \  +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&K'Ѐ +91 "core" ' +2 "storage"(L& +4 "core" & \ \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(M'e +270 "core" ' +2 "storage"(N- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (O& +3 "core" &  \  +2 "manipulator"&P& +4 "core" &6  * +2 .tElbow.seek 2 + "manipulator"&Q(; +4 "core" ( + "manipulator"&R& +4 "core" &6 s * +2 "storage"(S& +4 "core" & \ \  +2 .tForearm.seek 2 + 300 counts + "manipulator"&T' +21 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&U/ +63 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&V& + "storage"(W'N +8 "core" &7 r r z * + "manipulator"&X% +4 "core" % s s ] +2 .tForearm.seek :retract +2 "manipulator"&Y'\ +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&Z( +143 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +7 "core" ( + "manipulator"&[& +4 "core" &, z Bl +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &\\& +2 "core" &+ R Bl +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&]'| +109 "core" ' +2 "manipulator"&^& +4 "core" &, : Bl +2 "manipulator"&_% +4 "core" %v N +2 "collection"'`& +4 "core" &V35*  +2 "collection"'a& +5 "core" &V23!  +2 .tCC.seek :closed +2 "collection"'b(] +4 "core" &V35(  +9 &854# *y +10 &k34 ? +9 &R25+ I +9 &p56+ H +10 &t33* I +9 &x573 I +9 &![s368 I +10 &#x455 I +9 &$p45/ H +10 &&s454 I +9 &(cv251 I +9 &*%v35= I +10 &+u25= I +9 &-t439 I +9 &/ku15> I +10 &1-s25? I +9 &2s37E H +9 &4s24F H +10 &6tt25H H +9 &86s34G H +10 &9t44H H +9 &;n56; H +9 &={q37@ I +10 &?>t57@ H +9 &@p34I I +10 &Bu24J H +9 &Dn45L I +9 &FFw35S H +10 &Hx45R I +9 &I65T K +9 &K~76U M +10 &M598T Q +9 &N7;T P +10 &P69R R +9 &Ry9:T R +9 &T98:W R +10 &U59T S +9 &W7;U S +9 &Yx78T U +10 &[;79T T +9 &\\x6:U + +9 &]+8:P R +9 ( +2 &]\\69R B +2 "collection"'a& +3 #tCollection Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.78 +2 .Hand.open + "manipulator"&c1 +63 "core" 1 +2 "manipulator"&d% +4 "core" % v 2 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&e'\ +91 "core" ' +2 #tcollectSample 100ml w/bubble point of 24psi + #Priming 7ml +2 .Intake.select :close + .Exhaust.select :close +2 .SS.hold + "sampler")f+ +4 "core" + + "sampler")g% +4 "core" %.\ \  +2 "collection"'h& +4 "core" &]^89e B +3 "Can" JI + #tCalibrating pressure and temperature sensors +3 .CTV.dial :air +2 .SSV.dial :spit,avoiding: :exhaust +2 .SS.reconfigure :fast +2 "sampler")#.0X  +32 "collection"' % +2 "core" %2 +2 "sampler")% +4 "core" %?\ X\ R  +36 "collection"'% +3 "core" %2 +2 "sampler")% +4 "core" %\ \ ~ ' +2 "sampler")% +4 "core" %\ \  + .tIntake.select :close + "sampler")0 +9 )% +3 "core" %\ \  + .tSSV.dial :exhaust +2 "sampler")  +69 "core"  + .tExhaust.select :open +2 "sampler")@ +9 .tSS.seek 0ml +2 "sampler")'0 +895 "core" ' +2 .tExhaust.select :close + "sampler") +10 ."connect"SSV.dial CBV +3 .tCBV.dial SSV +2 "sampler")  +70 "core"  + #tAllowing 130s for 25.0ml of remaining 75.0ml +2 .Intake.select :open + "sampler") +210 "collection"'% +3 "core" %..* +2 #tIntake @13.8psia, vacuum from 8.3 to 11.3psi +2 .SS.reconfigure :inhaling 2.21ml/s +2 "sampler")#.0X\   +32 "collection"'#% +3 "core" % +2 "sampler"),% +4 "core" %?\ [\ V  +36 "collection"'-% +3 "core" % +2 "sampler").% +4 "core" %\ \ | S + "sampler")/% +4 "core" %\ \ = + .tIntake.select :close +2 "sampler")0 +9 )0% +3 "core" %\ \  + .tSSV.dial :exhaust +2 "sampler")1  +70 "core"  +2 .tExhaust.select :open + "sampler")@ +10 .tSS.seek 0ml +2 "sampler")2'0 +890 "core" ' + .tExhaust.select :close +2 "sampler") +9 ."connect"SSV.dial CBV +4 .tCBV.dial SSV +2 "sampler")3  +70 "core" + #tAllowing 130s for 25.0ml of remaining 50.0ml +2 .Intake.select :open + "sampler") +210 "collection"'4% +3 "core" %.. + #tIntake @13.8psia, vacuum from 8.3 to 11.3psi +2 .SS.reconfigure :inhaling 2.21ml/s +3 "sampler")#.0X\ % +4 "core" %:\ ~\ x  + .tIntake.select :close +2 "sampler")0 +8 )F% +3 "core" %,\ \  +2 .tSSV.dial :exhaust + "sampler")G  +71 "core"  + .tExhaust.select :open +2 "sampler")@ +9 .tSS.seek 0ml +2 "sampler")I'0 +864 "core" ' + .tExhaust.select :close + "sampler") +10 ."connect"SSV.dial CBV +3 .tCBV.dial SSV +2 "sampler")J  +70 "core" +2 #tAllowing 130s for 25.0ml of remaining 25.0ml + .Intake.select :open +2 "sampler") +210 "collection"'L% +2 "core" %.1 +2 #tIntake @14.0psia, vacuum from 8.5 to 11.5psi +2 .SS.reconfigure :inhaling 2.21ml/s +2 "sampler")#.0X\   +2 ."connect"CTV.dial CSV,avoiding: :air +3 .tCSV.dial CTV +2 "collection"'  +38 "core"  +3 .tCS.reconfigure :pressurize +2 "collection"'# d@<< b +3 .tCS.seek 0ml + "collection"'' +2353 "core" '  ұ +3 "collection"'% +4 "core" %\   + "sampler")% +4 "core" %2\ \  +2 #tBubblePoint: Intake @38.1psia, Outlet @14.1psia + .CBV.dial SSV +2 "collection"' @ +29 "core" A +2 .tSS.reconfigure :default +3 "sampler")#.0X? + #tPulling 2ml of CSR.AqMeOH + .CSR.select :AqMeOH +2 "collection"' +9 .tCS.reconfigure :default +3 "collection"'#P d@b +2 .tCS.seek 2ml +2 "collection"'9'~ +593 "core" ' +2 .tdelay 5 seconds +502 .CSR.select :air +2 "collection"' +9 ':% +2 "core" %~?A  +2 .tCS.seek 5ml +2 "collection"';'s +841 "core" ' +2 .tdelay 2 seconds +202 .CSV.dial CTV +2 "collection"'<  +40 "core" ~ +2 .tCS.seek 1ml +2 "collection"'=' +1104 "core" ' + "collection"'!9 +3 "core" 9ju +2 "collection"'?% +4 "core" % ( )# +2 #tBefore lysing Collection Puck Heater at 20.6C/28.2psia +2 #Heating Puck.from 2, :sh1 in Collection Clamp to 70C for 10:00 +2 .CH.seek 70C,8:00 +3 "collection"'@ \  +2 'A9 +5 "core" 9ju +102 "collection"'B9 +2 "core" 9jud +102 "collection"'C9 +3 "core" 9ku d +102 "collection"'D9 +2 "core" 9jv d +102 "collection"'>9 +3 "core" 9kud +102 "collection"'F9 +3 "core" 9lvd +103 "collection"'59 +2 "core" 9nwd +102 "collection"'G9 +3 "core" 9pwd +102 "collection"'69 +3 "core" 9su"d +102 "collection"'J9 +3 "core" 9xw&d +102 "collection"'L9 +3 "core" 9~w*d +102 "collection"'I9 +3 "core" 9w/d +102 "collection"'N9 +2 "core" 9x3d +102 "collection"'O9 +3 "core" 9y7d +102 "collection"'P9 +2 "core" 9y;d +103 "collection"'R9 +2 "core" 9v?d +102 "collection"' 9 +3 "core" 9zDd +102 "collection"'S9 +2 "core" 9{Hd +103 "collection"'U9 +2 "core" 9}Ld +102 "collection"'V9 +3 "core" 9}Pd +102 "collection"'X9 +3 "core" 9}Td +102 "collection"'H9 +3 "core" 9 Yd +102 "collection"'K9 +2 "core" 9]d +102 "collection"'[9 +3 "core" 91ad +102 "collection"'\\9 +3 "core" 9Ced +102 "collection"'M9 +3 "core" 9Vid +102 "collection"'$9 +3 "core" 9kmd +102 "collection"'T9 +3 "core" 9rd +102 "collection"'&9 +3 "core" 9vd +102 "collection"'_9 +3 "core" 9zd +102 "collection"'`9 +3 "core" 9~d +102 "collection"'Y9 +3 "core" 9d +102 "collection"'W9 +2 "core" 9d +102 "collection"'c9 +3 "core" 9d +143 "collection"'9 +11 "core" 9#d +102 "collection"'Q9 +3 "core" 98d +102 "collection"'d9 +2 "core" 9Od +102 "collection"'g9 +3 "core" 9fd +102 "collection"'a9 +2 "core" 9|d +103 "collection"'^9 +2 "core" 9d +102 "collection"']9 +3 "core" 9d +102 "collection"'9 +3 "core" 9d +102 "collection"'k9 +2 "core" 9a +103 "collection"'f9 +2 "core" 9_ +102 "collection"'+9 +3 "core" 9\\ +102 "collection"'l9 +3 "core" 9[ +102 "collection"'m9 +2 "core" 94Z +103 "collection"'n9 +2 "core" 9JX +102 "collection"'h9 +2 "core" 9aT +103 "collection"'p9 +2 "core" 9xS +102 "collection"'q9 +3 "core" 9Q +102 "collection"'r9 +3 "core" 9O +102 "collection"'i9 +2 "core" 9M +103 "collection"'o9 +2 "core" 9K +102 "collection"'v9 +2 "core" 9I +103 "collection"'w9 +3 "core" 9G +102 "collection"'y9 +2 "core" 9E +103 "collection"'u9 +2 "core" 9+D +102 "collection"'t9 +3 "core" 9@A +102 "collection"'j9 +2 "core" 9U? +102 "collection"'x9 +3 "core" 9k= +102 "collection"'s9 +3 "core" 9< +102 "collection"'|9 +3 "core" 9: +102 "collection"'~9 +3 "core" 9\ 9 +102 "collection"'z9 +2 "core" 97 +103 "collection"'}9 +2 "core" 95 +102 "collection"'{9 +3 "core" 94 +102 "collection"'9 +2 "core" 92 +103 "collection"'9 +2 "core" 91 +102 "collection"'9 +3 "core" 9 $/ +102 "collection"'9 +3 "core" 93(- +102 "collection"'9 +3 "core" 9G,, +102 "collection"'9 +2 "core" 9Z0- +102 "collection"' 9 +3 "core" 9k4) +102 "collection"'\ 9 +3 "core" 9~9' +102 "collection"' 9 +3 "core" 9=& +102 "collection"' 9 +3 "core" 9A% +102 "collection"'9 +2 "core" 9E# +103 "collection"'9 +2 "core" 9I" +102 "collection"'9 +3 "core" 9N +102 "collection"'9 +3 "core" 9R +102 "collection"'9 +3 "core" 9V +102 "collection"'9 +2 "core" 9 Z +102 "collection"'9 +3 "core" 9 ^ +102 "collection"' 9 +3 "core" 9 "b +102 "collection"'9 +2 "core" 9 1g +102 "collection"'9 +3 "core" 9 ?k +102 "collection"'9 +2 "core" 9 Mo +102 "collection"'9 +3 "core" 9 Zs +102 "collection"'9 +3 "core" 9 iw +102 "collection"'9 +3 "core" 9 u| +102 "collection"'"9 +2 "core" 9  +102 "collection"''9 +3 "core" 9  +102 "collection"'9 +2 "core" 9  +102 "collection"'(9 +3 "core" 9  +102 "collection"'9 +3 "core" 9  +102 "collection"'%9 +3 "core" 9  +102 "collection"')9 +2 "core" 9  +103 "collection"'9 +2 "core" 9  +102 "collection"'#9 +3 "core" 9  +102 "collection"',9 +3 "core" 9  +102 "collection"'9 +3 "core" 9 \ +102 "collection"'.9 +3 "core" 9\  +102 "collection"'/9 +3 "core" 9\  +102 "collection"'-9 +3 "core" 9\  +102 "collection"'09 +3 "core" 9\  +102 "collection"'9 +3 "core" 9\ ) +102 "collection"'9 +2 "core" 9\ 1  +102 "collection"'19 +3 "core" 9\ :\  +102 "collection"'49 +2 "core" 9\ B  +102 "collection"'39 +3 "core" 9\ K  +102 "collection"'79 +2 "core" 9\ S  +103 "collection"'89 +2 "core" 9\ [ +102 "collection"'29 +2 "core" 9\ c +103 "collection"':9 +2 "core" 9\ j +102 "collection"'99 +3 "core" 9\ q +102 "collection"'<9 +3 "core" 9\ y +3 .tCH.hold 10:00,70C +3 "collection"'; `\ `\ q +2 '!9 +6 "core"  + 9\ y + "collection"'?% +4 "core" % s u r + #tBegun lysing Collection Puck Heater at 68.2C/32.6psia +9720 "Can"\ LJ +50271 "core" ` + "collection"'A9 +4 "core" 9\  + "collection"'B% +4 "core" % ! # +2 #tEnded lysing Collection Puck Heater at 70C/27.9psia +2 .CS.seek 0ml + "collection"'C' +330 "core" ' +2 .tCTV.dial between spare and air,avoiding: :intake +2 "collection"'D @ +93 "core" B + .tCSV.dial :air +2 "collection"'> @ +39 "core" ? +2 .tCS.seek 5ml +2 "collection"'F's +1347 "core" ' +2 .tCSV.dial CTV +2 "collection"'5  +40 "core"  +2 .tdelay 2 seconds +202 .CSV.dial :air + "collection"'G @ +41 "core" ? + .tdelay 2 seconds +202 .CSV.dial CTV +2 "collection"'6  +40 "core"  + .tdelay 2 seconds +202 .CSV.dial :air +2 "collection"'J @ +40 "core" ? +2 .tdelay 2 seconds +202 .CS.seek 0ml +2 "collection"'L' +1355 "core" ' + "collection"'I% +4 "core" %  +2 #tPuck @39.5psia after final lysis pressurization + #Recovering Lysate into Collection syringe + .CSV.dial CBV +2 "collection"'N +92 "core"  +2 .tCBV.dial CSV + "collection"'O  +28 "core"  +2 "collection"'P% +4 "core" % +2 .tCS.seek 5ml +2 "collection"'R's +1353 "core" ' + .tdelay 5 seconds +502 .CTV.dial :air +3 "collection"'  +38 "core" + "collection"'S% +4 "core" %s   +2 .tCS.seek 6.999ml +2 "collection"'U' +600 "core" ' + .tdelay 5 seconds +502 .CSV.dial :air2 +3 "collection"'V @ +38 "core" ? +2 .tCS.seek 10ml +2 "collection"'X' +839 "core" ' +2 .tCSV.dial between air and CTV,avoiding: CBV +2 "collection"'H ` +104 "core" _ +2 #tLysing Complete +2 "collection"'K& +4 "core" &][ B +2 #tStoring sh1 puck in Collection Clamp to tube 1 + "manipulator"&[% +4 "core" %\ .  #b +2 "storage"(\\% +3 "core" %Q P  +2 "storage"(M. +3 "core" .(  + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 1 +2 "storage"($(B +363 "core" ( +2 .tSC.configure :limp +3 "storage"($\ 1b +3 (T& +4 "manipulator"&&& + "core" &D * +5 ."raiseStack"SE.reconfigure :place +3 "storage"(#]kK-0-\ b +3 ."raiseStack"SE.seek :beamBreak + "storage"(_'e +3 "core" &' ' ?V +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC + "manipulator"&`( +39 "core" ( + "manipulator"&Y& +4 "core" &\  Y  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &W& +3 "core" &\  :  +2 .tForearm.seek CC +2 "manipulator"&c'| +97 "core" ' +2 .tHand.close + "manipulator"&/ +58 "core" / +2 .tCC.seek :open +2 "collection"'Q(p +41 "core" ' + "storage"(d- +3 "core" -'e +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +2 ."raiseStack"SE.seek :place +2 "storage"(g'B +48 "core" ' +308 ( +2 "storage"(a& +4 "core" &D\ \  + "storage"(^& +4 "core" &D\ \ ! +2 "manipulator"&]& +3 "core" &\  G  +2 "manipulator"&% +4 "core" % m e +2 .tForearm.seek :retract + "manipulator"&k'\ +95 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 1 +2 "manipulator"&f(c +149 "core" ( +2 "manipulator"&+& +4 "core" &m = +2 "storage"(l& +3 "core" &D\ \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 1 +2 "manipulator"&m' +51 "Can"x\ 63 +57 "core" ' +2 .tElbow.hold +2 "manipulator"&n, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&h1 +53 "core" 1 +2 "manipulator"&p% +4 "core" % b + "storage"(q& +4 "core" &D\ \  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 1 + 311 counts +2 "manipulator"&r' +13 "core" ' +2 "manipulator"&i& +4 "core" &m d m +2 "storage"(o& +4 "core" &D\ D\ E +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 1 + 450 counts +2 "manipulator"&v'Ф +17 "core" ' +2 "storage"(w% +4 "core" %G\ D\ D +3 ."downElevator"SE.seek :down +3 "storage"(y'N +98 (u% +3 "core" %'C\ !\ !  N@ +2 "manipulator"&t% +5 "core" %Н e l +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&j'\ +93 "core" ' +55 ' + ."downElevator"SE.stop + "storage"(5 +3 #tTranferring DA +2 #Beginning samplePassC +2 #Loading FlushPuck into Collection Clamp from FlushPuck::Garage + "collection"'x& +4 "core" & +2 "manipulator"&s& +4 "core" &m  + "manipulator"&|% +4 "core" %\ .  #i +2 .tElbow.seek FlushPuck::Garage +2 "manipulator"&~(, +181 "core" ( +2 "manipulator"&z& +4 "core" &, m  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &}& +2 "core" &, {  +2 .tForearm.seek :garage +2 "manipulator"&{' +106 "core" ' +2 .tHand.close + "manipulator"&/ +55 "core" / +2 "manipulator"&& +4 "core" &, F  + "manipulator"&% +4 "core" % a +2 .tForearm.seek :retract + "manipulator"&'\ +103 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC +2 "manipulator"&( +273 "core" ( + "manipulator"&& +4 "core" &' % ?Q +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 & & +3 "core" &(  ?Q +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&\ '| +97 "core" ' + "manipulator"& & +5 "core" &(  ?Q + "manipulator"& % +4 "core" %σ  +2 "collection"'& +4 "core" & +3 "collection"'& +4 "core" & +2 .tCC.seek :closed +2 "collection"'(] +4 "core" & +8 & * #` +9 &wY 5 +10 & H +9 &l G +9 &ang G +10 &#pG G +9 & qg G +9 &"q H +10 &$ip  G +9 &&+p G +10 &'p G +9 &)p G +9 &+pq G +10 &-3p G +9 &.r G +9 &0r G +10 &2yrx G +9 &4;rd G +10 &5sL G +9 &7p5 G +9 &9n G +10 &;Co  G +9 &=r  G +9 &>n G +10 &@p G +9 &BLp F +10 &D o G +9 &Eo G +9 &Gp G +10 &IN|u H +9 &K 8 J +9 &L N +10 &N| Q +9 &P>k Q +10 &QY Q +9 &SJ R +9 &U~< S +10 &W@% S +9 &X T +9 &Z} T +10 &\\  A +9 &]p1 \ %m +10 &]R ? +2 ( +2 "collection"'& +3 #tCollection Clamp onSpring/offSpring for 10/25 samples, on/off torque 1.83 + "collection"'& +4 "core" &]Y ? +2 .tHand.open + "manipulator"&1 +57 "core" 1 + "manipulator"&% +5 "core" % ρ 4 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +46 "manipulator"&'\ +101 "core" ' +2 .tPSV.dial PSR +2 "processing"% +129 "core"  +2 "processing"%% +4 "core" % + #tPulling 1.5ml of PSR.flush + .PSR.select :flush +2 "processing"%j +10 .tPS.seek 1.5ml +2 "processing"%' +1622 "core" ' +2 .tdelay 5 seconds +502 .PSV.dial :waste1 +2 "processing"%  +41 "core"  +2 .tPS.seek 0ml +2 "processing"%' +1608 "core" ' +2 .tPSV.dial PSR + "processing"% +49 "core"  + .tPSR.select :air +2 "processing"% +10 .tPS.seek 2.5ml +2 "processing"%'m +2649 "core" ' +2 ."connect"PRV.dial CBV,avoiding: :ab2 +3 .tCBV.dial PRV +2 "processing"%" +2 "collection"''  +5 "core"  +2 "processing"%  +4 "core" +61 +2 .tPSV.dial :mixloop + "processing"%( +97 "core" +2 .tCTV.dial :air,avoiding: :intake + .PTV.dial :PRVmixing +2 "processing"%  +69 "core" +2 .tPS.seek 0ml + "processing"%%' +2636 "core" ' + .tPSV.dial :air +2 "processing"%)  +40 "core"  +2 .tPS.seek 2.5ml +2 "processing"%'m +2652 "core" ' +2 .tPSV.dial :mixloop +2 "processing"%# +48 "core" +2 .tPS.seek 0ml +2 "processing"%,' +2638 "core" ' + .tPSV.dial :air +2 "processing"%  +49 "core"  +2 .tPS.seek 2.5ml +2 "processing"%.'m +2647 "core" ' +2 .tPSV.dial :mixloop + "processing"%/ +49 "core" +2 .tPS.seek 0ml +2 "processing"%-' +2635 "core" ' +2 #tGaraging FlushPuck in Collection Clamp + "manipulator"&0& +4 "core" &1! G 9& +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC + "manipulator"&( +30 "core" ( +2 "manipulator"&& +4 "core" &   +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &1& +4 "core" & 7  + .tForearm.seek CC +2 "manipulator"&4'| +108 "core" ' + .tHand.close +2 "manipulator"&3/ +58 "core" / +2 .tCC.seek :open + "collection"'7(p +411 "core" ( + "manipulator"&8& +4 "core" &  +2 "manipulator"&2% +4 "core" % :  i + .tForearm.seek :retract +2 "manipulator"&:'\ +102 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage + "manipulator"&9(, +269 "core" ( + "manipulator"&<& +5 "core" &, d } + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &!& +2 "core" &,  } +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :garage +2 "manipulator"&?' +108 "core" ' +2 .tHand.open +2 "manipulator"&@1 +59 "core" 1 + "manipulator"&;% +5 "core" %  Q + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&A'\ +98 "core" ' +2 .tPSV.dial :mixloop + .PTV.dial :PRVmixing +2 ."connect"PRV.dial CBV +3 .tCBV.dial PRV +2 .CTV.dial :air,avoiding: :intake +2 #Loading lyfil puck from tube 2 into Collection Clamp + "collection"'B& +5 "core" &J + "manipulator"&=% +4 "core" %\ * v , !Q +2 "storage"(D% +4 "core" %L\ "\ !   + "storage"(>. +3 "core" .(B +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 + "storage"(C(  +371 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (5& +3 "core" &  v  + "manipulator"&G& +4 "core" &, t | +2 "manipulator"&6% +3 "core" %\ * q s * !Q +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&J(; +168 "core" ( + "manipulator"&F& +5 "core" &6 3 C + "storage"(I& +4 "core" & \ !\ !   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&N'Ѐ +99 "core" ' + "storage"(O& +5 "core" & \ D\ ' P  + .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(P'e +287 "core" ' + "storage"(L- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 ( & +3 "core" & \ \  -  + "manipulator"&S& +4 "core" &6 o d C +2 .tElbow.seek 2 + "manipulator"&R(; +4 "core" ( + "manipulator"&V& +4 "core" &6 u s  C +2 "storage"(U& +3 "core" & \ \   +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&H' +24 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&K/ +63 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&[& + "storage"(\\'N +7 "core" &6 o c E C +2 "manipulator"&M% +4 "core" % k n +2 .tForearm.seek :retract +2 "manipulator"&E'\ +89 "core" ' +2 .tElbow.seek CC + "manipulator"&T( +147 "core" ( + "manipulator"&&& +6 "core" &$ \\ <9 + ' + .tElbow.reconfigure :loose +2 ."downElevator"SE.stop +4 "manipulator"&$ &.,(#b + "storage"(5 +3 "manipulator"&Y& +5 "core" &% <9 + .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&W'| +96 "core" ' +2 "manipulator"&& +4 "core" &% ) <9 +2 "manipulator"&d% +4 "core" %j 1 +2 "collection"'Z& +4 "core" & +2 "collection"'e& +4 "core" & +2 .tCC.seek :closed +2 "collection"'b(] +4 "core" &=  +10 &0t )u +9 &h < +9 &l H +10 &1m G +9 &o G +9 &r G +10 &!vq G +9 &#8p G +9 &$p} G +10 &&ta G +9 &(qP G +10 &*@t; G +9 &,n( F +9 &-o G +10 &/q G +9 &1Iq G +9 &3 r F +10 &4q G +9 &6m; G +10 &8Pp/ G +9 &:m G +9 &;o G +10 &=s G +9 &?Yn G +9 &As G +10 &Bo G +9 &Dn G +10 &F`n G +9 &H"p G +9 &I} H +10 &K L +9 &MR O +9 &O P +10 &P Q +9 &R Q +10 &TPw R +9 &Vc S +9 &Wl S +10 &Yd T +9 &[R^ T +9 &\\wX (} +10 &](M I +9 ( +3 "collection"'e& +2 #tCollection Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.80 + .Hand.open +2 "manipulator"&_1 +4 "core" &]TD ? +48 1 +2 "manipulator"&a% +4 "core" % j  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&^'\ +92 "core" ' + .tCTV.dial CSV,avoiding: :intake +2 "collection"']  +120 "core"  + .tCSV.dial CTV +2 "collection"'  +28 "core"  +2 .tPS.seek 2.5ml +2 "processing"%+'m +2634 "core" ' + "collection"'l% +4 "core" %r  +2 .tCS.seek 4.5ml +2 "collection"'c'd +1478 "core" ' +2 .tdelay 8 seconds +802 .PSV.dial :air +2 "processing"%`  +47 "core"  +2 .tdelay 2 seconds +202 .PSV.dial :waste2 + "processing"%h  +69 "core"  +2 .tPS.seek 0ml + "processing"%p' +2636 "core" ' + .tCBV.dial between PRV and waste1 +2 "collection"'q ` +31 "core" ^ +2 .tCSV.dial :air +2 "collection"'i @ +40 "core" ? +2 .tCS.seek 10ml +2 "collection"'o' +1477 "core" ' + .tCSV.dial CTV +2 "collection"'w  +41 "core"  +2 .tCS.seek 0ml +2 "collection"'k' +2618 "core" ' + .tCBV.dial :waste1 +2 "collection"'u @ +28 "core" > +2 .tdelay 5 seconds +502 .CTV.dial :air,avoiding: :intake +3 "collection"'t  +118 "core" + "collection"'f& +5 "core" &]OT ? + #tStoring lyfil puck in Collection Clamp to tube 1 + "manipulator"&m% +4 "core" %\ % c 6 +2 "storage"(x% +3 "core" %M\ ]  +2 "storage"(r. +3 "core" .(  +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 1 +2 "storage"(s(B +397 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (|& +3 "core" &? Y + "manipulator"&g& +4 "core" &\ " T :. +2 "manipulator"&v% +3 "core" %\ % 6 +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 1 +2 "manipulator"&z(c +156 "core" ( + "manipulator"&}& +4 "core" &[ | o  +2 "storage"(y& +4 "core" &?\ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 1 + 450 counts + "manipulator"&n'Ф +104 "core" ' +2 "storage"(& +4 "core" &?\ !\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('e +278 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&j& +3 "core" &[ i m +2 "storage"({& +4 "core" &?\ \  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 1 +2 "manipulator"&' +33 "core" ' + .tElbow.hold +2 "manipulator"& , +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(~- +2 "core" -' +2 .tSE.seek 0.12 Pucks below Top Plate +2 "storage"( 'p +35 "core" ' + "manipulator"& % +4 "core" %r J $ +2 "storage"(& +4 "core" &?  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 1 + 319 counts +2 "manipulator"&'! +14 "core" ' + "manipulator"&Q& +5 "core" &+ \\ t j  + "storage"(& +5 "core" &?\ \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 1 + 450 counts +2 "manipulator"&'Ф +18 "core" ' +2 .tSE.seek 1.12 Pucks below Top Plate + "storage"('_ +47 "core" ' +2 "manipulator"&& +4 "core" &+ j a h  +2 "manipulator"& % +4 "core" %д a c +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +92 "core" ' +2 .tElbow.seek CC +2 "manipulator"&\ ( +173 "core" ( +2 "manipulator"&& +4 "core" & 3 D +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +4 "core" &  D + .tForearm.seek CC +57 "manipulator"&'| +104 "core" ' + .tHand.close + "manipulator"&/ +57 "core" / +2 .tCC.seek :open +2 "collection"'"(p +410 "core" ( + "storage"(& +5 "core" &?\ "\ ! + "storage"('& +4 "core" &?\ "\ !  +2 "manipulator"&(& +4 "core" & n n D + "manipulator"&% +4 "core" % ~ c n C +2 .tForearm.seek :retract + "manipulator"&'\ +91 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 1 +2 "manipulator"&)(c +161 "core" ( + "manipulator"&%& +4 "core" &X 3 b +2 "storage"(#& +4 "core" &? \ } + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 1 +2 "manipulator"&' +98 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&,1 +57 "core" 1 +2 "manipulator"&/% +4 "core" % h  + "storage"(.& +5 "core" &?\ \  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 1 + 317 counts + "manipulator"&0' +22 "core" ' +2 "manipulator"&& +5 "core" &C u q - !w + "storage"(1& +5 "core" &?\ \ "  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 1 + 450 counts + "manipulator"&3'Ф +15 "core" ' +2 "storage"(% +4 "core" %b\ "\ # +3 ."downElevator"SE.seek :down +3 "storage"('N +99 (% +3 "core" %A\ \  D M> +2 "manipulator"&8% +4 "core" %Т j d s +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&2'\ +88 "core" ' +52 ' + ."downElevator"SE.stop +2 "storage"(5 +2 .tPSV.dial :air +2 "processing"%4  +75 "core" +2 .tPS.seek 2.5ml +2 "processing"%<'m +2646 "core" ' + .tdelay 1 second +102 .PSV.dial :mixloop +2 "processing"%! +40 "core" +2 .tdelay 1 second +102 .PSV.dial :air + "processing"%  +48 "core"  +2 .tdelay 1 second +102 .PSV.dial :mixloop +2 "processing"%@ +50 "core" + .tdelay 1 second +102 .PSV.dial :air +2 "processing"%;  +47 "core"  +2 .tdelay 1 second +102 .PS.seek 0ml +2 "processing"%B' +2635 "core" ' + #tLoading FlushPuck into Processing Clamp from FlushPuck::Garage + "processing"%:& +5 "core" &W,  + "manipulator"&=& +4 "core" &C  !w +2 "manipulator"&D% +3 "core" %\ +  "Z +2 .tElbow.seek FlushPuck::Garage +2 "manipulator"&>(, +191 "core" ( +2 "manipulator"&?& +4 "core" &, | g  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &$& +3 "core" &,   +2 .tForearm.seek :garage +2 "manipulator"&5' +100 "core" ' +2 .tHand.close + "manipulator"&G/ +55 "core" / + "manipulator"&6& +5 "core" &,  + "manipulator"&F% +4 "core" %  +2 .tForearm.seek :retract + "manipulator"&I'\ +100 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +2 "manipulator"&O(c +112 "core" ( +2 "manipulator"&9& +4 "core" &_ p  R +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &A& +3 "core" &_ & R +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&L'[ +98 "core" ' +2 "manipulator"& & +4 "core" &_ } < R +2 "manipulator"&S% +3 "core" %^ ! +2 "processing"%V& +4 "core" &W1  +3 "processing"%U& +4 "core" &W/  +2 .tPC.seek :closed +2 "processing"%K(Z +4 "core" &W-  +8 &pP3 $e +9 &T^6 8 +10 &6 H +9 &s> G +10 &QvB G +9 &u@ H +9 & tE H +10 &"qE G +9 &$YqD G +9 &&uE G +10 &'nO G +9 &)qM H +9 &+aqQ G +10 &-#qX G +9 &.p\\ G +10 &0u[ G +9 &2iuV G +9 &4,mc G +10 &5qk H +9 &7pl G +9 &9rml G +10 &;3sl G +9 &<po H +10 &>ss H +9 &@znx G +9 &B;uy G +10 &Csw G +9 &Epu H +9 &Gu H +10 &I>| I +9 &J J +10 &L L +9 &Nz M +9 &P< M +10 &Q L +9 &S M +9 &U M +10 &WB M +9 &Y M +10 &ZPBl &o +9 &Z, & +5 ( +2 "processing"%U& +4 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.42 +2 "processing"%[& +4 "core" &Z & + &Z & + .tHand.open + "manipulator"&M1 +59 "core" 1 + "manipulator"&J% +5 "core" % ^  + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&N'\ +92 "core" ' +2 .tPRV.dial :air +2 "processing"%&  +40 "core"  + .tPSV.dial :mixloop +2 "processing"%Y +47 "core" + "processing"%P% +5 "core" %S +2 .tPS.seek 0.3ml + "processing"%H'm +414 "core" ' +2 .tPSV.dial PSR +2 "processing"% +96 "core"  +2 "processing"%d% +4 "core" %nf  + #tPulling 0.4ml of PSR.air + .PSR.select :air +3 .PS.seek 0.7ml +2 "processing"%Z'. +484 "core" ' +2 .tdelay 3 seconds +301 .PSR.select :air +3 .PS.seek 2.5ml +2 "processing"%R'm +1939 "core" ' + .tdelay 3 seconds +302 .PSV.dial :mixloop +2 "processing"%\\ +103 "core" + .tPTV.dial :mixing +2 "processing"%E @ +66 "core" A + .tPBV.dial :waste2 +2 "processing"%7  +87 "core"  +3 .tPS.seek 0ml + "processing"%_' +2641 "core" ' +2 #tGaraging FlushPuck in Processing Clamp + "manipulator"&a& +5 "core" &_ [ R +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +2 "manipulator"&e(c +3 "core" ( +2 "manipulator"&]& +4 "core" &_ ] @ R + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &_ ( R +2 .tForearm.seek PC +2 "manipulator"&W'[ +94 "core" ' + .tHand.close + "manipulator"&-/ +62 "core" / +2 .tPC.seek :open + "processing"%l(p +392 "core" ( + "manipulator"&X& +5 "core" &` n o Q + "manipulator"&`% +4 "core" % k e g + .tForearm.seek :retract +2 "manipulator"&h'\ +96 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage +2 "manipulator"&+(, +123 "core" ( + "manipulator"&q& +4 "core" &, }   +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &i& +3 "core" &,   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :garage +2 "manipulator"&c' +114 "core" ' +2 .tHand.open + "manipulator"&w1 +61 "core" 1 +2 "manipulator"&o% +4 "core" %  h +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&u'\ +102 "core" ' +2 #tLoading da puck from tube 2 into Processing Clamp + "processing"%t& +5 "core" & + "manipulator"&f% +4 "core" %\ 0  $m +2 "storage"(m% +4 "core" %I\ !\ ! + "storage"(x. +4 "core" .(> + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 2 + "storage"(r(  +354 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (C& +3 "core" &  \    + "manipulator"&|& +4 "core" &,   +2 "manipulator"&g% +4 "core" %\ 0  $m + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&v(; +193 "core" ( +2 "manipulator"&}& +4 "core" &C =  + "storage"(y& +4 "core" & \ !\ !  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts +2 "manipulator"&'Ѐ +91 "core" ' +2 "storage"(T& +4 "core" & \ \ "   +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(^'e +278 "core" ' + "storage"(- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (j& +2 "core" & \ \  +2 "manipulator"&{& +4 "core" &C m n Y  + .tElbow.seek 2 +2 "manipulator"&~(; +3 "core" ( +2 "manipulator"& & +3 "core" &C p s  +2 "storage"(& +4 "core" & \ \   +51 .tForearm.seek 2 + 300 counts +3 "manipulator"&Q' +26 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +62 "core" / +2 !to:Puck::Warning: mesg"-Loaded Last remaining Puck (from Tube 2):bt[ "4/home/esp/esp2/utils/puckmoves.rb:387:in `load'"8/home/esp/esp2/utils/puckmoves.rb:958:in `loadPuck'";/home/esp/esp2/protocol/2G/DAprocess.rb:281:in `runDA'"?/home/esp/esp2/protocol/2G/DAprocess.rb:170:in `processDA'"0/home/esp/esp2/protocol/2G/DA.rb:64:in `da'"(ESP):5:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +3 ."downElevator"SE.seek :down +3 "manipulator"&& + "storage"( 'N +8 "core" &C D E   + "manipulator"&n% +4 "core" % K F ! +2 .tForearm.seek :retract +2 "manipulator"&z'\ +97 "core" ' +2 .tElbow.seek PC +2 "manipulator"&(c +152 "core" ' + ."downElevator"SE.stop + "storage"(5 +83 "core" ( + "manipulator"&& +5 "core" &Y l f ] + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &Y ] +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"& '[ +107 "core" ' + "manipulator"&& +4 "core" &Y s r ] +2 "manipulator"&% +4 "core" % P m n  v +2 "processing"%& +4 "core" &_ +3 "processing"% & +5 "core" & +2 .tPC.seek :closed +2 "processing"%(Z +4 "core" & +6 &= #c +10 &qZ 6 +9 &} H +9 &k G +10 &bn{ G +9 &"p{ H +10 & r} G +9 &"no G +9 &$ipm G +10 &&+pr G +9 &'nn G +9 &)oW G +10 &+rna G +9 &-3q] G +10 &.p` G +9 &0nV G +9 &2zpR G +10 &4=nK G +9 &5sJ G +9 &7nQ G +10 &9rP G +9 &;EpB G +10 &=m@ G +9 &>p? G +9 &@o@ F +10 &BLpK G +9 &Dn G +9 &Erg G +10 &GrF G +9 &IRw H +10 &KO J +9 &LK K +9 &NA L +10 &PMI L +9 &R M +9 &S M +10 &U M +9 &WS M +10 &Y K +9 &ZV<c $h +9 &Z 1 ( +6 ( +2 "processing"% & +3 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.42 + .Hand.open +2 "manipulator"&1 +3 "core" &Z ( +50 1 + "manipulator"&b% +4 "core" % Q s [ u +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +91 "core" ' +2 #tHeating Puck.from 2, :da in Processing Clamp to 28C for 2:00:00 +2 .PH.seek 28C,5:00 +3 "processing"%'  +2 %(9 +5 "core" 9 +102 "processing"%9 +3 "core" 9 +102 "processing"%%9 +2 "core" 9  +102 "processing"%#9 +3 "core" 9  +102 "processing"%9 +2 "core" 9 +102 "processing"%\ 9 +3 "core" 9 +102 "processing"%,9 +3 "core" 9 +102 "processing"%/9 +2 "core" 9 +2 "Can"}\  +102 "processing"%.9 +3 "core" 9" +102 "processing"%9 +2 "core" 9& +103 "processing"%19 +2 "core" 9* +102 "processing"%9 +2 "core" 9/ +103 "processing"%9 +2 "core" 93 +102 "processing"%9 +2 "core" 97 +103 "processing"%89 +2 "core" 9; +102 "processing"%)9 +3 "core" 9? +102 "processing"%9 +2 "core" 9D +103 "processing"%09 +2 "core" 9H +102 "processing"%9 +2 "core" 9L +103 "processing"%49 +2 "core" 9P +102 "processing"%39 +2 "core" 9T +103 "processing"%9 +2 "core" 9X +102 "processing"%p9 +2 "core" 9] +102 "processing"%!9 +3 "core" 9a +102 "processing"%9 +2 "core" 9 e +103 "processing"%@9 +2 "core" 9i +103 "processing"%;9 +2 "core" 9m +102 "processing"%<9 +2 "core" 9$r +103 "processing"%:9 +2 "core" 9-v +102 "processing"%=9 +2 "core" 95z +103 "processing"%D9 +3 "core" 9@~ +102 "processing"%?9 +2 "core" 9I +102 "processing"%$9 +3 "core" 9R +102 "processing"%9 +2 "core" 9\\ +102 "processing"%G9 +3 "core" 9d +102 "processing"%69 +2 "core" 9m +103 "processing"%F9 +2 "core" 9w +102 "processing"%29 +2 "core" 9 +3 .tPH.hold 2:00:00,28C +3 "processing"%9 pp{ +2 .tdelay 1:30 +4 "core"  +9001 .tPSR.select :air +2 .PSV.dial PSR +2 "processing"%A +102 "core"  + "processing"%5% +5 "core" % + #tPulling 0.5ml of PSR.wash + .PSR.select :wash +2 "processing"% +10 .tPS.seek 0.5ml +2 "processing"% ' +589 "core" ' +2 .tdelay 5 seconds +502 .PSR.select :air +2 "processing"% +10 .tPS.seek 2ml +2 "processing"%S'ԏ +1719 "core" ' +2 .tPTV.dial :puck + "processing"%V  +66 "core"  +2 .tPSV.dial PTV + "processing"%> +75 "core" +2 .tPBV.dial :waste1 + "processing"%I  +122 "core"  +2 "processing"%*% +4 "core" %Ԑ  +2 .tPS.seek 1.5ml +2 "processing"%[' +596 "core" ' +2 .tdelay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%M * +30 "core" + +3 .tPS.seek 0ml + "processing"%J' +1620 "core" ' + .tdelay 5:00 +30003 #recoverPSRreagent08 + .PTV.dial :puck +2 .PBV.dial :waste1 + "processing"%U  +33 "core" +2 .tdelay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%& * +33 "core" + + .tPSR.select :air +2 .PSV.dial PSR +2 "processing"%Y +74 "core"  +2 .tPS.reconfigure :fast +3 "processing"%#A ,`xb +2 .tPS.seek 2.5ml +2 "processing"%P'm +2218 "core" ' + .tPSV.dial PTV +2 "processing"%L +75 "core" +2 .tdelay 5 seconds +502 .PSV.dial PSR +2 "processing"%B +75 "core"  +2 .tdelay 5 seconds +502 .PSV.dial PTV +2 "processing"% +74 "core" + .tdelay 5 seconds +502 .PSV.dial :air +2 "processing"%d  +70 "core"  +2 .tPS.seek 0ml +2 "processing"%H' +2175 "core" ' +2 .tPTV.dial :PRVmixing,via: PRV +2 "processing"%Z  +118 "core" +2 .tPSV.dial :mixloop +2 "processing"%\\ +46 "core" +2 .tPRV.dial :ab1 +2 "processing"%E @ +67 "core" A +2 .tPS.reconfigure :slow +2 "processing"%#A 2`xb +2 .tPS.seek 0.15ml +2 "processing"%7'@ +349 "core" ' +2 .tdelay 2 seconds +202 ."connect"CBV.dial PRV +3 .tPRV.dial CBV +2 "collection"'R  +2 "processing"%a  +144 !"core_reader"o:I2C::Bus::Error: mesg"&Unexpected message ACK byte: 0x01:bt[ "5/home/esp/esp2/lib/i2c/gateway.rb:401:in `reset'"5/home/esp/esp2/lib/rmutex.rb:99:in `synchronize'"5/home/esp/esp2/lib/i2c/gateway.rb:315:in `reset'"4/home/esp/esp2/lib/i2c/gateway.rb:312:in `loop'"5/home/esp/esp2/lib/i2c/gateway.rb:312:in `reset'":/home/esp/esp2/lib/i2c/gateway.rb:307:in `initialize'"*/home/esp/esp2/lib/i2c/gateway.rb:307 +28 #"core_reset"Sent BREAK +2 #"core_reader"@2733 idle with ifg=0x84, ie=0x75 + #@3403 select with ifg=0x10, ie=0xF5 + #@4057 receive with ifg=0x10, ie=0xFD + #@4689 receive with ifg=0x10, ie=0xFD #@5322 receive with ifg=0x10, ie=0xFD + #@5955 receive with ifg=0x10, ie=0xFD + #@6587 receive with ifg=0x10, ie=0xFD #@6916 receive with ifg=0x80, ie=0xFD + #@64131 idle with ifg=0x00, ie=0x75 #ESP2 v3.41 I2C Gateway v3.20 +32 "Can" ?= +  ?= + #"Restarting_core_reader"Polling Can every 10:00 +1789 !"connect"o:I2C::Request::Timeout: mesg"6No Response to I2C::Shaft::RotateRequest[52:->27]: @requesto:I2C::Shaft::RotateRequest: @timeout0: @dontLog0: @replyqo:\ Queue: @que[: @waiting[:@destinationi,: @channeli: @tag0:@direction0:\ @goali:@maxDelayo:\ Delay: @_dc_obji:bt["3/home/esp/esp2/lib/i2c/msg.rb:309:in `process'"6/home/esp/esp2/lib/schedule.rb:169:in `asyncStep'"1/home/esp/esp2/lib/schedule.rb:446:in `step'"4/home/esp/esp2/lib/schedule.rb:195:in `process'"2/home/esp/esp2/lib/schedule.rb:213:in `start'"1/home/esp/esp2/lib/schedule.rb:212:in `loop'"2/home/esp/esp2/lib/schedule.rb:212:in `start'"-/home/esp/esp2/lib/esp.rb:211:in `shell'"4/home/esp/esp2/lib/realtime.rb:21:in `realTime'"#/home/esp/esp2/mode/real.rb:11"2/home/esp/esp2/lib/framework.rb:111:in `load'"0/home/esp/esp2/lib/framework.rb:111:in `ld'"4/home/esp/esp2/lib/framework.rb:136:in `ldMode'""/home/esp/esp2/lib/esp.rb:339"1/home/esp/esp2/lib/esp.rb:75:in `mainThread'"1/home/esp/esp2/lib/esp.rb:75:in `initialize'"!/home/esp/esp2/lib/esp.rb:75 +2 #Retry #1 of 3 + "collection"']  +4 !to:I2C::Request::Timeout: mesg"6No Response to I2C::Shaft::RotateRequest[61:->25]: @requesto:I2C::Shaft::RotateRequest: @timeout0: @dontLog0: @replyqo:\ Queue: @que[: @waiting[:@destinationi*: @channeli: @tag0:@direction0:\ @goali:@maxDelayo:\ Delay: @_dc_obji:bt["3/home/esp/esp2/lib/i2c/msg.rb:309:in `process'"6/home/esp/esp2/lib/schedule.rb:169:in `asyncStep'"1/home/esp/esp2/lib/schedule.rb:446:in `step'"4/home/esp/esp2/lib/schedule.rb:195:in `process'"2/home/esp/esp2/lib/schedule.rb:213:in `start'"1/home/esp/esp2/lib/schedule.rb:212:in `loop'"2/home/esp/esp2/lib/schedule.rb:212:in `start'"-/home/esp/esp2/lib/esp.rb:211:in `shell'"4/home/esp/esp2/lib/realtime.rb:21:in `realTime'"#/home/esp/esp2/mode/real.rb:11"2/home/esp/esp2/lib/framework.rb:111:in `load'"0/home/esp/esp2/lib/framework.rb:111:in `ld'"4/home/esp/esp2/lib/framework.rb:136:in `ldMode'""/home/esp/esp2/lib/esp.rb:339"1/home/esp/esp2/lib/esp.rb:75:in `mainThread'"1/home/esp/esp2/lib/esp.rb:75:in `initialize'"!/home/esp/esp2/lib/esp.rb:75 +2 "core" + #tRetry #1 of 3 +3 "processing"%  +5 "core"  + "processing"%-% +4 "core" %Aj  +2 .tPS.seek 0.34ml +2 "processing"%O' +434 "core" ' +2 .tdelay 2 seconds +202 .CBV.dial between PRV and PSV +2 "collection"'N  +27 "core" +2 .tPRV.dial :air +2 "processing"%K  +40 "core"  +2 .tPS.seek 0.9ml +2 "processing"%X'H +1194 "core" ' +2 .tPRV.dial :waste2 +2 "processing"%` @ +65 "core" @ +2 .tPS.seek 0.5ml +2 "processing"%q' +865 "core" ' + #taddPMLReagent08 + .PSV.dial :air +2 "processing"%i  +47 "core"  +2 .tPS.reconfigure :default +3 "processing"%#A d`xb +2 .tPS.seek 2ml +2 "processing"%W'ԏ +1646 "core" ' + .tPSV.dial :PML +2 "processing"%e +47 "core" +2 .tPTV.dial :mixing + "processing"%w @ +66 "core" A + .tPBV.dial :waste1 +2 "processing"%o  +33 "core" + "processing"%t% +5 "core" %Ԍp +2 .tPS.seek 1.85ml + "processing"%h'c +239 "core" ' + .tPBV.dial between PSV and waste1 +2 "processing"%f * +33 "core" + +2 .tPS.seek 0ml +2 "processing"%m' +1966 "core" ' +2 .tdelay 2 seconds +202 #Beginning samplePassC +2 #Loading FlushPuck into Collection Clamp from FlushPuck::Garage + "collection"'x& +3 "core" & +2 "manipulator"&c& +3 "core" &Y  ] +2 "manipulator"&s% +4 "core" %\ (  G +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek FlushPuck::Garage +2 "manipulator"&C(, +133 "core" ( + "manipulator"&|& +4 "core" &, o 7  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &g& +3 "core" &,   +2 .tForearm.seek :garage +2 "manipulator"&}' +105 "core" ' + .tHand.close +2 "manipulator"&y/ +58 "core" / +2 "manipulator"&+& +4 "core" &, Z  +2 "manipulator"&T% +4 "core" %  B + .tForearm.seek :retract +2 "manipulator"&u'\ +99 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&( +284 "core" ( +2 "manipulator"&j& +53 "core" &, ' Bj +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &{& +3 "core" &, 4 Bj +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"& '| +98 "core" ' +2 "manipulator"&& +4 "core" &, p Bj +2 "manipulator"&% +4 "core" %q 3 + "collection"'& +4 "core" &\ +3 "collection"'n& +4 "core" & +2 .tCC.seek :closed +2 "collection"'v(] +4 "core" &\ +8 &9 $c +9 &qY 6 +10 & I +9 &g H +9 &Yk I +10 &t I +9 & r I +9 &"o I +10 &$ar I +9 &&$r H +10 &'p H +9 &)q H +9 &+jv H +10 &-+s I +9 &.u I +9 &0t I +10 &2rv H +9 &43u I +10 &5q H +9 &7p I +9 &9{m H +10 &;;o I +9 &<l H +9 &>k H +10 &@p I +9 &BCp I +10 &Dn H +9 &En I +9 &Gm\ I +10 &IKr I +9 &K K +9 &L N +10 &Ny Q +9 &P: Q +10 &Q R +9 &S R +9 &Uz S +10 &W< S +9 &X U +9 &Z U +10 &\\~ B +9 &]p4 "g +10 &]c C +2 ( + "collection"'n& +4 #tCollection Clamp onSpring/offSpring for 10/26 samples, on/off torque 1.76 + "collection"'& +5 "core" &]c C + .tHand.open + "manipulator"&^1 +60 "core" 1 +2 "manipulator"&Q% +5 "core" % q  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +92 "core" ' + .tPSV.dial PSR +2 "processing"% +96 "core"  +2 "processing"%~% +4 "core" %j +2 #tPulling 1.5ml of PSR.flush + .PSR.select :flush +2 "processing"%@ +10 .tPS.seek 1.5ml +2 "processing"%' +1629 "core" ' +2 .tdelay 5 seconds +502 .PSV.dial :waste1 +2 "processing"%  +41 "core"  +2 .tPS.seek 0ml +2 "processing"%' +1608 "core" ' +2 .tPSV.dial PSR +2 "processing"% +46 "core"  +2 .tPSR.select :air +2 "processing"% +10 .tPS.seek 2.5ml + "processing"%z'm +2632 "core" ' +2 ."connect"PRV.dial CBV,avoiding: :ab2 +3 .tCBV.dial PRV +3 "processing"%l  + "collection"'  +30 "core" +113  + .tPSV.dial :mixloop +2 "processing"%b +97 "core" + .tCTV.dial :air,avoiding: :intake +2 .PTV.dial :PRVmixing +2 "processing"%(  +67 "core" +2 .tPS.seek 0ml + "processing"% ' +2636 "core" ' + .tPSV.dial :air +2 "processing"%  +42 "core"  +2 .tPS.seek 2.5ml +2 "processing"% 'm +2651 "core" ' + .tPSV.dial :mixloop +2 "processing"%% +47 "core" +2 .tPS.seek 0ml + "processing"%#' +2631 "core" ' + .tPSV.dial :air +2 "processing"%  +47 "core"  +2 .tPS.seek 2.5ml +2 "processing"%\ 'm +2646 "core" ' + .tPSV.dial :mixloop +2 "processing"%, +47 "core" +2 .tPS.seek 0ml +2 "processing"%/' +2627 "core" ' +2 #tGaraging FlushPuck in Collection Clamp + "manipulator"&.& +4 "core" &1$  <? +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&( +33 "core" ( + "manipulator"&1& +4 "core" & }  +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &  +2 .tForearm.seek CC + "manipulator"&'| +97 "core" ' +2 .tHand.close + "manipulator"&/ +54 "core" / + .tCC.seek :open +2 "collection"'8(p +411 "core" ( + "manipulator"&)& +4 "core" & F  +2 "manipulator"&% +3 "core" % t v f +2 .tForearm.seek :retract +2 "manipulator"&0'\ +98 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek :garage + "manipulator"&(, +267 "core" ( +2 "manipulator"&4& +4 "core" &,  m + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &3& +3 "core" &, ' m +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :garage +2 "manipulator"&' +107 "core" ' +2 .tHand.open + "manipulator"&p1 +53 "core" 1 +2 "manipulator"&!% +4 "core" %  <  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +95 "core" ' +3 ."da"delayUntil "10:55:20.42" +24809 #recoverPRVreagent08 + .PTV.dial :mixing +2 "processing"%@ @ +66 "core" A + ."da"PBV.dial :waste1 +2 "processing"%;  +33 "core" +2 ."da"delay 30 seconds +2870 "Can" ?< +132 ."da"PBV.dial between PSV and waste1 +2 "processing"%< * +32 "core" + + ."da"PSV.dial :air +2 "processing"%:  +47 "core"  +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%='m +2213 "core" ' +2 ."da"PSV.dial :mixloop +2 "processing"%D +48 "core" + ."da"delay 2 seconds +203 .PSV.dial :air + "processing"%?  +47 "core"  + ."da"delay 2 seconds +202 .PSV.dial :mixloop +2 "processing"%$ +48 "core" + ."da"delay 2 seconds +202 .PSV.dial :air +2 "processing"%  +48 "core"  +2 ."da"PS.seek 0ml +2 "processing"%G' +2168 "core" ' + #"da"washCycleDA #1 of 2 +2 .PSR.select :air +2 .PSV.dial PSR + "processing"%6 +123 "core"  +2 "processing"%F% +4 "core" % + #"da"Pulling 0.5ml of PSR.wash + .PSR.select :wash +2 "processing"% +10 ."da"PS.reconfigure :default +2 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"%2' +591 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +3 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%A'ԏ +1617 "core" ' + ."da"PTV.dial :puck +2 "processing"%5  +66 "core"  + ."da"PSV.dial PTV +2 "processing"%_ +69 "core" + ."da"PBV.dial :waste1 +2 "processing"%  +32 "core" +2 "processing"%V% +4 "core" %ԓ   +2 ."da"PS.seek 1.5ml +2 "processing"%>' +589 "core" ' + ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%I * +32 "core" + +3 ."da"PS.seek 0ml +2 "processing"%*' +1608 "core" ' + ."da"delay 2:00 +12003 #recoverPSRreagent08 + .PTV.dial :puck +2 .PBV.dial :waste1 +2 "processing"%S  +31 "core" +2 ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%M * +32 "core" + +2 ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"%[ +74 "core"  +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml +2 "processing"%''m +2207 "core" ' + ."da"PSV.dial PTV +2 "processing"%U +75 "core" + ."da"delay 5 seconds +502 .PSV.dial PSR +2 "processing"%& +74 "core"  +2 ."da"delay 5 seconds +502 .PSV.dial PTV +2 "processing"%Y +74 "core" +2 ."da"delay 5 seconds +502 .PSV.dial :air +2 "processing"%J  +67 "core"  +2 ."da"PS.seek 0ml +2 "processing"%L' +2170 "core" ' + #"da"washCycleDA #2 of 2 + .PSR.select :air +2 .PSV.dial PSR +2 "processing"%B +124 "core"  + "processing"%% +4 "core" % + #"da"Pulling 0.5ml of PSR.wash + .PSR.select :wash +2 "processing"% +10 ."da"PS.reconfigure :default +2 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"%d' +589 "core" ' + ."da"delay 5 seconds +502 .PSR.select :air +2 "processing"% +10 ."da"PS.seek 2ml + "processing"%P'ԏ +1662 "core" ' + ."da"PTV.dial :puck +50 .PSV.dial PTV +3 "processing"%Z +69 "core" + ."da"PBV.dial :waste1 +2 "processing"%\\  +33 "core" +2 "processing"%E% +3 "core" %Ԏ\   +2 ."da"PS.seek 1.5ml +2 "processing"%H' +597 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%R * +32 "core" + +2 ."da"PS.seek 0ml +2 "processing"%a' +1608 "core" ' +2 ."da"delay 2:00 +12003 #recoverPSRreagent08 + .PTV.dial :puck +2 .PBV.dial :waste1 +2 "processing"%]  +32 "core" +2 ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"% * +32 "core" + +2 ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"%- +74 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%7'm +2208 "core" ' + ."da"PSV.dial PTV +3 "processing"%N +74 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PSR +2 "processing"%K +74 "core"  +2 ."da"delay 5 seconds +502 .PSV.dial PTV +2 "processing"%O +74 "core" + ."da"delay 5 seconds +502 .PSV.dial :air +2 "processing"%`  +68 "core"  +2 ."da"PS.seek 0ml +2 "processing"%X' +2169 "core" ' +2 #"da"getPMLReagent08 + .PRV.dial :air +2 "processing"%i  +41 "core"  + ."da"delay 5 seconds +503 .PTV.dial :PRVmixing +2 "processing"%q  +67 "Can" ea +49 "core" + ."da"delay 5 seconds +502 .PRV.dial :ab2 +2 "processing"%e  +40 "core"  + ."da"PTV.dial :PRVmixing +2 .PSV.dial :mixloop +2 "processing"%w +46 "core" +2 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 0.3ml +2 "processing"%o'i +387 "core" ' + ."da"delay 2 seconds +202 .PRV.dial :air +2 "processing"%t  +42 "core"  + "processing"%f% +4 "core" %g  +2 ."da"PS.seek 0.55ml +2 "processing"%W'V +331 "core" ' +2 #"da"addPMLReagent08 + .PSV.dial :air +2 "processing"%h  +48 "core"  +3 ."da"PS.seek 2ml +2 "processing"%x'ԏ +1608 "core" ' + ."da"PSV.dial :PML +2 "processing"%c +47 "core" + ."da"PTV.dial :mixing +2 "processing"%s @ +66 "core" A + ."da"PBV.dial :waste1 +2 "processing"%|  +33 "core" + "processing"%g% +4 "core" %ԕ  +2 ."da"PS.seek 1.85ml +2 "processing"%'l +233 "core" ' + ."da"PBV.dial between PSV and waste1 +2 "processing"%y * +33 "core" + +2 ."da"PS.seek 0ml +2 "processing"%+' +1969 "core" ' + ."da"delay 2 seconds +203 .delay 8:00 +48003 #recoverPRVreagent08 + .PTV.dial :mixing +2 .PBV.dial :waste1 + "processing"%T  +32 "core" +2 ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"% * +32 "core" + +2 ."da"PSV.dial :air +2 "processing"%}  +46 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%j'm +2196 "core" ' + ."da"PSV.dial :mixloop +2 "processing"%C +48 "core" +2 ."da"delay 2 seconds +202 .PSV.dial :air +2 "processing"%{  +46 "core"  +2 ."da"delay 2 seconds +202 .PSV.dial :mixloop +2 "processing"% +47 "core" +2 ."da"delay 2 seconds +202 .PSV.dial :air +2 "processing"%  +3 "Can" ji +43 "core"  +2 ."da"PS.seek 0ml +2 "processing"%' +2169 "core" ' +2 #"da"washCycleDA #1 of 3 + .PSR.select :air +2 .PSV.dial PSR +2 "processing"%u +123 "core"  + "processing"%"% +4 "core" % +2 #"da"Pulling 0.5ml of PSR.wash + .PSR.select :wash +2 "processing"% +10 ."da"PS.reconfigure :default +2 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"%' +594 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +2 "processing"% +10 ."da"PS.seek 2ml + "processing"%^'ԏ +1621 "core" ' + ."da"PTV.dial :puck +2 "processing"%Q  +65 "core"  +2 ."da"PSV.dial PTV +2 "processing"%n +79 "core"  + ."da"PBV.dial :waste1 +2 "processing"%  +33 "core" +2 "processing"%~% +3 "core" %ԕ  +2 ."da"PS.seek 1.5ml +2 "processing"% ' +585 "core" ' + ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%m * +32 "core" + +3 ."da"PS.seek 0ml +2 "processing"%' +1614 "core" ' +2 ."da"delay 2:00 +12003 #recoverPSRreagent08 + .PTV.dial :puck +2 .PBV.dial :waste1 + "processing"%  +33 "core" +2 ."da"delay 30 seconds +3002 .PBV.dial between PSV and waste1 +2 "processing"% * +33 "core" + +2 ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"% +72 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%'m +2213 "core" ' + ."da"PSV.dial PTV +2 "processing"%l +75 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PSR +2 "processing"%b +74 "core"  + ."da"delay 5 seconds +503 .PSV.dial PTV + "processing"%( +75 "core" + ."da"delay 5 seconds +502 .PSV.dial :air +2 "processing"%z  +68 "core"  +2 ."da"PS.seek 0ml +2 "processing"%' +2176 "core" ' + #"da"washCycleDA #2 of 3 +2 .PSR.select :air +2 .PSV.dial PSR +2 "processing"% +121 "core"  + "processing"%%% +4 "core" % + #"da"Pulling 0.5ml of PSR.wash +2 .PSR.select :wash +2 "processing"% +10 ."da"PS.reconfigure :default +2 "processing"%#A d`xb +3 ."da"PS.seek 0.5ml +2 "processing"% ' +585 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +2 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%'ԏ +1617 "core" ' +2 ."da"PTV.dial :puck +2 .PSV.dial PTV + "processing"%# +69 "core" + ."da"PBV.dial :waste1 +2 "processing"%,  +33 "core" + "processing"%\ % +4 "core" %ԓ   +2 ."da"PS.seek 1.5ml +2 "processing"%.' +588 "core" ' + ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%1 * +32 "core" + +3 ."da"PS.seek 0ml +2 "processing"%' +1611 "core" ' + ."da"delay 2:00 +12004 #recoverPSRreagent08 + .PTV.dial :puck +2 .PBV.dial :waste1 + "processing"%  +33 "core" + ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"% * +33 "core" + + ."da"PSR.select :air +3 .PSV.dial PSR + "processing"% +75 "core"  +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%v'm +2212 "core" ' + ."da"PSV.dial PTV +2 "processing"%) +75 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PSR +2 "processing"% +74 "core"  + ."da"delay 5 seconds +502 .PSV.dial PTV +2 "processing"% +74 "core" +2 ."da"delay 5 seconds +502 .PSV.dial :air +2 "processing"%4  +68 "core"  +52 ."da"PS.seek 0ml +2 "processing"%3' +2169 "core" ' +2 #"da"washCycleDA #3 of 3 + .PSR.select :air +2 .PSV.dial PSR +2 "processing"% +123 "core"  + "processing"%p% +4 "core" % +2 #"da"Pulling 0.5ml of PSR.wash + .PSR.select :wash +2 "processing"% +10 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"%!' +593 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +2 "processing"% +10 ."da"PS.seek 2ml +2 "processing"%0'ԏ +1657 "core" ' + ."da"PTV.dial :puck +2 .PSV.dial PTV +2 "processing"% +67 "core" + ."da"PBV.dial :waste1 +2 "processing"%@  +33 "core" + "processing"%;% +4 "core" %ԉ  +2 ."da"PS.seek 1.5ml +2 "processing"%<' +596 "core" ' + ."da"delay 3 seconds +201 "Can" ?> +101 ."da"PBV.dial between PSV and waste1 +2 "processing"%: * +32 "core" + +2 ."da"PS.seek 0ml +2 "processing"%/' +1609 "core" ' + ."da"delay 2:00 +12003 #recoverPSRreagent08 + .PTV.dial :puck +2 .PBV.dial :waste1 + "processing"%D  +32 "core" +2 ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%? * +32 "core" + +2 ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"%$ +72 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%'m +2199 "core" ' + ."da"PSV.dial PTV +2 "processing"%= +74 "core" + ."da"delay 5 seconds +502 .PSV.dial PSR +3 "processing"%6 +73 "core"  +2 ."da"delay 5 seconds +502 .PSV.dial PTV +2 "processing"%F +72 "core" +2 ."da"delay 5 seconds +502 .PSV.dial :air +2 "processing"%G  +68 "core"  +2 ."da"PS.seek 0ml +2 "processing"%2' +2166 "core" ' + ."da"Gate.power :camera,:ON +2 #Mixing DA Substrates + .PSR.select :air +2 .PSV.dial PSR +2 "processing"%5 +125 "core"  +3 "processing"%_% +10 "core" % +4 #"da"Pulling 0.25ml of PSR.sub1 + .PSR.select :sub1 +6 "processing"% +12 ."da"PS.reconfigure :default +6 "processing"%#A d`xb +5 ."da"PS.seek 0.25ml +6 "processing"% ' +339 "core" ' +2 ."da"delay 5 seconds +502 "processing"%V% +5 "core" %  +2 #"da"Pulling 0.25ml of PSR.sub2 + .PSR.select :sub2 +2 "processing"% +10 ."da"PS.seek 0.5ml +2 "processing"%A' +330 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +2 "processing"% +10 ."da"PS.seek 2ml +2 "processing"%I'ԏ +1648 "core" ' + ."da"PTV.dial :puck +2 .PSV.dial PTV +2 "processing"%> +68 "core" +2 ."da"PBV.dial :waste1 +2 "processing"%S  +32 "core"  +2 "processing"%M% +4 "core" %ԃ +2 ."da"PS.seek 1.5ml +2 "processing"%[' +603 "core" ' + ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%* * +32 "core" + +2 ."da"PS.seek 0ml +2 "processing"%U' +1615 "core" ' + ."da"delay 10 seconds +1004 #recoverPSRreagent08 + .PTV.dial :puck +2 .PBV.dial :waste1 + "processing"%&  +33 "core" +2 ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%Y * +32 "core" + +2 ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"%J +74 "core"  +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml +2 "processing"%''m +2214 "core" ' +2 ."da"PSV.dial PTV +2 "processing"%B +74 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PSR +3 "processing"% +75 "core"  + ."da"delay 5 seconds +502 .PSV.dial PTV +2 "processing"%L +74 "core" +2 ."da"delay 5 seconds +502 .PSV.dial :air +2 "processing"%d  +68 "core"  +2 ."da"PS.seek 0ml +2 "processing"%Z' +2180 "core" ' +2 #"da"Additional air clear + .PSR.select :air +2 .PSV.dial PSR +2 "processing"%\\ +123 "core"  + "processing"%E% +4 "core" % + #"da"Pulling 2ml of PSR.air +2 .PSR.select :air +3 .PS.reconfigure :default +2 "processing"%#A d`xb +2 ."da"PS.seek 2ml +2 "processing"%P'ԏ +2125 "core" ' + ."da"delay 5 seconds +503 .PTV.dial :puck + .PSV.dial PTV +2 "processing"%R +68 "core" + ."da"PBV.dial :waste1 +2 "processing"%H  +33 "core" + "processing"%]% +4 "core" %Ԋ  +2 ."da"PS.seek 1.5ml +2 "processing"%' +586 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%- * +32 "core" + + ."da"delay 1 second +102 .PSV.dial :waste1 +2 "processing"%a  +101 "core"  +2 ."da"PS.seek 0ml +2 "processing"%N' +1615 "core" ' + "processing"%K9 +3 "core" 955 +2 #"da"Processing Puck Heater at 27.9C before imaging + .PH.coast +2 "processing"%O  +3 "core" 55 + 55 + "processing"%`& +4 "core" &Z ( +2 #"da"Imaging da puck in Processing Clamp while storing it to tube 1 + "manipulator"&7% +4 "core" %\ % e b B 1 +2 "storage"(i% +3 "core" %M D M +2 "storage"(q. +2 "core" .(  +2 ."da"SC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 ."da"SC.seek 1 +2 "storage"(e(B +401 "core" ( + ."da"SC.configure :limp +3 "storage"($\ 1b +2 (w& +3 "core" &>\ \   + "manipulator"&X& +4 "core" &, _ _ G m + "manipulator"&t% +4 "core" %\ $ } H 1 +2 ."da"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 ."da"Elbow.seek 1 +2 "manipulator"&f(c +172 "core" ( + "manipulator"&o& +4 "core" &_ 5 ? +2 "storage"(h& +4 "core" &> J d  +2 ."da"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 ."da"Forearm.seek 1 + 450 counts +2 "manipulator"&W'Ф +103 "core" ' +2 "storage"(c& +4 "core" &>  *  +2 ."da"SE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 ."da"SE.seek :beamBreak + "storage"(s'e +282 "core" ' + "storage"(|- +4 "core" -' + ."da"SE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&g& +2 "core" &_ b a  ? +2 "storage"(y& +4 "core" &> E ]  + ."da"Elbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 ."da"Forearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 ."da"Forearm.seek 1 +2 "manipulator"&x' +33 "core" ' + ."da"Elbow.hold +2 "manipulator"&, +4 "core" , + ."da"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(T- +2 "core" -' +3 ."da"SE.seek 1.11 Pucks below Top Plate +2 "storage"('\\ +38 "core" ' + "manipulator"&}% +4 "core" %  N +2 "storage"(+& +3 "core" &> F U  +2 ."da"Forearm.force -20 + "manipulator"&5 +3 ."da"Forearm.seek 1 + 316 counts +2 "manipulator"&C' +18 "core" ' + "manipulator"&{& +4 "core" &W s W # G +2 "storage"(& +4 "core" &> D \  +2 ."da"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 ."da"Forearm.seek 1 + 450 counts +2 "manipulator"&'Ф +25 "core" ' +2 ."da"SE.seek 2.11 Pucks below Top Plate +2 "storage"(j'K +40 "core" ' + "manipulator"&u& +4 "core" &W b `  G +2 "manipulator"&"% +4 "core" %С g g +2 ."da"Forearm.reconfigure :loose +49 "manipulator"&#Q@2^d^b +9 ."da"Forearm.seek :retract +2 "manipulator"&'\ +88 "core" ' + ."da"Elbow.seek PC +2 "manipulator"&(c +245 "core" ( + "manipulator"&Q& +4 "core" &m _ u . X +2 ."da"Elbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &n& +3 "core" &m e b C X +2 ."da"Forearm.seek PC +2 "manipulator"&'[ +100 "core" ' + ."da"Hand.close +2 "manipulator"&~/ +61 "core" / +2 ."da"PC.seek :open +2 "processing"%^(p +391 "core" ( + "storage"(m& +4 "core" &>   +2 "manipulator"& & +3 "core" &m a e " X +2 "manipulator"&% +3 "core" % d h l X +2 ."da"Forearm.seek :retract +2 "manipulator"& '\ +98 "core" ' +2 ."da"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 ."da"Elbow.seek 1 +2 "manipulator"&(c +251 "core" ( + "manipulator"&& +4 "core" &i . $ +2 "storage"(l& +3 "core" &> ( [  +2 ."da"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 ."da"Forearm.seek 1 + 450 counts +3 "manipulator"&b'Ф +103 "core" ' +2 ."da"Hand.open + "manipulator"&(1 +64 "core" 1 +2 "storage"(z- +4 "core" -'K +2 ."da"SE.seek 1.87 Pucks below Top Plate +2 "storage"(' +22 "core" ' + ."da"SE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 ."da"SE.seek 1.21 Pucks below Top Plate +2 "storage"( ' +46 "core" ' +2 #"da"Lights, camera, ACTION! +4 #PuckCamera: snap -bin=2,2 -auto /var/log/esp/da22nov3011h100ml.tif +1952 #"psFlush"Waiting >20 seconds for da to relinquish FlushPuck +2310 #"da"SX HX9/16 (USB:02): 1392x1040 pixel 16-bit CCD camera\ Exposing 696x520 pixel 16-bit image for 39.144 seconds\ /var/log/esp/da22nov3011h100ml.tif: TIFF Upload Complete\ +3 #PuckCamera: snap -bin=2,2 15.0 /var/log/esp/midres/da22nov3011h100ml15s.tif +1565 #SX HX9/16 (USB:02): 1392x1040 pixel 16-bit CCD camera\ Exposing 696x520 pixel 16-bit image for 15 seconds\ /var/log/esp/midres/da22nov3011h100ml15s.tif: TIFF Upload Complete\ +3 #PuckCamera: snap -bin=2,2 30.0 /var/log/esp/midres/da22nov3011h100ml30s.tif +3069 #SX HX9/16 (USB:02): 1392x1040 pixel 16-bit CCD camera\ Exposing 696x520 pixel 16-bit image for 30 seconds\ /var/log/esp/midres/da22nov3011h100ml30s.tif: TIFF Upload Complete\ +3 #PuckCamera: snap -bin=1,1 70.0 /var/log/esp/hires/da22nov3011h100ml70s.tif +2800 "Can"  +4369 #"da"SX HX9/16 (USB:02): 1392x1040 pixel 16-bit CCD camera\ Exposing 1392x1040 pixel 16-bit image for 70 seconds\ /var/log/esp/hires/da22nov3011h100ml70s.tif: TIFF Upload Complete\ +2 .Gate.power :camera,:OFF +3 ."Qmail"DAfans.email "39.144 sec auto-exposure",Subject: "da22nov3011h100ml images!" +3 "storage"(%- +7 "core" -' +2 "storage"(& +7 "core" &> m  + "manipulator"& & +4 "core" &i b k ? $ +2 ."da"Elbow.seek 1 +3 "manipulator"&#(c +3 "core" ( +2 "manipulator"&,& +6 "core" &i h l b $ +2 "storage"(\ & +4 "core" &>  +2 ."da"Forearm.seek 1 + 450 counts +2 "manipulator"&'Ф +4 "core" ' +4 ."da"SE.reconfigure :gently +4 "storage"(#QK-0-\ b +2 ."da"SE.seek 1.92 Pucks below Top Plate +2 "storage"(1'V +58 !"Qmail"o:!Net::SMTPAuthenticationError: mesg"E534-5.7.9 Application-specific password required. Learn more at\ :@checkpoint: omitted:bt["E/opt/mbari/lib/ruby/1.8/net/smtp.rb:954:in `check_auth_response'"/opt/mbari/lib/ruby/1.8/net/smtp.rb:723:in `authenticate'":/opt/mbari/lib/ruby/1.8/net/smtp.rb:566:in `do_start'"7/opt/mbari/lib/ruby/1.8/net/smtp.rb:525:in `start'"2/home/esp/esp2/lib/email.rb:325:in `sendOnce'"3/home/esp/esp2/lib/schedule.rb:292:in `unsync'"3/home/esp/esp2/lib/schedule.rb:594:in `unsync'"3/home/esp/esp2/lib/schedule.rb:621:in `unsync'"2/home/esp/esp2/lib/email.rb:318:in `sendOnce'"./home/esp/esp2/lib/email.rb:340:in `send'",/home/esp/esp2/lib/msg.rb:68:in `retry'"./home/esp/esp2/lib/email.rb:339:in `send'"B/home/esp/esp2/protocol/2G/utilities.rb:163:in `prepAndImage'"-/home/esp/esp2/lib/email.rb:66:in `call'"3/home/esp/esp2/lib/email.rb:66:in `initialize'"-/home/esp/esp2/lib/email.rb:63:in `loop'"3/home/esp/esp2/lib/email.rb:63:in `initialize'"7/home/esp/esp2/lib/schedule.rb:481:in `initialize'"0/home/esp/esp2/lib/thread.rb:738:in `start'"7/home/esp/esp2/lib/schedule.rb:474:in `initialize'"'/home/esp/esp2/lib/schedule.rb:472 +3 "core" ' + !"Qmail"o:Email::Queue::Purge: mesg"Purged output queue:bt[ "//home/esp/esp2/lib/email.rb:106:in `purge'"3/home/esp/esp2/lib/email.rb:75:in `initialize'"-/home/esp/esp2/lib/email.rb:63:in `loop'"3/home/esp/esp2/lib/email.rb:63:in `initialize'"7/home/esp/esp2/lib/schedule.rb:481:in `initialize'"0/home/esp/esp2/lib/thread.rb:738:in `start'"7/home/esp/esp2/lib/schedule.rb:474:in `initialize'"'/home/esp/esp2/lib/schedule.rb:472 +2 "manipulator"&.& +5 "core" &i _ _  $ + "storage"(& +4 "core" &>\ \  \\  +2 ."da"Elbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 ."da"Forearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 ."da"Forearm.seek 1 +2 "manipulator"&' +31 "core" ' +2 ."da"Elbow.hold +2 "manipulator"&, +4 "core" , + ."da"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 ."da"SE.reconfigure :default +3 "storage"(#QK-0-\ b +2 ."da"SE.seek 2.11 Pucks below Top Plate +3 "storage"('@ +24 "core" ' + "manipulator"&)% +4 "core" % k +2 "storage"(& +4 "core" &>  +2 ."da"Forearm.force -20 + "manipulator"&5 +3 ."da"Forearm.seek 1 + 312 counts +2 "manipulator"&' +18 "core" ' +2 "manipulator"&4& +5 "core" &i o r P $ + "storage"(v& +4 "core" &>\ \  #  +3 ."da"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 ."da"Forearm.seek 1 + 450 counts +2 "manipulator"&'Ф +19 "core" ' + "storage"(p% +5 "core" %H\ \  ) +2 ."downElevator"SE.seek :down +3 "storage"(3'N +99 (!% +3 "core" %> \  t M9 +2 "manipulator"&% +4 "core" %Т k e Q  +2 ."da"Forearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 ."da"Forearm.seek :retract +2 "manipulator"&@'\ +92 "core" ' +33 ' + ."downElevator"SE.stop + "storage"(5 +3 (;& +4 "core" &>   +2 #"psFlush"Loading FlushPuck into Processing Clamp from FlushPuck::Garage +3 #tStarting finalPurge +2 "processing"%0& +4 "core" & + "manipulator"&:& +4 "core" &i  $ +2 "manipulator"&<% +4 "core" %\ 2 * $q +2 ."psFlush"Elbow.seek FlushPuck::Garage +2 "manipulator"&D(, +176 "core" ( +2 "manipulator"&?& +4 "core" &,   + ."psFlush"Elbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &$& +3 "core" &, t  +2 ."psFlush"Forearm.seek :garage +2 "manipulator"&/' +104 "core" ' +2 ."psFlush"Hand.close + "manipulator"&=/ +55 "core" / +2 "manipulator"&6& +4 "core" &,   + "manipulator"&F% +4 "core" %  3 +2 ."psFlush"Forearm.seek :retract +2 "manipulator"&G'\ +96 "core" ' +2 ."psFlush"Elbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 ."psFlush"Elbow.seek PC +2 "manipulator"&(c +124 "core" ( + "manipulator"&5& +4 "core" &e y d =  +2 ."psFlush"Elbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &_& +3 "core" &e _ e   +2 ."psFlush"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 ."psFlush"Forearm.seek PC +2 "manipulator"&2'[ +96 "core" ' +2 "manipulator"&V& +4 "core" &e q   +2 "manipulator"& % +4 "core" %W  +2 "processing"%A& +4 "core" & +2 "processing"%>& +4 "core" & +2 ."psFlush"PC.seek :closed +2 "processing"%S(Z +5 "core" &  +8 &5 *x +10 &j = +9 &z G +9 &>n G +10 &r G +9 &n G +9 &!p F +10 &#Fo G +9 &% o F +9 &&p F +10 &(n F +9 &*Nn G +10 &,q F +9 &-n G +9 &/s G +10 &1Wn F +9 &3n F +9 &4n F +10 &6nf F +9 &8_nc F +10 &:!nk F +9 &;nm F +9 &=oo F +10 &?fpy G +9 &A(mo G +9 &Bln G +10 &Dln G +9 &Fnlr G +10 &H0sq G +9 &I~j H +9 &K_ J +10 &Mh^ L +9 &O'^ M +9 &PX M +10 &RZ L +9 &ToX L +10 &V/X M +9 &W[ M +9 &YU 4 +10 &Z8_ H +9 &ZO # +2 ( +2 "processing"%>& +3 #"psFlush"Processing Clamp onSpring/offSpring for 8/26 samples, on/off torque 1.46 +2 "processing"%M& +4 "core" &ZL # + ."psFlush"Hand.open +2 "manipulator"&I1 +54 "core" 1 + "manipulator"&*% +5 "core" % W c + ."psFlush"Forearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 ."psFlush"Forearm.seek :retract +2 "manipulator"&['\ +92 "core" ' +2 ."psFlush"PSR.select :air +2 .PSV.dial PSR +2 "processing"%& +47 "core"  + "processing"%Y% +5 "core" %< + #"psFlush"Pulling 0.5ml of PSR.flush + .PSR.select :flush +3 "processing"%@ +9 ."psFlush"PS.seek 0.5ml +2 "processing"%J' +578 #tWaiting >20 seconds for psFlush to relinquish FlushPuck +23 "core" ' +2 ."psFlush"delay 5 seconds +502 .PSR.select :air +3 "processing"% +9 ."psFlush"PS.seek 2.5ml +2 "processing"%U'm +2154 "core" ' +2 ."psFlush"delay 1 second +102 .PRV.dial :waste2,avoiding: :ab2 +2 "processing"%B @ +169 "core" B +2 ."psFlush"PTV.dial :PRVmixing +2 "processing"%  +118 "core" + ."psFlush"PSV.dial :mixloop +2 "processing"%L +95 "core" +2 ."psFlush"PS.seek :empty +2 "processing"%d' +2642 "core" ' + ."psFlush"PSR.select :air +54 .PSV.dial PSR +3 "processing"%' +101 "core"  +2 "processing"%\\% +4 "core" %. + #"psFlush"Pulling 0.5ml of PSR.flush + .PSR.select :flush +2 "processing"%@ +10 ."psFlush"PS.seek 0.5ml +2 "processing"%E' +594 "core" ' + ."psFlush"delay 5 seconds +503 .PSR.select :air +2 "processing"% +9 ."psFlush"PS.seek 2.5ml +2 "processing"%Z'm +2123 "core" ' +2 ."psFlush"delay 1 second +102 .PBV.dial :waste1 +2 "processing"%R  +32 "core" + ."psFlush"PTV.dial :mixing +2 "processing"%H @ +66 "core" B + ."psFlush"PSV.dial :mixloop +2 "processing"%] +101 "core" +2 ."psFlush"PS.seek :empty +2 "processing"%P' +2638 "core" ' +2 ."psFlush"PSV.dial PSR +2 "processing"%- +101 "core"  + ."psFlush"PSR.select :flush +3 "processing"%@ +10 ."psFlush"PS.seek 1ml +2 "processing"%a'T +1107 "core" ' +2 ."psFlush"PSR.select :air +2 "processing"% +10 ."psFlush"PS.seek 2.5ml +2 "processing"%'m +1625 "core" ' + ."psFlush"PSV.dial PTV +2 "processing"%K +75 "core" +2 ."psFlush"PTV.dial :puck +2 "processing"%O  +65 "core"  + ."psFlush"PBV.dial :waste1 +3 .PS.seek 0ml +2 "processing"%`' +2635 "core" ' + ."psFlush"PSV.dial PSR +2 "processing"%7 +75 "core"  + ."psFlush"PSR.select :flush +3 "processing"%@ +9 ."psFlush"PS.seek 0.5ml +2 "processing"%i' +585 "core" ' + ."psFlush"PSR.select :air +2 "processing"% +10 ."psFlush"PS.seek 2.5ml +2 "processing"%q'm +2122 "core" ' + ."psFlush"PSV.dial PTV +2 "processing"%r +75 "core" +2 ."psFlush"PBV.dial PSV +2 "processing"%w U +51 "core" V +2 ."psFlush"PS.seek 0ml +2 "processing"%X' +2632 "core" ' + ."psFlush"PSV.dial PBV +2 "processing"%t @ +47 "core" ? +2 ."psFlush"PS.seek 2.5ml +2 "processing"%o'm +2646 "core" ' + ."psFlush"PSV.dial :waste1 +2 "processing"%h  +70 "core"  +2 ."psFlush"PS.seek 0ml +2 "processing"%c' +2632 "core" ' + ."psFlush"PSV.dial PSR +2 "processing"% +47 "core"  +2 ."psFlush"PSR.select :air +2 .PS.seek 2.5ml +2 "processing"%'m +2647 "core" ' + ."psFlush"PSV.dial PTV +3 "processing"%| +68 "core" +2 ."psFlush"PBV.dial PSV +2 .PS.seek 0ml +2 "processing"%g' +2635 "core" ' + ."psFlush"PSV.dial PBV +2 "processing"%y @ +47 "core" ? +2 ."psFlush"PS.seek 2.5ml +2 "processing"%T'm +2649 "core" ' + ."psFlush"PSV.dial :waste1 +2 "processing"%}  +70 "core"  +2 ."psFlush"PS.seek 0ml +2 "processing"%+' +2635 "core" ' +2 ."psFlush"PSV.dial PSR +2 "processing"%{ +46 "core"  +2 ."psFlush"PSR.select :flush +2 "processing"%@ +10 ."psFlush"PS.seek 1ml +2 "processing"%'T +1100 "core" ' + ."psFlush"PSR.select :air +2 "processing"% +10 ."psFlush"PS.seek 2.5ml +2 "processing"%u'm +1613 "core" ' + ."psFlush"PSV.dial PTV +2 "processing"%" +69 "core" + ."psFlush"PTV.dial :puck +2 .PBV.dial :waste1 +2 "processing"%W  +51 "core" +2 ."psFlush"PS.seek 0ml +2 "processing"%f' +2634 "core" ' + ."psFlush"PSV.dial PSR +2 "processing"%s +75 "core"  + ."psFlush"PSR.select :flush +3 "processing"%@ +9 ."psFlush"PS.seek 0.5ml +2 "processing"%x' +594 "core" ' + ."psFlush"PSR.select :air +2 "processing"% +10 ."psFlush"PS.seek 2.5ml +2 "processing"%C'm +2126 "core" ' + ."psFlush"PSV.dial PTV +2 "processing"% +75 "core" + ."psFlush"PBV.dial PSV +2 "processing"% U +51 "core" V +2 ."psFlush"PS.seek 0ml +2 "processing"%Q' +2635 "core" ' +2 ."psFlush"PSV.dial PBV +2 "processing"%n @ +47 "core" ? +2 ."psFlush"PS.seek 2.5ml +2 "processing"%'m +2166 "Can" EC +473 "core" ' + ."psFlush"PSV.dial :waste1 +2 "processing"%~  +71 "core"  +2 ."psFlush"PS.seek 0ml +2 "processing"%' +2638 "core" ' + ."psFlush"PSV.dial PSR +2 "processing"% +47 "core"  + ."psFlush"PSR.select :air +3 .PS.seek 2.5ml +2 "processing"%m'm +2637 "core" ' +2 ."psFlush"PSV.dial PTV +2 "processing"% +68 "core" +2 ."psFlush"PBV.dial PSV +2 .PS.seek 0ml +2 "processing"%' +2644 "core" ' +2 ."psFlush"PSV.dial PBV +2 "processing"% @ +46 "core" @ +2 ."psFlush"PS.seek 2.5ml +3 "processing"%'m +2645 "core" ' + ."psFlush"PSV.dial :waste1 +3 "processing"%l  +70 "core"  +2 ."psFlush"PS.seek 0ml +2 "processing"%' +2635 "core" ' +2 #tLoading FlushPuck into Collection Clamp from Processing Clamp + "collection"'(& +4 "core" &!. +2 "manipulator"&z& +4 "core" &f   + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +2 "manipulator"& (c +3 "core" ( + "manipulator"&j& +4 "core" &f _ 4  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &f N  +2 .tForearm.seek PC +2 "manipulator"&%'[ +99 "core" ' +2 .tHand.close + "manipulator"&/ +63 "core" / +2 .tPC.seek :open +2 "processing"% (p +391 "core" ( + "manipulator"&,& +5 "core" &f G  + "manipulator"&\ % +4 "core" % \\ b c $ +2 .tForearm.seek :retract +2 "manipulator"&.'\ +98 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&( +361 "core" ( + "manipulator"&)& +4 "core" &.  Cn +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &-  Cn +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&4'| +99 "core" ' + "manipulator"&v& +4 "core" &.  Cn +2 "manipulator"&p% +4 "core" %}  + "collection"'& +4 "core" &/1 +3 "collection"'b& +5 "core" &/0 +2 .tCC.seek :closed + "collection"' (] +4 "core" &/.  +9 &4/1 )w +10 &g,1 = +9 &_-/ J +9 &$p.0 H +10 &r,. H +9 &q./ I +10 &!jr.1 H +9 &#+w./ I +9 &$q01 I +10 &&u// I +9 &(qs/0 I +9 &*2r./ I +10 &+m./ H +9 &-q.0 H +10 &/xu.. I +9 &1;p-/ I +9 &2p.. I +10 &4s.0 H +9 &6m-. H +9 &8Ep.1 H +10 &:q,1 I +9 &;m.2 H +10 &=u-/ H +9 &?Ln-0 H +9 &Ar-0 H +10 &Bt/1 H +9 &Dm/0 H +9 &FSn.- I +10 &Hq-0 I +9 &Iy/0 I +10 &K./ K +9 &MJ/0 O +9 &O01 Q +10 &P21 Q +9 &R32 R +9 &TH02 R +10 &V02 S +9 &W23 S +9 &Y02 V +10 &[J12 T +9 &\\w/3 ) +10 &])/1 E +8 ( +4 "collection"'b& +2 #tCollection Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.78 +2 "collection"'!& +4 "core" &]C01 ; + &]C.2 ; + .tHand.open +2 "manipulator"&1 +52 "core" 1 +2 "manipulator"&% +4 "core" % } q  +2 .tForearm.reconfigure :loose +50 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&#'\ +92 "core" ' + #tFlushing the Collection Valve::Manifold + "collection"'1& +5 "core" &]C02 ; + "collection"'% +4 "core" %.2 +2 .tCSV.dial CSR +2 "collection"';  +38 "core"  + "collection"'0% +5 "core" %12 + #tPulling 5ml of CSR.flush + .CSR.select :flush +2 "collection"' +10 .tCS.seek 5ml +2 "collection"':'s +1348 "core" ' +2 .tdelay 5 seconds +502 .CSR.select :air +2 "collection"' +9 '<% +2 "core" %s/1  +2 .tCS.reconfigure :fast +3 "collection"'#d @b +2 .tCS.seek 7.499ml +2 "collection"''l +605 "core" ' +2 .tCSV.dial :waste +2 "collection"' +115 "core" +2 .tCS.reconfigure :default +2 "collection"'#P d@b +3 .tCS.seek 0ml +2 "collection"'' +1985 "core" ' + #tFlushing lower manifold's waste1 port +2 "collection"'?& +4 "core" &]C43 ; + "collection"'$% +4 "core" %03 +2 .tCSV.dial :flush + "collection"'3  +41 "core"  +2 .tCS.reconfigure :fast +2 "collection"'#d @b +3 .tCS.seek 5ml +2 "collection"''s +1128 "core" ' +2 .tdelay 5 seconds +502 .CSV.dial :air +3 "collection"'= @ +39 "core" B + "collection"'6% +5 "core" %s/3  +2 .tCS.seek 7ml + "collection"'F' +511 "core" ' +2 ."connect"CSV.dial CTV +3 .tCTV.dial CSV +2 "collection"'@  +2 '5  +51 "core"  +73  + .tCBV.dial :waste1 +2 "collection"'_ @ +41 "core" @ +2 .tCS.seek 0ml +2 "collection"'/' +1528 "core" ' +2 #tFlushing lower manifold's waste2 port + "collection"'V& +5 "core" &]C;< ; + "collection"' % +4 "core" %;< + .tCSV.dial :flush +2 "collection"'A  +66 "core" +2 .tCS.seek 5ml +2 "collection"'D's +1143 "core" ' + .tdelay 5 seconds +502 .CSV.dial :air +3 "collection"'G @ +40 "core" B +2 "collection"'^% +4 "core" %s55  +2 .tCS.seek 7ml +2 "collection"'M' +497 "core" ' + ."connect"CSV.dial CTV +3 .tCTV.dial CSV +3 "collection"'I  +38 "core"  +2 .tCBV.dial :waste2 + "collection"'*  +94 "core"  +2 .tCS.seek 0ml +2 "collection"'>' +1541 "core" ' +2 #tDisinfecting external Intake with kill + "collection"'&& +4 "core" &]C7: ; +2 "collection"'Y% +4 "core" %8: + .tCSV.dial CSR +2 "collection"'2  +51 "core"  +2 "collection"'N% +4 "core" %:: +2 #tPulling 8ml of CSR.kill + .CSR.select :kill +2 "collection"' +10 .tCS.seek 8ml + "collection"'J'X +1742 "core" ' +2 .tdelay 5 seconds +502 .CSR.select :air +3 "collection"' +9 .tCS.seek 10ml +2 "collection"'B' +501 "core" ' +2 ."connect"CSV.dial CBV +3 .tCBV.dial CSV +3 "collection"' + 'L  +93 "core" +34 + .tCTV.dial :intake +2 "collection"'U  +67 "core" +2 .tIntake.select :open + "sampler") +10 .tCS.seek 2ml +2 "collection"'''~ +1748 "core" ' + .tIntake.select :close +2 "sampler")0 +9 .tCTV.dial :air + "collection"'\\  +66 "core"  +2 .tCS.reconfigure :default +3 "collection"'#P d@b +2 .tCS.seek 0ml +2 "collection"'d' +584 "core" ' + .tCSV.dial CSR +2 "collection"'E  +92 "core"  + "collection"'R% +5 "core" %14 + #tPulling 4.999ml of CSR.flush + .CSR.select :flush +2 "collection"' +10 .tCS.seek 5ml +2 "collection"'H's +1355 "core" ' + .tdelay 5 seconds +502 .CSR.select :air +3 "collection"' +9 .tCS.seek 10ml +2 "collection"']' +1354 "core" ' +2 .tCSV.dial CBV +2 "collection"'Z +90 "core" +2 .tCS.seek 0ml +2 "collection"'-' +2630 "core" ' +2 #tGaraging FlushPuck in Collection Clamp +2 "manipulator"&P& +4 "core" &1% =B +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&a( +32 "core" ( + "manipulator"&K& +5 "core" & _ m [  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &O& +2 "core" & r -  +2 .tForearm.seek CC +2 "manipulator"&'| +93 "core" ' + .tHand.close +2 "manipulator"&7/ +53 "core" / +2 .tCC.seek :open +2 "collection"'`(p +410 "core" ( + "manipulator"&i& +4 "core" &  a d ? +2 "manipulator"&r% +3 "core" % ό k m t +2 .tForearm.seek :retract +2 "manipulator"&w'\ +93 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage +2 "manipulator"&q(, +268 "core" ( +2 "manipulator"&t& +4 "core" &, p k  ^ + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &X& +3 "core" &, e f f ^ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :garage +2 "manipulator"&h' +107 "core" ' +2 .tHand.open + "manipulator"&o1 +58 "core" 1 + "manipulator"&% +4 "core" %   +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&c'\ +98 "core" ' +2 "processing"%|& +4 "core" && +18634 "Can" 97 +60002  96 +60002  96 +60001  96 +60002  96 +60002  86 +60002  96 +60002  86 +60002  96 +60002  96 +56038 #t-> access 1 +3 "storage"(% +3 "core" %9\ \  z +2 "manipulator"&y% +4 "core" %\ 2  %v +2 "manipulator"&g& +3 "core" &,  ^ +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 + "storage"(}(<< +1305 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (T& +3 "core" &<9 _  +2625 "Can" 96 +1985 #t-> access 2 +2 "storage"({% +4 "core" %9\ \  Y +2 "manipulator"&+% +4 "core" %\ 2 B %v + "manipulator"&& +4 "core" &, C ^ +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"("(K +351 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (W& +3 "core" &K  +1819 #t-> access 3 +2 "storage"(u% +4 "core" %9\ \   + "manipulator"&s% +4 "core" %\ 3 f %v +2 "manipulator"&f& +4 "core" &,  ^ + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 7 + "storage"(x([ +355 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (& +2 "core" &[  +1658 #t-> require 'shuffle.rb' +2293 #-> 10.times {shuffle 2..3} +2 #Shuffling pucks in tube 2 of [2..3] +2 #Loading generic puck from tube 2 into Collection Clamp + "collection"'& +4 "core" &ik + "manipulator"&C% +4 "core" %\ 3 %v +2 "storage"(n% +4 "core" %8\ \  + "storage"(Q. +4 "core" .([ + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"(~(  +1625 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (& +2 "core" &  - +2 "manipulator"&& +4 "core" &,  ^ + "manipulator"&% +4 "core" %\ 3  %v +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"& (; +182 "core" ( + "manipulator"&m& +5 "core" &5 3 "x + "storage"(& +4 "core" & \ \ \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&'Ѐ +106 "core" ' +2 "storage"(l& +4 "core" & \ \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +50 "storage"('e +284 "core" ' + "storage"((- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (z& +3 "core" & \ \ \ +2 "manipulator"&j& +3 "core" &5 _ `  "x +2 .tElbow.seek 2 +2 "manipulator"&(; +3 "core" ( +2 "manipulator"&& +3 "core" &5 a g  "x +2 "storage"(& +4 "core" & \ \  M +2 .tForearm.seek 2 + 300 counts + "manipulator"&[' +16 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&S/ +64 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&,& +3 "storage"(\ 'N +8 "core" &5 f c s "x +2 "manipulator"&%% +4 "core" % n c > +2 .tForearm.seek :retract + "manipulator"& '\ +95 "core" ' +2 .tElbow.seek CC + "manipulator"&)( +147 "core" ( + "manipulator"&& +5 "core" &"  :0 + ' + ."downElevator"SE.stop +3 .tElbow.reconfigure :loose +2 "storage"(5 +4 "manipulator"&$ &.,(#b +2 &v& +4 "core" &# ! :0 + .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&p'| +100 "core" ' + "manipulator"&& +5 "core" &# : :0 +2 "manipulator"&.% +4 "core" % n + "collection"'8& +4 "core" &ijc +2 "collection"'!& +6 "core" &ij +2 .tCC.seek :closed +2 "collection"'(] +4 "core" &ii +7 &9ik #b +9 &lXhjO 6 +10 &gi I +9 &kgk H +9 &Rnij I +10 &njl I +9 & nik I +9 &"rhi H +10 &$[mhk H +9 &&pgj H +9 &'sij I +10 &)skk I +9 &+apij I +10 &-%nhk H +9 &.rhi I +9 &0shk I +10 &2kqik H +9 &4,oij I +9 &5ljj H +10 &7mii I +9 &9rnhk I +10 &;5lil H +9 &<qil I +9 &>okk I +10 &@{mlk H +9 &B=pkjw H +9 &Crkg I +10 &Epgk I +9 &Gsgh I +10 &IAik J +9 &Jkl L +9 &LIo P +10 &Nstx Q +9 &P4su Q +9 &Qtu R +10 &Svv R +9 &Utuv S +10 &W7vv S +9 &Xvx T +9 &Zru~ V +10 &\\ytus A +9 &]h4tt| &p +9 &]<sty : +3 ( +2 "collection"'!& +3 #tCollection Clamp onSpring/offSpring for 10/26 samples, on/off torque 1.82 + .Hand.open + "manipulator"&1 +55 "core" 1 +2 "manipulator"&b% +5 "core" % n  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&1'\ +92 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%& +4 "core" & +2 "manipulator"&;% +4 "core" %\ ( h D + "storage"(0% +4 "core" %R .  +2 "storage"(4. +3 "core" .(  +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 + "storage"(k(  +27 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (<& +3 "core" &  Q $ +2 "manipulator"&:& +3 "core" & " \\ 9) +2 "manipulator"&% +4 "core" %\ ( D +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&(; +167 "core" ( +2 "manipulator"&?& +4 "core" &/ - h +2 "storage"($& +4 "core" & X ' +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&3'Ѐ +91 "core" ' +2 "storage"(& +4 "core" & \  m ' +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(='e +278 "core" ' + "storage"(6- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" &  z 1 + "manipulator"&@& +4 "core" &/ l b I h +2 .tElbow.seek 2 + "manipulator"&5(; +18 "core" ( + "manipulator"&_& +5 "core" &L\ Z p 6 ^ + "storage"(F& +4 "core" &  1 +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&V' +21 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"& / +64 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&A& + "storage"(/'N +8 "core" &L\ d `  ^ + "manipulator"&G% +4 "core" % g `  +2 .tForearm.seek :retract +2 "manipulator"&^'\ +95 "core" ' +2 .tElbow.seek PC +2 "manipulator"&D(c +165 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +84 "core" ( +2 "manipulator"&I& +4 "core" &h q !  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &*& +3 "core" &h   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&M'[ +105 "core" ' + "manipulator"&&& +4 "core" &h 9  +2 "manipulator"&Y% +4 "core" %`  +2 "processing"%2& +4 "core" & +2 "processing"%N& +5 "core" & +2 .tPC.seek :closed +2 "processing"%>(Z +4 "core" & +8 &; $c +9 &rY 6 +10 & H +9 &j G +9 &^ry H +10 &!rs G +9 & lz H +10 &"k~ G +9 &$gk{ G +9 &&)kz G +10 &'m| G +9 &)nt G +9 &+oj| G +10 &-1ky G +9 &.kq G +9 &0pq G +10 &2wkp G +9 &49kr G +10 &5kq G +9 &7mq H +9 &9~mq H +10 &;@nq H +9 &=mp G +9 &>kb G +10 &@k` G +9 &BIkc G +10 &D nd G +9 &Eqf G +9 &Guf H +10 &ILc I +9 &K ^ J +10 &Lh M +9 &Nf M +9 &PKh L +10 &R j M +9 &Sd M +9 &Uf M +10 &WQc M +9 &Y^ L +9 &ZY?jY %k +10 &Z)Q ' +5 ( +2 "processing"%N& +4 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.47 + .Hand.open +2 "manipulator"&J1 +3 "core" &ZR ' +50 1 +2 "manipulator"&% +4 "core" % ` < +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&L'\ +94 "core" ' +2 "processing"%U& +4 "core" &ZT ' +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 + "manipulator"&B% +4 "core" %\ (  J +2 "storage"(\\% +3 "core" %T  +2 "storage"('. +3 "core" .(  +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"(E(  +46 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (R& +5 "core" &  5 "manipulator"&d& +6 ."raiseStack"SE.reconfigure :place +2 "storage"(#]kK-0-\ b +3 "core" &h   +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +3 "storage"(H'e + "manipulator"&Z(c +5 "core" ( +2 "manipulator"&]& +4 "core" &h 7  + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &P& +3 "core" &h  +2 .tForearm.seek PC +2 "manipulator"&K'[ +104 "core" ' + .tHand.close + "manipulator"&O/ +62 "core" / +2 .tPC.seek :open +2 "processing"%7(p +74 "core" ' +2 "storage"(- +3 "core" -'e + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(#'B +33 "core" ' +269 ( + "storage"( & +5 "core" &  + "manipulator"&i& +4 "core" &k   +2 "manipulator"&r% +3 "core" % ^  e +2 .tForearm.seek :retract +2 "manipulator"&'\ +97 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&t(; +251 "core" ( +2 "manipulator"&X& +4 "core" &> 7 !v + "storage"(a& +4 "core" &  g +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts +2 "manipulator"&o'Ѐ +94 "core" ' +2 .tHand.open + "manipulator"&1 +63 "core" 1 +2 "storage"(|- +3 "core" -'B +3 .tSE.seek -0.16 Pucks below Top Plate + "storage"(w' +22 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(h' +49 "core" ' +3 #tLights, camera, ACTION! + "storage"(9- +4 "core" -' + "storage"(& +4 "core" &  z  +2 "manipulator"&y& +4 "core" &>  !v +2 .tElbow.seek 2 + "manipulator"&g(; +4 "core" ( + "manipulator"&e& +4 "core" &> = !v +2 "storage"(T& +4 "core" &  } v +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&{'Ѐ +3 "core" ' +53 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"(+'M +65 "core" ' + "manipulator"&& +5 "core" &> _ _ 2 !v + "storage"(}& +4 "core" &  0 +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&W'ξ +33 "core" ' + .tElbow.hold +2 "manipulator"&u, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"(s'7 +24 "core" ' +2 "manipulator"&f% +4 "core" %j D +2 "storage"("& +4 "core" &   + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 317 counts +2 "manipulator"&' +20 "core" ' + "manipulator"&& +5 "core" &I j l r k +2 "storage"(C& +4 "core" & \ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts +2 "manipulator"&n'Ѐ +16 "core" ' +2 "storage"(Q% +5 "core" %@\ \  +2 ."downElevator"SE.seek :down +3 "storage"(x'N +99 (% +3 "core" %B V NA +2 "manipulator"&% +4 "core" %p _ _  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +87 "core" ' +61 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (m& +4 "core" &  e +2 "collection"'& +4 "core" &]Amnn : +2 #tStoring generic puck in Collection Clamp to tube 2 + "manipulator"&q% +5 "core" %\ *  !O + "storage"(l% +4 "core" %O V +2 "storage"(c. +3 "core" .(  +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"(((  +31 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (z& +3 "core" &  / ' +2 "manipulator"&j& +4 "core" &J  j +2 .tElbow.seek 2 + "manipulator"&(; +32 "core" ( + "manipulator"&& +4 "core" &E c   +2 "storage"(S& +4 "core" & \ \ + +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&,'Ѐ +105 "core" ' + "storage"(%& +5 "core" & \ \  ! + +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"( 'e +277 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" &E f h   + "storage"(v& +4 "core" & \  0 +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&'ξ +36 "core" ' + .tElbow.hold +2 "manipulator"&[, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(- +2 "core" -' +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(.'i +26 "core" ' +2 "manipulator"&8% +4 "core" %`  + "storage"(& +4 "core" &  3 0 +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 312 counts +2 "manipulator"&\ ' +12 "core" ' +2 "manipulator"& & +4 "core" &E @ L ?  +2 "storage"(`& +4 "core" & \ \ 0 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&'Ѐ +15 "core" ' +2 .tSE.seek 1.11 Pucks below Top Plate +2 "storage"(b'X +49 "core" ' + "manipulator"&& +5 "core" &E D E  +2 "manipulator"&;% +4 "core" %{ D D  + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&0'\ +88 "core" ' + .tElbow.seek CC +2 "manipulator"&4( +154 "core" ( +2 "manipulator"&!& +5 "core" &$ ? ;6 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &<& +3 "core" &$ z A ;6 +2 .tForearm.seek CC +2 "manipulator"&:'| +98 "core" ' + .tHand.close + "manipulator"&/ +54 "core" / +2 .tCC.seek :open + "collection"'p(p +409 "core" ( +2 "storage"(?& +4 "core" &  \  0 + "storage"($& +4 "core" & \ \ : 0 +2 "manipulator"&~& +4 "core" & # k :0 + "manipulator"&% +4 "core" % υ C +2 .tForearm.seek :retract + "manipulator"&)'\ +92 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&1(; +163 "core" ( +2 "manipulator"&6& +4 "core" &/ a k  +2 "storage"(& +3 "core" & \ \ \   0 +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 2 +2 "manipulator"&@'ξ +107 "core" ' + .tElbow.hold +2 "manipulator"&_, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&F1 +58 "core" 1 +2 "manipulator"& % +4 "core" % ~  I + "storage"(A& +4 "core" &  b 0 +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 317 counts + "manipulator"&G' +22 "core" ' +2 "manipulator"&& +4 "core" &< K 5 r  +2 "storage"(3& +4 "core" & \ \ ! ! 0 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&='Ѐ +12 "core" ' + "storage"(V% +5 "core" %X\ \  +2 ."downElevator"SE.seek :down +3 "storage"(I'N +99 (*% +3 "core" %@\  { N? +2 "manipulator"&5% +4 "core" %Љ U J . + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&&'\ +87 "core" ' +50 ' + ."downElevator"SE.stop +2 "storage"(5 +2 #tShuffling pucks in tube 3 of [2..3] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"'Y& +5 "core" &kk + "manipulator"&2% +4 "core" %\ * a e ? !Q +2 "storage"(/% +4 "core" %A\ \  U +2 "storage"(^. +3 "core" .(  +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"( ( +346 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (J& +2 "core" &G _  +2 "manipulator"&& +3 "core" &<   +2 .tElbow.seek 3 +2 "manipulator"&U(D +3 "core" ( + "manipulator"&B& +4 "core" &< s n p  +2 "storage"(\\& +4 "core" &\ \  B +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&'' +110 "core" ' +2 "storage"(N& +4 "core" &\ '\ B +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(R'e +280 "core" ' + "storage"(d- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (]& +2 "core" &\ \  +2 "manipulator"&P& +4 "core" &< D F c  +2 .tElbow.seek 3 +2 "manipulator"&M(D +3 "core" ( + "manipulator"&O& +4 "core" &< O H   +2 "storage"(k& +3 "core" &\ \ H +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&'y +21 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&D/ +53 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&L& +2 "storage"(>'N +7 "core" &< o p  +2 "manipulator"&H% +4 "core" % ρ o o T + .tForearm.seek :retract +2 "manipulator"& '\ +98 "core" ' +2 .tElbow.seek CC +2 "manipulator"&i( +145 "core" ' + ."downElevator"SE.stop + "storage"(5 +13 "core" ( +2 "manipulator"&r& +4 "core" &*  @W +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &K& +3 "core" &*  @W +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&X'| +104 "core" ' +2 "manipulator"&a& +4 "core" &( @ ?V +2 "manipulator"&Z% +4 "core" %σ  +2 "collection"'& +5 "core" &ll +2 "collection"'|& +5 "core" &im +57 .tCC.seek :closed +3 "collection"'9(] +5 "core" &il + &kl + &km + &kl{ &hlx +3 &jm &kj + &Cll $d +8 &tZjk 6 +9 &mlu I +9 &kll} H +10 &`pjlr H +9 &!pjly H +10 & qjk~ I +9 &"rlls H +9 &$frkmr H +10 &&(pkkp H +9 &'lklq H +10 &)ojjr I +9 &+ooklr H +9 &-0ojlg H +10 &.qllm I +9 &0pjlr I +9 &2vpkli H +10 &48mjmg H +9 &5okmi H +9 &7pkje H +10 &9jlm` H +9 &;Amin[ H +10 &=mlmk H +9 &>nlm_ H +9 &@ojl^ I +10 &BIojn] H +9 &D\ njld H +9 &Enilh I +10 &Gmkmg H +9 &IMymoh J +10 &K noa K +9 &Lmmd M +9 &Nooh P +10 &P@oog Q +9 &Rnp] Q +9 &Soq_ R +10 &Uopc R +9 &WCnpd R +10 &Ynqe T +9 &Znna T +9 &\\qr` A +10 &]r2op_ "g +9 &]CnoN ; +2 ( +2 "collection"'|& +3 #tCollection Clamp onSpring/offSpring for 10/25 samples, on/off torque 1.76 +2 .Hand.open + "manipulator"&1 +61 "core" 1 +2 "manipulator"&y% +4 "core" % }  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&e'\ +99 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp +2 "processing"%T& +4 "core" &r + "manipulator"&% +4 "core" %\ 9 4 ( +2 "storage"(% +4 "core" %K  + "storage"(}. +3 "core" .( +2 "storage"(#& +4 "core" & + "storage"(w& +4 "core" & +2 "manipulator"&f& +4 "core" &'  >O + "manipulator"&"% +4 "core" %\ :  ( +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&(D +171 "core" ( +2 "manipulator"&C& +4 "core" &K }  f +2 "storage"(t& +3 "core" & O +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&o' +102 "core" ' +2 "storage"(Q& +4 "core" &\ \ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(h'e +278 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" & + "manipulator"&{& +4 "core" &K r u " f +2 .tElbow.seek 3 +2 "manipulator"&g(D +3 "core" ( + "manipulator"&+& +4 "core" &K a m f +2 "storage"(W& +3 "core" & \  ] +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&m'y +11 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&/ +63 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"(q'N +7 "core" &K h l x f +2 "manipulator"&l% +4 "core" % ~ b i U & + .tForearm.seek :retract +2 "manipulator"&c'\ +98 "core" ' +2 .tElbow.seek PC +2 "manipulator"&s(c +151 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +103 "core" ( +2 "manipulator"&z& +4 "core" &m C +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &j& +2 "core" &m \ +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&'[ +103 "core" ' + "manipulator"&S& +5 "core" &m r W + "manipulator"&n% +5 "core" %S _ ` 3 t + "processing"%%& +4 "core" &w +2 "processing"%x& +5 "core" &u +2 .tPC.seek :closed +2 "processing"%E(Z +4 "core" &s  +10 &7s *x +9 &jj = +9 &{t H +10 &Elr G +9 &np G +9 &np G +10 &!no G +9 &#Nmp F +9 &%lo G +10 &&rq G +9 &(mf F +10 &*Uno G +9 &,qZ G +9 &-ob G +10 &/r] G +9 &1]nc G +9 &3r` G +10 &4mk G +9 &6ni G +10 &8elh G +9 &:'nj G +9 &;lf F +10 &=mf G +9 &?lni G +9 &A/m` G +10 &Ble G +9 &DkX G +10 &FrrQ H +9 &H3{X H +9 &IR J +10 &KQ K +9 &MmQ L +9 &O-S M +10 &PO M +9 &RQ M +10 &TtQ M +9 &V6P M +9 &WQ M +10 &YQ 3 +9 &Z9P C +9 &ZQ $ +3 ( +2 "processing"%x& +2 #tProcessing Clamp onSpring/offSpring for 8/26 samples, on/off torque 1.46 +2 .Hand.open +2 "manipulator"&u1 +63 "core" 1 +2 "manipulator"&% +4 "core" % S s o [ t +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +97 "core" ' +2 "processing"%& +4 "core" &ZU $ +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&v% +4 "core" %\ 5  & +2 "storage"(% +3 "core" %; +2 "storage"(8. +3 "core" .( + "storage"(& +4 "core" & +3 "storage"( & +3 "manipulator"&`& +5 "core" & + &m  +2 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +2 "storage"(#]kK-0-\ b + "manipulator"&(c +8 ."raiseStack"SE.seek :beamBreak + "storage"(;'e +3 "core" ( + "manipulator"&,& +4 "core" &m  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &m  +2 .tForearm.seek PC +2 "manipulator"& '[ +94 "core" ' +2 .tHand.close + "manipulator"&/ +55 "core" / +2 .tPC.seek :open +2 "processing"%\ (p +93 "core" ' +2 "storage"(.- +3 "core" -'e +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(!'B +38 "core" ' +245 ( +2 "storage"(<& +4 "core" & \  +2 "manipulator"&& +3 "core" &m j c p +2 "manipulator"&[% +4 "core" % V k e  + .tForearm.seek :retract +2 "manipulator"&'\ +102 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&0(D +248 "core" ( +2 "manipulator"&& +4 "core" &: 0 # + "storage"(?& +4 "core" &  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&$' +94 "core" ' + .tHand.open +2 "manipulator"&~1 +61 "core" 1 +2 "storage"(- +4 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate +2 "storage"(6' +22 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(' +54 "core" ' +2 #tLights, camera, ACTION! + "storage"(:- +4 "core" -' +2 "storage"(4& +3 "core" &  +2 "manipulator"&F& +4 "core" &: q ~ / # + .tElbow.seek 3 +2 "manipulator"& (D +3 "core" ( +2 "manipulator"&A& +4 "core" &: w \\ # + "storage"(& +4 "core" &  +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&3' +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"(V'M +59 "core" ' +2 "manipulator"&)& +4 "core" &: b i # +2 "storage"(*& +4 "core" & m + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&5'M +33 "core" ' + .tElbow.hold +2 "manipulator"&1, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"(@'7 +24 "core" ' + "manipulator"&Y% +5 "core" %`[ [ + "storage"(2& +5 "core" & ' + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 319 counts + "manipulator"&/'ό +21 "core" ' +2 "manipulator"&G& +4 "core" &: r X y # +2 "storage"(^& +4 "core" &\ \ e +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&b' +22 "core" ' +2 "storage"(=% +5 "core" %<\ \  +2 ."downElevator"SE.seek :down +3 "storage"(I'N +99 ((% +3 "core" %xE  M? +2 "manipulator"&J% +5 "core" % l l c +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +95 "core" ' +55 ' + ."downElevator"SE.stop + "storage"(5 +3 (B& +4 "core" & d + "collection"'\\& +4 "core" &]Anpa ; +2 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&N% +4 "core" %\ 2 \ %y +2 "storage"(_% +4 "core" %I + "storage"(&. +4 "core" .( + "storage"(d& +4 "core" & +2 "storage"(]& +4 "core" & +53 "manipulator"&P& +4 "core" &:  # + .tElbow.seek 3 +2 "manipulator"&O(D +4 "core" ( +2 "manipulator"&k& +4 "core" &: / # + "storage"(D& +4 "core" & +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&L' +91 "core" ' +2 "storage"(H& +4 "core" &\ \ U +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(U'e +289 "core" ' + "storage"('- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&r& +3 "core" &: g e A # +2 "storage"(K& +4 "core" &\  y + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&R'M +32 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(a- +2 "core" -' +2 .tSE.seek 0.12 Pucks below Top Plate +2 "storage"(Z'v +28 "core" ' + "manipulator"&M% +5 "core" %ab X + "storage"(& +5 "core" & ? + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 320 counts + "manipulator"&>'ύ +21 "core" ' + "manipulator"& & +5 "core" &: t ] # + "storage"(p& +4 "core" &\ \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&' +11 "core" ' +2 .tSE.seek 1.12 Pucks below Top Plate +2 "storage"(y'e +46 "core" ' +2 "manipulator"&T& +5 "core" &: _ f 3 # +2 "manipulator"&% +4 "core" % j b - . + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +87 "core" ' +2 .tElbow.seek CC +2 "manipulator"&}( +154 "core" ( + "manipulator"&|& +4 "core" &*  @] +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &#& +3 "core" &*  @] +2 .tForearm.seek CC + "manipulator"&w'| +100 "core" ' +2 .tHand.close + "manipulator"&f/ +54 "core" / + .tCC.seek :open +2 "collection"'"(p +409 "core" ( + "storage"(X& +5 "core" &\ \ > + "storage"(C& +5 "core" &\ \  + "manipulator"&t& +4 "core" &&  >M +2 "manipulator"&Q% +4 "core" % | l +2 .tForearm.seek :retract + "manipulator"&i'\ +91 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&e(D +166 "core" ( +2 "manipulator"&& +4 "core" &8 M M +2 "storage"(& +3 "core" & \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 +2 "manipulator"&{'M +112 "core" ' + .tElbow.hold +2 "manipulator"&+, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&W1 +61 "core" 1 +3 "manipulator"&% +4 "core" % `f 2 +2 "storage"(& +4 "core" & # + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 319 counts + "manipulator"&l'ό +20 "core" ' +2 "manipulator"&& +4 "core" &2\ Z h * S +2 "storage"(o& +3 "core" &\ \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&h' +18 "core" ' + "storage"(m% +5 "core" %k\ \ ! [ +2 ."downElevator"SE.seek :down +3 "storage"(z'N +99 (j% +3 "core" %?\ \  J N> +2 "manipulator"&g% +4 "core" % ` _  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&S'\ +90 "core" ' +52 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 2 of [2..3] +2 #Loading generic puck from tube 2 into Collection Clamp + "collection"'n& +5 "core" &kkj + "manipulator"&%% +5 "core" %\ .  #d + "storage"(q% +5 "core" %V\  N \ + "storage"(c. +4 "core" .( + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"(7(  +360 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (u& +3 "core" &  +2 "manipulator"&& +4 "core" &3\  R + .tElbow.seek 2 +2 "manipulator"&(; +3 "core" ( +2 "manipulator"&v& +3 "core" &3\ % R +2 "storage"(& +4 "core" & \ \   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&8'Ѐ +94 "core" ' +2 "storage"(x& +4 "core" & \ \  ^ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"('e +276 "core" ' + "storage"(`- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 ( & +2 "core" & \  e +2 "manipulator"&,& +3 "core" &3\ c a  R +2 .tElbow.seek 2 +2 "manipulator"&(; +3 "core" ( + "manipulator"&& +4 "core" &3\ i 3 R +2 "storage"(& +3 "core" & \ \  2 +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&.' +10 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&s/ +61 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"(E'N +7 "core" &3\ o l c R +2 "manipulator"&<% +3 "core" % o m [ +2 .tForearm.seek :retract +2 "manipulator"&'\ +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"&[( +148 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +3 "core" ( +2 "manipulator"&;& +4 "core" &# :1 + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 & & +3 "core" &# :1 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&'| +94 "core" ' +2 "manipulator"&?& +4 "core" &#  :1 +2 "manipulator"&% +4 "core" %σ 1  +2 "collection"'~& +4 "core" &kl~ +2 "collection"'& +5 "core" &hk} +2 .tCC.seek :closed +2 "collection"':(] +4 "core" &hny  +9 &5mm )w +9 &hin = +9 &gjl I +10 &,kjl H +9 &plk} H +9 &qil| H +10 &!rnjku H +9 &#4phlt H +10 &$rkl} H +9 &&ojnu H +9 &(zpjlu H +10 &*;lllr H +9 &+nkmm H +9 &-miki G +10 &/nkmf H +9 &1Cnill H +10 &3njlf H +9 &4njlg H +9 &6pklm H +10 &8Mpklr G +9 &:mllo H +9 &;omlp G +10 &=nilj G +9 &?Tmllh H +10 &Aljkr H +9 &Bnkjq H +9 &Dokmm H +10 &F[qkkk H +9 &Hrjlr H +9 &Immr J +10 &Kmps M +9 &MLorr P +10 &O mpq Q +9 &Pmpm Q +9 &Rnqh R +10 &TOloj R +9 &V pnm S +9 &Wopm S +10 &Yqpr U +9 &[Joqr V +10 &\\znql ) +9 &](pro H +9 ( +3 "collection"'& +3 #tCollection Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.90 + .Hand.open +2 "manipulator"&41 +3 "core" &]Jpqi = +50 1 + "manipulator"&F% +5 "core" % σ   +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&A'\ +97 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%& +5 "core" &f +2 "manipulator"&% +3 "core" %\ 0  $q +2 "storage"()% +4 "core" %= + "storage"(*. +4 "core" .(  + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"(Y(  +23 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (!& +3 "core" &  i  +2 "manipulator"&2& +4 "core" &#  :0 + "manipulator"&6% +4 "core" %\ 0  $q +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&G(; +156 "core" ( +2 "manipulator"&^& +4 "core" &5   + "storage"(=& +4 "core" & j  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&0'Ѐ +107 "core" ' + "storage"($& +4 "core" & \   +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"('e +281 "core" ' +2 "storage"((- +3 "core" -' +51 .tSE.configure :default +4 "storage"(#QK-0-\ b +2 (J& +3 "core" & \ \ \  +2 "manipulator"&3& +4 "core" &5 ` ^  +2 .tElbow.seek 2 + "manipulator"& (; +3 "core" ( +2 "manipulator"&V& +4 "core" &5 k b R  + "storage"(5& +4 "core" & \ \ A  +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&/' +24 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&B/ +55 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&\\& +2 "storage"(N'N +7 "core" &5 b n F  + "manipulator"&_% +5 "core" % f e ?  + .tForearm.seek :retract +2 "manipulator"&&'\ +98 "core" ' +2 .tElbow.seek PC +2 "manipulator"&d(c +153 "core" ' + ."downElevator"SE.stop + "storage"(5 +85 "core" ( + "manipulator"&@& +5 "core" &i k $ Q + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &]& +3 "core" &i  Q +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&P'[ +103 "core" ' +2 "manipulator"&k& +4 "core" &i k h / Q +2 "manipulator"&D% +4 "core" %O a e P g +2 "processing"%b& +4 "core" &| +3 "processing"%H& +4 "core" &q +2 .tPC.seek :closed +2 "processing"%I(Z +5 "core" &j +7 &=h #b +9 &x[i 6 +9 &f G +10 &gn F +9 &lmf G +10 &.mb G +9 & qk G +9 &"mo G +10 &$toj G +9 &&5lm G +9 &'mg G +10 &)ob G +9 &+|p] G +10 &-?mf F +9 &/n[ G +9 &0nN G +10 &2qL G +9 &4Fj] G +9 &6lc G +10 &7k] G +9 &9mP F +9 &;Oma F +10 &=mX F +9 &>nd G +10 &@rf G +9 &BVli G +9 &Dn_ F +10 &Epe G +9 &Gvd G +10 &IY}d H +9 &Kc J +9 &Lf L +10 &Nc L +9 &PVX L +9 &Rb M +10 &SZ L +9 &Ub M +9 &W]Y M +10 &YO G +9 &ZR@H $i +10 &Z+A & +5 ( + "processing"%H& +5 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.48 + .Hand.open +2 "manipulator"&11 +3 "core" &ZL & +50 1 + "manipulator"&% +5 "core" % R s [ d +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&''\ +91 "core" ' + "processing"%r& +5 "core" &ZW & + #tImaging generic puck in Processing Clamp while storing it to tube 2 + "manipulator"&K% +5 "core" %\ ,  "\\ + "storage"(a% +4 "core" %? + "storage"(M. +3 "core" .(  +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"((  +7 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +4 ( & +3 "core" & ! +2 "manipulator"&p& +2 ."raiseStack"SE.reconfigure :place +6 "storage"(#]kK-0-\ b +2 "core" &i  Q +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +2 ."raiseStack"SE.seek :beamBreak +2 "manipulator"&T(c + "storage"('e +5 "core" ( +2 "manipulator"&L& +4 "core" &i  Q + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &O& +3 "core" &i  Q +2 .tForearm.seek PC +2 "manipulator"&U'[ +98 "core" ' +2 .tHand.close + "manipulator"&R/ +60 "core" / + .tPC.seek :open +2 "processing"%>(p +86 "core" ' +2 "storage"(Z- +3 "core" -'e +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +2 ."raiseStack"SE.seek :place +2 "storage"(|'B +31 "core" ' +260 ( + "storage"(#& +4 "core" & \ \  % +2 "manipulator"&& +4 "core" &m e ` 8 M + "manipulator"&% +4 "core" % \\ a f 2 +2 .tForearm.seek :retract +2 "manipulator"&f'\ +97 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 + "manipulator"&(; +247 "core" ( +2 "manipulator"&9& +4 "core" &2 * !v + "storage"(X& +4 "core" & b % +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts +2 "manipulator"&C'Ѐ +107 "core" ' + .tHand.open + "manipulator"&t1 +56 "core" 1 +2 "storage"(Q- +3 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate +2 "storage"(' +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(' +49 "core" ' +2 #tLights, camera, ACTION! + "storage"(w- +4 "core" -' + "storage"(}& +4 "core" &  {   & +2 "manipulator"&W& +4 "core" &3 m p !u +2 .tElbow.seek 2 +2 "manipulator"&(; +3 "core" ( +2 "manipulator"&& +3 "core" &3 q t ) !u +2 "storage"(& +4 "core" &  } } & +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&o'Ѐ +18 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"(m'M +58 "core" ' + "manipulator"&i& +4 "core" &3 e ` ! !u +2 "storage"(j& +4 "core" &  d & + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 + "manipulator"&g'ξ +31 "core" ' + .tElbow.hold +2 "manipulator"&e, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.07 Pucks below Top Plate + "storage"({'7 +24 "core" ' + "manipulator"&n% +5 "core" %w  6 +2 "storage"(l& +4 "core" &  % & + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 317 counts +2 "manipulator"&%' +18 "core" ' +2 "manipulator"&q& +4 "core" &X O e P +2 "storage"(c& +4 "core" &  \  V & +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts +2 "manipulator"&y'Ѐ +15 "core" ' +2 "storage"(h% +4 "core" %= \ [ +3 ."downElevator"SE.seek :down +3 "storage"(z'N +99 ( % +3 "core" %yA M> +2 "manipulator"&u% +4 "core" %r _ _  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +88 "core" ' +59 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (v& +4 "core" &  # & + "collection"'& +4 "core" &]Lop` = +2 #tStoring generic puck in Collection Clamp to tube 2 + "manipulator"&x% +5 "core" %\ ,  "[ + "storage"(+% +4 "core" %; + "storage"(S. +4 "core" .(  + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"(`(  +5 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 ( & +2 "core" &  " +2 "manipulator"&,& +4 "core" &X  P +2 .tElbow.seek 2 +2 "manipulator"&(; +24 "core" ( + "manipulator"&& +4 "core" &= n 1  +2 "storage"(s& +4 "core" & \ \ } & +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts +2 "manipulator"&'Ѐ +92 "core" ' +2 "storage"(<& +5 "core" & & +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('e +280 "core" ' + "storage"(8- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&;& +4 "core" &= _ ` 0  +3 "storage"( & +3 "core" & \ \ \ v ) +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&'ξ +34 "core" ' +2 .tElbow.hold + "manipulator"&., +47 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(?- +3 "core" -' +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"('i +25 "core" ' + "manipulator"&~% +5 "core" %_ " + "storage"(& +4 "core" & \ " ) + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 313 counts +2 "manipulator"&E' +11 "core" ' +2 "manipulator"&& +4 "core" &= Q F 1  +2 "storage"("& +4 "core" & \ \ \ \ W ) +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts +53 "manipulator"&4'Ѐ +16 "core" ' +2 .tSE.seek 1.11 Pucks below Top Plate +2 "storage"(F'X +46 "core" ' +2 "manipulator"&& +4 "core" &= V J m  +2 "manipulator"&% +4 "core" %t E \\ f +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&)'\ +87 "core" ' + .tElbow.seek CC +2 "manipulator"&*( +153 "core" ( + "manipulator"&& +5 "core" &#  :* + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &!& +3 "core" &# H :* +2 .tForearm.seek CC +2 "manipulator"&2'| +98 "core" ' + .tHand.close +2 "manipulator"&6/ +60 "core" / +2 .tCC.seek :open +2 "collection"'(p +411 "core" ( + "storage"(^& +5 "core" & \ \ \  ! ) + "storage"(=& +4 "core" & \ \ \   ) + "manipulator"&7& +4 "core" & " 7 +2 "manipulator"&$% +3 "core" %   +2 .tForearm.seek :retract +2 "manipulator"&['\ +92 "core" ' +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&A(; +166 "core" ( +2 "manipulator"&(& +4 "core" &=\  T +2 "storage"(J& +4 "core" & \ ) + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 2 +2 "manipulator"&3'ξ +110 "core" ' + .tElbow.hold +2 "manipulator"&V, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&51 +61 "core" 1 +2 "manipulator"&B% +4 "core" %  N +2 "storage"(\\& +4 "core" & \ w ) + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 307 counts + "manipulator"&_' +18 "core" ' + "manipulator"&G& +5 "core" &g X q  * + "storage"(0& +4 "core" & \ \ \  _ ) +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&'Ѐ +14 "core" ' +2 "storage"(/% +4 "core" %X\ \  +3 ."downElevator"SE.seek :down +4 "storage"(@'N +99 (]% +2 "core" %C\ M> +2 "manipulator"& % +5 "core" %Ѐ d a +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&k'\ +87 "core" ' +53 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 3 of [2..3] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"'D& +4 "core" &klv +2 "manipulator"&b% +4 "core" %\ *  !N +2 "storage"(N% +4 "core" %L\ \ K  + "storage"(&. +4 "core" .(  + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(\ ( +344 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (1& +3 "core" & S  +2 "manipulator"&& +4 "core" &g  * + .tElbow.seek 3 +2 "manipulator"&r(D +22 "core" ( + "manipulator"&K& +5 "core" &E b d  + "storage"(a& +4 "core" &\ \  @  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&M' +94 "core" ' + "storage"(H& +5 "core" &\ \   +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(p'e +281 "core" ' + "storage"( - +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (L& +3 "core" &\ \  Q  + "manipulator"&O& +4 "core" &E c f t  +2 .tElbow.seek 3 +2 "manipulator"&P(D +3 "core" ( +2 "manipulator"&R& +3 "core" &E s o  +2 "storage"(Y& +3 "core" &\ \  d  +3 .tForearm.seek 3 + 300 counts + "manipulator"&Z'y +22 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&d/ +59 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&'& +2 "storage"(I'N +7 "core" &E V W   +2 "manipulator"&#% +4 "core" % u U a +2 .tForearm.seek :retract +2 "manipulator"&'\ +95 "core" ' +2 .tElbow.seek CC +2 "manipulator"&( +147 "core" ' + ."downElevator"SE.stop + "storage"(5 +8 "core" ( +2 "manipulator"&& +4 "core" &% 8 << +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &U& +2 "core" &%  << +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&9'| +100 "core" ' + "manipulator"&X& +5 "core" &% & << + "manipulator"&T% +4 "core" %k  +2 "collection"'t& +4 "core" &llu +2 "collection"'Q& +5 "core" &hl~ +3 .tCC.seek :closed + "collection"'w(] +6 "core" &in +5 &;jn #b +10 &pZll 6 +9 &kl H +10 &kllw G +9 &_mkl~ G +9 & mklz H +10 & kjks H +9 &"mil~ G +9 &$fmlku H +10 &&'nhlt H +9 &'mjkr H +10 &)pjlr H +9 &+opkmw G +9 &-1llmq G +10 &.njlp G +9 &0nllo H +9 &2vpkln H +10 &48klmi H +9 &5jjkp H +10 &7nkln H +9 &9~lkks H +9 &;Ajkks G +10 &=klkm G +9 &>nkmk H +9 &@okns G +10 &BIljmr G +9 &D kimr G +10 &Elkmp G +9 &Gjkiq H +9 &IMuklj I +10 &K\ mnr K +9 &Lnoq L +9 &Nopq O +10 &P=onm Q +9 &Roor Q +10 &Snnq R +9 &Unpp R +9 &W?ook S +10 &Xnnn T +9 &Zopk U +9 &\\xmqq B +10 &]i6pqf %n +9 &]Qopj ? +3 ( + "collection"'Q& +3 #tCollection Clamp onSpring/offSpring for 9/25 samples, on/off torque 1.79 + .Hand.open +2 "manipulator"&}1 +52 "core" 1 +2 "manipulator"&W% +4 "core" % k z \ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +92 "core" ' +3 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%& +4 "core" &b +2 "manipulator"&f% +4 "core" %\ + !S + "storage"(i% +4 "core" %F +2 "storage"(j. +3 "core" .( + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(|( +6 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (n& +4 "core" &   + "manipulator"&l& +4 "core" &$ ;4 +2 "manipulator"&% +4 "core" %\ + !S +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&q(D +163 "core" ( + "manipulator"&c& +5 "core" &G d   + "storage"(h& +4 "core" &   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&' +92 "core" ' +2 "storage"(C& +4 "core" &\ \ s  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"('e +289 "core" ' + "storage"( - +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (u& +3 "core" & \  S  + "manipulator"&o& +4 "core" &G b a   +2 .tElbow.seek 3 +2 "manipulator"&(D +3 "core" ( + "manipulator"&m& +4 "core" &G l i B  + "storage"(g& +4 "core" &\ \  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&v'y +21 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&%/ +55 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +3 "storage"(x'N +7 "core" &G b `  + "manipulator"&+% +4 "core" % s d a +2 .tForearm.seek :retract +2 "manipulator"&S'\ +89 "core" ' +2 .tElbow.seek PC +2 "manipulator"&{(c +164 "core" ' + ."downElevator"SE.stop + "storage"(5 +72 "core" ( +2 "manipulator"& & +4 "core" &\\ |  J +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &,& +3 "core" &\\ w E J +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&'[ +98 "core" ' +2 "manipulator"&s& +4 "core" &\\ f J +2 "manipulator"&y% +4 "core" %e  + "processing"%<& +4 "core" &g +2 "processing"%z& +5 "core" &o +2 .tPC.seek :closed +2 "processing"%(Z +5 "core" &` +6 &=b #c +58 &t[_ 6 +2 &h H + &jh G + &ikm G &*od G + & lb G +3 &"kk G +9 &$ppb G +9 &&3kb G +10 &'kn F +9 &)l_ G +9 &+xhK G +10 &-:lL G +9 &.mO G +10 &0hU G +9 &2k_ G +9 &4Cjc G +10 &6ic G +9 &7k] G +9 &9je F +10 &;JlY G +9 &= jS G +9 &>p] G +10 &@kU G +9 &BSkU G +10 &DkV G +9 &EmL G +9 &GuQ H +10 &ITX I +9 &KD K +10 &L; M +9 &ND M +9 &PRA M +10 &RA M +9 &S@ M +9 &UB M +10 &WWI N +9 &YI N +9 &ZiDnM N +10 &ZbI + +5 ( +2 "processing"%z& +4 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.51 + .Hand.open +2 "manipulator"&e1 +3 "core" &Z H + +54 1 + "manipulator"&% +4 "core" % e  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&8'\ +98 "core" ' +2 "processing"%;& +4 "core" &Z - + +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"& % +4 "core" %\ 3  %| + "storage"(?% +4 "core" %M s +2 "storage"(~. +3 "core" .( + "storage"(& +5 "core" & v  +2 "storage"(& +5 "manipulator"&"& +4 "core" & u  + &\\  J +3 ."raiseStack"SE.reconfigure :place +2 .tElbow.reconfigure :tight +4 "storage"(#]kK-0-\ b +5 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +2 ."raiseStack"SE.seek :beamBreak +3 "manipulator"&(c +2 "storage"('e +5 "core" ( + "manipulator"&& +5 "core" &\\ 0 J + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &\\  J +2 .tForearm.seek PC +2 "manipulator"&'[ +98 "core" ' + .tHand.close +2 "manipulator"&/ +61 "core" / +2 .tPC.seek :open +2 "processing"%E(p +82 "core" ' +2 "storage"(- +4 "core" -'e + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('B +38 "core" ' +255 ( +2 "storage"(!& +4 "core" &\ \   + "manipulator"&4& +4 "core" &\\ f f T J +2 "manipulator"&.% +4 "core" % b e f b + .tForearm.seek :retract +2 "manipulator"&6'\ +94 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&)(D +248 "core" ( + "manipulator"&:& +5 "core" &J 4 l + "storage"(^& +4 "core" &  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&=' +96 "core" ' + .tHand.open + "manipulator"&71 +56 "core" 1 + "storage"($- +4 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate +2 "storage"((' +22 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(J' +51 "core" ' +2 #tLights, camera, ACTION! + "storage"(2- +4 "core" -' +2 "storage"(*& +3 "core" & -  +2 "manipulator"&5& +4 "core" &J C l +2 .tElbow.seek 3 + "manipulator"&B(D +4 "core" ( + "manipulator"&\\& +4 "core" &J % l +2 "storage"(G& +74 "core" &   +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&0' +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"(/'M +65 "core" ' + "manipulator"&[& +5 "core" &J e b < l + "storage"(]& +5 "core" &  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 + "manipulator"& 'M +34 "core" ' + .tElbow.hold +2 "manipulator"&A, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"(3'7 +23 "core" ' +2 "manipulator"&D% +4 "core" %_i B  +2 "storage"(b& +4 "core" &   + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 318 counts +2 "manipulator"&_'ϋ +19 "core" ' + "manipulator"&N& +5 "core" &J o s l + "storage"(&& +5 "core" &\ \   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&F' +22 "core" ' + "storage"(% +5 "core" %<\  K +2 ."downElevator"SE.seek :down +4 "storage"(@'N +100 (`% +2 "core" %mC N? +2 "manipulator"&1% +5 "core" % j _  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +91 "core" ' +60 ' + ."downElevator"SE.stop + "storage"(5 +3 (K& +4 "core" &   + "collection"'a& +4 "core" &]Yop_ ? +2 #tStoring generic puck in Collection Clamp to tube 3 +2 "manipulator"&H% +3 "core" %\ 0  $m +2 "storage"(V% +4 "core" %> { + "storage"(k. +4 "core" .( + "storage"( & +5 "core" &  + "storage"(L& +4 "core" & !  + "manipulator"&O& +4 "core" &J  l +2 .tElbow.seek 3 +2 "manipulator"&R(D +3 "core" ( + "manipulator"&Y& +4 "core" &J  l +2 "storage"(d& +4 "core" &  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&'' +103 "core" ' + "storage"(#& +4 "core" &\ \  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(r'e +283 "core" ' + "storage"(M- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&& +3 "core" &J  l +2 "storage"(U& +4 "core" & 3  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 + "manipulator"&p'M +32 "core" ' + .tElbow.hold +2 "manipulator"&Z, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(X- +2 "core" -' +2 .tSE.seek 0.12 Pucks below Top Plate +2 "storage"(T'u +28 "core" ' + "manipulator"&t% +5 "core" %ai S  + "storage"(P& +4 "core" & n  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 320 counts +2 "manipulator"&I'ύ +17 "core" ' +2 "manipulator"&& +4 "core" &J Y s p l +2 "storage"(& +4 "core" &\ \ >  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&}' +16 "core" ' +2 .tSE.seek 1.12 Pucks below Top Plate +2 "storage"(W'd +47 "core" ' +2 "manipulator"&& +4 "core" &J h a S l +2 "manipulator"&f% +4 "core" % _ e ( +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&i'\ +87 "core" ' +2 .tElbow.seek CC +2 "manipulator"&j( +156 "core" ( + "manipulator"&Q& +4 "core" &* N @[ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &n& +3 "core" &*  @[ +2 .tForearm.seek CC +2 "manipulator"&l'| +94 "core" ' + .tHand.close +2 "manipulator"&/ +58 "core" / +2 .tCC.seek :open + "collection"'9(p +412 "core" ( +2 "storage"(c& +4 "core" &\ {  + "storage"(h& +4 "core" & \ Y  +2 "manipulator"&\ & +3 "core" &*  @Z +2 "manipulator"&C% +4 "core" % χ ) + .tForearm.seek :retract +2 "manipulator"&'\ +91 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&(D +177 "core" ( + "manipulator"& & +4 "core" &?  m +2 "storage"(u& +4 "core" &\ _  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 +2 "manipulator"&o'M +109 "core" ' + .tElbow.hold +2 "manipulator"&m, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&g1 +54 "core" 1 +3 "manipulator"&%% +4 "core" % am   +2 "storage"(& +3 "core" &  +2 .tForearm.force -20 + "manipulator"&5 +53 .tForearm.seek 3 + 320 counts +3 "manipulator"&+'ύ +19 "core" ' + "manipulator"&q& +4 "core" &@ O d l +2 "storage"(& +4 "core" &\ \  S  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&' +21 "core" ' +2 "storage"(v% +4 "core" %h\ \  +3 ."downElevator"SE.seek :down +3 "storage"( 'N +99 (,% +3 "core" %A\ \ m M> +2 "manipulator"&% +4 "core" % a i - +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&s'\ +91 "core" ' +49 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 2 of [2..3] +2 #Loading generic puck from tube 2 into Collection Clamp + "collection"'y& +5 "core" &~kl` + "manipulator"&<% +4 "core" %\ 0  $p +2 "storage"(x% +4 "core" %K \  G +2 "storage"(S. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 +2 "storage"(>(  +360 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (e& +3 "core" &  { +2 "manipulator"&& +3 "core" &@  l +2 .tElbow.seek 2 +2 "manipulator"&;(; +3 "core" ( + "manipulator"& & +4 "core" &@  l +2 "storage"(?& +4 "core" & \  K +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&~'Ѐ +102 "core" ' + "storage"(& +5 "core" & \ \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(z'e +279 "core" ' + "storage"("- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (& +4 "core" & \ \  7 + "manipulator"&& +4 "core" &@ k g l l +2 .tElbow.seek 2 +2 "manipulator"&(; +3 "core" ( + "manipulator"&& +4 "core" &@ p v } l + "storage"(& +4 "core" & \ \  +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&' +20 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&{/ +62 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&8& +2 "storage"('N +8 "core" &@ e a X l +2 "manipulator"&!% +4 "core" % l l ] + .tForearm.seek :retract +2 "manipulator"&'\ +91 "core" ' + .tElbow.seek CC +2 "manipulator"&4( +147 "core" ( + "manipulator"&.& +5 "core" &# d ;4 + ' +2 .tElbow.reconfigure :loose + ."downElevator"SE.stop +4 "manipulator"&$ &.,(#b +2 "storage"(5 +2 "manipulator"&& +5 "core" &$ G ;4 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&:'| +102 "core" ' + "manipulator"&^& +5 "core" &# * ;4 +2 "manipulator"&% +4 "core" %ρ T + "collection"'7& +4 "core" &~mkr +2 "collection"'$& +5 "core" &~lla +3 .tCC.seek :closed + "collection"'2(] +4 "core" &~jlw  +9 &4jkv )v +10 &gjno < +9 &^~mlo I +9 &#lllv G +10 &mjms G +9 &qilr H +10 &!ikkmr G +9 &#*mmlq H +9 &$mjnn H +10 &&kkmm H +9 &(pplkl H +9 &*3nkll G +10 &+ijlm G +9 &-kkjs G +9 &/xpkli H +10 &1:pknm H +9 &2njkp H +10 &4hinn G +9 &6ijlj H +9 &8Cmkme G +10 &:llli H +9 &;hjkp G +9 &=jmmr G +10 &?Ljlnt G +9 &A nkng H +10 &Bmkmu H +9 &Dhjmj G +9 &FRnjmm H +10 &Hpjlo I +9 &Ikkk J +9 &Knos M +10 &MBllj P +9 &Okno P +10 &Pmoh Q +9 &Rnog R +9 &TDnpk R +10 &Vmoi S +9 &Wnok S +9 &Yppj T +10 &[Cmqo U +9 &\\wmmo ) +10 &]@&npk %q +9 &]Ympi @ +2 ( +2 "collection"'$& +3 #tCollection Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.86 + .Hand.open +2 "manipulator"&*1 +55 "core" 1 + "manipulator"&5% +5 "core" % { L + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&\\'\ +95 "core" ' +3 #tLoading generic puck from tube 2 into Processing Clamp +2 "processing"%6& +4 "core" &b +2 "manipulator"&G% +3 "core" %\ 0  $p +2 "storage"([% +4 "core" %I + "storage"(]. +3 "core" .(  +2 "storage"(& +4 "core" &  + "storage"((& +4 "core" &  y +2 "manipulator"&D& +4 "core" &#  :* + "manipulator"&b% +4 "core" %\ 0  $p +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&)(; +155 "core" ( + "manipulator"&N& +4 "core" &; 0 +2 "storage"(&& +4 "core" &  e +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&'Ѐ +95 "core" ' + "storage"(=& +4 "core" & \ \ \ +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(J'e +280 "core" ' + "storage"(`- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (1& +3 "core" &  + "manipulator"&0& +4 "core" &; m p +2 .tElbow.seek 2 +2 "manipulator"&B(; +3 "core" ( + "manipulator"&/& +4 "core" &; s Z g +2 "storage"( & +4 "core" & \  l +2 .tForearm.seek 2 + 300 counts + "manipulator"&_' +11 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&K/ +65 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&a& + "storage"(H'N +7 "core" &; d ` - + "manipulator"&V% +4 "core" % ^ `  j +2 .tForearm.seek :retract +2 "manipulator"&k'\ +92 "core" ' + .tElbow.seek PC +2 "manipulator"&3(c +159 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +88 "core" ( + "manipulator"& & +4 "core" &m a ! +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &L& +3 "core" &m v I +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&O'[ +92 "core" ' +2 "manipulator"&Y& +4 "core" &m  +2 "manipulator"&d% +4 "core" %] +2 "processing"%F& +4 "core" &b +2 "processing"%#& +5 "core" &l +2 .tPC.seek :closed +2 "processing"%@(Z +4 "core" &a  +9 &6b )w +10 &kc = +9 &ya G +9 &Eh[ G +10 &kc G +9 &mc G +9 &!ka F +10 &#Mjb G +9 &%lc G +10 &&hZ G +9 &(iV G +9 &*Um^ G +10 &,hb G +9 &-iT G +9 &/nS G +10 &1^kT F +9 &3kS G +10 &4hT G +9 &6jV F +9 &8ejW G +10 &:'gX G +9 &;kZ F +9 &=j[ G +10 &?nlY F +9 &A.lY G +9 &BkY F +10 &DmY G +9 &FtmX G +10 &H4xX H +9 &IW I +9 &KY K +10 &MlU M +9 &O.X M +9 &PY M +10 &RU M +9 &Ts] M +10 &V5Y M +9 &WY M +9 &YT 1 +10 &Z/}L R +9 &ZK + +2 ( +2 "processing"%#& +3 #tProcessing Clamp onSpring/offSpring for 8/26 samples, on/off torque 1.52 + .Hand.open +2 "manipulator"&A1 +64 "core" 1 + "manipulator"&% +5 "core" % ] | + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&M'\ +92 "core" ' +2 "processing"%& +4 "core" &ZB + +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 + "manipulator"&U% +4 "core" %\ *  !U + "storage"(X% +4 "core" %H +2 "storage"(t. +3 "core" .(  + "storage"(P& +4 "core" &  +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 + "storage"((  +25 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (& +4 "core" &   % + "manipulator"&& +3 ."raiseStack"SE.reconfigure :place +5 "storage"(#]kK-0-\ b +3 "core" &m  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC + ."raiseStack"SE.seek :beamBreak +4 "manipulator"&f(c + "storage"(''e +5 "core" ( + "manipulator"&R& +4 "core" &m  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &r& +3 "core" &m ; +2 .tForearm.seek PC +2 "manipulator"&p'[ +94 "core" ' + .tHand.close +2 "manipulator"&I/ +62 "core" / +2 .tPC.seek :open +2 "processing"%T(p +89 "core" ' + "storage"(Q- +56 "core" -'e + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(n'B +37 "core" ' +199 ( + "storage"(}& +4 "core" &   0 +2 "manipulator"&Z& +3 "core" &m e a W +2 "manipulator"&% +4 "core" % i d `  +2 .tForearm.seek :retract + "manipulator"&i'\ +104 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&w(; +251 "core" ( + "manipulator"&c& +5 "core" &7  o + "storage"(h& +4 "core" &  Z 0 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&\ 'Ѐ +127 "core" ' + .tHand.open +2 "manipulator"&C1 +61 "core" 1 +2 "storage"( - +4 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate +2 "storage"(u' +23 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.83 Pucks below Top Plate + "storage"(l' +50 "core" ' + #tLights, camera, ACTION! +2 "storage"(j- +3 "core" -' +2 "storage"(g& +4 "core" &  } } 1 +2 "manipulator"&%& +4 "core" &7  o +2 .tElbow.seek 2 + "manipulator"&(; +4 "core" ( + "manipulator"&q& +4 "core" &7 . o +2 "storage"(& +4 "core" &  } } 1 +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&'Ѐ +3 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"(v'M +67 "core" ' + "manipulator"&& +4 "core" &7 r m o +2 "storage"(,& +4 "core" &  1 +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&'ξ +32 "core" ' + .tElbow.hold +2 "manipulator"&o, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"(y'7 +24 "core" ' +2 "manipulator"&+% +4 "core" %q (  + "storage"(<& +4 "core" &  " 1 +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 317 counts +2 "manipulator"&x' +19 "core" ' +2 "manipulator"&S& +5 "core" &I\ l h  ] + "storage"(W& +5 "core" & \ \  1 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts +2 "manipulator"&'Ѐ +24 "core" ' + "storage"( % +5 "core" %>\ \ r +2 ."downElevator"SE.seek :down +5 "storage"(|'N +99 (e% +3 "core" %A M> +2 "manipulator"&% +4 "core" %Л e `  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"& '\ +87 "core" ' +63 ' + ."downElevator"SE.stop + "storage"(5 +3 (?& +4 "core" &  x 1 + "collection"'& +4 "core" &]YopS @ +2 #tStoring generic puck in Collection Clamp to tube 2 + "manipulator"&m% +5 "core" %\ .  #b + "storage"(s% +4 "core" %N s \ +2 "storage"(". +3 "core" .(  +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 + "storage"((  +53 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (& +3 "core" &   +2 "manipulator"&& +5 "core" &I\  ] + .tElbow.seek 2 +2 "manipulator"&(; +25 "core" ( +2 "manipulator"&{& +5 "core" &D 2  + "storage"(8& +4 "core" & \ > +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +3 "manipulator"&!'Ѐ +111 "core" ' + "storage"(;& +4 "core" & \  J +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(~'e +276 "core" ' +2 "storage"(.- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" &D C E `  + "storage"(z& +4 "core" & \ \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&'ξ +38 "core" ' + .tElbow.hold +2 "manipulator"&^, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(- +2 "core" -' +3 .tSE.seek 0.11 Pucks below Top Plate + "storage"(7'j +25 "core" ' + "manipulator"&% +4 "core" %_ = +2 "storage"(& +4 "core" & \ + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 316 counts + "manipulator"&' +20 "core" ' + "manipulator"&9& +5 "core" &D G O .  + "storage"(*& +4 "core" & \ \ \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&5'Ѐ +22 "core" ' +2 .tSE.seek 1.11 Pucks below Top Plate +2 "storage"(6'Y +48 "core" ' + "manipulator"&G& +5 "core" &D Q V i  + "manipulator"&[% +4 "core" %Й E c [ +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&]'\ +94 "core" ' +2 .tElbow.seek CC + "manipulator"&( +176 "core" ( +2 "manipulator"&(& +4 "core" &\ . X +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &$& +3 "core" &\  X +2 .tForearm.seek CC +2 "manipulator"&D'| +99 "core" ' + .tHand.close + "manipulator"&b/ +57 "core" / +2 .tCC.seek :open + "collection"':(p +409 "core" ( +2 "storage"(N& +4 "core" & \ \ \   + "storage"(&& +4 "core" & \ \ \  + "manipulator"&=& +4 "core" &\ ~ s 5 X +2 "manipulator"&4% +3 "core" %  e ` n +2 .tForearm.seek :retract +2 "manipulator"&\\'\ +91 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&`(; +156 "core" ( +2 "manipulator"&1& +4 "core" &3 c  * + "storage"(0& +4 "core" & \ \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 2 +2 "manipulator"&/'ξ +107 "core" ' + .tElbow.hold +2 "manipulator"& , +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&K1 +54 "core" 1 +2 "manipulator"&a% +5 "core" % 3 a + "storage"(V& +4 "core" & \ O +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 2 + 316 counts +2 "manipulator"&)' +20 "core" ' +2 "manipulator"&& +4 "core" &T C c F  +2 "storage"(J& +4 "core" & \ \ \   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&_'Ѐ +16 "core" ' +2 "storage"( % +4 "core" %X\ \   +3 ."downElevator"SE.seek :down +3 "storage"(L'N +99 (B% +3 "core" %D\  7 N> +2 "manipulator"&Y% +4 "core" %k h k C +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&d'\ +87 "core" ' +52 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 3 of [2..3] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"'F& +5 "core" &lml + "manipulator"&H% +4 "core" %\ , v  "Z +2 "storage"(k% +4 "core" %D\ \  O +2 "storage"(E. +3 "core" .(  +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 + "storage"(A( +366 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (& +2 "core" & W  +2 "manipulator"&& +4 "core" &T   +2 .tElbow.seek 3 + "manipulator"&U(D +20 "core" ( +2 "manipulator"&X& +4 "core" &K d x   + "storage"(t& +4 "core" &\ \  ;  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&P' +93 "core" ' + "storage"(#& +4 "core" &\ \   +2 .tSE.reconfigure :pick +53 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"('e +288 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (R& +2 "core" &  +2 "manipulator"&r& +5 "core" &K j n  + .tElbow.seek 3 +2 "manipulator"&O(D +3 "core" ( +2 "manipulator"&I& +3 "core" &K u y   +2 "storage"(>& +4 "core" &\ \  ,  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&Q'y +23 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&3/ +53 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&M& +3 "storage"(@'N +7 "core" &K d `  + "manipulator"&}% +5 "core" % t h j + .tForearm.seek :retract +2 "manipulator"&Z'\ +93 "core" ' + .tElbow.seek CC +2 "manipulator"&( +150 "core" ' + ."downElevator"SE.stop + "storage"(5 +4 "core" ( + "manipulator"&'& +4 "core" &# J :- +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &p& +2 "core" &#  :- +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&c'| +99 "core" ' +2 "manipulator"&h& +5 "core" &#  :- + "manipulator"&f% +4 "core" %y N +2 "collection"'C& +4 "core" &jn~ +2 "collection"' & +6 "core" &jnz +2 .tCC.seek :closed +3 "collection"'j(] +3 "core" &jlx +6 &lm| 6 +9 &Lllx / +9 &Yylnt C +10 &nmon G +9 &klj} G +9 &jjnt G +10 & Tlilr G +9 &"nmoq H +9 &#jlln G +10 &%mmmn G +9 &'[inns G +10 &)hlnt G +9 &*nmo G +9 &,mlpq G +10 &.bllnm H +9 &0%ikmu G +9 &1jkls G +10 &3kllv G +9 &5kkkmk G +10 &7-jimf G +9 &8kjnm H +9 &:llno G +10 &5kjlm G +9 &?jkmo G +10 &Aimle G +9 &Czjlml H +10 &E=kmnm G +9 &Fikmw G +9 &Hqnmv G +10 &J|omh I +9 &L9mnf L +9 &Mnni O +10 &Olpq Q +9 &Qomr{ Q +10 &S.nof R +9 &Tnrj R +9 &Vopf S +10 &Xomri T +9 &Z/npq T +9 &[ors T +10 &]@@nqq , +9 &]nol F +6 ( +2 "collection"' & +3 #tCollection Clamp onSpring/offSpring for 10/26 samples, on/off torque 1.83 + .Hand.open +2 "manipulator"&g1 +4 "core" &]lpqd F +50 1 +2 "manipulator"&%% +4 "core" % y  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&i'\ +92 "core" ' + #tLoading generic puck from tube 3 into Processing Clamp + "processing"%q& +5 "core" &m + "manipulator"&% +4 "core" %\ * 2 !Q +2 "storage"(% +4 "core" %K + "storage"(,. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 +2 "storage"(n( +27 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (+& +2 "core" &  +2 "manipulator"&<& +4 "core" & " A 9$ +2 "manipulator"&u% +4 "core" %\ * Y !Q +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&S(D +156 "core" ( + "manipulator"&W& +5 "core" &C m /  + "storage"( & +4 "core" & ^  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&w' +93 "core" ' +2 "storage"(\ & +4 "core" &\ \ |  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(l'e +282 "core" ' +2 "storage"(e- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +2 "core" &  +2 "manipulator"&& +4 "core" &C o o  + .tElbow.seek 3 +2 "manipulator"&(D +3 "core" ( + "manipulator"&v& +4 "core" &C r u  +2 "storage"(& +3 "core" &  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&x'y +20 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&?/ +63 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"(m'N +7 "core" &C i b :  +2 "manipulator"&s% +3 "core" % y c m d +2 .tForearm.seek :retract +2 "manipulator"&"'\ +88 "core" ' +2 .tElbow.seek PC +2 "manipulator"&y(c +162 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +92 "core" ( +2 "manipulator"&& +4 "core" &[ 8 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &[  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&{'[ +103 "core" ' + "manipulator"&8& +5 "core" &[ + + "manipulator"&% +4 "core" %Q  +2 "processing"%;& +4 "core" &c +3 "processing"%|& +4 "core" &s +2 .tPC.seek :closed +2 "processing"%(Z +4 "core" &S  +10 &7` )w +9 &kb = +9 &xg G +10 &Ijh G +9 &\ jg G +9 &jc G +10 &!nd G +9 &#Rjd F +10 &%je F +9 &&mZ F +9 &(jV F +10 &*YjO G +9 &,mO G +9 &-jO F +10 &/kS G +9 &1ajM G +10 &3#nZ G +9 &4nY G +9 &6nZ G +10 &8imZ G +9 &:+i[ G +10 &;j[ G +9 &=iZ G +9 &?qlZ G +10 &A3nW G +9 &BiZ G +9 &Dl[ G +10 &FynY G +9 &H7yV H +10 &IW J +9 &KZ K +9 &MqZ L +10 &O3T L +9 &PH M +9 &RC M +10 &Tw@ M +9 &V8B M +9 &WC N +10 &YE / +9 &Z3pG A +9 ( +2 &Z$F . +2 "processing"%|& +3 #tProcessing Clamp onSpring/offSpring for 8/26 samples, on/off torque 1.50 + .Hand.open +2 "manipulator"&o1 +61 "core" 1 +2 "manipulator"& % +4 "core" % Q { +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&.'\ +100 "core" ' +2 "processing"%& +4 "core" &Z%L . +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&z% +4 "core" %\ 5  & +2 "storage"(% +4 "core" %H   + "storage"(. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 +2 "storage"(( +8 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (9& +3 "core" & B +2 "manipulator"&*& +2 ."raiseStack"SE.reconfigure :place +6 "storage"(#]kK-0-\ b +2 "core" &[  +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +2 "storage"(G'e +2 "manipulator"&[(c +5 "core" ( + "manipulator"&!& +4 "core" &[ c +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &[ +3 .tForearm.seek PC + "manipulator"&~'[ +96 "core" ' + .tHand.close + "manipulator"&/ +63 "core" / +2 .tPC.seek :open +2 "processing"%(p +79 "core" ' +2 "storage"(7- +3 "core" -'e +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(('B +38 "core" ' +259 ( +2 "storage"($& +4 "core" & p + "manipulator"&5& +4 "core" &[ ` d +2 "manipulator"&^% +4 "core" % ^ f b 6  + .tForearm.seek :retract +2 "manipulator"&b'\ +100 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&](D +256 "core" ( +2 "manipulator"&2& +4 "core" &P ~  2 +2 "storage"(N& +3 "core" & X +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&&' +98 "core" ' + .tHand.open + "manipulator"&=1 +52 "core" 1 +2 "storage"(4- +4 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate +2 "storage"(1' +23 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(0' +51 "core" ' + #tLights, camera, ACTION! +2 "storage"(D- +3 "core" -' +2 "storage"(& +4 "core" & L + "manipulator"&K& +4 "core" &P e b k 2 +2 .tElbow.seek 3 +2 "manipulator"&a(D +11 "core" ( +2 "manipulator"&V& +4 "core" &P e k $  +2 "storage"(& +4 "core" & d +2 .tForearm.seek 3 + 450 counts +51 "manipulator"&J' +24 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"( 'M +65 "core" ' + "manipulator"&\\& +5 "core" &P _ e &  +2 "storage"(B& +4 "core" &\ \ \  g + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&Y'M +34 "core" ' +2 .tElbow.hold +2 "manipulator"&`, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"(/'7 +25 "core" ' + "manipulator"&F% +5 "core" %_p   + "storage"(H& +5 "core" & L + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 318 counts +2 "manipulator"&)'ϋ +18 "core" ' + "manipulator"&k& +5 "core" &= G d >  +2 "storage"(E& +4 "core" &\ \ w +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&6' +10 "core" ' +2 "storage"(_% +4 "core" %>\ \ \ @ +3 ."downElevator"SE.seek :down +3 "storage"(L'N +99 (% +3 "core" %C ~ N@ +2 "manipulator"&% +4 "core" % _ ` / +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +87 "core" ' +61 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (X& +4 "core" & k +2 "collection"'t& +4 "core" &]kopL F + #tStoring generic puck in Collection Clamp to tube 3 +2 "manipulator"&#% +4 "core" %\ )  K + "storage"( % +4 "core" %H t +2 "storage"(d. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(( +7 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (R& +3 "core" & +2 "manipulator"&r& +5 "core" &=   +2 .tElbow.seek 3 +2 "manipulator"&I(D +3 "core" ( +2 "manipulator"&>& +4 "core" &=   + "storage"(3& +4 "core" &  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&M' +93 "core" ' + "storage"(}& +4 "core" &\ \ l +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(U'e +281 "core" ' +2 "storage"(P- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&'& +3 "core" &= l p  + "storage"(p& +4 "core" & N + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&'M +33 "core" ' + .tElbow.hold +2 "manipulator"&Q, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(h- +3 "core" -' +2 .tSE.seek 0.12 Pucks below Top Plate +2 "storage"(f'u +34 "core" ' + "manipulator"&C% +5 "core" %`i 2  + "storage"(O& +4 "core" & G +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 319 counts + "manipulator"&@'ό +19 "core" ' +2 "manipulator"&Z& +4 "core" &= k Z   +2 "storage"(:& +3 "core" &\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&g' +19 "core" ' +2 .tSE.seek 1.12 Pucks below Top Plate +2 "storage"(%'d +46 "core" ' +2 "manipulator"&q& +5 "core" &= b j   + "manipulator"&% +4 "core" % b j A +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&,( +162 "core" ( + "manipulator"& & +4 "core" &   * +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &+& +2 "core" &   * +2 .tForearm.seek CC +2 "manipulator"&<'| +97 "core" ' +2 .tHand.close + "manipulator"&u/ +57 "core" / +2 .tCC.seek :open + "collection"'c(p +409 "core" ( + "storage"(W& +5 "core" &\ \  & + "storage"( & +4 "core" &\  J +2 "manipulator"&A& +3 "core" &   * +2 "manipulator"&\ % +3 "core" % z  +2 .tForearm.seek :retract +2 "manipulator"&'\ +92 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&i(D +149 "core" ( +2 "manipulator"&e& +4 "core" &J k a + "storage"(& +4 "core" &\ \  ? +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 +2 "manipulator"&'M +110 "core" ' + .tElbow.hold +2 "manipulator"&v, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&1 +56 "core" 1 +2 "manipulator"&?% +4 "core" % _j O +2 "storage"(& +4 "core" & + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 318 counts + "manipulator"&s'ϋ +12 "core" ' +2 "manipulator"&S& +4 "core" &J E P +2 "storage"(w& +4 "core" &\ \   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&l' +21 "core" ' + "storage"(x% +4 "core" %h\ \  +3 ."downElevator"SE.seek :down +3 "storage"('N +99 (% +2 "core" %@\  p N> +2 "manipulator"&% +5 "core" % _ a J  + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&8'\ +94 "core" ' +46 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 2 of [2..3] +2 #Loading generic puck from tube 2 into Collection Clamp + "collection"'& +5 "core" &nmj + "manipulator"&;% +5 "core" %\ <  ) + "storage"(m% +4 "core" %;\  y +2 "storage"(". +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"(T(  +358 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (o& +3 "core" &  @ +2 "manipulator"& & +3 "core" &J : +2 .tElbow.seek 2 +2 "manipulator"&(; +7 "core" ( + "manipulator"&z& +5 "core" &D = + "storage"(& +4 "core" & \ k +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&'Ѐ +66 "Can" 85 +36 "core" ' + "storage"(|& +4 "core" & \ \  n +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(9'e +280 "core" ' +2 "storage"(*- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (!& +2 "core" & \ \ \  +2 "manipulator"&& +4 "core" &D c i  +2 .tElbow.seek 2 + "manipulator"&{(; +4 "core" ( + "manipulator"&& +4 "core" &D 3 X " +2 "storage"(n& +3 "core" & \ \ \  s +3 .tForearm.seek 2 + 300 counts + "manipulator"&7' +15 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&y/ +61 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&.& +2 "storage"('N +7 "core" &D e _ h +2 "manipulator"&$% +3 "core" % e `  Q +2 .tForearm.seek :retract +2 "manipulator"&G'\ +98 "core" ' +2 .tElbow.seek CC +2 "manipulator"&5( +145 "core" ' + ."downElevator"SE.stop + "storage"(5 +5 "core" ( +2 "manipulator"&^& +4 "core" &#  :+ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &~& +4 "core" &#  :+ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&2'| +101 "core" ' +2 "manipulator"&N& +4 "core" &#  :+ +2 "manipulator"&[% +4 "core" %~  +2 "collection"'=& +4 "core" &lpr +55 "collection"'4& +5 "core" &lmf +2 .tCC.seek :closed +2 "collection"'D(] +4 "core" &loo  +9 &4nno )v +9 &hmnu < +10 &v}mn H +9 &:kmow G +9 &lkmp G +10 &kmo G +9 &!jmps G +9 &#Bjlnx G +10 &%kmnr G +9 &&jomi G +10 &(mkos H +9 &*Jlnpq G +9 &, knot G +10 &-kll G +9 &/jlmn G +9 &1Qnlmo G +10 &3lln| G +9 &4mnno G +9 &6kmnt G +10 &8Ymmpr G +9 &:knnr H +10 &;jnok G +9 &=kmoe G +9 &?ajmlm G +10 &A#nkol G +9 &Bmloj H +9 &Djmpj G +10 &Filkpn G +9 &H)rppn H +10 &Impq J +9 &Kppu L +9 &MVopo Q +10 &Opqi Q +9 &Poq] Q +9 &Rqrs R +10 &TYqrg R +9 &Vnpi S +10 &Wqro T +9 &Yno] U +9 &[[qqa T +10 &\\ynrd (} +9 &]"oqj G +9 ( +2 &]Rprd @ +2 "collection"'4& +2 #tCollection Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.87 +2 .Hand.open + "manipulator"&1 +63 "core" 1 + "manipulator"&K% +5 "core" % | u +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&V'\ +95 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%& +5 "core" &j + "manipulator"&b% +4 "core" %\ 1 $r +2 "storage"(\\% +4 "core" %?  + "storage"(B. +4 "core" .(  + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 2 + "storage"(((  +32 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (1& +3 "core" & R b +2 "manipulator"&F& +4 "core" &"  9( + "manipulator"&H% +4 "core" %\ 0 $r +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&](; +166 "core" ( + "manipulator"&k& +5 "core" &4 ) = + "storage"(E& +4 "core" & e " +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&&'Ѐ +94 "core" ' + "storage"(_& +5 "core" & \  W " +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(0'e +279 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (& +3 "core" &  r & +2 "manipulator"&J& +3 "core" &4 o o = +2 .tElbow.seek 2 +2 "manipulator"&a(; +3 "core" ( +2 "manipulator"& & +3 "core" &4 X v y = +2 "storage"(Y& +4 "core" & \ \ & +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&X' +27 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&t/ +61 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&)& +2 "storage"(#'N +7 "core" &4 _ ` 2 = +2 "manipulator"& % +3 "core" %  b j O +2 .tForearm.seek :retract +2 "manipulator"&d'\ +93 "core" ' +2 .tElbow.seek PC +2 "manipulator"&/(c +158 "core" ' + ."downElevator"SE.stop + "storage"(5 +94 "core" ( +2 "manipulator"&R& +4 "core" &e  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &r& +2 "core" &e  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&>'[ +93 "core" ' +2 "manipulator"&3& +4 "core" &e 5 +2 "manipulator"&6% +4 "core" %\\  +2 "processing"%}& +4 "core" &m +2 "processing"%L& +5 "core" &i +2 .tPC.seek :closed + "processing"%(Z +4 "core" &f  +9 &5e )v +9 &i_ < +9 &w{a H +10 &<hd F +9 &k[ F +10 &jb G +9 &!n^ G +9 &#Cha G +10 &%ja F +9 &&lb G +9 &(mb G +10 &*Km\\ G +9 &, nT G +10 &-gJ G +9 &/kV G +9 &1SnD G +10 &3nQ G +9 &4mO G +9 &6lZ G +10 &8[hX G +9 &:hZ G +10 &;j[ F +9 &=j[ G +9 &?boJ G +10 &A&kW F +9 &BjY G +9 &DnH G +10 &FjmY G +9 &H*vU H +10 &IY H +9 &KP K +9 &MdY L +10 &O%X L +9 &PS M +9 &RV L +10 &TiX M +9 &V*K M +9 &WL M +10 &YV 7 +9 &Z-K !a +10 &ZB ( +2 ( +2 "processing"%L& +2 #tProcessing Clamp onSpring/offSpring for 8/26 samples, on/off torque 1.50 + .Hand.open + "manipulator"&`1 +59 "core" 1 +2 "manipulator"&% +4 "core" % \\   +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&P'\ +92 "core" ' +2 "processing"%'& +4 "core" &Z< ( +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 + "manipulator"&p% +4 "core" %\ , "^ +2 "storage"(h% +4 "core" %< + "storage"(C. +3 "core" .(  +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 + "storage"(O(  +7 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (Z& +4 "core" &   # + "manipulator"&:& +3 ."raiseStack"SE.reconfigure :place +5 "storage"(#]kK-0-\ b +3 "core" &e  +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC + ."raiseStack"SE.seek :beamBreak +4 "manipulator"&q(c + "storage"('e +5 "core" ( + "manipulator"&M& +4 "core" &e  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &I& +2 "core" &e  +3 .tForearm.seek PC + "manipulator"&U'[ +96 "core" ' + .tHand.close +2 "manipulator"&/ +61 "core" / +2 .tPC.seek :open +2 "processing"%@(p +93 "core" ' +2 "storage"(f- +3 "core" -'e +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"( 'B +31 "core" ' +252 ( + "storage"(+& +4 "core" & \ \ \  - +2 "manipulator"&g& +4 "core" &e p  + "manipulator"&Q% +4 "core" % j q u +2 .tForearm.seek :retract +2 "manipulator"&u'\ +103 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&(; +261 "core" ( + "manipulator"&j& +4 "core" &I  +2 "storage"(W& +4 "core" &  Y - +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"& 'Ѐ +96 "core" ' +2 .tHand.open + "manipulator"&A1 +58 "core" 1 +2 "storage"(\ - +4 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate +2 "storage"(e' +25 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(' +50 "core" ' + #tLights, camera, ACTION! +2 "storage"(<- +3 "core" -' +2 "storage"(,& +4 "core" &  i / + "manipulator"&& +4 "core" &I f g W  +2 .tElbow.seek 2 +2 "manipulator"&?(; +19 "core" ( + "manipulator"&& +5 "core" &D ] s &  + "storage"(S& +5 "core" &  } } a / +2 .tForearm.seek 2 + 450 counts + "manipulator"&w'Ѐ +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"(x'M +57 "core" ' + "manipulator"&& +4 "core" &D n m Q  +2 "storage"(& +4 "core" & \  / + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&'ξ +30 "core" ' +2 .tElbow.hold + "manipulator"&i, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"('7 +25 "core" ' + "manipulator"&% +5 "core" %x  4 +2 "storage"(s& +4 "core" &   / + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 319 counts +2 "manipulator"&;' +16 "core" ' +2 "manipulator"&m& +4 "core" &D e F e  +2 "storage"("& +4 "core" & \ \ \  / +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&%'Ѐ +23 "core" ' +2 "storage"(l% +4 "core" %@\  S +3 ."downElevator"SE.seek :down +3 "storage"('N +98 (% +4 "core" %A u M> + "manipulator"&o% +5 "core" %Ц e g ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"& '\ +86 "core" ' +114 ' +3 ."downElevator"SE.stop + "storage"(5 +2 (z& +4 "core" &  / +2 "collection"'& +3 "core" &]RqrY @ +2 #tStoring generic puck in Collection Clamp to tube 2 + "manipulator"&|% +4 "core" %\ ,  "X +2 "storage"(v% +4 "core" %K\ \ N + "storage"(8. +3 "core" .(  +2 "storage"(*& +4 "core" & \ v / +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 +2 "storage"(!(  +46 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (& +2 "core" &   +3 "manipulator"&& +4 "core" &D   +2 .tElbow.seek 2 +2 "manipulator"&n(; +3 "core" ( + "manipulator"&y& +5 "core" &D >  + "storage"(.& +4 "core" & \ \ r +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&$'Ѐ +92 "core" ' + "storage"(& +5 "core" &  \ \ v +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('e +280 "core" ' +2 "storage"(^- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&~& +3 "core" &D o p  +2 "storage"(9& +3 "core" &  \ \\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&7'ξ +33 "core" ' + .tElbow.hold +2 "manipulator"&N, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"([- +2 "core" -' +3 .tSE.seek 0.11 Pucks below Top Plate + "storage"(='i +25 "core" ' + "manipulator"&{% +4 "core" %j   +2 "storage"(& +4 "core" &  $ + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 318 counts +2 "manipulator"&G' +19 "core" ' + "manipulator"&c& +5 "core" &D V 5  + "storage"(& +5 "core" & \ ; +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&K'Ѐ +21 "core" ' +2 .tSE.seek 1.11 Pucks below Top Plate + "storage"('X +44 "core" ' + "manipulator"&b& +5 "core" &D b e  + "manipulator"&\\% +5 "core" %V _ j  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&B'\ +92 "core" ' +2 .tElbow.seek CC +2 "manipulator"&4( +152 "core" ( +2 "manipulator"&1& +4 "core" &# :+ + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &F& +3 "core" &#  :+ +2 .tForearm.seek CC + "manipulator"&H'| +98 "core" ' + .tHand.close + "manipulator"&2/ +57 "core" / +2 .tCC.seek :open +2 "collection"'k(p +412 "core" ( + "storage"(E& +4 "core" & \  2 +2 "storage"(T& +3 "core" & \ \  +2 "manipulator"&_& +4 "core" & "  9( + "manipulator"&5% +4 "core" % {  +2 .tForearm.seek :retract +2 "manipulator"&V'\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&(; +173 "core" ( +2 "manipulator"&& +4 "core" &A   R + "storage"(J& +4 "core" &  \  ( +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 2 +2 "manipulator"& 'ξ +104 "core" ' + .tElbow.hold +2 "manipulator"&Y, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&t1 +60 "core" 1 +2 "manipulator"&)% +4 "core" % G x + "storage"( & +4 "core" &  n +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 2 + 318 counts +2 "manipulator"&]' +19 "core" ' +2 "manipulator"&&& +4 "core" &h s p + +2 "storage"(0& +4 "core" & \ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&X'Ѐ +33 "core" ' +2 "storage"(R% +4 "core" %U\ \  +3 ."downElevator"SE.seek :down +3 "storage"(r'N +99 (a% +2 "core" %@ M> +2 "manipulator"&3% +5 "core" %a b e 9  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&6'\ +87 "core" ' +49 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 3 of [2..3] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"'}& +4 "core" &moq +2 "manipulator"&#% +4 "core" %\ ,  "Z +2 "storage"(d% +3 "core" %7\ \  ? +2 "storage"(. +3 "core" .(  +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 + "storage"(`( +368 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (& +4 "core" & *  +2 "manipulator"&'& +4 "core" &h  + +2 .tElbow.seek 3 +2 "manipulator"&p(D +44 "core" ( + "manipulator"&h& +5 "core" &=\ ~  Z + "storage"(C& +4 "core" &\  r +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&L' +102 "core" ' + "storage"(Z& +5 "core" &\ \  7 +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(:'e +277 "core" ' +2 "storage"(M- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (I& +2 "core" &\ \  +2 "manipulator"&>& +4 "core" &>\ l e  Y + .tElbow.seek 3 +2 "manipulator"&(D +4 "core" ( + "manipulator"&(& +4 "core" &>\ d k  Y +2 "storage"(f& +3 "core" &\ \  U +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&/'y +25 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&P/ +65 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&& +3 "storage"(+'N +7 "core" &>\ b m Y + "manipulator"&g% +4 "core" % z a ` / +2 .tForearm.seek :retract +2 "manipulator"&Q'\ +89 "core" ' + .tElbow.seek CC +2 "manipulator"&( +148 "core" ( +2 "manipulator"&U& +4 "core" &#  ;3 + ' +2 ."downElevator"SE.stop +3 .tElbow.reconfigure :loose +2 "storage"(5 +2 "manipulator"&$ &.,(#b +4 &j& +2 "core" &$ { ;3 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&W'| +93 "core" ' +2 "manipulator"&q& +4 "core" &$ 9 ;2 +2 "manipulator"&A% +4 "core" %}   + "collection"'\ & +4 "core" &loz +2 "collection"'<& +6 "core" &noy +2 .tCC.seek :closed +2 "collection"',(] +4 "core" &nmy +6 &9lp{ #b +10 &o[lp 6 +9 &mp H +9 &gmms G +10 &`klnw G +9 &!kln G +10 & mmo G +9 &"mmo G +9 &$fjlo G +10 &&'mnn H +9 &'llok G +9 &)lmnz G +10 &+nllm~ G +9 &-0lmou G +10 &.lmn| G +9 &0monr H +9 &2wlnoq G +10 &49mlpv G +9 &5knny G +10 &7qmm} G +9 &9lmn~ G +9 &;Bjln G +10 &=jnnx G +9 &>klnv G +9 &@mmor G +10 &BHlnon G +9 &D\ kmoq G +9 &Elnoq G +10 &Gnoop G +9 &IMvmns H +10 &K ~mpl J +9 &Lpph L +9 &Nqps O +10 &P>psm P +9 &Qpru Q +10 &Spr{ Q +9 &Uopm R +9 &WArsm R +10 &Xqrn T +9 &Zose T +9 &\\qtv @ +10 &]q2qtk #i +9 &]Eorg < +2 ( +2 "collection"'<& +3 #tCollection Clamp onSpring/offSpring for 10/25 samples, on/off torque 1.81 + .Hand.open +2 "manipulator"&1 +55 "core" 1 +2 "manipulator"&% +4 "core" % } :  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&S'\ +91 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%u& +5 "core" &[ + "manipulator"&% +4 "core" %\ + n !S +2 "storage"(% +4 "core" %H j + "storage"( . +3 "core" .( +2 "storage"(& +4 "core" & T + "storage"(s& +4 "core" & t +2 "manipulator"&e& +4 "core" &" 9$ + "manipulator"&m% +4 "core" %\ + u !S +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&"(D +154 "core" ( +2 "manipulator"&l& +4 "core" &H f  + "storage"(& +4 "core" &\ \  +53 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"& ' +107 "core" ' +2 "storage"(& +4 "core" &\  S +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"('e +283 "core" ' + "storage"(o- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (w& +4 "core" & \  , + "manipulator"&?& +4 "core" &H ` a \ +2 .tElbow.seek 3 + "manipulator"&x(D +4 "core" ( + "manipulator"&& +4 "core" &H a d O +2 "storage"(;& +4 "core" & \ E +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&'y +16 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&z/ +57 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"(|'N +7 "core" &H o o +2 "manipulator"&v% +4 "core" % s n p 5 +2 .tForearm.seek :retract +2 "manipulator"&8'\ +95 "core" ' +2 .tElbow.seek PC +2 "manipulator"&*(c +154 "core" ' + ."downElevator"SE.stop + "storage"(5 +95 "core" ( + "manipulator"&& +4 "core" &f x +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &%& +2 "core" &f  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&'[ +100 "core" ' +2 "manipulator"&y& +4 "core" &f / +2 "manipulator"&.% +3 "core" %`  +2 "processing"%& +4 "core" &m +2 "processing"%& +5 "core" &m +2 .tPC.seek :closed +2 "processing"%O(Z +4 "core" &c  +8 &5b )w +10 &la = +9 &}c G +9 &Chb F +10 &kb F +9 &jX F +10 &!k^ F +9 &#Kia F +9 &% lb G +10 &&jb G +9 &(ja F +9 &*SjX F +10 &,nb G +9 &-jR F +10 &/lS F +9 &1[jT F +9 &3kV F +10 &4nS G +9 &6mJ G +9 &8bnU G +10 &:%mW F +9 &;kZ F +10 &=kZ F +9 &?klZ F +11 &A,lX G +10 &BnS G +9 &DnQ G +7 &FqoR G +10 &H0zY H +9 &IY I +10 &KS K +9 &MjR L +9 &O+W M +10 &P[ L +9 &RL M +9 &TqS M +10 &V2L M +9 &WJ N +10 &YI 3 +9 &Z3J R +9 &ZE ) +3 ( +2 "processing"%& +2 #tProcessing Clamp onSpring/offSpring for 8/26 samples, on/off torque 1.49 +2 .Hand.open + "manipulator"&i1 +64 "core" 1 +2 "manipulator"& % +4 "core" % `  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&^'\ +92 "core" ' +2 "processing"%~& +4 "core" &ZB ) +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&9% +4 "core" %\ *  !O +2 "storage"([% +4 "core" %@  + "storage"({. +3 "core" .( +2 "storage"(& +3 "core" & +3 "storage"(c& +4 "manipulator"&& +5 "core" & + &f  +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +3 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +3 "storage"(#]kK-0-\ b + "manipulator"&b(c +8 ."raiseStack"SE.seek :beamBreak + "storage"(\\'e +3 "core" ( + "manipulator"&$& +4 "core" &f / +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &n& +2 "core" &f  +2 .tForearm.seek PC +2 "manipulator"&'[ +101 "core" ' +2 .tHand.close + "manipulator"&7/ +65 "core" / + .tPC.seek :open +2 "processing"%G(p +81 "core" ' +2 "storage"(=- +3 "core" -'e + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(1'B +31 "core" ' +265 ( + "storage"(F& +4 "core" &\ H +2 "manipulator"&K& +4 "core" &f  + "manipulator"&N% +4 "core" % _ ~ +2 .tForearm.seek :retract +2 "manipulator"&2'\ +101 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&B(D +251 "core" ( +2 "manipulator"&D& +4 "core" &@ F "| +2 "storage"(E& +3 "core" & +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&T' +93 "core" ' + .tHand.open +2 "manipulator"&_1 +60 "core" 1 +2 "storage"(5- +4 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate +2 "storage"(' +27 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(J' +51 "core" ' + #tLights, camera, ACTION! + "storage"(H- +4 "core" -' +2 "storage"(4& +4 "core" &  + "manipulator"&t& +4 "core" &@  i j "| +2 .tElbow.seek 3 +2 "manipulator"&)(D +3 "core" ( + "manipulator"& & +4 "core" &@ l e 1 "| +2 "storage"(&& +4 "core" &  +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&0' +3 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"(R'M +58 "core" ' + "manipulator"&V& +5 "core" &@ d l "| + "storage"(a& +4 "core" & +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&3'M +29 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.07 Pucks below Top Plate + "storage"( '7 +24 "core" ' + "manipulator"&}% +5 "core" %av  7 +2 "storage"(]& +4 "core" & + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 3 + 320 counts +2 "manipulator"&#'ύ +18 "core" ' +2 "manipulator"&d& +5 "core" &1 t n $ + "storage"(& +5 "core" &\  m +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&' +10 "core" ' + "storage"(X% +5 "core" %>\ \ Y +2 ."downElevator"SE.seek :down +3 "storage"(r'N +99 (!% +3 "core" %C d N@ +2 "manipulator"&% +4 "core" % m c \\ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&''\ +88 "core" ' +63 ' + ."downElevator"SE.stop + "storage"(5 +3 (h& +4 "core" & H +2 "collection"'C& +3 "core" &]LnrO < +2 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&Z% +5 "core" %\ ,  "Y + "storage"(Y% +4 "core" %A  +2 "storage"(6. +3 "core" .( + "storage"(M& +5 "core" & t + "storage"(I& +4 "core" & +2 "manipulator"&>& +4 "core" &1  $ + .tElbow.seek 3 +2 "manipulator"&((D +21 "core" ( + "manipulator"&f& +5 "core" &V  % + "storage"(P& +4 "core" & k +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&' +102 "core" ' + "storage"(g& +5 "core" & k +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(p'e +290 "core" ' + "storage"(L- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&U& +4 "core" &X g k l % +2 "storage"(j& +4 "core" &\ P +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&:'M +33 "core" ' + .tElbow.hold +2 "manipulator"&/, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(q- +4 "core" -' +2 .tSE.seek 0.12 Pucks below Top Plate +2 "storage"(A't +35 "core" ' + "manipulator"&\ % +4 "core" %`l {  +2 "storage"(& +4 "core" & ! + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 319 counts + "manipulator"&+'ό +18 "core" ' +2 "manipulator"&Q& +4 "core" &C [ s w ( +2 "storage"(k& +4 "core" & d +2 .tForearm.reconfigure :tight +52 "manipulator"&#Q@2^d^\ b +5 .tForearm.seek 3 + 450 counts + "manipulator"&' +11 "core" ' +2 .tSE.seek 1.12 Pucks below Top Plate +2 "storage"('c +39 "core" ' + "manipulator"&u& +5 "core" &C m p G ( + "manipulator"&% +5 "core" % ` d C + +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +89 "core" ' +2 .tElbow.seek CC + "manipulator"& ( +147 "core" ( +2 "manipulator"&& +4 "core" &#  ;7 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &s& +2 "core" &# y  ;7 +2 .tForearm.seek CC +2 "manipulator"&e'| +100 "core" ' + .tHand.close + "manipulator"& +2 "manipulator"&x% +5 "core" % D F  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&y'\ +88 "core" ' +50 ' + ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 2 of [2..3] + #Loading generic puck from tube 2 into Collection Clamp +2 "collection"'.& +4 "core" &moq +2 "manipulator"&% +4 "core" %\ * h t  !R + "storage"(|% +4 "core" %E\ \    +2 "storage"(8. +3 "core" .( +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"(@(  +359 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (i& +3 "core" & \ \  c + "manipulator"& & +4 "core" &/ r L  +2 .tElbow.seek 2 +2 "manipulator"&~(; +26 "core" ( + "manipulator"&9& +4 "core" &1\ H V +2 "storage"([& +4 "core" & \ \  & +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&{'Ѐ +101 "core" ' + "storage"(& +5 "core" & \ 2\ $  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('e +277 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (c& +2 "core" & \ \  I +2 "manipulator"&$& +4 "core" &2\ _ `  U + .tElbow.seek 2 +2 "manipulator"&n(; +3 "core" ( + "manipulator"&& +4 "core" &2\ k c Q U +2 "storage"(7& +3 "core" & \ \  s +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&=' +29 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&*/ +60 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&^& +2 "storage"(O'N +9 "core" &2\ b e m U + "manipulator"&F% +5 "core" % \ e a ( + .tForearm.seek :retract +2 "manipulator"&\\'\ +90 "core" ' + .tElbow.seek CC +2 "manipulator"&K( +153 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +3 "core" ( +2 "manipulator"&N& +3 "core" &) u @Y +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &)  @Y +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&D'| +101 "core" ' + "manipulator"&E& +5 "core" &* @Y + "manipulator"&b% +5 "core" %t  + "collection"'_& +4 "core" &nn +3 "collection"'5& +4 "core" &lpz +2 .tCC.seek :closed +2 "collection"'H(] +4 "core" &nn} +7 &Cor #c +10 &rZnn 6 +9 &op~ H +9 &gnn G +10 &ckno G +9 &$loo G +10 & onpy G +9 &"mmou G +9 &$lilov G +10 &&-kmpw G +9 &'lmqg G +9 &)lno{ H +10 &+sklo{ G +9 &-5jlou G +10 &.mmpw G +9 &0jno{ G +9 &2zmmow G +10 &4<kmpw G +9 &5jpos G +9 &7joow H +10 &9inn{ G +9 &;Fimpw G +9 &=jnnr G +10 &>klpt G +9 &@kmot G +10 &BLjnpy G +9 &Dmmoq G +9 &Ejnoq G +10 &Gmmo} H +9 &IPwno~ I +10 &K por K +9 &Lqpn O +9 &Nqrq Q +10 &P@qqr Q +9 &Rnrv Q +9 &Sqrs R +10 &Uoso S +9 &WBrrl S +9 &Xqqv U +10 &Zrsj T +9 &\\t*osi F +10 &]j0rsn &q +9 &]_oro A +2 ( +2 "collection"'5& +3 #tCollection Clamp onSpring/offSpring for 9/25 samples, on/off torque 1.86 + .Hand.open +2 "manipulator"&41 +55 "core" 1 + "manipulator"&t% +5 "core" % q } . +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"& '\ +97 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%&& +5 "core" &f +2 "manipulator"&2% +3 "core" %\ 0  $p +2 "storage"(V% +4 "core" %T + "storage"(a. +4 "core" .(  + "storage"(}& +4 "core" & + "storage"(1& +4 "core" & +2 "manipulator"&]& +4 "core" &'  >J + "manipulator"&d% +4 "core" %\ 0  $p +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&(; +155 "core" ( +2 "manipulator"&& +4 "core" &E   +2 "storage"(X& +3 "core" & E +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&B'Ѐ +110 "core" ' + "storage"(T& +5 "core" & \ \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(J'e +276 "core" ' + "storage"(!- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" & \ \ \  R + "manipulator"&0& +4 "core" &E e b e  +2 .tElbow.seek 2 +2 "manipulator"&)(; +3 "core" ( +2 "manipulator"&R& +4 "core" &E 3 _   + "storage"(3& +4 "core" & \ \ \ +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&h' +24 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&C/ +61 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&#& + "storage"(Z'N +7 "core" &E e ` <  +2 "manipulator"&Y% +4 "core" % _ _ +2 .tForearm.seek :retract +2 "manipulator"&6'\ +97 "core" ' +2 .tElbow.seek PC + "manipulator"& (c +152 "core" ' + ."downElevator"SE.stop + "storage"(5 +101 "core" ( +2 "manipulator"&M& +4 "core" &Y  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &I& +3 "core" &Y 3 +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&>'[ +104 "core" ' +2 "manipulator"&f& +4 "core" &Y u r T +2 "manipulator"&P% +4 "core" %O m n  m +2 "processing"%& +3 "core" &S +2 "processing"%g& +6 "core" &X +2 .tPC.seek :closed + "processing"%r(Z +5 "core" &^ +6 &D\\ #c +10 &[` 6 +9 &W G +9 &j_ G +10 &ulS G +9 &9j] F +9 & na G +10 &"iY F +9 &$k[ F +61 &&@hV G +4 &(hR F +3 &)kD F + &+nF G + &-Hn= G +2 &/\ n@ G + &0mH G +3 &2kL G +8 &4QiP F +10 &6mR G +9 &7iN G +10 &9gL G +9 &;XmT G +9 &=mR G +10 &>hS G +9 &@jL F +9 &B`jV G +10 &D"nT G +9 &EkW F +10 &GrV H +9 &IcyS H +9 &K S J +10 &LX L +9 &NN M +9 &P_Q M +10 &R I M +9 &SO M +9 &UK M +10 &WeJ M +9 &Y'R E +10 &ZZMB Y +9 &Z.Q . +5 ( +2 "processing"%g& +4 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.49 + .Hand.open + "manipulator"&1 +4 "core" &Z!B . +60 1 + "manipulator"&'% +5 "core" % S v Z i + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&L'\ +91 "core" ' + "processing"%U& +5 "core" &Z!M . + #tImaging generic puck in Processing Clamp while storing it to tube 2 +2 "manipulator"&j% +4 "core" %\ *  !R + "storage"(q% +4 "core" %C  +2 "storage"(\ . +3 "core" .(  + "storage"(& +4 "core" & \ > +3 "storage"(Q& +2 "manipulator"&k& +6 "core" & \ o +2 &Y  +2 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +2 "storage"(#]kK-0-\ b + "manipulator"&u(c +7 ."raiseStack"SE.seek :beamBreak + "storage"('e +3 "core" ( + "manipulator"&& +4 "core" &Y  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &(& +2 "core" &Y  +3 .tForearm.seek PC + "manipulator"&p'[ +100 "core" ' + .tHand.close + "manipulator"&:/ +57 "core" / +2 .tPC.seek :open +2 "processing"%+(p +88 "core" ' +2 "storage"(- +3 "core" -'e +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +2 ."raiseStack"SE.seek :place +2 "storage"(A'B +35 "core" ' +253 ( + "storage"(s& +5 "core" & \  h + "manipulator"&& +4 "core" &Y  +2 "manipulator"&/% +4 "core" % o  +2 .tForearm.seek :retract + "manipulator"&<'\ +105 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&(; +245 "core" ( + "manipulator"&,& +5 "core" &: | F + "storage"(W& +4 "core" &  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&l'Ѐ +101 "core" ' + .tHand.open +2 "manipulator"&1 +55 "core" 1 +2 "storage"(- +3 "core" -'B +3 .tSE.seek -0.16 Pucks below Top Plate + "storage"(o' +25 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(w' +49 "core" ' +2 #tLights, camera, ACTION! + "storage"(e- +4 "core" -' +2 "storage"( & +3 "core" &  } V +2 "manipulator"&;& +4 "core" &: { R F + .tElbow.seek 2 +2 "manipulator"&z(; +4 "core" ( + "manipulator"&& +4 "core" &: x s s F +2 "storage"("& +4 "core" &  +2 .tForearm.seek 2 + 450 counts + "manipulator"& 'Ѐ +21 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"('M +59 "core" ' + "manipulator"&& +5 "core" &: _ ` 6 F + "storage"(%& +4 "core" & \ \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 + "manipulator"&x'ξ +35 "core" ' +2 .tElbow.hold + "manipulator"&S, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"(?'7 +23 "core" ' +2 "manipulator"&.% +5 "core" %x  0 + "storage"(& +4 "core" &  & + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 2 + 319 counts +2 "manipulator"&|' +18 "core" ' +2 "manipulator"&v& +4 "core" &C r o v = +2 "storage"(8& +5 "core" &  \  p +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&'Ѐ +23 "core" ' +2 "storage"(% +4 "core" %@\ \ +3 ."downElevator"SE.seek :down +3 "storage"('N +99 (`% +2 "core" %D P N@ +2 "manipulator"&i% +5 "core" %З m b [ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"& '\ +94 "core" ' +58 ' + ."downElevator"SE.stop + "storage"(5 +3 (9& +4 "core" &  ; +2 "collection"'[& +3 "core" &][orn A +2 #tStoring generic puck in Collection Clamp to tube 2 + "manipulator"&% +4 "core" %\ <  ) +2 "storage"(% +4 "core" %K  \ + "storage"(y. +4 "core" .(  + "storage"(& +5 "core" &  C + "storage"(c& +4 "core" &  , + "manipulator"&$& +4 "core" &C  = +2 .tElbow.seek 2 +2 "manipulator"&(; +3 "core" ( + "manipulator"&7& +4 "core" &C  = +2 "storage"(*& +4 "core" &   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&^'Ѐ +104 "core" ' + "storage"(F& +5 "core" & \ \ R +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(~'e +290 "core" ' + "storage"({- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&N& +3 "core" &C b ` t = +2 "storage"(& +3 "core" &  \  8 +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&'ξ +36 "core" ' +2 .tElbow.hold +2 "manipulator"&=, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(E- +2 "core" -' +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(b'l +27 "core" ' +2 "manipulator"&_% +4 "core" %j 8 \ +2 "storage"(n& +4 "core" &  % + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 318 counts + "manipulator"&O' +18 "core" ' +2 "manipulator"&\\& +4 "core" &G Y t W 9 +2 "storage"(m& +3 "core" & \ \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&4'Ѐ +15 "core" ' +2 .tSE.seek 1.11 Pucks below Top Plate + "storage"(t'[ +45 "core" ' +2 "manipulator"&&& +5 "core" &G b k 4 9 + "manipulator"&2% +5 "core" %z m m + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&V'\ +92 "core" ' + .tElbow.seek CC +2 "manipulator"&a( +157 "core" ( +2 "manipulator"&}& +4 "core" &+  Bh +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &1& +3 "core" &, a Bh +2 .tForearm.seek CC +2 "manipulator"&5'| +95 "core" ' +2 .tHand.close + "manipulator"&]/ +60 "core" / +2 .tCC.seek :open + "collection"'d(p +409 "core" ( +2 "storage"(D& +4 "core" & \ \ + "storage"(& +4 "core" & \ \ \ l +2 "manipulator"&X& +3 "core" &, Bf +2 "manipulator"&T% +4 "core" % } v + .tForearm.seek :retract +2 "manipulator"&K'\ +91 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"& (; +156 "core" ( +2 "manipulator"&!& +4 "core" &4 o :  + "storage"(& +4 "core" &  \ 7 +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 2 +2 "manipulator"&0'ξ +107 "core" ' + .tElbow.hold +2 "manipulator"&R, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&31 +53 "core" 1 +2 "manipulator"&C% +5 "core" % 9 e + "storage"(#& +4 "core" &  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 318 counts +2 "manipulator"&Y' +53 "core" ' +3 "manipulator"&& +4 "core" &8 S R  +2 "storage"(B& +4 "core" & \ \ e +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&J'Ѐ +11 "core" ' + "storage"(h% +5 "core" %\\\ \  +3 ."downElevator"SE.seek :down +3 "storage"(M'N +99 (I% +3 "core" %B \  J N> +2 "manipulator"&)% +4 "core" %Љ k h  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&f'\ +88 "core" ' +49 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 3 of [2..3] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"'P& +5 "core" &mpz + "manipulator"&% +4 "core" %\ -  "[ +2 "storage"(Z% +4 "core" %7\ \  k + "storage"(6. +4 "core" .(  +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 +2 "storage"(G( +360 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (& +3 "core" &D W  + "manipulator"&'& +4 "core" &8  +2 .tElbow.seek 3 +2 "manipulator"&U(D +22 "core" ( +2 "manipulator"&j& +4 "core" &: 9 # + "storage"(q& +4 "core" & \    +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&\ ' +115 "core" ' + "storage"(& +4 "core" &\ \  9  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(g'e +282 "core" ' + "storage"(k- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (Q& +3 "core" &\ \  '  + "manipulator"&& +4 "core" &< _ e  # +2 .tElbow.seek 3 +2 "manipulator"&((D +3 "core" ( +2 "manipulator"&>& +3 "core" &< s Z B # +2 "storage"(:& +4 "core" &\ \  /  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&'y +10 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"& / +64 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&L& + "storage"(r'N +8 "core" &< a ` L # +2 "manipulator"&s% +4 "core" % o ` c . , +2 .tForearm.seek :retract + "manipulator"&'\ +92 "core" ' +2 .tElbow.seek CC +2 "manipulator"&( +148 "core" ( +2 "manipulator"&/& +4 "core" ' + && =D +2 ."downElevator"SE.stop +3 .tElbow.reconfigure :loose +2 "storage"(5 +2 "manipulator"&$ &.,(#b +4 &p& +3 "core" &% =D +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&,'| +102 "core" ' +2 "manipulator"&W& +4 "core" &% X =D +2 "manipulator"&u% +4 "core" %φ V +2 "collection"'& +4 "core" &psj +2 "collection"'& +6 "core" &mpl +2 .tCC.seek :closed +2 "collection"'e(] +5 "core" &mp| +6 & )np} #a +10 &nXmn} 4 +9 &lp H +9 &gnr} G +10 &Rjno G +9 &knp H +10 & klq G +9 &"mnn G +9 &$Yjno G +10 &&kop~ H +9 &'jlqz G +9 &)hmo G +10 &+ajnny G +9 &-#jnp} G +10 &.monu G +9 &0kmmu H +9 &2iknoq G +10 &4*kmoz H +9 &5impt G +9 &7klot G +10 &9rjmpw G +9 &;4impp G +10 &<jnqw G +9 &>jops G +9 &@zlnpv G +10 &B;knos G +9 &Ckmpt G +9 &Ejmos G +10 &Gklpr G +9 &IBplqq H +9 &K~onr I +10 &Loo~ L +9 &Nqqr P +10 &P1pt P +9 &Qrrs Q +9 &Sptt Q +10 &Upqr| S +9 &W3rrr R +9 &Xpss T +10 &Zsrr S +9 &\\vpsn @ +10 &]c2psu )x +9 &]?rsx 9 +2 ( +2 "collection"'& +3 #tCollection Clamp onSpring/offSpring for 10/26 samples, on/off torque 1.83 + .Hand.open +2 "manipulator"& 1 +52 "core" 1 + "manipulator"&;% +5 "core" % ~ / + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +95 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp +2 "processing"%"& +4 "core" &T + "manipulator"&<% +4 "core" %\ 1  $n +2 "storage"(% +4 "core" %H b  + "storage"(%. +3 "core" .( +2 "storage"(A& +3 "core" &  +2 "storage"(.& +4 "core" & =  + "manipulator"&& +4 "core" &$  ;7 +2 "manipulator"&o% +4 "core" %\ 1  $n +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&v(D +157 "core" ( + "manipulator"&8& +4 "core" &G 2 +2 "storage"(& +4 "core" &\ \   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&' +103 "core" ' + "storage"(l& +4 "core" & \ ~  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(w'e +278 "core" ' + "storage"(`- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (i& +3 "core" & \   +2 "manipulator"& & +3 "core" &G i g w +2 .tElbow.seek 3 +2 "manipulator"&z(D +3 "core" ( + "manipulator"&& +4 "core" &G p u + "storage"(x& +4 "core" &\ \ W  +3 .tForearm.seek 3 + 300 counts + "manipulator"&|'y +11 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&9/ +58 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&[& + "storage"('N +7 "core" &G n n + "manipulator"&% +4 "core" % } p p , +2 .tForearm.seek :retract +2 "manipulator"&y'\ +93 "core" ' +2 .tElbow.seek PC +2 "manipulator"&?(c +162 "core" ' + ."downElevator"SE.stop + "storage"(5 +85 "core" ( +2 "manipulator"&& +4 "core" &i q " + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &c& +3 "core" &i  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&$'[ +95 "core" ' + "manipulator"&7& +5 "core" &i d  + "manipulator"&*% +4 "core" %\\  +2 "processing"%& +4 "core" &X +3 "processing"%F& +6 "core" &^ +2 .tPC.seek :closed +3 "processing"%(Z +3 "core" &U +6 &;] #c +10 &z[W 6 +9 &^ G +9 &iV G +10 &pkT G +9 &2iH G +10 & jQ G +9 &"k] F +9 &$xo` G +10 &&:kQ G +9 &'hR G +9 &)ma F +10 &+hC G +9 &-Cj@ F +9 &/kO F +10 &0jE F +9 &2nJ F +10 &4JhI G +9 &6 kT G +9 &7hS F +10 &9jW F +9 &;RpY G +9 &=lK G +10 &>jK F +9 &@mR G +10 &BYmL G +9 &DjS G +9 &EmO F +10 &GuP H +9 &I\\}W I +9 &KU J +10 &LS L +9 &NV M +10 &PZT L +9 &RR M +9 &SI M +10 &UA M +9 &W_J M +9 &Y!B G +10 &ZTC@ "d +9 &Z-7 + +6 ( +2 "processing"%F& +3 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.51 + .Hand.open +2 "manipulator"&S1 +3 "core" &Z < + +54 1 + "manipulator"& % +4 "core" % \\ * +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&{'\ +92 "core" ' + "processing"%N& +4 "core" &Z R + +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&% +4 "core" %\ + !Q +2 "storage"(E% +4 "core" %S C  + "storage"(_. +4 "core" .( + "storage"(n& +4 "core" & I  +2 "storage"(\\& +4 "manipulator"&m& +4 "core" & d  + &i  +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +3 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +3 "storage"(#]kK-0-\ b +2 "manipulator"&&(c +5 ."raiseStack"SE.seek :beamBreak +2 "storage"(2'e +3 "core" ( + "manipulator"&^& +5 "core" &i  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &i  +2 .tForearm.seek PC +2 "manipulator"&~'[ +101 "core" ' + .tHand.close + "manipulator"&/ +56 "core" / +2 .tPC.seek :open +2 "processing"%O(p +85 "core" ' + "storage"(b- +4 "core" -'e + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(}'B +38 "core" ' +253 ( + "storage"(1& +5 "core" &\ \ !  + "manipulator"&4& +55 "core" &i  +4 "manipulator"&=% +3 "core" % [  +2 .tForearm.seek :retract +2 "manipulator"&]'\ +94 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&V(D +243 "core" ( +2 "manipulator"&H& +4 "core" &B | @ +2 "storage"(D& +3 "core" &\ \ v  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&' +99 "core" ' + .tHand.open +2 "manipulator"&X1 +53 "core" 1 +2 "storage"(T- +4 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate +2 "storage"(!' +23 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(' +54 "core" ' + #tLights, camera, ACTION! +2 "storage"(5- +4 "core" -' + "storage"(a& +4 "core" & I  +2 "manipulator"&3& +4 "core" &B  @ +2 .tElbow.seek 3 +2 "manipulator"&C(D +3 "core" ( + "manipulator"&#& +4 "core" &B B @ +2 "storage"(& +4 "core" & x  +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&B' +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"(h'M +57 "core" ' +2 "manipulator"&K& +4 "core" &B q C @ +2 "storage"(I& +4 "core" &\ \  3  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&)'M +28 "core" ' +2 .tElbow.hold + "manipulator"& , +5 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"(0'7 +23 "core" ' +2 "manipulator"&P% +4 "core" %as  $ +2 "storage"(& +4 "core" &   + .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 3 + 320 counts + "manipulator"&Z'ύ +19 "core" ' +2 "manipulator"&Y& +4 "core" &B m h V @ +2 "storage"(6& +5 "core" &\ \ \ \ B  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&t' +21 "core" ' + "storage"(J% +5 "core" %=\  +2 ."downElevator"SE.seek :down +4 "storage"(M'N +98 (@% +3 "core" %~B\ n M> +2 "manipulator"&% +4 "core" % l b D  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&''\ +90 "core" ' +60 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (j& +4 "core" &  +2 "collection"'q& +4 "core" &]6tr_ 9 + #tStoring generic puck in Collection Clamp to tube 3 +2 "manipulator"&% +4 "core" %\ 2  %x + "storage"(R% +4 "core" %G\  +2 "storage"(f. +3 "core" .( + "storage"(k& +4 "core" &\ \ d  +2 "storage"(Q& +4 "core" &\ \  +2 "manipulator"&& +3 "core" &B  @ +2 .tElbow.seek 3 +2 "manipulator"&>(D +3 "core" ( +2 "manipulator"&:& +3 "core" &B + @ +2 "storage"( & +4 "core" &\ \   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&L' +97 "core" ' + "storage"(s& +4 "core" &\ \ ?  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(U'e +285 "core" ' + "storage"(\ - +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&/& +4 "core" &B b ` @ + "storage"(p& +4 "core" &\ \ U  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&g'M +34 "core" ' + .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(W- +2 "core" -' +2 .tSE.seek 0.12 Pucks below Top Plate +2 "storage"(u't +28 "core" ' + "manipulator"&% +5 "core" %_^ c + "storage"((& +4 "core" &   + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 318 counts +2 "manipulator"&r'ϋ +16 "core" ' +2 "manipulator"&& +4 "core" &B \\ i I @ + "storage"(d& +4 "core" &\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"& ' +19 "core" ' +2 .tSE.seek 1.12 Pucks below Top Plate +2 "storage"(;'c +45 "core" ' +2 "manipulator"&"& +4 "core" &B b k ? @ +2 "manipulator"&<% +4 "core" % d m ~ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +91 "core" ' + .tElbow.seek CC +2 "manipulator"&%( +153 "core" ( + "manipulator"&A& +4 "core" &) : @W +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &.& +2 "core" &) / @W +2 .tForearm.seek CC +2 "manipulator"&'| +94 "core" ' +2 .tHand.close + "manipulator"&/ +63 "core" / +2 .tCC.seek :open + "collection"'o(p +409 "core" ( + "storage"(,& +5 "core" &\  4  + "storage"(8& +4 "core" & \  + "manipulator"&& +4 "core" &' $ >M + "manipulator"&l% +4 "core" % |  +2 .tForearm.seek :retract +2 "manipulator"&'\ +91 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&(D +179 "core" ( +2 "manipulator"&`& +4 "core" &L } "| +2 "storage"(i& +3 "core" & \  <  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 +2 "manipulator"& 'M +113 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&x1 +63 "core" 1 +2 "manipulator"&9% +4 "core" % Zj  +2 "storage"([& +3 "core" &  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 313 counts + "manipulator"&'φ +12 "core" ' + "manipulator"&v& +4 "core" &L Y s "| +2 "storage"(& +4 "core" &\ \   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&w' +18 "core" ' +2 "storage"(|% +4 "core" %`\ \  +2 ."downElevator"SE.seek :down +5 "storage"('N +99 (c% +2 "core" %?\  ^ M= +2 "manipulator"&z% +5 "core" % a e & + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&7'\ +93 "core" ' +47 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 2 of [2..3] +2 #Loading generic puck from tube 2 into Collection Clamp + "collection"'*& +4 "core" &nol +2 "manipulator"&% +4 "core" %\ 8  ' +2 "storage"(% +3 "core" %=\  2  +2 "storage"(y. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 + "storage"(+(  +360 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (S& +2 "core" &  +2 "manipulator"& & +4 "core" &L B "| + .tElbow.seek 2 +2 "manipulator"&N(; +29 "core" ( +2 "manipulator"&& +4 "core" &A  +2 "storage"(E& +4 "core" & \ \  y +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&_'Ѐ +101 "core" ' + "storage"(n& +5 "core" & \ \  + .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(m'e +284 "core" ' +2 "storage"(\\- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (F& +2 "core" & \ \  +2 "manipulator"&^& +5 "core" &A p n  + .tElbow.seek 2 +2 "manipulator"&(; +3 "core" ( +2 "manipulator"&$& +3 "core" &A u p   +2 "storage"(& +4 "core" &  \ s +52 .tForearm.seek 2 + 300 counts +2 "manipulator"&b' +11 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&?/ +53 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&{& +3 "storage"('N +8 "core" &A a f V  + "manipulator"&1% +5 "core" % h b R W +2 .tForearm.seek :retract + "manipulator"&2'\ +96 "core" ' +2 .tElbow.seek CC +2 "manipulator"&4( +143 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +8 "core" ( +2 "manipulator"&=& +4 "core" &#  ;3 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &~& +4 "core" &#  ;3 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&H'| +106 "core" ' + "manipulator"&D& +5 "core" &#  ;3 + "manipulator"&&% +4 "core" %ρ  +2 "collection"'X& +4 "core" &oo~ +2 "collection"'T& +5 "core" &mrk +2 .tCC.seek :closed +2 "collection"'5(] +5 "core" &ppm  +8 &6pr{ *x +9 &iopy = +10 &typp G +9 &7jpo~ G +9 &knpv G +10 &mmq} H +9 &!|kqp~ G +10 &#=lpq} H +9 &%jno| G +9 &&kpqz G +10 &(mnpx G +9 &*Gkopr G +9 &, jmqz G +10 &-jpq G +9 &/mqpv G +10 &1Nkorm G +9 &3hprh G +9 &4inon G +10 &6jops H +9 &8Wjnqq G +9 &:knor G +10 &;inov G +9 &=koqq G +9 &?_jqpi G +10 &A jmpo G +9 &Bhoqu G +10 &Dioo| G +9 &Fejnqv H +9 &H'nns H +10 &I{qs J +9 &Kqtx L +10 &MUqrr P +9 &Ors~ P +9 &Pqso Q +10 &Rstu Q +9 &TVssr R +9 &Vtr} S +10 &Wrsq S +9 &Ypts U +9 &[G(tt [ +10 &\\rt} (| +9 &]"ssv K +9 ( +2 &]cqt| B +2 "collection"'T& +3 #tCollection Clamp onSpring/offSpring for 8/26 samples, on/off torque 1.87 + .Hand.open +2 "manipulator"&a1 +59 "core" 1 + "manipulator"&3% +4 "core" % z J +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&#'\ +95 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%& +5 "core" &k + "manipulator"&]% +4 "core" %\ / C #c +2 "storage"(K% +4 "core" %@  + "storage"(I. +4 "core" .(  + "storage"(P& +4 "core" &  1 + "storage"(& +4 "core" &  +2 "manipulator"&}& +4 "core" &"  9( + "manipulator"&Y% +4 "core" %\ / #c +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&!(; +171 "core" ( +2 "manipulator"&6& +4 "core" &/ |  ! + "storage"(J& +4 "core" &  ] +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&V'Ѐ +107 "core" ' + "storage"(& +4 "core" & \ +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('e +274 "core" ' + "storage"(@- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" & \ \  + "manipulator"&B& +4 "core" &/ h h V ! +2 .tElbow.seek 2 +2 "manipulator"&C(; +14 "core" ( +2 "manipulator"&h& +4 "core" &3 l Z 7 i +2 "storage"()& +3 "core" & \ \ / +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&j' +23 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&Z/ +55 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&q& + "storage"('N +7 "core" &3 a a o i + "manipulator"&R% +4 "core" % i m +2 .tForearm.seek :retract +2 "manipulator"&f'\ +89 "core" ' +2 .tElbow.seek PC + "manipulator"&k(c +163 "core" ' + ."downElevator"SE.stop + "storage"(5 +86 "core" ( +2 "manipulator"&0& +4 "core" &g p +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &Q& +3 "core" &g k r E +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&'[ +105 "core" ' + "manipulator"&:& +4 "core" &g X r R +3 "manipulator"& % +3 "core" %P n i k +2 "processing"%t& +4 "core" &f +2 "processing"%s& +5 "core" &] +2 .tPC.seek :closed +2 "processing"%M(Z +4 "core" &P +8 &DU #b +9 &}\\] 6 +10 &S G +9 &dS F +9 &rjS F +10 &4kX F +9 & kV F +9 &"jX F +10 &$xnZ G +9 &&;hM G +10 &'gJ G +9 &)l@ G +9 &+jT G +10 &-Ch< G +9 &/jL G +9 &0g@ F +10 &2kN F +9 &4KgR G +10 &6hK F +9 &7jQ G +9 &9lL F +10 &;SkL G +9 &=kJ G +9 &>kJ G +10 &@oU G +9 &B[mT G +10 &DnS G +9 &EjW G +9 &GqH H +10 &I^yN I +9 &KK J +9 &LX L +10 &NN M +9 &PZQ M +10 &RV M +9 &SQ M +9 &UE M +10 &WbK M +9 &Y#R F +9 &ZTDK !b +10 &Z-J + +5 ( +2 "processing"%s& +4 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.49 + .Hand.open +2 "manipulator"& 1 +3 "core" &Z C + +60 1 + "manipulator"&'% +4 "core" % Z u \\ +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&\ '\ +95 "core" ' +2 "processing"%/& +4 "core" &Z 7 + +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 + "manipulator"&p% +4 "core" %\ 5  & +2 "storage"(W% +3 "core" %H D  +2 "storage"(. +3 "core" .(  + "storage"((& +4 "core" &  E +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"((  +29 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (d& +3 "core" &   # +2 "manipulator"&"& +2 ."raiseStack"SE.reconfigure :place +5 "storage"(#]kK-0-\ b +3 "core" &g +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +2 ."raiseStack"SE.seek :beamBreak +3 "manipulator"&<(c +2 "storage"(L'e +5 "core" ( + "manipulator"&>& +4 "core" &g = +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &U& +3 "core" &g  +2 .tForearm.seek PC +2 "manipulator"&g'[ +94 "core" ' +2 .tHand.close + "manipulator"&r/ +55 "core" / +2 .tPC.seek :open +2 "processing"%u(p +92 "core" ' + "storage"(A- +3 "core" -'e +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +2 ."raiseStack"SE.seek :place +2 "storage"(.'B +37 "core" ' +248 ( +2 "storage"( & +4 "core" &  2 +2 "manipulator"&& +3 "core" &g e a k +2 "manipulator"&% +4 "core" % ] i g + .tForearm.seek :retract +2 "manipulator"&'\ +96 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&e(; +253 "core" ( + "manipulator"&,& +4 "core" &5 = & +2 "storage"(8& +4 "core" &  _ 2 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&'Ѐ +96 "core" ' +2 .tHand.open + "manipulator"&l1 +61 "core" 1 +2 "storage"(`- +4 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate +2 "storage"(i' +23 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.83 Pucks below Top Plate + "storage"(' +52 "core" ' + #tLights, camera, ACTION! + "storage"(%- +4 "core" -' +2 "storage"(x& +3 "core" &  ~ } 3 +2 "manipulator"&9& +4 "core" &6 % & +2 .tElbow.seek 2 +2 "manipulator"&[(; +3 "core" ( + "manipulator"&v& +5 "core" &6  & + "storage"(& +4 "core" &  } } 3 +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&|'Ѐ +3 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"('M +67 "core" ' +2 "manipulator"&c& +4 "core" &6 p n & +2 "storage"(z& +4 "core" &  Q 3 + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&'ξ +30 "core" ' + .tElbow.hold +2 "manipulator"& , +4 "core" , +62 .tElbow.reconfigure :tight +4 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"(*'7 +25 "core" ' + "manipulator"&% +5 "core" %s ~ , + "storage"(& +5 "core" &  # 3 + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 311 counts +2 "manipulator"&' +20 "core" ' + "manipulator"&y& +5 "core" &T t o 7 "y + "storage"(;& +5 "core" & \ \ \ 3 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts +2 "manipulator"&w'Ѐ +23 "core" ' + "storage"(% +5 "core" %;\ \ { +2 ."downElevator"SE.seek :down +3 "storage"(G'N +99 (S% +3 "core" %@  N> +2 "manipulator"& % +4 "core" %О b e  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +92 "core" ' +56 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (E& +4 "core" &  3 + "collection"'n& +4 "core" &]equb B +2 #tStoring generic puck in Collection Clamp to tube 2 +2 "manipulator"&% +3 "core" %\ 5  & +2 "storage"(7% +4 "core" %G 8  +2 "storage"(\\. +3 "core" .(  + "storage"(F& +4 "core" &  R 3 +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 +2 "storage"(^(  +46 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 ($& +3 "core" & ] + "manipulator"&& +4 "core" &T ) "y +2 .tElbow.seek 2 +2 "manipulator"&?(; +31 "core" ( +2 "manipulator"&{& +4 "core" &6 # ~ +2 "storage"(1& +4 "core" & Z +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&N'Ѐ +94 "core" ' +2 "storage"(_& +4 "core" & \  [ +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(='e +279 "core" ' +2 "storage"(~- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&m& +2 "core" &6 o n ~ +2 "storage"(b& +4 "core" & \ \ v +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&D'ξ +28 "core" ' +2 .tElbow.hold +2 "manipulator"&&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(X- +3 "core" -' +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"('i +25 "core" ' +2 "manipulator"&% +4 "core" %p  " +2 "storage"(2& +4 "core" &  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 318 counts +2 "manipulator"&o' +13 "core" ' + "manipulator"&a& +4 "core" &6 6 K ~ +2 "storage"(3& +4 "core" & \ \  , +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&'Ѐ +17 "core" ' +2 .tSE.seek 1.11 Pucks below Top Plate +2 "storage"(]'X +52 "core" ' +2 "manipulator"&K& +4 "core" &6 D D ~ +2 "manipulator"&I% +4 "core" %x E E  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&P'\ +92 "core" ' +2 .tElbow.seek CC + "manipulator"&T( +155 "core" ( + "manipulator"&& +4 "core" &# x = ;7 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &}& +2 "core" &#  ;7 +2 .tForearm.seek CC +2 "manipulator"&Y'| +96 "core" ' + .tHand.close + "manipulator"&H/ +62 "core" / + .tCC.seek :open +2 "collection"'6(p +409 "core" ( + "storage"(J& +4 "core" & \ \  +2 "storage"(& +4 "core" & \  X +2 "manipulator"&4& +3 "core" &#  :- +2 "manipulator"&#% +3 "core" % v  +2 .tForearm.seek :retract +2 "manipulator"&@'\ +92 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&(; +152 "core" ( +2 "manipulator"&B& +4 "core" &8 c +2 "storage"(h& +3 "core" & \ \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 2 +2 "manipulator"&)'ξ +105 "core" ' +2 .tElbow.hold + "manipulator"&Z, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&q1 +57 "core" 1 +2 "manipulator"&R% +4 "core" % < u +2 "storage"(!& +4 "core" & j + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 319 counts + "manipulator"&V' +18 "core" ' +2 "manipulator"&& +4 "core" &A D c A + "storage"(j& +4 "core" & \ \  ( +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&0'Ѐ +18 "core" ' + "storage"(Q% +5 "core" %[\ \  +2 ."downElevator"SE.seek :down +3 "storage"(C'N +99 (:% +3 "core" %C \ % N> +2 "manipulator"& % +4 "core" %p c W  + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&t'\ +87 "core" ' +53 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 3 of [2..3] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"'& +5 "core" &ppk + "manipulator"&f% +4 "core" %\ +  !T +2 "storage"(O% +4 "core" %H\ \  &  + "storage"( . +4 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"('( +361 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (/& +3 "core" & H  +2 "manipulator"&p& +3 "core" &A  +2 .tElbow.seek 3 +2 "manipulator"&W(D +3 "core" ( + "manipulator"&& +4 "core" &A a +2 "storage"((& +3 "core" &\ \    +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&s' +104 "core" ' + "storage"("& +5 "core" &\ $\ 4 3  + .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(d'e +280 "core" ' +2 "storage"(>- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (U& +2 "core" &\ \   +2 "manipulator"&& +4 "core" &A a Y ] + .tElbow.seek 3 +2 "manipulator"&r(D +3 "core" ( + "manipulator"&+& +4 "core" &A G ] K +2 "storage"(A& +4 "core" &\ \  e  +2 .tForearm.seek 3 + 300 counts + "manipulator"&k'y +28 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&\ / +59 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&M& +2 "storage"( 'N +7 "core" &A a f  + "manipulator"&% +4 "core" % s a _ +2 .tForearm.seek :retract +2 "manipulator"&'\ +88 "core" ' +2 .tElbow.seek CC +2 "manipulator"&L( +153 "core" ' + ."downElevator"SE.stop + "storage"(5 +21 "core" ( + "manipulator"&g& +5 "core" & p / b + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &,& +3 "core" &  b +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&8'| +101 "core" ' + "manipulator"&<& +5 "core" & }  b + "manipulator"&l% +4 "core" %υ $ +2 "collection"'`& +4 "core" &nqn +3 "collection"'%& +5 "core" &opz +2 .tCC.seek :closed +2 "collection"'x(] +4 "core" &mqy +7 &Cno $e +9 &|[np} 6 +9 &ooz G +10 &gmnx G +9 &pkpry G +9 &2lopx G +10 & lnrx G +9 &"mpqw G +10 &$wipp G +9 &&9mpr} G +9 &'kon G +10 &)jprs G +9 &+norp G +9 &-Bjopp G +10 &/kop~ G +9 &0lopr G +9 &2jnqp G +10 &4Hkppu G +9 &6\ joos G +10 &7knpf G +9 &9inqn G +9 &;Qippw G +10 &=jopo G +9 &>jono G +9 &@jnqn G +10 &BXjmrq G +9 &Djoqv G +10 &Ejpqu G +9 &Gkoq G +9 &I^snp| H +10 &Kpr J +9 &Lqr M +9 &Nrs P +10 &PNru} P +60 &Rstz Q +7 &Sqt Q + &Urt R + &WQouy R + &Ytuw T +2 &Zquv T + &\\sst A +3 &]p!qs{ *z +8 &]Jsuu = +2 ( +2 "collection"'%& +3 #tCollection Clamp onSpring/offSpring for 10/25 samples, on/off torque 1.83 + .Hand.open +2 "manipulator"&91 +52 "core" 1 +2 "manipulator"&v% +4 "core" % ρ 9 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +99 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%& +4 "core" &Y +2 "manipulator"&c% +4 "core" %\ 5  & + "storage"(z% +4 "core" %? v +2 "storage"(.. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(i( +6 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (& +3 "core" & ?  + "manipulator"&& +4 "core" &  b +2 "manipulator"&e% +4 "core" %\ 5  & +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&y(D +165 "core" ( + "manipulator"&;& +5 "core" &C\ | _ + "storage"(& +4 "core" & _  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&' +107 "core" ' + "storage"(& +4 "core" & \  6  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(|'e +280 "core" ' + "storage"(S- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 ([& +3 "core" &\ \ \   +2 "manipulator"& & +3 "core" &C\ c l o _ +2 .tElbow.seek 3 +2 "manipulator"&(D +3 "core" ( +2 "manipulator"&& +3 "core" &C\ T p i _ +2 "storage"(& +4 "core" & \ \ z  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&E'y +24 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&n/ +61 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"(7'N +7 "core" &C\ c j } _ +2 "manipulator"&\\% +4 "core" % r c i Y +2 .tForearm.seek :retract + "manipulator"&F'\ +89 "core" ' + .tElbow.seek PC +2 "manipulator"&*(c +162 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +88 "core" ( +2 "manipulator"&$& +4 "core" &m 8 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &m  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&{'[ +101 "core" ' + "manipulator"&1& +5 "core" &m  + "manipulator"&w% +4 "core" %c  +2 "processing"%_& +4 "core" &^ +3 "processing"%G& +4 "core" &a +2 .tPC.seek :closed +2 "processing"%(Z +4 "core" &M  +10 &6R )w +9 &kQ = +9 &vV G +10 &BgX G +9 &kU F +10 &hL F +9 &!j^ F +9 &#Khb F +10 &%hZ F +9 &&nM G +9 &(gI G +10 &*RlP G +9 &,nR G +10 &-mI G +9 &/nM G +9 &1ZnK G +10 &3m< G +9 &4mF F +9 &6iN F +10 &8bhG G +9 &:$gP G +10 &;gL G +9 &=hK G +9 &?jkV G +10 &A,mV G +9 &BgP G +9 &DkJ F +11 &FqnJ G +8 &H/xK H +10 &IX J +9 &KS K +9 &MjY L +10 &O,K L +9 &PK M +9 &RI M +10 &TrJ L +9 &V1J M +10 &WL M +9 &YL 6 +9 &Z|)N #f +10 &ZP ( +2 ( +2 "processing"%G& +3 #tProcessing Clamp onSpring/offSpring for 8/26 samples, on/off torque 1.51 + .Hand.open + "manipulator"& 1 +55 "core" 1 +2 "manipulator"&% +4 "core" % c \\ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&~'\ +100 "core" ' +2 "processing"%m& +4 "core" &ZK ( +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&b% +4 "core" %\ 8 I ' +2 "storage"(X% +3 "core" %D  +2 "storage"(. +3 "core" .( + "storage"(2& +5 "core" &  + "storage"(a& +4 "manipulator"&3& +5 "core" &  + &m  +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +3 "storage"(#]kK-0-\ b + "manipulator"&K(c +6 ."raiseStack"SE.seek :beamBreak +2 "storage"(I'e +2 "core" ( +2 "manipulator"&N& +4 "core" &m v + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &?& +3 "core" &m y  +2 .tForearm.seek PC + "manipulator"&='[ +95 "core" ' + .tHand.close +2 "manipulator"&D/ +53 "core" / +2 .tPC.seek :open +2 "processing"%o(p +96 "core" ' +2 "storage"(- +3 "core" -'e + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('B +33 "core" ' +247 ( +2 "storage"(}& +4 "core" &\ \ \    + "manipulator"&& +4 "core" &m c j m +2 "manipulator"&&% +4 "core" % _ ` d c + .tForearm.seek :retract +2 "manipulator"&H'\ +100 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&P(D +252 "core" ( + "manipulator"&5& +4 "core" &B  # +2 "storage"(J& +4 "core" &   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&' +93 "core" ' + .tHand.open +2 "manipulator"&41 +61 "core" 1 +2 "storage"(#- +4 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate +2 "storage"(B' +28 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(h' +51 "core" ' +2 #tLights, camera, ACTION! + "storage"(Y- +4 "core" -' + "storage"(T& +5 "core" &   + "manipulator"&q& +4 "core" &B N # +2 .tElbow.seek 3 + "manipulator"&R(D +4 "core" ( + "manipulator"&!& +4 "core" &B o y # + "storage"(& +4 "core" &   +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&j' +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"(Q'M +57 "core" ' + "manipulator"&@& +5 "core" &B m n l # + "storage"(:& +5 "core" &   + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"& 'M +33 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"()'7 +34 "core" ' +2 "manipulator"&% +4 "core" %`m \\  +2 "storage"(f& +5 "core" &   + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 3 + 319 counts +2 "manipulator"&V'ό +18 "core" ' + "manipulator"&O& +5 "core" &3 X r e % + "storage"( & +5 "core" & n  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&]' +11 "core" ' +2 "storage"(0% +4 "core" %>\ \ \ +3 ."downElevator"SE.seek :down +3 "storage"(C'N +99 (^% +2 "core" %D  N? +2 "manipulator"&/% +5 "core" % n o * +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&p'\ +95 "core" ' +51 ' + ."downElevator"SE.stop + "storage"(5 +3 (& +4 "core" & z  +2 "collection"'(& +4 "core" &]Lqtu = + #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&"% +5 "core" %\ : ( + "storage"(Z% +4 "core" %C  + "storage"(t. +4 "core" .( + "storage"(>& +4 "core" & j  + "storage"(U& +5 "core" & y  + "manipulator"&& +4 "core" &3 I % +2 .tElbow.seek 3 +2 "manipulator"&+(D +14 "core" ( + "manipulator"&A& +4 "core" &B r  , +2 "storage"(\ & +4 "core" & \\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&M' +93 "core" ' +53 "storage"(& +5 "core" &\  V  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(W'e +291 "core" ' + "storage"(s- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&g& +2 "core" &E q q  , +2 "storage"(,& +4 "core" &\ \ \ ,  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&d'M +34 "core" ' +2 .tElbow.hold + "manipulator"&k, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(r- +2 "core" -' +2 .tSE.seek 0.12 Pucks below Top Plate +2 "storage"(<'t +35 "core" ' + "manipulator"&l% +5 "core" %^_ + "storage"(`& +4 "core" & P  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 317 counts + "manipulator"& 'ϊ +18 "core" ' +2 "manipulator"&& +4 "core" &G m s + +2 "storage"(6& +4 "core" & \ p  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&9' +23 "core" ' +2 .tSE.seek 1.12 Pucks below Top Plate + "storage"(v'c +48 "core" ' +2 "manipulator"&& +4 "core" &G o o % + +2 "manipulator"&c% +4 "core" %) p l ! +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&z'\ +88 "core" ' +2 .tElbow.seek CC +2 "manipulator"&.( +146 "core" ( + "manipulator"&%& +5 "core" &$  <; + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &% 2 <; +2 .tForearm.seek CC + "manipulator"&'| +98 "core" ' + .tHand.close + "manipulator"&e/ +62 "core" / +2 .tCC.seek :open +2 "collection"'8(p +411 "core" ( + "storage"(;& +5 "core" &\  L  + "storage"(& +4 "core" & H  + "manipulator"&'& +4 "core" &$  ;8 +2 "manipulator"&% +3 "core" % χ H  +2 .tForearm.seek :retract +2 "manipulator"&L'\ +92 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&(D +168 "core" ( + "manipulator"&S& +5 "core" &= |  I + "storage"([& +4 "core" & \    +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 +2 "manipulator"& 'M +108 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&1 +60 "core" 1 +2 "manipulator"&n% +4 "core" % as  & +2 "storage"(& +4 "core" &  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 320 counts + "manipulator"&\\'ύ +18 "core" ' + "manipulator"&y& +5 "core" &7 ] j O + "storage"(& +5 "core" &\ \   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&|' +21 "core" ' + "storage"(E% +5 "core" %j\ \  +2 ."downElevator"SE.seek :down +3 "storage"($'N +99 (% +3 "core" %{C \  s N> +2 "manipulator"&% +4 "core" % _ i ) +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&1'\ +90 "core" ' +46 ' + ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 2 of [2..3] + #Loading generic puck from tube 2 into Collection Clamp +2 "collection"'w& +3 "core" &oq] + "manipulator"&_% +5 "core" %\ 0  $t + "storage"(7% +4 "core" %:\ \ D  +2 "storage"(F. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 + "storage"(u(  +365 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 ( & +3 "core" &  W +2 "manipulator"&& +3 "core" &7  O +2 .tElbow.seek 2 +2 "manipulator"&m(; +3 "core" ( + "manipulator"&b& +4 "core" &7 ; O +2 "storage"(X& +3 "core" & \ \  : +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&'Ѐ +109 "core" ' + "storage"(2& +4 "core" & \ \  J +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(G'e +283 "core" ' + "storage"(3- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (a& +2 "core" & \  1 +2 "manipulator"&N& +4 "core" &7 m b O +2 .tElbow.seek 2 + "manipulator"&?(; +3 "core" ( +2 "manipulator"&{& +4 "core" &7 t p w O + "storage"(D& +4 "core" & \ \  z +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&' +22 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&*/ +55 "core" / +2 ."downElevator"SE.seek :down +5 "manipulator"&~& + "storage"('N +7 "core" &7 l c } O +2 "manipulator"&}% +4 "core" % _ ` \ +2 .tForearm.seek :retract +2 "manipulator"&'\ +100 "core" ' + .tElbow.seek CC +2 "manipulator"&&( +140 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +13 "core" ( + "manipulator"&I& +5 "core" &* ) A` + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &=& +3 "core" &* * A` +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&5'| +97 "core" ' +2 "manipulator"&J& +4 "core" &* q A_ +2 "manipulator"&K% +4 "core" %p ] +2 "collection"'4& +4 "core" &pqn +2 "collection"'#& +5 "core" &oq +2 .tCC.seek :closed + "collection"'Y(] +5 "core" &mr +7 &Cqp $d +9 &z[nqz 6 +10 &oq{ H +9 &jpqw G +9 &nkqp~ G +10 &0kprz G +14 & knr G +4 &"kpr| G +10 &$ukqq G +9 &&6kpq~ G +10 &'kop{ G +9 &)kppx H +9 &+~jppz G +10 &-@inpw G +9 &/kqqv G +9 &0kpqv G +10 &2klrp G +9 &4Fjpqv G +10 &6jnqj G +9 &7jorl G +9 &9hoqh G +10 &;Ninpn G +9 &=ipor G +9 &>jorg G +10 &@kqqo G +9 &BVjopv G +10 &Djpp H +9 &Ejpqq G +9 &Glprv G +10 &IZvoo I +9 &Kpry K +9 &Lss O +10 &Npt P +9 &PKrt~ Q +10 &R su Q +9 &Sru R +9 &Ustw R +10 &WMsu S +9 &Y rt{ T +9 &Ztvy T +10 &\\rw A +9 &]p$rt 'r +10 &]frt D +2 ( +2 "collection"'#& +2 #tCollection Clamp onSpring/offSpring for 10/25 samples, on/off torque 1.88 + .Hand.open +2 "manipulator"&T1 +53 "core" 1 + "manipulator"&q% +4 "core" % p 0 +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&!'\ +92 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%& +4 "core" &S +2 "manipulator"&H% +4 "core" %\ -  "^ + "storage"(@% +4 "core" %C  +2 "storage"(:. +3 "core" .(  +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"((  +27 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (& +3 "core" & ` @ " + "manipulator"&f& +4 "core" &(  ?V +2 "manipulator"&B% +3 "core" %\ - 6 "^ +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&O(; +172 "core" ( + "manipulator"& & +4 "core" &8  d +2 "storage"(0& +4 "core" & | % +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&P'Ѐ +109 "core" ' + "storage"(& +5 "core" & \ \  _ % + .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(h'e +273 "core" ' +2 "storage"(^- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (/& +2 "core" & \ \ u * +2 "manipulator"&j& +4 "core" &8 c i d + .tElbow.seek 2 +2 "manipulator"&R(; +3 "core" ( +2 "manipulator"&Q& +3 "core" &8 o s d +2 "storage"( & +3 "core" &  \ \ b * +3 .tForearm.seek 2 + 300 counts + "manipulator"&' +76 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&(/ +59 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&V& +3 "storage"("'N +6 "core" &8 j b c d +2 "manipulator"&Z% +4 "core" % j d +2 .tForearm.seek :retract +2 "manipulator"&t'\ +95 "core" ' +2 .tElbow.seek PC +2 "manipulator"&>(c +153 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +100 "core" ( + "manipulator"&)& +5 "core" &\\ n  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &U& +3 "core" &\\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&'[ +110 "core" ' +2 "manipulator"&A& +4 "core" &\\ o t } +2 "manipulator"&\ % +4 "core" %U b ` x +2 "processing"%]& +3 "core" &Z +2 "processing"%& +5 "core" &X +2 .tPC.seek :closed +2 "processing"%C(Z +4 "core" &C +8 &FS #b +10 &z[R 6 +9 &L G +9 &bT F +10 &qiM F +9 &3jJ F +10 & jK F +9 &"iK F +9 &$xkM G +10 &&:kJ G +9 &'kB F +9 &)hG F +10 &+hE F +9 &-CjH F +10 &/k@ F +9 &0hH G +9 &2mB G +10 &4KjL F +9 &6 iM F +9 &7hQ F +10 &9jL G +9 &;RhJ G +10 &=gJ G +9 &>hM G +9 &@jD F +10 &B[jM F +9 &DkK G +9 &EnN G +10 &GqK G +9 &I\\yK I +10 &KQ J +9 &L@ L +9 &NJ M +10 &PYM M +9 &RK M +10 &SK M +9 &UJ M +9 &W`J M +10 &Y!D F +9 &ZSD? !d +9 &Z3E + +6 ( +2 "processing"%& +4 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.51 + .Hand.open +2 "manipulator"&1 +3 "core" &Z F + +53 1 + "manipulator"&p% +5 "core" % ] u [ + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&s'\ +91 "core" ' + "processing"%g& +5 "core" &Z K + + #tImaging generic puck in Processing Clamp while storing it to tube 2 +2 "manipulator"&,% +4 "core" %\ ,  "\\ + "storage"(r% +4 "core" %7 +2 "storage"(l. +3 "core" .(  +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"(`(  +44 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (& +2 "manipulator"&6& +4 "core" &  3 +5 ."raiseStack"SE.reconfigure :place +3 "storage"(#]kK-0-\ b +2 "core" &\\  +3 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +2 ."raiseStack"SE.seek :beamBreak +4 "manipulator"&(c + "storage"(c'e +5 "core" ( +2 "manipulator"&M& +4 "core" &\\  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &+& +3 "core" &\\  +2 .tForearm.seek PC +2 "manipulator"&W'[ +95 "core" ' + .tHand.close +2 "manipulator"&d/ +61 "core" / +2 .tPC.seek :open +2 "processing"% (p +87 "core" ' + "storage"(<- +4 "core" -'e + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +2 ."raiseStack"SE.seek :place +2 "storage"(%'B +38 "core" ' +252 ( + "storage"(& +5 "core" & \ y + "manipulator"&9& +4 "core" &\\ o o +2 "manipulator"&k% +4 "core" % a n l Y +2 .tForearm.seek :retract + "manipulator"&e'\ +102 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&z(; +249 "core" ( +2 "manipulator"&x& +4 "core" &7 ~ ' "} +2 "storage"(;& +3 "core" &   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&'Ѐ +93 "core" ' + .tHand.open +2 "manipulator"&'1 +61 "core" 1 +2 "storage"(- +4 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate + "storage"(S' +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"([' +50 "core" ' + #tLights, camera, ACTION! +2 "storage"(- +3 "core" -' +2 "storage"(.& +4 "core" &  } z J + "manipulator"&& +4 "core" &7 / "} +2 .tElbow.seek 2 +2 "manipulator"&n(; +3 "core" ( + "manipulator"&& +4 "core" &7 o  "} +2 "storage"(y& +4 "core" &  { ~ +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&'Ѐ +3 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"(E'M +57 "core" ' + "manipulator"&L& +4 "core" &7 k e "} +2 "storage"(& +4 "core" & \ \  B + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&'ξ +30 "core" ' +2 .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"( '7 +23 "core" ' + "manipulator"&w% +5 "core" %p ! # +2 "storage"(_& +4 "core" &  # + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 308 counts +2 "manipulator"&\\' +19 "core" ' + "manipulator"&7& +5 "core" &J r o h j + "storage"(F& +5 "core" &  \ ] +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts +2 "manipulator"&v'Ѐ +22 "core" ' +2 "storage"(|% +4 "core" %?\  t +3 ."downElevator"SE.seek :down +3 "storage"($'N +99 (i% +2 "core" %B j M? +2 "manipulator"& % +4 "core" %Ј c ` d / +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +91 "core" ' +58 ' + ."downElevator"SE.stop + "storage"(5 +3 (b& +4 "core" &  + "collection"'X& +4 "core" &]bst` D +2 #tStoring generic puck in Collection Clamp to tube 2 + "manipulator"&2% +4 "core" %\ 1 ) $q +2 "storage"(% +4 "core" %E   + "storage"(1. +4 "core" .(  + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 2 + "storage"(3(  +31 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (a& +3 "core" &  e  +2 "manipulator"&N& +4 "core" &J  j +2 .tElbow.seek 2 +2 "manipulator"&{(; +31 "core" ( + "manipulator"&D& +5 "core" &D *  + "storage"(*& +5 "core" &  \ k  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&~'Ѐ +110 "core" ' + "storage"(}& +5 "core" &  \  <  + .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(m'e +278 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&I& +3 "core" &D E E  +2 "storage"(=& +3 "core" & \ \ M  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&G'ξ +33 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(J- +2 "core" -' +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(K'i +25 "core" ' + "manipulator"&4% +5 "core" %e i  + "storage"(?& +4 "core" & +  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 315 counts +2 "manipulator"&' +18 "core" ' + "manipulator"&& +4 "core" &D J I /  +2 "storage"(8& +4 "core" & \ \ \ \ ?  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&T'Ѐ +22 "core" ' +2 .tSE.seek 1.11 Pucks below Top Plate +2 "storage"(q'X +46 "core" ' +2 "manipulator"&& +4 "core" &D Q R 4  +2 "manipulator"&H% +4 "core" %} S c 0 + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +44 "manipulator"&@'\ +96 "core" ' +2 .tElbow.seek CC + "manipulator"&:( +155 "core" ( +2 "manipulator"&#& +4 "core" &%  <9 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +5 "core" &% ( <9 +2 .tForearm.seek CC + "manipulator"&f'| +98 "core" ' +2 .tHand.close + "manipulator"&B/ +65 "core" / + .tCC.seek :open +2 "collection"'5(p +409 "core" ( + "storage"( & +4 "core" & \  h  +2 "storage"(0& +4 "core" & \ \   + "manipulator"&u& +5 "core" &$  ;8 + "manipulator"&&% +4 "core" % χ ^ +2 .tForearm.seek :retract +2 "manipulator"&'\ +91 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&!(; +173 "core" ( +2 "manipulator"&^& +4 "core" &8   m +2 "storage"(/& +4 "core" & \    + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 2 +2 "manipulator"&j'ξ +107 "core" ' + .tElbow.hold +2 "manipulator"&Q, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"& 1 +61 "core" 1 +3 "manipulator"&(% +4 "core" %  ] + "storage"(V& +4 "core" & t  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 312 counts + "manipulator"&Z' +19 "core" ' + "manipulator"&O& +4 "core" &n i Y 9 7 +2 "storage"(P& +4 "core" & \ !\   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts +2 "manipulator"&h'Ѐ +17 "core" ' + "storage"(% +5 "core" %Z\ \  o +2 ."downElevator"SE.seek :down +4 "storage"()'N +100 (U% +2 "core" %? \   M= +2 "manipulator"&R% +5 "core" %x _ ` ) + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&A'\ +87 "core" ' +51 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 3 of [2..3] + #Loading generic puck from tube 3 into Collection Clamp + "collection"'\ & +5 "core" &ps~ +2 "manipulator"&]% +4 "core" %\ -  "[ + "storage"("% +4 "core" %?\ \  I  +2 "storage"(t. +3 "core" .(  +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 + "storage"(o( +357 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (& +3 "core" & Z  +2 "manipulator"&p& +3 "core" &n  7 +2 .tElbow.seek 3 +2 "manipulator"&g(D +19 "core" ( +2 "manipulator"&,& +4 "core" &N n {   +2 "storage"(r& +3 "core" &\ \  6  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&l' +104 "core" ' + "storage"(& +5 "core" &\ :\ 5 t  + .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('e +276 "core" ' + "storage"(6- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (M& +3 "core" &\ \  6  + "manipulator"&+& +4 "core" &N G T `  +2 .tElbow.seek 3 +2 "manipulator"&(D +3 "core" ( + "manipulator"&d& +4 "core" &N ? N r  +2 "storage"(& +3 "core" &\ \   +3 .tForearm.seek 3 + 300 counts + "manipulator"&<'y +28 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&>/ +61 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&s& +2 "storage"(C'N +6 "core" &N F I 6  +2 "manipulator"&% +4 "core" % χ e ] L +2 .tForearm.seek :retract +2 "manipulator"&9'\ +89 "core" ' +2 .tElbow.seek CC +2 "manipulator"&c( +149 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +10 "core" ( + "manipulator"&k& +4 "core" &+ p ; Ad +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &W& +3 "core" &+  Ad +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&x'| +103 "core" ' +2 "manipulator"&;& +4 "core" &+ g Ad +2 "manipulator"&% +4 "core" %π # +2 "collection"''& +4 "core" &pr| +2 "collection"'& +5 "core" &pto +3 .tCC.seek :closed + "collection"'(] +4 "core" &prx +8 &Aqr| #c +10 &[pq 6 +9 &nry H +10 &eopz G +9 &tkop| G +9 &6kop| G +10 & jqrx G +9 &"jno G +9 &$zjos G +10 &&<jpq} G +9 &'kpqz G +10 &)jop~ G +9 &+jor~ G +9 &-Eipqx G +10 &/jqpq G +9 &0krrr G +9 &2iqpw G +10 &4Ljpsp G +9 &6ipsq G +10 &7joqp G +9 &9hpqt G +9 &;Uipql G +10 &=irrv G +9 &>jnrr G +9 &@jnor G +10 &B]iotu G +9 &Djmr{ G +9 &Ejqp{ G +10 &Gjpp G +9 &Iator{ H +10 &K |qr| J +9 &Lrs~ L +9 &Ntr O +10 &PRqt} P +9 &Rrs} Q +10 &Ssu Q +9 &Uuv R +9 &WTrt R +10 &Yptv S +9 &Zst~ T +9 &\\su @ +10 &]o!su +{ +9 &]Wtuz ? +2 ( +2 "collection"'& +3 #tCollection Clamp onSpring/offSpring for 10/25 samples, on/off torque 1.84 + .Hand.open +2 "manipulator"&.1 +62 "core" 1 + "manipulator"&% +4 "core" % |  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +100 "core" ' + #tLoading generic puck from tube 3 into Processing Clamp + "processing"%y& +5 "core" &D + "manipulator"&e% +4 "core" %\ : $ ( +2 "storage"(L% +4 "core" %7  + "storage"(. +3 "core" .( +2 "storage"(w& +4 "core" &  + "storage"(_& +4 "core" &  + "manipulator"&%& +4 "core" &5#  ;4 +2 "manipulator"&7% +4 "core" %\ :  ( +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&S(D +149 "core" ( + "manipulator"&F& +5 "core" &M E + "storage"(|& +4 "core" &  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&z' +104 "core" ' + "storage"(& +4 "core" & \  -  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(['e +286 "core" ' + "storage"(i- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 ( & +3 "core" &\ \ N  + "manipulator"&& +4 "core" &M e k H +2 .tElbow.seek 3 +2 "manipulator"&n(D +3 "core" ( +2 "manipulator"&E& +3 "core" &M d E U +2 "storage"(& +4 "core" &\ \ z  +2 .tForearm.seek 3 + 300 counts + "manipulator"&\\'y +28 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&b/ +6 "Can" C@ +53 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&X& +2 "storage"(2'N +8 "core" &M _ V + "manipulator"&% +4 "core" % r c j +2 .tForearm.seek :retract +2 "manipulator"&1'\ +90 "core" ' + .tElbow.seek PC +2 "manipulator"& (c +159 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +89 "core" ( +2 "manipulator"&a& +4 "core" &m B +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &N& +2 "core" &m  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&D'[ +103 "core" ' + "manipulator"&*& +5 "core" &m ' + "manipulator"&v% +4 "core" %` +2 "processing"%}& +4 "core" &O +3 "processing"%$& +4 "core" &S +2 .tPC.seek :closed +2 "processing"%`(Z +5 "core" &I +7 &E\\ #c +9 &z[V 6 +10 &T G +9 &iV G +9 &pgW G +10 &2hR G +9 & jL F +10 &"jG G +9 &$xhI G +9 &&;hL F +10 &'iG F +9 &)gB G +9 &+f8 G +10 &-Cj@ F +9 &/jG G +10 &0iE F +9 &2jG G +9 &4JkD G +10 &6 lN G +9 &7gL G +9 &9hK F +10 &;RjL G +9 &=kJ G +10 &>nK G +9 &@jJ G +9 &B[iJ F +10 &DkI G +9 &EjJ G +9 &GsG H +10 &I[|K I +9 &KL J +10 &LJ M +9 &ND M +9 &PZL L +10 &RL M +9 &SF M +9 &U@ M +10 &W^9 N +9 &Y!= H +10 &ZR:mH &m +9 &Z 1= ' +5 ( +2 "processing"%$& +4 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.51 +53 .Hand.open +2 "manipulator"&1 +3 "core" &Z8 ' +58 1 + "manipulator"&% +5 "core" % `  + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +95 "core" ' +2 "processing"%I& +4 "core" &Z8 ' +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&=% +4 "core" %\ 1  $n +2 "storage"(J% +4 "core" %E + "storage"(4. +3 "core" .( +2 "storage"(?& +3 "core" &  +2 "storage"(& +2 "manipulator"&8& +7 "core" &  + &m  +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +3 "storage"(#]kK-0-\ b + "manipulator"&(c +7 ."raiseStack"SE.seek :beamBreak + "storage"(H'e +3 "core" ( + "manipulator"&~& +4 "core" &m K +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &{& +2 "core" &m  +3 .tForearm.seek PC + "manipulator"&m'[ +93 "core" ' + .tHand.close +2 "manipulator"&G/ +58 "core" / +2 .tPC.seek :open +2 "processing"%(p +93 "core" ' + "storage"(K- +4 "core" -'e + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(#'B +36 "core" ' +247 ( + "storage"(T& +5 "core" &\ \   + "manipulator"&& +4 "core" &m q +2 "manipulator"&% +4 "core" % ]  i f +2 .tForearm.seek :retract +2 "manipulator"&B'\ +99 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&@(D +250 "core" ( +2 "manipulator"&Y& +4 "core" &C N # +2 "storage"( & +3 "core" & \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&0' +94 "core" ' +2 .tHand.open + "manipulator"&u1 +60 "core" 1 +2 "storage"(&- +3 "core" -'B +3 .tSE.seek -0.16 Pucks below Top Plate + "storage"(^' +30 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.83 Pucks below Top Plate + "storage"(/' +51 "core" ' +2 #tLights, camera, ACTION! + "storage"(f- +4 "core" -' +2 "storage"(:& +4 "core" &   + "manipulator"& & +4 "core" &C # +2 .tElbow.seek 3 + "manipulator"&((D +4 "core" ( + "manipulator"&V& +4 "core" &C r  # +2 "storage"(O& +4 "core" &   +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&P' +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"('M +64 "core" ' +2 "manipulator"&& +4 "core" &C e _ ? # +2 "storage"(U& +4 "core" & b  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&R'M +34 "core" ' +2 .tElbow.hold +2 "manipulator"&!, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"(j'7 +31 "core" ' + "manipulator"&\ % +5 "core" %^h j +2 "storage"(]& +4 "core" &   + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 317 counts +2 "manipulator"&Z'ϊ +19 "core" ' + "manipulator"&"& +4 "core" &C g l # +2 "storage"(t& +5 "core" &\ \  =  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&q' +19 "core" ' + "storage"(h% +81 "core" %?\ \ \  +2 ."downElevator"SE.seek :down +4 "storage"()'N +98 (3% +3 "core" %B } N? +2 "manipulator"&% +4 "core" % m c + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&p'\ +89 "core" ' +60 ' + ."downElevator"SE.stop + "storage"(5 +3 (,& +4 "core" & ;  + "collection"'r& +4 "core" &]Ztu} ? +2 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&% +4 "core" %\ 0  $p +2 "storage"(Q% +4 "core" %J z  +2 "storage"(A. +3 "core" .( + "storage"(6& +4 "core" & y  +2 "storage"(M& +4 "core" & x  + "manipulator"&+& +4 "core" &C  # +2 .tElbow.seek 3 +2 "manipulator"&d(D +3 "core" ( + "manipulator"&& +4 "core" &C  # +2 "storage"(>& +4 "core" & q  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&s' +99 "core" ' +2 "storage"(& +4 "core" &\ \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(g'e +277 "core" ' +2 "storage"(l- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&k& +3 "core" &C  # + "storage"(W& +4 "core" &   +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&'M +33 "core" ' + .tElbow.hold +2 "manipulator"&<, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(;- +2 "core" -' +2 .tSE.seek 0.12 Pucks below Top Plate +2 "storage"('s +28 "core" ' + "manipulator"&% +4 "core" %_e n  +2 "storage"('& +4 "core" &  + .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 3 + 318 counts + "manipulator"&C'ϋ +16 "core" ' +2 "manipulator"&9& +4 "core" &C W i  # + "storage"(5& +4 "core" & \ c  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&.' +18 "core" ' +2 .tSE.seek 1.12 Pucks below Top Plate + "storage"('b +44 "core" ' + "manipulator"&y& +5 "core" &C _ b $ # + "manipulator"&e% +5 "core" % a e 0 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&L'\ +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&( +146 "core" ( +2 "manipulator"&& +4 "core" & !  9% +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &w& +3 "core" & !  9% +2 .tForearm.seek CC + "manipulator"&_'| +97 "core" ' + .tHand.close +2 "manipulator"&%/ +56 "core" / +2 .tCC.seek :open +2 "collection"'7(p +412 "core" ( + "storage"(x& +4 "core" & \ \   +2 "storage"(F& +3 "core" & \  +2 "manipulator"&|& +4 "core" & J 8! + "manipulator"&% +4 "core" % j A +2 .tForearm.seek :retract + "manipulator"&c'\ +99 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&(D +165 "core" ( + "manipulator"&i& +5 "core" &J  a + "storage"( & +4 "core" &\    +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 +2 "manipulator"&'M +110 "core" ' + .tElbow.hold +2 "manipulator"&E, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&1 +56 "core" 1 +2 "manipulator"&b% +4 "core" % a  O +2 "storage"(X& +4 "core" & .  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 3 + 320 counts +2 "manipulator"&'ύ +18 "core" ' +2 "manipulator"&S& +4 "core" &J Q F D a +2 "storage"(z& +4 "core" &\ \   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&[' +20 "core" ' + "storage"(\\% +4 "core" %^\ \  M +3 ."downElevator"SE.seek :down +3 "storage"(a'N +99 (N% +52 "core" %?\ \  N> +3 "manipulator"&n% +4 "core" % _ T \  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&*'\ +86 "core" ' + ."downElevator"SE.stop + "storage"(5 +4 "core" ' +2 #tShuffling pucks in tube 2 of [2..3] + #Loading generic puck from tube 2 into Collection Clamp +2 "collection"'v& +4 "core" &ps_ + "manipulator"&}% +4 "core" %\ 0 " $p +2 "storage"(2% +4 "core" %7\ \  ! +2 "storage"(1. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"( (  +357 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (& +2 "core" & \ \ +2 "manipulator"&& +4 "core" &J a +2 .tElbow.seek 2 +2 "manipulator"&$(; +8 "core" ( + "manipulator"&I& +5 "core" &5 n ( g + "storage"(=& +5 "core" & \ \  . +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&J'Ѐ +107 "core" ' + "storage"(4& +4 "core" & \ ?\ 7 +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +7 .tSE.seek :beamBreak +2 "storage"(?'e +284 "core" ' + "storage"(8- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" & \ \  4 + "manipulator"&~& +4 "core" &5 ] K i g +2 .tElbow.seek 2 +2 "manipulator"&{(; +3 "core" ( + "manipulator"&D& +4 "core" &5 N _ g g + "storage"(G& +4 "core" & \ \   +3 .tForearm.seek 2 + 300 counts + "manipulator"&K' +25 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"& / +58 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& + "storage"(`'N +7 "core" &5 U ` g +2 "manipulator"&T% +4 "core" % U J  +2 .tForearm.seek :retract +2 "manipulator"&'\ +95 "core" ' +2 .tElbow.seek CC +2 "manipulator"&( +146 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +21 "core" ( + "manipulator"&H& +4 "core" &  v  ' +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &m& +3 "core" &  4 ' +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&Y'| +102 "core" ' +2 "manipulator"& & +5 "core" &  - ' + "manipulator"&% +5 "core" %σ J +2 "collection"'u& +3 "core" &oqv +3 "collection"'&& +5 "core" &pr +2 .tCC.seek :closed +3 "collection"'f(] +3 "core" &ort +6 &ory 4 +9 &Mpqy . +10 &Pxqsy C +9 &moqz G +9 &ioru G +10 &jpq| F +9 & Hkrr| G +9 &"\ kqr G +10 &#kqr{ G +9 &%isqw F +10 &'Pkprt G +9 &)iop G +9 &*iopz G +10 &,joqv G +9 &.Ynrrv G +9 &0jpq} G +10 &1kpq~ G +9 &3jpqp G +9 &5cioqx F +10 &7#lqrq G +9 &8jorq G +10 &:jqrf G +9 &,jpqs G +10 &?nprv G +9 &Ajqrz G +9 &Crkqqz G +10 &E4irqu G +9 &Fnss G +10 &Hurq~ H +9 &Jpqr J +9 &L&qt N +10 &Mrs P +9 &Ort P +9 &Qesu Q +10 &S%oty Q +9 &Ttt~ R +10 &Vtv S +9 &Xfru S +9 &Z%st T +10 &[uv T +9 &]:Drt + +9 &]\ kst| > +6 ( +2 "collection"'&& +4 #tCollection Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.89 + .Hand.open + "manipulator"&:1 +4 "core" &]Ltv > +54 1 +2 "manipulator"& % +4 "core" % σ # +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&V'\ +97 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%O& +4 "core" &E +2 "manipulator"&B% +4 "core" %\ 0  $s + "storage"(% +4 "core" %M d +2 "storage"(U. +3 "core" .(  + "storage"(#& +4 "core" &  +2 "storage"(\ & +4 "core" &  # + "manipulator"&]& +4 "core" &   ' +2 "manipulator"&^% +3 "core" %\ 0  $s +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&"(; +156 "core" ( +2 "manipulator"&t& +4 "core" &< }   + "storage"(@& +4 "core" & \ \ 4 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts +2 "manipulator"&0'Ѐ +100 "core" ' +2 "storage"(/& +4 "core" & \ \  F +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(h'e +281 "core" ' + "storage"(P- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 ((& +3 "core" & \ \ \  + "manipulator"&3& +4 "core" &< g c 3  +2 .tElbow.seek 2 +2 "manipulator"&(; +3 "core" ( + "manipulator"&& +4 "core" &< a c -  +2 "storage"(R& +4 "core" &  \ +2 .tForearm.seek 2 + 300 counts + "manipulator"&Z' +27 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&,/ +64 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&r& + "storage"('N +8 "core" &< e a \  + "manipulator"&Q% +4 "core" % d a ! +2 .tForearm.seek :retract +2 "manipulator"&A'\ +96 "core" ' +2 .tElbow.seek PC +2 "manipulator"&6(c +154 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +92 "core" ( +3 "manipulator"&j& +4 "core" &h  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &M& +3 "core" &h  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&+'[ +93 "core" ' +2 "manipulator"&& +4 "core" &h m n +2 "manipulator"&>% +4 "core" %P f d G +2 "processing"%q& +3 "core" &U +2 "processing"%& +5 "core" &R +2 .tPC.seek :closed +2 "processing"%)(Z +4 "core" &L +7 &EP #b +10 &[R 6 +9 &W G +9 &jS G +10 &vgU G +9 &8gL G +9 & hT G +10 &"hS F +9 &$~hL G +9 &&@gR G +10 &(gL G +9 &)gL F +10 &+hD F +9 &-HjF G +9 &/\ nD G +10 &0kM G +9 &2mG G +9 &4PkD G +10 &6mA G +9 &7lG G +10 &9kL G +9 &;XmJ G +9 &=kO G +10 &>mA G +9 &@hJ F +9 &B`iN G +10 &D"mK G +9 &EjN F +10 &GqJ H +9 &IbyK I +9 &K"J I +10 &LL L +9 &NL L +9 &PaJ L +10 &R!J M +9 &SM M +10 &UD M +9 &WeN M +9 &Y'K D +10 &Z^RJ _ +9 &ZJ ( +2 ( +2 "processing"%& +3 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.51 + .Hand.open +2 "manipulator"&!1 +61 "core" 1 + "manipulator"&p% +5 "core" % P  + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&l'\ +100 "core" ' + "processing"%k& +5 "core" &ZI ( + #tImaging generic puck in Processing Clamp while storing it to tube 2 +2 "manipulator"&W% +4 "core" %\ ? * + "storage"(;% +4 "core" %? +2 "storage"(. +3 "core" .(  + "storage"('& +5 "core" &  + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"(9(  +30 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (5& +4 "core" &   & + "manipulator"&y& +3 ."raiseStack"SE.reconfigure :place +6 "storage"(#]kK-0-\ b +2 "core" &h T +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +2 ."raiseStack"SE.seek :beamBreak +2 "manipulator"&e(c +2 "storage"(s'e +4 "core" ( +2 "manipulator"&d& +4 "core" &h B + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &g& +3 "core" &h $ +2 .tForearm.seek PC +2 "manipulator"&'[ +97 "core" ' +2 .tHand.close + "manipulator"&C/ +60 "core" / +2 .tPC.seek :open +2 "processing"%(p +82 "core" ' + "storage"(- +4 "core" -'e + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place + "storage"(w'B +35 "core" ' +263 ( + "storage"(.& +5 "core" &  } 1 + "manipulator"&<& +4 "core" &h  + "manipulator"&%% +4 "core" % \\ s }  +2 .tForearm.seek :retract +2 "manipulator"&L'\ +98 "core" ' +3 .tElbow.reconfigure :tight +54 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&(; +252 "core" ( +2 "manipulator"&x& +4 "core" &7 $ # +2 "storage"(F& +3 "core" &  1 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&|'Ѐ +99 "core" ' +2 .tHand.open + "manipulator"&1 +61 "core" 1 +2 "storage"(i- +4 "core" -'B +3 .tSE.seek -0.16 Pucks below Top Plate +2 "storage"( ' +21 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(_' +53 "core" ' + #tLights, camera, ACTION! +2 "storage"(- +3 "core" -' +2 "storage"(& +4 "core" &  2 + "manipulator"&b& +4 "core" &8 o p # +2 .tElbow.seek 2 +2 "manipulator"&X(; +3 "core" ( + "manipulator"&S& +4 "core" &8 t o # +2 "storage"(z& +4 "core" &  2 +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&\\'Ѐ +9 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"(c'M +58 "core" ' +2 "manipulator"&N& +4 "core" &8 a b ] # +2 "storage"(& +4 "core" &  \ \ 8 2 + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&n'ξ +33 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"(v'7 +25 "core" ' +2 "manipulator"&}% +4 "core" %v 8 2 +2 "storage"(& +4 "core" &  + 2 + .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 2 + 315 counts + "manipulator"&2' +20 "core" ' +2 "manipulator"&1& +4 "core" &T s p e +2 "storage"(& +4 "core" & \ \ \  2 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&['Ѐ +18 "core" ' +2 "storage"(a% +5 "core" %<\ \ > +2 ."downElevator"SE.seek :down +3 "storage"(o'N +99 (% +3 "core" %lC } M= +2 "manipulator"&% +4 "core" %y _ f   +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&I'\ +92 "core" ' +56 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (=& +4 "core" &  4 2 +2 "collection"'4& +4 "core" &]Ltxm > + #tStoring generic puck in Collection Clamp to tube 2 +2 "manipulator"&E% +4 "core" %\ 8  ' + "storage"(*% +4 "core" %G w  +2 "storage"(8. +3 "core" .(  +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"((  +44 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (~& +3 "core" &   + "manipulator"&D& +4 "core" &T  e +2 .tElbow.seek 2 +2 "manipulator"&G(; +30 "core" ( + "manipulator"& & +5 "core" &:  | + "storage"(& +4 "core" & \ \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&T'Ѐ +106 "core" ' +2 "storage"($& +4 "core" & \ \  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(J'e +274 "core" ' +2 "storage"(H- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&m& +3 "core" &: U ` | + "storage"(?& +4 "core" & \  0 +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&K'ξ +31 "core" ' +2 .tElbow.hold + "manipulator"& , +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"({- +2 "core" -' +3 .tSE.seek 0.11 Pucks below Top Plate + "storage"('i +27 "core" ' + "manipulator"&u% +5 "core" %i   + "storage"(`& +4 "core" & < + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 317 counts +2 "manipulator"&' +18 "core" ' + "manipulator"&7& +5 "core" &: d D  | + "storage"(:& +4 "core" & \ \ * +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"& 'Ѐ +23 "core" ' +2 .tSE.seek 1.11 Pucks below Top Plate +2 "storage"(O'X +47 "core" ' + "manipulator"&B& +4 "core" &: R R H | +2 "manipulator"&% +4 "core" %Т D E  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&U'\ +87 "core" ' +2 .tElbow.seek CC +2 "manipulator"&#( +157 "core" ( +2 "manipulator"&&& +5 "core" &# " ;6 + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &\ & +2 "core" &#  ;6 +2 .tForearm.seek CC +2 "manipulator"&]'| +95 "core" ' +2 .tHand.close + "manipulator"&^/ +61 "core" / +2 .tCC.seek :open +2 "collection"'Y(p +408 "core" ( +2 "storage"(t& +4 "core" & \ * +2 "storage"(@& +3 "core" & \ \ \ \  +2 "manipulator"&/& +3 "core" &  6 +2 "manipulator"&% +4 "core" % υ  + .tForearm.seek :retract +2 "manipulator"&V'\ +95 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&P(; +163 "core" ( +2 "manipulator"&(& +4 "core" &2 $ C +2 "storage"(3& +3 "core" & \  3 +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 2 +2 "manipulator"&'ξ +109 "core" ' + .tElbow.hold +2 "manipulator"&R, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&,1 +54 "core" 1 +2 "manipulator"&r% +5 "core" %  V + "storage"(Q& +4 "core" & + +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 2 + 311 counts +2 "manipulator"&"' +19 "core" ' + "manipulator"&0& +4 "core" &a b ? \\  +2 "storage"(h& +4 "core" & \ \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts +2 "manipulator"&Z'Ѐ +14 "core" ' +2 "storage"(j% +4 "core" %^\ \  +3 ."downElevator"SE.seek :down +3 "storage"(M'N +99 (% +3 "core" %W?\ \   M< +2 "manipulator"&% +4 "core" %r c ` 7  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&>'\ +91 "core" ' +50 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 3 of [2..3] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"'q& +5 "core" &tsa + "manipulator"&% +4 "core" %\ 1  $r +2 "storage"(A% +4 "core" %E\ \  ( +2 "storage"(. +3 "core" .(  +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 + "storage"(!( +360 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (p& +2 "core" &  +2 "manipulator"&k& +4 "core" &a   +2 .tElbow.seek 3 +2 "manipulator"&W(D +22 "core" ( +2 "manipulator"&;& +4 "core" &B o 8 u +2 "storage"(& +3 "core" &\ \  $  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&' +91 "core" ' +2 "storage"('& +4 "core" &\ \    +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(5'e +288 "core" ' +2 "storage"(y- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (d& +2 "core" &\ \  I  +2 "manipulator"&g& +4 "core" &B m m u + .tElbow.seek 3 +2 "manipulator"&+(D +3 "core" ( + "manipulator"&C& +4 "core" &B o t u +2 "storage"( & +4 "core" &\ \  W  +2 .tForearm.seek 3 + 300 counts +52 "manipulator"&'y +24 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&6/ +61 "core" / +4 ."downElevator"SE.seek :down +4 "manipulator"&l& + "storage"()'N +7 "core" &B g a Q u +2 "manipulator"&.% +4 "core" % { T H  +2 .tForearm.seek :retract +2 "manipulator"&s'\ +88 "core" ' +2 .tElbow.seek CC +2 "manipulator"&<( +154 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +5 "core" ( + "manipulator"&%& +5 "core" &( 0 ?Q + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &(  ?Q +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&x'| +103 "core" ' + "manipulator"&F& +5 "core" &(  ?Q +2 "manipulator"&e% +4 "core" %n  +2 "collection"'& +4 "core" &qsu +2 "collection"'i& +5 "core" &qt +2 .tCC.seek :closed +2 "collection"'(] +5 "core" &st +7 &Crt| $d +9 &x\\qsz 6 +9 &pt{ H +10 &ipr G +9 &jmps{ G +10 &-jqtz G +9 & jpr G +9 &"lps G +10 &$sjst~ G +9 &&4nrs~ G +9 &'jpr} G +10 &)jptz G +9 &+zntt} G +12 &->hrs F +7 &.lpqz G +9 &0lqrp G +10 &2jrty G +9 &4Djprs G +9 &6hrsr G +10 &7jssw G +9 &9hqsr G +9 &;Nhpuq F +10 &=jsrs G +9 &>jstp G +10 &@jrsy G +9 &BUjqs{ G +9 &Djqr G +10 &Ejsst G +9 &Gjrs} G +10 &IXsqt I +9 &Kqt J +9 &Luv L +10 &Nst O +9 &PHsuw Q +9 &R\ tt~ Q +10 &Ssv Q +9 &Utv R +9 &WLus R +10 &Y\ tt S +9 &Zvx T +10 &\\su @ +9 &]o%tv 'q +9 &]Lvx ? +3 ( +2 "collection"'i& +2 #tCollection Clamp onSpring/offSpring for 10/25 samples, on/off torque 1.82 +2 .Hand.open + "manipulator"&1 +62 "core" 1 +2 "manipulator"&b% +4 "core" % n  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&S'\ +94 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%z& +5 "core" &Z + "manipulator"&L% +4 "core" %\ 5 ; $t +2 "storage"(N% +4 "core" %H d  + "storage"(. +4 "core" .( + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(w( +3 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (}& +3 "core" &1 #  +2 "manipulator"&& +4 "core" && =F +2 "manipulator"& % +4 "core" %\ 5 ) $t +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&1(D +155 "core" ( + "manipulator"&& +5 "core" &C H \ + "storage"(a& +5 "core" &\ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&' +97 "core" ' + "storage"(|& +5 "core" &\ \   +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(_'e +291 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +2 "core" &\ \   +2 "manipulator"&\\& +4 "core" &C c m \ +2 .tElbow.seek 3 +2 "manipulator"&X(D +3 "core" ( + "manipulator"&c& +4 "core" &C w e  \ +2 "storage"(n& +3 "core" &\  %  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&='y +26 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&2/ +61 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&4& +2 "storage"(E'N +7 "core" &C ` a  \ +2 "manipulator"&*% +3 "core" % ς b f J +2 .tForearm.seek :retract +2 "manipulator"&8'\ +97 "core" ' + .tElbow.seek PC +2 "manipulator"&v(c +154 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +91 "core" ( +2 "manipulator"&~& +4 "core" &i  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &D& +2 "core" &i  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"& '[ +106 "core" ' + "manipulator"&& +5 "core" &i U q l + "manipulator"&[% +5 "core" %P i k + "processing"%$& +4 "core" &` +3 "processing"%o& +4 "core" &_ +2 .tPC.seek :closed +2 "processing"%9(Z +4 "core" &V +8 &=Q #c +9 &t\\U 6 +10 &V G +9 &iT F +9 &jmS G +10 &,lS G +9 & mX G +10 &"lS G +9 &$smR F +9 &&4nM G +10 &'kD F +9 &)kD F +9 &+zkF G +10 &-=hH F +9 &.kA F +10 &0jD F +9 &2mD G +9 &4DjH G +10 &6kI G +9 &7hE G +9 &9eJ F +10 &;MjJ F +9 &=kK G +10 &>nK G +9 &@lL F +9 &BUjM F +10 &DmN G +9 &EiM G +9 &GsN H +10 &IW|N H +9 &KN K +10 &LJ L +9 &NH M +9 &PTJ L +10 &RK L +9 &SL L +9 &UK M +10 &WZL M +9 &YK K +10 &Z^>eK #g +9 &Z+N ' +5 ( +2 "processing"%o& +4 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.48 +2 .Hand.open + "manipulator"&1 +4 "core" &ZK ' +53 1 + "manipulator"&I% +4 "core" % P t ^ +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&H'\ +90 "core" ' +2 "processing"%m& +4 "core" &ZG ' +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&?% +4 "core" %\ 0  $m +2 "storage"({% +4 "core" %B  + "storage"(u. +3 "core" .( +2 "storage"(`& +3 "core" &  +2 "storage"(7& +3 "manipulator"&:& +6 "core" & ^  +2 &i  +2 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +3 "storage"(#]kK-0-\ b +2 .tElbow.seek PC +4 "manipulator"&B(c +3 ."raiseStack"SE.seek :beamBreak +2 "storage"('e +3 "core" ( + "manipulator"&T& +4 "core" &i  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &G& +3 "core" &i  +2 .tForearm.seek PC +2 "manipulator"&J'[ +94 "core" ' + .tHand.close + "manipulator"&K/ +65 "core" / +2 .tPC.seek :open + "processing"%(p +83 "core" ' + "storage"(- +3 "core" -'e +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +2 ."raiseStack"SE.seek :place +2 "storage"(&'B +38 "core" ' +257 ( + "storage"(\ & +4 "core" &\ \   +2 "manipulator"& & +4 "core" &i d m L + "manipulator"& % +4 "core" % L ` b f +2 .tForearm.seek :retract +2 "manipulator"&^'\ +101 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&U(D +251 "core" ( + "manipulator"&f& +4 "core" &B N !p +2 "storage"(t& +4 "core" &   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&@' +106 "core" ' + .tHand.open +2 "manipulator"&/1 +59 "core" 1 +2 "storage"(- +4 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate +2 "storage"((' +23 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(3' +51 "core" ' +2 #tLights, camera, ACTION! + "storage"(]- +4 "core" -' +2 "storage"(#& +4 "core" & Z  + "manipulator"&,& +4 "core" &B n m !p +2 .tElbow.seek 3 + "manipulator"&r(D +4 "core" ( + "manipulator"&Q& +5 "core" &B u y L !p + "storage"(0& +4 "core" &   +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&h' +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"(j'M +58 "core" ' +2 "manipulator"&V& +4 "core" &B c n !p +2 "storage"(& +4 "core" & \  ]  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&'M +29 "core" ' + .tElbow.hold +2 "manipulator"&P, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +54 "storage"(#QK-0-\ b +4 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"('7 +32 "core" ' + "manipulator"&q% +5 "core" %`}  E + "storage"(& +5 "core" & $  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 319 counts +2 "manipulator"&"'ό +17 "core" ' + "manipulator"&A& +5 "core" &A l g ; !q + "storage"(& +90 "core" &\ \    +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&O' +11 "core" ' + "storage"(Z% +5 "core" %>\ \ F +2 ."downElevator"SE.seek :down +4 "storage"(M'N +100 (% +3 "core" %= F M> + "manipulator"&p% +5 "core" % _ _ 4 6 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&k'\ +94 "core" ' +55 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (;& +4 "core" & J  +2 "collection"'& +4 "core" &]Osvo ? + #tStoring generic puck in Collection Clamp to tube 3 +2 "manipulator"&'% +4 "core" %\ 5  & +2 "storage"(R% +4 "core" %G z  + "storage"(>. +3 "core" .( +2 "storage"(y& +4 "core" & t  +2 "storage"(d& +4 "core" &  + "manipulator"&g& +4 "core" &A  !q +2 .tElbow.seek 3 +2 "manipulator"&C(D +3 "core" ( +2 "manipulator"& & +3 "core" &A  !q +2 "storage"(6& +4 "core" & Z  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&l' +97 "core" ' +2 "storage"(.& +4 "core" & f  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(W'e +289 "core" ' + "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&%& +3 "core" &A  !q +2 "storage"(& +4 "core" &\ \  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 + "manipulator"&5'M +32 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(F- +2 "core" -' +2 .tSE.seek 0.12 Pucks below Top Plate +2 "storage"(e's +34 "core" ' + "manipulator"&+% +4 "core" %am Z  +2 "storage"(& +4 "core" &   + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 3 + 320 counts +2 "manipulator"&)'ύ +18 "core" ' + "manipulator"&s& +4 "core" &A W t ) !q +2 "storage"(Y& +4 "core" &\ \ i  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&' +19 "core" ' +2 .tSE.seek 1.12 Pucks below Top Plate +2 "storage"(b'b +47 "core" ' +2 "manipulator"&z& +4 "core" &A c l ; !q +2 "manipulator"&L% +4 "core" % c l d +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&N'\ +95 "core" ' +2 .tElbow.seek CC +2 "manipulator"&( +155 "core" ( +2 "manipulator"&i& +4 "core" &) @X + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &}& +3 "core" &) G @X +2 .tForearm.seek CC +2 "manipulator"&'| +98 "core" ' +2 .tHand.close + "manipulator"& / +54 "core" / + .tCC.seek :open +2 "collection"'x(p +409 "core" ( + "storage"(& +4 "core" &\ \ \  +2 "storage"(a& +4 "core" &\ \ \ \ {  + "manipulator"&!& +4 "core" &( E ?U +2 "manipulator"&|% +3 "core" % z X +2 .tForearm.seek :retract +2 "manipulator"&<'\ +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&S(D +171 "core" ( + "manipulator"&& +5 "core" &A\ } T + "storage"(& +4 "core" &\  #  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 + "manipulator"&\\'M +109 "core" ' +2 .tElbow.hold + "manipulator"&c, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&n1 +60 "core" 1 +2 "manipulator"&2% +4 "core" % _v  8 +2 "storage"(4& +4 "core" & v  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 318 counts + "manipulator"&*'ϋ +12 "core" ' + "manipulator"&1& +5 "core" &A\ W i , T + "storage"(& +5 "core" &\ !\   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&_' +21 "core" ' + "storage"(=% +4 "core" %j\ !\ ! +3 ."downElevator"SE.seek :down +3 "storage"(~'N +99 (D% +3 "core" %A \  X M> +2 "manipulator"&X% +4 "core" % _ a )  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +90 "core" ' +47 ' + ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 2 of [2..3] + #Loading generic puck from tube 2 into Collection Clamp +2 "collection"'[& +4 "core" &rtr +2 "manipulator"&$% +4 "core" %\ 0  $u + "storage"(E% +5 "core" %E\ \ m  + "storage"(8. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 +2 "storage"((  +368 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (& +3 "core" &  +2 "manipulator"&I& +3 "core" &A\  T +2 .tElbow.seek 2 +2 "manipulator"&m(; +3 "core" ( + "manipulator"&?& +4 "core" &A\ 6 T +2 "storage"({& +3 "core" & \  C +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&u'Ѐ +98 "core" ' + "storage"(`& +5 "core" & \ \ + .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(:'e +280 "core" ' +2 "storage"(7- +3 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (o& +3 "core" & \ \ \  = +2 "manipulator"&T& +4 "core" &A\ m m T + .tElbow.seek 2 +2 "manipulator"&G(; +3 "core" ( +2 "manipulator"& & +4 "core" &A\ w q  T + "storage"(K& +4 "core" & \  t +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&' +26 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&v/ +63 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&H& +3 "storage"(9'N +6 "core" &A\ ` c y T +2 "manipulator"&\ % +4 "core" %  ` e 6 +2 .tForearm.seek :retract +2 "manipulator"&'\ +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"& ( +146 "core" ( +2 "manipulator"& & +5 "core" ' + &"  9) +2 .tElbow.reconfigure :loose + ."downElevator"SE.stop +4 "manipulator"&$ &.,(#b + "storage"(5 +3 "manipulator"&J& +5 "core" &"  9) +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC + "manipulator"&f'| +106 "core" ' + "manipulator"&t& +5 "core" &"  9) + "manipulator"&B% +5 "core" %v v @ + "collection"'/& +4 "core" &swm +3 "collection"'& +4 "core" &rtk +2 .tCC.seek :closed +3 "collection"'](] +4 "core" &rur +8 & (ts| "_ +9 &qYst} 5 +10 &rs~ H +9 &eps F +9 &^jqs F +10 &jrt~ G +9 & kqt} G +10 &"jru G +9 &$ejrs~ G +9 &&&iqs} G +10 &'its} G +9 &)jqvx G +9 &+njst F +10 &-/isq G +9 &.nrsz G +10 &0jsqv G +9 &2ukrrr G +9 &47jsso G +10 &5lsss G +9 &7kpt~ G +9 &9~jqst F +10 &;>itsw G +9 &=htuw F +10 &>jpty G +9 &@jru G +9 &BGjts G +10 &D\ jss F +9 &Ejsr G +9 &Gkrs G +10 &IJxqq I +9 &Ktt{ K +9 &Luv P +10 &N{sv P +9 &P;vw P +10 &Quv Q +9 &Svv Q +9 &Uzvwx S +10 &W=uv R +9 &Xvw~ S +9 &Zwx T +10 &\\~vw @ +9 &]g0vw (v +10 &]Fvv ; +2 ( +2 "collection"'& +2 #tCollection Clamp onSpring/offSpring for 10/25 samples, on/off torque 1.89 +2 .Hand.open + "manipulator" +53 "core" 1 + "manipulator"&,% +56 "core" % v  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&Q'\ +96 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%0& +5 "core" &R + "manipulator"&^% +4 "core" %\ <  ) +2 "storage"(V% +4 "core" %6 C  +2 "storage"(. +3 "core" .(  + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"(&(  +28 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 ((& +2 "core" & R ^ +2 "manipulator"&q& +4 "core" &"  9$ +2 "manipulator"&% +4 "core" %\ <  ) +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&A(; +170 "core" ( + "manipulator"&U& +5 "core" &6 C I + "storage"(@& +4 "core" & \ \ } # +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&3'Ѐ +97 "core" ' +2 "storage"(& +4 "core" & \ > # +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(Z'e +279 "core" ' + "storage"(h- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (r& +2 "core" & \ \ A ) +2 "manipulator"&& +4 "core" &6 k c h I +2 .tElbow.seek 2 + "manipulator"&j(; +4 "core" ( + "manipulator"&p& +4 "core" &6 y s D I + "storage"(& +4 "core" & \ \ \   ) +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&;' +20 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&/ +63 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&"& +2 "storage"(''N +7 "core" &6 j c I + "manipulator"&R% +4 "core" % d a M +2 .tForearm.seek :retract +2 "manipulator"&>'\ +95 "core" ' +2 .tElbow.seek PC +2 "manipulator"&y(c +155 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +96 "core" ( +2 "manipulator"&& +4 "core" &h  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &d& +3 "core" &h A +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&g'[ +105 "core" ' +2 "manipulator"& & +4 "core" &h  +2 "manipulator"&6% +4 "core" %V  +2 "processing"%O& +4 "core" &T +2 "processing"%.& +5 "core" &W +2 .tPC.seek :closed +3 "processing"%M(Z +3 "core" &X +6 &;U #b +9 &|\\R 6 +10 &U G +9 &gR F +10 &pkT G +9 &2nW G +9 & mT G +10 &"kH G +9 &$ymQ F +9 &&;jM F +10 &'gF G +9 &)gE G +9 &+fD G +10 &-BgA G +9 &/hJ G +10 &0hA F +9 &2jD F +9 &4KgK F +10 &6 i; F +9 &7fK G +9 &9eI G +10 &;RlS G +9 &=kK G +10 &>mS G +9 &@gW G +9 &B[jL F +10 &DjL G +9 &EnN G +10 &GqJ G +9 &I\\yL I +9 &KK J +10 &LI L +9 &NI M +9 &PZL L +10 &RI L +9 &SJ M +9 &UL M +10 &WbM L +9 &Y"I F +10 &ZUEI ^ +9 &Z2F + +5 ( +2 "processing"%.& +4 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.51 + .Hand.open +2 "manipulator"&P1 +3 "core" &Z > + +51 1 + "manipulator"&k% +4 "core" % V f +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +101 "core" ' +2 "processing"%%& +4 "core" &Z 2 + + #tImaging generic puck in Processing Clamp while storing it to tube 2 +2 "manipulator"&% +4 "core" %\ : L ( + "storage"(F% +4 "core" %F +2 "storage"(+. +3 "core" .(  + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"((  +48 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (s& +4 "core" &  F + "manipulator"&Y& +3 ."raiseStack"SE.reconfigure :place +5 "storage"(#]kK-0-\ b +3 "core" &h ] +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +2 ."raiseStack"SE.seek :beamBreak +3 "manipulator"&z(c +2 "storage"(L'e +5 "core" ( + "manipulator"&l& +4 "core" &h +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &C& +3 "core" &h  +2 .tForearm.seek PC +2 "manipulator"&W'[ +94 "core" ' + .tHand.close +2 "manipulator"&5/ +61 "core" / +3 .tPC.seek :open + "processing"%)(p +88 "core" ' +2 "storage"(e- +3 "core" -'e +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(i'B +35 "core" ' +253 ( + "storage"(}& +5 "core" & \  6 + "manipulator"&& +4 "core" &h _ _ ) +2 "manipulator"&% +4 "core" % a l f e +2 .tForearm.seek :retract + "manipulator"& '\ +95 "core" ' +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&N(; +251 "core" ( + "manipulator"&& +5 "core" &3  k + "storage"(& +4 "core" &  / +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&a'Ѐ +104 "core" ' +2 .tHand.open + "manipulator"&!1 +55 "core" 1 +2 "storage"(|- +4 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate +2 "storage"(' +24 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(' +52 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(- +3 "core" -' +2 "storage"(& +3 "core" &  y +2 "manipulator"&n& +4 "core" &3 o l k +2 .tElbow.seek 2 +2 "manipulator"&2(; +3 "core" ( + "manipulator"&4& +4 "core" &3 p n k +2 "storage"(1& +4 "core" &   }  +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&'Ѐ +3 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"(='M +61 "core" ' + "manipulator"&<& +5 "core" &3 ` a k + "storage"(D& +5 "core" &  \ 5 + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&X'ξ +33 "core" ' + .tElbow.hold +2 "manipulator"&S, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"(\\'7 +24 "core" ' + "manipulator"&[% +4 "core" %v ! 4 +2 "storage"($& +4 "core" &   + .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 2 + 311 counts + "manipulator"&*' +19 "core" ' + "manipulator"&E& +5 "core" &R k X L +2 "storage"(8& +4 "core" & \ \ \ ) +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&b'Ѐ +24 "core" ' + "storage"(_% +5 "core" %<\ \  +2 ."downElevator"SE.seek :down +4 "storage"(~'N +99 (w% +4 "core" %C\  p N@ + "manipulator"&% +5 "core" %Ч n i D +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&I'\ +88 "core" ' +62 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (?& +3 "core" &  i +2 "collection"'{& +4 "core" &]@txn ; + #tStoring generic puck in Collection Clamp to tube 2 +2 "manipulator"&`% +4 "core" %\ .  #b + "storage"(c% +4 "core" %E\ \  +2 "storage"(. +3 "core" .(  +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"(7(  +32 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (o& +3 "core" &   # +2 "manipulator"&T& +4 "core" &R  L +2 .tElbow.seek 2 +2 "manipulator"& (; +25 "core" ( + "manipulator"&K& +5 "core" &= n  + "storage"(v& +4 "core" & \  ( +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +53 .tForearm.seek 2 + 450 counts +2 "manipulator"&H'Ѐ +102 "core" ' +2 "storage"(\ & +4 "core" & \ \  Q ( +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(m'e +278 "core" ' +2 "storage"(u- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"& & +3 "core" &= R S H  + "storage"(J& +4 "core" & \ P . +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&:'ξ +34 "core" ' +2 .tElbow.hold +2 "manipulator"&, +3 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(t- +3 "core" -' +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(B'i +24 "core" ' +2 "manipulator"&/% +4 "core" %e   + "storage"(G& +4 "core" &   . +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 316 counts +2 "manipulator"&9' +12 "core" ' +2 "manipulator"&& +4 "core" &= R S  +2 "storage"(x& +4 "core" &  \  > . +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&#'Ѐ +15 "core" ' +2 .tSE.seek 1.11 Pucks below Top Plate +2 "storage"(,'X +50 "core" ' + "manipulator"&& +15 "core" &= E E  +2 "manipulator"&0% +4 "core" %| > A  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&^'\ +87 "core" ' +2 .tElbow.seek CC +2 "manipulator"&V( +163 "core" ( +2 "manipulator"&& +5 "core" & '  >M + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &(& +3 "core" & & : >M +2 .tForearm.seek CC + "manipulator"&q'| +100 "core" ' + .tHand.close +2 "manipulator"&/ +58 "core" / +2 .tCC.seek :open +2 "collection"'f(p +408 "core" ( +2 "storage"(U& +4 "core" & \ \ \ \ b . + "storage"(@& +4 "core" & \ \ \ . +2 "manipulator"&& +3 "core" &%  =G +2 "manipulator"&% +4 "core" % p  + .tForearm.seek :retract +2 "manipulator"& '\ +96 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&Q(; +167 "core" ( + "manipulator"&h& +5 "core" &2 |  - + "storage"(r& +4 "core" &  \   . +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 2 +2 "manipulator"&'ξ +108 "core" ' + .tElbow.hold +2 "manipulator"&p, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&1 +63 "core" 1 +2 "manipulator"&% +4 "core" % g +2 "storage"("& +4 "core" &  . + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 316 counts + "manipulator"&R' +21 "core" ' + "manipulator"&A& +4 "core" &Y > c 2  +2 "storage"(3& +4 "core" & \ !\ !  . +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&Z'Ѐ +20 "core" ' + "storage"(;% +5 "core" %]\ \  +2 ."downElevator"SE.seek :down +3 "storage"('N +99 (d% +3 "core" %A\ \  N> +2 "manipulator"&j% +4 "core" %z m d - +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"& '\ +93 "core" ' +45 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 3 of [2..3] + #Loading generic puck from tube 3 into Collection Clamp + "collection"'6& +5 "core" &stm +2 "manipulator"&O% +3 "core" %\ 5  & +2 "storage"('% +5 "core" %>\ \   + "storage"(>. +4 "core" .(  + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(( +350 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (P& +2 "core" & |  +2 "manipulator"&k& +4 "core" &Y   + .tElbow.seek 3 +2 "manipulator"&%(D +22 "core" ( + "manipulator"&& +4 "core" &L   +2 "storage"(F& +4 "core" &\ \  [  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&+' +103 "core" ' + "storage"(.& +5 "core" &\ 8\ 5   +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(s'e +275 "core" ' +2 "storage"(Y- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (l& +2 "core" &\ \ !   +2 "manipulator"&C& +4 "core" &L U `  +2 .tElbow.seek 3 +2 "manipulator"&g(D +3 "core" ( + "manipulator"&5& +4 "core" &L N ;   + "storage"(&& +4 "core" &\ \  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&e'y +25 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&y/ +56 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +3 "storage"(M'N +6 "core" &L o l  +2 "manipulator"&}% +4 "core" % w i m +2 .tForearm.seek :retract +2 "manipulator"&'\ +92 "core" ' +2 .tElbow.seek CC +2 "manipulator"&L( +149 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +7 "core" ( + "manipulator"&& +4 "core" &' ! >K +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &W& +3 "core" &'  >K +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&'| +103 "core" ' +2 "manipulator"&& +4 "core" &'  >K +2 "manipulator"&z% +4 "core" %τ +2 "collection"'!& +4 "core" &ru} +2 "collection"'|& +5 "core" &rto +2 .tCC.seek :closed +2 "collection"'(] +4 "core" &ru{  +8 &5qu )v +10 &hsu < +9 &m|pu~ G +10 &1ksu G +9 &msu G +9 &lst G +10 &!ukus G +9 &#7kst G +9 &$jrs G +10 &&kut{ G +9 &(~ktux G +10 &*Akru G +9 &,gtt G +9 &-jqs F +10 &/krr} G +9 &1Hjtt G +9 &3\ kruu G +10 &4irux G +9 &6grsw G +10 &8Pjttx G +9 &:hrtv G +9 &;gtvv G +10 &=kusw G +9 &?Xhts G +9 &Ajssz G +10 &Bksu G +9 &Dhrs} G +9 &Faisu G +10 &H!nts{ G +9 &Itsv H +10 &Ktu J +9 &MVuw M +9 &Oux P +10 &Pvw P +9 &Ruv} Q +10 &TPxx R +9 &Vwx S +9 &Wvx R +10 &Yux| T +9 &[D"tx Y +9 &\\~sv (| +10 &]&wy E +9 ( + &]Lsz = +3 "collection"'|& +2 #tCollection Clamp onSpring/offSpring for 8/26 samples, on/off torque 1.84 + .Hand.open +2 "manipulator"&1 +63 "core" 1 + "manipulator"&n% +4 "core" % ~  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&4'\ +98 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%1& +4 "core" &T +2 "manipulator"& % +4 "core" %\ 8  ' + "storage"(<% +5 "core" %I I  + "storage"(D. +3 "core" .( +2 "storage"(i& +3 "core" & o  +2 "storage"([& +4 "core" & ]  + "manipulator"&$& +4 "core" && @ =A +2 "manipulator"&% +4 "core" %\ 8  ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&E(D +156 "core" ( +2 "manipulator"&8& +4 "core" &K | & \ +2 "storage"(_& +3 "core" &\ \ G  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&N' +93 "core" ' + "storage"(a& +5 "core" & \ D  + .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('e +290 "core" ' + "storage"(w- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +2 "core" &\ \   +2 "manipulator"&& +4 "core" &K c p \ +2 .tElbow.seek 3 +2 "manipulator"&2(D +3 "core" ( + "manipulator"&=& +4 "core" &K o t ^ \ + "storage"(X& +4 "core" &\ \ \ \  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&*'y +21 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +54 .tHand.close +2 "manipulator"&?/ +53 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&{& +2 "storage"(`'N +8 "core" &K X a _ \ +2 "manipulator"&c% +4 "core" % x _ g + .tForearm.seek :retract +2 "manipulator"&'\ +89 "core" ' +2 .tElbow.seek PC +2 "manipulator"&\\(c +157 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +89 "core" ( +2 "manipulator"&o& +4 "core" &l  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &T& +3 "core" &l  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&K'[ +104 "core" ' +2 "manipulator"&v& +4 "core" &l = +2 "manipulator"&b% +5 "core" %A  + "processing"%\ & +4 "core" &` +3 "processing"%~& +6 "core" &W +2 .tPC.seek :closed +3 "processing"%(Z +3 "core" &O +6 &U 8 +9 &!MV / +9 &c{U D +10 &kV F +9 &gW G +9 &gX G +10 & `gW G +9 &"#hT F +10 &#iQ F +9 &%hM F +9 &'jhG F +10 &)*lA G +9 &*kF F +9 &,i? F +10 &.rhC F +9 &01l@ G +9 &1h= F +10 &3iN F +9 &5xkJ G +10 &7;kT F +9 &8jW F +9 &:gV G +10 &<eR F +9 &>BjN G +9 &@iL G +10 &AhO G +9 &ChL G +10 &EKjJ F +9 &G\ pP G +9 &HxO H +10 &JL J +9 &LDS L +9 &NT M +10 &OO L +9 &QM M +10 &SJL L +9 &U M M +9 &VN M +10 &XM M +9 &ZhzC "h +9 &Z^G ' +10 ( +2 "processing"%~& +3 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.50 + .Hand.open +2 "manipulator"&S1 +3 "core" &ZC $ +56 1 +2 "manipulator"&I% +4 "core" % A < +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&u'\ +96 "core" ' +2 "processing"% & +4 "core" &Z9 $ + #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&J% +5 "core" %\ 0 E $r + "storage"(t% +4 "core" %: W  +2 "storage"(/. +3 "core" .( + "storage"(G& +4 "core" & `  +2 "storage"(& +4 "manipulator"&x& +5 "core" &  + &l  +3 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +4 "storage"(#]kK-0-\ b + "manipulator"&$&.,(\ #b +5 .tElbow.seek PC +2 "manipulator"&(c +4 ."raiseStack"SE.seek :beamBreak +2 "storage"(0'e +2 "core" ( +2 "manipulator"&H& +4 "core" &l  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 & & +3 "core" &l  +2 .tForearm.seek PC +2 "manipulator"&m'[ +95 "core" ' + .tHand.close + "manipulator"&:/ +59 "core" / + .tPC.seek :open +2 "processing"%9(p +89 "core" ' + "storage"(B- +4 "core" -'e + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +2 ."raiseStack"SE.seek :place +2 "storage"('B +35 "core" ' +254 ( + "storage"((& +4 "core" &\ \ \ 3  +2 "manipulator"&#& +3 "core" &l b f , +2 "manipulator"&% +4 "core" % \\ e b ` +2 .tForearm.seek :retract +2 "manipulator"&'\ +96 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&^(D +245 "core" ( + "manipulator"&]& +4 "core" &<  / +2 "storage"(U& +3 "core" &  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&@' +101 "core" ' + .tHand.open +2 "manipulator"&1 +62 "core" 1 +2 "storage"(- +4 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate +2 "storage"(h' +23 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(r' +51 "core" ' + #tLights, camera, ACTION! +2 "storage"(q- +3 "core" -' +2 "storage"(V& +4 "core" & .  + "manipulator"&& +4 "core" &<  / +2 .tElbow.seek 3 +2 "manipulator"&(D +3 "core" ( +2 "manipulator"&"& +3 "core" &<  / +2 "storage"(A& +4 "core" & a  +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&3' +22 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.11 Pucks below Top Plate + "storage"(;'M +59 "core" ' + "manipulator"& & +5 "core" &< c j S / + "storage"(d& +5 "core" &\ \  7  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&j'M +34 "core" ' +2 .tElbow.hold + "manipulator"&Q, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"('7 +25 "core" ' +2 "manipulator"&6% +4 "core" %`i W  +2 "storage"(O& +4 "core" &   + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 319 counts +2 "manipulator"&R'ό +18 "core" ' + "manipulator"&'& +5 "core" &< r W 1 / +2 "storage"(>& +4 "core" &\ \ 6  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&,' +13 "core" ' + "storage"(Z% +5 "core" %<\   +2 ."downElevator"SE.seek :down +4 "storage"('N +99 (7% +5 "core" %|C s N@ + "manipulator"&P% +4 "core" % c j `  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&k'\ +93 "core" ' +57 ' + ."downElevator"SE.stop + "storage"(5 +3 (& +4 "core" & 7  + "collection"'F& +4 "core" &]Luwj = +2 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&.% +4 "core" %\ 8  ' +2 "storage"(p% +4 "core" %E\ \ + "storage"( . +4 "core" .( + "storage"(Y& +4 "core" & \  +2 "storage"(l& +4 "core" &\ \   + "manipulator"&C& +4 "core" &< \ / +2 .tElbow.seek 3 + "manipulator"&5(D +4 "core" ( + "manipulator"&&& +4 "core" &< 5 / + "storage"(y& +4 "core" & e  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&' +104 "core" ' +2 "storage"(}& +4 "core" &\ \ )  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(%'e +280 "core" ' + "storage"(+- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +2 "core" &< c d  / +2 "storage"(W& +4 "core" &\ n  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&s'M +36 "core" ' + .tElbow.hold +2 "manipulator"&e, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(- +3 "core" -' +2 .tSE.seek 0.12 Pucks below Top Plate +2 "storage"(z's +28 "core" ' + "manipulator"&!% +4 "core" %`e "  +2 "storage"(g& +4 "core" &   + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 319 counts +2 "manipulator"&M'ό +18 "core" ' + "manipulator"&& +4 "core" &< i [ r / +2 "storage"(f& +4 "core" &\ \ \ \   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&' +20 "core" ' +2 .tSE.seek 1.12 Pucks below Top Plate + "storage"(n'b +51 "core" ' +2 "manipulator"&1& +5 "core" &< c j i / + "manipulator"& % +5 "core" % ^ i 8  + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&<'\ +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&D( +159 "core" ( + "manipulator"&|& +4 "core" & &  =A +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &i& +2 "core" & &  =A +2 .tForearm.seek CC +2 "manipulator"&['| +94 "core" ' + .tHand.close +52 "manipulator"&$/ +55 "core" / +2 .tCC.seek :open + "collection"'(p +409 "core" ( + "storage"(& +5 "core" &\ \   + "storage"(8& +4 "core" & \  &  +2 "manipulator"&_& +3 "core" &#  ;5 +2 "manipulator"&a% +4 "core" %   +2 .tForearm.seek :retract + "manipulator"&L'\ +93 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&4(D +153 "core" ( + "manipulator"&w& +4 "core" &; i  +2 "storage"(& +4 "core" &\ \  a  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 3 +2 "manipulator"&'M +107 "core" ' +2 .tElbow.hold + "manipulator"&=, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&X1 +55 "core" 1 +3 "manipulator"&?% +5 "core" % az  B + "storage"({& +4 "core" &  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 320 counts +2 "manipulator"&c'ύ +18 "core" ' + "manipulator"&E& +5 "core" &; c E v + "storage"(N& +5 "core" &\ \   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&' +11 "core" ' +2 "storage"(*% +4 "core" %d\ \  +3 ."downElevator"SE.seek :down +3 "storage"(o'N +99 (T% +2 "core" %?\ \  4 N> +2 "manipulator"&2% +5 "core" % e k  4 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&v'\ +94 "core" ' +47 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 2 of [2..3] + #Loading generic puck from tube 2 into Collection Clamp + "collection"'b& +5 "core" &su] + "manipulator"&\ % +4 "core" %\ 8  ' +2 "storage"(`% +4 "core" %F\ \  v  + "storage"(. +4 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"()(  +360 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (S& +3 "core" &  W + "manipulator"&I& +4 "core" &;  +2 .tElbow.seek 2 +2 "manipulator"& (; +3 "core" ( + "manipulator"&J& +4 "core" &; I +2 "storage"(t& +4 "core" & \ \   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&/'Ѐ +104 "core" ' + "storage"(G& +4 "core" & \ 4\ #  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(~'e +279 "core" ' +2 "storage"(x- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +2 "core" & \ \  +2 "manipulator"&H& +4 "core" &; i ] +2 .tElbow.seek 2 +2 "manipulator"& (; +3 "core" ( + "manipulator"&K& +4 "core" &; F Q C +2 "storage"(:& +4 "core" & \ \ ! H +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&B' +29 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&\\/ +62 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&u& + "storage"('N +7 "core" &; ` _ ? +2 "manipulator"&(% +4 "core" %  c i +2 .tForearm.seek :retract +2 "manipulator"&#'\ +97 "core" ' +2 .tElbow.seek CC + "manipulator"&0( +142 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +8 "core" ( +2 "manipulator"&& +4 "core" &# 7 ;3 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &m& +3 "core" &$  ;3 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&]'| +103 "core" ' + "manipulator"&U& +5 "core" &$ . ;3 + "manipulator"&% +4 "core" %z 9 +2 "collection"'& +4 "core" &rur +2 "collection"'& +5 "core" &ssy +2 .tCC.seek :closed +4 "collection"'q(] +4 "core" &sv +5 &st} 6 +10 &Mst . +9 &Uytt C +9 & hst G +10 &jst| F +9 &ksu} G +9 & Qktu F +10 &"lqv} G +9 &#ksv F +10 &%ksuw G +9 &'Xits G +9 &)jrv~ G +10 &*muuy G +9 &,msu G +9 &.`jtt G +10 &0"ktv G +9 &1jtww G +9 &3jtt{ G +10 &5hhsut G +9 &7*lsty G +10 &8hsur G +9 &:jtuu G +9 &2hut{ G +9 &?krvp G +10 &Ajstr G +9 &Cxjst{ G +9 &E9ltv{ G +10 &Fjqu{ G +9 &Hsqu H +9 &Jvvuz J +10 &L-tv~ N +9 &Mvww P +10 &Owv P +9 &Qluw P +9 &S+wx Q +11 &Tux R +8 &Vwy R +9 &Xlwy S +10 &Z+wx T +9 &[vw T +9 &]@C{z , +10 &]axy = +5 ( +2 "collection"'& +4 #tCollection Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.92 + .Hand.open +2 "manipulator"&V1 +3 "core" &]Gwx = +57 1 +2 "manipulator"&% +4 "core" % y X +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&"'\ +96 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%A& +4 "core" &b +2 "manipulator"&% +4 "core" %\ . #c + "storage"( % +4 "core" %; t +2 "storage"(d. +3 "core" .(  + "storage"(& +4 "core" &  x +2 "storage"(6& +4 "core" &  + "manipulator"&O& +4 "core" &# :1 +2 "manipulator"&h% +4 "core" %\ .  #c +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&'(; +155 "core" ( + "manipulator"&>& +4 "core" &F n ' +2 "storage"(Z& +4 "core" & \ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&^'Ѐ +93 "core" ' +2 "storage"(@& +4 "core" & \ \ \ R +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(r'e +277 "core" ' +2 "storage"(7- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (P& +2 "core" & \ \  +2 "manipulator"&3& +4 "core" &F _ ` [ + .tElbow.seek 2 +2 "manipulator"&(; +7 "core" ( + "manipulator"&;& +5 "core" &= \\ u h + "storage"(j& +4 "core" & \ \  0 +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&' +27 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&R/ +61 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&F& + "storage"(.'N +7 "core" &= e _ S +2 "manipulator"&p% +4 "core" % h k V +2 .tForearm.seek :retract +2 "manipulator"& '\ +95 "core" ' +2 .tElbow.seek PC +2 "manipulator"&(c +152 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +94 "core" ( +3 "manipulator"&Y& +4 "core" &f  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &l& +3 "core" &f  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&C'[ +94 "core" ' + "manipulator"&&& +4 "core" &f l d 3 +2 "manipulator"&y% +4 "core" %O o 0 +2 "processing"%,& +4 "core" &W +2 "processing"%}& +5 "core" &a +2 .tPC.seek :closed + "processing"%(Z +5 "core" &U  +9 &6S )v +10 &kV = +9 &xT H +9 &FeX F +10 &gW G +9 &kV G +9 &!mS G +10 &#LkW G +9 &%hM G +10 &&fR G +9 &(jI G +9 &*UkP F +10 &,gE G +9 &-gB G +9 &/l@ G +10 &1\\kH G +9 &3jU G +10 &4fK F +9 &6hA F +9 &8dlG G +10 &:'kU F +9 &;hV F +9 &=mU G +10 &?lhK G +9 &A.mN G +10 &BjM G +9 &DkL F +9 &Ful? F +10 &H4uI G +9 &IQ I +10 &KR J +9 &MlP L +9 &O-P M +10 &PN M +9 &RM M +9 &TtP L +10 &V5L M +9 &WP M +9 &YL 1 +10 &Z0zO N +9 &ZJ + +3 ( +2 "processing"%}& +2 #tProcessing Clamp onSpring/offSpring for 8/26 samples, on/off torque 1.48 +2 .Hand.open + "manipulator"&Q1 +58 "core" 1 + "manipulator"&k% +5 "core" % O m 5 + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&+'\ +92 "core" ' +2 "processing"%& +4 "core" &Z 7 + +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 + "manipulator"&W% +56 "core" %\ ,  "\\ + "storage"(% +4 "core" %A  +2 "storage"(!. +3 "core" .(  + "storage"(g& +4 "core" &  +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 2 + "storage"((  +31 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (f& +4 "core" &  >  "manipulator"&1& +3 ."raiseStack"SE.reconfigure :place +6 "storage"(#]kK-0-\ b +2 "core" &f : +3 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +2 "manipulator"& (c +3 ."raiseStack"SE.seek :beamBreak +2 "storage"('e +2 "core" ( +2 "manipulator"&5& +4 "core" &f  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &%& +3 "core" &f  +2 .tForearm.seek PC +2 "manipulator"&s'[ +98 "core" ' +2 .tHand.close + "manipulator"&M/ +53 "core" / +9 .tPC.seek :open +2 "processing"%z(p +83 "core" ' +2 "storage"(|- +3 "core" -'e + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(i'B +33 "core" ' +263 ( + "storage"(& +4 "core" & \ ! +2 "manipulator"&e& +4 "core" &f e c " +2 "manipulator"&$% +3 "core" % \\ e c 8 +2 .tForearm.seek :retract +2 "manipulator"&<'\ +95 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&(; +246 "core" ( + "manipulator"&& +4 "core" &H 8  +2 "storage"(8& +4 "core" & \ \  ! +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&_'Ѐ +115 "core" ' +2 .tHand.open + "manipulator"&a1 +64 "core" 1 +2 "storage"(w- +4 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate +2 "storage"(' +23 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"([' +49 "core" ' +2 #tLights, camera, ACTION! + "storage"(D- +4 "core" -' + "storage"(X& +4 "core" &  z , " +2 "manipulator"&?& +4 "core" &H o 0  +2 .tElbow.seek 2 + "manipulator"&{(; +13 "core" ( +2 "manipulator"&E& +4 "core" &E k a ^ +2 "storage"(N& +4 "core" &  * " +2 .tForearm.seek 2 + 450 counts + "manipulator"&*'Ѐ +9 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"(L'M +60 "core" ' + "manipulator"&T& +4 "core" &E o o +2 "storage"(2& +4 "core" & \ \ \ \ " +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&4'ξ +31 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"(b'7 +31 "core" ' +2 "manipulator"&\ % +5 "core" %z  : + "storage"(`& +4 "core" &   " +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 316 counts +2 "manipulator"&c' +20 "core" ' + "manipulator"&& +5 "core" &E ] G + "storage"(n& +5 "core" &  \   " +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&'Ѐ +23 "core" ' +2 "storage"(o% +4 "core" %@\ \  - +3 ."downElevator"SE.seek :down +3 "storage"('N +99 (S% +3 "core" %D\ \ 2 N@ +2 "manipulator"&I% +4 "core" %А j `  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&J'\ +93 "core" ' +57 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (t& +4 "core" &  " + "collection"'G& +4 "core" &]Fwy = +2 #tStoring generic puck in Collection Clamp to tube 2 + "manipulator"&=% +4 "core" %\ 5  & +2 "storage"(v% +4 "core" %Q\ \ p  + "storage"(x. +4 "core" .(  + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"((  +9 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (H& +2 "core" &  K  +2 "manipulator"&K& +4 "core" &E  +2 .tElbow.seek 2 +2 "manipulator"&:(; +3 "core" ( +2 "manipulator"&\\& +4 "core" &E |  + "storage"(u& +4 "core" & \ \ m  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts +2 "manipulator"&('Ѐ +93 "core" ' + "storage"( & +5 "core" &  \  \  + .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(/'e +275 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&m& +2 "core" &E n m +2 "storage"(~& +4 "core" & \ \   + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 + "manipulator"&B'ξ +32 "core" ' +2 .tElbow.hold + "manipulator"&U, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(- +2 "core" -' +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"('h +29 "core" ' + "manipulator"& % +4 "core" %i 2 +2 "storage"(& +4 "core" &  ,  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 2 + 314 counts +2 "manipulator"&#' +18 "core" ' + "manipulator"&& +5 "core" &E Z E ( + "storage"(V& +4 "core" & \ (  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&'Ѐ +16 "core" ' +2 .tSE.seek 1.11 Pucks below Top Plate +2 "storage"(A'W +47 "core" ' +2 "manipulator"&& +4 "core" &E R J ) +2 "manipulator"& % +4 "core" %l \\ D d  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&d'\ +87 "core" ' +2 .tElbow.seek CC +2 "manipulator"&( +155 "core" ( +2 "manipulator"&& +5 "core" & 7 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &6& +3 "core" & | | 7 +2 .tForearm.seek CC +2 "manipulator"&O'| +98 "core" ' + .tHand.close + "manipulator"&h/ +54 "core" / +2 .tCC.seek :open + "collection"'](p +409 "core" ( +2 "storage"(>& +4 "core" & \ \    +2 "storage"(Z& +3 "core" & \ \ (  +2 "manipulator"&@& +3 "core" &  6 +2 "manipulator"&0% +4 "core" % x  +2 .tForearm.seek :retract + "manipulator"&"'\ +97 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&7(; +170 "core" ( +2 "manipulator"&P& +4 "core" &? } 7 +2 "storage"(3& +3 "core" & \ :  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 2 +2 "manipulator"&;'ξ +107 "core" ' + .tElbow.hold +2 "manipulator"&j, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&R1 +58 "core" 1 +3 "manipulator"&F% +4 "core" % w +2 "storage"(p& +3 "core" &  s  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 2 + 318 counts +2 "manipulator"&'' +20 "core" ' +2 "manipulator"&^& +4 "core" &` C c H  +2 "storage"(r& +4 "core" & \ \ !   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&'Ѐ +15 "core" ' + "storage"(Y% +5 "core" %]\ \ ! +2 ."downElevator"SE.seek :down +3 "storage"(l'N +99 (% +3 "core" %?\  N> +2 "manipulator"&&% +54 "core" %{ c k O +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&y'\ +89 "core" ' + ."downElevator"SE.stop + "storage"(5 +4 "core" ' +2 #tShuffling pucks in tube 3 of [2..3] + #Loading generic puck from tube 3 into Collection Clamp + "collection"',& +5 "core" &tun + "manipulator"&.% +4 "core" %\ :  ( +2 "storage"( % +4 "core" %F\ \   +2 "storage"(9. +3 "core" .(  +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(Q( +353 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (k& +3 "core" & %  +2 "manipulator"&& +3 "core" &`   +2 .tElbow.seek 3 +2 "manipulator"&W(D +21 "core" ( +2 "manipulator"&}& +4 "core" &F  +2 "storage"(& +3 "core" &\ \  l  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&!' +94 "core" ' +2 "storage"(g& +4 "core" &\ \   +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(f'e +276 "core" ' + "storage"(1- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (5& +3 "core" &\ \  }  +2 "manipulator"&%& +4 "core" &F p n + .tElbow.seek 3 +2 "manipulator"&C(D +4 "core" ( + "manipulator"&M& +9 "core" &F c m R + "storage"()& +4 "core" &\ \   +3 .tForearm.seek 3 + 300 counts + "manipulator"&|'y +21 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&/ +61 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&+& + "storage"('N +7 "core" &F e a @ + "manipulator"&% +4 "core" % z b k  +2 .tForearm.seek :retract +2 "manipulator"&'\ +88 "core" ' +2 .tElbow.seek CC +2 "manipulator"&e( +148 "core" ( + "manipulator"&$& +5 "core" ' + & 5 . +2 ."downElevator"SE.stop +3 .tElbow.reconfigure :loose +2 "storage"(5 +2 "manipulator"&$ &.,(#b +4 &s& +3 "core" &  . +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&'| +105 "core" ' +2 "manipulator"&8& +4 "core" & g . +2 "manipulator"& % +5 "core" %} + "collection"'a& +4 "core" &su +3 "collection"'w& +4 "core" &ru +2 .tCC.seek :closed +2 "collection"'D(] +5 "core" &st  +9 &5quz )w +10 &krt = +9 &w}st G +9 &;jrv G +10 &mrt| G +9 &kssz G +9 &!nru G +10 &#Cjtw G +9 &%hrt~ G +9 &&kru G +10 &(ktt F +9 &*Klruy G +10 &, krsx G +9 &-mru G +9 &/jsu F +10 &1Rkqsy G +9 &3kuv G +9 &4jsu~ F +10 &6jss| G +9 &8[kptu G +9 &:lru{ G +10 &;krt G +9 &=mqsw G +10 &?bgtu| G +9 &A%jrt G +9 &Bkru~ G +10 &Dhuu G +9 &Flkrwy F +9 &H,nrt} G +10 &Ivsuv H +9 &Kpu J +10 &M`us} M +9 &Ovvx P +9 &Psw P +10 &Rvx R +9 &T\\ww| Q +9 &Vvw R +10 &Wwy R +9 &Yww T +10 &[^vx S +9 &]xww (| +9 &]#vx G +9 ( +3 "collection"'w& +3 #tCollection Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.82 +2 .Hand.open + "manipulator"&X1 +4 "core" &]Luy > +50 1 + "manipulator"&?% +4 "core" % | r  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&<'\ +95 "core" ' + #tLoading generic puck from tube 3 into Processing Clamp + "processing"%E& +5 "core" &I + "manipulator"&N% +4 "core" %\ - l "] +2 "storage"(T% +4 "core" %: i  + "storage"(2. +3 "core" .( +2 "storage"(i& +3 "core" &  +2 "storage"(\ & +4 "core" & z  + "manipulator"&`& +4 "core" &  . +2 "manipulator"&% +4 "core" %\ -  "] +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&(D +159 "core" ( + "manipulator"&n& +4 "core" &8 ?  +2 "storage"(o& +4 "core" &\ \   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&' +93 "core" ' +2 "storage"(_& +4 "core" &\ \ \ \ F  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(['e +287 "core" ' + "storage"(S- +61 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (I& +2 "core" &\ \ J  +2 "manipulator"&*& +4 "core" &8 o q E  +2 .tElbow.seek 3 + "manipulator"&{(D +12 "core" ( + "manipulator"&L& +4 "core" &: f Q * j +2 "storage"(4& +4 "core" &\ \ W  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&c'y +19 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&t/ +58 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&G& + "storage"(='N +8 "core" &: n m j + "manipulator"&v% +4 "core" % n ` d ; +2 .tForearm.seek :retract +2 "manipulator"&x'\ +88 "core" ' +2 .tElbow.seek PC +2 "manipulator"&b(c +164 "core" ' + ."downElevator"SE.stop + "storage"(5 +112 "core" ( + "manipulator"&H& +4 "core" &Y r T \ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &K& +2 "core" &Y I \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&\\'[ +106 "core" ' +2 "manipulator"&u& +4 "core" &Y p s q \ +2 "manipulator"&% +4 "core" %T n m S w + "processing"% & +4 "core" &a +3 "processing"%& +6 "core" &a +2 .tPC.seek :closed + "processing"%(Z +5 "core" &W +6 &<W #b +10 &y\\W 6 +9 &Q G +10 &eW F +9 &mkV G +9 &0kX F +10 & iU F +9 &"gQ G +9 &$ugD G +10 &&8mE F +9 &'fJ G +10 &)lG F +9 &+~gC F +9 &-@jC F +10 &/mP G +9 &0iN G +9 &2gL F +10 &4IgP F +9 &6jO G +10 &7gS G +9 &9jP F +9 &;OgN G +10 &=gM F +9 &>jR G +9 &@lM G +10 &BWkI G +9 &DlO G +10 &EhO G +9 &GsK H +9 &IZO H +10 &KL K +9 &LK L +9 &NS M +10 &PVJ M +9 &RN L +9 &SD L +10 &U8 L +9 &W\\F M +10 &Y@ J +9 &ZU9b8 "c +9 &ZA: ( +6 ( +2 "processing"%& +4 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.50 + .Hand.open + "manipulator"&1 +4 "core" &Z; ( +56 1 +2 "manipulator"&J% +4 "core" % T s [ w +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +91 "core" ' +2 "processing"%m& +4 "core" &ZC ( + #tImaging generic puck in Processing Clamp while storing it to tube 3 +2 "manipulator"&~% +3 "core" %\ ,  "] +2 "storage"(% +4 "core" %I  +2 "storage"( . +3 "core" .( + "storage"(& +4 "core" &  +2 "storage"(& +5 "manipulator"&V& +4 "core" & 3  + &Y  \ +3 ."raiseStack"SE.reconfigure :place +2 .tElbow.reconfigure :tight +4 "storage"(#]kK-0-\ b +4 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +2 ."raiseStack"SE.seek :beamBreak +3 "manipulator"&(c +2 "storage"( 'e +5 "core" ( + "manipulator"&(& +5 "core" &Y > \ + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &:& +3 "core" &Y \ +2 .tForearm.seek PC + "manipulator"&/'[ +97 "core" ' + .tHand.close +2 "manipulator"&B/ +59 "core" / +2 .tPC.seek :open +2 "processing"%#(p +90 "core" ' +2 "storage"(- +3 "core" -'e +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +2 ."raiseStack"SE.seek :place +2 "storage"('B +42 "core" ' +244 ( +2 "storage"(6& +4 "core" &\  [  + "manipulator"&& +4 "core" &Y p p \ +2 "manipulator"&U% +4 "core" % [ n j  + .tForearm.seek :retract +2 "manipulator"&h'\ +99 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&d(D +245 "core" ( + "manipulator"&q& +5 "core" &A : !p + "storage"(>& +4 "core" & a  +2 .tForearm.reconfigure :tight +54 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&Z' +104 "core" ' + .tHand.open +2 "manipulator"&@1 +56 "core" 1 +2 "storage"(0- +4 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate +2 "storage"(P' +23 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.83 Pucks below Top Plate + "storage"(3' +55 "core" ' + #tLights, camera, ACTION! +2 "storage"(O- +3 "core" -' +2 "storage"(& +4 "core" & 7  + "manipulator"&R& +4 "core" &A c j d !p +2 .tElbow.seek 3 +2 "manipulator"&F(D +3 "core" ( +2 "manipulator"&p& +3 "core" &A s z W !p +2 "storage"(^& +4 "core" &   +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&r' +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"(Y'M +60 "core" ' +2 "manipulator"&"& +4 "core" &A j c : !p +2 "storage"(& +4 "core" &\ p  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&&'M +33 "core" ' +2 .tElbow.hold +2 "manipulator"&7, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"(;'7 +27 "core" ' +2 "manipulator"&,% +5 "core" %`p $  + "storage"(.& +4 "core" & 4  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 319 counts + "manipulator"&''ό +19 "core" ' + "manipulator"& & +5 "core" &A o t !p +2 "storage"(9& +4 "core" &\ \ \ \ ,  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&A' +10 "core" ' +2 "storage"(% +4 "core" %> \ | +3 ."downElevator"SE.seek :down +4 "storage"(l'N +98 (% +2 "core" %F 2 NA +2 "manipulator"&k% +5 "core" % l l - +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +92 "core" ' +57 ' + ."downElevator"SE.stop + "storage"(5 +3 (}& +4 "core" &   +2 "collection"'& +3 "core" &]Lwyp > +2 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&g% +5 "core" %\ :  ( + "storage"(j% +4 "core" %?  +2 "storage"(y. +3 "core" .( +2 "storage"(1& +4 "core" &  + "storage"(5& +5 "core" & I  + "manipulator"&%& +4 "core" &A E !p +2 .tElbow.seek 3 + "manipulator"&M(D +4 "core" ( +2 "manipulator"&)& +4 "core" &A  !p + "storage"(& +4 "core" &\  |  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&+' +94 "core" ' + "storage"(& +5 "core" & \ \   +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(W'e +290 "core" ' + "storage"(!- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&$& +3 "core" &A o o !p +2 "storage"(s& +4 "core" &\ \   + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&f'M +35 "core" ' +2 .tElbow.hold +2 "manipulator"&|, +3 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(8- +2 "core" -' +3 .tSE.seek 0.12 Pucks below Top Plate + "storage"( 'q +28 "core" ' +2 "manipulator"&a% +4 "core" %^e j  + "storage"(C& +4 "core" &  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 317 counts + "manipulator"&'ϊ +18 "core" ' +2 "manipulator"&& +4 "core" &A \\ i !p +2 "storage"(]& +3 "core" &\ \ \ &  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&X' +21 "core" ' +2 .tSE.seek 1.12 Pucks below Top Plate +2 "storage"(?'` +49 "core" ' + "manipulator"&E& +5 "core" &A _ a & !p + "manipulator"&N% +5 "core" %2 b `  + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&T'\ +94 "core" ' +2 .tElbow.seek CC +2 "manipulator"&2( +146 "core" ( + "manipulator"&i& +5 "core" &" ] :, + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &\ & +3 "core" &#  :, +2 .tForearm.seek CC + "manipulator"&`'| +96 "core" ' + .tHand.close +2 "manipulator"&w/ +52 "core" / +2 .tCC.seek :open + "collection"'(p +409 "core" ( + "storage"(& +4 "core" &\  6  +2 "storage"(n& +4 "core" &\   + "manipulator"&o& +4 "core" &!  8! + "manipulator"&_% +4 "core" % ϊ  +2 .tForearm.seek :retract + "manipulator"&e'\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&<(D +154 "core" ( +2 "manipulator"&S& +4 "core" &D o +2 "storage"(I& +3 "core" &\ \  I  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 +2 "manipulator"&*'M +109 "core" ' + .tElbow.hold +2 "manipulator"&L, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&41 +54 "core" 1 +2 "manipulator"&t% +4 "core" % as  , +2 "storage"(G& +4 "core" & M  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 320 counts + "manipulator"&v'ύ +15 "core" ' +2 "manipulator"&& +4 "core" &D i T b +2 "storage"(& +4 "core" &\ \   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&[' +19 "core" ' +2 "storage"(c% +35 "core" %c\ \  +2 ."downElevator"SE.seek :down +4 "storage"(H'N +99 (K% +3 "core" %B\ \  g N> +2 "manipulator"&{% +4 "core" % ` _ + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&u'\ +90 "core" ' +50 ' + ."downElevator"SE.stop + "storage"(5 +4764 "Can" 85 +60002  85 +60002  85 +60002  85 +21653 #t-> access 2 +2 "storage"(% +4 "core" %K\ \  + "manipulator"& % +4 "core" %\ .  #c +2 "manipulator"&=& +4 "core" &D  + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"(x(K +984 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (z& +3 "core" &K \   +981 #t-> access 3 +3 "storage"(% +3 "core" %K\ \   + "manipulator"&J% +5 "core" %\ .  #c + "manipulator"&m& +4 "core" &D  + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 7 +2 "storage"(~([ +352 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (& +2 "core" &[ k  @946684872.27EST = =tMAIN =mMAIN_scheduler @EST946684874.24 #"core_reset"Sent BREAK + #t@41159 idle with ifg=0x00, ie=0x75 + #>RESET< ESP2 v3.41 I2C Gateway v3.20 +208 #>RESET< ESP2 v3.41 I2C Gateway v3.20 for core bus +210 !o:Instrument::ISUSCore: @refixe: @configS:Instrument::Configuration: name" ISUS:calFileName0:sampleCmd"TS: prompt"\ :statusCmd"C:sampleTimeouti#:promptTimeouti:statusTimeouti: retriesi:strToPrompt"W: pace0: echoF:\ @name@ +107 #Configuration for don (12651-03) 10/9/20 brent@mbari.org\ /home/esp/esp2/type/shallow/don/configure.rb\ +401 "Can"K &$!w + K &$!w + #tPolling Can every 10:00 +2 !o:Storage::Warning: mesg"Uncleanly Exited:bt[ "8/home/esp/esp2/utils/storage.rb:438:in `readPucks!'"6/home/esp/esp2/utils/storage.rb:627:in `restore!'"-/home/esp/esp2/lib/esp.rb:115:in `shell'"7/home/esp/esp2/lib/schedule.rb:481:in `initialize'"0/home/esp/esp2/lib/thread.rb:738:in `start'"7/home/esp/esp2/lib/schedule.rb:474:in `initialize'"'/home/esp/esp2/lib/schedule.rb:472 +499 #-> ESP.ready! +3 #Powering core bus +567 .Gate.power :raw,:ON +2 "sampler") +20 ) +2 "core"  +2 "collection"' +2 ' +4 "core"  + "processing"% +2 % +3 "core"  +5 "collection"' 9\ +2 ' 0\ + ' -\ +4 "processing"% 9\ +2 % 2\ +2 % *\ +2 % 0\ +5 "sampler")&\ +2 "collection"'% +7 "core" %= +2 .tCS.configure :default +2 "collection"'#P d@b +3 "processing"%% +3 "core" %9 + .tPS.configure :default +3 "processing"%#A d`xb +2 "sampler")% +3 "core" %\ *\ % +2 .tSS.configure :default +2 "sampler")#.0X Hand +548 #-> Hand.open +3 .Hand.open +2 "manipulator"&;1 +55 "core" 1 +382 #t-> Hand.close +2 .Hand.close +4 "manipulator"& Arm.garage +2 "manipulator"&=& +7 "core" &9 z  +4 "manipulator"&>% +7 "core" % \ " s s  +5 .tElbow.reconfigure :tight +5 "manipulator"&$&.,(\ #b +6 .tElbow.seek :garage + "manipulator"&?(, +170 "core" ( +4 "manipulator"&@& +6 "core" &,    +4 .tElbow.reconfigure :loose +4 "manipulator"&$ &.,(#b +4 &A& +8 "core" &,    +4 .tForearm.seek :garage +4 "manipulator"&B' +81 "core" ' / - d ƞ +7 !to:Slide::Error\ : mesg")Forearm speedErr at CC + 4492 counts:@checkpoint: omitted: @replyo:I2C::Servo::AbsMove3Reply :@destinationi%: @channeli: @statusIS:I2C::Servo::Status: enabledT: pastRLSF: pastFLSF:pastThresholdF: lostF: homeF: positioni: velocityi: currenti:pwmi:erri: inPressi/ : outPressi- :deltaPressid : voltagef12.446768777614139t: @type2F: @tagiG: @sourcei+: @error: speedErr:@axisName" Forearm:bt["2/home/esp/esp2/lib/slide.rb:587:in `raiseErr'"7/home/esp/esp2/lib/slide.rb:350:in `unlimitedSeek'"5/home/esp/esp2/lib/thread.rb:74:in `recoverable'"7/home/esp/esp2/lib/slide.rb:323:in `unlimitedSeek'"./home/esp/esp2/lib/slide.rb:314:in `seek'",/home/esp/esp2/lib/slide.rb:358:in `to'"8/home/esp/esp2/lib/slide.rb:74:in `inConfiguration'",/home/esp/esp2/lib/slide.rb:358:in `to'"0/home/esp/esp2/utils/misc.rb:92:in `extend'",/home/esp/esp2/utils/misc.rb:34:in `to'"8/home/esp/esp2/utils/misc.rb:38:in `method_missing'"(ESP):5:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +804 #-> Arm.home +2 "manipulator"&C& +8 "core" &- k T e +4 "manipulator"&D% +9 "core" % ] M K +5 .tForearm.reconfigure :loose +5 "manipulator"&#Q@2^d^b +5 .tForearm.seek :retract +4 "manipulator"&E'\ +70 "core" ' +5 .tElbow.reconfigure :tight +5 "manipulator"&$&.,(\ #b +4 .tElbow.seek :home +5 "manipulator"&F( +108 "core" ( +4 "manipulator"&G& +8 "core" & x . +3 .tElbow.reconfigure :loose +5 "manipulator"&$ &.,(#b +4 &H& +7 "core" & q . +5 .tForearm.reconfigure :tight +5 "manipulator"&#Q@2^d^\ b +99 .tForearm.seek :home +4 "manipulator"&I' +41 "core" ' +3 "manipulator"&J& +9 "core" & |  . +4 "manipulator"&K% +7 "core" % | t s F +6169 #t-> Flush.CC +4 #Loading FlushPuck into Collection Clamp from FlushPuck::Garage + "collection"'L& +7 "core" &Tg +4 .tHand.open +2 "manipulator"&M1 +54 "core" 1 +3 "manipulator"&N& +9 "core" & t  . +3 "manipulator"&O% +8 "core" % { q F +3 .tForearm.reconfigure :loose +8 "manipulator"&#Q@2^d^b +4 .tForearm.seek :retract +3 "manipulator"&P'\ +38 "core" ' +4 .tElbow.reconfigure :tight +6 "manipulator"&$&.,(\ #b +4 .tElbow.seek FlushPuck::Garage +6 "manipulator"&Q(, +115 "core" ( +3 "manipulator"&R& +9 "core" &,   c  +4 .tElbow.reconfigure :loose +4 "manipulator"&$ &.,(#b +5 &S& +8 "core" &, t !  +4 .tForearm.seek :garage +5 "manipulator"&T' +101 "core" ' +2 .tHand.close +4 "manipulator"&U/ +62 "core" / +3 "manipulator"&V& +9 "core" &,   +3 "manipulator"&W% +9 "core" %   q +3 .tForearm.seek :retract +2 "manipulator"&X'\ +100 "core" ' +3 .tElbow.reconfigure :tight +5 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC +6 "manipulator"&Y( +272 "core" ( +5 "manipulator"&Z& +8 "core" &% / <; +3 .tElbow.reconfigure :loose +5 "manipulator"&$ &.,(#b +4 &[& +6 "core" &% 4 <; +4 .tForearm.reconfigure :tight +6 "manipulator"&#Q@2^d^\ b +5 .tForearm.seek CC + "manipulator"&\\'| +106 "core" ' +3 "manipulator"&]& +8 "core" &% S <; +3 "manipulator"&^% +9 "core" %ρ U +3 "collection"'_& +9 "core" &T\\ +6 "collection"'`& +9 "core" &TJ +6 .tCC.seek :closed +2 "collection"'a(] +9 "core" &Ti +2 &TV +8 &gIZ $d +7 &H\\i 7 +9 &a I +9 &wm] H +9 &8oR I +10 &p^ I +9 & n[ H +10 &"p^ H +9 &$Ap[ H +9 &&r\\ H +11 &'q^ H +7 &)od I +12 &+Hqi I +8 &- n` H +10 &.o] H +10 &0m^ I +9 &2Pp` I +7 &4mZ H +11 &5mQ I +8 &7o_ H +11 &9Ymb H +9 &;o` H +8 &<nc H +9 &>p^ H +11 &@`ng I +9 &B"pe I +10 &Cnh H +9 &Ekj H +9 &Gjpf H +10 &I)vn I +8 &Jx}m J +10 &Lipj N +10 &N[^`j P +9 &P]ag Q +9 &Q^_d Q +11 &S^`e R +10 &U\\Z\\] R +9 &WX^a S +9 &XWYb T +8 &ZXXk T +11 &\\_UYj A +8 &]a=VXl !c +9 &]oWW` F +5 ( +6 "collection"'`& +7 #tCollection Clamp onSpring/offSpring for 10/26 samples, on/off torque 1.77 +3 "collection"'b& +8 "core" &]hYYc F +2 &]cW\\U F +4 .tHand.open +3 "manipulator"&c1 +63 "core" 1 +3 "manipulator"&d% +9 "core" % c d +4 .tForearm.reconfigure :loose +7 "manipulator"&#Q@2^d^b +4 .tForearm.seek :retract +3 "manipulator"&e'\ +96 "core" ' +763 #t-> Flush.garage +3 #Garaging FlushPuck in Collection Clamp +4 "manipulator"&f& +7 "core" & W 8 +5 .tElbow.reconfigure :tight +4 "manipulator"&$&.,(\ #b +5 .tElbow.seek CC +4 "manipulator"&g( +32 "core" ( +4 "manipulator"&h& +7 "core" &   +3 .tElbow.reconfigure :loose +7 "manipulator"&$ &.,(#b +3 &i& +8 "core" & ,  +5 .tForearm.seek CC +2 "manipulator"&j'| +110 "core" ' +3 .tHand.close +2 "manipulator"&k/ +54 "core" / +3 .tCC.seek :open +5 "collection"'l(p +413 "core" ( +3 "manipulator"&m& +10 "core" & q r H  +3 "manipulator"&n% +9 "core" % v s q L +3 .tForearm.seek :retract +2 "manipulator"&o'\ +95 "core" ' +3 .tElbow.reconfigure :tight +5 "manipulator"&$&.,(\ #b +4 .tElbow.seek :garage +4 "manipulator"&p(, +274 "core" ( +2 "manipulator"&q& +8 "core" &, w u f { +5 .tElbow.reconfigure :loose +6 "manipulator"&$ &.,(#b +6 &r& +5 "core" &, r s p { +4 .tForearm.reconfigure :tight +7 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek :garage +2 "manipulator"&s' +111 "core" ' +2 .tHand.open +4 "manipulator"&t1 +61 "core" 1 +3 "manipulator"&u% +7 "core" %   +3 .tForearm.reconfigure :loose +7 "manipulator"&#Q@2^d^b +4 .tForearm.seek :retract +4 "manipulator"&v'\ +98 "core" ' +4061 #t-> Puck.count +2 "storage"(w% +11 "core" %D\ \  F +4 .tSE.seek :down +3 "storage"(x'N +7 "core" ' +3 .tSE.stop +2 "storage"(5 +5 "manipulator"&y% +9 "core" %\ % s r g - +5 .tSC.reconfigure :tight +4 "storage"($\ .\ 1~b +4 .tSC.seek 1 +4 "storage"(z(B +999 "core" ( +3 .tSC.configure :limp +4 "storage"($\ 1b +4 ({& +7 "core" &B +3 "manipulator"&|& +9 "core" &, v r { +3 "manipulator"&}% +8 "core" %\ % q q Q - +4 .tElbow.reconfigure :tight +4 "manipulator"&$&.,(\ #b +5 .tElbow.seek 1 +3 "manipulator"&~(c +180 "core" ( +3 "manipulator"&& +10 "core" &Z  $ +3 "storage"(& +8 "core" &B\ !\  m +5 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +5 .tForearm.seek 1 + 450 counts +4 "manipulator"&'Ф +101 "core" ' +3 "storage"(& +9 "core" &B\ \  +4 .tSE.reconfigure :place +5 "storage"(#]kK-0-\ b +6 .tSE.seek :beamBreak + "storage"('e +273 "core" ' +4 "storage"(- +8 "core" -'e +5 .tSE.configure :default +4 "storage"(#QK-0-\ b +6 (% +5 "core" %[\ \ !  +6 ."downElevator"SE.seek :down +7 "storage"('N +96 (% +7 "core" %L\ \ OE +4 "manipulator"& % +7 "core" %М { q +5 .tForearm.reconfigure :loose +5 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +4 "manipulator"&\ '\ +88 "core" ' +52 ' +2 ."downElevator"SE.stop +3 "storage"(5 +5 .tSC.reconfigure :tight +6 "storage"($\ .\ 1~b +5 .tSC.seek 2 +3 "storage"( (  +368 "core" ( +2 .tSC.configure :limp +5 "storage"($\ 1b +5 ( & +8 "core" &  \   " +3 "manipulator"& & +9 "core" &[  $ +3 .tElbow.seek 2 +2 "manipulator"&(; +30 "core" ( +4 "manipulator"&& +9 "core" &A t  +3 "storage"(& +8 "core" & \ !\ !  % +4 .tForearm.reconfigure :tight +4 "manipulator"&#Q@2^d^\ b +5 .tForearm.seek 2 + 450 counts +5 "manipulator"&'Ѐ +112 "core" ' +4 "storage"(& +9 "core" & \ !\ !  % +3 .tSE.reconfigure :place +4 "storage"(#]kK-0-\ b +7 .tSE.seek :beamBreak +4 "storage"('e +273 "core" ' +3 "storage"(- +7 "core" -'e +3 .tSE.configure :default +6 "storage"(#QK-0-\ b +6 (% +5 "core" %`\ !\  +7 ."downElevator"SE.seek :down +6 "storage"('N +98 (% +6 "core" %"O\ \  OD +3 "manipulator"&% +7 "core" %{ U U ] +5 .tForearm.reconfigure :loose +6 "manipulator"&#Q@2^d^b +5 .tForearm.seek :retract +4 "manipulator"&'\ +89 "core" ' +53 ' +4 ."downElevator"SE.stop +2 "storage"(5 +7 .tSC.reconfigure :tight +5 "storage"($\ .\ 1~b +5 .tSC.seek 3 +4 "storage"(( +354 "core" ( +2 .tSC.configure :limp +6 "storage"($\ 1b +5 (& +8 "core" & 0  +3 "manipulator"&"& +9 "core" &A s s n  +3 .tElbow.seek 3 +2 "manipulator"&%(D +10 "core" ( +2 "manipulator"&'& +9 "core" &A q r  +3 "storage"((& +9 "core" &\ !\ !   +6 .tForearm.reconfigure :tight +6 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +4 "manipulator"&)' +107 "core" ' +3 "storage"(& +12 "core" &\ !\ !   +3 .tSE.reconfigure :place +5 "storage"(#]kK-0-\ b +6 .tSE.seek :beamBreak +2 "storage"('e +276 "core" ' +4 "storage"(#- +7 "core" -'e +4 .tSE.configure :default +4 "storage"(#QK-0-\ b +6 (,% +7 "core" %e\ !\ "  +5 ."downElevator"SE.seek :down +6 "storage"(-'N +99 (.% +6 "core" %2K\ \  OC +5 "manipulator"&/% +11 "core" % V o P +4 .tForearm.reconfigure :loose +4 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +4 "manipulator"&0'\ +97 "core" ' +43 ' +2 ."downElevator"SE.stop +3 "storage"(5 +6 .tSC.reconfigure :tight +5 "storage"($\ .\ 1~b +5 .tSC.seek 4 +4 "storage"(1(, +355 "core" ( +2 .tSC.configure :limp +7 "storage"($\ 1b +6 (2& +6 "core" &, K  +3 "manipulator"&3& +9 "core" &A Z  +3 .tElbow.seek 4 +3 "manipulator"&4(* +11 "core" ( +4 "manipulator"&5& +9 "core" &0  z +3 "storage"(6& +8 "core" &,~\ !\ !   +5 .tForearm.reconfigure :tight +5 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 4 + 450 counts +3 "manipulator"&7' +105 "core" ' +2 "storage"(8& +9 "core" &,~\ !\ !   +5 .tSE.reconfigure :place +4 "storage"(#]kK-0-\ b +6 .tSE.seek :beamBreak +3 "storage"(9'e +268 "core" ' +3 "storage"(:- +9 "core" -'e +3 .tSE.configure :default +4 "storage"(#QK-0-\ b +6 (;% +5 "core" %k\ \ \ S +7 ."downElevator"SE.seek :down +6 "storage"(<'N +100 (=% +6 "core" %J\ \ NB +3 "manipulator"&>% +8 "core" % {   +5 .tForearm.reconfigure :loose +6 "manipulator"&#Q@2^d^b +4 .tForearm.seek :retract +2 "manipulator"&@'\ +96 "core" ' +47 ' +2 ."downElevator"SE.stop + "storage"(5 +7 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +4 .tSC.seek 5 +6 "storage"(A(<< +376 "core" ( +3 .tSC.configure :limp +5 "storage"($\ 1b +5 (B& +5 "core" &<>\ !\ !  +4 "manipulator"&$& +8 "core" &0 v { I z +4 .tElbow.seek 5 +4 "manipulator"&&( +14 "core" ( +3 "manipulator"&C& +10 "core" & r p 7  +3 "storage"(D& +11 "core" &<>\ "\ !  +5 .tForearm.reconfigure :tight +4 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 5 + 450 counts +4 "manipulator"&G' +105 "core" ' +3 "storage"(H& +9 "core" &<>\ \ ! +5 .tSE.reconfigure :place +6 "storage"(#]kK-0-\ b +8 .tSE.seek :beamBreak +3 "storage"(J'e +271 "core" ' +3 "storage"(?- +7 "core" -'e +3 .tSE.configure :default +5 "storage"(#QK-0-\ b +5 (K% +5 "core" %h\ \  > +5 ."downElevator"SE.seek :down +10 "storage"(E'N +99 (L% +6 "core" %L\ \  OC +3 "manipulator"&M% +9 "core" % [ ` +4 .tForearm.reconfigure :loose +5 "manipulator"&#Q@2^d^b +5 .tForearm.seek :retract +4 "manipulator"&N'\ +97 "core" ' +40 ' +2 ."downElevator"SE.stop +3 "storage"(5 +5 .tSC.reconfigure :tight +7 "storage"($\ .\ 1~b +6 .tSC.seek 6 +3 "storage"(O(K +355 "core" ( +3 .tSC.configure :limp +5 "storage"($\ 1b +3 (R& +7 "core" &K\  3  +5 "manipulator"&S& +7 "core" &   +3 .tElbow.seek 6 +5 "manipulator"&I( +6 "core" ( +4 "manipulator"&F& +10 "core" &   +3 "storage"(U& +7 "core" &K\ !\ !   +86 .tForearm.reconfigure :tight +26 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 6 + 450 counts +5 "manipulator"&V'< +111 "core" ' +3 "storage"(W& +8 "core" &K\ !\ ! 3  +4 .tSE.reconfigure :place +8 "storage"(#]kK-0-\ b +6 .tSE.seek :beamBreak +3 "storage"(P'e +272 "core" ' +4 "storage"(T- +8 "core" -'e +3 .tSE.configure :default +6 "storage"(#QK-0-\ b +5 (Z% +8 "core" %l\ \   +5 ."downElevator"SE.seek :down +6 "storage"(['N +100 (Q% +5 "core" %J\ \  NB +4 "manipulator"&]% +9 "core" %B U U t +4 .tForearm.reconfigure :loose +5 "manipulator"&#Q@2^d^b +5 .tForearm.seek :retract +5 "manipulator"&^'\ +89 "core" ' +48 ' +2 ."downElevator"SE.stop +3 "storage"(5 +6 .tSC.reconfigure :tight +5 "storage"($\ .\ 1~b +6 .tSC.seek 7 +4 "storage"(_([ +355 "core" ( +3 .tSC.configure :limp +6 "storage"($\ 1b +5 (X& +6 "core" &[ _  +5 "manipulator"&+& +7 "core" & r s `  +5 .tElbow.seek 7 + "manipulator"&b( +35 "core" ( +4 "manipulator"&c& +11 "core" &\  T +3 "storage"(d& +11 "core" &[\ !\ !   +4 .tForearm.reconfigure :tight +4 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 7 + 450 counts +4 "manipulator"&`'k +114 "core" ' +4 "storage"(\\& +8 "core" &[\ \ #  +6 .tSE.reconfigure :place +3 "storage"(#]kK-0-\ b +5 .tSE.seek :beamBreak +4 "storage"(f'e +274 "core" ' +3 "storage"(h- +7 "core" -'e +4 .tSE.configure :default +5 "storage"(#QK-0-\ b +4 (i% +7 "core" %`\ \  +4 ."downElevator"SE.seek :down +5 "storage"(k'N +100 (Y% +6 "core" %I\ \  OC +4 "manipulator"&e% +9 "core" %x p p A +3 .tForearm.reconfigure :loose +4 "manipulator"&#Q@2^d^b +6 .tForearm.seek :retract +3 "manipulator"&a'\ +96 "core" ' +43 ' +2 ."downElevator"SE.stop +3 "storage"(5 +2664 #t-> Arm.grab CC +4 "manipulator"&m& +7 "core" &  T +5 "manipulator"&n% +8 "core" %\ 3  %} +6 .tElbow.seek CC + "manipulator"&j( +152 "core" ( +3 "manipulator"&q& +7 "core" && r <@ +3 .tElbow.reconfigure :loose +6 "manipulator"&$ &.,(#b +3 &r& +7 "core" &% H <@ +5 .tForearm.seek CC +2 "manipulator"&g'| +112 "core" ' +3 .tHand.close +3 "manipulator"&t/ +62 "core" / +599 #t-> Arm.home +2 "manipulator"&u& +8 "core" &% r s <@ +4 "manipulator"&o% +8 "core" % u ~ ; +5 .tForearm.seek :retract +4 "manipulator"&s'\ +91 "core" ' +5 .tElbow.reconfigure :tight +4 "manipulator"&$&.,(\ #b +4 .tElbow.seek :home +5 "manipulator"&w( +347 "core" ( +3 "manipulator"&y& +10 "core" &  R +4 .tElbow.reconfigure :loose +5 "manipulator"&$ &.,(#b +4 & & +5 "core" & 1 R +4 .tForearm.reconfigure :tight +5 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek :home +4 "manipulator"&x' +48 "core" ' +3 "manipulator"&!& +10 "core" & }  R +3 "manipulator"&{% +8 "core" % |  ! +297 #t-> Arm.grab CC +2 .Hand.open + "manipulator"&|1 +55 "core" 1 +3 "manipulator"&}& +8 "core" & { g R +4 "manipulator"&% +7 "core" %  { ! +4 .tForearm.reconfigure :loose +4 "manipulator"&#Q@2^d^b +5 .tForearm.seek :retract +3 "manipulator"&'\ +41 "core" ' +4 .tElbow.reconfigure :tight +5 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC +4 "manipulator"&p( +342 "core" ( +4 "manipulator"&& +11 "core" &' U >N +3 .tElbow.reconfigure :loose +5 "manipulator"&$ &.,(#b +4 &v& +5 "core" &' ` >N +5 .tForearm.seek CC +3 "manipulator"&'| +104 "core" ' +4 .tHand.close +5 "manipulator"&/ +60 "core" / +22182 "Can"=\ B? +60003 4 B? +60000 ,\ B? +60002 %\ ?= +60002   ?= +60002 &\ ?= +60002 ' ?= +60002 *\ ?= +60001 + @= +60002 , ?= +60002 . ?= +60002 4 ?= +60002 /\ @= +60002 . ?= +60002 , ?< +60002 / ?= +60002 8 ?= +60001 / ?= +60002 7 ?= +60002 8 @= +60002 3 ?= +60002 0 @= +60002 - ?= +60002 1 ?= +60002 4 ?= +60002 4 ?= +60002 5 ?= +60001 5 ?= +60002 9 ?= +60002 7 ?= +60002 6 ?= +60002 / ?< +60002 @ ?= +60002 8 ?= +60002 < ?= +60002 ; ?= +60002 ? ?= +60001 < ?= +60002 : @= +60002 8 ?= +60002 9 ?= +60002 < ?= +60002 B ?= +60002 E ?< +60002 F @= +60002 I ?= +60002 D ?= +60002 E @= +60001 E @= +60002 E ?= +60002 B ?= +60002 N ?= +60002 I ?= +60002 @ ?= +60002 M ?= +60002 G ?= +60002 H ?= +60002 I ?= +60001 N ?< +60002 K ?= +60002 Q ?= +60002 \\ ?= +60002 \\ ?= @EST1669957294.46 \\ ?= +60002 W ?= +60002 T ?= +60002 T ?= +60002 W ?< +60001 R ?< +60002 S ?< +60002 X ?= +60002 V ?= +60002 [ @= +60002 ] @= +60002 ^ ?= +60002 X @= +60002 \\ ?< +60001 Q ?= +60002 _ ?= +60002 ] ?= +60002 g ?= +60002 _ @= +60002 g ?= +60002 n ?= +60002 ` @= +60002 e ?= +60002 h ?< +60001 i ?= +60002 o ?= +60002 i ?= +60002 p @> +60002 n! ?= +60002 p @= +60002 k ?< +60002 m! ?= +60002 q ?= +60002 q! ?= +60001 q ?= +60002 r! @= +60002 s! ?= +60002 t ?= +60002 o ?< +60002 n! ?= +60002 i ?= +60002 k# ?= +60002 k" ?= +60002 r# ?= +60001 n# @= +60002 l# @= +60002 o# @= +60002 o# @= +60002 j# ?= +60002 q# ?= +60002 r# @> +60002 s# A> +60002 x# @> +60001 v# A> +60002 w# A? +60002 s" A? +60002 u# A> +60002 o# @> +60002 u# ?= +60002 r$ ?= +60002 n# A> +60002 q# @> +60001 l# A> +60002 k# @= +60002 c# ?= +60002 ]# ?= +53594 !to:SignalException : mesg" SIGHUP:@timestampu: Time P:\ signoi:bt["+/home/esp/esp2/lib/esp.rb:77:in `join'"1/home/esp/esp2/lib/esp.rb:77:in `mainThread'""/home/esp/esp2/lib/esp.rb:339 +3 #Waiting to Resume from Checkpoint "Garaging FlushPuck in Collection Clamp" + ."Qmail"BadNews.email "SIGHUP",Subject: "SignalException in MAIN" +123 !o:!Net::SMTPAuthenticationError: mesg"E534-5.7.9 Application-specific password required. Learn more at\ :@checkpoint: omitted:bt["E/opt/mbari/lib/ruby/1.8/net/smtp.rb:954:in `check_auth_response'"/opt/mbari/lib/ruby/1.8/net/smtp.rb:723:in `authenticate'":/opt/mbari/lib/ruby/1.8/net/smtp.rb:566:in `do_start'"7/opt/mbari/lib/ruby/1.8/net/smtp.rb:525:in `start'"2/home/esp/esp2/lib/email.rb:325:in `sendOnce'"3/home/esp/esp2/lib/schedule.rb:292:in `unsync'"3/home/esp/esp2/lib/schedule.rb:594:in `unsync'"3/home/esp/esp2/lib/schedule.rb:621:in `unsync'"2/home/esp/esp2/lib/email.rb:318:in `sendOnce'"//home/esp/esp2/lib/email.rb:340:in `email'",/home/esp/esp2/lib/msg.rb:68:in `retry'"//home/esp/esp2/lib/email.rb:339:in `email'"./home/esp/esp2/lib/email.rb:348:in `mail'"-/home/esp/esp2/lib/email.rb:66:in `call'"3/home/esp/esp2/lib/email.rb:66:in `initialize'"-/home/esp/esp2/lib/email.rb:63:in `loop'"3/home/esp/esp2/lib/email.rb:63:in `initialize'"7/home/esp/esp2/lib/schedule.rb:481:in `initialize'"0/home/esp/esp2/lib/thread.rb:738:in `start'"7/home/esp/esp2/lib/schedule.rb:474:in `initialize'"'/home/esp/esp2/lib/schedule.rb:472 + !o:Email::Queue::Purge: mesg"Purged output queue:bt[ "//home/esp/esp2/lib/email.rb:106:in `purge'"3/home/esp/esp2/lib/email.rb:75:in `initialize'"-/home/esp/esp2/lib/email.rb:63:in `loop'"3/home/esp/esp2/lib/email.rb:63:in `initialize'"7/home/esp/esp2/lib/schedule.rb:481:in `initialize'"0/home/esp/esp2/lib/thread.rb:738:in `start'"7/home/esp/esp2/lib/schedule.rb:474:in `initialize'"'/home/esp/esp2/lib/schedule.rb:472 +6280 "Can"_# ?= +60002 U# ?= +60002 R# ?= +60002 U# ?= +60002 W @= +60002 _ @= +60001 _! @= +60002 ^$ ?= +60002 _# @= +60002 g" @= +60002 o# ?= +60002 m" ?= +60002 q# @= +60002 w# @= +60002 z# ?= +60001 y# ?= +60002 ! ?= +60002 ! ?= +60002  ?= +60002  ?= +60002 ! @= +60002 ! ?= +60002 ! @= +60002  ?= +60001 ! ?= +60002  ?= +60002  ?= +60002  ?< +60002  ?= +60002  ?= +60002  ?= +60002 # @= +60002 " @= +60002 " @> +60002 $ ?= +60001  ?= +60002 ! ?= +60002  @= +60002  ?= +60002 ! ?= +60002 ! @= +60002 # @= +60002 $ ?= +60002  ?= +60002 ! ?= +60001  ?< +60002 # ?= +60002 # @> +60002 " ?= +60002 # ?= +60002 # ?= +60002 # @= +60002  ?= +60002  ?= +60001  ?= +60002  ?> +60002  ?= +60002  ?= +60002  ?= +60002 #! ?= +60002 ( ?= +60002 /! ?= +60002 /! @= +60002 1 ?= +60001 7# ?= +60002 ; ?= +60002 8! ?= +60002 E ?= +60002 H ?= +60002 S ?= +60002 P ?= +60002 O ?= +60002 T ?= +60002 T ?= +60002 R! ?= +60002 W ?= +60001 c ?= +60002 a ?= @EST1670043697.20 f ?= +60002 d ?= +60002 j @= +60002 l ?= +60002 q @= +60002 r ?= +60002 | @= +60002  @= +60001  ?= +60002  ?= +60002  ?= +60005  A? +59999  @= +60002  ?= +60002  ?= +60002  @= +60002  @? +60001  ?= +60002  ?= +60002  ?= +60002  ?= +60002  ?= +60002  ?= +60002  ?= +60002  ?= +60002  @= +60001  ?= +60002  ?= +60002   ?= +60002 * @= +60002 H ?= +60002 M ?= +60002 T ?= +60002 M ?= +60002 Z ?< +60001 Y ?= +60002 a ?= +60002 h ?= +60002 q ?= +60002  ?= +60002  @= +60002  ?= +60002  ?= +60002  ?= +60002  ?= +60001  ?= +60002  ?= +60002  ?= +60002  ?= +60002  ?= +60002  ?= +60002  ?= +60002  ?= +60002  ?= +60001  ?= +60002  ?= +60002  ?= +60002  ?= +60002  @= +60002  ?= +60002  ?= +60002  @= +60002  ?= +60002  ?= +60002  ?= +60001  ?= +60002  ?= +60002  ?= +60002  @= +60002  ?= +60002  ?= +60002  ?= +60002  ?= +60002  ?= +60001  ?< +60002  ?= +60002  ?= +60002 \ ?= +60002 \ ?= +60002 \ ?= +60002 \ ?= +60002 \ ?= +60002 \ ?= +60002 \ \ ?= +60001 % ?= +60002  ?= +60002  ?< +60002 " ?= +60002  ?= +60002 $ ?= +60002 + ?= +60002  ?> +60002  ?= +60002 K ?< +60001 C ?= +60002 6 ?= +60002  ?= +60002  ?= +60002 8 ?= +60002  ?= +60002 % ?= +60002 < ?= +60002 ? ?= +60002 5 ?= +60001 1 ?= +60002 5 ?= +60002 3 ?= +60002 : ?= +60002 F ?= +60002 / @= +60002  ?< +60002 0 ?< +60002 0 ?= +60002  ?= +60001  ?= +60002  ?= +60002 * @= +60002  ?= +60002  ?= +60002 * @= +60002  ?= +60002  ?= +60002 & ?< +60002 & ?= +60001 * ?= +60002 ( @= +60002 2 @= +60002 & ?= +60002 ) ?= +60002 & ?= +60002  ?= +60002   ?= +60002  ?= +60002  ?= +60001  ?= +60002 | ?= +60002 D ?= +60002 ) ?= +60002  ?= +60002  ?= +60002  ?= +60002  ?= +60002  ?= +60002  ?< @EST1670130099.93  ?= +60002  ?= +60002  ?= +60002 q ?= +60002 h ?= +60002 ^ ?= +60002 O ?= +60002 F ?= +60002 8 ?= +60002 < ?= +60001 ' ?= +60002 \ ?= +60002 \ ?= +60002 \ >< +60002  ?= +60002 \ ?= +60002 \ ?= +60002  ?= +60002 \ @= +60002  ?= +60001  ?= +60002 \ ?= +60002 \ ?= +60002 \ ?= +60002  ?= +60002  ?= +60002  ?= +60002  ?= +60002  ?= +60002  ?= +60001  ?= +60002  ?= +60002  ?= +60002  ?= +60002  ?= +60002  ?= +60002  ?= +60002  ?= +60002  ?< +60001  ?< +60002  ?= +60002  ?= +60002  ?= +60002  ?= +60002  @= +60002  ?= +60002  ?= +60002  ?= +60002  ?< +60001  ?< +60002  ?= +60002  @> +60002  A> +60002  @> +60002  A> +60002  A> +60002 ~ @> +60002 } @> +60002 p ?= +60001 r ?= +60002 p A> +60002 r A> +60002 h A> +60002 c ?= +60002 j ?= +60002 _ ?= +60002 a ?= +60002 ^ ?= +60001 X ?= +60002 [ ?= +60002 X @= +60002 X ?= +60002 V ?= +60002 V ?= +60002 V ?= +60002 M ?= +60002 N\ ?< +60002 N\ ?= +60001 K ?= +60002 D ?= +60002 H\ ?= +60002 E ?= +60002 C\ ?= +60002 F\ ?< +60002 ;\ ?= +60002 6 ?= +60002 7 ?= +60001 8 ?= +60002 > ?= +60002 9 ?= +60002 > ?= +60002 @ ?= +60002 H ?< +60002 > ?= +60002 B ?= +60002 G ?= +60002 K ?= +60001 M ?= +60002 Q ?= +60002 O ?= +60002 J ?= +60002 O ?< +60002 L ?= +60002 K ?= +60002 J @> +60002 G ?= +60002 G ?= +60001 B ?= +60002 C ?= +60002 D ?= +60002 ? ?= +60002 C ?= +60002 @ ?= +60002 D ?= +60002 < ?= +60002 E ?= +60001 ? @= +60002 > ?= +60002 > ?< +60002 > ?< +60002 : ?= +60002 @ @= +60002 8 ?= +60002 ? ?= +60002 > ?= +60002 ? ?= +60002 ? ?= +60001 B ?< +60002 F ?= +60002 A ?< +60002 H ?= +60002 E ?= +60002 ? @= +60002 G ?= +60001 C ?= +60002 K ?= +60002 G ?= +60002 C ?= +60002 M ?= +60002 K ?= +60002 H ?= +60002 P ?= +60002 G @= +60002 V ?= @EST1670216502.66 O ?= +60002 V ?= +60002 S ?= +60001 S ?= +60002 U @= +60002 W ?= +60002 U @= +60002 \\ @> +60002 b ?= +60002 Y ?= +60002 a ?= +60002 ` ?= +60001 c ?= +60002 i ?= +60002 a @= +60002 a ?= +60002 f @= +60002 ^ ?= +60002 ^ ?= +60002 W ?= +60002 R ?= +60002 O ?= +60001 L @= +60002 K ?= +60002 P @= +60002 V @= +60002 a ?= +60002 \\ ?< +60002 e ?= +60002 _ ?= +60002 f ?= +60002 h ?= +60002 r ?= +60001 l ?= +60002 h ?< +60002 k @= +60002 h ?< +60002 l ?= +60002 f ?< +60002 e ?= +60001 f ?= +60002 h ?= +60002 l @> +60002 l ?= +60002 d ?= +60002 h ?= +60002 j ?< +60002 n ?= +60002 v ?= +60002 y @= +60001  ?= +60002  A> +60002  A? +60002  @> +60002  @> +60002  A= +60002  A= +60002  A> +60002  ?= +60002  ?= +60001  A> +60002  A> +60002  A> +60002  ?= +60002  @= +60002  ?= +60002  ?= +60002  @= +60002  ?= +60002  ?= +60002  ?= +60001  ?= +60002  ?= +60002  ?= +60002  ?= +60002  ?= +60002  ?= +60002  A> +60002  ?= +60002  ?= +60002  ?= +60001  ?= +60002  ?= +60002  ?= +60002  ?= +60002  @= +60002  @= +60002  ?= +60002  @= +60001  @= +60002  @= +60002  ?= +60002   ?= +60002   ?= +60002  ?= +60002  ?= +60002  ?= +60002  ?= +60001  ?= +60002  ?= +60002  @= +60002 % @= +60002  ?= +60002 $ @= +60002 % @= +60002 ' ?= +60002 # ?= +60002 $ ?= +60002 ' ?= +60001 % ?= +60002 + ?= +60002 . ?= +60002 2 ?= +60002 0 ?= +60002 8 ?= +60002 ; ?= +60002 ? @= +60002 @ @= +60001 C ?= +60002 L ?= +60002 O ?= +60002 T @= +60002 L ?= +60002 Q @= +60002 e ?= +60002 a @= +60002 g ?= +60002 p ?= +60001 q ?= +60002 x @= +60002 { @= +60002  ?= +60002  ?= +60002  @= +60002  @= +60002  ?= +60002  ?= +60002  ?= +60001  ?= +60002  ?= +60002  ?= +60002  @= +60002  ?= +60002  ?= @EST1670302905.40  ?= +60002  @= +60002  ?= +60002  ?= +60001  @= +60002  ?= +60002  ?= +60002  ?= +60002  ?= +60002  ?< +60002  ?= +60002  ?= +60002  @= +60001  ?= +60002  ?= +60002  @= +60002  ?= +60002  ?= +60002  ?= +60002  ?= +60002  ?= +60002  ?= +60002  ?= +60001  ?= +60002  ?= +60002  ?= +60002  ?= +60002  ?= +60002  ?= +60002  ?= +60002  ?= +60002  ?= +60002   ?= +60001  @= +60002 \  @= +60002 \  ?= +60002  ?= +60002  ?< +60002  ?= +60002  ?= +60002  @= +60002  ?= +60002  ?= +60001   ?= +60002  ?< +60002  ?= +60002 # ?= +60002   ?= +60002  ?= +60002   ?= +60002  ?= +60002  @< +60001 & ?= +60002   ?= +60002 % ?= +60002 % @= +60002 $ ?= +60002 ( ?= +60002 % @= +60002 ' @= +60002 # @= +60002  @= +60001 ! ?= +60002 ! @= +60002 % ?= +60002 & @= +60002 ' ?= +60002 . ?> +60002 ( ?= +60002 / ?= +60002 3 @= +60002 9 ?= +60001 < @= +60002 = @= +60002 ? ?< +60002 O ?= +60002 H ?= +60002 J ?= +60002 N @> +60002 O @= +60001 K ?= +60002 N ?= +60002 T ?= +60002 V ?= +60002 U ?= +60002 R ?= +60002 W @= +60002 X ?= +60002 W ?= +60002 X ?= +60002 ` ?> +60002 ` ?= +60002 [ ?= +60001 _ ?= +60002 _ ?= +60002 ] ?= +60002 W ?= +60002 T ?= +60002 R ?= +60002 [ B? +60002 ` ?= +60002 ] ?= +60002 ~ ?= +60001 s ?= +60002 m ?= +60002 o @= +60002 u ?= +60002 z ?= +60002 { ?= +60002  ?= +60002  ?= +60002  ?= +60001  @= +60002  @= +60002  @= +60002  ?= +60002  @= +60002  ?= +60002  ?= +60002  ?= +60002  ?= +60001  ?= +60002  ?= +60002  ?= +60002  ?= +60002  @= +60002  ?= +60002  ?= +60002  ?< +60002  ?= +60002  ?= +60002  @= +60002  ?= +60001  ?= +60002  ?= +60002  ?= +60002  ?< +60002  ?= +60002  @= +60002  ?= +60002 z ?= +60002 { ?= +60001 { ?= +60002  ?= @EST1670389308.13 z ?= +60002 t ?< +60002 u @= +60002 p ?= +60002 w @= +60002 s @= +60002 v ?= +60001 s ?= +60002  ?= +60002 u ?< +60002  ?= +60002  ?= +60002 { ?= +60002  ?= +60002  ?= +60002  ?= +60001  ?= +60002  ?= +60002  ?= +60002  @= +60002  ?= +60002  @= +60002  ?= +60002  ?= +60002  ?= +60002  @= +60002  ?< +60001  ?< +60002  ?= +60002  ?= +60002  ?= +60002  A> +60002  ?= +60002  @= +60002  ?= +60002  ?= +60002  @= +60001  @= +60002  ?= +60002  ?= +60002  ?= +60002  ?= +60002  ?= +60002  ?= +60002  ?= +60002  ?= +60002  ?= +60001  @= +60002  ?= +60002  ?= +60002  ?= +60002  @> +60002  ?< +60002  ?= +60002  ?= +60002  ?= +60002  @= +60001  @= +60002  @= +60002  @= +60002  @= +60002  ?< +60002  ?= +60002  ?= +60002  ?= +60002  @= +60002   ?= +60001 \  ?= +60002 \  ?= +60002  ?= +60002  ?= +60002  ?= +60002  ?< +60002  ?= +60002  ?= +60002 " ?= +60002 5 @= +60002  @= +60001  ?< +60002 + ?< +60002  ?= +60002  ?< +60002 # @= +60002 = ?= +60002 $ ?= +60002  @= +60002 5 ?= +60001 7 ?< +60002  ?= +60002  ?= +60002  ?= +60002 ! ?= +60002 3 ?= +60002  ?= +60002  ?= +60002   ?= +60002  ?= +60001  ?= +60002   ?= +60002  @= +60002 ) @= +60002  ?= +60002  ?= +60002 . ?= +60002  ?> +60001  ?= +60002 ( ?< +60002 * ?= +60002  ?= +60002  @= +60002 7 ?= +60002  \ ?= +60002  @= +60002 3 ?= +60002 \ ?= +60001 \ ?= +60002 2\ ?< +60002 "\ ?= +60002  \ @= +60002  ?= +60002   ?= +60002 \ ?= +60002  ?= +60002  ?= +60002  ?= +60001 < ?= +60002 ; ?= +60002  @= +60002  ?> +60002 1 @= +60002 < ?= +60002  ?= +60002 , ?< +60002 > ?= +60002 $ ?= +60001  @= +60002 7 ?= +60002 3 ?= +60002 6 @= +60002  ?= +60002  ?= +60002 0 ?= +60002 ) ?< +60002 I ?= @EST1670475710.86 1 ?= +60002 E ?= +60001 % @= +60002 5 ?= +60002 : ?= +60002 N ?= +60002 4 ?= +60002  ?> +60002 * ?= +60002 F ?= +60002 3 ?= +60002 < ?= +60001 S ?= +60002 [ ?= +60002 R ?< +60002 P ?= +60002 H ?= +60002 I ?= +60002 D ?= +60002 ; @= +60002 3\ ?= +60002 + ?= +60001 $ @= +60002 ! ?< +60002 & ?= +60002 8 ?= +60002 . ?= +60002  ?= +60002 , @= +60002  ?= +60002   ?= +60002   ?= +60002  ?= +60001 \ @= +60002   ?= +60002 \ ?= +60002  ?= +60002  @= +60002 \ ?= +60002 \ ?= +60002  ?= +60002  ?= +60002  ?= +60001  ?= +60002 r ?= +60002 j ?= +60002 ] ?= +60002 X ?= +60002 E @= +60002 A ?= +60002 5 ?= +60002 0 @> +60001 3 A> +60002 & @> +60002 ! @> +60002  A? +60002  A> +60002  @> +60002  ?= +60002  ?= +60002  @? +60002  @> +60001  A> +60002  A> @1670513568.33EST = =tMAIN =mMAIN_scheduler @EST1670513570.17 #"core_reset"Sent BREAK +2 #t@28111 sendCRC with ifg=0x20, ie=0x7F + #@29931 sendCRC with ifg=0x08, ie=0x5F + #@55713 idle with ifg=0x84, ie=0x75 #@56393 select with ifg=0x10, ie=0xF5 + #@57042 receive with ifg=0x10, ie=0xFD + #@57690 receive with ifg=0x10, ie=0xFD #@58339 receive with ifg=0x10, ie=0xFD + #@58667 receive with ifg=0x80, ie=0xFD #@48888 idle with ifg=0x00, ie=0x75 + #ESP2 v3.41 I2C Gateway v3.20 +9 #ESP2 v3.41 I2C Gateway v3.20 for core bus +191 !o:Errno::ESRCH:\ errnoi: mesg"7No such process -- removing stale lock on /dev/ctd:bt["9/home/esp/esp2/lib/posix/serialport.rb:188:in `kill'"/home/esp/esp2/lib/posix/serialport.rb:64:in `initialize'":/home/esp/esp2/type/shallow/initialize.rb:17:in `new'"1/home/esp/esp2/type/shallow/initialize.rb:17"2/home/esp/esp2/lib/framework.rb:125:in `load'"2/home/esp/esp2/lib/framework.rb:125:in `load'"5/home/esp/esp2/lib/framework.rb:183:in `execute'"-/home/esp/esp2/lib/esp.rb:110:in `shell'"7/home/esp/esp2/lib/schedule.rb:481:in `initialize'"0/home/esp/esp2/lib/thread.rb:738:in `start'"7/home/esp/esp2/lib/schedule.rb:474:in `initialize'"'/home/esp/esp2/lib/schedule.rb:472 +3 !o:Errno::ESRCH:\ errnoi: mesg"8No such process -- removing stale lock on /dev/isus:bt["9/home/esp/esp2/lib/posix/serialport.rb:188:in `kill'"/home/esp/esp2/lib/posix/serialport.rb:64:in `initialize'":/home/esp/esp2/type/shallow/initialize.rb:36:in `new'"1/home/esp/esp2/type/shallow/initialize.rb:36"2/home/esp/esp2/lib/framework.rb:125:in `load'"2/home/esp/esp2/lib/framework.rb:125:in `load'"5/home/esp/esp2/lib/framework.rb:183:in `execute'"-/home/esp/esp2/lib/esp.rb:110:in `shell'"7/home/esp/esp2/lib/schedule.rb:481:in `initialize'"0/home/esp/esp2/lib/thread.rb:738:in `start'"7/home/esp/esp2/lib/schedule.rb:474:in `initialize'"'/home/esp/esp2/lib/schedule.rb:472 +16 !o:Instrument::ISUSCore: @configS:Instrument::Configuration: name" ISUS:calFileName0:sampleCmd"TS: prompt"\ :statusCmd"C:sampleTimeouti#:promptTimeouti:statusTimeouti: retriesi:strToPrompt"W: pace0: echoF: @refi\\P:\ @name@ +99 #Configuration for don (12651-03) 10/9/20 brent@mbari.org\ /home/esp/esp2/type/shallow/don/configure.rb\ +382 "Can" CA +  CA + #tPolling Can every 10:00 +2 !o:Storage::Warning: mesg"6Invalid entry in line 2 of /var/log/esp/real.puck:bt["8/home/esp/esp2/utils/storage.rb:399:in `readPucks!'"2/home/esp/esp2/utils/storage.rb:397:in `each'"8/home/esp/esp2/utils/storage.rb:397:in `readPucks!'"(eval):2:in `eachRaw'"(eval):2:in `each'"8/home/esp/esp2/utils/storage.rb:372:in `readPucks!'"2/home/esp/esp2/utils/storage.rb:371:in `open'"8/home/esp/esp2/utils/storage.rb:371:in `readPucks!'"6/home/esp/esp2/utils/storage.rb:627:in `restore!'"-/home/esp/esp2/lib/esp.rb:115:in `shell'"7/home/esp/esp2/lib/schedule.rb:481:in `initialize'"0/home/esp/esp2/lib/thread.rb:738:in `start'"7/home/esp/esp2/lib/schedule.rb:474:in `initialize'"'/home/esp/esp2/lib/schedule.rb:472 +2 !o:Storage::Warning: mesg"Uncleanly Exited:bt[ "8/home/esp/esp2/utils/storage.rb:438:in `readPucks!'"6/home/esp/esp2/utils/storage.rb:627:in `restore!'"-/home/esp/esp2/lib/esp.rb:115:in `shell'"7/home/esp/esp2/lib/schedule.rb:481:in `initialize'"0/home/esp/esp2/lib/thread.rb:738:in `start'"7/home/esp/esp2/lib/schedule.rb:474:in `initialize'"'/home/esp/esp2/lib/schedule.rb:472 +829 #-> ESP.ready! +154 "sampler") +2 ) +2 "core"  +2 "collection"' + ' +3 "core"  +2 "processing"% + % +3 "core"  +5 "collection"' 9\ +2 ' 0\ +2 ' -\ +4 "processing"% 9\ +2 % 2\ +2 % *\ +2 % 0\ +3 "sampler")&\ +2 "collection"'% +3 "core" %\\ +2 .tCS.configure :default +2 "collection"'#P d@b +2 .tCS.hold +2 "collection"'+ +4 "core" + + .tCS.configure :default +2 "collection"'#P d@b +3 "processing"%% +2 "core" %> +2 .tPS.configure :default +2 "processing"%#A d`xb +2 "sampler")% +3 "core" %/ V L +2 .tSS.configure :default +2 "sampler")#.0XN +2 .tElbow.configure :loose +2 "manipulator"&$ &.,(#b +2 .tElbow.hold +2 "manipulator"&, +2 "core" , +2 .tElbow.configure :loose +2 "manipulator"&$ &.,(#b +4 "storage"(& +3 "core" &[\   + .tSC.configure :loose +3 "storage"($.\ 1~b +2 .tSC.hold + "storage"(, +4 "core" , + .tSC.configure :loose +2 "storage"($.\ 1~b +2 (% +3 "core" %H e  + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 .tCH.coast + "collection"'  +2 "core" +2 .tCH.configure :default + "collection"'\ 2 +2 .tPH.coast +2 "processing"%  +2 "core" +2 .tPH.configure :default + "processing"%\ 2 +2 #tAll dwarf controllers running firmware version 3.85 +2 "sampler") +9 "collection"'% +2 "processing"%% +5 "core" %B + "manipulator"&% +3 "sampler")% +7 "core" %@ + %υ  + %/ U L + "manipulator"&& +4 "core" &&  >N +2 "storage"(& +3 "core" &[* =  + "storage"(% +4 "core" %H ]  + "collection"'& +4 "core" &J + "processing"%& +3 "core" &R?  +2 "collection"' +3 "core"  +2 "collection"'  +3 "core"  + "collection"'! +3 "core"  +2 "processing"%" +3 "core"  + "processing"%# +3 "core" U +2 "processing"%$ +3 "core"  + "processing"%% +3 "core" B +2 "sampler")& +2 "core"  +2 "collection"''% +4 "core" %G + "processing"%(% +4 "core" %> +2 "sampler"))% +3 "core" %/ U L +2 "collection"'*& +4 "core" &C +2 "processing"%+& +3 "core" &R?  +2 "manipulator"&,% +4 "core" %υ  + "manipulator"&-& +4 "core" && [ >N +2 "storage"(.& +3 "core" &[* C  +3 "storage"(/% +3 "core" %H N  +2 "collection"'09 +3 "core" 9 +2 "processing"%19 +3 "core" 9 +354 #t-> access 4 +3 "storage"(2% +3 "core" %H 2  + "manipulator"&3% +4 "core" %υ  +2 "manipulator"&4% +3 "core" %υ * +2 .tForearm.seek :retract +2 "manipulator"&5'\ +100 "core" ' + .tElbow.seek :clear +2 "manipulator"&6(d +206 "core" ( + "manipulator"&7% +4 "core" %\ A A + +2 "manipulator"&8& +3 "core" &d E  +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 1 +2 "storage"(9(B +1973 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (:& +2 "core" &> m  +1427 #t-> require 'shuffle.rb' +1668 #-> 10.times {shuffle 3..4} + #Shuffling pucks in tube 3 of [3..4] +2 #Loading generic puck from tube 3 into Collection Clamp +2 "collection"';& +3 "core" &a +2 .tHand.open + "manipulator"&<1 +60 "core" 1 + "manipulator"&=% +4 "core" % \ =  * +2 "storage"(>% +3 "core" %H\ \  +2 "storage"(?. +3 "core" .(> + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(@( +673 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (A& +3 "core" & %  + "manipulator"&B& +4 "core" &d   +2 "manipulator"&C% +4 "core" % \ =  * +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&D(D +94 "core" ( +2 "manipulator"&E& +4 "core" &G L 1 + "storage"(F& +4 "core" &\ \ @  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&G' +107 "core" ' + "storage"(H& +5 "core" &\ \ "   + .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(I'e +281 "core" ' + "storage"(J- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +4 .tSE.seek :down +2 "storage"(K'N +258 "core" ' + .tSE.stop + "storage"(5 +3 "manipulator"&L% +4 "core" % _ _  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&M'\ +94 "core" ' +41 !to:Puck::Error: mesg".2 pucks loaded in tube 3 when expecting 0:@checkpoint: omitted:bt[";/home/esp/esp2/utils/puckmoves.rb:257:in `verifyCount'":/home/esp/esp2/utils/puckmoves.rb:583:in `raiseStack'"4/home/esp/esp2/utils/puckmoves.rb:364:in `load'",/home/esp/esp2/lib/msg.rb:68:in `retry'"4/home/esp/esp2/utils/puckmoves.rb:362:in `load'"4/home/esp/esp2/utils/puckmoves.rb:357:in `loop'"4/home/esp/esp2/utils/puckmoves.rb:357:in `load'"8/home/esp/esp2/utils/puckmoves.rb:958:in `loadPuck'"4/home/esp/esp2/utils/shuffle.rb:24:in `shuffle'"!(ESP):4:in `each_with_index'"1/home/esp/esp2/utils/shuffle.rb:18:in `each'" exit +5 #mEXIT @1670513713.92EST @1670513730.64EST = =mMAIN_scheduler =tMAIN @EST1670513732.45 #"core_reset"Sent BREAK +2 #t@54059 sendCRC with ifg=0x20, ie=0x7F + #@55891 sendCRC with ifg=0x08, ie=0x5F + #@23075 idle with ifg=0x84, ie=0x75 + #@23759 select with ifg=0x10, ie=0xF5 #@24407 receive with ifg=0x10, ie=0xFD + #@25055 receive with ifg=0x10, ie=0xFD + #@25703 receive with ifg=0x10, ie=0xFD #@26030 receive with ifg=0x80, ie=0xFD + #@3687 idle with ifg=0x00, ie=0x75 #ESP2 v3.41 I2C Gateway v3.20 +10 #ESP2 v3.41 I2C Gateway v3.20 for core bus +199 !o:Instrument::ISUSCore: @configS:Instrument::Configuration: name" ISUS:calFileName0:sampleCmd"TS: prompt"\ :statusCmd"C:sampleTimeouti#:promptTimeouti:statusTimeouti: retriesi:strToPrompt"W: pace0: echoF: @refiL:\ @name@ +95 #Configuration for don (12651-03) 10/9/20 brent@mbari.org\ /home/esp/esp2/type/shallow/don/configure.rb\ +373 "Can" ?= +  ?= + #tPolling Can every 10:00 +3255 #-> ESP.ready? +420 #-> ESP.ready! +155 "sampler") +2 ) +2 "core"  +2 "collection"' +2 ' +2 "core"  +2 "processing"% +2 % +3 "core"  +4 "collection"' 9\ +2 ' 0\ +2 ' -\ +4 "processing"% 9\ +2 % 2\ +2 % *\ +2 % 0\ +3 "sampler")&\ +2 "collection"'% +3 "core" %Z + .tCS.configure :default +3 "collection"'#P d@b +2 .tCS.hold +2 "collection"'+ +2 "core" + +2 .tCS.configure :default +2 "collection"'#P d@b +2 "processing"%% +3 "core" %C +2 .tPS.configure :default +2 "processing"%#A d`xb +2 "sampler")% +3 "core" %/ R J +2 .tSS.configure :default +2 "sampler")#.0X require 'shuffle.rb' +1436 #-> 10.times {shuffle 3..4} +2 #Shuffling pucks in tube 3 of [3..4] + #Loading generic puck from tube 3 into Collection Clamp +2 "collection"'2& +3 "core" &I +2 .tHand.open + "manipulator"&31 +24 "core" 1 + "manipulator"&4% +4 "core" %\ < B ) +2 "storage"(5% +3 "core" %F  \ +2 "storage"(6. +3 "core" ., + "storage"(7& +4 "core" &*   + "storage"(8& +4 "core" &*  + "manipulator"&9& +4 "core" &G U 1 +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&:(D +3 "core" ( + "manipulator"&;& +4 "core" &G Y 1 + "storage"(<& +4 "core" &*   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&=' +109 "core" ' + "storage"(>& +4 "core" &* k  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(?'e +289 "core" ' + "storage"(@- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (A& +2 "core" &(  +2 "manipulator"&B& +3 "core" &G c j 3 1 +2 .tElbow.seek 3 +2 "manipulator"&C(D +3 "core" ( + "manipulator"&D& +4 "core" &G p s 1 + "storage"(E& +4 "core" &(  +2 .tForearm.seek 3 + 300 counts + "manipulator"&F'y +19 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&G/ +61 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&H& + "storage"(I'N +6 "core" &G  1 +2 "manipulator"&J% +4 "core" % ς   +2 .tForearm.seek :retract +2 "manipulator"&K'\ +98 "core" ' +2 .tElbow.seek CC + "manipulator"&L( +143 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +4 "core" ( + "manipulator"&M& +5 "core" &" N 9& + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &N& +3 "core" &" ? 9& +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&O'| +103 "core" ' +2 "manipulator"&P& +4 "core" &" c 9& +37 "manipulator"&Q% +10 "core" %{ # + "collection"'R& +5 "core" &b +2 "collection"'S& +5 "core" &< +2 .tCC.seek :closed + "collection"'T(] +5 "core" &< +7 &7@ #c +9 &wY9 6 +10 &2 I +9 &j< H +10 &^t9 I +9 &"p1 H +9 & q2 I +10 &"t9 H +9 &$hm6 H +9 &&*p1 H +10 &'r7 I +9 &)r# I +10 &+ps/ H +9 &-2s' H +9 &.s0 H +10 &0q, I +9 &2xr0 H +9 &49u- I +10 &5p. I +9 &7s$ H +10 &9o% I +9 &;Ap' I +9 &=q+ I +10 &>s( H +9 &@t( H +9 &BJo( H +10 &D p# H +9 &Er) I +10 &Gq! I +9 &IO# I +9 &K $ K +10 &L N +9 &Nz P +9 &P@z| Q +10 &Rxz Q +9 &Swz R +10 &Uux S +9 &WErt R +9 &Yru T +10 &Zpp$ T +9 &\\jo B +9 &]t2mo "e +10 &];nn 9 +2 ( +2 "collection"'S& +3 #tCollection Clamp onSpring/offSpring for 10/25 samples, on/off torque 1.73 + .Hand.open +2 "manipulator"&U1 +64 "core" 1 + "manipulator"&V% +5 "core" % z B + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&W'\ +95 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp +2 "processing"%X& +4 "core" &RA  + "manipulator"&Y% +4 "core" %\ 7  ' +2 "storage"(Z% +3 "core" %I | +2 "storage"([. +3 "core" ., + "storage"(\\& +4 "core" &* 4  + "storage"(]& +4 "core" &* n  +2 "manipulator"&^& +4 "core" &"  9% + "manipulator"&_% +4 "core" %\ 7  ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&`(D +154 "core" ( +2 "manipulator"&a& +4 "core" &;  +2 "storage"(b& +3 "core" &* D  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&c' +100 "core" ' +2 "storage"(d& +4 "core" &*   +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(e'e +280 "core" ' + "storage"(f- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (g& +2 "core" &( U  +2 "manipulator"&h& +4 "core" &;  + .tElbow.seek 3 +2 "manipulator"&i(D +3 "core" ( + "manipulator"&j& +4 "core" &; ) +2 "storage"(k& +3 "core" &( G  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&l'y +11 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&m/ +63 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&n& +2 "storage"(o'N +7 "core" &; d | L +2 "manipulator"&p% +4 "core" % q _ _ e 9 + .tForearm.seek :retract +2 "manipulator"&q'\ +98 "core" ' + .tElbow.seek PC +2 "manipulator"&r(c +154 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +85 "core" ( + "manipulator"&s& +5 "core" &Z  = + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &t& +2 "core" &Z  = +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&u'[ +93 "core" ' + "manipulator"&v& +4 "core" &Z  = +2 "manipulator"&w% +4 "core" %d   + "processing"%x& +4 "core" &RA  +2 "processing"%y& +6 "core" &R?  +2 .tPC.seek :closed + "processing"%z(Z +5 "core" &R8  +8 &:; *y +9 &l6 > +10 &Ux5 H +9 &kA H +9 &lF G +10 &mO H +9 &!]kD H +10 &# lE H +9 &$jC H +9 &&m= H +10 &(fkF H +9 &*'oB H +9 &+k2 G +10 &-l< H +9 &/nm7 H +10 &10m5 H +9 &2p0 H +9 &4j/ H +10 &6vm. H +9 &87p2 H +9 &9k9 G +10 &;l3 H +9 &=~j0 H +10 &?@m4 H +9 &Al7 G +9 &Bm+ H +10 &Dm# G +9 &FGp& H +9 &H{/ J +10 &I- K +9 &K0 L +10 &M?/ N +9 &O' N +9 &P! N +10 &R1 N +9 &TF' N +9 &V* N +10 &W. N +9 &Y0 < +10 &Z{4' ] +9 &Z+ ' +2 ( +2 "processing"%y& +3 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.48 + .Hand.open +2 "manipulator"&{1 +54 "core" 1 +2 "manipulator"&|% +4 "core" % d ,  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&}'\ +91 "core" ' +2 "processing"%~& +4 "core" &Z ' + #tImaging generic puck in Processing Clamp while storing it to tube 3 +2 "manipulator"&% +3 "core" %\ 0 $r +2 "storage"(% +3 "core" %H  +2 "storage"(. +3 "core" ., + "storage"(& +4 "core" &* r  +2 "storage"(& +4 "manipulator"&& +4 "core" &* {  + &Z  = +3 .tElbow.reconfigure :tight + ."raiseStack"SE.reconfigure :place +6 "manipulator"&$&.,(\ #b +2 "storage"(#]kK-0-\ b +3 .tElbow.seek PC +4 "manipulator"&(c +3 ."raiseStack"SE.seek :beamBreak +2 "storage"( 'e +3 "core" ( + "manipulator"& & +4 "core" &Z  = + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 & & +2 "core" &Z  = +2 .tForearm.seek PC +2 "manipulator"&'[ +95 "core" ' + .tHand.close + "manipulator"&/ +54 "core" / +2 .tPC.seek :open + "processing"%(p +103 "core" ' + "storage"(- +3 "core" -'e +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('B +41 "core" ' +234 ( + "storage"(& +4 "core" &( /  +2 "manipulator"&& +3 "core" &Z  = +2 "manipulator"&% +3 "core" % a   +2 .tForearm.seek :retract +2 "manipulator"&'\ +99 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&(D +253 "core" ( +2 "manipulator"&& +4 "core" &H O $ + "storage"(& +4 "core" &( 1  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&' +95 "core" ' +2 .tHand.open + "manipulator"&1 +60 "core" 1 +2 "storage"(- +3 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate +2 "storage"( ' +23 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.83 Pucks below Top Plate + "storage"(!' +53 "core" ' +2 #tLights, camera, ACTION! + "storage"("- +3 "core" -' +2 "storage"(#& +4 "core" &( a e  + "manipulator"&$& +4 "core" &H ( $ + .tElbow.seek 3 +2 "manipulator"&%(D +3 "core" ( +2 "manipulator"&&& +3 "core" &H % $ +2 "storage"('& +3 "core" &( o f H  +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&(' +15 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"()'M +58 "core" ' + "manipulator"&*& +4 "core" &H g h  $ +2 "storage"(+& +4 "core" &( =  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&,'M +32 "core" ' + .tElbow.hold +2 "manipulator"&-, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"(.'7 +25 "core" ' + "manipulator"&/% +5 "core" %`t  * + "storage"(0& +4 "core" &(   + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 319 counts +2 "manipulator"&1'ό +17 "core" ' + "manipulator"&2& +5 "core" &H i \\ ; $ + "storage"(3& +4 "core" &( <  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&4' +21 "core" ' +2 "storage"(5% +4 "core" %?  +3 ."downElevator"SE.seek :down +3 "storage"(6'N +99 (7% +3 "core" %@ C OB +2 "manipulator"&8% +4 "core" % o l  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&9'\ +96 "core" ' +53 ' + ."downElevator"SE.stop + "storage"(5 +3 (;& +3 "core" &* H  +2 "collection"'<& +3 "core" &]7wv% 9 +2 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&>% +4 "core" %\ A  + +2 "storage"(% +3 "core" %: + +2 "storage"(. +3 "core" ., + "storage"(@& +4 "core" &* G  +2 "storage"(A& +4 "core" &*  + "manipulator"&B& +4 "core" &H  $ + .tElbow.seek 3 +2 "manipulator"&D(D +3 "core" ( +2 "manipulator"&E& +3 "core" &H M $ +2 "storage"(G& +4 "core" &* =  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&H' +95 "core" ' + "storage"(J& +5 "core" &* -  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(:'e +283 "core" ' + "storage"(=- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&M& +3 "core" &H > $ +2 "storage"(N& +3 "core" &(  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&?'M +31 "core" ' + .tElbow.hold +2 "manipulator"&F, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(P- +2 "core" -' +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(Q'n +27 "core" ' +2 "manipulator"&C% +4 "core" %at j - + "storage"(R& +4 "core" &(   +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 3 + 320 counts +2 "manipulator"&I'ύ +17 "core" ' +2 "manipulator"&K& +4 "core" &H ] s $ + "storage"(\ & +4 "core" &( <  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&U' +10 "core" ' +2 .tSE.seek 1.11 Pucks below Top Plate +2 "storage"(V'] +50 "core" ' +2 "manipulator"&X& +4 "core" &H h ` / $ +40 "manipulator"&Y% +13 "core" % d j + < +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&Z'\ +87 "core" ' +2 .tElbow.seek CC + "manipulator"&[( +156 "core" ( +2 "manipulator"&S& +4 "core" &*  @[ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &\\& +3 "core" &*  @[ +2 .tForearm.seek CC +2 "manipulator"&]'| +100 "core" ' + .tHand.close +2 "manipulator"&^/ +58 "core" / +2 .tCC.seek :open + "collection"'_(p +409 "core" ( +3 "storage"(O& +4 "core" &(  + "storage"(a& +4 "core" &( 9  + "manipulator"&b& +4 "core" & ( ! ?V + "manipulator"&d% +4 "core" % χ +2 .tForearm.seek :retract + "manipulator"&L'\ +96 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&W(D +165 "core" ( + "manipulator"&f& +5 "core" &G   + "storage"(g& +4 "core" &( _  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 3 + "manipulator"&h'M +112 "core" ' +2 .tElbow.hold + "manipulator"&j, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&k1 +60 "core" 1 +3 "manipulator"&m% +4 "core" % au / 0 , + "storage"(n& +4 "core" &(  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 3 + 320 counts +2 "manipulator"&p'ύ +17 "core" ' +2 "manipulator"&`& +4 "core" &G Y s ^  + "storage"(c& +4 "core" &( v  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&e' +10 "core" ' + "storage"(l% +5 "core" %\\ W +2 ."downElevator"SE.seek :down +3 "storage"(s'N +99 (t% +3 "core" %;  N@ + "manipulator"&i% +4 "core" % ` h  8 +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&v'\ +93 "core" ' +43 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 4 of [3..4] +2 #Loading generic puck from tube 4 into Collection Clamp + "collection"'w& +4 "core" & +2 "manipulator"&x% +3 "core" %\ 9  ( +2 "storage"(o% +4 "core" %7 ] + "storage"(q. +4 "core" ., + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"( (, +356 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 ({& +2 "core" &,~   +2 "manipulator"&|& +3 "core" &G   +2 .tElbow.seek 4 +2 "manipulator"&~(* +10 "core" ( + "manipulator"&& +4 "core" &'   +2 "storage"(& +3 "core" &,~\ \ \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&' +93 "core" ' +2 "storage"(& +4 "core" &,~\ \   +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('e +288 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (y& +3 "core" &,~\   +2 "manipulator"& & +3 "core" &' o o  +2 .tElbow.seek 4 +2 "manipulator"& (* +3 "core" ( + "manipulator"&u& +4 "core" &' o t  + "storage"(& +4 "core" &,~\ J  +2 .tForearm.seek 4 + 300 counts + "manipulator"&'Z +22 "core" ' +6 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&r/ +63 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&}& +2 "storage"(z'N +6 "core" &' ` `   +2 "manipulator"&% +4 "core" % R m l +2 .tForearm.seek :retract + "manipulator"&'\ +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"&( +152 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +3 "core" ( +2 "manipulator"& & +3 "core" &#  :. +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &"  :. +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&'| +98 "core" ' +2 "manipulator"&& +4 "core" &# p :- + "manipulator"&% +5 "core" %m {  + "collection"'& +5 "core" & +2 "collection"'& +5 "core" & +2 .tCC.seek :closed +2 "collection"'"(] +4 "core" &  +9 &7 *y +9 &j > +9 &r I +10 &6m H +9 &s I +10 &s I +9 &!{o I +9 &#>t H +10 &%n H +9 &&r I +10 &(p I +9 &*Fr H +9 &,r H +10 &-r H +9 &/n I +9 &1Ms I +10 &3q I +9 &4o I +9 &6o H +10 &8Vm H +9 &:p H +10 &;i H +9 &=p I +9 &?]n I +10 &Ao\ I +9 &Bp I +9 &Dj H +10 &Ffp\ H +9 &H'v I +10 &I K +9 &K N +9 &MV\ Q +10 &O Q +9 &P R +9 &R\ Q +10 &TW\ S +9 &V~ S +10 &W{| T +9 &Yvy\ V +9 &[]st T +10 &\\yos (} +9 &]%ps C +9 ( +2 &]Brr ; + "collection"'& +3 #tCollection Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.80 +2 .Hand.open + "manipulator" +59 "core" 1 +2 "manipulator"&$% +4 "core" % m q  +6 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&&'\ +98 "core" ' +2 #tLoading generic puck from tube 4 into Processing Clamp + "processing"%'& +5 "core" &0 + "manipulator"&% +4 "core" %\ <  ) + "storage"(*% +4 "core" %J j +2 "storage"(+. +3 "core" .(,~ + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"((, +3 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (/& +2 "core" &, \  +2 "manipulator"&0& +4 "core" &"  9# + "manipulator"& % +4 "core" %\ <  ) +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&2(* +155 "core" ( + "manipulator"&3& +5 "core" &4   + "storage"(5& +4 "core" &,~ g  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&' +97 "core" ' + "storage"(& +4 "core" &,~ \ ?  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(!'e +290 "core" ' + "storage"(7- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (8& +2 "core" &,~  +2 "manipulator"&(& +4 "core" & m p + .tElbow.seek 4 +2 "manipulator"&%(* +33 "core" ( + "manipulator"&)& +4 "core" &3\ j \\ +2 "storage"(,& +4 "core" &,~  +2 .tForearm.seek 4 + 300 counts + "manipulator"&1'Z +16 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&;/ +55 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&<& + "storage"(>'N +7 "core" &4  [ + "manipulator"&% +4 "core" % V  +2 .tForearm.seek :retract +2 "manipulator"&'\ +100 "core" ' + .tElbow.seek PC +2 "manipulator"&@(c +152 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +95 "core" ( +2 "manipulator"&.& +4 "core" &m A  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &A& +3 "core" &m M  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&B'[ +105 "core" ' + "manipulator"&E& +5 "core" &m z   + "manipulator"&G% +4 "core" %F  +2 "processing"%4& +4 "core" &8 +2 "processing"%J& +5 "core" &9 +2 .tPC.seek :closed + "processing"%6(Z +4 "core" &@  +9 &4< )w +10 &j: = +9 &s2 I +9 &9j4 G +10 &r? H +9 &n5 G +10 &!~n9 G +9 &#@k> G +9 &%k3 G +10 &&q8 H +9 &(l6 H +9 &*Hj3 G +10 &,\ m4 G +9 &-k+ H +9 &/r# H +10 &1On H +9 &3l3 H +10 &4n7 H +9 &6j7 G +9 &8Wp0 H +10 &:m% H +9 &;p4 G +9 &=p+ H +10 &?_p1 H +9 &A"k4 G +10 &Bm5 G +9 &Dk7 H +9 &Ffn1 H +10 &H&y. I +9 &I( J +9 &K3 L +10 &M`. M +9 &O!5 M +10 &P+ M +9 &R' M +9 &Tf( N +10 &V)5 M +9 &W( N +9 &Y 8 +10 &Z/) X +9 &Z ) +2 ( +2 "processing"%J& +3 #tProcessing Clamp onSpring/offSpring for 8/26 samples, on/off torque 1.46 + .Hand.open +2 "manipulator"&-1 +58 "core" 1 + "manipulator"&9% +4 "core" % F } B +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&='\ +96 "core" ' +2 "processing"%M& +4 "core" &Z ) +2 #tImaging generic puck in Processing Clamp while storing it to tube 4 + "manipulator"&N% +4 "core" %\ 5 & + "storage"(P% +4 "core" %; + "storage"(C. +3 "core" .(, +2 "storage"(R& +3 "core" &,~ u  +2 "storage"(K& +4 "manipulator"&\ & +5 "core" &,~ %  + &n  +3 ."raiseStack"SE.reconfigure :place + .tElbow.reconfigure :tight +6 "storage"(#]kK-0-\ b +2 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +2 "manipulator"&X(c +3 ."raiseStack"SE.seek :beamBreak +2 "storage"(Y'e +3 "core" ( + "manipulator"&H& +4 "core" &m   + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &D& +3 "core" &m   +2 .tForearm.seek PC + "manipulator"&:'[ +98 "core" ' + .tHand.close +2 "manipulator"&?/ +58 "core" / +2 .tPC.seek :open + "processing"%I(p +85 "core" ' +2 "storage"(Q- +3 "core" -'e + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(S'B +38 "core" ' +254 ( + "storage"(\\& +4 "core" &,~ m  +2 "manipulator"&U& +3 "core" &m   +38 "manipulator"&F% +17 "core" % a  + .tForearm.seek :retract +2 "manipulator"&^'\ +100 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&Z(* +258 "core" ( + "manipulator"&T& +4 "core" &8  2 +2 "storage"(O& +4 "core" &,~  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&a' +96 "core" ' +2 .tHand.open + "manipulator"&b1 +54 "core" 1 +2 "storage"(d- +3 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate +2 "storage"(f' +21 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(g' +52 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(]- +3 "core" -' +2 "storage"([& +3 "core" &,~  +2 "manipulator"&k& +4 "core" &8  2 + .tElbow.seek 4 +2 "manipulator"&m(* +24 "core" ( + "manipulator"&n& +4 "core" &3 c n -  +2 "storage"(`& +4 "core" &,~ z *  +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&c' +3 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"(l'M +57 "core" ' + "manipulator"&L& +4 "core" &3 l b J  +2 "storage"(t& +3 "core" &,~  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&i'. +30 "core" ' +2 .tElbow.hold + "manipulator"&W, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"(h'7 +22 "core" ' +2 "manipulator"&w% +4 "core" %Bx P / +2 "storage"(x& +4 "core" &,~ W  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 4 + 320 counts + "manipulator"&o'n +16 "core" ' +2 "manipulator"&q& +4 "core" & l j  +2 "storage"(p& +4 "core" &,~\ \ \   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&V' +19 "core" ' +2 "storage"(e% +4 "core" %?\ \ * +3 ."downElevator"SE.seek :down +3 "storage"(s'N +99 (% +2 "core" %B B N@ +2 "manipulator"&{% +4 "core" % j b + +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&|'\ +94 "core" ' +56 ' + ."downElevator"SE.stop + "storage"(5 +3 (& +4 "core" &,~ $  +2 "collection"'& +3 "core" &];yy ; +2 #tStoring generic puck in Collection Clamp to tube 4 + "manipulator"&% +4 "core" %\ 9  ( +2 "storage"(j% +3 "core" %> e  +2 "storage"(v. +3 "core" .(, + "storage"(& +4 "core" &,~  + "storage"(y& +5 "core" &,~ ^  + "manipulator"& & +4 "core" &   + .tElbow.seek 4 +2 "manipulator"&u(* +35 "core" ( + "manipulator"&& +4 "core" &/   +2 "storage"(r& +4 "core" &,~ r  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&}' +104 "core" ' +2 "storage"(& +4 "core" &,~\ \  $  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(~'e +282 "core" ' + "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"& & +2 "core" & m n  +2 "storage"(& +4 "core" &,~\ \  v  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&'. +35 "core" ' + .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(- +3 "core" -' +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"('m +27 "core" ' +2 "manipulator"&% +4 "core" %Aj N  + "storage"( & +4 "core" &,~  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 319 counts +2 "manipulator"&z'm +17 "core" ' + "manipulator"&& +17 "core" & ` b R  +2 "storage"(_& +4 "core" &,~\ \  1  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&#' +18 "core" ' +2 .tSE.seek 1.11 Pucks below Top Plate +2 "storage"($'\\ +49 "core" ' +2 "manipulator"&'& +4 "core" & l b &  + "manipulator"&% +4 "core" % b e = +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&*'\ +94 "core" ' +2 .tElbow.seek CC +2 "manipulator"&+( +163 "core" ( +2 "manipulator"&& +4 "core" &" R :1 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &/& +2 "core" &" , :1 +2 .tForearm.seek CC +2 "manipulator"&0'| +101 "core" ' + .tHand.close +2 "manipulator"& / +61 "core" / +2 .tCC.seek :open +2 "collection"'(p +409 "core" ( + "storage"(3& +4 "core" &,~\ \  @  +2 "storage"(5& +3 "core" &,~\ \ K  +2 "manipulator"& & +3 "core" &"  :1 +2 "manipulator"&% +3 "core" % z , +2 .tForearm.seek :retract +2 "manipulator"&'\ +96 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&&(* +156 "core" ( + "manipulator"&7& +4 "core" &" I +2 "storage"(8& +4 "core" &,~\ \  7  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 4 +2 "manipulator"&('. +111 "core" ' + .tElbow.hold +2 "manipulator"&), +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&,1 +59 "core" 1 +2 "manipulator"&;% +4 "core" % B q h +2 "storage"(<& +3 "core" &,~ %  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 320 counts + "manipulator"&'n +17 "core" ' + "manipulator"&2& +4 "core" & h Y  +2 "storage"(& +3 "core" &,~\ \  h  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&!' +10 "core" ' +2 "storage"(1% +4 "core" %`\ \  7 +2 ."downElevator"SE.seek :down +3 "storage"(.'N +99 (A% +3 "core" %? \ \ N> +2 "manipulator"&%% +4 "core" % _ b { 9 + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&E'\ +92 "core" ' +48 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 3 of [3..4] +2 #Loading generic puck from tube 3 into Collection Clamp +2 "collection"'G& +4 "core" &, + "manipulator"&4% +4 "core" %\ : x ( + "storage"(>% +4 "core" %I\ \  +  +2 "storage"(. +3 "core" .(, +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(( +365 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (-& +3 "core" &  +2 "manipulator"&9& +3 "core" &   +2 .tElbow.seek 3 +2 "manipulator"&M(D +19 "core" ( + "manipulator"&N& +4 "core" &S   +2 "storage"(P& +4 "core" & \  # +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&C' +93 "core" ' +2 "storage"(R& +4 "core" &\ \  + +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(\ 'e +280 "core" ' + "storage"(K- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (J& +3 "core" &\ \  + "manipulator"&H& +4 "core" &S s 8  +2 .tElbow.seek 3 +2 "manipulator"&D(D +21 "core" ( +2 "manipulator"&B& +4 "core" &G k n *  + "storage"(?& +4 "core" & \  R +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&Q'y +20 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&@/ +63 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&=& + "storage"(6'N +7 "core" &G a e B  +2 "manipulator"&\\% +3 "core" % p a e  +2 .tForearm.seek :retract +2 "manipulator"&U'\ +89 "core" ' + .tElbow.seek CC +2 "manipulator"&Y( +156 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +3 "core" ( +2 "manipulator"&F& +3 "core" &% $ <? +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &:& +2 "core" &%  <? +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&T'| +96 "core" ' + "manipulator"&O& +5 "core" &% { <? + "manipulator"&X% +4 "core" %φ N +3 "collection"'b& +4 "core" & +2 "collection"'d& +4 "core" & +2 .tCC.seek :closed +2 "collection"'](] +4 "core" &  +10 &5 )w +9 &h = +9 &l I +10 &1n H +9 &p H +9 &r I +10 &!up H +9 &#7s H +10 &$o H +9 &&p H +9 &(}p H +10 &*@p H +9 &,o H +9 &-p H +10 &/r H +9 &1Gq H +10 &3 p H +9 &4o H +9 &6p H +10 &8Qp H +9 &:p H +9 &;l G +10 &=p H +9 &?Yn H +10 &An H +9 &Bp H +9 &Dm H +10 &Fbo G +9 &H!r H +9 &I} I +10 &K K +9 &MX N +10 &O P +9 &P P +9 &R R +10 &TT R +9 &V S +9 &W S +10 &Y U +9 &[T T +10 &\\y}} (} +9 &]'z| D +9 ( + &]A{{ ; +3 "collection"'d& +2 #tCollection Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.77 +2 .Hand.open + "manipulator"&[1 +59 "core" 1 +2 "manipulator"&k% +4 "core" % υ 8 + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&n'\ +99 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%`& +4 "core" &? +2 "manipulator"&^% +44 "core" %\ <  ) +11 "storage"(L% +4 "core" %L  +2 "storage"(t. +3 "core" .( + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(S( +34 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (w& +2 "core" &   +2 "manipulator"&x& +4 "core" &#  ;2 + "manipulator"&f% +4 "core" %\ <  ) +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&q(D +171 "core" ( + "manipulator"&p& +4 "core" &A\ ' [ +2 "storage"(e& +4 "core" &  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&Z' +93 "core" ' +2 "storage"(a& +4 "core" & \ ?  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(g'e +277 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 ({& +3 "core" & ? + "manipulator"&c& +4 "core" &A\  [ +2 .tElbow.seek 3 +2 "manipulator"&m(D +3 "core" ( + "manipulator"&l& +4 "core" &A\ p [ + "storage"(i& +4 "core" & +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&'y +26 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&o/ +59 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&& +2 "storage"('N +7 "core" &A\ c ` U [ +2 "manipulator"&j% +3 "core" % σ o p +2 .tForearm.seek :retract +2 "manipulator"&v'\ +88 "core" ' +2 .tElbow.seek PC +2 "manipulator"&(c +164 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +89 "core" ( + "manipulator"&h& +4 "core" &l q 3 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &y& +3 "core" &l  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"& '[ +102 "core" ' +2 "manipulator"&& +4 "core" &l t C +2 "manipulator"&r% +4 "core" %[  + "processing"%V& +4 "core" &? +3 "processing"%& +6 "core" &? +2 .tPC.seek :closed +2 "processing"%s(Z +4 "core" &E +5 &F 8 +10 &K: 0 +9 &b|B D +9 &jA G +10 &o; G +9 &lB H +9 & ^o: H +10 &"!lC G +9 &#k: G +10 &%mD G +9 &'fnD H +9 &))n: G +10 &*k9 G +9 &,q= H +10 &.om* G +9 &00k4 H +9 &1m, H +10 &3m* H +9 &5vk/ H +9 &7:j0 G +10 &8p6 G +9 &:m- H +10 &<~m6 H +9 &>@o6 H +9 &@j8 G +10 &Ak* G +9 &Ck4 G +9 &EHo6 H +10 &G\ t- H +9 &H~6 I +9 &J6 K +10 &LC6 L +9 &N6 M +10 &O6 M +9 &Q. N +9 &SH6 M +10 &U\ 2 M +9 &V6 M +9 &X- M +10 &Zk}, _ +9 &Z). 9 +9 ( +2 &Z+ ( +2 "processing"%& +2 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.46 + .Hand.open +2 "manipulator"&W1 +59 "core" 1 + "manipulator"&|% +5 "core" % [  + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +99 "core" ' +2 "processing"% & +4 "core" &Z ( + #tImaging generic puck in Processing Clamp while storing it to tube 3 +2 "manipulator"&% +3 "core" %\ < V ) +2 "storage"(% +4 "core" %K  + "storage"(. +3 "core" .( +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 3 + "storage"( ( +8 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (& +3 "core" & | +2 "manipulator"&_& +6 ."raiseStack"SE.reconfigure :place +2 "storage"(#]kK-0-\ b +3 "core" &l 3 +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC + ."raiseStack"SE.seek :beamBreak +3 "manipulator"&'(c +2 "storage"('e +5 "core" ( + "manipulator"&}& +4 "core" &l m + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &u& +3 "core" &l t +2 .tForearm.seek PC + "manipulator"&~'[ +95 "core" ' + .tHand.close +2 "manipulator"&/ +55 "core" / + .tPC.seek :open +2 "processing"%z(p +95 "core" ' + "storage"(- +3 "core" -'e +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('B +36 "core" ' +247 ( + "storage"(/& +4 "core" & +2 "manipulator"&#& +3 "core" &l U +2 "manipulator"&% +3 "core" % k >  +2 .tForearm.seek :retract +2 "manipulator"& '\ +96 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&*(D +251 "core" ( +2 "manipulator"&"& +4 "core" &A  "y + "storage"(3& +5 "core" &  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&5' +96 "core" ' + .tHand.open +2 "manipulator"& 1 +63 "core" 1 + "storage"(- +4 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate +2 "storage"(7' +23 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(8' +53 "core" ' + #tLights, camera, ACTION! +2 "storage"(0- +3 "core" -' +2 "storage"(+& +3 "core" & m x }  +2 "manipulator"&,& +4 "core" &A  "y + .tElbow.seek 3 +2 "manipulator"&;(D +3 "core" ( +2 "manipulator"&<& +3 "core" &A M "y +2 "storage"(2& +3 "core" & } ~  +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&' +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"(1'M +59 "core" ' + "manipulator"&& +4 "core" &A  "y +2 "storage"(A& +4 "core" & '  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&%'M +32 "core" ' + .tElbow.hold +2 "manipulator"&&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"(('7 +23 "core" ' +2 "manipulator"&G% +4 "core" %Qx A 3 + "storage"(4& +5 "core" &   + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 304 counts + "manipulator"&>'} +17 "core" ' + "manipulator"&& +5 "core" &[\ v [ _ + "storage"(& +4 "core" &\ \ 5  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&$' +21 "core" ' + "storage"(!% +5 "core" %?\ \ ] +2 ."downElevator"SE.seek :down +3 "storage"(.'N +99 (% +2 "core" %C N@ +2 "manipulator"&-% +4 "core" % j l  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&9'\ +95 "core" ' +57 ' + ."downElevator"SE.stop + "storage"(5 +3 (N& +3 "core" & `  +2 "collection"'P& +4 "core" &]A1 ; + #tStoring generic puck in Collection Clamp to tube 3 +2 "manipulator"&R% +3 "core" %\ 9 * ( +2 "storage"()% +3 "core" %E +2 "storage"(E. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(K( +9 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (J& +2 "core" & k  +2 "manipulator"&H& +4 "core" &\\\ Z ^ + .tElbow.seek 3 +2 "manipulator"&B(D +32 "core" ( + "manipulator"&?& +4 "core" &> / r +2 "storage"(@& +3 "core" & }  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&=' +98 "core" ' + "storage"(\\& +5 "core" &\ \  + .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(M'e +282 "core" ' + "storage"(C- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&F& +3 "core" &> f k e r + "storage"(:& +4 "core" & i  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 + "manipulator"&\ 'M +34 "core" ' +2 .tElbow.hold + "manipulator"&Q, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(O- +2 "core" -' +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(X'm +35 "core" ' +2 "manipulator"&b% +4 "core" %Ym [  + "storage"(D& +4 "core" &   + .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 3 + 312 counts + "manipulator"&6'υ +16 "core" ' + "manipulator"&U& +4 "core" &G Z k  i +2 "storage"(& +4 "core" & \ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&[' +25 "core" ' +2 .tSE.seek 1.11 Pucks below Top Plate + "storage"(k'\\ +40 "core" ' + "manipulator"&`& +5 "core" &G j h X i + "manipulator"&^% +4 "core" % V I y  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&d'\ +94 "core" ' +2 .tElbow.seek CC + "manipulator"&L( +162 "core" ( +2 "manipulator"&t& +5 "core" &'  >K + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &w& +2 "core" &'  >K +2 .tForearm.seek CC +2 "manipulator"&x'| +102 "core" ' + .tHand.close + "manipulator"&f/ +57 "core" / +2 .tCC.seek :open +2 "collection"'T(p +409 "core" ( + "storage"(p& +4 "core" & \ \ U  +2 "storage"(e& +3 "core" &\ \  k  +2 "manipulator"&& +3 "core" &&  =D +2 "manipulator"&a% +3 "core" % π 7 +2 .tForearm.seek :retract +2 "manipulator"&Y'\ +94 "core" ' +44 .tElbow.reconfigure :tight +12 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&n(D +167 "core" ( + "manipulator"&& +4 "core" &8  \\ +2 "storage"({& +3 "core" &\ \   +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 +2 "manipulator"&c'M +111 "core" ' + .tElbow.hold +2 "manipulator"&l, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&i1 +61 "core" 1 +2 "manipulator"&o% +4 "core" % _t / H , +2 "storage"(& +3 "core" &  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 318 counts + "manipulator"&j'ϋ +19 "core" ' + "manipulator"&q& +5 "core" &n r \\ j & + "storage"(Z& +4 "core" &\ \  5  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&g' +19 "core" ' +2 "storage"(% +4 "core" %c\ \  ~ +2 ."downElevator"SE.seek :down +4 "storage"(h'N +98 (y% +3 "core" %?\ \   N> +2 "manipulator"&m% +4 "core" % _ a   +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +97 "core" ' +43 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 4 of [3..4] +2 #Loading generic puck from tube 4 into Collection Clamp + "collection"'r& +5 "core" &7 + "manipulator"&V% +4 "core" %\ > 5 * + "storage"(% +4 "core" %L\ \ ;  +2 "storage"(v. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"(I(, +357 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (W& +2 "core" &, 9  +2 "manipulator"&|& +3 "core" &n = & +2 .tElbow.seek 4 + "manipulator"& (* +18 "core" ( +2 "manipulator"&& +4 "core" &% '  +2 "storage"(& +3 "core" &,\ \ Y  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&' +94 "core" ' +2 "storage"(& +4 "core" &,\ \  "  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('e +288 "core" ' + "storage"(_- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (}& +2 "core" &,\ \ $  +2 "manipulator"&u& +3 "core" &% g g e  +2 .tElbow.seek 4 + "manipulator"& (* +4 "core" ( + "manipulator"&& +4 "core" &% Z   + "storage"(S& +4 "core" &,\ \ )  +2 .tForearm.seek 4 + 300 counts + "manipulator"&'Z +21 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +56 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"(s'N +7 "core" &% a e   + "manipulator"&/% +4 "core" % Q _ a > +2 .tForearm.seek :retract +2 "manipulator"&#'\ +93 "core" ' +2 .tElbow.seek CC +2 "manipulator"&( +146 "core" ' + ."downElevator"SE.stop + "storage"(5 +28 "core" ( + "manipulator"&& +5 "core" & , > + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &~& +2 "core" & E > +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&"'| +100 "core" ' +2 "manipulator"&3& +4 "core" & L > + "manipulator"&'% +4 "core" %u ( +2 "collection"' & +4 "core" &F +3 "collection"'& +4 "core" &> +2 .tCC.seek :closed +2 "collection"'0(] +4 "core" &  +8 &6' *x +10 &i = +9 &t~ I +10 &8p H +9 &p G +9 &q H +10 &!}u H +9 &#Aq G +9 &%p G +10 &&p H +9 &(s H +9 &*Is G +10 &, n G +9 &-s G +10 &/q H +9 &1Qu G +9 &3r G +10 &4q G +9 &6t G +9 &8Xo H +10 &:p H +9 &;l G +10 &=o H +9 &?an G +9 &A#r G +10 &Bu H +9 &Dq H +9 &Fhn H +10 &H)t H +9 &I J +10 &K L +9 &MX P +9 &O P +10 &P Q +9 &R Q +9 &TZ R +10 &V S +9 &W R +10 &Y| T +9 &[^z} S +9 &\\vwx (} +10 &]&ux P +8 ( +3 "collection"'& +3 #tCollection Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.80 + .Hand.open +2 "manipulator"&+1 +3 "core" &]bvv F +60 1 + "manipulator"&,% +4 "core" % u s +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&<'\ +98 "core" ' +2 #tLoading generic puck from tube 4 into Processing Clamp + "processing"%2& +4 "core" &A +2 "manipulator"& % +3 "core" %\ 4  & +2 "storage"(% +3 "core" %I  +2 "storage"(A. +3 "core" .(, + "storage"(G& +4 "core" &,  +2 "storage"(4& +3 "core" &,  +2 "manipulator"&& +4 "core" &  > + "manipulator"&% +4 "core" %\ 4  & + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&7(* +152 "core" ( +2 "manipulator"&& +4 "core" &*   + "storage"(!& +4 "core" &,  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&*' +98 "core" ' +2 "storage"(5& +4 "core" &,   +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(8'e +277 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (-& +2 "core" &,  +2 "manipulator"&& +4 "core" &* a e A  + .tElbow.seek 4 +2 "manipulator"&;(* +3 "core" ( + "manipulator"&1& +4 "core" &* i :  +2 "storage"(%& +3 "core" &,   +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&>'Z +19 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&N/ +61 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&P& +2 "storage"(R'N +7 "core" &* g f  +2 "manipulator"&)% +3 "core" % V ` a B +2 .tForearm.seek :retract +2 "manipulator"&E'\ +92 "core" ' + .tElbow.seek PC +2 "manipulator"&((c +157 "core" ' + ."downElevator"SE.stop + "storage"(5 +80 "core" ( + "manipulator"&J& +4 "core" &i r ] J +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &H& +3 "core" &i  J +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&?'[ +99 "core" ' + "manipulator"&@& +4 "core" &i ^ J +2 "manipulator"&$% +4 "core" %L  + "processing"%\\& +4 "core" &= +2 "processing"%.& +5 "core" &B +2 .tPC.seek :closed +2 "processing"% (Z +4 "core" &C  +9 &8G *x +9 &lC > +10 &{H H +9 &KmG G +9 & jG G +10 &nG G +9 &!nC H +10 &#UhB G +9 &%mC G +9 &&m> H +10 &(lC G +9 &*\\oA G +9 &,mC G +10 &-j@ G +9 &/p? G +10 &1do> G +9 &3%n5 G +9 &4j3 G +10 &6m3 H +9 &8lm, G +9 &:,m3 H +10 &;m/ G +9 &=n- G +10 &?rm. H +9 &A4m5 H +9 &Bl7 G +10 &Do2 G +9 &Fzs6 H +9 &H;x6 H +10 &I6 J +9 &K5 K +10 &Mr7 M +9 &O47 M +9 &P7 M +10 &R6 M +9 &Tz1 M +9 &V;( N +10 &W4 N +9 &Y6 . +9 &Z4n6 < +9 ( +4 "processing"%.& +2 #tProcessing Clamp onSpring/offSpring for 8/26 samples, on/off torque 1.45 +2 .Hand.open + "manipulator"&&1 +3 "core" &Z5 + +56 1 +2 "manipulator"&9% +4 "core" % L  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&C'\ +94 "core" ' +2 "processing"%F& +4 "core" &Z + +2 #tImaging generic puck in Processing Clamp while storing it to tube 4 + "manipulator"&:% +3 "core" %\ 4  & +2 "storage"(O% +4 "core" %>   + "storage"(b. +3 "core" .(, + "storage"(D& +4 "core" &,   +3 "storage"(U& + "manipulator"&& +6 "core" &,   + &i 4 J +4 .tElbow.reconfigure :tight + ."raiseStack"SE.reconfigure :place +6 "manipulator"&$&.,(\ #b +2 "storage"(#]kK-0-\ b +2 .tElbow.seek PC +4 "manipulator"&`(c +4 ."raiseStack"SE.seek :beamBreak + "storage"(^'e +3 "core" ( + "manipulator"&=& +5 "core" &i  J + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &B& +2 "core" &i 6 J +2 .tForearm.seek PC +2 "manipulator"&M'[ +97 "core" ' + .tHand.close +2 "manipulator"&\ / +59 "core" / +2 .tPC.seek :open +2 "processing"%6(p +85 "core" ' + "storage"(X- +4 "core" -'e + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(t'B +38 "core" ' +254 ( + "storage"(w& +4 "core" &,  +2 "manipulator"&[& +3 "core" &i x  J +2 "manipulator"&Q% +3 "core" % Y % \ +2 .tForearm.seek :retract +2 "manipulator"&f'\ +94 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&d(* +253 "core" ( +2 "manipulator"&]& +4 "core" &5  !v + "storage"(p& +4 "core" &, h  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&e' +98 "core" ' +2 .tHand.open + "manipulator"&1 +61 "core" 1 +2 "storage"(a- +4 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate +2 "storage"(x' +23 "core" ' +44 .tSE.reconfigure :seal +12 "storage"(#QK-0-\ b +3 .tSE.seek -0.83 Pucks below Top Plate + "storage"(' +49 "core" ' +2 #tLights, camera, ACTION! + "storage"({- +4 "core" -' + "storage"(L& +4 "core" &, y  + "manipulator"&i& +4 "core" &6  !u +2 .tElbow.seek 4 + "manipulator"&o(* +24 "core" ( +2 "manipulator"&& +4 "core" &4 9 \ +2 "storage"(q& +3 "core" &, z  +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&Z' +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"('M +65 "core" ' +2 "manipulator"&Y& +4 "core" &4  \ + "storage"(y& +5 "core" &, ^  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&m'. +31 "core" ' +2 .tElbow.hold +2 "manipulator"&n, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"(c'7 +23 "core" ' + "manipulator"&r% +4 "core" %Ax d 0 +2 "storage"(V& +4 "core" &, ^  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 319 counts +2 "manipulator"&j'm +17 "core" ' + "manipulator"&& +4 "core" &4 b h  \ +2 "storage"(v& +4 "core" &, |  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&k' +11 "core" ' + "storage"(g% +5 "core" %= I +2 ."downElevator"SE.seek :down +3 "storage"(h'N +99 (K% +3 "core" %wG NA +2 "manipulator"&W% +4 "core" % _ a @ : +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&|'\ +91 "core" ' +61 ' + ."downElevator"SE.stop + "storage"(5 +3 (& +4 "core" &,   + "collection"'& +4 "core" &]a{| F +2 #tStoring generic puck in Collection Clamp to tube 4 + "manipulator"&% +4 "core" %\ <  ) +2 "storage"(l% +4 "core" %A y  + "storage"(. +3 "core" .(, +2 "storage"(_& +3 "core" &,  +2 "storage"(}& +3 "core" &,  +2 "manipulator"&u& +4 "core" &4  \ + .tElbow.seek 4 +2 "manipulator"&(* +4 "core" ( + "manipulator"&S& +4 "core" &4  \ +2 "storage"(& +4 "core" &, ~  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&' +99 "core" ' +2 "storage"(/& +4 "core" &,  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"( 'e +278 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +2 "core" &4 3 \ +2 "storage"(~& +4 "core" &,  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&'. +33 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"( - +2 "core" -' +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(3'm +35 "core" ' +2 "manipulator"&'% +4 "core" %@j \ + "storage"( & +4 "core" &, c  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 318 counts +2 "manipulator"&s'l +17 "core" ' +2 "manipulator"&#& +4 "core" &4 j Y \ + "storage"(T& +4 "core" &, 1  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&+' +19 "core" ' +2 .tSE.seek 1.11 Pucks below Top Plate + "storage"(,'\\ +49 "core" ' +2 "manipulator"&2& +4 "core" &4 _ _  \ + "manipulator"& % +4 "core" % ` `  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +95 "core" ' +2 .tElbow.seek CC + "manipulator"&A( +151 "core" ( +2 "manipulator"&& +4 "core" &  8! + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &G& +3 "core" &  8! +2 .tForearm.seek CC + "manipulator"&4'| +103 "core" ' + .tHand.close +2 "manipulator"&/ +51 "core" / +2 .tCC.seek :open +2 "collection"'(p +409 "core" ( + "storage"("& +4 "core" &,\ \ \   +2 "storage"(& +3 "core" &, \ J  +2 "manipulator"&!& +4 "core" &  5 + "manipulator"&5% +4 "core" % ~  + .tForearm.seek :retract +2 "manipulator"&'\ +95 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&<(* +165 "core" ( +2 "manipulator"&& +4 "core" &   2 + "storage"(-& +4 "core" &,\ \   + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 4 +2 "manipulator"&'. +114 "core" ' + .tElbow.hold +2 "manipulator"&1, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&%1 +61 "core" 1 +3 "manipulator"&N% +4 "core" % ?  + "storage"(P& +4 "core" &,  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 317 counts +2 "manipulator"&)'k +17 "core" ' + "manipulator"&7& +5 "core" &  \\ h U 2 + "storage"(*& +4 "core" &,\ \   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&8' +18 "core" ' +2 "storage"(>% +4 "core" %`\ \  ; +3 ."downElevator"SE.seek :down +3 "storage"(J'N +99 (H% +3 "core" %B\  N? + "manipulator"&;% +4 "core" % f e +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&@'\ +94 "core" ' +47 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 3 of [3..4] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"'$& +5 "core" & + "manipulator"&\\% +4 "core" %\ 8  ' + "storage"(R% +4 "core" %L\ \    +2 "storage"(E. +3 "core" .(, + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(z( +365 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (&& +2 "core" &  +2 "manipulator"&9& +4 "core" &   2 + .tElbow.seek 3 +2 "manipulator"&F(D +18 "core" ( + "manipulator"&:& +5 "core" &[ * ; + "storage"(O& +4 "core" &\ \ \   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&b' +97 "core" ' + "storage"(D& +4 "core" &\ \  j +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(U'e +280 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (.& +2 "core" &\ \ > +2 "manipulator"&=& +4 "core" &[  ; + .tElbow.seek 3 +2 "manipulator"&B(D +26 "core" ( +2 "manipulator"&?& +4 "core" &> n l  +2 "storage"(\ & +4 "core" &\ \  Q +2 .tForearm.seek 3 + 300 counts + "manipulator"&X'y +10 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&(/ +55 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&C& +2 "storage"( 'N +7 "core" &> o p  + "manipulator"&w% +4 "core" % q o o > +2 .tForearm.seek :retract +2 "manipulator"&['\ +98 "core" ' +2 .tElbow.seek CC + "manipulator"&^( +145 "core" ' + ."downElevator"SE.stop + "storage"(5 +8 "core" ( + "manipulator"&Q& +4 "core" & & 8" +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &M& +3 "core" &  8" +44 .tForearm.reconfigure :tight +10 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&]'| +107 "core" ' +2 "manipulator"&p& +4 "core" & !  8! +2 "manipulator"&`% +4 "core" %ω  +2 "collection"'& +3 "core" & +3 "collection"'a& +4 "core" & +2 .tCC.seek :closed +2 "collection"'f(] +4 "core" && +7 &C $d +9 &[ 6 +10 & H +9 &j G +9 &rp H +10 &5p H +9 & r H +9 &"m H +10 &${l H +9 &&=r H +9 &'s H +10 &)s G +9 &+m H +10 &-En H +9 &/n H +9 &0o H +10 &2s H +9 &4Mr H +9 &6q G +10 &7s H +9 &9n G +10 &;Vk G +9 &=m G +9 &>n G +10 &@p G +9 &B\\o H +9 &D l G +10 &Em H +9 &Gr G +10 &Iby I +9 &K" I +9 &L M +10 &N O +9 &PT P +9 &R Q +10 &S Q +9 &U R +10 &WW R +9 &Y T +9 &Z T +10 &\\ > +9 &]o+~~ 'r +9 &]G~~ < +3 ( +2 "collection"'a& +2 #tCollection Clamp onSpring/offSpring for 9/25 samples, on/off torque 1.73 +2 .Hand.open + "manipulator"&{1 +61 "core" 1 +3 "manipulator"&L% +4 "core" % ω @ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&i'\ +96 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp +2 "processing"%& +4 "core" &B + "manipulator"&q% +4 "core" %\ >  * + "storage"(Y% +4 "core" %H   +2 "storage"(y. +3 "core" .( + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(t( +33 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (r& +2 "core" & % \ +2 "manipulator"&V& +4 "core" &\ !  8 + "manipulator"&x% +4 "core" %\ >  * +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&(D +163 "core" ( + "manipulator"&v& +5 "core" &D   + "storage"(g& +4 "core" & y \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&d' +94 "core" ' + "storage"(e& +4 "core" &\ \  * \ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('e +279 "core" ' + "storage"(K- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (W& +2 "core" & o  +2 "manipulator"&Z& +4 "core" &D n n T  + .tElbow.seek 3 +2 "manipulator"&o(D +3 "core" ( +2 "manipulator"&& +3 "core" &D r [ e  +2 "storage"(m& +3 "core" &\ \    +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&'y +21 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&j/ +61 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& + "storage"('N +7 "core" &D _ ` N  +2 "manipulator"&l% +4 "core" % { e ` +2 .tForearm.seek :retract + "manipulator"&'\ +92 "core" ' +2 .tElbow.seek PC +2 "manipulator"&_(c +155 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +90 "core" ( + "manipulator"&c& +4 "core" &h  +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &}& +2 "core" &h  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&u'[ +100 "core" ' + "manipulator"&S& +5 "core" &h z  + "manipulator"&% +4 "core" %` ! +2 "processing"%k& +4 "core" &B +2 "processing"%/& +4 "core" &@ +2 .tPC.seek :closed +2 "processing"%h(Z +3 "core" &A  +9 &7G *x +9 &jC = +9 &{|A H +10 &?kC G +9 &nC G +10 &lD G +9 &!kD G +9 &#GlA G +10 &% lB G +9 &&nD G +9 &(lD G +10 &*NmC G +9 &,mA G +10 &-i= G +9 &/o@ G +9 &1Vl@ G +10 &3n7 G +9 &4m7 G +9 &6m7 G +10 &8^m< G +9 &: l. G +10 &;m+ G +9 &=m- G +9 &?gk5 G +10 &A(n6 G +9 &Bm. G +9 &Dn. G +10 &Fms3 H +9 &H,|, I +10 &I4 J +9 &K4 K +9 &Mf7 M +10 &O)7 M +9 &P6 M +9 &R7 L +10 &Tn7 M +9 &V05 M +10 &W6 M +9 &Y5 4 +9 &Z82 I +10 &Z4 & +2 ( +2 "processing"%/& +2 #tProcessing Clamp onSpring/offSpring for 8/26 samples, on/off torque 1.48 +2 .Hand.open + "manipulator"&n1 +61 "core" 1 +2 "manipulator"&|% +4 "core" % ` y 6 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +94 "core" ' +2 "processing"%& +4 "core" &Z & + #tImaging generic puck in Processing Clamp while storing it to tube 3 +2 "manipulator"&~% +3 "core" %\ 7  ' +2 "storage"( % +4 "core" %: . + "storage"('. +3 "core" .( +2 "storage"( & +3 "core" &  +2 "storage"(#& +4 "manipulator"&T& +4 "core" &  + &h  +3 ."raiseStack"SE.reconfigure :place +2 .tElbow.reconfigure :tight +4 "storage"(#]kK-0-\ b +4 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +2 ."raiseStack"SE.seek :beamBreak +3 "manipulator"&2(c +2 "storage"( 'e +4 "core" ( +2 "manipulator"&& +3 "core" &h  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &h ' +2 .tForearm.seek PC +2 "manipulator"& '[ +100 "core" ' + .tHand.close +2 "manipulator"&/ +56 "core" / +2 .tPC.seek :open +2 "processing"%s(p +85 "core" ' +2 "storage"(3- +3 "core" -'e +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('B +41 "core" ' +250 ( +2 "storage"(G& +4 "core" & y  + "manipulator"&+& +4 "core" &h  +2 "manipulator"&% +4 "core" % ]  +2 .tForearm.seek :retract + "manipulator"&'\ +100 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&(D +243 "core" ( + "manipulator"&0& +4 "core" &I \\ ; +2 "storage"("& +4 "core" & \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&' +98 "core" ' + .tHand.open +2 "manipulator"&!1 +52 "core" 1 +2 "storage"(5- +3 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate +2 "storage"(' +23 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.83 Pucks below Top Plate + "storage"(-' +51 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(4- +3 "core" -' +2 "storage"(A& +3 "core" & e j =  +2 "manipulator"&%& +3 "core" &I  ; +2 .tElbow.seek 3 +2 "manipulator"&N(D +3 "core" ( + "manipulator"&P& +4 "core" &I I ; +2 "storage"(7& +4 "core" & ~ } ~  +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&*' +17 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.11 Pucks below Top Plate + "storage"(>'M +68 "core" ' + "manipulator"&& +4 "core" &I ^ _ , ; +2 "storage"(H& +4 "core" & \  \  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&;'M +30 "core" ' +2 .tElbow.hold +2 "manipulator"&<, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"('7 +24 "core" ' +2 "manipulator"&$% +4 "core" %_ f i + "storage"()& +4 "core" &   +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 318 counts + "manipulator"&\\'ϋ +17 "core" ' +2 "manipulator"&R& +4 "core" &V s \\ . + "storage"(E& +4 "core" & u  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&,' +19 "core" ' +2 "storage"(8% +4 "core" %= \   +3 ."downElevator"SE.seek :down +3 "storage"(J'N +99 (I% +3 "core" %~C N@ +2 "manipulator"&&% +4 "core" % a c E  +51 .tForearm.reconfigure :loose +4 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&9'\ +95 "core" ' +7 ' + ."downElevator"SE.stop + "storage"(5 +3 (:& +3 "core" & r  +2 "collection"'O& +4 "core" &]G|< < +2 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&D% +4 "core" %\ 9  ( + "storage"(1% +4 "core" %M  +2 "storage"(@. +3 "core" .( + "storage"(& +4 "core" &  + "storage"(.& +4 "core" &  +2 "manipulator"&=& +3 "core" &V ; . +2 .tElbow.seek 3 +2 "manipulator"&?(D +24 "core" ( + "manipulator"&\ & +5 "core" &L  } + "storage"((& +4 "core" &  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&C' +101 "core" ' +2 "storage"(w& +4 "core" & \ U  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(F'e +279 "core" ' + "storage"(b- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&Q& +3 "core" &L ~ } +2 "storage"(M& +3 "core" &   +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&U'M +28 "core" ' + .tElbow.hold +2 "manipulator"&X, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(B- +2 "core" -' +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(p'n +27 "core" ' +2 "manipulator"&`% +4 "core" %^y 2 9 + "storage"(& +4 "core" &   + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 317 counts + "manipulator"& 'ϊ +18 "core" ' +2 "manipulator"&[& +4 "core" &L c D 9 } + "storage"(& +4 "core" &\ \   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&{' +10 "core" ' +2 .tSE.seek 1.11 Pucks below Top Plate +2 "storage"(L'] +47 "core" ' + "manipulator"&& +5 "core" &L D D } + "manipulator"&q% +4 "core" % b R q  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&Y'\ +94 "core" ' +2 .tElbow.seek CC +2 "manipulator"&y( +165 "core" ( +2 "manipulator"&a& +4 "core" &( $ ?T + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &r& +2 "core" &(  ?T +2 .tForearm.seek CC +2 "manipulator"&V'| +98 "core" ' + .tHand.close +2 "manipulator"&x/ +61 "core" / +2 .tCC.seek :open + "collection"'](p +409 "core" ( +2 "storage"(v& +4 "core" &\ \ \   + "storage"(g& +4 "core" &\ \ v  + "manipulator"&z& +4 "core" & $ $ <9 + "manipulator"&e% +4 "core" % } 6 +2 .tForearm.seek :retract +2 "manipulator"&^'\ +99 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&i(D +150 "core" ( + "manipulator"&K& +4 "core" &B  +2 "storage"(W& +3 "core" &\ \   +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 + "manipulator"&Z'M +108 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&m1 +53 "core" 1 +2 "manipulator"&j% +4 "core" % _  Z +2 "storage"(& +3 "core" & 9  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 3 + 318 counts +2 "manipulator"&l'ϋ +17 "core" ' +2 "manipulator"&& +4 "core" &J b k 7  +2 "storage"(d& +3 "core" &\ \    +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&' +11 "core" ' + "storage"(% +5 "core" %b\ \  , +2 ."downElevator"SE.seek :down +3 "storage"(c'N +99 (}% +2 "core" %B\  M> +2 "manipulator"&o% +4 "core" % f k > : +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&S'\ +88 "core" ' +53 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 4 of [3..4] +2 #Loading generic puck from tube 4 into Collection Clamp + "collection"'& +4 "core" &8 + "manipulator"&k% +4 "core" %\ 0 $t +2 "storage"(% +3 "core" %7\ \ \ \ +2 "storage"(. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 + "storage"(6(, +352 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (n& +3 "core" &,   + "manipulator"&|& +4 "core" &J  +2 .tElbow.seek 4 + "manipulator"&(* +15 "core" ( + "manipulator"&~& +4 "core" &3  y +2 "storage"( & +4 "core" &,~\ \  F  + .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&'' +101 "core" ' +2 "storage"( & +4 "core" &,~\ \   +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(/'e +278 "core" ' +2 "storage"(#- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +2 (T& +3 "core" &,~\ \ \   +2 "manipulator"&& +3 "core" &3 , y +2 .tElbow.seek 4 +2 "manipulator"&(* +3 "core" ( + "manipulator"&u& +4 "core" &3 ^ y + "storage"(& +4 "core" &,~\ \ t  +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&3'Z +11 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&_/ +64 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"(h'N +7 "core" &3 m n y + "manipulator"&G% +4 "core" % ` n n : +2 .tForearm.seek :retract +2 "manipulator"&+'\ +98 "core" ' + .tElbow.seek CC +2 "manipulator"& ( +141 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +15 "core" ( +2 "manipulator"&& +4 "core" &&  >H + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 & & +2 "core" &'  >H +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&0'| +101 "core" ' + "manipulator"&"& +4 "core" && d =E +2 "manipulator"&2% +4 "core" %} + "collection"'!& +5 "core" &F +2 "collection"'5& +5 "core" &F +3 .tCC.seek :closed + "collection"'4(] +5 "core" & +7 &C& #c +9 &oZ 6 +9 & H +10 &l G +9 &\\p H +10 &l% H +9 & n\ G +9 &"o H +10 &$eq H +9 &&(r G +9 &'n G +10 &)n G +9 &+ml H +9 &-/o H +10 &.p H +9 &0n H +10 &2ur H +9 &47q H +9 &5m H +10 &7j H +9 &9}l H +9 &;@j G +10 &=k H +9 &>o G +10 &@m G +9 &BFp H +9 &D k H +10 &En G +9 &Gn G +9 &IK| I +10 &K K +9 &L O +10 &N} P +9 &P= Q +9 &R P +10 &S R +9 &U~ R +9 &W? S +10 &X U +9 &Z{} V +10 &\\wy A +9 &]p3tv #j +9 &]Ftw < +3 ( + "collection"'5& +3 #tCollection Clamp onSpring/offSpring for 10/25 samples, on/off torque 1.83 +2 .Hand.open + "manipulator"&A1 +61 "core" 1 +2 "manipulator"&%% +4 "core" % y J +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&P'\ +94 "core" ' +2 #tLoading generic puck from tube 4 into Processing Clamp + "processing"%7& +4 "core" &D +2 "manipulator"&% +4 "core" %\ 8  ' + "storage"(% +4 "core" %6 0 + "storage"(H. +4 "core" .(,~ + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"((, +3 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 ($& +2 "core" &, /  +2 "manipulator"&)& +4 "core" &$  ;8 + "manipulator"&% +4 "core" %\ 8  ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +52 "manipulator"&R(* +161 "core" ( + "manipulator"&E& +5 "core" &2   + "storage"(8& +4 "core" &,  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&' +95 "core" ' + "storage"(& +5 "core" &,\ \ i  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(-'e +277 "core" ' + "storage"(I- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (&& +3 "core" &, @  + "manipulator"&*& +4 "core" &2 n o  +2 .tElbow.seek 4 + "manipulator"&N(* +3 "core" ( +2 "manipulator"&>& +3 "core" &2 [ u l  +2 "storage"(;& +3 "core" &,  +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&\\'Z +21 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&:/ +60 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&O& +2 "storage"(D'N +7 "core" &2 f j  + "manipulator"&1% +4 "core" % Q _ _ 4 +2 .tForearm.seek :retract +2 "manipulator"&@'\ +97 "core" ' + .tElbow.seek PC +2 "manipulator"&(c +158 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +85 "core" ( +2 "manipulator"&& +4 "core" &e 4 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &.& +2 "core" &e ( +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&='[ +101 "core" ' +2 "manipulator"&\ & +4 "core" &e   + "manipulator"&(% +4 "core" %] , +2 "processing"%w& +4 "core" &= +2 "processing"%,& +4 .tPC.seek :closed +2 "processing"%J(Z +3 "core" &; +6 &=G $d +9 &w[E 6 +10 &J H +9 &hB G +10 &ikG G +9 &+nG G +9 & kC H +10 &"kD G +9 &$qmA G +10 &&4gB G +9 &'k@ G +9 &)kA G +10 &+yk: G +9 &-<jA G +9 &.mB G +10 &0nA G +9 &2k< G +9 &4Dk@ G +10 &6k7 G +9 &7k6 G +10 &9k6 G +9 &;Jl, H +9 &=k* G +10 &>m( G +9 &@h3 G +9 &BRk0 H +10 &Dm2 G +9 &Eo2 G +10 &Gu1 H +9 &IV}, I +9 &K- J +10 &L8 M +9 &N6 M +9 &PS6 M +10 &R6 M +9 &S8 M +10 &U5 M +9 &WZ7 M +9 &Y5 H +10 &ZQ?x6 *y +9 &Z#5 $ +5 ( +2 "processing"%,& +4 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.48 + .Hand.open +2 "manipulator"&<1 +3 "core" &Z5 $ +54 1 + "manipulator"&9% +4 "core" % ] - +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&b'\ +91 "core" ' +2 "processing"%Q& +4 "core" &Z! $ +2 #tImaging generic puck in Processing Clamp while storing it to tube 4 + "manipulator"&M% +4 "core" %\ .  #i +2 "storage"(B% +3 "core" %E X +2 "storage"(`. +3 "core" .(, + "storage"(& +4 "core" &, Q  +2 "storage"([& +4 "manipulator"&& +4 "core" &,   + &e +3 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +3 "storage"(#]kK-0-\ b +4 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +2 "manipulator"&(c +3 ."raiseStack"SE.seek :beamBreak +2 "storage"(q'e +2 "core" ( +2 "manipulator"&C& +3 "core" &e  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &?& +2 "core" &e  +2 .tForearm.seek PC +2 "manipulator"&F'[ +100 "core" ' + .tHand.close +2 "manipulator"&U/ +61 "core" / +2 .tPC.seek :open + "processing"% (p +81 "core" ' +2 "storage"(p- +3 "core" -'e + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +2 ."raiseStack"SE.seek :place +2 "storage"(a'B +41 "core" ' +256 ( + "storage"(r& +4 "core" &, /  +2 "manipulator"&{& +4 "core" &e  + "manipulator"&X% +4 "core" % m  +2 .tForearm.seek :retract + "manipulator"&x'\ +99 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&Y(* +259 "core" ( +2 "manipulator"&f& +4 "core" &4  % + "storage"(v& +4 "core" &, +  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&g' +99 "core" ' + .tHand.open + "manipulator"&z1 +63 "core" 1 +2 "storage"(e- +4 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate +2 "storage"(K' +22 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(W' +49 "core" ' +2 #tLights, camera, ACTION! + "storage"(V- +4 "core" -' + "storage"(y& +4 "core" &, |  + "manipulator"&m& +4 "core" &5 $ +2 .tElbow.seek 4 +2 "manipulator"&j(* +19 "core" ( + "manipulator"&& +5 "core" &5 |   + "storage"(& +4 "core" &,  +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&d' +3 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"('M +57 "core" ' + "manipulator"&^& +4 "core" &5   +2 "storage"(}& +4 "core" &, u  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 + "manipulator"&o'. +32 "core" ' + .tElbow.hold +2 "manipulator"&i, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"(Z'7 +23 "core" ' +2 "manipulator"&% +4 "core" %?m L  +2 "storage"(k& +4 "core" &, `  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 317 counts + "manipulator"&'k +17 "core" ' +2 "manipulator"&l& +4 "core" &3 h X 6  +2 "storage"(& +3 "core" &, O  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&L' +18 "core" ' + "storage"(% +5 "core" %=\ t +2 ."downElevator"SE.seek :down +4 "storage"(c'N +98 (t% +2 "core" %C N? +2 "manipulator"&n% +4 "core" % ` ` +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&|'\ +93 "core" ' +59 ' + ."downElevator"SE.stop + "storage"(5 +3 (~& +4 "core" &,   + "collection"' & +4 "core" &]M{{< < +2 #tStoring generic puck in Collection Clamp to tube 4 + "manipulator"& % +4 "core" %\ 8 q ' +2 "storage"(% +3 "core" %: +2 "storage"(S. +3 "core" .(, + "storage"(#& +4 "core" &, \\  + "storage"(T& +5 "core" &,  + "manipulator"&& +4 "core" &3   + .tElbow.seek 4 +2 "manipulator"&u(* +4 "core" ( + "manipulator"&& +4 "core" &3   +2 "storage"(_& +3 "core" &,  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&' +95 "core" ' + "storage"(G& +5 "core" &, k  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('e +279 "core" ' +2 "storage"('- +3 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&& +3 "core" &3   +2 "storage"( & +3 "core" &,  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&/'. +33 "core" ' + .tElbow.hold +2 "manipulator"&3, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"("- +3 "core" -' +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(2'n +27 "core" ' +2 "manipulator"&!% +4 "core" %?j  p + "storage"(& +4 "core" &, $  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 317 counts +2 "manipulator"&h'k +16 "core" ' +52 "manipulator"&+& +4 "core" &3 _ c 4  + "storage"(]& +4 "core" &, \  +3 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&A' +18 "core" ' +2 .tSE.seek 1.11 Pucks below Top Plate +2 "storage"(%'] +50 "core" ' + "manipulator"&7& +5 "core" &3 ` e   + "manipulator"&% +5 "core" % k c K  + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +94 "core" ' +2 .tElbow.seek CC +2 "manipulator"&H( +149 "core" ( +2 "manipulator"&5& +4 "core" &  7 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &$& +3 "core" &  7 +2 .tForearm.seek CC +2 "manipulator"&)'| +97 "core" ' + .tHand.close +2 "manipulator"&/ +63 "core" / + .tCC.seek :open +2 "collection"'0(p +409 "core" ( +2 "storage"(E& +4 "core" &,\ \ \ ~  + "storage"(8& +4 "core" &,\ \   + "manipulator"&6& +4 "core" & 6 + "manipulator"&% +4 "core" % τ / +2 .tForearm.seek :retract +2 "manipulator"& '\ +97 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&P(* +157 "core" ( + "manipulator"&I& +4 "core" &1   +2 "storage"(&& +4 "core" &,\ \   + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 4 +2 "manipulator"&*'. +112 "core" ' + .tElbow.hold +2 "manipulator"&>, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&;1 +55 "core" 1 +2 "manipulator"&:% +4 "core" % @  r + "storage"(O& +4 "core" &,  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 318 counts +2 "manipulator"&1'l +16 "core" ' +2 "manipulator"&R& +4 "core" &+ h X 8  + "storage"(& +4 "core" &,\ \    +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&-' +19 "core" ' + "storage"(\\% +4 "core" %^\ \  W +4 ."downElevator"SE.seek :down +3 "storage"('N +98 (.% +3 "core" %>\ \ b M> +2 "manipulator"&N% +5 "core" % e ] J  + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&\ '\ +95 "core" ' +48 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 3 of [3..4] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"'(& +4 "core" &3 +2 "manipulator"&w% +4 "core" %\ 9 > ( +2 "storage"(D% +4 "core" %O\ \ \ + "storage"(@. +3 "core" .(, +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 + "storage"(s( +362 "core" ( +2 .tSC.configure :limp +3 "storage"($\ 1b +2 (<& +2 "core" & % +2 "manipulator"&9& +3 "core" &+  +2 .tElbow.seek 3 +2 "manipulator"&Q(D +27 "core" ( + "manipulator"&M& +4 "core" &B N b +2 "storage"(B& +3 "core" &\ \ Y +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&`' +96 "core" ' +2 "storage"(& +4 "core" &\ \  Q +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('e +278 "core" ' +2 "storage"([- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (,& +2 "core" &\  +2 "manipulator"&C& +4 "core" &B w T b + .tElbow.seek 3 +2 "manipulator"&?(D +3 "core" ( + "manipulator"&=& +4 "core" &B j  b +2 "storage"(U& +3 "core" & \ +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&p'y +19 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +64 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&b& +3 "storage"(J'N +8 "core" &B m n  b + "manipulator"&r% +4 "core" % m l m +2 .tForearm.seek :retract +2 "manipulator"&q'\ +92 "core" ' +2 .tElbow.seek CC +2 "manipulator"&{( +149 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +3 "core" ( +2 "manipulator"&X& +3 "core" &' % >J +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &F& +3 "core" &'  >J +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&f'| +108 "core" ' + "manipulator"&v& +7 "core" &'  >J +3 "manipulator"&% +8 "core" %χ  +6 "collection"'z& +8 "core" &" +2 "collection"'e& +5 "core" &) +2 .tCC.seek :closed +2 "collection"'V(] +4 "core" &) +7 &B% $d +9 &u[& 6 +10 &( H +9 &g# G +10 &dp( H +9 &&n$ H +9 & l# H +10 &"l H +9 &$mk! G +9 &&/n G +10 &'n G +9 &)q H +10 &+to H +9 &-6m H +9 &.k G +10 &0n H +9 &2|n H +9 &4>k H +10 &6m H +9 &7j G +10 &9k G +9 &;Gi G +9 &=j H +10 &>p G +9 &@o H +9 &BMm H +10 &Dk G +9 &Em H +10 &Gk H +9 &ITv H +9 &K~ J +10 &L L +9 &N P +9 &PD Q +10 &R Q +9 &S R +10 &U R +9 &WG R +9 &Y T +10 &Z T +9 &\\ A +9 &]o)| 's +10 &]t}} I +2 ( +2 "collection"'e& +2 #tCollection Clamp onSpring/offSpring for 10/25 samples, on/off torque 1.80 +2 .Hand.open + "manipulator"&y1 +59 "core" 1 + "manipulator"&m% +4 "core" % χ z . +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +92 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%x& +4 "core" &A +2 "manipulator"&% +3 "core" %\ 1  $q +2 "storage"(^% +4 "core" %8   + "storage"(}. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(a( +30 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (& +3 "core" &  \ + "manipulator"&k& +4 "core" &%  <; +2 "manipulator"&K% +3 "core" %\ 1 $q +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&l(D +167 "core" ( + "manipulator"&& +4 "core" &9  L +2 "storage"(& +3 "core" &  \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&Y' +95 "core" ' + "storage"(g& +4 "core" & ] \ +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(W'e +276 "core" ' + "storage"(t- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (n& +2 "core" &  +2 "manipulator"&d& +4 "core" &:  K + .tElbow.seek 3 +2 "manipulator"&j(D +3 "core" ( +2 "manipulator"&& +3 "core" &: a 1 K +2 "storage"(o& +3 "core" &  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&~'y +21 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&/ +55 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"& & + "storage"( 'N +7 "core" &: d o U K +2 "manipulator"&% +3 "core" % y n n  +2 .tForearm.seek :retract +2 "manipulator"&S'\ +93 "core" ' +2 .tElbow.seek PC +2 "manipulator"&#(c +157 "core" ' + ."downElevator"SE.stop + "storage"(5 +97 "core" ( +2 "manipulator"&Z& +4 "core" &l L + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &T& +3 "core" &l  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&'[ +102 "core" ' + "manipulator"&& +4 "core" &l u  +2 "manipulator"&_% +4 "core" %W m + "processing"%L& +4 "core" &F +54 "processing"%G& +4 "core" &B +2 .tPC.seek :closed +2 "processing"%c(Z +4 "core" &C  +8 &5G )w +9 &jF = +10 &uxG H +9 &:kA G +10 &lB G +9 &kB G +9 &!~m< G +10 &#AjC G +9 &%jA G +9 &&mE G +10 &(jA G +9 &*Ik? G +9 &, lA G +10 &-l? G +9 &/m? G +10 &1Qk: G +9 &3l6 G +9 &4l0 G +10 &6l0 G +9 &8Zk- G +9 &:k+ F +10 &;k. G +9 &=k5 G +10 &?am, G +9 &A#m6 G +9 &Bm5 G +10 &Dm5 G +9 &Fgs7 H +9 &H&{6 I +10 &I7 J +9 &K: K +10 &M_6 M +9 &O"4 M +9 &P6 M +10 &R5 N +9 &Tg7 M +9 &V)5 M +10 &W5 N +9 &Y6 9 +10 &Z-6 X +9 &Z6 ( +2 ( +2 "processing"%G& +3 #tProcessing Clamp onSpring/offSpring for 8/25 samples, on/off torque 1.49 +2 .Hand.open + "manipulator"&i1 +61 "core" 1 + "manipulator"&|% +4 "core" % W 1 +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&''\ +95 "core" ' +2 "processing"%& +4 "core" &Z! ( + #tImaging generic puck in Processing Clamp while storing it to tube 3 +2 "manipulator"& % +3 "core" %\ 3  %| +2 "storage"("% +4 "core" %L 1 + "storage"(!. +3 "core" .( +2 "storage"(& +3 "core" & :  +2 "storage"(+& +2 "manipulator"&]& +7 "core" & <  + &l  +3 ."raiseStack"SE.reconfigure :place +2 .tElbow.reconfigure :tight +3 "storage"(#]kK-0-\ b +4 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +2 "manipulator"&7(c +3 ."raiseStack"SE.seek :beamBreak +2 "storage"('e +2 "core" ( + "manipulator"&& +4 "core" &l  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &u& +3 "core" &l  +2 .tForearm.seek PC +2 "manipulator"&'[ +94 "core" ' + .tHand.close +2 "manipulator"&// +63 "core" / +2 .tPC.seek :open +2 "processing"%h(p +86 "core" ' + "storage"(2- +3 "core" -'e +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +2 ."raiseStack"SE.seek :place +2 "storage"(5'B +34 "core" ' +257 ( + "storage"($& +4 "core" & E  +2 "manipulator"&A& +3 "core" &l  +2 "manipulator"&3% +4 "core" % _   + .tForearm.seek :retract +2 "manipulator"&'\ +28 "Can" NK +63 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&(D +251 "core" ( + "manipulator"&4& +4 "core" &?  !w +2 "storage"(E& +3 "core" & ,  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&8' +95 "core" ' + .tHand.open +2 "manipulator"&61 +56 "core" 1 +2 "storage"(- +3 "core" -'B +3 .tSE.seek -0.16 Pucks below Top Plate + "storage"(I' +23 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(&' +49 "core" ' +2 #tLights, camera, ACTION! +2 "storage"()- +3 "core" -' +2 "storage"(H& +3 "core" & d Z   +2 "manipulator"&;& +4 "core" &? X !w + .tElbow.seek 3 +2 "manipulator"&:(D +3 "core" ( +2 "manipulator"&O& +3 "core" &? ' !w +2 "storage"(R& +4 "core" & d e  +2 .tForearm.seek 3 + 450 counts + "manipulator"&' +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"(\\'M +57 "core" ' + "manipulator"& & +5 "core" &?  !w + "storage"(.& +4 "core" & P  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&N'M +28 "core" ' +2 .tElbow.hold + "manipulator"&P, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.07 Pucks below Top Plate + "storage"(*'7 +23 "core" ' +2 "manipulator"&1% +4 "core" %[ I d +2 "storage"((& +4 "core" &  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 314 counts +2 "manipulator"&w'χ +16 "core" ' +2 "manipulator"&D& +4 "core" &Z\ v o D \\ +2 "storage"(@& +4 "core" & T  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&%' +11 "core" ' + "storage"(-% +5 "core" %>  +2 ."downElevator"SE.seek :down +4 "storage"('N +98 (% +2 "core" %C r N? +2 "manipulator"&<% +4 "core" % o o = +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&9'\ +86 "core" ' +67 ' + ."downElevator"SE.stop + "storage"(5 +3 (M& +4 "core" & t  + "collection"'B& +4 "core" &]p~> I + #tStoring generic puck in Collection Clamp to tube 3 +2 "manipulator"&% +4 "core" %\ +  !N + "storage"(>% +4 "core" %@ +2 "storage"(\ . +3 "core" .( + "storage"([& +4 "core" &  + "storage"(,& +5 "core" & \\  + "manipulator"&C& +4 "core" &Z\  \\ +2 .tElbow.seek 3 + "manipulator"&=(D +33 "core" ( + "manipulator"&U& +5 "core" &H  N + "storage"(& +4 "core" &  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&b' +94 "core" ' + "storage"(r& +4 "core" & J  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(Q'e +282 "core" ' + "storage"(`- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +4 "manipulator"&X& +2 "core" &H n o N +2 "storage"(F& +3 "core" & J  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&'M +32 "core" ' +2 .tElbow.hold + "manipulator"&p, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(v- +3 "core" -' +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"('m +35 "core" ' + "manipulator"&?% +4 "core" %_s p , + "storage"(z& +4 "core" & -  + .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 3 + 318 counts + "manipulator"&J'ϋ +18 "core" ' + "manipulator"&q& +4 "core" &H h X ? N +2 "storage"(0& +3 "core" &  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&y' +10 "core" ' +2 .tSE.seek 1.11 Pucks below Top Plate +2 "storage"(m'\\ +46 "core" ' + "manipulator"&x& +4 "core" &H _ `  N +2 "manipulator"&% +4 "core" % c ` B < +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&^'\ +89 "core" ' +2 .tElbow.seek CC +2 "manipulator"&}( +155 "core" ( +2 "manipulator"&e& +4 "core" & N 8" + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 && +2 "core" &  8" +2 .tForearm.seek CC +2 "manipulator"&k'| +95 "core" ' +2 .tHand.close + "manipulator"&K/ +52 "core" / +2 .tCC.seek :open +2 "collection"'f(p +412 "core" ( +2 "storage"(& +4 "core" &\ \ \   + "storage"(& +4 "core" &\ \ \ R  +2 "manipulator"&s& +3 "core" &  7 +2 "manipulator"&g% +3 "core" % }  +2 .tForearm.seek :retract +2 "manipulator"&{'\ +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&(D +162 "core" ( +2 "manipulator"&t& +4 "core" &E E +2 "storage"(n& +3 "core" &\ \ \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 + "manipulator"&d'M +109 "core" ' +2 .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +51 "manipulator"&o1 +65 "core" 1 +2 "manipulator"&% +4 "core" % `} _ L + "storage"( & +4 "core" &  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 319 counts + "manipulator"&'ό +17 "core" ' + "manipulator"&l& +5 "core" &J d E 8 | + "storage"(Y& +4 "core" &\ \  X  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&W' +11 "core" ' +2 "storage"(~% +4 "core" %[\ \   +2 ."downElevator"SE.seek :down +4 "storage"(Z'N +100 (T% +2 "core" %?\ \ \  N? +2 "manipulator"&j% +4 "core" % _ `  > +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +89 "core" ' +51 ' +2 ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 4 of [3..4] +2 #Loading generic puck from tube 4 into Collection Clamp + "collection"'_& +9 "core" &? +3 "manipulator"&L% +9 "core" %\ 1 % $r +2 "storage"( % +4 "core" %L\ \ \ \ P + "storage"(S. +4 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"( (, +356 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (i& +3 "core" &, h  + "manipulator"&|& +4 "core" &J + | +2 .tElbow.seek 4 + "manipulator"&(* +10 "core" ( +2 "manipulator"& & +4 "core" &)  u + "storage"("& +4 "core" &,\ \  l  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&!' +96 "core" ' + "storage"(& +5 "core" &,\ \    + .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(G'e +281 "core" ' + "storage"(]- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (+& +2 "core" &,\ \  ~  +2 "manipulator"&& +4 "core" &) ` _  u + .tElbow.seek 4 +2 "manipulator"&u(* +3 "core" ( +2 "manipulator"&& +3 "core" &) P e u +2 "storage"(/& +3 "core" &,\  =  +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&2'Z +25 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&#/ +63 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&'& + "storage"(c'N +7 "core" &) U ` u +2 "manipulator"&$% +4 "core" % T ` V +2 .tForearm.seek :retract + "manipulator"&A'\ +92 "core" ' + .tElbow.seek CC +2 "manipulator"&( +152 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +4 "core" ( +2 "manipulator"&3& +4 "core" &  8 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &  8 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&4'| +112 "core" ' + "manipulator"&E& +4 "core" &! _ 8 +2 "manipulator"&7% +4 "core" %p k +2 "collection"'6& +3 "core" &% +3 "collection"'& +5 "core" &) +2 .tCC.seek :closed + "collection"')(] +5 "core" &.  +9 &4' )w +9 &j* = +10 &j& H +9 &-m( H +10 &n) H +9 &r& G +9 &!sm" H +10 &#5p' H +9 &$n H +9 &&p G +10 &(|p G +9 &*>p G +10 &,n G +9 &-n H +9 &/n H +10 &1Gk G +9 &3q H +10 &4l G +9 &6j G +9 &8Mk H +10 &:m H +9 &;l G +9 &=p G +10 &?Un H +9 &Al G +9 &Bk H +10 &Dk G +9 &F^k G +10 &Hp H +9 &I J +9 &K# M +10 &MN P +9 &O P +9 &P Q +10 &R Q +9 &TN! R +10 &V S +9 &W S +9 &Y~ U +10 &[P|~ T +9 &\\y{{ (~ +9 &](xy J +10 ( + &]Mwz > +2 "collection"'& +2 #tCollection Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.84 +2 .Hand.open + "manipulator"&H1 +57 "core" 1 + "manipulator"&;% +4 "core" % p y k +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&O'\ +94 "core" ' +2 #tLoading generic puck from tube 4 into Processing Clamp +2 "processing"%R& +4 "core" &B + "manipulator"&% +4 "core" %\ 8  ' +2 "storage"( % +3 "core" %H !  +2 "storage"(.. +3 "core" .(,~ + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"(1(, +3 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 ((& +3 "core" &,   + "manipulator"&5& +4 "core" &  7 +2 "manipulator"&D% +4 "core" %\ 7  ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&@(* +182 "core" ( +2 "manipulator"&I& +4 "core" &8  \ + "storage"(-& +4 "core" &, d  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&' +98 "core" ' +2 "storage"(8& +4 "core" &,\ '  + .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(&'e +286 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (<& +2 "core" &,  +2 "manipulator"&& +4 "core" &8 w Z \ + .tElbow.seek 4 +2 "manipulator"&:(* +14 "core" ( + "manipulator"&\\& +4 "core" &0 { n .  +2 "storage"(N& +3 "core" &, >  +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&M'Z +22 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&B/ +63 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&w& + "storage"('N +7 "core" &0 e a J  +2 "manipulator"&>% +3 "core" % X e _  +2 .tForearm.seek :retract +2 "manipulator"&\ '\ +93 "core" ' +2 .tElbow.seek PC +2 "manipulator"&[(c +161 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +87 "core" ( +2 "manipulator"&*& +4 "core" &k R +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &,& +3 "core" &k  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&C'[ +105 "core" ' +2 "manipulator"&U& +4 "core" &k u \\ + "manipulator"&% +4 "core" %P e c s +2 "processing"%%& +4 "core" &= + "processing"%r& +5 "core" &F +2 .tPC.seek :closed +2 "processing"%(Z +3 "core" &I +9 &>F #c +9 &xYH 5 +9 &F H +10 &jE G +9 &dlC G +10 &&jE G +9 & lD G +9 &"kC G +10 &$mkG G +9 &&0kG F +10 &'kG G +9 &)kG G +9 &+vjF F +10 &-6mC G +9 &.lB G +9 &0kD G +10 &2~lE F +9 &4>jB G +9 &6kA G +10 &7kE F +9 &9jB G +10 &;GlC G +9 &=\ k; F +9 &>m? G +10 &@kC G +9 &BNn: G +9 &Dm, G +10 &Em) G +9 &Gp8 H +10 &IQ~6 I +9 &K1 J +9 &L9 M +10 &N* M +9 &PN0 M +9 &R5 M +10 &S5 M +9 &U1 N +10 &WS, N +9 &Y4 M +9 &ZaAg5 Y +10 &Z D5 , +5 ( +2 "processing"%r& +4 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.48 + .Hand.open +2 "manipulator"&P1 +3 "core" &Z3 , +57 1 + "manipulator"&9% +4 "core" % T k X  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&`'\ +90 "core" ' + "processing"%X& +4 "core" &Z6 , +2 #tImaging generic puck in Processing Clamp while storing it to tube 4 + "manipulator"&F% +4 "core" %\ 3  % +2 "storage"(v% +3 "core" %L  +2 "storage"(?. +3 "core" .(, + "storage"(z& +4 "core" &,   +2 "storage"(q& +4 "manipulator"&0& +4 "core" &,   + &k  +3 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +4 "storage"(#]kK-0-\ b +2 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +2 "manipulator"&x(c +3 ."raiseStack"SE.seek :beamBreak +2 "storage"('e +2 "core" ( +2 "manipulator"&b& +4 "core" &k + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &=& +2 "core" &k 3 +2 .tForearm.seek PC +2 "manipulator"&Q'[ +95 "core" ' +2 .tHand.close + "manipulator"&/ +95 "core" / +14 .tPC.seek :open +2 "processing"%J(p +40 "core" ' +2 "storage"(- +3 "core" -'e +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(e'B +38 "core" ' +299 ( +2 "storage"(& +4 "core" &, k  + "manipulator"&y& +4 "core" &k  + "manipulator"&p% +4 "core" % k   +2 .tForearm.seek :retract +2 "manipulator"&K'\ +92 "core" ' +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&^(* +254 "core" ( + "manipulator"&V& +5 "core" &-  !u + "storage"(& +4 "core" &,  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&' +97 "core" ' + .tHand.open + "manipulator"&s1 +60 "core" 1 +2 "storage"(g- +3 "core" -'B +3 .tSE.seek -0.16 Pucks below Top Plate + "storage"(t' +26 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(n' +49 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(k- +3 "core" -' +2 "storage"(}& +4 "core" &, j  + "manipulator"&o& +4 "core" &-  !u + .tElbow.seek 4 +2 "manipulator"&(* +3 "core" ( +2 "manipulator"& & +3 "core" &- = !u +2 "storage"(l& +4 "core" &,   +2 .tForearm.seek 4 + 450 counts + "manipulator"&Y' +24 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"({'M +54 "core" ' +2 "manipulator"&~& +4 "core" &- o m !u + "storage"(& +5 "core" &, a  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&T'. +35 "core" ' + .tElbow.hold +2 "manipulator"&j, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"(d'7 +23 "core" ' +2 "manipulator"&_% +4 "core" %Av f 4 +2 "storage"(L& +3 "core" &, z  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 319 counts +2 "manipulator"&'m +16 "core" ' +2 "manipulator"& & +4 "core" &- s [ l !u +2 "storage"(S& +4 "core" &, g  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&m' +18 "core" ' + "storage"(W% +5 "core" %@ f +2 ."downElevator"SE.seek :down +3 "storage"(Z'N +99 (a% +3 "core" %zA N? +2 "manipulator"&i% +4 "core" % n p +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&|'\ +95 "core" ' +54 ' + ."downElevator"SE.stop + "storage"(5 +3 ( & +4 "core" &, M  + "collection"'"& +4 "core" &]L{{> > +2 #tStoring generic puck in Collection Clamp to tube 4 + "manipulator"&% +4 "core" %\ : J ( +2 "storage"(% +4 "core" %= + "storage"(. +3 "core" .(, + "storage"(]& +4 "core" &, }  +2 "storage"(+& +4 "core" &, t  + "manipulator"&& +4 "core" &- d !u +2 .tElbow.seek 4 +2 "manipulator"&(* +3 "core" ( + "manipulator"&/& +4 "core" &- y !u + "storage"(#& +5 "core" &, z  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&'' +95 "core" ' + "storage"($& +4 "core" &, R  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('e +280 "core" ' +2 "storage"(!- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&3& +3 "core" &.  !t + "storage"(& +4 "core" &, U  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&G'. +30 "core" ' +2 .tElbow.hold + "manipulator"&2, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(E- +2 "core" -' +3 .tSE.seek 0.11 Pucks below Top Plate + "storage"(u'n +34 "core" ' + "manipulator"&7% +4 "core" %Bt a ) +2 "storage"(6& +3 "core" &,   +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 320 counts + "manipulator"&c'n +18 "core" ' + "manipulator"&A& +5 "core" &. ] t !t + "storage"(f& +4 "core" &, \\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&H' +11 "core" ' +2 .tSE.seek 1.11 Pucks below Top Plate + "storage"(;'] +46 "core" ' + "manipulator"&R& +5 "core" &. m m  !t + "manipulator"&% +4 "core" % n o A +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"& '\ +93 "core" ' + .tElbow.seek CC +2 "manipulator"&.( +146 "core" ( +2 "manipulator"&& +4 "core" & E 7 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &(& +3 "core" &  7 +2 .tForearm.seek CC + "manipulator"&5'| +96 "core" ' + .tHand.close + "manipulator"&D/ +60 "core" / +2 .tCC.seek :open + "collection"'4(p +409 "core" ( +2 "storage"(I& +4 "core" &, \  a  + "storage"(-& +4 "core" &, \ \ R  +2 "manipulator"& & +3 "core" &  6 +2 "manipulator"&% +3 "core" % ϋ E  +2 .tForearm.seek :retract +2 "manipulator"&8'\ +96 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&O(* +184 "core" ( + "manipulator"&& +4 "core" &0 '  +2 "storage"(<& +4 "core" &,\ \ (  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 4 +2 "manipulator"&'. +114 "core" ' + .tElbow.hold +2 "manipulator"&\\, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&N1 +53 "core" 1 +2 "manipulator"&B% +5 "core" % > I g + "storage"(w& +4 "core" &,  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 316 counts + "manipulator"&>'j +16 "core" ' +2 "manipulator"&@& +4 "core" &0 s W "  + "storage"(& +4 "core" &,\ \  V  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&&' +21 "core" ' + "storage"(M% +5 "core" %^\ \   +2 ."downElevator"SE.seek :down +3 "storage"(*'N +99 (,% +3 "core" %>\ \ \ M< + "manipulator"&:% +4 "core" % c ` J +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&U'\ +92 "core" ' +46 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 3 of [3..4] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"'& +5 "core" &$ + "manipulator"&%% +4 "core" %\ < T ) + "storage"(% +5 "core" %=\ \ #  + "storage"(\ . +3 "core" .(, +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 + "storage"(h( +359 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (P& +3 "core" &  + "manipulator"&9& +4 "core" &0   +2 .tElbow.seek 3 +2 "manipulator"&X(D +27 "core" ( + "manipulator"&F& +4 "core" &C R n +2 "storage"(v& +3 "core" &\ \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&?' +103 "core" ' + "storage"(z& +4 "core" &\ \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +52 "storage"(0'e +282 "core" ' +2 "storage"(q- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (r& +2 "core" &\ \  +2 "manipulator"&b& +3 "core" &C l n n +2 .tElbow.seek 3 +2 "manipulator"&=(D +3 "core" ( + "manipulator"&C& +4 "core" &C y r e n +2 "storage"(& +4 "core" &\ +2 .tForearm.seek 3 + 300 counts + "manipulator"&'y +25 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&[/ +54 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&`& +2 "storage"('N +7 "core" &C m n n +2 "manipulator"&% +4 "core" % r o o +2 .tForearm.seek :retract + "manipulator"&'\ +92 "core" ' + .tElbow.seek CC +2 "manipulator"&y( +151 "core" ' + ."downElevator"SE.stop + "storage"(5 +3 "core" ( +3 "manipulator"&p& +4 "core" &' X >K +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &Q& +3 "core" &' ) >K +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&V'| +102 "core" ' + "manipulator"&& +4 "core" &' F >J +2 "manipulator"&x% +4 "core" %s 1 +2 "collection"'s& +3 "core" &O +3 "collection"'g& +4 "core" &M +2 .tCC.seek :closed +2 "collection"'k(] +4 "core" &/  +8 &5- *x +10 &h+ < +9 &o( H +10 &3n+ G +9 &o) G +9 &n& G +10 &!xr) G +9 &#:r' G +9 &$m) H +10 &&n, H +9 &(n) G +10 &*Bk+ G +9 &,n/ G +9 &-n+ G +10 &/p$ G +9 &1Jp& G +9 &3 p$ G +10 &4n G +9 &6n' G +10 &8Rp G +9 &:n G +9 &;m G +10 &=m H +9 &?[g G +9 &Am H +10 &Bo H +9 &Dk G +10 &Fbj! G +9 &H#l H +9 &Iy I +10 &K K +9 &MY M +9 &O P +10 &P Q +9 &R Q +10 &TS" R +9 &V# R +9 &W S +10 &Y& T +9 &[P V +9 &\\z% (} +10 &]& F +9 ( +3 "collection"'g& +2 #tCollection Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.81 +2 .Hand.open + "manipulator"&}1 +4 "core" &]J~$ < +53 1 + "manipulator"&o% +5 "core" % p +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"& '\ +100 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%l& +4 "core" &F +2 "manipulator"&K% +3 "core" %\ <  ) +2 "storage"(~% +4 "core" %H x  + "storage"(. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 + "storage"(e( +24 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (_& +3 "core" & & + "manipulator"&L& +5 "core" &$  << + "manipulator"&t% +4 "core" %\ <  ) +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"& (D +156 "core" ( + "manipulator"&S& +4 "core" &B +2 "storage"(W& +3 "core" & d +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&^' +110 "core" ' +2 "storage"(& +4 "core" & \ L +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(n'e +280 "core" ' + "storage"(a- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (i& +3 "core" & > + "manipulator"&Y& +4 "core" &B _ ` + +2 .tElbow.seek 3 +2 "manipulator"&(D +3 "core" ( +2 "manipulator"&{& +3 "core" &B l d F +2 "storage"(T& +3 "core" & & +2 .tForearm.seek 3 + 300 counts +2 "manipulator"& 'y +14 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +63 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&"& + "storage"('N +8 "core" &B o o  + "manipulator"&% +4 "core" % ~ l o J T +2 .tForearm.seek :retract +2 "manipulator"&'\ +95 "core" ' +2 .tElbow.seek PC + "manipulator"&](c +155 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +92 "core" ( + "manipulator"&d& +4 "core" &l & +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &+& +3 "core" &l  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&'[ +99 "core" ' + "manipulator"&/& +4 "core" &l Q +2 "manipulator"&#% +4 "core" %U  + "processing"%m& +4 "core" &N +2 "processing"%$& +5 "core" &K +2 .tPC.seek :closed + "processing"%Z(Z +4 "core" &J +8 &FF #c +10 &{[P 6 +9 &M G +9 &hD G +10 &pkB G +9 &2kE G +10 & lC G +9 &"kE G +9 &$xkC G +10 &&:jF G +9 &'jG F +9 &)lG G +10 &+kG G +9 &-BmH G +10 &/mD G +9 &0kC G +9 &2mC G +10 &4JjE G +9 &6 mC G +9 &7n@ G +10 &9k? G +9 &;Qk? G +10 &=k@ G +9 &>l? G +9 &@l9 G +10 &BYm? G +9 &Dm6 G +9 &En7 G +10 &Gu? H +9 &IZ@ J +10 &K7 K +9 &L0 M +9 &N2 M +10 &PW5 M +9 &R5 M +9 &S1 M +10 &U5 M +9 &W_5 M +10 &Y 6 I +9 &ZS:m6 $j +9 &ZB: ' +6 ( +2 "processing"%$& +3 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.48 + .Hand.open +2 "manipulator"&j1 +3 "core" &Z7 ' +51 1 + "manipulator"&|% +4 "core" % U  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&!'\ +95 "core" ' + "processing"%3& +4 "core" &Z0 ' +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&% +4 "core" %\ 5  & +2 "storage"(E% +4 "core" %@ \  + "storage"(7. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(6( +14 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (A& +2 "manipulator"&f& +3 "core" & ^  +5 ."raiseStack"SE.reconfigure :place +3 "storage"(#]kK-0-\ b +3 ."raiseStack"SE.seek :beamBreak +2 "storage"(R'e +2 "core" &l  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +2 "manipulator"&(c +3 "core" ( + "manipulator"&'& +5 "core" &l ; + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &l 2 +2 .tForearm.seek PC + "manipulator"&'[ +97 "core" ' +2 .tHand.close + "manipulator"&G/ +53 "core" / +2 .tPC.seek :open +2 "processing"%c(p +80 "core" ' +2 "storage"(u- +3 "core" -'e + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('B +33 "core" ' +264 ( + "storage"((& +4 "core" & ]  + "manipulator"&H& +4 "core" &l  +2 "manipulator"&2% +3 "core" % \\   +2 .tForearm.seek :retract +2 "manipulator"&D'\ +94 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"& (D +252 "core" ( + "manipulator"&)& +4 "core" &D * !r +2 "storage"(I& +3 "core" & z  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&-' +97 "core" ' +2 .tHand.open + "manipulator"& 1 +52 "core" 1 +2 "storage"(- +3 "core" -'B +3 .tSE.seek -0.16 Pucks below Top Plate + "storage"(' +25 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(<' +51 "core" ' +2 #tLights, camera, ACTION! + "storage"(5- +3 "core" -' +2 "storage"(.& +4 "core" & g e  + "manipulator"&N& +4 "core" &E  !q + .tElbow.seek 3 +2 "manipulator"&B(D +3 "core" ( + "manipulator"&w& +4 "core" &E C !q +2 "storage"(@& +3 "core" & g g D  +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&' +3 "core" ' +52 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"(M'M +56 "core" ' +2 "manipulator"&8& +4 "core" &E  !q +2 "storage"(,& +3 "core" & y  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&:'M +33 "core" ' +2 .tElbow.hold + "manipulator"&O, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"('7 +22 "core" ' +2 "manipulator"&% +5 "core" %Vz A + "storage"(%& +4 "core" &  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 309 counts + "manipulator"&>'ς +18 "core" ' + "manipulator"&& +5 "core" &\\ \\ u Z + "storage"(\ & +4 "core" & m  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&;' +19 "core" ' +2 "storage"(&% +4 "core" %@\ \ t +2 ."downElevator"SE.seek :down +4 "storage"(*'N +98 (1% +3 "core" %D N@ +2 "manipulator"&P% +4 "core" % k o  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&9'\ +95 "core" ' +54 ' + ."downElevator"SE.stop + "storage"(5 +3 (F& +4 "core" &   + "collection"'v& +4 "core" &]L= < +2 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&z% +4 "core" %\ 9 R ( +2 "storage"(\\% +4 "core" %: + "storage"(U. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 + "storage"(q( +11 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (r& +2 "core" & \ ! +2 "manipulator"&b& +4 "core" &\\\ r Z +2 .tElbow.seek 3 +2 "manipulator"&C(D +26 "core" ( +2 "manipulator"&& +4 "core" &M ) t + "storage"([& +4 "core" & o # +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&`' +93 "core" ' +2 "storage"(& +4 "core" & \ < # +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(X'e +276 "core" ' +2 "storage"(?- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +2 "manipulator"&p& +3 "core" &M e _ 6 t +2 "storage"(Q& +3 "core" & $ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&0'M +33 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(- +2 "core" -' +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(x'k +26 "core" ' + "manipulator"&s% +4 "core" %_o |  +2 "storage"(=& +3 "core" & $ +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 3 + 318 counts +2 "manipulator"&'ϋ +18 "core" ' + "manipulator"&& +4 "core" &M d E t +2 "storage"(4& +4 "core" &\ \  J $ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&}' +10 "core" ' +3 .tSE.seek 1.11 Pucks below Top Plate + "storage"(o'Z +49 "core" ' + "manipulator"&l& +5 "core" &M b j t + "manipulator"&K% +4 "core" % ` ` \ = +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&~'\ +85 "core" ' +2 .tElbow.seek CC +2 "manipulator"&( +162 "core" ( + "manipulator"&g& +4 "core" && ' =A +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &_& +3 "core" && G =A +2 .tForearm.seek CC +2 "manipulator"&L'| +101 "core" ' + .tHand.close + "manipulator"&t/ +57 "core" / +2 .tCC.seek :open + "collection"'V(p +409 "core" ( +2 "storage"(S& +4 "core" &\  f $ + "storage"(W& +4 "core" &\  $ + "manipulator"&h& +4 "core" &$ \\ ;2 + "manipulator"&% +4 "core" % | f +2 .tForearm.seek :retract +2 "manipulator"&y'\ +94 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"& (D +155 "core" ( + "manipulator"&a& +4 "core" &C  +2 "storage"(i& +3 "core" &\ \  U $ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 +2 "manipulator"&Y'M +109 "core" ' + .tElbow.hold +2 "manipulator"&{, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&T1 +64 "core" 1 +2 "manipulator"&% +4 "core" % _z R @ + "storage"("& +4 "core" &  $ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 318 counts + "manipulator"&'ϋ +18 "core" ' + "manipulator"& & +4 "core" &W W s   +2 "storage"(^& +4 "core" &\ \  _ $ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&n' +20 "core" ' + "storage"( % +5 "core" %_\ \  @ +2 ."downElevator"SE.seek :down +3 "storage"(d'N +99 (+% +3 "core" %?\ \ 3 N> + "manipulator"&% +4 "core" % b j U , +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&/'\ +90 "core" ' +48 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 4 of [3..4] +2 #Loading generic puck from tube 4 into Collection Clamp + "collection"'#& +4 "core" & +2 "manipulator"&m% +4 "core" %\ 3 %w + "storage"(% +4 "core" %< \ Z  +2 "storage"(. +3 "core" .( + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"(J(, +354 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (j& +3 "core" &,  + "manipulator"&|& +4 "core" &W [  +2 .tElbow.seek 4 + "manipulator"&3(* +12 "core" ( +2 "manipulator"&& +4 "core" &2 u  + "storage"(E& +4 "core" &,\ \ \ <  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&7' +103 "core" ' +2 "storage"($& +4 "core" &,\ \   +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(A'e +277 "core" ' + "storage"(f- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 ('& +2 "core" &,\  ,  +2 "manipulator"&& +4 "core" &2 _ a   + .tElbow.seek 4 +2 "manipulator"&(* +3 "core" ( +2 "manipulator"&G& +4 "core" &2 M g   + "storage"(e& +4 "core" &,\ \  3  +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&u'Z +15 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&]/ +51 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&!& + "storage"(Z'N +7 "core" &2 p q   + "manipulator"&(% +4 "core" % O p n E M +2 .tForearm.seek :retract + "manipulator"&R'\ +99 "core" ' +2 .tElbow.seek CC +2 "manipulator"&H( +146 "core" ' + ."downElevator"SE.stop + "storage"(5 +19 "core" ( + "manipulator"&2& +4 "core" &!  9% +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &"  9% +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&)'| +94 "core" ' +2 "manipulator"&I& +4 "core" &"  9% +2 "manipulator"&% +3 "core" %z   +2 "collection"' & +4 "core" &( +2 "collection"'& +5 "core" &, +2 .tCC.seek :closed +56 "collection"'5(] +5 "core" &+ +2 &. &. + &1 + &. + &- + &/ +3 &9+ $d +8 &t[' 6 +9 &) H +10 &m& G +9 &en* G +9 &'k) G +10 & l* G +9 &"l, G +9 &$mm* G +10 &&/p+ G +9 &'p% G +9 &)q( G +10 &+un% G +9 &-8o G +10 &.n# G +9 &0l G +9 &2}k G +10 &4@k G +9 &6m G +9 &7k G +10 &9m G +9 &;Hm G +10 &= m G +9 &>j G +9 &@o G +10 &BNm H +9 &Dn G +9 &En G +10 &Gp H +9 &ISy I +10 &K K +9 &L O +9 &N P +10 &PE P +9 &R' Q +9 &S) R +10 &U" R +9 &WE S +10 &Y S +9 &Z T +9 &\\z| A +10 &]e0wz& , +9 &]Twx! ? +2 ( +2 "collection"'& +3 #tCollection Clamp onSpring/offSpring for 9/25 samples, on/off torque 1.82 + .Hand.open +2 "manipulator"&.1 +55 "core" 1 + "manipulator"&N% +5 "core" % z   + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&w'\ +103 "core" ' +2 #tLoading generic puck from tube 4 into Processing Clamp + "processing"%@& +4 "core" &C +2 "manipulator"&D% +3 "core" %\    +2 "storage"(8% +4 "core" %T  + "storage"(,. +3 "core" .(, +2 "storage"(& +3 "core" &,  +2 "storage"(& +4 "core" &,  + "manipulator"&& +4 "core" &"  9$ + "manipulator"&%% +4 "core" %\  #  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&(* +155 "core" ( +2 "manipulator"&\ & +4 "core" &5 j x $ + "storage"( & +4 "core" &, |  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&&' +95 "core" ' +2 "storage"(-& +4 "core" &, h  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(<'e +277 "core" ' + "storage"(1- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (P& +3 "core" &,  + "manipulator"&& +4 "core" &5 d ` ! +2 .tElbow.seek 4 +2 "manipulator"&B(* +7 "core" ( +2 "manipulator"&M& +4 "core" &2 x e d  + "storage"(:& +4 "core" &, O  +2 .tForearm.seek 4 + 300 counts + "manipulator"&F'Z +21 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&>/ +61 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&v& +2 "storage"(z'N +7 "core" &2 ` e G  +2 "manipulator"&\\% +3 "core" % S e a I +2 .tForearm.seek :retract +2 "manipulator"&U'\ +94 "core" ' + .tElbow.seek PC +2 "manipulator"&(c +160 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +90 "core" ( +2 "manipulator"&r& +4 "core" &g , + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &b& +3 "core" &g  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&'[ +106 "core" ' + "manipulator"&[& +5 "core" &g  + "manipulator"&;% +4 "core" %\\  +2 "processing"%& +3 "core" &N +3 "processing"%*& +4 "core" &L +2 .tPC.seek :closed +2 "processing"%6(Z +4 "core" &N  +8 &6Q )w +10 &jK = +9 &zL G +9 &DkJ G +10 &nD G +9 &iB G +9 &!lG G +10 &#JjG G +9 &% jC G +9 &&lG G +10 &(jG G +9 &*RjH G +10 &,jF G +9 &-jG G +9 &/kF H +10 &1[jF G +9 &3kG G +9 &4jD G +10 &6jB G +9 &8djB G +10 &:&jD G +9 &;kH G +9 &=mD G +10 &?jm7 G +9 &A,lB G +9 &Bh- G +10 &Dk5 G +9 &Fqn, H +10 &H2u7 H +9 &I9 J +9 &K: K +10 &Mj6 M +9 &O,0 M +9 &P+ M +10 &R+ M +9 &Tq6 M +10 &V46 M +9 &W, N +9 &Y1 5 +10 &Z/7 Z +9 &Z8 ) +2 ( +2 "processing"%*& +3 #tProcessing Clamp onSpring/offSpring for 8/26 samples, on/off torque 1.48 +2 .Hand.open + "manipulator"&O1 +61 "core" 1 + "manipulator"&9% +4 "core" % \\  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&?'\ +95 "core" ' +2 "processing"%p& +4 "core" &Z6 ) + #tImaging generic puck in Processing Clamp while storing it to tube 4 +2 "manipulator"&Q% +3 "core" %\ ; Q & +2 "storage"(% +4 "core" %J '  + "storage"(s. +3 "core" .(, + "storage"(=& +4 "core" &, B  +2 "storage"(& +4 "manipulator"&4& +4 "core" &,   + &g a +3 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +4 "storage"(#]kK-0-\ b +2 "manipulator"&$&.,(\ #b +4 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +2 "storage"(l'e + "manipulator"&K(c +5 "core" ( + "manipulator"&`& +4 "core" &g O +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &C& +3 "core" &g N +2 .tForearm.seek PC +2 "manipulator"&X'[ +95 "core" ' +2 .tHand.close + "manipulator"&0/ +60 "core" / +2 .tPC.seek :open + "processing"%(p +87 "core" ' +2 "storage"(x- +3 "core" -'e +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(g'B +36 "core" ' +254 ( + "storage"(_& +4 "core" &, 9  +2 "manipulator"&}& +3 "core" &g  +2 "manipulator"&% +4 "core" % T 8 + .tForearm.seek :retract +2 "manipulator"&t'\ +95 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&~(* +256 "core" ( + "manipulator"&k& +4 "core" &3  o +2 "storage"(S& +3 "core" &, V  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&W' +102 "core" ' + .tHand.open +2 "manipulator"&h1 +55 "core" 1 +2 "storage"(- +3 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate +2 "storage"(a' +23 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(i' +53 "core" ' +2 #tLights, camera, ACTION! + "storage"(L- +3 "core" -' +2 "storage"(& +4 "core" &, ~ ~ \\  + "manipulator"&T& +4 "core" &4  n + .tElbow.seek 4 +2 "manipulator"&(* +3 "core" ( +2 "manipulator"&"& +3 "core" &4 V n +2 "storage"( & +4 "core" &, ~ }  +2 .tForearm.seek 4 + 450 counts + "manipulator"&^' +18 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"( 'M +58 "core" ' + "manipulator"&y& +4 "core" &4 m p n +2 "storage"(+& +4 "core" &,   + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 + "manipulator"&'. +32 "core" ' +2 .tElbow.hold + "manipulator"& , +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.07 Pucks below Top Plate + "storage"(Y'7 +23 "core" ' +2 "manipulator"&#% +4 "core" %Az X 9 +2 "storage"(m& +3 "core" &,   +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 4 + 319 counts + "manipulator"&'m +16 "core" ' +2 "manipulator"&& +4 "core" &3 [ p o +2 "storage"(& +3 "core" &, P  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&o' +19 "core" ' +2 "storage"(n% +4 "core" %@  +3 ."downElevator"SE.seek :down +3 "storage"(d'N +99 (q% +3 "core" %D q L< + "manipulator"&j% +4 "core" % o m +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&|'\ +94 "core" ' +59 ' + ."downElevator"SE.stop + "storage"(5 +3 (& +4 "core" &, O  + "collection"'E& +4 "core" &]Xz}& ? + #tStoring generic puck in Collection Clamp to tube 4 +2 "manipulator"&$% +3 "core" %\ < > ) +2 "storage"({% +4 "core" %K +  + "storage"(/. +3 "core" .(, + "storage"(f& +4 "core" &,  +2 "storage"('& +3 "core" &, ~  +52 "manipulator"&& +5 "core" &3 6 o +2 .tElbow.seek 4 + "manipulator"&G(* +4 "core" ( + "manipulator"&e& +4 "core" &3 Z o + "storage"(]& +4 "core" &, /  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&!' +95 "core" ' + "storage"((& +5 "core" &, {  + .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(3'e +281 "core" ' + "storage"(7- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&2& +3 "core" &4  n +2 "storage"(& +3 "core" &,  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&A'. +31 "core" ' + .tElbow.hold +2 "manipulator"&u, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(I- +2 "core" -' +3 .tSE.seek 0.12 Pucks below Top Plate + "storage"('o +27 "core" ' +2 "manipulator"& % +4 "core" %?z V B + "storage"(& +4 "core" &,   +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 4 + 317 counts +2 "manipulator"&Z'k +19 "core" ' + "manipulator"&R& +5 "core" &4 p Y h n + "storage"(V& +4 "core" &,   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&.' +10 "core" ' +2 .tSE.seek 1.12 Pucks below Top Plate +2 "storage"(N'^ +47 "core" ' +2 "manipulator"&@& +4 "core" &4 f b n + "manipulator"&D% +4 "core" % m m < +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&8'\ +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"&,( +148 "core" ( + "manipulator"&& +4 "core" &$  ;3 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &#  ;3 +2 .tForearm.seek CC + "manipulator"&'| +97 "core" ' + .tHand.close +2 "manipulator"&/ +61 "core" / +2 .tCC.seek :open + "collection"'%(p +409 "core" ( +2 "storage"()& +4 "core" &,\  v  + "storage"(\ & +4 "core" &,\ \    + "manipulator"& & +4 "core" &   5 + "manipulator"&-% +4 "core" % ϐ   +2 .tForearm.seek :retract + "manipulator"&H'\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&w(* +164 "core" ( + "manipulator"&1& +4 "core" &! t F ' +2 "storage"(P& +3 "core" &,\ \  E  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 4 +2 "manipulator"&'. +112 "core" ' + .tElbow.hold +2 "manipulator"&M, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&:1 +55 "core" 1 +2 "manipulator"&>% +4 "core" % > s + "storage"(v& +4 "core" &,  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 4 + 316 counts + "manipulator"&\\'j +16 "core" ' +2 "manipulator"&& +4 "core" &" h \\ & + "storage"(&& +4 "core" &, \ h  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&<' +23 "core" ' +2 "storage"(F% +4 "core" %c\ \   +3 ."downElevator"SE.seek :down +3 "storage"(r'N +99 (b% +3 "core" %>\  = M= + "manipulator"&B% +4 "core" % _ b _ +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&['\ +94 "core" ' +46 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 3 of [3..4] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"';& +4 "core" &, +2 "manipulator"&% +4 "core" %\ : . ( + "storage"(z% +4 "core" %F\ \ \  + "storage"(U. +4 "core" .(, + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(c( +362 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (O& +2 "core" & & +2 "manipulator"&9& +4 "core" &" W & + .tElbow.seek 3 +2 "manipulator"&p(D +16 "core" ( +2 "manipulator"&Q& +4 "core" &= 1 !r + "storage"(& +4 "core" &\ \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&s' +102 "core" ' +2 "storage"(=& +4 "core" &\ \  % +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(*'e +283 "core" ' + "storage"(4- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +2 (& +3 "core" &\ \ G +2 "manipulator"&`& +3 "core" &> p p !q +2 .tElbow.seek 3 + "manipulator"&C(D +4 "core" ( + "manipulator"&& +4 "core" &> t [ Q !q + "storage"(0& +4 "core" &\ \  % +2 .tForearm.seek 3 + 300 counts + "manipulator"&x'y +21 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +61 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&?& +5 "storage"(6'N +4 "core" &>  !q + "manipulator"&_% +4 "core" %    +2 .tForearm.seek :retract +2 "manipulator"&}'\ +98 "core" ' + .tElbow.seek CC +2 "manipulator"&l( +140 "core" ( +2 "manipulator"&& +5 "core" & ? , ' +2 ."downElevator"SE.stop +3 .tElbow.reconfigure :loose + "storage"(5 +4 "manipulator"&$ &.,(#b +3 &X& +2 "core" & 6 , +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&k'| +98 "core" ' + "manipulator"&S& +4 "core" & 9 , +2 "manipulator"&K% +4 "core" %π  + "collection"'h& +4 "core" &* +2 "collection"'& +5 "core" &, +2 .tCC.seek :closed +2 "collection"'L(] +5 "core" &)  +9 &7/ *y +9 &l1 > +10 &}0 H +9 &Im+ G +9 &\ m0 G +10 &l1 G +9 &!l. G +10 &#Pk0 G +9 &%j, G +9 &&m0 H +10 &(l0 G +9 &*Xn. G +10 &,k# G +9 &-m- G +9 &/n$ H +10 &1`n. G +9 &3!m% H +9 &4l& G +10 &6n. G +9 &8hm, G +9 &:+o& G +10 &;k- G +9 &=m* G +10 &?qi( G +9 &A3o G +9 &Bn& H +10 &Dk( G +9 &Fxm G +9 &H:m G +10 &I| I +9 &K, K +10 &Mm N +9 &O* P +9 &P! Q +10 &R Q +9 &Tk Q +9 &V( S +10 &W S +9 &Y T +10 &[j T +9 &]m~ ) +9 &]+} W +10 ( + &]s~ H +2 "collection"'& +2 #tCollection Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.81 +2 .Hand.open + "manipulator"&1 +63 "core" 1 + "manipulator"&T% +4 "core" % π  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&"'\ +96 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"% & +4 "core" &> +2 "manipulator"&t% +3 "core" %\ <  ) +2 "storage"(y% +4 "core" %J  + "storage"(+. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(g( +23 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (#& +3 "core" &   + "manipulator"&m& +4 "core" &  , +2 "manipulator"&a% +3 "core" %\ <  ) +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&(D +163 "core" ( + "manipulator"&& +5 "core" &8 f P + "storage"(n& +4 "core" &   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&~' +95 "core" ' + "storage"(W& +5 "core" &  + .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +7 .tSE.seek :beamBreak +2 "storage"(i'e +274 "core" ' + "storage"(q- +4 "core" -' +2 .tSE.configure :default +52 "storage"(#QK-0-\ b +3 (j& +2 "core" & d +2 "manipulator"&^& +3 "core" &: q p N +2 .tElbow.seek 3 +2 "manipulator"&(D +3 "core" ( + "manipulator"& & +4 "core" &: N +2 "storage"(& +4 "core" & > +2 .tForearm.seek 3 + 300 counts + "manipulator"&'y +22 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +58 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&E& +2 "storage"($'N +7 "core" &: n p N +2 "manipulator"&{% +3 "core" % | o o +2 .tForearm.seek :retract +2 "manipulator"&/'\ +97 "core" ' + .tElbow.seek PC +2 "manipulator"&f(c +152 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +98 "core" ( + "manipulator"&Y& +5 "core" &m  + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &'& +2 "core" &m +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&'[ +99 "core" ' + "manipulator"&e& +4 "core" &m b k +2 "manipulator"&]% +4 "core" %O g ~ 4 ] +2 "processing"%o& +3 "core" &U +3 "processing"%(& +6 "core" &P +2 .tPC.seek :closed + "processing"%d(Z +5 "core" &Q +7 &>R #c +9 &x[R 6 +10 &N H +9 &jO G +9 &liO G +10 &/iK G +9 & jG G +9 &"jE G +10 &$vkM F +9 &&7kC G +10 &'jF F +9 &)kG G +9 &+}hF G +10 &-?mF G +9 &/m@ F +9 &0kA G +10 &2kF G +9 &4GlH G +10 &6\ kF F +9 &7kH G +9 &9jH F +10 &;OkD G +9 &=hC G +9 &>lB G +10 &@jH G +9 &BVkG G +10 &Dl@ G +9 &En@ G +9 &Gx< H +10 &IW~C J +9 &KF K +10 &LF L +9 &NA M +9 &PVB M +10 &R: M +9 &S; M +9 &U* M +10 &W[3 N +9 &Y= H +10 &ZR?x9 (u +9 &Z%6 $ +5 ( +2 "processing"%(& +4 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.50 + .Hand.open +2 "manipulator"& 1 +3 "core" &Z5 $ +57 1 + "manipulator"&|% +4 "core" % O Z  ] +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&7'\ +93 "core" ' +2 "processing"%2& +4 "core" &Z7 $ + #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&% +4 "core" %\ 5  & + "storage"(I% +4 "core" %? 4  + "storage"( . +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 + "storage"(( +13 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (R& +3 "core" & b  + "manipulator"&V& +3 ."raiseStack"SE.reconfigure :place +5 "storage"(#]kK-0-\ b +3 "core" &m  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +2 ."raiseStack"SE.seek :beamBreak +2 "manipulator"&@(c +2 "storage"(D'e +5 "core" ( + "manipulator"&!& +4 "core" &m + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &G& +3 "core" &m . +2 .tForearm.seek PC +2 "manipulator"&3'[ +94 "core" ' +2 .tHand.close + "manipulator"&A/ +58 "core" / +2 .tPC.seek :open +2 "processing"%Z(p +93 "core" ' + "storage"(- +3 "core" -'e +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('B +32 "core" ' +252 ( +2 "storage"(& +4 "core" & "  + "manipulator"&.& +4 "core" &m  + "manipulator"&u% +4 "core" % Z   +2 .tForearm.seek :retract +2 "manipulator"&'\ +96 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&8(D +249 "core" ( +2 "manipulator"&5& +4 "core" &C D k +2 "storage"()& +3 "core" & v  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&\ ' +106 "core" ' +2 .tHand.open + "manipulator"& 1 +55 "core" 1 +2 "storage"(-- +4 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate + "storage"(1' +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(P' +51 "core" ' +2 #tLights, camera, ACTION! + "storage"(- +4 "core" -' + "storage"(,& +4 "core" & g g J  +2 "manipulator"&:& +4 "core" &C k h k + .tElbow.seek 3 +2 "manipulator"&>(D +3 "core" ( +2 "manipulator"&v& +3 "core" &C T q k +2 "storage"(& +4 "core" & e e %  +2 .tForearm.seek 3 + 450 counts + "manipulator"&&' +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"(F'M +67 "core" ' + "manipulator"&H& +4 "core" &C m m k +2 "storage"(b& +3 "core" & 0  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&B'M +32 "core" ' + .tElbow.hold +2 "manipulator"&w, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"('7 +25 "core" ' + "manipulator"&;% +4 "core" %\\ a N +2 "storage"(\\& +4 "core" & ?  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 315 counts + "manipulator"&'ψ +17 "core" ' + "manipulator"&z& +4 "core" &Y\ o u  U +2 "storage"(U& +4 "core" & [  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&N' +10 "core" ' +2 "storage"(<% +4 "core" %A +3 ."downElevator"SE.seek :down +4 "storage"(r'N +99 (J% +3 "core" %C 4 NA + "manipulator"&O% +4 "core" % m q < +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&9'\ +93 "core" ' +57 ' + ."downElevator"SE.stop + "storage"(5 +3 (Q& +4 "core" & "  +2 "collection"'& +3 "core" &]sH H +2 #tStoring generic puck in Collection Clamp to tube 3 +2 "manipulator"&=% +3 "core" %\ : l ( +2 "storage"(M% +4 "core" %F 6 + "storage"([. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(4( +10 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (& +2 "core" &   +2 "manipulator"&`& +4 "core" &Y\ _ U + .tElbow.seek 3 +2 "manipulator"&(D +30 "core" ( +2 "manipulator"&0& +4 "core" &D  g + "storage"(& +4 "core" & ! +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&?' +94 "core" ' +2 "storage"(_& +4 "core" & { ! +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(p'e +280 "core" ' + "storage"(s- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" &D d p P g + "storage"(X& +4 "core" & M ! +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&*'M +31 "core" ' + .tElbow.hold +2 "manipulator"&x, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(S- +2 "core" -' +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(K'l +30 "core" ' +2 "manipulator"&h% +4 "core" %Xm R  + "storage"(C& +4 "core" & X ! + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 3 + 311 counts +2 "manipulator"&6'τ +17 "core" ' +2 "manipulator"&}& +4 "core" &E s [ _ f +2 "storage"(%& +83 "core" &\  z ! +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +50 "manipulator"&' +12 "core" ' +2 .tSE.seek 1.11 Pucks below Top Plate +2 "storage"(T'[ +49 "core" ' + "manipulator"& & +5 "core" &E c ` C f + "manipulator"&t% +4 "core" % c ` : 0 +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&y'\ +88 "core" ' +2 .tElbow.seek CC +2 "manipulator"&+( +148 "core" ( + "manipulator"&& +5 "core" & 6 / + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &#& +2 "core" & - / +2 .tForearm.seek CC +2 "manipulator"&m'| +94 "core" ' +2 .tHand.close + "manipulator"&a/ +55 "core" / +2 .tCC.seek :open +2 "collection"'k(p +409 "core" ( + "storage"(& +4 "core" &\ \ a ! +2 "storage"(n& +3 "core" &\ \ p ! +2 "manipulator"&c& +3 "core" & ( / +2 "manipulator"&W% +4 "core" % ϐ  + .tForearm.seek :retract +2 "manipulator"&l'\ +96 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&"(D +150 "core" ( +2 "manipulator"&q& +4 "core" &? - \ +2 "storage"(j& +3 "core" & \ B ! +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 +2 "manipulator"&^'M +112 "core" ' + .tElbow.hold +2 "manipulator"& , +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&1 +62 "core" 1 +2 "manipulator"&% +4 "core" % `s / $ % +2 "storage"(E& +3 "core" &  ! +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 3 + 319 counts +2 "manipulator"&{'ό +17 "core" ' + "manipulator"&& +4 "core" &P i Y ,  +2 "storage"(~& +3 "core" &\ \  - ! +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&i' +20 "core" ' + "storage"(% +4 "core" %^\ \   +3 ."downElevator"SE.seek :down +3 "storage"(Y'N +99 ('% +2 "core" %C\ \ \  o N? +2 "manipulator"&% +4 "core" % ` a   +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&e'\ +91 "core" ' +51 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 4 of [3..4] +2 #Loading generic puck from tube 4 into Collection Clamp + "collection"']& +4 "core" &' +2 "manipulator"&o% +4 "core" %\ 3 %~ + "storage"($% +4 "core" %;\ \ \ \ 2 +2 "storage"(/. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"((, +356 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 ( & +3 "core" &, s  + "manipulator"&|& +4 "core" &P _  +2 .tElbow.seek 4 +2 "manipulator"&2(* +12 "core" ( +2 "manipulator"&& +4 "core" &/ v T  + "storage"(I& +4 "core" &,\ \  <  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"& ' +97 "core" ' + "storage"((& +5 "core" &,\ \    +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(R'e +278 "core" ' + "storage"(V- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (!& +3 "core" &,\ \  d  + "manipulator"&G& +4 "core" &/ f a ,  +2 .tElbow.seek 4 +2 "manipulator"&(* +3 "core" ( + "manipulator"&A& +4 "core" &/ q s  +2 "storage"(g& +4 "core" &,\  <  +2 .tForearm.seek 4 + 300 counts + "manipulator"&'Z +22 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&f/ +57 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&7& + "storage"(d'N +7 "core" &/ a c l  +2 "manipulator"&% +4 "core" % ` c j ) + .tForearm.seek :retract +2 "manipulator"&.'\ +92 "core" ' +2 .tElbow.seek CC + "manipulator"&u( +152 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +12 "core" ( +2 "manipulator"&D& +4 "core" &' B >N + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &3& +3 "core" &' >N +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&5'| +103 "core" ' + "manipulator"&)& +4 "core" &'  >I +2 "manipulator"&@% +4 "core" %u  +2 "collection"' & +4 "core" &7 + "collection"'-& +5 "core" &. +2 .tCC.seek :closed +3 "collection"'(] +3 "core" &* +7 &9) #c +9 &y[' 6 +10 &. H +9 &h, G +9 &il* G +10 &+j0 G +9 & j* G +10 &"p& G +9 &$qp+ G +9 &&2l) H +10 &'m$ G +9 &)i% G +10 &+xm$ H +9 &-<k& G +9 &.m) G +10 &0j* G +9 &2o( G +9 &4Cm) G +10 &6k' H +9 &7m% G +9 &9k% G +10 &;Kj G +9 &=m( G +10 &>l( G +9 &@j% G +9 &BSm G +10 &Dj G +9 &Em, G +10 &Go& H +9 &IXz/ H +9 &K. K +10 &L0 O +9 &N# P +9 &PH# Q +10 &R " P +9 &S( R +9 &U# R +10 &WK R +9 &Y  T +10 &Z}~' T +9 &\\y{ A +9 &]n'vz +} +10 &]zww N +2 ( +2 "collection"'-& +2 #tCollection Clamp onSpring/offSpring for 10/25 samples, on/off torque 1.86 +2 .Hand.open + "manipulator"&,1 +59 "core" 1 + "manipulator"&:% +4 "core" % u A +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&v'\ +94 "core" ' +2 #tLoading generic puck from tube 4 into Processing Clamp + "processing"%& +5 "core" &A + "manipulator"&% +4 "core" %\ 7  ' + "storage"(H% +4 "core" %J = + "storage"(b. +3 "core" .(, +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 +2 "storage"((, +16 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (;& +2 "core" &, .  +2 "manipulator"&\\& +3 "core" &3  7 +2 "manipulator"&1% +4 "core" %\ 7  ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&z(* +155 "core" ( + "manipulator"&U& +4 "core" &2 W  +2 "storage"(<& +3 "core" &, 7  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&8' +101 "core" ' + "storage"(\ & +4 "core" &, U  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(P'e +284 "core" ' + "storage"(J- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (O& +2 "core" &,   +2 "manipulator"&&& +3 "core" &2   +2 .tElbow.seek 4 +2 "manipulator"&>(* +3 "core" ( +2 "manipulator"&F& +4 "core" &2 w   + "storage"(B& +4 "core" &,  +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&Q'Z +20 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +54 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&& +3 "storage"(='N +8 "core" &2 g b  + "manipulator"&M% +4 "core" % U b f ] +2 .tForearm.seek :retract +2 "manipulator"&['\ +97 "core" ' +2 .tElbow.seek PC +2 "manipulator"&(c +152 "core" ' + ."downElevator"SE.stop + "storage"(5 +94 "core" ( + "manipulator"&& +4 "core" &h I +3 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &`& +3 "core" &h 9 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&0'[ +105 "core" ' + "manipulator"&& +4 "core" &h  +2 "manipulator"&N% +4 "core" %> E + "processing"%_& +4 "core" &V +2 "processing"%r& +5 "core" &T +2 .tPC.seek :closed +2 "processing"%(Z +4 "core" &U +7 &>N #c +10 &x\\Q 6 +9 &L G +57 &gO G +3 &ljO G + &.jM G + & kN G &"kN G + &$tlE G +3 &&6jF G +9 &'jF G +9 &)jG G +10 &+|hG G +9 &-=kC G +10 &.lE G +9 &0kD G +9 &2k? G +10 &4FiC G +9 &6jG G +10 &7jA G +9 &9jE F +9 &;NkF G +10 &=jG G +9 &>kG G +9 &@kF G +10 &BUkA G +9 &DjB G +10 &EnC G +9 &Gu> H +9 &IX}? I +10 &KA K +9 &LB M +9 &NG M +10 &PVA M +9 &R4 M +10 &S7 M +9 &U? N +9 &WZ? N +10 &Y8 H +9 &ZTB< "d +9 &Z3/ ) +6 ( +2 "processing"%r& +3 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.47 +2 .Hand.open + "manipulator"&w1 +3 "core" &Z4 ) +54 1 + "manipulator"&9% +5 "core" % > u + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&s'\ +100 "core" ' +2 "processing"%& +4 "core" &Z2 ) +2 #tImaging generic puck in Processing Clamp while storing it to tube 4 + "manipulator"&X% +3 "core" %\ < r ) +2 "storage"(S% +4 "core" %> < + "storage"(h. +3 "core" .(, +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 + "storage"(C(, +7 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (}& +3 "manipulator"&%& +4 "core" &, +2 &h V +2 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +3 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +3 "storage"(#]kK-0-\ b +3 "manipulator"&?(c +4 ."raiseStack"SE.seek :beamBreak +2 "storage"( 'e +2 "core" ( + "manipulator"&& +4 "core" &h +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &t& +3 "core" &h ( +3 .tForearm.seek PC + "manipulator"&p'[ +100 "core" ' + .tHand.close +2 "manipulator"&*/ +61 "core" / +2 .tPC.seek :open +2 "processing"%6(p +80 "core" ' + "storage"(K- +4 "core" -'e + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +2 ."raiseStack"SE.seek :place +2 "storage"('B +34 "core" ' +263 ( + "storage"(#& +5 "core" &, + "manipulator"&& +4 "core" &h 4 + "manipulator"&x% +4 "core" % M  +2 .tForearm.seek :retract +2 "manipulator"&a'\ +99 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&y(* +256 "core" ( + "manipulator"&L& +4 "core" &(  !u +2 "storage"(& +3 "core" &, \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&n' +95 "core" ' + .tHand.open +2 "manipulator"&c1 +56 "core" 1 +2 "storage"(W- +3 "core" -'B +3 .tSE.seek -0.16 Pucks below Top Plate + "storage"(q' +23 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(j' +49 "core" ' +2 #tLights, camera, ACTION! + "storage"(m- +3 "core" -' +2 "storage"(+& +4 "core" &, e d  + "manipulator"&& +4 "core" &(  !u +2 .tElbow.seek 4 + "manipulator"&(* +4 "core" ( + "manipulator"&E& +4 "core" &(  !u + "storage"(& +5 "core" &, d e % +2 .tForearm.seek 4 + 450 counts + "manipulator"&~' +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"('M +60 "core" ' + "manipulator"&l& +5 "core" &( F !u + "storage"('& +4 "core" &, + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&'. +28 "core" ' +2 .tElbow.hold + "manipulator"&", +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.07 Pucks below Top Plate + "storage"(^'7 +25 "core" ' + "manipulator"&]% +5 "core" %B} k K + "storage"({& +5 "core" &, J + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 320 counts +2 "manipulator"&o'n +16 "core" ' +2 "manipulator"&$& +4 "core" &( q v h !u +2 "storage"(/& +4 "core" &, +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&T' +21 "core" ' +2 "storage"(i% +4 "core" %?  +3 ."downElevator"SE.seek :down +3 "storage"(Y'N +99 (4% +3 "core" %F  OB +2 "manipulator"& % +3 "core" % o q  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&|'\ +94 "core" ' +59 ' + ."downElevator"SE.stop + "storage"(5 +3 (& +3 "core" &, K +2 "collection"'I& +4 "core" &]{y| N + #tStoring generic puck in Collection Clamp to tube 4 + "manipulator"&(% +5 "core" %\ 9 z ( + "storage"( % +4 "core" %M  \ + "storage"(e. +4 "core" .(, + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"(V(, +6 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (!& +3 "core" &, / + "manipulator"&G& +5 "core" &( m !u + .tElbow.seek 4 +2 "manipulator"&A(* +3 "core" ( +2 "manipulator"&g& +3 "core" &( / !u +2 "storage"(f& +4 "core" &,  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&7' +98 "core" ' +2 "storage"(& +4 "core" &, +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(2'e +278 "core" ' +2 "storage"( - +3 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +2 "manipulator"&D& +3 "core" &(  !u +2 "storage"(3& +3 "core" &, k +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&R'. +30 "core" ' + .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"()- +2 "core" -' +3 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"('n +27 "core" ' + "manipulator"&@% +5 "core" %Bt 1 , + "storage"( & +4 "core" &, I + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 320 counts +2 "manipulator"&d'n +16 "core" ' + "manipulator"&.& +4 "core" &( _ j !u +2 "storage"(k& +3 "core" &, +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&,' +18 "core" ' +2 .tSE.seek 1.11 Pucks below Top Plate +2 "storage"(:'] +50 "core" ' +2 "manipulator"&& +5 "core" &( o o !u + "manipulator"&% +4 "core" % k n  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&H'\ +95 "core" ' +2 .tElbow.seek CC + "manipulator"&b( +158 "core" ( + "manipulator"&-& +4 "core" & # J :1 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &;& +3 "core" & #  :1 +2 .tForearm.seek CC + "manipulator"&\\'| +95 "core" ' +2 .tHand.close + "manipulator"&1/ +57 "core" / + .tCC.seek :open +2 "collection"'5(p +409 "core" ( + "storage"(U& +4 "core" &, \ +2 "storage"(<& +4 "core" &,\ \ \  + "manipulator"&& +4 "core" & #  :1 + "manipulator"&\ % +4 "core" % ύ @  +2 .tForearm.seek :retract + "manipulator"&u'\ +96 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&v(* +160 "core" ( +2 "manipulator"&J& +4 "core" &2  + "storage"(O& +4 "core" &,\ \ 9 + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 4 +2 "manipulator"&&'. +109 "core" ' +2 .tElbow.hold + "manipulator"&F, +52 "core" , +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&B1 +57 "core" 1 +2 "manipulator"&% +4 "core" % B O +2 "storage"(& +3 "core" &, +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 320 counts + "manipulator"&M'n +18 "core" ' + "manipulator"&z& +4 "core" &2 Y r H +2 "storage"(8& +4 "core" &,\ \  & +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&P' +20 "core" ' + "storage"(Q% +4 "core" %c\ \   +3 ."downElevator"SE.seek :down +3 "storage"('N +99 (`% +3 "core" %C\ N? + "manipulator"&>% +4 "core" % k c Z " +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +94 "core" ' +44 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 3 of [3..4] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"'N& +4 "core" &G +2 "manipulator"&_% +4 "core" %\ :  ( + "storage"(=% +5 "core" %A\ \ \ \ + "storage"([. +3 "core" .(, +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 + "storage"(Z( +360 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (w& +3 "core" &  + "manipulator"&9& +4 "core" &2  +2 .tElbow.seek 3 +2 "manipulator"&(D +22 "core" ( +2 "manipulator"&X& +4 "core" &; \\ b + "storage"(S& +4 "core" &\ \ \ C +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&h' +101 "core" ' +2 "storage"(r& +4 "core" &\ \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(%'e +280 "core" ' + "storage"(}- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (& +3 "core" &\ \ \  E +2 "manipulator"&t& +3 "core" &< # a +2 .tElbow.seek 3 +2 "manipulator"&0(D +3 "core" ( + "manipulator"&*& +4 "core" &< | - a + "storage"(& +4 "core" & \  z +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&K'y +22 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&/ +52 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&s& + "storage"('N +7 "core" &< q n a + "manipulator"&#% +4 "core" % r n m +2 .tForearm.seek :retract +2 "manipulator"& '\ +96 "core" ' +2 .tElbow.seek CC +2 "manipulator"&( +154 "core" ' + ."downElevator"SE.stop + "storage"(5 +4 "core" ( + "manipulator"&x& +4 "core" &\ b M + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &p& +3 "core" &\ Z M +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&L'| +110 "core" ' + "manipulator"&& +4 "core" &\ m [ M +2 "manipulator"&?% +4 "core" %{ o o  +2 "collection"'c& +3 "core" &4 +2 "collection"'W& +5 "core" &: +2 .tCC.seek :closed +2 "collection"'m(] +4 "core" &= +7 &C1 $e +9 &u[2 6 +10 &5 H +9 &m2 G +9 &im. G +10 &+n& G +9 & n. G +10 &"n0 G +9 &$sm, F +9 &&3n% G +10 &'m0 G +9 &)n' G +9 &+yp) G +10 &-<m) G +9 &.p/ G +10 &0o- G +9 &2n/ G +9 &4Dn& G +10 &6p$ G +9 &7n% G +9 &9l. G +10 &;Mk/ F +9 &=m/ G +10 &>l- G +9 &@m+ G +9 &BRp0 G +10 &Dm0 G +9 &Em1 G +9 &Gm/ G +10 &IWx1 I +9 &K1 J +10 &L2 L +9 &N& O +9 &PH. P +10 &R\ 1 P +9 &S0 S +9 &U/ R +10 &WK' R +9 &Y/ T +10 &Z- Y +9 &\\$ ? +9 &]w1 !d +10 &]F}~" = +2 ( +2 "collection"'W& +2 #tCollection Clamp onSpring/offSpring for 10/25 samples, on/off torque 1.85 +2 .Hand.open + "manipulator"&+1 +56 "core" 1 + "manipulator"&% +4 "core" % | u [ +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&E'\ +96 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp +2 "processing"%& +4 "core" &O + "manipulator"&a% +4 "core" %\ < T ) +2 "storage"(l% +3 "core" %P  +2 "storage"('. +3 "core" .( + "storage"(]& +4 "core" & + "storage"({& +4 "core" & + "manipulator"&& +4 "core" &\ \\ M + "manipulator"&$% +4 "core" %\ < ` ) +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&/(D +146 "core" ( +2 "manipulator"&q& +4 "core" &L + "storage"(i& +4 "core" & +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&y' +101 "core" ' + "storage"(n& +4 "core" &\ \ u +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(j'e +277 "core" ' + "storage"(4- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 ( & +3 "core" &\  B + "manipulator"&~& +4 "core" &L h i U +2 .tElbow.seek 3 + "manipulator"&(D +3 "core" ( +2 "manipulator"&& +3 "core" &L t p G +2 "storage"(& +3 "core" &\ \  , +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&o'y +24 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +60 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&I& + "storage"(('N +7 "core" &L f a K + "manipulator"& % +4 "core" % s e k I +2 .tForearm.seek :retract + "manipulator"&e'\ +95 "core" ' +2 .tElbow.seek PC + "manipulator"&^(c +160 "core" ' + ."downElevator"SE.stop + "storage"(5 +85 "core" ( + "manipulator"&!& +4 "core" &m +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &G& +2 "core" &m  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&g'[ +92 "core" ' +2 "manipulator"&f& +4 "core" &m Z +2 "manipulator"&T% +3 "core" %`   +2 "processing"%& +4 "core" &K +2 "processing"%Y& +4 "core" &N +2 .tPC.seek :closed +2 "processing"%C(Z +4 "core" &I  +10 &6O )w +9 &kS = +9 &wvO H +10 &=iT F +9 &kN G +9 &jN G +10 &!jJ G +9 &#Cj; G +10 &%h< G +9 &&nD G +9 &(i= G +10 &*MkE F +9 &, k@ G +9 &-j@ G +10 &/oF G +9 &1TjA G +9 &3k@ F +10 &4k? G +9 &6i? G +10 &8]j? F +9 &:kC G +9 &;jF G +10 &=mA G +9 &?cmB G +9 &A%k@ G +10 &Bj@ G +9 &Dl> G +10 &Fjo= G +9 &H(v> I +9 &I; J +10 &KA K +9 &MbC M +10 &O#< M +9 &P3 M +9 &R: M +10 &Tj8 M +9 &V*: N +9 &W9 M +10 &Y@ 6 +9 &Z-8 ^ +9 &Z@ ' +3 ( +2 "processing"%Y& +2 #tProcessing Clamp onSpring/offSpring for 8/25 samples, on/off torque 1.50 +2 .Hand.open + "manipulator"&"1 +55 "core" 1 + "manipulator"&|% +5 "core" % `  '  + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"& '\ +92 "core" ' +2 "processing"%D& +4 "core" &Z7 ' + #tImaging generic puck in Processing Clamp while storing it to tube 3 +2 "manipulator"&3% +3 "core" %\ 3  %w +2 "storage"()% +4 "core" %M # \ + "storage"(@. +3 "core" .( +2 "storage"( & +3 "core" & U +2 "storage"(.& +4 "manipulator"&k& +4 "core" & & +2 &m  +2 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +2 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +3 "storage"(#]kK-0-\ b +2 "manipulator"&(c +6 ."raiseStack"SE.seek :beamBreak +2 "storage"('e +2 "core" ( + "manipulator"&7& +4 "core" &m +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &A& +3 "core" &m  +2 .tForearm.seek PC +2 "manipulator"&2'[ +95 "core" ' +2 .tHand.close + "manipulator"&R/ +63 "core" / +2 .tPC.seek :open +52 "processing"%d(p +36 "core" ' +2 "storage"(- +3 "core" -'e +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(-'B +31 "core" ' +312 ( + "storage"(;& +5 "core" &\ \ \  + "manipulator"&,& +4 "core" &m  + "manipulator"&% +4 "core" % h   +2 .tForearm.seek :retract +2 "manipulator"&1'\ +99 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&H(D +254 "core" ( +2 "manipulator"&& +4 "core" &= $ + "storage"(U& +4 "core" & +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&<' +108 "core" ' +2 .tHand.open + "manipulator"&1 +53 "core" 1 +2 "storage"(\ - +4 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate +2 "storage"(J' +23 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(O' +51 "core" ' +2 #tLights, camera, ACTION! + "storage"(\\- +4 "core" -' + "storage"(b& +4 "core" & ~ ~ + "manipulator"&B& +4 "core" &= h g $ +2 .tElbow.seek 3 +2 "manipulator"&(D +3 "core" ( + "manipulator"&& +4 "core" &= o u $ + "storage"(z& +4 "core" & } } +3 .tForearm.seek 3 + 450 counts + "manipulator"&8' +19 "core" ' +3 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.11 Pucks below Top Plate + "storage"(u'M +59 "core" ' + "manipulator"&Q& +5 "core" &=  $ + "storage"(v& +4 "core" &  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 + "manipulator"&`'M +31 "core" ' + .tElbow.hold +2 "manipulator"&>, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"(&'7 +25 "core" ' + "manipulator"&N% +4 "core" %Y z W +2 "storage"(_& +4 "core" &  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 312 counts +2 "manipulator"&M'υ +17 "core" ' + "manipulator"&=& +4 "core" &] u ^ h +2 "storage"([& +4 "core" &\ \ \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&:' +19 "core" ' + "storage"(P% +5 "core" %<\ 1  +2 ."downElevator"SE.seek :down +4 "storage"('N +98 (V% +2 "core" %/H M> +2 "manipulator"&w% +5 "core" % o n + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&9'\ +90 "core" ' +62 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (X& +4 "core" & ^ + "collection"'S& +4 "core" &]EG = + #tStoring generic puck in Collection Clamp to tube 3 +2 "manipulator"&r% +3 "core" %\ 0  $o +2 "storage"(F% +4 "core" %G + "storage"(. +3 "core" .( + "storage"(}& +4 "core" & +2 "storage"(& +3 "core" & +2 "manipulator"&t& +4 "core" &]  h + .tElbow.seek 3 +2 "manipulator"&*(D +33 "core" ( + "manipulator"&& +5 "core" &I T B + "storage"(& +4 "core" & +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&s' +94 "core" ' + "storage"(#& +4 "core" &\ \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('e +282 "core" ' + "storage"(h- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&x& +3 "core" &I ` _  B +2 "storage"(p& +3 "core" & & +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&%'M +31 "core" ' + .tElbow.hold +2 "manipulator"&K, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(- +2 "core" -' +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(?'m +27 "core" ' + "manipulator"&0% +5 "core" %Tt g ) + "storage"(c& +4 "core" & ; + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 307 counts +2 "manipulator"&'π +16 "core" ' + "manipulator"& & +4 "core" &I s X 1 B +2 "storage"(5& +4 "core" &\ \ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&+' +18 "core" ' +2 .tSE.seek 1.11 Pucks below Top Plate +2 "storage"('\\ +49 "core" ' + "manipulator"&& +4 "core" &I e ` B +2 "manipulator"&a% +4 "core" % ` c L  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&l'\ +95 "core" ' +2 .tElbow.seek CC +2 "manipulator"&'( +157 "core" ( +2 "manipulator"&]& +4 "core" & L 7 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &{& +3 "core" &  7 +2 .tForearm.seek CC + "manipulator"&W'| +95 "core" ' + .tHand.close +2 "manipulator"&/ +53 "core" / +2 .tCC.seek :open + "collection"'$(p +409 "core" ( +2 "storage"(q& +4 "core" & \  a + "storage"(L& +4 "core" &\ k + "manipulator"&i& +4 "core" &  7 + "manipulator"&n% +4 "core" % ώ   +2 .tForearm.seek :retract +2 "manipulator"&'\ +96 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&E(D +175 "core" ( + "manipulator"&4& +4 "core" &D\ o ] +2 "storage"( & +3 "core" &\ \ O +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 + "manipulator"&~'M +111 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&1 +53 "core" 1 +3 "manipulator"&% +4 "core" % `}  1 H + "storage"(I& +4 "core" & +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 3 + 319 counts +2 "manipulator"& 'ό +16 "core" ' + "manipulator"&/& +4 "core" &r t ] / +2 "storage"(y& +4 "core" &\ \  B +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&j' +23 "core" ' + "storage"(o% +5 "core" %\\\ \  +2 ."downElevator"SE.seek :down +3 "storage"(!'N +99 (G% +3 "core" %D\ \ ^ N> + "manipulator"&% +4 "core" % l j O +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&f'\ +90 "core" ' +46 ' +2 ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 4 of [3..4] + #Loading generic puck from tube 4 into Collection Clamp +2 "collection"'T& +4 "core" &0 + "manipulator"&% +5 "core" %\ 1  $r + "storage"((% +4 "core" %8\ \ \ \ +2 "storage"(e. +3 "core" .( + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"(6(, +363 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 ("& +3 "core" &, s  + "manipulator"&|& +4 "core" &r  / +2 .tElbow.seek 4 + "manipulator"&D(* +37 "core" ( +2 "manipulator"&3& +4 "core" &)  Q + "storage"()& +4 "core" &,\ \ \ W  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&@' +100 "core" ' + "storage"( & +5 "core" &,\ \   + .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(k'e +324 "core" ' +2 "storage"(.- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (Y& +3 "core" &,\ \ /  + "manipulator"&7& +4 "core" &)  Q +2 .tElbow.seek 4 +2 "manipulator"&A(* +3 "core" ( + "manipulator"&g& +4 "core" &)  Q + "storage"(R& +4 "core" &,\ \ \  +3 .tForearm.seek 4 + 300 counts + "manipulator"&'Z +10 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&^/ +54 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"& & + "storage"(C'N +9 "core" &) q  Q +4 "manipulator"&% +9 "core" % c  D +4 .tForearm.seek :retract +2 "manipulator"&;'\ +94 "core" ' + .tElbow.seek CC +2 "manipulator"&,( +137 "core" ' + ."downElevator"SE.stop + "storage"(5 +19 "core" ( + "manipulator"&& +4 "core" &&  =E +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &2& +3 "core" &&  =E +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&'| +97 "core" ' + "manipulator"&U& +5 "core" && =D + "manipulator"&% +4 "core" %z  +2 "collection"'& +4 "core" &\\ +2 "collection"'\ & +5 "core" &C +2 .tCC.seek :closed + "collection"'\\(] +5 "core" &7  +8 &7E *x +9 &j? = +10 &}yC G +9 &?kB G +9 &nC G +10 &n2 G +9 &!k5 G +9 &#Fm/ H +10 &%\ k5 G +9 &&k0 H +9 &(l/ G +10 &*Ok0 G +9 &,k1 G +10 &-k/ G +9 &/n0 G +9 &1Vl7 H +10 &3l0 G +9 &4g1 G +10 &6k1 G +9 &8^k0 H +9 &:"k1 G +10 &;j2 G +9 &=k. G +9 &?fj3 H +10 &A)k0 G +9 &Bo2 G +9 &Dj0 G +10 &Fol4 G +9 &H/n- H +10 &I1 J +9 &K1 L +9 &M^1 P +10 &O3 Q +9 &P3 Q +9 &R0 Q +10 &Ta0 R +9 &V 2 S +10 &W/ S +9 &Y0 T +9 &[Q,{{0 Z +10 &]|wz- (| +9 &] uv0 T +9 ( +2 &]bvx1 C + "collection"'\ & +3 #tCollection Clamp onSpring/offSpring for 8/26 samples, on/off torque 1.85 +2 .Hand.open + "manipulator"&b1 +59 "core" 1 +2 "manipulator"&B% +5 "core" % z n  + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +92 "core" ' + #tLoading generic puck from tube 4 into Processing Clamp +2 "processing"%z& +4 "core" &M + "manipulator"&1% +4 "core" %\ 5  & +2 "storage"(Q% +3 "core" %I +2 "storage"(v. +3 "core" .(,~ +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"(-(, +3 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (N& +3 "core" &,   +2 "manipulator"&_& +3 "core" &"  :0 +2 "manipulator"&J% +3 "core" %\ 4  & +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&=(* +167 "core" ( + "manipulator"&[& +4 "core" &%   +2 "storage"(P& +4 "core" &,  + .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&H' +98 "core" ' + "storage"(<& +5 "core" &,  + .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(O'e +282 "core" ' +2 "storage"(V- +3 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (w& +3 "core" &,  + "manipulator"&8& +4 "core" &%   +2 .tElbow.seek 4 + "manipulator"&(* +3 "core" ( +2 "manipulator"&u& +3 "core" &% B  +2 "storage"(`& +3 "core" &,  +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&M'Z +10 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&X/ +58 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&S& + "storage"(r'N +8 "core" &% ^ c r  + "manipulator"&F% +4 "core" % W | w > +2 .tForearm.seek :retract + "manipulator"&'\ +99 "core" ' +2 .tElbow.seek PC + "manipulator"&}(c +156 "core" ' + ."downElevator"SE.stop + "storage"(5 +92 "core" ( + "manipulator"&&& +4 "core" &k  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &k A +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&t'[ +110 "core" ' + "manipulator"&& +4 "core" &k e s 1 +2 "manipulator"&% +4 "core" %T l o + "processing"%:& +4 "core" &I +2 "processing"%#& +5 "core" &J +2 .tPC.seek :closed +2 "processing"%(Z +4 "core" &J  +9 &7H )w +9 &mL > +10 &xT H +9 &NjH F +9 &kN G +10 &jN F +9 &!mT G +10 &#VjM F +9 &%jD G +9 &&nK G +10 &(hE G +9 &*]h= G +9 &,j; G +10 &-j@ G +9 &/o= G +10 &1fj; F +9 &3'k: G +9 &4n; G +10 &6m= G +9 &8mj@ G +9 &:0k> F +10 &;k< G +9 &=n= G +9 &?um< G +10 &A6p= G +9 &Bl< G +10 &Dp< G +9 &F|p= G +9 &H;z< H +10 &I; J +9 &K< K +10 &Mu< L +9 &O6< M +9 &P< M +10 &R< M +9 &T|< M +9 &V>A M +10 &X; M +9 &Y3 / +10 &Z0{< M +9 &Z!< + +2 ( +2 "processing"%#& +8 #tProcessing Clamp onSpring/offSpring for 8/25 samples, on/off torque 1.48 + .Hand.open +2 "manipulator"&>1 +62 "core" 1 + "manipulator"&9% +5 "core" % Z s W  + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&h'\ +95 "core" ' +2 "processing"%x& +4 "core" &Z!2 + +2 #tImaging generic puck in Processing Clamp while storing it to tube 4 + "manipulator"&p% +3 "core" %\ 8 ' +2 "storage"(% +3 "core" %S 8  +2 "storage"(0. +3 "core" .(, + "storage"(c& +4 "core" &, >  +2 "storage"( & +4 "manipulator"&5& +4 "core" &, 6  + &k : +3 ."raiseStack"SE.reconfigure :place +2 .tElbow.reconfigure :tight +5 "storage"(#]kK-0-\ b +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +2 ."raiseStack"SE.seek :beamBreak +2 "manipulator"&(c +2 "storage"(a'e +5 "core" ( +2 "manipulator"&s& +3 "core" &k z +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &*& +2 "core" &k a +3 .tForearm.seek PC + "manipulator"&'[ +95 "core" ' +2 .tHand.close + "manipulator"&%/ +60 "core" / +2 .tPC.seek :open +2 "processing"%(p +97 "core" ' + "storage"(?- +4 "core" -'e + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +2 ."raiseStack"SE.seek :place +2 "storage"(]'B +40 "core" ' +240 ( + "storage"({& +4 "core" &, g  +2 "manipulator"&+& +3 "core" &k  +2 "manipulator"&K% +4 "core" % o  + .tForearm.seek :retract +2 "manipulator"&'\ +99 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&l(* +254 "core" ( + "manipulator"&m& +4 "core" &0 R "~ +2 "storage"(q& +3 "core" &, B  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&L' +103 "core" ' + .tHand.open +2 "manipulator"&i1 +62 "core" 1 +2 "storage"(n- +4 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate +2 "storage"(4' +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.83 Pucks below Top Plate + "storage"( ' +53 "core" ' +2 #tLights, camera, ACTION! + "storage"(W- +3 "core" -' +2 "storage"('& +3 "core" &, g a #  +2 "manipulator"&& +4 "core" &0 m "~ + .tElbow.seek 4 +2 "manipulator"&(* +3 "core" ( +2 "manipulator"&I& +3 "core" &0 "~ +2 "storage"(/& +4 "core" &, d e &  +2 .tForearm.seek 4 + 450 counts + "manipulator"&y' +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.11 Pucks below Top Plate + "storage"(o'M +60 "core" ' +2 "manipulator"&& +4 "core" &0  "~ +2 "storage"(G& +3 "core" &,  +2 .tElbow.reconfigure :limp +53 "manipulator"&$ ,(b +4 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&'. +31 "core" ' +2 .tElbow.hold +2 "manipulator"&E, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"(~'7 +22 "core" ' +2 "manipulator"&T% +4 "core" %@p 0  +2 "storage"(& +4 "core" &, &  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 318 counts +2 "manipulator"& 'l +17 "core" ' + "manipulator"&(& +4 "core" &' p u $ +2 "storage"(e& +4 "core" &,  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&' +11 "core" ' + "storage"(j% +5 "core" %9 X +2 ."downElevator"SE.seek :down +3 "storage"(!'N +99 (Z% +3 "core" %~C  N@ +2 "manipulator"&"% +4 "core" % m m @ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&|'\ +90 "core" ' +62 ' + ."downElevator"SE.stop + "storage"(5 +3 (3& +4 "core" &,   + "collection"')& +4 "core" &]cyz6 C +2 #tStoring generic puck in Collection Clamp to tube 4 + "manipulator"& % +4 "core" %\ :  ( +2 "storage"(% +4 "core" %I  + "storage"(f. +3 "core" .(, + "storage"(.& +4 "core" &,   +2 "storage"(Y& +3 "core" &,   +2 "manipulator"&7& +4 "core" &' 9 $ + .tElbow.seek 4 +2 "manipulator"&g(* +3 "core" ( + "manipulator"&R& +4 "core" &' o $ +2 "storage"(^& +3 "core" &,  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"& ' +102 "core" ' + "storage"(& +4 "core" &,  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(D'e +276 "core" ' +2 "storage"(@- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +2 "manipulator"&& +3 "core" &' $ +2 "storage"(2& +3 "core" &,  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&k'. +27 "core" ' + .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(U- +3 "core" -' +2 .tSE.seek 0.12 Pucks below Top Plate +2 "storage"('o +29 "core" ' + "manipulator"&% +4 "core" %B X + "storage"(A& +4 "core" &,  + .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 4 + 320 counts + "manipulator"&C'n +18 "core" ' + "manipulator"&;& +4 "core" &% u a O $ +2 "storage"($& +3 "core" &,  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&b' +10 "core" ' +2 .tSE.seek 1.12 Pucks below Top Plate +2 "storage"(B'^ +44 "core" ' +2 "manipulator"&z& +4 "core" &% m o  $ +2 "manipulator"&1% +4 "core" % o n ; +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&Q'\ +92 "core" ' +2 .tElbow.seek CC + "manipulator"&v( +158 "core" ( + "manipulator"&\ & +4 "core" && \\ =F +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &N& +3 "core" && =E +2 .tForearm.seek CC + "manipulator"&_'| +98 "core" ' +2 .tHand.close + "manipulator"&J/ +63 "core" / +2 .tCC.seek :open + "collection"'(p +266 "Can"\ QO +143 "core" ( +2 "storage"([& +4 "core" &,\   + "storage"(P& +4 "core" &,\ \ \ n  + "manipulator"&6& +4 "core" &$  ;8 + "manipulator"&<% +4 "core" % y +2 .tForearm.seek :retract + "manipulator"&,'\ +98 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&(* +153 "core" ( +2 "manipulator"&V& +4 "core" &' = + "storage"(w& +4 "core" &,\ \ v  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 4 +2 "manipulator"&8'. +112 "core" ' +2 .tElbow.hold +2 "manipulator"&u, +3 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&`1 +59 "core" 1 +2 "manipulator"&X% +4 "core" % A f c + "storage"(S& +4 "core" &,  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 319 counts + "manipulator"&F'm +16 "core" ' +2 "manipulator"&=& +4 "core" &  s X 6 + "storage"(H& +4 "core" &,\ \  =  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&O' +20 "core" ' +2 "storage"(M% +4 "core" %\\\ \  +2 ."downElevator"SE.seek :down +4 "storage"(&'N +98 (% +3 "core" %?\ \ \ M= +2 "manipulator"&% +3 "core" % j d " +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +95 "core" ' +43 ' + ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 3 of [3..4] + #Loading generic puck from tube 3 into Collection Clamp +2 "collection"'& +4 "core" &W + "manipulator"&:% +4 "core" %\ :  ( +2 "storage"(r% +4 "core" %; \ D + "storage"(. +3 "core" .(, +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 + "storage"(d( +369 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (>& +2 "core" &  +2 "manipulator"&9& +4 "core" &   + .tElbow.seek 3 +2 "manipulator"&x(D +21 "core" ( + "manipulator"&p& +5 "core" &C Z o + "storage"(& +4 "core" &\ \ / +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&0' +101 "core" ' +2 "storage"(c& +4 "core" &\ \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(#'e +282 "core" ' + "storage"(5- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 ( & +2 "core" &\ \  6 +2 "manipulator"&s& +4 "core" &C  o + .tElbow.seek 3 +2 "manipulator"&*(D +3 "core" ( +2 "manipulator"&t& +3 "core" &C ~  o +2 "storage"(%& +4 "core" &\ \ K +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&?'y +10 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&}/ +56 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&h& +2 "storage"('N +7 "core" &C  o + "manipulator"&{% +4 "core" % ς E +2 .tForearm.seek :retract +2 "manipulator"&+'\ +94 "core" ' + .tElbow.seek CC +2 "manipulator"&K( +146 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +3 "core" ( + "manipulator"&a& +5 "core" & 8" + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &  8" +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&m'| +101 "core" ' +2 "manipulator"&q& +4 "core" & ( 8" +2 "manipulator"&% +3 "core" %ς +2 "collection"'i& +4 "core" &H +2 "collection"'n& +5 "core" &G +2 .tCC.seek :closed +2 "collection"'W(] +4 "core" &H +7 &AD $f +9 &}]F 7 +9 &F H +10 &hF G +9 &vkH G +9 &6mD H +10 & lG G +9 &"h@ G +10 &$|kB H +9 &&?k9 G +9 &(l4 H +10 &)k4 G +9 &+l2 G +9 &-Gk/ G +10 &/l2 H +9 &0k0 G +9 &2i/ G +10 &4Pn2 G +9 &6j4 G +10 &7k0 G +9 &9k2 G +9 &;Xj; G +10 &=k= G +9 &>j7 G +9 &@h= G +10 &B_m= G +58 &D!l< G +9 &El2 H + &Gk0 G + &Idt: H + &K#< I &L9 M + &N< P +4 &PU: P +9 &R0 Q +10 &S7 Q +9 &U3 R +9 &WV4 S +10 &Y0 S +9 &Z0 T +9 &\\1 > +10 &]]#8 ; +9 &]x~~2 E +6 ( + "collection"'n& +4 #tCollection Clamp onSpring/offSpring for 10/25 samples, on/off torque 1.81 +2 .Hand.open + "manipulator"&'1 +4 "core" &]k}2 E +53 1 +2 "manipulator"&% +4 "core" % | X +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&I'\ +97 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%/& +5 "core" &O + "manipulator"&% +4 "core" %\ ? * + "storage"(% +4 "core" %7  +2 "storage"(G. +3 "core" .( + "storage"(]& +4 "core" & + +2 "storage"(4& +3 "core" & B +2 "manipulator"&T& +4 "core" &  7 + "manipulator"&% +4 "core" %\ ?  * +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&((D +172 "core" ( + "manipulator"&e& +4 "core" &8 R m +2 "storage"(l& +3 "core" &  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&j' +106 "core" ' + "storage"(L& +4 "core" & ? +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"( 'e +280 "core" ' +2 "storage"(Z- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 ("& +2 "core" & +2 "manipulator"&y& +3 "core" &9 n p l +2 .tElbow.seek 3 +2 "manipulator"&(D +19 "core" ( + "manipulator"&o& +5 "core" &W ] u Q + "storage"(& +4 "core" & w +2 .tForearm.seek 3 + 300 counts + "manipulator"&3'y +18 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"& / +64 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&)& +2 "storage"( 'N +7 "core" &W b n m Q + "manipulator"&% +4 "core" % m l c y +2 .tForearm.seek :retract +2 "manipulator"&f'\ +95 "core" ' +2 .tElbow.seek PC +2 "manipulator"&~(c +155 "core" ' + ."downElevator"SE.stop + "storage"(5 +94 "core" ( + "manipulator"&.& +4 "core" &f $ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &Y& +2 "core" &f C +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&7'[ +105 "core" ' + "manipulator"&R& +5 "core" &f f n + "manipulator"&^% +4 "core" %P m b K z +2 "processing"%& +3 "core" &W +3 "processing"%& +4 "core" &V +2 .tPC.seek :closed +2 "processing"%!(Z +4 "core" &R  +9 &7[ *x +9 &kO = +10 &wQ H +9 &EhX F +10 &k[ G +9 &iL G +9 &!kS G +10 &#MhN F +9 &% iK G +9 &&jJ G +10 &(h? F +9 &*SiE G +10 &,jU G +9 &-iA G +9 &/k= F +10 &1[j= G +9 &3jG G +9 &4hC G +10 &6j@ G +9 &8djI G +9 &:%kJ G +10 &;iL G +9 &=jI G +10 &?lkI G +9 &A.kI G +9 &BiI G +10 &Dj= G +9 &Frm< G +10 &H1uI H +9 &IG J +9 &K? L +10 &MkJ M +9 &O-? M +9 &PC M +10 &RG M +9 &Tr< M +10 &V3E M +9 &WC M +9 &Y? 5 +10 &Z.B _ +9 &ZA ' +2 ( +2 "processing"%& +3 #tProcessing Clamp onSpring/offSpring for 8/25 samples, on/off torque 1.51 +2 .Hand.open + "manipulator"&E1 +61 "core" 1 + "manipulator"&|% +4 "core" % R s ^ q x +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&@'\ +94 "core" ' + "processing"%& +4 "core" &Z3 ' +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&2% +4 "core" %\ 4  & +2 "storage"(U% +3 "core" %J  +2 "storage"(. +3 "core" .( + "storage"(A& +4 "core" & +2 "storage"(;& +2 "manipulator"&$& +6 "core" &  + &f H +3 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +4 "storage"(#]kK-0-\ b +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +2 ."raiseStack"SE.seek :beamBreak +3 "manipulator"&z(c +2 "storage"(1'e +5 "core" ( +2 "manipulator"& & +3 "core" &f  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &g& +3 "core" &f  +2 .tForearm.seek PC +2 "manipulator"&D'[ +95 "core" ' +2 .tHand.close + "manipulator"&k/ +60 "core" / +2 .tPC.seek :open + "processing"%C(p +90 "core" ' +2 "storage"(- +3 "core" -'e +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(\ 'B +41 "core" ' +246 ( + "storage"(N& +4 "core" & 8 +2 "manipulator"&b& +3 "core" &f  +2 "manipulator"&% +3 "core" % a   +2 .tForearm.seek :retract +2 "manipulator"&J'\ +96 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&Q(D +255 "core" ( + "manipulator"&\\& +4 "core" &D  # +2 "storage"([& +3 "core" & A +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&P' +101 "core" ' + .tHand.open +2 "manipulator"&61 +55 "core" 1 +2 "storage"(<- +3 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate +2 "storage"(V' +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(w' +54 "core" ' + #tLights, camera, ACTION! +2 "storage"(_- +3 "core" -' +2 "storage"(v& +4 "core" & a c + "manipulator"&`& +4 "core" &E  # + .tElbow.seek 3 +2 "manipulator"&X(D +3 "core" ( +2 "manipulator"&S& +3 "core" &E C # +2 "storage"(=& +4 "core" & e e +2 .tForearm.seek 3 + 450 counts + "manipulator"&H' +17 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.11 Pucks below Top Plate + "storage"(M'M +61 "core" ' +2 "manipulator"&,& +4 "core" &E n o # +2 "storage"(& +4 "core" &  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&'M +32 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"(8'7 +23 "core" ' + "manipulator"&% +5 "core" %Y} I F +2 "storage"(:& +4 "core" & h + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 312 counts +2 "manipulator"&F'υ +25 "core" ' +2 "manipulator"&r& +4 "core" &h\ t ] _ +2 "storage"(& +3 "core" & b +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&B' +18 "core" ' + "storage"(O% +5 "core" %= n +2 ."downElevator"SE.seek :down +3 "storage"(&'N +99 (-% +3 "core" %D  OA + "manipulator"&>% +4 "core" % c j i > +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&9'\ +93 "core" ' +60 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (p& +4 "core" & +2 "collection"'& +4 "core" &]j~3 E + #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&c% +5 "core" %\ < B ) + "storage"(u% +4 "core" %P _  + "storage"(. +3 "core" .( +2 "storage"(5& +3 "core" & i +2 "storage"( & +4 "core" & + "manipulator"&s& +4 "core" &h\ t _ + .tElbow.seek 3 +2 "manipulator"&t(D +28 "core" ( + "manipulator"&%& +4 "core" &B A ` +2 "storage"(}& +3 "core" & a +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&h' +99 "core" ' +3 "storage"({& +4 "core" & ~ +51 .tSE.reconfigure :pick +4 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(x'e +284 "core" ' +2 "storage"(0- +3 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&a& +3 "core" &B a f + ` +2 "storage"(& +3 "core" & +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&#'M +30 "core" ' + .tElbow.hold +2 "manipulator"&?, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(q- +2 "core" -' +2 .tSE.seek 0.12 Pucks below Top Plate +2 "storage"('o +27 "core" ' + "manipulator"&i% +5 "core" %Up _  + "storage"(*& +4 "core" &  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 308 counts + "manipulator"&'ρ +18 "core" ' +2 "manipulator"&+& +4 "core" &S X s  O +2 "storage"(& +4 "core" & r +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&'' +22 "core" ' +2 .tSE.seek 1.12 Pucks below Top Plate +2 "storage"('^ +49 "core" ' + "manipulator"&/& +5 "core" &S _ _ O + "manipulator"&% +4 "core" % b m [  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +95 "core" ' + .tElbow.seek CC +2 "manipulator"&G( +151 "core" ( +2 "manipulator"&]& +4 "core" &   + + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &n& +2 "core" &   + +2 .tForearm.seek CC +2 "manipulator"&4'| +95 "core" ' + .tHand.close + "manipulator"&T/ +63 "core" / +2 .tCC.seek :open +2 "collection"'(p +409 "core" ( + "storage"(m& +4 "core" &\ \ e +2 "storage"(e& +3 "core" &\ \ +2 "manipulator"&l& +3 "core" &  S + +2 "manipulator"&L% +3 "core" % j  +2 .tForearm.seek :retract +2 "manipulator"&K'\ +99 "core" ' +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&I(D +169 "core" ( +2 "manipulator"&Z& +4 "core" &A N h + "storage"("& +4 "core" &\ \ \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 + "manipulator"&y'M +113 "core" ' + .tElbow.hold +2 "manipulator"&o, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&1 +53 "core" 1 +2 "manipulator"& % +4 "core" % [q / L # + "storage"()& +4 "core" & 1 +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 314 counts + "manipulator"&'χ +18 "core" ' + "manipulator"&(& +4 "core" &w [ t l 2 +2 "storage"(j& +3 "core" &\ \  1 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"& ' +18 "core" ' +2 "storage"(3% +4 "core" %\\\ \  ^ +2 ."downElevator"SE.seek :down +3 "storage"(.'N +99 (Y% +8 "core" %@\ \ N> + "manipulator"&% +5 "core" % b ` 4  +2 .tForearm.reconfigure :loose +7 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&R'\ +94 "core" ' +33 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 4 of [3..4] +2 #Loading generic puck from tube 4 into Collection Clamp + "collection"'^& +4 "core" &7 +2 "manipulator"&% +3 "core" %\ 9  ( +2 "storage"( % +4 "core" %:\ \ w + "storage"(f. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 + "storage"((, +364 "core" ( +3 .tSC.configure :limp +2 "storage"($\ 1b +2 (E& +3 "core" &, ,  + "manipulator"&|& +4 "core" &w  2 +2 .tElbow.seek 4 +2 "manipulator"&(* +40 "core" ( + "manipulator"&2& +4 "core" &+ G P +2 "storage"(U& +4 "core" &,\ \ x  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&' +97 "core" ' + "storage"(A& +4 "core" &,\ \  ?  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"($'e +276 "core" ' + "storage"(;- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +2 "core" &,\ \ \ [  +2 "manipulator"& & +3 "core" &+  P +2 .tElbow.seek 4 +2 "manipulator"&g(* +3 "core" ( + "manipulator"&7& +4 "core" &+ 4 P + "storage"(k& +4 "core" &,\ \ \  +3 .tForearm.seek 4 + 300 counts + "manipulator"&'Z +24 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&~/ +54 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&@& + "storage"(!'N +7 "core" &+ b k P + "manipulator"&N% +4 "core" % ] o p +2 .tForearm.seek :retract +2 "manipulator"&b'\ +93 "core" ' +2 .tElbow.seek CC + "manipulator"&( +153 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +3 "core" ( +2 "manipulator"&1& +3 "core" &" I :* +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &D& +3 "core" &"  :* +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&\\'| +106 "core" ' + "manipulator"&[& +5 "core" &"  :* +2 "manipulator"&z% +4 "core" %v  + "collection"'6& +5 "core" &_ +2 "collection"'<& +5 "core" &G + .tCC.seek :closed +2 "collection"'_(] +4 "core" &I +7 &BL $d +10 &z\\K 6 +9 &H H +10 &kG G +9 &llG G +9 &,mK H +10 & mG G +9 &"pG G +9 &$smF G +10 &&5nG G +9 &'nF G +10 &)nG G +9 &+|m: G +9 &-?k< G +10 &/l3 G +9 &0m5 H +9 &2k4 G +10 &4Em; G +9 &6k6 G +10 &7n5 G +9 &9j5 G +9 &;Nj3 G +10 &=l3 G +9 &>k1 G +9 &@k< G +10 &BTl< H +9 &Dk: G +10 &Ek3 G +9 &Gm= H +9 &IZv8 I +10 &K6 L +9 &L4 O +9 &N/ P +10 &PJ/ Q +9 &R ; Q +9 &S3 R +10 &U3 S +9 &WM5 R +10 &Y 0 T +9 &Z|3 T +9 &\\z{3 B +10 &]p&yy3 (t +9 &]Wxy0 A +2 ( +2 "collection"'<& +3 #tCollection Clamp onSpring/offSpring for 10/25 samples, on/off torque 1.85 +2 .Hand.open + "manipulator"&v1 +61 "core" 1 +2 "manipulator"&`% +4 "core" % q ) +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&S'\ +108 "core" ' +2 #tLoading generic puck from tube 4 into Processing Clamp + "processing"%=& +4 "core" &X +2 "manipulator"&J% +3 "core" %\   +2 "storage"(,% +4 "core" %H + "storage"(. +3 "core" .(, +2 "storage"(\ & +3 "core" &,  +2 "storage"(& +3 "core" &, I  +2 "manipulator"&:& +3 "core" & 8! +2 "manipulator"&V% +3 "core" %\  {  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 + "manipulator"&r(* +158 "core" ( + "manipulator"&& +5 "core" & ] t : + "storage"(O& +4 "core" &,\ \   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&Q' +100 "core" ' + "storage"(P& +4 "core" &,\ \ \   +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(w'e +290 "core" ' + "storage"(-- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (>& +3 "core" &, Y  + "manipulator"&H& +4 "core" & ` _  + .tElbow.seek 4 +2 "manipulator"&X(* +16 "core" ( + "manipulator"&M& +4 "core" &! z 2 ; +2 "storage"(& +3 "core" &, u  +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&p'Z +20 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&F/ +56 "core" / +3 ."downElevator"SE.seek :down +52 "manipulator"&& +3 "storage"(c'N +9 "core" &! c j ; + "manipulator"&u% +4 "core" % N k n +2 .tForearm.seek :retract +2 "manipulator"&'\ +94 "core" ' +2 .tElbow.seek PC +2 "manipulator"&8(c +155 "core" ' + ."downElevator"SE.stop + "storage"(5 +97 "core" ( +2 "manipulator"&5& +4 "core" &i = +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 & & +3 "core" &i ) +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&s'[ +93 "core" ' +2 "manipulator"&%& +4 "core" &i J + "manipulator"&}% +4 "core" %W +2 "processing"%B& +4 "core" &W +2 "processing"%{& +5 "core" &W +2 .tPC.seek :closed + "processing"%&(Z +4 "core" &\\  +9 &6W )w +10 &jU = +9 &|w[ H +9 &Ai[ G +10 &nR G +9 &i[ G +9 &!hP G +10 &#IiR G +9 &%\ kS G +10 &&jZ G +9 &(kV G +9 &*QhZ G +10 &,mZ G +9 &-jZ G +9 &/jN G +10 &1XhY G +9 &3kN G +10 &4hT G +9 &6jL G +9 &8`nC G +10 &:$iK F +9 &;jO G +9 &=mL G +10 &?ikM G +9 &A*i@ G +10 &BjK G +9 &DjL G +9 &FonM G +10 &H/uJ H +9 &IG J +9 &KK K +10 &MhM M +9 &O+K L +10 &PH M +9 &RK M +9 &To? M +10 &V1K M +9 &WK N +9 &YK 4 +10 &Z9N G +9 &ZK $ +2 ( +2 "processing"%{& +3 #tProcessing Clamp onSpring/offSpring for 8/26 samples, on/off torque 1.49 +2 .Hand.open + "manipulator"&1 +55 "core" 1 + "manipulator"&9% +4 "core" % W |  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&0'\ +95 "core" ' +2 "processing"%a& +4 "core" &Z9 $ + #tImaging generic puck in Processing Clamp while storing it to tube 4 +2 "manipulator"&% +3 "core" %\ 7  ' +2 "storage"(q% +4 "core" %C \\ + "storage"(i. +3 "core" .(, +2 "storage"(*& +3 "core" &,   +2 "storage"(+& +5 "manipulator"&& +4 "core" &,  + &i  +3 ."raiseStack"SE.reconfigure :place + .tElbow.reconfigure :tight +5 "storage"(#]kK-0-\ b +4 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +2 ."raiseStack"SE.seek :beamBreak +2 "manipulator"&/(c +2 "storage"('e +5 "core" ( + "manipulator"&h& +4 "core" &i  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &t& +3 "core" &i a +2 .tForearm.seek PC + "manipulator"&x'[ +95 "core" ' +2 .tHand.close + "manipulator"&#/ +60 "core" / + .tPC.seek :open +2 "processing"%(p +87 "core" ' + "storage"(- +4 "core" -'e +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(]'B +34 "core" ' +256 ( + "storage"(n& +4 "core" &,  +2 "manipulator"&'& +3 "core" &i  +2 "manipulator"&?% +4 "core" % d   + .tForearm.seek :retract +2 "manipulator"&T'\ +101 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&(* +257 "core" ( +2 "manipulator"&W& +4 "core" &4 3 % +2 "storage"(m& +3 "core" &,   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&e' +103 "core" ' +2 .tHand.open + "manipulator"&l1 +58 "core" 1 +2 "storage"(L- +4 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate + "storage"(Z' +23 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"("' +49 "core" ' +2 #tLights, camera, ACTION! + "storage"(4- +3 "core" -' +2 "storage"(G& +4 "core" &, ~ } _  + "manipulator"&& +4 "core" &4 % +2 .tElbow.seek 4 + "manipulator"& (* +4 "core" ( + "manipulator"&)& +4 "core" &4 @ % + "storage"((& +4 "core" &,  }  +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&j' +3 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.11 Pucks below Top Plate + "storage"(3'M +65 "core" ' +2 "manipulator"&K& +4 "core" &4 / % + "storage"(Y& +5 "core" &,  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&'. +28 "core" ' +2 .tElbow.hold +2 "manipulator"&I, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"(y'7 +30 "core" ' +2 "manipulator"&^% +4 "core" %B~ $ H +2 "storage"(& +4 "core" &,   +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 4 + 320 counts +2 "manipulator"&'n +16 "core" ' +2 "manipulator"& & +4 "core" &% \\ r x ' +2 "storage"(f& +4 "core" &, a  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&' +20 "core" ' + "storage"( % +4 "core" %@\  +3 ."downElevator"SE.seek :down +3 "storage"(.'N +99 (d% +2 "core" %D z N@ +2 "manipulator"&E% +4 "core" % c d @  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&|'\ +88 "core" ' +62 ' + ."downElevator"SE.stop + "storage"(5 +3 (2& +4 "core" &, a  + "collection"'U& +4 "core" &]Qz|1 A +2 #tStoring generic puck in Collection Clamp to tube 4 + "manipulator"&A% +4 "core" %\ + % !V +2 "storage"(o% +3 "core" %; +2 "storage"(R. +3 "core" .(, + "storage"(;& +4 "core" &,  + "storage"(& +5 "core" &,   + "manipulator"& & +4 "core" &% " ' + .tElbow.seek 4 +2 "manipulator"&7(* +3 "core" ( + "manipulator"&k& +4 "core" &%  ' +2 "storage"(~& +3 "core" &,  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&@' +93 "core" ' +2 "storage"(N& +4 "core" &, \   +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('e +290 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&1& +4 "core" &%  ' + "storage"(D& +4 "core" &, ;  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&$'. +31 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"([- +2 "core" -' +2 .tSE.seek 0.12 Pucks below Top Plate +2 "storage"(z'p +35 "core" ' +2 "manipulator"&g% +4 "core" %Aw o / + "storage"(6& +4 "core" &, P  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 4 + 319 counts +2 "manipulator"&!'m +11 "core" ' +2 "manipulator"&b& +4 "core" &% i [ V ' + "storage"(& +4 "core" &, m  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&v' +20 "core" ' +2 .tSE.seek 1.12 Pucks below Top Plate +2 "storage"(`'_ +47 "core" ' +2 "manipulator"&=& +4 "core" &% n n ? ' +2 "manipulator"&J% +4 "core" % m p C +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&,'\ +95 "core" ' +2 .tElbow.seek CC + "manipulator"&<( +161 "core" ( + "manipulator"&& +4 "core" &  K +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &\ & +3 "core" & D K +2 .tForearm.seek CC + "manipulator"&'| +99 "core" ' + .tHand.close +2 "manipulator"&:/ +61 "core" / +2 .tCC.seek :open +2 "collection"'V(p +409 "core" ( + "storage"(\\& +4 "core" &,\ \ s  + "storage"(& +54 "core" &,\ \ \   +2 "manipulator"&O& +4 "core" & F K + "manipulator"&P% +4 "core" % ώ + .tForearm.seek :retract +2 "manipulator"&'\ +99 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&S(* +169 "core" ( + "manipulator"&-& +4 "core" &8 > F +2 "storage"(>& +4 "core" &, \ 3  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 4 +2 "manipulator"&H'. +112 "core" ' + .tElbow.hold +2 "manipulator"&M, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&1 +55 "core" 1 +2 "manipulator"&F% +4 "core" % ?  i + "storage"(& +4 "core" &,  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 317 counts + "manipulator"&u'k +19 "core" ' +2 "manipulator"&r& +4 "core" &\ s \\ _ + "storage"(Q& +5 "core" &,\ \   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&w' +19 "core" ' +2 "storage"(p% +4 "core" %e\ \  % +2 ."downElevator"SE.seek :down +4 "storage"(5'N +100 ( % +3 "core" %B\ \  N> + "manipulator"&X% +5 "core" % o n  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&%'\ +95 "core" ' +43 ' + ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 3 of [3..4] + #Loading generic puck from tube 3 into Collection Clamp +2 "collection"'}& +4 "core" &c + "manipulator"&B% +4 "core" %\ 9 4 ( +2 "storage"(c% +4 "core" %>\ \ + "storage"(. +3 "core" .(, +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(C( +363 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (& +2 "core" & # +2 "manipulator"&9& +3 "core" & \ G ^ +2 .tElbow.seek 3 +2 "manipulator"&a(D +12 "core" ( + "manipulator"&& +4 "core" &D = !v +2 "storage"(q& +3 "core" &\ \ \ N +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&i' +93 "core" ' + "storage"(*& +5 "core" &\ \  E +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"('e +281 "core" ' + "storage"(+- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 ({& +2 "core" &\ \ \   +2 "manipulator"&h& +4 "core" &D b b > !v + .tElbow.seek 3 +2 "manipulator"&t(D +3 "core" ( +2 "manipulator"&s& +4 "core" &D f o h !v + "storage"(#& +4 "core" &\ \ \ C +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&'y +12 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&8/ +62 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&0& +2 "storage"(&'N +7 "core" &D  !v + "manipulator"&n% +5 "core" % z ' N + .tForearm.seek :retract +2 "manipulator"&''\ +98 "core" ' + .tElbow.seek CC +2 "manipulator"&( +140 "core" ' + ."downElevator"SE.stop + "storage"(5 +8 "core" ( + "manipulator"&?& +4 "core" &" < 9& +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &x& +3 "core" &"  9& +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&W'| +104 "core" ' +2 "manipulator"&m& +4 "core" &"  9& +2 "manipulator"&/% +3 "core" % g +2 "collection"'l& +4 "core" &c +2 "collection"'L& +5 "core" &] +2 .tCC.seek :closed + "collection"'4(] +5 "core" &H  +8 &4O )w +9 &hI < +10 &x|M G +9 &:kK G +10 &kE H +9 &mI G +9 &!iI G +10 &#CjF G +9 &%kG G +9 &&nI G +10 &(lA G +9 &*JkE G +10 &, jB G +9 &-kB G +9 &/kF G +10 &1RmK G +9 &3l@ G +9 &4j2 G +10 &6jC G +9 &8[hB G +9 &:j> G +10 &;i3 G +9 &=k3 G +10 &?dk8 G +9 &A%k/ G +10 &Bm1 G +9 &Dj0 G +9 &Fjl= G +10 &H,p; G +9 &Iz1 I +9 &K< J +10 &Ma: M +9 &O? P +9 &PA Q +10 &R> Q +9 &T]> Q +10 &V? T +9 &WC S +9 &Y; U +10 &[]7 T +9 &\\v~A , +9 &]#~9 @ +10 ( + &]@~~A ; +2 "collection"'L& +2 #tCollection Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.86 +2 .Hand.open + "manipulator"&G1 +57 "core" 1 + "manipulator"&% +4 "core" % z [ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&)'\ +94 "core" ' +3 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%(& +4 "core" &] +2 "manipulator"&T% +3 "core" %\ 5  & +2 "storage"(K% +3 "core" %7 +2 "storage"(Y. +3 "core" .( + "storage"(^& +4 "core" & + "storage"(]& +3 "core" & + +2 "manipulator"&& +3 "core" &  8 +2 "manipulator"&Z% +4 "core" %\ 5 ^ & + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"& (D +155 "core" ( + "manipulator"&f& +4 "core" &I  + "storage"( & +4 "core" &  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&' +101 "core" ' + "storage"(e& +5 "core" &\ \ + .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"("'e +279 "core" ' + "storage"(d- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (E& +2 "core" & +2 "manipulator"&j& +3 "core" &I x  +2 .tElbow.seek 3 +2 "manipulator"& (D +3 "core" ( + "manipulator"&3& +4 "core" &I j ^  + "storage"(& +4 "core" & +2 .tForearm.seek 3 + 300 counts + "manipulator"&2'y +20 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +57 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&U& +2 "storage"(A'N +7 "core" &I h j n  +2 "manipulator"&o% +3 "core" % s _ ` . +2 .tForearm.seek :retract +2 "manipulator"&R'\ +92 "core" ' +2 .tElbow.seek PC +2 "manipulator"&;(c +156 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +78 "core" ( + "manipulator"&y& +4 "core" &l > ( +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &l 0 ( +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"& '[ +100 "core" ' + "manipulator"&k& +4 "core" &l z  ( +2 "manipulator"&~% +4 "core" %e 9 + "processing"%& +4 "core" &N +3 "processing"%N& +4 "core" &V +2 .tPC.seek :closed +2 "processing"%.(Z +5 "core" &Z +6 &=Z #b +10 &w\\M 6 +9 &Y G +9 &f[ F +10 &kjb G +9 &-j^ G +10 & ia G +9 &"he G +9 &$sk^ G +10 &&4m^ G +9 &'h] G +9 &)hZ G +10 &+{jY G +9 &->k] F +10 &.kZ G +9 &0h] G +9 &2jW G +10 &4EhX G +9 &6jK G +9 &7kK G +10 &9hS G +9 &;LjN G +10 &=hL G +9 &>jM G +9 &@jK G +10 &BUjL G +9 &DjK G +9 &EkL G +10 &GuM H +9 &IV{O I +10 &KQ K +9 &LN M +9 &NL M +10 &PTK M +9 &RL M +9 &SO M +10 &UM M +9 &WYJ N +10 &YK M +9 &Zb?hL !b +9 &Z3K , +6 ( +2 "processing"%N& +3 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.49 + .Hand.open +2 "manipulator"&I1 +3 "core" &Z H , +54 1 + "manipulator"&|% +4 "core" % e u +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +94 "core" ' + "processing"%1& +4 "core" &Z!6 , +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 +2 "manipulator"&D% +3 "core" %\ 8 ( ' +2 "storage"([% +3 "core" %D  +2 "storage"(g. +3 "core" .( + "storage"(6& +4 "core" &  + "storage"(b& +56 "manipulator"&& +4 "core" & < + &l  ( +3 ."raiseStack"SE.reconfigure :place +2 .tElbow.reconfigure :tight +3 "storage"(#]kK-0-\ b +5 "manipulator"&$&.,(\ #b +3 ."raiseStack"SE.seek :beamBreak +2 .tElbow.seek PC +2 "storage"(='e +2 "manipulator"&J(c +5 "core" ( +2 "manipulator"&@& +3 "core" &l  ( +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &7& +3 "core" &l  ( +2 .tForearm.seek PC +2 "manipulator"&'[ +93 "core" ' + .tHand.close +2 "manipulator"&$/ +61 "core" / +2 .tPC.seek :open +2 "processing"%!(p +86 "core" ' +2 "storage"(z- +3 "core" -'e +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +2 ."raiseStack"SE.seek :place +2 "storage"('B +36 "core" ' +254 ( + "storage"(\ & +5 "core" & + "manipulator"&v& +4 "core" &l  ( + "manipulator"&% +5 "core" % o  + .tForearm.seek :retract +2 "manipulator"&:'\ +95 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&,(D +279 "core" ( + "manipulator"&_& +5 "core" &C  L + "storage"(\\& +4 "core" & +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&' +103 "core" ' + .tHand.open +2 "manipulator"&O1 +53 "core" 1 +2 "storage"(P- +3 "core" -'B +3 .tSE.seek -0.16 Pucks below Top Plate + "storage"(-' +23 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.83 Pucks below Top Plate + "storage"(>' +52 "core" ' + #tLights, camera, ACTION! +2 "storage"(- +3 "core" -' +2 "storage"(<& +3 "core" & b \\ L +2 "manipulator"&& +4 "core" &C ` i L + .tElbow.seek 3 +2 "manipulator"&F(D +3 "core" ( +2 "manipulator"&& +3 "core" &C p s S L +2 "storage"(r& +4 "core" & d e . +2 .tForearm.seek 3 + 450 counts + "manipulator"&Q' +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.11 Pucks below Top Plate + "storage"(p'M +62 "core" ' + "manipulator"&& +4 "core" &C d `  L +2 "storage"( & +3 "core" &\ \ \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&X'M +35 "core" ' + .tElbow.hold +2 "manipulator"&S, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.07 Pucks below Top Plate + "storage"(H'7 +25 "core" ' + "manipulator"&}% +5 "core" %Vg c  + "storage"(B& +4 "core" & z +2 .tForearm.force -20 "manipulator"&5 +4 .tForearm.seek 3 + 309 counts +2 "manipulator"&u'ς +16 "core" ' + "manipulator"&c& +5 "core" &C s [ L + "storage"(& +5 "core" &\ \ 0 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&`' +19 "core" ' + "storage"(w% +5 "core" %=\ \ \  +2 ."downElevator"SE.seek :down +4 "storage"(5'N +98 (% +3 "core" %F N@ +2 "manipulator"&% +4 "core" % h j  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&9'\ +95 "core" ' +54 ' + ."downElevator"SE.stop + "storage"(5 +3 (& +4 "core" &  + "collection"'q& +4 "core" &]@: ; +2 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&*% +4 "core" %\ : Q ( + "storage"(M% +4 "core" %9 + "storage"(%. +3 "core" .( +2 "storage"(+& +3 "core" & +2 "storage"({& +4 "core" & + "manipulator"&h& +4 "core" &C  L + .tElbow.seek 3 +2 "manipulator"&s(D +3 "core" ( +2 "manipulator"&#& +3 "core" &C L +2 "storage"(8& +3 "core" & N +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&0' +107 "core" ' +2 "storage"(n& +5 "core" &\ \ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(a'e +291 "core" ' + "storage"(i- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&?& +3 "core" &C _ `  L +2 "storage"(x& +3 "core" &\ M +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&'M +33 "core" ' + .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(m- +3 "core" -' +2 .tSE.seek 0.12 Pucks below Top Plate +2 "storage"(/'p +35 "core" ' + "manipulator"&l% +4 "core" %`e  r +2 "storage"(t& +3 "core" &  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 3 + 319 counts +2 "manipulator"&&'ό +16 "core" ' +2 "manipulator"&'& +4 "core" &C C c ' L + "storage"(V& +5 "core" &\ \ Q +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&G' +10 "core" ' +2 .tSE.seek 1.12 Pucks below Top Plate +2 "storage"('_ +39 "core" ' +2 "manipulator"&(& +5 "core" &C f c l L + "manipulator"&T% +4 "core" % ` c  2 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&K'\ +92 "core" ' + .tElbow.seek CC +2 "manipulator"&Y( +164 "core" ( + "manipulator"&^& +4 "core" &* W @X +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &]& +3 "core" &*  @X +2 .tForearm.seek CC +2 "manipulator"&L'| +96 "core" ' + .tHand.close +2 "manipulator"&/ +52 "core" / + .tCC.seek :open +2 "collection"'Z(p +409 "core" ( + "storage"(W& +5 "core" &\ \ \ ; + "storage"(f& +4 "core" &\ \ [ + "manipulator"& & +4 "core" &( P ?R +2 "manipulator"&e% +3 "core" % ώ _ +2 .tForearm.seek :retract +2 "manipulator"&'\ +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&)(D +158 "core" ( + "manipulator"&d& +4 "core" &F u   +2 "storage"(E& +4 "core" &\ \ \ O + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 3 +2 "manipulator"&j'M +111 "core" ' + .tElbow.hold +2 "manipulator"&3, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&1 +58 "core" 1 + "manipulator"&% +5 "core" % `s . / ( + "storage"(U& +4 "core" &  + .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 3 + 319 counts + "manipulator"&o'ό +18 "core" ' + "manipulator"& & +4 "core" &J G c q  +2 "storage"(& +3 "core" &\ \   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&"' +10 "core" ' +2 "storage"(2% +4 "core" %`\ \  8 +2 ."downElevator"SE.seek :down +3 "storage"(y'N +99 (% +3 "core" %B\ \ \ \ M> + "manipulator"& % +4 "core" % e a [ < +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&k'\ +94 "core" ' +49 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 4 of [3..4] +2 #Loading generic puck from tube 4 into Collection Clamp + "collection"'~& +4 "core" &e +2 "manipulator"&% +3 "core" %\ <  ) +2 "storage"(A% +4 "core" %U\ \ \  + "storage"(R. +4 "core" .( +2 .tSC.reconfigure :tight +51 "storage"($\ .\ 1~b +3 .tSC.seek 4 +2 "storage"((, +364 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (I& +2 "core" &,# l  +2 "manipulator"&|& +4 "core" &J   + .tElbow.seek 4 +2 "manipulator"&1(* +10 "core" ( + "manipulator"&D& +5 "core" &-   + "storage"([& +4 "core" &,\ \ \ \   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&g' +98 "core" ' +2 "storage"(6& +4 "core" &,\ \  -  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('e +283 "core" ' + "storage"(b- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (N& +3 "core" &,\ \ 6  +2 "manipulator"&@& +3 "core" &- _ _   +2 .tElbow.seek 4 +2 "manipulator"&7(* +3 "core" ( +2 "manipulator"& & +3 "core" &- k m P  +2 "storage"($& +3 "core" &,\ \   +2 .tForearm.seek 4 + 300 counts +3 "manipulator"&z'Z +21 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&;/ +54 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&& + "storage"(.'N +8 "core" &- c a d  +2 "manipulator"&\ % +3 "core" % S g f _ +2 .tForearm.seek :retract +2 "manipulator"&v'\ +96 "core" ' +2 .tElbow.seek CC + "manipulator"&=( +143 "core" ' + ."downElevator"SE.stop + "storage"(5 +28 "core" ( +2 "manipulator"&& +4 "core" &#  2 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &#  2 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&_'| +94 "core" ' + "manipulator"&\\& +5 "core" &#  2 +2 "manipulator"&J% +4 "core" %φ  & +2 "collection"'O& +3 "core" &F +2 "collection"'P& +5 "core" &@ +2 .tCC.seek :closed +2 "collection"'(] +4 "core" &G +7 &9M #c +10 &q[E 6 +9 &C H +10 &jE G +9 &elN G +9 &'lM G +10 & kK G +9 &"lO G +9 &$kkD G +10 &&-kD G +9 &'kS G +10 &)mE G +9 &+ulM G +9 &-7kC G +10 &.nT G +9 &0lQ H +9 &2{jE G +10 &4=kI G +9 &5jE G +10 &7jN G +9 &9jD G +9 &;FjO G +10 &= jJ G +9 &>kB G +9 &@kC G +10 &BNkM G +9 &DkC G +10 &EkF G +9 &GmC H +9 &IRv< H +10 &K Q K +9 &LL O +10 &NB Q +9 &PC@ P +9 &RA Q +10 &SM R +9 &UC S +9 &WDE S +10 &YB T +9 &Zy}A T +9 &\\ww? B +10 &]`*sw> 7 +9 &]vtuB H +6 ( + "collection"'P& +4 #tCollection Clamp onSpring/offSpring for 10/25 samples, on/off torque 1.87 +2 .Hand.open + "manipulator"&<1 +3 "core" &]suvD H +61 1 +2 "manipulator"&% +4 "core" % φ  & +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +104 "core" ' +2 #tLoading generic puck from tube 4 into Processing Clamp + "processing"%r& +5 "core" &W + "manipulator"&:% +4 "core" %\   + "storage"(% +4 "core" %= t +2 "storage"( . +3 "core" .(,~ +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"(}(, +3 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (& +3 "core" &,# d  + "manipulator"&B& +4 "core" &$ 2 + "manipulator"&-% +4 "core" %\  =  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&c(* +166 "core" ( +2 "manipulator"&& +4 "core" &%\ F \\ +2 "storage"(w& +3 "core" &,  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&,' +91 "core" ' +2 "storage"(& +4 "core" &,  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(>'e +288 "core" ' + "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" &,   + "manipulator"&Q& +4 "core" &&\  [ + .tElbow.seek 4 +2 "manipulator"&F(* +3 "core" ( +2 "manipulator"&p& +4 "core" &&\ v  [ +2 "storage"(X& +3 "core" &,  +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&'Z +21 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&u/ +58 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&q& +2 "storage"(*'N +7 "core" &&\ m o  [ + "manipulator"&M% +5 "core" % R b p + .tForearm.seek :retract +2 "manipulator"&%'\ +96 "core" ' +2 .tElbow.seek PC +2 "manipulator"&+(c +157 "core" ' + ."downElevator"SE.stop + "storage"(5 +86 "core" ( + "manipulator"&H& +4 "core" &j   +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &{& +3 "core" &j 3  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&h'[ +105 "core" ' + "manipulator"&#& +5 "core" &j y A  + "manipulator"&8% +4 "core" %Z K +2 "processing"%`& +4 "core" &P +2 "processing"%n& +5 "core" &U +2 .tPC.seek :closed + "processing"%5(Z +5 "core" &[ +6 &Ff #c +10 &|\\\\ 6 +9 &] H +10 &ie G +9 &pi\\ G +9 &1f` G +10 & jc G +9 &"jc G +10 &$vja G +9 &&8j] G +9 &'ia G +10 &)j\\ G +9 &+h\\ G +9 &-Aj[ G +10 &/ka G +9 &0h[ G +9 &2iY G +10 &4Jh\\ G +9 &6 mY G +10 &7i\\ G +9 &9hP G +9 &;QjX G +10 &=iM G +9 &>kL G +9 &@jL G +10 &BXjK G +9 &DgN G +10 &EkJ G +9 &GqM G +9 &I\\xK I +10 &KI K +9 &LL L +9 &NV M +10 &PXL M +9 &RM M +10 &SO M +9 &UO N +9 &W_O M +10 &Y M H +9 &ZS>xL 'r +9 &Z&K & +6 ( +2 "processing"%n& +3 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.49 +2 .Hand.open + "manipulator"&S1 +4 "core" &ZK & +59 1 +2 "manipulator"&9% +4 "core" % Z  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&i'\ +99 "core" ' +2 "processing"%?& +4 "core" &ZH & + #tImaging generic puck in Processing Clamp while storing it to tube 4 +2 "manipulator"&x% +3 "core" %\ <  ) +2 "storage"(m% +4 "core" %R :  + "storage"(l. +3 "core" .(, + "storage"(t& +4 "core" &, <  +2 "storage"('& +5 "manipulator"&V& +3 "core" &, :  +2 &j 7  +2 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +3 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +3 "storage"(#]kK-0-\ b +2 "manipulator"&((c +5 ."raiseStack"SE.seek :beamBreak + "storage"(T'e +3 "core" ( + "manipulator"&0& +4 "core" &j   +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &s& +3 "core" &j <  +2 .tForearm.seek PC +2 "manipulator"&a'[ +97 "core" ' + .tHand.close +2 "manipulator"&/ +55 "core" / + .tPC.seek :open +2 "processing"%&(p +93 "core" ' + "storage"(/- +4 "core" -'e + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(^'B +40 "core" ' +243 ( +2 "storage"(]& +4 "core" &,  + "manipulator"&G& +4 "core" &j   + "manipulator"&% +5 "core" % U  + .tForearm.seek :retract +2 "manipulator"&'\ +94 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&K(* +280 "core" ( + "manipulator"&4& +4 "core" &6  U +2 "storage"(W& +3 "core" &, F  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&f' +95 "core" ' + .tHand.open +2 "manipulator"& 1 +62 "core" 1 +2 "storage"(e- +4 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate +2 "storage"(d' +23 "core" ' + .tSE.reconfigure :seal +52 "storage"(#QK-0-\ b +4 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(E' +55 "core" ' + #tLights, camera, ACTION! +2 "storage"(L- +3 "core" -' +2 "storage"(Y& +3 "core" &, e d +  +2 "manipulator"&& +3 "core" &6 i }  U +2 .tElbow.seek 4 +2 "manipulator"&(* +9 "core" ( + "manipulator"&U& +4 "core" &2 n 7 B +2 "storage"( & +3 "core" &, f g   +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&' +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"(2'M +67 "core" ' +2 "manipulator"&& +4 "core" &2 f g { B + "storage"(& +5 "core" &, 5  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 4 + "manipulator"& '. +32 "core" ' +2 .tElbow.hold + "manipulator"&), +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"(j'7 +23 "core" ' + "manipulator"&~% +4 "core" %>t i + +2 "storage"(& +4 "core" &, %  + .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 4 + 316 counts + "manipulator"&A'j +17 "core" ' + "manipulator"&o& +5 "core" & i W $ T + "storage"(R& +4 "core" &, \\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&' +20 "core" ' +2 "storage"("% +4 "core" %@\ +3 ."downElevator"SE.seek :down +3 "storage"(y'N +99 (C% +3 "core" %F ~ OB + "manipulator"&I% +5 "core" % a `  & +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&|'\ +96 "core" ' +52 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (D& +4 "core" &, C  +2 "collection"'[& +4 "core" &]rxxl H + #tStoring generic puck in Collection Clamp to tube 4 +2 "manipulator"&6% +4 "core" %\ 7  ' + "storage"(3% +4 "core" %: v +2 "storage"(k. +3 "core" .(, + "storage"(b& +4 "core" &, d  +2 "storage"(N& +4 "core" &, n  + "manipulator"&@& +4 "core" &  T +2 .tElbow.seek 4 + "manipulator"& (* +4 "core" ( + "manipulator"&$& +4 "core" & C T + "storage"(;& +4 "core" &, r  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&' +96 "core" ' + "storage"(\ & +4 "core" &,  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(1'e +291 "core" ' + "storage"(g- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&& +3 "core" & G T + "storage"(& +4 "core" &,   + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&'. +31 "core" ' +2 .tElbow.hold + "manipulator"&z, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(\\- +2 "core" -' +2 .tSE.seek 0.12 Pucks below Top Plate +2 "storage"(J'q +35 "core" ' +2 "manipulator"&7% +4 "core" %<m >  + "storage"(O& +4 "core" &, -  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 314 counts +2 "manipulator"&.'h +16 "core" ' + "manipulator"&v& +4 "core" & W r  T +2 "storage"(Z& +4 "core" &, Z  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&<' +20 "core" ' +2 .tSE.seek 1.12 Pucks below Top Plate +2 "storage"('` +47 "core" ' + "manipulator"&r& +4 "core" & ` f T +2 "manipulator"&:% +4 "core" % _ _  % +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +96 "core" ' + .tElbow.seek CC +2 "manipulator"&P( +150 "core" ( + "manipulator"& & +4 "core" &  - +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &  - +2 .tForearm.seek CC + "manipulator"&B'| +108 "core" ' + .tHand.close + "manipulator"&-/ +57 "core" / +2 .tCC.seek :open +2 "collection"'_(p +411 "core" ( +2 "storage"(& +4 "core" &,\ \   + "storage"(w& +4 "core" &, \   +2 "manipulator"&& +3 "core" &"  ' +2 "manipulator"&% +3 "core" % [  ^ +2 .tForearm.seek :retract +2 "manipulator"&='\ +96 "core" ' +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&(* +150 "core" ( +2 "manipulator"&& +4 "core" &* 6  + "storage"(& +4 "core" &,\  <  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 4 +2 "manipulator"&Q'. +114 "core" ' + .tElbow.hold +2 "manipulator"&p, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&X1 +58 "core" 1 +2 "manipulator"&u% +4 "core" % A 9 S + "storage"(q& +4 "core" &,  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 319 counts + "manipulator"&M'm +16 "core" ' +2 "manipulator"&c& +4 "core" &* i [  + "storage"(,& +4 "core" &,\ \  %  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&>' +18 "core" ' + "storage"(% +5 "core" %e\ \  Z +2 ."downElevator"SE.seek :down +3 "storage"(H'N +99 ({% +2 "core" %C\ \ \ M> +2 "manipulator"&F% +4 "core" % b ` L  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&#'\ +96 "core" ' +46 ' +2 ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 3 of [3..4] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"'8& +4 "core" &P +2 "manipulator"&`% +4 "core" %\ <  ) + "storage"(*% +4 "core" %G\ \  K  +2 "storage"(%. +3 "core" .(, +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(!( +365 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (S& +3 "core" & +2 "manipulator"&9& +3 "core" &*  +2 .tElbow.seek 3 +2 "manipulator"&?(D +25 "core" ( + "manipulator"&x& +4 "core" &>  "| +2 "storage"(m& +3 "core" &\ \ \ \ F +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&l' +107 "core" ' +2 "storage"(n& +4 "core" &\ \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(t'e +280 "core" ' + "storage"(V- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 ('& +2 "core" &\ \  [ +2 "manipulator"&0& +3 "core" &> o o "| +2 .tElbow.seek 3 + "manipulator"&s(D +4 "core" ( + "manipulator"&h& +4 "core" &> \\ t } "| +2 "storage"(& +3 "core" & n +3 .tForearm.seek 3 + 300 counts +2 "manipulator"&/'y +28 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&+/ +53 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&i& +2 "storage"(5'N +7 "core" &> p n "| + "manipulator"&]% +4 "core" % ϋ o n +2 .tForearm.seek :retract +2 "manipulator"&G'\ +98 "core" ' +2 .tElbow.seek CC +2 "manipulator"&( +140 "core" ( +2 "manipulator"&T& +4 "core" & , + ' +2 ."downElevator"SE.stop +2 .tElbow.reconfigure :loose +2 "storage"(5 +2 "manipulator"&$ &.,(#b +4 &a& +3 "core" &  , +51 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&4'| +106 "core" ' + "manipulator"&W& +5 "core" & 2 , + "manipulator"&(% +4 "core" %z  +2 "collection"' & +4 "core" &x +3 "collection"'e& +4 "core" &O +2 .tCC.seek :closed +2 "collection"'(] +4 "core" &V +8 &BT #c +9 &u[K 6 +10 &N H +9 &hG F +9 &gmL G +10 &)mU G +9 & mT G +9 &"mV G +10 &$nkK G +9 &&0mP G +10 &'mN G +9 &)lQ G +9 &+wkR G +10 &-9kM G +9 &.kJ G +9 &0mS G +10 &2~kM G +9 &4@lS G +10 &6lR G +9 &7lS G +9 &9kK G +10 &;IkR G +9 &=\ nO G +9 &>kU G +10 &@lM G +9 &BQmN G +10 &DkD G +9 &EmQ G +9 &GkM G +10 &IUwR H +9 &K~L J +9 &LC L +10 &NP O +9 &PEA P +10 &RA Q +9 &SC R +9 &UB R +10 &WFA S +9 &YH U +9 &ZD T +10 &\\C @ +9 &]u1}A "f +9 &]C~H < +3 ( +2 "collection"'e& +2 #tCollection Clamp onSpring/offSpring for 10/25 samples, on/off torque 1.82 +2 .Hand.open + "manipulator"&L1 +55 "core" 1 +2 "manipulator"&Y% +5 "core" % u W +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +99 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp +2 "processing"%U& +4 "core" &^ + "manipulator"& % +4 "core" %\ <  ) +2 "storage"(% +4 "core" %E o  + "storage"(. +3 "core" .( + "storage"(^& +4 "core" &  +2 "storage"(~& +4 "core" & e + "manipulator"&& +4 "core" &  , + "manipulator"&d% +4 "core" %\ <  ) +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&o(D +175 "core" ( + "manipulator"&R& +5 "core" &@  "y + "storage"("& +4 "core" & { +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&K' +95 "core" ' +2 "storage"(f& +4 "core" & \ \ ! +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(E'e +276 "core" ' +2 "storage"(C- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (I& +2 "core" & +2 "manipulator"&& +3 "core" &A  "x +2 .tElbow.seek 3 +2 "manipulator"&(D +3 "core" ( +2 "manipulator"&2& +4 "core" &A G "x +2 "storage"( & +3 "core" & v +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&D'y +23 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&A/ +58 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&[& + "storage"(6'N +7 "core" &A m p "x +2 "manipulator"&3% +4 "core" % w n p +2 .tForearm.seek :retract +2 "manipulator"&k'\ +94 "core" ' +2 .tElbow.seek PC +2 "manipulator"&b(c +153 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +95 "core" ( +2 "manipulator"&j& +4 "core" &m ' + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &N& +3 "core" &m  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&@'[ +97 "core" ' +2 "manipulator"&$& +4 "core" &m m Y + "manipulator"&;% +4 "core" %O  4 +2 "processing"%& +4 "core" &T +2 "processing"%\ & +4 "core" &W +2 .tPC.seek :closed +2 "processing"%y(Z +4 "core" &a +8 &>^ #c +9 &x[Y 6 +10 &c G +9 &gY F +9 &njX F +10 &/ic G +9 & nf G +9 &"jf G +10 &$tm` G +9 &&6g` G +9 &'i` G +10 &)lb G +9 &+}hb G +10 &-@j` F +9 &/k\\ G +9 &0ib G +10 &2lb G +9 &4HhZ F +9 &6 iZ G +10 &7m\\ G +9 &9h\\ F +10 &;NkX G +9 &=gX G +9 &>jR G +10 &@jV G +9 &BVhL G +9 &DjM G +10 &ElU G +9 &GuT H +10 &IX~Y I +9 &KN K +9 &LU M +10 &NQ M +9 &PVM M +9 &RO M +10 &SK M +9 &UT M +10 &W[P N +9 &YO L +9 &Z`>eS $h +10 &Z.M + +5 ( +2 "processing"%\ & +4 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.50 + .Hand.open +2 "manipulator"&)1 +3 "core" &Z"P + +50 1 +2 "manipulator"&|% +4 "core" % O  4 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&g'\ +97 "core" ' +2 "processing"%& +4 "core" &Z"G + +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&% +4 "core" %\ ? E * + "storage"(\\% +4 "core" %7 @ + "storage"(7. +3 "core" .( +2 "storage"(O& +3 "core" & F +2 "storage"(v& +5 "manipulator"&Z& +4 "core" & * + &m C +3 ."raiseStack"SE.reconfigure :place +2 .tElbow.reconfigure :tight +3 "storage"(#]kK-0-\ b +4 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC + ."raiseStack"SE.seek :beamBreak +3 "manipulator"&r(c +2 "storage"(:'e +5 "core" ( + "manipulator"&& +4 "core" &m z + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 & & +3 "core" &m  +2 .tForearm.seek PC + "manipulator"&1'[ +95 "core" ' +2 .tHand.close + "manipulator"&/ +58 "core" / +2 .tPC.seek :open +2 "processing"%.(p +93 "core" ' + "storage"(J- +3 "core" -'e +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"( 'B +38 "core" ' +246 ( +2 "storage"(& +4 "core" & + "manipulator"&<& +4 "core" &m  + "manipulator"&z% +4 "core" % Z   +2 .tForearm.seek :retract +2 "manipulator"&-'\ +94 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&(D +258 "core" ( + "manipulator"&& +4 "core" &@ 3 & +2 "storage"(& +3 "core" &  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&w' +101 "core" ' + .tHand.open +2 "manipulator"&1 +53 "core" 1 +2 "storage"(- +4 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate +2 "storage"(' +22 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(' +51 "core" ' + #tLights, camera, ACTION! +2 "storage"(B- +3 "core" -' +2 "storage"(P& +3 "core" & c a +2 "manipulator"&X& +4 "core" &A % +2 .tElbow.seek 3 + "manipulator"&u(D +4 "core" ( + "manipulator"&q& +4 "core" &A ! % + "storage"(c& +4 "core" & d c +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&,' +3 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.11 Pucks below Top Plate + "storage"('M +60 "core" ' +2 "manipulator"&=& +4 "core" &A  % + "storage"({& +5 "core" & t + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&F'M +31 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.07 Pucks below Top Plate + "storage"(Q'7 +24 "core" ' +2 "manipulator"&8% +4 "core" %Ms ^ . + "storage"(M& +4 "core" & +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 300 counts + "manipulator"&`'y +19 "core" ' +2 "manipulator"&*& +5 "core" &m u { z h + "storage"(%& +4 "core" & U +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&' +23 "core" ' + "storage"(>% +5 "core" %=\ D +2 ."downElevator"SE.seek :down +4 "storage"(H'N +98 (}% +2 "core" %C OA +2 "manipulator"&S% +4 "core" % o m +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&9'\ +94 "core" ' +59 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (x& +4 "core" &  + "collection"'m& +4 "core" &]LA < +2 #tStoring generic puck in Collection Clamp to tube 3 +2 "manipulator"&n% +3 "core" %\ < Q ) +2 "storage"(p% +4 "core" %? ~ + "storage"(#. +3 "core" .( +2 "storage"(V& +3 "core" & +2 "storage"('& +4 "core" & + "manipulator"&0& +4 "core" &m ; h + .tElbow.seek 3 +2 "manipulator"&h(D +26 "core" ( + "manipulator"&& +5 "core" &I 7 ` + "storage"(+& +4 "core" & +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&i' +105 "core" ' +2 "storage"(]& +4 "core" &\ \ \ +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(?'e +282 "core" ' + "storage"(l- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&T& +4 "core" &I a U ( ` + "storage"(a& +4 "core" &\ \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&t'M +33 "core" ' + .tElbow.hold +2 "manipulator"&/, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(s- +2 "core" -' +2 .tSE.seek 0.12 Pucks below Top Plate +2 "storage"(W'p +35 "core" ' + "manipulator"&(% +5 "core" %ai V  + "storage"( & +4 "core" &  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 320 counts +2 "manipulator"&5'ύ +19 "core" ' + "manipulator"&G& +4 "core" &I N f ` +2 "storage"(_& +3 "core" &\ \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&L' +18 "core" ' +2 .tSE.seek 1.12 Pucks below Top Plate +2 "storage"(Y'_ +45 "core" ' +2 "manipulator"&U& +5 "core" &I T _ \ ` + "manipulator"& % +5 "core" % e W + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +94 "core" ' +2 .tElbow.seek CC +2 "manipulator"&( +149 "core" ( +2 "manipulator"&^& +4 "core" & - + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &e& +2 "core" & - +2 .tForearm.seek CC +2 "manipulator"&~'| +96 "core" ' +2 .tHand.close + "manipulator"&/ +61 "core" / +2 .tCC.seek :open +2 "collection"'d(p +409 "core" ( + "storage"(4& +4 "core" &\ \ \  +2 "storage"(R& +3 "core" & \   +2 "manipulator"&"& +3 "core" & B , +2 "manipulator"&f% +3 "core" % ρ R  +2 .tForearm.seek :retract +2 "manipulator"&'\ +95 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&(D +154 "core" ( +2 "manipulator"&C& +4 "core" &:   + "storage"(I& +4 "core" &\ \ g +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 +2 "manipulator"&'M +108 "core" ' +2 .tElbow.hold + "manipulator"&2, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"& 1 +63 "core" 1 +2 "manipulator"&A% +4 "core" % ap / 7 +2 "storage"([& +3 "core" & 7 +2 .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 3 + 320 counts +2 "manipulator"&3'ύ +16 "core" ' + "manipulator"&o& +4 "core" &J c E  +2 "storage"(K& +3 "core" &\ \  g +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&E' +20 "core" ' + "storage"(D% +5 "core" %]\ \  o +2 ."downElevator"SE.seek :down +3 "storage"(j'N +99 (N% +2 "core" %C\ \ \  g M> +2 "manipulator"&% +4 "core" % c i /  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&$'\ +91 "core" ' +52 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 4 of [3..4] + #Loading generic puck from tube 4 into Collection Clamp +2 "collection"';& +4 "core" &T + "manipulator"&% +5 "core" %\ 0 $s + "storage"(6% +4 "core" %Q\ \  T  + "storage"(k. +4 "core" .( + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"(&(, +360 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 ()& +3 "core" &,~ G  + "manipulator"&|& +4 "core" &J [  +2 .tElbow.seek 4 +2 "manipulator"&(* +10 "core" ( + "manipulator"&& +4 "core" &. B  +2 "storage"(\\& +3 "core" &,}\ \ '  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts +2 "manipulator"&7' +99 "core" ' +2 "storage"(O& +4 "core" &,}\ \  :  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(Z'e +289 "core" ' + "storage"(v- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (\ & +3 "core" &,}\ \ \   + "manipulator"&& +4 "core" &.   +2 .tElbow.seek 4 +2 "manipulator"& (* +3 "core" ( + "manipulator"&@& +4 "core" &. !  + "storage"(& +4 "core" &,}\ \ \ \  +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&J'Z +10 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&b/ +64 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&g& +3 "storage"(y'N +8 "core" &. n j  + "manipulator"&% +4 "core" % \\ k o 5 +2 .tForearm.seek :retract +2 "manipulator"&<'\ +99 "core" ' +2 .tElbow.seek CC + "manipulator"&z( +143 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +20 "core" ( + "manipulator"&:& +4 "core" &  I +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &1& +3 "core" & I I +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&'| +100 "core" ' + "manipulator"&& +5 "core" &  I + "manipulator"&r% +4 "core" %d  +3 "collection"'& +4 "core" & +2 "collection"'& +4 "core" &` +2 .tCC.seek :closed +2 "collection"'B(] +3 "core" &` +9 &B_ $e +9 &{^T 7 +10 &N G +9 &jK G +9 &ukM G +10 &8lT G +9 & mU G +9 &"kS G +10 &$~kW G +9 &&@lP G +10 &(lJ G +9 &)jR G +9 &+kT G +10 &-GmP G +9 &/ kN G +9 &0kP G +10 &2kK G +9 &4NlR G +10 &6jS G +9 &7kW G +9 &9hW G +10 &;XiT G +9 &=hS G +9 &>jX G +10 &@jR G +9 &B`jR G +10 &D"jS G +9 &EkS F +9 &GnT H +10 &Ia{M I +9 &KR L +9 &LR O +10 &NQ P +9 &PTT P +9 &RF Q +10 &SO Q +9 &UD S +10 &WV@ R +9 &YI U +9 &ZH T +10 &\\{N @ +9 &]y.|zA "g +9 &]ZyyH A +3 ( +2 "collection"'& +2 #tCollection Clamp onSpring/offSpring for 9/25 samples, on/off torque 1.87 +2 .Hand.open + "manipulator"&P1 +52 "core" 1 +2 "manipulator"&X% +4 "core" % d W +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&q'\ +99 "core" ' +2 #tLoading generic puck from tube 4 into Processing Clamp + "processing"%c& +4 "core" &Y +2 "manipulator"&-% +3 "core" %\ > * +2 "storage"(=% +3 "core" %E t +2 "storage"({. +3 "core" .(,~ +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"(8(, +6 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (M& +2 "core" &,~ E  +2 "manipulator"& & +3 "core" & K I +2 "manipulator"&*% +3 "core" %\ > ^ * +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&(* +150 "core" ( + "manipulator"&%& +4 "core" &* -  +2 "storage"(>& +4 "core" &,} {  +51 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&' +101 "core" ' +2 "storage"(w& +4 "core" &,} \\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('e +275 "core" ' + "storage"(}- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (S& +3 "core" &,} d  +2 "manipulator"&,& +3 "core" &* u  +2 .tElbow.seek 4 +2 "manipulator"&u(* +3 "core" ( + "manipulator"&& +4 "core" &* _ 8  + "storage"(F& +4 "core" &,} C  +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&`'Z +20 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&x/ +58 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&m& + "storage"(n'N +8 "core" &* h j m  +2 "manipulator"&p% +3 "core" % P ` b +2 .tForearm.seek :retract +2 "manipulator"&#'\ +98 "core" ' + .tElbow.seek PC +2 "manipulator"&Q(c +151 "core" ' + ."downElevator"SE.stop + "storage"(5 +89 "core" ( + "manipulator"&V& +5 "core" &m P + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &'& +3 "core" &m +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&0'[ +105 "core" ' +2 "manipulator"&& +4 "core" &m + "manipulator"&+% +4 "core" %[ 2 +2 "processing"%& +4 "core" &b +2 "processing"%]& +4 "core" &a +2 .tPC.seek :closed +2 "processing"%H(Z +4 "core" &e  +9 &7f )w +10 &ke = +9 &~x` G +9 &BhY G +10 &jX G +9 &eZ G +10 &!iX G +9 &#Jha G +9 &% h\\ F +10 &&jZ G +9 &(hd G +9 &*Qhh G +10 &,jg G +9 &-hf G +9 &/kg G +10 &1Zjf G +9 &3j[ G +10 &4ka G +9 &6ib G +9 &8bh\\ G +10 &:%hY F +9 &;i[ G +9 &=i^ G +10 &?iiZ G +9 &A*iY G +10 &BjY G +9 &Di^ G +9 &Fpn[ G +10 &H0s^ H +9 &I[ J +9 &K\\ K +10 &MhS M +9 &O*K M +10 &PJ M +9 &RU M +9 &TqK M +10 &V2L M +9 &WM N +9 &YJ 5 +10 &Z.O ] +9 &ZL ' +2 ( +2 "processing"%]& +3 #tProcessing Clamp onSpring/offSpring for 8/26 samples, on/off torque 1.50 + .Hand.open +2 "manipulator"&1 +55 "core" 1 + "manipulator"&9% +4 "core" % [ % +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&l'\ +101 "core" ' + "processing"%T& +5 "core" &ZM ' + #tImaging generic puck in Processing Clamp while storing it to tube 4 + "manipulator"&a% +5 "core" %\ > G * + "storage"(s% +4 "core" %:  + "storage"((. +3 "core" .(,~ +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 + "storage"( (, +8 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +3 (G& +3 "core" &,~ a  + "manipulator"&_& +5 ."raiseStack"SE.reconfigure :place +3 "storage"(#]kK-0-\ b +2 "core" &m I +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +2 "storage"(U'e + "manipulator"& (c +5 "core" ( +2 "manipulator"&i& +3 "core" &m | +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &h& +3 "core" &m C +2 .tForearm.seek PC + "manipulator"&?'[ +102 "core" ' +2 .tHand.close + "manipulator"&t/ +60 "core" / +2 .tPC.seek :open + "processing"%5(p +78 "core" ' + "storage"(W- +3 "core" -'e +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(^'B +35 "core" ' +265 ( + "storage"(e& +4 "core" &,~ g  + "manipulator"&L& +4 "core" &m  + "manipulator"&/% +4 "core" % b  +2 .tForearm.seek :retract + "manipulator"&'\ +100 "core" ' +2 .tElbow.reconfigure :tight +7 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&(* +279 "core" ( +2 "manipulator"&& +4 "core" &3  q +2 "storage"(4& +3 "core" &,~ i  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&R' +106 "core" ' +2 .tHand.open + "manipulator"&"1 +55 "core" 1 +2 "storage"(f- +4 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate + "storage"(C' +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(I' +50 "core" ' + #tLights, camera, ACTION! +2 "storage"(~- +3 "core" -' +2 "storage"(& +3 "core" &,~ } } (  +2 "manipulator"& & +3 "core" &3 _ a # q +2 .tElbow.seek 4 +2 "manipulator"&A(* +3 "core" ( + "manipulator"&[& +4 "core" &3 p s o q +2 "storage"(o& +3 "core" &,~ { | k  +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&K' +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"(D'M +57 "core" ' + "manipulator"&& +5 "core" &3 e a  q + "storage"(N& +4 "core" &,~ z  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&'. +31 "core" ' +2 .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"('7 +22 "core" ' +2 "manipulator"&;% +4 "core" %B~ m D +2 "storage"(3& +4 "core" &,~  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 320 counts +2 "manipulator"&'n +17 "core" ' +2 "manipulator"&6& +4 "core" &  b k ]  +2 "storage"(k& +4 "core" &,~\ \ 7  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&Y' +20 "core" ' +2 "storage"(E% +4 "core" %@\ \  4  +2 ."downElevator"SE.seek :down +4 "storage"(j'N +100 (!% +2 "core" %#C M? +2 "manipulator"&)% +4 "core" % S I  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&|'\ +96 "core" ' +53 ' + ."downElevator"SE.stop +2 "storage"(5 +3 (& +3 "core" &,~   +2 "collection"'\\& +4 "core" &]Xzz> A + #tStoring generic puck in Collection Clamp to tube 4 +2 "manipulator"&O% +3 "core" %\ :  ( +2 "storage"(2% +4 "core" %E  + "storage"($. +3 "core" .(,~ +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 + "storage"(v(, +5 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (\ & +3 "core" &, Z  +2 "manipulator"&& +3 "core" &    +2 .tElbow.seek 4 +2 "manipulator"&@(* +33 "core" ( + "manipulator"&& +5 "core" &) O , + "storage"(b& +4 "core" &,~ 0  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&g' +95 "core" ' +2 "storage"(& +4 "core" &,~  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('e +284 "core" ' +2 "storage"(7- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +2 "manipulator"&:& +3 "core" &<  ) +2 "storage"(1& +3 "core" &,~ 5  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&Z'. +28 "core" ' +2 .tElbow.hold + "manipulator"&J, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(- +2 "core" -' +3 .tSE.seek 0.12 Pucks below Top Plate + "storage"(r'p +28 "core" ' + "manipulator"& % +4 "core" %@w ^ 3 +50 "storage"(& +5 "core" &,~ ^  +2 .tForearm.force -20 "manipulator"&5 +3 .tForearm.seek 4 + 318 counts +2 "manipulator"&y'l +16 "core" ' +2 "manipulator"&<& +4 "core" &3 k ` * + "storage"(d& +5 "core" &,~ 8  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&P' +21 "core" ' +3 .tSE.seek 1.12 Pucks below Top Plate + "storage"(X'_ +50 "core" ' +2 "manipulator"&c& +4 "core" &6 k f  * +2 "manipulator"&-% +3 "core" % a d   +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&='\ +95 "core" ' +2 .tElbow.seek CC +2 "manipulator"&{( +157 "core" ( + "manipulator"&& +5 "core" & ) D + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &M& +2 "core" & B D +2 .tForearm.seek CC +2 "manipulator"& '| +104 "core" ' + .tHand.close +2 "manipulator"&*/ +56 "core" / +2 .tCC.seek :open +2 "collection"'(p +409 "core" ( + "storage"(%& +4 "core" &,~\ \ ,  +2 "storage"(>& +4 "core" &,~\ \ /  + "manipulator"&&& +4 "core" & a _  D + "manipulator"&z% +4 "core" % p e a E i +2 .tForearm.seek :retract + "manipulator"&w'\ +98 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&q(* +166 "core" ( + "manipulator"&}& +4 "core" &- D L +2 "storage"(S& +3 "core" &,~\ \   +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 4 +2 "manipulator"&,'. +109 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&F1 +60 "core" 1 +2 "manipulator"&x% +4 "core" % B + "storage"(m& +4 "core" &,~ k  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 320 counts + "manipulator"&p'n +17 "core" ' +2 "manipulator"&& +4 "core" & u \\ g + "storage"(& +4 "core" &,~\ \    +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&' +22 "core" ' +2 "storage"(`% +4 "core" %^\ \  $ +2 ."downElevator"SE.seek :down +4 "storage"(V'N +98 ('% +3 "core" %@\  " N> +2 "manipulator"&u% +4 "core" % n p + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +91 "core" ' +47 ' + ."downElevator"SE.stop + "storage"(5 +1165 #t-> access 3 +2 "storage"(+% +4 "core" %B\ \ \ \   + "manipulator"&% +4 "core" %\ 3  %~ +2 "manipulator"&n& +3 "core" & ! g +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 7 +2 "storage"(#([ +990 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (.& +3 "core" &[   +759 #t-> access 4 +2 "storage"(% +3 "core" %B \   +2 "manipulator"&9% +4 "core" %\ 2  %~ + "manipulator"&T& +4 "core" &  g +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 1 +2 "storage"(a(B +1935 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (s& +2 "core" &E +817 #t-> exit +6 #mEXIT @1670515499.40EST @1671127060.17EST = =tMAIN =mMAIN_scheduler @EST1671127062.07 #"core_reset"Sent BREAK +2 #t@11135 idle with ifg=0x00, ie=0x75 + #>RESET< ESP2 v3.41 I2C Gateway v3.20 +207 #>RESET< ESP2 v3.41 I2C Gateway v3.20 for core bus +206 !o:Instrument::ISUSCore: @refix>c: @configS:Instrument::Configuration: name" ISUS:calFileName0:sampleCmd"TS: prompt"\ :statusCmd"C:sampleTimeouti#:promptTimeouti:statusTimeouti: retriesi:strToPrompt"W: pace0: echoF:\ @name@ +100 #Configuration for don (12651-03) 10/9/20 brent@mbari.org\ /home/esp/esp2/type/shallow/don/configure.rb\ +392 "Can"y &$!y y &$!y + #tPolling Can every 10:00 +2 #Cleanly exited at 11:04:59EST08-Dec-22 +480 #-> ESP.ready! +3 #Powering core bus +540 .Gate.power :raw,:ON +3 "sampler") +24 ) +2 "core"  + "collection"' +3 ' +3 "core"  + "processing"% +2 % +3 "core"  +5 "collection"' 9\ +2 ' 0\ +2 ' -\ +4 "processing"% 9\ +2 % 2\ +2 % *\ + % 0\ +4 "sampler")&\ +2 "collection"'% +3 "core" % + .tCS.configure :default +3 "collection"'#P d@b +2 "processing"%% +3 "core" %6 + .tPS.configure :default +3 "processing"%#A d`xb +2 "sampler")% +3 "core" %\ p\ i +2 .tSS.configure :default +2 "sampler")#.0X startTube 2 +1843 #-> $da[:extractVol]=.19 +477 #-> access 2 +2 "storage"(;% +3 "core" %D\ \  $ G +2 "manipulator"&<% +4 "core" %\ 2 ] $E + "manipulator"&=& +4 "core" &'  l +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"(>(K +664 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (?& +2 "core" &K D  +52115 "Can"g B@ +14934 #t-> da 300 +2 #da sampling at most 300ml +4 ."Qmail"DAfans.email "Started da in tube 2 at 13:10:22EST15-Dec-22\\n{}\\nCTD data unavailable\\nISUS data unavailable\\nCan@13:07:53, 16% flow, 21.0C, 28% humidity, 14.5psia, 14.90V, 0.297A avg, 0.285A avg, 4.42W",Subject: "da sampling at most 300ml" +5 #tLoading sh1 puck from tube 2 into Collection Clamp +2 "collection"'@& +3 "core" &LB +2 .tHand.open +2 "manipulator"&A1 +86 "core" 1 +3 "manipulator"&B% +5 "core" % \ 1 $E +2 "storage"(C% +3 "core" %D @ G +2 "storage"(D. +3 "core" .(K +2 .tSC.reconfigure :tight +4 !"Qmail"o:!Net::SMTPAuthenticationError: mesg"E534-5.7.9 Application-specific password required. Learn more at\ :@checkpoint: omitted:bt["E/opt/mbari/lib/ruby/1.8/net/smtp.rb:954:in `check_auth_response'"/opt/mbari/lib/ruby/1.8/net/smtp.rb:723:in `authenticate'":/opt/mbari/lib/ruby/1.8/net/smtp.rb:566:in `do_start'"7/opt/mbari/lib/ruby/1.8/net/smtp.rb:525:in `start'"2/home/esp/esp2/lib/email.rb:325:in `sendOnce'"3/home/esp/esp2/lib/schedule.rb:292:in `unsync'"3/home/esp/esp2/lib/schedule.rb:594:in `unsync'"3/home/esp/esp2/lib/schedule.rb:621:in `unsync'"2/home/esp/esp2/lib/email.rb:318:in `sendOnce'"//home/esp/esp2/lib/email.rb:340:in `email'",/home/esp/esp2/lib/msg.rb:68:in `retry'"//home/esp/esp2/lib/email.rb:339:in `email'"./home/esp/esp2/lib/email.rb:348:in `mail'"-/home/esp/esp2/lib/email.rb:66:in `call'"3/home/esp/esp2/lib/email.rb:66:in `initialize'"-/home/esp/esp2/lib/email.rb:63:in `loop'"3/home/esp/esp2/lib/email.rb:63:in `initialize'"7/home/esp/esp2/lib/schedule.rb:481:in `initialize'"0/home/esp/esp2/lib/thread.rb:738:in `start'"7/home/esp/esp2/lib/schedule.rb:474:in `initialize'"'/home/esp/esp2/lib/schedule.rb:472 +4 "storage"($\ .\ 1~b +2 !"Qmail"o:Email::Queue::Purge: mesg"Purged output queue:bt[ "//home/esp/esp2/lib/email.rb:106:in `purge'"3/home/esp/esp2/lib/email.rb:75:in `initialize'"-/home/esp/esp2/lib/email.rb:63:in `loop'"3/home/esp/esp2/lib/email.rb:63:in `initialize'"7/home/esp/esp2/lib/schedule.rb:481:in `initialize'"0/home/esp/esp2/lib/thread.rb:738:in `start'"7/home/esp/esp2/lib/schedule.rb:474:in `initialize'"'/home/esp/esp2/lib/schedule.rb:472 +2 .tSC.seek 2 +2 "storage"(E(  +1303 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (F& +3 "core" &  +2 "manipulator"&G& +3 "core" &' l +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&H(; +15 "core" ( + "manipulator"&I& +5 "core" &9 W ' + "storage"(J& +4 "core" &  W +2 .tForearm.seek 2 + 450 counts + "manipulator"&K'Ѐ +92 "core" ' +2 "storage"(L& +4 "core" & \ \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(M'e +78 "core" ( y +4 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek :down +2 "storage"(N'N +3 "core" '߯8g Y +111 ' + .tSE.stop +2 "storage"(5 +2 "manipulator"&O% +4 "core" %Ѕ  B +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&P'\ +97 "core" ' +2 !to:Slide::Error\ : mesg"OStorage Carousel positionErr at 2 - 32 counts during Storage Elevator move:@checkpoint: omitted: @replyo:I2C::Servo::AbsMove3Reply :@destinationi%: @channeli: @statusIS:I2C::Servo::Status: enabledT: pastRLSF: pastFLSF:pastThresholdF: lostF: homeF: positioni : velocityi: currenti:pwmi:erri: inPressi : outPressi :deltaPressiy : voltagef14.92099558173785-: @type2F: @tagiJ: @sourcei-: @error:positionErr:bt["2/home/esp/esp2/lib/slide.rb:587:in `raiseErr'"3/home/esp/esp2/lib/slide.rb:36:in `initialize'"3/home/esp/esp2/lib/i2c/servo.rb:1680:in `call'"6/home/esp/esp2/lib/i2c/servo.rb:1680:in `deliver'"3/home/esp/esp2/lib/i2c/msg.rb:605:in `process'"2/home/esp/esp2/lib/msg.rb:212:in `initialize'",/home/esp/esp2/lib/msg.rb:209:in `loop'"2/home/esp/esp2/lib/msg.rb:209:in `initialize'"7/home/esp/esp2/lib/schedule.rb:481:in `initialize'"0/home/esp/esp2/lib/thread.rb:738:in `start'"7/home/esp/esp2/lib/schedule.rb:474:in `initialize'"'/home/esp/esp2/lib/schedule.rb:472:@axisName"Storage Carousel +2029 #-> Hand.open +330 #-> Hand.close +2 .Hand.close + "manipulator"&Q/ +64 "core" / +255 #t-> Hand.open + .Hand.open +2 "manipulator"&R1 +54 "core" 1 +223 #t-> Hand.close + .Hand.close +2 "manipulator"&S/ +62 "core" / +124 #t-> Arm + "manipulator"&T& +4 "core" &B * & + "manipulator"&U% +4 "core" % \ 0  $r +361 #t-> Arm.home +2 "manipulator"&V& +3 "core" &B & +2 "manipulator"&W% +4 "core" % \ 0 $r +2 .tElbow.seek :home + "manipulator"&X( +241 "core" ( + "manipulator"&Y& +4 "core" & : N +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &Z& +3 "core" & j N +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :home +2 "manipulator"&[' +45 "core" ' + "manipulator"&\\& +4 "core" & p  N +2 "manipulator"&]% +4 "core" %   +384 #t-> Arm.ready! +3 .Forearm.reconfigure :loose +2 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&^'\ +44 "core" ' +2 .tElbow.jog 1500 +2 "manipulator"&_* +49 "core" * +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 .tElbow.home.seek :clear +2 "manipulator"&`(d +249 "core" ( + "manipulator"&a& +4 "core" &d # +2 "manipulator"&b% +4 "core" %\ /  #i +619 #t-> Arm.home + "manipulator"&c& +3 "core" &d # +2 "manipulator"&d% +4 "core" %\ 0 #i +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek :home + "manipulator"&e( +208 "core" ( + "manipulator"&f& +4 "core" & K  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &g& +2 "core" & \\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :home + "manipulator"&h' +36 "core" ' + "manipulator"&i& +4 "core" & o z =  +2 "manipulator"&j% +3 "core" %\ s p ^ R +189 #t-> Arm.ready! +2 .Forearm.reconfigure :loose +2 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&k'\ +46 "core" ' +2 .tElbow.jog 1500 + "manipulator"&l* +48 "core" * +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 .tElbow.home.seek :clear +2 "manipulator"&m(d +250 "core" ( +2 "manipulator"&n& +4 "core" &d  # + "manipulator"&o% +4 "core" %\ & > +208 #t-> CC +2 "collection"'p& +3 "core" &L7 +145 #t-> PC + "processing"%q& +4 "core" &W| +3453 #t-> Flush +378 #-> Flush.PC +2 #Loading FlushPuck into Processing Clamp from FlushPuck::Garage + "processing"%r& +3 "core" &W~ +2 .tHand.open + "manipulator"&s1 +59 "core" 1 +2 "manipulator"&t& +4 "core" &d P # + "manipulator"&u% +4 "core" % \ & > +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek FlushPuck::Garage +2 "manipulator"&v(, +139 "core" ( +2 "manipulator"&w& +4 "core" &, < % + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &x& +2 "core" &, o % +2 .tForearm.seek :garage +2 "manipulator"&y' +101 "core" ' + .tHand.close +2 "manipulator"&z/ +58 "core" / +2 "manipulator"&{& +4 "core" &, a % + "manipulator"&|% +4 "core" %  $  + .tForearm.seek :retract +2 "manipulator"&}'\ +98 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC + "manipulator"&~(c +113 "core" ( + "manipulator"&& +4 "core" &e  ? +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &e  ? +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&'[ +95 "core" ' +2 "manipulator"&& +4 "core" &e  ? +2 "manipulator"&% +3 "core" %U  +2 "processing"%& +4 "core" &W +2 "processing"%& +4 "core" &W +2 .tPC.seek :closed +2 "processing"%(Z +4 "core" &W  +9 &7 *y +9 &k > +10 &O~ H +9 &n G +9 &n H +10 &q H +9 &!Xk H +9 &#m G +10 &$m G +9 &&n H +10 &(an G +9 &*"j H +9 &+p H +10 &-p H +9 &/hq H +9 &1+k G +10 &2m H +9 &4l H +10 &6pk H +9 &82p H +9 &9m H +10 &;k G +9 &=yl G +9 &?9r H +10 &@k H +9 &Bp H +10 &Do H +9 &FCn G +9 &Hs H +10 &I~ J +9 &K~ K +9 &M; M +10 &N N +9 &P N +10 &R N +9 &TA N +10 &V N +9 &W N +9 &Y ; +9 &Zu4 !c +10 &Z & +2 ( +2 "processing"%& +3 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.46 + "processing"%& +4 "core" &Zy & + .tHand.open +2 "manipulator"& 1 +57 "core" 1 +2 "manipulator"&\ % +4 "core" % U  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"& '\ +93 "core" ' +383 #t-> Flush.CC +2 #Loading FlushPuck into Collection Clamp from Processing Clamp + "collection"' & +3 "core" &L +2 "manipulator"& & +4 "core" &e  ? +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +2 "manipulator"&(c +3 "core" ( + "manipulator"&& +5 "core" &e ? + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &e  ? +2 .tForearm.seek PC +2 "manipulator"&'[ +97 "core" ' + .tHand.close + "manipulator"&/ +57 "core" / +2 .tPC.seek :open + "processing"%(p +392 "core" ( +2 "manipulator"&& +4 "core" &e  ? + "manipulator"&% +4 "core" % M  + .tForearm.seek :retract +2 "manipulator"&'\ +100 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC + "manipulator"&( +358 "core" ( + "manipulator"&& +4 "core" &+  Ad +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &+ i Ad +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&'| +95 "core" ' +2 "manipulator"&& +4 "core" &+ o Ac + "manipulator"&"% +4 "core" %q  +2 "collection"'%& +3 "core" &L3 +2 "collection"''& +5 "core" &L^ +2 .tCC.seek :closed + "collection"'((] +4 "core" &Le  +9 &8_ *y +9 &kc > +9 &B~\\ J +10 &pa I +9 &ta I +10 &pZ I +9 &!Mq` H +9 &#sa I +10 &$na H +9 &&na I +9 &(Utc H +10 &*oB I +9 &+r` H +10 &-pa I +9 &/]ra H +9 &1sd H +10 &2q` I +9 &4sa H +9 &6emb H +10 &8(n` H +9 &9pc I +9 &;na H +10 &=mqg H +9 &?/rb H +10 &@nc I +9 &Bnh H +9 &Dumh H +10 &F6nm I +9 &Gtc I +10 &I|n J +9 &Ktn L +10 &M+p O +9 &Nq Q +9 &Pc Q +9 &Ri{ R +10 &T*q R +9 &U S +9 &Wb S +10 &Yhn U +9 &[,q T +10 &\\yk / +9 &](a [ +9 &]e` D +3 ( + "collection"''& +4 #tCollection Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.78 + "collection"')& +4 "core" &]em D + .tHand.open +2 "manipulator"&1 +60 "core" 1 +2 "manipulator"&% +4 "core" % q 9 + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&#'\ +92 "core" ' + "processing"%,& +4 "core" &r +647 #t-> Flush.garage +2 #Garaging FlushPuck in Collection Clamp +2 "manipulator"&-& +3 "core" &4# \\ ;5 +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC + "manipulator"&.( +26 "core" ( +2 "manipulator"&/& +4 "core" &  ( + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &0& +2 "core" &  ( +2 .tForearm.seek CC +2 "manipulator"&1'| +98 "core" ' + .tHand.close +2 "manipulator"&2/ +58 "core" / +2 .tCC.seek :open + "collection"'3(p +414 "core" ( +2 "manipulator"&4& +4 "core" &\    + "manipulator"&5% +4 "core" % ύ  + .tForearm.seek :retract +2 "manipulator"&6'\ +95 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage +2 "manipulator"&7(, +271 "core" ( +2 "manipulator"&8& +4 "core" &, F + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &9& +2 "core" &, q +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :garage +2 "manipulator"&:' +96 "core" ' +2 .tHand.open + "manipulator"&;1 +59 "core" 1 +2 "manipulator"&<% +4 "core" %  L +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +3 "manipulator"&='\ +93 "core" ' +486 #t-> Puck.count + "storage"(!% +3 "core" %?\ \  +3 .tSE.seek :down + "storage"(?'N +10 "core" ' + .tSE.stop +2 "storage"(5 +2 "manipulator"&@% +4 "core" %\ &  9 +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +42 .tSC.seek 1 +10 "storage"(A(B +368 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (B& +2 "core" &C V +2 "manipulator"&C& +4 "core" &,  + "manipulator"&D% +4 "core" %\ &  9 +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 1 +2 "manipulator"&>(c +177 "core" ( + "manipulator"&F& +4 "core" &c  # +2 "storage"(G& +4 "core" &C\ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 1 + 450 counts + "manipulator"&I'Ф +89 "core" ' + "storage"(J& +4 "core" &C\ "\ "  +2 .tSE.reconfigure :place +3 "storage"(#]kK-0-\ b +3 .tSE.seek :beamBreak + "storage"(L'e +125 "core" (" Y +3 !to:Slide::Error\ : mesg"OStorage Carousel positionErr at 1 - 32 counts during Storage Elevator move:@checkpoint: omitted: @replyo:I2C::Servo::AbsMove3Reply :@destinationi%: @channeli: @statusIS:I2C::Servo::Status: enabledT: pastRLSF: pastFLSF:pastThresholdF: lostF: homeT: positioni": velocityi: currenti:pwmi:erri: inPressi : outPressi :deltaPressiY : voltagef14.916086401570938q: @type2F: @tagiF: @sourcei-: @error:positionErr:bt["2/home/esp/esp2/lib/slide.rb:587:in `raiseErr'"3/home/esp/esp2/lib/slide.rb:36:in `initialize'"3/home/esp/esp2/lib/i2c/servo.rb:1680:in `call'"6/home/esp/esp2/lib/i2c/servo.rb:1680:in `deliver'"3/home/esp/esp2/lib/i2c/msg.rb:605:in `process'"2/home/esp/esp2/lib/msg.rb:212:in `initialize'",/home/esp/esp2/lib/msg.rb:209:in `loop'"2/home/esp/esp2/lib/msg.rb:209:in `initialize'"7/home/esp/esp2/lib/schedule.rb:481:in `initialize'"0/home/esp/esp2/lib/thread.rb:738:in `start'"7/home/esp/esp2/lib/schedule.rb:474:in `initialize'"'/home/esp/esp2/lib/schedule.rb:472:@axisName"Storage Carousel +143 "core" ' +3831 #t-> SE.home +2 "storage"(E% +4 "core" %\\ 6 +7252 #t-> SE.home.to :down +2 .SE.reconfigure :default +2 "storage"(#K-0-\ b +2 .tSE.home.seek :down +2 "storage"($'N +321 "core" ' +2 "storage"(&% +4 "core" %Z\ \   4 +702 #t-> Puck.count + "storage"(O% +4 "core" %X\ \  \ + +2 .tSE.seek :down + "storage"( 'N +4 "core" ' + .tSE.stop + "storage"(5 +2 "manipulator"&M% +4 "core" %Ы  & +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&N'\ +92 "core" ' +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 1 +2 "storage"(K(B +72 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (Q& +3 "core" &F = +2 "manipulator"&R& +4 "core" &d # +2 .tElbow.seek 1 + "manipulator"&S(c +4 "core" ( + "manipulator"&T& +4 "core" &d B # +2 "storage"(U& +4 "core" &F\ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 1 + 450 counts +2 "manipulator"&V'Ф +94 "core" ' +2 "storage"(W& +4 "core" &F\ "\ # 2 +2 .tSE.reconfigure :place +2 "storage"(#]kK-0-\ b +4 .tSE.seek :beamBreak + "storage"(Y'e +187 "core" (# o +4 !to:Slide::Error\ : mesg"OStorage Carousel positionErr at 1 - 31 counts during Storage Elevator move:@checkpoint: omitted: @replyo:I2C::Servo::AbsMove3Reply :@destinationi%: @channeli: @statusIS:I2C::Servo::Status: enabledT: pastRLSF: pastFLSF:pastThresholdF: lostF: homeT: positioni#: velocityi: currenti:pwmi:erri: inPressi : outPressi :deltaPressio : voltagef14.92099558173785-: @type2F: @tagiP: @sourcei-: @error:positionErr:bt["2/home/esp/esp2/lib/slide.rb:587:in `raiseErr'"3/home/esp/esp2/lib/slide.rb:36:in `initialize'"3/home/esp/esp2/lib/i2c/servo.rb:1680:in `call'"6/home/esp/esp2/lib/i2c/servo.rb:1680:in `deliver'"3/home/esp/esp2/lib/i2c/msg.rb:605:in `process'"2/home/esp/esp2/lib/msg.rb:212:in `initialize'",/home/esp/esp2/lib/msg.rb:209:in `loop'"2/home/esp/esp2/lib/msg.rb:209:in `initialize'"7/home/esp/esp2/lib/schedule.rb:481:in `initialize'"0/home/esp/esp2/lib/thread.rb:738:in `start'"7/home/esp/esp2/lib/schedule.rb:474:in `initialize'"'/home/esp/esp2/lib/schedule.rb:472:@axisName"Storage Carousel +79 "core" ' +763 #t-> SE.home.to :down +2 .SE.reconfigure :default +2 "storage"(#K-0-\ b +2 .tSE.home.seek :down +2 "storage"(Z'N +317 "core" ' + "storage"(H% +4 "core" %VA\ \ 1 _ +278 #t-> access 2 + "storage"(\\% +4 "core" %WA ) ^ +2 "manipulator"&]% +4 "core" %Э w Z + "manipulator"&P% +4 "core" %Э n Z +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&['\ +94 "core" ' + .tElbow.seek :clear +2 "manipulator"&X(d +100 "core" ( + "manipulator"&a% +4 "core" %\ 0  $q +2 "manipulator"&b& +4 "core" &d *  + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 6 + "storage"(_(K +1629 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (c& +3 "core" &K G  +2200 #t-> purgeIntake +2 #Loading FlushPuck into Collection Clamp from FlushPuck::Garage + "collection"'d& +3 "core" & +2 "manipulator"&f& +4 "core" &d p  +2 "manipulator"&g% +3 "core" %\ 0 O $q +2 .tElbow.seek FlushPuck::Garage + "manipulator"&i(, +132 "core" ( + "manipulator"&j& +4 "core" &,  + +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &`& +3 "core" &,  + +2 .tForearm.seek :garage + "manipulator"&^' +98 "core" ' +2 .tHand.close + "manipulator"&h/ +57 "core" / + "manipulator"&e& +4 "core" &, + +2 "manipulator"&n% +3 "core" %  m +2 .tForearm.seek :retract +2 "manipulator"&o'\ +104 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC + "manipulator"&l( +286 "core" ( +2 "manipulator"&p& +4 "core" &+ = Ac + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &q& +2 "core" &+ T Ac +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&r'| +98 "core" ' +2 "manipulator"&s& +4 "core" &+ g Ab +2 "manipulator"&t% +3 "core" %σ  +2 "collection"'u& +4 "core" & +2 "collection"'w& +4 "core" & +2 .tCC.seek :closed +2 "collection"'x(] +4 "core" & +8 &B $d +9 &uY 6 +10 & I +9 &l H +9 &]r H +10 &r I +9 & q H +10 &"s I +9 &$dn I +9 &&&s I +10 &'q I +9 &)p H +9 &+mo H +10 &-.r I +9 &.pZ I +10 &0r H +9 &2tqC I +9 &46uD I +10 &5r H +9 &7qk H +9 &9}pp H +10 &;?ko H +9 &=mi I +10 &>sh H +9 &@nn H +9 &BErq I +10 &D lp H +9 &EoH H +9 &Gm I +10 &ILx J +9 &K\  K +10 &L N +9 &N} Q +10 &P? Q +9 &Q R +9 &S S +9 &Uu V +10 &W? S +9 &X@ U +10 &Z U +9 &\\s! G +10 &]n/k $l +9 &]Kp > +2 ( +2 "collection"'w& +3 #tCollection Clamp onSpring/offSpring for 10/25 samples, on/off torque 1.86 + "collection"'m& +4 "core" &]GJ > +2 .tHand.open + "manipulator"&z1 +57 "core" 1 +2 "manipulator"&{% +4 "core" % σ R +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&|'\ +92 "core" ' +2 #tPurging external Intake + "collection"'k& +4 "core" &]FI > + "collection"'% +4 "core" %? + .tCSV.dial :flush +2 "collection"'  +41 "core"  +2 .tCS.seek 10ml +2 "collection"'y' +2202 "core" ' +2 .tdelay 5 seconds +502 ."connect"CSV.dial CBV +4 .tCBV.dial CSV +2 "collection"' + '  +5 "core" +61  + .tCTV.dial :intake +2 "collection"'  +67 "core"  +2 .tIntake.select :open + "sampler") +10 .tCS.seek 0ml + "collection"'v' +2177 "core" ' + .tIntake.select :close +2 "sampler")0 +9 .tCTV.dial :air + "collection"'}  +67 "core" ~ + #tGaraging FlushPuck in Collection Clamp +2 "manipulator"&*& +4 "core" &3!  9( +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&( +25 "core" ( +2 "manipulator"& & +4 "core" &   + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &\ & +2 "core" & 9  +2 .tForearm.seek CC +2 "manipulator"&'| +101 "core" ' + .tHand.close +2 "manipulator"&/ +53 "core" / +2 .tCC.seek :open +2 "collection"' (p +410 "core" ( +2 "manipulator"& & +4 "core" &   + "manipulator"&% +4 "core" % {  +2 .tForearm.seek :retract + "manipulator"&'\ +100 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek :garage + "manipulator"&(, +236 "Can"u EB +45 "core" ( +2 "manipulator"&~& +4 "core" &,  , + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 & & +2 "core" &, { , +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :garage + "manipulator"&' +106 "core" ' +2 .tHand.open +2 "manipulator"&1 +64 "core" 1 + "manipulator"&% +4 "core" %  U > +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +101 "core" ' +541 #t-> Puck.count + "storage"(% +4 "core" %X\ \  8 +2 .tSE.seek :down + "storage"('N +4 "core" ' + .tSE.stop +2 "storage"(5 +2 "manipulator"&% +3 "core" %\ 5 & +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 1 + "storage"((B +1628 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 ("& +3 "core" &E G +2 "manipulator"&%& +4 "core" &, N , + "manipulator"&% +4 "core" %\ 5  & +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 1 + "manipulator"&+(c +180 "core" ( +2 "manipulator"&)& +4 "core" &a 6 !p + "storage"(& +4 "core" &E\ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 1 + 450 counts + "manipulator"&'Ф +108 "core" ' + "storage"(,& +4 "core" &E\ #\ ! $ +2 .tSE.reconfigure :place +3 "storage"(#]kK-0-\ b +3 .tSE.seek :beamBreak + "storage"(''e +125 "core" (# V +4 !to:Slide::Error\ : mesg"OStorage Carousel positionErr at 1 - 31 counts during Storage Elevator move:@checkpoint: omitted: @replyo:I2C::Servo::AbsMove3Reply :@destinationi%: @channeli: @statusIS:I2C::Servo::Status: enabledT: pastRLSF: pastFLSF:pastThresholdF: lostF: homeT: positioni#: velocityi: currenti:pwmi:erri: inPressi : outPressi :deltaPressiV : voltagef14.925904761904762.: @type2F: @tagi: @sourcei-: @error:positionErr:bt["2/home/esp/esp2/lib/slide.rb:587:in `raiseErr'"3/home/esp/esp2/lib/slide.rb:36:in `initialize'"3/home/esp/esp2/lib/i2c/servo.rb:1680:in `call'"6/home/esp/esp2/lib/i2c/servo.rb:1680:in `deliver'"3/home/esp/esp2/lib/i2c/msg.rb:605:in `process'"2/home/esp/esp2/lib/msg.rb:212:in `initialize'",/home/esp/esp2/lib/msg.rb:209:in `loop'"2/home/esp/esp2/lib/msg.rb:209:in `initialize'"7/home/esp/esp2/lib/schedule.rb:481:in `initialize'"0/home/esp/esp2/lib/thread.rb:738:in `start'"7/home/esp/esp2/lib/schedule.rb:474:in `initialize'"'/home/esp/esp2/lib/schedule.rb:472:@axisName"Storage Carousel @946684875.53EST = =tMAIN =mMAIN_scheduler @EST946684877.45 #"core_reset"Sent BREAK +2 #t@26366 idle with ifg=0x00, ie=0x75 + #>RESET< ESP2 v3.41 I2C Gateway v3.20 +208 #>RESET< ESP2 v3.41 I2C Gateway v3.20 for core bus +215 !o:Instrument::ISUSCore: @refi?N: @configS:Instrument::Configuration: name" ISUS:calFileName0:sampleCmd"TS: prompt"\ :statusCmd"C:sampleTimeouti#:promptTimeouti:statusTimeouti: retriesi:strToPrompt"W: pace0: echoF:\ @name@ +99 #Configuration for don (12651-03) 10/9/20 brent@mbari.org\ /home/esp/esp2/type/shallow/don/configure.rb\ +405 "Can"o $$!t + o $$!t + #tPolling Can every 10:00 @EST1671128441.13 #-> ESP.ready! +2 #Powering core bus +533 .Gate.power :raw,:ON +3 "sampler") +27 ) +2 "core"  +2 "collection"' +2 ' +3 "core"  +2 "processing"% +2 % +3 "core"  +5 "collection"' 9\ +2 ' 0\ +2 ' -\ +3 "processing"% 9\ +2 % 2\ +2 % *\ +2 % 0\ +3 "sampler")&\ +2 "collection"'% +3 "core" % + .tCS.configure :default +3 "collection"'#P d@b +2 "processing"%% +2 "core" % +2 .tPS.configure :default +2 "processing"%#A d`xb +3 "sampler")% +2 "core" %\ s\ l +2 .tSS.configure :default +2 "sampler")#.0X  *| +2 "processing"%(& +4 "collection"')& +4 "core" &" + & +2 ."openPC"PC.reconfigure :default +3 .tCC.reconfigure :default +3 "processing"%$x2 ^22b +4 "collection"'$x2 ^22b +2 ."openPC"PC.home.seek :open +2 .tCC.home.seek :open +2 "processing"%*(p +2 "collection"'+(p +353 "core" ( +19 ( +2 "collection"', +3 "core"  +2 "processing"%- +3 "core" U + "processing"%. +3 "core"  +2 "processing"%/ +3 "core" B + "collection"'0% +4 "core" %< +2 "processing"%1% +3 "core" %! +2 "sampler")2% +5 "core" %-\ u\ o & +2 "collection"'3& +3 "core" &[]  +2 "processing"%4& +3 "core" &W  +2 "manipulator"&5% +4 "core" %\ > *| +2 "manipulator"&6& +3 "core" &/ F < +2 "storage"(7& +3 "core" &,~ F  +2 "storage"(8% +4 "core" %I7 9 \\ + "collection"'99 +3 "core" 9dj +2 "processing"%:9 +3 "core" 9} +669 #t-> exit +6 #mEXIT @1671128479.09EST @1671128501.40EST = =tMAIN =mMAIN_scheduler @EST1671128503.31 #"core_reset"Sent BREAK +2 #t@43580 receive with ifg=0x10, ie=0xFD + #@44218 receive with ifg=0x10, ie=0xFD #@44877 receive with ifg=0x10, ie=0xFD + #@45513 receive with ifg=0x10, ie=0xFD + #@46161 receive with ifg=0x10, ie=0xFD #@46808 receive with ifg=0x10, ie=0xFD + #@47455 receive with ifg=0x10, ie=0xFD + #@47786 receive with ifg=0x80, ie=0xFD #@22043 idle with ifg=0x00, ie=0x75 + #ESP2 v3.41 I2C Gateway v3.20 +8 #ESP2 v3.41 I2C Gateway v3.20 for core bus +209 !o:Instrument::ISUSCore: @configS:Instrument::Configuration: name" ISUS:calFileName0:sampleCmd"TS: prompt"\ :statusCmd"C:sampleTimeouti#:promptTimeouti:statusTimeouti: retriesi:strToPrompt"W: pace0: echoF: @refiK:\ @name@ +101 #Configuration for don (12651-03) 10/9/20 brent@mbari.org\ /home/esp/esp2/type/shallow/don/configure.rb\ +382 "Can"k HG + k HG + #tPolling Can every 10:00 +632 #-> ESP.ready! +154 "sampler") +2 ) +2 "core"  +2 "collection"' + ' +4 "core"  + "processing"% +2 % +3 "core"  +5 "collection"' 9\ +2 ' 0\ + ' -\ +4 "processing"% 9\ +2 % 2\ +2 % *\ +2 % 0\ +4 "sampler")&\ +2 "collection"'% +2 "core" % +2 .tCS.configure :default +2 "collection"'#P d@b +3 .tCS.hold + "collection"'+ +3 "core" + + .tCS.configure :default +3 "collection"'#P d@b +2 "processing"%% +3 "core" %1 + .tPS.configure :default +3 "processing"%#A d`xb +2 "sampler")% +3 "core" %-\ t\ n & + .tSS.configure :default +3 "sampler")#.0X *| +2 .tForearm.configure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.hold +2 "manipulator"&+ +2 "core" + + .tForearm.configure :loose +2 "manipulator"&#Q@2^d^b +3 && +2 "core" &/ N < +2 .tElbow.configure :loose +2 "manipulator"&$ &.,(#b +2 .tElbow.hold + "manipulator"&, +3 "core" , +2 .tElbow.configure :loose +2 "manipulator"&$ &.,(#b +4 "storage"(& +3 "core" &,~   + .tSC.configure :loose +3 "storage"($.\ 1~b +2 .tSC.hold + "storage"(, +4 "core" , + .tSC.configure :loose +2 "storage"($.\ 1~b +3 (% +2 "core" %I2 ^ \\ +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +2 .tSE.hold + "storage"(+ +3 "core" + +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +2 .tCH.coast + "collection"'  +3 "core" + .tCH.configure :default +2 "collection"'\ 2 +2 .tPH.coast + "processing"%  +3 "core" + .tPH.configure :default + "processing"%\ 2 +3 #tAll dwarf controllers running firmware version 3.85 +2 "sampler") +9 "collection"'% +4 "core" %. +2 "processing"%% +2 "manipulator"&% +3 "sampler")% +8 "core" %! + %\ 2 S %| + %-\ u\ o & +2 "manipulator"&& +3 "core" &/ < +2 "storage"(& +3 "core" &,' 9  +2 "storage"(% +3 "core" %I2 & \\ + "collection"'& +4 "core" &[  + "processing"%& +4 "core" &W  +2 "collection"'  +3 "core"  + "collection"'! +3 "core"  +2 "collection"'" +3 "core"  +2 "processing"%# +2 "core"  +2 "processing"%$ +3 "core" U +2 "processing"%% +3 "core"  + "processing"%& +3 "core" B +2 "sampler")' +3 "core"  + "collection"'(% +4 "core" % +2 "processing"%)% +3 "core" %/ +2 "sampler")*% +4 "core" %-\ u\ n & +2 "collection"'+& +3 "core" &[  +2 "processing"%,& +3 "core" &W9  +2 "manipulator"&-% +4 "core" %\ 2  %| +2 "manipulator"&.& +4 "core" &/ P < + "storage"(/& +4 "core" &,' H  +2 "storage"(0% +3 "core" %I1 ` \\ +2 "collection"'19 +3 "core" 9dl +2 "processing"%29 +3 "core" 9} +483 #t-> da 300 +3 #da sampling at most 300ml +4 !o:RuntimeError: mesg" No Storage.srcTube defined!:bt[ "4/home/esp/esp2/utils/puckmoves.rb:350:in `load'"8/home/esp/esp2/utils/puckmoves.rb:958:in `loadPuck'"7/home/esp/esp2/protocol/2G/DA.rb:22:in `daExtract'"0/home/esp/esp2/protocol/2G/DA.rb:53:in `da'"(ESP):2:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +2 ."Qmail"DAfans.email "Started da at 13:22:06EST15-Dec-22\\n{}\\nCTD data unavailable\\nISUS data unavailable\\nCan@13:21:50, 16% flow, 21.3C, 28% humidity, 14.4psia, 14.89V, 0.333A avg, 0.327A avg, 4.97W",Subject: "da sampling at most 300ml" +105 !o:!Net::SMTPAuthenticationError: mesg"E534-5.7.9 Application-specific password required. Learn more at\ :@checkpoint: omitted:bt["E/opt/mbari/lib/ruby/1.8/net/smtp.rb:954:in `check_auth_response'"/opt/mbari/lib/ruby/1.8/net/smtp.rb:723:in `authenticate'":/opt/mbari/lib/ruby/1.8/net/smtp.rb:566:in `do_start'"7/opt/mbari/lib/ruby/1.8/net/smtp.rb:525:in `start'"2/home/esp/esp2/lib/email.rb:325:in `sendOnce'"3/home/esp/esp2/lib/schedule.rb:292:in `unsync'"3/home/esp/esp2/lib/schedule.rb:594:in `unsync'"3/home/esp/esp2/lib/schedule.rb:621:in `unsync'"2/home/esp/esp2/lib/email.rb:318:in `sendOnce'"//home/esp/esp2/lib/email.rb:340:in `email'",/home/esp/esp2/lib/msg.rb:68:in `retry'"//home/esp/esp2/lib/email.rb:339:in `email'"./home/esp/esp2/lib/email.rb:348:in `mail'"-/home/esp/esp2/lib/email.rb:66:in `call'"3/home/esp/esp2/lib/email.rb:66:in `initialize'"-/home/esp/esp2/lib/email.rb:63:in `loop'"3/home/esp/esp2/lib/email.rb:63:in `initialize'"7/home/esp/esp2/lib/schedule.rb:481:in `initialize'"0/home/esp/esp2/lib/thread.rb:738:in `start'"7/home/esp/esp2/lib/schedule.rb:474:in `initialize'"'/home/esp/esp2/lib/schedule.rb:472 +2 !o:Email::Queue::Purge: mesg"Purged output queue:bt[ "//home/esp/esp2/lib/email.rb:106:in `purge'"3/home/esp/esp2/lib/email.rb:75:in `initialize'"-/home/esp/esp2/lib/email.rb:63:in `loop'"3/home/esp/esp2/lib/email.rb:63:in `initialize'"7/home/esp/esp2/lib/schedule.rb:481:in `initialize'"0/home/esp/esp2/lib/thread.rb:738:in `start'"7/home/esp/esp2/lib/schedule.rb:474:in `initialize'"'/home/esp/esp2/lib/schedule.rb:472 +827 #t-> startTube 2 +956 #-> $da[:extractVol]=.19 +5739 #-> da 300 +2 #da sampling at most 300ml +2 ."Qmail"DAfans.email "Started da in tube 2 at 13:23:23EST15-Dec-22\\n{}\\nCTD data unavailable\\nISUS data unavailable\\nCan@13:21:50, 16% flow, 21.3C, 28% humidity, 14.4psia, 14.89V, 0.333A avg, 0.327A avg, 4.97W",Subject: "da sampling at most 300ml" +4 #tLoading sh1 puck from tube 2 into Collection Clamp + "collection"'3& +4 "core" &[  +2 .tHand.open +2 "manipulator"&41 +59 "core" 1 + "manipulator"&5% +6 "core" % \ 2  %| +2 "storage"(6% +3 "core" %I1 T \\ +2 "storage"(7. +3 "core" .,, +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"(8(  +5 !"Qmail"o:!Net::SMTPAuthenticationError: mesg"E534-5.7.9 Application-specific password required. Learn more at\ :@checkpoint: omitted:bt["E/opt/mbari/lib/ruby/1.8/net/smtp.rb:954:in `check_auth_response'"/opt/mbari/lib/ruby/1.8/net/smtp.rb:723:in `authenticate'":/opt/mbari/lib/ruby/1.8/net/smtp.rb:566:in `do_start'"7/opt/mbari/lib/ruby/1.8/net/smtp.rb:525:in `start'"2/home/esp/esp2/lib/email.rb:325:in `sendOnce'"3/home/esp/esp2/lib/schedule.rb:292:in `unsync'"3/home/esp/esp2/lib/schedule.rb:594:in `unsync'"3/home/esp/esp2/lib/schedule.rb:621:in `unsync'"2/home/esp/esp2/lib/email.rb:318:in `sendOnce'"//home/esp/esp2/lib/email.rb:340:in `email'",/home/esp/esp2/lib/msg.rb:68:in `retry'"//home/esp/esp2/lib/email.rb:339:in `email'"./home/esp/esp2/lib/email.rb:348:in `mail'"-/home/esp/esp2/lib/email.rb:66:in `call'"3/home/esp/esp2/lib/email.rb:66:in `initialize'"-/home/esp/esp2/lib/email.rb:63:in `loop'"3/home/esp/esp2/lib/email.rb:63:in `initialize'"7/home/esp/esp2/lib/schedule.rb:481:in `initialize'"0/home/esp/esp2/lib/thread.rb:738:in `start'"7/home/esp/esp2/lib/schedule.rb:474:in `initialize'"'/home/esp/esp2/lib/schedule.rb:472 +2 !o:Email::Queue::Purge: mesg"Purged output queue:bt[ "//home/esp/esp2/lib/email.rb:106:in `purge'"3/home/esp/esp2/lib/email.rb:75:in `initialize'"-/home/esp/esp2/lib/email.rb:63:in `loop'"3/home/esp/esp2/lib/email.rb:63:in `initialize'"7/home/esp/esp2/lib/schedule.rb:481:in `initialize'"0/home/esp/esp2/lib/thread.rb:738:in `start'"7/home/esp/esp2/lib/schedule.rb:474:in `initialize'"'/home/esp/esp2/lib/schedule.rb:472 +669 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (9& +2 "core" &   +2 "manipulator"&:& +4 "core" &/ < + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&;(; +58 "core" ( + "manipulator"&<& +4 "core" &2 T ) +2 "storage"(=& +4 "core" &  - +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&>'Ѐ +106 "core" ' + "storage"(?& +5 "core" & \ \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(@'e +198 "core" ( x +4 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek :down +2 "storage"(A'N +3 "core" '9N A +227 ' + .tSE.stop + "storage"(5 +3 "manipulator"&B% +4 "core" %Ѝ ~ s +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&C'\ +87 "core" ' +2 !to:Slide::Error\ : mesg"OStorage Carousel positionErr at 2 - 31 counts during Storage Elevator move:@checkpoint: omitted: @replyo:I2C::Servo::AbsMove3Reply :@destinationi%: @channeli: @statusIS:I2C::Servo::Status: enabledT: pastRLSF: pastFLSF:pastThresholdF: lostF: homeF: positioni : velocityi: currenti:pwmi:erri: inPressi : outPressi :deltaPressix : voltagef14.92099558173785-: @type2F: @tagi=: @sourcei-: @error:positionErr:bt["2/home/esp/esp2/lib/slide.rb:587:in `raiseErr'"3/home/esp/esp2/lib/slide.rb:36:in `initialize'"3/home/esp/esp2/lib/i2c/servo.rb:1680:in `call'"6/home/esp/esp2/lib/i2c/servo.rb:1680:in `deliver'"3/home/esp/esp2/lib/i2c/msg.rb:605:in `process'"2/home/esp/esp2/lib/msg.rb:212:in `initialize'",/home/esp/esp2/lib/msg.rb:209:in `loop'"2/home/esp/esp2/lib/msg.rb:209:in `initialize'"7/home/esp/esp2/lib/schedule.rb:481:in `initialize'"0/home/esp/esp2/lib/thread.rb:738:in `start'"7/home/esp/esp2/lib/schedule.rb:474:in `initialize'"'/home/esp/esp2/lib/schedule.rb:472:@axisName"Storage Carousel +13853 #-> exit +6 #mEXIT @1671128757.24EST @1671128773.52EST = =tMAIN =mMAIN_scheduler @EST1671128775.28 #"core_reset"Sent BREAK +2 #t@62025 sendCRC with ifg=0x20, ie=0x7F + #@63844 sendCRC with ifg=0x08, ie=0x5F #@40710 idle with ifg=0x84, ie=0x75 + #@41396 select with ifg=0x10, ie=0xF5 + #@42045 receive with ifg=0x10, ie=0xFD #@42693 receive with ifg=0x10, ie=0xFD + #@43341 receive with ifg=0x10, ie=0xFD #@43668 receive with ifg=0x80, ie=0xFD + #@9761 idle with ifg=0x00, ie=0x75 #ESP2 v3.41 I2C Gateway v3.20 +9 #ESP2 v3.41 I2C Gateway v3.20 for core bus +197 !o:Instrument::ISUSCore: @configS:Instrument::Configuration: name" ISUS:calFileName0:sampleCmd"TS: prompt"\ :statusCmd"C:sampleTimeouti#:promptTimeouti:statusTimeouti: retriesi:strToPrompt"W: pace0: echoF: @refilO:\ @name@ +94 #Configuration for don (12651-03) 10/9/20 brent@mbari.org\ /home/esp/esp2/type/shallow/don/configure.rb\ +361 "Can"\\ <; + \\ <; + #tPolling Can every 10:00 +608 #-> ESP.ready? +451 #-> ESP.ready! +154 "sampler") + ) +3 "core"  +2 "collection"' +2 ' +2 "core"  +2 "processing"% +2 % +3 "core"  +4 "collection"' 9\ +3 ' 0\ + ' -\ +4 "processing"% 9\ +2 % 2\ +2 % *\ + % 0\ +4 "sampler")&\ +2 "collection"'% +3 "core" % + .tCS.configure :default +3 "collection"'#P d@b +2 .tCS.hold + "collection"'+ +4 "core" + + .tCS.configure :default +3 "collection"'#P d@b +2 "processing"%% +3 "core" %d + .tPS.configure :default +3 "processing"%#A d`xb +2 "sampler")% +3 "core" %-\ t\ o & + .tSS.configure :default +3 "sampler")#.0X\ \  +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +2 .tCH.coast +2 "collection"'  +2 "core" + .tCH.configure :default +2 "collection"'\ 2 +2 .tPH.coast + "processing"%  +3 "core" + .tPH.configure :default + "processing"%\ 2 +3 #tAll dwarf controllers running firmware version 3.85 +2 "sampler") +9 "collection"'% +4 "core" % +2 "sampler")% +2 "processing"%% +2 "manipulator"&% +7 "core" %-\ u\ p & +2 %o %\ , "[ +2 "manipulator"&& +4 "core" &= ' + "storage"(& +4 "core" & \ \ K + "storage"(% +3 "core" %>\ \  +2 "collection"'& +3 "core" &[Y  +2 "processing"%& +3 "core" &W?  +2 "collection"' +3 "core"  + "collection"' +3 "core"  +2 "collection"'  +3 "core"  + "processing"%! +3 "core"  +2 "processing"%" +3 "core" U + "processing"%# +3 "core"  +2 "processing"%$ +3 "core" B + "sampler")% +3 "core"  +2 "collection"'&% +3 "core" % +2 "processing"%'% +4 "core" % +2 "sampler")(% +3 "core" %-\ t\ m & +2 "collection"')& +6 "core" &[T  + "processing"%*& +4 "core" &WJ  +2 "manipulator"&+% +4 "core" %\ - "[ + "manipulator"&,& +4 "core" &= r ' +2 "storage"(-& +3 "core" & \ \  +2 "storage"(.% +4 "core" %>\ \  + "collection"'/9 +4 "core" 9dl + "processing"%09 +3 "core" 9 +373 #t-> startTube 2 +1029 #-> $da[:extractVol]=.19 +796 #-> da 300 +2 #da sampling at most 300ml +5 #Loading sh1 puck from tube 2 into Collection Clamp +2 ."Qmail"DAfans.email "Started da in tube 2 at 13:26:59EST15-Dec-22\\n{}\\nCTD data unavailable\\nISUS data unavailable\\nCan@13:26:21, 16% flow, 21.3C, 28% humidity, 14.5psia, 14.91V, 0.260A avg, 0.254A avg, 3.88W",Subject: "da sampling at most 300ml" +2 "collection"'1& +5 "core" &[p  +2 .tHand.open +2 "manipulator"&21 +15 "core" 1 +3 "manipulator"&3% +5 "core" %\ - ' "[ +2 "storage"(4% +4 "core" %>\ \  + "storage"(5. +3 "core" . +4 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 + "storage"(6(  +31 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (7& +3 "core" &   # +2 "manipulator"&8& +3 !"Qmail"o:!Net::SMTPAuthenticationError: mesg"E534-5.7.9 Application-specific password required. Learn more at\ :@checkpoint: omitted:bt["E/opt/mbari/lib/ruby/1.8/net/smtp.rb:954:in `check_auth_response'"/opt/mbari/lib/ruby/1.8/net/smtp.rb:723:in `authenticate'":/opt/mbari/lib/ruby/1.8/net/smtp.rb:566:in `do_start'"7/opt/mbari/lib/ruby/1.8/net/smtp.rb:525:in `start'"2/home/esp/esp2/lib/email.rb:325:in `sendOnce'"3/home/esp/esp2/lib/schedule.rb:292:in `unsync'"3/home/esp/esp2/lib/schedule.rb:594:in `unsync'"3/home/esp/esp2/lib/schedule.rb:621:in `unsync'"2/home/esp/esp2/lib/email.rb:318:in `sendOnce'"//home/esp/esp2/lib/email.rb:340:in `email'",/home/esp/esp2/lib/msg.rb:68:in `retry'"//home/esp/esp2/lib/email.rb:339:in `email'"./home/esp/esp2/lib/email.rb:348:in `mail'"-/home/esp/esp2/lib/email.rb:66:in `call'"3/home/esp/esp2/lib/email.rb:66:in `initialize'"-/home/esp/esp2/lib/email.rb:63:in `loop'"3/home/esp/esp2/lib/email.rb:63:in `initialize'"7/home/esp/esp2/lib/schedule.rb:481:in `initialize'"0/home/esp/esp2/lib/thread.rb:738:in `start'"7/home/esp/esp2/lib/schedule.rb:474:in `initialize'"'/home/esp/esp2/lib/schedule.rb:472 +4 !o:Email::Queue::Purge: mesg"Purged output queue:bt[ "//home/esp/esp2/lib/email.rb:106:in `purge'"3/home/esp/esp2/lib/email.rb:75:in `initialize'"-/home/esp/esp2/lib/email.rb:63:in `loop'"3/home/esp/esp2/lib/email.rb:63:in `initialize'"7/home/esp/esp2/lib/schedule.rb:481:in `initialize'"0/home/esp/esp2/lib/thread.rb:738:in `start'"7/home/esp/esp2/lib/schedule.rb:474:in `initialize'"'/home/esp/esp2/lib/schedule.rb:472 +2 "core" &= ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&9(; +3 "core" ( + "manipulator"&:& +4 "core" &= L ' +2 "storage"(;& +4 "core" & \ \   ( +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&<'Ѐ +108 "core" ' + "storage"(=& +4 "core" & \ #\  ( +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(>'e +203 "core" ( V +5 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek :down +2 "storage"(?'N +3 "core" 'G:C +240 ' + .tSE.stop + "storage"(5 +3 "manipulator"&@% +4 "core" %Е z } +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&A'\ +91 "core" ' +2 !to:Slide::Error\ : mesg"OStorage Carousel positionErr at 2 - 31 counts during Storage Elevator move:@checkpoint: omitted: @replyo:I2C::Servo::AbsMove3Reply :@destinationi%: @channeli: @statusIS:I2C::Servo::Status: enabledT: pastRLSF: pastFLSF:pastThresholdF: lostF: homeF: positioni : velocityi: currenti:pwmi:erri: inPressi : outPressi :deltaPressiV : voltagef14.92099558173785-: @type2F: @tagi;: @sourcei-: @error:positionErr:bt["2/home/esp/esp2/lib/slide.rb:587:in `raiseErr'"3/home/esp/esp2/lib/slide.rb:36:in `initialize'"3/home/esp/esp2/lib/i2c/servo.rb:1680:in `call'"6/home/esp/esp2/lib/i2c/servo.rb:1680:in `deliver'"3/home/esp/esp2/lib/i2c/msg.rb:605:in `process'"2/home/esp/esp2/lib/msg.rb:212:in `initialize'",/home/esp/esp2/lib/msg.rb:209:in `loop'"2/home/esp/esp2/lib/msg.rb:209:in `initialize'"7/home/esp/esp2/lib/schedule.rb:481:in `initialize'"0/home/esp/esp2/lib/thread.rb:738:in `start'"7/home/esp/esp2/lib/schedule.rb:474:in `initialize'"'/home/esp/esp2/lib/schedule.rb:472:@axisName"Storage Carousel +1353 #-> access 2 +3 "storage"(B% +3 "core" %L\ \  +37 "manipulator"&C% +10 "core" %\ 6 \\ & + "manipulator"&D& +3 "core" &= r ' +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"(E(K +1305 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (F& +3 "core" &K  +20682 #t-> access 3 +2 "storage"(G% +3 "core" %L\ \  +2 "manipulator"&H% +4 "core" %\ 6 d & + "manipulator"&I& +4 "core" &= 9 ' +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 7 +2 "storage"(J([ +347 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (K& +3 "core" &[ H  +1950 #t-> require 'shuffle.rb' +1071 #-> 5.times {shuffle 2..3} +2 #Shuffling pucks in tube 2 of [2..3] +2 #Loading generic puck from tube 2 into Collection Clamp + "collection"'L& +4 "core" &[  + "manipulator"&M% +5 "core" %\ 6 x & + "storage"(N% +4 "core" %K\ \   + "storage"(O. +3 "core" .([ +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"(P(  +1620 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (Q& +2 "core" &  J +2 "manipulator"&R& +3 "core" &? 1 ' +2 .tElbow.seek 2 +2 "manipulator"&S(; +3 "core" ( + "manipulator"&T& +4 "core" &? $ ' + "storage"(U& +4 "core" & \ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts +2 "manipulator"&V'Ѐ +96 "core" ' + "storage"(W& +4 "core" & \ "\ !  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(X'e +197 "core" ( _ +4 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek :down + "storage"(Y'N +4 "core" ':G  +232 ' + .tSE.stop + "storage"(5 +3 "manipulator"&Z% +4 "core" %i  H +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&['\ +96 "core" ' +2 !to:Slide::Error\ : mesg"OStorage Carousel positionErr at 2 - 31 counts during Storage Elevator move:@checkpoint: omitted: @replyo:I2C::Servo::AbsMove3Reply :@destinationi%: @channeli: @statusIS:I2C::Servo::Status: enabledT: pastRLSF: pastFLSF:pastThresholdF: lostF: homeF: positioni : velocityi: currenti:pwmi:erri: inPressi : outPressi :deltaPressi_ : voltagef14.916086401570938q: @type2F: @tagiU: @sourcei-: @error:positionErr:bt["2/home/esp/esp2/lib/slide.rb:587:in `raiseErr'"3/home/esp/esp2/lib/slide.rb:36:in `initialize'"3/home/esp/esp2/lib/i2c/servo.rb:1680:in `call'"6/home/esp/esp2/lib/i2c/servo.rb:1680:in `deliver'"3/home/esp/esp2/lib/i2c/msg.rb:605:in `process'"2/home/esp/esp2/lib/msg.rb:212:in `initialize'",/home/esp/esp2/lib/msg.rb:209:in `loop'"2/home/esp/esp2/lib/msg.rb:209:in `initialize'"7/home/esp/esp2/lib/schedule.rb:481:in `initialize'"0/home/esp/esp2/lib/thread.rb:738:in `start'"7/home/esp/esp2/lib/schedule.rb:474:in `initialize'"'/home/esp/esp2/lib/schedule.rb:472:@axisName"Storage Carousel +2482 #-> 5.times {shuffle 3..4} +2 #Shuffling pucks in tube 3 of [3..4] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"'\\& +4 "core" &[  + "manipulator"&]% +4 "core" %\ 8 X ' +2 "storage"(^% +4 "core" %J\ \  +2 "storage"(_. +2 "core" . +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(`( +353 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (a& +2 "core" & <  +2 "manipulator"&b& +4 "core" &? X ' +2 .tElbow.seek 3 +2 "manipulator"&c(D +3 "core" ( + "manipulator"&d& +4 "core" &? E ' + "storage"(e& +4 "core" &\ \   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts + "manipulator"&f' +101 "core" ' + "storage"(g& +4 "core" &\ !\   +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(h'e +288 "core" ' +2 "storage"(i- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (j& +2 "core" &\ \   +2 "manipulator"&k& +4 "core" &? j ' + .tElbow.seek 3 +2 "manipulator"&l(D +3 "core" ( + "manipulator"&m& +4 "core" &? X ' + "storage"(n& +4 "core" &\ \   +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&o'y +11 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&p/ +57 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&q& + "storage"(r'N +7 "core" &? < ' +2 "manipulator"&s% +3 "core" %  2 +2 .tForearm.seek :retract +2 "manipulator"&t'\ +93 "core" ' +2 .tElbow.seek CC +2 "manipulator"&u( +146 "core" ( + "manipulator"&v& +5 "core" ' + &" 4 :/ + ."downElevator"SE.stop +4 .tElbow.reconfigure :loose +2 "storage"(5 +2 "manipulator"&$ &.,(#b +4 &w& +2 "core" &#  :/ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC + "manipulator"&x'| +100 "core" ' + "manipulator"&y& +4 "core" &# d :/ +2 "manipulator"&z% +4 "core" %u +2 "collection"'{& +4 "core" &[  +2 "collection"'|& +5 "core" &[  +2 .tCC.seek :closed + "collection"'}(] +5 "core" &[  +8 &9 *z +9 &l ? +10 &Zz I +9 &r H +9 &o I +10 &s H +9 &!cr I +10 &#$v I +9 &$n H +9 &&n I +10 &(ks I +9 &*,r I +9 &+p H +10 &-u I +9 &/sp I +10 &15r I +9 &2u I +9 &4n I +10 &6|r H +9 &8=n I +9 &9p I +10 &;k H +9 &=t I +9 &?Fr H +10 &An I +9 &Bn H +10 &Dm H +9 &FMu I +9 &H y J +10 &I K +9 &K M +10 &M> Q +9 &O Q +9 &P Q +10 &R R +9 &TB R +9 &V S +10 &W T +9 &Y U +9 &[B U +10 &\\s / +9 &]+ C +9 ( +4 "collection"'|& +2 #tCollection Clamp onSpring/offSpring for 9/25 samples, on/off torque 1.80 + .Hand.open + "manipulator"&~1 +4 "core" &]F = +58 1 + "manipulator"&% +4 "core" % t ; +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&'\ +92 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%& +4 "core" &W}  + "manipulator"&% +4 "core" %\ + !Q +2 "storage"(% +3 "core" %F  +2 "storage"(. +3 "core" .( + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(( +6 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 ( & +2 "core" &   +2 "manipulator"& & +3 "core" &#  :, +2 "manipulator"& % +4 "core" %\ + r !Q + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&(D +167 "core" ( + "manipulator"&& +4 "core" &; S E +2 "storage"(& +4 "core" &  + .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&' +93 "core" ' +2 "storage"(& +4 "core" &\ \   +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"('e +279 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +2 (& +3 "core" &\ <  +2 "manipulator"&& +3 "core" &;  E +2 .tElbow.seek 3 + "manipulator"&(D +3 "core" ( +2 "manipulator"&& +3 "core" &; E +2 "storage"(& +3 "core" &  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&'y +23 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&/ +52 "core" / +4 ."downElevator"SE.seek :down +4 "manipulator"&& + "storage"('N +6 "core" &; r q S E +2 "manipulator"& % +4 "core" % z r o 2 +2 .tForearm.seek :retract + "manipulator"&!'\ +95 "core" ' +2 .tElbow.seek PC +2 "manipulator"&"(c +153 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +98 "core" ( + "manipulator"&#& +4 "core" &g m +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &$& +2 "core" &g H +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&%'[ +101 "core" ' +2 "manipulator"&&& +5 "core" &g  + "manipulator"&'% +4 "core" %\\  +2 "processing"%(& +3 "core" &W  +2 "processing"%)& +5 "core" &W  +2 .tPC.seek :closed +2 "processing"%*(Z +3 "core" &Wz  +9 &8 *z +10 &my ? +9 &Vy| I +9 &j G +10 &m H +9 &q~ H +10 &!ak} H +9 &##j H +9 &$k G +10 &&n} H +9 &(im~ H +9 &*,k G +10 &+k G +9 &-l| G +10 &/qr H +9 &12m H +9 &2k H +10 &4j G +9 &6zm G +9 &8;k H +10 &9n} H +9 &;n} G +10 &=j H +9 &?Cm~ H +9 &Ak H +10 &Bm G +9 &Dm G +9 &FKpz H +10 &H\ x I +9 &I J +10 &K L +9 &MD M +9 &O M +10 &P M +9 &R M +9 &TJ{ N +10 &V ~ N +9 &W N +10 &Y ; +9 &Z~4 Z +9 &Z~ ' +3 ( + "processing"%)& +3 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.49 + .Hand.open +2 "manipulator"&+1 +63 "core" 1 + "manipulator"&,% +4 "core" % \\ E +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&-'\ +99 "core" ' +2 "processing"%.& +4 "core" &Z~ ' +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&/% +4 "core" %\ > ) * +2 "storage"(0% +3 "core" %: / +2 "storage"(1. +3 "core" .( + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(2( +8 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (3& +4 "core" &   + "manipulator"&4& +3 ."raiseStack"SE.reconfigure :place +5 "storage"(#]kK-0-\ b +3 "core" &g  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +2 ."raiseStack"SE.seek :beamBreak +3 "manipulator"&5(c +3 "storage"(7'e +3 "core" ( +2 "manipulator"&8& +3 "core" &g  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &:& +2 "core" &g +2 .tForearm.seek PC +2 "manipulator"&;'[ +99 "core" ' + .tHand.close + "manipulator"&=/ +65 "core" / +2 .tPC.seek :open +2 "processing"%(p +78 "core" ' + "storage"(- +4 "core" -'e + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(6'B +43 "core" ' +256 ( +2 "storage"(@& +3 "core" & Y  +2 "manipulator"&>& +3 "core" &g  +2 "manipulator"&?% +3 "core" % \\  +2 .tForearm.seek :retract +2 "manipulator"&<'\ +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&B(D +253 "core" ( +2 "manipulator"&C& +4 "core" &<  $ + "storage"(D& +4 "core" & 6  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&F' +97 "core" ' + .tHand.open +2 "manipulator"&G1 +61 "core" 1 +2 "storage"(H- +3 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate +2 "storage"(I' +23 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.83 Pucks below Top Plate + "storage"(E' +56 "core" ' +2 #tLights, camera, ACTION! + "storage"(K- +4 "core" -' + "storage"(L& +4 "core" & " +2 "manipulator"&M& +3 "core" &< ! $ +2 .tElbow.seek 3 +2 "manipulator"&N(D +3 "core" ( +2 "manipulator"&O& +3 "core" &<  $ +2 "storage"(J& +4 "core" &  E " +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&Q' +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"(R'M +61 "core" ' + "manipulator"&T& +4 "core" &<  $ +2 "storage"(U& +4 "core" & B " + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 + "manipulator"&W'M +30 "core" ' +2 .tElbow.hold +2 "manipulator"&9, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"(A'7 +23 "core" ' + "manipulator"&P% +4 "core" %Z  D f +2 "storage"(Z& +4 "core" & " +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 313 counts + "manipulator"&X'φ +18 "core" ' +2 "manipulator"&Y& +4 "core" &e\ { r 5 ` +2 "storage"(V& +4 "core" &\ \  " +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&\\' +21 "core" ' + "storage"(]% +5 "core" %?\ \  +2 ."downElevator"SE.seek :down +3 "storage"(^'N +99 (_% +3 "core" %oF  OB +2 "manipulator"&a% +3 "core" % | z  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&b'\ +90 "core" ' +60 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (d& +4 "core" & f " +2 "collection"'e& +4 "core" &]Fl = +2 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&g% +4 "core" %\ 1 $q +2 "storage"(S% +3 "core" %> x +2 "storage"([. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(i( +5 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (j& +3 "core" & k  +2 "manipulator"&k& +3 "core" &e\ ` +2 .tElbow.seek 3 +2 "manipulator"&m(D +27 "core" ( + "manipulator"&n& +4 "core" &F # | +2 "storage"(p& +4 "core" & ! +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&q' +99 "core" ' +2 "storage"(s& +4 "core" &\ \  ! +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(c'e +276 "core" ' + "storage"(f- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&v& +2 "core" &F * | +2 "storage"(w& +4 "core" &\ \ \ ) # + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 + "manipulator"&h'M +29 "core" ' + .tElbow.hold +2 "manipulator"&o, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(y- +3 "core" -' +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(z'j +25 "core" ' +2 "manipulator"&{% +4 "core" %^ F g +2 "storage"(l& +3 "core" & # +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 317 counts + "manipulator"&r'ϊ +17 "core" ' +2 "manipulator"&t& +4 "core" &F P h K | + "storage"(\ & +4 "core" &\ \  # +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&~' +19 "core" ' +2 .tSE.seek 1.11 Pucks below Top Plate +2 "storage"('Y +49 "core" ' +2 "manipulator"&& +4 "core" &F a F b | +2 "manipulator"&% +4 "core" % T T <  + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +93 "core" ' +2 .tElbow.seek CC +2 "manipulator"&( +177 "core" ( +2 "manipulator"&|& +4 "core" & P + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 & & +2 "core" & P +2 .tForearm.seek CC +2 "manipulator"& '| +98 "core" ' + .tHand.close +2 "manipulator"& / +59 "core" / +2 .tCC.seek :open +2 "collection"'x(p +411 "core" ( + "storage"(& +4 "core" &\ \  # +2 "storage"(& +3 "core" &\ \   # +2 "manipulator"&`& +3 "core" &  P +2 "manipulator"&% +3 "core" % w +2 .tForearm.seek :retract +2 "manipulator"&u'\ +96 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&(D +159 "core" ( + "manipulator"&& +4 "core" &@ H z +2 "storage"(& +4 "core" &\ \  # + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 +2 "manipulator"&'M +106 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&1 +59 "core" 1 +2 "manipulator"&% +4 "core" % X O +2 "storage"(& +3 "core" & w # +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 311 counts + "manipulator"& 'τ +18 "core" ' +2 "manipulator"&& +4 "core" &I O f G q + "storage"(& +4 "core" &\ #\ # +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&' +18 "core" ' + "storage"(% +4 "core" %`\ \  +3 ."downElevator"SE.seek :down +3 "storage"(#'N +99 ($% +2 "core" %|C\ \ & N? +2 "manipulator"&% +4 "core" % p q > +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&&'\ +94 "core" ' +43 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 4 of [3..4] +2 #Loading generic puck from tube 4 into Collection Clamp + "collection"''& +4 "core" & + "manipulator"&(% +4 "core" %\ ? * +2 "storage"(% +4 "core" %E\ \ \ x  + "storage"(!. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 4 +2 "storage"( (, +351 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (+& +2 "core" &, s  +2 "manipulator"&,& +3 "core" &I q +2 .tElbow.seek 4 +2 "manipulator"&.(* +10 "core" ( + "manipulator"&/& +4 "core" &% { +2 "storage"(0& +3 "core" &,\ \   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&1' +115 "core" ' +2 "storage"()& +4 "core" &,\ "\ "  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(3'e +272 "core" ' + "storage"(4- +4 "core" -'e + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek :pick +2 "storage"(8' +31 "core" ' +2 .tSE.seek :down +2 "storage"(:'N +268 "core" ' + .tSE.stop + "storage"(5 +3 "manipulator"&%% +4 "core" % p T " +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&='\ +91 "core" ' +2 !to:Puck::Error: mesg"Tube 4 is Empty:bt["4/home/esp/esp2/utils/puckmoves.rb:367:in `load'"4/home/esp/esp2/utils/puckmoves.rb:357:in `loop'"4/home/esp/esp2/utils/puckmoves.rb:357:in `load'"8/home/esp/esp2/utils/puckmoves.rb:958:in `loadPuck'"4/home/esp/esp2/utils/shuffle.rb:24:in `shuffle'""(ESP):10:in `each_with_index'"1/home/esp/esp2/utils/shuffle.rb:18:in `each'" startTube 6 +1255 #-> $da[:extractVol]=.19 +732 #-> da 300 +2 #da sampling at most 300ml +3 #Loading sh1 puck from tube 6 into Collection Clamp +2 ."Qmail"DAfans.email "Started da in tube 6 at 13:34:31EST15-Dec-22\\n{3 => 2,\\n 4 => 0}\\nCTD data unavailable\\nISUS data unavailable\\nCan@13:26:21, 16% flow, 21.3C, 28% humidity, 14.5psia, 14.91V, 0.260A avg, 0.254A avg, 3.88W",Subject: "da sampling at most 300ml" +3 "collection"'& +5 "core" & + "manipulator"&% +5 "core" %\ 1 8 $l +2 "storage"("% +3 "core" %A\ !\ !  +2 "storage"(-. +3 "core" .(, + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +4 .tSC.seek 6 + "storage"(*(K +67 !"Qmail"o:!Net::SMTPAuthenticationError: mesg"E534-5.7.9 Application-specific password required. Learn more at\ :@checkpoint: omitted:bt["E/opt/mbari/lib/ruby/1.8/net/smtp.rb:954:in `check_auth_response'"/opt/mbari/lib/ruby/1.8/net/smtp.rb:723:in `authenticate'":/opt/mbari/lib/ruby/1.8/net/smtp.rb:566:in `do_start'"7/opt/mbari/lib/ruby/1.8/net/smtp.rb:525:in `start'"2/home/esp/esp2/lib/email.rb:325:in `sendOnce'"3/home/esp/esp2/lib/schedule.rb:292:in `unsync'"3/home/esp/esp2/lib/schedule.rb:594:in `unsync'"3/home/esp/esp2/lib/schedule.rb:621:in `unsync'"2/home/esp/esp2/lib/email.rb:318:in `sendOnce'"//home/esp/esp2/lib/email.rb:340:in `email'",/home/esp/esp2/lib/msg.rb:68:in `retry'"//home/esp/esp2/lib/email.rb:339:in `email'"./home/esp/esp2/lib/email.rb:348:in `mail'"-/home/esp/esp2/lib/email.rb:66:in `call'"3/home/esp/esp2/lib/email.rb:66:in `initialize'"-/home/esp/esp2/lib/email.rb:63:in `loop'"3/home/esp/esp2/lib/email.rb:63:in `initialize'"7/home/esp/esp2/lib/schedule.rb:481:in `initialize'"0/home/esp/esp2/lib/thread.rb:738:in `start'"7/home/esp/esp2/lib/schedule.rb:474:in `initialize'"'/home/esp/esp2/lib/schedule.rb:472 + !o:Email::Queue::Purge: mesg"Purged output queue:bt[ "//home/esp/esp2/lib/email.rb:106:in `purge'"3/home/esp/esp2/lib/email.rb:75:in `initialize'"-/home/esp/esp2/lib/email.rb:63:in `loop'"3/home/esp/esp2/lib/email.rb:63:in `initialize'"7/home/esp/esp2/lib/schedule.rb:481:in `initialize'"0/home/esp/esp2/lib/thread.rb:738:in `start'"7/home/esp/esp2/lib/schedule.rb:474:in `initialize'"'/home/esp/esp2/lib/schedule.rb:472 +602 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (7& +2 "core" &K .  +2 "manipulator"&@& +3 "core" &% { +2 .tElbow.seek 6 +2 "manipulator"&>( +38 "core" ( +2 "manipulator"&?& +4 "core" &\ & X + "storage"(;& +4 "core" &K\ D  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&C'< +92 "core" ' +2 "storage"(D& +4 "core" &K\ !\ !   +44 .tSE.reconfigure :pick +11 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(5'e +271 "core" ' +2 "storage"(G- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (H& +2 "core" &K\ \   +2 "manipulator"&K& +4 "core" &\ W W +2 .tElbow.seek 6 + "manipulator"&L( +17 "core" ( + "manipulator"&M& +4 "core" & h {   +2 "storage"(O& +4 "core" &K\ \  Z  +2 .tForearm.seek 6 + 300 counts + "manipulator"&J'Ϧ +25 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"& +52 1 + "manipulator"&Q% +4 "core" % y >  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&N'\ +95 "core" ' +2 #tcollectSample 300ml w/bubble point of 24psi +2 #Priming 7ml + .Intake.select :close + .Exhaust.select :close +2 .SS.hold + "sampler")R+ +4 "core" + + "sampler")W% +4 "core" %-\ u\ q & + "collection"'X& +4 "core" &]M > +2 "Can"] NL +2 #tCalibrating pressure and temperature sensors +3 .CTV.dial :air +2 "collection"'d  +4 "core"  +2 .tSSV.dial :spit,avoiding: :exhaust + "sampler")e +4 "core"  +2 "sampler")g  +4 "core" +2 .tSS.reconfigure :fast +3 "sampler")#.0X +2 "Can"] PM +2 .tCTV.dial :intake + ."connect"SSV.dial CBV +4 .tCBV.dial SSV +3 "sampler")  +69 "core" +2 #tAllowing 130s for 25.0ml of remaining 300.0ml + .Intake.select :open + "sampler") +210 "collection"'% +3 "core" %9 +2 #tIntake @13.7psia, vacuum from 8.2 to 11.2psi +2 .SS.reconfigure :inhaling 2.21ml/s +2 "sampler")#.0X  + "sampler")% +4 "core" %A  +18 "collection"'% +3 "core" %z}^ +2 "sampler")u% +3 "core" %A  +22 "collection"'$% +3 "core" %{|= + "sampler")% +4 "core" %A  +24 "collection"'% +3 "core" %}}a +2 "sampler")% +3 "core" %A  +28 "collection"''% +3 "core" %? +2 "sampler")(% +3 "core" %@  +32 "collection"' % +3 "core" %< +2 "sampler")% +3 "core" %A  +37 "collection"'!% +3 "core" %7 + "sampler")% +4 "core" %,\ \   +2 "sampler")% +3 "core" %#\ \   + .tIntake.select :close + "sampler")0 +9 )#% +3 "core" % \ \  i + .tSSV.dial :exhaust +2 "sampler")i  +69 "core"  +2 .tExhaust.select :open + "sampler")@ +10 .tSS.seek 0ml + "sampler")+'0 +863 "core" ' + .tExhaust.select :close + "sampler") +10 ."connect"SSV.dial CBV +3 .tCBV.dial SSV +2 "sampler"),  +70 "core" +2 #tAllowing 130s for 25.0ml of remaining 250.0ml + .Intake.select :open + "sampler") +82 "Can"W VS +129 "collection"'/% +2 "core" %- +2 #tIntake @14.1psia, vacuum from 8.6 to 11.6psi +2 .SS.reconfigure :inhaling 2.21ml/s +2 "sampler")#.0X % +4 "core" %|J + "sampler")C% +4 "core" %D  +28 "collection"'I% +3 "core" %^ + "sampler")Y% +4 "core" %D  +32 "collection"'5% +3 "core" %5 + "sampler")J% +4 "core" %D  +37 "collection"']% +2 "core" %S +2 "sampler")B% +4 "core" %I  +41 "collection"'F% +3 "core" %T +2 "sampler")L% +3 "core" %\ \   +2 "sampler")U% +3 "core" %\ "\   +2 .tIntake.select :close + "sampler")0 +9 )6% +2 "core" %\ .\ (  +2 .tSSV.dial :exhaust +2 "sampler")x  +69 "core"  +2 .tExhaust.select :open + "sampler")@ +10 .tSS.seek 0ml +2 "sampler")a'0 +857 "core" ' + .tExhaust.select :close +2 "sampler") +9 ."connect"SSV.dial CBV +4 .tCBV.dial SSV +2 "sampler")Q  +70 "core" + #tAllowing 130s for 25.0ml of remaining 200.0ml + .Intake.select :open +2 "sampler") +210 "collection"'W% +3 "core" %3 +2 #tIntake @14.1psia, vacuum from 8.6 to 11.6psi +2 .SS.reconfigure :inhaling 2.21ml/s +2 "sampler")#.0X % +3 "core" %D  +29 "collection"'C% +3 "core" %a + "sampler")I% +4 "core" %D  +32 "collection"'Y% +3 "core" %9 + "sampler")5% +4 "core" %D  +36 "collection"'J% +3 "core" %Y +2 "sampler")]% +3 "core" %D  +42 "collection"'B% +3 "core" %c + "sampler")F% +4 "core" %D  + "sampler")L% +4 "core" %D\   + .tIntake.select :close +2 "sampler")0 +8 )U% +3 "core" % \ \ \ i +2 .tSSV.dial :exhaust +2 "sampler")6  +71 "core"  +3 .tExhaust.select :open +3 "sampler")@ +11 .tSS.seek 0ml +2 "sampler")G'0 +903 "core" ' + .tExhaust.select :close + "sampler") +10 ."connect"SSV.dial CBV +3 .tCBV.dial SSV + "sampler")x  +71 "core" +2 #tAllowing 130s for 25.0ml of remaining 75.0ml + .Intake.select :open + "sampler") +210 "collection"'H% +3 "core" %a +2 #tIntake @14.1psia, vacuum from 8.6 to 11.6psi +2 .SS.reconfigure :inhaling 2.21ml/s +2 "sampler")#.0X  +2 ."airStroke"CSV.dial :waste +4 "sampler")% + "collection"' +5 "core" %-\ 7\ 0 % +2 ."connect"SSV.dial CBV,avoiding: :exhaust +3 .tCBV.dial SSV +2 "sampler"),  +6 "core" +2 ."airStroke"CS.reconfigure :fast +2 "collection"'#d @b +3 ."airStroke"CS.seek 0ml +2 "collection"'/' +3 "core" ' + ."airStroke"CSV.dial :air +2 "collection"'+ @ +69 "core" B +2 ."airStroke"CS.seek 10ml +2 "collection"'' +79 "core"  +2 .tCTV.dial :air +2 "collection"'&  +66 "core"  +2 .tdelay 15 seconds +1502 .SSV.dial :spit,avoiding: :exhaust +2 "sampler")4 +119 "core"  +3 ."prepCSV"CTV.dial CSV,avoiding: :intake +4 .tSS.seek 0ml + "collection"'3  +3 "sampler")%'0 +6 "core" ' +2 .tSSV.dial CBV,avoiding: :exhaust +2 "sampler")8  +109 "core" ~ +13  +276 ' + "sampler"):% +4 "core" %/\ x\ r # +2 .tCBV.dial between SSV and waste2 +2 "collection"'1  +30 "core"  + "collection"'% +4 "core" %^  +2 ."connect"CTV.dial CSV,avoiding: :air +4 .tCSV.dial CTV +3 "collection"'  +51 "core"  +2 .tCS.reconfigure :pressurize +3 "collection"'# d@<< b +2 .tCS.seek 0ml +2 "collection"'"' +2141 "core" ' n d ձ +2 "collection"'-% +4 "core" % L d  +2 "sampler") % +3 "core" %/\ x\ t # +2 #tBubblePoint: Intake @38.9psia, Outlet @14.8psia + .CBV.dial SSV +2 "collection"'7 @ +30 "core" A +2 .tSS.reconfigure :default +2 "sampler")#.0X +2 ."CSpush"CS.reconfigure :fast +2 "collection"'#d @b +3 ."CSpush"CS.seek 0ml +2 "collection"'O' +102 "core" ' +2 .tSSV.dial :spit,avoiding: :exhaust +2 "sampler")< +121 "core"  +2 .tSS.reconfigure :exhale +3 "sampler")#.0X  +120 "core"  +102 .tSSV.dial :spit,avoiding: :exhaust +2 "sampler")C +119 "core" +2 .tSS.reconfigure :default +2 "sampler")#.0X + ."airStroke"CSV.dial :waste +4 "sampler")5% + "collection"'J +5 "core" %-\ f\ ^ +2 ."connect"SSV.dial CBV,avoiding: :exhaust +4 .tCBV.dial SSV + "sampler")]  +56 "core" +2 ."airStroke"CS.seek 0ml +2 "collection"'B' +4 "core" ' + ."airStroke"CSV.dial :air +2 "collection"'F @ +54 "core"  + .tCTV.dial :air +2 .delay 15 seconds +11 "core" A +2 ."airStroke"CS.seek 10ml +2 "collection"'L' +1487 .tSSV.dial :spit,avoiding: :exhaust +2 "sampler")U +119 "core" +2 ."prepCSV"CTV.dial CSV,avoiding: :intake +5 .tSS.reconfigure :exhale +2 "collection"'.  +3 "sampler")#.0Xf +2 "sampler")A% +3 "core" %\ <\ 5 +2 #tEvacuated: Intake @20.0psia, Outlet @11.2psia +2 .SSV.dial :spit,avoiding: :exhaust +2 "sampler")[ +119 "core"  +2 .tSS.reconfigure :exhale +2 "sampler")#.0X +2 ."CSpush"CS.reconfigure :fast +2 "collection"'#d @b +3 ."CSpush"CS.seek 0ml +2 "collection"'^' +115 "core" ' + .tSSV.dial :spit,avoiding: :exhaust +2 "sampler")p +120 "core"  +2 .tSS.reconfigure :exhale +3 "sampler")#.0X +102 "collection"';9 +2 "core" 9 K +102 "collection"'09 +3 "core" 9 W +102 "collection"'D9 +2 "core" 9 c +102 "collection"'M9 +3 "core" 9 o +102 "collection"')9 +3 "core" 9 y +102 "collection"'<9 +2 "core" 9  +102 "collection"'"9 +3 "core" 9  +101 "collection"'K9 +3 "core" 9  +102 "collection"'O9 +2 "core" 9  +103 "collection"'T9 +2 "core" 9  +102 "collection"'>9 +3 "core" 9  +102 "collection"'C9 +2 "core" 9   +102 "collection"'P9 +3 "core" 9  +102 "collection"'Y9 +2 "core" 9  +102 "collection"'59 +3 "core" 9  +102 "collection"'J9 +3 "core" 9  +102 "collection"']9 +2 "core" 9 ! +102 "collection"'F9 +3 "core" 9 % +102 "collection"'I9 +2 "core" 9 ) +102 "collection"'B9 +3 "core" 9 . +102 "collection"'U9 +2 "core" 9 2 +102 "collection"'.9 +3 "core" 9 6 +102 "collection"'=9 +2 "core" 9 : +102 "collection"'x9 +2 "core" 9\ > +103 "collection"'H9 +3 "core" 9\ B +102 "collection"'G9 +2 "core" 9\ G +102 "collection"'a9 +3 "core" 9\ K +102 "collection"'L9 +2 "core" 9\ O +102 "collection"'e9 +3 "core" 9\ S +102 "collection"'g9 +3 "core" 9\ W +102 "collection"'V9 +2 "core" 9\ "\\ +102 "collection"'69 +3 "core" 9\ %` +102 "collection"'R9 +2 "core" 9\ )d +102 "collection"'A9 +3 "core" 9\ ,h +102 "collection"'[9 +2 "core" 9\ 0l +102 "collection"'9 +2 "core" 9\ 3p +102 "collection"'j9 +3 "core" 9\ 8u +102 "collection"'n9 +2 "core" 9\ <y +102 "collection"'S9 +3 "core" 9\ >} +102 "collection"'s9 +3 "core" 9\ B +102 "collection"'k9 +2 "core" 9\ D +102 "collection"'p9 +3 "core" 9\ H +102 "collection"'d9 +2 "core" 9\ L +102 "collection"'\\9 +3 "core" 9\ O +102 "collection"'^9 +3 "core" 9\ R +102 "collection"'X9 +2 "core" 9\ U +102 "collection"'b9 +3 "core" 9\ W +102 "collection"'W9 +2 "core" 9\ [ +102 "collection"'Q9 +3 "core" 9\ \\ +102 "collection"'w9 +3 "core" 9\ _ +102 "collection"'v9 +2 "core" 9\ c +102 "collection"'E9 +3 "core" 9\ d +102 "collection"'t9 +2 "core" 9\ h +102 "collection"'\ 9 +3 "core" 9\ j +102 "collection"'{9 +2 "core" 9\ m +102 "collection"'9 +3 "core" 9\ o +102 "collection"'l9 +2 "core" 9\ r +3 .tCH.hold 10:00,70C +4 "collection"' `\ `\ q +3 'h9 +3 "core"  + 9\ q +2 "collection"'r% +3 "core" %   +2 #tBegun lysing Collection Puck Heater at 68C/32.3psia +51870 "Can"V  +8120 "core" ` + "collection"'c9 +4 "core" 9\  + "collection"'|% +4 "core" % \ +2 #tEnded lysing Collection Puck Heater at 70C/29.4psia + .CS.seek 0ml +2 "collection"'z' +368 "core" ' +2 .tCTV.dial between spare and air,avoiding: :intake +2 "collection"'~ @ +93 "core" A + .tCSV.dial :air +2 "collection"' @ +39 "core" ? +2 .tCS.seek 5ml +2 "collection"' 's +1347 "core" ' +2 .tCSV.dial CTV + "collection"'  +41 "core"  +2 .tdelay 2 seconds +202 .CSV.dial :air + "collection"'y @ +40 "core" ? +2 .tdelay 2 seconds +202 .CSV.dial CTV +2 "collection"'f  +40 "core"  +2 .tdelay 2 seconds +202 .CSV.dial :air +2 "collection"' @ +41 "core" > + .tdelay 2 seconds +202 .CS.seek 0ml +2 "collection"'9' +1348 "core" ' + "collection"'`% +4 "core" % + #tPuck @41.2psia after final lysis pressurization +2 #Recovering Lysate into Collection syringe + .CSV.dial CBV +2 "collection"' +92 "core"  + .tCBV.dial CSV +2 "collection"'2  +28 "core"  +2 "collection"'m% +3 "core" % | { +2 .tCS.seek 5ml +2 "collection"''s +1360 "core" ' + .tdelay 5 seconds +502 .CTV.dial :air +3 "collection"'  +39 "core" +2 "collection"' % +3 "core" %smm  +2 .tCS.seek 7.001ml +2 "collection"'' +593 "core" ' + .tdelay 5 seconds +502 .CSV.dial :air2 +2 "collection"' @ +38 "core" ? +2 .tCS.seek 10ml +2 "collection"'' +846 "core" ' +2 .tCSV.dial between air and CTV,avoiding: CBV +2 "collection"'u ` +104 "core" ^ +2 #tLysing Complete + "collection"'$& +4 "core" &]LUX > +2 #tStoring sh1 puck in Collection Clamp to tube 5 + "manipulator"&% +4 "core" %\ . C #f +2 "storage"(% +3 "core" %I\ + "storage"(. +3 "core" .(K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 + "storage"('(<< +359 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 ((& +56 "core" & CC.unloadPuck 4,SH1 +2 !o:NameError: mesg"uninitialized constant SH1: name:SH1:bt["(ESP):14:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +605 #-> CC.unloadPuck 4,sh1 +2 !o:ArgumentError: mesg"(wrong number of arguments (0 for 2):bt[ "(ESP):15:in `sh1'"(ESP):15:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +474 "Can"@ CA +2137 #t-> CC.unloadPuck 4,1 +2 "collection"',& +3 "core" &]L- > +2 !to:Puck::Warning: mesg"4Unloading Puck.from 6, :sh1 to Storage Carousel:bt[\ "6/home/esp/esp2/utils/puckmoves.rb:419:in `unload'":/home/esp/esp2/utils/puckmoves.rb:962:in `unloadPuck'"(ESP):16:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 + #Storing 1 puck in Collection Clamp to tube 4 +2 "manipulator"&&% +4 "core" %\ . 7 #e + "storage"(% +4 "core" %K\ \  + "storage"(/. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"(4(, +353 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (3& +3 "core" &, \  y + "manipulator"&8& +5 ."raiseStack"SE.reconfigure :place +3 "storage"(#]kK-0-\ b +2 "core" &   +2 "manipulator"&q% +4 ."raiseStack"SE.seek :beamBreak + "storage"(:'e +3 "core" %\ .  #e +2 .tElbow.seek CC +2 "manipulator"&1( +159 "core" ( +2 "manipulator"&& +4 "core" &$ \ ;4 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +2 "core" &$ > ;4 +2 .tForearm.seek CC +2 "manipulator"&'| +18 "core" (,b , +3 .tSE.seek :down +2 "storage"(-'N +5 "core" '$:d R +2 !"raiseStack"o:Slide::Error\ : mesg";Storage Elevator aborted at 4.52 Pucks below Top Plate:@checkpoint: omitted: @replyo:I2C::Servo::AbsMove3Reply :@destinationi%: @channeli: @statusIS:I2C::Servo::Status: enabledT: pastRLSF: pastFLSF:pastThresholdF: lostF: homeF: positioni$: velocityi:: currentid:pwmi:erri: inPressi : outPressi :deltaPressiR : voltagef14.901358861070202=: @type2F: @tagi?: @sourcei-: @error: aborted:@axisName"Storage Elevator:bt["2/home/esp/esp2/lib/slide.rb:587:in `raiseErr'"7/home/esp/esp2/lib/slide.rb:350:in `unlimitedSeek'"5/home/esp/esp2/lib/thread.rb:74:in `recoverable'"7/home/esp/esp2/lib/slide.rb:323:in `unlimitedSeek'"6/home/esp/esp2/lib/scale.rb:93:in `unlimitedSeek'"./home/esp/esp2/lib/slide.rb:314:in `seek'",/home/esp/esp2/lib/slide.rb:358:in `to'"8/home/esp/esp2/lib/slide.rb:74:in `inConfiguration'",/home/esp/esp2/lib/slide.rb:358:in `to'"8/home/esp/esp2/utils/puckmoves.rb:597:in `raiseStk'":/home/esp/esp2/utils/puckmoves.rb:574:in `raiseStack'"6/home/esp/esp2/utils/puckmoves.rb:436:in `unload'",/home/esp/esp2/lib/msg.rb:68:in `retry'"6/home/esp/esp2/utils/puckmoves.rb:435:in `unload'"7/home/esp/esp2/lib/schedule.rb:481:in `initialize'"0/home/esp/esp2/lib/thread.rb:738:in `start'"7/home/esp/esp2/lib/schedule.rb:474:in `initialize'"'/home/esp/esp2/lib/schedule.rb:472 +2 #Retry #1 of 4 +2 .SE.reconfigure :default +2 "storage"(#K-0-\ b +2 ."raiseStack"SE.home.seek :down +2 "storage"( 'N +3 "core" '(4s ] & +4 !to:Slide::Error\ : mesg";Storage Elevator aborted at 4.11 Pucks below Top Plate:@checkpoint: omitted: @replyo:I2C::Servo::AbsMove3Reply :@destinationi%: @channeli: @statusIS:I2C::Servo::Status: enabledT: pastRLSF: pastFLSF:pastThresholdF: lostF: homeF: positioni(: velocityi9: currentix:pwmi+:erri: inPressi : outPressi :deltaPressi] : voltagef14.92099558173785-: @type2F: @tagi2: @sourcei-: @error: aborted:@axisName"Storage Elevator:bt["2/home/esp/esp2/lib/slide.rb:587:in `raiseErr'"7/home/esp/esp2/lib/slide.rb:350:in `unlimitedSeek'"5/home/esp/esp2/lib/thread.rb:74:in `recoverable'"7/home/esp/esp2/lib/slide.rb:323:in `unlimitedSeek'"6/home/esp/esp2/lib/scale.rb:93:in `unlimitedSeek'"./home/esp/esp2/lib/slide.rb:314:in `seek'"0/home/esp/esp2/lib/slide.rb:357:in `moveTo'"//home/esp/esp2/utils/misc.rb:349:in `down'" CC.unloadPuck 4, :SH1 + "collection"'%& +3 "core" &]LL > +2 !to:Puck::Warning: mesg"4Unloading Puck.from 6, :sh1 to Storage Carousel:bt[\ "6/home/esp/esp2/utils/puckmoves.rb:419:in `unload'":/home/esp/esp2/utils/puckmoves.rb:962:in `unloadPuck'"(ESP):17:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 + #Storing SH1 puck in Collection Clamp to tube 4 +2 "manipulator"&i% +4 "core" %ψ +2 .tForearm.seek :retract +2 "manipulator"&?'\ +95 "core" ' + "storage"(% +4 "core" %O- S + "storage"(@. +8 "core" . + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"(;(, +63 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (0& +4 "core" &, g + "manipulator"&D& +5 ."raiseStack"SE.reconfigure :place +3 "storage"(#]kK-0-\ b +2 "core" &# 0 ;4 +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 ."raiseStack"SE.seek :beamBreak +3 "manipulator"&M( +2 "storage"()'e +5 "core" ( + "manipulator"&<& +4 "core" &$ ;4 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &"& +3 "core" &$ 2 ;4 +2 .tForearm.seek CC + "manipulator"&K'| +95 "core" ' + .tHand.close +2 "manipulator"&O/ +59 "core" / +2 .tCC.seek :open +2 "collection"'T(p +25 "core" (,b 8 +4 !to:Puck::Warning: mesg"BRetaining claim on Arm because Hand is likely holding a puck!:bt[ "7/home/esp/esp2/utils/puckmoves.rb:271:in `giveup!'"6/home/esp/esp2/utils/puckmoves.rb:457:in `unload'":/home/esp/esp2/utils/puckmoves.rb:962:in `unloadPuck'"(ESP):17:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 + !o:Slide::Error\ : mesg"OStorage Carousel positionErr at 4 - 31 counts during Collection Clamp move:@checkpoint: omitted: @replyo:I2C::Servo::AbsMove3Reply :@destinationi%: @channeli: @statusIS:I2C::Servo::Status: enabledT: pastRLSF: pastFLSF:pastThresholdF: lostF: homeF: positionib,: velocityi: currenti:pwmi:erri: inPressi : outPressi :deltaPressi8 : voltagef14.906268041237114 : @type2F: @tagi@: @sourcei-: @error:positionErr:bt["2/home/esp/esp2/lib/slide.rb:587:in `raiseErr'"3/home/esp/esp2/lib/slide.rb:36:in `initialize'"3/home/esp/esp2/lib/i2c/servo.rb:1680:in `call'"6/home/esp/esp2/lib/i2c/servo.rb:1680:in `deliver'"3/home/esp/esp2/lib/i2c/msg.rb:605:in `process'"2/home/esp/esp2/lib/msg.rb:212:in `initialize'",/home/esp/esp2/lib/msg.rb:209:in `loop'"2/home/esp/esp2/lib/msg.rb:209:in `initialize'"7/home/esp/esp2/lib/schedule.rb:481:in `initialize'"0/home/esp/esp2/lib/thread.rb:738:in `start'"7/home/esp/esp2/lib/schedule.rb:474:in `initialize'"'/home/esp/esp2/lib/schedule.rb:472:@axisName"Storage Carousel +63 "core" ' +2 "storage"(>- +4 "core" -'e + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(C'B +32 "core" ' +270 ( +2072 #t-> CC + "collection"'P& +4 "core" &P +891 #t-> Arm.CC +2 "manipulator"&Y& +3 "core" & 8 +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek :CC +2 "manipulator"&5( +33 "core" ( +2 "manipulator"&J& +4 "core" &    + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &]& +2 "core" &    +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&F'| +21 "core" ' + "manipulator"&I& +4 "core" &  ^ r "  + "manipulator"&B% +4 "core" %t p q  +1057 #t-> Arm.home + "manipulator"&U& +3 "core" &  o n  +2 "manipulator"&.% +4 "core" %t x o  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&='\ +100 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek :home +2 "manipulator"&x( +354 "core" ( + "manipulator"&H& +4 "core" & ^  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &G& +2 "core" & -  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek :home + "manipulator"&a' +42 "core" ' + "manipulator"&L& +4 "core" & m { w  +2 "manipulator"&e% +3 "core" % a j O +657 #t-> Arm.SE + "manipulator"&g& +3 "core" & o l 9  +3 !to:Axis::Error: mesg"Unknown Elbow position: SE:@axisName"\ Elbow:bt["0/home/esp/esp2/lib/axis.rb:512:in `baseRaw'",/home/esp/esp2/lib/axis.rb:293:in `raw'"1/home/esp/esp2/lib/axismap.rb:171:in `fetch'"1/home/esp/esp2/lib/axismap.rb:159:in `fetch'"./home/esp/esp2/lib/axis.rb:277:in `fetch'",/home/esp/esp2/lib/axis.rb:288:in `raw'",/home/esp/esp2/lib/axis.rb:552:in `raw'"./home/esp/esp2/lib/axis.rb:666:in `near?'",/home/esp/esp2/utils/misc.rb:32:in `to'"8/home/esp/esp2/utils/misc.rb:38:in `method_missing'"(ESP):21:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +2962 #-> Arm.CC + "manipulator"&V& +3 "core" & l e   +2 "manipulator"&6% +4 "core" % m m O +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&R'\ +35 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek :CC +2 "manipulator"&A( +331 "core" ( + "manipulator"&[& +4 "core" &# ;6 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +2 "core" &#  ;6 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&j'| +103 "core" ' +2 "manipulator"&n& +4 "core" &$  ;6 + "manipulator"&S% +4 "core" %x H +425 #t-> CC.close + "manipulator"&s& +4 "core" &# ) ;6 + "manipulator"&k% +4 "core" %w ? +2 "collection"'p& +4 "core" &R +2 "collection"'d& +4 "core" &R +2 .tCC.seek :closed +2 "collection"'\\(] +4 "core" &6  +9 &7; *x +10 &i9 = +9 &z}8 H +9 &?n0 G +10 &p< H +9 &p8 G +10 &!m: G +9 &#Fs9 G +9 &% n= G +10 &&p7 G +9 &(n8 G +9 &*Nk7 G +10 &,p9 G +9 &-n; G +9 &/r< G +10 &1Uo7 H +9 &3p8 H +10 &4m> G +9 &6m7 G +9 &8^n8 G +10 &: o7 G +9 &;m7 G +9 &=p9 G +10 &?gn9 G +9 &A)q> G +10 &Bp9 G +9 &Do> G +9 &Foq@ G +10 &H1s: G +9 &I9 I +10 &K@ L +9 &Ma9 O +9 &O8 P +10 &PA P +9 &R8 Q +9 &T^; R +10 &V!8 R +9 &W< R +10 &Y7 T +9 &[V 8 X +9 &]r< &w +10 &],8 K +9 ( +2 "collection"'d& +4 #tCollection Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.91 + "collection"'^& +4 "core" &]J8 < + &]LP < +357 #t-> Hand.open + !o:Puck::Error: mesg"+Hand is closed on sh1 puck from tube 6:bt[ "3/home/esp/esp2/utils/puckmoves.rb:81:in `open'"(ESP):24:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +737 #-> Arm.home + "manipulator"&X& +3 "core" & " n 9$ +2 "manipulator"&b% +4 "core" %m +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&W'\ +38 "core" ' = b +3 !to:Slide::Error\ : mesg")Forearm speedErr at CC + 1440 counts:@checkpoint: omitted: @replyo:I2C::Servo::AbsMove3Reply :@destinationi%: @channeli: @statusIS:I2C::Servo::Status: enabledT: pastRLSF: pastFLSF:pastThresholdF: lostF: homeF: positioni: velocityi: currenti:pwmig:erri: inPressi : outPressi :deltaPressi= : voltagef12.544952380952381": @type2F: @tagi\\: @sourcei+: @error: speedErr:@axisName" Forearm:bt["2/home/esp/esp2/lib/slide.rb:587:in `raiseErr'"7/home/esp/esp2/lib/slide.rb:350:in `unlimitedSeek'"5/home/esp/esp2/lib/thread.rb:74:in `recoverable'"7/home/esp/esp2/lib/slide.rb:323:in `unlimitedSeek'"./home/esp/esp2/lib/slide.rb:314:in `seek'",/home/esp/esp2/lib/slide.rb:357:in `to'"2/home/esp/esp2/utils/misc.rb:65:in `withdraw'",/home/esp/esp2/utils/misc.rb:32:in `to'"8/home/esp/esp2/utils/misc.rb:38:in `method_missing'"(ESP):25:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +601 #-> Hand.open +2 !o:Puck::Error: mesg"+Hand is closed on sh1 puck from tube 6:bt[ "3/home/esp/esp2/utils/puckmoves.rb:81:in `open'"(ESP):26:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +2386 #-> CC.unloadPuck 4, :SH1 +2 "collection"'Q& +3 "core" &]L\\ < +2 #tStoring SH1 puck in Collection Clamp to tube 4 + !o:Puck::Warning: mesg"BRetaining claim on Arm because Hand is likely holding a puck!:bt[ "7/home/esp/esp2/utils/puckmoves.rb:271:in `giveup!'"6/home/esp/esp2/utils/puckmoves.rb:457:in `unload'":/home/esp/esp2/utils/puckmoves.rb:962:in `unloadPuck'"(ESP):27:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +2 !o:Puck::Error: mesg"+Hand is closed on sh1 puck from tube 6:bt[ "3/home/esp/esp2/utils/puckmoves.rb:81:in `open'"1/home/esp/esp2/utils/misc.rb:70:in `retract'":/home/esp/esp2/utils/puckmoves.rb:241:in `selectTube'"6/home/esp/esp2/utils/puckmoves.rb:431:in `unload'":/home/esp/esp2/utils/puckmoves.rb:962:in `unloadPuck'"(ESP):27:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +858 #-> CC.open +2 .CC.seek :open + "collection"'w(p +411 "core" ( + "collection"'v& +4 "core" &= +150 #t-> CC.unloadPuck 4, :SH1 +2 "collection"'E& +3 "core" &8 +2 !to:Puck::Error: mesg"#Collection Clamp is NOT CLOSED:bt[ "7/home/esp/esp2/utils/puckmoves.rb:54:in `contains'"6/home/esp/esp2/utils/puckmoves.rb:417:in `unload'":/home/esp/esp2/utils/puckmoves.rb:962:in `unloadPuck'"(ESP):29:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +365 #-> Cc.close +2 !o:NameError: mesg"uninitialized constant Cc: name:Cc:bt["(ESP):30:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +322 #-> CC.close + "manipulator"&t& +3 "core" &g p o  , +2 "manipulator"&\ % +4 "core" %R q z  +3 !to:Arm::Error: mesg"XCannot hold puck in Collection Clamp because Hand is closed on sh1 puck from tube 6:@checkpoint: omitted:bt["E/home/esp/esp2/utils/misc.rb:414:in `closeAndVerifyPuckPresence'"5/home/esp/esp2/utils/misc.rb:485:in `closeClamp'",/home/esp/esp2/lib/msg.rb:68:in `retry'"5/home/esp/esp2/utils/misc.rb:484:in `closeClamp'"5/home/esp/esp2/lib/thread.rb:74:in `recoverable'"5/home/esp/esp2/utils/misc.rb:483:in `closeClamp'"0/home/esp/esp2/utils/misc.rb:503:in `close'"(ESP):31:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +317 #-> CC.unloadPuck 4, :SH1 +2 "collection"'{& +3 "core" &P +2 !to:Puck::Error: mesg"#Collection Clamp is NOT CLOSED:bt[ "7/home/esp/esp2/utils/puckmoves.rb:54:in `contains'"6/home/esp/esp2/utils/puckmoves.rb:417:in `unload'":/home/esp/esp2/utils/puckmoves.rb:962:in `unloadPuck'"(ESP):32:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +651 #-> CC.open +2 .CC.seek :open +2 "collection"'(p +4 "core" ( + "collection"'l& +4 "core" &H +797 #t-> Hand.close +515 #-> Hand.ready! +3 !o:NoMethodError : mesgu:NameError::message/undefined method `ready!' for Hand:Gripper: name: ready!: args[:bt["(ESP):35:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +918 #-> Arm.ready! +2 .Forearm.reconfigure :loose +3 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract + "manipulator"&h'\ +142 "core" ' +2 .tElbow.jog 1500 + "manipulator"&r* +47 "core" * + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 .tElbow.home.seek :clear +2 "manipulator"&}(d +562 "core" ( + "manipulator"&& +4 "core" &d !q +2 "manipulator"&c% +3 "core" %\ 4 %v +504 #t-> Hand.open +2 !o:Puck::Error: mesg"+Hand is closed on sh1 puck from tube 6:bt[ "3/home/esp/esp2/utils/puckmoves.rb:81:in `open'"(ESP):37:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 @1671134621.25EST = =tMAIN =mMAIN_scheduler @EST1671134623.13 #"core_reset"Sent BREAK +2 #t@35316 idle with ifg=0x00, ie=0x75 #>RESET< ESP2 v3.41 I2C Gateway v3.20 +209 #>RESET< ESP2 v3.41 I2C Gateway v3.20 for core bus +203 !o:Instrument::ISUSCore: @refiO: @configS:Instrument::Configuration: name" ISUS:calFileName0:sampleCmd"TS: prompt"\ :statusCmd"C:sampleTimeouti#:promptTimeouti:statusTimeouti: retriesi:strToPrompt"W: pace0: echoF:\ @name@ +97 #Configuration for don (12651-03) 10/9/20 brent@mbari.org\ /home/esp/esp2/type/shallow/don/configure.rb\ +388 "Can"F %$!x + F %$!x + #tPolling Can every 10:00 +4754 #-> ESP.ready! +3 #Powering core bus +571 .Gate.power :raw,:ON +2 "sampler") +14 ) +2 "core"  +2 "collection"' +2 ' +3 "core"  + "processing"% +2 % +3 "core"  +4 "collection"' 9\ +2 ' 0\ +2 ' -\ +4 "processing"% 9\ +2 % 2\ +2 % *\ +2 % 0\ +4 "sampler")&\ +2 "collection"'% +3 "core" %5 + .tCS.configure :default +3 "collection"'#P d@b +2 "processing"%% +3 "core" % + .tPS.configure :default +3 "processing"%#A d`xb +2 "sampler")% +3 "core" %\ g\ _m +2 .tSS.configure :default +2 "sampler")#.0X Hand.open +2 .Hand.open + "manipulator"&;1 +62 "core" 1 +1821 #t-> access 4 +2 "storage"(<% +3 "core" %W\ \  @ + "manipulator"&=% +4 "core" % \ 3  %N +2 "manipulator"&>& +4 "core" &/ U $ +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 1 +2 "storage"(?(B +999 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (@& +2 "core" &C  +5411 #t-> Puck.count + "storage"(A% +4 "core" %W \  E @ +2 .tSE.seek :down + "storage"(B'N +4 "core" ' + .tSE.stop + "storage"(5 +2 "manipulator"&C% +4 "core" % \ 3 X %N +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 1 +2 "storage"(D(B +3 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (E& +3 "core" &C R +2 "manipulator"&F& +3 "core" &/ $ +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 1 + "manipulator"&G(c +29 "core" ( + "manipulator"&H& +4 "core" &q >  +2 "storage"(I& +4 "core" &C\ \ !  +2 .tForearm.seek 1 + 450 counts +2 "manipulator"&J'Ф +103 "core" ' +2 "storage"(K& +4 "core" &C\ "\ ! +42 .tSE.reconfigure :place +3 "storage"(#]kK-0-\ b +3 .tSE.seek :beamBreak + "storage"(L'e +271 "core" ' +2 "storage"(M- +3 "core" -'e +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (N% +2 "core" %U\ \  +3 ."downElevator"SE.seek :down +3 "storage"(O'N +99 (P% +3 "core" %N\   OC + "manipulator"&Q% +4 "core" %Ф ?  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&R'\ +99 "core" ' +56 ' + ."downElevator"SE.stop + "storage"(5 +3 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"(S(  +366 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (T& +3 "core" &  <  + "manipulator"&U& +4 "core" &q  +2 .tElbow.seek 2 + "manipulator"&V(; +21 "core" ( + "manipulator"&W& +5 "core" &? + "storage"(X& +4 "core" & \ !\   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&Y'Ѐ +96 "core" ' + "storage"(Z& +4 "core" & \ \    +2 .tSE.reconfigure :place +3 "storage"(#]kK-0-\ b +3 .tSE.seek :beamBreak + "storage"(['e +307 "core" ' + "storage"(\\- +4 "core" -'H + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (]% +2 "core" % K\ \  +3 ."downElevator"SE.seek :down +3 "storage"(^'N +99 (_% +2 "core" %sB\ \  " M> +2 "manipulator"&`% +4 "core" %Ђ o o  4 + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&a'\ +97 "core" ' +34 ' + ."downElevator"SE.stop + "storage"(5 +3 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(b( +352 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (c& +3 "core" & r  + "manipulator"&d& +4 "core" &?  +2 .tElbow.seek 3 +2 "manipulator"&e(D +3 "core" ( + "manipulator"&f& +4 "core" &?  +2 "storage"(g& +3 "core" &\ \ !  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts + "manipulator"&h' +104 "core" ' + "storage"(i& +4 "core" &\ D\ D  +2 .tSE.reconfigure :place +2 "storage"(#]kK-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(j'e +307 "core" ' + "storage"(k- +4 "core" -'T + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (l% +3 "core" % X\ %\  +2 ."downElevator"SE.seek :down +4 "storage"(m'N +99 (n% +3 "core" %mA\ !\  N? +2 "manipulator"&o% +4 "core" % o o  + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&p'\ +94 "core" ' +37 ' + ."downElevator"SE.stop + "storage"(5 +3 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 4 +2 "storage"(q(, +355 "core" ( +2 .tSC.configure :limp +3 "storage"($\ 1b +2 (r& +3 "core" &,\ H  + "manipulator"&s& +4 "core" &? +2 .tElbow.seek 4 + "manipulator"&t(* +11 "core" ( + "manipulator"&u& +4 "core" &1  l +2 "storage"(v& +3 "core" &,\ \ 7  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 450 counts +2 "manipulator"&w' +103 "core" ' + "storage"(x& +4 "core" &,\ !\ "   +2 .tSE.reconfigure :place +3 "storage"(#]kK-0-\ b +3 .tSE.seek :beamBreak + "storage"(y'e +312 "core" ' + "storage"(z- +4 "core" -'Y + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 ({% +3 "core" % ]\ 2\  M +2 ."downElevator"SE.seek :down +4 "storage"(|'N +99 (}% +3 "core" %VI\ \  N@ + "manipulator"&~% +4 "core" %  $ +2 .tForearm.reconfigure :loose +4 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +93 "core" ' +46 ' +2 ."downElevator"SE.stop +2 "storage"(5 +6 .tSC.reconfigure :tight +4 "storage"($\ .\ 1~b +4 .tSC.seek 5 +3 "storage"((<< +357 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (& +3 "core" &<> \ F  +2 "manipulator"&& +3 "core" &1 M l +2 .tElbow.seek 5 +2 "manipulator"&( +11 "core" ( + "manipulator"&& +5 "core" & ? w + "storage"(& +4 "core" &<=\ \   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&' +98 "core" ' +2 "storage"(& +4 "core" &<=\ "\ !   +2 .tSE.reconfigure :place +2 "storage"(#]kK-0-\ b +3 .tSE.seek :beamBreak +2 "storage"( 'e +269 "core" ' + "storage"(\ - +4 "core" -'e + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 ( % +2 "core" %d\  P +3 ."downElevator"SE.seek :down +3 "storage"( 'N +98 ( % +4 "core" % I\ \ I NB + "manipulator"&% +5 "core" % / + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +98 "core" ' +55 ' + ."downElevator"SE.stop +2 "storage"(5 +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"((K +351 "core" ( +2 .tSC.configure :limp +3 "storage"($\ 1b +2 (& +2 "core" &K  +2 "manipulator"&& +5 "core" & w + .tElbow.seek 6 +2 "manipulator"&( +3 "core" ( + "manipulator"&& +4 "core" & E w +2 "storage"(& +3 "core" &K\ \  #  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&'< +92 "core" ' + "storage"(& +5 "core" &K\ \  +2 .tSE.reconfigure :place +2 "storage"(#]kK-0-\ b +3 .tSE.seek :beamBreak + "storage"('e +301 "core" ' + "storage"(- +4 "core" -'B + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (% +2 "core" % F\ 2\  D +3 ."downElevator"SE.seek :down +3 "storage"('N +99 ("% +2 "core" %gC\  l N? +2 "manipulator"&%% +4 "core" %@ { r p Z + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&''\ +97 "core" ' +34 ' + ."downElevator"SE.stop + "storage"(5 +3 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 7 +2 "storage"()([ +352 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 ((& +2 "core" &[ ;  +2 "manipulator"&& +3 "core" & s w +2 .tElbow.seek 7 +2 "manipulator"&( +31 "core" ( + "manipulator"&#& +4 "core" &\ X +2 "storage"(,& +3 "core" &[\ \  K  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 450 counts +2 "manipulator"&-'k +92 "core" ' + "storage"(.& +4 "core" &[\ "\ "  +2 .tSE.reconfigure :place +3 "storage"(#]kK-0-\ b +3 .tSE.seek :beamBreak + "storage"(/'e +268 "core" ' + "storage"(0- +4 "core" -'e + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (1% +3 "core" %f\  8 +2 ."downElevator"SE.seek :down +4 "storage"(2'N +99 (3% +3 "core" %F\ \  R OB +2 "manipulator"&4% +4 "core" %t  P +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&5'\ +96 "core" ' +60 ' + ."downElevator"SE.stop + "storage"(5 +1127 #t-> acces 4 +3 !o:NoMethodError : mesg".undefined method `acces' for Object:Class: name0: args0:bt[\ ";/home/esp/esp2/lib/framework.rb:51:in `method_missing'";/home/esp/esp2/lib/framework.rb:63:in `method_missing'"(ESP):5:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +266 #-> access 4 +2 "storage"(6% +3 "core" %?\ \  c +2 "manipulator"&7% +4 "core" %\ 3 %{ + "manipulator"&8& +4 "core" &\ X +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 1 +2 "storage"(9(B +2011 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (:& +2 "core" &E > +1285 #t-> access 3 +3 "storage"(;% +3 "core" %?\ \ ! h + "manipulator"&<% +4 "core" %\ 4 ~ %{ +2 "manipulator"&=& +3 "core" &\ b X +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 7 + "storage"(>([ +1939 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (!& +2 "core" &[ \  4  +678 #t-> access 6 +2 "storage"(@% +3 "core" %?\ \  +2 "manipulator"&A% +4 "core" %\ 3 %{ +2 "manipulator"&C& +3 "core" &\ i X +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(E( +1309 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (F& +2 "core" & +1944 #t-> access 3 +2 "storage"(H% +4 "core" %?\ \ f + "manipulator"&I% +4 "core" %\ 4 v %{ +2 "manipulator"&K& +3 "core" &\ X +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 7 +2 "storage"( ([ +1302 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (B& +2 "core" &[  +1926 #t-> access 2 +2 "storage"(?% +4 "core" %?\ \  + "manipulator"&$% +4 "core" %\ 3 z %{ + "manipulator"&&& +4 "core" &\ { X +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"(M(K +357 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (N& +3 "core" &K x +1131 #t-> access 6 +2 "storage"(P% +3 "core" %?\ \ +2 "manipulator"&Q% +4 "core" %\ 3 %{ +2 "manipulator"&L& +3 "core" &\  X +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(J( +986 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (O& +4 "core" & +6357 #t-> startTube 6 +1125 #-> $da[:extractVol]=.19 +284 #-> da 50 +2 #da sampling at most 50ml +5 #Loading sh1 puck from tube 6 into Collection Clamp +2 ."Qmail"DAfans.email "Started da in tube 6 at 15:12:04EST15-Dec-22\\n{1 => 0,\\n 5 => 0,\\n 7 => 0}\\nCTD data unavailable\\nISUS data unavailable\\nCan@15:03:52, 15% flow, 22.0C, 27% humidity, 14.5psia, 14.96V, 0.114A avg, 0.096A avg, 1.71W",Subject: "da sampling at most 50ml" +2 "collection"'D& +6 "core" &OH  +2 "manipulator"&T% +51 "core" %\ 3 q %{ +2 "storage"(U% +4 "core" %?\ \  < + "storage"(W. +3 "core" .( +2 .tSC.reconfigure :tight +6 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"(X(K +39 !"Qmail"o:!Net::SMTPAuthenticationError: mesg"E534-5.7.9 Application-specific password required. Learn more at\ :@checkpoint: omitted:bt["E/opt/mbari/lib/ruby/1.8/net/smtp.rb:954:in `check_auth_response'"/opt/mbari/lib/ruby/1.8/net/smtp.rb:723:in `authenticate'":/opt/mbari/lib/ruby/1.8/net/smtp.rb:566:in `do_start'"7/opt/mbari/lib/ruby/1.8/net/smtp.rb:525:in `start'"2/home/esp/esp2/lib/email.rb:325:in `sendOnce'"3/home/esp/esp2/lib/schedule.rb:292:in `unsync'"3/home/esp/esp2/lib/schedule.rb:594:in `unsync'"3/home/esp/esp2/lib/schedule.rb:621:in `unsync'"2/home/esp/esp2/lib/email.rb:318:in `sendOnce'"//home/esp/esp2/lib/email.rb:340:in `email'",/home/esp/esp2/lib/msg.rb:68:in `retry'"//home/esp/esp2/lib/email.rb:339:in `email'"./home/esp/esp2/lib/email.rb:348:in `mail'"-/home/esp/esp2/lib/email.rb:66:in `call'"3/home/esp/esp2/lib/email.rb:66:in `initialize'"-/home/esp/esp2/lib/email.rb:63:in `loop'"3/home/esp/esp2/lib/email.rb:63:in `initialize'"7/home/esp/esp2/lib/schedule.rb:481:in `initialize'"0/home/esp/esp2/lib/thread.rb:738:in `start'"7/home/esp/esp2/lib/schedule.rb:474:in `initialize'"'/home/esp/esp2/lib/schedule.rb:472 + !o:Email::Queue::Purge: mesg"Purged output queue:bt[ "//home/esp/esp2/lib/email.rb:106:in `purge'"3/home/esp/esp2/lib/email.rb:75:in `initialize'"-/home/esp/esp2/lib/email.rb:63:in `loop'"3/home/esp/esp2/lib/email.rb:63:in `initialize'"7/home/esp/esp2/lib/schedule.rb:481:in `initialize'"0/home/esp/esp2/lib/thread.rb:738:in `start'"7/home/esp/esp2/lib/schedule.rb:474:in `initialize'"'/home/esp/esp2/lib/schedule.rb:472 +949 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (Z& +2 "core" &K  +2 "manipulator"&G& +3 "core" &\ X +2 .tElbow.seek 6 +2 "manipulator"&R( +30 "core" ( + "manipulator"&\\& +5 "core" & b  + "storage"(]& +4 "core" &K\ \   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&_'< +100 "core" ' +2 "storage"(`& +4 "core" &K\ \   +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(['e +269 "core" ' + "storage"(Y- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (^& +2 "core" &K \   +2 "manipulator"&S& +4 "core" & D  + .tElbow.seek 6 +2 "manipulator"&c( +3 "core" ( + "manipulator"&d& +4 "core" &   +2 "storage"(f& +3 "core" &K\   +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&g'Ϧ +20 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&i/ +61 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&V& + "storage"(a'N +7 "core" & S  +2 "manipulator"&k% +4 "core" % ϭ 1 + .tForearm.seek :retract +2 "manipulator"&l'\ +96 "core" ' +2 .tElbow.seek CC +2 "manipulator"&n( +138 "core" ' + ."downElevator"SE.stop + "storage"(5 +21 "core" ( + "manipulator"&o& +4 "core" &+ } Ac +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &j& +2 "core" &+ 5 Ac +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&h'| +100 "core" ' +2 "manipulator"&m& +4 "core" &* @^ +2 "manipulator"&b% +4 "core" %w ^ + "collection"'r& +4 "core" &O=  +2 "collection"'s& +5 "core" &O=  +3 .tCC.seek :closed + "collection"'u(] +4 "core" &OG  +8 &ePN $e +10 &H]E 8 +9 &G I +9 &pE H +10 &ArF H +9 &sD H +10 & pE H +9 &"uC H +9 &$Hr8 H +10 &&\ r: H +9 &'q7 H +10 &)p6 H +9 &+Pr8 H +9 &-r7 H +10 &.v3 H +9 &0s9 H +9 &2Yq7 H +10 &4s: H +9 &5p3 H +10 &7r6 H +9 &9ap4 H +9 &;$q4 H +10 &<q, H +9 &>q5 H +9 &@hu5 H +10 &B*s6 H +9 &Cp5 H +10 &Eq+ H +9 &Gqp6 H +9 &I/}3 J +10 &J= L +9 &L5 O +9 &Nb3 P +10 &P"8 Q +9 &Q< Q +10 &S4 R +9 &Ub5 S +9 &W%( R +10 &X: T +9 &Z) T +9 &\\f1 A +10 &]`;* %n +9 &]S( @ +2 ( +2 "collection"'s& +3 #tCollection Clamp onSpring/offSpring for 10/26 samples, on/off torque 1.76 + .Hand.open + "manipulator"&v1 +60 "core" 1 +2 "manipulator"&x% +4 "core" % t  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&e'\ +94 "core" ' +2 #tcollectSample 50ml w/bubble point of 24psi +2 #Priming 7ml + .Intake.select :close + .Exhaust.select :close +2 .SS.hold + "sampler")p+ +4 "core" + + "sampler")z% +4 "core" %2\ i\ ` +2 "collection"'{& +3 "core" &]Z( @ +3 "Can"V QO +2 #tCalibrating pressure and temperature sensors +3 .CTV.dial :air +2 .SSV.dial :spit,avoiding: :exhaust +2 .SS.reconfigure :fast +2 "sampler")#.0X& +3 "core" &]Ygi6 @ +2 ."airStroke"CSV.dial :waste +3 "sampler")F% +2 ."airStroke"CS.seek 0ml +4 "collection"'H' +4 "core" %,\ -\ ) & + ' + ."airStroke"CSV.dial :air +4 ."connect"SSV.dial CBV,avoiding: :exhaust +3 .tCBV.dial SSV +3 "collection"'I @ + "sampler")K  +66 "core" A +2 ."airStroke"CS.seek 10ml +2 "collection"'E' +106 "core"  +2 .tCTV.dial :air + "collection"'B  +65 "core" +2 .tdelay 15 seconds +1502 .SSV.dial :spit,avoiding: :exhaust +2 "sampler")? +121 "core" +2 ."prepCSV"CTV.dial CSV,avoiding: :intake +5 .tSS.seek 0ml +2 "collection"'$  + "sampler")&'0 +6 "core" ' +2 .tSSV.dial CBV,avoiding: :exhaust +2 "sampler")  +110 "core"  +9  +251 ' +3 "sampler")N% +4 "core" %/\ z\ q # + .tCBV.dial between SSV and waste2 +2 "collection"'P  +30 "core"  + "collection"'Q% +9 "core" %  +2 ."connect"CTV.dial CSV,avoiding: :air +3 .tCSV.dial CTV +2 "collection"'L  +40 "core"  +2 .tCS.reconfigure :pressurize +3 "collection"'# d@<< Mb +2 .tCS.seek 0ml +2 "collection"'M' +2136 "core" ' ; M M װ +2 "collection"'O% +4 "core" %  N N  +2 "sampler")D% +3 "core" %/\ y\ r # +2 #tBubblePoint: Intake @38.6psia, Outlet @14.6psia + .CBV.dial SSV +2 "collection"'T @ +28 "core" @ +2 .tSS.reconfigure :default +3 "sampler")#.0X +2 ."CSpush"CS.reconfigure :fast +3 "collection"'#d @b +2 ."CSpush"CS.seek 0ml +2 "collection"'Y' +109 "core" ' + .tSSV.dial :spit,avoiding: :exhaust +2 "sampler")^ +120 "core" +2 .tSS.reconfigure :exhale +3 "sampler")#.0X + #tPulling 2ml of CSR.AqMeOH + .CSR.select :AqMeOH +2 "collection"' +9 .tCS.reconfigure :default +3 "collection"'#P d@b +2 .tCS.seek 2ml +2 "collection"''~ +584 "core" ' + .tdelay 5 seconds +503 .CSR.select :air +2 "collection"' +8 '% +4 "core" %j  +2 .tCS.seek 5ml +2 "collection"''s +847 "core" ' + .tdelay 2 seconds +202 .CSV.dial CTV +2 "collection"'"  +40 "core" ~ +2 .tCS.seek 1ml +2 "collection"'%' +1104 "core" ' + "collection"'9 +4 "core" 9 + "collection"'% +4 "core" %2 + #tBefore lysing Collection Puck Heater at 21.2C/28.6psia +3 #Heating Puck.from 6, :sh1 in Collection Clamp to 70C for 10:00 +2 .CH.seek 70C,8:00 +2 "collection"' \  +3 '9 +4 "core" 9d +102 "collection"'(9 +2 "core" 9d +102 "collection"'9 +7 "core" 9 d +103 "collection"'#9 +2 "core" 9 d +102 "collection"',9 +2 "core" 9d +102 "collection"'9 +3 "core" 9d +102 "collection"'9 +2 "core" 9d +102 "collection"'9 +3 "core" 9d +102 "collection"''9 +2 "core" 9"d +102 "collection"'.9 +3 "core" 9&d +102 "collection"'39 +2 "core" 9+d +103 "collection"'49 +2 "core" 9/d +102 "collection"'/9 +2 "core" 93d +102 "collection"'-9 +3 "core" 97d +102 "collection"'29 +2 "core" 9;d +102 "collection"'69 +3 "core" 9?d +102 "collection"'79 +3 "core" 9Dd +102 "collection"'89 +2 "core" 9Hd +102 "collection"')9 +3 "core" 9Ld +102 "collection"':9 +2 "core" 9Pd +102 "collection"';9 +3 "core" 9Td +102 "collection"'<9 +2 "core" 9)Yd +102 "collection"'=9 +2 "core" 9=]d +102 "collection"'99 +3 "core" 9Pad +102 "collection"'!9 +2 "core" 9ded +102 "collection"'@9 +3 "core" 9yid +102 "collection"'09 +3 "core" 9md +102 "collection"'A9 +2 "core" 9rd +102 "collection"'19 +3 "core" 9vd +102 "collection"'>9 +2 "core" 9zd +102 "collection"'F9 +3 "core" 9~d +102 "collection"'I9 +2 "core" 9d +102 "collection"'K9 +3 "core" 9d +102 "collection"'B9 +2 "core" 9,d +102 "collection"'9 +3 "core" 9Dd +102 "collection"'H9 +3 "core" 9\\d +102 "collection"'?9 +2 "core" 9sd +102 "collection"'$9 +3 "core" 9d +102 "collection"' 9 +2 "core" 9d +102 "collection"'C9 +3 "core" 9c +102 "collection"'N9 +3 "core" 9b +102 "collection"'P9 +2 "core" 9_ +102 "collection"'Q9 +2 "core" 9] +103 "collection"'L9 +2 "core" 9Z +102 "collection"'E9 +2 "core" 91Y +102 "collection"'O9 +3 "core" 9IW +102 "collection"'D9 +2 "core" 9aU +102 "collection"'T9 +4 "core" 9xR +102 "collection"'&9 +3 "core" 9P +102 "collection"'W9 +2 "core" 9N +102 "collection"'J9 +3 "core" 9L +102 "collection"'Z9 +3 "core" 9J +102 "collection"'U9 +2 "core" 9H +102 "collection"'G9 +2 "core" 9E +102 "collection"']9 +3 "core" 9D +102 "collection"'`9 +3 "core" 92A +102 "collection"'59 +2 "core" 9I@ +102 "collection"'\\9 +3 "core" 9_> +102 "collection"'^9 +2 "core" 9v< +102 "collection"'M9 +3 "core" 9; +102 "collection"'9 +3 "core" 99 +102 "collection"'Y9 +2 "core" 96 +102 "collection"'S9 +3 "core" 95 +102 "collection"'f9 +2 "core" 93 +102 "collection"'i9 +2 "core" 9 2 +102 "collection"'d9 +3 "core" 9\ / +102 "collection"'k9 +2 "core" 9. +102 "collection"'R9 +3 "core" 91- +102 "collection"'_9 +2 "core" 9D+ +102 "collection"'o9 +3 "core" 9X!* +102 "collection"'[9 +3 "core" 9k%( +102 "collection"'V9 +2 "core" 9~*' +102 "collection"'j9 +3 "core" 9.( +102 "collection"'m9 +2 "core" 92% +102 "collection"'b9 +3 "core" 96" +102 "collection"'c9 +3 "core" 9:! +102 "collection"'a9 +2 "core" 9? +102 "collection"'l9 +3 "core" 9C +102 "collection"'*9 +2 "core" 9G +102 "collection"'v9 +3 "core" 9 K +102 "collection"'g9 +3 "core" 9 O +102 "collection"'z9 +3 "core" 9 &S +102 "collection"'{9 +2 "core" 9 5X +102 "collection"'s9 +3 "core" 9 D\\ +102 "collection"'r9 +2 "core" 9 S` +102 "collection"'9 +3 "core" 9 ad +102 "collection"'p9 +2 "core" 9 oh +102 "collection"'y9 +3 "core" 9 {m +102 "collection"'h9 +2 "core" 9 q +102 "collection"'~9 +3 "core" 9 u +102 "collection"'|9 +3 "core" 9 y +102 "collection"'q9 +2 "core" 9 } +102 "collection"'9 +3 "core" 9  +102 "collection"'w9 +3 "core" 9   +103 "collection"'9 +3 "core" 9 \  +103 "collection"'x9 +3 "core" 9   +102 "collection"'}9 +54 "core" 9   +102 "collection"'9 +2 "core" 9 \ +102 "collection"'9 +3 "core" 9\ \ +102 "collection"'\ 9 +3 "core" 9\  +102 "collection"' 9 +2 "core" 9\  +102 "collection"'9 +3 "core" 9\ ! +102 "collection"'9 +2 "core" 9\ * +102 "collection"'9 +3 "core" 9\ 3 +102 "collection"' 9 +2 "core" 9\ ; +102 "collection"'t9 +4 "core" 9\ C +102 "collection"' 9 +2 "core" 9\ K +102 "collection"'9 +2 "core" 9\ S +103 "collection"'9 +2 "core" 9\ [ +102 "collection"'9 +3 "core" 9\ b +102 "collection"' 9 +3 "core" 9\ j +102 "collection"'9 +2 "core" 9\ o  +103 "collection"'9 +2 "core" 9\ v  +3 .tCH.hold 10:00,70C +3 "collection"' `\ `\ q +2 '9 +6 "core"  9\ w  +2 "collection"'% +4 "core" % ] + #tBegun lysing Collection Puck Heater at 68.1C/32.4psia +20562 "Can">  +39428 "core" ` + "collection"'"9 +13 "core" 9\  + "collection"'% +4 "core" % +2 #tEnded lysing Collection Puck Heater at 70C/29.3psia +2 .CS.seek 0ml +2 "collection"'' +329 "core" ' +2 .tCTV.dial between spare and air,avoiding: :intake +2 "collection"' @ +93 "core" B +2 .tCSV.dial :air + "collection"' @ +41 "core" > +2 .tCS.seek 5ml +2 "collection"'('s +1352 "core" ' + .tCSV.dial CTV +2 "collection"'  +41 "core"  +2 .tdelay 2 seconds +202 .CSV.dial :air + "collection"'# @ +40 "core" ? +2 .tdelay 2 seconds +202 .CSV.dial CTV + "collection"',  +40 "core"  +2 .tdelay 2 seconds +202 .CSV.dial :air +2 "collection"' @ +41 "core" > +2 .tdelay 2 seconds +202 .CS.seek 0ml +2 "collection"'' +1350 "core" ' +2 "collection"'% +4 "core" % | | + #tPuck @41.2psia after final lysis pressurization +2 #Recovering Lysate into Collection syringe + .CSV.dial CBV +2 "collection"'' +93 "core"  +2 .tCBV.dial CSV + "collection"'.  +28 "core"  +2 "collection"'3% +4 "core" % - - +2 .tCS.seek 5ml +2 "collection"'4's +1361 "core" ' + .tdelay 5 seconds +502 .CTV.dial :air +3 "collection"'/  +38 "core" + "collection"'-% +4 "core" %sP[  +2 .tCS.seek 7.001ml +2 "collection"'2' +594 "core" ' + .tdelay 5 seconds +502 .CSV.dial :air2 +3 "collection"'6 @ +50 "core" B +2 .tCS.seek 10ml +2 "collection"'7' +836 "core" ' +2 .tCSV.dial between air and CTV,avoiding: CBV +2 "collection"'8 ` +107 "core" ^ +2 #tLysing Complete + "collection"')& +5 "core" &]X&' @ + #tStoring sh1 puck in Collection Clamp to tube 5 + "manipulator"&:% +4 "core" %\ .  #g +2 "storage"(;% +3 "core" %H  +2 "storage"(<. +3 "core" .(K + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"(=(<< +358 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (9& +3 "core" &<> L +2 "manipulator"&!& +5 ."raiseStack"SE.reconfigure :place +2 "storage"(#]kK-0-\ b +3 "core" &'#  ;8 +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 ."raiseStack"SE.seek :beamBreak +3 "manipulator"&@( +3 "storage"(0'e +30 "core" ( + "manipulator"&A& +4 "core" &  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &1& +3 "core" & N +2 .tForearm.seek CC + "manipulator"&>'| +95 "core" ' + .tHand.close + "manipulator"&F/ +54 "core" / +2 .tCC.seek :open +2 "collection"'I(p +69 "core" ' + "storage"(K- +4 "core" -'e + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +2 ."raiseStack"SE.seek :place +2 "storage"(B'B +32 "core" ' +296 ( +2 "storage"(& +4 "core" &<>\ \  + "storage"(H& +4 "core" &<>\ !\ !  + "manipulator"&?& +4 "core" &  +2 "manipulator"&$% +3 "core" % ς  +2 .tForearm.seek :retract +2 "manipulator"& '\ +91 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&C( +167 "core" ( + "manipulator"&N& +4 "core" & B +2 "storage"(P& +4 "core" &<>\ \  u +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 5 + "manipulator"&Q'/ +111 "core" ' + .tElbow.hold +2 "manipulator"&L, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&E1 +64 "core" 1 +2 "manipulator"&O% +4 "core" % Au 0 0 , +2 "storage"(D& +3 "core" &<> q +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 318 counts + "manipulator"&T'm +19 "core" ' +2 "manipulator"&&& +4 "core" &9 t W D  + "storage"(W& +4 "core" &<>\ !\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts + "manipulator"&J' +11 "core" ' + "storage"(Z% +5 "core" %J\ \   +2 ."downElevator"SE.seek :down +3 "storage"(U'N +99 (G% +3 "core" %F\ !\ ! NA + "manipulator"&]% +4 "core" % d k  : +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&`'\ +92 "core" ' +55 ' + ."downElevator"SE.stop + "storage"(5 +3 #tTranferring DA +2 #Beginning samplePassC +2 #Loading FlushPuck into Collection Clamp from FlushPuck::Garage + "collection"'5& +4 "core" &%% +2 "manipulator"&\\& +3 "core" &9   +2 "manipulator"&^% +4 "core" %\ . x #j +2 .tElbow.seek FlushPuck::Garage + "manipulator"&M(, +173 "core" ( + "manipulator"&& +4 "core" &,  r +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &Y& +2 "core" &, r +2 .tForearm.seek :garage +2 "manipulator"&S' +105 "core" ' +2 .tHand.close + "manipulator"&f/ +57 "core" / + "manipulator"&i& +4 "core" &,  q +2 "manipulator"&d% +3 "core" %  G +2 .tForearm.seek :retract +2 "manipulator"&k'\ +97 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&R( +287 "core" ( + "manipulator"&_& +4 "core" &,  Cr +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &o& +2 "core" &-  Cr +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&['| +91 "core" ' +2 "manipulator"&V& +4 "core" &- Cr + "manipulator"&j% +4 "core" %q ^  +2 "collection"'m& +4 "core" &++ +2 "collection"'b& +4 "core" &*, +2 .tCC.seek :closed +2 "collection"'c(] +4 "core" &-. +8 & *, "_ +9 &qY,-  5 +9 &,- G +10 &l*, F +9 &]p*- G +9 &s-, G +10 & p++W G +9 &"p.+1 G +10 &$ep,-{ G +9 &&&m,. G +9 &'o,/ G +10 &)p-. F +9 &+mp,- G +9 &-/r,/ G +10 &.o./ G +9 &0r+. G +10 &2tp-/ G +9 &47p-, G +9 &5r.1 G +10 &7o-.^ G +9 &9}l,/D G +9 &;@n-.' F +10 &=o-0 F +9 &>o.( G +10 &@o./ F +9 &BGp,/ G +9 &D\ o// F +10 &En// G +9 &Gs.- G +9 &ILv+. H +10 &K0/x J +9 &L.0d N +9 &N{/2F P +10 &P;13o P +9 &Q13 Q +10 &S21s Q +9 &U|/2b R +9 &W=12O R +10 &X13= T +9 &Z121 T +10 &\\14 A +9 &]k/13 (u +9 &]F10 = +3 ( + "collection"'b& +3 #tCollection Clamp onSpring/offSpring for 10/25 samples, on/off torque 1.81 + "collection"'a& +4 "core" &]L12m = +2 .tHand.open + "manipulator"&l1 +58 "core" 1 + "manipulator"&*% +5 "core" % q 1  + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&v'\ +91 "core" ' +2 .tPSV.dial PSR +2 "processing"%g +125 "core"  + "processing"%z% +4 "core" %8 + #tPulling 1.5ml of PSR.flush + .PSR.select :flush +2 "processing"%j +10 .tPS.seek 1.5ml +2 "processing"%{' +1610 "core" ' +2 .tdelay 5 seconds +502 .PSV.dial :waste1 + "processing"%s  +42 "core"  +2 .tPS.seek 0ml + "processing"%r' +1609 "core" ' + .tPSV.dial PSR +2 "processing"% +47 "core"  + .tPSR.select :air +2 "processing"% +10 .tPS.seek 2.5ml +2 "processing"%p'm +2632 "core" ' +2 ."connect"PRV.dial CBV,avoiding: :ab2 +3 .tCBV.dial PRV +2 "processing"%y +2 "collection"'h  +5 "core" B +2 "processing"%~  +65 "core" +82  + .tPSV.dial :mixloop +2 "processing"%| +98 "core" +2 .tCTV.dial :air,avoiding: :intake + .PTV.dial :PRVmixing +2 "processing"%q  +119 "core" + .tPS.seek 0ml +2 "processing"%' +1826 "Can"/ PM +808 "core" ' + .tPSV.dial :air +2 "processing"%w  +42 "core"  +2 .tPS.seek 2.5ml +2 "processing"%'m +2632 "core" ' + .tPSV.dial :mixloop +2 "processing"%x +49 "core" +2 .tPS.seek 0ml + "processing"%}' +2629 "core" ' +2 .tPSV.dial :air +2 "processing"%  +48 "core"  +2 .tPS.seek 2.5ml +2 "processing"%'m +2629 "core" ' + .tPSV.dial :mixloop +2 "processing"%\ +48 "core" +2 .tPS.seek 0ml +3 "processing"% ' +2631 "core" ' +2 #tGaraging FlushPuck in Collection Clamp + "manipulator"&& +4 "core" &4% =E +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&( +28 "core" ( + "manipulator"&& +5 "core" &   + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 & & +2 "core" &   +2 .tForearm.seek CC +2 "manipulator"&t'| +96 "core" ' + .tHand.close +2 "manipulator"& / +56 "core" / +2 .tCC.seek :open +2 "collection"'(p +411 "core" ( + "manipulator"&& +57 "core" &   +2 "manipulator"&% +3 "core" % ϐ   +2 .tForearm.seek :retract +2 "manipulator"& '\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage +2 "manipulator"&(, +281 "core" ( + "manipulator"&& +4 "core" &, , +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &, B +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :garage +2 "manipulator"&' +108 "core" ' +2 .tHand.open + "manipulator"&1 +53 "core" 1 +2 "manipulator"&% +4 "core" %   +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&"'\ +104 "core" ' + .tPSV.dial :mixloop + .PTV.dial :PRVmixing +2 ."connect"PRV.dial CBV +3 .tCBV.dial PRV +2 .CTV.dial :air,avoiding: :intake +2 #Loading lyfil puck from tube 6 into Collection Clamp + "collection"'& +5 "core" &jix + "manipulator"&%% +4 "core" %\ 3 z %} +2 "storage"(% +3 "core" %E\ \  +2 "storage"(. +3 "core" .(<< +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"((K +363 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (& +2 "core" &K \ k  +2 "manipulator"&#& +3 "core" &, s +2 "manipulator"&,% +4 "core" %\ 3 x %} + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&( +175 "core" ( + "manipulator"&(& +4 "core" & < ; +2 "storage"(& +4 "core" &K\ !\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&''< +107 "core" ' +2 "storage"(.& +4 "core" &K\ D\ C  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(3'e +286 "core" ' +2 "storage"(- +3 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (/& +3 "core" &K\ \   +2 "manipulator"&-& +4 "core" & p o ; + .tElbow.seek 6 +2 "manipulator"&4( +3 "core" ( + "manipulator"&6& +4 "core" & [ t \\ ; +2 "storage"(2& +3 "core" &K\ \   +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&8'Ϧ +30 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&)/ +60 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&:& + "storage"(;'N +5 "core" & o m  ; +2 "manipulator"&<% +5 "core" % ϛ l o M + .tForearm.seek :retract +2 "manipulator"&X'\ +90 "core" ' + .tElbow.seek CC +2 "manipulator"&9( +150 "core" ( + "manipulator"&!& +5 "core" ' + & # @ ;6 + ."downElevator"SE.stop +3 .tElbow.reconfigure :loose +2 "storage"(5 +2 "manipulator"&$ &.,(#b +4 &A& +2 "core" & #  ;6 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&1'| +106 "core" ' +2 "manipulator"&F& +4 "core" & # A ;6 + "manipulator"&K% +4 "core" %w 1 +2 "collection"'n& +4 "core" &kk +3 "collection"'e& +5 "core" &jl +2 .tCC.seek :closed +2 "collection"'u(] +4 "core" &jl  +8 &6ilM *x +9 &jjiJ = +10 &wilD H +9 &=mjmC F +10 &phl: G +9 &pkk G +9 &!pil F +10 &#Bqkl G +9 &%nik G +9 &&shj G +10 &(pikg F +9 &*LpjlR G +10 &,qhl@ G +9 &-sjl$ G +9 &/pii G +10 &1Ssjk G +9 &3pjk G +9 &4klk G +10 &6mim G +9 &8]nlj F +9 &:njk G +10 &;kll[ G +9 &=mllO G +10 &?enkkA F +9 &A%nkl3 G +9 &Bpim G +10 &Dmml G +9 &Fkrkl G +10 &H,sklm G +9 &Ijl J +9 &Kmm L +10 &MYlm P +9 &Oon P +9 &Pkm Q +10 &Rln Q +9 &T\\nn R +9 &Vkm R +10 &Wlm{ R +9 &Ymn{ U +10 &[]kpp T +9 &]ymoZ (} +9 &]#ong I +9 ( +3 "collection"'e& +3 #tCollection Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.84 + .Hand.open + "manipulator"&01 +4 "core" &]SmpV A +52 1 + "manipulator"&% +4 "core" % w  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&H'\ +95 "core" ' +2 .tCTV.dial CSV,avoiding: :intake +2 "collection"'?  +120 "core"  + .tCSV.dial CTV +2 "collection"'$  +28 "core"  +2 .tPS.seek 2.5ml +2 "processing"%N'm +2652 "core" ' +2 "collection"'P% +4 "core" %oq  +2 .tCS.seek 4.5ml +2 "collection"'>'d +1475 "core" ' + .tdelay 8 seconds +803 .PSV.dial :air + "processing"%@  +48 "core"  + .tdelay 2 seconds +202 .PSV.dial :waste2 +2 "processing"%E  +70 "core"  +2 .tPS.seek 0ml + "processing"%O' +2631 "core" ' + .tCBV.dial between PRV and waste1 +2 "collection"'D ` +31 "core" ^ +2 .tCSV.dial :air +2 "collection"'& @ +42 "core" ? +2 .tCS.seek 10ml + "collection"'W' +1476 "core" ' +2 .tCSV.dial CTV + "collection"'Z  +41 "core"  +2 .tCS.seek 0ml +2 "collection"' ' +2618 "core" ' + .tCBV.dial :waste1 +2 "collection"'G @ +27 "core" ? + .tdelay 5 seconds +503 .CTV.dial :air,avoiding: :intake +2 "collection"']  +120 "core" +2 "collection"'C& +4 "core" &]OpqT A +2 #tStoring lyfil puck in Collection Clamp to tube 5 + "manipulator"&Q% +4 "core" %\ 8 l ' + "storage"(5% +4 "core" %E ' + "storage"(\\. +3 "core" .(K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"(T(<< +354 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (^& +2 "core" &M + "manipulator"&q% +4 "core" % ύ  +2 .tForearm.seek :retract +2 "manipulator"&p'\ +96 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&w( +179 "core" ( +2 "manipulator"&& +4 "core" &  I + "storage"(x& +4 "core" & V +2 "manipulator"&-% +3 "core" %] t +2 "processing"%6& +4 "core" &Uh  +2 "processing"%2& +5 "core" &Ug  +2 .tPC.seek :closed +2 "processing"%)(Z +4 "core" &Uj  +10 &9p *z +9 &nr ? +9 &Zxm H +10 &no G +9 &oo G +10 &ny G +9 &!dox G +9 &#&n{ G +10 &$mw G +9 &&n G +9 &(kk H +10 &*.p G +9 &+p H +10 &-n H +9 &/rp H +9 &15k H +10 &2p G +9 &4j G +9 &6{l H +10 &8>p G +9 &:k G +10 &;m G +9 &=j G +9 &?Fn G +10 &Ap H +9 &Bp H +10 &Dm H +9 &FNk G +9 &H s H +10 &I{ I +9 &K K +9 &MF M +10 &O N +9 &P N +9 &R M +10 &TN M +9 &V N +10 &W| N +9 &Y" ; +9 &Z~2 \\ +10 &Z & +2 ( +2 "processing"%2& +3 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.46 + "processing"%:& +4 "core" &Z & +2 .tHand.open + "manipulator"&<1 +64 "core" 1 + "manipulator"&% +4 "core" % [ e +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&''\ +94 "core" ' +2 .tPRV.dial :air +2 "processing"%!  +39 "core"  + .tPSV.dial :mixloop +2 "processing"%A +48 "core" +2 "processing"%3% +4 "core" %G +2 .tPS.seek 0.3ml + "processing"%8'd +419 "core" ' +2 .tPSV.dial PSR + "processing"%F +99 "core"  + "processing"%K% +4 "core" %i  +2 #tPulling 0.4ml of PSR.air + .PSR.select :air +3 .PS.seek 0.7ml + "processing"%n'. +499 "core" ' + .tdelay 3 seconds +302 .PSR.select :air +3 .PS.seek 2.5ml + "processing"%4'm +1936 "core" ' +2 .tdelay 3 seconds +302 .PSV.dial :mixloop +2 "processing"%; +102 "core" +2 .tPTV.dial :mixing + "processing"%X @ +68 "core" A + .tPBV.dial :waste2 +2 "processing"%  +89 "core"  +2 .tPS.seek 0ml +2 "processing"%0' +2654 "core" ' + #tGaraging FlushPuck in Processing Clamp +2 "manipulator"&& +4 "core" &m o V + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +2 "manipulator"&e(c +2 "core" ( + "manipulator"&?& +4 "core" &m  V +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &$& +3 "core" &m . V +2 .tForearm.seek PC +2 "manipulator"&1'[ +96 "core" ' + .tHand.close +2 "manipulator"& / +52 "core" / + .tPC.seek :open +2 "processing"%P(p +392 "core" ( + "manipulator"&7& +4 "core" &m  V +2 "manipulator"&@% +3 "core" % k   +2 .tForearm.seek :retract +2 "manipulator"&E'\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +7 .tElbow.seek :garage +2 "manipulator"&N(, +121 "core" ( +2 "manipulator"&D& +4 "core" &, ?  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &&& +3 "core" &,   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :garage +2 "manipulator"&>' +107 "core" ' + .tHand.open +2 "manipulator"&Z1 +56 "core" 1 +2 "manipulator"&W% +4 "core" %  ( 6 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&G'\ +99 "core" ' +3 #tLoading da puck from tube 6 into Processing Clamp + "processing"%]& +4 "core" &, + "manipulator"&C% +4 "core" %\ 0 k $q +2 "storage"(Q% +3 "core" %K\ !\ !  +2 "storage"(5. +3 "core" .(n9 G +9 &@i8 G +10 &BTn3 G +9 &Dm= G +9 &Em/ G +10 &Gn) G +9 &I[t, G +10 &K|, I +9 &L+ K +9 &N& M +10 &PS0 M +9 &R' M +9 &S M +10 &U M +9 &WY N +9 &Y K +10 &ZX;c #f +9 &Z 88 ' +6 ( + "processing"%o& +4 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.43 +2 .Hand.open + "manipulator"&z1 +3 "core" &Z ' +59 1 + "manipulator"&u% +4 "core" % Q h Z +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&h'\ +91 "core" ' +2 #tHeating Puck.from 6, :da in Processing Clamp to 28C for 2:00:00 +2 .PH.seek 28C,5:00 +3 "processing"%~  + %|9 +6 "core" 9 +102 "processing"%q9 +2 "core" 9 +102 "processing"%9 +3 "core" 9  +102 "processing"%x9 +2 "core" 9  +102 "processing"%9 +3 "core" 9 +102 "processing"%[9 +3 "core" 9 +102 "processing"%}9 +2 "core" 9 +102 "processing"%\ 9 +3 "core" 9 +102 "processing"%9 +2 "core" 9" +102 "processing"%9 +2 "core" 9& +102 "processing"% 9 +3 "core" 9* +102 "processing"%R9 +2 "core" 9/ +102 "processing"%p9 +2 "core" 93 +102 "processing"%c9 +3 "core" 97 +102 "processing"%9 +3 "core" 9; +102 "processing"%w9 +2 "core" 9? +102 "processing"%9 +2 "core" 9C +102 "processing"%9 +3 "core" 9H +102 "processing"%*9 +2 "core" 9L +102 "processing"%t9 +3 "core" 9P +102 "processing"% 9 +2 "core" 9T +102 "processing"%v9 +3 "core" 9 X +102 "processing"%O9 +2 "core" 9\\\ +102 "processing"%9 +2 "core" 9 a +102 "processing"%9 +3 "core" 9*e +103 "processing"%9 +2 "core" 94i +102 "processing"%9 +2 "core" 9>m +102 "processing"%9 +3 "core" 9Hq +102 "processing"% 9 +2 "core" 9Rv +102 "processing"%%9 +2 "core" 9\\z +103 "processing"%9 +2 "core" 9f~ +102 "processing"%9 +5 "core" 9o +103 "processing"%=9 +3 "core" 9y +102 "processing"%9 +2 "core" 9 +3 .tPH.hold 2:00:00,28C +2 "processing"%# pp| +4 .tdelay 1:30 +2 "core"  +8034 "Can"/ >< +966 .tPSR.select :air +2 .PSV.dial PSR +2 "processing"%, +104 "core"  + "processing"%(% +4 "core" %a  +2 #tPulling 0.5ml of PSR.wash + .PSR.select :wash +2 "processing"% +10 .tPS.seek 0.5ml +2 "processing"%' +587 "core" ' +2 .tdelay 5 seconds +502 .PSR.select :air +3 "processing"% +9 .tPS.seek 2ml +2 "processing"%.'ԏ +1663 "core" ' +2 .tPTV.dial :puck +2 "processing"%"  +65 "core"  +2 .tPSV.dial PTV + "processing"% +77 "core" + .tPBV.dial :waste1 +2 "processing"%/  +122 "core"  + "processing"%-% +4 "core" %ԋ  +2 .tPS.seek 1.5ml +2 "processing"%6' +586 "core" ' +2 .tdelay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"% * +32 "core" , +2 .tPS.seek 0ml +2 "processing"%' +1618 "core" ' + .tdelay 5:00 +30002 #recoverPSRreagent08 + .PTV.dial :puck +2 .PBV.dial :waste1 + "processing"%+  +33 "core"  + .tdelay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%: * +33 "core" , + .tPSR.select :air +2 .PSV.dial PSR +2 "processing"%< +76 "core"  +2 .tPS.reconfigure :fast +2 "processing"%#A ,`xb +3 .tPS.seek 2.5ml + "processing"%'m +2203 "core" ' + .tPSV.dial PTV +2 "processing"%2 +77 "core" + .tdelay 5 seconds +502 .PSV.dial PSR +2 "processing"%! +76 "core"  + .tdelay 5 seconds +502 .PSV.dial PTV +2 "processing"%A +76 "core" +2 .tdelay 5 seconds +501 .PSV.dial :air +3 "processing"%3  +69 "core"  +2 .tPS.seek 0ml +2 "processing"%' +2176 "core" ' + .tPTV.dial :PRVmixing,via: PRV +2 "processing"%  +120 "core" + .tPSV.dial :mixloop +2 "processing"%F +49 "core" + .tPRV.dial :ab1 +2 "processing"%K @ +65 "core" A +2 .tPS.reconfigure :slow +3 "processing"%#A 2`xb +2 .tPS.seek 0.15ml +2 "processing"%8'@ +373 "core" ' + .tdelay 2 seconds +202 ."connect"CBV.dial PRV +3 .tPRV.dial CBV +3 "collection"'n  + "processing"%;  +41 "core" +3  + "processing"%X% +4 "core" %?u +2 .tPS.seek 0.34ml +2 "processing"%' +430 "core" ' +2 .tdelay 2 seconds +202 .CBV.dial between PRV and PSV +2 "collection"'4  +29 "core" + .tPRV.dial :air +2 "processing"%  +39 "core"  +2 .tPS.seek 0.9ml +2 "processing"%?'H +1188 "core" ' + .tPRV.dial :waste2 +2 "processing"%$ @ +67 "core" ? +3 .tPS.seek 0.5ml + "processing"% ' +864 "core" ' + #taddPMLReagent08 + .PSV.dial :air +2 "processing"%  +49 "core"  +2 .tPS.reconfigure :default +2 "processing"%#A d`xb +2 .tPS.seek 2ml +2 "processing"%''ԏ +1648 "core" ' + .tPSV.dial :PML +2 "processing"%) +49 "core" + .tPTV.dial :mixing +2 "processing"%7 @ +65 "core" A +2 .tPBV.dial :waste1 + "processing"%@  +33 "core" +2 "processing"%D% +4 "core" %Ԍ +2 .tPS.seek 1.85ml + "processing"%&'c +241 "core" ' +2 .tPBV.dial between PSV and waste1 +2 "processing"%1 * +32 "core" + +2 .tPS.seek 0ml +2 "processing"%e' +1966 "core" ' +2 .tdelay 2 seconds +202 #Beginning samplePassC +2 #Loading FlushPuck into Collection Clamp from FlushPuck::Garage + "collection"'Z& +4 "core" &uv! +2 "manipulator"&W& +4 "core" &m A \ +2 "manipulator"&]% +3 "core" %\ , J "^ +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek FlushPuck::Garage +2 "manipulator"&C(, +146 "core" ( +2 "manipulator"&Q& +4 "core" &,   + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &5& +2 "core" &, d  +2 .tForearm.seek :garage +2 "manipulator"&E' +106 "core" ' +2 .tHand.close + "manipulator"&>/ +61 "core" / + "manipulator"&T& +4 "core" &, 9  +2 "manipulator"&% +3 "core" %  y +2 .tForearm.seek :retract +2 "manipulator"&^'\ +97 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&B( +279 "core" ( + "manipulator"&Y& +5 "core" &# ! :/ + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &U& +2 "core" &# K :/ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&N'| +105 "core" ' +2 "manipulator"&9& +4 "core" &# M :/ + "manipulator"&G% +4 "core" %p  +2 "collection"'d& +4 "core" &uv +2 "collection"'`& +5 "core" &tt +2 .tCC.seek :closed +2 "collection"'S(] +4 "core" &uw +6 &9sw $c +10 &hXuv 6 +9 &tu I +10 &ivx H +9 &Pnsu I +9 &pqt I +10 & ktv H +9 &"msv H +9 &$Yluu H +10 &&ptv H +9 &'kwu H +10 &)pvv I +9 &+astu H +9 &-#qtu H +10 &.ssw H +9 &0ssq H +9 &2irtu H +10 &4+stv H +9 &5ntu H +10 &7otw H +50 &9qmtv H +14 &;3mvu H +3 &<mtv H + &>otv H + &@zmtu H +2 &B<ptt H +4 &Cnsv H + &Eout H +8 &Gnuv! H +9 &ICuut" H +10 &Ktv J +9 &Lvw M +9 &Nquy" Q +10 &P3wy Q +9 &Qxx Q +10 &Sww R +9 &Utwx" R +9 &W5tv# S +10 &Xww# T +9 &Zyw T +9 &\\ixy E +10 &]`1wy$ *| +9 &]Jxy! ; +3 ( + "collection"'`& +3 #tCollection Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.77 +2 "collection"'j& +4 "core" &]Cww. ; + .tHand.open + "manipulator"&m1 +64 "core" 1 +2 "manipulator"&a% +4 "core" % p c +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&b'\ +99 "core" ' +2 .tPSV.dial PSR +2 "processing"%L +96 "core"  +2 "processing"%J% +4 "core" %_ + #tPulling 1.5ml of PSR.flush + .PSR.select :flush +2 "processing"%@ +10 .tPS.seek 1.5ml +2 "processing"%f' +1609 "core" ' +2 .tdelay 5 seconds +502 .PSV.dial :waste1 +3 "processing"%H  +43 "core"  +2 .tPS.seek 0ml +2 "processing"%I' +1618 "core" ' + .tPSV.dial PSR +2 "processing"%_ +49 "core"  + .tPSR.select :air +2 "processing"% +10 .tPS.seek 2.5ml + "processing"%k'm +410 "Can"/ WT +2224 "core" ' +2 ."connect"PRV.dial CBV,avoiding: :ab2 +3 .tCBV.dial PRV +3 "processing"%M  + "collection"'s  +30 "core"  +114  +2 .tPSV.dial :mixloop + "processing"%{ +97 "core" +2 .tCTV.dial :air,avoiding: :intake + .PTV.dial :PRVmixing +2 "processing"%l  +66 "core" +2 .tPS.seek 0ml + "processing"%g' +2636 "core" ' + .tPSV.dial :air +2 "processing"%  +43 "core"  +2 .tPS.seek 2.5ml +2 "processing"%P'm +2631 "core" ' + .tPSV.dial :mixloop +2 "processing"%z +48 "core" +2 .tPS.seek 0ml +2 "processing"%u' +2645 "core" ' + .tPSV.dial :air +2 "processing"%|  +48 "core"  +2 .tPS.seek 2.5ml +2 "processing"%o'm +2635 "core" ' +2 .tPSV.dial :mixloop + "processing"%q +49 "core" +2 .tPS.seek 0ml +2 "processing"%V' +2632 "core" ' + #tGaraging FlushPuck in Collection Clamp + "manipulator"&& +5 "core" & j 5\ +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&x( +32 "core" ( + "manipulator"&& +4 "core" & H +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &[& +2 "core" &  +2 .tForearm.seek CC +2 "manipulator"&}'| +96 "core" ' + .tHand.close +2 "manipulator"&\ / +59 "core" / +2 .tCC.seek :open +2 "collection"'(p +410 "core" ( +2 "manipulator"&& +4 "core" & E + "manipulator"& % +4 "core" % ώ 3 +2 .tForearm.seek :retract +2 "manipulator"&R'\ +95 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage +2 "manipulator"&p(, +267 "core" ( + "manipulator"&c& +5 "core" &, % l + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &, J l +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :garage +2 "manipulator"&w' +108 "core" ' +2 .tHand.open + "manipulator"&1 +55 "core" 1 + "manipulator"&% +4 "core" %  x +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&*'\ +100 "core" ' +2 ."da"delayUntil "16:00:55.37" +24836 #recoverPRVreagent08 + .PTV.dial :mixing +2 "processing"%t @ +66 "core" A +2 ."da"PBV.dial :waste1 +2 "processing"%  +32 "core" +2 ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%v * +32 "core" + +2 ."da"PSV.dial :air +2 "processing"%O  +48 "core"  +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml +2 "processing"%'m +2213 "core" ' + ."da"PSV.dial :mixloop +2 "processing"% +48 "core" +2 ."da"delay 2 seconds +202 .PSV.dial :air + "processing"%  +48 "core"  +2 ."da"delay 2 seconds +202 .PSV.dial :mixloop +2 "processing"% +47 "core" +2 ."da"delay 2 seconds +202 .PSV.dial :air +2 "processing"%  +48 "core"  +2 ."da"PS.seek 0ml +2 "processing"% ' +2169 "core" ' + #"da"washCycleDA #1 of 2 +2 .PSR.select :air +2 .PSV.dial PSR +2 "processing"%% +124 "core"  +2 "processing"%% +4 "core" % + #"da"Pulling 0.5ml of PSR.wash + .PSR.select :wash +2 "processing"% +10 ."da"PS.reconfigure :default +2 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"%' +587 "core" ' + ."da"delay 5 seconds +503 .PSR.select :air +2 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%='ԏ +1614 "core" ' + ."da"PTV.dial :puck +2 "processing"%  +66 "core"  + ."da"PSV.dial PTV +2 "processing"%, +70 "core" + ."da"PBV.dial :waste1 +2 "processing"%(  +33 "core" + "processing"%0% +4 "core" %ԏ  +2 ."da"PS.seek 1.5ml +2 "processing"%' +594 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%" * +32 "core" + +2 ."da"PS.seek 0ml +2 "processing"%' +1608 "core" ' +2 ."da"delay 2:00 +3882 "Can"/ >< +8120 #"da"recoverPSRreagent08 + .PTV.dial :puck +2 .PBV.dial :waste1 + "processing"%/  +33 "core" + ."da"delay 30 seconds +3002 .PBV.dial between PSV and waste1 +2 "processing"%- * +32 "core" + +2 ."da"PSR.select :air +2 .PSV.dial PSR + "processing"%. +76 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%'m +2197 "core" ' +2 ."da"PSV.dial PTV +2 "processing"%6 +75 "core" + ."da"delay 5 seconds +502 .PSV.dial PSR +2 "processing"%~ +76 "core"  + ."da"delay 5 seconds +503 .PSV.dial PTV + "processing"%+ +75 "core" + ."da"delay 5 seconds +502 .PSV.dial :air +3 "processing"%:  +69 "core"  +2 ."da"PS.seek 0ml +2 "processing"%<' +2197 "core" ' +2 #"da"washCycleDA #2 of 2 + .PSR.select :air +2 .PSV.dial PSR +2 "processing"% +124 "core"  +2 "processing"%2% +4 "core" % + #"da"Pulling 0.5ml of PSR.wash + .PSR.select :wash +2 "processing"% +10 ."da"PS.reconfigure :default +2 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"%!' +587 "core" ' + ."da"delay 5 seconds +503 .PSR.select :air +2 "processing"% +10 ."da"PS.seek 2ml +2 "processing"%A'ԏ +1619 "core" ' +2 ."da"PTV.dial :puck + .PSV.dial PTV +2 "processing"%3 +69 "core" + ."da"PBV.dial :waste1 +2 "processing"%  +33 "core" + "processing"%% +4 "core" %Ԕf  +2 ."da"PS.seek 1.5ml +2 "processing"%F' +597 "core" ' + ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%K * +32 "core" + +3 ."da"PS.seek 0ml +2 "processing"%' +1611 "core" ' +2 ."da"delay 2:00 +12003 #recoverPSRreagent08 + .PTV.dial :puck + .PBV.dial :waste1 +2 "processing"%n  +33 "core" +2 ."da"delay 30 seconds +3002 .PBV.dial between PSV and waste1 +2 "processing"%; * +83 "core" + +2 ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"%X +75 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%8'm +2201 "core" ' + ."da"PSV.dial PTV +2 "processing"%4 +75 "core" + ."da"delay 5 seconds +503 .PSV.dial PSR +2 "processing"% +75 "core"  +2 ."da"delay 5 seconds +502 .PSV.dial PTV +2 "processing"% +74 "core" + ."da"delay 5 seconds +503 .PSV.dial :air +2 "processing"%$  +69 "core"  +2 ."da"PS.seek 0ml +2 "processing"%?' +2169 "core" ' +2 #"da"getPMLReagent08 + .PRV.dial :air +2 "processing"%  +40 "core"  +2 ."da"delay 5 seconds +502 .PTV.dial :PRVmixing +2 "processing"%  +118 "core" + ."da"delay 5 seconds +503 .PRV.dial :ab2 + "processing"%)  +40 "core"  + ."da"PTV.dial :PRVmixing +2 .PSV.dial :mixloop +2 "processing"%7 +47 "core" +2 ."da"PS.reconfigure :default +2 "processing"%#A d`xb +3 ."da"PS.seek 0.3ml + "processing"%@'i +398 "core" ' +2 ."da"delay 2 seconds +202 .PRV.dial :air +2 "processing"%D  +39 "core"  +2 "processing"%1% +4 "core" %i + ."da"PS.seek 0.55ml +2 "processing"%''X +333 "core" ' +2 #"da"addPMLReagent08 +2 .PSV.dial :air +2 "processing"%&  +46 "core"  +2 ."da"PS.seek 2ml +2 "processing"%Z'ԏ +1588 "core" ' + ."da"PSV.dial :PML +2 "processing"%W +47 "core" +2 ."da"PTV.dial :mixing +2 "processing"%] @ +66 "core" B +2 ."da"PBV.dial :waste1 +2 "processing"%Q  +32 "core" +2 "processing"%5% +4 "core" %ԕ +2 ."da"PS.seek 1.85ml +2 "processing"%i'l +228 "core" ' + ."da"PBV.dial between PSV and waste1 +2 "processing"%> * +33 "core" + +2 ."da"PS.seek 0ml +2 "processing"%T' +1969 "core" ' +2 ."da"delay 2 seconds +202 .delay 8:00 +9036 "Can"4 ?= +38967 #"da"recoverPRVreagent08 + .PTV.dial :mixing +2 .PBV.dial :waste1 +2 "processing"%  +31 "core" +2 ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%h * +32 "core" + +2 ."da"PSV.dial :air +2 "processing"%E  +46 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%Y'm +2243 "core" ' + ."da"PSV.dial :mixloop +2 "processing"%U +47 "core" + ."da"delay 2 seconds +202 .PSV.dial :air +2 "processing"%C  +46 "core"  +2 ."da"delay 2 seconds +202 .PSV.dial :mixloop +2 "processing"%9 +46 "core" +2 ."da"delay 2 seconds +201 .PSV.dial :air +2 "processing"%G  +47 "core"  +2 ."da"PS.seek 0ml +2 "processing"%d' +2178 "core" ' +2 #"da"washCycleDA #1 of 3 + .PSR.select :air +2 .PSV.dial PSR +2 "processing"%^ +125 "core"  + "processing"%y% +4 "core" % + #"da"Pulling 0.5ml of PSR.wash +2 .PSR.select :wash +2 "processing"% +9 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"%j' +602 "core" ' + ."da"delay 5 seconds +503 .PSR.select :air +2 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%m'ԏ +1645 "core" ' + ."da"PTV.dial :puck +2 "processing"%a  +66 "core"  + ."da"PSV.dial PTV +2 "processing"%` +69 "core" + ."da"PBV.dial :waste1 +2 "processing"%L  +33 "core" + "processing"%J% +4 "core" %ԅ +2 ."da"PS.seek 1.5ml +2 "processing"%N' +586 "core" ' + ."da"delay 3 seconds +303 .PBV.dial between PSV and waste1 +2 "processing"%e * +32 "core" + +2 ."da"PS.seek 0ml +2 "processing"%H' +1617 "core" ' +2 ."da"delay 2:00 +7016 "Can"6 ?= +4987 #"da"recoverPSRreagent08 + .PTV.dial :puck +2 .PBV.dial :waste1 +2 "processing"%f  +32 "core" +2 ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%_ * +32 "core" + +2 ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"%I +74 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%s'm +2211 "core" ' +2 ."da"PSV.dial PTV +2 "processing"%M +75 "core" + ."da"delay 5 seconds +502 .PSV.dial PSR +2 "processing"%{ +74 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PTV +2 "processing"%l +74 "core" + ."da"delay 5 seconds +503 .PSV.dial :air +2 "processing"%k  +70 "core"  +3 ."da"PS.seek 0ml + "processing"%' +2170 "core" ' +2 #"da"washCycleDA #2 of 3 + .PSR.select :air +2 .PSV.dial PSR +2 "processing"%g +124 "core"  +2 "processing"%z% +3 "core" %} +2 #"da"Pulling 0.5ml of PSR.wash + .PSR.select :wash +2 "processing"% +10 ."da"PS.reconfigure :default +2 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"%P' +590 "core" ' + ."da"delay 5 seconds +502 .PSR.select :air +2 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%|'ԏ +1643 "core" ' + ."da"PTV.dial :puck +2 .PSV.dial PTV +2 "processing"%u +70 "core" + ."da"PBV.dial :waste1 +2 "processing"%q  +33 "core" + "processing"%o% +4 "core" %ԃ +2 ."da"PS.seek 1.5ml +2 "processing"%' +602 "core" ' + ."da"delay 3 seconds +303 .PBV.dial between PSV and waste1 + "processing"% * +32 "core" + +3 ."da"PS.seek 0ml +2 "processing"%[' +1611 "core" ' + ."da"delay 2:00 +12004 #recoverPSRreagent08 + .PTV.dial :puck + .PBV.dial :waste1 +2 "processing"%\  +33 "core" +2 ."da"delay 30 seconds +3002 .PBV.dial between PSV and waste1 +2 "processing"%B * +33 "core" + +2 ."da"PSR.select :air +2 .PSV.dial PSR + "processing"%b +76 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%S'm +2194 "core" ' +2 ."da"PSV.dial PTV +2 "processing"% +75 "core" + ."da"delay 5 seconds +502 .PSV.dial PSR +2 "processing"% +74 "core"  +2 ."da"delay 5 seconds +502 .PSV.dial PTV +2 "processing"%} +74 "core" + ."da"delay 5 seconds +503 .PSV.dial :air + "processing"%c  +68 "core"  +2 ."da"PS.seek 0ml +2 "processing"%' +2167 "core" ' + #"da"washCycleDA #3 of 3 +2 .PSR.select :air +2 .PSV.dial PSR + "processing"%x +125 "core"  + "processing"%% +4 "core" %| + #"da"Pulling 0.5ml of PSR.wash +2 .PSR.select :wash +2 "processing"% +9 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"%' +596 "core" ' + ."da"delay 5 seconds +503 .PSR.select :air +2 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%R'ԏ +1623 "core" ' +2 ."da"PTV.dial :puck + .PSV.dial PTV +2 "processing"%w +113 "core" +8 ."da"PBV.dial :waste1 +2 "processing"%t  +32 "core" + "processing"% % +4 "core" %Ԏp  +2 ."da"PS.seek 1.5ml +2 "processing"%v' +594 "core" ' + ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%O * +32 "core" + +3 ."da"PS.seek 0ml +2 "processing"%V' +1624 "core" ' + ."da"delay 2:00 +12003 #recoverPSRreagent08 + .PTV.dial :puck +2 .PBV.dial :waste1 + "processing"%  +32 "core" + ."da"delay 30 seconds +1060 "Can"4 >; +1943 ."da"PBV.dial between PSV and waste1 +3 "processing"% * +32 "core" + + ."da"PSR.select :air +3 .PSV.dial PSR + "processing"% +75 "core"  +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml + "processing"%'m +2198 "core" ' + ."da"PSV.dial PTV +2 "processing"% +75 "core" + ."da"delay 5 seconds +503 .PSV.dial PSR +2 "processing"%% +74 "core"  + ."da"delay 5 seconds +502 .PSV.dial PTV +2 "processing"% +74 "core" +2 ."da"delay 5 seconds +502 .PSV.dial :air +2 "processing"%  +71 "core"  +2 ."da"PS.seek 0ml +2 "processing"%' +2179 "core" ' + ."da"Gate.power :camera,:ON +2 #Mixing DA Substrates + .PSR.select :air +2 .PSV.dial PSR +2 "processing"% +126 "core"  +3 "processing"%,% +10 "core" % +4 #"da"Pulling 0.25ml of PSR.sub1 + .PSR.select :sub1 +4 "processing"% +19 ."da"PS.reconfigure :default +5 "processing"%#A d`xb +6 ."da"PS.seek 0.25ml +3 "processing"%(' +336 "core" ' +2 ."da"delay 5 seconds +502 "processing"%0% +4 "core" %  + #"da"Pulling 0.25ml of PSR.sub2 +2 .PSR.select :sub2 +2 "processing"% +9 ."da"PS.seek 0.5ml +2 "processing"%=' +341 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +2 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%"'ԏ +1614 "core" ' +2 ."da"PTV.dial :puck + .PSV.dial PTV +2 "processing"% +70 "core" +2 ."da"PBV.dial :waste1 +2 "processing"%/  +34 "core" + "processing"%-% +4 "core" %Ԑy  +2 ."da"PS.seek 1.5ml +2 "processing"%.' +591 "core" ' + ."da"delay 3 seconds +303 .PBV.dial between PSV and waste1 + "processing"% * +34 "core" + +2 ."da"PS.seek 0ml +2 "processing"%6' +1619 "core" ' +2 ."da"delay 10 seconds +1003 #recoverPSRreagent08 + .PTV.dial :puck +2 .PBV.dial :waste1 + "processing"%~  +34 "core" + ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%+ * +34 "core" + +2 ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"%: +74 "core"  +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml +2 "processing"%'m +2216 "core" ' + ."da"PSV.dial PTV +2 "processing"% +77 "core" + ."da"delay 5 seconds +502 .PSV.dial PSR +2 "processing"%2 +74 "core"  +2 ."da"delay 5 seconds +502 .PSV.dial PTV +3 "processing"%< +74 "core" +2 ."da"delay 5 seconds +502 .PSV.dial :air +2 "processing"%!  +69 "core"  +3 ."da"PS.seek 0ml + "processing"%3' +2190 "core" ' +2 #"da"Additional air clear + .PSR.select :air +2 .PSV.dial PSR +2 "processing"% +124 "core"  +2 "processing"%% +4 "core" %| + #"da"Pulling 2ml of PSR.air + .PSR.select :air +3 .PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 2ml +2 "processing"%A'ԏ +2148 "core" ' + ."da"delay 5 seconds +503 .PTV.dial :puck +2 .PSV.dial PTV + "processing"%K +68 "core" + ."da"PBV.dial :waste1 +2 "processing"%F  +35 "core" + "processing"%n% +4 "core" %ԓd +2 ."da"PS.seek 1.5ml +2 "processing"%;' +587 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%X * +33 "core" + +2 ."da"delay 1 second +102 .PSV.dial :waste1 +2 "processing"%  +102 "core"  +3 ."da"PS.seek 0ml +2 "processing"%4' +1617 "core" ' + "processing"%9 +4 "core" 94 + #"da"Processing Puck Heater at 28C before imaging +2 .PH.coast +2 "processing"%  +3 "core" 4 + 4 + "processing"%$& +4 "core" &Z ' +2 #"da"Imaging da puck in Processing Clamp while storing it to tube 5 + "manipulator"&8% +4 "core" %\ 0 $q + "storage"(% +4 "core" %C E G + "storage"( . +3 "core" .(K +2 ."da"SC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 ."da"SC.seek 5 +2 "storage"()(<< +356 "core" ( +2 ."da"SC.configure :limp +2 "storage"($\ 1b +3 (7& +2 "core" && +4 "core" &<> E V + ."da"Elbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 ."da"Forearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 ."da"Forearm.seek 5 +2 "manipulator"&Z'/ +29 "core" ' + ."da"Elbow.hold +2 "manipulator"&i, +3 "core" , + ."da"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(- +2 "core" -' +3 ."da"SE.seek 1.11 Pucks below Top Plate +2 "storage"(h'X +26 "core" ' +2 "manipulator"&E% +4 "core" %8q  C ĸ +2 "storage"(T& +3 "core" &<> H K +2 ."da"Forearm.force -20 + "manipulator"&5 +3 ."da"Forearm.seek 5 + 309 counts +2 "manipulator"&U'd +17 "core" ' + "manipulator"&C& +5 "core" &T e w ? + "storage"(9& +4 "core" &<> * 3 a +2 ."da"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 ."da"Forearm.seek 5 + 450 counts +2 "manipulator"&G' +22 "core" ' +2 ."da"SE.seek 2.11 Pucks below Top Plate +2 "storage"(Y'G +39 "core" ' + "manipulator"&^& +4 "core" &T q n ? +2 "manipulator"&y% +3 "core" % n n  +2 ."da"Forearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 ."da"Forearm.seek :retract +2 "manipulator"&d'\ +87 "core" ' + ."da"Elbow.seek PC +2 "manipulator"&j(c +253 "core" ( + "manipulator"&a& +4 "core" &k  + ."da"Elbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &`& +3 "core" &k  +2 ."da"Forearm.seek PC +2 "manipulator"&L'[ +99 "core" ' + ."da"Hand.close +2 "manipulator"&J/ +60 "core" / + ."da"PC.seek :open +2 "processing"%m(p +392 "core" ( + "storage"(e& +4 "core" &<> L +2 "manipulator"&N& +3 "core" &k 3 +2 "manipulator"&f% +3 "core" % Z > +2 ."da"Forearm.seek :retract +48 "manipulator"&_'\ +110 "core" ' +2 ."da"Elbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 ."da"Elbow.seek 5 +2 "manipulator"&I( +243 "core" ( +2 "manipulator"&H& +4 "core" &  l : + "storage"(M& +4 "core" &<> F @ +2 ."da"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 ."da"Forearm.seek 5 + 450 counts +2 "manipulator"&{' +109 "core" ' + ."da"Hand.open +2 "manipulator"&l1 +59 "core" 1 +2 "storage"(k- +3 "core" -'G +3 ."da"SE.seek 1.87 Pucks below Top Plate +2 "storage"(s' +23 "core" ' +2 ."da"SE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 ."da"SE.seek 1.2 Pucks below Top Plate +2 "storage"(g' +46 "core" ' + #"da"Lights, camera, ACTION! +4 #PuckCamera: snap -bin=2,2 -auto /var/log/esp/da22dec1516h50ml.tif +1952 #"psFlush"Waiting >20 seconds for da to relinquish FlushPuck +2197 #"da"SX HX9/16 (USB:02): 1392x1040 pixel 16-bit CCD camera\ Exposing 696x520 pixel 16-bit image for 37.924 seconds\ /var/log/esp/da22dec1516h50ml.tif: TIFF Upload Complete\ +3 #PuckCamera: snap -bin=2,2 15.0 /var/log/esp/midres/da22dec1516h50ml15s.tif +1565 #SX HX9/16 (USB:02): 1392x1040 pixel 16-bit CCD camera\ Exposing 696x520 pixel 16-bit image for 15 seconds\ /var/log/esp/midres/da22dec1516h50ml15s.tif: TIFF Upload Complete\ +3 #PuckCamera: snap -bin=2,2 30.0 /var/log/esp/midres/da22dec1516h50ml30s.tif +3069 #SX HX9/16 (USB:02): 1392x1040 pixel 16-bit CCD camera\ Exposing 696x520 pixel 16-bit image for 30 seconds\ /var/log/esp/midres/da22dec1516h50ml30s.tif: TIFF Upload Complete\ +3 #PuckCamera: snap -bin=1,1 70.0 /var/log/esp/hires/da22dec1516h50ml70s.tif +7169 #SX HX9/16 (USB:02): 1392x1040 pixel 16-bit CCD camera\ Exposing 1392x1040 pixel 16-bit image for 70 seconds\ /var/log/esp/hires/da22dec1516h50ml70s.tif: TIFF Upload Complete\ +2 .Gate.power :camera,:OFF +3 ."Qmail"DAfans.email "37.924 sec auto-exposure",Subject: "da22dec1516h50ml images!" +5 "storage"(z- +4 "core" -' +3 "storage"(& +5 "core" &<> 6 + "manipulator"&P& +7 "core" & q q  9 +2 ."da"Elbow.seek 5 +2 "manipulator"&u( +6 "core" ( + "manipulator"&q& +4 "core" & { w ! 9 + "storage"(o& +4 "core" &<> 8 +3 ."da"Forearm.seek 5 + 450 counts +4 "manipulator"&|' +3 "core" ' +3 ."da"SE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 ."da"SE.seek 1.92 Pucks below Top Plate +4 "storage"('R +32 !"Qmail"o:!Net::SMTPAuthenticationError: mesg"E534-5.7.9 Application-specific password required. Learn more at\ :@checkpoint: omitted:bt["E/opt/mbari/lib/ruby/1.8/net/smtp.rb:954:in `check_auth_response'"/opt/mbari/lib/ruby/1.8/net/smtp.rb:723:in `authenticate'":/opt/mbari/lib/ruby/1.8/net/smtp.rb:566:in `do_start'"7/opt/mbari/lib/ruby/1.8/net/smtp.rb:525:in `start'"2/home/esp/esp2/lib/email.rb:325:in `sendOnce'"3/home/esp/esp2/lib/schedule.rb:292:in `unsync'"3/home/esp/esp2/lib/schedule.rb:594:in `unsync'"3/home/esp/esp2/lib/schedule.rb:621:in `unsync'"2/home/esp/esp2/lib/email.rb:318:in `sendOnce'"./home/esp/esp2/lib/email.rb:340:in `send'",/home/esp/esp2/lib/msg.rb:68:in `retry'"./home/esp/esp2/lib/email.rb:339:in `send'"B/home/esp/esp2/protocol/2G/utilities.rb:163:in `prepAndImage'"-/home/esp/esp2/lib/email.rb:66:in `call'"3/home/esp/esp2/lib/email.rb:66:in `initialize'"-/home/esp/esp2/lib/email.rb:63:in `loop'"3/home/esp/esp2/lib/email.rb:63:in `initialize'"7/home/esp/esp2/lib/schedule.rb:481:in `initialize'"0/home/esp/esp2/lib/thread.rb:738:in `start'"7/home/esp/esp2/lib/schedule.rb:474:in `initialize'"'/home/esp/esp2/lib/schedule.rb:472 +2 !o:Email::Queue::Purge: mesg"Purged output queue:bt[ "//home/esp/esp2/lib/email.rb:106:in `purge'"3/home/esp/esp2/lib/email.rb:75:in `initialize'"-/home/esp/esp2/lib/email.rb:63:in `loop'"3/home/esp/esp2/lib/email.rb:63:in `initialize'"7/home/esp/esp2/lib/schedule.rb:481:in `initialize'"0/home/esp/esp2/lib/thread.rb:738:in `start'"7/home/esp/esp2/lib/schedule.rb:474:in `initialize'"'/home/esp/esp2/lib/schedule.rb:472 +23 "core" ' + "manipulator"&& +4 "core" & n n 9 +2 "storage"(\ & +3 "core" &<>\ !\ "  +2 ."da"Elbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 ."da"Forearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 ."da"Forearm.seek 5 +2 "manipulator"&B'/ +29 "core" ' + ."da"Elbow.hold +2 "manipulator"&b, +4 "core" , + ."da"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 ."da"SE.reconfigure :default +3 "storage"(#QK-0-\ b +2 ."da"SE.seek 2.1 Pucks below Top Plate +2 "storage"(['< +20 "core" ' + "manipulator"&% +4 "core" %< i +2 "storage"( & +4 "core" &<>\ \ \ \\ + ."da"Forearm.force -20 +2 "manipulator"&5 +2 ."da"Forearm.seek 5 + 313 counts +2 "manipulator"&}'h +17 "core" ' +2 "manipulator"&c& +65 "core" &/ p n ?  +2 "storage"(S& +3 "core" &<>\ \  ^ +3 ."da"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 ."da"Forearm.seek 5 + 450 counts +2 "manipulator"&x' +20 "core" ' + "storage"(% +5 "core" %>\ C\ * = +2 ."downElevator"SE.seek :down +4 "storage"('N +98 (% +4 "core" %C\ \  M: + "manipulator"&w% +4 "core" % n n +2 ."da"Forearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 ."da"Forearm.seek :retract +2 "manipulator"&t'\ +95 "core" ' +30 ' + ."downElevator"SE.stop + "storage"(5 +3 ( & +4 "core" &<>\ \  3 +3 #"psFlush"Loading FlushPuck into Processing Clamp from FlushPuck::Garage +2 #tStarting finalPurge +2 "processing"%R& +4 "core" &X + "manipulator"&O& +4 "core" &/ c  +2 "manipulator"&v% +4 "core" %\ 3 %~ +2 ."psFlush"Elbow.seek FlushPuck::Garage +2 "manipulator"&(, +179 "core" ( +2 "manipulator"&& +4 "core" &,   +2 ."psFlush"Elbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &,  +2 ."psFlush"Forearm.seek :garage +2 "manipulator"&V' +106 "core" ' + ."psFlush"Hand.close +2 "manipulator"&/ +53 "core" / +2 "manipulator"&%& +4 "core" &, y  + "manipulator"&% +4 "core" %    +2 ."psFlush"Forearm.seek :retract +2 "manipulator"& '\ +96 "core" ' +2 ."psFlush"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 ."psFlush"Elbow.seek PC +2 "manipulator"&(c +119 "core" ( +2 "manipulator"&& +4 "core" &m Q + ."psFlush"Elbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &,& +3 "core" &m  +2 ."psFlush"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 ."psFlush"Forearm.seek PC +2 "manipulator"&'[ +92 "core" ' + "manipulator"&0& +5 "core" &m 3 + "manipulator"&(% +4 "core" %]  +2 "processing"%=& +3 "core" &M +2 "processing"%& +5 "core" &S +2 ."psFlush"PC.seek :closed +2 "processing"%/(Z +4 "core" &S +7 &;U $e +9 &{]P 7 +10 &L H +9 &jT G +10 &qm@ G +9 &2n: H +9 & mD G +10 &"n0 H +9 &$zm> G +9 &&;m8 G +10 &'m9 G +9 &)m> G +9 &+i7 G +10 &-Dm" G +9 &/n' G +10 &0m# G +9 &2m2 G +9 &4Lk5 G +10 &6m/ G +9 &7m1 G +9 &9k! G +10 &;Vm6 F +9 &=m$ G +10 &>n G +9 &@m G +9 &B\\m G +10 &Dm G +9 &En G +9 &Gp G +10 &Ibu H +9 &K J +10 &L L +9 &N M +9 &P\\\ M +10 &R M +9 &S M +9 &U N +10 &Wa N +9 &Y#G F +10 &ZTCs !c +9 &Z1p + +5 ( +2 "processing"%& +4 #"psFlush"Processing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.46 + "processing"%-& +5 "core" &Z v + + &Z q + + ."psFlush"Hand.open +2 "manipulator"&"1 +61 "core" 1 +2 "manipulator"&% +4 "core" % ] w 9 +2 ."psFlush"Forearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 ."psFlush"Forearm.seek :retract +2 "manipulator"&.'\ +96 "core" ' +2 ."psFlush"PSR.select :air +2 .PSV.dial PSR +2 "processing"%~ +47 "core"  +2 "processing"%+% +3 "core" %T +2 #"psFlush"Pulling 0.5ml of PSR.flush + .PSR.select :flush +2 "processing"%@ +10 ."psFlush"PS.seek 0.5ml +2 "processing"%:' +570 #tWaiting >20 seconds for psFlush to relinquish FlushPuck +17 "core" ' +2 ."psFlush"delay 5 seconds +502 .PSR.select :air +2 "processing"% +9 ."psFlush"PS.seek 2.5ml +2 "processing"%6'm +2136 "core" ' +2 ."psFlush"delay 1 second +102 .PRV.dial :waste2,avoiding: :ab2 +2 "processing"% @ +169 "core" B +2 ."psFlush"PTV.dial :PRVmixing +2 "processing"%2  +117 "core" + ."psFlush"PSV.dial :mixloop +2 "processing"%< +97 "core" +2 ."psFlush"PS.seek :empty + "processing"%!' +2633 "core" ' + ."psFlush"PSR.select :air +2 .PSV.dial PSR +2 "processing"% +101 "core"  + "processing"%% +4 "core" % +2 #"psFlush"Pulling 0.5ml of PSR.flush + .PSR.select :flush +2 "processing"%@ +10 ."psFlush"PS.seek 0.5ml +2 "processing"%' +597 "core" ' + ."psFlush"delay 5 seconds +503 .PSR.select :air +2 "processing"% +9 ."psFlush"PS.seek 2.5ml +2 "processing"%3'm +956 "Can"2 EC +1183 "core" ' +2 ."psFlush"delay 1 second +102 .PBV.dial :waste1 + "processing"%K  +32 "core" +2 ."psFlush"PTV.dial :mixing +2 "processing"%F @ +65 "core" B + ."psFlush"PSV.dial :mixloop +2 "processing"%n +103 "core" +53 ."psFlush"PS.seek :empty +3 "processing"%A' +2654 "core" ' + ."psFlush"PSV.dial PSR +2 "processing"%X +101 "core"  +2 ."psFlush"PSR.select :flush +2 "processing"%@ +10 ."psFlush"PS.seek 1ml +2 "processing"%'T +1120 "core" ' +2 ."psFlush"PSR.select :air +2 "processing"% +9 ."psFlush"PS.seek 2.5ml +2 "processing"%;'m +1632 "core" ' + ."psFlush"PSV.dial PTV +3 "processing"% +74 "core" +2 ."psFlush"PTV.dial :puck +2 "processing"%  +64 "core"  + ."psFlush"PBV.dial :waste1 +2 .PS.seek 0ml +2 "processing"%$' +2637 "core" ' + ."psFlush"PSV.dial PSR +2 "processing"%8 +75 "core"  + ."psFlush"PSR.select :flush +2 "processing"%@ +10 ."psFlush"PS.seek 0.5ml +2 "processing"%' +588 "core" ' + ."psFlush"PSR.select :air +2 "processing"% +10 ."psFlush"PS.seek 2.5ml +2 "processing"% 'm +2119 "core" ' +2 ."psFlush"PSV.dial PTV +2 "processing"%\\ +74 "core" +2 ."psFlush"PBV.dial PSV +2 "processing"%7 U +51 "core" V +2 ."psFlush"PS.seek 0ml +2 "processing"%?' +2641 "core" ' +2 ."psFlush"PSV.dial PBV +2 "processing"%D @ +46 "core" ? +2 ."psFlush"PS.seek 2.5ml +2 "processing"%@'m +2634 "core" ' + ."psFlush"PSV.dial :waste1 +2 "processing"%&  +69 "core"  +2 ."psFlush"PS.seek 0ml +2 "processing"%p' +2636 "core" ' +2 ."psFlush"PSV.dial PSR +2 "processing"%W +46 "core"  +2 ."psFlush"PSR.select :air +3 .PS.seek 2.5ml + "processing"%*'m +2650 "core" ' +2 ."psFlush"PSV.dial PTV +2 "processing"%Q +68 "core" +2 ."psFlush"PBV.dial PSV +2 .PS.seek 0ml +2 "processing"%5' +2632 "core" ' + ."psFlush"PSV.dial PBV +2 "processing"%> @ +47 "core" ? +2 ."psFlush"PS.seek 2.5ml +2 "processing"%'m +2652 "core" ' + ."psFlush"PSV.dial :waste1 +2 "processing"%E  +70 "core"  +2 ."psFlush"PS.seek 0ml +2 "processing"%T' +2635 "core" ' +2 ."psFlush"PSV.dial PSR +2 "processing"%C +48 "core"  + ."psFlush"PSR.select :flush +3 "processing"%@ +9 ."psFlush"PS.seek 1ml +2 "processing"%9'T +1099 "core" ' + ."psFlush"PSR.select :air +2 "processing"% +10 ."psFlush"PS.seek 2.5ml +2 "processing"%^'m +1613 "core" ' + ."psFlush"PSV.dial PTV +2 "processing"%y +69 "core" + ."psFlush"PTV.dial :puck +2 .PBV.dial :waste1 +2 "processing"%'  +51 "core" +2 ."psFlush"PS.seek 0ml +2 "processing"%1' +2631 "core" ' + ."psFlush"PSV.dial PSR +2 "processing"%] +75 "core"  + ."psFlush"PSR.select :flush +3 "processing"%@ +9 ."psFlush"PS.seek 0.5ml +2 "processing"%Z' +585 "core" ' + ."psFlush"PSR.select :air +2 "processing"% +10 ."psFlush"PS.seek 2.5ml +2 "processing"%U'm +2141 "core" ' + ."psFlush"PSV.dial PTV +2 "processing"%h +75 "core" + ."psFlush"PBV.dial PSV +2 "processing"%G U +52 "core" V +2 ."psFlush"PS.seek 0ml +2 "processing"%a' +2629 "core" ' + ."psFlush"PSV.dial PBV +2 "processing"%` @ +48 "core" > +2 ."psFlush"PS.seek 2.5ml +2 "processing"%i'm +2648 "core" ' + ."psFlush"PSV.dial :waste1 +2 "processing"%J  +69 "core"  +2 ."psFlush"PS.seek 0ml +2 "processing"%d' +2633 "core" ' + ."psFlush"PSV.dial PSR +2 "processing"%r +47 "core"  + ."psFlush"PSR.select :air +3 .PS.seek 2.5ml +2 "processing"%e'm +2638 "core" ' + ."psFlush"PSV.dial PTV +2 "processing"%N +70 "core" + ."psFlush"PBV.dial PSV +3 .PS.seek 0ml +2 "processing"%f' +2630 "core" ' + ."psFlush"PSV.dial PBV +2 "processing"%L @ +47 "core" ? +2 ."psFlush"PS.seek 2.5ml +2 "processing"%H'm +2658 "core" ' +2 ."psFlush"PSV.dial :waste1 +2 "processing"%M  +68 "core"  +2 ."psFlush"PS.seek 0ml +2 "processing"%j' +2631 "core" ' +2 #tLoading FlushPuck into Collection Clamp from Processing Clamp + "collection"'l& +4 "core" &` + "manipulator"&k& +4 "core" &m  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC + "manipulator"&_(c +4 "core" ( + "manipulator"&Y& +4 "core" &m f +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &s& +3 "core" &m U +2 .tForearm.seek PC +2 "manipulator"&z'[ +93 "core" ' + .tHand.close + "manipulator"&/ +58 "core" / +2 .tPC.seek :open +2 "processing"%P(p +391 "core" ( +2 "manipulator"&q& +4 "core" &m 0 + "manipulator"&o% +4 "core" % m 7 +2 .tForearm.seek :retract +2 "manipulator"&'\ +101 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC +2 "manipulator"&\ ( +189 "Can"7 @= +188 "core" ( +2 "manipulator"&& +4 "core" &\ j Z +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 & & +3 "core" &\ > Z +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&c'| +104 "core" ' +2 "manipulator"&S& +4 "core" &\ \ Z +2 "manipulator"&I% +3 "core" %  ' +2 "collection"'{& +4 "core" &a +2 "collection"'& +5 "core" &J +2 .tCC.seek :closed + "collection"'g(] +4 "core" &P  +9 &7Q *x +9 &jT > +9 &nT J +10 &3pS H +9 &s` I +10 &r_ I +9 &!yoY H +9 &#;rZ H +10 &$pb I +9 &&oZ H +9 &(sb H +10 &*Cs^ H +9 &,pb I +10 &-qa H +9 &/q` H +9 &1Jte I +10 &3 rb I +9 &4pb H +9 &6rd H +10 &8Soa H +9 &:n] H +9 &;k` H +10 &=p` I +9 &?\\l[ H +10 &Ar[ H +9 &Bs] H +9 &Dk] H +10 &FcrZ H +9 &H$qc I +10 &Iym I +9 &Ko K +9 &MYm O +10 &Op P +9 &Po Q +9 &Rp R +10 &TWo R +9 &Vl U +9 &Wj S +10 &Yo U +9 &[Tj V +10 &\\~l * +9 &]%l C +9 ( +2 &]Am ; + "collection"'& +3 #tCollection Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.82 + "collection"'|& +5 "core" &]Ak ; + .tHand.open + "manipulator"&1 +53 "core" 1 +2 "manipulator"&w% +4 "core" % B f +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&u'\ +91 "core" ' +2 #tFlushing the Collection Valve::Manifold + "collection"'& +4 "core" &]Al ; +2 "collection"'B% +3 "core" % +2 .tCSV.dial CSR +2 "collection"'  +51 "core"  + "collection"'R% +4 "core" % + #tPulling 5ml of CSR.flush +2 .CSR.select :flush +2 "collection"' +9 .tCS.seek 5ml +2 "collection"'O's +1349 "core" ' +2 .tdelay 5 seconds +502 .CSR.select :air + "collection"' +9 'v% +3 "core" %so  +2 .tCS.reconfigure :fast +2 "collection"'#d @b +3 .tCS.seek 7.5ml + "collection"'}'q +612 "core" ' +2 .tCSV.dial :waste + "collection"'[ +121 "core" +2 .tCS.reconfigure :default +51 "collection"'#P d@b +2 .tCS.seek 0ml +2 "collection"'x' +1997 "core" ' +2 #tFlushing lower manifold's waste1 port + "collection"'& +4 "core" &]A ; +2 "collection"'% +4 "core" % + .tCSV.dial :flush +2 "collection"'  +42 "core"  +2 .tCS.reconfigure :fast +2 "collection"'#d @b +3 .tCS.seek 5ml + "collection"'b's +1141 "core" ' + .tdelay 5 seconds +502 .CSV.dial :air +3 "collection"' @ +38 "core" A + "collection"'%% +4 "core" %ss  +2 .tCS.seek 7.001ml +2 "collection"'' +512 "core" ' +2 ."connect"CSV.dial CTV +3 .tCTV.dial CSV +2 "collection"'t  + '  +53 "core"  +72  +2 .tCBV.dial :waste1 + "collection"', @ +41 "core" ? +2 .tCS.seek 0ml +2 "collection"'V' +1529 "core" ' +2 #tFlushing lower manifold's waste2 port + "collection"'0& +4 "core" &]A~ ; +2 "collection"'(% +4 "core" % + .tCSV.dial :flush +2 "collection"'=  +66 "core" +3 .tCS.seek 5ml + "collection"''s +1120 "core" ' + .tdelay 5 seconds +502 .CSV.dial :air +3 "collection"' @ +41 "core" B + "collection"'m% +4 "core" %s  +3 .tCS.seek 7ml + "collection"'-' +500 "core" ' +2 ."connect"CSV.dial CTV +3 .tCTV.dial CSV +2 "collection"'"  +38 "core"  +2 .tCBV.dial :waste2 +2 "collection"'  +95 "core"  +2 .tCS.seek 0ml +2 "collection"'' +1540 "core" ' + #tDisinfecting external Intake with kill +2 "collection"'~& +4 "core" &]C ; + "collection"'+% +4 "core" %  +2 .tCSV.dial CSR +2 "collection"'  +40 "core"  +2 "collection"'4% +4 "core" %  + #tPulling 8ml of CSR.kill +2 .CSR.select :kill +2 "collection"' +9 .tCS.seek 8ml +2 "collection"':'X +1753 "core" ' +2 .tdelay 5 seconds +502 .CSR.select :air +2 "collection"' +9 .tCS.seek 10ml +2 "collection"'' +502 "core" ' +2 ."connect"CSV.dial CBV +3 .tCBV.dial CSV +2 "collection"'2 +2 '<  +92 "core" +38  + .tCTV.dial :intake +2 "collection"'6  +67 "core" + .tIntake.select :open +2 "sampler") +10 .tCS.seek 2ml + "collection"''~ +1736 "core" ' + .tIntake.select :close +2 "sampler")0 +9 .tCTV.dial :air + "collection"'  +65 "core"  +2 .tCS.reconfigure :default +2 "collection"'#P d@b +3 .tCS.seek 0ml + "collection"'!' +589 "core" ' + .tCSV.dial CSR +2 "collection"'  +94 "core"  + "collection"'K% +4 "core" %] +2 #tPulling 4.999ml of CSR.flush + .CSR.select :flush +2 "collection"' +10 .tCS.seek 5ml + "collection"'F's +1369 "core" ' +2 .tdelay 5 seconds +502 .CSR.select :air +2 "collection"' +10 .tCS.seek 10ml + "collection"'n' +1346 "core" ' + .tCSV.dial CBV +2 "collection"'3 +92 "core" +2 .tCS.seek 0ml +2 "collection"'X' +2632 "core" ' +2 #tGaraging FlushPuck in Collection Clamp + "manipulator"&A& +4 "core" & Z +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek CC + "manipulator"&( +3 "core" ( +2 "manipulator"&& +3 "core" & C Z +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" & Y Z +2 .tForearm.seek CC +2 "manipulator"&;'| +105 "core" ' +2 .tHand.close + "manipulator"&8/ +52 "core" / +2 .tCC.seek :open +2 "collection"'$(p +409 "core" ( +2 "manipulator"&& +4 "core" &\ \ m d S + "manipulator"&\\% +4 "core" % j i n q +2 .tForearm.seek :retract +2 "manipulator"&7'\ +94 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage +2 "manipulator"& (, +287 "core" ( +2 "manipulator"&D& +4 "core" &, j  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &?& +3 "core" &,  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :garage +2 "manipulator"&&' +99 "core" ' +2 .tHand.open + "manipulator"&@1 +58 "core" 1 + "manipulator"&W% +5 "core" %  H + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&p'\ +101 "core" ' +2 "processing"%Q& +4 "core" &I +33516 "Can"8 87 +60002 ; 96 +60002 A 96 +60002 F 86 +60001 E 85 +60002 F 86 +60002 G 86 +60002 C 86 +60002 G 96 +60002 N 86 +60002 J 96 +60002 Q 96 +60002 I 95 +60002 I 86 +60002 O 85 +60001 L 85 +60002 P 96 +60002 U 96 +60002 T 96 +60002 Z 96 +60002 Z 96 +60002 ` 85 +60002 c 86 +60002 c\ 86 +60002 n\ 96 +60001 k\ 86 +60002 l 86 +60002 l 96 +60002 k 96 +60002 k\ 96 +60002 p\ 85 +60002 o\ 86 +60002 ~\ 85 +60002 ~ 96 +60001 \ 97 +60002  86 +60002 \ 96 +60002 \ 96 +60002 \ 96 +60002 \ 86 +60002 \ 85 +60002  86 @EST1671167035.22  86 +60002  96 +60001  86 +60002  86 +60002  96 +60002  86 +60002  85 +60002  86 +60002  86 +60002  96 +60002  96 +60001  96 +60002  96 +60002  96 +60002  95 +60002  96 +60002  85 +60002  85 +60002  86 +60002  87 +60002  96 +60002  96 +60001  96 +60002  86 +60002  86 +60002  86 +60002  86 +60002  86 +60002  96 +60002  96 +60002  96 +60002  87 +60001  86 +60002  85 +60002  85 +60002  :6 +60002  96 +60002  86 +60002  86 +60002  86 +60002  97 +60001  86 +60002  96 +60002  96 +60002  96 +60002  :6 +60002  96 +60002  96 +60002  :6 +60002  96 +44098 #t-> access 5 +3 "storage"(*% +3 "core" %5\ "\ "   + "manipulator"&>% +4 "core" %\ 4 ] & +2 "manipulator"&5& +3 "core" &, s  +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +50 .tSC.seek 2 +2 "storage"(E(  +978 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (& +2 "core" & \ \ \ Q +1344 #t-> access 6 +2 "storage"(C% +4 "core" %5\ "\ "   + "manipulator"&T% +4 "core" %\ 4 & +2 "manipulator"&9& +3 "core" &, ]  +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(y( +357 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 ('& +3 "core" &   +1669 #t-> require 'shuffle.rb' +1135 #-> 10.times {shuffle 5..6} +2 #Shuffling pucks in tube 5 of [5..6] +2 #Loading generic puck from tube 5 into Collection Clamp + "collection"'^& +3 "core" &&'+ +2 "manipulator"&]% +4 "core" %\ 4 & + "storage"(1% +4 "core" %5\ "\ "   +2 "storage"(Z. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"(h(<< +668 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (G& +2 "core" &<9 ?  +2 "manipulator"&U& +3 "core" &,  +2 "manipulator"&`% +4 "core" %\ 4 y & +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&a( +185 "core" ( +2 "manipulator"&J& +4 "core" & j o +2 "storage"(i& +3 "core" &<9\ !\ !   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&r' +93 "core" ' + "storage"(d& +4 "core" &<9\ !\ #  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(N'e +278 "core" ' + "storage"(e- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (L& +3 "core" &<9\ \  $  +2 "manipulator"&f& +3 "core" & n +2 .tElbow.seek 5 +2 "manipulator"&M( +3 "core" ( + "manipulator"&H& +4 "core" & n +2 "storage"(l& +3 "core" &<9\ "\ !   +3 .tForearm.seek 5 + 300 counts + "manipulator"&k'[ +11 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&Y/ +60 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&s& +2 "storage"('N +7 "core" & n n +2 "manipulator"&% +3 "core" % O h D +2 .tForearm.seek :retract +2 "manipulator"&.'\ +93 "core" ' +2 .tElbow.seek CC + "manipulator"&/( +147 "core" ( + "manipulator"&q& +5 "core" ' + &# @ ;4 + ."downElevator"SE.stop +4 .tElbow.reconfigure :loose + "storage"(5 +4 "manipulator"&$ &.,(#b +3 &o& +2 "core" &$ O ;4 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&z'| +100 "core" ' +2 "manipulator"&_& +4 "core" &$ 3 ;4 +2 "manipulator"&% +4 "core" %ς } +2 "collection"' & +4 "core" &$'4 +2 "collection"'S& +10 "core" &'*4 +2 .tCC.seek :closed +2 "collection"'I(] +10 "core" &'(2 +2 &&'3  +8 &7''5 *y +10 &j%(5 > +9 &v~'&* I +9 &:p&&# H +10 &s#'" H +9 &o%'" H +10 &!o'%" H +9 &#Ao&'# H +9 &%m%&" H +10 &&p') I +9 &(p%'# H +9 &*Jr$'" H +10 &, p&& H +9 &-n&'! H +10 &/s$(! H +9 &1Ps&(# I +9 &3q%' H +10 &4m%'! H +9 &6o&&! H +9 &8Yo&( H +10 &:p&' H +9 &;p%% H +10 &=r&' H +9 &?`n%& I +9 &A"o%& I +10 &Br%& H +9 &Do$' H +9 &Fir$( H +10 &H)v%& I +9 &I{&( J +10 &K&) L +9 &M_&) O +9 &O&' P +10 &P%* Q +9 &R)( Q +9 &T]'( R +10 &V*+ S +9 &W') S +10 &Y)) U +9 &[^() T +9 &\\t'* * +10 &]'*) M +8 ( +3 "collection"'S& +3 #tCollection Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.77 + .Hand.open +2 "manipulator"&{1 +3 "core" &]f+, D +55 1 + "manipulator"&% +5 "core" % ρ ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +92 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp +2 "processing"%|& +4 "core" & + "manipulator"&% +4 "core" %\ (  L + "storage"(w% +5 "core" %B + "storage"(. +3 "core" .(<9 +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"(B(<< +4 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (& +2 "core" &<: M  +2 "manipulator"& & +4 "core" &# C :0 + "manipulator"&R% +4 "core" %\ (  L +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&c( +156 "core" ( +2 "manipulator"& & +4 "core" & ~ + "storage"(v& +4 "core" &<9\ \   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&O' +93 "core" ' + "storage"([& +4 "core" &<9\ \   +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(}'e +292 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +2 "core" &<9 \   +2 "manipulator"&& +4 "core" & / +2 .tElbow.seek 5 +2 "manipulator"&x( +7 "core" ( + "manipulator"&& +4 "core" &\    +2 "storage"(%& +3 "core" &<9\ \   +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&b'[ +17 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&t/ +63 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"(,'N +8 "core" &\  m o (  + "manipulator"&% +4 "core" % O m n D +2 .tForearm.seek :retract +2 "manipulator"&0'\ +91 "core" ' + .tElbow.seek PC + "manipulator"&((c +162 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +74 "core" ( + "manipulator"&=& +4 "core" &` ( T +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &V& +3 "core" &` T +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC + "manipulator"& '[ +108 "core" ' +2 "manipulator"&m& +4 "core" &` j y 3 T +2 "manipulator"&% +3 "core" %P n p  +2 "processing"%"& +4 "core" & +3 "processing"%& +4 "core" & +2 .tPC.seek :closed +2 "processing"%-(Z +4 "core" & +8 &: $e +9 &s\\ 7 +9 & H +10 &j G +9 &hm G +10 &*l G +9 & m H +9 &"n H +10 &$op H +9 &&1p H +9 &'n H +10 &)n H +9 &+xp G +9 &-:m G +10 &.r G +9 &0l G +10 &2q G +9 &4Bn G +9 &6l G +10 &7n H +9 &9n G +9 &;Jk G +10 &= p G +9 &>o G +10 &@k G +9 &BRk G +9 &Dk G +10 &En H +9 &Gv H +10 &IS J +9 &K K +9 &L M +10 &N M +9 &PQ M +9 &R M +10 &S N +9 &U M +9 &WY M +10 &Y K +9 &ZP:n $i +10 &ZA ' +5 ( + "processing"%& +5 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.48 + .Hand.open +2 "manipulator"&~1 +3 "core" &Z ' +54 1 + "manipulator"&+% +5 "core" % b u _  + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +89 "core" ' +2 "processing"%4& +4 "core" &Z6 ' +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 + "manipulator"&% +4 "core" %\ & A +2 "storage"(:% +3 "core" %I +2 "storage"(2. +3 "core" .(<< + "storage"(<& +4 "core" &<9  +2 "storage"(6& +2 "manipulator"&& +6 "core" &<9  + &` T +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +2 "storage"(#]kK-0-\ b +3 "manipulator"&(c +5 ."raiseStack"SE.seek :beamBreak + "storage"('e +3 "core" ( + "manipulator"&& +4 "core" &` o T +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &K& +4 "core" &` C T +2 .tForearm.seek PC +2 "manipulator"&!'[ +95 "core" ' + .tHand.close + "manipulator"&F/ +53 "core" / + .tPC.seek :open +53 "processing"%3(p +47 "core" ' +2 "storage"(n- +3 "core" -'e +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(A'B +42 "core" ' +289 ( + "storage"(& +5 "core" &<9\ \ \   + "manipulator"&& +4 "core" &` g T + "manipulator"&8% +4 "core" % i P  +2 .tForearm.seek :retract +2 "manipulator"&\ '\ +91 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&u( +252 "core" ( +2 "manipulator"&g& +4 "core" & & +2 "storage"(& +3 "core" &<9 J  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&\\' +93 "core" ' + .tHand.open +2 "manipulator"&;1 +53 "core" 1 +2 "storage"(D- +3 "core" -'B +3 .tSE.seek -0.16 Pucks below Top Plate + "storage"(?' +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(' +54 "core" ' + #tLights, camera, ACTION! + "storage"(@- +4 "core" -' +2 "storage"(W& +3 "core" &<9 b  +2 "manipulator"&Q& +4 "core" & % + .tElbow.seek 5 +2 "manipulator"&7( +3 "core" ( +2 "manipulator"&&& +4 "core" & % + "storage"(#& +4 "core" &<9    +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&*' +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.11 Pucks below Top Plate + "storage"(>'M +62 "core" ' +2 "manipulator"&5& +4 "core" & % +2 "storage"()& +3 "core" &<9\ \   +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&'/ +26 "core" ' + .tElbow.hold +2 "manipulator"&C, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"(T'7 +22 "core" ' + "manipulator"&9% +5 "core" %@ v ľ^ + "storage"(E& +5 "core" &<9  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 317 counts + "manipulator"&''l +18 "core" ' +2 "manipulator"&^& +5 "core" &  % + "storage"(]& +4 "core" &<9\ \   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&1' +20 "core" ' + "storage"(Z% +5 "core" %A\ \   +2 ."downElevator"SE.seek :down +3 "storage"(y'N +99 (G% +3 "core" %F OB +2 "manipulator"&U% +4 "core" % v y  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&`'\ +95 "core" ' +56 ' + ."downElevator"SE.stop + "storage"(5 +3 (J& +4 "core" &<9 @  + "collection"'i& +4 "core" &]e,* D +2 #tStoring generic puck in Collection Clamp to tube 5 + "manipulator"&d% +4 "core" %\ 3 " %y +2 "storage"( % +3 "core" %C\  +2 "storage"(p. +3 "core" .(<< + "storage"(e& +4 "core" &<9 O  +2 "storage"(L& +3 "core" &<9\  '  +2 "manipulator"&f& +4 "core" & F % + .tElbow.seek 5 +2 "manipulator"&H( +4 "core" ( + "manipulator"&l& +4 "core" & 3 % + "storage"(Y& +4 "core" &<9 \   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&s' +103 "core" ' +2 "storage"(& +4 "core" &<9\ \ \ d  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(a'e +283 "core" ' + "storage"(r- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&q& +4 "core" & s $ +2 "storage"(o& +4 "core" &<9\ \   + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 + "manipulator"&N'/ +28 "core" ' + .tElbow.hold +2 "manipulator"&k, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(_- +3 "core" -' +2 .tSE.seek 0.12 Pucks below Top Plate +2 "storage"('p +26 "core" ' + "manipulator"& % +4 "core" %Cw   ź4 +2 "storage"(M& +4 "core" &<9  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 320 counts + "manipulator"&'o +18 "core" ' + "manipulator"&.& +4 "core" &\  h x w $ +2 "storage"($& +4 "core" &<9\ \ \   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&{' +18 "core" ' +2 .tSE.seek 1.12 Pucks below Top Plate +2 "storage"('_ +40 "core" ' +2 "manipulator"&|& +4 "core" &\  e o c $ + "manipulator"&% +5 "core" % o o & + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&w'\ +91 "core" ' + .tElbow.seek CC +2 "manipulator"&( +148 "core" ( +2 "manipulator"&S& +4 "core" &%  <= + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +2 "core" &% <= +2 .tForearm.seek CC +2 "manipulator"& '| +96 "core" ' +2 .tHand.close + "manipulator"&R/ +54 "core" / + .tCC.seek :open +2 "collection"'z(p +414 "core" ( + "storage"( & +4 "core" &<9\ \   +2 "storage"(v& +4 "core" &<9\ \  _  + "manipulator"&h& +4 "core" & \\ 8 + "manipulator"&[% +4 "core" % u +2 .tForearm.seek :retract +2 "manipulator"&/'\ +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&( +169 "core" ( + "manipulator"&& +4 "core" & I +2 "storage"(& +3 "core" &<9\ \ @  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 5 +2 "manipulator"&'/ +109 "core" ' + .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&%1 +56 "core" 1 +2 "manipulator"&t% +4 "core" % B{   »< +2 "storage"(& +4 "core" &<9 J  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 319 counts + "manipulator"&'n +16 "core" ' +2 "manipulator"&c& +4 "core" &\ t ^ O +2 "storage"(O& +3 "core" &<9\ \ B  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&}' +26 "core" ' + "storage"(b% +5 "core" %f\ \ ! +2 ."downElevator"SE.seek :down +3 "storage"(='N +99 (V% +3 "core" %C\ !\ !  N@ + "manipulator"&x% +4 "core" % p o S +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&m'\ +90 "core" ' +50 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 6 of [5..6] +2 #Loading generic puck from tube 6 into Collection Clamp + "collection"'& +4 "core" &'( +2 "manipulator"&"% +4 "core" %\ . #b + "storage"(,% +4 "core" %D\ !\ !   + "storage"(0. +4 "core" .(<< + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"(P(K +351 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (~& +3 "core" &K >  + "manipulator"&+& +4 "core" & O +2 .tElbow.seek 6 +2 "manipulator"&4( +3 "core" ( + "manipulator"&& +4 "core" & w O +2 "storage"(:& +3 "core" &K\ !\ !   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&2'< +107 "core" ' +2 "storage"(<& +4 "core" &K\ E\ E  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"('e +281 "core" ' +3 "storage"(6- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" &K\ \ !   + "manipulator"&& +4 "core" & s p & O +2 .tElbow.seek 6 +2 "manipulator"&K( +3 "core" ( + "manipulator"& & +4 "core" & t s H O +2 "storage"(F& +3 "core" &K\ !\ !  +3 .tForearm.seek 6 + 300 counts + "manipulator"&n'Ϧ +27 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&(/ +60 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&& +3 "storage"(-'N +7 "core" & q q e O +2 "manipulator"&% +4 "core" % Ϩ { t X + .tForearm.seek :retract +2 "manipulator"&'\ +95 "core" ' +2 .tElbow.seek CC + "manipulator"&( +147 "core" ' + ."downElevator"SE.stop + "storage"(5 +4 "core" ( + "manipulator"&8& +4 "core" &" r 9$ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &!& +4 "core" &" 9$ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&g'| +99 "core" ' +2 "manipulator"&& +4 "core" &" 9$ +2 "manipulator"&% +4 "core" % : +2 "collection"';& +3 "core" &&* +2 "collection"'D& +6 "core" &%) +2 .tCC.seek :closed +3 "collection"'@(] +3 "core" &() +6 &'* 6 +9 &K'' / +9 &Jw&( D +10 &q(* H +9 &n')\ H +9 &q') H +10 & Bq&* H +9 &"r)+ I +10 &#n(( H +9 &%o&( H +9 &'Jp') H +10 &) n(' H +9 &*n%)\ H +9 &,n(( H +10 &.Rq(( H +9 &0p() H +10 &1m)) H +9 &3n'' H +9 &5[n%) H +10 &7p&' H +9 &8m(* G +9 &:n'' H +10 &%n') H +10 &?p(( H +9 &An%* H +9 &Cjo&' H +10 &E-n'* H +9 &Fn'' H +9 &Hv)* I +10 &Jl)) K +9 &L%)* N +10 &M)+ P +9 &O+) Q +9 &Q`)+ Q +10 &S!)* R +5 "Can" ]Z +4 "core" &T'+ R +9 &V)) S +10 &X`*+ T +9 &Z *, U +10 &[++ T +9 &].@*, / +9 &] }+, F +6 ( +2 "collection"'D& +3 #tCollection Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.85 + .Hand.open +2 "manipulator"&W1 +4 "core" &]b++ F +52 1 + "manipulator"&Q% +5 "core" % ~  + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&&'\ +92 "core" ' +2 #tLoading generic puck from tube 6 into Processing Clamp + "processing"%#& +4 "core" & +2 "manipulator"&\ % +3 "core" %\ + _ !V +2 "storage"(5% +4 "core" %I +2 "storage"(). +3 "core" .(K + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"(9(K +3 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (A& +4 "core" &K  +2 "manipulator"&E& +3 "core" &! 8 +2 "manipulator"&^% +4 "core" %\ * s !V +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 + "manipulator"&?( +152 "core" ( +2 "manipulator"&]& +4 "core" & T + "storage"(Z& +4 "core" &K\ \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts + "manipulator"&u'< +105 "core" ' + "storage"(\\& +4 "core" &K\ !\ !   +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"('e +290 "core" ' +2 "storage"(G- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (U& +2 "core" &K\ \ G  +2 "manipulator"&*& +3 "core" & r o +2 .tElbow.seek 6 +2 "manipulator"&7( +3 "core" ( + "manipulator"&>& +4 "core" & v t  +2 "storage"(& +3 "core" &K\ \   +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&J'Ϧ +36 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&'/ +55 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&i& +2 "storage"(d'N +7 "core" & p p +2 "manipulator"& % +4 "core" % ϰ q p   + .tForearm.seek :retract +2 "manipulator"&p'\ +95 "core" ' +2 .tElbow.seek PC + "manipulator"&e(c +158 "core" ' + ."downElevator"SE.stop + "storage"(5 +81 "core" ( + "manipulator"&T& +5 "core" &j ; : + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &L& +2 "core" &j 5 : +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&f'[ +103 "core" ' +2 "manipulator"&l& +4 "core" &j ^ x ( : + "manipulator"&Y% +4 "core" %O q r S +2 "processing"%1& +3 "core" & +2 "processing"%& +5 "core" & +2 .tPC.seek :closed +2 "processing"%y(Z +4 "core" &  +9 &4 )w +9 &j = +9 &w H +10 &<k G +9 &m H +10 &m G +9 &!n G +9 &#Bm H +10 &%m G +9 &&m H +9 &(k G +10 &*Jm H +9 &, m G +9 &-o G +10 &/n H +9 &1Tm G +10 &3m G +9 &4n G +9 &6m G +10 &8[m G +9 &:n G +9 &;m G +10 &=m H +9 &?cm G +10 &A%o G +9 &Bm G +9 &Dn G +10 &Fip H +9 &H*x H +9 &I I +10 &K L +9 &Mc M +10 &O$ M +9 &P M +9 &R M +10 &Tj M +9 &V+ N +9 &W N +10 &Y 8 +9 &Z. X +9 &Z * +3 ( +2 "processing"%& +2 #tProcessing Clamp onSpring/offSpring for 8/25 samples, on/off torque 1.49 + .Hand.open +2 "manipulator"&C1 +62 "core" 1 + "manipulator"&`% +4 "core" % P s ^ +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&r'\ +89 "core" ' +2 "processing"%q& +4 "core" &Z * + #tImaging generic puck in Processing Clamp while storing it to tube 6 +2 "manipulator"&o% +4 "core" %\ , t "Z + "storage"(_% +4 "core" %I N +2 "storage"( . +3 "core" .(K + "storage"(M& +4 "core" &K !  + "storage"(.& +4 "manipulator"&$& +4 "core" &K /  + &j : +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +3 "manipulator"&$&.,(\ #b +2 "storage"(#]kK-0-\ b +3 .tElbow.seek PC +5 "manipulator"&|(c +3 ."raiseStack"SE.seek :beamBreak +2 "storage"('e +2 "core" ( +2 "manipulator"&s& +3 "core" &j : +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &H& +2 "core" &j : +2 .tForearm.seek PC +2 "manipulator"&a'[ +103 "core" ' + .tHand.close + "manipulator"&N/ +60 "core" / +2 .tPC.seek :open +2 "processing"%(p +79 "core" ' + "storage"(- +4 "core" -'e + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place + "storage"(S'B +41 "core" ' +256 ( +2 "storage"(& +4 "core" &K\ \   + "manipulator"&{& +4 "core" &j A : +2 "manipulator"&k% +3 "core" % N  +2 .tForearm.seek :retract +2 "manipulator"&R'\ +99 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 + "manipulator"&w( +253 "core" ( +2 "manipulator"&I& +4 "core" &  + "storage"( & +4 "core" &K\ \ 0  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&v'< +99 "core" ' + .tHand.open + "manipulator"&h1 +57 "core" 1 +2 "storage"([- +3 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate +2 "storage"(' +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.83 Pucks below Top Plate + "storage"(' +55 "core" ' + #tLights, camera, ACTION! +2 "storage"( - +3 "core" -' +2 "storage"(& +3 "core" &K Z  +2 "manipulator"&%& +4 "core" &   + .tElbow.seek 6 +2 "manipulator"&t( +3 "core" ( +2 "manipulator"&& +3 "core" & #  +2 "storage"(c& +4 "core" &K P  +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&O'< +21 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"(b'M +58 "core" ' +2 "manipulator"&/& +4 "core" & p p   +2 "storage"(V& +55 "core" &K\ \   + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 + "manipulator"&x'z +21 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"('7 +22 "core" ' +2 "manipulator"&% +4 "core" %Ύ | +2 "storage"(& +4 "core" &K O  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 320 counts +2 "manipulator"&"'Ϻ +16 "core" ' + "manipulator"&,& +5 "core" &\ v g  \\ +2 "storage"(0& +4 "core" &K\ \   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&'< +17 "core" ' +2 "storage"(}% +4 "core" %?\ \ \ i +3 ."downElevator"SE.seek :down +3 "storage"(='N +99 (B% +3 "core" %2F \ 2 N@ +2 "manipulator"&~% +4 "core" %E s p ! +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&+'\ +100 "core" ' +49 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (& +4 "core" &K\ \   +2 "collection"':& +4 "core" &]b)) F +2 #tStoring generic puck in Collection Clamp to tube 6 + "manipulator"&<% +5 "core" %\  \\  + "storage"(% +4 "core" %M\ \   +2 "storage"(m. +3 "core" .(K + "storage"(6& +4 "core" &K\ \   +2 "storage"(& +4 "core" &K\ \   + "manipulator"&& +4 "core" &\ f \\ +2 .tElbow.seek 6 + "manipulator"& ( +31 "core" ( +2 "manipulator"&F& +9 "core" & q  j +2 "storage"((& +4 "core" &K\ \  +2 .tForearm.reconfigure :tight +7 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&'< +94 "core" ' +2 "storage"(& +4 "core" &K\ \ \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(4'e +283 "core" ' +2 "storage"(2- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&8& +3 "core" & 4 + "storage"(!& +4 "core" &K\ \   +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&'z +33 "core" ' +2 .tElbow.hold + "manipulator"&n, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(- +2 "core" -' +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"('n +28 "core" ' +2 "manipulator"&;% +4 "core" %|k c ķ +2 "storage"(K& +4 "core" &K  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 302 counts + "manipulator"&-'Ϩ +18 "core" ' +2 "manipulator"&& +4 "core" & ` s x 3 + "storage"(z& +4 "core" &K\ \   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&W'< +16 "core" ' +2 .tSE.seek 1.11 Pucks below Top Plate +2 "storage"(Q'] +46 "core" ' + "manipulator"&#& +5 "core" & q p 3 + "manipulator"&\ % +4 "core" %2 p n +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&5'\ +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"&)( +152 "core" ( +2 "manipulator"&D& +4 "core" &" i 9& + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &A& +3 "core" &" 9& +2 .tForearm.seek CC +2 "manipulator"&E'| +97 "core" ' +2 .tHand.close + "manipulator"&^/ +61 "core" / +2 .tCC.seek :open + "collection"'g(p +411 "core" ( +2 "storage"(]& +4 "core" &K\ !\ !   + "storage"(Z& +4 "core" &K\ \  8  + "manipulator"&P& +4 "core" &  6 +2 "manipulator"&\\% +3 "core" % | \\ +2 .tForearm.seek :retract +2 "manipulator"&'\ +100 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&&( +153 "core" ( + "manipulator"&G& +4 "core" & +2 "storage"(U& +4 "core" &K\ !\ !   + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 6 +2 "manipulator"&*'z +109 "core" ' + .tElbow.hold +2 "manipulator"&>, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&1 +58 "core" 1 +2 "manipulator"&'% +4 "core" % ΍} 2  n C + "storage"(i& +4 "core" &K\  k  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 6 + 319 counts +2 "manipulator"& 'Ϲ +16 "core" ' +2 "manipulator"&?& +4 "core" & w ` 0 7 +2 "storage"(u& +4 "core" &K\ \ !  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&'< +16 "core" ' +2 "storage"(J% +4 "core" %[\ !\ ( R +2 ."downElevator"SE.seek :down +4 "storage"(T'N +99 (L% +3 "core" %m>\ "\ !  N? +2 "manipulator"&7% +4 "core" %C p p  + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&l'\ +86 "core" ' +55 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 5 of [5..6] +2 #Loading generic puck from tube 5 into Collection Clamp + "collection"'Y& +4 "core" &') +2 "manipulator"&1% +4 "core" %\ * !M + "storage"(d% +4 "core" %S\ !\ !   +2 "storage"(p. +3 "core" .(K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 + "storage"(3(<< +359 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (C& +2 "core" &<=\ \   +2 "manipulator"&`& +4 "core" & b 7 +2 .tElbow.seek 5 + "manipulator"&q( +33 "core" ( +2 "manipulator"&o& +4 "core" & O + "storage"(_& +4 "core" &<=\ #\ " +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"& ' +93 "core" ' + "storage"(M& +4 "core" &<=\ %\ " ; +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"($'e +287 "core" ' + "storage"(.- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (& +3 "core" &<=\ \  +2 "manipulator"&s& +3 "core" & O +2 .tElbow.seek 5 +2 "manipulator"&H( +3 "core" ( + "manipulator"&f& +4 "core" &  + "storage"(N& +4 "core" &<=\ "\  +3 .tForearm.seek 5 + 300 counts + "manipulator"&'[ +23 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&e/ +57 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&r& + "storage"(y'N +7 "core" & p o " + "manipulator"&% +4 "core" % X p p +2 .tForearm.seek :retract +2 "manipulator"&'\ +88 "core" ' +2 .tElbow.seek CC +2 "manipulator"&{( +157 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +3 "core" ( +2 "manipulator"&k& +3 "core" &(  ?U +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &a& +2 "core" &( & ?U +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&I'| +95 "core" ' + "manipulator"& & +5 "core" &( x ?S + "manipulator"&|% +4 "core" %υ F +2 "collection"'h& +4 "core" &'& +3 "collection"'[& +4 "core" &'(\ +2 .tCC.seek :closed +2 "collection"' (] +4 "core" &'&  +8 &5') )w +9 &i'' = +10 &x&* H +9 &<m%(\ G +9 &o$& G +10 &r&$ H +9 &!p'( G +10 &#Cp(( H +9 &%m&( H +9 &&r&* H +10 &(m'' H +9 &*Kk(' H +9 &, k'( H +10 &-l'( H +9 &/n') G +10 &1Sp() H +9 &3l') H +9 &4m'( G +10 &6p'' H +9 &8[l'' H +9 &:o&( H +10 &;j') G +9 &=o') G +62 &?cp'' H +4 &A&l'( G + &Bo(( H + &Dp'' G + &Flo&' G +3 &H,s(* H + &I})) I +3 &K() K +9 &Mc), M +9 &O(+ P +9 &P*- Q +10 &R+, Q +9 &T]*- R +9 &V)+ S +10 &W,, R +9 &Y+- T +10 &[`.) T +9 &]w*- '{ +9 &]%+, C +9 ( +3 "collection"'[& +3 #tCollection Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.79 + .Hand.open +2 "manipulator"&1 +3 "core" &]C++ ; +58 1 + "manipulator"&%% +4 "core" % υ Z +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +92 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp + "processing"%c& +5 "core" & + "manipulator"&R% +4 "core" %\ * s !U + "storage"(/% +4 "core" %J \ \  +2 "storage"(V. +3 "core" .(<< + "storage"(S& +4 "core" &<=\ A +2 "storage"(& +4 "core" &<=\ X + "manipulator"&& +4 "core" &," :+ +2 "manipulator"&% +4 "core" %\ * , !U + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&,( +166 "core" ( + "manipulator"&0& +4 "core" &  F +2 "storage"(w& +4 "core" &<=\ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&v' +97 "core" ' + "storage"(}& +4 "core" &<=\ \ \ e +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"('e +277 "core" ' +2 "storage"(B- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (~& +2 "core" &<=\ \  +2 "manipulator"&O& +4 "core" & 2 F + .tElbow.seek 5 +2 "manipulator"&t( +3 "core" ( + "manipulator"&b& +4 "core" & [ F +2 "storage"(x& +3 "core" &<=\ \ g +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&'[ +11 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&"/ +60 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&:& + "storage"(<'N +7 "core" & # F +2 "manipulator"&% +4 "core" % T ` ) +2 .tForearm.seek :retract + "manipulator"&m'\ +93 "core" ' +2 .tElbow.seek PC +2 "manipulator"&(c +157 "core" ' + ."downElevator"SE.stop + "storage"(5 +95 "core" ( + "manipulator"&6& +5 "core" &l X + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +4 "core" &l +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&'[ +102 "core" ' +2 "manipulator"&F& +4 "core" &l c +2 "manipulator"&(% +4 "core" %^ + "processing"%& +4 "core" & +2 "processing"%& +6 "core" & +2 .tPC.seek :closed +2 "processing"%=(Z +4 "core" & +7 &< #c +9 &x[ 6 +10 & H +9 &i G +9 &kl G +10 &,m G +9 & m H +10 &"k G +9 &$rm G +9 &&3m H +10 &'k G +9 &)l G +9 &+zl G +10 &-=j G +9 &.m G +10 &0m G +9 &2n G +9 &4Ek G +10 &6l G +9 &7m G +9 &9l G +10 &;Ll G +9 &=k G +10 &>n H +9 &@m G +9 &BSk H +10 &Dl G +9 &En H +9 &Gx H +10 &IV J +9 &K K +10 &L M +9 &N M +9 &PS M +10 &R M +9 &S M +9 &U M +10 &WZ N +9 &Y I +10 &ZQ=t (t +9 &Z( ( +5 ( +2 "processing"%& +4 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.49 + .Hand.open +2 "manipulator"&1 +3 "core" &Z ( +54 1 +2 "manipulator"&+% +4 "core" % ^ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&2'\ +104 "core" ' + "processing"%8& +4 "core" &Z^ ( +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 + "manipulator"&!% +4 "core" %\  D  +2 "storage"(% +3 "core" %B\ \ h +2 "storage"(;. +3 "core" .(<< + "storage"(K& +4 "core" &<= \  +2 "storage"(& +5 "manipulator"&z& +3 "core" &<=\ \  +2 &l V +3 ."raiseStack"SE.reconfigure :place + .tElbow.reconfigure :tight +5 "storage"(#]kK-0-\ b +4 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +2 ."raiseStack"SE.seek :beamBreak +3 "manipulator"&#(c +2 "storage"(\ 'e +5 "core" ( + "manipulator"&& +4 "core" &l ^ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 & & +2 "core" &l K +2 .tForearm.seek PC +2 "manipulator"&4'[ +94 "core" ' +2 .tHand.close + "manipulator"&/ +63 "core" / +2 .tPC.seek :open + "processing"%-(p +86 "core" ' +2 "storage"(- +3 "core" -'e +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +2 ."raiseStack"SE.seek :place +2 "storage"(D'B +39 "core" ' +251 ( +2 "storage"(A& +4 "core" &<=\ \  + "manipulator"&W& +4 "core" &l  + "manipulator"&n% +5 "core" % a  + .tForearm.seek :retract +2 "manipulator"&^'\ +92 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 + "manipulator"&5( +253 "core" ( +2 "manipulator"&@& +4 "core" & 3 & +2 "storage"(]& +3 "core" &<=\ \  z +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&Z' +93 "core" ' + .tHand.open + "manipulator"&P1 +57 "core" 1 +2 "storage"(\\- +4 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate +2 "storage"(G' +23 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(U' +52 "core" ' + #tLights, camera, ACTION! +2 "storage"(E- +3 "core" -' +2 "storage"()& +4 "core" &<= | B + "manipulator"&& +4 "core" & & +2 .tElbow.seek 5 +2 "manipulator"&'( +3 "core" ( + "manipulator"&i& +4 "core" & & +2 "storage"(?& +3 "core" &<= } O +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&u' +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.11 Pucks below Top Plate + "storage"(J'M +67 "core" ' +2 "manipulator"&& +4 "core" &  & + "storage"(L& +4 "core" &<=\ \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&7'/ +31 "core" ' + .tElbow.hold +2 "manipulator"&&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"(*'7 +24 "core" ' + "manipulator"&Y% +4 "core" %A} O ¼E +2 "storage"(1& +4 "core" &<= + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 318 counts +2 "manipulator"& 'm +18 "core" ' + "manipulator"&d& +5 "core" & ` { b $ + "storage"(p& +4 "core" &<=\ \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&Q' +22 "core" ' + "storage"(% +5 "core" %> \ 0 +2 ."downElevator"SE.seek :down +4 "storage"(T'N +99 (9% +3 "core" %{C\ b NA +2 "manipulator"&C% +5 "core" % q n  + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&`'\ +94 "core" ' +58 ' + ."downElevator"SE.stop + "storage"(5 +3 (o& +4 "core" &<= \  + "collection"'_& +4 "core" &]C*, ; +2 #tStoring generic puck in Collection Clamp to tube 5 + "manipulator"&M% +5 "core" %\ 6 2 & + "storage"(>% +4 "core" %K\ \   +2 "storage"(l. +3 "core" .(<< + "storage"(.& +4 "core" &<= \ / + "storage"(& +4 "core" &<=\ ' +2 "manipulator"&s& +3 "core" & K $ +2 .tElbow.seek 5 +2 "manipulator"&f( +3 "core" ( + "manipulator"&N& +4 "core" & e $ +2 "storage"(e& +4 "core" &<= \ d + .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&r' +102 "core" ' +2 "storage"(& +56 "core" &<=\ \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(q'e +283 "core" ' + "storage"( - +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&k& +3 "core" & $ +2 "storage"(a& +3 "core" &<=\ \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 + "manipulator"&$'/ +32 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"( - +3 "core" -' +2 .tSE.seek 0.12 Pucks below Top Plate +2 "storage"(|'p +27 "core" ' + "manipulator"&h% +5 "core" %Aq } ĸ + "storage"(H& +4 "core" &<=  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 5 + 318 counts +2 "manipulator"&y'm +18 "core" ' + "manipulator"&& +5 "core" & w l 2 # +2 "storage"(g& +4 "core" &<=\ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&' +22 "core" ' +2 .tSE.seek 1.12 Pucks below Top Plate +2 "storage"(%'_ +43 "core" ' + "manipulator"&c& +5 "core" & m p # + "manipulator"&R% +5 "core" % c m + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&/'\ +96 "core" ' + .tElbow.seek CC +2 "manipulator"&V( +156 "core" ( + "manipulator"&S& +5 "core" &- Co + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &- u Cn +2 .tForearm.seek CC +2 "manipulator"&['| +96 "core" ' + .tHand.close +2 "manipulator"&/ +53 "core" / +3 .tCC.seek :open + "collection"'(p +411 "core" ( + "storage"(I& +4 "core" &<=\ !\ !  +2 "storage"(0& +3 "core" &<=\ \  P +2 "manipulator"&w& +3 "core" &6$ ` <: +2 "manipulator"&}% +4 "core" % ό  +2 .tForearm.seek :retract + "manipulator"&{'\ +93 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 + "manipulator"&( +157 "core" ( + "manipulator"&B& +4 "core" &  }  +2 "storage"(~& +4 "core" &<=\ \ " + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 5 +2 "manipulator"&O'/ +106 "core" ' + .tElbow.hold +2 "manipulator"&b, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&x1 +53 "core" 1 +2 "manipulator"&"% +4 "core" % A   } + "storage"(:& +4 "core" &<=\ \  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 5 + 318 counts + "manipulator"&'m +17 "core" ' +2 "manipulator"&,& +4 "core" &  v \\ ?  +2 "storage"(v& +3 "core" &<=\ 5\ ( S +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&' +22 "core" ' +2 "storage"(% +4 "core" %Z\ 4\ ' / +3 ."downElevator"SE.seek :down +3 "storage"(6'N +99 (% +3 "core" %mA\ "\ N? +2 "manipulator"&t% +3 "core" % p p +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&F'\ +91 "core" ' +50 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 6 of [5..6] +2 #Loading generic puck from tube 6 into Collection Clamp + "collection"'(& +5 "core" &)) + "manipulator"&% +4 "core" %\ . #i +2 "storage"(<% +4 "core" %S\ !\  +2 "storage"(m. +3 "core" .(<< +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"((K +358 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (& +3 "core" &K\ \  ?  +2 "manipulator"&+& +3 "core" &   +2 .tElbow.seek 6 +2 "manipulator"&8( +14 "core" ( + "manipulator"&!& +4 "core" & }  +2 "storage"(& +3 "core" &K\ !\ !  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&;'< +96 "core" ' +2 "storage"(& +4 "core" &K\ D\ ' 1  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(K'e +289 "core" ' +2 "storage"(z- +3 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (& +3 "core" &K\ !\ !   +2 "manipulator"&& +4 "core" & &  +2 .tElbow.seek 6 + "manipulator"& ( +3 "core" ( +2 "manipulator"&& +3 "core" & p  +2 "storage"(& +3 "core" &K\ \ !  +3 .tForearm.seek 6 + 300 counts + "manipulator"&'Ϧ +10 "core" ' +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&/ +64 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&2& + "storage"(='N +7 "core" & o p #  +2 "manipulator"&A% +4 "core" % ϩ o o 2 +2 .tForearm.seek :retract + "manipulator"&W'\ +98 "core" ' +2 .tElbow.seek CC +2 "manipulator"&\ ( +144 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +18 "core" ( + "manipulator"&n& +5 "core" &-  Co + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &4& +3 "core" &- Co +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&@'| +107 "core" ' +2 "manipulator"&]& +4 "core" &, Bl +2 "manipulator"&#% +5 "core" %p + "collection"'P& +4 "core" &$) +2 "collection"'\\& +5 "core" &'( +2 .tCC.seek :closed +2 "collection"'E(] +4 "core" &&( +7 &@&& #c +10 &rY'' 6 +9 &%( H +9 &j() G +10 &`k*( H +9 &"r%' H +10 & n(' H +9 &"m)* H +9 &$ip() G +10 &&*r'' H +9 &'n&( H +9 &)k'( G +10 &+pl%( H +9 &-3m&) G +10 &.n') G +9 &0r&) H +9 &2xn(* H +10 &4;k(( G +9 &5k() G +9 &7m(( G +10 &9i') G +9 &;Ci'+ G +10 &=i'' G +9 &>k') G +9 &@o(* G +10 &BJk%+ H +9 &D n(( G +9 &Eo() H +10 &Gn)' H +9 &IOv') I +10 &K &) K +9 &L** N +9 &N+) P +10 &PA(* P +9 &Q,+ R +9 &S,, R +10 &U*, R +9 &WB-- S +10 &Y,+ T +9 &Z+* U +9 &\\}*, B +10 &]a,,* , +9 &]?+) ; +2 ( +2 "collection"'\\& +3 #tCollection Clamp onSpring/offSpring for 9/25 samples, on/off torque 1.81 + .Hand.open +2 "manipulator"&)1 +59 "core" 1 +2 "manipulator"&% +4 "core" % s k +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&i'\ +96 "core" ' +2 #tLoading generic puck from tube 6 into Processing Clamp +2 "processing"%?& +4 "core" & + "manipulator"&^% +4 "core" %\ 3  %~ +2 "storage"(% +3 "core" %K\ C +2 "storage"(L. +3 "core" .(K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"(D(K +6 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (Y& +2 "core" &K Q  +2 "manipulator"&1& +4 "core" &:# _ ;6 + "manipulator"&G% +4 "core" %\ 3  %~ +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&d( +156 "core" ( + "manipulator"&p& +4 "core" &  +2 "storage"(& +4 "core" &K\ \   + .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&5'< +102 "core" ' +2 "storage"(Z& +4 "core" &K\ \ t  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(U'e +279 "core" ' + "storage"(9- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (C& +3 "core" &K\ \  |  + "manipulator"&u& +4 "core" &   +2 .tElbow.seek 6 + "manipulator"&'( +4 "core" ( + "manipulator"&J& +4 "core" & Y  + "storage"(7& +4 "core" &K\ \   +2 .tForearm.seek 6 + 300 counts +2 "manipulator"& 'Ϧ +53 "core" ' +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&o/ +64 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&_& +2 "storage"(M'N +6 "core" & q p  +2 "manipulator"&>% +4 "core" % ϝ p q +2 .tForearm.seek :retract +2 "manipulator"&l'\ +95 "core" ' + .tElbow.seek PC +2 "manipulator"&*(c +157 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +93 "core" ( + "manipulator"&.& +5 "core" &a + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &a t +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&s'[ +103 "core" ' +2 "manipulator"&N& +4 "core" &a +2 "manipulator"&e% +4 "core" %O ? + "processing"%Q& +4 "core" & +3 "processing"%& +4 "core" & +2 .tPC.seek :closed +2 "processing"%T(Z +4 "core" & +8 &; #b +9 &uZ 6 +10 & H +9 &h G +9 &fk G +10 &'k G +9 & m G +9 &"k G +10 &$nk G +9 &&.k H +10 &'j G +9 &)j G +9 &+uk G +10 &-8n G +9 &.l G +9 &0k G +10 &2~k G +9 &4@k G +10 &6k G +9 &7k G +9 &9k G +10 &;Hk G +9 &=\ k G +9 &>m G +10 &@l G +9 &BOk G +10 &Dl G +9 &Em H +9 &Gv H +10 &IQ J +9 &K K +9 &L M +10 &N M +9 &PO M +10 &R M +9 &S M +9 &U M +10 &WT N +9 &Y J +9 &ZO;k %k +10 &Z : ' +5 ( +2 "processing"%& +4 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.50 + .Hand.open + "manipulator"&&1 +4 "core" &Z ' +54 1 +2 "manipulator"&`% +4 "core" % O  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"& '\ +93 "core" ' + "processing"%k& +4 "core" &ZB ' +2 #tImaging generic puck in Processing Clamp while storing it to tube 6 + "manipulator"&a% +4 "core" %\ + !N +2 "storage"( % +3 "core" %L\ \  +2 "storage"(h. +3 "core" .(K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"(H(K +5 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (& +3 "core" &K l  +2 "manipulator"&g& +3 ."raiseStack"SE.reconfigure :place +5 "storage"(#]kK-0-\ b +2 "core" &a +3 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC + "manipulator"&c(c +3 ."raiseStack"SE.seek :beamBreak +2 "storage"(R'e +3 "core" ( + "manipulator"&r& +4 "core" &a +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &f& +2 "core" &a +2 .tForearm.seek PC +2 "manipulator"&q'[ +97 "core" ' + .tHand.close + "manipulator"&$/ +65 "core" / +2 .tPC.seek :open + "processing"%y(p +81 "core" ' +2 "storage"(|- +3 "core" -'e +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +2 ."raiseStack"SE.seek :place +2 "storage"(S'B +39 "core" ' +256 ( + "storage"(& +5 "core" &K\ J  + "manipulator"&& +4 "core" &a ] +2 "manipulator"&% +3 "core" % J  +2 .tForearm.seek :retract +2 "manipulator"&'\ +99 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&/( +246 "core" ( + "manipulator"& & +4 "core" & V F +2 "storage"(I& +4 "core" &K\  Q  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&0'< +93 "core" ' +2 .tHand.open + "manipulator"&w1 +55 "core" 1 +2 "storage"(}- +4 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate +2 "storage"(B' +23 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(~' +51 "core" ' +2 #tLights, camera, ACTION! + "storage"([- +4 "core" -' + "storage"(V& +4 "core" &K i  +2 "manipulator"&x& +4 "core" & l F + .tElbow.seek 6 +2 "manipulator"&"( +3 "core" ( +2 "manipulator"&:& +3 "core" & O F +2 "storage"(,& +4 "core" &K '  +2 .tForearm.seek 6 + 450 counts + "manipulator"&v'< +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.11 Pucks below Top Plate + "storage"('M +58 "core" ' + "manipulator"&{& +5 "core" &  F + "storage"(& +4 "core" &K\ \ \   +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&t'z +29 "core" ' +2 .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"(O'7 +23 "core" ' + "manipulator"&(% +5 "core" %Ό    ½U + "storage"(& +4 "core" &K o  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 318 counts + "manipulator"&'ϸ +18 "core" ' +2 "manipulator"&<& +5 "core" & | { ^ ' + "storage"(m& +5 "core" &K\ "\ !   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&%'< +16 "core" ' + "storage"(% +5 "core" %@\ !\ !  +2 ."downElevator"SE.seek :down +3 "storage"(6'N +99 (3% +3 "core" % F\ \  OA +2 "manipulator"&% +4 "core" %G n n  + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&+'\ +94 "core" ' +53 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (!& +4 "core" &K\  +2 "collection"'& +4 "core" &];+, ; + #tStoring generic puck in Collection Clamp to tube 6 +2 "manipulator"&% +4 "core" %\ 5 < & + "storage"(b% +4 "core" %D \ Y +2 "storage"(F. +3 "core" .(K + "storage"(z& +4 "core" &K\ \ C  +2 "storage"(& +3 "core" &K\  G  +2 "manipulator"&& +4 "core" &  ' + .tElbow.seek 6 +2 "manipulator"&( +31 "core" ( + "manipulator"&& +4 "core" & +2 "storage"(& +4 "core" &K\ \   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&2'< +101 "core" ' +2 "storage"(A& +4 "core" &K\ \  R  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(8'e +291 "core" ' + "storage"(;- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&n& +3 "core" &  +2 "storage"(4& +4 "core" &K\ {  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 6 + "manipulator"&K'z +32 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(]- +2 "core" -' +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"( 'm +27 "core" ' + "manipulator"&#% +4 "core" %΄s  b ¹* +2 "storage"(P& +3 "core" &K j  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 6 + 310 counts +2 "manipulator"&='ϰ +17 "core" ' + "manipulator"&W& +5 "core" & z i 7  + "storage"(& +4 "core" &K\ !\ !   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&)'< +16 "core" ' +2 .tSE.seek 1.11 Pucks below Top Plate +2 "storage"('\\ +44 "core" ' +2 "manipulator"&?& +5 "core" & q p &  + "manipulator"&^% +4 "core" %6 q q * +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +87 "core" ' +2 .tElbow.seek CC +2 "manipulator"&L( +157 "core" ( +2 "manipulator"&\\& +53 "core" &*  Ae +4 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &Y& +2 "core" &+ Ad +2 .tForearm.seek CC +2 "manipulator"&1'| +99 "core" ' + .tHand.close +2 "manipulator"&G/ +53 "core" / +2 .tCC.seek :open +2 "collection"'@(p +410 "core" ( +2 "storage"(p& +4 "core" &K\ \  F  +2 "storage"(& +3 "core" &K\ \  2  +2 "manipulator"&& +3 "core" &&# = ;8 +2 "manipulator"&Z% +4 "core" % ϐ  +2 .tForearm.seek :retract + "manipulator"&\ '\ +94 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 + "manipulator"&i( +156 "core" ( +2 "manipulator"&9& +4 "core" & I  + "storage"(C& +4 "core" &K\ !\ !   +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 6 +2 "manipulator"&u'z +110 "core" ' + .tElbow.hold +2 "manipulator"&J, +9 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&71 +53 "core" 1 +3 "manipulator"&o% +4 "core" % Ά} = G +2 "storage"(_& +3 "core" &K \   +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 312 counts + "manipulator"&>'ϲ +17 "core" ' +2 "manipulator"&d& +4 "core" & ] v  + "storage"(5& +4 "core" &K\ \ ! *  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&U'< +16 "core" ' +2 "storage"( % +4 "core" %Y\ D\ * w +2 ."downElevator"SE.seek :down +5 "storage"(.'N +99 (% +2 "core" %A\ !\ ! N? +2 "manipulator"&'% +4 "core" %6 q q , +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&N'\ +87 "core" ' +51 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 5 of [5..6] +2 #Loading generic puck from tube 5 into Collection Clamp + "collection"'e& +5 "core" &') + "manipulator"&Q% +4 "core" %\ * !M +2 "storage"(M% +5 "core" %I\ !\ !  + "storage"(l. +3 "core" .(K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 + "storage"(-(<< +363 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (&& +3 "core" & +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('e +288 "core" ' +2 "storage"(g- +3 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (r& +3 "core" &<@\ #\ ! \ +2 "manipulator"&f& +3 "core" & -  +2 .tElbow.seek 5 +2 "manipulator"&s( +3 "core" ( + "manipulator"&$& +4 "core" & ,  + "storage"(D& +4 "core" &<@\ !\ ! +3 .tForearm.seek 5 + 300 counts + "manipulator"&|'[ +20 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&*/ +52 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"& & +2 "storage"(T'N +8 "core" & p p $  + "manipulator"&% +4 "core" % U n n  +2 .tForearm.seek :retract +2 "manipulator"&R'\ +92 "core" ' +2 .tElbow.seek CC +2 "manipulator"&( +146 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +12 "core" ( + "manipulator"&& +4 "core" &* l @\\ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &q& +2 "core" &) j @\\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"& '| +100 "core" ' + "manipulator"&I& +5 "core" &*  @\\ + "manipulator"&c% +4 "core" %_ A  +2 "collection"'w& +4 "core" &%( +2 "collection"'}& +5 "core" &'* +2 .tCC.seek :closed +2 "collection"'[(] +5 "core" &%'  +9 &4'' )v +9 &g(( < +9 &f%* I +10 &-k%* G +9 &n'( H +9 &q)) G +10 &!pr'( H +9 &#3p'& G +10 &$k*) G +9 &&k(* G +9 &(zl)) G +10 &*:n(* H +9 &+m() G +9 &-n%' H +10 &/n'( H +9 &1Bn') H +10 &3n(( G +9 &4j(( G +9 &6n'( G +10 &8Lk(* G +9 &: n'* G +9 &;m() G +10 &=n'( H +9 &?Tm$) G +10 &An'( G +9 &Bk') G +9 &Dh%( G +10 &F[n'' G +9 &Hq(( H +9 &Ix() H +10 &K)* J +9 &MR*, M +10 &O +* P +9 &P(, P +9 &R+* Q +10 &TN)- Q +9 &V () S +9 &W*+ S +10 &Y,- T +9 &[O*+ T +10 &\\p,, 2 +9 &]((+ ` +9 &]k,- F +3 ( + "collection"'}& +3 #tCollection Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.80 + .Hand.open +2 "manipulator"&V1 +63 "core" 1 + "manipulator"&x% +4 "core" % _ Z  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&:'\ +91 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp +2 "processing"%,& +4 "core" & + "manipulator"&% +4 "core" %\ , "X +2 "storage"({% +3 "core" %B +2 "storage"(. +3 "core" .( F +2 "manipulator"&S& +3 "core" &( + ?P +2 "manipulator"&<% +4 "core" %\ - "X +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&B( +160 "core" ( + "manipulator"&m& +5 "core" &    + "storage"(& +4 "core" &<@\ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&/' +92 "core" ' + "storage"(0& +4 "core" &<@\ \  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(~'e +292 "core" ' + "storage"(3- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (& +4 "core" &<@\ \  + "manipulator"&v& +4 "core" &    +2 .tElbow.seek 5 + "manipulator"&"( +4 "core" ( + "manipulator"&& +4 "core" &  q  +2 "storage"(t& +3 "core" &<@\ \  +3 .tForearm.seek 5 + 300 counts + "manipulator"&!'[ +20 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +58 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"('N +7 "core" &  p p  + "manipulator"&b% +4 "core" % [ q q  +2 .tForearm.seek :retract +2 "manipulator"&F'\ +88 "core" ' +2 .tElbow.seek PC +2 "manipulator"&z(c +160 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +85 "core" ( + "manipulator"&O& +4 "core" &g  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &g s +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&'[ +102 "core" ' +2 "manipulator"&& +4 "core" &g  +2 "manipulator"&% +3 "core" %d l +2 "processing"%%& +4 "core" & +3 "processing"%A& +4 "core" & +2 .tPC.seek :closed +2 "processing"%6(Z +4 "core" &  +9 &5 )w +10 &j = +9 &z G +9 &Ak G +10 &k G +9 &k G +10 &!k G +9 &#Ij G +9 &% k G +10 &&l G +9 &(k G +9 &*Qk G +10 &,k G +9 &-k G +10 &/m G +9 &1Yj G +9 &3k G +10 &4k G +9 &6k G +9 &8am G +10 &:#j G +9 &;j G +10 &=k G +9 &?hn G +9 &A)k H +10 &Bk G +9 &Dk G +9 &Fok H +10 &H/w H +9 &I I +10 &K L +9 &Mj L +9 &O( N +10 &P M +9 &R M +9 &Tp M +10 &V1 M +9 &W N +10 &Y 3 +9 &Z5 M +9 &Z ) +3 ( + "processing"%A& +3 #tProcessing Clamp onSpring/offSpring for 8/26 samples, on/off torque 1.50 +52 .Hand.open +3 "manipulator"&1 +57 "core" 1 + "manipulator"&+% +4 "core" % d  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&;'\ +100 "core" ' + "processing"%n& +4 "core" &Z ) +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 + "manipulator"&4% +4 "core" %\ 3 %~ +2 "storage"(]% +4 "core" %?  + "storage"(#. +3 "core" .(<< + "storage"(P& +4 "core" &<@ +2 "storage"(W& +5 "manipulator"&& +3 "core" &<@  +2 &g  +2 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b + "storage"(#]kK-0-\ b +5 .tElbow.seek PC +2 "manipulator"&?(c +3 ."raiseStack"SE.seek :beamBreak +2 "storage"(^'e +2 "core" ( +2 "manipulator"&2& +4 "core" &g + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &g ^ +2 .tForearm.seek PC + "manipulator"&8'[ +96 "core" ' + .tHand.close +2 "manipulator"&K/ +55 "core" / +2 .tPC.seek :open + "processing"%=(p +96 "core" ' +2 "storage"( - +3 "core" -'e +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(\\'B +40 "core" ' +243 ( + "storage"()& +5 "core" &<@\ \  + "manipulator"&Y& +4 "core" &g  +2 "manipulator"&% +3 "core" % d  +2 .tForearm.seek :retract +2 "manipulator"&G'\ +91 "core" ' +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&( +248 "core" ( + "manipulator"&E& +4 "core" & a +2 "storage"(p& +3 "core" &<@\ S +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&' +103 "core" ' + .tHand.open + "manipulator"&1 +62 "core" 1 +2 "storage"(Z- +3 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate +2 "storage"(9' +23 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(C' +52 "core" ' +2 #tLights, camera, ACTION! + "storage"(1- +4 "core" -' + "storage"(L& +4 "core" &<@ K + "manipulator"&7& +4 "core" & n o a +2 .tElbow.seek 5 +2 "manipulator"&o( +3 "core" ( + "manipulator"&_& +4 "core" & r t a +2 "storage"(d& +4 "core" &<@ t +2 .tForearm.seek 5 + 450 counts + "manipulator"&5' +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"( 'M +60 "core" ' +2 "manipulator"&\ & +4 "core" & q q Q a + "storage"(& +4 "core" &<@\ \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&''/ +31 "core" ' + .tElbow.hold +2 "manipulator"&i, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"(u'7 +23 "core" ' + "manipulator"&e% +5 "core" %> O + "storage"(Q& +4 "core" &<@ +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 5 + 315 counts +2 "manipulator"&>'j +16 "core" ' +2 "manipulator"&M& +4 "core" & u z  A +2 "storage"(l& +4 "core" &<@\  K +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&' +18 "core" ' +2 "storage"(U% +4 "core" %@\ \  +3 ."downElevator"SE.seek :down +3 "storage"(.'N +99 (H% +2 "core" %C\  [ N? +2 "manipulator"&&% +4 "core" % q y Q +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&`'\ +93 "core" ' +54 ' +3 ."downElevator"SE.stop + "storage"(5 +3 (a& +4 "core" &<@ + "collection"' & +4 "core" &]a)- F +2 #tStoring generic puck in Collection Clamp to tube 5 + "manipulator"&% +4 "core" %\ . #e +2 "storage"(J% +3 "core" %>\ +2 "storage"(N. +3 "core" .(<< + "storage"(g& +4 "core" &<@ \ ^ +2 "storage"(r& +4 "core" &<@\ " + "manipulator"&f& +4 "core" & A +2 .tElbow.seek 5 +2 "manipulator"&$( +24 "core" ( + "manipulator"&D& +4 "core" & ,  +2 "storage"(*& +4 "core" &<@\ [ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"& ' +104 "core" ' +2 "storage"(& +4 "core" &<@\ \  o +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(k'e +283 "core" ' +2 "storage"(h- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&& +3 "core" & [  + "storage"(q& +4 "core" &<@\ \ G +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&'/ +27 "core" ' + .tElbow.hold +2 "manipulator"&|, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(I- +2 "core" -' +2 .tSE.seek 0.12 Pucks below Top Plate +2 "storage"(c'p +28 "core" ' + "manipulator"&w% +4 "core" %@q ~  +2 "storage"(s& +3 "core" &<@ c +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 317 counts + "manipulator"&T'l +17 "core" ' +2 "manipulator"&R& +4 "core" & u _ *  + "storage"(@& +4 "core" &<@\ 8 +2 .tForearm.reconfigure :tight +7 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&V' +21 "core" ' +2 .tSE.seek 1.12 Pucks below Top Plate + "storage"(x'_ +46 "core" ' +2 "manipulator"&,& +4 "core" & Q \\ `  +2 "manipulator"&% +4 "core" % T b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&{'\ +95 "core" ' + .tElbow.seek CC +2 "manipulator"&( +162 "core" ( +3 "manipulator"&}& +4 "core" &+ Bi +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &, Bi +2 .tForearm.seek CC +2 "manipulator"&S'| +94 "core" ' +2 .tHand.close + "manipulator"&/ +60 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"& & + "storage"('N +8 "core" & u #  + "manipulator"&J% +4 "core" % Ϝ  e S 1 +2 .tForearm.seek :retract +2 "manipulator"&N'\ +98 "core" ' + .tElbow.seek PC +2 "manipulator"&g(c +151 "core" ' + ."downElevator"SE.stop + "storage"(5 +95 "core" ( + "manipulator"&u& +5 "core" &\\ p 3 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &r& +3 "core" &\\ - +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&f'[ +93 "core" ' +2 "manipulator"&D& +4 "core" &\\ x +2 "manipulator"&*% +4 "core" %R   + "processing"%& +4 "core" & +2 "processing"%& +5 "core" & +2 .tPC.seek :closed +2 "processing"%.(Z +4 "core" &  +9 &6 )w +10 &j = +9 &}{ H +9 &Bk G +10 &p G +9 &k G +10 &!i G +9 &#Ji G +9 &% k F +10 &&m G +9 &(j F +9 &*Rl G +10 &,p G +9 &-j G +9 &/k G +10 &1Zj G +9 &3k G +10 &4k F +9 &6k G +9 &8ak G +10 &:#k G +9 &;k G +9 &=j G +10 &?jj G +9 &A+j G +10 &Bj G +9 &Dk G +9 &Fpn G +10 &H/u H +9 &I J +9 &K L +10 &Mi M +9 &O* M +10 &P M +9 &R M +9 &Tn N +10 &V0 N +9 &W N +9 &Y 3 +10 &Z0 Q +9 &Z + +2 ( +2 "processing"%& +3 #tProcessing Clamp onSpring/offSpring for 8/26 samples, on/off torque 1.49 + .Hand.open +2 "manipulator"&i1 +59 "core" 1 + "manipulator"&`% +4 "core" % R t   +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&h'\ +93 "core" ' + "processing"%& +4 "core" &Z + +2 #tImaging generic puck in Processing Clamp while storing it to tube 6 + "manipulator"&q% +4 "core" %\ * !T +2 "storage"(I% +4 "core" %B + "storage"(w. +3 "core" .(K + "storage"(s& +4 "core" &K  +2 "storage"(R& +3 "manipulator"&@& +6 "core" &K  + &\\ +4 ."raiseStack"SE.reconfigure :place +2 .tElbow.reconfigure :tight +3 "storage"(#]kK-0-\ b +5 "manipulator"&$&.,(\ #b +2 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +2 "storage"(,'e +2 "manipulator"&(c +4 "core" ( +2 "manipulator"& & +4 "core" &\\ + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &$& +3 "core" &\\ +2 .tForearm.seek PC +2 "manipulator"&k'[ +101 "core" ' + .tHand.close + "manipulator"&/ +56 "core" / + .tPC.seek :open +2 "processing"%T(p +85 "core" ' +2 "storage"(c- +4 "core" -'e + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +2 ."raiseStack"SE.seek :place +2 "storage"(}'B +38 "core" ' +253 ( + "storage"(& +4 "core" &K\ \ m  +2 "manipulator"&V& +4 "core" &\\ K + "manipulator"&|% +4 "core" % G )  +2 .tForearm.seek :retract + "manipulator"&<'\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 + "manipulator"&{( +253 "core" ( +2 "manipulator"&[& +4 "core" & { $ + "storage"(m& +4 "core" &K \  M  +2 .tForearm.reconfigure :tight +54 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 6 + 450 counts + "manipulator"&'< +94 "core" ' + .tHand.open +2 "manipulator"&-1 +53 "core" 1 +2 "storage"(0- +3 "core" -'B +3 .tSE.seek -0.16 Pucks below Top Plate +2 "storage"(3' +23 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(' +56 "core" ' + #tLights, camera, ACTION! + "storage"(S- +4 "core" -' +2 "storage"(& +4 "core" &K p  + "manipulator"&t& +4 "core" & 3 # +2 .tElbow.seek 6 +2 "manipulator"&( +3 "core" ( + "manipulator"&& +4 "core" &  # +2 "storage"(B& +4 "core" &K ]  +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&/'< +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.11 Pucks below Top Plate + "storage"(!'M +67 "core" ' +2 "manipulator"&& +4 "core" & M # +2 "storage"(& +4 "core" &K\ \   + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&:'z +30 "core" ' +2 .tElbow.hold +2 "manipulator"&", +4 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"(v'7 +23 "core" ' +2 "manipulator"&% +4 "core" %Άy H Ļ> +2 "storage"(b& +4 "core" &K n  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 312 counts +2 "manipulator"&%'ϲ +16 "core" ' +2 "manipulator"&& +4 "core" & w d : # +2 "storage"(F& +4 "core" &K\ \   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&x'< +13 "core" ' + "storage"(~% +5 "core" %?\ ) +2 ."downElevator"SE.seek :down +5 "storage"(O'N +98 ((% +3 "core" %F \ o OB +2 "manipulator"&% +4 "core" %F j n ( +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&+'\ +93 "core" ' +54 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (n& +4 "core" &K \  +2 "collection"'4& +4 "core" &]N() < + #tStoring generic puck in Collection Clamp to tube 6 +2 "manipulator"&#% +4 "core" %\ 8 ) ' + "storage"(% +4 "core" %F\ \ \  0 + "storage"(. +3 "core" .(K +2 "storage"(& +4 "core" &K\ \ |  + "storage"(W& +4 "core" &K\ \ d  +2 "manipulator"&2& +4 "core" & J # + .tElbow.seek 6 +2 "manipulator"&( +3 "core" ( + "manipulator"&K& +4 "core" & C # +2 "storage"(z& +4 "core" &K\ \  D  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&;'< +98 "core" ' +2 "storage"()& +4 "core" &K\ \  h  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(A'e +286 "core" ' + "storage"(]- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&^& +3 "core" &  # +2 "storage"(P& +3 "core" &K\ \   +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&8'z +29 "core" ' +2 .tElbow.hold + "manipulator"& , +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(p- +3 "core" -' +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"('m +27 "core" ' + "manipulator"&?% +5 "core" %Ά  " ýN + "storage"(& +4 "core" &K q  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 312 counts + "manipulator"&6'ϲ +18 "core" ' + "manipulator"&Y& +4 "core" & l | 2 "x +2 "storage"( & +3 "core" &K\ \   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&L'< +16 "core" ' +2 .tSE.seek 1.11 Pucks below Top Plate +2 "storage"(7'\\ +47 "core" ' + "manipulator"&d& +4 "core" & n e "x +2 "manipulator"&G% +4 "core" %A l b y +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&\ '\ +96 "core" ' +2 .tElbow.seek CC +2 "manipulator"&( +155 "core" ( +2 "manipulator"&e& +4 "core" &+ Bf + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &Z& +3 "core" &, s Bf +2 .tForearm.seek CC + "manipulator"&\\'| +95 "core" ' + .tHand.close +2 "manipulator"&Q/ +62 "core" / +2 .tCC.seek :open +2 "collection"'M(p +411 "core" ( + "storage"(l& +4 "core" &K\ \   +2 "storage"(E& +3 "core" &K \  ;  +2 "manipulator"&U& +3 "core" &) j @Y +2 "manipulator"&% +4 "core" % ϋ Z  + .tForearm.seek :retract +2 "manipulator"&'\ +99 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&_( +164 "core" ( +2 "manipulator"&H& +4 "core" & g + + "storage"(&& +4 "core" &K\ \   +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 6 + "manipulator"&5'z +111 "core" ' + .tElbow.hold +2 "manipulator"& , +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&'1 +59 "core" 1 +2 "manipulator"&>% +4 "core" % ΃ 1  w N +2 "storage"( & +4 "core" &K  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 309 counts + "manipulator"&J'ϯ +20 "core" ' + "manipulator"&9& +4 "core" & u Y t !p +2 "storage"(& +3 "core" &K\ \   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&C'< +21 "core" ' +2 "storage"(a% +4 "core" %b\ \  +2 ."downElevator"SE.seek :down +4 "storage"(u'N +99 (r% +3 "core" %_B\ !\  Y N? + "manipulator"&o% +4 "core" % u n +  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&D'\ +95 "core" ' +44 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 5 of [5..6] +2 #Loading generic puck from tube 5 into Collection Clamp + "collection"'*& +5 "core" &%( + "manipulator"&% +4 "core" %\ 7 ' +2 "storage"(% +4 "core" %K\ \  +2 "storage"(N. +3 "core" .(K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"(=(<< +357 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (i& +2 "core" &m() G +9 &@}k&) G +10 &B@h(( G +9 &Dk'' G +9 &El'' G +10 &Gm%) G +9 &IEu() H +9 &K'* J +10 &L)) L +9 &Nv*+ O +10 &P5*- P +9 &Q+, P +9 &S++ Q +10 &Un,, U +9 &W9)- R +9 &X*, S +10 &Z,, X +9 &\\v*- A +10 &]f0)- )x +9 &]?,+ : +2 ( +2 "collection"'0& +3 #tCollection Clamp onSpring/offSpring for 10/26 samples, on/off torque 1.88 + .Hand.open +2 "manipulator"&1 +53 "core" 1 + "manipulator"&t% +5 "core" % | +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +98 "core" ' + #tLoading generic puck from tube 5 into Processing Clamp + "processing"%B& +5 "core" & + "manipulator"&<% +4 "core" %\ 8 m ' +2 "storage"(% +3 "core" %?\ h \ +2 "storage"(. +3 "core" .( + "manipulator"& & +3 ."raiseStack"SE.reconfigure :place +5 "storage"(#]kK-0-\ b +2 "core" &j a +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +3 ."raiseStack"SE.seek :beamBreak +2 "manipulator"&d(c +2 "storage"(G'e +4 "core" ( +2 "manipulator"&;& +4 "core" &j + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &j +2 .tForearm.seek PC + "manipulator"&A'[ +94 "core" ' + .tHand.close +2 "manipulator"&8/ +55 "core" / +2 .tPC.seek :open +2 "processing"%6(p +96 "core" ' +2 "storage"(- +3 "core" -'e + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(e'B +43 "core" ' +236 ( +2 "storage"(Z& +4 "core" &<@\ \  + "manipulator"&L& +4 "core" &j S +2 "manipulator"& % +3 "core" % e W  +2 .tForearm.seek :retract +2 "manipulator"&Q'\ +92 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&\ ( +248 "core" ( + "manipulator"&1& +4 "core" &\ | i +2 "storage"(l& +4 "core" &<@\ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&E' +93 "core" ' +2 .tHand.open + "manipulator"&U1 +61 "core" 1 +2 "storage"(- +4 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate +2 "storage"(H' +29 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.83 Pucks below Top Plate + "storage"(&' +50 "core" ' +2 #tLights, camera, ACTION! + "storage"(\\- +3 "core" -' +2 "storage"(& +4 "core" &<@ h + "manipulator"&'& +4 "core" &\ i +2 .tElbow.seek 5 + "manipulator"&>( +4 "core" ( + "manipulator"& & +4 "core" &\ " i +2 "storage"(9& +4 "core" &<@ +2 .tForearm.seek 5 + 450 counts + "manipulator"&' +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"(a'M +61 "core" ' + "manipulator"&& +5 "core" &\  i + "storage"(r& +4 "core" &<@\ \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&o'/ +31 "core" ' + .tElbow.hold +2 "manipulator"&_, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"(5'7 +23 "core" ' +2 "manipulator"&*% +4 "core" %:s d ù, +2 "storage"(J& +4 "core" &<@  + .tForearm.force -20 + "manipulator"&5 +55 .tForearm.seek 5 + 311 counts +2 "manipulator"&'f +17 "core" ' +2 "manipulator"&& +4 "core" &\ s ` q U +2 "storage"(N& +4 "core" &<@ \ > +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&7' +23 "core" ' + "storage"(C% +5 "core" %>\ \ > +2 ."downElevator"SE.seek :down +4 "storage"(u'N +99 (y% +4 "core" %G\  1 OA + "manipulator"&i% +4 "core" % o r C +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&`'\ +91 "core" ' +59 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (q& +4 "core" &<@\  +2 "collection"'I& +4 "core" &]A*+ : +2 #tStoring generic puck in Collection Clamp to tube 5 + "manipulator"&s% +4 "core" %\ 3 %z +2 "storage"( % +4 "core" %< \ ; + "storage"(D. +4 "core" .(<< + "storage"(R& +4 "core" &<@\ \ \ + "storage"(& +4 "core" &<@\  Y +2 "manipulator"& & +3 "core" &\ U +2 .tElbow.seek 5 +2 "manipulator"&f( +25 "core" ( +2 "manipulator"&& +4 "core" & j  +2 "storage"(g& +3 "core" &<@\ \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&h' +93 "core" ' + "storage"(& +4 "core" &<@\ \ !  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"('e +284 "core" ' + "storage"(w- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&@& +3 "core" & } { e  +2 "storage"(|& +3 "core" &<@\ \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&k'/ +32 "core" ' + .tElbow.hold +2 "manipulator"&c, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"($- +2 "core" -' +2 .tSE.seek 0.12 Pucks below Top Plate +2 "storage"(m'q +28 "core" ' + "manipulator"&% +4 "core" %As % +2 "storage"(-& +4 "core" &<@ 1 + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 318 counts + "manipulator"&.'m +17 "core" ' +2 "manipulator"&V& +4 "core" & f D f  +2 "storage"(M& +4 "core" &<@\ \  b +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&' +18 "core" ' +2 .tSE.seek 1.12 Pucks below Top Plate +2 "storage"(t'` +50 "core" ' +2 "manipulator"&B& +5 "core" & W b  + "manipulator"&<% +5 "core" % _ X   + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +91 "core" ' + .tElbow.seek CC +2 "manipulator"&( +168 "core" ( +2 "manipulator"&0& +4 "core" &! 9% + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +4 "core" &! Y 9% +3 .tForearm.seek CC + "manipulator"&b'| +95 "core" ' + .tHand.close + "manipulator"&3/ +58 "core" / +2 .tCC.seek :open +2 "collection"'[(p +411 "core" ( + "storage"(F& +4 "core" &<@\ !\ !  +2 "storage"(~& +3 "core" &<@\ !\ !  +2 "manipulator"&=& +3 "core" &! y 9% +2 "manipulator"&% +4 "core" % ω j +2 .tForearm.seek :retract + "manipulator"&,'\ +97 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&( +169 "core" ( +2 "manipulator"&(& +4 "core" & - a +2 "storage"(& +3 "core" &<@\ !\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 5 +2 "manipulator"&/'/ +112 "core" ' + .tElbow.hold +2 "manipulator"&!, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&:1 +54 "core" 1 +2 "manipulator"&4% +4 "core" % ?t  7 ¹$ +2 "storage"(%& +4 "core" &<@ f + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 316 counts + "manipulator"&'k +19 "core" ' +2 "manipulator"&& +4 "core" &9 r \\ | ( +2 "storage"({& +4 "core" &<@\ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&' +23 "core" ' + "storage"(n% +4 "core" %c\ *\ D o +3 ."downElevator"SE.seek :down +3 "storage"(v'N +99 (W% +2 "core" %D\ !\ !  N> +2 "manipulator"&% +4 "core" % p p +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&K'\ +95 "core" ' +43 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 6 of [5..6] +2 #Loading generic puck from tube 6 into Collection Clamp + "collection"'z& +4 "core" &(( +2 "manipulator"&x% +4 "core" %\ 5 o & + "storage"(#% +4 "core" %:\ !\  +2 "storage"(. +3 "core" .(<< +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"(T(K +362 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 ("& +3 "core" &K\ W  +2 "manipulator"&+& +4 "core" &9 ( + .tElbow.seek 6 +2 "manipulator"&^( +19 "core" ( + "manipulator"&P& +4 "core" & w  +2 "storage"(p& +3 "core" &K\ !\ !   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&?'< +101 "core" ' + "storage"()& +5 "core" &K\ D\ D  + .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(Y'e +289 "core" ' + "storage"( - +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (;& +3 "core" &K\ \    + "manipulator"&& +4 "core" & o o  +2 .tElbow.seek 6 + "manipulator"&2( +3 "core" ( +2 "manipulator"&8& +3 "core" & i n  +2 "storage"(}& +3 "core" &K\ \   +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&'Ϧ +25 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +62 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&]& + "storage"(O'N +7 "core" & o o  +2 "manipulator"&Z% +4 "core" % ϛ o o +2 .tForearm.seek :retract + "manipulator"&L'\ +91 "core" ' + .tElbow.seek CC +2 "manipulator"& ( +151 "core" ' + ."downElevator"SE.stop + "storage"(5 +11 "core" ( + "manipulator"&G& +4 "core" &+ ! A` +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &A& +2 "core" &+ @ A` +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&1'| +103 "core" ' +2 "manipulator"&l& +4 "core" &+  A` +2 "manipulator"&d% +4 "core" %s p + "collection"'U& +4 "core" &(* +3 "collection"'& +4 "core" &') +3 .tCC.seek :closed + "collection"'\\(] +5 "core" &'*  +9 &5') )w +9 &j') = +10 &s~)) H +9 &8j'( G +9 &l(+ G +10 &m*) G +9 &!~j&( G +10 &#>l(( H +9 &%j'' G +9 &&k(( G +10 &(m'' H +9 &*Hj)* G +9 &,\ j') G +10 &-k%) G +9 &/k&( G +9 &1Pi'(\ G +10 &3k&, G +9 &4g)) G +10 &6j)( G +9 &8Wk)) G +9 &:j') G +10 &;h%* G +9 &=k)* G +9 &?_k(( G +10 &A"h') G +9 &Bm** G +10 &Dg(* G +9 &Fhj(( G +9 &H(n&* H +10 &I&* I +9 &K,* L +9 &MY), O +10 &O+- Q +9 &P+- Q +10 &R+- R +9 &TX+, R +9 &V+, T +10 &W)/ R +9 &Y+, U +9 &[Y++ T +10 &\\u)- . +9 &]!+, D +9 ( +2 &]X', @ +2 "collection"'& +3 #tCollection Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.87 + .Hand.open +2 "manipulator"&1 +60 "core" 1 + "manipulator"&'% +4 "core" % r 0 +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"& '\ +95 "core" ' +2 #tLoading generic puck from tube 6 into Processing Clamp + "processing"%9& +55 "core" & +2 "manipulator"&Q% +4 "core" %\ 1 I $m +2 "storage"(% +4 "core" %>  + "storage"(r. +3 "core" .(K +2 "storage"(*& +3 "core" &K  +2 "storage"(e& +4 "core" &K  + "manipulator"&J& +4 "core" && e >M +2 "manipulator"&H% +4 "core" %\ 1 g $m + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&( +167 "core" ( + "manipulator"&N& +4 "core" & G +2 "storage"(\ & +3 "core" &K\ ,  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&E'< +93 "core" ' +2 "storage"(C& +4 "core" &K\ \ \    +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(&'e +277 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (y& +3 "core" &K \ C  +2 "manipulator"&i& +3 "core" &  F +2 .tElbow.seek 6 +2 "manipulator"&>( +3 "core" ( + "manipulator"&a& +4 "core" &  F + "storage"(o& +5 "core" &K\ \ _  +2 .tForearm.seek 6 + 300 counts + "manipulator"&'Ϧ +10 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&q/ +58 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&I& + "storage"(s'N +6 "core" & S F +2 "manipulator"& % +4 "core" % ϟ W 8 +2 .tForearm.seek :retract +2 "manipulator"&D'\ +95 "core" ' + .tElbow.seek PC +2 "manipulator"&5(c +157 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +93 "core" ( + "manipulator"&R& +5 "core" &g = + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +4 && +2 "core" &g z +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"& '[ +99 "core" ' +2 "manipulator"&& +4 "core" &g u +2 "manipulator"&g% +3 "core" %Z +2 "processing"%7& +4 "core" & +2 "processing"%& +5 "core" & +2 .tPC.seek :closed + "processing"%u(Z +4 "core" &  +9 &6 )w +9 &j = +10 &y G +9 &Bj G +9 &i G +10 &j F +9 &!j G +9 &#Hi G +10 &%\ i G +9 &&j G +10 &(j G +9 &*Ri G +9 &,j G +10 &-h G +9 &/j G +9 &1Zi G +10 &3k G +9 &4j F +9 &6j G +10 &8bj G +9 &:$i G +10 &;h G +9 &=j G +9 &?jj G +10 &A,j G +9 &Bj G +9 &Dn G +10 &Fon H +9 &H0v H +10 &I J +9 &K L +9 &Mi M +10 &O* M +9 &P M +9 &R M +10 &Tp M +9 &V0 N +10 &W N +9 &Y 3 +9 &Z1 Q +10 &Z * +2 ( +2 "processing"%& +3 #tProcessing Clamp onSpring/offSpring for 8/26 samples, on/off torque 1.51 + .Hand.open + "manipulator"&_1 +53 "core" 1 + "manipulator"&`% +4 "core" % Z m +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&w'\ +95 "core" ' +2 "processing"%@& +4 "core" &Z? * +2 #tImaging generic puck in Processing Clamp while storing it to tube 6 + "manipulator"&|% +4 "core" %\ 1 $n +2 "storage"($% +3 "core" %I g  +2 "storage"(. +3 "core" .(K + "storage"(-& +4 "core" &K \\  +2 "storage"(V& +4 "manipulator"&M& +4 "core" &K ]  + &g +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +3 "storage"(#]kK-0-\ b +2 "manipulator"&B(c +5 ."raiseStack"SE.seek :beamBreak + "storage"(<'e +3 "core" ( + "manipulator"&h& +4 "core" &g  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &f& +4 "core" &g  +2 .tForearm.seek PC + "manipulator"&'[ +97 "core" ' + .tHand.close + "manipulator"&k/ +57 "core" / +2 .tPC.seek :open + "processing"%.(p +93 "core" ' +2 "storage"(m- +4 "core" -'e + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(0'B +40 "core" ' +242 ( + "storage"(& +5 "core" &K\ \   + "manipulator"&& +5 "core" &g  + "manipulator"&c% +4 "core" % Z  +2 .tForearm.seek :retract + "manipulator"&3'\ +92 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&( +245 "core" ( + "manipulator"&S& +4 "core" & m ! +2 "storage"(F& +3 "core" &K\ \ j  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&~'< +109 "core" ' + .tHand.open + "manipulator"&=1 +62 "core" 1 +2 "storage"(- +3 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate +2 "storage"((' +23 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(' +51 "core" ' + #tLights, camera, ACTION! + "storage"(b- +4 "core" -' +2 "storage"(& +3 "core" &K -  +2 "manipulator"&:& +4 "core" & x { W ! + .tElbow.seek 6 +2 "manipulator"&4( +4 "core" ( + "manipulator"&%& +4 "core" & r \\ %  +2 "storage"(& +4 "core" &K  +2 .tForearm.seek 6 + 450 counts + "manipulator"&{'< +20 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"(n'M +56 "core" ' +2 "manipulator"&,& +4 "core" & "  + "storage"(W& +4 "core" &K\ \   +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&'z +31 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.07 Pucks below Top Plate + "storage"(/'7 +24 "core" ' +2 "manipulator"&z% +4 "core" %΅ r a +2 "storage"(& +4 "core" &K G  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 311 counts + "manipulator"&x'ϱ +18 "core" ' + "manipulator"&#& +5 "core" & x f A "{ + "storage"(& +4 "core" &K\    +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&t'< +17 "core" ' +2 "storage"(% +4 "core" %A\ \  +3 ."downElevator"SE.seek :down +3 "storage"(v'N +99 (% +2 "core" %G\ \ \  NA +2 "manipulator"&"% +4 "core" %; y t ] +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&+'\ +86 "core" ' +64 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (P& +4 "core" &K \  p  +2 "collection"'p& +4 "core" &]W-, @ + #tStoring generic puck in Collection Clamp to tube 6 + "manipulator"&)% +4 "core" %\ + !O +2 "storage"(!% +4 "core" %H\ \ / + "storage"(K. +4 "core" .(K + "storage"( & +4 "core" &K\ \   + "storage"(;& +4 "core" &K\  8  +2 "manipulator"&& +3 "core" &  "z +2 .tElbow.seek 6 +2 "manipulator"&8( +34 "core" ( + "manipulator"&}& +4 "core" & I  +2 "storage"(& +4 "core" &K\ \   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&]'< +92 "core" ' + "storage"(Z& +4 "core" &K\ \  H  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(^'e +284 "core" ' + "storage"(?- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&G& +3 "core" & n o G  +2 "storage"(A& +4 "core" &K\ \   + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&Y'z +28 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , +51 .tElbow.reconfigure :tight +4 "manipulator"&$&.,(\ #b +2 "storage"(l- +3 "core" -' +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(d'm +27 "core" ' +2 "manipulator"&2% +4 "core" %Ί ) P + "storage"(U& +4 "core" &K U  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 316 counts + "manipulator"&O'϶ +19 "core" ' + "manipulator"&L& +4 "core" & ^ v 5  +2 "storage"([& +4 "core" &K\ 0  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&'< +23 "core" ' +2 .tSE.seek 1.11 Pucks below Top Plate +2 "storage"(''\\ +49 "core" ' +2 "manipulator"&9& +4 "core" & p p  +2 "manipulator"&% +4 "core" % n o   +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&Q'\ +87 "core" ' + .tElbow.seek CC +2 "manipulator"&( +154 "core" ( +2 "manipulator"&r& +4 "core" && 9 =D +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &*& +2 "core" && =D +2 .tForearm.seek CC +2 "manipulator"&e'| +100 "core" ' +2 .tHand.close + "manipulator"&J/ +63 "core" / +2 .tCC.seek :open +2 "collection"'H(p +410 "core" ( + "storage"(1& +5 "core" &K\ \  e  + "storage"(N& +4 "core" &K\  ]  + "manipulator"&\ & +4 "core" &# 6 :, +2 "manipulator"&C% +4 "core" % ϊ F + .tForearm.seek :retract +2 "manipulator"& '\ +94 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 + "manipulator"& ( +154 "core" ( +2 "manipulator"&& +4 "core" & 9 + "storage"(y& +4 "core" &K\ !\ !   +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 6 +2 "manipulator"&i'z +107 "core" ' + .tElbow.hold +2 "manipulator"&a, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&o1 +64 "core" 1 +2 "manipulator"&q% +4 "core" % Ύ 1 Z + "storage"(I& +4 "core" &K\ \  e  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 6 + 320 counts +2 "manipulator"& 'Ϻ +18 "core" ' + "manipulator"&& +4 "core" & \\ v   +2 "storage"(E& +4 "core" &K\ \   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&&'< +19 "core" ' + "storage"(% +5 "core" %\\\ E\ ' . +2 ."downElevator"SE.seek :down +3 "storage"(R'N +99 (% +3 "core" %A\ \ !  N? +2 "manipulator"&>% +4 "core" % p q  + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +95 "core" ' +43 ' + ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 5 of [5..6] + #Loading generic puck from tube 5 into Collection Clamp +2 "collection"'g& +4 "core" &'* + "manipulator"&7% +4 "core" %\ 7 m ' +2 "storage"(s% +4 "core" %;\ \   +2 "storage"(D. +3 "core" .(K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 + "storage"(6(<< +357 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (_& +2 "core" &<>\ \ \  +2 "manipulator"&`& +3 "core" & (  +2 .tElbow.seek 5 +2 "manipulator"&@( +17 "core" ( + "manipulator"&|& +4 "core" &\ < K +2 "storage"($& +3 "core" &<>\ \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&' +95 "core" ' + "storage"(-& +4 "core" &<>\ \  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(V'e +276 "core" ' + "storage"(M- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (& +3 "core" &<>\ \  B + "manipulator"&h& +4 "core" &\  K +2 .tElbow.seek 5 + "manipulator"&f( +8 "core" ( + "manipulator"& & +4 "core" & `  ' +2 "storage"(k& +4 "core" &<>\ !\ !  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&m'[ +21 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&5/ +53 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&w& + "storage"(u'N +8 "core" & r r i ' + "manipulator"&% +4 "core" % a s x D +2 .tForearm.seek :retract +2 "manipulator"&'\ +88 "core" ' +2 .tElbow.seek CC +2 "manipulator"&c( +152 "core" ' + ."downElevator"SE.stop +3 "storage"(5 +2 "core" ( +2 "manipulator"&<& +4 "core" &, Bk + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &+ Bk +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&S'| +93 "core" ' +2 "manipulator"&F& +4 "core" &, Bj +2 "manipulator"&B% +4 "core" %{ 6 + "collection"'=& +4 "core" &') +3 "collection"'& +4 "core" &() +2 .tCC.seek :closed +2 "collection"'b(] +4 "core" &(*  +9 &6)) *x +9 &j)* = +9 &w|() H +10 &<j') G +9 &k)) G +9 &m') G +10 &!l() G +9 &#Bl'( G +9 &%k)) G +10 &&k') H +9 &(k(( G +10 &*Lk(( G +9 &,j') G +9 &-j*) G +10 &/k()\ G +9 &1Sk'( G +9 &3k(* G +10 &4j)( G +9 &6i)) G +10 &8Zk() G +9 &:j)) G +9 &;h((\ G +10 &=j(+ G +9 &?dk(* G +9 &A&k&) G +10 &Bk)'\ G +9 &Di))\ G +10 &Fkk'( G +9 &H,m&* G +9 &Ix)) I +10 &K)* J +9 &M`** N +10 &O*+ P +9 &P,, Q +9 &R,+ Q +10 &T[*- R +9 &V*+ R +9 &W++ S +10 &Y,- T +9 &[^+, T +9 &]w,- (| +10 &]#+- B +9 ( +2 "collection"'& +4 #tCollection Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.83 + .Hand.open + "manipulator"&1 +4 "core" &]D+- < +51 1 +2 "manipulator"&:% +4 "core" % {  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&%'\ +91 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp + "processing"%& +4 "core" & +2 "manipulator"&3% +3 "core" %\ . v #k +2 "storage"(,% +4 "core" %M\  + "storage"(W. +3 "core" .(<< +2 "storage"(0& +4 "core" &<> + "storage"(z& +4 "core" &<> + "manipulator"&& +4 "core" &) 3 @^ +2 "manipulator"&(% +4 "core" %\ . h #k + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&#( +158 "core" ( + "manipulator"&& +4 "core" &  + "storage"(& +4 "core" &<>\ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&' +101 "core" ' + "storage"(~& +4 "core" &<>\ !\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"('e +284 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 ("& +2 "core" &<>\ \  +2 "manipulator"&{& +4 "core" & o o  +2 .tElbow.seek 5 +2 "manipulator"&4( +3 "core" ( + "manipulator"&n& +4 "core" & p t < + "storage"(& +4 "core" &<>\ \ + +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&P'[ +24 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&x/ +59 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&p& + "storage"()'N +7 "core" & p n +2 "manipulator"&!% +4 "core" % T p p +2 .tForearm.seek :retract + "manipulator"&K'\ +97 "core" ' +2 .tElbow.seek PC +2 "manipulator"& (c +155 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +91 "core" ( +3 "manipulator"&/& +4 "core" &k $ + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &;& +2 "core" &k = +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +53 .tForearm.seek PC +2 "manipulator"&'[ +106 "core" ' +2 "manipulator"&}& +4 "core" &k +2 "manipulator"&% +4 "core" %Z { + "processing"%t& +4 "core" & +3 "processing"%Z& +4 "core" & +2 .tPC.seek :closed +2 "processing"%v(Z +4 "core" &  +8 &7 )w +9 &k = +10 &~y G +9 &Bj G +9 &n G +10 &k G +9 &!j G +10 &#Ih G +9 &% i G +9 &&j G +10 &(m G +9 &*Rk G +9 &,h G +10 &-k G +9 &/j G +10 &1Zj G +9 &3m G +9 &4j G +10 &6j G +9 &8an G +9 &:#i G +10 &;i G +9 &=j F +9 &?hk G +10 &A+j G +9 &Bj G +10 &Dk G +9 &Fon H +9 &H1v H +10 &I J +9 &K L +10 &Mi M +9 &O) M +9 &P M +10 &R M +9 &Tp M +9 &V1 M +10 &W M +9 &Y 4 +10 &Z8 J +9 &Z & +2 ( +2 "processing"%Z& +3 #tProcessing Clamp onSpring/offSpring for 8/26 samples, on/off torque 1.51 + .Hand.open + "manipulator"&1 +59 "core" 1 +2 "manipulator"&+% +4 "core" % Z Q +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&?'\ +101 "core" ' + "processing"%G& +4 "core" &Z & +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 + "manipulator"&A% +5 "core" %\ 8 ' + "storage"(l% +4 "core" %J +2 "storage"(2. +3 "core" .(<< + "storage"(U& +4 "core" &<> +2 "storage"(L& +3 "manipulator"&[& +5 "core" &<> +2 &k +2 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b + "storage"(#]kK-0-\ b +4 .tElbow.seek PC +2 "manipulator"&9(c +3 ."raiseStack"SE.seek :beamBreak +2 "storage"('e +3 "core" ( + "manipulator"&]& +4 "core" &k z +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &8& +2 "core" &k +2 .tForearm.seek PC +2 "manipulator"&^'[ +95 "core" ' + .tHand.close +2 "manipulator"&Y/ +53 "core" / +3 .tPC.seek :open +2 "processing"%O(p +95 "core" ' + "storage"(d- +4 "core" -'e + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(r'B +31 "core" ' +240 "Can" IE +12 "core" ( + "storage"(*& +4 "core" &<>\ \  +2 "manipulator"&& +4 "core" &k  + "manipulator"&% +4 "core" % _  +2 .tForearm.seek :retract + "manipulator"&J'\ +92 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 + "manipulator"&Q( +255 "core" ( + "manipulator"&\\& +4 "core" & L % +2 "storage"(1& +3 "core" &<>\  8 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&N' +95 "core" ' + .tHand.open + "manipulator"&\ 1 +63 "core" 1 +2 "storage"(C- +4 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate + "storage"(' +24 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(y' +51 "core" ' +2 #tLights, camera, ACTION! + "storage"(e- +4 "core" -' + "storage"(& +4 "core" &<> w +2 "manipulator"&o& +4 "core" & % +2 .tElbow.seek 5 + "manipulator"&q( +4 "core" ( + "manipulator"&I& +4 "core" & % +2 "storage"(& +4 "core" &<> T +2 .tForearm.seek 5 + 450 counts + "manipulator"&E' +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"('M +65 "core" ' +2 "manipulator"& & +4 "core" & [ % +2 "storage"(& +3 "core" &<>\ \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&>'/ +27 "core" ' + .tElbow.hold +2 "manipulator"& , +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"(i'7 +23 "core" ' +2 "manipulator"&g% +4 "core" %? r X + "storage"(7& +4 "core" &<> +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 316 counts + "manipulator"& 'k +17 "core" ' + "manipulator"&s& +5 "core" &/\ i \\ + "storage"(D& +5 "core" &<>\  d +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&'' +20 "core" ' +2 "storage"(&% +4 "core" %@\ \  5 +3 ."downElevator"SE.seek :down +3 "storage"(R'N +99 (T% +3 "core" %GD\ s N? +2 "manipulator"&_% +4 "core" % n y [  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&`'\ +96 "core" ' +56 ' + ."downElevator"SE.stop + "storage"(5 +3 (|& +3 "core" &<>\  y +2 "collection"'$& +4 "core" &]D*. < +2 #tStoring generic puck in Collection Clamp to tube 5 + "manipulator"&-% +4 "core" %\ 5 M & +2 "storage"(a% +3 "core" %L \ < +2 "storage"(. +3 "core" .(<< + "storage"(M& +4 "core" &<>\ S +2 "storage"(& +4 "core" &<>\ o + "manipulator"&h& +4 "core" &/\ r \\ +2 .tElbow.seek 5 + "manipulator"& ( +50 "core" ( +2 "manipulator"&k& +4 "core" &  & + "storage"(5& +4 "core" &<>\ \ \ w +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts + "manipulator"&w' +94 "core" ' + "storage"(& +4 "core" &<>\ \ D +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(@'e +290 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&<& +3 "core" & & +2 "storage"(& +3 "core" &<> \ X +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&V'/ +31 "core" ' + .tElbow.hold +2 "manipulator"&m, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(F- +3 "core" -' +2 .tSE.seek 0.12 Pucks below Top Plate +2 "storage"(B'p +27 "core" ' +2 "manipulator"&=% +4 "core" %9l  ķ + "storage"(f& +4 "core" &<> 9 + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 5 + 310 counts +2 "manipulator"&u'e +17 "core" ' + "manipulator"&& +5 "core" &4 x f @ d + "storage"(H& +4 "core" &<>\ @ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&' +16 "core" ' +2 .tSE.seek 1.12 Pucks below Top Plate +2 "storage"(:'_ +47 "core" ' +2 "manipulator"&& +4 "core" &4 o q ' d + "manipulator"&3% +4 "core" % s y 7 +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&,'\ +95 "core" ' + .tElbow.seek CC +2 "manipulator"&W( +147 "core" ( + "manipulator"&0& +4 "core" &! p 9' +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &z& +3 "core" &! e 9' + .tForearm.seek CC +2 "manipulator"&'| +96 "core" ' + .tHand.close + "manipulator"&/ +63 "core" / +2 .tCC.seek :open +2 "collection"'((p +410 "core" ( +2 "storage"(S& +4 "core" &<>\ \ ! +2 "storage"(& +3 "core" &<>\ !\  J +2 "manipulator"&& +4 "core" &  8 +2 "manipulator"&~% +3 "core" % ϋ b +2 .tForearm.seek :retract +2 "manipulator"&c'\ +91 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&%( +160 "core" ( +2 "manipulator"&& +4 "core" &  + "storage"("& +4 "core" &<>\ !\ !  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 5 +52 "manipulator"&{'/ +110 "core" ' + .tElbow.hold +2 "manipulator"&n, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&1 +56 "core" 1 +2 "manipulator"&x% +5 "core" % Cx ! W 3 + "storage"(p& +4 "core" &<> + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 320 counts +2 "manipulator"&!'o +17 "core" ' +2 "manipulator"&#& +4 "core" & ] u 0 + "storage"(& +4 "core" &<>\ 4\ & +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&' +21 "core" ' + "storage"(P% +5 "core" %b\ *\ D t +2 ."downElevator"SE.seek :down +3 "storage"(/'N +99 (;% +3 "core" %B\ !\  M> +2 "manipulator"&4% +5 "core" % n n  + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&}'\ +91 "core" ' +46 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 6 of [5..6] +2 #Loading generic puck from tube 6 into Collection Clamp + "collection"'& +5 "core" &'( + "manipulator"&t% +4 "core" %\ . #c +2 "storage"()% +4 "core" %=\ "\ #  +2 "storage"(K. +3 "core" .(<< + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"(.(K +368 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (& +2 "core" &K ]  +2 "manipulator"&+& +4 "core" & q +2 .tElbow.seek 6 + "manipulator"&G( +13 "core" ( + "manipulator"&A& +4 "core" & U  +2 "storage"(l& +4 "core" &K\ \ !   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&2'< +106 "core" ' + "storage"(Z& +4 "core" &K\ C\ D  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(U'e +290 "core" ' +2 "storage"([- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (L& +2 "core" &K\ "\   +2 "manipulator"&]& +4 "core" & n p   +2 .tElbow.seek 6 + "manipulator"&8( +3 "core" ( +2 "manipulator"&& +3 "core" & v p   +2 "storage"(Y& +4 "core" &K\ \   +2 .tForearm.seek 6 + 300 counts + "manipulator"&d'Ϧ +21 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"& / +63 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&?& + "storage"(v'N +8 "core" & -  + "manipulator"&*% +4 "core" % ϥ X +2 .tForearm.seek :retract +2 "manipulator"&'\ +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"&( +152 "core" ' +2 ."downElevator"SE.stop +2 "storage"(5 +3 "core" ( + "manipulator"&& +4 "core" &# 1 :- + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &^& +3 "core" &" :- +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC + "manipulator"&\\'| +108 "core" ' +2 "manipulator"&1& +4 "core" &#  :- +2 "manipulator"&9% +3 "core" %w +2 "collection"'\ & +4 "core" &&' +3 "collection"'C& +4 "core" &(( +2 .tCC.seek :closed +2 "collection"'e(] +4 "core" &'(  +9 &7&( *y +10 &j(* = +9 &}x)) G +9 &@j') G +10 &k') G +9 &l'( G +9 &!l(' G +10 &#Gk&* G +9 &% j') G +10 &&l'( H +9 &(k)( G +9 &*Qk&( G +10 &,m&) G +9 &-j'+ G +9 &/k&) G +10 &1Xk'& G +9 &3k') G +9 &4j(+ G +10 &6j&) G +9 &8al(* G +10 &:"m(* G +9 &;i'* F +9 &=k(' G +10 &?ij('2 G +9 &A+k)( G +9 &Bk(+ G +10 &Dg*)\ G +9 &Fpj*) G +10 &H2n&) G +9 &I}), H +9 &K** K +10 &Ma*- O +9 &O!,, P +10 &P+- Q +9 &R+, Q +9 &T`), R +10 &V)- S +9 &W*- R +9 &Y). T +10 &[[+, W +9 &](, (} +9 &]'+, [ +10 &]>,. < +2 ( +2 "collection"'C& +3 #tCollection Clamp onSpring/offSpring for 8/26 samples, on/off torque 1.84 + .Hand.open +2 "manipulator"&1 +59 "core" 1 +2 "manipulator"&o% +5 "core" % w N + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&I'\ +104 "core" ' +2 #tLoading generic puck from tube 6 into Processing Clamp + "processing"%& +4 "core" & +2 "manipulator"&J% +3 "core" %\ ^  +2 "storage"( % +4 "core" %?\ \  +2 "storage"(. +3 "core" .(K + "storage"(g& +4 "core" &K\ \ <  + "storage"(r& +4 "core" &K\ \   +2 "manipulator"&7& +4 "core" & ! ~ 8 + "manipulator"&s% +4 "core" %\ [  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +2 "manipulator"&( +163 "core" ( + "manipulator"&D& +4 "core" & w d D \ +2 "storage"(&& +3 "core" &K\ \ ?  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&Q'< +109 "core" ' + "storage"(N& +4 "core" &K\ !\ !  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(y'e +279 "core" ' + "storage"(T- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (_& +3 "core" &K\ \ 7  + "manipulator"&E& +4 "core" & p d D \ +2 .tElbow.seek 6 + "manipulator"&q( +3 "core" ( +2 "manipulator"&& +3 "core" & u _ : \ +2 "storage"(>& +4 "core" &K\ \ !  +2 .tForearm.seek 6 + 300 counts + "manipulator"& 'Ϧ +25 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&|/ +60 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&$& +2 "storage"(-'N +7 "core" & \\ \ + "manipulator"&a% +4 "core" % ϫ d +2 .tForearm.seek :retract +2 "manipulator"&'\ +93 "core" ' +2 .tElbow.seek PC + "manipulator"&i(c +157 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +88 "core" ( +2 "manipulator"&M& +4 "core" &j # +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &j +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&h'[ +94 "core" ' + "manipulator"&k& +4 "core" &j O +2 "manipulator"&5% +4 "core" %e ;  +2 "processing"%'& +4 "core" & +2 "processing"%& +5 "core" & +2 .tPC.seek :closed +2 "processing"%R(Z +5 "core" & +6 &< $d +9 &{\\ 6 +10 & H +9 &j G +10 &pj G +9 &1m G +9 & j G +10 &"g G +9 &$xj G +9 &&9m G +10 &'j F +9 &)j G +9 &+i F +10 &-Ak G +9 &/k G +10 &0h G +9 &2j G +9 &4Ki F +10 &6 j G +9 &7j G +10 &9g G +9 &;Ri G +9 &=h G +10 &>m G +9 &@j G +9 &BXi G +10 &Di G +9 &Ek G +10 &Gr H +9 &I[} I +9 &K K +10 &L L +9 &N M +9 &PX M +10 &RA M +9 &S M +10 &U M +9 &W^ N +9 &Y  H +10 &ZS?~ $i +9 &Z3 * +5 ( +2 "processing"%& +4 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.51 + .Hand.open +2 "manipulator"& 1 +3 "core" &Z * +58 1 + "manipulator"&`% +4 "core" % e 9  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +93 "core" ' + "processing"%<& +4 "core" &Z" * +2 #tImaging generic puck in Processing Clamp while storing it to tube 6 + "manipulator"&% +4 "core" %\ - "[ +2 "storage"(F% +4 "core" %C j + "storage"(=. +3 "core" .(K + "storage"(f& +4 "core" &K  +2 "storage"(& + "manipulator"&H& +8 "core" &j + &K  +4 .tElbow.reconfigure :tight + ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +3 "storage"(#]kK-0-\ b +2 "manipulator"&(c +6 ."raiseStack"SE.seek :beamBreak +2 "storage"(3'e +3 "core" ( + "manipulator"&w& +4 "core" &j +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 & & +3 "core" &j +2 .tForearm.seek PC +54 "manipulator"&@'[ +95 "core" ' +2 .tHand.close + "manipulator"&V/ +57 "core" / +2 .tPC.seek :open +2 "processing"%u(p +41 "core" ' + "storage"(B- +3 "core" -'e +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(0'B +32 "core" ' +306 ( + "storage"(z& +4 "core" &K\   +2 "manipulator"&& +4 "core" &j  +2 "manipulator"&m% +3 "core" % j  +2 .tForearm.seek :retract +2 "manipulator"&'\ +91 "core" ' +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 + "manipulator"&,( +248 "core" ( + "manipulator"&b& +4 "core" & .  +2 "storage"(S& +4 "core" &K\ \   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&'< +89 "core" ' + .tHand.open +2 "manipulator"&1 +61 "core" 1 +2 "storage"(~- +4 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate + "storage"(' +27 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"("' +51 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(- +3 "core" -' +2 "storage"(W& +3 "core" &K 4  +2 "manipulator"&& +4 "core" & N  + .tElbow.seek 6 +2 "manipulator"&x( +8 "core" ( + "manipulator"&p& +4 "core" & ?  +2 "storage"(#& +4 "core" &K  +2 .tForearm.seek 6 + 450 counts + "manipulator"&'< +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"(P'M +57 "core" ' + "manipulator"&c& +4 "core" &   +2 "storage"(;& +4 "core" &K\ \  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&4'z +18 "core" ' +2 .tElbow.hold +2 "manipulator"&%, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"({'7 +23 "core" ' + "manipulator"&% +5 "core" %Ό + "storage"(!& +4 "core" &K ;  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 318 counts +2 "manipulator"&t'ϸ +17 "core" ' + "manipulator"&)& +5 "core" &\ } ~ ^ _ + "storage"(K& +5 "core" &K\   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&:'< +17 "core" ' +2 "storage"(% +4 "core" %@\ \   +3 ."downElevator"SE.seek :down +3 "storage"(/'N +99 (6% +2 "core" %E \ Q NA +2 "manipulator"&% +5 "core" %1 r o # + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&+'\ +91 "core" ' +59 ' + ."downElevator"SE.stop + "storage"(5 +3 (A& +4 "core" &K \   + "collection"'l& +4 "core" &]F,,\ < +2 #tStoring generic puck in Collection Clamp to tube 6 + "manipulator"&Z% +5 "core" %\ 3 %~ + "storage"(n% +4 "core" %J\ l  +2 "storage"(}. +3 "core" .(K + "storage"([& +4 "core" &K\ \ @  +2 "storage"(L& +4 "core" &K\ \ k  + "manipulator"&]& +4 "core" &\ _ +2 .tElbow.seek 6 + "manipulator"&( +31 "core" ( + "manipulator"&Y& +4 "core" & \ +2 "storage"( & +4 "core" &K\ \   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&?'< +99 "core" ' +2 "storage"(*& +4 "core" &K\ \ ! "  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(G'e +283 "core" ' +2 "storage"(2- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&& +3 "core" & j \ +2 "storage"(^& +4 "core" &K\ \ &  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&U'z +31 "core" ' + .tElbow.hold +2 "manipulator"&d, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(1- +2 "core" -' +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(9'l +27 "core" ' +2 "manipulator"&8% +4 "core" %Ίv D 5 + "storage"(\ & +4 "core" &K 7  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 6 + 316 counts + "manipulator"&v'϶ +18 "core" ' +2 "manipulator"&& +4 "core" & s v   +2 "storage"((& +3 "core" &K \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&'< +22 "core" ' +2 .tSE.seek 1.11 Pucks below Top Plate +2 "storage"(o'[ +48 "core" ' + "manipulator"&& +4 "core" & o p  +2 "manipulator"&J% +4 "core" %P l o  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"& '\ +87 "core" ' +2 .tElbow.seek CC +2 "manipulator"&C( +162 "core" ( +2 "manipulator"&& +4 "core" & q Y + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &g& +3 "core" & \ Y +2 .tForearm.seek CC + "manipulator"&r'| +96 "core" ' + .tHand.close +2 "manipulator"&7/ +53 "core" / +2 .tCC.seek :open + "collection"'s(p +414 "core" ( +2 "storage"(\\& +4 "core" &K\ !\ !   +2 "storage"(D& +3 "core" &K\ !\ !   +2 "manipulator"&&& +3 "core" & \  Y +2 "manipulator"&N% +3 "core" % y W \ +2 .tForearm.seek :retract +2 "manipulator"&'\ +96 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&I( +163 "core" ( +2 "manipulator"&T& +4 "core" & P ' +2 "storage"(_& +3 "core" &K\ \ !   +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 6 +2 "manipulator"&E'z +105 "core" ' +2 .tElbow.hold +2 "manipulator"&, +3 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&>1 +64 "core" 1 + "manipulator"&|% +5 "core" % ΍  M a +2 "storage"($& +3 "core" &K  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 6 + 319 counts +2 "manipulator"&a'Ϲ +19 "core" ' + "manipulator"&& +5 "core" & g G !w + "storage"(Q& +4 "core" &K\ \ "  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&y'< +22 "core" ' + "storage"( % +5 "core" %`\ \  C +2 ."downElevator"SE.seek :down +3 "storage"(M'N +99 (% +3 "core" %B\ !\  M> +2 "manipulator"&q% +3 "core" %a q { E +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&k'\ +87 "core" ' +49 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 5 of [5..6] +2 #Loading generic puck from tube 5 into Collection Clamp + "collection"'5& +4 "core" &)) +2 "manipulator"&'% +3 "core" %\ + !N +2 "storage"(-% +4 "core" %8\ \ ! + "storage"(. +3 "core" .(K +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"(O(<< +356 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 ( & +2 "core" &  + .tElbow.seek 5 +2 "manipulator"& ( +19 "core" ( + "manipulator"&h& +4 "core" &  j +2 "storage"(V& +4 "core" &<@\ !\  +2 .tForearm.seek 5 + 300 counts + "manipulator"&B'[ +22 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&i/ +55 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"(R'N +7 "core" & p r  j + "manipulator"&3% +4 "core" % _ o p +2 .tForearm.seek :retract +2 "manipulator"&z'\ +89 "core" ' + .tElbow.seek CC +2 "manipulator"&( +153 "core" ' + ."downElevator"SE.stop + "storage"(5 +4 "core" ( + "manipulator"&m& +4 "core" &) ! @Y +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &@& +2 "core" &( B ?T +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&b'| +104 "core" ' + "manipulator"&S& +4 "core" &( 4 ?Q +2 "manipulator"&% +4 "core" %w . +2 "collection"'& +4 "core" &)*! +2 "collection"'~& +6 "core" &'* +2 .tCC.seek :closed +2 "collection"'(] +4 "core" &()  +8 &5(* )v +10 &j') = +9 &m})* H +9 &2i** G +10 &k() G +9 &l)) G +9 &!wk)' G +10 &#8j'' G +9 &$j'' G +10 &&k*) G +9 &(m') G +9 &*Bj)) G +10 &,i)) G +9 &-m&) G +9 &/j)( G +10 &1Hj&+ G +9 &3 h(+ G +10 &4i(* G +9 &6i(* G +9 &8Qk(( G +10 &:j(* G +9 &;h') F +9 &=j(* G +10 &?Yh'' G +9 &Aj(+ G +10 &Bk() G +9 &Dj() G +9 &F`k'' G +10 &H!m%* H +9 &Iv)) H +10 &K(+ K +9 &MX*+! M +9 &O*+! P +10 &P+* Q +9 &R,+ Q +9 &TR*+ R +10 &V++ R +9 &W-, R +10 &Y+- T +9 &[T+- T +9 &\\m+0 / +10 &])*. @ +8 ( +3 "collection"'~& +3 #tCollection Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.85 + .Hand.open +2 "manipulator"&W1 +3 "core" &];*, ; +52 1 + "manipulator"&% +5 "core" % v s +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&p'\ +100 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp + "processing"%#& +4 "core" & +2 "manipulator"&% +4 "core" %\ 8 ' + "storage"(c% +4 "core" %J\ \ < +2 "storage"(;. +3 "core" .( +2 "manipulator"&& +4 "core" & > # + .tElbow.seek 5 +2 "manipulator"&x( +3 "core" ( + "manipulator"&P& +4 "core" & 7 # +2 "storage"(4& +3 "core" &<@\ \  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&A'[ +20 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&t/ +58 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&l& +2 "storage"(Z'N +7 "core" & o u X # + "manipulator"&n% +4 "core" % V q p > +2 .tForearm.seek :retract +2 "manipulator"&}'\ +96 "core" ' +2 .tElbow.seek PC +2 "manipulator"&[(c +159 "core" ' + ."downElevator"SE.stop + "storage"(5 +98 "core" ( + "manipulator"&{& +4 "core" &l I +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &L& +2 "core" &l +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&]'[ +99 "core" ' + "manipulator"&Y& +5 "core" &l  + "manipulator"& % +4 "core" %b T +2 "processing"%:& +4 "core" & +3 "processing"%*& +5 "core" & +2 .tPC.seek :closed +3 "processing"%/(Z +3 "core" & +6 & 8 +10 &#L 0 +9 &j} D +9 &"h G +10 &j F +9 &j G +9 & ii G +10 &"*m G +9 &#j G +10 &%h G +9 &'qj G +9 &)2h G +10 &*j G +9 &,m G +9 &.yi G +10 &0:h G +9 &1j G +10 &3h G +9 &5j G +9 &7Bm G +10 &9i F +9 &:j G +9 &<i F +10 &>Kj G +9 &@k F +9 &Ak G +10 &Cj G +9 &EQk G +10 &Gr H +9 &Hx I +9 &J J +10 &LL L +9 &N\  M +10 &O M +9 &Q M +9 &SQ M +10 &U M +9 &V M +9 &X M +10 &Zcy &r +9 &Zm 1 +9 ( +2 &Z + +2 "processing"%*& +3 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.49 + .Hand.open + "manipulator"&%1 +63 "core" 1 + "manipulator"&+% +5 "core" % b + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&2'\ +92 "core" ' +2 "processing"%& +4 "core" &Z Q + +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 + "manipulator"&^% +4 "core" %\ * ` !Q + "storage"(1% +4 "core" %N  + "storage"(8. +3 "core" .(& +4 "core" & [  +2 .tElbow.seek 5 +2 "manipulator"&|( +12 "core" ( +2 "manipulator"&$& +56 "core" &  +3 "storage"(& +4 "core" &<@ ^ +2 .tForearm.seek 5 + 450 counts + "manipulator"&Q' +4 "core" ' + .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"( 'M +59 "core" ' + "manipulator"&& +5 "core" & H + "storage"(& +4 "core" &<@\ \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 5 + "manipulator"&q'/ +31 "core" ' + .tElbow.hold +10 "manipulator"&I, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"(E'7 +33 "core" ' + "manipulator"&5% +4 "core" %B} H +2 "storage"('& +4 "core" &<@ t + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 319 counts + "manipulator"&a'n +17 "core" ' +2 "manipulator"&-& +4 "core" & u _ ' +2 "storage"(& +4 "core" &<@\ \ ! < +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&o' +20 "core" ' + "storage"(y% +5 "core" %>\ \  +2 ."downElevator"SE.seek :down +4 "storage"(M'N +99 (.% +4 "core" %C \ b N@ + "manipulator"& % +4 "core" % p q   +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&`'\ +94 "core" ' +55 ' + ."downElevator"SE.stop + "storage"(5 +3 (& +4 "core" &<@ \  a + "collection"'F& +4 "core" &];+- ; +2 #tStoring generic puck in Collection Clamp to tube 5 + "manipulator"&f% +5 "core" %\ 6 & + "storage"(% +4 "core" %K\ \  +2 "storage"(k. +3 "core" .(<< + "storage"(H& +4 "core" &<@\ \ \  +2 "storage"(& +3 "core" &<@\ \ \ C +2 "manipulator"&w& +4 "core" & d + .tElbow.seek 5 +2 "manipulator"&h( +7 "core" ( + "manipulator"&V& +4 "core" & u +2 "storage"(i& +4 "core" &<@\ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&' +95 "core" ' + "storage"(3& +5 "core" &<@\ \ ! +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(<'e +289 "core" ' + "storage"(=- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&m& +3 "core" & e o > +2 "storage"(@& +3 "core" &<@\ \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&'/ +34 "core" ' + .tElbow.hold +2 "manipulator"&B, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(S- +3 "core" -' +2 .tSE.seek 0.12 Pucks below Top Plate +2 "storage"('p +27 "core" ' +2 "manipulator"&% +4 "core" %=p H  + "storage"( & +4 "core" &<@ y +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 314 counts + "manipulator"&R'i +18 "core" ' +2 "manipulator"&z& +4 "core" &  _ v ) +2 "storage"(s& +4 "core" &<@\ \  6 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&W' +21 "core" ' +2 .tSE.seek 1.12 Pucks below Top Plate +2 "storage"('_ +49 "core" ' +2 "manipulator"&#& +4 "core" &  e q +2 "manipulator"&% +4 "core" % k p  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&c'\ +90 "core" ' + .tElbow.seek CC +2 "manipulator"&;( +165 "core" ( +2 "manipulator"&~& +4 "core" &* W @Z + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &!& +3 "core" &) X @Z +2 .tForearm.seek CC +2 "manipulator"&0'| +94 "core" ' + .tHand.close + "manipulator"&)/ +52 "core" / +2 .tCC.seek :open +2 "collection"'b(p +411 "core" ( + "storage"(& +4 "core" &<@\ !\ !  +2 "storage"(& +3 "core" &<@\ \ h +2 "manipulator"&O& +4 "core" &1" 9 :. +2 "manipulator"&% +4 "core" % ω x + .tForearm.seek :retract +2 "manipulator"&'\ +92 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&p( +167 "core" ( + "manipulator"&6& +4 "core" &\   +2 "storage"(& +4 "core" &<@\ \  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 5 +2 "manipulator"&'/ +109 "core" ' + .tElbow.hold +2 "manipulator"&P, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&41 +64 "core" 1 +2 "manipulator"&t% +5 "core" % =w - 7 8 + "storage"(l& +4 "core" &<@ + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 314 counts +2 "manipulator"&n'i +19 "core" ' + "manipulator"&K& +4 "core" & u Y #  +2 "storage"(,& +3 "core" &<@\ \ !  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&"' +20 "core" ' + "storage"(A% +4 "core" %[\ \ ) m +3 ."downElevator"SE.seek :down +3 "storage"({'N +99 (L% +2 "core" %B\ !\  N? +2 "manipulator"&x% +4 "core" % o o  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&Y'\ +94 "core" ' +44 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 6 of [5..6] +2 #Loading generic puck from tube 6 into Collection Clamp + "collection"' & +4 "core" &*, +2 "manipulator"&:% +4 "core" %\ 4 & + "storage"(Z% +4 "core" %9\ !\ ! +2 "storage"(}. +3 "core" .(<< +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"(u(K +364 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (%& +2 "core" &K  +2 "manipulator"&+& +4 "core" &  + .tElbow.seek 6 +2 "manipulator"&( +14 "core" ( +2 "manipulator"&^& +4 "core" &  +2 "storage"(1& +3 "core" &K\ !\ !  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts + "manipulator"&8'< +105 "core" ' + "storage"(*& +4 "core" &K\ D\ D   +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"('e +289 "core" ' + "storage"((- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (?& +2 "core" &K\ \   +2 "manipulator"&& +4 "core" & o p   + .tElbow.seek 6 +2 "manipulator"&]( +3 "core" ( + "manipulator"&U& +4 "core" & v \\   + "storage"(& +4 "core" &K\ "\ "   +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&9'Ϧ +27 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&[/ +63 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&2& +2 "storage"(/'N +7 "core" & o o   + "manipulator"&g% +4 "core" % ϫ p p +2 .tForearm.seek :retract +2 "manipulator"&'\ +97 "core" ' + .tElbow.seek CC +2 "manipulator"&d( +145 "core" ' + ."downElevator"SE.stop + "storage"(5 +22 "core" ( + "manipulator"&J& +4 "core" & ` k +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &G& +2 "core" & ; k +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&e'| +105 "core" ' + "manipulator"&\\& +5 "core" & k + "manipulator"&% +5 "core" %ς +2 "collection"'&& +4 "core" &()0 +2 "collection"'N& +5 "core" &(' +56 .tCC.seek :closed +4 "collection"'r(] +4 "core" &() + &')( + &)- &)*! + &)* + &&( + &),  +4 &6)* *x +9 &j() = +9 &v}), H +10 &<j'(" G +9 &j)) G +10 &k(+ G +9 &!k'* G +9 &#Bk))! G +10 &%k*)$ G +9 &&l**$ G +9 &(k&) G +10 &*Lj(* G +9 &, l() G +9 &-j(*" G +10 &/k*, G +9 &1Tk'* G +10 &3j)+ G +9 &4j*( G +9 &6l(* G +10 &8[j'+ G +9 &:j() G +9 &;l'+ G +10 &=j*) F +9 &?ck)) G +10 &A%j() G +9 &Bl)* G +9 &Dh&* G +10 &Flj*' G +9 &H-n+* G +10 &I{(* I +9 &K++" K +9 &M\\+," O +10 &O,,! P +9 &P-,! P +9 &R+, Q +10 &T\\+, R +9 &V+- R +10 &W+," T +9 &Y+, T +9 &[]*. T +10 &]y,+ (| +9 &]%+, ] +9 ( +2 &]o(. O + "collection"'N& +3 #tCollection Clamp onSpring/offSpring for 9/25 samples, on/off torque 1.87 +2 .Hand.open + "manipulator"&C1 +54 "core" 1 +3 "manipulator"&>% +4 "core" % | +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&$'\ +95 "core" ' +2 #tLoading generic puck from tube 6 into Processing Clamp + "processing"%7& +4 "core" & +2 "manipulator"&% +3 "core" %\ 3 | %z +2 "storage"(% +4 "core" %< +2 "storage"(. +3 "core" .(K + "storage"(& +4 "core" &K x  +2 "storage"(T& +3 "core" &K  +2 "manipulator"&5& +4 "core" &  k +2 "manipulator"&'% +3 "core" %\ 3 0 %z +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"& ( +162 "core" ( +2 "manipulator"&-& +4 "core" & * +2 "storage"(& +3 "core" &K *  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&y'< +91 "core" ' +2 "storage"(D& +4 "core" &K\ \ \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(_'e +282 "core" ' + "storage"(.- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 ( & +3 "core" &K\  + "manipulator"&Q& +4 "core" & J ) +2 .tElbow.seek 6 +2 "manipulator"&|( +4 "core" ( + "manipulator"& & +4 "core" & q  +2 "storage"(q& +4 "core" &K\ ,  +2 .tForearm.seek 6 + 300 counts + "manipulator"&'Ϧ +22 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&a/ +60 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&F& +2 "storage"(f'N +8 "core" & q r 1  + "manipulator"&% +4 "core" % Ϛ o o \ +2 .tForearm.seek :retract +2 "manipulator"&k'\ +89 "core" ' +2 .tElbow.seek PC +2 "manipulator"&H(c +163 "core" ' + ."downElevator"SE.stop + "storage"(5 +94 "core" ( + "manipulator"&E& +5 "core" &c + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &c +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&w'[ +103 "core" ' +2 "manipulator"&V& +4 "core" &c + "manipulator"&i% +4 "core" %Y +2 "processing"%o& +4 "core" & +2 "processing"%3& +4 "core" & +2 .tPC.seek :closed +2 "processing"%M(Z +5 "core" &  +9 &6 )v +10 &k = +9 &|v H +9 &Ah F +10 &j G +9 &j G +9 &!j G +10 &#Gm G +9 &%\ h G +9 &&j G +10 &(m G +9 &*Oj G +10 &,h G +9 &-j G +9 &/h G +10 &1Wj G +9 &3j G +9 &4g G +10 &6j G +9 &8`j G +10 &:"f G +9 &;i G +9 &=k G +10 &?hj G +9 &A*j G +9 &Bh G +10 &Dj G +9 &Fnm G +9 &H.u H +10 &I J +9 &K L +10 &Mg M +9 &O( M +9 &P M +10 &R M +9 &Tm M +9 &V. N +10 &W M +9 &Y 5 +10 &Z4 T +9 &Z ' +2 ( +2 "processing"%3& +3 #tProcessing Clamp onSpring/offSpring for 8/25 samples, on/off torque 1.52 + .Hand.open +2 "manipulator"&I1 +58 "core" 1 +2 "manipulator"&`% +4 "core" % Y +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&='\ +96 "core" ' + "processing"%m& +4 "core" &Z ' +2 #tImaging generic puck in Processing Clamp while storing it to tube 6 + "manipulator"&@% +4 "core" %\ - "Z +2 "storage"(S% +3 "core" %K +2 "storage"(. +3 "core" .(K + "storage"( & +4 "core" &K (  +2 "storage"(z& +2 "manipulator"&s& +6 "core" &K   + &c +2 ."raiseStack"SE.reconfigure :place +5 .tElbow.reconfigure :tight +3 "storage"(#]kK-0-\ b +4 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC + "manipulator"&#(c +4 ."raiseStack"SE.seek :beamBreak + "storage"('e +3 "core" ( + "manipulator"&& +4 "core" &c +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &h& +2 "core" &c +2 .tForearm.seek PC +2 "manipulator"&<'[ +94 "core" ' +2 .tHand.close + "manipulator"&/ +61 "core" / +2 .tPC.seek :open +2 "processing"%R(p +90 "core" ' + "storage"(- +3 "core" -'e +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +2 ."raiseStack"SE.seek :place +2 "storage"(~'B +40 "core" ' +247 ( + "storage"(!& +4 "core" &K\ \ j  +2 "manipulator"&W& +3 "core" &c Z +2 "manipulator"&B% +4 "core" % i 5 + .tForearm.seek :retract +2 "manipulator"&)'\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&c( +275 "core" ( + "manipulator"&& +4 "core" & h +2 "storage"(& +4 "core" &K  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&'< +101 "core" ' +2 .tHand.open + "manipulator"&O1 +64 "core" 1 +2 "storage"(- +4 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate +2 "storage"(6' +24 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(' +51 "core" ' + #tLights, camera, ACTION! +2 "storage"(0- +3 "core" -' +2 "storage"(;& +4 "core" &K #  + "manipulator"&4& +4 "core" & p n g +2 .tElbow.seek 6 +2 "manipulator"&t( +15 "core" ( + "manipulator"&l& +5 "core" & q  $ + "storage"(K& +5 "core" &K B  +2 .tForearm.seek 6 + 450 counts + "manipulator"&,'< +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"(A'M +59 "core" ' + "manipulator"&& +4 "core" & e q $ +2 "storage"(L& +4 "core" &K \ ,  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 + "manipulator"&x'z +32 "core" ' +2 .tElbow.hold +2 "manipulator"&p, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.07 Pucks below Top Plate + "storage"('7 +23 "core" ' +2 "manipulator"& % +4 "core" %΍ W ¿h + "storage"(:& +4 "core" &K  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 319 counts + "manipulator"&n'Ϲ +17 "core" ' + "manipulator"&Z& +5 "core" & h w I # + "storage"(}& +4 "core" &K\ \   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&'< +17 "core" ' +2 "storage"("% +4 "core" %<\ \   +3 ."downElevator"SE.seek :down +3 "storage"({'N +99 (\ % +2 "core" %HF  NA +2 "manipulator"&%% +4 "core" %5 p o +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&+'\ +94 "core" ' +56 ' + ."downElevator"SE.stop + "storage"(5 +3 (^& +4 "core" &K d  +2 "collection"'1& +3 "core" &]o,+ O +2 #tStoring generic puck in Collection Clamp to tube 6 + "manipulator"&*% +4 "core" %\ 8  ' +2 "storage"(P% +4 "core" %A ^ + "storage"(Y. +3 "core" .(K + "storage"((& +4 "core" &K  + "storage"(?& +56 "core" &K  +2 "manipulator"&& +4 "core" & 8 # +2 .tElbow.seek 6 +2 "manipulator"&U( +3 "core" ( + "manipulator"&& +5 "core" & & # + "storage"([& +4 "core" &K  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&2'< +99 "core" ' +2 "storage"(g& +4 "core" &K\ \   +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"('e +280 "core" ' +2 "storage"(8- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&J& +3 "core" & q o ( # + "storage"(G& +4 "core" &K\   +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&'z +29 "core" ' + .tElbow.hold +2 "manipulator"&9, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(\\- +3 "core" -' +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(]'l +27 "core" ' +2 "manipulator"&% +4 "core" %Ή K ¿b + "storage"(&& +4 "core" &K ^  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 315 counts + "manipulator"&/'ϵ +19 "core" ' + "manipulator"&& +4 "core" & w h P # +2 "storage"(b& +4 "core" &K\ \ i  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&C'< +17 "core" ' +2 .tSE.seek 1.11 Pucks below Top Plate + "storage"(>'[ +48 "core" ' + "manipulator"&7& +5 "core" & r z t # + "manipulator"&% +4 "core" %@ r x j  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +86 "core" ' +2 .tElbow.seek CC +2 "manipulator"&( +162 "core" ( + "manipulator"&& +4 "core" & L +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &T& +2 "core" & L +2 .tForearm.seek CC +2 "manipulator"&N'| +96 "core" ' +2 .tHand.close + "manipulator"&5/ +58 "core" / +2 .tCC.seek :open + "collection"''(p +411 "core" ( + "storage"(e& +5 "core" &K\ \ !  + "storage"(-& +4 "core" &K\ !\   + "manipulator"&& +4 "core" & K + "manipulator"&D% +4 "core" % h q +2 .tForearm.seek :retract +2 "manipulator"&d'\ +102 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 + "manipulator"&$( +168 "core" ( + "manipulator"&.& +4 "core" & = +2 "storage"( & +3 "core" &K \    +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 6 +2 "manipulator"&Q'z +107 "core" ' + .tElbow.hold +2 "manipulator"& , +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&q1 +55 "core" 1 +2 "manipulator"&a% +5 "core" % ΍}  I ¼D + "storage"(F& +4 "core" &K  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 319 counts + "manipulator"&'Ϲ +18 "core" ' +2 "manipulator"& & +5 "core" & o  # + "storage"(y& +4 "core" &K\ \    +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&_'< +20 "core" ' + "storage"(% +5 "core" %^\ \ # +2 ."downElevator"SE.seek :down +3 "storage"(E'N +99 (% +3 "core" %?\ \  M> +2 "manipulator"&|% +3 "core" % p n ! +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&V'\ +92 "core" ' +51 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 5 of [5..6] +2 #Loading generic puck from tube 5 into Collection Clamp + "collection"'i& +4 "core" &+) +2 "manipulator"&o% +4 "core" %\ 0 $p +2 "storage"(f% +4 "core" %M\ !\ ! ! \ +2 "storage"(k. +3 "core" .(K + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"(v(<< +355 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (I& +3 "core" &<<\ \ \ E +2 "manipulator"&`& +3 "core" & # +2 .tElbow.seek 5 +2 "manipulator"&m( +28 "core" ( + "manipulator"&@& +4 "core" &    + "storage"(S& +4 "core" &<<\ "\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&' +96 "core" ' +2 "storage"( & +4 "core" &<<\ \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(z'e +288 "core" ' + "storage"(s- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (3& +3 "core" &<<\ \  +2 "manipulator"&& +3 "core" &    +2 .tElbow.seek 5 +2 "manipulator"&h( +3 "core" ( + "manipulator"&w& +4 "core" &  @  + "storage"(& +4 "core" &<<\ *\ "  +3 .tForearm.seek 5 + 300 counts + "manipulator"&'[ +20 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&H/ +55 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&=& + "storage"(M'N +7 "core" &  o p  +2 "manipulator"&!% +4 "core" % Q o n + .tForearm.seek :retract +2 "manipulator"&W'\ +94 "core" ' + .tElbow.seek CC +2 "manipulator"&B( +148 "core" ' + ."downElevator"SE.stop + "storage"(5 +17 "core" ( + "manipulator"&& +4 "core" && 3 =F +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &<& +2 "core" && P =F +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&'| +107 "core" ' +2 "manipulator"&& +4 "core" && ; =F +2 "manipulator"&#% +4 "core" %ς T + "collection"'O& +4 "core" &'). +2 "collection"'& +5 "core" &%(/ +2 .tCC.seek :closed +2 "collection"'0(] +4 "core" &(*/  +9 &6&'0 *x +9 &i(*/ < +10 &r}(') H +9 &7g*)+ G +10 &h')" G +9 &k*( G +9 &!}k(( G +10 &#>i)'# G +9 &%k(( G +10 &&n(' G +9 &(k'( F +9 &*Gk() G +10 &, k*( G +9 &-i*) G +9 &/m)+ G +10 &1Ok(* G +9 &3h(+ G +10 &4h)) F +9 &6j(* F +9 &8Wk()! G +10 &:m), G +9 &;k'+ G +9 &=m%*" G +10 &?^h&(" G +9 &A!j(*" G +9 &Bk)*# G +10 &Dk)'$ G +9 &Fgj)*# G +10 &H(n))$ G +9 &Ix*)# H +9 &K*+$ K +10 &M^*+# M +9 &O++" P +9 &P*,! Q +10 &R,.# Q +9 &TV+-! R +10 &V,-" S +9 &W,,# S +9 &Y'+.$ Z +10 &[W,, T +9 &\\v*- ) +9 &]"+,! B +9 ( +4 "collection"'& +2 #tCollection Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.91 + .Hand.open +2 "manipulator"&;1 +3 "core" &]M*." = +61 1 +2 "manipulator"&4% +4 "core" % ~ +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&l'\ +96 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp + "processing"%)& +5 "core" & + "manipulator"&K% +4 "core" %\ 0  $r + "storage"(% +4 "core" %B + "storage"(L. +3 "core" .(<< +2 "storage"(~& +4 "core" &<< + "storage"( & +4 "core" &<< + "manipulator"&:& +4 "core" &"  :1 + "manipulator"&6% +4 "core" %\ 0  $r +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&Z( +171 "core" ( +2 "manipulator"&}& +4 "core" & D + "storage"("& +4 "core" &<<\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&c' +96 "core" ' + "storage"(& +4 "core" &<<\ \ { +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"('e +279 "core" ' + "storage"(\ - +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (%& +3 "core" &<<\ \ \ k + "manipulator"&,& +4 "core" & D C +52 .tElbow.seek 5 +3 "manipulator"&t( +3 "core" ( + "manipulator"&A& +4 "core" & X C + "storage"(x& +4 "core" &<<\ \ +2 .tForearm.seek 5 + 300 counts + "manipulator"&^'[ +21 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&n/ +64 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&1& + "storage"(*'N +7 "core" & q y \\ C +2 "manipulator"&P% +4 "core" % \\ y q  +2 .tForearm.seek :retract +2 "manipulator"&Y'\ +96 "core" ' + .tElbow.seek PC +2 "manipulator"&((c +159 "core" ' + ."downElevator"SE.stop + "storage"(5 +103 "core" ( + "manipulator"&& +5 "core" &l  + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &?& +2 "core" &l +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&'[ +94 "core" ' +2 "manipulator"&& +4 "core" &l  +2 "manipulator"&[% +3 "core" %U  +2 "processing"%& +4 "core" & +2 "processing"%g& +5 "core" & +2 .tPC.seek :closed +2 "processing"%{(Z +4 "core" & +7 &< #c +10 &x[ 6 +9 & G +10 &h F +9 &nj F +9 &/k G +10 & i G +9 &"j G +9 &$uh G +10 &&8j F +9 &'i G +10 &)l G +9 &+}g G +9 &-?j G +10 &/k F +9 &0j G +9 &2i F +10 &4Gi G +9 &6 i G +10 &7k G +9 &9i G +9 &;Oh G +10 &=l G +9 &>j G +9 &@i G +10 &BWi G +9 &Dj G +10 &Ek G +9 &Gt H +9 &IX} I +10 &K K +9 &L M +9 &N M +10 &PV M +9 &R L +9 &S M +10 &U M +9 &W[ N +10 &Y J +9 &ZT9b "d +9 &ZS ( +6 ( +2 "processing"%g& +3 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.50 +2 .Hand.open + "manipulator"&p1 +4 "core" &Z ( +51 1 + "manipulator"&+% +4 "core" % U } | +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&8'\ +92 "core" ' +2 "processing"%J& +4 "core" &Z ( + #tImaging generic puck in Processing Clamp while storing it to tube 5 + "manipulator"&G% +4 "core" %\ - "X +2 "storage"(\\% +4 "core" %R  +2 "storage"(. +3 "core" .(<< + "storage"(&& +4 "core" &<< z +2 "storage"(& +2 "manipulator"&b& +6 "core" &<< + &l +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +6 "manipulator"&$&.,(\ #b +3 "storage"(#]kK-0-\ b +2 .tElbow.seek PC +5 "manipulator"&7(c +3 ."raiseStack"SE.seek :beamBreak +2 "storage"('e +3 "core" ( + "manipulator"&2& +4 "core" &l f + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &U& +3 "core" &l - +2 .tForearm.seek PC + "manipulator"&'[ +95 "core" ' + .tHand.close +2 "manipulator"&/ +61 "core" / +2 .tPC.seek :open + "processing"%/(p +90 "core" ' +2 "storage"(]- +4 "core" -'e + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('B +32 "core" ' +256 ( + "storage"(T& +5 "core" &<<\ \ \  + "manipulator"&C& +4 "core" &l  + "manipulator"&9% +4 "core" % \\   +2 .tForearm.seek :retract +2 "manipulator"&5'\ +96 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&( +284 "core" ( +2 "manipulator"&r& +4 "core" & P # +2 "storage"(e& +3 "core" &<< \ x +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts + "manipulator"&-' +111 "core" ' + .tHand.open +2 "manipulator"&1 +63 "core" 1 +2 "storage"(D- +3 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate +2 "storage"(.' +26 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"( ' +49 "core" ' +2 #tLights, camera, ACTION! + "storage"(N- +3 "core" -' +2 "storage"(& +4 "core" &<< . +2 "manipulator"&q& +3 "core" & o  # +2 .tElbow.seek 5 +2 "manipulator"&a( +3 "core" ( + "manipulator"&F& +4 "core" & e v . # +2 "storage"( & +4 "core" &<<  +2 .tForearm.seek 5 + 450 counts + "manipulator"&y' +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.11 Pucks below Top Plate + "storage"('M +66 "core" ' + "manipulator"&d& +5 "core" & o o # + "storage"(& +4 "core" &<<\ \  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&|'/ +36 "core" ' + .tElbow.hold +2 "manipulator"&$, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"(Q'7 +23 "core" ' +2 "manipulator"&i% +4 "core" %:z V »9 +2 "storage"(& +4 "core" &<<  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 311 counts +2 "manipulator"&o'f +17 "core" ' +2 "manipulator"&f& +4 "core" & j  m +2 "storage"(k& +4 "core" &<<\ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&>' +21 "core" ' + "storage"(_% +5 "core" %@\ \ x +2 ."downElevator"SE.seek :down +5 "storage"(E'N +98 (u% +5 "core" % D\ 7 N? + "manipulator"&I% +4 "core" % q x ` # +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&`'\ +90 "core" ' +56 ' + ."downElevator"SE.stop + "storage"(5 +3 (@& +4 "core" &<< \  +2 "collection"'S& +3 "core" &]L,. = +2 #tStoring generic puck in Collection Clamp to tube 5 + "manipulator"& % +5 "core" %\ .  #h + "storage"( % +4 "core" %A \ \ L + "storage"(V. +4 "core" .(<< + "storage"(s& +4 "core" &<<\ o + "storage"(3& +4 "core" &<<\ S +2 "manipulator"&& +3 "core" & 8 l +2 .tElbow.seek 5 +2 "manipulator"&w( +29 "core" ( + "manipulator"&& +5 "core" & \  + "storage"(H& +4 "core" &<<\ \ m +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&=' +99 "core" ' +2 "storage"(!& +4 "core" &<<\ \ u +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(m'e +278 "core" ' +2 "storage"(- +3 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&& +3 "core" &   +2 "storage"(<& +3 "core" &<<\ \ \ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&z'/ +31 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(- +2 "core" -' +2 .tSE.seek 0.12 Pucks below Top Plate +2 "storage"(h'r +28 "core" ' + "manipulator"&#% +4 "core" %Aw k 0 + "storage"(O& +4 "core" &<< +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 5 + 318 counts + "manipulator"&M'm +20 "core" ' + "manipulator"&W& +5 "core" & v [   + "storage"('& +4 "core" &<<\ \  I +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&;' +19 "core" ' +2 .tSE.seek 1.12 Pucks below Top Plate +2 "storage"(4'a +46 "core" ' +2 "manipulator"&)& +4 "core" & p p   + "manipulator"&K% +4 "core" % q o ! +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +89 "core" ' +2 .tElbow.seek CC +51 "manipulator"&L( +168 "core" ( + "manipulator"&& +4 "core" & k +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &~& +3 "core" &  k +2 .tForearm.seek CC +2 "manipulator"& '| +97 "core" ' +2 .tHand.close + "manipulator"&:/ +60 "core" / +2 .tCC.seek :open + "collection"'6(p +411 "core" ( + "storage"(& +4 "core" &<<\ !\ !  +2 "storage"(}& +4 "core" &<<\ !\ !  + "manipulator"&"& +4 "core" & ` k + "manipulator"&% +4 "core" % π - +2 .tForearm.seek :retract +2 "manipulator"&B'\ +92 "core" ' +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&l( +177 "core" ( + "manipulator"&\ & +5 "core" & 9  + "storage"(%& +4 "core" &<<\ !\ "  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 5 +2 "manipulator"&,'/ +110 "core" ' + .tElbow.hold +2 "manipulator"&A, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&x1 +64 "core" 1 +2 "manipulator"&n% +4 "core" % C~ J + "storage"(1& +4 "core" &<< ? +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 5 + 320 counts +2 "manipulator"&P'o +16 "core" ' +2 "manipulator"&Z& +4 "core" & w ] %  + "storage"(c& +4 "core" &<<\ \ # ) +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&' +18 "core" ' + "storage"(^% +5 "core" %g\ E\ ' | +2 ."downElevator"SE.seek :down +3 "storage"('N +99 (?% +3 "core" %A\ \ ! N? + "manipulator"&t% +4 "core" % a k S +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +95 "core" ' +44 ' +2 ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 6 of [5..6] + #Loading generic puck from tube 6 into Collection Clamp +2 "collection"'[& +4 "core" &'* +2 "manipulator"&% +3 "core" %\ 8 ' +2 "storage"(*% +4 "core" %J\ !\   +2 "storage"(Y. +3 "core" .(<< +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 + "storage"(R(K +360 "core" ( +2 .tSC.configure :limp +3 "storage"($\ 1b +2 (p& +3 "core" &K 3  + "manipulator"&+& +4 "core" & v  +2 .tElbow.seek 6 + "manipulator"&J( +9 "core" ( +2 "manipulator"&G& +4 "core" & i  + "storage"(\\& +4 "core" &K\ !\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&'< +97 "core" ' +2 "storage"(&& +4 "core" &K\ \   +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(b'e +290 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (g& +2 "core" &K\ \   +2 "manipulator"&2& +4 "core" & .  +2 .tElbow.seek 6 +2 "manipulator"&U( +3 "core" ( + "manipulator"&& +4 "core" & +  + "storage"(& +4 "core" &K\ \ "   +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&]'Ϧ +10 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&(/ +58 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&8& + "storage"({'N +8 "core" & n o $  + "manipulator"&T% +4 "core" % ϟ n o J 2 +2 .tForearm.seek :retract +2 "manipulator"&C'\ +93 "core" ' +2 .tElbow.seek CC + "manipulator"&( +148 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +10 "core" ( + "manipulator"&9& +5 "core" &$  ;2 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &# ^ ;2 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC + "manipulator"&r'| +111 "core" ' +2 "manipulator"&e& +4 "core" &# n :1 +2 "manipulator"&7% +4 "core" %r  +2 "collection"'& +3 "core" &(* +2 "collection"'D& +6 "core" &((1 +2 .tCC.seek :closed + "collection"'N(] +4 "core" &))/ +8 &8+)( $d +10 &w\\'+1 6 +9 &'*2 H +10 &h+(" F +9 &kk)* G +9 &,n&* G +10 & j*( G +9 &"m*) G +9 &$ti)) F +10 &&5k() G +9 &'i() G +10 &)g(* G +9 &+{h)* G +9 &-=g&* G +10 &.k() G +9 &0h(* G +9 &2j() G +10 &4Fk(+" F +9 &6h*)# F +10 &7j)*% G +9 &9h)*# F +9 &;Mh'+ G +10 &=l)+" G +9 &>g)*% G +9 &@j)*" G +10 &BTl)*# G +9 &Dh*+$ G +9 &Ek)(% G +10 &Gj'*% G +9 &IZv*($ H +10 &K)+ J +9 &L,+# N +9 &N**$ P +10 &PI,-$ P +9 &R +-% Q +10 &S)," Q +9 &U-.# R +9 &WK+,# R +10 &Y\ *-$ S +9 &Z,-# T +9 &\\), A +10 &]m#,.! )v +9 &]Y*." A +2 ( +2 "collection"'D& +3 #tCollection Clamp onSpring/offSpring for 10/25 samples, on/off torque 1.87 + .Hand.open + "manipulator"&1 +54 "core" 1 +2 "manipulator"&q% +4 "core" % t P +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&F'\ +97 "core" ' +2 #tLoading generic puck from tube 6 into Processing Clamp + "processing"% & +4 "core" & +2 "manipulator"&5% +4 "core" %\ 3 b %~ + "storage"(d% +4 "core" %G +2 "storage"(. +3 "core" .(K + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"((K +3 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (i& +3 "core" &K G  +2 "manipulator"&& +3 "core" &"  9# +2 "manipulator"&.% +4 "core" %\ 3 J %~ + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&f( +171 "core" ( + "manipulator"&k& +4 "core" & \\ * +2 "storage"(_& +4 "core" &K \ T  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&'< +97 "core" ' +2 "storage"(-& +4 "core" &K\ \   +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"( 'e +276 "core" ' +2 "storage"(u- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (I& +2 "core" &K\ \ <  +2 "manipulator"&y& +3 "core" & ) +2 .tElbow.seek 6 +2 "manipulator"&a( +3 "core" ( + "manipulator"&& +4 "core" & ) +2 "storage"(|& +3 "core" &K\ \ \   +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&@'Ϧ +23 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&o/ +54 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&S& + "storage"( 'N +7 "core" & q p  ) +2 "manipulator"& % +4 "core" % Ϣ | y V +2 .tForearm.seek :retract + "manipulator"&V'\ +89 "core" ' + .tElbow.seek PC +2 "manipulator"&s(c +165 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +94 "core" ( +2 "manipulator"&Q& +4 "core" &i 3 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &3& +2 "core" &i +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&'[ +109 "core" ' +2 "manipulator"&& +4 "core" &i e M + "manipulator"&H% +4 "core" %\\ n o j +2 "processing"%>& +4 "core" & +2 "processing"%!& +4 "core" & +2 .tPC.seek :closed +2 "processing"%E(Z +4 "core" &  +9 &6 )w +9 &k = +9 &~x G +10 &Ag G +9 &j F +9 &j G +10 &!i G +9 &#Ji F +10 &% i G +9 &&j G +9 &(m G +10 &*Qi G +9 &,k G +9 &-h G +10 &/g G +9 &1Xi G +10 &3h F +9 &4h G +9 &6h G +10 &8`g G +9 &:#h G +9 &;h F +10 &=h G +9 &?hm G +10 &A*i G +9 &Bj G +9 &Dh G +10 &Fom G +9 &H.u H +9 &I J +10 &K K +9 &Mg M +9 &O* M +10 &P L +9 &R M +10 &To M +9 &V0 M +9 &W N +10 &Y 3 +9 &Z2 P +9 &Z ) +3 ( +57 "processing"%!& +5 #tProcessing Clamp onSpring/offSpring for 8/26 samples, on/off torque 1.51 + .Hand.open +2 "manipulator"&$1 +3 "core" &Z ) + &Z ) + &Z ) + &Z ) + &Z ) + &Z ) +49 1 + "manipulator"&`% +5 "core" % \\ ~ n 3 + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +91 "core" ' + "processing"%& +5 "core" &Z ) + #tImaging generic puck in Processing Clamp while storing it to tube 6 + "manipulator"&<% +4 "core" %\ . y #d +2 "storage"(% +4 "core" %J c +2 "storage"(#. +3 "core" .(K + "storage"(O& +4 "core" &K i  +2 "storage"(W& +2 "manipulator"&'& +6 "core" &K c  + &i +4 .tElbow.reconfigure :tight + ."raiseStack"SE.reconfigure :place +6 "manipulator"&$&.,(\ #b +2 "storage"(#]kK-0-\ b +3 .tElbow.seek PC +5 "manipulator"&)(c +3 ."raiseStack"SE.seek :beamBreak +2 "storage"(K'e +3 "core" ( + "manipulator"&=& +4 "core" &i  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &w& +2 "core" &i +2 .tForearm.seek PC +2 "manipulator"&m'[ +97 "core" ' + .tHand.close +2 "manipulator"&z/ +59 "core" / +2 .tPC.seek :open +2 "processing"%M(p +85 "core" ' + "storage"(h- +4 "core" -'e + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place + "storage"(;'B +38 "core" ' +253 ( +2 "storage"(& +4 "core" &K\ \ \   +2 "manipulator"&~& +3 "core" &i  +2 "manipulator"&% +4 "core" % f F +2 .tForearm.seek :retract + "manipulator"&:'\ +92 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&( +282 "core" ( + "manipulator"&0& +4 "core" & ) +2 "storage"(& +3 "core" &K\ \ {  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&}'< +95 "core" ' + .tHand.open + "manipulator"&"1 +63 "core" 1 +2 "storage"(- +4 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate +2 "storage"(\ ' +23 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.83 Pucks below Top Plate + "storage"(%' +51 "core" ' +2 #tLights, camera, ACTION! + "storage"( - +3 "core" -' +2 "storage"(L& +4 "core" &K  + "manipulator"&x& +4 "core" & ( +2 .tElbow.seek 6 +2 "manipulator"&n( +3 "core" ( +2 "manipulator"&1& +3 "core" & t ( +2 "storage"(Z& +4 "core" &K   +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&c'< +3 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"(^'M +57 "core" ' + "manipulator"&B& +5 "core" &  ( + "storage"(?& +4 "core" &K\ \   +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&t'z +29 "core" ' +2 .tElbow.hold +2 "manipulator"&l, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"(,'7 +23 "core" ' + "manipulator"&[% +5 "core" %΍  þ` + "storage"(& +4 "core" &K C  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 6 + 319 counts +2 "manipulator"&P'Ϲ +17 "core" ' + "manipulator"&*& +4 "core" & j  & +2 "storage"(Y& +4 "core" &K\ \ \ 4  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&4'< +17 "core" ' + "storage"(% +5 "core" %>\ \ K +2 ."downElevator"SE.seek :down +4 "storage"('N +99 (v% +4 "core" %tG OA + "manipulator"&p% +4 "core" %G o q K +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&+'\ +90 "core" ' +60 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (G& +5 "core" &K _  + "collection"'\\& +4 "core" &]R*-" A +2 #tStoring generic puck in Collection Clamp to tube 6 + "manipulator"&&% +4 "core" %\ 3 N %w +2 "storage"(A% +4 "core" %@\ \ [ +2 "storage"(. +3 "core" .(K + "storage"(& +4 "core" &K\ \ {  + "storage"(g& +4 "core" &K\  ^  +2 "manipulator"&2& +3 "core" & v & +2 .tElbow.seek 6 +2 "manipulator"&( +3 "core" ( + "manipulator"&& +4 "core" & 9 & +2 "storage"((& +4 "core" &K\  }  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&8'< +97 "core" ' + "storage"(T& +5 "core" &K\ \ {  + .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(J'e +281 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&9& +3 "core" & A & +2 "storage"(& +4 "core" &K\ \   + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 + "manipulator"&b'z +34 "core" ' + .tElbow.hold +2 "manipulator"&], +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(e- +2 "core" -' +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"(U'l +35 "core" ' +2 "manipulator"&7% +4 "core" %΄r    ƹ& + "storage"(& +4 "core" &K  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 6 + 310 counts +2 "manipulator"&{'ϰ +19 "core" ' + "manipulator"&C& +4 "core" & j z t % +2 "storage"(6& +3 "core" &K\ \   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&'< +20 "core" ' +2 .tSE.seek 1.11 Pucks below Top Plate + "storage"(q'[ +46 "core" ' +2 "manipulator"& & +4 "core" & e o a % + "manipulator"&5% +4 "core" % o o   +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&d'\ +87 "core" ' +2 .tElbow.seek CC + "manipulator"&( +141 "core" ( + "manipulator"&D& +4 "core" & ^ . +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &i& +3 "core" & . +2 .tForearm.seek CC + "manipulator"&'| +99 "core" ' + .tHand.close + "manipulator"&./ +59 "core" / + .tCC.seek :open +2 "collection"'r(p +411 "core" ( +2 "storage"(k& +4 "core" &K\ !\ !   + "storage"(_& +4 "core" &K\ !\ !  +2 "manipulator"&R& +3 "core" & , +2 "manipulator"&-% +3 "core" % ψ { +2 .tForearm.seek :retract +2 "manipulator"&'\ +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&F( +172 "core" ( + "manipulator"&u& +4 "core" & X ; +2 "storage"(I& +4 "core" &K\ \   + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 6 +2 "manipulator"&y'z +109 "core" ' + .tElbow.hold +2 "manipulator"&, +3 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&|1 +57 "core" 1 +2 "manipulator"&o% +5 "core" % Ί} B ¼I + "storage"(S& +4 "core" &K  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 6 + 316 counts +2 "manipulator"& '϶ +19 "core" ' + "manipulator"&f& +4 "core" & x h r # +2 "storage"(& +4 "core" &K\ \ "   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"& '< +17 "core" ' + "storage"(@% +4 "core" %[\ \  +54 ."downElevator"SE.seek :down +4 "storage"(Q'N +99 (3% +2 "core" %@\ \ !  N? +2 "manipulator"&a% +4 "core" %9 p m +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +86 "core" ' +56 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 5 of [5..6] +2 #Loading generic puck from tube 5 into Collection Clamp +2 "collection"'H& +4 "core" &')\ + "manipulator"&>% +4 "core" %\ * !P +2 "storage"( % +4 "core" %N\ \   +2 "storage"(V. +3 "core" .(K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"(/(<< +358 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 ($& +2 "core" &i)+ G +10 &@m'* G +9 &Bbj)* G +9 &D$h() G +10 &El)*$ G +9 &Gj*) G +9 &Igv*( H +10 &K$+, J +9 &L** L +10 &N*. O +9 &PW-- P +9 &R),! Q +10 &S+. Q +9 &U,-# R +9 &WZ,/# R +10 &Y.- S +9 &Z-. S +10 &\\+. @ +9 &]q-, ,~ +9 &]M+, > +3 ( + "collection"'& +3 #tCollection Clamp onSpring/offSpring for 10/25 samples, on/off torque 1.84 + .Hand.open + "manipulator"&L1 +61 "core" 1 +2 "manipulator"&x% +4 "core" % t ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&1'\ +100 "core" ' + #tLoading generic puck from tube 5 into Processing Clamp +2 "processing"%Z& +4 "core" & + "manipulator"&:% +4 "core" %\ <  ( +2 "storage"(B% +3 "core" %9 +2 "storage"(?. +3 "core" .( u +2 "manipulator"&;& +4 "core" & 9 5 +2 "manipulator"&*% +3 "core" %\ : N ( +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&Y( +162 "core" ( +2 "manipulator"&\ & +4 "core" &  k  +2 "storage"(& +3 "core" &<@\ v +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&' +104 "core" ' + "storage"(}& +4 "core" &<@\ \ !  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(%'e +277 "core" ' +2 "storage"(v- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (p& +2 "core" &<@\ \ L +2 "manipulator"&c& +3 "core" &  o d K  +2 .tElbow.seek 5 +2 "manipulator"&n( +3 "core" ( + "manipulator"&^& +4 "core" &  v _ &  +2 "storage"(t& +3 "core" &<@\  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&G'[ +23 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&P/ +61 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&\\& +2 "storage"(&'N +8 "core" &  g  + "manipulator"&A% +4 "core" % >  +2 .tForearm.seek :retract +2 "manipulator"&'\ +92 "core" ' +2 .tElbow.seek PC +2 "manipulator"&,(c +157 "core" ' + ."downElevator"SE.stop + "storage"(5 +95 "core" ( +2 "manipulator"&& +4 "core" &i  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &g& +3 "core" &i z +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&2'[ +101 "core" ' +2 "manipulator"&& +4 "core" &i E + "manipulator"&(% +4 "core" %^ +2 "processing"%4& +4 "core" & +2 "processing"%T& +5 "core" & +2 .tPC.seek :closed +3 "processing"%(Z +4 "core" & +5 & 7 +9 &M / +10 &Zz C +9 &h G +9 &i G +10 &i G +9 & Vj G +10 &"h G +9 &#i G +9 &%k G +10 &']j G +9 &) h G +9 &*h F +10 &,i G +9 &.eh G +10 &0'i G +9 &1h G +9 &3i F +10 &5mi G +9 &70h G +9 &8h G +10 &:f G +9 &7h G +9 &?h G +9 &Aj G +10 &C}i G +9 &E>j G +9 &Gr G +10 &Hx I +9 &J} J +10 &L8 L +9 &M M +9 &O L +10 &Q} M +9 &S> M +9 &U M +10 &V M +9 &X M +10 &Zt~ !g +9 &Z!m . +9 ( +2 "processing"%T& +4 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.49 + .Hand.open + "manipulator"&l1 +4 "core" &Z ) +54 1 + "manipulator"&+% +4 "core" % ^ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +104 "core" ' + "processing"%9& +4 "core" &Z ) +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 + "manipulator"&% +4 "core" %\  <  +2 "storage"(e% +3 "core" %=\ \  ; +2 "storage"(7. +3 "core" .(<< + "storage"(& +4 "core" &<@ \  E +2 "storage"(C& +2 "manipulator"&6& +6 "core" &<@\ \  = + &i Q +4 ."raiseStack"SE.reconfigure :place +2 .tElbow.reconfigure :tight +3 "storage"(#]kK-0-\ b +5 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +2 ."raiseStack"SE.seek :beamBreak +2 "manipulator"& (c +2 "storage"(5'e +4 "core" ( +2 "manipulator"&8& +4 "core" &i 7 + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &i W +2 .tForearm.seek PC + "manipulator"&J'[ +93 "core" ' + .tHand.close +2 "manipulator"&b/ +55 "core" / + .tPC.seek :open +2 "processing"%{(p +99 "core" ' +2 "storage"(D- +3 "core" -'e +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(U'B +43 "core" ' +234 ( + "storage"(i& +4 "core" &<@\ \  +2 "manipulator"&& +4 "core" &i + "manipulator"&]% +4 "core" % Z + .tForearm.seek :retract +2 "manipulator"&.'\ +95 "core" ' +53 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&d( +264 "core" ( + "manipulator"&N& +4 "core" & } \ +2 "storage"(k& +4 "core" &<@ \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&_' +112 "core" ' + .tHand.open +2 "manipulator"&R1 +60 "core" 1 + "storage"(-- +4 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate +2 "storage"(u' +23 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.83 Pucks below Top Plate + "storage"(I' +51 "core" ' +2 #tLights, camera, ACTION! + "storage"(- +4 "core" -' +2 "storage"(& +3 "core" &<@  +2 "manipulator"&|& +4 "core" & n n # \ +2 .tElbow.seek 5 + "manipulator"&o( +4 "core" ( +2 "manipulator"&S& +3 "core" & w { 6 \ +2 "storage"(f& +4 "core" &<@ W +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&' +22 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.11 Pucks below Top Plate + "storage"(@'M +68 "core" ' + "manipulator"&& +5 "core" & I \ + "storage"(F& +4 "core" &<@\ \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&3'/ +30 "core" ' + .tElbow.hold +2 "manipulator"&a, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"(y'7 +22 "core" ' +2 "manipulator"& % +5 "core" %Bz ^ 9 + "storage"(H& +5 "core" &<@ Y + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 319 counts + "manipulator"&>'n +19 "core" ' +2 "manipulator"& & +4 "core" & w ] \ +2 "storage"(V& +4 "core" &<@\ \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&q' +20 "core" ' + "storage"( % +5 "core" %@\ !\  +2 ."downElevator"SE.seek :down +5 "storage"(Q'N +98 (% +3 "core" %A\ \ \ \\ M? +2 "manipulator"&$% +5 "core" % l d x ! +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&`'\ +96 "core" ' +51 ' + ."downElevator"SE.stop + "storage"(5 +3 (<& +4 "core" &<@\   +2 "collection"'& +4 "core" &]O,- > + #tStoring generic puck in Collection Clamp to tube 5 +2 "manipulator"&O% +3 "core" %\ 4 & +2 "storage"(% +4 "core" %>\ \  F \ + "storage"(. +3 "core" .(<< +2 "storage"('& +4 "core" &<@\ \  z + "storage"(!& +4 "core" &<@\  l +2 "manipulator"&=& +4 "core" & \ + .tElbow.seek 5 +2 "manipulator"&( +4 "core" ( + "manipulator"&z& +4 "core" & ~ \ + "storage"(s& +4 "core" &<@\ \   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&' +97 "core" ' + "storage"(& +5 "core" &<@\ \ 3 +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('e +286 "core" ' + "storage"(#- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&W& +3 "core" &  \ +2 "storage"(& +4 "core" &<@\ \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&h'/ +119 "core" ' + .tElbow.hold +2 "manipulator"&m, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(w- +3 "core" -' +2 .tSE.seek 0.12 Pucks below Top Plate +2 "storage"('r +27 "core" ' +2 "manipulator"&)% +4 "core" %Bp U  +2 "storage"("& +3 "core" &<@ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 319 counts + "manipulator"&E'n +17 "core" ' + "manipulator"&~& +5 "core" & t \\ t \ + "storage"(r& +4 "core" &<@ \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&L' +18 "core" ' +2 .tSE.seek 1.12 Pucks below Top Plate + "storage"(x'a +46 "core" ' +2 "manipulator"&Z& +4 "core" & e o P \ + "manipulator"&:% +4 "core" % o o   +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&B'\ +95 "core" ' + .tElbow.seek CC +2 "manipulator"&?( +170 "core" ( + "manipulator"&& +5 "core" &  3 + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &  e 3 +2 .tForearm.seek CC +2 "manipulator"&;'| +98 "core" ' +2 .tHand.close + "manipulator"&*/ +56 "core" / +2 .tCC.seek :open + "collection"'0(p +411 "core" ( +2 "storage"(\ & +4 "core" &<@\ !\ ! + "storage"(& +4 "core" &<@\ !\  +2 "manipulator"&/& +3 "core" &  > 3 +2 "manipulator"&}% +3 "core" % j   +2 .tForearm.seek :retract +2 "manipulator"&K'\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&1( +166 "core" ( + "manipulator"&v& +5 "core" & i  + "storage"(p& +4 "core" &<@\ !\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 5 +2 "manipulator"&c'/ +111 "core" ' + .tElbow.hold +2 "manipulator"&^, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&t1 +63 "core" 1 + "manipulator"&P% +5 "core" % >p   ¸ + "storage"(\\& +4 "core" &<@ ( + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 5 + 315 counts +2 "manipulator"&A'j +18 "core" ' + "manipulator"&Y& +4 "core" & ^ u 6  +2 "storage"(& +3 "core" &<@\ !\ !  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts + "manipulator"&%' +17 "core" ' +2 "storage"(G% +4 "core" %h\ "\  +3 ."downElevator"SE.seek :down +3 "storage"('N +99 (g% +3 "core" %oC\ \ ! M> +2 "manipulator"&n% +4 "core" % n p ( + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +94 "core" ' +44 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 6 of [5..6] +2 #Loading generic puck from tube 6 into Collection Clamp + "collection"'(& +4 "core" &*( +2 "manipulator"&4% +4 "core" %\ 3 p % + "storage"(&% +4 "core" %B\ !\ !  +2 "storage"(. +3 "core" .(<< + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"(M(K +362 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (l& +3 "core" &K\ 6  + "manipulator"&+& +4 "core" & i  +2 .tElbow.seek 6 + "manipulator"&9( +16 "core" ( +2 "manipulator"&& +4 "core" &  + "storage"(e& +4 "core" &K\ !\   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&7'< +98 "core" ' +2 "storage"(T& +4 "core" &K\ \  j  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"('e +288 "core" ' +2 "storage"(6- +3 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (C& +3 "core" &K\ \  v  +2 "manipulator"&8& +3 "core" &   +2 .tElbow.seek 6 +2 "manipulator"&( +3 "core" ( + "manipulator"&2& +4 "core" &   + "storage"(b& +4 "core" &K\ !\   +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&D'Ϧ +11 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +52 "manipulator"&,/ +53 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&& +3 "storage"('N +6 "core" & e p q  +2 "manipulator"&i% +4 "core" % ϭ n j z 2 +2 .tForearm.seek :retract +2 "manipulator"&'\ +98 "core" ' +2 .tElbow.seek CC +2 "manipulator"&]( +142 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +24 "core" ( +2 "manipulator"&5& +4 "core" &% =A +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &J& +2 "core" &% * =A +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&N'| +100 "core" ' +2 "manipulator"&k& +4 "core" &&  =A +2 "manipulator"& % +4 "core" %p < +2 "collection"'R& +4 "core" &))/ +2 "collection"'-& +5 "core" &(( +2 .tCC.seek :closed + "collection"'(] +5 "core" &('/ \ +8 &3)*1 (t +10 &h*(2 < +9 &tx'+. H +10 &8g+)/ G +9 &h()2 G +9 &k*)2 G +10 &!~k(*2 G +9 &#?i*(1 G +9 &%h++* G +10 &&j)+0 G +9 &(m)*. G +10 &*Hh,)1 G +9 &,\ j**- G +9 &-k*+- G +10 &/i(*& G +9 &1Pi+)$ G +9 &3g)) G +10 &4h')) G +9 &6g*+ G +10 &8Wh)) G +9 &:h*) F +9 &;h(* G +10 &=k)) G +9 &?ah*) F +9 &A"i)) G +10 &Bj)) G +9 &Dj(* G +10 &Fhh'+ G +9 &H(o)* G +9 &I|*+ I +10 &K))" K +9 &MX*. O +9 &O+,! P +10 &P,, Q +9 &R-- S +10 &TX,-% R +9 &V), S +9 &W+) S +10 &Y.,# X +9 &[Z,-% T +9 &\\w,,% (} +10 &]&-, E +9 ( +2 "collection"'-& +3 #tCollection Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.95 + .Hand.open + "manipulator"&1 +4 "core" &]N+- = +59 1 + "manipulator"&|% +5 "core" % p ; + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&S'\ +97 "core" ' +2 #tLoading generic puck from tube 6 into Processing Clamp + "processing"%f& +5 "core" & + "manipulator"&.% +4 "core" %\ 5 $ & +2 "storage"(% +3 "core" %H +2 "storage"(F. +3 "core" .(K + "storage"(U& +4 "core" &K  + "storage"( & +4 "core" &K  +2 "manipulator"&H& +4 "core" &#" i :/ + "manipulator"&u% +4 "core" %\ 6 S & +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"& ( +164 "core" ( + "manipulator"&V& +5 "core" & ( + "storage"( & +4 "core" &K\  @  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&d'< +105 "core" ' + "storage"(_& +4 "core" &K\ !\  M  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(I'e +277 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 ($& +2 "core" &K\  r  +2 "manipulator"&& +4 "core" & m o  ' + .tElbow.seek 6 +2 "manipulator"&o( +3 "core" ( + "manipulator"&@& +4 "core" & z r } ' +2 "storage"(3& +3 "core" &K\  /  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&<'Ϧ +25 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&>/ +61 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& +3 "storage"(O'N +8 "core" & 8 ' + "manipulator"&% +4 "core" % Ϗ !  +2 .tForearm.seek :retract +2 "manipulator"&'\ +95 "core" ' +2 .tElbow.seek PC +2 "manipulator"&'(c +154 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +96 "core" ( +2 "manipulator"&y& +4 "core" &m 2 # +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &!& +3 "core" &m W # +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&='[ +99 "core" ' +2 "manipulator"&z& +4 "core" &m Y # + "manipulator"&s% +4 "core" %Z 3 +2 "processing"%q& +4 "core" & +2 "processing"%& +5 "core" & +2 .tPC.seek :closed + "processing"%Q(Z +4 "core" &  +8 &6 )w +10 &j = +9 &x G +10 &Cj G +9 &m G +9 &j F +10 &!j G +9 &#Kg G +9 &% i G +10 &&n G +9 &(h F +10 &*Si G +9 &,l G +9 &-g G +10 &/i G +9 &1Zl G +9 &3i F +10 &4i G +9 &6m G +10 &8cg G +9 &:&h F +9 &;j G +10 &=l G +9 &?ji G +12 &A-h G +7 &Bi G +9 &Dm G +10 &Fqm G +9 &H1u H +9 &I J +10 &K K +9 &Mj M +9 &O+ M +10 &P L +9 &R M +10 &Tq M +9 &V3 M +9 &W N +10 &Y 3 +9 &Z2 L +10 &Z ) +2 ( +2 "processing"%& +2 #tProcessing Clamp onSpring/offSpring for 8/26 samples, on/off torque 1.51 + .Hand.open +2 "manipulator"&a1 +62 "core" 1 + "manipulator"&`% +5 "core" % Z 0 + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&#'\ +91 "core" ' + "processing"%W& +4 "core" &Z ) +2 #tImaging generic puck in Processing Clamp while storing it to tube 6 + "manipulator"&% +4 "core" %\ +  !W +2 "storage"(w% +3 "core" %8 +2 "storage"(). +3 "core" .(K + "storage"("& +4 "core" &K  +2 "storage"(~& +3 "manipulator"&r& +6 "core" &K  + &m r # +2 ."raiseStack"SE.reconfigure :place +5 .tElbow.reconfigure :tight +3 "storage"(#]kK-0-\ b +4 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC + "manipulator"&Z(c +4 ."raiseStack"SE.seek :beamBreak + "storage"(:'e +3 "core" ( + "manipulator"&& +4 "core" &m # +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &m # +2 .tForearm.seek PC +2 "manipulator"&'[ +93 "core" ' +2 .tHand.close + "manipulator"&h/ +53 "core" / +2 .tPC.seek :open +2 "processing"%E(p +95 "core" ' + "storage"(- +4 "core" -'e + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('B +39 "core" ' +242 ( + "storage"(& +4 "core" &K\ \  o  +2 "manipulator"&L& +3 "core" &m  # +2 "manipulator"&m% +4 "core" % \\  + .tForearm.seek :retract +2 "manipulator"&*'\ +97 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&B( +284 "core" ( + "manipulator"& & +5 "core" &  ( + "storage"(\ & +4 "core" &K  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&'< +96 "core" ' + .tHand.open + "manipulator"&/1 +55 "core" 1 +2 "storage"(}- +4 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate +2 "storage"(v' +26 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.83 Pucks below Top Plate + "storage"(p' +50 "core" ' + #tLights, camera, ACTION! +2 "storage"(;- +3 "core" -' +2 "storage"(?& +4 "core" &K   +3 "manipulator"&t& +8 "core" &  ' +4 .tElbow.seek 6 +2 "manipulator"&P( +6 "core" ( +3 "manipulator"&\\& +7 "core" &  ' +2 "storage"(Y& +4 "core" &K *  +2 .tForearm.seek 6 + 450 counts + "manipulator"&'< +4 "core" ' + .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"(G'M +65 "core" ' +2 "manipulator"&K& +4 "core" &  ' + "storage"(g& +4 "core" &K\ v  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&n'z +30 "core" ' + .tElbow.hold +2 "manipulator"&1, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"(c'7 +23 "core" ' + "manipulator"&(% +5 "core" %Ή  þ^ +2 "storage"(4& +4 "core" &K 1  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 315 counts +52 "manipulator"&A'ϵ +19 "core" ' + "manipulator"&&& +5 "core" &\  y i % $ + "storage"(& +4 "core" &K\ \   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&x'< +17 "core" ' +2 "storage"(%% +4 "core" %:\ \ +3 ."downElevator"SE.seek :down +3 "storage"('N +98 ([% +4 "core" %G\  c OA + "manipulator"&l% +4 "core" %5 l m +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&+'\ +90 "core" ' +62 ' + ."downElevator"SE.stop + "storage"(5 +3 (& +4 "core" &K  + "collection"'e& +5 "core" &]M*- = + #tStoring generic puck in Collection Clamp to tube 6 +2 "manipulator"&T% +3 "core" %\ 2 M %} +2 "storage"(^% +4 "core" %F\ r +2 "storage"(. +3 "core" .(K + "storage"(6& +4 "core" &K\ \ \ J  +2 "storage"(C& +4 "core" &K \  m  + "manipulator"&8& +4 "core" &\  C $ +2 .tElbow.seek 6 +2 "manipulator"&2( +32 "core" ( +2 "manipulator"&b& +4 "core" & y  +2 "storage"(,& +4 "core" &K\ n  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +3 "manipulator"&'< +101 "core" ' +2 "storage"(i& +4 "core" &K\ \ E  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(9'e +277 "core" ' + "storage"(7- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&5& +3 "core" &   +2 "storage"(J& +3 "core" &K\ \   +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&'z +31 "core" ' + .tElbow.hold +2 "manipulator"&D, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(k- +2 "core" -' +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"('l +27 "core" ' +2 "manipulator"& % +5 "core" %΋k  · + "storage"(R& +4 "core" &K   + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 317 counts + "manipulator"&'Ϸ +20 "core" ' +2 "manipulator"&& +4 "core" & v [ $ +2 "storage"(0& +3 "core" &K\ \   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&'< +23 "core" ' +2 .tSE.seek 1.11 Pucks below Top Plate + "storage"(|'[ +49 "core" ' +2 "manipulator"&f& +4 "core" & o n +2 "manipulator"&.% +4 "core" %L m o   +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +26 "Can" FC +61 "core" ' +2 .tElbow.seek CC +2 "manipulator"&F( +169 "core" ( +2 "manipulator"&U& +4 "core" & 2 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &-& +2 "core" & p 2 +2 .tForearm.seek CC +2 "manipulator"& '| +96 "core" ' +2 .tHand.close + "manipulator"&H/ +61 "core" / +2 .tCC.seek :open +2 "collection"'u(p +411 "core" ( + "storage"(N& +4 "core" &K\ #\ " \  +2 "storage"(V& +3 "core" &K\ #\ "   +2 "manipulator"& & +3 "core" & 2 +2 "manipulator"&_% +4 "core" % υ V + .tForearm.seek :retract +3 "manipulator"&]'\ +92 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&S( +162 "core" ( + "manipulator"&& +5 "core" & g 1 + "storage"($& +4 "core" &K\ !\ !   +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 6 + "manipulator"&'z +111 "core" ' + .tElbow.hold +2 "manipulator"&@, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&31 +53 "core" 1 +2 "manipulator"&>% +5 "core" % ΄y  : »> + "storage"(& +4 "core" &K u  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 310 counts + "manipulator"&'ϰ +19 "core" ' + "manipulator"& & +5 "core" & { v 4 !q + "storage"(d& +4 "core" &K\ #\ " (  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&I'< +17 "core" ' + "storage"(<% +5 "core" %\\\ \ "  +2 ."downElevator"SE.seek :down +3 "storage"(y'N +99 (!% +3 "core" %F\ \   N? +2 "manipulator"&o% +4 "core" %7 { z +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&z'\ +92 "core" ' +44 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 5 of [5..6] +2 #Loading generic puck from tube 5 into Collection Clamp + "collection"'s& +4 "core" &)+# +2 "manipulator"&q% +3 "core" %\ 0 $p +2 "storage"(O% +4 "core" %;\ !\ !  + "storage"(. +4 "core" .(K + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"({(<< +353 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (a& +2 "core" &<=\ \  +2 "manipulator"&`& +3 "core" & + !q +2 .tElbow.seek 5 +2 "manipulator"&W( +27 "core" ( + "manipulator"&& +4 "core" &\  { +2 "storage"(w& +3 "core" &<=\ \ ! +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&)' +101 "core" ' + "storage"("& +5 "core" &<=\ \ " P +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(~'e +278 "core" ' + "storage"(r- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" &<>\ \  K + "manipulator"&& +4 "core" &\  ] +2 .tElbow.seek 5 + "manipulator"&( +3 "core" ( +2 "manipulator"&=& +3 "core" &\  K +2 "storage"(h& +3 "core" &<>\ !\ ! +3 .tForearm.seek 5 + 300 counts + "manipulator"&'[ +11 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&'/ +59 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&#& +2 "storage"(Q'N +7 "core" &\   +2 "manipulator"&% +4 "core" % T s t " ) +2 .tForearm.seek :retract + "manipulator"&L'\ +97 "core" ' + .tElbow.seek CC +2 "manipulator"&m( +148 "core" ' + ."downElevator"SE.stop + "storage"(5 +4 "core" ( + "manipulator"&:& +4 "core" &  / +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" & G / +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"& '| +99 "core" ' +2 "manipulator"&\ & +4 "core" & / +2 "manipulator"&Z% +4 "core" %π + "collection"'/& +4 "core" &+* +2 "collection"'}& +5 "core" &++ +2 .tCC.seek :closed +2 "collection"';(] +4 "core" &*(/  +8 &6++. *x +10 &j,*0 = +9 &y{'+- H +10 &>g**- G +9 &h(,/ G +9 &m()' G +10 &!j'+/ G +9 &#Fj+*. G +9 &%k)*- G +10 &&i**' G +9 &(i**$ F +10 &*Nh**/ G +9 &,k*-. G +9 &-k))/ G +10 &/h**- G +9 &1Um),, G +9 &3h,,- G +10 &4h*,+ F +9 &6h)+( F +9 &8^j(,# G +10 &: f)*/ G +9 &;h*,# F +10 &=i*,& F +9 &?fh)+$ G +9 &A)h), F +10 &Bj*( G +9 &Dg'+ F +9 &Fnj)+ G +10 &H0k)+ G +9 &Iy)) H +10 &K*+ J +9 &Mc,- M +10 &O-. P +9 &P+, Q +9 &R-, P +10 &T_-. Q +9 &V.. R +9 &W*- S +10 &Y)- T +9 &[_,/ T +9 &\\},/ '{ +10 &]),/ I +9 ( +2 "collection"'}& +3 #tCollection Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.84 +2 .Hand.open + "manipulator"&?1 +3 "core" &]F-. = +55 1 +2 "manipulator"&t% +4 "core" % π  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&\\'\ +91 "core" ' +3 #tLoading generic puck from tube 5 into Processing Clamp + "processing"%Y& +4 "core" & +2 "manipulator"&*% +3 "core" %\ , w "\\ +54 "storage"(K% +4 "core" %B \ a + "storage"(g. +3 "core" .(<< + "storage"(& +4 "core" &<>\ u + "storage"((& +4 "core" &<> \  +2 "manipulator"&4& +4 "core" & ^ / + "manipulator"&v% +4 "core" %\ - ] "\\ +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&&( +171 "core" ( +2 "manipulator"&& +4 "core" &\ S [ + "storage"(B& +4 "core" &<>\   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&' +97 "core" ' +2 "storage"(%& +4 "core" &<>\ \  7 +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(p'e +289 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 ([& +2 "core" &<>\ \ \  +2 "manipulator"&l& +4 "core" &\ & Z +2 .tElbow.seek 5 +2 "manipulator"&P( +3 "core" ( + "manipulator"&G& +4 "core" &\ x Z +2 "storage"(n& +3 "core" &<>\ \ o +3 .tForearm.seek 5 + 300 counts + "manipulator"&'[ +21 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&A/ +55 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&e& +2 "storage"(T'N +7 "core" &\ o o  Z +2 "manipulator"&^% +4 "core" % ] l e N +2 .tForearm.seek :retract +2 "manipulator"&'\ +96 "core" ' + .tElbow.seek PC +2 "manipulator"&c(c +156 "core" ' + ."downElevator"SE.stop + "storage"(5 +104 "core" ( +2 "manipulator"&6& +4 "core" &g - +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &C& +2 "core" &g  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&8'[ +104 "core" ' +2 "manipulator"&b& +4 "core" &g { +2 "manipulator"&,% +4 "core" %K +2 "processing"%x& +3 "core" & +3 "processing"%i& +4 "core" & +2 .tPC.seek :closed +2 "processing"%(Z +4 "core" & +8 &< $d +9 &|\\ 6 +10 & H +9 &i G +9 &ph F +10 &1h G +9 & j F +9 &"h G +10 &$xi F +9 &&9i G +10 &'g G +9 &)h G +9 &+g G +10 &-Aj G +9 &/n G +9 &0i G +10 &2k G +9 &4Ih G +10 &6 g F +9 &7h G +9 &9g G +10 &;Ph G +9 &=e G +9 &>j G +10 &@g G +9 &BXi G +10 &Dh F +9 &Ek G +9 &Gt H +10 &IZ{ I +9 &K K +9 &L M +10 &N M +9 &PX M +10 &R M +9 &S M +9 &U M +10 &W] N +9 &Y  G +10 &ZTC "d +9 &Z- * +5 ( +2 "processing"%i& +4 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.51 + .Hand.open +2 "manipulator"&11 +3 "core" &Z * +54 1 +2 "manipulator"&+% +4 "core" % K q +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&7'\ +94 "core" ' +2 "processing"%5& +4 "core" &Z * + #tImaging generic puck in Processing Clamp while storing it to tube 5 +2 "manipulator"&J% +4 "core" %\ 3 - %y + "storage"(k% +4 "core" %G +2 "storage"( . +3 "core" .(<< + "storage"(R& +4 "core" &<> +2 "storage"(& +3 "manipulator"&0& +6 "core" &<> + &g +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +2 "storage"(#]kK-0-\ b +3 "manipulator"&f(c +5 ."raiseStack"SE.seek :beamBreak +2 "storage"(.'e +3 "core" ( + "manipulator"&& +4 "core" &g +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &2& +3 "core" &g l +2 .tForearm.seek PC +2 "manipulator"&9'[ +94 "core" ' +2 .tHand.close + "manipulator"&/ +58 "core" / +2 .tPC.seek :open +2 "processing"%(p +91 "core" ' +2 "storage"(- +3 "core" -'e +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(U'B +39 "core" ' +246 ( + "storage"(-& +4 "core" &<>\ \ \ _ +2 "manipulator"&& +3 "core" &g 0 +2 "manipulator"&D% +4 "core" % ] '  + .tForearm.seek :retract +2 "manipulator"&H'\ +97 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&( +250 "core" ( + "manipulator"&& +4 "core" &  X 6 +2 "storage"(N& +3 "core" &<>\ = +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts + "manipulator"&V' +107 "core" ' + .tHand.open + "manipulator"& 1 +55 "core" 1 +2 "storage"(_- +4 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate +2 "storage"(' +23 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"($' +50 "core" ' + #tLights, camera, ACTION! + "storage"( - +4 "core" -' + "storage"(F& +4 "core" &<> / +2 "manipulator"&3& +3 "core" &  q n > 6 +2 .tElbow.seek 5 +2 "manipulator"&>( +3 "core" ( + "manipulator"&& +4 "core" &  y } L 6 +2 "storage"( & +4 "core" &<> o +2 .tForearm.seek 5 + 450 counts + "manipulator"&d' +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.11 Pucks below Top Plate + "storage"(<'M +62 "core" ' + "manipulator"&]& +4 "core" &  q o  6 +2 "storage"(!& +4 "core" &<>\  Q + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&o'/ +31 "core" ' + .tElbow.hold +2 "manipulator"&S, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"('7 +23 "core" ' + "manipulator"&s% +5 "core" %A r + "storage"(q& +5 "core" &<> r + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 318 counts +2 "manipulator"&O'm +19 "core" ' + "manipulator"&& +5 "core" & s { % 4 +2 "storage"(& +4 "core" &<>\  # +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts + "manipulator"&|' +21 "core" ' + "storage"(I% +5 "core" %?\ \  Z +2 ."downElevator"SE.seek :down +3 "storage"(y'N +99 (M% +3 "core" %D\ \  E N@ +2 "manipulator"&a% +4 "core" % s o N + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&`'\ +94 "core" ' +56 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (& +4 "core" &<> \  +2 "collection"'w& +4 "core" &]G*. = + #tStoring generic puck in Collection Clamp to tube 5 +2 "manipulator"&"% +3 "core" %\ 6  & +2 "storage"(@% +4 "core" %C\ R + "storage"(z. +3 "core" .(<< + "storage"(r& +4 "core" &<>\ \  +2 "storage"(& +4 "core" &<> \ ^ + "manipulator"&& +4 "core" & u 4 +2 .tElbow.seek 5 + "manipulator"&=( +4 "core" ( + "manipulator"&h& +4 "core" & 4 + "storage"('& +4 "core" &<>\ \ 5 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&#' +98 "core" ' +2 "storage"(& +4 "core" &<>\ j +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(W'e +283 "core" ' + "storage"()- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&:& +3 "core" & ` 4 + "storage"(& +4 "core" &<>\ \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&~'/ +31 "core" ' + .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +52 "manipulator"&$&.,(\ #b +4 "storage"(\ - +3 "core" -' +2 .tSE.seek 0.12 Pucks below Top Plate +2 "storage"(Z'r +27 "core" ' + "manipulator"&/% +4 "core" %Bw b / +2 "storage"(& +4 "core" &<> + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 319 counts + "manipulator"&Q'n +18 "core" ' + "manipulator"&L& +4 "core" & _ r - / +2 "storage"(u& +4 "core" &<>\ \  n +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&?' +19 "core" ' +2 .tSE.seek 1.12 Pucks below Top Plate +2 "storage"(t'a +47 "core" ' + "manipulator"&Y& +5 "core" & p q / + "manipulator"&*% +4 "core" % b k  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&}'\ +90 "core" ' + .tElbow.seek CC +2 "manipulator"&K( +151 "core" ( +2 "manipulator"&g& +4 "core" &  V * + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &  k * +2 .tForearm.seek CC + "manipulator"&('| +96 "core" ' +2 .tHand.close + "manipulator"&4/ +58 "core" / +3 .tCC.seek :open + "collection"'v(p +410 "core" ( +2 "storage"( & +4 "core" &<>\ "\ ! + "storage"(& +4 "core" &<>\ \  D +2 "manipulator"&B& +3 "core" &  i * +2 "manipulator"&%% +3 "core" % ς 5 +2 .tForearm.seek :retract +2 "manipulator"&m'\ +91 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&\\( +164 "core" ( +2 "manipulator"&& +4 "core" &  +2 "storage"([& +3 "core" &<>\ \  \\ +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 5 +2 "manipulator"&l'/ +110 "core" ' +2 .tElbow.hold + "manipulator"&G, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&n1 +52 "core" 1 +2 "manipulator"&A% +4 "core" % Aq    +7 "storage"(e& +3 "core" &<> +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 318 counts + "manipulator"&^'m +16 "core" ' +2 "manipulator"&&& +4 "core" &! ^ u B  +2 "storage"(& +4 "core" &<>\ \  w +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&p' +30 "core" ' +2 "storage"(% +4 "core" %g\ \ ) +3 ."downElevator"SE.seek :down +3 "storage"(6'N +99 (C% +2 "core" %A\ "\ !  M> +2 "manipulator"&P% +4 "core" % o o  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&b'\ +94 "core" ' +45 ' + ."downElevator"SE.stop +2 "storage"(5 +2 #tShuffling pucks in tube 6 of [5..6] +2 #Loading generic puck from tube 6 into Collection Clamp + "collection"',& +5 "core" &*- + "manipulator"&x% +5 "core" %\ 4 & + "storage"(T% +5 "core" %9\ \ ) + "storage"(. +3 "core" .(<< +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 6 + "storage"(E(K +360 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (1& +2 "core" &K\ \ \  *  +2 "manipulator"&+& +4 "core" &!  +2 .tElbow.seek 6 + "manipulator"&5( +21 "core" ( + "manipulator"&J& +4 "core" & v +2 "storage"(k& +4 "core" &K\ \ !  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"& '< +100 "core" ' + "storage"(R& +4 "core" &K\ \   +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"('e +276 "core" ' + "storage"(0- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (i& +3 "core" &K\ \   + "manipulator"&& +4 "core" & ; +2 .tElbow.seek 6 +2 "manipulator"&2( +20 "core" ( + "manipulator"&8& +4 "core" &\ B ^ + "storage"(& +4 "core" &K\ "\ !  +3 .tForearm.seek 6 + 300 counts + "manipulator"&'Ϧ +21 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&c/ +64 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&7& + "storage"('N +7 "core" &\ ] +2 "manipulator"&-% +4 "core" % ϡ V +2 .tForearm.seek :retract + "manipulator"&'\ +98 "core" ' +2 .tElbow.seek CC +2 "manipulator"&D( +147 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +15 "core" ( + "manipulator"&.& +5 "core" & h 1 + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &9& +3 "core" & * 1 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&'| +102 "core" ' +2 "manipulator"&N& +4 "core" & H 1 +2 "manipulator"&f% +4 "core" %τ + "collection"' & +4 "core" &), +2 "collection"'_& +5 "core" &)* +2 .tCC.seek :closed +2 "collection"' (] +4 "core" &*, +8 &A*)& $d +9 &{\\**+ 6 +10 &++, H +9 &h,,+ G +9 &nk'*, G +10 &1j'+, G +9 & m'*, G +10 &"h)*( G +9 &$wh(*- G +9 &&:h'+/ F +10 &'k**, G +9 &)l(*+ G +9 &+~j)+' G +10 &-Ag)+& G +9 &/h**+ G +9 &0j))+ F +10 &2j*+& G +9 &4Im*+1 G +10 &6\ j))( G +9 &7i**! F +9 &9g*+$ G +10 &;Qg**# G +9 &=k'+" G +9 &>l*+% G +10 &@l)+ G +9 &BZh)* F +10 &Dj*, G +9 &El()0 G +9 &Gm),& G +10 &I^v))+ H +9 &K+," J +10 &L), N +9 &N.. P +9 &PM,/& P +10 &R ,,' Q +9 &S*- Q +9 &U.- R +10 &WO*/ R +9 &Y -- T +9 &Z-.$ T +10 &\\.-( @ +9 &]n!-+ +} +10 &]m,- K +2 ( +2 "collection"'_& +2 #tCollection Clamp onSpring/offSpring for 10/25 samples, on/off torque 1.89 + .Hand.open + "manipulator"&F1 +55 "core" 1 + "manipulator"&3% +4 "core" % } O +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +97 "core" ' + #tLoading generic puck from tube 6 into Processing Clamp +2 "processing"% & +4 "core" & + "manipulator"&H% +4 "core" %\ 2 %w +2 "storage"(]% +3 "core" %O \  : +2 "storage"(!. +3 "core" .(K + "storage"(s& +4 "core" &K \  @  + "storage"(q& +4 "core" &K\ q  +2 "manipulator"&U& +4 "core" & 1 + "manipulator"&% +4 "core" %\ 2 %w +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&( +164 "core" ( +2 "manipulator"&& +4 "core" & y " + "storage"(I& +4 "core" &K \ (  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&'< +99 "core" ' +2 "storage"(V& +4 "core" &K\ \   +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"($'e +281 "core" ' +2 "storage"(M- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (a& +2 "core" &K\  o  +2 "manipulator"&d& +4 "core" & 7 " +2 .tElbow.seek 6 +2 "manipulator"&>( +3 "core" ( + "manipulator"&<& +4 "core" &  " +2 "storage"(o& +3 "core" &K\ \ \    +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&'Ϧ +16 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&O/ +57 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&w& +2 "storage"("'N +7 "core" &  " +2 "manipulator"&@% +4 "core" % ϭ 8 +2 .tForearm.seek :retract +2 "manipulator"&z'\ +99 "core" ' + .tElbow.seek PC +2 "manipulator"&r(c +157 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +91 "core" ( +2 "manipulator"&& +5 "core" &l O  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +2 "core" &l >  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +52 "manipulator"&'[ +106 "core" ' +2 "manipulator"&h& +4 "core" &l  + "manipulator"&'% +4 "core" %P h +2 "processing"%|& +4 "core" & +2 "processing"%& +5 "core" & +2 .tPC.seek :closed +2 "processing"%y(Z +4 "core" & +7 &D #c +10 &|[ 6 +9 & G +10 &f G +9 &pg G +9 &3i G +10 & h G +9 &"i G +9 &$yi G +10 &&:k G +9 &'h G +10 &)m G +9 &+h G +9 &-Bm G +10 &/i G +9 &0i F +9 &2i G +10 &4Lg F +9 &6 i G +10 &7h G +9 &9h G +9 &;Rg G +10 &=h G +9 &>h G +9 &@h G +10 &B[h G +9 &Dh G +10 &Ek G +9 &Gu H +9 &I\\{ I +10 &K K +9 &L L +9 &N M +10 &PZ M +9 &R M +10 &S M +9 &U N +9 &W_ N +10 &Y" F +9 &ZVH Z +9 &ZG + +6 ( +2 "processing"%& +3 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.51 +2 .Hand.open + "manipulator"&S1 +4 "core" &Z + +60 1 +2 "manipulator"&`% +4 "core" % P | +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&)'\ +97 "core" ' +2 "processing"%:& +4 "core" &Z + +2 #tImaging generic puck in Processing Clamp while storing it to tube 6 + "manipulator"&% +4 "core" %\ 0 $n +2 "storage"(\ % +3 "core" %S i  +2 "storage"(/. +3 "core" .(K + "storage"(& +4 "core" &K  +2 "storage"(L& +2 "manipulator"&u& +6 "core" &K A  + &l  +4 ."raiseStack"SE.reconfigure :place +2 .tElbow.reconfigure :tight +4 "storage"(#]kK-0-\ b +4 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +3 ."raiseStack"SE.seek :beamBreak +2 "manipulator"&Y(c + "storage"(*'e +5 "core" ( + "manipulator"&#& +4 "core" &l [  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &=& +3 "core" &l  +3 .tForearm.seek PC + "manipulator"&W'[ +97 "core" ' +2 .tHand.close + "manipulator"&~/ +55 "core" / +5 .tPC.seek :open +2 "processing"%Q(p +88 "core" ' +2 "storage"(Z- +3 "core" -'e + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(g'B +30 "core" ' +258 ( + "storage"(& +4 "core" &K\ \   +2 "manipulator"&?& +3 "core" &l M  +2 "manipulator"&% +4 "core" % j S + .tForearm.seek :retract +2 "manipulator"&4'\ +95 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&}( +257 "core" ( + "manipulator"&;& +4 "core" & +2 "storage"( & +4 "core" &K 1  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&'< +98 "core" ' + .tHand.open + "manipulator"&B1 +54 "core" 1 +2 "storage"(%- +4 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate + "storage"(' +22 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.83 Pucks below Top Plate + "storage"([' +50 "core" ' + #tLights, camera, ACTION! +2 "storage"((- +3 "core" -' +2 "storage"(K& +4 "core" &K B  + "manipulator"&n& +4 "core" & * +2 .tElbow.seek 6 +2 "manipulator"&A( +3 "core" ( + "manipulator"&e& +4 "core" & ~  +2 "storage"(&& +3 "core" &K I  +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&'< +4 "core" ' + .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"('M +61 "core" ' + "manipulator"&m& +5 "core" & _ + "storage"(C& +4 "core" &K\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&P'z +18 "core" ' +2 .tElbow.hold +2 "manipulator"&\\, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"(l'7 +23 "core" ' +2 "manipulator"&,% +4 "core" %Ί  +2 "storage"(^& +4 "core" &K Q  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 6 + 316 counts + "manipulator"&x'϶ +19 "core" ' + "manipulator"&T& +5 "core" & ^ v + 7 + "storage"(& +4 "core" &K\ \   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&t'< +16 "core" ' + "storage"(p% +5 "core" %?\ \ p +2 ."downElevator"SE.seek :down +3 "storage"(6'N +99 ({% +3 "core" %C N@ + "manipulator"&1% +5 "core" %B p p + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&+'\ +90 "core" ' +62 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (J& +4 "core" &K |  +2 "collection"'k& +4 "core" &]l-.$ K + #tStoring generic puck in Collection Clamp to tube 6 +2 "manipulator"&R% +4 "core" %\ 3 %v + "storage"(G% +4 "core" %P \  "  + "storage"(b. +3 "core" .(K +2 "storage"(0& +4 "core" &K \ \ Z  + "storage"(i& +4 "core" &K\  Z  +2 "manipulator"&& +4 "core" & 7 + .tElbow.seek 6 +2 "manipulator"&8( +17 "core" ( + "manipulator"&& +4 "core" & ^ "x +2 "storage"(c& +3 "core" &K ,  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&7'< +96 "core" ' +2 "storage"(-& +4 "core" &K\ \   +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(5'e +277 "core" ' + "storage"( - +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&.& +3 "core" & V "x +2 "storage"(9& +4 "core" &K\ a  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&'z +31 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(N- +2 "core" -' +3 .tSE.seek 0.11 Pucks below Top Plate + "storage"(f'l +37 "core" ' + "manipulator"&2% +5 "core" %΂h   ƶ + "storage"( & +4 "core" &K   + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 6 + 308 counts +2 "manipulator"&'Ϯ +14 "core" ' + "manipulator"&& +5 "core" & s ] $ + "storage"(v& +4 "core" &K\ \ 1  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&F'< +11 "core" ' +2 .tSE.seek 1.11 Pucks below Top Plate +2 "storage"(3'[ +47 "core" ' +2 "manipulator"& & +4 "core" & e c $ +2 "manipulator"&H% +4 "core" %5 d a [  + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&]'\ +92 "core" ' + .tElbow.seek CC +2 "manipulator"&!( +158 "core" ( + "manipulator"&s& +4 "core" &) f @W +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &q& +3 "core" &( $ ?V +2 .tForearm.seek CC +2 "manipulator"&_'| +97 "core" ' + .tHand.close +2 "manipulator"&U/ +61 "core" / +2 .tCC.seek :open +2 "collection"'(p +410 "core" ( +2 "storage"(& +4 "core" &K\ \  y  + "storage"(& +4 "core" &K \ u  + "manipulator"&I& +4 "core" &#" R :- + "manipulator"&V% +4 "core" % φ G +2 .tForearm.seek :retract +2 "manipulator"&D'\ +96 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&( +170 "core" ( + "manipulator"&M& +4 "core" & " +2 "storage"(a& +4 "core" &K\ !\ "  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 6 +2 "manipulator"&d'z +164 "core" ' + .tElbow.hold +2 "manipulator"&<, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&o1 +53 "core" 1 +2 "manipulator"&O% +5 "core" % Έz ' »: + "storage"(w& +4 "core" &K  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 314 counts +2 "manipulator"&@'ϴ +18 "core" ' +2 "manipulator"&& +4 "core" & v p  l +2 "storage"(& +3 "core" &K\ !\   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&$'< +15 "core" ' + "storage"(% +4 "core" %a\ !\ ! +3 ."downElevator"SE.seek :down +3 "storage"('N +99 (% +2 "core" %@\ !\  N> +2 "manipulator"&>% +4 "core" %E o o +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&h'\ +91 "core" ' +48 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 5 of [5..6] + #Loading generic puck from tube 5 into Collection Clamp +2 "collection"''& +4 "core" &**$ +2 "manipulator"&|% +4 "core" %\ 8 1 %~ + "storage"("% +4 "core" %K\ \ K +2 "storage"(z. +3 "core" .(K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"((<< +357 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (S& +2 "core" &<=\ \ \ - +2 "manipulator"&`& +4 "core" & [ l +2 .tElbow.seek 5 + "manipulator"&:( +30 "core" ( +2 "manipulator"&& +4 "core" & \ + "storage"(\ & +4 "core" &<=\ \ : +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&/' +99 "core" ' +2 "storage"(& +4 "core" &<=\ !\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('e +275 "core" ' +2 "storage"(u- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (L& +3 "core" &<=\ !\   + "manipulator"&#& +4 "core" & L \ +2 .tElbow.seek 5 +2 "manipulator"&=( +11 "core" ( + "manipulator"&& +5 "core" & ;  + "storage"(~& +4 "core" &<=\ !\ !  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&Z'[ +10 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&r/ +56 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&)& +2 "storage"(y'N +8 "core" & } v J  + "manipulator"&% +4 "core" % Q L M +2 .tForearm.seek :retract +2 "manipulator"&?'\ +94 "core" ' +2 .tElbow.seek CC + "manipulator"&( +147 "core" ' + ."downElevator"SE.stop + "storage"(5 +8 "core" ( +3 "manipulator"&*& +10 "core" &* t <? +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &W& +2 "core" &* r <? +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&;'| +98 "core" ' +2 "manipulator"& & +4 "core" &) N <? + "manipulator"&Y% +4 "core" %s E +2 "collection"'B& +4 "core" &,+) +2 "collection"'%& +7 "core" &+,3 +2 .tCC.seek :closed + "collection"'((] +4 "core" &*)7  +9 &8*+) *x +9 &j)+' = +9 &x+-- G +10 &Gi+,1 F +9 &i++' G +9 &m+-' G +10 &!j)+/ F +9 &#Nj**& G +9 &%l)+* G +10 &&m*+- G +9 &(i++3 F +10 &*Wj)*4 F +9 &,h)+3 F +9 &-k)*, G +10 &/j*+- F +9 &1^j,+- G +9 &3 m+)$ G +10 &4l,*, G +9 &6m++- F +10 &8fj*-1 G +9 &:(k),. G +9 &;k,,, G +10 &=j),' G +9 &?ni*,+ G +9 &A0g)+- G +10 &Bj**2 G +9 &Dk+,3 G +10 &Fvh(+/ G +9 &H8l),6 G +9 &Iy+,0 H +10 &K*,6 J +9 &Mk-.7 M +9 &O&,.5 P +10 &P-,1 P +9 &R-/. P +10 &Tg,/( Q +9 &V'..4 R +9 &W--# R +10 &Y./ T +9 &[d-/( U +10 &]r-. %s +9 &]-,0' M +9 ( +2 "collection"'%& +4 #tCollection Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.86 + .Hand.open + "manipulator"&K1 +4 "core" &]7/." 9 +58 1 +2 "manipulator"&n% +4 "core" % s 1 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&e'\ +92 "core" ' +2 #tLoading generic puck from tube 5 into Processing Clamp + "processing"%&& +4 "core" & +2 "manipulator"&4% +3 "core" %\ * e !W +2 "storage"(m% +4 "core" %E \ 7 + "storage"(C. +3 "core" .(<< +2 "storage"(,& +4 "core" &<=\ \ \ D + "storage"(^& +4 "core" &<= \ f +2 "manipulator"&g& +4 "core" &% A <; + "manipulator"&T% +4 "core" %\ * : !W +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&( +181 "core" ( + "manipulator"&& +4 "core" &   +2 "storage"(p& +3 "core" &<= \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&}' +98 "core" ' + "storage"(& +4 "core" &<=\ \  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(['e +278 "core" ' + "storage"({- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (1& +2 "core" &<=\ Z +2 "manipulator"&& +4 "core" &   +2 .tElbow.seek 5 +2 "manipulator"&A( +7 "core" ( + "manipulator"&& +5 "core" &    + "storage"(P& +5 "core" &<=\ \ +2 .tForearm.seek 5 + 300 counts + "manipulator"&J'[ +11 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&x/ +63 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&k& +2 "storage"(R'N +7 "core" &  f l  + "manipulator"&G% +4 "core" % Y n k 0 +2 .tForearm.seek :retract +2 "manipulator"&b'\ +98 "core" ' + .tElbow.seek PC +2 "manipulator"&l(c +152 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +90 "core" ( + "manipulator"&0& +5 "core" &j U  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &i& +2 "core" &j  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&'[ +93 "core" ' +2 "manipulator"&& +4 "core" &j   + "manipulator"&c% +4 "core" %S  +2 "processing"%t& +4 "core" & +2 "processing"%-& +6 "core" & +2 .tPC.seek :closed +2 "processing"%6(Z +4 "core" &  +8 &7 )w +10 &k = +9 &v G +9 &Dh G +10 &m G +9 &g G +9 &!h G +10 &#Km G +9 &%i F +9 &&j G +10 &(f G +9 &*Tf G +10 &,h G +9 &-j G +9 &/h F +10 &1[h G +9 &3j F +9 &4i G +10 &6h G +9 &8eh F +10 &:'h F +9 &;h G +9 &=k G +10 &?kl G +9 &A.j G +9 &Bl G +10 &Dh G +9 &Fsm G +10 &H1w H +9 &I J +9 &K K +10 &Mj M +9 &O* N +9 &P M +10 &R M +9 &Tr M +10 &V2 N +9 &W N +9 &Y 2 +10 &Z2 L +9 &Z * +2 ( +2 "processing"%-& +3 #tProcessing Clamp onSpring/offSpring for 8/26 samples, on/off torque 1.52 + .Hand.open + "manipulator"&\\1 +63 "core" 1 + "manipulator"&+% +4 "core" % S \ +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"& '\ +100 "core" ' + "processing"%.& +4 "core" &Z * +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 + "manipulator"&9% +4 "core" %\ 9 ( +2 "storage"(N% +3 "core" %B +2 "storage"(2. +3 "core" .(<< + "storage"( & +4 "core" &<= ] +2 "storage"(& +2 "manipulator"&v& +6 "core" &<=\  c + &j  +4 .tElbow.reconfigure :tight + ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +3 "storage"(#]kK-0-\ b +2 "manipulator"& (c +5 ."raiseStack"SE.seek :beamBreak + "storage"(H'e +3 "core" ( + "manipulator"&7& +4 "core" &j  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &8& +3 "core" &j  +2 .tForearm.seek PC +2 "manipulator"&5'[ +94 "core" ' +52 .tHand.close +3 "manipulator"&/ +53 "core" / + .tPC.seek :open +2 "processing"%(p +46 "core" ' +2 "storage"(f- +3 "core" -'e +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(s'B +42 "core" ' +288 ( + "storage"(q& +4 "core" &<=\ \  E +2 "manipulator"&F& +4 "core" &j R  + "manipulator"&% +4 "core" % h "  +2 .tForearm.seek :retract +2 "manipulator"&U'\ +94 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&]( +284 "core" ( + "manipulator"& & +4 "core" &  ' +2 "storage"(& +4 "core" &<= \ * +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&' +93 "core" ' +2 .tHand.open + "manipulator"&I1 +60 "core" 1 +2 "storage"(V- +3 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate +2 "storage"(M' +21 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(a' +52 "core" ' +2 #tLights, camera, ACTION! + "storage"(_- +4 "core" -' + "storage"(!& +4 "core" &<= 2 +2 "manipulator"&o& +4 "core" & J & + .tElbow.seek 5 +2 "manipulator"&O( +3 "core" ( +2 "manipulator"&w& +4 "core" & L & + "storage"(& +4 "core" &<= ` +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&' +15 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"(D'M +61 "core" ' +2 "manipulator"&& +4 "core" & w [ & +2 "storage"(& +4 "core" &<=\  Q + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&>'/ +29 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"(d'7 +25 "core" ' + "manipulator"&'% +5 "core" %A} _ ¼G + "storage"(|& +4 "core" &<= R +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 318 counts + "manipulator"&@'m +17 "core" ' + "manipulator"&"& +5 "core" &! x h # + "storage"(z& +5 "core" &<=\ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&3' +20 "core" ' +2 "storage"($% +4 "core" %>\ \ D +3 ."downElevator"SE.seek :down +3 "storage"('N +99 (E% +3 "core" %zI \  G M? +2 "manipulator"&S% +4 "core" % o o * + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&`'\ +90 "core" ' +62 ' + ."downElevator"SE.stop + "storage"(5 +3 (& +3 "core" &<=\  +2 "collection"'\ & +4 "core" &]6--) 9 +2 #tStoring generic puck in Collection Clamp to tube 5 + "manipulator"&% +4 "core" %\ - "_ + "storage"(<% +4 "core" %9\ \  \ + "storage"(h. +2 "core" .(<< +2 "storage"(u& +4 "core" &<= \  6 + "storage"(L& +4 "core" &<=\ \  +2 "manipulator"&#& +4 "core" &! # +2 .tElbow.seek 5 +2 "manipulator"&( +29 "core" ( + "manipulator"&~& +4 "core" & |  +2 "storage"(r& +4 "core" &<=\ \ . +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&)' +93 "core" ' +2 "storage"(& +4 "core" &<=\ \  C +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(:'e +287 "core" ' +2 "storage"(/- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&*& +2 "core" & V  +2 "storage"(W& +5 "core" &<=\ \  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&'/ +30 "core" ' +2 .tElbow.hold +2 "manipulator"&Z, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"( - +2 "core" -' +2 .tSE.seek 0.12 Pucks below Top Plate +2 "storage"(Y's +28 "core" ' +2 "manipulator"&B% +4 "core" %Bs . % + "storage"(=& +4 "core" &<= * +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 5 + 319 counts +2 "manipulator"&y'n +17 "core" ' + "manipulator"&?& +5 "core" & u ^   + "storage"(& +4 "core" &<=\ \ ` +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 450 counts +2 "manipulator"&K' +19 "core" ' +2 .tSE.seek 1.12 Pucks below Top Plate +2 "storage"(n'b +50 "core" ' +2 "manipulator"&&& +4 "core" & n o   +2 "manipulator"&4% +4 "core" % o n + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&m'\ +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&C( +168 "core" ( + "manipulator"&,& +4 "core" &,  Bg +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &^& +2 "core" &,  Bf +2 .tForearm.seek CC +2 "manipulator"&%'| +98 "core" ' + .tHand.close + "manipulator"&g/ +60 "core" / +2 .tCC.seek :open +2 "collection"'T(p +410 "core" ( +2 "storage"(;& +4 "core" &<=\ \ !  + "storage"(& +4 "core" &<=\ \  8 + "manipulator"&p& +4 "core" &/% I <= +2 "manipulator"&% +3 "core" % σ y +2 .tForearm.seek :retract +2 "manipulator"&'\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&e( +166 "core" ( +2 "manipulator"&{& +4 "core" & 2 +2 "storage"(1& +3 "core" &<=\ \ ! +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 5 +2 "manipulator"&'/ +107 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&P1 +53 "core" 1 +2 "manipulator"&x% +4 "core" % C~ ( $ J +2 "storage"(k& +3 "core" &<= \ 8 +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 5 + 320 counts +2 "manipulator"&G'o +18 "core" ' + "manipulator"&& +5 "core" & _ s +  +2 "storage"(}& +3 "core" &<=\ \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&[' +10 "core" ' + "storage"(J% +5 "core" %e\ C\ * # +2 ."downElevator"SE.seek :down +3 "storage"(0'N +99 (i% +3 "core" %A\ \ ! N? + "manipulator"&A% +4 "core" % o o 2 +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +87 "core" ' +51 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 6 of [5..6] +2 #Loading generic puck from tube 6 into Collection Clamp + "collection"'c& +4 "core" &** +2 "manipulator"&t% +4 "core" %\ 0 S $r + "storage"(R% +4 "core" %@\ "\   +2 "storage"(b. +3 "core" .(<< +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 6 + "storage"(Q(K +359 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (\\& +3 "core" &K\ \ \   + "manipulator"&+& +4 "core" & f  +2 .tElbow.seek 6 +2 "manipulator"&.( +22 "core" ( + "manipulator"&9& +4 "core" & *  +2 "storage"(N& +3 "core" &K\ !\ !   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&2'< +92 "core" ' + "storage"(-& +4 "core" &K\ "\ ' F  +52 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"( 'e +276 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (v& +3 "core" &K\ \    + "manipulator"&7& +4 "core" & p o  +2 .tElbow.seek 6 +2 "manipulator"&8( +3 "core" ( + "manipulator"&& +4 "core" & y t   +2 "storage"(& +3 "core" &K\ \ "   +3 .tForearm.seek 6 + 300 counts + "manipulator"&f'Ϧ +24 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&l/ +59 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"& & +2 "storage"(6'N +7 "core" & o o !  + "manipulator"&H% +4 "core" % ϡ o o  +2 .tForearm.seek :retract +2 "manipulator"&q'\ +89 "core" ' + .tElbow.seek CC +2 "manipulator"&F( +151 "core" ( +2 "manipulator"&& +5 "core" & | / ' +2 ."downElevator"SE.stop +3 .tElbow.reconfigure :loose +2 "storage"(5 +2 "manipulator"&$ &.,(#b +4 &5& +3 "core" &  / +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"& '| +96 "core" ' +2 "manipulator"&& +4 "core" & e / +2 "manipulator"& % +4 "core" %| + +2 "collection"'I& +3 "core" &*(/ +2 "collection"'V& +6 "core" &)+" +2 .tCC.seek :closed +2 "collection"'_(] +4 "core" &)+: +7 &9++; #c +9 &q[*++ 6 +10 &+-2 G +9 &e*,- F +9 &ej*,- F +10 &&k+,3 G +9 & m),1 G +9 &"m)*5 G +10 &$lg*+, G +9 &&.h,+5 G +9 &'j++0 G +10 &)l+,/ G +9 &+sk+,2 G +10 &-6g+*4 G +9 &.j*+0 F +9 &0j)*6 G +10 &2}j**3 F +9 &4>j)+- G +10 &6k),. G +9 &7m(*/ G +9 &9g,-4 G +10 &;Gh',2 F +9 &=k)+. G +9 &>h(,6 G +10 &@h*+- F +9 &BNj)+- G +10 &Dg*,6 G +9 &Eg*,, G +9 &Gj,-2 G +10 &IRu**& H +9 &K+*6 J +10 &L++7 N +9 &N,,4 O +9 &PC,/5 P +9 &R-.2 Q +10 &S./, Q +9 &U.-+ T +10 &WE/1 R +9 &Y./' T +9 &Z-0' T +10 &\\|+/) D +9 &]p---) %l +10 &]I..% > +2 ( + "collection"'V& +4 #tCollection Clamp onSpring/offSpring for 10/25 samples, on/off torque 1.92 + .Hand.open + "manipulator"&!1 +63 "core" 1 +2 "manipulator"&o% +4 "core" % | ! +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&w'\ +91 "core" ' +2 #tLoading generic puck from tube 6 into Processing Clamp + "processing"%& +5 "core" & + "manipulator"&U% +4 "core" %\ -  "[ +2 "storage"(% +3 "core" %G\ j +2 "storage"(. +3 "core" .(K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"(s(K +8 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 ('& +3 "core" &K  +2 "manipulator"&|& +3 "core" & j / +2 "manipulator"&M% +4 "core" %\ - 4 "[ + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&"( +172 "core" ( +2 "manipulator"&z& +4 "core" &   +2 "storage"($& +3 "core" &K\ \   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&]'< +93 "core" ' +3 "storage"(& +8 "core" &K\ \ L  +4 .tSE.reconfigure :pick +4 "storage"(#]K-0-\ b +7 .tSE.seek :beamBreak +2 "storage"(a'e +278 "core" ' + "storage"(E- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (S& +2 "core" &K\  i  +2 "manipulator"&& +4 "core" &\    + .tElbow.seek 6 +2 "manipulator"&O( +16 "core" ( + "manipulator"&D& +4 "core" & u | ^  +2 "storage"(>& +3 "core" &K \  /  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&@'Ϧ +29 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +60 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&\ & + "storage"('N +8 "core" & o o   + "manipulator"&<% +4 "core" % ϻ e o +2 .tForearm.seek :retract +2 "manipulator"&h'\ +88 "core" ' +2 .tElbow.seek PC +2 "manipulator"&u(c +161 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +82 "core" ( +2 "manipulator"&d& +4 "core" &_   +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &L& +3 "core" &_ K  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC + "manipulator"&#'[ +93 "core" ' + "manipulator"&~& +4 "core" &_ P  +2 "manipulator"&r% +4 "core" %S   +2 "processing"%3& +3 "core" & +3 "processing"%& +4 "core" & +2 .tPC.seek :closed +2 "processing"%(Z +4 "core" &  +10 &5 )w +9 &k = +9 &y{ G +10 &>h F +9 &j F +9 &j F +10 &!j G +9 &#Eg G +10 &%i F +9 &&h G +9 &(l G +10 &*Mg G +9 &,g G +9 &-h F +10 &/j G +9 &1Uh G +10 &3l G +9 &4h F +9 &6i G +10 &8\\k G +9 &:g G +9 &;i G +10 &=k G +9 &?eh G +10 &A'i G +9 &Bl G +9 &Dj F +10 &Fkl G +9 &H,t H +9 &I J +10 &K K +9 &Md M +10 &O% M +9 &P M +9 &R M +10 &Tk M +9 &V, M +9 &W N +10 &Y 8 +9 &Z. X +10 &Z * +2 ( +2 "processing"%& +2 #tProcessing Clamp onSpring/offSpring for 8/26 samples, on/off torque 1.53 +2 .Hand.open + "manipulator"&1 +59 "core" 1 + "manipulator"&`% +5 "core" % S 3  + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&/'\ +92 "core" ' +2 "processing"%*& +4 "core" &Z * +2 #tImaging generic puck in Processing Clamp while storing it to tube 6 + "manipulator"&W% +4 "core" %\ + !W +2 "storage"( % +3 "core" %E  +2 "storage"(B. +3 "core" .(K + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"(=(K +3 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (?& +3 "core" &K G  +2 "manipulator"&& +3 ."raiseStack"SE.reconfigure :place +6 "storage"(#]kK-0-\ b +3 "core" &_ |  + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +2 ."raiseStack"SE.seek :beamBreak +3 "manipulator"&&(c + "storage"(4'e +6 "core" ( + "manipulator"&)& +4 "core" &_  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &_ y  +2 .tForearm.seek PC +2 "manipulator"&:'[ +100 "core" ' + .tHand.close +2 "manipulator"&/ +60 "core" / + .tPC.seek :open +2 "processing"%y(p +80 "core" ' +3 "storage"(Y- +3 "core" -'e +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(,'B +40 "core" ' +255 ( + "storage"(^& +5 "core" &K\ \ I  + "manipulator"&K& +4 "core" &_   +2 "manipulator"&Z% +3 "core" % d  +2 .tForearm.seek :retract +2 "manipulator"&g'\ +99 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&m( +256 "core" ( + "manipulator"&(& +5 "core" & [ + "storage"(;& +4 "core" &K\ \  a  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts + "manipulator"&'< +111 "core" ' + .tHand.open + "manipulator"&p1 +54 "core" 1 +2 "storage"(- +3 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate +2 "storage"({' +22 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(1' +51 "core" ' +2 #tLights, camera, ACTION! + "storage"(%- +4 "core" -' + "storage"(C& +4 "core" &K %  +2 "manipulator"&P& +4 "core" & p q  + .tElbow.seek 6 +2 "manipulator"&x( +3 "core" ( + "manipulator"&k& +4 "core" & \\ u  +2 "storage"(& +4 "core" &K  +42 .tForearm.seek 6 + 450 counts +13 "manipulator"&}'< +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"(J'M +65 "core" ' +2 "manipulator"&& +4 "core" & p o  +2 "storage"(i& +4 "core" &K\ \  %  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&A'z +32 "core" ' +2 .tElbow.hold +2 "manipulator"&e, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"('7 +22 "core" ' +2 "manipulator"&c% +4 "core" %Ό  g +2 "storage"(t& +4 "core" &K D  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 6 + 318 counts +2 "manipulator"&R'ϸ +18 "core" ' + "manipulator"&b& +5 "core" & w b 2 > + "storage"(G& +4 "core" &K \ <  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&n'< +21 "core" ' + "storage"([% +5 "core" %<\ \ T +2 ."downElevator"SE.seek :down +3 "storage"(0'N +99 (% +3 "core" %@H\  T NA +2 "manipulator"&\\% +5 "core" % y n D # + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&+'\ +90 "core" ' +58 ' + ."downElevator"SE.stop + "storage"(5 +3 (9& +4 "core" &K\   + "collection"'N& +4 "core" &]D,0% > +2 #tStoring generic puck in Collection Clamp to tube 6 +2 "manipulator"&-% +3 "core" %\ 3 9 % +2 "storage"(% +4 "core" %<\  X  + "storage"(. +4 "core" .(K + "storage"(& +4 "core" &K\ d  + "storage"(v& +4 "core" &K \ +  +2 "manipulator"&7& +4 "core" &  = + .tElbow.seek 6 +2 "manipulator"&( +22 "core" ( +2 "manipulator"&& +4 "core" & L ) +2 "storage"(l& +3 "core" &K\ G  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"& '< +94 "core" ' +2 "storage"(H& +4 "core" &K\  c  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(.'e +290 "core" ' + "storage"(2- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&& +3 "core" &  ( +2 "storage"(5& +4 "core" &K\ \  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"& 'z +31 "core" ' +2 .tElbow.hold + "manipulator"&f, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(- +3 "core" -' +2 .tSE.seek 0.11 Pucks below Top Plate +2 "storage"( 'm +28 "core" ' +2 "manipulator"&I% +4 "core" %΋y \  N Ż< + "storage"(8& +4 "core" &K (  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 317 counts + "manipulator"&6'Ϸ +17 "core" ' + "manipulator"&q& +5 "core" & v ` W ' + "storage"(T& +4 "core" &K\ y  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 450 counts +2 "manipulator"&!'< +16 "core" ' +2 .tSE.seek 1.11 Pucks below Top Plate +2 "storage"(o'\\ +47 "core" ' +2 "manipulator"&& +4 "core" & n o ' +2 "manipulator"&U% +4 "core" %7 n o +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +95 "core" ' + .tElbow.seek CC +2 "manipulator"&( +162 "core" ( +2 "manipulator"&V& +4 "core" & 8 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &'& +3 "core" & & 8 +2 .tForearm.seek CC + "manipulator"&|'| +96 "core" ' +2 .tHand.close + "manipulator"&M/ +54 "core" / + .tCC.seek :open +2 "collection"' (p +411 "core" ( + "storage"(z& +4 "core" &K\ \ !  +2 "storage"($& +3 "core" &K\ \ !  +2 "manipulator"&Q& +3 "core" & 5 7 +2 "manipulator"&% +4 "core" % o  + .tForearm.seek :retract +2 "manipulator"&F'\ +96 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&w( +167 "core" ( + "manipulator"&E& +4 "core" & - +2 "storage"(S& +4 "core" &K\ \ !   + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 6 +2 "manipulator"&'z +109 "core" ' +2 .tElbow.hold +2 "manipulator"&D, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&>1 +60 "core" 1 +2 "manipulator"&% +4 "core" % Ύ  M +2 "storage"(\ & +3 "core" &K  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 6 + 320 counts +2 "manipulator"&<'Ϻ +16 "core" ' +2 "manipulator"&"& +4 "core" & w e D "{ +2 "storage"(]& +3 "core" &K\ \    +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts +2 "manipulator"&a'< +16 "core" ' +2 "storage"(@% +4 "core" %a\ !\ ' 9 +3 ."downElevator"SE.seek :down +3 "storage"(d'N +98 (L% +3 "core" %C\ "\  q M> +2 "manipulator"&O% +5 "core" %/ | x w  + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&~'\ +93 "core" ' +44 ' +2 ."downElevator"SE.stop + "storage"(5 +25477 "Can" :7 +60002  ;7 +60002  ;7 +60002  ;8 +60002  ;7 +60002  :7 +60002  :7 +60002  :7 +60001  :7 +60002  ;8 +60002  ;7 +60002  :7 +60002  ;7 +60002  ;7 +60002  :7 +60002  :7 +60002  :7 +60002  :7 +60001  :7 +60002  :7 +60002  ;8 +60002  ;7 +60002  :7 +60002  :7 +60002   ;7 +60002  :7 +60001  ;7 +60002  :8 +60002  :7 +60002  ;7 +60002  ;8 +60002  :7 +35941 #t-> access 6 +2 "storage"(r% +4 "core" %=\ #\ #  + "manipulator"&3% +4 "core" %\ 4 q & +2 "manipulator"&& +3 "core" & "z +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(h( +995 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (& +2 "core" & _ +2071 #t-> access 5 +2 "storage"(% +3 "core" %=\ "\ "  +2 "manipulator"&`% +4 "core" %\ 4 & + "manipulator"&*& +4 "core" & "z +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"(W(  +353 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 ( & +2 "core" & \ \ \ ` +20578 "Can"! :7 +17294 !to:SignalException: mesg" SIGHUP:\ signoi:bt["+/home/esp/esp2/lib/esp.rb:77:in `join'"1/home/esp/esp2/lib/esp.rb:77:in `mainThread'""/home/esp/esp2/lib/esp.rb:339 +6 #mEXIT @1671218209.84EST @1673016976.86EST = =tMAIN =mMAIN_scheduler @EST1673016978.80 #"core_reset"Sent BREAK +2 #t@52819 idle with ifg=0x00, ie=0x75 + #>RESET< ESP2 v3.41 I2C Gateway v3.20 +208 #>RESET< ESP2 v3.41 I2C Gateway v3.20 for core bus +213 !o:Instrument::ISUSCore: @refipJV: @configS:Instrument::Configuration: name" ISUS:calFileName0:sampleCmd"TS: prompt"\ :statusCmd"C:sampleTimeouti#:promptTimeouti:statusTimeouti: retriesi:strToPrompt"W: pace0: echoF:\ @name@ +105 #Configuration for don (12651-03) 10/9/20 brent@mbari.org\ /home/esp/esp2/type/shallow/don/configure.rb\ +407 "Can" '"w +  '"w #tPolling Can every 10:00 +3 #Cleanly exited at 14:16:49EST16-Dec-22 +575 #-> ESP.ready! +3 #Powering core bus +570 .Gate.power :raw,:ON +2 "sampler") +34 ) +2 "core"  +2 "collection"' +2 ' +3 "core"  +2 "processing"% +2 % +3 "core"  +5 "collection"' 9\ +2 ' 0\ + ' -\ +4 "processing"% 9\ +3 % 2\ +2 % *\ +2 % 0\ +4 "sampler")&\ +2 "collection"'% +3 "core" %./I + .tCS.configure :default +3 "collection"'#P d@b +2 "processing"%% +3 "core" % + .tPS.configure :default +3 "processing"%#A d`xb +2 "sampler")% +3 "core" %  + .tSS.configure :default +3 "sampler")#.0X L +2 "collection"'99 +3 "core" 9ae +2 "processing"%:9 +3 "core" 9x +1469 #t-> Hand.open +2 .Hand.open + "manipulator"&;1 +64 "core" 1 +259 #t-> HAnd.close +2 !o:NameError: mesg" uninitialized constant HAnd: name: HAnd:bt["(ESP):3:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +333 #-> Hand.close +2 .Hand.close + "manipulator"& Hand.open +2 .Hand.open + "manipulator"&=1 +52 "core" 1 +165 #t-> Hand.close + .Hand.close +2 "manipulator"&>/ +57 "core" / +166 #t-> Hand.open +2 .Hand.open + "manipulator"&?1 +56 "core" 1 +79 #t-> Hand.close +2 .Hand.close + "manipulator"&@/ +55 "core" / +486 #t-> Arm.home +2 "manipulator"&A& +3 "core" &4 I !v +2 "manipulator"&B% +4 "core" % \ 5 s &V +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek :home +2 "manipulator"&C( +239 "core" ( +2 "manipulator"&D& +4 "core" & a B + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &E& +3 "core" & + B +2 .tForearm.seek :home + "manipulator"&F' +53 "core" ' + "manipulator"&G& +4 "core" & a z 7 B +2 "manipulator"&H% +3 "core" % | c +957 #t-> Arm.ready! +2 .Forearm.reconfigure :loose +2 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +2 "manipulator"&I'\ +68 "core" ' +2 .tElbow.jog 1500 +2 "manipulator"&J* +51 "core" * +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 .tElbow.home.seek :clear +2 "manipulator"&K(d +255 "core" ( + "manipulator"&L& +4 "core" &d I $ +2 "manipulator"&M% +3 "core" %\ ) 7 +270 #t-> Arm.home +2 "manipulator"&N& +3 "core" &d $ + "manipulator"&O% +4 "core" %\ ) 7 +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek :home + "manipulator"&P( +191 "core" ( + "manipulator"&Q& +4 "core" & g +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &R& +3 "core" & Q g +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :home +2 "manipulator"&S' +43 "core" ' +2 "manipulator"&T& +4 "core" & W v J g + "manipulator"&U% +4 "core" % p ` +117 #t-> Arm.ready! +2 .Forearm.reconfigure :loose +3 "manipulator"&#@2^d^b +2 .tForearm.home.seek :retract +3 "manipulator"&V'\ +64 "core" ' +2 .tElbow.jog 1500 +2 "manipulator"&W* +41 "core" * +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 .tElbow.home.seek :clear +2 "manipulator"&X(d +250 "core" ( + "manipulator"&Y& +4 "core" &d  $ +2 "manipulator"&Z% +3 "core" %\  e  +343 #t-> Flush.CC +2 #Loading FlushPuck into Collection Clamp from FlushPuck::Garage + "collection"'[& +4 "core" &R.0m  + .tHand.open +2 "manipulator"&\\1 +52 "core" 1 +2 "manipulator"&]& +4 "core" &d  $ + "manipulator"&^% +5 "core" % \  +  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek FlushPuck::Garage +2 "manipulator"&_(, +126 "core" ( + "manipulator"&`& +4 "core" &, | T o +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &a& +3 "core" &, 8 o +2 .tForearm.seek :garage +2 "manipulator"&b' +97 "core" ' +2 .tHand.close + "manipulator"&c/ +62 "core" / + "manipulator"&d& +4 "core" &, l o +2 "manipulator"&e% +4 "core" %   ; + .tForearm.seek :retract +2 "manipulator"&f'\ +96 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&g( +281 "core" ( + "manipulator"&h& +4 "core" &%  <? + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &i& +3 "core" &% > <? +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&j'| +93 "core" ' +2 "manipulator"&k& +4 "core" &% <? + "manipulator"&l% +4 "core" %φ * +2 "collection"'m& +4 "core" &R0/C  +2 "collection"'n& +4 "core" &R/1D  +2 .tCC.seek :closed +2 "collection"'o(] +4 "core" &R-/p  +9 &7.1q *z +10 &j11n > +9 &C}-/l J +10 &m10m H +9 &r//q I +9 &r0/m I +10 &!Lr0/l I +9 &#r.1k I +9 &$n1/k I +10 &&n1/m I +9 &(Vp/0j H +10 &*p/0q H +9 &+o/1m I +9 &-s/0p I +10 &/^r/1n H +9 &1s-1m I +9 &2q/0k H +10 &4o.0i I +9 &6eo.0j I +10 &8(k//l H +9 &9m./l I +9 &;k00k H +10 &=nq1/j H +9 &?/m/.i I +9 &@n/1l I +10 &Bn-0k I +9 &Dvm.0i H +10 &F7o./l I +9 &Gs..k I +9 &Iz%'l J +10 &Kvj K +9 &M.k O +9 &Nm Q +10 &Pk Q +9 &Rjq R +10 &T*k S +9 &Uh S +9 &Wq S +10 &Yjk U +9 &[-i T +9 &\\yr 0 +10 &](r ] +9 &]hu D +2 ( +2 "collection"'n& +3 #tCollection Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.80 +2 "collection"'p& +4 "core" &]gF D + .tHand.open + "manipulator"&q1 +60 "core" 1 +2 "manipulator"&r% +4 "core" % φ B +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&s'\ +91 "core" ' +611 #t-> Flush.PC + #Loading FlushPuck into Processing Clamp from Collection Clamp +2 "processing"%t& +3 "core" &T  +2 "manipulator"&u& +4 "core" &* ~ 7 + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&v( +25 "core" ( +2 "manipulator"&w& +4 "core" & ! + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &x& +3 "core" &  ! +2 .tForearm.seek CC + "manipulator"&y'| +93 "core" ' +2 .tHand.close + "manipulator"&z/ +63 "core" / +2 .tCC.seek :open +2 "collection"'{(p +414 "core" ( + "manipulator"&|& +4 "core" &   + "manipulator"&}% +4 "core" % ρ  +2 .tForearm.seek :retract + "manipulator"&~'\ +94 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +2 "manipulator"&(c +350 "core" ( + "manipulator"&& +4 "core" &f F +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &f s +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&'[ +109 "core" ' +2 "manipulator"&& +4 "core" &f o ? + "manipulator"&% +4 "core" %X {  | +2 "processing"%& +3 "core" &T  +2 "processing"%& +5 "core" &T  +2 .tPC.seek :closed + "processing"%(Z +4 "core" &T  +9 &9* *y +9 &l' > +9 &X}+ H +10 &n* H +9 &qt G +9 &l. G +10 &!an* G +9 &##p) G +10 &$p+ G +9 &&s* G +9 &(iq* G +10 &*+p) G +9 &+n* H +9 &-kH G +10 &/pm* H +9 &12m* H +10 &2n+ H +9 &4n* G +9 &6yk* G +10 &8;r' G +9 &9o= G +9 &;m* H +10 &=n* G +9 &?Do* G +10 &Ap' H +9 &Bp* G +9 &Dp G +10 &FKm- G +9 &H t! H +9 &I$ I +10 &K* K +9 &MD) M +9 &O* N +10 &Pk N +9 &R N +10 &TJo M +9 &V + M +9 &W+ O +10 &Y' ; +9 &Z}6' X +9 &Zo ( +3 ( + "processing"%& +3 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.47 +2 "processing"% & +4 "core" &Z" ( + .tHand.open +2 "manipulator"&\ 1 +57 "core" 1 + "manipulator"& % +4 "core" % X k  | +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"& '\ +90 "core" ' +2 "collection"' & +4 "core" &.2B +672 #t-> Flush.garage +2 #Garaging FlushPuck in Processing Clamp + "manipulator"&& +3 "core" &f X +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +2 "manipulator"&(c +2 "core" ( +2 "manipulator"&& +4 "core" &f  7 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +2 "core" &f o +2 .tForearm.seek PC +2 "manipulator"&'[ +96 "core" ' +2 .tHand.close + "manipulator"&/ +60 "core" / +2 .tPC.seek :open + "processing"%(p +392 "core" ( +2 "manipulator"&& +4 "core" &f  + "manipulator"&% +4 "core" % J t +2 .tForearm.seek :retract + "manipulator"&'\ +99 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage +2 "manipulator"&(, +125 "core" ( + "manipulator"&& +4 "core" &, 1  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &, T  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :garage +2 "manipulator"&' +99 "core" ' +2 .tHand.open + "manipulator"&"1 +60 "core" 1 + "manipulator"&%% +4 "core" %  8 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&''\ +98 "core" ' +1175 #t-> access 2 +3 "storage"((% +3 "core" %X(\ \  L +2 "manipulator"&)% +3 "core" %\ 1 $u +2 "manipulator"&& +4 "core" &, j  + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"((K +666 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (#& +3 "core" &K  +21778 #t-> purgeIntake +2 #Loading FlushPuck into Collection Clamp from FlushPuck::Garage +2 "collection"',& +3 "core" &01 + "manipulator"&-& +4 "core" &,   +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek FlushPuck::Garage + "manipulator"&.(, +4 "core" ( + "manipulator"&/& +4 "core" &,  + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &0& +2 "core" &, k  +2 .tForearm.seek :garage +2 "manipulator"&1' +99 "core" ' +2 .tHand.close + "manipulator"&2/ +55 "core" / +2 "manipulator"&3& +4 "core" &, s  + "manipulator"&4% +4 "core" %  Q ` +2 .tForearm.seek :retract + "manipulator"&5'\ +105 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&6( +272 "core" ( + "manipulator"&7& +4 "core" &" C :1 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &8& +3 "core" &# :1 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&9'| +98 "core" ' + "manipulator"&:& +4 "core" &#  :1 +2 "manipulator"&;% +4 "core" %{ ! +2 "collection"'<& +3 "core" &00 +2 "collection"'=& +5 "core" &0/ +2 .tCC.seek :closed +2 "collection"'>(] +4 "core" &2/  +9 &5/0 )w +10 &i.0 > +9 &m01 J +9 &3n.1 H +10 &s0/ I +9 &r/1 I +9 &!wu0. I +10 &#:t/1 I +9 &$r11 I +10 &&p-/ I +9 &(s.2 I +9 &*Bs01 I +10 &,n/1 H +9 &-r0/ H +9 &/s-1 H +10 &1Js02 I +9 &3 u/1 I +9 &4s/0 H +10 &6s/0 I +9 &8Sq11 H +10 &:n/1 I +9 &;p/. I +9 &=s/1 I +10 &?\\o.1 H +9 &Ap11 I +9 &Bv01 I +10 &Dp00 I +9 &Fbr/2 I +10 &H%q/2 H +9 &I/1 I +9 &K*1 L +10 &MW O +9 &O Q +9 &P Q +10 &R  R +9 &TW   R +10 &V\ \  S +9 &W \  T +9 &Y V +10 &[V U +9 &\\y ) +9 &]# E +9 ( +2 &]Z ? +2 "collection"'=& +3 #tCollection Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.78 +2 "collection"'?& +4 "core" &]\\ ? + .tHand.open +2 "manipulator"&@1 +57 "core" 1 +2 "manipulator"&A% +4 "core" % z  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&B'\ +92 "core" ' +2 #tPurging external Intake + "collection"'D& +5 "core" &]\\ ? + "collection"'E% +4 "core" % + .tCSV.dial :flush +2 "collection"'$  +38 "core"  +2 .tCS.seek 10ml +2 "collection"'G' +2194 "core" ' +2 .tdelay 5 seconds +502 ."connect"CSV.dial CBV +4 .tCBV.dial CSV +3 "collection"'H + '&  +5 "core"  +61 ~ +2 .tCTV.dial :intake + "collection"'F  +68 "core"  + .tIntake.select :open +2 "sampler") +9 .tCS.seek 0ml +2 "collection"'C' +2175 "core" ' + .tIntake.select :close + "sampler")0 +9 .tCTV.dial :air +37 "collection"'L  +80 "core"  +2 #tGaraging FlushPuck in Collection Clamp + "manipulator"&M& +4 "core" &$  5 +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&J( +27 "core" ( + "manipulator"&N& +4 "core" & ,  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &O& +3 "core" & q  +2 .tForearm.seek CC +2 "manipulator"&Q'| +94 "core" ' +2 .tHand.close + "manipulator"&R/ +57 "core" / + .tCC.seek :open +2 "collection"'T(p +411 "core" ( + "manipulator"&U& +4 "core" &   +2 "manipulator"&K% +3 "core" % v  +2 .tForearm.seek :retract +2 "manipulator"&I'\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage +2 "manipulator"&S(, +282 "core" ( +2 "manipulator"&P& +4 "core" &, 2 ( + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &Y& +3 "core" &,  ( +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :garage +2 "manipulator"&Z' +96 "core" ' +2 .tHand.open + "manipulator"&W1 +55 "core" 1 +2 "manipulator"&[% +4 "core" %  + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&\\'\ +92 "core" ' +12176 "Can" A? +22647 #t-> da50 +1531 #-> startTube 2 +2786 #-> $da[:extract]=.19 +434 #-> da50 +386 #-> DA50 +2 !o:NameError: mesg" uninitialized constant DA50: name: DA50:bt["(ESP):22:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'" (null):0 +4463 #-> da 50 +2 #da sampling at most 50ml +5 ."Qmail"DAfans.email "Started da in tube 2 at 10:11:53EST06-Jan-23\\n{1 => 0,\\n 7 => 0}\\nCTD data unavailable\\nISUS data unavailable\\nCan@10:06:30, 16% flow, 21.2C, 32% humidity, 14.4psia, 14.92V, 0.291A avg, 0.279A avg, 4.34W",Subject: "da sampling at most 50ml" +4 #tLoading sh1 puck from tube 2 into Collection Clamp +2 "collection"']& +3 "core" &43 +2 "manipulator"&^% +5 "core" %\ '  > +2 "storage"(`% +3 "core" %X'\ \  L +2 "storage"(a. +3 "core" .(K + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"(X(  +74 !"Qmail"o:!Net::SMTPAuthenticationError: mesg"E534-5.7.9 Application-specific password required. Learn more at\ :@checkpoint: omitted:bt["E/opt/mbari/lib/ruby/1.8/net/smtp.rb:954:in `check_auth_response'"/opt/mbari/lib/ruby/1.8/net/smtp.rb:723:in `authenticate'":/opt/mbari/lib/ruby/1.8/net/smtp.rb:566:in `do_start'"7/opt/mbari/lib/ruby/1.8/net/smtp.rb:525:in `start'"2/home/esp/esp2/lib/email.rb:325:in `sendOnce'"3/home/esp/esp2/lib/schedule.rb:292:in `unsync'"3/home/esp/esp2/lib/schedule.rb:594:in `unsync'"3/home/esp/esp2/lib/schedule.rb:621:in `unsync'"2/home/esp/esp2/lib/email.rb:318:in `sendOnce'"//home/esp/esp2/lib/email.rb:340:in `email'",/home/esp/esp2/lib/msg.rb:68:in `retry'"//home/esp/esp2/lib/email.rb:339:in `email'"./home/esp/esp2/lib/email.rb:348:in `mail'"-/home/esp/esp2/lib/email.rb:66:in `call'"3/home/esp/esp2/lib/email.rb:66:in `initialize'"-/home/esp/esp2/lib/email.rb:63:in `loop'"3/home/esp/esp2/lib/email.rb:63:in `initialize'"7/home/esp/esp2/lib/schedule.rb:481:in `initialize'"0/home/esp/esp2/lib/thread.rb:738:in `start'"7/home/esp/esp2/lib/schedule.rb:474:in `initialize'"'/home/esp/esp2/lib/schedule.rb:472 +2 !o:Email::Queue::Purge: mesg"Purged output queue:bt[ "//home/esp/esp2/lib/email.rb:106:in `purge'"3/home/esp/esp2/lib/email.rb:75:in `initialize'"-/home/esp/esp2/lib/email.rb:63:in `loop'"3/home/esp/esp2/lib/email.rb:63:in `initialize'"7/home/esp/esp2/lib/schedule.rb:481:in `initialize'"0/home/esp/esp2/lib/thread.rb:738:in `start'"7/home/esp/esp2/lib/schedule.rb:474:in `initialize'"'/home/esp/esp2/lib/schedule.rb:472 +1232 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (c& +3 "core" &  < + "manipulator"&d& +4 "core" &,  ( + "manipulator"&e% +4 "core" %\ '  > +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&V(; +183 "core" ( + "manipulator"&b& +4 "core" &4 | "~ +2 "storage"(h& +4 "core" & \ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&i'Ѐ +109 "core" ' +2 "storage"(_& +4 "core" & \  k +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(k'e +270 "core" ' +2 "storage"(l- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (m& +3 "core" &  \  + "manipulator"&f& +4 "core" &5 q s F "} +2 .tElbow.seek 2 + "manipulator"&+(; +3 "core" ( +2 "manipulator"&p& +3 "core" &5 s * "} +2 "storage"(q& +4 "core" & \ * +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&r' +19 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&n/ +53 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&j& +2 "storage"(t'N +7 "core" &5  "} +2 "manipulator"&u% +4 "core" % R +2 .tForearm.seek :retract + "manipulator"&w'\ +98 "core" ' +2 .tElbow.seek CC +2 "manipulator"&x( +138 "core" ' + ."downElevator"SE.stop + "storage"(5 +8 "core" ( + "manipulator"&z& +4 "core" &# ;5 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &g& +3 "core" &$ ;5 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&s'| +110 "core" ' +2 "manipulator"&o& +4 "core" &$ } ;5 +2 "manipulator"&|% +4 "core" %{ , + "collection"'}& +4 "core" &37 +2 "collection"'y& +5 "core" &24 +2 .tCC.seek :closed +2 "collection"'v(] +4 "core" &35 +8 & *48 "^ +9 &vV45 5 +10 &35 H +9 &p36 H +9 &Ws34 H +10 &p34 H +9 & s46 I +10 &"t46 I +9 &$_p65 H +9 &&!p47 H +10 &'o55 H +9 &)t26 H +9 &+gs45 H +10 &-)s36 H +9 &.v35 I +9 &0u35 I +10 &2op56 H +9 &40r45 I +10 &5q44 H +9 &7r26 H +9 &9xp36 H +10 &;9p33 H +9 &<r45 H +9 &>o35 H +10 &@s48 H +9 &BAv35 H +10 &Dm53 H +9 &Es45 H +9 &Gu56 I +10 &IE!3 J +9 &K82 L +9 &L5: P +10 &Nw-0 Q +9 &P7/3 Q +10 &Q24 Q +9 &S65 R +9 &Uy88 S +10 &W<:: R +9 &X9< U +9 &Z<< T +10 &\\|<> B +9 &]k3A? &p +10 &]G@C ; +2 ( + "collection"'y& +3 #tCollection Clamp onSpring/offSpring for 10/26 samples, on/off torque 1.79 +2 .Hand.open + "manipulator"&1 +64 "core" 1 + "manipulator"&% +4 "core" % {  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&'\ +92 "core" ' +2 #tcollectSample 50ml w/bubble point of 24psi +2 #Priming 7ml + .Intake.select :close + .Exhaust.select :close + .SS.hold +2 "sampler")+ +4 "core" + + "sampler")% +4 "core" %3   + "collection"'~& +4 "core" &]<DD# ; +3 "Can" IG + #tCalibrating pressure and temperature sensors +3 .CTV.dial :air +2 .SSV.dial :spit,avoiding: :exhaust +2 .SS.reconfigure :fast +2 "sampler")#.0X  +18 "collection"'!% +4 "core" % + "sampler")#% +4 "core" %M\ G\ B  +21 "collection"',% +3 "core" % +2 "sampler")-% +3 "core" %L\ L\ I  +25 "collection"'/% +3 "core" % + "sampler")0% +5 "core" %J\ W\ R  +27 "collection"'2% +3 "core" % + "sampler")3% +4 "core" %J\ d\ ^  +32 "collection"'4% +3 "core" % + "sampler")% +4 "core" %@\ \ {  +2 "sampler")'% +4 "core" %@\ \   + .tIntake.select :close + "sampler")0 +9 )1% +3 "core" %:\ \  + .tSSV.dial :exhaust +2 "sampler")7  +69 "core"  + .tExhaust.select :open +2 "sampler")@ +9 .tSS.seek 0ml +2 "sampler")8'0 +889 "core" ' + .tExhaust.select :close +2 "sampler") +9 ."connect"SSV.dial CBV +3 .tCBV.dial SSV +2 "sampler").  +72 "core" + #tAllowing 130s for 25.0ml of remaining 25.0ml +2 .Intake.select :open + "sampler") +210 "collection"':% +3 "core" %+,r + #tIntake @13.5psia, vacuum from 8.0 to 11.0psi +2 .SS.reconfigure :inhaling 2.21ml/s +2 "sampler")#.0X\ 0' +62 "core"  +2 .tCTV.dial :air + "collection"'U  +67 "core" +2 .tdelay 15 seconds +1502 .SSV.dial :spit,avoiding: :exhaust +2 "sampler")K +121 "core"  +2 ."prepCSV"CTV.dial CSV,avoiding: :intake +5 .tSS.seek 0ml +2 "collection"'Q  +2 "sampler")P'0 +6 "core" ' + .tSSV.dial CBV,avoiding: :exhaust +2 "sampler")Y  +111 "core"  +11  +282 ' +2 "sampler")J% +4 "core" %1  L +2 .tCBV.dial between SSV and waste2 +2 "collection"'W  +29 "core"  +2 "collection"'[% +4 "core" %76b  +2 ."connect"CTV.dial CSV,avoiding: :air +3 .tCSV.dial CTV +2 "collection"'I  +41 "core"  +2 .tCS.reconfigure :pressurize +2 "collection"'# d@<< b +2 .tCS.seek 0ml +2 "collection"'Z' +2204 "core" ' p ر +2 "collection"']% +4 "core" %}\ f  + "sampler")^% +4 "core" %1  L +2 #tBubblePoint: Intake @38.5psia, Outlet @14.5psia + .CBV.dial SSV +2 "collection"'` @ +28 "core" @ +2 .tSS.reconfigure :default +2 "sampler")#.0X + ."CSpush"CS.reconfigure :fast +3 "collection"'#d @b +2 ."CSpush"CS.seek 0ml +2 "collection"'l' +120 "core" ' +2 .tSSV.dial :spit,avoiding: :exhaust + "sampler")m +122 "core"  +2 .tSS.reconfigure :exhale +2 "sampler")#.0X +2 ."CSpush"CS.reconfigure :fast +3 "collection"'#d @b +2 ."CSpush"CS.seek 0ml +2 "collection"'' +103 "core" ' + .tSSV.dial :spit,avoiding: :exhaust +2 "sampler") +122 "core"  +2 .tSS.reconfigure :exhale +2 "sampler")#.0X>O +2 #tPulling 1ml of CSR.AqMeOH + .CSR.select :AqMeOH +2 "collection"'\ +9 .tCS.reconfigure :default +3 "collection"'#P d@b +2 .tCS.seek 1ml + "collection"'' +333 "core" ' +2 .tdelay 5 seconds +502 .CSR.select :air +2 "collection"' +8 '"% +3 "core" %<?N  +2 .tCS.seek 5.999ml + "collection"'%' +1358 "core" ' + .tdelay 2 seconds +202 .CSV.dial :waste2 +2 "collection"' +40 "core"  +2 .tCS.reconfigure :fast +2 "collection"'#d @b +3 .tCS.seek 0ml + "collection"'' +1328 "core" ' + .tCSV.dial CSR +2 "collection"'  +41 "core"  + "collection"')% +4 "core" %<=u +2 #tPulling 2ml of CSR.AqMeOH + .CSR.select :AqMeOH + "collection"' +10 .tCS.reconfigure :default +2 "collection"'#P d@b +2 .tCS.seek 2ml +2 "collection"''~ +584 "core" ' +2 .tdelay 5 seconds +502 .CSR.select :air +2 "collection"' +8 '!% +3 "core" %y=?s  +2 .tCS.seek 4.999ml +2 "collection"'#'s +842 "core" ' + .tdelay 2 seconds +202 .CSV.dial CTV +2 "collection"',  +51 "core"  +2 .tCS.seek 1ml +2 "collection"'-' +1096 "core" ' + "collection"'/9 +4 "core" 9\\r + "collection"'0% +4 "core" % % 'u +2 #tBefore lysing Collection Puck Heater at 20.3C/27.9psia +2 #Heating Puck.from 2, :sh1 in Collection Clamp to 70C for 10:00 +2 .CH.seek 70C,8:00 +2 "collection"'2 \  +3 '39 +4 "core" 9\\rd +102 "collection"'49 +2 "core" 9\\rd +102 "collection"'9 +2 "core" 9]q d +103 "collection"''9 +3 "core" 9]s d +102 "collection"'19 +2 "core" 9_rd +102 "collection"'79 +3 "core" 9cld +102 "collection"'9 +2 "core" 9hrd +102 "collection"'(9 +3 "core" 9psd +102 "collection"'.9 +2 "core" 9{s"d +102 "collection"':9 +2 "core" 9t&d +102 "collection"'89 +3 "core" 9u*d +102 "collection"'59 +3 "core" 9u/d +102 "collection"'{9 +2 "core" 9v3d +102 "collection"'?9 +2 "core" 9w7d +102 "collection"'@9 +3 "core" 9x;d +102 "collection"'A9 +2 "core" 9z?d +102 "collection"'D9 +2 "core" 93{Cd +103 "collection"'E9 +2 "core" 9R|Hd +102 "collection"'=9 +2 "core" 9u~Ld +102 "collection"'$9 +3 "core" 9Pd +102 "collection"'99 +2 "core" 9Td +102 "collection"'9 +2 "core" 9Xd +102 "collection"'&9 +3 "core" 9\\d +102 "collection"'H9 +2 "core" 9,ad +102 "collection"'F9 +2 "core" 9Tea +103 "collection"'G9 +2 "core" 9|i] +103 "collection"';9 +2 "core" 9mX +102 "collection"'<9 +2 "core" 9qT +103 "collection"'M9 +2 "core" 9vO +102 "collection"'N9 +3 "core" 9#zJ +102 "collection"'O9 +2 "core" 9O~F +103 "collection"'B9 +2 "core" 9{C +102 "collection"'R9 +3 "core" 9> +102 "collection"'U9 +2 "core" 99 +102 "collection"'C9 +3 "core" 95 +102 "collection"'69 +2 "core" 9*2 +102 "collection"'K9 +2 "core" 9U/ +102 "collection"'Q9 +3 "core" 9, +102 "collection"'Y9 +2 "core" 9) +102 "collection"'L9 +3 "core" 9& +102 "collection"'J9 +3 "core" 9$ +102 "collection"'W9 +2 "core" 9! +102 "collection"'[9 +3 "core" 99 +102 "collection"'I9 +2 "core" 9Y +102 "collection"'>9 +3 "core" 9u +102 "collection"']9 +2 "core" 9 +103 "collection"'^9 +2 "core" 9 +146 "collection"'`9 +11 "core" 9 +102 "collection"'P9 +3 "core" 9 +102 "collection"'9 +2 "core" 9 +103 "collection"'c9 +2 "core" 9  +102 "collection"'d9 +3 "core" 9  +102 "collection"'a9 +3 "core" 9 ' +102 "collection"'e9 +2 "core" 9 5 +102 "collection"'h9 +2 "core" 9 B +103 "collection"'S9 +2 "core" 9 O +103 "collection"'\\9 +2 "core" 9 [ +102 "collection"'b9 +3 "core" 9 e +102 "collection"'m9 +3 "core" 9 o +102 "collection"'Z9 +2 "core" 9 x +102 "collection"'_9 +3 "core" 9  +102 "collection"'l9 +3 "core" 9  +102 "collection"'f9 +2 "core" 9  +102 "collection"' 9 +2 "core" 9 \  +103 "collection"'q9 +2 "core" 9  +102 "collection"'p9 +3 "core" 9  +102 "collection"'j9 +3 "core" 9  +102 "collection"'u9 +2 "core" 9  +102 "collection"'V9 +3 "core" 9  +102 "collection"'i9 +2 "core" 9 # +102 "collection"'g9 +3 "core" 9 ' +102 "collection"'n9 +2 "core" 9 , +102 "collection"'z9 +3 "core" 9 0 +102 "collection"'r9 +2 "core" 9 4 +102 "collection"'o9 +2 "core" 9 8 +103 "collection"'}9 +3 "core" 9 < +102 "collection"'+9 +2 "core" 9 @ +102 "collection"'t9 +3 "core" 9 E +102 "collection"'w9 +2 "core" 9 I +102 "collection"'T9 +2 "core" 9 M +102 "collection"'k9 +3 "core" 9 Q +102 "collection"'9 +3 "core" 9 U +102 "collection"'9 +2 "core" 9 Z +102 "collection"'~9 +2 "core" 9\ ^ +103 "collection"'|9 +2 "core" 9\ b +102 "collection"'s9 +3 "core" 9\ f +102 "collection"'9 +3 "core" 9\ j +102 "collection"'9 +2 "core" 9\  n +102 "collection"'y9 +2 "core" 9\ \ s +103 "collection"'\ 9 +2 "core" 9\ ! w +102 "collection"' 9 +2 "core" 9\ % { +103 "collection"' 9 +2 "core" 9\ )  +102 "collection"'*9 +3 "core" 9\ . +102 "collection"' 9 +2 "core" 9\ 3 +102 "collection"'9 +3 "core" 9\ 7 +102 "collection"'9 +2 "core" 9\ ; +103 "collection"'9 +2 "core" 9\ @ +102 "collection"'9 +2 "core" 9\ D +102 "collection"'9 +3 "core" 9\ I +102 "collection"' 9 +3 "core" 9\ N +102 "collection"'9 +3 "core" 9\ Q +102 "collection"'9 +2 "core" 9\ V +102 "collection"'9 +2 "core" 9\ Z +103 "collection"'9 +2 "core" 9\ ] +102 "collection"'9 +3 "core" 9\ b +102 "collection"'9 +3 "core" 9\ f +102 "collection"'9 +2 "core" 9\ h +102 "collection"'"9 +3 "core" 9\ l +102 "collection"'9 +2 "core" 9\ o +102 "collection"'9 +2 "core" 9\ r +3 .tCH.hold 10:00,70C +3 "collection"'% `\ `\ q +2 '9 +6 "core"  + 9\ s\ r + "collection"')% +4 "core" % m m & +2 #tBegun lysing Collection Puck Heater at 68C/31.9psia +37287 "Can"  +22703 "core" ` + "collection"'9 +4 "core" 9\  + "collection"'!% +5 "core" % ! "  +2 #tEnded lysing Collection Puck Heater at 70C/27.6psia + .CS.seek 0ml +2 "collection"'' +332 "core" ' +2 .tCTV.dial between spare and air,avoiding: :intake +2 "collection"', @ +93 "core" B +2 .tCSV.dial :air + "collection"'# @ +42 "core" > +2 .tCS.seek 5ml +2 "collection"'/'s +1360 "core" ' +2 .tCSV.dial CTV + "collection"'0  +41 "core"  +2 .tdelay 2 seconds +201 .CSV.dial :air +2 "collection"'3 @ +40 "core" ? +2 .tdelay 2 seconds +202 .CSV.dial CTV +2 "collection"'4  +40 "core"  + .tdelay 2 seconds +202 .CSV.dial :air +2 "collection"' @ +40 "core" > +2 .tdelay 2 seconds +202 .CS.seek 0ml +2 "collection"''' +1352 "core" ' + "collection"'1% +4 "core" %  + #tPuck @39.7psia after final lysis pressurization +2 #Recovering Lysate into Collection syringe + .CSV.dial CBV +2 "collection"'7 +92 "core"  + .tCBV.dial CSV +2 "collection"'  +28 "core" +2 "collection"'(% +4 "core" %  +2 .tCS.seek 5ml + "collection"'.'s +1366 "core" ' +2 .tdelay 5 seconds +502 .CTV.dial :air +2 "collection"':  +39 "core" +2 "collection"'8% +4 "core" %s  +2 .tCS.seek 7ml +2 "collection"'5' +589 "core" ' + .tdelay 5 seconds +503 .CSV.dial :air2 +2 "collection"'{ @ +38 "core" ? +2 .tCS.seek 10ml + "collection"'?' +840 "core" ' +2 .tCSV.dial between air and CTV,avoiding: CBV +2 "collection"'@ ` +104 "core" ^ +2 #tLysing Complete +2 "collection"'A& +3 "core" &]C ; +2 #tStoring sh1 puck in Collection Clamp to tube 1 + "manipulator"&D% +4 "core" %\ +  !W +2 "storage"(E% +3 "core" %R\ ]  +2 "storage"(=. +3 "core" .(  + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 1 +2 "storage"($(B +367 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (9& +4 "core" &@  +2 "manipulator"&& + ."raiseStack"SE.reconfigure :place +6 "storage"(#]kK-0-\ b +2 "core" &  8! +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +3 ."raiseStack"SE.seek :beamBreak +2 "manipulator"&&( +2 "storage"(H'e +18 "core" ( +2 "manipulator"&F& +4 "core" &\ V % + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &G& +3 "core" &\  o % +2 .tForearm.seek CC + "manipulator"&;'| +96 "core" ' +2 .tHand.close + "manipulator"&' +20 "core" ' +2 "manipulator"&]& +4 "core" &l D d ~  + "storage"(^& +5 "core" &@\ F\ D b +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 1 + 450 counts +2 "manipulator"&`'Ф +10 "core" ' +2 "storage"(P% +4 "core" %L\ E\ E +2 ."downElevator"SE.seek :down +3 "storage"('N +99 (c% +3 "core" %E\ !\ "  NA +2 "manipulator"&d% +4 "core" %Щ n o N  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&a'\ +92 "core" ' +63 ' + ."downElevator"SE.stop +2 "storage"(5 +2 #tTranferring DA +2 #Beginning samplePassC +2 #Loading FlushPuck into Collection Clamp from FlushPuck::Garage + "collection"'e& +4 "core" &o +2 "manipulator"&h& +4 "core" &l d  + "manipulator"&S% +5 "core" %\ 1 $o + .tElbow.seek FlushPuck::Garage +2 "manipulator"&\\(, +180 "core" ( +2 "manipulator"&b& +4 "core" &, O  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &m& +3 "core" &,   +2 .tForearm.seek :garage + "manipulator"&Z' +102 "core" ' + .tHand.close +2 "manipulator"&_/ +55 "core" / + "manipulator"&l& +4 "core" &,  +2 "manipulator"&f% +4 "core" %  * + .tForearm.seek :retract +2 "manipulator"& '\ +97 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&q( +281 "core" ( + "manipulator"&p& +4 "core" &$ U <> +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &j& +2 "core" &% Y <> +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&u'| +95 "core" ' +2 "manipulator"&V& +4 "core" &% ) <> + "manipulator"&i% +4 "core" %y  +2 "collection"'g& +3 "core" & +3 "collection"'n& +4 "core" & +2 .tCC.seek :closed +2 "collection"'z(] +4 "core" & +7 &Df $e +10 &w]: 7 +9 & H +10 &k G +9 &pq G +9 &0r H +10 & p H +9 &"p G +9 &$xmr G +10 &&8pJ H +9 &'qw H +10 &)pk G +9 &+nO G +9 &-Bo7 G +10 &/p H +9 &0q H +10 &2p  H +9 &4Iq G +9 &6 o G +10 &7n G +9 &9n G +9 &;Rk G +10 &=n G +9 &>oi G +9 &@rN G +10 &BXo4 H +9 &Do G +10 &ErI G +9 &Gp> G +9 &I`x0 H +10 &K J +9 &L O +9 &N P +10 &PN  Q +9 &R  Q +10 &S R +9 &U R +9 &WQ R +10 &Y T +9 &Z T +9 &\\ A +10 &]pp - +9 &]Wc ? +2 ( +2 "collection"'n& +3 #tCollection Clamp onSpring/offSpring for 10/25 samples, on/off torque 1.81 +2 "collection"'r& +4 "core" &]YA ? + .tHand.open +2 "manipulator"&o1 +60 "core" 1 + "manipulator"&}% +4 "core" % y F +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&+'\ +91 "core" ' +2 .tPSV.dial PSR +2 "processing"%t +125 "core"  + "processing"%w% +4 "core" % +2 #tPulling 1.5ml of PSR.flush + .PSR.select :flush +2 "processing"%j +10 .tPS.seek 1.5ml + "processing"%T' +1616 "core" ' +2 .tdelay 5 seconds +502 .PSV.dial :waste1 +2 "processing"%k  +39 "core"  +2 .tPS.seek 0ml +2 "processing"%' +1610 "core" ' +2 .tPSV.dial PSR +56 "processing"% +47 "core"  + .tPSR.select :air +2 "processing"% +10 .tPS.seek 2.5ml +2 "processing"%~'m +2649 "core" ' +2 ."connect"PRV.dial CBV,avoiding: :ab2 +4 .tCBV.dial PRV +2 "processing"%| + "collection"'s  +6 "core" A +2 "processing"%  +65 "core" +81  + .tPSV.dial :mixloop +2 "processing"% +97 "core" + .tCTV.dial :air,avoiding: :intake +2 .PTV.dial :PRVmixing +2 "processing"%y  +118 "core" +2 .tPS.seek 0ml +2 "processing"%\ ' +2632 "core" ' + .tPSV.dial :air +2 "processing"%  +42 "core"  +2 .tPS.seek 2.5ml +2 "processing"% 'm +2651 "core" ' + .tPSV.dial :mixloop +2 "processing"%* +47 "core" +2 .tPS.seek 0ml +2 "processing"% ' +2630 "core" ' +2 .tPSV.dial :air + "processing"%  +49 "core"  +2 .tPS.seek 2.5ml +2 "processing"%'m +2647 "core" ' +2 .tPSV.dial :mixloop + "processing"% +47 "core" +2 .tPS.seek 0ml +2 "processing"%' +2631 "core" ' + #tGaraging FlushPuck in Collection Clamp +2 "manipulator"&& +4 "core" &0 + 7 +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"& ( +27 "core" ( + "manipulator"&& +4 "core" &  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" & K  +2 .tForearm.seek CC +2 "manipulator"&'| +95 "core" ' + .tHand.close +2 "manipulator"&/ +61 "core" / +2 .tCC.seek :open +2 "collection"'(p +410 "core" ( +2 "manipulator"&& +4 "core" &  + "manipulator"&% +4 "core" % ς +2 .tForearm.seek :retract + "manipulator"&"'\ +100 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek :garage + "manipulator"&(, +269 "core" ( + "manipulator"&& +4 "core" &, d  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &, >  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek :garage + "manipulator"&)' +112 "core" ' +2 .tHand.open + "manipulator"&21 +58 "core" 1 +2 "manipulator"&%% +4 "core" %  4 S + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +102 "core" ' + .tPSV.dial :mixloop +2 .PTV.dial :PRVmixing + ."connect"PRV.dial CBV +3 .tCBV.dial PRV +2 .CTV.dial :air,avoiding: :intake +2 #Loading lyfil puck from tube 2 into Collection Clamp + "collection"'!& +4 "core" & +2 "manipulator"&-% +4 "core" %\ / #b + "storage"(,% +4 "core" %S\ !\ !  +2 "storage"(#. +2 "core" .(B +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"((  +362 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (0& +3 "core" & \ \ \ O  + "manipulator"&3& +4 "core" &, S  +2 "manipulator"&4% +4 "core" %\ / R #b + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&(; +170 "core" ( + "manipulator"&/& +4 "core" &? 9 < +2 "storage"(1& +3 "core" & \ \ !   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&7'Ѐ +110 "core" ' +2 "storage"(& +4 "core" & \ *\ " n  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(('e +276 "core" ' +2 "storage"('- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (:& +2 "core" & \ \   +2 "manipulator"&8& +4 "core" &? o p ' < + .tElbow.seek 2 +2 "manipulator"&.(; +3 "core" ( + "manipulator"&{& +5 "core" &? o v ! < + "storage"(5& +4 "core" & \ !\ "   +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&@' +15 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&A/ +63 "core" / +2 ."downElevator"SE.seek :down +3 "manipulator"&D& +2 "storage"(E'N +7 "core" &? : < +2 "manipulator"&=% +4 "core" %  > + .tForearm.seek :retract +2 "manipulator"&X'\ +91 "core" ' + .tElbow.seek CC +2 "manipulator"&9( +148 "core" ( +2 "manipulator"&& +4 "core" ' + &$ R <= +2 ."downElevator"SE.stop +2 .tElbow.reconfigure :loose +3 "storage"(5 + "manipulator"&$ &.,(#b +4 &F& +3 "core" &$ ] <= +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&G'| +100 "core" ' + "manipulator"&<& +5 "core" &% N << + "manipulator"&N% +4 "core" %r J +2 "collection"'x& +3 "core" & +3 "collection"'& +4 "core" & +2 .tCC.seek :closed +2 "collection"'v(] +4 "core" &t +7 &;y $d +10 &[W 6 +9 & H +9 &l G +10 &nr H +9 &1rg G +9 & oW G +10 &"uR G +9 &$wr8 G +10 &&:u( G +9 &'s G +9 &)r G +10 &+n G +9 &-@p H +10 &/p> H +9 &0rk H +9 &2n G +10 &4Is G +9 &6 p G +9 &7l G +10 &9n G +9 &;Rq G +10 &=o G +9 &>r G +9 &@py H +10 &BYrs G +9 &Dra G +9 &Ep H +10 &Gp H +9 &I_y H +10 &K K +9 &Lz P +9 &Nj Q +10 &PNb Q +9 &R [ R +9 &SG R +10 &UA S +9 &WP7 S +9 &Y9 T +10 &Z1 T +9 &\\* B +10 &]o!% *y +9 &]V( @ +2 ( +2 "collection"'& +2 #tCollection Clamp onSpring/offSpring for 10/25 samples, on/off torque 1.80 +2 .Hand.open + "manipulator"&H1 +63 "core" 1 +2 "manipulator"&B% +4 "core" % p +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&R'\ +93 "core" ' + .tCTV.dial CSV,avoiding: :intake +2 "collection"'U  +120 "core"  +2 .tCSV.dial CTV + "collection"'C  +41 "core"  +2 .tPS.seek 2.5ml +2 "processing"%Q'm +1413 "Can" OM +1236 "core" ' + "collection"'Y% +4 "core" %a +2 .tCS.seek 4.5ml +2 "collection"';'d +1482 "core" ' + .tdelay 8 seconds +802 .PSV.dial :air +2 "processing"%&  +46 "core"  +2 .tdelay 2 seconds +201 .PSV.dial :waste2 +2 "processing"%W  +69 "core"  +2 .tPS.seek 0ml + "processing"%[' +2640 "core" ' +2 .tCBV.dial between PRV and waste1 + "collection"'I ` +30 "core" ^ +2 .tCSV.dial :air + "collection"'] @ +41 "core" > +2 .tCS.seek 10ml +2 "collection"'^' +1482 "core" ' + .tCSV.dial CTV +2 "collection"'P  +41 "core"  +2 .tCS.seek 0ml + "collection"'6' +2618 "core" ' +2 .tCBV.dial :waste1 + "collection"'c @ +27 "core" ? +2 .tdelay 5 seconds +502 .CTV.dial :air,avoiding: :intake +2 "collection"'d  +119 "core" +2 "collection"'K& +4 "core" &]WY @ + #tStoring lyfil puck in Collection Clamp to tube 1 +2 "manipulator"&L% +3 "core" %\ - e E +2 "storage"(e% +3 "core" %=  +2 "storage"(>. +3 "core" .(  + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 1 +2 "storage"(h(B +361 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (S& +2 "core" &E +3 "manipulator"&O& +4 "core" &"  :, + "manipulator"&`% +4 "core" %\ -  E +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 1 +2 "manipulator"&b(c +163 "core" ( + "manipulator"&m& +4 "core" &m q  +2 "storage"(& +4 "core" &E \ : +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 1 + 450 counts +2 "manipulator"&J'Ф +92 "core" ' + "storage"(_& +4 "core" &E\ \ +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(l'e +327 "core" ' + "storage"(f- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&a& +3 "core" &m   +2 "storage"(Z& +3 "core" &E \ z +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 1 +2 "manipulator"&p' +35 "core" ' + .tElbow.hold +2 "manipulator"&j, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(\\- +2 "core" -' +3 .tSE.seek 0.12 Pucks below Top Plate + "storage"(V'p +37 "core" ' +2 "manipulator"&i% +4 "core" %f A ŵ + "storage"(g& +5 "core" &E _ + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 1 + 306 counts +2 "manipulator"& ' +14 "core" ' + "manipulator"&M& +4 "core" &X u ] B  +2 "storage"(r& +4 "core" &E\ \ \  V +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 1 + 450 counts + "manipulator"&o'Ф +12 "core" ' +2 .tSE.seek 1.12 Pucks below Top Plate +2 "storage"(}'_ +43 "core" ' +2 "manipulator"&n& +4 "core" &X n m  +2 "manipulator"&t% +4 "core" %Щ o n  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&w'\ +88 "core" ' + .tElbow.seek CC +2 "manipulator"&u( +162 "core" ( +2 "manipulator"&k& +4 "core" &)  @] +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &T& +2 "core" &) | @] +2 .tForearm.seek CC +2 "manipulator"&'| +106 "core" ' +2 .tHand.close + "manipulator"&/ +61 "core" / +2 .tCC.seek :open +2 "collection"'|(p +410 "core" ( +2 "storage"(s& +4 "core" &E\ !\ ! Q + "storage"(& +4 "core" &E\ "\ "  +2 "manipulator"&& +3 "core" &( L ?T +2 "manipulator"&y% +4 "core" % π M + .tForearm.seek :retract +2 "manipulator"&~'\ +100 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 1 +2 "manipulator"& (c +173 "core" ( + "manipulator"&\ & +4 "core" &h v X +2 "storage"(*& +4 "core" &E\ \  = + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 1 +2 "manipulator"& ' +109 "core" ' + .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"& 1 +62 "core" 1 +3 "manipulator"&% +4 "core" % 7 + "storage"(& +4 "core" &E \ R +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 1 + 305 counts + "manipulator"&' +19 "core" ' + "manipulator"&& +4 "core" &I J M ~ w +2 "storage"(& +4 "core" &E\ !\ "  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 1 + 450 counts + "manipulator"&'Ф +17 "core" ' + "storage"(q% +5 "core" %Z\ #\ "  +2 ."downElevator"SE.seek :down +4 "storage"(+'N +98 (z% +15 "core" %E\ !\ "  N@ + "manipulator"&% +5 "core" %Ъ n n +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +87 "core" ' +43 ' + ."downElevator"SE.stop +2 "storage"(5 +2 .tPSV.dial :air +2 "processing"%  +74 "core" +2 .tPS.seek 2.5ml +2 "processing"%'m +2649 "core" ' + .tdelay 1 second +102 .PSV.dial :mixloop +2 "processing"% +42 "core" + .tdelay 1 second +102 .PSV.dial :air +2 "processing"%  +48 "core"  + .tdelay 1 second +102 .PSV.dial :mixloop +2 "processing"%2 +48 "core" + .tdelay 1 second +102 .PSV.dial :air +2 "processing"%%  +48 "core"  +2 .tdelay 1 second +102 .PS.seek 0ml + "processing"%!' +2642 "core" ' + #tLoading FlushPuck into Processing Clamp from FlushPuck::Garage +2 "processing"%"& +4 "core" & + "manipulator"&-& +4 "core" &I w +2 "manipulator"&,% +3 "core" %\ * d !Q +2 .tElbow.seek FlushPuck::Garage +2 "manipulator"&#(, +162 "core" ( +2 "manipulator"&)& +4 "core" &,   + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &$& +3 "core" &, N  +2 .tForearm.seek :garage + "manipulator"&0' +104 "core" ' + .tHand.close +2 "manipulator"&3/ +62 "core" / +2 "manipulator"&4& +4 "core" &, H  + "manipulator"&/% +5 "core" %   +2 .tForearm.seek :retract + "manipulator"&1'\ +101 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +2 "manipulator"&(c +115 "core" ( +2 "manipulator"&& +4 "core" &g  ? + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &g E ? +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&''[ +107 "core" ' + "manipulator"&:& +5 "core" &g x f Q ? + "manipulator"&8% +4 "core" %Z p n +2 "processing"%{& +4 "core" &% +2 "processing"%5& +5 "core" & +2 .tPC.seek :closed + "processing"%A(Z +4 "core" &$  +9 &7 *x +9 &j = +10 &}~ I +9 &Am! H +9 &q! H +10 &l+ H +9 &!r9 G +9 &#Jk6 G +10 &% j7 G +9 &&n2 G +10 &(o/ G +9 &*RkC G +9 &,k= H +10 &-nC H +9 &/m9 G +10 &1ZmM G +9 &3oV H +9 &4nS H +10 &6o[ G +9 &8bqS G +9 &:$nA G +10 &;pZ G +9 &=qZ G +9 &?joe G +10 &A,qe G +9 &Bje G +10 &Dm_ H +9 &Fqph H +9 &H3uq H +10 &In I +9 &K{ K +9 &Mjz M +10 &O+q M +9 &Po M +10 &R M +9 &Tq M +9 &V2 N +10 &W{ N +9 &Y 7 +9 &Z, [ +10 &Z  ) +2 ( +2 "processing"%5& +3 #tProcessing Clamp onSpring/offSpring for 8/26 samples, on/off torque 1.47 + "processing"%D& +4 "core" &Z ) + .tHand.open +2 "manipulator"&=1 +64 "core" 1 + "manipulator"&% +4 "core" % Z x g d +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&7'\ +90 "core" ' +2 .tPRV.dial :air + "processing"%  +41 "core"  +2 .tPSV.dial :mixloop + "processing"%F +49 "core" + "processing"%(% +4 "core" % +2 .tPS.seek 0.3ml +2 "processing"%@'j +414 "core" ' + .tPSV.dial PSR +2 "processing"%< +97 "core"  +2 "processing"%N% +4 "core" %mK  + #tPulling 0.4ml of PSR.air + .PSR.select :air +3 .PS.seek 0.7ml +2 "processing"%x'. +484 "core" ' + .tdelay 3 seconds +302 .PSR.select :air +3 .PS.seek 2.5ml + "processing"%.'m +1943 "core" ' + .tdelay 3 seconds +302 .PSV.dial :mixloop +2 "processing"%E +103 "core" + .tPTV.dial :mixing +2 "processing"%X @ +67 "core" A + .tPBV.dial :waste2 +2 "processing"%  +88 "core"  +2 .tPS.seek 0ml + "processing"%H' +2631 "core" ' + #tGaraging FlushPuck in Processing Clamp +2 "manipulator"&B& +4 "core" &g  ? +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +2 "manipulator"&(c +2 "core" ( +2 "manipulator"&U& +4 "core" &g W ? + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &C& +3 "core" &g  ? +2 .tForearm.seek PC + "manipulator"&G'[ +95 "core" ' + .tHand.close +2 "manipulator"&/ +56 "core" / +2 .tPC.seek :open +2 "processing"%Y(p +391 "core" ( +2 "manipulator"&?& +4 "core" &g - ? + "manipulator"&&% +4 "core" % V # +2 .tForearm.seek :retract + "manipulator"&W'\ +102 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage +2 "manipulator"&Q(, +145 "core" ( +2 "manipulator"&I& +4 "core" &, | ' + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &]& +3 "core" &, ; ' +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :garage +51 "manipulator"&;' +95 "core" ' +2 .tHand.open + "manipulator"&P1 +54 "core" 1 + "manipulator"&^% +4 "core" %   +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&c'\ +93 "core" ' +2 #tLoading da puck from tube 2 into Processing Clamp +2 "processing"%d& +4 "core" & + "manipulator"&K% +4 "core" %\ & B +2 "storage"(L% +3 "core" %R\ \   +2 "storage"(e. +3 "core" .(E +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 + "storage"(>(  +357 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (& +3 "core" &  \   +2 "manipulator"&S& +3 "core" &, ' +2 "manipulator"&O% +4 "core" %\ & B +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&`(; +202 "core" ( + "manipulator"&m& +4 "core" &D X p +2 "storage"(& +3 "core" & \ \ C  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&_'Ѐ +96 "core" ' +2 "storage"(9& +4 "core" & \ \ ?  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(R'e +283 "core" ' +2 "storage"(f- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (a& +3 "core" & \ \  _  + "manipulator"&Z& +4 "core" &D n p p +2 .tElbow.seek 2 +2 "manipulator"&\\(; +3 "core" ( + "manipulator"&i& +4 "core" &D s ~ B p +2 "storage"(g& +3 "core" & \ #\ "   +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&M' +28 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&r/ +62 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&n& +2 "storage"(t'N +7 "core" &D d k p +2 "manipulator"&J% +4 "core" %  ` ` 9  +2 .tForearm.seek :retract + "manipulator"&b'\ +93 "core" ' +2 .tElbow.seek PC + "manipulator"&l(c +158 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +75 "core" ( + "manipulator"&p& +5 "core" &c G T + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 & & +3 "core" &c 6 T +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&V'[ +102 "core" ' + "manipulator"&k& +5 "core" &c { T + "manipulator"&T% +4 "core" %c +2 "processing"%o& +3 "core" &i +2 "processing"%j& +5 "core" &q +2 .tPC.seek :closed +2 "processing"%(Z +4 "core" &4  +9 &68 *x +9 &j8 = +9 &}6 G +10 &Am7 G +9 &k0 G +12 &m& G +10 &!p% G +6 &#In$ G +10 &% m' G +9 &&o G +9 &(m G +10 &*Qn G +9 &,n G +10 &-n G +9 &/p G +9 &1Zk G +10 &3n G +9 &4j G +9 &6n G +10 &8`n H +9 &:#l G +10 &;o} G +9 &=n G +9 &?jlD G +10 &A*n H +9 &Bl G +9 &Dp G +10 &Fqo G +9 &H3r G +10 &Iy I +9 &K J +9 &Mj M +10 &O+ M +9 &P M +9 &R M +10 &Tp M +9 &V2 M +10 &W M +9 &Y 6 +9 &Z}( #f +10 &Z ' +2 ( +2 "processing"%j& +2 #tProcessing Clamp onSpring/offSpring for 8/26 samples, on/off torque 1.44 +2 .Hand.open + "manipulator"&w1 +57 "core" 1 +2 "manipulator"&v% +4 "core" % b Z +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&s'\ +100 "core" ' +2 #tHeating Puck.from 2, :da in Processing Clamp to 28C for 2:00:00 +2 .PH.seek 28C,5:00 +3 "processing"%  +2 %9 +6 "core" 9 +101 "processing"%y9 +3 "core" 9 +102 "processing"%\ 9 +2 "core" 9  +102 "processing"%*9 +3 "core" 9  +103 "processing"%9 +2 "core" 9 +102 "processing"%u9 +3 "core" 9 +102 "processing"% 9 +2 "core" 9 +102 "processing"%9 +2 "core" 9 +102 "processing"%9 +3 "core" 9" +102 "processing"%9 +3 "core" 9& +102 "processing"%9 +2 "core" 9* +102 "processing"%q9 +3 "core" 9/ +102 "processing"%~9 +2 "core" 93 +102 "processing"%z9 +3 "core" 97 +102 "processing"%9 +2 "core" 9; +102 "processing"% 9 +2 "core" 9? +103 "processing"% 9 +2 "core" 9C +102 "processing"%9 +3 "core" 9H +102 "processing"%}9 +2 "core" 9L +102 "processing"%9 +3 "core" 9P +102 "processing"%9 +2 "core" 9T +102 "processing"%+9 +2 "core" 9 X +102 "processing"%[9 +3 "core" 9]\ +102 "processing"%9 +3 "core" 9a +102 "processing"% 9 +2 "core" 9*e +103 "processing"%29 +2 "core" 93i +102 "processing"%%9 +3 "core" 9=m +102 "processing"%9 +2 "core" 9Gq +102 "processing"%"9 +3 "core" 9Rv +102 "processing"%-9 +2 "core" 9]z +103 "processing"%,9 +2 "core" 9f~ +102 "processing"%)9 +3 "core" 9p +102 "processing"%$9 +2 "core" 9z +102 "processing"%9 +4 "core" 9 +3 .tPH.hold 2:00:00,28C +3 "processing"%3 pp{ +2 .tdelay 1:30 +5 "core"  +9001 .tPSR.select :air +2 .PSV.dial PSR +2 "processing"%4 +102 "core"  + "processing"%/% +4 "core" % +2 #tPulling 0.5ml of PSR.wash + .PSR.select :wash +2 "processing"% +10 .tPS.seek 0.5ml +2 "processing"%' +589 "core" ' + .tdelay 5 seconds +503 .PSR.select :air +2 "processing"% +9 .tPS.seek 2ml +2 "processing"%'ԏ +1617 "core" ' + .tPTV.dial :puck +2 "processing"%  +67 "core"  +2 .tPSV.dial PTV +2 "processing"%0 +76 "core" +2 .tPBV.dial :waste1 + "processing"%:  +122 "core"  +2 "processing"%8% +4 "core" %Ԑ^  +2 .tPS.seek 1.5ml + "processing"%{' +591 "core" ' +2 .tdelay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%# * +30 "core" + +2 .tPS.seek 0ml +2 "processing"%1' +1610 "core" ' +2 .tdelay 5:00 +10046 "Can" ?= +19956 #trecoverPSRreagent08 + .PTV.dial :puck + .PBV.dial :waste1 +2 "processing"%  +32 "core" +2 .tdelay 30 seconds +3003 .PBV.dial between PSV and waste1 + "processing"%D * +33 "core" + +2 .tPSR.select :air +2 .PSV.dial PSR + "processing"%= +75 "core"  +2 .tPS.reconfigure :fast +2 "processing"%#A ,`xb +3 .tPS.seek 2.5ml + "processing"%'m +2223 "core" ' + .tPSV.dial PTV +2 "processing"%5 +75 "core" +2 .tdelay 5 seconds +502 .PSV.dial PSR +2 "processing"% +74 "core"  +2 .tdelay 5 seconds +502 .PSV.dial PTV +2 "processing"%F +74 "core" + .tdelay 5 seconds +503 .PSV.dial :air +2 "processing"%(  +70 "core"  +2 .tPS.seek 0ml +2 "processing"%'' +2188 "core" ' +2 .tPTV.dial :PRVmixing,via: PRV +2 "processing"%!  +118 "core" +2 .tPSV.dial :mixloop + "processing"%< +47 "core" +2 .tPRV.dial :ab1 + "processing"%N @ +69 "core" B +2 .tPS.reconfigure :slow +2 "processing"%#A 2`xb +3 .tPS.seek 0.15ml +2 "processing"%@'@ +354 "core" ' + .tdelay 2 seconds +202 ."connect"CBV.dial PRV +4 .tPRV.dial CBV +2 "collection"'x  + "processing"%E  +41 "core" +3  + "processing"%X% +4 "core" %>q  +2 .tPS.seek 0.3ml + "processing"%'g +318 "core" ' }g B +3 !to:Slide::Error\ : mesg".Processing Syringe overCurrent at 0.294ml:@checkpoint: omitted: @replyo:I2C::Servo::AbsMove3Reply :@destinationi%: @channeli: @statusIS:I2C::Servo::Status: enabledT: pastRLSF: pastFLSF:pastThresholdF: lostF: homeT: positioni: velocityi: currenti}:pwmiG:erri: inPressi: outPressi:deltaPressig: voltagef14.891540500736378q: @type2F: @tagi: @sourcei*: @error:overCurrent:@axisName"Processing Syringe:bt["2/home/esp/esp2/lib/slide.rb:587:in `raiseErr'"7/home/esp/esp2/lib/slide.rb:350:in `unlimitedSeek'"5/home/esp/esp2/lib/thread.rb:74:in `recoverable'"7/home/esp/esp2/lib/slide.rb:323:in `unlimitedSeek'"6/home/esp/esp2/lib/scale.rb:93:in `unlimitedSeek'"./home/esp/esp2/lib/slide.rb:314:in `seek'"0/home/esp/esp2/lib/slide.rb:358:in `moveTo'"8/home/esp/esp2/lib/slide.rb:74:in `inConfiguration'"0/home/esp/esp2/lib/slide.rb:358:in `moveTo'"./home/esp/esp2/lib/scale.rb:193:in `pull'";/home/esp/esp2/protocol/2G/DAprocess.rb:301:in `runDA'"?/home/esp/esp2/protocol/2G/DAprocess.rb:170:in `processDA'"0/home/esp/esp2/protocol/2G/DA.rb:64:in `da'"(ESP):23:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'" (null):0 +29464 "Can" >< +60002  C@ +60002  SQ +60002  >; +60002  ?= +60002  B? +60002  ?< +60001   +60002  ?< +60002  >< +2231 #"dave"Session Begun +925 #-> trouble +1843 #-> MainThread.resume +3 !o:Thread::CannotResume: mesg"MAIN is not suspended:bt["5/home/esp/esp2/lib/thread.rb:703:in `safeResume'"1/home/esp/esp2/lib/thread.rb:679:in `resume'" dave:2:in `topLevelBinding'" Resume +3 !o:NameError: mesg""uninitialized constant Resume: name: Resume:bt[" dave:3:in `topLevelBinding'" exit +7 !o:Storage::Warning: mesg"9Exiting with da puck from tube 2 in Processing Clamp:bt["6/home/esp/esp2/utils/storage.rb:560:in `writeAll'"2/home/esp/esp2/utils/storage.rb:555:in `each'"6/home/esp/esp2/utils/storage.rb:555:in `writeAll'"2/home/esp/esp2/utils/storage.rb:551:in `open'"6/home/esp/esp2/utils/storage.rb:551:in `writeAll'"(/home/esp/esp2/utils/storage.rb:567"4/home/esp/esp2/lib/framework.rb:171:in `atExit'"2/home/esp/esp2/lib/framework.rb:175:in `call'"4/home/esp/esp2/lib/framework.rb:175:in `atExit'"2/home/esp/esp2/lib/framework.rb:175:in `call'"4/home/esp/esp2/lib/framework.rb:175:in `atExit'"2/home/esp/esp2/lib/framework.rb:175:in `call'"4/home/esp/esp2/lib/framework.rb:175:in `atExit'"-/home/esp/esp2/lib/thread.rb:762:in `[]'"0/home/esp/esp2/lib/thread.rb:762:in `start'"7/home/esp/esp2/lib/schedule.rb:474:in `initialize'"'/home/esp/esp2/lib/schedule.rb:472 +3 #mEXIT +2 #"dave"Session Ended @1673026129.15EST @1673026182.70EST = =tMAIN =mMAIN_scheduler @EST1673026184.51 #"core_reset"Sent BREAK +2 #t@59933 receive with ifg=0x10, ie=0xFD + #@60589 receive with ifg=0x10, ie=0xFD + #@61227 receive with ifg=0x10, ie=0xFD + #@61883 receive with ifg=0x10, ie=0xFD #@62521 receive with ifg=0x10, ie=0xFD + #@63168 receive with ifg=0x10, ie=0xFD #@63814 receive with ifg=0x10, ie=0xFD + #@64141 receive with ifg=0x80, ie=0xFD + #@28173 idle with ifg=0x00, ie=0x75 #ESP2 v3.41 I2C Gateway v3.20 +9 #ESP2 v3.41 I2C Gateway v3.20 for core bus +221 !o:Instrument::ISUSCore: @configS:Instrument::Configuration: name" ISUS:calFileName0:sampleCmd"TS: prompt"\ :statusCmd"C:sampleTimeouti#:promptTimeouti:statusTimeouti: retriesi:strToPrompt"W: pace0: echoF: @refiP:\ @name@ +97 #Configuration for don (12651-03) 10/9/20 brent@mbari.org\ /home/esp/esp2/type/shallow/don/configure.rb\ +377 "Can" @@ +  @@ + #tPolling Can every 10:00 +3 #Cleanly exited at 12:28:49EST06-Jan-23 + !o:Storage::Warning: mesg"PC.holds Puck.from 2, :da:bt["8/home/esp/esp2/utils/storage.rb:445:in `readPucks!'"2/home/esp/esp2/utils/storage.rb:444:in `each'"8/home/esp/esp2/utils/storage.rb:444:in `readPucks!'"6/home/esp/esp2/utils/storage.rb:627:in `restore!'"-/home/esp/esp2/lib/esp.rb:115:in `shell'"7/home/esp/esp2/lib/schedule.rb:481:in `initialize'"0/home/esp/esp2/lib/thread.rb:738:in `start'"7/home/esp/esp2/lib/schedule.rb:474:in `initialize'"'/home/esp/esp2/lib/schedule.rb:472 + #ESP.ready! will restore puck positions +1293 #-> ESP.ready! +153 "sampler") +2 ) +2 "core"  +2 "collection"' +2 ' +3 "core"  + "processing"% +2 % +3 "core"  +5 "collection"' 9\ +2 ' 0\ +2 ' -\ +4 "processing"% 9\ +2 % 2\ +2 % *\ +2 % 0\ +4 "sampler")&\ + "collection"'% +3 "core" %   +2 .tCS.configure :default +2 "collection"'#P d@b +2 .tCS.hold +2 "collection"'+ +4 "core" + + .tCS.configure :default +3 "collection"'#P d@b +2 "processing"%% +3 "core" % + .tPS.configure :default +3 "processing"%#A d`xb +2 "sampler")% +3 "core" %0\ \ + .tSS.configure :default +3 "sampler")#.0X T + .tElbow.configure :loose +3 "manipulator"&$ &.,(#b +2 .tElbow.hold + "manipulator"&, +3 "core" , + .tElbow.configure :loose +3 "manipulator"&$ &.,(#b +4 "storage"(& +3 "core" &  \  *  + .tSC.configure :loose +3 "storage"($.\ 1~b +2 .tSC.hold + "storage"(, +3 "core" , +2 .tSC.configure :loose +2 "storage"($.\ 1~b +2 (% +3 "core" %N ? + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 .tCH.coast + "collection"'  +4 "core" ` +2 .tCH.configure :default + "collection"'\ 2 +2 .tPH.coast +2 "processing"%  +3 "core" e + !o:I2C::UnexpectedReply: mesg">I2C::Thermal::RunReply[33:25->20]aborted after 25860 tics:bt["=/home/esp/esp2/lib/i2c/msg.rb:612:in `processUnexpected'"3/home/esp/esp2/lib/i2c/msg.rb:607:in `process'"2/home/esp/esp2/lib/msg.rb:212:in `initialize'",/home/esp/esp2/lib/msg.rb:209:in `loop'"2/home/esp/esp2/lib/msg.rb:209:in `initialize'"7/home/esp/esp2/lib/schedule.rb:481:in `initialize'"0/home/esp/esp2/lib/thread.rb:738:in `start'"7/home/esp/esp2/lib/schedule.rb:474:in `initialize'"'/home/esp/esp2/lib/schedule.rb:472 + e + .tPH.configure :default + "processing"%\ 2 +3 #tAll dwarf controllers running firmware version 3.85 +2 "sampler") +9 "collection"'% +3 "core" %   +2 "processing"%% +2 "sampler")% +3 "manipulator"&% +6 "core" %| + %0\ \ + %\ 0 5 $u +2 "manipulator"&& +4 "core" &c  T + "storage"(& +4 "core" &    + "storage"(% +3 "core" %N C +2 "collection"'& +3 "core" &\   +2 "processing"%& +3 "core" &Z| ' +2 "collection"' +3 "core"  + "collection"' +3 "core"  +2 "collection"'  +3 "core"  + "processing"%! +3 "core"  +2 "processing"%" +3 "core" + +2 "processing"%# +3 "core"  + "processing"%$ +3 "core"  +2 "sampler")% +3 "core"  + "collection"'&% +4 "core" %   +2 "processing"%'% +4 "core" % + "sampler")(% +4 "core" %0\ \ +2 "collection"')& +4 "core" &   +2 "processing"%*& +3 "core" &Z ' +2 "manipulator"&+% +4 "core" %\ 0 D $u + "manipulator"&,& +4 "core" &c q T + "storage"(-& +4 "core" &    +2 "storage"(.% +3 "core" %N  +2 "collection"'/9 +3 "core" 9 +2 "processing"%09 +3 "core" 9 +1240 #t-> MainThread.resume +2 !o:Thread::CannotResume: mesg"No checkpoints available:bt[ "1/home/esp/esp2/lib/thread.rb:676:in `resume'"(ESP):2:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +7680 #-> Thread.resume + !o:Thread::CannotResume: mesg"No checkpoints available:bt[\ "1/home/esp/esp2/lib/thread.rb:676:in `resume'"1/home/esp/esp2/lib/thread.rb:992:in `resume'"(ESP):3:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +4869 #-> PC.unloadpuck 1, :SAF +2 !o:NoMethodError : mesgu:NameError::message/undefined method `unloadpuck' for PC:Clamp: name:unloadpuck: args[i:SAF:bt[ "8/home/esp/esp2/lib/slide.rb:396:in `method_missing'"(ESP):4:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +3312 #-> Hand +274 #-> Arm +2 "manipulator"&1& +3 "core" &c T +2 "manipulator"&2% +4 "core" %\ 0 * $u +2235 #t-> PC.unloadPuck 1, :SAF +2 "processing"%3& +3 "core" &ZB ' +2 #tStoring SAF puck in Processing Clamp to tube 1 + .Hand.open +2 "manipulator"&41 +19 "core" 1 +2 "manipulator"&5% +4 "core" %\ 0 s $u + "storage"(6% +4 "core" %N 1 + "storage"(7. +3 "core" .,  +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 1 +2 "storage"(8(B +367 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (9& +3 "core" &E 9 +2 "manipulator"&:& +3 "core" &c M T +2 "manipulator"&;% +3 "core" %\ 1 G $u +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 1 +2 "manipulator"&<(c +248 "core" ( + "manipulator"&=& +5 "core" &[  $ + "storage"(>& +4 "core" &E\ \ a +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 1 + 450 counts +2 "manipulator"&?'Ф +98 "core" ' +2 "storage"(@& +4 "core" &E \  > +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(A'e +278 "core" ' +2 "storage"(B- +3 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&C& +3 "core" &[ . $ + "storage"(D& +4 "core" &E\ \ \ \  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 1 +2 "manipulator"&E' +32 "core" ' + .tElbow.hold +2 "manipulator"&F, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(G- +3 "core" -' +2 .tSE.seek 1.12 Pucks below Top Plate +2 "storage"(H'c +28 "core" ' + "manipulator"&I% +4 "core" %  y +2 "storage"(J& +4 "core" &E + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 1 + 308 counts + "manipulator"&K' +21 "core" ' + "manipulator"&L& +5 "core" &[ _ L $ + "storage"(M& +4 "core" &E\  Y +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 1 + 450 counts +36 "manipulator"&N'Ф +18 "core" ' +2 .tSE.seek 2.12 Pucks below Top Plate +2 "storage"(O'R +45 "core" ' +2 "manipulator"&P& +4 "core" &[ j h  $ + "manipulator"&Q% +5 "core" %а j c 6  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&R'\ +93 "core" ' +2 .tElbow.seek PC +2 "manipulator"&S(c +254 "core" ( +2 "manipulator"&T& +4 "core" &k 3 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &U& +2 "core" &k U +2 .tForearm.seek PC +2 "manipulator"&V'[ +96 "core" ' +2 .tHand.close + "manipulator"&W/ +52 "core" / +2 .tPC.seek :open + "processing"%X(p +391 "core" ( +2 "storage"(Y& +4 "core" &E\ \  D +2 "storage"(Z& +3 "core" &E\ \  +2 "manipulator"&[& +4 "core" &k  + "manipulator"&\\% +4 "core" % V  +2 .tForearm.seek :retract + "manipulator"&]'\ +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 1 +2 "manipulator"&^(c +253 "core" ( + "manipulator"&_& +4 "core" &^ Q & +2 "storage"(`& +4 "core" &E \ ^ + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 1 +2 "manipulator"&a' +107 "core" ' +2 .tElbow.hold +2 "manipulator"&b, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&c1 +59 "core" 1 +2 "manipulator"&d% +4 "core" % + "storage"(e& +4 "core" &E\ \ 8 + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 1 + 315 counts +2 "manipulator"&f' +18 "core" ' + "manipulator"&g& +4 "core" &_ Z h  & +2 "storage"(h& +4 "core" &E\ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 1 + 450 counts + "manipulator"&i'Ф +17 "core" ' + "storage"(j% +4 "core" %U\ \ - +3 ."downElevator"SE.seek :down +3 "storage"(k'N +99 (l% +3 "core" %A\  N? +2 "manipulator"&m% +4 "core" %Ж a e = +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&n'\ +95 "core" ' +36 ' + ."downElevator"SE.stop +2 "storage"(5 +546 #t-> access 1 +3 "storage"(o% +3 "core" %E\  , \ +2 "manipulator"&p% +4 "core" %\ 9  ( + "manipulator"&q& +4 "core" &_  & +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"(r(<< +1309 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (s& +3 "core" & access 2 +2 "storage"(t% +3 "core" %E\  $ \ +2 "manipulator"&u% +4 "core" %\ :  ( + "manipulator"&v& +4 "core" &_  & +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"(w(K +351 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (x& +2 "core" &K   +4790 #t-> startTube 2 +1784 #-> $da[:extractVol]=.19 +675 #-> purgeIntake +2 #Loading FlushPuck into Collection Clamp from FlushPuck::Garage +2 "collection"'y& +3 "core" &\   +2 "manipulator"&z& +4 "core" &_  & + "manipulator"&{% +4 "core" %\ :  ( +2 .tElbow.seek FlushPuck::Garage + "manipulator"&|(, +169 "core" ( +2 "manipulator"&}& +4 "core" &, .  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &~& +3 "core" &, q  +2 .tForearm.seek :garage + "manipulator"&' +100 "core" ' + .tHand.close +2 "manipulator"&/ +61 "core" / + "manipulator"&& +4 "core" &,  +2 "manipulator"&% +3 "core" %  { n +2 .tForearm.seek :retract +2 "manipulator"&'\ +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&( +301 "core" ( +2 "manipulator"&& +4 "core" &\ R + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +2 "core" &\ ; R +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&\ '| +104 "core" ' +2 "manipulator"& & +4 "core" &\  R + "manipulator"&% +4 "core" %z  +2 "collection"'& +3 "core" & +2 "collection"'& +5 "core" &\   +2 .tCC.seek :closed +2 "collection"'(] +4 "core" &    +10 &6\   *z +9 &i   > +9 &w   I +10 &:s   I +9 &q   H +9 &s   H +10 &!w  I +9 &#Cr   H +9 &%r\   H +10 &&v\   H +9 &(u\   H +10 &*Ku\   H +9 &,t\   H +9 &-u   I +10 &/w   H +9 &1Ss\   H +9 &3v\ { I +10 &4r   I +9 &6q   I +10 &8Zq   I +9 &:q   H +9 &;m\   H +10 &=u   H +9 &?co  H +10 &A$p\  | I +9 &Bv   I +9 &Dq\   I +10 &Fjs   I +9 &H-u   H +9 &I}   J +10 &K  K +9 &M_   O +9 &O Q +10 &P  Q +9 &R  R +10 &T_   R +9 &V  S +9 &W  S +10 &Y  V +9 &[_  U +9 &]x   )~ +10 &]# R +9 ( +2 "collection"'& +3 #tCollection Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.77 +2 "collection"'& +4 "core" &]W ? + &]Y  ? + .tHand.open +2 "manipulator"&1 +56 "core" 1 + "manipulator"&% +4 "core" % =  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +98 "core" ' + #tPurging external Intake +2 "collection"'& +4 "core" &]Y  ? + "collection"'% +4 "core" %  + .tCSV.dial :flush +2 "collection"'  +66 "core" +2 .tCS.reconfigure :fast +3 "collection"'#d @b +3 .tCS.seek 10ml + "collection"'' +2180 "core" ' +2 .tdelay 5 seconds +502 ."connect"CSV.dial CBV +5 .tCBV.dial CSV +2 "collection"' + '  +65 "core"  +8  + .tCTV.dial :intake +2 "collection"'  +67 "core"  + .tIntake.select :open +2 "sampler") +10 .tCS.seek 0ml + "collection"'' +2150 "core" ' + .tIntake.select :close +2 "sampler")0 +9 .tCTV.dial :air +2 "collection"'  +66 "core"  + #tGaraging FlushPuck in Collection Clamp +2 "manipulator"&!& +4 "core" &\  R +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&"( +3 "core" ( +2 "manipulator"&#& +4 "core" &\ [ R + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &$& +2 "core" &\ c R +2 .tForearm.seek CC +2 "manipulator"&%'| +95 "core" ' + .tHand.close + "manipulator"&&/ +62 "core" / + .tCC.seek :open +2 "collection"''(p +410 "core" ( + "manipulator"&(& +4 "core" &\ R +2 "manipulator"&)% +4 "core" % ϐ + .tForearm.seek :retract +2 "manipulator"&*'\ +91 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek :garage + "manipulator"&+(, +286 "core" ( +2 "manipulator"&,& +4 "core" &, I  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &-& +2 "core" &,   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :garage +2 "manipulator"&.' +94 "core" ' +2 .tHand.open +2 "manipulator"&/1 +54 "core" 1 +2 "manipulator"&0% +4 "core" %  i +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&1'\ +94 "core" ' +925 #t-> da 50 +2 #da sampling at most 50ml +4 #Loading sh1 puck from tube 2 into Collection Clamp +3 ."Qmail"DAfans.email "Started da in tube 2 at 12:37:21EST06-Jan-23\\n{7 => 0}\\nCTD data unavailable\\nISUS data unavailable\\nCan@12:29:51, 16% flow, 22.3C, 32% humidity, 14.3psia, 14.92V, 0.285A avg, 0.285A avg, 4.25W",Subject: "da sampling at most 50ml" +3 "collection"'2& +3 "core" & w +2 "manipulator"&3% +5 "core" %\ & ? +2 "storage"(4% +4 "core" %E\ \ \ + "storage"(5. +3 "core" .(K +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 + "storage"(6(  +76 !"Qmail"o:!Net::SMTPAuthenticationError: mesg"E534-5.7.9 Application-specific password required. Learn more at\ :@checkpoint: omitted:bt["E/opt/mbari/lib/ruby/1.8/net/smtp.rb:954:in `check_auth_response'"/opt/mbari/lib/ruby/1.8/net/smtp.rb:723:in `authenticate'":/opt/mbari/lib/ruby/1.8/net/smtp.rb:566:in `do_start'"7/opt/mbari/lib/ruby/1.8/net/smtp.rb:525:in `start'"2/home/esp/esp2/lib/email.rb:325:in `sendOnce'"3/home/esp/esp2/lib/schedule.rb:292:in `unsync'"3/home/esp/esp2/lib/schedule.rb:594:in `unsync'"3/home/esp/esp2/lib/schedule.rb:621:in `unsync'"2/home/esp/esp2/lib/email.rb:318:in `sendOnce'"//home/esp/esp2/lib/email.rb:340:in `email'",/home/esp/esp2/lib/msg.rb:68:in `retry'"//home/esp/esp2/lib/email.rb:339:in `email'"./home/esp/esp2/lib/email.rb:348:in `mail'"-/home/esp/esp2/lib/email.rb:66:in `call'"3/home/esp/esp2/lib/email.rb:66:in `initialize'"-/home/esp/esp2/lib/email.rb:63:in `loop'"3/home/esp/esp2/lib/email.rb:63:in `initialize'"7/home/esp/esp2/lib/schedule.rb:481:in `initialize'"0/home/esp/esp2/lib/thread.rb:738:in `start'"7/home/esp/esp2/lib/schedule.rb:474:in `initialize'"'/home/esp/esp2/lib/schedule.rb:472 +2 !o:Email::Queue::Purge: mesg"Purged output queue:bt[ "//home/esp/esp2/lib/email.rb:106:in `purge'"3/home/esp/esp2/lib/email.rb:75:in `initialize'"-/home/esp/esp2/lib/email.rb:63:in `loop'"3/home/esp/esp2/lib/email.rb:63:in `initialize'"7/home/esp/esp2/lib/schedule.rb:481:in `initialize'"0/home/esp/esp2/lib/thread.rb:738:in `start'"7/home/esp/esp2/lib/schedule.rb:474:in `initialize'"'/home/esp/esp2/lib/schedule.rb:472 +1234 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (7& +3 "core" &  * + "manipulator"&& +4 "core" &, b  + "manipulator"&9% +4 "core" %\ &  ? +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&:(; +202 "core" ( +2 "manipulator"&;& +4 "core" &7 z '  + "storage"(=& +4 "core" & \ \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&>'Ѐ +103 "core" ' + "storage"(& +5 "core" & \ \  + .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(@'e +272 "core" ' + "storage"( - +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (B& +3 "core" & \ \  5 + "manipulator"&C& +4 "core" &7 H  +2 .tElbow.seek 2 +2 "manipulator"&D(; +3 "core" ( + "manipulator"&G& +4 "core" &7   +2 "storage"(I& +3 "core" & \ \  4 +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&J' +10 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&L/ +56 "core" / +4 ."downElevator"SE.seek :down +3 "manipulator"&M& +2 "storage"(P'N +7 "core" &7 a ` U  + "manipulator"&Q% +4 "core" % } _ P 9 +2 .tForearm.seek :retract +2 "manipulator"&?'\ +90 "core" ' + .tElbow.seek CC +2 "manipulator"&<( +140 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +10 "core" ( + "manipulator"&A& +4 "core" &"  :- +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &E& +2 "core" &#  :- +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&K'| +94 "core" ' +2 "manipulator"&H& +5 "core" &# 0 :- + "manipulator"&N% +50 "core" %t  +2 "collection"'T& +4 "core" &  +2 "collection"'U& +5 "core" &  +2 .tCC.seek :closed +2 "collection"'F(] +4 "core" &  +7 &D y #c +9 &rZy 7 +10 &  y I +9 &m  H +9 &dr  H +10 &$s  I +9 & r  I +10 &"s   H +9 &$jp   I +9 &&-r\   H +10 &'n  H +9 &)s   H +9 &+sr  H +10 &-4p   I +9 &.s  H +9 &0p   H +10 &2{o\   H +9 &4>u  H +10 &6q y H +9 &7p { H +9 &9n  | H +10 &;Fp  w H +9 &=o p H +10 &>q  l H +9 &@r } H +9 &BMp  q H +10 &Dl  n H +9 &Eq  r H +9 &Gr l I +10 &IR{ v J +9 &Ku L +9 &Ln P +10 &Nt Q +9 &PEr Q +10 &Ri R +9 &Sp R +9 &U~ n U +10 &WG  l S +9 &Y o T +9 &Z l X +10 &\\ q C +9 &]s.u #i +10 &]\\h A +2 ( +2 "collection"'U& +2 #tCollection Clamp onSpring/offSpring for 10/25 samples, on/off torque 1.87 +2 .Hand.open + "manipulator"&W1 +61 "core" 1 +2 "manipulator"&R% +4 "core" % t  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"& '\ +92 "core" ' +2 #tcollectSample 50ml w/bubble point of 24psi +2 #Priming 7ml + .Intake.select :close +2 .Exhaust.select :close + .SS.hold +2 "sampler")Y+ +3 "core" + + "sampler")Z% +4 "core" %0\ \  + "collection"'[& +4 "core" &]Y[ A +3 "Can" MK + #tCalibrating pressure and temperature sensors +3 .CTV.dial :air +2 .SSV.dial :spit,avoiding: :exhaust +2 "sampler")\\ +3 "core"  + "sampler")V  +5 "core"  +2 .tSS.reconfigure :fast +3 "sampler")#.0X + "sampler")I% +4 "core" %.\ !\   +54 "collection"'L% +3 "core" %? + "sampler")M% +4 "core" %.\ !\   +61 "collection"'Q% +4 "core" %W + "sampler"):% +4 "core" %.\ "\   +69 "collection"'>% +3 "core" %D +2 "sampler")A% +4 "core" %.\ \   +77 "collection"'E% +3 "core" %U +2 "sampler")@% +4 "core" %.\ \   +88 "collection"'J% +3 "core" %W + "sampler")H% +4 "core" %.\ \   +100 "collection"'N% +3 "core" %> +2 "sampler")D% +3 "core" %.\ !\   +113 "collection"'T% +3 "core" %B +2 "sampler")P% +4 "core" %.\ !\   +127 "collection"'?% +3 "core" %N +2 "sampler")'% +4 "core" %.\ \   +143 "collection"'W% +3 "core" %B +2 "sampler")R% +3 "core" %.\ \   +163 "collection"'Z% +3 "core" %D +2 "sampler")[% +3 "core" %.\ \   +187 "collection"'\\% +3 "core" %B + "sampler")U% +5 "core" %.\ \   +195 "collection"'V% +3 "core" %P +2 "sampler")K% +3 "core" %.\ \   +197 "collection"'Y% +2 "core" %E +2 "sampler")S% +4 "core" %.\ \   +196 "collection"'`% +2 "core" %O +2 "sampler")c% +4 "core" %.\ !\   +196 "collection"'d% +3 "core" %Q + "sampler")e% +4 "core" %.\ \   +196 "collection"'_% +3 "core" %A +2 "sampler")h% +4 "core" %.\ "\   +195 "collection"'j% +3 "core" %P +2 "sampler")]% +3 "core" %.\ \   +197 "collection"'g% +3 "core" %P + "sampler")^% +4 "core" %.\ \   +196 "collection"'a% +3 "core" %C +2 "sampler")f% +4 "core" %.\ #\   +195 "collection"'O% +3 "core" %R +2 "sampler")i% +4 "core" %.\ !\   +196 "collection"'k% +2 "core" %@ +2 "sampler")o% +4 "core" %.\ "\   +196 "collection"'p% +3 "core" %C + "sampler")q% +4 "core" %.\ $\   +151 "collection"'8% +3 "core" %@ + "sampler")s% +4 "core" %.\ !\   + .tSS.reconfigure :default +3 "sampler")#.0X S VM  + "sampler")% +4 "core" %0\ \ $ +2 #tBubblePoint: Intake @32.8psia, Outlet @8.6psia + .CBV.dial SSV +2 "collection"' @ +29 "core" A +3 .tSS.reconfigure :default +2 "sampler")#.0X +2 ."CSpush"CS.reconfigure :fast +3 "collection"'#d @b +2 ."CSpush"CS.seek 0ml +2 "collection"'' +109 "core" ' + .tSSV.dial :spit,avoiding: :exhaust +2 "sampler") +120 "core"  +2 .tSS.reconfigure :exhale +2 "sampler")#.0X  +138 "core"  +2 .tCTV.dial CSV + "collection"'A  +119 "core"  + .tCSV.dial CSR +2 "collection"'E  +67 "core"  +2 "collection"'@% +4 "core" % + #tPulling 1ml of CSR.AqMeOH + .CSR.select :AqMeOH +2 "collection"'\ +10 .tCS.reconfigure :default +2 "collection"'#P d@b +2 .tCS.seek 1ml +2 "collection"'J' +332 "core" ' +2 .tdelay 5 seconds +501 .CSR.select :air +3 "collection"' +8 'H% +3 "core" %  +2 .tCS.seek 6.001ml +2 "collection"'N' +1351 "core" ' + .tdelay 2 seconds +202 .CSV.dial :waste2 +2 "collection"'D +39 "core"  +2 .tCS.reconfigure :fast +2 "collection"'#d @b +2 .tCS.seek 0ml +2 "collection"'T' +1338 "core" ' +2 .tCSV.dial CSR + "collection"'P  +41 "core"  +2 "collection"'?% +4 "core" %% + #tPulling 2ml of CSR.AqMeOH + .CSR.select :AqMeOH +2 "collection"' +10 .tCS.reconfigure :default +2 "collection"'#P d@b +2 .tCS.seek 2ml +2 "collection"'''~ +593 "core" ' + .tdelay 5 seconds +503 .CSR.select :air +2 "collection"' +8 'W% +3 "core" %  +2 .tCS.seek 5ml +2 "collection"'R's +848 "core" ' + .tdelay 2 seconds +202 .CSV.dial CTV +2 "collection"'Z  +40 "core"  +2 .tCS.seek 1ml +2 "collection"'[' +1094 "core" ' +2 "collection"'\\9 +3 "core" 9 +2 "collection"'U% +4 "core" %" + #tBefore lysing Collection Puck Heater at 21.3C/27.8psia +3 #Heating Puck.from 2, :sh1 in Collection Clamp to 70C for 10:00 +2 .CH.seek 70C,8:00 +2 "collection"'V \  +2 'K9 +5 "core" 9 +102 "collection"'Y9 +2 "core" 9d +102 "collection"'S9 +3 "core" 9 d +102 "collection"'`9 +2 "core" 9 d +102 "collection"'c9 +3 "core" 9d +102 "collection"'d9 +2 "core" 9d +102 "collection"'e9 +3 "core" 9d +102 "collection"'_9 +2 "core" 9d +102 "collection"'h9 +2 "core" 9"d +102 "collection"'j9 +3 "core" 9&d +102 "collection"']9 +3 "core" 9*d +102 "collection"'g9 +3 "core" 9.d +102 "collection"'^9 +2 "core" 9 3d +102 "collection"'a9 +3 "core" 9,7d +102 "collection"'f9 +2 "core" 9N;d +102 "collection"'O9 +3 "core" 9r?d +102 "collection"'i9 +3 "core" 9Cd +102 "collection"'k9 +2 "core" 9Hd +102 "collection"'o9 +2 "core" 9Ld +102 "collection"'p9 +3 "core" 9Pd +102 "collection"'q9 +3 "core" 9AT_ +102 "collection"'89 +3 "core" 9mX[ +102 "collection"'s9 +2 "core" 9]U +102 "collection"'u9 +2 "core" 9aP +103 "collection"'v9 +2 "core" 9eL +102 "collection"'l9 +3 "core" 9(iG +102 "collection"'.9 +3 "core" 9VmC +102 "collection"'x9 +2 "core" 9q? +102 "collection"'y9 +2 "core" 9v; +102 "collection"'t9 +3 "core" 9z7 +102 "collection"'z9 +3 "core" 9 ~3 +102 "collection"'{9 +3 "core" 991 +102 "collection"'~9 +3 "core" 9b. +102 "collection"'b9 +2 "core" 9+ +102 "collection"'9 +2 "core" 9) +103 "collection"'}9 +2 "core" 9' +103 "collection"'9 +2 "core" 9% +103 "collection"'9 +3 "core" 9$ +102 "collection"'9 +3 "core" 9; +102 "collection"'r9 +2 "core" 9W! +102 "collection"'|9 +3 "core" 9s +102 "collection"'9 +3 "core" 9 +102 "collection"'9 +3 "core" 9 +102 "collection"' 9 +2 "core" 9 +102 "collection"'9 +2 "core" 9 +102 "collection"'9 +3 "core" 9 +102 "collection"'9 +2 "core" 9 +102 "collection"' 9 +3 "core" 9  +102 "collection"'n9 +2 "core" 9  +102 "collection"'9 +2 "core" 9 ' +103 "collection"'9 +3 "core" 9 5 +102 "collection"'9 +2 "core" 9 C +102 "collection"'9 +3 "core" 9 P +102 "collection"'9 +2 "core" 9 [ +102 "collection"'9 +2 "core" 9 g +102 "collection"'\ 9 +4 "core" 9 r +102 "collection"'9 +2 "core" 9 } +102 "collection"'9 +3 "core" 9  +102 "collection"'9 +2 "core" 9  +102 "collection"'9 +3 "core" 9  +102 "collection"'9 +2 "core" 9  +103 "collection"'9 +2 "core" 9  +102 "collection"'9 +3 "core" 9  +102 "collection"'!9 +2 "core" 9  +102 "collection"'#9 +3 "core" 9   +102 "collection"' 9 +3 "core" 9  +102 "collection"'&9 +2 "core" 9  +102 "collection"'9 +3 "core" 9  +102 "collection"'9 +2 "core" 9  +102 "collection"'(9 +3 "core" 9 ! +145 "collection"'m9 +12 "core" 9 ( +102 "collection"'$9 +3 "core" 9 , +102 "collection"')9 +2 "core" 9 0 +102 "collection"'-9 +2 "core" 9 4 +103 "collection"'"9 +2 "core" 9\ 8 +102 "collection"'%9 +3 "core" 9\ < +103 "collection"'09 +2 "core" 9\ A +102 "collection"',9 +3 "core" 9\  E +102 "collection"'29 +2 "core" 9\ \ I +102 "collection"'39 +3 "core" 9\  M +102 "collection"'9 +2 "core" 9\  Q +103 "collection"'59 +2 "core" 9\ # V +102 "collection"'w9 +2 "core" 9\ (Z +103 "collection"'79 +2 "core" 9\ ,^ +103 "collection"'/9 +2 "core" 9\ 0b +102 "collection"'99 +3 "core" 9\ 4f +102 "collection"';9 +3 "core" 9\ 7k +102 "collection"'=9 +2 "core" 9\ <o +102 "collection"'9 +3 "core" 9\ ?s +102 "collection"'+9 +2 "core" 9\ Cw +102 "collection"'19 +3 "core" 9\ G{ +102 "collection"' 9 +3 "core" 9\ K +102 "collection"'B9 +2 "core" 9\ N +102 "collection"'9 +3 "core" 9\ P +102 "collection"'G9 +3 "core" 9\ U +102 "collection"'49 +3 "core" 9\ X +102 "collection"'*9 +3 "core" 9\ [ +102 "collection"'C9 +2 "core" 9\ ^ +102 "collection"'I9 +3 "core" 9\ ` +102 "collection"'M9 +2 "core" 9\ d +102 "collection"'Q9 +3 "core" 9\ h +102 "collection"'L9 +2 "core" 9\ j! +102 "collection"'>9 +3 "core" 9\ m! +102 "collection"'A9 +2 "core" 9\ p# +102 "collection"':9 +3 "core" 9\ s$ +3 .tCH.hold 10:00,70C +3 "collection"'E `\ `\ q +2 '@9 +6 "core"  + 9\ s\ s + "collection"'H% +4 "core" % = = # +2 #tBegun lysing Collection Puck Heater at 68C/31.4psia +22489 "Can"  +37500 "core" ` + "collection"'J9 +4 "core" 9\  + "collection"'D% +4 "core" % 9 +2 #tEnded lysing Collection Puck Heater at 70C/27.7psia + .CS.seek 0ml +2 "collection"'N' +333 "core" ' +2 .tCTV.dial between spare and air,avoiding: :intake +2 "collection"'P @ +91 "core" A +2 .tCSV.dial :air +2 "collection"'? @ +40 "core" > +2 .tCS.seek 5ml +2 "collection"'T's +1348 "core" ' + .tCSV.dial CTV +2 "collection"'W  +40 "core"  +2 .tdelay 2 seconds +202 .CSV.dial :air +2 "collection"'' @ +40 "core" @ + .tdelay 2 seconds +202 .CSV.dial CTV +2 "collection"'Z  +40 "core"  +2 .tdelay 2 seconds +201 .CSV.dial :air +2 "collection"'R @ +40 "core" ? +2 .tdelay 2 seconds +202 .CS.seek 0ml +2 "collection"'\\' +1343 "core" ' + "collection"'U% +4 "core" %  + #tPuck @39.2psia after final lysis pressurization +2 #Recovering Lysate into Collection syringe + .CSV.dial CBV +2 "collection"'K +93 "core" ~ +2 .tCBV.dial CSV + "collection"'Y  +29 "core"  + "collection"'S% +4 "core" %  +2 .tCS.seek 5.001ml +2 "collection"'`'s +1348 "core" ' +2 .tdelay 5 seconds +502 .CTV.dial :air +2 "collection"'c  +40 "core" + "collection"'d% +4 "core" %s}~  +2 .tCS.seek 7ml +2 "collection"'e' +602 "core" ' + .tdelay 5 seconds +502 .CSV.dial :air2 +3 "collection"'_ @ +37 "core" > +2 .tCS.seek 10ml +2 "collection"'h' +837 "core" ' +2 .tCSV.dial between air and CTV,avoiding: CBV +2 "collection"'j ` +104 "core" ^ +2 #tLysing Complete + "collection"']& +4 "core" &]Zz{ A +2 #tStoring sh1 puck in Collection Clamp to tube 1 + "manipulator"&g% +4 "core" %\ +  !T +2 "storage"(^% +3 "core" %? \ +2 "storage"(a. +3 "core" .(  +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 1 +2 "storage"(f(B +362 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (O& +3 "core" &D | +2 "manipulator"&i& +4 "core" & "  9( + "manipulator"&k% +4 "core" %\ *  !T +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 1 +2 "manipulator"&o(c +165 "core" ( +2 "manipulator"&p& +4 "core" &m o + "storage"(q& +4 "core" &D\ \ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 1 + 450 counts + "manipulator"&8'Ф +103 "core" ' + "storage"(s& +4 "core" &D\ \ +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(u'e +272 "core" ' +2 "storage"(v- +3 "core" -'e +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek :place +2 "storage"(l'B +38 "core" ' +2 "manipulator"&.& +4 "core" &m U ] S o + "manipulator"&x% +4 "core" %Ф ` ` +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&y'\ +93 "core" ' +2 .tElbow.seek CC + "manipulator"&t( +156 "core" ( +2 "manipulator"&z& +4 "core" &% > =E + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &{& +2 "core" &% l =E +2 .tForearm.seek CC +2 "manipulator"&~'| +104 "core" ' +2 .tHand.close + "manipulator"&b/ +55 "core" / +2 .tCC.seek :open +2 "collection"'(p +409 "core" ( + "storage"(}& +4 "core" &D\ !\  +2 "storage"(& +3 "core" &D\ \  +2 "manipulator"&& +3 "core" &# " ;3 +2 "manipulator"&% +4 "core" % q  u + .tForearm.seek :retract +2 "manipulator"&r'\ +90 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 1 +2 "manipulator"&|(c +163 "core" ( +2 "manipulator"&& +4 "core" &k ~ 0 s + "storage"(& +5 "core" &D\ !\ !  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 1 +2 "manipulator"& ' +110 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&1 +58 "core" 1 +2 "manipulator"&% +4 "core" % ) +2 "storage"( & +3 "core" &D\ \ R +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 1 + 306 counts +2 "manipulator"&n' +18 "core" ' + "manipulator"&& +4 "core" &k C c l s +2 "storage"(& +4 "core" &D\ 4\ % H +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 1 + 450 counts +2 "manipulator"&'Ф +15 "core" ' +2 "storage"(% +4 "core" %?\ &\ C X +2 ."downElevator"SE.seek :down +3 "storage"('N +99 (% +3 "core" %D\ \  Y N? +2 "manipulator"&\ % +4 "core" %Ю b f < +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +95 "core" ' +52 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tTranferring DA + #Beginning samplePassC +2 #Loading FlushPuck into Collection Clamp from FlushPuck::Garage + "collection"'& +4 "core" &xz +2 "manipulator"&& +4 "core" &k  s + "manipulator"&% +4 "core" %\ 5  & +2 .tElbow.seek FlushPuck::Garage +2 "manipulator"&(, +161 "core" ( +2 "manipulator"&& +4 "core" &,   + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &, :  +2 .tForearm.seek :garage + "manipulator"&!' +104 "core" ' +2 .tHand.close + "manipulator"&#/ +53 "core" / +3 "manipulator"& & +4 "core" &,   + "manipulator"&&% +4 "core" %   ' +2 .tForearm.seek :retract + "manipulator"&'\ +103 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +6 "manipulator"&( +297 "core" ( + "manipulator"&(& +5 "core" & o $ + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &m& +2 "core" &   $ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC + "manipulator"&$'| +108 "core" ' + "manipulator"&)& +4 "core" &  |  $ +2 "manipulator"&-% +4 "core" %u D + "collection"'"& +4 "core" & +2 "collection"'%& +5 "core" & +2 .tCC.seek :closed + "collection"'0(] +4 "core" & +8 & "| "_ +10 &vZN 5 +9 &, G +10 &k F +9 &bs  G +9 &$s G +10 & r F +9 &"q F +9 &$jpq G +10 &&+q G +9 &'p G +10 &)n G +9 &+rnf G +9 &-4mW G +10 &.pE F +9 &0q G +10 &2zn| G +9 &4<p G +9 &5r G +10 &7s G +9 &9r G +9 &;Dq G +10 &=p G +9 &>o F +9 &@p\\ G +10 &BKsJ G +9 &Do3 F +10 &Epg G +9 &Grm G +9 &IQwh H +10 &K V J +9 &L; N +9 &N P +10 &P@ P +9 &R Q +10 &S Q +9 &U  R +9 &WB R +10 &X T +9 &Z T +9 &\\ B +10 &]l, *{ +9 &]} O +2 ( +2 "collection"'%& +3 #tCollection Clamp onSpring/offSpring for 10/25 samples, on/off torque 1.81 +2 "collection"',& +4 "core" &]{r O + .tHand.open +2 "manipulator"&21 +58 "core" 1 +2 "manipulator"&3% +4 "core" % u H +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +97 "core" ' + .tPSV.dial PSR +2 "processing"%5 +96 "core"  +2 "processing"%w% +4 "core" %x + #tPulling 1.205ml of PSR.flush + .PSR.select :flush +2 "processing"%j +11 .tPS.seek 1.5ml +2 "processing"%7' +1314 "core" ' +2 .tdelay 5 seconds +502 .PSV.dial :waste1 +3 "processing"%/  +42 "core"  +2 .tPS.seek 0ml +2 "processing"%9' +1613 "core" ' + .tPSV.dial PSR +2 "processing"%; +49 "core"  + .tPSR.select :air +2 "processing"% +10 .tPS.seek 2.5ml + "processing"%='m +2650 "core" ' +2 ."connect"PRV.dial CBV,avoiding: :ab2 +3 .tCBV.dial PRV +2 "processing"% + "collection"'+  +7 "core"  + "processing"%1  +15 "core"  +50 + .tPSV.dial :mixloop +2 "processing"% +95 "core" +2 .tCTV.dial :air,avoiding: :intake + .PTV.dial :PRVmixing +2 "processing"%B  +16 "core" +2 .tPS.seek 0ml + "processing"%' +2637 "core" ' +2 .tPSV.dial :air + "processing"%G  +43 "core"  +2 .tPS.seek 2.5ml + "processing"%4'm +701 "Can" SQ +1966 "core" ' + .tPSV.dial :mixloop +2 "processing"%* +47 "core" +2 .tPS.seek 0ml +2 "processing"%C' +2627 "core" ' + .tPSV.dial :air +55 "processing"%I  +50 "core"  +2 .tPS.seek 2.5ml +2 "processing"%M'm +2646 "core" ' +2 .tPSV.dial :mixloop + "processing"%Q +47 "core" +3 .tPS.seek 0ml + "processing"%L' +2634 "core" ' + #tGaraging FlushPuck in Collection Clamp +2 "manipulator"&>& +4 "core" &  Y $ +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&A( +22 "core" ( + "manipulator"&:& +4 "core" &  ! +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &@& +3 "core" &  ! +2 .tForearm.seek CC +2 "manipulator"&H'| +97 "core" ' +2 .tHand.close + "manipulator"&V/ +60 "core" / +2 .tCC.seek :open + "collection"'E(p +409 "core" ( +2 "manipulator"&J& +4 "core" &  + "manipulator"&D% +4 "core" %  $ +2 .tForearm.seek :retract +2 "manipulator"&['\ +91 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage +2 "manipulator"&P(, +295 "core" ( + "manipulator"&?& +4 "core" &,   +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &N& +3 "core" &, <  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :garage +2 "manipulator"&W' +108 "core" ' + .tHand.open +2 "manipulator"&'1 +56 "core" 1 +2 "manipulator"&Z% +4 "core" %  0 S +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&R'\ +103 "core" ' +2 .tPSV.dial :mixloop + .PTV.dial :PRVmixing +2 ."connect"PRV.dial CBV +3 .tCBV.dial PRV +2 .CTV.dial :air,avoiding: :intake +2 #Loading lyfil puck from tube 2 into Collection Clamp + "collection"'T& +4 "core" &L +2 "manipulator"&U% +4 "core" %\ 5 $ & + "storage"(K% +4 "core" %K\ \ _ \ + "storage"(Y. +3 "core" .(E +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 + "storage"(S(  +372 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (\\& +3 "core" &  C  +2 "manipulator"&c& +3 "core" &, Y  +2 "manipulator"&d% +3 "core" %\ 4 & +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&`(; +173 "core" ( + "manipulator"&_& +4 "core" &> 7 !v +2 "storage"(e& +4 "core" & \ \ !  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&j'Ѐ +96 "core" ' +2 "storage"(]& +4 "core" & \ !\ "   +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(g'e +280 "core" ' + "storage"(^- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (a& +2 "core" & \ \ \   +2 "manipulator"&6& +4 "core" &> ( !v +2 .tElbow.seek 2 + "manipulator"&O(; +3 "core" ( +2 "manipulator"&i& +4 "core" &>  !v + "storage"(k& +4 "core" & \ \  +2 .tForearm.seek 2 + 300 counts + "manipulator"&p' +10 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&q/ +53 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&s& +2 "storage"(<'N +7 "core" &>  !v +2 "manipulator"& % +4 "core" % " 8 +2 .tForearm.seek :retract + "manipulator"&v'\ +96 "core" ' +2 .tElbow.seek CC +2 "manipulator"&.( +145 "core" ' +2 ."downElevator"SE.stop +2 "storage"(5 +3 "core" ( + "manipulator"&x& +4 "core" &$ ;7 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &u& +3 "core" &# ;7 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&z'| +96 "core" ' +2 "manipulator"&{& +4 "core" &# A ;7 +2 "manipulator"&8% +4 "core" %w  + "collection"'o& +4 "core" & +2 "collection"'b& +5 "core" & +2 .tCC.seek :closed +2 "collection"'y(] +5 "core" &+  +9 &5X )w +9 &k0 = +9 &V G +10 &ErH F +9 &q F +10 &r F +9 &!q F +9 &#Mq F +10 &%n F +9 &&uw F +10 &(u[ F +9 &*TrE G +9 &,p9 F +10 &-p% F +9 &/t G +9 &1\\p G +10 &3n G +9 &4m F +9 &6n F +10 &8dq G +9 &:&p^ G +10 &;pQ F +9 &=s G +9 &?mr F +10 &A/p F +9 &Bt G +9 &Dl F +10 &Ftmq G +9 &H5p G +10 &I H +9 &K L +9 &Mb P +10 &O# P +9 &P Q +9 &R Q +10 &Td R +9 &V# S +10 &Ww S +9 &Yg U +9 &[d\\ T +10 &]\ yY (} +9 &](` #j +9 ( +3 "collection"'b& +2 #tCollection Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.83 +2 .Hand.open + "manipulator"&F1 +4 "core" &]{S N +59 1 +2 "manipulator"&}% +4 "core" % w c +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +91 "core" ' +2 .tCTV.dial CSV,avoiding: :intake +2 "collection"'  +120 "core"  +2 .tCSV.dial CTV + "collection"'  +28 "core"  +2 .tPS.seek 2.5ml +2 "processing"%'m +2639 "core" ' + "collection"'% +4 "core" %r  +2 .tCS.seek 4.5ml +2 "collection"'~'d +1478 "core" ' + .tdelay 8 seconds +803 .PSV.dial :air +2 "processing"%t  +46 "core"  + .tdelay 2 seconds +202 .PSV.dial :waste2 +2 "processing"%  +68 "core"  +2 .tPS.seek 0ml +2 "processing"%' +2637 "core" ' + .tCBV.dial between PRV and waste1 +2 "collection"' ` +31 "core" ^ + .tCSV.dial :air +2 "collection"' @ +42 "core" ? +2 .tCS.seek 10ml +2 "collection"'' +1476 "core" ' + .tCSV.dial CTV +2 "collection"'  +41 "core"  +2 .tCS.seek 0ml + "collection"'r' +2631 "core" ' + .tCBV.dial :waste1 +2 "collection"' @ +28 "core" ? +2 .tdelay 5 seconds +502 .CTV.dial :air,avoiding: :intake +2 "collection"'\  +119 "core" +2 "collection"'|& +4 "core" &]z N + #tStoring lyfil puck in Collection Clamp to tube 1 +2 "manipulator"& % +3 "core" %\ * S !P +2 "storage"(% +3 "core" %H +2 "storage"(n. +3 "core" .(  + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 1 +2 "storage"((B +369 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (& +3 "core" &C # +2 "manipulator"&l& +4 "core" &  9# + "manipulator"&% +4 "core" %\ *  !P +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 1 +2 "manipulator"&(c +157 "core" ( +2 "manipulator"&& +4 "core" &n X + "storage"(& +4 "core" &C J +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 1 + 450 counts + "manipulator"&'Ф +94 "core" ' + "storage"(#& +4 "core" &C \ i +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"( 'e +288 "core" ' + "storage"(&- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&& +3 "core" &n  +2 "storage"(!& +4 "core" &C ` + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 1 +2 "manipulator"&' +31 "core" ' +2 .tElbow.hold + "manipulator"&(, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(m- +2 "core" -' +2 .tSE.seek 0.12 Pucks below Top Plate +2 "storage"()'o +28 "core" ' + "manipulator"&-% +5 "core" % < ½R + "storage"("& +4 "core" &C  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 1 + 312 counts +2 "manipulator"&' +19 "core" ' + "manipulator"&& +4 "core" &n t \\ +2 "storage"(,& +4 "core" &C\ ; +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 1 + 450 counts +2 "manipulator"&2'Ф +21 "core" ' +2 .tSE.seek 1.12 Pucks below Top Plate +2 "storage"(3'^ +49 "core" ' + "manipulator"&%& +4 "core" &n _ ` J +2 "manipulator"&5% +4 "core" %н j ` 1  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&w'\ +89 "core" ' +2 .tElbow.seek CC +2 "manipulator"&$( +151 "core" ( +2 "manipulator"&/& +4 "core" &# ;5 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &7& +3 "core" &# T ;4 +51 .tForearm.seek CC +4 "manipulator"&;'| +96 "core" ' + .tHand.close +2 "manipulator"&9/ +53 "core" / +2 .tCC.seek :open + "collection"'(p +413 "core" ( + "storage"(1& +4 "core" &C\ \   +2 "storage"(+& +4 "core" &C\ \  c + "manipulator"& & +4 "core" &  7 + "manipulator"&B% +4 "core" % ϊ | +2 .tForearm.seek :retract +2 "manipulator"&='\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 1 +2 "manipulator"&G(c +164 "core" ( + "manipulator"&& +4 "core" &j c k +2 "storage"(*& +4 "core" &C\ !\ D + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 1 + "manipulator"&4' +106 "core" ' + .tElbow.hold +2 "manipulator"&I, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&C1 +55 "core" 1 +2 "manipulator"&Q% +4 "core" % w + "storage"(M& +4 "core" &C\ $ +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 1 + 310 counts +3 "manipulator"&>' +18 "core" ' +2 "manipulator"&:& +4 "core" &j s Y ~ k +2 "storage"(@& +3 "core" &C\ !\ "  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 1 + 450 counts +2 "manipulator"&V'Ф +23 "core" ' + "storage"(% +4 "core" %c\ \  +3 ."downElevator"SE.seek :down +3 "storage"('N +99 (0% +3 "core" %zG\ \   N? +2 "manipulator"&J% +3 "core" %м d n +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&D'\ +93 "core" ' +46 ' + ."downElevator"SE.stop + "storage"(5 +3 .tPSV.dial :air +2 "processing"%H  +74 "core" +2 .tPS.seek 2.5ml +2 "processing"%?'m +2651 "core" ' + .tdelay 1 second +102 .PSV.dial :mixloop +2 "processing"%A +42 "core" + .tdelay 1 second +102 .PSV.dial :air +2 "processing"%N  +46 "core"  +2 .tdelay 1 second +102 .PSV.dial :mixloop + "processing"%' +48 "core" +2 .tdelay 1 second +102 .PSV.dial :air +2 "processing"%Z  +46 "core"  +2 .tdelay 1 second +102 .PS.seek 0ml +2 "processing"%T' +2631 "core" ' +2 #tLoading FlushPuck into Processing Clamp from FlushPuck::Garage + "processing"%[& +4 "core" & +2 "manipulator"&U& +4 "core" &j f k + "manipulator"&K% +4 "core" %\ 5 a & +2 .tElbow.seek FlushPuck::Garage + "manipulator"&Y(, +163 "core" ( + "manipulator"&W& +5 "core" &, `  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &f& +2 "core" &, K  +2 .tForearm.seek :garage +2 "manipulator"&\\' +106 "core" ' + .tHand.close + "manipulator"&c/ +55 "core" / +2 "manipulator"&d& +4 "core" &, Q  + "manipulator"&_% +4 "core" %   +2 .tForearm.seek :retract +2 "manipulator"&e'\ +103 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +2 "manipulator"&](c +133 "core" ( + "manipulator"&P& +4 "core" &` V  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &R& +3 "core" &` C  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&^'[ +92 "core" ' +2 "manipulator"&a& +4 "core" &` E  +2 "manipulator"&6% +3 "core" %a +2 "processing"%i& +4 "core" & +2 "processing"%k& +4 "core" & +2 .tPC.seek :closed +2 "processing"%q(Z +4 "core" &r  +8 &4 *y +10 &h = +9 &ry I +10 &7m G +9 &p H +9 &m H +10 &!|n H +9 &#>m H +9 &%q G +10 &&s H +9 &(k G +10 &*Fq H +9 &, n G +9 &-n G +10 &/s G +9 &1Om G +9 &3o G +10 &4p H +9 &6p H +10 &8Vo H +9 &:nS H +9 &;m G +10 &=lU G +9 &?_pN G +9 &A!p G +10 &BqY G +9 &DrN G +10 &FgrQ G +9 &H(u] H +9 &IW H +10 &KK K +9 &M_R M +9 &O X M +10 &PT M +9 &RZ M +10 &TeT N +9 &V&R N +9 &WV M +10 &YT 8 +9 &Z0e T +9 &Zi ) +3 ( + "processing"%k& +3 #tProcessing Clamp onSpring/offSpring for 8/26 samples, on/off torque 1.45 +2 "processing"%s& +4 "core" &Z4 ) + .tHand.open +2 "manipulator"& 1 +58 "core" 1 + "manipulator"&`% +4 "core" % a  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&j'\ +92 "core" ' + .tPRV.dial :air +2 "processing"%x  +40 "core"  + .tPSV.dial :mixloop +2 "processing"%u +47 "core" + "processing"%g% +4 "core" %_ +2 .tPS.seek 0.3ml +2 "processing"%p'n +383 "core" ' + .tPSV.dial PSR +2 "processing"%{ +99 "core"  + "processing"%8% +4 "core" %m  +2 #tPulling 0.4ml of PSR.air + .PSR.select :air +2 .PS.seek 0.7ml +2 "processing"%o'. +492 "core" ' +2 .tdelay 3 seconds +302 .PSR.select :air +2 .PS.seek 2.5ml +2 "processing"%O'm +1939 "core" ' +2 .tdelay 3 seconds +301 .PSV.dial :mixloop +2 "processing"%< +103 "core" + .tPTV.dial :mixing +2 "processing"%v @ +67 "core" A +2 .tPBV.dial :waste2 + "processing"%E  +107 "core"  +2 .tPS.seek 0ml +2 "processing"%F' +2633 "core" ' +2 #tGaraging FlushPuck in Processing Clamp + "manipulator"&}& +4 "core" &` 3  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC + "manipulator"&b(c +3 "core" ( +2 "manipulator"&& +4 "core" &`   + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +2 "core" &`   +2 .tForearm.seek PC +2 "manipulator"&z'[ +99 "core" ' +2 .tHand.close + "manipulator"&L/ +55 "core" / +2 .tPC.seek :open +2 "processing"%(p +391 "core" ( + "manipulator"&h& +4 "core" &e  +2 "manipulator"&t% +4 "core" % n  +2 .tForearm.seek :retract + "manipulator"&'\ +96 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage +2 "manipulator"&(, +115 "core" ( +2 "manipulator"& & +4 "core" &, j  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +2 "core" &,   +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :garage +2 "manipulator"&~' +98 "core" ' + .tHand.open + "manipulator"&1 +62 "core" 1 + "manipulator"&% +4 "core" %   +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +93 "core" ' +2 #tLoading da puck from tube 2 into Processing Clamp + "processing"%\ & +4 "core" &. +2 "manipulator"&|% +3 "core" %\ &  @ +2 "storage"( % +4 "core" %L\ \ Z + "storage"(. +3 "core" .(E +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 + "storage"(n(  +370 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (S& +3 "core" &  3  +2 "manipulator"&& +4 "core" &,   + "manipulator"&l% +4 "core" %\ '  @ +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&(; +177 "core" ( + "manipulator"&& +4 "core" &>  "| +2 "storage"(& +3 "core" & \ \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&#'Ѐ +104 "core" ' + "storage"(.& +5 "core" & \ \   +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('e +281 "core" ' + "storage"(&- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (& +2 "core" & \ \ !  +2 "manipulator"&!& +4 "core" &> f b > "| +2 .tElbow.seek 2 + "manipulator"&m(; +3 "core" ( +2 "manipulator"&-& +3 "core" &> q t "| +2 "storage"("& +3 "core" & \ !\   +52 .tForearm.seek 2 + 300 counts +4 "manipulator"&' +26 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&,/ +58 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&%& +2 "storage"(5'N +7 "core" &> ` _ ^ "| +2 "manipulator"&% +4 "core" % j a E +2 .tForearm.seek :retract + "manipulator"&'\ +98 "core" ' +2 .tElbow.seek PC +2 "manipulator"& (c +153 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +95 "core" ( + "manipulator"&& +4 "core" &m o +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &m H +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&)'[ +94 "core" ' +2 "manipulator"&/& +3 "core" &m f +2 "manipulator"&7% +4 "core" %Z +2 "processing"%2& +4 "core" & +2 "processing"%(& +5 "core" & +2 .tPC.seek :closed +2 "processing"%9(Z +4 "core" & +7 &< #b +9 &vYQ 5 +10 & H +9 &j G +10 &cn G +9 &$o\ G +9 & n G +10 &"o\ G +9 &$im G +9 &&+n G +10 &'l G +9 &)m G +10 &+qm G +9 &-3n G +9 &.o G +10 &0m H +9 &2zm G +9 &4<n G +10 &5l G +9 &7m G +10 &9l G +9 &;Fn F +9 &=m G +10 &>n G +9 &@m G +9 &BLm G +10 &Dk G +9 &Em G +10 &Go G +9 &IQw H +9 &K~v J +10 &Lt K +9 &Nr M +9 &PKt M +10 &Rt M +9 &Sq M +10 &Ur M +9 &WSj M +9 &Yd N +10 &ZeChd Q +9 &Z DY . +5 ( +2 "processing"%(& +4 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.44 +2 .Hand.open + "manipulator"&w1 +3 "core" &Z"_ . +50 1 + "manipulator"&y% +5 "core" % Z u + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&1'\ +91 "core" ' +2 #tHeating Puck.from 2, :da in Processing Clamp to 28C for 2:00:00 +2 .PH.seek 28C,5:00 +3 "processing"%+  +2 % 9 +6 "core" 9 +101 "processing"%B9 +3 "core" 9 +102 "processing"%9 +3 "core" 9  +102 "processing"%*9 +2 "core" 9  +102 "processing"%;9 +2 "core" 9 +103 "processing"%$9 +3 "core" 9 +102 "processing"%C9 +2 "core" 9 +102 "processing"%Q9 +3 "core" 9 +102 "processing"%M9 +2 "core" 9" +102 "processing"%:9 +2 "core" 9& +103 "processing"%@9 +3 "core" 9* +102 "processing"%9 +2 "core" 9/ +102 "processing"%=9 +3 "core" 93 +102 "processing"%09 +2 "core" 97 +102 "processing"%J9 +3 "core" 9; +102 "processing"%G9 +3 "core" 9? +102 "processing"%49 +2 "core" 9C +102 "processing"%>9 +2 "core" 9H +103 "processing"%39 +2 "core" 9L +102 "processing"%H9 +2 "core" 9P +102 "processing"%V9 +3 "core" 9T +102 "processing"%9 +2 "core" 9X +102 "processing"%9 +3 "core" 9] +102 "processing"%A9 +2 "core" 9a\ +102 "processing"%N9 +2 "core" 9$e +103 "processing"%'9 +3 "core" 9.i +102 "processing"%Z9 +2 "core" 98m +102 "processing"%?9 +3 "core" 9Aq +102 "processing"%[9 +2 "core" 9Lv +102 "processing"%U9 +2 "core" 9Uz +102 "processing"%K9 +3 "core" 9_~ +102 "processing"%W9 +3 "core" 9i +102 "processing"%f9 +2 "core" 9s +102 "processing"%I9 +3 "core" 9| +102 "processing"%c9 +2 "core" 9 +3 .tPH.hold 2:00:00,28C +3 "processing"%d pp} +3 .tdelay 1:30 +3 "core"  +9001 .tPSR.select :air +2 .PSV.dial PSR + "processing"%_ +103 "core"  + "processing"%D% +4 "core" % +2 #tPulling 0.5ml of PSR.wash + .PSR.select :wash +2 "processing"% +10 .tPS.seek 0.5ml +2 "processing"%P' +432 "Can" EC +160 "core" ' +2 .tdelay 5 seconds +502 .PSR.select :air +2 "processing"% +9 .tPS.seek 2ml +2 "processing"%R'ԏ +1645 "core" ' +2 .tPTV.dial :puck + "processing"%\\  +66 "core"  +2 .tPSV.dial PTV + "processing"%a +77 "core" + .tPBV.dial :waste1 +2 "processing"%6  +122 "core"  + "processing"%i% +4 "core" %ԃW +2 .tPS.seek 1.5ml +2 "processing"%Y' +595 "core" ' +2 .tdelay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%e * +30 "core" + +3 .tPS.seek 0ml + "processing"%X' +1614 "core" ' + .tdelay 5:00 +30002 #recoverPSRreagent08 +2 .PTV.dial :puck + .PBV.dial :waste1 +2 "processing"%s  +32 "core" + .tdelay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"% * +33 "core" + + .tPSR.select :air +2 .PSV.dial PSR +2 "processing"%` +75 "core"  +2 .tPS.reconfigure :fast +2 "processing"%#A ,`xb +2 .tPS.seek 2.5ml +2 "processing"%k'm +2204 "core" ' + .tPSV.dial PTV +2 "processing"%x +75 "core" +2 .tdelay 5 seconds +502 .PSV.dial PSR + "processing"%u +75 "core"  + .tdelay 5 seconds +503 .PSV.dial PTV + "processing"%g +75 "core" + .tdelay 5 seconds +502 .PSV.dial :air +2 "processing"%^  +70 "core"  +2 .tPS.seek 0ml + "processing"%T' +2175 "core" ' + .tPTV.dial :PRVmixing,via: PRV +2 "processing"%{  +118 "core" +2 .tPSV.dial :mixloop +2 "processing"%8 +46 "core" +2 .tPRV.dial :ab1 +2 "processing"%p @ +67 "core" B +2 .tPS.reconfigure :slow +2 "processing"%#A 2`xb +3 .tPS.seek 0.15ml + "processing"%o'@ +350 "core" ' + .tdelay 2 seconds +202 ."connect"CBV.dial PRV +4 .tPRV.dial CBV +2 "collection"'<  + "processing"%v  +41 "core" +2  + "processing"%E% +4 "core" %B  +2 .tPS.seek 0.34ml +2 "processing"%O' +444 "core" ' + .tdelay 2 seconds +202 .CBV.dial between PRV and PSV +2 "collection"'}  +27 "core" +2 .tPRV.dial :air + "processing"%  +38 "core"  +2 .tPS.seek 0.9ml +2 "processing"%'H +1191 "core" ' +2 .tPRV.dial :waste2 +2 "processing"%L @ +67 "core" > +2 .tPS.seek 0.5ml +2 "processing"%]' +857 "core" ' + #taddPMLReagent08 +2 .PSV.dial :air + "processing"%j  +49 "core"  +2 .tPS.reconfigure :default +2 "processing"%#A d`xb +3 .tPS.seek 2ml + "processing"%q'ԏ +1648 "core" ' + .tPSV.dial :PML +2 "processing"%h +47 "core" +2 .tPTV.dial :mixing + "processing"%t @ +66 "core" @ + .tPBV.dial :waste1 +2 "processing"%  +33 "core" + "processing"%% +4 "core" %ԉ +2 .tPS.seek 1.85ml +2 "processing"%z'` +249 "core" ' + .tPBV.dial between PSV and waste1 +2 "processing"% * +33 "core" + +2 .tPS.seek 0ml +2 "processing"%b' +1969 "core" ' + .tdelay 2 seconds +203 #Beginning samplePassC + #Loading FlushPuck into Collection Clamp from FlushPuck::Garage +2 "collection"'& +3 "core" & + "manipulator"&\ & +4 "core" &m _ + "manipulator"&|% +4 "core" %\ * G !Q +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek FlushPuck::Garage + "manipulator"& (, +121 "core" ( +2 "manipulator"&& +4 "core" &, q  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &, y  +2 .tForearm.seek :garage + "manipulator"&~' +93 "core" ' +2 .tHand.close + "manipulator"&/ +61 "core" / +2 "manipulator"&S& +12 "core" &,  + "manipulator"&% +4 "core" % +2 .tForearm.seek :retract +2 "manipulator"&l'\ +95 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&( +273 "core" ( + "manipulator"&& +4 "core" &% n << +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &% X << +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&.'| +91 "core" ' +2 "manipulator"&& +4 "core" &% " << +2 "manipulator"&&% +3 "core" % z J  +2 "collection"'& +4 "core" & +2 "collection"'!& +5 "core" & +2 .tCC.seek :closed +3 "collection"'-(] +60 "core" & + & + & + & + & +2 & & + & 6 +8 &K / +9 &Ew D +10 &r H +9 &s H +10 &{s H +9 & <v I +9 &!v H +10 &#p I +9 &%q H +9 &'Ep H +10 &)p H +9 &*r I +9 &,r I +10 &.Lt I +9 &0p I +10 &1t I +9 &3s I +9 &5Up H +10 &7q! H +9 &8m H +9 &:t H +10 &<]q H +9 &> p H +10 &?u I +9 &An H +9 &Cep H +10 &E's H +9 &Fo H +9 &Hu I +10 &Ji{ J +9 &L$ L +10 &M P +9 &O Q +9 &QZ R +10 &S# R +9 &T S +9 &V S +10 &X\\ T +9 &Z U +10 &[ W +9 &]0F! , +9 &]o : +6 ( + "collection"'!& +4 #tCollection Clamp onSpring/offSpring for 8/26 samples, on/off torque 1.82 +2 "collection"'"& +4 "core" &]A : + &]A : +2 .tHand.open + "manipulator"&,1 +53 "core" 1 +2 "manipulator"&%% +4 "core" % z l  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +92 "core" ' + .tPSV.dial PSR +2 "processing"% +97 "core"  +2 "processing"%#% +4 "core" %V + #tPulling 1.5ml of PSR.flush + .PSR.select :flush +3 "processing"%@ +9 .tPS.seek 1.5ml +2 "processing"%' +1612 "core" ' +2 .tdelay 5 seconds +502 .PSV.dial :waste1 +3 "processing"%  +40 "core"  +3 .tPS.seek 0ml + "processing"%' +1612 "core" ' + .tPSV.dial PSR +2 "processing"% +47 "core"  + .tPSR.select :air +2 "processing"% +10 .tPS.seek 2.5ml +2 "processing"%m'm +1981 "Can" WT +685 "core" ' +2 ."connect"PRV.dial CBV,avoiding: :ab2 +4 .tCBV.dial PRV + "processing"%/  +2 "collection"'7  +31 "core" ~ +112  + .tPSV.dial :mixloop +2 "processing"%2 +97 "core" + .tCTV.dial :air,avoiding: :intake +2 .PTV.dial :PRVmixing +2 "processing"%5  +67 "core" +2 .tPS.seek 0ml + "processing"%' +2636 "core" ' + .tPSV.dial :air +2 "processing"%  +42 "core"  +2 .tPS.seek 2.5ml +2 "processing"%w'm +2654 "core" ' + .tPSV.dial :mixloop +2 "processing"%y +47 "core" +2 .tPS.seek 0ml +2 "processing"% ' +2636 "core" ' +2 .tPSV.dial :air + "processing"%(  +49 "core"  +2 .tPS.seek 2.5ml +2 "processing"%B'm +2647 "core" ' +2 .tPSV.dial :mixloop + "processing"%) +47 "core" +2 .tPS.seek 0ml +2 "processing"%' +2628 "core" ' + #tGaraging FlushPuck in Collection Clamp +2 "manipulator"&*& +4 "core" &+ 6 +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&;( +61 "core" ( + "manipulator"&$& +4 "core" & P 8 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &C& +2 "core" & 8 +2 .tForearm.seek CC +2 "manipulator"&Q'| +96 "core" ' + .tHand.close +2 "manipulator"&M/ +56 "core" / +2 .tCC.seek :open +2 "collection"':(p +409 "core" ( + "manipulator"&@& +4 "core" &6 / +2 "manipulator"&% +3 "core" % h i +2 .tForearm.seek :retract +2 "manipulator"&='\ +98 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage +2 "manipulator"&0(, +284 "core" ( +2 "manipulator"&J& +4 "core" &, _  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &G& +2 "core" &,  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :garage +2 "manipulator"&4' +98 "core" ' + .tHand.open +2 "manipulator"&>1 +59 "core" 1 +2 "manipulator"&3% +4 "core" % M +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&H'\ +102 "core" ' +2 ."da"delayUntil "13:26:36.41" +24762 #recoverPRVreagent08 + .PTV.dial :mixing + "processing"%V @ +67 "core" A + ."da"PBV.dial :waste1 +2 "processing"%  +33 "core" + ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"% * +33 "core" * + ."da"PSV.dial :air +2 "processing"%A  +48 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%N'm +2216 "core" ' + ."da"PSV.dial :mixloop +2 "processing"%' +47 "core" +2 ."da"delay 2 seconds +202 .PSV.dial :air +2 "processing"%Z  +47 "core"  +2 ."da"delay 2 seconds +202 .PSV.dial :mixloop +2 "processing"%? +46 "core" + ."da"delay 2 seconds +202 .PSV.dial :air +2 "processing"%[  +46 "core"  +2 ."da"PS.seek 0ml +2 "processing"%U' +2178 "core" ' + #"da"washCycleDA #1 of 2 +2 .PSR.select :air +2 .PSV.dial PSR + "processing"%K +130 "core"  + "processing"%W% +4 "core" % + #"da"Pulling 0.5ml of PSR.wash +2 .PSR.select :wash +2 "processing"% +9 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"%f' +594 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +2 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%I'ԏ +1617 "core" ' + ."da"PTV.dial :puck +2 "processing"%c  +66 "core"  + ."da"PSV.dial PTV +2 "processing"%_ +75 "core" +2 ."da"PBV.dial :waste1 + "processing"%D  +33 "core" +2 "processing"%F% +3 "core" %ԋ  +2 ."da"PS.seek 1.5ml +2 "processing"%P' +602 "core" ' + ."da"delay 3 seconds +303 .PBV.dial between PSV and waste1 +2 "processing"%\\ * +33 "core" , +2 ."da"PS.seek 0ml +2 "processing"%a' +1626 "core" ' + ."da"delay 2:00 +5385 "Can" LJ +6618 #"da"recoverPSRreagent08 + .PTV.dial :puck +2 .PBV.dial :waste1 +2 "processing"%6  +33 "core" + ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%i * +33 "core" * + ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"%R +74 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%e'm +2209 "core" ' + ."da"PSV.dial PTV +2 "processing"%Y +75 "core" + ."da"delay 5 seconds +503 .PSV.dial PSR + "processing"%+ +74 "core"  +2 ."da"delay 5 seconds +502 .PSV.dial PTV +2 "processing"%s +74 "core" +2 ."da"delay 5 seconds +502 .PSV.dial :air +2 "processing"%  +67 "core"  +3 ."da"PS.seek 0ml +2 "processing"%`' +2175 "core" ' +2 #"da"washCycleDA #2 of 2 + .PSR.select :air +2 .PSV.dial PSR +2 "processing"%X +124 "core"  +2 "processing"%x% +4 "core" % + #"da"Pulling 0.5ml of PSR.wash +2 .PSR.select :wash +2 "processing"% +9 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"%u' +592 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +2 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%g'ԏ +1652 "core" ' + ."da"PTV.dial :puck +2 .PSV.dial PTV +2 "processing"%^ +68 "core" +2 ."da"PBV.dial :waste1 +2 "processing"%k  +32 "core" +2 "processing"%{% +4 "core" %ԁ +2 ."da"PS.seek 1.5ml + "processing"%8' +597 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%p * +34 "core" , +2 ."da"PS.seek 0ml +2 "processing"%T' +1656 "core" ' +2 ."da"delay 2:00 +12003 #recoverPSRreagent08 + .PTV.dial :puck +2 .PBV.dial :waste1 +2 "processing"%<  +34 "core" +2 ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%v * +34 "core" , + ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"%E +74 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%o'm +2205 "core" ' +2 ."da"PSV.dial PTV +2 "processing"%} +75 "core" + ."da"delay 5 seconds +503 .PSV.dial PSR + "processing"% +74 "core"  +2 ."da"delay 5 seconds +502 .PSV.dial PTV +2 "processing"%O +74 "core" + ."da"delay 5 seconds +503 .PSV.dial :air +2 "processing"%L  +69 "core"  +2 ."da"PS.seek 0ml +2 "processing"%' +2171 "core" ' + #"da"getPMLReagent08 +2 .PRV.dial :air + "processing"%j  +41 "core"  +2 ."da"delay 5 seconds +502 .PTV.dial :PRVmixing +2 "processing"%]  +118 "core" + ."da"delay 5 seconds +503 .PRV.dial :ab2 + "processing"%h  +40 "core"  + ."da"PTV.dial :PRVmixing +2 .PSV.dial :mixloop +2 "processing"%t +46 "core" +2 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 0.3ml +2 "processing"% 'i +385 "core" ' +2 ."da"delay 2 seconds +202 .PRV.dial :air + "processing"%  +40 "core"  +2 "processing"%% +4 "core" %d  +2 ."da"PS.seek 0.55ml +2 "processing"%q'S +333 "core" ' + #"da"addPMLReagent08 +2 .PSV.dial :air + "processing"%z  +49 "core"  +2 ."da"PS.seek 2ml +2 "processing"%'ԏ +1561 "core" ' +2 ."da"PSV.dial :PML + "processing"%\ +47 "core" +2 ."da"PTV.dial :mixing +2 "processing"%| @ +67 "core" A + ."da"PBV.dial :waste1 +2 "processing"%  +34 "core" +2 "processing"%% +3 "core" %Ԍ  +2 ."da"PS.seek 1.85ml +2 "processing"%'c +240 "core" ' + ."da"PBV.dial between PSV and waste1 +2 "processing"% * +34 "core" , +2 ."da"PS.seek 0ml +2 "processing"%S' +1965 "core" ' + ."da"delay 2 seconds +202 .delay 8:00 +10539 "Can" A? +37464 #"da"recoverPRVreagent08 + .PTV.dial :mixing +2 .PBV.dial :waste1 +2 "processing"%  +33 "core" +2 ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"%1 * +34 "core" , +2 ."da"PSV.dial :air +2 "processing"%~  +46 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%'m +2218 "core" ' + ."da"PSV.dial :mixloop +2 "processing"% +47 "core" + ."da"delay 2 seconds +202 .PSV.dial :air +2 "processing"%  +46 "core"  +2 ."da"delay 2 seconds +202 .PSV.dial :mixloop +2 "processing"% +46 "core" + ."da"delay 2 seconds +202 .PSV.dial :air +2 "processing"%&  +46 "core"  +2 ."da"PS.seek 0ml +2 "processing"%' +2201 "core" ' +2 #"da"washCycleDA #1 of 3 + .PSR.select :air +2 .PSV.dial PSR +2 "processing"%l +123 "core"  + "processing"%% +4 "core" %{  + #"da"Pulling 0.5ml of PSR.wash +2 .PSR.select :wash +2 "processing"% +9 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"%"' +585 "core" ' + ."da"delay 5 seconds +503 .PSR.select :air +2 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%,'ԏ +1642 "core" ' + ."da"PTV.dial :puck +2 "processing"%%  +66 "core"  + ."da"PSV.dial PTV +2 "processing"%! +69 "core" + ."da"PBV.dial :waste1 +2 "processing"%  +34 "core" +2 "processing"%#% +3 "core" %Ԇ +2 ."da"PS.seek 1.5ml +2 "processing"%.' +591 "core" ' + ."da"delay 3 seconds +303 .PBV.dial between PSV and waste1 +2 "processing"%b * +33 "core" , +2 ."da"PS.seek 0ml +2 "processing"%' +1613 "core" ' +2 ."da"delay 2:00 +8538 "Can" FD +3464 #"da"recoverPSRreagent08 +2 .PTV.dial :puck + .PBV.dial :waste1 +2 "processing"%  +33 "core" +2 ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"% * +34 "core" , + ."da"PSR.select :air +3 .PSV.dial PSR + "processing"% +75 "core"  + ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%7'm +2229 "core" ' + ."da"PSV.dial PTV +2 "processing"%/ +75 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PSR +2 "processing"%2 +75 "core"  +2 ."da"delay 5 seconds +502 .PSV.dial PTV +3 "processing"%5 +75 "core" + ."da"delay 5 seconds +503 .PSV.dial :air + "processing"%m  +68 "core"  +2 ."da"PS.seek 0ml +2 "processing"%' +2176 "core" ' + #"da"washCycleDA #2 of 3 +2 .PSR.select :air + .PSV.dial PSR +2 "processing"% +122 "core"  + "processing"%y% +4 "core" % + #"da"Pulling 0.5ml of PSR.wash +2 .PSR.select :wash +2 "processing"% +9 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"%w' +589 "core" ' +2 ."da"delay 5 seconds +502 .PSR.select :air +3 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%('ԏ +1623 "core" ' + ."da"PTV.dial :puck +2 .PSV.dial PTV +2 "processing"% +68 "core" +2 ."da"PBV.dial :waste1 +2 "processing"%)  +34 "core" + "processing"%B% +4 "core" %Ԕ  +2 ."da"PS.seek 1.5ml +2 "processing"%*' +592 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%$ * +34 "core" , +2 ."da"PS.seek 0ml +2 "processing"%C' +1610 "core" ' + ."da"delay 2:00 +12003 #recoverPSRreagent08 +2 .PTV.dial :puck + .PBV.dial :waste1 +2 "processing"%M  +34 "core" +2 ."da"delay 30 seconds +3003 .PBV.dial between PSV and waste1 +2 "processing"% * +34 "core" , + ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"% +73 "core"  +2 ."da"PS.reconfigure :fast +2 "processing"%#A ,`xb +3 ."da"PS.seek 2.5ml +2 "processing"%-'m +2216 "core" ' + ."da"PSV.dial PTV +2 "processing"%@ +73 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PSR +2 "processing"% +73 "core"  + ."da"delay 5 seconds +502 .PSV.dial PTV +2 "processing"%Q +73 "core" + ."da"delay 5 seconds +503 .PSV.dial :air +4 "processing"%J  +68 "core"  +2 ."da"PS.seek 0ml +2 "processing"%G' +2174 "core" ' +2 #"da"washCycleDA #3 of 3 + .PSR.select :air +2 .PSV.dial PSR +2 "processing"%; +123 "core"  + "processing"%>% +4 "core" % +2 #"da"Pulling 0.5ml of PSR.wash + .PSR.select :wash +2 "processing"% +9 ."da"PS.reconfigure :default +3 "processing"%#A d`xb +2 ."da"PS.seek 0.5ml +2 "processing"%3' +654 "core" ' + ."da"delay 5 seconds +503 .PSR.select :air +2 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%='ԏ +1614 "core" ' + ."da"PTV.dial :puck +2 .PSV.dial PTV +2 "processing"%4 +67 "core" + ."da"PBV.dial :waste1 +2 "processing"%V  +34 "core" +2 "processing"%% +4 "core" %ԑ q +2 ."da"PS.seek 1.5ml +2 "processing"%' +584 "core" ' + ."da"delay 3 seconds +303 .PBV.dial between PSV and waste1 +2 "processing"%A * +33 "core" , +2 ."da"PS.seek 0ml +2 "processing"%' +1610 "core" ' +2 ."da"delay 2:00 +12003 #recoverPSRreagent08 + .PTV.dial :puck +2 .PBV.dial :waste1 +2 "processing"%'  +34 "core" + ."da"delay 30 seconds +2581 "Can" CA +422 ."da"PBV.dial between PSV and waste1 +2 "processing"%Z * +34 "core" , +2 ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"%? +72 "core"  +3 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%['m +2228 "core" ' + ."da"PSV.dial PTV +2 "processing"%N +73 "core" +2 ."da"delay 5 seconds +502 .PSV.dial PSR +2 "processing"%K +73 "core"  + ."da"delay 5 seconds +502 .PSV.dial PTV +2 "processing"%W +73 "core" + ."da"delay 5 seconds +503 .PSV.dial :air + "processing"%U  +68 "core"  +2 ."da"PS.seek 0ml +2 "processing"%f' +2171 "core" ' + ."da"Gate.power :camera,:ON +2 #Mixing DA Substrates +2 .PSR.select :air + .PSV.dial PSR +2 "processing"%c +125 "core"  +3 "processing"%_% +10 "core" %v +3 #"da"Pulling 0.25ml of PSR.sub1 +5 .PSR.select :sub1 +5 "processing"% +13 ."da"PS.reconfigure :default +7 "processing"%#A d`xb +5 ."da"PS.seek 0.25ml +4 "processing"%D' +340 "core" ' +2 ."da"delay 5 seconds +503 "processing"%F% +3 "core" %  +2 #"da"Pulling 0.25ml of PSR.sub2 + .PSR.select :sub2 +2 "processing"% +10 ."da"PS.seek 0.5ml +2 "processing"%I' +334 "core" ' +2 ."da"delay 5 seconds +503 .PSR.select :air +2 "processing"% +9 ."da"PS.seek 2ml +2 "processing"%\\'ԏ +1614 "core" ' + ."da"PTV.dial :puck +2 .PSV.dial PTV +2 "processing"%P +68 "core" +2 ."da"PBV.dial :waste1 + "processing"%6  +35 "core" + "processing"%i% +4 "core" %ԏ  +2 ."da"PS.seek 1.5ml +2 "processing"%R' +589 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%a * +33 "core" , +2 ."da"PS.seek 0ml +2 "processing"%Y' +1610 "core" ' +2 ."da"delay 10 seconds +1003 #recoverPSRreagent08 + .PTV.dial :puck +2 .PBV.dial :waste1 +2 "processing"%+  +34 "core" +2 ."da"delay 30 seconds +3002 .PBV.dial between PSV and waste1 +2 "processing"%s * +35 "core" , + ."da"PSR.select :air +2 .PSV.dial PSR +2 "processing"% +74 "core"  +2 ."da"PS.reconfigure :fast +3 "processing"%#A ,`xb +2 ."da"PS.seek 2.5ml +2 "processing"%e'm +2233 "core" ' +2 ."da"PSV.dial PTV +2 "processing"%X +75 "core" + ."da"delay 5 seconds +502 .PSV.dial PSR +2 "processing"%x +74 "core"  +2 ."da"delay 5 seconds +502 .PSV.dial PTV +2 "processing"%` +74 "core" + ."da"delay 5 seconds +503 .PSV.dial :air + "processing"%u  +70 "core"  +2 ."da"PS.seek 0ml +2 "processing"%^' +2186 "core" ' +2 #"da"Additional air clear +2 .PSR.select :air +2 .PSV.dial PSR + "processing"%k +123 "core"  +2 "processing"%{% +3 "core" % +2 #"da"Pulling 2ml of PSR.air + .PSR.select :air +3 .PS.reconfigure :default +2 "processing"%#A d`xb +3 ."da"PS.seek 2ml + "processing"%g'ԏ +2128 "core" ' +2 ."da"delay 5 seconds +502 .PTV.dial :puck +2 .PSV.dial PTV +2 "processing"%p +69 "core" + ."da"PBV.dial :waste1 +2 "processing"%8  +34 "core" +2 "processing"%<% +4 "core" %ԓ  +2 ."da"PS.seek 1.5ml +2 "processing"%v' +598 "core" ' +2 ."da"delay 3 seconds +302 .PBV.dial between PSV and waste1 +2 "processing"%E * +33 "core" + +2 ."da"delay 1 second +102 .PSV.dial :waste1 +2 "processing"%T  +101 "core"  +2 ."da"PS.seek 0ml +2 "processing"%}' +1613 "core" ' + "processing"%9 +3 "core" 94 +2 #"da"Processing Puck Heater at 27.8C before imaging +2 .PH.coast + "processing"%O  +4 "core" 4 4 +2 "processing"%L& +3 "core" &Z! . +2 #"da"Imaging da puck in Processing Clamp while storing it to tube 1 + "manipulator"&o% +4 "core" %\ 5  & + "storage"(j% +4 "core" %?\ (\ ' R + "storage"(]. +3 "core" .(  +2 ."da"SC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 ."da"SC.seek 1 +2 "storage"(h(B +373 "core" ( +2 ."da"SC.configure :limp +2 "storage"($\ 1b +3 (t& +2 "core" &@ t { 1 +2 "manipulator"&& +3 "core" &,   +2 "manipulator"&% +3 "core" %\ 4  & +3 ."da"Elbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 ."da"Elbow.seek 1 +2 "manipulator"&(c +183 "core" ( +2 "manipulator"& & +4 "core" &[ l !s + "storage"(z& +4 "core" &@\ (\ ' k +2 ."da"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 ."da"Forearm.seek 1 + 450 counts +2 "manipulator"&q'Ф +105 "core" ' +2 "storage"(\ & +4 "core" &@ +2 ."da"SE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 ."da"SE.seek :beamBreak +2 "storage"(|'e +281 "core" ' + "storage"(- +3 "core" -' +2 ."da"SE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" &[  !s + "storage"( & +4 "core" &@ A 8 + ."da"Elbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 ."da"Forearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 ."da"Forearm.seek 1 +2 "manipulator"&' +32 "core" ' + ."da"Elbow.hold +2 "manipulator"&, +4 "core" , + ."da"Elbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(- +3 "core" -' +2 ."da"SE.seek 1.12 Pucks below Top Plate +2 "storage"(1'` +38 "core" ' + "manipulator"&~% +4 "core" % 5 + "storage"(S& +4 "core" &@ F C + ."da"Forearm.force -20 +2 "manipulator"&5 +2 ."da"Forearm.seek 1 + 307 counts +7 "manipulator"&' +18 "core" ' +2 "manipulator"& & +4 "core" &[ _  !s + "storage"(& +4 "core" &@ I [ +2 ."da"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 ."da"Forearm.seek 1 + 450 counts +2 "manipulator"&&'Ф +15 "core" ' +2 ."da"SE.seek 2.12 Pucks below Top Plate +2 "storage"('O +42 "core" ' +2 "manipulator"&l& +4 "core" &[ p Z !s +2 "manipulator"&% +4 "core" %Ж l  + ."da"Forearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 ."da"Forearm.seek :retract +2 "manipulator"&'\ +96 "core" ' +2 ."da"Elbow.seek PC +2 "manipulator"&"(c +243 "core" ( + "manipulator"&%& +4 "core" &f 9 = +2 ."da"Elbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &!& +2 "core" &f  = +2 ."da"Forearm.seek PC +2 "manipulator"&'[ +96 "core" ' + ."da"Hand.close +49 "manipulator"&#/ +66 "core" / +2 ."da"PC.seek :open + "processing"%,(p +391 "core" ( + "storage"(b& +4 "core" &@ 7 8 1 +2 "manipulator"&.& +3 "core" &f = +2 "manipulator"&% +3 "core" % o < +2 ."da"Forearm.seek :retract +2 "manipulator"&'\ +91 "core" ' +2 ."da"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 ."da"Elbow.seek 1 +2 "manipulator"&(c +241 "core" ( +2 "manipulator"&& +4 "core" &n R ( + "storage"(/& +4 "core" &@ I % +2 ."da"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 ."da"Forearm.seek 1 + 450 counts +2 "manipulator"&2'Ф +107 "core" ' + ."da"Hand.open +2 "manipulator"&51 +53 "core" 1 +3 "storage"(m- +3 "core" -'O +2 ."da"SE.seek 1.87 Pucks below Top Plate +2 "storage"(7' +23 "core" ' +2 ."da"SE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 ."da"SE.seek 1.21 Pucks below Top Plate +2 "storage"(' +46 "core" ' + #"da"Lights, camera, ACTION! +4 #PuckCamera: snap -bin=2,2 -auto /var/log/esp/da23jan0614h2ml.tif +1952 #"psFlush"Waiting >20 seconds for da to relinquish FlushPuck +2447 #"da"SX HX9/16 (USB:02): 1392x1040 pixel 16-bit CCD camera\ Exposing 696x520 pixel 16-bit image for 40.438 seconds\ /var/log/esp/da23jan0614h2ml.tif: TIFF Upload Complete\ +3 #PuckCamera: snap -bin=2,2 15.0 /var/log/esp/midres/da23jan0614h2ml15s.tif +1565 #SX HX9/16 (USB:02): 1392x1040 pixel 16-bit CCD camera\ Exposing 696x520 pixel 16-bit image for 15 seconds\ /var/log/esp/midres/da23jan0614h2ml15s.tif: TIFF Upload Complete\ +4 #PuckCamera: snap -bin=2,2 30.0 /var/log/esp/midres/da23jan0614h2ml30s.tif +3068 #SX HX9/16 (USB:02): 1392x1040 pixel 16-bit CCD camera\ Exposing 696x520 pixel 16-bit image for 30 seconds\ /var/log/esp/midres/da23jan0614h2ml30s.tif: TIFF Upload Complete\ +3 #PuckCamera: snap -bin=1,1 70.0 /var/log/esp/hires/da23jan0614h2ml70s.tif +7169 #SX HX9/16 (USB:02): 1392x1040 pixel 16-bit CCD camera\ Exposing 1392x1040 pixel 16-bit image for 70 seconds\ /var/log/esp/hires/da23jan0614h2ml70s.tif: TIFF Upload Complete\ +2 .Gate.power :camera,:OFF +3 ."Qmail"DAfans.email "40.438 sec auto-exposure",Subject: "da23jan0614h2ml images!" +3 "storage"(y- +8 "core" -' +2 "storage"(& +6 "core" &@ \ \ D +2 "manipulator"&w& +4 "core" &n e k ( +2 ."da"Elbow.seek 1 +2 "manipulator"& (c +4 "core" ( +2 "manipulator"&)& +4 "core" &o p u   +2 "storage"(B& +6 "core" &@\ \ ? +2 ."da"Forearm.seek 1 + 450 counts +2 "manipulator"&('Ф +14 "core" ' +2 ."da"SE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 ."da"SE.seek 1.92 Pucks below Top Plate +4 "storage"($'Z +32 !"Qmail"o:!Net::SMTPAuthenticationError: mesg"E534-5.7.9 Application-specific password required. Learn more at\ :@checkpoint: omitted:bt["E/opt/mbari/lib/ruby/1.8/net/smtp.rb:954:in `check_auth_response'"/opt/mbari/lib/ruby/1.8/net/smtp.rb:723:in `authenticate'":/opt/mbari/lib/ruby/1.8/net/smtp.rb:566:in `do_start'"7/opt/mbari/lib/ruby/1.8/net/smtp.rb:525:in `start'"2/home/esp/esp2/lib/email.rb:325:in `sendOnce'"3/home/esp/esp2/lib/schedule.rb:292:in `unsync'"3/home/esp/esp2/lib/schedule.rb:594:in `unsync'"3/home/esp/esp2/lib/schedule.rb:621:in `unsync'"2/home/esp/esp2/lib/email.rb:318:in `sendOnce'"./home/esp/esp2/lib/email.rb:340:in `send'",/home/esp/esp2/lib/msg.rb:68:in `retry'"./home/esp/esp2/lib/email.rb:339:in `send'"B/home/esp/esp2/protocol/2G/utilities.rb:163:in `prepAndImage'"-/home/esp/esp2/lib/email.rb:66:in `call'"3/home/esp/esp2/lib/email.rb:66:in `initialize'"-/home/esp/esp2/lib/email.rb:63:in `loop'"3/home/esp/esp2/lib/email.rb:63:in `initialize'"7/home/esp/esp2/lib/schedule.rb:481:in `initialize'"0/home/esp/esp2/lib/thread.rb:738:in `start'"7/home/esp/esp2/lib/schedule.rb:474:in `initialize'"'/home/esp/esp2/lib/schedule.rb:472 +3 !o:Email::Queue::Purge: mesg"Purged output queue:bt[ "//home/esp/esp2/lib/email.rb:106:in `purge'"3/home/esp/esp2/lib/email.rb:75:in `initialize'"-/home/esp/esp2/lib/email.rb:63:in `loop'"3/home/esp/esp2/lib/email.rb:63:in `initialize'"7/home/esp/esp2/lib/schedule.rb:481:in `initialize'"0/home/esp/esp2/lib/thread.rb:738:in `start'"7/home/esp/esp2/lib/schedule.rb:474:in `initialize'"'/home/esp/esp2/lib/schedule.rb:472 +20 "core" ' +2 "manipulator"&*& +4 "core" &o   +2 "storage"(M& +4 "core" &@\ "\ ! + ."da"Elbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 ."da"Forearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 ."da"Forearm.seek 1 +3 "manipulator"&' +29 "core" ' +2 ."da"Elbow.hold +2 "manipulator"&, +4 "core" , + ."da"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 ."da"SE.reconfigure :default +2 "storage"(#QK-0-\ b +3 ."da"SE.seek 2.11 Pucks below Top Plate +2 "storage"(C'D +34 "core" ' +2 "manipulator"&@% +4 "core" % o +2 "storage"(& +4 "core" &@\ \  + ."da"Forearm.force -20 +2 "manipulator"&5 +2 ."da"Forearm.seek 1 + 305 counts +3 "manipulator"&Q' +18 "core" ' +2 "manipulator"&J& +4 "core" &o z v M  +2 "storage"(-& +4 "core" &@\ "\ ! +3 ."da"Forearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 ."da"Forearm.seek 1 + 450 counts +2 "manipulator"&;'Ф +16 "core" ' + "storage"(>% +5 "core" %G\ !\  +2 ."downElevator"SE.seek :down +4 "storage"(G'N +98 (3% +3 "core" %@\ \  < M; +2 "manipulator"&4% +4 "core" %Э m n +2 ."da"Forearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 ."da"Forearm.seek :retract +2 "manipulator"&V'\ +87 "core" ' +44 ' + ."downElevator"SE.stop + "storage"(5 +3 (& +4 "core" &@\  T +2 #tStarting finalPurge +3 #"psFlush"Loading FlushPuck into Processing Clamp from FlushPuck::Garage +2 "processing"%=& +3 "core" &U +2 "manipulator"&A& +4 "core" &o 1  + "manipulator"&% +4 "core" %\ . H #e +2 ."psFlush"Elbow.seek FlushPuck::Garage +2 "manipulator"&'(, +183 "core" ( +2 "manipulator"&Z& +4 "core" &, : 2 +2 ."psFlush"Elbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &?& +2 "core" &, ^ 2 +2 ."psFlush"Forearm.seek :garage +2 "manipulator"&' +101 "core" ' +2 ."psFlush"Hand.close +2 "manipulator"&N/ +60 "core" / +2 "manipulator"&K& +4 "core" &, [ 2 +2 "manipulator"&W% +3 "core" %  : C +2 ."psFlush"Forearm.seek :retract +2 "manipulator"&U'\ +103 "core" ' + ."psFlush"Elbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 ."psFlush"Elbow.seek PC +2 "manipulator"&[(c +128 "core" ( + "manipulator"&c& +4 "core" &a s +2 ."psFlush"Elbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &_& +2 "core" &a c +2 ."psFlush"Forearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 ."psFlush"Forearm.seek PC +2 "manipulator"&f'[ +108 "core" ' + "manipulator"&F& +4 "core" &a l g +2 "manipulator"&D% +4 "core" %Y d n +2 "processing"%I& +3 "core" &r +2 "processing"%P& +5 "core" &F +2 ."psFlush"PC.seek :closed +2 "processing"%6(Z +5 "core" &F +7 &;B $e +9 &y]? 7 +9 &@ H +10 &j= G +9 &rp@ G +9 &4nB G +10 & n? G +9 &"mC G +10 &${o6 G +9 &&>m1 F +9 &(m, F +10 &)n4 G +9 &+m3 G +9 &-En5 G +10 &/r4 G +9 &0m+ G +10 &2n+ G +9 &4Nm F +9 &6m' G +10 &7p G +9 &9m! F +9 &;Um G +10 &=n G +9 &>n G +10 &@n G +9 &B]p G +9 &Dk G +10 &Ek G +9 &Gp G +10 &Ibx@ H +9 &K!# I +9 &L L +10 &N M +9 &P\\^ M +9 &Re L +10 &Sv M +9 &Ux M +10 &Wbz M +9 &Y$y F +9 &ZVGz ] +10 &Z1g . +5 ( +2 "processing"%P& +3 #"psFlush"Processing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.45 +2 "processing"%i& +4 "core" &Z&` . + &Z&d . + ."psFlush"Hand.open +2 "manipulator"&\\1 +56 "core" 1 +2 "manipulator"&a% +4 "core" % Y o a +2 ."psFlush"Forearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 ."psFlush"Forearm.seek :retract +2 "manipulator"&R'\ +90 "core" ' + ."psFlush"PSR.select :air +3 .PSV.dial PSR + "processing"%+ +47 "core"  +2 "processing"%s% +4 "core" %T + #"psFlush"Pulling 0.5ml of PSR.flush + .PSR.select :flush +3 "processing"%@ +9 ."psFlush"PS.seek 0.5ml +2 "processing"% ' +546 #tWaiting >20 seconds for psFlush to relinquish FlushPuck +44 "core" ' +2 ."psFlush"delay 5 seconds +503 .PSR.select :air + "processing"% +10 ."psFlush"PS.seek 2.5ml +2 "processing"%Y'm +2142 "core" ' + ."psFlush"delay 1 second +102 .PRV.dial :waste2,avoiding: :ab2 +2 "processing"%X @ +170 "core" A + ."psFlush"PTV.dial :PRVmixing +2 "processing"%x  +119 "core" + ."psFlush"PSV.dial :mixloop +2 "processing"%` +97 "core" +2 ."psFlush"PS.seek :empty +2 "processing"%u' +2643 "core" ' + ."psFlush"PSR.select :air +2 .PSV.dial PSR +2 "processing"%e +102 "core"  +2 "processing"%k% +4 "core" % + #"psFlush"Pulling 0.5ml of PSR.flush + .PSR.select :flush +3 "processing"%@ +9 ."psFlush"PS.seek 0.5ml +2 "processing"%{' +589 "core" ' +2 ."psFlush"delay 5 seconds +502 .PSR.select :air +3 "processing"% +9 ."psFlush"PS.seek 2.5ml +2 "processing"%^'m +2123 "core" ' +55 ."psFlush"delay 1 second +27 "Can" A? +74 ."psFlush"PBV.dial :waste1 +2 "processing"%p  +33 "core"  + ."psFlush"PTV.dial :mixing +2 "processing"%8 @ +65 "core" B +2 ."psFlush"PSV.dial :mixloop +2 "processing"%< +103 "core" +2 ."psFlush"PS.seek :empty +2 "processing"%g' +2636 "core" ' +2 ."psFlush"PSV.dial PSR +2 "processing"%E +102 "core"  +2 ."psFlush"PSR.select :flush +2 "processing"%@ +10 ."psFlush"PS.seek 1ml +2 "processing"%T'T +1122 "core" ' + ."psFlush"PSR.select :air +2 "processing"% +10 ."psFlush"PS.seek 2.5ml +2 "processing"%v'm +1644 "core" ' +2 ."psFlush"PSV.dial PTV +2 "processing"% +74 "core" +2 ."psFlush"PTV.dial :puck +2 "processing"%O  +65 "core"  +2 ."psFlush"PBV.dial :waste1 +2 .PS.seek 0ml +2 "processing"%L' +2666 "core" ' + ."psFlush"PSV.dial PSR +2 "processing"%o +75 "core"  +2 ."psFlush"PSR.select :flush +2 "processing"%@ +9 ."psFlush"PS.seek 0.5ml +2 "processing"%j' +598 "core" ' + ."psFlush"PSR.select :air +2 "processing"% +14 ."psFlush"PS.seek 2.5ml +7 "processing"%]'m +2119 "core" ' +2 ."psFlush"PSV.dial PTV +2 "processing"%n +74 "core" +2 ."psFlush"PBV.dial PSV +2 "processing"%t U +51 "core" V +2 ."psFlush"PS.seek 0ml +2 "processing"%' +2632 "core" ' + ."psFlush"PSV.dial PBV +2 "processing"% @ +47 "core" ? +2 ."psFlush"PS.seek 2.5ml +2 "processing"% 'm +2646 "core" ' + ."psFlush"PSV.dial :waste1 +2 "processing"%z  +69 "core"  +2 ."psFlush"PS.seek 0ml +2 "processing"%0' +2636 "core" ' +2 ."psFlush"PSV.dial PSR +2 "processing"%\ +46 "core"  +2 ."psFlush"PSR.select :air +3 .PS.seek 2.5ml + "processing"%H'm +2651 "core" ' + ."psFlush"PSV.dial PTV +2 "processing"% +69 "core" + ."psFlush"PBV.dial PSV +3 .PS.seek 0ml + "processing"%' +2632 "core" ' + ."psFlush"PSV.dial PBV +2 "processing"% @ +47 "core" ? +2 ."psFlush"PS.seek 2.5ml +2 "processing"%'m +2649 "core" ' + ."psFlush"PSV.dial :waste1 +2 "processing"%~  +69 "core"  +2 ."psFlush"PS.seek 0ml +2 "processing"%S' +2640 "core" ' + ."psFlush"PSV.dial PSR +2 "processing"% +47 "core"  + ."psFlush"PSR.select :flush +3 "processing"%@ +9 ."psFlush"PS.seek 1ml +2 "processing"%'T +1106 "core" ' +2 ."psFlush"PSR.select :air +2 "processing"% +9 ."psFlush"PS.seek 2.5ml +2 "processing"%l'm +1626 "core" ' + ."psFlush"PSV.dial PTV +2 "processing"% +69 "core" +2 ."psFlush"PTV.dial :puck + .PBV.dial :waste1 +2 "processing"%q  +51 "core" +2 ."psFlush"PS.seek 0ml +2 "processing"%' +2627 "core" ' +2 ."psFlush"PSV.dial PSR +2 "processing"%| +75 "core"  + ."psFlush"PSR.select :flush +2 "processing"%@ +10 ."psFlush"PS.seek 0.5ml +2 "processing"%' +585 "core" ' + ."psFlush"PSR.select :air +2 "processing"% +10 ."psFlush"PS.seek 2.5ml +2 "processing"%'m +2141 "core" ' + ."psFlush"PSV.dial PTV +2 "processing"%1 +75 "core" + ."psFlush"PBV.dial PSV +2 "processing"%& U +52 "core" V +2 ."psFlush"PS.seek 0ml +2 "processing"%%' +2644 "core" ' + ."psFlush"PSV.dial PBV +2 "processing"%! @ +47 "core" ? +2 ."psFlush"PS.seek 2.5ml +2 "processing"%'m +2649 "core" ' + ."psFlush"PSV.dial :waste1 +2 "processing"%#  +69 "core"  +2 ."psFlush"PS.seek 0ml +2 "processing"%' +2633 "core" ' +2 ."psFlush"PSV.dial PSR +2 "processing"%9 +46 "core"  +2 ."psFlush"PSR.select :air +3 .PS.seek 2.5ml + "processing"%b'm +2647 "core" ' +2 ."psFlush"PSV.dial PTV +2 "processing"%. +68 "core" +2 ."psFlush"PBV.dial PSV +2 .PS.seek 0ml +2 "processing"%' +2632 "core" ' + ."psFlush"PSV.dial PBV +2 "processing"% @ +47 "core" ? +2 ."psFlush"PS.seek 2.5ml +2 "processing"%'m +2627 "core" ' + ."psFlush"PSV.dial :waste1 +2 "processing"%/  +69 "core"  +2 ."psFlush"PS.seek 0ml +2 "processing"%"' +2643 "core" ' +2 #tLoading FlushPuck into Collection Clamp from Processing Clamp + "collection"'5& +4 "core" &` +2 "manipulator"&m& +4 "core" &a F + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +2 "manipulator"&(c +2 "core" ( +2 "manipulator"&& +3 "core" &a +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &7& +2 "core" &a  +2 .tForearm.seek PC +2 "manipulator"&y'[ +94 "core" ' +2 .tHand.close + "manipulator"&/ +52 "core" / +2 .tPC.seek :open +2 "processing"%w(p +390 "core" ( +2 "manipulator"&)& +3 "core" &a  +2 "manipulator"&B% +4 "core" % [ G +2 .tForearm.seek :retract +2 "manipulator"&*'\ +99 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&M( +347 "core" ( + "manipulator"&@& +4 "core" &' ) W >I +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &' >I +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&J'| +107 "core" ' +2 "manipulator"&-& +4 "core" &' >I +2 "manipulator"&>% +4 "core" %p + "collection"'& +4 "core" &v +2 "collection"'2& +5 "core" &] +2 .tCC.seek :closed +2 "collection"'(] +3 "core" &c  +9 &4Y )w +9 &g[ = +10 &f[ I +9 &*sR H +9 &vZ H +10 &v_ I +9 &!opc H +9 &#1rm H +10 &$rf I +9 &&rd I +10 &(vrh I +9 &*9ng H +9 &+nq H +10 &-uq I +9 &/~sp I +9 &1@vg I +10 &3ss H +9 &4qh H +10 &6ps H +9 &8Jrk H +9 &: qu H +10 &;pn H +9 &=pz H +9 &?Rn{ H +10 &Atz H +9 &Bsz H +10 &Dm| H +9 &FYr H +9 &Hp H +10 &Iyz I +9 &Kp K +9 &MO{ O +10 &O y Q +9 &Pu Q +10 &R~ R +9 &TJv S +9 &V u S +10 &W~ S +9 &Yr U +14 &[=,~ Z +5 &\\{ (~ +11 &], D +7 ( +3 "collection"'2& +3 #tCollection Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.84 + "collection"'3& +4 "core" &]7 9 + &]7 9 + .tHand.open +2 "manipulator"&41 +60 "core" 1 +2 "manipulator"&(% +4 "core" % j \\ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"& '\ +99 "core" ' + #tFlushing the Collection Valve::Manifold +2 "collection"'$& +4 "core" &]6 9 + "collection"'% +4 "core" % + .tCSV.dial CSR +2 "collection"'  +39 "core"  + "collection"'=% +5 "core" % + #tPulling 5ml of CSR.flush + .CSR.select :flush +2 "collection"' +10 .tCS.seek 5ml + "collection"'A's +216 "Can" OM +1149 "core" ' +50 .tdelay 5 seconds +503 .CSR.select :air +2 "collection"' +9 'Q% +2 "core" %s +2 .tCS.reconfigure :fast +3 "collection"'#d @b +2 .tCS.seek 7.501ml +2 "collection"''x +615 "core" ' +2 .tCSV.dial :waste + "collection"'C +118 "core" +2 .tCS.reconfigure :default +2 "collection"'#P d@b +2 .tCS.seek 0ml +2 "collection"';' +1990 "core" ' +2 #tFlushing lower manifold's waste1 port + "collection"'Z& +4 "core" &]6 9 +2 "collection"'?% +3 "core" % +2 .tCSV.dial :flush +2 "collection"'G  +40 "core"  +2 .tCS.reconfigure :fast +3 "collection"'#d @b +2 .tCS.seek 5ml +2 "collection"''s +1138 "core" ' +2 .tdelay 5 seconds +502 .CSV.dial :air +2 "collection"'N @ +38 "core" A + "collection"'K% +5 "core" %s  +2 .tCS.seek 7ml + "collection"'W' +503 "core" ' +3 ."connect"CSV.dial CTV +3 .tCTV.dial CSV +2 "collection"'V  + 'c  +40 "core"  +84  +2 .tCBV.dial :waste1 + "collection"'_ @ +41 "core" > +2 .tCS.seek 0ml +2 "collection"'' +1529 "core" ' +2 #tFlushing lower manifold's waste2 port + "collection"'F& +4 "core" &]6 9 +2 "collection"'D% +4 "core" % + .tCSV.dial :flush +2 "collection"'I  +67 "core" +2 .tCS.seek 5ml +2 "collection"'''s +1131 "core" ' +2 .tdelay 5 seconds +502 .CSV.dial :air +2 "collection"'U @ +40 "core" B + "collection"',% +4 "core" %s  +3 .tCS.seek 7ml + "collection"'i' +505 "core" ' +2 ."connect"CSV.dial CTV +3 .tCTV.dial CSV +2 "collection"'\\  +38 "core"  +2 .tCBV.dial :waste2 +2 "collection"'a  +95 "core"  +2 .tCS.seek 0ml + "collection"'P' +1531 "core" ' + #tDisinfecting external Intake with kill +2 "collection"'+& +4 "core" &]6 9 + "collection"'s% +4 "core" % + .tCSV.dial CSR +2 "collection"'f  +40 "core"  +2 "collection"'}% +3 "core" %t +2 #tPulling 8ml of CSR.kill + .CSR.select :kill + "collection"' +11 .tCS.seek 8ml + "collection"' 'X +1739 "core" ' +2 .tdelay 5 seconds +502 .CSR.select :air +3 "collection"' +9 .tCS.seek 10ml +2 "collection"'X' +517 "core" ' +2 ."connect"CSV.dial CBV +3 .tCBV.dial CSV +3 "collection"'x + '`  +91 "core" +41  + .tCTV.dial :intake +2 "collection"'Y  +68 "core" +2 .tIntake.select :open + "sampler") +10 .tCS.seek 2ml +2 "collection"'e'~ +1745 "core" ' + .tIntake.select :close +2 "sampler")0 +9 .tCTV.dial :air + "collection"'k  +65 "core"  +2 .tCS.reconfigure :default +2 "collection"'#P d@b +3 .tCS.seek 0ml + "collection"'u' +586 "core" ' + .tCSV.dial CSR +2 "collection"'{  +181 "core"  +2 "collection"'p% +4 "core" % + #tPulling 5ml of CSR.flush + .CSR.select :flush +2 "collection"' +10 .tCS.seek 5ml +2 "collection"'8's +1356 "core" ' +2 .tdelay 5 seconds +502 .CSR.select :air +2 "collection"' +10 .tCS.seek 10ml + "collection"'<' +1349 "core" ' + .tCSV.dial CBV +2 "collection"'^ +92 "core" +2 .tCS.seek 0ml +2 "collection"'E' +2619 "core" ' +2 #tGaraging FlushPuck in Collection Clamp + "manipulator"&g& +4 "core" &/ ~ 8 +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&T( +27 "core" ( +2 "manipulator"&& +4 "core" & \  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &O& +2 "core" & i  +2 .tForearm.seek CC +2 "manipulator"&v'| +93 "core" ' + .tHand.close +2 "manipulator"&o/ +53 "core" / +2 .tCC.seek :open +2 "collection"'L(p +408 "core" ( +2 "manipulator"&j& +4 "core" &  + "manipulator"&n% +4 "core" % u +2 .tForearm.seek :retract + "manipulator"&t'\ +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage +2 "manipulator"&](, +281 "core" ( +2 "manipulator"&& +4 "core" &,  ! + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &, ! +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :garage +2 "manipulator"&z' +110 "core" ' +2 .tHand.open + "manipulator"& 1 +56 "core" 1 +2 "manipulator"&\ % +4 "core" %  $ r  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&0'\ +96 "core" ' +2 "processing"%& +4 "core" &r +34652 "Can" 53 +19752 #t-> access 1 +2 "storage"(H% +4 "core" %>\ "\ ! + "manipulator"& % +4 "core" %\ * Y > +2 "manipulator"&& +3 "core" &, 4 ! +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 5 +2 "storage"(~(<< +1310 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (& +3 "core" &<:\ \   @1675106019.47EST = =tMAIN =mMAIN_scheduler @EST1675106021.39 #"core_reset"Sent BREAK +2 #t@9361 idle with ifg=0x00, ie=0x75 + #>RESET< ESP2 v3.41 I2C Gateway v3.20 +208 #>RESET< ESP2 v3.41 I2C Gateway v3.20 for core bus +207 !o:Instrument::ISUSCore: @refiP: @configS:Instrument::Configuration: name" ISUS:calFileName0:sampleCmd"TS: prompt"\ :statusCmd"C:sampleTimeouti#:promptTimeouti:statusTimeouti: retriesi:strToPrompt"W: pace0: echoF:\ @name@ +100 #Configuration for don (12651-03) 10/9/20 brent@mbari.org\ /home/esp/esp2/type/shallow/don/configure.rb\ +399 "Can"d\ #$" + d\ #$" #tPolling Can every 10:00 +489 #-> ESP.ready! +3 #Powering core bus +579 .Gate.power :raw,:ON +2 "sampler") +21 ) +2 "core"  +2 "collection"' +2 ' +3 "core"  +2 "processing"% +2 % +3 "core"  +5 "collection"' 9\ +2 ' 0\ + ' -\ +4 "processing"% 9\ +2 % 2\ +2 % *\ +2 % 0\ +3 "sampler")&\ +2 "collection"'% +5 "core" %G + .tCS.configure :default +3 "collection"'#P d@b +2 "processing"%% +3 "core" % + .tPS.configure :default +3 "processing"%#A d`xb +2 "sampler")% +3 "core" %\ \  +2 .tSS.configure :default +2 "sampler")#.0X access 3 +2 "storage"(;% +3 "core" %W- \\ R +2 "manipulator"&<% +4 "core" %\ 4 %N +2 "manipulator"&=& +3 "core" &A Z Q +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 7 +2 "storage"(>([ +981 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (?& +3 "core" &[   +1238 #t-> require 'shuffle.rb' +1026 #-> 10.times {2..3} +830 #-> 10.times {shuffle 2..3} +2 #Shuffling pucks in tube 2 of [2..3] +2 #Loading generic puck from tube 2 into Collection Clamp + "collection"'@& +4 "core" &Pj  +2 .tHand.open + "manipulator"&A1 +57 "core" 1 +2 "manipulator"&B% +4 "core" % \ 3 %N + "storage"(C% +4 "core" %X- Q +2 "storage"(D. +3 "core" .([ + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"(E(  +1622 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (F& +3 "core" &  " +2 "manipulator"&G& +3 "core" &A  Q +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&H(; +44 "core" ( + "manipulator"&I& +4 "core" &A l Q +2 "storage"(J& +4 "core" &  +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&K'Ѐ +102 "core" ' + "storage"(L& +5 "core" & \ \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(M'e +284 "core" ' +2 "storage"(N- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (O& +3 "core" & \ \  +2 "manipulator"&P& +5 "core" &A s r Q + .tElbow.seek 2 +2 "manipulator"&Q(; +3 "core" ( +2 "manipulator"&R& +3 "core" &A y  M Q +2 "storage"(S& +4 "core" &  \ 4 +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&T' +20 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&U/ +63 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&V& +3 "storage"(W'N +7 "core" &A  Q + "manipulator"&X% +5 "core" %  +2 .tForearm.seek :retract + "manipulator"&Y'\ +98 "core" ' +2 .tElbow.seek CC +2 "manipulator"&Z( +142 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +4 "core" ( + "manipulator"&[& +5 "core" &&  =B + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &\\& +3 "core" &&  =B +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&]'| +98 "core" ' +2 "manipulator"&^& +5 "core" && A =B + "manipulator"&_% +4 "core" %φ w +2 "collection"'`& +5 "core" &Pq  +2 "collection"'a& +5 "core" &Pj  +2 .tCC.seek :closed + "collection"'b(] +4 "core" &Ps  +9 &7` *z +9 &jj > +10 &Et I +9 &pq I +9 &ru I +10 &vp I +9 &!Nst I +10 &#ss I +9 &$sq I +9 &&vu I +10 &(Wss H +9 &*rq H +9 &+ro H +10 &-so H +9 &/]tq I +9 &1 um I +10 &2vo I +9 &4qs H +10 &6fss I +9 &8)ss H +9 &9su I +10 &;ro H +9 &=mur I +9 &?0oi I +10 &@pr I +9 &Bpi I +10 &Dwom H +9 &F8so I +9 &Gyu J +10 &I> K +9 &KtL L +9 &M,q P +10 &Nw P +9 &Pq R +10 &Rk> R +9 &T+a S +9 &Ui S +10 &Wr T +9 &Yio V +9 &[,S U +10 &\\wH 1 +9 &]&K "e +10 &]b O +2 ( +2 "collection"'a& +3 #tCollection Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.77 + .Hand.open + "manipulator"&c1 +57 "core" 1 +2 "manipulator"&d% +4 "core" % x = +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&e'\ +92 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%f& +4 "core" &U  +2 "manipulator"&g% +4 "core" %\ + !R + "storage"(h% +4 "core" %O 5  +2 "storage"(i. +3 "core" .(  + "storage"(j& +4 "core" &  V +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"(k(  +29 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (l& +2 "core" & p # +2 "manipulator"&m& +4 "core" &$ ;6 + "manipulator"&n% +4 "core" %\ + !R +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&o(; +150 "core" ( +2 "manipulator"&p& +4 "core" &; [  +2 "storage"(q& +3 "core" &  h & +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&r'Ѐ +88 "core" ' + "storage"(s& +5 "core" &  y & +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(t'e +275 "core" ' + "storage"(u- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (v& +3 "core" &  + 6 +2 "manipulator"&w& +3 "core" &; C  +2 .tElbow.seek 2 +2 "manipulator"&x(; +3 "core" ( + "manipulator"&y& +4 "core" &;   +2 "storage"(z& +4 "core" &  r 6 +2 .tForearm.seek 2 + 300 counts + "manipulator"&{' +15 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&|/ +63 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&}& + "storage"(~'N +7 "core" &; r q i  + "manipulator"&% +4 "core" % r p J +2 .tForearm.seek :retract +2 "manipulator"&'\ +88 "core" ' +2 .tElbow.seek PC +2 "manipulator"&(c +164 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +85 "core" ( +2 "manipulator"&& +4 "core" &j ~ +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &j R +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&'[ +92 "core" ' + "manipulator"&& +5 "core" &j  + "manipulator"&% +4 "core" %Y  +2 "processing"%& +4 "core" &U  +2 "processing"% & +5 "core" &U  +2 .tPC.seek :closed +2 "processing"%\ (Z +5 "core" &U  +7 &iR $f +9 &J] 7 +10 & I +9 &p H +9 &As H +10 &t H +9 & t H +10 &"l G +9 &$Jp G +9 && p H +10 &'n H +9 &)n G +9 &+Qp H +10 &-u H +9 &.n H +10 &0p G +9 &2Zp G +9 &4n G +10 &5o G +9 &7n H +9 &9ap H +10 &;#t H +9 &<q G +10 &>r H +9 &@in H +9 &B,p G +10 &Cr H +9 &En H +9 &Gmx I +10 &I.~ J +9 &J K +10 &L M +9 &Nh N +9 &P, M +10 &Q N +9 &S N +9 &Up N +10 &W2 N +9 &X N +10 &ZBAj 'q +9 &Z 7 % +5 ( +2 "processing"% & +4 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.46 + .Hand.open +2 "manipulator"& 1 +3 "core" &Z % +59 1 + "manipulator"& % +4 "core" % Y U +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"& '\ +92 "core" ' + "processing"%& +14 "core" &Z % +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 + "manipulator"&% +4 "core" %\ , E +2 "storage"(% +4 "core" %T /  + "storage"(. +3 "core" .(  +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 + "storage"((  +54 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (& +2 "manipulator"&& +4 "core" &  / +5 ."raiseStack"SE.reconfigure :place +2 "storage"(#]kK-0-\ b +3 "core" &j 1 +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +2 ."raiseStack"SE.seek :beamBreak +3 "manipulator"&(c +2 "storage"('e +5 "core" ( + "manipulator"&& +4 "core" &j +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &j +2 .tForearm.seek PC +2 "manipulator"&'[ +101 "core" ' + .tHand.close +2 "manipulator"&/ +60 "core" / +2 .tPC.seek :open +2 "processing"%(p +81 "core" ' + "storage"("- +4 "core" -'e + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place + "storage"(%'B +42 "core" ' +255 ( + "storage"('& +5 "core" &  C + "manipulator"&)& +4 "core" &j  +2 "manipulator"&(% +4 "core" % [  +2 .tForearm.seek :retract +2 "manipulator"&'\ +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&(; +258 "core" ( + "manipulator"&#& +4 "core" &G   +2 "storage"(,& +4 "core" &  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&-'Ѐ +96 "core" ' +2 .tHand.open + "manipulator"&.1 +54 "core" 1 + "storage"(/- +4 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate +2 "storage"(0' +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(1' +54 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(2- +3 "core" -' +2 "storage"(3& +5 "core" &  f f g + "manipulator"&4& +4 "core" &G   +2 .tElbow.seek 2 +2 "manipulator"&5(; +7 "core" ( +2 "manipulator"&6& +4 "core" &E 1  +2 "storage"(7& +4 "core" &  f h W +2 .tForearm.seek 2 + 450 counts + "manipulator"&8'Ѐ +16 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"(9'M +61 "core" ' +2 "manipulator"&:& +4 "core" &E s s G  +2 "storage"(;& +4 "core" &  [ + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&<'ξ +34 "core" ' + .tElbow.hold +2 "manipulator"&=, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"(!'7 +23 "core" ' + "manipulator"&?% +5 "core" %  y + "storage"(@& +4 "core" &   +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 318 counts +2 "manipulator"&A' +19 "core" ' + "manipulator"&B& +5 "core" &E } x D  +2 "storage"(C& +4 "core" &  [ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts +2 "manipulator"&D'Ѐ +21 "core" ' +2 "storage"(>% +4 "core" %>  +2 ."downElevator"SE.seek :down +5 "storage"(F'N +100 (G% +4 "core" %vA $ M? + "manipulator"&I% +5 "core" %Ї r s d - + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&J'\ +94 "core" ' +51 ' + ."downElevator"SE.stop + "storage"(5 +4 (L& +3 "core" &  +39 "collection"'$& +12 "core" &]~] O +2 #tStoring generic puck in Collection Clamp to tube 2 +2 "manipulator"&&% +4 "core" %\ 1  $r + "storage"(N% +4 "core" %> B +2 "storage"(O. +3 "core" .(  +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"( (  +26 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (P& +3 "core" &  4 + "manipulator"&R& +4 "core" &E   +2 .tElbow.seek 2 +2 "manipulator"&S(; +3 "core" ( +2 "manipulator"&U& +4 "core" &E   + "storage"(V& +5 "core" &  L +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&X'Ѐ +111 "core" ' + "storage"(H& +5 "core" &  i +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(K'e +282 "core" ' +2 "storage"([- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&\\& +3 "core" &E s q Z  +2 "storage"(M& +3 "core" &  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&T'ξ +32 "core" ' + .tElbow.hold +2 "manipulator"&^, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(_- +2 "core" -' +3 .tSE.seek 0.12 Pucks below Top Plate + "storage"(`'p +27 "core" ' +2 "manipulator"&Q% +4 "core" % g X +2 "storage"(W& +3 "core" &  a +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 315 counts +2 "manipulator"&Y' +19 "core" ' +2 "manipulator"&+& +4 "core" &E x ^  +2 "storage"(c& +4 "core" &  Q +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +8 .tForearm.seek 2 + 450 counts + "manipulator"&d'Ѐ +21 "core" ' +2 .tSE.seek 1.12 Pucks below Top Plate +2 "storage"(f'_ +47 "core" ' + "manipulator"&g& +5 "core" &E s r T  + "manipulator"&h% +5 "core" %T p q 4  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&i'\ +87 "core" ' + .tElbow.seek CC +2 "manipulator"&j( +167 "core" ( +2 "manipulator"&a& +4 "core" &7 0 / +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &l& +3 "core" &7 O / +2 .tForearm.seek CC +2 "manipulator"&m'| +93 "core" ' +2 .tHand.close + "manipulator"&n/ +65 "core" / + .tCC.seek :open +2 "collection"'](p +411 "core" ( + "storage"(p& +5 "core" & \ \ \  + "storage"(q& +4 "core" & \ D + "manipulator"&E& +4 "core" &7 / +2 "manipulator"&s% +3 "core" % ό +2 .tForearm.seek :retract +2 "manipulator"&Z'\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&e(; +156 "core" ( + "manipulator"&u& +5 "core" &9 D  + "storage"(v& +4 "core" & \ \  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 2 +2 "manipulator"&w'ξ +110 "core" ' + .tElbow.hold +2 "manipulator"&y, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&z1 +61 "core" 1 + "manipulator"&|% +5 "core" % * \\ + "storage"(}& +4 "core" &  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 315 counts +2 "manipulator"&' +20 "core" ' + "manipulator"&o& +4 "core" &: Q h ~  +2 "storage"(r& +4 "core" & \ !\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts +2 "manipulator"&t'Ѐ +20 "core" ' +2 "storage"({% +4 "core" %f\ !\ !  +3 ."downElevator"SE.seek :down +3 "storage"('N +99 (% +2 "core" %C\ \  M= +2 "manipulator"&x% +5 "core" %Њ s s O % +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +94 "core" ' +43 ' + ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 3 of [2..3] + #Loading generic puck from tube 3 into Collection Clamp +2 "collection"'& +4 "core" &k +2 "manipulator"&% +3 "core" %\ 8 & ' +2 "storage"(~% +4 "core" %A\ \ Z \ +2 "storage"(. +3 "core" .(  +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 + "storage"(*( +354 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 ( & +2 "core" &   +2 "manipulator"& & +4 "core" &:  +2 .tElbow.seek 3 + "manipulator"&(D +3 "core" ( +2 "manipulator"&& +4 "core" &:  + "storage"(& +4 "core" &\ \ \ \ E  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"& ' +102 "core" ' +2 "storage"(& +4 "core" &\ !\   +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('e +280 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" &\  +2 "manipulator"&& +3 "core" &:   +2 .tElbow.seek 3 +2 "manipulator"&(D +3 "core" ( +2 "manipulator"&& +3 "core" &: e  +2 "storage"(k& +4 "core" &\ \   +2 .tForearm.seek 3 + 300 counts + "manipulator"&"'y +11 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&/ +57 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"& & + "storage"(\ 'N +8 "core" &: q s ?  + "manipulator"&'% +4 "core" % ς r q d 4 +2 .tForearm.seek :retract +2 "manipulator"&'\ +94 "core" ' +2 .tElbow.seek CC + "manipulator"&)( +149 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +4 "core" ( + "manipulator"&(& +4 "core" &' 2 >O + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" && b >O +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&#'| +101 "core" ' + "manipulator"&,& +4 "core" &( >O +2 "manipulator"&% +4 "core" %p +2 "collection"'.& +4 "core" &j +2 "collection"'/& +5 "core" &Y +2 .tCC.seek :closed +2 "collection"'2(] +4 "core" &h  +9 &6@ *x +10 &ia > +9 &ng I +9 &2rm H +10 &pg H +9 &qU H +10 &!xsN H +9 &#:ve H +9 &$rh I +10 &&rj H +9 &(nf H +10 &*Bsk H +9 &,nc H +9 &-np H +10 &/rh H +9 &1Iul I +9 &3 rO H +10 &4ma H +9 &6sU H +9 &8RpT H +10 &:po I +9 &;on H +10 &=rs H +9 &?ZnM H +9 &As H +10 &BsD I +9 &DoW H +9 &Fbq$ H +10 &H#r I +9 &I I +10 &K K +9 &MY N +9 &O Q +10 &P, Q +9 &R R +9 &TV R +10 &V# S +9 &W( T +10 &Y U +9 &[V U +9 &\\y (| +10 &]' T +8 ( +4 "collection"'/& +2 #tCollection Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.75 +2 .Hand.open + "manipulator"&31 +4 "core" &]u0 J +51 1 + "manipulator"&4% +5 "core" % o Y +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&6'\ +92 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%7& +5 "core" & + "manipulator"&% +4 "core" %\ ' \ : +2 "storage"(:% +4 "core" %G  + "storage"(;. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 +2 "storage"(%( +2 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (?& +3 "core" & 9  + "manipulator"&@& +4 "core" &%  =D +2 "manipulator"&0% +4 "core" %\ ' W : +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&B(D +159 "core" ( +2 "manipulator"&C& +4 "core" &L   + "storage"(>& +4 "core" &  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&' +93 "core" ' + "storage"(-& +4 "core" &   +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(1'e +280 "core" ' +2 "storage"(G- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (I& +2 "core" & #  +2 "manipulator"&8& +4 "core" &L q r c  + .tElbow.seek 3 +2 "manipulator"&5(D +3 "core" ( +2 "manipulator"&9& +3 "core" &L } z i  +2 "storage"(<& +4 "core" &  +2 .tForearm.seek 3 + 300 counts + "manipulator"&A'y +20 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&L/ +59 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"&$& + "storage"(!'N +7 "core" &L q r T  + "manipulator"&&% +5 "core" % u s r Y +2 .tForearm.seek :retract + "manipulator"&N'\ +96 "core" ' +2 .tElbow.seek PC + "manipulator"&O(c +154 "core" ' + ."downElevator"SE.stop + "storage"(5 +91 "core" ( + "manipulator"&P& +5 "core" &e I +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &R& +3 "core" &e +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&U'[ +99 "core" ' +2 "manipulator"&V& +4 "core" &e W +2 "manipulator"&D% +4 "core" %G } + "processing"%H& +4 "core" & +3 "processing"%F& +4 "core" & +2 .tPC.seek :closed +2 "processing"%(Z +4 "core" &  +8 &4 )w +10 &i = +9 &s~ H +9 &7k G +10 &o G +9 &r H +9 &!|q H +10 &#?n G +9 &%m G +10 &&s H +48 &(n H +13 &*Fn H + &, k G +4 &-o G + &/p G + &1Nq H +3 &3p H +4 &4k G +9 &6l G +9 &8Vm H +10 &:n H +9 &;k G +9 &=m H +10 &?_n G +9 &A!p G +10 &Bk G +9 &Do G +9 &Fev H +10 &H%} I +9 &I I +9 &K L +10 &M_ M +9 &O  M +10 &P M +9 &R M +9 &Te N +10 &V( M +9 &W N +9 &Y 8 +10 &Z0 X +9 &Z ) +2 ( +2 "processing"%F& +3 #tProcessing Clamp onSpring/offSpring for 8/26 samples, on/off torque 1.47 +2 .Hand.open + "manipulator"&=1 +56 "core" 1 +2 "manipulator"&J% +4 "core" % G +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&['\ +92 "core" ' + "processing"%\\& +5 "core" &Z ) +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&M% +4 "core" %\ ) 2 C + "storage"(_% +4 "core" %> * \ +2 "storage"(Q. +3 "core" .( + "storage"(W& +5 "core" & :  +2 "storage"(+& +2 "manipulator"&c& +6 "core" & ;  + &e S +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +2 "storage"(#]kK-0-\ b +2 "manipulator"&g(c +8 ."raiseStack"SE.seek :beamBreak + "storage"(h'e +3 "core" ( + "manipulator"&X& +4 "core" &e  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &S& +2 "core" &e + +3 .tForearm.seek PC + "manipulator"&K'[ +95 "core" ' + .tHand.close + "manipulator"&T/ +58 "core" / +2 .tPC.seek :open +2 "processing"%Y(p +94 "core" ' +2 "storage"(`- +4 "core" -'e + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(a'B +40 "core" ' +243 ( + "storage"(l& +4 "core" &  +2 "manipulator"&d& +4 "core" &e  + "manipulator"&^% +4 "core" % c =  +2 .tForearm.seek :retract +2 "manipulator"&n'\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&i(D +253 "core" ( +2 "manipulator"&b& +4 "core" &L B % +2 "storage"(p& +3 "core" & R  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&q' +102 "core" ' + .tHand.open +2 "manipulator"&E1 +56 "core" 1 +2 "storage"(s- +4 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate +2 "storage"(u' +23 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(v' +54 "core" ' +2 #tLights, camera, ACTION! + "storage"(m- +4 "core" -' + "storage"(j& +4 "core" & y ~ K  +2 "manipulator"&z& +4 "core" &L q U % + .tElbow.seek 3 +2 "manipulator"&|(D +4 "core" ( + "manipulator"&}& +4 "core" &L 3 % +2 "storage"(o& +4 "core" & i k   +3 .tForearm.seek 3 + 450 counts + "manipulator"&r' +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"({'M +67 "core" ' +2 "manipulator"&Z& +4 "core" &L q q % +2 "storage"(& +4 "core" & a  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&x'M +31 "core" ' + .tElbow.hold +2 "manipulator"&e, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"(w'7 +23 "core" ' + "manipulator"&% +5 "core" %^r  a ¹. +2 "storage"(& +4 "core" & k  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 317 counts +2 "manipulator"&'ϊ +17 "core" ' + "manipulator"&~& +5 "core" &F v p  & + "storage"(& +5 "core" &  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&f' +23 "core" ' +2 "storage"(t% +4 "core" %? W +3 ."downElevator"SE.seek :down +4 "storage"('N +99 ( % +4 "core" %F ` OB + "manipulator"& % +4 "core" %* p q +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"& '\ +87 "core" ' +62 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (& +4 "core" & ?  +2 "collection"'& +4 "core" &]u J + #tStoring generic puck in Collection Clamp to tube 3 +2 "manipulator"&% +4 "core" %\ ( @ + "storage"(y% +4 "core" %Q  +2 "storage"(. +3 "core" .( + "storage"(& +4 "core" &   +2 "storage"(& +4 "core" &   + "manipulator"&& +4 "core" &F & +2 .tElbow.seek 3 +2 "manipulator"&(D +3 "core" ( + "manipulator"&k& +5 "core" &F < & + "storage"(& +4 "core" &   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"& ' +103 "core" ' +3 "storage"('& +4 "core" &  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"('e +282 "core" ' +2 "storage"( - +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&(& +2 "core" &G q p = % +2 "storage"(& +4 "core" & n  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&'M +29 "core" ' + .tElbow.hold +2 "manipulator"&", +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(,- +2 "core" -' +2 .tSE.seek 0.12 Pucks below Top Plate +2 "storage"('s +27 "core" ' + "manipulator"&.% +5 "core" %^r  ¹- + "storage"(& +4 "core" & E  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 317 counts +2 "manipulator"&\ 'ϊ +18 "core" ' + "manipulator"&& +4 "core" &7 m  Q ( +2 "storage"(]& +4 "core" &  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&3' +22 "core" ' +2 .tSE.seek 1.12 Pucks below Top Plate +2 "storage"(4'b +45 "core" ' +2 "manipulator"&7& +4 "core" &7 o p ( +2 "manipulator"&% +4 "core" % z p 8 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&:'\ +95 "core" ' +2 .tElbow.seek CC +2 "manipulator"&;( +162 "core" ( + "manipulator"&?& +4 "core" &+ t 3 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &/& +3 "core" &+ 3 +3 .tForearm.seek CC + "manipulator"&@'| +97 "core" ' +2 .tHand.close + "manipulator"&0/ +55 "core" / +2 .tCC.seek :open + "collection"'#(p +411 "core" ( +2 "storage"(C& +4 "core" &\ \ \ +  + "storage"(>& +4 "core" &\ \ \ j  +2 "manipulator"&*& +3 "core" &+ 3 +2 "manipulator"&-% +4 "core" % ώ +2 .tForearm.seek :retract + "manipulator"&)'\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&6(D +148 "core" ( +2 "manipulator"&G& +4 "core" &G +2 "storage"(I& +3 "core" &\ \ }  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 +2 "manipulator"&8'M +107 "core" ' + .tElbow.hold +2 "manipulator"&9, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&<1 +58 "core" 1 +2 "manipulator"&L% +5 "core" % av / + "storage"($& +4 "core" &  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 3 + 320 counts +2 "manipulator"&&'ύ +11 "core" ' +2 "manipulator"&B& +4 "core" &  s w &  +2 "storage"(& +4 "core" &\ !\   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&1' +20 "core" ' + "storage"(A% +5 "core" %d\ \ ! +2 ."downElevator"SE.seek :down +3 "storage"(P'N +99 (R% +3 "core" %kB\ \ \ _ M> +2 "manipulator"&5% +4 "core" % s r V # +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&V'\ +93 "core" ' +46 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 2 of [2..3] +2 #Loading generic puck from tube 2 into Collection Clamp + "collection"'D& +4 "core" &$ +2 "manipulator"&H% +65 "core" %\ 6 & +2 "storage"(!% +4 "core" %O\ \  + "storage"(N. +4 "core" .( + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"((  +354 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (=& +2 "core" &  n +2 "manipulator"&J& +4 "core" &   + .tElbow.seek 2 +2 "manipulator"&\\(; +19 "core" ( + "manipulator"&M& +5 "core" &E [ m + "storage"(_& +4 "core" & \ A +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&Q'Ѐ +100 "core" ' +2 "storage"(W& +4 "core" & \ \ ! +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(c'e +288 "core" ' + "storage"(+- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (F& +3 "core" & \ \  +2 "manipulator"&X& +3 "core" &E ~ } m +2 .tElbow.seek 2 +2 "manipulator"&S(; +3 "core" ( + "manipulator"&U& +4 "core" &E z r m +2 "storage"(T& +4 "core" & \  D +2 .tForearm.seek 2 + 300 counts + "manipulator"&`' +17 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&O/ +61 "core" / +13 ."downElevator"SE.seek :down +3 "manipulator"&[& +2 "storage"('N +7 "core" &E > m + "manipulator"&l% +5 "core" %  P +2 .tForearm.seek :retract + "manipulator"&d'\ +99 "core" ' +2 .tElbow.seek CC +2 "manipulator"&^( +139 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +14 "core" ( + "manipulator"&h& +5 "core" &0  E + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &K& +3 "core" &0 ? E +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&b'| +97 "core" ' +2 "manipulator"&p& +4 "core" &0 C E +2 "manipulator"&g% +4 "core" % i +2 "collection"'E& +5 "core" &c +2 "collection"'s& +5 "core" &G +2 .tCC.seek :closed +2 "collection"'m(] +4 "core" &,  +8 &6 *x +10 &h3 = +9 &rj I +9 &7oc H +10 &pU H +9 &r> H +10 &!{pa H +9 &#=o( H +9 &$oK H +10 &&p< I +9 &(oc H +9 &*Fp< H +10 &,na H +9 &-pi H +10 &/pQ H +9 &1Mr4 H +9 &3q H +10 &4q H +9 &6n H +9 &8Wn, H +10 &:q^ H +9 &;n? H +9 &=s$ H +10 &?^o H +9 &A p0 H +10 &Bp H +9 &Dn H +9 &Fgp H +10 &H(s H +9 &I J +9 &K L +10 &MX P +9 &O Q +10 &P Q +9 &R Q +9 &TX R +10 &V* S +9 &W S +9 &Y U +10 &[Y& U +9 &\\x (} +10 &]* ] +8 ( +4 "collection"'s& +2 #tCollection Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.80 +2 .Hand.open + "manipulator"&j1 +4 "core" &]l M +51 1 + "manipulator"&z% +4 "core" % ~ v +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&}'\ +92 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%o& +5 "core" & + "manipulator"&n% +4 "core" %\ + l !M +2 "storage"(Z% +4 "core" %G ' + "storage"(. +4 "core" .(  + "storage"(a& +4 "core" &   + "storage"(& +4 "core" &  % +2 "manipulator"&& +4 "core" &* < Ac + "manipulator"&u% +4 "core" %\ * !M +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&~(; +152 "core" ( +2 "manipulator"&& +4 "core" &= & \ +2 "storage"(t& +4 "core" &  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&i'Ѐ +105 "core" ' +2 "storage"(q& +4 "core" &   +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(v'e +277 "core" ' + "storage"( - +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 ( & +3 "core" &   +2 "manipulator"&r& +3 "core" &= r s 4 \ +2 .tElbow.seek 2 +2 "manipulator"&|(; +3 "core" ( + "manipulator"&{& +4 "core" &= m h p \ +2 "storage"(x& +4 "core" &  +2 .tForearm.seek 2 + 300 counts + "manipulator"&' +15 "core" ' +6 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +53 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"('N +7 "core" &= r v , \ + "manipulator"&y% +4 "core" % p p : K +2 .tForearm.seek :retract +2 "manipulator"&'\ +95 "core" ' + .tElbow.seek PC +2 "manipulator"&(c +152 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +96 "core" ( +2 "manipulator"&w& +4 "core" &i c +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &i z +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&'[ +105 "core" ' + "manipulator"&k& +5 "core" &i + "manipulator"&% +4 "core" %O r +2 "processing"%f& +4 "core" & +2 "processing"%'& +5 "core" & +2 .tPC.seek :closed +2 "processing"%(Z +4 "core" & +8 &< $d +9 &[ 6 +10 & H +9 &l G +9 &ol G +10 &2m G +9 & s H +10 &"l G +9 &$vq H +9 &&9o G +10 &'j H +9 &)m H +9 &+~n H +10 &-Am G +9 &/n H +10 &0k G +9 &2p G +9 &4Ik G +10 &6 k G +9 &7k H +9 &9m H +10 &;Qo G +9 &=l G +10 &>m H +9 &@o H +9 &BZj G +10 &Dp G +9 &Es H +9 &Gz I +10 &I[ J +9 &K K +9 &L M +10 &N M +9 &PX M +10 &R N +9 &S M +9 &U M +10 &W^ N +9 &Y! G +9 &ZUD !b +10 &Z3 , +5 ( +2 "processing"%'& +4 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.49 + .Hand.open +2 "manipulator"&e1 +3 "core" &Z , +3 &Z  , +49 1 +2 "manipulator"& % +4 "core" % O C +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"& '\ +94 "core" ' +2 "processing"%(& +4 "core" &Z , +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 + "manipulator"&% +4 "core" %\ / #c + "storage"(,% +4 "core" %> D \ +2 "storage"(.. +3 "core" .(  + "storage"(& +4 "core" &  # +2 "storage"(& +5 "manipulator"&]& +4 "core" &  4 + &i +3 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +4 "storage"(#]kK-0-\ b + "manipulator"&$&.,(\ #b +5 .tElbow.seek PC +2 "manipulator"&7(c +4 ."raiseStack"SE.seek :beamBreak +2 "storage"('e +2 "core" ( +2 "manipulator"& & +4 "core" &i + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &i +3 .tForearm.seek PC + "manipulator"&'[ +96 "core" ' + .tHand.close +2 "manipulator"&/ +59 "core" / +2 .tPC.seek :open +2 "processing"%\ (p +88 "core" ' + "storage"(- +4 "core" -'e + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +2 ."raiseStack"SE.seek :place +2 "storage"(?'B +48 "core" ' +243 ( + "storage"(/& +4 "core" &  T +2 "manipulator"&3& +4 "core" &i " + "manipulator"&"% +4 "core" % R   +2 .tForearm.seek :retract +2 "manipulator"&0'\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&:(; +253 "core" ( + "manipulator"&2& +5 "core" &<  % + "storage"(C& +4 "core" &  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&>'Ѐ +104 "core" ' + .tHand.open + "manipulator"&*1 +55 "core" 1 +2 "storage"(-- +4 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate +2 "storage"(G' +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(I' +50 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(@- +3 "core" -' +2 "storage"(;& +3 "core" &  h h L +2 "manipulator"&<& +4 "core" &= o p  $ +2 .tElbow.seek 2 +2 "manipulator"&L(; +3 "core" ( + "manipulator"&$& +4 "core" &= s y L $ +2 "storage"(B& +4 "core" &  i i A +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&'Ѐ +3 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"(A'M +61 "core" ' + "manipulator"&)& +5 "core" &= { q | $ + "storage"(R& +5 "core" &  F + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&5'ξ +30 "core" ' +2 .tElbow.hold +2 "manipulator"&6, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.07 Pucks below Top Plate + "storage"(8'7 +24 "core" ' + "manipulator"&D% +5 "core" % R + "storage"(&& +5 "core" &   + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 2 + 319 counts +2 "manipulator"&4' +18 "core" ' +2 "manipulator"&H& +4 "core" &> z q Y $ +2 "storage"(!& +4 "core" &   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts +2 "manipulator"&N'Ѐ +23 "core" ' + "storage"(1% +5 "core" %@  +3 ."downElevator"SE.seek :down +4 "storage"(P'N +99 (%% +3 "core" %C N? +2 "manipulator"&=% +4 "core" %Х p o # +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&J'\ +94 "core" ' +53 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (M& +4 "core" &  ] +2 "collection"'_& +3 "core" &]k` M +2 #tStoring generic puck in Collection Clamp to tube 2 + "manipulator"&W% +4 "core" %\ 8 ? ' +2 "storage"(9% +4 "core" %J ` + "storage"(V. +3 "core" .(  +2 "storage"(+& +4 "core" &  + "storage"(F& +4 "core" &  C +2 "manipulator"&X& +4 "core" &> $ + .tElbow.seek 2 +2 "manipulator"&U(; +3 "core" ( +2 "manipulator"&T& +4 "core" &>  $ + "storage"(O& +4 "core" &   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&['Ѐ +106 "core" ' +2 "storage"(l& +4 "core" &  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(\\'e +278 "core" ' +2 "storage"(Q- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&h& +2 "core" &> } | $ +2 "storage"(K& +4 "core" &  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&c'ξ +74 "core" ' +11 .tElbow.hold + "manipulator"&`, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(p- +3 "core" -' +2 .tSE.seek 0.12 Pucks below Top Plate +2 "storage"(g'p +28 "core" ' +2 "manipulator"&E% +4 "core" % d +2 "storage"(S& +3 "core" &   +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 317 counts +2 "manipulator"&' +18 "core" ' + "manipulator"&d& +5 "core" &B j  $ +2 "storage"(#& +4 "core" &   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts +2 "manipulator"&j'Ѐ +23 "core" ' +2 .tSE.seek 1.12 Pucks below Top Plate +2 "storage"(z'_ +48 "core" ' +2 "manipulator"&o& +4 "core" &B u z $ +2 "manipulator"&n% +4 "core" %Ї o q K - +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&Z'\ +93 "core" ' +2 .tElbow.seek CC +2 "manipulator"&( +154 "core" ( + "manipulator"&a& +5 "core" &0 3 E + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &0 { E +2 .tForearm.seek CC + "manipulator"&'| +98 "core" ' + .tHand.close + "manipulator"&s/ +65 "core" / +2 .tCC.seek :open +2 "collection"'u(p +413 "core" ( +2 "storage"(& +4 "core" & \ H + "storage"(b& +4 "core" &  z +2 "manipulator"&t& +3 "core" &* Ad +2 "manipulator"&q% +4 "core" % q +2 .tForearm.seek :retract + "manipulator"&^'\ +100 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&}(; +159 "core" ( +2 "manipulator"& & +4 "core" &4 ;  + "storage"( & +4 "core" &  \  3 +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 2 +2 "manipulator"&r'ξ +107 "core" ' + .tElbow.hold +2 "manipulator"&{, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&x1 +61 "core" 1 +2 "manipulator"&% +5 "core" % + "storage"(& +4 "core" &  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 315 counts +2 "manipulator"&y' +11 "core" ' + "manipulator"&~& +5 "core" &4 O W (  + "storage"(i& +5 "core" & \ !\ ! +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&v'Ѐ +18 "core" ' + "storage"(% +5 "core" %d\ !\  +2 ."downElevator"SE.seek :down +3 "storage"(w'N +99 (% +3 "core" %A\ \ N> +2 "manipulator"&|% +4 "core" %Ѐ c n  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&k'\ +87 "core" ' +51 ' + ."downElevator"SE.stop +2 "storage"(5 +2 #tShuffling pucks in tube 3 of [2..3] +2 #Loading generic puck from tube 3 into Collection Clamp +2 "collection"'& +4 "core" &{ + "manipulator"&f% +4 "core" %\ 0  "[ +2 "storage"(% +5 "core" %A\ \  + "storage"(. +3 "core" .(  +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +4 .tSC.seek 3 +2 "storage"(Y( +356 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (e& +3 "core" &) A  +2 "manipulator"& & +3 "core" &4   +2 .tElbow.seek 3 +2 "manipulator"&((D +36 "core" ( +2 "manipulator"&& +4 "core" &J 7 "~ + "storage"(,& +4 "core" &\ 2  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&.' +104 "core" ' + "storage"(& +4 "core" &\ \  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(]'e +277 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 ('& +3 "core" & \ ]  +2 "manipulator"& & +3 "core" &K } } F "} +2 .tElbow.seek 3 +2 "manipulator"&(D +3 "core" ( + "manipulator"&& +4 "core" &K z "} +2 "storage"(& +4 "core" &\  7  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&'y +22 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +56 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"& & + "storage"('N +8 "core" &K  "} + "manipulator"&/% +4 "core" % t  +2 .tForearm.seek :retract +2 "manipulator"&3'\ +96 "core" ' + .tElbow.seek CC +2 "manipulator"&( +148 "core" ' + ."downElevator"SE.stop + "storage"(5 +22 "core" ( + "manipulator"&"& +4 "core" & : F +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" & F +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&2'| +108 "core" ' +2 "manipulator"&C& +4 "core" & {  F +2 "manipulator"&7% +4 "core" %q { 3 +2 "collection"'*& +3 "core" &{# +3 "collection"'-& +4 "core" &{ +2 .tCC.seek :closed +2 "collection"'@(] +4 "core" &{  +10 &4 )v +9 &i = +9 &^ I +10 &$n^ G +9 &q G +9 &s H +10 &!hu H +9 &#+q H +10 &$r H +9 &&t H +9 &(qn H +10 &*3n H +9 &+r H +9 &-s G +10 &/yq H +9 &1;p H +10 &2p G +9 &4p G +9 &6s1 H +10 &8Dr G +9 &:r H +10 &;p H +9 &=s G +9 &?Km H +10 &An G +9 &Bq G +9 &Dm H +10 &FRr H +9 &Hr H +9 &I~ I +10 &K K +9 &ML M +10 &O P +9 &P P +9 &R Q +10 &TG Q +9 &V R +9 &W T +10 &Y T +9 &[F T +9 &\\x (} +10 &]=1 %q +9 &]k G +3 ( +2 "collection"'-& +2 #tCollection Clamp onSpring/offSpring for 9/25 samples, on/off torque 1.78 +2 .Hand.open + "manipulator"&;1 +91 "core" 1 +2 "manipulator"&<% +4 "core" % r v } C +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&$'\ +97 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%B& +4 "core" & +2 "manipulator"&0% +3 "core" %\ 0 p $t +2 "storage"()% +4 "core" %F + \ + "storage"(R. +4 "core" .( + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(D( +7 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (?& +3 "core" & %  +2 "manipulator"&&& +4 "core" & F + "manipulator"&G% +4 "core" %\ 1 $t +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&H(D +143 "core" ( +2 "manipulator"&!& +4 "core" &>  \ + "storage"(1& +4 "core" &  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&:' +91 "core" ' + "storage"(>& +5 "core" & 4  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(I'e +283 "core" ' + "storage"(%- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (=& +3 "core" &  +2 "manipulator"&& +3 "core" &> q q  \ +2 .tElbow.seek 3 +2 "manipulator"&L(D +3 "core" ( + "manipulator"&A& +4 "core" &> s u  \ +2 "storage"(5& +4 "core" & z  +2 .tForearm.seek 3 + 300 counts + "manipulator"&4'y +20 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&M/ +54 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&_& + "storage"(W'N +7 "core" &> q q , \ +2 "manipulator"&9% +4 "core" % p p q ! +2 .tForearm.seek :retract +2 "manipulator"&V'\ +89 "core" ' +2 .tElbow.seek PC + "manipulator"&+(c +162 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +79 "core" ( + "manipulator"&8& +4 "core" &Y } W +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &F& +2 "core" &Y  W +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&X'[ +91 "core" ' +2 "manipulator"&T& +4 "core" &Y G W +2 "manipulator"&O% +4 "core" %b  \ +2 "processing"%N& +3 "core" & +3 "processing"%l& +4 "core" & +2 .tPC.seek :closed +2 "processing"%P(Z +5 "core" &  +9 &6 )w +9 &j = +10 &|} H +9 &Am G +9 &n G +10 &j G +9 &!n H +9 &#Il G +10 &%\ l G +9 &&o H +10 &(m G +9 &*Pm G +9 &,p G +10 &-n G +9 &/r G +10 &1Xm G +9 &3o G +9 &4n G +10 &6j G +9 &8`m G +9 &:"m G +10 &;j G +9 &=n G +9 &?hm G +10 &A)q H +9 &Bm G +10 &Do H +9 &For H +9 &H.z I +10 &I J +9 &K L +9 &Mh M +10 &O( N +9 &P M +10 &R N +9 &Tn N +9 &V1 M +10 &W N +9 &Y 5 +9 &Z6 O +10 &Z & +2 ( +2 "processing"%l& +3 #tProcessing Clamp onSpring/offSpring for 8/26 samples, on/off torque 1.48 + .Hand.open + "manipulator"&61 +60 "core" 1 +2 "manipulator"&J% +4 "core" % b < \ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +43 "manipulator"&Q'\ +107 "core" ' + "processing"%h& +57 "core" &Z & +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 +2 "manipulator"&K% +4 "core" %\ 7 ' +2 "storage"(p% +3 "core" %< " \ +2 "storage"(E. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(S( +3 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (d& +2 "manipulator"&#& +3 "core" & C  +5 ."raiseStack"SE.reconfigure :place +3 "storage"(#]kK-0-\ b +2 "core" &Y W +3 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +2 ."raiseStack"SE.seek :beamBreak +2 "manipulator"&o(c +2 "storage"(n'e +5 "core" ( +2 "manipulator"&[& +4 "core" &Y W + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &U& +3 "core" &Y < W +2 .tForearm.seek PC +2 "manipulator"&\\'[ +95 "core" ' + .tHand.close +2 "manipulator"&c/ +55 "core" / +2 .tPC.seek :open +2 "processing"%(p +95 "core" ' +2 "storage"(g- +3 "core" -'e +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(a'B +38 "core" ' +244 ( +2 "storage"(& +4 "core" & B  + "manipulator"&j& +4 "core" &Y 5 W +2 "manipulator"&`% +4 "core" % g s  + .tForearm.seek :retract +2 "manipulator"&s'\ +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&Z(D +248 "core" ( + "manipulator"&m& +4 "core" &D O # +2 "storage"(& +4 "core" & *  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&b' +109 "core" ' + .tHand.open +2 "manipulator"&t1 +55 "core" 1 +2 "storage"(q- +3 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate +2 "storage"( ' +28 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"( ' +51 "core" ' +2 #tLights, camera, ACTION! + "storage"(- +11 "core" -' +2 "storage"(& +4 "core" & B  +2 "manipulator"&x& +4 "core" &D o p # + .tElbow.seek 3 +2 "manipulator"&(D +3 "core" ( +2 "manipulator"&& +4 "core" &D z r  # + "storage"(~& +5 "core" &   +2 .tForearm.seek 3 + 450 counts + "manipulator"&i' +71 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"('M +67 "core" ' + "manipulator"&^& +5 "core" &D e s # + "storage"(& +4 "core" & 3  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 + "manipulator"&|'M +36 "core" ' + .tElbow.hold +2 "manipulator"&}, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.07 Pucks below Top Plate + "storage"(r'7 +23 "core" ' + "manipulator"&% +5 "core" %_g   ? ö + "storage"(f& +5 "core" &  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 318 counts +2 "manipulator"&y'ϋ +17 "core" ' +2 "manipulator"&& +4 "core" &. r z  & +2 "storage"(& +4 "core" &  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&z' +22 "core" ' + "storage"(v% +5 "core" %:  +2 ."downElevator"SE.seek :down +3 "storage"(w'N +99 (% +3 "core" %bE G N@ +2 "manipulator"&e% +4 "core" % o p  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"& '\ +92 "core" ' +55 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (& +4 "core" & +  + "collection"',& +5 "core" &]k G + #tStoring generic puck in Collection Clamp to tube 3 +2 "manipulator"&% +4 "core" %\ 3 ) %v + "storage"({% +4 "core" %C   + "storage"(k. +4 "core" .( + "storage"(& +4 "core" &   + "storage"('& +4 "core" &   +2 "manipulator"& & +4 "core" &.  & +2 .tElbow.seek 3 + "manipulator"&(D +12 "core" ( + "manipulator"&& +4 "core" &< 2 + +2 "storage"(& +4 "core" &   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"& ' +92 "core" ' + "storage"(/& +4 "core" & G  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +7 .tSE.seek :beamBreak +2 "storage"(('e +281 "core" ' +2 "storage"(.- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&"& +3 "core" &=  * + "storage"(& +4 "core" & @  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&]'M +32 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(- +2 "core" -' +3 .tSE.seek 0.12 Pucks below Top Plate + "storage"(C's +27 "core" ' +2 "manipulator"&7% +4 "core" %_e ĵ +2 "storage"(*& +3 "core" &  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 318 counts + "manipulator"&'ϋ +17 "core" ' +2 "manipulator"&3& +5 "core" &9 ~ , + + "storage"(u& +4 "core" &  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&;' +31 "core" ' +2 .tSE.seek 1.12 Pucks below Top Plate +2 "storage"(<'b +44 "core" ' + "manipulator"&-& +5 "core" &9 q p U + + "manipulator"&B% +4 "core" % t o [  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&0'\ +87 "core" ' +2 .tElbow.seek CC + "manipulator"&)( +150 "core" ( +2 "manipulator"&R& +4 "core" &0 D{ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &?& +3 "core" &. y D{ +2 .tForearm.seek CC + "manipulator"&&'| +95 "core" ' + .tHand.close +2 "manipulator"&G/ +55 "core" / + .tCC.seek :open +2 "collection"'2(p +411 "core" ( + "storage"(!& +5 "core" &\ \ )  + "storage"(1& +4 "core" & \  :  + "manipulator"&>& +4 "core" &$& >N +2 "manipulator"&Y% +3 "core" % k +2 .tForearm.seek :retract +2 "manipulator"&'\ +98 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&$(D +166 "core" ( + "manipulator"&%& +4 "core" &B  w +2 "storage"(=& +4 "core" &\ :  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 3 +2 "manipulator"&'M +110 "core" ' +2 .tElbow.hold + "manipulator"&A, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&51 +57 "core" 1 +2 "manipulator"&M% +5 "core" % ^v 4 [ 7 + "storage"(_& +4 "core" &  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 317 counts +2 "manipulator"&9'ϊ +18 "core" ' + "manipulator"&H& +4 "core" & g O \\  +2 "storage"(:& +4 "core" &\ !\   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&I' +12 "core" ' + "storage"(4% +5 "core" %^\ \   +2 ."downElevator"SE.seek :down +4 "storage"(8'N +100 (F% +3 "core" %A\ \ \ M> + "manipulator"&L% +5 "core" % p q \ 0 +43 .tForearm.reconfigure :loose +10 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&T'\ +87 "core" ' + ."downElevator"SE.stop + "storage"(5 +5 "core" ' +2 #tShuffling pucks in tube 2 of [2..3] +2 #Loading generic puck from tube 2 into Collection Clamp + "collection"'O& +5 "core" & + "manipulator"&N% +5 "core" %\ 5 ^ & + "storage"(W% +4 "core" %=\ \  \ +2 "storage"(V. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 + "storage"(\ (  +357 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (6& +3 "core" &  u +2 "manipulator"&J& +4 "core" & l  +2 .tElbow.seek 2 +2 "manipulator"&l(; +27 "core" ( +2 "manipulator"&h& +4 "core" &; # +2 "storage"(K& +3 "core" & \ \ f +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&p'Ѐ +96 "core" ' + "storage"(E& +5 "core" & \ \  " +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(d'e +280 "core" ' + "storage"(#- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 ([& +3 "core" &   +2 "manipulator"&U& +3 "core" &< [ # +2 .tElbow.seek 2 +2 "manipulator"&X(; +3 "core" ( + "manipulator"&c& +4 "core" &<  # +2 "storage"(D& +3 "core" & \ \  C +3 .tForearm.seek 2 + 300 counts + "manipulator"&g' +18 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&+/ +58 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&Q& +2 "storage"(P'N +6 "core" &< t p 9 # +2 "manipulator"&% +4 "core" % r { j +2 .tForearm.seek :retract +2 "manipulator"&j'\ +93 "core" ' +2 .tElbow.seek CC + "manipulator"&`( +148 "core" ' + ( +2 ."downElevator"SE.stop +3 "manipulator"&n& + "storage"(5 +8 "core" &' o >O + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &\\& +3 "core" &'  >O +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&m'| +97 "core" ' +2 "manipulator"&& +4 "core" &' o >O +2 "manipulator"&o% +4 "core" %φ +2 "collection"'t& +3 "core" & +3 "collection"'q& +5 "core" & +2 .tCC.seek :closed +3 "collection"'(] +3 "core" & +6 & 7 +9 &N / +10 &Uy C +9 &p H +9 &k H +10 &o G +9 & Np H +9 &"p G +10 &#p H +9 &%o H +9 &'Vo H +10 &)p H +9 &*o G +10 &,m H +9 &.^n H +9 &0 p H +10 &1s H +9 &3n H +9 &5fn H +10 &7(r H +9 &8p G +10 &:l H +9 &/r H +10 &?n H +9 &Aq H +9 &Cvn H +10 &E9k G +9 &Fo G +10 &Hw H +9 &Jx J +9 &L2 M +10 &M P +9 &O P +9 &Qk Q +10 &S* R +9 &T R +10 &V S +9 &Xk T +9 &Z+ T +10 &[ T +9 &]AE *| +9 &]t A +6 ( +2 "collection"'q& +4 #tCollection Clamp onSpring/offSpring for 10/26 samples, on/off torque 1.81 + .Hand.open + "manipulator"&1 +4 "core" &]Z A +52 1 + "manipulator"&x% +4 "core" % φ 8 +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +92 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%s& +5 "core" & + "manipulator"&~% +4 "core" %\ ) . H + "storage"(^% +4 "core" %?  +2 "storage"(. +3 "core" .(  + "storage"(a& +4 "core" &   +2 "storage"( & +4 "core" &   + "manipulator"&& +4 "core" &'  >I +2 "manipulator"&f% +4 "core" %\ )  H +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&Z(; +173 "core" ( +2 "manipulator"&& +4 "core" &< > g +2 "storage"(& +3 "core" &  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&b'Ѐ +99 "core" ' +2 "storage"(v& +4 "core" &  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"( 'e +277 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (e& +3 "core" & ` + "manipulator"&i& +4 "core" &< g +2 .tElbow.seek 2 +2 "manipulator"&(; +3 "core" ( + "manipulator"&& +4 "core" &< ' g + "storage"(|& +4 "core" &  +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&' +10 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&y/ +61 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&,& +2 "storage"('N +7 "core" &<  g + "manipulator"&{% +4 "core" % = B +2 .tForearm.seek :retract +2 "manipulator"&k'\ +93 "core" ' +2 .tElbow.seek PC +2 "manipulator"&(c +155 "core" ' + ."downElevator"SE.stop + "storage"(5 +102 "core" ( + "manipulator"&r& +5 "core" &f f +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &'& +4 "core" &f v +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"& '[ +101 "core" ' + "manipulator"&& +5 "core" &f  + "manipulator"&% +4 "core" %P R +2 "processing"%z& +4 "core" & +2 "processing"%/& +5 "core" & +2 .tPC.seek :closed +2 "processing"%w(Z +4 "core" &  +9 &6 )w +10 &k = +9 &~| H +9 &Cl G +10 &n G +9 &l G +10 &!m G +9 &#Jk G +9 &% k G +10 &&n G +9 &(l G +9 &*Rn G +10 &,n G +9 &-m G +10 &/n H +9 &1Zk G +9 &3m G +10 &4m G +9 &6l G +9 &8am G +10 &:#k G +9 &;n G +10 &=n G +9 &?io G +9 &A+k G +10 &Bn G +9 &Dm G +9 &Fps H +10 &H1y H +9 &I I +10 &K K +9 &Mi M +9 &O+ M +10 &P M +9 &R M +9 &Tr M +10 &V2 M +9 &W M +9 &Y 7 +10 &Z. V +9 &Z ) +3 ( +2 "processing"%/& +2 #tProcessing Clamp onSpring/offSpring for 8/26 samples, on/off torque 1.49 +2 .Hand.open + "manipulator"&}1 +57 "core" 1 + "manipulator"& % +4 "core" % P > +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&.'\ +92 "core" ' + "processing"%"& +5 "core" &Z ) + #tImaging generic puck in Processing Clamp while storing it to tube 2 +2 "manipulator"&% +4 "core" %\ ) p E + "storage"(% +4 "core" %I ? \ + "storage"(7. +4 "core" .(  + "storage"(*& +4 "core" & +2 "storage"(3& +2 "manipulator"&u& +6 "core" &  +2 &f +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +2 "storage"(#]kK-0-\ b + "manipulator"&-(c +6 ."raiseStack"SE.seek :beamBreak +2 "storage"(B'e +3 "core" ( + "manipulator"& & +4 "core" &f H +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &f +3 .tForearm.seek PC + "manipulator"&('[ +95 "core" ' + .tHand.close + "manipulator"&]/ +62 "core" / +2 .tPC.seek :open + "processing"%(p +88 "core" ' +2 "storage"(C- +3 "core" -'e + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(R'B +36 "core" ' +254 ( + "storage"(?& +5 "core" &  + "manipulator"&;& +4 "core" &f  + "manipulator"&% +4 "core" % V  +2 .tForearm.seek :retract +2 "manipulator"&G'\ +92 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&0(; +245 "core" ( + "manipulator"&@& +4 "core" &1 D F +2 "storage"(!& +4 "core" & +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +52 "manipulator"&1'Ѐ +104 "core" ' + .tHand.open +2 "manipulator"&>1 +63 "core" 1 +2 "storage"(Y- +3 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate +2 "storage"(%' +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(=' +49 "core" ' +2 #tLights, camera, ACTION! + "storage"(&- +4 "core" -' +2 "storage"()& +3 "core" & i i 8 +2 "manipulator"&5& +4 "core" &1 } | F +2 .tElbow.seek 2 +2 "manipulator"&M(; +3 "core" ( +2 "manipulator"&_& +4 "core" &1 { [ F + "storage"(H& +5 "core" & f f H +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&:'Ѐ +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"(4'M +61 "core" ' +2 "manipulator"&& +4 "core" &1 q q J F +2 "storage"(F& +4 "core" & + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&L'ξ +32 "core" ' +2 .tElbow.hold +2 "manipulator"&$, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"('7 +24 "core" ' + "manipulator"&O% +5 "core" % u + "storage"(N& +5 "core" & @ + .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 2 + 316 counts + "manipulator"&9' +19 "core" ' + "manipulator"&W& +5 "core" &B q v & 5 +2 "storage"(V& +4 "core" & R +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&<'Ѐ +16 "core" ' +2 "storage"(I% +4 "core" %> U +3 ."downElevator"SE.seek :down +3 "storage"(8'N +99 (S% +3 "core" %xH * NA + "manipulator"&6% +5 "core" %l o p   +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&J'\ +88 "core" ' +63 ' + ."downElevator"SE.stop + "storage"(5 +3 (h& +4 "core" & + +2 "collection"'K& +4 "core" &]Z A +2 #tStoring generic puck in Collection Clamp to tube 2 + "manipulator"&E% +4 "core" %\ * U !T +2 "storage"(A% +4 "core" %= +2 "storage"(T. +3 "core" .(  + "storage"(#& +4 "core" & +2 "storage"([& +4 "core" & + "manipulator"&U& +5 "core" &B 5 + .tElbow.seek 2 +2 "manipulator"&c(; +3 "core" ( +2 "manipulator"&D& +4 "core" &B  5 + "storage"(+& +4 "core" & +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts +2 "manipulator"&Q'Ѐ +100 "core" ' + "storage"(& +4 "core" & +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(l'e +285 "core" ' +2 "storage"(p- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&n& +3 "core" &B  5 + "storage"(\\& +4 "core" & +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&d'ξ +31 "core" ' + .tElbow.hold +2 "manipulator"&g, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(- +3 "core" -' +2 .tSE.seek 0.12 Pucks below Top Plate +2 "storage"(o'q +27 "core" ' + "manipulator"&t% +5 "core" % _ + "storage"(X& +4 "core" & ) + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 316 counts +2 "manipulator"&P' +18 "core" ' +2 "manipulator"&j& +4 "core" &B ` w ! 5 +2 "storage"(2& +4 "core" & +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&'Ѐ +16 "core" ' +2 .tSE.seek 1.12 Pucks below Top Plate +2 "storage"(x'` +49 "core" ' + "manipulator"&s& +5 "core" &B p s @ 5 + "manipulator"&~% +4 "core" %Ћ p p  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&^'\ +87 "core" ' +2 .tElbow.seek CC + "manipulator"&( +151 "core" ( +2 "manipulator"&a& +4 "core" &' f >O +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 & & +3 "core" &' , >O +2 .tForearm.seek CC +2 "manipulator"&'| +97 "core" ' + .tHand.close +2 "manipulator"&q/ +61 "core" / +2 .tCC.seek :open +2 "collection"'f(p +410 "core" ( +2 "storage"(m& +4 "core" & U +2 "storage"(& +3 "core" & +2 "manipulator"&& +3 "core" && D =A +2 "manipulator"&v% +4 "core" % k +2 .tForearm.seek :retract + "manipulator"&`'\ +102 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&(; +153 "core" ( + "manipulator"&& +4 "core" &3 ~ +2 "storage"(e& +4 "core" & \ , + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 2 +2 "manipulator"&i'ξ +106 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&|1 +59 "core" 1 +2 "manipulator"&y% +4 "core" % b +2 "storage"(,& +3 "core" & +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 319 counts +2 "manipulator"&{' +19 "core" ' + "manipulator"&Z& +4 "core" &< j O B \ +2 "storage"(b& +4 "core" & \ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts +2 "manipulator"& 'Ѐ +16 "core" ' + "storage"(% +4 "core" %c\ !\ ' +3 ."downElevator"SE.seek :down +3 "storage"(r'N +99 ('% +2 "core" %B \ N M> +2 "manipulator"&% +5 "core" %x p p +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +87 "core" ' +54 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 3 of [2..3] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"'& +4 "core" & +2 "manipulator"&z% +4 "core" %\ )  C +2 "storage"(% +4 "core" %R\ \ \ + "storage"(k. +4 "core" .(  + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(( +361 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (}& +3 "core" & p  + "manipulator"& & +5 "core" &<  \ + .tElbow.seek 3 +2 "manipulator"&"(D +3 "core" ( +2 "manipulator"&& +4 "core" &<  \ + "storage"(& +4 "core" &\ \   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&7' +95 "core" ' +2 "storage"(*& +4 "core" &\ \  h  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(u'e +281 "core" ' +2 "storage"(3- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (/& +2 "core" &\ \ \ w  +2 "manipulator"& & +4 "core" &< 9 \ + .tElbow.seek 3 +2 "manipulator"&(D +3 "core" ( +2 "manipulator"& & +3 "core" &< Q \ +2 "storage"(]& +4 "core" &\ \   +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&C'y +21 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +59 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&.& +3 "storage"(w'N +7 "core" &< 1 \ + "manipulator"&?% +4 "core" % y & +2 .tForearm.seek :retract +2 "manipulator"&;'\ +92 "core" ' +52 .tElbow.seek CC +2 "manipulator"&B( +99 "core" ' + ."downElevator"SE.stop + "storage"(5 +58 "core" ( + "manipulator"&& +4 "core" &* Ad +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &(& +3 "core" &* d Ad +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&@'| +105 "core" ' + "manipulator"&!& +5 "core" &* w Aa +2 "manipulator"&-% +4 "core" %} V +2 "collection"'>& +4 "core" & +2 "collection"'Y& +5 "core" & +2 .tCC.seek :closed +2 "collection"'&(] +4 "core" &  +9 &1 )u +9 &f < +9 &k I +10 &0k H +9 &r H +9 &m H +10 &!vp H +9 &#8s H +10 &$p G +9 &&p G +9 &(~n H +10 &*Am G +9 &,n G +9 &-r G +10 &/p G +9 &1Gs H +10 &3\ n H +9 &4l G +9 &6m H +10 &8Qk G +9 &:k H +9 &;m H +10 &=p H +9 &?Yl G +10 &Ao G +9 &Bs H +9 &Dn H +10 &Far G +9 &H!u H +9 &I I +10 &K K +9 &MY M +10 &O P +9 &P Q +9 &R Q +10 &TR R +9 &V S +10 &W S +9 &Y U +9 &[S T +10 &\\y (} +9 &]& F +9 ( +3 "collection"'Y& +2 #tCollection Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.78 +2 .Hand.open + "manipulator"&)1 +4 "core" &]O = +58 1 + "manipulator"&5% +5 "core" % w J +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&_'\ +101 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%H& +5 "core" & + "manipulator"&G% +4 "core" %\ 9 ( +2 "storage"(% +4 "core" %= 0 +2 "storage"(F. +3 "core" .( +2 "storage"(O& +3 "core" & c  +2 "storage"(R& +4 "core" & 4  + "manipulator"&N& +4 "core" && & >N +2 "manipulator"&%% +4 "core" %\ 9 ; ( +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&W(D +164 "core" ( + "manipulator"&V& +5 "core" &M  + "storage"(I& +4 "core" &  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&0' +94 "core" ' + "storage"(1& +5 "core" &   +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(='e +294 "core" ' + "storage"(S- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (6& +3 "core" &  +2 "manipulator"&:& +3 "core" &M z o P  +2 .tElbow.seek 3 +2 "manipulator"&M(D +3 "core" ( + "manipulator"&4& +4 "core" &M r } [  +2 "storage"(L& +4 "core" &   +2 .tForearm.seek 3 + 300 counts + "manipulator"&h'y +21 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&9/ +61 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&K& +2 "storage"(E'N +7 "core" &M p q   +2 "manipulator"&A% +3 "core" % q o o +2 .tForearm.seek :retract +2 "manipulator"&T'\ +92 "core" ' +2 .tElbow.seek PC +2 "manipulator"&(c +160 "core" ' + ."downElevator"SE.stop + "storage"(5 +86 "core" ( +2 "manipulator"&#& +4 "core" &Z k +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &[& +3 "core" &Z = +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&U'[ +104 "core" ' + "manipulator"&D& +5 "core" &Z * + "manipulator"&+% +4 "core" %; ? +2 "processing"%<& +4 "core" & +3 "processing"%& +4 "core" & +2 .tPC.seek :closed +2 "processing"%8(Z +4 "core" & +8 &? $d +9 &z\\ 6 +10 & G +9 &j G +9 &mm G +10 &/k G +9 & n G +9 &"l G +10 &$vm G +9 &&7q G +10 &'m G +9 &)m G +9 &+}k G +10 &-?n G +9 &/n G +9 &0m G +10 &2k G +9 &4Hl G +9 &6 m F +10 &7m G +9 &9k G +10 &;Pn G +9 &=k G +10 &>m H +9 &@k G +9 &BVl G +9 &Dn G +10 &En G +9 &Gu H +10 &IY} I +9 &K K +9 &L M +10 &N M +9 &PU M +9 &R M +10 &S N +9 &U M +10 &W] M +9 &Y H +9 &ZP=z +} +10 &Z# $ +5 ( +2 "processing"%& +4 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.48 + .Hand.open +2 "manipulator"&$1 +3 "core" &Z $ +59 1 + "manipulator"&J% +4 "core" % ; B +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&p'\ +102 "core" ' +2 "processing"%n& +4 "core" &Z $ +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&\\% +4 "core" %\ < u ) +2 "storage"(% +3 "core" %G  \ +2 "storage"(t. +3 "core" .( + "storage"(X& +4 "core" & O  +3 "storage"(j& +2 "manipulator"&2& +6 "core" & 8  + &Z +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +6 "manipulator"&$&.,(\ #b +2 "storage"(#]kK-0-\ b +3 .tElbow.seek PC +4 "manipulator"&s(c +4 ."raiseStack"SE.seek :beamBreak + "storage"(~'e +3 "core" ( + "manipulator"&Q& +4 "core" &Z  +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &c& +3 "core" &Z H +2 .tForearm.seek PC +2 "manipulator"&l'[ +98 "core" ' + .tHand.close + "manipulator"&d/ +60 "core" / +2 .tPC.seek :open +2 "processing"%P(p +86 "core" ' + "storage"(o- +4 "core" -'e + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(a'B +34 "core" ' +257 ( +2 "storage"( & +4 "core" &   +2 "manipulator"&& +3 "core" &Z  +2 "manipulator"&g% +4 "core" % [  +2 .tForearm.seek :retract +2 "manipulator"&q'\ +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&^(D +254 "core" ( +2 "manipulator"&& +4 "core" &J / $ +2 "storage"(m& +4 "core" & i  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&' +98 "core" ' + .tHand.open + "manipulator"&1 +57 "core" 1 +2 "storage"(v- +3 "core" -'B +3 .tSE.seek -0.16 Pucks below Top Plate + "storage"(' +23 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(e' +50 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(- +3 "core" -' +2 "storage"(& +4 "core" & ~  '  + "manipulator"&|& +4 "core" &J G $ +2 .tElbow.seek 3 +2 "manipulator"&y(D +3 "core" ( + "manipulator"&,& +4 "core" &J ) $ +2 "storage"(Z& +4 "core" & | {  +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&b' +3 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"('M +39 "Can"[ QO +19 "core" ' + "manipulator"&`& +5 "core" &J 1 $ + "storage"('& +4 "core" &  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&'M +29 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"(i'7 +23 "core" ' + "manipulator"&% +5 "core" %_r  * + "storage"(z& +4 "core" &   +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 318 counts +2 "manipulator"&{'ϋ +17 "core" ' +2 "manipulator"&& +5 "core" &9 w | W & +2 "storage"(k& +4 "core" & 1  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&x' +16 "core" ' +2 "storage"( % +4 "core" %< ` +2 ."downElevator"SE.seek :down +55 "storage"(r'N +97 (\ % +3 "core" %hD  NA +2 "manipulator"&}% +4 "core" % n o  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"& '\ +97 "core" ' +54 ' + ."downElevator"SE.stop + "storage"(5 +3 (& +4 "core" &   +2 "collection"'& +4 "core" &]O = + #tStoring generic puck in Collection Clamp to tube 3 +2 "manipulator"&*% +4 "core" %\ = ) + "storage"(% +4 "core" %>  +2 "storage"(. +3 "core" .( +2 "storage"(3& +4 "core" & =  + "storage"(/& +5 "core" & >  + "manipulator"& & +4 "core" &9 C & +2 .tElbow.seek 3 +2 "manipulator"& (D +5 "core" ( +2 "manipulator"&]& +4 "core" &:  ) +2 "storage"(& +4 "core" &  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&.' +105 "core" ' +2 "storage"(?& +5 "core" & f  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"("'e +282 "core" ' + "storage"(7- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&u& +2 "core" &< p q \ ) +2 "storage"(C& +4 "core" &  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&'M +33 "core" ' +2 .tElbow.hold +2 "manipulator"&(, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(!- +3 "core" -' +2 .tSE.seek 0.12 Pucks below Top Plate +2 "storage"(-'r +28 "core" ' +2 "manipulator"&% +4 "core" %al · + "storage"(>& +5 "core" & B  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 320 counts +2 "manipulator"&w'ύ +19 "core" ' +2 "manipulator"&;& +4 "core" &? { g < ( +2 "storage"(f& +4 "core" &  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&)' +12 "core" ' +2 .tSE.seek 1.12 Pucks below Top Plate +2 "storage"(5'a +43 "core" ' +2 "manipulator"&H& +4 "core" &@ p o ( +2 "manipulator"&G% +4 "core" % o q  ( +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +86 "core" ' +2 .tElbow.seek CC +2 "manipulator"&Y( +153 "core" ( + "manipulator"&F& +4 "core" &+ ] Ae +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &O& +3 "core" &+ j Ae +2 .tForearm.seek CC +2 "manipulator"&R'| +93 "core" ' + .tHand.close +2 "manipulator"&N/ +58 "core" / +2 .tCC.seek :open + "collection"'%(p +411 "core" ( +2 "storage"(@& +4 "core" & \ 2  + "storage"(V& +4 "core" & \ 0  +2 "manipulator"&I& +3 "core" && >L +2 "manipulator"&1% +4 "core" % o +2 .tForearm.seek :retract + "manipulator"&B'\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&_(D +167 "core" ( +2 "manipulator"&S& +5 "core" &> ) q + "storage"(6& +5 "core" &\ \   + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 3 +2 "manipulator"&:'M +112 "core" ' + .tElbow.hold +2 "manipulator"&4, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&L1 +59 "core" 1 +2 "manipulator"&9% +5 "core" % _o 7 " + "storage"(K& +4 "core" &   +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 318 counts + "manipulator"&A'ϋ +19 "core" ' + "manipulator"&W& +5 "core" &7 f E T x + "storage"(0& +4 "core" &\ \ o  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&=' +11 "core" ' +2 "storage"(h% +4 "core" %]\ \ +3 ."downElevator"SE.seek :down +3 "storage"(#'N +99 ([% +3 "core" %?\ \  % M> +2 "manipulator"&M% +4 "core" % p o \ . +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&D'\ +94 "core" ' +45 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 2 of [2..3] + #Loading generic puck from tube 2 into Collection Clamp + "collection"'+& +5 "core" & +2 "manipulator"&<% +4 "core" %\ 4 %y + "storage"(E% +4 "core" %>\ \  +2 "storage"(T. +3 "core" .( +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"((  +363 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 ($& +3 "core" &   +2 "manipulator"&J& +3 "core" &7 - x +2 .tElbow.seek 2 +2 "manipulator"&n(; +3 "core" ( + "manipulator"&\\& +5 "core" &7  x + "storage"(& +4 "core" & \ \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&t'Ѐ +97 "core" ' + "storage"(& +5 "core" & \ \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(X'e +279 "core" ' +2 "storage"(2- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (j& +3 "core" & \ \ = + "manipulator"&Q& +4 "core" &7 n  x +2 .tElbow.seek 2 +2 "manipulator"&c(; +3 "core" ( + "manipulator"&U& +4 "core" &7 } v & x +2 "storage"(d& +3 "core" & \  +3 .tForearm.seek 2 + 300 counts + "manipulator"&o' +10 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +61 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&p& + "storage"(8'N +7 "core" &7 p o ' x + "manipulator"& % +4 "core" % o o  m +2 .tForearm.seek :retract +2 "manipulator"&'\ +96 "core" ' +3 .tElbow.seek CC + "manipulator"&~( +147 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +3 "core" ( +2 "manipulator"&g& +4 "core" &# :+ + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &l& +3 "core" && ` :+ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&'| +101 "core" ' + "manipulator"&m& +4 "core" &' % :+ +2 "manipulator"&s% +4 "core" %{ { +2 "collection"'& +4 "core" & +3 "collection"'v& +4 "core" &' +2 .tCC.seek :closed +2 "collection"'(] +5 "core" &  +8 &6 *y +10 &i = +9 &t~ H +9 &7o H +10 &l H +9 &m H +9 &!}p H +10 &#>r H +9 &%k G +10 &&o H +9 &(q H +9 &*Hp G +10 &,\ m G +9 &-r H +9 &/r H +10 &1Ol H +9 &3l H +10 &4k H +9 &6p G +9 &8Xn G +10 &:l H +9 &;j G +9 &=r H +10 &?^n H +9 &A"n G +10 &Br H +9 &Dk G +9 &Fhn G +10 &H(t H +9 &I J +9 &K L +10 &MZ O +9 &O Q +10 &P Q +9 &R R +9 &TY R +10 &V S +9 &W S +9 &Y U +10 &[X U +9 &]y (} +10 &]# F +8 ( +4 "collection"'v& +2 #tCollection Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.83 +2 .Hand.open + "manipulator"&1 +4 "core" &]Y ? +51 1 + "manipulator"&|% +4 "core" % x l +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&,'\ +97 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%Z& +4 "core" & +2 "manipulator"&q% +4 "core" %\ 8 V ' + "storage"(`% +4 "core" %U K  + "storage"('. +4 "core" .(  + "storage"(& +4 "core" &  + +2 "storage"(z& +3 "core" &  ! +2 "manipulator"&a& +4 "core" &\ M 8 + "manipulator"&% +4 "core" %\ 8  ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +51 "manipulator"&(; +159 "core" ( + "manipulator"&k& +5 "core" &6 + "storage"( & +4 "core" &  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts +2 "manipulator"&^'Ѐ +92 "core" ' +2 "storage"(& +4 "core" & \ \ ( +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(e'e +275 "core" ' +2 "storage"(b- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (\ & +2 "core" &  V +2 "manipulator"&}& +4 "core" &6 y r Q +2 .tElbow.seek 2 +2 "manipulator"&y(; +3 "core" ( + "manipulator"&& +4 "core" &6 x q ! +2 "storage"(& +4 "core" &  +2 .tForearm.seek 2 + 300 counts + "manipulator"&{' +23 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +55 "core" / +4 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"(*'N +7 "core" &6 p p +2 "manipulator"&% +4 "core" %  o p  +2 .tForearm.seek :retract +2 "manipulator"&'\ +90 "core" ' + .tElbow.seek PC +2 "manipulator"&3(c +160 "core" ' + ."downElevator"SE.stop + "storage"(5 +77 "core" ( + "manipulator"&i& +4 "core" &d r : +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &/& +2 "core" &d  : +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"& '[ +106 "core" ' +2 "manipulator"&]& +4 "core" &d 6 : +2 "manipulator"&% +4 "core" %K v +2 "processing"%x& +4 "core" & +2 "processing"%?& +5 "core" & +2 .tPC.seek :closed +2 "processing"%r(Z +5 "core" & +6 &> #c +10 &w[ 6 +9 & H +9 &m G +10 &km G +9 &.l F +10 & m G +9 &"j G +9 &$rl G +10 &&4l G +9 &'l G +9 &)l G +10 &+{l G +9 &-=m G +10 &.n G +9 &0m G +9 &2p G +10 &4El G +9 &6m F +9 &7l G +10 &9l G +9 &;Kr G +10 &=k G +9 &>m G +9 &@l G +10 &BSl G +9 &Dl G +9 &Ek G +10 &Gv H +9 &IV I +10 &K K +9 &L L +9 &N M +10 &PS M +9 &R M +10 &S M +9 &U N +9 &WX N +10 &Y I +9 &ZO;r (s +9 &Z0 ( +6 ( +2 "processing"%?& +4 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.48 + .Hand.open +2 "manipulator"&1 +3 "core" &Z ( +55 1 + "manipulator"& % +5 "core" % K N + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&7'\ +100 "core" ' +2 "processing"%u& +4 "core" &Z ( + #tImaging generic puck in Processing Clamp while storing it to tube 2 +2 "manipulator"&C% +4 "core" %\ 7 ' + "storage"(!% +4 "core" %L  + "storage"(. +4 "core" .(  + "storage"(>& +4 "core" &   +2 "storage"(;& +2 "manipulator"&f& +7 "core" &   + &d : +3 ."raiseStack"SE.reconfigure :place +2 .tElbow.reconfigure :tight +4 "storage"(#]kK-0-\ b +4 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +2 ."raiseStack"SE.seek :beamBreak +2 "manipulator"&H(c + "storage"(G'e +5 "core" ( + "manipulator"&.& +4 "core" &d : +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 & & +2 "core" &d : +3 .tForearm.seek PC + "manipulator"&"'[ +97 "core" ' +2 .tHand.close + "manipulator"&/ +64 "core" / +2 .tPC.seek :open +2 "processing"%w(p +83 "core" ' +2 "storage"(-- +3 "core" -'e + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(F'B +33 "core" ' +262 ( + "storage"(O& +4 "core" &   +2 "manipulator"&)& +4 "core" &d , : + "manipulator"&(% +4 "core" % c   +2 .tForearm.seek :retract +2 "manipulator"&N'\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&(; +244 "core" ( + "manipulator"&&& +4 "core" &H 2  +2 "storage"(@& +4 "core" &  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&V'Ѐ +94 "core" ' +2 .tHand.open + "manipulator"&I1 +61 "core" 1 +2 "storage"(1- +3 "core" -'B +3 .tSE.seek -0.16 Pucks below Top Plate + "storage"(S' +25 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(6' +49 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(R- +3 "core" -' +2 "storage"(Y& +4 "core" &  g f + "manipulator"&L& +4 "core" &H   +2 .tElbow.seek 2 + "manipulator"&9(; +19 "core" ( +2 "manipulator"&K& +4 "core" &B   + "storage"(W& +4 "core" &  g e A +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&0'Ѐ +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"(h'M +60 "core" ' + "manipulator"&B& +5 "core" &B v   + "storage"([& +5 "core" &  9 + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&M'ξ +27 "core" ' +2 .tElbow.hold +2 "manipulator"&_, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"(:'7 +22 "core" ' +2 "manipulator"&+% +4 "core" %  +2 "storage"(<& +4 "core" &   + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 319 counts +2 "manipulator"&E' +16 "core" ' +2 "manipulator"&A& +4 "core" &B q v )  +2 "storage"(T& +4 "core" &  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&5'Ѐ +23 "core" ' +2 "storage"(=% +4 "core" %; 8 +3 ."downElevator"SE.seek :down +3 "storage"(#'N +99 (% +4 "core" %dH N@ + "manipulator"&$% +4 "core" %Ж o p  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&J'\ +93 "core" ' +59 ' + ."downElevator"SE.stop + "storage"(5 +3 (\\& +4 "core" &  + "collection"'& +4 "core" &]Z ? +2 #tStoring generic puck in Collection Clamp to tube 2 + "manipulator"&% +4 "core" %\ 5 & +2 "storage"(4% +4 "core" %M + "storage"(D. +3 "core" .(  +2 "storage"(2& +4 "core" &  + "storage"(j& +4 "core" &  + "manipulator"&Q& +4 "core" &B   +2 .tElbow.seek 2 +2 "manipulator"&U(; +3 "core" ( + "manipulator"&d& +4 "core" &B   +2 "storage"(& +4 "core" &  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&p'Ѐ +102 "core" ' +2 "storage"( & +4 "core" &  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(n'e +278 "core" ' +2 "storage"(t- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&g& +3 "core" &B o p  + "storage"(l& +4 "core" &  o +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&X'ξ +27 "core" ' +2 .tElbow.hold +2 "manipulator"&o, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(m- +3 "core" -' +2 .tSE.seek 0.12 Pucks below Top Plate +2 "storage"(s'p +31 "core" ' +2 "manipulator"&% +4 "core" % + "storage"(c& +4 "core" &  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 319 counts + "manipulator"&8' +19 "core" ' +52 "manipulator"&& +4 "core" &B o o   +2 "storage"(%& +4 "core" & \ \ b +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&'Ѐ +16 "core" ' +2 .tSE.seek 1.12 Pucks below Top Plate +2 "storage"(|'_ +47 "core" ' + "manipulator"&Z& +5 "core" &B o p  + "manipulator"&q% +5 "core" %Ј p o +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&`'\ +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"&'( +157 "core" ( +2 "manipulator"&& +4 "core" & $  ;8 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &z& +3 "core" & $  ;8 +3 .tForearm.seek CC + "manipulator"&v'| +99 "core" ' + .tHand.close + "manipulator"&a/ +57 "core" / +2 .tCC.seek :open +2 "collection"'(p +413 "core" ( +2 "storage"(& +4 "core" &  B + "storage"(k& +4 "core" &  +2 "manipulator"& & +4 "core" & $  ;6 + "manipulator"&~% +4 "core" % ~ +2 .tForearm.seek :retract +2 "manipulator"&'\ +91 "core" ' +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&,(; +165 "core" ( + "manipulator"&b& +4 "core" &2 R  +2 "storage"(\ & +4 "core" & \ A + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 2 + "manipulator"&}'ξ +103 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&1 +56 "core" 1 +2 "manipulator"&% +4 "core" % u +2 "storage"(& +3 "core" &  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 317 counts +2 "manipulator"&' +18 "core" ' +2 "manipulator"&& +4 "core" &M v q  +2 "storage"(^& +4 "core" & \ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&e'Ѐ +18 "core" ' + "storage"({% +5 "core" %b\ \ ) +2 ."downElevator"SE.seek :down +3 "storage"(i'N +99 (/% +3 "core" %F\ \  N? +2 "manipulator"&y% +4 "core" %x p p +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&]'\ +87 "core" ' +55 ' +2 ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 3 of [2..3] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"'& +4 "core" & +2 "manipulator"&x% +4 "core" %\ , W "Z +2 "storage"(*% +4 "core" %M\ \  + "storage"(. +3 "core" .(  +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 +2 "storage"(P( +369 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (& +2 "core" & e  +2 "manipulator"& & +4 "core" &M   + .tElbow.seek 3 +2 "manipulator"&u(D +3 "core" ( +2 "manipulator"&C& +3 "core" &M   +2 "storage"(!& +4 "core" &\ \   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&' +94 "core" ' +2 "storage"(>& +4 "core" &\ \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(?'e +289 "core" ' +2 "storage"(f- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (;& +3 "core" & \   + "manipulator"&.& +4 "core" &M   +2 .tElbow.seek 3 +2 "manipulator"& (D +3 "core" ( + "manipulator"& & +4 "core" &M &  +2 "storage"(& +3 "core" &\ \ f  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&-'y +10 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&3/ +53 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&7& + "storage"(r'N +7 "core" &M p o   +2 "manipulator"&O% +4 "core" % m l d ? +2 .tForearm.seek :retract +2 "manipulator"&G'\ +94 "core" ' + .tElbow.seek CC +2 "manipulator"&)( +147 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +4 "core" ( + "manipulator"&(& +4 "core" &$ * ;4 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &"& +2 "core" &$ H ;4 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&&'| +96 "core" ' +2 "manipulator"&@& +5 "core" &$ 4 ;4 +2 "manipulator"&H% +4 "core" %} +2 "collection"'I& +4 "core" && +2 "collection"'1& +4 "core" &% +2 .tCC.seek :closed +2 "collection"'R(] +5 "core" &  +8 &4 )v +9 &f < +10 &] I +9 &$k G +9 &p H +10 &m H +9 &!hm H +9 &#*m H +10 &$k G +9 &&n G +10 &(pr H +9 &*3q G +9 &+p H +10 &-n H +9 &/yl G +9 &1:n H +10 &2p H +9 &4p G +10 &6p H +9 &8Co G +9 &:o G +10 &;j G +9 &=l H +9 &?Jn H +10 &A n H +9 &Bl H +10 &Dj G +9 &FRp H +9 &Hp H +10 &I{ I +9 &K J +9 &MJ M +10 &O P +9 &P P +10 &R Q +9 &TE R +9 &V S +10 &W S +9 &Y T +9 &[F T +10 &\\x (| +9 &]0 K +9 ( +2 &]: : +2 "collection"'1& +2 #tCollection Clamp onSpring/offSpring for 9/25 samples, on/off torque 1.79 +2 .Hand.open + "manipulator"&Y1 +61 "core" 1 +2 "manipulator"&L% +4 "core" % } L +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&K'\ +92 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%W& +5 "core" & + "manipulator"&N% +4 "core" %\ + !R + "storage"(B% +4 "core" %E +2 "storage"([. +3 "core" .( + "storage"(F& +4 "core" &  + "storage"(+& +4 "core" &  +2 "manipulator"&<& +4 "core" & 8! + "manipulator"&S% +4 "core" %\ * T !R +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&A(D +153 "core" ( +2 "manipulator"&T& +4 "core" &N ; +2 "storage"(=& +4 "core" & 8  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&' +93 "core" ' + "storage"(V& +5 "core" & \ ^  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(6'e +290 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 ($& +2 "core" &  +2 "manipulator"&0& +4 "core" &N o p + .tElbow.seek 3 +2 "manipulator"&9(D +4 "core" ( + "manipulator"&h& +4 "core" &N { u +2 "storage"(M& +3 "core" &  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&E'y +19 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&\\/ +64 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"('N +7 "core" &N o o + "manipulator"&4% +4 "core" % z o o +2 .tForearm.seek :retract +2 "manipulator"&D'\ +89 "core" ' +2 .tElbow.seek PC + "manipulator"&:(c +160 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +92 "core" ( +2 "manipulator"&2& +4 "core" &j K + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &j& +3 "core" &j  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&Q'[ +102 "core" ' + "manipulator"&d& +4 "core" &j z +2 "manipulator"&% +4 "core" %W +2 "processing"%5& +4 "core" & +2 "processing"% & +5 "core" & +2 .tPC.seek :closed + "processing"%#(Z +5 "core" & +6 &> #c +9 &z[ 6 +58 & H +2 &h F + &ll G + &/j G + & m G &"j G +3 &$tp G +9 &&6k G +10 &'k G +9 &)j G +9 &+|m G +10 &->l G +9 &/m G +10 &0k G +9 &2j G +9 &4Hj F +10 &6k G +9 &7j G +9 &9j G +10 &;Ol G +9 &=j F +10 &>k G +9 &@k G +9 &BUl G +10 &Dl G +9 &Em G +9 &Gu H +10 &IW J +9 &K K +10 &L L +9 &N M +9 &PV M +10 &R M +9 &S M +9 &U M +10 &W[ N +9 &Y J +10 &ZS8c #e +9 &ZJ ' +5 ( +2 "processing"% & +4 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.50 + .Hand.open +2 "manipulator"&_1 +4 "core" &Z ' +48 1 +2 "manipulator"&J% +4 "core" % W +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&t'\ +96 "core" ' + "processing"%g& +5 "core" &Z ' + #tImaging generic puck in Processing Clamp while storing it to tube 3 +2 "manipulator"&l% +3 "core" %\ 0 $o +2 "storage"(m% +4 "core" %= @ +2 "storage"(. +3 "core" .( + "storage"(c& +4 "core" &  +2 "storage"(& +4 "manipulator"&%& +5 "core" & y  + &j +3 ."raiseStack"SE.reconfigure :place +2 .tElbow.reconfigure :tight +4 "storage"(#]kK-0-\ b +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +3 ."raiseStack"SE.seek :beamBreak +2 "manipulator"&Z(c +2 "storage"(q'e +5 "core" ( +2 "manipulator"&p& +3 "core" &j +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &U& +3 "core" &j +2 .tForearm.seek PC + "manipulator"&n'[ +96 "core" ' + .tHand.close +2 "manipulator"&X/ +56 "core" / +2 .tPC.seek :open +2 "processing"%8(p +92 "core" ' +2 "storage"(s- +4 "core" -'e + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"('B +42 "core" ' +243 ( + "storage"(z& +4 "core" & i  +2 "manipulator"&& +4 "core" &j 4 + "manipulator"&o% +31 "core" % k M  +2 .tForearm.seek :retract +2 "manipulator"&a'\ +92 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&`(D +245 "core" ( + "manipulator"&& +5 "core" &D } X - + "storage"(& +4 "core" & ~  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&k' +103 "core" ' + .tHand.open + "manipulator"& 1 +63 "core" 1 +2 "storage"(~- +4 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate +2 "storage"(b' +27 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.83 Pucks below Top Plate + "storage"(\ ' +51 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(v- +3 "core" -' +2 "storage"('& +3 "core" & %  +2 "manipulator"&& +4 "core" &D z x b - +2 .tElbow.seek 3 + "manipulator"&(D +4 "core" ( + "manipulator"&& +4 "core" &D | r  - +2 "storage"(& +4 "core" & ~ Y  +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&^' +14 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"({'M +67 "core" ' +2 "manipulator"&& +4 "core" &D o q  - +2 "storage"(/& +3 "core" &\  >  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&y'M +34 "core" ' +2 .tElbow.hold +2 "manipulator"&,, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"(}'7 +25 "core" ' + "manipulator"&% +5 "core" %`o 8  + "storage"(& +4 "core" &   +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 319 counts +2 "manipulator"&x'ό +18 "core" ' + "manipulator"&*& +5 "core" & { w % Q + "storage"(& +5 "core" &  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&|' +17 "core" ' +2 "storage"(e% +4 "core" %?\ \ 0 +3 ."downElevator"SE.seek :down +3 "storage"(i'N +99 (% +3 "core" %wE NA +2 "manipulator"&% +4 "core" % o q  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"& '\ +91 "core" ' +59 ' + ."downElevator"SE.stop + "storage"(5 +3 (C& +4 "core" & V  +2 "collection"'!& +4 "core" &]@( : + #tStoring generic puck in Collection Clamp to tube 3 +2 "manipulator"&>% +4 "core" %\ 1 $m + "storage"(% +4 "core" %H +2 "storage"(]. +3 "core" .( +2 "storage"(f& +3 "core" &  +2 "storage"(;& +4 "core" &  + "manipulator"&.& +4 "core" &! P +2 .tElbow.seek 3 +2 "manipulator"& (D +16 "core" ( + "manipulator"&& +5 "core" &< & + "storage"(3& +4 "core" &  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&7' +102 "core" ' + "storage"(O& +4 "core" &  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(u'e +283 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&(& +3 "core" &?  % + "storage"("& +4 "core" &  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&?'M +31 "core" ' + .tElbow.hold +2 "manipulator"&-, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(@- +3 "core" -' +2 .tSE.seek 0.12 Pucks below Top Plate +2 "storage"(H'r +27 "core" ' + "manipulator"&I% +4 "core" %^e   $ õ +2 "storage"( & +4 "core" & 5  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 3 + 317 counts +2 "manipulator"&r'ϊ +18 "core" ' +2 "manipulator"&G& +4 "core" &< d x $ & +2 "storage"(& +4 "core" &  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&Y' +10 "core" ' +2 .tSE.seek 1.12 Pucks below Top Plate +2 "storage"(L'a +49 "core" ' +2 "manipulator"&W& +4 "core" &= | { % +2 "manipulator"&N% +4 "core" % o o u  + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&B'\ +87 "core" ' + .tElbow.seek CC +2 "manipulator"&[( +148 "core" ( + "manipulator"&F& +5 "core" && L =A + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &+& +2 "core" &&  =A +2 .tForearm.seek CC +2 "manipulator"&1'| +96 "core" ' +2 .tHand.close + "manipulator"&k G +9 &@n G +9 &BWn H +10 &Dl G +9 &Ep G +9 &Gn G +10 &I]y H +9 &K J +10 &L N +9 &N P +9 &PM Q +10 &R Q +9 &S R +9 &U R +10 &WP R +9 &Y  T +10 &Z T +9 &\\ B +9 &]n / +10 &]U > +2 ( +2 "collection"'~& +3 #tCollection Clamp onSpring/offSpring for 10/25 samples, on/off torque 1.83 + .Hand.open + "manipulator"&'1 +54 "core" 1 + "manipulator"&% +4 "core" %  3 +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +92 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%& +4 "core" & +2 "manipulator"&a% +4 "core" %\ -  "X + "storage"(% +4 "core" %L  +2 "storage"(/. +3 "core" .(  +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"((  +4 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (& +3 "core" &   +2 "manipulator"&& +4 "core" &2"  :- + "manipulator"&b% +4 "core" %\ -  "X +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&*(; +163 "core" ( + "manipulator"&& +4 "core" &4 -  +2 "storage"(e& +4 "core" &  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&`'Ѐ +95 "core" ' + "storage"(k& +4 "core" &  c +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(\ 'e +282 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (& +3 "core" &  +2 "manipulator"&^& +3 "core" &5 r r i  +2 .tElbow.seek 2 +2 "manipulator"&(; +3 "core" ( + "manipulator"&{& +4 "core" &5 z t   + "storage"(y& +4 "core" &   +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&C' +28 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&x/ +57 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&!& +2 "storage"(>'N +7 "core" &5 q p   +2 "manipulator"&% +3 "core" % o p +2 .tForearm.seek :retract +2 "manipulator"&]'\ +94 "core" ' +2 .tElbow.seek PC +2 "manipulator"&}(c +154 "core" ' + ."downElevator"SE.stop + "storage"(5 +98 "core" ( +2 "manipulator"&f& +4 "core" &j +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &;& +2 "core" &j T +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&.'[ +95 "core" ' + "manipulator"&& +5 "core" &j + "manipulator"&3% +4 "core" %Z   +2 "processing"%|& +4 "core" & +3 "processing"%O& +4 "core" & +2 .tPC.seek :closed +2 "processing"%i(Z +4 "core" &  +9 &6 )w +10 &k = +9 &{x H +10 &@j G +9 &k G +9 &j F +10 &!l G +9 &#Hj G +9 &% j F +10 &&l G +9 &(i G +10 &*Pj G +9 &,k G +9 &-j G +10 &/m G +9 &1Xi G +9 &3j G +10 &4n G +9 &6j G +10 &8_m G +9 &:"j G +9 &;j F +10 &=k G +9 &?gm G +9 &A)l G +10 &Bk G +9 &Dm G +10 &Fmn H +9 &H.v H +9 &I J +10 &K L +9 &Mg M +9 &O( M +10 &P M +9 &R M +10 &Tm M +9 &V/ M +9 &W N +10 &Y 7 +9 &Z, ] +9 &Z + +3 ( +2 "processing"%O& +2 #tProcessing Clamp onSpring/offSpring for 8/25 samples, on/off torque 1.53 +2 .Hand.open + "manipulator"&,1 +58 "core" 1 +2 "manipulator"& % +4 "core" % Z V  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +93 "core" ' + "processing"%(& +4 "core" &Z + +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 + "manipulator"&"% +4 "core" %\ * j !W +2 "storage"(@% +4 "core" %9 # + "storage"(I. +3 "core" .(  +2 "storage"( & +3 "core" &   +3 "storage"(G& +2 "manipulator"&& +6 "core" &  ? +2 &j +3 ."raiseStack"SE.reconfigure :place +2 .tElbow.reconfigure :tight +3 "storage"(#]kK-0-\ b +5 "manipulator"&$&.,(\ #b +2 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +2 "storage"(W'e +3 "manipulator"&N(c +3 "core" ( +2 "manipulator"&7& +4 "core" &j  + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 & & +2 "core" &j L +3 .tForearm.seek PC + "manipulator"&u'[ +102 "core" ' + .tHand.close + "manipulator"&?/ +63 "core" / +2 .tPC.seek :open +2 "processing"%r(p +77 "core" ' +2 "storage"(H- +3 "core" -'e +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +54 ."raiseStack"SE.seek :place +2 "storage"(F'B +39 "core" ' +210 ( +2 "storage"(+& +4 "core" &   +2 "manipulator"&Y& +3 "core" &j 1 +2 "manipulator"&-% +4 "core" % e E +2 .tForearm.seek :retract +2 "manipulator"&<'\ +101 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&B(; +273 "core" ( + "manipulator"&R& +4 "core" &E 6  +2 "storage"(T& +4 "core" &  +2 .tForearm.reconfigure :tight +4 "manipulator"&#Q@2^d^\ b +5 .tForearm.seek 2 + 450 counts +4 "manipulator"&&'Ѐ +97 "core" ' + .tHand.open +2 "manipulator"&=1 +63 "core" 1 +2 "storage"(V- +3 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate +2 "storage"(' +24 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"($' +51 "core" ' + #tLights, camera, ACTION! +2 "storage"(1- +3 "core" -' +2 "storage"([& +4 "core" &  g e c + "manipulator"&M& +4 "core" &E l  +2 .tElbow.seek 2 +2 "manipulator"&\\(; +3 "core" ( +2 "manipulator"&& +4 "core" &E t  + "storage"(A& +4 "core" &  [ e 3 +3 .tForearm.seek 2 + 450 counts + "manipulator"&'Ѐ +26 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"()'M +60 "core" ' + "manipulator"&E& +4 "core" &E d m M  +2 "storage"(j& +4 "core" & \ \  * +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&K'ξ +34 "core" ' +2 .tElbow.hold + "manipulator"&9, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"(0'7 +22 "core" ' +2 "manipulator"&% +5 "core" % + "storage"(5& +5 "core" &   + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 318 counts +2 "manipulator"&' +18 "core" ' +2 "manipulator"&4& +4 "core" &E f o ]  +2 "storage"(D& +4 "core" & \ \  g +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&L'Ѐ +17 "core" ' + "storage"(6% +5 "core" %= E +3 ."downElevator"SE.seek :down +4 "storage"(2'N +99 (P% +2 "core" %sJ NA +2 "manipulator"&_% +5 "core" %Ѓ p o + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&J'\ +86 "core" ' +65 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (l& +4 "core" &  3 +2 "collection"'m& +4 "core" &]L" > +2 #tStoring generic puck in Collection Clamp to tube 2 + "manipulator"&c% +4 "core" %\ +  !R +2 "storage"(h% +4 "core" %E  \ + "storage"(d. +3 "core" .(  +2 "storage"(& +4 "core" &  5 + "storage"( & +4 "core" &   +2 "manipulator"&p& +4 "core" &E   + .tElbow.seek 2 +2 "manipulator"&Q(; +3 "core" ( +2 "manipulator"&X& +3 "core" &E   +2 "storage"(:& +4 "core" &  ! +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&t'Ѐ +98 "core" ' + "storage"(z& +5 "core" & \ R +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(g'e +279 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&o& +3 "core" &E p   +2 "storage"(n& +4 "core" &  z +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&%'ξ +29 "core" ' + .tElbow.hold +2 "manipulator"&s, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(U- +3 "core" -' +2 .tSE.seek 0.12 Pucks below Top Plate +2 "storage"('q +28 "core" ' +2 "manipulator"&Z% +4 "core" % w + "storage"( & +4 "core" &  _ +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 316 counts + "manipulator"&#' +19 "core" ' + "manipulator"&& +5 "core" &E N i 5  + "storage"(S& +5 "core" &  \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&''Ѐ +16 "core" ' +2 .tSE.seek 1.12 Pucks below Top Plate +2 "storage"('` +48 "core" ' +2 "manipulator"&& +5 "core" &E l b h  + "manipulator"&a% +4 "core" %k o m  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +93 "core" ' + .tElbow.seek CC +2 "manipulator"&/( +172 "core" ( + "manipulator"&& +4 "core" &- } . +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &~& +3 "core" &- M . +2 .tForearm.seek CC +2 "manipulator"&'| +103 "core" ' +2 .tHand.close + "manipulator"&b/ +54 "core" / + .tCC.seek :open +2 "collection"'(p +411 "core" ( + "storage"(& +4 "core" &  +2 "storage"(e& +4 "core" &  + "manipulator"&w& +4 "core" &- . + "manipulator"&k% +4 "core" % u I +2 .tForearm.seek :retract +2 "manipulator"&q'\ +101 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&(; +149 "core" ( + "manipulator"&& +4 "core" &F +2 "storage"(& +4 "core" & \ \  o + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 2 +2 "manipulator"&^'ξ +110 "core" ' +2 .tElbow.hold + "manipulator"&{, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&y1 +59 "core" 1 +2 "manipulator"&x% +4 "core" %  2 c + "storage"(!& +4 "core" &  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 316 counts +2 "manipulator"&' +18 "core" ' + "manipulator"&*& +4 "core" &G ^ u 1 +2 "storage"(`& +4 "core" & \ \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&\ 'Ѐ +17 "core" ' + "storage"(C% +4 "core" %e\ \ b +3 ."downElevator"SE.seek :down +3 "storage"(f'N +99 (;% +2 "core" %F\ m M> +2 "manipulator"&% +5 "core" %Ѐ o o ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +87 "core" ' +50 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 3 of [2..3] + #Loading generic puck from tube 3 into Collection Clamp + "collection"'3& +5 "core" &4 +2 "manipulator"&|% +3 "core" %\ * . !S +2 "storage"(>% +4 "core" %:\ \  +2 "storage"(]. +3 "core" .(  +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 +2 "storage"(8( +408 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (,& +2 "core" &   +2 "manipulator"& & +4 "core" &G + .tElbow.seek 3 +2 "manipulator"&((D +3 "core" ( +2 "manipulator"&"& +3 "core" &G M +2 "storage"(@& +4 "core" &\ \   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&I' +108 "core" ' +2 "storage"( & +4 "core" &\ !\   +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"('e +281 "core" ' +2 "storage"(G- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (O& +2 "core" & \ h  +2 "manipulator"&7& +54 "core" &G o n  +2 .tElbow.seek 3 +2 "manipulator"& (D +3 "core" ( + "manipulator"&.& +4 "core" &G r u # + "storage"(?& +4 "core" &\ \  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&H'y +23 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&}/ +54 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"(i'N +7 "core" &G o o  +2 "manipulator"&+% +4 "core" % m n p +2 .tForearm.seek :retract +2 "manipulator"&Y'\ +89 "core" ' +2 .tElbow.seek CC + "manipulator"&-( +154 "core" ' + ( +2 ."downElevator"SE.stop +3 "manipulator"&W& + "storage"(5 +7 "core" &% Z <? + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &u& +3 "core" &% <? +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&R'| +95 "core" ' +2 "manipulator"&T& +5 "core" &% { <? + "manipulator"&N% +5 "core" %z +2 "collection"'=& +3 "core" &9 +3 "collection"'V& +5 "core" &< +2 .tCC.seek :closed +2 "collection"'1(] +5 "core" & +7 &; #c +9 &u[ 6 +10 & H +9 &h G +9 &bn H +10 &$k H +9 & k H +9 &"k H +10 &$kk G +9 &&,m H +10 &'n H +9 &)k H +9 &+qn H +10 &-5j G +9 &.n G +9 &0l H +10 &2{k G +9 &4=n G +10 &5p G +9 &7l G +9 &9l H +10 &;Em G +9 &=o G +9 &>p H +10 &@m H +9 &BMk G +9 &Dk G +10 &En H +9 &Gj G +10 &IQu I +9 &K J +9 &L L +10 &N P +9 &PA Q +10 &R R +9 &S R +9 &U S +10 &WB S +9 &Y T +9 &Z U +10 &\\ A +9 &]f7  , +9 &]S ? +3 ( +2 "collection"'V& +2 #tCollection Clamp onSpring/offSpring for 9/25 samples, on/off torque 1.79 +2 .Hand.open + "manipulator"&[1 +57 "core" 1 +2 "manipulator"&M% +4 "core" % z +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +92 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%A& +4 "core" & +2 "manipulator"&<% +4 "core" %\ * !V + "storage"(E% +4 "core" %J  +2 "storage"(j. +3 "core" .( + "storage"(F& +4 "core" &   +2 "storage"(& +3 "core" &   +2 "manipulator"&5& +4 "core" &% C <> +2 "manipulator"&% +3 "core" %\ * & !V +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&4(D +162 "core" ( +2 "manipulator"&D& +4 "core" &9 P : +2 "storage"(6& +3 "core" &  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&B' +104 "core" ' + "storage"(&& +5 "core" & \   +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"($'e +290 "core" ' +2 "storage"(P- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (_& +2 "core" & k  +2 "manipulator"&& +4 "core" &9 n o  : +2 .tElbow.seek 3 + "manipulator"&\\(D +8 "core" ( + "manipulator"&)& +4 "core" &: } ]  ] +2 "storage"(K& +4 "core" & H  +2 .tForearm.seek 3 + 300 counts + "manipulator"&l'y +26 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +58 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&m& + "storage"(c'N +7 "core" &:\ x p k ] +2 "manipulator"&h% +4 "core" % r o n - +2 .tForearm.seek :retract +2 "manipulator"&d'\ +89 "core" ' +2 .tElbow.seek PC +2 "manipulator"&0(c +164 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +89 "core" ( + "manipulator"&& +4 "core" &g x a +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 & & +2 "core" &g +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&p'[ +95 "core" ' +2 "manipulator"&X& +4 "core" &g ! +2 "manipulator"&:% +4 "core" %c  + "processing"%L& +4 "core" & +3 "processing"%z& +6 "core" & +2 .tPC.seek :closed + "processing"%2(Z +4 "core" &  +9 &6 )v +9 &k = +9 &} G +10 &Fk F +9 &m G +10 &n F +9 &!m F +9 &#Nk F +10 &%n G +9 &&o G +9 &(o F +10 &*Vk F +9 &,p G +10 &-j F +9 &/n G +9 &1\\n G +10 &3j G +9 &4k F +9 &6m F +10 &8eq G +9 &:'m G +10 &;k F +9 &=m F +9 &?on F +10 &A/r G +9 &Bp G +9 &Dr F +10 &Fus G +9 &H3{ H +10 &I J +9 &K K +9 &Mn L +10 &O- M +9 &P L +9 &R L +10 &Tt M +9 &V6 M +10 &W M +9 &Y 1 +9 &Z0} O +10 &Z' . +2 ( +2 "processing"%z& +2 #tProcessing Clamp onSpring/offSpring for 8/26 samples, on/off torque 1.49 + .Hand.open +2 "manipulator"&91 +57 "core" 1 +2 "manipulator"&J% +4 "core" % c " +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +92 "core" ' +2 "processing"%o& +4 "core" &Z% . +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&n% +4 "core" %\ * !Q +2 "storage"(U% +4 "core" %N J \ + "storage"(Z. +3 "core" .( +2 "storage"( & +3 "core" & @  +2 "storage"(& +3 "manipulator"&S& +6 "core" &   +2 &g d +3 ."raiseStack"SE.reconfigure :place + .tElbow.reconfigure :tight +5 "storage"(#]kK-0-\ b +4 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC + ."raiseStack"SE.seek :beamBreak +3 "manipulator"&(c +2 "storage"(a'e +5 "core" ( + "manipulator"&t& +4 "core" &g  +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &Q& +2 "core" &g Q +3 .tForearm.seek PC + "manipulator"&g'[ +99 "core" ' +2 .tHand.close + "manipulator"&%/ +55 "core" / +2 .tPC.seek :open +2 "processing"%#(p +88 "core" ' + "storage"(- +3 "core" -'e +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +2 ."raiseStack"SE.seek :place +2 "storage"('B +37 "core" ' +253 ( +2 "storage"(~& +4 "core" &   +2 "manipulator"&'& +3 "core" &g 6 +2 "manipulator"&s% +4 "core" % ] Y +2 .tForearm.seek :retract +2 "manipulator"&b'\ +95 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&(D +255 "core" ( +2 "manipulator"&v& +4 "core" &H # + "storage"(& +4 "core" &  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&e' +100 "core" ' +2 .tHand.open + "manipulator"&w1 +52 "core" 1 +2 "storage"(k- +4 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate + "storage"(' +28 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(' +51 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(- +3 "core" -' +2 "storage"(/& +4 "core" & | } d  + "manipulator"&y& +4 "core" &H h # +2 .tElbow.seek 3 +2 "manipulator"&x(D +3 "core" ( + "manipulator"&!& +4 "core" &H v # +2 "storage"(*& +4 "core" & ~   +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&`' +3 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"(C'M +57 "core" ' + "manipulator"&q& +5 "core" &H ^ # + "storage"(;& +4 "core" &  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&'M +31 "core" ' +2 .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +53 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"(^'7 +23 "core" ' + "manipulator"&3% +5 "core" %_p n " + "storage"(|& +4 "core" & ^  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 318 counts +2 "manipulator"&'ϋ +18 "core" ' + "manipulator"&>& +5 "core" &4 u q  & + "storage"(]& +5 "core" & T  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&' +20 "core" ' +2 "storage"(\ % +5 "core" %? +2 ."downElevator"SE.seek :down +3 "storage"(f'N +99 (% +3 "core" %N 1 OD +2 "manipulator"&,% +4 "core" % s p   +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"& '\ +96 "core" ' +57 ' + ."downElevator"SE.stop +2 "storage"(5 +2 ("& +4 "core" &  + "collection"'@& +4 "core" &]Y# ? +2 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"& % +4 "core" %\ 6 & +2 "storage"({% +4 "core" %T   + "storage"(. +4 "core" .( + "storage"(G& +5 "core" &   + "storage"(O& +4 "core" &   +2 "manipulator"&7& +4 "core" &4 & +2 .tElbow.seek 3 + "manipulator"&.(D +17 "core" ( +2 "manipulator"&?& +4 "core" &J + +2 "storage"(}& +4 "core" &   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&' +102 "core" ' +2 "storage"(+& +4 "core" & j  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(('e +283 "core" ' +2 "storage"(I- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&W& +3 "core" &Y o o  ) +2 "storage"(u& +3 "core" &  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&'M +32 "core" ' + .tElbow.hold +2 "manipulator"&H, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(T- +2 "core" -' +3 .tSE.seek 0.12 Pucks below Top Plate + "storage"(N'q +28 "core" ' +2 "manipulator"&=% +4 "core" %`s s ¹) +2 "storage"( & +4 "core" & Y  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 319 counts + "manipulator"&i'ό +19 "core" ' +2 "manipulator"&Y& +4 "core" &` u ] I ( + "storage"(& +4 "core" & h  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&[' +10 "core" ' +2 .tSE.seek 1.12 Pucks below Top Plate +2 "storage"(M'` +48 "core" ' +2 "manipulator"&A& +4 "core" &` n n [ ( +2 "manipulator"&<% +4 "core" % e l * +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&E'\ +87 "core" ' +2 .tElbow.seek CC +2 "manipulator"&j( +155 "core" ( +2 "manipulator"&F& +4 "core" & 0 e E| +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" & 0 Z E| +2 .tForearm.seek CC + "manipulator"&V'| +96 "core" ' + .tHand.close + "manipulator"&5/ +60 "core" / +2 .tCC.seek :open +2 "collection"'(p +410 "core" ( +2 "storage"(R& +4 "core" &\ \   + "storage"(D& +4 "core" &  +2 "manipulator"&6& +3 "core" &+) @Z +2 "manipulator"&&% +3 "core" % z +2 .tForearm.seek :retract +2 "manipulator"&-'\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&(D +161 "core" ( +2 "manipulator"&P& +4 "core" &G X  + "storage"(_& +4 "core" &\ \   +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 + "manipulator"&'M +108 "core" ' + .tElbow.hold +2 "manipulator"&), +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&K1 +59 "core" 1 +2 "manipulator"&% +4 "core" % _}  U L +2 "storage"(m& +3 "core" & Z  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 318 counts +2 "manipulator"&h'ϋ +20 "core" ' +2 "manipulator"&4& +4 "core" &4 _ t *  + "storage"(B& +4 "core" &\ \   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&$' +10 "core" ' + "storage"(l% +5 "core" %e\ \ +2 ."downElevator"SE.seek :down +3 "storage"('N +99 ( % +3 "core" %VF\  OB +2 "manipulator"&\\% +4 "core" % m o . +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +7 .tForearm.seek :retract +2 "manipulator"&X'\ +91 "core" ' +43 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 2 of [2..3] + #Loading generic puck from tube 2 into Collection Clamp + "collection"':& +5 "core" & +2 "manipulator"&L% +4 "core" %\ 5 @ & + "storage"(c% +4 "core" %>\ < \ +2 "storage"(d. +3 "core" .( +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"(r(  +356 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (9& +3 "core" &  E + "manipulator"&J& +4 "core" &4   +2 .tElbow.seek 2 +2 "manipulator"&o(; +3 "core" ( + "manipulator"&n& +4 "core" &4 (  +2 "storage"(U& +4 "core" & \ \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&Z'Ѐ +106 "core" ' + "storage"( & +5 "core" & \ !\ "  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(S'e +284 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (z& +2 "core" & \ +2 "manipulator"&t& +4 "core" &4 a k  + .tElbow.seek 2 +2 "manipulator"&Q(; +3 "core" ( + "manipulator"&p& +4 "core" &4 i U   +2 "storage"(%& +3 "core" & \  +3 .tForearm.seek 2 + 300 counts + "manipulator"&' +22 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&0/ +57 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& + "storage"(2'N +7 "core" &4 R  + "manipulator"&~% +4 "core" % s   +2 .tForearm.seek :retract +2 "manipulator"&''\ +93 "core" ' +2 .tElbow.seek CC +2 "manipulator"&a( +150 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +25 "core" ( + "manipulator"&s& +4 "core" & | U D +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &g& +3 "core" & D +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&v'| +98 "core" ' +3 "manipulator"&& +4 "core" &  D + "manipulator"&% +4 "core" %ρ +2 "collection"'w& +4 "core" & +2 "collection"'k& +5 "core" &4 +2 .tCC.seek :closed +2 "collection"'(] +4 "core" &  +9 &5 )w +9 &i = +10 &q| I +9 &6n G +10 &l H +9 &m G +9 &!|n G +10 &#=l H +9 &$m H +9 &&l G +10 &(m G +9 &*Fo G +9 &,n H +10 &-m H +9 &/p H +10 &1Np G +9 &3m G +9 &4o H +10 &6m H +9 &8Wj G +9 &:o G +10 &;m G +9 &=p H +10 &?]m H +9 &Am H +9 &Bk H +10 &Dn G +9 &Fep H +9 &H&q H +10 &I~ J +9 &K K +10 &MW O +9 &O P +9 &P Q +10 &R R +9 &TW R +9 &V S +10 &W S +9 &Y U +10 &[Y T +9 &\\x (} +9 &]- ^ +9 ( +2 &]w M +2 "collection"'k& +3 #tCollection Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.83 + .Hand.open +2 "manipulator"&/1 +110 "core" 1 + "manipulator"&y% +5 "core" % π  - +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&!'\ +92 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%*& +5 "core" & + "manipulator"&b% +4 "core" %\ *  !T +2 "storage"(q% +4 "core" %M  +2 "storage"(;. +3 "core" .(  + "storage"(& +4 "core" &   +2 "storage"(& +3 "core" &   +2 "manipulator"&3& +4 "core" & D + "manipulator"&|% +4 "core" %\ *  !T +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&>(; +154 "core" ( + "manipulator"&]& +4 "core" &? z  + "storage"(& +4 "core" &  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&\ 'Ѐ +91 "core" ' + "storage"(e& +5 "core" &  X +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('e +283 "core" ' + "storage"(`- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (& +2 "core" &  3 +2 "manipulator"&,& +4 "core" &? n p  +2 .tElbow.seek 2 +2 "manipulator"&x(; +3 "core" ( + "manipulator"&C& +4 "core" &? x ^ A  +2 "storage"(& +3 "core" &  +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&' +22 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&"/ +56 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&@& + "storage"( 'N +7 "core" &? o n %  +2 "manipulator"&{% +4 "core" % o m  +2 .tForearm.seek :retract +2 "manipulator"&'\ +94 "core" ' +2 .tElbow.seek PC + "manipulator"&^(c +155 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +92 "core" ( +2 "manipulator"&G& +4 "core" &k H +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &O& +3 "core" &k | +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&7'[ +113 "core" ' +2 "manipulator"&?& +4 "core" &k y r ' +2 "manipulator"&}% +4 "core" %O n m # +2 "processing"%& +3 "core" & +2 "processing"%+& +5 "core" & +2 .tPC.seek :closed +2 "processing"%f(Z +4 "core" & +8 &> #c +10 &{[ 6 +9 & G +9 &h F +10 &pp G +9 &2m G +9 & p G +10 &"h F +9 &$xk G +10 &&:m G +9 &'n G +9 &)m G +10 &+l G +9 &-Bm G +10 &/l G +9 &0i F +9 &2k G +10 &4Jl G +9 &6 m G +9 &7g G +10 &9h G +9 &;Sj F +9 &=i G +10 &>k G +9 &@j G +10 &BZj G +9 &Dm G +9 &El G +10 &Gv H +9 &I\\ I +9 &K K +10 &L L +9 &N M +10 &PY M +9 &R M +9 &S M +10 &U M +9 &W^ N +9 &Y  I +10 &ZT;m $i +9 &Z 8 ) +6 ( +2 "processing"%+& +3 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.50 + .Hand.open +2 "manipulator"&1 +3 "core" &Z ) +59 1 + "manipulator"& % +5 "core" % Q v d + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&I'\ +97 "core" ' + "processing"%W& +5 "core" &Z ) + #tImaging generic puck in Processing Clamp while storing it to tube 2 +2 "manipulator"&u% +3 "core" %\ : ( +2 "storage"(T% +4 "core" %9  + "storage"(=. +4 "core" .(  + "storage"( & +4 "core" &   +2 "storage"(Y& +2 "manipulator"&& +7 "core" &k +2 &   +3 ."raiseStack"SE.reconfigure :place + .tElbow.reconfigure :tight +5 "storage"(#]kK-0-\ b +4 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +2 ."raiseStack"SE.seek :beamBreak +2 "manipulator"&A(c + "storage"(<'e +6 "core" ( + "manipulator"&& +4 "core" &k +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &.& +3 "core" &k " +2 .tForearm.seek PC +2 "manipulator"&('[ +94 "core" ' +2 .tHand.close + "manipulator"&/ +55 "core" / +2 .tPC.seek :open +2 "processing"%i(p +95 "core" ' +2 "storage"(N- +3 "core" -'e +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(F'B +33 "core" ' +249 ( +2 "storage"(& +4 "core" &  F + "manipulator"&[& +4 "core" &k  +2 "manipulator"&H% +3 "core" % Q ;  +2 .tForearm.seek :retract +2 "manipulator"&5'\ +91 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&E(; +259 "core" ( +2 "manipulator"&1& +4 "core" &: Z & +2 "storage"(R& +3 "core" &  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&D'Ѐ +91 "core" ' +2 .tHand.open + "manipulator"&61 +63 "core" 1 +2 "storage"(&- +3 "core" -'B +3 .tSE.seek -0.16 Pucks below Top Plate + "storage"(P' +23 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.83 Pucks below Top Plate + "storage"(_' +51 "core" ' +2 #tLights, camera, ACTION! + "storage"(V- +4 "core" -' +2 "storage"(j& +3 "core" &  d d +2 "manipulator"&K& +4 "core" &;  & +2 .tElbow.seek 2 +2 "manipulator"&(; +3 "core" ( + "manipulator"&m& +4 "core" &; q & +2 "storage"(4& +4 "core" &  e f 5 +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&B'Ѐ +3 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.11 Pucks below Top Plate + "storage"(l'M +57 "core" ' +2 "manipulator"&-& +4 "core" &;  & +2 "storage"( & +4 "core" &  [ + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 + "manipulator"&\\'ξ +29 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"('7 +25 "core" ' + "manipulator"&:% +5 "core" % + "storage"(L& +5 "core" &   + .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 2 + 317 counts + "manipulator"&c' +19 "core" ' +2 "manipulator"&h& +5 "core" &H z q \\ $ + "storage"(d& +5 "core" &  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts +2 "manipulator"&M'Ѐ +30 "core" ' + "storage"($% +5 "core" %< +2 ."downElevator"SE.seek :down +3 "storage"('N +99 (8% +3 "core" %cM . OD +2 "manipulator"&9% +4 "core" %Ј  S +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&J'\ +90 "core" ' +61 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (n& +4 "core" &  > +2 "collection"'U& +4 "core" &]k M + #tStoring generic puck in Collection Clamp to tube 2 +2 "manipulator"& % +4 "core" %\ * c !Q + "storage"()% +4 "core" %J  +2 "storage"(X. +3 "core" .(  + "storage"(& +5 "core" &   + "storage"(z& +4 "core" &   + "manipulator"&t& +4 "core" &H $ +2 .tElbow.seek 2 +2 "manipulator"&p(; +38 "core" ( +2 "manipulator"&%& +4 "core" &E  b +2 "storage"(0& +3 "core" &  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&'Ѐ +99 "core" ' + "storage"(~& +5 "core" &  Q +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(o'e +283 "core" ' + "storage"(Z- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&s& +3 "core" &E o n b +2 "storage"(g& +3 "core" &  u +2 .tElbow.reconfigure :limp +52 "manipulator"&$ ,(b +4 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&S'ξ +33 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(Q- +2 "core" -' +2 .tSE.seek 0.12 Pucks below Top Plate +2 "storage"('p +29 "core" ' + "manipulator"&% +5 "core" % ] l + "storage"(w& +4 "core" &   + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 314 counts +2 "manipulator"&2' +17 "core" ' + "manipulator"&'& +5 "core" &E u ] W b +2 "storage"(& +4 "core" &   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts +2 "manipulator"&/'Ѐ +23 "core" ' +2 .tSE.seek 1.12 Pucks below Top Plate +2 "storage"(y'_ +43 "core" ' +2 "manipulator"&k& +4 "core" &E o n b +2 "manipulator"&*% +4 "core" %Ї n n  - +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&b'\ +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"&q( +157 "core" ( + "manipulator"&;& +5 "core" &* $ @^ + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &* @^ +2 .tForearm.seek CC +2 "manipulator"&'| +93 "core" ' +2 .tHand.close + "manipulator"&3/ +61 "core" / +3 .tCC.seek :open +2 "collection"'|(p +410 "core" ( + "storage"(v& +4 "core" &  +2 "storage"(]& +3 "core" &  p +2 "manipulator"&& +4 "core" &% c =A + "manipulator"&e% +4 "core" % y +2 .tForearm.seek :retract +2 "manipulator"&a'\ +92 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&!(; +154 "core" ( +2 "manipulator"&`& +4 "core" &E L  +2 "storage"(& +3 "core" & \ \ \  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 2 +2 "manipulator"&,'ξ +105 "core" ' +2 .tElbow.hold + "manipulator"&C, +4 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&1 +53 "core" 1 +2 "manipulator"&"% +4 "core" % R x +2 "storage"(@& +3 "core" &  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 317 counts + "manipulator"&{' +21 "core" ' + "manipulator"&>& +5 "core" &E N g G  + "storage"(\ & +5 "core" & \ \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&'Ѐ +18 "core" ' + "storage"(% +4 "core" %\\\ \  +3 ."downElevator"SE.seek :down +3 "storage"(G'N +99 (O% +3 "core" %D NA +2 "manipulator"&x% +4 "core" %s o n  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&?'\ +87 "core" ' +51 ' + ."downElevator"SE.stop +2 "storage"(5 +2 #tShuffling pucks in tube 3 of [2..3] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"'}& +5 "core" &/ + "manipulator"&% +4 "core" %\ * !N +2 "storage"( % +4 "core" %A\ \ * + "storage"(. +4 "core" .(  + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(#( +364 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (& +2 "core" & 3  +2 "manipulator"& & +4 "core" &E  + .tElbow.seek 3 +2 "manipulator"&W(D +3 "core" ( +2 "manipulator"&u& +3 "core" &E >  +2 "storage"(T& +4 "core" &\ \ B  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&=' +89 "core" ' +2 "storage"( & +4 "core" &\ \ x  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(+'e +289 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (Y& +2 "core" &\ \  +2 "manipulator"&& +4 "core" &E (  + .tElbow.seek 3 +2 "manipulator"&.(D +3 "core" ( +2 "manipulator"&7& +3 "core" &E G  +2 "storage"(& +4 "core" &\ \   +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&N'y +10 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&^/ +64 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&I& + "storage"(f'N +8 "core" &E p x B  + "manipulator"&% +4 "core" % m | r O Y +2 .tForearm.seek :retract +2 "manipulator"&['\ +91 "core" ' + .tElbow.seek CC +2 "manipulator"&H( +152 "core" ( + ' + "manipulator"&<& + ."downElevator"SE.stop +7 "storage"(5 +3 "core" &% W << + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &(& +3 "core" &% L << +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&1'| +98 "core" ' + "manipulator"&R& +5 "core" &% C << + "manipulator"&A% +4 "core" %φ / +2 "collection"'6& +4 "core" &3 +3 "collection"'&& +6 "core" & +2 .tCC.seek :closed +3 "collection"'V(] +3 "core" & +6 &A $d +9 &u[ 6 +10 & H +9 &j G +9 &go G +10 &'q H +9 & p H +10 &"o H +9 &$nn G +9 &&0q\ G +10 &'p G +11 &)k\ G +9 &+vk G +8 &-8j G +9 &.k G +10 &0o G +9 &2}o H +9 &4?n H +10 &6m G +9 &7j G +9 &9m\ G +10 &;Hi G +9 &=\ n G +10 &>n G +9 &@k G +9 &BPl G +10 &Do G +9 &Em H +9 &Gk G +10 &ITu I +9 &K} J +10 &L M +9 &N O +9 &PE Q +10 &R Q +9 &S Q +9 &U S +10 &WG S +9 &Y T +10 &Z U +9 &\\ A +9 &]n' (u +10 &]t I +2 ( + "collection"'&& +4 #tCollection Clamp onSpring/offSpring for 10/25 samples, on/off torque 1.81 + .Hand.open +2 "manipulator"&j1 +56 "core" 1 + "manipulator"&K% +5 "core" % e + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&m'\ +92 "core" ' + #tLoading generic puck from tube 3 into Processing Clamp +2 "processing"%4& +4 "core" & +2 "manipulator"&5% +4 "core" %\ +  !V + "storage"(-% +4 "core" %G ) +2 "storage"( . +3 "core" .( + "storage"(:& +4 "core" & :  + "storage"(L& +4 "core" & #  +2 "manipulator"&F& +4 "core" &$ ;3 + "manipulator"&h% +4 "core" %\ + { !V +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&P(D +162 "core" ( + "manipulator"&d& +4 "core" &A I a +2 "storage"($& +4 "core" &  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&E' +93 "core" ' +2 "storage"(D& +4 "core" &   +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(_'e +278 "core" ' + "storage"(8- +4 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +2 (9& +3 "core" &   +2 "manipulator"&B& +3 "core" &A J a +2 .tElbow.seek 3 +2 "manipulator"&(D +3 "core" ( + "manipulator"&l& +4 "core" &A  a +2 "storage"(\\& +4 "core" &  +2 .tForearm.seek 3 + 300 counts + "manipulator"&c'y +19 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&n/ +60 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&U& +2 "storage"( 'N +7 "core" &A o n a + "manipulator"&)% +5 "core" % m n o  +2 .tForearm.seek :retract + "manipulator"&X'\ +98 "core" ' + .tElbow.seek PC +2 "manipulator"&(c +200 "core" ' +2 ."downElevator"SE.stop +2 "storage"(5 +43 "core" ( + "manipulator"&& +4 "core" &k 7 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &z& +3 "core" &k Y +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&t'[ +93 "core" ' + "manipulator"&%& +5 "core" &k | +2 "manipulator"&0% +3 "core" %W , +2 "processing"%M& +5 "core" & +2 "processing"%~& +4 "core" & +3 .tPC.seek :closed + "processing"%(Z +4 "core" &  +9 &6 )v +10 &k = +9 &} G +10 &Ci G +9 &k G +9 &i G +10 &!j G +9 &#Ki G +9 &% n G +10 &&p G +9 &(m G +9 &*Tk F +10 &,k F +9 &-k F +10 &/n G +9 &1[j G +9 &3k F +10 &4i G +10 &6j G +9 &8cj G +9 &:%h G +9 &;j G +10 &=p G +9 &?kp G +9 &A,o G +10 &Bl F +9 &Dr G +9 &Frp G +10 &H1{ H +9 &I J +10 &K K +9 &Mj M +9 &O, M +10 &P L +9 &R M +9 &Tq M +10 &V2 M +9 &W N +10 &Y 5 +9 &Z0 Z +9 &Z ' +3 ( +2 "processing"%~& +2 #tProcessing Clamp onSpring/offSpring for 8/26 samples, on/off torque 1.50 + .Hand.open +2 "manipulator"&1 +60 "core" 1 + "manipulator"&J% +5 "core" % W | @ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&Z'\ +92 "core" ' +2 "processing"%s& +4 "core" &Z ' +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&g% +4 "core" %\ + G !U +2 "storage"(Q% +3 "core" %B  +2 "storage"(. +3 "core" .( + "storage"(w& +4 "core" &   +2 "storage"('& +4 "manipulator"&& +4 "core" &   +2 &k  +3 ."raiseStack"SE.reconfigure :place +2 .tElbow.reconfigure :tight +3 "storage"(#]kK-0-\ b +5 "manipulator"&$&.,(\ #b +2 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +2 "storage"(k'e +2 "manipulator"&*(c +5 "core" ( + "manipulator"&& +5 "core" &k  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &p& +3 "core" &k N +2 .tForearm.seek PC +2 "manipulator"&o'[ +94 "core" ' + .tHand.close +2 "manipulator"&S/ +61 "core" / +2 .tPC.seek :open +2 "processing"%2(p +83 "core" ' + "storage"(- +3 "core" -'e +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +2 ."raiseStack"SE.seek :place +2 "storage"(;'B +37 "core" ' +258 ( +2 "storage"(& +4 "core" &  + "manipulator"&/& +5 "core" &k  + "manipulator"&% +5 "core" % [   +2 .tForearm.seek :retract + "manipulator"&3'\ +92 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&b(D +254 "core" ( +2 "manipulator"&& +4 "core" &E : # + "storage"(v& +4 "core" & G  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&]' +96 "core" ' + .tHand.open + "manipulator"&1 +62 "core" 1 +2 "storage"(e- +3 "core" -'B +3 .tSE.seek -0.16 Pucks below Top Plate + "storage"(`' +24 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(' +54 "core" ' +2 #tLights, camera, ACTION! + "storage"(- +3 "core" -' +2 "storage"(q& +4 "core" & h g  +2 "manipulator"&& +4 "core" &E M # + .tElbow.seek 3 +2 "manipulator"&"(D +3 "core" ( +2 "manipulator"&@& +4 "core" &E  # + "storage"(>& +4 "core" & h e 3  +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&\ ' +18 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"('M +54 "core" ' +2 "manipulator"&a& +4 "core" &E o o  # +2 "storage"(O& +4 "core" &  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&x'M +34 "core" ' + .tElbow.hold +2 "manipulator"&!, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.07 Pucks below Top Plate + "storage"(,'7 +32 "core" ' +2 "manipulator"&}% +5 "core" %^o + "storage"(& +5 "core" & C  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 317 counts +2 "manipulator"&{'ϊ +20 "core" ' +2 "manipulator"& & +4 "core" &E f u # +2 "storage"(& +4 "core" &   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&y' +11 "core" ' +2 "storage"(% +4 "core" %> . +3 ."downElevator"SE.seek :down +3 "storage"(G'N +99 (r% +2 "core" %J  OC +2 "manipulator"&% +5 "core" % p o ! +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"& '\ +88 "core" ' +60 ' + ."downElevator"SE.stop + "storage"(5 +3 (u& +4 "core" & 9  +2 "collection"'T& +4 "core" &]q; I + #tStoring generic puck in Collection Clamp to tube 3 +2 "manipulator"& % +4 "core" %\ - } "^ + "storage"(C% +4 "core" %H   +2 "storage"(?. +3 "core" .( + "storage"(& +4 "core" &   +2 "storage"(Y& +4 "core" &   +2 "manipulator"&& +3 "core" &E u # +2 .tElbow.seek 3 +2 "manipulator"&7(D +3 "core" ( + "manipulator"&& +4 "core" &E w # +2 "storage"(^& +4 "core" &   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&I' +105 "core" ' +2 "storage"(& +4 "core" & f  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(W'e +283 "core" ' + "storage"(=- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&<& +3 "core" &E p o  # + "storage"((& +4 "core" &  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&+'M +32 "core" ' +2 .tElbow.hold +2 "manipulator"&N, +3 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(R- +2 "core" -' +3 .tSE.seek 0.12 Pucks below Top Plate + "storage"(A'p +28 "core" ' + "manipulator"&6% +4 "core" %ar  ( +2 "storage"(.& +3 "core" & !  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 320 counts +2 "manipulator"&f'ύ +18 "core" ' +2 "manipulator"&[& +4 "core" &E f u % # +2 "storage"(|& +3 "core" &  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&j' +23 "core" ' +2 .tSE.seek 1.12 Pucks below Top Plate + "storage"(K'_ +50 "core" ' +2 "manipulator"&4& +5 "core" &E o o  # + "manipulator"&5% +4 "core" % q p   +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&-'\ +96 "core" ' +2 .tElbow.seek CC + "manipulator"& ( +147 "core" ( + "manipulator"&:& +4 "core" &% u <: +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &L& +2 "core" &% N <: +2 .tForearm.seek CC +2 "manipulator"&F'| +97 "core" ' +2 .tHand.close + "manipulator"&&/ +58 "core" / +2 .tCC.seek :open +2 "collection"'h(p +411 "core" ( + "storage"(1& +4 "core" &\ K  +2 "storage"(d& +3 "core" &\  (  +2 "manipulator"&$& +3 "core" & " 9& +2 "manipulator"&D% +4 "core" % υ +2 .tForearm.seek :retract + "manipulator"&H'\ +97 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +51 "manipulator"&m(D +152 "core" ( + "manipulator"&8& +4 "core" &? g \ +2 "storage"(9& +4 "core" & o  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 3 +2 "manipulator"&B'M +113 "core" ' +2 .tElbow.hold +2 "manipulator"&l, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&\\1 +56 "core" 1 +3 "manipulator"&n% +4 "core" % ^r 2 _ , +2 "storage"(U& +3 "core" & Z  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 317 counts +2 "manipulator"&)'ϊ +18 "core" ' + "manipulator"&P& +5 "core" &? k [ i \ + "storage"(E& +4 "core" &\ \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&_' +22 "core" ' +2 "storage"(c% +4 "core" %e\ \  +3 ."downElevator"SE.seek :down +3 "storage"('N +99 (z% +3 "core" %B\ \ T M> +2 "manipulator"&% +4 "core" % n o "  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&%'\ +94 "core" ' +43 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 2 of [2..3] +2 #Loading generic puck from tube 2 into Collection Clamp + "collection"'0& +4 "core" &- +2 "manipulator"&M% +4 "core" %\ 8 ' +2 "storage"( % +4 "core" %E\ \  +2 "storage"(X. +3 "core" .( + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"(i(  +358 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (& +2 "core" &  +2 "manipulator"&J& +4 "core" &? t \ +2 .tElbow.seek 2 +2 "manipulator"&s(; +3 "core" ( + "manipulator"&g& +4 "core" &?  \ +2 "storage"(Q& +4 "core" & \ \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&'Ѐ +98 "core" ' + "storage"(w& +5 "core" & \ \  d +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('e +281 "core" ' +2 "storage"('- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (~& +3 "core" & \  4 + "manipulator"&& +4 "core" &? r r  \ +2 .tElbow.seek 2 +2 "manipulator"&p(; +3 "core" ( + "manipulator"&t& +4 "core" &? t } ? \ +2 "storage"(S& +4 "core" & \  S +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&' +10 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +64 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&Z& + "storage"('N +7 "core" &? o o \ +2 "manipulator"&% +4 "core" % q p ' k +2 .tForearm.seek :retract +2 "manipulator"&k'\ +94 "core" ' +2 .tElbow.seek CC +2 "manipulator"&/( +148 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +6 "core" ( + "manipulator"&& +5 "core" &(  ?U + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &o& +3 "core" &( , ?U +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&'| +117 "core" ' +2 "manipulator"&v& +4 "core" &( H ?U +2 "manipulator"&*% +4 "core" %w e +2 "collection"'& +4 "core" &7 +2 "collection"'e& +5 "core" &? +2 .tCC.seek :closed +2 "collection"'(] +4 "core" &  +8 &7 *y +10 &l > +9 &{ H +9 &Hm G +10 &\ p G +9 &q G +10 &!p H +9 &#Op H +9 &%m G +10 &&p G +9 &(p G +9 &*Xn G +10 &,l G +9 &-p G +9 &/n H +10 &1`n G +9 &3#k G +10 &4k G +9 &6o G +9 &8hm G +10 &:+k G +9 &;m G +9 &=n G +10 &?pp G +9 &A1n H +10 &Bn G +9 &Dj G +9 &Fxn G +10 &H9n H +9 &I| I +9 &K K +10 &Mj O +9 &O* P +10 &P Q +9 &R Q +9 &Ti R +10 &V) S +9 &W S +9 &Y T +10 &[l T +9 &]\ u &w +10 &]& H +8 ( +4 "collection"'e& +2 #tCollection Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.82 +2 .Hand.open + "manipulator"&q1 +4 "core" &]V ? +57 1 +2 "manipulator"&% +5 "core" % w - +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&@'\ +96 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%>& +5 "core" & + "manipulator"&3% +4 "core" %\ 3 6 %} +2 "storage"(a% +4 "core" %J  + "storage"(O. +4 "core" .(  + "storage"(;& +4 "core" &  - + "storage"(}& +4 "core" &  ) +2 "manipulator"&& +4 "core" &' f >M + "manipulator"&`% +4 "core" %\ 3 , %} +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"& (; +178 "core" ( +2 "manipulator"&& +4 "core" &G\ U ^ +2 "storage"(& +3 "core" &  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&b'Ѐ +101 "core" ' + "storage"(]& +5 "core" & \ \   +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('e +278 "core" ' + "storage"(r- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (& +3 "core" & 6 + "manipulator"&\ & +4 "core" &G o q  ^ +2 .tElbow.seek 2 +2 "manipulator"&"(; +18 "core" ( +2 "manipulator"&& +4 "core" &G v ^ ' + "storage"(x& +4 "core" & \  Q +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&u' +40 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&T/ +54 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&{& + "storage"( 'N +8 "core" &G c f + "manipulator"&C% +4 "core" % p A 5 +2 .tForearm.seek :retract +2 "manipulator"&?'\ +91 "core" ' +2 .tElbow.seek PC +2 "manipulator"&(c +158 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +93 "core" ( +2 "manipulator"&,& +4 "core" &Z G +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &Y& +2 "core" &Z C +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&'[ +103 "core" ' + "manipulator"&& +5 "core" &Z  + "manipulator"&^% +4 "core" %T = +2 "processing"%y& +4 "core" & +3 "processing"%& +6 "core" & +2 .tPC.seek :closed +3 "processing"%G(Z +3 "core" & +6 &D #c +9 &|[ 6 +9 & G +10 &g F +9 &rk F +9 &3j G +10 & p G +9 &"h F +10 &$yk G +9 &&:k G +9 &'i F +10 &)k F +9 &+k F +9 &-Ck G +10 &/p G +9 &0i G +10 &2h G +9 &4Lj F +9 &6k F +10 &7k F +9 &9i F +9 &;Tk F +10 &=k F +9 &>m G +10 &@n G +9 &BZj G +9 &Dk F +10 &Em G +9 &Gu H +9 &I] I +10 &K K +9 &L L +10 &N L +9 &PZ M +9 &R M +10 &S M +9 &U M +9 &Wa M +10 &Y! I +9 &ZR8j %l +10 &Z : & +5 ( + "processing"%& +5 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.49 + .Hand.open +2 "manipulator"&!1 +3 "core" &Z & +55 1 +2 "manipulator"& % +4 "core" % T P +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&='\ +96 "core" ' + "processing"%<& +5 "core" &Z & + #tImaging generic puck in Processing Clamp while storing it to tube 2 +2 "manipulator"&(% +3 "core" %\ . : #d +2 "storage"(R% +4 "core" %N  \ +2 "storage"(6. +3 "core" .(  + "storage"(.& +4 "core" & ' +2 "storage"([& +4 "manipulator"&|& +4 "core" & * +2 &Z +3 ."raiseStack"SE.reconfigure :place + .tElbow.reconfigure :tight +5 "storage"(#]kK-0-\ b +4 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +2 ."raiseStack"SE.seek :beamBreak +52 "manipulator"&4(c +4 "storage"(5'e +3 "core" ( +2 "manipulator"&I& +4 "core" &Z n + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &7& +3 "core" &Z F +2 .tForearm.seek PC +2 "manipulator"&W'[ +101 "core" ' +2 .tHand.close + "manipulator"&+/ +63 "core" / +2 .tPC.seek :open +2 "processing"%f(p +79 "core" ' +2 "storage"(A- +3 "core" -'e +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(:'B +36 "core" ' +262 ( + "storage"(L& +5 "core" & + "manipulator"&j& +4 "core" &Z  +2 "manipulator"&N% +3 "core" % W  +2 .tForearm.seek :retract +2 "manipulator"&&'\ +96 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&-(; +255 "core" ( + "manipulator"&V& +4 "core" &7 D $ +2 "storage"(1& +4 "core" & R +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts +2 "manipulator"&d'Ѐ +92 "core" ' +2 .tHand.open + "manipulator"&$1 +60 "core" 1 +2 "storage"(D- +3 "core" -'B +3 .tSE.seek -0.16 Pucks below Top Plate + "storage"(F' +23 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(8' +50 "core" ' +2 #tLights, camera, ACTION! + "storage"(9- +4 "core" -' +2 "storage"( & +3 "core" & e e M +2 "manipulator"&\\& +4 "core" &7 : $ +2 .tElbow.seek 2 + "manipulator"&n(; +4 "core" ( + "manipulator"&U& +5 "core" &7 J $ + "storage"(P& +4 "core" & e f 9 +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&E'Ѐ +15 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"(c'M +67 "core" ' + "manipulator"&H& +5 "core" &7 q r  $ + "storage"(z& +5 "core" & + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&'ξ +33 "core" ' +2 .tElbow.hold +2 "manipulator"&m, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"(B'7 +23 "core" ' + "manipulator"&0% +5 "core" %  ( y + "storage"()& +4 "core" & 9 +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 309 counts +2 "manipulator"&M' +18 "core" ' + "manipulator"& & +5 "core" &I | y + "x + "storage"(X& +4 "core" & ^ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&K'Ѐ +17 "core" ' +2 "storage"(_% +4 "core" %= O +3 ."downElevator"SE.seek :down +4 "storage"('N +98 (#% +2 "core" %lG Z OB +2 "manipulator"&% +4 "core" %Ѕ r r  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&J'\ +91 "core" ' +60 ' + ."downElevator"SE.stop + "storage"(5 +3 (g& +4 "core" &  +2 "collection"'Q& +4 "core" &]X5 ? + #tStoring generic puck in Collection Clamp to tube 2 +2 "manipulator"&w% +4 "core" %\ 6 & +2 "storage"(l% +4 "core" %= + "storage"(%. +3 "core" .(  +2 "storage"('& +3 "core" & +2 "storage"(~& +4 "core" & A +2 "manipulator"&& +3 "core" &I "x +2 .tElbow.seek 2 +2 "manipulator"&t(; +36 "core" ( +2 "manipulator"&S& +4 "core" &D  g +2 "storage"(& +3 "core" & +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&Z'Ѐ +116 "core" ' +2 "storage"(& +4 "core" & \ +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(s'e +283 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&& +4 "core" &D b b 0 g + "storage"(o& +4 "core" & + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&'ξ +33 "core" ' +2 .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(v- +2 "core" -' +2 .tSE.seek 0.12 Pucks below Top Plate +2 "storage"(p'p +28 "core" ' + "manipulator"&*% +5 "core" % 7 n + "storage"(& +4 "core" & \\ + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 314 counts +2 "manipulator"&' +11 "core" ' + "manipulator"&k& +5 "core" &D I K a g + "storage"(h& +5 "core" & \ \ Z +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&q'Ѐ +16 "core" ' +2 .tSE.seek 1.12 Pucks below Top Plate +2 "storage"('_ +47 "core" ' + "manipulator"&>& +5 "core" &D b h g + "manipulator"&3% +4 "core" %Ё b l  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&a'\ +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"&O( +167 "core" ( +2 "manipulator"&;& +4 "core" &0 ~ E + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &e& +3 "core" &0 O E +2 .tForearm.seek CC +2 "manipulator"&}'| +96 "core" ' +2 .tHand.close + "manipulator"&/ +58 "core" / +2 .tCC.seek :open +2 "collection"'`(p +410 "core" ( +2 "storage"(& +4 "core" & + "storage"(& +4 "core" & +2 "manipulator"&& +3 "core" &0 ( E~ +2 "manipulator"&]% +4 "core" % Ϗ i + .tForearm.seek :retract +2 "manipulator"&/'\ +92 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&@(; +176 "core" ( + "manipulator"&r& +4 "core" &A R m +2 "storage"(& +4 "core" & \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 2 + "manipulator"&\ 'ξ +107 "core" ' +2 .tElbow.hold + "manipulator"&, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&x1 +56 "core" 1 +2 "manipulator"&T% +4 "core" % q +2 "storage"({& +4 "core" & { + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 314 counts + "manipulator"&C' +19 "core" ' +2 "manipulator"& & +4 "core" &f v ] : H + "storage"(b& +4 "core" & \ \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&'Ѐ +22 "core" ' +2 "storage"(u% +4 "core" %g\ \  +3 ."downElevator"SE.seek :down +3 "storage"(,'N +31 "Can"K\ EB +68 "storage"(Y% +3 "core" %C\ \ \ u N? + "manipulator"&"% +4 "core" %Ф o n +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +86 "core" ' +54 ' +2 ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 3 of [2..3] + #Loading generic puck from tube 3 into Collection Clamp + "collection"'^& +5 "core" & +2 "manipulator"&y% +4 "core" %\ *  !Q + "storage"( % +4 "core" %J\ \  +2 "storage"(?. +4 "core" .(  +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(2( +361 "core" ( + .tSC.configure :limp +2 "storage"($\ 1b +3 (!& +2 "core" & '  +2 "manipulator"& & +4 "core" &f H + .tElbow.seek 3 +2 "manipulator"&<(D +76 "core" ( + "manipulator"&(& +4 "core" &: o  +2 "storage"(R& +4 "core" &\ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&6' +93 "core" ' +2 "storage"(.& +4 "core" &\ \   +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"('e +281 "core" ' +2 "storage"(|- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 ([& +3 "core" &\ \ L  +2 "manipulator"&I& +4 "core" &: e b P  +2 .tElbow.seek 3 + "manipulator"&7(D +4 "core" ( + "manipulator"&& +5 "core" &: m p  + "storage"(+& +4 "core" &\ \ \ \ '  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&'y +24 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&A/ +54 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&=& + "storage"(G'N +7 "core" &: T b  + "manipulator"&L% +5 "core" % y J \\ Q +2 .tForearm.seek :retract +2 "manipulator"&5'\ +89 "core" ' +2 .tElbow.seek CC + "manipulator"&j( +152 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +7 "core" ( +2 "manipulator"&N& +4 "core" &. 7 Dz +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &W& +2 "core" &. V Dz +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&V'| +103 "core" ' +2 "manipulator"&1& +4 "core" &. | Dy +2 "manipulator"&4% +4 "core" %υ W +2 "collection"'$& +4 "core" &B +2 "collection"'D& +5 "core" &% +2 .tCC.seek :closed +2 "collection"'9(] +4 "core" &- +7 & )- "_ +9 &tY# 5 +10 &+ H +9 &e$ G +10 &Zm' H +9 &m' H +9 & j) G +10 &"k$ H +9 &$bl% H +9 &&$m& H +10 &'o G +9 &)n G +9 &+kn% G +10 &-,l( H +9 &.m H +10 &0n H +9 &2tj G +9 &45n$ G +10 &5l! G +9 &7i! G +9 &9zk H +10 &;=k G +9 &<n G +10 &>m H +9 &@n G +9 &BEn G +10 &Dn G +9 &En G +10 &Go G +9 &IKt H +9 &K~ J +10 &L L +9 &N{ P +9 &P; P +10 &Q Q +9 &S Q +9 &U{ R +10 &W> R +9 &X S +10 &Z T +9 &\\~ A +9 &]m2 %n +10 &]G < +2 ( +2 "collection"'D& +2 #tCollection Clamp onSpring/offSpring for 10/26 samples, on/off torque 1.80 + .Hand.open +2 "manipulator"& 1 +63 "core" 1 +2 "manipulator"&\\% +4 "core" % { +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&U'\ +91 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp +2 "processing"%P& +4 "core" & + "manipulator"&&% +4 "core" %\ + 7 !M +2 "storage"(H% +4 "core" %?  + "storage"(z. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 +2 "storage"(:( +22 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (0& +3 "core" &  + "manipulator"&)& +4 "core" &\ + S Bh +2 "manipulator"&F% +4 "core" %\ + V !M +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"& (D +175 "core" ( +2 "manipulator"&X& +4 "core" &A & m + "storage"(_& +4 "core" & +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&-' +93 "core" ' + "storage"(d& +4 "core" & +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(8'e +290 "core" ' + "storage"(#- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" & + "manipulator"&E& +4 "core" &A + m +2 .tElbow.seek 3 +2 "manipulator"&n(D +3 "core" ( + "manipulator"&c& +4 "core" &A d m +2 "storage"(& +3 "core" &  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&g'y +21 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&M/ +63 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&Q& +3 "storage"(w'N +8 "core" &A n o = m + "manipulator"&l% +5 "core" % q n o 2 +2 .tForearm.seek :retract + "manipulator"&%'\ +92 "core" ' +2 .tElbow.seek PC +2 "manipulator"&'(c +157 "core" ' + ."downElevator"SE.stop + "storage"(5 +98 "core" ( +3 "manipulator"&B& +4 "core" &f 0 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &~& +3 "core" &f s +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&'[ +100 "core" ' +2 "manipulator"&S& +4 "core" &f R +2 "manipulator"&% +4 "core" %C I +2 "processing"%K& +3 "core" & +3 "processing"%& +4 "core" & +2 .tPC.seek :closed +2 "processing"%(Z +4 "core" &  +10 &6 )v +9 &k = +10 &}} G +9 &Bj F +9 &m G +10 &m G +9 &!h G +9 &#Ig G +10 &% h G +9 &&i G +9 &(j F +10 &*Qk G +9 &,m G +10 &-h G +9 &/k G +9 &1Yh G +10 &3j G +9 &4m G +9 &6h G +10 &8ak G +9 &:#m G +10 &;j F +9 &=k G +9 &?ik G +10 &A*j G +9 &Bk G +9 &Dl F +10 &Fop G +9 &H/w H +10 &I I +9 &K L +9 &Mh M +10 &O) M +9 &P M +9 &R M +10 &Tp M +9 &V1 M +10 &W M +9 &Y 4 +9 &Z5 P +10 &Z & +2 ( +2 "processing"%& +3 #tProcessing Clamp onSpring/offSpring for 8/26 samples, on/off torque 1.49 + .Hand.open +2 "manipulator"&m1 +56 "core" 1 +2 "manipulator"&J% +4 "core" % C  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +97 "core" ' +2 "processing"%& +4 "core" &Z & +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&o% +4 "core" %\ 0 $u + "storage"(v% +4 "core" %F C +2 "storage"(*. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(( +7 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (k& +4 "core" &  + "manipulator"&h& +3 ."raiseStack"SE.reconfigure :place +5 "storage"(#]kK-0-\ b +3 "core" &f +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +2 ."raiseStack"SE.seek :beamBreak +4 "manipulator"&>(c + "storage"(3'e +5 "core" ( + "manipulator"&Z& +5 "core" &f + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &t& +3 "core" &f +2 .tForearm.seek PC +2 "manipulator"&s'[ +95 "core" ' + .tHand.close +2 "manipulator"&/ +55 "core" / +2 .tPC.seek :open + "processing"%(p +90 "core" ' +2 "storage"(p- +3 "core" -'e + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(;'B +39 "core" ' +249 ( + "storage"(e& +5 "core" & + "manipulator"&q& +4 "core" &f C +2 "manipulator"&% +4 "core" % J 0 +2 .tForearm.seek :retract +2 "manipulator"&'\ +96 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&a(D +283 "core" ( + "manipulator"&& +4 "core" &I  q +2 "storage"(& +4 "core" & +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&' +101 "core" ' + .tHand.open +2 "manipulator"&1 +61 "core" 1 +2 "storage"(]- +4 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate +2 "storage"(r' +22 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.83 Pucks below Top Plate + "storage"(' +55 "core" ' + #tLights, camera, ACTION! +2 "storage"(}- +54 "core" -' + "storage"(O& +4 "core" &  +2 "manipulator"&x& +4 "core" &I ? q + .tElbow.seek 3 +2 "manipulator"&T(D +3 "core" ( +2 "manipulator"&{& +4 "core" &I  q + "storage"( & +4 "core" & 2 +3 .tForearm.seek 3 + 450 counts + "manipulator"&b' +4 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"(u'M +54 "core" ' + "manipulator"&/& +5 "core" &I W q + "storage"(Y& +4 "core" & 2 +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&"'M +28 "core" ' +2 .tElbow.hold +2 "manipulator"&@, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +3 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"(\ '7 +23 "core" ' + "manipulator"&^% +5 "core" %` e + "storage"(C& +5 "core" & ( + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 319 counts +2 "manipulator"&y'ό +16 "core" ' +2 "manipulator"& & +4 "core" &G r v ' s +2 "storage"(?& +4 "core" & \  S +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&' +20 "core" ' + "storage"(% +5 "core" %=\  E +2 ."downElevator"SE.seek :down +4 "storage"(,'N +98 (i% +3 "core" %L OD +2 "manipulator"&!% +4 "core" % o o L  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"& '\ +95 "core" ' +55 ' +2 ."downElevator"SE.stop + "storage"(5 +3 ((& +4 "core" &  + "collection"'R& +5 "core" &]G9 < + #tStoring generic puck in Collection Clamp to tube 3 +2 "manipulator"&.% +4 "core" %\ 6 ? & + "storage"(% +4 "core" %L 2 +2 "storage"(. +3 "core" .( +2 "storage"(|& +4 "core" & _ + "storage"([& +4 "core" & A +2 "manipulator"&I& +4 "core" &G  s + .tElbow.seek 3 +2 "manipulator"&(D +3 "core" ( +2 "manipulator"&+& +4 "core" &G  s + "storage"(A& +4 "core" &  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&=' +94 "core" ' +2 "storage"(L& +4 "core" &\ \ J +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(<'e +284 "core" ' +2 "storage"(6- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&N& +2 "core" &G o o 9 s +2 "storage"(W& +4 "core" & E + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&'M +32 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(1- +2 "core" -' +2 .tSE.seek 0.12 Pucks below Top Plate +2 "storage"(4'o +27 "core" ' +2 "manipulator"&7% +4 "core" %`v 2 + "storage"($& +4 "core" & 3 +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 319 counts +2 "manipulator"&G'ό +18 "core" ' + "manipulator"&5& +5 "core" &G g N 2 s + "storage"(`& +5 "core" &\ \  ` +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"& ' +19 "core" ' +2 .tSE.seek 1.12 Pucks below Top Plate +2 "storage"(\\'^ +45 "core" ' +2 "manipulator"&P& +4 "core" &G o n  s +2 "manipulator"&&% +4 "core" % n o  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&H'\ +100 "core" ' +2 .tElbow.seek CC + "manipulator"&z( +169 "core" ( + "manipulator"&D& +4 "core" &, Bh +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &0& +3 "core" &, Bh +2 .tForearm.seek CC +2 "manipulator"&)'| +94 "core" ' + .tHand.close +2 "manipulator"&F/ +61 "core" / +2 .tCC.seek :open +2 "collection"'V(p +410 "core" ( +2 "storage"(X& +4 "core" &  + "storage"(_& +4 "core" &\  : +2 "manipulator"&2& +4 "core" &) 3 @Z + "manipulator"&d% +4 "core" % ϐ  +2 .tForearm.seek :retract +2 "manipulator"&j'\ +91 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&U(D +165 "core" ( + "manipulator"&#& +5 "core" &L I z + "storage"(& +4 "core" &\ \ ! +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 + "manipulator"&E'M +109 "core" ' + .tElbow.hold +2 "manipulator"&c, +16 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&1 +54 "core" 1 +2 "manipulator"&M% +4 "core" % av ! E 7 +2 "storage"(Q& +4 "core" & c + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 320 counts +2 "manipulator"&l'ύ +18 "core" ' +2 "manipulator"& & +4 "core" &K v ^ - { + "storage"(-& +4 "core" &\ \ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&8' +10 "core" ' + "storage"(g% +5 "core" %^\ \  +2 ."downElevator"SE.seek :down +3 "storage"(B'N +99 (~% +3 "core" %D\  N? +2 "manipulator"&n% +4 "core" % n o  2 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&S'\ +92 "core" ' +49 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 2 of [2..3] +2 #Loading generic puck from tube 2 into Collection Clamp + "collection"'& +5 "core" & + "manipulator"&K% +5 "core" %\ 1 G $s + "storage"(w% +4 "core" %E\ \  +2 "storage"(%. +3 "core" .( +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"(f(  +351 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (m& +2 "core" &  T +2 "manipulator"&J& +4 "core" &K { +2 .tElbow.seek 2 + "manipulator"&(; +9 "core" ( + "manipulator"&o& +4 "core" &5   +2 "storage"(v& +4 "core" & \ \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&*'Ѐ +102 "core" ' +2 "storage"(& +4 "core" & \ !\ " \ +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(k'e +283 "core" ' + "storage"(h- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (Z& +4 "core" & \ \ S + "manipulator"&t& +4 "core" &5 o p S  + .tElbow.seek 2 +2 "manipulator"&(; +3 "core" ( +2 "manipulator"&& +3 "core" &5 n h M  +2 "storage"(:& +4 "core" & \ \  ) +2 .tForearm.seek 2 + 300 counts + "manipulator"&p' +25 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&'/ +59 "core" / +2 ."downElevator"SE.seek :down +4 "manipulator"&& +2 "storage"('N +7 "core" &5 [ e  + "manipulator"&e% +4 "core" % o o  +2 .tForearm.seek :retract +2 "manipulator"&q'\ +96 "core" ' +2 .tElbow.seek CC + "manipulator"&3( +146 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +10 "core" ( +2 "manipulator"&& +4 "core" &% 7 <; +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &s& +3 "core" &%  <; +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&'| +97 "core" ' +2 "manipulator"&& +52 "core" &%  <: +3 "manipulator"&>% +5 "core" %u + "collection"'& +4 "core" &M +3 "collection"']& +4 "core" &) +2 .tCC.seek :closed +2 "collection"'}(] +5 "core" &! +7 &9, $d +9 &s[, 6 +10 &( H +9 &i G +9 &bm+ H +10 &$n$ H +9 & m+ H +9 &"m+ H +10 &$km' G +9 &&.k& G +10 &'n# G +9 &)l% G +9 &+rn" H +10 &-6m" G +9 &.n% G +9 &0m G +10 &2|p! G +9 &4=n G +9 &6n G +10 &7m" G +9 &9k G +10 &;Ek G +9 &=m$ G +9 &>o! G +10 &@m G +9 &BNj G +9 &Dm G +10 &En H +9 &Gn G +10 &ISu H +9 &K J +9 &L N +10 &N P +9 &PB Q +9 &R Q +10 &S R +9 &U R +10 &WE R +9 &Y T +9 &Z T +10 &\\~ B +9 &]m8 $l +9 &]@ ; +3 ( +2 "collection"']& +2 #tCollection Clamp onSpring/offSpring for 9/25 samples, on/off torque 1.80 +2 .Hand.open + "manipulator"&1 +54 "core" 1 + "manipulator"&O% +4 "core" % u X +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&x'\ +92 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%{& +4 "core" & +2 "manipulator"& % +4 "core" %\ - , "_ + "storage"(/% +4 "core" %H +2 "storage"(Y. +3 "core" .(  + "storage"(;& +4 "core" &  | +2 "storage"(r& +4 "core" &  + "manipulator"&^& +4 "core" &# / :- +2 "manipulator"&C% +4 "core" %\ -  "_ +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"& (; +158 "core" ( + "manipulator"&?& +4 "core" &B # +2 "storage"(& +4 "core" &  * +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&a'Ѐ +109 "core" ' + "storage"(& +5 "core" & \ \ \ | +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('e +279 "core" ' +2 "storage"(i- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (!& +3 "core" & + "manipulator"&b& +4 "core" &B o n +2 .tElbow.seek 2 +2 "manipulator"&T(; +3 "core" ( + "manipulator"&u& +4 "core" &B g p \\ +2 "storage"("& +4 "core" & \ $ +2 .tForearm.seek 2 + 300 counts + "manipulator"&(' +13 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&y/ +61 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&R& +2 "storage"(.'N +7 "core" &B p q ( + "manipulator"&% +4 "core" % q o C R +2 .tForearm.seek :retract +2 "manipulator"&'\ +97 "core" ' +2 .tElbow.seek PC +2 "manipulator"&\ (c +151 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +98 "core" ( +2 "manipulator"&|& +4 "core" &i B +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &[& +2 "core" &i  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&I'[ +93 "core" ' +2 "manipulator"&+& +4 "core" &i d +2 "manipulator"&A% +4 "core" %Z  +2 "processing"%& +3 "core" & +2 "processing"%L& +5 "core" & +2 .tPC.seek :closed +2 "processing"%,(Z +4 "core" & +7 &F #c +9 &[ 6 +9 & G +10 &g F +9 &rn G +10 &5g G +9 & j G +9 &"f G +10 &${i G +9 &&>i F +9 &'i G +10 &)m G +9 &+m G +10 &-Eh G +9 &/l F +9 &0k G +10 &2m G +9 &4Mg G +9 &6i F +10 &7j F +9 &9h G +10 &;Tn G +9 &=h G +9 &>k G +10 &@n G +9 &B]j G +9 &Dn G +10 &El G +9 &Gv G +9 &I^~ I +10 &K K +9 &L L +10 &N M +9 &P\\ M +9 &R M +10 &S M +9 &U M +9 &Wb M +10 &Y% D +9 &Z]S a +10 &Z ' +2 ( + "processing"%L& +4 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.49 + .Hand.open +2 "manipulator"&@1 +56 "core" 1 +2 "manipulator"& % +4 "core" % Z a +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&6'\ +92 "core" ' +2 "processing"%N& +4 "core" &Z ' +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 + "manipulator"&W% +4 "core" %\ - "Z +2 "storage"(1% +4 "core" %H  + "storage"(7. +4 "core" .(  + "storage"($& +4 "core" &  +2 "storage"(5& +5 "manipulator"&`& +4 "core" &  + &i +2 ."raiseStack"SE.reconfigure :place +4 .tElbow.reconfigure :tight +3 "storage"(#]kK-0-\ b +4 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +2 ."raiseStack"SE.seek :beamBreak +2 "manipulator"&P(c +2 "storage"(&'e +5 "core" ( + "manipulator"&=& +4 "core" &i y +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &i +3 .tForearm.seek PC + "manipulator"&<'[ +102 "core" ' +2 .tHand.close + "manipulator"&/ +65 "core" / + .tPC.seek :open +2 "processing"%G(p +152 "core" ' + "storage"(4- +4 "core" -'e + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(D'B +31 "core" ' +198 ( + "storage"(0& +4 "core" & +2 "manipulator"& & +4 "core" &i  +6 "manipulator"&% +4 "core" % a  +2 .tForearm.seek :retract +2 "manipulator"&F'\ +95 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&H(; +249 "core" ( +2 "manipulator"&9& +4 "core" &5  v % + "storage"(X& +4 "core" & 2 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts +2 "manipulator"&_'Ѐ +110 "core" ' + .tHand.open +2 "manipulator"&21 +53 "core" 1 +2 "storage"(d- +3 "core" -'B +3 .tSE.seek -0.16 Pucks below Top Plate + "storage"(#' +23 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.83 Pucks below Top Plate + "storage"(' +50 "core" ' + #tLights, camera, ACTION! +2 "storage"()- +3 "core" -' +2 "storage"(z& +4 "core" & \ w j 4 + "manipulator"&& +4 "core" &5 | { % +2 .tElbow.seek 2 +2 "manipulator"&M(; +3 "core" ( +2 "manipulator"&Q& +3 "core" &5 Y t u % +2 "storage"( & +4 "core" & \ ~ | +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&-'Ѐ +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"(g'M +60 "core" ' + "manipulator"&j& +5 "core" &5 o o % + "storage"(~& +4 "core" & \ \  = +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&n'ξ +30 "core" ' + .tElbow.hold +2 "manipulator"&U, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"(E'7 +23 "core" ' + "manipulator"&% +5 "core" %  + "storage"(K& +4 "core" & \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 318 counts +2 "manipulator"&w' +17 "core" ' +2 "manipulator"&l& +90 "core" &; n o  +2 "storage"(%& +4 "core" & \ \ \ ` +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts +2 "manipulator"&\\'Ѐ +17 "core" ' + "storage"(8% +5 "core" %9\ \ \ S +2 ."downElevator"SE.seek :down +3 "storage"(B'N +99 (% +3 "core" %kJ NA +2 "manipulator"&m% +4 "core" %Ј o q  + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&J'\ +92 "core" ' +61 ' + ."downElevator"SE.stop +2 "storage"(5 +2 (o& +4 "core" & \ & +2 "collection"'v& +4 "core" &]< ; +2 #tStoring generic puck in Collection Clamp to tube 2 +51 "manipulator"&% +5 "core" %\ 3 %w + "storage"(c% +4 "core" %J +2 "storage"(S. +3 "core" .(  +2 "storage"(h& +4 "core" & \ < + "storage"(Z& +5 "core" & \ ] + "manipulator"&t& +4 "core" &;  +2 .tElbow.seek 2 +2 "manipulator"&(; +3 "core" ( +2 "manipulator"&:& +4 "core" &; c  + "storage"('& +5 "core" & \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&'Ѐ +96 "core" ' + "storage"(e& +5 "core" & \ \ \ \ u +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('e +281 "core" ' + "storage"(*- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&& +3 "core" &; e l  +2 "storage"(s& +4 "core" & \  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&k'ξ +29 "core" ' +2 .tElbow.hold + "manipulator"&p, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(- +3 "core" -' +2 .tSE.seek 0.12 Pucks below Top Plate +2 "storage"('p +27 "core" ' +2 "manipulator"&>% +4 "core" % m +2 "storage"(& +4 "core" & \ - + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 319 counts + "manipulator"&' +19 "core" ' +2 "manipulator"&q& +4 "core" &> w `   +2 "storage"(V& +3 "core" & \ f +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&'Ѐ +16 "core" ' +2 .tSE.seek 1.12 Pucks below Top Plate +2 "storage"(O'_ +47 "core" ' + "manipulator"&{& +5 "core" &> n p  + "manipulator"& % +4 "core" %| n n +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&/'\ +87 "core" ' +2 .tElbow.seek CC +2 "manipulator"&Y( +143 "core" ( + "manipulator"&;& +4 "core" &  / +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &r& +2 "core" & N / +2 .tForearm.seek CC +2 "manipulator"&^'| +99 "core" ' +2 .tHand.close + "manipulator"&]/ +61 "core" / +2 .tCC.seek :open +2 "collection"'C(p +410 "core" ( +2 "storage"(& +4 "core" & \ \ \  f + "storage"(?& +4 "core" & \ \   +2 "manipulator"&& +4 "core" & . + "manipulator"&% +4 "core" % | h +2 .tForearm.seek :retract +2 "manipulator"&3'\ +91 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&x(; +159 "core" ( +2 "manipulator"&i& +4 "core" &9 d  +2 "storage"(!& +4 "core" & \ \ \  A + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 2 +2 "manipulator"&b'ξ +102 "core" ' +2 .tElbow.hold + "manipulator"&u, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&"1 +52 "core" 1 +2 "manipulator"&y% +5 "core" % { + "storage"(R& +4 "core" & \ + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 2 + 317 counts +2 "manipulator"&' +19 "core" ' + "manipulator"& & +5 "core" &D u `   + "storage"(a& +5 "core" & \ \ \  & +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&'Ѐ +23 "core" ' + "storage"((% +5 "core" %^\ \  +2 ."downElevator"SE.seek :down +3 "storage"(|'N +99 ([% +3 "core" %E\ \ \ h N? +2 "manipulator"&T% +4 "core" %Њ o o  " +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&+'\ +93 "core" ' +46 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 3 of [2..3] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"'A& +5 "core" &, +2 "manipulator"&% +4 "core" %\ : ( +2 "storage"(.% +3 "core" %8 \ q +2 "storage"(. +3 "core" .(  +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 + "storage"(( +361 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (@& +2 "core" & 2  +2 "manipulator"& & +4 "core" &D  + .tElbow.seek 3 +2 "manipulator"&N(D +3 "core" ( + "manipulator"&W& +4 "core" &D  +2 "storage"(1& +4 "core" &\  P  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&7' +105 "core" ' +2 "storage"($& +4 "core" &\ \   +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(`'e +276 "core" ' +2 "storage"(5- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (L& +2 "core" &\ \ \   +2 "manipulator"&=& +4 "core" &D o o  +2 .tElbow.seek 3 +2 "manipulator"&(D +3 "core" ( + "manipulator"&I& +4 "core" &D p v  +2 "storage"(& +4 "core" &\ \   +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&\ 'y +25 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&6/ +56 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&4& + "storage"(,'N +7 "core" &D o q \  +2 "manipulator"&0% +4 "core" % p o o +2 .tForearm.seek :retract +2 "manipulator"& '\ +89 "core" ' +2 .tElbow.seek CC +2 "manipulator"&( +153 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +10 "core" ( +2 "manipulator"&&& +4 "core" &, l Bj +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &<& +3 "core" &, I Bj +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&9'| +95 "core" ' +2 "manipulator"&X& +4 "core" &<# C ;6 +2 "manipulator"&P% +4 "core" %{ + "collection"'2& +4 "core" & +3 "collection"'d& +4 "core" & +2 .tCC.seek :closed +2 "collection"')(] +4 "core" & +8 &; #b +10 &qY 5 +9 &\ H +9 &i3 G +10 &[n; G +9 &p G +9 & o& G +10 &"n G +9 &$cj G +10 &&$m, H +9 &'n* G +9 &)n) H +10 &+ko G +9 &--m" G +9 &.k, G +10 &0p* G +9 &2so, G +10 &44m* H +9 &5l- G +9 &7m- H +10 &9|k+ G +9 &;=m- G +9 &=n& G +10 &>n" G +9 &@n! G +10 &BDn H +9 &Dl' G +9 &En( G +10 &Gm% G +9 &IKs1 H +9 &K 8 I +10 &L/ L +9 &N|: O +9 &P;9 P +10 &Q/ Q +9 &S8 Q +10 &U}- R +9 &W>. R +9 &X- S +10 &Z. S +9 &\\x' A +10 &]g4+ &r +9 &]x% G +5 ( +2 "collection"'d& +4 #tCollection Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.76 + .Hand.open +2 "manipulator"&z1 +3 "core" &]k# G +58 1 +2 "manipulator"&% +4 "core" % { ^ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&Q'\ +93 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"% & +4 "core" & +2 "manipulator"&F% +3 "core" %\ +  !U +2 "storage"(j% +4 "core" %E + "storage"(~. +4 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(( +24 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (K& +3 "core" &  + "manipulator"&D& +4 "core" &<# E ;6 +2 "manipulator"&#% +4 "core" %\ +  !U +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&H(D +162 "core" ( + "manipulator"&l& +5 "core" &9  < + "storage"(%& +4 "core" & +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&_' +103 "core" ' +2 "storage"(& +4 "core" & +51 .tSE.reconfigure :pick +4 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(8'e +291 "core" ' + "storage"(-- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (M& +3 "core" & [ +2 "manipulator"&& +3 "core" &: o n  ; +2 .tElbow.seek 3 +2 "manipulator"&m(D +3 "core" ( + "manipulator"&g& +4 "core" &: | } ? ; +2 "storage"(n& +4 "core" & +2 .tForearm.seek 3 + 300 counts + "manipulator"&o'y +29 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&w/ +55 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&v& +3 "storage"('N +7 "core" &: q n ( ; + "manipulator"&E% +5 "core" % ρ o o  +2 .tForearm.seek :retract + "manipulator"&c'\ +91 "core" ' + .tElbow.seek PC +2 "manipulator"&S(c +160 "core" ' + ."downElevator"SE.stop + "storage"(5 +91 "core" ( +2 "manipulator"&h& +4 "core" &k F +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &Z& +2 "core" &k 5 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&t'[ +102 "core" ' +2 "manipulator"&:& +4 "core" &k  +2 "manipulator"&'% +4 "core" %] A +2 "processing"%\\& +3 "core" & +3 "processing"%e& +5 "core" & +2 .tPC.seek :closed +3 "processing"%B(Z +3 "core" & +6 & 5 +9 &L / +9 &Zz C +10 &m G +9 &j G +10 &i F +9 & Ui G +9 &"h G +10 &#m G +9 &%h G +9 &'_h F +10 &)i G +9 &*h G +10 &,h G +9 &.ei G +9 &0'j G +10 &1h G +9 &3h G +9 &5mf G +10 &7/h G +9 &8j G +10 &:h G +9 &8k G +10 &?i G +9 &An G +9 &C}j G +10 &E?j G +9 &Fp H +10 &Hx I +9 &J{ K +9 &L9 L +10 &M M +9 &O M +9 &Q| M +10 &S? M +9 &U M +9 &V M +10 &X M +9 &Zs e +10 &Z#x 0 +8 ( +4 "processing"%e& +2 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.49 + .Hand.open +2 "manipulator"&U1 +4 "core" &Z ( +54 1 +2 "manipulator"&J% +4 "core" % ] I +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&*'\ +96 "core" ' + "processing"%& +5 "core" &Z ( + #tImaging generic puck in Processing Clamp while storing it to tube 3 +2 "manipulator"&s% +4 "core" %\ 1 $u + "storage"(% +4 "core" %K N +2 "storage"(>. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(( +5 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (q& +2 "manipulator"&V& +4 "core" & . +5 ."raiseStack"SE.reconfigure :place +3 "storage"(#]kK-0-\ b +3 "core" &k +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +2 ."raiseStack"SE.seek :beamBreak +3 "manipulator"&{(c +2 "storage"( 'e +5 "core" ( + "manipulator"&& +5 "core" &k m + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &k +2 .tForearm.seek PC +2 "manipulator"&'[ +94 "core" ' + .tHand.close +2 "manipulator"&k/ +58 "core" / +2 .tPC.seek :open +2 "processing"%(p +89 "core" ' + "storage"(- +4 "core" -'e + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(;'B +39 "core" ' +249 ( +2 "storage"(r& +4 "core" & + "manipulator"&& +4 "core" &k e +2 "manipulator"&p% +3 "core" % _  +2 .tForearm.seek :retract +2 "manipulator"&]'\ +91 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&/(D +267 "core" ( +2 "manipulator"&}& +4 "core" &F | %  +2 "storage"(& +3 "core" & +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&?' +93 "core" ' + .tHand.open +2 "manipulator"&1 +53 "core" 1 +2 "storage"(- +3 "core" -'B +3 .tSE.seek -0.16 Pucks below Top Plate + "storage"(i' +24 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(!' +52 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(^- +3 "core" -' +2 "storage"(Y& +3 "core" & z o +2 "manipulator"&"& +4 "core" &F   +2 .tElbow.seek 3 +2 "manipulator"&y(D +3 "core" ( + "manipulator"&R& +4 "core" &F   +2 "storage"( & +4 "core" & | ~ +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&a' +3 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"(('M +58 "core" ' + "manipulator"&3& +5 "core" &F   + "storage"([& +4 "core" & +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 + "manipulator"&T'M +27 "core" ' + .tElbow.hold +2 "manipulator"&x, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"(b'7 +23 "core" ' +2 "manipulator"&A% +4 "core" %a}  L +2 "storage"(& +4 "core" & l + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 320 counts +2 "manipulator"&'ύ +16 "core" ' +2 "manipulator"&.& +5 "core" &@ v q )  + "storage"(& +5 "core" & +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts +2 "manipulator"&O' +17 "core" ' +2 "storage"(% +5 "core" %@ ? +2 ."downElevator"SE.seek :down +3 "storage"(|'N +99 (f% +3 "core" %K  OD +2 "manipulator"&@% +4 "core" % o o +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"& '\ +90 "core" ' +60 ' + ."downElevator"SE.stop + "storage"(5 +3 (W& +4 "core" &  +2 "collection"'1& +3 "core" &]k& G +2 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&$% +5 "core" %\ 2  %} + "storage"(u% +4 "core" %F +2 "storage"(+. +3 "core" .( + "storage"(5& +4 "core" & : +2 "storage"(L& +4 "core" & + "manipulator"&=& +4 "core" &@ <  +2 .tElbow.seek 3 +2 "manipulator"&I(D +3 "core" ( +2 "manipulator"&& +3 "core" &@ t  +2 "storage"(6& +4 "core" & +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&4' +101 "core" ' +2 "storage"(0& +4 "core" & O +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(N'e +282 "core" ' + "storage"(7- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&&& +3 "core" &@ V  +2 "storage"(<& +3 "core" & W +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&`'M +31 "core" ' +2 .tElbow.hold +2 "manipulator"&\ , +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(X- +2 "core" -' +2 .tSE.seek 0.12 Pucks below Top Plate +2 "storage"(P'o +28 "core" ' + "manipulator"&2% +5 "core" %Zp + "storage"(& +4 "core" & A +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 3 + 313 counts +2 "manipulator"&,'φ +20 "core" ' +2 "manipulator"& & +4 "core" &@ s u S  +2 "storage"(C& +4 "core" & $ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +53 .tForearm.seek 3 + 450 counts +2 "manipulator"&z' +11 "core" ' +2 .tSE.seek 1.12 Pucks below Top Plate +2 "storage"('^ +39 "core" ' + "manipulator"& & +5 "core" &@ o e a  + "manipulator"&F% +5 "core" %  o o 1 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&j'\ +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"&~( +146 "core" ( +2 "manipulator"&d& +4 "core" & P 0 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &K& +3 "core" & ' 0 +2 .tForearm.seek CC +2 "manipulator"&D'| +105 "core" ' + .tHand.close +2 "manipulator"&#/ +64 "core" / +2 .tCC.seek :open +2 "collection"'9(p +410 "core" ( +4 "storage"(l& +9 "core" & +3 "storage"(%& +6 "core" & +2 "manipulator"&& +3 "core" &/  ) +2 "manipulator"&% +4 "core" % d  q + .tForearm.seek :retract +2 "manipulator"&'\ +94 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&Q(D +158 "core" ( + "manipulator"&-& +5 "core" &<  { % + "storage"(M& +4 "core" & \  T +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 +2 "manipulator"&'M +110 "core" ' + .tElbow.hold +2 "manipulator"&g, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&n1 +57 "core" 1 +2 "manipulator"&w% +5 "core" % _ % \\ + "storage"(v& +4 "core" & , + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 3 + 318 counts +2 "manipulator"&E'ϋ +11 "core" ' + "manipulator"&H& +5 "core" &; _ v 2 & + "storage"(_& +4 "core" &\ \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&8' +18 "core" ' + "storage"(o% +4 "core" %e\ \  c +3 ."downElevator"SE.seek :down +3 "storage"(h'N +99 (Z% +3 "core" %G \  N@ + "manipulator"&m% +4 "core" % o o  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&:'\ +94 "core" ' +48 ' + ."downElevator"SE.stop +2 "storage"(5 +3 #tShuffling pucks in tube 2 of [2..3] + #Loading generic puck from tube 2 into Collection Clamp + "collection"''& +5 "core" &J + "manipulator"&\\% +4 "core" %\ : ( +2 "storage"(% +4 "core" %S \ \ \  +2 "storage"(c. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 2 + "storage"(G(  +352 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (U& +2 "core" &  +2 "manipulator"&J& +4 "core" &; & + .tElbow.seek 2 +2 "manipulator"&(; +4 "core" ( + "manipulator"&s& +4 "core" &; a & +2 "storage"(& +4 "core" &  \ \ W +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&>'Ѐ +102 "core" ' +2 "storage"(e& +4 "core" & \ \ ! +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(q'e +281 "core" ' +2 "storage"(V- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +2 "core" & \ \  \\ +2 "manipulator"&& +4 "core" &; p o & +2 .tElbow.seek 2 + "manipulator"&t(; +4 "core" ( + "manipulator"&k& +4 "core" &; u r  & + "storage"(& +4 "core" & \ \ +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&' +15 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&S/ +59 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&*& + "storage"(B'N +7 "core" &; e g ~ & +2 "manipulator"&r% +4 "core" % e k o Q +2 .tForearm.seek :retract +2 "manipulator"&'\ +95 "core" ' +2 .tElbow.seek CC +2 "manipulator"& ( +142 "core" ( + "manipulator"&p& +6 "core" &  0 + ' + .tElbow.reconfigure :loose +3 ."downElevator"SE.stop +3 "manipulator"&$ &.,(#b + "storage"(5 +3 "manipulator"&& +5 "core" & ; 0 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&}'| +96 "core" ' +2 "manipulator"&& +4 "core" & i 0 +2 "manipulator"&{% +4 "core" %q q  +2 "collection"'& +3 "core" & +2 "collection"'& +6 "core" & +2 .tCC.seek :closed +3 "collection"'^(] +3 "core" & +6 & 9 +9 &!N" / +9 &`z D +10 &m6 G +9 &l G +9 &n G +10 & \\o G +9 &"p! G +10 &#n( G +9 &%n- G +9 &'cm4 H +10 &)&l2 G +9 &*h2 G +10 &,k) G +9 &.kl. H +9 &0-m. H +10 &1l+ G +9 &3j0 G +9 &5tk2 G +10 &77i7 G +9 &8l- G +9 &:j1 G +10 &<}l1 G +9 &>>l8 G +10 &?n? H +9 &Am3 G +9 &Co8 G +10 &EGl6 G +9 &Gm: G +9 &Hr= H +10 &J? I +9 &L@: L +10 &M> P +9 &O5 P +9 &Qy9 Q +10 &S92 Q +9 &T5 R +10 &V; R +9 &Xz9 S +9 &Z99 T +10 &[0 T +9 &]MC: $j +9 &] z8 C +6 ( +2 "collection"'& +4 #tCollection Clamp onSpring/offSpring for 10/26 samples, on/off torque 1.83 + .Hand.open + "manipulator"&Y1 +4 "core" &]b: C +55 1 + "manipulator"&"% +4 "core" % q k  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&R'\ +92 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp + "processing"% & +5 "core" & + "manipulator"&]% +4 "core" %\ - Z "X +2 "storage"(3% +4 "core" %I  + "storage"([. +4 "core" .(  + "storage"(A& +4 "core" &  % + "storage"(& +4 "core" &   +2 "manipulator"&;& +4 "core" & y / + "manipulator"&.% +4 "core" %\ - Q "X +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&i(; +159 "core" ( + "manipulator"&& +4 "core" &> I +2 "storage"(& +4 "core" &  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&/'Ѐ +107 "core" ' +2 "storage"(?& +4 "core" &  \ +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(!'e +283 "core" ' + "storage"(f- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (@& +3 "core" &  V +2 "manipulator"&a& +4 "core" &> c a V + .tElbow.seek 2 +2 "manipulator"&y(; +3 "core" ( + "manipulator"&(& +4 "core" &> v s K +2 "storage"(T& +3 "core" &  t +3 .tForearm.seek 2 + 300 counts + "manipulator"&W' +31 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&/ +54 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&1& + "storage"($'N +7 "core" &> d l n +2 "manipulator"&u% +4 "core" %  n o +2 .tForearm.seek :retract +2 "manipulator"&+'\ +95 "core" ' +2 .tElbow.seek PC +2 "manipulator"&5(c +159 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +89 "core" ( +2 "manipulator"&b& +4 "core" &f k +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &L& +3 "core" &f +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&='[ +113 "core" ' +2 "manipulator"&& +4 "core" &f n o ? +2 "manipulator"&6% +4 "core" %P o k } +2 "processing"%O& +3 "core" & +3 "processing"%0& +4 "core" & +2 .tPC.seek :closed +2 "processing"%|(Z +4 "core" &  +8 &8 *x +10 &k = +9 &x H +9 &Jh F +10 & k F +9 &h F +9 &!k F +10 &#Ri F +9 &%h G +10 &&i G +9 &(h G +9 &*Yh G +54 &,m G +4 &-h G +3 &/i G + &1bi F &3$j F + &4j F +3 &6j F +9 &8jj F +10 &:,i F +9 &;j G +9 &=n G +10 &?pj G +9 &A3l G +10 &Bh G +9 &Dk G +9 &Fxm G +10 &H6y H +9 &I J +9 &K K +10 &Mp M +9 &O3 L +9 &P M +10 &R M +10 &Ty L +9 &V9 M +9 &W N +9 &Y 0 +10 &Z1{ L +9 &Z + +2 ( +2 "processing"%0& +3 #tProcessing Clamp onSpring/offSpring for 8/25 samples, on/off torque 1.52 + .Hand.open +2 "manipulator"&x1 +63 "core" 1 + "manipulator"& % +5 "core" % P }  } +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&7'\ +91 "core" ' + "processing"%&& +4 "core" &Z + +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 + "manipulator"&<% +4 "core" %\ ,  "a +2 "storage"(X% +4 "core" %M + "storage"(2. +3 "core" .(  +2 "storage"(& +4 "core" &   +2 "storage"( & +4 "manipulator"&C& +5 "core" &   + &f : +3 ."raiseStack"SE.reconfigure :place +2 .tElbow.reconfigure :tight +3 "storage"(#]kK-0-\ b +5 "manipulator"&$&.,(\ #b +2 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +2 "storage"( 'e +4 "manipulator"&F(c +3 "core" ( +2 "manipulator"&4& +4 "core" &f ` + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &I& +3 "core" &f +2 .tForearm.seek PC +2 "manipulator"&N'[ +96 "core" ' +2 .tHand.close + "manipulator"&`/ +60 "core" / +2 .tPC.seek :open +2 "processing"%,(p +84 "core" ' +2 "storage"(P- +3 "core" -'e +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +2 ."raiseStack"SE.seek :place +2 "storage"(d'B +31 "core" ' +262 ( + "storage"(K& +5 "core" &  5 + "manipulator"&z& +4 "core" &f  +2 "manipulator"&\ % +4 "core" % ] r +2 .tForearm.seek :retract +2 "manipulator"&#'\ +96 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&j(; +266 "core" ( +2 "manipulator"&)& +4 "core" &0 P  +2 "storage"(l& +3 "core" &  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&%'Ѐ +101 "core" ' + .tHand.open + "manipulator"&1 +65 "core" 1 +2 "storage"(- +3 "core" -'B +3 .tSE.seek -0.16 Pucks below Top Plate + "storage"(-' +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(M' +49 "core" ' +2 #tLights, camera, ACTION! + "storage"(D- +4 "core" -' + "storage"(~& +4 "core" & e f 4 +2 "manipulator"&n& +4 "core" &0   + .tElbow.seek 2 +2 "manipulator"&w(; +18 "core" ( + "manipulator"&v& +4 "core" &1 [  +2 "storage"(H& +4 "core" & e e 7 +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&_'Ѐ +24 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.11 Pucks below Top Plate + "storage"(o'M +59 "core" ' +2 "manipulator"&& +4 "core" &1 e m  +2 "storage"(Z& +4 "core" & ] +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&m'ξ +32 "core" ' + .tElbow.hold +2 "manipulator"&Q, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"('7 +23 "core" ' + "manipulator"&'% +5 "core" % + "storage"(E& +5 "core" &  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 319 counts +2 "manipulator"&\\' +18 "core" ' + "manipulator"&& +5 "core" &> v t  +2 "storage"(c& +4 "core" & +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&'Ѐ +27 "core" ' + "storage"(8% +5 "core" %@ H +2 ."downElevator"SE.seek :down +3 "storage"(h'N +99 (% +3 "core" %yL  OE +2 "manipulator"&U% +4 "core" %Ќ r ' ] +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&J'\ +95 "core" ' +57 ' + ."downElevator"SE.stop + "storage"(5 +3 (s& +4 "core" &  + "collection"'& +4 "core" &]Y; C +2 #tStoring generic puck in Collection Clamp to tube 2 + "manipulator"&e% +4 "core" %\ 8 $ %v +2 "storage"(g% +4 "core" %F + "storage"(:. +3 "core" .(  +2 "storage"(V& +4 "core" & + "storage"(& +4 "core" & +2 "manipulator"&& +4 "core" &> U  + .tElbow.seek 2 +3 "manipulator"&k(; +3 "core" ( + "manipulator"&& +4 "core" &> V  +2 "storage"(S& +4 "core" & +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&*'Ѐ +104 "core" ' +2 "storage"(r& +4 "core" & \ \  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"('e +280 "core" ' + "storage"(>- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 "manipulator"&p& +2 "core" &> d l u  +2 "storage"(& +4 "core" & +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&q'ξ +32 "core" ' + .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(- +3 "core" -' +2 .tSE.seek 0.12 Pucks below Top Plate +2 "storage"({'p +27 "core" ' +2 "manipulator"&% +4 "core" % f +2 "storage"(t& +3 "core" &  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 317 counts + "manipulator"&B' +22 "core" ' +2 "manipulator"&& +4 "core" &B _ u   +2 "storage"(9& +4 "core" & +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&Y'Ѐ +24 "core" ' +2 .tSE.seek 1.12 Pucks below Top Plate +2 "storage"("'_ +44 "core" ' + "manipulator"& & +5 "core" &B e k  + "manipulator"&]% +5 "core" %Р d l u +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&3'\ +92 "core" ' + .tElbow.seek CC +2 "manipulator"&[( +159 "core" ( + "manipulator"&A& +5 "core" &  e % + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &  % +2 .tForearm.seek CC +2 "manipulator"&'| +94 "core" ' +2 .tHand.close + "manipulator"&;/ +55 "core" / +2 .tCC.seek :open +2 "collection"'.(p +410 "core" ( +2 "storage"(}& +4 "core" & \ \ # +2 "storage"(& +3 "core" & \ \ p +2 "manipulator"&& +3 "core" &   % +2 "manipulator"&?% +4 "core" % v ` \ +2 .tForearm.seek :retract + "manipulator"& '\ +93 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&R(; +173 "core" ( + "manipulator"&f& +4 "core" &8\  U +2 "storage"(@& +4 "core" & \ = + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +3 .tForearm.seek 2 + "manipulator"&a'ξ +104 "core" ' +2 .tElbow.hold + "manipulator"&(, +75 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&T1 +53 "core" 1 +2 "manipulator"&% +4 "core" % +2 "storage"(1& +4 "core" & + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 317 counts + "manipulator"&u' +18 "core" ' +2 "manipulator"&i& +4 "core" &^ ^ u 0 / + "storage"(/& +54 "core" & \ \ j +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&!'Ѐ +18 "core" ' + "storage"(W% +5 "core" %]\ \  +2 ."downElevator"SE.seek :down +4 "storage"(b'N +99 (L% +3 "core" %D \ " N@ +2 "manipulator"&y% +4 "core" %r h l  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +87 "core" ' +53 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 3 of [2..3] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"'6& +5 "core" &= + "manipulator"&O% +4 "core" %\ ,  "Z +2 "storage"($% +4 "core" %K\ \ 9 +2 "storage"(+. +4 "core" .(  + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(( +357 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (x& +3 "core" &9 I  + "manipulator"& & +4 "core" &^ 9 / +2 .tElbow.seek 3 +2 "manipulator"&&(D +27 "core" ( + "manipulator"&<& +4 "core" &> d n +2 "storage"(X& +4 "core" &\ \   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&2' +102 "core" ' +2 "storage"(& +4 "core" &\ \   +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(0'e +288 "core" ' +2 "storage"(C- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 ( & +2 "core" &\ \ 0  +2 "manipulator"&4& +4 "core" &> o o n + .tElbow.seek 3 +2 "manipulator"&I(D +3 "core" ( +2 "manipulator"&=& +3 "core" &> ^ u ( n +2 "storage"(`& +4 "core" &\  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&P'y +24 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&5/ +58 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&7& +2 "storage"(|'N +7 "core" &> o o n +2 "manipulator"&K% +4 "core" % q b d [ +2 .tForearm.seek :retract + "manipulator"&z'\ +93 "core" ' +2 .tElbow.seek CC +2 "manipulator"& ( +148 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +17 "core" ( + "manipulator"&\ & +5 "core" &* F A_ + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &N& +3 "core" &* e @^ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&)'| +104 "core" ' +2 "manipulator"&l& +4 "core" &) ` @^ +2 "manipulator"&F% +5 "core" %σ \\ + "collection"'& +4 "core" & +3 "collection"'& +6 "core" & +2 .tCC.seek :closed +2 "collection"'D(] +4 "core" & +7 &: $e +9 &{\\ 6 +9 & H +10 &h G +9 &kl H +9 &-m H +10 & l H +9 &"j G +10 &$tm G +9 &&5m" H +9 &'k H +10 &)k, G +9 &+|j G +9 &->m G +10 &.l H +9 &0l H +10 &2k7 H +9 &4Ek H +9 &6 k9 G +10 &7m G +9 &9j, G +9 &;Ol8 G +10 &=k? G +9 &>k? G +10 &@h> G +9 &BVn< G +9 &Dk? G +10 &Ei@ G +9 &Gm@ G +9 &I\\t? H +10 &K~> J +9 &L L +9 &N4 O +10 &PL= P +9 &R 8 Q +10 &S@ Q +9 &U@ Q +9 &WM? S +10 &Y? S +9 &Z9 T +9 &\\: @ +10 &]s)? %l +9 &]O7 > +3 ( + "collection"'& +3 #tCollection Clamp onSpring/offSpring for 10/25 samples, on/off torque 1.80 + .Hand.open +2 "manipulator"&~1 +63 "core" 1 +2 "manipulator"&n% +4 "core" % | v +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&v'\ +98 "core" ' +2 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%#& +5 "core" & + "manipulator"&H% +4 "core" %\ : J ( +2 "storage"(% +4 "core" %E  + "storage"(Z. +4 "core" .( + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 3 +2 "storage"(d( +3 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 ('& +3 "core" &  +2 "manipulator"&-& +4 "core" &% <= +2 "manipulator"&E% +3 "core" %\ : ` ( +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&(D +164 "core" ( +2 "manipulator"&c& +4 "core" &9\ j S +2 "storage"(j& +4 "core" &  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&8' +99 "core" ' +2 "storage"(%& +4 "core" &  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(M'e +278 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (U& +3 "core" &  +2 "manipulator"&_& +4 "core" &9\ ! S + .tElbow.seek 3 +2 "manipulator"&w(D +11 "core" ( + "manipulator"&o& +39 "core" &= ' !s + "storage"(m& +4 "core" &   +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&\\'y +19 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&s/ +63 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& + "storage"(e'N +8 "core" &> j o - !r + "manipulator"&g% +4 "core" % o o l ? +2 .tForearm.seek :retract +2 "manipulator"&:'\ +88 "core" ' +2 .tElbow.seek PC +2 "manipulator"&(c +159 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +94 "core" ( + "manipulator"&V& +5 "core" &i  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &i +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&'[ +115 "core" ' + "manipulator"&& +4 "core" &i i y I +2 "manipulator"&S% +4 "core" %P n n +2 "processing"%& +4 "core" & +2 "processing"%r& +5 "core" & +2 .tPC.seek :closed +2 "processing"%h(Z +4 "core" &  +9 &6 )w +9 &l = +10 &w H +9 &Fh F +10 &l F +9 &m G +9 &!j G +10 &#Mg F +9 &%i F +9 &&n G +10 &(m G +9 &*Tl G +10 &,k G +9 &-k F +9 &/k G +10 &1\\m G +9 &3m F +9 &4j F +10 &6m G +9 &8dg G +10 &:&g G +9 &;h G +9 &=g G +10 &?lk G +9 &A.n G +9 &Bh G +10 &Dk G +9 &Frp G +10 &H2v H +9 &I I +9 &K L +10 &Mk M +9 &O- M +9 &P M +10 &R M +10 &Tq M +9 &V2 N +9 &W N +9 &Y 2 +10 &Z0 O +9 &Z# , +2 ( +2 "processing"%r& +3 #tProcessing Clamp onSpring/offSpring for 8/26 samples, on/off torque 1.49 + .Hand.open +2 "manipulator"&Q1 +63 "core" 1 + "manipulator"&J% +4 "core" % V |  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&>'\ +90 "core" ' +2 "processing"%p& +4 "core" &Z" , +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&% +4 "core" %\ - "a +2 "storage"(% +4 "core" %<  +2 "storage"(. +3 "core" .( + "storage"(t& +4 "core" &   +2 "storage"(& +5 "manipulator"&9& +4 "core" &   + &i j +3 ."raiseStack"SE.reconfigure :place +2 .tElbow.reconfigure :tight +4 "storage"(#]kK-0-\ b +4 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +2 "manipulator"& (c +3 ."raiseStack"SE.seek :beamBreak + "storage"(]'e +3 "core" ( + "manipulator"&*& +4 "core" &i +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &k& +3 "core" &i  +3 .tForearm.seek PC + "manipulator"&'[ +96 "core" ' + .tHand.close +2 "manipulator"&q/ +63 "core" / +2 .tPC.seek :open + "processing"%B(p +88 "core" ' +2 "storage"({- +3 "core" -'e +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +2 ."raiseStack"SE.seek :place +2 "storage"(A'B +58 "core" ' +232 ( + "storage"(& +4 "core" &   +2 "manipulator"&Y& +4 "core" &i # + "manipulator"&% +5 "core" % I n +2 .tForearm.seek :retract +2 "manipulator"&;'\ +95 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&3(D +285 "core" ( +2 "manipulator"&^& +4 "core" &N  J +2 "storage"(}& +4 "core" &  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&' +99 "core" ' +2 .tHand.open + "manipulator"&1 +61 "core" 1 +2 "storage"(?- +4 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate +2 "storage"(f' +28 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(@' +51 "core" ' + #tLights, camera, ACTION! +2 "storage"(- +3 "core" -' +2 "storage"([& +4 "core" & c  +2 "manipulator"&T& +4 "core" &N  J +2 .tElbow.seek 3 + "manipulator"&(D +4 "core" ( + "manipulator"&1& +4 "core" &N ( J +2 "storage"(i& +3 "core" &   +3 .tForearm.seek 3 + 450 counts + "manipulator"&/' +23 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.11 Pucks below Top Plate + "storage"( 'M +58 "core" ' + "manipulator"&W& +5 "core" &N o o J + "storage"(R& +4 "core" &\  <  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&L'M +33 "core" ' +2 .tElbow.hold + "manipulator"&y, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"(a'7 +25 "core" ' +2 "manipulator"&6% +5 "core" %^v f / + "storage"(O& +4 "core" & G  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 317 counts + "manipulator"&u'ϊ +19 "core" ' +2 "manipulator"&$& +4 "core" &E q u  S +2 "storage"(+& +4 "core" &  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&"' +20 "core" ' +2 "storage"(!% +4 "core" %< ^ +3 ."downElevator"SE.seek :down +3 "storage"(b'N +99 (G% +3 "core" %eQ | OE +2 "manipulator"&x% +4 "core" % o o  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"& '\ +91 "core" ' +60 ' + ."downElevator"SE.stop + "storage"(5 +3 (<& +4 "core" & Y  +2 "collection"'X& +4 "core" &]K\\ > + #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&% +5 "core" %\ 0 $s + "storage"((% +4 "core" %E +2 "storage"(. +3 "core" .( +2 "storage"(C& +4 "core" &  + "storage"( & +4 "core" &  + "manipulator"&4& +4 "core" &E S +2 .tElbow.seek 3 +2 "manipulator"&=(D +3 "core" ( + "manipulator"&`& +4 "core" &E } S +2 "storage"(5& +4 "core" &  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&7' +98 "core" ' + "storage"(K& +4 "core" &  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(&'e +282 "core" ' + "storage"(2- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&\ & +3 "core" &E  S +2 "storage"(N& +3 "core" & p  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&0'M +29 "core" ' +2 .tElbow.hold + "manipulator"&P, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(l- +2 "core" -' +3 .tSE.seek 0.12 Pucks below Top Plate +2 "storage"(I'o +36 "core" ' + "manipulator"&F% +4 "core" %]r N ( +2 "storage"(& +4 "core" & @  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 316 counts + "manipulator"&|'ω +18 "core" ' + "manipulator"&z& +5 "core" &E _ t  S + "storage"(.& +5 "core" & \  t  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&~' +13 "core" ' +2 .tSE.seek 1.12 Pucks below Top Plate +2 "storage"(n'^ +50 "core" ' +2 "manipulator"&#& +4 "core" &E n o S +2 "manipulator"&H% +4 "core" % m o % +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +92 "core" ' +2 .tElbow.seek CC +2 "manipulator"&Z( +148 "core" ( + "manipulator"&& +4 "core" &  3 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &'& +3 "core" &  3 +2 .tForearm.seek CC +2 "manipulator"&-'| +97 "core" ' +2 .tHand.close + "manipulator"&E/ +60 "core" / + .tCC.seek :open +2 "collection"')(p +411 "core" ( + "storage"(c& +4 "core" &\ \  .  +2 "storage"(j& +4 "core" &\   + "manipulator"&& +4 "core" &  x 3 + "manipulator"&%% +4 "core" % ρ f +2 .tForearm.seek :retract +2 "manipulator"& '\ +94 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&v(D +165 "core" ( + "manipulator"&& +5 "core" &< d 8 + "storage"(U& +4 "core" & \ \ T  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 +2 "manipulator"&_'M +108 "core" ' + .tElbow.hold +2 "manipulator"&o, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&m1 +64 "core" 1 +2 "manipulator"&s% +5 "core" % a $ g a + "storage"(& +4 "core" & +  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 3 + 320 counts +2 "manipulator"&g'ύ +19 "core" ' + "manipulator"&& +4 "core" &< s \\ 8 +2 "storage"(8& +4 "core" &\ \ X  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&M' +20 "core" ' + "storage"(\\% +5 "core" %c\ \ y +2 ."downElevator"SE.seek :down +3 "storage"(V'N +99 (% +3 "core" %F \ NA +2 "manipulator"&w% +4 "core" % o m +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +90 "core" ' +49 ' + ."downElevator"SE.stop + "storage"(5 +4 #tShuffling pucks in tube 2 of [2..3] + #Loading generic puck from tube 2 into Collection Clamp + "collection"'S& +5 "core" &. + "manipulator"&% +4 "core" %\ 3 o %y +2 "storage"(e% +4 "core" %@ + "storage"(:. +4 "core" .( + .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"(,(  +355 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (Q& +3 "core" &  V + "manipulator"&J& +4 "core" &< k 8 +2 .tElbow.seek 2 +2 "manipulator"&p(; +3 "core" ( + "manipulator"&& +4 "core" &< ^ 8 +2 "storage"(& +3 "core" &  \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&'Ѐ +95 "core" ' +2 "storage"(t& +4 "core" & \ \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(r'e +285 "core" ' +2 "storage"(9- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +2 "core" & +2 "manipulator"&*& +3 "core" &<  8 +2 .tElbow.seek 2 +2 "manipulator"&k(; +3 "core" ( + "manipulator"&& +54 "core" &<  8 + "storage"(q& +4 "core" & \ \ 8 +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&{' +21 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +61 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&>& +2 "storage"(h'N +7 "core" &< q n ( 8 + "manipulator"&% +5 "core" % n o +2 .tForearm.seek :retract + "manipulator"&Y'\ +95 "core" ' +2 .tElbow.seek CC +2 "manipulator"&]( +147 "core" ' + ."downElevator"SE.stop + "storage"(5 +14 "core" ( +2 "manipulator"&& +4 "core" &\  M A +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +4 "core" &\  z A +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&^'| +108 "core" ' + "manipulator"&}& +5 "core" &\  t { G A +2 "manipulator"& % +4 "core" %φ m n : +2 "collection"'& +3 "core" & +3 "collection"'?& +5 "core" & +2 .tCC.seek :closed +2 "collection"'(] +4 "core" & +7 &9 $d +9 &u[ 6 +10 & H +9 &h G +9 &el G +10 &'n G +9 & m G +10 &"j G +9 &$mm G +9 &&0j G +10 &'m G +9 &)j G +9 &+ul G +10 &-7k G +9 &.n G +10 &0m, H +9 &2~k G +9 &4?m G +10 &6k H +9 &7l\ G +9 &9jR G +10 &;Gj" G +9 &= m G +10 &>k7 H +9 &@k? G +9 &BOl G +10 &Dl G +9 &El4 G +9 &Gm: G +10 &IUt? H +9 &KA J +10 &L@ N +9 &N P +9 &PG4 P +10 &R> Q +9 &S? V +9 &U@ R +10 &WG; R +9 &Y@ U +9 &Z? X +10 &\\@ @ +9 &]t/A #h +10 &]Q> ? +2 ( +2 "collection"'?& +2 #tCollection Clamp onSpring/offSpring for 9/25 samples, on/off torque 1.94 + .Hand.open +2 "manipulator"&[1 +63 "core" 1 +2 "manipulator"&T% +5 "core" % φ  } J +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&1'\ +96 "core" ' +2 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%i& +5 "core" & + "manipulator"&;% +4 "core" %\ ; & +2 "storage"(W% +3 "core" %L e +2 "storage"(R. +3 "core" .(  + "storage"(A& +4 "core" &  +2 "storage"(6& +4 "core" &  + "manipulator"&O& +4 "core" &\  y A +2 "manipulator"&f% +4 "core" %\ ;  & +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&$(; +158 "core" ( + "manipulator"&+& +5 "core" &/ > + "storage"(!& +4 "core" & y +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&3'Ѐ +96 "core" ' + "storage"(& +4 "core" & +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(@'e +277 "core" ' + "storage"(G- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (x& +3 "core" & \ +2 "manipulator"&/& +4 "core" &/  > +2 .tElbow.seek 2 + "manipulator"&(; +18 "core" ( +2 "manipulator"& & +4 "core" &; }  "} +2 "storage"(L& +3 "core" & \ ] +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&<' +20 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&u/ +63 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&X& +2 "storage"('N +7 "core" &< p x ` "| + "manipulator"&(% +4 "core" % o o # +2 .tForearm.seek :retract +2 "manipulator"&'\ +95 "core" ' +2 .tElbow.seek PC +2 "manipulator"&a(c +152 "core" ' + ."downElevator"SE.stop +2 "storage"(5 +98 "core" ( +2 "manipulator"&C& +4 "core" &l 2 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 & & +3 "core" &l Z +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&4'[ +105 "core" ' +2 "manipulator"&`& +4 "core" &l w +2 "manipulator"&5% +4 "core" %M m +2 "processing"%"& +4 "core" & +2 "processing"%K& +5 "core" & +2 .tPC.seek :closed +2 "processing"%b(Z +5 "core" & +6 &> #c +10 &z\\ 6 +9 & G +9 &f F +10 &nm G +9 &2i F +9 & k G +10 &"k G +9 &$wm G +10 &&9g G +9 &'g G +9 &)i F +10 &+i F +9 &-Aj G +9 &/j G +10 &0j G +9 &2m G +10 &4Jh F +9 &6 i G +9 &7l G +10 &9h F +9 &;Qj G +9 &=k G +10 &>h G +9 &@i G +10 &BYi G +9 &Dl G +9 &Ek G +10 &Gu G +9 &I[~ I +9 &K J +10 &L L +9 &N M +10 &PX M +9 &R L +9 &S M +10 &U M +9 &W^ M +9 &Y  G +10 &ZSA #h +9 &Z, ' +6 ( +2 "processing"%K& +3 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.49 +2 .Hand.open + "manipulator"&y1 +4 "core" &Z ' +49 1 + "manipulator"& % +4 "core" % M p +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&2'\ +99 "core" ' +2 "processing"%\ & +4 "core" &Z ' +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 + "manipulator"&N% +4 "core" %\ 5 & + "storage"(l% +4 "core" %<  +2 "storage"(F. +3 "core" .(  + "storage"(& +4 "core" & \  +3 "storage"(z& +2 "manipulator"&.& +6 "core" & \  + &l E +4 .tElbow.reconfigure :tight + ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +2 "storage"(#]kK-0-\ b +2 "manipulator"&#(c +6 ."raiseStack"SE.seek :beamBreak +2 "storage"(H'e +2 "core" ( +2 "manipulator"&7& +3 "core" &l \\ +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &=& +3 "core" &l / +2 .tForearm.seek PC + "manipulator"&&'[ +95 "core" ' +2 .tHand.close + "manipulator"&0/ +54 "core" / + .tPC.seek :open +2 "processing"%|(p +94 "core" ' +2 "storage"(I- +3 "core" -'e +2 ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +2 ."raiseStack"SE.seek :place +2 "storage"('B +31 "core" ' +253 ( + "storage"('& +4 "core" & \  +2 "manipulator"&~& +4 "core" &l N + "manipulator"&P% +4 "core" % O G +2 .tForearm.seek :retract +2 "manipulator"&E'\ +92 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&(; +270 "core" ( + "manipulator"&D& +4 "core" &F  c +2 "storage"(c& +4 "core" & \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&j'Ѐ +93 "core" ' + .tHand.open +2 "manipulator"&1 +61 "core" 1 +2 "storage"(%- +4 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate +2 "storage"(' +27 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(U' +51 "core" ' +2 #tLights, camera, ACTION! + "storage"(-- +4 "core" -' + "storage"(Z& +4 "core" & e f Z +2 "manipulator"&m& +4 "core" &F q t N c + .tElbow.seek 2 +2 "manipulator"&s(; +8 "core" ( +2 "manipulator"&& +4 "core" &E $ @ + "storage"(& +4 "core" & f e B +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&8'Ѐ +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"(\\'M +60 "core" ' +2 "manipulator"& & +5 "core" &E n o @ + "storage"(& +4 "core" & 0 +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&w'ξ +28 "core" ' + .tElbow.hold +2 "manipulator"&v, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +53 "storage"(_'7 +23 "core" ' +2 "manipulator"&S% +4 "core" % D +2 "storage"(& +4 "core" &  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 319 counts +2 "manipulator"&g' +18 "core" ' +2 "manipulator"&e& +4 "core" &E t o @ +2 "storage"(:& +4 "core" & +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts +2 "manipulator"&n'Ѐ +17 "core" ' + "storage"(M% +5 "core" %> \  +2 ."downElevator"SE.seek :down +3 "storage"(V'N +99 (d% +3 "core" %{I t OB +2 "manipulator"&Q% +4 "core" %Ѐ n o +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&J'\ +88 "core" ' +63 ' +2 ."downElevator"SE.stop + "storage"(5 +3 (& +4 "core" & E +2 "collection"'& +4 "core" &]Z@ ? + #tStoring generic puck in Collection Clamp to tube 2 +2 "manipulator"&t% +4 "core" %\ - E "_ +2 "storage"(o% +3 "core" %@ A  +2 "storage"(. +3 "core" .(  +2 "storage"(9& +4 "core" & + "storage"(& +4 "core" & +2 "manipulator"&*& +4 "core" &E a @ +2 .tElbow.seek 2 + "manipulator"&(; +4 "core" ( + "manipulator"&q& +5 "core" &E  @ + "storage"(& +4 "core" & +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&>'Ѐ +107 "core" ' + "storage"(& +5 "core" & k +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(p'e +281 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&& +3 "core" &E b R * @ +2 "storage"(& +4 "core" & \  D +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&r'ξ +30 "core" ' +2 .tElbow.hold +2 "manipulator"&{, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(}- +2 "core" -' +2 .tSE.seek 0.12 Pucks below Top Plate +2 "storage"(k'p +37 "core" ' +2 "manipulator"& % +4 "core" % + "storage"(& +4 "core" & + +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 318 counts + "manipulator"&h' +21 "core" ' + "manipulator"&Y& +4 "core" &E ^ u + @ +2 "storage"()& +4 "core" & \ \  E +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&['Ѐ +17 "core" ' +2 .tSE.seek 1.12 Pucks below Top Plate +2 "storage"(T'_ +48 "core" ' +2 "manipulator"&i& +4 "core" &E o o @ +2 "manipulator"&;% +4 "core" %| p n +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&W'\ +90 "core" ' +2 .tElbow.seek CC + "manipulator"&R( +162 "core" ( +2 "manipulator"&?& +4 "core" &(  ?U +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &A& +2 "core" &( q ?U +2 .tForearm.seek CC +2 "manipulator"&6'| +105 "core" ' + .tHand.close +2 "manipulator"&O/ +56 "core" / +2 .tCC.seek :open +2 "collection"'f(p +410 "core" ( +2 "storage"(^& +4 "core" & t + "storage"(+& +4 "core" & ; +2 "manipulator"&!& +4 "core" &$"  9' + "manipulator"&% +4 "core" % t  ~ +2 .tForearm.seek :retract +2 "manipulator"&]'\ +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&1(; +157 "core" ( +2 "manipulator"&G& +4 "core" &3 $  +2 "storage"(x& +4 "core" & \ \  ; + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.seek 2 +2 "manipulator"&/'ξ +107 "core" ' + .tElbow.hold +2 "manipulator"& , +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&L1 +60 "core" 1 +2 "manipulator"&u% +4 "core" %  \ g +2 "storage"(X& +3 "core" & +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 314 counts +2 "manipulator"&(' +17 "core" ' + "manipulator"&$& +5 "core" &@ D e P  + "storage"(3& +4 "core" & \ \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 450 counts +2 "manipulator"&@'Ѐ +24 "core" ' + "storage"(<% +5 "core" %a\ "\  +2 ."downElevator"SE.seek :down +3 "storage"(C'N +99 ( % +3 "core" %F\  ? NA +2 "manipulator"&% +4 "core" %Ч n n  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&`'\ +92 "core" ' +49 ' + ."downElevator"SE.stop + "storage"(5 +3 #tShuffling pucks in tube 3 of [2..3] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"'5& +4 "core" & +2 "manipulator"&"% +4 "core" %\ 3 _ %{ +2 "storage"(% +4 "core" %=\ \ \ +2 "storage"(. +3 "core" .(  +2 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 + "storage"(B( +361 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (y& +3 "core" & 0  + "manipulator"& & +4 "core" &@ `  +2 .tElbow.seek 3 +2 "manipulator"&\ (D +3 "core" ( +2 "manipulator"&N& +3 "core" &@   +2 "storage"(l& +4 "core" &\ \   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&F' +100 "core" ' + "storage"(& +5 "core" &\ \  m  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(z'e +276 "core" ' +2 "storage"(.- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (K& +2 "core" &\ \ ,  +2 "manipulator"&7& +5 "core" &@  w !  + .tElbow.seek 3 +2 "manipulator"&=(D +8 "core" ( + "manipulator"&4& +4 "core" &@  +2 "storage"(0& +8 "core" &\ \ y  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&I'y +11 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&a/ +53 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&2& + "storage"(b'N +7 "core" &@ n n  +2 "manipulator"&'% +4 "core" % ρ n k , +2 .tForearm.seek :retract +2 "manipulator"&~'\ +99 "core" ' + .tElbow.seek CC +2 "manipulator"&P( +142 "core" ' +2 ."downElevator"SE.stop + "storage"(5 +4 "core" ( + "manipulator"&H& +4 "core" & f 1 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &&& +2 "core" & V 1 +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&D'| +103 "core" ' + "manipulator"&c& +4 "core" & 1 +2 "manipulator"&#% +4 "core" %b +2 "collection"'& +4 "core" & +2 "collection"'%& +5 "core" & +2 .tCC.seek :closed +2 "collection"'-(] +4 "core" &  +9 &5\ )w +10 &k = +9 &t{ H +9 &:l F +10 &l G +9 &m H +9 &!~m G +10 &#?m G +9 &%l G +10 &&k G +9 &(k G +9 &*Hh G +10 &,\ j G +9 &-k G +9 &/k G +10 &1Nl H +9 &3k G +9 &4j G +10 &6l G +9 &8Xk G +10 &:k G +9 &;j G +9 &=l G +10 &?ak G +9 &A"l G +10 &Bl G +9 &Dj G +9 &Fgl G +10 &H)p, G +9 &Ix H +9 &K/ J +10 &M` M +9 &O# O +9 &P P +10 &R. P +9 &TZ Q +10 &V T +9 &W2 R +9 &YY U +10 &[O& X +9 &]Y '| +9 &]% P +10 ( +2 "collection"'%& +3 #tCollection Clamp onSpring/offSpring for 8/26 samples, on/off torque 1.82 +2 .Hand.open + "manipulator"&Z1 +4 "core" &]U @ +51 1 + "manipulator"&m% +5 "core" % ` + .tForearm.reconfigure :loose +52 "manipulator"&#Q@2^d^b +4 .tForearm.seek :retract +2 "manipulator"&'\ +98 "core" ' + #tLoading generic puck from tube 3 into Processing Clamp + "processing"%& +5 "core" & + "manipulator"&E% +4 "core" %\ :  ( +2 "storage"( % +4 "core" %I W + "storage"(. +3 "core" .( +2 "storage"(& +4 "core" &   + "storage"(& +4 "core" & )  + "manipulator"&S& +4 "core" &  1 +2 "manipulator"&% +4 "core" %\ : 2 ( +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&e(D +163 "core" ( +2 "manipulator"&:& +4 "core" &9\ ^ +2 "storage"(& +3 "core" &   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&M' +94 "core" ' +2 "storage"(j& +4 "core" & \\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(U'e +278 "core" ' +2 "storage"(8- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (d& +2 "core" &  +2 "manipulator"&Q& +4 "core" &9\  ^ + .tElbow.seek 3 +2 "manipulator"&s(D +17 "core" ( + "manipulator"&\\& +5 "core" &G ! $ + "storage"(w& +4 "core" & 4  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&'y +23 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&g/ +55 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"(t'N +7 "core" &G q n 0 $ + "manipulator"&o% +4 "core" % p m q m +2 .tForearm.seek :retract +2 "manipulator"&'\ +95 "core" ' +2 .tElbow.seek PC + "manipulator"&_(c +157 "core" ' + ."downElevator"SE.stop + "storage"(5 +96 "core" ( +2 "manipulator"&9& +4 "core" &h e + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &h W +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&*'[ +101 "core" ' + "manipulator"&q& +4 "core" &h t ~ t +2 "manipulator"&% +4 "core" %O e k f +2 "processing"%n& +4 "core" & +2 "processing"%& +5 "core" & +2 .tPC.seek :closed +2 "processing"%V(Z +4 "core" &  +9 &7 )v +9 &l = +10 &w G +9 &Ig G +9 & n G +10 &j G +9 &!j F +10 &#Ql G +9 &%m F +9 &&k F +10 &(m G +9 &*Yh G +9 &,n G +10 &-h G +9 &/j F +10 &1bj F +9 &3$k F +9 &4h G +10 &6h F +9 &8ik G +9 &:,m F +10 &;j F +9 &=j F +10 &?qk G +9 &A2p G +9 &Bh G +10 &Dj G +9 &Fxn G +9 &H7y H +10 &I J +9 &K K +10 &Mp M +9 &O2 M +9 &P M +10 &R M +9 &Tx M +9 &V9 M +10 &W N +9 &Y / +10 &Z-g X +9 &Z& , +2 ( +2 "processing"%& +3 #tProcessing Clamp onSpring/offSpring for 8/26 samples, on/off torque 1.51 + .Hand.open + "manipulator"&v1 +60 "core" 1 +2 "manipulator"&J% +4 "core" % O F f +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +95 "core" ' +2 "processing"%& +4 "core" &Z  , + #tImaging generic puck in Processing Clamp while storing it to tube 3 +2 "manipulator"&% +3 "core" %\ 3 %{ +2 "storage"(}% +4 "core" %= G +2 "storage"( . +3 "core" .( + "storage"(& +4 "core" &   +3 "storage"(Y& +2 "manipulator"&)& +6 "core" &   + &h z +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +3 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +2 "storage"(#]kK-0-\ b +3 "manipulator"&i(c +5 ."raiseStack"SE.seek :beamBreak +2 "storage"(;'e +3 "core" ( + "manipulator"&>& +4 "core" &h +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &h i +2 .tForearm.seek PC +2 "manipulator"&p'[ +95 "core" ' +2 .tHand.close + "manipulator"&r/ +57 "core" / + .tPC.seek :open +2 "processing"%h(p +93 "core" ' + "storage"(k- +3 "core" -'e +2 ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(?'B +40 "core" ' +246 ( + "storage"(A& +4 "core" &   +2 "manipulator"&[& +4 "core" &h  + "manipulator"&{% +4 "core" % X  \ +2 .tForearm.seek :retract +2 "manipulator"&O'\ +95 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&W(D +248 "core" ( + "manipulator"&& +4 "core" &@ ^ E +2 "storage"(^& +4 "core" & +  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&+' +98 "core" ' + .tHand.open +2 "manipulator"&!1 +62 "core" 1 +2 "storage"(- +4 "core" -'B +2 .tSE.seek -0.16 Pucks below Top Plate +2 "storage"(G' +22 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(x' +52 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(6- +3 "core" -' +2 "storage"(R& +3 "core" & y m L  +2 "manipulator"&L& +4 "core" &@ U E +2 .tElbow.seek 3 + "manipulator"&u(D +4 "core" ( +2 "manipulator"&X& +3 "core" &@ j E +2 "storage"($& +4 "core" & g f V  +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&3' +3 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"(<'M +59 "core" ' +2 "manipulator"&]& +4 "core" &@ T E +2 "storage"( & +4 "core" & s  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 + "manipulator"&'M +27 "core" ' +2 .tElbow.hold + "manipulator"&1, +5 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"(/'7 +22 "core" ' +2 "manipulator"&5% +4 "core" %` ~ l +2 "storage"((& +4 "core" & 7  + .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 3 + 319 counts + "manipulator"&"'ό +16 "core" ' +2 "manipulator"&& +4 "core" &2\ z u 3 S +2 "storage"(& +4 "core" & ?  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&T' +20 "core" ' +2 "storage"(@% +4 "core" %? O +3 ."downElevator"SE.seek :down +3 "storage"(C'N +99 (,% +3 "core" %Q ! PF +2 "manipulator"&y% +4 "core" % p x  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"& '\ +91 "core" ' +57 ' + ."downElevator"SE.stop + "storage"(5 +3 (N& +4 "core" & g  + "collection"'l& +5 "core" &]W^ @ + #tStoring generic puck in Collection Clamp to tube 3 +2 "manipulator"&% +4 "core" %\ 3 [ %z + "storage"( % +4 "core" %F +2 "storage"(`. +3 "core" .( + "storage"(.& +4 "core" &  +2 "storage"(K& +4 "core" &  + "manipulator"&7& +4 "core" &2\ g S +2 .tElbow.seek 3 +2 "manipulator"&4(D +25 "core" ( + "manipulator"&0& +5 "core" &B  1 + "storage"(a& +4 "core" &   +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&2' +104 "core" ' + "storage"('& +5 "core" &  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(\ 'e +274 "core" ' +2 "storage"(F- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +2 "manipulator"&H& +3 "core" &Q  / +2 "storage"(&& +4 "core" &  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +52 .tForearm.seek 3 +2 "manipulator"&z'M +29 "core" ' + .tElbow.hold +2 "manipulator"&I, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(c- +2 "core" -' +3 .tSE.seek 0.12 Pucks below Top Plate + "storage"(#'o +36 "core" ' +2 "manipulator"&% +4 "core" %^|  K +2 "storage"(=& +4 "core" & z  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 317 counts + "manipulator"&b'ϊ +18 "core" ' + "manipulator"&~& +5 "core" &I p  1 + "storage"(f& +6 "core" &   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&Z' +19 "core" ' +3 .tSE.seek 1.12 Pucks below Top Plate + "storage"(m'^ +49 "core" ' + "manipulator"&%& +5 "core" &L  0 + "manipulator"&% +4 "core" %  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&E'\ +95 "core" ' + .tElbow.seek CC +2 "manipulator"& ( +156 "core" ( + "manipulator"&& +5 "core" &.  Dz + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" &. X Dz +2 .tForearm.seek CC + "manipulator"&'| +110 "core" ' + .tHand.close +2 "manipulator"&S/ +59 "core" / +3 .tCC.seek :open +2 "collection"'(p +410 "core" ( + "storage"(D& +4 "core" &\ {  +2 "storage"(:& +3 "core" & z  +2 "manipulator"&& +4 "core" &- Cq + "manipulator"&j% +4 "core" % r @ +2 .tForearm.seek :retract +2 "manipulator"&P'\ +96 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&(D +171 "core" ( + "manipulator"&8& +5 "core" &< E g + "storage"(d& +4 "core" &\ \  +  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(b +3 .tForearm.seek 3 +2 "manipulator"&Q'M +113 "core" ' + .tElbow.hold +2 "manipulator"&\\, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&w1 +62 "core" 1 + "manipulator"&g% +5 "core" % ^p ! |  + "storage"(& +4 "core" &  + .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 3 + 317 counts + "manipulator"&o'ϊ +19 "core" ' + "manipulator"&e& +5 "core" &; t f  h + "storage"(M& +4 "core" &\  X  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 450 counts +2 "manipulator"&U' +19 "core" ' +2 "storage"(% +4 "core" %^\ \  W +2 ."downElevator"SE.seek :down +3 "storage"(9'N +100 (% +3 "core" %H\ u NA +2 "manipulator"&s% +4 "core" % n m +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&q'\ +90 "core" ' +47 ' + ."downElevator"SE.stop +2 "storage"(5 +1942 "Can"B\ =; +60002 D\ =: +60002 F\ =; +60001 E\ =: +60002 E\ =: +60002 J\ =: +60002 F\ =: +60002 H\ =; +60002 I\ =; +60002 E >; +60002 K =; +60002 T\ =; +60002 P\ =; +60001 N =: +60002 D\ =: +60002 H\ =; +60002 I\ =: +60002 L =; +60002 F\ =; +60002 F\ =; +60002 C\ =; +60002 C\ =: +60002 @\ =; +60001 @ =: +60002 C\ =: +60002 A =; +60002 H\ >; +60002 D\ =; +60002 A =; +60002 @\ =; +60002 F\ =; +60002 C =: +60001 C\ =: +60002 J\ =: +60002 H\ =; +60002 M\ =; +60002 K =; +60002 R =; +60002 P\ =; +60002 N\ =; +60002 S\ =: +60002 P\ =; +60002 S\ <: +60001 O =; +60002 N =; +60002 T\ =; +60002 Q\ =; +60002 S >; +60002 T\ =; +60002 ]\ =: +60002 \\\ =: +60002 \\ =: +60002 a =; +60001 b =; +60002 d =; +60002 j =; @EST1675141434.10 o\ =; +60002 j =: +60002 h =: +60002 s =; +60002 o =: +60002 l =: +60002 r =; +60001 v =; +60002 t =; +60002 t =; +60002 v >; +60002 u =: +60002 y =; +60002 | =; +60002 | =: +60002 ~ =; +60001 \ >; +60002  =; +60002  =; +60002  =; +60002  =: +60002  =: +60002  =; +60002  =; +60002  =; +60002  =; +60001  =; +60002  =; +60002  =: +60002 \ =: +60002  =: +60002 \ =: +60002 \ =: +60001 \ =; +60002 \ =; +60002 \ >; +60002 }\ =; +60002 z =; +60002 v =: +60002 u =: +60002 p =: +60001 i =; +60002 l >< +60002 j =; +60002 k =; +60002 _ =; +60002 W =; +60002 M =; +60002 P =: +60002 G =; +60001 @ =; +60002 9 =; +60002 - >; +60002 , >; +60002 4 =; +60002 6 =; +60002 9 =: +60002 4 =; +60002 4 =; +60002 2 =; +60001 3 =; +60002 2 >; +60002 8 =: +60002 6 =; +60002 7 =; +60002 9 =; +60002 5 >; +60002 4 =; +60002 2 =: +60002 2 =; +60001 , =; +60002 4 =; +60002 / =; +60002 - >; +60002 2 =; +60002 $ =; +60002 # =; +60002 ' =: +60002 - =; +60002 & =; +60001 $ =; +60002 ! =: +60002  =; +60002  =: +60002  >; +60002  =; +60002  =: +60002  =; +60002  =; +60002  =; +60001  =; +60002   =; +60002  =: +60002  =; +60002  =: +60002 \  =: +60002  =; +60002  >; +60002  =; +60002  =: +60002  =; +60002  =: +60002  =: +60001 \  =: +60002   =; +41981 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +18012 "Can"  =; +42707 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +17286 "Can"  >; +43427 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +16566 "Can"  >; +44156 #"reset-modem"Session Begun +4 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +15837 "Can" =: +44879 #"reset-modem"Session Begun +3 #-> Gate.cycleModemPower! 5 +3 .Gate.cycleModemPower! 5 +2 #Session Ended +15115 "Can" >; +60002  =; +60002  =: +60001  =; +60002  >; +60002  >; +60002  =; +60002   =; +60001  >; +60002  =: +60002  >; +60002  =; +60002  =: +60001  >; +60002  >; +60002   =; +60001  =; +60002  =: +60002  =; +60002  =; +60001  =; +60002  >: +60002   =; +60002   >; +60002  =; +60002  =: +60002  =; +60002  =; +60002  =; +60002  =; +60003  =; +60002  >; +60002  =; +60003  =: +60002  =; @EST1675227836.83  =; +60001  >: +60001  =: +60002  =; +60002  =; +60002  =; +60001  =; +60002  =; +60002  =; +60002  >: +60002  =; +60002  =; +60002  =: +60001  =; +60002  =; +60002  =; +60002  =; +60002  =; +60002  =; +60002  =; +60002  =; +60002  =; +60002  =; +60002  ?< +60001  =: +60002  =; +60002  =: +60002  =; +60003  =; +60002  =: +60002  =; +60003  =: +60002  =; +60001  =: +60002  =; +60002  =; +60002  =; +60003  =; +60001  >; +60002  =; +60002  =; +60002  =; +60002  =; +60002  =: +60002  =: +60002  =; +60002  =; +60001  =; +60002  =; +60002  =; +60002  =; +60002  =; +60001  =: +60002  =: +60002  >; +60002  >; +60002  =: +60002  >< +60002  >< +60001  =: +60002  >< +60002  =; +60002  =; +60002  >; +60002  =; +60002  =; +60001  =: +60002  =: +60002  =; +60002  =; +60002  =; +60002  =: +60002 } =; +60003 z =; +60002 x =: +60002 ~ =; +60001 q =; +60002 m =; +60002 g =; +60002 ^ =; +60002 a =: +60002 O =; +60002 S =: +60002 M =; +60002 G =: +60002 E =; +60002 E =; +60001 < =: +60002 5 =; +60002 7 >; +60002 / =; +60002 4 =; +60002 , =: +60002 ' =; +60002 + =: +60002 ' =; +60002  =; +60001  =; +60002  =: +60002  =; +60002  =; +60002  =; +60002  =; +60002  =: +60002   =; +60001  =; +60002  =; +60002   =; +60002   =; +60002  >; +60002  =: +60002  ;: +60002 > =: +60002  =; +60001  =; +60002  =< +60002  >; +60002  >; +60002  >; +60002  =: +60002  =: +60002  =: +60002  =: +60001  =; +60002  >; +60002  >; +60002  >; +60002  =; +60002  =; +60002  =: +60002  =: +60002  =: +60002  =; +60002  >; +60002  =; +60002  =; +60002   =; +60001   =: +60002  =; +60002  =: +60002  =; +60002  >< +60003  >; +60002  =; @EST1675314239.58  =; +60002  =; +60002  =: +60002  =; +60002  =; +60002  =; +60002  =; +60002  >; +60001  >; +60002  =; +60001  =: +60002  =; +60002  =; +60002  =; +60002  =; +60002  =; +60001  >; +60002  =: +60002  =; +60001  =; +60002  =; +60002  =; +60002  =; +60002  >; +60002  =; +60001  =; +60003  =; +60002  >; +60002  =: +60002  =: +60002  =: +60002  =; +60001  =: +60002  >; +60002  =; +60002  >; +60002  >; +60002  =; +60002  =; +60002  =; +60002  =: +60002  =; +60002  =; +60001  =; +60002  >; +60002  >; +60002  =; +60002  =: +60002  =: +60002  =: +60002  =; +60002  >< +60002  >; +60002  =; +60002  >< +60002  =: +60002  =; +60002  ?< +60002  >; +60002  >; +60002  =; +60002  =; +60002  >; +60002  =; +60002  =: +60001  <: +60002  =; +60002  =; +60002  =; +60002  =; +60001  >; +60002  =; +60002  =: +60002  =: +60002  =: +60002  =; +60002  =; +60002  =; +60002  =; +60002 \ =; +60002 \ =; +60002 \ =; +60003 \ =: +60002 \ =: @1677697181.96EST = =tMAIN =mMAIN_scheduler @EST1677697185.80 #"core_reset"Sent BREAK +2 #t@60288 idle with ifg=0x00, ie=0x75 +2 #>RESET< ESP2 v3.41 I2C Gateway v3.20 +219 #>RESET< ESP2 v3.41 I2C Gateway v3.20 for core bus +459 !o:Instrument::ISUSCore: @refiN: @configS:Instrument::Configuration: name" ISUS:calFileName0:sampleCmd"TS: prompt"\ :statusCmd"C:sampleTimeouti#:promptTimeouti:statusTimeouti: retriesi:strToPrompt"W: pace0: echoF:\ @name@ +224 #Configuration for don (12651-03) 10/9/20 brent@mbari.org\ /home/esp/esp2/type/shallow/don/configure.rb\ +846 "Can" '$"t +3  '$"t +3 #tPolling Can every 10:00 +28 !o:Storage::Warning: mesg"Uncleanly Exited:bt[ "8/home/esp/esp2/utils/storage.rb:438:in `readPucks!'"6/home/esp/esp2/utils/storage.rb:627:in `restore!'"-/home/esp/esp2/lib/esp.rb:115:in `shell'"7/home/esp/esp2/lib/schedule.rb:481:in `initialize'"0/home/esp/esp2/lib/thread.rb:738:in `start'"7/home/esp/esp2/lib/schedule.rb:474:in `initialize'"'/home/esp/esp2/lib/schedule.rb:472 +664 #-> ESP.ready! +7 #Powering core bus +533 .Gate.power :raw,:ON +5 "sampler") +44 ) +4 "core"  +4 "collection"' +6 ' +6 "core"  +4 "processing"% +4 % +6 "core"  +10 "collection"' 9\ +5 ' 0\ +4 ' -\ +9 "processing"% 9\ +6 % 2\ +4 % *\ +4 % 0\ +9 "sampler")&\ +5 "collection"'% +8 "core" % +5 .tCS.configure :default +4 "collection"'#P d@b +4 "processing"%% +8 "core" % +3 .tPS.configure :default +6 "processing"%#A d`xb +4 "sampler")% +7 "core" %\ 7\ 2% +3 .tSS.configure :default +5 "sampler")#.0X exit +13 #mEXIT @1677697278.38EST @1677720627.42PST = =mMAIN_scheduler =tMAIN @PST1677720629.08 #t0xFD +27 #@2709 receive with ifg=0x10, ie=0xFD +2 #"core_reset"Sent BREAK #t@3357 receive with ifg=0x10, ie=0xFD + #@4005 receive with ifg=0x10, ie=0xFD + #@4336 receive with ifg=0x80, ie=0xFD + #@30105 idle with ifg=0x00, ie=0x75 #@127 receive with ifg=0x10, ie=0xFD + #@766 receive with ifg=0x10, ie=0xFD #@1425 receive with ifg=0x10, ie=0xFD + #@2062 receive with ifg=0x10, ie=0xFD + #@2709 receive with ifg=0x10, ie=0xFD #@3357 receive with ifg=0x10, ie=0xFD + #@4005 receive with ifg=0x10, ie=0xFD #@4336 receive with ifg=0x80, ie=0xFD + #@2670 initial with ifg=0x00, ie=0xF5 #>OVERRUN< ESP2 v3.41 I2C Gateway v3.20 +9 #>OVERRUN< ESP2 v3.41 I2C Gateway v3.20 for core bus +216 !o:Instrument::ISUSCore: @refihK: @configS:Instrument::Configuration: name" ISUS:calFileName0:sampleCmd"TS: prompt"\ :statusCmd"C:sampleTimeouti#:promptTimeouti:statusTimeouti: retriesi:strToPrompt"W: pace0: echoF:\ @name@ +100 #Configuration for don (12651-03) 10/9/20 brent@mbari.org\ /home/esp/esp2/type/shallow/don/configure.rb\ +390 "Can"\ @= + \ @= + #tPolling Can every 10:00 +13 !o:Storage::Warning: mesg"7Invalid entry in line 83 of /var/log/esp/real.puck:bt["8/home/esp/esp2/utils/storage.rb:399:in `readPucks!'"2/home/esp/esp2/utils/storage.rb:397:in `each'"8/home/esp/esp2/utils/storage.rb:397:in `readPucks!'"(eval):2:in `eachRaw'"(eval):2:in `each'"8/home/esp/esp2/utils/storage.rb:372:in `readPucks!'"2/home/esp/esp2/utils/storage.rb:371:in `open'"8/home/esp/esp2/utils/storage.rb:371:in `readPucks!'"6/home/esp/esp2/utils/storage.rb:627:in `restore!'"-/home/esp/esp2/lib/esp.rb:115:in `shell'"7/home/esp/esp2/lib/schedule.rb:481:in `initialize'"0/home/esp/esp2/lib/thread.rb:738:in `start'"7/home/esp/esp2/lib/schedule.rb:474:in `initialize'"'/home/esp/esp2/lib/schedule.rb:472 +2 #Cleanly exited at 14:01:18EST01-Mar-23 +2526 #-> Storage.reset! +962 #-> ESP.ready! +154 "sampler") +2 ) + "core"  +2 "collection"' +2 ' +3 "core"  + "processing"% +3 % +3 "core"  +4 "collection"' 9\ +3 ' 0\ + ' -\ +4 "processing"% 9\ +2 % 2\ +2 % *\ +2 % 0\ +4 "sampler")&\ + "collection"'% +4 "core" %" + .tCS.configure :default +3 "collection"'#P d@b +2 .tCS.hold + "collection"'+ +4 "core" + +2 .tCS.configure :default +2 "collection"'#P d@b +2 "processing"%% +3 "core" %* +2 .tPS.configure :default +2 "processing"%#A d`xb +2 "sampler")% +3 "core" %3\ A\ 8 +2 .tSS.configure :default +2 "sampler")#.0X Puck.count +2 "storage"(3% +3 "core" %E\ \  < +2 .tSE.seek :down +2 "storage"(4'N +4 "core" ' + .tSE.stop +2 "storage"(5 + .tHand.open +2 "manipulator"&51 +56 "core" 1 +2 "manipulator"&6% +4 "core" % \  { v !  +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 1 +2 "storage"(7(B +1000 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (8& +2 "core" &E\ \ | +2 "manipulator"&9& +4 "core" &% p q - +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 1 +2 "manipulator"&:(c +19 "core" ( + "manipulator"&;& +4 "core" &Z q # +2 "storage"(<& +3 "core" &E\ .\ , B +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 1 + 450 counts +2 "manipulator"&='Ф +98 "core" ' + "storage"(>& +5 "core" &E\ "\ + * +2 .tSE.reconfigure :place +2 "storage"(#]kK-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(?'e +271 "core" ' + "storage"(@- +4 "core" -'e + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (A% +2 "core" %`\ \  +3 ."downElevator"SE.seek :down +3 "storage"(B'N +99 (C% +3 "core" %L\ \  OC +2 "manipulator"&D% +4 "core" %Т  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&E'\ +97 "core" ' +59 ' + ."downElevator"SE.stop +2 "storage"(5 +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 2 +2 "storage"(F(  +366 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +2 (G& +3 "core" &  *  +2 "manipulator"&H& +4 "core" &Z  # +36 .tElbow.seek 2 +7 "manipulator"&I(; +25 "core" ( + "manipulator"&J& +5 "core" &C B  + "storage"(K& +4 "core" & \ .\ . i ! +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 450 counts + "manipulator"&L'Ѐ +100 "core" ' + "storage"(M& +4 "core" & \ 1\ < 1 ! +2 .tSE.reconfigure :place +3 "storage"(#]kK-0-\ b +3 .tSE.seek :beamBreak + "storage"(N'e +309 "core" ' +2 "storage"(O- +4 "core" -'T + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 (P% +3 "core" % Z\ "\ #  +3 ."downElevator"SE.seek :down +3 "storage"(Q'N +99 (R% +3 "core" %E\ \ # u N> +2 "manipulator"&S% +4 "core" %k ~ ~ 6 . +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&T'\ +96 "core" ' +34 ' +2 ."downElevator"SE.stop + "storage"(5 +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 3 +2 "storage"(U( +350 "core" ( + .tSC.configure :limp +3 "storage"($\ 1b +2 (V& +3 "core" &\ \  *  + "manipulator"&W& +4 "core" &C   +2 .tElbow.seek 3 + "manipulator"&X(D +4 "core" ( + "manipulator"&Y& +5 "core" &C   + "storage"(Z& +4 "core" &\ /\ . `  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 450 counts + "manipulator"&[' +94 "core" ' +2 "storage"(\\& +4 "core" &\ E\ A  +2 .tSE.reconfigure :place +2 "storage"(#]kK-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(]'e +307 "core" ' +2 "storage"(^- +3 "core" -'I + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (_% +2 "core" % O\ .\ v +3 ."downElevator"SE.seek :down +3 "storage"(`'N +99 (a% +3 "core" %yA\ \ \   N> +2 "manipulator"&b% +4 "core" % z ] 8 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&c'\ +97 "core" ' +34 ' +2 ."downElevator"SE.stop + "storage"(5 +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +4 .tSC.seek 4 + "storage"(d(, +358 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (e& +2 "core" &,\ \ #  +2 "manipulator"&f& +4 "core" &C b  + .tElbow.seek 4 +2 "manipulator"&g(* +11 "core" ( +2 "manipulator"&h& +4 "core" &4 C  + "storage"(i& +5 "core" &,\ $\ + -  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 450 counts + "manipulator"&j' +107 "core" ' + "storage"(k& +4 "core" &,\ E\ A )  +2 .tSE.reconfigure :place +3 "storage"(#]kK-0-\ b +3 .tSE.seek :beamBreak + "storage"(l'e +269 "core" ' + "storage"(m- +4 "core" -'e +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (n% +3 "core" %g\ !\ $ / +2 ."downElevator"SE.seek :down +3 "storage"(o'N +99 (p% +3 "core" %+N\ "\ #  OC +2 "manipulator"&q% +4 "core" % t s T + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&r'\ +90 "core" ' +68 ' + ."downElevator"SE.stop + "storage"(5 +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +3 .tSC.seek 5 +2 "storage"(s(<< +350 "core" ( +2 .tSC.configure :limp +2 "storage"($\ 1b +3 (t& +2 "core" &<:\ \  W  +2 "manipulator"&u& +4 "core" &4 w ?  + .tElbow.seek 5 +2 "manipulator"&v( +11 "core" ( +2 "manipulator"&w& +4 "core" & | l $ | +2 "storage"(x& +3 "core" &<:\ %\ . ^  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 450 counts +2 "manipulator"&y' +93 "core" ' +2 "storage"(z& +4 "core" &<:\ E\ ? v  +2 .tSE.reconfigure :place +3 "storage"(#]kK-0-\ b +3 .tSE.seek :beamBreak + "storage"({'e +271 "core" ' +2 "storage"(|- +3 "core" -'e + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 (}% +2 "core" %h\ \ . p +3 ."downElevator"SE.seek :down +3 "storage"(~'N +99 (% +3 "core" %I\ !\  OB + "manipulator"&% +4 "core" % { ~ P +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +96 "core" ' +61 ' + ."downElevator"SE.stop +2 "storage"(5 +3 .tSC.reconfigure :tight +2 "storage"($\ .\ 1~b +2 .tSC.seek 6 +2 "storage"((K +352 "core" ( +6 .tSC.configure :limp +3 "storage"($\ 1b +2 (& +3 "core" &K\ \ ,  + "manipulator"&& +5 "core" & P | + .tElbow.seek 6 +2 "manipulator"&( +8 "core" ( +2 "manipulator"& & +4 "core" & C ~ +2 "storage"( & +3 "core" &K\ .\ . E  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 450 counts + "manipulator"& '< +103 "core" ' +2 "storage"(& +4 "core" &K\ D\ @  +2 .tSE.reconfigure :place +2 "storage"(#]kK-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('e +271 "core" ' +2 "storage"(- +3 "core" -'e +2 .tSE.configure :default +7 "storage"(#QK-0-\ b +3 (% +2 "core" %^\ !\ !  +3 ."downElevator"SE.seek :down +8 "storage"('N +94 (% +2 "core" %`O\ #\ # 0 OD +2 "manipulator"&% +4 "core" %: r r \\ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +95 "core" ' +67 ' + ."downElevator"SE.stop +2 "storage"(5 +2 .tSC.reconfigure :tight +3 "storage"($\ .\ 1~b +2 .tSC.seek 7 +2 "storage"(([ +361 "core" ( +2 .tSC.configure :limp +3 "storage"($\ 1b +2 (& +2 "core" &[\ <  +2 "manipulator"&& +4 "core" &  ~ +2 .tElbow.seek 7 + "manipulator"&( +15 "core" ( + "manipulator"&& +5 "core" & ] m + "storage"(& +4 "core" &[\ .\ .   +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 450 counts + "manipulator"& 'k +112 "core" ' +2 "storage"(!& +4 "core" &[\ E\ K g  +2 .tSE.reconfigure :place +2 "storage"(#]kK-0-\ b +3 .tSE.seek :beamBreak +2 "storage"("'e +276 "core" ' +2 "storage"(#- +3 "core" -'e +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 ($% +3 "core" %`\ !\  +2 ."downElevator"SE.seek :down +3 "storage"(%'N +99 (&% +3 "core" %J\ #\ ! ! OB +2 "manipulator"&'% +3 "core" %Ј s q 7 +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&('\ +90 "core" ' +64 ' + ."downElevator"SE.stop +2 "storage"(5 +10119 #t-> quit +6 #mEXIT @1677720866.42PST